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3134 lines
103 KiB
C++
3134 lines
103 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 ch.hpp
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* @brief C++ wrapper classes and definitions.
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*
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* @addtogroup cpp_library
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* @{
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*/
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#include <ch.h>
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#ifndef _CH_HPP_
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#define _CH_HPP_
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/**
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* @brief ChibiOS-RT kernel-related classes and interfaces.
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*/
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namespace chibios_rt {
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/* Forward declaration of some classes.*/
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class ThreadReference;
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/*------------------------------------------------------------------------*
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* chibios_rt::System *
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*------------------------------------------------------------------------*/
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/**
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* @brief Class encapsulating the base system functionalities.
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*/
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class System {
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public:
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/**
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* @brief ChibiOS/RT initialization.
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* @details After executing this function the current instructions stream
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* becomes the main thread.
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* @pre Interrupts must be still disabled when @p chSysInit() is invoked
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* and are internally enabled.
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* @post The main thread is created with priority @p NORMALPRIO.
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* @note This function has special, architecture-dependent, requirements,
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* see the notes into the various port reference manuals.
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*
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* @special
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*/
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static void init(void) {
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chSysInit();
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}
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/**
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* @brief Halts the system.
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* @details This function is invoked by the operating system when an
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* unrecoverable error is detected, for example because a programming
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* error in the application code that triggers an assertion while
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* in debug mode.
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* @note Can be invoked from any system state.
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*
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* @param[in] reason pointer to an error string
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*
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* @special
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*/
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static void halt(const char *reason) {
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chSysHalt(reason);
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}
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/**
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* @brief System integrity check.
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* @details Performs an integrity check of the important ChibiOS/RT data
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* structures.
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* @note The appropriate action in case of failure is to halt the system
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* before releasing the critical zone.
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* @note If the system is corrupted then one possible outcome of this
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* function is an exception caused by @p nullptr or corrupted
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* pointers in list elements. Exception vectors must be monitored
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* as well.
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* @note This function is not used internally, it is up to the
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* application to define if and where to perform system
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* checking.
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* @note Performing all tests at once can be a slow operation and can
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* degrade the system response time. It is suggested to execute
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* one test at time and release the critical zone in between tests.
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*
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* @param[in] testmask Each bit in this mask is associated to a test to be
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* performed.
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* @return The test result.
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* @retval false The test succeeded.
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* @retval true Test failed.
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*
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* @iclass
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*/
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static bool integrityCheckI(unsigned int testmask) {
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return chSysIntegrityCheckI(testmask);
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}
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/**
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* @brief Raises the system interrupt priority mask to the maximum level.
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* @details All the maskable interrupt sources are disabled regardless their
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* hardware priority.
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* @note Do not invoke this API from within a kernel lock.
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*
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* @special
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*/
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static void disable(void) {
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chSysDisable();
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}
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/**
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* @brief Raises the system interrupt priority mask to system level.
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* @details The interrupt sources that should not be able to preempt the kernel
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* are disabled, interrupt sources with higher priority are still
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* enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysLock(), the @p chSysLock()
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* could do more than just disable the interrupts.
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*
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* @special
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*/
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static void suspend(void) {
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chSysSuspend();
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}
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/**
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* @brief Lowers the system interrupt priority mask to user level.
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* @details All the interrupt sources are enabled.
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* @note Do not invoke this API from within a kernel lock.
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* @note This API is no replacement for @p chSysUnlock(), the
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* @p chSysUnlock() could do more than just enable the interrupts.
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*
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* @special
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*/
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static void enable(void) {
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chSysEnable();
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}
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/**
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* @brief Enters the kernel lock mode.
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*
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* @special
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*/
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static void lock(void) {
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chSysLock();
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}
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/**
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* @brief Leaves the kernel lock mode.
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*
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* @special
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*/
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static void unlock(void) {
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chSysUnlock();
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}
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/**
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* @brief Enters the kernel lock mode from within an interrupt handler.
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* @note This API may do nothing on some architectures, it is required
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* because on ports that support preemptable interrupt handlers
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* it is required to raise the interrupt mask to the same level of
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* the system mutual exclusion zone.<br>
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* It is good practice to invoke this API before invoking any I-class
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* syscall from an interrupt handler.
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* @note This API must be invoked exclusively from interrupt handlers.
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*
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* @special
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*/
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static void lockFromIsr(void) {
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chSysLockFromISR();
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}
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/**
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* @brief Leaves the kernel lock mode from within an interrupt handler.
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*
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* @note This API may do nothing on some architectures, it is required
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* because on ports that support preemptable interrupt handlers
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* it is required to raise the interrupt mask to the same level of
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* the system mutual exclusion zone.<br>
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* It is good practice to invoke this API after invoking any I-class
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* syscall from an interrupt handler.
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* @note This API must be invoked exclusively from interrupt handlers.
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*
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* @special
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*/
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static void unlockFromIsr(void) {
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chSysUnlockFromISR();
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}
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/**
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* @brief Unconditionally enters the kernel lock state.
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* @note Can be called without previous knowledge of the current lock state.
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* The final state is "s-locked".
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*
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* @special
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*/
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static void unconditionalLock(void) {
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chSysUnconditionalLock();
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}
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/**
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* @brief Unconditionally leaves the kernel lock state.
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* @note Can be called without previous knowledge of the current lock state.
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* The final state is "normal".
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*
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* @special
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*/
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static void unconditionalUnlock(void) {
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chSysUnconditionalUnlock();
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}
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/**
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* @brief Returns the execution status and enters a critical zone.
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* @details This functions enters into a critical zone and can be called
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* from any context. Because its flexibility it is less efficient
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* than @p chSysLock() which is preferable when the calling context
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* is known.
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* @post The system is in a critical zone.
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*
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* @return The previous system status, the encoding of this
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* status word is architecture-dependent and opaque.
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*
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* @xclass
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*/
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static syssts_t getStatusAndLockX(void) {
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return chSysGetStatusAndLockX();
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}
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/**
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* @brief Restores the specified execution status and leaves a critical zone.
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* @note A call to @p chSchRescheduleS() is automatically performed
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* if exiting the critical zone and if not in ISR context.
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*
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* @param[in] sts the system status to be restored.
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*
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* @xclass
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*/
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static void restoreStatusX(syssts_t sts) {
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chSysRestoreStatusX(sts);
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}
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#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
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/**
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* @brief Returns the current value of the system real time counter.
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* @note This function is only available if the port layer supports the
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* option @p PORT_SUPPORTS_RT.
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*
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* @return The value of the system realtime counter of
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* type rtcnt_t.
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*
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* @xclass
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*/
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static rtcnt_t getRealtimeCounterX(void) {
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return chSysGetRealtimeCounterX();
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}
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/**
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* @brief Realtime window test.
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* @details This function verifies if the current realtime counter value
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* lies within the specified range or not. The test takes care
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* of the realtime counter wrapping to zero on overflow.
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* @note When start==end then the function returns always true because the
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* whole time range is specified.
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* @note This function is only available if the port layer supports the
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* option @p PORT_SUPPORTS_RT.
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*
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* @param[in] cnt the counter value to be tested
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* @param[in] start the start of the time window (inclusive)
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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*
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* @xclass
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*/
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static bool isCounterWithinX(rtcnt_t cnt,
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rtcnt_t start,
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rtcnt_t end) {
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return chSysIsCounterWithinX(cnt, start, end);
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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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* @note This function is only available if the port layer supports the
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* option @p PORT_SUPPORTS_RT.
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*
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* @param[in] cycles number of cycles
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*
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* @xclass
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*/
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static void polledDelayX(rtcnt_t cycles) {
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chSysPolledDelayX(cycles);
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}
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#endif /* PORT_SUPPORTS_RT == TRUE */
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/**
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* @brief Returns the system time as system ticks.
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* @note The system tick time interval is implementation dependent.
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*
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* @return The system time.
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*
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* @api
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*/
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static systime_t getTime(void) {
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return chVTGetSystemTime();
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}
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/**
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* @brief Returns the system time as system ticks.
|
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* @note The system tick time interval is implementation dependent.
|
||
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*
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* @return The system time.
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*
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* @xclass
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*/
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static systime_t getTimeX(void) {
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return chVTGetSystemTimeX();
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}
|
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||
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/**
|
||
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* @brief Checks if the current system time is within the specified time
|
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* window.
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||
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* @note When start==end then the function returns always true because the
|
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* whole time range is specified.
|
||
|
|
*
|
||
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* @param[in] start the start of the time window (inclusive)
|
||
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* @param[in] end the end of the time window (non inclusive)
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* @retval true current time within the specified time window.
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* @retval false current time not within the specified time window.
