mirror of https://github.com/rusefi/ChibiOS.git
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6067 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
gdisirio
parent
ceea042aaf
commit
7ece1d7e49
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/*
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ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
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2011,2012,2013 Giovanni Di Sirio.
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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/>.
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||||
*/
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|
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/**
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* @file osal.c
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* @brief OSAL module code.
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*
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* @addtogroup OSAL
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* @{
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*/
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#include "osal.h"
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/*===========================================================================*/
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/* Module local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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/**
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* @brief Pointer to a halt error message.
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* @note The message is meant to be retrieved by the debugger after the
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* system halt caused by an unexpected error.
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*/
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const char *osal_halt_msg;
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/*===========================================================================*/
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/* Module local types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
|
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/* Module exported 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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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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#if !defined(__DOXYGEN__)
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__attribute__((weak, noreturn))
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#endif
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void osalSysHalt(const char *reason) {
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osalIsrDisable();
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osal_halt_msg = reason;
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while (1)
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;
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}
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/**
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* @brief Enqueues the caller thread.
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* @details The caller thread is enqueued and put to sleep until it is
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* dequeued or the specified timeouts expires.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] time the timeout in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE the thread is not enqueued and
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* the function returns @p MSG_TIMEOUT as if a timeout
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* occurred.
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* .
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* @return The message from @p osalQueueWakeupOneI() or
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* @p osalQueueWakeupAllI() functions.
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* @retval RDY_TIMEOUT if the thread has not been dequeued within the
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* specified timeout or if the function has been
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* invoked with @p TIME_IMMEDIATE as timeout
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* specification.
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*
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* @sclass
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*/
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msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
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msg_t msg;
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virtual_timer_t vt;
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void wakeup(void *p) {
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osalSysLockFromISR();
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osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
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osalSysUnlockFromISR();
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}
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if (TIME_IMMEDIATE == time)
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return MSG_TIMEOUT;
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tqp->tr = NULL;
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if (TIME_INFINITE == time)
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return osalThreadSuspendS(&tqp->tr);
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osalVTSetI(&vt, time, wakeup, (void *)&tqp->tr);
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msg = osalThreadSuspendS(&tqp->tr);
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if (osalVTIsArmedI(&vt))
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osalVTResetI(&vt);
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return msg;
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}
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/** @} */
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@ -0,0 +1,513 @@
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/*
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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/>.
|
||||
*/
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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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/*===========================================================================*/
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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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/**
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* @name Messages
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* @{
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*/
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#define MSG_OK 0
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#define MSG_RESET -1
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#define MSG_TIMEOUT -2
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/** @} */
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|
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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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|
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/*===========================================================================*/
|
||||
/* Module pre-compile time settings. */
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||||
/*===========================================================================*/
|
||||
|
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/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
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/*===========================================================================*/
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|
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/*===========================================================================*/
|
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/* Module data structures and types. */
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/*===========================================================================*/
|
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|
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/**
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* @brief Type of a machine status register.
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*/
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typedef uint32_t osal_sts_t;
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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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/**
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* @brief Type of a thread.
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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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*/
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typedef struct {
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volatile msg_t message;
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} thread_t;
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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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||||
|
||||
/**
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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 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 {
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volatile eventflags_t flags; /**< @brief Flags stored into the
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object. */
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} eventsource_t;
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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 uint32_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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||||
thread_reference_t tr;
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||||
} threads_queue_t;
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||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
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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 the
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* specified 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.
|
||||
* @note The convention for the message is the following:<br>
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* @<function_name@>(), #@<assert_number@>
|
||||
* @note The remark string is not currently used except for putting a
|
||||
* comment in the code about the assertion.
|
||||
*
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||||
* @param[in] c the condition to be verified to be true
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||||
* @param[in] msg the text message
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||||
* @param[in] remark a remark string
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||||
*
|
||||
* @api
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||||
*/
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||||
#define osalDbgAssert(c, msg, remark)
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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
|
||||
* is enabled.
|
||||
*
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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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||||
*/
|
||||
#define osalDbgCheck(c)
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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()
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|
||||
/**
|
||||
* @brief S-Class state check.
