#include <Scheduler.h>

Inheritance diagram for F4Light::Scheduler:

Collaboration diagram for F4Light::Scheduler:

Classes
struct	IO_COMPLETION

Public Types
typedef struct F4Light::Scheduler::IO_COMPLETION	IO_Completion

typedef voidFuncPtr	ioc_proc

Public Member Functions
	Scheduler ()

void	init ()

void	delay (uint16_t ms)

void	delay_microseconds (uint16_t us)

void	delay_microseconds_boost (uint16_t us) override

uint32_t	millis ()

uint32_t	micros ()

void	register_timer_process (AP_HAL::MemberProc proc)

void	suspend_timer_procs ()

void	resume_timer_procs ()

void	register_delay_callback (AP_HAL::Proc, uint16_t min_time_ms) override

void	register_io_process (AP_HAL::MemberProc proc)

bool	in_timerprocess ()

void	register_timer_failsafe (AP_HAL::Proc failsafe, uint32_t period_us)

void	system_initialized ()

void	reboot (bool hold_in_bootloader)

bool	in_main_thread () const override

void	loop ()

Public Member Functions inherited from AP_HAL::Scheduler
	Scheduler ()

virtual void	boost_end (void)

virtual bool	in_delay_callback () const

virtual void	stop_clock (uint64_t time_usec)

virtual void	create_uavcan_thread ()

virtual void *	disable_interrupts_save (void)

virtual void	restore_interrupts (void *)

virtual void	call_delay_cb ()

Static Public Member Functions
static void	_register_io_process (Handler h, Revo_IO_Flags flags)

static void	_register_timer_process (AP_HAL::MemberProc proc, uint32_t period)

static void	_reboot (bool hold_in_bootloader)

static AP_HAL::Device::PeriodicHandle	register_timer_task (uint32_t period_us, AP_HAL::Device::PeriodicCb proc, F4Light::Semaphore *sem)

static void	_delay (uint16_t ms)

static void	_delay_microseconds (uint16_t us)

static void	_delay_microseconds_boost (uint16_t us)

static void	_delay_us_ny (uint16_t us)

static uint32_t	_millis ()

static uint64_t	_millis64 ()

static uint32_t	_micros ()

static uint64_t	_micros64 ()

static bool	adjust_timer_task (AP_HAL::Device::PeriodicHandle h, uint32_t period_us)

static bool	unregister_timer_task (AP_HAL::Device::PeriodicHandle h)

static bool	in_interrupt ()

static bool	adjust_stack (size_t stackSize)

static void *	_start_task (Handler h, size_t stackSize)

static void *	start_task (voidFuncPtr taskLoop, size_t stackSize=DEFAULT_STACK_SIZE)

static void *	start_task (AP_HAL::MemberProc proc, size_t stackSize=DEFAULT_STACK_SIZE)

static void	stop_task (void *h)

static void	set_task_period (void *h, uint32_t period)

static void	set_task_priority (void *h, uint8_t prio)

static void	set_task_semaphore (void h, F4Light::Semaphore sem)

static void *	get_current_task ()

static void *	get_current_task_isr ()

static void	set_task_active (void *h)

static void	context_switch_isr ()

static void	task_pause (uint32_t t)

static void	task_resume (void *h)

static task_t *	get_next_task ()

static void	yield (uint16_t ttw=0)

static size_t	task_stack ()

static bool	_in_main_thread ()

static void	resume_boost ()

static void	plan_context_switch ()

static void	SVC_Handler (uint32_t *svc_args)

static void	_try_kill_task_or_reboot (uint8_t n)

static void	_go_next_task ()

static void	_stop_multitask ()

static uint8_t	register_io_completion (Handler handle)

static uint8_t	register_io_completion (ioc_proc cb)

static uint8_t	register_io_completion (AP_HAL::MemberProc proc)

static void	do_io_completion (uint8_t id)

static void	exec_io_completion ()

static Handler	get_handler (AP_HAL::MemberProc proc)

static Handler	get_handler (AP_HAL::Proc proc)

static void	setEmergencyHandler (voidFuncPtr handler)

static void	arming_state_changed (bool v)

static void	register_on_disarm (Handler h)

static void	start_stats_task ()

Static Public Attributes
static volatile bool	need_switch_task

static volatile bool	need_io_completion

Static Protected Member Functions
static void	do_task (task_t *task)

static task_t *	get_empty_task ()

static void *	init_task (uint64_t h, const uint8_t *stack)

static uint32_t	fill_task (task_t &tp)

static void	enqueue_task (task_t &tp)

static void	dequeue_task (task_t &tp)

static void	switch_task ()

static void	_switch_task ()

static void	check_stack (uint32_t sp)

