Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Fix for watchdog delay not being triggered

Browse source
This commit is contained in:
borisbstyle 2015-12-24 14:11:26 +01:00
parent e8917b7a28
commit a0bcb1b95f
1 changed files with 7 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

9
src/main/mw.c
View file

@ -739,12 +739,17 @@ void taskMainPidLoop(void)
// Function for loop trigger // Function for loop trigger
void taskMainPidLoopCheck(void) { void taskMainPidLoopCheck(void) {
// getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point.
// To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
while (1) { while (1) {
if (gyroSyncCheckUpdate() || (getTaskDeltaTime(TASK_SELF) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) { if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
taskMainPidLoop();
break; break;
} }
} }
taskMainPidLoop();
} }
void taskUpdateAccelerometer(void) void taskUpdateAccelerometer(void)