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Updated CRSF telemetry so that telemetry and RX frames do not overlap

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This commit is contained in:
Martin Budden 2016-11-15 15:35:00 +00:00
parent e4997353c8
commit 7249eefb9d
9 changed files with 137 additions and 79 deletions
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54
src/main/fc/fc_tasks.c
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@ -72,6 +72,9 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
@ -230,7 +233,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(USE_SPI) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));
#endif
#endif
#ifdef BARO
@ -247,9 +250,14 @@ void fcTasksInit(void)
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
rescheduleTask(TASK_TELEMETRY, 2000);
if (feature(FEATURE_TELEMETRY)) {
if (masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
// Reschedule telemetry to 500hz for Jeti Exbus
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
} else if (masterConfig.rxConfig.serialrx_provider == SERIALRX_CRSF) {
// Reschedule telemetry to 500hz, 2ms for CRSF
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
}
}
#endif
#ifdef LED_STRIP
@ -280,7 +288,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystem,
.desiredPeriod = 1000000 / 10, // run every 100 ms
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
.staticPriority = TASK_PRIORITY_HIGH,
},
@ -295,14 +303,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = 1000000 / 1000, // every 1ms
.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = imuUpdateAttitude,
.desiredPeriod = 1000000 / 100,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
@ -310,21 +318,21 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "RX",
.checkFunc = rxUpdateCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
.desiredPeriod = TASK_PERIOD_HZ(50), // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
@ -332,7 +340,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_BEEPER] = {
.taskName = "BEEPER",
.taskFunc = beeperUpdate,
.desiredPeriod = 1000000 / 100, // 100 Hz
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -341,7 +349,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GPS] = {
.taskName = "GPS",
.taskFunc = gpsUpdate,
.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
.desiredPeriod = TASK_PERIOD_HZ(10), // GPS usually don't go raster than 10Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif
@ -350,7 +358,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_COMPASS] = {
.taskName = "COMPASS",
.taskFunc = taskUpdateCompass,
.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -359,7 +367,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_BARO] = {
.taskName = "BARO",
.taskFunc = taskUpdateBaro,
.desiredPeriod = 1000000 / 20,
.desiredPeriod = TASK_PERIOD_HZ(20),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -368,7 +376,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = sonarUpdate,
.desiredPeriod = 70000, // 70ms required so that SONAR pulses do not interfer with each other
.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfer with each other
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -377,7 +385,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ALTITUDE] = {
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,
.desiredPeriod = 1000000 / 40,
.desiredPeriod = TASK_PERIOD_HZ(40),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -386,7 +394,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_TRANSPONDER] = {
.taskName = "TRANSPONDER",
.taskFunc = transponderUpdate,
.desiredPeriod = 1000000 / 250, // 250 Hz
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -395,7 +403,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_DASHBOARD] = {
.taskName = "DASHBOARD",
.taskFunc = dashboardUpdate,
.desiredPeriod = 1000000 / 10,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -403,7 +411,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_OSD] = {
.taskName = "OSD",
.taskFunc = osdUpdate,
.desiredPeriod = 1000000 / 60, // 60 Hz
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -411,7 +419,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",
.taskFunc = taskTelemetry,
.desiredPeriod = 1000000 / 250, // 250 Hz
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -420,7 +428,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_LEDSTRIP] = {
.taskName = "LEDSTRIP",
.taskFunc = ledStripUpdate,
.desiredPeriod = 1000000 / 100, // 100 Hz
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -429,7 +437,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_BST_MASTER_PROCESS] = {
.taskName = "BST_MASTER_PROCESS",
.taskFunc = taskBstMasterProcess,
.desiredPeriod = 1000000 / 50, // 50 Hz
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
@ -447,7 +455,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_CMS] = {
.taskName = "CMS",
.taskFunc = cmsHandler,
.desiredPeriod = 1000000 / 60, // 60 Hz
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif