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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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1
src/main/config/config_master.h
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@ -38,6 +38,7 @@
#include "io/motors.h"
#include "io/servos.h"
#include "io/gps.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/ledstrip.h"
#include "io/vtx.h"

1
src/main/fc/config.c
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@ -63,6 +63,7 @@
#include "io/servos.h"
#include "io/ledstrip.h"
#include "io/gps.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/vtx.h"

1
src/main/fc/config.h
View file

@ -55,6 +55,7 @@ typedef enum {
FEATURE_VTX = 1 << 24,
FEATURE_RX_SPI = 1 << 25,
FEATURE_SOFTSPI = 1 << 26,
FEATURE_CANVAS = 1 << 27,
} features_e;
void beeperOffSet(uint32_t mask);

16
src/main/fc/fc_msp.c
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@ -62,9 +62,7 @@
#include "io/flashfs.h"
#include "io/transponder_ir.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/osd.h"
#include "io/serial_4way.h"
#include "io/vtx.h"
#include "msp/msp.h"
#include "msp/msp_protocol.h"
@ -1780,3 +1778,17 @@ void mspFcInit(void)
{
initActiveBoxIds();
}
void mspServerPush(mspPacket_t *push, uint8_t *data, int len)
{
sbuf_t *dst = &push->buf;
while (len--) {
sbufWriteU8(dst, *data++);
}
}
mspPushCommandFnPtr mspFcPushInit(void)
{
return mspServerPush;
}

2
src/main/fc/fc_msp.h
View file

@ -21,3 +21,5 @@
void mspFcInit(void);
mspResult_e mspFcProcessCommand(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
mspPushCommandFnPtr mspFcPushInit(void);

16
src/main/fc/fc_tasks.c
View file

@ -40,6 +40,8 @@
#include "flight/pid.h"
#include "flight/altitudehold.h"
#include "io/cms.h"
#include "io/beeper.h"
#include "io/display.h"
#include "io/gps.h"
@ -48,6 +50,7 @@
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/transponder_ir.h"
#include "io/vtx_smartaudio.h"
#include "msp/msp_serial.h"
@ -342,6 +345,10 @@ void fcTasksInit(void)
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef CMS
// XXX Should check FEATURE
setTaskEnabled(TASK_CMS, true);
#endif
#ifdef VTX_CONTROL
setTaskEnabled(TASK_VTXCTRL, true);
#endif
@ -505,6 +512,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef CMS
[TASK_CMS] = {
.taskName = "CMS",
.taskFunc = cmsHandler,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef VTX_CONTROL
[TASK_VTXCTRL] = {
.taskName = "VTXCTRL",

