mirror of https://github.com/ArduPilot/ardupilot
135 lines
4.1 KiB
C++
135 lines
4.1 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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#include "DeviceBus.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/utility/OwnPtr.h>
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#include <stdio.h>
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#include "Scheduler.h"
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#include "Semaphores.h"
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using namespace QURT;
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extern const AP_HAL::HAL& hal;
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DeviceBus::DeviceBus(AP_HAL::Scheduler::priority_base _thread_priority) :
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semaphore(),
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thread_priority(_thread_priority)
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{
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}
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/*
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per-bus callback thread
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*/
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void DeviceBus::bus_thread(void)
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{
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while (true) {
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uint64_t now = AP_HAL::micros64();
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DeviceBus::callback_info *callback;
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// find a callback to run
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for (callback = callbacks; callback; callback = callback->next) {
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if (now >= callback->next_usec) {
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while (now >= callback->next_usec) {
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callback->next_usec += callback->period_usec;
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}
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// call it with semaphore held
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WITH_SEMAPHORE(semaphore);
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callback->cb();
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}
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}
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// work out when next loop is needed
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uint64_t next_needed = 0;
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now = AP_HAL::micros64();
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for (callback = callbacks; callback; callback = callback->next) {
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if (next_needed == 0 ||
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callback->next_usec < next_needed) {
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next_needed = callback->next_usec;
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if (next_needed < now) {
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next_needed = now;
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}
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}
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}
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// delay for at most 50ms, to handle newly added callbacks
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uint32_t delay = 50000;
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if (next_needed >= now && next_needed - now < delay) {
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delay = next_needed - now;
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}
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// don't delay for less than 100usec, so one thread doesn't
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// completely dominate the CPU
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if (delay < 100) {
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delay = 100;
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}
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hal.scheduler->delay_microseconds(delay);
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}
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return;
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}
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AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb cb, AP_HAL::Device *_hal_device)
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{
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if (!thread_started) {
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thread_started = true;
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hal_device = _hal_device;
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// setup a name for the thread
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char name[30];
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switch (hal_device->bus_type()) {
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case AP_HAL::Device::BUS_TYPE_I2C:
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snprintf(name, sizeof(name), "APM_I2C:%u",
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hal_device->bus_num());
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break;
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case AP_HAL::Device::BUS_TYPE_SPI:
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snprintf(name, sizeof(name), "APM_SPI:%u",
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hal_device->bus_num());
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break;
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default:
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break;
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}
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#ifdef BUSDEBUG
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printf("%s:%d Thread Start\n", __PRETTY_FUNCTION__, __LINE__);
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#endif
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&DeviceBus::bus_thread, void),
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name, HAL_QURT_DEVICE_STACK_SIZE, thread_priority, 0);
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}
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DeviceBus::callback_info *callback = new DeviceBus::callback_info;
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if (callback == nullptr) {
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return nullptr;
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}
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callback->cb = cb;
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callback->period_usec = period_usec;
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callback->next_usec = AP_HAL::micros64() + period_usec;
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// add to linked list of callbacks on thread
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callback->next = callbacks;
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callbacks = callback;
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return callback;
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}
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/*
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* Adjust the timer for the next call: it needs to be called from the bus
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* thread, otherwise it will race with it
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*/
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bool DeviceBus::adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
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{
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// TODO: add timer adjustment
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return true;
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}
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