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94 lines
2.9 KiB
C
94 lines
2.9 KiB
C
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/**
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******************************************************************************
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* @file pios_thread.h
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* @author Tau Labs, http://taulabs.org, Copyright (C) 2014
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_Thread Thread Abstraction
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* @{
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* @brief Abstracts the concept of a thread to hide different implementations
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef PIOS_THREAD_H_
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#define PIOS_THREAD_H_
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#define PIOS_THREAD_TIMEOUT_MAX 0xffffffff
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#include <stdint.h>
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#include <stdbool.h>
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#if defined(PIOS_INCLUDE_FREERTOS)
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#include "FreeRTOSConfig.h"
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enum pios_thread_prio_e {
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PIOS_THREAD_PRIO_LOW = 1,
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PIOS_THREAD_PRIO_NORMAL = 2,
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PIOS_THREAD_PRIO_HIGH = 3,
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PIOS_THREAD_PRIO_HIGHEST = 4, /* @note: this has to match (configMAX_PRIORITIES - 1) */
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};
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#define PIOS_THREAD_STACK_SIZE_MIN (configMINIMAL_STACK_SIZE * 4)
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struct pios_thread {
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uintptr_t task_handle;
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};
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#elif defined(PIOS_INCLUDE_CHIBIOS)
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#include "ch.h"
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enum pios_thread_prio_e {
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PIOS_THREAD_PRIO_LOW = LOWPRIO,
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PIOS_THREAD_PRIO_NORMAL = NORMALPRIO,
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PIOS_THREAD_PRIO_HIGH = NORMALPRIO + 32,
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PIOS_THREAD_PRIO_HIGHEST = HIGHPRIO,
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};
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#define PIOS_THREAD_STACK_SIZE_MIN THD_WA_SIZE(4096 + PORT_INT_REQUIRED_STACK)
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struct pios_thread {
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Thread *threadp;
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};
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#endif /* defined(PIOS_INCLUDE_CHIBIOS) */
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/*
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* The following functions implement the concept of a thread usable
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* with PIOS_INCLUDE_FREERTOS.
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*
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* see FreeRTOS documentation for details: http://www.freertos.org/a00019.html
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*/
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struct pios_thread *PIOS_Thread_Create(void (*fp)(void *), const char *namep, size_t stack_bytes, void *argp, enum pios_thread_prio_e prio);
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void PIOS_Thread_Delete(struct pios_thread *threadp);
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uint32_t PIOS_Thread_Systime(void);
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void PIOS_Thread_Sleep(uint32_t time_ms);
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void PIOS_Thread_Sleep_Until(uint32_t *previous_ms, uint32_t increment_ms);
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uint32_t PIOS_Thread_Get_Stack_Usage(struct pios_thread *threadp);
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uint32_t PIOS_Thread_Get_Runtime(struct pios_thread *threadp);
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void PIOS_Thread_Scheduler_Suspend(void);
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void PIOS_Thread_Scheduler_Resume(void);
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#endif /* PIOS_THREAD_H_ */
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/**
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* @}
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* @}
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*/
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