534
src/main/fc/fc_tasks.c.orig Normal file
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@ -0,0 +1,534 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <platform.h>
#include "common/axis.h"
#include "common/color.h"
#include "common/utils.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "fc/config.h"
#include "fc/fc_msp.h"
#include "fc/fc_tasks.h"
#include "fc/mw.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/pid.h"
#include "flight/altitudehold.h"
#include "io/cms.h"
#include "io/beeper.h"
#include "io/display.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/transponder_ir.h"
#include "msp/msp_serial.h"
#include "rx/rx.h"
#include "sensors/sensors.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/sonar.h"
#include "scheduler/scheduler.h"
#include "telemetry/telemetry.h"
#include "config/feature.h"
#include "config/config_profile.h"
#include "config/config_master.h"
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
static void taskUpdateAccelerometer(uint32_t currentTime)
{
UNUSED(currentTime);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
static void taskUpdateAttitude(uint32_t currentTime)
{
imuUpdateAttitude(currentTime);
}
static void taskHandleSerial(uint32_t currentTime)
{
UNUSED(currentTime);
#ifdef USE_CLI
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
if (cliMode) {
cliProcess();
return;
}
#endif
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
}
#ifdef BEEPER
static void taskUpdateBeeper(uint32_t currentTime)
{
beeperUpdate(currentTime); //call periodic beeper handler
}
#endif
static void taskUpdateBattery(uint32_t currentTime)
{
#ifdef USE_ADC
static uint32_t vbatLastServiced = 0;
if (feature(FEATURE_VBAT)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
#endif
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER)) {
const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}
}
static bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
return rxUpdate(currentTime);
}
static void taskUpdateRxMain(uint32_t currentTime)
{
processRx(currentTime);
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
#endif
updateLEDs();
#ifdef BARO
if (sensors(SENSOR_BARO)) {
updateAltHoldState();
}
#endif
#ifdef SONAR
if (sensors(SENSOR_SONAR)) {
updateSonarAltHoldState();
}
#endif
}
#ifdef GPS
static void taskProcessGPS(uint32_t currentTime)
{
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsUdate() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsUpdate(currentTime);
}
}
#endif
#ifdef MAG
static void taskUpdateCompass(uint32_t currentTime)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTime, &masterConfig.magZero);
}
}
#endif
#ifdef BARO
static void taskUpdateBaro(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_BARO)) {
const uint32_t newDeadline = baroUpdate();
if (newDeadline != 0) {
rescheduleTask(TASK_SELF, newDeadline);
}
}
}
#endif
#ifdef SONAR
static void taskUpdateSonar(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
}
#endif
#if defined(BARO) || defined(SONAR)
static void taskCalculateAltitude(uint32_t currentTime)
{
if (false
#if defined(BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(SONAR)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
}}
#endif
#ifdef DISPLAY
static void taskUpdateDisplay(uint32_t currentTime)
{
if (feature(FEATURE_DISPLAY)) {
displayUpdate(currentTime);
}
}
#endif
#ifdef TELEMETRY
static void taskTelemetry(uint32_t currentTime)
{
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}
#endif
#ifdef LED_STRIP
static void taskLedStrip(uint32_t currentTime)
{
if (feature(FEATURE_LED_STRIP)) {
ledStripUpdate(currentTime);
}
}
#endif
#ifdef TRANSPONDER
static void taskTransponder(uint32_t currentTime)
{
if (feature(FEATURE_TRANSPONDER)) {
transponderUpdate(currentTime);
}
}
#endif
#ifdef OSD
static void taskUpdateOsd(uint32_t currentTime)
{
if (feature(FEATURE_OSD)) {
updateOsd(currentTime);
}
}
#endif
#ifdef VTX_CONTROL
// Everything that listens to VTX devices
void taskVtxControl(uint32_t currentTime)
{
if (ARMING_FLAG(ARMED))
return;
#ifdef VTX_SMARTAUDIO
smartAudioProcess(currentTime);
#endif
}
#endif
void fcTasksInit(void)
{
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);
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
#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
<<<<<<< HEAD
#ifdef VTX_CONTROL
setTaskEnabled(TASK_VTXCTRL, true);
=======
#ifdef CMS
// XXX Should check FEATURE
setTaskEnabled(TASK_CMS, true);
>>>>>>> bfdev-osd-cms-separation-poc
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = 1000000 / 10, // run every 100 ms
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = 1000000 / 1000, // every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = taskUpdateAttitude,
.desiredPeriod = 1000000 / 100,
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = taskUpdateRxCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifdef BEEPER
[TASK_BEEPER] = {
.taskName = "BEEPER",
.taskFunc = taskUpdateBeeper,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef GPS
[TASK_GPS] = {
.taskName = "GPS",
.taskFunc = taskProcessGPS,
.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
#ifdef MAG
[TASK_COMPASS] = {
.taskName = "COMPASS",
.taskFunc = taskUpdateCompass,
.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef BARO
[TASK_BARO] = {
.taskName = "BARO",
.taskFunc = taskUpdateBaro,
.desiredPeriod = 1000000 / 20,
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef SONAR
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = taskUpdateSonar,
.desiredPeriod = 1000000 / 20,
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#if defined(BARO) || defined(SONAR)
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,
.desiredPeriod = 1000000 / 40,
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef TRANSPONDER
[TASK_TRANSPONDER] = {
.taskName = "TRANSPONDER",
.taskFunc = taskTransponder,
.desiredPeriod = 1000000 / 250, // 250 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef DISPLAY
[TASK_DISPLAY] = {
.taskName = "DISPLAY",
.taskFunc = taskUpdateDisplay,
.desiredPeriod = 1000000 / 10,
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef OSD
[TASK_OSD] = {
.taskName = "OSD",
.taskFunc = taskUpdateOsd,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",
.taskFunc = taskTelemetry,
.desiredPeriod = 1000000 / 250, // 250 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef LED_STRIP
[TASK_LEDSTRIP] = {
.taskName = "LEDSTRIP",
.taskFunc = taskLedStrip,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef USE_BST
[TASK_BST_MASTER_PROCESS] = {
.taskName = "BST_MASTER_PROCESS",
.taskFunc = taskBstMasterProcess,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
<<<<<<< HEAD
#ifdef VTX_CONTROL
[TASK_VTXCTRL] = {
.taskName = "VTXCTRL",
.taskFunc = taskVtxControl,
.desiredPeriod = 1000000 / 5, // 5Hz @200msec
.staticPriority = TASK_PRIORITY_IDLE,
=======
#ifdef CMS
[TASK_CMS] = {
.taskName = "CMS",
.taskFunc = cmsHandler,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
>>>>>>> bfdev-osd-cms-separation-poc
},
#endif
};

2
src/main/fc/rc_controls.c
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@ -40,6 +40,8 @@
#include "fc/rc_curves.h"
#include "fc/runtime_config.h"
#include "io/cms.h"
#include "io/gps.h"
#include "io/beeper.h"
#include "io/motors.h"

