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Merge pull request #4205 from martinbudden/bf_task_mainpidloop

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Rationalise taskMainPidLoop
This commit is contained in:
Michael Keller 2017-10-12 00:08:02 +13:00 • committed by GitHub
commit edea16f17e
1 changed files with 12 additions and 20 deletions
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32
src/main/fc/fc_core.c
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@ -656,7 +656,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
#ifdef TRANSPONDER
transponderUpdate(currentTimeUs);
#endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
}
static void subTaskMotorUpdate(void)
@ -684,7 +684,7 @@ static void subTaskMotorUpdate(void)
writeMotors();
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
}
uint8_t setPidUpdateCountDown(void)
@ -699,32 +699,19 @@ uint8_t setPidUpdateCountDown(void)
// Function for loop trigger
void taskMainPidLoop(timeUs_t currentTimeUs)
{
static bool runTaskMainSubprocesses;
static uint8_t pidUpdateCountdown;
static uint8_t pidUpdateCountdown = 0;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
if (lockMainPID() != 0) return;
#endif
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
}
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses(currentTimeUs);
runTaskMainSubprocesses = false;
}
// DEBUG_PIDLOOP, timings for:
// 0 - gyroUpdate()
// 1 - pidController()
// 2 - subTaskMainSubprocesses()
// 3 - subTaskMotorUpdate()
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// 2 - subTaskMotorUpdate()
// 3 - subTaskMainSubprocesses()
gyroUpdate();
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime);
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
if (pidUpdateCountdown) {
pidUpdateCountdown--;
@ -732,7 +719,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController(currentTimeUs);
subTaskMotorUpdate();
runTaskMainSubprocesses = true;
subTaskMainSubprocesses(currentTimeUs);
}
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
}
}