diff options
Diffstat (limited to 'os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c')
| -rw-r--r-- | os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c | 554 |
1 files changed, 0 insertions, 554 deletions
diff --git a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c deleted file mode 100644 index df4b6ba31..000000000 --- a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c +++ /dev/null @@ -1,554 +0,0 @@ -/*
- ChibiOS - Copyright (C) 2006..2015 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/>.
-*/
-/*
- Concepts and parts of this file have been contributed by Andre R.
- */
-
-/**
- * @file cmsis_os.c
- * @brief CMSIS RTOS module code.
- *
- * @addtogroup CMSIS_OS
- * @{
- */
-
-#include "cmsis_os.h"
-#include <string.h>
-
-/*===========================================================================*/
-/* Module local definitions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module exported variables. */
-/*===========================================================================*/
-
-int32_t cmsis_os_started;
-
-/*===========================================================================*/
-/* Module local types. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Module local variables. */
-/*===========================================================================*/
-
-static memory_pool_t sempool;
-static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
-
-static memory_pool_t timpool;
-static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
-
-/*===========================================================================*/
-/* Module local functions. */
-/*===========================================================================*/
-
-/**
- * @brief Virtual timers common callback.
- */
-static void timer_cb(void const *arg) {
-
- osTimerId timer_id = (osTimerId)arg;
- timer_id->ptimer(timer_id->argument);
- if (timer_id->type == osTimerPeriodic) {
- chSysLockFromISR();
- chVTDoSetI(&timer_id->vt, MS2ST(timer_id->millisec),
- (vtfunc_t)timer_cb, timer_id);
- chSysUnlockFromISR();
- }
-}
-
-/*===========================================================================*/
-/* Module exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Kernel initialization.
- */
-osStatus osKernelInitialize(void) {
-
- cmsis_os_started = 0;
-
- chSysInit();
- chThdSetPriority(HIGHPRIO);
-
- chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAlloc);
- chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
-
- chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAlloc);
- chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
-
- return osOK;
-}
-
-/**
- * @brief Kernel start.
- */
-osStatus osKernelStart(void) {
-
- cmsis_os_started = 1;
-
- chThdSetPriority(NORMALPRIO);
-
- return osOK;
-}
-
-/**
- * @brief Creates a thread.
- */
-osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
- size_t size;
-
- size = thread_def->stacksize == 0 ? CMSIS_CFG_DEFAULT_STACK :
- thread_def->stacksize;
- return (osThreadId)chThdCreateFromHeap(0,
- THD_WORKING_AREA_SIZE(size),
- NORMALPRIO+thread_def->tpriority,
- (tfunc_t)thread_def->pthread,
- argument);
-}
-
-/**
- * @brief Thread termination.
- * @note The thread is not really terminated but asked to terminate which
- * is not compliant.
- */
-osStatus osThreadTerminate(osThreadId thread_id) {
-
- if (thread_id == osThreadGetId()) {
- /* Note, no memory will be recovered unless a cleaner thread is
- implemented using the registry.*/
- chThdExit(0);
- }
- chThdTerminate(thread_id);
- chThdWait((thread_t *)thread_id);
-
- return osOK;
-}
-
-/**
- * @brief Change thread priority.
- * @note This can interfere with the priority inheritance mechanism.
- */
-osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
- osPriority oldprio;
- thread_t * tp = (thread_t *)thread_id;
-
- chSysLock();
-
- /* Changing priority.*/
-#if CH_CFG_USE_MUTEXES
- oldprio = (osPriority)tp->p_realprio;
- if ((tp->p_prio == tp->p_realprio) || ((tprio_t)newprio > tp->p_prio))
- tp->p_prio = (tprio_t)newprio;
- tp->p_realprio = (tprio_t)newprio;
-#else
- oldprio = tp->p_prio;
- tp->p_prio = (tprio_t)newprio;
-#endif
-
- /* The following states need priority queues reordering.*/
- switch (tp->p_state) {
-#if CH_CFG_USE_MUTEXES | \
- CH_CFG_USE_CONDVARS | \
- (CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \
- (CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
-#if CH_CFG_USE_MUTEXES
- case CH_STATE_WTMTX:
-#endif
-#if CH_CFG_USE_CONDVARS
- case CH_STATE_WTCOND:
-#endif
-#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
- case CH_STATE_WTSEM:
-#endif
-#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
- case CH_STATE_SNDMSGQ:
-#endif
- /* Re-enqueues tp with its new priority on the queue.*/
- queue_prio_insert(queue_dequeue(tp),
- (threads_queue_t *)tp->p_u.wtobjp);
- break;
-#endif
- case CH_STATE_READY:
-#if CH_DBG_ENABLE_ASSERTS
- /* Prevents an assertion in chSchReadyI().*/
- tp->p_state = CH_STATE_CURRENT;
-#endif
- /* Re-enqueues tp with its new priority on the ready list.*/
- chSchReadyI(queue_dequeue(tp));
- break;
- }
-
- /* Rescheduling.*/
- chSchRescheduleS();
-
- chSysUnlock();
-
- return oldprio;
-}
-
-/**
- * @brief Create a timer.
