491 lines
16 KiB
C
491 lines
16 KiB
C
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/*
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ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS 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
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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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 chsys.h
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* @brief System related macros and structures.
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*
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* @addtogroup system
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* @{
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*/
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#ifndef CHSYS_H
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#define CHSYS_H
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/*lint -sem(chSysHalt, r_no)*/
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Masks of executable integrity checks.
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* @{
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*/
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#define CH_INTEGRITY_RLIST 1U
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#define CH_INTEGRITY_VTLIST 2U
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#define CH_INTEGRITY_REGISTRY 4U
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#define CH_INTEGRITY_PORT 8U
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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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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !defined(CH_CFG_IRQ_PROLOGUE_HOOK)
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#error "CH_CFG_IRQ_PROLOGUE_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_IRQ_EPILOGUE_HOOK)
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#error "CH_CFG_IRQ_EPILOGUE_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_CONTEXT_SWITCH_HOOK)
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#error "CH_CFG_CONTEXT_SWITCH_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_SYSTEM_TICK_HOOK)
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#error "CH_CFG_SYSTEM_TICK_HOOK not defined in chconf.h"
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#endif
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#if !defined(CH_CFG_SYSTEM_HALT_HOOK)
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#error "CH_CFG_SYSTEM_HALT_HOOK not defined in chconf.h"
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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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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name ISRs abstraction macros
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*/
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/**
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* @brief Priority level validation macro.
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* @details This macro determines if the passed value is a valid priority
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* level for the underlying architecture.
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*
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* @param[in] prio the priority level
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* @return Priority range result.
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* @retval false if the priority is invalid or if the architecture
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* does not support priorities.
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* @retval true if the priority is valid.
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*/
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#if defined(PORT_IRQ_IS_VALID_PRIORITY) || defined(__DOXYGEN__)
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#define CH_IRQ_IS_VALID_PRIORITY(prio) \
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PORT_IRQ_IS_VALID_PRIORITY(prio)
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#else
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#define CH_IRQ_IS_VALID_PRIORITY(prio) false
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#endif
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/**
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* @brief Priority level validation macro.
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* @details This macro determines if the passed value is a valid priority
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* level that cannot preempt the kernel critical zone.
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*
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* @param[in] prio the priority level
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* @return Priority range result.
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* @retval false if the priority is invalid or if the architecture
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* does not support priorities.
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* @retval true if the priority is valid.
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*/
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#if defined(PORT_IRQ_IS_VALID_KERNEL_PRIORITY) || defined(__DOXYGEN__)
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#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) \
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PORT_IRQ_IS_VALID_KERNEL_PRIORITY(prio)
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#else
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#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) false
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#endif
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/**
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* @brief IRQ handler enter code.
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* @note Usually IRQ handlers functions are also declared naked.
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* @note On some architectures this macro can be empty.
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*
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* @special
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*/
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#define CH_IRQ_PROLOGUE() \
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PORT_IRQ_PROLOGUE(); \
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CH_CFG_IRQ_PROLOGUE_HOOK(); \
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_stats_increase_irq(); \
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_trace_isr_enter(__func__); \
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_dbg_check_enter_isr()
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/**
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* @brief IRQ handler exit code.
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* @note Usually IRQ handlers function are also declared naked.
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* @note This macro usually performs the final reschedule by using
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* @p chSchIsPreemptionRequired() and @p chSchDoReschedule().
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*
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* @special
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*/
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#define CH_IRQ_EPILOGUE() \
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_dbg_check_leave_isr(); \
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_trace_isr_leave(__func__); \
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CH_CFG_IRQ_EPILOGUE_HOOK(); \
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PORT_IRQ_EPILOGUE()
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/**
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* @brief Standard normal IRQ handler declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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*
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* @special
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*/
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#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
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/** @} */
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/**
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* @name Fast ISRs abstraction macros
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*/
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/**
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* @brief Standard fast IRQ handler declaration.
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* @note @p id can be a function name or a vector number depending on the
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* port implementation.
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* @note Not all architectures support fast interrupts.
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*
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* @special
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*/
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#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
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/** @} */
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/**
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* @name Time conversion utilities for the realtime counter
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* @{
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*/
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/**
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* @brief Seconds to realtime counter.