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||
|
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*
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* @api
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||
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*/
|
||
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static bool isSystemTimeWithin(systime_t start, systime_t end) {
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|
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|
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return chVTIsSystemTimeWithin(start, end);
|
||
|
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}
|
||
|
|
|
||
|
|
#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
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|
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/**
|
||
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* @brief Returns a reference to the idle thread.
|
||
|
|
* @pre In order to use this function the option @p CH_CFG_NO_IDLE_THREAD
|
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|
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* must be disabled.
|
||
|
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* @note The reference counter of the idle thread is not incremented but
|
||
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|
* it is not strictly required being the idle thread a static
|
||
|
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* object.
|
||
|
|
*
|
||
|
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* @return Reference to the idle thread.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
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static ThreadReference getIdleThreadX(void);
|
||
|
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#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
|
||
|
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};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::CriticalSectionLocker *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief RAII helper for reentrant critical sections.
|
||
|
|
*/
|
||
|
|
class CriticalSectionLocker {
|
||
|
|
volatile const syssts_t syssts = chSysGetStatusAndLockX();
|
||
|
|
|
||
|
|
public:
|
||
|
|
~CriticalSectionLocker() {
|
||
|
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|
||
|
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chSysRestoreStatusX(syssts);
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||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Scheduler *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating the low level scheduler functionalities.
|
||
|
|
*/
|
||
|
|
class Scheduler {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Performs a reschedule if a higher priority thread is runnable.
|
||
|
|
* @details If a thread with a higher priority than the current thread is in
|
||
|
|
* the ready list then make the higher priority thread running.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static void rescheduleS(void) {
|
||
|
|
|
||
|
|
void chSchRescheduleS();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Core *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating the base system functionalities.
|
||
|
|
*/
|
||
|
|
class Core {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Allocates a memory block.
|
||
|
|
* @details The size of the returned block is aligned to the alignment
|
||
|
|
* type so it is not possible to allocate less
|
||
|
|
* than <code>MEM_ALIGN_SIZE</code>.
|
||
|
|
*
|
||
|
|
* @param[in] size the size of the block to be allocated
|
||
|
|
* @return A pointer to the allocated memory block.
|
||
|
|
* @retval nullptr allocation failed, core memory exhausted.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void *alloc(size_t size) {
|
||
|
|
|
||
|
|
return chCoreAlloc(size);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Allocates a memory block.
|
||
|
|
* @details The size of the returned block is aligned to the alignment
|
||
|
|
* type so it is not possible to allocate less than
|
||
|
|
* <code>MEM_ALIGN_SIZE</code>.
|
||
|
|
*
|
||
|
|
* @param[in] size the size of the block to be allocated.
|
||
|
|
* @return A pointer to the allocated memory block.
|
||
|
|
* @retval nullptr allocation failed, core memory exhausted.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
static void *allocI(size_t size) {
|
||
|
|
|
||
|
|
return chCoreAllocI(size);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Core memory status.
|
||
|
|
*
|
||
|
|
* @return The size, in bytes, of the free core memory.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static size_t getStatusX(void) {
|
||
|
|
|
||
|
|
return chCoreGetStatusX();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_MEMCORE == TRUE */
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Timer *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Timer class.
|
||
|
|
*/
|
||
|
|
class Timer {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p virtual_timer_t structure.
|
||
|
|
*/
|
||
|
|
virtual_timer_t vt;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Construct a virtual timer.
|
||
|
|
*/
|
||
|
|
Timer() : vt() {
|
||
|
|
|
||
|
|
chVTObjectInit(&vt);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Prohibit copy construction and assignment.*/
|
||
|
|
Timer(const Timer &) = delete;
|
||
|
|
Timer &operator=(const Timer &) = delete;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enables a virtual timer.
|
||
|
|
* @note The associated function is invoked from interrupt context.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* 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.
|
||
|
|
* .
|
||
|
|
* @param[in] vtfunc the timer callback function. After invoking the
|
||
|
|
* callback the timer is disabled and the structure
|
||
|
|
* can be disposed or reused.
|
||
|
|
* @param[in] par a parameter that will be passed to the callback
|
||
|
|
* function
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void set(sysinterval_t timeout, vtfunc_t vtfunc, void *par) {
|
||
|
|
|
||
|
|
chVTSet(&vt, timeout, vtfunc, par);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enables a virtual timer.
|
||
|
|
* @note The associated function is invoked from interrupt context.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* 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.
|
||
|
|
* .
|
||
|
|
* @param[in] vtfunc the timer callback function. After invoking the
|
||
|
|
* callback the timer is disabled and the structure
|
||
|
|
* can be disposed or reused.
|
||
|
|
* @param[in] par a parameter that will be passed to the callback
|
||
|
|
* function
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void setI(sysinterval_t timeout, vtfunc_t vtfunc, void *par) {
|
||
|
|
|
||
|
|
chVTSetI(&vt, timeout, vtfunc, par);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Resets the timer, if armed.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void reset() {
|
||
|
|
|
||
|
|
chVTReset(&vt);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Resets the timer, if armed.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void resetI() {
|
||
|
|
|
||
|
|
chVTResetI(&vt);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the timer status.
|
||
|
|
*
|
||
|
|
* @return The timer status.
|
||
|
|
* @retval true If the timer is armed.
|
||
|
|
* @retval false If the timer already fired its callback.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
bool isArmedI(void) const {
|
||
|
|
|
||
|
|
return chVTIsArmedI(&vt);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::ThreadReference *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Thread reference class.
|
||
|
|
* @details This class encapsulates a reference to a system thread. All
|
||
|
|
* operations involving another thread are performed through
|
||
|
|
* an object of this type.
|
||
|
|
*/
|
||
|
|
class ThreadReference final {
|
||
|
|
/**
|
||
|
|
* @brief Pointer to the system thread.
|
||
|
|
*/
|
||
|
|
thread_t *thread_ref;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Thread reference constructor.
|
||
|
|
* @note Do not call this version directly, this constructor is empty
|
||
|
|
* and is here only to do nothing when an object of this kind
|
||
|
|
* is declared then assigned.
|
||
|
|
* @note Automatic instances of this object are not initialized
|
||
|
|
* because this constructor, this is intentional.
|
||
|
|
*
|
||
|
|
* @param[in] tp the target thread
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ThreadReference(void) {
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Thread reference constructor.
|
||
|
|
*
|
||
|
|
* @param[in] tp the target thread
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ThreadReference(thread_t *tp) : thread_ref(tp) {
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the reference state.
|
||
|
|
*
|
||
|
|
* @return The reference state.
|
||
|
|
* @retval false if the reference is still valid.
|
||
|
|
* @retval true if the reference is set to @p nullptr.
|
||
|
|
*/
|
||
|
|
bool isNull(void) const {
|
||
|
|
|
||
|
|
return (bool)(thread_ref == nullptr);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the low level pointer to the referenced thread.
|
||
|
|
*/
|
||
|
|
thread_t *getInner(void) {
|
||
|
|
|
||
|
|
return thread_ref;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Requests a thread termination.
|
||
|
|
* @pre The target thread must be written to invoke periodically
|
||
|
|
* @p chThdShouldTerminate() and terminate cleanly if it returns
|
||
|
|
* @p TRUE.
|
||
|
|
* @post The specified thread will terminate after detecting the
|
||
|
|
* termination condition.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void requestTerminate(void) const {
|
||
|
|
|
||
|
|
chThdTerminate(thread_ref);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Adds a reference to a thread object.
|
||
|
|
* @pre The configuration option @p CH_CFG_USE_REGISTRY must be enabled
|
||
|
|
* in order to use this function.
|
||
|
|
*
|
||
|
|
* @return A new thread reference.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
ThreadReference addRef(void) const {
|
||
|
|
|
||
|
|
return ThreadReference(chThdAddRef(thread_ref));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Releases a reference to a thread object.
|
||
|
|
* @details If the references counter reaches zero <b>and</b> the thread
|
||
|
|
* is in the @p CH_STATE_FINAL state then the thread's memory is
|
||
|
|
* returned to the proper allocator and the thread is removed
|
||
|
|
* from the registry.<br>
|
||
|
|
* Threads whose counter reaches zero and are still active become
|
||
|
|
* "detached" and will be removed from registry on termination.
|
||
|
|
* @pre The configuration option @p CH_CFG_USE_REGISTRY must be enabled in
|
||
|
|
* order to use this function.
|
||
|
|
* @post The reference is set to @p nullptr.
|
||
|
|
* @note Static threads are not affected.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void release(void) {
|
||
|
|
thread_t *tp = thread_ref;
|
||
|
|
thread_ref = nullptr;
|
||
|
|
|
||
|
|
chThdRelease(tp);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_REGISTRY == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_WAITEXIT == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Blocks the execution of the invoking thread until the specified
|
||
|
|
* thread terminates then the exit code is returned.
|
||
|
|
* @details This function waits for the specified thread to terminate then
|
||
|
|
* decrements its reference counter, if the counter reaches zero
|
||
|
|
* then the thread working area is returned to the proper
|
||
|
|
* allocator.<br>
|
||
|
|
* The memory used by the exited thread is handled in different
|
||
|
|
* ways depending on the API that spawned the thread:
|
||
|
|
* - If the thread was spawned by @p chThdCreateStatic() or by
|
||
|
|
* @p chThdCreateI() then nothing happens and the thread working
|
||
|
|
* area is not released or modified in any way. This is the
|
||
|
|
* default, totally static, behavior.
|
||
|
|
* - If the thread was spawned by @p chThdCreateFromHeap() then
|
||
|
|
* the working area is returned to the system heap.
|
||
|
|
* - If the thread was spawned by @p chThdCreateFromMemoryPool()
|
||
|
|
* then the working area is returned to the owning memory pool.
|
||
|
|
* .
|
||
|
|
* @pre The configuration option @p CH_USE_WAITEXIT must be enabled in
|
||
|
|
* order to use this function.
|
||
|
|
* @post Enabling @p chThdWait() requires 2-4 (depending on the
|
||
|
|
* architecture) extra bytes in the @p Thread structure.
|
||
|
|
* @post The reference is set to @p nullptr.
|
||
|
|
* @note If @p CH_USE_DYNAMIC is not specified this function just waits
|
||
|
|
* for the thread termination, no memory allocators are involved.
|
||
|
|
*
|
||
|
|
* @return The exit code from the terminated thread.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(void) {
|
||
|
|
thread_t *tp = thread_ref;
|
||
|
|
thread_ref = nullptr;
|
||
|
|
|
||
|
|
msg_t msg = chThdWait(tp);
|
||
|
|
return msg;
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_WAITEXIT == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Sends a message to the thread and returns the answer.
|
||
|
|
*
|
||
|
|
* @param[in] msg the sent message
|
||
|
|
* @return The returned message.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t sendMessage(msg_t msg) const {
|
||
|
|
|
||
|
|
return chMsgSend(thread_ref, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns true if there is at least one message in queue.
|
||
|
|
*
|
||
|
|
* @retval true A message is waiting in queue.
|
||
|
|
* @retval false A message is not waiting in queue.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
bool isPendingMessage(void) const {
|
||
|
|
|
||
|
|
return chMsgIsPendingI(thread_ref);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns an enqueued message or @p nullptr.
