AppTask (see app_task.h). More...

#include "app_task.h"
#include "proto_v2.h"
#include "ack_cache.h"
#include "app_link.h"
#include "tlm_ble.h"
#include "fc_core.h"
#include "params.h"
#include "cfg_store.h"
#include "checks.h"
#include "fc_shared.h"
#include "ext_sens.h"
#include "batt_task.h"
#include "log_task.h"
#include "usb_link.h"
#include <string.h>
#include <math.h>
#include "cmsis_os2.h"

Include dependency graph for app_task.c:

Data Structures
struct	rep_t

Macros
#define	FRAME_CAP 64u

#define	CORE_PENDING_MS 1000u /* a core command not answered after 1 s: stop waiting */

#define	REPEAT_N 3u /* ERROR / CRITICAL events: 3 copies ... */

#define	REPEAT_MS 100u /* ... 100 ms apart */

#define	CAL_LINK_ABORT_MS 3000u /* calibration aborted when the app is silent */

#define	LIST_HEADROOM 256u /* bytes left in the HI ring for ACKs while listing */

#define	EV_RATE_MS 30000u /* MAG_INTERFERENCE / HIGH_VIBRATION */

#define	VIB_WARN_MG 1500.0f

#define	RATE(dst, v, lo, hi) do { if ((v) != 0u) dst = (uint8_t)((v) < (lo) ? (lo) : ((v) > (hi) ? (hi) : (v))); } while (0)

Enumerations
enum	{ LINK_BLE = 0 , LINK_USB = 1 , LINK_NONE = 0xFF , DEST_ALL = 0xFE }

Functions
static uint8_t	armed_now (void)

static void	tx (const uint8_t *f, size_t len)

static uint32_t	bit (uint8_t type)

static uint8_t	ack_key (uint8_t link, uint8_t op)

static void	ack_link (uint8_t link, uint8_t op, uint8_t seq, uint8_t res, uint8_t why)

static void	ack (uint8_t op, uint8_t seq, uint8_t res, uint8_t why)

static const char *	ev_text (uint16_t code)

static void	send_event (uint8_t level, uint16_t code, int32_t arg, uint32_t now)

static void	repeats (uint32_t now)

static uint16_t	sensors_now (void)

static batt_state_t	batt_now (void)

static void	send_caps (void)

static float	yaw_heading_deg (const float q[4])

static void	send_flight (void)

static int16_t	sat16 (float v)

static void	send_nav (void)

static void	send_motors (void)

static void	send_system (void)

static uint16_t	u16c (float v)

static void	send_power (void)

static void	build_checks (pv2_check_t it, uint8_t n)

static void	send_checks (void)

static void	send_init (void)

static void	send_param (int idx)

static void	list_start (void)

static void	list_pace (void)

static void	send_calib (void)

static int	save_image (void)

static int	save_image_keep_params (void)

static void	cal_apply (uint8_t type, const cal_set_t *set)

static void	cal_batt (float vbat, float used, float *scale_i)

static void	battery_flight (void)

static void	local_cmd (uint8_t op, uint8_t seq, const uint8_t *p, uint8_t plen, uint32_t now)

static int	usb_allowed (uint8_t op)

static int	config_op (uint8_t op)

static uint8_t	other_link (uint8_t link)

static void	usb_commands (uint32_t now)

static void	commands (uint32_t now)

static void	log_ble_out (void)

static int	due (uint32_t now, uint32_t *t, uint32_t period_ms)

static void	events (uint32_t now)

static void	calibration (uint32_t now)

static void	streams (uint32_t now, uint8_t armed)

const cal_set_t *	app_task_boot (const float mag_hi_default[3])
	Before the scheduler starts: loads the flash image (parameters, name, calibrations) and posts the saved calibrations to the ImuTask (fsh_apply_post).

void	app_init (const app_task_cfg_t *cfg)
	protocol logic, also used by the host test

void	app_step (uint32_t now)

static void	AppTask (void *arg)

void	app_task_start (const app_task_cfg_t *cfg)
	app_init + the RTOS task

Variables
static app_task_cfg_t	s_cfg

static cfg_image_t	s_img

static cal_set_t	s_cal

static uint16_t	s_sensors

static uint8_t	s_frame [FRAME_CAP]

static uint8_t	s_pend

static uint8_t	s_pend_op

static uint8_t	s_pend_seq

static uint32_t	s_pend_t

static uint8_t	s_hz_flight = 10

static uint8_t	s_hz_power = 5

static uint8_t	s_hz_nav = 5

static uint8_t	s_hz_motors = 5

static uint8_t	s_hz_system = 2

static uint32_t	s_t_power

static uint16_t	s_fl_count

static uint32_t	s_t_flight

static uint32_t	s_t_nav

static uint32_t	s_t_motors

static uint32_t	s_t_system

static uint32_t	s_t_checks

static uint32_t	s_t_caps

static uint32_t	s_t_calib

static uint32_t	s_t_ground

static int	s_list_next = -1

static rep_t	s_rep [6]

static uint32_t	s_t_ev_mag

static uint32_t	s_t_ev_vib

static uint8_t	s_have_ev_mag

static uint8_t	s_have_ev_vib

static uint8_t	s_ready

static uint8_t	s_batt_fail

static uint8_t	s_owner = LINK_NONE

static uint8_t	s_dest = DEST_ALL

static uint8_t	s_usb_was

static uint8_t	s_usb_now

static uint8_t	s_cal_link = LINK_BLE

static log_msg_t	s_logmsg

static uint8_t	s_have_logmsg

static uint8_t	s_big [4u+255u+2u]

static uint8_t	s_link = LINK_BLE

Detailed Description

AppTask (see app_task.h).

