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CF/BF - use one task for each battery sensor.

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Hydra 2017-03-18 16:44:46 +00:00 • committed by Dominic Clifton
parent d331ceff0b
commit c0c6450e61
2 changed files with 25 additions and 34 deletions
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52
src/main/fc/fc_tasks.c
View file

@ -89,12 +89,6 @@ void taskBstMasterProcess(timeUs_t currentTimeUs);
#define TASK_PERIOD_MS(ms) ((ms) * 1000) #define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us) #define TASK_PERIOD_US(us) (us)
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
static void taskUpdateAccelerometer(timeUs_t currentTimeUs) static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{ {
UNUSED(currentTimeUs); UNUSED(currentTimeUs);
@ -116,28 +110,16 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
} }
void taskBatterySensors(timeUs_t currentTimeUs) void taskBatteryVoltage(timeUs_t currentTimeUs)
{ {
static uint32_t vbatLastServiced = 0; UNUSED(currentTimeUs);
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
batteryUpdateVoltage(); batteryUpdateVoltage();
} }
}
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) { void taskBatteryCurrent(timeUs_t currentTimeUs)
{
static uint32_t ibatLastServiced = 0; UNUSED(currentTimeUs);
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced); batteryUpdateCurrentMeter(getTaskDeltaTime(TASK_SELF), ARMING_FLAG(ARMED));
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTimeUs;
batteryUpdateCurrentMeter(ibatTimeSinceLastServiced, ARMING_FLAG(ARMED));
}
}
} }
void taskBatteryAlerts(timeUs_t currentTimeUs) void taskBatteryAlerts(timeUs_t currentTimeUs)
@ -254,11 +236,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_SERIAL, true); setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz)); rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
bool useBatterySensors = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE || batteryConfig()->currentMeterSource != CURRENT_METER_NONE; bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
setTaskEnabled(TASK_BATTERY_SENSORS, useBatterySensors); setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD); bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
setTaskEnabled(TASK_BATTERY_ALERTS, useBatterySensors && useBatteryAlerts); setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
setTaskEnabled(TASK_RX, true); setTaskEnabled(TASK_RX, true);
@ -395,10 +379,16 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_MEDIUM,
}, },
[TASK_BATTERY_SENSORS] = { [TASK_BATTERY_VOLTAGE] = {
.taskName = "BATTERY_SENSORS", .taskName = "BATTERY_VOLTAGE",
.taskFunc = taskBatterySensors, .taskFunc = taskBatteryVoltage,
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz .desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_BATTERY_CURRENT] = {
.taskName = "BATTERY_CURRENT",
.taskFunc = taskBatteryCurrent,
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM, .staticPriority = TASK_PRIORITY_MEDIUM,
}, },
#ifdef BEEPER #ifdef BEEPER

3
src/main/scheduler/scheduler.h
View file

@ -56,7 +56,8 @@ typedef enum {
TASK_RX, TASK_RX,
TASK_SERIAL, TASK_SERIAL,
TASK_DISPATCH, TASK_DISPATCH,
TASK_BATTERY_SENSORS, TASK_BATTERY_VOLTAGE,
TASK_BATTERY_CURRENT,
TASK_BATTERY_ALERTS, TASK_BATTERY_ALERTS,
#ifdef BEEPER #ifdef BEEPER
TASK_BEEPER, TASK_BEEPER,