#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_F4Light_Namespace.h"
#include "handler.h"
#include "Config.h"
#include "Semaphores.h"
#include "GPIO.h"
#include <delay.h>
#include <systick.h>
#include <boards.h>
#include <timer.h>

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Classes
struct	task_t

struct	REVO_IO

class	F4Light::Scheduler

struct	F4Light::Scheduler::IO_COMPLETION

Macros
#define	F4Light_SCHEDULER_MAX_IO_PROCS 10

#define	MAIN_PRIORITY 100

#define	DRIVER_PRIORITY 98

#define	IO_PRIORITY 115

#define	SHED_FREQ 10000

#define	TIMER_PERIOD 100

#define	MAIN_STACK_SIZE 4096U+1024U

#define	IO_STACK_SIZE 4096U

#define	DEFAULT_STACK_SIZE 1024U

#define	SMALL_TASK_STACK 1024U

#define	STACK_MAX 65536U

#define	EnterCriticalSection __set_BASEPRI(SVC_INT_PRIORITY << (8 - __NVIC_PRIO_BITS))

#define	LeaveCriticalSection __set_BASEPRI(0)

#define	RAMEND ((size_t)&_estack)

#define	MAX_IO_COMPLETION 8

#define	await(cond) while(!(cond)) yield()

Typedefs
typedef struct REVO_IO	Revo_IO

Enumerations
enum	Revo_IO_Flags { IO_PERIODIC = 0, IO_ONCE = 1 }

Functions
void	revo_call_handler (Handler hh, uint32_t arg)

void	PendSV_Handler ()

void	SVC_Handler ()

void	getNextTask ()

void	switchContext ()

void	__do_context_switch ()

void	hal_try_kill_task_or_reboot (uint8_t n)

void	hal_go_next_task ()

void	hal_stop_multitask ()

bool	hal_is_armed ()

void	hal_yield (uint16_t ttw)

void	hal_delay (uint16_t t)

void	hal_delay_microseconds (uint16_t t)

uint32_t	hal_micros ()

void	hal_isr_time (uint32_t t)

void	hal_set_task_active (void *handle)

void	hal_context_switch_isr ()

void *	hal_register_task (voidFuncPtr task, uint32_t stack)

void	hal_set_task_priority (void *handle, uint8_t prio)

void	enqueue_flash_erase (uint32_t from, uint32_t to)

Variables
unsigned	_estack

uint32_t	us_ticks

void *	_sdata

void *	_edata

void *	_sccm

void *	_eccm

voidFuncPtr	boardEmergencyHandler

task_t *	s_running

task_t *	next_task

caddr_t	stack_bottom

Macro Definition Documentation

◆ await

#define await ( cond ) while(!(cond)) yield()

Definition at line 498 of file Scheduler.h.

◆ DEFAULT_STACK_SIZE

#define DEFAULT_STACK_SIZE 1024U

Definition at line 34 of file Scheduler.h.

◆ DRIVER_PRIORITY

#define DRIVER_PRIORITY 98

Definition at line 25 of file Scheduler.h.

Referenced by F4Light::Scheduler::_register_timer_task(), and F4Light::AnalogIn::init().

◆ EnterCriticalSection

#define EnterCriticalSection __set_BASEPRI(SVC_INT_PRIORITY << (8 - __NVIC_PRIO_BITS))

Definition at line 39 of file Scheduler.h.

Referenced by F4Light::AnalogSource::_read_average(), F4Light::SPIDevice::do_transfer(), F4Light::I2CDevice::i2c_read(), F4Light::I2CDevice::i2c_write(), F4Light::AnalogSource::new_sample(), and F4Light::SPIDevice::wait_for().

◆ F4Light_SCHEDULER_MAX_IO_PROCS

#define F4Light_SCHEDULER_MAX_IO_PROCS 10

Definition at line 21 of file Scheduler.h.

Referenced by F4Light::Scheduler::_register_io_process().

