mirror of https://github.com/ArduPilot/ardupilot
464 lines
12 KiB
C++
464 lines
12 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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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_ChibiOS.h"
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#include "Scheduler.h"
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#include "Util.h"
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#include <AP_HAL_ChibiOS/UARTDriver.h>
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#include <AP_HAL_ChibiOS/AnalogIn.h>
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#include <AP_HAL_ChibiOS/Storage.h>
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#include <AP_HAL_ChibiOS/RCOutput.h>
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#include <AP_HAL_ChibiOS/RCInput.h>
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#include <AP_HAL_ChibiOS/CAN.h>
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#if CH_CFG_USE_DYNAMIC == TRUE
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#include <DataFlash/DataFlash.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "hwdef/common/stm32_util.h"
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#include "shared_dma.h"
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#include "sdcard.h"
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#if HAL_WITH_IO_MCU
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#include <AP_IOMCU/AP_IOMCU.h>
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extern AP_IOMCU iomcu;
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#endif
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using namespace ChibiOS;
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extern const AP_HAL::HAL& hal;
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#ifndef HAL_NO_TIMER_THREAD
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THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
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#endif
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#ifndef HAL_NO_RCIN_THREAD
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THD_WORKING_AREA(_rcin_thread_wa, RCIN_THD_WA_SIZE);
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#endif
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#ifndef HAL_USE_EMPTY_IO
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THD_WORKING_AREA(_io_thread_wa, IO_THD_WA_SIZE);
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#endif
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#ifndef HAL_USE_EMPTY_STORAGE
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THD_WORKING_AREA(_storage_thread_wa, STORAGE_THD_WA_SIZE);
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#endif
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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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chBSemObjectInit(&_timer_semaphore, false);
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chBSemObjectInit(&_io_semaphore, false);
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#ifndef HAL_NO_TIMER_THREAD
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// setup the timer thread - this will call tasks at 1kHz
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_timer_thread_ctx = chThdCreateStatic(_timer_thread_wa,
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sizeof(_timer_thread_wa),
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APM_TIMER_PRIORITY, /* Initial priority. */
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_timer_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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#ifndef HAL_NO_RCIN_THREAD
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// setup the RCIN thread - this will call tasks at 1kHz
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_rcin_thread_ctx = chThdCreateStatic(_rcin_thread_wa,
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sizeof(_rcin_thread_wa),
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APM_RCIN_PRIORITY, /* Initial priority. */
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_rcin_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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#ifndef HAL_USE_EMPTY_IO
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// the IO thread runs at lower priority
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_io_thread_ctx = chThdCreateStatic(_io_thread_wa,
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sizeof(_io_thread_wa),
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APM_IO_PRIORITY, /* Initial priority. */
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_io_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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#ifndef HAL_USE_EMPTY_STORAGE
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// the storage thread runs at just above IO priority
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_storage_thread_ctx = chThdCreateStatic(_storage_thread_wa,
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sizeof(_storage_thread_wa),
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APM_STORAGE_PRIORITY, /* Initial priority. */
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_storage_thread, /* Thread function. */
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this); /* Thread parameter. */
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#endif
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}
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void Scheduler::delay_microseconds(uint16_t usec)
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{
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if (usec == 0) { //chibios faults with 0us sleep
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return;
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}
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uint32_t ticks;
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ticks = chTimeUS2I(usec);
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if (ticks == 0) {
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// calling with ticks == 0 causes a hard fault on ChibiOS
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ticks = 1;
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}
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chThdSleep(ticks); //Suspends Thread for desired microseconds
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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 set_high_priority()
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{
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#if APM_MAIN_PRIORITY_BOOST != APM_MAIN_PRIORITY
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hal_chibios_set_priority(APM_MAIN_PRIORITY_BOOST);
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#endif
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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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void Scheduler::boost_end(void)
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{
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#if APM_MAIN_PRIORITY_BOOST != APM_MAIN_PRIORITY
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if (in_main_thread() && _priority_boosted) {
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_priority_boosted = false;
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hal_chibios_set_priority(APM_MAIN_PRIORITY);
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}
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#endif
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}
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/*
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a variant 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
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*/
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void Scheduler::delay_microseconds_boost(uint16_t usec)
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{
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if (in_main_thread()) {
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set_high_priority();
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_priority_boosted = true;
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}
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delay_microseconds(usec); //Suspends Thread for desired microseconds
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_called_boost = true;
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}
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/*
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return true if delay_microseconds_boost() has been called since last check
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*/
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bool Scheduler::check_called_boost(void)
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{
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if (!_called_boost) {
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return false;
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}
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_called_boost = false;
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return true;
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}
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void Scheduler::delay(uint16_t ms)
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{
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uint64_t start = AP_HAL::micros64();
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while ((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 (in_main_thread()) {
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call_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_timer_process(AP_HAL::MemberProc proc)
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{
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chBSemWait(&_timer_semaphore);
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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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chBSemSignal(&_timer_semaphore);
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return;
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}
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}
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if (_num_timer_procs < CHIBIOS_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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chBSemSignal(&_timer_semaphore);
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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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chBSemWait(&_io_semaphore);
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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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chBSemSignal(&_io_semaphore);
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return;
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}
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}
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if (_num_io_procs < CHIBIOS_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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chBSemSignal(&_io_semaphore);
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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::reboot(bool hold_in_bootloader)
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{
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// disarm motors to ensure they are off during a bootloader upload
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hal.rcout->force_safety_on();
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#if HAL_WITH_IO_MCU
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if (AP_BoardConfig::io_enabled()) {
