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Split rx processing into three states to eliminate cycle time jitter

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Allow tasks with state machines to control which state determines task duration

Fix unit tests
This commit is contained in:
Steve Evans 2021-03-07 20:46:25 +00:00
parent bc4372588b
commit 25fcacf4c5
11 changed files with 89 additions and 20 deletions
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49
src/main/fc/tasks.c
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@ -158,23 +158,54 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
}
#endif
static enum {
CHECK, PROCESS, MODES, UPDATE
} rxState = CHECK;
bool taskUpdateRxMainInProgress()
{
return (rxState != CHECK);
}
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
if (!processRx(currentTimeUs)) {
return;
}
switch (rxState) {
default:
case CHECK:
ignoreTaskTime();
rxState = PROCESS;
break;
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
case PROCESS:
ignoreTaskTime();
if (!processRx(currentTimeUs)) {
break;
}
rxState = MODES;
break;
case MODES:
processRxModes(currentTimeUs);
rxState = UPDATE;
break;
case UPDATE:
ignoreTaskTime();
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
#ifdef USE_USB_CDC_HID
if (!ARMING_FLAG(ARMED)) {
sendRcDataToHid();
}
if (!ARMING_FLAG(ARMED)) {
sendRcDataToHid();
}
#endif
rxState = CHECK;
break;
}
}
#ifdef USE_BARO
static void taskUpdateBaro(timeUs_t currentTimeUs)
{