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atbetaflight
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Fix BB / Acc reading / Optimize scheduler

This commit is contained in:
borisbstyle 2016-03-01 00:17:20 +01:00
parent c050351cb4
commit 856ceee528
6 changed files with 20 additions and 49 deletions
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2
src/main/drivers/gyro_sync.h
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@ -5,8 +5,6 @@
* Author: borisb
*/
#define INTERRUPT_WAIT_TIME 0
extern uint32_t targetLooptime;
bool gyroSyncCheckUpdate(void);

2
src/main/io/serial_cli.c
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@ -555,7 +555,7 @@ const clivalue_t valueTable[] = {
#ifdef CC3D
{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
#endif
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 50, 32000 } },
{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 300, 5000 } },
{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },

2
src/main/main.c
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@ -663,7 +663,7 @@ int main(void) {
init();
/* Setup scheduler */
rescheduleTask(TASK_GYROPID, targetLooptime - INTERRUPT_WAIT_TIME);
rescheduleTask(TASK_GYROPID, targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
setTaskEnabled(TASK_MOTOR, true);

22
src/main/mw.c
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@ -724,6 +724,13 @@ void subTasksMainPidLoop(void) {
}
void taskMotorUpdate(void) {
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime;
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
debug[2] = currentDeltaTime;
debug[3] = currentDeltaTime - previousMotorUpdateTime;
previousMotorUpdateTime = currentDeltaTime;
}
#ifdef USE_SERVOS
filterServos();
@ -731,14 +738,6 @@ void taskMotorUpdate(void) {
#endif
if (motorControlEnable) {
if (debugMode == DEBUG_CYCLETIME) {
static uint32_t previousMotorUpdateTime;
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
debug[2] = currentDeltaTime;
debug[3] = currentDeltaTime - previousMotorUpdateTime;
previousMotorUpdateTime = currentDeltaTime;
}
writeMotors();
}
}
@ -746,6 +745,7 @@ void taskMotorUpdate(void) {
// Function for loop trigger
void taskMainPidLoopCheck(void) {
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
@ -761,9 +761,9 @@ void taskMainPidLoopCheck(void) {
if (gyroSyncCheckUpdate() || ((currentDeltaTime + (micros() - previousTime)) >= (targetLooptime + GYRO_WATCHDOG_DELAY))) {
static uint8_t pidUpdateCountdown;
if (realTimeCycle) {
if (runTaskMainSubprocesses) {
subTasksMainPidLoop();
realTimeCycle = false;
runTaskMainSubprocesses = false;
}
imuUpdateGyro();
@ -773,7 +773,7 @@ void taskMainPidLoopCheck(void) {
} else {
pidUpdateCountdown = masterConfig.pid_process_denom - 1;
taskMainPidLoop();
//realTimeCycle = true;
runTaskMainSubprocesses = true;
}
break;

40
src/main/scheduler.c
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@ -33,7 +33,6 @@ cfTaskId_e currentTaskId = TASK_NONE;
static uint32_t totalWaitingTasks;
static uint32_t totalWaitingTasksSamples;
static uint32_t realtimeGuardInterval;
bool realTimeCycle = true;
@ -101,21 +100,21 @@ static cfTask_t cfTasks[TASK_COUNT] = {
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
.desiredPeriod = 1000,
.staticPriority = TASK_PRIORITY_REALTIME,
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_MOTOR] = {
.taskName = "MOTOR",
.taskFunc = taskMotorUpdate,
.desiredPeriod = 1000,
.staticPriority = TASK_PRIORITY_HIGH,
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = 1000000 / 100,
.staticPriority = TASK_PRIORITY_MEDIUM,
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_SERIAL] = {
@ -129,14 +128,14 @@ static cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "BEEPER",
.taskFunc = taskUpdateBeeper,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_RX] = {
@ -238,12 +237,8 @@ static cfTask_t cfTasks[TASK_COUNT] = {
uint16_t averageSystemLoadPercent = 0;
#define MAX_GUARD_INTERVAL 80
#define MIN_GUARD_INTERVAL 0
void taskSystem(void)
{
uint8_t taskId;
/* Calculate system load */
if (totalWaitingTasksSamples > 0) {
@ -251,19 +246,6 @@ void taskSystem(void)
totalWaitingTasksSamples = 0;
totalWaitingTasks = 0;
}
/* Calculate guard interval */
uint32_t maxNonRealtimeTaskTime = 0;
for (taskId = 0; taskId < TASK_COUNT; taskId++) {
if (cfTasks[taskId].staticPriority != TASK_PRIORITY_REALTIME) {
maxNonRealtimeTaskTime = MAX(maxNonRealtimeTaskTime, cfTasks[taskId].averageExecutionTime);
}
}
realtimeGuardInterval = constrain(maxNonRealtimeTaskTime, MIN_GUARD_INTERVAL, MAX_GUARD_INTERVAL);
#if defined SCHEDULER_DEBUG
debug[2] = realtimeGuardInterval;
#endif
}
#ifndef SKIP_TASK_STATISTICS
@ -318,20 +300,12 @@ uint32_t getTaskDeltaTime(cfTaskId_e taskId)
void scheduler(void)
{
static uint16_t maxTaskCalculationReset = MAXT_TIME_TICKS_TO_RESET;
uint8_t taskId;
uint8_t selectedTaskId;
uint8_t selectedTaskDynPrio;
uint16_t waitingTasks = 0;
uint32_t timeToNextRealtimeTask = UINT32_MAX;
uint32_t currentRealtimeGuardInterval;
static uint16_t maxTaskCalculationReset = MAXT_TIME_TICKS_TO_RESET;
if (realTimeCycle) {
currentRealtimeGuardInterval = realtimeGuardInterval;
} else {
currentRealtimeGuardInterval = MIN_GUARD_INTERVAL;
}
/* Cache currentTime */
currentTime = micros();
@ -354,7 +328,7 @@ void scheduler(void)
}
}
bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > currentRealtimeGuardInterval);
bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > 0);
/* Update task dynamic priorities */
for (taskId = 0; taskId < TASK_COUNT; taskId++) {

1
src/main/scheduler.h
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@ -88,7 +88,6 @@ typedef enum {
extern uint16_t cpuLoad;
extern uint16_t averageSystemLoadPercent;
extern bool realTimeCycle;
void getTaskInfo(cfTaskId_e taskId, cfTaskInfo_t * taskInfo);
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros);