Latest changes and documentation fixes.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@13639 27425a3e-05d8-49a3-a47f-9c15f0e5edd8
This commit is contained in:
Giovanni Di Sirio
parent
228d232043
commit
bbece2d2d1
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@ -87,6 +87,9 @@ static void timer_cb(void const *arg) {
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/**
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* @brief Kernel initialization.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osKernelInitialize(void) {
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@ -106,6 +109,9 @@ osStatus osKernelInitialize(void) {
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/**
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* @brief Kernel start.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osKernelStart(void) {
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@ -118,6 +124,10 @@ osStatus osKernelStart(void) {
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/**
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* @brief Creates a thread.
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*
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* @param[in] thread_def the thread object declared with @p osThread
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* @return The thread identifier.
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* @retval NULL if the function failed.
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*/
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osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
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size_t size;
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@ -136,6 +146,10 @@ osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
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* @brief Thread termination.
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* @note The thread is not really terminated but asked to terminate which
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* is not compliant.
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*
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* @param[in] thread_id a thread identifier
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osThreadTerminate(osThreadId thread_id) {
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@ -153,6 +167,10 @@ osStatus osThreadTerminate(osThreadId thread_id) {
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/**
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* @brief Change thread priority.
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* @note This can interfere with the priority inheritance mechanism.
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*
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* @param[in] thread_id a thread identifier
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
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thread_t * tp = (thread_t *)thread_id;
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@ -210,27 +228,58 @@ osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
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}
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/**
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* @brief Create a timer.
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* @brief Create a one-shot or periodic timer.
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* @details The timer is in stopped state until it is started with
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* @p osTimerStart.
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*
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* @param[in] timer_def the timer object declared with @p osTimer
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* @param[in] type @p osTimerOnce or @p osTimerPeriodic
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* @param[in] argument argument to the timer callback function
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* @return The timer identifier.
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* @retval NULL if the function failed.
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*/
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osTimerId osTimerCreate(const osTimerDef_t *timer_def,
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os_timer_type type,
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void *argument) {
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if ((timer_def == NULL) || port_is_isr_context()) {
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return NULL;
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}
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osTimerId timer = chPoolAlloc(&timpool);
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chVTObjectInit(&timer->vt);
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timer->ptimer = timer_def->ptimer;
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timer->type = type;
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timer->argument = argument;
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return timer;
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}
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/**
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* @brief Start a timer.
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* @brief Start or restart the timer.
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*
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* @param[in] timer_id the timer ID returned by @p osTimerCreate()
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* @param[in] millisec time delay value of the timer
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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* @retval osErrorISR if the function has been called from ISR
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* context.
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* @retval osErrorValue if a parameter has an invalid value.
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*/
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osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
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if ((millisec == 0) || (millisec == osWaitForever))
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if (timer_id == NULL) {
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return osErrorParameter;
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}
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if (port_is_isr_context()) {
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return osErrorISR;
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}
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if ((millisec == 0) || (millisec == osWaitForever)) {
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return osErrorValue;
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}
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timer_id->millisec = millisec;
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chVTSet(&timer_id->vt, TIME_MS2I(millisec), (vtfunc_t)timer_cb, timer_id);
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@ -240,19 +289,54 @@ osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
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/**
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* @brief Stop a timer.
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*
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* @param[in] timer_id the timer ID returned by @p osTimerCreate()
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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* @retval osErrorISR if the function has been called from ISR
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* context.
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* @retval osErrorResource if the object is in an invalid state.
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*/
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osStatus osTimerStop(osTimerId timer_id) {
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if (timer_id == NULL) {
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return osErrorParameter;
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}
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if (port_is_isr_context()) {
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return osErrorISR;
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}
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if (chVTIsArmed(&timer_id->vt) == false) {
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return osErrorResource;
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}
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chVTReset(&timer_id->vt);
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return osOK;
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}
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/**
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* @brief Delete a timer.
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* @brief Delete the timer object.
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*
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* @param[in] timer_id timer ID obtained by osTimerCreate
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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* @retval osErrorISR if the function has been called from ISR
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* context.
