ardupilot/libraries/AP_HAL_ChibiOS/Scheduler.h

/*
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * Code by Andrew Tridgell and Siddharth Bharat Purohit
 */
#pragma once

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "AP_HAL_ChibiOS_Namespace.h"

#define CHIBIOS_SCHEDULER_MAX_TIMER_PROCS 8

#define APM_MAIN_PRIORITY       180
#define APM_TIMER_PRIORITY      178
#define APM_RCIN_PRIORITY       177
#define APM_UART_PRIORITY        60
#define APM_STORAGE_PRIORITY     59
#define APM_IO_PRIORITY          58
#define APM_STARTUP_PRIORITY     10

/*
  boost priority handling
 */
#ifndef APM_MAIN_PRIORITY_BOOST
#define APM_MAIN_PRIORITY_BOOST 182
#endif

#ifndef APM_SPI_PRIORITY
// SPI priority needs to be above main priority to ensure fast sampling of IMUs can keep up
// with the data rate
#define APM_SPI_PRIORITY        181
#endif

#ifndef APM_UAVCAN_PRIORITY
#define APM_UAVCAN_PRIORITY     178
#endif

#ifndef APM_CAN_PRIORITY
#define APM_CAN_PRIORITY        177
#endif

#ifndef APM_I2C_PRIORITY
#define APM_I2C_PRIORITY        176
#endif

#define APM_MAIN_THREAD_STACK_SIZE 8192

/* Scheduler implementation: */
class ChibiOS::Scheduler : public AP_HAL::Scheduler {
public:
    Scheduler();
    /* AP_HAL::Scheduler methods */


    void     init();
    void     delay(uint16_t ms) override;
    void     delay_microseconds(uint16_t us) override;
    void     delay_microseconds_boost(uint16_t us) override;
    void     boost_end(void) override;
    void     register_timer_process(AP_HAL::MemberProc) override;
    void     register_io_process(AP_HAL::MemberProc) override;
    void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
    void     reboot(bool hold_in_bootloader) override;

    bool     in_main_thread() const override;
    void     system_initialized();
    void     hal_initialized() { _hal_initialized = true; }

    bool     check_called_boost(void);

    /*
      disable interrupts and return a context that can be used to
      restore the interrupt state. This can be used to protect
      critical regions
     */
    void *disable_interrupts_save(void) override;

    /*
      restore interrupt state from disable_interrupts_save()
     */
    void restore_interrupts(void *) override;

    /*
      create a new thread
     */
    bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
    
private:
    bool _initialized;
    volatile bool _hal_initialized;
    AP_HAL::Proc _failsafe;
    bool _called_boost;
    bool _priority_boosted;
    

    AP_HAL::MemberProc _timer_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
    uint8_t _num_timer_procs;
    volatile bool _in_timer_proc;

    AP_HAL::MemberProc _io_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
    uint8_t _num_io_procs;
    volatile bool _in_io_proc;

    thread_t* _timer_thread_ctx;
    thread_t* _rcin_thread_ctx;
    thread_t* _io_thread_ctx;
    thread_t* _storage_thread_ctx;
#if HAL_WITH_UAVCAN
    thread_t* _uavcan_thread_ctx;
#endif
#if CH_CFG_USE_SEMAPHORES == TRUE
    binary_semaphore_t _timer_semaphore;
    binary_semaphore_t _io_semaphore;
#endif
    static void _timer_thread(void *arg);
    static void _rcin_thread(void *arg);
    static void _io_thread(void *arg);
    static void _storage_thread(void *arg);
    static void _uart_thread(void *arg);
#if HAL_WITH_UAVCAN
    static void _uavcan_thread(void *arg);
#endif
    void _run_timers();
    void _run_io(void);
    static void thread_create_trampoline(void *ctx);    
};
#endif