mirror of https://github.com/ArduPilot/ardupilot
136 lines
5.0 KiB
C++
136 lines
5.0 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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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_HAL/AP_HAL.h>
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#include "HAL_ESP32_Namespace.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#define ESP32_SCHEDULER_MAX_TIMER_PROCS 10
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#define ESP32_SCHEDULER_MAX_IO_PROCS 10
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/* Scheduler implementation: */
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class ESP32::Scheduler : public AP_HAL::Scheduler
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{
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public:
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Scheduler();
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/* AP_HAL::Scheduler methods */
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void init() override;
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void set_callbacks(AP_HAL::HAL::Callbacks *cb)
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{
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callbacks = cb;
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};
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void reboot(bool hold_in_bootloader) override;
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bool in_main_thread() const override;
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// check and set the startup state
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void set_system_initialized() override;
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bool is_system_initialized() override;
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void print_stats(void) ;
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uint16_t get_loop_rate_hz(void);
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AP_Int16 _active_loop_rate_hz;
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AP_Int16 _loop_rate_hz;
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static void thread_create_trampoline(void *ctx);
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bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
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/*static const int SPI_PRIORITY = 40; // if your primary imu is spi, this should be above the i2c value, spi is better.
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static const int MAIN_PRIO = 15;
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static const int I2C_PRIORITY = 8; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred.
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static const int TIMER_PRIO = 15;
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static const int RCIN_PRIO = 15;
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static const int RCOUT_PRIO = 15;
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static const int WIFI_PRIO = 10;
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static const int UART_PRIO = 8;
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static const int IO_PRIO = 6;
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static const int STORAGE_PRIO = 6; */
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static const int SPI_PRIORITY = 24; // if your primary imu is spi, this should be above the i2c value, spi is better.
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static const int MAIN_PRIO = 22; // cpu0: we want schuler running at full tilt.
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static const int I2C_PRIORITY = 5; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred.
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static const int TIMER_PRIO = 22; // a low priority mere might cause wifi thruput to suffer
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static const int RCIN_PRIO = 15;
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static const int RCOUT_PRIO = 10;
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static const int WIFI_PRIO1 = 20; //cpu1:
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static const int WIFI_PRIO2 = 12; //cpu1:
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static const int UART_PRIO = 24; //cpu1: a low priority mere might cause wifi thruput to suffer, as wifi gets passed its data frim the uart subsustem in _writebuf/_readbuf
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static const int IO_PRIO = 5;
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static const int STORAGE_PRIO = 4;
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static const int TIMER_SS = 4096;
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static const int MAIN_SS = 8192;
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static const int RCIN_SS = 4096;
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static const int RCOUT_SS = 4096;
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static const int WIFI_SS1 = 6192;
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static const int WIFI_SS2 = 6192;
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static const int UART_SS = 2048;
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static const int DEVICE_SS = 4096;
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static const int IO_SS = 4096;
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static const int STORAGE_SS = 8192;
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private:
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AP_HAL::HAL::Callbacks *callbacks;
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AP_HAL::Proc _failsafe;
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AP_HAL::MemberProc _timer_proc[ESP32_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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AP_HAL::MemberProc _io_proc[ESP32_SCHEDULER_MAX_IO_PROCS];
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uint8_t _num_io_procs;
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static bool _initialized;
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tskTaskControlBlock* _main_task_handle;
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tskTaskControlBlock* _timer_task_handle;
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tskTaskControlBlock* _rcin_task_handle;
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tskTaskControlBlock* _rcout_task_handle;
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tskTaskControlBlock* _uart_task_handle;
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tskTaskControlBlock* _io_task_handle;
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tskTaskControlBlock* test_task_handle;
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tskTaskControlBlock* _storage_task_handle;
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static void _main_thread(void *arg);
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static void _timer_thread(void *arg);
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static void _rcout_thread(void *arg);
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static void _rcin_thread(void *arg);
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static void _uart_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 set_position(void* arg);
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static void _print_profile(void* arg);
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static void test_esc(void* arg);
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bool _in_timer_proc;
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void _run_timers();
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Semaphore _timer_sem;
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bool _in_io_proc;
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void _run_io();
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Semaphore _io_sem;
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};
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