513 lines
14 KiB
C
513 lines
14 KiB
C
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT 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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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file osal.h
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* @brief OSAL module header.
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*
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* @addtogroup OSAL
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* @{
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*/
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#ifndef _OSAL_H_
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#define _OSAL_H_
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "ch.h"
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Common constants
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* @{
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*/
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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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#if !defined(TRUE) || defined(__DOXYGEN__)
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#define TRUE (!FALSE)
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#endif
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#define OSAL_SUCCESS FALSE
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#define OSAL_FAILED TRUE
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/** @} */
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/**
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* @name Messages
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* @{
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*/
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#define MSG_OK RDY_OK
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#define MSG_RESET RDY_RESET
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#define MSG_TIMEOUT RDY_TIMEOUT
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/** @} */
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#if 0
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/**
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* @name Special time constants
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* @{
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*/
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#define TIME_IMMEDIATE ((systime_t)0)
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#define TIME_INFINITE ((systime_t)-1)
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/** @} */
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#endif
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/**
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* @name Systick modes.
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* @{
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*/
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#define OSAL_ST_MODE_NONE 0
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#define OSAL_ST_MODE_PERIODIC 1
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#define OSAL_ST_MODE_FREERUNNING 2
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/** @} */
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/**
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* @brief Systick mode required by the underlying OS.
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*/
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#if (CH_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__)
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#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
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#else
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#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
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#endif
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/**
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* @brief Required systick frequency or resolution.
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*/
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#define OSAL_SYSTICK_FREQUENCY CH_CFG_ST_FREQUENCY
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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#if 0
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/**
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* @brief Type of a message.
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*/
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typedef int32_t msg_t;
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#endif
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#if 0
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/**
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* @brief Type of system time counter.
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*/
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typedef uint32_t systime_t;
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#endif
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#if 0
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/**
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* @brief Type of realtime counter.
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*/
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typedef uint32_t rtcnt_t;
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#endif
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/**
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* @brief Type of a thread reference.
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*/
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typedef thread_t * thread_reference_t;
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#if 0
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/**
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* @brief Type of an event flags mask.
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*/
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typedef uint32_t eventflags_t;
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#endif
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#if 0
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/**
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* @brief Type of an event flags object.
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* @note The content of this structure is not part of the API and should
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* not be relied upon. Implementers may define this structure in
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* an entirely different way.
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* @note Retrieval and clearing of the flags are not defined in this
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* API and are implementation-dependent.
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*/
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typedef struct {
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volatile eventflags_t flags; /**< @brief Flags stored into the
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object. */
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} event_source_t;
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#endif
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/**
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* @brief Type of a mutex.
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* @note If the OS does not support mutexes or there is no OS then them
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* mechanism can be simulated.
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*/
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#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
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#elif CH_CFG_USE_SEMAPHORES
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typedef semaphore_t mutex_t;
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#else
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typedef uint32_t mutex_t;
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#endif
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#if 0
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/**
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* @brief Type of a thread queue.
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* @details A thread queue is a queue of sleeping threads, queued threads
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* can be dequeued one at time or all together.
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* @note In this implementation it is implemented as a single reference
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* because there are no real threads.
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*/
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typedef struct {
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thread_reference_t tr;
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} threads_queue_t;
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#endif
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Condition assertion.
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* @details If the condition check fails then the OSAL panics with the
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* specified message and halts.
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* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
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* switch is enabled.
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* @note The convention for the message is the following:<br>
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* @<function_name@>(), #@<assert_number@>
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* @note The remark string is not currently used except for putting a
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* comment in the code about the assertion.
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*
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* @param[in] c the condition to be verified to be true
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* @param[in] msg the text message
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* @param[in] remark a remark string
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*
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* @api
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*/
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#define osalDbgAssert(c, msg, remark) chDbgAssert(c, msg, remark)
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/**
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* @brief Function parameters check.
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* @details If the condition check fails then the OSAL panics and halts.
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* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
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* is enabled.
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*
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* @param[in] c the condition to be verified to be true
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*
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* @api
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*/
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#define osalDbgCheck(c) chDbgCheck(c, __FUNCTION__)
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/**
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* @brief I-Class state check.
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* @note Not implemented in this simplified OSAL.
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*/
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#define osalDbgCheckClassI() chDbgCheckClassI()
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/**
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* @brief S-Class state check.
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* @note Not implemented in this simplified OSAL.
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*/
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#define osalDbgCheckClassS() chDbgCheckClassS()
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/**
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* @brief IRQ prologue code.
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* @details This macro must be inserted at the start of all IRQ handlers.
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*/
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#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
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/**
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* @brief IRQ epilogue code.
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* @details This macro must be inserted at the end of all IRQ handlers.
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*/
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#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
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/**
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* @brief IRQ handler function declaration.
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* @details This macro hides the details of an ISR function declaration.
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*
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* @param[in] id a vector name as defined in @p vectors.s
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*/
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#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void osalInit(void);
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void osalSysHalt(const char *reason);
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msg_t osalThreadSuspendS(thread_reference_t *trp);
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void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
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void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
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msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
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void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
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void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Enters a critical zone from thread context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysLock(void) {
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chSysLock();
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}
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/**
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* @brief Leaves a critical zone from thread context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysUnlock(void) {
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chSysUnlock();
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}
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/**
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* @brief Enters a critical zone from ISR context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysLockFromISR(void) {
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chSysLockFromISR();
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}
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/**
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* @brief Leaves a critical zone from ISR context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysUnlockFromISR(void) {
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chSysUnlockFromISR();
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}
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#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
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/**
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* @brief Polled delay.