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*/
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osStatus osTimerDelete(osTimerId timer_id) {
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if (timer_id == NULL) {
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return osErrorParameter;
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};
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if (port_is_isr_context()) {
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return osErrorISR;
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}
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chVTReset(&timer_id->vt);
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chPoolFree(&timpool, (void *)timer_id);
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@ -261,6 +345,9 @@ osStatus osTimerDelete(osTimerId timer_id) {
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/**
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* @brief Send signals.
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*
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* @param[in] thread_id a thread identifier
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* @return The previous signals mask.
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*/
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int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
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int32_t oldsignals;
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@ -275,6 +362,9 @@ int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
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/**
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* @brief Clear signals.
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*
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* @param[in] thread_id a thread identifier
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* @return The signals mask.
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*/
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int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
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eventmask_t m;
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@ -291,6 +381,8 @@ int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
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/**
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* @brief Wait for signals.
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*
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* @return An @p osEvent structure.
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*/
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osEvent osSignalWait(int32_t signals, uint32_t millisec) {
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osEvent event;
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@ -313,8 +405,12 @@ osEvent osSignalWait(int32_t signals, uint32_t millisec) {
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/**
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* @brief Create a semaphore.
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* @note @p semaphore_def is not used.
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* @note @p semaphore_def is not used in this implementation.
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* @note Can involve memory allocation.
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*
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* @param[in] semaphore_def the semaphore object declared with @p osSemaphore
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* @return The semaphore identifier.
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* @retval NULL if the function failed.
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*/
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osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
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int32_t count) {
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@ -328,9 +424,18 @@ osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
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/**
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* @brief Wait on a semaphore.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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* @retval osErrorISR if the function has been called from ISR
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* context.
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* @retval osErrorResource if the object is in an invalid state.
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* @retval osErrorValue if a parameter has an invalid value.
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* @retval osErrorTimeoutResource if the function timed out.
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*/
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int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
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/* TODO it is not consistent with specification.*/
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msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, tmo(millisec));
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switch (msg) {
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case MSG_OK:
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@ -343,6 +448,9 @@ int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
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/**
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* @brief Release a semaphore.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
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@ -357,6 +465,9 @@ osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
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* @brief Deletes a semaphore.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
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@ -370,6 +481,10 @@ osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
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* @brief Create a mutex.
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* @note @p mutex_def is not used.
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* @note Can involve memory allocation.
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*
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* @param[in] mutex_def the mutex object declared with @p osMutex
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* @return The mutex identifier.
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* @retval NULL if the function failed.
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*/
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osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
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@ -382,6 +497,11 @@ osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
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/**
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* @brief Wait on a mutex.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorResource if the object is in an invalid state.
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* @retval osErrorTimeoutResource if the function timed out.
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*/
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osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
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@ -397,6 +517,9 @@ osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
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/**
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* @brief Release a mutex.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osMutexRelease(osMutexId mutex_id) {
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@ -411,6 +534,9 @@ osStatus osMutexRelease(osMutexId mutex_id) {
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* @brief Deletes a mutex.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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*/
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osStatus osMutexDelete(osMutexId mutex_id) {
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@ -424,9 +550,17 @@ osStatus osMutexDelete(osMutexId mutex_id) {
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* @brief Create a memory pool.
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* @note The pool is not really created because it is allocated statically,
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* this function just re-initializes it.
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*
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* @param[in] pool_def the pool object declared with @p osPool
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* @return The pool identifier.
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* @retval NULL if the function failed.
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*/
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osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
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if ((pool_def == NULL) || port_is_isr_context()) {
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return NULL;
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}
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chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL);
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chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz);
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@ -434,11 +568,20 @@ osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
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}
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/**
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* @brief Allocate an object.
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* @brief Allocate a memory block from the memory pool.
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*
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* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
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*
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* @return The pointer to the allocated memory block.
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* @retval NULL if the function failed.
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*/
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void *osPoolAlloc(osPoolId pool_id) {
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void *object;
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if (pool_id == NULL) {
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return NULL;
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}
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syssts_t sts = chSysGetStatusAndLockX();
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object = chPoolAllocI((memory_pool_t *)pool_id);
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chSysRestoreStatusX(sts);
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@ -447,21 +590,46 @@ void *osPoolAlloc(osPoolId pool_id) {
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}
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/**
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* @brief Allocate an object clearing it.
