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Code Issues Wiki Activity

draft mixer scheduler (WiP)

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This commit is contained in:
Raphael Coeffic 2019-10-19 23:08:51 +02:00 • committed by 3djc
parent 27fad646bd
commit fe6bd01afe
9 changed files with 135 additions and 80 deletions
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73
radio/src/tasks.cpp
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@ -75,13 +75,21 @@ bool isForcePowerOffRequested()
bool isModuleSynchronous(uint8_t module)
{
uint8_t protocol = moduleState[module].protocol;
if (protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || protocol == PROTOCOL_CHANNELS_PXX2_LOWSPEED || protocol == PROTOCOL_CHANNELS_CROSSFIRE || protocol == PROTOCOL_CHANNELS_NONE)
return true;
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
if (protocol == PROTOCOL_CHANNELS_PXX1_SERIAL)
return true;
switch(moduleState[module].protocol) {
case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
case PROTOCOL_CHANNELS_CROSSFIRE:
case PROTOCOL_CHANNELS_NONE:
#if defined(MULTIMODULE)
case PROTOCOL_CHANNELS_MULTIMODULE:
#endif
#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
case PROTOCOL_CHANNELS_PXX1_SERIAL:
#endif
return true;
}
return false;
}
@ -100,13 +108,17 @@ void sendSynchronousPulses()
}
}
#define DEBUG_MIXER_SCHEDULER
uint32_t nextMixerTime[NUM_MODULES];
TASK_FUNCTION(mixerTask)
{
static uint32_t lastRunTime;
s_pulses_paused = true;
mixerSchedulerInit();
mixerSchedulerStart(6666); // 150 Hz
while (true) {
#if defined(PCBTARANIS) && defined(SBUS)
// SBUS trainer
@ -121,7 +133,22 @@ TASK_FUNCTION(mixerTask)
bluetooth.wakeup();
#endif
RTOS_WAIT_TICKS(1);
// TODO:
// - add trigger based on heartbeat driver
// run mixer at least every 10ms
mixerSchedulerWaitForTrigger(10);
#if defined(DEBUG_MIXER_SCHEDULER)
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
#endif
// TODO:
// - compute next trigger
// re-enable trigger
mixerSchedulerEnableTrigger();
#if defined(SIMU)
if (pwrCheck() == e_power_off) {
@ -133,36 +160,6 @@ TASK_FUNCTION(mixerTask)
}
#endif
uint32_t now = RTOS_GET_MS();
bool run = false;
if (now - lastRunTime >= 10) {
// run at least every 10ms
run = true;
}
#if defined(INTMODULE_USART) && defined(INTMODULE_HEARTBEAT)
if ((moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX2_HIGHSPEED || moduleState[INTERNAL_MODULE].protocol == PROTOCOL_CHANNELS_PXX1_SERIAL) && heartbeatCapture.valid && heartbeatCapture.timestamp > lastRunTime) {
run = true;
}
#endif
if (now == nextMixerTime[0]) {
run = true;
}
#if NUM_MODULES >= 2
if (now == nextMixerTime[1]) {
run = true;
}
#endif
if (!run) {
continue; // go back to sleep
}
lastRunTime = now;
if (!s_pulses_paused) {
uint16_t t0 = getTmr2MHz();