fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 13:58:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

Move scheduling priorities into px4_tasks to simplify header usage

Browse Source
This commit is contained in:
Lorenz Meier
2017-08-02 21:18:35 +02:00
parent b26c771ea6
commit b07dde78e3
3 changed files with 53 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+1 -1
View File
@@ -65,12 +65,12 @@
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_module.h>
#include <px4_tasks.h>
#include <px4_time.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <drivers/drv_gps.h>
src/modules/systemlib/scheduling_priorities.h
-91
View File
@@ -1,91 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <px4_tasks.h>
/**
* @file scheduling_priorities.h
*
* Default schedulign priorities for standard system components
*/
// SCHED_PRIORITY_MAX
// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
// Attitude controllers typically are in a blocking wait on driver data
// they should be the first to run on an update, using the current sensor
// data and the *previous* attitude reference from the position controller
// which typically runs at a slower rate
#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 4)
// Actuator outputs should run before right after the attitude controller
// updated
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 4)
// Position controllers typically are in a blocking wait on estimator data
// so when new sensor data is available they will run last. Keeping them
// on a high priority ensures that they are the first process to be run
// when the estimator updates.
#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 5)
// Estimators should run after the attitude controller but before anything
// else in the system. They wait on sensor data which is either coming
// from the sensor hub or from a driver. Keeping this class at a higher
// priority ensures that the estimator runs first if it can, but will
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (SCHED_PRIORITY_MAX - 5)
// The sensor hub conditions sensor data. It is not the fastest component
// in the controller chain, but provides easy-to-use data to the more
// complex downstream consumers
#define SCHED_PRIORITY_SENSOR_HUB (SCHED_PRIORITY_MAX - 6)
// The log capture (which stores log data into RAM) should run faster
// than other components, but should not run before the control pipeline
#define SCHED_PRIORITY_LOG_CAPTURE (SCHED_PRIORITY_MAX - 10)
// Slow drivers should run at a rate where they do not impact the overall
// system execution
#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35)
// The navigation system needs to execute regularly but has no realtime needs
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
// SCHED_PRIORITY_DEFAULT
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
/* SCHED_PRIORITY_IDLE */
src/platforms/px4_tasks.h
+52 -3
View File
@@ -1,8 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Author: Mark Charlebois <charlebm@gmail.com> 2015
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +33,10 @@
/**
* @file px4_tasks.h
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Mark Charlebois (2015) <charlebm@gmail.com>
*
* Preserve existing task API call signature with OS abstraction
*/
@@ -99,6 +101,53 @@ typedef struct {
#error "No target OS defined"
#endif
// Fast drivers - they need to run as quickly as possible to minimize control
// latency.
#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0)
// Attitude controllers typically are in a blocking wait on driver data
// they should be the first to run on an update, using the current sensor
// data and the *previous* attitude reference from the position controller
// which typically runs at a slower rate
#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 4)
// Actuator outputs should run before right after the attitude controller
// updated
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 4)
// Position controllers typically are in a blocking wait on estimator data
// so when new sensor data is available they will run last. Keeping them
// on a high priority ensures that they are the first process to be run
// when the estimator updates.
#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 5)
// Estimators should run after the attitude controller but before anything
// else in the system. They wait on sensor data which is either coming
// from the sensor hub or from a driver. Keeping this class at a higher
// priority ensures that the estimator runs first if it can, but will
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (SCHED_PRIORITY_MAX - 5)
// The sensor hub conditions sensor data. It is not the fastest component
// in the controller chain, but provides easy-to-use data to the more
// complex downstream consumers
#define SCHED_PRIORITY_SENSOR_HUB (SCHED_PRIORITY_MAX - 6)
// The log capture (which stores log data into RAM) should run faster
// than other components, but should not run before the control pipeline
#define SCHED_PRIORITY_LOG_CAPTURE (SCHED_PRIORITY_MAX - 10)
// Slow drivers should run at a rate where they do not impact the overall
// system execution
#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35)
// The navigation system needs to execute regularly but has no realtime needs
#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5)
// SCHED_PRIORITY_DEFAULT
#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
// SCHED_PRIORITY_IDLE
typedef int (*px4_main_t)(int argc, char *argv[]);
__BEGIN_DECLS