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Commit Graph

98 Commits

Author SHA1 Message Date
Peter Barker 2d3fed9784 AP_Scheduler: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker 0f4262de3d AP_Scheduler: correct compilation when AP_Vehicle not available 2023-12-13 18:34:40 +11:00
Peter Barker 435214852e AP_Scheduler: add and use AP_Scheduler_config.h 2023-06-27 10:43:39 +10:00
Andrew Tridgell 5f6d3e5d8c AP_Scheduler: added ticks32() API 
this is the number of scheduler ticks since boot, as uint32_t
 2023-01-29 15:28:43 +11:00
Andrew Tridgell ebc9616e00 AP_Scheduler: guarantee that FAST_TASK tasks do run on every loop 
the breakup of the fast loop resulted in us sometimes (under heavy CPU
load) not running a fast task on every loop
 2022-12-06 17:09:33 +11:00
Andrew Tridgell 47df6f0ab6 AP_Scheduler: constrain the load average 
prevent numerical errors on logging load with SIM_TIME_JITTER
 2022-12-06 11:03:50 +11:00
Randy Mackay 064627de04 AP_Scheduler: load_average returns 1 if main loop running slowly 2022-12-06 11:00:51 +11:00
Randy Mackay d9aa366b59 AP_Scheduler: add get_filtered_loop_rate_hz 2022-12-06 11:00:51 +11:00
Iampete1 a0fc8cc46a AP_Scheduler: params always use set method 2022-08-03 13:43:48 +01:00
Andy Piper 2209576c90 AP_Scheduler: refactor task info into TaskInfo 
break fast_loop down into FastTasks to aid profiling
run fast tasks before scheduled tasks
fix scheduler example
introduce fast task priorities
remove fast loop
 2022-05-03 08:20:13 +09:00
Peter Barker 26d6c2413b AP_Scheduler: update simulation state on embedded 2022-03-17 14:39:55 +11:00
Andy Piper 5855ead822 AP_Scheduler: allow 9999us for task display 2022-02-09 12:47:55 +00:00
Peter Barker e1310b2082 AP_Scheduler: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Andy Piper 592241f029 AP_Scheduler: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI 2021-10-26 11:42:12 +11:00
Gone4Dirt 55f6feac9a AP_Scheduler: Add APM_BUILD_Heli 2021-09-29 19:55:48 +10:00
Pierre Kancir ec03c9eaf4 AP_Scheduler: correct pointer checking 2021-08-26 10:17:22 +10:00
Tamas Nepusz c544f3dd01 AP_Scheduler: corrected tick counter overflow handling, fixes #17642 2021-06-10 12:46:27 +10:00
Andrew Tridgell f6ec48e0e2 AP_Scheduler: removed perf counters 2021-06-07 14:29:27 +10:00
Patrick José Pereira 806bc4898b AP_Scheduler: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Andrew Tridgell 6da0212ce4 AP_Scheduler: use ExpandingString class 2021-01-05 10:52:00 +11:00
Michael du Breuil 0f5179d204 AP_Scheduler: Emit last internal error line 2020-11-03 11:04:13 +11:00
Andy Piper af8d6c5fc9 AP_Scheduler: add the fast loop to task statistics 2020-10-07 18:08:19 +11:00
Andy Piper 958c19543f AP_Scheduler: print task total time as a percentage of all tasks time 2020-09-30 17:37:20 +10:00
Andy Piper 5b5b9d57a1 AP_Scheduler: add per-task performance information accesible from @SYS/tasks.txt 
print fully qualified name on most boards
remove old task slip message
Don't die on allocation failure.
dynamically allocation/free task info based on SCHED_OPTIONS
dynamically enable task info on ftp get
 2020-09-09 17:06:12 +10:00
Andy Piper a16bb2f188 AP_Scheduler: allow registration of tasks at loop rate 2020-02-22 11:15:37 +11:00
Michael du Breuil c257cea375 AP_Scheduler: Add a lock that is held during all normal operations 2020-02-18 09:16:10 +11:00
Peter Barker 5580196b1c AP_Scheduler: move clamping of loop rate to init function 
Parameters may not be available in the constructor, and that's what we
need to be clamping.
 2020-02-06 14:41:06 +11:00
Andy Piper debc13965a AP_Scheduler: add common tasks from AP_Vehicle and manage them 2019-12-30 13:02:04 +11:00
Andrew Tridgell ddde512b74 AP_Scheduler: use fill_nanf() on each scheduler function 2019-10-01 17:35:26 +10:00
Andrew Tridgell 79acaeaef1 AP_Scheduler: cope with high CPU load by stretching loop times 
this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
 2019-09-19 18:25:20 +10:00
Andrew Tridgell 4027d61e17 AP_Scheduler: log I2C ISR count 2019-08-26 09:13:39 +10:00
Peter Barker cc7044b360 AP_Scheduler: include internal error count in PM log message 2019-06-12 10:05:59 +10:00
Andrew Tridgell 4888583e17 AP_Scheduler: use task -3 for wait_for_sample() 2019-05-17 09:00:22 +10:00
Andrew Tridgell e801821f0c AP_Scheduler: log SPI and I2C counters in PM msg 2019-05-17 08:56:06 +10:00
Andrew Tridgell 49061aae67 AP_Scheduler: use persistent_data for current_task 2019-05-15 15:33:48 +10:00
Peter Barker 82f8a7fa1b AP_Scheduler: include internal errors in dataflash PM message 2019-03-21 21:34:33 +11:00
Tom Pittenger 155a1b7ec7 AP_Scheduler: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 01e0c03a12 AP_Scheduler: add singleton 2018-06-15 08:01:22 +10:00
Peter Barker c4ea83177f AP_Scheduler: remove unused ins error count logging 2018-04-04 14:21:20 +01:00
Peter Barker d5c57d949b AP_Scheduler: eliminate goto update_spare_ticks 2018-03-22 10:01:45 +11:00
Peter Barker badfde6f18 AP_Scheduler: use continue instead of nested-if (NFC) 2018-03-22 10:01:45 +11:00
Peter Barker 224ea50260 AP_Scheduler: continue in place of nested if (NFC) 2018-03-22 10:01:45 +11:00
Mark Whitehorn 919383a739 AP_Scheduler: add load_average() to PM log message 2018-02-21 23:53:08 +10:00
Andrew Tridgell 6cc007598e AP_Scheduler: initialise _last_loop_time_s in init() 2018-02-13 17:15:05 +11:00
Andrew Tridgell 491715bec7 AP_Scheduler: added get_last_loop_time_s() 
this gives compatibility with previous G_Dt in copter
 2018-02-13 17:15:05 +11:00
Andrew Tridgell f436901517 AP_Scheduler: fixed perf info to match previous behaviour 2018-02-13 17:15:05 +11:00
Andrew Tridgell e0c9d9b592 AP_Scheduler: fixed loop time available 2018-02-13 17:15:05 +11:00
Andrew Tridgell 24d6493453 AP_Scheduler: make loop times cover INS wait_for_sample 
this matches past behaviour, and gives much more useful information to
a user wanting to know if their board it meeting its desired loop rate
 2018-02-13 17:15:05 +11:00