git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6258 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio
parent
1292b0230c
commit
66d1c88211
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@ -63,7 +63,7 @@ CHIBIOS = ../../..
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#include $(CHIBIOS)/os/hal/boards/ST_STM32F0_DISCOVERY/board.mk
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#include $(CHIBIOS)/os/hal/ports/STM32F0xx/platform.mk
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include $(CHIBIOS)/os/nil/nil.mk
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#include $(CHIBIOS)/os/rt/osal/osal.mk
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include $(CHIBIOS)/os/nil/osal/osal.mk
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include $(CHIBIOS)/os/nil/ports/ARMCMx/compilers/GCC/mk/port_stm32f0xx.mk
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#include $(CHIBIOS)/test/test.mk
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@ -213,7 +213,7 @@ struct nil_thread_cfg {
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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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typedef thread_t * thread_reference_t;
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/**
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* @brief Structure representing a thread.
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@ -226,7 +226,7 @@ struct nil_thread {
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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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thread_reference_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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@ -244,13 +244,13 @@ typedef struct {
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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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thread_reference_t current;
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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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thread_reference_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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@ -583,7 +583,7 @@ typedef struct {
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*
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* @init
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*/
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#define chSemInit(sp, n) ((sp)->cnt = n)
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#define chSemObjectInit(sp, n) ((sp)->cnt = n)
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/**
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* @brief Performs a wait operation on a semaphore.
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@ -613,6 +613,13 @@ typedef struct {
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*/
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#define chSemWaitS(sp) chSemWaitTimeoutS(sp, TIME_INFINITE)
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/**
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* @brief Returns the semaphore counter current value.
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*
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* @iclass
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*/
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#define chSemGetCounterI(sp) ((sp)->cnt)
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p chSysInit()
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@ -689,11 +696,11 @@ extern "C" {
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void chSysInit(void);
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void chSysHalt(const char *reason);
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void chSysTimerHandlerI(void);
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thread_ref_t chSchReadyI(thread_ref_t trp, msg_t msg);
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thread_reference_t chSchReadyI(thread_reference_t trp, msg_t msg);
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msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout);
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void chSchRescheduleS(void);
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msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout);
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void chThdResumeI(thread_ref_t *trp, msg_t msg);
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msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
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void chThdResumeI(thread_reference_t *trp, msg_t msg);
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void chThdSleep(systime_t time);
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void chThdSleepUntil(systime_t time);
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systime_t chTimeNow(void);
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@ -0,0 +1,117 @@
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/*
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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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/* 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 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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semaphore_t *sp = &tqp->sem;
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if (chSemGetCounterI(&tqp->sem) < 0) {
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thread_reference_t tr = nil.threads;
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while (true) {
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/* Is this thread waiting on this semaphore?*/
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if (tr->u1.semp == sp) {
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chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
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chSchReadyI(tr, msg);
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return;
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}
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tr++;
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chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
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"pointer out of range");
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}
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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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semaphore_t *sp = &tqp->sem;
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thread_reference_t tr;
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cnt_t cnt;
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cnt = sp->cnt;
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sp->cnt = 0;
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tr = nil.threads;
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while (cnt < 0) {
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/* Is this thread waiting on this semaphore?*/
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if (tr->u1.semp == sp) {
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chDbgAssert(NIL_THD_IS_WTSEM(tr), "not waiting");
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cnt++;
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chSchReadyI(tr, msg);
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}
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tr++;
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chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
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"pointer out of range");
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}
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}
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/** @} */
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@ -0,0 +1,735 @@
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/*
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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.h
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* @brief OSAL module header.
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*
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* @addtogroup OSAL
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* @{
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*/
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#ifndef _OSAL_H_
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#define _OSAL_H_
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "nil.h"
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/*===========================================================================*/
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/* Module constants. */
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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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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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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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#define OSAL_SUCCESS FALSE
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#define OSAL_FAILED TRUE
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/** @} */
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#if 0
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/**
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* @name Messages
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* @{
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*/
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#define MSG_OK RDY_OK
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#define MSG_RESET RDY_RESET
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#define MSG_TIMEOUT RDY_TIMEOUT
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/** @} */
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#endif
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#if 0
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/**
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* @name Special time constants
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* @{
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*/
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#define TIME_IMMEDIATE ((systime_t)0)
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#define TIME_INFINITE ((systime_t)-1)
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/** @} */
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#endif
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/**
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* @name Systick modes.
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* @{
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*/
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#define OSAL_ST_MODE_NONE 0
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#define OSAL_ST_MODE_PERIODIC 1
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#define OSAL_ST_MODE_FREERUNNING 2
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/** @} */
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/**
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* @brief Systick mode required by the underlying OS.
