diff options
Diffstat (limited to 'os/lib/include')
| -rw-r--r-- | os/lib/include/chbsem.h | 311 | ||||
| -rw-r--r-- | os/lib/include/chfactory.h | 486 | ||||
| -rw-r--r-- | os/lib/include/chfifo.h | 342 | ||||
| -rw-r--r-- | os/lib/include/chheap.h | 182 | ||||
| -rw-r--r-- | os/lib/include/chlib.h | 226 | ||||
| -rw-r--r-- | os/lib/include/chmboxes.h | 214 | ||||
| -rw-r--r-- | os/lib/include/chmemcore.h | 202 | ||||
| -rw-r--r-- | os/lib/include/chmempools.h | 323 |
8 files changed, 2286 insertions, 0 deletions
diff --git a/os/lib/include/chbsem.h b/os/lib/include/chbsem.h new file mode 100644 index 000000000..64b597641 --- /dev/null +++ b/os/lib/include/chbsem.h @@ -0,0 +1,311 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chbsem.h
+ * @brief Binary semaphores structures and macros.
+ *
+ * @addtogroup binary_semaphores
+ * @details Binary semaphores related APIs and services.
+ * <h2>Operation mode</h2>
+ * Binary semaphores are implemented as a set of inline functions
+ * that use the existing counting semaphores primitives. The
+ * difference between counting and binary semaphores is that the
+ * counter of binary semaphores is not allowed to grow above the
+ * value 1. Repeated signal operation are ignored. A binary
+ * semaphore can thus have only two defined states:
+ * - <b>Taken</b>, when its counter has a value of zero or lower
+ * than zero. A negative number represent the number of threads
+ * queued on the binary semaphore.
+ * - <b>Not taken</b>, when its counter has a value of one.
+ * .
+ * Binary semaphores are different from mutexes because there is no
+ * concept of ownership, a binary semaphore can be taken by a
+ * thread and signaled by another thread or an interrupt handler,
+ * mutexes can only be taken and released by the same thread. Another
+ * difference is that binary semaphores, unlike mutexes, do not
+ * implement the priority inheritance protocol.<br>
+ * In order to use the binary semaphores APIs the
+ * @p CH_CFG_USE_SEMAPHORES option must be enabled in @p chconf.h.
+ * @{
+ */
+
+#ifndef CHBSEM_H
+#define CHBSEM_H
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @extends semaphore_t
+ *
+ * @brief Binary semaphore type.
+ */
+typedef struct ch_binary_semaphore {
+ semaphore_t sem;
+} binary_semaphore_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @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[in] name the name of the semaphore variable
+ * @param[in] taken the semaphore initial state
+ */
+#define _BSEMAPHORE_DATA(name, taken) \
+ {_SEMAPHORE_DATA(name.sem, ((taken) ? 0 : 1))}
+
+/**
+ * @brief Static semaphore initializer.
+ * @details Statically initialized semaphores require no explicit
+ * initialization using @p chBSemInit().
+ *
+ * @param[in] name the name of the semaphore variable
+ * @param[in] taken the semaphore initial state
+ */
+#define BSEMAPHORE_DECL(name, taken) \
+ binary_semaphore_t name = _BSEMAPHORE_DATA(name, taken)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes a binary semaphore.
+ *
+ * @param[out] bsp pointer to a @p binary_semaphore_t structure
+ * @param[in] taken initial state of the binary semaphore:
+ * - @a false, the initial state is not taken.
+ * - @a true, the initial state is taken.
+ * .
+ *
+ * @init
+ */
+static inline void chBSemObjectInit(binary_semaphore_t *bsp, bool taken) {
+
+ chSemObjectInit(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ *
+ * @api
+ */
+static inline msg_t chBSemWait(binary_semaphore_t *bsp) {
+
+ return chSemWait(&bsp->sem);
+}
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @return A message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ *
+ * @sclass
+ */
+static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) {
+
+ chDbgCheckClassS();
+
+ return chSemWaitS(&bsp->sem);
+}
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @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 message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled or reset
+ * within the specified timeout.
+ *
+ * @sclass
+ */
+static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp,
+ sysinterval_t timeout) {
+
+ chDbgCheckClassS();
+
+ return chSemWaitTimeoutS(&bsp->sem, timeout);
+}
+
+/**
+ * @brief Wait operation on the binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @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 message specifying how the invoking thread has been
+ * released from the semaphore.
+ * @retval MSG_OK if the binary semaphore has been successfully taken.
+ * @retval MSG_RESET if the binary semaphore has been reset using
+ * @p bsemReset().
+ * @retval MSG_TIMEOUT if the binary semaphore has not been signaled or reset
+ * within the specified timeout.
+ *
+ * @api
+ */
+static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp,
+ sysinterval_t timeout) {
+
+ return chSemWaitTimeout(&bsp->sem, timeout);
+}
+
+/**
+ * @brief Reset operation on the binary semaphore.
+ * @note The released threads can recognize they were waked up by a reset
+ * rather than a signal because the @p bsemWait() will return
+ * @p MSG_RESET instead of @p MSG_OK.
+ * @note This function does not reschedule.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @param[in] taken new state of the binary semaphore
+ * - @a false, the new state is not taken.
+ * - @a true, the new state is taken.
+ * .
+ *
+ * @iclass
+ */
+static inline void chBSemResetI(binary_semaphore_t *bsp, bool taken) {
+
+ chDbgCheckClassI();
+
+ chSemResetI(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief Reset operation on the binary semaphore.
+ * @note The released threads can recognize they were waked up by a reset
+ * rather than a signal because the @p bsemWait() will return
+ * @p MSG_RESET instead of @p MSG_OK.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @param[in] taken new state of the binary semaphore
+ * - @a false, the new state is not taken.
+ * - @a true, the new state is taken.
+ * .
+ *
+ * @api
+ */
+static inline void chBSemReset(binary_semaphore_t *bsp, bool taken) {
+
+ chSemReset(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1);
+}
+
+/**
+ * @brief Performs a signal operation on a binary semaphore.
+ * @note This function does not reschedule.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ *
+ * @iclass
+ */
+static inline void chBSemSignalI(binary_semaphore_t *bsp) {
+
+ chDbgCheckClassI();
+
+ if (bsp->sem.cnt < (cnt_t)1) {
+ chSemSignalI(&bsp->sem);
+ }
+}
+
+/**
+ * @brief Performs a signal operation on a binary semaphore.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ *
+ * @api
+ */
+static inline void chBSemSignal(binary_semaphore_t *bsp) {
+
+ chSysLock();
+ chBSemSignalI(bsp);
+ chSchRescheduleS();
+ chSysUnlock();
+}
+
+/**
+ * @brief Returns the binary semaphore current state.
+ *
+ * @param[in] bsp pointer to a @p binary_semaphore_t structure
+ * @return The binary semaphore current state.
+ * @retval false if the binary semaphore is not taken.
+ * @retval true if the binary semaphore is taken.
