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Taskmain rework part II

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INT wait

Fix auto settings F3
This commit is contained in:
borisbstyle 2016-02-25 23:36:51 +01:00
parent f7091f48d0
commit 2e8fa5eab1
7 changed files with 137 additions and 104 deletions
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28
src/main/io/serial_cli.c
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@ -526,6 +526,7 @@ const clivalue_t valueTable[] = {
{ "rc_smoothing", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_OFF_ON } },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
{ "max_aux_channels", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.max_aux_channel, .config.minmax = { 0, 13 } },
{ "debug_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.debug_mode, .config.lookup = { TABLE_OFF_ON } },
{ "min_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.minthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.escAndServoConfig.maxthrottle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
@ -2581,24 +2582,31 @@ static void cliTasks(char *cmdline)
uint16_t taskFrequency;
uint16_t subTaskFrequency;
if (taskId == TASK_GYROPID) {
subTaskFrequency = (uint16_t)(1.0f / ((float)cycleTime * 0.000001f));
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
} else {
taskFrequency = (uint16_t)(1.0f / ((float)taskInfo.latestDeltaTime * 0.000001f));
}
uint32_t taskTotalTime = taskInfo.totalExecutionTime / 1000;
cliPrintf("%d - (%s) max: %dus, avg: %dus, rate: %dhz, total: ", taskId, taskInfo.taskName, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency);
if (taskId == TASK_GYROPID) {
subTaskFrequency = (uint16_t)(1.0f / ((float)cycleTime * 0.000001f));
if (masterConfig.pid_process_denom > 1) {
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
cliPrintf("%d - (%s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%d - (%s/%s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = (uint16_t)(1.0f / ((float)taskInfo.latestDeltaTime * 0.000001f));
cliPrintf("%d - (%s) ", taskId, taskInfo.taskName);
}
cliPrintf("max: %dus, avg: %dus, rate: %dhz, total: ", taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency);
if (taskTotalTime >= 1000) {
cliPrintf("%ds", taskTotalTime / 1000);
cliPrintf("%dsec", taskTotalTime / 1000);
} else {
cliPrintf("%dms", taskTotalTime);
}
if (taskId == TASK_GYROPID) cliPrintf(" (%s rate: %dhz)", taskInfo.subTaskName, subTaskFrequency);
if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) cliPrintf("\r\n- - (%s) rate: %dhz", taskInfo.subTaskName, subTaskFrequency);
cliPrintf("\r\n", taskTotalTime);
}
}