mirror of https://github.com/ArduPilot/ardupilot
282 lines
7.8 KiB
C++
282 lines
7.8 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 "AP_HAL_PX4_Namespace.h"
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#include "HAL_PX4_Class.h"
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#include "Console.h"
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#include "Scheduler.h"
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#include "UARTDriver.h"
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#include "Storage.h"
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#include "RCInput.h"
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#include "RCOutput.h"
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#include "AnalogIn.h"
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#include "Util.h"
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#include <AP_HAL_Empty.h>
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#include <AP_HAL_Empty_Private.h>
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#include <stdlib.h>
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#include <systemlib/systemlib.h>
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <pthread.h>
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#include <poll.h>
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#include <drivers/drv_hrt.h>
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using namespace PX4;
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static Empty::EmptySemaphore i2cSemaphore;
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static Empty::EmptyI2CDriver i2cDriver(&i2cSemaphore);
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static Empty::EmptySPIDeviceManager spiDeviceManager;
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static Empty::EmptyGPIO gpioDriver;
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static PX4ConsoleDriver consoleDriver;
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static PX4Scheduler schedulerInstance;
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static PX4Storage storageDriver;
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static PX4RCInput rcinDriver;
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static PX4RCOutput rcoutDriver;
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static PX4AnalogIn analogIn;
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static PX4Util utilInstance;
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#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
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#define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
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#define UARTC_DEFAULT_DEVICE "/dev/ttyS1"
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// 3 UART drivers, for GPS plus two mavlink-enabled devices
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static PX4UARTDriver uartADriver(UARTA_DEFAULT_DEVICE, "APM_uartA");
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static PX4UARTDriver uartBDriver(UARTB_DEFAULT_DEVICE, "APM_uartB");
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static PX4UARTDriver uartCDriver(UARTC_DEFAULT_DEVICE, "APM_uartC");
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HAL_PX4::HAL_PX4() :
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AP_HAL::HAL(
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&uartADriver, /* uartA */
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&uartBDriver, /* uartB */
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&uartCDriver, /* uartC */
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&i2cDriver, /* i2c */
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&spiDeviceManager, /* spi */
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&analogIn, /* analogin */
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&storageDriver, /* storage */
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&consoleDriver, /* console */
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&gpioDriver, /* gpio */
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&rcinDriver, /* rcinput */
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&rcoutDriver, /* rcoutput */
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&schedulerInstance, /* scheduler */
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&utilInstance) /* util */
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{}
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bool _px4_thread_should_exit = false; /**< Daemon exit flag */
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static bool thread_running = false; /**< Daemon status flag */
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static int daemon_task; /**< Handle of daemon task / thread */
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static bool ran_overtime;
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extern const AP_HAL::HAL& hal;
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static void semaphore_yield(void *sem)
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{
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sem_post((sem_t *)sem);
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}
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/*
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set the priority of the main APM task
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*/
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static void set_priority(uint8_t priority)
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{
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struct sched_param param;
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param.sched_priority = priority;
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sched_setscheduler(daemon_task, SCHED_FIFO, ¶m);
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}
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/*
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this is called when loop() takes more than 1 second to run. If that
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happens then something is blocking for a long time in the main
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sketch - probably waiting on a low priority driver. Set the priority
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of the APM task low to let the driver run.
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*/
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static void loop_overtime(void *)
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{
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set_priority(APM_OVERTIME_PRIORITY);
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ran_overtime = true;
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}
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static int main_loop(int argc, char **argv)
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{
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extern void setup(void);
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extern void loop(void);
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hal.uartA->begin(115200);
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hal.uartB->begin(38400);
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hal.uartC->begin(57600);
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hal.console->init((void*) hal.uartA);
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hal.scheduler->init(NULL);
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hal.rcin->init(NULL);
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hal.rcout->init(NULL);
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hal.analogin->init(NULL);
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/*
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run setup() at low priority to ensure CLI doesn't hang the
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system, and to allow initial sensor read loops to run
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*/
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set_priority(APM_STARTUP_PRIORITY);
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setup();
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hal.scheduler->system_initialized();
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perf_counter_t perf_loop = perf_alloc(PC_ELAPSED, "APM_loop");
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perf_counter_t perf_overrun = perf_alloc(PC_COUNT, "APM_overrun");
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sem_t loop_semaphore;
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struct hrt_call loop_call;
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struct hrt_call loop_overtime_call;
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sem_init(&loop_semaphore, 0, 0);
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thread_running = true;
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/*
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switch to high priority for main loop
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*/
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set_priority(APM_MAIN_PRIORITY);
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while (!_px4_thread_should_exit) {
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perf_begin(perf_loop);
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/*
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this ensures a tight loop waiting on a lower priority driver
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will eventually give up some time for the driver to run. It
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will only ever be called if a loop() call runs for more than
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0.1 second
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*/
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hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
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loop();
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if (ran_overtime) {
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/*
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we ran over 1s in loop(), and our priority was lowered
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to let a driver run. Set it back to high priority now.
