chore: New module/serial API (#3055)
* WiP: new module interface * WiP: softserial timer DMA * WiP: setup() and send() in one step and remove methods specific to internal or external module * fixes and extra port config * horus targets * module ports have moved * T8 support (only internal module) * fix nv14 * stupid GCC.... * disable BT * remove nv14 telem driver * remove old aux serial driver * Move module buffers out of pulses.h * Soft serial fixes and PXX1 support * Fixed PPM module output * Fixed CLI * compilation fixes * Ported bluetooth and flysky gimbal to new serial driver * Re-enable soft-serial RX * fixes and cleanup * nv14 fixes * Fix flysky gimbals * Ghost module * 16 bytes of RAM * Remove getByte from module API * Ghost cleanup * fix: _half_duplex_input() must be called after usart init * WiP * more cleanup * Remove board specific settings from PXX1 / PXX2 drivers * A bit of PXX2 header cleanup * Add support for OVER8 and ONEBIT * Add some support for inverters (NV14 / EL18) * Support NV14 power fixes in generic board * Fix polarity handling * Fix RX DMA * Fix mixer not running * Add soft-serial polarity control * Quick fix for telemetry polling while module port is changed * Fix bootloader DEBUG * Fix MPM telemetry * Fix pulse start * DSM2 soft-serial fallback * DSMP async module restart * Fix CRSF LUA upstream * Remove global variable telemetryProtocol * Use HAL/LL constants * Fix various issue with AFHDS3 and NV14/EL18 internal module * Fixed S.PORT unit tests * fix: update widx after writing at current index * fix: init error condition * Fix: possible infinite loop in _find_port() * Add support for bidir S.PORT init * Add support for "getLastByte" in HW serial driver * PXX1: Add support for S.PORT based on IDLE callback * Fix rebase error * Fix softserial _rx_fifo_push() * Add softserial support for waitForTxCompleted() * Fix MPM flashing (internal / external) * Fixed external MPM * Activate RX DMA on internal module Seems to work with serial passthrough without issues, at least on the L3R PRO. * Fix softserial DMA on stdlcd F4 targets * Add softserial support for 32bit timers (mostly TIM2) * More precise soft-serial * Fix MPM update using inverters & HW uart * Raise S.PORT DMA/USART IRQ prio to achieve faster switching to input * Remove useless delays * Fix flashing external ELRS module * Added a retry mechanism for FrSky S.PORT update * Remove useless enableRx() * External FrSky modules are all flashed via S.PORT * Remove power management unit update This was only used on the first batch of X-lite.
This commit is contained in:
Raphael Coeffic
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/*
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* Copyright (C) EdgeTX
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*
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* Based on code named
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* opentx - https://github.com/opentx/opentx
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program 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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#include "tasks.h"
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#include "mixer_task.h"
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#include "mixer_scheduler.h"
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#include "opentx.h"
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RTOS_TASK_HANDLE mixerTaskId;
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RTOS_DEFINE_STACK(mixerTaskId, mixerStack, MIXER_STACK_SIZE);
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// mixer hold this mutex while computing
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// channels and sending them out
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static RTOS_MUTEX_HANDLE mixerMutex;
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// The mixer will start in 'paused' mode
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// and start working properly once
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// mixerTaskStart() has been called.
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static bool _mixer_running = false;
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static bool _mixer_exit = false;
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void mixerTaskLock()
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{
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RTOS_LOCK_MUTEX(mixerMutex);
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}
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// returns true if the lock could be acquired
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bool mixerTaskTryLock()
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{
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return RTOS_TRYLOCK_MUTEX(mixerMutex);
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}
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void mixerTaskUnlock()
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{
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RTOS_UNLOCK_MUTEX(mixerMutex);
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}
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void mixerTaskInit()
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{
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RTOS_CREATE_MUTEX(mixerMutex);
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RTOS_CREATE_TASK(mixerTaskId, mixerTask, "mixer", mixerStack,
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MIXER_STACK_SIZE, MIXER_TASK_PRIO);
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}
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void mixerTaskStart()
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{
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_mixer_running = true;
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}
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void mixerTaskStop()
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{
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mixerTaskLock();
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_mixer_running = false;
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mixerTaskUnlock();
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}
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void mixerTaskExit()
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{
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_mixer_exit = true;
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}
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bool mixerTaskRunning()
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{
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return _mixer_running && !_mixer_exit;
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}
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volatile uint16_t timeForcePowerOffPressed = 0;
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bool isForcePowerOffRequested()
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{
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if (pwrOffPressed()) {
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if (timeForcePowerOffPressed == 0) {
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timeForcePowerOffPressed = get_tmr10ms();
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}
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else {
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uint16_t delay = (uint16_t)get_tmr10ms() - timeForcePowerOffPressed;
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if (delay > 1000/*10s*/) {
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return true;
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}
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}
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}
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else {
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resetForcePowerOffRequest();
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}
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return false;
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}
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constexpr uint8_t MIXER_FREQUENT_ACTIONS_PERIOD = 5 /*ms*/;
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constexpr uint8_t MIXER_MAX_PERIOD = MAX_REFRESH_RATE / 1000 /*ms*/;
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void execMixerFrequentActions()
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{
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#if defined(SBUS_TRAINER)
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// SBUS trainer
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processSbusInput();
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#endif
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#if defined(IMU)
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gyro.wakeup();
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#endif
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#if defined(BLUETOOTH)
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bluetooth.wakeup();
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#endif
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#if defined(SIMU)
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if (!_mixer_running) {
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DEBUG_TIMER_START(debugTimerTelemetryWakeup);
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telemetryWakeup();
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DEBUG_TIMER_STOP(debugTimerTelemetryWakeup);
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}
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#endif
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}
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TASK_FUNCTION(mixerTask)
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{
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mixerSchedulerInit();
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mixerSchedulerStart();
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while (!_mixer_exit) {
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int timeout = 0;
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for (; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) {
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// run periodicals before waiting for the trigger
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// to keep the delay short
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execMixerFrequentActions();
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// mixer flag triggered?
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if (!mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD)) {
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break;
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}
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}
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#if defined(DEBUG_MIXER_SCHEDULER)
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GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
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#endif
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// re-enable trigger
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mixerSchedulerEnableTrigger();
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#if defined(SIMU)
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// TODO: should be using mixerTaskExit() instead...
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if (pwrCheck() == e_power_off) {
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TASK_RETURN();
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}
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#else
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// Emergency power OFF: in case the UI is not functional anymore
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// or maybe locked, this will effectively shutdown and cut power.
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if (isForcePowerOffRequested()) {
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boardOff();
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}
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#endif
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if (_mixer_running) {
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uint16_t t0 = getTmr2MHz();
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DEBUG_TIMER_START(debugTimerMixer);
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mixerTaskLock();
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doMixerCalculations();
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pulsesSendChannels();
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doMixerPeriodicUpdates();
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// TODO: what are these for???
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DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
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DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
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mixerTaskUnlock();
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DEBUG_TIMER_STOP(debugTimerMixer);
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#if defined(STM32) && !defined(SIMU)
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if (getSelectedUsbMode() == USB_JOYSTICK_MODE) {
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usbJoystickUpdate();
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}
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#endif
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// we are the main actor to reset the watchdog timer
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// so let's do it here.
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WDG_RESET();
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t0 = getTmr2MHz() - t0;
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if (t0 > maxMixerDuration)
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maxMixerDuration = t0;
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}
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}
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TASK_RETURN();
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}
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void doMixerCalculations()
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{
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static tmr10ms_t lastTMR = 0;
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tmr10ms_t tmr10ms = get_tmr10ms();
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#if defined(DEBUG_LATENCY_MIXER_RF) || defined(DEBUG_LATENCY_RF_ONLY)
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static tmr10ms_t lastLatencyToggle = 0;
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if (tmr10ms - lastLatencyToggle >= 10) {
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lastLatencyToggle = tmr10ms;
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toggleLatencySwitch();
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}
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#endif
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uint8_t tick10ms = (tmr10ms >= lastTMR ? tmr10ms - lastTMR : 1);
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// handle tick10ms overrun
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// correct overflow handling costs a lot of code; happens only each 11 min;
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// therefore forget the exact calculation and use only 1 instead; good compromise
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lastTMR = tmr10ms;
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DEBUG_TIMER_START(debugTimerGetAdc);
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getADC();
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DEBUG_TIMER_STOP(debugTimerGetAdc);
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DEBUG_TIMER_START(debugTimerGetSwitches);
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getSwitchesPosition(!s_mixer_first_run_done);
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DEBUG_TIMER_STOP(debugTimerGetSwitches);
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DEBUG_TIMER_START(debugTimerEvalMixes);
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evalMixes(tick10ms);
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DEBUG_TIMER_STOP(debugTimerEvalMixes);
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}
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