619 lines
18 KiB
C++
619 lines
18 KiB
C++
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/*
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ChibiOS/RT - Copyright (C) 2006-2007 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 ch.hpp
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* @brief C++ wrapper classes and definitions.
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* @addtogroup CPlusPlusLibrary
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* @{
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*/
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#include <ch.h>
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#ifndef _CH_HPP_
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#define _CH_HPP_
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namespace chibios_rt {
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/**
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* @brief Class encapsulating the base system functionalities.
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*/
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class System {
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public:
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/**
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* @brief ChibiOS/RT initialization.
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* @details The system is initialized, the idle thread is spawned and the
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* current instruction flow becomes the main thread with priority
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* @p NORMALPRIO.
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*/
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static void Init(void);
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/**
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* @brief Kernel lock.
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*
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* @note On some ports it is faster to invoke chSysLock() directly because
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* inlining.
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*/
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static void Lock(void);
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/**
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* @brief Kernel unlock.
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*
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* @note On some ports it is faster to invoke chSysUnlock() directly
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* because inlining.
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*/
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static void Unlock(void);
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/**
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* @brief Returns the system time as system ticks.
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*
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* @note the system tick time interval is implementation dependent.
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*/
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static systime_t GetTime(void);
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};
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/**
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* @brief Timer class.
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*/
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class Timer {
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public:
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/**
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* @brief Embedded @p VirtualTimer structure.
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*/
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struct ::VirtualTimer timer;
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/**
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* @brief Starts the timer.
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*
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* @param time the time in system ticks
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* @param vtfunc the timer callback function
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* @param par the parameter for the callback function
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* @note It must be called with the interrupts disabled.
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* @note The associated function is invoked by an interrupt handler.
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*/
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void Set(systime_t time, vtfunc_t vtfunc, void *par);
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/**
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* @brief Resets the timer.
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*
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* @note It must be called with the interrupts disabled.
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* @note The timer MUST be active when this function is invoked.
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*/
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void Reset();
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/**
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* @brief Returns the timer status.
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*
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* @retval TRUE The timer is armed.
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* @retval FALSE The timer already fired its callback.
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*/
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bool IsArmed(void);
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};
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/**
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* @brief Base class for a ChibiOS/RT thread.
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* @details The thread body is the virtual function @p Main().
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*/
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class BaseThread {
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public:
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/**
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* @brief Pointer to the system thread.
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*/
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::Thread *thread_ref;
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/**
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* @brief Thread constructor.
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* @details The thread object is initialized and a system thread is
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* started.
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*
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* @param workspace pointer to the workspace area
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* @param wsize size of the workspace area
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* @param prio thread priority
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*/
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BaseThread(void *workspace, size_t wsize, tprio_t prio);
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/**
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* @brief Thread exit.
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*
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* @param msg the exit message
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*/
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static void Exit(msg_t msg);
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#if CH_USE_WAITEXIT
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/**
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* @brief Synchronization on Thread exit.
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*
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* @return the exit message from the thread
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*/
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msg_t Wait(void);
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#endif /* CH_USE_WAITEXIT */
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/**
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* @brief Resumes the thread.
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* @details The thread encapsulated into the object is resumed.
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*/
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void Resume(void);
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/**
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* @brief Changes the thread priority.
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*
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* @param newprio the new priority level
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*/
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static void SetPriority(tprio_t newprio);
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/**
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* @brief Requests thread termination.
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* @details A termination flag is pended on the thread, it is thread
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* responsibility to detect it and exit.
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*/
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void Terminate(void);
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/**
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* @brief Suspends the thread execution for the specified number of
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* system ticks.
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*
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* @param n the number of system ticks
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*/
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static void Sleep(systime_t n);
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/**
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* @brief Suspends the thread execution until the specified time arrives.
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*
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* @param time the system time
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*/
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static void SleepUntil(systime_t time);
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#if CH_USE_MESSAGES
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/**
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* @brief Sends a message to the thread and returns the answer.
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*
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* @param tp the target thread
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* @param msg the sent message
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* @return The returned message.
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*/
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static msg_t SendMessage(::Thread *tp, msg_t msg);
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/**
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* @brief Sends a message to the thread and returns the answer.
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*
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* @param msg the sent message
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* @return The returned message.
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*/
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msg_t SendMessage(msg_t msg);
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/**
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* @brief Waits for a message and returns it.
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*
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* @return The incoming message.
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*/
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static msg_t WaitMessage(void);
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/**
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* @brief Returns an enqueued message or @p NULL.