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iomcu.shutdown();
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}
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#endif
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#ifndef NO_DATAFLASH
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//stop logging
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DataFlash_Class::instance()->StopLogging();
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// stop sdcard driver, if active
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sdcard_stop();
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#endif
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#if defined(HAL_USE_RTC) && HAL_USE_RTC
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// setup RTC for fast reboot
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set_fast_reboot(hold_in_bootloader?RTC_BOOT_HOLD:RTC_BOOT_FAST);
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#endif
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// disable all interrupt sources
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port_disable();
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// reboot
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NVIC_SystemReset();
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}
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void Scheduler::_run_timers()
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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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int num_procs = 0;
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chBSemWait(&_timer_semaphore);
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num_procs = _num_timer_procs;
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chBSemSignal(&_timer_semaphore);
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// now call the timer based drivers
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for (int i = 0; i < num_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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// and the failsafe, if one is setup
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if (_failsafe != nullptr) {
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_failsafe();
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}
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#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
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// process analog input
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((AnalogIn *)hal.analogin)->_timer_tick();
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#endif
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_in_timer_proc = false;
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}
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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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chRegSetThreadName("apm_timer");
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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();
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// process any pending RC output requests
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hal.rcout->timer_tick();
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}
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}
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void Scheduler::_rcin_thread(void *arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_rcin");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(20000);
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}
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while (true) {
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sched->delay_microseconds(2500);
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((RCInput *)hal.rcin)->_timer_tick();
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}
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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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int num_procs = 0;
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chBSemWait(&_io_semaphore);
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num_procs = _num_io_procs;
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chBSemSignal(&_io_semaphore);
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// now call the IO based drivers
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for (int i = 0; i < num_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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_in_io_proc = false;
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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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chRegSetThreadName("apm_io");
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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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}
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void Scheduler::_storage_thread(void* arg)
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{
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Scheduler *sched = (Scheduler *)arg;
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chRegSetThreadName("apm_storage");
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while (!sched->_hal_initialized) {
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sched->delay_microseconds(10000);
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}
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while (true) {
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sched->delay_microseconds(10000);
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// process any pending storage writes
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hal.storage->_timer_tick();
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}
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}
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bool Scheduler::in_main_thread() const
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{
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return get_main_thread() == chThdGetSelfX();
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}
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void Scheduler::system_initialized()
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{
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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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/*
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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 *Scheduler::disable_interrupts_save(void)
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{
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return (void *)(uintptr_t)chSysGetStatusAndLockX();
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}
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/*
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restore interrupt state from disable_interrupts_save()
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*/
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void Scheduler::restore_interrupts(void *state)
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{
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chSysRestoreStatusX((syssts_t)(uintptr_t)state);
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}
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/*
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trampoline for thread create
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*/
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void Scheduler::thread_create_trampoline(void *ctx)
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{
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AP_HAL::MemberProc *t = (AP_HAL::MemberProc *)ctx;
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(*t)();
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free(t);
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}
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/*
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create a new thread
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*/
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bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_t stack_size, priority_base base, int8_t priority)
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{
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// take a copy of the MemberProc, it is freed after thread exits
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AP_HAL::MemberProc *tproc = (AP_HAL::MemberProc *)malloc(sizeof(proc));
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if (!tproc) {
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return false;
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}
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*tproc = proc;
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uint8_t thread_priority = APM_IO_PRIORITY;
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static const struct {
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priority_base base;
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uint8_t p;
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} priority_map[] = {
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{ PRIORITY_BOOST, APM_MAIN_PRIORITY_BOOST},
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{ PRIORITY_MAIN, APM_MAIN_PRIORITY},
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{ PRIORITY_SPI, APM_SPI_PRIORITY},
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{ PRIORITY_I2C, APM_I2C_PRIORITY},
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{ PRIORITY_CAN, APM_CAN_PRIORITY},
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{ PRIORITY_TIMER, APM_TIMER_PRIORITY},
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{ PRIORITY_RCIN, APM_RCIN_PRIORITY},
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{ PRIORITY_IO, APM_IO_PRIORITY},
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{ PRIORITY_UART, APM_UART_PRIORITY},
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{ PRIORITY_STORAGE, APM_STORAGE_PRIORITY},
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{ PRIORITY_SCRIPTING, APM_SCRIPTING_PRIORITY},
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};
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for (uint8_t i=0; i<ARRAY_SIZE(priority_map); i++) {
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if (priority_map[i].base == base) {
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thread_priority = constrain_int16(priority_map[i].p + priority, LOWPRIO, HIGHPRIO);
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break;
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}
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}
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thread_t *thread_ctx = chThdCreateFromHeap(NULL,
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THD_WORKING_AREA_SIZE(stack_size),
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name,
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thread_priority,
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thread_create_trampoline,
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tproc);
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if (thread_ctx == nullptr) {
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free(tproc);
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return false;
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}
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return true;
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}
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#endif // CH_CFG_USE_DYNAMIC
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