diff --git a/src/main/fc/tasks.c b/src/main/fc/tasks.c index ac0434883f..f3bcd62ce5 100644 --- a/src/main/fc/tasks.c +++ b/src/main/fc/tasks.c @@ -182,7 +182,7 @@ bool taskUpdateRxMainInProgress() static void taskUpdateRxMain(timeUs_t currentTimeUs) { - static timeDelta_t rxStateDurationFracUs[RX_STATE_COUNT]; + static timeDelta_t rxStateDurationFractionUs[RX_STATE_COUNT]; timeDelta_t executeTimeUs; rxState_e oldRxState = rxState; timeDelta_t anticipatedExecutionTime; @@ -230,23 +230,23 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs) // 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 (anticipatedExecutionTime != (rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) { + rxStateDurationFractionUs[oldRxState] = anticipatedExecutionTime << RX_TASK_DECAY_SHIFT; } - if (executeTimeUs > (rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) { - rxStateDurationFracUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT; + if (executeTimeUs > (rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT)) { + rxStateDurationFractionUs[oldRxState] = executeTimeUs << RX_TASK_DECAY_SHIFT; } else { // Slowly decay the max time - rxStateDurationFracUs[oldRxState]--; + rxStateDurationFractionUs[oldRxState]--; } } if (debugMode == DEBUG_RX_STATE_TIME) { - debug[oldRxState] = rxStateDurationFracUs[oldRxState] >> RX_TASK_DECAY_SHIFT; + debug[oldRxState] = rxStateDurationFractionUs[oldRxState] >> RX_TASK_DECAY_SHIFT; } - schedulerSetNextStateTime(rxStateDurationFracUs[rxState] >> RX_TASK_DECAY_SHIFT); + schedulerSetNextStateTime(rxStateDurationFractionUs[rxState] >> RX_TASK_DECAY_SHIFT); } diff --git a/src/main/io/gps.c b/src/main/io/gps.c index f3756f9418..b5a9871c93 100644 --- a/src/main/io/gps.c +++ b/src/main/io/gps.c @@ -766,7 +766,7 @@ void gpsUpdate(timeUs_t currentTimeUs) { static gpsState_e gpsStateDurationUs[GPS_STATE_COUNT]; timeUs_t executeTimeUs; - gpsState_e gpsCurState = gpsData.state; + gpsState_e gpsCurrentState = gpsData.state; // read out available GPS bytes if (gpsPort) { @@ -861,8 +861,8 @@ void gpsUpdate(timeUs_t currentTimeUs) executeTimeUs = micros() - currentTimeUs; - if (executeTimeUs > gpsStateDurationUs[gpsCurState]) { - gpsStateDurationUs[gpsCurState] = executeTimeUs; + if (executeTimeUs > gpsStateDurationUs[gpsCurrentState]) { + gpsStateDurationUs[gpsCurrentState] = executeTimeUs; } schedulerSetNextStateTime(gpsStateDurationUs[gpsData.state]); diff --git a/src/main/osd/osd.c b/src/main/osd/osd.c index b4838a9018..cfba4d852c 100644 --- a/src/main/osd/osd.c +++ b/src/main/osd/osd.c @@ -1169,17 +1169,16 @@ bool osdUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs) // Called when there is OSD update work to be done void osdUpdate(timeUs_t currentTimeUs) { - // Times are known to be short so use uint16_t rather than timeUs_t - static uint16_t osdStateDurationFracUs[OSD_STATE_COUNT] = { 0 }; + static uint16_t osdStateDurationFractionUs[OSD_STATE_COUNT] = { 0 }; static uint32_t osdElementDurationUs[OSD_ITEM_COUNT] = { 0 }; - static uint8_t osdElementGroupMembership[OSD_ITEM_COUNT]; - static uint16_t osdElementGroupTargetFracUs[OSD_GROUP_COUNT] = { 0 }; - static uint16_t osdElementGroupDurationFracUs[OSD_GROUP_COUNT] = { 0 }; + static uint8_t osdElementGroupMemberships[OSD_ITEM_COUNT]; + static uint16_t