2013-09-28 03:28:36 -03:00
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#include <AP_HAL.h>
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2014-07-06 23:03:26 -03:00
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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2013-09-22 03:01:24 -03:00
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#include "Scheduler.h"
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2013-09-28 01:59:00 -03:00
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#include "Storage.h"
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2014-08-14 13:48:17 -03:00
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#include "RCInput.h"
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2013-09-28 21:13:51 -03:00
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#include "UARTDriver.h"
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2014-08-23 04:52:43 -03:00
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#include "Util.h"
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2014-11-07 06:17:50 -04:00
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#include "SPIUARTDriver.h"
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2013-09-22 03:01:24 -03:00
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#include <sys/time.h>
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2013-09-28 01:59:00 -03:00
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#include <poll.h>
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#include <unistd.h>
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#include <stdlib.h>
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2013-09-28 21:32:51 -03:00
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#include <stdio.h>
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2013-10-07 21:09:29 -03:00
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#include <errno.h>
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#include <sys/mman.h>
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2013-09-22 03:01:24 -03:00
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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2014-08-23 04:52:43 -03:00
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#define APM_LINUX_TIMER_PRIORITY 15
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#define APM_LINUX_UART_PRIORITY 14
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#define APM_LINUX_RCIN_PRIORITY 13
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#define APM_LINUX_MAIN_PRIORITY 12
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#define APM_LINUX_TONEALARM_PRIORITY 11
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#define APM_LINUX_IO_PRIORITY 10
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2013-09-28 21:16:07 -03:00
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2013-09-22 03:01:24 -03:00
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LinuxScheduler::LinuxScheduler()
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{}
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2015-03-18 16:50:44 -03:00
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void LinuxScheduler::_create_realtime_thread(pthread_t *ctx, int rtprio,
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2015-03-18 17:59:29 -03:00
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const char *name,
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2015-03-18 16:50:44 -03:00
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pthread_startroutine_t start_routine)
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{
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struct sched_param param = { .sched_priority = rtprio };
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pthread_attr_t attr;
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int r;
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pthread_attr_init(&attr);
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2015-04-13 20:25:35 -03:00
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/*
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we need to run as root to get realtime scheduling. Allow it to
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run as non-root for debugging purposes, plus to allow the Replay
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tool to run
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*/
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if (geteuid() == 0) {
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pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
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pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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pthread_attr_setschedparam(&attr, ¶m);
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}
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2015-03-18 16:50:44 -03:00
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r = pthread_create(ctx, &attr, start_routine, this);
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if (r != 0) {
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2015-03-18 17:59:29 -03:00
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hal.console->printf("Error creating thread '%s': %s\n",
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name, strerror(r));
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2015-03-18 16:50:44 -03:00
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panic(PSTR("Failed to create thread"));
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}
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pthread_attr_destroy(&attr);
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2015-03-18 18:00:24 -03:00
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if (name) {
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pthread_setname_np(*ctx, name);
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}
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2015-03-18 16:50:44 -03:00
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}
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2013-09-28 01:59:00 -03:00
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2013-09-22 03:01:24 -03:00
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void LinuxScheduler::init(void* machtnichts)
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{
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2015-03-18 16:36:44 -03:00
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mlockall(MCL_CURRENT|MCL_FUTURE);
