rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Fixed static inline declaration of queue iterators. Minor tidy of case when selectedTask == NULL

This commit is contained in:
Martin Budden 2016-01-21 08:46:37 +00:00 committed by borisbstyle
parent 757fb54512
commit 2b8e75a761
2 changed files with 12 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/main/build_config.h
View File

@ -21,11 +21,14 @@
#define BUILD_BUG_ON(condition) ((void)sizeof(char[1 - 2*!!(condition)]))
#ifdef UNIT_TEST
#define STATIC_UNIT_TESTED // make visible to unit test
#define INLINE_UNIT_TESTED // make visible to unit test
// make these visible to unit test
#define STATIC_UNIT_TESTED
#define STATIC_INLINE_UNIT_TESTED
#define INLINE_UNIT_TESTED
#define UNIT_TESTED
#else
#define STATIC_UNIT_TESTED static
#define STATIC_INLINE_UNIT_TESTED static inline
#define INLINE_UNIT_TESTED inline
#define UNIT_TESTED
#endif

20
src/main/scheduler.c
View File

@ -115,7 +115,7 @@ STATIC_UNIT_TESTED void queueRemove(cfTask_t *task)
/*
* Returns first item queue or NULL if queue empty
*/
INLINE_UNIT_TESTED cfTask_t *queueFirst(void)
STATIC_INLINE_UNIT_TESTED cfTask_t *queueFirst(void)
{
taskQueuePos = 0;
return taskQueueArray[0]; // guaranteed to be NULL if queue is empty
@ -124,7 +124,7 @@ INLINE_UNIT_TESTED cfTask_t *queueFirst(void)
/*
* Returns next item in queue or NULL if at end of queue
*/
INLINE_UNIT_TESTED cfTask_t *queueNext(void)
STATIC_INLINE_UNIT_TESTED cfTask_t *queueNext(void)
{
return taskQueueArray[++taskQueuePos]; // guaranteed to be NULL at end of queue
}
@ -259,7 +259,7 @@ void scheduler(void)
if (task->dynamicPriority > selectedTaskDynPrio) {
const bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > realtimeGuardInterval);
bool taskCanBeChosenForScheduling =
const bool taskCanBeChosenForScheduling =
(outsideRealtimeGuardInterval) ||
(task->taskAgeCycles > 1) ||
(task->staticPriority == TASK_PRIORITY_REALTIME);
@ -273,19 +273,17 @@ void scheduler(void)
totalWaitingTasksSamples++;
totalWaitingTasks += waitingTasks;
currentTask = selectedTask;
/* Found a task that should be run */
if (selectedTask != NULL) {
selectedTask->taskLatestDeltaTime = currentTime - selectedTask->lastExecutedAt;
selectedTask->lastExecutedAt = currentTime;
selectedTask->dynamicPriority = 0;
currentTask = selectedTask;
const uint32_t currentTimeBeforeTaskCall = micros();
/* Execute task */
const uint32_t currentTimeBeforeTaskCall = micros();
selectedTask->taskFunc();
const uint32_t taskExecutionTime = micros() - currentTimeBeforeTaskCall;
selectedTask->averageExecutionTime = ((uint32_t)selectedTask->averageExecutionTime * 31 + taskExecutionTime) / 32;
@ -295,11 +293,7 @@ void scheduler(void)
#endif
#if defined SCHEDULER_DEBUG
debug[3] = (micros() - currentTime) - taskExecutionTime;
#endif
}
else {
currentTask = NULL;
#if defined SCHEDULER_DEBUG
} else {
debug[3] = (micros() - currentTime);
#endif
}