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Code Issues Wiki Activity

Improved scheduling. Betaflight Port digitalentity/cf-scheduler

Browse source 
Disallow arming if system load > 100 (waiting task count > 1)

Dont show inactive tasks in CLI

Realtime priority task and guard interval implementation

Dynamic guard interval. Bugfix for realtime scheduling hickups

Optimisations

Compile out CLI command help and CLI tasks command for CJMCU

Naming fixes // re-Add Gyro Sync // Fix port issues
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-12-18 12:36:05 +10:00 • committed by borisbstyle
parent 8ecd05b911
commit fa49931b43
13 changed files with 840 additions and 311 deletions
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30
src/main/io/serial_cli.c
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@ -24,6 +24,7 @@
#include <ctype.h>
#include "platform.h"
#include "scheduler.h"
#include "version.h"
#include "build_config.h"
@ -120,6 +121,9 @@ static void cliServoMix(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline);
#endif
static void cliVersion(char *cmdline);
static void cliRxRange(char *cmdline);
@ -286,6 +290,9 @@ const clicmd_t cmdTable[] = {
"\treverse <servo> <source> r|n", cliServoMix),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#ifndef SKIP_TASK_STATISTICS
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
@ -2267,9 +2274,8 @@ static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s)\r\n",
millis() / 1000, vbat, batteryCellCount, getBatteryStateString());
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s), System load: %d.%02d\r\n",
millis() / 1000, vbat, batteryCellCount, getBatteryStateString(), averageWaitingTasks100 / 100, averageWaitingTasks100 % 100);
printf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
@ -2308,6 +2314,24 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline)
{
UNUSED(cmdline);
cfTaskId_e taskId;
cfTaskInfo_t taskInfo;
printf("Task list:\r\n");
for (taskId = 0; taskId < TASK_COUNT; taskId++) {
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
printf("%d - %s, max = %d us, avg = %d us, total = %d ms\r\n", taskId, taskInfo.taskName, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskInfo.totalExecutionTime / 1000);
}
}
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);