751 lines
21 KiB
C
751 lines
21 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 osal.h
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* @brief OSAL module header.
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*
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* @addtogroup OSAL
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* @{
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*/
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#ifndef OSAL_H
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#define OSAL_H
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#include <stddef.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "cmparams.h"
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#include "osalconf.h"
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @name Common constants
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* @{
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*/
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#if !defined(FALSE) || defined(__DOXYGEN__)
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#define FALSE 0
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#endif
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#if !defined(TRUE) || defined(__DOXYGEN__)
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#define TRUE 1
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#endif
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#define OSAL_SUCCESS false
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#define OSAL_FAILED true
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/** @} */
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/**
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* @name Messages
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* @{
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*/
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#define MSG_OK (msg_t)0
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#define MSG_RESET (msg_t)-1
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#define MSG_TIMEOUT (msg_t)-2
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#define MSG_WAIT (msg_t)-10
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/** @} */
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/**
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* @name Special time constants
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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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/** @} */
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/**
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* @name Systick modes.
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* @{
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*/
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#define OSAL_ST_MODE_NONE 0
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#define OSAL_ST_MODE_PERIODIC 1
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#define OSAL_ST_MODE_FREERUNNING 2
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/** @} */
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/**
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* @name Systick parameters.
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* @{
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*/
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/**
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* @brief Size in bits of the @p systick_t type.
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*/
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#define OSAL_ST_RESOLUTION 32
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/**
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* @brief Systick mode required by the underlying OS.
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*/
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#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
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/** @} */
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/**
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* @name IRQ-related constants
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* @{
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*/
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/**
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* @brief Total priority levels.
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*/
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#define OSAL_IRQ_PRIORITY_LEVELS (1U << CORTEX_PRIORITY_BITS)
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/**
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* @brief Highest IRQ priority for HAL drivers.
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*/
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#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__)
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#define OSAL_IRQ_MAXIMUM_PRIORITY 0
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#else
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#define OSAL_IRQ_MAXIMUM_PRIORITY 1
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#endif
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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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* @brief Frequency in Hertz of the system tick.
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*/
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#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
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#define OSAL_ST_FREQUENCY 1000
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#endif
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/**
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* @brief Enables OSAL assertions.
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*/
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#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
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#define OSAL_DBG_ENABLE_ASSERTS FALSE
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#endif
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/**
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* @brief Enables OSAL functions parameters checks.
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*/
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#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
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#define OSAL_DBG_ENABLE_CHECKS FALSE
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#endif
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/**
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* @brief OSAL initialization hook.
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*/
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#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
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#define OSAL_INIT_HOOK()
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#endif
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/**
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* @brief Idle loop hook macro.
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*/
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#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
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#define OSAL_IDLE_HOOK()
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#endif
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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 a system status word.
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*/
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typedef uint32_t syssts_t;
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/**
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* @brief Type of a message.
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*/
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typedef int32_t msg_t;
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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 realtime counter.
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*/
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typedef uint32_t rtcnt_t;
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/**
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* @brief Type of a thread.
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* @note The content of this structure is not part of the API and should
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* not be relied upon. Implementers may define this structure in
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* an entirely different way.
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*/
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typedef struct {
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volatile msg_t message;
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} thread_t;
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/**
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* @brief Type of a thread reference.
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*/
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typedef thread_t * thread_reference_t;
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/**
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* @brief Type of an event flags mask.
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*/
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typedef uint32_t eventflags_t;
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/**
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* @brief Type of an event flags object.
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* @note The content of this structure is not part of the API and should
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* not be relied upon. Implementers may define this structure in
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* an entirely different way.
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* @note Retrieval and clearing of the flags are not defined in this
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* API and are implementation-dependent.
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*/
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typedef struct event_source event_source_t;
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/**
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* @brief Type of an event source callback.
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* @note This type is not part of the OSAL API and is provided
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* exclusively as an example and for convenience.
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*/
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typedef void (*eventcallback_t)(event_source_t *esp);
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/**
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* @brief Events source object.
