src/main/fc/tasks.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdlib.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #include "build/debug.h"
  28
  29 #include "cli/cli.h"
  30
  31 #include "cms/cms.h"
  32
  33 #include "common/color.h"
  34 #include "common/utils.h"
  35
  36 #include "config/feature.h"
  37
  38 #include "drivers/accgyro/accgyro.h"
  39 #include "drivers/camera_control.h"
  40 #include "drivers/compass/compass.h"
  41 #include "drivers/sensor.h"
  42 #include "drivers/serial.h"
  43 #include "drivers/serial_usb_vcp.h"
  44 #include "drivers/stack_check.h"
  45 #include "drivers/transponder_ir.h"
  46 #include "drivers/usb_io.h"
  47 #include "drivers/vtx_common.h"
  48
  49 #include "config/config.h"
  50 #include "fc/core.h"
  51 #include "fc/rc.h"
  52 #include "fc/dispatch.h"
  53 #include "fc/rc_controls.h"
  54 #include "fc/runtime_config.h"
  55
  56 #include "flight/position.h"
  57 #include "flight/imu.h"
  58 #include "flight/mixer.h"
  59 #include "flight/pid.h"
  60
  61 #include "io/asyncfatfs/asyncfatfs.h"
  62 #include "io/beeper.h"
  63 #include "io/dashboard.h"
  64 #include "io/gps.h"
  65 #include "io/ledstrip.h"
  66 #include "io/piniobox.h"
  67 #include "io/serial.h"
  68 #include "io/transponder_ir.h"
  69 #include "io/vtx_tramp.h" // Will be gone
  70 #include "io/rcdevice_cam.h"
  71 #include "io/usb_cdc_hid.h"
  72 #include "io/vtx.h"
  73
  74 #include "msp/msp.h"
  75 #include "msp/msp_serial.h"
  76
  77 #include "osd/osd.h"
  78
  79 #include "pg/rx.h"
  80 #include "pg/motor.h"
  81
  82 #include "rx/rx.h"
  83
  84 #include "scheduler/scheduler.h"
  85
  86 #include "sensors/acceleration.h"
  87 #include "sensors/adcinternal.h"
  88 #include "sensors/barometer.h"
  89 #include "sensors/battery.h"
  90 #include "sensors/compass.h"
  91 #include "sensors/esc_sensor.h"
  92 #include "sensors/gyro.h"
  93 #include "sensors/sensors.h"
  94 #include "sensors/rangefinder.h"
  95
  96 #include "telemetry/telemetry.h"
  97 #include "telemetry/crsf.h"
  98
  99 #ifdef USE_BST
 100 #include "i2c_bst.h"
 101 #endif
 102
 103 #ifdef USE_USB_CDC_HID
 104 //TODO: Make it platform independent in the future
 105 #ifdef STM32F4
 106 #include "vcpf4/usbd_cdc_vcp.h"
 107 #include "usbd_hid_core.h"
 108 #elif defined(STM32F7)
 109 #include "usbd_cdc_interface.h"
 110 #include "usbd_hid.h"
 111 #endif
 112 #endif
 113
 114 #include "tasks.h"
 115
 116 // taskUpdateRxMain() has occasional peaks in execution time so normal moving average duration estimation doesn't work
 117 // Decay the estimated max task duration by 1/(1 << RX_TASK_DECAY_SHIFT) on every invocation
 118 #define RX_TASK_DECAY_SHIFT 7
 119 // Add a margin to the task duration estimation
 120 #define RX_TASK_MARGIN 1
 121
 122 static void taskMain(timeUs_t currentTimeUs)
 123 {
 124     UNUSED(currentTimeUs);
 125
 126 #ifdef USE_SDCARD
 127     afatfs_poll();
 128 #endif
 129 }
 130
 131 static void taskHandleSerial(timeUs_t currentTimeUs)
 132 {
 133     UNUSED(currentTimeUs);
 134
 135 #if defined(USE_VCP)
 136     DEBUG_SET(DEBUG_USB, 0, usbCableIsInserted());
 137     DEBUG_SET(DEBUG_USB, 1, usbVcpIsConnected());
 138 #endif
 139
 140 #ifdef USE_CLI
 141     // in cli mode, all serial stuff goes to here. enter cli mode by sending #
 142     if (cliMode) {
 143         cliProcess();
 144         return;
 145     }
 146 #endif
 147     bool evaluateMspData = ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;
 148     mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
 149 }
 150
 151 static void taskBatteryAlerts(timeUs_t currentTimeUs)
 152 {
 153     if (!ARMING_FLAG(ARMED)) {
 154         // the battery *might* fall out in flight, but if that happens the FC will likely be off too unless the user has battery backup.
