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Code Issues Wiki Activity

Change priorities for tasks

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This commit is contained in:
borisbstyle 2016-03-01 21:49:37 +01:00
parent 98a1de2b70
commit 717290872c
3 changed files with 12 additions and 11 deletions
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4
src/main/io/serial_msp.c
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@ -123,11 +123,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;
} else if (looptime < 375) { } else if (looptime < 375) {
#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3)
masterConfig.acc_hardware = 0; masterConfig.acc_hardware = 0;
#else
masterConfig.acc_hardware = 1;
#endif
masterConfig.baro_hardware = 1; masterConfig.baro_hardware = 1;
masterConfig.mag_hardware = 1; masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2; masterConfig.pid_process_denom = 2;

7
src/main/main.c
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@ -668,7 +668,12 @@ int main(void) {
setTaskEnabled(TASK_GYROPID, true); setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true); setTaskEnabled(TASK_MOTOR, true);
rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
if (feature(FEATURE_ONESHOT125)) {
rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
} else {
rescheduleTask(TASK_MOTOR, 1000);
}
if(sensors(SENSOR_ACC)) { if(sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true); setTaskEnabled(TASK_ACCEL, true);

12
src/main/scheduler_tasks.c
View file

@ -87,7 +87,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "BEEPER", .taskName = "BEEPER",
.taskFunc = taskUpdateBeeper, .taskFunc = taskUpdateBeeper,
.desiredPeriod = 1000000 / 100, // 100 Hz .desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif
@ -95,7 +95,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "BATTERY", .taskName = "BATTERY",
.taskFunc = taskUpdateBattery, .taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz .desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
[TASK_RX] = { [TASK_RX] = {
@ -120,7 +120,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "COMPASS", .taskName = "COMPASS",
.taskFunc = taskUpdateCompass, .taskFunc = taskUpdateCompass,
.desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz .desiredPeriod = 1000000 / 10, // Compass is updated at 10 Hz
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif
@ -129,7 +129,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "BARO", .taskName = "BARO",
.taskFunc = taskUpdateBaro, .taskFunc = taskUpdateBaro,
.desiredPeriod = 1000000 / 20, .desiredPeriod = 1000000 / 20,
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif
@ -138,7 +138,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "SONAR", .taskName = "SONAR",
.taskFunc = taskUpdateSonar, .taskFunc = taskUpdateSonar,
.desiredPeriod = 1000000 / 20, .desiredPeriod = 1000000 / 20,
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif
@ -147,7 +147,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "ALTITUDE", .taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude, .taskFunc = taskCalculateAltitude,
.desiredPeriod = 1000000 / 40, .desiredPeriod = 1000000 / 40,
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_LOW,
}, },
#endif #endif