- */
-osTimerId osTimerCreate(const osTimerDef_t *timer_def,
- os_timer_type type,
- void *argument) {
-
- osTimerId timer = chPoolAlloc(&timpool);
- chVTObjectInit(&timer->vt);
- timer->ptimer = timer_def->ptimer;
- timer->type = type;
- timer->argument = argument;
- return timer;
-}
-
-/**
- * @brief Start a timer.
- */
-osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
-
- if ((millisec == 0) || (millisec == osWaitForever))
- return osErrorValue;
-
- timer_id->millisec = millisec;
- chVTSet(&timer_id->vt, MS2ST(millisec), (vtfunc_t)timer_cb, timer_id);
-
- return osOK;
-}
-
-/**
- * @brief Stop a timer.
- */
-osStatus osTimerStop(osTimerId timer_id) {
-
- chVTReset(&timer_id->vt);
-
- return osOK;
-}
-
-/**
- * @brief Delete a timer.
- */
-osStatus osTimerDelete(osTimerId timer_id) {
-
- chVTReset(&timer_id->vt);
- chPoolFree(&timpool, (void *)timer_id);
-
- return osOK;
-}
-
-/**
- * @brief Send signals.
- */
-int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
- int32_t oldsignals;
-
- syssts_t sts = chSysGetStatusAndLockX();
- oldsignals = (int32_t)thread_id->p_epending;
- chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals);
- chSysRestoreStatusX(sts);
-
- return oldsignals;
-}
-
-/**
- * @brief Clear signals.
- */
-int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
- eventmask_t m;
-
- chSysLock();
-
- m = thread_id->p_epending & (eventmask_t)signals;
- thread_id->p_epending &= ~(eventmask_t)signals;
-
- chSysUnlock();
-
- return (int32_t)m;
-}
-
-/**
- * @brief Wait for signals.
- */
-osEvent osSignalWait(int32_t signals, uint32_t millisec) {
- osEvent event;
- systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
- TIME_INFINITE : MS2ST(millisec);
-
- if (signals == 0)
- event.value.signals = (uint32_t)chEvtWaitAnyTimeout(ALL_EVENTS, timeout);
- else
- event.value.signals = (uint32_t)chEvtWaitAllTimeout((eventmask_t)signals,
- timeout);
-
- /* Type of event.*/
- if (event.value.signals == 0)
- event.status = osEventTimeout;
- else
- event.status = osEventSignal;
-
- return event;
-}
-
-/**
- * @brief Create a semaphore.
- * @note @p semaphore_def is not used.
- * @note Can involve memory allocation.
- */
-osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
- int32_t count) {
-
- (void)semaphore_def;
-
- semaphore_t *sem = chPoolAlloc(&sempool);
- chSemObjectInit(sem, (cnt_t)count);
- return sem;
-}
-
-/**
- * @brief Wait on a semaphore.
- */
-int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
- systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
- TIME_INFINITE : MS2ST(millisec);
-
- msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
- switch (msg) {
- case MSG_OK:
- return osOK;
- case MSG_TIMEOUT:
- return osErrorTimeoutResource;
- }
- return osErrorResource;
-}
-
-/**
- * @brief Release a semaphore.
- */
-osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
-
- syssts_t sts = chSysGetStatusAndLockX();
- chSemSignalI((semaphore_t *)semaphore_id);
- chSysRestoreStatusX(sts);
-
- return osOK;
-}
-
-/**
- * @brief Deletes a semaphore.
- * @note After deletion there could be references in the system to a
- * non-existent semaphore.
- */
-osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
-
- chSemReset((semaphore_t *)semaphore_id, 0);
- chPoolFree(&sempool, (void *)semaphore_id);
-
- return osOK;
-}
-
-/**
- * @brief Create a mutex.