 155         batteryUpdatePresence();
 156     }
 157     batteryUpdateStates(currentTimeUs);
 158     batteryUpdateAlarms();
 159 }
 160
 161 #ifdef USE_ACC
 162 static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 163 {
 164     accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
 165 }
 166 #endif
 167
 168 typedef enum {
 169     RX_STATE_CHECK,
 170     RX_STATE_PROCESS,
 171     RX_STATE_MODES,
 172     RX_STATE_UPDATE,
 173     RX_STATE_COUNT
 174 } rxState_e;
 175
 176 static rxState_e rxState = RX_STATE_CHECK;
 177
 178 bool taskUpdateRxMainInProgress()
 179 {
 180     return (rxState != RX_STATE_CHECK);
 181 }
 182
 183 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 184 {
 185     static timeUs_t rxStateDurationFracUs[RX_STATE_COUNT];
 186     timeUs_t executeTimeUs;
 187     rxState_e oldRxState = rxState;
 188
 189     // Where we are using a state machine call schedulerIgnoreTaskExecRate() for all states bar one
 190     if (rxState != RX_STATE_UPDATE) {
 191         schedulerIgnoreTaskExecRate();
 192     }
 193
 194     switch (rxState) {
 195     default:
 196     case RX_STATE_CHECK:
 197         rxState = RX_STATE_PROCESS;
 198         break;
 199
 200     case RX_STATE_PROCESS:
 201         if (!processRx(currentTimeUs)) {
 202             rxState = RX_STATE_CHECK;
 203             break;
 204         }
 205         rxState = RX_STATE_MODES;
 206         break;
 207
 208     case RX_STATE_MODES:
 209         processRxModes(currentTimeUs);
 210         rxState = RX_STATE_UPDATE;
 211         break;
 212
 213     case RX_STATE_UPDATE:
 214         // updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
 215         updateRcCommands();
 216         updateArmingStatus();
 217
 218 #ifdef USE_USB_CDC_HID
 219         if (!ARMING_FLAG(ARMED)) {
 220             sendRcDataToHid();
 221         }
 222 #endif
 223         rxState = RX_STATE_CHECK;
 224         break;
 225     }
 226
 227     if (schedulerGetIgnoreTaskExecTime()) {
 228         return;
 229     }
 230
 231     executeTimeUs = micros() - currentTimeUs + RX_TASK_MARGIN;
 232
 233     if (executeTimeUs > (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
 234         rxStateDurationFracUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT;
 235     } else {
 236         // Slowly decay the max time
 237         rxStateDurationFracUs[oldRxState]--;
 238     }
 239
 240     schedulerSetNextStateTime(rxStateDurationFracUs[rxState] >> RX_TASK_DECAY_SHIFT);
 241 }
 242
 243
 244 #ifdef USE_BARO
 245 static void taskUpdateBaro(timeUs_t currentTimeUs)
 246 {
 247     UNUSED(currentTimeUs);
 248
 249     if (sensors(SENSOR_BARO)) {
 250         const uint32_t newDeadline = baroUpdate(currentTimeUs);
 251         if (newDeadline != 0) {
 252             rescheduleTask(TASK_SELF, newDeadline);
 253         }
 254     }
 255 }
 256 #endif
 257
 258 #if defined(USE_RANGEFINDER)
 259 void taskUpdateRangefinder(timeUs_t currentTimeUs)
 260 {
 261     UNUSED(currentTimeUs);
 262
 263     if (!sensors(SENSOR_RANGEFINDER)) {
 264         return;
 265     }
 266
 267     rangefinderUpdate();
 268
 269     rangefinderProcess(getCosTiltAngle());
 270 }
 271 #endif
 272
 273 #if defined(USE_BARO) || defined(USE_GPS)
 274 static void taskCalculateAltitude(timeUs_t currentTimeUs)
 275 {
 276     calculateEstimatedAltitude(currentTimeUs);
 277 }
 278 #endif // USE_BARO || USE_GPS
 279
 280 #ifdef USE_TELEMETRY
 281 static void taskTelemetry(timeUs_t currentTimeUs)
 282 {
 283     if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
 284         subTaskTelemetryPollSensors(currentTimeUs);
 285
 286         telemetryProcess(currentTimeUs);
 287     }
 288 }
 289 #endif
 290
 291 #ifdef USE_CAMERA_CONTROL
 292 static void taskCameraControl(uint32_t currentTime)
 293 {
 294     if (ARMING_FLAG(ARMED)) {
 295         return;
 296     }
 297
 298     cameraControlProcess(currentTime);
 299 }
 300 #endif
 301
 302 #define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) {  \
 303     .taskName = taskNameParam, \
 304     .subTaskName = subTaskNameParam, \
 305     .checkFunc = checkFuncParam, \
 306     .taskFunc = taskFuncParam, \
 307     .desiredPeriodUs = desiredPeriodParam, \
 308     .staticPriority = staticPriorityParam \
 309 }
