mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Track state execution time for OSD, baro, rx and GPS tasks and inform scheduler of next state execution time
This commit is contained in:
Steve Evans
Steve Evans
parent
a63172cc1f
commit
ab1baccc66
44 changed files with 1392 additions and 721 deletions
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@ -188,6 +188,14 @@ const osd_stats_e osdStatsDisplayOrder[OSD_STAT_COUNT] = {
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OSD_STAT_TOTAL_DIST,
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};
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// Group elements in a number of groups to reduce task scheduling overhead
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#define OSD_GROUP_COUNT 20
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// Aim to render a group of elements within a target time
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#define OSD_ELEMENT_RENDER_TARGET 40
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// Allow a margin by which a group render can exceed that of the sum of the elements before declaring insane
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// This will most likely be violated by a USB interrupt whilst using the CLI
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#define OSD_ELEMENT_RENDER_GROUP_MARGIN 5
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// Format a float to the specified number of decimal places with optional rounding.
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// OSD symbols can optionally be placed before and after the formatted number (use SYM_NONE for no symbol).
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// The formatString can be used for customized formatting of the integer part. Follow the printf style.
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@ -291,27 +299,6 @@ void osdAnalyzeActiveElements(void)
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osdDrawActiveElementsBackground(osdDisplayPort);
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}
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static void osdDrawElements(void)
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{
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// Hide OSD when OSDSW mode is active
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if (IS_RC_MODE_ACTIVE(BOXOSD)) {
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displayClearScreen(osdDisplayPort);
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return;
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}
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if (backgroundLayerSupported) {
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// Background layer is supported, overlay it onto the foreground
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// so that we only need to draw the active parts of the elements.
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displayLayerCopy(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND, DISPLAYPORT_LAYER_BACKGROUND);
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} else {
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// Background layer not supported, just clear the foreground in preparation
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// for drawing the elements including their backgrounds.
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displayClearScreen(osdDisplayPort);
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}
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osdDrawActiveElements(osdDisplayPort);
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}
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const uint16_t osdTimerDefault[OSD_TIMER_COUNT] = {
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OSD_TIMER(OSD_TIMER_SRC_ON, OSD_TIMER_PREC_SECOND, 10),
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OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_SECOND, 10)
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@ -382,7 +369,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
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osdConfig->camera_frame_height = 11;
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osdConfig->stat_show_cell_value = false;
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osdConfig->task_frequency = OSD_TASK_FREQUENCY_DEFAULT;
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osdConfig->framerate_hz = OSD_FRAMERATE_DEFAULT_HZ;
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osdConfig->cms_background_type = DISPLAY_BACKGROUND_TRANSPARENT;
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}
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@ -457,7 +444,6 @@ static void osdCompleteInitialization(void)
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osdElementsInit(backgroundLayerSupported);
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osdAnalyzeActiveElements();
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displayCommitTransaction(osdDisplayPort);
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osdIsReady = true;
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}
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@ -474,10 +460,6 @@ void osdInit(displayPort_t *osdDisplayPortToUse, osdDisplayPortDevice_e displayP
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#ifdef USE_CMS
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cmsDisplayPortRegister(osdDisplayPort);
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#endif
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if (displayCheckReady(osdDisplayPort, true)) {
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osdCompleteInitialization();
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}
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}
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static void osdResetStats(void)
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@ -936,11 +918,12 @@ static timeDelta_t osdShowArmed(void)
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return ret;
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}
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STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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static bool osdStatsVisible = false;
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static bool osdStatsEnabled = false;
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STATIC_UNIT_TESTED void osdDrawStats1(timeUs_t currentTimeUs)
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{
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static timeUs_t lastTimeUs = 0;
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static bool osdStatsEnabled = false;
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static bool osdStatsVisible = false;
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static timeUs_t osdStatsRefreshTimeUs;
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// detect arm/disarm
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@ -963,7 +946,6 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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armState = ARMING_FLAG(ARMED);
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}
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if (ARMING_FLAG(ARMED)) {
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osdUpdateStats();
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timeUs_t deltaT = currentTimeUs - lastTimeUs;
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@ -991,7 +973,10 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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}
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}
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lastTimeUs = currentTimeUs;
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}
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void osdDrawStats2(timeUs_t currentTimeUs)
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{
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displayBeginTransaction(osdDisplayPort, DISPLAY_TRANSACTION_OPT_RESET_DRAWING);
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if (resumeRefreshAt) {
