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Code Issues Wiki Activity

Removed OSD_SLAVE defines.

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This commit is contained in:
mikeller 2018-08-23 23:03:22 +12:00
parent a02e1dd384
commit 6a77c5f576
9 changed files with 23 additions and 216 deletions
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59
src/main/fc/fc_tasks.c
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@ -119,16 +119,6 @@ static void taskMain(timeUs_t currentTimeUs)
#endif
}
#ifdef USE_OSD_SLAVE
static bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
{
UNUSED(currentTimeUs);
UNUSED(currentDeltaTimeUs);
return mspSerialWaiting();
}
#endif
static void taskHandleSerial(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -145,11 +135,7 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
return;
}
#endif
#ifndef OSD_SLAVE
bool evaluateMspData = ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;
#else
bool evaluateMspData = osdSlaveIsLocked ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;;
#endif
mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
}
@ -163,7 +149,6 @@ static void taskBatteryAlerts(timeUs_t currentTimeUs)
batteryUpdateAlarms();
}
#ifndef USE_OSD_SLAVE
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
@ -190,7 +175,6 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
updateRcCommands();
updateArmingStatus();
}
#endif
#ifdef USE_BARO
static void taskUpdateBaro(timeUs_t currentTimeUs)
@ -248,11 +232,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
#ifdef USE_OSD_SLAVE
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts;
#else
const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
#endif
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
#ifdef USE_TRANSPONDER
@ -263,9 +243,6 @@ void fcTasksInit(void)
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
#ifdef USE_OSD_SLAVE
setTaskEnabled(TASK_OSD_SLAVE, osdSlaveInitialized());
#else
if (sensors(SENSOR_GYRO)) {
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
@ -284,21 +261,27 @@ void fcTasksInit(void)
#ifdef USE_BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
#ifdef USE_GPS
setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#endif
#ifdef USE_BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#if defined(USE_BARO) || defined(USE_GPS)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
#endif
#ifdef USE_DASHBOARD
setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
#endif
#ifdef USE_TELEMETRY
if (featureIsEnabled(FEATURE_TELEMETRY)) {
setTaskEnabled(TASK_TELEMETRY, true);
@ -311,27 +294,35 @@ void fcTasksInit(void)
}
}
#endif
#ifdef USE_LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
#endif
#ifdef USE_TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
#endif
#ifdef USE_OSD
setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdInitialized());
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
#endif
#ifdef USE_ADC_INTERNAL
setTaskEnabled(TASK_ADC_INTERNAL, true);
#endif
#ifdef USE_PINIOBOX
setTaskEnabled(TASK_PINIOBOX, true);
#endif
#ifdef USE_CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
@ -339,18 +330,20 @@ void fcTasksInit(void)
setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
#endif
#endif
#ifdef USE_VTX_CONTROL
#if defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
setTaskEnabled(TASK_VTXCTRL, true);
#endif
#endif
#ifdef USE_CAMERA_CONTROL
setTaskEnabled(TASK_CAMCTRL, true);
#endif
#ifdef USE_RCDEVICE
setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
#endif
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
@ -373,14 +366,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
#ifdef USE_OSD_SLAVE
.checkFunc = taskSerialCheck,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_REALTIME,
#else
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
#endif
},
[TASK_BATTERY_ALERTS] = {
@ -421,17 +408,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_OSD_SLAVE
[TASK_OSD_SLAVE] = {
.taskName = "OSD_SLAVE",
.checkFunc = osdSlaveCheck,
.taskFunc = osdSlaveUpdate,
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_HIGH,
},
#else
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
@ -621,5 +597,4 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_IDLE
},
#endif
#endif
};