remove rtos; disable systick
parent
c61598fe95
commit
fedc108c8f
@ -0,0 +1,69 @@
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file templates/halconf.h
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* @brief Bare-metal OSAL configuration header.
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*
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* @addtogroup OSAL_CONF
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* @{
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*/
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#ifndef OSALCONF_H
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#define OSALCONF_H
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/**
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* @brief Frequency in Hertz of the system tick.
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*/
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#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
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#define OSAL_ST_FREQUENCY 0
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#endif
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#define OSAL_ST_MODE OSAL_ST_MODE_NONE
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/**
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* @brief Enables OSAL assertions.
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*/
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#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
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#define OSAL_DBG_ENABLE_ASSERTS TRUE
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#endif
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/**
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* @brief Enables OSAL functions parameters checks.
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*/
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#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
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#define OSAL_DBG_ENABLE_CHECKS TRUE
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#endif
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/**
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* @brief OSAL initialization hook.
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*/
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#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
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#define OSAL_INIT_HOOK() { \
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}
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#endif
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/**
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* @brief Idle loop hook macro.
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*/
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#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
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#define OSAL_IDLE_HOOK() { \
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}
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#endif
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#endif /* OSALCONF_H */
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/** @} */
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@ -0,0 +1,467 @@
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file osal.c
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* @brief OSAL module code.
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*
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* @addtogroup OSAL
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* @{
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*/
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#include "osal.h"
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#include "osal_vt.h"
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/*===========================================================================*/
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/* Module local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module exported variables. */
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/*===========================================================================*/
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/**
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* @brief Pointer to a halt error message.
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* @note The message is meant to be retrieved by the debugger after the
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* system halt caused by an unexpected error.
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*/
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const char *osal_halt_msg;
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/*===========================================================================*/
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/* Module local types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module local functions. */
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/*===========================================================================*/
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static void callback_timeout(void *p) {
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osalSysLockFromISR();
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osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
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osalSysUnlockFromISR();
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}
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/*===========================================================================*/
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/* Module exported functions. */
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/*===========================================================================*/
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/**
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* @brief OSAL module initialization.
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*
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* @api
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*/
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void osalInit(void) {
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vtInit();
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OSAL_INIT_HOOK();
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}
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/**
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* @brief System halt with error message.
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*
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* @param[in] reason the halt message pointer
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*
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* @api
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*/
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#if !defined(__DOXYGEN__)
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__attribute__((weak, noreturn))
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#endif
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void osalSysHalt(const char *reason) {
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osalSysDisable();
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osal_halt_msg = reason;
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while (true) {
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}
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}
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/**
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* @brief Polled delay.
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* @note The real delay is always few cycles in excess of the specified
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* value.
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*
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* @param[in] cycles number of cycles
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*
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* @xclass
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*/
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void osalSysPolledDelayX(rtcnt_t cycles) {
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(void)cycles;
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}
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/**
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* @brief System timer handler.
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* @details The handler is used for scheduling and Virtual Timers management.
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*
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* @iclass
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*/
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void osalOsTimerHandlerI(void) {
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osalDbgCheckClassI();
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vtDoTickI();
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}
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/**
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* @brief Checks if a reschedule is required and performs it.
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* @note I-Class functions invoked from thread context must not reschedule
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* by themselves, an explicit reschedule using this function is
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* required in this scenario.
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* @note Not implemented in this simplified OSAL.
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*
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* @sclass
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*/
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void osalOsRescheduleS(void) {
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}
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/**
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* @brief Current system time.
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* @details Returns the number of system ticks since the @p osalInit()
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* invocation.
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* @note The counter can reach its maximum and then restart from zero.
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* @note This function can be called from any context but its atomicity
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* is not guaranteed on architectures whose word size is less than
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* @p systime_t size.
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*
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* @return The system time in ticks.
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*
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* @xclass
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*/
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systime_t osalOsGetSystemTimeX(void) {
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return vtlist.vt_systime;
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE is allowed but interpreted as a
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* normal time specification.
