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PX4 work queue: extend to UARTs

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This commit is contained in:
Daniel Agar
2019-10-27 12:40:21 -04:00
parent f8c45c4914
commit 071f159794
2 changed files with 59 additions and 1 deletions
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platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+20 -1
View File
@@ -66,9 +66,20 @@ static constexpr wq_config_t I2C4{"wq:I2C4", 1400, -12};
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -11}; // PX4 att/pos controllers, highest priority after sensors static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -11}; // PX4 att/pos controllers, highest priority after sensors
static constexpr wq_config_t hp_default{"wq:hp_default", 1800, -12};
static constexpr wq_config_t uavcan{"uavcan", 2400, -13}; static constexpr wq_config_t uavcan{"uavcan", 2400, -13};
static constexpr wq_config_t hp_default{"wq:hp_default", 1800, -12}; static constexpr wq_config_t UART0{"wq:UART0", 1400, -14};
static constexpr wq_config_t UART1{"wq:UART1", 1400, -15};
static constexpr wq_config_t UART2{"wq:UART2", 1400, -16};
static constexpr wq_config_t UART3{"wq:UART3", 1400, -17};
static constexpr wq_config_t UART4{"wq:UART4", 1400, -18};
static constexpr wq_config_t UART5{"wq:UART5", 1400, -19};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -20};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -21};
static constexpr wq_config_t UART8{"wq:UART8", 1400, -22};
static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50}; static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
static constexpr wq_config_t test1{"wq:test1", 800, 0}; static constexpr wq_config_t test1{"wq:test1", 800, 0};
@@ -107,5 +118,13 @@ WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq);
*/ */
const wq_config_t &device_bus_to_wq(uint32_t device_id); const wq_config_t &device_bus_to_wq(uint32_t device_id);
/**
* Map a serial device path (eg /dev/ttyS1) to a work queue.
*
* @param device_id The device path.
* @return A work queue configuration.
*/
const wq_config_t &serial_port_to_wq(const char *serial);
} // namespace px4 } // namespace px4
platforms/common/px4_work_queue/WorkQueueManager.cpp
+39
View File
@@ -162,6 +162,45 @@ device_bus_to_wq(uint32_t device_id_int)
return wq_configurations::hp_default; return wq_configurations::hp_default;
}; };
const wq_config_t &
serial_port_to_wq(const char *serial)
{
if (serial == nullptr) {
return wq_configurations::hp_default;
} else if (strstr(serial, "ttyS0")) {
return wq_configurations::UART0;
} else if (strstr(serial, "ttyS1")) {
return wq_configurations::UART1;
} else if (strstr(serial, "ttyS2")) {
return wq_configurations::UART2;
} else if (strstr(serial, "ttyS3")) {
return wq_configurations::UART3;
} else if (strstr(serial, "ttyS4")) {
return wq_configurations::UART4;
} else if (strstr(serial, "ttyS5")) {
return wq_configurations::UART5;
} else if (strstr(serial, "ttyS6")) {
return wq_configurations::UART6;
} else if (strstr(serial, "ttyS7")) {
return wq_configurations::UART7;
} else if (strstr(serial, "ttyS8")) {
return wq_configurations::UART8;
}
PX4_ERR("unknown serial port: %s", serial);
return wq_configurations::hp_default;
}
static void * static void *
WorkQueueRunner(void *context) WorkQueueRunner(void *context)
{ {