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Rebased onto current CMS dev

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This commit is contained in:
jflyper 2016-11-01 15:36:57 +09:00
commit 2bf74e0513
46 changed files with 4111 additions and 1627 deletions
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84
src/main/main.c.orig
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@ -74,6 +74,8 @@
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "io/cms.h"
#include "io/beeper.h"
#include "io/serial.h"
#include "io/flashfs.h"
@ -86,9 +88,14 @@
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/serial_cli.h"
#include "io/transponder_ir.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/vtx.h"
<<<<<<< HEAD
#include "io/vtx_smartaudio.h"
=======
#include "io/canvas.h"
>>>>>>> bfdev-osd-cms-separation-poc
#include "scheduler/scheduler.h"
@ -396,6 +403,10 @@ void init(void)
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef CMS
cmsInit();
#endif
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
@ -455,6 +466,12 @@ void init(void)
mspFcInit();
mspSerialInit();
#ifdef CANVAS
if (feature(FEATURE_CANVAS)) {
canvasInit();
}
#endif
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif
@ -627,73 +644,6 @@ void processLoopback(void) {
#define processLoopback()
#endif
<<<<<<< HEAD
void main_init(void)
{
init();
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, accSamplingInterval);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(USE_SPI) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef VTX_CONTROL
setTaskEnabled(TASK_VTX_CONTROL, true);
#endif
}
=======
>>>>>>> betaflight/master
void main_step(void)
{