Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AntennaTracker: allow specification of Scheduler table priorities

This commit is contained in:
Peter Barker 2021-11-14 14:18:10 +11:00 committed by Andrew Tridgell
parent c559e27c55
commit 813c5b97f7
1 changed files with 39 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

62
AntennaTracker/Tracker.cpp
View File

@ -23,35 +23,51 @@
#include "version.h"
#undef FORCE_VERSION_H_INCLUDE
#define SCHED_TASK(func, _interval_ticks, _max_time_micros) SCHED_TASK_CLASS(Tracker, &tracker, func, _interval_ticks, _max_time_micros)
#define SCHED_TASK(func, _interval_ticks, _max_time_micros, _prio) SCHED_TASK_CLASS(Tracker, &tracker, func, _interval_ticks, _max_time_micros, _prio)
/*
scheduler table - all regular tasks apart from the fast_loop()
should be listed here, along with how often they should be called
(in 20ms units) and the maximum time they are expected to take (in
microseconds)
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 Tracker::scheduler_tasks[] = {
SCHED_TASK(update_ahrs, 50, 1000),
SCHED_TASK(read_radio, 50, 200),
SCHED_TASK(update_tracking, 50, 1000),
SCHED_TASK(update_GPS, 10, 4000),
SCHED_TASK(update_compass, 10, 1500),
SCHED_TASK(compass_save, 0.02, 200),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_receive, 50, 1700),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_send, 50, 3000),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900),
SCHED_TASK(ten_hz_logging_loop, 10, 300),
SCHED_TASK(update_ahrs, 50, 1000, 5),
SCHED_TASK(read_radio, 50, 200, 10),
SCHED_TASK(update_tracking, 50, 1000, 15),
SCHED_TASK(update_GPS, 10, 4000, 20),
SCHED_TASK(update_compass, 10, 1500, 25),
SCHED_TASK(compass_save, 0.02, 200, 30),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500, 35),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500, 40),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_send, 50, 3000, 50),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, accumulate, 50, 900, 55),
SCHED_TASK(ten_hz_logging_loop, 10, 300, 60),
#if LOGGING_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Logger, &tracker.logger, periodic_tasks, 50, 300),
SCHED_TASK_CLASS(AP_Logger, &tracker.logger, periodic_tasks, 50, 300, 65),
#endif
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100),
SCHED_TASK(one_second_loop, 1, 3900),
SCHED_TASK_CLASS(Compass, &tracker.compass, cal_update, 50, 100),
SCHED_TASK(stats_update, 1, 200),
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50, 70),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100, 75),
SCHED_TASK(one_second_loop, 1, 3900, 80),
SCHED_TASK_CLASS(Compass, &tracker.compass, cal_update, 50, 100, 85),
SCHED_TASK(stats_update, 1, 200, 90),
};
void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,