diff options
| -rw-r--r-- | os/hal/osal/lib/osal_vt.c | 168 | ||||
| -rw-r--r-- | os/hal/osal/lib/osal_vt.h | 131 | ||||
| -rw-r--r-- | os/hal/osal/os-less/ARMCMx/osal.c | 115 | ||||
| -rw-r--r-- | os/hal/osal/os-less/ARMCMx/osal.h | 49 | ||||
| -rw-r--r-- | os/hal/osal/os-less/ARMCMx/osal.mk | 6 | ||||
| -rw-r--r-- | readme.txt | 3 |
6 files changed, 307 insertions, 165 deletions
diff --git a/os/hal/osal/lib/osal_vt.c b/os/hal/osal/lib/osal_vt.c new file mode 100644 index 000000000..8954b5c8f --- /dev/null +++ b/os/hal/osal/lib/osal_vt.c @@ -0,0 +1,168 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file osal_vt.c
+ * @brief OSAL Virtual Timers module code.
+ * @details This module can be used in an OSAL implementation whenever an
+ * underlying RTOS is unable to provide timeout services or there
+ * is no underlying RTOS.
+ *
+ * @addtogroup OSAL_VT
+ * @{
+ */
+
+#include "osal.h"
+#include "osal_vt.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief Virtual timers delta list header.
+ */
+virtual_timers_list_t vtlist;
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Timers initialization.
+ *
+ * @init
+ */
+void vtInit(void) {
+
+ /* Virtual Timers initialization.*/
+ vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
+ vtlist.vt_time = (systime_t)-1;
+ vtlist.vt_systime = 0;
+}
+
+/**
+ * @brief Returns @p TRUE if the specified timer is armed.
+ *
+ * @param[out] vtp the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+bool vtIsArmedI(virtual_timer_t *vtp) {
+
+ return vtp->vt_func != NULL;
+}
+
+/**
+ * @brief Virtual timers ticker.
+ * @note The system lock is released before entering the callback and
+ * re-acquired immediately after. It is callback's responsibility
+ * to acquire the lock if needed. This is done in order to reduce
+ * interrupts jitter when many timers are in use.
+ *
+ * @iclass
+ */
+void vtDoTickI(void) {
+
+ vtlist.vt_systime++;
+ if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
+ virtual_timer_t *vtp;
+
+ --vtlist.vt_next->vt_time;
+ while (!(vtp = vtlist.vt_next)->vt_time) {
+ vtfunc_t fn = vtp->vt_func;
+ vtp->vt_func = (vtfunc_t)NULL;
+ vtp->vt_next->vt_prev = (void *)&vtlist;
+ (&vtlist)->vt_next = vtp->vt_next;
+ osalSysUnlockFromISR();
+ fn(vtp->vt_par);
+ osalSysLockFromISR();
+ }
+ }
+}
+
+/**
+ * @brief Enables a virtual timer.
+ * @note The associated function is invoked from interrupt context.
+ *
+ * @param[out] vtp the @p virtual_timer_t structure pointer
+ * @param[in] time the number of ticks before the operation timeouts, the
+ * special values are handled as follow:
+ * - @a TIME_INFINITE is allowed but interpreted as a
+ * normal time specification.
+ * - @a TIME_IMMEDIATE this value is not allowed.
+ * .
+ * @param[in] vtfunc the timer callback function. After invoking the
+ * callback the timer is disabled and the structure can
+ * be disposed or reused.
+ * @param[in] par a parameter that will be passed to the callback
+ * function
+ *
+ * @iclass
+ */
+void vtSetI(virtual_timer_t *vtp, systime_t time,
+ vtfunc_t vtfunc, void *par) {
+ virtual_timer_t *p;
+
+ vtp->vt_par = par;
+ vtp->vt_func = vtfunc;
+ p = vtlist.vt_next;
+ while (p->vt_time < time) {
+ time -= p->vt_time;
+ p = p->vt_next;
+ }
+
+ vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
+ vtp->vt_prev->vt_next = p->vt_prev = vtp;
+ vtp->vt_time = time;
+ if (p != (void *)&vtlist)
+ p->vt_time -= time;
+}
+
+/**
+ * @brief Disables a Virtual Timer.
+ * @note The timer MUST be active when this function is invoked.
+ *
+ * @param[in] vtp the @p virtual_timer_t structure pointer
+ *
+ * @iclass
+ */
+void vtResetI(virtual_timer_t *vtp) {
+
+ if (vtp->vt_next != (void *)&vtlist)
+ vtp->vt_next->vt_time += vtp->vt_time;
+ vtp->vt_prev->vt_next = vtp->vt_next;
+ vtp->vt_next->vt_prev = vtp->vt_prev;
+ vtp->vt_func = (vtfunc_t)NULL;
+}
+
+/** @} */
diff --git a/os/hal/osal/lib/osal_vt.h b/os/hal/osal/lib/osal_vt.h new file mode 100644 index 000000000..e46365c37 --- /dev/null +++ b/os/hal/osal/lib/osal_vt.h @@ -0,0 +1,131 @@ +/*
+ ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file osal_vt.h
+ * @brief OSAL Virtual Timers module header.
