flight/pios/inc/pios_thread.h

   1 /**
   2  ******************************************************************************
   3  * @file       pios_thread.h
   4  * @author     Tau Labs, http://taulabs.org, Copyright (C) 2014
   5  * @addtogroup PIOS PIOS Core hardware abstraction layer
   6  * @{
   7  * @addtogroup PIOS_Thread Thread Abstraction
   8  * @{
   9  * @brief Abstracts the concept of a thread to hide different implementations
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #ifndef PIOS_THREAD_H_
  28 #define PIOS_THREAD_H_
  29
  30 #define PIOS_THREAD_TIMEOUT_MAX 0xffffffff
  31
  32 #include <stdint.h>
  33 #include <stdbool.h>
  34
  35 #if defined(PIOS_INCLUDE_FREERTOS)
  36
  37 #include "FreeRTOSConfig.h"
  38
  39 enum pios_thread_prio_e {
  40     PIOS_THREAD_PRIO_LOW     = 1,
  41     PIOS_THREAD_PRIO_NORMAL  = 2,
  42     PIOS_THREAD_PRIO_HIGH    = 3,
  43     PIOS_THREAD_PRIO_HIGHEST = 4, /* @note: this has to match (configMAX_PRIORITIES - 1) */
  44 };
  45
  46 #define PIOS_THREAD_STACK_SIZE_MIN (configMINIMAL_STACK_SIZE * 4)
  47
  48 struct pios_thread {
  49     uintptr_t task_handle;
  50 };
  51
  52 #elif defined(PIOS_INCLUDE_CHIBIOS)
  53
  54 #include "ch.h"
  55
  56 enum pios_thread_prio_e {
  57     PIOS_THREAD_PRIO_LOW     = LOWPRIO,
  58     PIOS_THREAD_PRIO_NORMAL  = NORMALPRIO,
  59     PIOS_THREAD_PRIO_HIGH    = NORMALPRIO + 32,
  60     PIOS_THREAD_PRIO_HIGHEST = HIGHPRIO,
  61 };
  62
  63 #define PIOS_THREAD_STACK_SIZE_MIN THD_WA_SIZE(4096 + PORT_INT_REQUIRED_STACK)
  64
  65 struct pios_thread {
  66     Thread *threadp;
  67 };
  68
  69 #endif /* defined(PIOS_INCLUDE_CHIBIOS) */
  70
  71 /*
  72  * The following functions implement the concept of a thread usable
  73  * with PIOS_INCLUDE_FREERTOS.
  74  *
  75  * see FreeRTOS documentation for details: http://www.freertos.org/a00019.html
  76  */
  77
  78 struct pios_thread *PIOS_Thread_Create(void (*fp)(void *), const char *namep, size_t stack_bytes, void *argp, enum pios_thread_prio_e prio);
  79 void PIOS_Thread_Delete(struct pios_thread *threadp);
  80 uint32_t PIOS_Thread_Systime(void);
  81 void PIOS_Thread_Sleep(uint32_t time_ms);
  82 void PIOS_Thread_Sleep_Until(uint32_t *previous_ms, uint32_t increment_ms);
  83 uint32_t PIOS_Thread_Get_Stack_Usage(struct pios_thread *threadp);
  84 uint32_t PIOS_Thread_Get_Runtime(struct pios_thread *threadp);
  85 void PIOS_Thread_Scheduler_Suspend(void);
  86 void PIOS_Thread_Scheduler_Resume(void);
  87
  88 #endif /* PIOS_THREAD_H_ */
  89
  90 /**
  91  * @}
  92  * @}
  93  */