diff options
| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-08-16 13:07:24 +0000 |
|---|---|---|
| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2009-08-16 13:07:24 +0000 |
| commit | 1ea7355d85e316aadfd90468b3e808bb3dc95ee9 (patch) | |
| tree | 7d9c3cd8733553982b9d0a55e1ddff036a6d9b4c /os/kernel/include | |
| parent | 51e3bee83961243f5f0ba01537630f5a3d070c36 (diff) | |
| download | ChibiOS-1ea7355d85e316aadfd90468b3e808bb3dc95ee9.tar.gz ChibiOS-1ea7355d85e316aadfd90468b3e808bb3dc95ee9.tar.bz2 ChibiOS-1ea7355d85e316aadfd90468b3e808bb3dc95ee9.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1073 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/kernel/include')
| -rw-r--r-- | os/kernel/include/ch.h | 89 | ||||
| -rw-r--r-- | os/kernel/include/channels.h | 292 | ||||
| -rw-r--r-- | os/kernel/include/condvars.h | 80 | ||||
| -rw-r--r-- | os/kernel/include/debug.h | 149 | ||||
| -rw-r--r-- | os/kernel/include/events.h | 145 | ||||
| -rw-r--r-- | os/kernel/include/heap.h | 43 | ||||
| -rw-r--r-- | os/kernel/include/inline.h | 72 | ||||
| -rw-r--r-- | os/kernel/include/lists.h | 92 | ||||
| -rw-r--r-- | os/kernel/include/mailboxes.h | 126 | ||||
| -rw-r--r-- | os/kernel/include/mempools.h | 82 | ||||
| -rw-r--r-- | os/kernel/include/messages.h | 59 | ||||
| -rw-r--r-- | os/kernel/include/mutexes.h | 84 | ||||
| -rw-r--r-- | os/kernel/include/queues.h | 218 | ||||
| -rw-r--r-- | os/kernel/include/scheduler.h | 110 | ||||
| -rw-r--r-- | os/kernel/include/semaphores.h | 99 | ||||
| -rw-r--r-- | os/kernel/include/serial.h | 217 | ||||
| -rw-r--r-- | os/kernel/include/sys.h | 184 | ||||
| -rw-r--r-- | os/kernel/include/threads.h | 269 | ||||
| -rw-r--r-- | os/kernel/include/vt.h | 125 |
19 files changed, 2535 insertions, 0 deletions
diff --git a/os/kernel/include/ch.h b/os/kernel/include/ch.h new file mode 100644 index 000000000..0584b167e --- /dev/null +++ b/os/kernel/include/ch.h @@ -0,0 +1,89 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file ch.h
+ * @brief ChibiOS/RT main include file, it includes everything else.
+ * @addtogroup Kernel
+ * @{
+ */
+
+#ifndef _CH_H_
+#define _CH_H_
+
+/**
+ * ChibiOS/RT identification macro. + */
+#define _CHIBIOS_RT_
+
+/**
+ * Kernel version string. + */
+#define CH_KERNEL_VERSION "1.3.2unstable"
+
+/**
+ * Kernel version major number. + */
+#define CH_KERNEL_MAJOR 1
+
+/**
+ * Kernel version minor number. + */
+#define CH_KERNEL_MINOR 3
+
+/**
+ * Kernel version patch number. + */
+#define CH_KERNEL_PATCH 2
+
+/*
+ * Common values.
+ */
+#ifndef FALSE
+#define FALSE 0
+#endif
+#ifndef TRUE
+#define TRUE (!FALSE)
+#endif
+
+#include <chconf.h>
+#include <chtypes.h>
+#include "lists.h"
+#include <chcore.h>
+#include "sys.h"
+#include "vt.h"
+#include "scheduler.h"
+#include "semaphores.h"
+#include "mutexes.h"
+#include "condvars.h"
+#include "events.h"
+#include "messages.h"
+#include "mailboxes.h"
+#include "heap.h"
+#include "mempools.h"
+#include "threads.h"
+#include "inline.h"
+#include "queues.h"
+#include "channels.h"
+#include "serial.h"
+#include "debug.h"
+
+#endif /* _CH_H_ */
+
+/** @} */
diff --git a/os/kernel/include/channels.h b/os/kernel/include/channels.h new file mode 100644 index 000000000..a1c538f62 --- /dev/null +++ b/os/kernel/include/channels.h @@ -0,0 +1,292 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file channels.h
+ * @brief I/O channels
+ * @addtogroup Channels
+ * @{
+ */
+
+#ifndef _CHANNELS_H_
+#define _CHANNELS_H_
+
+/**
+ * @brief @p BaseChannel specific methods.
+ */
+struct _base_channel_methods {
+ /**
+ * @brief Channel output check.
+ * @see chIOPutWouldBlock()
+ */
+ bool_t (*putwouldblock)(void *instance);
+ /**
+ * @brief Channel input check.
+ * @see chIOGetWouldBlock()
+ */
+ bool_t (*getwouldblock)(void *instance);
+ /**
+ * @brief Channel put method with timeout specification.
+ * @see chIOPut()
+ */
+ msg_t (*put)(void *instance, uint8_t b, systime_t timeout);
+ /**
+ * @brief Channel get method with timeout specification.
+ * @see chIOGet()
+ */
+ msg_t (*get)(void *instance, systime_t timeout);
+};
+
+/**
+ * @brief @p BaseChannel specific data.
+ * @note It is empty because @p BaseChannel is only an interface without
+ * implementation. + */
+struct _base_channel_data {
+};
+
+/**
+ * @brief @p BaseChannel virtual methods table.
+ */
+struct BaseChannelVMT {
+ /**
+ * @p BaseChannel class specific methods.
+ */
+ struct _base_channel_methods m0;
+};
+
+/**
+ * @brief Base channel class.
+ * @details This class represents a generic, byte-wide, I/O channel. + */
+typedef struct {
+ /**
+ * Virtual Methods Table.
+ */
+ const struct BaseChannelVMT *vmt;
+ /**
+ * @p BaseChannel class specific data.
+ */
+ struct _base_channel_data d0;
+} BaseChannel;
+
+/**
+ * @brief Channel output check.
+ * @details This function verifies if a subsequent @p chIOPut() would block.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @return The output queue status:
+ * @retval FALSE if the output queue has space and would not block a write
+ * operation.
+ * @retval TRUE if the output queue is full and would block a write operation.
+ */
+#define chIOPutWouldBlock(ip) ((ip)->vmt->m0.putwouldblock(ip))
+
+/**
+ * @brief Channel input check.
+ * @details This function verifies if a subsequent @p chIOGett() would block.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @return The input queue status:
+ * @retval FALSE if the input queue contains data and would not block a read
+ * operation.
+ * @retval TRUE if the input queue is empty and would block a read operation.
+ */
+#define chIOGetWouldBlock(ip) ((ip)->vmt->m0.getwouldblock(ip))
+
+/**
+ * @brief Channel blocking byte write.
+ * @details This function writes a byte value to a channel. If the channel
+ * is not ready to accept data then the calling thread is suspended.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @param[in] b the byte value to be written to the channel
+ * @return The operation status:
+ * @retval Q_OK if the operation succeeded.
+ * @retval Q_RESET if the channel associated queue (if any) was reset.
+ */
+#define chIOPut(ip, b) ((ip)->vmt->m0.put(ip, b, TIME_INFINITE))
+
+/**
+ * @brief Channel blocking byte write with timeout.
+ * @details This function writes a byte value to a channel. If the channel
+ * is not ready to accept data then the calling thread is suspended.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @param[in] b the byte value to be written to the channel
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return The operation status:
+ * @retval Q_OK if the operation succeeded.
+ * @retval Q_TIMEOUT if the specified time expired.
+ * @retval Q_RESET if the channel associated queue (if any) was reset.
+ */
+#define chIOPutTimeout(ip, b, timeout) ((ip)->vmt->m0.put(ip, b, timeout))
+
+/**
+ * @brief Channel blocking byte read.
+ * @details This function reads a byte value from a channel. If the data
+ * is not available then the calling thread is suspended.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @return A byte value from the queue or:
+ * @retval Q_RESET if the channel associated queue (if any) was reset.
+ */
+#define chIOGet(ip) ((ip)->vmt->m0.get(ip, TIME_INFINITE))
+
+/**
+ * @brief Channel blocking byte read with timeout.
+ * @details This function reads a byte value from a channel. If the data
+ * is not available then the calling thread is suspended.
+ *
+ * @param[in] ip pointer to a @p BaseChannel or derived class
+ * @param[in] timeout the number of ticks before the operation timeouts,
+ * the following special values are allowed:
+ * - @a TIME_IMMEDIATE immediate timeout.
+ * - @a TIME_INFINITE no timeout.
+ * .
+ * @return A byte value from the queue or:
+ * @retval Q_TIMEOUT if the specified time expired.
+ * @retval Q_RESET if the channel associated queue (if any) was reset.
+ */
+#define chIOGetTimeout(ip, timeout) ((ip)->vmt->m0.get(ip, timeout))
+
+#if CH_USE_EVENTS
+/**
+ * @brief @p BaseAsynchronousChannel specific methods.
+ */
+struct _base_asynchronous_channel_methods {
+ /**
+ * Channel asynchronous write method.
+ * @see chIOWrite()
+ */
+ size_t (*write)(void *instance, uint8_t *buffer, size_t n);
+ /**
+ * Channel asynchronous read method.
+ * @see chIORead()
+ */
+ size_t (*read)(void *instance, uint8_t *buffer, size_t n);
+};
+
+/**
+ * @brief @p BaseAsynchronousChannel specific data.
+ */
+struct _base_asynchronous_channel_data {
+ /**
+ * Data Available @p EventSource. This event is generated when some incoming
+ * data is inserted in the input queue.