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*
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* @return The incoming message.
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* @retval NULL No incoming message.
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*/
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static msg_t GetMessage(void);
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/**
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* @brief Releases the next message in queue with a reply.
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*
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* @param msg the answer message
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*/
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static void ReleaseMessage(msg_t msg);
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/**
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* @brief Returns true if there is at least one message in queue.
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*
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* @retval TRUE A message is waiting in queue.
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* @retval FALSE A message is not waiting in queue.
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*/
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static bool IsPendingMessage(void);
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#endif /* CH_USE_MESSAGES */
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/**
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* @brief Thread body function.
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*
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* @return The exit message.
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*/
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virtual msg_t Main(void);
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};
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/**
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* @brief Enhanced threads template class.
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* @details This class introduces thread names and static working area
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* allocation.
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*
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* @param N the working area size for the thread class
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*/
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template <int N>
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class EnhancedThread : public BaseThread {
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protected:
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WORKING_AREA(wa, N); // Thread working area.
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public:
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/**
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* @brief The thread name.
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*/
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const char *name;
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/**
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* @brief Full constructor.
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* @details This constructor allows to set a priority level for the new
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* thread.
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* @param tname the name to be assigned to the thread
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* @param prio the priority to be assigned to the thread
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*/
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EnhancedThread(const char *tname, tprio_t prio) :
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BaseThread(wa, sizeof wa, prio) {
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name = tname;
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}
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/**
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* @brief Simplified constructor.
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* @details This constructor allows to create a thread by simply
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* specifying a name. In is assumed @p NORMALPRIO as initial priority.
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*
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* @param tname the name to be assigned to the thread
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*/
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EnhancedThread(const char *tname) :
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BaseThread(wa, sizeof wa, NORMALPRIO) {
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name = tname;
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}
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};
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#if CH_USE_SEMAPHORES
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/**
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* @brief Class encapsulating a semaphore.
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*/
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class Semaphore {
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public:
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/**
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* @brief Embedded @p ::Semaphore structure.
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*/
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struct ::Semaphore sem;
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/**
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* @brief Semaphore constructor.
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* @details The embedded @p ::Semaphore structure is initialized.
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*
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* @param n the semaphore counter value, must be greater or equal to zero
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*/
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Semaphore(cnt_t n);
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/**
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* @brief Resets a semaphore.
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*
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* @param n the new semaphore counter value, must be greater or equal to zero
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*/
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void Reset(cnt_t n);
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/**
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* @brief Wait operation on the semaphore.
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*
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* @retval RDY_OK if the semaphore was signaled or not taken.
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* @retval RDY_RESET if the semaphore was reset.
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*/
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msg_t Wait(void);
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/**
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* @brief Wait operation on the semaphore with timeout.
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*
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* @param time the number of ticks before the operation fails
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* @retval RDY_OK if the semaphore was signaled or not taken.
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* @retval RDY_RESET if the semaphore was reset.
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* @retval RDY_TIMEOUT if the semaphore was not signaled or reset within the
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* specified timeout.
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*/
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msg_t WaitTimeout(systime_t time);
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/**
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* @brief Signal operation on the semaphore.
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* @details The semaphore is signaled, the next thread in queue, if any,
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* is awakened.
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*/
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void Signal(void);
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#if CH_USE_SEMSW
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/**
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* @brief Atomic signal and wait operations.
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*
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* @param ssem pointer to a @p Semaphore to be signaled
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* @param wsem pointer to a @p Semaphore to be wait on
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* @retval RDY_OK if the semaphore was signaled or not taken.
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* @retval RDY_RESET if the semaphore was reset.
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*/
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static msg_t SignalWait(Semaphore *ssem, Semaphore *wsem);
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#endif /* CH_USE_SEMSW */
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};
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#endif /* CH_USE_SEMAPHORES */
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#if CH_USE_MUTEXES
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/**
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* @brief Class encapsulating a mutex.
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*/
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class Mutex {
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public:
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/**
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* @brief Embedded @p ::Mutex structure.
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*/
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struct ::Mutex mutex;
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/**
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* @brief Mutex constructor.
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* @details The embedded @p ::Mutex structure is initialized.
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*/
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Mutex(void);
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/**
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* @brief Tries a lock operation on the mutex.
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* @retval TRUE if the mutex was successfully acquired
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* @retval FALSE if the lock attempt failed.
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*/
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bool TryLock(void);
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/**
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||
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* @brief Locks the mutex.
