Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_PX4: startup in low priority to fix CLI

Browse Source 
this ensures that tight sensor loops in setup() can run without
sleeping
This commit is contained in:
Andrew Tridgell 2013-01-25 20:43:06 +11:00
parent 7359348e2c
commit d7409b6a25
2 changed files with 24 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -80,6 +80,16 @@ static void semaphore_yield(void *sem)
sem_post((sem_t *)sem);
}
/*
set the priority of the main APM task
*/
static void set_priority(uint8_t priority)
{
struct sched_param param;
param.sched_priority = priority;
sched_setscheduler(daemon_task, SCHED_FIFO, &param);
}
/*
this is called when loop() takes more than 1 second to run. If that
happens then something is blocking for a long time in the main
@ -88,9 +98,7 @@ static void semaphore_yield(void *sem)
*/
static void loop_overtime(void *)
{
struct sched_param param;
param.sched_priority = APM_OVERTIME_PRIORITY;
sched_setscheduler(daemon_task, SCHED_FIFO, &param);
set_priority(APM_OVERTIME_PRIORITY);
ran_overtime = true;
}
@ -107,6 +115,12 @@ static int main_loop(int argc, char **argv)
hal.rcout->init(NULL);
hal.analogin->init(NULL);
/*
run setup() at low priority to ensure CLI doesn't hang the
system, and to allow initial sensor read loops to run
*/
set_priority(APM_STARTUP_PRIORITY);
setup();
hal.scheduler->system_initialized();
@ -120,7 +134,10 @@ static int main_loop(int argc, char **argv)
thread_running = true;
::printf("APM: Starting main loop\n");
/*
switch to high priority for main loop
*/
set_priority(APM_MAIN_PRIORITY);
while (!_px4_thread_should_exit) {
perf_begin(perf_loop);
@ -140,9 +157,7 @@ static int main_loop(int argc, char **argv)
we ran over 1s in loop(), and our priority was lowered
to let a driver run. Set it back to high priority now.
*/
struct sched_param param;
param.sched_priority = APM_MAIN_PRIORITY;
sched_setscheduler(daemon_task, SCHED_FIFO, &param);
set_priority(APM_MAIN_PRIORITY);
perf_count(perf_overrun);
ran_overtime = false;
}
@ -204,7 +219,7 @@ void HAL_PX4::init(int argc, char * const argv[]) const
daemon_task = task_spawn(SKETCHNAME,
SCHED_FIFO,
APM_MAIN_PRIORITY,
4096,
8192,
main_loop,
NULL);
exit(0);

1
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -16,6 +16,7 @@
#define APM_TIMER_PRIORITY 201
#define APM_IO_PRIORITY 60
#define APM_OVERTIME_PRIORITY 10
#define APM_STARTUP_PRIORITY 10
/* Scheduler implementation: */
class PX4::PX4Scheduler : public AP_HAL::Scheduler {