rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-10 18:24:11 +01:00
Code Issues Releases Activity

syntax cleanup and betterheader comments

Browse Source
This commit is contained in:
Corvus Corax 2013-04-19 09:07:35 +02:00
parent 12211afe22
commit 4d1729c415
2 changed files with 159 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

109
flight/targets/UAVObjects/callbackscheduler.c
View File

@ -35,8 +35,8 @@
* task information * task information
*/ */
struct DelayedCallbackTaskStruct { struct DelayedCallbackTaskStruct {
DelayedCallbackInfo *callbackQueue[CALLBACK_PRIORITY_LOW+1]; DelayedCallbackInfo *callbackQueue[CALLBACK_PRIORITY_LOW + 1];
DelayedCallbackInfo *queueCursor[CALLBACK_PRIORITY_LOW+1]; DelayedCallbackInfo *queueCursor[CALLBACK_PRIORITY_LOW + 1];
xTaskHandle callbackSchedulerTaskHandle; xTaskHandle callbackSchedulerTaskHandle;
signed char name[3]; signed char name[3];
uint32_t stackSize; uint32_t stackSize;
@ -69,7 +69,7 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
/** /**
* Initialize the scheduler * Initialize the scheduler
* must be called before any othyer functions are called * must be called before any other functions are called
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerInitialize() int32_t CallbackSchedulerInitialize()
@ -89,7 +89,13 @@ int32_t CallbackSchedulerInitialize()
} }
/** /**
* Start the scheduler * Start all scheduler tasks
* Will instantiate all scheduler tasks registered so far. Although new
* callbacks CAN be registered beyond that point, any further scheduling tasks
* will be started the moment of instantiation. It is not possible to increase
* the STACK requirements of a scheduler task after this function has been
* run. No callbacks will be run before this function is called, although
* they can be marked for later execution by executing the dispatch function.
* \return Success (0), failure (-1) * \return Success (0), failure (-1)
*/ */
int32_t CallbackSchedulerStart() int32_t CallbackSchedulerStart()
@ -97,13 +103,20 @@ int32_t CallbackSchedulerStart()
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// only call once // only call once
PIOS_Assert(schedulerStarted==false); PIOS_Assert(schedulerStarted == false);
// start tasks // start tasks
struct DelayedCallbackTaskStruct *cursor; struct DelayedCallbackTaskStruct *cursor = NULL;
int t=0; int t = 0;
LL_FOREACH(schedulerTasks,cursor) { LL_FOREACH(schedulerTasks, cursor) {
xTaskCreate( CallbackSchedulerTask, cursor->name, cursor->stackSize/4, cursor, cursor->taskPriority, &cursor->callbackSchedulerTaskHandle ); xTaskCreate(
CallbackSchedulerTask,
cursor->name,
cursor->stackSize/4,
cursor,
cursor->taskPriority,
&cursor->callbackSchedulerTaskHandle
);
if (TASKINFO_RUNNING_CALLBACKSCHEDULER0+t <= TASKINFO_RUNNING_CALLBACKSCHEDULER3) { if (TASKINFO_RUNNING_CALLBACKSCHEDULER0+t <= TASKINFO_RUNNING_CALLBACKSCHEDULER3) {
TaskMonitorAdd(TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t, cursor->callbackSchedulerTaskHandle); TaskMonitorAdd(TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t, cursor->callbackSchedulerTaskHandle);
} }
@ -119,7 +132,7 @@ int32_t CallbackSchedulerStart()
/** /**
* Schedule dispatching a callback at some point in the future. The function returns immediately. * Schedule dispatching a callback at some point in the future. The function returns immediately.
* \param[in] cbinfo the callback handle * \param[in] *cbinfo the callback handle
* \param[in] milliseconds How far in the future to dispatch the callback * \param[in] milliseconds How far in the future to dispatch the callback
* \param[in] updatemode What to do if the callback is already scheduled but not dispatched yet. * \param[in] updatemode What to do if the callback is already scheduled but not dispatched yet.
