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Blimp: allow specification of Scheduler table priorities

This commit is contained in:
Peter Barker 2021-11-14 14:49:45 +11:00 committed by Andrew Tridgell
parent 422bb3cfbb
commit 080149d174
1 changed files with 49 additions and 29 deletions
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78
Blimp/Blimp.cpp
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@ -21,44 +21,64 @@
const AP_HAL::HAL& hal = AP_HAL::get_HAL();
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Blimp, &blimp, func, rate_hz, max_time_micros)
#define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Blimp, &blimp, func, rate_hz, max_time_micros, priority)
/*
scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called (in hz)
and the maximum time they are expected to take (in microseconds)
scheduler table - all regular tasks apart from the fast_loop()
should be listed here.
All entries in this table must be ordered by priority.
This table is interleaved with the table in AP_Vehicle to determine
the order in which tasks are run. Convenience methods SCHED_TASK
and SCHED_TASK_CLASS are provided to build entries in this structure:
SCHED_TASK arguments:
- name of static function to call
- rate (in Hertz) at which the function should be called
- expected time (in MicroSeconds) that the function should take to run
- priority (0 through 255, lower number meaning higher priority)
SCHED_TASK_CLASS arguments:
- class name of method to be called
- instance on which to call the method
- method to call on that instance
- rate (in Hertz) at which the method should be called
- expected time (in MicroSeconds) that the method should take to run
- priority (0 through 255, lower number meaning higher priority)
*/
const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
SCHED_TASK(rc_loop, 100, 130),
SCHED_TASK(throttle_loop, 50, 75),
SCHED_TASK_CLASS(AP_GPS, &blimp.gps, update, 50, 200),
SCHED_TASK(update_batt_compass, 10, 120),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&blimp.g2.rc_channels, read_aux_all, 10, 50),
SCHED_TASK(arm_motors_check, 10, 50),
SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(three_hz_loop, 3, 75),
SCHED_TASK_CLASS(AP_ServoRelayEvents, &blimp.ServoRelayEvents, update_events, 50, 75),
SCHED_TASK_CLASS(AP_Baro, &blimp.barometer, accumulate, 50, 90),
SCHED_TASK(rc_loop, 100, 130, 3),
SCHED_TASK(throttle_loop, 50, 75, 6),
SCHED_TASK_CLASS(AP_GPS, &blimp.gps, update, 50, 200, 9),
SCHED_TASK(update_batt_compass, 10, 120, 12),
SCHED_TASK_CLASS(RC_Channels, (RC_Channels*)&blimp.g2.rc_channels, read_aux_all, 10, 50, 15),
SCHED_TASK(arm_motors_check, 10, 50, 18),
SCHED_TASK(update_altitude, 10, 100, 21),
SCHED_TASK(three_hz_loop, 3, 75, 24),
SCHED_TASK_CLASS(AP_ServoRelayEvents, &blimp.ServoRelayEvents, update_events, 50, 75, 27),
SCHED_TASK_CLASS(AP_Baro, &blimp.barometer, accumulate, 50, 90, 30),
#if LOGGING_ENABLED == ENABLED
SCHED_TASK(full_rate_logging, 50, 50),
SCHED_TASK(full_rate_logging, 50, 50, 33),
#endif
SCHED_TASK_CLASS(AP_Notify, &blimp.notify, update, 50, 90),
SCHED_TASK(one_hz_loop, 1, 100),
SCHED_TASK(ekf_check, 10, 75),
SCHED_TASK(check_vibration, 10, 50),
SCHED_TASK(gpsglitch_check, 10, 50),
SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_receive, 400, 180),
SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_send, 400, 550),
SCHED_TASK_CLASS(AP_Notify, &blimp.notify, update, 50, 90, 36),
SCHED_TASK(one_hz_loop, 1, 100, 39),
SCHED_TASK(ekf_check, 10, 75, 42),
SCHED_TASK(check_vibration, 10, 50, 45),
SCHED_TASK(gpsglitch_check, 10, 50, 48),
SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_receive, 400, 180, 51),
SCHED_TASK_CLASS(GCS, (GCS*)&blimp._gcs, update_send, 400, 550, 54),
#if LOGGING_ENABLED == ENABLED
SCHED_TASK(ten_hz_logging_loop, 10, 350),
SCHED_TASK(twentyfive_hz_logging, 25, 110),
SCHED_TASK_CLASS(AP_Logger, &blimp.logger, periodic_tasks, 400, 300),
SCHED_TASK(ten_hz_logging_loop, 10, 350, 57),
SCHED_TASK(twentyfive_hz_logging, 25, 110, 60),
SCHED_TASK_CLASS(AP_Logger, &blimp.logger, periodic_tasks, 400, 300, 63),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75),
SCHED_TASK_CLASS(Compass, &blimp.compass, cal_update, 100, 100),
SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50, 66),
SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75, 69),
SCHED_TASK_CLASS(Compass, &blimp.compass, cal_update, 100, 100, 72),
#if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100),
SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100, 75),
#endif
};