Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 08:15:30 +03:00
Code Issues Wiki Activity

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

Browse source
This commit is contained in:
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
Download patch file Download diff file Expand all files Collapse all files

54
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_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)
{
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;
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
UNUSED(currentTimeUs);
batteryUpdateVoltage();
}
}
}
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
static uint32_t ibatLastServiced = 0;
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTimeUs;
batteryUpdateCurrentMeter(ibatTimeSinceLastServiced, ARMING_FLAG(ARMED));
}
}
void taskBatteryCurrent(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
batteryUpdateCurrentMeter(getTaskDeltaTime(TASK_SELF), ARMING_FLAG(ARMED));
}
void taskBatteryAlerts(timeUs_t currentTimeUs)
@ -254,11 +236,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
bool useBatterySensors = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE || batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_SENSORS, useBatterySensors);
bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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);
setTaskEnabled(TASK_BATTERY_ALERTS, useBatterySensors && useBatteryAlerts);
setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
setTaskEnabled(TASK_RX, true);
@ -395,10 +379,16 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_BATTERY_SENSORS] = {
.taskName = "BATTERY_SENSORS",
.taskFunc = taskBatterySensors,
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
[TASK_BATTERY_VOLTAGE] = {
.taskName = "BATTERY_VOLTAGE",
.taskFunc = taskBatteryVoltage,
.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,
},
#ifdef BEEPER

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

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