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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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23
src/main/blackbox/blackbox.c
View file

@ -323,9 +323,6 @@ typedef struct blackboxSlowState_s {
//From mixer.c:
extern uint8_t motorCount;
//From mw.c:
extern uint32_t currentTime;
//From rx.c:
extern uint16_t rssi;
@ -965,7 +962,7 @@ static void writeGPSHomeFrame()
gpsHistory.GPS_home[1] = GPS_home[1];
}
static void writeGPSFrame()
static void writeGPSFrame(uint32_t currentTime)
{
blackboxWrite('G');
@ -996,7 +993,7 @@ static void writeGPSFrame()
/**
* Fill the current state of the blackbox using values read from the flight controller
*/
static void loadMainState(void)
static void loadMainState(uint32_t currentTime)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
int i;
@ -1428,7 +1425,7 @@ static void blackboxAdvanceIterationTimers()
}
// Called once every FC loop in order to log the current state
static void blackboxLogIteration()
static void blackboxLogIteration(uint32_t currentTime)
{
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
if (blackboxShouldLogIFrame()) {
@ -1438,7 +1435,7 @@ static void blackboxLogIteration()
*/
writeSlowFrameIfNeeded(blackboxIsOnlyLoggingIntraframes());
loadMainState();
loadMainState(currentTime);
writeIntraframe();
} else {
blackboxCheckAndLogArmingBeep();
@ -1451,7 +1448,7 @@ static void blackboxLogIteration()
*/
writeSlowFrameIfNeeded(true);
loadMainState();
loadMainState(currentTime);
writeInterframe();
}
#ifdef GPS
@ -1467,11 +1464,11 @@ static void blackboxLogIteration()
|| (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
writeGPSHomeFrame();
writeGPSFrame();
writeGPSFrame(currentTime);
} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
//We could check for velocity changes as well but I doubt it changes independent of position
writeGPSFrame();
writeGPSFrame(currentTime);
}
}
#endif
@ -1484,7 +1481,7 @@ static void blackboxLogIteration()
/**
* Call each flight loop iteration to perform blackbox logging.
*/
void handleBlackbox(void)
void handleBlackbox(uint32_t currentTime)
{
int i;
@ -1581,7 +1578,7 @@ void handleBlackbox(void)
blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxLogIteration();
blackboxLogIteration(currentTime);
}
// Keep the logging timers ticking so our log iteration continues to advance
@ -1593,7 +1590,7 @@ void handleBlackbox(void)
if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
blackboxSetState(BLACKBOX_STATE_PAUSED);
} else {
blackboxLogIteration();
blackboxLogIteration(currentTime);
}
blackboxAdvanceIterationTimers();

2
src/main/blackbox/blackbox.h
View file

@ -22,7 +22,7 @@
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
void initBlackbox(void);
void handleBlackbox(void);
void handleBlackbox(uint32_t currentTime);
void startBlackbox(void);
void finishBlackbox(void);

88
src/main/fc/mw.c
View file

@ -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

7
src/main/flight/imu.c
View file

@ -374,7 +374,7 @@ static bool isMagnetometerHealthy(void)
return (magADC[X] != 0) && (magADC[Y] != 0) && (magADC[Z] != 0);
}
static void imuCalculateEstimatedAttitude(void)
static void imuCalculateEstimatedAttitude(uint32_t currentTime)
{
static uint32_t previousIMUUpdateTime;
float rawYawError = 0;
@ -382,7 +382,6 @@ static void imuCalculateEstimatedAttitude(void)
bool useMag = false;
bool useYaw = false;
uint32_t currentTime = micros();
uint32_t deltaT = currentTime - previousIMUUpdateTime;
previousIMUUpdateTime = currentTime;
@ -420,10 +419,10 @@ void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims)
}
}
void imuUpdateAttitude(void)
void imuUpdateAttitude(uint32_t currentTime)
{
if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
imuCalculateEstimatedAttitude();
imuCalculateEstimatedAttitude(currentTime);
} else {
accSmooth[X] = 0;
accSmooth[Y] = 0;

2
src/main/flight/imu.h
View file

@ -80,7 +80,7 @@ void imuConfigure(
float getCosTiltAngle(void);
void calculateEstimatedAltitude(uint32_t currentTime);
void imuUpdateAccelerometer(rollAndPitchTrims_t *accelerometerTrims);
void imuUpdateAttitude(void);
void imuUpdateAttitude(uint32_t currentTime);
float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_hz);

13
src/main/io/display.c
View file

@ -582,17 +582,16 @@ void showDebugPage(void)
}
#endif
void updateDisplay(void)
void updateDisplay(uint32_t currentTime)
{
uint32_t now = micros();
static uint8_t previousArmedState = 0;
bool updateNow = (int32_t)(now - nextDisplayUpdateAt) >= 0L;
const bool updateNow = (int32_t)(currentTime - nextDisplayUpdateAt) >= 0L;
if (!updateNow) {
return;
}
nextDisplayUpdateAt = now + DISPLAY_UPDATE_FREQUENCY;
nextDisplayUpdateAt = currentTime + DISPLAY_UPDATE_FREQUENCY;
bool armedState = ARMING_FLAG(ARMED) ? true : false;
bool armedStateChanged = armedState != previousArmedState;
@ -612,7 +611,7 @@ void updateDisplay(void)
}
pageState.pageChanging = (pageState.pageFlags & PAGE_STATE_FLAG_FORCE_PAGE_CHANGE) ||
(((int32_t)(now - pageState.nextPageAt) >= 0L && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)));
(((int32_t)(currentTime - pageState.nextPageAt) >= 0L && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)));
if (pageState.pageChanging && (pageState.pageFlags & PAGE_STATE_FLAG_CYCLE_ENABLED)) {
pageState.cycleIndex++;
pageState.cycleIndex = pageState.cycleIndex % CYCLE_PAGE_ID_COUNT;
@ -622,7 +621,7 @@ void updateDisplay(void)
if (pageState.pageChanging) {
pageState.pageFlags &= ~PAGE_STATE_FLAG_FORCE_PAGE_CHANGE;
pageState.nextPageAt = now + PAGE_CYCLE_FREQUENCY;
pageState.nextPageAt = currentTime + PAGE_CYCLE_FREQUENCY;
// Some OLED displays do not respond on the first initialisation so refresh the display
// when the page changes in the hopes the hardware responds. This also allows the
@ -703,7 +702,7 @@ void displayInit(rxConfig_t *rxConfigToUse)
memset(&pageState, 0, sizeof(pageState));
displaySetPage(PAGE_WELCOME);
updateDisplay();
updateDisplay(micros());
displaySetNextPageChangeAt(micros() + (1000 * 1000 * 5));
}

2
src/main/io/display.h
View file

@ -37,7 +37,7 @@ typedef enum {
struct rxConfig_s;
void displayInit(struct rxConfig_s *intialRxConfig);
void updateDisplay(void);
void updateDisplay(uint32_t currentTime);
void displayShowFixedPage(pageId_e pageId);

2
src/main/io/gps.c
View file

@ -1065,7 +1065,7 @@ static void gpsHandlePassthrough(uint8_t data)
gpsNewData(data);
#ifdef DISPLAY
if (feature(FEATURE_DISPLAY)) {
updateDisplay();
updateDisplay(micros());
}
#endif

4
src/main/io/ledstrip.c
View file

@ -925,7 +925,7 @@ static applyLayerFn_timed* layerTable[] = {
[timRing] = &applyLedThrustRingLayer
};
void updateLedStrip(void)
void updateLedStrip(uint32_t currentTime)
{
if (!(ledStripInitialised && isWS2811LedStripReady())) {
return;
@ -940,7 +940,7 @@ void updateLedStrip(void)
}
ledStripEnabled = true;
uint32_t now = micros();
const uint32_t now = currentTime;
// test all led timers, setting corresponding bits
uint32_t timActive = 0;

2
src/main/io/ledstrip.h
View file

@ -165,7 +165,7 @@ void reevaluateLedConfig(void);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse);
void ledStripEnable(void);
void updateLedStrip(void);
void updateLedStrip(uint32_t currentTime);
bool setModeColor(ledModeIndex_e modeIndex, int modeColorIndex, int colorIndex);

