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137 Commits

Author SHA1 Message Date
Peter Barker ae9d4d514d AP_Scheduler: PerfInfo: allow specification of loop rate 2018-02-13 17:15:05 +11:00
Peter Barker d1781532d4 AP_Scheduler: PerfInfo: add pragma-once to header 2018-02-13 17:15:05 +11:00
Andrew Tridgell b3ed8fd3f9 AP_Scheduler: scale perf_info with loop rate 
this allows it to be used for a wide range of loop rates
 2018-02-08 17:36:33 +11:00
Andrew Tridgell 8dcf89b2b7 AP_Scheduler: put scheduler debug on console 2018-02-08 17:36:33 +11:00
Andrew Tridgell 8b0e9bcff4 AP_Scheduler: use pre-computed loop constants 
this prevents changing the loop rate without a reboot. Too many
subsystems rely on a consistent loop rate to allow it to be changed
 2018-01-20 15:35:58 +11:00
Peter Barker f2242e07db AP_Scheduler: remove memoisation in loop_period_s() 2018-01-20 15:35:58 +11:00
Peter Barker a6ac37d0ba AP_Scheduler: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Andrew Tridgell 44dd079cb9 AP_Scheduler: allow for loop rates above 400Hz 
with ChibiOS we can run copter at 1KHz with no scheduling misses. This
small PR allows that to be configured.
 2018-01-20 10:40:37 +11:00
Andrew Tridgell 580af4a69a AP_Scheduler: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker fd543fce6d AP_Scheduler: create AP::PerfInfo class 2017-11-16 15:31:53 +00:00
Peter Barker 5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Lucas De Marchi 69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi d3e12eb899 AP_Scheduler: add static create method 2017-09-26 03:01:21 +01:00
Lucas De Marchi 87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Peter Barker b445313bf1 AP_Scheduler: remove loop-period argument from load_average 
This now comes from a parameter rather than being hard-set
in the vehicle code

Also adds a method returning the max loop period based on the
loop rate
 2017-08-01 19:39:27 +01:00
Andrew Tridgell 56aa467d60 AP_Scheduler: adjust debug levels 
this is more useful for performance analysis of scheduler, using perf
command
 2017-05-01 15:02:34 +10:00
jaxxzer ccb6434831 AP_Scheduler: Set main loop rate to 400hz for Sub 2017-02-21 11:26:14 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
murata bb1a787852 AP_Scheduler: To add a comment to _loop_rate_hz variable. 2016-10-16 00:02:40 -07:00
Lucas De Marchi ae53920e5b build: don't build examples with old build system 
We currently check examples are buildable with waf which doesn't need
the libraries to be specified in a make.inc file.  Having the makefiles
there is misleading since people try to build and realize the build is
broken.
 2016-10-11 13:03:08 +11:00
Andy Little 0d113b265c Examples: fix examples for px4 
The change to use AP_BoardConfig messed up the examples. Here are some
updated but there are plenty more to do.
 2016-10-04 12:50:47 -03:00
murata 7721290160 AP_Scheduler:time_available value type invalid uint16_t to valid uint32_t. 2016-07-25 20:18:16 -03:00
Andrew Tridgell 63d0c040e4 AP_Scheduler: expose loop rate on all builds 
as discussed with Randy
 2016-06-17 15:02:28 +10:00
Andrew Tridgell fb4cdafef8 AP_Scheduler: allow SCHED_LOOP_RATE for copter in SITL 
very useful for slow simulation environment
 2016-06-17 15:01:18 +10:00
Andrew Tridgell ced4cce358 AP_Scheduler: added optional perf counters at SCHED_DEBUG >= 4 2016-04-21 16:45:02 +10:00
Lucas De Marchi f5437f30ac AP_Scheduler: replace header guard with pragma once 2016-02-18 14:52:35 -02:00
Gustavo Jose de Sousa c2e3f05dbf waf: ardupilotwaf: prefix build context methods with ap_ 
It helps to distinguish between things from waf and things from ardupilotwaf.
 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa 3d22490397 waf: examples: use methods from bld instead of ardupilotwaf 2016-01-22 20:10:29 -02:00
Gustavo Jose de Sousa d281067bcc waf: make example binaries be placed in 'examples' dir 
This commit makes examples' wscripts use ardupilotwaf.example() instead of
ardupilot.program().
 2016-01-15 16:46:41 -02:00
Andrew Tridgell cc25575b3a AP_Scheduler: prevent a startup crash in autotest for Rover 2016-01-05 16:31:06 +11:00
Andrew Tridgell c3829dfb64 AP_Scheduler: allow for arbitrary loop rates 
it turns out 300Hz is pretty useful as it allows for triple EKF on
pixhawk
 2016-01-04 08:37:31 +11:00
Jonathan Challinger 94543d55bb AP_Scheduler: fix example build 2015-12-29 10:46:35 -08:00
Lucas De Marchi a096703b06 Global: don't link with AP_Progmem 
AP_Progmem is not used anymore.
 2015-12-27 15:58:12 -02:00
Lucas De Marchi eb9fd96d5c AP_Scheduler: remove trailing whitespace 2015-12-27 15:58:12 -02:00
Lucas De Marchi 3375b6b01c AP_Scheduler: stop using Progmem.h 2015-12-27 15:58:12 -02:00
Andrew Tridgell 1b1be7e4a2 AP_Scheduler: switch to Hz based scheduler config 2015-12-27 14:57:06 +09:00
Lucas De Marchi c59490677d AP_Scheduler: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:44 +11:00
Caio Marcelo de Oliveira Filho 6e7b73610d waf: add waf support 2015-12-03 07:54:30 +11:00
Caio Marcelo de Oliveira Filho 81186e5416 AP_Scheduler: use millis/micros/panic functions 2015-11-20 12:34:17 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 20c6ffc5e3 Replace use of UARTDriver::printf_P() with UARTDriver::printf() 
This also starts to show warnings on places that were already using
wrong printf format strings.
 2015-10-30 14:35:25 +09:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Lucas De Marchi 2c38e31c93 Remove use of PSTR 
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.

