mirror of https://github.com/ArduPilot/ardupilot
117 lines
3.6 KiB
C++
117 lines
3.6 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 "Device.h"
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#include <arch/board/board.h>
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#include "board_config.h"
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#include <stdio.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 "Scheduler.h"
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#include "Semaphores.h"
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extern bool _px4_thread_should_exit;
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namespace PX4 {
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static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
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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 *arg)
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{
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struct DeviceBus *binfo = (struct DeviceBus *)arg;
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while (!_px4_thread_should_exit) {
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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 = binfo->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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if (binfo->semaphore.take(0)) {
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callback->cb();
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binfo->semaphore.give();
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}
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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 = binfo->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 400usec, so one thread doesn't
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// completely dominate the CPU
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if (delay < 400) {
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delay = 400;
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}
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hal.scheduler->delay_microseconds(delay);
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}
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return nullptr;
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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)
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{
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if (!thread_started) {
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thread_started = true;
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pthread_attr_t thread_attr;
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struct sched_param param;
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pthread_attr_init(&thread_attr);
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pthread_attr_setstacksize(&thread_attr, 1024);
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param.sched_priority = thread_priority;
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(void)pthread_attr_setschedparam(&thread_attr, ¶m);
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pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
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pthread_create(&thread_ctx, &thread_attr, &DeviceBus::bus_thread, this);
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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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