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Merge pull request #9684 from etracer65/fix_cms_task_rate 

Fix CMS task rate; correct cmsDeviceCount logic; coding style cleanup
This commit is contained in:
Michael Keller 2020-04-12 17:33:04 +12:00 committed by GitHub
parent 2101326a1d 9fa0c3bb1e
commit a2aa3f19f4
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 45 additions and 55 deletions
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98
src/main/cms/cms.c
View File

@ -48,33 +48,33 @@
#include "common/maths.h"
#include "common/typeconversion.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/system.h"
#include "drivers/time.h"
#include "drivers/motor.h"
// For rcData, stopAllMotors, stopPwmAllMotors
#include "config/feature.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
// For 'ARM' related
#include "config/config.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/mixer.h"
// For VISIBLE*
#include "io/rcdevice_cam.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#ifdef USE_USB_CDC_HID
#include "pg/usb.h"
#endif
#include "osd/osd.h"
#include "rx/rx.h"
#ifdef USE_USB_CDC_HID
#include "sensors/battery.h"
#include "pg/usb.h"
#endif
// DisplayPort management
@ -88,7 +88,7 @@
displayPort_t *pCurrentDisplay;
static displayPort_t *cmsDisplayPorts[CMS_MAX_DEVICE];
static int cmsDeviceCount;
static unsigned cmsDeviceCount;
static int cmsCurrentDevice = -1;
#ifdef USE_OSD
static unsigned int osdProfileCursor = 1;
@ -98,8 +98,9 @@ int menuChainBack;
bool cmsDisplayPortRegister(displayPort_t *pDisplay)
{
if (cmsDeviceCount == CMS_MAX_DEVICE)
if (cmsDeviceCount >= CMS_MAX_DEVICE) {
return false;
}
cmsDisplayPorts[cmsDeviceCount++] = pDisplay;
@ -108,19 +109,22 @@ bool cmsDisplayPortRegister(displayPort_t *pDisplay)
static displayPort_t *cmsDisplayPortSelectCurrent(void)
{
if (cmsDeviceCount == 0)
if (cmsDeviceCount == 0) {
return NULL;
}
if (cmsCurrentDevice < 0)
if (cmsCurrentDevice < 0) {
cmsCurrentDevice = 0;
}
return cmsDisplayPorts[cmsCurrentDevice];
}
static displayPort_t *cmsDisplayPortSelectNext(void)
{
if (cmsDeviceCount == 0)
if (cmsDeviceCount == 0) {
return NULL;
}
cmsCurrentDevice = (cmsCurrentDevice + 1) % cmsDeviceCount; // -1 Okay
@ -129,10 +133,7 @@ static displayPort_t *cmsDisplayPortSelectNext(void)
bool cmsDisplayPortSelect(displayPort_t *instance)
{
if (cmsDeviceCount == 0) {
return false;
}
for (int i = 0; i < cmsDeviceCount; i++) {
for (unsigned i = 0; i < cmsDeviceCount; i++) {
if (cmsDisplayPortSelectNext() == instance) {
return true;
}
@ -140,7 +141,6 @@ bool cmsDisplayPortSelect(displayPort_t *instance)
return false;
}
#define CMS_UPDATE_INTERVAL_US 50000 // Interval of key scans (microsec)
#define CMS_POLL_INTERVAL_US 100000 // Interval of polling dynamic values (microsec)
// XXX LEFT_MENU_COLUMN and RIGHT_MENU_COLUMN must be adjusted
@ -289,15 +289,18 @@ static void cmsFormatFloat(int32_t value, char *floatString)
// 03.450
// usuwam koncowe zera i kropke
// Keep the first decimal place
for (k = 5; k > 3; k--)
