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Track state execution time for OSD, baro, rx and GPS tasks and inform scheduler of next state execution time

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This commit is contained in:
Steve Evans 2020-08-14 16:42:20 +01:00 • committed by Steve Evans
parent a63172cc1f
commit ab1baccc66
44 changed files with 1392 additions and 721 deletions
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69
src/main/fc/tasks.c
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@ -113,6 +113,9 @@
#include "tasks.h"
// Add a margin to the task duration estimation
#define RX_TASK_MARGIN 5
static void taskMain(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -159,42 +162,53 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
}
#endif
static enum {
CHECK, PROCESS, MODES, UPDATE
} rxState = CHECK;
typedef enum {
RX_STATE_CHECK,
RX_STATE_PROCESS,
RX_STATE_MODES,
RX_STATE_UPDATE,
RX_STATE_COUNT
} rxState_e;
static rxState_e rxState = RX_STATE_CHECK;
bool taskUpdateRxMainInProgress()
{
return (rxState != CHECK);
return (rxState != RX_STATE_CHECK);
}
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
// Where we are using a state machine call ignoreTaskStateTime() for all states bar one
if (rxState != MODES) {
ignoreTaskStateTime();
static timeUs_t rxStateDurationUs[RX_STATE_COUNT];
timeUs_t executeTimeUs;
timeUs_t existingDurationUs;
rxState_e oldRxState = rxState;
// Where we are using a state machine call schedulerIgnoreTaskExecRate() for all states bar one
if (rxState != RX_STATE_UPDATE) {
ignoreTaskExecRate();
}
switch (rxState) {
default:
case CHECK:
rxState = PROCESS;
case RX_STATE_CHECK:
rxState = RX_STATE_PROCESS;
break;
case PROCESS:
case RX_STATE_PROCESS:
if (!processRx(currentTimeUs)) {
rxState = CHECK;
rxState = RX_STATE_CHECK;
break;
}
rxState = MODES;
rxState = RX_STATE_MODES;
break;
case MODES:
case RX_STATE_MODES:
processRxModes(currentTimeUs);
rxState = UPDATE;
rxState = RX_STATE_UPDATE;
break;
case UPDATE:
case RX_STATE_UPDATE:
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();
@ -204,9 +218,26 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
sendRcDataToHid();
}
#endif
rxState = CHECK;
rxState = RX_STATE_CHECK;
break;
}
if (getIgnoreTaskExecTime()) {
return;
}
executeTimeUs = micros() - currentTimeUs;
existingDurationUs = rxStateDurationUs[oldRxState] / TASK_STATS_MOVING_SUM_COUNT;
// If the execution time is higher than expected, double the weight in the moving average
if (executeTimeUs > existingDurationUs) {
rxStateDurationUs[oldRxState] += executeTimeUs - existingDurationUs;
}
rxStateDurationUs[oldRxState] += executeTimeUs - existingDurationUs;
schedulerSetNextStateTime((rxStateDurationUs[rxState] / TASK_STATS_MOVING_SUM_COUNT) + RX_TASK_MARGIN);
}
@ -216,7 +247,7 @@ static void taskUpdateBaro(timeUs_t currentTimeUs)
UNUSED(currentTimeUs);
if (sensors(SENSOR_BARO)) {
const uint32_t newDeadline = baroUpdate();
const uint32_t newDeadline = baroUpdate(currentTimeUs);
if (newDeadline != 0) {
rescheduleTask(TASK_SELF, newDeadline);
}
@ -370,7 +401,7 @@ void tasksInit(void)
#endif
#ifdef USE_OSD
rescheduleTask(TASK_OSD, TASK_PERIOD_HZ(osdConfig()->task_frequency));
rescheduleTask(TASK_OSD, TASK_PERIOD_HZ(osdConfig()->framerate_hz));
setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdGetDisplayPort(NULL));
#endif
@ -478,7 +509,7 @@ task_t tasks[TASK_COUNT] = {
#endif
#ifdef USE_OSD
[TASK_OSD] = DEFINE_TASK("OSD", NULL, NULL, osdUpdate, TASK_PERIOD_HZ(OSD_TASK_FREQUENCY_DEFAULT), TASK_PRIORITY_LOW),
[TASK_OSD] = DEFINE_TASK("OSD", NULL, osdUpdateCheck, osdUpdate, TASK_PERIOD_HZ(OSD_FRAMERATE_DEFAULT_HZ), TASK_PRIORITY_LOW),
#endif
#ifdef USE_TELEMETRY