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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-20 21:57:34 +08:00
Michael Schaeuble
5abee359d6
If the PPS GPIO is exposed to a signal with high frequency changes, a lot of interrupts are scheduled and the handling of these calls can worst-case starve flight critical processes leading to a loss of control. Since PPS is not flight critical, we now give up the PPS functionality and stop the interrupts to prevent the starvation of other processes.
85 lines
3.0 KiB
C++
85 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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 <drivers/drv_hrt.h>
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#include <px4_arch/micro_hal.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/pps_capture.h>
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#include <uORB/topics/sensor_gps.h>
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using namespace time_literals;
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class PPSCapture : public ModuleBase<PPSCapture>, public px4::ScheduledWorkItem
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{
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public:
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PPSCapture();
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virtual ~PPSCapture();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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static int gpio_interrupt_callback(int irq, void *context, void *arg);
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/** PPSCapture is an interrupt-driven task and needs to be manually stopped */
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static void stop();
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private:
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void Run() override;
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int _channel{-1};
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uint32_t _pps_capture_gpio{0};
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uORB::Publication<pps_capture_s> _pps_capture_pub{ORB_ID(pps_capture)};
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uORB::Subscription _sensor_gps_sub{ORB_ID(sensor_gps)};
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orb_advert_t _mavlink_log_pub{nullptr};
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hrt_abstime _hrt_timestamp{0};
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hrt_abstime _last_gps_timestamp{0};
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uint64_t _last_gps_utc_timestamp{0};
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uint8_t _pps_rate_exceeded_counter{0};
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px4::atomic<bool> _pps_rate_failure{false};
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};
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