Behavioural reference: the app simulator src/sim/simDrone.ts (command(), tick()) and HANDOVER_FW.md §3-§11.

The protocol logic is app_step(now): pure C on top of host-testable modules (tlm_ble, app_link, fc_core, params, calib_mgr, cfg_store, checks). The RTOS part is only the task loop at the end of the file (not built with HOST_TEST).

Definition in file app_task.c.

Macro Definition Documentation

◆ FRAME_CAP

#define FRAME_CAP 64u

Definition at line 27 of file app_task.c.

◆ CORE_PENDING_MS

#define CORE_PENDING_MS 1000u /* a core command not answered after 1 s: stop waiting */

Definition at line 28 of file app_task.c.

◆ REPEAT_N

#define REPEAT_N 3u /* ERROR / CRITICAL events: 3 copies ... */

Definition at line 29 of file app_task.c.

◆ REPEAT_MS

#define REPEAT_MS 100u /* ... 100 ms apart */

Definition at line 30 of file app_task.c.

◆ CAL_LINK_ABORT_MS

#define CAL_LINK_ABORT_MS 3000u /* calibration aborted when the app is silent */

Definition at line 31 of file app_task.c.

◆ LIST_HEADROOM

#define LIST_HEADROOM 256u /* bytes left in the HI ring for ACKs while listing */

Definition at line 32 of file app_task.c.

◆ EV_RATE_MS

#define EV_RATE_MS 30000u /* MAG_INTERFERENCE / HIGH_VIBRATION */

Definition at line 33 of file app_task.c.

◆ VIB_WARN_MG

#define VIB_WARN_MG 1500.0f

Definition at line 34 of file app_task.c.

◆ RATE

#define RATE	(	dst,
		v,
		lo,
		hi
	)	do { if ((v) != 0u) dst = (uint8_t)((v) < (lo) ? (lo) : ((v) > (hi) ? (hi) : (v))); } while (0)

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
LINK_BLE
LINK_USB
LINK_NONE
DEST_ALL

Definition at line 70 of file app_task.c.

Function Documentation

◆ armed_now()

static uint8_t armed_now ( void )

static

Definition at line 469 of file app_task.c.

References fc_state_t::armed, and fc_snapshot().

Referenced by app_step(), battery_flight(), events(), and local_cmd().

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◆ tx()

static void tx	(	const uint8_t *	f,
		size_t	len
	)

static

Definition at line 83 of file app_task.c.

References DEST_ALL, LINK_BLE, LINK_USB, s_dest, s_usb_now, tlm_ble_push_hi(), usbl_put_frame(), and USBL_SRC_APP.

Referenced by ack_link(), repeats(), send_calib(), send_caps(), send_checks(), send_event(), send_flight(), send_init(), send_motors(), send_nav(), send_param(), send_power(), and send_system().

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◆ bit()

static uint32_t bit ( uint8_t type )

static

Definition at line 93 of file app_task.c.

Referenced by cal_copy_type(), and local_cmd().

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◆ ack_key()

static uint8_t ack_key	(	uint8_t	link,
		uint8_t	op
	)

static

Definition at line 97 of file app_task.c.

References LINK_USB.

Referenced by ack_link(), and usb_commands().

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◆ ack_link()

static void ack_link	(	uint8_t	link,
		uint8_t	op,
		uint8_t	seq,
		uint8_t	res,
		uint8_t	why
	)

static

Definition at line 99 of file app_task.c.

References ack_key(), ackc_finish(), pv2_ack(), s_dest, s_frame, seq, and tx().

Referenced by ack(), commands(), and usb_commands().

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◆ ack()

static void ack	(	uint8_t	op,
		uint8_t	seq,
		uint8_t	res,
		uint8_t	why
	)

static

Definition at line 110 of file app_task.c.

References ack_link(), s_link, and seq.

Referenced by commands(), local_cmd(), and log_ble_out().

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◆ ev_text()

static const char * ev_text ( uint16_t code )

static

Definition at line 112 of file app_task.c.

References PV2_E_ARMED, PV2_E_BATTERY_CRITICAL, PV2_E_BATTERY_EMERGENCY, PV2_E_BATTERY_LOW, PV2_E_BATTERY_MONITOR_LOST, PV2_E_CALIB_DONE, PV2_E_CALIB_FAILED, PV2_E_DISARMED, PV2_E_FAILSAFE_APP_LINK, PV2_E_FAILSAFE_BATTERY, PV2_E_FAILSAFE_RADIO, PV2_E_FLOW_LOST, PV2_E_GEOFENCE_BREACH, PV2_E_GPS_LOST, PV2_E_HIGH_VIBRATION, PV2_E_HOME_SET, PV2_E_LANDED, PV2_E_MAG_INTERFERENCE, PV2_E_MODE_CHANGED, PV2_E_MOTOR_HOT, PV2_E_MOTOR_KILLED, PV2_E_PARAMS_SAVED, PV2_E_RADIO_OVERRIDE, PV2_E_RTH_STARTED, PV2_E_TAKEOFF_ABORTED, and PV2_E_TAKEOFF_STARTED.

