Merge corrections

Makefile

@@ -284,6 +284,7 @@ COMMON_SRC = build_config.c \
 		   common/encoding.c \
 		   common/filter.c \
 		   scheduler.c \
+		   scheduler_tasks.c \
 		   main.c \
 		   mw.c \
 		   flight/altitudehold.c \

src/main/main.c

@@ -663,10 +663,13 @@ int main(void) {
     init();
 
     /* Setup scheduler */
+    schedulerInit();
     rescheduleTask(TASK_GYROPID, targetLooptime);
-
     setTaskEnabled(TASK_GYROPID, true);
 
+    setTaskEnabled(TASK_MOTOR, true);
+    rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
+
     if(sensors(SENSOR_ACC)) {
         setTaskEnabled(TASK_ACCEL, true);
         switch(targetLooptime) {  // Switch statement kept in place to change acc rates in the future
@@ -713,6 +716,8 @@ int main(void) {
 #endif
 #ifdef TELEMETRY
     setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
+    // Reschedule telemetry to 500hz for Jeti Exbus
+    if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
 #endif
 #ifdef LED_STRIP
     setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
@@ -721,7 +726,6 @@ int main(void) {
     setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
 #endif
 
-    schedulerInit();
     while (1) {
         scheduler();
         processLoopback();

src/main/scheduler.c

@@ -21,9 +21,6 @@
 #include <stdint.h>
 #include <string.h>
 
-#ifdef UNIT_TEST
-typedef enum {TEST_IRQ = 0 } IRQn_Type;
-#endif
 #include "platform.h"
 
 #include "scheduler.h"
@@ -36,13 +33,8 @@ typedef enum {TEST_IRQ = 0 } IRQn_Type;
 
 static cfTask_t *currentTask = NULL;
 
-#define REALTIME_GUARD_INTERVAL_MIN     10
-#define REALTIME_GUARD_INTERVAL_MAX     300
-#define REALTIME_GUARD_INTERVAL_MARGIN  25
-
 static uint32_t totalWaitingTasks;
 static uint32_t totalWaitingTasksSamples;
-static uint32_t realtimeGuardInterval = REALTIME_GUARD_INTERVAL_MAX;
 
 uint32_t currentTime = 0;
 uint16_t averageSystemLoadPercent = 0;
@@ -51,26 +43,17 @@ uint16_t averageSystemLoadPercent = 0;
 static int taskQueuePos = 0;
 static int taskQueueSize = 0;
 // No need for a linked list for the queue, since items are only inserted at startup
-#ifdef UNIT_TEST
-STATIC_UNIT_TESTED cfTask_t* taskQueueArray[TASK_COUNT + 2]; // 1 extra space so test code can check for buffer overruns
-#else
+
 static cfTask_t* taskQueueArray[TASK_COUNT + 1]; // extra item for NULL pointer at end of queue
-#endif
-STATIC_UNIT_TESTED void queueClear(void)
+
+void queueClear(void)
 {
     memset(taskQueueArray, 0, sizeof(taskQueueArray));
     taskQueuePos = 0;
     taskQueueSize = 0;
 }
 
-#ifdef UNIT_TEST
-STATIC_UNIT_TESTED int queueSize(void)
-{
-    return taskQueueSize;
-}
-#endif
-
-STATIC_UNIT_TESTED bool queueContains(cfTask_t *task)
+bool queueContains(cfTask_t *task)
 {
     for (int ii = 0; ii < taskQueueSize; ++ii) {
         if (taskQueueArray[ii] == task) {
@@ -80,7 +63,7 @@ STATIC_UNIT_TESTED bool queueContains(cfTask_t *task)
     return false;
 }
 
-STATIC_UNIT_TESTED bool queueAdd(cfTask_t *task)
+bool queueAdd(cfTask_t *task)
 {
     if ((taskQueueSize >= TASK_COUNT) || queueContains(task)) {
         return false;
@@ -96,7 +79,7 @@ STATIC_UNIT_TESTED bool queueAdd(cfTask_t *task)
     return false;
 }
 
