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Change scheduler_optimze_rate to only affect realtime tasks (#8169)

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Change scheduler_optimze_rate to only affect realtime tasks
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Michael Keller 2019-05-06 18:57:27 +12:00 • committed by GitHub
commit 441d8e3336
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1 changed files with 5 additions and 1 deletions
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6
src/main/scheduler/scheduler.c
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@ -257,7 +257,11 @@ void schedulerOptimizeRate(bool optimizeRate)
inline static timeUs_t getPeriodCalculationBasis(const cfTask_t* task)
{
return *(timeUs_t*)((uint8_t*)task + periodCalculationBasisOffset);
if (task->staticPriority == TASK_PRIORITY_REALTIME) {
return *(timeUs_t*)((uint8_t*)task + periodCalculationBasisOffset);
} else {
return task->lastExecutedAt;
}
}
FAST_CODE void scheduler(void)