rusefi
/
ChibiOS
mirror of https://github.com/rusefi/ChibiOS.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

New mailboxes implementation. 

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10150 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
Giovanni Di Sirio 2017-04-09 10:20:45 +00:00
parent ac4772bb0a
commit 7aef9f3ade
3 changed files with 240 additions and 145 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
demos/STM32/RT-STM32L476-DISCOVERY/debug/RT-STM32L476-DISCOVERY (OpenOCD, Flash and Run).launch
View File

@ -34,8 +34,8 @@
<stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_REGISTER_GROUPS" value=""/>
<stringAttribute key="org.eclipse.cdt.launch.FORMAT" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;contentList/&gt;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;globalVariableList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList/&gt;&#13;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.GLOBAL_VARIABLES" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;globalVariableList/&gt;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList/&gt;&#10;"/>
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="./build/ch.elf"/>
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="RT-STM32L476-DISCOVERY"/>
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>

69
os/common/oslib/include/chmboxes.h
View File

@ -60,10 +60,10 @@ typedef struct {
after the buffer. */
msg_t *wrptr; /**< @brief Write pointer. */
msg_t *rdptr; /**< @brief Read pointer. */
semaphore_t fullsem; /**< @brief Full counter
@p semaphore_t. */
semaphore_t emptysem; /**< @brief Empty counter
@p semaphore_t. */
cnt_t cnt; /**< @brief Messages in queue. */
bool reset; /**< @brief True in reset state. */
threads_queue_t qw; /**< @brief Queued writers. */
threads_queue_t qr; /**< @brief Queued readers. */
} mailbox_t;
/*===========================================================================*/
@ -84,8 +84,10 @@ typedef struct {
(msg_t *)(buffer) + size, \
(msg_t *)(buffer), \
(msg_t *)(buffer), \
_SEMAPHORE_DATA(name.fullsem, 0), \
_SEMAPHORE_DATA(name.emptysem, size), \
(cnt_t)0, \
false, \
_THREADS_QUEUE_DATA(name.qw), \
_THREADS_QUEUE_DATA(name.qr), \
}
/**
@ -128,21 +130,37 @@ extern "C" {
/*===========================================================================*/
/**
* @brief Returns the mailbox buffer size.
* @brief Returns the mailbox buffer size as number of messages.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
* @return The size of the mailbox.
*
* @iclass
*/
static inline size_t chMBGetSizeI(mailbox_t *mbp) {
static inline cnt_t chMBGetSizeI(mailbox_t *mbp) {
/*lint -save -e9033 [10.8] Perfectly safe pointers
arithmetic.*/
return (size_t)(mbp->top - mbp->buffer);
return (cnt_t)(mbp->top - mbp->buffer);
/*lint -restore*/
}
/**
* @brief Returns the number of used message slots into a mailbox.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
* @return The number of queued messages.
* @retval QUEUE_RESET if the queue is in reset state.
*
* @iclass
*/
static inline cnt_t chMBGetUsedCountI(mailbox_t *mbp) {
chDbgCheckClassI();
return mbp->cnt;
}
/**
* @brief Returns the number of free message slots into a mailbox.
* @note Can be invoked in any system state but if invoked out of a locked
@ -159,26 +177,7 @@ static inline cnt_t chMBGetFreeCountI(mailbox_t *mbp) {
chDbgCheckClassI();
return chSemGetCounterI(&mbp->emptysem);
}
/**
* @brief Returns the number of used message slots into a mailbox.
* @note Can be invoked in any system state but if invoked out of a locked
* state then the returned value may change after reading.
* @note The returned value can be less than zero when there are waiting
* threads on the internal semaphore.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
* @return The number of queued messages.
*
* @iclass
*/
static inline cnt_t chMBGetUsedCountI(mailbox_t *mbp) {
chDbgCheckClassI();
return chSemGetCounterI(&mbp->fullsem);
return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp);
}
/**
@ -200,6 +199,18 @@ static inline msg_t chMBPeekI(mailbox_t *mbp) {
return *mbp->rdptr;
}
/**
* @brief Terminates the reset state.
*
* @param[in] mbp the pointer to an initialized mailbox_t object
*
* @xclass
*/
static inline void chMBResumeX(mailbox_t *mbp) {
mbp->reset = false;
}
#endif /* CH_CFG_USE_MAILBOXES == TRUE */
#endif /* CHMBOXES_H */