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* @details Converts from seconds to realtime counter cycles.
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* @note The macro assumes that @p freq >= @p 1.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] sec number of seconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define S2RTC(freq, sec) ((freq) * (sec))
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/**
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* @brief Milliseconds to realtime counter.
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* @details Converts from milliseconds to realtime counter cycles.
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* @note The result is rounded upward to the next millisecond boundary.
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* @note The macro assumes that @p freq >= @p 1000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] msec number of milliseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
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/**
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* @brief Microseconds to realtime counter.
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* @details Converts from microseconds to realtime counter cycles.
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* @note The result is rounded upward to the next microsecond boundary.
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* @note The macro assumes that @p freq >= @p 1000000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] usec number of microseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
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/**
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* @brief Realtime counter cycles to seconds.
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* @details Converts from realtime counter cycles number to seconds.
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* @note The result is rounded up to the next second boundary.
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* @note The macro assumes that @p freq >= @p 1.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] n number of cycles
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* @return The number of seconds.
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*
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* @api
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*/
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#define RTC2S(freq, n) ((((n) - 1UL) / (freq)) + 1UL)
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/**
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* @brief Realtime counter cycles to milliseconds.
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* @details Converts from realtime counter cycles number to milliseconds.
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* @note The result is rounded up to the next millisecond boundary.
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* @note The macro assumes that @p freq >= @p 1000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] n number of cycles
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* @return The number of milliseconds.
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*
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* @api
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*/
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#define RTC2MS(freq, n) ((((n) - 1UL) / ((freq) / 1000UL)) + 1UL)
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/**
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* @brief Realtime counter cycles to microseconds.
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* @details Converts from realtime counter cycles number to microseconds.
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* @note The result is rounded up to the next microsecond boundary.
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* @note The macro assumes that @p freq >= @p 1000000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] n number of cycles
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* @return The number of microseconds.
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*
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* @api
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*/
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#define RTC2US(freq, n) ((((n) - 1UL) / ((freq) / 1000000UL)) + 1UL)
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/** @} */
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/**
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* @brief Returns the current value of the system real time counter.
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* @note This function is only available if the port layer supports the
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* option @p PORT_SUPPORTS_RT.
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*
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* @return The value of the system realtime counter of
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* type rtcnt_t.
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*
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* @xclass
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*/
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#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
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#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
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#endif
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/**
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* @brief Performs a context switch.
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* @note Not a user function, it is meant to be invoked by the scheduler
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* itself or from within the port layer.
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*
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* @param[in] ntp the thread to be switched in
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* @param[in] otp the thread to be switched out
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*
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* @special
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*/
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#define chSysSwitch(ntp, otp) { \
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\
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_trace_switch(ntp, otp); \
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_stats_ctxswc(ntp, otp); \
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CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); \
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port_switch(ntp, otp); \
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}
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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#if !defined(__DOXYGEN__)
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extern stkalign_t ch_idle_thread_wa[];
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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void chSysInit(void);
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void chSysHalt(const char *reason);
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bool chSysIntegrityCheckI(unsigned testmask);
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void chSysTimerHandlerI(void);
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syssts_t chSysGetStatusAndLockX(void);
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void chSysRestoreStatusX(syssts_t sts);
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#if PORT_SUPPORTS_RT == TRUE
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bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);
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void chSysPolledDelayX(rtcnt_t cycles);
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#endif
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Raises the system interrupt priority mask to the maximum level.
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* @details All the maskable interrupt sources are disabled regardless their
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* hardware priority.
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* @note Do not invoke this API from within a kernel lock.
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*
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* @special
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*/
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static inline void chSysDisable(void) {
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port_disable();
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_dbg_check_disable();
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}
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/**
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* @brief Raises the system interrupt priority mask to system level.
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* @details The interrupt sources that should not be able to preempt the kernel
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* are disabled, interrupt sources with higher priority are still
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* enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysLock(), the @p chSysLock()
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* could do more than just disable the interrupts.
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*
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* @special
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*/
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static inline void chSysSuspend(void) {
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port_suspend();
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_dbg_check_suspend();
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}
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/**
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* @brief Lowers the system interrupt priority mask to user level.
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* @details All the interrupt sources are enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysUnlock(), the
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* @p chSysUnlock() could do more than just enable the interrupts.
