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Rebased

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This commit is contained in:
jflyper 2016-12-12 06:35:38 +09:00
commit af3132d422
94 changed files with 1663 additions and 918 deletions
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32
src/main/fc/fc_tasks.c
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@ -22,7 +22,6 @@
#include <platform.h>
#include "cms/cms.h"
#include "cms/cms_types.h"
#include "common/axis.h"
#include "common/color.h"
@ -65,11 +64,11 @@
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/sonar.h"
#include "sensors/esc_sensor.h"
#include "scheduler/scheduler.h"
#include "telemetry/telemetry.h"
#include "telemetry/esc_telemetry.h"
#include "config/feature.h"
#include "config/config_profile.h"
@ -111,9 +110,9 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
static void taskUpdateBattery(timeUs_t currentTimeUs)
{
#ifdef USE_ADC
#if defined(USE_ADC) || defined(USE_ESC_SENSOR)
static uint32_t vbatLastServiced = 0;
if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) {
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
updateBattery();
@ -122,7 +121,7 @@ static void taskUpdateBattery(timeUs_t currentTimeUs)
#endif
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
@ -205,15 +204,6 @@ static void taskTelemetry(timeUs_t currentTimeUs)
}
#endif
#ifdef USE_ESC_TELEMETRY
static void taskEscTelemetry(timeUs_t currentTimeUs)
{
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryProcess(currentTimeUs);
}
}
#endif
#ifdef VTX_CONTROL
// Everything that listens to VTX devices
void taskVtxControl(uint32_t currentTime)
@ -292,8 +282,8 @@ void fcTasksInit(void)
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_TELEMETRY
setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
#ifdef USE_ESC_SENSOR
setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
@ -470,11 +460,11 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_ESC_TELEMETRY
[TASK_ESC_TELEMETRY] = {
.taskName = "ESC_TELEMETRY",
.taskFunc = taskEscTelemetry,
.desiredPeriod = 1000000 / 100, // 100 Hz
#ifdef USE_ESC_SENSOR
[TASK_ESC_SENSOR] = {
.taskName = "ESC_SENSOR",
.taskFunc = escSensorProcess,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz every 10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif