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Code Issues Wiki Activity

Rationalise taskMainPidLoop

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This commit is contained in:
Martin Budden 2017-09-21 08:00:13 +01:00
parent 9f0206b4e2
commit 62862c3388
1 changed files with 13 additions and 20 deletions
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33
src/main/fc/fc_core.c
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@ -648,7 +648,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
#ifdef TRANSPONDER
transponderUpdate(currentTimeUs);
#endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
}
static void subTaskMotorUpdate(void)
@ -676,7 +676,7 @@ static void subTaskMotorUpdate(void)
writeMotors();
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
}
uint8_t setPidUpdateCountDown(void)
@ -691,32 +691,19 @@ uint8_t setPidUpdateCountDown(void)
// Function for loop trigger
void taskMainPidLoop(timeUs_t currentTimeUs)
{
static bool runTaskMainSubprocesses;
static uint8_t pidUpdateCountdown;
static uint8_t pidUpdateCountdown = 0;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
if (lockMainPID() != 0) return;
#endif
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
}
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses(currentTimeUs);
runTaskMainSubprocesses = false;
}
// DEBUG_PIDLOOP, timings for:
// 0 - gyroUpdate()
// 1 - pidController()
// 2 - subTaskMainSubprocesses()
// 3 - subTaskMotorUpdate()
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// 2 - subTaskMotorUpdate()
// 3 - subTaskMainSubprocesses()
gyroUpdate();
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
if (pidUpdateCountdown) {
pidUpdateCountdown--;
@ -724,7 +711,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController(currentTimeUs);
subTaskMotorUpdate();
runTaskMainSubprocesses = true;
subTaskMainSubprocesses(currentTimeUs);
}
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
}
}
@ -732,6 +724,7 @@ bool isMotorsReversed(void)
{
return reverseMotors;
}
bool isFlipOverAfterCrashMode(void)
{
return flipOverAfterCrashMode;