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Code Issues Releases Activity

Make the PriTx queue optional which saves 700 bytes

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2729 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-02-05 10:52:52 +00:00 committed by peabody124
parent 0a70df7e5b
commit f97d853c80
3 changed files with 22 additions and 6 deletions
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23
flight/Modules/Telemetry/telemetry.c
View File

@ -51,9 +51,16 @@
// Private variables
static uint8_t telemetryPort;
static xQueueHandle queue;
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static xQueueHandle priorityQueue;
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryTxPriTaskHandle;
static void telemetryTxPriTask(void *parameters);
#else
#define priorityQueue queue
#endif
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
@ -62,7 +69,6 @@ static uint32_t timeOfLastObjectUpdate;
// Private functions
static void telemetryTxTask(void *parameters);
static void telemetryTxPriTask(void *parameters);
static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
@ -88,8 +94,10 @@ int32_t TelemetryInitialize(void)
// Create object queues
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
updateSettings();
@ -111,12 +119,15 @@ int32_t TelemetryInitialize(void)
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
@ -258,6 +269,7 @@ static void telemetryTxTask(void *parameters)
/**
* Telemetry transmit task, high priority
*/
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
static void telemetryTxPriTask(void *parameters)
{
UAVObjEvent ev;
@ -271,6 +283,7 @@ static void telemetryTxPriTask(void *parameters)
}
}
}
#endif
/**
* Telemetry transmit task. Processes queue events and periodic updates.

3
flight/OpenPilot/System/inc/pios_config.h
View File

@ -65,6 +65,9 @@
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* Enable a priority queue in telemetry */
#define PIOS_TELEM_PRIORITY_QUEUE
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200

2
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -95,7 +95,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
//------------------------
// TELEMETRY
//------------------------
#define TELEM_QUEUE_SIZE 5
#define TELEM_QUEUE_SIZE 2
//------------------------
// PIOS_LED