mirror of https://github.com/ArduPilot/ardupilot
ArduSub: allow specification of Scheduler table priorities
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
17395f362e
commit
422bb3cfbb
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@ -17,67 +17,88 @@
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#include "Sub.h"
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#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(Sub, &sub, func, rate_hz, max_time_micros)
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#define SCHED_TASK(func, rate_hz, max_time_micros, priority) SCHED_TASK_CLASS(Sub, &sub, func, rate_hz, max_time_micros, priority)
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/*
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scheduler table for fast CPUs - all regular tasks apart from the fast_loop()
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should be listed here, along with how often they should be called (in hz)
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and the maximum time they are expected to take (in microseconds)
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scheduler table - all regular tasks apart from the fast_loop()
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should be listed here.
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All entries in this table must be ordered by priority.
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This table is interleaved with the table in AP_Vehicle to determine
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the order in which tasks are run. Convenience methods SCHED_TASK
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and SCHED_TASK_CLASS are provided to build entries in this structure:
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SCHED_TASK arguments:
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- name of static function to call
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- rate (in Hertz) at which the function should be called
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- expected time (in MicroSeconds) that the function should take to run
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- priority (0 through 255, lower number meaning higher priority)
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SCHED_TASK_CLASS arguments:
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- class name of method to be called
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- instance on which to call the method
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- method to call on that instance
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- rate (in Hertz) at which the method should be called
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- expected time (in MicroSeconds) that the method should take to run
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- priority (0 through 255, lower number meaning higher priority)
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*/
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const AP_Scheduler::Task Sub::scheduler_tasks[] = {
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SCHED_TASK(fifty_hz_loop, 50, 75),
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SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200),
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SCHED_TASK(fifty_hz_loop, 50, 75, 3),
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SCHED_TASK_CLASS(AP_GPS, &sub.gps, update, 50, 200, 6),
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#if OPTFLOW == ENABLED
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SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160),
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SCHED_TASK_CLASS(OpticalFlow, &sub.optflow, update, 200, 160, 9),
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#endif
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SCHED_TASK(update_batt_compass, 10, 120),
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SCHED_TASK(read_rangefinder, 20, 100),
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SCHED_TASK(update_altitude, 10, 100),
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SCHED_TASK(three_hz_loop, 3, 75),
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SCHED_TASK(update_turn_counter, 10, 50),
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SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90),
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SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90),
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SCHED_TASK(one_hz_loop, 1, 100),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550),
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SCHED_TASK(update_batt_compass, 10, 120, 12),
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SCHED_TASK(read_rangefinder, 20, 100, 15),
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SCHED_TASK(update_altitude, 10, 100, 18),
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SCHED_TASK(three_hz_loop, 3, 75, 21),
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SCHED_TASK(update_turn_counter, 10, 50, 24),
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SCHED_TASK_CLASS(AP_Baro, &sub.barometer, accumulate, 50, 90, 27),
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SCHED_TASK_CLASS(AP_Notify, &sub.notify, update, 50, 90, 30),
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SCHED_TASK(one_hz_loop, 1, 100, 33),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_receive, 400, 180, 36),
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SCHED_TASK_CLASS(GCS, (GCS*)&sub._gcs, update_send, 400, 550, 39),
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#if AC_FENCE == ENABLED
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SCHED_TASK_CLASS(AC_Fence, &sub.fence, update, 10, 100),
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SCHED_TASK_CLASS(AC_Fence, &sub.fence, update, 10, 100, 42),
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#endif
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#if HAL_MOUNT_ENABLED
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SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75),
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SCHED_TASK_CLASS(AP_Mount, &sub.camera_mount, update, 50, 75, 45),
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#endif
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#if CAMERA == ENABLED
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SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75),
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SCHED_TASK_CLASS(AP_Camera, &sub.camera, update, 50, 75, 48),
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#endif
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SCHED_TASK(ten_hz_logging_loop, 10, 350),
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SCHED_TASK(twentyfive_hz_logging, 25, 110),
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SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300),
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SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50),
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SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75),
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SCHED_TASK(ten_hz_logging_loop, 10, 350, 51),
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SCHED_TASK(twentyfive_hz_logging, 25, 110, 54),
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SCHED_TASK_CLASS(AP_Logger, &sub.logger, periodic_tasks, 400, 300, 57),
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SCHED_TASK_CLASS(AP_InertialSensor, &sub.ins, periodic, 400, 50, 60),
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SCHED_TASK_CLASS(AP_Scheduler, &sub.scheduler, update_logging, 0.1, 75, 63),
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#if RPM_ENABLED == ENABLED
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SCHED_TASK(rpm_update, 10, 200),
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SCHED_TASK(rpm_update, 10, 200, 66),
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#endif
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SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100),
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SCHED_TASK(terrain_update, 10, 100),
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SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100, 69),
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SCHED_TASK(terrain_update, 10, 100, 72),
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#if GRIPPER_ENABLED == ENABLED
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SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75),
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SCHED_TASK_CLASS(AP_Gripper, &sub.g2.gripper, update, 10, 75, 75),
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#endif
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#ifdef USERHOOK_FASTLOOP
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SCHED_TASK(userhook_FastLoop, 100, 75),
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SCHED_TASK(userhook_FastLoop, 100, 75, 78),
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#endif
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#ifdef USERHOOK_50HZLOOP
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SCHED_TASK(userhook_50Hz, 50, 75),
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SCHED_TASK(userhook_50Hz, 50, 75, 81),
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#endif
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#ifdef USERHOOK_MEDIUMLOOP
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SCHED_TASK(userhook_MediumLoop, 10, 75),
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SCHED_TASK(userhook_MediumLoop, 10, 75, 84),
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#endif
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#ifdef USERHOOK_SLOWLOOP
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SCHED_TASK(userhook_SlowLoop, 3.3, 75),
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SCHED_TASK(userhook_SlowLoop, 3.3, 75, 87),
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#endif
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#ifdef USERHOOK_SUPERSLOWLOOP
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SCHED_TASK(userhook_SuperSlowLoop, 1, 75),
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SCHED_TASK(userhook_SuperSlowLoop, 1, 75, 90),
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#endif
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SCHED_TASK(read_airspeed, 10, 100),
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SCHED_TASK(read_airspeed, 10, 100, 93),
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};
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void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
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