Removed rescheduling code and superfluous includes

src/main/drivers/serial_uart_stm32f10x.c

@@ -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)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
-            IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), IOCFG_AF_PP);
-        else
-            IOConfigGPIO(IOGetByTag(IO_TAG(PA9)), 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)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
-            IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), IOCFG_AF_PP);
-        else
-            IOConfigGPIO(IOGetByTag(IO_TAG(PA2)), 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)), (options & SERIAL_BIDIR_PP) ? IOCFG_AF_PP : IOCFG_AF_OD);
-            IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_PP);
-        else
-            IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_OD);
     } else {
         if (mode & MODE_TX) {
             IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TX, 3);

src/main/drivers/serial_uart_stm32f30x.c

@@ -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))
+            ((options & SERIAL_INVERTED) || (options & SERIAL_BIDIR_PP)) ? GPIO_OType_PP : GPIO_OType_OD,
-                ? 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_PuPd_DOWN : GPIO_PuPd_UP
         );
 
         IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, index);

src/main/drivers/vtx_smartaudio.c

@@ -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)
-        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.
         return;
-    }
 
-    // Disarmed, full processing
+    if (smartAudioSerialPort == NULL)
+        return;
 
     while (serialRxBytesWaiting(smartAudioSerialPort) > 0) {
         uint8_t c = serialRead(smartAudioSerialPort);