Reorganisation of tasks into fc_tasks.c
This commit is contained in:
Martin Budden
parent
92d2e3ae91
commit
0ccb7040f0
2
Makefile
2
Makefile
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@ -397,6 +397,7 @@ COMMON_SRC = \
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$(TARGET_DIR_SRC) \
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main.c \
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fc/mw.c \
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fc/fc_tasks.c \
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common/encoding.c \
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common/filter.c \
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common/maths.c \
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@ -463,7 +464,6 @@ COMMON_SRC = \
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rx/sumh.c \
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rx/xbus.c \
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scheduler/scheduler.c \
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scheduler/scheduler_tasks.c \
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sensors/acceleration.c \
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sensors/battery.c \
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sensors/boardalignment.c \
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@ -0,0 +1,485 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <platform.h>
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#include "common/axis.h"
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#include "common/color.h"
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#include "common/utils.h"
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#include "drivers/sensor.h"
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#include "drivers/accgyro.h"
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#include "drivers/compass.h"
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#include "drivers/serial.h"
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#include "fc/fc_tasks.h"
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#include "fc/mw.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/pid.h"
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#include "io/beeper.h"
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#include "io/display.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/osd.h"
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#include "io/serial.h"
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#include "io/serial_cli.h"
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#include "io/transponder_ir.h"
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#include "rx/rx.h"
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#include "telemetry/telemetry.h"
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#include "sensors/sensors.h"
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#include "sensors/acceleration.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/compass.h"
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#include "sensors/gyro.h"
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#include "sensors/sonar.h"
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#include "scheduler/scheduler.h"
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#include "config/config.h"
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#include "config/feature.h"
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#include "config/config_profile.h"
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#include "config/config_master.h"
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/* VBAT monitoring interval (in microseconds) - 1s*/
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#define VBATINTERVAL (6 * 3500)
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/* IBat monitoring interval (in microseconds) - 6 default looptimes */
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#define IBATINTERVAL (6 * 3500)
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cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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.taskName = "SYSTEM",
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.taskFunc = taskSystem,
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.desiredPeriod = 1000000 / 10, // run every 100 ms
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_GYROPID] = {
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.taskName = "PID",
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.subTaskName = "GYRO",
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.taskFunc = taskMainPidLoopCheck,
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.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
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.staticPriority = TASK_PRIORITY_REALTIME,
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},
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[TASK_ACCEL] = {
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.taskName = "ACCEL",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = 1000000 / 1000, // every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = taskUpdateAttitude,
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.desiredPeriod = 1000000 / 100,
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_RX] = {
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.taskName = "RX",
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.checkFunc = taskUpdateRxCheck,
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.taskFunc = taskUpdateRxMain,
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.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_BATTERY] = {
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.taskName = "BATTERY",
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.taskFunc = taskUpdateBattery,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#ifdef BEEPER
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[TASK_BEEPER] = {
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.taskName = "BEEPER",
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.taskFunc = taskUpdateBeeper,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef GPS
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[TASK_GPS] = {
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.taskName = "GPS",
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.taskFunc = taskProcessGPS,
