rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Only prioritise a task if there's time to run it

This commit is contained in:
Steve Evans 2022-01-27 21:06:47 +00:00
parent b6bc232a19
commit 1ad09783ff
2 changed files with 34 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
src/main/scheduler/scheduler.c
View File

@ -431,6 +431,8 @@ static void readSchedulerLocals(task_t *selectedTask, uint8_t selectedTaskDynami
FAST_CODE void scheduler(void)
{
static uint32_t checkCycles = 0;
static uint32_t scheduleCount = 0;
#if !defined(UNIT_TEST)
const timeUs_t schedulerStartTimeUs = micros();
#endif
@ -442,6 +444,13 @@ FAST_CODE void scheduler(void)
uint32_t nextTargetCycles = 0;
int32_t schedLoopRemainingCycles;
#if defined(UNIT_TEST)
if (nextTargetCycles == 0) {
lastTargetCycles = getCycleCounter();
nextTargetCycles = lastTargetCycles + desiredPeriodCycles;
}
#endif
if (gyroEnabled) {
// Realtime gyro/filtering/PID tasks get complete priority
task_t *gyroTask = getTask(TASK_GYRO);
@ -601,13 +610,30 @@ FAST_CODE void scheduler(void)
}
if (task->dynamicPriority > selectedTaskDynamicPriority) {
timeDelta_t taskRequiredTimeUs = task->anticipatedExecutionTime >> TASK_EXEC_TIME_SHIFT;
int32_t taskRequiredTimeCycles = (int32_t)clockMicrosToCycles((uint32_t)taskRequiredTimeUs);
// Allow a little extra time
taskRequiredTimeCycles += checkCycles + taskGuardCycles;
// If there's no time to run the task, discount it from prioritisation unless aged sufficiently
// Don't block the SERIAL task.
if ((taskRequiredTimeCycles < schedLoopRemainingCycles) ||
((scheduleCount & SCHED_TASK_DEFER_MASK) == 0) ||
((task - tasks) == TASK_SERIAL)) {
selectedTaskDynamicPriority = task->dynamicPriority;
selectedTask = task;
}
}
}
}
// The number of cycles taken to run the checkers is quite consistent with some higher spikes, but
// that doesn't defeat its use
checkCycles = cmpTimeCycles(getCycleCounter(), nowCycles);
if (selectedTask) {
// Recheck the available time as checkCycles is only approximate
timeDelta_t taskRequiredTimeUs = selectedTask->anticipatedExecutionTime >> TASK_EXEC_TIME_SHIFT;
#if defined(USE_LATE_TASK_STATISTICS)
selectedTask->execTime = taskRequiredTimeUs;
@ -676,6 +702,8 @@ FAST_CODE void scheduler(void)
#if defined(UNIT_TEST)
readSchedulerLocals(selectedTask, selectedTaskDynamicPriority);
#endif
scheduleCount++;
}
void schedulerEnableGyro(void)

2
src/main/scheduler/scheduler.h
View File

@ -32,6 +32,8 @@
#define LOAD_PERCENTAGE_ONE 100
#define SCHED_TASK_DEFER_MASK 7 // Scheduler loop count is masked with this and when 0 long running tasks are processed
#define SCHED_START_LOOP_MIN_US 1 // Wait at start of scheduler loop if gyroTask is nearly due
#define SCHED_START_LOOP_MAX_US 12
#define SCHED_START_LOOP_DOWN_STEP 50 // Fraction of a us to reduce start loop wait