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Code Issues Wiki Activity

Cleaned up the scheduler.

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This commit is contained in:
mikeller 2020-03-15 13:28:30 +13:00
parent b729c3cc99
commit db4bd1f186
20 changed files with 326 additions and 392 deletions
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11
src/main/fc/tasks.c
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@ -360,20 +360,20 @@ void tasksInit(void)
.subTaskName = subTaskNameParam, \
.checkFunc = checkFuncParam, \
.taskFunc = taskFuncParam, \
.desiredPeriod = desiredPeriodParam, \
.desiredPeriodUs = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#else
#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
.checkFunc = checkFuncParam, \
.taskFunc = taskFuncParam, \
.desiredPeriod = desiredPeriodParam, \
.desiredPeriodUs = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#endif
cfTask_t cfTasks[TASK_COUNT] = {
task_t tasks[TASK_COUNT] = {
[TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
[TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
[TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
@ -471,3 +471,8 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, rangefinderUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
#endif
};
task_t *getTask(unsigned taskId)
{
return &tasks[taskId];
}