94
src/main/io/canvas.c Normal file
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@ -0,0 +1,94 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include "platform.h"
#include "build/version.h"
#ifdef CANVAS
#include "drivers/system.h"
#include "io/cms.h"
#include "fc/fc_msp.h"
#include "msp/msp_protocol.h"
#include "msp/msp_serial.h"
int canvasOutput(uint8_t cmd, uint8_t *buf, int len)
{
mspSerialPush(cmd, buf, len);
return 6 + len;
}
int canvasBegin(void)
{
uint8_t subcmd[] = { 0 };
return canvasOutput(MSP_CANVAS, subcmd, sizeof(subcmd));
}
int canvasHeartBeat(void)
{
return canvasBegin();
}
int canvasEnd(void)
{
uint8_t subcmd[] = { 1 };
return canvasOutput(MSP_CANVAS, subcmd, sizeof(subcmd));
}
int canvasClear(void)
{
uint8_t subcmd[] = { 2 };
return canvasOutput(MSP_CANVAS, subcmd, sizeof(subcmd));
}
int canvasWrite(uint8_t col, uint8_t row, char *string)
{
int len;
char buf[30 + 4];
if ((len = strlen(string)) >= 30)
len = 30;
buf[0] = 3;
buf[1] = row;
buf[2] = col;
buf[3] = 0;
memcpy((char *)&buf[4], string, len);
return canvasOutput(MSP_CANVAS, (uint8_t *)buf, len + 4);
}
screenFnVTable_t canvasVTable = {
canvasBegin,
canvasEnd,
canvasClear,
canvasWrite,
canvasHeartBeat,
NULL,
};
void canvasCmsInit(displayPort_t *pPort)
{
pPort->rows = 13;
pPort->cols = 30;
pPort->buftime = 23; // = 256/(115200/10)
pPort->bufsize = 192; // 256 * 3/4 (Be conservative)
pPort->VTable = &canvasVTable;
}
void canvasInit()
{
mspSerialPushInit(mspFcPushInit()); // Called once at startup to initialize push function in msp
cmsDeviceRegister(canvasCmsInit);
}
#endif

3
src/main/io/canvas.h Normal file
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@ -0,0 +1,3 @@
#pragma once
void canvasInit(void);
void canvasCmsInit(displayPort_t *);

1445
src/main/io/cms.c Normal file
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File diff suppressed because it is too large Load diff

40
src/main/io/cms.h Normal file
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@ -0,0 +1,40 @@
#pragma once
typedef struct screenFnVTable_s {
int (*begin)(void);
int (*end)(void);
int (*clear)(void);
int (*write)(uint8_t, uint8_t, char *);
int (*heartbeat)(void);
void (*resync)(void);
} screenFnVTable_t;
typedef struct displayPort_s {
uint8_t rows;
uint8_t cols;
uint16_t buftime;
uint16_t bufsize;
uint16_t batchsize; // Computed by CMS
screenFnVTable_t *VTable;
// CMS state
bool cleared;
} displayPort_t;
// Device management
typedef void (*cmsDeviceInitFuncPtr)(displayPort_t *);
bool cmsDeviceRegister(cmsDeviceInitFuncPtr);
// For main.c and scheduler
void cmsInit(void);
void cmsHandler(uint32_t);
// Required for external CMS tables
long cmsChangeScreen(displayPort_t *, void *);
long cmsExitMenu(displayPort_t *, void *);
#define STARTUP_HELP_TEXT1 "MENU: THR MID"
#define STARTUP_HELP_TEXT2 "+ YAW LEFT"
#define STARTUP_HELP_TEXT3 "+ PITCH UP"

97
src/main/io/cms_types.h Normal file
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@ -0,0 +1,97 @@
//
// Menu element types
// XXX Upon separation, all OME would be renamed to CME_ or similar.
//
#pragma once
typedef long (*OSDMenuFuncPtr)(displayPort_t *, void *);
//type of elements
typedef enum
{
OME_Label,
OME_Back,
OME_OSD_Exit,
OME_Submenu,
OME_Bool,
OME_INT8,
OME_UINT8,
OME_UINT16,
OME_INT16,
OME_Poll_INT16,
OME_FLOAT, //only up to 255 value and cant be 2.55 or 25.5, just for PID's
//wlasciwosci elementow
OME_VISIBLE,
OME_TAB,
OME_END,
} OSD_MenuElement;
typedef struct
{
char *text;
OSD_MenuElement type;
OSDMenuFuncPtr func;
void *data;
uint8_t flags;
} OSD_Entry;
// Bits in flags
#define PRINT_VALUE 0x01 // Value has been changed, need to redraw
#define PRINT_LABEL 0x02 // Text label should be printed
#define IS_PRINTVALUE(p) ((p)->flags & PRINT_VALUE)
#define SET_PRINTVALUE(p) { (p)->flags |= PRINT_VALUE; }
#define CLR_PRINTVALUE(p) { (p)->flags &= ~PRINT_VALUE; }
#define IS_PRINTLABEL(p) ((p)->flags & PRINT_LABEL)
#define SET_PRINTLABEL(p) { (p)->flags |= PRINT_LABEL; }
#define CLR_PRINTLABEL(p) { (p)->flags &= ~PRINT_LABEL; }
typedef struct
{
uint8_t *val;
uint8_t min;
uint8_t max;
uint8_t step;
} OSD_UINT8_t;
typedef struct
{
int8_t *val;
int8_t min;
int8_t max;
int8_t step;
} OSD_INT8_t;
typedef struct
{
int16_t *val;
int16_t min;
int16_t max;
int16_t step;
} OSD_INT16_t;
typedef struct
{
uint16_t *val;
uint16_t min;
uint16_t max;
uint16_t step;
} OSD_UINT16_t;
typedef struct
{
uint8_t *val;
uint8_t min;
uint8_t max;
uint8_t step;
uint16_t multipler;
} OSD_FLOAT_t;
typedef struct
{
uint8_t *val;
uint8_t max;
const char * const *names;
} OSD_TAB_t;

