mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.2 KiB
C++
85 lines
2.2 KiB
C++
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#ifndef __AP_HAL_PX4_SCHEDULER_H__
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#define __AP_HAL_PX4_SCHEDULER_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include "AP_HAL_PX4_Namespace.h"
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#include <sys/time.h>
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#include <signal.h>
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#include <pthread.h>
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#include <systemlib/perf_counter.h>
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#define PX4_SCHEDULER_MAX_TIMER_PROCS 8
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 181
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#define APM_UART_PRIORITY 60
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#define APM_IO_PRIORITY 59
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#define APM_OVERTIME_PRIORITY 10
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#define APM_STARTUP_PRIORITY 10
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/* Scheduler implementation: */
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class PX4::PX4Scheduler : public AP_HAL::Scheduler {
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public:
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PX4Scheduler();
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/* AP_HAL::Scheduler methods */
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void init(void *unused);
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void delay(uint16_t ms);
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uint32_t millis();
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uint32_t micros();
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void delay_microseconds(uint16_t us);
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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void register_timer_process(AP_HAL::TimedProc);
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void register_io_process(AP_HAL::TimedProc);
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void register_timer_failsafe(AP_HAL::TimedProc, uint32_t period_us);
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void suspend_timer_procs();
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void resume_timer_procs();
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void reboot(bool hold_in_bootloader);
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void panic(const prog_char_t *errormsg);
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bool in_timerprocess();
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bool system_initializing();
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void system_initialized();
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private:
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bool _initialized;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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AP_HAL::TimedProc _failsafe;
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volatile bool _timer_pending;
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uint64_t _sketch_start_time;
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volatile bool _timer_suspended;
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AP_HAL::TimedProc _timer_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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volatile bool _in_timer_proc;
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AP_HAL::TimedProc _io_proc[PX4_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_io_procs;
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volatile bool _in_io_proc;
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volatile bool _timer_event_missed;
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pthread_t _timer_thread_ctx;
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pthread_t _io_thread_ctx;
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pthread_t _uart_thread_ctx;
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void *_timer_thread(void);
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void *_io_thread(void);
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void *_uart_thread(void);
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void _run_timers(bool called_from_timer_thread);
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void _run_io(void);
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perf_counter_t _perf_timers;
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perf_counter_t _perf_io_timers;
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perf_counter_t _perf_delay;
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};
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#endif
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#endif // __AP_HAL_PX4_SCHEDULER_H__
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