/* * 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 . */ #pragma once #include #include #include "HAL_ESP32_Namespace.h" #define ESP32_SCHEDULER_MAX_TIMER_PROCS 10 #define ESP32_SCHEDULER_MAX_IO_PROCS 10 /* Scheduler implementation: */ class ESP32::Scheduler : public AP_HAL::Scheduler { public: Scheduler(); /* AP_HAL::Scheduler methods */ void init() override; void set_callbacks(AP_HAL::HAL::Callbacks *cb) { callbacks = cb; }; void delay(uint16_t ms) override; void delay_microseconds(uint16_t us) 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; // check and set the startup state void set_system_initialized() override; bool is_system_initialized() override; void print_stats(void) ; uint16_t get_loop_rate_hz(void); AP_Int16 _active_loop_rate_hz; AP_Int16 _loop_rate_hz; static void thread_create_trampoline(void *ctx); bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override; /*static const int SPI_PRIORITY = 40; // if your primary imu is spi, this should be above the i2c value, spi is better. static const int MAIN_PRIO = 15; static const int I2C_PRIORITY = 8; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred. static const int TIMER_PRIO = 15; static const int RCIN_PRIO = 15; static const int RCOUT_PRIO = 15; static const int WIFI_PRIO = 10; static const int UART_PRIO = 8; static const int IO_PRIO = 6; static const int STORAGE_PRIO = 6; */ static const int SPI_PRIORITY = 24; // if your primary imu is spi, this should be above the i2c value, spi is better. static const int MAIN_PRIO = 22; // cpu0: we want schuler running at full tilt. static const int I2C_PRIORITY = 5; // if your primary imu is i2c, this should be above the spi value, i2c is not preferred. static const int TIMER_PRIO = 22; // a low priority mere might cause wifi thruput to suffer static const int RCIN_PRIO = 15; static const int RCOUT_PRIO = 10; static const int WIFI_PRIO1 = 20; //cpu1: static const int WIFI_PRIO2 = 12; //cpu1: static const int UART_PRIO = 24; //cpu1: a low priority mere might cause wifi thruput to suffer, as wifi gets passed its data frim the uart subsustem in _writebuf/_readbuf static const int IO_PRIO = 5; static const int STORAGE_PRIO = 4; static const int TIMER_SS = 4096; static const int MAIN_SS = 8192; static const int RCIN_SS = 4096; static const int RCOUT_SS = 4096; static const int WIFI_SS1 = 6192; static const int WIFI_SS2 = 6192; static const int UART_SS = 2048; static const int DEVICE_SS = 4096; static const int IO_SS = 4096; static const int STORAGE_SS = 8192; private: AP_HAL::HAL::Callbacks *callbacks; AP_HAL::Proc _failsafe; AP_HAL::MemberProc _timer_proc[ESP32_SCHEDULER_MAX_TIMER_PROCS]; uint8_t _num_timer_procs; AP_HAL::MemberProc _io_proc[ESP32_SCHEDULER_MAX_IO_PROCS]; uint8_t _num_io_procs; static bool _initialized; void *_main_task_handle; void *_timer_task_handle; void *_rcin_task_handle; void *_rcout_task_handle; void *_uart_task_handle; void *_io_task_handle; void *test_task_handle; void *_storage_task_handle; static void _main_thread(void *arg); static void _timer_thread(void *arg); static void _rcout_thread(void *arg); static void _rcin_thread(void *arg); static void _uart_thread(void *arg); static void _io_thread(void *arg); static void _storage_thread(void *arg); static void set_position(void* arg); static void _print_profile(void* arg); static void test_esc(void* arg); bool _in_timer_proc; void _run_timers(); Semaphore _timer_sem; bool _in_io_proc; void _run_io(); Semaphore _io_sem; };