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Omit task names if task statistics are not collected.

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This commit is contained in:
mikeller 2018-11-11 00:12:24 +13:00
parent b58e8f827f
commit da52d827d4
3 changed files with 57 additions and 201 deletions
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248
src/main/fc/tasks.c
View file

@ -353,264 +353,116 @@ void fcTasksInit(void)
#endif #endif
} }
#if defined(USE_TASK_STATISTICS)
#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
.taskName = taskNameParam, \
.subTaskName = subTaskNameParam, \
.checkFunc = checkFuncParam, \
.taskFunc = taskFuncParam, \
.desiredPeriod = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#else
#define DEFINE_TASK(taskNameParam, subTaskNameParam, checkFuncParam, taskFuncParam, desiredPeriodParam, staticPriorityParam) { \
.checkFunc = checkFuncParam, \
.taskFunc = taskFuncParam, \
.desiredPeriod = desiredPeriodParam, \
.staticPriority = staticPriorityParam \
}
#endif
cfTask_t cfTasks[TASK_COUNT] = { cfTask_t cfTasks[TASK_COUNT] = {
[TASK_SYSTEM] = { [TASK_SYSTEM] = DEFINE_TASK("SYSTEM", "LOAD", NULL, taskSystemLoad, TASK_PERIOD_HZ(10), TASK_PRIORITY_MEDIUM_HIGH),
.taskName = "SYSTEM", [TASK_MAIN] = DEFINE_TASK("SYSTEM", "UPDATE", NULL, taskMain, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM_HIGH),
.subTaskName = "LOAD", [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
.taskFunc = taskSystemLoad, [TASK_BATTERY_ALERTS] = DEFINE_TASK("BATTERY_ALERTS", NULL, NULL, taskBatteryAlerts, TASK_PERIOD_HZ(5), TASK_PRIORITY_MEDIUM),
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms [TASK_BATTERY_VOLTAGE] = DEFINE_TASK("BATTERY_VOLTAGE", NULL, NULL, batteryUpdateVoltage, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH, [TASK_BATTERY_CURRENT] = DEFINE_TASK("BATTERY_CURRENT", NULL, NULL, batteryUpdateCurrentMeter, TASK_PERIOD_HZ(50), TASK_PRIORITY_MEDIUM),
},
[TASK_MAIN] = {
.taskName = "SYSTEM",
.subTaskName = "UPDATE",
.taskFunc = taskMain,
.desiredPeriod = TASK_PERIOD_HZ(1000),
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_BATTERY_ALERTS] = {
.taskName = "BATTERY_ALERTS",
.taskFunc = taskBatteryAlerts,
.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_BATTERY_VOLTAGE] = {
.taskName = "BATTERY_VOLTAGE",
.taskFunc = batteryUpdateVoltage,
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_BATTERY_CURRENT] = {
.taskName = "BATTERY_CURRENT",
.taskFunc = batteryUpdateCurrentMeter,
.desiredPeriod = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifdef USE_TRANSPONDER #ifdef USE_TRANSPONDER
[TASK_TRANSPONDER] = { [TASK_TRANSPONDER] = DEFINE_TASK("TRANSPONDER", NULL, NULL, transponderUpdate, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
.taskName = "TRANSPONDER",
.taskFunc = transponderUpdate,
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef STACK_CHECK #ifdef STACK_CHECK
[TASK_STACK_CHECK] = { [TASK_STACK_CHECK] = DEFINE_TASK("STACKCHECK", NULL, NULL, taskStackCheck, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
.taskName = "STACKCHECK",
.taskFunc = taskStackCheck,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif #endif
[TASK_GYROPID] = { [TASK_GYROPID] = DEFINE_TASK("PID", "GYRO", NULL, taskMainPidLoop, TASK_GYROPID_DESIRED_PERIOD, TASK_PRIORITY_REALTIME),
.taskName = "PID", [TASK_ACCEL] = DEFINE_TASK("ACC", NULL, NULL, taskUpdateAccelerometer, TASK_PERIOD_HZ(1000), TASK_PRIORITY_MEDIUM),
.subTaskName = "GYRO", [TASK_ATTITUDE] = DEFINE_TASK("ATTITUDE", NULL, NULL, imuUpdateAttitude, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
.taskFunc = taskMainPidLoop, [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
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD, [TASK_DISPATCH] = DEFINE_TASK("DISPATCH", NULL, NULL, dispatchProcess, TASK_PERIOD_HZ(1000), TASK_PRIORITY_HIGH),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACC",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = imuUpdateAttitude,
.desiredPeriod = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = rxUpdateCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = TASK_PERIOD_HZ(33), // If event-based scheduling doesn't work, fallback to periodic scheduling
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_DISPATCH] = {
.taskName = "DISPATCH",
.taskFunc = dispatchProcess,
.desiredPeriod = TASK_PERIOD_HZ(1000),
.staticPriority = TASK_PRIORITY_HIGH,
},
#ifdef USE_BEEPER #ifdef USE_BEEPER
[TASK_BEEPER] = { [TASK_BEEPER] = DEFINE_TASK("BEEPER", NULL, NULL, beeperUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
.taskName = "BEEPER",
.taskFunc = beeperUpdate,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_GPS #ifdef USE_GPS
[TASK_GPS] = { [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)
.taskName = "GPS",
.taskFunc = gpsUpdate,
.desiredPeriod = TASK_PERIOD_HZ(100), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif #endif
