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Code Issues Wiki Activity

Moved ESC telemetry to sensors

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This commit is contained in:
Bas Delfos 2016-11-23 21:58:29 +01:00
parent aa1ae88ddf
commit b53cbbefc3
33 changed files with 154 additions and 158 deletions
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29
src/main/fc/fc_tasks.c
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@ -63,11 +63,11 @@
#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"
@ -111,7 +111,7 @@ static void taskUpdateBattery(timeUs_t currentTimeUs)
{
#ifdef USE_ADC
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();
@ -120,7 +120,7 @@ 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) {
@ -203,15 +203,6 @@ 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
void fcTasksInit(void)
{
schedulerInit();
@ -277,8 +268,8 @@ 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
@ -450,11 +441,11 @@ 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