|
||
|
|
*
|
||
|
|
* @return The incoming message.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t getMessage(void) const {
|
||
|
|
|
||
|
|
return chMsgGet(thread_ref);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Releases the next message in queue with a reply.
|
||
|
|
* @post The reference is set to @p nullptr.
|
||
|
|
*
|
||
|
|
* @param[in] msg the answer message
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void releaseMessage(msg_t msg) {
|
||
|
|
thread_t *tp = thread_ref;
|
||
|
|
thread_ref = nullptr;
|
||
|
|
|
||
|
|
chMsgRelease(tp, msg);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_MESSAGES == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Adds a set of event flags directly to specified @p Thread.
|
||
|
|
*
|
||
|
|
* @param[in] mask the event flags set to be ORed
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void signalEvents(eventmask_t mask) const {
|
||
|
|
|
||
|
|
chEvtSignal(thread_ref, mask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Adds a set of event flags directly to specified @p Thread.
|
||
|
|
*
|
||
|
|
* @param[in] mask the event flags set to be ORed
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void signalEventsI(eventmask_t mask) const {
|
||
|
|
|
||
|
|
chEvtSignalI(thread_ref, mask);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_EVENTS == TRUE */
|
||
|
|
|
||
|
|
#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Returns the number of ticks consumed by the specified thread.
|
||
|
|
* @note This function is only available when the
|
||
|
|
* @p CH_DBG_THREADS_PROFILING configuration option is enabled.
|
||
|
|
*
|
||
|
|
* @param[in] tp pointer to the thread
|
||
|
|
* @return The number of consumed system ticks.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
systime_t getTicksX(void) const {
|
||
|
|
|
||
|
|
return chThdGetTicksX(thread_ref);
|
||
|
|
}
|
||
|
|
#endif /* CH_DBG_THREADS_PROFILING == TRUE */
|
||
|
|
};
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Registry *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
class Registry {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Returns the first thread in the system.
|
||
|
|
* @details Returns the most ancient thread in the system, usually this is
|
||
|
|
* the main thread unless it terminated. A reference is added to the
|
||
|
|
* returned thread in order to make sure its status is not lost.
|
||
|
|
* @note This function cannot return @p nullptr because there is always at
|
||
|
|
* least one thread in the system.
|
||
|
|
*
|
||
|
|
* @return A reference to the most ancient thread.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static ThreadReference firstThread(void) {
|
||
|
|
|
||
|
|
return ThreadReference(chRegFirstThread());
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the thread next to the specified one.
|
||
|
|
* @details The reference counter of the specified thread is decremented and
|
||
|
|
* the reference counter of the returned thread is incremented.
|
||
|
|
*
|
||
|
|
* @param[in] tref reference to the thread
|
||
|
|
* @return A reference to the next thread. The reference is
|
||
|
|
* set to @p nullptr if there is no next thread.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static ThreadReference nextThread(ThreadReference tref) {
|
||
|
|
|
||
|
|
return ThreadReference(chRegNextThread(tref.getInner()));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves a thread reference by name.
|
||
|
|
* @note The reference counter of the found thread is increased by one so
|
||
|
|
* it cannot be disposed incidentally after the pointer has been
|
||
|
|
* returned.
|
||
|
|
*
|
||
|
|
* @param[in] name the thread name
|
||
|
|
* @return A pointer to the found thread.
|
||
|
|
* @return A reference to the found thread. The reference is
|
||
|
|
* set to @p nullptr if no next thread is found.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static ThreadReference findThreadByName(const char *name) {
|
||
|
|
|
||
|
|
return ThreadReference(chRegFindThreadByName(name));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_REGISTRY == TRUE */
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::BaseThread *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Abstract base class for a ChibiOS/RT thread.
|
||
|
|
* @details The thread body is the virtual function @p Main().
|
||
|
|
*/
|
||
|
|
class BaseThread {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief BaseThread constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
BaseThread(void) {
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Thread body function.
|
||
|
|
*
|
||
|
|
* @return The exit message.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual void main(void) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Creates and starts a system thread.
|
||
|
|
*
|
||
|
|
* @param[in] prio thread priority
|
||
|
|
* @return A reference to the created thread with
|
||
|
|
* reference counter set to one.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual ThreadReference start(tprio_t prio) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns a reference to the current thread.
|
||
|
|
*
|
||
|
|
* @return A reference to the current thread.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static ThreadReference getSelfX(void) {
|
||
|
|
|
||
|
|
return ThreadReference(chThdGetSelfX());
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Sets the current thread name.
|
||
|
|
* @pre This function only stores the pointer to the name if the option
|
||
|
|
* @p CH_USE_REGISTRY is enabled else no action is performed.
|
||
|
|
*
|
||
|
|
* @param[in] tname thread name as a zero terminated string
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void setName(const char *tname) {
|
||
|
|
|
||
|
|
chRegSetThreadName(tname);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Changes the running thread priority level then reschedules if
|
||
|
|
* necessary.
|
||
|
|
* @note The function returns the real thread priority regardless of the
|
||
|
|
* current priority that could be higher than the real priority
|
||
|
|
* because the priority inheritance mechanism.
|
||
|
|
*
|
||
|
|
* @param[in] newprio the new priority level of the running thread
|
||
|
|
* @return The old priority level.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static tprio_t setPriority(tprio_t newprio) {
|
||
|
|
|
||
|
|
return chThdSetPriority(newprio);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the current thread priority.
|
||
|
|
* @note Can be invoked in any context.
|
||
|
|
*
|
||
|
|
* @return The current thread priority.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
static tprio_t getPriorityX(void) {
|
||
|
|
|
||
|
|
return chThdGetPriorityX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Terminates the current thread.
|
||
|
|
* @details The thread goes in the @p THD_STATE_FINAL state holding the
|
||
|
|
* specified exit status code, other threads can retrieve the
|
||
|
|
* exit status code by invoking the function @p chThdWait().
|
||
|
|
* @post Eventual code after this function will never be executed,
|
||
|
|
* this function never returns. The compiler has no way to
|
||
|
|
* know this so do not assume that the compiler would remove
|
||
|
|
* the dead code.
|
||
|
|
*
|
||
|
|
* @param[in] msg thread exit code
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void exit(msg_t msg) {
|
||
|
|
|
||
|
|
chThdExit(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Terminates the current thread.
|
||
|
|
* @details The thread goes in the @p THD_STATE_FINAL state holding the
|
||
|
|
* specified exit status code, other threads can retrieve the
|
||
|
|
* exit status code by invoking the function @p chThdWait().
|
||
|
|
* @post Eventual code after this function will never be executed,
|
||
|
|
* this function never returns. The compiler has no way to
|
||
|
|
* know this so do not assume that the compiler would remove
|
||
|
|
* the dead code.
|
||
|
|
*
|
||
|
|
* @param[in] msg thread exit code
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
static void exitS(msg_t msg) {
|
||
|
|
|
||
|
|
chThdExitS(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Verifies if the current thread has a termination request
|
||
|
|
* pending.
|
||
|
|
* @note Can be invoked in any context.
|
||
|
|
*
|
||
|
|
* @retval TRUE termination request pending.
|
||
|
|
* @retval FALSE termination request not pending.
|
||
|
|
*
|
||
|
|
* @special
|
||
|
|
*/
|
||
|
|
static bool shouldTerminate(void) {
|
||
|
|
|
||
|
|
return chThdShouldTerminateX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the invoking thread for the specified time.
|
||
|
|
*
|
||
|
|
* @param[in] interval the delay in system ticks, the special values are
|
||
|
|
* handled as follow:
|
||
|
|
* - @a TIME_INFINITE the thread enters an infinite
|
||
|
|
* sleep state.
|
||
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void sleep(sysinterval_t interval) {
|
||
|
|
|
||
|
|
chThdSleep(interval);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the invoking thread until the system time arrives to
|
||
|
|
* the specified value.
|
||
|
|
*
|
||
|
|
* @param[in] time absolute system time
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void sleepUntil(systime_t time) {
|
||
|
|
|
||
|
|
chThdSleepUntil(time);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the invoking thread until the system time arrives to the
|
||
|
|
* specified value.
|
||
|
|
* @note The system time is assumed to be between @p prev and @p time
|
||
|
|
* else the call is assumed to have been called outside the
|
||
|
|
* allowed time interval, in this case no sleep is performed.
|
||
|
|
* @see chThdSleepUntil()
|
||
|
|
*
|
||
|
|
* @param[in] prev absolute system time of the previous deadline
|
||
|
|
* @param[in] next absolute system time of the next deadline
|
||
|
|
* @return the @p next parameter
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static systime_t sleepUntilWindowed(systime_t prev, systime_t next) {
|
||
|
|
|
||
|
|
return chThdSleepUntilWindowed(prev, next);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Yields the time slot.
|
||
|
|
* @details Yields the CPU control to the next thread in the ready list
|
||
|
|
* with equal priority, if any.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void yield(void) {
|
||
|
|
|
||
|
|
chThdYield();
|
||
|
|
}
|
||
|
|
|
||
|
|
#if CH_CFG_USE_MESSAGES || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Waits for a message.
|
||
|
|
* @post On the returned reference it is mandatory to call
|
||
|
|
* @p releaseMessage() or the sender thread would be waiting
|
||
|
|
* undefinitely.
|
||
|
|
*
|
||
|
|
* @return The sender thread reference.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static ThreadReference waitMessage(void) {
|
||
|
|
|
||
|
|
return ThreadReference(chMsgWait());
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_MESSAGES == TRUE */
|
||
|
|
|
||
|
|
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Clears the pending events specified in the mask.
|
||
|
|
*
|
||
|
|
* @param[in] mask the events to be cleared
|
||
|
|
* @return The pending events that were cleared.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t getAndClearEvents(eventmask_t mask) {
|
||
|
|
|
||
|
|
return chEvtGetAndClearEvents(mask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Adds (OR) a set of event flags on the current thread, this is
|
||
|
|
* @b much faster than using @p chEvtBroadcast() or
|
||
|
|
* @p chEvtSignal().
