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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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50
src/main/main.c
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@ -21,6 +21,7 @@
#include <string.h>
#include "platform.h"
#include "scheduler.h"
#include "common/axis.h"
#include "common/color.h"
@ -49,6 +50,7 @@
#include "drivers/inverter.h"
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
#include "rx/rx.h"
@ -93,7 +95,6 @@
#include "build_config.h"
#include "debug.h"
extern uint32_t previousTime;
extern uint8_t motorControlEnable;
#ifdef SOFTSERIAL_LOOPBACK
@ -120,7 +121,6 @@ void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void imuInit(void);
void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void loop(void);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
@ -171,6 +171,7 @@ void init(void)
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(masterConfig.emf_avoidance);
#endif
//i2cSetOverclock(masterConfig.i2c_overclock);
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
@ -262,7 +263,7 @@ void init(void)
pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
if (feature(FEATURE_3D))
pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
if (pwm_params.motorPwmRate > 500 && !masterConfig.use_fast_pwm)
pwm_params.useFastPWM = masterConfig.use_fast_pwm ? true : false;
pwm_params.idlePulse = 0; // brushed motors
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
@ -291,11 +292,11 @@ void init(void)
.isInverted = false
#endif
};
#ifdef NAZE
#ifdef AFROMINI
beeperConfig.gpioMode = Mode_Out_PP; // AFROMINI override
beeperConfig.isInverted = true;
#endif
#ifdef NAZE
if (hardwareRevision >= NAZE32_REV5) {
// naze rev4 and below used opendrain to PNP for buzzer. Rev5 and above use PP to NPN.
beeperConfig.gpioMode = Mode_Out_PP;
@ -315,6 +316,7 @@ void init(void)
#endif
#ifdef USE_SPI
spiInit(SPI1);
spiInit(SPI2);
@ -384,7 +386,7 @@ void init(void)
}
#endif
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.gyro_lpf)) {
if (!sensorsAutodetect(&masterConfig.sensorAlignmentConfig,masterConfig.acc_hardware, masterConfig.mag_hardware, masterConfig.baro_hardware, currentProfile->mag_declination, masterConfig.gyro_lpf)) {
// if gyro was not detected due to whatever reason, we give up now.
failureMode(FAILURE_MISSING_ACC);
}
@ -470,8 +472,6 @@ void init(void)
initBlackbox();
#endif
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
}
@ -540,8 +540,42 @@ void processLoopback(void) {
int main(void) {
init();
/* Setup scheduler */
rescheduleTask(TASK_GYROPID, targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_ACCEL, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
setTaskEnabled(TASK_BEEPER, true);
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
while (1) {
loop();
scheduler();
processLoopback();
}
}