#ifdef USE_MAG #ifdef USE_MAG
[TASK_COMPASS] = { [TASK_COMPASS] = DEFINE_TASK("COMPASS", NULL, NULL, compassUpdate,TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
.taskName = "COMPASS",
.taskFunc = compassUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_BARO #ifdef USE_BARO
[TASK_BARO] = { [TASK_BARO] = DEFINE_TASK("BARO", NULL, NULL, taskUpdateBaro, TASK_PERIOD_HZ(20), TASK_PRIORITY_LOW),
.taskName = "BARO",
.taskFunc = taskUpdateBaro,
.desiredPeriod = TASK_PERIOD_HZ(20),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#if defined(USE_BARO) || defined(USE_GPS) #if defined(USE_BARO) || defined(USE_GPS)
[TASK_ALTITUDE] = { [TASK_ALTITUDE] = DEFINE_TASK("ALTITUDE", NULL, NULL, taskCalculateAltitude, TASK_PERIOD_HZ(40), TASK_PRIORITY_LOW),
.taskName = "ALTITUDE",
.taskFunc = taskCalculateAltitude,
.desiredPeriod = TASK_PERIOD_HZ(40),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_DASHBOARD #ifdef USE_DASHBOARD
[TASK_DASHBOARD] = { [TASK_DASHBOARD] = DEFINE_TASK("DASHBOARD", NULL, NULL, dashboardUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_LOW),
.taskName = "DASHBOARD",
.taskFunc = dashboardUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_OSD #ifdef USE_OSD
[TASK_OSD] = { [TASK_OSD] = DEFINE_TASK("OSD", NULL, NULL, osdUpdate, TASK_PERIOD_HZ(60), TASK_PRIORITY_LOW),
.taskName = "OSD",
.taskFunc = osdUpdate,
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_TELEMETRY #ifdef USE_TELEMETRY
[TASK_TELEMETRY] = { [TASK_TELEMETRY] = DEFINE_TASK("TELEMETRY", NULL, NULL, taskTelemetry, TASK_PERIOD_HZ(250), TASK_PRIORITY_LOW),
.taskName = "TELEMETRY",
.taskFunc = taskTelemetry,
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_LED_STRIP #ifdef USE_LED_STRIP
[TASK_LEDSTRIP] = { [TASK_LEDSTRIP] = DEFINE_TASK("LEDSTRIP", NULL, NULL, ledStripUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
.taskName = "LEDSTRIP",
.taskFunc = ledStripUpdate,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_BST #ifdef USE_BST
[TASK_BST_MASTER_PROCESS] = { [TASK_BST_MASTER_PROCESS] = DEFINE_TASK("BST_MASTER_PROCESS", NULL, NULL, taskBstMasterProcess, TASK_PERIOD_HZ(50), TASK_PRIORITY_IDLE),
.taskName = "BST_MASTER_PROCESS",
.taskFunc = taskBstMasterProcess,
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif #endif
#ifdef USE_ESC_SENSOR #ifdef USE_ESC_SENSOR
[TASK_ESC_SENSOR] = { [TASK_ESC_SENSOR] = DEFINE_TASK("ESC_SENSOR", NULL, NULL, escSensorProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
.taskName = "ESC_SENSOR",
.taskFunc = escSensorProcess,
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_CMS #ifdef USE_CMS
[TASK_CMS] = { [TASK_CMS] = DEFINE_TASK("CMS", NULL, NULL, cmsHandler, TASK_PERIOD_HZ(60), TASK_PRIORITY_LOW),
.taskName = "CMS",
.taskFunc = cmsHandler,
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif #endif
#ifdef USE_VTX_CONTROL #ifdef USE_VTX_CONTROL
[TASK_VTXCTRL] = { [TASK_VTXCTRL] = DEFINE_TASK("VTXCTRL", NULL, NULL, vtxUpdate, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
.taskName = "VTXCTRL",
.taskFunc = vtxUpdate,
.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz, 200ms
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif #endif
#ifdef USE_RCDEVICE #ifdef USE_RCDEVICE
[TASK_RCDEVICE] = { [TASK_RCDEVICE] = DEFINE_TASK("RCDEVICE", NULL, NULL, rcdeviceUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_MEDIUM),
.taskName = "RCDEVICE",
.taskFunc = rcdeviceUpdate,
.desiredPeriod = TASK_PERIOD_HZ(20),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#endif #endif
#ifdef USE_CAMERA_CONTROL #ifdef USE_CAMERA_CONTROL
[TASK_CAMCTRL] = { [TASK_CAMCTRL] = DEFINE_TASK("CAMCTRL", NULL, NULL, taskCameraControl, TASK_PERIOD_HZ(5), TASK_PRIORITY_IDLE),
.taskName = "CAMCTRL",
.taskFunc = taskCameraControl,
.desiredPeriod = TASK_PERIOD_HZ(5),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif #endif
#ifdef USE_ADC_INTERNAL #ifdef USE_ADC_INTERNAL
[TASK_ADC_INTERNAL] = { [TASK_ADC_INTERNAL] = DEFINE_TASK("ADCINTERNAL", NULL, NULL, adcInternalProcess, TASK_PERIOD_HZ(1), TASK_PRIORITY_IDLE),
.taskName = "ADCINTERNAL",
.taskFunc = adcInternalProcess,
.desiredPeriod = TASK_PERIOD_HZ(1),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif #endif
#ifdef USE_PINIOBOX #ifdef USE_PINIOBOX
[TASK_PINIOBOX] = { [TASK_PINIOBOX] = DEFINE_TASK("PINIOBOX", NULL, NULL, pinioBoxUpdate, TASK_PERIOD_HZ(20), TASK_PRIORITY_IDLE),
.taskName = "PINIOBOX",
.taskFunc = pinioBoxUpdate,
.desiredPeriod = TASK_PERIOD_HZ(20),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif #endif
#ifdef USE_RANGEFINDER #ifdef USE_RANGEFINDER
[TASK_RANGEFINDER] = { [TASK_RANGEFINDER] = DEFINE_TASK("RANGEFINDER", NULL, NULL, rangefinderUpdate, TASK_PERIOD_HZ(10), TASK_PRIORITY_IDLE),
.taskName = "RANGEFINDER",
.taskFunc = rangefinderUpdate,
.desiredPeriod = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_IDLE
},
#endif #endif
}; };

