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Constant frequency SystemTask state updates #2329

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Constant frequency SystemTask state updates #2329

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53 changes: 36 additions & 17 deletions src/systemtask/SystemTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -180,11 +180,28 @@ void SystemTask::Work() {
measureBatteryTimer = xTimerCreate("measureBattery", batteryMeasurementPeriod, pdTRUE, this, MeasureBatteryTimerCallback);
xTimerStart(measureBatteryTimer, portMAX_DELAY);

constexpr TickType_t stateUpdatePeriod = pdMS_TO_TICKS(100);
// Stores when the state (motion, watchdog, time persistence etc) was last updated
// If there are many events being received by the message queue, this prevents
// having to update motion etc after every single event, which is bad
// for efficiency and for motion wake algorithms which expect motion readings
// to be 100ms apart
TickType_t lastStateUpdate = xTaskGetTickCount() - stateUpdatePeriod; // Force immediate run
TickType_t elapsed;

#pragma clang diagnostic push
#pragma ide diagnostic ignored "EndlessLoop"
while (true) {
Messages msg;
if (xQueueReceive(systemTasksMsgQueue, &msg, 100) == pdTRUE) {

elapsed = xTaskGetTickCount() - lastStateUpdate;
TickType_t waitTime;
if (elapsed >= stateUpdatePeriod) {
waitTime = 0;
} else {
waitTime = stateUpdatePeriod - elapsed;
}
if (xQueueReceive(systemTasksMsgQueue, &msg, waitTime) == pdTRUE) {
switch (msg) {
case Messages::EnableSleeping:
wakeLocksHeld--;
Expand Down Expand Up @@ -357,23 +374,25 @@ void SystemTask::Work() {
break;
}
}

UpdateMotion();
if (isBleDiscoveryTimerRunning) {
if (bleDiscoveryTimer == 0) {
isBleDiscoveryTimerRunning = false;
// Services discovery is deferred from 3 seconds to avoid the conflicts between the host communicating with the
// target and vice-versa. I'm not sure if this is the right way to handle this...
nimbleController.StartDiscovery();
} else {
bleDiscoveryTimer--;
elapsed = xTaskGetTickCount() - lastStateUpdate;
if (elapsed >= stateUpdatePeriod) {
UpdateMotion();
if (isBleDiscoveryTimerRunning) {
if (bleDiscoveryTimer == 0) {
isBleDiscoveryTimerRunning = false;
// Services discovery is deferred from 3 seconds to avoid the conflicts between the host communicating with the
// target and vice-versa. I'm not sure if this is the right way to handle this...
nimbleController.StartDiscovery();
} else {
bleDiscoveryTimer--;
}
}
}

monitor.Process();
NoInit_BackUpTime = dateTimeController.CurrentDateTime();
if (nrf_gpio_pin_read(PinMap::Button) == 0) {
watchdog.Reload();
monitor.Process();
NoInit_BackUpTime = dateTimeController.CurrentDateTime();
if (nrf_gpio_pin_read(PinMap::Button) == 0) {
watchdog.Reload();
}
lastStateUpdate = xTaskGetTickCount();
}
}
#pragma clang diagnostic pop
Expand Down