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670 lines
20 KiB
C
670 lines
20 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2019 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file sb/user/sbapi.h
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* @brief ARMv7-M sandbox user API macros and structures.
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*
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* @addtogroup ARMV7M_SANDBOX_USERAPI
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* @{
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*/
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#ifndef SBUSER_H
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#define SBUSER_H
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#include "sberr.h"
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of system time counter.
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*/
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typedef uint32_t systime_t;
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/**
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* @brief Type of system time interval.
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*/
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typedef uint32_t sysinterval_t;
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/**
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* @brief Type of a wide time conversion variable.
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*/
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typedef uint64_t time_conv_t;
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/**
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* @brief Type of time in microseconds.
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*/
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typedef uint32_t time_usecs_t;
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/**
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* @brief Type of time in milliseconds.
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*/
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typedef uint32_t time_msecs_t;
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/**
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* @brief Type of time in seconds.
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*/
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typedef uint32_t time_secs_t;
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/**
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* @brief Type of a message.
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*/
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typedef uint32_t msg_t;
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/**
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* @brief Type of an event mask.
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*/
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typedef uint32_t eventmask_t;
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/**
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* @brief Type of event flags.
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*/
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typedef uint32_t eventflags_t;
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/**
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* @brief Type of a sandbox API internal state variables.
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*/
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typedef struct {
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/**
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* @brief System tick frequency.
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*/
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time_conv_t frequency;
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} sbapi_state_t;
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Messages-related macros
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* @{
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*/
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#define MSG_OK (msg_t)0
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#define MSG_TIMEOUT (msg_t)-1
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#define MSG_RESET (msg_t)-2
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/** @} */
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/**
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* @name Events-related macros
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* @{
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*/
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#define ALL_EVENTS ((eventmask_t)-1)
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#define EVENT_MASK(eid) ((eventmask_t)1 << (eventmask_t)(eid))
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/** @} */
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/**
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* @name Time and intervals related macros
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* @{
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*/
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#define TIME_IMMEDIATE ((sysinterval_t)0)
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#define TIME_INFINITE ((sysinterval_t)-1)
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#define TIME_MAX_INTERVAL ((sysinterval_t)-2)
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#define TIME_MAX_SYSTIME ((systime_t)-1)
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/** @} */
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/**
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* @name SVC instruction wrappers.
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* @{
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*/
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#define __syscall0(x) \
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asm volatile ("svc " #x : : : "memory")
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#define __syscall0r(x) \
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register uint32_t r0 asm ("r0"); \
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asm volatile ("svc " #x : "=r" (r0) : : "memory")
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#define __syscall1r(x, p1) \
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register uint32_t r0 asm ("r0") = (uint32_t)(p1); \
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asm volatile ("svc " #x : "=r" (r0) : "r" (r0) : "memory")
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#define __syscall2r(x, p1, p2) \
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register uint32_t r0 asm ("r0") = (uint32_t)(p1); \
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register uint32_t r1 asm ("r1") = (uint32_t)(p2); \
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asm volatile ("svc " #x : "=r" (r0) : "r" (r0), "r" (r1) : "memory")
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#define __syscall3r(x, p1, p2, p3) \
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register uint32_t r0 asm ("r0") = (uint32_t)(p1); \
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register uint32_t r1 asm ("r1") = (uint32_t)(p2); \
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register uint32_t r2 asm ("r2") = (uint32_t)(p3); \
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asm volatile ("svc " #x : "=r" (r0) : "r" (r0), "r" (r1), \
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"r" (r2) : "memory")
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#define __syscall4r(x, p1, p2, p3, p4) \
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register uint32_t r0 asm ("r0") = (uint32_t)(p1); \
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register uint32_t r1 asm ("r1") = (uint32_t)(p2); \
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register uint32_t r2 asm ("r2") = (uint32_t)(p3); \
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register uint32_t r3 asm ("r3") = (uint32_t)(p4); \
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asm volatile ("svc " #x : "=r" (r0) : "r" (r0), "r" (r1), \
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"r" (r2), "r" (r3) : "memory")
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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extern sbapi_state_t sb;
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#ifdef __cplusplus
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extern "C" {
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#endif
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void sbApiInit(void);
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#ifdef __cplusplus
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}
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#endif
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/*===========================================================================*/
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/* Module inline functions. */
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/*===========================================================================*/
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/**
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* @brief Posix-style file open.
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*
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* @param[in] pathname file to be opened
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* @param[in] flags open mode
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* @return The file descriptor or an error.
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*/
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static inline uint32_t sbFileOpen(const char *pathname,
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uint32_t flags) {
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__syscall3r(0, SB_POSIX_OPEN, pathname, flags);
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return r0;
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}
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/**
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* @brief Posix-style file close.
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*
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* @param[in] fd file descriptor
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* @return Operation result.
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*/
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static inline uint32_t sbFileClose(uint32_t fd) {
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__syscall2r(0, SB_POSIX_CLOSE, fd);
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return r0;
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}
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/**
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* @brief Posix-style file read.
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*
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* @param[in] fd file descriptor
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* @param[out] buf buffer pointer
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* @param[in] count number of bytes
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* @return The number of bytes really transferred or an error.
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*/
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static inline size_t sbFileRead(uint32_t fd,
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uint8_t *buf,
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size_t count) {
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__syscall4r(0, SB_POSIX_READ, fd, buf, count);
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return (size_t)r0;
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}
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/**
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* @brief Posix-style file write.
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*
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* @param[in] fd file descriptor
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* @param[in] buf buffer pointer
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* @param[in] count number of bytes
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* @return The number of bytes really transferred or an error.
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*/
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static inline size_t sbFileWrite(uint32_t fd,
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const uint8_t *buf,
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size_t count) {
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__syscall4r(0, SB_POSIX_WRITE, fd, buf, count);
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return (size_t)r0;
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}
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/**
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* @brief Posix-style file seek.
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*
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* @param[in] fd file descriptor
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* @param[in] offset file offset
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* @param[in] whence operation mode
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* @return Operation result.
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*/
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static inline uint32_t sbFileSeek(uint32_t fd,
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uint32_t offset,
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uint32_t whence) {
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__syscall4r(0, SB_POSIX_LSEEK, fd, offset, whence);
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return (size_t)r0;
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}
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/**
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* @brief Terminates the sandbox.
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*
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* @param[in] msg The exit message.
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*
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* @api
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*/
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static inline void sbExit(msg_t msg) {
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__syscall1r(1, msg);
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}
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/**
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* @brief Returns the system time.
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*
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* @return The current system time.
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*/
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static inline systime_t sbGetSystemTime(void) {
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__syscall0r(2);
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return (systime_t)r0;
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}
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/**
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* @brief Returns the system time frequency.
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*
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* @return The system time frequency.
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*/
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static inline uint32_t sbGetFrequency(void) {
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__syscall0r(3);
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return (uint32_t)r0;
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}
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/**
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* @brief Suspends the invoking thread for the specified interval.
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*
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* @param[in] interval the delay in system ticks
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*
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* @api
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*/
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static inline void sbSleep(sysinterval_t interval) {
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__syscall1r(4, interval);
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}
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/**
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* @brief Suspends the invoking thread until the system time arrives to the
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* specified value.
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* @note The system time is assumed to be between @p start and @p next
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* else the call is assumed to have been called outside the
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* allowed time interval, in this case no sleep is performed.
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*
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* @param[in] prev absolute system time of the previous deadline
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* @param[in] next absolute system time of the next deadline
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* @return the @p next parameter
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*
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* @api
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*/
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static inline void sbSleepUntil(systime_t prev, systime_t next) {
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__syscall2r(5, prev, next);
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}
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/**
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* @brief Waits for a message.
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*
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* @return The received message.
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*/
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static inline msg_t sbMsgWait(void) {
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__syscall0r(6);
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return (uint32_t)r0;
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}
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/**
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* @brief Replies to a message.
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*
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* @param[in] msg the reply message
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*
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* @api
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*/
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static inline uint32_t sbMsgReply(msg_t msg) {
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__syscall1r(7, msg);
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return (uint32_t)r0;
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}
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/**
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* @brief Waits for exactly one of the specified events.
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* @details The function waits for one event among those specified in
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* @p events to become pending then the event is cleared and returned.
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* @note One and only one event is served in the function, the one with the
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* lowest event id. The function is meant to be invoked into a loop
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* in order to serve all the pending events.<br>
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* This means that Event Listeners with a lower event identifier have
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* an higher priority.
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*
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* @param[in] events events that the function should wait
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* for, @p ALL_EVENTS enables all the events
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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 mask of the lowest event id served and cleared.
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* @retval 0 if the operation has timed out.
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*
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* @api
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*/
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static inline eventmask_t sbEventWaitOneTimeout(eventmask_t events,
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sysinterval_t timeout) {
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__syscall2r(8, events, timeout);
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return (uint32_t)r0;
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}
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/**
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* @brief Waits for any of the specified events.
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* @details The function waits for any event among those specified in
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* @p events to become pending then the events are cleared and
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* returned.
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*
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* @param[in] events events that the function should wait
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* for, @p ALL_EVENTS enables all the events
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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 mask of the served and cleared events.
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* @retval 0 if the operation has timed out.
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*
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* @api
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*/
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static inline eventmask_t sbEventWaitAnyTimeout(eventmask_t events,
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sysinterval_t timeout) {
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__syscall2r(9, events, timeout);
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return (uint32_t)r0;
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}
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/**
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* @brief Waits for all the specified events.
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* @details The function waits for all the events specified in @p events to
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* become pending then the events are cleared and returned.
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*
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* @param[in] events events that the function should wait
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* for, @p ALL_EVENTS requires all the events
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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 mask of the served and cleared events.
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* @retval 0 if the operation has timed out.
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*
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* @api
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*/
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static inline eventmask_t sbEventWaitAllTimeout(eventmask_t events,
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sysinterval_t timeout) {
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__syscall2r(10, events, timeout);
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return (uint32_t)r0;
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}
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/**
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* @brief Signals all the Event Listeners registered on the specified Event
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* Source.
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*
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* @param[in] flags the flags set to be added to the listener flags mask
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*
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* @api
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*/
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static inline uint32_t sbEventBroadcastFlags(eventflags_t flags) {
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__syscall1r(11, flags);
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return (uint32_t)r0;
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}
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/**
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* @brief Seconds to time interval.
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* @details Converts from seconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] secs number of seconds
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* @return The number of ticks.
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*
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* @special
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*/
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static inline sysinterval_t sbTimeS2I(time_secs_t secs) {
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time_conv_t ticks;
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ticks = (time_conv_t)secs * sb.frequency;
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/* sbDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
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"conversion overflow");*/
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return (sysinterval_t)ticks;
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}
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/**
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* @brief Milliseconds to time interval.
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* @details Converts from milliseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] msec number of milliseconds
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* @return The number of ticks.
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*
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* @special
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*/
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static inline sysinterval_t sbTimeMS2I(time_msecs_t msec) {
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time_conv_t ticks;
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ticks = (((time_conv_t)msec * sb.frequency) +
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(time_conv_t)999) / (time_conv_t)1000;
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/* chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
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"conversion overflow");*/
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return (sysinterval_t)ticks;
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}
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/**
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* @brief Microseconds to time interval.
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* @details Converts from microseconds to system ticks number.
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* @note The result is rounded upward to the next tick boundary.
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*
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* @param[in] usec number of microseconds
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* @return The number of ticks.
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*
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* @special
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*/
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static inline sysinterval_t sbTimeUS2I(time_usecs_t usec) {
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time_conv_t ticks;
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ticks = (((time_conv_t)usec * sb.frequency) +
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(time_conv_t)999999) / (time_conv_t)1000000;
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/* chDbgAssert(ticks <= (time_conv_t)TIME_MAX_INTERVAL,
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"conversion overflow");*/
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return (sysinterval_t)ticks;
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}
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/**
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* @brief Time interval to seconds.
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* @details Converts from system interval to seconds.
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* @note The result is rounded up to the next second boundary.
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*
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* @param[in] interval interval in ticks
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* @return The number of seconds.
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*
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* @special
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*/
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static inline time_secs_t sbTimeI2S(sysinterval_t interval) {
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time_conv_t secs;
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secs = ((time_conv_t)interval +
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sb.frequency -
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(time_conv_t)1) / sb.frequency;
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/* sbDbgAssert(secs < (time_conv_t)((time_secs_t)-1),
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"conversion overflow");*/
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return (time_secs_t)secs;
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}
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/**
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* @brief Time interval to milliseconds.
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* @details Converts from system interval to milliseconds.
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* @note The result is rounded up to the next millisecond boundary.
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*
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* @param[in] interval interval in ticks
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* @return The number of milliseconds.
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*
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* @special
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*/
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static inline time_msecs_t sbTimeI2MS(sysinterval_t interval) {
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time_conv_t msecs;
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msecs = (((time_conv_t)interval * (time_conv_t)1000) +
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sb.frequency - (time_conv_t)1) /
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sb.frequency;
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/* sbDbgAssert(msecs < (time_conv_t)((time_msecs_t)-1),
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"conversion overflow");*/
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return (time_msecs_t)msecs;
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}
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/**
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* @brief Time interval to microseconds.
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* @details Converts from system interval to microseconds.
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* @note The result is rounded up to the next microsecond boundary.
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*
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* @param[in] interval interval in ticks
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* @return The number of microseconds.
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*
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* @special
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|
*/
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static inline time_usecs_t sbTimeI2US(sysinterval_t interval) {
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time_conv_t usecs;
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usecs = (((time_conv_t)interval * (time_conv_t)1000000) +
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sb.frequency - (time_conv_t)1) / sb.frequency;
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/* sbDbgAssert(usecs <= (time_conv_t)((time_usecs_t)-1),
|
|
"conversion overflow");*/
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|
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return (time_usecs_t)usecs;
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|
}
|
|
|
|
/**
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|
* @brief Adds an interval to a system time returning a system time.
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|
*
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|
* @param[in] systime base system time
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|
* @param[in] interval interval to be added
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|
* @return The new system time.
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|
*
|
|
* @xclass
|
|
*/
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|
static inline systime_t sbTimeAddX(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 sbTimeDiffX(systime_t start, systime_t end) {
|
|
|
|
return (sysinterval_t)((systime_t)(end - start));
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if the specified time is within the specified time range.
|
|
* @note When start==end then the function returns always true because the
|
|
* whole time range is specified.
|
|
*
|
|
* @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 sbTimeIsInRangeX(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 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.
|
|
*
|
|
* @param[in] secs time in seconds
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void sbSleepSeconds(time_secs_t secs) {
|
|
|
|
sbSleep(sbTimeS2I(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.
|
|
*
|
|
* @param[in] msecs time in milliseconds
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void sbSleepMilliseconds(time_msecs_t msecs) {
|
|
|
|
sbSleep(sbTimeMS2I(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.
|
|
*
|
|
* @param[in] usecs time in microseconds
|
|
*
|
|
* @api
|
|
*/
|
|
static inline void sbSleepMicroseconds(time_usecs_t usecs) {
|
|
|
|
sbSleep(sbTimeUS2I(usecs));
|
|
}
|
|
|
|
#endif /* SBUSER_H */
|
|
|
|
/** @} */
|