From acfd1ea51976300b5b89a7dc0f8c5158b3150604 Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Mon, 1 Jun 2015 19:04:08 -0700 Subject: [PATCH] POSIX: added hrt_queue for handling fast periodic events 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 --- src/platforms/posix/px4_layer/hrt_queue.c | 3 -- src/platforms/posix/px4_layer/hrt_work_lock.h | 54 +++++++++++++++++++ 2 files changed, 54 insertions(+), 3 deletions(-) create mode 100644 src/platforms/posix/px4_layer/hrt_work_lock.h diff --git a/src/platforms/posix/px4_layer/hrt_queue.c b/src/platforms/posix/px4_layer/hrt_queue.c index ab10714776..e45132253a 100644 --- a/src/platforms/posix/px4_layer/hrt_queue.c +++ b/src/platforms/posix/px4_layer/hrt_queue.c @@ -49,8 +49,6 @@ #include #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 */ diff --git a/src/platforms/posix/px4_layer/hrt_work_lock.h b/src/platforms/posix/px4_layer/hrt_work_lock.h new file mode 100644 index 0000000000..86aa3913a2 --- /dev/null +++ b/src/platforms/posix/px4_layer/hrt_work_lock.h @@ -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 +#include +#include + +#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); +} +