+ *
+ * @addtogroup OSAL_VT
+ * @{
+ */
+
+#ifndef _OSAL_VT_H_
+#define _OSAL_VT_H_
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @name Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE ((systime_t)0)
+#define TIME_INFINITE ((systime_t)-1)
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a Virtual Timer callback function.
+ */
+typedef void (*vtfunc_t)(void *);
+
+/**
+ * @brief Type of a Virtual Timer structure.
+ */
+typedef struct virtual_timer virtual_timer_t;
+
+/**
+ * @brief Virtual timers list header.
+ * @note The content of this structure is not part of the API and should
+ * not be relied upon. Implementers may define this structure in
+ * an entirely different way.
+ * @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 {
+ virtual_timer_t *vt_next; /**< @brief Next timer in the timers
+ list. */
+ virtual_timer_t *vt_prev; /**< @brief Last timer in the timers
+ list. */
+ systime_t vt_time; /**< @brief Must be initialized to -1. */
+ volatile systime_t vt_systime; /**< @brief System Time counter. */
+} virtual_timers_list_t;
+
+/**
+ * @extends virtual_timers_list_t
+ *
+ * @brief Virtual Timer descriptor structure.
+ * @note The content of this structure is not part of the API and should
+ * not be relied upon. Implementers may define this structure in
+ * an entirely different way.
+ */
+struct virtual_timer {
+ virtual_timer_t *vt_next; /**< @brief Next timer in the timers
+ list. */
+ virtual_timer_t *vt_prev; /**< @brief Previous timer in the timers
+ list. */
+ systime_t vt_time; /**< @brief Time delta before timeout. */
+ vtfunc_t vt_func; /**< @brief Timer callback function
+ pointer. */
+ void *vt_par; /**< @brief Timer callback function
+ parameter. */
+};
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern virtual_timers_list_t vtlist;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void vtInit(void);
+ bool vtIsArmedI(virtual_timer_t *vtp);
+ void vtDoTickI(void);
+ void vtSetI(virtual_timer_t *vtp, systime_t time,
+ vtfunc_t vtfunc, void *par);
+ void vtResetI(virtual_timer_t *vtp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+#endif /* _OSAL_VT_H_ */
+
+/** @} */
diff --git a/os/hal/osal/os-less/ARMCMx/osal.c b/os/hal/osal/os-less/ARMCMx/osal.c index 4a272bd31..571e6d6b5 100644 --- a/os/hal/osal/os-less/ARMCMx/osal.c +++ b/os/hal/osal/os-less/ARMCMx/osal.c @@ -23,6 +23,7 @@ */
#include "osal.h"
+#include "osal_vt.h"
/*===========================================================================*/
/* Module local definitions. */
@@ -39,11 +40,6 @@ */
const char *osal_halt_msg;
-/**
- * @brief Virtual timers delta list header.
- */
-virtual_timers_list_t vtlist;
-
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
@@ -56,115 +52,6 @@ virtual_timers_list_t vtlist; /* Module local functions. */
/*===========================================================================*/
-/**
- * @brief Timers initialization.
- *
- * @notapi
- */
-static void vtInit(void) {
-
- /* Virtual Timers initialization.*/
- vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;
- vtlist.vt_time = (systime_t)-1;
- vtlist.vt_systime = 0;
-}
-
-/**
- * @brief Returns @p TRUE if the specified timer is armed.
- *
- * @param[out] vtp the @p virtual_timer_t structure pointer
- *
- * @notapi
- */
-static bool vtIsArmedI(virtual_timer_t *vtp) {
-
- return vtp->vt_func != NULL;
-}
-
-/**
- * @brief Virtual timers ticker.
- * @note The system lock is released before entering the callback and
- * re-acquired immediately after. It is callback's responsibility
- * to acquire the lock if needed. This is done in order to reduce
- * interrupts jitter when many timers are in use.
- *
- * @notapi
- */
-static void vtDoTickI(void) {
-
- vtlist.vt_systime++;
- if (&vtlist != (virtual_timers_list_t *)vtlist.vt_next) {
- virtual_timer_t *vtp;
-
- --vtlist.vt_next->vt_time;
- while (!(vtp = vtlist.vt_next)->vt_time) {
- vtfunc_t fn = vtp->vt_func;
- vtp->vt_func = (vtfunc_t)NULL;
- vtp->vt_next->vt_prev = (void *)&vtlist;
- (&vtlist)->vt_next = vtp->vt_next;
- osalSysUnlockFromISR();
- fn(vtp->vt_par);
- osalSysLockFromISR();
- }
- }
-}
-
-/**
- * @brief Enables a virtual timer.
- * @note The associated function is invoked from interrupt context.
- *
- * @param[out] vtp the @p virtual_timer_t structure pointer
- * @param[in] time the number of ticks before the operation timeouts, the
- * special values are handled as follow:
- * - @a TIME_INFINITE is allowed but interpreted as a
- * normal time specification.
- * - @a TIME_IMMEDIATE this value is not allowed.
- * .