Referenced by send_event().

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◆ send_event()

static void send_event	(	uint8_t	level,
		uint16_t	code,
		int32_t	arg,
		uint32_t	now
	)

static

Definition at line 145 of file app_task.c.

References ev_text(), rep_t::left, rep_t::len, n, rep_t::next, PV2_EV_ERROR, pv2_event(), REPEAT_MS, REPEAT_N, s_frame, s_rep, and tx().

Referenced by events(), and local_cmd().

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◆ repeats()

static void repeats ( uint32_t now )

static

Definition at line 160 of file app_task.c.

References rep_t::f, rep_t::left, rep_t::len, rep_t::next, REPEAT_MS, s_rep, and tx().

Referenced by app_step().

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◆ sensors_now()

static uint16_t sensors_now ( void )

static

Definition at line 171 of file app_task.c.

References app_task_cfg_t::board_sensors, ext_sensors(), fsh_est_read(), s_cfg, and fsh_est_t::sensors.

Referenced by app_init(), and app_step().

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◆ batt_now()

static batt_state_t batt_now ( void )

static

Definition at line 179 of file app_task.c.

References b, app_task_cfg_t::batt_monitor, batt_read(), and s_cfg.

Referenced by build_checks(), cal_batt(), send_caps(), and send_power().

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◆ send_caps()

static void send_caps ( void )

static

Definition at line 188 of file app_task.c.

References APP_FW_MAJOR, APP_FW_MINOR, APP_FW_PATCH, b, batt_now(), batt_state_t::cells, pv2_caps_t::cells, pv2_caps_t::frame, pv2_caps_t::fw, app_task_cfg_t::hw_rev, pv2_caps_t::hw_rev, pv2_caps_t::model, app_task_cfg_t::n_motors, pv2_caps_t::n_motors, cfg_image_t::name, pv2_caps_t::name, pv2_caps_t::proto, pv2_frame(), PV2_FT_CAPS, PV2_PROTO_VERSION, PV2_S_GNSS, s_cfg, s_frame, s_img, s_sensors, pv2_caps_t::sensors, pv2_caps_t::serial, tx(), and app_task_cfg_t::uid.

Referenced by app_step(), local_cmd(), and streams().

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◆ yaw_heading_deg()

static float yaw_heading_deg ( const float q[4] )

static

Definition at line 212 of file app_task.c.

Referenced by send_flight(), and send_nav().

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◆ send_flight()

static void send_flight ( void )

static

Definition at line 222 of file app_task.c.

References fc_state_t::alt_rel_cm, pv2_flight_t::alt_rel_cm, pv2_flight_t::arm, fc_state_t::armed, fc_state_t::autom, pv2_flight_t::autom, fc_state_t::failsafe, pv2_flight_t::failsafe, fc_snapshot(), pv2_flight_t::flags, fc_state_t::flight_time_s, pv2_flight_t::flight_time_s, fsh_est_t::flow_usable, fsh_est_read(), pv2_flight_t::ground_speed_cms, pv2_flight_t::heading_cdeg, pv2_flight_t::home_bearing_cdeg, pv2_flight_t::home_dist_m, fc_state_t::in_air, fc_state_t::input, pv2_flight_t::input, fc_state_t::landed, fc_state_t::mode, pv2_flight_t::mode, P_BEGINNER, PARAM, PV2_FF_ARM_BLOCKED, PV2_FF_BEGINNER, PV2_FF_GEOFENCE_ON, PV2_FF_IN_AIR, PV2_FF_LANDED, pv2_frame(), PV2_FT_FLIGHT, PV2_S_BARO, PV2_S_GNSS, PV2_S_TOF, fsh_est_t::q, pv2_flight_t::rth_eta_s, s_frame, s_ready, s_sensors, tx(), fsh_est_t::vel_body, fc_state_t::vz_cms, pv2_flight_t::vz_cms, and yaw_heading_deg().

Referenced by local_cmd(), and streams().

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◆ sat16()

static int16_t sat16 ( float v )

static

Definition at line 255 of file app_task.c.

Referenced by send_nav(), send_power(), and send_system().

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◆ send_nav()

static void send_nav ( void )

static

Definition at line 257 of file app_task.c.

References fsh_est_t::alt_valid, fsh_est_t::baro_pa, fsh_est_t::flow_q, fsh_est_t::flow_usable, fsh_est_read(), n, pv2_frame(), PV2_FT_NAV, fsh_est_t::q, s_frame, sat16(), fsh_est_t::tof_mm, tx(), fsh_est_t::vel_body, fsh_est_t::vz, and yaw_heading_deg().

Referenced by local_cmd(), and streams().

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◆ send_motors()

static void send_motors ( void )

static

Definition at line 288 of file app_task.c.

References fc_snapshot(), fc_state_t::motor_out_pct, n, app_task_cfg_t::n_motors, pv2_motor_t::out_pct, pv2_motors(), PV2_MOTORS_MAX, pv2_motor_t::rpm, s_cfg, s_frame, pv2_motor_t::temp_c, and tx().

Referenced by local_cmd(), and streams().

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◆ send_system()

static void send_system ( void )

static

Definition at line 299 of file app_task.c.

References fsh_est_t::acc_clip, fsh_est_t::acc_gated, fsh_est_t::att_unc_deg, fsh_est_t::cpu_pct, fsh_est_read(), fsh_est_t::imu_temp_c, fsh_est_t::jitter_us, app_task_cfg_t::log_pct, fsh_est_t::loop_hz, fsh_est_t::mag_gated, fsh_est_t::mag_interf_pct, pv2_frame(), PV2_FT_SYSTEM, fsh_est_t::running, s, s_cfg, s_frame, sat16(), tx(), and fsh_est_t::vib_mg.

Referenced by local_cmd(), and streams().

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◆ u16c()

static uint16_t u16c ( float v )

static

Definition at line 322 of file app_task.c.

Referenced by send_power().

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◆ send_power()

static void send_power ( void )

static

Definition at line 324 of file app_task.c.

References b, batt_now(), pv2_power_t::cell_mv, pv2_power_t::cells, pv2_power_t::current_ca, pv2_power_t::pct, pv2_frame(), PV2_FT_POWER, PV2_S_CURRENT, pv2_power_t::remain_s, s_frame, s_sensors, sat16(), tx(), u16c(), pv2_power_t::used_mah, pv2_power_t::vbat_mv, and pv2_power_t::warn.

Referenced by local_cmd(), and streams().

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◆ build_checks()

static void build_checks	(	pv2_check_t *	it,
		uint8_t *	n
	)

static

Definition at line 340 of file app_task.c.

References fsh_est_t::alt_valid, checks_in_t::alt_valid, appl_rc_read(), fsh_est_t::att_unc_deg, checks_in_t::att_unc_deg, b, checks_in_t::batt_cell_v, checks_in_t::batt_crit, checks_in_t::batt_level, fc_state_t::batt_level, app_task_cfg_t::batt_monitor, checks_in_t::batt_monitor, batt_now(), checks_in_t::batt_present, checks_in_t::batt_stale, fc_state_t::batt_stale, checks_in_t::batt_warn, cfg_image_t::cal, checks_in_t::cal_done_mask, checks_build(), cal_set_t::done_mask, checks_in_t::est_running, FC_ARM_RC_FRESH_MS, fc_snapshot(), fsh_est_t::flow_ok, checks_in_t::flow_ok, fsh_est_t::flow_q, checks_in_t::flow_q, fsh_est_read(), checks_in_t::gf_max_alt, checks_in_t::gf_max_dist, checks_in_t::hold_mode, fsh_est_t::imu_ok, checks_in_t::imu_ok, checks_in_t::in_air, fc_state_t::in_air, fsh_est_t::mag_interf_pct, checks_in_t::mag_interf_pct, fc_state_t::mode, n, P_BATT_CRIT, P_BATT_WARN, P_GF_MAX_ALT, P_GF_MAX_DIST, PARAM, PV2_MODE_ALT_HOLD, PV2_MODE_POS_HOLD, checks_in_t::rc_fresh, fc_state_t::rc_stale, checks_in_t::rc_thr, fsh_est_t::running, s_batt_fail, s_cfg, s_img, s_ready, s_sensors, checks_in_t::sensors, fc_state_t::silence_ms, appl_rc_t::thr, checks_in_t::usb_host, and usbl_host().

Referenced by app_step(), and send_checks().

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◆ send_checks()

static void send_checks ( void )

static

Definition at line 383 of file app_task.c.

References build_checks(), n, pv2_checks(), PV2_CHECKS_MAX, s_frame, s_ready, and tx().

Referenced by app_step(), local_cmd(), and streams().

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◆ send_init()

static void send_init ( void )

static

Definition at line 391 of file app_task.c.

References app_task_cfg_t::get_init, n, s_cfg, and tx().

Referenced by app_step(), and local_cmd().

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◆ send_param()

static void send_param ( int idx )

static

Definition at line 399 of file app_task.c.

References g_param_def, param_def_t::id, param_get(), params_dirty(), params_visible_count(), params_visible_pos(), pos, pv2_param(), s_frame, s_sensors, and tx().

Referenced by list_pace(), and local_cmd().

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◆ list_start()

static void list_start ( void )

static

Definition at line 408 of file app_task.c.

References s_list_next.

Referenced by local_cmd().

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◆ list_pace()

static void list_pace ( void )

static

Definition at line 410 of file app_task.c.

References LIST_HEADROOM, PARAM_COUNT, params_visible(), s_list_next, s_sensors, s_usb_now, send_param(), tlm_ble_hi_free(), USBL_SRC_APP, and usbl_tx_free_src().

Referenced by app_step().

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◆ send_calib()

static void send_calib ( void )

static

Definition at line 420 of file app_task.c.

References cal_frame(), n, s_frame, and tx().

Referenced by calibration(), and local_cmd().

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◆ save_image()

static int save_image ( void )

static

Definition at line 427 of file app_task.c.

References cfg_params_put(), cfg_save(), PARAM_COUNT, params_get_all(), and s_img.

Referenced by local_cmd().

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◆ save_image_keep_params()

static int save_image_keep_params ( void )

static

Definition at line 436 of file app_task.c.

References cfg_save(), and s_img.

Referenced by battery_flight().

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◆ cal_apply()

static void cal_apply	(	uint8_t	type,
		const cal_set_t *	set
	)

static

Definition at line 439 of file app_task.c.

References batt_task_post_scales(), fsh_apply_post(), PV2_CAL_BATTERY, and set.

Referenced by app_init(), and local_cmd().

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◆ cal_batt()

static void cal_batt	(	float *	vbat,
		float *	used,
		float *	scale_i
	)

static

Definition at line 446 of file app_task.c.

References batt_now(), cfg_image_t::batt_used_mah, cfg_image_t::batt_used_scale_i, s_img, used, batt_state_t::vbat, and vbat.

Referenced by app_init().

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◆ battery_flight()

static void battery_flight ( void )

static

Definition at line 454 of file app_task.c.

References armed_now(), app_task_cfg_t::batt_monitor, batt_task_last_flight(), cfg_image_t::batt_used_mah, cfg_image_t::batt_used_scale_i, batt_flight_t::count, s_cfg, s_fl_count, s_img, save_image_keep_params(), batt_flight_t::scale_i, and batt_flight_t::used_mah.

Referenced by app_step().

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◆ local_cmd()

static void local_cmd	(	uint8_t	op,
		uint8_t	seq,
		const uint8_t *	p,
		uint8_t	plen,
		uint32_t	now
	)

static

Definition at line 477 of file app_task.c.

References ack(), armed_now(), cfg_image_t::bak, cfg_image_t::bak_mask, app_task_cfg_t::batt_monitor, bit(), cfg_image_t::cal, cal_abort(), cal_apply(), cal_capture(), cal_copy_type(), cal_result(), cal_running(), cal_save_check(), cal_saved(), cal_set_ref(), cal_start(), cal_type(), cal_set_t::done_mask, list_start(), cfg_image_t::name, params_defaults(), params_index(), params_mark_saved(), params_set(), params_visible(), PV2_ACK_INVALID, PV2_ACK_OK, PV2_ACK_REJECTED, PV2_ACK_UNSUPPORTED, PV2_CAL_STICKS, PV2_E_CALIB_DONE, PV2_E_PARAMS_SAVED, PV2_EV_INFO, PV2_FT_CAPS, PV2_FT_CHECKS, PV2_FT_FLIGHT, PV2_FT_INIT, PV2_FT_MOTORS, PV2_FT_NAV, PV2_FT_POWER, PV2_FT_SYSTEM, PV2_OP_CAL_ABORT, PV2_OP_CAL_CAPTURE, PV2_OP_CAL_RESTORE, PV2_OP_CAL_SAVE, PV2_OP_CAL_SET_REF, PV2_OP_CAL_START, PV2_OP_MOTOR_REMAP, PV2_OP_MOTOR_REVERSE, PV2_OP_PARAM_DEFAULTS, PV2_OP_PARAM_GET, PV2_OP_PARAM_LIST, PV2_OP_PARAM_SAVE, PV2_OP_PARAM_SET, PV2_OP_REQUEST, PV2_OP_SET_NAME, PV2_OP_STREAM_RATES, PV2_R_ARMED, PV2_R_CALIBRATING, PV2_R_NONE, PV2_R_UNKNOWN_PARAM, pv2_rd_f32(), pv2_rd_u16(), RATE, s_cal, s_cal_link, s_cfg, s_hz_flight, s_hz_motors, s_hz_nav, s_hz_power, s_hz_system, s_img, s_link, s_sensors, save_image(), send_calib(), send_caps(), send_checks(), send_event(), send_flight(), send_init(), send_motors(), send_nav(), send_param(), send_power(), send_system(), and seq.

Referenced by commands(), and usb_commands().

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◆ usb_allowed()

static int usb_allowed ( uint8_t op )

static

Definition at line 620 of file app_task.c.

References PV2_OP_CAL_ABORT, PV2_OP_CAL_CAPTURE, PV2_OP_CAL_RESTORE, PV2_OP_CAL_SAVE, PV2_OP_CAL_SET_REF, PV2_OP_CAL_START, PV2_OP_PARAM_DEFAULTS, PV2_OP_PARAM_GET, PV2_OP_PARAM_LIST, PV2_OP_PARAM_SAVE, PV2_OP_PARAM_SET, PV2_OP_REQUEST, PV2_OP_SET_NAME, and PV2_OP_STREAM_RATES.

Referenced by usb_commands().

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◆ config_op()

static int config_op ( uint8_t op )

static

Definition at line 635 of file app_task.c.