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||
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* @details Performs a lock operation on the mutex, if the mutex is
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* already locked then the thread enters the mutex priority queue and
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* waits.
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*/
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void Lock(void);
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||
|
|
|
||
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/**
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||
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* @brief Unlocks the mutex.
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||
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* @details Performs an unlock operation on the mutex, the next waiting
|
||
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* thread, if any, is resumed and locks the mutex.
|
||
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*/
|
||
|
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static void Unlock(void);
|
||
|
|
|
||
|
|
/**
|
||
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|
* @brief Unlocks all the mutexes owned by the invoking thread.
|
||
|
|
* @details This operation is <b>MUCH MORE</b> efficient than releasing
|
||
|
|
* the mutexes one by one and not just because the call overhead, this
|
||
|
|
* function does not have any overhead related to the priority inheritance
|
||
|
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* mechanism.
|
||
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*/
|
||
|
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static void UnlockAll(void);
|
||
|
|
};
|
||
|
|
|
||
|
|
#if CH_USE_CONDVARS
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a conditional variable.
|
||
|
|
*/
|
||
|
|
class CondVar {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p ::CondVar structure.
|
||
|
|
*/
|
||
|
|
struct ::CondVar condvar;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief CondVar constructor.
|
||
|
|
* @details The embedded @p ::CondVar structure is initialized.
|
||
|
|
*/
|
||
|
|
CondVar(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Signals the CondVar.
|
||
|
|
* @details The next thread waiting on the @p CondVar, if any, is awakened.
|
||
|
|
*/
|
||
|
|
void Signal(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Broadcasts the CondVar.
|
||
|
|
* @details All the threads waiting on the @p CondVar, if any, are awakened.
|
||
|
|
*/
|
||
|
|
void Broadcast(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits on the CondVar while releasing the controlling mutex.
|
||
|
|
*
|
||
|
|
* @return The wakep mode.
|
||
|
|
* @retval RDY_OK if the condvar was signaled using chCondSignal().
|
||
|
|
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
|
||
|
|
*/
|
||
|
|
msg_t Wait(void);
|
||
|
|
|
||
|
|
#if CH_USE_CONDVARS_TIMEOUT
|
||
|
|
/**
|
||
|
|
* @brief Waits on the CondVar while releasing the controlling mutex.
|
||
|
|
*
|
||
|
|
* @param time the number of ticks before the operation fails
|
||
|
|
* @return The wakep mode.
|
||
|
|
* @retval RDY_OK if the condvar was signaled using chCondSignal().
|
||
|
|
* @retval RDY_RESET if the condvar was signaled using chCondBroadcast().
|
||
|
|
* @retval RDY_TIMEOUT if the condvar was not signaled within the specified
|
||
|
|
* timeout.
|
||
|
|
*/
|
||
|
|
msg_t WaitTimeout(systime_t time);
|
||
|
|
#endif /* CH_USE_CONDVARS_TIMEOUT */
|
||
|
|
};
|
||
|
|
#endif /* CH_USE_CONDVARS */
|
||
|
|
#endif /* CH_USE_MUTEXES */
|
||
|
|
|
||
|
|
#if CH_USE_EVENTS
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating an event source.
|
||
|
|
*/
|
||
|
|
class Event {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p ::EventSource structure.
|
||
|
|
*/
|
||
|
|
struct ::EventSource event;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Event constructor.
|
||
|
|
* @details The embedded @p ::EventSource structure is initialized.
|
||
|
|
*/
|
||
|
|
Event(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Registers a listener on the event source.
|
||
|
|
*
|
||
|
|
* @param elp pointer to the @p EventListener structure
|
||
|
|
* @param eid numeric identifier assigned to the Event Listener
|
||
|
|
*/
|
||
|
|
void Register(EventListener *elp, eventid_t eid);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Registers an Event Listener on an Event Source.
|
||
|
|
*
|
||
|
|
* @param elp pointer to the @p EventListener structure
|
||
|
|
* @param emask the mask of event flags to be pended to the thread when the
|
||
|
|
* event source is broadcasted
|
||
|
|
* @note Multiple Event Listeners can specify the same bits to be pended.
|
||
|
|
*/
|
||
|
|
void RegisterMask(EventListener *elp, eventmask_t emask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unregisters a listener.
|
||
|
|
* @details The specified listeners is no more signaled by the event
|
||
|
|
* source.
|
||
|
|
*
|
||
|
|
* @param elp the listener to be unregistered
|
||
|
|
*/
|
||
|
|
void Unregister(EventListener *elp);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Broadcasts an event.