|
||
|
|
*
|
||
|
|
* @param[in] mask the event flags to be added
|
||
|
|
* @return The current pending events mask.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t addEvents(eventmask_t mask) {
|
||
|
|
|
||
|
|
return chEvtAddEvents(mask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for a single event.
|
||
|
|
* @details A pending event among those specified in @p ewmask is selected,
|
||
|
|
* cleared and its mask returned.
|
||
|
|
* @note One and only one event is served in the function, the one with
|
||
|
|
* the lowest event id. The function is meant to be invoked into
|
||
|
|
* a loop in order to serve all the pending events.<br>
|
||
|
|
* This means that Event Listeners with a lower event identifier
|
||
|
|
* have an higher priority.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the events that the function should
|
||
|
|
* wait for, @p ALL_EVENTS enables all the events
|
||
|
|
* @return The mask of the lowest id served and cleared
|
||
|
|
* event.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitOneEvent(eventmask_t ewmask) {
|
||
|
|
|
||
|
|
return chEvtWaitOne(ewmask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for any of the specified events.
|
||
|
|
* @details The function waits for any event among those specified in
|
||
|
|
* @p ewmask to become pending then the events are cleared and
|
||
|
|
* returned.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the events that the function should
|
||
|
|
* wait for, @p ALL_EVENTS enables all the events
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitAnyEvent(eventmask_t ewmask) {
|
||
|
|
|
||
|
|
return chEvtWaitAny(ewmask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for all the specified event flags then clears them.
|
||
|
|
* @details The function waits for all the events specified in @p ewmask
|
||
|
|
* to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the event ids that the function should
|
||
|
|
* wait for
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitAllEvents(eventmask_t ewmask) {
|
||
|
|
|
||
|
|
return chEvtWaitAll(ewmask);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if CH_CFG_USE_EVENTS_TIMEOUT || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Waits for a single event.
|
||
|
|
* @details A pending event among those specified in @p ewmask is selected,
|
||
|
|
* cleared and its mask returned.
|
||
|
|
* @note One and only one event is served in the function, the one with
|
||
|
|
* the lowest event id. The function is meant to be invoked into
|
||
|
|
* a loop in order to serve all the pending events.<br>
|
||
|
|
* This means that Event Listeners with a lower event identifier
|
||
|
|
* have an higher priority.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the events that the function should
|
||
|
|
* wait for, @p ALL_EVENTS enables all the events
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation
|
||
|
|
* timouts
|
||
|
|
* @return The mask of the lowest id served and cleared
|
||
|
|
* event.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitOneEventTimeout(eventmask_t ewmask,
|
||
|
|
sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chEvtWaitOneTimeout(ewmask, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for any of the specified events.
|
||
|
|
* @details The function waits for any event among those specified in
|
||
|
|
* @p ewmask to become pending then the events are cleared and
|
||
|
|
* returned.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the events that the function should
|
||
|
|
* wait for, @p ALL_EVENTS enables all the events
|
||
|
|
* @param[in] timeout the number of ticks before the operation
|
||
|
|
* timouts
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitAnyEventTimeout(eventmask_t ewmask,
|
||
|
|
sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chEvtWaitAnyTimeout(ewmask, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits for all the specified event flags then clears them.
|
||
|
|
* @details The function waits for all the events specified in @p ewmask
|
||
|
|
* to become pending then the events are cleared and returned.
|
||
|
|
*
|
||
|
|
* @param[in] ewmask mask of the event ids that the function should
|
||
|
|
* wait for
|
||
|
|
* @param[in] timeout the number of ticks before the operation
|
||
|
|
* timouts
|
||
|
|
* @return The mask of the served and cleared events.
|
||
|
|
* @retval 0 if the specified timeout expired.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static eventmask_t waitAllEventsTimeout(eventmask_t ewmask,
|
||
|
|
sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chEvtWaitAllTimeout(ewmask, timeout);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_EVENTS_TIMEOUT == TRUE */
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Invokes the event handlers associated to an event flags mask.
|
||
|
|
*
|
||
|
|
* @param[in] mask mask of the event flags to be dispatched
|
||
|
|
* @param[in] handlers an array of @p evhandler_t. The array must have
|
||
|
|
* size equal to the number of bits in eventmask_t.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void dispatchEvents(const evhandler_t handlers[],
|
||
|
|
eventmask_t mask) {
|
||
|
|
|
||
|
|
chEvtDispatch(handlers, mask);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_EVENTS == TRUE */
|
||
|
|
|
||
|
|
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Unlocks all the mutexes owned by the invoking thread.
|
||
|
|
* @post The stack of owned mutexes is emptied and all the found
|
||
|
|
* mutexes are unlocked.
|
||
|
|
* @note This function is <b>MUCH MORE</b> efficient than releasing the
|
||
|
|
* mutexes one by one and not just because the call overhead,
|
||
|
|
* this function does not have any overhead related to the
|
||
|
|
* priority inheritance mechanism.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static void unlockAllMutexes(void) {
|
||
|
|
|
||
|
|
chMtxUnlockAll();
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_MUTEXES == TRUE */
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::BaseStaticThread *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Static threads template base class.
|
||
|
|
* @details This class introduces static working area instantiation.
|
||
|
|
*
|
||
|
|
* @param N the working area size for the thread class
|
||
|
|
*/
|
||
|
|
template <int N>
|
||
|
|
class BaseStaticThread : public BaseThread {
|
||
|
|
protected:
|
||
|
|
THD_WORKING_AREA(wa, N);
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Starts a static thread.
|
||
|
|
*
|
||
|
|
* @param[in] prio thread priority
|
||
|
|
* @return A reference to the created thread with
|
||
|
|
* reference counter set to one.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
ThreadReference start(tprio_t prio) override {
|
||
|
|
void _thd_start(void *arg);
|
||
|
|
|
||
|
|
return ThreadReference(chThdCreateStatic(wa, sizeof(wa), prio,
|
||
|
|
_thd_start, this));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::BaseDynamicThread *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Dynamic threads base class.
|
||
|
|
*/
|
||
|
|
class BaseDynamicThread : public BaseThread {
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::ThreadStayPoint *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Thread suspension point class.
|
||
|
|
* @details This class encapsulates a reference to a suspended thread.
|
||
|
|
*/
|
||
|
|
class ThreadStayPoint {
|
||
|
|
/**
|
||
|
|
* @brief Pointer to the suspended thread.
|
||
|
|
*/
|
||
|
|
thread_reference_t thread_ref = nullptr;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Thread stay point constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ThreadStayPoint() {
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Prohibit copy construction and assignment.*/
|
||
|
|
ThreadStayPoint(const ThreadStayPoint &) = delete;
|
||
|
|
ThreadStayPoint &operator=(const ThreadStayPoint &) = delete;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the current thread on the stay point.
|
||
|
|
* @details The suspended thread becomes the referenced thread. It is
|
||
|
|
* possible to use this method only if the thread reference
|
||
|
|
* was set to @p nullptr.
|
||
|
|
*
|
||
|
|
* @return The incoming message.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t suspendS(void) {
|
||
|
|
|
||
|
|
return chThdSuspendS(&thread_ref);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Suspends the current thread on the stay point with timeout.
|
||
|
|
* @details The suspended thread becomes the referenced thread. It is
|
||
|
|
* possible to use this method only if the thread reference
|
||
|
|
* was set to @p nullptr.
|
||
|
|
*
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the binary semaphore has been successfully
|
||
|
|
* taken.
|
||
|
|
* @retval MSG_RESET if the binary semaphore has been reset using
|
||
|
|
* @p bsemReset().
|
||
|
|
* @retval MSG_TIMEOUT if the binary semaphore has not been signaled
|
||
|
|
* or reset within the specified timeout.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t suspendS(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chThdSuspendTimeoutS(&thread_ref, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Resumes the currently referenced thread, if any.
|
||
|
|
*
|
||
|
|
* @param[in] msg the wakeup message
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void resumeI(msg_t msg) {
|
||
|
|
|
||
|
|
chThdResumeI(&thread_ref, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Resumes the currently referenced thread, if any.
|
||
|
|
*
|
||
|
|
* @param[in] msg the wakeup message
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
void resumeS(msg_t msg) {
|
||
|
|
|
||
|
|
chThdResumeS(&thread_ref, msg);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::SynchronizationObject *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Base class for all synchronization objects.
|
||
|
|
* @note No other uses.
|
||
|
|
*/
|
||
|
|
class SynchronizationObject {
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::ThreadsQueue *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Threads queue class.
|
||
|
|
* @details This class encapsulates a queue of threads.
|
||
|
|
*/
|
||
|
|
class ThreadsQueue : public SynchronizationObject {
|
||
|
|
/**
|
||
|
|
* @brief Pointer to the system thread.
|
||
|
|
*/
|
||
|
|
threads_queue_t threads_queue;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Threads queue constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ThreadsQueue() {
|
||
|
|
|
||
|
|
chThdQueueObjectInit(&threads_queue);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Prohibit copy construction and assignment.*/
|
||
|
|
ThreadsQueue(const ThreadsQueue &) = delete;
|
||
|
|
ThreadsQueue &operator=(const ThreadsQueue &) = delete;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Enqueues the caller thread on a threads queue object.
|
||
|
|
* @details The caller thread is enqueued and put to sleep until it is
|
||
|
|
* dequeued or the specified timeouts expires.
|
||
|
|
*
|
||
|
|
* @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 enqueueSelfS(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chThdEnqueueTimeoutS(&threads_queue, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Dequeues and wakes up one thread from the threads queue object,
|
||
|
|
* if any.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message code
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void dequeueNextI(msg_t msg) {
|
||
|
|
|
||
|
|
chThdDequeueNextI(&threads_queue, msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Dequeues and wakes up all threads from the threads queue object.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message code
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void chdequeueAllI(msg_t msg) {
|
||
|
|
|
||
|
|
chThdDequeueAllI(&threads_queue, msg);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::CounterSemaphore *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a semaphore.
