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Code Issues Wiki Activity

Minor optimisations to PIDLOOP

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This commit is contained in:
Martin Budden 2017-01-08 09:00:56 +00:00
parent 3110f51ccf
commit d8faab6539
7 changed files with 41 additions and 55 deletions
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6
src/main/fc/serial_cli.c
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@ -105,8 +105,6 @@ uint8_t cliMode = 0;
#include "telemetry/frsky.h"
#include "telemetry/telemetry.h"
extern uint16_t cycleTime; // FIXME dependency on mw.c
static serialPort_t *cliPort;
static bufWriter_t *cliWriter;
static uint8_t cliWriteBuffer[sizeof(*cliWriter) + 128];
@ -3217,7 +3215,7 @@ static void cliStatus(char *cmdline)
#endif
cliPrintf("Stack size: %d, Stack address: 0x%x\r\n", stackTotalSize(), stackHighMem());
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
cliPrintf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", getTaskDeltaTime(TASK_GYROPID), i2cErrorCounter, sizeof(master_t));
#ifdef USE_SDCARD
cliSdInfo(NULL);
@ -3241,7 +3239,7 @@ static void cliTasks(char *cmdline)
int taskFrequency;
int subTaskFrequency;
if (taskId == TASK_GYROPID) {
subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);