diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/nil/src')
| -rw-r--r-- | ChibiOS_20.3.2/os/nil/src/ch.c | 1080 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/nil/src/chevt.c | 478 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/nil/src/chmsg.c | 201 | ||||
| -rw-r--r-- | ChibiOS_20.3.2/os/nil/src/chsem.c | 224 |
4 files changed, 1983 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/nil/src/ch.c b/ChibiOS_20.3.2/os/nil/src/ch.c new file mode 100644 index 0000000..35df8b6 --- /dev/null +++ b/ChibiOS_20.3.2/os/nil/src/ch.c @@ -0,0 +1,1080 @@ +/*
+ 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 nil/src/ch.c
+ * @brief Nil RTOS main source file.
+ *
+ * @addtogroup NIL_KERNEL
+ * @{
+ */
+
+#include "ch.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief System data structures.
+ */
+nil_system_t nil;
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Retrieves the highest priority thread in the specified state and
+ * associated to the specified object.
+ *
+ * @param[in] state thread state
+ * @param[in] p object pointer
+ * @return The pointer to the found thread.
+ * @retval NULL if the thread is not found.
+ *
+ * @notapi
+ */
+thread_t *nil_find_thread(tstate_t state, void *p) {
+ thread_t *tp = nil.threads;
+
+ while (tp < &nil.threads[CH_CFG_MAX_THREADS]) {
+ /* Is this thread matching?*/
+ if ((tp->state == state) && (tp->u1.p == p)) {
+ return tp;
+ }
+ tp++;
+ }
+ return NULL;
+}
+
+/**
+ * @brief Puts in ready state all thread matching the specified status and
+ * associated object.
+ *
+ * @param[in] p object pointer
+ * @param[in] cnt number of threads to be readied as a negative number,
+ * non negative numbers are ignored
+ * @param[in] msg the wakeup message
+ * @return The number of readied threads.
+ *
+ * @notapi
+ */
+cnt_t nil_ready_all(void *p, cnt_t cnt, msg_t msg) {
+ thread_t *tp = nil.threads;;
+
+ while (cnt < (cnt_t)0) {
+
+ chDbgAssert(tp < &nil.threads[CH_CFG_MAX_THREADS],
+ "pointer out of range");
+
+ /* Is this thread waiting on this queue?*/
+ if ((tp->state == NIL_STATE_WTQUEUE) && (tp->u1.p == p)) {
+ cnt++;
+ (void) chSchReadyI(tp, msg);
+ }
+ tp++;
+ }
+
+ return cnt;
+}
+
+#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Guard code for @p chSysDisable().
+ *
+ * @notapi
+ */
+void _dbg_check_disable(void) {
+
+ if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#1");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysSuspend().
+ *
+ * @notapi
+ */
+void _dbg_check_suspend(void) {
+
+ if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#2");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysEnable().
+ *
+ * @notapi
+ */
+void _dbg_check_enable(void) {
+
+ if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#3");
+ }
+}
+
+/**
+ * @brief Guard code for @p chSysLock().
+ *
+ * @notapi
+ */
+void _dbg_check_lock(void) {
+
+ if ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#4");
+ }
+ _dbg_enter_lock();
+}
+
+/**
+ * @brief Guard code for @p chSysUnlock().
+ *
+ * @notapi
+ */
+void _dbg_check_unlock(void) {
+
+ if ((nil.isr_cnt != (cnt_t)0) || (nil.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 ((nil.isr_cnt <= (cnt_t)0) || (nil.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 ((nil.isr_cnt <= (cnt_t)0) || (nil.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 ((nil.isr_cnt < (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#8");
+ }
+ nil.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 ((nil.isr_cnt <= (cnt_t)0) || (nil.lock_cnt != (cnt_t)0)) {
+ chSysHalt("SV#9");
+ }
+ nil.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 ((nil.isr_cnt < (cnt_t)0) || (nil.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 ((nil.isr_cnt != (cnt_t)0) || (nil.lock_cnt <= (cnt_t)0)) {
+ chSysHalt("SV#11");
+ }
+}
+#endif /* CH_DBG_SYSTEM_STATE_CHECK == TRUE */
+
+/**
+ * @brief Initializes the kernel.
+ * @details Initializes the kernel structures, the current instructions flow
+ * becomes the idle thread upon return. The idle thread must not
+ * invoke any kernel primitive able to change state to not runnable.