|
||
|
|
*/
|
||
|
|
class CounterSemaphore : public SynchronizationObject {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p semaphore_t structure.
|
||
|
|
*/
|
||
|
|
semaphore_t sem;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief CounterSemaphore constructor.
|
||
|
|
* @details The embedded @p Semaphore structure is initialized.
|
||
|
|
*
|
||
|
|
* @param[in] n the semaphore counter value, must be greater
|
||
|
|
* or equal to zero
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
CounterSemaphore(cnt_t n) {
|
||
|
|
|
||
|
|
chSemObjectInit(&sem, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a reset operation on the semaphore.
|
||
|
|
* @post After invoking this function all the threads waiting on the
|
||
|
|
* semaphore, if any, are released and the semaphore counter is
|
||
|
|
* set to the specified, non negative, value.
|
||
|
|
* @note The released threads can recognize they were waked up by a
|
||
|
|
* reset rather than a signal because the @p chSemWait() will
|
||
|
|
* return @p MSG_RESET instead of @p MSG_OK.
|
||
|
|
*
|
||
|
|
* @param[in] n the new value of the semaphore counter. The value
|
||
|
|
* must be non-negative.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void reset(cnt_t n) {
|
||
|
|
|
||
|
|
chSemReset(&sem, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a reset operation on the semaphore.
|
||
|
|
* @post After invoking this function all the threads waiting on the
|
||
|
|
* semaphore, if any, are released and the semaphore counter is
|
||
|
|
* set to the specified, non negative, value.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel. Note
|
||
|
|
* that interrupt handlers always reschedule on exit so an
|
||
|
|
* explicit reschedule must not be performed in ISRs.
|
||
|
|
* @note The released threads can recognize they were waked up by a
|
||
|
|
* reset rather than a signal because the @p chSemWait() will
|
||
|
|
* return @p MSG_RESET instead of @p MSG_OK.
|
||
|
|
*
|
||
|
|
* @param[in] n the new value of the semaphore counter. The value
|
||
|
|
* must be non-negative.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void resetI(cnt_t n) {
|
||
|
|
|
||
|
|
chSemResetI(&sem, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a wait operation on a semaphore.
|
||
|
|
*
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the thread has not stopped on the semaphore or
|
||
|
|
* the semaphore has been signaled.
|
||
|
|
* @retval MSG_RESET if the semaphore has been reset using
|
||
|
|
* @p chSemReset().
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(void) {
|
||
|
|
|
||
|
|
return chSemWait(&sem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a wait operation on a semaphore.
|
||
|
|
*
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the thread has not stopped on the semaphore or
|
||
|
|
* the semaphore has been signaled.
|
||
|
|
* @retval MSG_RESET if the semaphore has been reset using
|
||
|
|
* @p chSemReset().
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(void) {
|
||
|
|
|
||
|
|
return chSemWaitS(&sem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a wait operation on a semaphore with timeout
|
||
|
|
* specification.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the thread has not stopped on the semaphore or
|
||
|
|
* the semaphore has been signaled.
|
||
|
|
* @retval MSG_RESET if the semaphore has been reset using
|
||
|
|
* @p chSemReset().
|
||
|
|
* @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
|
||
|
|
* within the specified timeout.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chSemWaitTimeout(&sem, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a wait operation on a semaphore with timeout
|
||
|
|
* specification.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the thread has not stopped on the semaphore or
|
||
|
|
* the semaphore has been signaled.
|
||
|
|
* @retval MSG_RESET if the semaphore has been reset using
|
||
|
|
* @p chSemReset().
|
||
|
|
* @retval MSG_TIMEOUT if the semaphore has not been signaled or reset
|
||
|
|
* within the specified timeout.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chSemWaitTimeoutS(&sem, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a signal operation on a semaphore.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void signal(void) {
|
||
|
|
|
||
|
|
chSemSignal(&sem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a signal operation on a semaphore.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel. Note
|
||
|
|
* that interrupt handlers always reschedule on exit so an
|
||
|
|
* explicit reschedule must not be performed in ISRs.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void signalI(void) {
|
||
|
|
|
||
|
|
chSemSignalI(&sem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Adds the specified value to the semaphore counter.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel. Note
|
||
|
|
* that interrupt handlers always reschedule on exit so an explicit
|
||
|
|
* reschedule must not be performed in ISRs.
|
||
|
|
*
|
||
|
|
* @param[in] n value to be added to the semaphore counter. The
|
||
|
|
* value must be positive.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void addCounterI(cnt_t n) {
|
||
|
|
|
||
|
|
chSemAddCounterI(&sem, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the semaphore counter value.
|
||
|
|
*
|
||
|
|
* @return The semaphore counter value.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
cnt_t getCounterI(void) const {
|
||
|
|
|
||
|
|
return chSemGetCounterI(&sem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Atomic signal and wait operations.
|
||
|
|
*
|
||
|
|
* @param[in] ssem @p Semaphore object to be signaled
|
||
|
|
* @param[in] wsem @p Semaphore object to wait on
|
||
|
|
* @return A message specifying how the invoking thread
|
||
|
|
* has been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the thread has not stopped on the semaphore
|
||
|
|
* or the semaphore has been signaled.
|
||
|
|
* @retval MSG_RESET if the semaphore has been reset using
|
||
|
|
* @p chSemReset().
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
static msg_t signalWait(CounterSemaphore *ssem,
|
||
|
|
CounterSemaphore *wsem) {
|
||
|
|
|
||
|
|
return chSemSignalWait(&ssem->sem, &wsem->sem);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::BinarySemaphore *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a binary semaphore.
|
||
|
|
*/
|
||
|
|
class BinarySemaphore : public SynchronizationObject {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p binary_semaphore_t structure.
|
||
|
|
*/
|
||
|
|
binary_semaphore_t bsem;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief BinarySemaphore constructor.
|
||
|
|
* @details The embedded @p ::BinarySemaphore structure is initialized.
|
||
|
|
*
|
||
|
|
* @param[in] taken initial state of the binary semaphore:
|
||
|
|
* - @a false, the initial state is not taken.
|
||
|
|
* - @a true, the initial state is taken.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
BinarySemaphore(bool taken) {
|
||
|
|
|
||
|
|
chBSemObjectInit(&bsem, taken);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wait operation on the binary semaphore.
|
||
|
|
*
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the binary semaphore has been successfully
|
||
|
|
* taken.
|
||
|
|
* @retval MSG_RESET if the binary semaphore has been reset using
|
||
|
|
* @p bsemReset().
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(void) {
|
||
|
|
|
||
|
|
return chBSemWait(&bsem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wait operation on the binary semaphore.
|
||
|
|
*
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the binary semaphore has been successfully
|
||
|
|
* taken.
|
||
|
|
* @retval MSG_RESET if the binary semaphore has been reset using
|
||
|
|
* @p bsemReset().
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(void) {
|
||
|
|
|
||
|
|
return chBSemWaitS(&bsem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wait operation on the binary semaphore.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the binary semaphore has been successfully
|
||
|
|
* taken.
|
||
|
|
* @retval MSG_RESET if the binary semaphore has been reset using
|
||
|
|
* @p bsemReset().
|
||
|
|
* @retval MSG_TIMEOUT if the binary semaphore has not been signaled
|
||
|
|
* or reset within the specified timeout.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chBSemWaitTimeout(&bsem, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Wait operation on the binary semaphore.
|
||
|
|
*
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the semaphore.
|
||
|
|
* @retval MSG_OK if the binary semaphore has been successfully
|
||
|
|
* taken.
|
||
|
|
* @retval MSG_RESET if the binary semaphore has been reset using
|
||
|
|
* @p bsemReset().
|
||
|
|
* @retval MSG_TIMEOUT if the binary semaphore has not been signaled
|
||
|
|
* or reset within the specified timeout.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chBSemWaitTimeoutS(&bsem, timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Reset operation on the binary semaphore.
|
||
|
|
* @note The released threads can recognize they were waked up by a
|
||
|
|
* reset rather than a signal because the @p bsemWait() will
|
||
|
|
* return @p MSG_RESET instead of @p MSG_OK.
|
||
|
|
*
|
||
|
|
* @param[in] taken new state of the binary semaphore
|
||
|
|
* - @a FALSE, the new state is not taken.
|
||
|
|
* - @a TRUE, the new state is taken.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void reset(bool taken) {
|
||
|
|
|
||
|
|
chBSemReset(&bsem, taken);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Reset operation on the binary semaphore.
|
||
|
|
* @note The released threads can recognize they were waked up by a
|
||
|
|
* reset rather than a signal because the @p bsemWait() will
|
||
|
|
* return @p MSG_RESET instead of @p MSG_OK.
|
||
|
|
* @note This function does not reschedule.
|
||
|
|
*
|
||
|
|
* @param[in] taken new state of the binary semaphore
|
||
|
|
* - @a FALSE, the new state is not taken.
|
||
|
|
* - @a TRUE, the new state is taken.
|
||
|
|
* .