Static Protected Attributes
static task_t	s_main = { 0 }

static size_t	s_top

static uint16_t	task_n =0

static task_t *	_idle_task

static task_t *	_forced_task

static void *	boost_task

Static Private Member Functions
static AP_HAL::Device::PeriodicHandle	_register_timer_task (uint32_t period_us, Handler proc, F4Light::Semaphore *sem)

static void	_timer_isr_event (uint32_t v)

static void	_timer5_ovf (uint32_t v)

static void	_tail_timer_event (uint32_t v)

static void	_ioc_timer_event (uint32_t v)

static void	_delay_timer_event (uint32_t v)

static void	_run_timer_procs (bool called_from_isr)

static void	_run_io (void)

static void	_print_stats ()

static void	_set_10s_flag ()

Static Private Attributes
static void *	_delay_cb_handle

static bool	_initialized

static uint32_t	timer5_ovf_cnt

static AP_HAL::Proc	_failsafe = nullptr

static Revo_IO	_io_proc [F4Light_SCHEDULER_MAX_IO_PROCS] = {nullptr}

static uint8_t	_num_io_proc

static bool	_in_io_proc = false

static Handler	on_disarm_handler

static uint32_t	lowest_stack = (uint32_t)-1

static struct IO_COMPLETION	io_completion [MAX_IO_COMPLETION]

static uint8_t	num_io_completion

static uint64_t	shed_time = 0

static uint64_t	task_time

static bool	flag_10s = false

static uint64_t	delay_time

static uint64_t	delay_int_time

static uint32_t	max_loop_time

static uint64_t	ioc_time

static uint64_t	sleep_time

static uint32_t	max_delay_err =0

static uint32_t	tick_micros

static uint32_t	tick_count

static uint64_t	tick_fulltime

static uint32_t	max_wfe_time

static uint32_t	tsched_count

static uint32_t	tsched_sw_count

static uint32_t	tsched_count_y

static uint32_t	tsched_sw_count_y

static uint32_t	tsched_count_t

static uint32_t	tsched_sw_count_t

Additional Inherited Members
Public Attributes inherited from AP_HAL::Scheduler
uint16_t	_min_delay_cb_ms

Detailed Description

Definition at line 167 of file Scheduler.h.

Member Typedef Documentation

◆ IO_Completion

typedef struct F4Light::Scheduler::IO_COMPLETION F4Light::Scheduler::IO_Completion

◆ ioc_proc

typedef voidFuncPtr F4Light::Scheduler::ioc_proc

Definition at line 409 of file Scheduler.h.

Constructor & Destructor Documentation

◆ Scheduler()

Scheduler::Scheduler ( )

Definition at line 116 of file Scheduler.cpp.

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Member Function Documentation

◆ _delay()

void Scheduler::_delay ( uint16_t ms )

static

Definition at line 258 of file Scheduler.cpp.

Referenced by _reboot(), AP_HAL::delay(), hal_delay(), and F4Light::DSM_parser::init().

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◆ _delay_microseconds()

void Scheduler::_delay_microseconds ( uint16_t us )

static

Definition at line 305 of file Scheduler.cpp.

Referenced by AP_HAL::delay_microseconds(), hal_delay_microseconds(), F4Light::DSM_parser::init(), and F4Light::AnalogSource::setup_read().

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◆ _delay_microseconds_boost()

void Scheduler::_delay_microseconds_boost ( uint16_t us )

static

Definition at line 287 of file Scheduler.cpp.

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◆ _delay_timer_event()

static void F4Light::Scheduler::_delay_timer_event ( uint32_t v )

staticprivate

◆ _delay_us_ny()

void Scheduler::_delay_us_ny ( uint16_t us )

static

Definition at line 329 of file Scheduler.cpp.

Referenced by _delay_microseconds().

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◆ _go_next_task()

void Scheduler::_go_next_task ( )

static

Definition at line 949 of file Scheduler.cpp.

Referenced by hal_go_next_task().

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◆ _in_main_thread()

static bool F4Light::Scheduler::_in_main_thread ( )

inlinestatic

Definition at line 365 of file Scheduler.h.

Referenced by _start_task().

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◆ _ioc_timer_event()

void Scheduler::_ioc_timer_event ( uint32_t v )

staticprivate

Definition at line 1229 of file Scheduler.cpp.

Referenced by init().

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◆ _micros()

static uint32_t F4Light::Scheduler::_micros ( )

inlinestatic

Definition at line 232 of file Scheduler.h.