+ * @note This function assumes that the @p nil global variable has been
+ * zeroed by the runtime environment. If this is not the case then
+ * make sure to clear it before calling this function.
+ *
+ * @special
+ */
+void chSysInit(void) {
+ const thread_descriptor_t *tdp;
+
+ /* Optional library modules.*/
+ _oslib_init();
+
+ /* Architecture layer initialization.*/
+ port_init();
+
+ /* System initialization hook.*/
+ CH_CFG_SYSTEM_INIT_HOOK();
+
+ /* Making idle the current thread, this may change after rescheduling.*/
+ nil.next = nil.current = &nil.threads[CH_CFG_MAX_THREADS];
+ nil.current->state = NIL_STATE_READY;
+
+#if CH_DBG_ENABLE_STACK_CHECK == TRUE
+ /* The idle thread is a special case because its stack is set up by the
+ runtime environment.*/
+ nil.threads[CH_CFG_MAX_THREADS].wabase = THD_IDLE_BASE;
+#endif
+
+ /* Interrupts partially enabled. It is equivalent to entering the
+ kernel critical zone.*/
+ chSysSuspend();
+#if CH_DBG_SYSTEM_STATE_CHECK == TRUE
+ nil.lock_cnt = (cnt_t)1;
+#endif
+
+#if CH_CFG_AUTOSTART_THREADS == TRUE
+ /* Iterates through the list of threads to be auto-started.*/
+ tdp = nil_thd_configs;
+ do {
+ (void) chThdCreateI(tdp);
+ tdp++;
+ } while (tdp->funcp != NULL);
+#endif
+
+ /* Starting the dance.*/
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @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();
+
+#if NIL_DBG_ENABLED
+ nil.dbg_panic_msg = reason;
+#else
+ (void)reason;
+#endif
+
+ /* Halt hook code, usually empty.*/
+ CH_CFG_SYSTEM_HALT_HOOK(reason);
+
+ /* Harmless infinite loop.*/
+ while (true) {
+ }
+}
+
+/**
+ * @brief Time management handler.
+ * @note This handler has to be invoked by a periodic ISR in order to
+ * reschedule the waiting threads.
+ *
+ * @iclass
+ */
+void chSysTimerHandlerI(void) {
+
+ chDbgCheckClassI();
+
+#if CH_CFG_ST_TIMEDELTA == 0
+ thread_t *tp = &nil.threads[0];
+ nil.systime++;
+ do {
+ /* Is the thread in a wait state with timeout?.*/
+ if (tp->timeout > (sysinterval_t)0) {
+
+ chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
+
+ /* Did the timer reach zero?*/
+ if (--tp->timeout == (sysinterval_t)0) {
+ /* Timeout on queues/semaphores requires a special handling because
+ the counter must be incremented.*/
+ /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
+#if CH_CFG_USE_SEMAPHORES == TRUE
+ if (NIL_THD_IS_WTQUEUE(tp)) {
+ tp->u1.semp->cnt++;
+ }
+ else
+#endif
+ if (NIL_THD_IS_SUSPENDED(tp)) {
+ *tp->u1.trp = NULL;
+ }
+ /*lint -restore*/
+ (void) chSchReadyI(tp, MSG_TIMEOUT);
+ }
+ }
+ /* Lock released in order to give a preemption chance on those
+ architectures supporting IRQ preemption.*/
+ chSysUnlockFromISR();
+ tp++;
+ chSysLockFromISR();
+ } while (tp < &nil.threads[CH_CFG_MAX_THREADS]);
+#else
+ thread_t *tp = &nil.threads[0];
+ sysinterval_t next = (sysinterval_t)0;
+
+ chDbgAssert(nil.nexttime == port_timer_get_alarm(), "time mismatch");
+
+ do {
+ sysinterval_t timeout = tp->timeout;
+
+ /* Is the thread in a wait state with timeout?.*/
+ if (timeout > (sysinterval_t)0) {
+
+ chDbgAssert(!NIL_THD_IS_READY(tp), "is ready");
+ chDbgAssert(timeout >= chTimeDiffX(nil.lasttime, nil.nexttime),
+ "skipped one");
+