+ *
+ * @iclass
+ */
+static inline bool chBSemGetStateI(binary_semaphore_t *bsp) {
+
+ chDbgCheckClassI();
+
+ return (bsp->sem.cnt > (cnt_t)0) ? false : true;
+}
+
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+#endif /* CHBSEM_H */
+
+/** @} */
diff --git a/os/lib/include/chfactory.h b/os/lib/include/chfactory.h new file mode 100644 index 000000000..1843d6a36 --- /dev/null +++ b/os/lib/include/chfactory.h @@ -0,0 +1,486 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chfactory.h
+ * @brief ChibiOS objects factory structures and macros.
+ *
+ * @addtogroup objects_factory
+ * @{
+ */
+
+#ifndef CHFACTORY_H
+#define CHFACTORY_H
+
+#if !defined(CH_CFG_USE_FACTORY)
+#define CH_CFG_USE_FACTORY FALSE
+#endif
+
+#if (CH_CFG_USE_FACTORY == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Maximum length for object names.
+ * @details If the specified length is zero then the name is stored by
+ * pointer but this could have unintended side effects.
+ */
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
+#endif
+
+/**
+ * @brief Enables the registry of generic objects.
+ */
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
+#endif
+
+/**
+ * @brief Enables factory for generic buffers.
+ */
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
+#endif
+
+/**
+ * @brief Enables factory for semaphores.
+ */
+#if !defined(CH_CFG_FACTORY_SEMAPHORES) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_SEMAPHORES TRUE
+#endif
+
+/**
+ * @brief Enables factory for mailboxes.
+ */
+#if !defined(CH_CFG_FACTORY_MAILBOXES) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_MAILBOXES TRUE
+#endif
+
+/**
+ * @brief Enables factory for objects FIFOs.
+ */
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS) || defined(__DOXYGEN__)
+#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) && (CH_CFG_USE_SEMAPHORES == FALSE)
+/*lint -save -e767 [20.5] Valid because the #undef.*/
+#undef CH_CFG_FACTORY_SEMAPHORES
+#define CH_CFG_FACTORY_SEMAPHORES FALSE
+/*lint restore*/
+#endif
+
+#if (CH_CFG_FACTORY_MAILBOXES == TRUE) && (CH_CFG_USE_MAILBOXES == FALSE)
+/*lint -save -e767 [20.5] Valid because the #undef.*/
+#undef CH_CFG_FACTORY_MAILBOXES
+#define CH_CFG_FACTORY_MAILBOXES FALSE
+/*lint restore*/
+#endif
+
+#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) && (CH_CFG_USE_OBJ_FIFOS == FALSE)
+/*lint -save -e767 [20.5] Valid because the #undef.*/
+#undef CH_CFG_FACTORY_OBJ_FIFOS
+#define CH_CFG_FACTORY_OBJ_FIFOS FALSE
+/*lint restore*/
+#endif
+
+#define CH_FACTORY_REQUIRES_POOLS \
+ ((CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || \
+ (CH_CFG_FACTORY_SEMAPHORES == TRUE))
+
+#define CH_FACTORY_REQUIRES_HEAP \
+ ((CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || \
+ (CH_CFG_FACTORY_MAILBOXES == TRUE) || \
+ (CH_CFG_FACTORY_OBJ_FIFOS == TRUE))
+
+#if (CH_CFG_FACTORY_MAX_NAMES_LENGTH < 0) || \
+ (CH_CFG_FACTORY_MAX_NAMES_LENGTH > 32)
+#error "invalid CH_CFG_FACTORY_MAX_NAMES_LENGTH value"
+#endif
+
+#if (CH_CFG_USE_MUTEXES == FALSE) && (CH_CFG_USE_SEMAPHORES == FALSE)
+#error "CH_CFG_USE_FACTORY requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if CH_CFG_USE_MEMCORE == FALSE
+#error "CH_CFG_USE_FACTORY requires CH_CFG_USE_MEMCORE"
+#endif
+
+#if CH_FACTORY_REQUIRES_POOLS && (CH_CFG_USE_MEMPOOLS == FALSE)
+#error "CH_CFG_USE_MEMPOOLS is required"
+#endif
+
+#if CH_FACTORY_REQUIRES_HEAP && (CH_CFG_USE_HEAP == FALSE)
+#error "CH_CFG_USE_HEAP is required"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a dynamic object list element.
+ */
+typedef struct ch_dyn_element {
+ /**
+ * @brief Next dynamic object in the list.
+ */
+ struct ch_dyn_element *next;
+ /**
+ * @brief Number of references to this object.
+ */
+ ucnt_t refs;
+#if (CH_CFG_FACTORY_MAX_NAMES_LENGTH > 0) || defined(__DOXYGEN__)
+ char name[CH_CFG_FACTORY_MAX_NAMES_LENGTH];
+#else
+ const char *name;
+#endif
+} dyn_element_t;
+
+/**
+ * @brief Type of a dynamic object list.
+ */
+typedef struct ch_dyn_list {
+ dyn_element_t *next;
+} dyn_list_t;
+
+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Type of a registered object.
+ */
+typedef struct ch_registered_static_object {
+ /**
+ * @brief List element of the registered object.
+ */
+ dyn_element_t element;
+ /**
+ * @brief Pointer to the object.
+ * @note The type of the object is not stored in anyway.
+ */
+ void *objp;
+} registered_object_t;
+#endif
+
+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Type of a dynamic buffer object.
+ */
+typedef struct ch_dyn_object {
+ /**
+ * @brief List element of the dynamic buffer object.
+ */
+ dyn_element_t element;
+ /*lint -save -e9038 [18.7] Required by design.*/
+ /**
+ * @brief The buffer.
+ * @note This requires C99.
+ */
+ uint8_t buffer[];
+ /*lint restore*/
+} dyn_buffer_t;
+#endif
+
+#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Type of a dynamic semaphore.
+ */
+typedef struct ch_dyn_semaphore {
+ /**
+ * @brief List element of the dynamic semaphore.
+ */
+ dyn_element_t element;
+ /**
+ * @brief The semaphore.
+ */
+ semaphore_t sem;
+} dyn_semaphore_t;
+#endif
+
+#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Type of a dynamic buffer object.
+ */
+typedef struct ch_dyn_mailbox {
+ /**
+ * @brief List element of the dynamic buffer object.
+ */
+ dyn_element_t element;
+ /**
+ * @brief The mailbox.
+ */
+ mailbox_t mbx;
+ /*lint -save -e9038 [18.7] Required by design.*/
+ /**
+ * @brief Messages buffer.
+ * @note This requires C99.
+ */
+ msg_t msgbuf[];
+ /*lint restore*/
+} dyn_mailbox_t;
+#endif
+
+#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Type of a dynamic buffer object.
+ */
+typedef struct ch_dyn_objects_fifo {
+ /**
+ * @brief List element of the dynamic buffer object.
+ */
+ dyn_element_t element;
+ /**
+ * @brief The objects FIFO.
+ */
+ objects_fifo_t fifo;
+ /*lint -save -e9038 [18.7] Required by design.*/
+ /**
+ * @brief Messages buffer.
+ * @note This open array is followed by another area containing the
+ * objects, this area is not represented in this structure.
+ * @note This requires C99.
+ */
+ msg_t msgbuf[];
+ /*lint restore*/
+} dyn_objects_fifo_t;
+#endif
+
+/**
+ * @brief Type of the factory main object.
+ */
+typedef struct ch_objects_factory {
+ /**
+ * @brief Factory access mutex or semaphore.
+ */
+#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
+ mutex_t mtx;
+#else
+ semaphore_t sem;
+#endif
+ /**
+ * @brief List of the registered objects.
+ */
+ dyn_list_t obj_list;
+ /**
+ * @brief Pool of the available registered objects.
+ */
+ memory_pool_t obj_pool;
+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief List of the allocated buffer objects.
+ */
+ dyn_list_t buf_list;
+#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS = TRUE */
+#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief List of the allocated semaphores.
+ */
+ dyn_list_t sem_list;
+ /**
+ * @brief Pool of the available semaphores.
+ */
+ memory_pool_t sem_pool;
+#endif /* CH_CFG_FACTORY_SEMAPHORES = TRUE */
+#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief List of the allocated buffer objects.
+ */
+ dyn_list_t mbx_list;
+#endif /* CH_CFG_FACTORY_MAILBOXES = TRUE */
+#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief List of the allocated "objects FIFO" objects.
+ */
+ dyn_list_t fifo_list;
+#endif /* CH_CFG_FACTORY_OBJ_FIFOS = TRUE */
+} objects_factory_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern objects_factory_t ch_factory;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _factory_init(void);
+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__)
+ registered_object_t *chFactoryRegisterObject(const char *name,
+ void *objp);
+ registered_object_t *chFactoryFindObject(const char *name);
+ registered_object_t *chFactoryFindObjectByPointer(void *objp);
+ void chFactoryReleaseObject(registered_object_t *rop);
+#endif
+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__)
+ dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size);
+ dyn_buffer_t *chFactoryFindBuffer(const char *name);
+ void chFactoryReleaseBuffer(dyn_buffer_t *dbp);
+#endif
+#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+ dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n);
+ dyn_semaphore_t *chFactoryFindSemaphore(const char *name);
+ void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp);
+#endif
+#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__)
+ dyn_mailbox_t *chFactoryCreateMailbox(const char *name, size_t n);
+ dyn_mailbox_t *chFactoryFindMailbox(const char *name);
+ void chFactoryReleaseMailbox(dyn_mailbox_t *dmp);
+#endif
+#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__)
+ dyn_objects_fifo_t *chFactoryCreateObjectsFIFO(const char *name,
+ size_t objsize,
+ size_t objn,
+ unsigned objalign);
+ dyn_objects_fifo_t *chFactoryFindObjectsFIFO(const char *name);
+ void chFactoryReleaseObjectsFIFO(dyn_objects_fifo_t *dofp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Duplicates an object reference.
+ * @note This function can be used on any kind of dynamic object.
+ *
+ * @param[in] dep pointer to the element field of the object
+ * @return The duplicated object reference.
+ *
+ * @api
+ */
+static inline dyn_element_t *chFactoryDuplicateReference(dyn_element_t *dep) {
+
+ dep->refs++;
+
+ return dep;
+}
+
+#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Returns the pointer to the inner registered object.
+ *
+ * @param[in] rop registered object reference
+ * @return The pointer to the registered object.
+ *
+ * @api
+ */
+static inline void *chFactoryGetObject(registered_object_t *rop) {
+
+ return rop->objp;
+}
+#endif /* CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE */
+
+#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Returns the size of a generic dynamic buffer object.
+ *
+ * @param[in] dbp dynamic buffer object reference
+ * @return The size of the buffer object in bytes.
+ *
+ * @api
+ */
+static inline size_t chFactoryGetBufferSize(dyn_buffer_t *dbp) {
+
+ return chHeapGetSize(dbp) - sizeof (dyn_element_t);
+}
+
+/**
+ * @brief Returns the pointer to the inner buffer.
+ *
+ * @param[in] dbp dynamic buffer object reference
+ * @return The pointer to the dynamic buffer.
+ *
+ * @api
+ */
+static inline uint8_t *chFactoryGetBuffer(dyn_buffer_t *dbp) {
+
+ return dbp->buffer;
+}
+#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE */
+
+#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Returns the pointer to the inner semaphore.
+ *
+ * @param[in] dsp dynamic semaphore object reference
+ * @return The pointer to the semaphore.
+ *
+ * @api
+ */
+static inline semaphore_t *chFactoryGetSemaphore(dyn_semaphore_t *dsp) {
+
+ return &dsp->sem;
+}
+#endif /* CH_CFG_FACTORY_SEMAPHORES == TRUE */
+
+#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Returns the pointer to the inner mailbox.
+ *
+ * @param[in] dmp dynamic mailbox object reference
+ * @return The pointer to the mailbox.
+ *
+ * @api
+ */
+static inline mailbox_t *chFactoryGetMailbox(dyn_mailbox_t *dmp) {
+
+ return &dmp->mbx;
+}
+#endif /* CH_CFG_FACTORY_MAILBOXES == TRUE */
+
+#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Returns the pointer to the inner objects FIFO.
+ *
+ * @param[in] dofp dynamic "objects FIFO" object reference
+ * @return The pointer to the objects FIFO.
+ *
+ * @api
+ */
+static inline objects_fifo_t *chFactoryGetObjectsFIFO(dyn_objects_fifo_t *dofp) {
+
+ return &dofp->fifo;
+}
+#endif /* CH_CFG_FACTORY_OBJ_FIFOS == TRUE */
+
+#endif /* CH_CFG_USE_FACTORY == TRUE */
+
+#endif /* CHFACTORY_H */
+
+/** @} */
diff --git a/os/lib/include/chfifo.h b/os/lib/include/chfifo.h new file mode 100644 index 000000000..11ca3631d --- /dev/null +++ b/os/lib/include/chfifo.h @@ -0,0 +1,342 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chfifo.h
+ * @brief Objects FIFO structures and macros.
+ * @details This module implements a generic FIFO queue of objects by
+ * coupling a Guarded Memory Pool (for objects storage) and
+ * a MailBox.<br>
+ * On the sender side free objects are taken from the pool, filled
+ * and then sent to the receiver, on the receiver side objects are
+ * fetched, used and then returned to the pool.
+ * Operations defined for object FIFOs:
+ * - <b>Take</b>: An object is taken from the pool of the free
+ * objects, can be blocking.
+ * - <b>Return</b>: An object is returned to the pool of the
+ * free objects, it is guaranteed to be non-blocking.
+ * - <b>Send</b>: An object is sent through the mailbox, it is
+ * guaranteed to be non-blocking
+ * - <b>Receive</b>: An object is received from the mailbox,
+ * can be blocking.
+ * .
