C++ (Cpp) subTaskMainSubprocesses Exemples

Exemple #1

Fichier : mw.c Projet : bluejayrc/betaflight

// Function for loop trigger
void taskMainPidLoopCheck(void)
{
    static bool runTaskMainSubprocesses;
    static uint8_t pidUpdateCountdown;

    cycleTime = getTaskDeltaTime(TASK_SELF);

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

    if (runTaskMainSubprocesses) {
        subTaskMainSubprocesses();
        runTaskMainSubprocesses = false;
    }

    gyroUpdate();

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

Exemple #2

Fichier : cleanflight_fc.c Projet : LupinIII/cleanflight

void taskPid(void)
{
    gyroReadyCounter = 0;

    static uint32_t previousPidUpdateTime;
    pidDeltaUs = currentTime - previousPidUpdateTime;
    previousPidUpdateTime = currentTime;

    if (debugMode == DEBUG_PIDLOOP) {
        debug[0] = pidDeltaUs;
    }

    subTaskPidController();

    subTaskMotorUpdate();
    subTaskMainSubprocesses();

    if (debugMode == DEBUG_GYRO_SYNC) {
        debug[2] = pidDeltaUs;
        debug[3]++;
    }

#ifdef VTX
    if (canUpdateVTX()) {
        handleVTXControlButton();
    }
#endif

}

Exemple #3

Fichier : fc_core.c Projet : 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;
    }
}