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HAL_ChibiOS: re-instate priority boost system

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this adds back in the priority boost system for the main thread when
waiting for a IMU sample. This significantly improves scheduling
performance on very busy boards like a PH2.1
This commit is contained in:
Andrew Tridgell 2018-04-03 12:25:42 +10:00
parent fff143d83e
commit 67993d6e5c
2 changed files with 20 additions and 5 deletions
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12
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -51,6 +51,8 @@ Scheduler::Scheduler()
void Scheduler::init()
{
chVTObjectInit(&_boost_timer);
// setup the timer thread - this will call tasks at 1kHz
_timer_thread_ctx = chThdCreateStatic(_timer_thread_wa,
sizeof(_timer_thread_wa),
@ -129,10 +131,12 @@ static void set_high_priority()
/*
return the main thread to normal priority
*/
static void set_normal_priority()
static void set_normal_priority(void *ctx)
{
#if APM_MAIN_PRIORITY_BOOST != APM_MAIN_PRIORITY
hal_chibios_set_priority(APM_MAIN_PRIORITY);
thread_t *task = (thread_t *)ctx;
// we don't need a reschedule as that happens automatically on ISR exit
task->realprio = APM_MAIN_PRIORITY;
#endif
}
@ -140,13 +144,13 @@ static void set_normal_priority()
a variant of delay_microseconds that boosts priority to
APM_MAIN_PRIORITY_BOOST for APM_MAIN_PRIORITY_BOOST_USEC
microseconds when the time completes. This significantly improves
the regularity of timing of the main loop as it takes
the regularity of timing of the main loop
*/
void Scheduler::delay_microseconds_boost(uint16_t usec)
{
set_high_priority();
delay_microseconds(usec); //Suspends Thread for desired microseconds
set_normal_priority();
chVTSet(&_boost_timer, US2ST(200), set_normal_priority, chThdGetSelfX());
_called_boost = true;
}

13
libraries/AP_HAL_ChibiOS/Scheduler.h
View File

@ -22,7 +22,6 @@
#define CHIBIOS_SCHEDULER_MAX_TIMER_PROCS 8
#define APM_MAIN_PRIORITY_BOOST 180 // same as normal for now
#define APM_MAIN_PRIORITY 180
#define APM_TIMER_PRIORITY 178
#define APM_RCIN_PRIORITY 177
@ -33,6 +32,17 @@
#define APM_SHELL_PRIORITY 57
#define APM_STARTUP_PRIORITY 10
/*
boost priority handling
*/
#ifndef APM_MAIN_PRIORITY_BOOST
#define APM_MAIN_PRIORITY_BOOST 182
#endif
#ifndef APM_MAIN_PRIORITY_BOOST_USEC
#define APM_MAIN_PRIORITY_BOOST_USEC 200
#endif
#ifndef APM_SPI_PRIORITY
// SPI priority needs to be above main priority to ensure fast sampling of IMUs can keep up
// with the data rate
@ -110,6 +120,7 @@ private:
volatile bool _timer_event_missed;
virtual_timer_t _boost_timer;
thread_t* _timer_thread_ctx;
thread_t* _rcin_thread_ctx;
thread_t* _io_thread_ctx;