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AP_HAL_F4Light: more comments translated, added support to rebot into DFU mode even in bootloader version

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night-ghost 2018-03-05 10:39:34 +05:00 committed by Francisco Ferreira
parent ba0cec9c05
commit b371d24959
1 changed files with 17 additions and 16 deletions
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33
libraries/AP_HAL_F4Light/Scheduler.cpp
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@ -19,6 +19,7 @@
#include <AP_Notify/AP_Notify.h> #include <AP_Notify/AP_Notify.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Param_Helper/AP_Param_Helper.h>
#include "RCInput.h" #include "RCInput.h"
#include <systick.h> #include <systick.h>
@ -253,7 +254,7 @@ void Scheduler::start_stats_task(){
// task list is filled. so now we can do a trick - // task list is filled. so now we can do a trick -
// dequeue_task(_idle_task); // exclude idle task from task queue, it will be used by direct link. // dequeue_task(_idle_task); // exclude idle task from task queue, it will be used by direct link.
// its own .next still shows to next task so no problems will // its own .next still shows to next task so no problems will. This works but...
} }
@ -334,7 +335,7 @@ void Scheduler::_delay_us_ny(uint16_t us){ // precise no yield delay
uint32_t dt = us_ticks * us; // delay time in ticks uint32_t dt = us_ticks * us; // delay time in ticks
while ((stopwatch_getticks() - rtime) < dt) { while ((stopwatch_getticks() - rtime) < dt) {
// __WFE(); // __WFE(); -- not helps very much
} }
#ifdef SHED_PROF #ifdef SHED_PROF
@ -525,7 +526,7 @@ void Scheduler::_reboot(bool hold_in_bootloader) {
if(hold_in_bootloader) { if(hold_in_bootloader) {
#if 1 #if 1
if(is_bare_metal()) { // bare metal build without bootloader if(is_bare_metal() || hal_param_helper->_boot_dfu) { // bare metal build without bootloader of parameter set
board_set_rtc_register(DFU_RTC_SIGNATURE, RTC_SIGNATURE_REG); board_set_rtc_register(DFU_RTC_SIGNATURE, RTC_SIGNATURE_REG);
@ -689,7 +690,7 @@ void Scheduler::_set_10s_flag(){
#endif #endif
/* /*
[ common realization of all Device.PeriodicCallback; [ common implementation of all Device.PeriodicCallback;
*/ */
AP_HAL::Device::PeriodicHandle Scheduler::_register_timer_task(uint32_t period_us, Handler proc, F4Light::Semaphore *sem){ AP_HAL::Device::PeriodicHandle Scheduler::_register_timer_task(uint32_t period_us, Handler proc, F4Light::Semaphore *sem){
@ -736,7 +737,7 @@ bool Scheduler::unregister_timer_task(AP_HAL::Device::PeriodicHandle h)
//[ -------- preemptive multitasking -------- //[ -------- preemptive multitasking --------
#if 0 // однажды назначенные задачи никто не отменяет #if 0 // once started tasks are never ended
task_t* Scheduler::get_empty_task(){ task_t* Scheduler::get_empty_task(){
task_t* ptr = &s_main; task_t* ptr = &s_main;
@ -995,7 +996,7 @@ task_t *Scheduler::get_next_task(){
ptr = ptr->next; // Next task in run queue will continue ptr = ptr->next; // Next task in run queue will continue
#if !defined(USE_MPU) || 1 #if !defined(USE_MPU) || 1
if(ptr->guard != STACK_GUARD){ // проверим сохранность дескриптора if(ptr->guard != STACK_GUARD){ // check for TCB is not damaged
printf("PANIC: stack guard spoiled in process %d (from %d)\n", task->id, me->id); printf("PANIC: stack guard spoiled in process %d (from %d)\n", task->id, me->id);
dequeue_task(*ptr); // исключить задачу из планирования dequeue_task(*ptr); // исключить задачу из планирования
goto skip_task; // skip this tasks goto skip_task; // skip this tasks
@ -1072,9 +1073,9 @@ task_t *Scheduler::get_next_task(){
// task loose tick // task loose tick
if(task->priority != 255) { // not for idle task if(task->priority != 255) { // not for idle task
if(task->curr_prio>1) task->curr_prio--; // increase priority if task loose tick if(task->curr_prio>1) task->curr_prio--; // increase priority if task loose tick
// в результате роста приоритета ожидающей задачи мы не останавливаем низкоприоритетные задачи полностью, а лишь замедляем их // as a result of the rising priority of the waiting task, we do not completely stop the low priority tasks, but only slow them down
// выполнение, заставляя пропустить число тиков, равное разности приоритетов. В результате низкоприоритетная задача выполняется на меньшей скорости, // execution, forcing to skip the number of ticks equal to the priority difference. As a result, the low priority task is performed at a lower speed,
// которую можно настраивать изменением разницы приоритетов // which can be adjusted by changing the priority difference
} }
task = ptr; // winner task = ptr; // winner
} else { // ptr loose a chance - increase priority } else { // ptr loose a chance - increase priority
@ -1172,7 +1173,7 @@ void Scheduler::yield(uint16_t ttw) // time to wait
// if yield() called with a time, then task don't want to run all this time so exclude it from time sliceing // if yield() called with a time, then task don't want to run all this time so exclude it from time sliceing
if(ttw) { // ttw cleared on sleep exit so always 0 if not set specially if(ttw) { // ttw cleared on sleep exit so always 0 if not set specially
s_running->ttw=ttw; // если переключение задачи происходит между записью и вызовом svc, мы всего лишь добавляем лишний тик s_running->ttw=ttw; // if switching tasks occurs between writing and calling svc, we just add an extra tick
} }
asm volatile("svc 0"); asm volatile("svc 0");
} }
@ -1241,7 +1242,7 @@ void Scheduler::_ioc_timer_event(uint32_t v){ // isr at low priority to do all I
#endif #endif
#ifdef MTASK_PROF #ifdef MTASK_PROF
// исключить время работы прерывания из времени задачи, которую оно прервало // To exclude the interruption time from the task's time, which it interrupted
s_running->in_isr += full_t; s_running->in_isr += full_t;
#endif #endif
@ -1384,12 +1385,12 @@ void Scheduler::_switch_task(){
//////////////////////////////////// ////////////////////////////////////
/* /*
union Revo_handler { // кровь кишки ассемблер :) преобразование функторов в унифицированный вид для вызова из С union Revo_handler { // blood, bowels, assembler :) transform functors into a unified view for calling from C
voidFuncPtr vp; voidFuncPtr vp;
AP_HAL::MemberProc mp; это С а не С++ поэтому мы не можем объявить поддержку функторов явно, и вынуждены передавать AP_HAL::MemberProc mp; this is C not C ++, so we can not declare the support of functors explicitly, and are forced to pass
uint64_t h; // treat as handle <-- как 64-битное число uint64_t h; // treat as handle <-- as 64-bit integer
uint32_t w[2]; // words, to check. если функтор то старшее - адрес флеша, младшее - адрес в RAM. uint32_t w[2]; // words, to check. if this is a functor then the high is the address of the flash and the lower one is the address in RAM.
Если ссылка на функцию то младшее - адрес флеша, старше 0 if this is a function pointer then lower word is an address in flash and high is 0
}; };
*/ */