+ *
+ * @addtogroup objects_fifo
+ * @{
+ */
+
+#ifndef CHFIFO_H
+#define CHFIFO_H
+
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#define CH_CFG_USE_OBJ_FIFOS TRUE
+#endif
+
+#if (CH_CFG_USE_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if CH_CFG_USE_MEMPOOLS == FALSE
+#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_MEMPOOLS"
+#endif
+
+#if CH_CFG_USE_SEMAPHORES == FALSE
+#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_SEMAPHORES"
+#endif
+
+#if CH_CFG_USE_MAILBOXES == FALSE
+#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_MAILBOXES"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of an objects FIFO.
+ */
+typedef struct ch_objects_fifo {
+ /**
+ * @brief Pool of the free objects.
+ */
+ guarded_memory_pool_t free;
+ /**
+ * @brief Mailbox of the sent objects.
+ */
+ mailbox_t mbx;
+} objects_fifo_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes a FIFO object.
+ * @pre The messages size must be a multiple of the alignment
+ * requirement.
+ *
+ * @param[out] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objsize size of objects
+ * @param[in] objn number of objects available
+ * @param[in] objalign required objects alignment
+ * @param[in] objbuf pointer to the buffer of objects, it must be able
+ * to hold @p objn objects of @p objsize size with
+ * @p objealign alignment
+ * @param[in] msgbuf pointer to the buffer of messages, it must be able
+ * to hold @p objn messages
+ *
+ * @init
+ */
+static inline void chFifoObjectInit(objects_fifo_t *ofp, size_t objsize,
+ size_t objn, unsigned objalign,
+ void *objbuf, msg_t *msgbuf) {
+
+ chGuardedPoolObjectInitAligned(&ofp->free, objsize, objalign);
+ chGuardedPoolLoadArray(&ofp->free, objbuf, objn);
+ chMBObjectInit(&ofp->mbx, msgbuf, objn);
+}
+
+/**
+ * @brief Allocates a free object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @return The pointer to the allocated object.
+ * @retval NULL if an object is not immediately available.
+ *
+ * @iclass
+ */
+static inline void *chFifoTakeObjectI(objects_fifo_t *ofp) {
+
+ return chGuardedPoolAllocI(&ofp->free);
+}
+
+/**
+ * @brief Allocates a free object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @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 pointer to the allocated object.
+ * @retval NULL if an object is not available within the specified
+ * timeout.
+ *
+ * @sclass
+ */
+static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp,
+ sysinterval_t timeout) {
+
+ return chGuardedPoolAllocTimeoutS(&ofp->free, timeout);
+}
+
+/**
+ * @brief Allocates a free object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @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 pointer to the allocated object.
+ * @retval NULL if an object is not available within the specified
+ * timeout.
+ *
+ * @api
+ */
+static inline void *chFifoTakeObjectTimeout(objects_fifo_t *ofp,
+ sysinterval_t timeout) {
+
+ return chGuardedPoolAllocTimeout(&ofp->free, timeout);
+}
+
+/**
+ * @brief Releases a fetched object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objp pointer to the object to be released
+ *
+ * @iclass
+ */
+static inline void chFifoReturnObjectI(objects_fifo_t *ofp,
+ void *objp) {
+
+ chGuardedPoolFreeI(&ofp->free, objp);
+}
+
+/**
+ * @brief Releases a fetched object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objp pointer to the object to be released
+ *
+ * @api
+ */
+static inline void chFifoReturnObject(objects_fifo_t *ofp,
+ void *objp) {
+
+ chGuardedPoolFree(&ofp->free, objp);
+}
+
+/**
+ * @brief Posts an object.
+ * @note By design the object can be always immediately posted.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objp pointer to the object to be posted
+ *
+ * @iclass
+ */
+static inline void chFifoSendObjectI(objects_fifo_t *ofp,
+ void *objp) {
+ msg_t msg;
+
+ msg = chMBPostI(&ofp->mbx, (msg_t)objp);
+ chDbgAssert(msg == MSG_OK, "post failed");
+}
+
+/**
+ * @brief Posts an object.
+ * @note By design the object can be always immediately posted.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objp pointer to the object to be posted
+ *
+ * @sclass
+ */
+static inline void chFifoSendObjectS(objects_fifo_t *ofp,
+ void *objp) {
+ msg_t msg;
+
+ msg = chMBPostTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+ chDbgAssert(msg == MSG_OK, "post failed");
+}
+
+/**
+ * @brief Posts an object.
+ * @note By design the object can be always immediately posted.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objp pointer to the object to be released
+ *
+ * @api
+ */
+static inline void chFifoSendObject(objects_fifo_t *ofp, void *objp) {
+
+ msg_t msg;
+
+ msg = chMBPostTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE);
+ chDbgAssert(msg == MSG_OK, "post failed");
+}
+
+/**
+ * @brief Fetches an object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objpp pointer to the fetched object reference
+ * @return The operation status.
+ * @retval MSG_OK if an object has been correctly fetched.
+ * @retval MSG_TIMEOUT if the FIFO is empty and a message cannot be fetched.
+ *
+ * @iclass
+ */
+static inline msg_t chFifoReceiveObjectI(objects_fifo_t *ofp,
+ void **objpp) {
+
+ return chMBFetchI(&ofp->mbx, (msg_t *)objpp);
+}
+
+/**
+ * @brief Fetches an object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objpp pointer to the fetched object reference
+ * @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 MSG_OK if an object has been correctly fetched.
+ * @retval MSG_TIMEOUT if the operation has timed out.
+ *
+ * @sclass
+ */
+static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp,
+ void **objpp,
+ sysinterval_t timeout) {
+
+ return chMBFetchTimeoutS(&ofp->mbx, (msg_t *)objpp, timeout);
+}
+
+/**
+ * @brief Fetches an object.
+ *
+ * @param[in] ofp pointer to a @p objects_fifo_t structure
+ * @param[in] objpp pointer to the fetched object reference
+ * @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 MSG_OK if an object has been correctly fetched.
+ * @retval MSG_TIMEOUT if the operation has timed out.
+ *
+ * @api
+ */
+static inline msg_t chFifoReceiveObjectTimeout(objects_fifo_t *ofp,
+ void **objpp,
+ sysinterval_t timeout) {
+
+ return chMBFetchTimeout(&ofp->mbx, (msg_t *)objpp, timeout);
+}
+#endif /* CH_CFG_USE_OBJ_FIFOS == TRUE */
+
+#endif /* CHFIFO_H */
+
+/** @} */
diff --git a/os/lib/include/chheap.h b/os/lib/include/chheap.h new file mode 100644 index 000000000..be92ea423 --- /dev/null +++ b/os/lib/include/chheap.h @@ -0,0 +1,182 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chheap.h
+ * @brief Heaps macros and structures.
+ *
+ * @addtogroup heaps
+ * @{
+ */
+
+#ifndef CHHEAP_H
+#define CHHEAP_H
+
+#if !defined(CH_CFG_USE_HEAP)
+#define CH_CFG_USE_HEAP FALSE
+#endif
+
+#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @brief Minimum alignment used for heap.
