455 lines
12 KiB
C
455 lines
12 KiB
C
|
/*
|
||
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
||
|
|
2011,2012,2013 Giovanni Di Sirio.
|
||
|
|
|
||
|
|
This file is part of ChibiOS/RT.
|
||
|
|
|
||
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation; either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file osal.h
|
||
|
|
* @brief OSAL module header.
|
||
|
|
*
|
||
|
|
* @addtogroup OSAL
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _OSAL_H_
|
||
|
|
#define _OSAL_H_
|
||
|
|
|
||
|
|
#include <stddef.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
|
||
|
|
#include "ch.h"
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module constants. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Common constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#if !defined(FALSE) || defined(__DOXYGEN__)
|
||
|
|
#define FALSE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if !defined(TRUE) || defined(__DOXYGEN__)
|
||
|
|
#define TRUE (!FALSE)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#define OSAL_SUCCESS FALSE
|
||
|
|
#define OSAL_FAILED TRUE
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Messages
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define MSG_OK RDY_OK
|
||
|
|
#define MSG_RESET RDY_RESET
|
||
|
|
#define MSG_TIMEOUT RDY_TIMEOUT
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @name Special time constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define TIME_IMMEDIATE ((systime_t)0)
|
||
|
|
#define TIME_INFINITE ((systime_t)-1)
|
||
|
|
/** @} */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module pre-compile time settings. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Derived constants and error checks. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module data structures and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of a message.
|
||
|
|
*/
|
||
|
|
typedef int32_t msg_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of system time counter.
|
||
|
|
*/
|
||
|
|
typedef uint32_t systime_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of a thread reference.
|
||
|
|
*/
|
||
|
|
typedef thread_t * thread_reference_t;
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of an event flags mask.
|
||
|
|
*/
|
||
|
|
typedef uint32_t eventflags_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of an event flags object.
|
||
|
|
* @note The content of this structure is not part of the API and should
|
||
|
|
* not be relied upon. Implementers may define this structure in
|
||
|
|
* an entirely different way.
|
||
|
|
* @note Retrieval and clearing of the flags are not defined in this
|
||
|
|
* API and are implementation-dependent.
|
||
|
|
*/
|
||
|
|
typedef struct {
|
||
|
|
volatile eventflags_t flags; /**< @brief Flags stored into the
|
||
|
|
object. */
|
||
|
|
} event_source_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Type of a mutex.
|
||
|
|
* @note If the OS does not support mutexes or there is no OS then them
|
||
|
|
* mechanism can be simulated.
|
||
|
|
*/
|
||
|
|
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
|
||
|
|
#elif CH_CFG_USE_SEMAPHORES
|
||
|
|
typedef semaphore_t mutex_t;
|
||
|
|
#else
|
||
|
|
typedef uint32_t mutex_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of a thread queue.
|
||
|
|
* @details A thread queue is a queue of sleeping threads, queued threads
|
||
|
|
* can be dequeued one at time or all together.
|
||
|
|
* @note In this implementation it is implemented as a single reference
|
||
|
|
* because there are no real threads.
|
||
|
|
*/
|
||
|
|
typedef struct {
|
||
|
|
thread_reference_t tr;
|
||
|
|
} threads_queue_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module macros. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Condition assertion.
|
||
|
|
* @details If the condition check fails then the OSAL panics with the
|
||
|
|
* specified message and halts.
|
||
|
|
* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
|
||
|
|
* switch is enabled.
|
||
|
|
* @note The convention for the message is the following:<br>
|
||
|
|
* @<function_name@>(), #@<assert_number@>
|
||
|
|
* @note The remark string is not currently used except for putting a
|
||
|
|
* comment in the code about the assertion.
|
||
|
|
*
|
||
|
|
* @param[in] c the condition to be verified to be true
|
||
|
|
* @param[in] msg the text message
|
||
|
|
* @param[in] remark a remark string
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalDbgAssert(c, msg, remark) chDbgAssert(c, msg, remark)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Function parameters check.