66
src/main/io/display.c
View file

@ -50,6 +50,8 @@
#include "flight/imu.h"
#include "flight/failsafe.h"
#include "io/cms.h"
#ifdef GPS
#include "io/gps.h"
#include "flight/navigation.h"
@ -577,10 +579,19 @@ void showDebugPage(void)
}
#endif
#ifdef OLEDCMS
static bool displayInCMS = false;
#endif
void displayUpdate(uint32_t currentTime)
{
static uint8_t previousArmedState = 0;
#ifdef OLEDCMS
if (displayInCMS)
return;
#endif
const bool updateNow = (int32_t)(currentTime - nextDisplayUpdateAt) >= 0L;
if (!updateNow) {
return;
@ -692,6 +703,10 @@ void displayInit(rxConfig_t *rxConfigToUse)
resetDisplay();
delay(200);
#if defined(CMS) && defined(OLEDCMS)
cmsDeviceRegister(displayCmsInit);
#endif
rxConfig = rxConfigToUse;
memset(&pageState, 0, sizeof(pageState));
@ -729,4 +744,55 @@ void displayDisablePageCycling(void)
pageState.pageFlags &= ~PAGE_STATE_FLAG_CYCLE_ENABLED;
}
#ifdef OLEDCMS
#include "io/cms.h"
int displayCmsBegin(void)
{
displayInCMS = true;
return 0;
}
int displayCmsEnd(void)
{
displayInCMS = false;
return 0;
}
int displayCmsClear(void)
{
i2c_OLED_clear_display_quick();
return 0;
}
int displayCmsWrite(uint8_t x, uint8_t y, char *s)
{
i2c_OLED_set_xy(x, y);
i2c_OLED_send_string(s);
return 0;
}
screenFnVTable_t displayCmsVTable = {
displayCmsBegin,
displayCmsEnd,
displayCmsClear,
displayCmsWrite,
NULL,
NULL,
};
void displayCmsInit(displayPort_t *pPort)
{
pPort->rows = 8;
pPort->cols = 21;
pPort->buftime = 1;
pPort->bufsize = 50000;
pPort->VTable = &displayCmsVTable;
}
#endif // OLEDCMS
#endif

4
src/main/io/display.h
View file

@ -45,3 +45,7 @@ void displayEnablePageCycling(void);
void displayDisablePageCycling(void);
void displayResetPageCycling(void);
void displaySetNextPageChangeAt(uint32_t futureMicros);
#ifdef CMS
void displayCmsInit(displayPort_t *);
#endif

2
src/main/io/gps.c
View file

@ -38,6 +38,8 @@
#include "sensors/sensors.h"
#include "io/cms.h"
#include "io/serial.h"
#include "io/display.h"
#include "io/gps.h"

2
src/main/io/ledstrip.c
View file

@ -62,8 +62,6 @@
#include "io/gimbal.h"
#include "io/serial.h"
#include "io/gps.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"

1871
src/main/io/osd.c
View file

File diff suppressed because it is too large Load diff

1006
src/main/io/osd.c.orig Executable file
View file

File diff suppressed because it is too large Load diff

19
src/main/io/osd.h
View file

@ -17,8 +17,6 @@
#pragma once
#include <stdint.h>
typedef enum {
OSD_RSSI_VALUE,
OSD_MAIN_BATT_VOLTAGE,
@ -54,6 +52,8 @@ typedef struct {
uint16_t alt_alarm;
uint8_t video_system;
uint8_t row_shiftdown;
osd_unit_t units;
} osd_profile_t;
@ -68,3 +68,18 @@ typedef struct {
void updateOsd(uint32_t currentTime);
void osdInit(void);
void resetOsdConfig(osd_profile_t *osdProfile);
#ifdef CMS
void osdCmsInit(displayPort_t *);
#endif
// Character coordinate and attributes
#define OSD_POS(x,y) (x | (y << 5))
#define OSD_X(x) (x & 0x001F)
#define OSD_Y(x) ((x >> 5) & 0x001F)
#define VISIBLE_FLAG 0x0800
#define BLINK_FLAG 0x0400
#define VISIBLE(x) (x & VISIBLE_FLAG)
#define BLINK(x) ((x & BLINK_FLAG) && blinkState)
#define BLINK_OFF(x) (x & ~BLINK_FLAG)

