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- #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_MONITOR_PRIORITY 183
- #define APM_MAIN_PRIORITY 180
- #define APM_TIMER_PRIORITY 181
- #define APM_RCIN_PRIORITY 177
- #define APM_UART_PRIORITY 60
- #define APM_STORAGE_PRIORITY 59
- #define APM_IO_PRIORITY 58
- #define APM_STARTUP_PRIORITY 10
- #define APM_SCRIPTING_PRIORITY LOWPRIO
- #ifndef APM_MAIN_PRIORITY_BOOST
- #define APM_MAIN_PRIORITY_BOOST 182
- #endif
- #ifndef APM_SPI_PRIORITY
- #define APM_SPI_PRIORITY 181
- #endif
- #ifndef APM_CAN_PRIORITY
- #define APM_CAN_PRIORITY 178
- #endif
- #ifndef APM_I2C_PRIORITY
- #define APM_I2C_PRIORITY 176
- #endif
- #ifndef TIMER_THD_WA_SIZE
- #define TIMER_THD_WA_SIZE 2048
- #endif
- #ifndef RCIN_THD_WA_SIZE
- #define RCIN_THD_WA_SIZE 512
- #endif
- #ifndef IO_THD_WA_SIZE
- #define IO_THD_WA_SIZE 2048
- #endif
- #ifndef STORAGE_THD_WA_SIZE
- #define STORAGE_THD_WA_SIZE 2048
- #endif
- #ifndef MONITOR_THD_WA_SIZE
- #define MONITOR_THD_WA_SIZE 512
- #endif
- class ChibiOS::Scheduler : public AP_HAL::Scheduler {
- public:
- Scheduler();
-
- void init() override;
- void delay(uint16_t ms) override;
- void delay_microseconds(uint16_t us) override;
- void delay_microseconds_boost(uint16_t us) override;
- void boost_end(void) 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 { return get_main_thread() == chThdGetSelfX(); }
- void system_initialized() override;
- void hal_initialized() { _hal_initialized = true; }
- bool check_called_boost(void);
-
- void expect_delay_ms(uint32_t ms) override;
-
-
- void *disable_interrupts_save(void) override;
-
- void restore_interrupts(void *) override;
-
- bool thread_create(AP_HAL::MemberProc, const char *name, uint32_t stack_size, priority_base base, int8_t priority) override;
-
- void watchdog_pat(void);
- private:
- bool _initialized;
- volatile bool _hal_initialized;
- AP_HAL::Proc _failsafe;
- bool _called_boost;
- bool _priority_boosted;
- uint32_t expect_delay_start;
- uint32_t expect_delay_length;
- uint32_t expect_delay_nesting;
- 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;
- uint32_t last_watchdog_pat_ms;
- thread_t* _timer_thread_ctx;
- thread_t* _rcin_thread_ctx;
- thread_t* _io_thread_ctx;
- thread_t* _storage_thread_ctx;
- thread_t* _monitor_thread_ctx;
- #if CH_CFG_USE_SEMAPHORES == TRUE
- binary_semaphore_t _timer_semaphore;
- binary_semaphore_t _io_semaphore;
- #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 _monitor_thread(void *arg);
- void _run_timers();
- void _run_io(void);
- static void thread_create_trampoline(void *ctx);
- };
- #endif
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