+ */
+ EventSource ievent;
+ /**
+ * Data Transmitted @p EventSource. This event is generated when the
+ * output queue is empty.
+ */
+ EventSource oevent;
+};
+
+/**
+ * @brief @p BaseAsynchronousChannel virtual methods table.
+ */
+struct BaseAsynchronousChannelVMT {
+ /**
+ * @p BaseChannel class inherited methods.
+ */
+ struct _base_channel_methods m0;
+ /**
+ * @p BaseAsynchronousChannel class specific methods.
+ */
+ struct _base_asynchronous_channel_methods m1;
+};
+
+/**
+ * @extends BaseChannel
+ *
+ * @brief Base asynchronous channel class.
+ * @details This class extends @p BaseChannel by adding methods for
+ * asynchronous I/O in an event-driven environment. + */
+typedef struct {
+ /**
+ * Virtual Methods Table.
+ */
+ const struct BaseAsynchronousChannelVMT *vmt;
+ /**
+ * @p BaseChannel class inherited data.
+ */
+ struct _base_channel_data d0;
+ /**
+ * @p BaseAsynchronousChannel class specific data.
+ */
+ struct _base_asynchronous_channel_data d1;
+} BaseAsynchronousChannel;
+
+/**
+ * @brief Channel non-blocking write.
+ * @details The function writes data from a buffer to a channel. The
+ * transfer is non-blocking and can return zero if the channel is
+ * not read to accept data.
+ *
+ * @param[in] ip pointer to a @p BaseAsynchronousChannel or derived class
+ * @param[out] bp pointer to the buffer where the data is stored
+ * @param[in] n the maximum amount of data to be transferred
+ * @return The number of bytes transferred.
+ */
+#define chIOWrite(ip, bp, n) ((ip)->vmt->m1.write(ip, bp, n))
+
+/**
+ * @brief Channel non-blocking read.
+ * @details The function reads data from a channel into a buffer. The
+ * transfer is non-blocking and can return zero if the channel has
+ * no data immediately available.
+ *
+ * @param[in] ip pointer to a @p BaseAsynchronousChannel or derived class
+ * @param[out] bp pointer to the buffer where the input data is copied
+ * @param[in] n the maximum amount of data to be transferred
+ * @return The number of bytes transferred.
+ */
+#define chIORead(ip, bp, n) ((ip)->vmt->m1.read(ip, bp, n))
+
+/**
+ * @brief Returns the write event source.
+ * @details The write event source is broadcasted when the channel is ready
+ * for write operations. This usually happens when the internal
+ * output queue becomes empty. + * @param[in] ip pointer to a @p BaseAsynchronousChannel or derived class
+ * @return A pointer to an @p EventSource object.
+ */
+#define chIOGetWriteEventSource(ip) (&((ip)->vmt->d1.oevent))
+
+/**
+ * @brief Returns the read event source.
+ * @details The read event source is broadcasted when the channel is ready
+ * for read operations. This usually happens when the internal
+ * input queue becomes non-empty.
+ * @param[in] ip pointer to a @p BaseAsynchronousChannel or derived class
+ * @return A pointer to an @p EventSource object.
+ */
+#define chIOGetReadEventSource(ip) (&((ip)->vmt->d1.ievent))
+
+#endif /* CH_USE_EVENTS */
+
+#endif /* _CHANNELS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/condvars.h b/os/kernel/include/condvars.h new file mode 100644 index 000000000..d68637f21 --- /dev/null +++ b/os/kernel/include/condvars.h @@ -0,0 +1,80 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+/*
+ Concepts and parts of this file are contributed by and Copyright (C) 2008
+ of Leon Woestenberg.
+ */
+
+/**
+ * @file condvars.h
+ * @brief Condition Variables macros and structures.
+ * @addtogroup CondVars
+ * @{
+ */
+
+#ifndef _CONDVARS_H_
+#define _CONDVARS_H_
+
+#if CH_USE_CONDVARS && CH_USE_MUTEXES
+
+/**
+ * @brief CondVar structure.
+ */
+typedef struct CondVar {
+ ThreadsQueue c_queue; /**< CondVar threads queue.*/
+} CondVar;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chCondInit(CondVar *cp);
+ void chCondSignal(CondVar *cp);
+ void chCondSignalI(CondVar *cp);
+ void chCondBroadcast(CondVar *cp);
+ void chCondBroadcastI(CondVar *cp);
+ msg_t chCondWait(CondVar *cp);
+ msg_t chCondWaitS(CondVar *cp);
+#if CH_USE_CONDVARS_TIMEOUT
+ msg_t chCondWaitTimeout(CondVar *cp, systime_t time);
+ msg_t chCondWaitTimeoutS(CondVar *cp, systime_t time);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Data part of a static condition variable initializer.
+ * @details This macro should be used when statically initializing a condition
+ * variable that is part of a bigger structure.
+ */
+#define _CONDVAR_DATA(name) {_THREADSQUEUE_DATA(name.c_queue)}
+
+/**
+ * @brief Static condition variable initializer.
+ * @details Statically initialized condition variables require no explicit
+ * initialization using @p chCondInit().
+ * @param name the name of the condition variable
+ */
+#define CONDVAR_DECL(name) CondVar name = _CONDVAR_DATA(name)
+
+#endif /* CH_USE_CONDVARS && CH_USE_MUTEXES */
+
+#endif /* _CONDVARS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/debug.h b/os/kernel/include/debug.h new file mode 100644 index 000000000..67a5d65b4 --- /dev/null +++ b/os/kernel/include/debug.h @@ -0,0 +1,149 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file debug.h
+ * @brief Debug macros and structures.
+ * @addtogroup Debug
+ * @{
+ */
+
+#ifndef _DEBUG_H_
+#define _DEBUG_H_
+
+/**
+ * @brief Trace buffer entries. + */
+#ifndef TRACE_BUFFER_SIZE
+#define TRACE_BUFFER_SIZE 64
+#endif
+
+/**
+ * @brief Fill value for thread stack area in debug mode.
+ */
+#ifndef STACK_FILL_VALUE
+#define STACK_FILL_VALUE 0x55
+#endif
+
+/**
+ * @brief Fill value for thread area in debug mode.
+ * @note The chosen default value is 0xFF in order to make evident which
+ * thread fields were not initialized when inspecting the memory with
+ * a debugger. A uninitialized field is not an error in itself but it
+ * better to know it.
+ */
+#ifndef THREAD_FILL_VALUE
+#define THREAD_FILL_VALUE 0xFF
+#endif
+
+/**
+ * @brief Trace buffer record. + */
+typedef struct {
+ void *cse_wtobjp; /**< Object where going to sleep.*/
+ systime_t cse_time; /**< Time of the switch event.*/
+ uint16_t cse_state: 4; /**< Switched out thread state.*/
+ uint16_t cse_tid: 12; /**< Switched in thdread id.*/
+} CtxSwcEvent;
+
+/**
+ * @brief Trace buffer header. + */
+typedef struct {
+ unsigned tb_size; /**< Trace buffer size (records).*/
+ CtxSwcEvent *tb_ptr; /**< Pointer to the ring buffer front.*/
+ CtxSwcEvent tb_buffer[TRACE_BUFFER_SIZE]; /**< Ring buffer.*/
+} TraceBuffer;
+
+#define __QUOTE_THIS(p) #p
+
+#if CH_DBG_ENABLE_CHECKS
+/**
+ * Function parameter check, if the condition check fails then the kernel
+ * panics.
+ * @param c the condition to be verified to be true
+ * @param func the undecorated function name
+ * @note The condition is tested only if the @p CH_DBG_ENABLE_CHECKS switch is
+ * specified in @p chconf.h else the macro does nothing.
+ */
+#define chDbgCheck(c, func) { \
+ if (!(c)) \
+ chDbgPanic(__QUOTE_THIS(func)"(), line "__QUOTE_THIS(__LINE__)); \
+}
+#else /* !CH_DBG_ENABLE_CHECKS */
+#define chDbgCheck(c, func) { \
+ (void)(c), (void)__QUOTE_THIS(func)"(), line "__QUOTE_THIS(__LINE__); \
+}
+#endif /* !CH_DBG_ENABLE_CHECKS */
+
+#if CH_DBG_ENABLE_ASSERTS
+/**
+ * Condition assertion, if the condition check fails then the kernel panics
+ * with the specified message.
+ * @param c the condition to be verified to be true
+ * @param m the text message
+ * @param r a remark string
+ * @note The condition is tested only if the @p CH_DBG_ENABLE_ASSERTS switch is
+ * specified in @p chconf.h else the macro does nothing.
+ * @note The convention for the message is the following:<br>
+ * @<function_name@>(), #@<assert_number@>
+ * @note The remark string is not currently used except for putting a comment
+ * in the code about the assert.
+ */
+#define chDbgAssert(c, m, r) { \
+ if (!(c)) \
+ chDbgPanic(m); \
+}
+#else /* !CH_DBG_ENABLE_ASSERTS */
+#define chDbgAssert(c, m, r) {(void)(c);}
+#endif /* !CH_DBG_ENABLE_ASSERTS */
+
+#if !(CH_DBG_ENABLE_ASSERTS || CH_DBG_ENABLE_CHECKS || CH_DBG_ENABLE_STACK_CHECK)
+/* When the debug features are disabled this function is replaced by an empty
+ * macro.*/
+#define chDbgPanic(msg) {}
+#endif
+
+#if !CH_DBG_ENABLE_TRACE
+/* When the trace feature is disabled this function is replaced by an empty
+ * macro.*/
+#define chDbgTrace(otp, ntp) {}
+#endif
+
+#if !defined(__DOXYGEN__)
+#ifdef __cplusplus
+extern "C" {
+#endif
+#if CH_DBG_ENABLE_TRACE
+ extern TraceBuffer trace_buffer;
+ void trace_init(void);
+ void chDbgTrace(Thread *otp, Thread *ntp);
+#endif
+#if CH_DBG_ENABLE_ASSERTS || CH_DBG_ENABLE_CHECKS || CH_DBG_ENABLE_STACK_CHECK
+ extern char *panic_msg;
+ void chDbgPanic(char *msg);
+#endif
+#ifdef __cplusplus
+}
+#endif
+#endif /* !defined(__DOXYGEN__) */
+
+#endif /* _DEBUG_H_ */
+
+/** @} */
diff --git a/os/kernel/include/events.h b/os/kernel/include/events.h new file mode 100644 index 000000000..c8bf0c6e6 --- /dev/null +++ b/os/kernel/include/events.h @@ -0,0 +1,145 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file events.h
+ * @brief Events macros and structures.
+ * @addtogroup Events
+ * @{
+ */
+
+#ifndef _EVENTS_H_
+#define _EVENTS_H_
+
+#if CH_USE_EVENTS
+
+typedef struct EventListener EventListener;
+
+/**
+ * @brief Event Listener structure.
+ */
+struct EventListener {
+ EventListener *el_next; /**< Next Event Listener registered on
+ the Event Source.*/
+ Thread *el_listener; /**< Thread interested in the Event
+ Source.*/
+ eventmask_t el_mask; /**< Event flags mask associated by the
+ thread to the Event Source.*/
+};
+
+/**
+ * @brief Event Source structure.
+ */
+typedef struct EventSource {
+ EventListener *es_next; /**< First Event Listener registered on
+ the Event Source.*/
+} EventSource;
+
+/**
+ * @brief Data part of a static event source initializer.
+ * @details This macro should be used when statically initializing an event
+ * source that is part of a bigger structure.
+ * @param name the name of the event source variable
+ */
+#define _EVENTSOURCE_DATA(name) {(void *)(&name)}
+
+/**
+ * @brief Static event source initializer.
+ * @details Statically initialized event sources require no explicit
+ * initialization using @p chEvtInit().
+ * @param name the name of the event source variable
+ */
+#define EVENTSOURCE_DECL(name) EventSource name = _EVENTSOURCE_DATA(name)
+
+/** All events allowed mask.*/
+#define ALL_EVENTS -1
+
+/** Returns the event mask from the event identifier.*/
+#define EVENT_MASK(eid) (1 << (eid))
+
+/**
+ * Registers an Event Listener on an Event Source.
+ * @param esp pointer to the @p EventSource structure
+ * @param elp pointer to the @p EventListener structure
+ * @param eid numeric identifier assigned to the Event Listener. The identifier
+ * is used as index for the event callback function.
+ * The value must range between zero and the size, in bit, of the
+ * @p eventid_t type minus one.
+ * @note Multiple Event Listeners can use the same event identifier, the
+ * listener will share the callback function.
+ */
+#define chEvtRegister(esp, elp, eid) chEvtRegisterMask(esp, elp, EVENT_MASK(eid))
+
+/**
+ * Initializes an Event Source.
+ * @param esp pointer to the @p EventSource structure
+ * @note Can be called with interrupts disabled or enabled.
+ */
+#define chEvtInit(esp) \
+ ((esp)->es_next = (EventListener *)(void *)(esp))
+
+/**
+ * Verifies if there is at least one @p EventListener registered on the
+ * @p EventSource.
+ * @param esp pointer to the @p EventSource structure
+ * @note Can be called with interrupts disabled or enabled.
+ */
+#define chEvtIsListening(esp) \
+ ((void *)(esp) != (void *)(esp)->es_next)
+
+/** Event Handler callback function.*/
+typedef void (*evhandler_t)(eventid_t);
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chEvtRegisterMask(EventSource *esp, EventListener *elp, eventmask_t emask);
+ void chEvtUnregister(EventSource *esp, EventListener *elp);
+ eventmask_t chEvtClear(eventmask_t mask);
+ eventmask_t chEvtPend(eventmask_t mask);
+ void chEvtSignal(Thread *tp, eventmask_t mask);
+ void chEvtSignalI(Thread *tp, eventmask_t mask);
+ void chEvtBroadcast(EventSource *esp);
+ void chEvtBroadcastI(EventSource *esp);
+ void chEvtDispatch(const evhandler_t handlers[], eventmask_t mask);
+#if CH_OPTIMIZE_SPEED || !CH_USE_EVENTS_TIMEOUT
+ eventmask_t chEvtWaitOne(eventmask_t ewmask);
+ eventmask_t chEvtWaitAny(eventmask_t ewmask);
+ eventmask_t chEvtWaitAll(eventmask_t ewmask);
+#endif
+#if CH_USE_EVENTS_TIMEOUT
+ eventmask_t chEvtWaitOneTimeout(eventmask_t ewmask, systime_t time);
+ eventmask_t chEvtWaitAnyTimeout(eventmask_t ewmask, systime_t time);
+ eventmask_t chEvtWaitAllTimeout(eventmask_t ewmask, systime_t time);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+#if !CH_OPTIMIZE_SPEED && CH_USE_EVENTS_TIMEOUT
+#define chEvtWaitOne(ewmask) chEvtWaitOneTimeout(ewmask, TIME_INFINITE)
+#define chEvtWaitAny(ewmask) chEvtWaitAnyTimeout(ewmask, TIME_INFINITE)
+#define chEvtWaitAll(ewmask) chEvtWaitAllTimeout(ewmask, TIME_INFINITE)
+#endif
+
+#endif /* CH_USE_EVENTS */
+
+#endif /* _EVENTS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/heap.h b/os/kernel/include/heap.h new file mode 100644 index 000000000..4c9571070 --- /dev/null +++ b/os/kernel/include/heap.h @@ -0,0 +1,43 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file heap.h
+ * @brief Heap macros and structures.
+ * @addtogroup Heap
+ * @{
+ */
+
+#ifndef _HEAP_H_
+#define _HEAP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void heap_init(void);
+ void *chHeapAlloc(size_t size);
+ void chHeapFree(void *p);
+ size_t chHeapStatus(size_t *sizep);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _HEAP_H_ */
+
+/** @} */
diff --git a/os/kernel/include/inline.h b/os/kernel/include/inline.h new file mode 100644 index 000000000..42775d5cb --- /dev/null +++ b/os/kernel/include/inline.h @@ -0,0 +1,72 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef _INLINE_H_
+#define _INLINE_H_
+
+/**
+ * @file inline.h
+ * @brief Kernel inlined functions.
+ */
+
+/*
+ * Inlined functions if CH_OPTIMIZE_SPEED is enabled.
+ * Note: static inlined functions do not duplicate the code in every module
+ * this is true for GCC, not sure about other compilers.
+ */
+#if CH_OPTIMIZE_SPEED
+static INLINE void prio_insert(Thread *tp, ThreadsQueue *tqp) {
+
+ Thread *cp = (Thread *)tqp;
+ do {
+ cp = cp->p_next;
+ } while ((cp != (Thread *)tqp) && (cp->p_prio >= tp->p_prio));
+ tp->p_prev = (tp->p_next = cp)->p_prev;
+ tp->p_prev->p_next = cp->p_prev = tp;
+}
+
+static INLINE void queue_insert(Thread *tp, ThreadsQueue *tqp) {
+
+ tp->p_prev = (tp->p_next = (Thread *)tqp)->p_prev;
+ tp->p_prev->p_next = tqp->p_prev = tp;
+}
+
+static INLINE Thread *fifo_remove(ThreadsQueue *tqp) {
+ Thread *tp = tqp->p_next;
+
+ (tqp->p_next = tp->p_next)->p_prev = (Thread *)tqp;
+ return tp;
+}
+
+static INLINE Thread *lifo_remove(ThreadsQueue *tqp) {
+ Thread *tp = tqp->p_prev;
+
+ (tqp->p_prev = tp->p_prev)->p_next = (Thread *)tqp;
+ return tp;
+}
+
+static INLINE Thread *dequeue(Thread *tp) {
+
+ tp->p_prev->p_next = tp->p_next;
+ tp->p_next->p_prev = tp->p_prev;
+ return tp;
+}
+#endif /* CH_OPTIMIZE_SPEED */
+
+#endif /* _INLINE_H_ */
diff --git a/os/kernel/include/lists.h b/os/kernel/include/lists.h new file mode 100644 index 000000000..bc3fd7272 --- /dev/null +++ b/os/kernel/include/lists.h @@ -0,0 +1,92 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file lists.h
+ * @brief Thread queues/lists macros and structures.
+ * @addtogroup ThreadLists
+ * @{
+ */
+
+#ifndef _LISTS_H_
+#define _LISTS_H_
+
+typedef struct Thread Thread;
+
+/**
+ * Threads queue initialization.
+ */
+#define queue_init(tqp) ((tqp)->p_next = (tqp)->p_prev = (Thread *)(tqp));
+
+/**
+ * Macro evaluating to @p TRUE if the specified threads queue is empty. + */
+#define isempty(p) ((p)->p_next == (Thread *)(p))
+
+/**
+ * Macro evaluating to @p TRUE if the specified threads queue is not empty.
+ */
+#define notempty(p) ((p)->p_next != (Thread *)(p))
+
+/**
+ * @brief Data part of a static threads queue initializer.
+ * @details This macro should be used when statically initializing a threads
+ * queue that is part of a bigger structure.
+ * @param name the name of the threads queue variable
+ */
+#define _THREADSQUEUE_DATA(name) {(Thread *)&name, (Thread *)&name}
+
+/**
+ * @brief Static threads queue initializer.
+ * @details Statically initialized threads queues require no explicit
+ * initialization using @p queue_init().
