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speed up boot by 48 ms (#2506) 

* speed up boot

* two
This commit is contained in:
Matthew Kennedy 2021-03-29 19:59:38 -07:00 committed by GitHub
parent 28e63c8412
commit ed76e22e1b
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1 changed files with 2 additions and 2 deletions
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4
firmware/hw_layer/microsecond_timer/microsecond_timer.cpp
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@ -24,7 +24,7 @@ EXTERN_ENGINE;
// Just in case we have a mechanism to validate that hardware timer is clocked right and all the // Just in case we have a mechanism to validate that hardware timer is clocked right and all the
// conversions between wall clock and hardware frequencies are done right // conversions between wall clock and hardware frequencies are done right
// delay in milliseconds // delay in milliseconds
#define TEST_CALLBACK_DELAY 30 #define TEST_CALLBACK_DELAY 10
// if hardware timer is 20% off we throw a critical error and call it a day // if hardware timer is 20% off we throw a critical error and call it a day
// maybe this threshold should be 5%? 10%? // maybe this threshold should be 5%? 10%?
#define TIMER_PRECISION_THRESHOLD 0.2 #define TIMER_PRECISION_THRESHOLD 0.2
@ -166,7 +166,7 @@ static void validateHardwareTimer() {
// to save RAM let's use 'watchDogBuddy' here once before we enable watchdog // to save RAM let's use 'watchDogBuddy' here once before we enable watchdog
engine->executor.scheduleForLater(&watchDogBuddy, MS2US(TEST_CALLBACK_DELAY), timerValidationCallback); engine->executor.scheduleForLater(&watchDogBuddy, MS2US(TEST_CALLBACK_DELAY), timerValidationCallback);
chThdSleepMilliseconds(2 * TEST_CALLBACK_DELAY); chThdSleepMilliseconds(TEST_CALLBACK_DELAY + 2);
if (!testSchedulingHappened) { if (!testSchedulingHappened) {
firmwareError(CUSTOM_ERR_TIMER_TEST_CALLBACK_NOT_HAPPENED, "hwTimer not alive"); firmwareError(CUSTOM_ERR_TIMER_TEST_CALLBACK_NOT_HAPPENED, "hwTimer not alive");
} }