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2013-09-28 01:59:00 -03:00
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2015-03-18 16:36:44 -03:00
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clock_gettime(CLOCK_MONOTONIC, &_sketch_start_time);
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2013-10-07 21:09:29 -03:00
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2015-03-18 16:50:44 -03:00
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struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
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2013-09-28 21:16:07 -03:00
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sched_setscheduler(0, SCHED_FIFO, ¶m);
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2015-03-18 17:59:29 -03:00
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struct {
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pthread_t *ctx;
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int rtprio;
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const char *name;
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pthread_startroutine_t start_routine;
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} *iter, table[] = {
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{ .ctx = &_timer_thread_ctx,
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.rtprio = APM_LINUX_TIMER_PRIORITY,
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.name = "sched-timer",
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.start_routine = &Linux::LinuxScheduler::_timer_thread,
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},
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{ .ctx = &_uart_thread_ctx,
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.rtprio = APM_LINUX_UART_PRIORITY,
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.name = "sched-uart",
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.start_routine = &Linux::LinuxScheduler::_uart_thread,
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},
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{ .ctx = &_rcin_thread_ctx,
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.rtprio = APM_LINUX_RCIN_PRIORITY,
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.name = "sched-rcin",
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.start_routine = &Linux::LinuxScheduler::_rcin_thread,
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},
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{ .ctx = &_tonealarm_thread_ctx,
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.rtprio = APM_LINUX_TONEALARM_PRIORITY,
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.name = "sched-tonealarm",
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.start_routine = &Linux::LinuxScheduler::_tonealarm_thread,
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},
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{ .ctx = &_io_thread_ctx,
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.rtprio = APM_LINUX_IO_PRIORITY,
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.name = "sched-io",
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.start_routine = &Linux::LinuxScheduler::_io_thread,
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},
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{ }
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};
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2015-04-13 20:25:35 -03:00
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if (geteuid() != 0) {
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printf("WARNING: running as non-root. Will not use realtime scheduling\n");
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}
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2015-03-18 17:59:29 -03:00
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for (iter = table; iter->ctx; iter++)
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_create_realtime_thread(iter->ctx, iter->rtprio, iter->name,
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iter->start_routine);
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2013-09-22 03:01:24 -03:00
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}
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2013-10-07 21:09:29 -03:00
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void LinuxScheduler::_microsleep(uint32_t usec)
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{
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struct timespec ts;
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ts.tv_sec = 0;
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ts.tv_nsec = usec*1000UL;
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while (nanosleep(&ts, &ts) == -1 && errno == EINTR) ;
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}
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2013-09-22 03:01:24 -03:00
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void LinuxScheduler::delay(uint16_t ms)
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{
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2014-02-26 04:33:39 -04:00
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if (stopped_clock_usec) {
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2014-01-04 20:39:29 -04:00
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return;
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}
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2014-08-19 19:00:21 -03:00
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uint64_t start = millis64();
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2013-09-28 21:32:51 -03:00
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2014-08-19 19:00:21 -03:00
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while ((millis64() - start) < ms) {
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2013-09-28 21:32:51 -03:00
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// this yields the CPU to other apps
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2013-10-07 21:09:29 -03:00
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_microsleep(1000);
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2013-09-28 21:32:51 -03:00
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if (_min_delay_cb_ms <= ms) {
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if (_delay_cb) {
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_delay_cb();
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}
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}
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}
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2013-09-22 03:01:24 -03:00
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}
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2014-08-19 19:00:21 -03:00
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uint64_t LinuxScheduler::millis64()
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2013-09-22 03:01:24 -03:00
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{
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2014-02-26 04:33:39 -04:00
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if (stopped_clock_usec) {
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return stopped_clock_usec/1000;
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2013-12-31 05:05:07 -04:00
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}
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2013-10-06 06:57:24 -03:00
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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2013-09-22 03:01:24 -03:00
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(_sketch_start_time.tv_sec +
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2013-10-06 06:57:24 -03:00
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(_sketch_start_time.tv_nsec*1.0e-9)));
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2013-09-22 03:01:24 -03:00
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}
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2014-08-19 19:00:21 -03:00
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uint64_t LinuxScheduler::micros64()
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2013-09-22 03:01:24 -03:00
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{
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2014-02-26 04:33:39 -04:00
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if (stopped_clock_usec) {
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return stopped_clock_usec;
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2013-12-31 05:05:07 -04:00
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}
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2013-10-06 06:57:24 -03:00
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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2013-09-22 03:01:24 -03:00
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(_sketch_start_time.tv_sec +
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2013-10-06 06:57:24 -03:00
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(_sketch_start_time.tv_nsec*1.0e-9)));
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2013-09-22 03:01:24 -03:00
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}
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2014-08-19 19:00:21 -03:00
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uint32_t LinuxScheduler::millis()
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{
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return millis64() & 0xFFFFFFFF;
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}
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uint32_t LinuxScheduler::micros()
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{
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return micros64() & 0xFFFFFFFF;
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}
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2013-09-22 03:01:24 -03:00
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void LinuxScheduler::delay_microseconds(uint16_t us)
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{
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2014-11-15 21:30:50 -04:00
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if (stopped_clock_usec) {
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return;
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}
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2013-10-07 21:09:29 -03:00
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_microsleep(us);
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2013-09-22 03:01:24 -03:00
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}
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2013-09-28 01:59:00 -03:00
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void LinuxScheduler::register_delay_callback(AP_HAL::Proc proc,
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uint16_t min_time_ms)
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{
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_delay_cb = proc;
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_min_delay_cb_ms = min_time_ms;
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}
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2013-09-22 03:01:24 -03:00
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2013-09-30 07:36:12 -03:00
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void LinuxScheduler::register_timer_process(AP_HAL::MemberProc proc)
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2013-09-28 01:59:00 -03:00
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{
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for (uint8_t i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i] == proc) {
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return;
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}
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}
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if (_num_timer_procs < LINUX_SCHEDULER_MAX_TIMER_PROCS) {
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_timer_proc[_num_timer_procs] = proc;
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_num_timer_procs++;
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} else {
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hal.console->printf("Out of timer processes\n");
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}
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}
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2013-09-22 03:01:24 -03:00
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2013-09-30 07:36:12 -03:00
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void LinuxScheduler::register_io_process(AP_HAL::MemberProc proc)
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2013-09-28 01:59:00 -03:00
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{
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for (uint8_t i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i] == proc) {
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return;