+ * @note Cannot use the sizeof operator in this macro.
+ */
+#if (SIZEOF_PTR == 4) || defined(__DOXYGEN__)
+#define CH_HEAP_ALIGNMENT 8U
+#elif (SIZEOF_PTR == 2)
+#define CH_HEAP_ALIGNMENT 4U
+#else
+#error "unsupported pointer size"
+#endif
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if CH_CFG_USE_MEMCORE == FALSE
+#error "CH_CFG_USE_HEAP requires CH_CFG_USE_MEMCORE"
+#endif
+
+#if (CH_CFG_USE_MUTEXES == FALSE) && (CH_CFG_USE_SEMAPHORES == FALSE)
+#error "CH_CFG_USE_HEAP requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Type of a memory heap.
+ */
+typedef struct memory_heap memory_heap_t;
+
+/**
+ * @brief Type of a memory heap header.
+ */
+typedef union heap_header heap_header_t;
+
+/**
+ * @brief Memory heap block header.
+ */
+union heap_header {
+ struct {
+ heap_header_t *next; /**< @brief Next block in free list. */
+ size_t pages; /**< @brief Size of the area in pages. */
+ } free;
+ struct {
+ memory_heap_t *heap; /**< @brief Block owner heap. */
+ size_t size; /**< @brief Size of the area in bytes. */
+ } used;
+};
+
+/**
+ * @brief Structure describing a memory heap.
+ */
+struct memory_heap {
+ memgetfunc2_t provider; /**< @brief Memory blocks provider for
+ this heap. */
+ heap_header_t header; /**< @brief Free blocks list header. */
+#if CH_CFG_USE_MUTEXES == TRUE
+ mutex_t mtx; /**< @brief Heap access mutex. */
+#else
+ semaphore_t sem; /**< @brief Heap access semaphore. */
+#endif
+};
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Allocation of an aligned static heap buffer.
+ */
+#define CH_HEAP_AREA(name, size) \
+ ALIGNED_VAR(CH_HEAP_ALIGNMENT) \
+ uint8_t name[MEM_ALIGN_NEXT((size), CH_HEAP_ALIGNMENT)]
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _heap_init(void);
+ void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size);
+ void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align);
+ void chHeapFree(void *p);
+ size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Allocates a block of memory from the heap by using the first-fit
+ * algorithm.
+ * @details The allocated block is guaranteed to be properly aligned for a
+ * pointer data type.
+ *
+ * @param[in] heapp pointer to a heap descriptor or @p NULL in order to
+ * access the default heap.
+ * @param[in] size the size of the block to be allocated. Note that the
+ * allocated block may be a bit bigger than the requested
+ * size for alignment and fragmentation reasons.
+ * @return A pointer to the allocated block.
+ * @retval NULL if the block cannot be allocated.
+ *
+ * @api
+ */
+static inline void *chHeapAlloc(memory_heap_t *heapp, size_t size) {
+
+ return chHeapAllocAligned(heapp, size, CH_HEAP_ALIGNMENT);
+}
+
+/**
+ * @brief Returns the size of an allocated block.
+ * @note The returned value is the requested size, the real size is the
+ * same value aligned to the next @p CH_HEAP_ALIGNMENT multiple.
+ *
+ * @param[in] p pointer to the memory block
+ * @return Size of the block.
+ *
+ * @api
+ */
+static inline size_t chHeapGetSize(const void *p) {
+
+ return ((heap_header_t *)p - 1U)->used.size;
+}
+
+#endif /* CH_CFG_USE_HEAP == TRUE */
+
+#endif /* CHHEAP_H */
+
+/** @} */
diff --git a/os/lib/include/chlib.h b/os/lib/include/chlib.h new file mode 100644 index 000000000..caf3191ee --- /dev/null +++ b/os/lib/include/chlib.h @@ -0,0 +1,226 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chlib.h
+ * @brief ChibiOS/LIB main include file.
+ * @details This header includes all the required library headers. This file
+ * is meant do be included by @p ch.h not directly by user.
+ *
+ * @addtogroup library_info
+ * @details OS Library related info.
+ * @{
+ */
+
+#ifndef CHLIB_H
+#define CHLIB_H
+
+/* Tmeporary hack.*/
+#if !defined(_CHIBIOS_RT_CONF_VER_5_0_) && !defined(_CHIBIOS_NIL_CONF_VER_3_0_)
+#include "chlibconf.h"
+#else
+#define _CHIBIOS_LIB_CONF_
+#define _CHIBIOS_LIB_CONF_VER_1_0_
+#endif
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/**
+ * @brief ChibiOS/LIB identification macro.
+ */
+#define _CHIBIOS_LIB_
+
+/**
+ * @brief Stable release flag.
+ */
+#define CH_OSLIB_STABLE 0
+
+/**
+ * @name ChibiOS/LIB version identification
+ * @{
+ */
+/**
+ * @brief OS Library version string.
+ */
+#define CH_OSLIB_VERSION "1.0.0"
+
+/**
+ * @brief Kernel version major number.
+ */
+#define CH_OSLIB_MAJOR 1
+
+/**
+ * @brief Kernel version minor number.
+ */
+#define CH_OSLIB_MINOR 0
+
+/**
+ * @brief Kernel version patch number.
