src/test/unit/scheduler_stubs.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include "pg/pg.h"
  23 #include "pg/pg_ids.h"
  24
  25 #include "scheduler/scheduler.h"
  26 #include "scheduler_stubs.h"
  27
  28 PG_REGISTER_WITH_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig, PG_SCHEDULER_CONFIG, 0);
  29
  30 PG_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig,
  31     .rxRelaxDeterminism = 25,
  32     .osdRelaxDeterminism = 25,
  33 );
  34
  35 #define TEST_GYRO_SAMPLE_HZ 8000
  36
  37 void taskGyroSample(timeUs_t);
  38 void taskFiltering(timeUs_t);
  39 void taskMainPidLoop(timeUs_t);
  40 void taskUpdateAccelerometer(timeUs_t);
  41 void taskHandleSerial(timeUs_t);
  42 void taskUpdateBatteryVoltage(timeUs_t);
  43 bool rxUpdateCheck(timeUs_t, timeDelta_t);
  44 void taskUpdateRxMain(timeUs_t);
  45 void imuUpdateAttitude(timeUs_t);
  46 void dispatchProcess(timeUs_t);
  47 bool osdUpdateCheck(timeUs_t, timeDelta_t);
  48 void osdUpdate(timeUs_t);
  49
  50 task_attribute_t task_attributes[TASK_COUNT] = {
  51     [TASK_SYSTEM] = {
  52         .taskName = "SYSTEM",
  53         .taskFunc = taskSystemLoad,
  54         .desiredPeriodUs = TASK_PERIOD_HZ(10),
  55         .staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
  56     },
  57     [TASK_GYRO] = {
  58         .taskName = "GYRO",
  59         .taskFunc = taskGyroSample,
  60         .desiredPeriodUs = TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ),
  61         .staticPriority = TASK_PRIORITY_REALTIME,
  62     },
  63     [TASK_FILTER] = {
  64         .taskName = "FILTER",
  65         .taskFunc = taskFiltering,
  66         .desiredPeriodUs = TASK_PERIOD_HZ(4000),
  67         .staticPriority = TASK_PRIORITY_REALTIME,
  68     },
  69     [TASK_PID] = {
  70         .taskName = "PID",
  71         .taskFunc = taskMainPidLoop,
  72         .desiredPeriodUs = TASK_PERIOD_HZ(4000),
  73         .staticPriority = TASK_PRIORITY_REALTIME,
  74     },
  75     [TASK_ACCEL] = {
  76         .taskName = "ACCEL",
  77         .taskFunc = taskUpdateAccelerometer,
  78         .desiredPeriodUs = TASK_PERIOD_HZ(1000),
  79         .staticPriority = TASK_PRIORITY_MEDIUM,
  80     },
  81     [TASK_ATTITUDE] = {
  82         .taskName = "ATTITUDE",
  83         .taskFunc = imuUpdateAttitude,
  84         .desiredPeriodUs = TASK_PERIOD_HZ(100),
  85         .staticPriority = TASK_PRIORITY_MEDIUM,
  86     },
  87     [TASK_RX] = {
  88         .taskName = "RX",
  89         .checkFunc = rxUpdateCheck,
  90         .taskFunc = taskUpdateRxMain,
  91         .desiredPeriodUs = TASK_PERIOD_HZ(50),
  92         .staticPriority = TASK_PRIORITY_HIGH,
  93     },
  94     [TASK_SERIAL] = {
  95         .taskName = "SERIAL",
  96         .taskFunc = taskHandleSerial,
  97         .desiredPeriodUs = TASK_PERIOD_HZ(100),
  98         .staticPriority = TASK_PRIORITY_LOW,
  99     },
 100     [TASK_DISPATCH] = {
 101         .taskName = "DISPATCH",
 102         .taskFunc = dispatchProcess,
 103         .desiredPeriodUs = TASK_PERIOD_HZ(1000),
 104         .staticPriority = TASK_PRIORITY_HIGH,
 105     },
 106     [TASK_BATTERY_VOLTAGE] = {
 107         .taskName = "BATTERY_VOLTAGE",
 108         .taskFunc = taskUpdateBatteryVoltage,
 109         .desiredPeriodUs = TASK_PERIOD_HZ(50),
 110         .staticPriority = TASK_PRIORITY_MEDIUM,
 111     },
 112     [TASK_OSD] = {
 113         .taskName = "OSD",
 114         .checkFunc = osdUpdateCheck,
 115         .taskFunc = osdUpdate,
 116         .desiredPeriodUs = TASK_PERIOD_HZ(12),
 117         .staticPriority = TASK_PRIORITY_LOW,
 118     }
 119 };