 310
 311 // Task info in .bss (unitialised data)
 312 task_t tasks[TASK_COUNT];
 313
 314 // Task ID data in .data (initialised data)
 315 task_attr_t task_attrs[TASK_COUNT] = {
 316     [TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
 317     [TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
 318     [TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
 319     [TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
 320     [TASK_BATTERY_VOLTAGE] = DEFINE_TASK("BATTERY_VOLTAGE", NULL, NULL, batteryUpdateVoltage, TASK_PERIOD_HZ(SLOW_VOLTAGE_TASK_FREQ_HZ), TASK_PRIORITY_MEDIUM), // Freq may be updated in tasksInit
 321     [TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
 322
 323 #ifdef USE_TRANSPONDER
 324     [TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 325 #endif
 326
 327 #ifdef USE_STACK_CHECK
 328     [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 329 #endif
 330
 331     [TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 332     [TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 333     [TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
 334 #ifdef USE_ACC
 335     [TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
 336     [TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
 337 #endif
 338     [TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
 339     [TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
 340
 341 #ifdef USE_BEEPER
 342     [TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 343 #endif
 344
 345 #ifdef USE_GPS
 346     [TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
 347 #endif
 348
 349 #ifdef USE_MAG
 350     [TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, compassUpdate,TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 351 #endif
 352
 353 #ifdef USE_BARO
 354     [TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 355 #endif
 356
 357 #if defined(USE_BARO) || defined(USE_GPS)
 358     [TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
 359 #endif
 360
 361 #ifdef USE_DASHBOARD
 362     [TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
 363 #endif
 364
 365 #ifdef USE_OSD
 366     [TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
 367 #endif
 368
 369 #ifdef USE_TELEMETRY
 370     [TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
 371 #endif
 372
 373 #ifdef USE_LED_STRIP
 374     [TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 375 #endif
 376
 377 #ifdef USE_BST
 378     [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_LOWEST),
 379 #endif
 380
 381 #ifdef USE_ESC_SENSOR
 382     [TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 383 #endif
 384
 385 #ifdef USE_CMS
 386     [TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
 387 #endif
 388
 389 #ifdef USE_VTX_CONTROL
 390     [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOWEST),
 391 #endif
 392
 393 #ifdef USE_RCDEVICE
 394     [TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
 395 #endif
 396
 397 #ifdef USE_CAMERA_CONTROL
 398     [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_LOW),
 399 #endif
 400
 401 #ifdef USE_ADC_INTERNAL
 402     [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_LOWEST),
 403 #endif
 404
 405 #ifdef USE_PINIOBOX
 406     [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOWEST),
 407 #endif
 408
 409 #ifdef USE_RANGEFINDER
 410     [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOWEST),
 411 #endif
 412
 413 #ifdef USE_CRSF_V3
 414     [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOWEST),
 415 #endif
 416 };
 417
 418 task_t *getTask(unsigned taskId)
 419 {
 420     return &tasks[taskId];
 421 }
 422
 423 void tasksInit(void)
 424 {
 425     for (int i = 0; i < TASK_COUNT; i++) {
 426         tasks[i].attr = &task_attrs[i];
 427     }
 428
 429     schedulerInit();
 430
 431     setTaskEnabled(TASK_MAIN, true);
 432
 433     setTaskEnabled(TASK_SERIAL, true);
 434     rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
 435
 436     const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
 437     setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
 438
 439 #if defined(USE_BATTERY_VOLTAGE_SAG_COMPENSATION)
 440     // If vbat motor output compensation is used, use fast vbat samplingTime