+ /* The volatile field is updated once, here.*/
+ timeout -= chTimeDiffX(nil.lasttime, nil.nexttime);
+ tp->timeout = timeout;
+
+ if (timeout == (sysinterval_t)0) {
+ /* Timeout on thread queues requires a special handling because the
+ counter must be incremented.*/
+ if (NIL_THD_IS_WTQUEUE(tp)) {
+ tp->u1.tqp->cnt++;
+ }
+ else {
+ if (NIL_THD_IS_SUSPENDED(tp)) {
+ *tp->u1.trp = NULL;
+ }
+ }
+ (void) chSchReadyI(tp, MSG_TIMEOUT);
+ }
+ else {
+ if (timeout <= (sysinterval_t)(next - (sysinterval_t)1)) {
+ next = timeout;
+ }
+ }
+ }
+
+ /* Lock released in order to give a preemption chance on those
+ architectures supporting IRQ preemption.*/
+ chSysUnlockFromISR();
+ tp++;
+ chSysLockFromISR();
+ } while (tp < &nil.threads[CH_CFG_MAX_THREADS]);
+
+ nil.lasttime = nil.nexttime;
+ if (next > (sysinterval_t)0) {
+ nil.nexttime = chTimeAddX(nil.nexttime, next);
+ port_timer_set_alarm(nil.nexttime);
+ }
+ else {
+ /* No tick event needed.*/
+ port_timer_stop_alarm();
+ }
+#endif
+}
+
+/**
+ * @brief Unconditionally enters the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "s-locked".
+ *
+ * @special
+ */
+void chSysUnconditionalLock(void) {
+
+ if (port_irq_enabled(port_get_irq_status())) {
+ chSysLock();
+ }
+}
+
+/**
+ * @brief Unconditionally leaves the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "normal".
+ *
+ * @special
+ */
+void chSysUnconditionalUnlock(void) {
+
+ if (!port_irq_enabled(port_get_irq_status())) {
+ chSysUnlock();
+ }
+}
+
+/**
+ * @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 */
+
+/**
+ * @brief Makes the specified thread ready for execution.
+ *
+ * @param[in] tp pointer to the @p thread_t object
+ * @param[in] msg the wakeup message
+ *
+ * @return The same reference passed as parameter.
+ */
+thread_t *chSchReadyI(thread_t *tp, msg_t msg) {
+
+ chDbgCheckClassI();
+ chDbgCheck((tp >= nil.threads) && (tp < &nil.threads[CH_CFG_MAX_THREADS]));
+ chDbgAssert(!NIL_THD_IS_READY(tp), "already ready");
+ chDbgAssert(nil.next <= nil.current, "priority ordering");
+
+ tp->u1.msg = msg;
+ tp->state = NIL_STATE_READY;
+ tp->timeout = (sysinterval_t)0;
+ if (tp < nil.next) {
+ nil.next = tp;
+ }
+ return tp;
+}
+
+/**
+ * @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) {
+
+ return chSchIsRescRequiredI();
+}
+
+/**
+ * @brief Switches to the first thread on the runnable queue.
+ * @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 = nil.current;
+
+ nil.current = nil.next;
+ if (otp == &nil.threads[CH_CFG_MAX_THREADS]) {
+ CH_CFG_IDLE_LEAVE_HOOK();
+ }
+ port_switch(nil.next, otp);
+}
+
+/**
+ * @brief Reschedules if needed.
+ *
+ * @sclass
+ */
+void chSchRescheduleS(void) {
+
+ chDbgCheckClassS();
+
+ if (chSchIsRescRequiredI()) {
+ chSchDoReschedule();
+ }
+}
+
+/**
+ * @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 system time then it is forcibly
+ * awakened with a @p MSG_TIMEOUT low level message.
+ *
+ * @param[in] newstate the new thread state or a semaphore pointer
+ * @param[in] timeout the number of ticks before the operation timeouts.
+ * the following special values are allowed:
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The wakeup message.
+ * @retval MSG_TIMEOUT if a timeout occurred.
