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AP_HAL_VRBrain: Remove timer process suspension interface

mission-4.1.18
Michael du Breuil 7 years ago committed by Andrew Tridgell
parent
a833e93708
commit
a2dfca2fee
4 changed files with 51 additions and 73 deletions
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  1. 75
      libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
  2. 1
      libraries/AP_HAL_VRBRAIN/AnalogIn.h
  3. 40
      libraries/AP_HAL_VRBRAIN/Scheduler.cpp
  4. 8
      libraries/AP_HAL_VRBRAIN/Scheduler.h

75
libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
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@ -68,11 +68,7 @@ VRBRAINAnalogSource::VRBRAINAnalogSource(int16_t pin, float initial_value) :
_sum_value(0), _sum_value(0),
_sum_ratiometric(0) _sum_ratiometric(0)
{ {
_semaphore = hal.util->new_semaphore();
} }
void VRBRAINAnalogSource::set_stop_pin(uint8_t p) void VRBRAINAnalogSource::set_stop_pin(uint8_t p)
@ -82,16 +78,19 @@ void VRBRAINAnalogSource::set_stop_pin(uint8_t p)
float VRBRAINAnalogSource::read_average() float VRBRAINAnalogSource::read_average()
{ {
if (_sum_count == 0) { if (_semaphore->take(1)) {
if (_sum_count == 0) {
_semaphore->give();
return _value;
}
_value = _sum_value / _sum_count;
_value_ratiometric = _sum_ratiometric / _sum_count;
_sum_value = 0;
_sum_ratiometric = 0;
_sum_count = 0;
_semaphore->give();
return _value; return _value;
} }
hal.scheduler->suspend_timer_procs();
_value = _sum_value / _sum_count;
_value_ratiometric = _sum_ratiometric / _sum_count;
_sum_value = 0;
_sum_ratiometric = 0;
_sum_count = 0;
hal.scheduler->resume_timer_procs();
return _value; return _value;
} }
@ -147,15 +146,16 @@ void VRBRAINAnalogSource::set_pin(uint8_t pin)
if (_pin == pin) { if (_pin == pin) {
return; return;
} }
hal.scheduler->suspend_timer_procs(); if (_semaphore->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_pin = pin; _pin = pin;
_sum_value = 0; _sum_value = 0;
_sum_ratiometric = 0; _sum_ratiometric = 0;
_sum_count = 0; _sum_count = 0;
_latest_value = 0; _latest_value = 0;
_value = 0; _value = 0;
_value_ratiometric = 0; _value_ratiometric = 0;
hal.scheduler->resume_timer_procs(); _semaphore->give();
}
} }
/* /*
@ -163,20 +163,23 @@ void VRBRAINAnalogSource::set_pin(uint8_t pin)
*/ */
void VRBRAINAnalogSource::_add_value(float v, float vcc5V) void VRBRAINAnalogSource::_add_value(float v, float vcc5V)
{ {
_latest_value = v; if (_semaphore->take(1)) {
_sum_value += v; _latest_value = v;
if (vcc5V < 3.0f) { _sum_value += v;
_sum_ratiometric += v; if (vcc5V < 3.0f) {
} else { _sum_ratiometric += v;
// this compensates for changes in the 5V rail relative to the } else {
// 3.3V reference used by the ADC. // this compensates for changes in the 5V rail relative to the
_sum_ratiometric += v * 5.0f / vcc5V; // 3.3V reference used by the ADC.
} _sum_ratiometric += v * 5.0f / vcc5V;
_sum_count++; }
if (_sum_count == 254) { _sum_count++;
_sum_value /= 2; if (_sum_count == 254) {
_sum_ratiometric /= 2; _sum_value /= 2;
_sum_count /= 2; _sum_ratiometric /= 2;
_sum_count /= 2;
}
_semaphore->give();
} }
} }

1
libraries/AP_HAL_VRBRAIN/AnalogIn.h
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@ -48,6 +48,7 @@ private:
float _sum_ratiometric; float _sum_ratiometric;
void _add_value(float v, float vcc5V); void _add_value(float v, float vcc5V);
float _pin_scaler(); float _pin_scaler();
AP_HAL::Semaphore *_semaphore;
}; };
class VRBRAIN::VRBRAINAnalogIn : public AP_HAL::AnalogIn { class VRBRAIN::VRBRAINAnalogIn : public AP_HAL::AnalogIn {

