git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6237 35acf78f-673a-0410-8e92-d51de3d6d3f4
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gdisirio
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/*
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Nil RTOS - Copyright (C) 2012 Giovanni Di Sirio.
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This file is part of Nil RTOS.
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Nil RTOS 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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Nil RTOS 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 nil.h
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* @brief Nil RTOS main header file.
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* @details This header includes all the required kernel headers so it is the
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* only header you usually need to include in your application.
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*
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* @addtogroup nil
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* @{
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*/
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#ifndef _NIL_H_
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#define _NIL_H_
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#include "nilconf.h"
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#include "niltypes.h"
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Nil RTOS identification
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* @{
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*/
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#define _NIL_ /**< @brief Nil RTOS identification.*/
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#define NIL_KERNEL_VERSION "0.0.1" /**< @brief Kernel version string. */
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#define NIL_KERNEL_MAJOR 0 /**< @brief Version major number. */
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#define NIL_KERNEL_MINOR 0 /**< @brief Version minor number. */
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#define NIL_KERNEL_PATCH 1 /**< @brief Version patch number. */
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/** @} */
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/**
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* @name Common constants
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*/
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/**
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* @brief Generic 'false' boolean constant.
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*/
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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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/**
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* @brief Generic 'true' boolean constant.
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*/
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#if !defined(TRUE) || defined(__DOXYGEN__)
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#define TRUE !FALSE
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#endif
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/** @} */
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/**
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* @name Wakeup status codes
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* @{
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*/
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#define NIL_MSG_OK 0 /**< @brief Normal wakeup message. */
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#define NIL_MSG_TMO -1 /**< @brief Wake-up caused by a timeout
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condition. */
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#define NIL_MSG_RST -2 /**< @brief Wake-up caused by a reset
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condition. */
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/** @} */
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/**
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* @name Special time constants
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* @{
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*/
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/**
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* @brief Zero time specification for some functions with a timeout
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* specification.
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* @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter,
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* see the specific function documentation.
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*/
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#define TIME_IMMEDIATE ((systime_t)-1)
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/**
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* @brief Infinite time specification for all functions with a timeout
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* specification.
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*/
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#define TIME_INFINITE ((systime_t)0)
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/** @} */
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/**
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* @name Thread state related macros
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* @{
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*/
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#define NIL_THD_READY 0 /**< @brief Thread ready or executing. */
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#define NIL_THD_SLEEPING 1 /**< @brief Thread sleeping. */
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#define NIL_THD_SUSP 2 /**< @brief Thread suspended. */
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#define NIL_THD_WTSEM 3 /**< @brief Thread waiting on semaphore.*/
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#define NIL_THD_IS_READY(tr) ((tr)->state == NIL_THD_READY)
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#define NIL_THD_IS_SLEEPING(tr) ((tr)->state == NIL_THD_SLEEPING)
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#define NIL_THD_IS_SUSP(tr) ((tr)->state == NIL_THD_SUSP)
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#define NIL_THD_IS_WTSEM(tr) ((tr)->state == NIL_THD_WTSEM)
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/** @} */
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @brief Number of user threads in the application.
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* @note This number is not inclusive of the idle thread which is
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* implicitly handled.
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*/
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#if !defined(NIL_CFG_NUM_THREADS) || defined(__DOXYGEN__)
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#define NIL_CFG_NUM_THREADS 2
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#endif
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/**
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* @brief System timer resolution in Hz.
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*/
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#if !defined(NIL_CFG_FREQUENCY) || defined(__DOXYGEN__)
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#define NIL_CFG_FREQUENCY 100
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#endif
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/**
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* @brief Time delta constant for the tick-less mode.
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* @note If this value is zero then the system uses the classic
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* periodic tick. This value represents the minimum number
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* of ticks that is safe to specify in a timeout directive.
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* The value one is not valid, timeouts are rounded up to
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* this value.
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*/
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#if !defined(NIL_CFG_TIMEDELTA) || defined(__DOXYGEN__)
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#define NIL_CFG_TIMEDELTA 0
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#endif
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/**
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* @brief System assertions.
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*/
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#if !defined(NIL_CFG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
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#define NIL_CFG_ENABLE_ASSERTS FALSE
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#endif
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/**
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* @brief Threads descriptor structure extension.
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* @details User fields added to the end of the @p thread_t structure.
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*/
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#if !defined(NIL_CFG_THREAD_EXT_FIELDS) || defined(__DOXYGEN__)
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#define NIL_CFG_THREAD_EXT_FIELDS
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if NIL_CFG_NUM_THREADS < 1
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#error "at least one thread must be defined"
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#endif
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#if NIL_CFG_NUM_THREADS > 12
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#error "Nil is not recommended for thread-intensive applications, consider" \
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"ChibiOS/RT instead"
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#endif
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#if NIL_CFG_FREQUENCY <= 0
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#error "invalid NIL_CFG_FREQUENCY specified"
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#endif
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#if (NIL_CFG_TIMEDELTA < 0) || (NIL_CFG_TIMEDELTA == 1)
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#error "invalid NIL_CFG_TIMEDELTA specified"
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#endif
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#if NIL_CFG_ENABLE_ASSERTS
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#define NIL_DBG_ENABLED TRUE
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#else
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#define NIL_DBG_ENABLED FALSE
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of internal context structure.
