mirror of
https://github.com/betaflight/betaflight.git
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Merge pull request #2139 from jflyper/bfdev-remove-merge-artifact
Remove merge artifacts
This commit is contained in:
J Blackman
GitHub
commit
b7caf6f85e
2 changed files with 0 additions and 1939 deletions
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@ -1,517 +0,0 @@
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/*
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* This file is part of Cleanflight.
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*
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||||
* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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*
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||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
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||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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||||
*/
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||||
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||||
#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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|
||||
#include <platform.h>
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#include "cms/cms.h"
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#include "common/axis.h"
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#include "common/color.h"
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||||
#include "common/utils.h"
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|
||||
#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.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 "fc/config.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/pid.h"
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#include "flight/altitudehold.h"
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|
||||
#include "io/beeper.h"
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#include "io/dashboard.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/osd.h"
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#include "io/serial.h"
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#include "io/transponder_ir.h"
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<<<<<<< HEAD
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=======
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#include "io/vtx_smartaudio.h"
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#include "io/vtx_tramp.h"
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>>>>>>> betaflight/master
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#include "msp/msp_serial.h"
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|
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#include "rx/rx.h"
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|
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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 "scheduler/scheduler.h"
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|
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#include "telemetry/telemetry.h"
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|
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#include "config/feature.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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#ifdef USE_BST
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void taskBstMasterProcess(timeUs_t currentTimeUs);
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#endif
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|
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#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
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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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|
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/* VBAT monitoring interval (in microseconds) - 1s*/
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#define VBATINTERVAL (6 * 3500)
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/* IBat monitoring interval (in microseconds) - 6 default looptimes */
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#define IBATINTERVAL (6 * 3500)
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|
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|
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static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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|
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accUpdate(&accelerometerConfig()->accelerometerTrims);
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}
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|
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static void taskHandleSerial(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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#ifdef USE_CLI
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// in cli mode, all serial stuff goes to here. enter cli mode by sending #
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if (cliMode) {
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cliProcess();
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return;
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}
|
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#endif
|
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mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
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}
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|
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static void taskUpdateBattery(timeUs_t currentTimeUs)
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{
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#if defined(USE_ADC) || defined(USE_ESC_SENSOR)
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if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) {
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static uint32_t vbatLastServiced = 0;
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if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
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vbatLastServiced = currentTimeUs;
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updateBattery();
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}
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}
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#endif
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if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
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static uint32_t ibatLastServiced = 0;
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const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
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if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
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ibatLastServiced = currentTimeUs;
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updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
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}
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}
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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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isRXDataNew = true;
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|
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#if !defined(BARO) && !defined(SONAR)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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#endif
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updateLEDs();
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#ifdef BARO
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if (sensors(SENSOR_BARO)) {
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updateAltHoldState();
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}
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#endif
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#ifdef SONAR
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if (sensors(SENSOR_SONAR)) {
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updateSonarAltHoldState();
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}
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#endif
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}
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#ifdef MAG
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static void taskUpdateCompass(timeUs_t currentTimeUs)
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{
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if (sensors(SENSOR_MAG)) {
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compassUpdate(currentTimeUs, &compassConfig()->magZero);
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}
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}
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#endif
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#ifdef BARO
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static void taskUpdateBaro(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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if (sensors(SENSOR_BARO)) {
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const uint32_t newDeadline = baroUpdate();
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if (newDeadline != 0) {
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rescheduleTask(TASK_SELF, newDeadline);
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}
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}
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}
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#endif
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#if defined(BARO) || defined(SONAR)
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static void taskCalculateAltitude(timeUs_t currentTimeUs)
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{
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if (false
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#if defined(BARO)
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|| (sensors(SENSOR_BARO) && isBaroReady())
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#endif
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#if defined(SONAR)
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|| sensors(SENSOR_SONAR)
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#endif
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) {
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calculateEstimatedAltitude(currentTimeUs);
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}}
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#endif
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#ifdef TELEMETRY
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static void taskTelemetry(timeUs_t currentTimeUs)
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{
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telemetryCheckState();
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if (!cliMode && feature(FEATURE_TELEMETRY)) {
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telemetryProcess(currentTimeUs, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
