mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 06:36:45 +08:00
src/platforms/common: move to platforms/common
Script to update include paths: for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
This commit is contained in:
Beat Küng
@@ -0,0 +1,80 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "WorkItem.hpp"
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#include <drivers/drv_hrt.h>
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namespace px4
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{
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class ScheduledWorkItem : public WorkItem
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{
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public:
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ScheduledWorkItem(const wq_config_t &config) : WorkItem(config) {}
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virtual ~ScheduledWorkItem() override;
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/**
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* Schedule next run with a delay in microseconds.
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*
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* @param delay_us The delay in microseconds.
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*/
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void ScheduleDelayed(uint32_t delay_us);
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/**
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* Schedule repeating run with optional delay.
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*
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* @param interval_us The interval in microseconds.
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* @param delay_us The delay (optional) in microseconds.
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*/
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void ScheduleOnInterval(uint32_t interval_us, uint32_t delay_us = 0);
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/**
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* Clear any scheduled work.
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*/
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void ScheduleClear();
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virtual void Run() override = 0;
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private:
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static void schedule_trampoline(void *arg);
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hrt_call _call{};
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};
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} // namespace px4
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@@ -0,0 +1,79 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "WorkQueueManager.hpp"
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#include "WorkQueue.hpp"
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#include <containers/IntrusiveQueue.hpp>
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#include <px4_defines.h>
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#include <drivers/drv_hrt.h>
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namespace px4
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{
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class WorkItem : public IntrusiveQueueNode<WorkItem *>
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{
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public:
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explicit WorkItem(const wq_config_t &config);
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WorkItem() = delete;
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virtual ~WorkItem();
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inline void ScheduleNow() { if (_wq != nullptr) _wq->Add(this); }
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virtual void Run() = 0;
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protected:
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/**
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* Initialize WorkItem given a WorkQueue config. This call
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* can also be used to switch to a different WorkQueue.
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* NOTE: Caller is responsible for synchronization.
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*
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* @param config The WorkQueue configuration (see WorkQueueManager.hpp).
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* @return true if initialization was successful
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*/
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bool Init(const wq_config_t &config);
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void Deinit();
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private:
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WorkQueue *_wq{nullptr};
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};
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} // namespace px4
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@@ -0,0 +1,94 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "WorkQueueManager.hpp"
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#include <containers/List.hpp>
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#include <containers/IntrusiveQueue.hpp>
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#include <px4_atomic.h>
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#include <px4_defines.h>
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#include <px4_sem.h>
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#include <px4_tasks.h>
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namespace px4
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{
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class WorkItem;
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class WorkQueue : public ListNode<WorkQueue *>
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{
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public:
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explicit WorkQueue(const wq_config_t &wq_config);
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WorkQueue() = delete;
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~WorkQueue();
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const char *get_name() { return _config.name; }
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void Add(WorkItem *item);
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void Remove(WorkItem *item);
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void Clear();
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void Run();
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void request_stop() { _should_exit.store(true); }
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void print_status();
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private:
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bool should_exit() const { return _should_exit.load(); }
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#ifdef __PX4_NUTTX
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// In NuttX work can be enqueued from an ISR
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void work_lock() { _flags = enter_critical_section(); }
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void work_unlock() { leave_critical_section(_flags); }
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irqstate_t _flags;
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#else
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void work_lock() { px4_sem_wait(&_qlock); }
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void work_unlock() { px4_sem_post(&_qlock); }
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px4_sem_t _qlock;
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#endif
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IntrusiveQueue<WorkItem *> _q;
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px4_sem_t _process_lock;
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px4::atomic_bool _should_exit{false};
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const wq_config_t &_config;
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};
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} // namespace px4
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@@ -0,0 +1,102 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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namespace px4
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{
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class WorkQueue; // forward declaration
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struct wq_config_t {
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const char *name;
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uint16_t stacksize;
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int8_t relative_priority; // relative to max
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};
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namespace wq_configurations
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{
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
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static constexpr wq_config_t SPI1{"wq:SPI1", 1400, -1};
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static constexpr wq_config_t SPI2{"wq:SPI2", 1400, -2};
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static constexpr wq_config_t SPI3{"wq:SPI3", 1400, -3};
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static constexpr wq_config_t SPI4{"wq:SPI4", 1400, -4};
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static constexpr wq_config_t SPI5{"wq:SPI5", 1400, -5};
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static constexpr wq_config_t SPI6{"wq:SPI6", 1400, -6};
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static constexpr wq_config_t I2C1{"wq:I2C1", 1250, -7};
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static constexpr wq_config_t I2C2{"wq:I2C2", 1250, -8};
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static constexpr wq_config_t I2C3{"wq:I2C3", 1250, -9};
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static constexpr wq_config_t I2C4{"wq:I2C4", 1250, -10};
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static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 2000, -11}; // PX4 att/pos controllers, highest priority after sensors
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static constexpr wq_config_t hp_default{"wq:hp_default", 1500, -12};
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static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};
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static constexpr wq_config_t test1{"wq:test1", 800, 0};
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static constexpr wq_config_t test2{"wq:test2", 800, 0};
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} // namespace wq_configurations
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/**
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* Start the work queue manager task.
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*/
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int WorkQueueManagerStart();
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/**
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* Stop the work queue manager task.
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*/
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int WorkQueueManagerStop();
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/**
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* Create (or find) a work queue with a particular configuration.
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*
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* @param new_wq The work queue configuration (see WorkQueueManager.hpp).
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* @return A pointer to the WorkQueue, or nullptr on failure.
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*/
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WorkQueue *WorkQueueFindOrCreate(const wq_config_t &new_wq);
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/**
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* Map a PX4 driver device id to a work queue (by sensor bus).
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*
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* @param device_id The PX4 driver's device id.
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* @return A work queue configuration.
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*/
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const wq_config_t &device_bus_to_wq(uint32_t device_id);
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} // namespace px4
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