This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.

AVR-specific places were not changed.
 2015-10-30 14:35:04 +09:00
Caio Marcelo de Oliveira Filho 12850742f9 AP_Scheduler: remove unnecessary includes from example 2015-10-21 09:16:10 +11:00
Caio Marcelo de Oliveira Filho ec52df991c build: compile only the HAL files needed by the board 
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
 2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.

A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.

The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.

Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.

The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
 2015-10-21 09:16:07 +11:00
Randy Mackay 87cada1d54 Scheduler: remove INS start style from example sketch 2015-09-21 17:06:25 +09:00
Gustavo Jose de Sousa 53b5b70960 AP_Scheduler: use also task name besides the id for logging 
This makes it easier to identify for which task a log line is.
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa b59154103f AP_Scheduler: use function name for AP_Scheduler task name 
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
 2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa 8fe466ce27 AP_Scheduler: add initializer for task field "name" 
We use define it as an empty macro if on AVR board.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa 8018748fe2 AP_Scheduler: add field "name" to task structure for logging purposes 
That field will be useful for logging as it is easier to know what task a log
is related to by using the task's name rather than using the number.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa 2e6074c108 AP_Scheduler: use designated initializers for tasks structs 
Makes code less prone to break build and semantics (e.g., when a new field is
added).
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa c04b984e6c AP_Scheduler: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:23 +10:00
Daniel Frenzel b9c0f34897 AP_Scheduler example 
Fixed build problem with "make linux"

