philip/MDH-UAV-Control-System
Archived
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Just little

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
UAV-ControlSystem/src/Scheduler/scheduler.c
View File

@ -202,10 +202,12 @@ void scheduler(void)
* needs to be looked into and solved otherwise no time can be gotten */
currentTime = micros();
task_t * taskToRun;
uint32_t currentDynamicPriority = 0;
task_t * selectedTask;
uint16_t currentDynamicPriority = 0;
uint32_t currentReadyTasks = 0;
float currentAgeCyckleExact = 0;
float ageCycleExact = 0;
bool isRealTime = false;
/* 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 */
@ -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(taskToRun->dynamicPriority > currentDynamicPriority)
if(taskToRun->dynamicPriority >= currentDynamicPriority)
{
}
else if(taskToRun->dynamicPriority == currentDynamicPriority) //The comparing tasks have the same priority
{
//if the tasks have the same priority check who is closest to its deadline and run that one
if (ageCycleExact > currentAgeCyckleExact)
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 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 */
//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;
/*##-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;