diff options
| author | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
|---|---|---|
| committer | Clyne Sullivan <clyne@bitgloo.com> | 2021-01-22 21:43:36 -0500 |
| commit | 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 (patch) | |
| tree | c14713aedfe78ee8b34f2e1252408782e2e2ff5d /ChibiOS_20.3.2/os/rt/src | |
| parent | e080a26651f90c88176140d63a74c93c2f4041a2 (diff) | |
upload initial port
Diffstat (limited to 'ChibiOS_20.3.2/os/rt/src')
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chcond.c | 321 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chdebug.c | 257 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chdynamic.c | 185 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chevents.c | 603 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chmsg.c | 221 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chmtx.c | 537 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chregistry.c | 268 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chschd.c | 610 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chsem.c | 405 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chstats.c | 126 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chsys.c | 445 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chthreads.c | 906 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chtm.c | 168 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chtrace.c | 265 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/rt/src/chvt.c | 477 |
15 files changed, 5794 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/rt/src/chcond.c b/ChibiOS_20.3.2/os/rt/src/chcond.c new file mode 100644 index 0000000..bd653c3 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chcond.c @@ -0,0 +1,321 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+ Concepts and parts of this file have been contributed by Leon Woestenberg.
+ */
+
+/**
+ * @file rt/src/chcond.c
+ * @brief Condition Variables code.
+ *
+ * @addtogroup condvars
+ * @details This module implements the Condition Variables mechanism. Condition
+ * variables are an extensions to the mutex subsystem and cannot
+ * work alone.
+ * <h2>Operation mode</h2>
+ * The condition variable is a synchronization object meant to be
+ * used inside a zone protected by a mutex. Mutexes and condition
+ * variables together can implement a Monitor construct.
+ * @pre In order to use the condition variable APIs the @p CH_CFG_USE_CONDVARS
+ * option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_CONDVARS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes s @p condition_variable_t structure.
+ *
+ * @param[out] cp pointer to a @p condition_variable_t structure
+ *
+ * @init
+ */
+void chCondObjectInit(condition_variable_t *cp) {
+
+ chDbgCheck(cp != NULL);
+
+ queue_init(&cp->queue);
+}
+
+/**
+ * @brief Signals one thread that is waiting on the condition variable.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ *
+ * @api
+ */
+void chCondSignal(condition_variable_t *cp) {
+
+ chDbgCheck(cp != NULL);
+
+ chSysLock();
+ if (queue_notempty(&cp->queue)) {
+ chSchWakeupS(queue_fifo_remove(&cp->queue), MSG_OK);
+ }
+ chSysUnlock();
+}
+
+/**
+ * @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] cp pointer to the @p condition_variable_t structure
+ *
+ * @iclass
+ */
+void chCondSignalI(condition_variable_t *cp) {
+
+ chDbgCheckClassI();
+ chDbgCheck(cp != NULL);
+
+ if (queue_notempty(&cp->queue)) {
+ thread_t *tp = queue_fifo_remove(&cp->queue);
+ tp->u.rdymsg = MSG_OK;
+ (void) chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Signals all threads that are waiting on the condition variable.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ *
+ * @api
+ */
+void chCondBroadcast(condition_variable_t *cp) {
+
+ chSysLock();
+ chCondBroadcastI(cp);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @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] cp pointer to the @p condition_variable_t structure
+ *
+ * @iclass
+ */
+void chCondBroadcastI(condition_variable_t *cp) {
+
+ chDbgCheckClassI();
+ chDbgCheck(cp != NULL);
+
+ /* Empties the condition variable queue and inserts all the threads into the
+ ready list in FIFO order. The wakeup message is set to @p MSG_RESET in
+ order to make a chCondBroadcast() detectable from a chCondSignal().*/
+ while (queue_notempty(&cp->queue)) {
+ chSchReadyI(queue_fifo_remove(&cp->queue))->u.rdymsg = MSG_RESET;
+ }
+}
+
+/**
+ * @brief Waits on the condition variable releasing the mutex lock.
+ * @details Releases the currently owned mutex, waits on the condition
+ * variable, and finally acquires the mutex again. All the sequence
+ * is performed atomically.
+ * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ * @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 chCondSignal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p chCondBroadcast().
+ *
+ * @api
+ */
+msg_t chCondWait(condition_variable_t *cp) {
+ msg_t msg;
+
+ chSysLock();
+ msg = chCondWaitS(cp);
+ chSysUnlock();
+ return msg;
+}
+
+/**
+ * @brief Waits on the condition variable releasing the mutex lock.
+ * @details Releases the currently owned mutex, waits on the condition
+ * variable, and finally acquires the mutex again. All the sequence
+ * is performed atomically.
+ * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ * @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 chCondSignal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p chCondBroadcast().
+ *
+ * @sclass
+ */
+msg_t chCondWaitS(condition_variable_t *cp) {
+ thread_t *ctp = currp;
+ mutex_t *mp = chMtxGetNextMutexX();
+ msg_t msg;
+
+ chDbgCheckClassS();
+ chDbgCheck(cp != NULL);
+ chDbgAssert(mp != NULL, "not owning a mutex");
+
+ /* Releasing "current" mutex.*/
+ chMtxUnlockS(mp);
+
+ /* Start waiting on the condition variable, on exit the mutex is taken
+ again.*/
+ ctp->u.wtobjp = cp;
+ queue_prio_insert(ctp, &cp->queue);
+ chSchGoSleepS(CH_STATE_WTCOND);
+ msg = ctp->u.rdymsg;
+ chMtxLockS(mp);
+
+ return msg;
+}
+
+#if (CH_CFG_USE_CONDVARS_TIMEOUT == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Waits on the condition variable releasing the mutex lock.
+ * @details Releases the currently owned mutex, waits on the condition
+ * variable, and finally acquires the mutex again. All the sequence
+ * is performed atomically.
+ * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ * @pre The configuration option @p CH_CFG_USE_CONDVARS_TIMEOUT must be enabled
+ * in order to use this function.
+ * @post Exiting the function because a timeout does not re-acquire the
+ * mutex, the mutex ownership is lost.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ * @param[in] timeout the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE no timeout.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ * @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 chCondSignal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p chCondBroadcast().
+ * @retval MSG_TIMEOUT if the condition variable has not been signaled within
+ * the specified timeout.
+ *
+ * @api
+ */
+msg_t chCondWaitTimeout(condition_variable_t *cp, sysinterval_t timeout) {
+ msg_t msg;
+
+ chSysLock();
+ msg = chCondWaitTimeoutS(cp, timeout);
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @brief Waits on the condition variable releasing the mutex lock.
+ * @details Releases the currently owned mutex, waits on the condition
+ * variable, and finally acquires the mutex again. All the sequence
+ * is performed atomically.
+ * @pre The invoking thread <b>must</b> have at least one owned mutex.
+ * @pre The configuration option @p CH_CFG_USE_CONDVARS_TIMEOUT must be enabled
+ * in order to use this function.
+ * @post Exiting the function because a timeout does not re-acquire the
+ * mutex, the mutex ownership is lost.
+ *
+ * @param[in] cp pointer to the @p condition_variable_t structure
+ * @param[in] timeout the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE no timeout.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ * @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 chCondSignal().
+ * @retval MSG_RESET if the condition variable has been signaled using
+ * @p chCondBroadcast().
+ * @retval MSG_TIMEOUT if the condition variable has not been signaled within
+ * the specified timeout.
+ *
+ * @sclass
+ */
+msg_t chCondWaitTimeoutS(condition_variable_t *cp, sysinterval_t timeout) {
+ mutex_t *mp = chMtxGetNextMutexX();
+ msg_t msg;
+
+ chDbgCheckClassS();
+ chDbgCheck((cp != NULL) && (timeout != TIME_IMMEDIATE));
+ chDbgAssert(mp != NULL, "not owning a mutex");
+
+ /* Releasing "current" mutex.*/
+ chMtxUnlockS(mp);
+
+ /* Start waiting on the condition variable, on exit the mutex is taken
+ again.*/
+ currp->u.wtobjp = cp;
+ queue_prio_insert(currp, &cp->queue);
+ msg = chSchGoSleepTimeoutS(CH_STATE_WTCOND, timeout);
+ if (msg != MSG_TIMEOUT) {
+ chMtxLockS(mp);
+ }
+
+ return msg;
+}
+#endif /* CH_CFG_USE_CONDVARS_TIMEOUT == TRUE */
+
+#endif /* CH_CFG_USE_CONDVARS == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chdebug.c b/ChibiOS_20.3.2/os/rt/src/chdebug.c new file mode 100644 index 0000000..d73950c --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chdebug.c @@ -0,0 +1,257 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chdebug.c
+ * @brief Debug support code.
+ *
+ * @addtogroup checks_assertions
+ * @details Debug APIs and services:
+ * - Runtime system state and call protocol check. The following
+ * panic messages can be generated:
+ * - SV#1, misplaced @p chSysDisable().
+ * - Called from an ISR.
+ * - Called from a critical zone.
+ * .
+ * - SV#2, misplaced @p chSysSuspend()
+ * - Called from an ISR.
+ * - Called from a critical zone.
+ * .
+ * - SV#3, misplaced @p chSysEnable().
+ * - Called from an ISR.
+ * - Called from a critical zone.
+ * .
+ * - SV#4, misplaced @p chSysLock().
+ * - Called from an ISR.
+ * - Called from a critical zone.
+ * .
+ * - SV#5, misplaced @p chSysUnlock().
+ * - Called from an ISR.
+ * - Not called from a critical zone.
+ * .
+ * - SV#6, misplaced @p chSysLockFromISR().
+ * - Not called from an ISR.
+ * - Called from a critical zone.
+ * .
+ * - SV#7, misplaced @p chSysUnlockFromISR().
+ * - Not called from an ISR.
+ * - Not called from a critical zone.
+ * .
+ * - SV#8, misplaced @p CH_IRQ_PROLOGUE().
+ * - Not called at ISR begin.
+ * - Called from a critical zone.
+ * .
+ * - SV#9, misplaced @p CH_IRQ_EPILOGUE().
+ * - @p CH_IRQ_PROLOGUE() missing.
+ * - Not called at ISR end.
+ * - Called from a critical zone.
+ * .
+ * - SV#10, misplaced I-class function.
+ * - I-class function not called from within a critical zone.
+ * .
+ * - SV#11, misplaced S-class function.
+ * - S-class function not called from within a critical zone.
+ * - Called from an ISR.
+ * .
+ * - Parameters check.
+ * - Kernel assertions.
+ * .
+ * @note Stack checks are not implemented in this module but in the port
+ * layer in an architecture-dependent way.
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Guard code for @p chSysDisable().
+ *
+ * @notapi
+ */
+void _dbg_check_disable(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#1");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysSuspend().
+ *
+ * @notapi
+ */
+void _dbg_check_suspend(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#2");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysEnable().
+ *
+ * @notapi
+ */
+void _dbg_check_enable(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#3");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysLock().
+ *
+ * @notapi
+ */
+void _dbg_check_lock(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#4");
+ }
+ _dbg_enter_lock();
+}
+
+/**
+ * @brief Guard code for @p chSysUnlock().
+ *
+ * @notapi
+ */
+void _dbg_check_unlock(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
+ chSysHalt("SV#5");
+ }
+ _dbg_leave_lock();
+}
+
+/**
+ * @brief Guard code for @p chSysLockFromIsr().
+ *
+ * @notapi
+ */
+void _dbg_check_lock_from_isr(void) {
+
+ if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#6");
+ }
+ _dbg_enter_lock();
+}
+
+/**
+ * @brief Guard code for @p chSysUnlockFromIsr().
+ *
+ * @notapi
+ */
+void _dbg_check_unlock_from_isr(void) {
+
+ if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
+ chSysHalt("SV#7");
+ }
+ _dbg_leave_lock();
+}
+
+/**
+ * @brief Guard code for @p CH_IRQ_PROLOGUE().
+ *
+ * @notapi
+ */
+void _dbg_check_enter_isr(void) {
+
+ port_lock_from_isr();
+ if ((ch.dbg.isr_cnt < (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#8");
+ }
+ ch.dbg.isr_cnt++;
+ port_unlock_from_isr();
+}
+
+/**
+ * @brief Guard code for @p CH_IRQ_EPILOGUE().
+ *
+ * @notapi
+ */
+void _dbg_check_leave_isr(void) {
+
+ port_lock_from_isr();
+ if ((ch.dbg.isr_cnt <= (cnt_t)0) || (ch.dbg.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#9");
+ }
+ ch.dbg.isr_cnt--;
+ port_unlock_from_isr();
+}
+
+/**
+ * @brief I-class functions context check.
+ * @details Verifies that the system is in an appropriate state for invoking
+ * an I-class API function. A panic is generated if the state is
+ * not compatible.
+ *
+ * @api
+ */
+void chDbgCheckClassI(void) {
+
+ if ((ch.dbg.isr_cnt < (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
+ chSysHalt("SV#10");
+ }
+}
+
+/**
+ * @brief S-class functions context check.
+ * @details Verifies that the system is in an appropriate state for invoking
+ * an S-class API function. A panic is generated if the state is
+ * not compatible.
+ *
+ * @api
+ */
+void chDbgCheckClassS(void) {
+
+ if ((ch.dbg.isr_cnt != (cnt_t)0) || (ch.dbg.lock_cnt <= (cnt_t)0)) {
+ chSysHalt("SV#11");
+ }
+}
+
+#endif /* CH_DBG_SYSTEM_STATE_CHECK == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chdynamic.c b/ChibiOS_20.3.2/os/rt/src/chdynamic.c new file mode 100644 index 0000000..a11c219 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chdynamic.c @@ -0,0 +1,185 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chdynamic.c
+ * @brief Dynamic threads code.
+ *
+ * @addtogroup dynamic_threads
+ * @details Dynamic threads related APIs and services.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_DYNAMIC == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Creates a new thread allocating the memory from the heap.
+ * @pre The configuration options @p CH_CFG_USE_DYNAMIC and
+ * @p CH_CFG_USE_HEAP must be enabled in order to use this function.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released automatically,
+ * it is responsibility of the creator thread to call @p chThdWait()
+ * and then release the allocated memory.
+ *
+ * @param[in] heapp heap from which allocate the memory or @p NULL for the
+ * default heap
+ * @param[in] size size of the working area to be allocated
+ * @param[in] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory cannot be allocated.
+ *
+ * @api
+ */
+thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
+ const char *name, tprio_t prio,
+ tfunc_t pf, void *arg) {
+ thread_t *tp;
+ void *wsp;
+
+ wsp = chHeapAllocAligned(heapp, size, PORT_WORKING_AREA_ALIGN);
+ if (wsp == NULL) {
+ return NULL;
+ }
+
+ thread_descriptor_t td = {
+ name,
+ wsp,
+ (stkalign_t *)((uint8_t *)wsp + size),
+ prio,
+ pf,
+ arg
+ };
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)wsp,
+ (uint8_t *)wsp + size,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(&td);
+ tp->flags = CH_FLAG_MODE_HEAP;
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+#endif /* CH_CFG_USE_HEAP == TRUE */
+
+#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Creates a new thread allocating the memory from the specified
+ * memory pool.
+ * @pre The configuration options @p CH_CFG_USE_DYNAMIC and
+ * @p CH_CFG_USE_MEMPOOLS must be enabled in order to use this
+ * function.
+ * @pre The pool must be initialized to contain only objects with
+ * alignment @p PORT_WORKING_AREA_ALIGN.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note The memory allocated for the thread is not released automatically,
+ * it is responsibility of the creator thread to call @p chThdWait()
+ * and then release the allocated memory.
+ *
+ * @param[in] mp pointer to the memory pool object
+ * @param[in] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ * @retval NULL if the memory pool is empty.
+ *
+ * @api
+ */
+thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, const char *name,
+ tprio_t prio, tfunc_t pf, void *arg) {
+ thread_t *tp;
+ void *wsp;
+
+ chDbgCheck(mp != NULL);
+
+ wsp = chPoolAlloc(mp);
+ if (wsp == NULL) {
+ return NULL;
+ }
+
+ thread_descriptor_t td = {
+ name,
+ wsp,
+ (stkalign_t *)((uint8_t *)wsp + mp->object_size),
+ prio,
+ pf,
+ arg
+ };
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)wsp,
+ (uint8_t *)wsp + mp->object_size,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(&td);
+ tp->flags = CH_FLAG_MODE_MPOOL;
+ tp->mpool = mp;
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
+
+#endif /* CH_CFG_USE_DYNAMIC == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chevents.c b/ChibiOS_20.3.2/os/rt/src/chevents.c new file mode 100644 index 0000000..9b84ce2 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chevents.c @@ -0,0 +1,603 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+ Concepts and parts of this file have been contributed by Scott (skute).
+ */
+
+/**
+ * @file rt/src/chevents.c
+ * @brief Events code.
+ *
+ * @addtogroup events
+ * @details Event Flags, Event Sources and Event Listeners.
+ * <h2>Operation mode</h2>
+ * Each thread has a mask of pending events inside its
+ * @p thread_t structure.
+ * Operations defined for events:
+ * - <b>Wait</b>, the invoking thread goes to sleep until a certain
+ * AND/OR combination of events are signaled.
+ * - <b>Clear</b>, a mask of events is cleared from the pending
+ * events, the cleared events mask is returned (only the
+ * events that were actually pending and then cleared).
+ * - <b>Signal</b>, an events mask is directly ORed to the mask of
+ * the signaled thread.
+ * - <b>Broadcast</b>, each thread registered on an Event Source is
+ * signaled with the events specified in its Event Listener.
