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https://github.com/betaflight/betaflight.git
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Rebased on to master (with merged CMS)
This commit is contained in:
jflyper
commit
61a87480b3
341 changed files with 8778 additions and 8563 deletions
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@ -21,6 +21,9 @@
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#include <platform.h>
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#include "cms/cms.h"
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#include "cms/cms_types.h"
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/utils.h"
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@ -40,9 +43,6 @@
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#include "flight/pid.h"
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#include "flight/altitudehold.h"
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#include "io/cms.h"
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#include "io/cms_types.h"
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#include "io/beeper.h"
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#include "io/dashboard.h"
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#include "io/gps.h"
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@ -87,11 +87,6 @@ static void taskUpdateAccelerometer(uint32_t currentTime)
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imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
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}
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static void taskUpdateAttitude(uint32_t currentTime)
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{
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imuUpdateAttitude(currentTime);
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}
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static void taskHandleSerial(uint32_t currentTime)
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{
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UNUSED(currentTime);
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@ -105,13 +100,6 @@ static void taskHandleSerial(uint32_t currentTime)
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mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
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}
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#ifdef BEEPER
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static void taskUpdateBeeper(uint32_t currentTime)
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{
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beeperUpdate(currentTime); //call periodic beeper handler
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}
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#endif
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static void taskUpdateBattery(uint32_t currentTime)
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{
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#ifdef USE_ADC
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@ -135,12 +123,6 @@ static void taskUpdateBattery(uint32_t currentTime)
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}
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}
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static bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
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{
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UNUSED(currentDeltaTime);
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return rxUpdate(currentTime);
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}
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static void taskUpdateRxMain(uint32_t currentTime)
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{
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processRx(currentTime);
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@ -165,18 +147,6 @@ static void taskUpdateRxMain(uint32_t currentTime)
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#endif
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}
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#ifdef GPS
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static void taskProcessGPS(uint32_t currentTime)
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{
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// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
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// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsUdate() can and will
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// change this based on available hardware
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if (feature(FEATURE_GPS)) {
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gpsUpdate(currentTime);
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}
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}
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#endif
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#ifdef MAG
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static void taskUpdateCompass(uint32_t currentTime)
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{
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@ -200,17 +170,6 @@ static void taskUpdateBaro(uint32_t currentTime)
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}
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#endif
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#ifdef SONAR
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static void taskUpdateSonar(uint32_t currentTime)
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{
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UNUSED(currentTime);
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if (sensors(SENSOR_SONAR)) {
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sonarUpdate();
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}
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}
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#endif
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#if defined(BARO) || defined(SONAR)
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static void taskCalculateAltitude(uint32_t currentTime)
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{
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@ -226,15 +185,6 @@ static void taskCalculateAltitude(uint32_t currentTime)
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}}
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#endif
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#ifdef USE_DASHBOARD
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static void taskUpdateDashboard(uint32_t currentTime)
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{
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if (feature(FEATURE_DASHBOARD)) {
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dashboardUpdate(currentTime);
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}
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}
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#endif
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#ifdef TELEMETRY
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static void taskTelemetry(uint32_t currentTime)
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{
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@ -246,33 +196,6 @@ static void taskTelemetry(uint32_t currentTime)
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}
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#endif
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#ifdef LED_STRIP
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static void taskLedStrip(uint32_t currentTime)
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{
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if (feature(FEATURE_LED_STRIP)) {
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ledStripUpdate(currentTime);
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}
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}
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#endif
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#ifdef TRANSPONDER
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static void taskTransponder(uint32_t currentTime)
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{
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if (feature(FEATURE_TRANSPONDER)) {
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transponderUpdate(currentTime);
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}
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}
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#endif
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#ifdef OSD
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static void taskUpdateOsd(uint32_t currentTime)
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{
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if (feature(FEATURE_OSD)) {
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updateOsd(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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@ -347,12 +270,17 @@ void fcTasksInit(void)
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setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
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#endif
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#ifdef CMS
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// XXX Should check FEATURE
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#ifdef USE_MSP_DISPLAYPORT
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setTaskEnabled(TASK_CMS, true);
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#else
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setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
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#endif
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#endif
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#ifdef VTX_CONTROL
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#ifdef VTX_SMARTAUDIO
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setTaskEnabled(TASK_VTXCTRL, true);
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#endif
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#endif
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}
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cfTask_t cfTasks[TASK_COUNT] = {
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@ -380,14 +308,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = taskUpdateAttitude,
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.taskFunc = imuUpdateAttitude,
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.desiredPeriod = 1000000 / 100,
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_RX] = {
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.taskName = "RX",
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.checkFunc = taskUpdateRxCheck,
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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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.staticPriority = TASK_PRIORITY_HIGH,
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@ -410,7 +338,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef BEEPER
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[TASK_BEEPER] = {
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.taskName = "BEEPER",
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.taskFunc = taskUpdateBeeper,
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.taskFunc = beeperUpdate,
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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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@ -419,7 +347,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef GPS
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[TASK_GPS] = {
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.taskName = "GPS",
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.taskFunc = taskProcessGPS,
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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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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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@ -446,8 +374,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef SONAR
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[TASK_SONAR] = {
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.taskName = "SONAR",
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.taskFunc = taskUpdateSonar,
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.desiredPeriod = 1000000 / 20,
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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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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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@ -464,7 +392,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = taskTransponder,
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.taskFunc = transponderUpdate,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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@ -473,7 +401,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef USE_DASHBOARD
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[TASK_DASHBOARD] = {
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.taskName = "DASHBOARD",
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.taskFunc = taskUpdateDashboard,
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.taskFunc = dashboardUpdate,
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.desiredPeriod = 1000000 / 10,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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@ -481,7 +409,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef OSD
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[TASK_OSD] = {
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.taskName = "OSD",
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.taskFunc = taskUpdateOsd,
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.taskFunc = osdUpdate,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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@ -498,7 +426,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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#ifdef LED_STRIP
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[TASK_LEDSTRIP] = {
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.taskName = "LEDSTRIP",
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.taskFunc = taskLedStrip,
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.taskFunc = ledStripUpdate,
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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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