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* @note The content of this structure is not part of the API and should
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* not be relied upon. Implementers may define this structure in
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* an entirely different way.
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* @note Retrieval and clearing of the flags are not defined in this
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* API and are implementation-dependent.
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*/
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struct event_source {
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volatile eventflags_t flags; /**< @brief Stored event flags. */
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eventcallback_t cb; /**< @brief Event source callback. */
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void *param; /**< @brief User defined field. */
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};
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/**
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* @brief Type of a mutex.
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* @note If the OS does not support mutexes or there is no OS then them
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* mechanism can be simulated.
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*/
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typedef uint32_t mutex_t;
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/**
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* @brief Type of a thread queue.
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* @details A thread queue is a queue of sleeping threads, queued threads
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* can be dequeued one at time or all together.
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* @note If the OSAL is implemented on a bare metal machine without RTOS
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* then the queue can be implemented as a single thread reference.
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*/
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typedef struct {
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thread_reference_t tr;
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} threads_queue_t;
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @name Debug related macros
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* @{
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*/
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/**
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* @brief Condition assertion.
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* @details If the condition check fails then the OSAL panics with a
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* message and halts.
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* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
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* switch is enabled.
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* @note The remark string is not currently used except for putting a
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* comment in the code about the assertion.
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*
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* @param[in] c the condition to be verified to be true
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* @param[in] remark a remark string
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*
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* @api
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*/
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#define osalDbgAssert(c, remark) do { \
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/*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \
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if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \
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if (!(c)) { \
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/*lint -restore*/ \
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osalSysHalt(__func__); \
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} \
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} \
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} while (false)
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/**
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* @brief Function parameters check.
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* @details If the condition check fails then the OSAL panics and halts.
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* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
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* is enabled.
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*
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* @param[in] c the condition to be verified to be true
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*
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* @api
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*/
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#define osalDbgCheck(c) do { \
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/*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \
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if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \
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if (!(c)) { \
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/*lint -restore*/ \
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osalSysHalt(__func__); \
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} \
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} \
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} while (false)
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/**
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* @brief I-Class state check.
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* @note Implementation is optional.
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*/
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#define osalDbgCheckClassI()
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/**
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* @brief S-Class state check.
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* @note Implementation is optional.
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*/
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#define osalDbgCheckClassS()
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/** @} */
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/**
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* @name IRQ service routines wrappers
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* @{
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*/
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/**
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* @brief Priority level verification macro.
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*/
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#define OSAL_IRQ_IS_VALID_PRIORITY(n) \
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(((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS))
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/**
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* @brief IRQ prologue code.
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* @details This macro must be inserted at the start of all IRQ handlers.
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*/
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#define OSAL_IRQ_PROLOGUE()
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/**
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* @brief IRQ epilogue code.
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* @details This macro must be inserted at the end of all IRQ handlers.
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*/
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#define OSAL_IRQ_EPILOGUE()
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/**
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* @brief IRQ handler function declaration.
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* @details This macro hides the details of an ISR function declaration.
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*
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* @param[in] id a vector name as defined in @p vectors.s
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*/
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#define OSAL_IRQ_HANDLER(id) void id(void)
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/** @} */
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/**
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* @name Time conversion utilities
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* @{
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*/
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/**
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* @brief Seconds to system ticks.
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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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* @api
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*/
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#define OSAL_S2I(secs) \
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((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY))
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/**
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* @brief Milliseconds to system ticks.
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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] msecs number of milliseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define OSAL_MS2I(msecs) \
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((sysinterval_t)((((((uint32_t)(msecs)) * \
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((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL))
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/**
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* @brief Microseconds to system ticks.
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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] usecs number of microseconds
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* @return The number of ticks.
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*
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* @api
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*/
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#define OSAL_US2I(usecs) \
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((sysinterval_t)((((((uint32_t)(usecs)) * \
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((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL))
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/** @} */
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/**
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* @name Time conversion utilities for the realtime counter
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* @{
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*/
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/**
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* @brief Seconds to realtime counter.
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* @details Converts from seconds to realtime counter cycles.
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* @note The macro assumes that @p freq >= @p 1.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] sec number of seconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define OSAL_S2RTC(freq, sec) ((freq) * (sec))
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/**
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* @brief Milliseconds to realtime counter.
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* @details Converts from milliseconds to realtime counter cycles.
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* @note The result is rounded upward to the next millisecond boundary.
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* @note The macro assumes that @p freq >= @p 1000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] msec number of milliseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
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/**
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* @brief Microseconds to realtime counter.
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* @details Converts from microseconds to realtime counter cycles.
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* @note The result is rounded upward to the next microsecond boundary.
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* @note The macro assumes that @p freq >= @p 1000000.
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*
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* @param[in] freq clock frequency, in Hz, of the realtime counter
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* @param[in] usec number of microseconds
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* @return The number of cycles.
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*
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* @api
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*/
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#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
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/** @} */
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/**
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* @name Sleep macros using absolute time
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* @{
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*/
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/**
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* @brief Delays the invoking thread for the specified number of seconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] secs time in seconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
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/**
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* @brief Delays the invoking thread for the specified number of
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* milliseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] msecs time in milliseconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
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/**
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* @brief Delays the invoking thread for the specified number of
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* microseconds.
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* @note The specified time is rounded up to a value allowed by the real
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* system tick clock.
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* @note The maximum specifiable value is implementation dependent.
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*
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* @param[in] usecs time in microseconds, must be different from zero
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*
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* @api
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*/
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#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
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/** @} */
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/*===========================================================================*/
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/* External declarations. */
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/*===========================================================================*/
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extern const char *osal_halt_msg;
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#ifdef __cplusplus
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extern "C" {
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#endif
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void osalInit(void);
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void osalSysHalt(const char *reason);
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void osalSysPolledDelayX(rtcnt_t cycles);
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void osalOsTimerHandlerI(void);
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void osalOsRescheduleS(void);
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systime_t osalOsGetSystemTimeX(void);
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void osalThreadSleepS(sysinterval_t time);
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void osalThreadSleep(sysinterval_t time);
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msg_t osalThreadSuspendS(thread_reference_t *trp);
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msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
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void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
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void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
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msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
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void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
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void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
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void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
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void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
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void osalEventSetCallback(event_source_t *esp,
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eventcallback_t cb,
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void *param);
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void osalMutexLock(mutex_t *mp);
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void osalMutexUnlock(mutex_t *mp);
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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 Disables interrupts globally.
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*
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* @special
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*/
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static inline void osalSysDisable(void) {
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__disable_irq();
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}
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/**
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* @brief Enables interrupts globally.
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*
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* @special
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*/
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static inline void osalSysEnable(void) {
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__enable_irq();
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}
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/**
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* @brief Enters a critical zone from thread context.
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* @note This function cannot be used for reentrant critical zones.
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*
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* @special
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*/
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static inline void osalSysLock(void) {
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#if CORTEX_MODEL == 0
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__disable_irq();
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#else
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__set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Leaves a critical zone from thread context.
|
|
* @note This function cannot be used for reentrant critical zones.
|
|
*
|
|
* @special
|
|
*/
|
|
static inline void osalSysUnlock(void) {
|
|
|
|
#if CORTEX_MODEL == 0
|
|
__enable_irq();
|
|
#else
|
|
__set_BASEPRI(0);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Enters a critical zone from ISR context.
|
|
* @note This function cannot be used for reentrant critical zones.
|
|
*
|
|
* @special
|
|
*/
|
|
static inline void osalSysLockFromISR(void) {
|
|
|
|
#if CORTEX_MODEL == 0
|
|
__disable_irq();
|
|
#else
|
|
__set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Leaves a critical zone from ISR context.
|
|
* @note This function cannot be used for reentrant critical zones.
|
|
*
|
|
* @special
|
|
*/
|
|
static inline void osalSysUnlockFromISR(void) {
|
|
|
|
#if CORTEX_MODEL == 0
|
|
__enable_irq();
|
|
#else
|
|
__set_BASEPRI(0);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Returns the execution status and enters a critical zone.