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}
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}
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2015-01-26 02:45:17 -04:00
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if (_num_io_procs < LINUX_SCHEDULER_MAX_IO_PROCS) {
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2013-09-28 01:59:00 -03:00
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_io_proc[_num_io_procs] = proc;
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_num_io_procs++;
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} else {
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hal.console->printf("Out of IO processes\n");
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}
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}
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2013-09-22 03:01:24 -03:00
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2013-09-30 23:09:46 -03:00
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void LinuxScheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
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2013-09-28 01:59:00 -03:00
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{
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_failsafe = failsafe;
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}
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2013-09-22 03:01:24 -03:00
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void LinuxScheduler::suspend_timer_procs()
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2013-09-28 01:59:00 -03:00
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{
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2014-08-20 18:49:49 -03:00
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if (!_timer_semaphore.take(0)) {
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printf("Failed to take timer semaphore\n");
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2013-09-28 21:48:22 -03:00
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}
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2013-09-28 01:59:00 -03:00
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}
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2013-09-22 03:01:24 -03:00
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void LinuxScheduler::resume_timer_procs()
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2013-09-28 01:59:00 -03:00
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{
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2014-08-20 18:49:49 -03:00
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_timer_semaphore.give();
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2013-09-28 01:59:00 -03:00
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}
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void LinuxScheduler::_run_timers(bool called_from_timer_thread)
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{
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if (_in_timer_proc) {
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return;
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}
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_in_timer_proc = true;
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2014-08-20 18:49:49 -03:00
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if (!_timer_semaphore.take(0)) {
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printf("Failed to take timer semaphore in _run_timers\n");
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}
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// now call the timer based drivers
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for (int i = 0; i < _num_timer_procs; i++) {
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2015-05-26 02:14:50 -03:00
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if (_timer_proc[i]) {
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2014-08-20 18:49:49 -03:00
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_timer_proc[i]();
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2013-09-28 01:59:00 -03:00
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}
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}
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2014-08-20 18:49:49 -03:00
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_timer_semaphore.give();
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2013-09-28 01:59:00 -03:00
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// and the failsafe, if one is setup
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if (_failsafe != NULL) {
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2013-09-30 23:09:46 -03:00
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_failsafe();
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2013-09-28 01:59:00 -03:00
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}
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_in_timer_proc = false;
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}
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2015-03-18 17:23:37 -03:00
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void *LinuxScheduler::_timer_thread(void* arg)
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2013-09-28 01:59:00 -03:00
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{
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2015-03-18 17:23:37 -03:00
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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2013-10-26 04:25:27 -03:00
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}
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2014-08-19 07:03:15 -03:00
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/*
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this aims to run at an average of 1kHz, so that it can be used
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to drive 1kHz processes without drift
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*/
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2015-03-18 17:23:37 -03:00
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uint64_t next_run_usec = sched->micros64() + 1000;
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2013-09-28 01:59:00 -03:00
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while (true) {
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2015-03-18 17:23:37 -03:00
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uint64_t dt = next_run_usec - sched->micros64();
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2014-08-19 07:03:15 -03:00
