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Some OSAL rework. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7802 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2015-03-24 10:30:27 +00:00
parent 55bce34bfa
commit d7ccb8027b
4 changed files with 378 additions and 295 deletions
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20
os/hal/osal/nil/osal.h
View File

@ -420,6 +420,26 @@ static inline void osalSysHalt(const char *reason) {
chSysHalt(reason);
}
/**
* @brief Disables interrupts globally.
*
* @special
*/
static inline void osalSysDisable(void) {
chSysDisable();
}
/**
* @brief Enables interrupts globally.
*
* @special
*/
static inline void osalSysEnable(void) {
chSysEnable();
}
/**
* @brief Enters a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.

20
os/hal/osal/rt/osal.h
View File

@ -411,6 +411,26 @@ static inline void osalSysHalt(const char *reason) {
chSysHalt(reason);
}
/**
* @brief Disables interrupts globally.
*
* @special
*/
static inline void osalSysDisable(void) {
chSysDisable();
}
/**
* @brief Enables interrupts globally.
*
* @special
*/
static inline void osalSysEnable(void) {
chSysEnable();
}
/**
* @brief Enters a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.

300
os/hal/templates/osal/osal.c
View File

@ -82,6 +82,207 @@ void osalSysHalt(const char *reason) {
}
}
/**
* @brief Polled delay.
* @note The real delay is always few cycles in excess of the specified
* value.
*
* @param[in] cycles number of cycles
*
* @xclass
*/
void osalSysPolledDelayX(rtcnt_t cycles) {
(void)cycles;
}
/**
* @brief System timer handler.
* @details The handler is used for scheduling and Virtual Timers management.
*
* @iclass
*/
void osalOsTimerHandlerI(void) {
osalDbgCheckClassI();
}
/**
* @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
*/
void osalOsRescheduleS(void) {
}
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p osalInit()
* 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
* @p systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
systime_t osalOsGetSystemTimeX(void) {
return (systime_t)0;
}
/**
* @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
*/
void osalThreadSleepS(systime_t time) {
(void)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
*/
void osalThreadSleep(systime_t time) {
(void)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
*/
msg_t osalThreadSuspendS(thread_reference_t *trp) {
osalDbgCheck(trp != NULL);
return MSG_OK;
}
/**
* @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
*/
msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {
osalDbgCheck(trp != NULL);
(void)timeout;
return MSG_OK;
}
/**
* @brief Wakes up a thread waiting on a thread reference object.
* @note This function must not reschedule because it can be called from
* ISR context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] msg the message code
*
* @iclass
*/
void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
osalDbgCheck(trp != NULL);
(void)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
*/
void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
osalDbgCheck(trp != NULL);
(void)msg;
}
/**
* @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] 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 message from @p osalQueueWakeupOneI() or
* @p osalQueueWakeupAllI() functions.
* @retval MSG_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
*/
msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
osalDbgCheck(tqp != NULL);
(void)timeout;
return MSG_OK;
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
@ -92,7 +293,8 @@ void osalSysHalt(const char *reason) {
*/
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
(void)tqp;
osalDbgCheck(tqp != NULL);
(void)msg;
}
@ -110,4 +312,100 @@ void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
(void)msg;
}
/**
* @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
*/
void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
osalDbgCheck(esp != NULL);
esp->flags |= flags;
if (esp->cb != NULL) {
esp->cb(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
*/
void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) {
osalDbgCheck(esp != NULL);
osalSysLock();
osalEventBroadcastFlagsI(esp, flags);
osalSysUnlock();
}
/**
* @brief Event callback setup.
* @note The callback is invoked from ISR context and can
* only invoke I-Class functions. The callback is meant
* to wakeup the task that will handle the event by
* calling @p osalEventGetAndClearFlagsI().
* @note This function is not part of the OSAL API and is provided
* exclusively as an example and for convenience.
*
* @param[in] esp pointer to the event flags object
* @param[in] cb pointer to the callback function
* @param[in] param parameter to be passed to the callback function
*
* @api
*/
void osalEventSetCallback(event_source_t *esp,
eventcallback_t cb,
void *param) {
osalDbgCheck(esp != NULL);
esp->cb = cb;
esp->param = param;
}
/**
* @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
*/
void osalMutexLock(mutex_t *mp) {
osalDbgCheck(mp != NULL);
*mp = 1;
}
/**
* @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
*/
void osalMutexUnlock(mutex_t *mp) {
osalDbgCheck(mp != NULL);
*mp = 0;
}
/** @} */

