mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 08:15:30 +03:00
01eab00fd7
A quick hack to support config menu on external OSD, consisiting of: - CMS-OSD partial separation (CMS and OSD reside in a same file: osd.c) - MSP message injection (take it as server-push in client-server model)
504 lines
12 KiB
C
504 lines
12 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <platform.h>
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/utils.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/serial.h"
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#include "fc/config.h"
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#include "fc/fc_tasks.h"
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#include "fc/mw.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/pid.h"
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#include "flight/altitudehold.h"
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#include "io/beeper.h"
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#include "io/display.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/osd.h"
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#include "io/serial.h"
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#include "io/serial_cli.h"
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#include "io/transponder_ir.h"
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#include "io/cms.h"
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#include "msp/msp_serial.h"
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#include "rx/rx.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/sonar.h"
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#include "scheduler/scheduler.h"
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#include "telemetry/telemetry.h"
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#include "config/feature.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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/* VBAT monitoring interval (in microseconds) - 1s*/
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#define VBATINTERVAL (6 * 3500)
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/* IBat monitoring interval (in microseconds) - 6 default looptimes */
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#define IBATINTERVAL (6 * 3500)
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static void taskUpdateAccelerometer(uint32_t currentTime)
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{
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UNUSED(currentTime);
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imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
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}
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static void taskUpdateAttitude(uint32_t currentTime)
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{
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imuUpdateAttitude(currentTime);
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}
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static void taskHandleSerial(uint32_t currentTime)
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{
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UNUSED(currentTime);
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#ifdef USE_CLI
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// in cli mode, all serial stuff goes to here. enter cli mode by sending #
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if (cliMode) {
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cliProcess();
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return;
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}
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#endif
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mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA);
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}
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#ifdef BEEPER
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static void taskUpdateBeeper(uint32_t currentTime)
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{
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beeperUpdate(currentTime); //call periodic beeper handler
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}
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#endif
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static void taskUpdateBattery(uint32_t currentTime)
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{
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#ifdef USE_ADC
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static uint32_t vbatLastServiced = 0;
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if (feature(FEATURE_VBAT)) {
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if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
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vbatLastServiced = currentTime;
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updateBattery();
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}
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}
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#endif
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static uint32_t ibatLastServiced = 0;
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if (feature(FEATURE_CURRENT_METER)) {
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const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
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if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
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ibatLastServiced = currentTime;
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updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
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}
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}
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}
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static bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
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{
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UNUSED(currentDeltaTime);
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return rxUpdate(currentTime);
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}
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static void taskUpdateRxMain(uint32_t currentTime)
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{
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processRx(currentTime);
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isRXDataNew = true;
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#if !defined(BARO) && !defined(SONAR)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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#endif
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updateLEDs();
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#ifdef BARO
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if (sensors(SENSOR_BARO)) {
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updateAltHoldState();
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}
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#endif
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#ifdef SONAR
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if (sensors(SENSOR_SONAR)) {
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updateSonarAltHoldState();
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}
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#endif
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}
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#ifdef GPS
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static void taskProcessGPS(uint32_t currentTime)
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{
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// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
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// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsUdate() can and will
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// change this based on available hardware
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if (feature(FEATURE_GPS)) {
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gpsUpdate(currentTime);
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}
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}
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#endif
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#ifdef MAG
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static void taskUpdateCompass(uint32_t currentTime)
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{
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if (sensors(SENSOR_MAG)) {
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compassUpdate(currentTime, &masterConfig.magZero);
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}
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}
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#endif
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#ifdef BARO
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static void taskUpdateBaro(uint32_t currentTime)
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{
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UNUSED(currentTime);
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if (sensors(SENSOR_BARO)) {
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const uint32_t newDeadline = baroUpdate();
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if (newDeadline != 0) {
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rescheduleTask(TASK_SELF, newDeadline);
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}
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}
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}
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#endif
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#ifdef SONAR
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static void taskUpdateSonar(uint32_t currentTime)
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{
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UNUSED(currentTime);
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if (sensors(SENSOR_SONAR)) {
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sonarUpdate();
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}
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}
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#endif
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#if defined(BARO) || defined(SONAR)
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static void taskCalculateAltitude(uint32_t currentTime)
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{
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if (false
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#if defined(BARO)
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|| (sensors(SENSOR_BARO) && isBaroReady())
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#endif
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#if defined(SONAR)
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|| sensors(SENSOR_SONAR)
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#endif
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) {
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calculateEstimatedAltitude(currentTime);
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}}
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#endif
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#ifdef DISPLAY
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static void taskUpdateDisplay(uint32_t currentTime)
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{
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if (feature(FEATURE_DISPLAY)) {
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displayUpdate(currentTime);
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}
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}
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#endif
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#ifdef TELEMETRY
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static void taskTelemetry(uint32_t currentTime)
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{
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telemetryCheckState();
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if (!cliMode && feature(FEATURE_TELEMETRY)) {
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telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
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}
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}