References PV2_OP_CAL_CAPTURE, PV2_OP_CAL_RESTORE, PV2_OP_CAL_SAVE, PV2_OP_CAL_SET_REF, PV2_OP_CAL_START, PV2_OP_MOTOR_REMAP, PV2_OP_MOTOR_REVERSE, PV2_OP_PARAM_DEFAULTS, PV2_OP_PARAM_SAVE, PV2_OP_PARAM_SET, PV2_OP_SET_NAME, and PV2_OP_STREAM_RATES.

Referenced by commands(), and usb_commands().

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◆ other_link()

static uint8_t other_link ( uint8_t link )

static

Definition at line 649 of file app_task.c.

References LINK_NONE, and s_owner.

Referenced by commands(), and usb_commands().

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◆ usb_commands()

static void usb_commands ( uint32_t now )

static

Definition at line 651 of file app_task.c.

References ack_key(), ack_link(), ackc_begin(), ACKC_DONE, ACKC_PENDING, appl_cmd_t::b, config_op(), appl_cmd_t::len, LINK_BLE, LINK_USB, local_cmd(), log_task_usb_app_take(), other_link(), PV2_ACK_REJECTED, PV2_ACK_UNSUPPORTED, PV2_R_NONE, PV2_R_NOT_OVER_USB, PV2_R_OTHER_LINK, s_link, seq, st(), and usb_allowed().

Referenced by app_step().

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◆ commands()

static void commands ( uint32_t now )

static

Definition at line 674 of file app_task.c.

References ack(), ack_link(), ackc_begin(), ACKC_DONE, ACKC_PENDING, appl_pop(), appl_cmd_t::b, config_op(), CORE_PENDING_MS, fc_is_core_op(), FC_OP_MOTOR_STOP, fc_post(), fc_take_result(), log_cmd_t::len, fc_cmd_t::len, appl_cmd_t::len, LINK_BLE, local_cmd(), log_task_ble_cmd(), log_cmd_t::op, fc_cmd_t::op, fc_res_t::op, other_link(), log_cmd_t::p, fc_cmd_t::p, PV2_ACK_BUSY, PV2_ACK_REJECTED, PV2_OP_LOG_ERASE, PV2_OP_LOG_LIST, PV2_OP_LOG_READ, PV2_OP_SET_TIME, PV2_R_NONE, PV2_R_OTHER_LINK, fc_res_t::reason, fc_res_t::result, s_pend, s_pend_op, s_pend_seq, s_pend_t, seq, log_cmd_t::seq, fc_cmd_t::seq, fc_res_t::seq, and st().

Referenced by app_step().

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◆ log_ble_out()

static void log_ble_out ( void )

static

Definition at line 724 of file app_task.c.

References ack(), log_msg_t::len, log_task_ble_take(), n, log_msg_t::p, pv2_frame(), PV2_FT_ACK, s_big, s_have_logmsg, s_logmsg, tlm_ble_hi_free(), tlm_ble_push_hi(), TLM_BLE_RING_SIZE, tlm_ble_state(), TLM_BLE_STREAMING, and log_msg_t::type.

Referenced by app_step().

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◆ due()

static int due	(	uint32_t	now,
		uint32_t *	t,
		uint32_t	period_ms
	)

static

Definition at line 748 of file app_task.c.

Referenced by app_step(), calibration(), and streams().

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◆ events()

static void events ( uint32_t now )

static

Definition at line 755 of file app_task.c.

References fc_event_t::arg, armed_now(), cal_take_failed(), fc_event_t::code, EV_RATE_MS, fc_take_event(), fsh_est_read(), fc_event_t::level, PV2_E_CALIB_FAILED, PV2_E_HIGH_VIBRATION, PV2_E_MAG_INTERFERENCE, PV2_EV_ERROR, PV2_EV_WARN, PV2_S_MAG_FC, s, s_have_ev_mag, s_have_ev_vib, s_sensors, s_t_ev_mag, s_t_ev_vib, send_event(), and VIB_WARN_MG.

Referenced by app_step().

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◆ calibration()

static void calibration ( uint32_t now )

static

Definition at line 777 of file app_task.c.

References appl_silence_ms(), cal_abort(), cal_active(), cal_feed(), CAL_LINK_ABORT_MS, cal_take_changed(), cal_tick(), cal_wants_samples(), due(), FC_FS_SHORT_MS, fsh_cal_pop(), g_fsh_cal_want, LINK_USB, s_cal_link, s_t_calib, s_usb_now, and send_calib().

Referenced by app_step().

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◆ streams()

static void streams	(	uint32_t	now,
		uint8_t	armed
	)

static

Definition at line 793 of file app_task.c.

References app_task_cfg_t::batt_monitor, due(), s_cfg, s_hz_flight, s_hz_motors, s_hz_nav, s_hz_power, s_hz_system, s_t_caps, s_t_checks, s_t_flight, s_t_motors, s_t_nav, s_t_power, s_t_system, s_usb_now, send_caps(), send_checks(), send_flight(), send_motors(), send_nav(), send_power(), send_system(), tlm_ble_state(), and TLM_BLE_STREAMING.

Referenced by app_step().

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◆ app_task_boot()

const cal_set_t * app_task_boot ( const float mag_hi_default[3] )

Before the scheduler starts: loads the flash image (parameters, name, calibrations) and posts the saved calibrations to the ImuTask (fsh_apply_post).

Returns the calibration set in effect.