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* @note The real delay is always few cycles in excess of the specified
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* value.
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*
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* @param[in] cycles number of cycles
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*
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* @xclass
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*/
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static inline void osalSysPolledDelayX(rtcnt_t cycles) {
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chSysPolledDelayX(cycles);
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}
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#endif
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/**
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* @brief Systick callback for the underlying OS.
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* @note This callback is only defined if the OSAL requires such a
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* service from the HAL.
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*/
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#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
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static inline void osalOsTimerHandlerI(void) {
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chSysTimerHandlerI();
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}
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#endif
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/**
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* @brief Checks if a reschedule is required and performs it.
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* @note I-Class functions invoked from thread context must not reschedule
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* by themselves, an explicit reschedule using this function is
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* required in this scenario.
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* @note Not implemented in this simplified OSAL.
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*
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* @sclass
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*/
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static inline void osalOsRescheduleS(void) {
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chSchRescheduleS();
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE is allowed but interpreted as a
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* normal time specification.
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* - @a TIME_IMMEDIATE this value is not allowed.
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* .
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*
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* @sclass
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*/
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static inline void osalThreadSleepS(systime_t time) {
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chThdSleepS(time);
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE is allowed but interpreted as a
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* normal time specification.
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* - @a TIME_IMMEDIATE this value is not allowed.
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* .
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*
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* @api
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*/
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static inline void osalThreadSleep(systime_t time) {
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chThdSleep(time);
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}
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/**
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* @brief Initializes an event flags object.
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*
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* @param[out] esp pointer to the event flags object
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*
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* @init
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*/
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static inline void osalEventObjectInit(event_source_t *esp) {
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chEvtObjectInit(esp);
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}
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/**
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* @brief Add flags to an event source object.
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*
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* @param[in] esp pointer to the event flags object
|
||
|
|
* @param[in] flags flags to be ORed to the flags mask
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline void osalEventBroadcastFlagsI(event_source_t *esp,
|
||
|
|
eventflags_t flags) {
|
||
|
|
|
||
|
|
chEvtBroadcastFlagsI(esp, flags);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Add flags to an event source object.
|
||
|
|
*
|
||
|
|
* @param[in] esp pointer to the event flags object
|
||
|
|
* @param[in] flags flags to be ORed to the flags mask
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline void osalEventBroadcastFlags(event_source_t *esp,
|
||
|
|
eventflags_t flags) {
|
||
|
|
|
||
|
|
chEvtBroadcastFlags(esp, flags);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes s @p mutex_t object.
|
||
|
|
*
|
||
|
|
* @param[out] mp pointer to the @p mutex_t object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
static inline void osalMutexObjectInit(mutex_t *mp) {
|
||
|
|
|
||
|
|
#if CH_CFG_USE_MUTEXES
|
||
|
|
chMtxObjectInit(mp);
|
||
|
|
#elif CH_CFG_USE_SEMAPHORES
|
||
|
|
chSemObjectInit((semaphore_t *)mp, 1);
|
||
|
|
#else
|
||
|
|
*mp = 0;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
* @brief Locks the specified mutex.
|
||
|
|
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||
|
|
* mutexes.
|
||
|
|
*
|
||
|
|
* @param[in,out] mp pointer to the @p mutex_t object
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static inline void osalMutexLock(mutex_t *mp) {
|
||
|
|
|
||
|
|
#if CH_CFG_USE_MUTEXES
|
||
|
|
chMtxLock(mp);
|
||
|
|
#elif CH_CFG_USE_SEMAPHORES
|
||
|
|
chSemWait((semaphore_t *)mp);
|
||
|
|
#else
|
||
|
|
*mp = 1;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unlocks the specified mutex.
|
||
|
|
* @note The HAL guarantees to release mutex in reverse lock order. The
|
||
|
|
* mutex being unlocked is guaranteed to be the last locked mutex
|
||
|
|
* by the invoking thread.
|
||
|
|
* The implementation can rely on this behavior and eventually
|
||
|
|
* ignore the @p mp parameter which is supplied in order to support
|
||
|
|
* those OSes not supporting a stack of the owned mutexes.
|
||
|
|
*
|
||
|
|
* @param[in,out] mp pointer to the @p mutex_t object
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static inline void osalMutexUnlock(mutex_t *mp) {
|
||
|
|
|
||
|
|
#if CH_CFG_USE_MUTEXES
|
||
|
|
(void)mp;
|
||
|
|
chMtxUnlock();
|
||
|
|
#elif CH_CFG_USE_SEMAPHORES
|
||
|
|
chSemSignal((semaphore_t *)mp);
|
||
|
|
#else
|
||
|
|
*mp = 0;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes a threads queue object.
|
||
|
|
*
|
||
|
|
* @param[out] tqp pointer to the threads queue object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
static inline void osalQueueObjectInit(threads_queue_t *tqp) {
|
||
|
|
|
||
|
|
queue_init(tqp);
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* _OSAL_H_ */
|
||
|
|
|
||
|
|
/** @} */
|