opentx/radio/src/tasks.cpp

/*
 * Copyright (C) OpenTX
 *
 * Based on code named
 *   th9x - http://code.google.com/p/th9x
 *   er9x - http://code.google.com/p/er9x
 *   gruvin9x - http://code.google.com/p/gruvin9x
 *
 * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
 *
 * 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"
#include "mixer_scheduler.h"

RTOS_TASK_HANDLE menusTaskId;
RTOS_DEFINE_STACK(menusStack, MENUS_STACK_SIZE);

RTOS_TASK_HANDLE mixerTaskId;
RTOS_DEFINE_STACK(mixerStack, MIXER_STACK_SIZE);

RTOS_TASK_HANDLE audioTaskId;
RTOS_DEFINE_STACK(audioStack, AUDIO_STACK_SIZE);

RTOS_MUTEX_HANDLE audioMutex;
RTOS_MUTEX_HANDLE mixerMutex;

void stackPaint()
{
  menusStack.paint();
  mixerStack.paint();
  audioStack.paint();
#if defined(CLI)
  cliStack.paint();
#endif
}

volatile uint16_t timeForcePowerOffPressed = 0;

bool isForcePowerOffRequested()
{
  if (pwrOffPressed()) {
    if (timeForcePowerOffPressed == 0) {
      timeForcePowerOffPressed = get_tmr10ms();
    }
    else {
      uint16_t delay = (uint16_t)get_tmr10ms() - timeForcePowerOffPressed;
      if (delay > 1000/*10s*/) {
        return true;
      }
    }
  }
  else {
    resetForcePowerOffRequest();
  }
  return false;
}

bool isModuleSynchronous(uint8_t moduleIdx)
{
  switch(moduleState[moduleIdx].protocol) {
    case PROTOCOL_CHANNELS_PXX2_HIGHSPEED:
    case PROTOCOL_CHANNELS_PXX2_LOWSPEED:
    case PROTOCOL_CHANNELS_CROSSFIRE:
    case PROTOCOL_CHANNELS_GHOST:
    case PROTOCOL_CHANNELS_AFHDS3:
    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
    // case PROTOCOL_CHANNELS_PPM:
    case PROTOCOL_CHANNELS_PXX1_PULSES:
#if defined(DSM2)
    case PROTOCOL_CHANNELS_SBUS:
    case PROTOCOL_CHANNELS_DSM2_LP45:
    case PROTOCOL_CHANNELS_DSM2_DSM2:
    case PROTOCOL_CHANNELS_DSM2_DSMX:
#endif
      return true;
  }
  return false;
}

void sendSynchronousPulses(uint8_t runMask)
{
#if defined(HARDWARE_INTERNAL_MODULE)
  if ((runMask & (1 << INTERNAL_MODULE)) && isModuleSynchronous(INTERNAL_MODULE)) {
    if (setupPulsesInternalModule())
      intmoduleSendNextFrame();
  }
#endif

#if defined(HARDWARE_EXTERNAL_MODULE)
  if ((runMask & (1 << EXTERNAL_MODULE)) && isModuleSynchronous(EXTERNAL_MODULE)) {
    if (setupPulsesExternalModule())
      extmoduleSendNextFrame();
  }
#endif
}

constexpr uint8_t MIXER_FREQUENT_ACTIONS_PERIOD = 5 /*ms*/;
constexpr uint8_t MIXER_MAX_PERIOD = 30 /*ms*/;

void execMixerFrequentActions()
{
#if defined(SBUS_TRAINER)
  // SBUS trainer
  processSbusInput();
#endif

#if defined(GYRO)
  gyro.wakeup();
#endif

#if defined(BLUETOOTH)
  bluetooth.wakeup();
#endif
}

uint32_t nextMixerTime[NUM_MODULES];

TASK_FUNCTION(mixerTask)
{
  s_pulses_paused = true;

  mixerSchedulerInit();

#if !defined(PCBSKY9X)
  mixerSchedulerStart();
#endif

  // clear the flag before first loop
  mixerSchedulerClearTrigger();

  while (true) {
    int timeout = 0;
    for (; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) {

      // run periodicals before waiting for the trigger
      // to keep the delay short
      execMixerFrequentActions();

      // mixer flag triggered?
      if (!mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD)) {
        break;
      }
    }


#if defined(DEBUG_MIXER_SCHEDULER)
    GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
    GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
#endif

