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Fix for watchdog delay not being triggered

This commit is contained in:
borisbstyle 2015-12-24 14:11:26 +01:00
parent e8917b7a28
commit a0bcb1b95f
1 changed files with 7 additions and 2 deletions
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9
src/main/mw.c
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@ -739,12 +739,17 @@ void taskMainPidLoop(void)
// Function for loop trigger
void taskMainPidLoopCheck(void) {
// getTaskDeltaTime() returns delta time freezed at the moment of entering the scheduler. currentTime is freezed at the very same point.
// To make busy-waiting timeout work we need to account for time spent within busy-waiting loop
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
while (1) {
if (gyroSyncCheckUpdate() || (getTaskDeltaTime(TASK_SELF) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
taskMainPidLoop();
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - currentTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
break;
}
}
taskMainPidLoop();
}
void taskUpdateAccelerometer(void)