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468 lines
13 KiB
C
468 lines
13 KiB
C
4 years ago
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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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||
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* @note The callback is invoked from ISR context and can
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|
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* 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;
|
||
|
|
}
|
||
|
|
|
||
|
|
/** @} */
|