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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 #ifdef TRANSPONDER
transponderUpdate(currentTimeUs); transponderUpdate(currentTimeUs);
#endif #endif
DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime); DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime);
} }
static void subTaskMotorUpdate(void) static void subTaskMotorUpdate(void)
@ -684,7 +684,7 @@ static void subTaskMotorUpdate(void)
writeMotors(); writeMotors();
DEBUG_SET(DEBUG_PIDLOOP, 3, micros() - startTime); DEBUG_SET(DEBUG_PIDLOOP, 2, micros() - startTime);
} }
uint8_t setPidUpdateCountDown(void) uint8_t setPidUpdateCountDown(void)
@ -699,32 +699,19 @@ uint8_t setPidUpdateCountDown(void)
// Function for loop trigger // Function for loop trigger
void taskMainPidLoop(timeUs_t currentTimeUs) void taskMainPidLoop(timeUs_t currentTimeUs)
{ {
static bool runTaskMainSubprocesses; static uint8_t pidUpdateCountdown = 0;
static uint8_t pidUpdateCountdown;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC) #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
if (lockMainPID() != 0) return; if (lockMainPID() != 0) return;
#endif #endif
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
}
if (runTaskMainSubprocesses) {
subTaskMainSubprocesses(currentTimeUs);
runTaskMainSubprocesses = false;
}
// DEBUG_PIDLOOP, timings for: // DEBUG_PIDLOOP, timings for:
// 0 - gyroUpdate() // 0 - gyroUpdate()
// 1 - pidController() // 1 - pidController()
// 2 - subTaskMainSubprocesses() // 2 - subTaskMotorUpdate()
// 3 - subTaskMotorUpdate() // 3 - subTaskMainSubprocesses()
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
gyroUpdate(); gyroUpdate();
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime); DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);
if (pidUpdateCountdown) { if (pidUpdateCountdown) {
pidUpdateCountdown--; pidUpdateCountdown--;
@ -732,7 +719,12 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
pidUpdateCountdown = setPidUpdateCountDown(); pidUpdateCountdown = setPidUpdateCountDown();
subTaskPidController(currentTimeUs); subTaskPidController(currentTimeUs);
subTaskMotorUpdate(); subTaskMotorUpdate();
runTaskMainSubprocesses = true; subTaskMainSubprocesses(currentTimeUs);
}
if (debugMode == DEBUG_CYCLETIME) {
debug[0] = getTaskDeltaTime(TASK_SELF);
debug[1] = averageSystemLoadPercent;
} }
} }