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Code Issues Wiki Activity

mixer scheduler

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This commit is contained in:
Raphael Coeffic 2019-10-19 23:08:51 +02:00
parent 17feb48d9d
commit 02660c763a
32 changed files with 644 additions and 314 deletions
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89
radio/src/tasks.cpp
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@ -19,6 +19,7 @@
*/
#include "opentx.h"
#include "mixer_scheduler.h"
RTOS_TASK_HANDLE menusTaskId;
RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
@ -75,13 +76,29 @@ bool isForcePowerOffRequested()
bool isModuleSynchronous(uint8_t moduleIdx)
{
uint8_t protocol = moduleState[moduleIdx].protocol;
if (protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || protocol == PROTOCOL_CHANNELS_PXX2_LOWSPEED || protocol == PROTOCOL_CHANNELS_CROSSFIRE || protocol == PROTOCOL_CHANNELS_GHOST || protocol == PROTOCOL_CHANNELS_NONE)
return true;
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
if (protocol == PROTOCOL_CHANNELS_PXX1_SERIAL)
return true;
switch(moduleState[moduleIdx].protocol) {
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
case PROTOCOL_CHANNELS_CROSSFIRE:
case PROTOCOL_CHANNELS_GHOST:
case PROTOCOL_CHANNELS_AFHDS3:
case PROTOCOL_CHANNELS_NONE:
#if defined(MULTIMODULE)
case PROTOCOL_CHANNELS_MULTIMODULE:
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
#endif
#if defined(DSM2)
case PROTOCOL_CHANNELS_SBUS:
case PROTOCOL_CHANNELS_DSM2_LP45:
case PROTOCOL_CHANNELS_DSM2_DSM2:
case PROTOCOL_CHANNELS_DSM2_DSMX:
#endif
return true;
}
return false;
}
@ -100,12 +117,17 @@ void sendSynchronousPulses(uint8_t runMask)
}
}
//#define DEBUG_MIXER_SCHEDULER
uint32_t nextMixerTime[NUM_MODULES];
TASK_FUNCTION(mixerTask)
{
s_pulses_paused = true;
mixerSchedulerInit();
mixerSchedulerStart();
while (true) {
#if defined(SBUS_TRAINER)
// SBUS trainer
@ -120,7 +142,16 @@ TASK_FUNCTION(mixerTask)
bluetooth.wakeup();
#endif
RTOS_WAIT_TICKS(1);
// run mixer at least every 30ms
bool timeout = mixerSchedulerWaitForTrigger(30);
#if defined(DEBUG_MIXER_SCHEDULER)
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
#endif
// re-enable trigger
mixerSchedulerEnableTrigger();
#if defined(SIMU)
if (pwrCheck() == e_power_off) {
@ -132,23 +163,6 @@ TASK_FUNCTION(mixerTask)
}
#endif
uint32_t now = RTOS_GET_MS();
uint8_t runMask = 0;
if (now >= nextMixerTime[0]) {
runMask |= (1 << 0);
}
#if NUM_MODULES >= 2
if (now >= nextMixerTime[1]) {
runMask |= (1 << 1);
}
#endif
if (!runMask) {
continue; // go back to sleep
}
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();
@ -183,29 +197,18 @@ TASK_FUNCTION(mixerTask)
if (t0 > maxMixerDuration)
maxMixerDuration = t0;
sendSynchronousPulses(runMask);
// TODO:
// - check the cause of timeouts when switching
// between protocols with multi-proto RF
if (timeout)
serialPrint("mix sched timeout!");
// TODO: fix runMask
sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
}
}
}
void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms)
{
// Schedule next mixer calculation time,
if (isModuleSynchronous(module)) {
nextMixerTime[module] += period_ms / RTOS_MS_PER_TICK;
if (nextMixerTime[module] < RTOS_GET_TIME()) {
// we are late ... let's add some small delay
nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
}
}
else {
// for now assume mixer calculation takes 2 ms.
nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
}
DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
}
#define MENU_TASK_PERIOD_TICKS (50 / RTOS_MS_PER_TICK) // 50ms