4
src/main/io/serial_cli.c
View file

@ -70,6 +70,7 @@ uint8_t cliMode = 0;
#include "io/flashfs.h"
#include "io/beeper.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/cms.h"
#include "io/osd.h"
#include "io/vtx.h"
@ -225,7 +226,7 @@ static const char * const featureNames[] = {
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
" ", "VTX", "RX_SPI", "SOFTSPI", NULL
" ", "VTX", "RX_SPI", "SOFTSPI", "CANVAS", NULL
};
// sync this with rxFailsafeChannelMode_e
@ -946,6 +947,7 @@ const clivalue_t valueTable[] = {
#ifdef OSD
{ "osd_video_system", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.video_system, .config.minmax = { 0, 2 } },
{ "osd_row_shiftdown", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.row_shiftdown, .config.minmax = { 0, 1 } },
{ "osd_units", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.osdProfile.units, .config.lookup = { TABLE_UNIT } },
{ "osd_rssi_alarm", VAR_UINT8 | MASTER_VALUE, &masterConfig.osdProfile.rssi_alarm, .config.minmax = { 0, 100 } },

132
src/main/io/vtx_smartaudio.c
View file

@ -10,6 +10,8 @@
#include "drivers/system.h"
#include "drivers/serial.h"
#include "io/serial.h"
#include "io/cms.h"
#include "io/cms_types.h"
#include "io/vtx_smartaudio.h"
#include "fc/rc_controls.h"
@ -40,7 +42,7 @@ serialPort_t *debugSerialPort = NULL;
#include "build/debug.h"
#ifdef OSD
#ifdef CMS
static void smartAudioUpdateStatusString(void); // Forward
#endif
@ -289,7 +291,7 @@ static void saProcessResponse(uint8_t *buf, int len)
// Debug
smartAudioPrintSettings();
// Export current settings for BFOSD 3.0.0
// Export current settings for CMS
smartAudioBand = (sa_chan / 8) + 1;
smartAudioChan = (sa_chan % 8) + 1;
@ -635,48 +637,6 @@ bool smartAudioInit()
return true;
}
void smartAudioConfigurePitFModeByGvar(void *opaque)
{
UNUSED(opaque);
if (smartAudioPitFMode == 0) {
saSetMode(SA_MODE_SET_IN_RANGE_PITMODE);
} else {
saSetMode(SA_MODE_SET_OUT_RANGE_PITMODE);
}
}
void smartAudioConfigureOpModelByGvar(void *opaque)
{
UNUSED(opaque);
masterConfig.vtx_smartaudio_opmodel = smartAudioOpModel;
if (smartAudioOpModel == SA_OPMODEL_FREE) {
// VTX should power up transmitting.
// Turn off In-Range and Out-Range bits
saSetMode(0);
} else {
// VTX should power up in pit mode.
// Setup In-Range or Out-Range bits
smartAudioConfigurePitFModeByGvar(opaque);
}
}
#if 0
void
{
static int turn = 0;
if ((turn++ % 2) == 0) {
saSetMode(SA_MODE_SET_UNLOCK|SA_MODE_SET_PITMODE|SA_MODE_SET_IN_RANGE_PITMODE);
} else {
saSetMode(SA_MODE_SET_UNLOCK|SA_MODE_CLR_PITMODE);
}
}
#endif
void smartAudioProcess(uint32_t now)
{
static bool initialSent = false;
@ -724,9 +684,7 @@ void smartAudioProcess(uint32_t now)
}
}
#ifdef OSD
// API for BFOSD3.0
#ifdef CMS
char smartAudioStatusString[31] = "- - ---- --- ---- -";
uint8_t smartAudioBand = 0;
@ -751,77 +709,87 @@ static void smartAudioUpdateStatusString(void)
tfp_sprintf(&smartAudioStatusString[13], "%4s", "----");
}
void smartAudioConfigureBandByGvar(void *opaque)
long smartAudioConfigureBandByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(opaque);
UNUSED(pDisp);
UNUSED(self);
if (sa_vers == 0) {
// Bounce back; not online yet
smartAudioBand = 0;
return;
return 0;
}
if (smartAudioBand == 0) {
// Bouce back, no going back to undef state
smartAudioBand = 1;
return;
return 0;
}
smartAudioSetBandChan(smartAudioBand - 1, smartAudioChan - 1);
return 0;
}
void smartAudioConfigureChanByGvar(void *opaque)
long smartAudioConfigureChanByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(opaque);
UNUSED(pDisp);
UNUSED(self);
if (sa_vers == 0) {
// Bounce back; not online yet
smartAudioChan = 0;
return;
return 0;
}
if (smartAudioChan == 0) {
// Bounce back; no going back to undef state
smartAudioChan = 1;
return;
return 0;
}
smartAudioSetBandChan(smartAudioBand - 1, smartAudioChan - 1);
return 0;
}
void smartAudioConfigurePowerByGvar(void *opaque)
long smartAudioConfigurePowerByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(opaque);
UNUSED(pDisp);
UNUSED(self);
if (sa_vers == 0) {
// Bounce back; not online yet
smartAudioPower = 0;
return;
return 0;
}
if (smartAudioPower == 0) {
// Bouce back; no going back to undef state
smartAudioPower = 1;
return;
return 0;
}
smartAudioSetPowerByIndex(smartAudioPower - 1);
return 0;
}
void smartAudioSetTxModeByGvar(void *opaque)
long smartAudioSetTxModeByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(opaque);
UNUSED(pDisp);
UNUSED(self);
if (sa_vers != 2) {
// Bounce back; not online yet or can't handle mode (V1)
smartAudioTxMode = SA_TXMODE_NODEF;
return;
return 0;
}
if (smartAudioTxMode == 0) {
// Bouce back; no going back to undef state
++smartAudioTxMode;
return;
return 0;
}
if (smartAudioTxMode == SA_TXMODE_ACTIVE) {
@ -839,6 +807,42 @@ void smartAudioSetTxModeByGvar(void *opaque)
smartAudioTxMode = SA_TXMODE_ACTIVE;
}
}
return 0;
}
#endif // OSD
long smartAudioConfigurePitFModeByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(pDisp);
UNUSED(self);
if (smartAudioPitFMode == 0) {
saSetMode(SA_MODE_SET_IN_RANGE_PITMODE);
} else {
saSetMode(SA_MODE_SET_OUT_RANGE_PITMODE);
}
return 0;
}
long smartAudioConfigureOpModelByGvar(displayPort_t *pDisp, void *self)
{
UNUSED(pDisp);
UNUSED(self);
masterConfig.vtx_smartaudio_opmodel = smartAudioOpModel;
if (smartAudioOpModel == SA_OPMODEL_FREE) {
// VTX should power up transmitting.
// Turn off In-Range and Out-Range bits
saSetMode(0);
} else {
// VTX should power up in pit mode.
// Setup In-Range or Out-Range bits
smartAudioConfigurePitFModeByGvar(pDisp, self);
}
return 0;
}
#endif // CMS
#endif // VTX_SMARTAUDIO

