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Code Issues Wiki Activity

run some task more frequently

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This commit is contained in:
3djc 2021-04-27 13:04:11 +02:00
parent fe2bb8b073
commit 466cd4889c
1 changed files with 26 additions and 19 deletions
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45
radio/src/tasks.cpp
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@ -110,6 +110,25 @@ void sendSynchronousPulses(uint8_t runMask)
#endif
}
constexpr uint8_t MIXER_FREQUENT_ACTIONS_PERIOD = 5 /*ms*/;
constexpr uint8_t MIXER_MAX_PERIOD = 30 /*ms*/;
void execMixerFrequentActions()
{
#if defined(SBUS_TRAINER)
// SBUS trainer
processSbusInput();
#endif
#if defined(GYRO)
gyro.wakeup();
#endif
#if defined(BLUETOOTH)
bluetooth.wakeup();
#endif
}
uint32_t nextMixerTime[NUM_MODULES];
TASK_FUNCTION(mixerTask)
@ -122,21 +141,13 @@ TASK_FUNCTION(mixerTask)
#endif
while (true) {
#if defined(SBUS_TRAINER)
// SBUS trainer
processSbusInput();
#endif
#if defined(GYRO)
gyro.wakeup();
#endif
#if defined(BLUETOOTH)
bluetooth.wakeup();
#endif
// run mixer at least every 30ms
bool timeout = mixerSchedulerWaitForTrigger(30);
for (int timeout = 0; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) {
bool interruptedByTimeout = mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD);
execMixerFrequentActions();
if (!interruptedByTimeout) {
break;
}
}
#if defined(DEBUG_MIXER_SCHEDULER)
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
@ -205,10 +216,6 @@ TASK_FUNCTION(mixerTask)
// TODO:
// - check the cause of timeouts when switching
// between protocols with multi-proto RF
#if defined(DEBUG)
if (timeout)
serialPrint("mix sched timeout!");
#endif
}
}
}