15
src/main/io/osd.c
View file

@ -701,32 +701,31 @@ void osdDrawArtificialHorizon(int rollAngle, int pitchAngle, uint8_t show_sideba
}
}
void updateOsd(void)
void updateOsd(uint32_t currentTime)
{
static uint8_t blink = 0;
static uint8_t arming = 0;
uint32_t seconds;
char line[30];
uint32_t now = micros();
bool updateNow = (int32_t)(now - next_osd_update_at) >= 0L;
const bool updateNow = (int32_t)(currentTime - next_osd_update_at) >= 0L;
if (!updateNow) {
return;
}
next_osd_update_at = now + OSD_UPDATE_FREQUENCY;
next_osd_update_at = currentTime + OSD_UPDATE_FREQUENCY;
blink++;
if (ARMING_FLAG(ARMED)) {
if (!armed) {
armed = true;
armed_at = now;
armed_at = currentTime;
in_menu = false;
arming = 5;
}
} else {
if (armed) {
armed = false;
armed_seconds += ((now - armed_at) / 1000000);
armed_seconds += ((currentTime - armed_at) / 1000000);
}
for (uint8_t channelIndex = 0; channelIndex < 4; channelIndex++) {
sticks[channelIndex] = (constrain(rcData[channelIndex], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN);
@ -792,12 +791,12 @@ void updateOsd(void)
}
if (masterConfig.osdProfile.item_pos[OSD_TIMER] != -1) {
if (armed) {
seconds = armed_seconds + ((now-armed_at) / 1000000);
seconds = armed_seconds + ((currentTime - armed_at) / 1000000);
line[0] = SYM_FLY_M;
sprintf(line+1, " %02d:%02d", seconds / 60, seconds % 60);
} else {
line[0] = SYM_ON_M;
seconds = now / 1000000;
seconds = currentTime / 1000000;
sprintf(line+1, " %02d:%02d", seconds / 60, seconds % 60);
}
max7456_write_string(line, masterConfig.osdProfile.item_pos[OSD_TIMER]);

2
src/main/io/osd.h
View file

@ -63,6 +63,6 @@ typedef struct {
int16_t item_pos[OSD_MAX_ITEMS];
} osd_profile;
void updateOsd(void);
void updateOsd(uint32_t currentTime);
void osdInit(void);
void resetOsdConfig(osd_profile *osdProfile);

10
src/main/io/transponder_ir.c
View file

@ -42,7 +42,7 @@ static uint32_t nextUpdateAt = 0;
#define JITTER_DURATION_COUNT (sizeof(jitterDurations) / sizeof(uint8_t))
static uint8_t jitterDurations[] = {0,9,4,8,3,9,6,7,1,6,9,7,8,2,6};
void updateTransponder(void)
void updateTransponder(uint32_t currentTime)
{
static uint32_t jitterIndex = 0;
@ -50,9 +50,7 @@ void updateTransponder(void)
return;
}
uint32_t now = micros();
bool updateNow = (int32_t)(now - nextUpdateAt) >= 0L;
const bool updateNow = (int32_t)(currentTime - nextUpdateAt) >= 0L;
if (!updateNow) {
return;
}
@ -63,12 +61,12 @@ void updateTransponder(void)
jitterIndex = 0;
}
nextUpdateAt = now + 4500 + jitter;
nextUpdateAt = currentTime + 4500 + jitter;
#ifdef REDUCE_TRANSPONDER_CURRENT_DRAW_WHEN_USB_CABLE_PRESENT
// reduce current draw when USB cable is plugged in by decreasing the transponder transmit rate.
if (usbCableIsInserted()) {
nextUpdateAt = now + (1000 * 1000) / 10; // 10 hz.
nextUpdateAt = currentTime + (1000 * 1000) / 10; // 10 hz.
}
#endif

2
src/main/io/transponder_ir.h
View file

@ -21,7 +21,7 @@ void transponderInit(uint8_t* transponderCode);
void transponderEnable(void);
void transponderDisable(void);
void updateTransponder(void);
void updateTransponder(uint32_t currentTime);
void transponderUpdateData(uint8_t* transponderData);
void transponderTransmitOnce(void);
void transponderStartRepeating(void);