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* @brief Allocate a memory block from the memory pool. The block is initialized to zero.
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*
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* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
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* @return The pointer to the allocated memory block.
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* @retval NULL if the function failed.
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*/
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void *osPoolCAlloc(osPoolId pool_id) {
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void *object;
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if (pool_id == NULL) {
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return NULL;
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}
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syssts_t sts = chSysGetStatusAndLockX();
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object = chPoolAllocI((memory_pool_t *)pool_id);
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memset(object, 0, pool_id->object_size);
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chSysRestoreStatusX(sts);
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if (object != NULL) {
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memset(object, 0, pool_id->object_size);
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}
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return object;
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}
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/**
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* @brief Free an object.
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* @brief Return a memory block to a memory pool.
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*
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* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
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* @param[in] block address of the allocated memory block that is returned to the memory pool.
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*
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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*/
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osStatus osPoolFree(osPoolId pool_id, void *block) {
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if (pool_id == NULL) {
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return osErrorParameter;
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}
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syssts_t sts = chSysGetStatusAndLockX();
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chPoolFreeI((memory_pool_t *)pool_id, block);
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chSysRestoreStatusX(sts);
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@ -473,6 +641,12 @@ osStatus osPoolFree(osPoolId pool_id, void *block) {
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* @brief Create a message queue.
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* @note The queue is not really created because it is allocated statically,
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* this function just re-initializes it.
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*
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* @param[in] queue_def the message queue object declared with
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* @p osMessageQDef
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* @param[in] thread_id a thread identifier
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* @return The message queue identifier.
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* @retval NULL if the function failed.
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*/
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osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
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osThreadId thread_id) {
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@ -480,8 +654,9 @@ osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
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/* Ignoring this parameter for now.*/
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(void)thread_id;
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if (queue_def->item_sz > sizeof (msg_t))
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if (queue_def->item_sz > sizeof (msg_t)) {
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return NULL;
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}
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chMBObjectInit(queue_def->mailbox,
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queue_def->items,
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@ -492,6 +667,16 @@ osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
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/**
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* @brief Put a message in the queue.
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*
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* @param[in] millisec the timeout value, zero for no timeout
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* @return The function execution status.
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* @retval osOK if the function succeeded.
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* @retval osErrorParameter if some parameter is @p NULL.
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* @retval osErrorISR if the function has been called from ISR
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* context.
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* @retval osErrorResource if the object is in an invalid state.
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* @retval osErrorValue if a parameter has an invalid value.
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* @retval osErrorTimeoutResource if the function timed out.
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*/
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osStatus osMessagePut(osMessageQId queue_id,
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uint32_t info,
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@ -512,11 +697,14 @@ osStatus osMessagePut(osMessageQId queue_id,
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else
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msg = chMBPostTimeout((mailbox_t *)queue_id, (msg_t)info, tmo(millisec));
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return msg == MSG_OK ? osOK : osEventTimeout;
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return msg == MSG_OK ? osOK : osErrorTimeoutResource;
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}
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/**
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* @brief Get a message from the queue.
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*
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* @param[in] millisec the timeout value, zero for no timeout
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* @return An @p osEvent structure.
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*/
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osEvent osMessageGet(osMessageQId queue_id, uint32_t millisec) {
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msg_t msg;
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@ -554,26 +742,51 @@ osEvent osMessageGet(osMessageQId queue_id, uint32_t millisec) {
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return event;
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}
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osMailQId osMailCreate(const osMailQDef_t *queue_def, osThreadId thread_id) {
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/**
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* @brief Initialize and create a mail queue.
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*
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* @param[in] queue_def the mail object declared with @p osMailQDef
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||||
* @param[in] thread_id a thread identifier
|
||||
* @return The thread identifier.
|
||||
* @retval NULL if the function failed.
