forked from Archive/PX4-Autopilot
POSIX: Fixes for HRT implementation of simulated HW clock polling
There is a race condition for the accel and mag polling rates. Whichever one gets set first, the other will be uninitialized. Set the mag polling rate to 1ms if uninitilized. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
parent
cced8ed69e
commit
5e95b83eff
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@ -759,6 +759,8 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
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/* XXX this is a bit shady, but no other way to adjust... */
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_mag_call.period = _call_mag_interval = period;
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//PX4_INFO("SET _call_mag_interval=%u", _call_mag_interval);
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/* if we need to start the poll state machine, do it */
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if (want_start)
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start();
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@ -934,7 +936,17 @@ ACCELSIM::start()
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_mag_reports->flush();
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/* start polling at the specified rate */
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//PX4_INFO("ACCELSIM::start accel %u", _call_accel_interval);
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hrt_call_every(&_accel_call, 1000, _call_accel_interval, (hrt_callout)&ACCELSIM::measure_trampoline, this);
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// There is a race here where SENSORIOCSPOLLRATE on the accel starts polling of mag but mag period is set to 0
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if (_call_mag_interval == 0) {
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PX4_ERR("_call_mag_interval uninitilized - would have set period delay of 0");
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_call_mag_interval = 1000;
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}
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//PX4_INFO("ACCELSIM::start mag %u", _call_mag_interval);
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hrt_call_every(&_mag_call, 1000, _call_mag_interval, (hrt_callout)&ACCELSIM::mag_measure_trampoline, this);
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}
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@ -948,6 +960,7 @@ ACCELSIM::stop()
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void
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ACCELSIM::measure_trampoline(void *arg)
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{
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//PX4_INFO("ACCELSIM::measure_trampoline");
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ACCELSIM *dev = (ACCELSIM *)arg;
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/* make another measurement */
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@ -957,6 +970,7 @@ ACCELSIM::measure_trampoline(void *arg)
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void
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ACCELSIM::mag_measure_trampoline(void *arg)
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{
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//PX4_INFO("ACCELSIM::mag_measure_trampoline");
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ACCELSIM *dev = (ACCELSIM *)arg;
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/* make another measurement */
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@ -42,7 +42,7 @@
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#include <semaphore.h>
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#include <time.h>
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#include <string.h>
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#include <stdio.h>
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#include "hrt_work_lock.h"
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static struct sq_queue_s callout_queue;
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@ -54,9 +54,9 @@ __EXPORT uint32_t latency_counters[LATENCY_BUCKET_COUNT + 1];
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static void hrt_call_reschedule(void);
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// Intervals in ms
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// Intervals in usec
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#define HRT_INTERVAL_MIN 50
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#define HRT_INTERVAL_MAX 50000
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#define HRT_INTERVAL_MAX 50000000
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static sem_t _hrt_lock;
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static struct work_s _hrt_work;
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@ -189,12 +189,12 @@ hrt_call_enter(struct hrt_call *entry)
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{
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struct hrt_call *call, *next;
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//printf("hrt_call_enter\n");
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//PX4_INFO("hrt_call_enter");
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call = (struct hrt_call *)sq_peek(&callout_queue);
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if ((call == NULL) || (entry->deadline < call->deadline)) {
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sq_addfirst(&entry->link, &callout_queue);
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//lldbg("call enter at head, reschedule\n");
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//if (call != NULL) PX4_INFO("call enter at head, reschedule (%lu %lu)", entry->deadline, call->deadline);
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/* we changed the next deadline, reschedule the timer event */
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hrt_call_reschedule();
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@ -210,7 +210,7 @@ hrt_call_enter(struct hrt_call *entry)
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} while ((call = next) != NULL);
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}
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//lldbg("scheduled\n");
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//PX4_INFO("scheduled");
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}
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/**
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@ -222,7 +222,7 @@ static void
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hrt_tim_isr(void *p)
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{
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//printf("hrt_tim_isr\n");
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//PX4_INFO("hrt_tim_isr");
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/* run any callouts that have met their deadline */
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hrt_call_invoke();
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@ -243,11 +243,11 @@ static void
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hrt_call_reschedule()
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{
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hrt_abstime now = hrt_absolute_time();
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hrt_abstime delay = HRT_INTERVAL_MAX;
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struct hrt_call *next = (struct hrt_call *)sq_peek(&callout_queue);
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hrt_abstime deadline = now + HRT_INTERVAL_MAX;
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uint32_t ticks = USEC2TICK(HRT_INTERVAL_MAX*1000);
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//printf("hrt_call_reschedule\n");
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//PX4_INFO("hrt_call_reschedule");
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/*
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* Determine what the next deadline will be.
