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HAL_ChibiOS: put rcin on a separate thread

This commit is contained in:
bugobliterator 2018-01-19 00:42:38 +05:30 committed by Andrew Tridgell
parent f50f427a59
commit f7ac5aa079
2 changed files with 22 additions and 1 deletions
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20
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -33,6 +33,7 @@ using namespace ChibiOS;
extern const AP_HAL::HAL& hal;
THD_WORKING_AREA(_timer_thread_wa, 2048);
THD_WORKING_AREA(_rcin_thread_wa, 512);
THD_WORKING_AREA(_io_thread_wa, 2048);
THD_WORKING_AREA(_storage_thread_wa, 2048);
THD_WORKING_AREA(_uart_thread_wa, 2048);
@ -53,6 +54,13 @@ void Scheduler::init()
_timer_thread, /* Thread function. */
this); /* Thread parameter. */
// setup the RCIN thread - this will call tasks at 1kHz
_rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
sizeof(_rcin_thread_wa),
APM_RCIN_PRIORITY, /* Initial priority. */
_rcin_thread, /* Thread function. */
this); /* Thread parameter. */
// the UART thread runs at a medium priority
_uart_thread_ctx = chThdCreateStatic(_uart_thread_wa,
sizeof(_uart_thread_wa),
@ -254,8 +262,18 @@ void Scheduler::_timer_thread(void *arg)
// process any pending RC output requests
hal.rcout->timer_tick();
}
}
// process any pending RC input requests
void Scheduler::_rcin_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
sched->_rcin_thread_ctx->name = "apm_rcin";
while (!sched->_hal_initialized) {
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(2500);
((RCInput *)hal.rcin)->_timer_tick();
}
}

3
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -25,6 +25,7 @@
#define APM_MAIN_PRIORITY_BOOST 180 // same as normal for now
#define APM_MAIN_PRIORITY 180
#define APM_TIMER_PRIORITY 178
#define APM_RCIN_PRIORITY 177
#define APM_UART_PRIORITY 60
#define APM_STORAGE_PRIORITY 59
#define APM_IO_PRIORITY 58
@ -103,11 +104,13 @@ private:
volatile bool _timer_event_missed;
thread_t* _timer_thread_ctx;
thread_t* _rcin_thread_ctx;
thread_t* _io_thread_ctx;
thread_t* _storage_thread_ctx;
thread_t* _uart_thread_ctx;
static void _timer_thread(void *arg);
static void _rcin_thread(void *arg);
static void _io_thread(void *arg);
static void _storage_thread(void *arg);
static void _uart_thread(void *arg);