848 lines
24 KiB
C
848 lines
24 KiB
C
/*
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ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013,2014 Giovanni Di Sirio.
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This file is part of ChibiOS/HAL
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ChibiOS/HAL 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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* @name Systick parameters.
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* @{
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*/
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/**
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* @brief Size in bits of the @p systick_t type.
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*/
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#define OSAL_ST_RESOLUTION NIL_CFG_ST_RESOLUTION
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/**
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* @brief Required systick frequency or resolution.
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*/
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#define OSAL_ST_FREQUENCY NIL_CFG_ST_FREQUENCY
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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_ST_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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/*===========================================================================*/
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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 !NIL_CFG_USE_EVENTS
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#error "OSAL requires NIL_CFG_USE_EVENTS=TRUE"
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#endif
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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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#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32)
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#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32"
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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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/**
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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 event_source event_source_t;
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/**
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* @brief Type of an event source callback.
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* @note This type is not part of the OSAL API and is provided
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* exclusively as an example and for convenience.
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*/
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typedef void (*eventcallback_t)(event_source_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 Events source 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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struct event_source {
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volatile eventflags_t flags; /**< @brief Stored event flags. */
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eventcallback_t cb; /**< @brief Event source callback. */
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void *param; /**< @brief User defined field. */
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};
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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 remark string is not currently used except for putting a
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* comment in the code about the assertion.
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*
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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.
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* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
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* is enabled.
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*
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* @param[in] c the condition to be verified to be true
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*
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* @api
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*/
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#define osalDbgCheck(c) chDbgAssert(c, "parameter check")
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/**
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* @brief I-Class state check.
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* @note Not implemented in this simplified OSAL.
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*/
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#define osalDbgCheckClassI() /*chDbgCheckClassI()*/
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/** @} */
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/**
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* @brief S-Class state check.
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* @note Not implemented in this simplified OSAL.
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*/
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#define osalDbgCheckClassS() /*chDbgCheckClassS()*/
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/**
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* @name IRQ service routines wrappers
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* @{
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*/
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/**
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* @brief IRQ prologue code.
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* @details This macro must be inserted at the start of all IRQ handlers.
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*/
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#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
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/**
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* @brief IRQ epilogue code.
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* @details This macro must be inserted at the end of all IRQ handlers.
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*/
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#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
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/**
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* @brief IRQ handler function declaration.
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* @details This macro hides the details of an ISR function declaration.
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*
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* @param[in] id a vector name as defined in @p vectors.s
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*/
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#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
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/** @} */
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/**
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* @name Time conversion utilities
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* @{
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*/
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/**
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* @brief Seconds to system ticks.
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* @details Converts from seconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] sec number of seconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define OSAL_S2ST(sec) S2ST(sec)
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/**
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* @brief Milliseconds to system ticks.
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* @details Converts from milliseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] msec number of milliseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define OSAL_MS2ST(msec) MS2ST(msec)
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/**
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* @brief Microseconds to system ticks.
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* @details Converts from microseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] usec number of microseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define OSAL_US2ST(usec) US2ST(usec)
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/** @} */
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/**
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* @name Sleep macros using absolute time
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* @{
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*/
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/**
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* @brief Delays the invoking thread for the specified number of seconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] sec time in seconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* milliseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] msec time in milliseconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
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/**
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* @brief Delays the invoking thread for the specified number of
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* microseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] usec time in microseconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
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void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief OSAL module initialization.
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*
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* @api
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*/
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static inline void osalInit(void) {
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}
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/**
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* @brief System halt with error message.
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*
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* @param[in] reason the halt message pointer
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*
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* @api
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*/
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static inline void osalSysHalt(const char *reason) {
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chSysHalt(reason);
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}
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/**
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* @brief Enters a critical zone from thread context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysLock(void) {
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chSysLock();
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}
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/**
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* @brief Leaves a critical zone from thread context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysUnlock(void) {
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chSysUnlock();
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}
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/**
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* @brief Enters a critical zone from ISR context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysLockFromISR(void) {
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chSysLockFromISR();
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}
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/**
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* @brief Leaves a critical zone from ISR context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysUnlockFromISR(void) {
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chSysUnlockFromISR();
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}
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/**
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* @brief Returns the execution status and enters a critical zone.
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* @details This functions enters into a critical zone and can be called
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* from any context. Because its flexibility it is less efficient
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* than @p chSysLock() which is preferable when the calling context
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* is known.
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* @post The system is in a critical zone.
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*
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* @return The previous system status, the encoding of this
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* status word is architecture-dependent and opaque.
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*
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* @xclass
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*/
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static inline syssts_t osalSysGetStatusAndLockX(void) {
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return chSysGetStatusAndLockX();
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}
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/**
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* @brief Restores the specified execution status and leaves a critical zone.
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* @note A call to @p chSchRescheduleS() is automatically performed
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* if exiting the critical zone and if not in ISR context.
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*
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* @param[in] sts the system status to be restored.
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*
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* @xclass
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*/
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static inline void osalSysRestoreStatusX(syssts_t sts) {
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chSysRestoreStatusX(sts);
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}
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/**
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* @brief Polled delay.
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* @note The real delay is always few cycles in excess of the specified
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* value.
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*
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* @param[in] cycles number of cycles
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*
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* @xclass
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*/
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#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
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static inline void osalSysPolledDelayX(rtcnt_t cycles) {
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chSysPolledDelayX(cycles);
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}
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#endif
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/**
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* @brief Systick callback for the underlying OS.
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* @note This callback is only defined if the OSAL requires such a
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* service from the HAL.
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*/
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#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
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static inline void osalOsTimerHandlerI(void) {
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chSysTimerHandlerI();
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}
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#endif
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/**
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* @brief Checks if a reschedule is required and performs it.
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* @note I-Class functions invoked from thread context must not reschedule
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* by themselves, an explicit reschedule using this function is
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* required in this scenario.
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* @note Not implemented in this simplified OSAL.
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*
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* @sclass
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*/
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static inline void osalOsRescheduleS(void) {
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chSchRescheduleS();
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}
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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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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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* @note This function can be called from any context but its atomicity
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* is not guaranteed on architectures whose word size is less than
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* @systime_t size.
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*
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* @return The system time in ticks.
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*
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* @xclass
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*/
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static inline systime_t osalOsGetSystemTimeX(void) {
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return chVTGetSystemTimeX();
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}
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/**
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* @brief Checks if the specified time is within the specified time window.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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* @note This function can be called from any context.
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*
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* @param[in] time the time to be verified
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @xclass
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*/
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static inline bool osalOsIsTimeWithinX(systime_t time,
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systime_t start,
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systime_t end) {
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return chVTIsTimeWithinX(time, start, end);
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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|
*
|
|
* @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 osalThreadQueueObjectInit(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 osalThreadEnqueueTimeoutS(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(event_source_t *esp) {
|
|
|
|
osalDbgCheck(esp != NULL);
|
|
|
|
esp->flags = 0;
|
|
esp->cb = NULL;
|
|
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);
|
|
|
|
chSysLock();
|
|
osalEventBroadcastFlagsI(esp, flags);
|
|
chSchRescheduleS();
|
|
chSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @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().
|
|
*
|
|
* @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.
|
|
*
|
|
* @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_ */
|
|
|
|
/** @} */
|