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Tidy fc_tasks.c

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This commit is contained in:
Martin Budden 2016-11-08 19:02:14 +00:00
parent 458de15f91
commit e783217833
5 changed files with 20 additions and 94 deletions
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97
src/main/fc/fc_tasks.c
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@ -85,11 +85,6 @@ static void taskUpdateAccelerometer(uint32_t currentTime)
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
static void taskUpdateAttitude(uint32_t currentTime)
{
imuUpdateAttitude(currentTime);
}
static void taskHandleSerial(uint32_t currentTime)
{
UNUSED(currentTime);
@ -103,13 +98,6 @@ static void taskHandleSerial(uint32_t currentTime)
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
}
#ifdef BEEPER
static void taskUpdateBeeper(uint32_t currentTime)
{
beeperUpdate(currentTime); //call periodic beeper handler
}
#endif
static void taskUpdateBattery(uint32_t currentTime)
{
#ifdef USE_ADC
@ -133,12 +121,6 @@ static void taskUpdateBattery(uint32_t currentTime)
}
}
static bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
return rxUpdate(currentTime);
}
static void taskUpdateRxMain(uint32_t currentTime)
{
processRx(currentTime);
@ -163,18 +145,6 @@ static void taskUpdateRxMain(uint32_t currentTime)
#endif
}
#ifdef GPS
static void taskProcessGPS(uint32_t currentTime)
{
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsUdate() can and will
// change this based on available hardware
if (feature(FEATURE_GPS)) {
gpsUpdate(currentTime);
}
}
#endif
#ifdef MAG
static void taskUpdateCompass(uint32_t currentTime)
{
@ -198,17 +168,6 @@ static void taskUpdateBaro(uint32_t currentTime)
}
#endif
#ifdef SONAR
static void taskUpdateSonar(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
}
#endif
#if defined(BARO) || defined(SONAR)
static void taskCalculateAltitude(uint32_t currentTime)
{
@ -224,15 +183,6 @@ static void taskCalculateAltitude(uint32_t currentTime)
}}
#endif
#ifdef USE_DASHBOARD
static void taskUpdateDashboard(uint32_t currentTime)
{
if (feature(FEATURE_DASHBOARD)) {
dashboardUpdate(currentTime);
}
}
#endif
#ifdef TELEMETRY
static void taskTelemetry(uint32_t currentTime)
{
@ -244,33 +194,6 @@ static void taskTelemetry(uint32_t currentTime)
}
#endif
#ifdef LED_STRIP
static void taskLedStrip(uint32_t currentTime)
{
if (feature(FEATURE_LED_STRIP)) {
ledStripUpdate(currentTime);
}
}
#endif
#ifdef TRANSPONDER
static void taskTransponder(uint32_t currentTime)
{
if (feature(FEATURE_TRANSPONDER)) {
transponderUpdate(currentTime);
}
}
#endif
#ifdef OSD
static void taskUpdateOsd(uint32_t currentTime)
{
if (feature(FEATURE_OSD)) {
osdUpdate(currentTime);
}
}
#endif
void fcTasksInit(void)
{
schedulerInit();
@ -365,14 +288,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = taskUpdateAttitude,
.taskFunc = imuUpdateAttitude,
.desiredPeriod = 1000000 / 100,
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = taskUpdateRxCheck,
.checkFunc = rxUpdateCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
@ -395,7 +318,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef BEEPER
[TASK_BEEPER] = {
.taskName = "BEEPER",
.taskFunc = taskUpdateBeeper,
.taskFunc = beeperUpdate,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
@ -404,7 +327,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef GPS
[TASK_GPS] = {
.taskName = "GPS",
.taskFunc = taskProcessGPS,
.taskFunc = gpsUpdate,
.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
@ -431,8 +354,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef SONAR
[TASK_SONAR] = {
.taskName = "SONAR",
.taskFunc = taskUpdateSonar,
.desiredPeriod = 1000000 / 20,
.taskFunc = sonarUpdate,
.desiredPeriod = 70000, // 70ms required so that SONAR pulses do not interfer with each other
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
@ -449,7 +372,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef TRANSPONDER
[TASK_TRANSPONDER] = {
.taskName = "TRANSPONDER",
.taskFunc = taskTransponder,
.taskFunc = transponderUpdate,
.desiredPeriod = 1000000 / 250, // 250 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
@ -458,7 +381,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef USE_DASHBOARD
[TASK_DASHBOARD] = {
.taskName = "DASHBOARD",
.taskFunc = taskUpdateDashboard,
.taskFunc = dashboardUpdate,
.desiredPeriod = 1000000 / 10,
.staticPriority = TASK_PRIORITY_LOW,
},
@ -466,7 +389,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef OSD
[TASK_OSD] = {
.taskName = "OSD",
.taskFunc = taskUpdateOsd,
.taskFunc = osdUpdate,
.desiredPeriod = 1000000 / 60, // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
@ -483,7 +406,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
#ifdef LED_STRIP
[TASK_LEDSTRIP] = {
.taskName = "LEDSTRIP",
.taskFunc = taskLedStrip,
.taskFunc = ledStripUpdate,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},