/*
Nil RTOS - Copyright (C) 2012 Giovanni Di Sirio.
This file is part of Nil RTOS.
Nil RTOS 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.
Nil RTOS 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 .
*/
/**
* @file nil.h
* @brief Nil RTOS main header file.
* @details This header includes all the required kernel headers so it is the
* only header you usually need to include in your application.
*
* @addtogroup nil
* @{
*/
#ifndef _NIL_H_
#define _NIL_H_
typedef struct nil_thread thread_t;
#include "nilconf.h"
#include "niltypes.h"
#include "nilcore.h"
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/**
* @name Nil RTOS identification
* @{
*/
#define _NIL_ /**< @brief Nil RTOS identification.*/
#define CH_KERNEL_VERSION "0.1.0alpha"
#define CH_KERNEL_MAJOR 0
#define CH_KERNEL_MINOR 1
#define CH_KERNEL_PATCH 0
/** @} */
/**
* @name Wakeup messages
* @{
*/
#define MSG_OK 0 /**< @brief Normal wakeup message. */
#define MSG_TIMEOUT -1 /**< @brief Wake-up caused by a timeout
condition. */
#define MSG_RESET -2 /**< @brief Wake-up caused by a reset
condition. */
/** @} */
/**
* @name Special time constants
* @{
*/
/**
* @brief Zero time specification for some functions with a timeout
* specification.
* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
* see the specific function documentation.
*/
#define TIME_IMMEDIATE ((systime_t)-1)
/**
* @brief Infinite time specification for all functions with a timeout
* specification.
*/
#define TIME_INFINITE ((systime_t)0)
/** @} */
/**
* @name Thread state related macros
* @{
*/
#define NIL_STATE_READY 0 /**< @brief Thread ready or executing. */
#define NIL_STATE_SLEEPING 1 /**< @brief Thread sleeping. */
#define NIL_STATE_SUSP 2 /**< @brief Thread suspended. */
#define NIL_STATE_WTSEM 3 /**< @brief Thread waiting on semaphore.*/
#define NIL_STATE_WTOREVT 4 /**< @brief Thread waiting for events. */
#define NIL_THD_IS_READY(tr) ((tr)->state == NIL_STATE_READY)
#define NIL_THD_IS_SLEEPING(tr) ((tr)->state == NIL_STATE_SLEEPING)
#define NIL_THD_IS_SUSP(tr) ((tr)->state == NIL_STATE_SUSP)
#define NIL_THD_IS_WTSEM(tr) ((tr)->state == NIL_STATE_WTSEM)
#define NIL_THD_IS_WTOREVT(tr) ((tr)->state == NIL_STATE_WTOREVT)
/** @} */
/**
* @name Events related macros
* @{
*/
/**
* @brief All events allowed mask.
*/
#define ALL_EVENTS ((eventmask_t)-1)
/**
* @brief Returns an event mask from an event identifier.
*/
#define EVENT_MASK(eid) ((eventmask_t)(1 << (eid)))
/** @} */
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/**
* @brief Number of user threads in the application.
* @note This number is not inclusive of the idle thread which is
* implicitly handled.
*/
#if !defined(NIL_CFG_NUM_THREADS) || defined(__DOXYGEN__)
#define NIL_CFG_NUM_THREADS 2
#endif
/**
* @brief System time counter resolution.
* @note Allowed values are 16 or 32 bits.
*/
#if !defined(NIL_CFG_ST_RESOLUTION) || defined(__DOXYGEN__)
#define NIL_CFG_ST_RESOLUTION 32
#endif
/**
* @brief System tick frequency.
* @note This value together with the @p NIL_CFG_ST_RESOLUTION
* option defines the maximum amount of time allowed for
* timeouts.
*/
#if !defined(NIL_CFG_ST_FREQUENCY) || defined(__DOXYGEN__)
#define NIL_CFG_ST_FREQUENCY 100
#endif
/**
* @brief Time delta constant for the tick-less mode.