212
os/common/oslib/src/chmboxes.c
View File

@ -89,17 +89,22 @@ void chMBObjectInit(mailbox_t *mbp, msg_t *buf, cnt_t n) {
chDbgCheck((mbp != NULL) && (buf != NULL) && (n > (cnt_t)0));
mbp->buffer = buf;
mbp->rdptr = buf;
mbp->wrptr = buf;
mbp->top = &buf[n];
chSemObjectInit(&mbp->emptysem, n);
chSemObjectInit(&mbp->fullsem, (cnt_t)0);
mbp->rdptr = buf;
mbp->wrptr = buf;
mbp->top = &buf[n];
mbp->cnt = (cnt_t)0;
mbp->reset = false;
chThdQueueObjectInit(&mbp->qw);
chThdQueueObjectInit(&mbp->qr);
}
/**
* @brief Resets a @p mailbox_t object.
* @details All the waiting threads are resumed with status @p MSG_RESET and
* the queued messages are lost.
* @post The mailbox is in reset state, all operations will fail and
* return @p MSG reset until the mailbox is enabled again using
* @p chMBResumeX().
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
*
@ -117,6 +122,9 @@ void chMBReset(mailbox_t *mbp) {
* @brief Resets a @p mailbox_t object.
* @details All the waiting threads are resumed with status @p MSG_RESET and
* the queued messages are lost.
* @post The mailbox is in reset state, all operations will fail and
* return @p MSG reset until the mailbox is enabled again using
* @p chMBResumeX().
*
* @param[in] mbp the pointer to an initialized @p mailbox_t object
*
@ -129,8 +137,10 @@ void chMBResetI(mailbox_t *mbp) {
mbp->wrptr = mbp->buffer;
mbp->rdptr = mbp->buffer;
chSemResetI(&mbp->emptysem, (cnt_t)(mbp->top - mbp->buffer));
chSemResetI(&mbp->fullsem, (cnt_t)0);
mbp->cnt = (cnt_t)0;
mbp->reset = true;
chThdDequeueAllI(&mbp->qw, MSG_RESET);
chThdDequeueAllI(&mbp->qr, MSG_RESET);
}
/**
@ -147,7 +157,7 @@ void chMBResetI(mailbox_t *mbp) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
@ -176,7 +186,7 @@ msg_t chMBPost(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
@ -187,15 +197,29 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
chDbgCheckClassS();
chDbgCheck(mbp != NULL);
rdymsg = chSemWaitTimeoutS(&mbp->emptysem, timeout);
if (rdymsg == MSG_OK) {
*mbp->wrptr++ = msg;
if (mbp->wrptr >= mbp->top) {
mbp->wrptr = mbp->buffer;
do {
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
chSemSignalI(&mbp->fullsem);
chSchRescheduleS();
}
/* Is there a free message slot in queue? if so then post.*/
if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
*mbp->wrptr++ = msg;
if (mbp->wrptr >= mbp->top) {
mbp->wrptr = mbp->buffer;
}
mbp->cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qr, MSG_OK);
return MSG_OK;
}
/* No space in the queue, waiting for a slot to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->qw, timeout);
} while (rdymsg == MSG_OK);
return rdymsg;
}
@ -209,6 +233,7 @@ msg_t chMBPostS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* @param[in] msg the message to be posted on the mailbox
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted.
*
@ -219,18 +244,27 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
chDbgCheckClassI();
chDbgCheck(mbp != NULL);
if (chSemGetCounterI(&mbp->emptysem) <= (cnt_t)0) {
return MSG_TIMEOUT;
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
chSemFastWaitI(&mbp->emptysem);
*mbp->wrptr++ = msg;
if (mbp->wrptr >= mbp->top) {
mbp->wrptr = mbp->buffer;
}
chSemSignalI(&mbp->fullsem);
/* Is there a free message slot in queue? if so then post.*/
if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
*mbp->wrptr++ = msg;
if (mbp->wrptr >= mbp->top) {
mbp->wrptr = mbp->buffer;
}
mbp->cnt++;
return MSG_OK;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qr, MSG_OK);
return MSG_OK;
}
/* No space, immediate timeout.*/
return MSG_TIMEOUT;
}
/**
@ -247,7 +281,7 @@ msg_t chMBPostI(mailbox_t *mbp, msg_t msg) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
@ -276,7 +310,7 @@ msg_t chMBPostAhead(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
@ -287,15 +321,29 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
chDbgCheckClassS();
chDbgCheck(mbp != NULL);
rdymsg = chSemWaitTimeoutS(&mbp->emptysem, timeout);
if (rdymsg == MSG_OK) {
if (--mbp->rdptr < mbp->buffer) {
mbp->rdptr = mbp->top - 1;
do {