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void resetI(bool taken) {
|
||
|
|
|
||
|
|
chBSemResetI(&bsem, taken);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a signal operation on a binary semaphore.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void signal(void) {
|
||
|
|
|
||
|
|
chBSemSignal(&bsem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Performs a signal operation on a binary semaphore.
|
||
|
|
* @note This function does not reschedule.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void signalI(void) {
|
||
|
|
|
||
|
|
chBSemSignalI(&bsem);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the binary semaphore current state.
|
||
|
|
*
|
||
|
|
* @return The binary semaphore current state.
|
||
|
|
* @retval false if the binary semaphore is not taken.
|
||
|
|
* @retval true if the binary semaphore is taken.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
bool getStateI(void) const {
|
||
|
|
|
||
|
|
return (bool)chBSemGetStateI(&bsem);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Mutex *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a mutex.
|
||
|
|
*/
|
||
|
|
class Mutex : public SynchronizationObject {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p mutex_t structure.
|
||
|
|
*/
|
||
|
|
mutex_t mutex;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Mutex object constructor.
|
||
|
|
* @details The embedded @p mutex_t structure is initialized.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
Mutex(void) {
|
||
|
|
|
||
|
|
chMtxObjectInit(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Tries to lock a mutex.
|
||
|
|
* @details This function attempts to lock a mutex, if the mutex is already
|
||
|
|
* locked by another thread then the function exits without
|
||
|
|
* waiting.
|
||
|
|
* @post The mutex is locked and inserted in the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
* @note This function does not have any overhead related to the
|
||
|
|
* priority inheritance mechanism because it does not try to
|
||
|
|
* enter a sleep state.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval TRUE if the mutex has been successfully acquired
|
||
|
|
* @retval FALSE if the lock attempt failed.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
bool tryLock(void) {
|
||
|
|
|
||
|
|
return chMtxTryLock(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Tries to lock a mutex.
|
||
|
|
* @details This function attempts to lock a mutex, if the mutex is already
|
||
|
|
* taken by another thread then the function exits without
|
||
|
|
* waiting.
|
||
|
|
* @post The mutex is locked and inserted in the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
* @note This function does not have any overhead related to the
|
||
|
|
* priority inheritance mechanism because it does not try to
|
||
|
|
* enter a sleep state.
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval TRUE if the mutex has been successfully acquired
|
||
|
|
* @retval FALSE if the lock attempt failed.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
bool tryLockS(void) {
|
||
|
|
|
||
|
|
return chMtxTryLockS(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Locks the specified mutex.
|
||
|
|
* @post The mutex is locked and inserted in the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void lock(void) {
|
||
|
|
|
||
|
|
chMtxLock(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Locks the specified mutex.
|
||
|
|
* @post The mutex is locked and inserted in the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
void lockS(void) {
|
||
|
|
|
||
|
|
chMtxLockS(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unlocks the next owned mutex in reverse lock order.
|
||
|
|
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||
|
|
* @post The mutex is unlocked and removed from the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void unlock(void) {
|
||
|
|
|
||
|
|
chMtxUnlock(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unlocks the next owned mutex in reverse lock order.
|
||
|
|
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||
|
|
* @post The mutex is unlocked and removed from the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
void unlockS(void) {
|
||
|
|
|
||
|
|
chMtxUnlockS(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unlocks the next owned mutex in reverse lock order.
|
||
|
|
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||
|
|
* @post The mutex is unlocked and removed from the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
*
|
||
|
|
* @return A pointer to the unlocked mutex.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void unlockMutex(void) {
|
||
|
|
|
||
|
|
chMtxUnlock(&mutex);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unlocks the next owned mutex in reverse lock order.
|
||
|
|
* @pre The invoking thread <b>must</b> have at least one owned mutex.
|
||
|
|
* @post The mutex is unlocked and removed from the per-thread stack of
|
||
|
|
* owned mutexes.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel.
|
||
|
|
*
|
||
|
|
* @return A pointer to the unlocked mutex.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
void unlockMutexS(void) {
|
||
|
|
|
||
|
|
chMtxUnlockS(&mutex);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::MutexLocker *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief RAII helper for mutexes.
|
||
|
|
*/
|
||
|
|
class MutexLocker
|
||
|
|
{
|
||
|
|
Mutex& mutex;
|
||
|
|
|
||
|
|
public:
|
||
|
|
MutexLocker(Mutex& m) : mutex(m) {
|
||
|
|
|
||
|
|
mutex.lock();
|
||
|
|
}
|
||
|
|
|
||
|
|
~MutexLocker() {
|
||
|
|
|
||
|
|
mutex.unlock();
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_CONDVARS == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Monitor *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Template class to be used for implementing a monitor.
|
||
|
|
*/
|
||
|
|
template <unsigned N>
|
||
|
|
class Monitor: protected Mutex {
|
||
|
|
condition_variable_t condvars[N];
|
||
|
|
|
||
|
|
protected:
|
||
|
|
/**
|
||
|
|
* @brief Waits on the condition variable releasing the mutex lock.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the condition variable.
|
||
|
|
* @retval MSG_OK if the condition variable has been signaled using
|
||
|
|
* @p signal().
|
||
|
|
* @retval MSG_RESET if the condition variable has been signaled using
|
||
|
|
* @p broadcast().
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
return chCondWait(&condvars[var]);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits on the condition variable releasing the mutex lock.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
* @return A message specifying how the invoking thread has
|
||
|
|
* been released from the condition variable.
|
||
|
|
* @retval MSG_OK if the condition variable has been signaled using
|
||
|
|
* @p signal().
|
||
|
|
* @retval MSG_RESET if the condition variable has been signaled using
|
||
|
|
* @p broadcast().
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
return chCondWaitS(&condvars[var]);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_CONDVARS_TIMEOUT == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/**
|
||
|
|
* @brief Waits on the CondVar while releasing the controlling mutex.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
* @param[in] timeout the number of ticks before the operation fails
|
||
|
|
* @return The wakep mode.
|
||
|
|
* @retval MSG_OK if the condition variable was signaled using
|
||
|
|
* @p signal().
|
||
|
|
* @retval MSG_RESET if the condition variable was signaled using
|
||
|
|
* @p broadcast().
|
||
|
|
* @retval MSG_TIMEOUT if the condition variable was not signaled
|
||
|
|
* within the specified timeout.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t wait(unsigned var, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
return chCondWaitTimeout(&condvars[var], timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Waits on the CondVar while releasing the controlling mutex.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
* @param[in] timeout the number of ticks before the operation fails
|
||
|
|
* @return The wakep mode.
|
||
|
|
* @retval MSG_OK if the condition variable was signaled using
|
||
|
|
* @p signal().
|
||
|
|
* @retval MSG_RESET if the condition variable was signaled using
|
||
|
|
* @p broadcast().
|
||
|
|
* @retval MSG_TIMEOUT if the condition variable was not signaled
|
||
|
|
* within the specified timeout.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t waitS(unsigned var, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
return chCondWaitTimeoutS(&condvars[var], timeout);
|
||
|
|
}
|
||
|
|
#endif /* CH_CFG_USE_CONDVARS_TIMEOUT == TRUE */
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Monitor object constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
Monitor(void) : Mutex() {
|
||
|
|
|
||
|
|
for (unsigned i = 0; i < N; i++) {
|
||
|
|
chCondObjectInit(&condvars[i]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Signals one thread that is waiting on the condition variable.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void signal(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
chCondSignal(&condvars[var]);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Signals one thread that is waiting on the condition variable.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel. Note
|
||
|
|
* that interrupt handlers always reschedule on exit so an
|
||
|
|
* explicit reschedule must not be performed in ISRs.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void signalI(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
chCondSignalI(&condvars[var]);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Signals all threads that are waiting on the condition variable.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void broadcast(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
chCondBroadcast(&condvars[var]);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Signals all threads that are waiting on the condition variable.
|
||
|
|
* @post This function does not reschedule so a call to a rescheduling
|
||
|
|
* function must be performed before unlocking the kernel. Note
|
||
|
|
* that interrupt handlers always reschedule on exit so an
|
||
|
|
* explicit reschedule must not be performed in ISRs.
|
||
|
|
*
|
||
|
|
* @param[in] var the condition variable index
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void broadcastI(unsigned var) {
|
||
|
|
|
||
|
|
chDbgCheck(var < N);
|
||
|
|
|
||
|
|
chCondBroadcastI(&condvars[var]);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif /* CH_CFG_USE_CONDVARS == TRUE */
|
||
|
|
#endif /* CH_CFG_USE_MUTEXES == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::EvtListener *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating an event listener.
|
||
|
|
*/
|
||
|
|
class EventListener {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p event_listener_t structure.
|
||
|
|
*/
|
||
|
|
event_listener_t ev_listener;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the pending flags from the listener and clears them.
|
||
|
|
*
|
||
|
|
* @return The flags added to the listener by the
|
||
|
|
* associated event source.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
eventflags_t getAndClearFlags(void) {
|
||
|
|
|
||
|
|
return chEvtGetAndClearFlags(&ev_listener);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the flags associated to an @p event_listener_t.
|
||
|
|
* @details The flags are returned and the @p event_listener_t flags mask is
|
||
|
|
* cleared.
|
||
|
|
*
|
||
|
|
* @return The flags added to the listener by the associated
|
||
|
|
* event source.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
eventflags_t getAndClearFlagsI(void) {
|
||
|
|
|
||
|
|
return chEvtGetAndClearFlagsI(&ev_listener);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::EvtSource *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating an event source.
|
||
|
|
*/
|
||
|
|
class EventSource {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p event_source_t structure.
|
||
|
|
*/
|
||
|
|
event_source_t ev_source;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief EvtSource object constructor.
|
||
|
|
* @details The embedded @p event_source_t structure is initialized.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
EventSource(void) {
|
||
|
|
|
||
|
|
chEvtObjectInit(&ev_source);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Registers a listener on the event source.
|
||
|
|
*
|
||
|
|
* @param[in] elp pointer to the @p EvtListener object
|
||
|
|
* @param[in] eid numeric identifier assigned to the Event
|
||
|
|
* Listener
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void registerOne(EventListener *elp,
|
||
|
|
eventid_t eid) {
|
||
|
|
|
||
|
|
chEvtRegister(&ev_source, &elp->ev_listener, eid);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Registers an Event Listener on an Event Source.
|
||
|
|
* @note Multiple Event Listeners can specify the same bits to be added.
|
||
|
|
*
|
||
|
|
* @param[in] elp pointer to the @p EvtListener object
|
||
|
|
* @param[in] emask the mask of event flags to be pended to the
|
||
|
|
* thread when the event source is broadcasted
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void registerMask(EventListener *elp,
|
||
|
|
eventmask_t emask) {
|
||
|
|
|
||
|
|
chEvtRegisterMask(&ev_source, &elp->ev_listener, emask);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Unregisters a listener.
