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Improved scheduler and task timing instrumentation

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This commit is contained in:
Martin Budden 2016-11-26 12:39:05 +00:00
parent ccd759d93a
commit 4fe68ce093
10 changed files with 71 additions and 30 deletions
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6
src/main/fc/fc_tasks.c
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@ -72,6 +72,10 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef USE_BST
void taskBstMasterProcess(uint32_t currentTime);
#endif
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
@ -295,7 +299,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
.staticPriority = TASK_PRIORITY_REALTIME,
},