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*/
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typedef struct port_intctx intctx_t;
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/**
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* @brief Type of a structure representing a counting semaphore.
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*/
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typedef struct {
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volatile cnt_t cnt; /**< @brief Semaphore counter. */
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} semaphore_t;
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/**
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* @brief Thread function.
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*/
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typedef void (*tfunc_t)(void *);
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/**
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* @brief Type of a structure representing a thread static configuration.
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*/
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typedef struct nil_thread_cfg thread_config_t;
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/**
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* @brief Type of a structure representing a thread.
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*/
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typedef struct nil_thread thread_t;
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/**
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* @brief Structure representing a thread static configuration.
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*/
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struct nil_thread_cfg {
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const char *namep; /**< @brief Thread name, for debugging. */
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tfunc_t funcp; /**< @brief Thread function. */
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void *arg; /**< @brief Thread function argument. */
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void *wap; /**< @brief Thread working area base. */
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size_t size; /**< @brief Thread working area size. */
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};
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/**
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* @brief Type of a thread reference.
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*/
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typedef thread_t * thread_ref_t;
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/**
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* @brief Structure representing a thread.
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*/
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struct nil_thread {
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intctx_t *ctxp; /**< @brief Pointer to internal context. */
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tstate_t state; /**< @brief Thread state. */
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/* Note, the following union contains a pointer while the thread is in a
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sleeping state (!NIL_THD_IS_READY()) else contains the wake-up message.*/
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union {
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msg_t msg; /**< @brief Wake-up message. */
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void *p; /**< @brief Generic pointer. */
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thread_ref_t *trp; /**< @brief Pointer to thread reference. */
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semaphore_t *semp; /**< @brief Pointer to semaphore. */
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} u1;
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volatile systime_t timeout;/**< @brief Timeout counter, zero
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if disabled. */
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/* Optional extra fields.*/
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NIL_CFG_THREAD_EXT_FIELDS
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};
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/**
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* @brief System data structure.
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* @note This structure contain all the data areas used by the OS except
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* stacks.
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*/
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typedef struct {
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/**
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||||||
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* @brief Pointer to the running thread.
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*/
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thread_ref_t current;
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||||||
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/**
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* @brief Pointer to the next thread to be executed.
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* @note This pointer must point at the same thread pointed by @p currp
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* or to an higher priority thread if a switch is required.
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*/
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thread_ref_t next;
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#if NIL_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)
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/**
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* @brief System time.
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*/
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systime_t systime;
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#endif
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#if NIL_CFG_TIMEDELTA > 0 || defined(__DOXYGEN__)
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/**
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* @brief System time of the last tick event.
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*/
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systime_t lasttime;
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||||||
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/**
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||||||
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* @brief Time of the next scheduled tick event.
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*/
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systime_t nexttime;
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#endif
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/**
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* @brief Thread structures for all the defined threads.
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||||||
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*/
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thread_t threads[NIL_CFG_NUM_THREADS + 1];
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#if NIL_DBG_ENABLED || defined(__DOXYGEN__)
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/**
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* @brief Panic message.
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||||||
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* @note This field is only present if some debug options have been
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* activated.
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||||||
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*/
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const char *dbg_msg;
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#endif
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||||||
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} nil_system_t;
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/*===========================================================================*/
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/* Module macros. */
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||||||
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/*===========================================================================*/
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||||||
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||||||
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/**
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||||||
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* @name Threads tables definition macros
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||||||
|
* @{
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||||||
|
*/
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||||||
|
/**
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||||||
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* @brief Start of user threads table.
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||||||
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*/
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#define NIL_THREADS_TABLE_BEGIN() \
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const thread_config_t nil_thd_configs[NIL_CFG_NUM_THREADS + 1] = {
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/**
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||||||
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* @brief Entry of user threads table
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||||||
|
*/
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#define NIL_THREADS_TABLE_ENTRY(name, funcp, arg, wap, size) \
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{name, funcp, arg, wap, size},
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||||||
|
/**
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||||||
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* @brief End of user threads table.
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||||||
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*/
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#define NIL_THREADS_TABLE_END() \
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{"idle", 0, NULL, NULL, 0} \
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||||||
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};
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||||||
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||||||
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/** @} */
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||||||
|
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||||||
|
/**
|
||||||
|
* @name Macro Functions
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||||||
|
* @{
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||||||
|
*/
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||||||
|
/**
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||||||
|
* @brief System halt state.