+ * - <b>Dispatch</b>, an events mask is scanned and for each bit set
+ * to one an associated handler function is invoked. Bit masks are
+ * scanned from bit zero upward.
+ * .
+ * An Event Source is a special object that can be "broadcasted" by
+ * a thread or an interrupt service routine. Broadcasting an Event
+ * Source has the effect that all the threads registered on the
+ * Event Source will be signaled with an events mask.<br>
+ * An unlimited number of Event Sources can exists in a system and
+ * each thread can be listening on an unlimited number of
+ * them.
+ * @pre In order to use the Events APIs the @p CH_CFG_USE_EVENTS option
+ * must be enabled in @p chconf.h.
+ * @post Enabling events requires 1-4 (depending on the architecture)
+ * extra bytes in the @p thread_t structure.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Registers an Event Listener on an Event Source.
+ * @details Once a thread has registered as listener on an event source it
+ * will be notified of all events broadcasted there.
+ * @note Multiple Event Listeners can specify the same bits to be ORed to
+ * different threads.
+ *
+ * @param[in] esp pointer to the @p event_source_t structure
+ * @param[in] elp pointer to the @p event_listener_t structure
+ * @param[in] events events to be ORed to the thread when
+ * the event source is broadcasted
+ * @param[in] wflags mask of flags the listening thread is interested in
+ *
+ * @api
+ */
+void chEvtRegisterMaskWithFlags(event_source_t *esp,
+ event_listener_t *elp,
+ eventmask_t events,
+ eventflags_t wflags) {
+
+ chDbgCheck((esp != NULL) && (elp != NULL));
+
+ chSysLock();
+ elp->next = esp->next;
+ esp->next = elp;
+ elp->listener = currp;
+ elp->events = events;
+ elp->flags = (eventflags_t)0;
+ elp->wflags = wflags;
+ chSysUnlock();
+}
+
+/**
+ * @brief Unregisters an Event Listener from its Event Source.
+ * @note If the event listener is not registered on the specified event
+ * source then the function does nothing.
+ * @note For optimal performance it is better to perform the unregister
+ * operations in inverse order of the register operations (elements
+ * are found on top of the list).
+ *
+ * @param[in] esp pointer to the @p event_source_t structure
+ * @param[in] elp pointer to the @p event_listener_t structure
+ *
+ * @api
+ */
+void chEvtUnregister(event_source_t *esp, event_listener_t *elp) {
+ event_listener_t *p;
+
+ chDbgCheck((esp != NULL) && (elp != NULL));
+
+ /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
+ p = (event_listener_t *)esp;
+ /*lint -restore*/
+ chSysLock();
+ /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
+ while (p->next != (event_listener_t *)esp) {
+ /*lint -restore*/
+ if (p->next == elp) {
+ p->next = elp->next;
+ break;
+ }
+ p = p->next;
+ }
+ chSysUnlock();
+}
+
+/**
+ * @brief Clears the pending events specified in the events mask.
+ *
+ * @param[in] events the events to be cleared
+ * @return The mask of pending events that were cleared.
+ *
+ * @iclass
+ */
+eventmask_t chEvtGetAndClearEventsI(eventmask_t events) {
+ eventmask_t m;
+
+ m = currp->epending & events;
+ currp->epending &= ~events;
+
+ return m;
+}
+
+/**
+ * @brief Clears the pending events specified in the events mask.
+ *
+ * @param[in] events the events to be cleared
+ * @return The mask of pending events that were cleared.
+ *
+ * @api
+ */
+eventmask_t chEvtGetAndClearEvents(eventmask_t events) {
+ eventmask_t m;
+
+ chSysLock();
+ m = chEvtGetAndClearEventsI(events);
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Adds (OR) a set of events to the current thread, this is
+ * @b much faster than using @p chEvtBroadcast() or @p chEvtSignal().
+ *
+ * @param[in] events the events to be added
+ * @return The mask of currently pending events.
+ *
+ * @api
+ */
+eventmask_t chEvtAddEvents(eventmask_t events) {
+ eventmask_t newevt;
+
+ chSysLock();
+ newevt = chEvtAddEventsI(events);
+ chSysUnlock();
+
+ return newevt;
+}
+
+/**
+ * @brief Signals all the Event Listeners registered on the specified Event
+ * Source.
+ * @details This function variants ORs the specified event flags to all the
+ * threads registered on the @p event_source_t in addition to the
+ * event flags specified by the threads themselves in the
+ * @p event_listener_t objects.
+ * @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] esp pointer to the @p event_source_t structure
+ * @param[in] flags the flags set to be added to the listener flags mask
+ *
+ * @iclass
+ */
+void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
+ event_listener_t *elp;
+
+ chDbgCheckClassI();
+ chDbgCheck(esp != NULL);
+
+ elp = esp->next;
+ /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
+ while (elp != (event_listener_t *)esp) {
+ /*lint -restore*/
+ elp->flags |= flags;
+ /* When flags == 0 the thread will always be signaled because the
+ source does not emit any flag.*/
+ if ((flags == (eventflags_t)0) ||
+ ((flags & elp->wflags) != (eventflags_t)0)) {
+ chEvtSignalI(elp->listener, elp->events);
+ }
+ elp = elp->next;
+ }
+}
+
+/**
+ * @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.
+ *
+ * @param[in] elp pointer to the @p event_listener_t structure
+ * @return The flags added to the listener by the associated
+ * event source.
+ *
+ * @api
+ */
+eventflags_t chEvtGetAndClearFlags(event_listener_t *elp) {
+ eventflags_t flags;
+
+ chSysLock();
+ flags = elp->flags;
+ elp->flags = (eventflags_t)0;
+ chSysUnlock();
+
+ return flags & elp->wflags;
+}
+
+/**
+ * @brief Adds a set of event flags directly to the specified @p thread_t.
+ *
+ * @param[in] tp the thread to be signaled
+ * @param[in] events the events set to be ORed
+ *
+ * @api
+ */
+void chEvtSignal(thread_t *tp, eventmask_t events) {
+
+ chDbgCheck(tp != NULL);
+
+ chSysLock();
+ chEvtSignalI(tp, events);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Adds a set of event flags directly to the specified @p thread_t.
+ * @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] tp the thread to be signaled
+ * @param[in] events the events set to be ORed
+ *
+ * @iclass
+ */
+void chEvtSignalI(thread_t *tp, eventmask_t events) {
+
+ chDbgCheckClassI();
+ chDbgCheck(tp != NULL);
+
+ tp->epending |= events;
+ /* Test on the AND/OR conditions wait states.*/
+ if (((tp->state == CH_STATE_WTOREVT) &&
+ ((tp->epending & tp->u.ewmask) != (eventmask_t)0)) ||
+ ((tp->state == CH_STATE_WTANDEVT) &&
+ ((tp->epending & tp->u.ewmask) == tp->u.ewmask))) {
+ tp->u.rdymsg = MSG_OK;
+ (void) chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Signals all the Event Listeners registered on the specified Event
+ * Source.
+ * @details This function variants ORs the specified event flags to all the
+ * threads registered on the @p event_source_t in addition to the
+ * event flags specified by the threads themselves in the
+ * @p event_listener_t objects.
+ *
+ * @param[in] esp pointer to the @p event_source_t structure
+ * @param[in] flags the flags set to be added to the listener flags mask
+ *
+ * @api
+ */
+void chEvtBroadcastFlags(event_source_t *esp, eventflags_t flags) {
+
+ chSysLock();
+ chEvtBroadcastFlagsI(esp, flags);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Returns the unmasked flags associated to an @p event_listener_t.
+ * @details The flags are returned and the @p event_listener_t flags mask is
+ * cleared.
+ *
+ * @param[in] elp pointer to the @p event_listener_t structure
+ * @return The flags added to the listener by the associated
+ * event source.
+ *
+ * @iclass
+ */
+eventflags_t chEvtGetAndClearFlagsI(event_listener_t *elp) {
+ eventflags_t flags;
+
+ flags = elp->flags;
+ elp->flags = (eventflags_t)0;
+
+ return flags & elp->wflags;
+}
+
+/**
+ * @brief Invokes the event handlers associated to an event flags mask.
+ *
+ * @param[in] events mask of events 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
+ */
+void chEvtDispatch(const evhandler_t *handlers, eventmask_t events) {
+ eventid_t eid;
+
+ chDbgCheck(handlers != NULL);
+
+ eid = (eventid_t)0;
+ while (events != (eventmask_t)0) {
+ if ((events & EVENT_MASK(eid)) != (eventmask_t)0) {
+ chDbgAssert(handlers[eid] != NULL, "null handler");
+ events &= ~EVENT_MASK(eid);
+ handlers[eid](eid);
+ }
+ eid++;
+ }
+}
+
+#if (CH_CFG_OPTIMIZE_SPEED == TRUE) || \
+ (CH_CFG_USE_EVENTS_TIMEOUT == FALSE) || \
+ defined(__DOXYGEN__)
+/**
+ * @brief Waits for exactly one of the specified events.
+ * @details The function waits for one event among those specified in
+ * @p events to become pending then the event is cleared and 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] events events that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @return The mask of the lowest event id served and cleared.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitOne(eventmask_t events) {
+ thread_t *ctp = currp;
+ eventmask_t m;
+
+ chSysLock();
+ m = ctp->epending & events;
+ if (m == (eventmask_t)0) {
+ ctp->u.ewmask = events;
+ chSchGoSleepS(CH_STATE_WTOREVT);
+ m = ctp->epending & events;
+ }
+ m ^= m & (m - (eventmask_t)1);
+ ctp->epending &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for any of the specified events.
+ * @details The function waits for any event among those specified in
+ * @p events to become pending then the events are cleared and
+ * returned.
+ *
+ * @param[in] events events that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @return The mask of the served and cleared events.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitAny(eventmask_t events) {
+ thread_t *ctp = currp;
+ eventmask_t m;
+
+ chSysLock();
+ m = ctp->epending & events;
+ if (m == (eventmask_t)0) {
+ ctp->u.ewmask = events;
+ chSchGoSleepS(CH_STATE_WTOREVT);
+ m = ctp->epending & events;
+ }
+ ctp->epending &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for all the specified events.
+ * @details The function waits for all the events specified in @p events to
+ * become pending then the events are cleared and returned.
+ *
+ * @param[in] events events that the function should wait
+ * for, @p ALL_EVENTS requires all the events
+ * @return The mask of the served and cleared events.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitAll(eventmask_t events) {
+ thread_t *ctp = currp;
+
+ chSysLock();
+ if ((ctp->epending & events) != events) {
+ ctp->u.ewmask = events;
+ chSchGoSleepS(CH_STATE_WTANDEVT);
+ }
+ ctp->epending &= ~events;
+ chSysUnlock();
+
+ return events;
+}
+#endif /* CH_CFG_OPTIMIZE_SPEED || !CH_CFG_USE_EVENTS_TIMEOUT */
+
+#if (CH_CFG_USE_EVENTS_TIMEOUT == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Waits for exactly one of the specified events.
+ * @details The function waits for one event among those specified in
+ * @p events to become pending then the event is cleared and 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] events events that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @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 mask of the lowest event id served and cleared.
+ * @retval 0 if the operation has timed out.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitOneTimeout(eventmask_t events, sysinterval_t timeout) {
+ thread_t *ctp = currp;
+ eventmask_t m;
+
+ chSysLock();
+ m = ctp->epending & events;
+ if (m == (eventmask_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ ctp->u.ewmask = events;
+ if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, timeout) < MSG_OK) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ m = ctp->epending & events;
+ }
+ m ^= m & (m - (eventmask_t)1);
+ ctp->epending &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for any of the specified events.
+ * @details The function waits for any event among those specified in
+ * @p events to become pending then the events are cleared and
+ * returned.
+ *
+ * @param[in] events events that the function should wait
+ * for, @p ALL_EVENTS enables all the events
+ * @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 mask of the served and cleared events.
+ * @retval 0 if the operation has timed out.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitAnyTimeout(eventmask_t events, sysinterval_t timeout) {
+ thread_t *ctp = currp;
+ eventmask_t m;
+
+ chSysLock();
+ m = ctp->epending & events;
+ if (m == (eventmask_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ ctp->u.ewmask = events;
+ if (chSchGoSleepTimeoutS(CH_STATE_WTOREVT, timeout) < MSG_OK) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ m = ctp->epending & events;
+ }
+ ctp->epending &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for all the specified events.
+ * @details The function waits for all the events specified in @p events to
+ * become pending then the events are cleared and returned.
+ *
+ * @param[in] events events that the function should wait
+ * for, @p ALL_EVENTS requires all the events
+ * @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 mask of the served and cleared events.
+ * @retval 0 if the operation has timed out.
+ *
+ * @api
+ */
+eventmask_t chEvtWaitAllTimeout(eventmask_t events, sysinterval_t timeout) {
+ thread_t *ctp = currp;
+
+ chSysLock();
+ if ((ctp->epending & events) != events) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ ctp->u.ewmask = events;
+ if (chSchGoSleepTimeoutS(CH_STATE_WTANDEVT, timeout) < MSG_OK) {
+ chSysUnlock();
+ return (eventmask_t)0;
+ }
+ }
+ ctp->epending &= ~events;
+ chSysUnlock();
+
+ return events;
+}
+#endif /* CH_CFG_USE_EVENTS_TIMEOUT == TRUE */
+
+#endif /* CH_CFG_USE_EVENTS == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chmsg.c b/ChibiOS_20.3.2/os/rt/src/chmsg.c new file mode 100644 index 0000000..2003dd0 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chmsg.c @@ -0,0 +1,221 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chmsg.c
+ * @brief Messages code.
+ *
+ * @addtogroup messages
+ * @details Synchronous inter-thread messages APIs and services.
+ * <h2>Operation Mode</h2>
+ * Synchronous messages are an easy to use and fast IPC mechanism,
+ * threads can both act as message servers and/or message clients,
+ * the mechanism allows data to be carried in both directions. Note
+ * that messages are not copied between the client and server threads
+ * but just a pointer passed so the exchange is very time
+ * efficient.<br>
+ * Messages are scalar data types of type @p msg_t that are guaranteed
+ * to be size compatible with data pointers. Note that on some
+ * architectures function pointers can be larger that @p msg_t.<br>
+ * Messages are usually processed in FIFO order but it is possible to
+ * process them in priority order by enabling the
+ * @p CH_CFG_USE_MESSAGES_PRIORITY option in @p chconf.h.<br>
+ * @pre In order to use the message APIs the @p CH_CFG_USE_MESSAGES option
+ * must be enabled in @p chconf.h.
+ * @post Enabling messages requires 6-12 (depending on the architecture)
+ * extra bytes in the @p thread_t structure.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#if CH_CFG_USE_MESSAGES_PRIORITY == TRUE
+#define msg_insert(tp, qp) queue_prio_insert(tp, qp)
+#else
+#define msg_insert(tp, qp) queue_insert(tp, qp)
+#endif
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Sends a message to the specified thread.
+ * @details The sender is stopped until the receiver executes a
+ * @p chMsgRelease()after receiving the message.
+ *
+ * @param[in] tp the pointer to the thread
+ * @param[in] msg the message
+ * @return The answer message from @p chMsgRelease().
+ *
+ * @api
+ */
+msg_t chMsgSend(thread_t *tp, msg_t msg) {
+ thread_t *ctp = currp;
+
+ chDbgCheck(tp != NULL);
+
+ chSysLock();
+ ctp->u.sentmsg = msg;
+ msg_insert(ctp, &tp->msgqueue);
+ if (tp->state == CH_STATE_WTMSG) {
+ (void) chSchReadyI(tp);
+ }
+ chSchGoSleepS(CH_STATE_SNDMSGQ);
+ msg = ctp->u.rdymsg;
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @brief Suspends the thread and waits for an incoming message.
+ * @post After receiving a message the function @p chMsgGet() must be
+ * called in order to retrieve the message and then @p chMsgRelease()
+ * must be invoked in order to acknowledge the reception and send
+ * the answer.
+ * @note If the message is a pointer then you can assume that the data
+ * pointed by the message is stable until you invoke @p chMsgRelease()
+ * because the sending thread is suspended until then.
+ * @note The reference counter of the sender thread is not increased, the
+ * returned pointer is a temporary reference.
+ *
+ * @return A pointer to the thread carrying the message.
+ *
+ * @sclass
+ */
+thread_t *chMsgWaitS(void) {
+ thread_t *tp;
+
+ chDbgCheckClassS();
+
+ if (!chMsgIsPendingI(currp)) {
+ chSchGoSleepS(CH_STATE_WTMSG);
+ }
+ tp = queue_fifo_remove(&currp->msgqueue);
+ tp->state = CH_STATE_SNDMSG;
+
+ return tp;
+}
+
+/**
+ * @brief Suspends the thread and waits for an incoming message or a
+ * timeout to occur.
+ * @post After receiving a message the function @p chMsgGet() must be
+ * called in order to retrieve the message and then @p chMsgRelease()
+ * must be invoked in order to acknowledge the reception and send
+ * the answer.
+ * @note If the message is a pointer then you can assume that the data
+ * pointed by the message is stable until you invoke @p chMsgRelease()
+ * because the sending thread is suspended until then.
+ * @note The reference counter of the sender thread is not increased, the
+ * returned pointer is a temporary reference.
+ *
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A pointer to the thread carrying the message.
+ * @retval NULL if a timeout occurred.
+ *
+ * @sclass
+ */
+thread_t *chMsgWaitTimeoutS(sysinterval_t timeout) {
+ thread_t *tp;
+
+ chDbgCheckClassS();
+
+ if (!chMsgIsPendingI(currp)) {
+ if (chSchGoSleepTimeoutS(CH_STATE_WTMSG, timeout) != MSG_OK) {
+ return NULL;
+ }
+ }
+ tp = queue_fifo_remove(&currp->msgqueue);
+ tp->state = CH_STATE_SNDMSG;
+
+ return tp;
+}
+
+/**
+ * @brief Poll to check for an incoming message.
+ * @post If a message is available the function @p chMsgGet() must be
+ * called in order to retrieve the message and then @p chMsgRelease()
+ * must be invoked in order to acknowledge the reception and send
+ * the answer.
+ * @note If the message is a pointer then you can assume that the data
+ * pointed by the message is stable until you invoke @p chMsgRelease()
+ * because the sending thread is suspended until then.
+ * @note The reference counter of the sender thread is not increased, the
+ * returned pointer is a temporary reference.
+ *
+ * @return Result of the poll.
+ * @retval NULL if no incoming message waiting.
+ *
+ * @sclass
+ */
+thread_t *chMsgPollS(void) {
+ thread_t *tp = NULL;
+
+ if (chMsgIsPendingI(currp)) {
+ tp = queue_fifo_remove(&currp->msgqueue);
+ tp->state = CH_STATE_SNDMSG;
+ }
+
+ return tp;
+}
+
+/**
+ * @brief Releases a sender thread specifying a response message.
+ * @pre Invoke this function only after a message has been received
+ * using @p chMsgWait().
+ *
+ * @param[in] tp pointer to the thread
+ * @param[in] msg message to be returned to the sender
+ *
+ * @api
+ */
+void chMsgRelease(thread_t *tp, msg_t msg) {
+
+ chSysLock();
+ chDbgAssert(tp->state == CH_STATE_SNDMSG, "invalid state");
+ chMsgReleaseS(tp, msg);
+ chSysUnlock();
+}
+
+#endif /* CH_CFG_USE_MESSAGES == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chmtx.c b/ChibiOS_20.3.2/os/rt/src/chmtx.c new file mode 100644 index 0000000..e7744f1 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chmtx.c @@ -0,0 +1,537 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chmtx.c
+ * @brief Mutexes code.
+ *
+ * @addtogroup mutexes
+ * @details Mutexes related APIs and services.
+ * <h2>Operation mode</h2>
+ * A mutex is a threads synchronization object that can be in two
+ * distinct states:
+ * - Not owned (unlocked).
+ * - Owned by a thread (locked).
+ * .
+ * Operations defined for mutexes:
+ * - <b>Lock</b>: The mutex is checked, if the mutex is not owned by
+ * some other thread then it is associated to the locking thread
+ * else the thread is queued on the mutex in a list ordered by
+ * priority.
+ * - <b>Unlock</b>: The mutex is released by the owner and the highest
+ * priority thread waiting in the queue, if any, is resumed and made
+ * owner of the mutex.
+ * .
+ * <h2>Constraints</h2>
+ * In ChibiOS/RT the Unlock operations must always be performed
+ * in lock-reverse order. This restriction both improves the
+ * performance and is required for an efficient implementation
+ * of the priority inheritance mechanism.<br>
+ * Operating under this restriction also ensures that deadlocks
+ * are no possible.
+ *
+ * <h2>Recursive mode</h2>
+ * By default mutexes are not recursive, this mean that it is not
+ * possible to take a mutex already owned by the same thread.
+ * It is possible to enable the recursive behavior by enabling the
+ * option @p CH_CFG_USE_MUTEXES_RECURSIVE.
+ *
+ * <h2>The priority inversion problem</h2>
+ * The mutexes in ChibiOS/RT implements the <b>full</b> priority
+ * inheritance mechanism in order handle the priority inversion
+ * problem.<br>
+ * When a thread is queued on a mutex, any thread, directly or
+ * indirectly, holding the mutex gains the same priority of the
+ * waiting thread (if their priority was not already equal or higher).
+ * The mechanism works with any number of nested mutexes and any
+ * number of involved threads. The algorithm complexity (worst case)
+ * is N with N equal to the number of nested mutexes.
+ * @pre In order to use the mutex APIs the @p CH_CFG_USE_MUTEXES option
+ * must be enabled in @p chconf.h.
+ * @post Enabling mutexes requires 5-12 (depending on the architecture)
+ * extra bytes in the @p thread_t structure.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes s @p mutex_t structure.
+ *
+ * @param[out] mp pointer to a @p mutex_t structure
+ *
+ * @init
+ */
+void chMtxObjectInit(mutex_t *mp) {
+
+ chDbgCheck(mp != NULL);
+
+ queue_init(&mp->queue);
+ mp->owner = NULL;
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ mp->cnt = (cnt_t)0;
+#endif
+}
+
+/**
+ * @brief Locks the specified mutex.
+ * @post The mutex is locked and inserted in the per-thread stack of owned
+ * mutexes.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ *
+ * @api
+ */
+void chMtxLock(mutex_t *mp) {
+
+ chSysLock();
+ chMtxLockS(mp);
+ chSysUnlock();
+}
+
+/**
+ * @brief Locks the specified mutex.
+ * @post The mutex is locked and inserted in the per-thread stack of owned
+ * mutexes.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ *
+ * @sclass
+ */
+void chMtxLockS(mutex_t *mp) {
+ thread_t *ctp = currp;
+
+ chDbgCheckClassS();
+ chDbgCheck(mp != NULL);
+
+ /* Is the mutex already locked? */
+ if (mp->owner != NULL) {
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+
+ chDbgAssert(mp->cnt >= (cnt_t)1, "counter is not positive");
+
+ /* If the mutex is already owned by this thread, the counter is increased
+ and there is no need of more actions.*/
+ if (mp->owner == ctp) {
+ mp->cnt++;
+ }
+ else {
+#endif
+ /* Priority inheritance protocol; explores the thread-mutex dependencies
+ boosting the priority of all the affected threads to equal the
+ priority of the running thread requesting the mutex.*/
+ thread_t *tp = mp->owner;
+
+ /* Does the running thread have higher priority than the mutex
+ owning thread? */
+ while (tp->prio < ctp->prio) {
+ /* Make priority of thread tp match the running thread's priority.*/
+ tp->prio = ctp->prio;
+
+ /* The following states need priority queues reordering.*/
+ switch (tp->state) {
+ case CH_STATE_WTMTX:
+ /* Re-enqueues the mutex owner with its new priority.*/
+ queue_prio_insert(queue_dequeue(tp), &tp->u.wtmtxp->queue);
+ tp = tp->u.wtmtxp->owner;
+ /*lint -e{9042} [16.1] Continues the while.*/
+ continue;
+#if (CH_CFG_USE_CONDVARS == TRUE) || \
+ ((CH_CFG_USE_SEMAPHORES == TRUE) && \
+ (CH_CFG_USE_SEMAPHORES_PRIORITY == TRUE)) || \
+ ((CH_CFG_USE_MESSAGES == TRUE) && \
+ (CH_CFG_USE_MESSAGES_PRIORITY == TRUE))
+#if CH_CFG_USE_CONDVARS == TRUE
+ case CH_STATE_WTCOND:
+#endif
+#if (CH_CFG_USE_SEMAPHORES == TRUE) && \
+ (CH_CFG_USE_SEMAPHORES_PRIORITY == TRUE)
+ case CH_STATE_WTSEM:
+#endif
+#if (CH_CFG_USE_MESSAGES == TRUE) && (CH_CFG_USE_MESSAGES_PRIORITY == TRUE)
+ case CH_STATE_SNDMSGQ:
+#endif
+ /* Re-enqueues tp with its new priority on the queue.*/
+ queue_prio_insert(queue_dequeue(tp), &tp->u.wtmtxp->queue);
+ break;
+#endif
+ case CH_STATE_READY:
+#if CH_DBG_ENABLE_ASSERTS == TRUE
+ /* Prevents an assertion in chSchReadyI().*/
+ tp->state = CH_STATE_CURRENT;
+#endif
+ /* Re-enqueues tp with its new priority on the ready list.*/
+ (void) chSchReadyI(queue_dequeue(tp));
+ break;
+ default:
+ /* Nothing to do for other states.*/
+ break;
+ }
+ break;
+ }
+
+ /* Sleep on the mutex.*/
+ queue_prio_insert(ctp, &mp->queue);
+ ctp->u.wtmtxp = mp;
+ chSchGoSleepS(CH_STATE_WTMTX);
+
+ /* It is assumed that the thread performing the unlock operation assigns
+ the mutex to this thread.*/
+ chDbgAssert(mp->owner == ctp, "not owner");
+ chDbgAssert(ctp->mtxlist == mp, "not owned");
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ chDbgAssert(mp->cnt == (cnt_t)1, "counter is not one");
+ }
+#endif
+ }
+ else {
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ chDbgAssert(mp->cnt == (cnt_t)0, "counter is not zero");
+
+ mp->cnt++;
+#endif
+ /* It was not owned, inserted in the owned mutexes list.*/
+ mp->owner = ctp;
+ mp->next = ctp->mtxlist;
+ ctp->mtxlist = mp;
+ }
+}
+
+/**
+ * @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.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ * @return The operation status.
+ * @retval true if the mutex has been successfully acquired
+ * @retval false if the lock attempt failed.
+ *
+ * @api
+ */
+bool chMtxTryLock(mutex_t *mp) {
+ bool b;
+
+ chSysLock();
+ b = chMtxTryLockS(mp);
+ chSysUnlock();
+
+ return b;
+}
+
+/**
+ * @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.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ * @return The operation status.
+ * @retval true if the mutex has been successfully acquired
+ * @retval false if the lock attempt failed.
+ *
+ * @sclass
+ */
+bool chMtxTryLockS(mutex_t *mp) {
+
+ chDbgCheckClassS();
+ chDbgCheck(mp != NULL);
+
+ if (mp->owner != NULL) {
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+
+ chDbgAssert(mp->cnt >= (cnt_t)1, "counter is not positive");
+
+ if (mp->owner == currp) {
+ mp->cnt++;
+ return true;
+ }
+#endif
+ return false;
+ }
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+
+ chDbgAssert(mp->cnt == (cnt_t)0, "counter is not zero");
+
+ mp->cnt++;
+#endif
+ mp->owner = currp;
+ mp->next = currp->mtxlist;
+ currp->mtxlist = mp;
+ return true;
+}
+
+/**
+ * @brief Unlocks the specified mutex.
+ * @note Mutexes must be unlocked in reverse lock order. Violating this
+ * rules will result in a panic if assertions are enabled.
+ * @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.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ *
+ * @api
+ */
+void chMtxUnlock(mutex_t *mp) {
+ thread_t *ctp = currp;
+ mutex_t *lmp;
+
+ chDbgCheck(mp != NULL);
+
+ chSysLock();
+
+ chDbgAssert(ctp->mtxlist != NULL, "owned mutexes list empty");
+ chDbgAssert(ctp->mtxlist->owner == ctp, "ownership failure");
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ chDbgAssert(mp->cnt >= (cnt_t)1, "counter is not positive");
+
+ if (--mp->cnt == (cnt_t)0) {
+#endif
+
+ chDbgAssert(ctp->mtxlist == mp, "not next in list");
+
+ /* Removes the top mutex from the thread's owned mutexes list and marks
+ it as not owned. Note, it is assumed to be the same mutex passed as
+ parameter of this function.*/
+ ctp->mtxlist = mp->next;
+
+ /* If a thread is waiting on the mutex then the fun part begins.*/
+ if (chMtxQueueNotEmptyS(mp)) {
+ thread_t *tp;
+
+ /* Recalculates the optimal thread priority by scanning the owned
+ mutexes list.*/
+ tprio_t newprio = ctp->realprio;
+ lmp = ctp->mtxlist;
+ while (lmp != NULL) {
+ /* If the highest priority thread waiting in the mutexes list has a
+ greater priority than the current thread base priority then the
+ final priority will have at least that priority.*/
+ if (chMtxQueueNotEmptyS(lmp) &&
+ (lmp->queue.next->prio > newprio)) {
+ newprio = lmp->queue.next->prio;
+ }
+ lmp = lmp->next;
+ }
+
+ /* Assigns to the current thread the highest priority among all the
+ waiting threads.*/
+ ctp->prio = newprio;
+
+ /* Awakens the highest priority thread waiting for the unlocked mutex and
+ assigns the mutex to it.*/
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ mp->cnt = (cnt_t)1;
+#endif
+ tp = queue_fifo_remove(&mp->queue);
+ mp->owner = tp;
+ mp->next = tp->mtxlist;
+ tp->mtxlist = mp;
+
+ /* Note, not using chSchWakeupS() because that function expects the
+ current thread to have the higher or equal priority than the ones
+ in the ready list. This is not necessarily true here because we
+ just changed priority.*/
+ (void) chSchReadyI(tp);
+ chSchRescheduleS();
+ }
+ else {
+ mp->owner = NULL;
+ }
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ }
+#endif
+
+ chSysUnlock();
+}
+
+/**
+ * @brief Unlocks the specified mutex.
+ * @note Mutexes must be unlocked in reverse lock order. Violating this
+ * rules will result in a panic if assertions are enabled.
+ * @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.
+ *
+ * @param[in] mp pointer to the @p mutex_t structure
+ *
+ * @sclass
+ */
+void chMtxUnlockS(mutex_t *mp) {
+ thread_t *ctp = currp;
+ mutex_t *lmp;
+
+ chDbgCheckClassS();
+ chDbgCheck(mp != NULL);
+
+ chDbgAssert(ctp->mtxlist != NULL, "owned mutexes list empty");
+ chDbgAssert(ctp->mtxlist->owner == ctp, "ownership failure");
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ chDbgAssert(mp->cnt >= (cnt_t)1, "counter is not positive");
+
+ if (--mp->cnt == (cnt_t)0) {
+#endif
+
+ chDbgAssert(ctp->mtxlist == mp, "not next in list");
+
+ /* Removes the top mutex from the thread's owned mutexes list and marks
+ it as not owned. Note, it is assumed to be the same mutex passed as
+ parameter of this function.*/
+ ctp->mtxlist = mp->next;
+
+ /* If a thread is waiting on the mutex then the fun part begins.*/
+ if (chMtxQueueNotEmptyS(mp)) {
+ thread_t *tp;
+
+ /* Recalculates the optimal thread priority by scanning the owned
+ mutexes list.*/
+ tprio_t newprio = ctp->realprio;
+ lmp = ctp->mtxlist;
+ while (lmp != NULL) {
+ /* If the highest priority thread waiting in the mutexes list has a
+ greater priority than the current thread base priority then the
+ final priority will have at least that priority.*/
+ if (chMtxQueueNotEmptyS(lmp) &&
+ (lmp->queue.next->prio > newprio)) {
+ newprio = lmp->queue.next->prio;
+ }
+ lmp = lmp->next;
+ }
+
+ /* Assigns to the current thread the highest priority among all the
+ waiting threads.*/
+ ctp->prio = newprio;
+
+ /* Awakens the highest priority thread waiting for the unlocked mutex and
+ assigns the mutex to it.*/
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ mp->cnt = (cnt_t)1;
+#endif
+ tp = queue_fifo_remove(&mp->queue);
+ mp->owner = tp;
+ mp->next = tp->mtxlist;
+ tp->mtxlist = mp;
+ (void) chSchReadyI(tp);
+ }
+ else {
+ mp->owner = NULL;
+ }
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ }
+#endif
+}
+
+/**
+ * @brief Unlocks all mutexes owned by the invoking thread.
+ * @post The stack of owned mutexes is emptied and all the found
+ * mutexes are unlocked.
+ * @post This function does not reschedule so a call to a rescheduling
+ * function must be performed before unlocking the kernel.
+ * @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.
+ *
+ * @sclass
+ */
+void chMtxUnlockAllS(void) {
+ thread_t *ctp = currp;
+
+ if (ctp->mtxlist != NULL) {
+ do {
+ mutex_t *mp = ctp->mtxlist;
+ ctp->mtxlist = mp->next;
+ if (chMtxQueueNotEmptyS(mp)) {
+ thread_t *tp;
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ mp->cnt = (cnt_t)1;
+#endif
+ tp = queue_fifo_remove(&mp->queue);
+ mp->owner = tp;
+ mp->next = tp->mtxlist;
+ tp->mtxlist = mp;
+ (void) chSchReadyI(tp);
+ }
+ else {
+#if CH_CFG_USE_MUTEXES_RECURSIVE == TRUE
+ mp->cnt = (cnt_t)0;
+#endif
+ mp->owner = NULL;
+ }
+ } while (ctp->mtxlist != NULL);
+ ctp->prio = ctp->realprio;
+ chSchRescheduleS();
+ }
+}
+
+/**
+ * @brief Unlocks all 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
+ */
+void chMtxUnlockAll(void) {
+
+ chSysLock();
+ chMtxUnlockAllS();
+ chSysUnlock();
+}
+
+#endif /* CH_CFG_USE_MUTEXES == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chregistry.c b/ChibiOS_20.3.2/os/rt/src/chregistry.c new file mode 100644 index 0000000..69be197 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chregistry.c @@ -0,0 +1,268 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chregistry.c
+ * @brief Threads registry code.
+ *
+ * @addtogroup registry
+ * @details Threads Registry related APIs and services.
+ * <h2>Operation mode</h2>
+ * The Threads Registry is a double linked list that holds all the
+ * active threads in the system.<br>
+ * Operations defined for the registry:
+ * - <b>First</b>, returns the first, in creation order, active thread
+ * in the system.
+ * - <b>Next</b>, returns the next, in creation order, active thread
+ * in the system.
