From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h | 754 +++++++++++++++++++++++ 1 file changed, 754 insertions(+) create mode 100644 ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h (limited to 'ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h') diff --git a/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h new file mode 100644 index 0000000..362a30c --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/osal/os-less/ARMCMx/osal.h @@ -0,0 +1,754 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file osal.h + * @brief OSAL module header. + * + * @addtogroup OSAL + * @{ + */ + +#ifndef OSAL_H +#define OSAL_H + +#include +#include +#include + +#include "cmparams.h" + +#include "osalconf.h" + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Common constants + * @{ + */ +#if !defined(FALSE) || defined(__DOXYGEN__) +#define FALSE 0 +#endif + +#if !defined(TRUE) || defined(__DOXYGEN__) +#define TRUE 1 +#endif + +#define OSAL_SUCCESS false +#define OSAL_FAILED true +/** @} */ + +/** + * @name Messages + * @{ + */ +#define MSG_OK (msg_t)0 +#define MSG_RESET (msg_t)-1 +#define MSG_TIMEOUT (msg_t)-2 +#define MSG_WAIT (msg_t)-10 +/** @} */ + +/** + * @name Special time constants + * @{ + */ +#define TIME_IMMEDIATE ((sysinterval_t)0) +#define TIME_INFINITE ((sysinterval_t)-1) +/** @} */ + +/** + * @name Systick modes. + * @{ + */ +#define OSAL_ST_MODE_NONE 0 +#define OSAL_ST_MODE_PERIODIC 1 +#define OSAL_ST_MODE_FREERUNNING 2 +/** @} */ + +/** + * @name Systick parameters. + * @{ + */ +/** + * @brief Size in bits of the @p systick_t type. + */ +#define OSAL_ST_RESOLUTION 32 + +/** + * @brief Systick mode required by the underlying OS. + */ +#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC +/** @} */ + +/** + * @name IRQ-related constants + * @{ + */ +/** + * @brief Total priority levels. + */ +#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS) + +/** + * @brief Highest IRQ priority for HAL drivers. + */ +#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__) +#define OSAL_IRQ_MAXIMUM_PRIORITY 0 +#else +#define OSAL_IRQ_MAXIMUM_PRIORITY 1 +#endif + +/** + * @brief Converts from numeric priority to BASEPRI register value. + */ +#define OSAL_BASEPRI(priority) ((priority) << (8U - CORTEX_PRIORITY_BITS)) +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Frequency in Hertz of the system tick. + */ +#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__) +#define OSAL_ST_FREQUENCY 1000 +#endif + +/** + * @brief Enables OSAL assertions. + */ +#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_ASSERTS FALSE +#endif + +/** + * @brief Enables OSAL functions parameters checks. + */ +#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) +#define OSAL_DBG_ENABLE_CHECKS FALSE +#endif + +/** + * @brief OSAL initialization hook. + */ +#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__) +#define OSAL_INIT_HOOK() +#endif + +/** + * @brief Idle loop hook macro. + */ +#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__) +#define OSAL_IDLE_HOOK() +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a system status word. + */ +typedef uint32_t syssts_t; + +/** + * @brief Type of a message. + */ +typedef int32_t msg_t; + +/** + * @brief Type of system time counter. + */ +typedef uint32_t systime_t; + +/** + * @brief Type of system time interval. + */ +typedef uint32_t sysinterval_t; + +/** + * @brief Type of realtime counter. + */ +typedef uint32_t rtcnt_t; + +/** + * @brief Type of a thread. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + */ +typedef struct { + volatile msg_t message; +} thread_t; + +/** + * @brief Type of a thread reference. + */ +typedef thread_t * thread_reference_t; + +/** + * @brief Type of an event flags mask. + */ +typedef uint32_t eventflags_t; + +/** + * @brief Type of an event flags object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +typedef struct event_source event_source_t; + +/** + * @brief Type of an event source callback. + * @note This type is not part of the OSAL API and is provided + * exclusively as an example and for convenience. + */ +typedef void (*eventcallback_t)(event_source_t *esp); + +/** + * @brief Events source object. + * @note The content of this structure is not part of the API and should + * not be relied upon. Implementers may define this structure in + * an entirely different way. + * @note Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +struct event_source { + volatile eventflags_t flags; /**< @brief Stored event flags. */ + eventcallback_t cb; /**< @brief Event source callback. */ + void *param; /**< @brief User defined field. */ +}; + +/** + * @brief Type of a mutex. + * @note If the OS does not support mutexes or there is no OS then them + * mechanism can be simulated. + */ +typedef uint32_t mutex_t; + +/** + * @brief Type of a thread queue. + * @details A thread queue is a queue of sleeping threads, queued threads + * can be dequeued one at time or all together. + * @note If the OSAL is implemented on a bare metal machine without RTOS + * then the queue can be implemented as a single thread reference. + */ +typedef struct { + thread_reference_t tr; +} threads_queue_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @name Debug related macros + * @{ + */ +/** + * @brief Condition assertion. + * @details If