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Code Issues Wiki Activity

Improved scheduling. Betaflight Port digitalentity/cf-scheduler

Browse source 
Disallow arming if system load > 100 (waiting task count > 1)

Dont show inactive tasks in CLI

Realtime priority task and guard interval implementation

Dynamic guard interval. Bugfix for realtime scheduling hickups

Optimisations

Compile out CLI command help and CLI tasks command for CJMCU

Naming fixes // re-Add Gyro Sync // Fix port issues
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-12-18 12:36:05 +10:00 • committed by borisbstyle
parent 8ecd05b911
commit fa49931b43
13 changed files with 840 additions and 311 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/sensors/barometer.c
View file

@ -20,6 +20,7 @@
#include <math.h>
#include "platform.h"
#include "scheduler.h"
#include "common/maths.h"
@ -112,8 +113,7 @@ static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pres
typedef enum {
BAROMETER_NEEDS_SAMPLES = 0,
BAROMETER_NEEDS_CALCULATION,
BAROMETER_NEEDS_PROCESSING
BAROMETER_NEEDS_CALCULATION
} barometerState_e;
@ -121,37 +121,28 @@ bool isBaroReady(void) {
return baroReady;
}
void baroUpdate(uint32_t currentTime)
uint32_t baroUpdate(void)
{
static uint32_t baroDeadline = 0;
static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
if ((int32_t)(currentTime - baroDeadline) < 0)
return;
baroDeadline = 0;
switch (state) {
default:
case BAROMETER_NEEDS_SAMPLES:
baro.get_ut();
baro.start_up();
state = BAROMETER_NEEDS_CALCULATION;
baroDeadline += baro.up_delay;
return baro.up_delay;
break;
case BAROMETER_NEEDS_CALCULATION:
baro.get_up();
baro.start_ut();
baroDeadline += baro.ut_delay;
baro.calculate(&baroPressure, &baroTemperature);
state = BAROMETER_NEEDS_PROCESSING;
break;
case BAROMETER_NEEDS_PROCESSING:
state = BAROMETER_NEEDS_SAMPLES;
baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
state = BAROMETER_NEEDS_SAMPLES;
return baro.ut_delay;
break;
}
baroDeadline += micros(); // make sure deadline is set after calling baro callbacks
}
int32_t baroCalculateAltitude(void)