set all thread priorities in the same place (#2412)

* unify thread priority

* header

* mmc

firmware/console/binary/bluetooth.cpp

@@ -18,6 +18,7 @@
 #include "tunerstudio_io.h"
 #include "bluetooth.h"
 #include "engine_configuration.h"
+#include "thread_priority.h"
 
 #if EFI_BLUETOOTH_SETUP
 
@@ -289,7 +290,7 @@ void bluetoothStart(ts_channel_s *btChan, bluetooth_module_e moduleType, const c
    	commands[numCommands++] = cmdPin;
    	
    	// create a thread to execute these commands later
-   	btThread = chThdCreateStatic(btThreadStack, sizeof(btThreadStack), NORMALPRIO, (tfunc_t)btThreadEntryPoint, NULL);
+   	btThread = chThdCreateStatic(btThreadStack, sizeof(btThreadStack), PRIO_CONSOLE, (tfunc_t)btThreadEntryPoint, NULL);
    	
 	btProcessIsStarted = true;
 }

firmware/console/binary/tunerstudio.cpp

@@ -87,6 +87,7 @@
 #include "status_loop.h"
 #include "mmc_card.h"
 #include "perf_trace.h"
+#include "thread_priority.h"
 
 #include "signature.h"
 
@@ -907,7 +908,7 @@ void startTunerStudioConnectivity(void) {
 	addConsoleAction("bluetooth_cancel", bluetoothCancel);
 #endif /* EFI_BLUETOOTH_SETUP */
 
-	chThdCreateStatic(tunerstudioThreadStack, sizeof(tunerstudioThreadStack), NORMALPRIO, (tfunc_t)tsThreadEntryPoint, NULL);
+	chThdCreateStatic(tunerstudioThreadStack, sizeof(tunerstudioThreadStack), PRIO_CONSOLE, (tfunc_t)tsThreadEntryPoint, NULL);
 }
 
 #endif

firmware/console/console_io.cpp

@@ -39,6 +39,7 @@
 #include "os_util.h"
 #include "tunerstudio.h"
 #include "connector_uart_dma.h"
+#include "thread_priority.h"
 
 #if EFI_SIMULATOR
 #include "rusEfiFunctionalTest.h"
@@ -265,6 +266,6 @@ void startConsole(Logging *sharedLogger, CommandHandler console_line_callback_p)
 #endif /* EFI_CONSOLE_SERIAL_DEVICE || EFI_CONSOLE_UART_DEVICE */
 
 #if !defined(EFI_CONSOLE_NO_THREAD)
-	chThdCreateStatic(consoleThreadStack, sizeof(consoleThreadStack), NORMALPRIO, (tfunc_t)consoleThreadEntryPoint, NULL);
+	chThdCreateStatic(consoleThreadStack, sizeof(consoleThreadStack), PRIO_CONSOLE, (tfunc_t)consoleThreadEntryPoint, NULL);
 #endif /* EFI_CONSOLE_NO_THREAD */
 }

firmware/controllers/actuators/electronic_throttle.cpp

@@ -83,6 +83,7 @@
 #include "dc_motor.h"
 #include "dc_motors.h"
 #include "pid_auto_tune.h"
+#include "thread_priority.h"
 
 #if defined(HAS_OS_ACCESS)
 #error "Unexpected OS ACCESS HERE"
@@ -651,7 +652,7 @@ struct EtbImpl final : public EtbController {
 static EtbImpl etbControllers[ETB_COUNT];
 
 struct EtbThread final : public PeriodicController<512> {
-	EtbThread() : PeriodicController("ETB", NORMALPRIO + 3, ETB_LOOP_FREQUENCY) {}
+	EtbThread() : PeriodicController("ETB", PRIO_ETB, ETB_LOOP_FREQUENCY) {}
 
 	void PeriodicTask(efitick_t) override {
 		// Simply update all controllers

firmware/controllers/can/can_tx.cpp

@@ -16,13 +16,14 @@
 #include "can_dash.h"
 #include "obd2.h"
 #include "can_sensor.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
 extern CanSensorBase* cansensors_head;
 
