tasks.cpp added to deal with OpenTX tasks on ARM

radio/src/Makefile

@@ -613,7 +613,7 @@ ifeq ($(PCB), $(filter $(PCB), SKY9X 9XRPRO))
   EEPROMSRC = eeprom_common.cpp eeprom_raw.cpp eeprom_conversions.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp pulses/dsm2_arm.cpp
-  CPPSRC += audio_arm.cpp haptic.cpp gui/view_about.cpp gui/view_text.cpp
+  CPPSRC += tasks_arm.cpp audio_arm.cpp haptic.cpp gui/view_about.cpp gui/view_text.cpp
   CPPSRC += targets/sky9x/telemetry_driver.cpp targets/sky9x/second_serial_driver.cpp targets/sky9x/pwr_driver.cpp targets/sky9x/adc_driver.cpp targets/sky9x/eeprom_driver.cpp targets/sky9x/pulses_driver.cpp targets/sky9x/keys_driver.cpp targets/sky9x/audio_driver.cpp targets/sky9x/buzzer_driver.cpp targets/sky9x/haptic_driver.cpp targets/sky9x/sdcard_driver.cpp targets/sky9x/massstorage.cpp
   CPPSRC += loadboot.cpp
     
@@ -683,7 +683,7 @@ ifeq ($(PCB), TARANIS)
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp eeprom_conversions.cpp
   LCDSRC = lcd_common.cpp lcd_taranis.cpp
   PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp
-  CPPSRC += audio_arm.cpp sbus.cpp
+  CPPSRC += tasks_arm.cpp audio_arm.cpp sbus.cpp
   CPPSRC += targets/taranis/pulses_driver.cpp targets/taranis/keys_driver.cpp targets/taranis/adc_driver.cpp targets/taranis/trainer_driver.cpp targets/taranis/audio_driver.cpp targets/taranis/uart3_driver.cpp targets/taranis/telemetry_driver.cpp
   CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp
   SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/CMSIS/Device/ST/STM32F2xx/Source/Templates/system_stm32f2xx.c

radio/src/opentx.cpp

@@ -36,44 +36,6 @@
 
 #include "opentx.h"
 
-#if defined(CPUARM)
-#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;
-
-#endif // defined(CPUARM)
-
 #if defined(SPLASH)
 const pm_uchar splashdata[] PROGMEM = { 'S','P','S',0,
 #if defined(PCBTARANIS)
@@ -3301,48 +3263,7 @@ void saveTimers()
   volatile rotenc_t g_rotenc[1] = {0};
 #endif
 
-#ifndef SIMU
+#if !defined(CPUARM) && !defined(SIMU)
-
-#if defined(CPUARM)
-void stack_paint()
-{
-  for (uint16_t i=0; i<MENUS_STACK_SIZE; i++)
-    menusStack[i] = 0x55555555;
-  for (uint16_t i=0; i<MIXER_STACK_SIZE; i++)
-    mixerStack[i] = 0x55555555;
-  for (uint16_t i=0; i<AUDIO_STACK_SIZE; i++)
-    audioStack[i] = 0x55555555;
-}
-
-uint16_t stack_free(uint8_t tid)
-{
-  OS_STK *stack;
-  uint16_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;
-  }
-
-  uint16_t i=0;
-  for (; i<size; i++)
-    if (stack[i] != 0x55555555)
-      break;
-  return i;
-}
-#else
 extern unsigned char __bss_end ;
 #define STACKPTR     _SFR_IO16(0x3D)
 void stack_paint()
@@ -3377,9 +3298,9 @@ uint16_t stack_free()
   #define OPENTX_INIT_ARGS
 #endif
 
-inline void opentxInit(OPENTX_INIT_ARGS)
+void opentxInit(OPENTX_INIT_ARGS)
 {
-#if defined(PCBTARANIS)
+#if defined(PCBTARANIS) && !defined(SIMU)
   CoTickDelay(100);   //200ms
   lcdInit();
   lcdSetRefVolt(g_eeGeneral.contrast);
@@ -3468,65 +3389,7 @@ inline void opentxInit(OPENTX_INIT_ARGS)
   wdt_enable(WDTO_500MS);
 }
 
-#if defined(CPUARM)
+#if !defined(SIMU)
-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
-  }
-}
-
-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);
-
-#endif
-
 int main(void)
 {
   // G: The WDT remains active after a WDT reset -- at maximum clock speed. So it's
@@ -3597,30 +3460,13 @@ int main(void)
 #endif
 
 #if defined(CPUARM)
-  CoInitOS();
+  tasksStart();
-
-#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);
-
-  audioMutex = CoCreateMutex();
-  mixerMutex = CoCreateMutex();
-
-  CoStartOS();
 #else
 #if defined(CPUM2560)
   uint8_t shutdown_state = 0;
 #endif
 
-  while(1) {
+  while (1) {
 #if defined(CPUM2560)
     if ((shutdown_state=pwrCheck()) > e_power_trainer)
       break;

radio/src/opentx.h

@@ -912,7 +912,7 @@ extern uint16_t maxLuaDuration;
 #endif
 
 #if defined(CPUARM)
-  uint16_t stack_free(uint8_t tid);
+  uint32_t stack_free(uint32_t tid);
 #else
   uint16_t stack_free();
 #endif

radio/src/targets/simu/simpgmspace.cpp

@@ -436,14 +436,12 @@ void eeWriteBlockCmp(const void *pointer_ram, uint16_t pointer_eeprom, size_t si
 
 #endif
 
-#if defined(CPUARM)
+#if !defined(CPUARM)
-uint16_t stack_free(uint8_t)
-#else
 uint16_t stack_free()
-#endif
 {
   return 500;
 }
+#endif
 
 #if 0
 static void EeFsDump(){

radio/src/targets/simu/simpgmspace.h

@@ -358,19 +358,25 @@ void eeprom_read_block (void *pointer_ram, uint16_t pointer_eeprom, size_t size)
 void eeprom_read_block (void *pointer_ram, const void *pointer_eeprom, size_t size);
 #endif
 
+#define wdt_enable(...) sleep(1/*ms*/)
 #define wdt_reset() sleep(1/*ms*/)
 #define boardInit()
 
 #define OS_MutexID pthread_mutex_t
 extern OS_MutexID audioMutex;
 
-#define OS_FlagID int
+#define OS_FlagID uint32_t
-#define OS_TID int
+#define OS_TID uint32_t
-#define OS_TCID int
+#define OS_TCID uint32_t
-#define OS_STK char
+#define OS_STK uint32_t
 
 #define E_OK   0
+#define WDRF   0
 
+#define CoInitOS(...)
+#define CoStartOS(...)
+#define CoCreateTask(...) sleep(1/*ms*/)
+#define CoCreateMutex(...) PTHREAD_MUTEX_INITIALIZER
 #define CoSetFlag(...)
 #define CoClearFlag(...)
 #define CoSetTmrCnt(...)

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();
+}