src/main/scheduler/scheduler.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "common/time.h"
  24 #include "config/config.h"
  25
  26 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
  27 #define TASK_PERIOD_MS(ms) ((ms) * 1000)
  28 #define TASK_PERIOD_US(us) (us)
  29
  30 #define TASK_STATS_MOVING_SUM_COUNT 64
  31
  32 #define LOAD_PERCENTAGE_ONE 100
  33
  34 #define SCHED_START_LOOP_MIN_US         1   // Wait at start of scheduler loop if gyroTask is nearly due
  35 #define SCHED_START_LOOP_MAX_US         12
  36 #define SCHED_START_LOOP_DOWN_STEP      50  // Fraction of a us to reduce start loop wait
  37 #define SCHED_START_LOOP_UP_STEP        1   // Fraction of a us to increase start loop wait
  38
  39 #define TASK_GUARD_MARGIN_MIN_US        3   // Add an amount to the estimate of a task duration
  40 #define TASK_GUARD_MARGIN_MAX_US        6
  41 #define TASK_GUARD_MARGIN_DOWN_STEP     50  // Fraction of a us to reduce task guard margin
  42 #define TASK_GUARD_MARGIN_UP_STEP       1   // Fraction of a us to increase task guard margin
  43
  44 #define CHECK_GUARD_MARGIN_US           2   // Add a margin to the amount of time allowed for a check function to run
  45
  46 // Some tasks have occasional peaks in execution time so normal moving average duration estimation doesn't work
  47 // Decay the estimated max task duration by 1/(1 << TASK_EXEC_TIME_SHIFT) on every invocation
  48 #define TASK_EXEC_TIME_SHIFT            7
  49
  50 #define TASK_AGE_EXPEDITE_COUNT         1   // Make aged tasks more schedulable
  51 #define TASK_AGE_EXPEDITE_SCALE         0.9 // By scaling their expected execution time
  52
  53 // Gyro interrupt counts over which to measure loop time and skew
  54 #define GYRO_RATE_COUNT 25000
  55 #define GYRO_LOCK_COUNT 400
  56
  57 typedef enum {
  58     TASK_PRIORITY_REALTIME = -1, // Task will be run outside the scheduler logic
  59     TASK_PRIORITY_IDLE = 0,      // Disables dynamic scheduling, task is executed only if no other task is active this cycle
  60     TASK_PRIORITY_LOW = 1,
  61     TASK_PRIORITY_MEDIUM = 3,
  62     TASK_PRIORITY_MEDIUM_HIGH = 4,
  63     TASK_PRIORITY_HIGH = 5,
  64     TASK_PRIORITY_MAX = 255
  65 } taskPriority_e;
  66
  67 typedef struct {
  68     timeUs_t     maxExecutionTimeUs;
  69     timeUs_t     totalExecutionTimeUs;
  70     timeUs_t     averageExecutionTimeUs;
  71     timeUs_t     averageDeltaTimeUs;
  72 } cfCheckFuncInfo_t;
  73
  74 typedef struct {
  75     const char * taskName;
  76     const char * subTaskName;
  77     bool         isEnabled;
  78     int8_t       staticPriority;
  79     timeDelta_t  desiredPeriodUs;
  80     timeDelta_t  latestDeltaTimeUs;
  81     timeUs_t     maxExecutionTimeUs;
  82     timeUs_t     totalExecutionTimeUs;
  83     timeUs_t     averageExecutionTimeUs;
  84     timeUs_t     averageDeltaTime10thUs;
  85     float        movingAverageCycleTimeUs;
  86 #if defined(USE_LATE_TASK_STATISTICS)
  87     uint32_t     runCount;
  88     uint32_t     lateCount;
  89     timeUs_t     execTime;
  90 #endif
  91 } taskInfo_t;
  92
  93 typedef enum {
  94     /* Actual tasks */
  95     TASK_SYSTEM = 0,
  96     TASK_MAIN,
  97     TASK_GYRO,
  98     TASK_FILTER,
  99     TASK_PID,
 100     TASK_ACCEL,
 101     TASK_ATTITUDE,
 102     TASK_RX,
 103     TASK_SERIAL,
 104     TASK_DISPATCH,
 105     TASK_BATTERY_VOLTAGE,
 106     TASK_BATTERY_CURRENT,
 107     TASK_BATTERY_ALERTS,
 108 #ifdef USE_BEEPER
 109     TASK_BEEPER,
 110 #endif
 111 #ifdef USE_GPS
 112     TASK_GPS,
 113 #endif
 114 #ifdef USE_MAG
 115     TASK_COMPASS,
 116 #endif
 117 #ifdef USE_BARO
 118     TASK_BARO,
 119 #endif
 120 #ifdef USE_RANGEFINDER
 121     TASK_RANGEFINDER,
 122 #endif
 123 #if defined(USE_BARO) || defined(USE_GPS)
