mirror of
https://github.com/betaflight/betaflight.git
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Tidy use of USE_OSD_SLAVE
This commit is contained in:
Martin Budden
parent
6e025aeba6
commit
a983f4b325
9 changed files with 166 additions and 219 deletions
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@ -21,36 +21,32 @@
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#include <platform.h>
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#include "cms/cms.h"
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#include "build/debug.h"
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#include "common/axis.h"
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#include "cms/cms.h"
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#include "common/color.h"
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#include "common/utils.h"
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#include "common/filter.h"
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#include "config/feature.h"
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#include "config/parameter_group.h"
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#include "config/parameter_group_ids.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/camera_control.h"
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#include "drivers/compass/compass.h"
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#include "drivers/sensor.h"
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#include "drivers/serial.h"
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#include "drivers/stack_check.h"
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#include "drivers/vtx_common.h"
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#include "drivers/transponder_ir.h"
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#include "drivers/camera_control.h"
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#include "drivers/vtx_common.h"
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#include "fc/cli.h"
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#include "fc/config.h"
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#include "fc/fc_core.h"
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#include "fc/fc_dispatch.h"
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#include "fc/fc_msp.h"
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#include "fc/fc_tasks.h"
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#include "fc/fc_core.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "fc/cli.h"
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#include "fc/fc_dispatch.h"
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#include "flight/altitude.h"
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#include "flight/imu.h"
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@ -63,6 +59,7 @@
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#include "io/ledstrip.h"
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#include "io/osd.h"
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#include "io/osd_slave.h"
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#include "io/rcsplit.h"
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#include "io/serial.h"
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#include "io/transponder_ir.h"
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#include "io/vtx_tramp.h" // Will be gone
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@ -71,21 +68,19 @@
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#include "rx/rx.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/sonar.h"
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#include "sensors/esc_sensor.h"
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#include "sensors/gyro.h"
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#include "sensors/sensors.h"
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#include "sensors/sonar.h"
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#include "scheduler/scheduler.h"
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#include "telemetry/telemetry.h"
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#include "io/osd_slave.h"
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#include "io/rcsplit.h"
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#ifdef USE_BST
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void taskBstMasterProcess(timeUs_t currentTimeUs);
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@ -95,17 +90,9 @@ void taskBstMasterProcess(timeUs_t currentTimeUs);
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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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#ifndef USE_OSD_SLAVE
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static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
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bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
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{
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UNUSED(currentTimeUs);
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accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
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}
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#endif
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bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs) {
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UNUSED(currentTimeUs);
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UNUSED(currentDeltaTimeUs);
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return mspSerialWaiting();
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@ -140,6 +127,13 @@ void taskBatteryAlerts(timeUs_t currentTimeUs)
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}
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#ifndef USE_OSD_SLAVE
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static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
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}
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static void taskUpdateRxMain(timeUs_t currentTimeUs)
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{
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processRx(currentTimeUs);
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@ -227,39 +221,13 @@ void taskVtxControl(uint32_t currentTime)
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}
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#endif
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#ifdef USE_OSD_SLAVE
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void osdSlaveTasksInit(void)
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{
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schedulerInit();
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setTaskEnabled(TASK_SERIAL, true);
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bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
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bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
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setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
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bool useBatteryAlerts = (batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts);
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setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
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#ifdef TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
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#endif
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setTaskEnabled(TASK_OSD_SLAVE, true);
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#ifdef STACK_CHECK
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setTaskEnabled(TASK_STACK_CHECK, true);
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#endif
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}
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#endif
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#ifndef USE_OSD_SLAVE
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#ifdef USE_CAMERA_CONTROL
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void taskCameraControl(uint32_t currentTime)
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{
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if (ARMING_FLAG(ARMED))
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if (ARMING_FLAG(ARMED)) {
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return;
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}
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cameraControlProcess(currentTime);
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}
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@ -268,7 +236,30 @@ void taskCameraControl(uint32_t currentTime)
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void fcTasksInit(void)
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{
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schedulerInit();
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setTaskEnabled(TASK_SERIAL, true);
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const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
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const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
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setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
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#ifdef USE_OSD_SLAVE
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const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts;
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#else
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const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
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#endif
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setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
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#ifdef TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
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#endif
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#ifdef STACK_CHECK
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setTaskEnabled(TASK_STACK_CHECK, true);
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#endif
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#ifdef USE_OSD_SLAVE
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setTaskEnabled(TASK_OSD_SLAVE, true);
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#else
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if (sensors(SENSOR_GYRO)) {
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rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
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setTaskEnabled(TASK_GYROPID, true);
