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Preparation before merge

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This commit is contained in:
borisbstyle 2016-03-01 11:49:33 +01:00
parent 94e5472817
commit bab2c72ae0
4 changed files with 267 additions and 246 deletions
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41
src/main/main.c
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@ -666,19 +666,18 @@ int main(void) {
rescheduleTask(TASK_GYROPID, targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(targetLooptime) { // Switch statement kept in place to change acc rates in the future
case(500):
case(375):
case(250):
case(125):
accTargetLooptime = 1000;
break;
default:
case(1000):
case(500):
case(375):
case(250):
case(125):
accTargetLooptime = 1000;
break;
default:
case(1000):
#ifdef STM32F10X
accTargetLooptime = 3000;
#else
@ -687,8 +686,11 @@ int main(void) {
}
rescheduleTask(TASK_ACCEL, accTargetLooptime);
}
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
@ -711,15 +713,12 @@ int main(void) {
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_READ_WRITE, true);
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
while (1) {
@ -731,9 +730,17 @@ int main(void) {
void HardFault_Handler(void)
{
// fall out of the sky
uint8_t requiredState = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredState) == requiredState) {
uint8_t requiredStateForMotors = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_MOTORS_READY;
if ((systemState & requiredStateForMotors) == requiredStateForMotors) {
stopMotors();
}
#ifdef TRANSPONDER
// prevent IR LEDs from burning out.
uint8_t requiredStateForTransponder = SYSTEM_STATE_CONFIG_LOADED | SYSTEM_STATE_TRANSPONDER_ENABLED;
if ((systemState & requiredStateForTransponder) == requiredStateForTransponder) {
transponderIrDisable();
}
#endif
while (1);
}