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700 lines
22 KiB
C
700 lines
22 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/**
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* @file hal_queues.c
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* @brief I/O Queues code.
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*
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* @addtogroup HAL_QUEUES
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* @details Queues are mostly used in serial-like device drivers.
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* Serial device drivers are usually designed to have a lower side
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* (lower driver, it is usually an interrupt service routine) and an
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* upper side (upper driver, accessed by the application threads).<br>
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* There are several kind of queues:<br>
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* - <b>Input queue</b>, unidirectional queue where the writer is the
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* lower side and the reader is the upper side.
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* - <b>Output queue</b>, unidirectional queue where the writer is the
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* upper side and the reader is the lower side.
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* - <b>Full duplex queue</b>, bidirectional queue. Full duplex queues
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* are implemented by pairing an input queue and an output queue
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* together.
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* .
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* @{
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*/
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#include <string.h>
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#include "hal.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/**
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* @brief Non-blocking input queue read.
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* @details The function reads data from an input queue into a buffer. The
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* operation completes when the specified amount of data has been
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* transferred or when the input queue has been emptied.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @param[out] bp pointer to the data buffer
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* @param[in] n the maximum amount of data to be transferred, the
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* value 0 is reserved
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* @return The number of bytes effectively transferred.
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*
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* @notapi
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*/
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static size_t iq_read(input_queue_t *iqp, uint8_t *bp, size_t n) {
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size_t s1, s2;
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osalDbgCheck(n > 0U);
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/* Number of bytes that can be read in a single atomic operation.*/
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if (n > iqGetFullI(iqp)) {
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n = iqGetFullI(iqp);
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}
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/* Number of bytes before buffer limit.*/
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/*lint -save -e9033 [10.8] Checked to be safe.*/
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s1 = (size_t)(iqp->q_top - iqp->q_rdptr);
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/*lint -restore*/
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if (n < s1) {
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memcpy((void *)bp, (void *)iqp->q_rdptr, n);
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iqp->q_rdptr += n;
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}
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else if (n > s1) {
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memcpy((void *)bp, (void *)iqp->q_rdptr, s1);
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bp += s1;
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s2 = n - s1;
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memcpy((void *)bp, (void *)iqp->q_buffer, s2);
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iqp->q_rdptr = iqp->q_buffer + s2;
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}
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else {
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memcpy((void *)bp, (void *)iqp->q_rdptr, n);
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iqp->q_rdptr = iqp->q_buffer;
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}
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iqp->q_counter -= n;
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return n;
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}
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/**
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* @brief Non-blocking output queue write.
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* @details The function writes data from a buffer to an output queue. The
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* operation completes when the specified amount of data has been
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* transferred or when the output queue has been filled.
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*
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* @param[in] oqp pointer to an @p output_queue_t structure
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* @param[in] bp pointer to the data buffer
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* @param[in] n the maximum amount of data to be transferred, the
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* value 0 is reserved
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* @return The number of bytes effectively transferred.
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*
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* @notapi
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*/
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static size_t oq_write(output_queue_t *oqp, const uint8_t *bp, size_t n) {
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size_t s1, s2;
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osalDbgCheck(n > 0U);
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/* Number of bytes that can be written in a single atomic operation.*/
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if (n > oqGetEmptyI(oqp)) {
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n = oqGetEmptyI(oqp);
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}
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/* Number of bytes before buffer limit.*/
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/*lint -save -e9033 [10.8] Checked to be safe.*/
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s1 = (size_t)(oqp->q_top - oqp->q_wrptr);
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/*lint -restore*/
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if (n < s1) {
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memcpy((void *)oqp->q_wrptr, (const void *)bp, n);
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oqp->q_wrptr += n;
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}
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else if (n > s1) {
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memcpy((void *)oqp->q_wrptr, (const void *)bp, s1);
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bp += s1;
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s2 = n - s1;
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memcpy((void *)oqp->q_buffer, (const void *)bp, s2);
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oqp->q_wrptr = oqp->q_buffer + s2;
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}
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else {
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memcpy((void *)oqp->q_wrptr, (const void *)bp, n);
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oqp->q_wrptr = oqp->q_buffer;
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}
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oqp->q_counter -= n;
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return n;
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}
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver interrupt handlers. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Initializes an input queue.
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* @details A Semaphore is internally initialized and works as a counter of
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* the bytes contained in the queue.
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* @note The callback is invoked from within the S-Locked system state.
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*
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* @param[out] iqp pointer to an @p input_queue_t structure
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* @param[in] bp pointer to a memory area allocated as queue buffer
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* @param[in] size size of the queue buffer
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* @param[in] infy pointer to a callback function that is invoked when
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* data is read from the queue. The value can be @p NULL.
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* @param[in] link application defined pointer
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*
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* @init
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*/
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void iqObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
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qnotify_t infy, void *link) {
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osalThreadQueueObjectInit(&iqp->q_waiting);
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iqp->q_counter = 0;
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iqp->q_buffer = bp;
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iqp->q_rdptr = bp;
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iqp->q_wrptr = bp;
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iqp->q_top = bp + size;
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iqp->q_notify = infy;
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iqp->q_link = link;
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}
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/**
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* @brief Resets an input queue.
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* @details All the data in the input queue is erased and lost, any waiting
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* thread is resumed with status @p MSG_RESET.
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* @note A reset operation can be used by a low level driver in order to
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* obtain immediate attention from the high level layers.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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*
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* @iclass
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*/
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void iqResetI(input_queue_t *iqp) {
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osalDbgCheckClassI();
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iqp->q_rdptr = iqp->q_buffer;
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iqp->q_wrptr = iqp->q_buffer;
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iqp->q_counter = 0;
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osalThreadDequeueAllI(&iqp->q_waiting, MSG_RESET);
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}
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/**
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* @brief Input queue write.
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* @details A byte value is written into the low end of an input queue. The
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* operation completes immediately.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @param[in] b the byte value to be written in the queue
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* @return The operation status.
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* @retval MSG_OK if the operation has been completed with success.
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* @retval MSG_TIMEOUT if the queue is full.
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*
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* @iclass
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*/
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msg_t iqPutI(input_queue_t *iqp, uint8_t b) {
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osalDbgCheckClassI();
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/* Queue space check.*/
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if (!iqIsFullI(iqp)) {
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iqp->q_counter++;
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*iqp->q_wrptr++ = b;
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if (iqp->q_wrptr >= iqp->q_top) {
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iqp->q_wrptr = iqp->q_buffer;
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}
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osalThreadDequeueNextI(&iqp->q_waiting, MSG_OK);
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return MSG_OK;
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}
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return MSG_TIMEOUT;
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}
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/**
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* @brief Input queue non-blocking read.
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* @details This function reads a byte value from an input queue. The
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* operation completes immediately.
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* @note The callback is invoked after removing a character from the
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* queue.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @return A byte value from the queue.
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* @retval MSG_TIMEOUT if the queue is empty.
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* @retval MSG_RESET if the queue has been reset.
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*
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* @iclass
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*/
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msg_t iqGetI(input_queue_t *iqp) {
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osalDbgCheckClassI();
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/* Queue data check.*/
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if (!iqIsEmptyI(iqp)) {
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uint8_t b;
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/* Getting the character from the queue.*/
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iqp->q_counter--;
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b = *iqp->q_rdptr++;
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if (iqp->q_rdptr >= iqp->q_top) {
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iqp->q_rdptr = iqp->q_buffer;
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}
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/* Inform the low side that the queue has at least one slot available.*/
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if (iqp->q_notify != NULL) {
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iqp->q_notify(iqp);
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}
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return (msg_t)b;
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}
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return MSG_TIMEOUT;
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}
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/**
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* @brief Input queue read with timeout.
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* @details This function reads a byte value from an input queue. If the queue
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* is empty then the calling thread is suspended until a byte arrives
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* in the queue or a timeout occurs.
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* @note The callback is invoked after removing a character from the
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* queue.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @param[in] timeout the number of ticks before the operation timeouts,
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* the following special values are allowed:
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* - @a TIME_IMMEDIATE immediate timeout.
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* - @a TIME_INFINITE no timeout.
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* .
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* @return A byte value from the queue.
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* @retval MSG_TIMEOUT if the specified time expired.
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* @retval MSG_RESET if the queue has been reset.
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*
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* @api
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*/
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msg_t iqGetTimeout(input_queue_t *iqp, sysinterval_t timeout) {
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uint8_t b;
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osalSysLock();
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/* Waiting until there is a character available or a timeout occurs.*/
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while (iqIsEmptyI(iqp)) {
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msg_t msg = osalThreadEnqueueTimeoutS(&iqp->q_waiting, timeout);
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if (msg < MSG_OK) {
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osalSysUnlock();
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return msg;
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}
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}
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/* Getting the character from the queue.*/
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iqp->q_counter--;
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b = *iqp->q_rdptr++;
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if (iqp->q_rdptr >= iqp->q_top) {
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iqp->q_rdptr = iqp->q_buffer;
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}
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/* Inform the low side that the queue has at least one slot available.*/
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if (iqp->q_notify != NULL) {
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iqp->q_notify(iqp);
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}
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osalSysUnlock();
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return (msg_t)b;
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}
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/**
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* @brief Input queue non-blocking read.
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* @details The function reads data from an input queue into a buffer. The
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* operation completes immediately.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @param[out] bp pointer to the data buffer
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* @param[in] n the maximum amount of data to be transferred, the
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* value 0 is reserved
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* @return The number of bytes effectively transferred.
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*
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* @iclass
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*/
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size_t iqReadI(input_queue_t *iqp, uint8_t *bp, size_t n) {
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qnotify_t nfy = iqp->q_notify;
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size_t rd;
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osalDbgCheckClassI();
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rd = iq_read(iqp, bp, n);
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/* Inform the low side that the queue has at least one character
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available.*/
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if ((rd > (size_t)0) && (nfy != NULL)) {
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nfy(iqp);
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}
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return rd;
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}
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/**
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* @brief Input queue read with timeout.
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* @details The function reads data from an input queue into a buffer. The
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* operation completes when the specified amount of data has been
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* transferred or after the specified timeout or if the queue has
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* been reset.
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* @note The function is not atomic, if you need atomicity it is suggested
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* to use a semaphore or a mutex for mutual exclusion.
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* @note The callback is invoked after removing each character from the
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* queue.
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*
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* @param[in] iqp pointer to an @p input_queue_t structure
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* @param[out] bp pointer to the data buffer
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* @param[in] n the maximum amount of data to be transferred, the
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* value 0 is reserved
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* @param[in] timeout the number of ticks before the operation timeouts,
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* the following special values are allowed:
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* - @a TIME_IMMEDIATE immediate timeout.
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* - @a TIME_INFINITE no timeout.
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* .
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* @return The number of bytes effectively transferred.
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*
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* @api
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*/
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size_t iqReadTimeout(input_queue_t *iqp, uint8_t *bp,
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size_t n, sysinterval_t timeout) {
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qnotify_t nfy = iqp->q_notify;
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size_t max = n;
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osalDbgCheck(n > 0U);
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osalSysLock();
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while (n > 0U) {
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size_t done;
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done = iq_read(iqp, bp, n);
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if (done == (size_t)0) {
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msg_t msg = osalThreadEnqueueTimeoutS(&iqp->q_waiting, timeout);
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/* Anything except MSG_OK causes the operation to stop.*/
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if (msg != MSG_OK) {
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break;
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}
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}
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else {
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/* Inform the low side that the queue has at least one empty slot
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available.*/
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if (nfy != NULL) {
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nfy(iqp);
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}
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/* Giving a preemption chance in a controlled point.*/
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osalSysUnlock();
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n -= done;
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bp += done;
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osalSysLock();
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}
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}
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osalSysUnlock();
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return max - n;
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}
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/**
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* @brief Initializes an output queue.
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* @details A Semaphore is internally initialized and works as a counter of
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* the free bytes in the queue.
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* @note The callback is invoked from within the S-Locked system state.
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*
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* @param[out] oqp pointer to an @p output_queue_t structure
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* @param[in] bp pointer to a memory area allocated as queue buffer
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* @param[in] size size of the queue buffer
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* @param[in] onfy pointer to a callback function that is invoked when
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* data is written to the queue. The value can be @p NULL.
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* @param[in] link application defined pointer
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*
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* @init
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*/
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void oqObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
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qnotify_t onfy, void *link) {
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osalThreadQueueObjectInit(&oqp->q_waiting);
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oqp->q_counter = size;
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oqp->q_buffer = bp;
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oqp->q_rdptr = bp;
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oqp->q_wrptr = bp;
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oqp->q_top = bp + size;
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oqp->q_notify = onfy;
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oqp->q_link = link;
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}
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/**
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* @brief Resets an output queue.
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* @details All the data in the output queue is erased and lost, any waiting
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* thread is resumed with status @p MSG_RESET.
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|
* @note A reset operation can be used by a low level driver in order to
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|
* obtain immediate attention from the high level layers.
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|
*
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* @param[in] oqp pointer to an @p output_queue_t structure
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*
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* @iclass
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*/
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void oqResetI(output_queue_t *oqp) {
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osalDbgCheckClassI();
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oqp->q_rdptr = oqp->q_buffer;
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oqp->q_wrptr = oqp->q_buffer;
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oqp->q_counter = qSizeX(oqp);
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osalThreadDequeueAllI(&oqp->q_waiting, MSG_RESET);
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}
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/**
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* @brief Output queue non-blocking write.
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* @details This function writes a byte value to an output queue. The
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* operation completes immediately.
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*
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* @param[in] oqp pointer to an @p output_queue_t structure
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* @param[in] b the byte value to be written in the queue
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* @return The operation status.
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* @retval MSG_OK if the operation succeeded.
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* @retval MSG_TIMEOUT if the queue is full.
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* @retval MSG_RESET if the queue has been reset.
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*
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* @iclass
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*/
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msg_t oqPutI(output_queue_t *oqp, uint8_t b) {
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osalDbgCheckClassI();
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/* Queue space check.*/
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while (!oqIsFullI(oqp)) {
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/* Putting the character into the queue.*/
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oqp->q_counter--;
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*oqp->q_wrptr++ = b;
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if (oqp->q_wrptr >= oqp->q_top) {
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oqp->q_wrptr = oqp->q_buffer;
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}
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/* Inform the low side that the queue has at least one character available.*/
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if (oqp->q_notify != NULL) {
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oqp->q_notify(oqp);
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}
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return MSG_OK;
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}
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return MSG_TIMEOUT;
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}
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/**
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* @brief Output queue write with timeout.
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* @details This function writes a byte value to an output queue. If the queue
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|
* is full then the calling thread is suspended until there is space
|
|
* in the queue or a timeout occurs.
|
|
* @note The callback is invoked after putting the character into the
|
|
* queue.
|
|
*
|
|
* @param[in] oqp pointer to an @p output_queue_t structure
|
|
* @param[in] b the byte value to be written in the queue
|
|
* @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 operation status.
|
|
* @retval MSG_OK if the operation succeeded.
|
|
* @retval MSG_TIMEOUT if the specified time expired.
|
|
* @retval MSG_RESET if the queue has been reset.
|
|
*
|
|
* @api
|
|
*/
|
|
msg_t oqPutTimeout(output_queue_t *oqp, uint8_t b, sysinterval_t timeout) {
|
|
|
|
osalSysLock();
|
|
|
|
/* Waiting until there is a slot available or a timeout occurs.*/
|
|
while (oqIsFullI(oqp)) {
|
|
msg_t msg = osalThreadEnqueueTimeoutS(&oqp->q_waiting, timeout);
|
|
if (msg < MSG_OK) {
|
|
osalSysUnlock();
|
|
return msg;
|
|
}
|
|
}
|
|
|
|
/* Putting the character into the queue.*/
|
|
oqp->q_counter--;
|
|
*oqp->q_wrptr++ = b;
|
|
if (oqp->q_wrptr >= oqp->q_top) {
|
|
oqp->q_wrptr = oqp->q_buffer;
|
|
}
|
|
|
|
/* Inform the low side that the queue has at least one character available.*/
|
|
if (oqp->q_notify != NULL) {
|
|
oqp->q_notify(oqp);
|
|
}
|
|
|
|
osalSysUnlock();
|
|
|
|
return MSG_OK;
|
|
}
|
|
|
|
/**
|
|
* @brief Output queue read.
|
|
* @details A byte value is read from the low end of an output queue. The
|
|
* operation completes immediately.
|
|
*
|
|
* @param[in] oqp pointer to an @p output_queue_t structure
|
|
* @return The byte value from the queue.
|
|
* @retval MSG_TIMEOUT if the queue is empty.
|
|
*
|
|
* @iclass
|
|
*/
|
|
msg_t oqGetI(output_queue_t *oqp) {
|
|
|
|
osalDbgCheckClassI();
|
|
|
|
/* Queue data check.*/
|
|
if (!oqIsEmptyI(oqp)) {
|
|
uint8_t b;
|
|
|
|
oqp->q_counter++;
|
|
b = *oqp->q_rdptr++;
|
|
if (oqp->q_rdptr >= oqp->q_top) {
|
|
oqp->q_rdptr = oqp->q_buffer;
|
|
}
|
|
|
|
osalThreadDequeueNextI(&oqp->q_waiting, MSG_OK);
|
|
|
|
return (msg_t)b;
|
|
}
|
|
|
|
return MSG_TIMEOUT;
|
|
}
|
|
|
|
/**
|
|
* @brief Output queue non-blocking write.
|
|
* @details The function writes data from a buffer to an output queue. The
|
|
* operation completes immediately.
|
|
*
|
|
* @param[in] oqp pointer to an @p output_queue_t structure
|
|
* @param[in] bp pointer to the data buffer
|
|
* @param[in] n the maximum amount of data to be transferred, the
|
|
* value 0 is reserved
|
|
* @return The number of bytes effectively transferred.
|
|
*
|
|
* @iclass
|
|
*/
|
|
size_t oqWriteI(output_queue_t *oqp, const uint8_t *bp, size_t n) {
|
|
qnotify_t nfy = oqp->q_notify;
|
|
size_t wr;
|
|
|
|
osalDbgCheckClassI();
|
|
|
|
wr = oq_write(oqp, bp, n);
|
|
|
|
/* Inform the low side that the queue has at least one character
|
|
available.*/
|
|
if ((wr > (size_t)0) && (nfy != NULL)) {
|
|
nfy(oqp);
|
|
}
|
|
|
|
return wr;
|
|
}
|
|
|
|
/**
|
|
* @brief Output queue write with timeout.
|
|
* @details The function writes data from a buffer to an output queue. The
|
|
* operation completes when the specified amount of data has been
|
|
* transferred or after the specified timeout or if the queue has
|
|
* been reset.
|
|
* @note The function is not atomic, if you need atomicity it is suggested
|
|
* to use a semaphore or a mutex for mutual exclusion.
|
|
* @note The callback is invoked after putting each character into the
|
|
* queue.
|
|
*
|
|
* @param[in] oqp pointer to an @p output_queue_t structure
|
|
* @param[in] bp pointer to the data buffer
|
|
* @param[in] n the maximum amount of data to be transferred, the
|
|
* value 0 is reserved
|
|
* @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 number of bytes effectively transferred.
|
|
*
|
|
* @api
|
|
*/
|
|
size_t oqWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
|
|
size_t n, sysinterval_t timeout) {
|
|
qnotify_t nfy = oqp->q_notify;
|
|
size_t max = n;
|
|
|
|
osalDbgCheck(n > 0U);
|
|
|
|
osalSysLock();
|
|
|
|
while (n > 0U) {
|
|
size_t done;
|
|
|
|
done = oq_write(oqp, bp, n);
|
|
if (done == (size_t)0) {
|
|
msg_t msg = osalThreadEnqueueTimeoutS(&oqp->q_waiting, timeout);
|
|
|
|
/* Anything except MSG_OK causes the operation to stop.*/
|
|
if (msg != MSG_OK) {
|
|
break;
|
|
}
|
|
}
|
|
else {
|
|
/* Inform the low side that the queue has at least one character
|
|
available.*/
|
|
if (nfy != NULL) {
|
|
nfy(oqp);
|
|
}
|
|
|
|
/* Giving a preemption chance in a controlled point.*/
|
|
osalSysUnlock();
|
|
|
|
n -= done;
|
|
bp += done;
|
|
|
|
osalSysLock();
|
|
}
|
|
}
|
|
|
|
osalSysUnlock();
|
|
return max - n;
|
|
}
|
|
|
|
/** @} */
|