+ * .
+ * The registry is meant to be mainly a debug feature, for example,
+ * using the registry a debugger can enumerate the active threads
+ * in any given moment or the shell can print the active threads
+ * and their state.<br>
+ * Another possible use is for centralized threads memory management,
+ * terminating threads can pulse an event source and an event handler
+ * can perform a scansion of the registry in order to recover the
+ * memory.
+ * @pre In order to use the threads registry the @p CH_CFG_USE_REGISTRY
+ * option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#include <string.h>
+
+#include "ch.h"
+
+#if (CH_CFG_USE_REGISTRY == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#define _offsetof(st, m) \
+ /*lint -save -e9005 -e9033 -e413 [11.8, 10.8 1.3] Normal pointers
+ arithmetic, it is safe.*/ \
+ ((size_t)((char *)&((st *)0)->m - (char *)0)) \
+ /*lint -restore*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/*
+ * OS signature in ROM plus debug-related information.
+ */
+ROMCONST chdebug_t ch_debug = {
+ {'m', 'a', 'i', 'n'},
+ (uint8_t)0,
+ (uint8_t)sizeof (chdebug_t),
+ (uint16_t)(((unsigned)CH_KERNEL_MAJOR << 11U) |
+ ((unsigned)CH_KERNEL_MINOR << 6U) |
+ ((unsigned)CH_KERNEL_PATCH << 0U)),
+ (uint8_t)sizeof (void *),
+ (uint8_t)sizeof (systime_t),
+ (uint8_t)sizeof (thread_t),
+ (uint8_t)_offsetof(thread_t, prio),
+ (uint8_t)_offsetof(thread_t, ctx),
+ (uint8_t)_offsetof(thread_t, newer),
+ (uint8_t)_offsetof(thread_t, older),
+ (uint8_t)_offsetof(thread_t, name),
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+ (uint8_t)_offsetof(thread_t, wabase),
+#else
+ (uint8_t)0,
+#endif
+ (uint8_t)_offsetof(thread_t, state),
+ (uint8_t)_offsetof(thread_t, flags),
+#if CH_CFG_USE_DYNAMIC == TRUE
+ (uint8_t)_offsetof(thread_t, refs),
+#else
+ (uint8_t)0,
+#endif
+#if CH_CFG_TIME_QUANTUM > 0
+ (uint8_t)_offsetof(thread_t, ticks),
+#else
+ (uint8_t)0,
+#endif
+#if CH_DBG_THREADS_PROFILING == TRUE
+ (uint8_t)_offsetof(thread_t, time)
+#else
+ (uint8_t)0
+#endif
+};
+
+/**
+ * @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 NULL because there is always at
+ * least one thread in the system.
+ *
+ * @return A reference to the most ancient thread.
+ *
+ * @api
+ */
+thread_t *chRegFirstThread(void) {
+ thread_t *tp;
+
+ chSysLock();
+ tp = ch.rlist.newer;
+#if CH_CFG_USE_DYNAMIC == TRUE
+ tp->refs++;
+#endif
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @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] tp pointer to the thread
+ * @return A reference to the next thread.
+ * @retval NULL if there is no next thread.
+ *
+ * @api
+ */
+thread_t *chRegNextThread(thread_t *tp) {
+ thread_t *ntp;
+
+ chSysLock();
+ ntp = tp->newer;
+ /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
+ if (ntp == (thread_t *)&ch.rlist) {
+ /*lint -restore*/
+ ntp = NULL;
+ }
+#if CH_CFG_USE_DYNAMIC == TRUE
+ else {
+ chDbgAssert(ntp->refs < (trefs_t)255, "too many references");
+ ntp->refs++;
+ }
+#endif
+ chSysUnlock();
+#if CH_CFG_USE_DYNAMIC == TRUE
+ chThdRelease(tp);
+#endif
+
+ return ntp;
+}
+
+/**
+ * @brief Retrieves a thread pointer 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.
+ * @retval NULL if a matching thread has not been found.
+ *
+ * @api
+ */
+thread_t *chRegFindThreadByName(const char *name) {
+ thread_t *ctp;
+
+ /* Scanning registry.*/
+ ctp = chRegFirstThread();
+ do {
+ if (strcmp(chRegGetThreadNameX(ctp), name) == 0) {
+ return ctp;
+ }
+ ctp = chRegNextThread(ctp);
+ } while (ctp != NULL);
+
+ return NULL;
+}
+
+/**
+ * @brief Confirms that a pointer is a valid thread pointer.
+ * @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] tp pointer to the thread
+ * @return A pointer to the found thread.
+ * @retval NULL if a matching thread has not been found.
+ *
+ * @api
+ */
+thread_t *chRegFindThreadByPointer(thread_t *tp) {
+ thread_t *ctp;
+
+ /* Scanning registry.*/
+ ctp = chRegFirstThread();
+ do {
+ if (ctp == tp) {
+ return ctp;
+ }
+ ctp = chRegNextThread(ctp);
+ } while (ctp != NULL);
+
+ return NULL;
+}
+
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE) || \
+ defined(__DOXYGEN__)
+/**
+ * @brief Confirms that a working area is being used by some active thread.
+ * @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] wa pointer to a static working area
+ * @return A pointer to the found thread.
+ * @retval NULL if a matching thread has not been found.
+ *
+ * @api
+ */
+thread_t *chRegFindThreadByWorkingArea(stkalign_t *wa) {
+ thread_t *ctp;
+
+ /* Scanning registry.*/
+ ctp = chRegFirstThread();
+ do {
+ if (chThdGetWorkingAreaX(ctp) == wa) {
+ return ctp;
+ }
+ ctp = chRegNextThread(ctp);
+ } while (ctp != NULL);
+
+ return NULL;
+}
+#endif
+
+#endif /* CH_CFG_USE_REGISTRY == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chschd.c b/ChibiOS_20.3.2/os/rt/src/chschd.c new file mode 100644 index 0000000..540b1c2 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chschd.c @@ -0,0 +1,610 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chschd.c
+ * @brief Scheduler code.
+ *
+ * @addtogroup scheduler
+ * @details This module provides the default portable scheduler code.
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief System data structures.
+ */
+ch_system_t ch;
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Scheduler initialization.
+ *
+ * @notapi
+ */
+void _scheduler_init(void) {
+
+ queue_init(&ch.rlist.queue);
+ ch.rlist.prio = NOPRIO;
+#if CH_CFG_USE_REGISTRY == TRUE
+ ch.rlist.newer = (thread_t *)&ch.rlist;
+ ch.rlist.older = (thread_t *)&ch.rlist;
+#endif
+}
+
+#if (CH_CFG_OPTIMIZE_SPEED == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief Inserts a thread into a priority ordered queue.
+ * @note The insertion is done by scanning the list from the highest
+ * priority toward the lowest.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_prio_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ thread_t *cp = (thread_t *)tqp;
+ do {
+ cp = cp->queue.next;
+ } while ((cp != (thread_t *)tqp) && (cp->prio >= tp->prio));
+ tp->queue.next = cp;
+ tp->queue.prev = cp->queue.prev;
+ tp->queue.prev->queue.next = tp;
+ cp->queue.prev = tp;
+}
+
+/**
+ * @brief Inserts a thread into a queue.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tqp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void queue_insert(thread_t *tp, threads_queue_t *tqp) {
+
+ tp->queue.next = (thread_t *)tqp;
+ tp->queue.prev = tqp->prev;
+ tp->queue.prev->queue.next = tp;
+ tqp->prev = tp;
+}
+
+/**
+ * @brief Removes the first-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the highest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_fifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->next;
+
+ tqp->next = tp->queue.next;
+ tqp->next->queue.prev = (thread_t *)tqp;
+
+ return tp;
+}
+
+/**
+ * @brief Removes the last-out thread from a queue and returns it.
+ * @note If the queue is priority ordered then this function returns the
+ * thread with the lowest priority.
+ *
+ * @param[in] tqp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_lifo_remove(threads_queue_t *tqp) {
+ thread_t *tp = tqp->prev;
+
+ tqp->prev = tp->queue.prev;
+ tqp->prev->queue.next = (thread_t *)tqp;
+
+ return tp;
+}
+
+/**
+ * @brief Removes a thread from a queue and returns it.
+ * @details The thread is removed from the queue regardless of its relative
+ * position and regardless the used insertion method.
+ *
+ * @param[in] tp the pointer to the thread to be removed from the queue
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *queue_dequeue(thread_t *tp) {
+
+ tp->queue.prev->queue.next = tp->queue.next;
+ tp->queue.next->queue.prev = tp->queue.prev;
+
+ return tp;
+}
+
+/**
+ * @brief Pushes a thread_t on top of a stack list.
+ *
+ * @param[in] tp the pointer to the thread to be inserted in the list
+ * @param[in] tlp the pointer to the threads list header
+ *
+ * @notapi
+ */
+void list_insert(thread_t *tp, threads_list_t *tlp) {
+
+ tp->queue.next = tlp->next;
+ tlp->next = tp;
+}
+
+/**
+ * @brief Pops a thread from the top of a stack list and returns it.
+ * @pre The list must be non-empty before calling this function.
+ *
+ * @param[in] tlp the pointer to the threads list header
+ * @return The removed thread pointer.
+ *
+ * @notapi
+ */
+thread_t *list_remove(threads_list_t *tlp) {
+
+ thread_t *tp = tlp->next;
+ tlp->next = tp->queue.next;
+
+ return tp;
+}
+#endif /* CH_CFG_OPTIMIZE_SPEED */
+
+/**
+ * @brief Inserts a thread in the Ready List placing it behind its peers.
+ * @details The thread is positioned behind all threads with higher or equal
+ * priority.
+ * @pre The thread must not be already inserted in any list through its
+ * @p next and @p prev or list corruption would occur.
+ * @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] tp the thread to be made ready
+ * @return The thread pointer.
+ *
+ * @iclass
+ */
+thread_t *chSchReadyI(thread_t *tp) {
+ thread_t *cp;
+
+ chDbgCheckClassI();
+ chDbgCheck(tp != NULL);
+ chDbgAssert((tp->state != CH_STATE_READY) &&
+ (tp->state != CH_STATE_FINAL),
+ "invalid state");
+
+ tp->state = CH_STATE_READY;
+ cp = (thread_t *)&ch.rlist.queue;
+ do {
+ cp = cp->queue.next;
+ } while (cp->prio >= tp->prio);
+ /* Insertion on prev.*/
+ tp->queue.next = cp;
+ tp->queue.prev = cp->queue.prev;
+ tp->queue.prev->queue.next = tp;
+ cp->queue.prev = tp;
+
+ return tp;
+}
+
+/**
+ * @brief Inserts a thread in the Ready List placing it ahead its peers.
+ * @details The thread is positioned ahead all threads with higher or equal
+ * priority.
+ * @pre The thread must not be already inserted in any list through its
+ * @p next and @p prev or list corruption would occur.
+ * @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] tp the thread to be made ready
+ * @return The thread pointer.
+ *
+ * @iclass
+ */
+thread_t *chSchReadyAheadI(thread_t *tp) {
+ thread_t *cp;
+
+ chDbgCheckClassI();
+ chDbgCheck(tp != NULL);
+ chDbgAssert((tp->state != CH_STATE_READY) &&
+ (tp->state != CH_STATE_FINAL),
+ "invalid state");
+
+ tp->state = CH_STATE_READY;
+ cp = (thread_t *)&ch.rlist.queue;
+ do {
+ cp = cp->queue.next;
+ } while (cp->prio > tp->prio);
+ /* Insertion on prev.*/
+ tp->queue.next = cp;
+ tp->queue.prev = cp->queue.prev;
+ tp->queue.prev->queue.next = tp;
+ cp->queue.prev = tp;
+
+ return tp;
+}
+
+/**
+ * @brief Puts the current thread to sleep into the specified state.
+ * @details The thread goes into a sleeping state. The possible
+ * @ref thread_states are defined into @p threads.h.
+ *
+ * @param[in] newstate the new thread state
+ *
+ * @sclass
+ */
+void chSchGoSleepS(tstate_t newstate) {
+ thread_t *otp = currp;
+
+ chDbgCheckClassS();
+
+ /* New state.*/
+ otp->state = newstate;
+
+#if CH_CFG_TIME_QUANTUM > 0
+ /* The thread is renouncing its remaining time slices so it will have a new
+ time quantum when it will wakeup.*/
+ otp->ticks = (tslices_t)CH_CFG_TIME_QUANTUM;
+#endif
+
+ /* Next thread in ready list becomes current.*/
+ currp = queue_fifo_remove(&ch.rlist.queue);
+ currp->state = CH_STATE_CURRENT;
+
+ /* Handling idle-enter hook.*/
+ if (currp->prio == IDLEPRIO) {
+ CH_CFG_IDLE_ENTER_HOOK();
+ }
+
+ /* Swap operation as tail call.*/
+ chSysSwitch(currp, otp);
+}
+
+/*
+ * Timeout wakeup callback.
+ */
+static void wakeup(void *p) {
+ thread_t *tp = (thread_t *)p;
+
+ chSysLockFromISR();
+ switch (tp->state) {
+ case CH_STATE_READY:
+ /* Handling the special case where the thread has been made ready by
+ another thread with higher priority.*/
+ chSysUnlockFromISR();
+ return;
+ case CH_STATE_SUSPENDED:
+ *tp->u.wttrp = NULL;
+ break;
+#if CH_CFG_USE_SEMAPHORES == TRUE
+ case CH_STATE_WTSEM:
+ chSemFastSignalI(tp->u.wtsemp);
+#endif
+ /* Falls through.*/
+ case CH_STATE_QUEUED:
+ /* Falls through.*/
+#if (CH_CFG_USE_CONDVARS == TRUE) && (CH_CFG_USE_CONDVARS_TIMEOUT == TRUE)
+ case CH_STATE_WTCOND:
+#endif
+ /* States requiring dequeuing.*/
+ (void) queue_dequeue(tp);
+ break;
+ default:
+ /* Any other state, nothing to do.*/
+ break;
+ }
+ tp->u.rdymsg = MSG_TIMEOUT;
+ (void) chSchReadyI(tp);
+ chSysUnlockFromISR();
+}
+
+/**
+ * @brief Puts the current thread to sleep into the specified state with
+ * timeout specification.
+ * @details The thread goes into a sleeping state, if it is not awakened
+ * explicitly within the specified timeout then it is forcibly
+ * awakened with a @p MSG_TIMEOUT low level message. The possible
+ * @ref thread_states are defined into @p threads.h.
+ *
+ * @param[in] newstate the new thread state
+ * @param[in] timeout the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state, this is equivalent to invoking
+ * @p chSchGoSleepS() but, of course, less efficient.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ * @return The wakeup message.
+ * @retval MSG_TIMEOUT if a timeout occurs.
+ *
+ * @sclass
+ */
+msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout) {
+
+ chDbgCheckClassS();
+
+ if (TIME_INFINITE != timeout) {
+ virtual_timer_t vt;
+
+ chVTDoSetI(&vt, timeout, wakeup, currp);
+ chSchGoSleepS(newstate);
+ if (chVTIsArmedI(&vt)) {
+ chVTDoResetI(&vt);
+ }
+ }
+ else {
+ chSchGoSleepS(newstate);
+ }
+
+ return currp->u.rdymsg;
+}
+
+/**
+ * @brief Wakes up a thread.
+ * @details The thread is inserted into the ready list or immediately made
+ * running depending on its relative priority compared to the current
+ * thread.
+ * @pre The thread must not be already inserted in any list through its
+ * @p next and @p prev or list corruption would occur.
+ * @note It is equivalent to a @p chSchReadyI() followed by a
+ * @p chSchRescheduleS() but much more efficient.
+ * @note The function assumes that the current thread has the highest
+ * priority.
+ *
+ * @param[in] ntp the thread to be made ready
+ * @param[in] msg the wakeup message
+ *
+ * @sclass
+ */
+void chSchWakeupS(thread_t *ntp, msg_t msg) {
+ thread_t *otp = currp;
+
+ chDbgCheckClassS();
+
+ chDbgAssert((ch.rlist.queue.next == (thread_t *)&ch.rlist.queue) ||
+ (ch.rlist.current->prio >= ch.rlist.queue.next->prio),
+ "priority order violation");
+
+ /* Storing the message to be retrieved by the target thread when it will
+ restart execution.*/
+ ntp->u.rdymsg = msg;
+
+ /* If the waken thread has a not-greater priority than the current
+ one then it is just inserted in the ready list else it made
+ running immediately and the invoking thread goes in the ready
+ list instead.*/
+ if (ntp->prio <= otp->prio) {
+ (void) chSchReadyI(ntp);
+ }
+ else {
+ otp = chSchReadyAheadI(otp);
+
+ /* Handling idle-leave hook.*/
+ if (otp->prio == IDLEPRIO) {
+ CH_CFG_IDLE_LEAVE_HOOK();
+ }
+
+ /* The extracted thread is marked as current.*/
+ currp = ntp;
+ ntp->state = CH_STATE_CURRENT;
+
+ /* Swap operation as tail call.*/
+ chSysSwitch(ntp, otp);
+ }
+}
+
+/**
+ * @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
+ */
+void chSchRescheduleS(void) {
+
+ chDbgCheckClassS();
+
+ if (chSchIsRescRequiredI()) {
+ chSchDoRescheduleAhead();
+ }
+}
+
+#if !defined(CH_SCH_IS_PREEMPTION_REQUIRED_HOOKED)
+/**
+ * @brief Evaluates if preemption is required.
