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HAL_ChibiOS: run rc serial thread at top priority

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this maximises reliability for serial IO to ESCs, increasing flashing
reliability
This commit is contained in:
Andrew Tridgell 2018-04-03 20:41:24 +10:00
parent 4a7a66cc16
commit 71cd58cc7e
2 changed files with 12 additions and 4 deletions
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14
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -994,6 +994,12 @@ bool RCOutput::serial_setup_output(uint8_t chan, uint32_t baudrate)
}
serial_group = new_serial_group;
// run the thread doing serial IO at highest priority. This is needed to ensure we don't
// lose bytes when we switch between output and input
serial_thread = chThdGetSelfX();
serial_priority = chThdGetSelfX()->realprio;
chThdSetPriority(HIGHPRIO);
// remember the bit period for serial_read_byte()
serial_group->serial.bit_time_us = 1000000UL / baudrate;
@ -1170,9 +1176,6 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
uint32_t restore_mode = PAL_MODE_ALTERNATE(group.alt_functions[group.serial.chan]) | PAL_STM32_OSPEED_MID2 | PAL_STM32_OTYPE_PUSHPULL;
uint16_t i = 0;
tprio_t oldprio = chThdGetSelfX()->realprio;
chThdSetPriority(HIGHPRIO);
#ifndef HAL_GPIO_LINE_GPIO50
// GPIO lines not setup for PWM outputs in hwdef.dat
return false;
@ -1218,7 +1221,6 @@ uint16_t RCOutput::serial_read_bytes(uint8_t *buf, uint16_t len)
irq.waiter = nullptr;
((GPIO *)hal.gpio)->_set_mode(gpio_pin, restore_mode);
chThdSetPriority(oldprio);
#if RCOU_SERIAL_TIMING_DEBUG
palWriteLine(HAL_GPIO_LINE_GPIO54, 0);
#endif
@ -1240,6 +1242,10 @@ void RCOutput::serial_end(void)
set_group_mode(group);
set_freq_group(group);
irq.waiter = nullptr;
if (serial_thread == chThdGetSelfX()) {
chThdSetPriority(serial_priority);
serial_thread = nullptr;
}
}
serial_group = nullptr;
}

2
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -193,6 +193,8 @@ private:
// the group being used for serial output
struct pwm_group *serial_group;
thread_t *serial_thread;
tprio_t serial_priority;
static pwm_group pwm_group_list[];
uint16_t _esc_pwm_min;