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*
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* @special
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*/
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static inline void chSysEnable(void) {
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_dbg_check_enable();
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port_enable();
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}
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/**
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* @brief Enters the kernel lock state.
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*
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* @special
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*/
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static inline void chSysLock(void) {
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port_lock();
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_stats_start_measure_crit_thd();
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_dbg_check_lock();
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}
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/**
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* @brief Leaves the kernel lock state.
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*
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* @special
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|
|
*/
|
||
|
|
static inline void chSysUnlock(void) {
|
||
|
|
|
||
|
|
_dbg_check_unlock();
|
||
|
|
_stats_stop_measure_crit_thd();
|
||
|
|
|
||
|
|
/* The following condition can be triggered by the use of i-class functions
|
||
|
|
in a critical section not followed by a chSchResceduleS(), this means
|
||
|
|
that the current thread has a lower priority than the next thread in
|
||
|
|
the ready list.*/
|
||
|
|
chDbgAssert((ch.rlist.queue.next == (thread_t *)&ch.rlist.queue) ||
|
||
|
|
(ch.rlist.current->prio >= ch.rlist.queue.next->prio),
|
||
|
|
"priority order violation");
|
||
|
|
|
||
|
|
port_unlock();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enters the kernel lock state from within an interrupt handler.
|
||
|
|
* @note This API may do nothing on some architectures, it is required
|
||
|
|
* because on ports that support preemptable interrupt handlers
|
||
|
|
* it is required to raise the interrupt mask to the same level of
|
||
|
|
* the system mutual exclusion zone.<br>
|
||
|
|
* It is good practice to invoke this API before invoking any I-class
|
||
|
|
* syscall from an interrupt handler.
|
||
|
|
* @note This API must be invoked exclusively from interrupt handlers.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void chSysLockFromISR(void) {
|
||
|
|
|
||
|
|
port_lock_from_isr();
|
||
|
|
_stats_start_measure_crit_isr();
|
||
|
|
_dbg_check_lock_from_isr();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Leaves the kernel lock state from within an interrupt handler.
|
||
|
|
*
|
||
|
|
* @note This API may do nothing on some architectures, it is required
|
||
|
|
* because on ports that support preemptable interrupt handlers
|
||
|
|
* it is required to raise the interrupt mask to the same level of
|
||
|
|
* the system mutual exclusion zone.<br>
|
||
|
|
* It is good practice to invoke this API after invoking any I-class
|
||
|
|
* syscall from an interrupt handler.
|
||
|
|
* @note This API must be invoked exclusively from interrupt handlers.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void chSysUnlockFromISR(void) {
|
||
|
|
|
||
|
|
_dbg_check_unlock_from_isr();
|
||
|
|
_stats_stop_measure_crit_isr();
|
||
|
|
port_unlock_from_isr();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unconditionally enters the kernel lock state.
|
||
|
|
* @note Can be called without previous knowledge of the current lock state.
|
||
|
|
* The final state is "s-locked".
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void chSysUnconditionalLock(void) {
|
||
|
|
|
||
|
|
if (port_irq_enabled(port_get_irq_status())) {
|
||
|
|
chSysLock();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unconditionally leaves the kernel lock state.
|
||
|
|
* @note Can be called without previous knowledge of the current lock state.
|
||
|
|
* The final state is "normal".
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static inline void chSysUnconditionalUnlock(void) {
|
||
|
|
|
||
|
|
if (!port_irq_enabled(port_get_irq_status())) {
|
||
|
|
chSysUnlock();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Returns a pointer to the idle thread.
|
||
|
|
* @pre In order to use this function the option @p CH_CFG_NO_IDLE_THREAD
|
||
|
|
* must be disabled.
|
||
|
|
* @note The reference counter of the idle thread is not incremented but
|
||
|
|
* it is not strictly required being the idle thread a static
|
||
|
|
* object.
|
||
|
|
*
|
||
|
|
* @return Pointer to the idle thread.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static inline thread_t *chSysGetIdleThreadX(void) {
|
||
|
|
|
||
|
|
return ch.rlist.queue.prev;
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
|
||
|
|
|
||
|
|
#endif /* CHSYS_H */
|
||
|
|
|
||
|
|
/** @} */
|