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Added CLI option to set serial task update rate

This commit is contained in:
Martin Budden 2017-01-09 10:33:57 +00:00
parent 24a384b541
commit aab9c7135b
4 changed files with 9 additions and 8 deletions
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8
src/main/fc/config.c
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@ -439,10 +439,11 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
void resetSerialConfig(serialConfig_t *serialConfig) void resetSerialConfig(serialConfig_t *serialConfig)
{ {
uint8_t index;
memset(serialConfig, 0, sizeof(serialConfig_t)); memset(serialConfig, 0, sizeof(serialConfig_t));
serialConfig->serial_update_rate_hz = 100;
serialConfig->reboot_character = 'R';
for (index = 0; index < SERIAL_PORT_COUNT; index++) { for (int index = 0; index < SERIAL_PORT_COUNT; index++) {
serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index]; serialConfig->portConfigs[index].identifier = serialPortIdentifiers[index];
serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200; serialConfig->portConfigs[index].msp_baudrateIndex = BAUD_115200;
serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600; serialConfig->portConfigs[index].gps_baudrateIndex = BAUD_57600;
@ -451,13 +452,10 @@ void resetSerialConfig(serialConfig_t *serialConfig)
} }
serialConfig->portConfigs[0].functionMask = FUNCTION_MSP; serialConfig->portConfigs[0].functionMask = FUNCTION_MSP;
#if defined(USE_VCP) #if defined(USE_VCP)
// This allows MSP connection via USART & VCP so the board can be reconfigured. // This allows MSP connection via USART & VCP so the board can be reconfigured.
serialConfig->portConfigs[1].functionMask = FUNCTION_MSP; serialConfig->portConfigs[1].functionMask = FUNCTION_MSP;
#endif #endif
serialConfig->reboot_character = 'R';
} }
void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig) void resetRcControlsConfig(rcControlsConfig_t *rcControlsConfig)

1
src/main/fc/fc_tasks.c
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@ -230,6 +230,7 @@ void fcTasksInit(void)
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC)); setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true); setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER)); setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true); setTaskEnabled(TASK_RX, true);

3
src/main/fc/serial_cli.c
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@ -523,7 +523,8 @@ const clivalue_t valueTable[] = {
{ "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &airplaneConfig()->fixedwing_althold_dir, .config.minmax = { -1, 1 } }, { "fixedwing_althold_dir", VAR_INT8 | MASTER_VALUE, &airplaneConfig()->fixedwing_althold_dir, .config.minmax = { -1, 1 } },
{ "reboot_character", VAR_UINT8 | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48, 126 } }, { "reboot_character", VAR_UINT8 | MASTER_VALUE, &serialConfig()->reboot_character, .config.minmax = { 48, 126 } },
{ "serial_update_rate_hz", VAR_UINT16 | MASTER_VALUE, &serialConfig()->serial_update_rate_hz, .config.minmax = { 100, 2000 } },
#ifdef GPS #ifdef GPS
{ "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } }, { "gps_provider", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &gpsConfig()->provider, .config.lookup = { TABLE_GPS_PROVIDER } },

5
src/main/io/serial.h
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@ -96,8 +96,8 @@ serialPort_t *findNextSharedSerialPort(uint16_t functionMask, serialPortFunction
// configuration // configuration
// //
typedef struct serialPortConfig_s { typedef struct serialPortConfig_s {
serialPortIdentifier_e identifier;
uint16_t functionMask; uint16_t functionMask;
serialPortIdentifier_e identifier;
uint8_t msp_baudrateIndex; uint8_t msp_baudrateIndex;
uint8_t gps_baudrateIndex; uint8_t gps_baudrateIndex;
uint8_t blackbox_baudrateIndex; uint8_t blackbox_baudrateIndex;
@ -105,8 +105,9 @@ typedef struct serialPortConfig_s {
} serialPortConfig_t; } serialPortConfig_t;
typedef struct serialConfig_s { typedef struct serialConfig_s {
uint8_t reboot_character; // which byte is used to reboot. Default 'R', could be changed carefully to something else.
serialPortConfig_t portConfigs[SERIAL_PORT_COUNT]; serialPortConfig_t portConfigs[SERIAL_PORT_COUNT];
uint16_t serial_update_rate_hz;
uint8_t reboot_character; // which byte is used to reboot. Default 'R', could be changed carefully to something else.
} serialConfig_t; } serialConfig_t;
typedef void serialConsumer(uint8_t); typedef void serialConsumer(uint8_t);