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tasks.cpp added to deal with OpenTX tasks on ARM

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This commit is contained in:
bsongis 2014-09-03 15:00:25 +02:00
parent 544449c499
commit f865af2cbe
6 changed files with 214 additions and 171 deletions
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4
radio/src/Makefile
View file

@ -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

166
radio/src/opentx.cpp
View file

@ -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)
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
#if !defined(CPUARM) && !defined(SIMU)
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)
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
#if !defined(SIMU)
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();
#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();
tasksStart();
#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;

2
radio/src/opentx.h
View file

@ -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

6
radio/src/targets/simu/simpgmspace.cpp
View file

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

14
radio/src/targets/simu/simpgmspace.h
View file

@ -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_TID int
#define OS_TCID int
#define OS_STK char
#define OS_FlagID uint32_t
#define OS_TID uint32_t
#define OS_TCID uint32_t
#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(...)

193
radio/src/tasks_arm.cpp Executable file
View file

@ -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();
}