src/main/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 //#define SCHEDULER_DEBUG
  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_HIGH = 5,
  27     TASK_PRIORITY_REALTIME = 6,
  28     TASK_PRIORITY_MAX = 255
  29 } cfTaskPriority_e;
  30
  31 typedef struct {
  32     const char * taskName;
  33     bool         isEnabled;
  34     uint32_t     desiredPeriod;
  35     uint8_t      staticPriority;
  36     uint32_t     maxExecutionTime;
  37     uint32_t     totalExecutionTime;
  38     uint32_t     averageExecutionTime;
  39 } cfTaskInfo_t;
  40
  41 typedef enum {
  42     /* Actual tasks */
  43     TASK_SYSTEM = 0,
  44     TASK_GYROPID,
  45     TASK_SERIAL,
  46     TASK_BEEPER,
  47     TASK_BATTERY,
  48     TASK_RX,
  49 #ifdef GPS
  50     TASK_GPS,
  51 #endif
  52 #ifdef MAG
  53     TASK_COMPASS,
  54 #endif
  55 #ifdef BARO
  56     TASK_BARO,
  57 #endif
  58 #ifdef SONAR
  59     TASK_SONAR,
  60 #endif
  61 #ifdef DISPLAY
  62     TASK_DISPLAY,
  63 #endif
  64 #ifdef TELEMETRY
  65     TASK_TELEMETRY,
  66 #endif
  67 #ifdef LED_STRIP
  68     TASK_LEDSTRIP,
  69 #endif
  70
  71     /* Count of real tasks */
  72     TASK_COUNT,
  73
  74     /* Service task IDs */
  75     TASK_NONE = TASK_COUNT,
  76     TASK_SELF
  77 } cfTaskId_e;
  78
  79 typedef struct {
  80     /* Configuration */
  81     const char * taskName;
  82     bool (*checkFunc)(uint32_t currentDeltaTime);
  83     void (*taskFunc)(void);
  84     bool isEnabled;
  85     uint32_t desiredPeriod;     // target period of execution
  86     uint8_t staticPriority;     // dynamicPriority grows in steps of this size, shouldn't be zero
  87
  88     /* Scheduling */
  89     uint8_t dynamicPriority;    // measurement of how old task was last executed, used to avoid task starvation
  90     uint32_t lastExecutedAt;    // last time of invocation
  91     uint32_t lastSignaledAt;    // time of invocation event for event-driven tasks
  92     uint16_t taskAgeCycles;
  93
  94     /* Statistics */
  95     uint32_t averageExecutionTime;  // Moving averate over 6 samples, used to calculate guard interval
  96     uint32_t taskLatestDeltaTime;   //
  97 #ifndef SKIP_TASK_STATISTICS
  98     uint32_t maxExecutionTime;
  99     uint32_t totalExecutionTime;    // total time consumed by task since boot
 100 #endif
 101 } cfTask_t;
 102
 103 extern cfTask_t cfTasks[TASK_COUNT];
 104 extern uint16_t cpuLoad;
 105 extern uint16_t averageSystemLoadPercent;
 106
 107 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
 108 void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);
 109 void setTaskEnabled(cfTaskId_e taskId, bool newEnabledState);
 110 uint32_t getTaskDeltaTime(cfTaskId_e taskId);
 111
 112 void scheduler(void);
 113
 114 #define isSystemOverloaded() (averageSystemLoadPercent >= 100)