40
libraries/AP_HAL_VRBRAIN/Scheduler.cpp
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@ -230,20 +230,6 @@ void VRBRAINScheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t p
_failsafe = failsafe; _failsafe = failsafe;
} }
void VRBRAINScheduler::suspend_timer_procs()
{
_timer_suspended = true;
}
void VRBRAINScheduler::resume_timer_procs()
{
_timer_suspended = false;
if (_timer_event_missed == true) {
_run_timers(false);
_timer_event_missed = false;
}
}
void VRBRAINScheduler::reboot(bool hold_in_bootloader) void VRBRAINScheduler::reboot(bool hold_in_bootloader)
{ {
// disarm motors to ensure they are off during a bootloader upload // disarm motors to ensure they are off during a bootloader upload
@ -256,22 +242,18 @@ void VRBRAINScheduler::reboot(bool hold_in_bootloader)
px4_systemreset(hold_in_bootloader); px4_systemreset(hold_in_bootloader);
} }
void VRBRAINScheduler::_run_timers(bool called_from_timer_thread) void VRBRAINScheduler::_run_timers()
{ {
if (_in_timer_proc) { if (_in_timer_proc) {
return; return;
} }
_in_timer_proc = true; _in_timer_proc = true;
if (!_timer_suspended) { // now call the timer based drivers
// now call the timer based drivers for (int i = 0; i < _num_timer_procs; i++) {
for (int i = 0; i < _num_timer_procs; i++) { if (_timer_proc[i]) {
if (_timer_proc[i]) { _timer_proc[i]();
_timer_proc[i]();
}
} }
} else if (called_from_timer_thread) {
_timer_event_missed = true;
} }
// and the failsafe, if one is setup // and the failsafe, if one is setup
@ -302,7 +284,7 @@ void *VRBRAINScheduler::_timer_thread(void *arg)
// run registered timers // run registered timers
perf_begin(sched->_perf_timers); perf_begin(sched->_perf_timers);
sched->_run_timers(true); sched->_run_timers();
perf_end(sched->_perf_timers); perf_end(sched->_perf_timers);
// process any pending RC output requests // process any pending RC output requests
@ -329,12 +311,10 @@ void VRBRAINScheduler::_run_io(void)
} }
_in_io_proc = true; _in_io_proc = true;
if (!_timer_suspended) { // now call the IO based drivers
// now call the IO based drivers for (int i = 0; i < _num_io_procs; i++) {
for (int i = 0; i < _num_io_procs; i++) { if (_io_proc[i]) {
if (_io_proc[i]) { _io_proc[i]();
_io_proc[i]();
}
} }
} }

8
libraries/AP_HAL_VRBRAIN/Scheduler.h
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@ -53,8 +53,6 @@ public:
void register_timer_process(AP_HAL::MemberProc); void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc); void register_io_process(AP_HAL::MemberProc);
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void suspend_timer_procs();
void resume_timer_procs();
void reboot(bool hold_in_bootloader); void reboot(bool hold_in_bootloader);
bool in_main_thread() const override; bool in_main_thread() const override;
@ -68,8 +66,6 @@ private:
volatile bool _hal_initialized; volatile bool _hal_initialized;
AP_HAL::Proc _failsafe; AP_HAL::Proc _failsafe;
volatile bool _timer_suspended;
AP_HAL::MemberProc _timer_proc[VRBRAIN_SCHEDULER_MAX_TIMER_PROCS]; AP_HAL::MemberProc _timer_proc[VRBRAIN_SCHEDULER_MAX_TIMER_PROCS];
uint8_t _num_timer_procs; uint8_t _num_timer_procs;
volatile bool _in_timer_proc; volatile bool _in_timer_proc;
@ -78,8 +74,6 @@ private:
uint8_t _num_io_procs; uint8_t _num_io_procs;
volatile bool _in_io_proc; volatile bool _in_io_proc;
volatile bool _timer_event_missed;
pid_t _main_task_pid; pid_t _main_task_pid;
pthread_t _timer_thread_ctx; pthread_t _timer_thread_ctx;
pthread_t _io_thread_ctx; pthread_t _io_thread_ctx;
@ -98,7 +92,7 @@ private:
static void *_uart_thread(void *arg); static void *_uart_thread(void *arg);
static void *_uavcan_thread(void *arg); static void *_uavcan_thread(void *arg);
void _run_timers(bool called_from_timer_thread); void _run_timers();
void _run_io(void); void _run_io(void);
void delay_microseconds_semaphore(uint16_t us); void delay_microseconds_semaphore(uint16_t us);

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