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https://github.com/betaflight/betaflight.git
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Split initialised/non-initialised task data
This commit is contained in:
Steve Evans
parent
2d770f747e
commit
9bdf9c11e9
4 changed files with 167 additions and 155 deletions
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@ -299,8 +299,133 @@ static void taskCameraControl(uint32_t currentTime)
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}
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#endif
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#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
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.taskName = taskNameParam, \
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.subTaskName = subTaskNameParam, \
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.checkFunc = checkFuncParam, \
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.taskFunc = taskFuncParam, \
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.desiredPeriodUs = desiredPeriodParam, \
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.staticPriority = staticPriorityParam \
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}
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// Task info in .bss (unitialised data)
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task_t tasks[TASK_COUNT];
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// Task ID data in .data (initialised data)
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task_id_t task_ids[TASK_COUNT] = {
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[TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
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[TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
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[TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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[TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
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[TASK_BATTERY_VOLTAGE] = DEFINE_TASK("BATTERY_VOLTAGE", NULL, NULL, batteryUpdateVoltage, TASK_PERIOD_HZ(SLOW_VOLTAGE_TASK_FREQ_HZ), TASK_PRIORITY_MEDIUM), // Freq may be updated in tasksInit
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[TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
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#ifdef USE_TRANSPONDER
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[TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_STACK_CHECK
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[TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
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#endif
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[TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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[TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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[TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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#ifdef USE_ACC
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[TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
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[TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
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#endif
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[TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
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[TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
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#ifdef USE_BEEPER
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[TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_GPS
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[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
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#endif
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#ifdef USE_MAG
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[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, compassUpdate,TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_BARO
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[TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
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#endif
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#if defined(USE_BARO) || defined(USE_GPS)
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[TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_DASHBOARD
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[TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_OSD
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[TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_TELEMETRY
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[TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_LED_STRIP
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[TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_BST
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[TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_ESC_SENSOR
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[TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_CMS
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[TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_VTX_CONTROL
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[TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_RCDEVICE
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[TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
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#endif
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#ifdef USE_CAMERA_CONTROL
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[TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_ADC_INTERNAL
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[TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_PINIOBOX
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[TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_RANGEFINDER
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[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_CRSF_V3
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[TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_IDLE),
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#endif
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};
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task_t *getTask(unsigned taskId)
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{
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return &tasks[taskId];
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}
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void tasksInit(void)
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{
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for (int i = 0; i < TASK_COUNT; i++) {
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tasks[i].id = &task_ids[i];
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}
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schedulerInit();
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setTaskEnabled(TASK_MAIN, true);
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@ -448,120 +573,3 @@ void tasksInit(void)
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setTaskEnabled(TASK_SPEED_NEGOTIATION, useCRSF);
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#endif
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}
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#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
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.taskName = taskNameParam, \
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.subTaskName = subTaskNameParam, \
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.checkFunc = checkFuncParam, \
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.taskFunc = taskFuncParam, \
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.desiredPeriodUs = desiredPeriodParam, \
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.staticPriority = staticPriorityParam \
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}
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task_t tasks[TASK_COUNT] = {
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[TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
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[TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
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[TASK_SERIAL] = DEFINE_TASK("SERIAL", NULL, NULL, taskHandleSerial, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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[TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
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[TASK_BATTERY_VOLTAGE] = DEFINE_TASK("BATTERY_VOLTAGE", NULL, NULL, batteryUpdateVoltage, TASK_PERIOD_HZ(SLOW_VOLTAGE_TASK_FREQ_HZ), TASK_PRIORITY_MEDIUM), // Freq may be updated in tasksInit
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[TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
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#ifdef USE_TRANSPONDER
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[TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_STACK_CHECK
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[TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
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#endif
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[TASK_GYRO] = DEFINE_TASK("GYRO", NULL, NULL, taskGyroSample, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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[TASK_FILTER] = DEFINE_TASK("FILTER", NULL, NULL, taskFiltering, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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[TASK_PID] = DEFINE_TASK("PID", NULL, NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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#ifdef USE_ACC
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[TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
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[TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
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#endif
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[TASK_RX] = DEFINE_TASK("RX", NULL, rxUpdateCheck, taskUpdateRxMain, TASK_PERIOD_HZ(33), TASK_PRIORITY_HIGH), // If event-based scheduling doesn't work, fallback to periodic scheduling
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[TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
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#ifdef USE_BEEPER
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[TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_GPS
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[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(TASK_GPS_RATE), TASK_PRIORITY_MEDIUM), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
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#endif
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#ifdef USE_MAG
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[TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, compassUpdate,TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_BARO
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[TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
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#endif
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#if defined(USE_BARO) || defined(USE_GPS)
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[TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_DASHBOARD
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[TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_OSD
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[TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_TELEMETRY
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[TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_LED_STRIP
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[TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_BST
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[TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_ESC_SENSOR
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[TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_CMS
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[TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_VTX_CONTROL
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[TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_RCDEVICE
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[TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
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#endif
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#ifdef USE_CAMERA_CONTROL
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[TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_ADC_INTERNAL
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[TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_PINIOBOX
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[TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_RANGEFINDER
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[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, taskUpdateRangefinder, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
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#endif
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#ifdef USE_CRSF_V3
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[TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_IDLE),
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#endif
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};
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task_t *getTask(unsigned taskId)
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{
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return &tasks[taskId];
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}
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