+ * @param name the name of the threads queue variable
+ */
+#define THREADSQUEUE_DECL(name) ThreadsQueue name = _THREADSQUEUE_DATA(name)
+
+/**
+ * @brief Generic threads bidirectional linked list header and element.
+ * @extends ThreadsList
+ */
+typedef struct {
+ Thread *p_next; /**< First @p Thread in the queue, or
+ @p ThreadQueue when empty.*/
+ Thread *p_prev; /**< Last @p Thread in the queue, or
+ @p ThreadQueue when empty.*/
+} ThreadsQueue;
+
+#if !CH_OPTIMIZE_SPEED
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void prio_insert(Thread *tp, ThreadsQueue *tqp);
+ void queue_insert(Thread *tp, ThreadsQueue *tqp);
+ Thread *fifo_remove(ThreadsQueue *tqp);
+ Thread *lifo_remove(ThreadsQueue *tqp);
+ Thread *dequeue(Thread *tp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* !CH_OPTIMIZE_SPEED */
+
+#endif /* _LISTS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/mailboxes.h b/os/kernel/include/mailboxes.h new file mode 100644 index 000000000..075806da8 --- /dev/null +++ b/os/kernel/include/mailboxes.h @@ -0,0 +1,126 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file mailboxes.h
+ * @brief Mailboxes macros and structures.
+ * @addtogroup Mailboxes
+ * @{
+ */
+
+#ifndef _MAILBOXES_H_
+#define _MAILBOXES_H_
+
+#if CH_USE_MAILBOXES
+
+typedef struct {
+ msg_t *mb_buffer; /**< Pointer to the mailbox buffer.*/
+ msg_t *mb_top; /**< Pointer to the first location
+ after the buffer.*/
+ msg_t *mb_wrptr; /**< Write pointer.*/
+ msg_t *mb_rdptr; /**< Read pointer.*/
+ Semaphore mb_fullsem; /**< Full counter @p Semaphore.*/
+ Semaphore mb_emptysem; /**< Empty counter @p Semaphore.*/
+} Mailbox;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chMBInit(Mailbox *mbp, msg_t *buf, cnt_t n);
+ void chMBReset(Mailbox *mbp);
+ msg_t chMBPost(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostS(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostAhead(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBPostAheadS(Mailbox *mbp, msg_t msg, systime_t timeout);
+ msg_t chMBFetch(Mailbox *mbp, msg_t *msgp, systime_t timeout);
+ msg_t chMBFetchS(Mailbox *mbp, msg_t *msgp, systime_t timeout);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * Returns the mailbox buffer size.
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ */
+#define chMBSize(mbp) \
+ ((mbp)->mb_top - (mbp)->mb_buffer)
+
+/**
+ * Returns the free space into the mailbox.
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ * @return The number of empty message slots.
+ * @note Can be invoked in any system state but if invoked out of a locked
+ * state then the returned value may change after reading.
+ * @note The returned value can be less than zero when there are waiting
+ * threads on the internal semaphore.
+ */
+#define chMBGetEmpty(mbp) chSemGetCounterI(&(mbp)->mb_emptysem)
+
+/**
+ * Returns the number of messages into the mailbox.
+ * @param[in] mbp the pointer to an initialized Mailbox object
+ * @return The number of queued messages.
+ * @note Can be invoked in any system state but if invoked out of a locked
+ * state then the returned value may change after reading.
+ * @note The returned value can be less than zero when there are waiting
+ * threads on the internal semaphore.
+ */
+#define chMBGetFull(mbp) chSemGetCounterI(&(mbp)->mb_fullsem)
+
+/**
+ * Returns the next message in the queue without removing it.
+ * @note A message must be waiting in the queue for this function to work or
+ * it would return garbage. The correct way to use this macro is to
+ * use @p chMBGetFull() and then use this macro, all within a lock state. + */
+#define chMBPeek(mbp) (*(mbp)->mb_rdptr)
+
+/**
+ * @brief Data part of a static mailbox initializer.
+ * @details This macro should be used when statically initializing a
+ * mailbox that is part of a bigger structure.
+ * @param name the name of the mailbox variable
+ * @param buffer pointer to the mailbox buffer area
+ * @param size size of the mailbox buffer area
+ */
+#define _MAILBOX_DATA(name, buffer, size) { \
+ (msg_t *)(buffer), \
+ (msg_t *)(buffer) + size, \
+ (msg_t *)(buffer), \
+ (msg_t *)(buffer), \
+ _SEMAPHORE_DATA(name.mb_fullsem, 0), \
+ _SEMAPHORE_DATA(name.mb_emptysem, size), \
+}
+
+/**
+ * @brief Static mailbox initializer.
+ * @details Statically initialized mailboxes require no explicit
+ * initialization using @p chMBInit().
+ * @param name the name of the mailbox variable
+ * @param buffer pointer to the mailbox buffer area
+ * @param size size of the mailbox buffer area
+ */
+#define MAILBOX_DECL(name, buffer, size) \
+ Mailbox name = _MAILBOX_DATA(name, buffer, size)
+
+#endif /* CH_USE_MAILBOXES */
+
+#endif /* _MAILBOXES_H_ */
+
+/** @} */
diff --git a/os/kernel/include/mempools.h b/os/kernel/include/mempools.h new file mode 100644 index 000000000..38e54b3d8 --- /dev/null +++ b/os/kernel/include/mempools.h @@ -0,0 +1,82 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file mempools.h
+ * @brief Memory Pools macros and structures.
+ * @addtogroup MemoryPools
+ * @{
+ */
+
+#ifndef _MEMPOOLS_H_
+#define _MEMPOOLS_H_
+
+#if CH_USE_MEMPOOLS
+
+/**
+ * @brief Memory pool free object header. + */
+struct pool_header {
+ struct pool_header *ph_next;
+};
+
+/**
+ * @brief Memory pool descriptor. + */
+typedef struct {
+ struct pool_header *mp_next; /**< Pointer to the header.*/
+ size_t mp_object_size; /**< Memory pool objects size.*/
+} MemoryPool;
+
+/**
+ * @brief Data part of a static memory pool initializer.
+ * @details This macro should be used when statically initializing a
+ * memory pool that is part of a bigger structure.
+ * @param name the name of the memory pool variable
+ * @param size size of the memory pool contained objects
+ */
+#define _MEMORYPOOL_DATA(name, size) {NULL, size}
+
+/**
+ * @brief Static memory pool initializer.
+ * @details Statically initialized memory pools require no explicit
+ * initialization using @p chPoolInit().
+ * @param name the name of the memory pool variable
+ * @param size size of the memory pool contained objects
+ */
+#define MEMORYPOOL_DECL(name, size) \
+ MemoryPool name = _MEMORYPOOL_DATA(name, size)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chPoolInit(MemoryPool *mp, size_t size);
+ void *chPoolAllocI(MemoryPool *mp);
+ void *chPoolAlloc(MemoryPool *mp);
+ void chPoolFreeI(MemoryPool *mp, void *objp);
+ void chPoolFree(MemoryPool *mp, void *objp);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_USE_MEMPOOLS */
+
+#endif /* _MEMPOOLS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/messages.h b/os/kernel/include/messages.h new file mode 100644 index 000000000..ee1449a82 --- /dev/null +++ b/os/kernel/include/messages.h @@ -0,0 +1,59 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file messages.h
+ * @brief Messages macros and structures.
+ * @addtogroup Messages
+ * @{
+ */
+
+#ifndef _MESSAGES_H_
+#define _MESSAGES_H_
+
+#if CH_USE_MESSAGES
+
+/**
+ * Evaluates to TRUE if the thread has pending messages.
+ */
+#define chMsgIsPendingI(tp) \
+ ((tp)->p_msgqueue.p_next != (Thread *)&(tp)->p_msgqueue)
+
+/**
+ * Returns the first message in the queue.
+ */
+#define chMsgGetI(tp) \
+ ((tp)->p_msgqueue.p_next->p_msg)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ msg_t chMsgSend(Thread *tp, msg_t msg);
+ msg_t chMsgWait(void);
+ msg_t chMsgGet(void);
+ void chMsgRelease(msg_t msg);
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CH_USE_MESSAGES */
+
+#endif /* _MESSAGES_H_ */
+
+/** @} */
diff --git a/os/kernel/include/mutexes.h b/os/kernel/include/mutexes.h new file mode 100644 index 000000000..6ef6e48f4 --- /dev/null +++ b/os/kernel/include/mutexes.h @@ -0,0 +1,84 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file mutexes.h
+ * @brief Mutexes macros and structures.
+ * @addtogroup Mutexes
+ * @{
+ */
+
+#ifndef _MUTEXES_H_
+#define _MUTEXES_H_
+
+#if CH_USE_MUTEXES
+
+/**
+ * @brief Mutex structure.
+ */
+typedef struct Mutex {
+ ThreadsQueue m_queue; /**< Queue of the threads sleeping on
+ this Mutex.*/
+ Thread *m_owner; /**< Owner @p Thread pointer or
+ @p NULL.*/
+ struct Mutex *m_next; /**< Next @p Mutex into an owner-list
+ or @p NULL.*/
+} Mutex;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chMtxInit(Mutex *mp);
+ void chMtxLock(Mutex *mp);
+ void chMtxLockS(Mutex *mp);
+ bool_t chMtxTryLock(Mutex *mp);
+ bool_t chMtxTryLockS(Mutex *mp);
+ Mutex *chMtxUnlock(void);
+ Mutex *chMtxUnlockS(void);
+ void chMtxUnlockAll(void);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Data part of a static mutex initializer.
+ * @details This macro should be used when statically initializing a mutex
+ * that is part of a bigger structure.
