philip/MDH-UAV-Control-System
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Added additional things in the scheduler

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The tasks should now be able to be added to the ready queue when the
schedual init.
This commit is contained in:
Jonas Holmberg 2016-09-20 15:42:05 +02:00
parent 7d00a65cd5
commit db9ec94330
2 changed files with 85 additions and 4 deletions
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6
UAV-ControlSystem/inc/Scheduler/scheduler.h
View File

@ -138,7 +138,11 @@ void scheduler(void);
**************************************************************************/ **************************************************************************/
void initScheduler(void); void initScheduler(void);
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void initSchedulerTasks(void);
#endif /* SCHEDULER_H_ */ #endif /* SCHEDULER_H_ */

83
UAV-ControlSystem/src/Scheduler/scheduler.c
View File

@ -43,6 +43,7 @@ void taskReadyQueueClear(void)
taskReadyQueueSize = 0; taskReadyQueueSize = 0;
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -61,6 +62,7 @@ bool taskReadyQueueContains(task_t *task)
return false; return false;
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -123,6 +125,7 @@ bool taskReadyQueueAdd(task_t *task)
return false; return false;
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -158,6 +161,7 @@ void enableTask(taskId_t taskId, bool enabled)
} }
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -172,15 +176,68 @@ uint32_t getTaskDeltaTime(taskId_t taskId)
} }
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
**************************************************************************/ **************************************************************************/
void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros) void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros)
{ {
//ToDo: add implementation if necessary if (taskId == TASK_SELF || taskId < TASK_COUNT)
{
task_t *task = taskId == TASK_SELF ? currentTask : &SystemTasks[taskId];
task->desiredPeriod = MAX(100, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging
}
} }
/**************************************************************************
* BRIEF: *
* INFORMATION: *
**************************************************************************/
void initSchedulerTasks(void)
{
//Enable the tasks in the system
enableTask(TASK_SYSTEM, true);
enableTask(TASK_GYROPID, true);
enableTask(TASK_ACCELEROMETER, true);
enableTask(TASK_ATTITUDE, true);
enableTask(TASK_RX, true);
enableTask(TASK_SERIAL, true);
enableTask(TASK_BATTERY, true);
#ifdef BARO
enableTask(TASK_BARO, true);
#endif
#ifdef COMPASS
enableTask(TASK_COMPASS, true);
#endif
#ifdef GPS
enableTask(TASK_GPS, true);
#endif
#ifdef SONAR
enableTask(TASK_SONAR, true);
#endif
#if defined(BARO) || defined(SONAR)
enableTask(TASK_ALTITUDE, true);
#endif
#if BEEPER
enableTask(TASK_BEEPER, true);
#endif
}
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -193,10 +250,11 @@ void initScheduler(void)
//Clear the queue //Clear the queue
taskReadyQueueClear(); taskReadyQueueClear();
//add the basic system task //Init all the
taskReadyQueueAdd(&SystemTasks[TASK_SYSTEM]); initSchedulerTasks();
} }
/************************************************************************** /**************************************************************************
* BRIEF: * * BRIEF: *
* INFORMATION: * * INFORMATION: *
@ -226,6 +284,25 @@ void scheduler(void)
if (taskToRun->checkEventTriggered != NULL) if (taskToRun->checkEventTriggered != NULL)
{ {
//ToDO: Handle event tasks, they should get to operate at a higher priority //ToDO: Handle event tasks, they should get to operate at a higher priority
//ToDo: test if it works
if (taskToRun->dynamicPriority > 0)
{
taskToRun->taskAgeCycle = 1 + ((currentTime - taskToRun->lastSignaledAt) / taskToRun->desiredPeriod);
taskToRun->dynamicPriority = 1 + taskToRun->staticPriority * taskToRun->taskAgeCycle;
currentReadyTasks++;
}
else if (taskToRun->checkEventTriggered(currentTime - taskToRun->lastExecutedAt))
{
taskToRun->lastSignaledAt = currentTime;
taskToRun->taskAgeCycle = 1;
taskToRun->dynamicPriority = 1 + taskToRun->staticPriority;
currentReadyTasks++;
}
else
{
taskToRun->taskAgeCycle = 0;
}
} }
else //Handle time controlled tasks else //Handle time controlled tasks