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Removed tasks from PID loop that don't belong there.

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This commit is contained in:
mikeller 2018-06-14 19:01:55 +12:00
parent a7fae6b8f0
commit afb6068400
5 changed files with 45 additions and 22 deletions
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39
src/main/fc/fc_core.c
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@ -905,33 +905,19 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
#endif
}
static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
static FAST_CODE_NOINLINE void subTaskPidSubprocesses(timeUs_t currentTimeUs)
{
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {
startTime = micros();
}
// Read out gyro temperature if used for telemmetry
if (feature(FEATURE_TELEMETRY)) {
gyroReadTemperature();
}
#ifdef USE_MAG
if (sensors(SENSOR_MAG)) {
updateMagHold();
}
#endif
#ifdef USE_SDCARD
afatfs_poll();
#endif
#if defined(USE_VCP)
DEBUG_SET(DEBUG_USB, 0, usbCableIsInserted());
DEBUG_SET(DEBUG_USB, 1, usbVcpIsConnected());
#endif
#ifdef USE_BLACKBOX
if (!cliMode && blackboxConfig()->device) {
blackboxUpdate(currentTimeUs);
@ -943,6 +929,25 @@ static FAST_CODE_NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
}
void taskMain(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
#ifdef USE_SDCARD
afatfs_poll();
#endif
}
#ifdef USE_TELEMETRY
void subTaskTelemetryPollSensors(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
// Read out gyro temperature if used for telemmetry
gyroReadTemperature();
}
#endif
static FAST_CODE void subTaskMotorUpdate(timeUs_t currentTimeUs)
{
uint32_t startTime = 0;
@ -1017,7 +1022,7 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
// 0 - gyroUpdate()
// 1 - subTaskPidController()
// 2 - subTaskMotorUpdate()
// 3 - subTaskMainSubprocesses()
// 3 - subTaskPidSubprocesses()
gyroUpdate(currentTimeUs);
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
@ -1025,7 +1030,7 @@ FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
subTaskRcCommand(currentTimeUs);
subTaskPidController(currentTimeUs);
subTaskMotorUpdate(currentTimeUs);
subTaskMainSubprocesses(currentTimeUs);
subTaskPidSubprocesses(currentTimeUs);
}
if (debugMode == DEBUG_CYCLETIME) {