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RTOS refactoring + more AVR removal

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This commit is contained in:
Bertrand Songis 2018-08-05 12:06:48 +02:00
parent f60733b561
commit f3bfde242b
80 changed files with 1111 additions and 1054 deletions
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91
radio/src/tasks_arm.cpp
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@ -20,18 +20,17 @@
#include "opentx.h"
OS_TID menusTaskId;
// menus stack must be aligned to 8 bytes otherwise printf for %f does not work!
TaskStack<MENUS_STACK_SIZE> __ALIGNED(8) menusStack;
RTOS_TASK_HANDLE menusTaskId;
RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);
OS_TID mixerTaskId;
TaskStack<MIXER_STACK_SIZE> mixerStack;
RTOS_TASK_HANDLE mixerTaskId;
RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);
OS_TID audioTaskId;
TaskStack<AUDIO_STACK_SIZE> audioStack;
RTOS_TASK_HANDLE audioTaskId;
RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);
OS_MutexID audioMutex;
OS_MutexID mixerMutex;
RTOS_MUTEX_HANDLE audioMutex;
RTOS_MUTEX_HANDLE mixerMutex;
enum TaskIndex {
MENU_TASK_INDEX,
@ -43,27 +42,6 @@ enum TaskIndex {
MAIN_TASK_INDEX = 255
};
template<int SIZE>
void TaskStack<SIZE>::paint()
{
for (uint32_t i=0; i<SIZE; i++) {
stack[i] = 0x55555555;
}
}
uint16_t getStackAvailable(void * address, uint16_t size)
{
uint32_t * array = (uint32_t *)address;
uint16_t i = 0;
while (i < size && array[i] == 0x55555555) {
i++;
}
return i*4;
#if defined(CLI)
cliStackPaint();
#endif
}
void stackPaint()
{
menusStack.paint();
@ -74,18 +52,6 @@ void stackPaint()
#endif
}
#if defined(STM32) && !defined(SIMU)
uint16_t stackSize()
{
return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
}
uint16_t stackAvailable()
{
return getStackAvailable(&_main_stack_start, stackSize());
}
#endif
volatile uint16_t timeForcePowerOffPressed = 0;
bool isForcePowerOffRequested()
@ -109,7 +75,7 @@ bool isForcePowerOffRequested()
uint32_t nextMixerTime[NUM_MODULES];
void mixerTask(void * pdata)
TASK_FUNCTION(mixerTask)
{
static uint32_t lastRunTime;
s_pulses_paused = true;
@ -118,20 +84,20 @@ void mixerTask(void * pdata)
#if defined(SIMU)
if (main_thread_running == 0)
return;
TASK_RETURN();
#endif
#if defined(SBUS)
processSbusInput();
#endif
CoTickDelay(1);
RTOS_WAIT_TICKS(1);
if (isForcePowerOffRequested()) {
pwrOff();
}
uint32_t now = CoGetOSTime();
uint32_t now = RTOS_GET_TIME();
bool run = false;
#if !defined(SIMU) && defined(STM32)
if ((now - lastRunTime) >= (usbStarted() ? 5 : 10)) { // run at least every 20ms (every 10ms if USB is active)
@ -158,11 +124,11 @@ void mixerTask(void * pdata)
uint16_t t0 = getTmr2MHz();
DEBUG_TIMER_START(debugTimerMixer);
CoEnterMutexSection(mixerMutex);
RTOS_LOCK_MUTEX(mixerMutex);
doMixerCalculations();
DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
CoLeaveMutexSection(mixerMutex);
RTOS_UNLOCK_MUTEX(mixerMutex);
DEBUG_TIMER_STOP(debugTimerMixer);
#if defined(STM32) && !defined(SIMU)
@ -196,7 +162,7 @@ void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
{
// Schedule next mixer calculation time,
// for now assume mixer calculation takes 2 ms.
nextMixerTime[module] = (uint32_t)CoGetOSTime() + period_ms / 2 - 1/*2ms*/;
nextMixerTime[module] = (uint32_t)RTOS_GET_TIME() + period_ms / 2 - 1/*2ms*/;
DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
}
@ -206,7 +172,7 @@ void scheduleNextMixerCalculation(uint8_t module, uint16_t period_ms)
bool perMainEnabled = true;
#endif
void menusTask(void * pdata)
TASK_FUNCTION(menusTask)
{
opentxInit();
@ -217,13 +183,13 @@ void menusTask(void * pdata)
break;
}
else if (pwr_check == e_power_press) {
CoTickDelay(MENU_TASK_PERIOD_TICKS);
RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS);
continue;
}
#else
while (pwrCheck() != e_power_off) {
#endif
uint32_t start = (uint32_t)CoGetOSTime();
uint32_t start = (uint32_t)RTOS_GET_TIME();
DEBUG_TIMER_START(debugTimerPerMain);
#if defined(COLORLCD) && defined(CLI)
if (perMainEnabled) {
@ -234,11 +200,11 @@ void menusTask(void * pdata)
#endif
DEBUG_TIMER_STOP(debugTimerPerMain);
// TODO remove completely massstorage from sky9x firmware
uint32_t runtime = ((uint32_t)CoGetOSTime() - start);
uint32_t runtime = ((uint32_t)RTOS_GET_TIME() - start);
// deduct the thread run-time from the wait, if run-time was more than
// desired period, then skip the wait all together
if (runtime < MENU_TASK_PERIOD_TICKS) {
CoTickDelay(MENU_TASK_PERIOD_TICKS - runtime);
RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS - runtime);
}
resetForcePowerOffRequest();
@ -260,26 +226,27 @@ void menusTask(void * pdata)
drawSleepBitmap();
opentxClose();
boardOff(); // Only turn power off if necessary
TASK_RETURN();
}
void tasksStart()
{
CoInitOS();
RTOS_INIT();
#if defined(CLI)
cliStart();
#endif
mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack.stack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack.stack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
RTOS_CREATE_TASK(mixerTaskId, mixerTask, "Mixer", mixerStack, MIXER_STACK_SIZE, MIXER_TASK_PRIO);
RTOS_CREATE_TASK(menusTaskId, menusTask, "Menus", menusStack, MENUS_STACK_SIZE, MENUS_TASK_PRIO);
#if !defined(SIMU)
// TODO move the SIMU audio in this task
audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
RTOS_CREATE_TASK(audioTaskId, audioTask, "Audio", audioStack, AUDIO_STACK_SIZE, AUDIO_TASK_PRIO);
#endif
audioMutex = CoCreateMutex();
mixerMutex = CoCreateMutex();
RTOS_CREATE_MUTEX(audioMutex);
RTOS_CREATE_MUTEX(mixerMutex);
CoStartOS();
RTOS_START();
}