the condition check fails then the OSAL panics with a + * message and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS + * switch is enabled. + * @note The remark string is not currently used except for putting a + * comment in the code about the assertion. + * + * @param[in] c the condition to be verified to be true + * @param[in] remark a remark string + * + * @api + */ +#define osalDbgAssert(c, remark) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief Function parameters check. + * @details If the condition check fails then the OSAL panics and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch + * is enabled. + * + * @param[in] c the condition to be verified to be true + * + * @api + */ +#define osalDbgCheck(c) do { \ + /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ + if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \ + if (!(c)) { \ + /*lint -restore*/ \ + osalSysHalt(__func__); \ + } \ + } \ +} while (false) + +/** + * @brief I-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassI() + +/** + * @brief S-Class state check. + * @note Implementation is optional. + */ +#define osalDbgCheckClassS() +/** @} */ + +/** + * @name IRQ service routines wrappers + * @{ + */ +/** + * @brief Priority level verification macro. + */ +#define OSAL_IRQ_IS_VALID_PRIORITY(n) \ + (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS)) + +/** + * @brief IRQ prologue code. + * @details This macro must be inserted at the start of all IRQ handlers. + */ +#define OSAL_IRQ_PROLOGUE() + +/** + * @brief IRQ epilogue code. + * @details This macro must be inserted at the end of all IRQ handlers. + */ +#define OSAL_IRQ_EPILOGUE() + +/** + * @brief IRQ handler function declaration. + * @details This macro hides the details of an ISR function declaration. + * + * @param[in] id a vector name as defined in @p vectors.s + */ +#define OSAL_IRQ_HANDLER(id) void id(void) +/** @} */ + +/** + * @name Time conversion utilities + * @{ + */ +/** + * @brief Seconds to system ticks. + * @details Converts from seconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] secs number of seconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_S2I(secs) \ + ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY)) + +/** + * @brief Milliseconds to system ticks. + * @details Converts from milliseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] msecs number of milliseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_MS2I(msecs) \ + ((sysinterval_t)((((((uint32_t)(msecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL)) + +/** + * @brief Microseconds to system ticks. + * @details Converts from microseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] usecs number of microseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_US2I(usecs) \ + ((sysinterval_t)((((((uint32_t)(usecs)) * \ + ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL)) +/** @} */ + +/** + * @name Time conversion utilities for the realtime counter + * @{ + */ +/** + * @brief Seconds to realtime counter. + * @details Converts from seconds to realtime counter cycles. + * @note The macro assumes that @p freq >= @p 1. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] sec number of seconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_S2RTC(freq, sec) ((freq) * (sec)) + +/** + * @brief Milliseconds to realtime counter. + * @details Converts from milliseconds to realtime counter cycles. + * @note The result is rounded upward to the next millisecond boundary. + * @note The macro assumes that @p freq >= @p 1000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] msec number of milliseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec)) + +/** + * @brief Microseconds to realtime counter. + * @details Converts from microseconds to realtime counter cycles. + * @note The result is rounded upward to the next microsecond boundary. + * @note The macro assumes that @p freq >= @p 1000000. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] usec number of microseconds + * @return The number of cycles. + * + * @api + */ +#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) +/** @} */ + +/** + * @name Sleep macros using absolute time + * @{ + */ +/** + * @brief Delays the invoking thread for the specified number of seconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] secs time in seconds, must be different from zero + * + * @api + */ +#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs)) + +/** + * @brief Delays the invoking thread for the specified number of + * milliseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] msecs time in milliseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs)) + +/** + * @brief Delays the invoking thread for the specified number of + * microseconds. + * @note The specified time is rounded up to a value allowed by the real + * system tick clock. + * @note The maximum specifiable value is implementation dependent. + * + * @param[in] usecs time in microseconds, must be different from zero + * + * @api + */ +#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs)) +/** @} */ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +extern const char *osal_halt_msg; + +#ifdef __cplusplus +extern "C" { +#endif + void osalInit(void); + void osalSysHalt(const char *reason); + void osalSysPolledDelayX(rtcnt_t