942 lines
25 KiB
C
942 lines
25 KiB
C
|
/*
|
||
|
|
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
|
||
|
|
|
||
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
you may not use this file except in compliance with the License.
|
||
|
|
You may obtain a copy of the License at
|
||
|
|
|
||
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
|
||
|
|
Unless required by applicable law or agreed to in writing, software
|
||
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
See the License for the specific language governing permissions and
|
||
|
|
limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file osal.h
|
||
|
|
* @brief OSAL module header.
|
||
|
|
*
|
||
|
|
* @addtogroup OSAL
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _OSAL_H_
|
||
|
|
#define _OSAL_H_
|
||
|
|
|
||
|
|
#include <stddef.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stdbool.h>
|
||
|
|
|
||
|
|
#include "ch.h"
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module constants. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Common constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#if !defined(FALSE) || defined(__DOXYGEN__)
|
||
|
|
#define FALSE 0
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if !defined(TRUE) || defined(__DOXYGEN__)
|
||
|
|
#define TRUE (!FALSE)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#define OSAL_SUCCESS FALSE
|
||
|
|
#define OSAL_FAILED TRUE
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @name Messages
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define MSG_OK RDY_OK
|
||
|
|
#define MSG_RESET RDY_RESET
|
||
|
|
#define MSG_TIMEOUT RDY_TIMEOUT
|
||
|
|
/** @} */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @name Special time constants
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define TIME_IMMEDIATE ((systime_t)0)
|
||
|
|
#define TIME_INFINITE ((systime_t)-1)
|
||
|
|
/** @} */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Systick modes.
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
#define OSAL_ST_MODE_NONE 0
|
||
|
|
#define OSAL_ST_MODE_PERIODIC 1
|
||
|
|
#define OSAL_ST_MODE_FREERUNNING 2
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Systick parameters.
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Size in bits of the @p systick_t type.
|
||
|
|
*/
|
||
|
|
#define OSAL_ST_RESOLUTION CH_CFG_ST_RESOLUTION
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Required systick frequency or resolution.
|
||
|
|
*/
|
||
|
|
#define OSAL_ST_FREQUENCY CH_CFG_ST_FREQUENCY
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Systick mode required by the underlying OS.
|
||
|
|
*/
|
||
|
|
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
|
||
|
|
#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
|
||
|
|
#else
|
||
|
|
#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
|
||
|
|
#endif
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module pre-compile time settings. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Derived constants and error checks. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
|
||
|
|
!(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
|
||
|
|
!(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
|
||
|
|
#error "invalid OSAL_ST_MODE setting in osal.h"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32)
|
||
|
|
#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module data structures and types. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of a system status word.
|
||
|
|
*/
|
||
|
|
typedef uint32_t syssts_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of a message.
|
||
|
|
*/
|
||
|
|
typedef int32_t msg_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of system time counter.
|
||
|
|
*/
|
||
|
|
typedef uint32_t systime_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of realtime counter.
|
||
|
|
*/
|
||
|
|
typedef uint32_t rtcnt_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of a thread reference.
|
||
|
|
*/
|
||
|
|
typedef thread_t * thread_reference_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if 0
|
||
|
|
/**
|
||
|
|
* @brief Type of an event flags mask.
|
||
|
|
*/
|
||
|
|
typedef uint32_t eventflags_t;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if !CH_CFG_USE_EVENTS
|
||
|
|
/**
|
||
|
|
* @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. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/* Temporary names provided for ChibiOS 2.x compatibility.*/
|
||
|
|
#define osalQueueInit osalThreadQueueObjectInit
|
||
|
|
#define osalQueueWakeupAllI osalThreadDequeueAllI
|
||
|
|
#define osalQueueWakeupOneI osalThreadDequeueNextI
|
||
|
|
#define osalQueueGoSleepTimeoutS osalThreadEnqueueTimeoutS
|
||
|
|
#define osalEventInit osalEventObjectInit
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Debug related macros
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Condition assertion.
|
||
|
|
* @details If the condition check fails then the OSAL panics with a
|
||
|
|
* message and halts.
|
||
|
|
* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
|
||
|
|
* switch is enabled.
|
||
|
|
* @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] remark a remark string
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalDbgAssert(c, remark) chDbgAssert(c, 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)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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()
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name IRQ service routines wrappers
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Priority level verification macro.
|
||
|
|
*/
|
||
|
|
#define OSAL_IRQ_IS_VALID_PRIORITY(n) CH_IRQ_IS_VALID_KERNEL_PRIORITY(n)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Time conversion utilities
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Seconds to system ticks.
|
||
|
|
* @details Converts from seconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
*
|
||
|
|
* @param[in] sec number of seconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_S2ST(sec) S2ST(sec)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Milliseconds to system ticks.
|
||
|
|
* @details Converts from milliseconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
*
|
||
|
|
* @param[in] msec number of milliseconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_MS2ST(msec) MS2ST(msec)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Microseconds to system ticks.
|
||
|
|
* @details Converts from microseconds to system ticks number.
|
||
|
|
* @note The result is rounded upward to the next tick boundary.
|
||
|
|
*
|
||
|
|
* @param[in] usec number of microseconds
|
||
|
|
* @return The number of ticks.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_US2ST(usec) US2ST(usec)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Time conversion utilities for the realtime counter
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Seconds to realtime counter.
|
||
|
|
* @details Converts from seconds to realtime counter cycles.
|
||
|
|
* @note The macro assumes that @p freq >= @p 1.
|
||
|
|
*
|
||
|
|
* @param[in] freq clock frequency, in Hz, of the realtime counter
|
||
|
|
* @param[in] sec number of seconds
|
||
|
|
* @return The number of cycles.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_S2RTC(freq, sec) S2RTC(freq, sec)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Milliseconds to realtime counter.
|
||
|
|
* @details Converts from milliseconds to realtime counter cycles.
|
||
|
|
* @note The result is rounded upward to the next millisecond boundary.
|
||
|
|
* @note The macro assumes that @p freq >= @p 1000.
|
||
|
|
*
|
||
|
|
* @param[in] freq clock frequency, in Hz, of the realtime counter
|
||
|
|
* @param[in] msec number of milliseconds
|
||
|
|
* @return The number of cycles.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_MS2RTC(freq, msec) MS2RTC(freq, msec)
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Microseconds to realtime counter.
|
||
|
|
* @details Converts from microseconds to realtime counter cycles.
|
||
|
|
* @note The result is rounded upward to the next microsecond boundary.
|
||
|
|
* @note The macro assumes that @p freq >= @p 1000000.
|
||
|
|
*
|
||
|
|
* @param[in] freq clock frequency, in Hz, of the realtime counter
|
||
|
|
* @param[in] usec number of microseconds
|
||
|
|
* @return The number of cycles.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define OSAL_US2RTC(freq, usec) US2RTC(freq, usec)
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @name Sleep macros using absolute time
|
||
|
|
* @{
|
||
|
|
*/
|
||
|
|
/**
|
||
|
|
* @brief Delays the invoking thread for the specified number of seconds.
|
||
|
|
* @note The specified time is rounded up to a value allowed by the real
|
||
|
|
* system tick clock.
|
||
|
|
* @note The maximum specifiable value is implementation dependent.
|
||
|
|
*
|
||
|
|
* @param[in] sec time in seconds, must be different from zero
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Delays the invoking thread for the specified number of
|
||
|
|
* milliseconds.
|
||
|
|
* @note The specified time is rounded up to a value allowed by the real
|
||
|
|
* system tick clock.
|
||
|
|
* @note The maximum specifiable value is implementation dependent.
|
||
|
|
*
|
||
|
|
* @param[in] msec time in milliseconds, must be different from zero
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Delays the invoking thread for the specified number of
|
||
|
|
* microseconds.
|
||
|
|
* @note The specified time is rounded up to a value allowed by the real
|
||
|
|
* system tick clock.
|
||
|
|
* @note The maximum specifiable value is implementation dependent.
|
||
|
|
*
|
||
|
|
* @param[in] usec time in microseconds, must be different from zero
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
|
||
|
|
/** @} */
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module inline functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief OSAL module initialization.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static inline void osalInit(void) {
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief System halt with error message.
