mirror of
https://github.com/betaflight/betaflight.git
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146 lines
3.8 KiB
C
146 lines
3.8 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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typedef enum {
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TASK_PRIORITY_IDLE = 0, // Disables dynamic scheduling, task is executed only if no other task is active this cycle
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TASK_PRIORITY_LOW = 1,
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TASK_PRIORITY_MEDIUM = 3,
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TASK_PRIORITY_HIGH = 5,
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TASK_PRIORITY_REALTIME = 6,
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TASK_PRIORITY_MAX = 255
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} cfTaskPriority_e;
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typedef struct {
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime;
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uint32_t averageExecutionTime;
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} cfCheckFuncInfo_t;
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typedef struct {
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const char * taskName;
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const char * subTaskName;
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bool isEnabled;
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uint32_t desiredPeriod;
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uint8_t staticPriority;
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime;
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uint32_t averageExecutionTime;
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uint32_t latestDeltaTime;
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} cfTaskInfo_t;
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typedef enum {
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/* Actual tasks */
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TASK_SYSTEM = 0,
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TASK_GYROPID,
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TASK_ACCEL,
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TASK_ATTITUDE,
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TASK_RX,
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TASK_SERIAL,
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TASK_BATTERY,
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#ifdef BEEPER
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TASK_BEEPER,
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#endif
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#ifdef GPS
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TASK_GPS,
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#endif
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#ifdef MAG
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TASK_COMPASS,
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#endif
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#ifdef BARO
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TASK_BARO,
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#endif
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#ifdef SONAR
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TASK_SONAR,
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#endif
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#if defined(BARO) || defined(SONAR)
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TASK_ALTITUDE,
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#endif
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#ifdef USE_DASHBOARD
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TASK_DASHBOARD,
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#endif
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#ifdef TELEMETRY
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TASK_TELEMETRY,
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#endif
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#ifdef LED_STRIP
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TASK_LEDSTRIP,
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#endif
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#ifdef TRANSPONDER
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TASK_TRANSPONDER,
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#endif
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#ifdef OSD
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TASK_OSD,
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#endif
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#ifdef USE_BST
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TASK_BST_MASTER_PROCESS,
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#endif
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#ifdef USE_ESC_TELEMETRY
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TASK_ESC_TELEMETRY,
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#endif
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#ifdef CMS
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TASK_CMS,
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#endif
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/* Count of real tasks */
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TASK_COUNT,
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/* Service task IDs */
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TASK_NONE = TASK_COUNT,
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TASK_SELF
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} cfTaskId_e;
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typedef struct {
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/* Configuration */
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const char * taskName;
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const char * subTaskName;
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bool (*checkFunc)(uint32_t currentTime, uint32_t currentDeltaTime);
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void (*taskFunc)(uint32_t currentTime);
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uint32_t desiredPeriod; // target period of execution
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const uint8_t staticPriority; // dynamicPriority grows in steps of this size, shouldn't be zero
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/* Scheduling */
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uint16_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation
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uint16_t taskAgeCycles;
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uint32_t lastExecutedAt; // last time of invocation
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uint32_t lastSignaledAt; // time of invocation event for event-driven tasks
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uint32_t taskLatestDeltaTime;
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#ifndef SKIP_TASK_STATISTICS
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/* Statistics */
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uint32_t averageExecutionTime; // Moving average over 32 samples
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime; // total time consumed by task since boot
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#endif
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} cfTask_t;
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extern cfTask_t cfTasks[TASK_COUNT];
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extern uint16_t averageSystemLoadPercent;
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void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
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void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
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void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
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void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
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uint32_t getTaskDeltaTime(cfTaskId_e taskId);
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void schedulerInit(void);
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void scheduler(void);
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void taskSystem(uint32_t currentTime);
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#define LOAD_PERCENTAGE_ONE 100
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#define isSystemOverloaded() (averageSystemLoadPercent >= LOAD_PERCENTAGE_ONE)
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