pios_thread.h

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/*
 * This program 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 program 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/>
 */

#ifndef PIOS_THREAD_H_
#define PIOS_THREAD_H_

#define PIOS_THREAD_TIMEOUT_MAX 0xffffffff

#include <stdint.h>
#include <stdbool.h>

struct pios_thread;

#include <taskmonitor.h>

#if defined(PIOS_INCLUDE_CHIBIOS)

#include "ch.h"

enum pios_thread_prio_e
{
        PIOS_THREAD_PRIO_LOW = LOWPRIO,
        PIOS_THREAD_PRIO_NORMAL = NORMALPRIO,
        PIOS_THREAD_PRIO_HIGH = NORMALPRIO + 8,
        PIOS_THREAD_PRIO_HIGHEST = NORMALPRIO + 16,
};

#define PIOS_THREAD_STACK_SIZE_MIN THD_WA_SIZE(256 + PORT_INT_REQUIRED_STACK)

#else

/* Posix or targets without threading or default for extensions */
#define PIOS_THREAD_STACK_SIZE_MIN (4096)

enum pios_thread_prio_e
{
        PIOS_THREAD_PRIO_LOW = 0,
        PIOS_THREAD_PRIO_NORMAL,
        PIOS_THREAD_PRIO_HIGH,
        PIOS_THREAD_PRIO_HIGHEST
};
#endif

/*
 * The following functions implement the concept of a thread usable
 * with either FreeRTOS or ChibiOS
 */

struct pios_thread *PIOS_Thread_Create(void (*fp)(void *), const char *namep, size_t stack_bytes, void *argp, enum pios_thread_prio_e prio);
void PIOS_Thread_Delete(struct pios_thread *threadp);
uint32_t PIOS_Thread_Systime(void);
void PIOS_Thread_Sleep(uint32_t time_ms);
void PIOS_Thread_Sleep_Until(uint32_t *previous_ms, uint32_t increment_ms);
uint32_t PIOS_Thread_Get_Stack_Usage(struct pios_thread *threadp);
uint32_t PIOS_Thread_Get_Runtime(struct pios_thread *threadp);
void PIOS_Thread_Scheduler_Suspend(void);
void PIOS_Thread_Scheduler_Resume(void);

/*
 * The following functions are provided to assist with common thread timing uses
 */
bool PIOS_Thread_Period_Elapsed(const uint32_t prev_systime, const uint32_t increment_ms);
struct pios_thread *PIOS_Thread_WrapCurrentThread(const char *namep);
void PIOS_Thread_ChangePriority(enum pios_thread_prio_e prio);

#ifdef FLIGHT_POSIX
void PIOS_Thread_FakeClock_Tick(void);
bool PIOS_Thread_FakeClock_IsActive(void);
void PIOS_Thread_FakeClock_UpdateBarrier(uint32_t increment);
#endif

#endif /* PIOS_THREAD_H_ */