+ *
+ * @sclass
+ */
+msg_t chSchGoSleepTimeoutS(tstate_t newstate, sysinterval_t timeout) {
+ thread_t *ntp, *otp = nil.current;
+
+ chDbgCheckClassS();
+
+ chDbgAssert(otp != &nil.threads[CH_CFG_MAX_THREADS],
+ "idle cannot sleep");
+
+ /* Storing the wait object for the current thread.*/
+ otp->state = newstate;
+
+#if CH_CFG_ST_TIMEDELTA > 0
+ if (timeout != TIME_INFINITE) {
+ systime_t abstime;
+
+ /* TIMEDELTA makes sure to have enough time to reprogram the timer
+ before the free-running timer counter reaches the selected timeout.*/
+ if (timeout < (sysinterval_t)CH_CFG_ST_TIMEDELTA) {
+ timeout = (sysinterval_t)CH_CFG_ST_TIMEDELTA;
+ }
+
+ /* Absolute time of the timeout event.*/
+ abstime = chTimeAddX(chVTGetSystemTimeX(), timeout);
+
+ if (nil.lasttime == nil.nexttime) {
+ /* Special case, first thread asking for a timeout.*/
+ port_timer_start_alarm(abstime);
+ nil.nexttime = abstime;
+ }
+ else {
+ /* Special case, there are already other threads with a timeout
+ activated, evaluating the order.*/
+ if (chTimeIsInRangeX(abstime, nil.lasttime, nil.nexttime)) {
+ port_timer_set_alarm(abstime);
+ nil.nexttime = abstime;
+ }
+ }
+
+ /* Timeout settings.*/
+ otp->timeout = abstime - nil.lasttime;
+ }
+#else
+
+ /* Timeout settings.*/
+ otp->timeout = timeout;
+#endif
+
+ /* Scanning the whole threads array.*/
+ ntp = nil.threads;
+ while (true) {
+ /* Is this thread ready to execute?*/
+ if (NIL_THD_IS_READY(ntp)) {
+ nil.current = nil.next = ntp;
+ if (ntp == &nil.threads[CH_CFG_MAX_THREADS]) {
+ CH_CFG_IDLE_ENTER_HOOK();
+ }
+ port_switch(ntp, otp);
+ return nil.current->u1.msg;
+ }
+
+ /* Points to the next thread in lowering priority order.*/
+ ntp++;
+ chDbgAssert(ntp <= &nil.threads[CH_CFG_MAX_THREADS],
+ "pointer out of range");
+ }
+}
+
+/**
+ * @brief Checks if the specified time is within the specified time range.
+ * @note When start==end then the function returns always false because the
+ * time window has zero size.
+ *
+ * @param[in] time the time to be verified
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+bool chTimeIsInRangeX(systime_t time, systime_t start, systime_t end) {
+
+ return (bool)((systime_t)((systime_t)(time) - (systime_t)(start)) <
+ (systime_t)((systime_t)(end) - (systime_t)(start)));
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @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 structure
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread.
+ *
+ * @iclass
+ */
+thread_t *chThdCreateI(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+ chDbgCheck((tdp->prio < (tprio_t)CH_CFG_MAX_THREADS) &&
+ (tdp->wbase != NULL) &&
+ MEM_IS_ALIGNED(tdp->wbase, PORT_WORKING_AREA_ALIGN) &&
+ (tdp->wend > tdp->wbase) &&
+ MEM_IS_ALIGNED(tdp->wbase, PORT_STACK_ALIGN) &&
+ (tdp->funcp != NULL));
+
+ chDbgCheckClassI();
+
+ /* Pointer to the thread slot to be used.*/
+ tp = &nil.threads[tdp->prio];
+ chDbgAssert(NIL_THD_IS_WTSTART(tp) || NIL_THD_IS_FINAL(tp),
+ "priority slot taken");
+
+#if CH_CFG_USE_EVENTS == TRUE
+ tp->epmask = (eventmask_t)0;
+#endif
+#if CH_DBG_ENABLE_STACK_CHECK == TRUE
+ tp->wabase = (stkalign_t *)tdp->wbase;
+#endif
+
+ /* Port dependent thread initialization.*/
+ PORT_SETUP_CONTEXT(tp, tdp->wbase, tdp->wend, tdp->funcp, tdp->arg);
+
+ /* Initialization hook.*/
+ CH_CFG_THREAD_EXT_INIT_HOOK(tp);
+
+ /* Readying up thread.*/
+ return chSchReadyI(tp, MSG_OK);
+}
+
+/**
+ * @brief Creates a new thread into a static memory area.
+ * @details The new thread is initialized and make ready to execute.
+ * @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 structure
+ * @return The pointer to the @p thread_t structure allocated for
+ * the thread.
