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AP_HAL_Linux: Changes in Scheduler: Added defines for delays, RCIN_RERIOD changed

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Vladislav Zakharov 2015-04-16 18:19:19 +03:00 committed by Andrew Tridgell
parent 90378b21da
commit e505eb2cd8
1 changed files with 20 additions and 6 deletions
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26
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -27,6 +27,21 @@ extern const AP_HAL::HAL& hal;
#define APM_LINUX_TONEALARM_PRIORITY 11 #define APM_LINUX_TONEALARM_PRIORITY 11
#define APM_LINUX_IO_PRIORITY 10 #define APM_LINUX_IO_PRIORITY 10
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
#define APM_LINUX_UART_PERIOD 10000
#define APM_LINUX_RCIN_PERIOD 500
#define APM_LINUX_TONEALARM_PERIOD 10000
#define APM_LINUX_IO_PERIOD 20000
#else
#define APM_LINUX_UART_PERIOD 10000
#define APM_LINUX_RCIN_PERIOD 10000
#define APM_LINUX_TONEALARM_PERIOD 10000
#define APM_LINUX_IO_PERIOD 20000
#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
LinuxScheduler::LinuxScheduler() LinuxScheduler::LinuxScheduler()
{} {}
@ -315,8 +330,7 @@ void *LinuxScheduler::_rcin_thread(void *arg)
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
while (true) { while (true) {
sched->_microsleep(10000); sched->_microsleep(APM_LINUX_RCIN_PERIOD);
((LinuxRCInput *)hal.rcin)->_timer_tick(); ((LinuxRCInput *)hal.rcin)->_timer_tick();
} }
return NULL; return NULL;
@ -330,7 +344,7 @@ void *LinuxScheduler::_uart_thread(void* arg)
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
while (true) { while (true) {
sched->_microsleep(10000); sched->_microsleep(APM_LINUX_UART_PERIOD);
// process any pending serial bytes // process any pending serial bytes
((LinuxUARTDriver *)hal.uartA)->_timer_tick(); ((LinuxUARTDriver *)hal.uartA)->_timer_tick();
@ -349,7 +363,7 @@ void *LinuxScheduler::_tonealarm_thread(void* arg)
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
while (true) { while (true) {
sched->_microsleep(10000); sched->_microsleep(APM_LINUX_TONEALARM_PERIOD);
// process tone command // process tone command
((LinuxUtil *)hal.util)->_toneAlarm_timer_tick(); ((LinuxUtil *)hal.util)->_toneAlarm_timer_tick();
@ -365,12 +379,12 @@ void *LinuxScheduler::_io_thread(void* arg)
poll(NULL, 0, 1); poll(NULL, 0, 1);
} }
while (true) { while (true) {
sched->_microsleep(20000); sched->_microsleep(APM_LINUX_IO_PERIOD);
// process any pending storage writes // process any pending storage writes
((LinuxStorage *)hal.storage)->_timer_tick(); ((LinuxStorage *)hal.storage)->_timer_tick();
// run registered IO processes // run registered IO procepsses
sched->_run_io(); sched->_run_io();
} }
return NULL; return NULL;