Bugfix/reduce scheduler timebase #102
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…rfere the minimum with commutation
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stylesuxx
reviewed
Jun 7, 2023
stylesuxx
reviewed
Jun 7, 2023
stylesuxx
reviewed
Jun 8, 2023
Added parameter to select timebase depending on the needs. Scheduler cycle set to 1024ms by default.
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This pr reduces the scheduler timebase from 16ms to 128ms to interfere the minimum with commutation.
t2_int triggers every 32ms before arming. After arming sysclk is increased from 24.5Mhz to 49Mhz, so timer2 interrupt triggers every 16ms instead of 32ms.
As it is not really necessary to run the scheduler so fast (it is in charge of prepare telemetry frames, and updates pwm limit based on temperature) it is better to reduce its frequency of operation to 128ms, instead 16ms to avoid causing trouble on commutation.