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.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#endif
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#ifdef MAG
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[TASK_COMPASS] = {
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.taskName = "COMPASS",
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.taskFunc = taskUpdateCompass,
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.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef BARO
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[TASK_BARO] = {
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.taskName = "BARO",
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.taskFunc = taskUpdateBaro,
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.desiredPeriod = 1000000 / 20,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef SONAR
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[TASK_SONAR] = {
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.taskName = "SONAR",
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.taskFunc = taskUpdateSonar,
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.desiredPeriod = 1000000 / 20,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#if defined(BARO) || defined(SONAR)
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[TASK_ALTITUDE] = {
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.taskName = "ALTITUDE",
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.taskFunc = taskCalculateAltitude,
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.desiredPeriod = 1000000 / 40,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = taskTransponder,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef DISPLAY
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[TASK_DISPLAY] = {
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.taskName = "DISPLAY",
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.taskFunc = taskUpdateDisplay,
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.desiredPeriod = 1000000 / 10,
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef OSD
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[TASK_OSD] = {
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.taskName = "OSD",
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.taskFunc = taskUpdateOsd,
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.desiredPeriod = 1000000 / 60, // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef TELEMETRY
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[TASK_TELEMETRY] = {
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.taskName = "TELEMETRY",
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.taskFunc = taskTelemetry,
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.desiredPeriod = 1000000 / 250, // 250 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef LED_STRIP
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[TASK_LEDSTRIP] = {
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.taskName = "LEDSTRIP",
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.taskFunc = taskLedStrip,
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.desiredPeriod = 1000000 / 100, // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef USE_BST
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[TASK_BST_MASTER_PROCESS] = {
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.taskName = "BST_MASTER_PROCESS",
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.taskFunc = taskBstMasterProcess,
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.desiredPeriod = 1000000 / 50, // 50 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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};
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void taskUpdateAccelerometer(uint32_t currentTime)
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{
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UNUSED(currentTime);
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imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
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}
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void taskUpdateAttitude(uint32_t currentTime)
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{
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imuUpdateAttitude(currentTime);
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}
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void taskHandleSerial(uint32_t currentTime)
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{
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UNUSED(currentTime);
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handleSerial();
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}
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void taskUpdateBeeper(uint32_t currentTime)
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{
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beeperUpdate(currentTime); //call periodic beeper handler
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}
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void taskUpdateBattery(uint32_t currentTime)
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{
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#ifdef USE_ADC
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static uint32_t vbatLastServiced = 0;
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if (feature(FEATURE_VBAT)) {
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if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
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vbatLastServiced = currentTime;
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updateBattery();
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}
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}
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#endif
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static uint32_t ibatLastServiced = 0;
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if (feature(FEATURE_CURRENT_METER)) {
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const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
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if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
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ibatLastServiced = currentTime;
