tasks.cpp added to deal with OpenTX tasks on ARM

2025-07-23 08:15:17 +03:00 · 2014-09-03 15:00:25 +02:00 · 2014-09-03 15:00:25 +02:00 · f865af2cbe
commit f865af2cbe
parent 544449c499
6 changed files with 214 additions and 171 deletions
--- a/radio/src/tasks_arm.cpp
+++ b/radio/src/tasks_arm.cpp
@ -0,0 +1,193 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+#include "opentx.h"
+
+#define MENUS_STACK_SIZE    2000
+#define MIXER_STACK_SIZE    500
+#define AUDIO_STACK_SIZE    500
+#define BT_STACK_SIZE       500
+#define DEBUG_STACK_SIZE    500
+
+#if defined(_MSC_VER)
+  #define _ALIGNED(x) __declspec(align(x))
+#elif defined(__GNUC__)
+  #define _ALIGNED(x) __attribute__ ((aligned(x)))
+#endif
+
+OS_TID menusTaskId;
+// stack must be aligned to 8 bytes otherwise printf for %f does not work!
+OS_STK _ALIGNED(8) menusStack[MENUS_STACK_SIZE];
+
+OS_TID mixerTaskId;
+OS_STK mixerStack[MIXER_STACK_SIZE];
+
+OS_TID audioTaskId;
+OS_STK audioStack[AUDIO_STACK_SIZE];
+
+#if defined(BLUETOOTH)
+OS_TID btTaskId;
+OS_STK btStack[BT_STACK_SIZE];
+#endif
+
+#if defined(DEBUG)
+OS_TID debugTaskId;
+OS_STK debugStack[DEBUG_STACK_SIZE];
+#endif
+
+OS_MutexID audioMutex;
+OS_MutexID mixerMutex;
+
+void stack_paint()
+{
+  for (uint32_t i=0; i<MENUS_STACK_SIZE; i++)
+    menusStack[i] = 0x55555555;
+  for (uint32_t i=0; i<MIXER_STACK_SIZE; i++)
+    mixerStack[i] = 0x55555555;
+  for (uint32_t i=0; i<AUDIO_STACK_SIZE; i++)
+    audioStack[i] = 0x55555555;
+}
+
+uint32_t stack_free(uint32_t tid)
+{
+  OS_STK *stack;
+  uint32_t size;
+
+  switch(tid) {
+    case 0:
+      stack = menusStack;
+      size = MENUS_STACK_SIZE;
+      break;
+    case 1:
+      stack = mixerStack;
+      size = MIXER_STACK_SIZE;
+      break;
+    case 2:
+      stack = audioStack;
+      size = AUDIO_STACK_SIZE;
+      break;
+    default:
+      return 0;
+  }
+
+  uint32_t i=0;
+  for (; i<size; i++)
+    if (stack[i] != 0x55555555)
+      break;
+  return i;
+}
+
+void mixerTask(void * pdata)
+{
+  s_pulses_paused = true;
+
+  while(1) {
+
+    if (!s_pulses_paused) {
+      uint16_t t0 = getTmr2MHz();
+
+      CoEnterMutexSection(mixerMutex);
+      doMixerCalculations();
+      CoLeaveMutexSection(mixerMutex);
+
+#if defined(FRSKY) || defined(MAVLINK)
+      telemetryWakeup();
+#endif
+
+      if (heartbeat == HEART_WDT_CHECK) {
+        wdt_reset();
+        heartbeat = 0;
+      }
+
+      t0 = getTmr2MHz() - t0;
+      if (t0 > maxMixerDuration) maxMixerDuration = t0 ;
+    }
+
+    CoTickDelay(1);  // 2ms for now
+  }
+}
+
+extern void opentxClose();
+extern void opentxInit();
+void menusTask(void * pdata)
+{
+  opentxInit();
+
+  while (pwrCheck() != e_power_off) {
+    perMain();
+    // TODO remove completely massstorage from sky9x firmware
+    CoTickDelay(5);  // 5*2ms for now
+  }
+
+  lcd_clear();
+  displayPopup(STR_SHUTDOWN);
+
+  opentxClose();
+
+  lcd_clear();
+  lcdRefresh();
+  lcdSetRefVolt(0);
+
+  SysTick->CTRL = 0; // turn off systick
+
+  pwrOff(); // Only turn power off if necessary
+}
+
+extern void audioTask(void* pdata);
+
+void tasksStart()
+{
+  CoInitOS();
+
+#if defined(CPUARM) && defined(DEBUG)
+  debugTaskId = CoCreateTaskEx(debugTask, NULL, 10, &debugStack[DEBUG_STACK_SIZE-1], DEBUG_STACK_SIZE, 1, false);
+#endif
+
+#if defined(BLUETOOTH)
+  btTaskId = CoCreateTask(btTask, NULL, 15, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
+#endif
+
+  mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
+  menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
+  audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
+
+#if !defined(SIMU)
+  audioMutex = CoCreateMutex();
+  mixerMutex = CoCreateMutex();
+#endif
+
+  CoStartOS();
+}