12
src/main/io/vtx_smartaudio.h
View file

@ -27,10 +27,10 @@ uint8_t smartAudioTxMode;
uint8_t smartAudioPitFMode;
uint16_t smartAudioORFreq;
void smartAudioConfigureOpModelByGvar(void *);
void smartAudioConfigurePitFModeByGvar(void *);
void smartAudioConfigureBandByGvar(void *);
void smartAudioConfigureChanByGvar(void *);
void smartAudioConfigurePowerByGvar(void *);
void smartAudioSetTxModeByGvar(void *);
long smartAudioConfigureOpModelByGvar(displayPort_t *, void *self);
long smartAudioConfigurePitFModeByGvar(displayPort_t *, void *self);
long smartAudioConfigureBandByGvar(displayPort_t *, void *self);
long smartAudioConfigureChanByGvar(displayPort_t *, void *self);
long smartAudioConfigurePowerByGvar(displayPort_t *, void *self);
long smartAudioSetTxModeByGvar(displayPort_t *, void *self);
#endif

13
src/main/main.c
View file

@ -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"
@ -89,6 +91,7 @@
#include "io/osd.h"
#include "io/vtx.h"
#include "io/vtx_smartaudio.h"
#include "io/canvas.h"
#include "scheduler/scheduler.h"
@ -396,6 +399,10 @@ void init(void)
initBoardAlignment(&masterConfig.boardAlignment);
#ifdef CMS
cmsInit();
#endif
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
displayInit(&masterConfig.rxConfig);
@ -455,6 +462,12 @@ void init(void)
mspFcInit();
mspSerialInit();
#ifdef CANVAS
if (feature(FEATURE_CANVAS)) {
canvasInit();
}
#endif
#ifdef USE_CLI
cliInit(&masterConfig.serialConfig);
#endif

84
src/main/main.c.orig
View file

@ -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)
{

1
src/main/msp/msp.h
View file

@ -35,3 +35,4 @@ typedef struct mspPacket_s {
struct serialPort_s;
typedef void (*mspPostProcessFnPtr)(struct serialPort_s *port); // msp post process function, used for gracefully handling reboots, etc.
typedef mspResult_e (*mspProcessCommandFnPtr)(mspPacket_t *cmd, mspPacket_t *reply, mspPostProcessFnPtr *mspPostProcessFn);
typedef void (*mspPushCommandFnPtr)(mspPacket_t *push, uint8_t *, int);

3
src/main/msp/msp_protocol.h
View file

@ -216,6 +216,9 @@
#define MSP_OSD_VIDEO_CONFIG 180
#define MSP_SET_OSD_VIDEO_CONFIG 181
// External OSD canvas mode messages
#define MSP_CANVAS 182
//
// Multwii original MSP commands
//