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* - @a TIME_IMMEDIATE this value is not allowed.
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* .
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*
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* @sclass
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*/
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void osalThreadSleepS(sysinterval_t time) {
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virtual_timer_t vt;
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thread_reference_t tr;
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tr = NULL;
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vtSetI(&vt, time, callback_timeout, (void *)&tr);
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osalThreadSuspendS(&tr);
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}
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/**
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* @brief Suspends the invoking thread for the specified time.
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*
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* @param[in] time the delay in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE is allowed but interpreted as a
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* normal time specification.
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* - @a TIME_IMMEDIATE this value is not allowed.
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* .
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*
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* @api
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*/
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void osalThreadSleep(sysinterval_t time) {
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osalSysLock();
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osalThreadSleepS(time);
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osalSysUnlock();
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}
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/**
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* @brief Sends the current thread sleeping and sets a reference variable.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @return The wake up message.
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*
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* @sclass
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*/
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msg_t osalThreadSuspendS(thread_reference_t *trp) {
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thread_t self = {MSG_WAIT};
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osalDbgCheck(trp != NULL);
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*trp = &self;
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while (self.message == MSG_WAIT) {
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osalSysUnlock();
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/* A state-changing interrupt could occur here and cause the loop to
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terminate, an hook macro is executed while waiting.*/
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OSAL_IDLE_HOOK();
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osalSysLock();
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}
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return self.message;
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}
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/**
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* @brief Sends the current thread sleeping and sets a reference variable.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] timeout the timeout in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE the thread is not enqueued and
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* the function returns @p MSG_TIMEOUT as if a timeout
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* occurred.
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* .
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* @return The wake up message.
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* @retval MSG_TIMEOUT if the operation timed out.
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*
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* @sclass
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*/
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msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
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msg_t msg;
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virtual_timer_t vt;
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osalDbgCheck(trp != NULL);
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if (TIME_INFINITE == timeout)
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return osalThreadSuspendS(trp);
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vtSetI(&vt, timeout, callback_timeout, (void *)trp);
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msg = osalThreadSuspendS(trp);
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if (vtIsArmedI(&vt))
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vtResetI(&vt);
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return msg;
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must not reschedule because it can be called from
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* ISR context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
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osalDbgCheck(trp != NULL);
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if (*trp != NULL) {
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(*trp)->message = msg;
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*trp = NULL;
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}
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}
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/**
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* @brief Wakes up a thread waiting on a thread reference object.
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* @note This function must reschedule, it can only be called from thread
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* context.
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*
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* @param[in] trp a pointer to a thread reference object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
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osalDbgCheck(trp != NULL);
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if (*trp != NULL) {
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(*trp)->message = msg;
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*trp = NULL;
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}
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}
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/**
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* @brief Enqueues the caller thread.
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* @details The caller thread is enqueued and put to sleep until it is
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* dequeued or the specified timeouts expires.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] timeout the timeout in system ticks, the special values are
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* handled as follow:
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* - @a TIME_INFINITE the thread enters an infinite sleep
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* state.
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* - @a TIME_IMMEDIATE the thread is not enqueued and
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* the function returns @p MSG_TIMEOUT as if a timeout
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* occurred.
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* .
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* @return The message from @p osalQueueWakeupOneI() or
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* @p osalQueueWakeupAllI() functions.
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* @retval MSG_TIMEOUT if the thread has not been dequeued within the
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* specified timeout or if the function has been
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* invoked with @p TIME_IMMEDIATE as timeout
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* specification.
