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KevinOConnor 2022-05-17 15:56:58 +00:00
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Code_Overview.html
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@ -1410,11 +1410,11 @@ functions are declared using the DECL_COMMAND() macro (see the
<p>Task, init, and command functions always run with interrupts enabled
(however, they can temporarily disable interrupts if needed). These
functions should avoid long pauses, delays, or do work that lasts a
significant time. These functions schedule work at specific times by
scheduling timers. Long delays in these "task" functions result in
significant time. (Long delays in these "task" functions result in
scheduling jitter for other "tasks" - delays over 100us may become
noticeable, delays over 500us may result in command retransmissions,
delays over 100ms may result in watchdog reboots.</p>
delays over 100ms may result in watchdog reboots.) These functions
schedule work at specific times by scheduling timers.</p>
<p>Timer functions are scheduled by calling sched_add_timer() (located in
<strong>src/sched.c</strong>). The scheduler code will arrange for the given
function to be called at the requested clock time. Timer interrupts