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Code Issues Wiki Activity

Fixup after rebase

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This commit is contained in:
Martin Budden 2016-10-09 17:44:29 +01:00
parent 0ccb7040f0
commit 3f5393e201
2 changed files with 9 additions and 201 deletions
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12
src/main/fc/fc_tasks.c
View file

@ -247,8 +247,14 @@ void taskUpdateAttitude(uint32_t currentTime)
void taskHandleSerial(uint32_t currentTime)
{
UNUSED(currentTime);
handleSerial();
#ifdef USE_CLI
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
if (cliMode) {
cliProcess();
return;
}
#endif
mspSerialProcess();
}
void taskUpdateBeeper(uint32_t currentTime)
@ -424,7 +430,7 @@ void taskUpdateOsd(uint32_t currentTime)
void fcTasksInit(void)
{
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {

198
src/main/fc/mw.c
View file

@ -847,201 +847,3 @@ void taskMainPidLoopCheck(uint32_t currentTime)
runTaskMainSubprocesses = true;
}
}
<<<<<<< 92d2e3ae91522c306728193a386d350c612249cc
void taskUpdateAccelerometer(uint32_t currentTime)
{
UNUSED(currentTime);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
void taskUpdateAttitude(uint32_t currentTime)
{
imuUpdateAttitude(currentTime);
}
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();
}
void taskUpdateBeeper(uint32_t currentTime)
{
beeperUpdate(currentTime); //call periodic beeper handler
}
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);
}
}
}
bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
return rxUpdate(currentTime);
}
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
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 gpsThread() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsThread();
}
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTime);
}
}
#endif
#ifdef MAG
void taskUpdateCompass(uint32_t currentTime)
{
if (sensors(SENSOR_MAG)) {
updateCompass(currentTime, &masterConfig.magZero);
}
}
#endif
#ifdef BARO
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
void taskUpdateSonar(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
}
#endif
#if defined(BARO) || defined(SONAR)
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
void taskUpdateDisplay(uint32_t currentTime)
{
if (feature(FEATURE_DISPLAY)) {
updateDisplay(currentTime);
}
}
#endif
#ifdef TELEMETRY
void taskTelemetry(uint32_t currentTime)
{
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
}
}
#endif
#ifdef LED_STRIP
void taskLedStrip(uint32_t currentTime)
{
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip(currentTime);
}
}
#endif
#ifdef TRANSPONDER
void taskTransponder(uint32_t currentTime)
{
if (feature(FEATURE_TRANSPONDER)) {
updateTransponder(currentTime);
}
}
#endif
#ifdef OSD
void taskUpdateOsd(uint32_t currentTime)
{
if (feature(FEATURE_OSD)) {
updateOsd(currentTime);
}
}
#endif
=======
>>>>>>> Reorganisation of tasks into fc_tasks.c