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fixes for scheduling
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This commit is contained in:
Robin Müller
2023-02-06 10:20:22 +01:00
parent fd7709ea81
commit 4d6215f546
3 changed files with 68 additions and 55 deletions
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78
bsp_q7s/core/scheduling.cpp
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@ -173,54 +173,25 @@ void scheduling::initTasks() {
}
#endif
PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
"ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
PeriodicTaskIF* gpsTask = factory->createPeriodicTask(
"GPS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = gpsTask->addComponent(objects::GPS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#endif /* OBSW_ADD_GPS_CTRL */
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
// To be removed soon because it will be part of the ACS PST.
#if OBSW_ADD_ACS_CTRL == 1
acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
gpsTask->addComponent(objects::ACS_CONTROLLER);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
}
#endif
#if OBSW_Q7S_EM == 1
acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
acsCtrlTask->addComponent(objects::STAR_TRACKER);
acsCtrlTask->addComponent(objects::RW1);
acsCtrlTask->addComponent(objects::RW2);
acsCtrlTask->addComponent(objects::RW3);
acsCtrlTask->addComponent(objects::RW4);
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
if (result != returnvalue::OK) {
@ -244,6 +215,35 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
}
#if OBSW_Q7S_EM == 1
acsSysTask->addComponent(objects::MGM_0_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_1_RM3100_HANDLER);
acsSysTask->addComponent(objects::MGM_2_LIS3_HANDLER);
acsSysTask->addComponent(objects::MGM_3_RM3100_HANDLER);
acsSysTask->addComponent(objects::IMTQ_HANDLER);
acsSysTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
acsSysTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
acsSysTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
acsSysTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
acsSysTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
acsSysTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
acsSysTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
acsSysTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
acsSysTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
acsSysTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
acsSysTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_1_L3G_HANDLER);
acsSysTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
acsSysTask->addComponent(objects::GYRO_3_L3G_HANDLER);
acsSysTask->addComponent(objects::GPS_CONTROLLER);
acsSysTask->addComponent(objects::STAR_TRACKER);
acsSysTask->addComponent(objects::RW1);
acsSysTask->addComponent(objects::RW2);
acsSysTask->addComponent(objects::RW3);
acsSysTask->addComponent(objects::RW4);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
"TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
@ -414,7 +414,9 @@ void scheduling::initTasks() {
strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
acsCtrlTask->startTask();
#if OBSW_ADD_GPS_CTRL == 1
gpsTask->startTask();
#endif
acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
tcsPollingTask->startTask();