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CF/BF - SPRACINGF3OSD initial target support inc support for OSD SLAVE via MSP_DISPLAYPORT.

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OSD is tested and working on an SPRACINGF3EVO stacked with an SPRACINGF3OSD.
This commit is contained in:
Hydra 2017-04-08 15:01:55 +01:00 • committed by Dominic Clifton
parent 73e46e9050
commit ca5bafeab9
23 changed files with 638 additions and 12 deletions
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58
src/main/fc/fc_tasks.c
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@ -59,6 +59,7 @@
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "io/osd_slave.h"
#include "io/serial.h"
#include "io/transponder_ir.h"
#include "io/vtx_tramp.h" // Will be gone
@ -96,6 +97,13 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
accUpdate(&accelerometerConfigMutable()->accelerometerTrims);
}
bool taskSerialCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs) {
UNUSED(currentTimeUs);
UNUSED(currentDeltaTimeUs);
return mspSerialWaiting();
}
static void taskHandleSerial(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -106,7 +114,11 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
return;
}
#endif
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
#ifdef USE_OSD_SLAVE
mspSerialProcess(MSP_SKIP_NON_MSP_DATA, mspFcProcessCommand, mspFcProcessReply);
#else
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand, mspFcProcessReply);
#endif
}
void taskBatteryAlerts(timeUs_t currentTimeUs)
@ -208,6 +220,32 @@ void taskVtxControl(uint32_t currentTime)
}
#endif
#ifdef USE_OSD_SLAVE
void osdSlaveTasksInit(void)
{
schedulerInit();
setTaskEnabled(TASK_SERIAL, true);
bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
bool useBatteryAlerts = (batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts);
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
setTaskEnabled(TASK_OSD_SLAVE, true);
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
}
#endif
void fcTasksInit(void)
{
schedulerInit();
@ -281,6 +319,9 @@ void fcTasksInit(void)
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_OSD_SLAVE
setTaskEnabled(TASK_OSD_SLAVE, true);
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
@ -348,8 +389,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
#ifdef USE_OSD_SLAVE
.checkFunc = taskSerialCheck,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_REALTIME,
#else
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
#endif
},
[TASK_DISPATCH] = {
@ -457,6 +504,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef USE_OSD_SLAVE
[TASK_OSD_SLAVE] = {
.taskName = "OSD_SLAVE",
.checkFunc = osdSlaveCheck,
.taskFunc = osdSlaveUpdate,
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_HIGH,
},
#endif
#ifdef TELEMETRY
[TASK_TELEMETRY] = {
.taskName = "TELEMETRY",