mirror of https://github.com/ArduPilot/ardupilot
130 lines
4.1 KiB
C++
130 lines
4.1 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_BOOST 180 // same as normal for now
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#define APM_MAIN_PRIORITY 180
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#define APM_TIMER_PRIORITY 178
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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_SHELL_PRIORITY 57
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#define APM_STARTUP_PRIORITY 10
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#ifndef APM_SPI_PRIORITY
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#define APM_SPI_PRIORITY 179
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#endif
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#ifndef APM_UAVCAN_PRIORITY
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#define APM_UAVCAN_PRIORITY 178
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#endif
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#ifndef APM_CAN_PRIORITY
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#define APM_CAN_PRIORITY 177
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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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/* how long to boost priority of the main thread for each main
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loop. This needs to be long enough for all interrupt-level drivers
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(mostly SPI drivers) to run, and for the main loop of the vehicle
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code to start the AHRS update.
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Priority boosting of the main thread in delay_microseconds_boost()
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avoids the problem that drivers in hpwork all happen to run right
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at the start of the period where the main vehicle loop is calling
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wait_for_sample(). That causes main loop timing jitter, which
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reduces performance. Using the priority boost the main loop
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temporarily runs at a priority higher than hpwork and the timer
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thread, which results in much more consistent loop timing.
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*/
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#define APM_MAIN_PRIORITY_BOOST_USEC 150
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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);
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void delay_microseconds(uint16_t us);
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void delay_microseconds_boost(uint16_t us);
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void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
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void register_timer_process(AP_HAL::MemberProc);
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void register_io_process(AP_HAL::MemberProc);
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void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
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void suspend_timer_procs();
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void resume_timer_procs();
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void reboot(bool hold_in_bootloader);
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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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private:
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bool _initialized;
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volatile bool _hal_initialized;
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AP_HAL::Proc _delay_cb;
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uint16_t _min_delay_cb_ms;
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AP_HAL::Proc _failsafe;
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volatile bool _timer_suspended;
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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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volatile bool _timer_event_missed;
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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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thread_t* _uart_thread_ctx;
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#if HAL_WITH_UAVCAN
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thread_t* _uavcan_thread_ctx;
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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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#if HAL_WITH_UAVCAN
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static void _uavcan_thread(void *arg);
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#endif
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void _run_timers(bool called_from_timer_thread);
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void _run_io(void);
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};
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#endif
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