 441     if (isSagCompensationConfigured()) {
 442         rescheduleTask(TASK_BATTERY_VOLTAGE, TASK_PERIOD_HZ(FAST_VOLTAGE_TASK_FREQ_HZ));
 443     }
 444 #endif
 445
 446     const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
 447     setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
 448     const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
 449     setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
 450
 451 #ifdef USE_STACK_CHECK
 452     setTaskEnabled(TASK_STACK_CHECK, true);
 453 #endif
 454
 455     if (sensors(SENSOR_GYRO)) {
 456         rescheduleTask(TASK_GYRO, gyro.sampleLooptime);
 457         rescheduleTask(TASK_FILTER, gyro.targetLooptime);
 458         rescheduleTask(TASK_PID, gyro.targetLooptime);
 459         setTaskEnabled(TASK_GYRO, true);
 460         setTaskEnabled(TASK_FILTER, true);
 461         setTaskEnabled(TASK_PID, true);
 462         schedulerEnableGyro();
 463     }
 464
 465 #if defined(USE_ACC)
 466     if (sensors(SENSOR_ACC) && acc.sampleRateHz) {
 467         setTaskEnabled(TASK_ACCEL, true);
 468         rescheduleTask(TASK_ACCEL, TASK_PERIOD_HZ(acc.sampleRateHz));
 469         setTaskEnabled(TASK_ATTITUDE, true);
 470     }
 471 #endif
 472
 473 #ifdef USE_RANGEFINDER
 474     if (sensors(SENSOR_RANGEFINDER)) {
 475         setTaskEnabled(TASK_RANGEFINDER, featureIsEnabled(FEATURE_RANGEFINDER));
 476     }
 477 #endif
 478
 479     setTaskEnabled(TASK_RX, true);
 480
 481     setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
 482
 483 #ifdef USE_BEEPER
 484     setTaskEnabled(TASK_BEEPER, true);
 485 #endif
 486
 487 #ifdef USE_GPS
 488     setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
 489 #endif
 490
 491 #ifdef USE_MAG
 492     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
 493 #endif
 494
 495 #ifdef USE_BARO
 496     setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
 497 #endif
 498
 499 #if defined(USE_BARO) || defined(USE_GPS)
 500     setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
 501 #endif
 502
 503 #ifdef USE_DASHBOARD
 504     setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
 505 #endif
 506
 507 #ifdef USE_TELEMETRY
 508     if (featureIsEnabled(FEATURE_TELEMETRY)) {
 509         setTaskEnabled(TASK_TELEMETRY, true);
 510         if (rxRuntimeState.serialrxProvider == SERIALRX_JETIEXBUS) {
 511             // Reschedule telemetry to 500hz for Jeti Exbus
 512             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 513         } else if (rxRuntimeState.serialrxProvider == SERIALRX_CRSF) {
 514             // Reschedule telemetry to 500hz, 2ms for CRSF
 515             rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
 516         }
 517     }
 518 #endif
 519
 520 #ifdef USE_LED_STRIP
 521     setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
 522 #endif
 523
 524 #ifdef USE_TRANSPONDER
 525     setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
 526 #endif
 527
 528 #ifdef USE_OSD
 529     rescheduleTask(TASK_OSD, TASK_PERIOD_HZ(osdConfig()->framerate_hz));
 530     setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdGetDisplayPort(NULL));
 531 #endif
 532
 533 #ifdef USE_BST
 534     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 535 #endif
 536
 537 #ifdef USE_ESC_SENSOR
 538     setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
 539 #endif
 540
 541 #ifdef USE_ADC_INTERNAL
 542     setTaskEnabled(TASK_ADC_INTERNAL, true);
 543 #endif
 544
 545 #ifdef USE_PINIOBOX
 546     pinioBoxTaskControl();
 547 #endif
 548
 549 #ifdef USE_CMS
 550 #ifdef USE_MSP_DISPLAYPORT
 551     setTaskEnabled(TASK_CMS, true);
 552 #else
 553     setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
 554 #endif
 555 #endif
 556
 557 #ifdef USE_VTX_CONTROL
 558 #if defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
 559     setTaskEnabled(TASK_VTXCTRL, true);
 560 #endif
 561 #endif
 562
 563 #ifdef USE_CAMERA_CONTROL
 564     setTaskEnabled(TASK_CAMCTRL, true);
 565 #endif
 566
 567 #ifdef USE_RCDEVICE
 568     setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
 569 #endif
 570
 571 #ifdef USE_CRSF_V3
 572     const bool useCRSF = rxRuntimeState.serialrxProvider == SERIALRX_CRSF;
 573     setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
 574 #endif
 575 }
 576