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*
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* @sclass
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*/
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msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
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msg_t msg;
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virtual_timer_t vt;
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osalDbgCheck(tqp != NULL);
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if (TIME_IMMEDIATE == timeout)
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return MSG_TIMEOUT;
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tqp->tr = NULL;
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if (TIME_INFINITE == timeout)
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return osalThreadSuspendS(&tqp->tr);
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vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr);
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msg = osalThreadSuspendS(&tqp->tr);
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if (vtIsArmedI(&vt))
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vtResetI(&vt);
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return msg;
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}
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/**
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* @brief Dequeues and wakes up one thread from the queue, if any.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
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osalDbgCheck(tqp != NULL);
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osalThreadResumeI(&tqp->tr, msg);
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}
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/**
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* @brief Dequeues and wakes up all threads from the queue.
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*
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* @param[in] tqp pointer to the threads queue object
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* @param[in] msg the message code
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*
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* @iclass
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*/
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void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
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osalDbgCheck(tqp != NULL);
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osalThreadResumeI(&tqp->tr, msg);
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}
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/**
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* @brief Add flags to an event source object.
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*
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* @param[in] esp pointer to the event flags object
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* @param[in] flags flags to be ORed to the flags mask
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*
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* @iclass
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*/
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void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
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osalDbgCheck(esp != NULL);
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esp->flags |= flags;
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if (esp->cb != NULL) {
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esp->cb(esp);
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}
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}
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/**
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* @brief Add flags to an event source object.
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*
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* @param[in] esp pointer to the event flags object
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* @param[in] flags flags to be ORed to the flags mask
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*
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* @iclass
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*/
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void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) {
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osalDbgCheck(esp != NULL);
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osalSysLock();
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osalEventBroadcastFlagsI(esp, flags);
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osalSysUnlock();
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}
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/**
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* @brief Event callback setup.
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* @note The callback is invoked from ISR context and can
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* only invoke I-Class functions. The callback is meant
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* to wakeup the task that will handle the event by
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* calling @p osalEventGetAndClearFlagsI().
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* @note This function is not part of the OSAL API and is provided
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* exclusively as an example and for convenience.
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*
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* @param[in] esp pointer to the event flags object
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* @param[in] cb pointer to the callback function
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* @param[in] param parameter to be passed to the callback function
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*
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* @api
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*/
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void osalEventSetCallback(event_source_t *esp,
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eventcallback_t cb,
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void *param) {
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osalDbgCheck(esp != NULL);
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esp->cb = cb;
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esp->param = param;
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}
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|
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/**
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* @brief Locks the specified mutex.
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* @post The mutex is locked and inserted in the per-thread stack of owned
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* mutexes.
|
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*
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* @param[in,out] mp pointer to the @p mutex_t object
|
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*
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* @api
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*/
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void osalMutexLock(mutex_t *mp) {
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osalDbgCheck(mp != NULL);
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*mp = 1;
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}
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|
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/**
|
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* @brief Unlocks the specified mutex.
|
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* @note The HAL guarantees to release mutex in reverse lock order. The
|
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* mutex being unlocked is guaranteed to be the last locked mutex
|
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* by the invoking thread.
|
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* 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.
|
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*
|
||||
* @param[in,out] mp pointer to the @p mutex_t object
|
||||
*
|
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* @api
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*/
|
||||
void osalMutexUnlock(mutex_t *mp) {
|
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|
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osalDbgCheck(mp != NULL);
|
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*mp = 0;
|
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}
|
||||
|
||||
/** @} */
|
||||
@ -0,0 +1,754 @@
|
||||
/*
|
||||
ChibiOS - Copyright (C) 2006..2018 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 "cmparams.h"
|
||||
|
||||
#include "osalconf.h"
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module constants. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @name Common constants
|
||||
* @{
|
||||
*/
|
||||
#if !defined(FALSE) || defined(__DOXYGEN__)
|
||||
#define FALSE 0
|
||||
#endif
|
||||
|
||||
#if !defined(TRUE) || defined(__DOXYGEN__)
|
||||
#define TRUE 1
|
||||
#endif
|
||||
|
||||
#define OSAL_SUCCESS false
|
||||
#define OSAL_FAILED true
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name Messages
|
||||
* @{
|
||||
*/
|
||||
#define MSG_OK (msg_t)0
|
||||
#define MSG_RESET (msg_t)-1
|
||||
#define MSG_TIMEOUT (msg_t)-2
|
||||
#define MSG_WAIT (msg_t)-10
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name Special time constants
|
||||
* @{
|
||||
*/
|
||||
#define TIME_IMMEDIATE ((sysinterval_t)0)
|
||||
#define TIME_INFINITE ((sysinterval_t)-1)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @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 32
|
||||
|
||||
/**
|
||||
* @brief Systick mode required by the underlying OS.