-STATIC_UNIT_TESTED bool queueRemove(cfTask_t *task)
+bool queueRemove(cfTask_t *task)
 {
     for (int ii = 0; ii < taskQueueSize; ++ii) {
         if (taskQueueArray[ii] == task) {
@@ -111,7 +94,7 @@ STATIC_UNIT_TESTED bool queueRemove(cfTask_t *task)
 /*
  * Returns first item queue or NULL if queue empty
  */
-STATIC_INLINE_UNIT_TESTED cfTask_t *queueFirst(void)
+cfTask_t *queueFirst(void)
 {
     taskQueuePos = 0;
     return taskQueueArray[0]; // guaranteed to be NULL if queue is empty
@@ -120,7 +103,7 @@ STATIC_INLINE_UNIT_TESTED cfTask_t *queueFirst(void)
 /*
  * Returns next item in queue or NULL if at end of queue
  */
-STATIC_INLINE_UNIT_TESTED cfTask_t *queueNext(void)
+cfTask_t *queueNext(void)
 {
     return taskQueueArray[++taskQueuePos]; // guaranteed to be NULL at end of queue
 }
@@ -133,31 +116,20 @@ void taskSystem(void)
         totalWaitingTasksSamples = 0;
         totalWaitingTasks = 0;
     }
-
-    /* Calculate guard interval */
-    uint32_t maxNonRealtimeTaskTime = 0;
-    for (const cfTask_t *task = queueFirst(); task != NULL; task = queueNext()) {
-        if (task->staticPriority != TASK_PRIORITY_REALTIME) {
-            maxNonRealtimeTaskTime = MAX(maxNonRealtimeTaskTime, task->averageExecutionTime);
-        }
-    }
-
-    realtimeGuardInterval = constrain(maxNonRealtimeTaskTime, REALTIME_GUARD_INTERVAL_MIN, REALTIME_GUARD_INTERVAL_MAX) + REALTIME_GUARD_INTERVAL_MARGIN;
-#if defined SCHEDULER_DEBUG
-    debug[2] = realtimeGuardInterval;
-#endif
 }
 
 #ifndef SKIP_TASK_STATISTICS
 void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo)
 {
     taskInfo->taskName = cfTasks[taskId].taskName;
+    taskInfo->subTaskName = cfTasks[taskId].subTaskName;
     taskInfo->isEnabled = queueContains(&cfTasks[taskId]);
     taskInfo->desiredPeriod = cfTasks[taskId].desiredPeriod;
     taskInfo->staticPriority = cfTasks[taskId].staticPriority;
     taskInfo->maxExecutionTime = cfTasks[taskId].maxExecutionTime;
     taskInfo->totalExecutionTime = cfTasks[taskId].totalExecutionTime;
     taskInfo->averageExecutionTime = cfTasks[taskId].averageExecutionTime;
+    taskInfo->latestDeltaTime = cfTasks[taskId].taskLatestDeltaTime;
 }
 #endif
 
@@ -213,7 +185,7 @@ void scheduler(void)
             timeToNextRealtimeTask = MIN(timeToNextRealtimeTask, newTimeInterval);
         }
     }
-    const bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > realtimeGuardInterval);
+    const bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > 0);
 
     // The task to be invoked
     cfTask_t *selectedTask = NULL;
@@ -286,5 +258,4 @@ void scheduler(void)
         debug[3] = (micros() - currentTime);
 #endif
     }
-    GET_SCHEDULER_LOCALS();
 }

src/main/scheduler.h

@@ -30,18 +30,21 @@ typedef enum {
 
 typedef struct {
     const char * taskName;
+    const char * subTaskName;
     bool         isEnabled;
     uint32_t     desiredPeriod;
     uint8_t      staticPriority;
     uint32_t     maxExecutionTime;
     uint32_t     totalExecutionTime;
     uint32_t     averageExecutionTime;
+    uint32_t     latestDeltaTime;
 } cfTaskInfo_t;
 
 typedef enum {
     /* Actual tasks */
     TASK_SYSTEM = 0,
     TASK_GYROPID,
+    TASK_MOTOR,
     TASK_ACCEL,
     TASK_SERIAL,
 #ifdef BEEPER
@@ -88,6 +91,7 @@ typedef enum {
 typedef struct {
     /* Configuration */
     const char * taskName;
+    const char * subTaskName;
     bool (*checkFunc)(uint32_t currentDeltaTime);
     void (*taskFunc)(void);
     uint32_t desiredPeriod;         // target period of execution

src/main/scheduler_tasks.c

@@ -22,7 +22,8 @@
 #include <platform.h>
 #include "scheduler.h"
 
-void taskMainPidLoopChecker(void);
+void taskMainPidLoopCheck(void);
+void taskMotorUpdate(void);
 void taskUpdateAccelerometer(void);
 void taskHandleSerial(void);
 void taskUpdateBeeper(void);
@@ -49,8 +50,16 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 
     [TASK_GYROPID] = {
-        .taskName = "GYRO/PID",
-        .taskFunc = taskMainPidLoopChecker,
+        .taskName = "PID",
+        .subTaskName = "GYRO",
+        .taskFunc = taskMainPidLoopCheck,
+        .desiredPeriod = 1000,
+        .staticPriority = TASK_PRIORITY_HIGH,
+    },
+
+    [TASK_MOTOR] = {
+        .taskName = "MOTOR",
+        .taskFunc = taskMotorUpdate,
         .desiredPeriod = 1000,
         .staticPriority = TASK_PRIORITY_REALTIME,
     },

src/test/unit/scheduler_unittest.cc

@@ -405,4 +405,3 @@ TEST(SchedulerUnittest, TestRealTimeGuardOutTaskRun)
 // STUBS
 extern "C" {
 }
-