+ * @details The decision is taken by comparing the relative priorities and
+ * depending on the state of the round robin timeout counter.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself or from within the port layer.
+ *
+ * @retval true if there is a thread that must go in running state
+ * immediately.
+ * @retval false if preemption is not required.
+ *
+ * @special
+ */
+bool chSchIsPreemptionRequired(void) {
+ tprio_t p1 = firstprio(&ch.rlist.queue);
+ tprio_t p2 = currp->prio;
+
+#if CH_CFG_TIME_QUANTUM > 0
+ /* If the running thread has not reached its time quantum, reschedule only
+ if the first thread on the ready queue has a higher priority.
+ Otherwise, if the running thread has used up its time quantum, reschedule
+ if the first thread on the ready queue has equal or higher priority.*/
+ return (currp->ticks > (tslices_t)0) ? (p1 > p2) : (p1 >= p2);
+#else
+ /* If the round robin preemption feature is not enabled then performs a
+ simpler comparison.*/
+ return p1 > p2;
+#endif
+}
+#endif /* !defined(CH_SCH_IS_PREEMPTION_REQUIRED_HOOKED) */
+
+/**
+ * @brief Switches to the first thread on the runnable queue.
+ * @details The current thread is positioned in the ready list behind all
+ * threads having the same priority. The thread regains its time
+ * quantum.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself.
+ *
+ * @special
+ */
+void chSchDoRescheduleBehind(void) {
+ thread_t *otp = currp;
+
+ /* Picks the first thread from the ready queue and makes it current.*/
+ currp = queue_fifo_remove(&ch.rlist.queue);
+ currp->state = CH_STATE_CURRENT;
+
+ /* Handling idle-leave hook.*/
+ if (otp->prio == IDLEPRIO) {
+ CH_CFG_IDLE_LEAVE_HOOK();
+ }
+
+#if CH_CFG_TIME_QUANTUM > 0
+ /* It went behind peers so it gets a new time quantum.*/
+ otp->ticks = (tslices_t)CH_CFG_TIME_QUANTUM;
+#endif
+
+ /* Placing in ready list behind peers.*/
+ otp = chSchReadyI(otp);
+
+ /* Swap operation as tail call.*/
+ chSysSwitch(currp, otp);
+}
+
+/**
+ * @brief Switches to the first thread on the runnable queue.
+ * @details The current thread is positioned in the ready list ahead of all
+ * threads having the same priority.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself.
+ *
+ * @special
+ */
+void chSchDoRescheduleAhead(void) {
+ thread_t *otp = currp;
+
+ /* Picks the first thread from the ready queue and makes it current.*/
+ currp = queue_fifo_remove(&ch.rlist.queue);
+ currp->state = CH_STATE_CURRENT;
+
+ /* Handling idle-leave hook.*/
+ if (otp->prio == IDLEPRIO) {
+ CH_CFG_IDLE_LEAVE_HOOK();
+ }
+
+ /* Placing in ready list ahead of peers.*/
+ otp = chSchReadyAheadI(otp);
+
+ /* Swap operation as tail call.*/
+ chSysSwitch(currp, otp);
+}
+
+#if !defined(CH_SCH_DO_RESCHEDULE_HOOKED)
+/**
+ * @brief Switches to the first thread on the runnable queue.
+ * @details The current thread is positioned in the ready list behind or
+ * ahead of all threads having the same priority depending on
+ * if it used its whole time slice.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself or from within the port layer.
+ *
+ * @special
+ */
+void chSchDoReschedule(void) {
+ thread_t *otp = currp;
+
+ /* Picks the first thread from the ready queue and makes it current.*/
+ currp = queue_fifo_remove(&ch.rlist.queue);
+ currp->state = CH_STATE_CURRENT;
+
+ /* Handling idle-leave hook.*/
+ if (otp->prio == IDLEPRIO) {
+ CH_CFG_IDLE_LEAVE_HOOK();
+ }
+
+#if CH_CFG_TIME_QUANTUM > 0
+ /* If CH_CFG_TIME_QUANTUM is enabled then there are two different scenarios
+ to handle on preemption: time quantum elapsed or not.*/
+ if (otp->ticks == (tslices_t)0) {
+
+ /* The thread consumed its time quantum so it is enqueued behind threads
+ with same priority level, however, it acquires a new time quantum.*/
+ otp = chSchReadyI(otp);
+
+ /* The thread being swapped out receives a new time quantum.*/
+ otp->ticks = (tslices_t)CH_CFG_TIME_QUANTUM;
+ }
+ else {
+ /* The thread didn't consume all its time quantum so it is put ahead of
+ threads with equal priority and does not acquire a new time quantum.*/
+ otp = chSchReadyAheadI(otp);
+ }
+#else /* !(CH_CFG_TIME_QUANTUM > 0) */
+ /* If the round-robin mechanism is disabled then the thread goes always
+ ahead of its peers.*/
+ otp = chSchReadyAheadI(otp);
+#endif /* !(CH_CFG_TIME_QUANTUM > 0) */
+
+ /* Swap operation as tail call.*/
+ chSysSwitch(currp, otp);
+}
+#endif /* !defined(CH_SCH_DO_RESCHEDULE_HOOKED) */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chsem.c b/ChibiOS_20.3.2/os/rt/src/chsem.c new file mode 100644 index 0000000..7671aec --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chsem.c @@ -0,0 +1,405 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chsem.c
+ * @brief Semaphores code.
+ *
+ * @addtogroup semaphores
+ * @details Semaphores related APIs and services.
+ * <h2>Operation mode</h2>
+ * Semaphores are a flexible synchronization primitive, ChibiOS/RT
+ * implements semaphores in their "counting semaphores" variant as
+ * defined by Edsger Dijkstra plus several enhancements like:
+ * - Wait operation with timeout.
+ * - Reset operation.
+ * - Atomic wait+signal operation.
+ * - Return message from the wait operation (OK, RESET, TIMEOUT).
+ * .
+ * The binary semaphores variant can be easily implemented using
+ * counting semaphores.<br>
+ * Operations defined for semaphores:
+ * - <b>Signal</b>: The semaphore counter is increased and if the
+ * result is non-positive then a waiting thread is removed from
+ * the semaphore queue and made ready for execution.
+ * - <b>Wait</b>: The semaphore counter is decreased and if the result
+ * becomes negative the thread is queued in the semaphore and
+ * suspended.
+ * - <b>Reset</b>: The semaphore counter is reset to a non-negative
+ * value and all the threads in the queue are released.
+ * .
+ * Semaphores can be used as guards for mutual exclusion zones
+ * (note that mutexes are recommended for this kind of use) but
+ * also have other uses, queues guards and counters for example.<br>
+ * Semaphores usually use a FIFO queuing strategy but it is possible
+ * to make them order threads by priority by enabling
+ * @p CH_CFG_USE_SEMAPHORES_PRIORITY in @p chconf.h.
+ * @pre In order to use the semaphore APIs the @p CH_CFG_USE_SEMAPHORES
+ * option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#if CH_CFG_USE_SEMAPHORES_PRIORITY == TRUE
+#define sem_insert(tp, qp) queue_prio_insert(tp, qp)
+#else
+#define sem_insert(tp, qp) queue_insert(tp, qp)
+#endif
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes a semaphore with the specified counter value.
+ *
+ * @param[out] sp pointer to a @p semaphore_t structure
+ * @param[in] n initial value of the semaphore counter. Must be
+ * non-negative.
+ *
+ * @init
+ */
+void chSemObjectInit(semaphore_t *sp, cnt_t n) {
+
+ chDbgCheck((sp != NULL) && (n >= (cnt_t)0));
+
+ queue_init(&sp->queue);
+ sp->cnt = 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.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] n the new value of the semaphore counter. The value must
+ * be non-negative.
+ * @param[in] msg message to be sent
+ *
+ * @api
+ */
+void chSemResetWithMessage(semaphore_t *sp, cnt_t n, msg_t msg) {
+
+ chSysLock();
+ chSemResetWithMessageI(sp, n, msg);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @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.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @param[in] n the new value of the semaphore counter. The value must
+ * be non-negative.
+ * @param[in] msg message to be sent
+ *
+ * @iclass
+ */
+void chSemResetWithMessageI(semaphore_t *sp, cnt_t n, msg_t msg) {
+
+ chDbgCheckClassI();
+ chDbgCheck((sp != NULL) && (n >= (cnt_t)0));
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+
+ sp->cnt = n;
+ while (queue_notempty(&sp->queue)) {
+ chSchReadyI(queue_lifo_remove(&sp->queue))->u.rdymsg = msg;
+ }
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @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 chSemWait(semaphore_t *sp) {
+ msg_t msg;
+
+ chSysLock();
+ msg = chSemWaitS(sp);
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @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 chSemWaitS(semaphore_t *sp) {
+
+ chDbgCheckClassS();
+ chDbgCheck(sp != NULL);
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+
+ if (--sp->cnt < (cnt_t)0) {
+ currp->u.wtsemp = sp;
+ sem_insert(currp, &sp->queue);
+ chSchGoSleepS(CH_STATE_WTSEM);
+
+ return currp->u.rdymsg;
+ }
+
+ return MSG_OK;
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore with timeout specification.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @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 chSemWaitTimeout(semaphore_t *sp, sysinterval_t timeout) {
+ msg_t msg;
+
+ chSysLock();
+ msg = chSemWaitTimeoutS(sp, timeout);
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @brief Performs a wait operation on a semaphore with timeout specification.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ * @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 chSemWaitTimeoutS(semaphore_t *sp, sysinterval_t timeout) {
+
+ chDbgCheckClassS();
+ chDbgCheck(sp != NULL);
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+
+ if (--sp->cnt < (cnt_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ sp->cnt++;
+
+ return MSG_TIMEOUT;
+ }
+ currp->u.wtsemp = sp;
+ sem_insert(currp, &sp->queue);
+
+ return chSchGoSleepTimeoutS(CH_STATE_WTSEM, timeout);
+ }
+
+ return MSG_OK;
+}
+
+/**
+ * @brief Performs a signal operation on a semaphore.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ *
+ * @api
+ */
+void chSemSignal(semaphore_t *sp) {
+
+ chDbgCheck(sp != NULL);
+
+ chSysLock();
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+ if (++sp->cnt <= (cnt_t)0) {
+ chSchWakeupS(queue_fifo_remove(&sp->queue), MSG_OK);
+ }
+ chSysUnlock();
+}
+
+/**
+ * @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.
+ *
+ * @param[in] sp pointer to a @p semaphore_t structure
+ *
+ * @iclass
+ */
+void chSemSignalI(semaphore_t *sp) {
+
+ chDbgCheckClassI();
+ chDbgCheck(sp != NULL);
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+
+ if (++sp->cnt <= (cnt_t)0) {
+ /* Note, it is done this way in order to allow a tail call on
+ chSchReadyI().*/
+ thread_t *tp = queue_fifo_remove(&sp->queue);
+ tp->u.rdymsg = MSG_OK;
+ (void) chSchReadyI(tp);
+ }
+}
+
+/**
+ * @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] sp pointer to a @p semaphore_t structure
+ * @param[in] n value to be added to the semaphore counter. The value
+ * must be positive.
+ *
+ * @iclass
+ */
+void chSemAddCounterI(semaphore_t *sp, cnt_t n) {
+
+ chDbgCheckClassI();
+ chDbgCheck((sp != NULL) && (n > (cnt_t)0));
+ chDbgAssert(((sp->cnt >= (cnt_t)0) && queue_isempty(&sp->queue)) ||
+ ((sp->cnt < (cnt_t)0) && queue_notempty(&sp->queue)),
+ "inconsistent semaphore");
+
+ while (n > (cnt_t)0) {
+ if (++sp->cnt <= (cnt_t)0) {
+ chSchReadyI(queue_fifo_remove(&sp->queue))->u.rdymsg = MSG_OK;
+ }
+ n--;
+ }
+}
+
+/**
+ * @brief Performs atomic signal and wait operations on two semaphores.
+ *
+ * @param[in] sps pointer to a @p semaphore_t structure to be signaled
+ * @param[in] spw pointer to a @p semaphore_t structure 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
+ */
+msg_t chSemSignalWait(semaphore_t *sps, semaphore_t *spw) {
+ msg_t msg;
+
+ chDbgCheck((sps != NULL) && (spw != NULL));
+
+ chSysLock();
+ chDbgAssert(((sps->cnt >= (cnt_t)0) && queue_isempty(&sps->queue)) ||
+ ((sps->cnt < (cnt_t)0) && queue_notempty(&sps->queue)),
+ "inconsistent semaphore");
+ chDbgAssert(((spw->cnt >= (cnt_t)0) && queue_isempty(&spw->queue)) ||
+ ((spw->cnt < (cnt_t)0) && queue_notempty(&spw->queue)),
+ "inconsistent semaphore");
+ if (++sps->cnt <= (cnt_t)0) {
+ chSchReadyI(queue_fifo_remove(&sps->queue))->u.rdymsg = MSG_OK;
+ }
+ if (--spw->cnt < (cnt_t)0) {
+ thread_t *ctp = currp;
+ sem_insert(ctp, &spw->queue);
+ ctp->u.wtsemp = spw;
+ chSchGoSleepS(CH_STATE_WTSEM);
+ msg = ctp->u.rdymsg;
+ }
+ else {
+ chSchRescheduleS();
+ msg = MSG_OK;
+ }
+ chSysUnlock();
+
+ return msg;
+}
+
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chstats.c b/ChibiOS_20.3.2/os/rt/src/chstats.c new file mode 100644 index 0000000..5d3c0fc --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chstats.c @@ -0,0 +1,126 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chstats.c
+ * @brief Statistics module code.
+ *
+ * @addtogroup statistics
+ * @details Statistics services.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_DBG_STATISTICS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes the statistics module.
+ *
+ * @init
+ */
+void _stats_init(void) {
+
+ ch.kernel_stats.n_irq = (ucnt_t)0;
+ ch.kernel_stats.n_ctxswc = (ucnt_t)0;
+ chTMObjectInit(&ch.kernel_stats.m_crit_thd);
+ chTMObjectInit(&ch.kernel_stats.m_crit_isr);
+}
+
+/**
+ * @brief Increases the IRQ counter.
+ */
+void _stats_increase_irq(void) {
+
+ port_lock_from_isr();
+ ch.kernel_stats.n_irq++;
+ port_unlock_from_isr();
+}
+
+/**
+ * @brief Updates context switch related statistics.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ */
+void _stats_ctxswc(thread_t *ntp, thread_t *otp) {
+
+ ch.kernel_stats.n_ctxswc++;
+ chTMChainMeasurementToX(&otp->stats, &ntp->stats);
+}
+
+/**
+ * @brief Starts the measurement of a thread critical zone.
+ */
+void _stats_start_measure_crit_thd(void) {
+
+ chTMStartMeasurementX(&ch.kernel_stats.m_crit_thd);
+}
+
+/**
+ * @brief Stops the measurement of a thread critical zone.
+ */
+void _stats_stop_measure_crit_thd(void) {
+
+ chTMStopMeasurementX(&ch.kernel_stats.m_crit_thd);
+}
+
+/**
+ * @brief Starts the measurement of an ISR critical zone.
+ */
+void _stats_start_measure_crit_isr(void) {
+
+ chTMStartMeasurementX(&ch.kernel_stats.m_crit_isr);
+}
+
+/**
+ * @brief Stops the measurement of an ISR critical zone.
+ */
+void _stats_stop_measure_crit_isr(void) {
+
+ chTMStopMeasurementX(&ch.kernel_stats.m_crit_isr);
+}
+
+#endif /* CH_DBG_STATISTICS == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chsys.c b/ChibiOS_20.3.2/os/rt/src/chsys.c new file mode 100644 index 0000000..cfe9321 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chsys.c @@ -0,0 +1,445 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chsys.c
+ * @brief System related code.
+ *
+ * @addtogroup system
+ * @details System related APIs and services:
+ * - Initialization.
+ * - Locks.
+ * - Interrupt Handling.
+ * - Power Management.
+ * - Abnormal Termination.
+ * - Realtime counter.
+ * .
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief Idle thread working area.
+ */
+THD_WORKING_AREA(ch_idle_thread_wa, PORT_IDLE_THREAD_STACK_SIZE);
+#endif
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
+/**
+ * @brief This function implements the idle thread infinite loop.
+ * @details The function puts the processor in the lowest power mode capable
+ * to serve interrupts.<br>
+ * The priority is internally set to the minimum system value so
+ * that this thread is executed only if there are no other ready
+ * threads in the system.
+ *
+ * @param[in] p the thread parameter, unused in this scenario
+ */
+static void _idle_thread(void *p) {
+
+ (void)p;
+
+ while (true) {
+ /*lint -save -e522 [2.2] Apparently no side effects because it contains
+ an asm instruction.*/
+ port_wait_for_interrupt();
+ /*lint -restore*/
+ CH_CFG_IDLE_LOOP_HOOK();
+ }
+}
+#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief ChibiOS/RT initialization.
+ * @details After executing this function the current instructions stream
+ * becomes the main thread.
+ * @pre Interrupts must disabled before invoking this function.
+ * @post The main thread is created with priority @p NORMALPRIO and
+ * interrupts are enabled.
