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HAL_PX4: implement thread_create() API

This commit is contained in:
Andrew Tridgell 2018-07-07 10:16:31 +10:00
parent df3ce87e02
commit 3dfa1f2879
2 changed files with 71 additions and 0 deletions
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64
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -446,4 +446,68 @@ void PX4Scheduler::restore_interrupts(void *state)
irqrestore((irqstate_t)(uintptr_t)state);
}
/*
trampoline for thread create
*/
void *PX4Scheduler::thread_create_trampoline(void *ctx)
{
AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
(*t)();
free(t);
return nullptr;
}
/*
create a new thread
*/
bool PX4Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
{
// take a copy of the MemberProc, it is freed after thread exits
AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
if (!tproc) {
return false;
}
*tproc = proc;
uint8_t thread_priority = APM_IO_PRIORITY;
static const struct {
priority_base base;
uint8_t p;
} priority_map[] = {
{ PRIORITY_BOOST, APM_MAIN_PRIORITY_BOOST},
{ PRIORITY_MAIN, APM_MAIN_PRIORITY},
{ PRIORITY_SPI, APM_SPI_PRIORITY},
{ PRIORITY_I2C, APM_I2C_PRIORITY},
{ PRIORITY_CAN, APM_CAN_PRIORITY},
{ PRIORITY_TIMER, APM_TIMER_PRIORITY},
{ PRIORITY_RCIN, APM_TIMER_PRIORITY},
{ PRIORITY_IO, APM_IO_PRIORITY},
{ PRIORITY_UART, APM_UART_PRIORITY},
{ PRIORITY_STORAGE, APM_STORAGE_PRIORITY},
};
for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
if (priority_map[i].base == base) {
thread_priority = constrain_int16(priority_map[i].p + priority, 1, APM_MAX_PRIORITY);
break;
}
}
pthread_t thread;
pthread_attr_t thread_attr;
struct sched_param param;
pthread_attr_init(&thread_attr);
pthread_attr_setstacksize(&thread_attr, stack_size);
param.sched_priority = thread_priority;
(void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
if (pthread_create(&thread, &thread_attr, thread_create_trampoline, tproc) != 0) {
free(tproc);
return false;
}
pthread_setname_np(thread, name);
return true;
}
#endif

7
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -10,6 +10,7 @@
#define PX4_SCHEDULER_MAX_TIMER_PROCS 8
#define APM_MAX_PRIORITY 243
#define APM_MAIN_PRIORITY_BOOST 241
#define APM_MAIN_PRIORITY 180
#define APM_TIMER_PRIORITY 181
@ -72,6 +73,11 @@ public:
restore interrupt state from disable_interrupts_save()
*/
void restore_interrupts(void *) override;
/*
create a new thread
*/
bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
private:
bool _initialized;
@ -115,5 +121,6 @@ private:
perf_counter_t _perf_io_timers;
perf_counter_t _perf_storage_timer;
perf_counter_t _perf_delay;
static void *thread_create_trampoline(void *ctx);
};
#endif