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Cycletime Jitter buffer added // Removed reservations in scheduler

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borisbstyle 2016-02-20 20:18:51 +01:00
parent 0d2bf3184c
commit 06942f574e
5 changed files with 29 additions and 23 deletions
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32
src/main/mw.c
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@ -101,7 +101,8 @@ enum {
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 100 // Watchdog delay for gyro sync
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
#define JITTER_BUFFER_TIME 20 // cycleTime jitter buffer time
uint16_t cycleTime = 0; // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
@ -119,7 +120,6 @@ extern uint32_t currentTime;
extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
extern bool antiWindupProtection;
static filterStatePt1_t filteredCycleTimeState;
uint16_t filteredCycleTime;
static bool isRXDataNew;
@ -182,7 +182,7 @@ void filterRc(void){
// Set RC refresh rate for sampling and channels to filter
initRxRefreshRate(&rxRefreshRate);
rcInterpolationFactor = rxRefreshRate / filteredCycleTime + 1;
rcInterpolationFactor = rxRefreshRate / targetLooptime + 1;
if (isRXDataNew) {
for (int channel=0; channel < 4; channel++) {
@ -640,15 +640,6 @@ static bool haveProcessedAnnexCodeOnce = false;
void taskMainPidLoop(void)
{
cycleTime = getTaskDeltaTime(TASK_SELF);
dT = (float)targetLooptime * 0.000001f;
// Calculate average cycle time and average jitter
filteredCycleTime = filterApplyPt1(cycleTime, &filteredCycleTimeState, 0.5f, dT);
//debug[0] = cycleTime;
//debug[1] = cycleTime - filteredCycleTime;
imuUpdateGyroAndAttitude();
annexCode();
@ -740,12 +731,21 @@ void taskMainPidLoop(void)
// Function for loop trigger
void taskMainPidLoopCheck(void) {
// getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point.
// To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
static uint32_t previousTime;
cycleTime = micros() - previousTime;
previousTime = micros();
// Debugging parameters
debug[0] = cycleTime;
debug[1] = cycleTime - targetLooptime;
debug[2] = averageSystemLoadPercent;
while (1) {
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
if (gyroSyncCheckUpdate() || ((cycleTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
while (1) {
if (micros() >= JITTER_BUFFER_TIME + previousTime) break;
}
break;
}
}