src/main/scheduler/scheduler.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/time.h"
  24 #include "config/config.h"
  25 #include "pg/scheduler.h"
  26
  27 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
  28 #define TASK_PERIOD_MS(ms) ((ms) * 1000)
  29 #define TASK_PERIOD_US(us) (us)
  30
  31 #define TASK_STATS_MOVING_SUM_COUNT     8
  32
  33 #define LOAD_PERCENTAGE_ONE             100
  34
  35 #define SCHED_TASK_DEFER_MASK           0x07 // Scheduler loop count is masked with this and when 0 long running tasks are processed
  36
  37 #define SCHED_START_LOOP_MIN_US         1   // Wait at start of scheduler loop if gyroTask is nearly due
  38 #define SCHED_START_LOOP_MAX_US         12
  39 #define SCHED_START_LOOP_DOWN_STEP      50  // Fraction of a us to reduce start loop wait
  40 #define SCHED_START_LOOP_UP_STEP        1   // Fraction of a us to increase start loop wait
  41
  42 #define TASK_GUARD_MARGIN_MIN_US        3   // Add an amount to the estimate of a task duration
  43 #define TASK_GUARD_MARGIN_MAX_US        6
  44 #define TASK_GUARD_MARGIN_DOWN_STEP     50  // Fraction of a us to reduce task guard margin
  45 #define TASK_GUARD_MARGIN_UP_STEP       1   // Fraction of a us to increase task guard margin
  46
  47 #define CHECK_GUARD_MARGIN_US           2   // Add a margin to the amount of time allowed for a check function to run
  48
  49 // Some tasks have occasional peaks in execution time so normal moving average duration estimation doesn't work
  50 // Decay the estimated max task duration by 1/(1 << TASK_EXEC_TIME_SHIFT) on every invocation
  51 #define TASK_EXEC_TIME_SHIFT            7
  52
  53 #define TASK_AGE_EXPEDITE_RX            schedulerConfig()->rxRelaxDeterminism  // Make RX tasks more schedulable if it's failed to be scheduled this many times
  54 #define TASK_AGE_EXPEDITE_OSD           schedulerConfig()->osdRelaxDeterminism  // Make OSD tasks more schedulable if it's failed to be scheduled this many times
  55 #define TASK_AGE_EXPEDITE_COUNT         1   // Make aged tasks more schedulable
  56 #define TASK_AGE_EXPEDITE_SCALE         0.9 // By scaling their expected execution time
  57
  58 // Gyro interrupt counts over which to measure loop time and skew
  59 #define GYRO_RATE_COUNT 25000
  60 #define GYRO_LOCK_COUNT 50
  61
  62 typedef enum {
  63     TASK_PRIORITY_REALTIME = -1, // Task will be run outside the scheduler logic
  64     TASK_PRIORITY_LOWEST = 1,
  65     TASK_PRIORITY_LOW = 2,
  66     TASK_PRIORITY_MEDIUM = 3,
  67     TASK_PRIORITY_MEDIUM_HIGH = 4,
  68     TASK_PRIORITY_HIGH = 5,
  69     TASK_PRIORITY_MAX = 255
  70 } taskPriority_e;
  71
  72 typedef struct {
  73     timeUs_t     maxExecutionTimeUs;
  74     timeUs_t     totalExecutionTimeUs;
  75     timeUs_t     averageExecutionTimeUs;
  76     timeUs_t     averageDeltaTimeUs;
  77 } cfCheckFuncInfo_t;
  78
  79 typedef struct {
  80     const char * taskName;
  81     const char * subTaskName;
  82     bool         isEnabled;
  83     int8_t       staticPriority;
  84     timeDelta_t  desiredPeriodUs;
  85     timeDelta_t  latestDeltaTimeUs;
  86     timeUs_t     maxExecutionTimeUs;
  87     timeUs_t     totalExecutionTimeUs;
  88     timeUs_t     averageExecutionTime10thUs;
  89     timeUs_t     averageDeltaTime10thUs;
  90     float        movingAverageCycleTimeUs;
  91 #if defined(USE_LATE_TASK_STATISTICS)
  92     uint32_t     runCount;
  93     uint32_t     lateCount;
  94     timeUs_t     execTime;
  95 #endif
  96 } taskInfo_t;
  97
  98 typedef enum {
  99     /* Actual tasks */
 100     TASK_SYSTEM = 0,
 101     TASK_MAIN,
 102     TASK_GYRO,
 103     TASK_FILTER,
 104     TASK_PID,
 105     TASK_ACCEL,
 106     TASK_ATTITUDE,
 107     TASK_RX,
 108     TASK_SERIAL,
 109     TASK_DISPATCH,
 110     TASK_BATTERY_VOLTAGE,
 111     TASK_BATTERY_CURRENT,
 112     TASK_BATTERY_ALERTS,
 113 #ifdef USE_BEEPER
 114     TASK_BEEPER,
 115 #endif
 116 #ifdef USE_GPS
 117     TASK_GPS,
 118 #endif
 119 #ifdef USE_GPS_RESCUE
 120     TASK_GPS_RESCUE,
 121 #endif
 122 #ifdef USE_MAG
 123     TASK_COMPASS,