* The options are: * The options are:
@ -129,14 +142,18 @@ int32_t CallbackSchedulerStart()
* UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override) * UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
* \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden * \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
*/ */
int32_t DelayedCallbackSchedule(DelayedCallbackInfo *cbinfo, int32_t milliseconds, DelayedCallbackUpdateMode updatemode) int32_t DelayedCallbackSchedule(
DelayedCallbackInfo *cbinfo,
int32_t milliseconds,
DelayedCallbackUpdateMode updatemode
)
{ {
int32_t result=0; int32_t result = 0;
PIOS_Assert(cbinfo); PIOS_Assert(cbinfo);
if (milliseconds<=0) { if (milliseconds <= 0) {
milliseconds=0; // we can and will not schedule in the past since that ruins the wraparound of uint32_t milliseconds = 0; // we can and will not schedule in the past since that ruins the wraparound of uint32_t
} }
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -148,15 +165,15 @@ int32_t DelayedCallbackSchedule(DelayedCallbackInfo *cbinfo, int32_t millisecond
int32_t diff = new - cbinfo->scheduletime; int32_t diff = new - cbinfo->scheduletime;
if ( (!cbinfo->scheduletime) if ( (!cbinfo->scheduletime)
|| ((updatemode & CALLBACK_UPDATEMODE_SOONER) && diff<0) || ((updatemode & CALLBACK_UPDATEMODE_SOONER) && diff < 0)
|| ((updatemode & CALLBACK_UPDATEMODE_LATER) && diff>0) || ((updatemode & CALLBACK_UPDATEMODE_LATER ) && diff > 0)
) { ) {
// the scheduletime may be updated // the scheduletime may be updated
if (!cbinfo->scheduletime) { if (!cbinfo->scheduletime) {
result=1; result = 1;
} else { } else {
result=2; result = 2;
} }
cbinfo->scheduletime = new; cbinfo->scheduletime = new;
@ -180,7 +197,7 @@ int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo)
PIOS_Assert(cbinfo); PIOS_Assert(cbinfo);
// no semaphore needed for the callback // no semaphore needed for the callback
cbinfo->waiting=true; cbinfo->waiting = true;
// but the scheduler as a whole needs to be notified // but the scheduler as a whole needs to be notified
return xSemaphoreGive(cbinfo->task->signal); return xSemaphoreGive(cbinfo->task->signal);
} }
@ -204,7 +221,7 @@ int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigh
PIOS_Assert(cbinfo); PIOS_Assert(cbinfo);
// no semaphore needed for the callback // no semaphore needed for the callback
cbinfo->waiting=true; cbinfo->waiting = true;
// but the scheduler as a whole needs to be notified // but the scheduler as a whole needs to be notified
return xSemaphoreGiveFromISR(cbinfo->task->signal, pxHigherPriorityTaskWoken); return xSemaphoreGiveFromISR(cbinfo->task->signal, pxHigherPriorityTaskWoken);
} }
@ -213,18 +230,23 @@ int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigh
* Register a new callback to be called by a delayed callback scheduler task * Register a new callback to be called by a delayed callback scheduler task
* \param[in] cb The callback to be invoked * \param[in] cb The callback to be invoked
* \param[in] priority Priority of the callback compared to other callbacks called by the same delayed callback scheduler task. * \param[in] priority Priority of the callback compared to other callbacks called by the same delayed callback scheduler task.
* \param[in] taskPriority Priority of the scheduler task. One scheduler task will be spawned for each distinct task priority in use, further callbacks with the same task priority will be handled by the same delayed callback scheduler task, according to their callback priority. * \param[in] taskPriority Priority of the entire scheduler task. One scheduler task will be spawned for each distinct task priority in use, further callbacks with the same task priority will be handled by the same delayed callback scheduler task, according to their callback priority.
* \param[in] stacksize The stack requirements of the callback when called by the scheduler. * \param[in] stacksize The stack requirements of the callback when called by the scheduler.
