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HAL_Linux: use a semaphore in suspend_timer_procs()

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this is the start of multi-core aware code
This commit is contained in:
Andrew Tridgell 2014-08-21 07:49:49 +10:00
parent dcdb53584b
commit 024d3b71e7
2 changed files with 19 additions and 25 deletions
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39
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -198,19 +198,14 @@ void LinuxScheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t per
void LinuxScheduler::suspend_timer_procs()
{
_timer_suspended = true;
while (_in_timer_proc) {
delay_microseconds(20);
if (!_timer_semaphore.take(0)) {
printf("Failed to take timer semaphore\n");
}
}
void LinuxScheduler::resume_timer_procs()
{
_timer_suspended = false;
if (_timer_event_missed == true) {
_run_timers(false);
_timer_event_missed = false;
}
_timer_semaphore.give();
}
void LinuxScheduler::_run_timers(bool called_from_timer_thread)
@ -220,16 +215,16 @@ void LinuxScheduler::_run_timers(bool called_from_timer_thread)
}
_in_timer_proc = true;
if (!_timer_suspended) {
// now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] != NULL) {
_timer_proc[i]();
}
}
} else if (called_from_timer_thread) {
_timer_event_missed = true;
if (!_timer_semaphore.take(0)) {
printf("Failed to take timer semaphore in _run_timers\n");
}
// now call the timer based drivers
for (int i = 0; i < _num_timer_procs; i++) {
if (_timer_proc[i] != NULL) {
_timer_proc[i]();
}
}
_timer_semaphore.give();
// and the failsafe, if one is setup
if (_failsafe != NULL) {
@ -272,12 +267,10 @@ void LinuxScheduler::_run_io(void)
}
_in_io_proc = true;
if (!_timer_suspended) {
// now call the IO based drivers
for (int i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] != NULL) {
_io_proc[i]();
}
// now call the IO based drivers
for (int i = 0; i < _num_io_procs; i++) {
if (_io_proc[i] != NULL) {
_io_proc[i]();
}
}

5
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -3,6 +3,7 @@
#define __AP_HAL_LINUX_SCHEDULER_H__
#include <AP_HAL_Linux.h>
#include "Semaphores.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <sys/time.h>
@ -56,8 +57,6 @@ private:
bool _initialized;
volatile bool _timer_pending;
volatile bool _timer_suspended;
AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs;
volatile bool _in_timer_proc;
@ -83,6 +82,8 @@ private:
void _setup_realtime(uint32_t size);
uint64_t stopped_clock_usec;
LinuxSemaphore _timer_semaphore;
};
#endif // CONFIG_HAL_BOARD