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/rt-nil/osal.c | 51 ++ ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h | 1028 +++++++++++++++++++++++++++++ ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk | 9 + 3 files changed, 1088 insertions(+) create mode 100644 ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c create mode 100644 ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h create mode 100644 ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk (limited to 'ChibiOS_20.3.2/os/hal/osal/rt-nil') diff --git a/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c new file mode 100644 index 0000000..7f4103b --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.c @@ -0,0 +1,51 @@ +/* + 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.c + * @brief OSAL module code. + * + * @addtogroup OSAL + * @{ + */ + +#include "osal.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** @} */ diff --git a/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h new file mode 100644 index 0000000..73e8e3f --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.h @@ -0,0 +1,1028 @@ +/* + 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 "ch.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 +/** @} */ + +#if 0 +/** + * @name Messages + * @{ + */ +#define MSG_OK (msg_t)0 +#define MSG_TIMEOUT (msg_t)-1 +#define MSG_RESET (msg_t)-2 +/** @} */ +#endif + +#if 0 +/** + * @name Special time constants + * @{ + */ +#define TIME_IMMEDIATE ((sysinterval_t)0) +#define TIME_INFINITE ((sysinterval_t)-1) +/** @} */ +#endif + +/** + * @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 CH_CFG_ST_RESOLUTION + +/** + * @brief Required systick frequency or resolution. + */ +#define OSAL_ST_FREQUENCY CH_CFG_ST_FREQUENCY + +/** + * @brief Systick mode required by the underlying OS. + */ +#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__) +#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC +#else +#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING +#endif +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \ + !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \ + !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) +#error "invalid OSAL_ST_MODE setting in osal.h" +#endif + +#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32) +#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +#if 0 +/** + * @brief Type of a system status word. + */ +typedef uint32_t syssts_t; +#endif + +#if 0 +/** + * @brief Type of a message. + */ +typedef int32_t msg_t; +#endif + +#if 0 +/** + * @brief Type of system time counter. + */ +typedef uint32_t systime_t; +#endif + +#if 0 +/** + * @brief Type of system time interval. + */ +typedef uint32_t sysinterval_t; +#endif + +#if 0 +/** + * @brief Type of realtime counter. + */ +typedef uint32_t rtcnt_t; +#endif + +#if 0 +/** + * @brief Type of a thread reference. + */ +typedef thread_t * thread_reference_t; +#endif + +#if 0 +/** + * @brief Type of an event flags mask. + */ +typedef uint32_t eventflags_t; +#endif + +#if (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__) +/** + * @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. */ +}; +#endif /* CH_CFG_USE_EVENTS == FALSE */ + +/** + * @brief Type of a mutex. + * @note If the OS does not support mutexes or there is no OS then the + * mechanism can be simulated. + */ +#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__) +#elif CH_CFG_USE_SEMAPHORES +typedef semaphore_t mutex_t; +#else +typedef uint32_t mutex_t; +#endif + +#if 0 +/** + * @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 In this implementation it is implemented as a single reference + * because there are no real threads. + */ +typedef struct { + thread_reference_t tr; +} threads_queue_t; +#endif + +/*===========================================================================*/ +/* 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) chDbgAssert(c, remark) + +/** + * @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) chDbgCheck(c) + +/** + * @brief I-Class state check. + * @note Not implemented in this simplified OSAL. + */ +#define osalDbgCheckClassI() chDbgCheckClassI() + +/** + * @brief S-Class state check. + * @note Not implemented in this simplified OSAL. + */ +#define osalDbgCheckClassS() chDbgCheckClassS() +/** @} */ + +/** + * @name IRQ service routines wrappers + * @{ + */ +/** + * @brief Priority level verification macro. + */ +#define OSAL_IRQ_IS_VALID_PRIORITY(n) CH_IRQ_IS_VALID_KERNEL_PRIORITY(n) + +/** + * @brief IRQ prologue code. + * @details This macro must be inserted at the start of all IRQ handlers. + */ +#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE() + +/** + * @brief IRQ epilogue code. + * @details This macro must be inserted at the end of all IRQ handlers. + */ +#define OSAL_IRQ_EPILOGUE() CH_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) CH_IRQ_HANDLER(id) +/** @} */ + +/** + * @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) TIME_S2I(secs) + +/** + * @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) TIME_MS2I(msecs) + +/** + * @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) TIME_US2I(usecs) +/** @} */ + +/** + * @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) S2RTC(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) MS2RTC(freq, 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) US2RTC(freq, 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. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief OSAL module initialization. + * + * @api + */ +static inline void osalInit(void) { + +} + +/** + * @brief System halt with error message. + * + * @param[in] reason the halt message pointer + * + * @api + */ +static inline void osalSysHalt(const char *reason) { + + chSysHalt(reason); +} + +/** + * @brief Disables interrupts globally. + * + * @special + */ +static inline void osalSysDisable(void) { + + chSysDisable(); +} + +/** + * @brief Enables interrupts globally. + * + * @special + */ +static inline void osalSysEnable(void) { + + chSysEnable(); +} + +/** + * @brief Enters a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLock(void) { + + chSysLock(); +} + +/** + * @brief Leaves a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlock(void) { + + chSysUnlock(); +} + +/** + * @brief Enters a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLockFromISR(void) { + + chSysLockFromISR(); +} + +/** + * @brief Leaves a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlockFromISR(void) { + + chSysUnlockFromISR(); +} + +/** + * @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) { + + return chSysGetStatusAndLockX(); +} + +/** + * @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) { + + chSysRestoreStatusX(sts); +} + +/** + * @brief Polled delay. + * @note The real delay is always few cycles in excess of the specified + * value. + * + * @param[in] cycles number of cycles + * + * @xclass + */ +#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__) +static inline void osalSysPolledDelayX(rtcnt_t cycles) { + + chSysPolledDelayX(cycles); +} +#endif + +/** + * @brief Systick callback for the underlying OS. + * @note This callback is only defined if the OSAL requires such a + * service from the HAL. + */ +#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__) +static inline void osalOsTimerHandlerI(void) { + + chSysTimerHandlerI(); +} +#endif + +/** + * @brief Checks if a reschedule is required and performs it. + * @note I-Class functions invoked from thread context must not reschedule + * by themselves, an explicit reschedule using this function is + * required in this scenario. + * @note Not implemented in this simplified OSAL. + * + * @sclass + */ +static inline void osalOsRescheduleS(void) { + + chSchRescheduleS(); +} + +/** + * @brief Current system time. + * @details Returns the number of system ticks since the @p osalInit() + * invocation. + * @note The counter can reach its maximum and then restart from zero. + * @note This function can be called from any context but its atomicity + * is not guaranteed on architectures whose word size is less than + * @p systime_t size. + * + * @return The system time in ticks. + * + * @xclass + */ +static inline systime_t osalOsGetSystemTimeX(void) { + + return chVTGetSystemTimeX(); +} + +/** + * @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 chTimeAddX(systime, 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 chTimeDiffX(start, end); +} + +/** + * @brief Checks if the specified time is within the specified time window. + * @note When start==end then the function returns always true because the + * whole time range is specified. + * @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 chTimeIsInRangeX(time, start, end); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] delay the delay in system ticks, 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. + * . + * + * @sclass + */ +static inline void osalThreadSleepS(sysinterval_t delay) { + + chThdSleepS(delay); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] delay the delay in system ticks, 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. + * . + * + * @api + */ +static inline void osalThreadSleep(sysinterval_t delay) { + + chThdSleep(delay); +} + +/** + * @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 + */ +static inline msg_t osalThreadSuspendS(thread_reference_t *trp) { + + return chThdSuspendTimeoutS(trp, TIME_INFINITE); +} + +/** + * @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 + */ +static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, + sysinterval_t timeout) { + + return