fc5ca4330c
Added the and adjusted the final part to the scheduler. Added ability to add task functionality that will run. Updated main file to its intended state. Further added led functinality along with led warnings.
228 lines
8.3 KiB
C
228 lines
8.3 KiB
C
/**************************************************************************
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* NAME: scheduler.h *
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* *
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* AUTHOR: Jonas Holmberg *
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* *
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* PURPOSE: Defining the the scheduler to be used in the system to *
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* organize the runtime for the tasks in the system based on *
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* priority. *
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* INFORMATION: Many elements and ideas obtained from beta/cleanflight. *
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* *
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* GLOBAL VARIABLES: *
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* Variable Type Description *
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* -------- ---- ----------- *
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* SystemTasks task_t[] Contains all the tasks that can exist in *
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* the system right now *
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* *
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* averageSystem uint16_t The current load of the system in percent.*
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* LoadPercent May or may not display correctly. *
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* *
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***************************************************************************/
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#ifndef SCHEDULER_H_
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#define SCHEDULER_H_
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#include <stdint.h>
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#include <stdbool.h>
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#include "stm32f4xx_revo.h"
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#define taskAgeCycleCounterSize 16
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/* Enum containing all the possible task priorities */
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typedef enum
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{
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PRIORITY_IDLE = 0,
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PRIORITY_LOW,
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PRIORITY_MEDIUM,
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PRIORITY_HIGH,
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PRIORITY_REALTIME,
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PRIORITY_MAX_PRIORITY = 255
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} taskPriority_t;
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/* struct used to obtain task information */
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typedef struct {
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const char * taskName;
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const char * subTaskName;
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bool isEnabled;
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uint32_t desiredPeriod;
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uint8_t staticPriority;
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime;
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uint32_t averageExecutionTime;
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uint32_t latestDeltaTime;
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} taskInformation_t;
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/* Struct used to contain the information for each task */
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typedef struct
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{
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/* Basic task information */
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const char * taskName; /* Name of the task */
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const char * subTaskName; /*Needed?*/
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bool (*checkEventTriggered)(uint32_t currentDeltaTime); /* Function pointer to event trigger check, if used no standard scheduling */
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void (*taskFunction)(void); /* Pointer to the function that should be called to run the task */
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uint32_t desiredPeriod; /* The period the task wants to run in */
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const uint8_t staticPriority; /* Value used to increment the dynamic priority */
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/* Scheduling variables */
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uint16_t dynamicPriority; /* Priority increases the longer the task have been idle, increased by staticPriority value */
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uint16_t taskAgeCycle; /* Helps to keep track of the "periods" for the task */
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uint32_t lastExecutedAt; /* last time of invocation */
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uint32_t lastSignaledAt; /* time of invocation event for event-driven tasks */
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/* Statistic values of the task */
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uint32_t averageExecutionTime; // Moving average over 6 samples, used to calculate guard interval
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uint32_t taskLatestDeltaTime; //
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#ifndef SKIP_TASK_STATISTICS
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uint32_t maxExecutionTime;
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uint32_t totalExecutionTime; // total time consumed by task since boot
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#endif
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}task_t;
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/* 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 */
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/* Important: If a new define for a task is added here it MUST be added in the tasks.c */
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typedef enum
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{
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/* All the tasks that will be in the system, some are separated by IfDef */
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TASK_SYSTEM = 0,
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TASK_GYROPID,
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TASK_ACCELEROMETER,
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TASK_ATTITUDE,
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TASK_RX,
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TASK_SERIAL,
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TASK_BATTERY,
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#ifdef BARO
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TASK_BARO,
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#endif
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#ifdef COMPASS
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TASK_COMPASS,
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#endif
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#ifdef GPS
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TASK_GPS,
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#endif
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#ifdef SONAR
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TASK_SONAR,
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#endif
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#if defined(BARO) || defined(SONAR)
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TASK_ALTITUDE,
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#endif
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#if BEEPER
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TASK_BEEPER
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#endif
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//Debug tasks, ONLY to be used when testing
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#ifdef USE_DEBUG_TASKS
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TASK_DEBUG_1,
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TASK_DEBUG_2,
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TASK_DEBUG_3,
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#endif
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/* Need to be the value directly after the tasks id. Keeps track of the count of the tasks */
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TASK_COUNT,
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/* Service task IDs */
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TASK_NONE = TASK_COUNT,
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TASK_SELF
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}taskId_t;
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/* Variables -------------------------------------------------------------*/
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extern task_t SystemTasks[TASK_COUNT]; /* All the tasks that exist in the system */
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extern uint16_t averageSystemLoadPercent; /* The average load on the system Todo */
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/* Functions that operate can operate on the tasks -----------------------*/
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/**************************************************************************
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* BRIEF: Enables or disables a task to be able to run in the system.
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*
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* INFORMATION: Given an id for a task it can be added or removed from the
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* active tasks in the system. Meaning tasks that can be selected by the
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* scheduler to run.
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**************************************************************************/
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void enableTask(taskId_t taskId, bool enabled);
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/**************************************************************************
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* BRIEF: Returns the delta time value of a task.
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*
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* INFORMATION: Given an id for a task it will return is delta time value.
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* The time between its latest run and the one before.
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**************************************************************************/
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uint32_t getTaskDeltaTime(taskId_t taskId);
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/**************************************************************************
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* BRIEF: Gives a task a new period.
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*
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* INFORMATION: Given an id for a task its period can be changed to a new
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* desired value.
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**************************************************************************/
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void rescheduleTask(taskId_t taskId, uint32_t newPeriodMicros);
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/**************************************************************************
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* BRIEF: Get some information of a task.
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*
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* INFORMATION: Given an id for a task its current values can be obtain.
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* The variable taskInfo will point to the obtained information
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* and act as an out variable.
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**************************************************************************/
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void getTaskInfo(taskId_t taskId, taskInformation_t * taskInfo);
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/* Functions that handle the scheduler ------------------------------------------------------- */
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/**************************************************************************
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* BRIEF: The main scheduler function.
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*
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* INFORMATION: This function is responsible for choosing the next task that
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* the system should run. This is the main part of the system
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* that will always run, and is the part of the code that will
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* run in each iteration of the system loop.
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**************************************************************************/
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void scheduler(void);
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/**************************************************************************
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* BRIEF: Initiates the scheduler and makes it ready to run.
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*
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* INFORMATION: The init will reset the ready queue of the system and add
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* all the tasks that should be added. The tasks that are
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* supposed to run with the current configuration of the system
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**************************************************************************/
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void initScheduler(void);
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/**************************************************************************
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* BRIEF: Enables the tasks that should run.
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*
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* INFORMATION: All the tasks in the system that should be added to the run
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* queue will be added when this function is invoked.
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**************************************************************************/
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void initSchedulerTasks(void);
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/**************************************************************************
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* BRIEF: Returns an array of ageCyckle values observed when
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* scheduling the tasks.
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*
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* INFORMATION: If a task has an age cycle greater than 1 it means it has
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* missed one or more "periods". Each slot in the 16 value
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* sized array matches a cycle age value observed for a task.
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* Cycle age 1 or less is not counted since it would be to
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* many and we don't care about when it is correct, this is only
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* used to observe how many is wrong. Every task will generate
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* a age cycle value each scheduling attempt. Each time a task
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* missed his period the values in the array that this function
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* return will increase.
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**************************************************************************/
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#ifdef USE_TASK_AGE_CYCLE_STATISTICS
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void getSchedulerAgeCycleData(uint32_t outValue[taskAgeCycleCounterSize]);
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#endif
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#endif /* SCHEDULER_H_ */
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