|
||||
*/
|
||||
osMailQId osMailCreate(const osMailQDef_t *mail_def, osThreadId thread_id) {
|
||||
|
||||
/* Ignoring this parameter for now.*/
|
||||
(void)thread_id;
|
||||
|
||||
chDbgCheck(queue_def != NULL);
|
||||
if ((mail_def == NULL) || port_is_isr_context()) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/* Init messages queue.*/
|
||||
chFifoObjectInit(queue_def->fifo,
|
||||
(size_t)queue_def->item_sz,
|
||||
(size_t)queue_def->queue_sz,
|
||||
queue_def->objbuf,
|
||||
queue_def->msgbuf);
|
||||
chDbgCheck(mail_def != NULL);
|
||||
|
||||
return queue_def->fifo;
|
||||
/* Messages queue initialization.*/
|
||||
chFifoObjectInit(mail_def->fifo,
|
||||
(size_t)mail_def->item_sz,
|
||||
(size_t)mail_def->queue_sz,
|
||||
mail_def->objbuf,
|
||||
mail_def->msgbuf);
|
||||
|
||||
return mail_def->fifo;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocate a memory block from the mail queue that is filled with the mail information.
|
||||
*
|
||||
* @param[in] queue_id the mail queue identifier
|
||||
* @param[in] millisec the timeout value, zero for no timeout
|
||||
* @return The pointer to the allocated memory block.
|
||||
* @retval NULL if the function failed.
|
||||
*/
|
||||
void *osMailAlloc(osMailQId queue_id, uint32_t millisec) {
|
||||
void *mail;
|
||||
|
||||
if ((queue_id == NULL) ||
|
||||
(port_is_isr_context() && (millisec > 0))) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (port_is_isr_context()) {
|
||||
chSysLockFromISR();
|
||||
mail = chFifoTakeObjectI(queue_id);
|
||||
|
|
@ -586,8 +799,58 @@ void *osMailAlloc(osMailQId queue_id, uint32_t millisec) {
|
|||
return mail;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Allocate a memory block from the mail queue that is filled with the mail information.
|
||||
* The memory block returned is cleared.
|
||||
*
|
||||
* @param[in] queue_id the mail queue identifier
|
||||
* @param[in] millisec the timeout value, zero for no timeout
|
||||
* @return The pointer to the allocated memory block.
|
||||
* @retval NULL if the function failed.
|
||||
*/
|
||||
void *osMailCAlloc(osMailQId queue_id, uint32_t millisec) {
|
||||
void *mail;
|
||||
|
||||
if ((queue_id == NULL) || (port_is_isr_context() && (millisec > 0))) {
|
||||
return NULL;
|
||||
}
|
||||
|
||||
if (port_is_isr_context()) {
|
||||
chSysLockFromISR();
|
||||
mail = chFifoTakeObjectI(queue_id);
|
||||
chSysUnlockFromISR();
|
||||
}
|
||||
else {
|
||||
mail = chFifoTakeObjectTimeout(queue_id, tmo(millisec));
|
||||
}
|
||||
|
||||
if (mail != NULL) {
|
||||
memset(mail, 0, queue_id->free.pool.object_size);
|
||||
}
|
||||
|
||||
return mail;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Put the memory block specified with mail into the mail queue specified by queue.
|
||||
*
|
||||
* @param[in] queue_id the mail queue identifier
|
||||
* @param[in] mail memory block previously returned by
|
||||
* @p osMailAlloc() or @p osMailCAlloc()
|
||||
* @return The function execution status.
|
||||
* @retval osOK if the function succeeded.
|
||||
* @retval osErrorParameter if some parameter is @p NULL.
|
||||
*/
|
||||
osStatus osMailPut(osMailQId queue_id, void *mail) {
|
||||
|
||||
if (queue_id == NULL) {
|
||||
return osErrorParameter;
|
||||
}
|
||||
|
||||
if (mail == NULL) {
|
||||
return osErrorParameter;
|
||||
}
|
||||
|
||||
chDbgCheck((queue_id != NULL) && (mail != NULL));
|
||||
|
||||
if (port_is_isr_context()) {
|
||||
|
|
@ -604,6 +867,14 @@ osStatus osMailPut(osMailQId queue_id, void *mail) {
|
|||
return MSG_OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspend the execution of the current RUNNING thread until a mail arrives.
|
||||
* When a mail is already in the queue, the function returns instantly with the mail information.
|
||||
*
|
||||
* @param[in] queue_id the mail queue identifier
|
||||
* @param[in] millisec the timeout value, zero for no timeout
|
||||
* @return An @p osEvent structure.