|
||
|
|
*
|
||
|
|
* @param[in] reason the halt message pointer
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static inline void osalSysHalt(const char *reason) {
|
||
|
|
|
||
|
|
chSysHalt(reason);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Disables interrupts globally.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysDisable(void) {
|
||
|
|
|
||
|
|
chSysDisable();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enables interrupts globally.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void osalSysEnable(void) {
|
||
|
|
|
||
|
|
chSysEnable();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 Returns the execution status and enters a critical zone.
|
||
|
|
* @details This functions enters into a critical zone and can be called
|
||
|
|
* from any context. Because its flexibility it is less efficient
|
||
|
|
* than @p chSysLock() which is preferable when the calling context
|
||
|
|
* is known.
|
||
|
|
* @post The system is in a critical zone.
|
||
|
|
*
|
||
|
|
* @return The previous system status, the encoding of this
|
||
|
|
* status word is architecture-dependent and opaque.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline syssts_t osalSysGetStatusAndLockX(void) {
|
||
|
|
|
||
|
|
return chSysGetStatusAndLockX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Restores the specified execution status and leaves a critical zone.
|
||
|
|
* @note A call to @p chSchRescheduleS() is automatically performed
|
||
|
|
* if exiting the critical zone and if not in ISR context.
|
||
|
|
*
|
||
|
|
* @param[in] sts the system status to be restored.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline void osalSysRestoreStatusX(syssts_t sts) {
|
||
|
|
|
||
|
|
chSysRestoreStatusX(sts);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Polled delay.
|
||
|
|
* @note The real delay is always few cycles in excess of the specified
|
||
|
|
* value.
|
||
|
|
*
|
||
|
|
* @param[in] cycles number of cycles
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
|
||
|
|
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
|
||
|
|
|
||
|
|
chSysPolledDelayX(cycles);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Systick callback for the underlying OS.
|
||
|
|
* @note This callback is only defined if the OSAL requires such a
|
||
|
|
* service from the HAL.
|
||
|
|
*/
|
||
|
|
#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
|
||
|
|
static inline void osalOsTimerHandlerI(void) {
|
||
|
|
|
||
|
|
chSysTimerHandlerI();
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 Current system time.
|
||
|
|
* @details Returns the number of system ticks since the @p osalInit()
|
||
|
|
* invocation.
|
||
|
|
* @note The counter can reach its maximum and then restart from zero.
|
||
|
|
* @note This function can be called from any context but its atomicity
|
||
|
|
* is not guaranteed on architectures whose word size is less than
|
||
|
|
* @p systime_t size.
|
||
|
|
*
|
||
|
|
* @return The system time in ticks.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline systime_t osalOsGetSystemTimeX(void) {
|
||
|
|
|
||
|
|
return chVTGetSystemTimeX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Checks if the specified time is within the specified time window.
|
||
|
|
* @note When start==end then the function returns always true because the
|
||
|
|
* whole time range is specified.
|
||
|
|
* @note This function can be called from any context.
|
||
|
|
*
|
||
|
|
* @param[in] time the time to be verified
|
||
|
|
* @param[in] start the start of the time window (inclusive)
|
||
|
|
* @param[in] end the end of the time window (non inclusive)
|
||
|
|
* @retval true current time within the specified time window.
|
||
|
|
* @retval false current time not within the specified time window.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline bool osalOsIsTimeWithinX(systime_t time,
|
||
|
|
systime_t start,
|
||
|
|
systime_t end) {
|
||
|
|
|
||
|
|
return chVTIsTimeWithinX(time, start, end);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 Sends the current thread sleeping and sets a reference variable.
|
||
|
|
* @note This function must reschedule, it can only be called from thread
|
||
|
|
* context.
|
||
|
|
*
|
||
|
|
* @param[in] trp a pointer to a thread reference object
|
||
|
|
* @return The wake up message.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
|
||
|
|
|
||
|
|
return chThdSuspendS(trp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Sends the current thread sleeping and sets a reference variable.
