From aab9c7135bdaf1d9d5637b43207706da145de196 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Mon, 9 Jan 2017 10:33:57 +0000
Subject: [PATCH] Added CLI option to set serial task update rate

---
 src/main/fc/config.c     | 8 +++-----
 src/main/fc/fc_tasks.c   | 1 +
 src/main/fc/serial_cli.c | 3 ++-
 src/main/io/serial.h     | 5 +++--
 4 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 3ab78bc41b..5f26cdcd58 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -439,10 +439,11 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
 
 void resetSerialConfig(serialConfig_t *serialConfig)
 {
-    uint8_t index;
     memset(serialConfig, 0, sizeof(serialConfig_t));
+    serialConfig->serial_update_rate_hz =  100;
+    serialConfig->reboot_character = 'R';
 
-    for (index = 0; index < SERIAL_PORT_COUNT; index++) {
+    for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
         serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
         serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
         serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
@@ -451,13 +452,10 @@ void resetSerialConfig(serialConfig_t *serialConfig)
     }
 
     serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
-
 #if defined(USE_VCP)
     // This allows MSP connection via USART & VCP so the board can be reconfigured.
     serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
 #endif
-
-    serialConfig->reboot_character = 'R';
 }
 
 void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 1f0b283c71..578460422b 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -230,6 +230,7 @@ void fcTasksInit(void)
 
     setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
     setTaskEnabled(TASK_SERIAL, true);
+    rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
     setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
     setTaskEnabled(TASK_RX, true);
 
diff --git a/src/main/fc/serial_cli.c b/src/main/fc/serial_cli.c
index 442502f0af..f48e5c5536 100755
--- a/src/main/fc/serial_cli.c
+++ b/src/main/fc/serial_cli.c
@@ -523,7 +523,8 @@ const clivalue_t valueTable[] = {
 
     { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE,  &airplaneConfig()->fixedwing_althold_dir, .config.minmax = { -1,  1 } },
 
-    { "reboot_character",           VAR_UINT8  | MASTER_VALUE,  &serialConfig()->reboot_character, .config.minmax = { 48,  126 } },
+    { "reboot_character",           VAR_UINT8  | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48,  126 } },
+    { "serial_update_rate_hz",      VAR_UINT16 | MASTER_VALUE, &serialConfig()->serial_update_rate_hz, .config.minmax = { 100,  2000 } },
 
 #ifdef GPS
     { "gps_provider",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } },
diff --git a/src/main/io/serial.h b/src/main/io/serial.h
index 7ec570beca..6bbfb0420f 100644
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@@ -96,8 +96,8 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
 // configuration
 //
 typedef struct serialPortConfig_s {
-    serialPortIdentifier_e identifier;
     uint16_t functionMask;
+    serialPortIdentifier_e identifier;
     uint8_t msp_baudrateIndex;
     uint8_t gps_baudrateIndex;
     uint8_t blackbox_baudrateIndex;
@@ -105,8 +105,9 @@ typedef struct serialPortConfig_s {
 } serialPortConfig_t;
 
 typedef struct serialConfig_s {
-    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
     serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
+    uint16_t serial_update_rate_hz;
+    uint8_t reboot_character;               // which byte is used to reboot. Default 'R', could be changed carefully to something else.
 } serialConfig_t;
 
 typedef void serialConsumer(uint8_t);