Merge pull request #11319 from SteveCEvans/relax_determinism

Add scheduler_relax_rx and scheduler_relax_osd variables

src/main/cli/settings.c

@@ -101,6 +101,7 @@
 #include "pg/vcd.h"
 #include "pg/vtx_io.h"
 #include "pg/usb.h"
+#include "pg/scheduler.h"
 #include "pg/sdio.h"
 #include "pg/rcdevice.h"
 #include "pg/stats.h"
@@ -1682,6 +1683,9 @@ const clivalue_t valueTable[] = {
     { "expresslrs_model_id",    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_EXPRESSLRS_SPI_CONFIG, offsetof(rxExpressLrsSpiConfig_t, modelId) },
 #endif
 
+    { "scheduler_relax_rx",  VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, PG_ARRAY_ELEMENT_OFFSET(schedulerConfig_t, 0, rxRelaxDeterminism) },
+    { "scheduler_relax_osd", VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, PG_ARRAY_ELEMENT_OFFSET(schedulerConfig_t, 0, osdRelaxDeterminism) },
+
 // PG_TIMECONFIG
 #ifdef USE_RTC_TIME
     { "timezone_offset_minutes",  VAR_INT16 | MASTER_VALUE, .config.minmax = { TIMEZONE_OFFSET_MINUTES_MIN, TIMEZONE_OFFSET_MINUTES_MAX }, PG_TIME_CONFIG, offsetof(timeConfig_t, tz_offsetMinutes) },

src/main/pg/pg_ids.h

@@ -152,7 +152,8 @@
 #define PG_MODE_ACTIVATION_CONFIG   553
 #define PG_DYN_NOTCH_CONFIG         554
 #define PG_RX_EXPRESSLRS_SPI_CONFIG 555
-#define PG_BETAFLIGHT_END 555
+#define PG_SCHEDULER_CONFIG         556
+#define PG_BETAFLIGHT_END           556
 
 
 // OSD configuration (subject to change)

src/main/pg/scheduler.c

@@ -0,0 +1,31 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#include "pg/pg_ids.h"
+#include "pg/scheduler.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig, PG_SCHEDULER_CONFIG, 0);
+
+PG_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig,
+    .rxRelaxDeterminism = SCHEDULER_RELAX_RX,
+    .osdRelaxDeterminism = SCHEDULER_RELAX_OSD,
+);

src/main/pg/scheduler.h

@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "pg/pg.h"
+
+#ifdef STM32F411xE
+// Allow RX and OSD tasks to be scheduled at the second attempt on F411 processors
+#define SCHEDULER_RELAX_RX  1
+#define SCHEDULER_RELAX_OSD 1
+#else
+#define SCHEDULER_RELAX_RX  25
+#define SCHEDULER_RELAX_OSD 25
+#endif
+
+typedef struct schedulerConfig_s {
+    uint16_t rxRelaxDeterminism;
+    uint16_t osdRelaxDeterminism;
+} schedulerConfig_t;
+
+PG_DECLARE(schedulerConfig_t, schedulerConfig);
+

src/main/scheduler/scheduler.c

@@ -659,9 +659,9 @@ FAST_CODE void scheduler(void)
 #endif  // USE_LATE_TASK_STATISTICS
             } else if ((selectedTask->taskAgePeriods > TASK_AGE_EXPEDITE_COUNT) ||
 #ifdef USE_OSD
-                       (((selectedTask - tasks) == TASK_OSD) && (++skippedOSDAttempts > TASK_AGE_EXPEDITE_OSD)) ||
+                       (((selectedTask - tasks) == TASK_OSD) && (TASK_AGE_EXPEDITE_OSD != 0) && (++skippedOSDAttempts > TASK_AGE_EXPEDITE_OSD)) ||
 #endif
-                       (((selectedTask - tasks) == TASK_RX) && (++skippedRxAttempts > TASK_AGE_EXPEDITE_RX))) {
+                       (((selectedTask - tasks) == TASK_RX) && (TASK_AGE_EXPEDITE_RX != 0) && (++skippedRxAttempts > TASK_AGE_EXPEDITE_RX))) {
                 // If a task has been unable to run, then reduce it's recorded estimated run time to ensure
                 // it's ultimate scheduling
                 selectedTask->anticipatedExecutionTime *= TASK_AGE_EXPEDITE_SCALE;

src/main/scheduler/scheduler.h

@@ -22,6 +22,7 @@
 
 #include "common/time.h"
 #include "config/config.h"
+#include "pg/scheduler.h"
 
 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
 #define TASK_PERIOD_MS(ms) ((ms) * 1000)
@@ -47,8 +48,8 @@
 // Decay the estimated max task duration by 1/(1 << TASK_EXEC_TIME_SHIFT) on every invocation
 #define TASK_EXEC_TIME_SHIFT            7
 
-#define TASK_AGE_EXPEDITE_RX            25  // Make RX tasks more schedulable if it's failed to be scheduled this many times
+#define TASK_AGE_EXPEDITE_RX            schedulerConfig()->rxRelaxDeterminism  // Make RX tasks more schedulable if it's failed to be scheduled this many times
-#define TASK_AGE_EXPEDITE_OSD           25  // Make OSD tasks more schedulable if it's failed to be scheduled this many times
+#define TASK_AGE_EXPEDITE_OSD           schedulerConfig()->osdRelaxDeterminism  // Make OSD tasks more schedulable if it's failed to be scheduled this many times
 #define TASK_AGE_EXPEDITE_COUNT         1   // Make aged tasks more schedulable
 #define TASK_AGE_EXPEDITE_SCALE         0.9 // By scaling their expected execution time
 

src/test/unit/scheduler_unittest.cc

@@ -19,7 +19,17 @@
 
 extern "C" {
     #include "platform.h"
+    #include "pg/pg.h"
+    #include "pg/pg_ids.h"
+    #include "pg/scheduler.h"
     #include "scheduler/scheduler.h"
+
+    PG_REGISTER_WITH_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig, PG_SCHEDULER_CONFIG, 0);
+
+    PG_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig,
+        .rxRelaxDeterminism = 25,
+        .osdRelaxDeterminism = 25,
+    );
 }
 
 #include "unittest_macros.h"