◆ IO_PRIORITY

#define IO_PRIORITY 115

Definition at line 26 of file Scheduler.h.

Referenced by F4Light::Scheduler::_register_io_process(), F4Light::Scheduler::start_stats_task(), and F4Light::Scheduler::SVC_Handler().

◆ IO_STACK_SIZE

#define IO_STACK_SIZE 4096U

Definition at line 33 of file Scheduler.h.

Referenced by F4Light::Scheduler::_register_io_process().

◆ LeaveCriticalSection

#define LeaveCriticalSection __set_BASEPRI(0)

Definition at line 40 of file Scheduler.h.

Referenced by F4Light::AnalogSource::_read_average(), F4Light::SPIDevice::do_transfer(), F4Light::I2CDevice::i2c_read(), F4Light::I2CDevice::i2c_write(), F4Light::AnalogSource::new_sample(), and F4Light::SPIDevice::wait_for().

◆ MAIN_PRIORITY

#define MAIN_PRIORITY 100

Definition at line 24 of file Scheduler.h.

Referenced by F4Light::Scheduler::fill_task(), F4Light::Storage::init(), and F4Light::Scheduler::Scheduler().

◆ MAIN_STACK_SIZE

#define MAIN_STACK_SIZE 4096U+1024U

Definition at line 32 of file Scheduler.h.

Referenced by F4Light::Scheduler::Scheduler().

◆ MAX_IO_COMPLETION

#define MAX_IO_COMPLETION 8

Definition at line 407 of file Scheduler.h.

Referenced by F4Light::Scheduler::register_io_completion().

◆ RAMEND

#define RAMEND ((size_t)&_estack)

Definition at line 135 of file Scheduler.h.

Referenced by F4Light::Scheduler::_start_task().

◆ SHED_FREQ

#define SHED_FREQ 10000

Definition at line 28 of file Scheduler.h.

Referenced by F4Light::Scheduler::init().

◆ SMALL_TASK_STACK

#define SMALL_TASK_STACK 1024U

Definition at line 35 of file Scheduler.h.

Referenced by F4Light::Scheduler::_register_timer_task().

◆ STACK_MAX

#define STACK_MAX 65536U

Definition at line 36 of file Scheduler.h.

◆ TIMER_PERIOD

#define TIMER_PERIOD 100

Definition at line 29 of file Scheduler.h.

Referenced by F4Light::Scheduler::get_next_task().

Typedef Documentation

◆ Revo_IO

typedef struct REVO_IO Revo_IO

Enumeration Type Documentation

◆ Revo_IO_Flags

enum Revo_IO_Flags

Enumerator
IO_PERIODIC
IO_ONCE

Definition at line 157 of file Scheduler.h.

Function Documentation

◆ __do_context_switch()

void __do_context_switch ( )

Referenced by PendSV_Handler().

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◆ enqueue_flash_erase()

void enqueue_flash_erase	(	uint32_t	from,
		uint32_t	to
	)

◆ getNextTask()

void getNextTask ( )

◆ hal_delay()

void hal_delay ( uint16_t t )

Definition at line 1431 of file Scheduler.cpp.

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◆ hal_delay_microseconds()

void hal_delay_microseconds ( uint16_t t )

Definition at line 1432 of file Scheduler.cpp.

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◆ hal_go_next_task()

void hal_go_next_task ( )

Definition at line 1448 of file Scheduler.cpp.

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◆ hal_is_armed()

bool hal_is_armed ( )

Definition at line 1446 of file Scheduler.cpp.

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◆ hal_isr_time()

void hal_isr_time ( uint32_t t )

Definition at line 1435 of file Scheduler.cpp.

◆ hal_micros()

uint32_t hal_micros ( )

Definition at line 1434 of file Scheduler.cpp.

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◆ hal_stop_multitask()

void hal_stop_multitask ( )

Definition at line 1449 of file Scheduler.cpp.

