void *Scheduler::_timer_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
uint32_t last_ran_overtime = 0;
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered timers
sched->_run_timers(true);
// process any pending RC output requests
((RCOutput *)hal.rcout)->timer_update();
if (qurt_ran_overtime && AP_HAL::millis() - last_ran_overtime > 2000) {
last_ran_overtime = AP_HAL::millis();
printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
}
}
return nullptr;
}
void Scheduler::_io_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_io");
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
uint32_t last_sd_start_ms = AP_HAL::millis();
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
if (!hal.util->get_soft_armed()) {
// if sdcard hasn't mounted then retry it every 3s in the IO
// thread when disarmed
uint32_t now = AP_HAL::millis();
if (now - last_sd_start_ms > 3000) {
last_sd_start_ms = now;
sdcard_retry();
}
}
}
}
void Scheduler::_rcin_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_rcin");
while (!sched->_hal_initialized) {
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(2500);
((RCInput *)hal.rcin)->_timer_tick();
}
}
void Scheduler::_storage_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_storage");
while (!sched->_hal_initialized) {
sched->delay_microseconds(10000);
}
while (true) {
sched->delay_microseconds(10000);
// process any pending storage writes
hal.storage->_timer_tick();
}
}
void Scheduler::_io_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_io");
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
}
}
void Scheduler::_toneAlarm_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("toneAlarm");
while (!sched->_hal_initialized) {
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(20000);
// process tone command
Util::from(hal.util)->_toneAlarm_timer_tick();
}
}
void Scheduler::_storage_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
sched->_storage_thread_ctx->name = "apm_storage";
while (!sched->_hal_initialized) {
sched->delay_microseconds(10000);
}
while (true) {
sched->delay_microseconds(10000);
// process any pending storage writes
((Storage *)hal.storage)->_timer_tick();
}
}
void *Scheduler::_io_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered IO processes
sched->_run_io();
}
return nullptr;
}
void Scheduler::_uavcan_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_uavcan");
while (!sched->_hal_initialized) {
sched->delay_microseconds(20000);
}
while (true) {
sched->delay_microseconds(100);
for (int i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
if(hal.can_mgr[i] != nullptr) {
CANManager::from(hal.can_mgr[i])->_timer_tick();
}
}
}
}
void Scheduler::_timer_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
chRegSetThreadName("apm_timer");
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered timers
sched->_run_timers();
// process any pending RC output requests
hal.rcout->timer_tick();
}
}
void *Scheduler::_uart_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// process any pending serial bytes
//((UARTDriver *)hal.uartA)->timer_tick();
((UARTDriver *)hal.uartB)->timer_tick();
((UARTDriver *)hal.uartC)->timer_tick();
((UARTDriver *)hal.uartD)->timer_tick();
((UARTDriver *)hal.uartE)->timer_tick();
}
return nullptr;
}
void Scheduler::_timer_thread(void *arg)
{
Scheduler *sched = (Scheduler *)arg;
sched->_timer_thread_ctx->name = "apm_timer";
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// run registered timers
sched->_run_timers(true);
// process any pending RC output requests
//hal.rcout->timer_tick();
// process any pending RC input requests
((RCInput *)hal.rcin)->_timer_tick();
}
}
void Scheduler::_uart_thread(void* arg)
{
Scheduler *sched = (Scheduler *)arg;
sched->_uart_thread_ctx->name = "apm_uart";
while (!sched->_hal_initialized) {
sched->delay_microseconds(1000);
}
while (true) {
sched->delay_microseconds(1000);
// process any pending serial bytes
((UARTDriver *)hal.uartA)->_timer_tick();
((UARTDriver *)hal.uartB)->_timer_tick();
((UARTDriver *)hal.uartC)->_timer_tick();
/*((UARTDriver *)hal.uartD)->_timer_tick();
((UARTDriver *)hal.uartE)->_timer_tick();
((UARTDriver *)hal.uartF)->_timer_tick();*/
#if HAL_WITH_IO_MCU
uart_io._timer_tick();
#endif
}
}