|
||
|
|
* @details The specified listeners is no more signaled by the event
|
||
|
|
* source.
|
||
|
|
*
|
||
|
|
* @param[in] elp the listener to be unregistered
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void unregister(EventListener *elp) {
|
||
|
|
|
||
|
|
chEvtUnregister(&ev_source, &elp->ev_listener);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Broadcasts on an event source.
|
||
|
|
* @details All the listeners registered on the event source are signaled
|
||
|
|
* and the flags are added to the listener's flags mask.
|
||
|
|
*
|
||
|
|
* @param[in] flags the flags set to be added to the listener
|
||
|
|
* flags mask
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void broadcastFlags(eventflags_t flags) {
|
||
|
|
|
||
|
|
chEvtBroadcastFlags(&ev_source, flags);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Broadcasts on an event source.
|
||
|
|
* @details All the listeners registered on the event source are signaled
|
||
|
|
* and the flags are added to the listener's flags mask.
|
||
|
|
*
|
||
|
|
* @param[in] flags the flags set to be added to the listener
|
||
|
|
* flags mask
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void broadcastFlagsI(eventflags_t flags) {
|
||
|
|
|
||
|
|
chEvtBroadcastFlagsI(&ev_source, flags);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_EVENTS == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Mailbox *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Base mailbox class.
|
||
|
|
*
|
||
|
|
* @param T type of objects that mailbox able to handle
|
||
|
|
*/
|
||
|
|
template <typename T>
|
||
|
|
class MailboxBase {
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p mailbox_t structure.
|
||
|
|
*/
|
||
|
|
mailbox_t mb;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Mailbox constructor.
|
||
|
|
* @details The embedded @p mailbox_t structure is initialized.
|
||
|
|
*
|
||
|
|
* @param[in] buf pointer to the messages buffer as an array of
|
||
|
|
* @p msg_t
|
||
|
|
* @param[in] n number of elements in the buffer array
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
MailboxBase(msg_t *buf, cnt_t n) {
|
||
|
|
|
||
|
|
chMBObjectInit(&mb, buf, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Resets a Mailbox object.
|
||
|
|
* @details All the waiting threads are resumed with status @p MSG_RESET
|
||
|
|
* and the queued messages are lost.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void reset(void) {
|
||
|
|
|
||
|
|
chMBReset(&mb);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Terminates the reset state.
|
||
|
|
*
|
||
|
|
* @xclass
|
||
|
|
*/
|
||
|
|
void resumeX(void) {
|
||
|
|
|
||
|
|
chMBResumeX(&mb);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts a message into a mailbox.
|
||
|
|
* @details The invoking thread waits until a empty slot in the mailbox
|
||
|
|
* becomes available or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t post(T msg, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBPostTimeout(&mb, reinterpret_cast<msg_t>(msg), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts a message into a mailbox.
|
||
|
|
* @details The invoking thread waits until a empty slot in the mailbox
|
||
|
|
* becomes available or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t postS(T msg, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBPostTimeoutS(&mb, reinterpret_cast<msg_t>(msg), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts a message into a mailbox.
|
||
|
|
* @details This variant is non-blocking, the function returns a timeout
|
||
|
|
* condition if the queue is full.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
|
||
|
|
* posted.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
msg_t postI(T msg) {
|
||
|
|
|
||
|
|
return chMBPostI(&mb, reinterpret_cast<msg_t>(msg));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts an high priority message into a mailbox.
|
||
|
|
* @details The invoking thread waits until a empty slot in the mailbox
|
||
|
|
* becomes available or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t postAhead(T msg, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBPostAheadTimeout(&mb, reinterpret_cast<msg_t>(msg), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts an high priority message into a mailbox.
|
||
|
|
* @details The invoking thread waits until a empty slot in the mailbox
|
||
|
|
* becomes available or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @param[in] timeout the number of ticks before the operation timeouts,
|
||
|
|
* the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t postAheadS(T msg, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBPostAheadTimeoutS(&mb, reinterpret_cast<msg_t>(msg), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Posts an high priority message into a mailbox.
|
||
|
|
* @details This variant is non-blocking, the function returns a timeout
|
||
|
|
* condition if the queue is full.
|
||
|
|
*
|
||
|
|
* @param[in] msg the message to be posted on the mailbox
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly posted.
|
||
|
|
* @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
|
||
|
|
* posted.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
msg_t postAheadI(T msg) {
|
||
|
|
|
||
|
|
return chMBPostAheadI(&mb, reinterpret_cast<msg_t>(msg));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves a message from a mailbox.
|
||
|
|
* @details The invoking thread waits until a message is posted in the
|
||
|
|
* mailbox or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[out] msgp pointer to a message variable for the received
|
||
|
|
* @param[in] timeout message the number of ticks before the operation
|
||
|
|
* timeouts, the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly fetched.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
msg_t fetch(T *msgp, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBFetchTimeout(&mb, reinterpret_cast<msg_t*>(msgp), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves a message from a mailbox.
|
||
|
|
* @details The invoking thread waits until a message is posted in the
|
||
|
|
* mailbox or the specified time runs out.
|
||
|
|
*
|
||
|
|
* @param[out] msgp pointer to a message variable for the received
|
||
|
|
* @param[in] timeout message the number of ticks before the operation
|
||
|
|
* timeouts, the following special values are allowed:
|
||
|
|
* - @a TIME_IMMEDIATE immediate timeout.
|
||
|
|
* - @a TIME_INFINITE no timeout.
|
||
|
|
* .
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly fetched.
|
||
|
|
* @retval MSG_RESET if the mailbox has been reset while waiting.
|
||
|
|
* @retval MSG_TIMEOUT if the operation has timed out.
|
||
|
|
*
|
||
|
|
* @sclass
|
||
|
|
*/
|
||
|
|
msg_t fetchS(T *msgp, sysinterval_t timeout) {
|
||
|
|
|
||
|
|
return chMBFetchTimeoutS(&mb, reinterpret_cast<msg_t*>(msgp), timeout);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Retrieves a message from a mailbox.
|
||
|
|
* @details This variant is non-blocking, the function returns a timeout
|
||
|
|
* condition if the queue is empty.
|
||
|
|
*
|
||
|
|
* @param[out] msgp pointer to a message variable for the received
|
||
|
|
* message
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval MSG_OK if a message has been correctly fetched.
|
||
|
|
* @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be
|
||
|
|
* fetched.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
msg_t fetchI(T *msgp) {
|
||
|
|
|
||
|
|
return chMBFetchI(&mb, reinterpret_cast<msg_t*>(msgp));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the next message in the queue without removing it.
|
||
|
|
* @pre A message must be waiting in the queue for this function to work
|
||
|
|
* or it would return garbage. The correct way to use this macro is
|
||
|
|
* to use @p getUsedCountI() and then use this macro, all within
|
||
|
|
* a lock state.
|
||
|
|
*
|
||
|
|
* @return The next message in queue.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
T peekI(const mailbox_t *mbp) const {
|
||
|
|
|
||
|
|
return chMBPeekI(&mb);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the number of free message slots into a mailbox.
|
||
|
|
* @note Can be invoked in any system state but if invoked out of a
|
||
|
|
* locked state then the returned value may change after reading.
|
||
|
|
* @note The returned value can be less than zero when there are waiting
|
||
|
|
* threads on the internal semaphore.
|
||
|
|
*
|
||
|
|
* @return The number of empty message slots.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
cnt_t getFreeCountI(void) const {
|
||
|
|
|
||
|
|
return chMBGetFreeCountI(&mb);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the number of used message slots into a mailbox.
|
||
|
|
* @note Can be invoked in any system state but if invoked out of a
|
||
|
|
* locked state then the returned value may change after reading.
|
||
|
|
* @note The returned value can be less than zero when there are waiting
|
||
|
|
* threads on the internal semaphore.
|
||
|
|
*
|
||
|
|
* @return The number of queued messages.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
cnt_t getUsedCountI(void) const {
|
||
|
|
|
||
|
|
return chMBGetUsedCountI(&mb);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Mailbox *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Template class encapsulating a mailbox and its messages buffer.
|
||
|
|
*
|
||
|
|
* @param N length of the mailbox buffer
|
||
|
|
*/
|
||
|
|
template <typename T, int N>
|
||
|
|
class Mailbox : public MailboxBase<T> {
|
||
|
|
|
||
|
|
static_assert(sizeof(T) <= sizeof(msg_t),
|
||
|
|
"Mailbox type does not fit in msg_t");
|
||
|
|
|
||
|
|
private:
|
||
|
|
msg_t mb_buf[N];
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Mailbox constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
Mailbox(void) :
|
||
|
|
MailboxBase<T>(mb_buf, (cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_MAILBOXES == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::MemoryPool *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a memory pool.
|
||
|
|
*/
|
||
|
|
class MemoryPool {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p memory_pool_t structure.
|
||
|
|
*/
|
||
|
|
memory_pool_t pool;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief MemoryPool constructor.
|
||
|
|
*
|
||
|
|
* @param[in] size the size of the objects contained in this memory
|
||
|
|
* pool, the minimum accepted size is the size of
|
||
|
|
* a pointer to void.
|
||
|
|
* @param[in] provider memory provider function for the memory pool or
|
||
|
|
* @p nullptr if the pool is not allowed to grow
|
||
|
|
* automatically
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
MemoryPool(size_t size, memgetfunc_t provider=0) : pool() {
|
||
|
|
|
||
|
|
chPoolObjectInit(&pool, size, provider);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief MemoryPool constructor.
|
||
|
|
*
|
||
|
|
* @param[in] size the size of the objects contained in this memory
|
||
|
|
* pool, the minimum accepted size is the size of
|
||
|
|
* a pointer to void.
|
||
|
|
* @param[in] provider memory provider function for the memory pool or
|
||
|
|
* @p nullptr if the pool is not allowed to grow
|
||
|
|
* automatically
|
||
|
|
* @param[in] p pointer to the array first element
|
||
|
|
* @param[in] n number of elements in the array
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
MemoryPool(size_t size, void* p, size_t n,
|
||
|
|
memgetfunc_t provider=0) : pool() {
|
||
|
|
|
||
|
|
chPoolObjectInit(&pool, size, provider);
|
||
|
|
chPoolLoadArray(&pool, p, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Prohibit copy construction and assignment, but allow move.*/
|
||
|
|
MemoryPool(const MemoryPool &) = delete;
|
||
|
|
MemoryPool &operator=(const MemoryPool &) = delete;
|
||
|
|
MemoryPool(MemoryPool &&) = default;
|
||
|
|
MemoryPool &operator=(MemoryPool &&) = default;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Loads a memory pool with an array of static objects.
|
||
|
|
* @pre The memory pool must be already been initialized.
|
||
|
|
* @pre The array elements must be of the right size for the specified
|
||
|
|
* memory pool.
|
||
|
|
* @post The memory pool contains the elements of the input array.
|
||
|
|
*
|
||
|
|
* @param[in] p pointer to the array first element
|
||
|
|
* @param[in] n number of elements in the array
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void loadArray(void *p, size_t n) {
|
||
|
|
|
||
|
|
chPoolLoadArray(&pool, p, n);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Allocates an object from a memory pool.
|
||
|
|
* @pre The memory pool must be already been initialized.
|
||
|
|
*
|
||
|
|
* @return The pointer to the allocated object.
|
||
|
|
* @retval nullptr if pool is empty.
