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Diffstat (limited to 'docs/Code_Overview.md')
| -rw-r--r-- | docs/Code_Overview.md | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/docs/Code_Overview.md b/docs/Code_Overview.md index 2afec1f8..5b3e07e1 100644 --- a/docs/Code_Overview.md +++ b/docs/Code_Overview.md @@ -59,11 +59,11 @@ functions are declared using the DECL_COMMAND() macro (see the 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. +delays over 100ms may result in watchdog reboots.) These functions +schedule work at specific times by scheduling timers. Timer functions are scheduled by calling sched_add_timer() (located in **src/sched.c**). The scheduler code will arrange for the given |