+ *
+ * @special
+ */
+void chSysInit(void) {
+
+ _scheduler_init();
+ _vt_init();
+ _trace_init();
+ _oslib_init();
+
+#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
+ ch.dbg.isr_cnt = (cnt_t)0;
+ ch.dbg.lock_cnt = (cnt_t)0;
+#endif
+#if CH_CFG_USE_TM == TRUE
+ _tm_init();
+#endif
+#if CH_DBG_STATISTICS == TRUE
+ _stats_init();
+#endif
+
+#if CH_CFG_NO_IDLE_THREAD == FALSE
+ /* Now this instructions flow becomes the main thread.*/
+#if CH_CFG_USE_REGISTRY == TRUE
+ currp = _thread_init(&ch.mainthread, (const char *)&ch_debug, NORMALPRIO);
+#else
+ currp = _thread_init(&ch.mainthread, "main", NORMALPRIO);
+#endif
+#else
+ /* Now this instructions flow becomes the idle thread.*/
+ currp = _thread_init(&ch.mainthread, "idle", IDLEPRIO);
+#endif
+
+#if CH_DBG_ENABLE_STACK_CHECK == TRUE
+ {
+ /* Setting up the base address of the static main thread stack, the
+ symbol must be provided externally.*/
+ extern stkalign_t __main_thread_stack_base__;
+ currp->wabase = &__main_thread_stack_base__;
+ }
+#elif CH_CFG_USE_DYNAMIC == TRUE
+ currp->wabase = NULL;
+#endif
+
+ /* Setting up the caller as current thread.*/
+ currp->state = CH_STATE_CURRENT;
+
+ /* Port layer initialization last because it depend on some of the
+ initializations performed before.*/
+ port_init();
+
+#if CH_DBG_STATISTICS == TRUE
+ /* Starting measurement for this thread.*/
+ chTMStartMeasurementX(&currp->stats);
+#endif
+
+ /* Initialization hook.*/
+ CH_CFG_SYSTEM_INIT_HOOK();
+
+ /* It is alive now.*/
+ chSysEnable();
+
+#if CH_CFG_NO_IDLE_THREAD == FALSE
+ {
+ static const thread_descriptor_t idle_descriptor = {
+ "idle",
+ THD_WORKING_AREA_BASE(ch_idle_thread_wa),
+ THD_WORKING_AREA_END(ch_idle_thread_wa),
+ IDLEPRIO,
+ _idle_thread,
+ NULL
+ };
+
+ /* This thread has the lowest priority in the system, its role is just to
+ serve interrupts in its context while keeping the lowest energy saving
+ mode compatible with the system status.*/
+ (void) chThdCreate(&idle_descriptor);
+ }
+#endif
+}
+
+/**
+ * @brief Halts the system.
+ * @details This function is invoked by the operating system when an
+ * unrecoverable error is detected, for example because a programming
+ * error in the application code that triggers an assertion while
+ * in debug mode.
+ * @note Can be invoked from any system state.
+ *
+ * @param[in] reason pointer to an error string
+ *
+ * @special
+ */
+void chSysHalt(const char *reason) {
+
+ port_disable();
+
+ /* Logging the event.*/
+ _trace_halt(reason);
+
+ /* Pointing to the passed message.*/
+ ch.dbg.panic_msg = reason;
+
+ /* Halt hook code, usually empty.*/
+ CH_CFG_SYSTEM_HALT_HOOK(reason);
+
+ /* Harmless infinite loop.*/
+ while (true) {
+ }
+}
+
+/**
+ * @brief System integrity check.
+ * @details Performs an integrity check of the important ChibiOS/RT data
+ * structures.
+ * @note The appropriate action in case of failure is to halt the system
+ * before releasing the critical zone.
+ * @note If the system is corrupted then one possible outcome of this
+ * function is an exception caused by @p NULL or corrupted pointers
+ * in list elements. Exception vectors must be monitored as well.
+ * @note This function is not used internally, it is up to the
+ * application to define if and where to perform system
+ * checking.
+ * @note Performing all tests at once can be a slow operation and can
+ * degrade the system response time. It is suggested to execute
+ * one test at time and release the critical zone in between tests.
+ *
+ * @param[in] testmask Each bit in this mask is associated to a test to be
+ * performed.
+ * @return The test result.
+ * @retval false The test succeeded.
+ * @retval true Test failed.
+ *
+ * @iclass
+ */
+bool chSysIntegrityCheckI(unsigned testmask) {
+ cnt_t n;
+
+ chDbgCheckClassI();
+
+ /* Ready List integrity check.*/
+ if ((testmask & CH_INTEGRITY_RLIST) != 0U) {
+ thread_t *tp;
+
+ /* Scanning the ready list forward.*/
+ n = (cnt_t)0;
+ tp = ch.rlist.queue.next;
+ while (tp != (thread_t *)&ch.rlist.queue) {
+ n++;
+ tp = tp->queue.next;
+ }
+
+ /* Scanning the ready list backward.*/
+ tp = ch.rlist.queue.prev;
+ while (tp != (thread_t *)&ch.rlist.queue) {
+ n--;
+ tp = tp->queue.prev;
+ }
+
+ /* The number of elements must match.*/
+ if (n != (cnt_t)0) {
+ return true;
+ }
+ }
+
+ /* Timers list integrity check.*/
+ if ((testmask & CH_INTEGRITY_VTLIST) != 0U) {
+ virtual_timer_t * vtp;
+
+ /* Scanning the timers list forward.*/
+ n = (cnt_t)0;
+ vtp = ch.vtlist.next;
+ while (vtp != (virtual_timer_t *)&ch.vtlist) {
+ n++;
+ vtp = vtp->next;
+ }
+
+ /* Scanning the timers list backward.*/
+ vtp = ch.vtlist.prev;
+ while (vtp != (virtual_timer_t *)&ch.vtlist) {
+ n--;
+ vtp = vtp->prev;
+ }
+
+ /* The number of elements must match.*/
+ if (n != (cnt_t)0) {
+ return true;
+ }
+ }
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ if ((testmask & CH_INTEGRITY_REGISTRY) != 0U) {
+ thread_t *tp;
+
+ /* Scanning the ready list forward.*/
+ n = (cnt_t)0;
+ tp = ch.rlist.newer;
+ while (tp != (thread_t *)&ch.rlist) {
+ n++;
+ tp = tp->newer;
+ }
+
+ /* Scanning the ready list backward.*/
+ tp = ch.rlist.older;
+ while (tp != (thread_t *)&ch.rlist) {
+ n--;
+ tp = tp->older;
+ }
+
+ /* The number of elements must match.*/
+ if (n != (cnt_t)0) {
+ return true;
+ }
+ }
+#endif /* CH_CFG_USE_REGISTRY == TRUE */
+
+#if defined(PORT_INTEGRITY_CHECK)
+ if ((testmask & CH_INTEGRITY_PORT) != 0U) {
+ PORT_INTEGRITY_CHECK();
+ }
+#endif
+
+ return false;
+}
+
+/**
+ * @brief Handles time ticks for round robin preemption and timer increments.
+ * @details Decrements the remaining time quantum of the running thread
+ * and preempts it when the quantum is used up. Increments system
+ * time and manages the timers.
+ * @note The frequency of the timer determines the system tick granularity
+ * and, together with the @p CH_CFG_TIME_QUANTUM macro, the round robin
+ * interval.
+ *
+ * @iclass
+ */
+void chSysTimerHandlerI(void) {
+
+ chDbgCheckClassI();
+
+#if CH_CFG_TIME_QUANTUM > 0
+ /* Running thread has not used up quantum yet? */
+ if (currp->ticks > (tslices_t)0) {
+ /* Decrement remaining quantum.*/
+ currp->ticks--;
+ }
+#endif
+#if CH_DBG_THREADS_PROFILING == TRUE
+ currp->time++;
+#endif
+ chVTDoTickI();
+ CH_CFG_SYSTEM_TICK_HOOK();
+}
+
+/**
+ * @brief Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ * from any context. Because its flexibility it is less efficient
+ * than @p chSysLock() which is preferable when the calling context
+ * is known.
+ * @post The system is in a critical zone.
+ *
+ * @return The previous system status, the encoding of this
+ * status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+syssts_t chSysGetStatusAndLockX(void) {
+
+ syssts_t sts = port_get_irq_status();
+ if (port_irq_enabled(sts)) {
+ if (port_is_isr_context()) {
+ chSysLockFromISR();
+ }
+ else {
+ chSysLock();
+ }
+ }
+ return sts;
+}
+
+/**
+ * @brief Restores the specified execution status and leaves a critical zone.
+ * @note A call to @p chSchRescheduleS() is automatically performed
+ * if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts the system status to be restored.
+ *
+ * @xclass
+ */
+void chSysRestoreStatusX(syssts_t sts) {
+
+ if (port_irq_enabled(sts)) {
+ if (port_is_isr_context()) {
+ chSysUnlockFromISR();
+ }
+ else {
+ chSchRescheduleS();
+ chSysUnlock();
+ }
+ }
+}
+
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Realtime window test.
+ * @details This function verifies if the current realtime counter value
+ * lies within the specified range or not. The test takes care
+ * of the realtime counter wrapping to zero on overflow.
+ * @note When start==end then the function returns always false because a
+ * null time range is specified.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cnt the counter value to be tested
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {
+
+ return (bool)(((rtcnt_t)cnt - (rtcnt_t)start) <
+ ((rtcnt_t)end - (rtcnt_t)start));
+}
+
+/**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+void chSysPolledDelayX(rtcnt_t cycles) {
+ rtcnt_t start = chSysGetRealtimeCounterX();
+ rtcnt_t end = start + cycles;
+
+ while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
+ }
+}
+#endif /* PORT_SUPPORTS_RT == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chthreads.c b/ChibiOS_20.3.2/os/rt/src/chthreads.c new file mode 100644 index 0000000..caa846b --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chthreads.c @@ -0,0 +1,906 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chthreads.c
+ * @brief Threads code.
+ *
+ * @addtogroup threads
+ * @details Threads related APIs and services.
+ * <h2>Operation mode</h2>
+ * A thread is an abstraction of an independent instructions flow.
+ * In ChibiOS/RT a thread is represented by a "C" function owning
+ * a processor context, state informations and a dedicated stack
+ * area. In this scenario static variables are shared among all
+ * threads while automatic variables are local to the thread.<br>
+ * Operations defined for threads:
+ * - <b>Create</b>, a thread is started on the specified thread
+ * function. This operation is available in multiple variants,
+ * both static and dynamic.
+ * - <b>Exit</b>, a thread terminates by returning from its top
+ * level function or invoking a specific API, the thread can
+ * return a value that can be retrieved by other threads.
+ * - <b>Wait</b>, a thread waits for the termination of another
+ * thread and retrieves its return value.
+ * - <b>Resume</b>, a thread created in suspended state is started.
+ * - <b>Sleep</b>, the execution of a thread is suspended for the
+ * specified amount of time or the specified future absolute time
+ * is reached.
+ * - <b>SetPriority</b>, a thread changes its own priority level.
+ * - <b>Yield</b>, a thread voluntarily renounces to its time slot.
+ * .
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes a thread structure.
+ * @note This is an internal functions, do not use it in application code.
+ *
+ * @param[in] tp pointer to the thread
+ * @param[in] name thread name
+ * @param[in] prio the priority level for the new thread
+ * @return The same thread pointer passed as parameter.
+ *
+ * @notapi
+ */
+thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
+
+ tp->prio = prio;
+ tp->state = CH_STATE_WTSTART;
+ tp->flags = CH_FLAG_MODE_STATIC;
+#if CH_CFG_TIME_QUANTUM > 0
+ tp->ticks = (tslices_t)CH_CFG_TIME_QUANTUM;
+#endif
+#if CH_CFG_USE_MUTEXES == TRUE
+ tp->realprio = prio;
+ tp->mtxlist = NULL;
+#endif
+#if CH_CFG_USE_EVENTS == TRUE
+ tp->epending = (eventmask_t)0;
+#endif
+#if CH_DBG_THREADS_PROFILING == TRUE
+ tp->time = (systime_t)0;
+#endif
+#if CH_CFG_USE_REGISTRY == TRUE
+ tp->refs = (trefs_t)1;
+ tp->name = name;
+ REG_INSERT(tp);
+#else
+ (void)name;
+#endif
+#if CH_CFG_USE_WAITEXIT == TRUE
+ list_init(&tp->waiting);
+#endif
+#if CH_CFG_USE_MESSAGES == TRUE
+ queue_init(&tp->msgqueue);
+#endif
+#if CH_DBG_STATISTICS == TRUE
+ chTMObjectInit(&tp->stats);
+#endif
+ CH_CFG_THREAD_INIT_HOOK(tp);
+ return tp;
+}
+
+#if (CH_DBG_FILL_THREADS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Memory fill utility.
+ *
+ * @param[in] startp first address to fill
+ * @param[in] endp last address to fill +1
+ * @param[in] v filler value
+ *
+ * @notapi
+ */
+void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v) {
+
+ while (startp < endp) {
+ *startp++ = v;
+ }
+}
+#endif /* CH_DBG_FILL_THREADS */
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized but not inserted in the ready list,
+ * the initial state is @p CH_STATE_WTSTART.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
+ * depending on the execution context.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note Threads created using this function do not obey to the
+ * @p CH_DBG_FILL_THREADS debug option because it would keep
+ * the kernel locked for too much time.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+ chDbgCheckClassI();
+ chDbgCheck(tdp != NULL);
+ chDbgCheck(MEM_IS_ALIGNED(tdp->wbase, PORT_WORKING_AREA_ALIGN) &&
+ MEM_IS_ALIGNED(tdp->wend, PORT_STACK_ALIGN) &&
+ (tdp->wend > tdp->wbase) &&
+ (((size_t)tdp->wend - (size_t)tdp->wbase) >= THD_WORKING_AREA_SIZE(0)));
+ chDbgCheck((tdp->prio <= HIGHPRIO) && (tdp->funcp != NULL));
+
+ /* The thread structure is laid out in the upper part of the thread
+ workspace. The thread position structure is aligned to the required
+ stack alignment because it represents the stack top.*/
+ tp = (thread_t *)((uint8_t *)tdp->wend -
+ MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));
+
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+ /* Stack boundary.*/
+ tp->wabase = tdp->wbase;
+#endif
+
+ /* Setting up the port-dependent part of the working area.*/
+ PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);
+
+ /* The driver object is initialized but not started.*/
+ return _thread_init(tp, tdp->name, tdp->prio);
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized but not inserted in the ready list,
+ * the initial state is @p CH_STATE_WTSTART.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
+ * depending on the execution context.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)tdp->wbase,
+ (uint8_t *)tdp->wend,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(tdp);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @post The initialized thread can be subsequently started by invoking
+ * @p chThdStart(), @p chThdStartI() or @p chSchWakeupS()
+ * depending on the execution context.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ * @note Threads created using this function do not obey to the
+ * @p CH_DBG_FILL_THREADS debug option because it would keep
+ * the kernel locked for too much time.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreateI(const thread_descriptor_t *tdp) {
+
+ return chSchReadyI(chThdCreateSuspendedI(tdp));
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chthdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ *
+ * @param[out] tdp pointer to the thread descriptor
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @iclass
+ */
+thread_t *chThdCreate(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+#if (CH_CFG_USE_REGISTRY == TRUE) && \
+ ((CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE))
+ chDbgAssert(chRegFindThreadByWorkingArea(tdp->wbase) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)tdp->wbase,
+ (uint8_t *)tdp->wend,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+ tp = chThdCreateSuspendedI(tdp);
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @post The created thread has a reference counter set to one, it is
+ * caller responsibility to call @p chThdRelease() or @p chThdWait()
+ * in order to release the reference. The thread persists in the
+ * registry until its reference counter reaches zero.
+ * @note A thread can terminate by calling @p chThdExit() or by simply
+ * returning from its main function.
+ *
+ * @param[out] wsp pointer to a working area dedicated to the thread stack
+ * @param[in] size size of the working area
+ * @param[in] prio the priority level for the new thread
+ * @param[in] pf the thread function
+ * @param[in] arg an argument passed to the thread function. It can be
+ * @p NULL.
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg) {
+ thread_t *tp;
+
+ chDbgCheck((wsp != NULL) &&
+ MEM_IS_ALIGNED(wsp, PORT_WORKING_AREA_ALIGN) &&
+ (size >= THD_WORKING_AREA_SIZE(0)) &&
+ MEM_IS_ALIGNED(size, PORT_STACK_ALIGN) &&
+ (prio <= HIGHPRIO) && (pf != NULL));
+
+#if (CH_CFG_USE_REGISTRY == TRUE) && \
+ ((CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE))
+ chDbgAssert(chRegFindThreadByWorkingArea(wsp) == NULL,
+ "working area in use");
+#endif
+
+#if CH_DBG_FILL_THREADS == TRUE
+ _thread_memfill((uint8_t *)wsp,
+ (uint8_t *)wsp + size,
+ CH_DBG_STACK_FILL_VALUE);
+#endif
+
+ chSysLock();
+
+ /* The thread structure is laid out in the upper part of the thread
+ workspace. The thread position structure is aligned to the required
+ stack alignment because it represents the stack top.*/
+ tp = (thread_t *)((uint8_t *)wsp + size -
+ MEM_ALIGN_NEXT(sizeof (thread_t), PORT_STACK_ALIGN));
+
+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)
+ /* Stack boundary.*/
+ tp->wabase = (stkalign_t *)wsp;
+#endif
+
+ /* Setting up the port-dependent part of the working area.*/
+ PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);
+
+ tp = _thread_init(tp, "noname", prio);
+
+ /* Starting the thread immediately.*/
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @brief Resumes a thread created with @p chThdCreateI().
+ *
+ * @param[in] tp pointer to the thread
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread into the working space area.
+ *
+ * @api
+ */
+thread_t *chThdStart(thread_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->state == CH_STATE_WTSTART, "wrong state");
+ chSchWakeupS(tp, MSG_OK);
+ chSysUnlock();
+
+ return tp;
+}
+
+#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.