* \return Success (0), failure (-1) * \return CallbackInfo Pointer on success, NULL if failed.
*/ */
DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPriority priority, long taskPriority, uint32_t stacksize) DelayedCallbackInfo *DelayedCallbackCreate(
DelayedCallback cb,
DelayedCallbackPriority priority,
long taskPriority,
uint32_t stacksize
)
{ {
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// find appropriate scheduler task matching taskPriority // find appropriate scheduler task matching taskPriority
struct DelayedCallbackTaskStruct *task=NULL; struct DelayedCallbackTaskStruct *task = NULL;
int t=0; int t = 0;
LL_FOREACH(schedulerTasks, task) { LL_FOREACH(schedulerTasks, task) {
if (task->taskPriority == taskPriority) { if (task->taskPriority == taskPriority) {
break; // found break; // found
@ -241,7 +263,7 @@ DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPr
} }
// initialize structure // initialize structure
for (DelayedCallbackPriority p=0; p<=CALLBACK_PRIORITY_LOW; p++) { for (DelayedCallbackPriority p = 0; p <= CALLBACK_PRIORITY_LOW; p++) {
task->callbackQueue[p] = NULL; task->callbackQueue[p] = NULL;
task->queueCursor[p] = NULL; task->queueCursor[p] = NULL;
} }
@ -265,7 +287,14 @@ DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPr
// Previously registered tasks are spawned when CallbackSchedulerStart() is called. // Previously registered tasks are spawned when CallbackSchedulerStart() is called.
// Tasks registered afterwards need to spawn upon creation. // Tasks registered afterwards need to spawn upon creation.
if (schedulerStarted) { if (schedulerStarted) {
xTaskCreate( CallbackSchedulerTask, task->name, task->stackSize/4, task, task->taskPriority, &task->callbackSchedulerTaskHandle ); xTaskCreate(
CallbackSchedulerTask,
task->name,
task->stackSize/4,
task,
task->taskPriority,
&task->callbackSchedulerTaskHandle
);
if (TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t <= TASKINFO_RUNNING_CALLBACKSCHEDULER3) { if (TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t <= TASKINFO_RUNNING_CALLBACKSCHEDULER3) {
TaskMonitorAdd(TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t, task->callbackSchedulerTaskHandle); TaskMonitorAdd(TASKINFO_RUNNING_CALLBACKSCHEDULER0 + t, task->callbackSchedulerTaskHandle);
} }
@ -295,7 +324,7 @@ DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPr
info->cb = cb; info->cb = cb;
// add to scheduling queue // add to scheduling queue
LL_APPEND(task->callbackQueue[priority],info); LL_APPEND(task->callbackQueue[priority], info);
xSemaphoreGiveRecursive(mutex); xSemaphoreGiveRecursive(mutex);
@ -308,10 +337,11 @@ DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPr
* \param[in] priority The scheduling priority of the callback to search for * \param[in] priority The scheduling priority of the callback to search for
* \return wait time until next scheduled callback is due - 0 if a callback has just been executed * \return wait time until next scheduled callback is due - 0 if a callback has just been executed
*/ */
static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCallbackPriority priority) { static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCallbackPriority priority)
{
int32_t result = MAX_SLEEP; int32_t result = MAX_SLEEP;
int32_t diff; int32_t diff = 0;
// no such queue // no such queue
if (priority > CALLBACK_PRIORITY_LOW) { if (priority > CALLBACK_PRIORITY_LOW) {
@ -326,8 +356,8 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
DelayedCallbackInfo *current = task->queueCursor[priority]; DelayedCallbackInfo *current = task->queueCursor[priority];
DelayedCallbackInfo *next; DelayedCallbackInfo *next;
do { do {
if (current==NULL) { if (current == NULL) {
