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Code Issues Wiki Activity

Removed rescheduling code and superfluous includes

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This commit is contained in:
jflyper 2016-10-08 15:00:07 +09:00
parent c724b7c4ee
commit d26a1873d0
3 changed files with 13 additions and 105 deletions
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15
src/main/drivers/serial_uart_stm32f10x.c
View file

@ -124,10 +124,7 @@ uartPort_t *serialUART1(uint32_t baudRate, portMode_t mode, portOptions_t option
// UART1_RX PA10
if (options & SERIAL_BIDIR) {
IOInit(IOGetByTag(IO_TAG(PA9)), OWNER_SERIAL, RESOURCE_UART_TXRX, 1);
if (options & SERIAL_BIDIR_PP)
IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), IOCFG_AF_PP);
else
IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), IOCFG_AF_OD);
IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
IOInit(IOGetByTag(IO_TAG(PA9)), OWNER_SERIAL, RESOURCE_UART_TX, 1);
@ -198,10 +195,7 @@ uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t option
// UART2_RX PA3
if (options & SERIAL_BIDIR) {
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL, RESOURCE_UART_TXRX, 2);
if (options & SERIAL_BIDIR_PP)
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_PP);
else
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_OD);
IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
IOInit(IOGetByTag(IO_TAG(PA2)), OWNER_SERIAL, RESOURCE_UART_TX, 2);
@ -263,10 +257,7 @@ uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t option
if (options & SERIAL_BIDIR) {
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TXRX, 3);
if (options & SERIAL_BIDIR_PP)
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_PP);
else
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_OD);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
} else {
if (mode & MODE_TX) {
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TX, 3);

6
src/main/drivers/serial_uart_stm32f30x.c
View file

@ -115,10 +115,8 @@ void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, ui
{
if (options & SERIAL_BIDIR) {
ioConfig_t ioCfg = IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz,
((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP))
? GPIO_OType_PP : GPIO_OType_OD,
((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP))
? GPIO_PuPd_DOWN : GPIO_PuPd_UP
((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP)) ? GPIO_OType_PP : GPIO_OType_OD,
((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP)) ? GPIO_PuPd_DOWN : GPIO_PuPd_UP
);
IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, index);

97
src/main/drivers/vtx_smartaudio.c
View file

@ -1,18 +1,10 @@
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <math.h>
#include "platform.h"
#ifdef VTX_SMARTAUDIO
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "scheduler/scheduler.h"
#include "drivers/system.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
@ -24,42 +16,7 @@
#include "drivers/pwm_rx.h"
#include "drivers/adc.h"
#include "drivers/light_led.h"
#include "rx/rx.h"
#include "rx/msp.h"
#include "io/beeper.h"
#include "io/escservo.h"
//#include "fc/rc_controls.h"
#include "io/gps.h"
#include "io/gimbal.h"
#include "io/serial.h"
#include "io/ledstrip.h"
#include "io/osd.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensors/battery.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/failsafe.h"
#include "flight/navigation.h"
#include "flight/altitudehold.h"
#include "telemetry/telemetry.h"
#include "telemetry/smartport.h"
//#include "fc/runtime_config.h"
#include "config/config.h"
#include "config/config_profile.h"
//#include "config/feature.h"
#include "config/runtime_config.h"
#include "drivers/vtx_smartaudio.h"
@ -72,17 +29,13 @@
#ifdef SMARTAUDIO_DPRINTF
#include "common/printf.h"
#define DPRINTF_SERIAL_PORT SERIAL_PORT_USART3
serialPort_t *debugSerialPort = NULL;
#define dprintf(x) if (debugSerialPort) printf x;
#else
#define dprintf(x)
#endif
#if 0
extern profile_t *currentProfile;
extern controlRateConfig_t *currentControlRateProfile;
#endif
static serialPort_t *smartAudioSerialPort = NULL;
// SmartAudio command and response codes
@ -118,6 +71,7 @@ enum {
#define SA_FREQ_SETPIT (1 << 15)
// Error counters, may be good for post production debugging.
static uint16_t saerr_badpre = 0;
static uint16_t saerr_badlen = 0;
static uint16_t saerr_crc = 0;
static uint16_t saerr_oooresp = 0;
@ -331,7 +285,7 @@ static void saReceiveFramer(uint8_t c)
if (c == 0xAA) {
state = S_WAITPRE2;
} else {
state = S_WAITPRE1; // Bogus
state = S_WAITPRE1; // Don't need this
}
break;
@ -339,6 +293,7 @@ static void saReceiveFramer(uint8_t c)
if (c == 0x55) {
state = S_WAITRESP;
} else {
saerr_badpre++;
state = S_WAITPRE1;
}
break;
@ -608,7 +563,7 @@ void smartAudioInit(void)
#ifdef SMARTPORT_DPRINF
// Setup debugSerialPort
debugSerialPort = openSerialPort(SERIAL_PORT_USART3, FUNCTION_NONE, NULL, 115200, MODE_RXTX, 0);
debugSerialPort = openSerialPort(DPRINTF_SERIAL_PORT, FUNCTION_NONE, NULL, 115200, MODE_RXTX, 0);
if (!debugSerialPort)
return;
setPrintfSerialPort(debugSerialPort);
@ -671,51 +626,15 @@ void smartAudioPitMode(void)
}
#endif
#define SCHED_PERIOD_DISARMED (200*1000) // 200msec
#define SCHED_PERIOD_ARMED (1000*1000) // 1sec, really want to make it none.
void smartAudioProcess()
{
static bool previousArmedState = false;
if (smartAudioSerialPort == NULL) {
return;
}
// Try reducing scheduling frequency (overkill?),
// and conserve as much cycles as we can.
bool armedState = ARMING_FLAG(ARMED) ? true : false;
bool armedStateChanged = armedState != previousArmedState;
previousArmedState = armedState;
if (armedStateChanged) {
if (armedState) {
// Reduce scheduling frequency
rescheduleTask(TASK_VTX_CONTROL, SCHED_PERIOD_ARMED);
} else {
// Restore scheduling frequency
rescheduleTask(TASK_VTX_CONTROL, SCHED_PERIOD_DISARMED);
// Cleanup possible garbage; last command-response cycle
// may have been terminated by arming.
while (serialRxBytesWaiting(smartAudioSerialPort) > 0) {
(void)serialRead(smartAudioSerialPort);
}
}
}
if (armedState) {
dprintf(("smartAudioProcess: silence\r\n"));
// We keep silence while armed.
if (armedState)
return;
}
// Disarmed, full processing
if (smartAudioSerialPort == NULL)
return;
while (serialRxBytesWaiting(smartAudioSerialPort) > 0) {
uint8_t c = serialRead(smartAudioSerialPort);