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35 Commits

Author SHA1 Message Date
Andrew Tridgell 849c4905fb HAL_PX4: print overtime message on stuck task 
this should make it easier to narrow down stuck task bugs
 2014-07-03 09:11:24 +10:00
Andrew Tridgell bf2dd141e9 HAL_PX4: support uartE for 2nd GPS 2014-02-26 08:18:11 +11:00
Andrew Tridgell 0b25ff0a16 HAL_PX4: added uartD 2013-11-23 19:29:22 +11:00
Andrew Tridgell 8dc6b758f3 HAL_PX4: switch to delay_microseconds_semaphore() for UART timer 
this may prevent some timing jitter on the GPS UARTs
 2013-11-05 14:41:24 +11:00
Andrew Tridgell 5800c2a2c8 HAL_PX4: prevent excessive writes on startup from blocking 
this could cause copter on PX4 to hang on startup
 2013-10-28 16:12:44 +11:00
Andrew Tridgell 622f0dcc1d HAL_PX4: prevent threads running before subsystems are initialised 
this fixes a bug where the timer thread would hang waiting for the
console on startup. This caused the "hit enter" behaviour with recent
PX4 bugs, as AnalogIn tried to read from fd==0, which was a console
read
 2013-10-26 18:12:35 +11:00
Andrew Tridgell 1c091cbca5 HAL_PX4: fixed a scheduler bug that affects UART IO 
we need to detect if we are in a timer task using a PID, not a
flag. This is the same type of bug I fixed last week, but now fixed
properly.

The bug could well be the "USB bug" that Craig has been chasing
 2013-10-19 16:50:38 +11:00
Andrew Tridgell d973730b88 HAL_PX4: use hrt timer and semaphores to improve timing 
this gives much more accurate microsecond delays, while also ensuring
we yield the CPU when possible
 2013-10-14 08:29:30 +11:00
Andrew Tridgell 63bee0b2d8 HAL_PX4: disable checks for in_timerprocess 
these are not valid in this form for the way the timer thread works on
PX4.
 2013-10-11 16:06:35 +11:00
Andrew Tridgell 67db1cedaa HAL_PX4: fixed delay_microseconds() on PX4 
we could underflow and delay a very long time!
 2013-10-08 17:31:15 +11:00
Andrew Tridgell 942ae70651 HAL_PX4: updates for AP_HAL::MemberProc 2013-09-30 21:06:42 +10:00
Andrew Tridgell 7ec242146d HAL_PX4: update for new scheduler API 2013-09-28 21:24:03 +10:00
Andrew Tridgell fb56feb6b2 HAL_PX4: support all analog input pins, with scaling 
this allows voltage/current/Vcc sensing on FMUv2
 2013-09-12 13:26:00 +10:00
Andrew Tridgell fa107bdb58 PX4: moved UART handling to its own thread 
this prevents slow writes to the SD card from interfering with MAVLink
or GPS serial communication
 2013-09-04 13:15:27 +10:00
Andrew Tridgell 7082e0f8aa AP_HAL: added hold_in_bootloader parameter to scheduler->reboot() 2013-09-04 11:58:13 +10:00
Andrew Tridgell e5f19e314d PX4: systemreset() now takes a boolean argument 
this chooses whether to stay in the bootloader
 2013-08-30 13:01:33 +10:00
Julian Oes 56e94d70e9 PX4: Adaptations to latest build changes 2013-08-30 13:01:32 +10:00
Andrew Tridgell af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell 8e2a20bea8 HAL_PX4: enable ttyACM0 as main console, ttyS1 as telemetry port 2013-02-18 13:55:33 +11:00
Andrew Tridgell 02b4ecc273 HAL_PX4: get RC input from PX4IO board 
this allows us to support DSM and SBUS receivers
 2013-01-27 12:52:14 +11:00
Andrew Tridgell 8f2f4b1bc5 HAL_PX4: use write() to /dev/pwm_output for servo output 
this lowest the cost of PWM output a lot, but relies on the new I2C
based IO firmware
 2013-01-25 20:44:36 +11:00
Andrew Tridgell 70227d5d93 HAL_PX4: added scheduler performance counters 2013-01-24 15:04:57 +11:00
Andrew Tridgell 966b9b9b9c HAL_PX4: format panic messages with a newline 2013-01-23 16:54:44 +11:00
Andrew Tridgell 952df2fced HAL_PX4: new buffered storeage driver for microsd cards 
this does all IO in the timer thread, avoids writes that don't change
data, and does all writes in multiples of 128 byte chunks. This should
be about as friendly to SD cards as we can get.
 2013-01-23 16:37:40 +11:00
Andrew Tridgell 2a10727902 HAL_PX4: run timer thread as SCHED_FIFO 
this ensures it never yields to the main thread, which would break our
locking assumptions
 2013-01-23 09:21:50 +11:00
Andrew Tridgell 6ffa18fa61 HAL_PX4: rewrite UART driver to be much more efficient 
this does the IO in the timer thread, and uses buffers in the main
task to avoid system call costs in the flight code.

The cost of PX4 read and write system calls is quite high - about 10
to 15 usec. We can't afford to pay that per byte
 2013-01-22 21:22:01 +11:00
Andrew Tridgell 39e28d48c2 HAL_PX4: switched scheduler to use a pthread 
this allows the timer tasks to access file descriptors in the main APM
task, which makes writing PX4 device drivers much easier
 2013-01-21 13:54:09 +11:00
Andrew Tridgell 7c7a215934 HAL_PX4: fixes for new Scheduler API 2013-01-11 12:25:26 +11:00
Andrew Tridgell 5829d44a22 HAL_PX4: disable failsafe handler 
this won't work until we can set RC output values in timers
 2013-01-04 22:26:16 +11:00
Andrew Tridgell 9f423a24ad HAL_PX4: yield CPU in delay() 
this allows other apps to run
 2013-01-04 12:34:35 +11:00
Andrew Tridgell 1e69b88261 HAL_PX4: use write() in panic() 
this allows panic from the UARTDriver
 2013-01-03 21:11:37 +11:00
Andrew Tridgell b30fa6535b HAL_PX4: support reboot 2013-01-03 19:34:36 +11:00
Andrew Tridgell c6305b5876 HAL_PX4: rework Scheduler using hrt calls 
thanks to Julian Oes for the suggestion
 2013-01-03 13:15:57 +11:00
Andrew Tridgell 5053fb8acc HAL_PX4: implement atomic operations 2013-01-02 21:45:17 +11:00
Andrew Tridgell 5a70f3becf HAL_PX4: added a scheduler implementation 2013-01-02 21:39:26 +11:00