next=task->callbackQueue[priority]; // loop around the end of the list next = task->callbackQueue[priority]; // loop around the end of the list
// also attempt to run a callback that has lower priority // also attempt to run a callback that has lower priority
// every time the queue is completely traversed // every time the queue is completely traversed
diff = runNextCallback(task, priority + 1); diff = runNextCallback(task, priority + 1);
@ -335,7 +365,7 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
task->queueCursor[priority] = next; // the recursive call has executed a callback task->queueCursor[priority] = next; // the recursive call has executed a callback
return 0; return 0;
} }
if (diff<result) { if (diff < result) {
result = diff; // adjust sleep time result = diff; // adjust sleep time
} }
} else { } else {
@ -343,9 +373,9 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
xSemaphoreTakeRecursive(mutex, portMAX_DELAY); // access to scheduletime should be mutex protected xSemaphoreTakeRecursive(mutex, portMAX_DELAY); // access to scheduletime should be mutex protected
if (current->scheduletime) { if (current->scheduletime) {
diff = current->scheduletime - xTaskGetTickCount(); diff = current->scheduletime - xTaskGetTickCount();
if (diff<=0) { if (diff <= 0) {
current->waiting = true; current->waiting = true;
} else if (diff<result) { } else if (diff < result) {
result = diff; // adjust sleep time result = diff; // adjust sleep time
} }
} }
@ -371,16 +401,15 @@ static int32_t runNextCallback(struct DelayedCallbackTaskStruct *task, DelayedCa
*/ */
static void CallbackSchedulerTask(void *task) static void CallbackSchedulerTask(void *task)
{ {
uint32_t delay; uint32_t delay = 0;
while (1) { while (1) {
delay = runNextCallback((struct DelayedCallbackTaskStruct*) task, CALLBACK_PRIORITY_CRITICAL); delay = runNextCallback((struct DelayedCallbackTaskStruct*)task, CALLBACK_PRIORITY_CRITICAL);
if (delay) { if (delay) {
// nothing to do but sleep // nothing to do but sleep
xSemaphoreTake( ((struct DelayedCallbackTaskStruct*)task)->signal, delay); xSemaphoreTake(((struct DelayedCallbackTaskStruct*)task)->signal, delay);
} }
} }
} }

94
flight/targets/UAVObjects/inc/callbackscheduler.h
View File

@ -27,8 +27,18 @@
#define CALLBACKSCHEDULER_H #define CALLBACKSCHEDULER_H
// Public types // Public types
typedef enum{CALLBACK_PRIORITY_CRITICAL=0,CALLBACK_PRIORITY_REGULAR=1,CALLBACK_PRIORITY_LOW=2} DelayedCallbackPriority; typedef enum{
typedef enum{CALLBACK_UPDATEMODE_NONE=0,CALLBACK_UPDATEMODE_SOONER=1,CALLBACK_UPDATEMODE_LATER=2,CALLBACK_UPDATEMODE_OVERRIDE=3} DelayedCallbackUpdateMode; CALLBACK_PRIORITY_CRITICAL = 0,
CALLBACK_PRIORITY_REGULAR = 1,
CALLBACK_PRIORITY_LOW = 2
} DelayedCallbackPriority;
typedef enum{
CALLBACK_UPDATEMODE_NONE = 0,
CALLBACK_UPDATEMODE_SOONER = 1,
CALLBACK_UPDATEMODE_LATER = 2,
CALLBACK_UPDATEMODE_OVERRIDE = 3
} DelayedCallbackUpdateMode;
typedef void (*DelayedCallback)(void); typedef void (*DelayedCallback)(void);
@ -37,11 +47,83 @@ typedef struct DelayedCallbackInfoStruct DelayedCallbackInfo;
// Public functions // Public functions
// //
/**
* Initialize the scheduler
* must be called before any other functions are called
* \return Success (0), failure (-1)
*/
int32_t CallbackSchedulerInitialize(); int32_t CallbackSchedulerInitialize();
/**
* Start all scheduler tasks
* Will instantiate all scheduler tasks registered so far. Although new
* callbacks CAN be registered beyond that point, any further scheduling tasks
* will be started the moment of instantiation. It is not possible to increase
* the STACK requirements of a scheduler task after this function has been
* run. No callbacks will be run before this function is called, although
* they can be marked for later execution by executing the dispatch function.
