122 lines
3.3 KiB
C++
122 lines
3.3 KiB
C++
/*
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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 "opentx.h"
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#include "mixer_scheduler.h"
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bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
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{
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#if !defined(SIMU)
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uint32_t ulNotificationValue;
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const TickType_t xMaxBlockTime = pdMS_TO_TICKS( timeoutMs );
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/* Wait to be notified that the transmission is complete. Note
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the first parameter is pdTRUE, which has the effect of clearing
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the task's notification value back to 0, making the notification
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value act like a binary (rather than a counting) semaphore. */
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ulNotificationValue = ulTaskNotifyTake( pdTRUE, xMaxBlockTime );
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if( ulNotificationValue == 1 ) {
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/* The transmission ended as expected. */
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return false;
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} else {
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/* The call to ulTaskNotifyTake() timed out. */
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return true;
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}
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#else
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simuSleep(timeoutMs);
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return true;
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#endif
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}
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#if !defined(SIMU)
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// Global trigger flag
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// Mixer schedule
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struct MixerSchedule {
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// period in us
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volatile uint16_t period;
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};
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static MixerSchedule mixerSchedules[NUM_MODULES];
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uint16_t getMixerSchedulerPeriod()
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{
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#if defined(HARDWARE_INTERNAL_MODULE)
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if (mixerSchedules[INTERNAL_MODULE].period) {
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return mixerSchedules[INTERNAL_MODULE].period;
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}
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#endif
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#if defined(HARDWARE_EXTERNAL_MODULE)
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if (mixerSchedules[EXTERNAL_MODULE].period) {
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return mixerSchedules[EXTERNAL_MODULE].period;
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}
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#endif
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#if defined(STM32) && !defined(SIMU)
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if (getSelectedUsbMode() == USB_JOYSTICK_MODE) {
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return MIXER_SCHEDULER_JOYSTICK_PERIOD_US;
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}
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#endif
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return MIXER_SCHEDULER_DEFAULT_PERIOD_US;
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}
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void mixerSchedulerInit()
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{
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memset(mixerSchedules, 0, sizeof(mixerSchedules));
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}
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void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs)
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{
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if (periodUs > 0 && periodUs < MIN_REFRESH_RATE) {
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periodUs = MIN_REFRESH_RATE;
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}
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else if (periodUs > 0 && periodUs > MAX_REFRESH_RATE) {
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periodUs = MAX_REFRESH_RATE;
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}
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mixerSchedules[moduleIdx].period = periodUs;
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}
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void mixerSchedulerISRTrigger()
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{
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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/* At this point xTaskToNotify should not be NULL as
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a transmission was in progress. */
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configASSERT( mixerTaskId.rtos_handle != NULL );
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/* Notify the task that the transmission is complete. */
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vTaskNotifyGiveFromISR( mixerTaskId.rtos_handle,
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&xHigherPriorityTaskWoken );
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/* If xHigherPriorityTaskWoken is now set to pdTRUE then a
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context switch should be performed to ensure the interrupt
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returns directly to the highest priority task. The macro used
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for this purpose is dependent on the port in use and may be
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called portEND_SWITCHING_ISR(). */
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portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
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#endif
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