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@ -1000,7 +985,6 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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if (IS_HI(THROTTLE) || IS_HI(PITCH)) {
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resumeRefreshAt = currentTimeUs;
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}
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displayHeartbeat(osdDisplayPort);
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return;
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} else {
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displayClearScreen(osdDisplayPort);
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@ -1009,13 +993,15 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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stats.armed_time = 0;
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}
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}
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#ifdef USE_ESC_SENSOR
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if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
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osdEscDataCombined = getEscSensorData(ESC_SENSOR_COMBINED);
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}
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#endif
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}
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void osdDrawStats3()
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{
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#if defined(USE_ACC)
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if (sensors(SENSOR_ACC)
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&& (VISIBLE(osdElementConfig()->item_pos[OSD_G_FORCE]) || osdStatGetState(OSD_STAT_MAX_G_FORCE))) {
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@ -1027,79 +1013,311 @@ STATIC_UNIT_TESTED void osdRefresh(timeUs_t currentTimeUs)
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osdGForce = sqrtf(osdGForce) * acc.dev.acc_1G_rec;
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}
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#endif
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#ifdef USE_CMS
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if (!displayIsGrabbed(osdDisplayPort))
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#endif
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{
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osdUpdateAlarms();
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osdDrawElements();
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displayHeartbeat(osdDisplayPort);
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}
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displayCommitTransaction(osdDisplayPort);
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}
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/*
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* Called periodically by the scheduler
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*/
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typedef enum {
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OSD_STATE_INIT,
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OSD_STATE_IDLE,
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OSD_STATE_CHECK,
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OSD_STATE_UPDATE_STATS1,
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OSD_STATE_UPDATE_STATS2,
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OSD_STATE_UPDATE_STATS3,
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OSD_STATE_UPDATE_ALARMS,
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OSD_STATE_UPDATE_CANVAS,
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OSD_STATE_UPDATE_ELEMENTS,
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OSD_STATE_UPDATE_HEARTBEAT,
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OSD_STATE_COMMIT,
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OSD_STATE_TRANSFER,
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OSD_STATE_COUNT
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} osdState_e;
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osdState_e osdState = OSD_STATE_INIT;
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#define OSD_UPDATE_INTERVAL_US (1000000 / osdConfig()->framerate_hz)
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// Called periodically by the scheduler
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bool osdUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs)
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{
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UNUSED(currentDeltaTimeUs);
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static timeUs_t osdUpdateDueUs = 0;
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if (osdState == OSD_STATE_IDLE) {
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// If the OSD is due a refresh, mark that as being the case
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if (cmpTimeUs(currentTimeUs, osdUpdateDueUs) > 0) {
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osdState = OSD_STATE_CHECK;
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// Determine time of next update
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if (osdUpdateDueUs) {
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osdUpdateDueUs += OSD_UPDATE_INTERVAL_US;
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} else {
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osdUpdateDueUs = currentTimeUs + OSD_UPDATE_INTERVAL_US;
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}
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}
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}
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return (osdState != OSD_STATE_IDLE);
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}
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// Called when there is OSD update work to be done
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void osdUpdate(timeUs_t currentTimeUs)
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{
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static uint32_t counter = 0;
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static timeUs_t osdStateDurationUs[OSD_STATE_COUNT] = { 0 };
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static timeUs_t osdElementDurationUs[OSD_ITEM_COUNT] = { 0 };
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static timeUs_t osdElementGroupMembership[OSD_ITEM_COUNT];
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static timeUs_t osdElementGroupTargetUs[OSD_GROUP_COUNT] = { 0 };
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static timeUs_t osdElementGroupDurationUs[OSD_GROUP_COUNT] = { 0 };
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static uint8_t osdElementGroup;
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static bool firstPass = true;
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uint8_t osdCurElementGroup = 0;
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timeUs_t executeTimeUs;
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osdState_e osdCurState = osdState;
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if (!osdIsReady) {
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if (osdState != OSD_STATE_UPDATE_CANVAS) {
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ignoreTaskExecRate();
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}
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switch (osdState) {
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case OSD_STATE_INIT:
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if (!displayCheckReady(osdDisplayPort, false)) {
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// Frsky osd need a display redraw after search for MAX7456 devices
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if (osdDisplayPortDeviceType == OSD_DISPLAYPORT_DEVICE_FRSKYOSD) {
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displayRedraw(osdDisplayPort);
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} else {
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ignoreTaskShortExecTime();
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ignoreTaskExecTime();