Referenced by _delay(), _delay_microseconds(), _delay_microseconds_boost(), _ioc_timer_event(), _micros64(), F4Light::Semaphore::_take_nonblocking(), _timer_isr_event(), AP_HAL::cond_yield(), do_task(), fill_task(), get_next_task(), hal_micros(), F4Light::I2CDevice::i2c_read(), F4Light::I2CDevice::isr_ev(), set_task_period(), SVC_Handler(), F4Light::Semaphore::take(), F4Light::I2CDevice::transfer(), and F4Light::USBDriver::write().

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◆ _micros64()

uint64_t Scheduler::_micros64 ( )

static

Definition at line 492 of file Scheduler.cpp.

Referenced by AP_HAL::cond_yield(), and F4Light::Util::set_system_clock().

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◆ _millis()

static uint32_t F4Light::Scheduler::_millis ( )

inlinestatic

Definition at line 229 of file Scheduler.h.

Referenced by _print_stats(), _run_timer_procs(), and AP_HAL::cond_yield().

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◆ _millis64()

static uint64_t F4Light::Scheduler::_millis64 ( )

inlinestatic

Definition at line 230 of file Scheduler.h.

Referenced by AP_HAL::cond_yield().

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◆ _print_stats()

void Scheduler::_print_stats ( )

staticprivate

Definition at line 558 of file Scheduler.cpp.

Referenced by _set_10s_flag().

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◆ _reboot()

void Scheduler::_reboot ( bool hold_in_bootloader )

static

Definition at line 521 of file Scheduler.cpp.

Referenced by _try_kill_task_or_reboot(), and reboot().

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◆ _register_io_process()

void Scheduler::_register_io_process	(	Handler	h,
		Revo_IO_Flags	flags
	)

static

Definition at line 391 of file Scheduler.cpp.

Referenced by F4Light::I2CDevice::transfer().

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◆ _register_timer_process()

static void F4Light::Scheduler::_register_timer_process	(	AP_HAL::MemberProc	proc,
		uint32_t	period
	)

inlinestatic

Definition at line 200 of file Scheduler.h.

◆ _register_timer_task()

AP_HAL::Device::PeriodicHandle Scheduler::_register_timer_task	(	uint32_t	period_us,
		Handler	proc,
		F4Light::Semaphore *	sem
	)

staticprivate

Definition at line 692 of file Scheduler.cpp.

Referenced by start_stats_task().

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◆ _run_io()

void Scheduler::_run_io ( void )

staticprivate

Definition at line 370 of file Scheduler.cpp.

Referenced by _register_io_process().

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◆ _run_timer_procs()

void Scheduler::_run_timer_procs ( bool called_from_isr )

staticprivate

Definition at line 439 of file Scheduler.cpp.

Referenced by _timer_isr_event().

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◆ _set_10s_flag()

void Scheduler::_set_10s_flag ( )

staticprivate

Definition at line 682 of file Scheduler.cpp.

Referenced by start_stats_task().

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◆ _start_task()

void *NOINLINE Scheduler::_start_task	(	Handler	h,
		size_t	stackSize
	)

static

Start a task with given function and stack size. Should be called from main task. The functions are executed by the task. The taskLoop function is repeatedly called. Returns not-NULL if successful otherwise NULL (no memory for new task).

Parameters

[in]	taskLoop	function to call.
[in]	stackSize	in bytes.

Returns: address of TCB.

Definition at line 879 of file Scheduler.cpp.

Referenced by _register_timer_task(), hal_register_task(), and init().

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◆ _stop_multitask()

void Scheduler::_stop_multitask ( )

static

Definition at line 955 of file Scheduler.cpp.

Referenced by hal_stop_multitask().

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◆ _switch_task()

void Scheduler::_switch_task ( )

staticprotected

Definition at line 1386 of file Scheduler.cpp.

Referenced by _tail_timer_event(), _timer_isr_event(), and switch_task().

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◆ _tail_timer_event()

void Scheduler::_tail_timer_event ( uint32_t v )

staticprivate

Definition at line 1166 of file Scheduler.cpp.

Referenced by init().

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◆ _timer5_ovf()

void Scheduler::_timer5_ovf ( uint32_t v )

staticprivate

Definition at line 488 of file Scheduler.cpp.

Referenced by init().

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◆ _timer_isr_event()

void Scheduler::_timer_isr_event ( uint32_t v )

staticprivate

Definition at line 453 of file Scheduler.cpp.

Referenced by init().