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*/
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set_priority(APM_MAIN_PRIORITY);
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perf_count(perf_overrun);
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ran_overtime = false;
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}
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perf_end(perf_loop);
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if (hal.scheduler->in_timerprocess()) {
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// we are running when a timer process is running! This is
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// a scheduling error, and breaks the assumptions made in
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// our locking system
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::printf("ERROR: timer processing running in loop()\n");
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}
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/*
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give up 500 microseconds of time, to ensure drivers get a
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chance to run. This gives us better timing performance than
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a poll(NULL, 0, 1)
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*/
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hrt_call_after(&loop_call, 500, (hrt_callout)semaphore_yield, &loop_semaphore);
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sem_wait(&loop_semaphore);
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}
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thread_running = false;
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return 0;
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}
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static void usage(void)
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{
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printf("Usage: %s [options] {start,stop,status}\n", SKETCHNAME);
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printf("Options:\n");
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printf("\t-d DEVICE set terminal device (default %s)\n", UARTA_DEFAULT_DEVICE);
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printf("\t-d2 DEVICE set second terminal device (default %s)\n", UARTC_DEFAULT_DEVICE);
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printf("\n");
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}
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void HAL_PX4::init(int argc, char * const argv[]) const
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{
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int i;
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const char *deviceA = UARTA_DEFAULT_DEVICE;
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const char *deviceC = UARTC_DEFAULT_DEVICE;
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if (argc < 1) {
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printf("%s: missing command (try '%s start')",
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SKETCHNAME, SKETCHNAME);
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usage();
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exit(1);
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}
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for (i=0; i<argc; i++) {
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if (strcmp(argv[i], "start") == 0) {
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if (thread_running) {
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printf("%s already running\n", SKETCHNAME);
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/* this is not an error */
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exit(0);
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}
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uartADriver.set_device_path(deviceA);
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uartCDriver.set_device_path(deviceC);
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printf("Starting %s on %s and %s\n",
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SKETCHNAME, deviceA, deviceC);
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_px4_thread_should_exit = false;
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daemon_task = task_spawn(SKETCHNAME,
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SCHED_FIFO,
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APM_MAIN_PRIORITY,
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8192,
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main_loop,
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NULL);
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exit(0);
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}
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if (strcmp(argv[i], "stop") == 0) {
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_px4_thread_should_exit = true;
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exit(0);
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}
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if (strcmp(argv[i], "status") == 0) {
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if (_px4_thread_should_exit && thread_running) {
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printf("\t%s is exiting\n", SKETCHNAME);
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} else if (thread_running) {
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printf("\t%s is running\n", SKETCHNAME);
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} else {
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printf("\t%s is not started\n", SKETCHNAME);
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}
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exit(0);
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}
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if (strcmp(argv[i], "-d") == 0) {
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// set terminal device
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if (argc > i + 1) {
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deviceA = strdup(argv[i+1]);
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} else {
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printf("missing parameter to -d DEVICE\n");
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usage();
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exit(1);
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}
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}
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if (strcmp(argv[i], "-d2") == 0) {
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// set uartC terminal device
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if (argc > i + 1) {
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deviceC = strdup(argv[i+1]);
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} else {
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printf("missing parameter to -d2 DEVICE\n");
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usage();
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exit(1);
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}
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}
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}
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usage();
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exit(1);
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}
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const HAL_PX4 AP_HAL_PX4;
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4
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