mirror of https://github.com/rusefi/ChibiOS.git
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6082 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
parent
56c848ffd6
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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.
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|
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ChibiOS/RT 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
|
||||
the Free Software Foundation; either version 3 of the License, or
|
||||
(at your option) any later version.
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||||
|
||||
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.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))
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#endif
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void osalSysHalt(const char *reason) {
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osal_halt_msg = reason;
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chSysHalt();
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}
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/**
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* @brief Sends the current thread sleeping and sets a reference variable.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @return The wake up message.
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*
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* @sclass
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*/
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msg_t osalThreadSuspendS(thread_reference_t *trp) {
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chDbgAssert(*trp == NULL, "osalThreadSuspendS(), #1", "not NULL");
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*trp = (thread_reference_t)chThdSelf();
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chSchGoSleepS(CH_STATE_SUSPENDED);
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return chThdSelf()->p_msg;
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must not reschedule because it can be called from
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* ISR context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
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if (*trp != NULL) {
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chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
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"osalThreadResumeI(), #1", "not THD_STATE_SUSPENDED");
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(*trp)->p_u.rdymsg = msg;
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chSchReadyI((thread_t *)*trp);
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*trp = NULL;
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}
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
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if (*trp != NULL) {
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thread_t *tp = (thread_t *)*trp;
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chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
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"osalThreadResumeS(), #1", "not THD_STATE_SUSPENDED");
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*trp = NULL;
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chSchWakeupS(tp, msg);
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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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void wakeup(void *p) {
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thread_t *tp = (thread_t *)p;
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chSysUnlockFromISR();
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tp->p_u.rdymsg = RDY_TIMEOUT;
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chSchReadyI(queue_dequeue(tp));
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chSysUnlockFromISR();
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}
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if (TIME_IMMEDIATE == time)
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return MSG_TIMEOUT;
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queue_insert(currp, tqp);
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if (TIME_INFINITE == time)
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chSchGoSleepS(CH_STATE_SUSPENDED);
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else {
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virtual_timer_t vt;
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chVTDoSetI(&vt, time, wakeup, currp);
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chSchGoSleepS(CH_STATE_SUSPENDED);
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if (chVTIsArmedI(&vt))
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chVTDoResetI(&vt);
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}
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return currp->p_u.rdymsg;
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}
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/**
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* @brief Dequeues and wakes up one thread from the queue, if any.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
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if (queue_notempty(tqp)) {
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thread_t *tp = queue_fifo_remove(tqp);
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tp->p_u.rdymsg = msg;
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chSchReadyI(tp);
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}
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}
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/**
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* @brief Dequeues and wakes up all threads from the queue.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
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while (queue_notempty(tqp)) {
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thread_t *tp = queue_fifo_remove(tqp);
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tp->p_u.rdymsg = msg;
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chSchReadyI(tp);
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}
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}
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/** @} */
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@ -0,0 +1,454 @@
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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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* @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 "ch.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 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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#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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/** @} */
|
||||
#endif
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||||
|
||||
/*===========================================================================*/
|
||||
/* Module pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module data structures and types. */
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||||
/*===========================================================================*/
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||||
|
||||
#if 0
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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
|
||||
/**
|
||||
* @brief Type of system time counter.
|
||||
*/
|
||||
typedef uint32_t systime_t;
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||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Type of a thread reference.
|
||||
*/
|
||||
typedef thread_t * thread_reference_t;
|
||||
|
||||
#if 0
|
||||
/**
|
||||
* @brief Type of an event flags mask.
|
||||
*/
|
||||
typedef uint32_t eventflags_t;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
/**
|
||||
* @brief Type of an event flags object.
|
||||
* @note The content of this structure is not part of the API and should
|
||||
* not be relied upon. Implementers may define this structure in
|
||||
* an entirely different way.
|
||||
* @note Retrieval and clearing of the flags are not defined in this
|
||||
* API and are implementation-dependent.
|
||||
*/
|
||||
typedef struct {
|
||||
volatile eventflags_t flags; /**< @brief Flags stored into the
|
||||
object. */
|
||||
} event_source_t;
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Type of a mutex.
|
||||
* @note If the OS does not support mutexes or there is no OS then them
|
||||
* mechanism can be simulated.
|
||||
*/
|
||||
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
|
||||
#elif CH_CFG_USE_SEMAPHORES
|
||||
typedef semaphore_t mutex_t;
|
||||
#else
|
||||
typedef uint32_t mutex_t;
|
||||
#endif
|
||||
|
||||
#if 0
|
||||
/**
|
||||
* @brief Type of a thread queue.
|
||||
* @details A thread queue is a queue of sleeping threads, queued threads
|
||||
* can be dequeued one at time or all together.
|
||||
* @note In this implementation it is implemented as a single reference
|
||||
* because there are no real threads.
|
||||
*/
|
||||
typedef struct {
|
||||
thread_reference_t tr;
|
||||
} threads_queue_t;
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Condition assertion.
|
||||
* @details If the condition check fails then the OSAL panics with the
|
||||
* specified message and halts.
|
||||
* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
|
||||
* switch is enabled.
|
||||
* @note The convention for the message is the following:<br>
|
||||
* @<function_name@>(), #@<assert_number@>
|
||||
* @note The remark string is not currently used except for putting a
|
||||
* comment in the code about the assertion.
|
||||
*
|
||||
* @param[in] c the condition to be verified to be true
|
||||
* @param[in] msg the text message
|
||||
* @param[in] remark a remark string
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalDbgAssert(c, msg, remark) chDbgAssert(c, msg, remark)
|
||||
|
||||
/**
|
||||
* @brief Function parameters check.
|
||||
* @details If the condition check fails then the OSAL panics and halts.
|
||||
* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
|
||||
* is enabled.
|
||||
*
|
||||
* @param[in] c the condition to be verified to be true
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalDbgCheck(c) chDbgCheck(c, __FUNCTION__)
|
||||
|
||||
/**
|
||||
* @brief I-Class state check.
|
||||
* @note Not implemented in this simplified OSAL.
|
||||
*/
|
||||
#define osalDbgCheckClassI() chDbgCheckClassI()
|
||||
|
||||
/**
|
||||
* @brief S-Class state check.
|
||||
* @note Not implemented in this simplified OSAL.
|
||||
*/
|
||||
#define osalDbgCheckClassS() chDbgCheckClassS()
|
||||
|
||||
/**
|
||||
* @brief IRQ prologue code.
|
||||
* @details This macro must be inserted at the start of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ epilogue code.
|
||||
* @details This macro must be inserted at the end of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_IRQ_EPILOGUE() CH_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) CH_IRQ_HANDLER(id)
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void osalInit(void);
|
||||
void osalSysHalt(const char *reason);
|
||||
msg_t osalThreadSuspendS(thread_reference_t *trp);
|
||||
void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
|
||||
void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
|
||||
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
|
||||
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
|
||||
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
|
||||
#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) {
|
||||
|
||||
chSysLock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlock(void) {
|
||||
|
||||
chSysUnlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLockFromISR(void) {
|
||||
|
||||
chSysLockFromISR();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlockFromISR(void) {
|
||||
|
||||
chSysUnlockFromISR();
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
|
||||
chSchRescheduleS();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Suspends the invoking thread for the specified time.
|
||||
*
|
||||
* @param[in] time the delay in system ticks, the special values are
|
||||
* handled as follow:
|
||||
* - @a TIME_INFINITE is allowed but interpreted as a
|
||||
* normal time specification.
|
||||
* - @a TIME_IMMEDIATE this value is not allowed.
|
||||
* .
|
||||
*
|
||||
* @sclass
|
||||
*/
|
||||
static inline void osalThreadSleepS(systime_t time) {
|
||||
|
||||
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 Initializes an event flags object.
|
||||
*
|
||||
* @param[out] esp pointer to the event flags object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalEventObjectInit(event_source_t *esp) {
|
||||
|
||||
chEvtObjectInit(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 osalEventBroadcastFlagsI(event_source_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
chEvtBroadcastFlagsI(esp, 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(event_source_t *esp,
|
||||
eventflags_t flags) {
|
||||
|
||||
chEvtBroadcastFlags(esp, flags);
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
|
||||
#if CH_CFG_USE_MUTEXES
|
||||
chMtxObjectInit(mp);
|
||||
#elif CH_CFG_USE_SEMAPHORES
|
||||
chSemObjectInit((semaphore_t *)mp, 1);
|
||||
#else
|
||||
*mp = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
* @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) {
|
||||
|
||||
#if CH_CFG_USE_MUTEXES
|
||||
chMtxLock(mp);
|
||||
#elif CH_CFG_USE_SEMAPHORES
|
||||
chSemWait((semaphore_t *)mp);
|
||||
#else
|
||||
*mp = 1;
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
|
||||
#if CH_CFG_USE_MUTEXES
|
||||
(void)mp;
|
||||
chMtxUnlock();
|
||||
#elif CH_CFG_USE_SEMAPHORES
|
||||
chSemSignal((semaphore_t *)mp);
|
||||
#else
|
||||
*mp = 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes a threads queue object.
|
||||
*
|
||||
* @param[out] tqp pointer to the threads queue object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalQueueObjectInit(threads_queue_t *tqp) {
|
||||
|
||||
queue_init(tqp);
|
||||
}
|
||||
|
||||
#endif /* _OSAL_H_ */
|
||||
|
||||
/** @} */
|
|
@ -0,0 +1,5 @@
|
|||
# OSAL files.
|
||||
OSALSRC += ${CHIBIOS}/os/halnew/osal/chibios/osal.c
|
||||
|
||||
# Required include directories
|
||||
OSALINC += ${CHIBIOS}/os/halnew/osal/chibios
|
Loading…
Reference in New Issue