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||||
* @note Not implemented in this simplified OSAL.
|
||||
*/
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||||
#define osalDbgCheckClassS()
|
||||
|
||||
/**
|
||||
* @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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||||
*/
|
||||
#define OSAL_IRQ_PROLOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ epilogue code.
|
||||
* @details This macro must be inserted at the end of all IRQ handlers.
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||||
*/
|
||||
#define OSAL_IRQ_EPILOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ handler function declaration.
|
||||
* @details This macro hides the details of an ISR function declaration.
|
||||
*
|
||||
* @param[in] id a vector name as defined in @p vectors.s
|
||||
*/
|
||||
#define OSAL_IRQ_HANDLER(id) void id(void)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#if !defined(__DOXYGEN__)
|
||||
extern virtual_timers_list_t vtlist;
|
||||
extern const char *osal_halt_msg;
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void osalInit(void);
|
||||
void osalSysHalt(const char *reason);
|
||||
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module inline functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLock(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlock(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLockFromISR(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlockFromISR(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone returning the previous machine status.
|
||||
*
|
||||
* @return The previous status.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline osal_sts_t osalSysGetStatusAndLock(void) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Restores a machine status.
|
||||
*
|
||||
* @param[in] sts the previous status. This value must be something
|
||||
* returned by the function @p osalSysGetStatusAndLock().
|
||||
* Arbitrary values are not allowed.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysSetStatus(osal_sts_t sts) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @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 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
|
||||
*/
|
||||
inline void osalThreadSleepS(systime_t 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) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes an event flags object.
|
||||
*
|
||||
* @param[out] esp pointer to the event flags object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalEventInit(eventsource_t *esp) {
|
||||
|
||||
osalDbgCheck(esp != NULL);
|
||||
|
||||
esp->flags = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @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(eventsource_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
osalDbgCheck(esp != NULL);
|
||||
|
||||
esp->flags |= flags;
|
||||
}
|
||||
|
||||
/**
|
||||
* @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(eventsource_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
osalDbgCheck(esp != NULL);
|
||||
|
||||
osalSysLock();
|
||||
esp->flags |= flags;
|
||||
osalSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the flags associated to the event object then clears them.
|
||||
* @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
|
||||
* @return The flags.
|
||||
*
|
||||
* @iclass
|
||||
*/
|
||||
static inline eventflags_t osalEventGetAndClearFlagsI(eventsource_t *esp) {
|
||||
eventflags_t flags;
|
||||
|
||||
osalDbgCheck(esp != NULL);
|
||||
|
||||
flags = esp->flags;
|
||||
esp->flags = 0;
|
||||
return flags;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Returns the flags associated to the event object and clears them.
|
||||
* @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
|
||||
* @return The flags.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
static inline eventflags_t osalEventGetAndClearFlags(eventsource_t *esp) {
|
||||
eventflags_t flags;
|
||||
|
||||
osalSysLock();
|
||||
flags = osalEventGetAndClearFlagsI(esp);
|
||||
osalSysUnlock();
|
||||
return flags;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes s @p mutex_t object.
|
||||
*
|
||||
* @param[out] mp pointer to the @p mutex_t object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalMutexInit(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) {
|
||||
|
||||
*mp = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes a threads queue object.
|
||||
*
|
||||
* @param[out] tqp pointer to the threads queue object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalQueueInit(threads_queue_t *tqp) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
*/
|
||||
static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @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
|
||||
*/
|
||||
static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
|
||||
|
||||
}
|
||||
|
||||
#endif /* _OSAL_H_ */
|
||||
|
||||
/** @} */
|
||||
Loading…
Reference in New Issue