tasks.cpp added to deal with OpenTX tasks on ARM
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bsongis
+6
-160
@@ -36,44 +36,6 @@
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#include "opentx.h"
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#if defined(CPUARM)
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#define MENUS_STACK_SIZE 2000
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#define MIXER_STACK_SIZE 500
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#define AUDIO_STACK_SIZE 500
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#define BT_STACK_SIZE 500
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#define DEBUG_STACK_SIZE 500
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#if defined(_MSC_VER)
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#define _ALIGNED(x) __declspec(align(x))
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#elif defined(__GNUC__)
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#define _ALIGNED(x) __attribute__ ((aligned(x)))
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#endif
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OS_TID menusTaskId;
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// stack must be aligned to 8 bytes otherwise printf for %f does not work!
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OS_STK _ALIGNED(8) menusStack[MENUS_STACK_SIZE];
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OS_TID mixerTaskId;
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OS_STK mixerStack[MIXER_STACK_SIZE];
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OS_TID audioTaskId;
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OS_STK audioStack[AUDIO_STACK_SIZE];
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#if defined(BLUETOOTH)
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OS_TID btTaskId;
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OS_STK btStack[BT_STACK_SIZE];
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#endif
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#if defined(DEBUG)
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OS_TID debugTaskId;
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OS_STK debugStack[DEBUG_STACK_SIZE];
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#endif
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OS_MutexID audioMutex;
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OS_MutexID mixerMutex;
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#endif // defined(CPUARM)
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#if defined(SPLASH)
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const pm_uchar splashdata[] PROGMEM = { 'S','P','S',0,
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#if defined(PCBTARANIS)
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@@ -3301,48 +3263,7 @@ void saveTimers()
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volatile rotenc_t g_rotenc[1] = {0};
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#endif
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#ifndef SIMU
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#if defined(CPUARM)
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void stack_paint()
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{
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for (uint16_t i=0; i<MENUS_STACK_SIZE; i++)
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menusStack[i] = 0x55555555;
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for (uint16_t i=0; i<MIXER_STACK_SIZE; i++)
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mixerStack[i] = 0x55555555;
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for (uint16_t i=0; i<AUDIO_STACK_SIZE; i++)
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audioStack[i] = 0x55555555;
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}
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uint16_t stack_free(uint8_t tid)
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{
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OS_STK *stack;
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uint16_t size;
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switch(tid) {
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case 0:
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stack = menusStack;
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size = MENUS_STACK_SIZE;
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break;
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case 1:
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stack = mixerStack;
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size = MIXER_STACK_SIZE;
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break;
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case 2:
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stack = audioStack;
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size = AUDIO_STACK_SIZE;
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break;
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default:
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return 0;
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}
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uint16_t i=0;
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for (; i<size; i++)
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if (stack[i] != 0x55555555)
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break;
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return i;
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}
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#else
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#if !defined(CPUARM) && !defined(SIMU)
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extern unsigned char __bss_end ;
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#define STACKPTR _SFR_IO16(0x3D)
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void stack_paint()
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@@ -3377,9 +3298,9 @@ uint16_t stack_free()
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#define OPENTX_INIT_ARGS
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#endif
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inline void opentxInit(OPENTX_INIT_ARGS)
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void opentxInit(OPENTX_INIT_ARGS)
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{
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#if defined(PCBTARANIS)
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#if defined(PCBTARANIS) && !defined(SIMU)
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CoTickDelay(100); //200ms
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lcdInit();
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lcdSetRefVolt(g_eeGeneral.contrast);
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@@ -3468,65 +3389,7 @@ inline void opentxInit(OPENTX_INIT_ARGS)
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wdt_enable(WDTO_500MS);
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}
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#if defined(CPUARM)
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void mixerTask(void * pdata)
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{
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s_pulses_paused = true;
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while(1) {
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if (!s_pulses_paused) {
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uint16_t t0 = getTmr2MHz();
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CoEnterMutexSection(mixerMutex);
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doMixerCalculations();
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CoLeaveMutexSection(mixerMutex);
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#if defined(FRSKY) || defined(MAVLINK)
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telemetryWakeup();
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#endif
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if (heartbeat == HEART_WDT_CHECK) {
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wdt_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) maxMixerDuration = t0 ;
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}
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CoTickDelay(1); // 2ms for now
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}
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}
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void menusTask(void * pdata)
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{
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opentxInit();
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while (pwrCheck() != e_power_off) {
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perMain();
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// TODO remove completely massstorage from sky9x firmware
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CoTickDelay(5); // 5*2ms for now
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}
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lcd_clear();
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displayPopup(STR_SHUTDOWN);
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opentxClose();
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lcd_clear();
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lcdRefresh();
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lcdSetRefVolt(0);
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SysTick->CTRL = 0; // turn off systick
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pwrOff(); // Only turn power off if necessary
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}
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extern void audioTask(void* pdata);
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#endif
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#if !defined(SIMU)
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int main(void)
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{
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// G: The WDT remains active after a WDT reset -- at maximum clock speed. So it's
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@@ -3597,30 +3460,13 @@ int main(void)
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#endif
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#if defined(CPUARM)
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CoInitOS();
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#if defined(CPUARM) && defined(DEBUG)
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debugTaskId = CoCreateTaskEx(debugTask, NULL, 10, &debugStack[DEBUG_STACK_SIZE-1], DEBUG_STACK_SIZE, 1, false);
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#endif
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#if defined(BLUETOOTH)
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btTaskId = CoCreateTask(btTask, NULL, 15, &btStack[BT_STACK_SIZE-1], BT_STACK_SIZE);
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#endif
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mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
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menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
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audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack[AUDIO_STACK_SIZE-1], AUDIO_STACK_SIZE);
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audioMutex = CoCreateMutex();
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mixerMutex = CoCreateMutex();
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CoStartOS();
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tasksStart();
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#else
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#if defined(CPUM2560)
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uint8_t shutdown_state = 0;
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#endif
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while(1) {
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while (1) {
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#if defined(CPUM2560)
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if ((shutdown_state=pwrCheck()) > e_power_trainer)
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break;
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