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||||||
|
*/
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||||||
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#define nilSysHalt() port_halt()
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||||||
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||||||
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/**
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||||||
|
* @brief Enters the kernel lock mode.
|
||||||
|
*
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||||||
|
* @special
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||||||
|
*/
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||||||
|
#define nilSysDisable() port_disable()
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||||||
|
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||||||
|
/**
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||||||
|
* @brief Enters the kernel lock mode.
|
||||||
|
*
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||||||
|
* @special
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||||||
|
*/
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||||||
|
#define nilSysEnable() port_enable()
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||||||
|
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||||||
|
/**
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||||||
|
* @brief Enters the kernel lock mode.
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||||||
|
*
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||||||
|
* @special
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||||||
|
*/
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||||||
|
#define nilSysLock() port_lock()
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||||||
|
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||||||
|
/**
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||||||
|
* @brief Leaves the kernel lock mode.
|
||||||
|
*
|
||||||
|
* @special
|
||||||
|
*/
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||||||
|
#define nilSysUnlock() 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.<br>
|
||||||
|
* 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.
|
||||||
|
*
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||||||
|
* @special
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||||||
|
*/
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||||||
|
#define nilSysLockFromISR() 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.<br>
|
||||||
|
* 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 nilSysUnlockFromISR() port_unlock_from_isr()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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
|
||||||
|
*
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||||||
|
* @api
|
||||||
|
*/
|
||||||
|
#define nilThdSleepSeconds(sec) nilThdSleep(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 nilThdSleepMilliseconds(msec) nilThdSleep(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 nilThdSleepMicroseconds(usec) nilThdSleep(US2ST(usec))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Suspends the invoking thread for the specified time.
|
||||||
|
*
|
||||||
|
* @param[in] timeout the delay in system ticks
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
#define nilThdSleepS(timeout) nilSchGoSleepTimeoutS(NIL_THD_SLEEPING, timeout)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Suspends the invoking thread until the system time arrives to the
|
||||||
|
* specified value.
|
||||||
|
*
|
||||||
|
* @param[in] time absolute system time
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
#define nilThdSleepUntilS(time) \
|
||||||
|
nilSchGoSleepTimeoutS(NIL_THD_SLEEPING, (time) - nilTimeNow())
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 nilSemInit(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 NIL_MSG_OK if the thread has not stopped on the semaphore or the
|
||||||
|
* semaphore has been signaled.
|
||||||
|
* @retval NIL_MSG_RST if the semaphore has been reset using @p nilSemReset().
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
#define nilSemWait(sp) nilSemWaitTimeout(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 NIL_MSG_OK if the thread has not stopped on the semaphore or the
|
||||||
|
* semaphore has been signaled.
|
||||||
|
* @retval NIL_MSG_RST if the semaphore has been reset using @p nilSemReset().
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
#define nilSemWaitS(sp) nilSemWaitTimeoutS(sp, TIME_INFINITE)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Current system time.
|
||||||
|
* @details Returns the number of system ticks since the @p nilSysInit()
|
||||||
|
* invocation.
|
||||||
|
* @note The counter can reach its maximum and then restart from zero.
|
||||||
|
* @note This function is designed to work with the @p nilThdSleepUntil().
|
||||||
|
*
|
||||||
|
* @return The system time in ticks.
|
||||||
|
*
|
||||||
|
* @iclass
|
||||||
|
*/
|
||||||
|
#if NIL_CFG_TIMEDELTA == 0 || defined(__DOXYGEN__)
|
||||||
|
#define nilTimeNowI() (nil.systime)
|
||||||
|
#else
|
||||||
|
#define nilTimeNowI() port_timer_get_time()
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Checks if the specified time is within the specified time window.
|
||||||
|
* @note When start==end then the function returns always true because the
|
||||||
|
* whole time range is specified.
|
||||||
|
*
|
||||||
|
* @param[in] time the time to be verified
|
||||||
|
* @param[in] start the start of the time window (inclusive)
|
||||||
|
* @param[in] end the end of the time window (non inclusive)
|
||||||
|
*
|
||||||
|
* @retval true current time within the specified time window.
|
||||||
|
* @retval false current time not within the specified time window.
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
#define nilTimeIsWithin(time, start, end) \
|
||||||
|
((end) > (start) ? ((time) >= (start)) && ((time) < (end)) : \
|
||||||
|
((time) >= (start)) || ((time) < (end)))
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 NIL_THREAD(tname, arg) PORT_THREAD(tname, arg)
|
||||||
|
|
||||||
|
#if NIL_CFG_ENABLE_ASSERTS || defined(__DOXYGEN__)
|
||||||
|
/**
|
||||||
|
* @brief Condition assertion.
|
||||||
|
* @details If the condition check fails then the kernel panics with the
|
||||||
|
* specified 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 convention for the message is the following:<br>
|
||||||
|
* @<function_name@>(), #@<assert_number@>
|
||||||
|
* @note The remark string is not currently used except for putting a
|
||||||
|
* comment in the code about the assertion.
