mirror of https://github.com/ArduPilot/ardupilot
457 lines
11 KiB
C++
457 lines
11 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "Scheduler.h"
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#include "Storage.h"
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#include "RCInput.h"
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#include "UARTDriver.h"
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#include "Util.h"
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#include "SPIUARTDriver.h"
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#include "RPIOUARTDriver.h"
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#include <sys/time.h>
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#include <poll.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <errno.h>
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#include <sys/mman.h>
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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#define APM_LINUX_TIMER_PRIORITY 15
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#define APM_LINUX_UART_PRIORITY 14
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#define APM_LINUX_RCIN_PRIORITY 13
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#define APM_LINUX_MAIN_PRIORITY 12
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#define APM_LINUX_TONEALARM_PRIORITY 11
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#define APM_LINUX_IO_PRIORITY 10
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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#define APM_LINUX_UART_PERIOD 10000
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#define APM_LINUX_RCIN_PERIOD 500
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#define APM_LINUX_TONEALARM_PERIOD 10000
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#define APM_LINUX_IO_PERIOD 20000
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#else
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#define APM_LINUX_UART_PERIOD 10000
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#define APM_LINUX_RCIN_PERIOD 10000
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#define APM_LINUX_TONEALARM_PERIOD 10000
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#define APM_LINUX_IO_PERIOD 20000
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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LinuxScheduler::LinuxScheduler()
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{}
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void LinuxScheduler::_create_realtime_thread(pthread_t *ctx, int rtprio,
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const char *name,
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pthread_startroutine_t start_routine)
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{
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struct sched_param param = { .sched_priority = rtprio };
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pthread_attr_t attr;
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int r;
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pthread_attr_init(&attr);
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/*
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we need to run as root to get realtime scheduling. Allow it to
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run as non-root for debugging purposes, plus to allow the Replay
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tool to run
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*/
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if (geteuid() == 0) {
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pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
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pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
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pthread_attr_setschedparam(&attr, ¶m);
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}
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r = pthread_create(ctx, &attr, start_routine, this);
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if (r != 0) {
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hal.console->printf("Error creating thread '%s': %s\n",
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name, strerror(r));
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panic(PSTR("Failed to create thread"));
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}
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pthread_attr_destroy(&attr);
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if (name) {
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pthread_setname_np(*ctx, name);
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}
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}
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void LinuxScheduler::init(void* machtnichts)
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{
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mlockall(MCL_CURRENT|MCL_FUTURE);
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clock_gettime(CLOCK_MONOTONIC, &_sketch_start_time);
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struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
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sched_setscheduler(0, SCHED_FIFO, ¶m);
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struct {
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pthread_t *ctx;
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int rtprio;
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const char *name;
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pthread_startroutine_t start_routine;
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} *iter, table[] = {
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{ .ctx = &_timer_thread_ctx,
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.rtprio = APM_LINUX_TIMER_PRIORITY,
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.name = "sched-timer",
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.start_routine = &Linux::LinuxScheduler::_timer_thread,
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},
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{ .ctx = &_uart_thread_ctx,
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.rtprio = APM_LINUX_UART_PRIORITY,
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.name = "sched-uart",
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.start_routine = &Linux::LinuxScheduler::_uart_thread,
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},
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{ .ctx = &_rcin_thread_ctx,
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.rtprio = APM_LINUX_RCIN_PRIORITY,
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.name = "sched-rcin",
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.start_routine = &Linux::LinuxScheduler::_rcin_thread,
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},
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{ .ctx = &_tonealarm_thread_ctx,
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.rtprio = APM_LINUX_TONEALARM_PRIORITY,
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.name = "sched-tonealarm",
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.start_routine = &Linux::LinuxScheduler::_tonealarm_thread,
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},
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{ .ctx = &_io_thread_ctx,
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.rtprio = APM_LINUX_IO_PRIORITY,
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.name = "sched-io",
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.start_routine = &Linux::LinuxScheduler::_io_thread,
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},
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{ }
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};
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if (geteuid() != 0) {
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printf("WARNING: running as non-root. Will not use realtime scheduling\n");
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}
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for (iter = table; iter->ctx; iter++)
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_create_realtime_thread(iter->ctx, iter->rtprio, iter->name,
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iter->start_routine);
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}
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void LinuxScheduler::_microsleep(uint32_t usec)
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{
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struct timespec ts;
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ts.tv_sec = 0;
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ts.tv_nsec = usec*1000UL;
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while (nanosleep(&ts, &ts) == -1 && errno == EINTR) ;
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}
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void LinuxScheduler::delay(uint16_t ms)
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{
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if (stopped_clock_usec) {
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return;
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}
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uint64_t start = millis64();
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while ((millis64() - start) < ms) {
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// this yields the CPU to other apps
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_microsleep(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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uint64_t LinuxScheduler::millis64()
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{
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if (stopped_clock_usec) {
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return stopped_clock_usec/1000;
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}
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e3*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(_sketch_start_time.tv_sec +
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(_sketch_start_time.tv_nsec*1.0e-9)));
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}
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uint64_t LinuxScheduler::micros64()
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{
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if (stopped_clock_usec) {
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return stopped_clock_usec;
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}
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struct timespec ts;
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clock_gettime(CLOCK_MONOTONIC, &ts);
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return 1.0e6*((ts.tv_sec + (ts.tv_nsec*1.0e-9)) -
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(_sketch_start_time.tv_sec +
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(_sketch_start_time.tv_nsec*1.0e-9)));
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}
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uint32_t LinuxScheduler::millis()
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{
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return millis64() & 0xFFFFFFFF;
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}
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uint32_t LinuxScheduler::micros()
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{
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return micros64() & 0xFFFFFFFF;
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}
