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| author | Giovanni Di Sirio <gdisirio@gmail.com> | 2018-04-22 07:40:46 +0000 |
|---|---|---|
| committer | Giovanni Di Sirio <gdisirio@gmail.com> | 2018-04-22 07:40:46 +0000 |
| commit | af545cfb3cef32d0fa60ce50deacc451c67fdd55 (patch) | |
| tree | 764bcbfaa888810d59c5c2e62460e00c89b6ceb9 /os/various | |
| parent | 00b593a3dbb97c77928939090a33d76c7737143b (diff) | |
| download | ChibiOS-af545cfb3cef32d0fa60ce50deacc451c67fdd55.tar.gz ChibiOS-af545cfb3cef32d0fa60ce50deacc451c67fdd55.tar.bz2 ChibiOS-af545cfb3cef32d0fa60ce50deacc451c67fdd55.zip | |
Added missing API to the wrapper, still a lot to do.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11944 110e8d01-0319-4d1e-a829-52ad28d1bb01
Diffstat (limited to 'os/various')
| -rw-r--r-- | os/various/cpp_wrappers/ch.cpp | 17 | ||||
| -rw-r--r-- | os/various/cpp_wrappers/ch.hpp | 283 |
2 files changed, 280 insertions, 20 deletions
diff --git a/os/various/cpp_wrappers/ch.cpp b/os/various/cpp_wrappers/ch.cpp index 23dcbe41f..3d58fd134 100644 --- a/os/various/cpp_wrappers/ch.cpp +++ b/os/various/cpp_wrappers/ch.cpp @@ -26,6 +26,23 @@ namespace chibios_rt {
/*------------------------------------------------------------------------*
+ * chibios_rt::system *
+ *------------------------------------------------------------------------*/
+ namespace system {
+ inline ThreadReference getCurrentThreadX(void) {
+
+ return ThreadReference(chThdGetSelfX());
+ }
+
+#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
+ inline ThreadReference getIdleThreadX(void) {
+
+ return ThreadReference(chSysGetIdleThreadX());
+ }
+#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
+ }
+
+ /*------------------------------------------------------------------------*
* chibios_rt::BaseStaticThread *
*------------------------------------------------------------------------*/
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp index e1c6efc9c..d507d7c8d 100644 --- a/os/various/cpp_wrappers/ch.hpp +++ b/os/various/cpp_wrappers/ch.hpp @@ -32,17 +32,17 @@ */
namespace chibios_rt {
- /* Forward declarations */
- class Mutex;
-
/*------------------------------------------------------------------------*
* chibios_rt::System *
*------------------------------------------------------------------------*/
/**
* @brief Class encapsulating the base system functionalities.
*/
- class System {
- public:
+ namespace System {
+
+ /* Forward declaration of some classes.*/
+ class ThreadReference;
+
/**
* @brief ChibiOS/RT initialization.
* @details After executing this function the current instructions stream
@@ -55,7 +55,7 @@ namespace chibios_rt { *
* @special
*/
- static void init(void) {
+ static inline void init(void) {
chSysInit();
}
@@ -72,7 +72,7 @@ namespace chibios_rt { *
* @special
*/
- static void halt(const char *reason) {
+ static inline void halt(const char *reason) {
chSysHalt(reason);
}
@@ -101,17 +101,60 @@ namespace chibios_rt { *
* @iclass
*/
- static bool integrityCheckI(unsigned int testmask) {
+ static inline bool integrityCheckI(unsigned int testmask) {
return chSysIntegrityCheckI(testmask);
}
/**
+ * @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 disable(void) {
+
+ chSysDisable();
+ }
+
+ /**
+ * @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 suspend(void) {
+
+ chSysSuspend();
+ }
+
+ /**
+ * @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 enable(void) {
+
+ chSysEnable();
+ }
+
+ /**
* @brief Enters the kernel lock mode.
*
* @special
*/
- static void lock(void) {
+ static inline void lock(void) {
chSysLock();
}
@@ -121,7 +164,7 @@ namespace chibios_rt { *
* @special
*/
- static void unlock(void) {
+ static inline void unlock(void) {
chSysUnlock();
}
@@ -138,7 +181,7 @@ namespace chibios_rt { *
* @special
*/
- static void lockFromIsr(void) {
+ static inline void lockFromIsr(void) {
chSysLockFromISR();
}
@@ -156,12 +199,126 @@ namespace chibios_rt { *
* @special
*/
- static void unlockFromIsr(void) {
+ static inline void unlockFromIsr(void) {
chSysUnlockFromISR();
}
/**
+ * @brief Unconditionally enters the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "s-locked".
