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More work on pulses ...
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19 changed files with 261 additions and 222 deletions
265
radio/src/tasks.cpp
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265
radio/src/tasks.cpp
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/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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#include "opentx.h"
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RTOS_TASK_HANDLE menusTaskId;
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RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
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RTOS_TASK_HANDLE mixerTaskId;
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RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
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RTOS_TASK_HANDLE audioTaskId;
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RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
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RTOS_MUTEX_HANDLE audioMutex;
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RTOS_MUTEX_HANDLE mixerMutex;
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enum TaskIndex {
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MENU_TASK_INDEX,
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MIXER_TASK_INDEX,
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AUDIO_TASK_INDEX,
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CLI_TASK_INDEX,
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BLUETOOTH_TASK_INDEX,
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TASK_INDEX_COUNT,
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MAIN_TASK_INDEX = 255
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};
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void stackPaint()
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{
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menusStack.paint();
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mixerStack.paint();
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audioStack.paint();
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#if defined(CLI)
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cliStack.paint();
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#endif
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}
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volatile uint16_t timeForcePowerOffPressed = 0;
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bool isForcePowerOffRequested()
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{
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if (pwrOffPressed()) {
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if (timeForcePowerOffPressed == 0) {
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timeForcePowerOffPressed = get_tmr10ms();
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}
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else {
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uint16_t delay = (uint16_t)get_tmr10ms() - timeForcePowerOffPressed;
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if (delay > 1000/*10s*/) {
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return true;
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}
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}
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}
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else {
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resetForcePowerOffRequest();
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}
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return false;
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}
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bool isProtocolSynchronous(uint8_t protocol)
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{
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return (protocol == PROTOCOL_CHANNELS_PXX2 || protocol == PROTOCOL_CHANNELS_NONE);
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}
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void sendSynchronousPulses()
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{
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for (uint8_t module = 0; module < NUM_MODULES; module++) {
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uint8_t protocol = s_current_protocol[module];
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if (isProtocolSynchronous(protocol)) {
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setupPulses(module);
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}
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}
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}
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uint32_t nextMixerTime[NUM_MODULES];
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TASK_FUNCTION(mixerTask)
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{
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static uint32_t lastRunTime;
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s_pulses_paused = true;
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while(1) {
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#if defined(SBUS)
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processSbusInput();
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#endif
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RTOS_WAIT_TICKS(1);
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#if defined(SIMU)
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if (pwrCheck() == e_power_off) {
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TASK_RETURN();
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}
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#else
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if (isForcePowerOffRequested()) {
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pwrOff();
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}
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#endif
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uint32_t now = RTOS_GET_TIME();
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bool run = false;
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#if !defined(SIMU) && defined(STM32)
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if ((now - lastRunTime) >= (usbStarted() ? 5 : 10)) { // run at least every 20ms (every 10ms if USB is active)
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#else
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if ((now - lastRunTime) >= 10) { // run at least every 20ms
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#endif
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run = true;
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}
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else if (now == nextMixerTime[0]) {
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run = true;
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}
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#if NUM_MODULES >= 2
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else if (now == nextMixerTime[1]) {
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run = true;
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}
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#endif
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if (!run) {
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continue; // go back to sleep
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}
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lastRunTime = now;
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if (!s_pulses_paused) {
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uint16_t t0 = getTmr2MHz();
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DEBUG_TIMER_START(debugTimerMixer);
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RTOS_LOCK_MUTEX(mixerMutex);
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doMixerCalculations();
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DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
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DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
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RTOS_UNLOCK_MUTEX(mixerMutex);
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DEBUG_TIMER_STOP(debugTimerMixer);
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#if defined(STM32) && !defined(SIMU)
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if (getSelectedUsbMode() == USB_JOYSTICK_MODE) {
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usbJoystickUpdate();
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}
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#endif
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#if defined(TELEMETRY_FRSKY)
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DEBUG_TIMER_START(debugTimerTelemetryWakeup);
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telemetryWakeup();
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DEBUG_TIMER_STOP(debugTimerTelemetryWakeup);
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#endif
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#if defined(BLUETOOTH)
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bluetoothWakeup();
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#endif
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if (heartbeat == HEART_WDT_CHECK) {
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wdt_reset();
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heartbeat = 0;
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}
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t0 = getTmr2MHz() - t0;
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if (t0 > maxMixerDuration) maxMixerDuration = t0;
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sendSynchronousPulses();
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}
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}
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}
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void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
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{
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// Schedule next mixer calculation time,
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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) - 1 /* 1 tick in advance*/;
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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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#if defined(COLORLCD) && defined(CLI)
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bool perMainEnabled = true;
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#endif
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TASK_FUNCTION(menusTask)
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{
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opentxInit();
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#if defined(PWR_BUTTON_PRESS)
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while (1) {
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uint32_t pwr_check = pwrCheck();
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if (pwr_check == e_power_off) {
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break;
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}
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else if (pwr_check == e_power_press) {
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RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS);
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continue;
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}
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#else
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while (pwrCheck() != e_power_off) {
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#endif
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uint32_t start = (uint32_t)RTOS_GET_TIME();
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DEBUG_TIMER_START(debugTimerPerMain);
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#if defined(COLORLCD) && defined(CLI)
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if (perMainEnabled) {
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perMain();
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}
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#else
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perMain();
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#endif
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DEBUG_TIMER_STOP(debugTimerPerMain);
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// TODO remove completely massstorage from sky9x firmware
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uint32_t runtime = ((uint32_t)RTOS_GET_TIME() - start);
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// deduct the thread run-time from the wait, if run-time was more than
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// desired period, then skip the wait all together
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if (runtime < MENU_TASK_PERIOD_TICKS) {
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RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS - runtime);
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}
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resetForcePowerOffRequest();
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}
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#if defined(PCBX9E)
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toplcdOff();
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#endif
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#if defined(PCBHORUS)
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ledOff();
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#endif
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drawSleepBitmap();
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opentxClose();
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boardOff(); // Only turn power off if necessary
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TASK_RETURN();
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}
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void tasksStart()
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{
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RTOS_INIT();
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#if defined(CLI)
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cliStart();
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#endif
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RTOS_CREATE_TASK(mixerTaskId, mixerTask, "Mixer", mixerStack, MIXER_STACK_SIZE, MIXER_TASK_PRIO);
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RTOS_CREATE_TASK(menusTaskId, menusTask, "Menus", menusStack, MENUS_STACK_SIZE, MENUS_TASK_PRIO);
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#if !defined(SIMU)
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RTOS_CREATE_TASK(audioTaskId, audioTask, "Audio", audioStack, AUDIO_STACK_SIZE, AUDIO_TASK_PRIO);
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#endif
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RTOS_CREATE_MUTEX(audioMutex);
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RTOS_CREATE_MUTEX(mixerMutex);
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RTOS_START();
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}
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