src/main/scheduler/scheduler.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "common/time.h"
  21
  22 typedef enum {
  23     TASK_PRIORITY_IDLE = 0,     // Disables dynamic scheduling, task is executed only if no other task is active this cycle
  24     TASK_PRIORITY_LOW = 1,
  25     TASK_PRIORITY_MEDIUM = 3,
  26     TASK_PRIORITY_MEDIUM_HIGH = 4,
  27     TASK_PRIORITY_HIGH = 5,
  28     TASK_PRIORITY_REALTIME = 18,
  29     TASK_PRIORITY_MAX = 255
  30 } cfTaskPriority_e;
  31
  32 typedef struct {
  33     timeUs_t     maxExecutionTime;
  34     timeUs_t     totalExecutionTime;
  35     timeUs_t     averageExecutionTime;
  36 } cfCheckFuncInfo_t;
  37
  38 typedef struct {
  39     const char * taskName;
  40     bool         isEnabled;
  41     uint8_t      staticPriority;
  42     timeDelta_t     desiredPeriod;
  43     timeUs_t     maxExecutionTime;
  44     timeUs_t     totalExecutionTime;
  45     timeUs_t     averageExecutionTime;
  46     timeDelta_t     latestDeltaTime;
  47 } cfTaskInfo_t;
  48
  49 typedef enum {
  50     /* Actual tasks */
  51     TASK_SYSTEM = 0,
  52     TASK_PID,
  53     TASK_GYRO,
  54     TASK_RX,
  55     TASK_SERIAL,
  56     TASK_BATTERY,
  57     TASK_TEMPERATURE,
  58 #if defined(BEEPER) || defined(USE_DSHOT)
  59     TASK_BEEPER,
  60 #endif
  61 #ifdef USE_LIGHTS
  62     TASK_LIGHTS,
  63 #endif
  64 #ifdef USE_GPS
  65     TASK_GPS,
  66 #endif
  67 #ifdef USE_MAG
  68     TASK_COMPASS,
  69 #endif
  70 #ifdef USE_BARO
  71     TASK_BARO,
  72 #endif
  73 #ifdef USE_ADSB
  74     TASK_ADSB,
  75 #endif
  76 #ifdef USE_PITOT
  77     TASK_PITOT,
  78 #endif
  79 #ifdef USE_RANGEFINDER
  80     TASK_RANGEFINDER,
  81 #endif
  82 #ifdef USE_DASHBOARD
  83     TASK_DASHBOARD,
  84 #endif
  85 #ifdef USE_TELEMETRY
  86     TASK_TELEMETRY,
  87 #endif
  88 #ifdef USE_LED_STRIP
  89     TASK_LEDSTRIP,
  90 #endif
  91 #if defined(USE_SERVO_SBUS)
  92     TASK_PWMDRIVER,
  93 #endif
  94 #ifdef STACK_CHECK
  95     TASK_STACK_CHECK,
  96 #endif
  97 #ifdef USE_OSD
  98     TASK_OSD,
  99 #endif
 100 #ifdef USE_CMS
 101     TASK_CMS,
 102 #endif
 103 #ifdef USE_OPFLOW
 104     TASK_OPFLOW,
 105 #endif
 106 #ifdef USE_RCDEVICE
 107     TASK_RCDEVICE,
 108 #endif
 109 #ifdef USE_VTX_CONTROL
 110     TASK_VTXCTRL,
 111 #endif
 112 #ifdef USE_PROGRAMMING_FRAMEWORK
 113     TASK_PROGRAMMING_FRAMEWORK,
 114 #endif
 115 #ifdef USE_RPM_FILTER
 116     TASK_RPM_FILTER,
 117 #endif
 118     TASK_AUX,
 119 #if defined(USE_SMARTPORT_MASTER)
 120     TASK_SMARTPORT_MASTER,
 121 #endif
 122 #ifdef USE_IRLOCK
 123     TASK_IRLOCK,
 124 #endif
 125 #ifdef USE_ADAPTIVE_FILTER
 126     TASK_ADAPTIVE_FILTER,
 127 #endif
 128 #ifdef USE_SERIAL_GIMBAL
 129     TASK_GIMBAL,
 130 #endif
 131
 132 #ifdef USE_HEADTRACKER
 133     TASK_HEADTRACKER,
 134 #endif
 135
 136 #if defined(USE_TELEMETRY) && defined(USE_TELEMETRY_SBUS2)
 137     TASK_TELEMETRY_SBUS2,
 138 #endif
 139
 140     /* Count of real tasks */
 141     TASK_COUNT,
 142
 143     /* Service task IDs */
 144     TASK_NONE = TASK_COUNT,
 145     TASK_SELF
 146 } cfTaskId_e;
 147
 148 typedef struct {
 149     /* Configuration */
 150     const char * taskName;
 151     bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
 152     void (*taskFunc)(timeUs_t currentTimeUs);
 153     timeDelta_t desiredPeriod;         // target period of execution
 154     const uint8_t staticPriority;   // dynamicPriority grows in steps of this size, shouldn't be zero
 155
 156     /* Scheduling */
 157     uint16_t dynamicPriority;       // measurement of how old task was last executed, used to avoid task starvation
 158     uint16_t taskAgeCycles;
 159     timeUs_t lastExecutedAt;        // last time of invocation
 160     timeUs_t lastSignaledAt;        // time of invocation event for event-driven tasks
 161     timeDelta_t taskLatestDeltaTime;
 162
 163     /* Statistics */
 164     timeUs_t movingSumExecutionTime;  // moving sum over 32 samples
 165     timeUs_t maxExecutionTime;
 166     timeUs_t totalExecutionTime;    // total time consumed by task since boot
 167 } cfTask_t;
 168
 169 extern cfTask_t cfTasks[TASK_COUNT];
 170 extern uint16_t averageSystemLoadPercent;
 171
 172 void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
 173 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t *taskInfo);
 174 void rescheduleTask(cfTaskId_e taskId, timeDelta_t newPeriodUs);
 175 void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
 176 timeDelta_t getTaskDeltaTime(cfTaskId_e taskId);
 177 void schedulerResetTaskStatistics(cfTaskId_e taskId);
 178
 179 void schedulerInit(void);
 180 void scheduler(void);
 181 void taskSystem(timeUs_t currentTimeUs);
 182 void taskRunRealtimeCallbacks(timeUs_t currentTimeUs);
 183
 184 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
 185 #define TASK_PERIOD_MS(ms) ((ms) * 1000)
 186 #define TASK_PERIOD_US(us) (us)
 187
 188 #define isSystemOverloaded() (averageSystemLoadPercent >= 100)