|
||||
*/
|
||||
osEvent osMailGet(osMailQId queue_id, uint32_t millisec) {
|
||||
msg_t msg;
|
||||
osEvent event = {
|
||||
|
|
@ -616,6 +887,11 @@ osEvent osMailGet(osMailQId queue_id, uint32_t millisec) {
|
|||
}
|
||||
};
|
||||
|
||||
if (queue_id == NULL) {
|
||||
event.status = osErrorParameter;
|
||||
return event;
|
||||
}
|
||||
|
||||
chDbgCheck(queue_id != NULL);
|
||||
|
||||
event.def.mail_id = queue_id;
|
||||
|
|
@ -637,11 +913,34 @@ osEvent osMailGet(osMailQId queue_id, uint32_t millisec) {
|
|||
}
|
||||
|
||||
/* Returned event type.*/
|
||||
event.status = msg == MSG_OK ? osEventMail : osEventTimeout;
|
||||
if ((millisec == 0) && (msg == MSG_TIMEOUT)) {
|
||||
event.status = osOK;
|
||||
} else {
|
||||
event.status = msg == MSG_OK ? osEventMail : osEventTimeout;
|
||||
}
|
||||
|
||||
return event;
|
||||
}
|
||||
|
||||
osStatus osMailFree(osMailQId queue_id, void *mail) {
|
||||
/**
|
||||
* @brief Free the memory block specified by mail and return it to the mail queue.
|
||||
*
|
||||
* @param[in] queue_id the mail queue identifier
|
||||
* @param[in] mail pointer to the memory block returned
|
||||
* by @p osMailGet.
|
||||
* @return The function execution status.
|
||||
* @retval osOK if the function succeeded.
|
||||
* @retval osErrorParameter if some parameter is @p NULL.
|
||||
*/
|
||||
osStatus osMailFree(osMailQId queue_id, void *mail)
|
||||
{
|
||||
if (queue_id == NULL) {
|
||||
return osErrorParameter;
|
||||
}
|
||||
|
||||
if (mail == NULL) {
|
||||
return osErrorParameter;
|
||||
}
|
||||
|
||||
chDbgCheck((queue_id != NULL) && (mail != NULL));
|
||||
|
||||
|
|
|
|||
|
|
@ -442,18 +442,14 @@ const osMessageQDef_t os_messageQ_def_##name = { \
|
|||
#else
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
static msg_t os_mailQ_mb_buf_##name[queue_sz]; \
|
||||
static mailbox_t os_mailQ_mb_obj_##name; \
|
||||
static memory_pool_t os_mailQ_pool_obj_##name; \
|
||||
static type os_mailQ_pool_buf_##name[queue_sz]; \
|
||||
static objects_fifo_t os_mailQ_fifo_##name; \
|
||||
const osMailQDef_t os_mailQ_def_##name = { \
|
||||
(queue_sz), \
|
||||
sizeof (type), \
|
||||
&os_mailQ_fifo_##name, \
|
||||
(msg_t*)&os_mailQ_mb_buf_##name[0], \
|
||||
(void *)&os_mailQ_pool_buf_##name[0], \
|
||||
{ \
|
||||
(mailbox_t*)&os_mailQ_mb_obj_##name, \
|
||||
&os_mailQ_pool_obj_##name \
|
||||
} \
|
||||
(void *)&os_mailQ_pool_buf_##name[0] \
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
@ -506,9 +502,10 @@ extern "C" {
|
|||
uint32_t millisec);
|
||||
osEvent osMessageGet(osMessageQId queue_id,
|
||||
uint32_t millisec);
|
||||
osMailQId osMailCreate(const osMailQDef_t *queue_def,
|
||||
osThreadId thread_id);
|
||||
osMailQId osMailCreate(const osMailQDef_t *mail_def,
|
||||
osThreadId thread_id);
|
||||
void *osMailAlloc(osMailQId queue_id, uint32_t millisec);
|
||||
void *osMailCAlloc(osMailQId queue_id, uint32_t millisec);
|
||||
osStatus osMailPut(osMailQId queue_id, void *mail);
|
||||
osEvent osMailGet(osMailQId queue_id, uint32_t millisec);
|
||||
osStatus osMailFree(osMailQId queue_id, void *mail);
|
||||
|
|
|
|||
Loading…
Reference in New Issue