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updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
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}
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}
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}
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bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
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{
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UNUSED(currentDeltaTime);
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return rxUpdate(currentTime);
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}
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void taskUpdateRxMain(uint32_t currentTime)
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{
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processRx(currentTime);
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isRXDataNew = true;
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#if !defined(BARO) && !defined(SONAR)
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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#endif
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updateLEDs();
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#ifdef BARO
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if (sensors(SENSOR_BARO)) {
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updateAltHoldState();
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}
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#endif
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#ifdef SONAR
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if (sensors(SENSOR_SONAR)) {
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updateSonarAltHoldState();
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}
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#endif
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}
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#ifdef GPS
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void taskProcessGPS(uint32_t currentTime)
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{
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// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
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// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
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// change this based on available hardware
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if (feature(FEATURE_GPS)) {
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gpsThread();
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}
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if (sensors(SENSOR_GPS)) {
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updateGpsIndicator(currentTime);
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}
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}
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#endif
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#ifdef MAG
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void taskUpdateCompass(uint32_t currentTime)
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{
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if (sensors(SENSOR_MAG)) {
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updateCompass(currentTime, &masterConfig.magZero);
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}
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}
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#endif
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#ifdef BARO
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void taskUpdateBaro(uint32_t currentTime)
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{
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UNUSED(currentTime);
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if (sensors(SENSOR_BARO)) {
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const uint32_t newDeadline = baroUpdate();
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if (newDeadline != 0) {
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rescheduleTask(TASK_SELF, newDeadline);
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}
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}
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}
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#endif
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#ifdef SONAR
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void taskUpdateSonar(uint32_t currentTime)
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{
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UNUSED(currentTime);
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if (sensors(SENSOR_SONAR)) {
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sonarUpdate();
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}
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}
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#endif
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#if defined(BARO) || defined(SONAR)
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void taskCalculateAltitude(uint32_t currentTime)
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{
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if (false
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#if defined(BARO)
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|| (sensors(SENSOR_BARO) && isBaroReady())
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#endif
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#if defined(SONAR)
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|| sensors(SENSOR_SONAR)
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#endif
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) {
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calculateEstimatedAltitude(currentTime);
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}}
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#endif
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#ifdef DISPLAY
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void taskUpdateDisplay(uint32_t currentTime)
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{
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if (feature(FEATURE_DISPLAY)) {
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updateDisplay(currentTime);
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}