chThdSuspendTimeoutS(trp, 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 + */ +static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { + + chThdResumeI(trp, 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 + * + * @iclass + */ +static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { + + chThdResumeS(trp, msg); +} + +/** + * @brief Initializes a threads queue object. + * + * @param[out] tqp pointer to the threads queue object + * + * @init + */ +static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { + + chThdQueueObjectInit(tqp); +} + +/** + * @brief Enqueues the caller thread. + * @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 + */ +static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, + sysinterval_t timeout) { + + return chThdEnqueueTimeoutS(tqp, timeout); +} + +/** + * @brief Dequeues and wakes up one thread from the queue, if any. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) { + + chThdDequeueNextI(tqp, msg); +} + +/** + * @brief Dequeues and wakes up all threads from the queue. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) { + + chThdDequeueAllI(tqp, msg); +} + +#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Initializes an event source object. + * + * @param[out] esp pointer to the event source object + * + * @init + */ +static inline void osalEventObjectInit(event_source_t *esp) { + + chEvtObjectInit(esp); +} +#else +static inline void osalEventObjectInit(event_source_t *esp) { + + osalDbgCheck(esp != NULL); + + esp->flags = (eventflags_t)0; + esp->cb = NULL; + esp->param = NULL; +} +#endif + +#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +static inline void osalEventBroadcastFlagsI(event_source_t *esp, + eventflags_t flags) { + + chEvtBroadcastFlagsI(esp, flags); +} +#else +static inline void osalEventBroadcastFlagsI(event_source_t *esp, + eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + esp->flags |= flags; + if (esp->cb != NULL) { + esp->cb(esp); + } +} +#endif + +#if (CH_CFG_USE_EVENTS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +static inline void osalEventBroadcastFlags(event_source_t *esp, + eventflags_t flags) { + + chEvtBroadcastFlags(esp, flags); +} +#else +static inline void osalEventBroadcastFlags(event_source_t *esp, + eventflags_t flags) { + + osalDbgCheck(esp != NULL); + + osalSysLock(); + esp->flags |= flags; + if (esp->cb != NULL) { + esp->cb(esp); + } + osalSysUnlock(); +} +#endif + +#if (CH_CFG_USE_EVENTS == FALSE) || defined(__DOXYGEN__) +/** + * @brief Event callback setup. + * @note The callback is invoked from ISR context and can + * only invoke I-Class functions. The callback is meant + * to wakeup the task that will handle the event by + * calling @p osalEventGetAndClearFlagsI(). + * + * @param[in] esp pointer to the event flags object + * @param[in] cb pointer to the callback function + * @param[in] param parameter to be passed to the callback function + * + * @api + */ +static inline void osalEventSetCallback(event_source_t *esp, + eventcallback_t cb, + void *param) { + + osalDbgCheck(esp != NULL); + + esp->cb = cb; + esp->param = param; +} +#endif + +/** + * @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) { + +#if CH_CFG_USE_MUTEXES + chMtxObjectInit(mp); +#elif CH_CFG_USE_SEMAPHORES + chSemObjectInit((semaphore_t *)mp, 1); +#else + *mp = 0; +#endif +} + +/** + * @brief Locks the specified mutex. + * @post The mutex is locked and inserted in the per-thread stack of owned + * mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +static inline void osalMutexLock(mutex_t *mp) { + +#if CH_CFG_USE_MUTEXES + chMtxLock(mp); +#elif CH_CFG_USE_SEMAPHORES + chSemWait((semaphore_t *)mp); +#else + *mp = 1; +#endif +} + +/** + * @brief Unlocks the specified mutex. + * @note The HAL guarantees to release mutex in reverse lock order. The + * mutex being unlocked is guaranteed to be the last locked mutex + * by the invoking thread. + * The implementation can rely on this behavior and eventually + * ignore the @p mp parameter which is supplied in order to support + * those OSes not supporting a stack of the owned mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +static inline void osalMutexUnlock(mutex_t *mp) { + +#if CH_CFG_USE_MUTEXES + chMtxUnlock(mp); +#elif CH_CFG_USE_SEMAPHORES + chSemSignal((semaphore_t *)mp); +#else + *mp = 0; +#endif +} + +#endif /* OSAL_H */ + +/** @} */ diff --git a/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk new file mode 100644 index 0000000..f408d12 --- /dev/null +++ b/ChibiOS_20.3.2/os/hal/osal/rt-nil/osal.mk @@ -0,0 +1,9 @@ +# OSAL files. +OSALSRC += ${CHIBIOS}/os/hal/osal/rt-nil/osal.c + +# Required include directories +OSALINC += ${CHIBIOS}/os/hal/osal/rt-nil + +# Shared variables +ALLCSRC += $(OSALSRC) +ALLINC += $(OSALINC) -- cgit v1.2.3