Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

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

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

69
src/main/fc/tasks.c
View file

@ -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