diff --git a/Makefile b/Makefile index cf0172d..050356d 100644 --- a/Makefile +++ b/Makefile @@ -55,13 +55,13 @@ endif # Stack size to be allocated to the Cortex-M process stack. This stack is # the stack used by the main() thread. ifeq ($(USE_PROCESS_STACKSIZE),) - USE_PROCESS_STACKSIZE = 0x80 + USE_PROCESS_STACKSIZE = 0 endif # Stack size to the allocated to the Cortex-M main/exceptions stack. This # stack is used for processing interrupts and exceptions. ifeq ($(USE_EXCEPTIONS_STACKSIZE),) - USE_EXCEPTIONS_STACKSIZE = 0x100 + USE_EXCEPTIONS_STACKSIZE = 0x180 endif # Enables the use of FPU (no, softfp, hard). @@ -102,12 +102,13 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32l0xx.m include $(CHIBIOS)/os/hal/hal.mk include $(CHIBIOS)/os/hal/ports/STM32/STM32L0xx/platform.mk include $(CHIBIOS)/os/hal/boards/ST_NUCLEO32_L011K4/board.mk -include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk +#include $(CHIBIOS)/os/hal/osal/os-less/ARMCMx/osal.mk +#include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk # RTOS files (optional). -include $(CHIBIOS)/os/nil/nil.mk -include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk +#include $(CHIBIOS)/os/nil/nil.mk +#include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v6m.mk # Auto-build files in ./source recursively. -include $(CHIBIOS)/tools/mk/autobuild.mk +#include $(CHIBIOS)/tools/mk/autobuild.mk # Other files (optional). #include $(CHIBIOS)/test/lib/test.mk #include $(CHIBIOS)/test/nil/nil_test.mk @@ -121,11 +122,13 @@ LDSCRIPT= ./STM32L011x4.ld # setting. CSRC = $(ALLCSRC) \ $(TESTSRC) \ - dogs.c \ + $(CHIBIOS)/os/hal/osal/lib/osal_vt.c \ + 2048.c \ buttons.c \ + dogs.c \ flapbird.c \ - 2048.c \ - main.c + main.c \ + osal.c # C++ sources that can be compiled in ARM or THUMB mode depending on the global # setting. @@ -155,13 +158,13 @@ CPPWARN = -Wall -Wextra -Wundef # # List all user C define here, like -D_DEBUG=1 -UDEFS = +UDEFS = -DNOINLINE="" -DchDbgCheck=osalDbgCheck # Define ASM defines here -UADEFS = +UADEFS = -DCRT0_CONTROL_INIT=0 # List all user directories here -UINCDIR = +UINCDIR = $(CHIBIOS)/os/hal/osal/lib # List the user directory to look for the libraries here ULIBDIR = diff --git a/buttons.c b/buttons.c index 5605e69..45ea7bd 100644 --- a/buttons.c +++ b/buttons.c @@ -10,7 +10,6 @@ */ #include "buttons.h" -#include "ch.h" #include "hal.h" unsigned char button_state = 0; diff --git a/cfg/chconf.h b/cfg/chconf.h index 25d444a..f935558 100644 --- a/cfg/chconf.h +++ b/cfg/chconf.h @@ -55,7 +55,7 @@ * @brief Auto starts threads when @p chSysInit() is invoked. */ #if !defined(CH_CFG_AUTOSTART_THREADS) -#define CH_CFG_AUTOSTART_THREADS TRUE +#define CH_CFG_AUTOSTART_THREADS FALSE #endif /** @} */ diff --git a/cfg/halconf.h b/cfg/halconf.h index 6688b95..e3a57ae 100644 --- a/cfg/halconf.h +++ b/cfg/halconf.h @@ -447,7 +447,7 @@ * @note Disabling this option saves both code and data space. */ #if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__) -#define SPI_USE_WAIT FALSE +#define SPI_USE_WAIT TRUE #endif /** diff --git a/cfg/osalconf.h b/cfg/osalconf.h new file mode 100644 index 0000000..0d772ed --- /dev/null +++ b/cfg/osalconf.h @@ -0,0 +1,69 @@ +/* + 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 templates/halconf.h + * @brief Bare-metal OSAL configuration header. + * + * @addtogroup OSAL_CONF + * @{ + */ + +#ifndef OSALCONF_H +#define OSALCONF_H + +/** + * @brief Frequency in Hertz of the system tick. + */ +#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__) +#define OSAL_ST_FREQUENCY 0 +#endif + +#define OSAL_ST_MODE OSAL_ST_MODE_NONE + +/** + * @brief Enables OSAL assertions. + */ +#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_ASSERTS TRUE +#endif + +/** + * @brief Enables OSAL functions parameters checks. + */ +#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_CHECKS TRUE +#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 + +#endif /* OSALCONF_H */ + +/** @} */ diff --git a/dogs.c b/dogs.c index 7d32698..101339f 100644 --- a/dogs.c +++ b/dogs.c @@ -9,7 +9,7 @@ * See the GNU General Public License for more details. */ -#include "ch.h" +//#include "ch.h" #include "dogs.h" #include "hal.h" @@ -19,25 +19,26 @@ #define CS_LOW palClearPad(GPIOA, 4) unsigned char dogs_buffer[DISP_WIDTH * DISP_HEIGHT / 8]; -static volatile bool dogs_spi_done = false; +//static volatile bool dogs_spi_done = false; -static void spi_send(unsigned char *data, unsigned int len) -{ - dogs_spi_done = false; - spiStartSend(&SPID1, len, data); - while (!dogs_spi_done) - asm("wfi"); +#define spi_send(data, len) spiSend(&SPID1, len, data) +//static void spi_send(unsigned char *data, unsigned int len) +//{ + //dogs_spi_done = false; + //spiStartSend(&SPID1, len, data); + //while (!dogs_spi_done) + // asm("wfi"); //for (; len > 0; --len) // spiPolledExchange(&SPID1, *data++); -} +//} static void dogs_init_display(); -static void dogs_spi_callback(SPIDriver *spid) -{ - if (spiIsBufferComplete(spid)) - dogs_spi_done = true; -} +//static void dogs_spi_callback(SPIDriver *spid) +//{ +// if (spiIsBufferComplete(spid)) +// dogs_spi_done = true; +//} void dogs_init() { @@ -54,7 +55,7 @@ void dogs_init() static const SPIConfig spicfg = { false, - dogs_spi_callback, + NULL /*dogs_spi_callback*/, 0, // cr1 0 }; @@ -136,7 +137,13 @@ void dogs_init_display() CS_LOW; dogs_reset(); CS_HIGH; - chThdSleepS(TIME_MS2I(100) / 64); + + unsigned long int reset_sleep = (STM32_SYSCLK / 1000) * 100; + while (reset_sleep != 0) { + asm("nop; nop; nop; nop; nop"); + reset_sleep -= 8; + } + CS_LOW; dogs_set_scroll_line(0); dogs_set_segdir(true); diff --git a/main.c b/main.c index 37c1471..1ef13bf 100644 --- a/main.c +++ b/main.c @@ -10,11 +10,10 @@ */ #include "buttons.h" -#include "ch.h" #include "dogs.h" #include "hal.h" -#include "2048.h" +//#include "2048.h" #include "flapbird.h" /* @@ -36,18 +35,6 @@ static int readVddmv(); -THD_WORKING_AREA(waThread2, 128); -THD_FUNCTION(Thread2, arg) -{ - (void)arg; - - dogs_init(); - flapbird_init(); -} -THD_TABLE_BEGIN - THD_TABLE_THREAD(0, "game", waThread2, Thread2, NULL) -THD_TABLE_END - static void alarm_callback(RTCDriver *rtcp, rtcevent_t event) { (void)rtcp; @@ -80,12 +67,15 @@ static void alarm_callback(RTCDriver *rtcp, rtcevent_t event) int main(void) { halInit(); - chSysInit(); + //chSysInit(); buttons_init(); + dogs_init(); + flapbird_init(); + static const RTCWakeup wakeupcfg = { (0 << 16) | // wucksel (37k /16 = ~2k) - 240 // wut (hope for 10Hz) + 200 // wut (hope for 10Hz) }; rtcSTM32SetPeriodicWakeup(&RTCD1, &wakeupcfg); rtcSetCallback(&RTCD1, alarm_callback); @@ -94,7 +84,7 @@ int main(void) PWR->CR |= PWR_CR_LPSDSR | PWR_CR_ULP; PWR->CR |= PWR_CR_LPRUN; SCB->SCR = 6; - FLASH->ACR |= FLASH_ACR_SLEEP_PD; + //FLASH->ACR |= FLASH_ACR_SLEEP_PD; // Below code for serial -- note that it cuts off debugging, and MUST be used in a thread //chThdSleepMilliseconds(2000); diff --git a/osal.c b/osal.c new file mode 100644 index 0000000..5c62069 --- /dev/null +++ b/osal.c @@ -0,0 +1,467 @@ +/* + 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.c + * @brief OSAL module code. + * + * @addtogroup OSAL + * @{ + */ + +#include "osal.h" +#include "osal_vt.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/** + * @brief Pointer to a halt error message. + * @note The message is meant to be retrieved by the debugger after the + * system halt caused by an unexpected error. + */ +const char *osal_halt_msg; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +static void callback_timeout(void *p) { + osalSysLockFromISR(); + osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT); + osalSysUnlockFromISR(); +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief OSAL module initialization. + * + * @api + */ +void osalInit(void) { + + vtInit(); + + OSAL_INIT_HOOK(); +} + +/** + * @brief System halt with error message. + * + * @param[in] reason the halt message pointer + * + * @api + */ +#if !defined(__DOXYGEN__) +__attribute__((weak, noreturn)) +#endif +void osalSysHalt(const char *reason) { + + osalSysDisable(); + osal_halt_msg = reason; + while (true) { + } +} + +/** + * @brief Polled delay. + * @note The real delay is always few cycles in excess of the specified + * value. + * + * @param[in] cycles number of cycles + * + * @xclass + */ +void osalSysPolledDelayX(rtcnt_t cycles) { + + (void)cycles; +} + +/** + * @brief System timer handler. + * @details The handler is used for scheduling and Virtual Timers management. + * + * @iclass + */ +void osalOsTimerHandlerI(void) { + + osalDbgCheckClassI(); + + vtDoTickI(); +} + +/** + * @brief Checks if a reschedule is required and performs it. + * @note I-Class functions invoked from thread context must not reschedule + * by themselves, an explicit reschedule using this function is + * required in this scenario. + * @note Not implemented in this simplified OSAL. + * + * @sclass + */ +void osalOsRescheduleS(void) { + +} + +/** + * @brief Current system time. + * @details Returns the number of system ticks since the @p osalInit() + * invocation. + * @note The counter can reach its maximum and then restart from zero. + * @note This function can be called from any context but its atomicity + * is not guaranteed on architectures whose word size is less than + * @p systime_t size. + * + * @return The system time in ticks. + * + * @xclass + */ +systime_t osalOsGetSystemTimeX(void) { + + return vtlist.vt_systime; +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @sclass + */ +void osalThreadSleepS(sysinterval_t