 124 #endif
 125 #ifdef USE_BARO
 126     TASK_BARO,
 127 #endif
 128 #ifdef USE_RANGEFINDER
 129     TASK_RANGEFINDER,
 130 #endif
 131 #if defined(USE_BARO) || defined(USE_GPS)
 132     TASK_ALTITUDE,
 133 #endif
 134 #ifdef USE_DASHBOARD
 135     TASK_DASHBOARD,
 136 #endif
 137 #ifdef USE_TELEMETRY
 138     TASK_TELEMETRY,
 139 #endif
 140 #ifdef USE_LED_STRIP
 141     TASK_LEDSTRIP,
 142 #endif
 143 #ifdef USE_TRANSPONDER
 144     TASK_TRANSPONDER,
 145 #endif
 146 #ifdef USE_STACK_CHECK
 147     TASK_STACK_CHECK,
 148 #endif
 149 #ifdef USE_OSD
 150     TASK_OSD,
 151 #endif
 152 #ifdef USE_BST
 153     TASK_BST_MASTER_PROCESS,
 154 #endif
 155 #ifdef USE_ESC_SENSOR
 156     TASK_ESC_SENSOR,
 157 #endif
 158 #ifdef USE_CMS
 159     TASK_CMS,
 160 #endif
 161 #ifdef USE_VTX_CONTROL
 162     TASK_VTXCTRL,
 163 #endif
 164 #ifdef USE_CAMERA_CONTROL
 165     TASK_CAMCTRL,
 166 #endif
 167 #ifdef USE_RCDEVICE
 168     TASK_RCDEVICE,
 169 #endif
 170 #ifdef USE_ADC_INTERNAL
 171     TASK_ADC_INTERNAL,
 172 #endif
 173 #ifdef USE_PINIOBOX
 174     TASK_PINIOBOX,
 175 #endif
 176 #ifdef USE_CRSF_V3
 177     TASK_SPEED_NEGOTIATION,
 178 #endif
 179
 180     /* Count of real tasks */
 181     TASK_COUNT,
 182
 183     /* Service task IDs */
 184     TASK_NONE = TASK_COUNT,
 185     TASK_SELF
 186 } taskId_e;
 187
 188 typedef struct {
 189     // Configuration
 190     const char * taskName;
 191     const char * subTaskName;
 192     bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
 193     void (*taskFunc)(timeUs_t currentTimeUs);
 194     timeDelta_t desiredPeriodUs;        // target period of execution
 195     const int8_t staticPriority;        // dynamicPriority grows in steps of this size
 196 } task_attribute_t;
 197
 198 typedef struct {
 199     // Task static data
 200     task_attribute_t *attribute;
 201
 202     // Scheduling
 203     uint16_t dynamicPriority;           // measurement of how old task was last executed, used to avoid task starvation
 204     uint16_t taskAgePeriods;
 205     timeDelta_t taskLatestDeltaTimeUs;
 206     timeUs_t lastExecutedAtUs;          // last time of invocation
 207     timeUs_t lastSignaledAtUs;          // time of invocation event for event-driven tasks
 208     timeUs_t lastDesiredAt;             // time of last desired execution
 209
 210     // Statistics
 211     float    movingAverageCycleTimeUs;
 212     timeUs_t anticipatedExecutionTime;  // Fixed point expectation of next execution time
 213     timeUs_t movingSumDeltaTime10thUs;  // moving sum over 64 samples
 214     timeUs_t movingSumExecutionTime10thUs;
 215     timeUs_t maxExecutionTimeUs;
 216     timeUs_t totalExecutionTimeUs;      // total time consumed by task since boot
 217     timeUs_t lastStatsAtUs;             // time of last stats gathering for rate calculation
 218 #if defined(USE_LATE_TASK_STATISTICS)
 219     uint32_t runCount;
 220     uint32_t lateCount;
 221     timeUs_t execTime;
 222 #endif
 223 } task_t;
 224
 225 void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
 226 void getTaskInfo(taskId_e taskId, taskInfo_t *taskInfo);
 227 void rescheduleTask(taskId_e taskId, timeDelta_t newPeriodUs);
 228 void setTaskEnabled(taskId_e taskId, bool newEnabledState);
 229 timeDelta_t getTaskDeltaTimeUs(taskId_e taskId);
 230 void schedulerIgnoreTaskStateTime();
 231 void schedulerIgnoreTaskExecRate();
 232 void schedulerIgnoreTaskExecTime();
 233 bool schedulerGetIgnoreTaskExecTime();
 234 void schedulerResetTaskStatistics(taskId_e taskId);
 235 void schedulerResetTaskMaxExecutionTime(taskId_e taskId);
 236 void schedulerResetCheckFunctionMaxExecutionTime(void);
 237 void schedulerSetNextStateTime(timeDelta_t nextStateTime);
 238 timeDelta_t schedulerGetNextStateTime(void);
 239 void schedulerInit(void);
 240 void scheduler(void);
 241 timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTimeUs);
 242 void taskSystemLoad(timeUs_t currentTimeUs);
 243 void schedulerEnableGyro(void);
 244 uint16_t getAverageSystemLoadPercent(void);
 245 float schedulerGetCycleTimeMultiplier(void);