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Fix issues impacting RX_STATE_MODES state duration and add DEBUG_RX_STATE_TIME

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This commit is contained in:
Steve Evans 2022-01-11 20:09:55 +00:00
parent 8d52a36150
commit c05ad2ec9b
7 changed files with 31 additions and 2 deletions
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15
src/main/fc/tasks.c
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@ -182,9 +182,10 @@ bool taskUpdateRxMainInProgress()
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
static timeUs_t rxStateDurationFracUs[RX_STATE_COUNT];
timeUs_t executeTimeUs;
static timeDelta_t rxStateDurationFracUs[RX_STATE_COUNT];
timeDelta_t executeTimeUs;
rxState_e oldRxState = rxState;
timeDelta_t anticipatedExecutionTime;
// Where we are using a state machine call schedulerIgnoreTaskExecRate() for all states bar one
if (rxState != RX_STATE_UPDATE) {
@ -230,6 +231,12 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
executeTimeUs = micros() - currentTimeUs + RX_TASK_MARGIN;
// If the scheduler has reduced the anticipatedExecutionTime due to task aging, pick that up
anticipatedExecutionTime = schedulerGetNextStateTime();
if (anticipatedExecutionTime != (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
rxStateDurationFracUs[oldRxState] = anticipatedExecutionTime << RX_TASK_DECAY_SHIFT;
}
if (executeTimeUs > (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) {
rxStateDurationFracUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT;
} else {
@ -237,6 +244,10 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
rxStateDurationFracUs[oldRxState]--;
}
if (debugMode == DEBUG_RX_STATE_TIME) {
debug[oldRxState] = rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT;
}
schedulerSetNextStateTime(rxStateDurationFracUs[rxState] >> RX_TASK_DECAY_SHIFT);
}