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AP_Vehicle: 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 e1310b2082
commit c559e27c55
1 changed files with 36 additions and 15 deletions
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51
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -10,7 +10,7 @@
#include <AP_HAL_ChibiOS/sdcard.h>
#endif
#define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
#define SCHED_TASK(func, rate_hz, max_time_micros, prio) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros, prio)
/*
2nd group of parameters
@ -230,33 +230,54 @@ void AP_Vehicle::fast_loop()
}
/*
common scheduler table for fast CPUs - all common vehicle tasks
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 presnet in each of the
vehicles 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 AP_Vehicle::scheduler_tasks[] = {
#if HAL_RUNCAM_ENABLED
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50),
SCHED_TASK_CLASS(AP_RunCam, &vehicle.runcam, update, 50, 50, 200),
#endif
#if HAL_GYROFFT_ENABLED
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update, 400, 50, 205),
SCHED_TASK_CLASS(AP_GyroFFT, &vehicle.gyro_fft, update_parameters, 1, 50, 210),
#endif
SCHED_TASK(update_dynamic_notch, LOOP_RATE, 200),
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100),
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20),
SCHED_TASK(update_dynamic_notch, LOOP_RATE, 200, 215),
SCHED_TASK_CLASS(AP_VideoTX, &vehicle.vtx, update, 2, 100, 220),
SCHED_TASK(send_watchdog_reset_statustext, 0.1, 20, 225),
#if HAL_WITH_ESC_TELEM
SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 10, 50),
SCHED_TASK_CLASS(AP_ESC_Telem, &vehicle.esc_telem, update, 10, 50, 230),
#endif
#if HAL_GENERATOR_ENABLED
SCHED_TASK_CLASS(AP_Generator, &vehicle.generator, update, 10, 50),
SCHED_TASK_CLASS(AP_Generator, &vehicle.generator, update, 10, 50, 235),
#endif
#if OSD_ENABLED
SCHED_TASK(publish_osd_info, 1, 10),
SCHED_TASK(publish_osd_info, 1, 10, 240),
#endif
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(accel_cal_update, 10, 100, 245),
#if HAL_EFI_ENABLED
SCHED_TASK_CLASS(AP_EFI, &vehicle.efi, update, 10, 200),
SCHED_TASK_CLASS(AP_EFI, &vehicle.efi, update, 10, 200, 250),
#endif
};