 CanWrite::CanWrite()
-	: PeriodicController("CAN TX", NORMALPRIO, 50)
+	: PeriodicController("CAN TX", PRIO_CAN_TX, 50)
 {
 }
 

firmware/controllers/sensors/software_knock.cpp

@@ -5,6 +5,7 @@
 #include "perf_trace.h"
 #include "thread_controller.h"
 #include "software_knock.h"
+#include "thread_priority.h"
 
 #if EFI_SOFTWARE_KNOCK
 
@@ -162,7 +163,7 @@ void startKnockSampling(uint8_t cylinderIndex) {
 
 class KnockThread : public ThreadController<256> {
 public:
-	KnockThread() : ThreadController("knock", NORMALPRIO - 10) {}
+	KnockThread() : ThreadController("knock", PRIO_KNOCK_PROCESS) {}
 	void ThreadTask() override;
 };
 

firmware/controllers/serial/serial_rx.cpp

@@ -17,6 +17,7 @@
 
 #include "allsensors.h"
 #include "vehicle_speed.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
@@ -29,7 +30,7 @@ uint8_t sb = 0;
 bool clear_ser_buffer = false;
 
 SerialRead::SerialRead()
-	: ThreadController("AUX Serial RX", NORMALPRIO) {
+	: ThreadController("AUX Serial RX", PRIO_AUX_SERIAL) {
 }
 
 void SerialRead::ThreadTask() {

firmware/controllers/thread_priority.h

@@ -0,0 +1,36 @@
+/**
+ * @file        thread_priority.h
+ * @brief       This file sets the thread priority for the threads running on rusEFI
+ *
+ * @date February 27, 2021
+ * @author Matthew Kennedy, (c) 2021
+ */
+
+#pragma once
+
+// ADC and ETB get highest priority - not much else actually runs the engine
+#define PRIO_ADC (NORMALPRIO + 10)
+#define PRIO_ETB (NORMALPRIO + 9)
+
+// GPIO chips should be fast and go right back to sleep, plus can be timing sensitive
+#define PRIO_GPIOCHIP (NORMALPRIO + 8)
+
+// TX higher priority than RX because the ECU is generally the one transmitting the highest priority messages
+#define PRIO_CAN_TX (NORMALPRIO + 7)
+#define PRIO_CAN_RX (NORMALPRIO + 6)
+
+// Less critical harware
+#define PRIO_SERVO (NORMALPRIO + 5)
+#define PRIO_STEPPER (NORMALPRIO + 5)
+#define PRIO_CJ125 (NORMALPRIO + 5)
+
+// Console thread 
+#define PRIO_CONSOLE (NORMALPRIO + 1)
+
+// Less important things
+#define PRIO_MMC (NORMALPRIO - 1)
+
+// These can get starved without too much adverse effect
+#define PRIO_AUX_SERIAL NORMALPRIO
+#define PRIO_KNOCK_PROCESS (NORMALPRIO - 10)
+#define PRIO_HIP9011 (NORMALPRIO - 10)

firmware/hw_layer/adc/adc_inputs.cpp

@@ -36,6 +36,7 @@
 #include "engine_controller.h"
 #include "maf.h"
 #include "perf_trace.h"
+#include "thread_priority.h"
 
 static NO_CACHE adcsample_t slowAdcSampleBuf[ADC_BUF_DEPTH_SLOW * ADC_MAX_CHANNELS_COUNT];
 static NO_CACHE adcsample_t fastAdcSampleBuf[ADC_BUF_DEPTH_FAST * ADC_MAX_CHANNELS_COUNT];
@@ -444,7 +445,7 @@ int getSlowAdcCounter() {
 class SlowAdcController : public PeriodicController<256> {
 public:
 	SlowAdcController() 
-		: PeriodicController("ADC", NORMALPRIO + 5, SLOW_ADC_RATE)
+		: PeriodicController("ADC", PRIO_ADC, SLOW_ADC_RATE)
 	{
 	}
 

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -24,6 +24,7 @@
 #include "string.h"
 #include "mpu_util.h"
 #include "engine.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
@@ -83,7 +84,7 @@ static const CANConfig *canConfig = &canConfig500;
 class CanRead final : public ThreadController<UTILITY_THREAD_STACK_SIZE> {
 public:
 	CanRead()
-		: ThreadController("CAN RX", NORMALPRIO)
+		: ThreadController("CAN RX", PRIO_CAN_RX)
 	{
 	}
 

firmware/hw_layer/drivers/gpio/drv8860.c

@@ -17,6 +17,7 @@
 #include "gpio/drv8860.h"
 #include "pin_repository.h"
 #include "os_util.h"
+#include "thread_priority.h"
 
