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Code Issues Wiki Activity

SCHEDULER: Move scheduler code to a separate directory

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-03-15 22:04:57 +10:00
parent 33636bb847
commit 324711ddda
9 changed files with 59 additions and 54 deletions
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96
Makefile
View file

@ -66,7 +66,7 @@ VPATH := $(SRC_DIR):$(SRC_DIR)/startup
USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c)) USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
CSOURCES := $(shell find $(SRC_DIR) -name '*.c') CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY)) ifeq ($(TARGET),$(filter $(TARGET),ALIENWIIF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB NAZE32PRO RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY))
@ -208,7 +208,7 @@ TARGET_DIR = $(ROOT)/src/main/target/NAZE
endif endif
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(TARGET_DIR) $(TARGET_DIR)
VPATH := $(VPATH):$(TARGET_DIR) VPATH := $(VPATH):$(TARGET_DIR)
@ -223,8 +223,8 @@ COMMON_SRC = build_config.c \
common/typeconversion.c \ common/typeconversion.c \
common/encoding.c \ common/encoding.c \
common/filter.c \ common/filter.c \
scheduler.c \ scheduler/scheduler.c \
scheduler_tasks.c \ scheduler/scheduler_tasks.c \
main.c \ main.c \
mw.c \ mw.c \
flight/failsafe.c \ flight/failsafe.c \
@ -236,7 +236,7 @@ COMMON_SRC = build_config.c \
drivers/serial.c \ drivers/serial.c \
drivers/sound_beeper.c \ drivers/sound_beeper.c \
drivers/system.c \ drivers/system.c \
drivers/gps_i2cnav.c \ drivers/gps_i2cnav.c \
drivers/gyro_sync.c \ drivers/gyro_sync.c \
io/beeper.c \ io/beeper.c \
io/rc_controls.c \ io/rc_controls.c \
@ -266,18 +266,18 @@ COMMON_SRC = build_config.c \
HIGHEND_SRC = \ HIGHEND_SRC = \
flight/gtune.c \ flight/gtune.c \
flight/navigation_rewrite.c \ flight/navigation_rewrite.c \
flight/navigation_rewrite_multicopter.c \ flight/navigation_rewrite_multicopter.c \
flight/navigation_rewrite_fixedwing.c \ flight/navigation_rewrite_fixedwing.c \
flight/navigation_rewrite_pos_estimator.c \ flight/navigation_rewrite_pos_estimator.c \
flight/navigation_rewrite_geo.c \ flight/navigation_rewrite_geo.c \
flight/gps_conversion.c \ flight/gps_conversion.c \
common/colorconversion.c \ common/colorconversion.c \
io/gps.c \ io/gps.c \
io/gps_ublox.c \ io/gps_ublox.c \
io/gps_nmea.c \ io/gps_nmea.c \
io/gps_naza.c \ io/gps_naza.c \
io/gps_i2cnav.c \ io/gps_i2cnav.c \
io/ledstrip.c \ io/ledstrip.c \
io/display.c \ io/display.c \
telemetry/telemetry.c \ telemetry/telemetry.c \
@ -318,8 +318,8 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/bus_spi.c \ drivers/bus_spi.c \
drivers/bus_i2c_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/display_ug2864hsweg01.h \ drivers/display_ug2864hsweg01.h \
drivers/flash_m25p16.c \ drivers/flash_m25p16.c \
drivers/gpio_stm32f10x.c \ drivers/gpio_stm32f10x.c \
@ -362,7 +362,7 @@ EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/bus_i2c_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \ drivers/bus_spi.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \ drivers/display_ug2864hsweg01.c \
drivers/flash_m25p16.c \ drivers/flash_m25p16.c \
@ -397,8 +397,8 @@ OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
drivers/bus_i2c_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \ drivers/bus_spi.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/gpio_stm32f10x.c \ drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \ drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \ drivers/light_ws2811strip.c \
@ -424,9 +424,9 @@ CJMCU_SRC = \
drivers/accgyro_mpu.c \ drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \ drivers/accgyro_mpu6050.c \
drivers/bus_i2c_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/gpio_stm32f10x.c \ drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \ drivers/light_led_stm32f10x.c \
drivers/pwm_mapping.c \ drivers/pwm_mapping.c \
@ -455,9 +455,9 @@ CC3D_SRC = \
drivers/barometer_bmp280.c \ drivers/barometer_bmp280.c \
drivers/bus_spi.c \ drivers/bus_spi.c \
drivers/bus_i2c_stm32f10x.c \ drivers/bus_i2c_stm32f10x.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/display_ug2864hsweg01.c \ drivers/display_ug2864hsweg01.c \
drivers/flash_m25p16.c \ drivers/flash_m25p16.c \
drivers/gpio_stm32f10x.c \ drivers/gpio_stm32f10x.c \
@ -512,9 +512,9 @@ STM32F3DISCOVERY_COMMON_SRC = \
drivers/accgyro_l3gd20.c \ drivers/accgyro_l3gd20.c \
drivers/accgyro_l3gd20.c \ drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \ drivers/accgyro_lsm303dlhc.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
$(VCP_SRC) $(VCP_SRC)
STM32F3DISCOVERY_SRC = \ STM32F3DISCOVERY_SRC = \
@ -527,8 +527,8 @@ STM32F3DISCOVERY_SRC = \
drivers/accgyro_mpu6050.c \ drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \ drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
$(HIGHEND_SRC) \ $(HIGHEND_SRC) \
$(COMMON_SRC) $(COMMON_SRC)
@ -546,7 +546,7 @@ COLIBRI_RACE_SRC = \
drivers/accgyro_spi_mpu6500.c \ drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \ drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/serial_usb_vcp.c \ drivers/serial_usb_vcp.c \
@ -575,7 +575,7 @@ SPARKY_SRC = \
drivers/barometer_bmp085.c \ drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \ drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/serial_usb_vcp.c \ drivers/serial_usb_vcp.c \
@ -593,7 +593,7 @@ RMDO_SRC = \
drivers/barometer_bmp085.c \ drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \ drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.h \ drivers/display_ug2864hsweg01.h \
@ -611,7 +611,7 @@ SPRACINGF3_SRC = \
drivers/barometer_bmp085.c \ drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \ drivers/barometer_bmp280.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.h \ drivers/display_ug2864hsweg01.h \
@ -627,7 +627,7 @@ MOTOLAB_SRC = \
drivers/accgyro_mpu.c \ drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \ drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \ drivers/barometer_ms5611.c \
drivers/compass_mag3110.c \ drivers/compass_mag3110.c \
drivers/compass_ak8975.c \ drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \ drivers/compass_hmc5883l.c \
drivers/display_ug2864hsweg01.c \ drivers/display_ug2864hsweg01.c \
@ -698,14 +698,14 @@ LDFLAGS = -lm \
-static \ -static \
-Wl,-gc-sections,-Map,$(TARGET_MAP) \ -Wl,-gc-sections,-Map,$(TARGET_MAP) \
-Wl,-L$(LINKER_DIR) \ -Wl,-L$(LINKER_DIR) \
-Wl,--cref \ -Wl,--cref \
-T$(LD_SCRIPT) -T$(LD_SCRIPT)
############################################################################### ###############################################################################
# No user-serviceable parts below # No user-serviceable parts below
############################################################################### ###############################################################################
CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \ CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
--std=c99 --inline-suppr --quiet --force \ --std=c99 --inline-suppr --quiet --force \
$(addprefix -I,$(INCLUDE_DIRS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \
-I/usr/include -I/usr/include/linux -I/usr/include -I/usr/include/linux
@ -725,19 +725,19 @@ TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
## Default make goal: ## Default make goal:
## hex : Make filetype hex only ## hex : Make filetype hex only
.DEFAULT_GOAL := hex .DEFAULT_GOAL := hex
## Optional make goals: ## Optional make goals:
## all : Make all filetypes, binary and hex ## all : Make all filetypes, binary and hex
all: hex bin all: hex bin
## binary : Make binary filetype ## binary : Make binary filetype
## bin : Alias of 'binary' ## bin : Alias of 'binary'
## hex : Make hex filetype ## hex : Make hex filetype
bin: $(TARGET_BIN) bin: $(TARGET_BIN)
binary: $(TARGET_BIN) binary: $(TARGET_BIN)
hex: $(TARGET_HEX) hex: $(TARGET_HEX)
# rule to reinvoke make with TARGET= parameter # rule to reinvoke make with TARGET= parameter
# rules that should be handled in toplevel Makefile, not dependent on TARGET # rules that should be handled in toplevel Makefile, not dependent on TARGET
@ -751,7 +751,7 @@ $(VALID_TARGETS):
.PHONY: all_targets .PHONY: all_targets
all_targets : $(VALID_TARGETS) all_targets : $(VALID_TARGETS)
## clean : clean up all temporary / machine-generated files ## clean : clean up all temporary / machine-generated files
clean: clean:
rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP) rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
rm -rf $(OBJECT_DIR)/$(TARGET) rm -rf $(OBJECT_DIR)/$(TARGET)
@ -762,13 +762,13 @@ flash_$(TARGET): $(TARGET_HEX)
echo -n 'R' >$(SERIAL_DEVICE) echo -n 'R' >$(SERIAL_DEVICE)
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller ## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET) flash: flash_$(TARGET)
st-flash_$(TARGET): $(TARGET_BIN) st-flash_$(TARGET): $(TARGET_BIN)
st-flash --reset write $< 0x08000000 st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller ## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET) st-flash: st-flash_$(TARGET)
binary: $(TARGET_BIN) binary: $(TARGET_BIN)
@ -777,29 +777,29 @@ unbrick_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller ## unbrick : unbrick flight controller
unbrick: unbrick_$(TARGET) unbrick: unbrick_$(TARGET)
## cppcheck : run static analysis on C source code ## cppcheck : run static analysis on C source code
cppcheck: $(CSOURCES) cppcheck: $(CSOURCES)
$(CPPCHECK) $(CPPCHECK)
cppcheck-result.xml: $(CSOURCES) cppcheck-result.xml: $(CSOURCES)
$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml $(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
## help : print this help message and exit ## help : print this help message and exit
help: Makefile help: Makefile
@echo "" @echo ""
@echo "Makefile for the $(FORKNAME) firmware" @echo "Makefile for the $(FORKNAME) firmware"
@echo "" @echo ""
@echo "Usage:" @echo "Usage:"
@echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]" @echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
@echo "" @echo ""
@echo "Valid TARGET values are: $(VALID_TARGETS)" @echo "Valid TARGET values are: $(VALID_TARGETS)"
@echo "" @echo ""
@sed -n 's/^## //p' $< @sed -n 's/^## //p' $<
## test : run the cleanflight test suite ## test : run the cleanflight test suite
test: test:
cd src/test && $(MAKE) test || true cd src/test && $(MAKE) test || true

3
src/main/io/serial_cli.c
View file

@ -24,9 +24,10 @@
#include <ctype.h> #include <ctype.h>
#include "platform.h" #include "platform.h"
#include "scheduler.h"
#include "version.h" #include "version.h"
#include "scheduler/scheduler.h"
#include "build_config.h" #include "build_config.h"
#include "common/axis.h" #include "common/axis.h"

3
src/main/io/serial_msp.c
View file

@ -24,7 +24,8 @@
#include "build_config.h" #include "build_config.h"
#include "debug.h" #include "debug.h"
#include "platform.h" #include "platform.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/color.h" #include "common/color.h"

3
src/main/main.c
View file

@ -21,7 +21,8 @@
#include <string.h> #include <string.h>
#include "platform.h" #include "platform.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/color.h" #include "common/color.h"

3
src/main/mw.c
View file

@ -21,9 +21,10 @@
#include <math.h> #include <math.h>
#include "platform.h" #include "platform.h"
#include "scheduler.h"
#include "debug.h" #include "debug.h"
#include "scheduler/scheduler.h"
#include "common/maths.h" #include "common/maths.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/color.h" #include "common/color.h"

2
src/main/scheduler.c → src/main/scheduler/scheduler.c
View file

@ -162,7 +162,7 @@ void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
{ {
if (taskId == TASK_SELF || taskId < TASK_COUNT) { if (taskId == TASK_SELF || taskId < TASK_COUNT) {
cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId]; cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
task->desiredPeriod = MAX(100, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging task->desiredPeriod = MAX((uint32_t)100, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging
} }
} }

0
src/main/scheduler.h → src/main/scheduler/scheduler.h
View file

0
src/main/scheduler_tasks.c → src/main/scheduler/scheduler_tasks.c
View file

3
src/main/sensors/barometer.c
View file

@ -20,7 +20,8 @@
#include <math.h> #include <math.h>
#include "platform.h" #include "platform.h"
#include "scheduler.h"
#include "scheduler/scheduler.h"
#include "common/maths.h" #include "common/maths.h"