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https://github.com/betaflight/betaflight.git
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Rebased on to master
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jflyper
commit
4a9366ce85
280 changed files with 9709 additions and 5130 deletions
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@ -68,11 +68,15 @@
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#include "scheduler/scheduler.h"
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#include "telemetry/telemetry.h"
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#include "telemetry/esc_telemetry.h"
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#include "config/feature.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
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#define TASK_PERIOD_MS(ms) ((ms) * 1000)
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#define TASK_PERIOD_US(us) (us)
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/* VBAT monitoring interval (in microseconds) - 1s*/
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#define VBATINTERVAL (6 * 3500)
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@ -104,7 +108,7 @@ static void taskUpdateBattery(uint32_t currentTime)
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{
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#ifdef USE_ADC
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static uint32_t vbatLastServiced = 0;
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if (feature(FEATURE_VBAT)) {
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if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
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if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
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vbatLastServiced = currentTime;
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updateBattery();
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@ -113,7 +117,7 @@ static void taskUpdateBattery(uint32_t currentTime)
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#endif
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static uint32_t ibatLastServiced = 0;
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if (feature(FEATURE_CURRENT_METER)) {
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if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
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const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
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if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
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@ -196,6 +200,15 @@ static void taskTelemetry(uint32_t currentTime)
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}
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#endif
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#ifdef USE_ESC_TELEMETRY
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static void taskEscTelemetry(uint32_t currentTime)
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{
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if (feature(FEATURE_ESC_TELEMETRY)) {
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escTelemetryProcess(currentTime);
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}
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}
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#endif
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#ifdef VTX_CONTROL
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// Everything that listens to VTX devices
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void taskVtxControl(uint32_t currentTime)
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@ -235,7 +248,7 @@ void fcTasksInit(void)
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setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
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#if defined(USE_SPI) && defined(USE_MAG_AK8963)
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// fixme temporary solution for AK6983 via slave I2C on MPU9250
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rescheduleTask(TASK_COMPASS, 1000000 / 40);
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rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));
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#endif
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#endif
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#ifdef BARO
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@ -252,9 +265,14 @@ void fcTasksInit(void)
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#endif
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#ifdef TELEMETRY
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setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
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// Reschedule telemetry to 500hz for Jeti Exbus
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if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
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rescheduleTask(TASK_TELEMETRY, 2000);
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if (feature(FEATURE_TELEMETRY)) {
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if (masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
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// Reschedule telemetry to 500hz for Jeti Exbus
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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} else if (masterConfig.rxConfig.serialrx_provider == SERIALRX_CRSF) {
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// Reschedule telemetry to 500hz, 2ms for CRSF
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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}
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}
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#endif
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#ifdef LED_STRIP
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@ -269,6 +287,9 @@ void fcTasksInit(void)
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#ifdef USE_BST
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setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
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#endif
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#ifdef USE_ESC_TELEMETRY
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setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
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#endif
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#ifdef CMS
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#ifdef USE_MSP_DISPLAYPORT
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setTaskEnabled(TASK_CMS, true);
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@ -287,7 +308,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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.taskName = "SYSTEM",
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.taskFunc = taskSystem,
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.desiredPeriod = 1000000 / 10, // run every 100 ms
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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@ -302,14 +323,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_ACCEL] = {
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.taskName = "ACCEL",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = 1000000 / 1000, // every 1ms
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.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = imuUpdateAttitude,
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.desiredPeriod = 1000000 / 100,
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.desiredPeriod = TASK_PERIOD_HZ(100),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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@ -317,21 +338,21 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.taskName = "RX",
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.checkFunc = rxUpdateCheck,
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.taskFunc = taskUpdateRxMain,
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.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
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.desiredPeriod = TASK_PERIOD_HZ(50), // If event-based scheduling doesn't work, fallback to periodic scheduling
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_BATTERY] = {
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.taskName = "BATTERY",
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.taskFunc = taskUpdateBattery,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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@ -339,7 +360,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_BEEPER] = {
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.taskName = "BEEPER",
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.taskFunc = beeperUpdate,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -348,7 +369,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_GPS] = {
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.taskName = "GPS",
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.taskFunc = gpsUpdate,
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.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
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.desiredPeriod = TASK_PERIOD_HZ(10), // GPS usually don't go raster than 10Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#endif
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@ -357,7 +378,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_COMPASS] = {
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.taskName = "COMPASS",
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.taskFunc = taskUpdateCompass,
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.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
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.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -366,7 +387,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_BARO] = {
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.taskName = "BARO",
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.taskFunc = taskUpdateBaro,
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.desiredPeriod = 1000000 / 20,
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.desiredPeriod = TASK_PERIOD_HZ(20),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -375,7 +396,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SONAR] = {
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.taskName = "SONAR",
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.taskFunc = sonarUpdate,
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.desiredPeriod = 70000, // 70ms required so that SONAR pulses do not interfer with each other
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.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfer with each other
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -384,7 +405,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_ALTITUDE] = {
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.taskName = "ALTITUDE",
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.taskFunc = taskCalculateAltitude,
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.desiredPeriod = 1000000 / 40,
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.desiredPeriod = TASK_PERIOD_HZ(40),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -393,7 +414,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = transponderUpdate,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -402,7 +423,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_DASHBOARD] = {
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.taskName = "DASHBOARD",
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.taskFunc = dashboardUpdate,
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.desiredPeriod = 1000000 / 10,
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.desiredPeriod = TASK_PERIOD_HZ(10),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -410,7 +431,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_OSD] = {
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.taskName = "OSD",
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.taskFunc = osdUpdate,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -418,7 +439,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_TELEMETRY] = {
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.taskName = "TELEMETRY",
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.taskFunc = taskTelemetry,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -427,7 +448,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_LEDSTRIP] = {
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.taskName = "LEDSTRIP",
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.taskFunc = ledStripUpdate,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -436,16 +457,25 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_BST_MASTER_PROCESS] = {
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.taskName = "BST_MASTER_PROCESS",
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.taskFunc = taskBstMasterProcess,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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#ifdef USE_ESC_TELEMETRY
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[TASK_ESC_TELEMETRY] = {
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.taskName = "ESC_TELEMETRY",
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.taskFunc = taskEscTelemetry,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef CMS
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[TASK_CMS] = {
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.taskName = "CMS",
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.taskFunc = cmsHandler,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -454,7 +484,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_VTXCTRL] = {
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.taskName = "VTXCTRL",
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.taskFunc = taskVtxControl,
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.desiredPeriod = 1000000 / 5, // 5Hz @200msec
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5Hz @200msec
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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