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}
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}
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#endif
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|
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#ifdef VTX_CONTROL
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// Everything that listens to VTX devices
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void taskVtxControl(uint32_t currentTime)
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{
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if (ARMING_FLAG(ARMED))
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return;
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#ifdef VTX_COMMON
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vtxCommonProcess(currentTime);
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#endif
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#ifdef VTX_TRAMP
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trampProcess(currentTime);
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#endif
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}
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#endif
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void fcTasksInit(void)
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{
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schedulerInit();
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rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
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setTaskEnabled(TASK_GYROPID, true);
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if (sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
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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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setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
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setTaskEnabled(TASK_RX, true);
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setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
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#ifdef BEEPER
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setTaskEnabled(TASK_BEEPER, true);
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#endif
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#ifdef GPS
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setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
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#endif
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#ifdef MAG
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setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
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#if defined(USE_SPI) && defined(USE_MAG_AK8963)
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// fixme temporary solution for AK6983 via slave I2C on MPU9250
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rescheduleTask(TASK_COMPASS, TASK_PERIOD_HZ(40));
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#endif
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#endif
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#ifdef BARO
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setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
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#endif
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#ifdef SONAR
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setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
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#endif
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#if defined(BARO) || defined(SONAR)
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setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
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#endif
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#ifdef USE_DASHBOARD
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setTaskEnabled(TASK_DASHBOARD, feature(FEATURE_DASHBOARD));
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#endif
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#ifdef TELEMETRY
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setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
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if (feature(FEATURE_TELEMETRY)) {
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if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
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// Reschedule telemetry to 500hz for Jeti Exbus
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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} else if (rxConfig()->serialrx_provider == SERIALRX_CRSF) {
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// Reschedule telemetry to 500hz, 2ms for CRSF
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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}
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}
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#endif
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#ifdef LED_STRIP
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setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
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#endif
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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 OSD
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setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
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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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#ifdef USE_ESC_SENSOR
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setTaskEnabled(TASK_ESC_SENSOR, feature(FEATURE_ESC_SENSOR));
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#endif
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#ifdef CMS
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#ifdef USE_MSP_DISPLAYPORT
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setTaskEnabled(TASK_CMS, true);
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#else
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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_SMARTAUDIO) || defined(VTX_TRAMP)
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setTaskEnabled(TASK_VTXCTRL, true);
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#endif
|
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#endif
|
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}
|
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|
||||
cfTask_t cfTasks[TASK_COUNT] = {
|
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[TASK_SYSTEM] = {
|
||||
.taskName = "SYSTEM",
|
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.taskFunc = taskSystem,
|
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
|
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},
|
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|
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[TASK_GYROPID] = {
|
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.taskName = "PID",
|
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.subTaskName = "GYRO",
|
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.taskFunc = taskMainPidLoop,
|
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.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
|
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.staticPriority = TASK_PRIORITY_REALTIME,
|
||||
},
|
||||
|
||||
[TASK_ACCEL] = {
|
||||
.taskName = "ACCEL",
|
||||
.taskFunc = taskUpdateAccelerometer,
|
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.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
[TASK_ATTITUDE] = {
|
||||
.taskName = "ATTITUDE",
|
||||
.taskFunc = imuUpdateAttitude,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(100),
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
[TASK_RX] = {
|
||||
.taskName = "RX",
|
||||
.checkFunc = rxUpdateCheck,
|
||||
.taskFunc = taskUpdateRxMain,
|
||||
.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 = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
|
||||
[TASK_DISPATCH] = {
|
||||
.taskName = "DISPATCH",
|
||||
.taskFunc = dispatchProcess,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(1000),
|
||||
.staticPriority = TASK_PRIORITY_HIGH,
|
||||
},
|
||||
|
||||
[TASK_BATTERY] = {
|
||||
.taskName = "BATTERY",
|
||||
.taskFunc = taskUpdateBattery,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
#ifdef BEEPER
|
||||
[TASK_BEEPER] = {
|
||||
.taskName = "BEEPER",
|
||||
.taskFunc = beeperUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef GPS
|
||||
[TASK_GPS] = {
|
||||
.taskName = "GPS",
|
||||
.taskFunc = gpsUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10), // GPS usually don't go raster than 10Hz
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef MAG
|
||||
[TASK_COMPASS] = {
|
||||
.taskName = "COMPASS",
|
||||
.taskFunc = taskUpdateCompass,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef BARO
|
||||
[TASK_BARO] = {
|
||||
.taskName = "BARO",
|
||||
.taskFunc = taskUpdateBaro,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(20),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef SONAR
|
||||
[TASK_SONAR] = {
|
||||
.taskName = "SONAR",
|
||||
.taskFunc = sonarUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_MS(70), // 70ms required so that SONAR pulses do not interfer with each other
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#if defined(BARO) || defined(SONAR)
|
||||
[TASK_ALTITUDE] = {
|
||||
.taskName = "ALTITUDE",
|
||||
.taskFunc = taskCalculateAltitude,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(40),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPONDER
|
||||
[TASK_TRANSPONDER] = {
|
||||
.taskName = "TRANSPONDER",
|
||||
.taskFunc = transponderUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
[TASK_DASHBOARD] = {
|
||||
.taskName = "DASHBOARD",
|
||||
.taskFunc = dashboardUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
#ifdef OSD
|
||||
[TASK_OSD] = {
|
||||
.taskName = "OSD",
|
||||
.taskFunc = osdUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
#ifdef TELEMETRY
|
||||
[TASK_TELEMETRY] = {
|
||||
.taskName = "TELEMETRY",
|
||||
.taskFunc = taskTelemetry,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef LED_STRIP
|
||||
[TASK_LEDSTRIP] = {
|
||||
.taskName = "LEDSTRIP",
|
||||
.taskFunc = ledStripUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_BST
|
||||
[TASK_BST_MASTER_PROCESS] = {
|
||||
.taskName = "BST_MASTER_PROCESS",
|
||||
.taskFunc = taskBstMasterProcess,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
|
||||
#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
|
||||
|
||||
#ifdef CMS
|
||||
[TASK_CMS] = {
|
||||
.taskName = "CMS",
|
||||
.taskFunc = cmsHandler,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef STACK_CHECK
|
||||
[TASK_STACK_CHECK] = {
|
||||
.taskName = "STACKCHECK",
|
||||
.taskFunc = taskStackCheck,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef VTX_CONTROL
|
||||
[TASK_VTXCTRL] = {
|
||||
.taskName = "VTXCTRL",
|
||||
.taskFunc = taskVtxControl,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(5), // 5Hz @200msec
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
};
|
||||
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