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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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90
src/main/scheduler.h Executable file
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/*
* 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/>.
*/
#pragma once
typedef enum {
TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
TASK_PRIORITY_LOW = 1,
TASK_PRIORITY_MEDIUM = 3,
TASK_PRIORITY_HIGH = 5,
TASK_PRIORITY_REALTIME = 6,
TASK_PRIORITY_MAX = 255
} cfTaskPriority_e;
typedef struct {
const char * taskName;
bool isEnabled;
uint32_t desiredPeriod;
uint8_t staticPriority;
uint32_t maxExecutionTime;
uint32_t totalExecutionTime;
uint32_t lastExecutionTime;
uint32_t averageExecutionTime;
} cfTaskInfo_t;
typedef enum {
/* Actual tasks */
TASK_SYSTEM = 0,
TASK_GYROPID,
TASK_ACCEL,
TASK_SERIAL,
TASK_BEEPER,
TASK_BATTERY,
TASK_RX,
#ifdef GPS
TASK_GPS,
#endif
#ifdef MAG
TASK_COMPASS,
#endif
#ifdef BARO
TASK_BARO,
#endif
#ifdef SONAR
TASK_SONAR,
#endif
#if defined(BARO) || defined(SONAR)
TASK_ALTITUDE,
#endif
#ifdef DISPLAY
TASK_DISPLAY,
#endif
#ifdef TELEMETRY
TASK_TELEMETRY,
#endif
#ifdef LED_STRIP
TASK_LEDSTRIP,
#endif
/* Count of real tasks */
TASK_COUNT,
/* Service task IDs */
TASK_NONE = TASK_COUNT,
TASK_SELF
} cfTaskId_e;
extern uint16_t cpuLoad;
extern uint16_t averageWaitingTasks100;
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
uint32_t getTaskDeltaTime(cfTaskId_e taskId);
void scheduler(void);