philip/MDH-UAV-Control-System
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Just little

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just to change branch.
This commit is contained in:
Jonas Holmberg 2016-09-16 10:59:12 +02:00
parent 8eda8ba66d
commit f2c39aecec
2 changed files with 38 additions and 9 deletions
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46
UAV-ControlSystem/src/Scheduler/scheduler.c
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@ -202,10 +202,12 @@ void scheduler(void)
* needs to be looked into and solved otherwise no time can be gotten */ * needs to be looked into and solved otherwise no time can be gotten */
currentTime = micros(); currentTime = micros();
task_t * taskToRun; task_t * taskToRun;
uint32_t currentDynamicPriority = 0; task_t * selectedTask;
uint16_t currentDynamicPriority = 0;
uint32_t currentReadyTasks = 0; uint32_t currentReadyTasks = 0;
float currentAgeCyckleExact = 0; float currentAgeCyckleExact = 0;
float ageCycleExact = 0; float ageCycleExact = 0;
bool isRealTime = false;
/* Check if a task has entered a new period and assign its new dynamic priority */ /* Check if a task has entered a new period and assign its new dynamic priority */
/* Go through all the tasks to check if they should be able to run */ /* Go through all the tasks to check if they should be able to run */
@ -240,24 +242,50 @@ void scheduler(void)
} }
//If the current task has the largest dynamic priority so far it could be a candidate for execution //If the current task has the largest dynamic priority so far it could be a candidate for execution
if(taskToRun->dynamicPriority > currentDynamicPriority) if(taskToRun->dynamicPriority >= currentDynamicPriority)
{ {
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
else if(taskToRun->dynamicPriority == currentDynamicPriority) //The comparing tasks have the same priority * meaning no other tasks than realtime will be able to enter the function */
{ if (taskToRun->staticPriority == REALTIME) //if it is a realtime task
//if the tasks have the same priority check who is closest to its deadline and run that one
if (ageCycleExact > currentAgeCyckleExact)
{ {
//If the ageCycleExact is larger than the one of the current task we will change the priority of the one to run isRealTime = true; //toggle this flag so that no non realtime task can be selected this cycle
changeTask = true;
}
else if (!isRealTime) //If task is not realtime
{
if (taskToRun->dynamicPriority == currentDynamicPriority) //if the tasks have the same priority
{
if (ageCycleExact > currentAgeCyckleExact) //if the current tasks deadline is closer than selected task
{
changeTask = true;
currentAgeCyckleExact = ageCycleExact; //update the value
}
}
else
{
changeTask = true;
}
} }
if (changeTask == true) //if the task should change
{
selectedTask = taskToRun; //update the selected task
currentDynamicPriority = taskToRun->dynamicPriority; //update the current highest dynamic priority
}
} }
} /* for-loop end */ } /* for-loop end */
//Increase the
totalSchedulerReadyTasks += currentReadyTasks;
totalSchedulerPasses ++;
currentTask = selectedTask;
} }

1
UAV-ControlSystem/src/main.c
View File

@ -38,6 +38,7 @@ int main(void)
gpinit.Speed = GPIO_SPEED_FAST; gpinit.Speed = GPIO_SPEED_FAST;
/*##-2- Configure PA05 IO in output push-pull mode to drive external LED ###*/ /*##-2- Configure PA05 IO in output push-pull mode to drive external LED ###*/
//GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6; //GPIO_InitStruct.Pin = GPIO_PIN_5 | GPIO_PIN_6;
//GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; //GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;