+ * @param name the name of the mutex variable
+ */
+#define _MUTEX_DATA(name) {_THREADSQUEUE_DATA(name.m_queue), NULL, NULL}
+
+/**
+ * @brief Static mutex initializer.
+ * @details Statically initialized mutexes require no explicit initialization
+ * using @p chMtxInit().
+ * @param name the name of the mutex variable
+ */
+#define MUTEX_DECL(name) Mutex name = _MUTEX_DATA(name)
+
+/**
+ * Returns @p TRUE if the mutex queue contains at least a waiting thread.
+ */
+#define chMtxQueueNotEmptyS(mp) notempty(&(mp)->m_queue)
+
+#endif /* CH_USE_MUTEXES */
+
+#endif /* _MUTEXES_H_ */
+
+/** @} */
diff --git a/os/kernel/include/queues.h b/os/kernel/include/queues.h new file mode 100644 index 000000000..6bd98b4f1 --- /dev/null +++ b/os/kernel/include/queues.h @@ -0,0 +1,218 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/** + * @file queues.h I/O + * @brief Queues macros and structures. + * @addtogroup IOQueues + * @{ + */ + +#ifndef _QUEUES_H_ +#define _QUEUES_H_ + +/** Queue notification callback type. */ +typedef void (*qnotify_t)(void); + +/** Returned by the queue functions if the operation is successful. */ +#define Q_OK RDY_OK +/** Returned by the queue functions if a timeout occurs. */ +#define Q_TIMEOUT RDY_TIMEOUT +/** Returned by the queue functions if the queue is reset. */ +#define Q_RESET RDY_RESET +/** Returned by the queue functions if the queue is empty. */ +#define Q_EMPTY -3 +/** Returned by the queue functions if the queue is full. */ +#define Q_FULL -4 + +#if CH_USE_QUEUES +/** + * @brief Generic I/O queue structure. + * @details This structure represents a generic Input or Output asymmetrical + * queue. The queue is asymmetrical because one end is meant to be + * accessed from a thread context, and thus can be blocking, the other + * end is accessible from interrupt handlers or from within a kernel + * lock zone (see <b>I-Locked</b> and <b>S-Locked</b> states in + * @ref system_states) and is non-blocking. + */ +typedef struct { + uint8_t *q_buffer; /**< Pointer to the queue buffer.*/ + uint8_t *q_top; /**< Pointer to the first location + after the buffer.*/ + uint8_t *q_wrptr; /**< Write pointer.*/ + uint8_t *q_rdptr; /**< Read pointer.*/ + Semaphore q_sem; /**< Counter @p Semaphore.*/ + qnotify_t q_notify; /**< Data notification callback.*/ +} GenericQueue; + +/** Returns the queue's buffer size. */ +#define chQSize(q) ((q)->q_top - (q)->q_buffer) + +/** + * Returns the used space if used on an Input Queue and the empty space if + * used on an Output Queue. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. + */ +#define chQSpace(q) chSemGetCounterI(&(q)->q_sem) + +/** + * @brief Input queue structure. + * @details This structure represents a generic asymmetrical input queue. + * Writing in the queue is non-blocking and can be performed from + * interrupt handlers or from within a kernel lock zone (see + * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states). + * Reading the queue can be a blocking operation and is supposed to + * be performed by a system thread. + * @extends GenericQueue + */ +typedef GenericQueue InputQueue; + +/** Evaluates to @p TRUE if the specified Input Queue is empty. */ +#define chIQIsEmpty(q) (chQSpace(q) <= 0) + +/** Evaluates to @p TRUE if the specified Input Queue is full. */ +#define chIQIsFull(q) (chQSpace(q) >= chQSize(q)) + +/** + * @brief Input queue read. + * @details This function reads a byte value from an input queue. If the queue + * is empty then the calling thread is suspended until a byte arrives + * in the queue. + * + * @param[in] iqp pointer to an @p InputQueue structure + * @return A byte value from the queue or: + * @retval Q_RESET if the queue was reset. + */ +#define chIQGet(iqp) chIQGetTimeout(iqp, TIME_INFINITE) + +/** + * @brief Data part of a static input queue initializer. + * @details This macro should be used when statically initializing an + * input queue that is part of a bigger structure. + * @param name the name of the input queue variable + * @param buffer pointer to the queue buffer area + * @param size size of the queue buffer area + * @param inotify input notification callback pointer + */ +#define _INPUTQUEUE_DATA(name, buffer, size, inotify) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + _SEMAPHORE_DATA(name.q_sem, 0), \ + inotify \ +} + +/** + * @brief Static input queue initializer. + * @details Statically initialized input queues require no explicit + * initialization using @p chIQInit(). + * @param name the name of the input queue variable + * @param buffer pointer to the queue buffer area + * @param size size of the queue buffer area + * @param inotify input notification callback pointer + */ +#define INPUTQUEUE_DECL(name, buffer, size, inotify) \ + InputQueue name = _INPUTQUEUE_DATA(name, buffer, size, inotify) + +/** + * @brief Output queue structure. + * @details This structure represents a generic asymmetrical output queue. + * Reading from the queue is non-blocking and can be performed from + * interrupt handlers or from within a kernel lock zone (see + * <b>I-Locked</b> and <b>S-Locked</b> states in @ref system_states). + * Writing the queue can be a blocking operation and is supposed to + * be performed by a system thread. + * @extends GenericQueue + */ +typedef GenericQueue OutputQueue; + +/** Evaluates to @p TRUE if the specified Output Queue is empty. */ +#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q)) + +/** Evaluates to @p TRUE if the specified Output Queue is full. */ +#define chOQIsFull(q) (chQSpace(q) <= 0) + +/** + * @brief Output queue write. + * @details This function writes a byte value to an output queue. If the queue + * is full then the calling thread is suspended until there is space + * in the queue. + * + * @param[in] oqp pointer to an @p OutputQueue structure + * @param[in] b the byte value to be written in the queue + * @return The operation status: + * @retval Q_OK if the operation succeeded. + * @retval Q_RESET if the queue was reset. + */ +#define chOQPut(oqp, b) chOQPutTimeout(oqp, b, TIME_INFINITE) + +/** + * @brief Data part of a static output queue initializer. + * @details This macro should be used when statically initializing an + * output queue that is part of a bigger structure. + * @param name the name of the output queue variable. + * @param buffer pointer to the queue buffer area + * @param size size of the queue buffer area + * @param onotify output notification callback pointer + */ +#define _OUTPUTQUEUE_DATA(name, buffer, size, onotify) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + _SEMAPHORE_DATA(name.q_sem, size), \ + onotify \ +} + +/** + * @brief Static output queue initializer. + * @details Statically initialized output queues require no explicit + * initialization using @p chOQInit(). + * @param name the name of the output queue variable + * @param buffer pointer to the queue buffer area + * @param size size of the queue buffer area + * @param onotify output notification callback pointer + */ +#define OUTPUTQUEUE_DECL(name, buffer, size, onotify) \ + InputQueue name = _OUTPUTQUEUE_DATA(name, buffer, size, onotify) + +#ifdef __cplusplus +extern "C" { +#endif + void chIQInit(InputQueue *qp, uint8_t *buffer, size_t size, qnotify_t inotify); + void chIQResetI(InputQueue *qp); + msg_t chIQPutI(InputQueue *qp, uint8_t b); + msg_t chIQGetTimeout(InputQueue *qp, systime_t timeout); + size_t chIQRead(InputQueue *qp, uint8_t *buffer, size_t n); + + void chOQInit(OutputQueue *queue, uint8_t *buffer, size_t size, qnotify_t onotify); + void chOQResetI(OutputQueue *queue); + msg_t chOQPutTimeout(OutputQueue *queue, uint8_t b, systime_t timeout); + msg_t chOQGetI(OutputQueue *queue); + size_t chOQWrite(OutputQueue *queue, uint8_t *buffer, size_t n); +#ifdef __cplusplus +} +#endif +#endif /* CH_USE_QUEUES */ + +#endif /* _QUEUES_H_ */ + +/** @} */ diff --git a/os/kernel/include/scheduler.h b/os/kernel/include/scheduler.h new file mode 100644 index 000000000..648cb7bc5 --- /dev/null +++ b/os/kernel/include/scheduler.h @@ -0,0 +1,110 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/** + * @file scheduler.h + * @brief Scheduler macros and structures. + * @addtogroup Scheduler + * @{ + */ + +#ifndef _SCHEDULER_H_ +#define _SCHEDULER_H_ + +/** Default thread wakeup low level message. */ +#define RDY_OK 0 +/** Low level message sent to a thread awakened by a timeout. */ +#define RDY_TIMEOUT -1 +/** Low level message sent to a thread awakened by a reset operation. */ +#define RDY_RESET -2 + +#define NOPRIO 0 /**< Ready list header priority.*/ +#define IDLEPRIO 1 /**< Idle thread priority.*/ +#define LOWPRIO 2 /**< Lowest user priority.*/ +#define NORMALPRIO 64 /**< Normal user priority.*/ +#define HIGHPRIO 127 /**< Highest user priority.*/ +#define ABSPRIO 255 /**< Greatest possible priority.*/ + +/** + * Zero time specification for some syscalls with a timeout + * specification. + * @note Not all functions accept @p TIME_IMMEDIATE as timeout parameter, + * see the specific function documentation. + */ +#define TIME_IMMEDIATE ((systime_t)-1) + +/** + * Infinite time specification for all the syscalls with a timeout + * specification. + */ +#define TIME_INFINITE ((systime_t)0) + +/** The priority of the first thread on the given ready list. */ +#define firstprio(rlp) ((rlp)->p_next->p_prio) + +/** + * @brief Ready list header. + * + * @extends ThreadsQueue + */ +typedef struct { + Thread *p_next; /**< Next @p Thread in the ready list.*/ + Thread *p_prev; /**< Previous @p Thread in the ready + list.*/ + /* End of the fields shared with the ThreadsQueue structure. */ + tprio_t r_prio; /**< This field must be initialized to + zero.*/ + /* End of the fields shared with the Thread structure. */ +#if CH_USE_ROUNDROBIN + cnt_t r_preempt; /**< Round robin counter.*/ +#endif +#ifndef CH_CURRP_REGISTER_CACHE + Thread *r_current; /**< The currently running thread.*/ +#endif +} ReadyList; + +extern ReadyList rlist; + +/* + * Scheduler APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + void scheduler_init(void); + Thread *chSchReadyI(Thread *tp); + void chSchGoSleepS(tstate_t newstate); + msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time); + void chSchWakeupS(Thread *tp, msg_t msg); + void chSchDoRescheduleI(void); + void chSchRescheduleS(void); + bool_t chSchRescRequiredI(void); +#ifdef __cplusplus +} +#endif + +#ifdef CH_CURRP_REGISTER_CACHE +register Thread *currp asm(CH_CURRP_REGISTER_CACHE); +#else +#define currp rlist.r_current +#endif + +#endif /* _SCHEDULER_H_ */ + +/** @} */ diff --git a/os/kernel/include/semaphores.h b/os/kernel/include/semaphores.h new file mode 100644 index 000000000..833fc5cd2 --- /dev/null +++ b/os/kernel/include/semaphores.h @@ -0,0 +1,99 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file semaphores.h
+ * @brief Semaphores macros and structures.
