239 lines
5.4 KiB
C++
239 lines
5.4 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 BLUETOOTH_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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// menus stack must be aligned to 8 bytes otherwise printf for %f does not work!
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TaskStack<MENUS_STACK_SIZE> _ALIGNED(8) menusStack;
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OS_TID mixerTaskId;
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TaskStack<MENUS_STACK_SIZE> mixerStack;
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OS_TID audioTaskId;
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TaskStack<AUDIO_STACK_SIZE> audioStack;
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#if defined(BLUETOOTH)
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OS_TID btTaskId;
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TaskStack<BLUETOOTH_STACK_SIZE> bluetoothStack;
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#endif
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OS_MutexID audioMutex;
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OS_MutexID mixerMutex;
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enum TaskIndex {
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MENU_TASK_INDEX,
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MIXER_TASK_INDEX,
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AUDIO_TASK_INDEX,
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CLI_TASK_INDEX,
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BLUETOOTH_TASK_INDEX,
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TASK_INDEX_COUNT,
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MAIN_TASK_INDEX = 255
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};
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template<int SIZE>
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void TaskStack<SIZE>::paint()
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{
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for (uint32_t i=0; i<SIZE; i++) {
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stack[i] = 0x55555555;
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}
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}
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template<int SIZE>
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uint16_t TaskStack<SIZE>::size()
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{
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return SIZE*4;
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}
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uint16_t getStackAvailable(void * address, uint16_t size)
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{
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uint32_t * array = (uint32_t *)address;
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uint16_t i = 0;
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while (i < size && array[i] == 0x55555555) {
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i++;
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}
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return i*4;
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#if defined(CLI)
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cliStackPaint();
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#endif
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}
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template<int SIZE>
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uint16_t TaskStack<SIZE>::available()
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{
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return getStackAvailable(stack, SIZE);
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}
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void stackPaint()
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{
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menusStack.paint();
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mixerStack.paint();
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audioStack.paint();
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#if defined(CLI)
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cliStack.paint();
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#endif
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}
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#if defined(CPUSTM32) && !defined(SIMU)
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uint16_t stackSize()
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{
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return ((unsigned char *)&_estack - (unsigned char *)&_main_stack_start) / 4;
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}
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uint16_t stackAvailable()
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{
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return getStackAvailable(&_main_stack_start, stackSize());
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}
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#endif
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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(PCBTARANIS) && defined(REV9E)
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toplcdOff();
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#endif
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BACKLIGHT_OFF();
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#if defined(COLORLCD)
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#elif defined(PCBTARANIS)
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displaySleepBitmap();
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#else
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lcdClear();
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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, &bluetoothStack.stack[BLUETOOTH_STACK_SIZE-1], BLUETOOTH_STACK_SIZE);
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#endif
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mixerTaskId = CoCreateTask(mixerTask, NULL, 5, &mixerStack.stack[MIXER_STACK_SIZE-1], MIXER_STACK_SIZE);
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menusTaskId = CoCreateTask(menusTask, NULL, 10, &menusStack.stack[MENUS_STACK_SIZE-1], MENUS_STACK_SIZE);
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audioTaskId = CoCreateTask(audioTask, NULL, 7, &audioStack.stack[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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