* \return Success (0), failure (-1)
*/
int32_t CallbackSchedulerStart(); int32_t CallbackSchedulerStart();
int32_t DelayedCallbackSchedule(DelayedCallbackInfo *cbinfo, int32_t milliseconds, DelayedCallbackUpdateMode updatemode);
int32_t DelayedCallbackDispatch(DelayedCallbackInfo *cbinfo); /**
int32_t DelayedCallbackDispatchFromISR(DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken); * Register a new callback to be called by a delayed callback scheduler task.
DelayedCallbackInfo* DelayedCallbackCreate(DelayedCallback cb, DelayedCallbackPriority priority, long taskPriority, uint32_t stacksize); * If a scheduler task with the specified taskPriority does not exist yet, it
* will be created.
* \param[in] cb The callback to be invoked
* \param[in] priority Priority of the callback compared to other callbacks called by the same delayed callback scheduler task.
* \param[in] taskPriority Priority of the entire scheduler task. One scheduler task will be spawned for each distinct task priority in use, further callbacks with the same task priority will be handled by the same delayed callback scheduler task, according to their callback priority.
* \param[in] stacksize The stack requirements of the callback when called by the scheduler.
* \return CallbackInfo Pointer on success, NULL if failed.
*/
DelayedCallbackInfo *DelayedCallbackCreate(
DelayedCallback cb,
DelayedCallbackPriority priority,
long taskPriority,
uint32_t stacksize
);
/**
* Schedule dispatching a callback at some point in the future. The function returns immediately.
* \param[in] *cbinfo the callback handle
* \param[in] milliseconds How far in the future to dispatch the callback
* \param[in] updatemode What to do if the callback is already scheduled but not dispatched yet.
* The options are:
* UPDATEMODE_NONE: An existing schedule will not be touched, the call will have no effect at all if there's an existing schedule.
* UPDATEMODE_SOONER: The callback will be rescheduled only if the new schedule triggers before the original one would have triggered.
* UPDATEMODE_LATER: The callback will be rescheduled only if the new schedule triggers after the original one would have triggered.
* UPDATEMODE_OVERRIDE: The callback will be rescheduled in any case, effectively overriding any previous schedule. (sooner+later=override)
* \return 0: not scheduled, previous schedule takes precedence, 1: new schedule, 2: previous schedule overridden
*/
int32_t DelayedCallbackSchedule(
DelayedCallbackInfo *cbinfo,
int32_t milliseconds,
DelayedCallbackUpdateMode updatemode
);
/**
* Dispatch an event by invoking the supplied callback. The function
* returns immediately, the callback is invoked from the event task.
* \param[in] *cbinfo the callback handle
* \return Success (-1), failure (0)
*/
int32_t DelayedCallbackDispatch( DelayedCallbackInfo *cbinfo );
/**
* Dispatch an event by invoking the supplied callback. The function
* returns immediately, the callback is invoked from the event task.
* \param[in] *cbinfo the callback handle
* \param[in] pxHigherPriorityTaskWoken
* xSemaphoreGiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE if
* giving the semaphore caused a task to unblock, and the unblocked task has a
* priority higher than the currently running task. If xSemaphoreGiveFromISR()
* sets this value to pdTRUE then a context switch should be requested before
* the interrupt is exited.
* From FreeRTOS Docu: Context switching from an ISR uses port specific syntax.
* Check the demo task for your port to find the syntax required.
* \return Success (-1), failure (0)
*/
int32_t DelayedCallbackDispatchFromISR( DelayedCallbackInfo *cbinfo, long *pxHigherPriorityTaskWoken );
#endif // CALLBACKSCHEDULER_H #endif // CALLBACKSCHEDULER_H