+ *
+ * @param[in] tp pointer to the thread
+ * @return The same thread pointer passed as parameter
+ * representing the new reference.
+ *
+ * @api
+ */
+thread_t *chThdAddRef(thread_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->refs < (trefs_t)255, "too many references");
+ tp->refs++;
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @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.
+ * @note Static threads are not affected.
+ *
+ * @param[in] tp pointer to the thread
+ *
+ * @api
+ */
+void chThdRelease(thread_t *tp) {
+
+ chSysLock();
+ chDbgAssert(tp->refs > (trefs_t)0, "not referenced");
+ tp->refs--;
+
+ /* If the references counter reaches zero and the thread is in its
+ terminated state then the memory can be returned to the proper
+ allocator.*/
+ if ((tp->refs == (trefs_t)0) && (tp->state == CH_STATE_FINAL)) {
+ REG_REMOVE(tp);
+ chSysUnlock();
+
+#if CH_CFG_USE_DYNAMIC == TRUE
+ switch (tp->flags & CH_FLAG_MODE_MASK) {
+#if CH_CFG_USE_HEAP == TRUE
+ case CH_FLAG_MODE_HEAP:
+ chHeapFree(chThdGetWorkingAreaX(tp));
+ break;
+#endif
+#if CH_CFG_USE_MEMPOOLS == TRUE
+ case CH_FLAG_MODE_MPOOL:
+ chPoolFree(tp->mpool, chThdGetWorkingAreaX(tp));
+ break;
+#endif
+ default:
+ /* Nothing else to do for static threads.*/
+ break;
+ }
+#endif /* CH_CFG_USE_DYNAMIC == TRUE */
+ return;
+ }
+ chSysUnlock();
+}
+#endif /* CH_CFG_USE_REGISTRY == TRUE */
+
+/**
+ * @brief Terminates the current thread.
+ * @details The thread goes in the @p CH_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
+ */
+void chThdExit(msg_t msg) {
+
+ chSysLock();
+ chThdExitS(msg);
+ /* The thread never returns here.*/
+}
+
+/**
+ * @brief Terminates the current thread.
+ * @details The thread goes in the @p CH_STATE_FINAL state holding the
+ * specified exit status code, other threads can retrieve the
+ * exit status code by invoking the function @p chThdWait().
+ * @post Exiting a non-static thread that does not have references
+ * (detached) causes the thread to remain in the registry.
+ * It can only be removed by performing a registry scan operation.
+ * @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
+ */
+void chThdExitS(msg_t msg) {
+ thread_t *tp = currp;
+
+ /* Storing exit message.*/
+ tp->u.exitcode = msg;
+
+ /* Exit handler hook.*/
+ CH_CFG_THREAD_EXIT_HOOK(tp);
+
+#if CH_CFG_USE_WAITEXIT == TRUE
+ /* Waking up any waiting thread.*/
+ while (list_notempty(&tp->waiting)) {
+ (void) chSchReadyI(list_remove(&tp->waiting));
+ }
+#endif
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ /* Static threads with no references are immediately removed from the
+ registry because there is no memory to recover.*/
+#if CH_CFG_USE_DYNAMIC == TRUE
+ if ((tp->refs == (trefs_t)0) &&
+ ((tp->flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC)) {
+ REG_REMOVE(tp);
+ }
+#else
+ if (tp->refs == (trefs_t)0) {
+ REG_REMOVE(tp);
+ }
+#endif
+#endif
+
+ /* Going into final state.*/
+ chSchGoSleepS(CH_STATE_FINAL);
+
+ /* The thread never returns here.*/
+ chDbgAssert(false, "zombies apocalypse");
+}
+
+#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 and
+ * the thread is removed from registry.
+ * @pre The configuration option @p CH_CFG_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_t structure.
+ * @note If @p CH_CFG_USE_DYNAMIC is not specified this function just waits
+ * for the thread termination, no memory allocators are involved.
+ *
+ * @param[in] tp pointer to the thread
+ * @return The exit code from the terminated thread.
+ *
+ * @api
+ */
+msg_t chThdWait(thread_t *tp) {
+ msg_t msg;
+
+ chDbgCheck(tp != NULL);
+
+ chSysLock();
+ chDbgAssert(tp != currp, "waiting self");
+#if CH_CFG_USE_REGISTRY == TRUE
+ chDbgAssert(tp->refs > (trefs_t)0, "no references");
+#endif
+
+ if (tp->state != CH_STATE_FINAL) {
+ list_insert(currp, &tp->waiting);
+ chSchGoSleepS(CH_STATE_WTEXIT);
+ }
+ msg = tp->u.exitcode;
+ chSysUnlock();
+
+#if CH_CFG_USE_REGISTRY == TRUE
+ /* Releasing a reference to the thread.*/
+ chThdRelease(tp);
+#endif
+
+ return msg;
+}
+#endif /* CH_CFG_USE_WAITEXIT */
+
+/**
+ * @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
+ */
+tprio_t chThdSetPriority(tprio_t newprio) {
+ tprio_t oldprio;
+
+ chDbgCheck(newprio <= HIGHPRIO);
+
+ chSysLock();
+#if CH_CFG_USE_MUTEXES == TRUE
+ oldprio = currp->realprio;
+ if ((currp->prio == currp->realprio) || (newprio > currp->prio)) {
+ currp->prio = newprio;
+ }
+ currp->realprio = newprio;
+#else
+ oldprio = currp->prio;
+ currp->prio = newprio;
+#endif
+ chSchRescheduleS();
+ chSysUnlock();
+
+ return oldprio;
+}
+
+/**
+ * @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.
+ *
+ * @param[in] tp pointer to the thread
+ *
+ * @api
+ */
+void chThdTerminate(thread_t *tp) {
+
+ chSysLock();
+ tp->flags |= CH_FLAG_TERMINATE;
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread for the specified time.
+ *
+ * @param[in] time the delay in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ *
+ * @api
+ */
+void chThdSleep(sysinterval_t time) {
+
+ chSysLock();
+ chThdSleepS(time);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ * @note The function has no concept of "past", all specifiable times
+ * are in the future, this means that if you call this function
+ * exceeding your calculated intervals then the function will
+ * return in a far future time, not immediately.
+ * @see chThdSleepUntilWindowed()
+ *
+ * @param[in] time absolute system time
+ *
+ * @api
+ */
+void chThdSleepUntil(systime_t time) {
+ sysinterval_t interval;
+
+ chSysLock();
+ interval = chTimeDiffX(chVTGetSystemTimeX(), time);
+ if (interval > (sysinterval_t)0) {
+ chThdSleepS(interval);
+ }
+ chSysUnlock();
+}
+
+/**
+ * @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 next
+ * 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
+ */
+systime_t chThdSleepUntilWindowed(systime_t prev, systime_t next) {
+ systime_t time;
+
+ chSysLock();
+ time = chVTGetSystemTimeX();
+ if (chTimeIsInRangeX(time, prev, next)) {
+ chThdSleepS(chTimeDiffX(time, next));
+ }
+ chSysUnlock();
+
+ return 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
+ */
+void chThdYield(void) {
+
+ chSysLock();
+ chSchDoYieldS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @return The wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendS(thread_reference_t *trp) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ *trp = tp;
+ tp->u.wttrp = trp;
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+
+ return chThdGetSelfX()->u.rdymsg;
+}
+
+/**
+ * @brief Sends the current thread sleeping and sets a reference variable.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The wake up message.
+ * @retval MSG_TIMEOUT if the operation timed out.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
+ thread_t *tp = chThdGetSelfX();
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ *trp = tp;
+ tp->u.wttrp = trp;
+
+ return chSchGoSleepTimeoutS(CH_STATE_SUSPENDED, timeout);
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must not reschedule because it can be called from
+ * ISR context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeI(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");
+
+ *trp = NULL;
+ tp->u.rdymsg = msg;
+ (void) chSchReadyI(tp);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdResumeS(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = *trp;
+
+ chDbgAssert(tp->state == CH_STATE_SUSPENDED, "not CH_STATE_SUSPENDED");
+
+ *trp = NULL;
+ chSchWakeupS(tp, msg);
+ }
+}
+
+/**
+ * @brief Wakes up a thread waiting on a thread reference object.
+ * @note This function must reschedule, it can only be called from thread
+ * context.
+ *
+ * @param[in] trp a pointer to a thread reference object
+ * @param[in] msg the message code
+ *
+ * @api
+ */
+void chThdResume(thread_reference_t *trp, msg_t msg) {
+
+ chSysLock();
+ chThdResumeS(trp, msg);
+ chSysUnlock();
+}
+
+/**
+ * @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] tqp pointer to the threads queue object
+ * @param[in] timeout the timeout in system ticks, the special values are
+ * handled as follow:
+ * - @a TIME_INFINITE the thread enters an infinite sleep
+ * state.
+ * - @a TIME_IMMEDIATE the thread is not enqueued and
+ * the function returns @p MSG_TIMEOUT as if a timeout
+ * occurred.
+ * .
+ * @return The message from @p osalQueueWakeupOneI() or
+ * @p osalQueueWakeupAllI() functions.
+ * @retval MSG_TIMEOUT if the thread has not been dequeued within the
+ * specified timeout or if the function has been
+ * invoked with @p TIME_IMMEDIATE as timeout
+ * specification.
+ *
+ * @sclass
+ */
+msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ queue_insert(currp, tqp);
+
+ return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the threads queue object,
+ * if any.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+
+ if (queue_notempty(tqp)) {
+ chThdDoDequeueNextI(tqp, msg);
+ }
+}
+
+/**
+ * @brief Dequeues and wakes up all threads from the threads queue object.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
+
+ while (queue_notempty(tqp)) {
+ chThdDoDequeueNextI(tqp, msg);
+ }
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chtm.c b/ChibiOS_20.3.2/os/rt/src/chtm.c new file mode 100644 index 0000000..5b3758c --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chtm.c @@ -0,0 +1,168 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chtm.c
+ * @brief Time Measurement module code.
+ *
+ * @addtogroup time_measurement
+ * @details Time Measurement APIs and services.
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_TM == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/**
+ * @brief Number of iterations in the calibration loop.
+ * @note This is required in order to assess the best result in
+ * architectures with instruction cache.
+ */
+#define TM_CALIBRATION_LOOP 4U
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+static inline void tm_stop(time_measurement_t *tmp,
+ rtcnt_t now,
+ rtcnt_t offset) {
+
+ tmp->n++;
+ tmp->last = (now - tmp->last) - offset;
+ tmp->cumulative += (rttime_t)tmp->last;
+ if (tmp->last > tmp->worst) {
+ tmp->worst = tmp->last;
+ }
+ if (tmp->last < tmp->best) {
+ tmp->best = tmp->last;
+ }
+}
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes the time measurement unit.
+ *
+ * @init
+ */
+void _tm_init(void) {
+ time_measurement_t tm;
+ unsigned i;
+
+ /* Time Measurement subsystem calibration, it does a null measurement
+ and calculates the call overhead which is subtracted to real
+ measurements.*/
+ ch.tm.offset = (rtcnt_t)0;
+ chTMObjectInit(&tm);
+ i = TM_CALIBRATION_LOOP;
+ do {
+ chTMStartMeasurementX(&tm);
+ chTMStopMeasurementX(&tm);
+ i--;
+ } while (i > 0U);
+ ch.tm.offset = tm.best;
+}
+
+/**
+ * @brief Initializes a @p TimeMeasurement object.
+ *
+ * @param[out] tmp pointer to a @p TimeMeasurement structure
+ *
+ * @init
+ */
+void chTMObjectInit(time_measurement_t *tmp) {
+
+ tmp->best = (rtcnt_t)-1;
+ tmp->worst = (rtcnt_t)0;
+ tmp->last = (rtcnt_t)0;
+ tmp->n = (ucnt_t)0;
+ tmp->cumulative = (rttime_t)0;
+}
+
+/**
+ * @brief Starts a measurement.
+ * @pre The @p time_measurement_t structure must be initialized.
+ *
+ * @param[in,out] tmp pointer to a @p TimeMeasurement structure
+ *
+ * @xclass
+ */
+NOINLINE void chTMStartMeasurementX(time_measurement_t *tmp) {
+
+ tmp->last = chSysGetRealtimeCounterX();
+}
+
+/**
+ * @brief Stops a measurement.
+ * @pre The @p time_measurement_t structure must be initialized.
+ *
+ * @param[in,out] tmp pointer to a @p time_measurement_t structure
+ *
+ * @xclass
+ */
+NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
+
+ tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
+}
+
+/**
+ * @brief Stops a measurement and chains to the next one using the same time
+ * stamp.
+ *
+ * @param[in,out] tmp1 pointer to the @p time_measurement_t structure to be
+ * stopped
+ * @param[in,out] tmp2 pointer to the @p time_measurement_t structure to be
+ * started
+ *
+ *
+ * @xclass
+ */
+NOINLINE void chTMChainMeasurementToX(time_measurement_t *tmp1,
+ time_measurement_t *tmp2) {
+
+ /* Starts new measurement.*/
+ tmp2->last = chSysGetRealtimeCounterX();
+
+ /* Stops previous measurement using the same time stamp.*/
+ tm_stop(tmp1, tmp2->last, (rtcnt_t)0);
+}
+
+#endif /* CH_CFG_USE_TM == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chtrace.c b/ChibiOS_20.3.2/os/rt/src/chtrace.c new file mode 100644 index 0000000..ecc2367 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chtrace.c @@ -0,0 +1,265 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chtrace.c
+ * @brief Tracer code.
+ *
+ * @addtogroup trace
+ * @details System events tracing service.
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
+/**
+ * @brief Writes a time stamp and increases the trace buffer pointer.
+ *
+ * @notapi
+ */
+NOINLINE static void trace_next(void) {
+
+ ch.dbg.trace_buffer.ptr->time = chVTGetSystemTimeX();
+#if PORT_SUPPORTS_RT == TRUE
+ ch.dbg.trace_buffer.ptr->rtstamp = chSysGetRealtimeCounterX();
+#else
+ ch.dbg.trace_buffer.ptr->rtstamp = (rtcnt_t)0;
+#endif
+
+ /* Trace hook, useful in order to interface debug tools.*/
+ CH_CFG_TRACE_HOOK(ch.dbg.trace_buffer.ptr);
+
+ if (++ch.dbg.trace_buffer.ptr >=
+ &ch.dbg.trace_buffer.buffer[CH_DBG_TRACE_BUFFER_SIZE]) {
+ ch.dbg.trace_buffer.ptr = &ch.dbg.trace_buffer.buffer[0];
+ }
+}
+#endif
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+#if (CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED) || defined(__DOXYGEN__)
+/**
+ * @brief Trace circular buffer subsystem initialization.
+ * @note Internal use only.
+ */
+void _trace_init(void) {
+ unsigned i;
+
+ ch.dbg.trace_buffer.suspended = (uint16_t)~CH_DBG_TRACE_MASK;
+ ch.dbg.trace_buffer.size = CH_DBG_TRACE_BUFFER_SIZE;
+ ch.dbg.trace_buffer.ptr = &ch.dbg.trace_buffer.buffer[0];
+ for (i = 0U; i < (unsigned)CH_DBG_TRACE_BUFFER_SIZE; i++) {
+ ch.dbg.trace_buffer.buffer[i].type = CH_TRACE_TYPE_UNUSED;
+ }
+}
+
+/**
+ * @brief Inserts in the circular debug trace buffer a context switch record.
+ *
+ * @param[in] ntp the thread being switched in
+ * @param[in] otp the thread being switched out
+ *
+ * @notapi
+ */
+void _trace_switch(thread_t *ntp, thread_t *otp) {
+
+ (void)ntp;
+
+ if ((ch.dbg.trace_buffer.suspended & CH_DBG_TRACE_MASK_SWITCH) == 0U) {
+ ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_SWITCH;
+ ch.dbg.trace_buffer.ptr->state = (uint8_t)otp->state;
+ ch.dbg.trace_buffer.ptr->u.sw.ntp = currp;
+ ch.dbg.trace_buffer.ptr->u.sw.wtobjp = otp->u.wtobjp;
+ trace_next();
+ }
+}
+
+/**
+ * @brief Inserts in the circular debug trace buffer an ISR-enter record.
+ *
+ * @param[in] isr name of the isr
+ *
+ * @notapi
+ */
+void _trace_isr_enter(const char *isr) {
+
+ if ((ch.dbg.trace_buffer.suspended & CH_DBG_TRACE_MASK_ISR) == 0U) {
+ port_lock_from_isr();
+ ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_ISR_ENTER;
+ ch.dbg.trace_buffer.ptr->state = 0U;
+ ch.dbg.trace_buffer.ptr->u.isr.name = isr;
+ trace_next();
+ port_unlock_from_isr();
+ }
+}
+
+/**
+ * @brief Inserts in the circular debug trace buffer an ISR-leave record.
+ *
+ * @param[in] isr name of the isr
+ *
+ * @notapi
+ */
+void _trace_isr_leave(const char *isr) {
+
+ if ((ch.dbg.trace_buffer.suspended & CH_DBG_TRACE_MASK_ISR) == 0U) {
+ port_lock_from_isr();
+ ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_ISR_LEAVE;
+ ch.dbg.trace_buffer.ptr->state = 0U;
+ ch.dbg.trace_buffer.ptr->u.isr.name = isr;
+ trace_next();
+ port_unlock_from_isr();
+ }
+}
+
+/**
+ * @brief Inserts in the circular debug trace buffer an halt record.
