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| author | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-08-10 14:51:16 +0000 |
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| committer | gdisirio <gdisirio@35acf78f-673a-0410-8e92-d51de3d6d3f4> | 2013-08-10 14:51:16 +0000 |
| commit | a1435e018bfc9919cb76b1356509ecc883767fb4 (patch) | |
| tree | b82f74e9eee194c8b04ba4a0dd0b88810813caf8 /os/rt/include/chsys.h | |
| parent | eb7a1a15b23341693864c6fc13ac5eab5c1d6122 (diff) | |
| download | ChibiOS-a1435e018bfc9919cb76b1356509ecc883767fb4.tar.gz ChibiOS-a1435e018bfc9919cb76b1356509ecc883767fb4.tar.bz2 ChibiOS-a1435e018bfc9919cb76b1356509ecc883767fb4.zip | |
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6123 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os/rt/include/chsys.h')
| -rw-r--r-- | os/rt/include/chsys.h | 346 |
1 files changed, 346 insertions, 0 deletions
diff --git a/os/rt/include/chsys.h b/os/rt/include/chsys.h new file mode 100644 index 000000000..475e090bd --- /dev/null +++ b/os/rt/include/chsys.h @@ -0,0 +1,346 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
+ 2011,2012,2013 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 chsys.h
+ * @brief System related macros and structures.
+ *
+ * @addtogroup system
+ * @{
+ */
+
+#ifndef _CHSYS_H_
+#define _CHSYS_H_
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @name ISRs abstraction macros
+ */
+/**
+ * @brief IRQ handler enter code.
+ * @note Usually IRQ handlers functions are also declared naked.
+ * @note On some architectures this macro can be empty.
+ *
+ * @special
+ */
+#define CH_IRQ_PROLOGUE() \
+ PORT_IRQ_PROLOGUE(); \
+ _stats_increase_irq(); \
+ _dbg_check_enter_isr()
+
+/**
+ * @brief IRQ handler exit code.
+ * @note Usually IRQ handlers function are also declared naked.
+ * @note This macro usually performs the final reschedule by using
+ * @p chSchIsPreemptionRequired() and @p chSchDoReschedule().
+ *
+ * @special
+ */
+#define CH_IRQ_EPILOGUE() \
+ _dbg_check_leave_isr(); \
+ PORT_IRQ_EPILOGUE()
+
+/**
+ * @brief Standard normal IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ *
+ * @special
+ */
+#define CH_IRQ_HANDLER(id) PORT_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name Fast ISRs abstraction macros
+ */
+/**
+ * @brief Standard fast IRQ handler declaration.
+ * @note @p id can be a function name or a vector number depending on the
+ * port implementation.
+ * @note Not all architectures support fast interrupts.
+ *
+ * @special
+ */
+#define CH_FAST_IRQ_HANDLER(id) PORT_FAST_IRQ_HANDLER(id)
+/** @} */
+
+/**
+ * @name Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] sec number of seconds
+ * @return The number of cycles.
+ *
+ * @api
+ */
+#define S2RTV(sec) (CH_CFG_RTC_FREQUENCY * (sec))
+
+/**
+ * @brief Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] msec number of milliseconds
+ * @return The number of cycles.
+ *
+ * @api
+ */
+#define MS2RTC(msec) (rtcnt_t)(((CH_CFG_RTC_FREQUENCY + 999UL) / \
+ 1000UL) * (msec))
+
+/**
+ * @brief Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] usec number of microseconds
+ * @return The number of cycles.
+ *
+ * @api
+ */
+#define US2RTC(usec) (rtcnt_t)(((CH_CFG_RTC_FREQUENCY + 999999UL) / \
+ 1000000UL) * (usec))
+
+/**
+ * @brief Realtime counter cycles to seconds.
+ * @details Converts from realtime counter cycles number to seconds.
+ *
+ * @param[in] n number of cycles
+ * @return The number of seconds.
