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POSIX: added hrt_queue for handling fast periodic events 

The workqueues measure time in ticks  which is typically 10ms.
Some interrupt events in Nuttx occur at about 1ms so a more
granular workqueue is needed for POSIX.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-06-01 19:04:08 -07:00
parent 9882b78383
commit cced8ed69e
5 changed files with 453 additions and 8 deletions
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14
src/platforms/posix/drivers/accelsim/accelsim.cpp
View File

@ -625,10 +625,10 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_call_accel_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned period = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 500)
if (period < 500)
return -EINVAL;
/* adjust filters */
@ -636,7 +636,7 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_accel_call.period = _call_accel_interval = ticks;
_accel_call.period = _call_accel_interval = period;
/* if we need to start the poll state machine, do it */
if (want_start)
@ -749,15 +749,15 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
bool want_start = (_call_mag_interval == 0);
/* convert hz to hrt interval via microseconds */
unsigned ticks = 1000000 / arg;
unsigned period = 1000000 / arg;
/* check against maximum sane rate */
if (ticks < 1000)
/* check against maximum sane rate (1ms) */
if (period < 1000)
return -EINVAL;
/* update interval for next measurement */
/* XXX this is a bit shady, but no other way to adjust... */
_mag_call.period = _call_mag_interval = ticks;
_mag_call.period = _call_mag_interval = period;
/* if we need to start the poll state machine, do it */
if (want_start)

131
src/platforms/posix/px4_layer/hrt_queue.c Normal file
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@ -0,0 +1,131 @@
/****************************************************************************
* libc/wqueue/work_queue.c
*
* Copyright (C) 2009-2011, 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "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,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* 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
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_defines.h>
#include <signal.h>
#include <stdint.h>
#include <queue.h>
#include <stdio.h>
#include <semaphore.h>
#include <px4_workqueue.h>
#include "hrt_work_lock.h"
#ifdef CONFIG_SCHED_WORKQUEUE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Private Variables
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: hrt_work_queue
*
* Description:
* Queue work to be performed at a later time. All queued work will be
* performed on the worker thread of of execution (not the caller's).
*
* The work structure is allocated by caller, but completely managed by
* the work queue logic. The caller should never modify the contents of
* the work queue structure; the caller should not call work_queue()
* again until either (1) the previous work has been performed and removed
* from the queue, or (2) work_cancel() has been called to cancel the work
* and remove it from the work queue.
*
* Input parameters:
* work - The work structure to queue
* worker - The worker callback to be invoked. The callback will invoked
* on the worker thread of execution.
* arg - The argument that will be passed to the workder callback when
* int is invoked.
* delay - Delay (in microseconds) from the time queue until the worker
* is invoked. Zero means to perform the work immediately.
*
* Returned Value:
* Zero on success, a negated errno on failure
*
****************************************************************************/
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay)
{
struct wqueue_s *wqueue = &hrt_work;
/* First, initialize the work structure */
work->worker = worker; /* Work callback */
work->arg = arg; /* Callback argument */
work->delay = delay; /* Delay until work performed */
/* Now, time-tag that entry and put it in the work queue. This must be
* done with interrupts disabled. This permits this function to be called
* from with task logic or interrupt handlers.
*/
hrt_work_lock();
work->qtime = hrt_absolute_tme(); /* Time work queued */
PX4_INFO("work_queue adding work delay=%u time=%lu", delay, work->qtime);
dq_addlast((dq_entry_t *)work, &wqueue->q);
px4_task_kill(wqueue->pid, SIGCONT); /* Wake up the worker thread */
hrt_work_unlock();
return PX4_OK;
}
#endif /* CONFIG_SCHED_WORKQUEUE */

