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https://github.com/betaflight/betaflight.git
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Omit task names if task statistics are not collected.
This commit is contained in:
mikeller
parent
b58e8f827f
commit
da52d827d4
3 changed files with 57 additions and 201 deletions
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@ -353,264 +353,116 @@ void fcTasksInit(void)
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#endif
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}
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#if defined(USE_TASK_STATISTICS)
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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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.desiredPeriod = desiredPeriodParam, \
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.staticPriority = staticPriorityParam \
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}
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#else
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#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
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.checkFunc = checkFuncParam, \
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.taskFunc = taskFuncParam, \
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.desiredPeriod = desiredPeriodParam, \
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.staticPriority = staticPriorityParam \
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}
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#endif
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cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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.taskName = "SYSTEM",
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.subTaskName = "LOAD",
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.taskFunc = taskSystemLoad,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
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},
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[TASK_MAIN] = {
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.taskName = "SYSTEM",
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.subTaskName = "UPDATE",
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.taskFunc = taskMain,
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.desiredPeriod = TASK_PERIOD_HZ(1000),
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
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},
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_BATTERY_ALERTS] = {
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.taskName = "BATTERY_ALERTS",
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.taskFunc = taskBatteryAlerts,
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_VOLTAGE] = {
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.taskName = "BATTERY_VOLTAGE",
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.taskFunc = batteryUpdateVoltage,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_CURRENT] = {
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.taskName = "BATTERY_CURRENT",
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.taskFunc = batteryUpdateCurrentMeter,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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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(50), TASK_PRIORITY_MEDIUM),
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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] = {
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.taskName = "TRANSPONDER",
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.taskFunc = transponderUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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 STACK_CHECK
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[TASK_STACK_CHECK] = {
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.taskName = "STACKCHECK",
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.taskFunc = taskStackCheck,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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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_GYROPID] = {
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.taskName = "PID",
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.subTaskName = "GYRO",
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.taskFunc = taskMainPidLoop,
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.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
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.staticPriority = TASK_PRIORITY_REALTIME,
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},
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[TASK_ACCEL] = {
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.taskName = "ACC",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = imuUpdateAttitude,
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.desiredPeriod = TASK_PERIOD_HZ(100),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_RX] = {
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.taskName = "RX",
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.checkFunc = rxUpdateCheck,
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.taskFunc = taskUpdateRxMain,
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.desiredPeriod = TASK_PERIOD_HZ(33), // If event-based scheduling doesn't work, fallback to periodic scheduling
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_DISPATCH] = {
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.taskName = "DISPATCH",
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.taskFunc = dispatchProcess,
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.desiredPeriod = TASK_PERIOD_HZ(1000),
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_GYROPID] = DEFINE_TASK("PID", "GYRO", NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
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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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[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] = {
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.taskName = "BEEPER",
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.taskFunc = beeperUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "GPS",
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.taskFunc = gpsUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(100), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_GPS] = DEFINE_TASK("GPS", NULL, NULL, gpsUpdate, TASK_PERIOD_HZ(100), 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] = {
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.taskName = "COMPASS",
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.taskFunc = compassUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "BARO",
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.taskFunc = taskUpdateBaro,
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.desiredPeriod = TASK_PERIOD_HZ(20),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "ALTITUDE",
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.taskFunc = taskCalculateAltitude,
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.desiredPeriod = TASK_PERIOD_HZ(40),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "DASHBOARD",
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.taskFunc = dashboardUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(10),
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "OSD",
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.taskFunc = osdUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_OSD] = DEFINE_TASK("OSD", NULL, NULL, osdUpdate, TASK_PERIOD_HZ(60), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_TELEMETRY
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[TASK_TELEMETRY] = {
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.taskName = "TELEMETRY",
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.taskFunc = taskTelemetry,
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.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "LEDSTRIP",
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.taskFunc = ledStripUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "BST_MASTER_PROCESS",
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.taskFunc = taskBstMasterProcess,
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.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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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] = {
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.taskName = "ESC_SENSOR",
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.taskFunc = escSensorProcess,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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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] = {
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.taskName = "CMS",
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.taskFunc = cmsHandler,
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.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(60), TASK_PRIORITY_LOW),
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#endif
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#ifdef USE_VTX_CONTROL
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[TASK_VTXCTRL] = {
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.taskName = "VTXCTRL",
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.taskFunc = vtxUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz, 200ms
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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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] = {
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.taskName = "RCDEVICE",
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.taskFunc = rcdeviceUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(20),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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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] = {
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.taskName = "CAMCTRL",
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.taskFunc = taskCameraControl,
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.desiredPeriod = TASK_PERIOD_HZ(5),
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.staticPriority = TASK_PRIORITY_IDLE
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},
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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] = {
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.taskName = "ADCINTERNAL",
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.taskFunc = adcInternalProcess,
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.desiredPeriod = TASK_PERIOD_HZ(1),
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.staticPriority = TASK_PRIORITY_IDLE
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},
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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] = {
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.taskName = "PINIOBOX",
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.taskFunc = pinioBoxUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(20),
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.staticPriority = TASK_PRIORITY_IDLE
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},
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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] = {
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.taskName = "RANGEFINDER",
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.taskFunc = rangefinderUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(10),
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.staticPriority = TASK_PRIORITY_IDLE
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},
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[TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, rangefinderUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
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#endif
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};
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