[FL-872] Furi, API-HAL, App-Loader cleanup and improvements (#334)

* Furi: replace obsolete furiac_exit with osThreadExit, drop obsolete apis and test. Rename systemd to flipper and move to separate file, cleanup. ApiHal: Rename timebase to os and move freertos hooks there, move insomnia api to power module.
* Furi: new thread helper
* Furi: cleanup thread documentation
* Flipper, AppLoader: update to use FuriThread. Update tasks signatures to match FuriThreadCallback signature.
* F4: rename API_HAL_TIMEBASE_DEBUG to API_HAL_OS_DEBUG
* Applications: rename FuriApplication to FlipperApplication, use FuriThreadCallback signature for apps.
* C++ app template sample, new exit method

firmware/targets/f4/api-hal/api-hal-os-timer.h

@@ -0,0 +1,95 @@
+#pragma once
+
+#include <stm32wbxx_ll_lptim.h>
+#include <stdbool.h>
+
+static inline void assert(bool value) {
+    if (!value) asm("bkpt 1");
+}
+
+// Timer used for system ticks
+#define API_HAL_OS_TIMER_MAX  0xFFFF
+#define API_HAL_OS_TIMER_REG_LOAD_DLY 0x1
+#define API_HAL_OS_TIMER       LPTIM2
+#define API_HAL_OS_TIMER_IRQ   LPTIM2_IRQn
+#define API_HAL_OS_TIMER_CLOCK_INIT() \
+{ \
+    LL_RCC_SetLPTIMClockSource(LL_RCC_LPTIM2_CLKSOURCE_LSE); \
+    LL_APB1_GRP2_EnableClock(LL_APB1_GRP2_PERIPH_LPTIM2); \
+} \
+
+static inline void api_hal_os_timer_init() {
+    API_HAL_OS_TIMER_CLOCK_INIT();
+
+    LL_LPTIM_Enable(API_HAL_OS_TIMER);
+    while(!LL_LPTIM_IsEnabled(API_HAL_OS_TIMER)) {}
+
+    LL_LPTIM_SetClockSource(API_HAL_OS_TIMER, LL_LPTIM_CLK_SOURCE_INTERNAL);
+    LL_LPTIM_SetPrescaler(API_HAL_OS_TIMER, LL_LPTIM_PRESCALER_DIV1);
+    LL_LPTIM_SetPolarity(API_HAL_OS_TIMER, LL_LPTIM_OUTPUT_POLARITY_REGULAR);
+    LL_LPTIM_SetUpdateMode(API_HAL_OS_TIMER, LL_LPTIM_UPDATE_MODE_IMMEDIATE);
+    LL_LPTIM_SetCounterMode(API_HAL_OS_TIMER, LL_LPTIM_COUNTER_MODE_INTERNAL);
+    LL_LPTIM_TrigSw(API_HAL_OS_TIMER);
+    LL_LPTIM_SetInput1Src(API_HAL_OS_TIMER, LL_LPTIM_INPUT1_SRC_GPIO);
+    LL_LPTIM_SetInput2Src(API_HAL_OS_TIMER, LL_LPTIM_INPUT2_SRC_GPIO);
+
+    NVIC_SetPriority(API_HAL_OS_TIMER_IRQ, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 15, 0));
+    NVIC_EnableIRQ(API_HAL_OS_TIMER_IRQ);
+}
+
+static inline uint32_t api_hal_os_timer_get_cnt() {
+    uint32_t counter = LL_LPTIM_GetCounter(API_HAL_OS_TIMER);
+    uint32_t counter_shadow = LL_LPTIM_GetCounter(API_HAL_OS_TIMER);
+    while(counter != counter_shadow) {
+        counter = counter_shadow;
+        counter_shadow = LL_LPTIM_GetCounter(API_HAL_OS_TIMER);
+    }
+    return counter;
+}
+
+static inline bool api_hal_os_timer_arr_is_ok() {
+    return LL_LPTIM_IsActiveFlag_ARROK(API_HAL_OS_TIMER);
+}
+
+static inline uint32_t api_hal_os_timer_get_arr() {
+    return LL_LPTIM_GetAutoReload(API_HAL_OS_TIMER);;
+}
+
+static inline void api_hal_os_timer_set_arr(uint32_t value) {
+    value &= API_HAL_OS_TIMER_MAX;
+    if (value != api_hal_os_timer_get_arr()) {
+        assert(api_hal_os_timer_arr_is_ok());
+        LL_LPTIM_ClearFlag_ARROK(API_HAL_OS_TIMER);
+        LL_LPTIM_SetAutoReload(API_HAL_OS_TIMER, value);
+    }
+}
+
+static inline bool api_hal_os_timer_cmp_is_ok() {
+    return LL_LPTIM_IsActiveFlag_CMPOK(API_HAL_OS_TIMER);
+}
+
+static inline uint32_t api_hal_os_timer_get_cmp() {
+    return LL_LPTIM_GetCompare(API_HAL_OS_TIMER);
+}
+
+static inline void api_hal_os_timer_set_cmp(uint32_t value) {
+    value &= API_HAL_OS_TIMER_MAX;
+    if (value != api_hal_os_timer_get_cmp()) {
+        assert(api_hal_os_timer_cmp_is_ok());
+        LL_LPTIM_ClearFlag_CMPOK(API_HAL_OS_TIMER);
+        LL_LPTIM_SetCompare(API_HAL_OS_TIMER, value);
+    }
+}
+
+static inline bool api_hal_os_timer_is_safe() {
+    uint16_t cmp = api_hal_os_timer_get_cmp();
+    uint16_t cnt = api_hal_os_timer_get_cnt();
+    uint16_t margin = (cmp > cnt) ? cmp - cnt : cnt - cmp;
+    if (margin < 8) {
+        return false;
+    }
+    if (!api_hal_os_timer_cmp_is_ok()) {
+        return false;
+    }
+    return true;
+}