You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
84 lines
2.1 KiB
84 lines
2.1 KiB
|
|
#ifndef __AP_HAL_LINUX_SCHEDULER_H__ |
|
#define __AP_HAL_LINUX_SCHEDULER_H__ |
|
|
|
#include <AP_HAL_Linux.h> |
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
#include <sys/time.h> |
|
#include <pthread.h> |
|
|
|
#define LINUX_SCHEDULER_MAX_TIMER_PROCS 10 |
|
|
|
class Linux::LinuxScheduler : public AP_HAL::Scheduler { |
|
public: |
|
LinuxScheduler(); |
|
void init(void* machtnichts); |
|
void delay(uint16_t ms); |
|
uint32_t millis(); |
|
uint32_t micros(); |
|
void delay_microseconds(uint16_t us); |
|
void register_delay_callback(AP_HAL::Proc, |
|
uint16_t min_time_ms); |
|
|
|
void register_timer_process(AP_HAL::MemberProc); |
|
void register_io_process(AP_HAL::MemberProc); |
|
void suspend_timer_procs(); |
|
void resume_timer_procs(); |
|
|
|
bool in_timerprocess(); |
|
|
|
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); |
|
|
|
void begin_atomic(); |
|
void end_atomic(); |
|
|
|
bool system_initializing(); |
|
void system_initialized(); |
|
|
|
void panic(const prog_char_t *errormsg); |
|
void reboot(bool hold_in_bootloader); |
|
|
|
void time_shift(uint32_t shift_ms); |
|
|
|
private: |
|
struct timespec _sketch_start_time; |
|
void _timer_handler(int signum); |
|
void _microsleep(uint32_t usec); |
|
|
|
AP_HAL::Proc _delay_cb; |
|
uint16_t _min_delay_cb_ms; |
|
|
|
AP_HAL::Proc _failsafe; |
|
|
|
bool _initialized; |
|
volatile bool _timer_pending; |
|
|
|
volatile bool _timer_suspended; |
|
|
|
AP_HAL::MemberProc _timer_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS]; |
|
uint8_t _num_timer_procs; |
|
volatile bool _in_timer_proc; |
|
|
|
AP_HAL::MemberProc _io_proc[LINUX_SCHEDULER_MAX_TIMER_PROCS]; |
|
uint8_t _num_io_procs; |
|
volatile bool _in_io_proc; |
|
|
|
volatile bool _timer_event_missed; |
|
|
|
pthread_t _timer_thread_ctx; |
|
pthread_t _io_thread_ctx; |
|
pthread_t _uart_thread_ctx; |
|
|
|
void *_timer_thread(void); |
|
void *_io_thread(void); |
|
void *_uart_thread(void); |
|
|
|
void _run_timers(bool called_from_timer_thread); |
|
void _run_io(void); |
|
void _setup_realtime(uint32_t size); |
|
}; |
|
|
|
#endif // CONFIG_HAL_BOARD |
|
|
|
#endif // __AP_HAL_LINUX_SCHEDULER_H__
|
|
|