* @note If this value is zero then the system uses the classic
* periodic tick. This value represents the minimum number
* of ticks that is safe to specify in a timeout directive.
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#if !defined(NIL_CFG_ST_TIMEDELTA) || defined(__DOXYGEN__)
#define NIL_CFG_ST_TIMEDELTA 0
#endif
/**
* @brief Events Flags APIs.
* @details If enabled then the event flags APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(NIL_CFG_USE_EVENTS) || defined(__DOXYGEN__)
#define NIL_CFG_USE_EVENTS TRUE
#endif
/**
* @brief System assertions.
*/
#if !defined(NIL_CFG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
#define NIL_CFG_ENABLE_ASSERTS FALSE
#endif
/**
* @brief Stack check.
*/
#if !defined(NIL_CFG_ENABLE_STACK_CHECK) || defined(__DOXYGEN__)
#define NIL_CFG_ENABLE_STACK_CHECK FALSE
#endif
/**
* @brief Threads descriptor structure extension.
* @details User fields added to the end of the @p thread_t structure.
*/
#if !defined(NIL_CFG_THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
#define NIL_CFG_THREAD_EXT_FIELDS
#endif
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if NIL_CFG_NUM_THREADS < 1
#error "at least one thread must be defined"
#endif
#if NIL_CFG_NUM_THREADS > 12
#error "Nil is not recommended for thread-intensive applications, consider" \
"ChibiOS/RT instead"
#endif
#if (NIL_CFG_ST_RESOLUTION != 16) && (NIL_CFG_ST_RESOLUTION != 32)
#error "invalid NIL_CFG_ST_RESOLUTION specified, must be 16 or 32"
#endif
#if NIL_CFG_ST_FREQUENCY <= 0
#error "invalid NIL_CFG_ST_FREQUENCY specified, must be greated than zero"
#endif
#if (NIL_CFG_ST_TIMEDELTA < 0) || (NIL_CFG_ST_TIMEDELTA == 1)
#error "invalid NIL_CFG_ST_TIMEDELTA specified, must " \
"be zero or greater than one"
#endif
#if NIL_CFG_ENABLE_ASSERTS
#define NIL_DBG_ENABLED TRUE
#else
#define NIL_DBG_ENABLED FALSE
#endif
/** Boundaries of the idle thread boundaries, only required if stack checking
is enabled.*/
#if NIL_CFG_ENABLE_STACK_CHECK
extern stkalign_t __main_thread_stack_base__, __main_thread_stack_end__;
#define THD_IDLE_BASE (&__main_thread_stack_base__)
#define THD_IDLE_END (&__main_thread_stack_end__)
#else
#define THD_IDLE_BASE NULL
#define THD_IDLE_END NULL
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Type of internal context structure.
*/
typedef struct port_intctx intctx_t;
/**
* @brief Type of a structure representing a counting semaphore.
*/
typedef struct {
volatile cnt_t cnt; /**< @brief Semaphore counter. */
} semaphore_t;
/**
* @brief Thread function.
*/
typedef void (*tfunc_t)(void *);
/**
* @brief Type of a structure representing a thread static configuration.
*/
typedef struct nil_thread_cfg thread_config_t;
/**
* @brief Type of a structure representing a thread.
*/
typedef struct nil_thread thread_t;
/**
* @brief Structure representing a thread static configuration.
*/
struct nil_thread_cfg {
stkalign_t *wbase; /**< @brief Thread working area base. */
stkalign_t *wend; /**< @brief Thread working area end. */
const char *namep; /**< @brief Thread name, for debugging. */
tfunc_t funcp; /**< @brief Thread function. */
void *arg; /**< @brief Thread function argument. */
};
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
/**
* @brief Structure representing a thread.
