CMSIS RTOS added.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7377 35acf78f-673a-0410-8e92-d51de3d6d3f4

os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c

@@ -35,6 +35,12 @@
 /* Module local definitions.                                                 */
 /*===========================================================================*/
 
+static memory_pool_t sempool;
+static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
+
+static memory_pool_t timpool;
+static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
+
 /*===========================================================================*/
 /* Module exported variables.                                                */
 /*===========================================================================*/
@@ -51,8 +57,274 @@
 /* Module local functions.                                                   */
 /*===========================================================================*/
 
+/**
+ * @brief   Virtual timers common callback.
+ */
+static void timer_cb(void *arg) {
+
+  osTimerId timer_id = (osTimerId)arg;
+  timer_id->ptimer(timer_id->argument);
+  if (timer_id->type == osTimerPeriodic) {
+    chSysLockFromISR();
+    chVTDoSetI(&timer_id->vt, timer_id->millisec, timer_cb, timer_id);
+    chSysUnlockFromISR();
+  }
+}
+
 /*===========================================================================*/
 /* Module exported functions.                                                */
 /*===========================================================================*/
 
+/**
+ * @brief   Kernel initialization.
+ */
+osStatus osKernelInitialize(void) {
+
+  chSysInit();
+  chThdSetPriority(HIGHPRIO);
+
+  chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAlloc);
+  chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
+
+  chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAlloc);
+  chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
+
+  return osOK;
+}
+
+/**
+ * @brief   Kernel start.
+ */
+osStatus osKernelStart(void) {
+
+  chThdSetPriority(NORMALPRIO);
+
+  return osOK;
+}
+
+/**
+ * @brief   Change thread priority.
+ * @note    This can interfere with the priority inheritance mechanism.
+ */
+osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
+  osPriority oldprio;
+  thread_t * tp = (thread_t *)thread_id;
+
+  chSysLock();
+
+  /* Changing priority.*/
+#if CH_CFG_USE_MUTEXES
+  oldprio = (osPriority)tp->p_realprio;
+  if ((tp->p_prio == tp->p_realprio) || ((tprio_t)newprio > tp->p_prio))
+    tp->p_prio = (tprio_t)newprio;
+  tp->p_realprio = (tprio_t)newprio;
+#else
+  oldprio = tp->p_prio;
+  tp->p_prio = (tprio_t)newprio;
+#endif
+
+  /* The following states need priority queues reordering.*/
+  switch (tp->p_state) {
+#if CH_CFG_USE_MUTEXES |                                                    \
+    CH_CFG_USE_CONDVARS |                                                   \
+    (CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) |             \
+    (CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
+#if CH_CFG_USE_MUTEXES
+  case CH_STATE_WTMTX:
+#endif
+#if CH_CFG_USE_CONDVARS
+  case CH_STATE_WTCOND:
+#endif
+#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
+  case CH_STATE_WTSEM:
+#endif
+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
+  case CH_STATE_SNDMSGQ:
+#endif
+    /* Re-enqueues tp with its new priority on the queue.*/
+    queue_prio_insert(queue_dequeue(tp),
+                      (threads_queue_t *)tp->p_u.wtobjp);
+    break;
+#endif
+  case CH_STATE_READY:
+#if CH_DBG_ENABLE_ASSERTS
+    /* Prevents an assertion in chSchReadyI().*/
+    tp->p_state = CH_STATE_CURRENT;
+#endif
+    /* Re-enqueues tp with its new priority on the ready list.*/
+    chSchReadyI(queue_dequeue(tp));
+    break;
+  }
+
+  /* Rescheduling.*/
+  chSchRescheduleS();
+
+  chSysUnlock();
+
+  return oldprio;
+}
+
+/**
+ * @brief   Create a timer.
+ */
+osTimerId osTimerCreate (const osTimerDef_t *timer_def,
+                         os_timer_type type,
+                         void *argument) {
+
+  osTimerId timer = chPoolAlloc(&timpool);
+  chVTObjectInit(&timer->vt);
+  timer->ptimer = timer_def->ptimer;
+  timer->type = type;
+  timer->argument = argument;
+  return timer;
+}
+
+/**
+ * @brief   Start a timer.
+ */
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
+
+  if (millisec == 0)
+    return osErrorParameter;
+
+  timer_id->millisec = millisec;
+  chVTSet(&timer_id->vt, millisec, timer_cb, timer_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Stop a timer.
+ */
+osStatus osTimerStop (osTimerId timer_id) {
+
+  chVTReset(&timer_id->vt);
+
+  return osOK;
+}
+
+/**
+ * @brief   Delete a timer.
+ */
+osStatus osTimerDelete (osTimerId timer_id) {
+
+  chVTReset(&timer_id->vt);
+  chPoolFree(&timpool, (void *)timer_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a semaphore.
+ * @note    @p semaphore_def is not used.
+ * @note    Can involve memory allocation.
+ */
+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,
+                                 int32_t count) {
+
+  (void)semaphore_def;
+
+  semaphore_t *sem = chPoolAlloc(&sempool);
+  chSemObjectInit(sem, (cnt_t)count);
+  return sem;
+}
+
+/**
+ * @brief   Wait on a semaphore.
+ */
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
+
+  systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
+                                                  (systime_t)millisec;
+  msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
+  switch (msg) {
+  case MSG_OK:
+    return osOK;
+  case MSG_TIMEOUT:
+    return osErrorTimeoutResource;
+  }
+  return osErrorResource;
+}
+
+/**
+ * @brief   Release a semaphore.
+ */
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
+
+  syssts_t sts = chSysGetStatusAndLockX();
+    chSemSignalI((semaphore_t *)semaphore_id);
+  chSysRestoreStatusX(sts);
+
+  return osOK;
+}
+
+/**
+ * @brief   Deletes a semaphore.
+ * @note    After deletion there could be references in the system to a
+ *          non-existent semaphore.
+ */
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
+
+  chSemReset((semaphore_t *)semaphore_id, 0);
+  chPoolFree(&sempool, (void *)semaphore_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Create a mutex.
+ * @note    @p mutex_def is not used.
+ * @note    Can involve memory allocation.
+ */
+osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
+
+  (void)mutex_def;
+
+  binary_semaphore_t *mtx = chPoolAlloc(&sempool);
+  chBSemObjectInit(mtx, false);
+  return mtx;
+}
+
+/**
+ * @brief   Wait on a mutex.
+ */
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
+
+  systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
+                                                  (systime_t)millisec;
+  msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
+  switch (msg) {
+  case MSG_OK:
+    return osOK;
+  case MSG_TIMEOUT:
+    return osErrorTimeoutResource;
+  }
+  return osErrorResource;
+}
+
+/**
+ * @brief   Release a mutex.
+ */
+osStatus osMutexRelease (osMutexId mutex_id) {
+
+  syssts_t sts = chSysGetStatusAndLockX();
+    chBSemSignalI((binary_semaphore_t *)mutex_id);
+  chSysRestoreStatusX(sts);
+
+  return osOK;
+}
+
+/**
+ * @brief   Deletes a mutex.
+ * @note    After deletion there could be references in the system to a
+ *          non-existent semaphore.
+ */
+osStatus osMutexDelete (osMutexId mutex_id) {
+
+  chSemReset((semaphore_t *)mutex_id, 0);
+  chPoolFree(&sempool, (void *)mutex_id);
+
+  return osOK;
+}
+
 /** @} */

os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h

@@ -83,10 +83,36 @@
 /* Module pre-compile time settings.                                         */
 /*===========================================================================*/
 
+/**
+ * @brief   Number of pre-allocated static semaphores/mutexes.
+ */
+#if !defined(CMSIS_CFG_NUM_SEMAPHORES)
+#define CMSIS_CFG_NUM_SEMAPHORES    4
+#endif
+
+/**
+ * @brief   Number of pre-allocated static timers.
+ */
+#if !defined(CMSIS_CFG_NUM_TIMERS)
+#define CMSIS_CFG_NUM_TIMERS        4
+#endif
+
 /*===========================================================================*/
 /* Derived constants and error checks.                                       */
 /*===========================================================================*/
 
+#if !CH_CFG_USE_MEMPOOLS
+#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"
+#endif
+
+#if !CH_CFG_USE_SEMAPHORES
+#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if !CH_CFG_USE_DYNAMIC
+#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"
+#endif
+
 /*===========================================================================*/
 /* Module data structures and types.                                         */
 /*===========================================================================*/
@@ -130,8 +156,8 @@ typedef enum {
  * @brief   Type of a timer mode.
  */
 typedef enum  {
-  osTimerOnce               =   0,
+  osTimerOnce               = 0,
-  osTimerPeriodic           =   1
+  osTimerPeriodic           = 1
 } os_timer_type;
 
 /**
@@ -147,22 +173,28 @@ typedef void (*os_ptimer) (void const *argument);
 /**
  * @brief   Type of pointer to thread control block.
  */
-typedef struct os_thread_cb *osThreadId;
+typedef thread_t *osThreadId;
 
 /**
  * @brief   Type of pointer to timer control block.
  */
-typedef struct os_timer_cb *osTimerId;
+typedef struct os_timer_cb {
+  virtual_timer_t           vt;
+  os_timer_type             type;
+  os_ptimer                 ptimer;
+  void                      *argument;
+  uint32_t                  millisec;
+} *osTimerId;
 
 /**
  * @brief   Type of pointer to mutex control block.
  */
-typedef struct os_mutex_cb *osMutexId;
+typedef binary_semaphore_t *osMutexId;
 
 /**
  * @brief   Type of pointer to semaphore control block.
  */
-typedef struct os_semaphore_cb *osSemaphoreId;
+typedef semaphore_t *osSemaphoreId;
 
 /**
  * @brief   Type of a thread definition block.
@@ -280,13 +312,25 @@ const osTimerDef_t os_timer_def_##name = {                                  \
 #ifdef __cplusplus
 extern "C" {
 #endif
-  osThreadId osThreadGetId(void);
+  osStatus osKernelInitialize(void);
-  osStatus osThreadTerminate(osThreadId thread_id);
+  osStatus osKernelStart(void);
-  osStatus osThreadYield(void);
+  osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);
-  osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority);
-  osPriority osThreadGetPriority(osThreadId thread_id);
-  osStatus osDelay(uint32_t millisec);
   /*osEvent osWait(uint32_t millisec);*/
+  osTimerId osTimerCreate (const osTimerDef_t *timer_def,
+                           os_timer_type type,
+                           void *argument);
+  osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
+  osStatus osTimerStop (osTimerId timer_id);
+  osStatus osTimerDelete (osTimerId timer_id);
+  osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,
+                                   int32_t count);
+  int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
+  osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
+  osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
+  osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
+  osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
+  osStatus osMutexRelease (osMutexId mutex_id);
+  osStatus osMutexDelete (osMutexId mutex_id);
 #ifdef __cplusplus
 }
 #endif
@@ -295,26 +339,6 @@ extern "C" {
 /* Module inline functions.                                                  */
 /*===========================================================================*/
 
-/**
- * @brief   Kernel initialization.
- */
-static inline osStatus osKernelInitialize(void) {
-
-  chSysSuspend();
-
-  return osOK;
-}
-
-/**
- * @brief   Kernel start.
- * @note    Does nothing, under ChibiOS/RT there is no concept of starting the
- *          kernel.
- */
-static inline osStatus osKernelStart(void) {
-
-  return osOK;
-}
-
 /**
  * @brief   To be or not to be.
  */
@@ -347,6 +371,54 @@ static inline osThreadId osThreadCreate (osThreadDef_t *thread_def,
                                          argument);
 }
 
+/**
+ * @brief   Returns the current thread.
+ */
+static inline osThreadId osThreadGetId(void) {
+
+  return (osThreadId)chThdGetSelfX();
+}
+
+/**
+ * @brief   Thread termination.
+ * @note    The thread is not really terminated but asked to terminate which
+ *          is not compliant.
+ */
+static inline osStatus osThreadTerminate(osThreadId thread_id) {
+
+  chThdTerminate(thread_id);
+
+  return osOK;
+}
+
+/**
+ * @brief   Thread time slice yield.
+ */
+static inline osStatus osThreadYield(void) {
+
+  chThdYield();
+
+  return osOK;
+}
+
+/**
+ * @brief   Returns priority of a thread.
+ */
+static inline osPriority osThreadGetPriority(osThreadId thread_id) {
+
+  return thread_id->p_prio;
+}
+
+/**
+ * @brief   Thread delay in milliseconds.
+ */
+static inline osStatus osDelay(uint32_t millisec) {
+
+  chThdSleepMilliseconds(millisec);
+
+  return osOK;
+}
+
 #endif /* _CMSIS_OS_H_ */
 
 /** @} */

os/rt/ports/ARMCMx/cmsis_os/cmsis_os.mk

@@ -0,0 +1,4 @@
+# List of the ChibiOS/RT CMSIS RTOS wrapper.
+CMSISRTOSSRC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
+ 
+CMSISRTOSINC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os