Add TASK_AGE_EXPEDITE_RX to ensure RX task is never starved of time
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@ -92,6 +92,8 @@ static FAST_DATA_ZERO_INIT bool gyroEnabled;
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static int32_t desiredPeriodCycles;
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static uint32_t lastTargetCycles;
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static uint8_t skippedRxAttempts = 0;
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#if defined(USE_LATE_TASK_STATISTICS)
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static int16_t lateTaskCount = 0;
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static uint32_t lateTaskTotal = 0;
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@ -569,8 +571,8 @@ FAST_CODE void scheduler(void)
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if (task->attr->checkFunc) {
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// Increase priority for event driven tasks
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if (task->dynamicPriority > 0) {
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task->taskAgeCycles = 1 + (cmpTimeUs(currentTimeUs, task->lastSignaledAtUs) / task->attr->desiredPeriodUs);
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task->dynamicPriority = 1 + task->attr->staticPriority * task->taskAgeCycles;
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task->taskAgePeriods = 1 + (cmpTimeUs(currentTimeUs, task->lastSignaledAtUs) / task->attr->desiredPeriodUs);
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task->dynamicPriority = 1 + task->attr->staticPriority * task->taskAgePeriods;
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} else if (task->attr->checkFunc(currentTimeUs, cmpTimeUs(currentTimeUs, task->lastExecutedAtUs))) {
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const uint32_t checkFuncExecutionTimeUs = cmpTimeUs(micros(), currentTimeUs);
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#if !defined(UNIT_TEST)
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@ -581,17 +583,17 @@ FAST_CODE void scheduler(void)
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checkFuncTotalExecutionTimeUs += checkFuncExecutionTimeUs; // time consumed by scheduler + task
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checkFuncMaxExecutionTimeUs = MAX(checkFuncMaxExecutionTimeUs, checkFuncExecutionTimeUs);
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task->lastSignaledAtUs = currentTimeUs;
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task->taskAgeCycles = 1;
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task->taskAgePeriods = 1;
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task->dynamicPriority = 1 + task->attr->staticPriority;
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} else {
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task->taskAgeCycles = 0;
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task->taskAgePeriods = 0;
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}
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} else {
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// Task is time-driven, dynamicPriority is last execution age (measured in desiredPeriods)
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// Task age is calculated from last execution
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task->taskAgeCycles = (cmpTimeUs(currentTimeUs, task->lastExecutedAtUs) / task->attr->desiredPeriodUs);
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if (task->taskAgeCycles > 0) {
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task->dynamicPriority = 1 + task->attr->staticPriority * task->taskAgeCycles;
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task->taskAgePeriods = (cmpTimeUs(currentTimeUs, task->lastExecutedAtUs) / task->attr->desiredPeriodUs);
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if (task->taskAgePeriods > 0) {
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task->dynamicPriority = 1 + task->attr->staticPriority * task->taskAgePeriods;
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}
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}
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@ -633,6 +635,10 @@ FAST_CODE void scheduler(void)
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}
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#endif // USE_LATE_TASK_STATISTICS
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if ((currentTask - tasks) == TASK_RX) {
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skippedRxAttempts = 0;
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}
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if ((cyclesOverdue > 0) || (-cyclesOverdue < taskGuardMinCycles)) {
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if (taskGuardCycles < taskGuardMaxCycles) {
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taskGuardCycles += taskGuardDeltaUpCycles;
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@ -643,7 +649,8 @@ FAST_CODE void scheduler(void)
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#if defined(USE_LATE_TASK_STATISTICS)
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taskCount++;
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#endif // USE_LATE_TASK_STATISTICS
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} else if (selectedTask->taskAgeCycles > TASK_AGE_EXPEDITE_COUNT) {
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} else if ((selectedTask->taskAgePeriods > TASK_AGE_EXPEDITE_COUNT) ||
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(((selectedTask - tasks) == TASK_RX) && (++skippedRxAttempts > TASK_AGE_EXPEDITE_RX))) {
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// If a task has been unable to run, then reduce it's recorded estimated run time to ensure
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// it's ultimate scheduling
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selectedTask->anticipatedExecutionTime *= TASK_AGE_EXPEDITE_SCALE;
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@ -47,6 +47,7 @@
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// Decay the estimated max task duration by 1/(1 << TASK_EXEC_TIME_SHIFT) on every invocation
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#define TASK_EXEC_TIME_SHIFT 7
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#define TASK_AGE_EXPEDITE_RX 25 // Make RX tasks more schedulable if it's failed to be scheduled this many times
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#define TASK_AGE_EXPEDITE_COUNT 1 // Make aged tasks more schedulable
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#define TASK_AGE_EXPEDITE_SCALE 0.9 // By scaling their expected execution time
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@ -197,7 +198,7 @@ typedef struct {
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// Scheduling
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uint16_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation
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uint16_t taskAgeCycles;
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uint16_t taskAgePeriods;
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timeDelta_t taskLatestDeltaTimeUs;
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timeUs_t lastExecutedAtUs; // last time of invocation
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timeUs_t lastSignaledAtUs; // time of invocation event for event-driven tasks
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@ -396,7 +396,7 @@ TEST(SchedulerUnittest, TestTwoTasks)
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simulatedTime = startTime;
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tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime;
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tasks[TASK_ATTITUDE].lastExecutedAtUs = tasks[TASK_ACCEL].lastExecutedAtUs - TEST_UPDATE_ATTITUDE_TIME;
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EXPECT_EQ(0, tasks[TASK_ATTITUDE].taskAgeCycles);
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EXPECT_EQ(0, tasks[TASK_ATTITUDE].taskAgePeriods);
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// run the scheduler
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scheduler();
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// no tasks should have run, since neither task's desired time has elapsed
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