*/
struct nil_thread {
intctx_t *ctxp; /**< @brief Pointer to internal context. */
tstate_t state; /**< @brief Thread state. */
/* Note, the following union contains a pointer while the thread is in a
sleeping state (!NIL_THD_IS_READY()) else contains the wake-up message.*/
union {
msg_t msg; /**< @brief Wake-up message. */
void *p; /**< @brief Generic pointer. */
thread_reference_t *trp; /**< @brief Pointer to thread reference. */
semaphore_t *semp; /**< @brief Pointer to semaphore. */
#if NIL_CFG_USE_EVENTS
eventmask_t ewmask; /**< @brief Enabled events mask. */
#endif
} u1;
volatile systime_t timeout;/**< @brief Timeout counter, zero
if disabled. */
#if NIL_CFG_USE_EVENTS
eventmask_t epmask; /**< @brief Pending events mask. */
#endif
#if NIL_CFG_ENABLE_STACK_CHECK || defined(__DOXYGEN__)
stkalign_t *stklim;/**< @brief Thread stack boundary. */
#endif
/* Optional extra fields.*/
NIL_CFG_THREAD_EXT_FIELDS
};
/**
* @brief System data structure.
* @note This structure contain all the data areas used by the OS except
* stacks.
*/
typedef struct {
/**
* @brief Pointer to the running thread.
*/
thread_t *current;
/**
* @brief Pointer to the next thread to be executed.
* @note This pointer must point at the same thread pointed by @p currp
* or to an higher priority thread if a switch is required.
*/
thread_t *next;
#if NIL_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)
/**
* @brief System time.
*/
systime_t systime;
#endif
#if NIL_CFG_ST_TIMEDELTA > 0 || defined(__DOXYGEN__)
/**
* @brief System time of the last tick event.
*/
systime_t lasttime;
/**
* @brief Time of the next scheduled tick event.
*/
systime_t nexttime;
#endif
/**
* @brief Thread structures for all the defined threads.
*/
thread_t threads[NIL_CFG_NUM_THREADS + 1];
#if NIL_DBG_ENABLED || defined(__DOXYGEN__)
/**
* @brief Panic message.
* @note This field is only present if some debug options have been
* activated.
*/
const char *dbg_panic_msg;
#endif
} nil_system_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @name Threads tables definition macros
* @{
*/
/**
* @brief Start of user threads table.
*/
#define THD_TABLE_BEGIN \
const thread_config_t nil_thd_configs[NIL_CFG_NUM_THREADS + 1] = {
/**
* @brief Entry of user threads table
*/
#define THD_TABLE_ENTRY(wap, name, funcp, arg) \
{wap, (wap) + sizeof (wap), name, funcp, arg},
/**
* @brief End of user threads table.
*/
#define THD_TABLE_END \
{THD_IDLE_BASE, THD_IDLE_END, "idle", 0, NULL} \
};
/** @} */
/**
* @name Working Areas and Alignment
*/
/**
* @brief Enforces a correct alignment for a stack area size value.
*
* @param[in] n the stack size to be aligned to the next stack
* alignment boundary
* @return The aligned stack size.
*
* @api
*/
#define THD_ALIGN_STACK_SIZE(n) \
((((n) - 1) | (sizeof(stkalign_t) - 1)) + 1)
/**
* @brief Calculates the total Working Area size.
*
* @param[in] n the stack size to be assigned to the thread
* @return The total used memory in bytes.
*
* @api
*/
#define THD_WORKING_AREA_SIZE(n) \
THD_ALIGN_STACK_SIZE(sizeof(thread_t) + PORT_WA_SIZE(n))
/**
* @brief Static working area allocation.
* @details This macro is used to allocate a static thread working area
* aligned as both position and size.
*
* @param[in] s the name to be assigned to the stack array
* @param[in] n the stack size to be assigned to the thread
*
* @api
*/
#define THD_WORKING_AREA(s, n) \
stkalign_t s[THD_WORKING_AREA_SIZE(n) / sizeof(stkalign_t)]
/** @} */
/**
* @name Threads abstraction macros
*/
/**
* @brief Thread declaration macro.
* @note Thread declarations should be performed using this macro because
* the port layer could define optimizations for thread functions.