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@ -266,26 +266,29 @@ hrt_call_reschedule()
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if (next->deadline <= (now + HRT_INTERVAL_MIN)) {
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//lldbg("pre-expired\n");
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/* set a minimal deadline so that we call ASAP */
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ticks = USEC2TICK(HRT_INTERVAL_MIN*1000);
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delay = HRT_INTERVAL_MIN;
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} else if (next->deadline < deadline) {
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//lldbg("due soon\n");
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ticks = USEC2TICK((next->deadline - now)*1000);
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delay = next->deadline - now;
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}
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}
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// There is no timer ISR, so simulate one by putting an event on the
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// high priority work queue
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//printf("ticks = %u\n", ticks);
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work_queue(HPWORK, &_hrt_work, (worker_t)&hrt_tim_isr, NULL, ticks);
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// Remove the existing expiry and update with the new expiry
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hrt_work_cancel(&_hrt_work);
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hrt_work_queue(&_hrt_work, (worker_t)&hrt_tim_isr, NULL, delay);
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}
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static void
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hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime interval, hrt_callout callout, void *arg)
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{
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//printf("hrt_call_internal\n");
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//PX4_INFO("hrt_call_internal deadline=%lu interval = %lu", deadline, interval);
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hrt_lock();
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//printf("hrt_call_internal after lock\n");
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//PX4_INFO("hrt_call_internal after lock");
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/* if the entry is currently queued, remove it */
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/* note that we are using a potentially uninitialised
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entry->link here, but it is safe as sq_rem() doesn't
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@ -297,6 +300,9 @@ hrt_call_internal(struct hrt_call *entry, hrt_abstime deadline, hrt_abstime inte
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if (entry->deadline != 0)
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sq_rem(&entry->link, &callout_queue);
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if (interval < HRT_INTERVAL_MIN) {
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PX4_ERR("hrt_call_internal interval too short: %lu", interval);
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}
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entry->deadline = deadline;
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entry->period = interval;
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entry->callout = callout;
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@ -372,7 +378,7 @@ hrt_call_invoke(void)
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break;
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sq_rem(&call->link, &callout_queue);
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//lldbg("call pop\n");
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//PX4_INFO("call pop");
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/* save the intended deadline for periodic calls */
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deadline = call->deadline;
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@ -385,7 +391,7 @@ hrt_call_invoke(void)
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// Unlock so we don't deadlock in callback
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hrt_unlock();
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//lldbg("call %p: %p(%p)\n", call, call->callout, call->arg);
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//PX4_INFO("call %p: %p(%p)", call, call->callout, call->arg);
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call->callout(call->arg);
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hrt_lock();
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@ -398,6 +404,7 @@ hrt_call_invoke(void)
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// using hrt_call_delay()
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if (call->deadline <= now) {
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call->deadline = deadline + call->period;
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//PX4_INFO("call deadline set to %lu now=%lu", call->deadline, now);
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}
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hrt_call_enter(call);
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@ -45,6 +45,7 @@
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#include <queue.h>
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#include <stdio.h>
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#include <semaphore.h>
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#include <drivers/drv_hrt.h>
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#include <px4_workqueue.h>
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#include "hrt_work_lock.h"
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@ -104,7 +105,7 @@
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int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay)
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{
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struct wqueue_s *wqueue = &hrt_work;
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struct wqueue_s *wqueue = &g_hrt_work;
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/* First, initialize the work structure */
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@ -118,8 +119,8 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
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*/
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hrt_work_lock();
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work->qtime = hrt_absolute_tme(); /* Time work queued */
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PX4_INFO("work_queue adding work delay=%u time=%lu", delay, work->qtime);
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work->qtime = hrt_absolute_time(); /* Time work queued */
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//PX4_INFO("hrt work_queue adding work delay=%u time=%lu", delay, work->qtime);
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dq_addlast((dq_entry_t *)work, &wqueue->q);
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px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
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@ -46,9 +46,7 @@
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#include <queue.h>
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#include <px4_workqueue.h>
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#include <drivers/drv_hrt.h>
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#include "work_lock.h"
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#ifdef CONFIG_SCHED_WORKQUEUE
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#include "hrt_work_lock.h"
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/****************************************************************************
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* Pre-processor Definitions
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@ -116,14 +114,14 @@ static void hrt_work_process()
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* zero. Therefore a delay of zero will always execute immediately.
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*/
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elapsed = USEC2TICK(hrt_absolute_time() - work->qtime);
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PX4_INFO("work_process: wq=%p in ticks elapsed=%lu delay=%u work=%p", wqueue, elapsed, work->delay, work);
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elapsed = hrt_absolute_time() - work->qtime;
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//PX4_INFO("hrt work_process: in usec elapsed=%lu delay=%u work=%p", elapsed, work->delay, work);
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if (elapsed >= work->delay)
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{
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/* Remove the ready-to-execute work from the list */
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(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
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PX4_INFO("Dequeued work=%p", work);
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//PX4_INFO("Dequeued work=%p", work);
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/* Extract the work description from the entry (in case the work
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* instance by the re-used after it has been de-queued).