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◆ hal_try_kill_task_or_reboot()

void hal_try_kill_task_or_reboot ( uint8_t n )

Definition at line 1447 of file Scheduler.cpp.

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◆ hal_yield()

void hal_yield ( uint16_t ttw )

Definition at line 1430 of file Scheduler.cpp.

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◆ PendSV_Handler()

void PendSV_Handler ( )

Definition at line 1280 of file Scheduler.cpp.

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◆ revo_call_handler()

void revo_call_handler	(	Handler	hh,
		uint32_t	arg
	)

Definition at line 1420 of file Scheduler.cpp.

Referenced by F4Light::Scheduler::_ioc_timer_event(), F4Light::Scheduler::_run_io(), F4Light::Scheduler::arming_state_changed(), and F4Light::Scheduler::do_task().

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◆ SVC_Handler()

void SVC_Handler ( )

Definition at line 1293 of file Scheduler.cpp.

Referenced by F4Light::Scheduler::plan_context_switch().

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◆ switchContext()

void switchContext ( )

Variable Documentation

◆ _eccm

void* _eccm

◆ _edata

void* _edata

Referenced by F4Light::Scheduler::_print_stats().

◆ _estack

unsigned _estack

◆ _sccm

void* _sccm

Referenced by F4Light::Scheduler::_print_stats(), and setupCCM().

◆ _sdata

void* _sdata

Referenced by F4Light::Scheduler::_print_stats().

◆ boardEmergencyHandler

voidFuncPtr boardEmergencyHandler

Referenced by F4Light::Scheduler::setEmergencyHandler().

◆ next_task

task_t* next_task

Referenced by F4Light::Scheduler::_switch_task(), F4Light::Scheduler::_tail_timer_event(), F4Light::Scheduler::_timer_isr_event(), F4Light::Scheduler::_try_kill_task_or_reboot(), PendSV_Handler(), and F4Light::Scheduler::Scheduler().

◆ s_running

task_t* s_running

◆ stack_bottom

caddr_t stack_bottom

Definition at line 74 of file syscalls.c.

Referenced by _sbrk_ccm(), and F4Light::Scheduler::_start_task().

◆ us_ticks

uint32_t us_ticks

Definition at line 10 of file stopwatch.c.

Referenced by F4Light::Scheduler::_delay_us_ny(), F4Light::Scheduler::_print_stats(), Soft_I2C::bus_reset(), i2c_bus_reset(), stopwatch_delay_us(), and stopwatch_init().

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Macro Definition Documentation

◆ await

◆ DEFAULT_STACK_SIZE

◆ DRIVER_PRIORITY

◆ EnterCriticalSection

◆ F4Light_SCHEDULER_MAX_IO_PROCS

◆ IO_PRIORITY

◆ IO_STACK_SIZE

◆ LeaveCriticalSection

◆ MAIN_PRIORITY

◆ MAIN_STACK_SIZE

◆ MAX_IO_COMPLETION

◆ RAMEND

◆ SHED_FREQ

◆ SMALL_TASK_STACK

◆ STACK_MAX

◆ TIMER_PERIOD

Typedef Documentation

◆ Revo_IO

Enumeration Type Documentation

◆ Revo_IO_Flags

Function Documentation

◆ __do_context_switch()

◆ enqueue_flash_erase()

◆ getNextTask()

◆ hal_delay()

◆ hal_delay_microseconds()

◆ hal_go_next_task()

◆ hal_is_armed()

◆ hal_isr_time()

◆ hal_micros()

◆ hal_stop_multitask()

◆ hal_try_kill_task_or_reboot()

◆ hal_yield()

◆ PendSV_Handler()

◆ revo_call_handler()

◆ SVC_Handler()

◆ switchContext()

Variable Documentation

◆ _eccm

◆ _edata

◆ _estack

◆ _sccm

◆ _sdata

◆ boardEmergencyHandler

◆ next_task

◆ s_running

◆ stack_bottom

◆ us_ticks