|
||
|
|
* @details All the listeners registered on the event source are signaled.
|
||
|
|
*/
|
||
|
|
void Broadcast(void);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Clears specified events from the pending events mask.
|
||
|
|
*
|
||
|
|
* @param mask the events to be cleared
|
||
|
|
* @return The pending events that were cleared.
|
||
|
|
*/
|
||
|
|
static eventmask_t Clear(eventmask_t mask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Makes an events mask pending in the current thread.
|
||
|
|
* @details This functon is @b much faster than using @p Broadcast().
|
||
|
|
*
|
||
|
|
* @param mask the events to be pended
|
||
|
|
* @return The current pending events mask.
|
||
|
|
*/
|
||
|
|
static eventmask_t Pend(eventmask_t mask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Invokes the event handlers associated with a mask.
|
||
|
|
*
|
||
|
|
* @param mask mask of the events to be dispatched
|
||
|
|
* @param handlers an array of @p evhandler_t. The array must be
|
||
|
|
* have indexes from zero up the higher registered event
|
||
|
|
* identifier.
|
||
|
|
*/
|
||
|
|
static void Dispatch(const evhandler_t handlers[], eventmask_t mask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for a single event.
|
||
|
|
* @details A pending event among those specified in @p ewmask is selected,
|
||
|
|
* cleared and its mask returned.
|
||
|
|
*
|
||
|
|
* @param ewmask mask of the events that the function should wait for,
|
||
|
|
* @p ALL_EVENTS enables all the events
|
||
|
|
* @return The mask of the lowest id served and cleared event.
|
||
|
|
* @note One and only one event is served in the function, the one with the
|
||
|
|
* lowest event id. The function is meant to be invoked into a loop in
|
||
|
|
* order to serve all the pending events.<br>
|
||
|
|
* This means that Event Listeners with a lower event identifier have
|
||
|
|
* an higher priority.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitOne(eventmask_t ewmask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for any of the specified events.
|
||
|
|
* @details The function waits for any event among those specified in
|
||
|
|
* @p ewmask to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param ewmask mask of the events that the function should wait for,
|
||
|
|
* @p ALL_EVENTS enables all the events
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitAny(eventmask_t ewmask);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for all the specified event flags then clears them.
|
||
|
|
* @details The function waits for all the events specified in @p ewmask
|
||
|
|
* to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param ewmask mask of the event ids that the function should wait for
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitAll(eventmask_t ewmask);
|
||
|
|
|
||
|
|
#if CH_USE_EVENTS_TIMEOUT
|
||
|
|
/**
|
||
|
|
* @brief Waits for a single event.
|
||
|
|
* @details A pending event among those specified in @p ewmask is selected,
|
||
|
|
* cleared and its mask returned.
|
||
|
|
* @param ewmask mask of the events that the function should wait for,
|
||
|
|
* @p ALL_EVENTS enables all the events
|
||
|
|
* @param time the number of ticks before the operation timouts
|
||
|
|
* @return The mask of the lowest id served and cleared event.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
* @note One and only one event is served in the function, the one with the
|
||
|
|
* lowest event id. The function is meant to be invoked into a loop in
|
||
|
|
* order to serve all the pending events.<br>
|
||
|
|
* This means that Event Listeners with a lower event identifier have
|
||
|
|
* an higher priority.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitOneTimeout(eventmask_t ewmask, systime_t time);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for any of the specified events.
|
||
|
|
* @details The function waits for any event among those specified in
|
||
|
|
* @p ewmask to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param ewmask mask of the events that the function should wait for,
|
||
|
|
* @p ALL_EVENTS enables all the events
|
||
|
|
* @param time the number of ticks before the operation timouts
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitAnyTimeout(eventmask_t ewmask, systime_t time);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for all the specified event flags then clears them.
|
||
|
|
* @details The function waits for all the events specified in @p ewmask
|
||
|
|
* to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param ewmask mask of the event ids that the function should wait for
|
||
|
|
* @param time the number of ticks before the operation timouts
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
*/
|
||
|
|
static eventmask_t WaitAllTimeout(eventmask_t ewmask, systime_t time);
|
||
|
|
|
||
|
|
#endif /* CH_USE_EVENTS_TIMEOUT */
|
||
|
|
};
|
||
|
|
#endif /* CH_USE_EVENTS */
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* _CH_HPP_ */
|
||
|
|
|
||
|
|
/** @} */
|