+ */
+#define CH_OSLIB_PATCH 0
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/* Host OS checks.*/
+#if !defined(_CHIBIOS_RT_) && !defined(_CHIBIOS_NIL_)
+#error "OS check failed, must be included after ch.h"
+#endif
+
+/* License checks.*/
+#if !defined(CH_CUSTOMER_LIC_LIB) || !defined(CH_LICENSE_FEATURES)
+#error "malformed chlicense.h"
+#endif
+
+#if (CH_LICENSE_FEATURES != CH_FEATURES_FULL) && \
+ (CH_LICENSE_FEATURES != CH_FEATURES_INTERMEDIATE) && \
+ (CH_LICENSE_FEATURES != CH_FEATURES_BASIC)
+#error "invalid CH_LICENSE_FEATURES setting"
+#endif
+
+/* Restrictions in basic and intermediate modes.*/
+#if (CH_CUSTOMER_LIC_LIB == FALSE) || \
+ (CH_LICENSE_FEATURES == CH_FEATURES_INTERMEDIATE) || \
+ (CH_LICENSE_FEATURES == CH_FEATURES_BASIC)
+
+/* Restricted subsystems.*/
+#undef CH_CFG_USE_FACTORY
+
+#define CH_CFG_USE_FACTORY FALSE
+
+#endif /* (CH_CUSTOMER_LIC_LIB == FALSE) || \
+ (CH_LICENSE_FEATURES == CH_FEATURES_INTERMEDIATE) ||
+ (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) */
+
+/* Restrictions in basic mode.*/
+#if (CH_CUSTOMER_LIC_LIB == FALSE) || \
+ (CH_LICENSE_FEATURES == CH_FEATURES_BASIC)
+
+/* Restricted subsystems.*/
+#undef CH_CFG_USE_MEMCORE
+#undef CH_CFG_USE_HEAP
+#undef CH_CFG_USE_MEMPOOLS
+#undef CH_CFG_USE_OBJ_FIFOS
+
+#define CH_CFG_USE_MEMCORE FALSE
+#define CH_CFG_USE_HEAP FALSE
+#define CH_CFG_USE_MEMPOOLS FALSE
+#define CH_CFG_USE_OBJ_FIFOS FALSE
+
+#endif /* (CH_CUSTOMER_LIC_LIB == FALSE) || \
+ (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) */
+
+/* Configuration file checks.*/
+#if !defined(_CHIBIOS_LIB_CONF_)
+#error "invalid configuration file"
+#endif
+
+#if !defined(_CHIBIOS_LIB_CONF_VER_1_0_)
+#error "obsolete or unknown configuration file"
+#endif
+
+#if !defined(CH_CFG_USE_SEMAPHORES)
+#error "CH_CFG_USE_SEMAPHORES not defined in chconf.h"
+#endif
+
+#if !defined(CH_CFG_USE_MAILBOXES)
+#error "CH_CFG_USE_MAILBOXES not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_USE_MEMCORE)
+#error "CH_CFG_USE_MEMCORE not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_USE_HEAP)
+#error "CH_CFG_USE_HEAP not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#error "CH_CFG_USE_MEMPOOLS not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_USE_OBJ_FIFOS)
+#error "CH_CFG_USE_OBJ_FIFOS not defined in chlibconf.h"
+#endif
+
+/* Objects factory options checks.*/
+#if !defined(CH_CFG_USE_FACTORY)
+#error "CH_CFG_USE_FACTORY not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
+#error "CH_CFG_FACTORY_MAX_NAMES_LENGTH not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
+#error "CH_CFG_FACTORY_OBJECTS_REGISTRY not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
+#error "CH_CFG_FACTORY_GENERIC_BUFFERS not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_SEMAPHORES)
+#error "CH_CFG_FACTORY_SEMAPHORES not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_MAILBOXES)
+#error "CH_CFG_FACTORY_MAILBOXES not defined in chlibconf.h"
+#endif
+
+#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
+#error "CH_CFG_FACTORY_OBJ_FIFOS not defined in chlibconf.h"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Late inclusions. */
+/*===========================================================================*/
+
+/* OS Library headers.*/
+#include "chbsem.h"
+#include "chmboxes.h"
+#include "chmemcore.h"
+#include "chheap.h"
+#include "chmempools.h"
+#include "chfifo.h"
+#include "chfactory.h"
+
+#endif /* CHLIB_H */
+
+/** @} */
diff --git a/os/lib/include/chmboxes.h b/os/lib/include/chmboxes.h new file mode 100644 index 000000000..0790407e5 --- /dev/null +++ b/os/lib/include/chmboxes.h @@ -0,0 +1,214 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chmboxes.h
+ * @brief Mailboxes macros and structures.
+ *
+ * @addtogroup mailboxes
+ * @{
+ */
+
+#ifndef CHMBOXES_H
+#define CHMBOXES_H
+
+#if !defined(CH_CFG_USE_MAILBOXES)
+#define CH_CFG_USE_MAILBOXES FALSE
+#endif
+
+#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Structure representing a mailbox object.
+ */
+typedef struct {
+ msg_t *buffer; /**< @brief Pointer to the mailbox
+ buffer. */
+ msg_t *top; /**< @brief Pointer to the location
+ after the buffer. */
+ msg_t *wrptr; /**< @brief Write pointer. */
+ msg_t *rdptr; /**< @brief Read pointer. */
+ size_t cnt; /**< @brief Messages in queue. */
+ bool reset; /**< @brief True in reset state. */
+ threads_queue_t qw; /**< @brief Queued writers. */
+ threads_queue_t qr; /**< @brief Queued readers. */
+} mailbox_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @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[in] name the name of the mailbox variable
+ * @param[in] buffer pointer to the mailbox buffer array of @p msg_t
+ * @param[in] size number of @p msg_t elements in the buffer array
+ */
+#define _MAILBOX_DATA(name, buffer, size) { \
+ (msg_t *)(buffer), \
+ (msg_t *)(buffer) + size, \
+ (msg_t *)(buffer), \
+ (msg_t *)(buffer), \
+ (size_t)0, \
+ false, \
+ _THREADS_QUEUE_DATA(name.qw), \
+ _THREADS_QUEUE_DATA(name.qr), \
+}
+
+/**
+ * @brief Static mailbox initializer.
+ * @details Statically initialized mailboxes require no explicit
+ * initialization using @p chMBObjectInit().
+ *
+ * @param[in] name the name of the mailbox variable
+ * @param[in] buffer pointer to the mailbox buffer array of @p msg_t
+ * @param[in] size number of @p msg_t elements in the buffer array
+ */
+#define MAILBOX_DECL(name, buffer, size) \
+ mailbox_t name = _MAILBOX_DATA(name, buffer, size)
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n);
+ void chMBReset(mailbox_t *mbp);
+ void chMBResetI(mailbox_t *mbp);
+ msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostI(mailbox_t *mbp, msg_t msg);
+ msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout);
+ msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg);
+ msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
+ msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout);
+ msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Returns the mailbox buffer size as number of messages.
+ *
+ * @param[in] mbp the pointer to an initialized mailbox_t object
+ * @return The size of the mailbox.
+ *
+ * @iclass
+ */
+static inline size_t chMBGetSizeI(const mailbox_t *mbp) {
+
+ /*lint -save -e9033 [10.8] Perfectly safe pointers
+ arithmetic.*/
+ return (size_t)(mbp->top - mbp->buffer);
+ /*lint -restore*/
+}
+
+/**
+ * @brief Returns the number of used message slots into a mailbox.
+ *
+ * @param[in] mbp the pointer to an initialized mailbox_t object
+ * @return The number of queued messages.
+ * @retval QUEUE_RESET if the queue is in reset state.
+ *
+ * @iclass
+ */
+static inline size_t chMBGetUsedCountI(const mailbox_t *mbp) {
+
+ chDbgCheckClassI();
+
+ return mbp->cnt;
+}
+
+/**
+ * @brief Returns the number of free message slots into a mailbox.
+ *
+ * @param[in] mbp the pointer to an initialized mailbox_t object
+ * @return The number of empty message slots.
+ *
+ * @iclass
+ */
+static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) {
+
+ chDbgCheckClassI();
+
+ return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp);
+}
+
+/**
+ * @brief Returns the next message in the queue without removing it.
+ * @pre 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 chMBGetFullCountI() and then use this macro, all within
+ * a lock state.
+ *
+ * @param[in] mbp the pointer to an initialized mailbox_t object
+ * @return The next message in queue.
+ *
+ * @iclass
+ */
+static inline msg_t chMBPeekI(const mailbox_t *mbp) {
+
+ chDbgCheckClassI();
+
+ return *mbp->rdptr;
+}
+
+/**
+ * @brief Terminates the reset state.
