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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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12
src/main/sensors/barometer.c
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@ -51,6 +51,8 @@
#include "sensors/sensors.h"
#include "scheduler/scheduler.h"
#include "barometer.h"
baro_t baro; // barometer access functions
@ -349,7 +351,7 @@ static uint32_t recalculateBarometerTotal(uint32_t pressureTotal, int32_t newPre
nextSampleIndex = 0;
baroReady = true;
} else {
nextSampleIndex = (currentSampleIndex + 1);
nextSampleIndex = (currentSampleIndex + 1);
}
barometerSamples[currentSampleIndex] = applyBarometerMedianFilter(newPressureReading);
@ -385,6 +387,12 @@ uint32_t baroUpdate(void)
debug[0] = state;
}
// Tell the scheduler to ignore how long this task takes unless the pressure is being read
// as that takes the longest
if (state != BAROMETER_NEEDS_PRESSURE_READ) {
ignoreTaskTime();
}
switch (state) {
default:
case BAROMETER_NEEDS_TEMPERATURE_START:
@ -414,6 +422,8 @@ uint32_t baroUpdate(void)
case BAROMETER_NEEDS_PRESSURE_READ:
if (baro.dev.read_up(&baro.dev)) {
state = BAROMETER_NEEDS_PRESSURE_SAMPLE;
} else {
ignoreTaskTime();
}
break;