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Code Issues Wiki Activity

Converted currentTime to currentTimeUs

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This commit is contained in:
Martin Budden 2016-12-01 18:57:20 +00:00
parent ec0b52aea1
commit 8d3c825646
38 changed files with 197 additions and 165 deletions
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44
src/main/fc/fc_tasks.c
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@ -74,7 +74,7 @@
#include "config/config_master.h"
#ifdef USE_BST
void taskBstMasterProcess(uint32_t currentTime);
void taskBstMasterProcess(timeUs_t currentTimeUs);
#endif
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
@ -87,16 +87,16 @@ void taskBstMasterProcess(uint32_t currentTime);
#define IBATINTERVAL (6 * 3500)
static void taskUpdateAccelerometer(uint32_t currentTime)
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
static void taskHandleSerial(uint32_t currentTime)
static void taskHandleSerial(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
#ifdef USE_CLI
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
if (cliMode) {
@ -107,13 +107,13 @@ static void taskHandleSerial(uint32_t currentTime)
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
}
static void taskUpdateBattery(uint32_t currentTime)
static void taskUpdateBattery(timeUs_t currentTimeUs)
{
#ifdef USE_ADC
static uint32_t vbatLastServiced = 0;
if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
updateBattery();
}
}
@ -121,18 +121,18 @@ static void taskUpdateBattery(uint32_t currentTime)
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
ibatLastServiced = currentTimeUs;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
}
}
}
static void taskUpdateRxMain(uint32_t currentTime)
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTime);
processRx(currentTimeUs);
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
@ -155,18 +155,18 @@ static void taskUpdateRxMain(uint32_t currentTime)
}
#ifdef MAG
static void taskUpdateCompass(uint32_t currentTime)
static void taskUpdateCompass(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTime, &sensorTrims()->magZero);
compassUpdate(currentTimeUs, &sensorTrims()->magZero);
}
}
#endif
#ifdef BARO
static void taskUpdateBaro(uint32_t currentTime)
static void taskUpdateBaro(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
if (sensors(SENSOR_BARO)) {
const uint32_t newDeadline = baroUpdate();
@ -178,7 +178,7 @@ static void taskUpdateBaro(uint32_t currentTime)
#endif
#if defined(BARO) || defined(SONAR)
static void taskCalculateAltitude(uint32_t currentTime)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
#if defined(BARO)
@ -188,26 +188,26 @@ static void taskCalculateAltitude(uint32_t currentTime)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
calculateEstimatedAltitude(currentTimeUs);
}}
#endif
#ifdef TELEMETRY
static void taskTelemetry(uint32_t currentTime)
static void taskTelemetry(timeUs_t currentTimeUs)
{
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(currentTime, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
telemetryProcess(currentTimeUs, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
}
}
#endif
#ifdef USE_ESC_TELEMETRY
static void taskEscTelemetry(uint32_t currentTime)
static void taskEscTelemetry(timeUs_t currentTimeUs)
{
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryProcess(currentTime);
escTelemetryProcess(currentTimeUs);
}
}
#endif