+ *
+ * @param[in] mbp the pointer to an initialized mailbox_t object
+ *
+ * @xclass
+ */
+static inline void chMBResumeX(mailbox_t *mbp) {
+
+ mbp->reset = false;
+}
+
+#endif /* CH_CFG_USE_MAILBOXES == TRUE */
+
+#endif /* CHMBOXES_H */
+
+/** @} */
diff --git a/os/lib/include/chmemcore.h b/os/lib/include/chmemcore.h new file mode 100644 index 000000000..af8b5fca4 --- /dev/null +++ b/os/lib/include/chmemcore.h @@ -0,0 +1,202 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chmemcore.h
+ * @brief Core memory manager macros and structures.
+ *
+ * @addtogroup memcore
+ * @{
+ */
+
+#ifndef CHMEMCORE_H
+#define CHMEMCORE_H
+
+#if !defined(CH_CFG_USE_MEMCORE)
+#define CH_CFG_USE_MEMCORE FALSE
+#endif
+
+#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Managed RAM size.
+ * @details Size of the RAM area to be managed by the OS. If set to zero
+ * then the whole available RAM is used. The core memory is made
+ * available to the heap allocator and/or can be used directly through
+ * the simplified core memory allocator.
+ *
+ * @note In order to let the OS manage the whole RAM the linker script must
+ * provide the @p __heap_base__ and @p __heap_end__ symbols.
+ * @note Requires @p CH_CFG_USE_MEMCORE.
+ */
+#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__)
+#define CH_CFG_MEMCORE_SIZE 0
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if CH_CFG_MEMCORE_SIZE < 0
+#error "invalid CH_CFG_MEMCORE_SIZE value specified"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Memory get function.
+ */
+typedef void *(*memgetfunc_t)(size_t size, unsigned align);
+
+/**
+ * @brief Enhanced memory get function.
+ */
+typedef void *(*memgetfunc2_t)(size_t size, unsigned align, size_t offset);
+
+/**
+ * @brief Type of memory core object.
+ */
+typedef struct {
+ /**
+ * @brief Next free address.
+ */
+ uint8_t *nextmem;
+ /**
+ * @brief Final address.
+ */
+ uint8_t *endmem;
+} memcore_t;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern memcore_t ch_memcore;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void _core_init(void);
+ void *chCoreAllocAlignedWithOffsetI(size_t size,
+ unsigned align,
+ size_t offset);
+ void *chCoreAllocAlignedWithOffset(size_t size,
+ unsigned align,
+ size_t offset);
+ size_t chCoreGetStatusX(void);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Allocates a memory block.
+ * @details The allocated block is guaranteed to be properly aligned to the
+ * specified alignment.
+ *
+ * @param[in] size the size of the block to be allocated.
+ * @param[in] align desired memory alignment
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @iclass
+ */
+static inline void *chCoreAllocAlignedI(size_t size, unsigned align) {
+
+ return chCoreAllocAlignedWithOffsetI(size, align, 0U);
+}
+
+/**
+ * @brief Allocates a memory block.
+ * @details The allocated block is guaranteed to be properly aligned to the
+ * specified alignment.
+ *
+ * @param[in] size the size of the block to be allocated
+ * @param[in] align desired memory alignment
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @api
+ */
+static inline void *chCoreAllocAligned(size_t size, unsigned align) {
+ void *p;
+
+ chSysLock();
+ p = chCoreAllocAlignedWithOffsetI(size, align, 0U);
+ chSysUnlock();
+
+ return p;
+}
+
+/**
+ * @brief Allocates a memory block.
+ * @details The allocated block is guaranteed to be properly aligned for a
+ * pointer data type.
+ *
+ * @param[in] size the size of the block to be allocated.
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @iclass
+ */
+static inline void *chCoreAllocI(size_t size) {
+
+ return chCoreAllocAlignedWithOffsetI(size, PORT_NATURAL_ALIGN, 0U);
+}
+
+/**
+ * @brief Allocates a memory block.
+ * @details The allocated block is guaranteed to be properly aligned for a
+ * pointer data type.
+ *
+ * @param[in] size the size of the block to be allocated.
+ * @return A pointer to the allocated memory block.
+ * @retval NULL allocation failed, core memory exhausted.
+ *
+ * @api
+ */
+static inline void *chCoreAlloc(size_t size) {
+
+ return chCoreAllocAlignedWithOffset(size, PORT_NATURAL_ALIGN, 0U);
+}
+
+#endif /* CH_CFG_USE_MEMCORE == TRUE */
+
+#endif /* CHMEMCORE_H */
+
+/** @} */
diff --git a/os/lib/include/chmempools.h b/os/lib/include/chmempools.h new file mode 100644 index 000000000..59eedc588 --- /dev/null +++ b/os/lib/include/chmempools.h @@ -0,0 +1,323 @@ +/*
+ ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
+
+ This file is part of ChibiOS.
+
+ ChibiOS 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 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 chmempools.h
+ * @brief Memory Pools macros and structures.
+ *
+ * @addtogroup pools
+ * @{
+ */
+
+#ifndef CHMEMPOOLS_H
+#define CHMEMPOOLS_H
+
+#if !defined(CH_CFG_USE_MEMPOOLS)
+#define CH_CFG_USE_MEMPOOLS FALSE
+#endif
+
+#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if CH_CFG_USE_MEMCORE == FALSE
+#error "CH_CFG_USE_MEMPOOLS requires CH_CFG_USE_MEMCORE"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Memory pool free object header.
+ */
+struct pool_header {
+ struct pool_header *next; /**< @brief Pointer to the next pool
+ header in the list. */
+};
+
+/**
+ * @brief Memory pool descriptor.
+ */
+typedef struct {
+ struct pool_header *next; /**< @brief Pointer to the header. */
+ size_t object_size; /**< @brief Memory pool objects
+ size. */
+ unsigned align; /**< @brief Required alignment. */
+ memgetfunc_t provider; /**< @brief Memory blocks provider
+ for this pool. */
+} memory_pool_t;
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Guarded memory pool descriptor.
+ */
+typedef struct {
+ semaphore_t sem; /**< @brief Counter semaphore guarding
+ the memory pool. */
+ memory_pool_t pool; /**< @brief The memory pool itself. */
+} guarded_memory_pool_t;
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/**
+ * @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[in] name the name of the memory pool variable
+ * @param[in] size size of the memory pool contained objects
+ * @param[in] align required memory alignment
+ * @param[in] provider memory provider function for the memory pool
+ */
+#define _MEMORYPOOL_DATA(name, size, align, provider) \
+ {NULL, size, align, provider}
+
+/**
+ * @brief Static memory pool initializer.
+ * @details Statically initialized memory pools require no explicit
+ * initialization using @p chPoolInit().
+ *
+ * @param[in] name the name of the memory pool variable
+ * @param[in] size size of the memory pool contained objects
+ * @param[in] align required memory alignment
+ * @param[in] provider memory provider function for the memory pool or @p NULL
+ * if the pool is not allowed to grow automatically
+ */
+#define MEMORYPOOL_DECL(name, size, align, provider) \
+ memory_pool_t name = _MEMORYPOOL_DATA(name, size, align, provider)
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Data part of a static guarded memory pool initializer.
+ * @details This macro should be used when statically initializing a
+ * memory pool that is part of a bigger structure.
+ *
+ * @param[in] name the name of the memory pool variable
+ * @param[in] size size of the memory pool contained objects
+ * @param[in] align required memory alignment
+ */
+#define _GUARDEDMEMORYPOOL_DATA(name, size, align) { \
+ _SEMAPHORE_DATA(name.sem, (cnt_t)0), \
+ _MEMORYPOOL_DATA(NULL, size, align, NULL) \
+}
+
+/**
+ * @brief Static guarded memory pool initializer.
+ * @details Statically initialized guarded memory pools require no explicit
+ * initialization using @p chGuardedPoolInit().
+ *
+ * @param[in] name the name of the guarded memory pool variable
+ * @param[in] size size of the memory pool contained objects
+ * @param[in] align required memory alignment
+ */
+#define GUARDEDMEMORYPOOL_DECL(name, size, align) \
+ guarded_memory_pool_t name = _GUARDEDMEMORYPOOL_DATA(name, size, align)
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void chPoolObjectInitAligned(memory_pool_t *mp, size_t size,
+ unsigned align, memgetfunc_t provider);
+ void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n);
+ void *chPoolAllocI(memory_pool_t *mp);
+ void *chPoolAlloc(memory_pool_t *mp);
+ void chPoolFreeI(memory_pool_t *mp, void *objp);
+ void chPoolFree(memory_pool_t *mp, void *objp);
+#if CH_CFG_USE_SEMAPHORES == TRUE
+ void chGuardedPoolObjectInitAligned(guarded_memory_pool_t *gmp,
+ size_t size,
+ unsigned align);
+ void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n);
+ void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp,
+ sysinterval_t timeout);
+ void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp,
+ sysinterval_t timeout);
+ void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp);
+ void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp);
+#endif
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an empty memory pool.
+ *
+ * @param[out] mp pointer to a @p memory_pool_t structure
+ * @param[in] size the size of the objects contained in this memory pool,
+ * the minimum accepted size is the size of a pointer to
+ * void.
+ * @param[in] provider memory provider function for the memory pool or
+ * @p NULL if the pool is not allowed to grow
+ * automatically
+ *
+ * @init
+ */
+static inline void chPoolObjectInit(memory_pool_t *mp,
+ size_t size,
+ memgetfunc_t provider) {
+
+ chPoolObjectInitAligned(mp, size, PORT_NATURAL_ALIGN, provider);
+}
+
+/**
+ * @brief Adds an object to a memory pool.
+ * @pre The memory pool must be already been initialized.
+ * @pre The added object must be of the right size for the specified
+ * memory pool.
+ * @pre The added object must be memory aligned to the size of
+ * @p stkalign_t type.
+ * @note This function is just an alias for @p chPoolFree() and has been
+ * added for clarity.
+ *
+ * @param[in] mp pointer to a @p memory_pool_t structure
+ * @param[in] objp the pointer to the object to be added
+ *
+ * @api
+ */
+static inline void chPoolAdd(memory_pool_t *mp, void *objp) {
+
+ chPoolFree(mp, objp);
+}
+
+/**
+ * @brief Adds an object to a memory pool.
+ * @pre The memory pool must be already been initialized.
+ * @pre The added object must be of the right size for the specified
+ * memory pool.
+ * @pre The added object must be memory aligned to the size of
+ * @p stkalign_t type.
+ * @note This function is just an alias for @p chPoolFreeI() and has been
+ * added for clarity.
+ *
+ * @param[in] mp pointer to a @p memory_pool_t structure
+ * @param[in] objp the pointer to the object to be added
+ *
+ * @iclass
+ */
+static inline void chPoolAddI(memory_pool_t *mp, void *objp) {
+
+ chPoolFreeI(mp, objp);
+}
+
+#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__)
+/**
+ * @brief Initializes an empty guarded memory pool.
+ *
+ * @param[out] gmp pointer to a @p guarded_memory_pool_t structure
+ * @param[in] size the size of the objects contained in this guarded
+ * memory pool, the minimum accepted size is the size
+ * of a pointer to void.
+ *
+ * @init
+ */
+static inline void chGuardedPoolObjectInit(guarded_memory_pool_t *gmp,
+ size_t size) {
+
+ chGuardedPoolObjectInitAligned(gmp, size, PORT_NATURAL_ALIGN);
+}
+
+/**
+ * @brief Adds an object to a guarded memory pool.
+ * @pre The guarded memory pool must be already been initialized.
+ * @pre The added object must be of the right size for the specified
+ * guarded memory pool.
+ * @pre The added object must be properly aligned.
+ * @note This function is just an alias for @p chGuardedPoolFree() and
+ * has been added for clarity.
+ *
+ * @param[in] gmp pointer to a @p guarded_memory_pool_t structure
+ * @param[in] objp the pointer to the object to be added
+ *
+ * @api
+ */
+static inline void chGuardedPoolAdd(guarded_memory_pool_t *gmp, void *objp) {
+
+ chGuardedPoolFree(gmp, objp);
+}
+
+/**
+ * @brief Adds an object to a guarded memory pool.
+ * @pre The guarded memory pool must be already been initialized.
+ * @pre The added object must be of the right size for the specified
+ * guarded memory pool.
+ * @pre The added object must be properly aligned.
+ * @note This function is just an alias for @p chGuardedPoolFreeI() and
+ * has been added for clarity.
+ *
+ * @param[in] gmp pointer to a @p guarded_memory_pool_t structure
+ * @param[in] objp the pointer to the object to be added
+ *
+ * @iclass
+ */
+static inline void chGuardedPoolAddI(guarded_memory_pool_t *gmp, void *objp) {
+
+ chGuardedPoolFreeI(gmp, objp);
+}
+
+/**
+ * @brief Allocates an object from a guarded memory pool.
+ * @pre The guarded memory pool must be already been initialized.
+ *
+ * @param[in] gmp pointer to a @p guarded_memory_pool_t structure
+ * @return The pointer to the allocated object.
+ * @retval NULL if the pool is empty.
+ *
+ * @iclass
+ */
+static inline void *chGuardedPoolAllocI(guarded_memory_pool_t *gmp) {
+ void *p;
+
+ p = chPoolAllocI(&gmp->pool);
+ if (p != NULL) {
+ chSemFastWaitI(&gmp->sem);
+ chDbgAssert(chSemGetCounterI(&gmp->sem) >= (cnt_t)0,
+ "semaphore out of sync");
+ }
+ return p;
+}
+#endif /* CH_CFG_USE_SEMAPHORES == TRUE */
+
+#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
+
+#endif /* CHMEMPOOLS_H */
+
+/** @} */
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