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}
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#endif
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#ifdef TELEMETRY
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void taskTelemetry(uint32_t currentTime)
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{
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telemetryCheckState();
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if (!cliMode && feature(FEATURE_TELEMETRY)) {
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telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
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}
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}
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#endif
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#ifdef LED_STRIP
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void taskLedStrip(uint32_t currentTime)
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{
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if (feature(FEATURE_LED_STRIP)) {
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updateLedStrip(currentTime);
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}
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}
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#endif
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#ifdef TRANSPONDER
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void taskTransponder(uint32_t currentTime)
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{
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if (feature(FEATURE_TRANSPONDER)) {
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updateTransponder(currentTime);
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}
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}
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#endif
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#ifdef OSD
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void taskUpdateOsd(uint32_t currentTime)
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{
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if (feature(FEATURE_OSD)) {
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updateOsd(currentTime);
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}
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}
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#endif
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void fcTasksInit(void)
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{
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schedulerInit();
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rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
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setTaskEnabled(TASK_GYROPID, true);
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if (sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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rescheduleTask(TASK_ACCEL, accSamplingInterval);
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}
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setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
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setTaskEnabled(TASK_SERIAL, true);
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setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
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setTaskEnabled(TASK_RX, true);
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#ifdef BEEPER
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setTaskEnabled(TASK_BEEPER, true);
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#endif
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#ifdef GPS
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setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
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#endif
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#ifdef MAG
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setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
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#if defined(USE_SPI) && defined(USE_MAG_AK8963)
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// fixme temporary solution for AK6983 via slave I2C on MPU9250
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rescheduleTask(TASK_COMPASS, 1000000 / 40);
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#endif
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#endif
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#ifdef BARO
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setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
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#endif
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#ifdef SONAR
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setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
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#endif
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#if defined(BARO) || defined(SONAR)
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setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
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#endif
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#ifdef DISPLAY
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setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
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#endif
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#ifdef TELEMETRY
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setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
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// Reschedule telemetry to 500hz for Jeti Exbus
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if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
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rescheduleTask(TASK_TELEMETRY, 2000);
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}
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#endif
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#ifdef LED_STRIP
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setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
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#endif
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#ifdef TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
