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Code Issues Wiki Activity

currentTime passed in scheduler task call

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This commit is contained in:
Martin Budden 2016-07-06 17:09:04 +01:00
parent 7122689038
commit 2f9ca4355c
21 changed files with 134 additions and 125 deletions
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88
src/main/fc/mw.c
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@ -119,7 +119,6 @@ uint8_t motorControlEnable = false;
int16_t telemTemperature1; // gyro sensor temperature
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
extern uint32_t currentTime;
extern uint8_t PIDweight[3];
uint16_t filteredCycleTime;
@ -537,7 +536,7 @@ void updateMagHold(void)
magHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
}
void processRx(void)
void processRx(uint32_t currentTime)
{
static bool armedBeeperOn = false;
static bool airmodeIsActivated;
@ -741,7 +740,8 @@ void subTaskPidController(void)
if (debugMode == DEBUG_PIDLOOP) {debug[2] = micros() - startTime;}
}
void subTaskMainSubprocesses(void) {
void subTaskMainSubprocesses(void)
{
const uint32_t startTime = micros();
@ -807,12 +807,12 @@ void subTaskMainSubprocesses(void) {
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
handleBlackbox(startTime);
}
#endif
#ifdef TRANSPONDER
updateTransponder();
updateTransponder(startTime);
#endif
if (debugMode == DEBUG_PIDLOOP) {debug[1] = micros() - startTime;}
}
@ -841,7 +841,8 @@ void subTaskMotorUpdate(void)
if (debugMode == DEBUG_PIDLOOP) {debug[3] = micros() - startTime;}
}
uint8_t setPidUpdateCountDown(void) {
uint8_t setPidUpdateCountDown(void)
{
if (masterConfig.gyro_soft_lpf_hz) {
return masterConfig.pid_process_denom - 1;
} else {
@ -850,8 +851,11 @@ uint8_t setPidUpdateCountDown(void) {
}
// Function for loop trigger
void taskMainPidLoopCheck(void)
void taskMainPidLoopCheck(uint32_t currentTime)
{
UNUSED(currentTime);
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
static uint8_t pidUpdateCountdown;
@ -879,26 +883,33 @@ void taskMainPidLoopCheck(void)
}
}
void taskUpdateAccelerometer(void)
void taskUpdateAccelerometer(uint32_t currentTime)
{
UNUSED(currentTime);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
void taskUpdateAttitude(void) {
imuUpdateAttitude();
void taskUpdateAttitude(uint32_t currentTime)
{
imuUpdateAttitude(currentTime);
}
void taskHandleSerial(void)
void taskHandleSerial(uint32_t currentTime)
{
UNUSED(currentTime);
handleSerial();
}
void taskUpdateBeeper(void)
void taskUpdateBeeper(uint32_t currentTime)
{
UNUSED(currentTime);
beeperUpdate(); //call periodic beeper handler
}
void taskUpdateBattery(void)
void taskUpdateBattery(uint32_t currentTime)
{
#ifdef USE_ADC
static uint32_t vbatLastServiced = 0;
@ -912,7 +923,7 @@ void taskUpdateBattery(void)
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
@ -921,16 +932,17 @@ void taskUpdateBattery(void)
}
}
bool taskUpdateRxCheck(uint32_t currentDeltaTime)
bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime)
{
UNUSED(currentDeltaTime);
updateRx(currentTime);
UNUSED(currentDeltaTime);
updateRx(currentTime);
return shouldProcessRx(currentTime);
}
void taskUpdateRxMain(void)
void taskUpdateRxMain(uint32_t currentTime)
{
processRx();
processRx(currentTime);
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
@ -953,8 +965,10 @@ void taskUpdateRxMain(void)
}
#ifdef GPS
void taskProcessGPS(void)
void taskProcessGPS(uint32_t currentTime)
{
UNUSED(currentTime);
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
// change this based on available hardware
@ -969,17 +983,19 @@ void taskProcessGPS(void)
#endif
#ifdef MAG
void taskUpdateCompass(void)
void taskUpdateCompass(uint32_t currentTime)
{
if (sensors(SENSOR_MAG)) {
updateCompass(&masterConfig.magZero);
updateCompass(currentTime, &masterConfig.magZero);
}
}
#endif
#ifdef BARO
void taskUpdateBaro(void)
void taskUpdateBaro(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_BARO)) {
uint32_t newDeadline = baroUpdate();
rescheduleTask(TASK_SELF, newDeadline);
@ -988,8 +1004,10 @@ void taskUpdateBaro(void)
#endif
#ifdef SONAR
void taskUpdateSonar(void)
void taskUpdateSonar(uint32_t currentTime)
{
UNUSED(currentTime);
if (sensors(SENSOR_SONAR)) {
sonarUpdate();
}
@ -997,7 +1015,7 @@ void taskUpdateSonar(void)
#endif
#if defined(BARO) || defined(SONAR)
void taskCalculateAltitude(void)
void taskCalculateAltitude(uint32_t currentTime)
{
if (false
#if defined(BARO)
@ -1012,17 +1030,19 @@ void taskCalculateAltitude(void)
#endif
#ifdef DISPLAY
void taskUpdateDisplay(void)
void taskUpdateDisplay(uint32_t currentTime)
{
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
updateDisplay(currentTime);
}
}
#endif
#ifdef TELEMETRY
void taskTelemetry(void)
void taskTelemetry(uint32_t currentTime)
{
UNUSED(currentTime);
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
@ -1032,28 +1052,28 @@ void taskTelemetry(void)
#endif
#ifdef LED_STRIP
void taskLedStrip(void)
void taskLedStrip(uint32_t currentTime)
{
if (feature(FEATURE_LED_STRIP)) {
updateLedStrip();
updateLedStrip(currentTime);
}
}
#endif
#ifdef TRANSPONDER
void taskTransponder(void)
void taskTransponder(uint32_t currentTime)
{
if (feature(FEATURE_TRANSPONDER)) {
updateTransponder();
updateTransponder(currentTime);
}
}
#endif
#ifdef OSD
void taskUpdateOsd(void)
void taskUpdateOsd(uint32_t currentTime)
{
if (feature(FEATURE_OSD)) {
updateOsd();
updateOsd(currentTime);
}
}
#endif