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if (dt > 2000) {
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// we've lost sync - restart
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2015-03-18 17:23:37 -03:00
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next_run_usec = sched->micros64();
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2014-08-19 07:03:15 -03:00
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} else {
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2015-03-18 17:23:37 -03:00
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sched->_microsleep(dt);
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2014-08-19 07:03:15 -03:00
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}
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next_run_usec += 1000;
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2013-09-28 01:59:00 -03:00
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// run registered timers
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2015-03-18 17:23:37 -03:00
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sched->_run_timers(true);
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2013-09-28 01:59:00 -03:00
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}
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return NULL;
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}
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void LinuxScheduler::_run_io(void)
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{
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2014-12-07 20:24:39 -04:00
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if (!_io_semaphore.take(0)) {
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2013-09-28 01:59:00 -03:00
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2014-08-20 18:49:49 -03:00
|
|
|
// now call the IO based drivers
|
|
|
|
for (int i = 0; i < _num_io_procs; i++) {
|
2015-05-26 02:14:50 -03:00
|
|
|
if (_io_proc[i]) {
|
2014-08-20 18:49:49 -03:00
|
|
|
_io_proc[i]();
|
2013-09-28 01:59:00 -03:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2014-12-07 20:24:39 -04:00
|
|
|
_io_semaphore.give();
|
2013-09-28 01:59:00 -03:00
|
|
|
}
|
|
|
|
|
2015-03-18 17:23:37 -03:00
|
|
|
void *LinuxScheduler::_rcin_thread(void *arg)
|
2014-08-14 13:48:17 -03:00
|
|
|
{
|
2015-03-18 17:23:37 -03:00
|
|
|
LinuxScheduler* sched = (LinuxScheduler *)arg;
|
|
|
|
|
|
|
|
while (sched->system_initializing()) {
|
|
|
|
poll(NULL, 0, 1);
|
2014-08-14 13:48:17 -03:00
|
|
|
}
|
|
|
|
while (true) {
|
2015-03-18 17:23:37 -03:00
|
|
|
sched->_microsleep(10000);
|
2014-08-14 13:48:17 -03:00
|
|
|
|
|
|
|
((LinuxRCInput *)hal.rcin)->_timer_tick();
|
|
|
|
}
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
2015-03-18 17:23:37 -03:00
|
|
|
void *LinuxScheduler::_uart_thread(void* arg)
|
2013-09-28 01:59:00 -03:00
|
|
|
{
|
2015-03-18 17:23:37 -03:00
|
|
|
LinuxScheduler* sched = (LinuxScheduler *)arg;
|
|
|
|
|
|
|
|
while (sched->system_initializing()) {
|
|
|
|
poll(NULL, 0, 1);
|
2013-10-26 04:25:27 -03:00
|
|
|
}
|
2013-09-28 01:59:00 -03:00
|
|
|
while (true) {
|
2015-03-18 17:23:37 -03:00
|
|
|
sched->_microsleep(10000);
|
2013-09-28 01:59:00 -03:00
|
|
|
|
2013-09-28 21:13:51 -03:00
|
|
|
// process any pending serial bytes
|
|
|
|
((LinuxUARTDriver *)hal.uartA)->_timer_tick();
|
|
|
|
((LinuxUARTDriver *)hal.uartB)->_timer_tick();
|
|
|
|
((LinuxUARTDriver *)hal.uartC)->_timer_tick();
|
2015-02-12 06:00:52 -04:00
|
|
|
((LinuxUARTDriver *)hal.uartE)->_timer_tick();
|
2013-09-28 01:59:00 -03:00
|
|
|
}
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
2015-03-18 17:23:37 -03:00
|
|
|
void *LinuxScheduler::_tonealarm_thread(void* arg)
|
2014-08-23 04:52:43 -03:00
|
|
|
{
|
2015-03-18 17:23:37 -03:00
|
|
|
LinuxScheduler* sched = (LinuxScheduler *)arg;
|
|
|
|
|
|
|
|
while (sched->system_initializing()) {
|
|
|
|
poll(NULL, 0, 1);
|
2014-08-23 04:52:43 -03:00
|
|
|
}
|
|
|
|
while (true) {
|
2015-03-18 17:23:37 -03:00
|
|
|
sched->_microsleep(10000);
|
2014-08-23 04:52:43 -03:00
|
|
|
|
|
|
|
// process tone command
|
|
|
|
((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();
|
|
|
|
}
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
2015-03-18 17:23:37 -03:00
|
|
|
void *LinuxScheduler::_io_thread(void* arg)
|
2013-09-28 01:59:00 -03:00
|
|
|
{
|
2015-03-18 17:23:37 -03:00
|
|
|
LinuxScheduler* sched = (LinuxScheduler *)arg;
|
|
|
|
|
|
|
|
while (sched->system_initializing()) {
|
|
|
|
poll(NULL, 0, 1);
|
2013-10-26 04:25:27 -03:00
|
|
|
}
|
2013-09-28 01:59:00 -03:00
|
|
|
while (true) {
|
2015-03-18 17:23:37 -03:00
|
|
|
sched->_microsleep(20000);
|
2013-09-28 01:59:00 -03:00
|
|
|
|
|
|
|
// process any pending storage writes
|
|
|
|
((LinuxStorage *)hal.storage)->_timer_tick();
|
|
|
|
|
|
|
|
// run registered IO processes
|
2015-03-18 17:23:37 -03:00
|
|
|
sched->_run_io();
|
2013-09-28 01:59:00 -03:00
|
|
|
}
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
|
|
|
|
void LinuxScheduler::panic(const prog_char_t *errormsg)
|
|
|
|
{
|
|
|
|
write(1, errormsg, strlen(errormsg));
|
|
|
|
write(1, "\n", 1);
|
|
|
|
hal.scheduler->delay_microseconds(10000);
|
|
|
|
exit(1);
|
|
|
|
}
|
|
|
|
|
|
|
|
bool LinuxScheduler::in_timerprocess()
|
|
|
|
{
|
|
|
|
return _in_timer_proc;
|
2013-09-22 03:01:24 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
void LinuxScheduler::begin_atomic()
|
|
|
|
{}
|
|
|
|
|
|
|
|
void LinuxScheduler::end_atomic()
|
|
|
|
{}
|
|
|
|
|
|
|
|
bool LinuxScheduler::system_initializing() {
|
2013-09-28 01:59:00 -03:00
|
|
|
return !_initialized;
|
2013-09-22 03:01:24 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
void LinuxScheduler::system_initialized()
|
2013-09-28 01:59:00 -03:00
|
|
|
{
|
|
|
|
if (_initialized) {
|
|
|
|
panic("PANIC: scheduler::system_initialized called more than once");
|
|
|
|
}
|
|
|
|
_initialized = true;
|
2013-09-22 03:01:24 -03:00
|
|
|
}
|
|
|
|
|
2013-09-28 01:59:00 -03:00
|
|
|
void LinuxScheduler::reboot(bool hold_in_bootloader)
|
|
|
|
{
|
2014-10-19 22:40:08 -03:00
|
|
|
exit(1);
|
2013-09-22 03:01:24 -03:00
|
|
|
}
|
2013-09-28 03:28:36 -03:00
|
|
|
|
2014-02-26 04:33:39 -04:00
|
|
|
void LinuxScheduler::stop_clock(uint64_t time_usec)
|
2013-12-29 18:31:33 -04:00
|
|
|
{
|
2015-04-20 01:04:23 -03:00
|
|
|
if (time_usec >= stopped_clock_usec) {
|
|
|
|
stopped_clock_usec = time_usec;
|
|
|
|
_run_io();
|
|
|
|
}
|
2013-12-31 05:05:07 -04:00
|
|
|
}
|
|
|
|
|
2013-09-28 03:28:36 -03:00
|
|
|
#endif // CONFIG_HAL_BOARD
|