333
os/hal/templates/osal/osal.h
View File

@ -194,7 +194,7 @@ typedef uint32_t mutex_t;
* @brief Type of a thread queue.
* @details A thread queue is a queue of sleeping threads, queued threads
* can be dequeued one at time or all together.
* @note If the OSAL is implemented on a bare metal machine withou RTOS
* @note If the OSAL is implemented on a bare metal machine without RTOS
* then the queue can be implemented as a single thread reference.
*/
typedef struct {
@ -393,8 +393,26 @@ extern "C" {
#endif
void osalInit(void);
void osalSysHalt(const char *reason);
void osalSysPolledDelayX(rtcnt_t cycles);
void osalOsTimerHandlerI(void);
void osalOsRescheduleS(void);
systime_t osalOsGetSystemTimeX(void);
void osalThreadSleepS(systime_t time);
void osalThreadSleep(systime_t time);
msg_t osalThreadSuspendS(thread_reference_t *trp);
msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout);
void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout);
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
void osalEventSetCallback(event_source_t *esp,
eventcallback_t cb,
void *param);
void osalMutexLock(mutex_t *mp);
void osalMutexUnlock(mutex_t *mp);
#ifdef __cplusplus
}
#endif
@ -403,6 +421,24 @@ extern "C" {
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief Disables interrupts globally.
*
* @special
*/
static inline void osalSysDisable(void) {
}
/**
* @brief Enables interrupts globally.
*
* @special
*/
static inline void osalSysEnable(void) {
}
/**
* @brief Enters a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.
@ -475,62 +511,6 @@ static inline void osalSysRestoreStatusX(syssts_t sts) {
(void)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
*/
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
(void)cycles;
}
/**
* @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) {
}
#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) {
}
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p osalInit()
* 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
* @p systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
static inline systime_t osalOsGetSystemTimeX(void) {
return (systime_t)0;
}
/**
* @brief Checks if the specified time is within the specified time window.
* @note When start==end then the function returns always true because the
@ -552,117 +532,6 @@ static inline bool osalOsIsTimeWithinX(systime_t time,
return (bool)((time - start) < (end - start));
}
/**
* @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) {
(void)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) {
(void)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) {
(void)trp;
return MSG_OK;
}
/**
* @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) {
(void)trp;
(void)timeout;
return MSG_OK;
}
/**
* @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) {
(void)trp;
(void)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) {
(void)trp;
(void)msg;
}
/**
* @brief Initializes a threads queue object.
*
@ -672,39 +541,7 @@ static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
*/
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
(void)tqp;
}
/**
* @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 MSG_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 osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
systime_t time) {
(void)tqp;
(void)time;
return MSG_OK;
osalDbgCheck(tqp != NULL);
}
/**
@ -723,68 +560,6 @@ static inline void osalEventObjectInit(event_source_t *esp) {
esp->param = NULL;
}
/**
* @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(event_source_t *esp,
eventflags_t flags) {
osalDbgCheck(esp != NULL);
esp->flags |= flags;
if (esp->cb != NULL) {
esp->cb(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 osalEventBroadcastFlags(event_source_t *esp,
eventflags_t flags) {
osalDbgCheck(esp != NULL);
osalSysLock();
osalEventBroadcastFlagsI(esp, flags);
osalSysUnlock();
}
/**
* @brief Event callback setup.
* @note The callback is invoked from ISR context and can
* only invoke I-Class functions. The callback is meant
* to wakeup the task that will handle the event by
* calling @p osalEventGetAndClearFlagsI().
* @note This function is not part of the OSAL API and is provided
* exclusively as an example and for convenience.
*
* @param[in] esp pointer to the event flags object
* @param[in] cb pointer to the callback function
* @param[in] param parameter to be passed to the callback function
*
* @api
*/
static inline void osalEventSetCallback(event_source_t *esp,
eventcallback_t cb,
void *param) {
osalDbgCheck(esp != NULL);
esp->cb = cb;
esp->param = param;
}
/**
* @brief Initializes s @p mutex_t object.
*
@ -794,37 +569,7 @@ static inline void osalEventSetCallback(event_source_t *esp,
*/
static inline void osalMutexObjectInit(mutex_t *mp) {
*mp = 0;
}
/**
* @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) {
*mp = 1;
}
/**
* @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) {
osalDbgCheck(mp != NULL);
*mp = 0;
}