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Added header for common priority bands

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Lorenz Meier
2012-12-27 19:01:00 +01:00
parent e2196bca4f
commit 7526dd46a2
2 changed files with 50 additions and 1 deletions
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3
apps/drivers/px4io/px4io.cpp
View File

@@ -70,6 +70,7 @@
#include <systemlib/hx_stream.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
@@ -255,7 +256,7 @@ PX4IO::init()
}
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;

48
apps/systemlib/scheduling_priorities.h Normal file
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@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. 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.
*
****************************************************************************/
#pragma once
#include <nuttx/sched.h>
/* SCHED_PRIORITY_MAX */
#define SCHED_PRIORITY_FAST_DRIVER SCHED_PRIORITY_MAX
#define SCHED_PRIORITY_WATCHDOG (SCHED_PRIORITY_MAX - 5)
#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 15)
#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 25)
#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35)
#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 40)
/* SCHED_PRIORITY_DEFAULT */
#define SCHED_PRIORITY_LOGGING (SCHED_PRIORITY_DEFAULT - 10)
#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15)
/* SCHED_PRIORITY_IDLE */