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}
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return;
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}
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osdCompleteInitialization();
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}
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displayRedraw(osdDisplayPort);
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osdState = OSD_STATE_COMMIT;
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if (isBeeperOn()) {
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showVisualBeeper = true;
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}
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break;
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// don't touch buffers if DMA transaction is in progress
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if (displayIsTransferInProgress(osdDisplayPort)) {
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ignoreTaskShortExecTime();
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return;
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}
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case OSD_STATE_CHECK:
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if (isBeeperOn()) {
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showVisualBeeper = true;
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}
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#ifdef USE_SLOW_MSP_DISPLAYPORT_RATE_WHEN_UNARMED
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static uint32_t idlecounter = 0;
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if (!ARMING_FLAG(ARMED)) {
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if (idlecounter++ % 4 != 0) {
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ignoreTaskShortExecTime();
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// don't touch buffers if DMA transaction is in progress
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if (displayIsTransferInProgress(osdDisplayPort)) {
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break;
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}
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osdState = OSD_STATE_UPDATE_HEARTBEAT;
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break;
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case OSD_STATE_UPDATE_HEARTBEAT:
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if (displayHeartbeat(osdDisplayPort)) {
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// Extraordinary action was taken, so return without allowing osdStateDurationUs table to be updated
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return;
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}
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}
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#endif
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// redraw values in buffer
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if (counter % OSD_DRAW_FREQ_DENOM == 0) {
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osdRefresh(currentTimeUs);
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osdState = OSD_STATE_UPDATE_STATS1;
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break;
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case OSD_STATE_UPDATE_STATS1:
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osdDrawStats1(currentTimeUs);
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showVisualBeeper = false;
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} else {
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bool doDrawScreen = true;
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#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT)
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// For the MSP displayPort device only do the drawScreen once per
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// logical OSD cycle as there is no output buffering needing to be flushed.
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if (osdDisplayPortDeviceType == OSD_DISPLAYPORT_DEVICE_MSP) {
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doDrawScreen = (counter % OSD_DRAW_FREQ_DENOM == 1);
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}
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osdState = OSD_STATE_UPDATE_STATS2;
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break;
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case OSD_STATE_UPDATE_STATS2:
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osdDrawStats2(currentTimeUs);
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osdState = OSD_STATE_UPDATE_STATS3;
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break;
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case OSD_STATE_UPDATE_STATS3:
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osdDrawStats3();
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#ifdef USE_CMS
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if (!displayIsGrabbed(osdDisplayPort))
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#endif
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// Redraw a portion of the chars per idle to spread out the load and SPI bus utilization
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if (doDrawScreen) {
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displayDrawScreen(osdDisplayPort);
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{
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osdState = OSD_STATE_UPDATE_ALARMS;
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break;
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}
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ignoreTaskShortExecTime();
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osdState = OSD_STATE_COMMIT;
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break;
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case OSD_STATE_UPDATE_ALARMS:
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osdUpdateAlarms();
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if (resumeRefreshAt) {
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osdState = OSD_STATE_IDLE;
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} else {
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osdState = OSD_STATE_UPDATE_CANVAS;
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}
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break;
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case OSD_STATE_UPDATE_CANVAS:
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// Hide OSD when OSDSW mode is active
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if (IS_RC_MODE_ACTIVE(BOXOSD)) {
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displayClearScreen(osdDisplayPort);
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osdState = OSD_STATE_COMMIT;
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break;
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}
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if (backgroundLayerSupported) {
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// Background layer is supported, overlay it onto the foreground
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// so that we only need to draw the active parts of the elements.
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displayLayerCopy(osdDisplayPort, DISPLAYPORT_LAYER_FOREGROUND, DISPLAYPORT_LAYER_BACKGROUND);
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} else {
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// Background layer not supported, just clear the foreground in preparation
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// for drawing the elements including their backgrounds.
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displayClearScreen(osdDisplayPort);
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}
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#ifdef USE_GPS
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static bool lastGpsSensorState;
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// Handle the case that the GPS_SENSOR may be delayed in activation
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// or deactivate if communication is lost with the module.