|
||||
*/
|
||||
#define OSAL_ST_MODE OSAL_ST_MODE_NONE
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name IRQ-related constants
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
* @brief Total priority levels.
|
||||
*/
|
||||
#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS)
|
||||
|
||||
/**
|
||||
* @brief Highest IRQ priority for HAL drivers.
|
||||
*/
|
||||
#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__)
|
||||
#define OSAL_IRQ_MAXIMUM_PRIORITY 0
|
||||
#else
|
||||
#define OSAL_IRQ_MAXIMUM_PRIORITY 1
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Converts from numeric priority to BASEPRI register value.
|
||||
*/
|
||||
#define OSAL_BASEPRI(priority) ((priority) << (8U - CORTEX_PRIORITY_BITS))
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module pre-compile time settings. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Frequency in Hertz of the system tick.
|
||||
*/
|
||||
#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
|
||||
#define OSAL_ST_FREQUENCY 1000
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables OSAL assertions.
|
||||
*/
|
||||
#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
|
||||
#define OSAL_DBG_ENABLE_ASSERTS FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Enables OSAL functions parameters checks.
|
||||
*/
|
||||
#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
|
||||
#define OSAL_DBG_ENABLE_CHECKS FALSE
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief OSAL initialization hook.
|
||||
*/
|
||||
#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
|
||||
#define OSAL_INIT_HOOK()
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Idle loop hook macro.
|
||||
*/
|
||||
#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
|
||||
#define OSAL_IDLE_HOOK()
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Derived constants and error checks. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module data structures and types. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Type of a system status word.
|
||||
*/
|
||||
typedef uint32_t syssts_t;
|
||||
|
||||
/**
|
||||
* @brief Type of a message.
|
||||
*/
|
||||
typedef int32_t msg_t;
|
||||
|
||||
/**
|
||||
* @brief Type of system time counter.
|
||||
*/
|
||||
typedef uint32_t systime_t;
|
||||
|
||||
/**
|
||||
* @brief Type of system time interval.
|
||||
*/
|
||||
typedef uint32_t sysinterval_t;
|
||||
|
||||
/**
|
||||
* @brief Type of realtime counter.
|
||||
*/
|
||||
typedef uint32_t rtcnt_t;
|
||||
|
||||
/**
|
||||
* @brief Type of a thread.
|
||||
* @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.
|
||||
*/
|
||||
typedef struct {
|
||||
volatile msg_t message;
|
||||
} thread_t;
|
||||
|
||||
/**
|
||||
* @brief Type of a thread reference.
|
||||
*/
|
||||
typedef thread_t * thread_reference_t;
|
||||
|
||||
/**
|
||||
* @brief Type of an event flags mask.
|
||||
*/
|
||||
typedef uint32_t eventflags_t;
|
||||
|
||||
/**
|
||||
* @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 event_source event_source_t;
|
||||
|
||||
/**
|
||||
* @brief Type of an event source callback.
|
||||
* @note This type is not part of the OSAL API and is provided
|
||||
* exclusively as an example and for convenience.
|
||||
*/
|
||||
typedef void (*eventcallback_t)(event_source_t *esp);
|
||||
|
||||
/**
|
||||
* @brief Events source 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.
|
||||
*/
|
||||
struct event_source {
|
||||
volatile eventflags_t flags; /**< @brief Stored event flags. */
|
||||
eventcallback_t cb; /**< @brief Event source callback. */
|
||||
void *param; /**< @brief User defined field. */
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Type of a mutex.