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◆ _try_kill_task_or_reboot()

void Scheduler::_try_kill_task_or_reboot ( uint8_t n )

static

Definition at line 932 of file Scheduler.cpp.

Referenced by hal_try_kill_task_or_reboot().

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◆ adjust_stack()

static bool F4Light::Scheduler::adjust_stack ( size_t stackSize )

inlinestatic

Initiate scheduler and main task with given stack size. Should be called before start of any tasks if the main task requires a stack size other than the default size. Returns true if successful otherwise false.

Parameters

[in] stackSize in bytes.

Returns: bool.

Definition at line 253 of file Scheduler.h.

◆ adjust_timer_task()

bool Scheduler::adjust_timer_task	(	AP_HAL::Device::PeriodicHandle	h,
		uint32_t	period_us
	)

static

Definition at line 707 of file Scheduler.cpp.

Referenced by F4Light::I2CDevice::adjust_periodic_callback(), and F4Light::SPIDevice::adjust_periodic_callback().

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◆ arming_state_changed()

static void F4Light::Scheduler::arming_state_changed ( bool v )

inlinestatic

Definition at line 459 of file Scheduler.h.

Referenced by F4Light::Util::set_soft_armed().

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◆ check_stack()

void Scheduler::check_stack ( uint32_t sp )

staticprotected

Definition at line 417 of file Scheduler.cpp.

Referenced by _timer_isr_event().

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◆ context_switch_isr()

static void F4Light::Scheduler::context_switch_isr ( )

inlinestatic

Definition at line 312 of file Scheduler.h.

Referenced by F4Light::Semaphore::give(), and hal_context_switch_isr().

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◆ delay()

void Scheduler::delay ( uint16_t ms )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 184 of file Scheduler.h.

◆ delay_microseconds()

void Scheduler::delay_microseconds ( uint16_t us )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 185 of file Scheduler.h.

◆ delay_microseconds_boost()

void F4Light::Scheduler::delay_microseconds_boost ( uint16_t us )

inlineoverridevirtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 186 of file Scheduler.h.

◆ dequeue_task()

void Scheduler::dequeue_task ( task_t & tp )

staticprotected

Definition at line 808 of file Scheduler.cpp.

Referenced by get_next_task().

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◆ do_io_completion()

static void F4Light::Scheduler::do_io_completion ( uint8_t id )

inlinestatic

Definition at line 422 of file Scheduler.h.

Referenced by F4Light::DSM_parser::init(), and F4Light::PPM_parser::start_ioc().

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◆ do_task()

void Scheduler::do_task ( task_t * task )

staticprotected

Definition at line 763 of file Scheduler.cpp.

Referenced by init_task().

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◆ enqueue_task()

void Scheduler::enqueue_task ( task_t & tp )

staticprotected

Definition at line 797 of file Scheduler.cpp.

Referenced by _start_task().

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◆ exec_io_completion()

static void F4Light::Scheduler::exec_io_completion ( )

static

◆ fill_task()

uint32_t Scheduler::fill_task ( task_t & tp )

staticprotected

Definition at line 817 of file Scheduler.cpp.

Referenced by init_task().

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◆ get_current_task()

static void* F4Light::Scheduler::get_current_task ( )

inlinestatic

Definition at line 299 of file Scheduler.h.

Referenced by _delay_microseconds_boost(), F4Light::SPIDevice::do_transfer(), F4Light::I2CDevice::i2c_read(), F4Light::I2CDevice::i2c_write(), and F4Light::SPIDevice::wait_for().

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◆ get_current_task_isr()

static void* F4Light::Scheduler::get_current_task_isr ( )

inlinestatic

Definition at line 303 of file Scheduler.h.

Referenced by F4Light::Semaphore::_take_nonblocking(), F4Light::Semaphore::svc_take(), and F4Light::Semaphore::svc_take_nonblocking().

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◆ get_empty_task()

static task_t* F4Light::Scheduler::get_empty_task ( )

staticprotected

Referenced by unregister_timer_task().

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◆ get_handler() [1/2]

static Handler F4Light::Scheduler::get_handler ( AP_HAL::MemberProc proc )

inlinestatic

Definition at line 436 of file Scheduler.h.

Referenced by F4Light::UARTDriver::begin(), F4Light::I2CDevice::i2c_read(), F4Light::I2CDevice::i2c_write(), F4Light::Storage::late_init(), F4Light::SPIDevice::send_strobe(), F4Light::SPIDevice::setup_dma_transfer(), F4Light::SPIDevice::setup_isr_transfer(), and F4Light::SPIDevice::wait_for().