35
src/main/msp/msp_serial.c
View file

@ -211,3 +211,38 @@ void mspSerialInit(void)
mspSerialAllocatePorts();
}
mspPushCommandFnPtr mspPushCommandFn;
void mspSerialPush(uint8_t cmd, uint8_t *data, int datalen)
{
static uint8_t pushBuf[30];
mspPacket_t push = {
.buf = { .ptr = pushBuf, .end = ARRAYEND(pushBuf), },
.cmd = cmd,
.result = 0,
};
for (uint8_t portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
mspPort_t * const mspPort = &mspPorts[portIndex];
if (!mspPort->port) {
continue;
}
// XXX Kludge!!! Avoid zombie VCP port (avoid VCP entirely for now)
if (mspPort->port->identifier == SERIAL_PORT_USB_VCP) {
continue;
}
mspPushCommandFn(&push, data, datalen);
sbufSwitchToReader(&push.buf, pushBuf);
mspSerialEncode(mspPort, &push);
}
}
void mspSerialPushInit(mspPushCommandFnPtr mspPushCommandFnToUse)
{
mspPushCommandFn = mspPushCommandFnToUse;
}

2
src/main/msp/msp_serial.h
View file

@ -66,3 +66,5 @@ void mspSerialInit(void);
void mspSerialProcess(mspEvaluateNonMspData_e evaluateNonMspData, mspProcessCommandFnPtr mspProcessCommandFn);
void mspSerialAllocatePorts(void);
void mspSerialReleasePortIfAllocated(struct serialPort_s *serialPort);
void mspSerialPushInit(mspPushCommandFnPtr mspPushCommandFn);
void mspSerialPush(uint8_t, uint8_t *, int);

3
src/main/scheduler/scheduler.h
View file

@ -85,6 +85,9 @@ typedef enum {
#ifdef USE_BST
TASK_BST_MASTER_PROCESS,
#endif
#ifdef CMS
TASK_CMS,
#endif
#ifdef VTX_CONTROL
TASK_VTXCTRL,
#endif

142
src/main/scheduler/scheduler.h.orig Normal file
View file

@ -0,0 +1,142 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
//#define SCHEDULER_DEBUG
typedef enum {
TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
TASK_PRIORITY_LOW = 1,
TASK_PRIORITY_MEDIUM = 3,
TASK_PRIORITY_HIGH = 5,
TASK_PRIORITY_REALTIME = 6,
TASK_PRIORITY_MAX = 255
} cfTaskPriority_e;
typedef struct {
const char * taskName;
const char * subTaskName;
bool isEnabled;
uint32_t desiredPeriod;
uint8_t staticPriority;
uint32_t maxExecutionTime;
uint32_t totalExecutionTime;
uint32_t averageExecutionTime;
uint32_t latestDeltaTime;
} cfTaskInfo_t;
typedef enum {
/* Actual tasks */
TASK_SYSTEM = 0,
TASK_GYROPID,
TASK_ACCEL,
TASK_ATTITUDE,
TASK_RX,
TASK_SERIAL,
TASK_BATTERY,
#ifdef BEEPER
TASK_BEEPER,
#endif
#ifdef GPS
TASK_GPS,
#endif
#ifdef MAG
TASK_COMPASS,
#endif
#ifdef BARO
TASK_BARO,
#endif
#ifdef SONAR
TASK_SONAR,
#endif
#if defined(BARO) || defined(SONAR)
TASK_ALTITUDE,
#endif
#ifdef DISPLAY
TASK_DISPLAY,
#endif
#ifdef TELEMETRY
TASK_TELEMETRY,
#endif
#ifdef LED_STRIP
TASK_LEDSTRIP,
#endif
#ifdef TRANSPONDER
TASK_TRANSPONDER,
#endif
#ifdef OSD
TASK_OSD,
#endif
#ifdef USE_BST
TASK_BST_MASTER_PROCESS,
#endif
<<<<<<< HEAD
#ifdef VTX_CONTROL
TASK_VTXCTRL,
=======
#ifdef CMS
TASK_CMS,
>>>>>>> bfdev-osd-cms-separation-poc
#endif
/* Count of real tasks */
TASK_COUNT,
/* Service task IDs */
TASK_NONE = TASK_COUNT,
TASK_SELF
} cfTaskId_e;
typedef struct {
/* Configuration */
const char * taskName;
const char * subTaskName;
bool (*checkFunc)(uint32_t currentTime, uint32_t currentDeltaTime);
void (*taskFunc)(uint32_t currentTime);
uint32_t desiredPeriod; // target period of execution
const uint8_t staticPriority; // dynamicPriority grows in steps of this size, shouldn't be zero
/* Scheduling */
uint16_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation
uint16_t taskAgeCycles;
uint32_t lastExecutedAt; // last time of invocation
uint32_t lastSignaledAt; // time of invocation event for event-driven tasks
/* Statistics */
uint32_t averageExecutionTime; // Moving average over 6 samples, used to calculate guard interval
uint32_t taskLatestDeltaTime; //
#ifndef SKIP_TASK_STATISTICS
uint32_t maxExecutionTime;
uint32_t totalExecutionTime; // total time consumed by task since boot
#endif
} cfTask_t;
extern cfTask_t cfTasks[TASK_COUNT];
extern uint16_t averageSystemLoadPercent;
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
uint32_t getTaskDeltaTime(cfTaskId_e taskId);
void schedulerInit(void);
void scheduler(void);
#define LOAD_PERCENTAGE_ONE 100
#define isSystemOverloaded() (averageSystemLoadPercent >= LOAD_PERCENTAGE_ONE)

