From fd1be4ffeb3c5d6b5786d6761c2cca81688c3988 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Phillip=20K=C3=BChne?= <phillip.kuehne@stud.htwk-leipzig.de>
Date: Sun, 16 Feb 2025 19:17:36 +0100
Subject: [PATCH] Improve Power State Update Task timing

---
 src/power/PowerManager.cpp  | 5 ++++-
 src/power/PowerParameters.h | 4 ++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/src/power/PowerManager.cpp b/src/power/PowerManager.cpp
index 760cfb6..420598d 100644
--- a/src/power/PowerManager.cpp
+++ b/src/power/PowerManager.cpp
@@ -14,8 +14,11 @@ SemaphoreHandle_t PowerManager::powerMutex = NULL;
 void vTaskUpdatePowerState(void *pvParameters) {
   for (;;) {
     ESP_LOGV(TAG, "Updating Power State...");
+    TickType_t executionStart = xTaskGetTickCount();
     PowerManager::updatePowerStateHandler();
-    vTaskDelay(pdMS_TO_TICKS(10));
+    vTaskDelayUntil(
+        &executionStart,
+        pdMS_TO_TICKS(PowerParameters::POWER_STATE_UPDATE_INTERVAL_MS));
   }
 }
 
diff --git a/src/power/PowerParameters.h b/src/power/PowerParameters.h
index bf16281..24ea9f0 100644
--- a/src/power/PowerParameters.h
+++ b/src/power/PowerParameters.h
@@ -12,6 +12,7 @@
 #ifndef PowerParameters_h
 #define PowerParameters_h
 
+#include <cstdint>
 namespace PowerParameters {
 
 struct Battery {
@@ -114,6 +115,9 @@ enum PowerConsumers {
   MOTOR_RIGHT,
   IMU
 };
+
+static constexpr uint32_t POWER_STATE_UPDATE_INTERVAL_MS = 10;
+
 }; // namespace PowerParameters
 
 #endif // Consumptions_h
\ No newline at end of file