223 lines
5.2 KiB
C++
223 lines
5.2 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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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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*/
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#include "opentx.h"
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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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#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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OS_MutexID audioMutex;
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OS_MutexID mixerMutex;
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void stack_paint()
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{
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for (uint32_t i=0; i<MENUS_STACK_SIZE; i++)
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menusStack[i] = 0x55555555;
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for (uint32_t i=0; i<MIXER_STACK_SIZE; i++)
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mixerStack[i] = 0x55555555;
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for (uint32_t i=0; i<AUDIO_STACK_SIZE; i++)
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audioStack[i] = 0x55555555;
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}
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uint32_t stack_free(uint32_t tid)
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{
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OS_STK *stack;
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uint32_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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#if defined(PCBTARANIS)
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case 255:
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#if defined(SIMU)
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return 1024;
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#else
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// main stack
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stack = (OS_STK *)&_main_stack_start;
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size = ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
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#endif
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break;
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#endif
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default:
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return 0;
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}
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uint32_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*4;
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}
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#if !defined(SIMU)
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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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#define MENU_TASK_PERIOD_TICKS 10 // 20ms
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void menusTask(void * pdata)
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{
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opentxInit();
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#if defined(PCBTARANIS) && defined(REV9E)
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while (1) {
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uint32_t pwr_check = pwrCheck();
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if (pwr_check == e_power_off) {
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break;
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}
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else if (pwr_check == e_power_press) {
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continue;
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}
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#else
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while (pwrCheck() != e_power_off) {
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#endif
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U64 start = CoGetOSTime();
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perMain();
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// TODO remove completely massstorage from sky9x firmware
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U32 runtime = (U32)(CoGetOSTime() - start);
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// deduct the thread run-time from the wait, if run-time was more than
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// desired period, then skip the wait all together
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if (runtime < MENU_TASK_PERIOD_TICKS) {
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CoTickDelay(MENU_TASK_PERIOD_TICKS - runtime);
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}
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}
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#if defined(REV9E)
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topLcdOff();
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#endif
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BACKLIGHT_OFF();
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#if defined(PCBTARANIS)
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displaySleepBitmap();
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#else
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lcd_clear();
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displayPopup(STR_SHUTDOWN);
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#endif
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opentxClose();
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boardOff(); // Only turn power off if necessary
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}
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extern void audioTask(void* pdata);
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void tasksStart()
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{
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CoInitOS();
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#if defined(CLI)
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cliStart();
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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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#if !defined(SIMU)
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audioMutex = CoCreateMutex();
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mixerMutex = CoCreateMutex();
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#endif
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CoStartOS();
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}
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#endif // #if !defined(SIMU)
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