*/
#define THD_FUNCTION(tname, arg) PORT_THD_FUNCTION(tname, arg)
/** @} */
/**
* @name ISRs abstraction macros
*/
/**
* @brief IRQ handler enter code.
* @note Usually IRQ handlers functions are also declared naked.
* @note On some architectures this macro can be empty.
*
* @special
*/
#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
/**
* @brief IRQ handler exit code.
* @note Usually IRQ handlers function are also declared naked.
*
* @special
*/
#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
/**
* @brief Standard normal IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
*
* @special
*/
#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
/** @} */
/**
* @name Fast ISRs abstraction macros
*/
/**
* @brief Standard fast IRQ handler declaration.
* @note @p id can be a function name or a vector number depending on the
* port implementation.
* @note Not all architectures support fast interrupts.
*
* @special
*/
#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
/** @} */
/**
* @name Time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define S2ST(sec) \
((systime_t)((sec) * NIL_CFG_ST_FREQUENCY))
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define MS2ST(msec) \
((systime_t)(((((uint32_t)(msec)) * \
((uint32_t)NIL_CFG_ST_FREQUENCY) - 1UL) / 1000UL) + 1UL))
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define US2ST(usec) \
((systime_t)(((((uint32_t)(usec)) * \
((uint32_t)NIL_CFG_ST_FREQUENCY) - 1UL) / 1000000UL) + 1UL))
/** @} */
/**
* @name Macro Functions
* @{
*/
/**
* @brief Enters the kernel lock mode.
*
* @special
*/
#define chSysDisable() port_disable()
/**
* @brief Enters the kernel lock mode.
*
* @special
*/
#define chSysEnable() port_enable()
/**
* @brief Enters the kernel lock mode.
*
* @special
*/
#define chSysLock() port_lock()
/**
* @brief Leaves the kernel lock mode.
*
* @special
*/
#define chSysUnlock() port_unlock()
/**
* @brief Enters the kernel lock mode from within an interrupt handler.
* @note This API may do nothing on some architectures, it is required
* because on ports that support preemptable interrupt handlers
* it is required to raise the interrupt mask to the same level of
* the system mutual exclusion zone.
* It is good practice to invoke this API before invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*
* @special
*/
#define chSysLockFromISR() port_lock_from_isr()
/**
* @brief Leaves the kernel lock mode from within an interrupt handler.
*
* @note This API may do nothing on some architectures, it is required
* because on ports that support preemptable interrupt handlers
* it is required to raise the interrupt mask to the same level of
* the system mutual exclusion zone.
* It is good practice to invoke this API after invoking any I-class
* syscall from an interrupt handler.
* @note This API must be invoked exclusively from interrupt handlers.
*
* @special
*/
#define chSysUnlockFromISR() port_unlock_from_isr()
/**
* @brief Evaluates if a reschedule is required.
*
* @retval true if there is a thread that must go in running state
* immediately.
* @retval false if preemption is not required.
*
* @iclass
*/
#define chSchIsRescRequiredI() ((bool)(nil.current != nil.next))
/**
* @brief Delays the invoking thread for the specified number of seconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] sec time in seconds, must be different from zero
*
* @api
*/
#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec))
/**
* @brief Delays the invoking thread for the specified number of
* milliseconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] msec time in milliseconds, must be different from zero
*
* @api
*/
#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec))
/**
* @brief Delays the invoking thread for the specified number of
* microseconds.
* @note The specified time is rounded up to a value allowed by the real
* system clock.
* @note The maximum specified value is implementation dependent.
*
* @param[in] usec time in microseconds, must be different from zero
*
* @api
*/
#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec))
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] timeout the delay in system ticks
*
* @sclass
*/
#define chThdSleepS(timeout) chSchGoSleepTimeoutS(NIL_STATE_SLEEPING, timeout)
/**
* @brief Suspends the invoking thread until the system time arrives to the
* specified value.