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@ -155,7 +153,6 @@ static void hrt_work_process()
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hrt_work_lock();
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work = (FAR struct work_s *)wqueue->q.head;
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PX4_INFO("Done work - next is %p", work);
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}
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else
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{
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@ -165,6 +162,7 @@ static void hrt_work_process()
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/* Here: elapsed < work->delay */
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remaining = work->delay - elapsed;
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//PX4_INFO("remaining=%u delay=%u elapsed=%lu", remaining, work->delay, elapsed);
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if (remaining < next)
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{
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/* Yes.. Then schedule to wake up when the work is ready */
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@ -175,6 +173,7 @@ static void hrt_work_process()
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/* Then try the next in the list. */
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work = (FAR struct work_s *)work->dq.flink;
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//PX4_INFO("next %u work %p", next, work);
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}
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}
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@ -184,32 +183,16 @@ static void hrt_work_process()
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hrt_work_unlock();
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/* might sleep less if a signal received and new item was queued */
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//PX4_INFO("Sleeping for %u usec", next);
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usleep(next);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void hrt_work_queue_init(void)
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{
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sem_init(&_hrt_work_lock, 0, 1);
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// Create high priority worker thread
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hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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2000,
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work_hrtthread,
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(char* const*)NULL);
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}
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/****************************************************************************
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* Name: work_hpthread, work_lpthread, and work_usrthread
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* Name: work_hrtthread
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*
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* Description:
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* These are the worker threads that performs actions placed on the work
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* lists.
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* This is the worker threads that performs actions placed on the ISR work
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* list.
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*
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* work_hpthread and work_lpthread: These are the kernel mode work queues
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* (also build in the flat build). One of these threads also performs
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@ -218,12 +201,6 @@ void hrt_work_queue_init(void)
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*
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* These worker threads are started by the OS during normal bringup.
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*
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* work_usrthread: This is a user mode work queue. It must be built into
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* the applicatino blob during the user phase of a kernel build. The
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* user work thread will then automatically be started when the system
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* boots by calling through the pointer found in the header on the user
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* space blob.
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*
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* All of these entrypoints are referenced by OS internally and should not
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* not be accessed by application logic.
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*
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@ -235,7 +212,7 @@ void hrt_work_queue_init(void)
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*
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****************************************************************************/
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int work_hrtthread(int argc, char *argv[])
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static int work_hrtthread(int argc, char *argv[])
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{
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/* Loop forever */
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@ -258,3 +235,21 @@ int work_hrtthread(int argc, char *argv[])
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return PX4_OK; /* To keep some compilers happy */
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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void hrt_work_queue_init(void)
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{
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sem_init(&_hrt_work_lock, 0, 1);
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// Create high priority worker thread
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g_hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX,
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2000,
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work_hrtthread,
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(char* const*)NULL);
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}
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@ -0,0 +1,117 @@
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/****************************************************************************
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* libc/wqueue/work_cancel.c
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*
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* Copyright (C) 2009-2010, 2012-2013 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
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* distribution.
|
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* 3. Neither the name NuttX nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <queue.h>
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#include <px4_workqueue.h>
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#include "hrt_work_lock.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Public Variables
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: work_cancel
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*
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* Description:
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* Cancel previously queued work. This removes work from the work queue.
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* After work has been canceled, it may be re-queue by calling work_queue()
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* again.
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*
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* Input parameters:
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* qid - The work queue ID
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* work - The previously queue work structure to cancel
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*
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* Returned Value:
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* Zero on success, a negated errno on failure
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*
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****************************************************************************/
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int hrt_work_cancel(struct work_s *work)
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{
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struct wqueue_s *wqueue = &g_hrt_work;
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//irqstate_t flags;
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//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
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||||
/* Cancelling the work is simply a matter of removing the work structure
|
||||
* from the work queue. This must be done with interrupts disabled because
|
||||
* new work is typically added to the work queue from interrupt handlers.
|
||||
*/
|
||||
|
||||
hrt_work_lock();
|
||||
if (work->worker != NULL)
|
||||
{
|
||||
/* A little test of the integrity of the work queue */
|
||||
|
||||
//DEBUGASSERT(work->dq.flink ||(FAR dq_entry_t *)work == wqueue->q.tail);
|
||||
//DEBUGASSERT(work->dq.blink ||(FAR dq_entry_t *)work == wqueue->q.head);
|
||||
|
||||
/* Remove the entry from the work queue and make sure that it is
|
||||
* mark as availalbe (i.e., the worker field is nullified).
