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betaflight/src/main/scheduler.h
2016-01-05 11:55:17 +01:00

93 lines
2.2 KiB
C
Executable file

/*
* 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
#ifdef USE_BST
TASK_BST_PROCESS,
#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);