|
||||||
|
*
|
||||||
|
* @param[in] c the condition to be verified to be true
|
||||||
|
* @param[in] m the text message
|
||||||
|
* @param[in] r a remark string
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
#if !defined(nilDbgAssert)
|
||||||
|
#define nilDbgAssert(c, m, r) { \
|
||||||
|
if (!(c)) { \
|
||||||
|
nil.dbg_msg = (m); \
|
||||||
|
nilSysHalt(); \
|
||||||
|
} \
|
||||||
|
}
|
||||||
|
#endif /* !defined(chDbgAssert) */
|
||||||
|
#else /* !NIL_CFG_ENABLE_ASSERTS */
|
||||||
|
#define nilDbgAssert(c, m, r) {(void)(c);}
|
||||||
|
#endif /* !NIL_CFG_ENABLE_ASSERTS */
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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 NIL_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief IRQ handler exit code.
|
||||||
|
* @note Usually IRQ handlers function are also declared naked.
|
||||||
|
*
|
||||||
|
* @special
|
||||||
|
*/
|
||||||
|
#define NIL_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 NIL_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 NIL_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_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_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_FREQUENCY) - 1UL) /\
|
||||||
|
1000000UL) + 1UL))
|
||||||
|
/** @} */
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* 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 nilSysInit(void);
|
||||||
|
void nilSysTimerHandlerI(void);
|
||||||
|
thread_ref_t nilSchReadyI(thread_ref_t trp, msg_t msg);
|
||||||
|
msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);
|
||||||
|
void nilSchRescheduleS(void);
|
||||||
|
msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout);
|
||||||
|
void nilThdResumeI(thread_ref_t *trp, msg_t msg);
|
||||||
|
void nilThdSleep(systime_t time);
|
||||||
|
void nilThdSleepUntil(systime_t time);
|
||||||
|
systime_t nilTimeNow(void);
|
||||||
|
bool nilTimeNowIsWithin(systime_t start, systime_t end);
|
||||||
|
msg_t nilSemWaitTimeout(semaphore_t *sp, systime_t time);
|
||||||
|
msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t time);
|
||||||
|
void nilSemSignal(semaphore_t *sp);
|
||||||
|
void nilSemSignalI(semaphore_t *sp);
|
||||||
|
void nilSemReset(semaphore_t *sp, cnt_t n);
|
||||||
|
void nilSemResetI(semaphore_t *sp, cnt_t n);
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Late inclusion, this is done in order to let the port layer access
|
||||||
|
the OS services like assertions.*/
|
||||||
|
#include "nilcore.h"
|
||||||
|
|
||||||
|
#endif /* _NIL_H_ */
|
||||||
|
|
||||||
|
/** @} */
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
# List of all the Nil RTOS kernel files.
|
||||||
|
KERNSRC = ${NILRTOS}/os/kernel/nil.c
|
||||||
|
|
||||||
|
# Required include directories
|
||||||
|
KERNINC = ${NILRTOS}/os/kernel
|
||||||
|
|
@ -0,0 +1,598 @@
|
||||||
|
/*
|
||||||
|
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 <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file nil.c
|
||||||
|
* @brief Nil RTOS main source file.
|
||||||
|
*
|
||||||
|
* @defgroup nil
|
||||||
|
* @details Nil RTOS services.
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "nil.h"
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module local definitions. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module exported variables. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief System data structures.
|
||||||
|
*/
|
||||||
|
nil_system_t nil;
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module local variables. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module local functions. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module interrupt handlers. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/*===========================================================================*/
|
||||||
|
/* Module exported functions. */
|
||||||
|
/*===========================================================================*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initializes the kernel.
|
||||||
|
* @details Initializes the kernel structures, the current instructions flow
|
||||||
|
* becomes the idle thread upon return. The idle thread must not
|
||||||
|
* invoke any kernel primitive able to change state to not runnable.
|
||||||
|
*
|
||||||
|
* @special
|
||||||
|
*/
|
||||||
|
void nilSysInit(void) {
|
||||||
|
thread_ref_t tr;
|
||||||
|
const thread_config_t *tcp;
|
||||||
|
|
||||||
|
/* Port layer initialization.*/
|
||||||
|
port_init();
|
||||||
|
|
||||||
|
/* Iterates through the list of defined threads.*/
|
||||||
|
for (tr = &nil.threads[0], tcp = nil_thd_configs;
|
||||||
|
tr < &nil.threads[NIL_CFG_NUM_THREADS];
|
||||||
|
tr++, tcp++) {
|
||||||
|
tr->state = NIL_THD_READY;
|
||||||
|
tr->timeout = 0;
|
||||||
|
|
||||||
|
/* Port dependent thread initialization.*/
|
||||||
|
SETUP_CONTEXT(tr, tcp->wap, tcp->size, tcp->funcp, tcp->arg);
|
||||||
|
|
||||||
|
/* Initialization hook.*/
|
||||||
|
#if defined(NIL_CFG_THREAD_EXT_INIT_HOOK)
|
||||||
|
NIL_CFG_THREAD_EXT_INIT_HOOK(tr);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Runs the highest priority thread, the current one becomes the null
|
||||||
|
thread.*/
|
||||||
|
nil.current = nil.next = nil.threads;
|
||||||
|
port_switch(nil.threads, &nil.threads[NIL_CFG_NUM_THREADS]);
|
||||||
|
|
||||||
|
/* Interrupts enabled for the idle thread.*/
|
||||||
|
nilSysEnable();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Time management handler.
