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Report task rate/Hz based on execution of whole state machine, not individual states where appropriate

This commit is contained in:
Steve Evans 2021-03-31 22:57:04 +01:00
parent 07c32e7302
commit 3087d10f53
4 changed files with 18 additions and 13 deletions
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9
src/main/fc/tasks.c
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@ -170,18 +170,20 @@ bool taskUpdateRxMainInProgress()
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
// Where we are using a state machine call ignoreTaskTime() for all states bar one
if (rxState != MODES) {
ignoreTaskTime();
}
switch (rxState) {
default:
case CHECK:
ignoreTaskTime();
rxState = PROCESS;
break;
case PROCESS:
ignoreTaskTime();
if (!processRx(currentTimeUs)) {
rxState = CHECK;
break;
}
rxState = MODES;
@ -193,7 +195,6 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
break;
case UPDATE:
ignoreTaskTime();
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
updateArmingStatus();

4
src/main/scheduler/scheduler.c
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@ -299,7 +299,6 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
if (selectedTask) {
currentTask = selectedTask;
ignoreCurrentTaskTime = false;
selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastExecutedAtUs);
#if defined(USE_TASK_STATISTICS)
float period = currentTimeUs - selectedTask->lastExecutedAtUs;
#endif
@ -314,6 +313,8 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
selectedTask->taskFunc(currentTimeBeforeTaskCallUs);
taskExecutionTimeUs = micros() - currentTimeBeforeTaskCallUs;
if (!ignoreCurrentTaskTime) {
selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastStatsAtUs);
selectedTask->lastStatsAtUs = currentTimeUs;
selectedTask->movingSumExecutionTimeUs += taskExecutionTimeUs - selectedTask->movingSumExecutionTimeUs / TASK_STATS_MOVING_SUM_COUNT;
selectedTask->movingSumDeltaTimeUs += selectedTask->taskLatestDeltaTimeUs - selectedTask->movingSumDeltaTimeUs / TASK_STATS_MOVING_SUM_COUNT;
selectedTask->maxExecutionTimeUs = MAX(selectedTask->maxExecutionTimeUs, taskExecutionTimeUs);
@ -326,6 +327,7 @@ FAST_CODE timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTi
} else
#endif
{
selectedTask->taskLatestDeltaTimeUs = cmpTimeUs(currentTimeUs, selectedTask->lastExecutedAtUs);
selectedTask->taskFunc(currentTimeUs);
}
}

17
src/main/scheduler/scheduler.h
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@ -170,24 +170,25 @@ typedef struct {
#endif
bool (*checkFunc)(timeUs_t currentTimeUs, timeDelta_t currentDeltaTimeUs);
void (*taskFunc)(timeUs_t currentTimeUs);
timeDelta_t desiredPeriodUs; // target period of execution
const int8_t staticPriority; // dynamicPriority grows in steps of this size
timeDelta_t desiredPeriodUs; // target period of execution
const int8_t staticPriority; // dynamicPriority grows in steps of this size
// Scheduling
uint16_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation
uint16_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation
uint16_t taskAgeCycles;
timeDelta_t taskLatestDeltaTimeUs;
timeUs_t lastExecutedAtUs; // last time of invocation
timeUs_t lastSignaledAtUs; // time of invocation event for event-driven tasks
timeUs_t lastDesiredAt; // time of last desired execution
timeUs_t lastExecutedAtUs; // last time of invocation
timeUs_t lastSignaledAtUs; // time of invocation event for event-driven tasks
timeUs_t lastDesiredAt; // time of last desired execution
#if defined(USE_TASK_STATISTICS)
// Statistics
float movingAverageCycleTimeUs;
timeUs_t movingSumExecutionTimeUs; // moving sum over 32 samples
timeUs_t movingSumDeltaTimeUs; // moving sum over 32 samples
timeUs_t movingSumDeltaTimeUs; // moving sum over 32 samples
timeUs_t maxExecutionTimeUs;
timeUs_t totalExecutionTimeUs; // total time consumed by task since boot
timeUs_t totalExecutionTimeUs; // total time consumed by task since boot
timeUs_t lastStatsAtUs; // time of last stats gathering for rate calculation
#if defined(USE_LATE_TASK_STATISTICS)
uint32_t runCount;
uint32_t lateCount;

1
src/test/unit/scheduler_unittest.cc
View File

@ -353,6 +353,7 @@ TEST(SchedulerUnittest, TestSingleTask)
}
setTaskEnabled(TASK_ACCEL, true);
tasks[TASK_ACCEL].lastExecutedAtUs = 1000;
tasks[TASK_ACCEL].lastStatsAtUs = 1000;
simulatedTime = 2050;
// run the scheduler and check the task has executed
scheduler();