if (floatString[k] == '0' || floatString[k] == '.')
for (k = 5; k > 3; k--) {
if (floatString[k] == '0' || floatString[k] == '.') {
floatString[k] = 0;
else
} else {
break;
}
}
// oraz zero wiodonce
if (floatString[0] == '0')
if (floatString[0] == '0') {
floatString[0] = ' ';
}
}
// CMS on OSD legacy was to use LEFT aligned values, not the RIGHT way ;-)
@ -311,8 +314,9 @@ static void cmsPadRightToSize(char *buf, int size)
int i;
for (i = 0 ; i < size ; i++) {
if (buf[i] == 0)
if (buf[i] == 0) {
break;
}
}
for ( ; i < size ; i++) {
@ -683,8 +687,9 @@ static void cmsDrawMenu(displayPort_t *pDisplay, uint32_t currentTimeUs)
if (IS_PRINTVALUE(runtimeEntryFlags[i])) {
bool selectedRow = i == currentCtx.cursorRow;
room -= cmsDrawMenuEntry(pDisplay, p, top + i * linesPerMenuItem, selectedRow, &runtimeEntryFlags[i]);
if (room < 30)
if (room < 30) {
return;
}
}
}
}
@ -757,8 +762,9 @@ void cmsMenuOpen(void)
if (!cmsInMenu) {
// New open
pCurrentDisplay = cmsDisplayPortSelectCurrent();
if (!pCurrentDisplay)
if (!pCurrentDisplay) {
return;
}
cmsInMenu = true;
currentCtx = (cmsCtx_t){ NULL, 0, 0 };
startMenu = &cmsx_menuMain;
@ -799,8 +805,7 @@ void cmsMenuOpen(void)
maxMenuItems = pCurrentDisplay->rows - 2;
}
if (pCurrentDisplay->useFullscreen)
{
if (pCurrentDisplay->useFullscreen) {
leftMenuColumn = 0;
rightMenuColumn = pCurrentDisplay->cols;
maxMenuItems = pCurrentDisplay->rows;
@ -1033,8 +1038,7 @@ STATIC_UNIT_TESTED uint16_t cmsHandleKey(displayPort_t *pDisplay, cms_key_e key)
if (*ptr->val < ptr->max) {
*ptr->val += ptr->step;
}
}
else {
} else {
if (*ptr->val > ptr->min) {
*ptr->val -= ptr->step;
}
@ -1215,25 +1219,17 @@ static void cmsUpdate(uint32_t currentTimeUs)
} else {
if (IS_MID(THROTTLE) && IS_LO(YAW) && IS_HI(PITCH) && !ARMING_FLAG(ARMED)) {
key = CMS_KEY_MENU;
}
else if (IS_HI(PITCH)) {
} else if (IS_HI(PITCH)) {
key = CMS_KEY_UP;
}
else if (IS_LO(PITCH)) {
} else if (IS_LO(PITCH)) {
key = CMS_KEY_DOWN;
}
else if (IS_LO(ROLL)) {
} else if (IS_LO(ROLL)) {
key = CMS_KEY_LEFT;
}
else if (IS_HI(ROLL)) {
} else if (IS_HI(ROLL)) {
key = CMS_KEY_RIGHT;
}
else if (IS_LO(YAW))
{
} else if (IS_LO(YAW)) {
key = CMS_KEY_ESC;
}
else if (IS_HI(YAW))
{
} else if (IS_HI(YAW)) {
key = CMS_KEY_SAVEMENU;
}
@ -1274,8 +1270,9 @@ static void cmsUpdate(uint32_t currentTimeUs)
// start calling handler multiple times.
if (repeatBase == 0)
if (repeatBase == 0) {
repeatBase = holdCount;
}
repeatCount = repeatCount + (holdCount - repeatBase) / 5;
@ -1305,14 +1302,7 @@ static void cmsUpdate(uint32_t currentTimeUs)
void cmsHandler(timeUs_t currentTimeUs)
{
if (cmsDeviceCount < 0) {
return;
}
static timeUs_t lastCalledUs = 0;
if (currentTimeUs >= lastCalledUs + CMS_UPDATE_INTERVAL_US) {
lastCalledUs = currentTimeUs;
if (cmsDeviceCount > 0) {
cmsUpdate(currentTimeUs);
}
}

2
src/main/fc/tasks.c
View File

@ -452,7 +452,7 @@ task_t tasks[TASK_COUNT] = {
#endif
#ifdef USE_CMS
[TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(60), TASK_PRIORITY_LOW),
[TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
#endif
#ifdef USE_VTX_CONTROL