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Change scheduler_optimze_rate to only affect realtime tasks

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Reduces CPU load by not rate optimizing non timing-critical tasks.
This commit is contained in:
Bruce Luckcuck 2019-05-04 09:13:07 -04:00
parent de1c1d5377
commit 74d71fc3eb
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) 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) FAST_CODE void scheduler(void)