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Added all the files for scheduler and some code

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Some code and structure for the scheduler.
This commit is contained in:
Jonas Holmberg 2016-09-13 13:57:33 +02:00
parent 0d3b585625
commit a70c874cca
5 changed files with 251 additions and 21 deletions
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105
UAV-ControlSystem/inc/Scheduler/scheduler.h
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@ -11,8 +11,11 @@
#ifndef SCHEDULER_H_
#define SCHEDULER_H_
#include <stdint.h>
#include <stdbool.h>
/* Enum containing all the possible task priorities */
typedef enum
{
@ -24,12 +27,110 @@ typedef enum
MAX_PRIORITY = 255
} taskPriority_t;
/* Struct used to contain the information for each task */
typedef struct
{
const char * taskName; /* Name of the task */
const char * subTaskName; /*Needed?*/
/* Basic task information */
const char * taskName; /* Name of the task */
const char * subTaskName; /*Needed?*/
bool (*checkEventTriggered)(uint32_t currentDeltaTime); /* Function pointer to event trigger check, if used no standard scheduling */
void (*taskFunction)(void); /* Pointer to the function that should be called to run the task */
uint32_t desiredPeriod; /* The period the task wants to run in */
const uint8_t staticPriority; /* Value used to increment the dynamic priority */
/* Scheduling variables */
uint16_t dynamicPriority; /* Priority increases the longer the task have been idle, increased by staticPriority value */
uint16_t taskAgeCycle; /* Helps to keep track of the "periods" for the task */
uint32_t lastExecutedAt; /* last time of invocation */
uint32_t lastSignaledAt; /* time of invocation event for event-driven tasks */
/* ToDo: potential statistic values of the task */
}task_t;
/* Task counter, ToDo: If more tasks are needed add them here first, defines are used to make sure the task is somewhere in the system */
/* Important: If a new define for a task is added here it MUST be added in the tasks.c */
typedef enum
{
/* All the tasks that will be in the system, some are separated by IfDef */
TASK_SYSTEM = 0,
TASK_GYROPID,
TASK_ACCELEROMETER,
TASK_ATTITUDE,
TASK_RX,
TASK_SERIAL,
TASK_BATTERY,
#ifdef BARO
TASK_BARO,
#endif
#ifdef COMPASS
TASK_COMPASS,
#endif
#ifdef GPS
TASK_GPS,
#endif
#ifdef SONAR
TASK_SONAR,
#endif
#if defined(BARO) || defined(SONAR)
TASK_ALTITUDE,
#endif
#if BEEPER
TASK_BEEPER
#endif
/* Need to be the value directly after the tasks id. Keeps track of the count of the tasks */
TASK_COUNT,
/* Service task IDs */
TASK_NONE = TASK_COUNT,
TASK_SELF
}taskId_t;
/* Variables --------------------------------------------------------------------------------- */
/* Functions that operate can operate on the tasks ------------------------------------------- */
/**************************************************************************
* BRIEF: Enables or disables a specific task in the system *
* INFORMATION: Takes the id of the task(task_t) along with a true or *
* false value. If true the task will be added to the task queue, if false *
* it will be removed. *
**************************************************************************/
void enableTask(taskId_t taskId, bool enabled);
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
uint32_t getTaskDeltaTime(taskId_t taskId);
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros);
/* Functions that handle the scheduler ------------------------------------------------------- */
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void scheduler(void);
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void initScheduler(void);
#endif /* SCHEDULER_H_ */

15
UAV-ControlSystem/inc/Scheduler/tasks.h
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@ -1,9 +1,12 @@
/*
* tasks.h
*
* Created on: 12 sep. 2016
* Author: holmis
*/
/**************************************************************************
* NAME: tasks.h *
* PURPOSE: Defining the the scheduler to be used in the system to organize*
* the runtime for the tasks in the system based on priority. *
* INFORMATION: *
* GLOBAL VARIABLES: *
* Variable Type Description *
* -------- ---- ----------- *
***************************************************************************/
#ifndef SCHEDULER_TASKS_H_
#define SCHEDULER_TASKS_H_

132
UAV-ControlSystem/src/Scheduler/scheduler.c
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@ -1,8 +1,128 @@
/*
* scheduler.c
*
* Created on: 12 sep. 2016
* Author: holmis
*/
/**************************************************************************
* NAME: Scheduler.c *
* PURPOSE: Defining the the scheduler to be used in the system to organize*
* the runtime for the tasks in the system based on priority. *
* INFORMATION: *
* GLOBAL VARIABLES: *
* Variable Type Description *
* -------- ---- ----------- *
***************************************************************************/
#include "Scheduler/scheduler.h"
static uint32_t tasksReadyToRun;
uint32_t currentTime = 0;
uint16_t averageSystmeLoad = 0;
static int taskQueuePos = 0;
static int taskQueueSize = 0;
static task_t * taskReadyQueue[TASK_COUNT + 1]; /* Array holding all the tasks that are ready to run in the system */
/* Functions to operate on the task queue ------------------------------------------------------- */
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void taskReadyQueueClear(void)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
bool taskReadyQueueContains(task_t *task)
{
//Go through the taskReadyQueue to see if the current task is contained
for (int i = 0; i < taskQueueSize; i++)
{
if (taskReadyQueue[i] == task)
{
return true;
}
}
return false;
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
bool taskReadyQueueAdd(task_t *task)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
bool taskReadyQueueRemove(task_t *task)
{
}
/**************************************************************************
* BRIEF: Enables or disables a specific task in the system *
* INFORMATION: Takes the id of the task(task_t) along with a true or *
* false value. If true the task will be added to the task queue, if false *
* it will be removed. *
**************************************************************************/
void enableTask(taskId_t taskId, bool enabled)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
uint32_t getTaskDeltaTime(taskId_t taskId)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void initScheduler(void)
{
}
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void scheduler(void)
{
}

17
UAV-ControlSystem/src/Scheduler/tasks.c
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@ -1,8 +1,11 @@
/*
* tasks.c
*
* Created on: 12 sep. 2016
* Author: holmis
*/
/**************************************************************************
* NAME: tasks.c *
* PURPOSE: Defining the the scheduler to be used in the system to organize*
* the runtime for the tasks in the system based on priority. *
* INFORMATION: *
* GLOBAL VARIABLES: *
* Variable Type Description *
* -------- ---- ----------- *
***************************************************************************/
#include "Scheduler/tasks.h"

3
UAV-ControlSystem/src/main.c
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@ -10,6 +10,7 @@
#include "stm32f4xx.h"
#include "stm32f4xx_revo.h"
/* Private function prototypes -----------------------------------------------*/
static void SystemClock_Config(void);
@ -21,6 +22,7 @@ int main(void)
int i = 1;
TIM_Base_InitTypeDef t;
/* Configure the system clock to 100 MHz */
SystemClock_Config();
@ -35,6 +37,7 @@ int main(void)
gpinit.Pull = GPIO_PULLUP;
gpinit.Speed = GPIO_SPEED_FAST;
/*##-2- Configure PA05 IO in output push-pull mode to drive external LED ###*/
//GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6;
//GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;