mirror of https://github.com/ArduPilot/ardupilot
293 lines
6.7 KiB
C++
293 lines
6.7 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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#include "AP_HAL_QURT.h"
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#include "Scheduler.h"
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#include <sys/stat.h>
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#include <sys/types.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 <dspal/include/pthread.h>
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#include <dspal_types.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 <AP_Scheduler/AP_Scheduler.h>
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using namespace QURT;
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extern const AP_HAL::HAL& hal;
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Scheduler::Scheduler()
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{
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}
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void Scheduler::init()
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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, 40960);
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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_create(&_timer_thread_ctx, &thread_attr, &Scheduler::_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, 40960);
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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_create(&_uart_thread_ctx, &thread_attr, &Scheduler::_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, 40960);
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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_create(&_io_thread_ctx, &thread_attr, &Scheduler::_io_thread, this);
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}
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void Scheduler::delay_microseconds(uint16_t usec)
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{
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//pthread_yield();
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usleep(usec);
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}
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void Scheduler::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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uint64_t start = AP_HAL::micros64();
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uint64_t now;
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while (((now=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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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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}
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void Scheduler::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 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 < QURT_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 < QURT_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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void Scheduler::reboot(bool hold_in_bootloader)
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{
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HAP_PRINTF("**** REBOOT REQUESTED ****");
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usleep(2000000);
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exit(1);
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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 != NULL) {
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_failsafe();
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}
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// process analog input
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// ((QURTAnalogIn *)hal.analogin)->_timer_tick();
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_in_timer_proc = false;
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}
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extern bool qurt_ran_overtime;
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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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uint32_t last_ran_overtime = 0;
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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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((RCOutput *)hal.rcout)->timer_update();
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if (qurt_ran_overtime && AP_HAL::millis() - last_ran_overtime > 2000) {
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last_ran_overtime = AP_HAL::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 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::_uart_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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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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// process any pending serial bytes
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//((UARTDriver *)hal.uartA)->timer_tick();
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((UARTDriver *)hal.uartB)->timer_tick();
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((UARTDriver *)hal.uartC)->timer_tick();
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((UARTDriver *)hal.uartD)->timer_tick();
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((UARTDriver *)hal.uartE)->timer_tick();
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}
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return NULL;
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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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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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return NULL;
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}
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bool Scheduler::in_timerprocess()
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{
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return getpid() != _main_task_pid;
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}
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bool Scheduler::system_initializing() {
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return !_initialized;
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}
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void Scheduler::system_initialized() {
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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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void Scheduler::hal_initialized(void)
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{
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HAP_PRINTF("HAL is initialised");
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_hal_initialized = true;
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}
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#endif
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