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#endif
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#ifdef OSD
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setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
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#endif
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#ifdef USE_BST
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setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
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#endif
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}
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@ -43,3 +43,8 @@ void taskBstReadWrite(uint32_t currentTime);
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void taskBstMasterProcess(uint32_t currentTime);
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#endif
|
||||
|
||||
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
|
||||
|
||||
|
||||
void fcTasksInit(void);
|
||||
|
||||
|
|
@ -16,17 +16,16 @@
|
|||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#include "build/debug.h"
|
||||
|
||||
#include "blackbox/blackbox.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
#include "common/axis.h"
|
||||
#include "common/color.h"
|
||||
#include "common/utils.h"
|
||||
#include "common/filter.h"
|
||||
|
||||
|
|
@ -35,54 +34,39 @@
|
|||
#include "drivers/compass.h"
|
||||
#include "drivers/light_led.h"
|
||||
|
||||
#include "drivers/gpio.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_rx.h"
|
||||
#include "drivers/gyro_sync.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
#include "sensors/sonar.h"
|
||||
#include "sensors/compass.h"
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/battery.h"
|
||||
|
||||
#include "io/beeper.h"
|
||||
#include "io/display.h"
|
||||
#include "io/motors.h"
|
||||
#include "io/servos.h"
|
||||
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_curves.h"
|
||||
#include "io/gimbal.h"
|
||||
#include "io/gps.h"
|
||||
#include "io/ledstrip.h"
|
||||
|
||||
#include "io/serial.h"
|
||||
#include "io/serial_cli.h"
|
||||
#include "io/serial_msp.h"
|
||||
#include "io/statusindicator.h"
|
||||
#include "io/asyncfatfs/asyncfatfs.h"
|
||||
#include "io/transponder_ir.h"
|
||||
#include "io/osd.h"
|
||||
|
||||
#include "io/vtx.h"
|
||||
#include "io/asyncfatfs/asyncfatfs.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/msp.h"
|
||||
|
||||
#include "telemetry/telemetry.h"
|
||||
#include "blackbox/blackbox.h"
|
||||
#include "scheduler/scheduler.h"
|
||||
|
||||
#include "flight/mixer.h"
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/altitudehold.h"
|
||||
#include "flight/failsafe.h"
|
||||
#include "flight/gtune.h"
|
||||
#include "flight/navigation.h"
|
||||
|
||||
#include "fc/runtime_config.h"
|
||||
#include "config/config.h"
|
||||
|
|
@ -90,9 +74,6 @@
|
|||
#include "config/config_master.h"
|
||||
#include "config/feature.h"
|
||||
|
||||
#include "scheduler/scheduler.h"
|
||||
#include "scheduler/scheduler_tasks.h"
|
||||
|
||||
// June 2013 V2.2-dev
|
||||
|
||||
enum {
|
||||
|
|
@ -101,10 +82,6 @@ enum {
|
|||
ALIGN_MAG = 2
|
||||
};
|
||||
|
||||
/* VBAT monitoring interval (in microseconds) - 1s*/
|
||||
#define VBATINTERVAL (6 * 3500)
|
||||
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
|
||||
#define IBATINTERVAL (6 * 3500)
|
||||
|
||||
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
|
||||
|
||||
|
|
@ -122,7 +99,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
|
|||
|
||||
extern uint8_t PIDweight[3];
|
||||
|
||||
static bool isRXDataNew;
|
||||
uint16_t filteredCycleTime;
|
||||
bool isRXDataNew;
|
||||
static bool armingCalibrationWasInitialised;
|
||||
float setpointRate[3];
|
||||
float rcInput[3];
|
||||
|
|
@ -297,7 +275,7 @@ void processRcCommand(void)
|
|||
}
|
||||
}
|
||||
|
||||
static void updateRcCommands(void)
|
||||
void updateRcCommands(void)
|
||||
{
|
||||
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
|
||||
int32_t prop;
|
||||
|
|
@ -361,7 +339,7 @@ static void updateRcCommands(void)
|
|||
}
|
||||
}
|
||||
|
||||
static void updateLEDs(void)
|
||||
void updateLEDs(void)
|
||||
{
|
||||
if (ARMING_FLAG(ARMED)) {
|
||||
LED0_ON;
|
||||
|
|
@ -869,6 +847,7 @@ void taskMainPidLoopCheck(uint32_t currentTime)
|
|||
runTaskMainSubprocesses = true;
|
||||
}
|
||||
}
|
||||
<<<<<<< 92d2e3ae91522c306728193a386d350c612249cc
|
||||
|
||||
void taskUpdateAccelerometer(uint32_t currentTime)
|
||||
{
|
||||
|
|
@ -1064,3 +1043,5 @@ void taskUpdateOsd(uint32_t currentTime)
|
|||
}
|
||||
}
|
||||
#endif
|
||||
=======
|
||||
>>>>>>> Reorganisation of tasks into fc_tasks.c
|
||||
|
|
|
|||
|
|
@ -18,6 +18,7 @@
|
|||
#pragma once
|
||||
|
||||
extern int16_t magHold;
|
||||
extern bool isRXDataNew;
|
||||
|
||||
union rollAndPitchTrims_u;
|
||||
void applyAndSaveAccelerometerTrimsDelta(union rollAndPitchTrims_u *rollAndPitchTrimsDelta);
|
||||
|
|
@ -25,3 +26,8 @@ void handleInflightCalibrationStickPosition();
|
|||
|
||||
void mwDisarm(void);
|
||||
void mwArm(void);
|
||||
|
||||
void processRx(uint32_t currentTime);
|
||||
void updateLEDs(void);
|
||||
void updateRcCommands(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -62,6 +62,9 @@
|
|||
#include "bus_bst.h"
|
||||
#endif
|
||||
|
||||
#include "fc/fc_tasks.h"
|
||||
#include "fc/rc_controls.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
#include "rx/spektrum.h"
|
||||
|
||||
|
|
@ -111,8 +114,6 @@
|
|||
#include "config/config_master.h"
|
||||
#include "config/feature.h"
|
||||
|
||||
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
|
||||
|
||||
#ifdef USE_HARDWARE_REVISION_DETECTION
|
||||
#include "hardware_revision.h"
|
||||
#endif
|
||||
|
|
@ -658,6 +659,7 @@ void init(void)
|
|||
latchActiveFeatures();
|
||||
motorControlEnable = true;
|
||||
|
||||
fcTasksInit();
|
||||
systemState |= SYSTEM_STATE_READY;
|
||||
}
|
||||
|
||||
|
|
@ -675,67 +677,6 @@ void processLoopback(void) {
|
|||
#define processLoopback()
|
||||
#endif
|
||||
|
||||
void main_init(void)
|
||||
{
|
||||
init();
|
||||
|
||||
/* Setup scheduler */
|
||||
schedulerInit();
|
||||
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
|
||||
setTaskEnabled(TASK_GYROPID, true);
|
||||
|
||||
if (sensors(SENSOR_ACC)) {
|
||||
setTaskEnabled(TASK_ACCEL, true);
|
||||
rescheduleTask(TASK_ACCEL, accSamplingInterval);
|
||||
}
|
||||
|
||||
