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Fix

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This commit is contained in:
3djc 2021-05-11 17:52:50 +02:00
parent ef90933f66
commit 5ad3f95cdc
3 changed files with 24 additions and 4 deletions
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6
radio/src/mixer_scheduler.cpp
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@ -68,9 +68,13 @@ void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs)
mixerSchedules[moduleIdx].period = periodUs; mixerSchedules[moduleIdx].period = periodUs;
} }
bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs) void mixerSchedulerClearTrigger()
{ {
RTOS_CLEAR_FLAG(mixerFlag); RTOS_CLEAR_FLAG(mixerFlag);
}
bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs)
{
return RTOS_WAIT_FLAG(mixerFlag, timeoutMs); return RTOS_WAIT_FLAG(mixerFlag, timeoutMs);
} }

4
radio/src/mixer_scheduler.h
View file

@ -43,6 +43,9 @@ void mixerSchedulerResetTimer();
// Set the scheduling period for a given module // Set the scheduling period for a given module
void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs); void mixerSchedulerSetPeriod(uint8_t moduleIdx, uint16_t periodUs);
// Clear the flag before waiting
void mixerSchedulerClearTrigger();
// Wait for the scheduler timer to trigger // Wait for the scheduler timer to trigger
// returns true if timeout, false otherwise // returns true if timeout, false otherwise
bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs); bool mixerSchedulerWaitForTrigger(uint8_t timeoutMs);
@ -66,6 +69,7 @@ void mixerSchedulerISRTrigger();
#define mixerSchedulerStop() #define mixerSchedulerStop()
#define mixerSchedulerResetTimer() #define mixerSchedulerResetTimer()
#define mixerSchedulerSetPeriod(m,p) #define mixerSchedulerSetPeriod(m,p)
#define mixerSchedulerClearTrigger()
static inline bool mixerSchedulerWaitForTrigger(uint8_t timeout) static inline bool mixerSchedulerWaitForTrigger(uint8_t timeout)
{ {

18
radio/src/tasks.cpp
View file

@ -140,21 +140,33 @@ TASK_FUNCTION(mixerTask)
mixerSchedulerStart(); mixerSchedulerStart();
#endif #endif
// clear the flag before first loop
mixerSchedulerClearTrigger();
while (true) { while (true) {
for (int timeout = 0; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) { int timeout = 0;
bool interruptedByTimeout = mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD); for (; timeout < MIXER_MAX_PERIOD; timeout += MIXER_FREQUENT_ACTIONS_PERIOD) {
// run periodicals before waiting for the trigger
// to keep the delay short
execMixerFrequentActions(); execMixerFrequentActions();
if (!interruptedByTimeout) {
// mixer flag triggered?
if (!mixerSchedulerWaitForTrigger(MIXER_FREQUENT_ACTIONS_PERIOD)) {
break; break;
} }
} }
#if defined(DEBUG_MIXER_SCHEDULER) #if defined(DEBUG_MIXER_SCHEDULER)
GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); GPIO_SetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN); GPIO_ResetBits(EXTMODULE_TX_GPIO, EXTMODULE_TX_GPIO_PIN);
#endif #endif
#if !defined(PCBSKY9X) #if !defined(PCBSKY9X)
// clear the flag ASAP to avoid missing a tick
mixerSchedulerClearTrigger();
// re-enable trigger // re-enable trigger
mixerSchedulerEnableTrigger(); mixerSchedulerEnableTrigger();
#endif #endif