cycles); + void osalOsTimerHandlerI(void); + void osalOsRescheduleS(void); + systime_t osalOsGetSystemTimeX(void); + void osalThreadSleepS(sysinterval_t time); + void osalThreadSleep(sysinterval_t time); + msg_t osalThreadSuspendS(thread_reference_t *trp); + msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout); + void osalThreadResumeI(thread_reference_t *trp, msg_t msg); + void osalThreadResumeS(thread_reference_t *trp, msg_t msg); + msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout); + void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg); + void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg); + void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags); + void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags); + void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param); + void osalMutexLock(mutex_t *mp); + void osalMutexUnlock(mutex_t *mp); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Disables interrupts globally. + * + * @special + */ +static inline void osalSysDisable(void) { + + __disable_irq(); +} + +/** + * @brief Enables interrupts globally. + * + * @special + */ +static inline void osalSysEnable(void) { + + __enable_irq(); +} + +/** + * @brief Enters a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLock(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlock(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Enters a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLockFromISR(void) { + +#if CORTEX_MODEL == 0 + __disable_irq(); +#else + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif +} + +/** + * @brief Leaves a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlockFromISR(void) { + +#if CORTEX_MODEL == 0 + __enable_irq(); +#else + __set_BASEPRI(0); +#endif +} + +/** + * @brief Returns the execution status and enters a critical zone. + * @details This functions enters into a critical zone and can be called + * from any context. Because its flexibility it is less efficient + * than @p chSysLock() which is preferable when the calling context + * is known. + * @post The system is in a critical zone. + * + * @return The previous system status, the encoding of this + * status word is architecture-dependent and opaque. + * + * @xclass + */ +static inline syssts_t osalSysGetStatusAndLockX(void) { + syssts_t sts; + +#if CORTEX_MODEL == 0 + sts = (syssts_t)__get_PRIMASK(); + __disable_irq(); +#else + sts = (syssts_t)__get_BASEPRI(); + __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY)); +#endif + return sts; +} + +/** + * @brief Restores the specified execution status and leaves a critical zone. + * @note A call to @p chSchRescheduleS() is automatically performed + * if exiting the critical zone and if not in ISR context. + * + * @param[in] sts the system status to be restored. + * + * @xclass + */ +static inline void osalSysRestoreStatusX(syssts_t sts) { + +#if CORTEX_MODEL == 0 + if ((sts & (syssts_t)1) == (syssts_t)0) { + __enable_irq(); + } +#else + __set_BASEPRI(sts); +#endif +} + +/** + * @brief Adds an interval to a system time returning a system time. + * + * @param[in] systime base system time + * @param[in] interval interval to be added + * @return The new system time. + * + * @xclass + */ +static inline systime_t osalTimeAddX(systime_t systime, + sysinterval_t interval) { + + return systime + (systime_t)interval; +} + +/** + * @brief Subtracts two system times returning an interval. + * + * @param[in] start first system time + * @param[in] end second system time + * @return The interval representing the time difference. + * + * @xclass + */ +static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) { + + return (sysinterval_t)((systime_t)(end - start)); +} + +/** + * @brief Checks if the specified time is within the specified time window. + * @note When start==end then the function returns always false because the + * time window has zero size. + * @note This function can be called from any context. + * + * @param[in] time the time to be verified + * @param[in] start the start of the time window (inclusive) + * @param[in] end the end of the time window (non inclusive) + * @retval true current time within the specified time window. + * @retval false current time not within the specified time window. + * + * @xclass + */ +static inline bool osalTimeIsInRangeX(systime_t time, + systime_t start, + systime_t end) { + + return (bool)((systime_t)((systime_t)time - (systime_t)start) < + (systime_t)((systime_t)end - (systime_t)start)); +} + +/** + * @brief Initializes a threads queue object. + * + * @param[out] tqp pointer to the threads queue object + * + * @init + */ +static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { + + osalDbgCheck(tqp != NULL); +} + +/** + * @brief Initializes an event source object. + * + * @param[out] esp pointer to the event source object + * + * @init + */ +static inline void osalEventObjectInit(event_source_t *esp) { + + osalDbgCheck(esp != NULL); + + esp->flags = (eventflags_t)0; + esp->cb = NULL; + esp->param = NULL; +} + +/** + * @brief Initializes s @p mutex_t object. + * + * @param[out] mp pointer to the @p mutex_t object + * + * @init + */ +static inline void osalMutexObjectInit(mutex_t *mp) { + + osalDbgCheck(mp != NULL); + + *mp = 0; +} + +#endif /* OSAL_H */ + +/** @} */ -- cgit v1.2.3