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
|
||||
setTaskEnabled(TASK_SERIAL, true);
|
||||
#ifdef BEEPER
|
||||
setTaskEnabled(TASK_BEEPER, true);
|
||||
#endif
|
||||
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
|
||||
setTaskEnabled(TASK_RX, true);
|
||||
#ifdef GPS
|
||||
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
|
||||
#endif
|
||||
#ifdef MAG
|
||||
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
|
||||
#if defined(USE_SPI) && defined(USE_MAG_AK8963)
|
||||
// fixme temporary solution for AK6983 via slave I2C on MPU9250
|
||||
rescheduleTask(TASK_COMPASS, 1000000 / 40);
|
||||
#endif
|
||||
#endif
|
||||
#ifdef BARO
|
||||
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
|
||||
#endif
|
||||
#ifdef SONAR
|
||||
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
|
||||
#endif
|
||||
#if defined(BARO) || defined(SONAR)
|
||||
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
|
||||
#endif
|
||||
#ifdef DISPLAY
|
||||
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
|
||||
#endif
|
||||
#ifdef TELEMETRY
|
||||
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
|
||||
// Reschedule telemetry to 500hz for Jeti Exbus
|
||||
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
|
||||
#endif
|
||||
#ifdef LED_STRIP
|
||||
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
|
||||
#endif
|
||||
#ifdef TRANSPONDER
|
||||
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
|
||||
#endif
|
||||
#ifdef OSD
|
||||
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
|
||||
#endif
|
||||
#ifdef USE_BST
|
||||
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
|
||||
#endif
|
||||
}
|
||||
|
||||
void main_step(void)
|
||||
{
|
||||
|
|
@ -746,8 +687,8 @@ void main_step(void)
|
|||
#ifndef NOMAIN
|
||||
int main(void)
|
||||
{
|
||||
main_init();
|
||||
while(1) {
|
||||
init();
|
||||
while (true) {
|
||||
main_step();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -27,7 +27,6 @@
|
|||
#include "build/debug.h"
|
||||
|
||||
#include "scheduler/scheduler.h"
|
||||
#include "scheduler/scheduler_tasks.h"
|
||||
|
||||
#include "common/maths.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -1,184 +0,0 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight 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.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "scheduler/scheduler.h"
|
||||
#include "scheduler/scheduler_tasks.h"
|
||||
|
||||
cfTask_t cfTasks[TASK_COUNT] = {
|
||||
[TASK_SYSTEM] = {
|
||||
.taskName = "SYSTEM",
|
||||
.taskFunc = taskSystem,
|
||||
.desiredPeriod = 1000000 / 10, // run every 100 ms
|
||||
.staticPriority = TASK_PRIORITY_HIGH,
|
||||
},
|
||||
|
||||
[TASK_GYROPID] = {
|
||||
.taskName = "PID",
|
||||
.subTaskName = "GYRO",
|
||||
.taskFunc = taskMainPidLoopCheck,
|
||||
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
|
||||
.staticPriority = TASK_PRIORITY_REALTIME,
|
||||
},
|
||||
|
||||
[TASK_ACCEL] = {
|
||||
.taskName = "ACCEL",
|
||||
.taskFunc = taskUpdateAccelerometer,
|
||||
.desiredPeriod = 1000000 / 1000, // every 1ms
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
[TASK_ATTITUDE] = {
|
||||
.taskName = "ATTITUDE",
|
||||
.taskFunc = taskUpdateAttitude,
|
||||
.desiredPeriod = 1000000 / 100,
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
[TASK_RX] = {
|
||||
.taskName = "RX",
|
||||
.checkFunc = taskUpdateRxCheck,
|
||||
.taskFunc = taskUpdateRxMain,
|
||||
.desiredPeriod = 1000000 / 50, // If event-based scheduling doesn't work, fallback to periodic scheduling
|
||||
.staticPriority = TASK_PRIORITY_HIGH,
|
||||
},
|
||||
|
||||
[TASK_SERIAL] = {
|
||||
.taskName = "SERIAL",
|
||||
.taskFunc = taskHandleSerial,
|
||||
.desiredPeriod = 1000000 / 100, // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
|
||||
[TASK_BATTERY] = {
|
||||
.taskName = "BATTERY",
|
||||
.taskFunc = taskUpdateBattery,
|
||||
.desiredPeriod = 1000000 / 50, // 50 Hz
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
|
||||
#ifdef BEEPER
|
||||
[TASK_BEEPER] = {
|
||||
.taskName = "BEEPER",
|
||||
.taskFunc = taskUpdateBeeper,
|
||||
.desiredPeriod = 1000000 / 100, // 100 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef GPS
|
||||
[TASK_GPS] = {
|
||||
.taskName = "GPS",
|
||||
.taskFunc = taskProcessGPS,
|
||||
.desiredPeriod = 1000000 / 10, // GPS usually don't go raster than 10Hz
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef MAG
|
||||
[TASK_COMPASS] = {
|
||||
.taskName = "COMPASS",
|
||||
.taskFunc = taskUpdateCompass,
|
||||
.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef BARO
|
||||
[TASK_BARO] = {
|
||||
.taskName = "BARO",
|
||||
.taskFunc = taskUpdateBaro,
|
||||
.desiredPeriod = 1000000 / 20,
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef SONAR
|
||||
[TASK_SONAR] = {
|
||||
.taskName = "SONAR",
|
||||
.taskFunc = taskUpdateSonar,
|
||||
.desiredPeriod = 1000000 / 20,
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#if defined(BARO) || defined(SONAR)
|
||||
[TASK_ALTITUDE] = {
|
||||
.taskName = "ALTITUDE",
|
||||
.taskFunc = taskCalculateAltitude,
|
||||
.desiredPeriod = 1000000 / 40,
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef TRANSPONDER
|
||||
[TASK_TRANSPONDER] = {
|
||||
.taskName = "TRANSPONDER",
|
||||
.taskFunc = taskTransponder,
|
||||
.desiredPeriod = 1000000 / 250, // 250 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef DISPLAY
|
||||
[TASK_DISPLAY] = {
|
||||
.taskName = "DISPLAY",
|
||||
.taskFunc = taskUpdateDisplay,
|
||||
.desiredPeriod = 1000000 / 10,
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
#ifdef OSD
|
||||
[TASK_OSD] = {
|
||||
.taskName = "OSD",
|
||||
.taskFunc = taskUpdateOsd,
|
||||
.desiredPeriod = 1000000 / 60, // 60 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
#ifdef TELEMETRY
|
||||
[TASK_TELEMETRY] = {
|
||||
.taskName = "TELEMETRY",
|
||||
.taskFunc = taskTelemetry,
|
||||
.desiredPeriod = 1000000 / 250, // 250 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef LED_STRIP
|
||||
[TASK_LEDSTRIP] = {
|
||||
.taskName = "LEDSTRIP",
|
||||
.taskFunc = taskLedStrip,
|
||||
.desiredPeriod = 1000000 / 100, // 100 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_BST
|
||||
[TASK_BST_MASTER_PROCESS] = {
|
||||
.taskName = "BST_MASTER_PROCESS",
|
||||
.taskFunc = taskBstMasterProcess,
|
||||
.desiredPeriod = 1000000 / 50, // 50 Hz
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
};
|
||||
Loading…
Reference in New Issue