260
src/platforms/posix/px4_layer/hrt_thread.c Normal file
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@ -0,0 +1,260 @@
/****************************************************************************
* libc/wqueue/work_thread.c
*
* Copyright (C) 2009-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* Modified by: Mark Charlebois to use hrt compatible times
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "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,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* 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
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_defines.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <queue.h>
#include <px4_workqueue.h>
#include <drivers/drv_hrt.h>
#include "work_lock.h"
#ifdef CONFIG_SCHED_WORKQUEUE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Declarations
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/* The state of each work queue. */
struct wqueue_s g_hrt_work;
/****************************************************************************
* Private Variables
****************************************************************************/
sem_t _hrt_work_lock;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: work_process
*
* Description:
* This is the logic that performs actions placed on any work list.
*
* Input parameters:
* wqueue - Describes the work queue to be processed
*
* Returned Value:
* None
*
****************************************************************************/
static void hrt_work_process()
{
struct wqueue_s *wqueue = &g_hrt_work;
volatile FAR struct work_s *work;
worker_t worker;
FAR void *arg;
uint64_t elapsed;
uint32_t remaining;
uint32_t next;
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
/* Default to sleeping for 1 sec */
next = 1000000;
hrt_work_lock();
work = (FAR struct work_s *)wqueue->q.head;
while (work)
{
/* Is this work ready? It is ready if there is no delay or if
* the delay has elapsed. qtime is the time that the work was added
* to the work queue. It will always be greater than or equal to
* zero. Therefore a delay of zero will always execute immediately.
*/
elapsed = USEC2TICK(hrt_absolute_time() - work->qtime);
PX4_INFO("work_process: wq=%p in ticks elapsed=%lu delay=%u work=%p", wqueue, elapsed, work->delay, work);
if (elapsed >= work->delay)
{
/* Remove the ready-to-execute work from the list */
(void)dq_rem((struct dq_entry_s *)work, &wqueue->q);
PX4_INFO("Dequeued work=%p", work);
/* Extract the work description from the entry (in case the work
* instance by the re-used after it has been de-queued).
*/
worker = work->worker;
arg = work->arg;
/* Mark the work as no longer being queued */
work->worker = NULL;
/* Do the work. Re-enable interrupts while the work is being
* performed... we don't have any idea how long that will take!
*/
hrt_work_unlock();
if (!worker) {
PX4_ERR("MESSED UP: worker = 0");
}
else {
worker(arg);
}
/* Now, unfortunately, since we re-enabled interrupts we don't
* know the state of the work list and we will have to start
* back at the head of the list.
*/
hrt_work_lock();
work = (FAR struct work_s *)wqueue->q.head;
PX4_INFO("Done work - next is %p", work);
}
else
{
/* This one is not ready.. will it be ready before the next
* scheduled wakeup interval?
*/
/* Here: elapsed < work->delay */
remaining = work->delay - elapsed;
if (remaining < next)
{
/* Yes.. Then schedule to wake up when the work is ready */
next = remaining;
}
/* Then try the next in the list. */
work = (FAR struct work_s *)work->dq.flink;
}
}
/* Wait awhile to check the work list. We will wait here until either
* the time elapses or until we are awakened by a signal.
*/
hrt_work_unlock();
/* might sleep less if a signal received and new item was queued */
usleep(next);
}
/****************************************************************************
* Public Functions
****************************************************************************/
void hrt_work_queue_init(void)
{
sem_init(&_hrt_work_lock, 0, 1);
// Create high priority worker thread
hrt_work.pid = px4_task_spawn_cmd("wkr_hrt",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX,
2000,
work_hrtthread,
(char* const*)NULL);
}
/****************************************************************************
* Name: work_hpthread, work_lpthread, and work_usrthread
*
* Description:
* These are the worker threads that performs actions placed on the work
* lists.
*
* work_hpthread and work_lpthread: These are the kernel mode work queues
* (also build in the flat build). One of these threads also performs
* periodic garbage collection (that is otherwise performed by the idle
* thread if CONFIG_SCHED_WORKQUEUE is not defined).
*
* These worker threads are started by the OS during normal bringup.
*
* work_usrthread: This is a user mode work queue. It must be built into
* the applicatino blob during the user phase of a kernel build. The
* user work thread will then automatically be started when the system
* boots by calling through the pointer found in the header on the user
* space blob.
*
* All of these entrypoints are referenced by OS internally and should not
* not be accessed by application logic.
*
* Input parameters:
* argc, argv (not used)
*
* Returned Value:
* Does not return
*
****************************************************************************/
int work_hrtthread(int argc, char *argv[])
{
/* Loop forever */
for (;;)
{
/* First, perform garbage collection. This cleans-up memory de-allocations
* that were queued because they could not be freed in that execution
* context (for example, if the memory was freed from an interrupt handler).
* NOTE: If the work thread is disabled, this clean-up is performed by
* the IDLE thread (at a very, very low priority).
*/
/* Then process queued work. We need to keep interrupts disabled while
* we process items in the work list.
*/
hrt_work_process();
}
return PX4_OK; /* To keep some compilers happy */
}

54
src/platforms/posix/px4_layer/hrt_work_lock.h Normal file
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@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "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,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* 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
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_log.h>
#include <semaphore.h>
#include <stdio.h>
#pragma once
extern sem_t _hrt_work_lock;
inline void hrt_work_lock();
inline void 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");
sem_post(&_hrt_work_lock);
}

2
src/platforms/px4_defines.h
View File

@ -131,8 +131,8 @@ __BEGIN_DECLS
extern long PX4_TICKS_PER_SEC;
__END_DECLS
#define USEC2TICK(x) (PX4_TICKS_PER_SEC*(long)(x)/1000000L)
#define USEC_PER_TICK (1000000L/PX4_TICKS_PER_SEC)
#define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK)
#define px4_statfs_buf_f_bavail_t unsigned long