13
src/main/scheduler/scheduler.c
View file

@ -38,7 +38,6 @@ static cfTask_t *currentTask = NULL;
static uint32_t totalWaitingTasks;
static uint32_t totalWaitingTasksSamples;
uint32_t currentTime = 0;
uint16_t averageSystemLoadPercent = 0;
@ -110,9 +109,11 @@ cfTask_t *queueNext(void)
return taskQueueArray[++taskQueuePos]; // guaranteed to be NULL at end of queue
}
void taskSystem(void)
void taskSystem(uint32_t currentTime)
{
/* Calculate system load */
UNUSED(currentTime);
// Calculate system load
if (totalWaitingTasksSamples > 0) {
averageSystemLoadPercent = 100 * totalWaitingTasks / totalWaitingTasksSamples;
totalWaitingTasksSamples = 0;
@ -174,7 +175,7 @@ void schedulerInit(void)
void scheduler(void)
{
// Cache currentTime
currentTime = micros();
const uint32_t currentTime = micros();
// Check for realtime tasks
uint32_t timeToNextRealtimeTask = UINT32_MAX;
@ -203,7 +204,7 @@ void scheduler(void)
task->taskAgeCycles = 1 + ((currentTime - task->lastSignaledAt) / task->desiredPeriod);
task->dynamicPriority = 1 + task->staticPriority * task->taskAgeCycles;
waitingTasks++;
} else if (task->checkFunc(currentTime - task->lastExecutedAt)) {
} else if (task->checkFunc(currentTime, currentTime - task->lastExecutedAt)) {
task->lastSignaledAt = currentTime;
task->taskAgeCycles = 1;
task->dynamicPriority = 1 + task->staticPriority;
@ -246,7 +247,7 @@ void scheduler(void)
// Execute task
const uint32_t currentTimeBeforeTaskCall = micros();
selectedTask->taskFunc();
selectedTask->taskFunc(currentTimeBeforeTaskCall);
const uint32_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
selectedTask->averageExecutionTime = ((uint32_t)selectedTask->averageExecutionTime * 31 + taskExecutionTime) / 32;

4
src/main/scheduler/scheduler.h
View file

@ -98,8 +98,8 @@ typedef struct {
/* Configuration */
const char * taskName;
const char * subTaskName;
bool (*checkFunc)(uint32_t currentDeltaTime);
void (*taskFunc)(void);
bool (*checkFunc)(uint32_t currentTime, uint32_t currentDeltaTime);
void (*taskFunc)(uint32_t currentTime);
uint32_t desiredPeriod; // target period of execution
const uint8_t staticPriority; // dynamicPriority grows in steps of this size, shouldn't be zero

42
src/main/scheduler/scheduler_tasks.h
View file

@ -17,29 +17,29 @@
#pragma once
void taskSystem(void);
void taskMainPidLoopCheck(void);
void taskUpdateAccelerometer(void);
void taskUpdateAttitude(void);
bool taskUpdateRxCheck(uint32_t currentDeltaTime);
void taskUpdateRxMain(void);
void taskHandleSerial(void);
void taskUpdateBattery(void);
void taskUpdateBeeper(void);
void taskProcessGPS(void);
void taskUpdateCompass(void);
void taskUpdateBaro(void);
void taskUpdateSonar(void);
void taskCalculateAltitude(void);
void taskUpdateDisplay(void);
void taskTelemetry(void);
void taskLedStrip(void);
void taskTransponder(void);
void taskSystem(uint32_t currentTime);
void taskMainPidLoopCheck(uint32_t currentTime);
void taskUpdateAccelerometer(uint32_t currentTime);
void taskUpdateAttitude(uint32_t currentTime);
bool taskUpdateRxCheck(uint32_t currentTime, uint32_t currentDeltaTime);
void taskUpdateRxMain(uint32_t currentTime);
void taskHandleSerial(uint32_t currentTime);
void taskUpdateBattery(uint32_t currentTime);
void taskUpdateBeeper(uint32_t currentTime);
void taskProcessGPS(uint32_t currentTime);
void taskUpdateCompass(uint32_t currentTime);
void taskUpdateBaro(uint32_t currentTime);
void taskUpdateSonar(uint32_t currentTime);
void taskCalculateAltitude(uint32_t currentTime);
void taskUpdateDisplay(uint32_t currentTime);
void taskTelemetry(uint32_t currentTime);
void taskLedStrip(uint32_t currentTime);
void taskTransponder(uint32_t currentTime);
#ifdef OSD
void taskUpdateOsd(void);
void taskUpdateOsd(uint32_t currentTime);
#endif
#ifdef USE_BST
void taskBstReadWrite(void);
void taskBstMasterProcess(void);
void taskBstReadWrite(uint32_t currentTime);
void taskBstMasterProcess(uint32_t currentTime);
#endif

4
src/main/sensors/compass.c
View file

@ -45,8 +45,6 @@ sensor_align_e magAlign = 0;
#ifdef MAG
extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
static int16_t magADCRaw[XYZ_AXIS_COUNT];
static uint8_t magInit = 0;
@ -59,7 +57,7 @@ void compassInit(void)
magInit = 1;
}
void updateCompass(flightDynamicsTrims_t *magZero)
void updateCompass(uint32_t currentTime, flightDynamicsTrims_t *magZero)
{
static uint32_t tCal = 0;
static flightDynamicsTrims_t magZeroTempMin;

2
src/main/sensors/compass.h
View file

@ -29,7 +29,7 @@ typedef enum {
void compassInit(void);
union flightDynamicsTrims_u;
void updateCompass(union flightDynamicsTrims_u *magZero);
void updateCompass(uint32_t currentTime, union flightDynamicsTrims_u *magZero);
extern int32_t magADC[XYZ_AXIS_COUNT];

18
src/main/target/COLIBRI_RACE/i2c_bst.c
View file

@ -1479,11 +1479,10 @@ void bstProcessInCommand(void)
}
}
void resetBstChecker(void)
static void resetBstChecker(uint32_t currentTime)
{
if(needResetCheck) {
uint32_t currentTimer = micros();
if(currentTimer >= (resetBstTimer + BST_RESET_TIME))
if(currentTime >= (resetBstTimer + BST_RESET_TIME))
{
bstTimeoutUserCallback();
needResetCheck = false;
@ -1500,15 +1499,14 @@ static uint32_t next20hzUpdateAt_1 = 0;
static uint8_t sendCounter = 0;
void taskBstMasterProcess(void)
void taskBstMasterProcess(uint32_t currentTime)
{
if(coreProReady) {
uint32_t now = micros();
if(now >= next02hzUpdateAt_1 && !bstWriteBusy()) {
if(currentTime >= next02hzUpdateAt_1 && !bstWriteBusy()) {
writeFCModeToBST();
next02hzUpdateAt_1 = now + UPDATE_AT_02HZ;
next02hzUpdateAt_1 = currentTime + UPDATE_AT_02HZ;
}
if(now >= next20hzUpdateAt_1 && !bstWriteBusy()) {
if(currentTime >= next20hzUpdateAt_1 && !bstWriteBusy()) {
if(sendCounter == 0)
writeRCChannelToBST();
else if(sendCounter == 1)
@ -1516,7 +1514,7 @@ void taskBstMasterProcess(void)
sendCounter++;
if(sendCounter > 1)
sendCounter = 0;
next20hzUpdateAt_1 = now + UPDATE_AT_20HZ;
next20hzUpdateAt_1 = currentTime + UPDATE_AT_20HZ;
}
if(sensors(SENSOR_GPS) && !bstWriteBusy())
@ -1527,7 +1525,7 @@ void taskBstMasterProcess(void)
stopMotors();
systemReset();
}
resetBstChecker();
resetBstChecker(currentTime);
}
/*************************************************************************************************/

2
src/main/target/COLIBRI_RACE/i2c_bst.h
View file

@ -19,7 +19,7 @@
void bstProcessInCommand(void);
void bstSlaveProcessInCommand(void);
void taskBstMasterProcess(void);
void taskBstMasterProcess(uint32_t currentTime);
bool writeGpsPositionPrameToBST(void);
bool writeRollPitchYawToBST(void);