|
||||||
|
* @note This handler has to be invoked by a periodic ISR in order to
|
||||||
|
* reschedule the waiting threads.
|
||||||
|
*
|
||||||
|
* @iclass
|
||||||
|
*/
|
||||||
|
void nilSysTimerHandlerI(void) {
|
||||||
|
|
||||||
|
#if NIL_CFG_TIMEDELTA == 0
|
||||||
|
thread_ref_t tr = &nil.threads[0];
|
||||||
|
nil.systime++;
|
||||||
|
do {
|
||||||
|
/* Is the thread in a wait state with timeout?.*/
|
||||||
|
if (tr->timeout > 0) {
|
||||||
|
|
||||||
|
nilDbgAssert(!NIL_THD_IS_READY(tr),
|
||||||
|
"nilSysTimerHandlerI(), #1", "is ready");
|
||||||
|
|
||||||
|
/* Did the timer reach zero?*/
|
||||||
|
if (--tr->timeout == 0) {
|
||||||
|
/* Timeout on semaphores requires a special handling because the
|
||||||
|
semaphore counter must be incremented.*/
|
||||||
|
if (NIL_THD_IS_WTSEM(tr))
|
||||||
|
tr->u1.semp->cnt++;
|
||||||
|
else if (NIL_THD_IS_SUSP(tr))
|
||||||
|
tr->u1.trp = NULL;
|
||||||
|
nilSchReadyI(tr, NIL_MSG_TMO);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/* Lock released in order to give a preemption chance on those
|
||||||
|
architectures supporting IRQ preemption.*/
|
||||||
|
nilSysUnlockFromISR();
|
||||||
|
tr++;
|
||||||
|
nilSysLockFromISR();
|
||||||
|
} while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);
|
||||||
|
#else
|
||||||
|
thread_ref_t tr = &nil.threads[0];
|
||||||
|
systime_t next = 0;
|
||||||
|
|
||||||
|
nilDbgAssert(nil.nexttime == port_timer_get_alarm(),
|
||||||
|
"nilSysTimerHandlerI(), #1", "time mismatch");
|
||||||
|
|
||||||
|
do {
|
||||||
|
/* Is the thread in a wait state with timeout?.*/
|
||||||
|
if (tr->timeout > 0) {
|
||||||
|
|
||||||
|
nilDbgAssert(!NIL_THD_IS_READY(tr),
|
||||||
|
"nilSysTimerHandlerI(), #2", "is ready");
|
||||||
|
nilDbgAssert(tr->timeout >= nil.nexttime - nil.lasttime,
|
||||||
|
"nilSysTimerHandlerI(), #3", "skipped one");
|
||||||
|
|
||||||
|
tr->timeout -= nil.nexttime - nil.lasttime;
|
||||||
|
if (tr->timeout == 0) {
|
||||||
|
/* Timeout on semaphores requires a special handling because the
|
||||||
|
semaphore counter must be incremented.*/
|
||||||
|
if (NIL_THD_IS_WTSEM(tr))
|
||||||
|
tr->u1.semp->cnt++;
|
||||||
|
else if (NIL_THD_IS_SUSP(tr))
|
||||||
|
tr->u1.trp = NULL;
|
||||||
|
nilSchReadyI(tr, NIL_MSG_TMO);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if (tr->timeout <= next - 1)
|
||||||
|
next = tr->timeout;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
/* Lock released in order to give a preemption chance on those
|
||||||
|
architectures supporting IRQ preemption.*/
|
||||||
|
nilSysUnlockFromISR();
|
||||||
|
tr++;
|
||||||
|
nilSysLockFromISR();
|
||||||
|
} while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);
|
||||||
|
nil.lasttime = nil.nexttime;
|
||||||
|
if (next > 0) {
|
||||||
|
nil.nexttime += next;
|
||||||
|
port_timer_set_alarm(nil.nexttime);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
/* No tick event needed.*/
|
||||||
|
port_timer_stop_alarm();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Makes the specified thread ready for execution.
|
||||||
|
*
|
||||||
|
* @param[in] tr reference to the @p thread_t object
|
||||||
|
* @param[in] msg the wakeup message
|
||||||
|
*
|
||||||
|
* @return The same reference passed as parameter.
|
||||||
|
*/
|
||||||
|
thread_ref_t nilSchReadyI(thread_ref_t tr, msg_t msg) {
|
||||||
|
|
||||||
|
nilDbgAssert((tr >= nil.threads) &&
|
||||||
|
(tr < &nil.threads[NIL_CFG_NUM_THREADS]),
|
||||||
|
"nilSchReadyI(), #1", "pointer out of range");
|
||||||
|
nilDbgAssert(!NIL_THD_IS_READY(tr),
|
||||||
|
"nilSchReadyI(), #2", "already ready");
|
||||||
|
nilDbgAssert(nil.next <= nil.current,
|
||||||
|
"nilSchReadyI(), #3", "priority ordering");
|
||||||
|
|
||||||
|
tr->u1.msg = msg;
|
||||||
|
tr->state = NIL_THD_READY;
|
||||||
|
tr->timeout = 0;
|
||||||
|
if (tr < nil.next)
|
||||||
|
nil.next = tr;
|
||||||
|
return tr;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Reschedules.