 #if (BOARD_DRV8860_COUNT > 0)
 
@@ -225,7 +226,7 @@ int drv8860_init(void * data) {
 
 	if (!drv_task_ready) {
 		chThdCreateStatic(drv8860_thread_1_wa, sizeof(drv8860_thread_1_wa),
-						  NORMALPRIO + 1, drv8860_driver_thread, NULL);
+						  PRIO_GPIOCHIP, drv8860_driver_thread, NULL);
 		drv_task_ready = true;
 	}
 

firmware/hw_layer/drivers/gpio/mc33810.c

@@ -15,6 +15,7 @@
 #include "gpio/mc33810.h"
 #include "pin_repository.h"
 #include "os_util.h"
+#include "thread_priority.h"
 
 #if (BOARD_MC33810_COUNT > 0)
 
@@ -498,7 +499,7 @@ int mc33810_init(void * data)
 
 	if (!drv_task_ready) {
 		chThdCreateStatic(mc33810_thread_1_wa, sizeof(mc33810_thread_1_wa),
-						  NORMALPRIO + 1, mc33810_driver_thread, NULL);
+						  PRIO_GPIOCHIP, mc33810_driver_thread, NULL);
 		drv_task_ready = true;
 	}
 

firmware/hw_layer/drivers/gpio/mc33972.c

@@ -18,6 +18,7 @@
 #include "gpio/gpio_ext.h"
 #include "gpio/mc33972.h"
 #include "pin_repository.h"
+#include "thread_priority.h"
 
 #if (BOARD_MC33972_COUNT > 0)
 
@@ -304,7 +305,7 @@ static int mc33972_init(void * data)
 
 	if (!drv_task_ready) {
 		chThdCreateStatic(mc33972_thread_1_wa, sizeof(mc33972_thread_1_wa),
-						  NORMALPRIO + 1, mc33972_driver_thread, NULL);
+						  PRIO_GPIOCHIP, mc33972_driver_thread, NULL);
 		drv_task_ready = true;
 	}
 

firmware/hw_layer/drivers/gpio/tle6240.c

@@ -25,6 +25,7 @@
 #include "gpio/tle6240.h"
 #include "pin_repository.h"
 #include "os_util.h"
+#include "thread_priority.h"
 
 #if (BOARD_TLE6240_COUNT > 0)
 
@@ -450,7 +451,7 @@ static int tle6240_init(void * data)
 
 	if (!drv_task_ready) {
 		chThdCreateStatic(tle6240_thread_1_wa, sizeof(tle6240_thread_1_wa),
-						  NORMALPRIO + 1, tle6240_driver_thread, NULL);
+						  PRIO_GPIOCHIP, tle6240_driver_thread, NULL);
 		drv_task_ready = true;
 	}
 

firmware/hw_layer/drivers/gpio/tle8888.c

@@ -41,6 +41,7 @@
 #include "pin_repository.h"
 #include "os_util.h"
 #include "voltage.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE_CONFIGURATION;
 
@@ -1199,7 +1200,7 @@ static int tle8888_init(void * data)
 
 	/* start thread */
 	chip->thread = chThdCreateStatic(chip->thread_wa, sizeof(chip->thread_wa),
-									 NORMALPRIO + 1, tle8888_driver_thread, chip);
+									 PRIO_GPIOCHIP, tle8888_driver_thread, chip);
 
 	return 0;
 }

firmware/hw_layer/mmc_card.cpp

@@ -26,6 +26,7 @@
 #include "status_loop.h"
 #include "buffered_writer.h"
 #include "null_device.h"
+#include "thread_priority.h"
 
 #include "rtc_helper.h"
 
@@ -537,7 +538,7 @@ void initMmcCard(void) {
 	chBSemObjectInit(&usbConnectedSemaphore, true);
 #endif
 
