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85 lines
2.3 KiB
85 lines
2.3 KiB
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#ifndef __AP_HAL_VRBRAIN_SCHEDULER_H__ |
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#define __AP_HAL_VRBRAIN_SCHEDULER_H__ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN |
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#include "AP_HAL_VRBRAIN_Namespace.h" |
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#include <sys/time.h> |
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#include <signal.h> |
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#include <pthread.h> |
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#include <systemlib/perf_counter.h> |
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#define VRBRAIN_SCHEDULER_MAX_TIMER_PROCS 8 |
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#define APM_MAIN_PRIORITY 180 |
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#define APM_TIMER_PRIORITY 181 |
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#define APM_UART_PRIORITY 60 |
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#define APM_IO_PRIORITY 59 |
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#define APM_OVERTIME_PRIORITY 10 |
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#define APM_STARTUP_PRIORITY 10 |
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/* Scheduler implementation: */ |
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class VRBRAIN::VRBRAINScheduler : public AP_HAL::Scheduler { |
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public: |
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VRBRAINScheduler(); |
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/* AP_HAL::Scheduler methods */ |
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void init(void *unused); |
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void delay(uint16_t ms); |
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void delay_microseconds(uint16_t us); |
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms); |
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void register_timer_process(AP_HAL::MemberProc); |
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void register_io_process(AP_HAL::MemberProc); |
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us); |
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void suspend_timer_procs(); |
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void resume_timer_procs(); |
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void reboot(bool hold_in_bootloader); |
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bool in_timerprocess(); |
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bool system_initializing(); |
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void system_initialized(); |
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void hal_initialized() { _hal_initialized = true; } |
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private: |
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bool _initialized; |
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volatile bool _hal_initialized; |
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AP_HAL::Proc _delay_cb; |
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uint16_t _min_delay_cb_ms; |
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AP_HAL::Proc _failsafe; |
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volatile bool _timer_pending; |
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volatile bool _timer_suspended; |
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AP_HAL::MemberProc _timer_proc[VRBRAIN_SCHEDULER_MAX_TIMER_PROCS]; |
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uint8_t _num_timer_procs; |
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volatile bool _in_timer_proc; |
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AP_HAL::MemberProc _io_proc[VRBRAIN_SCHEDULER_MAX_TIMER_PROCS]; |
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uint8_t _num_io_procs; |
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volatile bool _in_io_proc; |
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volatile bool _timer_event_missed; |
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pid_t _main_task_pid; |
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pthread_t _timer_thread_ctx; |
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pthread_t _io_thread_ctx; |
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pthread_t _uart_thread_ctx; |
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void *_timer_thread(void); |
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void *_io_thread(void); |
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void *_uart_thread(void); |
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void _run_timers(bool called_from_timer_thread); |
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void _run_io(void); |
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void delay_microseconds_semaphore(uint16_t us); |
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perf_counter_t _perf_timers; |
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perf_counter_t _perf_io_timers; |
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perf_counter_t _perf_delay; |
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}; |
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#endif |
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#endif // __AP_HAL_VRBRAIN_SCHEDULER_H__ |
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