ardupilot/libraries/AP_HAL_ChibiOS/Scheduler.h

129 lines
4.1 KiB
C++

/*
* 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_BOOST 180 // same as normal for now
#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_SHELL_PRIORITY 57
#define APM_STARTUP_PRIORITY 10
#ifndef APM_SPI_PRIORITY
#define APM_SPI_PRIORITY 179
#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
/* how long to boost priority of the main thread for each main
loop. This needs to be long enough for all interrupt-level drivers
(mostly SPI drivers) to run, and for the main loop of the vehicle
code to start the AHRS update.
Priority boosting of the main thread in delay_microseconds_boost()
avoids the problem that drivers in hpwork all happen to run right
at the start of the period where the main vehicle loop is calling
wait_for_sample(). That causes main loop timing jitter, which
reduces performance. Using the priority boost the main loop
temporarily runs at a priority higher than hpwork and the timer
thread, which results in much more consistent loop timing.
*/
#define APM_MAIN_PRIORITY_BOOST_USEC 150
#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);
void delay_microseconds(uint16_t us);
void delay_microseconds_boost(uint16_t us);
void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
void register_timer_process(AP_HAL::MemberProc);
void register_io_process(AP_HAL::MemberProc);
void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
void suspend_timer_procs();
void resume_timer_procs();
void reboot(bool hold_in_bootloader);
bool in_main_thread() const override;
void system_initialized();
void hal_initialized() { _hal_initialized = true; }
private:
bool _initialized;
volatile bool _hal_initialized;
AP_HAL::Proc _delay_cb;
uint16_t _min_delay_cb_ms;
AP_HAL::Proc _failsafe;
volatile bool _timer_suspended;
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;
volatile bool _timer_event_missed;
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
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(bool called_from_timer_thread);
void _run_io(void);
};
#endif