+ *
+ * @special
+ */
+ static inline void unconditionalLock(void) {
+
+ chSysUnconditionalLock();
+ }
+
+ /**
+ * @brief Unconditionally leaves the kernel lock state.
+ * @note Can be called without previous knowledge of the current lock state.
+ * The final state is "normal".
+ *
+ * @special
+ */
+ static inline void unconditionalUnlock(void) {
+
+ chSysUnconditionalUnlock();
+ }
+
+ /**
+ * @brief Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ * from any context. Because its flexibility it is less efficient
+ * than @p chSysLock() which is preferable when the calling context
+ * is known.
+ * @post The system is in a critical zone.
+ *
+ * @return The previous system status, the encoding of this
+ * status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+ static inline syssts_t getStatusAndLockX(void) {
+
+ return chSysGetStatusAndLockX();
+ }
+
+ /**
+ * @brief Restores the specified execution status and leaves a critical zone.
+ * @note A call to @p chSchRescheduleS() is automatically performed
+ * if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts the system status to be restored.
+ *
+ * @xclass
+ */
+ static inline void restoreStatusX(syssts_t sts) {
+
+ chSysRestoreStatusX(sts);
+ }
+
+#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @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 PORT_SUPPORTS_RT.
+ *
+ * @return The value of the system realtime counter of
+ * type rtcnt_t.
+ *
+ * @xclass
+ */
+ static inline rtcnt_t getRealtimeCounterX(void) {
+
+ return chSysGetRealtimeCounterX();
+ }
+
+ /**
+ * @brief Realtime window test.
+ * @details This function verifies if the current realtime counter value
+ * lies within the specified range or not. The test takes care
+ * of the realtime counter wrapping to zero on overflow.
+ * @note When start==end then the function returns always true because the
+ * whole time range is specified.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cnt the counter value to be tested
+ * @param[in] start the start of the time window (inclusive)
+ * @param[in] end the end of the time window (non inclusive)
+ * @retval true current time within the specified time window.
+ * @retval false current time not within the specified time window.
+ *
+ * @xclass
+ */
+ static inline bool isCounterWithinX(rtcnt_t cnt,
+ rtcnt_t start,
+ rtcnt_t end) {
+
+ return chSysIsCounterWithinX(cnt, start, end);
+ }
+
+ /**
+ * @brief Polled delay.
+ * @note The real delay is always few cycles in excess of the specified
+ * value.
+ * @note This function is only available if the port layer supports the
+ * option @p PORT_SUPPORTS_RT.
+ *
+ * @param[in] cycles number of cycles
+ *
+ * @xclass
+ */
+ static inline void polledDelayX(rtcnt_t cycles) {
+
+ chSysPolledDelayX(cycles);
+ }
+#endif /* PORT_SUPPORTS_RT == TRUE */
+
+ /**
* @brief Returns the system time as system ticks.
* @note The system tick time interval is implementation dependent.
*
@@ -169,7 +326,7 @@ namespace chibios_rt { *
* @api
*/
- static systime_t getTime(void) {
+ static inline systime_t getTime(void) {
return chVTGetSystemTime();
}
@@ -182,7 +339,7 @@ namespace chibios_rt { *
* @xclass
*/
- static systime_t getTimeX(void) {
+ static inline systime_t getTimeX(void) {
return chVTGetSystemTimeX();
}
@@ -200,10 +357,35 @@ namespace chibios_rt { *
* @api
*/
- static bool isSystemTimeWithin(systime_t start, systime_t end) {
+ static inline bool isSystemTimeWithin(systime_t start, systime_t end) {
return chVTIsSystemTimeWithin(start, end);
}
+
+ /**
+ * @brief Returns a reference to the current thread.
+ *
+ * @return A reference to the current thread.
+ *
+ * @xclass
+ */
+ inline ThreadReference getCurrentThreadX(void);
+
+#if (CH_CFG_NO_IDLE_THREAD == FALSE) || defined(__DOXYGEN__)
+ /**
+ * @brief Returns a reference to the idle thread.
+ * @pre In order to use this function the option @p CH_CFG_NO_IDLE_THREAD
+ * must be disabled.
+ * @note The reference counter of the idle thread is not incremented but
+ * it is not strictly required being the idle thread a static
+ * object.
+ *
+ * @return Reference to the idle thread.
+ *
+ * @xclass
+ */
+ inline ThreadReference getIdleThreadX(void);
+#endif /* CH_CFG_NO_IDLE_THREAD == FALSE */
};
#if CH_CFG_USE_MEMCORE || defined(__DOXYGEN__)
@@ -579,8 +761,23 @@ namespace chibios_rt { }
#endif /* CH_CFG_USE_EVENTS */
-#if CH_CFG_USE_DYNAMIC || defined(__DOXYGEN__)
-#endif /* CH_CFG_USE_DYNAMIC */
+
+ /**
+ * @brief Returns the number of ticks consumed by the specified thread.
+ * @note This function is only available when the
+ * @p CH_DBG_THREADS_PROFILING configuration option is enabled.
+ *
+ * @param[in] tp pointer to the thread
+ * @return The number of consumed system ticks.
+ *
+ * @xclass
+ */
+#if (CH_DBG_THREADS_PROFILING == TRUE) || defined(__DOXYGEN__)
+ systime_t getTicksX(void) {
+
+ return chThdGetTicksX(thread_ref);
+ }
+#endif
};
/*------------------------------------------------------------------------*
@@ -660,6 +857,19 @@ namespace chibios_rt { }
/**
+ * @brief Returns the current thread priority.
+ * @note Can be invoked in any context.
+ *
+ * @return The current thread priority.
+ *
+ * @xclass
+ */
+ static tprio_t getPriorityX(void) {
+
+ return chThdGetPriorityX();
+ }
+
+ /**
* @brief Terminates the current thread.
* @details The thread goes in the @p THD_STATE_FINAL state holding the
* specified exit status code, other threads can retrieve the
@@ -743,6 +953,25 @@ namespace chibios_rt { }
/**
+ * @brief Suspends the invoking thread until the system time arrives to the
+ * specified value.
+ * @note The system time is assumed to be between @p prev and @p time
+ * else the call is assumed to have been called outside the
+ * allowed time interval, in this case no sleep is performed.
+ * @see chThdSleepUntil()
+ *
+ * @param[in] prev absolute system time of the previous deadline
+ * @param[in] next absolute system time of the next deadline
+ * @return the @p next parameter
+ *
+ * @api
+ */
+ static systime_t sleepUntilWindowed(systime_t prev, systime_t next) {
+
+ return chThdSleepUntilWindowed(prev, next);
+ }
+
+ /**
* @brief Yields the time slot.
* @details Yields the CPU control to the next thread in the ready list
* with equal priority, if any.
@@ -1915,6 +2144,16 @@ namespace chibios_rt { }
/**
+ * @brief Terminates the reset state.
+ *
+ * @xclass
+ */
+ void resumeX(void) {
+
+ chMBResumeX(&mb);
+ }
+
+ /**
* @brief Posts a message into a mailbox.
* @details The invoking thread waits until a empty slot in the mailbox
* becomes available or the specified time runs out.
@@ -2150,6 +2389,10 @@ namespace chibios_rt { */
template <typename T, int N>
class Mailbox : public MailboxBase<T> {
+
+ static_assert(sizeof(T) <= sizeof(msg_t),
+ "Mailbox type does not fit in msg_t");
+
private:
msg_t mb_buf[N];
@@ -2350,7 +2593,7 @@ namespace chibios_rt { *
* @api
*/
- virtual size_t write(const uint8_t *bp, size_t n) = 0;
+ virtual size_t write(const uint8_t *bp, const size_t n) = 0;
/**
* @brief Sequential Stream read.
@@ -2364,7 +2607,7 @@ namespace chibios_rt { *
* @api
*/
- virtual size_t read(uint8_t *bp, size_t n) = 0;
+ virtual size_t read(uint8_t *bp, const size_t n) = 0;
/**
* @brief Sequential Stream blocking byte write.
@@ -2380,7 +2623,7 @@ namespace chibios_rt { *
* @api
*/
- virtual msg_t put(uint8_t b) = 0;
+ virtual msg_t put(const uint8_t b) = 0;
/**
* @brief Sequential Stream blocking byte read.
|