mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.3 KiB
C
85 lines
2.3 KiB
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include "AP_HAL_QURT_Namespace.h"
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#include <sys/time.h>
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#include <signal.h>
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#include <pthread.h>
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#define QURT_SCHEDULER_MAX_TIMER_PROCS 8
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 181
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#define APM_UART_PRIORITY 60
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#define APM_IO_PRIORITY 58
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/* Scheduler implementation: */
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class QURT::Scheduler : public AP_HAL::Scheduler
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{
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public:
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Scheduler();
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/* AP_HAL::Scheduler methods */
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void init() override;
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void suspend_timer_procs();
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void resume_timer_procs();
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void reboot(bool hold_in_bootloader) override;
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bool in_main_thread() const override;
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void hal_initialized();
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void set_system_initialized() override;
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bool is_system_initialized() override
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{
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return _initialized;
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}
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bool thread_create(AP_HAL::MemberProc proc, const char *name,
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uint32_t stack_size, priority_base base, int8_t priority) override;
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private:
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bool _initialized;
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volatile bool _hal_initialized;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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AP_HAL::Proc _failsafe;
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volatile bool _timer_suspended;
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AP_HAL::MemberProc _timer_proc[QURT_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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volatile bool _in_timer_proc;
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AP_HAL::MemberProc _io_proc[QURT_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_io_procs;
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volatile bool _in_io_proc;
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volatile bool _timer_event_missed;
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pthread_t _main_thread_ctx;
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pthread_t _timer_thread_ctx;
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pthread_t _io_thread_ctx;
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pthread_t _storage_thread_ctx;
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pthread_t _uart_thread_ctx;
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uint8_t calculate_thread_priority(priority_base base, int8_t priority) const;
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static void *_timer_thread(void *arg);
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static void *_io_thread(void *arg);
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static void *_storage_thread(void *arg);
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static void *_uart_thread(void *arg);
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void _run_timers(bool called_from_timer_thread);
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void _run_io(void);
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};
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#endif
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