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
+5
-146
@@ -20,158 +20,18 @@
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*/
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#include "opentx.h"
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#include "mixer_scheduler.h"
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#include "timers_driver.h"
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#include "tasks.h"
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#include "tasks/mixer_task.h"
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RTOS_TASK_HANDLE menusTaskId;
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RTOS_DEFINE_STACK(menusTaskId, menusStack, MENUS_STACK_SIZE);
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RTOS_TASK_HANDLE mixerTaskId;
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RTOS_DEFINE_STACK(mixerTaskId, mixerStack, MIXER_STACK_SIZE);
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RTOS_TASK_HANDLE audioTaskId;
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RTOS_DEFINE_STACK(audioTaskId, audioStack, AUDIO_STACK_SIZE);
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RTOS_MUTEX_HANDLE audioMutex;
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RTOS_MUTEX_HANDLE mixerMutex;
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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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void sendSynchronousPulses(uint8_t runMask)
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{
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#if defined(HARDWARE_INTERNAL_MODULE)
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if (runMask & (1 << INTERNAL_MODULE)) {
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if (setupPulsesInternalModule())
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intmoduleSendNextFrame();
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}
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#endif
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#if defined(HARDWARE_EXTERNAL_MODULE)
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if (runMask & (1 << EXTERNAL_MODULE)) {
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if (setupPulsesExternalModule())
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extmoduleSendNextFrame();
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}
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#endif
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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 (!s_pulses_paused) {
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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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s_pulses_paused = true;
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mixerSchedulerInit();
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mixerSchedulerStart();
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while (true) {
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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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if (pwrCheck() == e_power_off) {
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TASK_RETURN();
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}
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#else
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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 (!s_pulses_paused) {
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uint16_t t0 = getTmr2MHz();
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DEBUG_TIMER_START(debugTimerMixer);
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RTOS_LOCK_MUTEX(mixerMutex);
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doMixerCalculations();
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sendSynchronousPulses((1 << INTERNAL_MODULE) | (1 << EXTERNAL_MODULE));
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doMixerPeriodicUpdates();
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DEBUG_TIMER_START(debugTimerMixerCalcToUsage);
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DEBUG_TIMER_SAMPLE(debugTimerMixerIterval);
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RTOS_UNLOCK_MUTEX(mixerMutex);
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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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if (heartbeat == HEART_WDT_CHECK) {
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WDG_RESET();
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heartbeat = 0;
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}
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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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}
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#define MENU_TASK_PERIOD_TICKS (50 / RTOS_MS_PER_TICK) // 50ms
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@@ -254,14 +114,13 @@ TASK_FUNCTION(menusTask)
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void tasksStart()
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{
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RTOS_CREATE_MUTEX(audioMutex);
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RTOS_CREATE_MUTEX(mixerMutex);
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#if defined(CLI) && !defined(SIMU)
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cliStart();
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#endif
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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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mixerTaskInit();
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RTOS_CREATE_TASK(menusTaskId, menusTask, "menus", menusStack,
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MENUS_STACK_SIZE, MENUS_TASK_PRIO);
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