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*/
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#if (NIL_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__)
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#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
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#else
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#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
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#endif
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/**
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* @brief Required systick frequency or resolution.
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*/
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#define OSAL_SYSTICK_FREQUENCY NIL_CFG_ST_FREQUENCY
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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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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
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!(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
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!(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
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#error "invalid OSAL_ST_MODE setting in osal.h"
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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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#if 0
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/**
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* @brief Type of a system status word.
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*/
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typedef uint32_t syssts_t;
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#endif
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#if 0
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/**
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* @brief Type of a message.
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*/
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typedef int32_t msg_t;
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#endif
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#if 0
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/**
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* @brief Type of system time counter.
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*/
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typedef uint32_t systime_t;
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#endif
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#if 0
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/**
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* @brief Type of realtime counter.
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*/
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typedef uint32_t rtcnt_t;
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#endif
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#if 0
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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_reference_t;
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#endif
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typedef (*eventcallback_t)()
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/**
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* @brief Type of an event flags mask.
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*/
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typedef uint32_t eventflags_t;
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/**
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* @brief Type of an event flags object.
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* @note The content of this structure is not part of the API and should
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* not be relied upon. Implementers may define this structure in
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* an entirely different way.
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* @note Retrieval and clearing of the flags are not defined in this
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* API and are implementation-dependent.
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*/
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typedef struct {
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volatile eventflags_t flags; /**< @brief Flags stored into the
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object. */
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} eventsource_t;
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/**
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* @brief Type of a mutex.
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* @note If the OS does not support mutexes or there is no OS then them
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* mechanism can be simulated.
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*/
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typedef semaphore_t mutex_t;
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/**
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* @brief Type of a thread queue.
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* @details A thread queue is a queue of sleeping threads, queued threads
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* can be dequeued one at time or all together.
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* @note In this implementation it is implemented as a single reference
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* because there are no real threads.
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*/
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typedef struct {
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semaphore_t sem;
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} threads_queue_t;
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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||||
/**
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||||
* @name Debug related macros
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* @{
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*/
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/**
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* @brief Condition assertion.
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* @details If the condition check fails then the OSAL panics with a
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* message and halts.
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* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
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* switch is enabled.
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* @note The convention for the message is the following:<br>
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* @<function_name@>(), #@<assert_number@>
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* @note The remark string is not currently used except for putting a
|
||||
* comment in the code about the assertion.
|
||||
*
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||||
* @param[in] c the condition to be verified to be true
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* @param[in] remark a remark string
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*
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* @api
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||||
*/
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#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
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/**
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* @brief Function parameters check.
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||||
* @details If the condition check fails then the OSAL panics and halts.
|
||||
* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
|
||||
* is enabled.
|
||||
*
|
||||
* @param[in] c the condition to be verified to be true
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalDbgCheck(c) /*chDbgCheck(c)*/
|
||||
|
||||
/**
|
||||
* @brief I-Class state check.
|
||||
* @note Not implemented in this simplified OSAL.
|
||||
*/
|
||||
#define osalDbgCheckClassI() /*chDbgCheckClassI()*/
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @brief S-Class state check.
|
||||
* @note Not implemented in this simplified OSAL.
|
||||
*/
|
||||
#define osalDbgCheckClassS() /*chDbgCheckClassS()*/
|
||||
|
||||
/**
|
||||
* @name IRQ service routines wrappers
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
* @brief IRQ prologue code.
|
||||
* @details This macro must be inserted at the start of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ epilogue code.
|
||||
* @details This macro must be inserted at the end of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ handler function declaration.
|
||||
* @details This macro hides the details of an ISR function declaration.
|
||||
*
|
||||
* @param[in] id a vector name as defined in @p vectors.s
|
||||
*/
|
||||
#define OSAL_IRQ_HANDLER(id) CH_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 OSAL_S2ST(sec) S2ST(sec)
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||||
|
||||
/**
|
||||
* @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 OSAL_MS2ST(msec) MS2ST(msec)
|
||||
/**
|
||||
* @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 OSAL_US2ST(usec) US2ST(usec)
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
|
||||
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module inline functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief OSAL module initialization.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline void osalInit(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief System halt with error message.
|
||||
*
|
||||
* @param[in] reason the halt message pointer
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline void osalSysHalt(const char *reason) {
|
||||
|
||||
chSysHalt(reason);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLock(void) {
|
||||
|
||||
chSysLock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlock(void) {
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLockFromISR(void) {
|
||||
|
||||
chSysLockFromISR();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlockFromISR(void) {
|
||||
|
||||
chSysUnlockFromISR();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the execution status and enters a critical zone.