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@ -280,16 +271,9 @@ void fcTasksInit(void)
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}
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setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
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setTaskEnabled(TASK_SERIAL, true);
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rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
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bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
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bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
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setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
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bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
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setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
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setTaskEnabled(TASK_RX, true);
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@ -341,9 +325,6 @@ void fcTasksInit(void)
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#ifdef OSD
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setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
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#endif
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#ifdef USE_OSD_SLAVE
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setTaskEnabled(TASK_OSD_SLAVE, true);
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#endif
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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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@ -357,9 +338,6 @@ void fcTasksInit(void)
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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 STACK_CHECK
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setTaskEnabled(TASK_STACK_CHECK, true);
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#endif
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#ifdef VTX_CONTROL
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#if defined(VTX_RTC6705) || defined(VTX_SMARTAUDIO) || defined(VTX_TRAMP)
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setTaskEnabled(TASK_VTXCTRL, true);
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@ -371,8 +349,8 @@ void fcTasksInit(void)
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#ifdef USE_RCSPLIT
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setTaskEnabled(TASK_RCSPLIT, rcSplitIsEnabled());
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#endif
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}
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#endif
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}
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cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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@ -382,7 +360,68 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
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},
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#ifndef USE_OSD_SLAVE
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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#ifdef USE_OSD_SLAVE
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.checkFunc = taskSerialCheck,
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.desiredPeriod = TASK_PERIOD_HZ(100),
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.staticPriority = TASK_PRIORITY_REALTIME,
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#else
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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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#endif
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},
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[TASK_BATTERY_ALERTS] = {
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.taskName = "BATTERY_ALERTS",
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.taskFunc = taskBatteryAlerts,
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_VOLTAGE] = {
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.taskName = "BATTERY_VOLTAGE",
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.taskFunc = batteryUpdateVoltage,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_CURRENT] = {
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.taskName = "BATTERY_CURRENT",
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.taskFunc = batteryUpdateCurrentMeter,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#ifdef TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = transponderUpdate,
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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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#ifdef STACK_CHECK
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[TASK_STACK_CHECK] = {
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.taskName = "STACKCHECK",
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.taskFunc = taskStackCheck,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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#ifdef USE_OSD_SLAVE
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[TASK_OSD_SLAVE] = {
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.taskName = "OSD_SLAVE",
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.checkFunc = osdSlaveCheck,
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.taskFunc = osdSlaveUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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#else
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[TASK_GYROPID] = {
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.taskName = "PID",
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.subTaskName = "GYRO",
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@ -412,50 +451,13 @@ cfTask_t cfTasks[TASK_COUNT] = {
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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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#endif
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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#ifdef USE_OSD_SLAVE
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.checkFunc = taskSerialCheck,
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.desiredPeriod = TASK_PERIOD_HZ(100),
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.staticPriority = TASK_PRIORITY_REALTIME,
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#else
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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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#endif
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},
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#ifndef USE_OSD_SLAVE
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[TASK_DISPATCH] = {
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.taskName = "DISPATCH",
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.taskFunc = dispatchProcess,
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.desiredPeriod = TASK_PERIOD_HZ(1000),
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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#endif
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[TASK_BATTERY_ALERTS] = {
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.taskName = "BATTERY_ALERTS",
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.taskFunc = taskBatteryAlerts,
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_VOLTAGE] = {
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.taskName = "BATTERY_VOLTAGE",
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.taskFunc = batteryUpdateVoltage,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_CURRENT] = {
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.taskName = "BATTERY_CURRENT",
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.taskFunc = batteryUpdateCurrentMeter,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#ifndef USE_OSD_SLAVE
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#ifdef BEEPER
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[TASK_BEEPER] = {
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@ -510,18 +512,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#endif
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#ifdef TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = transponderUpdate,
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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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#ifndef USE_OSD_SLAVE
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#ifdef USE_DASHBOARD
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[TASK_DASHBOARD] = {
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.taskName = "DASHBOARD",
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@ -530,6 +521,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef OSD
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[TASK_OSD] = {
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.taskName = "OSD",
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@ -538,19 +530,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#endif
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#ifdef USE_OSD_SLAVE
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[TASK_OSD_SLAVE] = {
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.taskName = "OSD_SLAVE",
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.checkFunc = osdSlaveCheck,
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.taskFunc = osdSlaveUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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#endif
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#ifndef USE_OSD_SLAVE
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#ifdef TELEMETRY
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[TASK_TELEMETRY] = {
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.taskName = "TELEMETRY",
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@ -596,15 +576,6 @@ cfTask_t cfTasks[TASK_COUNT] = {
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},
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#endif
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#ifdef STACK_CHECK
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[TASK_STACK_CHECK] = {
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.taskName = "STACKCHECK",
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.taskFunc = taskStackCheck,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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#ifdef VTX_CONTROL
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[TASK_VTXCTRL] = {
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.taskName = "VTXCTRL",
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