Moved scheduler into separate directory. Moved task declarations into header file.

2025-07-23 16:25:31 +03:00 · 2016-06-15 07:35:17 +01:00 · 2016-06-15 07:35:17 +01:00 · f0f2941bb6
commit f0f2941bb6
parent 2dc9e2166e
12 changed files with 63 additions and 38 deletions
--- a/src/main/scheduler/scheduler_tasks.c
+++ b/src/main/scheduler/scheduler_tasks.c
@ -0,0 +1,177 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "scheduler/scheduler.h"
+#include "scheduler/scheduler_tasks.h"
+
+cfTask_t cfTasks[TASK_COUNT] = {
+    [TASK_SYSTEM] = {
+        .taskName = "SYSTEM",
+        .taskFunc = taskSystem,
+        .desiredPeriod = 1000000 / 10,              // run every 100 ms
+        .staticPriority = TASK_PRIORITY_HIGH,
+    },
+
+    [TASK_GYROPID] = {
+        .taskName = "PID",
+        .subTaskName = "GYRO",
+        .taskFunc = taskMainPidLoopCheck,
+        .desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
+        .staticPriority = TASK_PRIORITY_REALTIME,
+    },
+
+    [TASK_ACCEL] = {
+        .taskName = "ACCEL",
+        .taskFunc = taskUpdateAccelerometer,
+        .desiredPeriod = 1000000 / 100,     // every 10ms
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+
+    [TASK_ATTITUDE] = {
+        .taskName = "ATTITUDE",
+        .taskFunc = taskUpdateAttitude,
+        .desiredPeriod = 1000000 / 100,
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+
+    [TASK_RX] = {
+        .taskName = "RX",
+        .checkFunc = taskUpdateRxCheck,
+        .taskFunc = taskUpdateRxMain,
+        .desiredPeriod = 1000000 / 50,      // If event-based scheduling doesn't work, fallback to periodic scheduling
+        .staticPriority = TASK_PRIORITY_HIGH,
+    },
+
+    [TASK_SERIAL] = {
+        .taskName = "SERIAL",
+        .taskFunc = taskHandleSerial,
+        .desiredPeriod = 1000000 / 100,     // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+
+    [TASK_BATTERY] = {
+        .taskName = "BATTERY",
+        .taskFunc = taskUpdateBattery,
+        .desiredPeriod = 1000000 / 50,      // 50 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+
+#ifdef BEEPER
+    [TASK_BEEPER] = {
+        .taskName = "BEEPER",
+        .taskFunc = taskUpdateBeeper,
+        .desiredPeriod = 1000000 / 100,     // 100 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef GPS
+    [TASK_GPS] = {
+        .taskName = "GPS",
+        .taskFunc = taskProcessGPS,
+        .desiredPeriod = 1000000 / 10,      // GPS usually don't go raster than 10Hz
+        .staticPriority = TASK_PRIORITY_MEDIUM,
+    },
+#endif
+
+#ifdef MAG
+    [TASK_COMPASS] = {
+        .taskName = "COMPASS",
+        .taskFunc = taskUpdateCompass,
+        .desiredPeriod = 1000000 / 10,      // Compass is updated at 10 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef BARO
+    [TASK_BARO] = {
+        .taskName = "BARO",
+        .taskFunc = taskUpdateBaro,
+        .desiredPeriod = 1000000 / 20,
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef SONAR
+    [TASK_SONAR] = {
+        .taskName = "SONAR",
+        .taskFunc = taskUpdateSonar,
+        .desiredPeriod = 1000000 / 20,
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#if defined(BARO) || defined(SONAR)
+    [TASK_ALTITUDE] = {
+        .taskName = "ALTITUDE",
+        .taskFunc = taskCalculateAltitude,
+        .desiredPeriod = 1000000 / 40,
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef TRANSPONDER
+    [TASK_TRANSPONDER] = {
+        .taskName = "TRANSPONDER",
+        .taskFunc = taskTransponder,
+        .desiredPeriod = 1000000 / 250,         // 250 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef DISPLAY
+    [TASK_DISPLAY] = {
+        .taskName = "DISPLAY",
+        .taskFunc = taskUpdateDisplay,
+        .desiredPeriod = 1000000 / 10,
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
+#ifdef TELEMETRY
+    [TASK_TELEMETRY] = {
+        .taskName = "TELEMETRY",
+        .taskFunc = taskTelemetry,
+        .desiredPeriod = 1000000 / 250,         // 250 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
+
+#ifdef LED_STRIP
+    [TASK_LEDSTRIP] = {
+        .taskName = "LEDSTRIP",
+        .taskFunc = taskLedStrip,
+        .desiredPeriod = 1000000 / 100,         // 100 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
+
+#ifdef USE_BST
+    [TASK_BST_MASTER_PROCESS] = {
+        .taskName = "BST_MASTER_PROCESS",
+        .taskFunc = taskBstMasterProcess,
+        .desiredPeriod = 1000000 / 50,          // 50 Hz
+        .staticPriority = TASK_PRIORITY_IDLE,
+    },
+#endif
+};