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void *allocI(void) {
|
||
|
|
|
||
|
|
return chPoolAllocI(&pool);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Allocates an object from a memory pool.
|
||
|
|
* @pre The memory pool must be already been initialized.
|
||
|
|
*
|
||
|
|
* @return The pointer to the allocated object.
|
||
|
|
* @retval nullptr if pool is empty.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void *alloc(void) {
|
||
|
|
|
||
|
|
return chPoolAlloc(&pool);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Releases an object into a memory pool.
|
||
|
|
* @pre The memory pool must be already been initialized.
|
||
|
|
* @pre The freed object must be of the right size for the specified
|
||
|
|
* memory pool.
|
||
|
|
* @pre The object must be properly aligned to contain a pointer to
|
||
|
|
* void.
|
||
|
|
*
|
||
|
|
* @param[in] objp the pointer to the object to be released
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void free(void *objp) {
|
||
|
|
|
||
|
|
chPoolFree(&pool, objp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Adds an object to a memory pool.
|
||
|
|
* @pre The memory pool must be already been initialized.
|
||
|
|
* @pre The added object must be of the right size for the specified
|
||
|
|
* memory pool.
|
||
|
|
* @pre The added object must be memory aligned to the size of
|
||
|
|
* @p stkalign_t type.
|
||
|
|
* @note This function is just an alias for @p chPoolFree() and has been
|
||
|
|
* added for clarity.
|
||
|
|
*
|
||
|
|
* @param[in] objp the pointer to the object to be added
|
||
|
|
*
|
||
|
|
* @iclass
|
||
|
|
*/
|
||
|
|
void freeI(void *objp) {
|
||
|
|
|
||
|
|
chPoolFreeI(&pool, objp);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::ObjectsPool *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Template class encapsulating a memory pool and its elements.
|
||
|
|
*/
|
||
|
|
template<class T, size_t N>
|
||
|
|
class ObjectsPool : public MemoryPool {
|
||
|
|
/* The buffer is declared as an array of pointers to void for two
|
||
|
|
reasons:
|
||
|
|
1) The objects must be properly aligned to hold a pointer as
|
||
|
|
first field.
|
||
|
|
2) Objects are dirtied when loaded in the pool.*/
|
||
|
|
void *pool_buf[(N * sizeof (T)) / sizeof (void *)];
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief ObjectsPool constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ObjectsPool(void) : MemoryPool(sizeof (T), nullptr) {
|
||
|
|
|
||
|
|
loadArray(pool_buf, N);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::ThreadsPool *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Template class encapsulating a pool of threads.
|
||
|
|
*/
|
||
|
|
template<size_t S, size_t N, const char *C>
|
||
|
|
class ThreadsPool : public BaseDynamicThread {
|
||
|
|
THD_WORKING_AREA(working_areas, S)[N];
|
||
|
|
MemoryPool threads_pool;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief ThreadsPool constructor.
|
||
|
|
*
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
ThreadsPool(void) : threads_pool(THD_WORKING_AREA_SIZE(S)) {
|
||
|
|
|
||
|
|
threads_pool.loadArray(working_areas, N);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Starts a dynamic thread from the pool.
|
||
|
|
*
|
||
|
|
* @param[in] prio thread priority
|
||
|
|
* @return A reference to the created thread with
|
||
|
|
* reference counter set to one.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
ThreadReference start(tprio_t prio) override {
|
||
|
|
void _thd_start(void *arg);
|
||
|
|
|
||
|
|
return ThreadReference(chThdCreateFromMemoryPool(&threads_pool.pool,
|
||
|
|
C,
|
||
|
|
prio,
|
||
|
|
_thd_start,
|
||
|
|
this));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
|
||
|
|
|
||
|
|
#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::Heap *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Class encapsulating a heap.
|
||
|
|
*/
|
||
|
|
class Heap {
|
||
|
|
/**
|
||
|
|
* @brief Embedded @p memory_heap_t structure.
|
||
|
|
*/
|
||
|
|
memory_heap_t heap;
|
||
|
|
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Heap constructor.
|
||
|
|
* @pre Both the heap buffer base and the heap size must be aligned to
|
||
|
|
* the @p stkalign_t type size.
|
||
|
|
*
|
||
|
|
* @param[in] buffer heap buffer base
|
||
|
|
* @param[in] size the size of the memory area located at \e buffer
|
||
|
|
* @init
|
||
|
|
*/
|
||
|
|
Heap(void *buffer, const size_t size) : heap() {
|
||
|
|
|
||
|
|
chHeapObjectInit(&heap, buffer, size);
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Prohibit copy construction and assignment, but allow move.*/
|
||
|
|
Heap(const Heap &) = delete;
|
||
|
|
Heap &operator=(const Heap &) = delete;
|
||
|
|
Heap(Heap &&) = default;
|
||
|
|
Heap &operator=(Heap &&) = default;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Allocates an object from a heap.
|
||
|
|
* @pre The heap must be already been initialized.
|
||
|
|
*
|
||
|
|
* @return The pointer to the allocated object.
|
||
|
|
* @retval nullptr if pool is empty.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void *alloc(const size_t size) {
|
||
|
|
|
||
|
|
return chHeapAlloc(&heap, size);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Releases an object into the heap.
|
||
|
|
*
|
||
|
|
* @param[in] objp the pointer to the object to be released
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
void free(void *objp) {
|
||
|
|
|
||
|
|
chHeapFree(objp);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Reports the heap status.
|
||
|
|
*
|
||
|
|
* @param[out] frag the size of total fragmented free space
|
||
|
|
* @param[in] largestp pointer to a variable that will receive the largest
|
||
|
|
* free free block found space or @p nullptr
|
||
|
|
* @return the number of fragments in the heap
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
size_t status(size_t &frag, size_t *largestp=0) {
|
||
|
|
|
||
|
|
return chHeapStatus(&heap, &frag, largestp);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
|
||
|
|
|
||
|
|
/*------------------------------------------------------------------------*
|
||
|
|
* chibios_rt::BaseSequentialStreamInterface *
|
||
|
|
*------------------------------------------------------------------------*/
|
||
|
|
/**
|
||
|
|
* @brief Interface of a BaseSequentialStream.
|
||
|
|
* @note You can cast a BaseSequentialStream to this interface and use
|
||
|
|
* it, the memory layout is the same.
|
||
|
|
*/
|
||
|
|
class BaseSequentialStreamInterface {
|
||
|
|
public:
|
||
|
|
/**
|
||
|
|
* @brief Sequential Stream write.
|
||
|
|
* @details The function writes data from a buffer to a stream.
|
||
|
|
*
|
||
|
|
* @param[in] bp pointer to the data buffer
|
||
|
|
* @param[in] n the maximum amount of data to be transferred
|
||
|
|
* @return The number of bytes transferred. The return value
|
||
|
|
* can be less than the specified number of bytes if
|
||
|
|
* an end-of-file condition has been met.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual size_t write(const uint8_t *bp, const size_t n) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Sequential Stream read.
|
||
|
|
* @details The function reads data from a stream into a buffer.
|
||
|
|
*
|
||
|
|
* @param[out] bp pointer to the data buffer
|
||
|
|
* @param[in] n the maximum amount of data to be transferred
|
||
|
|
* @return The number of bytes transferred. The return value
|
||
|
|
* can be less than the specified number of bytes if
|
||
|
|
* an end-of-file condition has been met.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual size_t read(uint8_t *bp, const size_t n) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Sequential Stream blocking byte write.
|
||
|
|
* @details This function writes a byte value to a channel. If the channel
|
||
|
|
* is not ready to accept data then the calling thread is
|
||
|
|
* suspended.
|
||
|
|
*
|
||
|
|
* @param[in] b the byte value to be written to the channel
|
||
|
|
*
|
||
|
|
* @return The operation status.
|
||
|
|
* @retval Q_OK if the operation succeeded.
|
||
|
|
* @retval Q_RESET if an end-of-file condition has been met.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual msg_t put(const uint8_t b) = 0;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Sequential Stream blocking byte read.
|
||
|
|
* @details This function reads a byte value from a channel. If the data
|
||
|
|
* is not available then the calling thread is suspended.
|
||
|
|
*
|
||
|
|
* @return A byte value from the queue.
|
||
|
|
* @retval Q_RESET if an end-of-file condition has been met.
|
||
|
|
*
|
||
|
|
* @api
|
||
|
|
*/
|
||
|
|
virtual msg_t get(void) = 0;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* _CH_HPP_ */
|
||
|
|
|
||
|
|
/** @} */
|