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#endif
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#ifdef LED_STRIP
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static void taskLedStrip(uint32_t currentTime)
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{
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if (feature(FEATURE_LED_STRIP)) {
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ledStripUpdate(currentTime);
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}
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}
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#endif
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#ifdef TRANSPONDER
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static void taskTransponder(uint32_t currentTime)
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{
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if (feature(FEATURE_TRANSPONDER)) {
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transponderUpdate(currentTime);
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}
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}
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#endif
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#ifdef OSD
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static void taskUpdateOsd(uint32_t currentTime)
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{
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if (feature(FEATURE_OSD)) {
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updateOsd(currentTime);
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}
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}
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#endif
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void fcTasksInit(void)
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{
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schedulerInit();
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rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
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setTaskEnabled(TASK_GYROPID, true);
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if (sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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rescheduleTask(TASK_ACCEL, accSamplingInterval);
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}
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setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
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setTaskEnabled(TASK_SERIAL, true);
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setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
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setTaskEnabled(TASK_RX, true);
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#ifdef BEEPER
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setTaskEnabled(TASK_BEEPER, true);
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#endif
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#ifdef GPS
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setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
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#endif
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#ifdef MAG
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setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
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#if defined(USE_SPI) && defined(USE_MAG_AK8963)
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// fixme temporary solution for AK6983 via slave I2C on MPU9250
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rescheduleTask(TASK_COMPASS, 1000000 / 40);
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#endif
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#endif
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#ifdef BARO
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setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
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#endif
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#ifdef SONAR
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setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
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#endif
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#if defined(BARO) || defined(SONAR)
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setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
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#endif
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#ifdef DISPLAY
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setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
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#endif
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#ifdef TELEMETRY
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setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
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// Reschedule telemetry to 500hz for Jeti Exbus
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if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
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rescheduleTask(TASK_TELEMETRY, 2000);
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}
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#endif
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#ifdef LED_STRIP
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setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
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#endif
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#ifdef TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
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#endif
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#ifdef OSD
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setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
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#endif
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#ifdef USE_BST
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setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
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#endif
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#ifdef CMS
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// XXX Should check FEATURE
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setTaskEnabled(TASK_CMS, true);
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#endif
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}
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cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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.taskName = "SYSTEM",
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.taskFunc = taskSystem,
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.desiredPeriod = 1000000 / 10, // run every 100 ms
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_GYROPID] = {
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.taskName = "PID",
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.subTaskName = "GYRO",
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.taskFunc = taskMainPidLoopCheck,
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.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
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.staticPriority = TASK_PRIORITY_REALTIME,
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},
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[TASK_ACCEL] = {
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.taskName = "ACCEL",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = 1000000 / 1000, // every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = taskUpdateAttitude,
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.desiredPeriod = 1000000 / 100,
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_RX] = {
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.taskName = "RX",
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.checkFunc = taskUpdateRxCheck,
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.taskFunc = taskUpdateRxMain,
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.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_BATTERY] = {
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.taskName = "BATTERY",
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.taskFunc = taskUpdateBattery,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#ifdef BEEPER
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[TASK_BEEPER] = {
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.taskName = "BEEPER",
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.taskFunc = taskUpdateBeeper,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef GPS
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[TASK_GPS] = {
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.taskName = "GPS",
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.taskFunc = taskProcessGPS,
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.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#endif
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#ifdef MAG
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[TASK_COMPASS] = {
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.taskName = "COMPASS",
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.taskFunc = taskUpdateCompass,
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.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef BARO
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[TASK_BARO] = {
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.taskName = "BARO",
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.taskFunc = taskUpdateBaro,
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.desiredPeriod = 1000000 / 20,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef SONAR
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[TASK_SONAR] = {
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.taskName = "SONAR",
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.taskFunc = taskUpdateSonar,
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.desiredPeriod = 1000000 / 20,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#if defined(BARO) || defined(SONAR)
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[TASK_ALTITUDE] = {
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.taskName = "ALTITUDE",
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.taskFunc = taskCalculateAltitude,
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.desiredPeriod = 1000000 / 40,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = taskTransponder,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef DISPLAY
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[TASK_DISPLAY] = {
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.taskName = "DISPLAY",
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.taskFunc = taskUpdateDisplay,
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.desiredPeriod = 1000000 / 10,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef OSD
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[TASK_OSD] = {
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.taskName = "OSD",
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.taskFunc = taskUpdateOsd,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef TELEMETRY
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[TASK_TELEMETRY] = {
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.taskName = "TELEMETRY",
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.taskFunc = taskTelemetry,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef LED_STRIP
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[TASK_LEDSTRIP] = {
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.taskName = "LEDSTRIP",
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.taskFunc = taskLedStrip,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef USE_BST
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[TASK_BST_MASTER_PROCESS] = {
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.taskName = "BST_MASTER_PROCESS",
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.taskFunc = taskBstMasterProcess,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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#ifdef CMS
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[TASK_CMS] = {
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.taskName = "CMS",
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.taskFunc = cmsHandler,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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};
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