+ *
+ * @api
+ */
+#define RTC2S(n) (rtcnt_t)(CH_CFG_RTC_FREQUENCY / (freq))
+
+/**
+ * @brief Realtime counter cycles to milliseconds.
+ * @details Converts from realtime counter cycles number to milliseconds.
+ *
+ * @param[in] n number of cycles
+ * @return The number of milliseconds.
+ *
+ * @api
+ */
+#define RTC2MS(n) ((n) / (CH_CFG_RTC_FREQUENCY / 1000UL))
+
+/**
+ * @brief Realtime counter cycles to microseconds.
+ * @details Converts from realtime counter cycles number to microseconds.
+ *
+ * @param[in] n number of cycles
+ * @return The number of microseconds.
+ *
+ * @api
+ */
+#define RTC2US(n) ((n) / (CH_CFG_RTC_FREQUENCY / 1000000UL))
+/** @} */
+
+/**
+ * @brief Returns the current value of the system real time counter.
+ * @note This function is only available if the port layer supports the
+ * option @p CH_PORT_SUPPORTS_RT.
+ *
+ * @return The value of the system realtime counter of
+ * type rtcnt_t.
+ *
+ * @xclass
+ */
+#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
+#define chSysGetRealtimeCounterX() (rtcnt_t)port_rt_get_counter_value()
+#endif
+
+/**
+ * @brief Performs a context switch.
+ * @note Not a user function, it is meant to be invoked by the scheduler
+ * itself or from within the port layer.
+ *
+ * @param[in] ntp the thread to be switched in
+ * @param[in] otp the thread to be switched out
+ *
+ * @special
+ */
+#define chSysSwitch(ntp, otp) { \
+ \
+ _dbg_trace(otp); \
+ _stats_ctxswc(ntp, otp); \
+ CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp); \
+ port_switch(ntp, otp); \
+}
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chSysInit(void);
+ void chSysHalt(void);
+ void chSysTimerHandlerI(void);
+ syssts_t chSysGetAndLockX(void);
+ void chSysRestoreLockX(syssts_t sts);
+#if CH_PORT_SUPPORTS_RT
+ bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end);
+ void chSysPolledDelayX(rtcnt_t cycles);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Raises the system interrupt priority mask to the maximum level.
+ * @details All the maskable interrupt sources are disabled regardless their
+ * hardware priority.
+ * @note Do not invoke this API from within a kernel lock.
+ *
+ * @special
+ */
+static inline void chSysDisable(void) {
+
+ port_disable();
+ _dbg_check_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 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.
+ *
+ * @special
+ */
+static inline void chSysSuspend(void) {
+
+ port_suspend();
+ _dbg_check_suspend();
+}
+
+/**
+ * @brief Lowers the system interrupt priority mask to user level.
+ * @details All the interrupt sources are enabled.
+ * @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.
+ *
+ * @special
+ */
+static inline void chSysEnable(void) {
+
+ _dbg_check_enable();
+ port_enable();
+}
+
+/**
+ * @brief Enters the kernel lock mode.
+ *
+ * @special
+ */
+static inline void chSysLock(void) {
+
+ port_lock();
+ _stats_start_measure_crit_thd();
+ _dbg_check_lock();
+}
+
+/**
+ * @brief Leaves the kernel lock mode.
+ *
+ * @special
+ */
+static inline void chSysUnlock(void) {
+
+ _dbg_check_unlock();
+ _stats_stop_measure_crit_thd();
+ port_unlock();
+}
+
+/**
+ * @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.
+ *
+ * @special
+ */
+static inline void chSysLockFromISR(void) {
+
+ port_lock_from_isr();
+ _stats_start_measure_crit_isr();
+ _dbg_check_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.
+ *
+ * @special
+ */
+static inline void chSysUnlockFromISR(void) {
+
+ _dbg_check_unlock_from_isr();
+ _stats_stop_measure_crit_isr();
+ port_unlock_from_isr();
+}
+
+#endif /* _CHSYS_H_ */
+
+/** @} */
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