*
* @param[in] time absolute system time
*
* @sclass
*/
#define chThdSleepUntilS(time) \
chSchGoSleepTimeoutS(NIL_STATE_SLEEPING, (time) - chVTGetSystemTimeX())
/**
* @brief Initializes a semaphore with the specified counter value.
*
* @param[out] sp pointer to a @p semaphore_t structure
* @param[in] n initial value of the semaphore counter. Must be
* non-negative.
*
* @init
*/
#define chSemObjectInit(sp, n) ((sp)->cnt = n)
/**
* @brief Performs a wait operation on a semaphore.
*
* @param[in] sp pointer to a @p semaphore_t structure
* @return A message specifying how the invoking thread has been
* released from the semaphore.
* @retval CH_MSG_OK if the thread has not stopped on the semaphore or the
* semaphore has been signaled.
* @retval CH_MSG_RST if the semaphore has been reset using @p chSemReset().
*
* @api
*/
#define chSemWait(sp) chSemWaitTimeout(sp, TIME_INFINITE)
/**
* @brief Performs a wait operation on a semaphore.
*
* @param[in] sp pointer to a @p semaphore_t structure
* @return A message specifying how the invoking thread has been
* released from the semaphore.
* @retval CH_MSG_OK if the thread has not stopped on the semaphore or the
* semaphore has been signaled.
* @retval CH_MSG_RST if the semaphore has been reset using @p chSemReset().
*
* @sclass
*/
#define chSemWaitS(sp) chSemWaitTimeoutS(sp, TIME_INFINITE)
/**
* @brief Returns the semaphore counter current value.
*
* @iclass
*/
#define chSemGetCounterI(sp) ((sp)->cnt)
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p chSysInit()
* invocation.
* @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
* @systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
#if NIL_CFG_ST_TIMEDELTA == 0 || defined(__DOXYGEN__)
#define chVTGetSystemTimeX() (nil.systime)
#else
#define chVTGetSystemTimeX() port_timer_get_time()
#endif
/**
* @brief Condition assertion.
* @details If the condition check fails then the kernel panics with a
* message and halts.
* @note The condition is tested only if the @p NIL_CFG_ENABLE_ASSERTS
* switch is specified in @p nilconf.h else the macro does nothing.
* @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] r a remark string
*
* @api
*/
#if !defined(chDbgAssert)
#define chDbgAssert(c, r) do { \
if (NIL_CFG_ENABLE_ASSERTS && !(c)) \
chSysHalt(__func__); \
} while (0)
#endif /* !defined(chDbgAssert) */
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#if !defined(__DOXYGEN__)
extern nil_system_t nil;
extern const thread_config_t nil_thd_configs[NIL_CFG_NUM_THREADS + 1];
#endif
#ifdef __cplusplus
extern "C" {
#endif
void chSysInit(void);
void chSysHalt(const char *reason);
void chSysTimerHandlerI(void);
syssts_t chSysGetStatusAndLockX(void);
void chSysRestoreStatusX(syssts_t sts);
thread_t *chSchReadyI(thread_t *tp, msg_t msg);
void chSchRescheduleS(void);
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);
msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
void chThdResumeI(thread_reference_t *trp, msg_t msg);
void chThdSleep(systime_t time);
void chThdSleepUntil(systime_t time);
bool chVTIsTimeWithinX(systime_t time, systime_t start, systime_t end);
msg_t chSemWaitTimeout(semaphore_t *sp, systime_t time);
msg_t chSemWaitTimeoutS(semaphore_t *sp, systime_t time);
void chSemSignal(semaphore_t *sp);
void chSemSignalI(semaphore_t *sp);
void chSemReset(semaphore_t *sp, cnt_t n);
void chSemResetI(semaphore_t *sp, cnt_t n);
void chEvtSignal(thread_t *tp, eventmask_t mask);
void chEvtSignalI(thread_t *tp, eventmask_t mask);
eventmask_t chEvtWaitAnyTimeout(eventmask_t mask, systime_t timeout);
#ifdef __cplusplus
}
#endif
#endif /* _NIL_H_ */
/** @} */