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
*mbp->rdptr = msg;
chSemSignalI(&mbp->fullsem);
chSchRescheduleS();
}
/* Is there a free message slot in queue? if so then post.*/
if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
if (--mbp->rdptr < mbp->buffer) {
mbp->rdptr = mbp->top - 1;
}
*mbp->rdptr = msg;
mbp->cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qr, MSG_OK);
return MSG_OK;
}
/* No space in the queue, waiting for a slot to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->qw, timeout);
} while (rdymsg == MSG_OK);
return rdymsg;
}
@ -309,6 +357,7 @@ msg_t chMBPostAheadS(mailbox_t *mbp, msg_t msg, systime_t timeout) {
* @param[in] msg the message to be posted on the mailbox
* @return The operation status.
* @retval MSG_OK if a message has been correctly posted.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted.
*
@ -319,17 +368,27 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
chDbgCheckClassI();
chDbgCheck(mbp != NULL);
if (chSemGetCounterI(&mbp->emptysem) <= (cnt_t)0) {
return MSG_TIMEOUT;
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
chSemFastWaitI(&mbp->emptysem);
if (--mbp->rdptr < mbp->buffer) {
mbp->rdptr = mbp->top - 1;
}
*mbp->rdptr = msg;
chSemSignalI(&mbp->fullsem);
return MSG_OK;
/* Is there a free message slot in queue? if so then post.*/
if (chMBGetFreeCountI(mbp) > (cnt_t)0) {
if (--mbp->rdptr < mbp->buffer) {
mbp->rdptr = mbp->top - 1;
}
*mbp->rdptr = msg;
mbp->cnt++;
/* If there is a reader waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qr, MSG_OK);
return MSG_OK;
}
/* No space, immediate timeout.*/
return MSG_TIMEOUT;
}
/**
@ -346,7 +405,7 @@ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
@ -375,7 +434,7 @@ msg_t chMBFetch(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
* .
* @return The operation status.
* @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset while waiting.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
@ -386,15 +445,29 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
chDbgCheckClassS();
chDbgCheck((mbp != NULL) && (msgp != NULL));
rdymsg = chSemWaitTimeoutS(&mbp->fullsem, timeout);
if (rdymsg == MSG_OK) {
*msgp = *mbp->rdptr++;
if (mbp->rdptr >= mbp->top) {
mbp->rdptr = mbp->buffer;
do {
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
chSemSignalI(&mbp->emptysem);
chSchRescheduleS();
}
/* Is there a message in queue? if so then fetch.*/
if (chMBGetUsedCountI(mbp) > (cnt_t)0) {
*msgp = *mbp->rdptr++;
if (mbp->rdptr >= mbp->top) {
mbp->rdptr = mbp->buffer;
}
mbp->cnt--;
/* If there is a writer waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qw, MSG_OK);
return MSG_OK;
}
/* No message in the queue, waiting for a message to become available.*/
rdymsg = chThdEnqueueTimeoutS(&mbp->qr, timeout);
} while (rdymsg == MSG_OK);
return rdymsg;
}
@ -408,6 +481,7 @@ msg_t chMBFetchS(mailbox_t *mbp, msg_t *msgp, systime_t timeout) {
* @param[out] msgp pointer to a message variable for the received message
* @return The operation status.
* @retval MSG_OK if a message has been correctly fetched.
* @retval MSG_RESET if the mailbox has been reset.
* @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be
* fetched.
*
@ -418,17 +492,27 @@ msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp) {
chDbgCheckClassI();
chDbgCheck((mbp != NULL) && (msgp != NULL));
if (chSemGetCounterI(&mbp->fullsem) <= (cnt_t)0) {
return MSG_TIMEOUT;
/* If the mailbox is in reset state then returns immediately.*/
if (mbp->reset) {
return MSG_RESET;
}
chSemFastWaitI(&mbp->fullsem);
*msgp = *mbp->rdptr++;
if (mbp->rdptr >= mbp->top) {
mbp->rdptr = mbp->buffer;
}
chSemSignalI(&mbp->emptysem);
return MSG_OK;
/* Is there a message in queue? if so then fetch.*/
if (chMBGetUsedCountI(mbp) > (cnt_t)0) {
*msgp = *mbp->rdptr++;
if (mbp->rdptr >= mbp->top) {
mbp->rdptr = mbp->buffer;
}
mbp->cnt--;
/* If there is a writer waiting then makes it ready.*/
chThdDequeueNextI(&mbp->qw, MSG_OK);
return MSG_OK;
}
/* No message, immediate timeout.*/
return MSG_TIMEOUT;
}
#endif /* CH_CFG_USE_MAILBOXES == TRUE */