14329424534

Committed 31 Mar 2025 01:50PM UTC coverage: 56.638% (+0.2%) from 56.477%

Build # 14329424534

Build Type

push

github

Committed by

laurensvalk

Commit Message

pbio/os: Move IRQ hooks to platform.

Proceed to make pbio more independent from MicroPython.

Also restore them as static inline as they used to be
prior to https://github.com/pybricks/pybricks-micropython/pull/298
which reduces build size.

Coverage Stats

0 of 6 new or added lines in 1 file covered. (0.0%)

204 existing lines in 11 files now uncovered.

3878 of 6847 relevant lines covered (56.64%)

20623019.84 hits per line

Source File
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94.44

/lib/pbio/src/motor_process.c

// SPDX-License-Identifier: MIT
// Copyright (c) 2018-2025 The Pybricks Authors

#include <pbdrv/clock.h>

#include <pbio/battery.h>
#include <pbio/control.h>
#include <pbio/drivebase.h>
#include <pbio/servo.h>

#include <pbio/os.h>

#if PBIO_CONFIG_MOTOR_PROCESS != 0

static pbio_os_process_t pbio_motor_process;

static pbio_error_t pbio_motor_process_thread(pbio_os_state_t *state, void *context) {

    static pbio_os_timer_t timer;

    PBIO_OS_ASYNC_BEGIN(state);

    timer.start = pbdrv_clock_get_ms() - PBIO_CONFIG_CONTROL_LOOP_TIME_MS;
    timer.duration = PBIO_CONFIG_CONTROL_LOOP_TIME_MS;

    // Initialize battery voltage.
    pbio_battery_init();

    for (;;) {
        // Update battery voltage.
        pbio_battery_update();

        // Update drivebase
        pbio_drivebase_update_all();

        // Update servos
        pbio_servo_update_all();

        // Increment start time instead waiting from here, making the
        // loop time closer to the target on average.
        timer.start += PBIO_CONFIG_CONTROL_LOOP_TIME_MS;

        // In the rare case that polling was delayed too long, we need to
        // ensure that the next poll is a minimum of 1ms in the future so we
        // don't have 0 time deltas in the control code.
        while (pbio_os_timer_is_expired(&timer)) {
            timer.start++;
        }

        PBIO_OS_AWAIT_UNTIL(state, pbio_os_timer_is_expired(&timer));
    }

    // Unreachable.
    PBIO_OS_ASYNC_END(PBIO_ERROR_FAILED);
}

void pbio_motor_process_start(void) {
    pbio_os_process_start(&pbio_motor_process, pbio_motor_process_thread, NULL);
}

#endif // PBIO_CONFIG_MOTOR_PROCESS

1	// SPDX-License-Identifier: MIT
2	// Copyright (c) 2018-2025 The Pybricks Authors
3
4	#include <pbdrv/clock.h>
5
6	#include <pbio/battery.h>
7	#include <pbio/control.h>
8	#include <pbio/drivebase.h>
9	#include <pbio/servo.h>
10
11	#include <pbio/os.h>
12
13	#if PBIO_CONFIG_MOTOR_PROCESS != 0
14
15	static pbio_os_process_t pbio_motor_process;
16
17	static pbio_error_t pbio_motor_process_thread(pbio_os_state_t state, void context) {	85,565✔
18
19	static pbio_os_timer_t timer;	51,981✔
20
21	PBIO_OS_ASYNC_BEGIN(state);	85,565✔
22
23	timer.start = pbdrv_clock_get_ms() - PBIO_CONFIG_CONTROL_LOOP_TIME_MS;	33✔
24	timer.duration = PBIO_CONFIG_CONTROL_LOOP_TIME_MS;	33✔
25
26	// Initialize battery voltage.
27	pbio_battery_init();	33✔
28
29	for (;;) {	10,415✔
30	// Update battery voltage.
31	pbio_battery_update();	17,258✔
32
33	// Update drivebase
34	pbio_drivebase_update_all();	17,258✔
35
36	// Update servos
37	pbio_servo_update_all();	17,258✔
38
39	// Increment start time instead waiting from here, making the
40	// loop time closer to the target on average.
41	timer.start += PBIO_CONFIG_CONTROL_LOOP_TIME_MS;	17,258✔
42
43	// In the rare case that polling was delayed too long, we need to
44	// ensure that the next poll is a minimum of 1ms in the future so we
45	// don't have 0 time deltas in the control code.
46	while (pbio_os_timer_is_expired(&timer)) {	17,258✔
UNCOV 47	timer.start++;	×
48	}
49
50	PBIO_OS_AWAIT_UNTIL(state, pbio_os_timer_is_expired(&timer));	102,790✔
51	}
52
53	// Unreachable.
54	PBIO_OS_ASYNC_END(PBIO_ERROR_FAILED);	51,981✔
55	}
56
57	void pbio_motor_process_start(void) {	33✔
58	pbio_os_process_start(&pbio_motor_process, pbio_motor_process_thread, NULL);	33✔
59	}	33✔
60
61	#endif // PBIO_CONFIG_MOTOR_PROCESS

pybricks / pybricks-micropython / 14329424534

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