|
||||
* @details This functions enters into a critical zone and can be called
|
||||
* from any context. Because its flexibility it is less efficient
|
||||
* than @p chSysLock() which is preferable when the calling context
|
||||
* is known.
|
||||
* @post The system is in a critical zone.
|
||||
*
|
||||
* @return The previous system status, the encoding of this
|
||||
* status word is architecture-dependent and opaque.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline syssts_t osalSysGetStatusAndLockX(void) {
|
||||
|
||||
return chSysGetStatusAndLockX();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Restores the specified execution status and leaves a critical zone.
|
||||
* @note A call to @p chSchRescheduleS() is automatically performed
|
||||
* if exiting the critical zone and if not in ISR context.
|
||||
*
|
||||
* @param[in] sts the system status to be restored.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline void osalSysRestoreStatusX(syssts_t sts) {
|
||||
|
||||
chSysRestoreStatusX(sts);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Polled delay.
|
||||
* @note The real delay is always few cycles in excess of the specified
|
||||
* value.
|
||||
*
|
||||
* @param[in] cycles number of cycles
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
|
||||
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
|
||||
|
||||
chSysPolledDelayX(cycles);
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Systick callback for the underlying OS.
|
||||
* @note This callback is only defined if the OSAL requires such a
|
||||
* service from the HAL.
|
||||
*/
|
||||
#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
|
||||
static inline void osalOsTimerHandlerI(void) {
|
||||
|
||||
chSysTimerHandlerI();
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Checks if a reschedule is required and performs it.
|
||||
* @note I-Class functions invoked from thread context must not reschedule
|
||||
* by themselves, an explicit reschedule using this function is
|
||||
* required in this scenario.
|
||||
* @note Not implemented in this simplified OSAL.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline void osalOsRescheduleS(void) {
|
||||
|
||||
chSchRescheduleS();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Current system time.
|
||||
* @details Returns the number of system ticks since the @p chSysInit()
|
||||
* invocation.
|
||||
* @note The counter can reach its maximum and then restart from zero.
|
||||
* @note This function can be called from any context but its atomicity
|
||||
* is not guaranteed on architectures whose word size is less than
|
||||
* @systime_t size.
|
||||
*
|
||||
* @return The system time in ticks.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline systime_t osalOsGetSystemTimeX(void) {
|
||||
|
||||
return chVTGetSystemTimeX();
|
||||
}
|
||||
|
||||
/**
|
||||
* @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.
|
||||
* @note This function can be called from any context.
|
||||
*
|
||||
* @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.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline bool osalOsIsTimeWithinX(systime_t time,
|
||||
systime_t start,
|
||||
systime_t end) {
|
||||
|
||||
return chVTIsTimeWithinX(time, start, end);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspends the invoking thread for the specified time.
|
||||
*
|
||||
* @param[in] time the delay in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE is allowed but interpreted as a
|
||||
* normal time specification.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline void osalThreadSleepS(systime_t time) {
|
||||
|
||||
chThdSleepS(time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspends the invoking thread for the specified time.
|
||||
*
|
||||
* @param[in] time the delay in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE is allowed but interpreted as a
|
||||
* normal time specification.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline void osalThreadSleep(systime_t time) {
|
||||
|
||||
chThdSleep(time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
* @return The wake up message.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
|
||||
|
||||
return chThdSuspendTimeoutS(trp, TIME_INFINITE);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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 timeout in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||||
* state.
|
||||
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
||||
* the function returns @p MSG_TIMEOUT as if a timeout
|
||||
* occurred.
|
||||
* .
|
||||
* @return The wake up message.
|
||||
* @retval MSG_TIMEOUT if the operation timed out.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
|
||||
systime_t timeout) {
|
||||
|
||||
return chThdSuspendTimeoutS(trp, 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
|
||||
*/
|
||||
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
|
||||
|
||||
chThdResumeI(trp, msg);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Wakes up a thread waiting on a thread reference object.
|
||||
* @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] msg the message code
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
|
||||
|
||||
chThdResumeI(trp, msg);
|
||||
chSchRescheduleS();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes a threads queue object.
|
||||
*
|
||||
* @param[out] tqp pointer to the threads queue object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalQueueObjectInit(threads_queue_t *tqp) {
|
||||
|
||||
chSemObjectInit(&tqp->sem, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enqueues the caller thread.
|
||||
* @details The caller thread is enqueued and put to sleep until it is
|
||||
* dequeued or the specified timeouts expires.
|
||||
*
|
||||
* @param[in] tqp pointer to the threads queue object
|
||||
* @param[in] time the timeout in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||||
* state.
|
||||
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
||||
* the function returns @p MSG_TIMEOUT as if a timeout
|
||||
* occurred.
|
||||
* .
|
||||
* @return The message from @p osalQueueWakeupOneI() or
|
||||
* @p osalQueueWakeupAllI() functions.
|
||||
* @retval RDY_TIMEOUT if the thread has not been dequeued within the
|
||||
* specified timeout or if the function has been
|
||||
* invoked with @p TIME_IMMEDIATE as timeout
|
||||
* specification.
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp,
|
||||
systime_t time) {
|
||||
|
||||
return chSemWaitTimeout(&tqp->sem, time);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes an event flags object.
|
||||
*
|
||||
* @param[out] esp pointer to the event flags object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalEventObjectInit(eventsource_t *esp) {
|
||||
|
||||
chEvtObjectInit(esp);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Add flags to an event source object.
|
||||
*
|
||||
* @param[in] esp pointer to the event flags object
|
||||
* @param[in] flags flags to be ORed to the flags mask
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline void osalEventBroadcastFlagsI(eventsource_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
chEvtBroadcastFlagsI(esp, flags);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Add flags to an event source object.
|
||||
*
|
||||
* @param[in] esp pointer to the event flags object
|
||||
* @param[in] flags flags to be ORed to the flags mask
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline void osalEventBroadcastFlags(eventsource_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
chEvtBroadcastFlags(esp, flags);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes s @p mutex_t object.
|
||||
*
|
||||
* @param[out] mp pointer to the @p mutex_t object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalMutexObjectInit(mutex_t *mp) {
|
||||
|
||||
chSemObjectInit((semaphore_t *)mp, 1);
|
||||
}
|
||||
|
||||
/*
|
||||
* @brief Locks the specified mutex.
|
||||
* @post The mutex is locked and inserted in the per-thread stack of owned
|
||||
* mutexes.
|
||||
*
|
||||
* @param[in,out] mp pointer to the @p mutex_t object
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline void osalMutexLock(mutex_t *mp) {
|
||||
|
||||
chSemWait((semaphore_t *)mp);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Unlocks the specified mutex.
|
||||
* @note The HAL guarantees to release mutex in reverse lock order. The
|
||||
* mutex being unlocked is guaranteed to be the last locked mutex
|
||||
* by the invoking thread.
|
||||
* The implementation can rely on this behavior and eventually
|
||||
* ignore the @p mp parameter which is supplied in order to support
|
||||
* those OSes not supporting a stack of the owned mutexes.
|
||||
*
|
||||
* @param[in,out] mp pointer to the @p mutex_t object
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline void osalMutexUnlock(mutex_t *mp) {
|
||||
|
||||
chSemSignal((semaphore_t *)mp);
|
||||
}
|
||||
|
||||
#endif /* _OSAL_H_ */
|
||||
|
||||
/** @} */
|
||||
|
|
@ -0,0 +1,5 @@
|
|||
# OSAL files.
|
||||
OSALSRC += ${CHIBIOS}/os/nil/osal/osal.c
|
||||
|
||||
# Required include directories
|
||||
OSALINC += ${CHIBIOS}/os/nil/osal
|
||||
|
|
@ -66,7 +66,7 @@ nil_system_t nil;
|
|||
* @special
|
||||
*/
|
||||
void chSysInit(void) {
|
||||
thread_ref_t tr;
|
||||
thread_reference_t tr;
|
||||
const thread_config_t *tcp;
|
||||
|
||||
/* Port layer initialization.*/
|
||||
|
|
@ -136,7 +136,7 @@ void chSysHalt(const char *reason) {
|
|||
void chSysTimerHandlerI(void) {
|
||||
|
||||
#if NIL_CFG_TIMEDELTA == 0
|
||||
thread_ref_t tr = &nil.threads[0];
|
||||
thread_reference_t tr = &nil.threads[0];
|
||||
nil.systime++;
|
||||
do {
|
||||
/* Is the thread in a wait state with timeout?.*/
|
||||
|
|
@ -162,7 +162,7 @@ void chSysTimerHandlerI(void) {
|
|||
chSysLockFromISR();
|
||||
} while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);
|
||||
#else
|
||||
thread_ref_t tr = &nil.threads[0];
|
||||
thread_reference_t tr = &nil.threads[0];
|
||||
systime_t next = 0;
|
||||
|
||||
chDbgAssert(nil.nexttime == port_timer_get_alarm(),
|
||||
|
|
@ -218,7 +218,7 @@ void chSysTimerHandlerI(void) {
|
|||
*
|
||||
* @return The same reference passed as parameter.
|
||||
*/
|
||||
thread_ref_t chSchReadyI(thread_ref_t tr, msg_t msg) {
|
||||
thread_reference_t chSchReadyI(thread_reference_t tr, msg_t msg) {
|
||||
|
||||
chDbgAssert((tr >= nil.threads) &&
|
||||
(tr < &nil.threads[NIL_CFG_NUM_THREADS]),
|
||||
|
|
@ -240,8 +240,8 @@ thread_ref_t chSchReadyI(thread_ref_t tr, msg_t msg) {
|
|||
* @sclass
|
||||
*/
|
||||
void chSchRescheduleS() {
|
||||
thread_ref_t otr = nil.current;
|
||||
thread_ref_t ntr = nil.next;
|
||||
thread_reference_t otr = nil.current;
|
||||
thread_reference_t ntr = nil.next;
|
||||
|
||||
if (ntr != otr) {
|
||||
nil.current = ntr;
|
||||
|
|
@ -272,7 +272,7 @@ void chSchRescheduleS() {
|
|||
* @sclass
|
||||
*/
|
||||
msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
|
||||
thread_ref_t ntr, otr = nil.current;
|
||||
thread_reference_t ntr, otr = nil.current;
|
||||
|
||||
chDbgAssert(otr != &nil.threads[NIL_CFG_NUM_THREADS],
|
||||
"idle cannot sleep");
|
||||
|
|
@ -348,7 +348,7 @@ msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t timeout) {
|
|||
*
|
||||
* @sclass
|
||||
*/
|
||||
msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
|
||||
msg_t chThdSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
|
||||
|
||||
chDbgAssert(*trp == NULL, "not NULL");
|
||||
|
||||
|
|
@ -367,10 +367,10 @@ msg_t chThdSuspendTimeoutS(thread_ref_t *trp, systime_t timeout) {
|
|||
*
|
||||
* @iclass
|
||||
*/
|
||||
void chThdResumeI(thread_ref_t *trp, msg_t msg) {
|
||||
void chThdResumeI(thread_reference_t *trp, msg_t msg) {
|
||||
|
||||
if (*trp != NULL) {
|
||||
thread_ref_t tr = *trp;
|
||||
thread_reference_t tr = *trp;
|
||||
|
||||
chDbgAssert(NIL_THD_IS_SUSP(tr), "not suspended");
|
||||
|
||||
|
|
@ -544,7 +544,7 @@ void chSemSignal(semaphore_t *sp) {
|
|||
void chSemSignalI(semaphore_t *sp) {
|
||||
|
||||
if (++sp->cnt <= 0) {
|
||||
thread_ref_t tr = nil.threads;
|
||||
thread_reference_t tr = nil.threads;
|
||||
while (true) {
|
||||
/* Is this thread waiting on this semaphore?*/
|
||||
if (tr->u1.semp == sp) {
|
||||
|
|
@ -555,6 +555,9 @@ void chSemSignalI(semaphore_t *sp) {
|
|||
return;
|
||||
}
|
||||
tr++;
|
||||
|
||||
chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -600,7 +603,7 @@ void chSemReset(semaphore_t *sp, cnt_t n) {
|
|||
* @iclass
|
||||
*/
|
||||
void chSemResetI(semaphore_t *sp, cnt_t n) {
|
||||
thread_ref_t tr;
|
||||
thread_reference_t tr;
|
||||
cnt_t cnt;
|
||||
|
||||
cnt = sp->cnt;
|
||||
|
|
@ -616,6 +619,9 @@ void chSemResetI(semaphore_t *sp, cnt_t n) {
|
|||
chSchReadyI(tr, MSG_RESET);
|
||||
}
|
||||
tr++;
|
||||
|
||||
chDbgAssert(tr < &nil.threads[NIL_CFG_NUM_THREADS],
|
||||
"pointer out of range");
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -437,7 +437,7 @@ static inline void osalSysRestoreStatusX(syssts_t sts) {
|
|||
*
|
||||
* @xclass
|
||||
*/
|
||||
#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
|
||||
#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
|
||||
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
|
||||
|
||||
chSysPolledDelayX(cycles);
|
||||
|
|
@ -648,7 +648,8 @@ static inline void osalQueueObjectInit(threads_queue_t *tqp) {
|
|||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
|
||||
static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp,
|
||||
systime_t time) {
|
||||
|
||||
return chQueueGoSleepTimeoutS(tqp, time);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue