mirror of https://github.com/rusefi/ChibiOS.git
CMSIS RTOS added.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7377 35acf78f-673a-0410-8e92-d51de3d6d3f4
This commit is contained in:
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b968a3f9e3
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db0b899f5f
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@ -35,6 +35,12 @@
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/* Module local definitions. */
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/*===========================================================================*/
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static memory_pool_t sempool;
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static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
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static memory_pool_t timpool;
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static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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@ -51,8 +57,274 @@
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/* Module local functions. */
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/*===========================================================================*/
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/**
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* @brief Virtual timers common callback.
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*/
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static void timer_cb(void *arg) {
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osTimerId timer_id = (osTimerId)arg;
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timer_id->ptimer(timer_id->argument);
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if (timer_id->type == osTimerPeriodic) {
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chSysLockFromISR();
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chVTDoSetI(&timer_id->vt, timer_id->millisec, timer_cb, timer_id);
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chSysUnlockFromISR();
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}
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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 Kernel initialization.
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*/
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osStatus osKernelInitialize(void) {
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chSysInit();
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chThdSetPriority(HIGHPRIO);
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chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAlloc);
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chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
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chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAlloc);
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chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
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return osOK;
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}
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/**
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* @brief Kernel start.
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*/
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osStatus osKernelStart(void) {
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chThdSetPriority(NORMALPRIO);
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return osOK;
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}
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/**
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* @brief Change thread priority.
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* @note This can interfere with the priority inheritance mechanism.
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*/
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osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
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osPriority oldprio;
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thread_t * tp = (thread_t *)thread_id;
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chSysLock();
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/* Changing priority.*/
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#if CH_CFG_USE_MUTEXES
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oldprio = (osPriority)tp->p_realprio;
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if ((tp->p_prio == tp->p_realprio) || ((tprio_t)newprio > tp->p_prio))
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tp->p_prio = (tprio_t)newprio;
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tp->p_realprio = (tprio_t)newprio;
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#else
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oldprio = tp->p_prio;
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tp->p_prio = (tprio_t)newprio;
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#endif
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/* The following states need priority queues reordering.*/
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switch (tp->p_state) {
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#if CH_CFG_USE_MUTEXES | \
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CH_CFG_USE_CONDVARS | \
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(CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \
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(CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
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#if CH_CFG_USE_MUTEXES
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case CH_STATE_WTMTX:
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#endif
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#if CH_CFG_USE_CONDVARS
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case CH_STATE_WTCOND:
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#endif
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#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
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case CH_STATE_WTSEM:
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#endif
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#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
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case CH_STATE_SNDMSGQ:
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#endif
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/* Re-enqueues tp with its new priority on the queue.*/
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queue_prio_insert(queue_dequeue(tp),
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(threads_queue_t *)tp->p_u.wtobjp);
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break;
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#endif
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case CH_STATE_READY:
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#if CH_DBG_ENABLE_ASSERTS
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/* Prevents an assertion in chSchReadyI().*/
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tp->p_state = CH_STATE_CURRENT;
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#endif
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/* Re-enqueues tp with its new priority on the ready list.*/
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chSchReadyI(queue_dequeue(tp));
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break;
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}
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/* Rescheduling.*/
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chSchRescheduleS();
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chSysUnlock();
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return oldprio;
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}
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/**
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* @brief Create a timer.
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*/
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osTimerId osTimerCreate (const osTimerDef_t *timer_def,
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os_timer_type type,
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void *argument) {
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osTimerId timer = chPoolAlloc(&timpool);
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chVTObjectInit(&timer->vt);
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timer->ptimer = timer_def->ptimer;
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timer->type = type;
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timer->argument = argument;
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return timer;
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}
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/**
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* @brief Start a timer.
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*/
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osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
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if (millisec == 0)
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return osErrorParameter;
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timer_id->millisec = millisec;
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chVTSet(&timer_id->vt, millisec, timer_cb, timer_id);
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return osOK;
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}
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/**
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* @brief Stop a timer.
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*/
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osStatus osTimerStop (osTimerId timer_id) {
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chVTReset(&timer_id->vt);
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return osOK;
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}
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/**
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* @brief Delete a timer.
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*/
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osStatus osTimerDelete (osTimerId timer_id) {
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chVTReset(&timer_id->vt);
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chPoolFree(&timpool, (void *)timer_id);
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return osOK;
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}
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/**
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* @brief Create a semaphore.
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* @note @p semaphore_def is not used.
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* @note Can involve memory allocation.
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*/
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osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,
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int32_t count) {
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(void)semaphore_def;
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semaphore_t *sem = chPoolAlloc(&sempool);
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chSemObjectInit(sem, (cnt_t)count);
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return sem;
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}
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/**
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* @brief Wait on a semaphore.
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*/
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int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
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systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
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(systime_t)millisec;
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msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
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switch (msg) {
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case MSG_OK:
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return osOK;
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case MSG_TIMEOUT:
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return osErrorTimeoutResource;
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}
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return osErrorResource;
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}
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/**
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* @brief Release a semaphore.
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*/
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osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
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syssts_t sts = chSysGetStatusAndLockX();
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chSemSignalI((semaphore_t *)semaphore_id);
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chSysRestoreStatusX(sts);
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return osOK;
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}
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/**
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* @brief Deletes a semaphore.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*/
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osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
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chSemReset((semaphore_t *)semaphore_id, 0);
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chPoolFree(&sempool, (void *)semaphore_id);
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return osOK;
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}
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/**
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* @brief Create a mutex.
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* @note @p mutex_def is not used.
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* @note Can involve memory allocation.
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*/
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osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
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(void)mutex_def;
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binary_semaphore_t *mtx = chPoolAlloc(&sempool);
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chBSemObjectInit(mtx, false);
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return mtx;
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}
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/**
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* @brief Wait on a mutex.
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*/
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osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
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systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :
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(systime_t)millisec;
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msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
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switch (msg) {
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case MSG_OK:
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return osOK;
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case MSG_TIMEOUT:
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return osErrorTimeoutResource;
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}
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return osErrorResource;
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}
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/**
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* @brief Release a mutex.
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*/
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osStatus osMutexRelease (osMutexId mutex_id) {
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syssts_t sts = chSysGetStatusAndLockX();
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chBSemSignalI((binary_semaphore_t *)mutex_id);
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chSysRestoreStatusX(sts);
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return osOK;
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}
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/**
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* @brief Deletes a mutex.
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* @note After deletion there could be references in the system to a
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* non-existent semaphore.
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*/
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osStatus osMutexDelete (osMutexId mutex_id) {
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chSemReset((semaphore_t *)mutex_id, 0);
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chPoolFree(&sempool, (void *)mutex_id);
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return osOK;
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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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/**
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* @brief Number of pre-allocated static semaphores/mutexes.
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*/
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#if !defined(CMSIS_CFG_NUM_SEMAPHORES)
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#define CMSIS_CFG_NUM_SEMAPHORES 4
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#endif
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/**
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* @brief Number of pre-allocated static timers.
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*/
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#if !defined(CMSIS_CFG_NUM_TIMERS)
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#define CMSIS_CFG_NUM_TIMERS 4
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !CH_CFG_USE_MEMPOOLS
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#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"
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#endif
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#if !CH_CFG_USE_SEMAPHORES
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#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"
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#endif
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#if !CH_CFG_USE_DYNAMIC
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#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"
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#endif
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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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* @brief Type of pointer to thread control block.
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*/
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typedef struct os_thread_cb *osThreadId;
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typedef thread_t *osThreadId;
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/**
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* @brief Type of pointer to timer control block.
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*/
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typedef struct os_timer_cb *osTimerId;
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typedef struct os_timer_cb {
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virtual_timer_t vt;
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os_timer_type type;
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os_ptimer ptimer;
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void *argument;
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uint32_t millisec;
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} *osTimerId;
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/**
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* @brief Type of pointer to mutex control block.
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*/
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typedef struct os_mutex_cb *osMutexId;
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typedef binary_semaphore_t *osMutexId;
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/**
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* @brief Type of pointer to semaphore control block.
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*/
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typedef struct os_semaphore_cb *osSemaphoreId;
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typedef semaphore_t *osSemaphoreId;
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/**
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* @brief Type of a thread definition block.
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#ifdef __cplusplus
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extern "C" {
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#endif
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osThreadId osThreadGetId(void);
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osStatus osThreadTerminate(osThreadId thread_id);
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osStatus osThreadYield(void);
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osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority);
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osPriority osThreadGetPriority(osThreadId thread_id);
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osStatus osDelay(uint32_t millisec);
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osStatus osKernelInitialize(void);
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osStatus osKernelStart(void);
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osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);
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/*osEvent osWait(uint32_t millisec);*/
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osTimerId osTimerCreate (const osTimerDef_t *timer_def,
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os_timer_type type,
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void *argument);
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osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
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osStatus osTimerStop (osTimerId timer_id);
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osStatus osTimerDelete (osTimerId timer_id);
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osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,
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int32_t count);
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int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
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osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
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osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
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osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
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osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
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osStatus osMutexRelease (osMutexId mutex_id);
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osStatus osMutexDelete (osMutexId mutex_id);
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#ifdef __cplusplus
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}
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#endif
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Kernel initialization.
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*/
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static inline osStatus osKernelInitialize(void) {
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chSysSuspend();
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return osOK;
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}
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/**
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* @brief Kernel start.
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* @note Does nothing, under ChibiOS/RT there is no concept of starting the
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* kernel.
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*/
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static inline osStatus osKernelStart(void) {
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return osOK;
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}
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/**
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* @brief To be or not to be.
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*/
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@ -347,6 +371,54 @@ static inline osThreadId osThreadCreate (osThreadDef_t *thread_def,
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argument);
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}
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/**
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* @brief Returns the current thread.
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*/
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static inline osThreadId osThreadGetId(void) {
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return (osThreadId)chThdGetSelfX();
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}
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/**
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* @brief Thread termination.
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* @note The thread is not really terminated but asked to terminate which
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* is not compliant.
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*/
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static inline osStatus osThreadTerminate(osThreadId thread_id) {
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chThdTerminate(thread_id);
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return osOK;
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}
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/**
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* @brief Thread time slice yield.
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*/
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static inline osStatus osThreadYield(void) {
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chThdYield();
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return osOK;
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}
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/**
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* @brief Returns priority of a thread.
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*/
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static inline osPriority osThreadGetPriority(osThreadId thread_id) {
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return thread_id->p_prio;
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}
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/**
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* @brief Thread delay in milliseconds.
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*/
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static inline osStatus osDelay(uint32_t millisec) {
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chThdSleepMilliseconds(millisec);
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return osOK;
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}
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#endif /* _CMSIS_OS_H_ */
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/** @} */
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@ -0,0 +1,4 @@
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# List of the ChibiOS/RT CMSIS RTOS wrapper.
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CMSISRTOSSRC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
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CMSISRTOSINC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os
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