337 lines
9.0 KiB
C
337 lines
9.0 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 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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Concepts and parts of this file have been contributed by Andre R.
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*/
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/**
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* @file cmsis_os.c
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* @brief CMSIS RTOS module code.
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*
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* @addtogroup CMSIS_OS
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* @{
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*/
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#include "cmsis_os.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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int32_t cmsis_os_started;
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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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static memory_pool_t sempool;
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static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
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static memory_pool_t timpool;
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static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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/**
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* @brief Virtual timers common callback.
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*/
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static void timer_cb(void *arg) {
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osTimerId timer_id = (osTimerId)arg;
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timer_id->ptimer(timer_id->argument);
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if (timer_id->type == osTimerPeriodic) {
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chSysLockFromISR();
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chVTDoSetI(&timer_id->vt, timer_id->millisec, timer_cb, timer_id);
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chSysUnlockFromISR();
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}
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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 Kernel initialization.
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*/
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osStatus osKernelInitialize(void) {
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cmsis_os_started = 0;
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chSysInit();
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chThdSetPriority(HIGHPRIO);
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chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAlloc);
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chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
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chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAlloc);
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chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
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return osOK;
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}
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/**
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* @brief Kernel start.
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*/
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osStatus osKernelStart(void) {
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cmsis_os_started = 1;
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chThdSetPriority(NORMALPRIO);
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return osOK;
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}
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/**
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* @brief Change thread priority.
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* @note This can interfere with the priority inheritance mechanism.
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*/
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osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
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osPriority oldprio;
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thread_t * tp = (thread_t *)thread_id;
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chSysLock();
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/* Changing priority.*/
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#if CH_CFG_USE_MUTEXES
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oldprio = (osPriority)tp->p_realprio;
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if ((tp->p_prio == tp->p_realprio) || ((tprio_t)newprio > tp->p_prio))
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tp->p_prio = (tprio_t)newprio;
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tp->p_realprio = (tprio_t)newprio;
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#else
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oldprio = tp->p_prio;
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tp->p_prio = (tprio_t)newprio;
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#endif
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/* The following states need priority queues reordering.*/
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switch (tp->p_state) {
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#if CH_CFG_USE_MUTEXES | \
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CH_CFG_USE_CONDVARS | \
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(CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \
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(CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
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#if CH_CFG_USE_MUTEXES
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case CH_STATE_WTMTX:
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#endif
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#if CH_CFG_USE_CONDVARS
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case CH_STATE_WTCOND:
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#endif
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#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
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case CH_STATE_WTSEM:
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#endif
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#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
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case CH_STATE_SNDMSGQ:
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#endif
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/* Re-enqueues tp with its new priority on the queue.*/
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queue_prio_insert(queue_dequeue(tp),
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(threads_queue_t *)tp->p_u.wtobjp);
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break;
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#endif
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case CH_STATE_READY:
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#if CH_DBG_ENABLE_ASSERTS
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/* Prevents an assertion in chSchReadyI().*/
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tp->p_state = CH_STATE_CURRENT;
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#endif
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/* Re-enqueues tp with its new priority on the ready list.*/
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chSchReadyI(queue_dequeue(tp));
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break;
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}
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/* Rescheduling.*/
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chSchRescheduleS();
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chSysUnlock();
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return oldprio;
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}
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/**
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* @brief Create a timer.
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*/
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osTimerId osTimerCreate (const osTimerDef_t *timer_def,
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os_timer_type type,
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void *argument) {
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osTimerId timer = chPoolAlloc(&timpool);
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chVTObjectInit(&timer->vt);
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timer->ptimer = timer_def->ptimer;
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timer->type = type;
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timer->argument = argument;
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return timer;
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}
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/**
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* @brief Start a timer.
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*/
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osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
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if (millisec == 0)
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return osErrorParameter;
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timer_id->millisec = millisec;
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chVTSet(&timer_id->vt, millisec, timer_cb, timer_id);
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return osOK;
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}
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/**
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* @brief Stop a timer.
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*/
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osStatus osTimerStop (osTimerId timer_id) {
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chVTReset(&timer_id->vt);
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return osOK;
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}
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/**
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* @brief Delete a timer.
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*/
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osStatus osTimerDelete (osTimerId timer_id) {
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chVTReset(&timer_id->vt);
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chPoolFree(&timpool, (void *)timer_id);
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return osOK;
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}
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/**
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* @brief Create a semaphore.
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* @note @p semaphore_def is not used.
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* @note Can involve memory allocation.
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*/
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osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,
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int32_t count) {
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(void)semaphore_def;
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semaphore_t *sem = chPoolAlloc(&sempool);
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chSemObjectInit(sem, (cnt_t)count);
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return sem;
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}
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/**
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* @brief Wait on a semaphore.
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*/
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int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
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systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
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(systime_t)millisec;
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msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
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switch (msg) {
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case MSG_OK:
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return osOK;
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case MSG_TIMEOUT:
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return osErrorTimeoutResource;
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}
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return osErrorResource;
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}
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/**
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* @brief Release a semaphore.
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*/
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osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
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syssts_t sts = chSysGetStatusAndLockX();
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chSemSignalI((semaphore_t *)semaphore_id);
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chSysRestoreStatusX(sts);
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return osOK;
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}
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/**
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* @brief Deletes a semaphore.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*/
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osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
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chSemReset((semaphore_t *)semaphore_id, 0);
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chPoolFree(&sempool, (void *)semaphore_id);
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return osOK;
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}
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/**
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* @brief Create a mutex.
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* @note @p mutex_def is not used.
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* @note Can involve memory allocation.
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*/
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osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
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(void)mutex_def;
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binary_semaphore_t *mtx = chPoolAlloc(&sempool);
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chBSemObjectInit(mtx, false);
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return mtx;
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}
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/**
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* @brief Wait on a mutex.
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*/
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osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
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systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
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(systime_t)millisec;
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msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
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switch (msg) {
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case MSG_OK:
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return osOK;
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case MSG_TIMEOUT:
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return osErrorTimeoutResource;
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}
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return osErrorResource;
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}
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/**
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* @brief Release a mutex.
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*/
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osStatus osMutexRelease (osMutexId mutex_id) {
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syssts_t sts = chSysGetStatusAndLockX();
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chBSemSignalI((binary_semaphore_t *)mutex_id);
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chSysRestoreStatusX(sts);
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return osOK;
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}
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/**
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* @brief Deletes a mutex.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*/
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osStatus osMutexDelete (osMutexId mutex_id) {
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chSemReset((semaphore_t *)mutex_id, 0);
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chPoolFree(&sempool, (void *)mutex_id);
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return osOK;
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}
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/** @} */
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