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const bool currentGpsSensorState = sensors(SENSOR_GPS);
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if (lastGpsSensorState != currentGpsSensorState) {
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lastGpsSensorState = currentGpsSensorState;
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osdAnalyzeActiveElements();
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}
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#endif // USE_GPS
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osdSyncBlink();
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uint8_t elementGroup;
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uint8_t activeElements = osdGetActiveElementCount();
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// Reset groupings
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for (elementGroup = 0; elementGroup < OSD_GROUP_COUNT; elementGroup++) {
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if (osdElementGroupDurationUs[elementGroup] > (osdElementGroupTargetUs[elementGroup] + OSD_ELEMENT_RENDER_GROUP_MARGIN)) {
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osdElementGroupDurationUs[elementGroup] = 0;
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}
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osdElementGroupTargetUs[elementGroup] = 0;
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}
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elementGroup = 0;
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// Based on the current element rendering, group to execute in approx 40us
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for (uint8_t curElement = 0; curElement < activeElements; curElement++) {
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if ((osdElementGroupTargetUs[elementGroup] == 0) ||
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((osdElementGroupTargetUs[elementGroup] + osdElementDurationUs[curElement]) <= OSD_ELEMENT_RENDER_TARGET) ||
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(elementGroup == (OSD_GROUP_COUNT - 1))) {
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osdElementGroupTargetUs[elementGroup] += osdElementDurationUs[curElement];
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// If group membership changes, reset the stats for the group
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if (osdElementGroupMembership[curElement] != elementGroup) {
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osdElementGroupDurationUs[elementGroup] = 0;
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}
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osdElementGroupMembership[curElement] = elementGroup;
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} else {
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elementGroup++;
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// Try again for this element
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curElement--;
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}
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}
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// Start with group 0
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osdElementGroup = 0;
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if (activeElements > 0) {
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osdState = OSD_STATE_UPDATE_ELEMENTS;
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} else {
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osdState = OSD_STATE_COMMIT;
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}
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break;
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case OSD_STATE_UPDATE_ELEMENTS:
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{
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osdCurElementGroup = osdElementGroup;
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bool moreElements = true;
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do {
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timeUs_t startElementTime = micros();
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uint8_t osdCurElement = osdGetActiveElement();
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// This element should be rendered in the next group
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if (osdElementGroupMembership[osdCurElement] != osdElementGroup) {
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osdElementGroup++;
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break;
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}
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moreElements = osdDrawNextActiveElement(osdDisplayPort, currentTimeUs);
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executeTimeUs = micros() - startElementTime;
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if (executeTimeUs > osdElementDurationUs[osdCurElement]) {
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osdElementDurationUs[osdCurElement] = executeTimeUs;
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}
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} while (moreElements);
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if (moreElements) {
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// There are more elements to draw
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break;
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}
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osdElementGroup = 0;
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osdState = OSD_STATE_COMMIT;
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}
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break;
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case OSD_STATE_COMMIT:
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displayCommitTransaction(osdDisplayPort);
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if (resumeRefreshAt) {
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osdState = OSD_STATE_IDLE;
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} else {
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osdState = OSD_STATE_TRANSFER;
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}
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break;
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case OSD_STATE_TRANSFER:
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// Wait for any current transfer to complete
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if (displayIsTransferInProgress(osdDisplayPort)) {
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break;
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}
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// Transfer may be broken into many parts
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if (displayDrawScreen(osdDisplayPort)) {
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break;
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}
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firstPass = false;
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osdState = OSD_STATE_IDLE;
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break;
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case OSD_STATE_IDLE:
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default:
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osdState = OSD_STATE_IDLE;
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break;
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}
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executeTimeUs = micros() - currentTimeUs;
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// On the first pass no element groups will have been formed, so all elements will have been
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// rendered which is unrepresentative, so ignore
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if (!firstPass) {
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if (osdCurState == OSD_STATE_UPDATE_ELEMENTS) {
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if (executeTimeUs > osdElementGroupDurationUs[osdCurElementGroup]) {
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osdElementGroupDurationUs[osdCurElementGroup] = executeTimeUs;
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}
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}
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|
||||
if (executeTimeUs > osdStateDurationUs[osdCurState]) {
|
||||
osdStateDurationUs[osdCurState] = executeTimeUs;
|
||||
}
|
||||
}
|
||||
|
||||
if (osdState == OSD_STATE_UPDATE_ELEMENTS) {
|
||||
schedulerSetNextStateTime(osdElementGroupDurationUs[osdElementGroup]);
|
||||
} else {
|
||||
if (osdState == OSD_STATE_IDLE) {
|
||||
schedulerSetNextStateTime(osdStateDurationUs[OSD_STATE_CHECK]);
|
||||
} else {
|
||||
schedulerSetNextStateTime(osdStateDurationUs[osdState]);
|
||||
}
|
||||
ignoreTaskExecTime();
|
||||
}
|
||||
++counter;
|
||||
}
|
||||
|
||||
void osdSuppressStats(bool flag)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue