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Improved general drivers state machine handling. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@16291 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio 2023-06-17 10:21:21 +00:00
parent 62414373f0
commit 960abcdabb
5 changed files with 100 additions and 38 deletions
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67
os/xhal/codegen/hal_base_driver.xml
View File

@ -116,7 +116,8 @@ drv_reg_remove(self);
<brief>Low level driver stop.</brief> <brief>Low level driver stop.</brief>
<notapi /> <notapi />
</method> </method>
<method name="drvConfigureX" shortname="configure" ctype="msg_t"> <method name="drvConfigureX" shortname="configure"
ctype="msg_t">
<brief>Driver configure.</brief> <brief>Driver configure.</brief>
<details><![CDATA[Applies a new configuration to the driver. The <details><![CDATA[Applies a new configuration to the driver. The
configuration structure is architecture-dependent.]]> configuration structure is architecture-dependent.]]>
@ -126,7 +127,8 @@ drv_reg_remove(self);
depending on the driver implementation and current state.]]> depending on the driver implementation and current state.]]>
</note> </note>
<param ctype="const void *" name="config" dir="in"> <param ctype="const void *" name="config" dir="in">
New driver configuration. New driver
configuration.
</param> </param>
<api /> <api />
</method> </method>
@ -138,8 +140,23 @@ drv_reg_remove(self);
call the peripheral is physically initialized using a call the peripheral is physically initialized using a
default configuration, subsequent calls are ignored.]]> default configuration, subsequent calls are ignored.]]>
</details> </details>
<note><![CDATA[The function can fail with error
@p HAL_RET_INV_STATE if called while the driver is already
being started or stopped. In case you need multiple threads
to perform start and stop operation on the driver then it is
suggested to lock/unlock the driver during such operations.]]></note>
<return>The operation status.</return> <return>The operation status.</return>
<retval value="HAL_RET_SUCCESS">Operation successful.</retval> <retval value="HAL_RET_SUCCESS">Operation successful.</retval>
<retval value="HAL_RET_INV_STATE"><![CDATA[If the driver was
in one of @p HAL_DRV_STATE_UNINIT, @p HAL_DRV_STATE_STARTING
or @p HAL_DRV_STATE_STOPPING states.]]></retval>
<retval value="HAL_RET_NO_RESOURCE">If a required resources
cannot be allocated.
</retval>
<retval value="HAL_RET_HW_BUSY">If a required HW resource is
already in use.
</retval>
<retval value="HAL_RET_HW_FAILURE">If an HW failure occurred.</retval>
<api /> <api />
<implementation><![CDATA[ <implementation><![CDATA[
msg_t msg = HAL_RET_SUCCESS; msg_t msg = HAL_RET_SUCCESS;
@ -148,20 +165,28 @@ osalDbgCheck(self != NULL);
osalSysLock(); osalSysLock();
osalDbgAssert((self->state != HAL_DRV_STATE_UNINIT) && switch (self->state) {
(self->state != HAL_DRV_STATE_STOPPING) && case HAL_DRV_STATE_UNINIT:
(self->state != HAL_DRV_STATE_STARTING), /* Falls through.*/
"invalid state"); case HAL_DRV_STATE_STARTING:
/* Falls through.*/
if (self->state == HAL_DRV_STATE_STOP) { case HAL_DRV_STATE_STOPPING:
msg = HAL_RET_INV_STATE;
break;
case HAL_DRV_STATE_STOP:
/* Physically starting the peripheral.*/ /* Physically starting the peripheral.*/
msg = __drv_start(self); msg = __drv_start(self);
if (msg == HAL_RET_SUCCESS) { if (msg == HAL_RET_SUCCESS) {
self->state = HAL_DRV_STATE_READY; self->state = HAL_DRV_STATE_READY;
/* LLD is supposed to set a default configuration.*/
osalDbgAssert(self->config != NULL, "no configuration");
} }
else { else {
self->state = HAL_DRV_STATE_STOP; self->state = HAL_DRV_STATE_STOP;
} }
default:
/* Any other state ignored, driver already started.*/
} }
osalSysUnlock(); osalSysUnlock();
@ -180,13 +205,13 @@ osalDbgCheck(self != NULL);
osalSysLock(); osalSysLock();
osalDbgAssert((self->state != HAL_DRV_STATE_UNINIT) && osalDbgAssert(self->state != HAL_DRV_STATE_UNINIT, "invalid state");
(self->state != HAL_DRV_STATE_STARTING),
"invalid state");
if (self->state != HAL_DRV_STATE_STOP) { if ((self->state != HAL_DRV_STATE_STOP) &&
(self->state != HAL_DRV_STATE_STARTING)) {
__drv_stop(self); __drv_stop(self);
self->state = HAL_DRV_STATE_STOP; self->state = HAL_DRV_STATE_STOP;
self->config = NULL;
} }
osalSysUnlock();]]></implementation> osalSysUnlock();]]></implementation>
@ -204,7 +229,8 @@ return self->state;]]></implementation>
<method name="drvSetStateX" ctype="void"> <method name="drvSetStateX" ctype="void">
<brief>Driver state set.</brief> <brief>Driver state set.</brief>
<param ctype="driver_state_t" name="state" dir="in"> <param ctype="driver_state_t" name="state" dir="in">
New driver state. New driver
state.
</param> </param>
<api /> <api />
<implementation><![CDATA[ <implementation><![CDATA[
@ -319,7 +345,8 @@ return oopGetOwner(hal_base_driver_c, regent, rep);]]></implementation>
This function is only available when HAL registry is enabled. This function is only available when HAL registry is enabled.
</note> </note>
<param name="drvp" ctype="hal_base_driver_c *" dir="in"> <param name="drvp" ctype="hal_base_driver_c *" dir="in">
Previously found driver. Previously
found driver.
</param> </param>
<return>A pointer to the next driver object.</return> <return>A pointer to the next driver object.</return>
<retval value="NULL">If there is no next driver.</retval> <retval value="NULL">If there is no next driver.</retval>
@ -346,8 +373,10 @@ return oopGetOwner(hal_base_driver_c, regent, rep);]]></implementation>
</note> </note>
<param name="name" ctype="const char *" dir="in">Driver name.</param> <param name="name" ctype="const char *" dir="in">Driver name.</param>
<param name="msgp" ctype="msg_t *" dir="out"> <param name="msgp" ctype="msg_t *" dir="out">
Pointer to store the error code or @p NULL. Note that in case of Pointer to store the
driver not found the returned code is @p HAL_RET_SUCCESS. error code or @p NULL. Note that in case of
driver not found the
returned code is @p HAL_RET_SUCCESS.
</param> </param>
<return>A reference to the driver.</return> <return>A reference to the driver.</return>
<retval value="NULL">If an error occurred.</retval> <retval value="NULL">If an error occurred.</retval>
@ -395,7 +424,8 @@ return drvp;]]></implementation>
This function is only available when HAL registry is enabled. This function is only available when HAL registry is enabled.
</note> </note>
<param name="drvp" ctype="hal_base_driver_c *" dir="both"> <param name="drvp" ctype="hal_base_driver_c *" dir="both">
Pointer to the @p hal_base_driver_c instance to be inserted. Pointer to
the @p hal_base_driver_c instance to be inserted.
</param> </param>
<implementation><![CDATA[ <implementation><![CDATA[
@ -407,7 +437,8 @@ hal_registry.prev = &drvp->regent;]]></implementation>
<function name="drv_reg_remove" ctype="void"> <function name="drv_reg_remove" ctype="void">
<brief>Driver removal from the HAL registry.</brief> <brief>Driver removal from the HAL registry.</brief>
<param name="drvp" ctype="hal_base_driver_c *" dir="both"> <param name="drvp" ctype="hal_base_driver_c *" dir="both">
Pointer to the @p hal_base_driver_c instance to be inserted. Pointer to
the @p hal_base_driver_c instance to be inserted.
</param> </param>
<implementation><![CDATA[ <implementation><![CDATA[

3
os/xhal/codegen/hal_spi.xml
View File

@ -851,7 +851,8 @@ spi_lld_stop(self);]]></implementation>
<method shortname="configure"> <method shortname="configure">
<implementation><![CDATA[ <implementation><![CDATA[
self->config = config;]]></implementation> self->config = config;
spi_lld_configure(self);]]></implementation>
</method> </method>
<method shortname="setcb"> <method shortname="setcb">
<implementation><![CDATA[ <implementation><![CDATA[

16
os/xhal/include/hal.h
View File

@ -91,32 +91,38 @@
* @{ * @{
*/ */
#define HAL_RET_SUCCESS MSG_OK #define HAL_RET_SUCCESS MSG_OK
/**
* @brief Operation requested during invalid driver state.
* @details This error is returned if the driver cannot accept the request
* because its internal state.
*/
#define HAL_RET_INV_STATE (msg_t)-16
/** /**
* @brief Configuration error. * @brief Configuration error.
* @details An error has been detected in the driver configuration structure. * @details An error has been detected in the driver configuration structure.
*/ */
#define HAL_RET_CONFIG_ERROR (msg_t)-16 #define HAL_RET_CONFIG_ERROR (msg_t)-17
/** /**
* @brief A required resource is not available. * @brief A required resource is not available.
* @details One of the resources required for driver operations is not * @details One of the resources required for driver operations is not
* available. * available.
*/ */
#define HAL_RET_NO_RESOURCE (msg_t)-17 #define HAL_RET_NO_RESOURCE (msg_t)-18
/** /**
* @brief The peripheral is busy. * @brief The peripheral is busy.
* @details The peripheral is not available or taken by some other system * @details The peripheral is not available or taken by some other system
* actor. * actor.
*/ */
#define HAL_RET_HW_BUSY (msg_t)-18 #define HAL_RET_HW_BUSY (msg_t)-19
/** /**
* @brief Peripheral failure. * @brief Peripheral failure.
* @details Peripheral failed, for example HW timeouts. * @details Peripheral failed, for example HW timeouts.
*/ */
#define HAL_RET_HW_FAILURE (msg_t)-19 #define HAL_RET_HW_FAILURE (msg_t)-20
/** /**
* @brief Unknown control code. * @brief Unknown control code.
*/ */
#define HAL_RET_UNKNOWN_CTL (msg_t)-20 #define HAL_RET_UNKNOWN_CTL (msg_t)-21
/** @} */ /** @} */
/*===========================================================================*/ /*===========================================================================*/

39
os/xhal/src/hal_base_driver.c
View File

@ -266,10 +266,21 @@ void __drv_dispose_impl(void *ip) {
* @details Starts driver operations, on the 1st call the peripheral is * @details Starts driver operations, on the 1st call the peripheral is
* physically initialized using a default configuration, * physically initialized using a default configuration,
* subsequent calls are ignored. * subsequent calls are ignored.
* @note The function can fail with error @p HAL_RET_INV_STATE if called
* while the driver is already being started or stopped. In case
* you need multiple threads performing start and stop operation
* on the driver then it is suggested to lock/unlock the driver
* during such operations.
* *
* @param[in,out] ip Pointer to a @p hal_base_driver_c instance. * @param[in,out] ip Pointer to a @p hal_base_driver_c instance.
* @return The operation status. * @return The operation status.
* @retval HAL_RET_SUCCESS Operation successful. * @retval HAL_RET_SUCCESS Operation successful.
* @retval HAL_RET_INV_STATE If the driver was in one of @p
* HAL_DRV_STATE_UNINIT, @p HAL_DRV_STATE_STARTING
* or @p HAL_DRV_STATE_STOPPING states.
* @retval HAL_RET_NO_RESOURCE If a required resources cannot be allocated.
* @retval HAL_RET_HW_BUSY If a required HW resource is already in use.
* @retval HAL_RET_HW_FAILURE If an HW failure occurred.
* *
* @api * @api
*/ */
@ -281,20 +292,28 @@ msg_t drvStart(void *ip) {
osalSysLock(); osalSysLock();
osalDbgAssert((self->state != HAL_DRV_STATE_UNINIT) && switch (self->state) {
(self->state != HAL_DRV_STATE_STOPPING) && case HAL_DRV_STATE_UNINIT:
(self->state != HAL_DRV_STATE_STARTING), /* Falls through.*/
"invalid state"); case HAL_DRV_STATE_STARTING:
/* Falls through.*/
if (self->state == HAL_DRV_STATE_STOP) { case HAL_DRV_STATE_STOPPING:
msg = HAL_RET_INV_STATE;
break;
case HAL_DRV_STATE_STOP:
/* Physically starting the peripheral.*/ /* Physically starting the peripheral.*/
msg = __drv_start(self); msg = __drv_start(self);
if (msg == HAL_RET_SUCCESS) { if (msg == HAL_RET_SUCCESS) {
self->state = HAL_DRV_STATE_READY; self->state = HAL_DRV_STATE_READY;
/* LLD is supposed to set a default configuration.*/
osalDbgAssert(self->config != NULL, "no configuration");
} }
else { else {
self->state = HAL_DRV_STATE_STOP; self->state = HAL_DRV_STATE_STOP;
} }
default:
/* Any other state ignored, driver already started.*/
} }
osalSysUnlock(); osalSysUnlock();
@ -321,13 +340,13 @@ void drvStop(void *ip) {
osalSysLock(); osalSysLock();
osalDbgAssert((self->state != HAL_DRV_STATE_UNINIT) && osalDbgAssert(self->state != HAL_DRV_STATE_UNINIT, "invalid state");
(self->state != HAL_DRV_STATE_STARTING),
"invalid state");
if (self->state != HAL_DRV_STATE_STOP) { if ((self->state != HAL_DRV_STATE_STOP) &&
(self->state != HAL_DRV_STATE_STARTING)) {
__drv_stop(self); __drv_stop(self);
self->state = HAL_DRV_STATE_STOP; self->state = HAL_DRV_STATE_STOP;
self->config = NULL;
} }
osalSysUnlock(); osalSysUnlock();

5
os/xhal/src/hal_spi.c
View File

@ -134,6 +134,8 @@ void __spi_dispose_impl(void *ip) {
*/ */
msg_t __spi_start_impl(void *ip) { msg_t __spi_start_impl(void *ip) {
hal_spi_driver_c *self = (hal_spi_driver_c *)ip; hal_spi_driver_c *self = (hal_spi_driver_c *)ip;
return spi_lld_start(self);
} }
/** /**
@ -146,6 +148,8 @@ msg_t __spi_start_impl(void *ip) {
*/ */
void __spi_stop_impl(void *ip) { void __spi_stop_impl(void *ip) {
hal_spi_driver_c *self = (hal_spi_driver_c *)ip; hal_spi_driver_c *self = (hal_spi_driver_c *)ip;
spi_lld_stop(self);
} }
/** /**
@ -161,6 +165,7 @@ msg_t __spi_configure_impl(void *ip, const void *config) {
hal_spi_driver_c *self = (hal_spi_driver_c *)ip; hal_spi_driver_c *self = (hal_spi_driver_c *)ip;
self->config = config; self->config = config;
spi_lld_configure(self);
} }
/** /**