Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-23 00:05:28 +03:00
Code Issues Wiki Activity

Cooperative task scheduler

Browse source 
Improved scheduling. Calculation of average tasks waiting. MSP_STATUS_EX message

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

Compile out CLI command help and CLI tasks command for CJMCU

Gyro sync busy-waiting implementation. Kudos to @borisbstyle for initial implementation
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-19 16:50:23 +10:00
parent cddc0edafc
commit c81be6e687
18 changed files with 881 additions and 293 deletions
Download patch file Download diff file Expand all files Collapse all files

30
src/main/io/serial_cli.c
View file

@ -24,6 +24,7 @@
#include <ctype.h>
#include "platform.h"
#include "scheduler.h"
#include "version.h"
#include "build_config.h"
@ -120,6 +121,9 @@ static void cliServoMix(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline);
#endif
static void cliVersion(char *cmdline);
static void cliRxRange(char *cmdline);
static void cliPFlags(char *cmdline);
@ -289,6 +293,9 @@ const clicmd_t cmdTable[] = {
"\treverse <servo> <source> r|n", cliServoMix),
#endif
CLI_COMMAND_DEF("status", "show status", NULL, cliStatus),
#ifndef SKIP_TASK_STATISTICS
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
};
#define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
@ -2363,9 +2370,8 @@ static void cliStatus(char *cmdline)
{
UNUSED(cmdline);
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s)\r\n",
millis() / 1000, vbat, batteryCellCount, getBatteryStateString());
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery - %s), System load: %d.%02d\r\n",
millis() / 1000, vbat, batteryCellCount, getBatteryStateString(), averageSystemLoadPercent / 100, averageSystemLoadPercent % 100);
printf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
@ -2404,6 +2410,24 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
#ifndef SKIP_TASK_STATISTICS
static void cliTasks(char *cmdline)
{
UNUSED(cmdline);
cfTaskId_e taskId;
cfTaskInfo_t taskInfo;
printf("Task list:\r\n");
for (taskId = 0; taskId < TASK_COUNT; taskId++) {
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
printf("%d - %s, max = %d us, avg = %d us, total = %d ms\r\n", taskId, taskInfo.taskName, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskInfo.totalExecutionTime / 1000);
}
}
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);