04292a280c
This reverts commit 010cfa2f4c.
AP_HAL_ESP32: scheduler timing information was lying to us, this puts it back so both 'esp32buzz' and 'esp32s3empty' loop rates are "better than before. Still terrible, but an improvement
revert of part of pr #27181
138 lines
5.0 KiB
C++
138 lines
5.0 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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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_HAL/AP_HAL.h>
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#include "HAL_ESP32_Namespace.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#define ESP32_SCHEDULER_MAX_TIMER_PROCS 10
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#define ESP32_SCHEDULER_MAX_IO_PROCS 10
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/* Scheduler implementation: */
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class ESP32::Scheduler : public AP_HAL::Scheduler
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{
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public:
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Scheduler();
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/* AP_HAL::Scheduler methods */
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void init() override;
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void set_callbacks(AP_HAL::HAL::Callbacks *cb)
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{
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callbacks = cb;
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};
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void reboot(bool hold_in_bootloader) override;
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bool in_main_thread() const override;
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// check and set the startup state
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void set_system_initialized() override;
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bool is_system_initialized() override;
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void print_stats(void) ;
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void print_main_loop_rate(void);
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uint16_t get_loop_rate_hz(void);
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AP_Int16 _active_loop_rate_hz;
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AP_Int16 _loop_rate_hz;
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static void thread_create_trampoline(void *ctx);
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bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
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/*static const int SPI_PRIORITY = 40; // if your primary imu is spi, this should be above the i2c value, spi is better.
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static const int MAIN_PRIO = 15;
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static const int I2C_PRIORITY = 8; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred.
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static const int TIMER_PRIO = 15;
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static const int RCIN_PRIO = 15;
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static const int RCOUT_PRIO = 15;
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static const int WIFI_PRIO = 10;
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static const int UART_PRIO = 8;
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static const int IO_PRIO = 6;
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static const int STORAGE_PRIO = 6; */
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static const int SPI_PRIORITY = 24; // if your primary imu is spi, this should be above the i2c value, spi is better.
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static const int MAIN_PRIO = 24; // cpu0: we want scheduler running at full tilt.
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static const int I2C_PRIORITY = 5; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred.
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static const int TIMER_PRIO = 22; // a low priority mere might cause wifi thruput to suffer
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static const int RCIN_PRIO = 15;
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static const int RCOUT_PRIO = 10;
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static const int WIFI_PRIO1 = 20; //cpu1:
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static const int WIFI_PRIO2 = 12; //cpu1:
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static const int UART_PRIO = 24; //cpu1: a low priority mere might cause wifi thruput to suffer, as wifi gets passed its data frim the uart subsustem in _writebuf/_readbuf
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static const int IO_PRIO = 5;
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static const int STORAGE_PRIO = 4;
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static const int TIMER_SS = 4096;
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static const int MAIN_SS = 8192;
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static const int RCIN_SS = 4096;
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static const int RCOUT_SS = 4096;
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static const int WIFI_SS1 = 6192;
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static const int WIFI_SS2 = 6192;
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static const int UART_SS = 2048;
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static const int DEVICE_SS = 4096;
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static const int IO_SS = 4096;
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static const int STORAGE_SS = 8192;
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private:
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AP_HAL::HAL::Callbacks *callbacks;
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AP_HAL::Proc _failsafe;
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AP_HAL::MemberProc _timer_proc[ESP32_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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AP_HAL::MemberProc _io_proc[ESP32_SCHEDULER_MAX_IO_PROCS];
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uint8_t _num_io_procs;
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static bool _initialized;
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tskTaskControlBlock* _main_task_handle;
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tskTaskControlBlock* _timer_task_handle;
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tskTaskControlBlock* _rcin_task_handle;
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tskTaskControlBlock* _rcout_task_handle;
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tskTaskControlBlock* _uart_task_handle;
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tskTaskControlBlock* _io_task_handle;
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tskTaskControlBlock* test_task_handle;
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tskTaskControlBlock* _storage_task_handle;
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static void _main_thread(void *arg);
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static void _timer_thread(void *arg);
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static void _rcout_thread(void *arg);
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static void _rcin_thread(void *arg);
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static void _uart_thread(void *arg);
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static void _io_thread(void *arg);
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static void _storage_thread(void *arg);
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static void set_position(void* arg);
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static void _print_profile(void* arg);
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static void test_esc(void* arg);
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bool _in_timer_proc;
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void _run_timers();
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Semaphore _timer_sem;
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bool _in_io_proc;
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void _run_io();
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Semaphore _io_sem;
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};
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