Definition at line 806 of file app_task.c.

References cfg_image_t::bak, cfg_image_t::batt_used_scale_i, cfg_image_t::cal, cal_set_defaults(), cfg_load(), cfg_params_get(), fsh_apply_post(), fsh_reset(), cfg_image_t::name, PARAM_COUNT, params_defaults(), params_load(), params_mark_saved(), PV2_CAL_ACCEL, PV2_CAL_COMPASS, PV2_CAL_GYRO, PV2_CAL_LEVEL, s_cal, and s_img.

Referenced by app_start().

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◆ app_init()

void app_init ( const app_task_cfg_t * cfg )

protocol logic, also used by the host test

Definition at line 833 of file app_task.c.

References ackc_reset(), app_task_cfg_t::batt_monitor, cal_apply(), cal_batt(), cal_init(), DEST_ALL, fc_set_sensors(), LINK_BLE, LINK_NONE, app_task_cfg_t::motors_built, app_task_cfg_t::n_motors, s_cal, s_cal_link, s_cfg, s_dest, s_fl_count, s_have_logmsg, s_link, s_list_next, s_owner, s_pend, s_rep, s_sensors, s_usb_now, s_usb_was, and sensors_now().

Referenced by app_task_start().

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◆ app_step()

void app_step ( uint32_t now )

Definition at line 851 of file app_task.c.

References ackc_reset(), armed_now(), battery_flight(), build_checks(), cal_running(), cal_set_sensors(), calibration(), commands(), DEST_ALL, due(), events(), fc_set_ground_info(), fc_set_sensors(), LINK_BLE, LINK_NONE, LINK_USB, list_pace(), log_ble_out(), n, PV2_CHECKS_MAX, repeats(), s_batt_fail, s_dest, s_list_next, s_owner, s_ready, s_sensors, s_t_caps, s_t_checks, s_t_flight, s_t_ground, s_t_motors, s_t_nav, s_t_power, s_t_system, s_usb_now, s_usb_was, send_caps(), send_checks(), send_init(), sensors_now(), streams(), tlm_ble_open_streams(), tlm_ble_state(), TLM_BLE_STREAMING, tlm_ble_take_subscribe(), usb_commands(), and usbl_open().

Referenced by AppTask().

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◆ AppTask()

static void AppTask ( void * arg )

static

Definition at line 920 of file app_task.c.

References app_step().

Referenced by app_task_start().

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◆ app_task_start()

void app_task_start ( const app_task_cfg_t * cfg )

app_init + the RTOS task

Definition at line 929 of file app_task.c.

References app_init(), and AppTask().

Referenced by app_start().

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Variable Documentation

◆ s_cfg

app_task_cfg_t s_cfg

static

Definition at line 37 of file app_task.c.

Referenced by app_init(), batt_now(), battery_flight(), build_checks(), local_cmd(), send_caps(), send_init(), send_motors(), send_system(), sensors_now(), and streams().

◆ s_img

cfg_image_t s_img

static

Definition at line 38 of file app_task.c.

Referenced by app_task_boot(), battery_flight(), build_checks(), cal_batt(), local_cmd(), save_image(), save_image_keep_params(), and send_caps().

◆ s_cal

cal_set_t s_cal

static

Definition at line 39 of file app_task.c.

Referenced by app_init(), app_task_boot(), and local_cmd().

◆ s_sensors

uint16_t s_sensors

static

Definition at line 40 of file app_task.c.

Referenced by app_init(), app_step(), build_checks(), events(), list_pace(), local_cmd(), send_caps(), send_flight(), send_param(), and send_power().

◆ s_frame

uint8_t s_frame[FRAME_CAP]

static

Definition at line 41 of file app_task.c.

Referenced by ack_link(), send_calib(), send_caps(), send_checks(), send_event(), send_flight(), send_motors(), send_nav(), send_param(), send_power(), and send_system().

◆ s_pend

uint8_t s_pend

static

Definition at line 44 of file app_task.c.

Referenced by app_init(), and commands().

◆ s_pend_op

uint8_t s_pend_op

static

Definition at line 44 of file app_task.c.

Referenced by commands().

◆ s_pend_seq

uint8_t s_pend_seq

static

Definition at line 44 of file app_task.c.

Referenced by commands().

◆ s_pend_t

uint32_t s_pend_t

static

Definition at line 45 of file app_task.c.

Referenced by commands().

◆ s_hz_flight

uint8_t s_hz_flight = 10

static

Definition at line 48 of file app_task.c.

Referenced by local_cmd(), and streams().

◆ s_hz_power

uint8_t s_hz_power = 5

static

Definition at line 48 of file app_task.c.

Referenced by local_cmd(), and streams().

◆ s_hz_nav

uint8_t s_hz_nav = 5

static

Definition at line 48 of file app_task.c.

Referenced by local_cmd(), and streams().

◆ s_hz_motors

uint8_t s_hz_motors = 5

static

Definition at line 48 of file app_task.c.

Referenced by local_cmd(), and streams().

◆ s_hz_system

uint8_t s_hz_system = 2

static

Definition at line 48 of file app_task.c.

Referenced by local_cmd(), and streams().

◆ s_t_power

uint32_t s_t_power

static

Definition at line 49 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_fl_count

uint16_t s_fl_count

static

Definition at line 50 of file app_task.c.

Referenced by app_init(), and battery_flight().

◆ s_t_flight

uint32_t s_t_flight

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_nav

uint32_t s_t_nav

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_motors

uint32_t s_t_motors

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_system

uint32_t s_t_system

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_checks

uint32_t s_t_checks

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_caps

uint32_t s_t_caps

static

Definition at line 51 of file app_task.c.

Referenced by app_step(), and streams().

◆ s_t_calib

uint32_t s_t_calib

static

Definition at line 51 of file app_task.c.

Referenced by calibration().

◆ s_t_ground

uint32_t s_t_ground

static

Definition at line 51 of file app_task.c.

Referenced by app_step().

◆ s_list_next

int s_list_next = -1

static

Definition at line 54 of file app_task.c.

Referenced by app_init(), app_step(), list_pace(), and list_start().

◆ s_rep

rep_t s_rep[6]

static

Definition at line 58 of file app_task.c.

Referenced by app_init(), repeats(), and send_event().

◆ s_t_ev_mag

uint32_t s_t_ev_mag

static

Definition at line 61 of file app_task.c.

Referenced by events().

◆ s_t_ev_vib

uint32_t s_t_ev_vib

static

Definition at line 61 of file app_task.c.

Referenced by events().

◆ s_have_ev_mag

uint8_t s_have_ev_mag

static

Definition at line 62 of file app_task.c.

Referenced by events().

◆ s_have_ev_vib

uint8_t s_have_ev_vib

static

Definition at line 62 of file app_task.c.

Referenced by events().

◆ s_ready

uint8_t s_ready

static

Definition at line 65 of file app_task.c.

Referenced by app_step(), build_checks(), send_checks(), and send_flight().

◆ s_batt_fail

uint8_t s_batt_fail

static

Definition at line 65 of file app_task.c.

Referenced by app_step(), and build_checks().

◆ s_owner

uint8_t s_owner = LINK_NONE

static

Definition at line 71 of file app_task.c.

Referenced by app_init(), app_step(), and other_link().

◆ s_dest

uint8_t s_dest = DEST_ALL

static

Definition at line 72 of file app_task.c.

Referenced by ack_link(), app_init(), app_step(), and tx().

◆ s_usb_was

uint8_t s_usb_was

static

Definition at line 73 of file app_task.c.

Referenced by app_init(), and app_step().

◆ s_usb_now

uint8_t s_usb_now

static

Definition at line 74 of file app_task.c.

Referenced by app_init(), app_step(), calibration(), list_pace(), streams(), and tx().

◆ s_cal_link

uint8_t s_cal_link = LINK_BLE

static

Definition at line 75 of file app_task.c.

Referenced by app_init(), calibration(), and local_cmd().

◆ s_logmsg

log_msg_t s_logmsg

static

Definition at line 78 of file app_task.c.

Referenced by log_ble_out().

◆ s_have_logmsg

uint8_t s_have_logmsg

static

Definition at line 79 of file app_task.c.

Referenced by app_init(), and log_ble_out().

◆ s_big

uint8_t s_big[4u+255u+2u]

static

Definition at line 91 of file app_task.c.

Referenced by log_ble_out().

◆ s_link

uint8_t s_link = LINK_BLE

static

Definition at line 109 of file app_task.c.

Referenced by ack(), app_init(), local_cmd(), and usb_commands().

Data Structures

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ FRAME_CAP

◆ CORE_PENDING_MS

◆ REPEAT_N

◆ REPEAT_MS

◆ CAL_LINK_ABORT_MS

◆ LIST_HEADROOM

◆ EV_RATE_MS

◆ VIB_WARN_MG

◆ RATE

Enumeration Type Documentation

◆ anonymous enum

Function Documentation

◆ armed_now()

◆ tx()

◆ bit()

◆ ack_key()

◆ ack_link()

◆ ack()

◆ ev_text()

◆ send_event()

◆ repeats()

◆ sensors_now()

◆ batt_now()

◆ send_caps()

◆ yaw_heading_deg()

◆ send_flight()

◆ sat16()

◆ send_nav()

◆ send_motors()

◆ send_system()

◆ u16c()

◆ send_power()

◆ build_checks()

◆ send_checks()

◆ send_init()

◆ send_param()

◆ list_start()

◆ list_pace()

◆ send_calib()

◆ save_image()

◆ save_image_keep_params()

◆ cal_apply()

◆ cal_batt()

◆ battery_flight()

◆ local_cmd()

◆ usb_allowed()

◆ config_op()

◆ other_link()

◆ usb_commands()

◆ commands()

◆ log_ble_out()

◆ due()

◆ events()

◆ calibration()

◆ streams()

◆ app_task_boot()

◆ app_init()

◆ app_step()

◆ AppTask()

◆ app_task_start()

Variable Documentation

◆ s_cfg

◆ s_img

◆ s_cal

◆ s_sensors

◆ s_frame

◆ s_pend

◆ s_pend_op

◆ s_pend_seq

◆ s_pend_t

◆ s_hz_flight

◆ s_hz_power

◆ s_hz_nav