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◆ get_handler() [2/2]

static Handler F4Light::Scheduler::get_handler ( AP_HAL::Proc proc )

inlinestatic

Definition at line 440 of file Scheduler.h.

◆ get_next_task()

task_t * Scheduler::get_next_task ( )

static

Definition at line 961 of file Scheduler.cpp.

Referenced by _switch_task(), _tail_timer_event(), _timer_isr_event(), and _try_kill_task_or_reboot().

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◆ in_interrupt()

static bool F4Light::Scheduler::in_interrupt ( )

inlinestatic

Definition at line 240 of file Scheduler.h.

Referenced by _start_task(), F4Light::Semaphore::give(), init(), F4Light::Semaphore::take(), and yield().

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◆ in_main_thread()

bool F4Light::Scheduler::in_main_thread ( ) const

inlineoverridevirtual

Implements AP_HAL::Scheduler.

Definition at line 215 of file Scheduler.h.

◆ in_timerprocess()

bool F4Light::Scheduler::in_timerprocess ( )

inline

Definition at line 206 of file Scheduler.h.

◆ init()

void Scheduler::init ( void )

virtual

Implements AP_HAL::Scheduler.

Definition at line 155 of file Scheduler.cpp.

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◆ init_task()

void * Scheduler::init_task	(	uint64_t	h,
		const uint8_t *	stack
	)

staticprotected

Definition at line 833 of file Scheduler.cpp.

Referenced by _start_task().

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◆ loop()

void F4Light::Scheduler::loop ( )

◆ micros()

uint32_t F4Light::Scheduler::micros ( )

inline

Definition at line 189 of file Scheduler.h.

◆ millis()

uint32_t F4Light::Scheduler::millis ( )

inline

Definition at line 188 of file Scheduler.h.

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◆ plan_context_switch()

static void F4Light::Scheduler::plan_context_switch ( )

inlinestatic

Definition at line 391 of file Scheduler.h.

Referenced by _go_next_task(), _switch_task(), _tail_timer_event(), and _timer_isr_event().

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◆ reboot()

void Scheduler::reboot ( bool hold_in_bootloader )

virtual

Implements AP_HAL::Scheduler.

Definition at line 542 of file Scheduler.cpp.

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◆ register_delay_callback()

void Scheduler::register_delay_callback	(	AP_HAL::Proc	proc,
		uint16_t	min_time_ms
	)

overridevirtual

Reimplemented from AP_HAL::Scheduler.

Definition at line 345 of file Scheduler.cpp.

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◆ register_io_completion() [1/3]

uint8_t Scheduler::register_io_completion ( Handler handle )

static

Definition at line 1219 of file Scheduler.cpp.

Referenced by F4Light::DSM_parser::init(), and F4Light::PPM_parser::init().

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◆ register_io_completion() [2/3]

static uint8_t F4Light::Scheduler::register_io_completion ( ioc_proc cb )

inlinestatic

Definition at line 413 of file Scheduler.h.

◆ register_io_completion() [3/3]

static uint8_t F4Light::Scheduler::register_io_completion ( AP_HAL::MemberProc proc )

inlinestatic

Definition at line 417 of file Scheduler.h.

◆ register_io_process()

void Scheduler::register_io_process ( AP_HAL::MemberProc proc )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 197 of file Scheduler.h.

◆ register_on_disarm()

static void F4Light::Scheduler::register_on_disarm ( Handler h )

inlinestatic

Definition at line 460 of file Scheduler.h.

Referenced by F4Light::Storage::late_init().

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◆ register_timer_failsafe()

void Scheduler::register_timer_failsafe	(	AP_HAL::Proc	failsafe,
		uint32_t	period_us
	)

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 208 of file Scheduler.h.

◆ register_timer_process()

void Scheduler::register_timer_process ( AP_HAL::MemberProc proc )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 191 of file Scheduler.h.

◆ register_timer_task()

static AP_HAL::Device::PeriodicHandle F4Light::Scheduler::register_timer_task	(	uint32_t	period_us,
		AP_HAL::Device::PeriodicCb	proc,
		F4Light::Semaphore *	sem
	)

inlinestatic

Definition at line 218 of file Scheduler.h.

Referenced by F4Light::I2CDevice::register_periodic_callback(), and F4Light::SPIDevice::register_periodic_callback().

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◆ resume_boost()

static void F4Light::Scheduler::resume_boost ( )

inlinestatic

Definition at line 368 of file Scheduler.h.

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◆ resume_timer_procs()

void Scheduler::resume_timer_procs ( )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 193 of file Scheduler.h.

