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POSIX: added hrt_queue for handling fast periodic events

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The workqueues measure time in ticks  which is typically 10ms.
Some interrupt events in Nuttx occur at about 1ms so a more
granular workqueue is needed for POSIX.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-08 22:15:55 -07:00
parent a0a432fa4e
commit acfd1ea519
2 changed files with 54 additions and 3 deletions
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src/platforms/posix/px4_layer/hrt_queue.c
-3
View File
@@ -49,8 +49,6 @@
#include <px4_workqueue.h>
#include "hrt_work.h"
#ifdef CONFIG_SCHED_WORKQUEUE
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
@@ -129,4 +127,3 @@ int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t del
return PX4_OK;
}
#endif /* CONFIG_SCHED_WORKQUEUE */
src/platforms/posix/px4_layer/hrt_work_lock.h
+54
View File
@@ -0,0 +1,54 @@
/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_log.h>
#include <semaphore.h>
#include <stdio.h>
#pragma once
extern sem_t _hrt_work_lock;
inline void hrt_work_lock();
inline void hrt_work_lock()
{
PX4_INFO("hrt_work_lock");
sem_wait(&_hrt_work_lock);
}
inline void hrt_work_unlock();
inline void hrt_work_unlock()
{
PX4_INFO("hrt_work_unlock");
sem_post(&_hrt_work_lock);
}