+ *
+ * @api
+ */
+thread_t *chThdCreate(const thread_descriptor_t *tdp) {
+ thread_t *tp;
+
+ chSysLock();
+ tp = chThdCreateI(tdp);
+ chSchRescheduleS();
+ chSysUnlock();
+
+ return tp;
+}
+
+/**
+ * @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
+ *
+ * @api
+ */
+void chThdExit(msg_t msg) {
+
+ chSysLock();
+
+ /* Exit handler hook.*/
+ CH_CFG_THREAD_EXIT_HOOK(tp);
+
+#if CH_CFG_USE_WAITEXIT == TRUE
+ {
+ /* Waking up any waiting thread.*/
+ thread_t *tp = nil.threads;
+ while (tp < &nil.threads[CH_CFG_MAX_THREADS]) {
+ /* Is this thread waiting for current thread termination?*/
+ if ((tp->state == NIL_STATE_WTEXIT) && (tp->u1.tp == nil.current)) {
+ (void) chSchReadyI(tp, msg);
+ }
+ tp++;
+ }
+ }
+#endif
+
+ /* Going into final state with exit message stored.*/
+ nil.current->u1.msg = msg;
+ (void) chSchGoSleepTimeoutS(NIL_STATE_FINAL, TIME_INFINITE);
+
+ /* The thread never returns here.*/
+ chDbgAssert(false, "zombies apocalypse");
+}
+
+/**
+ * @brief Blocks the execution of the invoking thread until the specified
+ * thread terminates then the exit code is returned.
+ *
+ * @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;
+
+ chSysLock();
+ if (NIL_THD_IS_FINAL(tp)) {
+ msg = tp->u1.msg;
+ }
+ else {
+ nil.current->u1.tp = tp;
+ msg = chSchGoSleepTimeoutS(NIL_STATE_WTEXIT, TIME_INFINITE);
+ }
+ chSysUnlock();
+
+ return msg;
+}
+
+/**
+ * @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 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 wake up message.
+ *
+ * @sclass
+ */
+msg_t chThdSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
+
+ chDbgAssert(*trp == NULL, "not NULL");
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ *trp = nil.current;
+ nil.current->u1.trp = trp;
+ return chSchGoSleepTimeoutS(NIL_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_reference_t tr = *trp;
+
+ chDbgAssert(NIL_THD_IS_SUSPENDED(tr), "not suspended");
+
+ *trp = NULL;
+ (void) chSchReadyI(tr, 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 Suspends the invoking thread for the specified time.
+ *
+ * @param[in] timeout the delay in system ticks
+ *
+ * @api
+ */
+void chThdSleep(sysinterval_t timeout) {
+
+ chSysLock();
+ chThdSleepS(timeout);
+ chSysUnlock();
+}
+
+/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ *
+ * @param[in] abstime absolute system time
+ *
+ * @api
+ */
+void chThdSleepUntil(systime_t abstime) {
+
+ chSysLock();
+ chThdSleepUntilS(abstime);
+ 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_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @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) {
+
+ chDbgCheckClassS();
+ chDbgCheck(tqp != NULL);
+
+ chDbgAssert(tqp->cnt <= (cnt_t)0, "invalid counter");
+
+ if (TIME_IMMEDIATE == timeout) {
+ return MSG_TIMEOUT;
+ }
+
+ tqp->cnt--;
+ nil.current->u1.tqp = tqp;
+ return chSchGoSleepTimeoutS(NIL_STATE_WTQUEUE, timeout);
+}
+
+/**
+ * @brief Dequeues and wakes up one thread from the threads queue object.
+ * @details Dequeues one thread from the queue without checking if the queue
+ * is empty.
+ * @pre The queue must contain at least an object.
