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https://github.com/opentx/opentx.git
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Allow PCBSKY9X compilation
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3djc
parent
ba887720bf
commit
78dd516069
4 changed files with 73 additions and 2 deletions
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@ -502,6 +502,7 @@ void evalFlightModeMixes(uint8_t mode, uint8_t tick10ms);
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void evalMixes(uint8_t tick10ms);
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void doMixerCalculations();
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void doMixerPeriodicUpdates();
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void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms);
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void checkTrims();
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extern uint8_t currentBacklightBright;
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@ -241,8 +241,12 @@ void enablePulsesExternalModule(uint8_t protocol)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(DSM2_BAUDRATE, DSM2_PERIOD * 2000, false);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, DSM2_PERIOD);
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#endif
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break;
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#endif
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@ -274,15 +278,23 @@ void enablePulsesExternalModule(uint8_t protocol)
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000, true);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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#endif
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break;
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#endif
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#if defined(SBUS)
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case PROTOCOL_CHANNELS_SBUS:
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#if defined(PCBSKY9X)
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extmoduleSerialStart(SBUS_BAUDRATE, SBUS_PERIOD_HALF_US, false);
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#else
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extmoduleSerialStart();
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
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#endif
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break;
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#endif
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@ -314,12 +326,18 @@ bool setupPulsesExternalModule(uint8_t protocol)
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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extmodulePulsesData.pxx.setupFrame(EXTERNAL_MODULE);
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
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#endif
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return true;
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#endif
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#if defined(PXX1) && defined(HARDWARE_EXTERNAL_MODULE_SIZE_SML)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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extmodulePulsesData.pxx_uart.setupFrame(EXTERNAL_MODULE);
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, EXTMODULE_PXX1_SERIAL_PERIOD);
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#endif
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return true;
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#endif
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@ -327,13 +345,18 @@ bool setupPulsesExternalModule(uint8_t protocol)
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case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
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case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
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extmodulePulsesData.pxx2.setupFrame(EXTERNAL_MODULE);
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#if defined(PCBSKY9X)
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sheduleNextMixerCalculation(EXTERNAL_MODULE, PXX2_PERIOD);
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#endif
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return true;
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#endif
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#if defined(SBUS)
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case PROTOCOL_CHANNELS_SBUS:
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setupPulsesSbus();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, SBUS_PERIOD);
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#endif
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// SBUS_PERIOD is not a constant! It can be set from UI
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, SBUS_PERIOD);
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return true;
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@ -344,6 +367,9 @@ bool setupPulsesExternalModule(uint8_t protocol)
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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setupPulsesDSM2();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, DSM2_PERIOD);
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#endif
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return true;
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#endif
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@ -356,6 +382,9 @@ bool setupPulsesExternalModule(uint8_t protocol)
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
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setupPulsesCrossfire();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
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#endif
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return true;
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}
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#endif
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@ -369,6 +398,9 @@ bool setupPulsesExternalModule(uint8_t protocol)
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, GHOST_PERIOD);
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setupPulsesGhost();
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#if defined(PCBSKPCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, GHOST_PERIOD);
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#endif
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return true;
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}
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#endif
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@ -382,6 +414,9 @@ bool setupPulsesExternalModule(uint8_t protocol)
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else
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mixerSchedulerSetPeriod(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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setupPulsesMultiExternalModule();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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#endif
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return true;
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}
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#endif
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@ -389,12 +424,18 @@ bool setupPulsesExternalModule(uint8_t protocol)
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#if defined(PPM)
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case PROTOCOL_CHANNELS_PPM:
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setupPulsesPPMExternalModule();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
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#endif
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return true;
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#endif
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#if defined(AFHDS3)
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case PROTOCOL_CHANNELS_AFHDS3:
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extmodulePulsesData.afhds3.setupFrame();
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#if defined(PCBSKY9X)
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scheduleNextMixerCalculation(EXTERNAL_MODULE, AFHDS3_COMMAND_TIMEOUT);
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#endif
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return true;
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#endif
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@ -118,7 +118,9 @@ TASK_FUNCTION(mixerTask)
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s_pulses_paused = true;
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mixerSchedulerInit();
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#if !defined(PCBSKY9X)
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mixerSchedulerStart();
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#endif
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while (true) {
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#if defined(SBUS_TRAINER)
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@ -142,8 +144,10 @@ TASK_FUNCTION(mixerTask)
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GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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#endif
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#if !defined(PCBSKY9X)
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// re-enable trigger
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mixerSchedulerEnableTrigger();
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#endif
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#if defined(SIMU)
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if (pwrCheck() == e_power_off) {
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@ -164,7 +168,11 @@ TASK_FUNCTION(mixerTask)
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doMixerCalculations();
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// TODO: fix runMask
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#if defined(PCBSKY9X)
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sendSynchronousPulses(1 << EXTERNAL_MODULE);
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#else
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sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
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#endif
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doMixerPeriodicUpdates();
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@ -200,12 +208,32 @@ TASK_FUNCTION(mixerTask)
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// TODO:
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// - check the cause of timeouts when switching
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// between protocols with multi-proto RF
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#if defined(DEBUG)
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if (timeout)
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serialPrint("mix sched timeout!");
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#endif
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}
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}
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}
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void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms)
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{
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// Schedule next mixer calculation time,
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if (isModuleSynchronous(module)) {
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nextMixerTime[module] += period_ms / RTOS_MS_PER_TICK;
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if (nextMixerTime[module] < RTOS_GET_TIME()) {
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// we are late ... let's add some small delay
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nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
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}
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}
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else {
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// for now assume mixer calculation takes 2 ms.
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nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
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}
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DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
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}
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#define MENU_TASK_PERIOD_TICKS (50 / RTOS_MS_PER_TICK) // 50ms
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@ -252,8 +252,9 @@ static void processMultiSyncPacket(const uint8_t * data, uint8_t module)
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// inputLag -= refreshRate;
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status.update(refreshRate, inputLag);
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#if defined(DEBUG)
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serialPrint("MP ADJ: R %d, L %04d", refreshRate, inputLag);
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#endif
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}
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#if defined(PCBTARANIS) || defined(PCBHORUS)
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