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Small save commit for temporary branch change. Added some task
definitions.
This commit is contained in:
Jonas Holmberg 2016-09-19 13:24:48 +02:00
parent 8181a13122
commit 7d00a65cd5
5 changed files with 93 additions and 34 deletions
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14
UAV-ControlSystem/inc/Scheduler/scheduler.h
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@ -13,18 +13,18 @@
#include <stdint.h>
#include <stdbool.h>
#include "stm32f4xx_revo.h"
/* Enum containing all the possible task priorities */
typedef enum
{
IDLE = 0,
LOW,
MEDIUM,
HIGH,
REALTIME,
MAX_PRIORITY = 255
PRIORITY_IDLE = 0,
PRIORITY_LOW,
PRIORITY_MEDIUM,
PRIORITY_HIGH,
PRIORITY_REALTIME,
PRIORITY_MAX_PRIORITY = 255
} taskPriority_t;

3
UAV-ControlSystem/inc/Scheduler/tasks.h
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@ -11,12 +11,15 @@
#ifndef SCHEDULER_TASKS_H_
#define SCHEDULER_TASKS_H_
#include <stdint.h>
//All the task functions in the system, one for each task
void systemTaskSystem(void);
void systemTaskGyroPid(void);
void systemTaskAccelerometer(void);
void systemTaskAttitude(void);
void systemTaskRx(void);
bool systemTaskRxCheck(uint32_t currentDeltaTime);
void systemTaskSerial(void);
void systemTaskBattery(void);
void systemTaskBaro(void);

12
UAV-ControlSystem/inc/stm32f4xx_revo.h
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@ -92,12 +92,24 @@
/* Baro */
//#define BARO
/* Compass */
//#define COMPASS
/* GPS */
//#define GPS
/* Sonar */
//#define SONAR
/* Beeper */
//#define BEEPER
/* Define all the moter of the system, servos + extra */

5
UAV-ControlSystem/src/Scheduler/scheduler.c
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@ -8,8 +8,9 @@
* -------- ---- ----------- *
***************************************************************************/
#include "Scheduler/scheduler.h"
#include "stm32f4xx_revo.h"
#include "Scheduler/scheduler.h"
#include "Scheduler/tasks.h"
//Todo: change for several instances where 0 is used as null to the define value NULL
@ -252,7 +253,7 @@ void scheduler(void)
bool changeTask = false; //flag used to check if the task should be updated
/* If a realtime task is found the bool isRealTime will be set to true
* meaning no other tasks than realtime will be able to enter the function */
if (taskToRun->staticPriority == REALTIME) //if it is a realtime task
if (taskToRun->staticPriority == PRIORITY_REALTIME) //if it is a realtime task
{
isRealTime = true; //toggle this flag so that no non realtime task can be selected this cycle

93
UAV-ControlSystem/src/Scheduler/tasks.c
View File

@ -11,86 +11,129 @@
#include "Scheduler/tasks.h"
#include "Scheduler/scheduler.h"
#define GetUpdateRateHz(x) (1000000 / x) //x is the desired hz value given in micro seconds
//initiate the values for all the tasks
//This information needs to be changed when functionality and setting for the tasks needs to be changed
// - Note: desiredPeriod is given in micro seconds, writing for example (1000000 / 10) means 10 hz rate
task_t SystemTasks[TASK_COUNT] =
{
[TASK_SYSTEM] =
{
.taskName = "SYSTEM",
.taskFunction = systemTaskSystem,
.desiredPeriod = GetUpdateRateHz(10), //10 hz update rate (100 ms)
.staticPriority = PRIORITY_HIGH,
},
[TASK_GYROPID] =
{
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunction = systemTaskGyroPid,
.desiredPeriod = GetUpdateRateHz(1000), //1000 hz update rate (1 ms)
.staticPriority = PRIORITY_REALTIME,
},
[TASK_ACCELEROMETER] =
{
.taskName = "ACCELEROMTER",
.taskFunction = systemTaskAccelerometer,
.desiredPeriod = GetUpdateRateHz(1000), //1000 hz update rate (1 ms)
.staticPriority = PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] =
{
.taskName = "ATTITUDE",
.taskFunction = systemTaskAttitude,
.desiredPeriod = GetUpdateRateHz(100), //100 hz update rate (10 ms)
.staticPriority = PRIORITY_MEDIUM,
},
[TASK_RX] =
{
.taskName = "RX",
.taskFunction = systemTaskRx, //Event handler function, will check if a message is obtainable
.checkEventTriggered = systemTaskRxCheck,
.desiredPeriod = GetUpdateRateHz(50), //Standard scheduling should not be used if event based, used as fail safe
.staticPriority = PRIORITY_HIGH,
},
[TASK_SERIAL] =
{
.taskName = "SERIAL",
.taskFunction = systemTaskSerial,
.desiredPeriod = GetUpdateRateHz(100), //100 hz update rate (10 ms)
.staticPriority = PRIORITY_LOW,
},
[TASK_BATTERY] =
{
.taskName = "BATTERY",
.taskFunction = systemTaskBattery,
.desiredPeriod = GetUpdateRateHz(50),
.staticPriority = PRIORITY_MEDIUM,
},
#ifdef BARO
[TASK_BARO] =
{
.taskName = "BAROMETER",
.taskFunction = systemTaskBaro,
.desiredPeriod = GetUpdateRateHz(20),
.staticPriority = PRIORITY_LOW,
},
#endif
#ifdef COMPASS
[TASK_COMPASS] =
{
.taskName = "COMPASS",
.taskFunction = systemTaskCompass,
.desiredPeriod = GetUpdateRateHz(10),
.staticPriority = PRIORITY_LOW,
},
#endif
#ifdef GPS
[TASK_GPS] =
{
},
[TASK_GPS] =
{
.taskName = "GPS",
.taskFunction = systemTaskGps,
.desiredPeriod = GetUpdateRateHz(10),
.staticPriority = PRIORITY_MEDIUM,
},
#endif
#ifdef SONAR
[TASK_SONAR] =
{
},
[TASK_SONAR] =
{
.taskName = "SONAR",
.taskFunction = systemTaskSonar,
.desiredPeriod = GetUpdateRateHz(20),
.staticPriority = PRIORITY_LOW,
},
#endif
#if defined(BARO) || defined(SONAR)
[TASK_ALTITUDE] =
{
},
[TASK_ALTITUDE] =
{
.taskName = "ALTITUDE",
.taskFunction = systemTaskAltitude,
.desiredPeriod = GetUpdateRateHz(40),
.staticPriority = PRIORITY_LOW,
},
#endif
#if BEEPER
[TASK_BEEPER] =
{
},
[TASK_BEEPER] =
{
.taskName = "BEEPER",
.taskFunction = systemTaskBeeper,
.desiredPeriod = GetUpdateRateHz(100),
.staticPriority = PRIORITY_LOW,
},
#endif