+ * @addtogroup Semaphores
+ * @{
+ */
+
+#ifndef _SEMAPHORES_H_
+#define _SEMAPHORES_H_
+
+#if CH_USE_SEMAPHORES
+
+/**
+ * @brief Semaphore structure.
+ */
+typedef struct Semaphore {
+ ThreadsQueue s_queue; /**< Queue of the threads sleeping on
+ this semaphore.*/
+ cnt_t s_cnt; /**< The semaphore counter.*/
+} Semaphore;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chSemInit(Semaphore *sp, cnt_t n);
+ void chSemReset(Semaphore *sp, cnt_t n);
+ void chSemResetI(Semaphore *sp, cnt_t n);
+ msg_t chSemWait(Semaphore *sp);
+ msg_t chSemWaitS(Semaphore *sp);
+ msg_t chSemWaitTimeout(Semaphore *sp, systime_t time);
+ msg_t chSemWaitTimeoutS(Semaphore *sp, systime_t time);
+ void chSemSignal(Semaphore *sp);
+ void chSemSignalI(Semaphore *sp);
+#if CH_USE_SEMSW
+ msg_t chSemSignalWait(Semaphore *sps, Semaphore *spw);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Data part of a static semaphore initializer.
+ * @details This macro should be used when statically initializing a semaphore
+ * that is part of a bigger structure. + * @param name the name of the semaphore variable
+ * @param n the counter initial value, this value must be non-negative
+ */
+#define _SEMAPHORE_DATA(name, n) {_THREADSQUEUE_DATA(name.s_queue), n}
+
+/**
+ * @brief Static semaphore initializer.
+ * @details Statically initialized semaphores require no explicit initialization
+ * using @p chSemInit().
+ * @param name the name of the semaphore variable
+ * @param n the counter initial value, this value must be non-negative + */
+#define SEMAPHORE_DECL(name, n) Semaphore name = _SEMAPHORE_DATA(name, n)
+
+/**
+ * Decreases the semaphore counter, this macro can be used when it is ensured
+ * that the counter would not become negative.
+ */
+#define chSemFastWaitI(sp) ((sp)->s_cnt--)
+
+/**
+ * Increases the semaphore counter, this macro can be used when the counter is
+ * not negative.
+ */
+#define chSemFastSignalI(sp) ((sp)->s_cnt++)
+
+/**
+ * Returns the semaphore counter current value.
+ */
+#define chSemGetCounterI(sp) ((sp)->s_cnt)
+
+#endif /* CH_USE_SEMAPHORES */
+
+#endif /* _SEMAPHORES_H_ */
+
+/** @} */
diff --git a/os/kernel/include/serial.h b/os/kernel/include/serial.h new file mode 100644 index 000000000..deaca3d97 --- /dev/null +++ b/os/kernel/include/serial.h @@ -0,0 +1,217 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file serial.h
+ * @brief Serial Drivers macros and structures.
+ * @addtogroup Serial
+ * @{
+ */
+
+#ifndef _SERIAL_H_
+#define _SERIAL_H_
+
+#if CH_USE_SERIAL_FULLDUPLEX
+
+/** No pending conditions.*/
+#define SD_NO_ERROR 0
+/** Connection happened.*/
+#define SD_CONNECTED 1
+/** Disconnection happened.*/
+#define SD_DISCONNECTED 2
+/** Parity error happened.*/
+#define SD_PARITY_ERROR 4
+/** Framing error happened.*/
+#define SD_FRAMING_ERROR 8
+/** Overflow happened.*/
+#define SD_OVERRUN_ERROR 16
+/** Break detected.*/
+#define SD_BREAK_DETECTED 32
+
+/** Serial Driver condition flags type.*/
+typedef uint8_t dflags_t;
+
+/**
+ * @brief @p FullDuplexDriver specific methods.
+ */
+struct _full_duplex_driver_methods {
+};
+
+/**
+ * @brief @p FullDuplexDriver specific data.
+ */
+struct _full_duplex_driver_data {
+ /**
+ * Input queue, incoming data can be read from this input queue by
+ * using the queues APIs.
+ */
+ InputQueue iqueue;
+ /**
+ * Output queue, outgoing data can be written to this output queue by
+ * using the queues APIs.
+ */
+ OutputQueue oqueue;
+ /**
+ * Status Change @p EventSource. This event is generated when one or more
+ * condition flags change.
+ */
+ EventSource sevent;
+ /**
+ * I/O driver status flags.
+ */
+ dflags_t flags;
+};
+
+/**
+ * @brief @p FullDuplexDriver virtual methods table.
+ */
+struct FullDuplexDriverVMT {
+ /**
+ * @p BaseChannel class inherited methods.
+ */
+ struct _base_channel_methods m0;
+ /**
+ * @p BaseAsynchronousChannel class inherited methods.
+ */
+ struct _base_asynchronous_channel_methods m1;
+ /**
+ * @p FullDuplexDriver specific methods.
+ */
+ struct _full_duplex_driver_methods m2;
+};
+
+/**
+ * @extends BaseAsynchronousChannel
+ *
+ * @brief Full duplex serial driver class.
+ * @details This class extends @p GenericSerialDriver by adding physical I/O
+ * queues.
+ */
+typedef struct {
+ /**
+ * Virtual Methods Table.
+ */
+ const struct FullDuplexDriverVMT *vmt;
+ /**
+ * @p BaseChannel class inherited data.
+ */
+ struct _base_channel_data d0;
+ /**
+ * @p BaseAsynchronousChannel class inherited data.
+ */
+ struct _base_asynchronous_channel_data d1;
+ /**
+ * @p FullDuplexDriver specific data.
+ */
+ struct _full_duplex_driver_data d2;
+} FullDuplexDriver;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chFDDInit(FullDuplexDriver *sd,
+ uint8_t *ib, size_t isize, qnotify_t inotify,
+ uint8_t *ob, size_t osize, qnotify_t onotify);
+ void chFDDIncomingDataI(FullDuplexDriver *sd, uint8_t b);
+ msg_t chFDDRequestDataI(FullDuplexDriver *sd);
+ void chFDDAddFlagsI(FullDuplexDriver *sd, dflags_t mask);
+ dflags_t chFDDGetAndClearFlags(FullDuplexDriver *sd);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * @brief Direct output check on a @p FullDuplexDriver. + * @details This function bypasses the indirect access to the channel and
+ * checks directly the output queue. This is faster but cannot
+ * be used to check different channels implementations.
+ * @see chIOPutWouldBlock()
+ */
+#define chFDDPutWouldBlock(sd) chOQIsFull(&(sd)->d2.oqueue)
+
+/**
+ * @brief Direct input check on a @p FullDuplexDriver.
+ * @details This function bypasses the indirect access to the channel and
+ * checks directly the input queue. This is faster but cannot
+ * be used to check different channels implementations.
+ * @see chIOGetWouldBlock()
+ */
+#define chFDDGetWouldBlock(sd) chIQIsEmpty(&(sd)->d2.iqueue)
+
+/**
+ * @brief Direct blocking write to a @p FullDuplexDriver.
+ * @details This function bypasses the indirect access to the channel and
+ * writes directly on the output queue. This is faster but cannot
+ * be used to write to different channels implementations.
+ * @see chIOPut()
+ */
+#define chFDDPut(sd, b) chOQPut(&(sd)->d2.oqueue, b)
+
+/**
+ * @brief Direct blocking write on a @p FullDuplexDriver with timeout
+ * specification.
+ * @details This function bypasses the indirect access to the channel and
+ * writes directly on the output queue. This is faster but cannot
+ * be used to write to different channels implementations.
+ * @see chIOPutTimeout()
+ */
+#define chFDDPutTimeout(sd, b, t) chOQPutTimeout(&(sd)->d2.iqueue, b, t)
+
+/**
+ * @brief Direct blocking read from a @p FullDuplexDriver.
+ * @details This function bypasses the indirect access to the channel and
+ * reads directly from the input queue. This is faster but cannot
+ * be used to read from different channels implementations.
+ * @see chIOGet()
+ */
+#define chFDDGet(sd) chIQGet(&(sd)->d2.iqueue)
+
+/**
+ * @brief Direct blocking read from a @p FullDuplexDriver with timeout
+ * specification.