|
||||
*/
|
||||
|
||||
dq_rem((FAR dq_entry_t *)work, &wqueue->q);
|
||||
work->worker = NULL;
|
||||
}
|
||||
|
||||
hrt_work_unlock();
|
||||
return PX4_OK;
|
||||
}
|
||||
|
|
@ -33,22 +33,33 @@
|
|||
|
||||
#include <px4_log.h>
|
||||
#include <semaphore.h>
|
||||
#include <stdio.h>
|
||||
#include <px4_workqueue.h>
|
||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
extern sem_t _hrt_work_lock;
|
||||
extern struct wqueue_s g_hrt_work;
|
||||
|
||||
void hrt_work_queue_init(void);
|
||||
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
|
||||
int hrt_work_cancel(struct work_s *work);
|
||||
|
||||
inline void hrt_work_lock();
|
||||
inline void hrt_work_unlock();
|
||||
|
||||
inline void hrt_work_lock()
|
||||
{
|
||||
PX4_INFO("hrt_work_lock");
|
||||
//PX4_INFO("hrt_work_lock");
|
||||
sem_wait(&_hrt_work_lock);
|
||||
}
|
||||
|
||||
inline void hrt_work_unlock();
|
||||
inline void hrt_work_unlock()
|
||||
{
|
||||
PX4_INFO("hrt_work_unlock");
|
||||
//PX4_INFO("hrt_work_unlock");
|
||||
sem_post(&_hrt_work_lock);
|
||||
}
|
||||
|
||||
__END_DECLS
|
||||
|
||||
|
|
|
|||
|
|
@ -38,6 +38,9 @@
|
|||
SRCS = \
|
||||
px4_posix_impl.cpp \
|
||||
px4_posix_tasks.cpp \
|
||||
hrt_thread.c \
|
||||
hrt_queue.c \
|
||||
hrt_work_cancel.c \
|
||||
work_thread.c \
|
||||
work_queue.c \
|
||||
work_cancel.c \
|
||||
|
|
|
|||
|
|
@ -46,6 +46,7 @@
|
|||
#include <errno.h>
|
||||
#include <unistd.h>
|
||||
#include "systemlib/param/param.h"
|
||||
#include "hrt_work_lock.h"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
|
|
@ -63,6 +64,7 @@ void init_once(void);
|
|||
void init_once(void)
|
||||
{
|
||||
work_queues_init();
|
||||
hrt_work_queue_init();
|
||||
hrt_init();
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -41,6 +41,7 @@
|
|||
#include <px4_defines.h>
|
||||
#include <queue.h>
|
||||
#include <px4_workqueue.h>
|
||||
#include "work_lock.h"
|
||||
|
||||
#ifdef CONFIG_SCHED_WORKQUEUE
|
||||
|
||||
|
|
@ -88,7 +89,6 @@
|
|||
int work_cancel(int qid, struct work_s *work)
|
||||
{
|
||||
struct wqueue_s *wqueue = &g_work[qid];
|
||||
//irqstate_t flags;
|
||||
|
||||
//DEBUGASSERT(work != NULL && (unsigned)qid < NWORKERS);
|
||||
|
||||
|
|
@ -97,7 +97,7 @@ int work_cancel(int qid, struct work_s *work)
|
|||
* new work is typically added to the work queue from interrupt handlers.
|
||||
*/
|
||||
|
||||
//flags = irqsave();
|
||||
work_lock(qid);
|
||||
if (work->worker != NULL)
|
||||
{
|
||||
/* A little test of the integrity of the work queue */
|
||||
|
|
@ -113,7 +113,7 @@ int work_cancel(int qid, struct work_s *work)
|
|||
work->worker = NULL;
|
||||
}
|
||||
|
||||
//irqrestore(flags);
|
||||
work_unlock(qid);
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -114,7 +114,7 @@ static void work_process(FAR struct wqueue_s *wqueue, int lock_id)
|
|||
*/
|
||||
|
||||
elapsed = USEC2TICK(clock_systimer() - work->qtime);
|
||||
//printf("work_process: in ticks elapsed=%lu delay=%u\n", elapsed, work->delay);
|
||||
//PX4_INFO("work_process: queue=%p in ticks elapsed=%lu delay=%u time=%u", wqueue, elapsed, work->delay,clock_systimer());
|
||||
if (elapsed >= work->delay)
|
||||
{
|
||||
/* Remove the ready-to-execute work from the list */
|
||||
|
|
|
|||
|
|
@ -69,7 +69,7 @@ struct work_s
|
|||
struct dq_entry_s dq; /* Implements a doubly linked list */
|
||||
worker_t worker; /* Work callback */
|
||||
void *arg; /* Callback argument */
|
||||
uint32_t qtime; /* Time work queued */
|
||||
uint64_t qtime; /* Time work queued */
|
||||
uint32_t delay; /* Delay until work performed */
|
||||
};
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue