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/rt/include/chsys.h | 469 +++++++++++++++++++++++++++++++++++ 1 file changed, 469 insertions(+) create mode 100644 ChibiOS_20.3.2/os/rt/include/chsys.h (limited to 'ChibiOS_20.3.2/os/rt/include/chsys.h') diff --git a/ChibiOS_20.3.2/os/rt/include/chsys.h b/ChibiOS_20.3.2/os/rt/include/chsys.h new file mode 100644 index 0000000..afd2f36 --- /dev/null +++ b/ChibiOS_20.3.2/os/rt/include/chsys.h @@ -0,0 +1,469 @@ +/* + 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 . +*/ + +/** + * @file rt/include/chsys.h + * @brief System related macros and structures. + * + * @addtogroup system + * @{ + */ + +#ifndef CHSYS_H +#define CHSYS_H + +/*lint -sem(chSysHalt, r_no)*/ + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Masks of executable integrity checks. + * @{ + */ +#define CH_INTEGRITY_RLIST 1U +#define CH_INTEGRITY_VTLIST 2U +#define CH_INTEGRITY_REGISTRY 4U +#define CH_INTEGRITY_PORT 8U +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @name ISRs abstraction macros + */ +/** + * @brief Priority level validation macro. + * @details This macro determines if the passed value is a valid priority + * level for the underlying architecture. + * + * @param[in] prio the priority level + * @return Priority range result. + * @retval false if the priority is invalid or if the architecture + * does not support priorities. + * @retval true if the priority is valid. + */ +#if defined(PORT_IRQ_IS_VALID_PRIORITY) || defined(__DOXYGEN__) +#define CH_IRQ_IS_VALID_PRIORITY(prio) \ + PORT_IRQ_IS_VALID_PRIORITY(prio) +#else +#define CH_IRQ_IS_VALID_PRIORITY(prio) false +#endif + +/** + * @brief Priority level validation macro. + * @details This macro determines if the passed value is a valid priority + * level that cannot preempt the kernel critical zone. + * + * @param[in] prio the priority level + * @return Priority range result. + * @retval false if the priority is invalid or if the architecture + * does not support priorities. + * @retval true if the priority is valid. + */ +#if defined(PORT_IRQ_IS_VALID_KERNEL_PRIORITY) || defined(__DOXYGEN__) +#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) \ + PORT_IRQ_IS_VALID_KERNEL_PRIORITY(prio) +#else +#define CH_IRQ_IS_VALID_KERNEL_PRIORITY(prio) false +#endif + +/** + * @brief IRQ handler enter code. + * @note Usually IRQ handlers functions are also declared naked. + * @note On some architectures this macro can be empty. + * + * @special + */ +#define CH_IRQ_PROLOGUE() \ + PORT_IRQ_PROLOGUE(); \ + CH_CFG_IRQ_PROLOGUE_HOOK(); \ + _stats_increase_irq(); \ + _trace_isr_enter(__func__); \ + _dbg_check_enter_isr() + +/** + * @brief IRQ handler exit code. + * @note Usually IRQ handlers function are also declared naked. + * @note This macro usually performs the final reschedule by using + * @p chSchIsPreemptionRequired() and @p chSchDoReschedule(). + * + * @special + */ +#define CH_IRQ_EPILOGUE() \ + _dbg_check_leave_isr(); \ + _trace_isr_leave(__func__); \ + CH_CFG_IRQ_EPILOGUE_HOOK(); \ + PORT_IRQ_EPILOGUE() + +/** + * @brief Standard normal IRQ handler declaration. + * @note @p id can be a function name or a vector number depending on the + * port implementation. + * + * @special + */ +#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id) +/** @} */ + +/** + * @name Fast ISRs abstraction macros + */ +/** + * @brief Standard fast IRQ handler declaration. + * @note @p id can be a function name or a vector number depending on the + * port implementation. + * @note Not all architectures support fast interrupts. + * + * @special + */ +#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id) +/** @} */ + +/** + * @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 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 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 US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) + +/** + * @brief Realtime counter cycles to seconds. + * @details Converts from realtime counter cycles number to seconds. + * @note The result is rounded up to the next second boundary. + * @note The macro assumes that @p freq >= @p 1. + * + * @param[in] freq clock frequency, in Hz, of the realtime counter + * @param[in] n number of cycles + * @return The number of seconds. + * + * @api + */ +#define RTC2S(freq, n) ((((n) - 1UL) / (freq)) + 1UL) + +/** + * @brief Realtime counter cycles to milliseconds. + * @details Converts from realtime counter cycles number to milliseconds. + * @note The result is rounded up 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] n number of cycles + * @return The number of milliseconds. + * + * @api + */ +#define RTC2MS(freq, n) ((((n) - 1UL) / ((freq) / 1000UL)) + 1UL) + +/** + * @brief Realtime counter cycles to microseconds. + * @details Converts from realtime counter cycles number to microseconds. + * @note The result is rounded up 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] n number of cycles + * @return The number of microseconds. + * + * @api + */ +#define RTC2US(freq, n) ((((n) - 1UL) / ((freq) / 1000000UL)) + 1UL) +/** @} */ + +/** + * @brief Returns the current value of the system real time counter. + * @note This function is only available if the port layer supports the + * option @p PORT_SUPPORTS_RT. + * + * @return The value of the system realtime counter of + * type rtcnt_t. + * + * @xclass + */ +#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__) +#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value() +#endif + +/** + * @brief Performs a context switch. + * @note Not a user function, it is meant to be invoked by the scheduler + * itself or from within the port layer. + * + * @param[in] ntp the thread to be switched in + * @param[in] otp the thread to be switched out + * + * @special + */ +#define chSysSwitch(ntp, otp) { \ + \ + _trace_switch(ntp, otp); \ + _stats_ctxswc(ntp, otp); \ + CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); \ + port_switch(ntp, otp); \ +} + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if !defined(__DOXYGEN__) +extern stkalign_t ch_idle_thread_wa[]; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void chSysInit(void); + bool chSysIntegrityCheckI(unsigned testmask); + void chSysTimerHandlerI(void); + syssts_t chSysGetStatusAndLockX(void); + void chSysRestoreStatusX(syssts_t sts); +#if PORT_SUPPORTS_RT == TRUE + bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end); + void chSysPolledDelayX(rtcnt_t cycles); +#endif +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Raises the system interrupt priority mask to the maximum level. + * @details All the maskable interrupt sources are disabled regardless their + * hardware priority. + * @note Do not invoke this API from within a kernel lock. + * + * @special + */ +static inline void chSysDisable(void) { + + port_disable(); + _dbg_check_disable(); +} + +/** + * @brief Raises the system interrupt priority mask to system level. + * @details The interrupt sources that should not be able to preempt the kernel + * are disabled, interrupt sources with higher priority are still + * enabled. + * @note Do not invoke this API from within a kernel lock. + * @note This API is no replacement for @p chSysLock(), the @p chSysLock() + * could do more than just disable the interrupts. + * + * @special + */ +static inline void chSysSuspend(void) { + + port_suspend(); + _dbg_check_suspend(); +} + +/** + * @brief Lowers the system interrupt priority mask to user level. + * @details All the interrupt sources are enabled. + * @note Do not invoke this API from within a kernel lock. + * @note This API is no replacement for @p chSysUnlock(), the + * @p chSysUnlock() could do more than just enable the interrupts. + * + * @special + */ +static inline void chSysEnable(void) { + + _dbg_check_enable(); + port_enable(); +} + +/** + * @brief Enters the kernel lock state. + * + * @special + */ +static inline void chSysLock(void) { + + port_lock(); + _stats_start_measure_crit_thd(); + _dbg_check_lock(); +} + +/** + * @brief Leaves the kernel lock state. + * + * @special + */ +static inline void chSysUnlock(void) { + + _dbg_check_unlock(); + _stats_stop_measure_crit_thd(); + + /* The following condition can be triggered by the use of i-class functions + in a critical section not followed by a chSchRescheduleS(), this means + that the current thread has a lower priority than the next thread in + the ready list.*/ + chDbgAssert((ch.rlist.queue.next == (thread_t *)&ch.rlist.queue) || + (ch.rlist.current->prio >= ch.rlist.queue.next->prio), + "priority order violation"); + + port_unlock(); +} + +/** + * @brief Enters the kernel lock state from within an interrupt handler. + * @note This API may do nothing on some architectures, it is required + * because on ports that support preemptable interrupt handlers + * it is required to raise the interrupt mask to the same level of + * the system mutual exclusion zone.
+ * It is good practice to invoke this API before invoking any I-class + * syscall from an interrupt handler. + * @note This API must be invoked exclusively from interrupt handlers. + * + * @special + */ +static inline void chSysLockFromISR(void) { + + port_lock_from_isr(); + _stats_start_measure_crit_isr(); + _dbg_check_lock_from_isr(); +} + +/** + * @brief Leaves the kernel lock state from within an interrupt handler. + * + * @note This API may do nothing on some architectures, it is required + * because on ports that support preemptable interrupt handlers + * it is required to raise the interrupt mask to the same level of + * the system mutual exclusion zone.
+ * It is good practice to invoke this API after invoking any I-class + * syscall from an interrupt handler. + * @note This API must be invoked exclusively from interrupt handlers. + * + * @special + */ +static inline void chSysUnlockFromISR(void) { + + _dbg_check_unlock_from_isr(); + _stats_stop_measure_crit_isr(); + port_unlock_from_isr(); +} + +/** + * @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 + */ +static inline 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 + */ +static inline void chSysUnconditionalUnlock(void) { + + if (!port_irq_enabled(port_get_irq_status())) { + chSysUnlock(); + } +} + +#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__) +/** + * @brief Returns a pointer to the idle thread. + * @pre In order to use this function the option @p CH_CFG_NO_IDLE_THREAD + * must be disabled. + * @note The reference counter of the idle thread is not incremented but + * it is not strictly required being the idle thread a static + * object. + * + * @return Pointer to the idle thread. + * + * @xclass + */ +static inline thread_t *chSysGetIdleThreadX(void) { + + return ch.rlist.queue.prev; +} +#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */ + +#endif /* CHSYS_H */ + +/** @} */ -- cgit v1.2.3