Merge pull request #2636 from martinbudden/bf_scheduler_tidy

Minor scheduler tidy

src/main/main.c

@@ -25,18 +25,12 @@
 #include "scheduler/scheduler.h"
 
 
-void main_step(void)
-{
-    scheduler();
-    processLoopback();
-}
-
-#ifndef NOMAIN
 int main(void)
 {
     init();
     while (true) {
-        main_step();
+        scheduler();
+        processLoopback();
     }
+    return 0;
 }
-#endif

src/main/scheduler/scheduler.c

@@ -178,7 +178,7 @@ void setTaskEnabled(cfTaskId_e taskId, bool enabled)
     }
 }
 
-uint32_t getTaskDeltaTime(cfTaskId_e taskId)
+timeDelta_t getTaskDeltaTime(cfTaskId_e taskId)
 {
     if (taskId == TASK_SELF) {
         return currentTask->taskLatestDeltaTime;

src/main/scheduler/scheduler.h

@@ -39,12 +39,12 @@ typedef struct {
     const char * taskName;
     const char * subTaskName;
     bool         isEnabled;
-    timeUs_t     desiredPeriod;
     uint8_t      staticPriority;
+    timeDelta_t  desiredPeriod;
+    timeDelta_t  latestDeltaTime;
     timeUs_t     maxExecutionTime;
     timeUs_t     totalExecutionTime;
     timeUs_t     averageExecutionTime;
-    timeUs_t     latestDeltaTime;
 } cfTaskInfo_t;
 
 typedef enum {
@@ -118,23 +118,23 @@ typedef enum {
 } cfTaskId_e;
 
 typedef struct {
-    /* Configuration */
+    // Configuration
     const char * taskName;
     const char * subTaskName;
     bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
     void (*taskFunc)(timeUs_t currentTimeUs);
-    uint32_t desiredPeriod;         // target period of execution
+    timeDelta_t desiredPeriod;      // target period of execution
     const uint8_t staticPriority;   // dynamicPriority grows in steps of this size, shouldn't be zero
 
-    /* Scheduling */
+    // Scheduling
     uint16_t dynamicPriority;       // measurement of how old task was last executed, used to avoid task starvation
     uint16_t taskAgeCycles;
+    timeDelta_t taskLatestDeltaTime;
     timeUs_t lastExecutedAt;        // last time of invocation
     timeUs_t lastSignaledAt;        // time of invocation event for event-driven tasks
-    uint32_t taskLatestDeltaTime;
 
 #ifndef SKIP_TASK_STATISTICS
-    /* Statistics */
+    // Statistics
     timeUs_t movingSumExecutionTime;  // moving sum over 32 samples
     timeUs_t maxExecutionTime;
     timeUs_t totalExecutionTime;    // total time consumed by task since boot
@@ -148,7 +148,7 @@ void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
 void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
 void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
-uint32_t getTaskDeltaTime(cfTaskId_e taskId);
+timeDelta_t getTaskDeltaTime(cfTaskId_e taskId);
 void schedulerSetCalulateTaskStatistics(bool calculateTaskStatistics);
 void schedulerResetTaskStatistics(cfTaskId_e taskId);