+ *
+ * @param[in] reason the halt error string
+ *
+ * @notapi
+ */
+void _trace_halt(const char *reason) {
+
+ if ((ch.dbg.trace_buffer.suspended & CH_DBG_TRACE_MASK_HALT) == 0U) {
+ ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_HALT;
+ ch.dbg.trace_buffer.ptr->state = 0;
+ ch.dbg.trace_buffer.ptr->u.halt.reason = reason;
+ trace_next();
+ }
+}
+
+/**
+ * @brief Adds an user trace record to the trace buffer.
+ *
+ * @param[in] up1 user parameter 1
+ * @param[in] up2 user parameter 2
+ *
+ * @iclass
+ */
+void chDbgWriteTraceI(void *up1, void *up2) {
+
+ chDbgCheckClassI();
+
+ if ((ch.dbg.trace_buffer.suspended & CH_DBG_TRACE_MASK_USER) == 0U) {
+ ch.dbg.trace_buffer.ptr->type = CH_TRACE_TYPE_USER;
+ ch.dbg.trace_buffer.ptr->state = 0;
+ ch.dbg.trace_buffer.ptr->u.user.up1 = up1;
+ ch.dbg.trace_buffer.ptr->u.user.up2 = up2;
+ trace_next();
+ }
+}
+
+/**
+ * @brief Adds an user trace record to the trace buffer.
+ *
+ * @param[in] up1 user parameter 1
+ * @param[in] up2 user parameter 2
+ *
+ * @api
+ */
+void chDbgWriteTrace(void *up1, void *up2) {
+
+ chSysLock();
+ chDbgWriteTraceI(up1, up2);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends one or more trace events.
+ *
+ * @param[in] mask mask of the trace events to be suspended
+ *
+ * @iclass
+ */
+void chDbgSuspendTraceI(uint16_t mask) {
+
+ chDbgCheckClassI();
+
+ ch.dbg.trace_buffer.suspended |= mask;
+}
+
+/**
+ * @brief Suspends one or more trace events.
+ *
+ * @param[in] mask mask of the trace events to be suspended
+ *
+ * @api
+ */
+void chDbgSuspendTrace(uint16_t mask) {
+
+ chSysLock();
+ chDbgSuspendTraceI(mask);
+ chSysUnlock();
+}
+
+/**
+ * @brief Resumes one or more trace events.
+ *
+ * @param[in] mask mask of the trace events to be resumed
+ *
+ * @iclass
+ */
+void chDbgResumeTraceI(uint16_t mask) {
+
+ chDbgCheckClassI();
+
+ ch.dbg.trace_buffer.suspended &= ~mask;
+}
+
+/**
+ * @brief Resumes one or more trace events.
+ *
+ * @param[in] mask mask of the trace events to be resumed
+ *
+ * @api
+ */
+void chDbgResumeTrace(uint16_t mask) {
+
+ chSysLock();
+ chDbgResumeTraceI(mask);
+ chSysUnlock();
+}
+#endif /* CH_DBG_TRACE_MASK != CH_DBG_TRACE_MASK_DISABLED */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/rt/src/chvt.c b/ChibiOS_20.3.2/os/rt/src/chvt.c new file mode 100644 index 0000000..c138796 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/src/chvt.c @@ -0,0 +1,477 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file rt/src/chvt.c
+ * @brief Time and Virtual Timers module code.
+ *
+ * @addtogroup time
+ * @details Time and Virtual Timers related APIs and services.
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/**
+ * @brief List empty check.
+ *
+ * @param[in] vtlp pointer to the list header
+ *
+ * @notapi
+ */
+#define is_vtlist_empty(vtlp) ((vtlp) == (virtual_timers_list_t *)(vtlp)->next)
+
+/**
+ * @brief Last timer in the list check.
+ *
+ * @param[in] vtlp pointer to the list header
+ * @param[in] vtp pointer to the timer header
+ *
+ * @notapi
+ */
+#define is_last_timer(vtlp, vtp) ((vtp)->next == (virtual_timer_t *)(vtlp))
+
+/**
+ * @brief Fist timer in the list check.
+ *
+ * @param[in] vtlp pointer to the list header
+ * @param[in] vtp pointer to the timer header
+ *
+ * @notapi
+ */
+#define is_first_timer(vtlp, vtp) ((vtlp)->next == (vtp))
+
+/**
+ * @brief Timer check.
+ *
+ * @param[in] vtlp pointer to the list header
+ * @param[in] vtp pointer to the timer header
+ *
+ * @notapi
+ */
+#define is_timer(vtlp, vtp) ((vtp) != (virtual_timer_t *)(vtlp))
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+#if (CH_CFG_ST_TIMEDELTA > 0) || defined(__DOXYGEN__)
+/**
+ * @brief Delta list compression.
+ *
+ * @param[in] vtlp pointer to the delta list to be compressed
+ * @param[in] deltanow interval to be compacted starting from "lasttime"
+ *
+ * @notapi
+ */
+static void vt_list_compress(virtual_timers_list_t *vtlp,
+ sysinterval_t deltanow) {
+ virtual_timer_t *vtp = vtlp->next;
+
+ /* The loop is bounded because the delta list header has the delta field
+ set to (sysinterval_t)-1 which is larger than all deltas.*/
+ while (vtp->delta < deltanow) {
+ deltanow -= vtp->delta;
+ vtp->delta = (sysinterval_t)0;
+ vtp = vtp->next;
+ }
+
+ vtlp->lasttime = vtlp->lasttime + deltanow;
+
+ /* Adjusting next timer in the list, if any.*/
+ if (is_timer(vtlp, vtp)) {
+ vtp->delta -= deltanow;
+ }
+}
+#endif
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Virtual Timers initialization.
+ * @note Internal use only.
+ *
+ * @notapi
+ */
+void _vt_init(void) {
+
+ ch.vtlist.next = (virtual_timer_t *)&ch.vtlist;
+ ch.vtlist.prev = (virtual_timer_t *)&ch.vtlist;
+ ch.vtlist.delta = (sysinterval_t)-1;
+#if CH_CFG_ST_TIMEDELTA == 0
+ ch.vtlist.systime = (systime_t)0;
+#else /* CH_CFG_ST_TIMEDELTA > 0 */
+ ch.vtlist.lasttime = (systime_t)0;
+#endif /* CH_CFG_ST_TIMEDELTA > 0 */
+}
+
+/**
+ * @brief Enables a virtual timer.
+ * @details The timer is enabled and programmed to trigger after the delay
+ * specified as parameter.
+ * @pre The timer must not be already armed before calling this function.
+ * @note The callback function is invoked from interrupt context.
+ *
+ * @param[out] vtp the @p virtual_timer_t structure pointer
+ * @param[in] delay 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 chVTDoSetI(virtual_timer_t *vtp, sysinterval_t delay,
+ vtfunc_t vtfunc, void *par) {
+ virtual_timers_list_t *vtlp = &ch.vtlist;
+ virtual_timer_t *p;
+ sysinterval_t delta;
+
+ chDbgCheckClassI();
+ chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
+
+ vtp->par = par;
+ vtp->func = vtfunc;
+
+#if CH_CFG_ST_TIMEDELTA > 0
+ {
+ systime_t now = chVTGetSystemTimeX();
+ sysinterval_t deltanow;
+
+ /* If the requested delay is lower than the minimum safe delta then it
+ is raised to the minimum safe value.*/
+ if (delay < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delay = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
+ }
+
+ /* Special case where the timers list is empty.*/
+ if (is_vtlist_empty(vtlp)) {
+
+ /* The delta list is empty, the current time becomes the new
+ delta list base time, the timer is inserted.*/
+ vtlp->lasttime = now;
+ vtlp->next = vtp;
+ vtlp->prev = vtp;
+ vtp->next = (virtual_timer_t *)vtlp;
+ vtp->prev = (virtual_timer_t *)vtlp;
+ vtp->delta = delay;
+
+#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
+ /* The delta could be too large for the physical timer to handle.*/
+ if (delay > (sysinterval_t)TIME_MAX_SYSTIME) {
+ delay = (sysinterval_t)TIME_MAX_SYSTIME;
+ }
+#endif
+
+ /* Being the first element in the list the alarm timer is started.*/
+ port_timer_start_alarm(chTimeAddX(vtlp->lasttime, delay));
+
+ return;
+ }
+
+ /* Delay as delta from 'lasttime'. Note, it can overflow and the value
+ becomes lower than 'deltanow'.*/
+ deltanow = chTimeDiffX(vtlp->lasttime, now);
+ delta = deltanow + delay;
+
+ /* Scenario where a very large delay exceeded the numeric range, it
+ requires a special handling, the compression procedure.*/
+ if (delta < deltanow) {
+ vt_list_compress(vtlp, deltanow);
+ delta -= deltanow;
+ }
+ else if (delta < vtlp->next->delta) {
+ sysinterval_t deadline_delta;
+
+ /* A small delay that will become the first element in the delta list
+ and next deadline.*/
+ deadline_delta = delta;
+#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
+ /* The delta could be too large for the physical timer to handle.*/
+ if (deadline_delta > (sysinterval_t)TIME_MAX_SYSTIME) {
+ deadline_delta = (sysinterval_t)TIME_MAX_SYSTIME;
+ }
+#endif
+ port_timer_set_alarm(chTimeAddX(vtlp->lasttime, deadline_delta));
+ }
+ }
+#else /* CH_CFG_ST_TIMEDELTA == 0 */
+ /* Delta is initially equal to the specified delay.*/
+ delta = delay;
+#endif /* CH_CFG_ST_TIMEDELTA == 0 */
+
+ /* The delta list is scanned in order to find the correct position for
+ this timer. */
+ p = vtlp->next;
+ while (p->delta < delta) {
+ /* Debug assert if the timer is already in the list.*/
+ chDbgAssert(p != vtp, "timer already armed");
+
+ delta -= p->delta;
+ p = p->next;
+ }
+
+ /* The timer is inserted in the delta list.*/
+ vtp->next = p;
+ vtp->prev = vtp->next->prev;
+ vtp->prev->next = vtp;
+ p->prev = vtp;
+ vtp->delta = delta;
+
+ /* Calculate new delta for the following entry.*/
+ p->delta -= delta;
+
+ /* Special case when the timer is in last position in the list, the
+ value in the header must be restored.*/
+ vtlp->delta = (sysinterval_t)-1;
+}
+
+/**
+ * @brief Disables a Virtual Timer.
+ * @pre The timer must be in armed state before calling this function.
+ *
+ * @param[in] vtp the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+void chVTDoResetI(virtual_timer_t *vtp) {
+ virtual_timers_list_t *vtlp = &ch.vtlist;
+
+ chDbgCheckClassI();
+ chDbgCheck(vtp != NULL);
+ chDbgAssert(vtp->func != NULL, "timer not set or already triggered");
+
+#if CH_CFG_ST_TIMEDELTA == 0
+
+ /* The delta of the timer is added to the next timer.*/
+ vtp->next->delta += vtp->delta;
+
+ /* Removing the element from the delta list.*/
+ vtp->prev->next = vtp->next;
+ vtp->next->prev = vtp->prev;
+ vtp->func = NULL;
+
+ /* The above code changes the value in the header when the removed element
+ is the last of the list, restoring it.*/
+ vtlp->delta = (sysinterval_t)-1;
+#else /* CH_CFG_ST_TIMEDELTA > 0 */
+ sysinterval_t nowdelta, delta;
+
+ /* If the timer is not the first of the list then it is simply unlinked
+ else the operation is more complex.*/
+ if (!is_first_timer(vtlp, vtp)) {
+ /* Removing the element from the delta list.*/
+ vtp->prev->next = vtp->next;
+ vtp->next->prev = vtp->prev;
+ vtp->func = NULL;
+
+ /* Adding delta to the next element, if it is not the last one.*/
+ if (is_timer(vtlp, vtp->next))
+ vtp->next->delta += vtp->delta;
+
+ return;
+ }
+
+ /* Removing the first timer from the list.*/
+ vtlp->next = vtp->next;
+ vtlp->next->prev = (virtual_timer_t *)vtlp;
+ vtp->func = NULL;
+
+ /* If the list become empty then the alarm timer is stopped and done.*/
+ if (is_vtlist_empty(vtlp)) {
+ port_timer_stop_alarm();
+
+ return;
+ }
+
+ /* The delta of the removed timer is added to the new first timer.*/
+ vtlp->next->delta += vtp->delta;
+
+ /* If the new first timer has a delta of zero then the alarm is not
+ modified, the already programmed alarm will serve it.*/
+/* if (vtlp->next->delta == 0) {
+ return;
+ }*/
+
+ /* Distance in ticks between the last alarm event and current time.*/
+ nowdelta = chTimeDiffX(vtlp->lasttime, chVTGetSystemTimeX());
+
+ /* If the current time surpassed the time of the next element in list
+ then the event interrupt is already pending, just return.*/
+ if (nowdelta >= vtlp->next->delta) {
+ return;
+ }
+
+ /* Distance from the next scheduled event and now.*/
+ delta = vtlp->next->delta - nowdelta;
+
+ /* Making sure to not schedule an event closer than CH_CFG_ST_TIMEDELTA
+ ticks from now.*/
+ if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delta = nowdelta + (sysinterval_t)CH_CFG_ST_TIMEDELTA;
+ }
+ else {
+ delta = nowdelta + delta;
+#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
+ /* The delta could be too large for the physical timer to handle.*/
+ if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
+ delta = (sysinterval_t)TIME_MAX_SYSTIME;
+ }
+#endif
+ }
+ port_timer_set_alarm(chTimeAddX(vtlp->lasttime, delta));
+#endif /* CH_CFG_ST_TIMEDELTA > 0 */
+}
+
+/**
+ * @brief Virtual timers ticker.
+ * @note The system lock is released before entering the callback and
+ * re-acquired immediately after. It is callback's responsibility
+ * to acquire the lock if needed. This is done in order to reduce
+ * interrupts jitter when many timers are in use.
+ *
+ * @iclass
+ */
+void chVTDoTickI(void) {
+ virtual_timers_list_t *vtlp = &ch.vtlist;
+
+ chDbgCheckClassI();
+
+#if CH_CFG_ST_TIMEDELTA == 0
+ vtlp->systime++;
+ if (!is_vtlist_empty(vtlp)) {
+ /* The list is not empty, processing elements on top.*/
+ --vtlp->next->delta;
+ while (vtlp->next->delta == (sysinterval_t)0) {
+ virtual_timer_t *vtp;
+ vtfunc_t fn;
+
+ vtp = vtlp->next;
+ fn = vtp->func;
+ vtp->func = NULL;
+ vtp->next->prev = (virtual_timer_t *)vtlp;
+ vtlp->next = vtp->next;
+ chSysUnlockFromISR();
+ fn(vtp->par);
+ chSysLockFromISR();
+ }
+ }
+#else /* CH_CFG_ST_TIMEDELTA > 0 */
+ virtual_timer_t *vtp;
+ systime_t now;
+ sysinterval_t delta, nowdelta;
+
+ /* Looping through timers.*/
+ vtp = vtlp->next;
+ while (true) {
+
+ /* Getting the system time as reference.*/
+ now = chVTGetSystemTimeX();
+ nowdelta = chTimeDiffX(vtlp->lasttime, now);
+
+ /* The list scan is limited by the timers header having
+ "vtlp->vt_delta == (sysinterval_t)-1" which is
+ greater than all deltas.*/
+ if (nowdelta < vtp->delta) {
+ break;
+ }
+
+ /* Consuming all timers between "vtp->lasttime" and now.*/
+ do {
+ vtfunc_t fn;
+
+ /* The "last time" becomes this timer's expiration time.*/
+ vtlp->lasttime += vtp->delta;
+ nowdelta -= vtp->delta;
+
+ vtp->next->prev = (virtual_timer_t *)vtlp;
+ vtlp->next = vtp->next;
+ fn = vtp->func;
+ vtp->func = NULL;
+
+ /* If the list becomes empty then the timer is stopped.*/
+ if (is_vtlist_empty(vtlp)) {
+ port_timer_stop_alarm();
+ }
+
+ /* The callback is invoked outside the kernel critical zone.*/
+ chSysUnlockFromISR();
+ fn(vtp->par);
+ chSysLockFromISR();
+
+ /* Next element in the list.*/
+ vtp = vtlp->next;
+ }
+ while (vtp->delta <= nowdelta);
+ }
+
+ /* If the list is empty, nothing else to do.*/
+ if (is_vtlist_empty(vtlp)) {
+ return;
+ }
+
+ /* The "unprocessed nowdelta" time slice is added to "last time"
+ and subtracted to next timer's delta.*/
+ vtlp->lasttime += nowdelta;
+ vtlp->next->delta -= nowdelta;
+
+ /* Recalculating the next alarm time.*/
+ delta = vtp->delta - chTimeDiffX(vtlp->lasttime, now);
+ if (delta < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ delta = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
+ }
+#if CH_CFG_INTERVALS_SIZE > CH_CFG_ST_RESOLUTION
+ /* The delta could be too large for the physical timer to handle.*/
+ else if (delta > (sysinterval_t)TIME_MAX_SYSTIME) {
+ delta = (sysinterval_t)TIME_MAX_SYSTIME;
+ }
+#endif
+ port_timer_set_alarm(chTimeAddX(now, delta));
+
+ chDbgAssert(chTimeDiffX(vtlp->lasttime, chVTGetSystemTimeX()) <=
+ chTimeDiffX(vtlp->lasttime, chTimeAddX(now, delta)),
+ "exceeding delta");
+#endif /* CH_CFG_ST_TIMEDELTA > 0 */
+}
+
+/** @} */
|