+ * @details This function bypasses the indirect access to the channel and
+ * reads directly from the input queue. This is faster but cannot
+ * be used to read from different channels implementations.
+ * @see chIOGetTimeout()
+ */
+#define chFDDGetTimeout(sd, t) chIQGetTimeout(&(sd)->d2.iqueue, t)
+
+/**
+ * @brief Direct non-blocking write to a @p FullDuplexDriver.
+ * @details This function bypasses the indirect access to the channel and
+ * writes directly to the output queue. This is faster but cannot
+ * be used to write from different channels implementations.
+ * @see chIOWrite()
+ */
+#define chFDDWrite(sd, b, n) chOQWrite(&(sd)->d2.oqueue, b, n)
+
+/**
+ * @brief Direct non-blocking read on a @p FullDuplexDriver.
+ * @details This function bypasses the indirect access to the channel and
+ * reads directly from the input queue. This is faster but cannot
+ * be used to read from different channels implementations.
+ * @see chIORead()
+ */
+#define chFDDRead(sd, b, n) chIQRead(&(sd)->d2.iqueue, b, n)
+
+#endif /* CH_USE_SERIAL_FULLDUPLEX */
+
+#endif /* _SERIAL_H_ */
+
+/** @} */
diff --git a/os/kernel/include/sys.h b/os/kernel/include/sys.h new file mode 100644 index 000000000..a84d33da8 --- /dev/null +++ b/os/kernel/include/sys.h @@ -0,0 +1,184 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file sys.h
+ * @brief System related macros and structures.
+ * @addtogroup System
+ * @{
+ */
+
+#ifndef _SYS_H_
+#define _SYS_H_
+
+/**
+ * @brief Halts the system.
+ * @details This function is invoked by the operating system when an
+ * unrecoverable error is detected (as example because a programming error in
+ * the application code that triggers an assertion while in debug mode).
+ */
+#define chSysHalt() port_halt()
+
+/**
+ * @brief Performs a context switch.
+ *
+ * @param otp the thread to be switched out
+ * @param ntp the thread to be switched in
+ */
+#define chSysSwitchI(otp, ntp) port_switch(otp, ntp)
+
+/**
+ * @brief Raises the system interrupt priority mask to the maximum level.
+ * @details All the maskable interrupt sources are disabled regardless their
+ * hardware priority.
+ *
+ * @note The implementation is architecture dependent, it may just disable the
+ * interrupts or be exactly equivalent to @p chSysDisable().
+ * @note Do not invoke this API from within a kernel lock.
+ */
+#define chSysDisable() port_disable()
+
+/**
+ * @brief Raises the system interrupt priority mask to system level.
+ * @details The interrupt sources that should not be able to preempt the kernel
+ * are disabled, interrupt sources with higher priority are still enabled.
+ *
+ * @note The implementation is architecture dependent, it may just disable the
+ * interrupts.
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysLock(), the @p chSysLock()
+ * could do more than just disable the interrupts.
+ */
+#define chSysSuspend() port_suspend()
+
+/**
+ * @brief Lowers the system interrupt priority mask to user level.
+ * @details All the interrupt sources are enabled.
+ *
+ * @note The implementation is architecture dependent, it may just enable the
+ * interrupts.
+ * @note Do not invoke this API from within a kernel lock.
+ * @note This API is no replacement for @p chSysUnlock(), the @p chSysUnlock()
+ * could do more than just enable the interrupts.
+ */
+#define chSysEnable() port_enable()
+
+/**
+ * @brief Enters the kernel lock mode.
+ *
+ * @note The use of kernel lock mode is not recommended in the user code, it is
+ * a better idea to use the semaphores or mutexes instead.
+ * @see CH_USE_NESTED_LOCKS
+ */
+#if CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
+#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
+#define chSysLock() { \
+ if (currp->p_locks++ == 0) \
+ port_lock(); \
+}
+#endif /* CH_OPTIMIZE_SPEED */
+#else /* !CH_USE_NESTED_LOCKS */
+#define chSysLock() port_lock()
+#endif /* !CH_USE_NESTED_LOCKS */
+
+/**
+ * @brief Leaves the kernel lock mode.
+ *
+ * @note The use of kernel lock mode is not recommended in the user code, it is
+ * a better idea to use the semaphores or mutexes instead.
+ * @see CH_USE_NESTED_LOCKS
+ */
+#if CH_USE_NESTED_LOCKS || defined(__DOXYGEN__)
+#if CH_OPTIMIZE_SPEED || defined(__DOXYGEN__)
+#define chSysUnlock() { \
+ if (--currp->p_locks == 0) \
+ port_unlock(); \
+}
+#endif /* CH_OPTIMIZE_SPEED */
+#else /* !CH_USE_NESTED_LOCKS */
+#define chSysUnlock() port_unlock()
+#endif /* !CH_USE_NESTED_LOCKS */
+
+/**
+ * @brief Enters the kernel lock mode from within an interrupt handler.
+ *
+ * @note This API may do nothing on some architectures, it is required because
+ * on ports that support preemptable interrupt handlers it is required to
+ * raise the interrupt mask to the same level of the system mutual
+ * exclusion zone.<br>
+ * It is good practice to invoke this API before invoking any I-class
+ * syscall from an interrupt handler.
+ * @note This API must be invoked exclusively from interrupt handlers.
+ */
+#define chSysLockFromIsr() port_lock_from_isr()
+
+/**
+ * @brief Leaves the kernel lock mode from within an interrupt handler.
+ *
+ * @note This API may do nothing on some architectures, it is required because
+ * on ports that support preemptable interrupt handlers it is required to
+ * raise the interrupt mask to the same level of the system mutual
+ * exclusion zone.<br>
+ * It is good practice to invoke this API after invoking any I-class
+ * syscall from an interrupt handler.
+ * @note This API must be invoked exclusively from interrupt handlers.
+ */
+#define chSysUnlockFromIsr() port_unlock_from_isr()
+
+/**
+ * @brief IRQ handler enter code.
+ *
+ * @note Usually IRQ handlers functions are also declared naked.
+ * @note On some architectures this macro can be empty.
+ */
+#define CH_IRQ_PROLOGUE() PORT_IRQ_PROLOGUE()
+
+/**
+ * @brief IRQ handler exit code.
+ *
+ * @note Usually IRQ handlers function are also declared naked.
+ * @note This macro usually performs the final reschedulation by using
+ * @p chSchRescRequiredI() and @p chSchDoRescheduleI().
+ */
+#define CH_IRQ_EPILOGUE() PORT_IRQ_EPILOGUE()
+
+/**
+ * @brief Standard IRQ handler declaration.
+ * + * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ */
+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chSysInit(void);
+ void chSysTimerHandlerI(void);
+#if CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED
+ void chSysLock(void);
+ void chSysUnlock(void);
+#endif /* CH_USE_NESTED_LOCKS && !CH_OPTIMIZE_SPEED */
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _SYS_H_ */
+
+/** @} */
diff --git a/os/kernel/include/threads.h b/os/kernel/include/threads.h new file mode 100644 index 000000000..07e068854 --- /dev/null +++ b/os/kernel/include/threads.h @@ -0,0 +1,269 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/** + * @file threads.h + * @brief Threads macros and structures. + * @addtogroup Threads + * @{ + */ + +#ifndef _THREADS_H_ +#define _THREADS_H_ + +/** + * @brief Structure representing a thread. + * + * @extends ThreadsQueue + * @note Not all the listed fields are always needed, by switching off some + * not needed ChibiOS/RT subsystems it is possible to save RAM space by + * shrinking the @p Thread structure. + */ +struct Thread { + Thread *p_next; /**< Next @p Thread in the threads + list/queue.*/ + /* End of the fields shared with the ThreadsList structure. */ + Thread *p_prev; /**< Previous @p Thread in the threads + queue.*/ + /* End of the fields shared with the ThreadsQueue structure. */ + tprio_t p_prio; /**< Thread priority.*/ + /* End of the fields shared with the ReadyList structure. */ + tstate_t p_state; /**< Current thread state.*/ + tmode_t p_flags; /**< Various flags.*/ + struct context p_ctx; /**< Processor context.*/ +#if CH_USE_NESTED_LOCKS + cnt_t p_locks; /**< Number of nested locks.*/ +#endif +#if CH_DBG_THREADS_PROFILING + volatile systime_t p_time; /**< Consumed time. + @note This field can overflow.*/ +#endif + /* + * The following fields are merged in unions because they are all + * state-specific fields. This trick saves some extra space for each + * thread in the system. + */ + union { + msg_t p_rdymsg; /**< Thread wakeup code.*/ + msg_t p_exitcode; /**< The thread exit code + (@p PREXIT state).*/ + void *p_wtobjp; /**< Generic kernel object pointer used + for opaque access.*/ +#if CH_USE_SEMAPHORES + Semaphore *p_wtsemp; /**< Semaphore where the thread is + waiting on (@p PRWTSEM state).*/ +#endif +#if CH_USE_MUTEXES + Mutex *p_wtmtxp; /**< Mutex where the thread is waiting + on (@p PRWTMTX state).*/ +#endif +#if CH_USE_CONDVARS + CondVar *p_wtcondp; /**< CondVar where the thread is + waiting on (@p PRWTCOND state).