mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
5287fb2e1b
This implements a max quota of GPIO interrupts per 100ms period to prevent high interrupt counts from consuming all CPU and causing a lockup. The limit is set as 10k interrupts per 0.1s period. That limit should be high enough for all reasonable uses of GPIO interrupt handlers while being below the level that causes significant CPU loads and flight issues This addresses issue #15384
91 lines
2.8 KiB
C++
91 lines
2.8 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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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#ifndef HAL_GPIO_LED_ON
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#define HAL_GPIO_LED_ON 0
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#endif
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#ifndef HAL_GPIO_LED_OFF
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#define HAL_GPIO_LED_OFF 1
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#endif
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class ChibiOS::GPIO : public AP_HAL::GPIO {
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public:
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GPIO();
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void init() override;
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void pinMode(uint8_t pin, uint8_t output) override;
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uint8_t read(uint8_t pin) override;
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void write(uint8_t pin, uint8_t value) override;
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void toggle(uint8_t pin) override;
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/* Alternative interface: */
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AP_HAL::DigitalSource* channel(uint16_t n) override;
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/* Interrupt interface - fast, for RCOutput and SPI radios */
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bool attach_interrupt(uint8_t interrupt_num,
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AP_HAL::Proc p,
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INTERRUPT_TRIGGER_TYPE mode) override;
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/* Interrupt interface - for AP_HAL::GPIO */
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bool attach_interrupt(uint8_t pin,
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irq_handler_fn_t fn,
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INTERRUPT_TRIGGER_TYPE mode) override;
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/* return true if USB cable is connected */
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bool usb_connected(void) override;
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void set_usb_connected() { _usb_connected = true; }
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/* attach interrupt via ioline_t */
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bool _attach_interrupt(ioline_t line, AP_HAL::Proc p, uint8_t mode);
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/*
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block waiting for a pin to change. A timeout of 0 means wait
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forever. Return true on pin change, false on timeout
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*/
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bool wait_pin(uint8_t pin, INTERRUPT_TRIGGER_TYPE mode, uint32_t timeout_us) override;
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#ifndef IOMCU_FW
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// timer tick
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void timer_tick(void) override;
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#endif
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private:
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bool _usb_connected;
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bool _ext_started;
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bool _attach_interruptI(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
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bool _attach_interrupt(ioline_t line, palcallback_t cb, void *p, uint8_t mode);
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#ifdef HAL_PIN_ALT_CONFIG
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void setup_alt_config(void);
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#endif
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};
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class ChibiOS::DigitalSource : public AP_HAL::DigitalSource {
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public:
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DigitalSource(ioline_t line);
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void mode(uint8_t output) override;
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uint8_t read() override;
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void write(uint8_t value) override;
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void toggle() override;
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private:
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ioline_t line;
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};
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