+ *
+ * @param[in] tqp pointer to the threads queue object
+ * @param[in] msg the message code
+ *
+ * @iclass
+ */
+void chThdDoDequeueNextI(threads_queue_t *tqp, msg_t msg) {
+ thread_t *tp;
+
+ chDbgAssert(tqp->cnt < (cnt_t)0, "empty queue");
+
+ tqp->cnt++;
+ tp = nil_find_thread(NIL_STATE_WTQUEUE, (void *)tqp);
+
+ chDbgAssert(tp != NULL, "thread not found");
+
+ (void) chSchReadyI(tp, msg);
+}
+
+/**
+ * @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) {
+
+ chDbgCheckClassI();
+ chDbgCheck(tqp != NULL);
+
+ if (tqp->cnt < (cnt_t)0) {
+ 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) {
+
+ chDbgCheckClassI();
+ chDbgCheck(tqp != NULL);
+
+ tqp->cnt = nil_ready_all((void *)tqp, tqp->cnt, msg);
+}
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/nil/src/chevt.c b/ChibiOS_20.3.2/os/nil/src/chevt.c new file mode 100644 index 0000000..ed33af4 --- /dev/null +++ b/ChibiOS_20.3.2/os/nil/src/chevt.c @@ -0,0 +1,478 @@ +/*
+ 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 nil/src/chevt.c
+ * @brief Nil RTOS events source file.
+ *
+ * @addtogroup NIL_EVENTS
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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 = chThdGetSelfX();
+ 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 = chThdGetSelfX()->epmask & events;
+ chThdGetSelfX()->epmask &= ~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 event flags set to be ORed
+ *
+ * @api
+ */
+void chEvtSignal(thread_t *tp, eventmask_t events) {
+
+ 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 event flags set to be ORed
+ *
+ * @iclass
+ */
+void chEvtSignalI(thread_t *tp, eventmask_t events) {
+
+ chDbgCheckClassI();
+ chDbgCheck(tp != NULL);
+
+ tp->epmask |= events;
+ if ((NIL_THD_IS_WTOREVT(tp) &&
+ ((tp->epmask & tp->u1.ewmask) != (eventmask_t)0)) ||
+ (NIL_THD_IS_WTANDEVT(tp) &&
+ ((tp->epmask & tp->u1.ewmask) == tp->u1.ewmask))) {
+ (void) chSchReadyI(tp, MSG_OK);
+ }
+}
+
+/**
+ * @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++;
+ }
+}
+
+/**
+ * @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 = nil.current;
+ eventmask_t m;
+
+ chSysLock();
+ m = ctp->epmask & events;
+ if (m == (eventmask_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ ctp->u1.ewmask = events;
+ if (chSchGoSleepTimeoutS(NIL_STATE_WTOREVT, timeout) < MSG_OK) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ m = ctp->epmask & events;
+ }
+ m ^= m & (m - (eventmask_t)1);
+ ctp->epmask &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for any of the specified events.
+ * @details The function waits for any event among those specified in
+ * @p mask to become pending then the events are cleared and
+ * returned.
+ *
+ * @param[in] mask mask of the event flags 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 mask, sysinterval_t timeout) {
+ thread_t *ctp = nil.current;
+ eventmask_t m;
+
+ chSysLock();
+ if ((m = (ctp->epmask & mask)) == (eventmask_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ ctp->u1.ewmask = mask;
+ if (chSchGoSleepTimeoutS(NIL_STATE_WTOREVT, timeout) < MSG_OK) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ m = ctp->epmask & mask;
+ }
+ ctp->epmask &= ~m;
+ chSysUnlock();
+
+ return m;
+}
+
+/**
+ * @brief Waits for all the specified events.
+ * @details The function waits for all the events specified in @p mask to
+ * become pending then the events are cleared and returned.
+ *
+ * @param[in] mask mask of the event flags 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 chEvtWaitAllTimeout(eventmask_t mask, sysinterval_t timeout) {
+ thread_t *ctp = nil.current;
+
+ chSysLock();
+ if ((ctp->epmask & mask) != mask) {
+ if (TIME_IMMEDIATE == timeout) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ ctp->u1.ewmask = mask;
+ if (chSchGoSleepTimeoutS(NIL_STATE_WTANDEVT, timeout) < MSG_OK) {
+ chSysUnlock();
+
+ return (eventmask_t)0;
+ }
+ }
+ ctp->epmask &= ~mask;
+ chSysUnlock();
+
+ return mask;
+}
+
+#endif /* CH_CFG_USE_EVENTS == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/nil/src/chmsg.c b/ChibiOS_20.3.2/os/nil/src/chmsg.c new file mode 100644 index 0000000..ccefcc5 --- /dev/null +++ b/ChibiOS_20.3.2/os/nil/src/chmsg.c @@ -0,0 +1,201 @@ +/*
+ 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 nil/src/chmsg.c
+ * @brief Nil RTOS synchronous messages source file.