|
||||
* @note If the OS does not support mutexes or there is no OS then them
|
||||
* mechanism can be simulated.
|
||||
*/
|
||||
typedef uint32_t mutex_t;
|
||||
|
||||
/**
|
||||
* @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 If the OSAL is implemented on a bare metal machine without RTOS
|
||||
* then the queue can be implemented as a single thread reference.
|
||||
*/
|
||||
typedef struct {
|
||||
thread_reference_t tr;
|
||||
} threads_queue_t;
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module macros. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @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) do { \
|
||||
/*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \
|
||||
if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \
|
||||
if (!(c)) { \
|
||||
/*lint -restore*/ \
|
||||
osalSysHalt(__func__); \
|
||||
} \
|
||||
} \
|
||||
} while (false)
|
||||
|
||||
/**
|
||||
* @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) do { \
|
||||
/*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \
|
||||
if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \
|
||||
if (!(c)) { \
|
||||
/*lint -restore*/ \
|
||||
osalSysHalt(__func__); \
|
||||
} \
|
||||
} \
|
||||
} while (false)
|
||||
|
||||
/**
|
||||
* @brief I-Class state check.
|
||||
* @note Implementation is optional.
|
||||
*/
|
||||
#define osalDbgCheckClassI()
|
||||
|
||||
/**
|
||||
* @brief S-Class state check.
|
||||
* @note Implementation is optional.
|
||||
*/
|
||||
#define osalDbgCheckClassS()
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @name IRQ service routines wrappers
|
||||
* @{
|
||||
*/
|
||||
/**
|
||||
* @brief Priority level verification macro.
|
||||
*/
|
||||
#define OSAL_IRQ_IS_VALID_PRIORITY(n) \
|
||||
(((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS))
|
||||
|
||||
/**
|
||||
* @brief IRQ prologue code.
|
||||
* @details This macro must be inserted at the start of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_IRQ_PROLOGUE()
|
||||
|
||||
/**
|
||||
* @brief IRQ epilogue code.
|
||||
* @details This macro must be inserted at the end of all IRQ handlers.
|
||||
*/
|
||||
#define OSAL_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) void id(void)
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @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] secs number of seconds
|
||||
* @return The number of ticks.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define OSAL_S2I(secs) \
|
||||
((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY))
|
||||
|
||||
/**
|
||||
* @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] msecs number of milliseconds
|
||||
* @return The number of ticks.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define OSAL_MS2I(msecs) \
|
||||
((sysinterval_t)((((((uint32_t)(msecs)) * \
|
||||
((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL))
|
||||
|
||||
/**
|
||||
* @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] usecs number of microseconds
|
||||
* @return The number of ticks.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define OSAL_US2I(usecs) \
|
||||
((sysinterval_t)((((((uint32_t)(usecs)) * \
|
||||
((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL))
|
||||
/** @} */
|
||||
|
||||
/**
|
||||
* @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) ((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) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (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) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (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] secs time in seconds, must be different from zero
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
|
||||
|
||||
/**
|
||||
* @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] msecs time in milliseconds, must be different from zero
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
|
||||
|
||||
/**
|
||||
* @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] usecs time in microseconds, must be different from zero
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
|
||||
/** @} */
|
||||
|
||||
/*===========================================================================*/
|
||||
/* External declarations. */
|
||||
/*===========================================================================*/
|
||||
|
||||
extern const char *osal_halt_msg;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
void osalInit(void);
|
||||
void osalSysHalt(const char *reason);
|
||||
void osalSysPolledDelayX(rtcnt_t cycles);
|
||||
void osalOsTimerHandlerI(void);
|
||||
void osalOsRescheduleS(void);
|
||||
systime_t osalOsGetSystemTimeX(void);
|
||||
void osalThreadSleepS(sysinterval_t time);
|
||||
void osalThreadSleep(sysinterval_t time);
|
||||
msg_t osalThreadSuspendS(thread_reference_t *trp);
|
||||
msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
|
||||
void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
|
||||
void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
|
||||
msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
|
||||
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
|
||||
void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
|
||||
void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
|
||||
void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
|
||||
void osalEventSetCallback(event_source_t *esp,
|
||||
eventcallback_t cb,
|
||||
void *param);
|
||||
void osalMutexLock(mutex_t *mp);
|
||||
void osalMutexUnlock(mutex_t *mp);
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Module inline functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Disables interrupts globally.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysDisable(void) {
|
||||
|
||||
__disable_irq();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enables interrupts globally.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysEnable(void) {
|
||||
|
||||
__enable_irq();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLock(void) {
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
__disable_irq();
|
||||
#else
|
||||
__set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from thread context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlock(void) {
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
__enable_irq();
|
||||
#else
|
||||
__set_BASEPRI(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Enters a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysLockFromISR(void) {