 124     TASK_ALTITUDE,
 125 #endif
 126 #ifdef USE_DASHBOARD
 127     TASK_DASHBOARD,
 128 #endif
 129 #ifdef USE_TELEMETRY
 130     TASK_TELEMETRY,
 131 #endif
 132 #ifdef USE_LED_STRIP
 133     TASK_LEDSTRIP,
 134 #endif
 135 #ifdef USE_TRANSPONDER
 136     TASK_TRANSPONDER,
 137 #endif
 138 #ifdef USE_STACK_CHECK
 139     TASK_STACK_CHECK,
 140 #endif
 141 #ifdef USE_OSD
 142     TASK_OSD,
 143 #endif
 144 #ifdef USE_BST
 145     TASK_BST_MASTER_PROCESS,
 146 #endif
 147 #ifdef USE_ESC_SENSOR
 148     TASK_ESC_SENSOR,
 149 #endif
 150 #ifdef USE_CMS
 151     TASK_CMS,
 152 #endif
 153 #ifdef USE_VTX_CONTROL
 154     TASK_VTXCTRL,
 155 #endif
 156 #ifdef USE_CAMERA_CONTROL
 157     TASK_CAMCTRL,
 158 #endif
 159
 160 #ifdef USE_RCDEVICE
 161     TASK_RCDEVICE,
 162 #endif
 163
 164 #ifdef USE_ADC_INTERNAL
 165     TASK_ADC_INTERNAL,
 166 #endif
 167
 168 #ifdef USE_PINIOBOX
 169     TASK_PINIOBOX,
 170 #endif
 171
 172 #ifdef USE_CRSF_V3
 173     TASK_SPEED_NEGOTIATION,
 174 #endif
 175
 176     /* Count of real tasks */
 177     TASK_COUNT,
 178
 179     /* Service task IDs */
 180     TASK_NONE = TASK_COUNT,
 181     TASK_SELF
 182 } taskId_e;
 183
 184 typedef struct {
 185     // Configuration
 186     const char * taskName;
 187     const char * subTaskName;
 188     bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
 189     void (*taskFunc)(timeUs_t currentTimeUs);
 190     timeDelta_t desiredPeriodUs;        // target period of execution
 191     const int8_t staticPriority;        // dynamicPriority grows in steps of this size
 192 } task_id_t;
 193
 194 typedef struct {
 195     // Task static data
 196     task_id_t *id;
 197
 198     // Scheduling
 199     uint16_t dynamicPriority;           // measurement of how old task was last executed, used to avoid task starvation
 200     uint16_t taskAgeCycles;
 201     timeDelta_t taskLatestDeltaTimeUs;
 202     timeUs_t lastExecutedAtUs;          // last time of invocation
 203     timeUs_t lastSignaledAtUs;          // time of invocation event for event-driven tasks
 204     timeUs_t lastDesiredAt;             // time of last desired execution
 205
 206     // Statistics
 207     float    movingAverageCycleTimeUs;
 208     timeUs_t anticipatedExecutionTime;  // Fixed point expectation of next execution time
 209     timeUs_t movingSumDeltaTime10thUs;  // moving sum over 64 samples
 210     timeUs_t maxExecutionTimeUs;
 211     timeUs_t totalExecutionTimeUs;      // total time consumed by task since boot
 212     timeUs_t lastStatsAtUs;             // time of last stats gathering for rate calculation
 213 #if defined(USE_LATE_TASK_STATISTICS)
 214     uint32_t runCount;
 215     uint32_t lateCount;
 216     timeUs_t execTime;
 217 #endif
 218 } task_t;
 219
 220 void getCheckFuncInfo(cfCheckFuncInfo_t *checkFuncInfo);
 221 void getTaskInfo(taskId_e taskId, taskInfo_t *taskInfo);
 222 void rescheduleTask(taskId_e taskId, timeDelta_t newPeriodUs);
 223 void setTaskEnabled(taskId_e taskId, bool newEnabledState);
 224 timeDelta_t getTaskDeltaTimeUs(taskId_e taskId);
 225 void schedulerIgnoreTaskStateTime();
 226 void schedulerIgnoreTaskExecRate();
 227 void schedulerIgnoreTaskExecTime();
 228 bool schedulerGetIgnoreTaskExecTime();
 229 void schedulerResetTaskStatistics(taskId_e taskId);
 230 void schedulerResetTaskMaxExecutionTime(taskId_e taskId);
 231 void schedulerResetCheckFunctionMaxExecutionTime(void);
 232 void schedulerSetNextStateTime(timeDelta_t nextStateTime);
 233 void schedulerInit(void);
 234 void scheduler(void);
 235 timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTimeUs);
 236 void taskSystemLoad(timeUs_t currentTimeUs);
 237 void schedulerEnableGyro(void);
 238 uint16_t getAverageSystemLoadPercent(void);
 239 float schedulerGetCycleTimeMultiplier(void);