+ *
+ * @addtogroup NIL_MESSAGES
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_MESSAGES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* 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 = nil.current;
+
+ chDbgCheck(tp != NULL);
+
+ chSysLock();
+ ctp->sntmsg = msg;
+ ctp->u1.tp = tp;
+ if (NIL_THD_IS_WTMSG(tp)) {
+ (void) chSchReadyI(tp, (msg_t)ctp);
+ }
+ msg = chSchGoSleepTimeoutS(NIL_STATE_SNDMSGQ, TIME_INFINITE);
+ 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.
+ *
+ * @api
+ */
+thread_t *chMsgWait(void) {
+ thread_t *tp;
+
+ chSysLock();
+ tp = chMsgWaitS();
+ chSysUnlock();
+
+ 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_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A pointer to the thread carrying the message.
+ * @retval NULL if a timeout occurred.
+ *
+ * @api
+ */
+thread_t *chMsgWaitTimeout(sysinterval_t timeout) {
+ thread_t *tp;
+
+ chSysLock();
+ tp = chMsgWaitTimeoutS(timeout);
+ chSysUnlock();
+
+ 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();
+
+ tp = nil_find_thread(NIL_STATE_SNDMSGQ, nil.current);
+ if (tp == NULL) {
+ msg_t msg = chSchGoSleepTimeoutS(NIL_STATE_WTMSG, timeout);
+ if (msg != MSG_TIMEOUT) {
+ return (thread_t *)msg;
+ }
+ }
+
+ 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 == NIL_STATE_SNDMSGQ, "invalid state");
+ chMsgReleaseS(tp, msg);
+ chSysUnlock();
+}
+
+#endif /* CH_CFG_USE_MESSAGES == TRUE */
+
+/** @} */
diff --git a/ChibiOS_20.3.2/os/nil/src/chsem.c b/ChibiOS_20.3.2/os/nil/src/chsem.c new file mode 100644 index 0000000..c97eb3a --- /dev/null +++ b/ChibiOS_20.3.2/os/nil/src/chsem.c @@ -0,0 +1,224 @@ +/*
+ 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 nil/src/chsem.c
+ * @brief Nil RTOS semaphores source file.
+ *
+ * @addtogroup NIL_SEMAPHORES
+ * @{
+ */
+
+#include "ch.h"
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module interrupt handlers. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @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 NIL_MSG_OK if the thread has not stopped on the semaphore or the
+ * semaphore has been signaled.
+ * @retval NIL_MSG_RST if the semaphore has been reset using @p chSemReset().
+ * @retval NIL_MSG_TMO 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 NIL_MSG_OK if the thread has not stopped on the semaphore or the
+ * semaphore has been signaled.
+ * @retval NIL_MSG_RST if the semaphore has been reset using @p chSemReset().
+ * @retval NIL_MSG_TMO 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);
+
+ /* Note, the semaphore counter is a volatile variable so accesses are
+ manually optimized.*/
+ cnt_t cnt = sp->cnt;
+ if (cnt <= (cnt_t)0) {
+ if (TIME_IMMEDIATE == timeout) {
+
+ return MSG_TIMEOUT;
+ }
+ sp->cnt = cnt - (cnt_t)1;
+ nil.current->u1.semp = sp;
+
+ return chSchGoSleepTimeoutS(NIL_STATE_WTQUEUE, timeout);
+ }
+ sp->cnt = cnt - (cnt_t)1;
+
+ 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) {
+
+ chSysLock();
+ chSemSignalI(sp);
+ chSchRescheduleS();
+ 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);
+
+ if (++sp->cnt <= (cnt_t)0) {
+ thread_t *tp = nil_find_thread(NIL_STATE_WTQUEUE, (void *)sp);
+
+ chDbgAssert(tp != NULL, "thread not found");
+
+ (void) chSchReadyI(tp, MSG_OK);
+ }
+}
+
+/**
+ * @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
+ *
+ * @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) {
+ cnt_t cnt;
+
+ chDbgCheckClassI();
+ chDbgCheck((sp != NULL) && (n >= (cnt_t)0));
+
+ cnt = sp->cnt;
+ sp->cnt = n;
+
+ /* Does nothing for cnt >= 0, calling anyway.*/
+ (void) nil_ready_all((void *)sp, cnt, msg);
+}
+
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+/** @} */
|