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void LinuxScheduler::delay_microseconds(uint16_t us)
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{
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if (stopped_clock_usec) {
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return;
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}
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_microsleep(us);
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}
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void LinuxScheduler::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 LinuxScheduler::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 < LINUX_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 LinuxScheduler::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 < LINUX_SCHEDULER_MAX_IO_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 LinuxScheduler::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 LinuxScheduler::suspend_timer_procs()
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{
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if (!_timer_semaphore.take(0)) {
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printf("Failed to take timer semaphore\n");
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}
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}
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void LinuxScheduler::resume_timer_procs()
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{
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_timer_semaphore.give();
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}
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void LinuxScheduler::_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_semaphore.take(0)) {
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printf("Failed to take timer semaphore in _run_timers\n");
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}
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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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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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//SPI UART use SPI
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if (!((LinuxRPIOUARTDriver *)hal.uartC)->isExternal() )
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{
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((LinuxRPIOUARTDriver *)hal.uartC)->_timer_tick();
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}
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#endif
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_timer_semaphore.give();
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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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_in_timer_proc = false;
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}
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void *LinuxScheduler::_timer_thread(void* arg)
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{
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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}
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/*
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this aims to run at an average of 1kHz, so that it can be used
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to drive 1kHz processes without drift
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*/
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uint64_t next_run_usec = sched->micros64() + 1000;
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while (true) {
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uint64_t dt = next_run_usec - sched->micros64();
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if (dt > 2000) {
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// we've lost sync - restart
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next_run_usec = sched->micros64();
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} else {
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sched->_microsleep(dt);
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}
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next_run_usec += 1000;
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// run registered timers
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sched->_run_timers(true);
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}
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return NULL;
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}
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void LinuxScheduler::_run_io(void)
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{
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if (!_io_semaphore.take(0)) {
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return;
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}
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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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_io_semaphore.give();
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}
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void *LinuxScheduler::_rcin_thread(void *arg)
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{
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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}
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while (true) {
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sched->_microsleep(APM_LINUX_RCIN_PERIOD);
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((LinuxRCInput *)hal.rcin)->_timer_tick();
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}
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return NULL;
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}
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void *LinuxScheduler::_uart_thread(void* arg)
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{
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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}
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while (true) {
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sched->_microsleep(APM_LINUX_UART_PERIOD);
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// process any pending serial bytes
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((LinuxUARTDriver *)hal.uartA)->_timer_tick();
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((LinuxUARTDriver *)hal.uartB)->_timer_tick();
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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//SPI UART not use SPI
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if ( ((LinuxRPIOUARTDriver *)hal.uartC)->isExternal() )
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{
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((LinuxRPIOUARTDriver *)hal.uartC)->_timer_tick();
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}
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#else
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((LinuxUARTDriver *)hal.uartC)->_timer_tick();
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#endif
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((LinuxUARTDriver *)hal.uartE)->_timer_tick();
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}
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return NULL;
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}
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void *LinuxScheduler::_tonealarm_thread(void* arg)
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{
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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}
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while (true) {
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sched->_microsleep(APM_LINUX_TONEALARM_PERIOD);
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// process tone command
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((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();
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}
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return NULL;
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}
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void *LinuxScheduler::_io_thread(void* arg)
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{
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LinuxScheduler* sched = (LinuxScheduler *)arg;
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while (sched->system_initializing()) {
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poll(NULL, 0, 1);
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}
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while (true) {
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sched->_microsleep(APM_LINUX_IO_PERIOD);
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// process any pending storage writes
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((LinuxStorage *)hal.storage)->_timer_tick();
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// run registered IO procepsses
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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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void LinuxScheduler::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.rcin->deinit();
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hal.scheduler->delay_microseconds(10000);
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exit(1);
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}
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bool LinuxScheduler::in_timerprocess()
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{
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return _in_timer_proc;
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}
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void LinuxScheduler::begin_atomic()
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{}
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void LinuxScheduler::end_atomic()
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{}
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bool LinuxScheduler::system_initializing() {
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return !_initialized;
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}
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void LinuxScheduler::system_initialized()
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{
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if (_initialized) {
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panic("PANIC: scheduler::system_initialized called more than once");
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}
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_initialized = true;
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}
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void LinuxScheduler::reboot(bool hold_in_bootloader)
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{
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exit(1);
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}
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void LinuxScheduler::stop_clock(uint64_t time_usec)
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{
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if (time_usec >= stopped_clock_usec) {
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stopped_clock_usec = time_usec;
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_run_io();
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}
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}
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#endif // CONFIG_HAL_BOARD
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