◆ set_task_active()

static void F4Light::Scheduler::set_task_active ( void * h )

inlinestatic

Definition at line 306 of file Scheduler.h.

Referenced by hal_set_task_active(), init(), and F4Light::Storage::write_word().

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◆ set_task_period()

void Scheduler::set_task_period	(	void *	h,
		uint32_t	period
	)

static

Definition at line 914 of file Scheduler.cpp.

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

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◆ set_task_priority()

static void F4Light::Scheduler::set_task_priority	(	void *	h,
		uint8_t	prio
	)

inlinestatic

Definition at line 282 of file Scheduler.h.

Referenced by _register_io_process(), _register_timer_task(), hal_set_task_priority(), F4Light::Storage::init(), F4Light::AnalogIn::init(), init(), and start_stats_task().

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◆ set_task_semaphore()

static void F4Light::Scheduler::set_task_semaphore	(	void *	h,
		F4Light::Semaphore *	sem
	)

inlinestatic

Definition at line 290 of file Scheduler.h.

Referenced by _register_timer_task().

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◆ setEmergencyHandler()

static void F4Light::Scheduler::setEmergencyHandler ( voidFuncPtr handler )

inlinestatic

Definition at line 445 of file Scheduler.h.

◆ start_stats_task()

void Scheduler::start_stats_task ( )

static

Definition at line 244 of file Scheduler.cpp.

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◆ start_task() [1/2]

static void* F4Light::Scheduler::start_task	(	voidFuncPtr	taskLoop,
		size_t	stackSize = `DEFAULT_STACK_SIZE`
	)

inlinestatic

Definition at line 266 of file Scheduler.h.

Referenced by _register_io_process(), F4Light::Storage::init(), and F4Light::AnalogIn::init().

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◆ start_task() [2/2]

static void* F4Light::Scheduler::start_task	(	AP_HAL::MemberProc	proc,
		size_t	stackSize = `DEFAULT_STACK_SIZE`
	)

inlinestatic

Definition at line 270 of file Scheduler.h.

◆ stop_task()

void Scheduler::stop_task ( void * h )

static

Definition at line 752 of file Scheduler.cpp.

Referenced by _try_kill_task_or_reboot().

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◆ suspend_timer_procs()

void Scheduler::suspend_timer_procs ( )

inlinevirtual

Implements AP_HAL::Scheduler.

Definition at line 192 of file Scheduler.h.

◆ SVC_Handler()

void Scheduler::SVC_Handler ( uint32_t * svc_args )

static

Definition at line 1309 of file Scheduler.cpp.

Referenced by SVC_Handler().

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◆ switch_task()

void Scheduler::switch_task ( )

staticprotected

Definition at line 1380 of file Scheduler.cpp.

Referenced by SVC_Handler().

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◆ system_initialized()

void Scheduler::system_initialized ( )

virtual

Implements AP_HAL::Scheduler.

Definition at line 508 of file Scheduler.cpp.

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◆ task_pause()

static void F4Light::Scheduler::task_pause ( uint32_t t )

inlinestatic

Definition at line 316 of file Scheduler.h.

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

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◆ task_resume()

static void F4Light::Scheduler::task_resume ( void * h )

inlinestatic

Definition at line 321 of file Scheduler.h.

Referenced by F4Light::I2CDevice::finish_transfer(), and F4Light::SPIDevice::isr_transfer_finish().

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◆ task_stack()

size_t Scheduler::task_stack ( )

static

Return current task stack size.

Returns: bytes

Definition at line 1209 of file Scheduler.cpp.

◆ unregister_timer_task()

bool Scheduler::unregister_timer_task ( AP_HAL::Device::PeriodicHandle h )

static

Definition at line 718 of file Scheduler.cpp.

Referenced by F4Light::I2CDevice::unregister_callback(), and F4Light::SPIDevice::unregister_callback().

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◆ yield()

void Scheduler::yield ( uint16_t ttw = 0 )

static

Definition at line 1188 of file Scheduler.cpp.

Referenced by _delay(), _delay_microseconds(), _delay_microseconds_boost(), AP_HAL::cond_yield(), do_task(), hal_yield(), idle_task(), and AP_HAL::yield().

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Member Data Documentation

◆ _delay_cb_handle

void* F4Light::Scheduler::_delay_cb_handle

staticprivate

Definition at line 505 of file Scheduler.h.

◆ _failsafe

AP_HAL::Proc Scheduler::_failsafe = nullptr

staticprivate

Definition at line 519 of file Scheduler.h.