- * @param[in] vtfunc the timer callback function. After invoking the
- * callback the timer is disabled and the structure can
- * be disposed or reused.
- * @param[in] par a parameter that will be passed to the callback
- * function
- *
- * @notapi
- */
-static void vtSetI(virtual_timer_t *vtp, systime_t time,
- vtfunc_t vtfunc, void *par) {
- virtual_timer_t *p;
-
- vtp->vt_par = par;
- vtp->vt_func = vtfunc;
- p = vtlist.vt_next;
- while (p->vt_time < time) {
- time -= p->vt_time;
- p = p->vt_next;
- }
-
- vtp->vt_prev = (vtp->vt_next = p)->vt_prev;
- vtp->vt_prev->vt_next = p->vt_prev = vtp;
- vtp->vt_time = time;
- if (p != (void *)&vtlist)
- p->vt_time -= time;
-}
-
-/**
- * @brief Disables a Virtual Timer.
- * @note The timer MUST be active when this function is invoked.
- *
- * @param[in] vtp the @p virtual_timer_t structure pointer
- *
- * @notapi
- */
-static void vtResetI(virtual_timer_t *vtp) {
-
- if (vtp->vt_next != (void *)&vtlist)
- vtp->vt_next->vt_time += vtp->vt_time;
- vtp->vt_prev->vt_next = vtp->vt_next;
- vtp->vt_next->vt_prev = vtp->vt_prev;
- vtp->vt_func = (vtfunc_t)NULL;
-}
-
-
static void callback_timeout(void *p) {
osalSysLockFromISR();
osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);
diff --git a/os/hal/osal/os-less/ARMCMx/osal.h b/os/hal/osal/os-less/ARMCMx/osal.h index 77500eeeb..9843cef97 100644 --- a/os/hal/osal/os-less/ARMCMx/osal.h +++ b/os/hal/osal/os-less/ARMCMx/osal.h @@ -63,7 +63,6 @@ #define MSG_WAIT (msg_t)-10
/** @} */
-
/**
* @name Special time constants
* @{
@@ -178,54 +177,6 @@ typedef int32_t msg_t; typedef uint32_t systime_t;
/**
- * @brief Type of a Virtual Timer callback function.
- */
-typedef void (*vtfunc_t)(void *);
-
-/**
- * @brief Type of a Virtual Timer structure.
- */
-typedef struct virtual_timer virtual_timer_t;
-
-/**
- * @brief Virtual timers list header.
- * @note The content of this structure is not part of the API and should
- * not be relied upon. Implementers may define this structure in
- * an entirely different way.
- * @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 {
- virtual_timer_t *vt_next; /**< @brief Next timer in the timers
- list. */
- virtual_timer_t *vt_prev; /**< @brief Last timer in the timers
- list. */
- systime_t vt_time; /**< @brief Must be initialized to -1. */
- volatile systime_t vt_systime; /**< @brief System Time counter. */
-} virtual_timers_list_t;
-
-/**
- * @extends virtual_timers_list_t
- *
- * @brief Virtual Timer descriptor structure.
- * @note The content of this structure is not part of the API and should
- * not be relied upon. Implementers may define this structure in
- * an entirely different way.
- */
-struct virtual_timer {
- virtual_timer_t *vt_next; /**< @brief Next timer in the timers
- list. */
- virtual_timer_t *vt_prev; /**< @brief Previous timer in the timers
- list. */
- systime_t vt_time; /**< @brief Time delta before timeout. */
- vtfunc_t vt_func; /**< @brief Timer callback function
- pointer. */
- void *vt_par; /**< @brief Timer callback function
- parameter. */
-};
-
-/**
* @brief Type of realtime counter.
*/
typedef uint32_t rtcnt_t;
diff --git a/os/hal/osal/os-less/ARMCMx/osal.mk b/os/hal/osal/os-less/ARMCMx/osal.mk index 8a6e940ce..5ecb54216 100644 --- a/os/hal/osal/os-less/ARMCMx/osal.mk +++ b/os/hal/osal/os-less/ARMCMx/osal.mk @@ -1,5 +1,7 @@ # OSAL files.
-OSALSRC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx/osal.c
+OSALSRC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx/osal.c \
+ ${CHIBIOS}/os/hal/osal/lib/osal_vt.c
# Required include directories
-OSALINC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx
+OSALINC += ${CHIBIOS}/os/hal/osal/os-less/ARMCMx \
+ ${CHIBIOS}/os/hal/osal/lib
diff --git a/readme.txt b/readme.txt index d06bc7dce..1ca997083 100644 --- a/readme.txt +++ b/readme.txt @@ -86,6 +86,9 @@ *****************************************************************************
*** Next ***
+- HAL: Implemented separated virtual timers module under /os/hal/osal/lib,
+ it can be used by OSAL implementations where the underlying RTOS is
+ lacking a timeout feature or missing.
- HAL: Added CAN3 support to the STM32 CANv1 driver.
- HAL: Added support for all existing STM32 Nucleo and Discovery boards.
- HAL: Extended STM32F4xx port by adding STM32F412 support.
|