-	chThdCreateStatic(mmcThreadStack, sizeof(mmcThreadStack), LOWPRIO, (tfunc_t)(void*) MMCmonThread, NULL);
+	chThdCreateStatic(mmcThreadStack, sizeof(mmcThreadStack), PRIO_MMC, (tfunc_t)(void*) MMCmonThread, NULL);
 
 	addConsoleAction("sdinfo", sdStatistics);
 	addConsoleActionS("ls", listDirectory);

firmware/hw_layer/ports/stm32/mcuconf_common_f4_f7.h

@@ -314,7 +314,6 @@
 #define STM32_USB_OTG2_IRQ_PRIORITY         14
 #define STM32_USB_OTG1_RX_FIFO_SIZE         512
 #define STM32_USB_OTG2_RX_FIFO_SIZE         1024
-#define STM32_USB_OTG_THREAD_PRIO           LOWPRIO
 #define STM32_USB_OTG_THREAD_STACK_SIZE     1024
 #define STM32_USB_OTGFIFO_FILL_BASEPRI      0
 

firmware/hw_layer/sensors/cj125.cpp

@@ -18,6 +18,7 @@
 #include "cj125.h"
 #include "pwm_generator_logic.h"
 #include "rpm_calculator.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
@@ -647,7 +648,7 @@ void initCJ125(Logging *sharedLogger DECLARE_ENGINE_PARAMETER_SUFFIX) {
 	addConsoleAction("cj125_restart", cjRestart);
 	addConsoleAction("cj125_calibrate", cjStartCalibration);
 
-	chThdCreateStatic(cj125ThreadStack, sizeof(cj125ThreadStack), LOWPRIO, (tfunc_t)(void*) cjThread, NULL);
+	chThdCreateStatic(cj125ThreadStack, sizeof(cj125ThreadStack), PRIO_CJ125, (tfunc_t)(void*) cjThread, NULL);
 #endif /* ! EFI_UNIT_TEST */
 }
 

firmware/hw_layer/sensors/hip9011.cpp

@@ -43,6 +43,7 @@
 #include "hip9011.h"
 #include "adc_inputs.h"
 #include "perf_trace.h"
+#include "thread_priority.h"
 
 #include "engine_controller.h"
 
@@ -431,7 +432,7 @@ void initHip9011(Logging *sharedLogger) {
 	addConsoleActionI("set_hip_prescalerandsdo", setPrescalerAndSDO);
     addConsoleActionF("set_knock_threshold", setKnockThresh);
     addConsoleActionI("set_max_knock_sub_deg", setMaxKnockSubDeg);
-	chThdCreateStatic(hipThreadStack, sizeof(hipThreadStack), NORMALPRIO, (tfunc_t)(void*) hipThread, NULL);
+	chThdCreateStatic(hipThreadStack, sizeof(hipThreadStack), PRIO_HIP9011, (tfunc_t)(void*) hipThread, NULL);
 }
 
 #endif /* EFI_HIP_9011 */

firmware/hw_layer/servo.cpp

@@ -17,6 +17,7 @@
 #if EFI_SERVO || EFI_SIMULATOR
 #include "servo.h"
 #include "pin_repository.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
@@ -63,7 +64,7 @@ void initServo(void) {
 		pins[i].initPin("servo", p);
 	}
 
-	chThdCreateStatic(servoThreadStack, sizeof(servoThreadStack), NORMALPRIO, (tfunc_t)(void*) seThread, NULL);
+	chThdCreateStatic(servoThreadStack, sizeof(servoThreadStack), PRIO_SERVO, (tfunc_t)(void*) seThread, NULL);
 }
 #endif /* EFI_SERVO */
 

firmware/hw_layer/stepper.cpp

@@ -16,6 +16,7 @@
 #include "engine_controller.h"
 #include "adc_inputs.h"
 #include "sensor.h"
+#include "thread_priority.h"
 
 EXTERN_ENGINE;
 
@@ -149,7 +150,7 @@ void StepperMotor::ThreadTask() {
 	}
 }
 
-StepperMotor::StepperMotor() : ThreadController("stepper", NORMALPRIO) {}
+StepperMotor::StepperMotor() : ThreadController("stepper", PRIO_STEPPER) {}
 
 int StepperMotor::getTargetPosition() const {
 	return m_targetPosition;