468 lines
13 KiB
C
468 lines
13 KiB
C
/*
|
|
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
*/
|
|
|
|
/**
|
|
* @file osal.c
|
|
* @brief OSAL module code.
|
|
*
|
|
* @addtogroup OSAL
|
|
* @{
|
|
*/
|
|
|
|
#include "osal.h"
|
|
#include "osal_vt.h"
|
|
|
|
/*===========================================================================*/
|
|
/* Module local definitions. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported variables. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief Pointer to a halt error message.
|
|
* @note The message is meant to be retrieved by the debugger after the
|
|
* system halt caused by an unexpected error.
|
|
*/
|
|
const char *osal_halt_msg;
|
|
|
|
/*===========================================================================*/
|
|
/* Module local types. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local variables. */
|
|
/*===========================================================================*/
|
|
|
|
/*===========================================================================*/
|
|
/* Module local functions. */
|
|
/*===========================================================================*/
|
|
|
|
static void callback_timeout(void *p) {
|
|
osalSysLockFromISR();
|
|
osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
|
|
osalSysUnlockFromISR();
|
|
}
|
|
|
|
/*===========================================================================*/
|
|
/* Module exported functions. */
|
|
/*===========================================================================*/
|
|
|
|
/**
|
|
* @brief OSAL module initialization.
|
|
*
|
|
* @api
|
|
*/
|
|
void osalInit(void) {
|
|
|
|
vtInit();
|
|
|
|
OSAL_INIT_HOOK();
|
|
}
|
|
|
|
/**
|
|
* @brief System halt with error message.
|
|
*
|
|
* @param[in] reason the halt message pointer
|
|
*
|
|
* @api
|
|
*/
|
|
#if !defined(__DOXYGEN__)
|
|
__attribute__((weak, noreturn))
|
|
#endif
|
|
void osalSysHalt(const char *reason) {
|
|
|
|
osalSysDisable();
|
|
osal_halt_msg = reason;
|
|
while (true) {
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Polled delay.
|
|
* @note The real delay is always few cycles in excess of the specified
|
|
* value.
|
|
*
|
|
* @param[in] cycles number of cycles
|
|
*
|
|
* @xclass
|
|
*/
|
|
void osalSysPolledDelayX(rtcnt_t cycles) {
|
|
|
|
(void)cycles;
|
|
}
|
|
|
|
/**
|
|
* @brief System timer handler.
|
|
* @details The handler is used for scheduling and Virtual Timers management.
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalOsTimerHandlerI(void) {
|
|
|
|
osalDbgCheckClassI();
|
|
|
|
vtDoTickI();
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if a reschedule is required and performs it.
|
|
* @note I-Class functions invoked from thread context must not reschedule
|
|
* by themselves, an explicit reschedule using this function is
|
|
* required in this scenario.
|
|
* @note Not implemented in this simplified OSAL.
|
|
*
|
|
* @sclass
|
|
*/
|
|
void osalOsRescheduleS(void) {
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief Current system time.
|
|
* @details Returns the number of system ticks since the @p osalInit()
|
|
* invocation.
|
|
* @note The counter can reach its maximum and then restart from zero.
|
|
* @note This function can be called from any context but its atomicity
|
|
* is not guaranteed on architectures whose word size is less than
|
|
* @p systime_t size.
|
|
*
|
|
* @return The system time in ticks.
|
|
*
|
|
* @xclass
|
|
*/
|
|
systime_t osalOsGetSystemTimeX(void) {
|
|
|
|
return vtlist.vt_systime;
|
|
}
|
|
|
|
/**
|
|
* @brief Suspends the invoking thread for the specified time.
|
|
*
|
|
* @param[in] time the delay in system ticks, the special values are
|
|
* handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
*
|
|
* @sclass
|
|
*/
|
|
void osalThreadSleepS(sysinterval_t time) {
|
|
virtual_timer_t vt;
|
|
thread_reference_t tr;
|
|
|
|
tr = NULL;
|
|
vtSetI(&vt, time, callback_timeout, (void *)&tr);
|
|
osalThreadSuspendS(&tr);
|
|
}
|
|
|
|
/**
|
|
* @brief Suspends the invoking thread for the specified time.
|
|
*
|
|
* @param[in] time the delay in system ticks, the special values are
|
|
* handled as follow:
|
|
* - @a TIME_INFINITE is allowed but interpreted as a
|
|
* normal time specification.
|
|
* - @a TIME_IMMEDIATE this value is not allowed.
|
|
* .
|
|
*
|
|
* @api
|
|
*/
|
|
void osalThreadSleep(sysinterval_t time) {
|
|
|
|
osalSysLock();
|
|
osalThreadSleepS(time);
|
|
osalSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Sends the current thread sleeping and sets a reference variable.
|
|
* @note This function must reschedule, it can only be called from thread
|
|
* context.
|
|
*
|
|
* @param[in] trp a pointer to a thread reference object
|
|
* @return The wake up message.
|
|
*
|
|
* @sclass
|
|
*/
|
|
msg_t osalThreadSuspendS(thread_reference_t *trp) {
|
|
thread_t self = {MSG_WAIT};
|
|
|
|
osalDbgCheck(trp != NULL);
|
|
|
|
*trp = &self;
|
|
while (self.message == MSG_WAIT) {
|
|
osalSysUnlock();
|
|
/* A state-changing interrupt could occur here and cause the loop to
|
|
terminate, an hook macro is executed while waiting.*/
|
|
OSAL_IDLE_HOOK();
|
|
osalSysLock();
|
|
}
|
|
|
|
return self.message;
|
|
}
|
|
|
|
/**
|
|
* @brief Sends the current thread sleeping and sets a reference variable.
|
|
* @note This function must reschedule, it can only be called from thread
|
|
* context.
|
|
*
|
|
* @param[in] trp a pointer to a thread reference object
|
|
* @param[in] timeout the timeout in system ticks, the special values are
|
|
* handled as follow:
|
|
* - @a TIME_INFINITE the thread enters an infinite sleep
|
|
* state.
|
|
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
|
* the function returns @p MSG_TIMEOUT as if a timeout
|
|
* occurred.
|
|
* .
|
|
* @return The wake up message.
|
|
* @retval MSG_TIMEOUT if the operation timed out.
|
|
*
|
|
* @sclass
|
|
*/
|
|
msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout) {
|
|
msg_t msg;
|
|
virtual_timer_t vt;
|
|
|
|
osalDbgCheck(trp != NULL);
|
|
|
|
if (TIME_INFINITE == timeout)
|
|
return osalThreadSuspendS(trp);
|
|
|
|
vtSetI(&vt, timeout, callback_timeout, (void *)trp);
|
|
msg = osalThreadSuspendS(trp);
|
|
if (vtIsArmedI(&vt))
|
|
vtResetI(&vt);
|
|
|
|
return msg;
|
|
}
|
|
|
|
/**
|
|
* @brief Wakes up a thread waiting on a thread reference object.
|
|
* @note This function must not reschedule because it can be called from
|
|
* ISR context.
|
|
*
|
|
* @param[in] trp a pointer to a thread reference object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
|
|
|
|
osalDbgCheck(trp != NULL);
|
|
|
|
if (*trp != NULL) {
|
|
(*trp)->message = msg;
|
|
*trp = NULL;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Wakes up a thread waiting on a thread reference object.
|
|
* @note This function must reschedule, it can only be called from thread
|
|
* context.
|
|
*
|
|
* @param[in] trp a pointer to a thread reference object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
|
|
|
|
osalDbgCheck(trp != NULL);
|
|
|
|
if (*trp != NULL) {
|
|
(*trp)->message = msg;
|
|
*trp = NULL;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Enqueues the caller thread.
|
|
* @details The caller thread is enqueued and put to sleep until it is
|
|
* dequeued or the specified timeouts expires.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @param[in] timeout the timeout in system ticks, the special values are
|
|
* handled as follow:
|
|
* - @a TIME_INFINITE the thread enters an infinite sleep
|
|
* state.
|
|
* - @a TIME_IMMEDIATE the thread is not enqueued and
|
|
* the function returns @p MSG_TIMEOUT as if a timeout
|
|
* occurred.
|
|
* .
|
|
* @return The message from @p osalQueueWakeupOneI() or
|
|
* @p osalQueueWakeupAllI() functions.
|
|
* @retval MSG_TIMEOUT if the thread has not been dequeued within the
|
|
* specified timeout or if the function has been
|
|
* invoked with @p TIME_IMMEDIATE as timeout
|
|
* specification.
|
|
*
|
|
* @sclass
|
|
*/
|
|
msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout) {
|
|
msg_t msg;
|
|
virtual_timer_t vt;
|
|
|
|
osalDbgCheck(tqp != NULL);
|
|
|
|
if (TIME_IMMEDIATE == timeout)
|
|
return MSG_TIMEOUT;
|
|
|
|
tqp->tr = NULL;
|
|
|
|
if (TIME_INFINITE == timeout)
|
|
return osalThreadSuspendS(&tqp->tr);
|
|
|
|
vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr);
|
|
msg = osalThreadSuspendS(&tqp->tr);
|
|
if (vtIsArmedI(&vt))
|
|
vtResetI(&vt);
|
|
|
|
return msg;
|
|
}
|
|
|
|
/**
|
|
* @brief Dequeues and wakes up one thread from the queue, if any.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
|
|
|
|
osalDbgCheck(tqp != NULL);
|
|
|
|
osalThreadResumeI(&tqp->tr, msg);
|
|
}
|
|
|
|
/**
|
|
* @brief Dequeues and wakes up all threads from the queue.
|
|
*
|
|
* @param[in] tqp pointer to the threads queue object
|
|
* @param[in] msg the message code
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
|
|
|
|
osalDbgCheck(tqp != NULL);
|
|
|
|
osalThreadResumeI(&tqp->tr, msg);
|
|
}
|
|
|
|
/**
|
|
* @brief Add flags to an event source object.
|
|
*
|
|
* @param[in] esp pointer to the event flags object
|
|
* @param[in] flags flags to be ORed to the flags mask
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
|
|
|
|
osalDbgCheck(esp != NULL);
|
|
|
|
esp->flags |= flags;
|
|
if (esp->cb != NULL) {
|
|
esp->cb(esp);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Add flags to an event source object.
|
|
*
|
|
* @param[in] esp pointer to the event flags object
|
|
* @param[in] flags flags to be ORed to the flags mask
|
|
*
|
|
* @iclass
|
|
*/
|
|
void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags) {
|
|
|
|
osalDbgCheck(esp != NULL);
|
|
|
|
osalSysLock();
|
|
osalEventBroadcastFlagsI(esp, flags);
|
|
osalSysUnlock();
|
|
}
|
|
|
|
/**
|
|
* @brief Event callback setup.
|
|
* @note The callback is invoked from ISR context and can
|
|
* only invoke I-Class functions. The callback is meant
|
|
* to wakeup the task that will handle the event by
|
|
* calling @p osalEventGetAndClearFlagsI().
|
|
* @note This function is not part of the OSAL API and is provided
|
|
* exclusively as an example and for convenience.
|
|
*
|
|
* @param[in] esp pointer to the event flags object
|
|
* @param[in] cb pointer to the callback function
|
|
* @param[in] param parameter to be passed to the callback function
|
|
*
|
|
* @api
|
|
*/
|
|
void osalEventSetCallback(event_source_t *esp,
|
|
eventcallback_t cb,
|
|
void *param) {
|
|
|
|
osalDbgCheck(esp != NULL);
|
|
|
|
esp->cb = cb;
|
|
esp->param = param;
|
|
}
|
|
|
|
/**
|
|
* @brief Locks the specified mutex.
|
|
* @post The mutex is locked and inserted in the per-thread stack of owned
|
|
* mutexes.
|
|
*
|
|
* @param[in,out] mp pointer to the @p mutex_t object
|
|
*
|
|
* @api
|
|
*/
|
|
void osalMutexLock(mutex_t *mp) {
|
|
|
|
osalDbgCheck(mp != NULL);
|
|
|
|
*mp = 1;
|
|
}
|
|
|
|
/**
|
|
* @brief Unlocks the specified mutex.
|
|
* @note The HAL guarantees to release mutex in reverse lock order. The
|
|
* mutex being unlocked is guaranteed to be the last locked mutex
|
|
* by the invoking thread.
|
|
* The implementation can rely on this behavior and eventually
|
|
* ignore the @p mp parameter which is supplied in order to support
|
|
* those OSes not supporting a stack of the owned mutexes.
|
|
*
|
|
* @param[in,out] mp pointer to the @p mutex_t object
|
|
*
|
|
* @api
|
|
*/
|
|
void osalMutexUnlock(mutex_t *mp) {
|
|
|
|
osalDbgCheck(mp != NULL);
|
|
|
|
*mp = 0;
|
|
}
|
|
|
|
/** @} */
|