Referenced by _run_timer_procs().

◆ _forced_task

task_t* F4Light::Scheduler::_forced_task

staticprotected

Definition at line 493 of file Scheduler.h.

Referenced by get_next_task(), and Scheduler().

◆ _idle_task

task_t* F4Light::Scheduler::_idle_task

staticprotected

Definition at line 492 of file Scheduler.h.

Referenced by _switch_task(), get_next_task(), and init().

◆ _in_io_proc

bool Scheduler::_in_io_proc = false

staticprivate

Definition at line 524 of file Scheduler.h.

Referenced by _run_io().

◆ _initialized

bool F4Light::Scheduler::_initialized

staticprivate

Definition at line 506 of file Scheduler.h.

Referenced by system_initialized().

◆ _io_proc

AP_HAL::MemberProc Scheduler::_io_proc = {nullptr}

staticprivate

Definition at line 521 of file Scheduler.h.

Referenced by _register_io_process(), _run_io(), and init().

◆ _num_io_proc

uint8_t F4Light::Scheduler::_num_io_proc

staticprivate

Definition at line 523 of file Scheduler.h.

Referenced by _register_io_process(), and _run_io().

◆ boost_task

void * Scheduler::boost_task

staticprotected

Definition at line 494 of file Scheduler.h.

Referenced by _delay_microseconds_boost().

◆ delay_int_time

uint64_t F4Light::Scheduler::delay_int_time

staticprivate

Definition at line 542 of file Scheduler.h.

Referenced by _print_stats().

◆ delay_time

uint64_t F4Light::Scheduler::delay_time

staticprivate

Definition at line 541 of file Scheduler.h.

Referenced by _delay(), _delay_microseconds(), _delay_microseconds_boost(), _delay_us_ny(), and _print_stats().

◆ flag_10s

bool Scheduler::flag_10s = false

staticprivate

Definition at line 539 of file Scheduler.h.

Referenced by _print_stats(), and _set_10s_flag().

◆ io_completion

struct IO_COMPLETION F4Light::Scheduler::io_completion[MAX_IO_COMPLETION]

staticprivate

Definition at line 532 of file Scheduler.h.

Referenced by _ioc_timer_event(), _print_stats(), init(), and register_io_completion().

◆ ioc_time

uint64_t F4Light::Scheduler::ioc_time

staticprivate

Definition at line 546 of file Scheduler.h.

Referenced by _ioc_timer_event(), and _print_stats().

◆ lowest_stack

uint32_t Scheduler::lowest_stack = (uint32_t)-1

staticprivate

Definition at line 530 of file Scheduler.h.

Referenced by _print_stats(), and check_stack().

◆ max_delay_err

uint32_t Scheduler::max_delay_err =0

staticprivate

Definition at line 548 of file Scheduler.h.

◆ max_loop_time

uint32_t F4Light::Scheduler::max_loop_time

staticprivate

Definition at line 543 of file Scheduler.h.

Referenced by _print_stats().

◆ max_wfe_time

uint32_t F4Light::Scheduler::max_wfe_time

staticprivate

Definition at line 558 of file Scheduler.h.

◆ need_io_completion

volatile bool F4Light::Scheduler::need_io_completion

static

Definition at line 431 of file Scheduler.h.

◆ need_switch_task

volatile bool F4Light::Scheduler::need_switch_task

static

Definition at line 402 of file Scheduler.h.

Referenced by _switch_task(), _tail_timer_event(), _timer_isr_event(), and PendSV_Handler().

◆ num_io_completion

uint8_t F4Light::Scheduler::num_io_completion

staticprivate

Definition at line 533 of file Scheduler.h.

Referenced by _ioc_timer_event(), _print_stats(), and register_io_completion().

◆ on_disarm_handler

Handler F4Light::Scheduler::on_disarm_handler

staticprivate

Definition at line 526 of file Scheduler.h.

◆ s_main

task_t Scheduler::s_main = { 0 }

staticprotected

Definition at line 488 of file Scheduler.h.

Referenced by _print_stats(), _start_task(), enqueue_task(), Scheduler(), and unregister_timer_task().

◆ s_top

size_t F4Light::Scheduler::s_top

staticprotected

Definition at line 489 of file Scheduler.h.

Referenced by _start_task(), and Scheduler().

◆ shed_time

uint64_t Scheduler::shed_time = 0

staticprivate

Definition at line 537 of file Scheduler.h.

Referenced by _print_stats().

◆ sleep_time

uint64_t F4Light::Scheduler::sleep_time

staticprivate

Definition at line 547 of file Scheduler.h.

