mirror of https://github.com/ArduPilot/ardupilot
437 lines
12 KiB
C++
437 lines
12 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_ChibiOS.h"
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#include "Scheduler.h"
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#include "Util.h"
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#include <AP_HAL_ChibiOS/UARTDriver.h>
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#include <AP_HAL_ChibiOS/AnalogIn.h>
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#include <AP_HAL_ChibiOS/Storage.h>
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#include <AP_HAL_ChibiOS/RCOutput.h>
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#include <AP_HAL_ChibiOS/RCInput.h>
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#include <AP_HAL_ChibiOS/CAN.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "shared_dma.h"
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#if CH_CFG_USE_DYNAMIC == TRUE
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using namespace ChibiOS;
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extern const AP_HAL::HAL& hal;
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THD_WORKING_AREA(_timer_thread_wa, 2048);
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THD_WORKING_AREA(_rcin_thread_wa, 512);
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#ifdef HAL_PWM_ALARM
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THD_WORKING_AREA(_toneAlarm_thread_wa, 512);
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#endif
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THD_WORKING_AREA(_io_thread_wa, 2048);
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THD_WORKING_AREA(_storage_thread_wa, 2048);
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#if HAL_WITH_UAVCAN
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THD_WORKING_AREA(_uavcan_thread_wa, 4096);
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#endif
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Scheduler::Scheduler()
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{}
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void Scheduler::init()
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{
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// setup the timer thread - this will call tasks at 1kHz
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_timer_thread_ctx = chThdCreateStatic(_timer_thread_wa,
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sizeof(_timer_thread_wa),
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APM_TIMER_PRIORITY, /* Initial priority. */
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_timer_thread, /* Thread function. */
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this); /* Thread parameter. */
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// setup the uavcan thread - this will call tasks at 1kHz
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#if HAL_WITH_UAVCAN
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_uavcan_thread_ctx = chThdCreateStatic(_uavcan_thread_wa,
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sizeof(_uavcan_thread_wa),
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APM_UAVCAN_PRIORITY, /* Initial priority. */
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_uavcan_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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// setup the RCIN thread - this will call tasks at 1kHz
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_rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
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sizeof(_rcin_thread_wa),
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APM_RCIN_PRIORITY, /* Initial priority. */
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_rcin_thread, /* Thread function. */
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this); /* Thread parameter. */
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// the toneAlarm thread runs at a medium priority
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#ifdef HAL_PWM_ALARM
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_toneAlarm_thread_ctx = chThdCreateStatic(_toneAlarm_thread_wa,
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sizeof(_toneAlarm_thread_wa),
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APM_TONEALARM_PRIORITY, /* Initial priority. */
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_toneAlarm_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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// the IO thread runs at lower priority
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_io_thread_ctx = chThdCreateStatic(_io_thread_wa,
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sizeof(_io_thread_wa),
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APM_IO_PRIORITY, /* Initial priority. */
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_io_thread, /* Thread function. */
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this); /* Thread parameter. */
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// the storage thread runs at just above IO priority
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_storage_thread_ctx = chThdCreateStatic(_storage_thread_wa,
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sizeof(_storage_thread_wa),
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APM_STORAGE_PRIORITY, /* Initial priority. */
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_storage_thread, /* Thread function. */
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this); /* Thread parameter. */
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}
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void Scheduler::delay_microseconds(uint16_t usec)
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{
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if (usec == 0) { //chibios faults with 0us sleep
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return;
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}
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uint32_t ticks;
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if (usec >= 4096) {
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// we need to use 64 bit calculations for tick conversions
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ticks = US2ST64(usec);
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} else {
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ticks = US2ST(usec);
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}
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if (ticks == 0) {
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// calling with ticks == 0 causes a hard fault on ChibiOS
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ticks = 1;
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}
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chThdSleep(ticks); //Suspends Thread for desired microseconds
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}
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/*
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wrapper around sem_post that boosts main thread priority
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*/
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static void set_high_priority()
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{
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#if APM_MAIN_PRIORITY_BOOST != APM_MAIN_PRIORITY
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hal_chibios_set_priority(APM_MAIN_PRIORITY_BOOST);
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#endif
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}
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/*
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return the main thread to normal priority
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*/
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void Scheduler::boost_end(void)
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{
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#if APM_MAIN_PRIORITY_BOOST != APM_MAIN_PRIORITY
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if (in_main_thread() && _priority_boosted) {
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_priority_boosted = false;
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hal_chibios_set_priority(APM_MAIN_PRIORITY);
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}
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#endif
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}
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/*
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a variant of delay_microseconds that boosts priority to
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APM_MAIN_PRIORITY_BOOST for APM_MAIN_PRIORITY_BOOST_USEC
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microseconds when the time completes. This significantly improves
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the regularity of timing of the main loop
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*/
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void Scheduler::delay_microseconds_boost(uint16_t usec)
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{
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if (in_main_thread()) {
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set_high_priority();
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_priority_boosted = true;
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}
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delay_microseconds(usec); //Suspends Thread for desired microseconds
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_called_boost = true;
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}
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/*
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return true if delay_microseconds_boost() has been called since last check
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*/
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bool Scheduler::check_called_boost(void)
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{
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if (!_called_boost) {
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return false;
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}
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_called_boost = false;
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return true;
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}
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void Scheduler::delay(uint16_t ms)
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{
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if (!in_main_thread()) {
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//chprintf("ERROR: delay() from timer process\n");
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return;
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}
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uint64_t start = AP_HAL::micros64();
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while ((AP_HAL::micros64() - start)/1000 < ms) {
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delay_microseconds(1000);
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if (_min_delay_cb_ms <= ms) {
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call_delay_cb();
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}
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}
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}
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void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i] == proc) {
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return;
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}
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}
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if (_num_timer_procs < CHIBIOS_SCHEDULER_MAX_TIMER_PROCS) {
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_timer_proc[_num_timer_procs] = proc;
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_num_timer_procs++;
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} else {
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hal.console->printf("Out of timer processes\n");
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}
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}
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void Scheduler::register_io_process(AP_HAL::MemberProc proc)
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{
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for (uint8_t i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i] == proc) {
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return;
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}
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}