#if !defined(PCBSKY9X)
    // clear the flag ASAP to avoid missing a tick
    mixerSchedulerClearTrigger();

    // re-enable trigger
    mixerSchedulerEnableTrigger();
#endif

#if defined(SIMU)
    if (pwrCheck() == e_power_off) {
      TASK_RETURN();
    }
#else
    if (isForcePowerOffRequested()) {
      boardOff();
    }
#endif

    if (!s_pulses_paused) {
      uint16_t t0 = getTmr2MHz();

      DEBUG_TIMER_START(debugTimerMixer);
      RTOS_LOCK_MUTEX(mixerMutex);

      doMixerCalculations();

#if defined(PCBSKY9X)
      sendSynchronousPulses(1 << EXTERNAL_MODULE);
#else
      sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
#endif

      doMixerPeriodicUpdates();

      DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
      DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
      RTOS_UNLOCK_MUTEX(mixerMutex);
      DEBUG_TIMER_STOP(debugTimerMixer);

#if defined(STM32) && !defined(SIMU)
      if (getSelectedUsbMode() == USB_JOYSTICK_MODE) {
        usbJoystickUpdate();
      }
#endif

#if defined(PCBSKY9X) && !defined(SIMU)
      usbJoystickUpdate();
#endif

      DEBUG_TIMER_START(debugTimerTelemetryWakeup);
      telemetryWakeup();
      DEBUG_TIMER_STOP(debugTimerTelemetryWakeup);

      if (heartbeat == HEART_WDT_CHECK) {
        WDG_RESET();
        heartbeat = 0;
      }

      t0 = getTmr2MHz() - t0;
      if (t0 > maxMixerDuration)
        maxMixerDuration = t0;

      // TODO:
      // - check the cause of timeouts when switching
      //    between protocols with multi-proto RF
    }
  }
}

void scheduleNextMixerCalculation(uint8_t module, uint32_t period_ms)
{
  // Schedule next mixer calculation time,

  if (isModuleSynchronous(module)) {
    nextMixerTime[module] += period_ms / RTOS_MS_PER_TICK;
    if (nextMixerTime[module] < RTOS_GET_TIME()) {
      // we are late ... let's add some small delay
      nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
    }
  }
  else {
    // for now assume mixer calculation takes 2 ms.
    nextMixerTime[module] = (uint32_t) RTOS_GET_TIME() + (period_ms / RTOS_MS_PER_TICK);
  }

  DEBUG_TIMER_STOP(debugTimerMixerCalcToUsage);
}

#define MENU_TASK_PERIOD_TICKS         (50 / RTOS_MS_PER_TICK)    // 50ms

#if defined(COLORLCD) && defined(CLI)
bool perMainEnabled = true;
#endif

TASK_FUNCTION(menusTask)
{
  opentxInit();

#if defined(PWR_BUTTON_PRESS)
  while (true) {
    uint32_t pwr_check = pwrCheck();
    if (pwr_check == e_power_off) {
      break;
    }
    else if (pwr_check == e_power_press) {
      RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS);
      continue;
    }
#else
  while (pwrCheck() != e_power_off) {
#endif
    uint32_t start = (uint32_t)RTOS_GET_TIME();
    DEBUG_TIMER_START(debugTimerPerMain);
#if defined(COLORLCD) && defined(CLI)
    if (perMainEnabled) {
      perMain();
    }
#else
    perMain();
#endif
    DEBUG_TIMER_STOP(debugTimerPerMain);
    // TODO remove completely massstorage from sky9x firmware
    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) {
      RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS - runtime);
    }

    resetForcePowerOffRequest();
  }

#if defined(PCBX9E)
  toplcdOff();
#endif

#if defined(PCBHORUS)
  ledOff();
#endif

  drawSleepBitmap();
  opentxClose();
  boardOff(); // Only turn power off if necessary

  TASK_RETURN();
}

void tasksStart()
{
  RTOS_INIT();

#if defined(CLI)
  cliStart();
#endif

  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)
  RTOS_CREATE_TASK(audioTaskId, audioTask, "audio", audioStack, AUDIO_STACK_SIZE, AUDIO_TASK_PRIO);
#endif

  RTOS_CREATE_MUTEX(audioMutex);
  RTOS_CREATE_MUTEX(mixerMutex);

  RTOS_START();
}