*/ +#endif +#if CH_USE_MESSAGES + Thread *p_wtthdp; /**< Destination thread for message + send @p PRSNDMSG state).*/ +#endif +#if CH_USE_EVENTS + eventmask_t p_ewmask; /**< Enabled events mask (@p PRWTOREVT + or @p PRWTANDEVT states).*/ +#endif + }; + /* + * Start of the optional fields. + */ +#if CH_USE_WAITEXIT + Thread *p_waiting; /**< Thread waiting for termination.*/ +#endif +#if CH_USE_MESSAGES + ThreadsQueue p_msgqueue; /**< Message queue.*/ + msg_t p_msg; /**< The message.*/ +#endif +#if CH_USE_EVENTS + eventmask_t p_epending; /**< Pending events mask.*/ +#endif +#if CH_USE_MUTEXES + Mutex *p_mtxlist; /**< List of the mutexes owned by this + thread, @p NULL terminated.*/ + tprio_t p_realprio; /**< Thread's own, non-inherited, + priority.*/ +#endif +#if CH_USE_DYNAMIC && CH_USE_MEMPOOLS + void *p_mpool; /**< Memory Pool where the thread + workspace is returned.*/ +#endif + /* Extra fields defined in chconf.h */ + THREAD_EXT_FIELDS +}; + +/** Thread state: Ready to run, waiting on the ready list.*/ +#define PRREADY 0 +/** Thread state: Currently running. */ +#define PRCURR 1 +/** Thread state: Thread created in suspended state. */ +#define PRSUSPENDED 2 +/** Thread state: Waiting on a semaphore. */ +#define PRWTSEM 3 +/** Thread state: Waiting on a mutex. */ +#define PRWTMTX 4 +/** Thread state: Waiting in @p chThdSleep() or @p chThdSleepUntil(). */ +#define PRWTCOND 5 +/** Thread state: Waiting in @p chCondWait(). */ +#define PRSLEEP 6 +/** Thread state: Waiting in @p chThdWait(). */ +#define PRWAIT 7 +/** Thread state: Waiting in @p chEvtWaitOneTimeout() or + @p chEvtWaitAnyTimeout(). */ +#define PRWTOREVT 8 +/** Thread state: Waiting in @p chEvtWaitAllTimeout(). */ +#define PRWTANDEVT 9 +/** Thread state: Waiting in @p chMsgSend(). */ +#define PRSNDMSG 10 +/** Thread state: Waiting in @p chMsgWait(). */ +#define PRWTMSG 11 +/** Thread state: After termination.*/ +#define PREXIT 12 + +/* + * Various flags into the thread p_flags field. + */ +#define P_MEM_MODE_MASK 3 /* Thread memory mode mask. */ +#define P_MEM_MODE_STATIC 0 /* Thread memory mode: static. */ +#define P_MEM_MODE_HEAP 1 /* Thread memory mode: heap. */ +#define P_MEM_MODE_MEMPOOL 2 /* Thread memory mode: mempool. */ +#define P_TERMINATE 4 /* Termination requested. */ + +/* Not an API, don't use into the application code.*/ +Thread *init_thread(Thread *tp, tprio_t prio); + +/** Thread function.*/ +typedef msg_t (*tfunc_t)(void *); + +/* + * Threads APIs. + */ +#ifdef __cplusplus +extern "C" { +#endif + Thread *chThdInit(void *wsp, size_t size, + tprio_t prio, tfunc_t pf, void *arg); + Thread *chThdCreateStatic(void *wsp, size_t size, + tprio_t prio, tfunc_t pf, void *arg); +#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_HEAP + Thread *chThdCreateFromHeap(size_t size, tprio_t prio, + tfunc_t pf, void *arg); +#endif +#if CH_USE_DYNAMIC && CH_USE_WAITEXIT && CH_USE_MEMPOOLS + Thread *chThdCreateFromMemoryPool(MemoryPool *mp, tprio_t prio, + tfunc_t pf, void *arg); +#endif + tprio_t chThdSetPriority(tprio_t newprio); + Thread *chThdResume(Thread *tp); + void chThdTerminate(Thread *tp); + void chThdSleep(systime_t time); + void chThdSleepUntil(systime_t time); + void chThdExit(msg_t msg); +#if CH_USE_WAITEXIT + msg_t chThdWait(Thread *tp); +#endif +#ifdef __cplusplus +} +#endif + +/** Returns the pointer to the @p Thread currently in execution.*/ +#define chThdSelf() currp + +/** Returns the current thread priority.*/ +#define chThdGetPriority() (currp->p_prio) + +/** Returns the pointer to the @p Thread local storage area, if any.*/ +#define chThdLS() (void *)(currp + 1) + +/** + * Verifies if the specified thread is in the @p PREXIT state. + * + * @param[in] tp the pointer to the thread + * @retval TRUE thread terminated. + * @retval FALSE thread not terminated. + */ +#define chThdTerminated(tp) ((tp)->p_state == PREXIT) + +/** + * Verifies if the current thread has a termination request pending. + * + * @retval TRUE termination request pended. + * @retval FALSE termination request not pended. + */ +#define chThdShouldTerminate() (currp->p_flags & P_TERMINATE) + +/** + * Resumes a thread created with @p chThdInit(). + * + * @param[in] tp the pointer to the thread + */ +#define chThdResumeI(tp) chSchReadyI(tp) + +/** + * 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 the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE this value is accepted but interpreted + * as a normal time specification not as an immediate timeout + * specification. + * . + */ +#define chThdSleepS(time) chSchGoSleepTimeoutS(PRSLEEP, time) + +/** + * Delays the invoking thread for the specified number of seconds. + * + * @param[in] sec the time in seconds + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + */ +#define chThdSleepSeconds(sec) chThdSleep(S2ST(sec)) + +/** + * Delays the invoking thread for the specified number of milliseconds. + * + * @param[in] msec the time in milliseconds + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + */ +#define chThdSleepMilliseconds(msec) chThdSleep(MS2ST(msec)) + +/** + * Delays the invoking thread for the specified number of microseconds. + * + * @param[in] usec the time in microseconds + * @note The specified time is rounded up to a value allowed by the real + * system clock. + * @note The maximum specified value is implementation dependent. + */ +#define chThdSleepMicroseconds(usec) chThdSleep(US2ST(usec)) + +#endif /* _THREADS_H_ */ + +/** @} */ diff --git a/os/kernel/include/vt.h b/os/kernel/include/vt.h new file mode 100644 index 000000000..003cffd45 --- /dev/null +++ b/os/kernel/include/vt.h @@ -0,0 +1,125 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @file vt.h
+ * @brief Time macros and structures.
+ * @addtogroup Time
+ * @{
+ */
+
+#ifndef _VT_H_
+#define _VT_H_
+
+/**
+ * Time conversion utility. Converts from seconds to system ticks number.
+ */
+#define S2ST(sec) ((systime_t)((sec) * CH_FREQUENCY))
+
+/**
+ * Time conversion utility. Converts from milliseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ */
+#define MS2ST(msec) ((systime_t)(((((msec) - 1L) * CH_FREQUENCY) / 1000L) + 1L))
+
+/**
+ * Time conversion utility. Converts from microseconds to system ticks number.
+ * @note The result is rounded upward to the next tick boundary.
+ */
+#define US2ST(usec) ((systime_t)(((((usec) - 1L) * CH_FREQUENCY) / 1000000L) + 1L))
+
+/** Virtual Timer callback function.*/
+typedef void (*vtfunc_t)(void *);
+
+typedef struct VirtualTimer VirtualTimer;
+
+/**
+ * @brief Virtual Timer descriptor structure.
+ * @extends DeltaList
+ */
+struct VirtualTimer {
+ VirtualTimer *vt_next; /**< Next timer in the delta list.*/
+ VirtualTimer *vt_prev; /**< Previous timer in the delta list.*/
+ systime_t vt_time; /**< Time delta before timeout.*/
+ vtfunc_t vt_func; /**< Timer callback function pointer.
+ The pointer is reset to zero after
+ the callback is invoked.*/
+ void *vt_par; /**< Timer callback function
+ parameter.*/
+};
+
+/**
+ * @brief Virtual timers list header.
+ * @note The delta list is implemented as a double link bidirectional list in
+ * order to make the unlink time constant, the reset of a virtual timer
+ * is often used in the code.
+ */
+typedef struct {
+ VirtualTimer *vt_next; /**< Next timer in the delta list (the
+ one that will be triggered next).*/
+ VirtualTimer *vt_prev; /**< Last timer in the delta list.*/
+ systime_t vt_time; /**< Must be initialized to -1.*/
+ volatile systime_t vt_systime; /**< System Time counter.*/
+} VTList;
+
+extern VTList vtlist;
+
+#define chVTDoTickI() { \
+ vtlist.vt_systime++; \
+ if (&vtlist != (VTList *)vtlist.vt_next) { \
+ VirtualTimer *vtp; \
+ \
+ --vtlist.vt_next->vt_time; \
+ while (!(vtp = vtlist.vt_next)->vt_time) { \
+ vtfunc_t fn = vtp->vt_func; \
+ vtp->vt_func = NULL; \
+ (vtp->vt_next->vt_prev = (void *)&vtlist)->vt_next = vtp->vt_next;\
+ fn(vtp->vt_par); \
+ } \
+ } \
+}
+
+/*
+ * Virtual Timers APIs.
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void vt_init(void);
+ void chVTSetI(VirtualTimer *vtp, systime_t time, vtfunc_t vtfunc, void *par);
+ void chVTResetI(VirtualTimer *vtp);
+ bool_t chTimeIsWithin(systime_t start, systime_t end);
+#ifdef __cplusplus
+}
+#endif
+
+/** Returns TRUE if the speciified timer is armed.*/
+#define chVTIsArmedI(vtp) ((vtp)->vt_func != NULL)
+
+/**
+ * Returns the number of system ticks since the @p chSysInit() invocation.
+ * @return the system ticks number
+ * @note The counter can reach its maximum and then returns to zero.
+ * @note This function is designed to work with the @p chThdSleepUntil().
+ */
+#define chTimeNow() (vtlist.vt_systime)
+
+#endif /* _VT_H_ */
+
+/** @} */
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