237 lines
7.1 KiB
C
237 lines
7.1 KiB
C
/*
|
|
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
|
|
2011,2012,2013 Giovanni Di Sirio.
|
|
|
|
This file is part of ChibiOS/RT.
|
|
|
|
ChibiOS/RT is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
ChibiOS/RT is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/**
|
|
* @file osal.c
|
|
* @brief OSAL module code.
|
|
*
|
|
* @addtogroup OSAL
|
|
* @{
|
|
*/
|
|
|
|
#include "osal.h"
|
|
|
|
/*===========================================================================*/
|
|
/* Module local definitions. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported variables. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Pointer to a halt error message.
|
|
* @note The message is meant to be retrieved by the debugger after the
|
|
* system halt caused by an unexpected error.
|
|
*/
|
|
const char *osal_halt_msg;
|
|
|
|
/*===========================================================================*/
|
|
/* Module local types. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local variables. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local functions. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief OSAL module initialization.
|
|
*
|
|
* @api
|
|
*/
|
|
void osalInit(void) {
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief System halt with error message.
|
|
*
|
|
* @param[in] reason the halt message pointer
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(__DOXYGEN__)
|
|
__attribute__((weak))
|
|
#endif
|
|
void osalSysHalt(const char *reason) {
|
|
|
|
osal_halt_msg = reason;
|
|
chSysHalt();
|
|
}
|
|
|
|
/**
|
|
* @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) {
|
|
|
|
chDbgAssert(*trp == NULL, "not NULL");
|
|
|
|
*trp = (thread_reference_t)chThdSelf();
|
|
chSchGoSleepS(CH_STATE_SUSPENDED);
|
|
return chThdSelf()->p_msg;
|
|
}
|
|
|
|
/**
|
|
* @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) {
|
|
|
|
if (*trp != NULL) {
|
|
|
|
chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
|
|
"not THD_STATE_SUSPENDED");
|
|
|
|
(*trp)->p_u.rdymsg = msg;
|
|
chSchReadyI((thread_t *)*trp);
|
|
*trp = NULL;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @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) {
|
|
|
|
if (*trp != NULL) {
|
|
thread_t *tp = (thread_t *)*trp;
|
|
|
|
chDbgAssert(tp->p_state == CH_STATE_SUSPENDED, "not THD_STATE_SUSPENDED");
|
|
|
|
*trp = NULL;
|
|
chSchWakeupS(tp, 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] 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
|
|
*/
|
|
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
|
|
|
|
void wakeup(void *p) {
|
|
thread_t *tp = (thread_t *)p;
|
|
|
|
chSysUnlockFromISR();
|
|
tp->p_u.rdymsg = RDY_TIMEOUT;
|
|
chSchReadyI(queue_dequeue(tp));
|
|
chSysUnlockFromISR();
|
|
}
|
|
|
|
if (TIME_IMMEDIATE == time)
|
|
return MSG_TIMEOUT;
|
|
|
|
queue_insert(currp, tqp);
|
|
if (TIME_INFINITE == time)
|
|
chSchGoSleepS(CH_STATE_SUSPENDED);
|
|
else {
|
|
virtual_timer_t vt;
|
|
|
|
chVTDoSetI(&vt, time, wakeup, currp);
|
|
chSchGoSleepS(CH_STATE_SUSPENDED);
|
|
if (chVTIsArmedI(&vt))
|
|
chVTDoResetI(&vt);
|
|
}
|
|
return currp->p_u.rdymsg;
|
|
}
|
|
|
|
/**
|
|
* @brief Dequeues and wakes up one thread from the queue, if any.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
|
|
|
|
if (queue_notempty(tqp)) {
|
|
thread_t *tp = queue_fifo_remove(tqp);
|
|
tp->p_u.rdymsg = msg;
|
|
chSchReadyI(tp);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Dequeues and wakes up all threads from the queue.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
|
|
|
|
while (queue_notempty(tqp)) {
|
|
thread_t *tp = queue_fifo_remove(tqp);
|
|
tp->p_u.rdymsg = msg;
|
|
chSchReadyI(tp);
|
|
}
|
|
}
|
|
|
|
/** @} */
|