BetaFlight模块设计之十七：pinioBox任务分析

Posted 2022-06-01 lida2003

BetaFlight模块设计之十七：pinioBox任务分析

• pinioBox任务
• 业务配置
• 硬件配置
• pinioBoxUpdate任务分析

基于BetaFlight开源代码框架简介的框架设计，逐步分析内部模块功能设计。

pinioBox任务

描述：主要根据状态做IO高低电平控制(比如：点灯等)。

 ├──> 初始化
 │   ├──> [v]硬件初始化pinioInit
 │   └──> [v]业务初始化pinioBoxInit
 ├──> 任务
 │   ├──> [x]实时任务
 │   ├──> [x]事件任务
 │   └──> [v]时间任务[TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOWEST),
 ├──> 驱动
 │   ├──> [x]查询
 │   └──> [x]中断
 └──> 接口
     ├──> void pinioset(int index, bool on)
     └──> void pinioBoxTaskControl(void)

业务配置

该任务主要可以配置4个pinioBox。

\\src\\main\\drivers\\pinio.h
#define PINIO_COUNT 4

从boxes默认配置看都不用。

\\src\\main\\pg\\piniobox.c
PG_RESET_TEMPLATE(pinioBoxConfig_t, pinioBoxConfig,
    .permanentId = 
        PERMANENT_ID_NONE,
        PERMANENT_ID_NONE,
        PERMANENT_ID_NONE,
        PERMANENT_ID_NONE
    ,
);

如果需要可以通过命令行配置需要关注的box。

\\src\\main\\msp\\msp_box.c
// permanent IDs must uniquely identify BOX meaning, DO NOT REUSE THEM!
static const box_t boxes[CHECKBOX_ITEM_COUNT] = 
     BOXARM, "ARM", 0 ,
     BOXANGLE, "ANGLE", 1 ,
     BOXHORIZON, "HORIZON", 2 ,
//     BOXBARO, "BARO", 3 ,
     BOXANTIGRAVITY, "ANTI GRAVITY", 4 ,
     BOXMAG, "MAG", 5 ,
     BOXHEADFREE, "HEADFREE", 6 ,
     BOXHEADADJ, "HEADADJ", 7 ,
     BOXCAMSTAB, "CAMSTAB", 8 ,
//     BOXCAMTRIG, "CAMTRIG", 9 ,
//     BOXGPSHOME, "GPS HOME", 10 ,
//     BOXGPSHOLD, "GPS HOLD", 11 ,
     BOXPASSTHRU, "PASSTHRU", 12 ,
     BOXBEEPERON, "BEEPER", 13 ,
//     BOXLEDMAX, "LEDMAX", 14 , (removed)
     BOXLEDLOW, "LEDLOW", 15 ,
//     BOXLLIGHTS, "LLIGHTS", 16 , (removed)
     BOXCALIB, "CALIB", 17 ,
//     BOXGOV, "GOVERNOR", 18 , (removed)
     BOXOSD, "OSD DISABLE", 19 ,
     BOXTELEMETRY, "TELEMETRY", 20 ,
//     BOXGTUNE, "GTUNE", 21 , (removed)
//     BOXRANGEFINDER, "RANGEFINDER", 22 , (removed)
     BOXSERVO1, "SERVO1", 23 ,
     BOXSERVO2, "SERVO2", 24 ,
     BOXSERVO3, "SERVO3", 25 ,
     BOXBLACKBOX, "BLACKBOX", 26 ,
     BOXFAILSAFE, "FAILSAFE", 27 ,
     BOXAIRMODE, "AIR MODE", 28 ,
     BOX3D, "3D DISABLE / SWITCH", 29,
     BOXFPVANGLEMIX, "FPV ANGLE MIX", 30,
     BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 ,
     BOXCAMERA1, "CAMERA CONTROL 1", 32,
     BOXCAMERA2, "CAMERA CONTROL 2", 33,
     BOXCAMERA3, "CAMERA CONTROL 3", 34 ,
     BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 ,
     BOXPREARM, "PREARM", 36 ,
     BOXBEEPGPSCOUNT, "GPS BEEP SATELLITE COUNT", 37 ,
//     BOX3DONASWITCH, "3D ON A SWITCH", 38 , (removed)
     BOXVTXPITMODE, "VTX PIT MODE", 39 ,
     BOXUSER1, "USER1", 40 ,
     BOXUSER2, "USER2", 41 ,
     BOXUSER3, "USER3", 42 ,
     BOXUSER4, "USER4", 43 ,
     BOXPIDAUDIO, "PID AUDIO", 44 ,
     BOXPARALYZE, "PARALYZE", 45 ,
     BOXGPSRESCUE, "GPS RESCUE", 46 ,
     BOXACROTRAINER, "ACRO TRAINER", 47 ,
     BOXVTXCONTROLDISABLE, "VTX CONTROL DISABLE", 48,
     BOXLAUNCHCONTROL, "LAUNCH CONTROL", 49 ,
     BOXMSPOVERRIDE, "MSP OVERRIDE", 50,
     BOXSTICKCOMMANDDISABLE, "STICK COMMANDS DISABLE", 51,
     BOXBEEPERMUTE, "BEEPER MUTE", 52,
;

硬件配置

板子Kakute F7 AIO是没有这个管脚定义，因此找了一个pinioBox使用比较全的模型来分析。搜索下来，使用piniobox 3只有EXF722DUAL模型，也是比较全用到的pinioBox现有功能的一个模型。

# grep -rn  --exclude-dir=obj "PINIO3_PIN"  .
./src/main/target/EXF722DUAL/target.h:151:#define PINIO3_PIN              PB8  // VTX power switcher
./src/main/pg/pinio.c:35:#ifndef PINIO3_PIN
./src/main/pg/pinio.c:36:#define PINIO3_PIN NONE
./src/main/pg/pinio.c:48:        IO_TAG(PINIO3_PIN),

板级配置定义：

/src/main/target/EXF722DUAL/target.h:
#define USE_PINIO
#define PINIO1_PIN              PC13 // activate/deactivate Bluetooth When disarmed/armed using PINIO_BOX
#define PINIO2_PIN              PC14 // 2xCamera switcher
#define PINIO3_PIN              PB8  // VTX power switcher
#define USE_PINIOBOX

pinioBoxUpdate任务分析

pinioBoxUpdate
 └──> <for (int i = 0; i < PINIO_COUNT; i++)> //遍历所有pinioBox
     └──> <if (pinioBoxRuntimeConfig.boxId[i] != BOXID_NONE)>  //有效pinioBox
         └──> pinioSet(i, getBoxIdState(pinioBoxRuntimeConfig.boxId[i])); //根据当前flight mode或者功能使能情况，对应IO输出(点灯)