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if (_num_io_procs < CHIBIOS_SCHEDULER_MAX_TIMER_PROCS) {
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_io_proc[_num_io_procs] = proc;
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_num_io_procs++;
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} else {
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hal.console->printf("Out of IO processes\n");
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}
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}
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void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
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{
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_failsafe = failsafe;
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}
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void Scheduler::suspend_timer_procs()
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{
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_timer_suspended = true;
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}
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void Scheduler::resume_timer_procs()
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{
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_timer_suspended = false;
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if (_timer_event_missed == true) {
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_run_timers(false);
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_timer_event_missed = false;
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}
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}
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extern void Reset_Handler();
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void Scheduler::reboot(bool hold_in_bootloader)
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{
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// disarm motors to ensure they are off during a bootloader upload
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hal.rcout->force_safety_on();
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hal.rcout->force_safety_no_wait();
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// lock all shared DMA channels. This has the effect of waiting
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// till the sensor buses are idle
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Shared_DMA::lock_all();
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// delay to ensure the async force_saftey operation completes
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delay(500);
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// disable interrupts during reboot
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chSysDisable();
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// reboot
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NVIC_SystemReset();
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}
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void Scheduler::_run_timers(bool called_from_timer_thread)
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{
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if (_in_timer_proc) {
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return;
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}
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_in_timer_proc = true;
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if (!_timer_suspended) {
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// now call the timer based drivers
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for (int i = 0; i < _num_timer_procs; i++) {
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if (_timer_proc[i]) {
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_timer_proc[i]();
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}
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}
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} else if (called_from_timer_thread) {
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_timer_event_missed = true;
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}
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// and the failsafe, if one is setup
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if (_failsafe != nullptr) {
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_failsafe();
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}
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#if HAL_USE_ADC == TRUE
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// process analog input
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((AnalogIn *)hal.analogin)->_timer_tick();
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#endif
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_in_timer_proc = false;
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}
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void Scheduler::_timer_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_timer");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(1000);
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}
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while (true) {
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sched->delay_microseconds(1000);
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// run registered timers
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sched->_run_timers(true);
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// process any pending RC output requests
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hal.rcout->timer_tick();
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}
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}
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#if HAL_WITH_UAVCAN
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void Scheduler::_uavcan_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_uavcan");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(20000);
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}
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while (true) {
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sched->delay_microseconds(1000);
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for (int i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
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if(hal.can_mgr[i] != nullptr) {
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CANManager::from(hal.can_mgr[i])->_timer_tick();
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}
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}
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}
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}
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#endif
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void Scheduler::_rcin_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_rcin");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(20000);
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}
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while (true) {
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sched->delay_microseconds(2500);
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((RCInput *)hal.rcin)->_timer_tick();
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}
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}
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#ifdef HAL_PWM_ALARM
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void Scheduler::_toneAlarm_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("toneAlarm");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(20000);
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}
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while (true) {
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sched->delay_microseconds(20000);
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// process tone command
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Util::from(hal.util)->_toneAlarm_timer_tick();
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}
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}
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#endif
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void Scheduler::_run_io(void)
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{
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if (_in_io_proc) {
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return;
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}
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_in_io_proc = true;
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if (!_timer_suspended) {
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// now call the IO based drivers
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for (int i = 0; i < _num_io_procs; i++) {
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if (_io_proc[i]) {
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_io_proc[i]();
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}
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}
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}
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_in_io_proc = false;
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}
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void Scheduler::_io_thread(void* arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_io");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(1000);
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}
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while (true) {
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sched->delay_microseconds(1000);
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// run registered IO processes
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sched->_run_io();
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}
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}
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void Scheduler::_storage_thread(void* arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_storage");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(10000);
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}
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while (true) {
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sched->delay_microseconds(10000);
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// process any pending storage writes
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hal.storage->_timer_tick();
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}
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}
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bool Scheduler::in_main_thread() const
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{
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return get_main_thread() == chThdGetSelfX();
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}
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void Scheduler::system_initialized()
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{
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if (_initialized) {
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AP_HAL::panic("PANIC: scheduler::system_initialized called"
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"more than once");
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}
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_initialized = true;
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}
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/*
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disable interrupts and return a context that can be used to
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restore the interrupt state. This can be used to protect
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critical regions
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*/
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void *Scheduler::disable_interrupts_save(void)
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{
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return (void *)(uintptr_t)chSysGetStatusAndLockX();
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}
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/*
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restore interrupt state from disable_interrupts_save()
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*/
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void Scheduler::restore_interrupts(void *state)
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{
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chSysRestoreStatusX((syssts_t)(uintptr_t)state);
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}
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#endif // CH_CFG_USE_DYNAMIC
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