You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
119 lines
3.5 KiB
119 lines
3.5 KiB
/* |
|
* 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_TONEALARM_PRIORITY 61 |
|
#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 |
|
|
|
#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; } |
|
|
|
bool check_called_boost(void); |
|
|
|
private: |
|
bool _initialized; |
|
volatile bool _hal_initialized; |
|
AP_HAL::Proc _delay_cb; |
|
uint16_t _min_delay_cb_ms; |
|
AP_HAL::Proc _failsafe; |
|
bool _called_boost; |
|
|
|
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; |
|
thread_t* _toneAlarm_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); |
|
static void _toneAlarm_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
|
|
|