C++ (Cpp) lockMainPID Examples

Example #1

File: fc_core.c Project: 4712/cleanflight

// Function for loop trigger
FAST_CODE void taskMainPidLoop(timeUs_t currentTimeUs)
{
    static uint32_t pidUpdateCounter = 0;

#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYROPID_SYNC)
    if (lockMainPID() != 0) return;
#endif

    // DEBUG_PIDLOOP, timings for:
    // 0 - gyroUpdate()
    // 1 - subTaskPidController()
    // 2 - subTaskMotorUpdate()
    // 3 - subTaskPidSubprocesses()
    gyroUpdate(currentTimeUs);
    DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - currentTimeUs);

    if (pidUpdateCounter++ % pidConfig()->pid_process_denom == 0) {
        subTaskRcCommand(currentTimeUs);
        subTaskPidController(currentTimeUs);
        subTaskMotorUpdate(currentTimeUs);
        subTaskPidSubprocesses(currentTimeUs);
    }

    if (debugMode == DEBUG_CYCLETIME) {
        debug[0] = getTaskDeltaTime(TASK_SELF);
        debug[1] = averageSystemLoadPercent;
    }
}

Example #2

File: fc_core.c Project: savaga/betaflight-sirinfpv

// Function for loop trigger
void taskMainPidLoop(timeUs_t currentTimeUs)
{
    static bool runTaskMainSubprocesses;
    static uint8_t pidUpdateCountdown;

#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();}
    gyroUpdate();
    DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime);

    if (pidUpdateCountdown) {
        pidUpdateCountdown--;
    } else {
        pidUpdateCountdown = setPidUpdateCountDown();
        subTaskPidController(currentTimeUs);
        subTaskMotorUpdate();
        runTaskMainSubprocesses = true;
    }
}