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
void nilSchRescheduleS() {
|
||||||
|
thread_ref_t otr = nil.current;
|
||||||
|
thread_ref_t ntr = nil.next;
|
||||||
|
|
||||||
|
if (ntr != otr) {
|
||||||
|
nil.current = ntr;
|
||||||
|
#if defined(NIL_CFG_IDLE_LEAVE_HOOK)
|
||||||
|
if (otr == &nil.threads[NIL_CFG_NUM_THREADS]) {
|
||||||
|
NIL_CFG_IDLE_LEAVE_HOOK();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
port_switch(ntr, otr);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Puts the current thread to sleep into the specified state with
|
||||||
|
* timeout specification.
|
||||||
|
* @details The thread goes into a sleeping state, if it is not awakened
|
||||||
|
* explicitly within the specified system time then it is forcibly
|
||||||
|
* awakened with a @p NIL_MSG_TMO low level message.
|
||||||
|
*
|
||||||
|
* @param[in] newstate the new thread state or a semaphore pointer
|
||||||
|
* @param[in] timeout the number of ticks before the operation timeouts.
|
||||||
|
* the following special values are allowed:
|
||||||
|
* - @a TIME_INFINITE no timeout.
|
||||||
|
* .
|
||||||
|
* @return The wakeup message.
|
||||||
|
* @retval NIL_MSG_TMO if a timeout occurred.
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
msg_t nilSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
|
||||||
|
thread_ref_t ntr, otr = nil.current;
|
||||||
|
|
||||||
|
nilDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],
|
||||||
|
"nilSchGoSleepTimeoutS(), #1", "idle cannot sleep");
|
||||||
|
|
||||||
|
/* Storing the wait object for the current thread.*/
|
||||||
|
otr->state = newstate;
|
||||||
|
|
||||||
|
#if NIL_CFG_TIMEDELTA > 0
|
||||||
|
if (timeout != TIME_INFINITE) {
|
||||||
|
systime_t time = nilTimeNowI() + timeout;
|
||||||
|
|
||||||
|
/* TIMEDELTA makes sure to have enough time to reprogram the timer
|
||||||
|
before the free-running timer counter reaches the selected timeout.*/
|
||||||
|
if (timeout < NIL_CFG_TIMEDELTA)
|
||||||
|
timeout = NIL_CFG_TIMEDELTA;
|
||||||
|
|
||||||
|
if (nil.lasttime == nil.nexttime) {
|
||||||
|
/* Special case, first thread asking for a timeout.*/
|
||||||
|
port_timer_start_alarm(time);
|
||||||
|
nil.nexttime = time;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
/* Special case, there are already other threads with a timeout
|
||||||
|
activated, evaluating the order.*/
|
||||||
|
if (nilTimeIsWithin(time, nil.lasttime, nil.nexttime)) {
|
||||||
|
port_timer_set_alarm(time);
|
||||||
|
nil.nexttime = time;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Timeout settings.*/
|
||||||
|
otr->timeout = time - nil.lasttime;
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
|
||||||
|
/* Timeout settings.*/
|
||||||
|
otr->timeout = timeout;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Scanning the whole threads array.*/
|
||||||
|
ntr = nil.threads;
|
||||||
|
while (true) {
|
||||||
|
/* Is this thread ready to execute?*/
|
||||||
|
if (NIL_THD_IS_READY(ntr)) {
|
||||||
|
nil.current = nil.next = ntr;
|
||||||
|
#if defined(NIL_CFG_IDLE_ENTER_HOOK)
|
||||||
|
if (ntr == &nil.threads[NIL_CFG_NUM_THREADS]) {
|
||||||
|
NIL_CFG_IDLE_ENTER_HOOK();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
port_switch(ntr, otr);
|
||||||
|
return nil.current->u1.msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Points to the next thread in lowering priority order.*/
|
||||||
|
ntr++;
|
||||||
|
nilDbgAssert(ntr <= &nil.threads[NIL_CFG_NUM_THREADS],
|
||||||
|
"nilSchGoSleepTimeoutS(), #2", "pointer out of range");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Sends the current thread sleeping and sets a reference variable.
|
||||||
|
* @note This function must reschedule, it can only be called from thread
|
||||||
|
* context.
|
||||||
|
*
|
||||||
|
* @param[in] trp a pointer to a thread reference object
|
||||||
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||||||
|
* the following special values are allowed:
|
||||||
|
* - @a TIME_INFINITE no timeout.
|
||||||
|
* .
|
||||||
|
* @return The wake up message.
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
msg_t nilThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
|
||||||
|
|
||||||
|
nilDbgAssert(*trp == NULL, "nilThdSuspendTimeoutS(), #1", "not NULL");
|
||||||
|
|
||||||
|
*trp = nil.current;
|
||||||
|
nil.current->u1.trp = trp;
|
||||||
|
return nilSchGoSleepTimeoutS(NIL_THD_SUSP, timeout);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Wakes up a thread waiting on a thread reference object.
|
||||||
|
* @note This function must not reschedule because it can be called from
|
||||||
|
* ISR context.
|
||||||
|
*
|
||||||
|
* @param[in] trp a pointer to a thread reference object
|
||||||
|
* @param[in] msg the message code
|
||||||
|
*
|
||||||
|
* @iclass
|
||||||
|
*/
|
||||||
|
void nilThdResumeI(thread_ref_t *trp, msg_t msg) {
|
||||||
|
|
||||||
|
if (*trp != NULL) {
|
||||||
|
thread_ref_t tr = *trp;
|
||||||
|
|
||||||
|
nilDbgAssert(NIL_THD_IS_SUSP(tr), "nilThdResumeI(), #1", "not suspended");
|
||||||
|
|
||||||
|
*trp = NULL;
|
||||||
|
nilSchReadyI(tr, msg);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Suspends the invoking thread for the specified time.
|
||||||
|
*
|
||||||
|
* @param[in] time the delay in system ticks
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void nilThdSleep(systime_t time) {
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
nilThdSleepS(time);
|
||||||
|
nilSysUnlock();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Suspends the invoking thread until the system time arrives to the
|
||||||
|
* specified value.
|
||||||
|
*
|
||||||
|
* @param[in] time absolute system time
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void nilThdSleepUntil(systime_t time) {
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
nilThdSleepUntilS(time);
|
||||||
|
nilSysUnlock();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Current system time.
|
||||||
|
* @details Returns the number of system ticks since the @p nilSysInit()
|
||||||
|
* invocation.
|
||||||
|
* @note The counter can reach its maximum and then restart from zero.
|
||||||
|
* @note This function is designed to work with the @p nilThdSleepUntil().
|
||||||
|
*
|
||||||
|
* @return The system time in ticks.
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
systime_t nilTimeNow(void) {
|
||||||
|
systime_t time;
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
time = nilTimeNowI();
|
||||||
|
nilSysUnlock();
|
||||||
|
return time;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Checks if the current system time is within the specified time
|
||||||
|
* window.
|
||||||
|
* @note When start==end then the function returns always true because the
|
||||||
|
* whole time range is specified.
|
||||||
|
*
|
||||||
|
* @param[in] start the start of the time window (inclusive)
|
||||||
|
* @param[in] end the end of the time window (non inclusive)
|
||||||
|
*
|
||||||
|
* @retval true current time within the specified time window.
|
||||||
|
* @retval false current time not within the specified time window.
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
bool nilTimeNowIsWithin(systime_t start, systime_t end) {
|
||||||
|
|
||||||
|
systime_t time = nilTimeNow();
|
||||||
|
return nilTimeIsWithin(time, start, end);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a wait operation on a semaphore with timeout specification.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||||||
|
* the following special values are allowed:
|
||||||
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||||||
|
* - @a TIME_INFINITE no timeout.
|
||||||
|
* .
|
||||||
|
* @return A message specifying how the invoking thread has been
|
||||||
|
* released from the semaphore.
|
||||||
|
* @retval NIL_MSG_OK if the thread has not stopped on the semaphore or the
|
||||||
|
* semaphore has been signaled.
|
||||||
|
* @retval NIL_MSG_RST if the semaphore has been reset using @p nilSemReset().
|
||||||
|
* @retval NIL_MSG_TMO if the semaphore has not been signaled or reset within
|
||||||
|
* the specified timeout.
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
msg_t nilSemWaitTimeout(semaphore_t *sp, systime_t timeout) {
|
||||||
|
msg_t msg;
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
msg = nilSemWaitTimeoutS(sp, timeout);
|
||||||
|
nilSysUnlock();
|
||||||
|
return msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a wait operation on a semaphore with timeout specification.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||||||
|
* the following special values are allowed:
|
||||||
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||||||
|
* - @a TIME_INFINITE no timeout.
|
||||||
|
* .
|
||||||
|
* @return A message specifying how the invoking thread has been
|
||||||
|
* released from the semaphore.
|
||||||
|
* @retval NIL_MSG_OK if the thread has not stopped on the semaphore or the
|
||||||
|
* semaphore has been signaled.
|
||||||
|
* @retval NIL_MSG_RST if the semaphore has been reset using @p nilSemReset().
|
||||||
|
* @retval NIL_MSG_TMO if the semaphore has not been signaled or reset within
|
||||||
|
* the specified timeout.
|
||||||
|
*
|
||||||
|
* @sclass
|
||||||
|
*/
|
||||||
|
msg_t nilSemWaitTimeoutS(semaphore_t *sp, systime_t timeout) {
|
||||||
|
|
||||||
|
/* Note, the semaphore counter is a volatile variable so accesses are
|
||||||
|
manually optimized.*/
|
||||||
|
cnt_t cnt = sp->cnt;
|
||||||
|
if (cnt <= 0) {
|
||||||
|
if (TIME_IMMEDIATE == timeout)
|
||||||
|
return NIL_MSG_TMO;
|
||||||
|
sp->cnt = cnt - 1;
|
||||||
|
nil.current->u1.semp = sp;
|
||||||
|
return nilSchGoSleepTimeoutS(NIL_THD_WTSEM, timeout);
|
||||||
|
}
|
||||||
|
sp->cnt = cnt - 1;
|
||||||
|
return NIL_MSG_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a signal operation on a semaphore.
|
||||||
|
* @post This function does not reschedule so a call to a rescheduling
|
||||||
|
* function must be performed before unlocking the kernel. Note that
|
||||||
|
* interrupt handlers always reschedule on exit so an explicit
|
||||||
|
* reschedule must not be performed in ISRs.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void nilSemSignal(semaphore_t *sp) {
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
nilSemSignalI(sp);
|
||||||
|
nilSchRescheduleS();
|
||||||
|
nilSysUnlock();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a signal operation on a semaphore.
|
||||||
|
* @post This function does not reschedule so a call to a rescheduling
|
||||||
|
* function must be performed before unlocking the kernel. Note that
|
||||||
|
* interrupt handlers always reschedule on exit so an explicit
|
||||||
|
* reschedule must not be performed in ISRs.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
*
|
||||||
|
* @iclass
|
||||||
|
*/
|
||||||
|
void nilSemSignalI(semaphore_t *sp) {
|
||||||
|
|
||||||
|
if (++sp->cnt <= 0) {
|
||||||
|
thread_ref_t tr = nil.threads;
|
||||||
|
while (true) {
|
||||||
|
/* Is this thread waiting on this semaphore?*/
|
||||||
|
if (tr->u1.semp == sp) {
|
||||||
|
|
||||||
|
nilDbgAssert(NIL_THD_IS_WTSEM(tr),
|
||||||
|
"nilSemSignalI(), #1", "not waiting");
|
||||||
|
|
||||||
|
nilSchReadyI(tr, NIL_MSG_OK);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
tr++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a reset operation on the semaphore.
|
||||||
|
* @post After invoking this function all the threads waiting on the
|
||||||
|
* semaphore, if any, are released and the semaphore counter is set
|
||||||
|
* to the specified, non negative, value.
|
||||||
|
* @post This function does not reschedule so a call to a rescheduling
|
||||||
|
* function must be performed before unlocking the kernel. Note that
|
||||||
|
* interrupt handlers always reschedule on exit so an explicit
|
||||||
|
* reschedule must not be performed in ISRs.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
* @param[in] n the new value of the semaphore counter. The value must
|
||||||
|
* be non-negative.
|
||||||
|
*
|
||||||
|
* @api
|
||||||
|
*/
|
||||||
|
void nilSemReset(semaphore_t *sp, cnt_t n) {
|
||||||
|
|
||||||
|
nilSysLock();
|
||||||
|
nilSemResetI(sp, n);
|
||||||
|
nilSchRescheduleS();
|
||||||
|
nilSysUnlock();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Performs a reset operation on the semaphore.
|
||||||
|
* @post After invoking this function all the threads waiting on the
|
||||||
|
* semaphore, if any, are released and the semaphore counter is set
|
||||||
|
* to the specified, non negative, value.
|
||||||
|
* @post This function does not reschedule so a call to a rescheduling
|
||||||
|
* function must be performed before unlocking the kernel. Note that
|
||||||
|
* interrupt handlers always reschedule on exit so an explicit
|
||||||
|
* reschedule must not be performed in ISRs.
|
||||||
|
*
|
||||||
|
* @param[in] sp pointer to a @p semaphore_t structure
|
||||||
|
* @param[in] n the new value of the semaphore counter. The value must
|
||||||
|
* be non-negative.
|
||||||
|
*
|
||||||
|
* @iclass
|
||||||
|
*/
|
||||||
|
void nilSemResetI(semaphore_t *sp, cnt_t n) {
|
||||||
|
thread_ref_t tr;
|
||||||
|
cnt_t cnt;
|
||||||
|
|
||||||
|
cnt = sp->cnt;
|
||||||
|
sp->cnt = n;
|
||||||
|
tr = nil.threads;
|
||||||
|
while (cnt < 0) {
|
||||||
|
/* Is this thread waiting on this semaphore?*/
|
||||||
|
if (tr->u1.semp == sp) {
|
||||||
|
|
||||||
|
nilDbgAssert(NIL_THD_IS_WTSEM(tr),
|
||||||
|
"nilSemResetI(), #1", "not waiting");
|
||||||
|
|
||||||
|
cnt++;
|
||||||
|
nilSchReadyI(tr, NIL_MSG_RST);
|
||||||
|
}
|
||||||
|
tr++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/** @} */
|
||||||
Loading…
Reference in New Issue