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Fix the usage of vTaskDelayUntil call correctly

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ix: prevent reference the uninitialized value at the first delay call.

seeAlso
https://www.freertos.org/vtaskdelayuntil.html
This commit is contained in:
odaki
2019-07-08 00:35:19 +09:00
parent b3cf150c4e
commit 3e9327578c
3 changed files with 10 additions and 12 deletions
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6
Grbl_Esp32/servo_axis.cpp
View File

@@ -74,10 +74,9 @@ void servosSyncTask(void *pvParameters)
TickType_t xLastWakeTime;
const TickType_t xServoFrequency = SERVO_TIMER_INT_FREQ; // in ticks (typically ms)
uint16_t servo_delay_counter = 0;
while(true) { // don't ever return from this or the task dies
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while(true) { // don't ever return from this or the task dies
#ifdef SERVO_X_PIN
X_Servo_Axis.set_location();
@@ -88,6 +87,7 @@ void servosSyncTask(void *pvParameters)
#ifdef SERVO_Z_PIN
Z_Servo_Axis.set_location();
#endif
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
}
}

9
Grbl_Esp32/servo_pen.cpp
View File

@@ -104,10 +104,8 @@ void servoSyncTask(void *pvParameters)
float mpos_z, wpos_z;
float z_offset;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while(true) { // don't ever return from this or the task dies
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
if (sys.state != STATE_ALARM) { // don't move until alarm is cleared...typically homing
if (!servo_pen_enable ) {
servo_delay_counter++;
@@ -120,6 +118,7 @@ void servoSyncTask(void *pvParameters)
calc_pen_servo(wpos_z); // calculate kinematics and move the servos
}
}
vTaskDelayUntil(&xLastWakeTime, xServoFrequency);
}
}
@@ -169,9 +168,9 @@ void calc_pen_servo(float penZ)
// update the PWM value
// ledcWrite appears to have issues with interrupts, so make this a critical section
portMUX_TYPE myMutex = portMUX_INITIALIZER_UNLOCKED;
taskENTER_CRITICAL(&myMutex);
portENTER_CRITICAL(&myMutex);
ledcWrite(SERVO_PEN_CHANNEL_NUM, servo_pen_pulse_len);
taskEXIT_CRITICAL(&myMutex);
portEXIT_CRITICAL(&myMutex);
}
#endif

7
Grbl_Esp32/solenoid_pen.cpp
View File

@@ -68,11 +68,9 @@ void solenoidSyncTask(void *pvParameters)
TickType_t xLastWakeTime;
const TickType_t xSolenoidFrequency = SOLENOID_TIMER_INT_FREQ; // in ticks (typically ms)
uint16_t solenoid_delay_counter = 0;
xLastWakeTime = xTaskGetTickCount(); // Initialise the xLastWakeTime variable with the current time.
while(true) { // don't ever return from this or the task dies
vTaskDelayUntil(&xLastWakeTime, xSolenoidFrequency);
if (!solenoid_pen_enable) {
solenoid_delay_counter++;
solenoid_pen_enable = (solenoid_delay_counter > SOLENOID_TURNON_DELAY);
@@ -82,6 +80,7 @@ void solenoidSyncTask(void *pvParameters)
system_convert_array_steps_to_mpos(m_pos,current_position); // convert to millimeters
calc_solenoid(m_pos[Z_AXIS]); // calculate kinematics and move the servos
}
vTaskDelayUntil(&xLastWakeTime, xSolenoidFrequency);
}
}