mirror of https://github.com/ArduPilot/ardupilot
404 lines
10 KiB
C++
404 lines
10 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_HAL_PX4.h"
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#include "Scheduler.h"
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#include <unistd.h>
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#include <stdlib.h>
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#include <sched.h>
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#include <errno.h>
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#include <stdio.h>
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#include <drivers/drv_hrt.h>
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#include <nuttx/arch.h>
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#include <systemlib/systemlib.h>
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#include <pthread.h>
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#include <poll.h>
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#include "UARTDriver.h"
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#include "AnalogIn.h"
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#include "Storage.h"
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#include "RCOutput.h"
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#include "RCInput.h"
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#include <AP_Scheduler.h>
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using namespace PX4;
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extern const AP_HAL::HAL& hal;
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extern bool _px4_thread_should_exit;
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PX4Scheduler::PX4Scheduler() :
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_perf_timers(perf_alloc(PC_ELAPSED, "APM_timers")),
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_perf_io_timers(perf_alloc(PC_ELAPSED, "APM_IO_timers")),
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_perf_storage_timer(perf_alloc(PC_ELAPSED, "APM_storage_timers")),
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_perf_delay(perf_alloc(PC_ELAPSED, "APM_delay"))
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{}
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void PX4Scheduler::init(void *unused)
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{
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_main_task_pid = getpid();
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// setup the timer thread - this will call tasks at 1kHz
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pthread_attr_t thread_attr;
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struct sched_param param;
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_TIMER_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_timer_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_timer_thread, this);
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// the UART thread runs at a medium priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_UART_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_uart_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_uart_thread, this);
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// the IO thread runs at lower priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 2048);
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param.sched_priority = APM_IO_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_io_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_io_thread, this);
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// the storage thread runs at just above IO priority
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 1024);
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param.sched_priority = APM_STORAGE_PRIORITY;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&_storage_thread_ctx, &thread_attr, (pthread_startroutine_t)&PX4::PX4Scheduler::_storage_thread, this);
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}
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uint64_t PX4Scheduler::micros64()
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{
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return hrt_absolute_time();
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}
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uint64_t PX4Scheduler::millis64()
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{
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return micros64() / 1000;
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}
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uint32_t PX4Scheduler::micros()
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{
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return micros64() & 0xFFFFFFFF;
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}
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uint32_t PX4Scheduler::millis()
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{
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return millis64() & 0xFFFFFFFF;
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}
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/**
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delay for a specified number of microseconds using a semaphore wait
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*/
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void PX4Scheduler::delay_microseconds_semaphore(uint16_t usec)
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{
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sem_t wait_semaphore;
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struct hrt_call wait_call;
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sem_init(&wait_semaphore, 0, 0);
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memset(&wait_call, 0, sizeof(wait_call));
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hrt_call_after(&wait_call, usec, (hrt_callout)sem_post, &wait_semaphore);
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sem_wait(&wait_semaphore);
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}
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void PX4Scheduler::delay_microseconds(uint16_t usec)
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{
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perf_begin(_perf_delay);
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delay_microseconds_semaphore(usec);
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perf_end(_perf_delay);
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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 sem_post_boost(sem_t *sem)
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{
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hal_px4_set_priority(APM_MAIN_PRIORITY_BOOST);
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sem_post(sem);
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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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static void set_normal_priority(void *sem)
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{
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hal_px4_set_priority(APM_MAIN_PRIORITY);
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}
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/*
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a varient 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 as it takes
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*/
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void PX4Scheduler::delay_microseconds_boost(uint16_t usec)
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{
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sem_t wait_semaphore;
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static struct hrt_call wait_call;
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sem_init(&wait_semaphore, 0, 0);
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hrt_call_after(&wait_call, usec, (hrt_callout)sem_post_boost, &wait_semaphore);
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sem_wait(&wait_semaphore);
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hrt_call_after(&wait_call, APM_MAIN_PRIORITY_BOOST_USEC, (hrt_callout)set_normal_priority, NULL);
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}
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void PX4Scheduler::delay(uint16_t ms)
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{
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if (in_timerprocess()) {
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::printf("ERROR: delay() from timer process\n");
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return;
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}
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perf_begin(_perf_delay);
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uint64_t start = micros64();
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while ((micros64() - start)/1000 < ms &&
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!_px4_thread_should_exit) {
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delay_microseconds_semaphore(1000);
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if (_min_delay_cb_ms <= ms) {
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if (_delay_cb) {
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_delay_cb();