8
src/main/scheduler/scheduler.c
View file

@ -150,20 +150,22 @@ void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo)
checkFuncInfo->totalExecutionTime = checkFuncTotalExecutionTime; checkFuncInfo->totalExecutionTime = checkFuncTotalExecutionTime;
checkFuncInfo->averageExecutionTime = checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT; checkFuncInfo->averageExecutionTime = checkFuncMovingSumExecutionTime / MOVING_SUM_COUNT;
} }
#endif
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo) void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
{ {
taskInfo->taskName = cfTasks[taskId].taskName;
taskInfo->subTaskName = cfTasks[taskId].subTaskName;
taskInfo->isEnabled = queueContains(&cfTasks[taskId]); taskInfo->isEnabled = queueContains(&cfTasks[taskId]);
taskInfo->desiredPeriod = cfTasks[taskId].desiredPeriod; taskInfo->desiredPeriod = cfTasks[taskId].desiredPeriod;
taskInfo->staticPriority = cfTasks[taskId].staticPriority; taskInfo->staticPriority = cfTasks[taskId].staticPriority;
#if defined(USE_TASK_STATISTICS)
taskInfo->taskName = cfTasks[taskId].taskName;
taskInfo->subTaskName = cfTasks[taskId].subTaskName;
taskInfo->maxExecutionTime = cfTasks[taskId].maxExecutionTime; taskInfo->maxExecutionTime = cfTasks[taskId].maxExecutionTime;
taskInfo->totalExecutionTime = cfTasks[taskId].totalExecutionTime; taskInfo->totalExecutionTime = cfTasks[taskId].totalExecutionTime;
taskInfo->averageExecutionTime = cfTasks[taskId].movingSumExecutionTime / MOVING_SUM_COUNT; taskInfo->averageExecutionTime = cfTasks[taskId].movingSumExecutionTime / MOVING_SUM_COUNT;
taskInfo->latestDeltaTime = cfTasks[taskId].taskLatestDeltaTime; taskInfo->latestDeltaTime = cfTasks[taskId].taskLatestDeltaTime;
}
#endif #endif
}
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros) void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
{ {

2
src/main/scheduler/scheduler.h
View file

@ -142,8 +142,10 @@ typedef enum {
typedef struct { typedef struct {
// Configuration // Configuration
#if defined(USE_TASK_STATISTICS)
const char * taskName; const char * taskName;
const char * subTaskName; const char * subTaskName;
#endif
bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs); bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
void (*taskFunc)(timeUs_t currentTimeUs); void (*taskFunc)(timeUs_t currentTimeUs);
timeDelta_t desiredPeriod; // target period of execution timeDelta_t desiredPeriod; // target period of execution