time) { + virtual_timer_t vt; + thread_reference_t tr; + + tr = NULL; + vtSetI(&vt, time, callback_timeout, (void *)&tr); + osalThreadSuspendS(&tr); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE is allowed but interpreted as a + * normal time specification. + * - @a TIME_IMMEDIATE this value is not allowed. + * . + * + * @api + */ +void osalThreadSleep(sysinterval_t time) { + + osalSysLock(); + osalThreadSleepS(time); + osalSysUnlock(); +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @return The wake up message. + * + * @sclass + */ +msg_t osalThreadSuspendS(thread_reference_t *trp) { + thread_t self = {MSG_WAIT}; + + osalDbgCheck(trp != NULL); + + *trp = &self; + while (self.message == MSG_WAIT) { + osalSysUnlock(); + /* A state-changing interrupt could occur here and cause the loop to + terminate, an hook macro is executed while waiting.*/ + OSAL_IDLE_HOOK(); + osalSysLock(); + } + + return self.message; +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The wake up message. + * @retval MSG_TIMEOUT if the operation timed out. + * + * @sclass + */ +msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(trp != NULL); + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(trp); + + vtSetI(&vt, timeout, callback_timeout, (void *)trp); + msg = osalThreadSuspendS(trp); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must not reschedule because it can be called from + * ISR context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { + + osalDbgCheck(trp != NULL); + + if (*trp != NULL) { + (*trp)->message = msg; + *trp = NULL; + } +} + +/** + * @brief Enqueues the caller thread. + * @details The caller thread is enqueued and put to sleep until it is + * dequeued or the specified timeouts expires. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The message from @p osalQueueWakeupOneI() or + * @p osalQueueWakeupAllI() functions. + * @retval MSG_TIMEOUT if the thread has not been dequeued within the + * specified timeout or if the function has been + * invoked with @p TIME_IMMEDIATE as timeout + * specification. + * + * @sclass + */ +msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) { + msg_t msg; + virtual_timer_t vt; + + osalDbgCheck(tqp != NULL); + + if (TIME_IMMEDIATE == timeout) + return MSG_TIMEOUT; + + tqp->tr = NULL; + + if (TIME_INFINITE == timeout) + return osalThreadSuspendS(&tqp->tr); + + vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr); + msg = osalThreadSuspendS(&tqp->tr); + if (vtIsArmedI(&vt)) + vtResetI(&vt); + + return msg; +} + +/** + * @brief Dequeues and wakes up one thread from the queue, if any. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Dequeues and wakes up all threads from the queue. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) { + + osalDbgCheck(tqp != NULL); + + osalThreadResumeI(&tqp->tr, msg); +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + esp->flags |= flags; + if (esp->cb != NULL) { + esp->cb(esp); + } +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + osalSysLock(); + osalEventBroadcastFlagsI(esp, flags); + osalSysUnlock(); +} + +/** + * @brief Event callback setup. + * @note The callback is invoked from ISR context and can + * only invoke I-Class functions. The callback is meant + * to wakeup the task that will handle the event by + * calling @p osalEventGetAndClearFlagsI(). + * @note This function is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + * + * @param[in] esp pointer to the event flags object + * @param[in] cb pointer to the callback function + * @param[in] param parameter to be passed to the callback function + * + * @api + */ +void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param) { + + osalDbgCheck(esp != NULL); + + esp->cb = cb; + esp->param = param; +} + +/** + * @brief Locks the specified mutex. + * @post The mutex is locked and inserted in the per-thread stack of owned + * mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexLock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 1; +} + +/** + * @brief Unlocks the specified mutex. + * @note The HAL guarantees to release mutex in reverse lock order. The + * mutex being unlocked is guaranteed to be the last locked mutex + * by the invoking thread. + * The implementation can rely on this behavior and eventually + * ignore the @p mp parameter which is supplied in order to support + * those OSes not supporting a stack of the owned mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +void osalMutexUnlock(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +/** @} */ diff --git a/osal.h b/osal.h new file mode 100644 index 0000000..30e1592 --- /dev/null +++ b/osal.h @@ -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 +#include +#include + +#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 */ + +/** @} */