Raphael CoefficandGitHub
bf23791fdf
* fix(imu): reset error counter on successful IMU query Please note that the HAL already handles busy I2C bus, so that we should not run into the case where the bus is used and another query is started. However, if that happens, HAL_BUSY will be returned, which leads to -1 being returned in our functions, thus increasing the error count until the sensor stops working. * fix(imu): move imu init into mixer task Fixes a race condition between init and use.
130 lines
3.0 KiB
C++
130 lines
3.0 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 "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 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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#define MENU_TASK_PERIOD_TICKS (50 / RTOS_MS_PER_TICK) // 50ms
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#if defined(COLORLCD) && defined(CLI)
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bool perMainEnabled = true;
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#endif
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TASK_FUNCTION(menusTask)
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{
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#if defined(LIBOPENUI)
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LvglWrapper::instance();
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#endif
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#if defined(SPLASH) && !defined(STARTUP_ANIMATION)
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if (!UNEXPECTED_SHUTDOWN()) {
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drawSplash();
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TRACE("drawSplash() completed");
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}
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#endif
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#if defined(HARDWARE_TOUCH) && !defined(PCBFLYSKY) && !defined(SIMU)
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touchPanelInit();
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#endif
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opentxInit();
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#if defined(PWR_BUTTON_PRESS)
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while (true) {
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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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RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS);
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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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uint32_t start = (uint32_t)RTOS_GET_TIME();
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DEBUG_TIMER_START(debugTimerPerMain);
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#if defined(COLORLCD) && defined(CLI)
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if (perMainEnabled) {
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perMain();
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}
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#else
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perMain();
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#endif
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DEBUG_TIMER_STOP(debugTimerPerMain);
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// TODO remove completely massstorage from sky9x firmware
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uint32_t runtime = ((uint32_t)RTOS_GET_TIME() - 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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RTOS_WAIT_TICKS(MENU_TASK_PERIOD_TICKS - runtime);
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}
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resetForcePowerOffRequest();
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}
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#if defined(PCBX9E)
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toplcdOff();
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#endif
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#if defined(PCBHORUS)
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ledOff();
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#endif
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drawSleepBitmap();
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opentxClose();
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boardOff(); // Only turn power off if necessary
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TASK_RETURN();
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}
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void tasksStart()
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{
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RTOS_CREATE_MUTEX(audioMutex);
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#if defined(CLI) && !defined(SIMU)
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cliStart();
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#endif
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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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#if !defined(SIMU)
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RTOS_CREATE_TASK(audioTaskId, audioTask, "audio", audioStack,
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AUDIO_STACK_SIZE, AUDIO_TASK_PRIO);
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#endif
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RTOS_START();
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}
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