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Fix tasks period calculation (#8782)

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Fix tasks period calculation
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Michael Keller 2019-09-01 11:01:24 +12:00 • committed by GitHub
commit e38d460acf
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1 changed files with 3 additions and 1 deletions
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4
src/main/scheduler/scheduler.c
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@ -348,6 +348,9 @@ FAST_CODE void scheduler(void)
if (selectedTask) {
// Found a task that should be run
selectedTask->taskLatestDeltaTime = currentTimeUs - selectedTask->lastExecutedAt;
#if defined(USE_TASK_STATISTICS)
float period = currentTimeUs - selectedTask->lastExecutedAt;
#endif
selectedTask->lastExecutedAt = currentTimeUs;
selectedTask->lastDesiredAt += (cmpTimeUs(currentTimeUs, selectedTask->lastDesiredAt) / selectedTask->desiredPeriod) * selectedTask->desiredPeriod;
selectedTask->dynamicPriority = 0;
@ -355,7 +358,6 @@ FAST_CODE void scheduler(void)
// Execute task
#if defined(USE_TASK_STATISTICS)
if (calculateTaskStatistics) {
float period = currentTimeUs - selectedTask->lastExecutedAt;
const timeUs_t currentTimeBeforeTaskCall = micros();
selectedTask->taskFunc(currentTimeBeforeTaskCall);
const timeUs_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;