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
__disable_irq();
|
||||
#else
|
||||
__set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Leaves a critical zone from ISR context.
|
||||
* @note This function cannot be used for reentrant critical zones.
|
||||
*
|
||||
* @special
|
||||
*/
|
||||
static inline void osalSysUnlockFromISR(void) {
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
__enable_irq();
|
||||
#else
|
||||
__set_BASEPRI(0);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
syssts_t sts;
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
sts = (syssts_t)__get_PRIMASK();
|
||||
__disable_irq();
|
||||
#else
|
||||
sts = (syssts_t)__get_BASEPRI();
|
||||
__set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
|
||||
#endif
|
||||
return sts;
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
|
||||
#if CORTEX_MODEL == 0
|
||||
if ((sts & (syssts_t)1) == (syssts_t)0) {
|
||||
__enable_irq();
|
||||
}
|
||||
#else
|
||||
__set_BASEPRI(sts);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Adds an interval to a system time returning a system time.
|
||||
*
|
||||
* @param[in] systime base system time
|
||||
* @param[in] interval interval to be added
|
||||
* @return The new system time.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline systime_t osalTimeAddX(systime_t systime,
|
||||
sysinterval_t interval) {
|
||||
|
||||
return systime + (systime_t)interval;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Subtracts two system times returning an interval.
|
||||
*
|
||||
* @param[in] start first system time
|
||||
* @param[in] end second system time
|
||||
* @return The interval representing the time difference.
|
||||
*
|
||||
* @xclass
|
||||
*/
|
||||
static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
|
||||
|
||||
return (sysinterval_t)((systime_t)(end - start));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Checks if the specified time is within the specified time window.
|
||||
* @note When start==end then the function returns always false because the
|
||||
* time window has zero size.
|
||||
* @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 osalTimeIsInRangeX(systime_t time,
|
||||
systime_t start,
|
||||
systime_t end) {
|
||||
|
||||
return (bool)((systime_t)((systime_t)time - (systime_t)start) <
|
||||
(systime_t)((systime_t)end - (systime_t)start));
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes a threads queue object.
|
||||
*
|
||||
* @param[out] tqp pointer to the threads queue object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
|
||||
|
||||
osalDbgCheck(tqp != NULL);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Initializes an event source object.
|
||||
*
|
||||
* @param[out] esp pointer to the event source object
|
||||
*
|
||||
* @init
|
||||
*/
|
||||
static inline void osalEventObjectInit(event_source_t *esp) {
|
||||
|
||||
osalDbgCheck(esp != NULL);
|
||||
|
||||
esp->flags = (eventflags_t)0;
|
||||
esp->cb = NULL;
|
||||
esp->param = NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
* @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) {
|
||||
|
||||
osalDbgCheck(mp != NULL);
|
||||
|
||||
*mp = 0;
|
||||
}
|
||||
|
||||
#endif /* OSAL_H */
|
||||
|
||||
/** @} */
|
||||
Loading…
Reference in New Issue