mirror of https://github.com/ArduPilot/ardupilot
132 lines
3.8 KiB
C++
132 lines
3.8 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include "AP_HAL_ChibiOS_Namespace.h"
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#define CHIBIOS_SCHEDULER_MAX_TIMER_PROCS 8
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 181
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#define APM_RCIN_PRIORITY 177
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#define APM_UART_PRIORITY 60
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#define APM_STORAGE_PRIORITY 59
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#define APM_IO_PRIORITY 58
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#define APM_STARTUP_PRIORITY 10
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/*
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boost priority handling
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*/
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#ifndef APM_MAIN_PRIORITY_BOOST
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#define APM_MAIN_PRIORITY_BOOST 182
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#endif
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#ifndef APM_SPI_PRIORITY
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// SPI priority needs to be above main priority to ensure fast sampling of IMUs can keep up
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// with the data rate
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#define APM_SPI_PRIORITY 181
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#endif
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#ifndef APM_CAN_PRIORITY
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#define APM_CAN_PRIORITY 178
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#endif
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#ifndef APM_I2C_PRIORITY
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#define APM_I2C_PRIORITY 176
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#endif
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#define APM_MAIN_THREAD_STACK_SIZE 8192
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/* Scheduler implementation: */
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class ChibiOS::Scheduler : public AP_HAL::Scheduler {
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public:
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Scheduler();
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/* AP_HAL::Scheduler methods */
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void init();
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void delay(uint16_t ms) override;
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void delay_microseconds(uint16_t us) override;
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void delay_microseconds_boost(uint16_t us) override;
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void boost_end(void) override;
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void register_timer_process(AP_HAL::MemberProc) override;
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void register_io_process(AP_HAL::MemberProc) override;
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us) override;
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void reboot(bool hold_in_bootloader) override;
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bool in_main_thread() const override;
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void system_initialized();
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void hal_initialized() { _hal_initialized = true; }
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bool check_called_boost(void);
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/*
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disable interrupts and return a context that can be used to
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restore the interrupt state. This can be used to protect
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critical regions
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*/
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void *disable_interrupts_save(void) override;
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/*
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restore interrupt state from disable_interrupts_save()
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*/
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void restore_interrupts(void *) override;
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/*
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create a new thread
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*/
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bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
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private:
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bool _initialized;
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volatile bool _hal_initialized;
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AP_HAL::Proc _failsafe;
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bool _called_boost;
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bool _priority_boosted;
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AP_HAL::MemberProc _timer_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_timer_procs;
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volatile bool _in_timer_proc;
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AP_HAL::MemberProc _io_proc[CHIBIOS_SCHEDULER_MAX_TIMER_PROCS];
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uint8_t _num_io_procs;
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volatile bool _in_io_proc;
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thread_t* _timer_thread_ctx;
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thread_t* _rcin_thread_ctx;
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thread_t* _io_thread_ctx;
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thread_t* _storage_thread_ctx;
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#if CH_CFG_USE_SEMAPHORES == TRUE
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binary_semaphore_t _timer_semaphore;
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binary_semaphore_t _io_semaphore;
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#endif
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static void _timer_thread(void *arg);
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static void _rcin_thread(void *arg);
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static void _io_thread(void *arg);
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static void _storage_thread(void *arg);
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static void _uart_thread(void *arg);
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void _run_timers();
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void _run_io(void);
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static void thread_create_trampoline(void *ctx);
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};
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#endif
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