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Code Issues Wiki Activity

- Fix and add BST task into scheduler, with fixed PID reading 0s problem.

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This commit is contained in:
Larry (TBS) 2016-01-12 13:30:55 +08:00
parent 56098a63ca
commit 6f3d576802
6 changed files with 51 additions and 23 deletions
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43
src/main/io/i2c_bst.c
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@ -1485,9 +1485,11 @@ static bool bstSlaveUSBCommandFeedback(/*uint8_t bstFeedback*/)
}
/*************************************************************************************************/
bool slaveModeOn = false;
static void bstSlaveProcessInCommand(void)
{
if(bstSlaveRead(readData)) {
slaveModeOn = true;
readBufferPointer = 1;
//Check if the CRC match
if(bstReadCRC() == CRC8 && bstRead8()==BST_USB_COMMANDS) {
@ -1515,6 +1517,8 @@ static void bstSlaveProcessInCommand(void)
break;
}
}
} else {
slaveModeOn = false;
}
}
@ -1522,11 +1526,12 @@ static void bstSlaveProcessInCommand(void)
#define UPDATE_AT_02HZ ((1000 * 1000) / 2)
static uint32_t next02hzUpdateAt_1 = 0;
#define UPDATE_AT_10HZ ((1000 * 1000) / 10)
static uint32_t next10hzUpdateAt_1 = 0;
static uint32_t next10hzUpdateAt_2 = 0;
#define UPDATE_AT_20HZ ((1000 * 1000) / 20)
static uint32_t next20hzUpdateAt_1 = 0;
void taskBstProcess(void)
static uint8_t sendCounter = 0;
void taskBstMasterProcess(void)
{
if(coreProReady) {
uint32_t now = micros();
@ -1534,21 +1539,27 @@ void taskBstProcess(void)
writeFCModeToBST();
next02hzUpdateAt_1 = now + UPDATE_AT_02HZ;
}
if(now >= next10hzUpdateAt_1 && !bstWriteBusy()) {
writeRCChannelToBST();
next10hzUpdateAt_1 = now + UPDATE_AT_10HZ;
}
if(now >= next10hzUpdateAt_2 && !bstWriteBusy()) {
writeRollPitchYawToBST();
next10hzUpdateAt_2 = now + UPDATE_AT_10HZ;
if(now >= next20hzUpdateAt_1 && !bstWriteBusy()) {
if(sendCounter == 0)
writeRCChannelToBST();
else if(sendCounter == 1)
writeRollPitchYawToBST();
sendCounter++;
if(sendCounter > 1)
sendCounter = 0;
next20hzUpdateAt_1 = now + UPDATE_AT_20HZ;
}
if(sensors(SENSOR_GPS) && !bstWriteBusy())
writeGpsPositionPrameToBST();
}
}
void taskBstCheckCommand(void)
{
//Check if the BST input command available to out address
bstSlaveProcessInCommand();
if (isRebootScheduled) {
stopMotors();
handleOneshotFeatureChangeOnRestart();
@ -1556,6 +1567,14 @@ void taskBstProcess(void)
}
}
void bstMasterWriteLoop(void);
void taskBstReadWrite(void)
{
taskBstCheckCommand();
if(!slaveModeOn)
bstMasterWriteLoop();
}
/*************************************************************************************************/
static uint8_t masterWriteBufferPointer;
static uint8_t masterWriteData[DATA_BUFFER_SIZE];