238 lines
7.2 KiB
C
238 lines
7.2 KiB
C
/*
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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.c
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* @brief OSAL module code.
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*
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* @addtogroup OSAL
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* @{
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*/
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#include "osal.h"
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/*===========================================================================*/
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/* Module local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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/**
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* @brief Pointer to a halt error message.
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* @note The message is meant to be retrieved by the debugger after the
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* system halt caused by an unexpected error.
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*/
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const char *osal_halt_msg;
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/*===========================================================================*/
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/* Module local types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported functions. */
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/*===========================================================================*/
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/**
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* @brief OSAL module initialization.
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*
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* @api
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*/
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void osalInit(void) {
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}
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/**
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* @brief System halt with error message.
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*
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* @param[in] reason the halt message pointer
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*
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* @api
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*/
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#if !defined(__DOXYGEN__)
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__attribute__((weak))
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#endif
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void osalSysHalt(const char *reason) {
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osal_halt_msg = reason;
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chSysHalt();
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}
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/**
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* @brief Sends the current thread sleeping and sets a reference variable.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @return The wake up message.
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*
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* @sclass
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*/
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msg_t osalThreadSuspendS(thread_reference_t *trp) {
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chDbgAssert(*trp == NULL, "osalThreadSuspendS(), #1", "not NULL");
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*trp = (thread_reference_t)chThdSelf();
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chSchGoSleepS(CH_STATE_SUSPENDED);
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return chThdSelf()->p_msg;
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must not reschedule because it can be called from
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* ISR context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
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if (*trp != NULL) {
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chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
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"osalThreadResumeI(), #1", "not THD_STATE_SUSPENDED");
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(*trp)->p_u.rdymsg = msg;
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chSchReadyI((thread_t *)*trp);
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*trp = NULL;
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}
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
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if (*trp != NULL) {
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thread_t *tp = (thread_t *)*trp;
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chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
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"osalThreadResumeS(), #1", "not THD_STATE_SUSPENDED");
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*trp = NULL;
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chSchWakeupS(tp, msg);
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}
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}
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/**
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* @brief Enqueues the caller thread.
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* @details The caller thread is enqueued and put to sleep until it is
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* dequeued or the specified timeouts expires.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] time the timeout in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE the thread is not enqueued and
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* the function returns @p MSG_TIMEOUT as if a timeout
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* occurred.
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* .
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* @return The message from @p osalQueueWakeupOneI() or
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* @p osalQueueWakeupAllI() functions.
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* @retval RDY_TIMEOUT if the thread has not been dequeued within the
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* specified timeout or if the function has been
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* invoked with @p TIME_IMMEDIATE as timeout
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* specification.
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*
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* @sclass
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*/
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msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
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void wakeup(void *p) {
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thread_t *tp = (thread_t *)p;
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chSysUnlockFromISR();
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tp->p_u.rdymsg = RDY_TIMEOUT;
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chSchReadyI(queue_dequeue(tp));
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chSysUnlockFromISR();
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}
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if (TIME_IMMEDIATE == time)
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return MSG_TIMEOUT;
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queue_insert(currp, tqp);
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if (TIME_INFINITE == time)
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chSchGoSleepS(CH_STATE_SUSPENDED);
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else {
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virtual_timer_t vt;
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chVTDoSetI(&vt, time, wakeup, currp);
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chSchGoSleepS(CH_STATE_SUSPENDED);
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if (chVTIsArmedI(&vt))
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chVTDoResetI(&vt);
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}
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return currp->p_u.rdymsg;
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}
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/**
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* @brief Dequeues and wakes up one thread from the queue, if any.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
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if (queue_notempty(tqp)) {
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thread_t *tp = queue_fifo_remove(tqp);
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tp->p_u.rdymsg = msg;
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chSchReadyI(tp);
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}
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}
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/**
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* @brief Dequeues and wakes up all threads from the queue.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
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while (queue_notempty(tqp)) {
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thread_t *tp = queue_fifo_remove(tqp);
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tp->p_u.rdymsg = msg;
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chSchReadyI(tp);
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}
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}
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/** @} */
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