|
||
|
|
* @details If the condition check fails then the OSAL panics and halts.
|
||
|
|
* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
|
||
|
|
* is enabled.
|
||
|
|
*
|
||
|
|
* @param[in] c the condition to be verified to be true
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalDbgCheck(c) chDbgCheck(c, __FUNCTION__)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief I-Class state check.
|
||
|
|
* @note Not implemented in this simplified OSAL.
|
||
|
|
*/
|
||
|
|
#define osalDbgCheckClassI() chDbgCheckClassI()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief S-Class state check.
|
||
|
|
* @note Not implemented in this simplified OSAL.
|
||
|
|
*/
|
||
|
|
#define osalDbgCheckClassS() chDbgCheckClassS()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief IRQ prologue code.
|
||
|
|
* @details This macro must be inserted at the start of all IRQ handlers.
|
||
|
|
*/
|
||
|
|
#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief IRQ epilogue code.
|
||
|
|
* @details This macro must be inserted at the end of all IRQ handlers.
|
||
|
|
*/
|
||
|
|
#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief IRQ handler function declaration.
|
||
|
|
* @details This macro hides the details of an ISR function declaration.
|
||
|
|
*
|
||
|
|
* @param[in] id a vector name as defined in @p vectors.s
|
||
|
|
*/
|
||
|
|
#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
void osalInit(void);
|
||
|
|
void osalSysHalt(const char *reason);
|
||
|
|
msg_t osalThreadSuspendS(thread_reference_t *trp);
|
||
|
|
void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
|
||
|
|
void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
|
||
|
|
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
|
||
|
|
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
|
||
|
|
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module inline functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enters a critical zone from thread context.
|
||
|
|
* @note This function cannot be used for reentrant critical zones.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysLock(void) {
|
||
|
|
|
||
|
|
chSysLock();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Leaves a critical zone from thread context.
|
||
|
|
* @note This function cannot be used for reentrant critical zones.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysUnlock(void) {
|
||
|
|
|
||
|
|
chSysUnlock();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enters a critical zone from ISR context.
|
||
|
|
* @note This function cannot be used for reentrant critical zones.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysLockFromISR(void) {
|
||
|
|
|
||
|
|
chSysLockFromISR();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Leaves a critical zone from ISR context.
|
||
|
|
* @note This function cannot be used for reentrant critical zones.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysUnlockFromISR(void) {
|
||
|
|
|
||
|
|
chSysUnlockFromISR();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Checks if a reschedule is required and performs it.
|
||
|
|
* @note I-Class functions invoked from thread context must not reschedule
|
||
|
|
* by themselves, an explicit reschedule using this function is
|
||
|
|
* required in this scenario.
|
||
|
|
* @note Not implemented in this simplified OSAL.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline void osalOsRescheduleS(void) {
|
||
|
|
|
||
|
|
chSchRescheduleS();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the invoking thread for the specified time.
|
||
|
|
*
|
||
|
|
* @param[in] time the delay in system ticks, the special values are
|
||
|
|
* handled as follow:
|
||
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
||
|
|
* normal time specification.
|
||
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline void osalThreadSleepS(systime_t time) {
|
||
|
|
|
||
|
|
chThdSleepS(time);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the invoking thread for the specified time.
|
||
|
|
*
|
||
|
|
* @param[in] time the delay in system ticks, the special values are
|
||
|
|
* handled as follow:
|
||
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
||
|
|
* normal time specification.
|
||
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static inline void osalThreadSleep(systime_t time) {
|
||
|
|
|
||
|
|
chThdSleep(time);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes an event flags object.
|
||
|
|
*
|
||
|
|
* @param[out] esp pointer to the event flags object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
static inline void osalEventObjectInit(event_source_t *esp) {
|
||
|
|
|
||
|
|
chEvtObjectInit(esp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 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_ */
|
||
|
|
|
||
|
|
/** @} */
|