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}
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}
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}
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perf_end(_perf_delay);
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if (_px4_thread_should_exit) {
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exit(1);
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}
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}
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void PX4Scheduler::register_delay_callback(AP_HAL::Proc proc,
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uint16_t min_time_ms)
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{
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_delay_cb = proc;
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_min_delay_cb_ms = min_time_ms;
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}
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void PX4Scheduler::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 < PX4_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 PX4Scheduler::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 < PX4_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 PX4Scheduler::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 PX4Scheduler::suspend_timer_procs()
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{
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_timer_suspended = true;
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}
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void PX4Scheduler::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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void PX4Scheduler::reboot(bool hold_in_bootloader)
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{
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systemreset(hold_in_bootloader);
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}
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void PX4Scheduler::_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 != NULL) {
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_failsafe();
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}
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// process analog input
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((PX4AnalogIn *)hal.analogin)->_timer_tick();
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_in_timer_proc = false;
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}
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extern bool px4_ran_overtime;
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void *PX4Scheduler::_timer_thread(void)
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{
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uint32_t last_ran_overtime = 0;
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while (!_hal_initialized) {
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poll(NULL, 0, 1);
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}
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while (!_px4_thread_should_exit) {
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delay_microseconds_semaphore(1000);
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// run registered timers
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perf_begin(_perf_timers);
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_run_timers(true);
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perf_end(_perf_timers);
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// process any pending RC output requests
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((PX4RCOutput *)hal.rcout)->_timer_tick();
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// process any pending RC input requests
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((PX4RCInput *)hal.rcin)->_timer_tick();
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if (px4_ran_overtime && millis() - last_ran_overtime > 2000) {
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last_ran_overtime = millis();
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printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
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hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
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}
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}
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return NULL;
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}
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void PX4Scheduler::_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 *PX4Scheduler::_uart_thread(void)
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{
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while (!_hal_initialized) {
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poll(NULL, 0, 1);
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}
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while (!_px4_thread_should_exit) {
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delay_microseconds_semaphore(1000);
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// process any pending serial bytes
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((PX4UARTDriver *)hal.uartA)->_timer_tick();
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((PX4UARTDriver *)hal.uartB)->_timer_tick();
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((PX4UARTDriver *)hal.uartC)->_timer_tick();
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((PX4UARTDriver *)hal.uartD)->_timer_tick();
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((PX4UARTDriver *)hal.uartE)->_timer_tick();
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}
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return NULL;
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}
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void *PX4Scheduler::_io_thread(void)
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{
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while (!_hal_initialized) {
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poll(NULL, 0, 1);
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}
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while (!_px4_thread_should_exit) {
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poll(NULL, 0, 1);
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// run registered IO processes
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perf_begin(_perf_io_timers);
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_run_io();
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perf_end(_perf_io_timers);
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}
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return NULL;
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}
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void *PX4Scheduler::_storage_thread(void)
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{
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while (!_hal_initialized) {
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poll(NULL, 0, 1);
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}
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while (!_px4_thread_should_exit) {
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poll(NULL, 0, 10);
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// process any pending storage writes
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perf_begin(_perf_storage_timer);
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((PX4Storage *)hal.storage)->_timer_tick();
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perf_end(_perf_storage_timer);
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}
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return NULL;
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}
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void PX4Scheduler::panic(const prog_char_t *errormsg)
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{
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write(1, errormsg, strlen(errormsg));
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write(1, "\n", 1);
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hal.scheduler->delay_microseconds(10000);
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_px4_thread_should_exit = true;
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exit(1);
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}
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bool PX4Scheduler::in_timerprocess()
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{
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return getpid() != _main_task_pid;
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}
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bool PX4Scheduler::system_initializing() {
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return !_initialized;
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}
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void PX4Scheduler::system_initialized() {
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if (_initialized) {
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panic(PSTR("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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#endif
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