|
|
* @details This functions enters into a critical zone and can be called
|
|
* from any context. Because its flexibility it is less efficient
|
|
* than @p chSysLock() which is preferable when the calling context
|
|
* is known.
|
|
* @post The system is in a critical zone.
|
|
*
|
|
* @return The previous system status, the encoding of this
|
|
* status word is architecture-dependent and opaque.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline syssts_t osalSysGetStatusAndLockX(void) {
|
|
syssts_t sts;
|
|
|
|
#if CORTEX_MODEL == 0
|
|
sts = (syssts_t)__get_PRIMASK();
|
|
__disable_irq();
|
|
#else
|
|
sts = (syssts_t)__get_BASEPRI();
|
|
__set_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY);
|
|
#endif
|
|
return sts;
|
|
}
|
|
|
|
/**
|
|
* @brief Restores the specified execution status and leaves a critical zone.
|
|
* @note A call to @p chSchRescheduleS() is automatically performed
|
|
* if exiting the critical zone and if not in ISR context.
|
|
*
|
|
* @param[in] sts the system status to be restored.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline void osalSysRestoreStatusX(syssts_t sts) {
|
|
|
|
#if CORTEX_MODEL == 0
|
|
if ((sts & (syssts_t)1) == (syssts_t)0) {
|
|
__enable_irq();
|
|
}
|
|
#else
|
|
if (sts == (syssts_t)0) {
|
|
__set_BASEPRI(0);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Adds an interval to a system time returning a system time.
|
|
*
|
|
* @param[in] systime base system time
|
|
* @param[in] interval interval to be added
|
|
* @return The new system time.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline systime_t osalTimeAddX(systime_t systime,
|
|
sysinterval_t interval) {
|
|
|
|
return 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 osalTimeDiffX(systime_t start, systime_t end) {
|
|
|
|
return (sysinterval_t)((systime_t)(end - start));
|
|
}
|
|
|
|
/**
|
|
* @brief Checks if the specified time is within the specified time window.
|
|
* @note When start==end then the function returns always true because the
|
|
* whole time range is specified.
|
|
* @note This function can be called from any context.
|
|
*
|
|
* @param[in] time the time to be verified
|
|
* @param[in] start the start of the time window (inclusive)
|
|
* @param[in] end the end of the time window (non inclusive)
|
|
* @retval true current time within the specified time window.
|
|
* @retval false current time not within the specified time window.
|
|
*
|
|
* @xclass
|
|
*/
|
|
static inline bool osalTimeIsInRangeX(systime_t time,
|
|
systime_t start,
|
|
systime_t end) {
|
|
|
|
return (bool)((time - start) < (end - start));
|
|
}
|
|
|
|
/**
|
|
* @brief Initializes a threads queue object.
|
|
*
|
|
* @param[out] tqp pointer to the threads queue object
|
|
*
|
|
* @init
|
|
*/
|
|
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
|
|
|
|
osalDbgCheck(tqp != NULL);
|
|
}
|
|
|
|
/**
|
|
* @brief Initializes an event source object.
|
|
*
|
|
* @param[out] esp pointer to the event source object
|
|
*
|
|
* @init
|
|
*/
|
|
static inline void osalEventObjectInit(event_source_t *esp) {
|
|
|
|
osalDbgCheck(esp != NULL);
|
|
|
|
esp->flags = (eventflags_t)0;
|
|
esp->cb = NULL;
|
|
esp->param = NULL;
|
|
}
|
|
|
|
/**
|
|
* @brief Initializes s @p mutex_t object.
|
|
*
|
|
* @param[out] mp pointer to the @p mutex_t object
|
|
*
|
|
* @init
|
|
*/
|
|
static inline void osalMutexObjectInit(mutex_t *mp) {
|
|
|
|
osalDbgCheck(mp != NULL);
|
|
|
|
*mp = 0;
|
|
}
|
|
|
|
#endif /* OSAL_H */
|
|
|
|
/** @} */
|