|
||
|
|
* @note This function must reschedule, it can only be called from thread
|
||
|
|
* context.
|
||
|
|
*
|
||
|
|
* @param[in] trp a pointer to a thread reference object
|
||
|
|
* @param[in] timeout the timeout in system ticks, the special values are
|
||
|
|
* handled as follow:
|
||
|
|
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||
|
|
* state.
|
||
|
|
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
||
|
|
* the function returns @p MSG_TIMEOUT as if a timeout
|
||
|
|
* occurred.
|
||
|
|
* .
|
||
|
|
* @return The wake up message.
|
||
|
|
* @retval MSG_TIMEOUT if the operation timed out.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
|
||
|
|
systime_t timeout) {
|
||
|
|
|
||
|
|
return chThdSuspendTimeoutS(trp, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wakes up a thread waiting on a thread reference object.
|
||
|
|
* @note This function must not reschedule because it can be called from
|
||
|
|
* ISR context.
|
||
|
|
*
|
||
|
|
* @param[in] trp a pointer to a thread reference object
|
||
|
|
* @param[in] msg the message code
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
|
||
|
|
|
||
|
|
chThdResumeI(trp, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wakes up a thread waiting on a thread reference object.
|
||
|
|
* @note This function must reschedule, it can only be called from thread
|
||
|
|
* context.
|
||
|
|
*
|
||
|
|
* @param[in] trp a pointer to a thread reference object
|
||
|
|
* @param[in] msg the message code
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
|
||
|
|
|
||
|
|
chThdResumeS(trp, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Initializes a threads queue object.
|
||
|
|
*
|
||
|
|
* @param[out] tqp pointer to the threads queue object
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
|
||
|
|
|
||
|
|
chThdQueueObjectInit(tqp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enqueues the caller thread.
|
||
|
|
* @details The caller thread is enqueued and put to sleep until it is
|
||
|
|
* dequeued or the specified timeouts expires.
|
||
|
|
*
|
||
|
|
* @param[in] tqp pointer to the threads queue object
|
||
|
|
* @param[in] time the timeout in system ticks, the special values are
|
||
|
|
* handled as follow:
|
||
|
|
* - @a TIME_INFINITE the thread enters an infinite sleep
|
||
|
|
* state.
|
||
|
|
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
||
|
|
* the function returns @p MSG_TIMEOUT as if a timeout
|
||
|
|
* occurred.
|
||
|
|
* .
|
||
|
|
* @return The message from @p osalQueueWakeupOneI() or
|
||
|
|
* @p osalQueueWakeupAllI() functions.
|
||
|
|
* @retval MSG_TIMEOUT if the thread has not been dequeued within the
|
||
|
|
* specified timeout or if the function has been
|
||
|
|
* invoked with @p TIME_IMMEDIATE as timeout
|
||
|
|
* specification.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
|
||
|
|
systime_t time) {
|
||
|
|
|
||
|
|
return chThdEnqueueTimeoutS(tqp, time);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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 osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
||
|
|
|
||
|
|
chThdDequeueNextI(tqp, 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 osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
|
||
|
|
|
||
|
|
chThdDequeueAllI(tqp, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @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);
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
static inline void osalEventObjectInit(event_source_t *esp) {
|
||
|
|
|
||
|
|
esp->flags = 0;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @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);
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
static inline void osalEventBroadcastFlagsI(event_source_t *esp,
|
||
|
|
eventflags_t flags) {
|
||
|
|
|
||
|
|
esp->flags |= flags;
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @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);
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
static inline void osalEventBroadcastFlags(event_source_t *esp,
|
||
|
|
eventflags_t flags) {
|
||
|
|
osalSysLock();
|
||
|
|
esp->flags |= flags;
|
||
|
|
osalSysUnlock();
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @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
|
||
|
|
chMtxUnlock(mp);
|
||
|
|
#elif CH_CFG_USE_SEMAPHORES
|
||
|
|
chSemSignal((semaphore_t *)mp);
|
||
|
|
#else
|
||
|
|
*mp = 0;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* _OSAL_H_ */
|
||
|
|
|
||
|
|
/** @} */
|