mirror of https://github.com/ArduPilot/ardupilot
126 lines
3.8 KiB
C++
126 lines
3.8 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_HAL_PX4_Namespace.h"
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#include <sys/time.h>
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#include <signal.h>
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#include <pthread.h>
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#include <systemlib/perf_counter.h>
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#define PX4_SCHEDULER_MAX_TIMER_PROCS 8
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#define APM_MAIN_PRIORITY_BOOST 241
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 181
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#define APM_SPI_PRIORITY 242
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#define APM_CAN_PRIORITY 179
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#define APM_I2C_PRIORITY 178
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#define APM_UART_PRIORITY 60
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#define APM_STORAGE_PRIORITY 59
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#define APM_IO_PRIORITY 58
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#define APM_SHELL_PRIORITY 57
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#define APM_OVERTIME_PRIORITY 10
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#define APM_STARTUP_PRIORITY 10
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/* how long to boost priority of the main thread for each main
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loop. This needs to be long enough for all interrupt-level drivers
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(mostly SPI drivers) to run, and for the main loop of the vehicle
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code to start the AHRS update.
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Priority boosting of the main thread in delay_microseconds_boost()
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avoids the problem that drivers in hpwork all happen to run right
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at the start of the period where the main vehicle loop is calling
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wait_for_sample(). That causes main loop timing jitter, which
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reduces performance. Using the priority boost the main loop
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temporarily runs at a priority higher than hpwork and the timer
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thread, which results in much more consistent loop timing.
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*/
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#define APM_MAIN_PRIORITY_BOOST_USEC 150
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#define APM_MAIN_THREAD_STACK_SIZE 8192
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/* Scheduler implementation: */
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class PX4::PX4Scheduler : public AP_HAL::Scheduler {
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public:
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PX4Scheduler();
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/* AP_HAL::Scheduler methods */
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void init();
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void delay(uint16_t ms);
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void delay_microseconds(uint16_t us);
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void delay_microseconds_boost(uint16_t us);
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void register_timer_process(AP_HAL::MemberProc);
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void register_io_process(AP_HAL::MemberProc);
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
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void suspend_timer_procs();
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void resume_timer_procs();
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void reboot(bool hold_in_bootloader);
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bool in_main_thread() const override;
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void system_initialized();
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void hal_initialized() { _hal_initialized = true; }
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void create_uavcan_thread() override;
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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 *disable_interrupts_save(void) override;
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/*
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restore interrupt state from disable_interrupts_save()
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*/
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void restore_interrupts(void *) override;
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private:
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bool _initialized;
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volatile bool _hal_initialized;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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AP_HAL::Proc _failsafe;
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volatile bool _timer_suspended;
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AP_HAL::MemberProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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volatile bool _in_timer_proc;
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AP_HAL::MemberProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_io_procs;
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volatile bool _in_io_proc;
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volatile bool _timer_event_missed;
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pid_t _main_task_pid;
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pthread_t _timer_thread_ctx;
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pthread_t _io_thread_ctx;
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pthread_t _storage_thread_ctx;
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pthread_t _uart_thread_ctx;
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pthread_t _uavcan_thread_ctx;
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struct _uavcan_thread_arg {
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PX4Scheduler *sched;
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uint8_t uavcan_number;
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};
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static void *_timer_thread(void *arg);
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static void *_io_thread(void *arg);
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static void *_storage_thread(void *arg);
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static void *_uart_thread(void *arg);
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static void *_uavcan_thread(void *arg);
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void _run_timers(bool called_from_timer_thread);
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void _run_io(void);
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void delay_microseconds_semaphore(uint16_t us);
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perf_counter_t _perf_timers;
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perf_counter_t _perf_io_timers;
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perf_counter_t _perf_storage_timer;
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perf_counter_t _perf_delay;
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};
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#endif
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