Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 00:05:33 +03:00
Code Issues Wiki Activity

Trigger gyro SPI DMA reads in EXTI handler if supported and lock gyroTask loop to gyro to eliminate missed updates and jitter

Browse source
This commit is contained in:
Steve Evans 2020-08-14 16:42:20 +01:00 • committed by Michael Keller
parent 415d4db5aa
commit d5f62be013
63 changed files with 755 additions and 379 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/fc/tasks.c
View file

@ -81,6 +81,8 @@
#include "rx/rx.h"
#include "scheduler/scheduler.h"
#include "sensors/acceleration.h"
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
@ -91,8 +93,6 @@
#include "sensors/sensors.h"
#include "sensors/rangefinder.h"
#include "scheduler/scheduler.h"
#include "telemetry/telemetry.h"
#include "telemetry/crsf.h"
@ -170,9 +170,9 @@ bool taskUpdateRxMainInProgress()
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
// Where we are using a state machine call ignoreTaskTime() for all states bar one
// Where we are using a state machine call ignoreTaskStateTime() for all states bar one
if (rxState != MODES) {
ignoreTaskTime();
ignoreTaskStateTime();
}
switch (rxState) {
@ -418,7 +418,6 @@ void tasksInit(void)
#endif
}
#if defined(USE_TASK_STATISTICS)
#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
.taskName = taskNameParam, \
.subTaskName = subTaskNameParam, \
@ -427,15 +426,6 @@ void tasksInit(void)
.desiredPeriodUs = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#else
#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
.checkFunc = checkFuncParam, \
.taskFunc = taskFuncParam, \
.desiredPeriodUs = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#endif
task_t tasks[TASK_COUNT] = {
[TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),