osdElementGroupTargetFractionUs[OSD_GROUP_COUNT] = { 0 }; + static uint16_t osdElementGroupDurationFractionUs[OSD_GROUP_COUNT] = { 0 }; static uint8_t osdElementGroup; static bool firstPass = true; - uint8_t osdCurElementGroup = 0; + uint8_t osdCurrentElementGroup = 0; timeUs_t executeTimeUs; - osdState_e osdCurState = osdState; + osdState_e osdCurrentState = osdState; if (osdState != OSD_STATE_UPDATE_CANVAS) { schedulerIgnoreTaskExecRate(); @@ -1218,7 +1217,7 @@ void osdUpdate(timeUs_t currentTimeUs) case OSD_STATE_UPDATE_HEARTBEAT: if (displayHeartbeat(osdDisplayPort)) { - // Extraordinary action was taken, so return without allowing osdStateDurationFracUs table to be updated + // Extraordinary action was taken, so return without allowing osdStateDurationFractionUs table to be updated return; } @@ -1316,25 +1315,25 @@ void osdUpdate(timeUs_t currentTimeUs) // Reset groupings for (elementGroup = 0; elementGroup < OSD_GROUP_COUNT; elementGroup++) { - if (osdElementGroupDurationFracUs[elementGroup] > (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) { - osdElementGroupDurationFracUs[elementGroup] = 0; + if (osdElementGroupDurationFractionUs[elementGroup] > (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) { + osdElementGroupDurationFractionUs[elementGroup] = 0; } - osdElementGroupTargetFracUs[elementGroup] = 0; + osdElementGroupTargetFractionUs[elementGroup] = 0; } elementGroup = 0; // Based on the current element rendering, group to execute in approx 40us for (uint8_t curElement = 0; curElement < activeElements; curElement++) { - if ((osdElementGroupTargetFracUs[elementGroup] == 0) || - (osdElementGroupTargetFracUs[elementGroup] + (osdElementDurationUs[curElement]) <= (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) || + if ((osdElementGroupTargetFractionUs[elementGroup] == 0) || + (osdElementGroupTargetFractionUs[elementGroup] + (osdElementDurationUs[curElement]) <= (OSD_ELEMENT_RENDER_TARGET << OSD_EXEC_TIME_SHIFT)) || (elementGroup == (OSD_GROUP_COUNT - 1))) { - osdElementGroupTargetFracUs[elementGroup] += osdElementDurationUs[curElement]; + osdElementGroupTargetFractionUs[elementGroup] += osdElementDurationUs[curElement]; // If group membership changes, reset the stats for the group - if (osdElementGroupMembership[curElement] != elementGroup) { - osdElementGroupDurationFracUs[elementGroup] = osdElementGroupTargetFracUs[elementGroup] + (OSD_ELEMENT_RENDER_GROUP_MARGIN << OSD_EXEC_TIME_SHIFT); + if (osdElementGroupMemberships[curElement] != elementGroup) { + osdElementGroupDurationFractionUs[elementGroup] = osdElementGroupTargetFractionUs[elementGroup] + (OSD_ELEMENT_RENDER_GROUP_MARGIN << OSD_EXEC_TIME_SHIFT); } - osdElementGroupMembership[curElement] = elementGroup; + osdElementGroupMemberships[curElement] = elementGroup; } else { elementGroup++; // Try again for this element @@ -1355,15 +1354,15 @@ void osdUpdate(timeUs_t currentTimeUs) case OSD_STATE_UPDATE_ELEMENTS: { - osdCurElementGroup = osdElementGroup; + osdCurrentElementGroup = osdElementGroup; bool moreElements = true; do { timeUs_t startElementTime = micros(); - uint8_t osdCurElement = osdGetActiveElement(); + uint8_t osdCurrentElement = osdGetActiveElement(); // This element should be rendered in the next group - if (osdElementGroupMembership[osdCurElement] != osdElementGroup) { + if (osdElementGroupMemberships[osdCurrentElement] != osdElementGroup) { osdElementGroup++; break; } @@ -1372,11 +1371,11 @@ void osdUpdate(timeUs_t currentTimeUs) executeTimeUs = micros() - startElementTime; - if (executeTimeUs > (osdElementDurationUs[osdCurElement] >> OSD_EXEC_TIME_SHIFT)) { - osdElementDurationUs[osdCurElement] = executeTimeUs << OSD_EXEC_TIME_SHIFT; - } else if (osdElementDurationUs[osdCurElement] > 0) { + if (executeTimeUs > (osdElementDurationUs[osdCurrentElement] >> OSD_EXEC_TIME_SHIFT)) { + osdElementDurationUs[osdCurrentElement] = executeTimeUs << OSD_EXEC_TIME_SHIFT; + } else if (osdElementDurationUs[osdCurrentElement] > 0) { // Slowly decay the max time - osdElementDurationUs[osdCurElement]--; + osdElementDurationUs[osdCurrentElement]--; } } while (moreElements); @@ -1430,31 +1429,31 @@ void osdUpdate(timeUs_t currentTimeUs) // On the first pass no element groups will have been formed, so all elements will have been // rendered which is unrepresentative, so ignore if (!firstPass) { - if (osdCurState == OSD_STATE_UPDATE_ELEMENTS) { - if (executeTimeUs > (osdElementGroupDurationFracUs[osdCurElementGroup] >> OSD_EXEC_TIME_SHIFT)) { - osdElementGroupDurationFracUs[osdCurElementGroup] = executeTimeUs << OSD_EXEC_TIME_SHIFT; - } else if (osdElementGroupDurationFracUs[osdCurElementGroup] > 0) { + if (osdCurrentState == OSD_STATE_UPDATE_ELEMENTS) { + if (executeTimeUs > (osdElementGroupDurationFractionUs[osdCurrentElementGroup] >> OSD_EXEC_TIME_SHIFT)) { + osdElementGroupDurationFractionUs[osdCurrentElementGroup] = executeTimeUs << OSD_EXEC_TIME_SHIFT; + } else if (osdElementGroupDurationFractionUs[osdCurrentElementGroup] > 0) { // Slowly decay the max time - osdElementGroupDurationFracUs[osdCurElementGroup]--; + osdElementGroupDurationFractionUs[osdCurrentElementGroup]--; } } - if (executeTimeUs > (osdStateDurationFracUs[osdCurState] >> OSD_EXEC_TIME_SHIFT)) { - osdStateDurationFracUs[osdCurState] = executeTimeUs << OSD_EXEC_TIME_SHIFT; - } else if (osdStateDurationFracUs[osdCurState] > 0) { + if (executeTimeUs > (osdStateDurationFractionUs[osdCurrentState] >> OSD_EXEC_TIME_SHIFT)) { + osdStateDurationFractionUs[osdCurrentState] = executeTimeUs << OSD_EXEC_TIME_SHIFT; + } else if (osdStateDurationFractionUs[osdCurrentState] > 0) { // Slowly decay the max time - osdStateDurationFracUs[osdCurState]--; + osdStateDurationFractionUs[osdCurrentState]--; } } } if (osdState == OSD_STATE_UPDATE_ELEMENTS) { - schedulerSetNextStateTime((osdElementGroupDurationFracUs[osdElementGroup] >> OSD_EXEC_TIME_SHIFT) + OSD_ELEMENT_RENDER_GROUP_MARGIN); + schedulerSetNextStateTime((osdElementGroupDurationFractionUs[osdElementGroup] >> OSD_EXEC_TIME_SHIFT) + OSD_ELEMENT_RENDER_GROUP_MARGIN); } else { if (osdState == OSD_STATE_IDLE) { - schedulerSetNextStateTime((osdStateDurationFracUs[OSD_STATE_CHECK] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN); + schedulerSetNextStateTime((osdStateDurationFractionUs[OSD_STATE_CHECK] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN); } else { - schedulerSetNextStateTime((osdStateDurationFracUs[osdState] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN); + schedulerSetNextStateTime((osdStateDurationFractionUs[osdState] >> OSD_EXEC_TIME_SHIFT) + OSD_TASK_MARGIN); } } }