11
src/main/target/OMNIBUS/target.h
View file

@ -1,3 +1,4 @@
#define USE_DPRINTF
/*
* This file is part of Cleanflight.
*
@ -91,10 +92,20 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
// Configuratoin Menu System
#define CMS
// Use external OSD to run CMS
#define CANVAS
// USE I2C OLED display to run CMS
#define OLEDCMS
// OSD define info:
// feature name (includes source) -> MAX_OSD, used in target.mk
// include the osd code
#define OSD
// include the max7456 driver
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI1

2
src/main/target/OMNIBUS/target.mk
View file

@ -15,4 +15,6 @@ TARGET_SRC = \
io/transponder_ir.c \
drivers/max7456.c \
io/osd.c \
io/cms.c \
io/canvas.c \
io/vtx_smartaudio.c

23
src/main/target/OMNIBUS/target.mk.orig Normal file
View file

@ -0,0 +1,23 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_bmp280.c \
drivers/barometer_spi_bmp280.c \
drivers/compass_ak8963.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/serial_usb_vcp.c \
drivers/transponder_ir.c \
drivers/transponder_ir_stm32f30x.c \
io/transponder_ir.c \
drivers/max7456.c \
io/osd.c \
<<<<<<< HEAD
io/vtx_smartaudio.c
=======
io/cms.c \
io/canvas.c
>>>>>>> bfdev-osd-cms-separation-poc

3
src/main/target/OMNIBUSF4/target.h
View file

@ -70,6 +70,9 @@
//#define MAX7456_DMA_CHANNEL_RX DMA1_Stream0
//#define MAX7456_DMA_IRQ_HANDLER_ID DMA1_ST0_HANDLER
#define CMS
#define CANVAS
//#define PITOT
//#define USE_PITOT_MS4525
//#define MS4525_BUS I2C_DEVICE_EXT

4
src/main/target/OMNIBUSF4/target.mk
View file

@ -6,5 +6,7 @@ TARGET_SRC = \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c \
drivers/max7456.c \
io/osd.c
io/osd.c \
io/cms.c \
io/canvas.c

3
src/main/target/REVO/target.h
View file

@ -144,3 +144,6 @@
#define USABLE_TIMER_CHANNEL_COUNT 12
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
#define CMS
#define CANVAS

4
src/main/target/REVO/target.mk
View file

@ -4,4 +4,6 @@ FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_hmc5883l.c
drivers/compass_hmc5883l.c \
io/cms.c \
io/canvas.c

9
src/main/target/SIRINFPV/target.h
View file

@ -139,6 +139,15 @@
#define OSD
// Configuratoin Menu System
#define CMS
// Use external OSD to run CMS
#define CANVAS
// USE I2C OLED display to run CMS
#define OLEDCMS
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
#define USE_SERVOS

4
src/main/target/SIRINFPV/target.mk
View file

@ -12,4 +12,6 @@ TARGET_SRC = \
drivers/flash_m25p16.c \
drivers/vtx_soft_spi_rtc6705.c \
drivers/max7456.c \
io/osd.c
io/osd.c \
io/cms.c \
io/canvas.c

8
src/main/target/SPRACINGF3/target.h
View file

@ -140,3 +140,11 @@
#define USABLE_TIMER_CHANNEL_COUNT 17
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
// Configuratoin Menu System
#define CMS
// Use external OSD to run CMS
#define CANVAS
// USE I2C OLED display to run CMS
#define OLEDCMS

4
src/main/target/SPRACINGF3/target.mk
View file

@ -8,5 +8,7 @@ TARGET_SRC = \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c
drivers/compass_hmc5883l.c \
io/cms.c \
io/canvas.c

2
src/main/target/STM32F3DISCOVERY/target.h
View file

@ -120,6 +120,8 @@
#define MAX7456_SPI_INSTANCE SPI2
#define MAX7456_SPI_CS_PIN SPI2_NSS_PIN
#define CMS
//#define USE_SDCARD
//#define USE_SDCARD_SPI2
//

3
src/main/target/STM32F3DISCOVERY/target.mk
View file

@ -26,4 +26,5 @@ TARGET_SRC = \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/max7456.c \
io/osd.c
io/osd.c \
io/cms.c

2
src/main/telemetry/ltm.c
View file

@ -61,8 +61,6 @@
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/beeper.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "rx/rx.h"

3
src/main/telemetry/smartport.c
View file

@ -28,9 +28,6 @@
#include "io/motors.h"
#include "io/gps.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"