Signed-off-by: Daniel Frenzel <dgdanielf@gmail.com>
 2015-08-10 19:49:38 +10:00
rentt ad32a98e29 Scheduler: fix compiler warning in example sketch 
printf except a unsigned long value, but the hal.scheduler->millis() return a uint32_t
 2015-07-28 12:06:46 +09:00
Lucas De Marchi d8b70dc0c5 AP_Scheduler: use ARRAY_SIZE macro 2015-07-21 14:25:13 +09:00
Lucas De Marchi 98a1a05933 AP_Scheduler: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:40 +09:00
Andrew Tridgell b2a5de8a63 AP_Scheduler: fixed example sketch 2015-06-01 17:42:32 +10:00
Andrew Tridgell ae4cfe3f2f AP_Scheduler: convert example from .pde to .cpp 2015-06-01 17:07:06 +10:00
Andrew Tridgell dd691ae75c AP_Scheduler: all vehicles now use functors 2015-06-01 15:18:31 +10:00
Andrew Tridgell 96b921d4cc AP_Scheduler: fixed example build 2015-05-26 14:37:14 +10:00
Andrew Tridgell 7db9da6545 AP_Scheduler: removed delegate ptr handling 
no longer needed
 2015-05-26 14:33:30 +10:00
Lucas De Marchi 78b00784fb AP_Scheduler: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 5dfb3ed70c AP_Scheduler: replace tabs with spaces 2015-05-26 13:46:49 +10:00
Andrew Tridgell 0847bd2608 AP_Scheduler: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell 1237772479 AP_Scheduler: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell 8ba5272b0e AP_Scheduler: fixed PSTR() usage 2015-05-05 13:54:27 +10:00
Tom Pittenger d823541eb1 AP_Scheduler: compile warnings: format not a string literal, argument types not checked 
PSTR() goofs things up when using hal.console->printf_P()
 2015-05-05 13:27:01 +10:00
Andrew Tridgell a4e8d960d2 AP_Scheduler: fix for HAL_SITL rename 2015-05-05 09:45:56 +10:00
Randy Mackay 75e2498da2 Scheduler: fix example sketch 2015-05-02 11:55:50 +09:00
Randy Mackay 857c3ef0e9 Scheduler: fix example sketch 2015-01-28 17:15:51 +09:00
Andrew Tridgell 48abfcede7 AP_Scheduler: added example sketch 2014-11-28 12:59:47 +11:00
Andrew Tridgell 67f5ba0b94 AP_Scheduler: added current_task static 
will be used to debug stuck tasks on PX4
 2014-07-03 09:09:11 +10:00
Andrew Tridgell c4d62f6b92 AP_Scheduler: fixed SCHED_DEBUG docs 2013-10-13 21:41:01 +11:00
Andrew Tridgell 0f4da25e68 AP_Scheduler: make sure we run remaining tasks on overrun 
when a task overruns its time, we can still run the rest of the tasks
in the task list
 2013-10-13 21:41:01 +11:00
Andrew Tridgell cfa1b5353f AP_Scheduler: show slips only for SCHED_DEBUG>1 
this allows us to see PERF reports in copter without console writes
slowing things down
 2013-10-10 15:41:34 +11:00
Andrew Tridgell dd4b9275fd AP_Scheduler: improved the accuracy of the scheduling code 
prevent accumulated micros() errors in run()
 2013-10-10 14:14:39 +11:00
Andrew Tridgell e8fc8cea01 AP_Scheduler: updated docs 2013-08-30 15:33:30 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell b7e3851ef8 AP_Scheduler: prevent a divide by zero 2013-08-02 22:07:00 +10:00
Andrew Tridgell a192b9ee46 AP_Scheduler: added load_average() function 
useful to give a load average in SYS_STATUS mavlink message
 2013-07-26 16:07:00 +10:00
Andrew Tridgell c437900a49 AP_Scheduler: added SCHED_DEBUG=2 
used to show overruns and slips
 2013-04-21 23:46:35 +10:00
Andrew Tridgell 02bd24cf57 AP_Scheduler: fixed _last_run initialisation 
another valgrind bug
 2013-04-17 23:02:13 +10:00
Andrew Tridgell 64734dc51c AP_Scheduler: show scheduler task slips 
this is when a task doesn't run at the desired rate
 2013-01-12 13:04:52 +11:00
Andrew Tridgell 1cb64dacf9 AP_Scheduler: expose debug variable 2013-01-12 12:06:55 +11:00
Andrew Tridgell 7ddadcf34e AP_Scheduler: added new scheduler library 
this will be used for main loop control
 2013-01-12 12:02:57 +11:00