◆ task_n

uint16_t Scheduler::task_n =0

staticprotected

Definition at line 490 of file Scheduler.h.

Referenced by _stop_multitask(), _switch_task(), _tail_timer_event(), _timer_isr_event(), _try_kill_task_or_reboot(), enqueue_task(), and yield().

◆ task_time

uint64_t F4Light::Scheduler::task_time

staticprivate

Definition at line 538 of file Scheduler.h.

Referenced by _print_stats().

◆ tick_count

uint32_t F4Light::Scheduler::tick_count

staticprivate

Definition at line 552 of file Scheduler.h.

◆ tick_fulltime

uint64_t F4Light::Scheduler::tick_fulltime

staticprivate

Definition at line 553 of file Scheduler.h.

◆ tick_micros

uint32_t F4Light::Scheduler::tick_micros

staticprivate

Definition at line 551 of file Scheduler.h.

◆ timer5_ovf_cnt

uint32_t F4Light::Scheduler::timer5_ovf_cnt

staticprivate

Definition at line 517 of file Scheduler.h.

Referenced by _micros64(), and _timer5_ovf().

◆ tsched_count

uint32_t F4Light::Scheduler::tsched_count

staticprivate

Definition at line 559 of file Scheduler.h.

Referenced by _print_stats(), and _timer_isr_event().

◆ tsched_count_t

uint32_t F4Light::Scheduler::tsched_count_t

staticprivate

Definition at line 563 of file Scheduler.h.

Referenced by _print_stats(), and _tail_timer_event().

◆ tsched_count_y

uint32_t F4Light::Scheduler::tsched_count_y

staticprivate

Definition at line 561 of file Scheduler.h.

Referenced by _print_stats(), and _switch_task().

◆ tsched_sw_count

uint32_t F4Light::Scheduler::tsched_sw_count

staticprivate

Definition at line 560 of file Scheduler.h.

Referenced by _print_stats(), and _timer_isr_event().

◆ tsched_sw_count_t

uint32_t F4Light::Scheduler::tsched_sw_count_t

staticprivate

Definition at line 564 of file Scheduler.h.

Referenced by _print_stats(), and _tail_timer_event().

◆ tsched_sw_count_y

uint32_t F4Light::Scheduler::tsched_sw_count_y

staticprivate

Definition at line 562 of file Scheduler.h.

Referenced by _print_stats(), and _switch_task().

The documentation for this class was generated from the following files:

libraries/AP_HAL_F4Light/Scheduler.h
libraries/AP_HAL_F4Light/Scheduler.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Static Protected Member Functions

Static Protected Attributes

Static Private Member Functions

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ IO_Completion

◆ ioc_proc

Constructor & Destructor Documentation

◆ Scheduler()

Member Function Documentation

◆ _delay()

◆ _delay_microseconds()

◆ _delay_microseconds_boost()

◆ _delay_timer_event()

◆ _delay_us_ny()

◆ _go_next_task()

◆ _in_main_thread()

◆ _ioc_timer_event()

◆ _micros()

◆ _micros64()

◆ _millis()

◆ _millis64()

◆ _print_stats()

◆ _reboot()

◆ _register_io_process()

◆ _register_timer_process()

◆ _register_timer_task()

◆ _run_io()

◆ _run_timer_procs()

◆ _set_10s_flag()

◆ _start_task()

◆ _stop_multitask()

◆ _switch_task()

◆ _tail_timer_event()

◆ _timer5_ovf()

◆ _timer_isr_event()

◆ _try_kill_task_or_reboot()

◆ adjust_stack()

◆ adjust_timer_task()

◆ arming_state_changed()

◆ check_stack()

◆ context_switch_isr()

◆ delay()

◆ delay_microseconds()

◆ delay_microseconds_boost()

◆ dequeue_task()

◆ do_io_completion()

◆ do_task()

◆ enqueue_task()

◆ exec_io_completion()

◆ fill_task()

◆ get_current_task()

◆ get_current_task_isr()

◆ get_empty_task()

◆ get_handler() [1/2]

◆ get_handler() [2/2]

◆ get_next_task()

◆ in_interrupt()

◆ in_main_thread()

◆ in_timerprocess()

◆ init()

◆ init_task()

◆ loop()

◆ micros()

◆ millis()

◆ plan_context_switch()

◆ reboot()

◆ register_delay_callback()

◆ register_io_completion() [1/3]

◆ register_io_completion() [2/3]

◆ register_io_completion() [3/3]

◆ register_io_process()

◆ register_on_disarm()