- * @note @p mutex_def is not used.
- * @note Can involve memory allocation.
- */
-osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
-
- (void)mutex_def;
-
- binary_semaphore_t *mtx = chPoolAlloc(&sempool);
- chBSemObjectInit(mtx, false);
- return mtx;
-}
-
-/**
- * @brief Wait on a mutex.
- */
-osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
- systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
- TIME_INFINITE : MS2ST(millisec);
-
- msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
- switch (msg) {
- case MSG_OK:
- return osOK;
- case MSG_TIMEOUT:
- return osErrorTimeoutResource;
- }
- return osErrorResource;
-}
-
-/**
- * @brief Release a mutex.
- */
-osStatus osMutexRelease(osMutexId mutex_id) {
-
- syssts_t sts = chSysGetStatusAndLockX();
- chBSemSignalI((binary_semaphore_t *)mutex_id);
- chSysRestoreStatusX(sts);
-
- return osOK;
-}
-
-/**
- * @brief Deletes a mutex.
- * @note After deletion there could be references in the system to a
- * non-existent semaphore.
- */
-osStatus osMutexDelete(osMutexId mutex_id) {
-
- chSemReset((semaphore_t *)mutex_id, 0);
- chPoolFree(&sempool, (void *)mutex_id);
-
- return osOK;
-}
-
-/**
- * @brief Create a memory pool.
- * @note The pool is not really created because it is allocated statically,
- * this function just re-initializes it.
- */
-osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
-
- chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL);
- chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz);
-
- return (osPoolId)pool_def->pool;
-}
-
-/**
- * @brief Allocate an object.
- */
-void *osPoolAlloc(osPoolId pool_id) {
- void *object;
-
- syssts_t sts = chSysGetStatusAndLockX();
- object = chPoolAllocI((memory_pool_t *)pool_id);
- chSysRestoreStatusX(sts);
-
- return object;
-}
-
-/**
- * @brief Allocate an object clearing it.
- */
-void *osPoolCAlloc(osPoolId pool_id) {
- void *object;
-
- object = chPoolAllocI((memory_pool_t *)pool_id);
- memset(object, 0, pool_id->mp_object_size);
- return object;
-}
-
-/**
- * @brief Free an object.
- */
-osStatus osPoolFree(osPoolId pool_id, void *block) {
-
- syssts_t sts = chSysGetStatusAndLockX();
- chPoolFreeI((memory_pool_t *)pool_id, block);
- chSysRestoreStatusX(sts);
-
- return osOK;
-}
-
-/**
- * @brief Create a message queue.
- * @note The queue is not really created because it is allocated statically,
- * this function just re-initializes it.
- */
-osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
- osThreadId thread_id) {
-
- /* Ignoring this parameter for now.*/
- (void)thread_id;
-
- if (queue_def->item_sz > sizeof (msg_t))
- return NULL;
-
- chMBObjectInit(queue_def->mailbox,
- queue_def->items,
- (size_t)queue_def->queue_sz);
-
- return (osMessageQId) queue_def->mailbox;
-}
-
-/**
- * @brief Put a message in the queue.
- */
-osStatus osMessagePut(osMessageQId queue_id,
- uint32_t info,
- uint32_t millisec) {
- msg_t msg;
- systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
- TIME_INFINITE : MS2ST(millisec);
-
- if (port_is_isr_context()) {
-
- /* Waiting makes no sense in ISRs so any value except "immediate"
- makes no sense.*/
- if (millisec != 0)
- return osErrorValue;
-
- chSysLockFromISR();
- msg = chMBPostI((mailbox_t *)queue_id, (msg_t)info);
- chSysUnlockFromISR();
- }
- else
- msg = chMBPost((mailbox_t *)queue_id, (msg_t)info, timeout);
-
- return msg == MSG_OK ? osOK : osEventTimeout;
-}
-
-/**
- * @brief Get a message from the queue.
- */
-osEvent osMessageGet(osMessageQId queue_id,
- uint32_t millisec) {
- msg_t msg;
- osEvent event;
- systime_t timeout = ((millisec == 0) || (millisec == osWaitForever)) ?
- TIME_INFINITE : MS2ST(millisec);
-
- event.def.message_id = queue_id;
-
- if (port_is_isr_context()) {
-
- /* Waiting makes no sense in ISRs so any value except "immediate"
- makes no sense.*/
- if (millisec != 0) {
- event.status = osErrorValue;
- return event;
- }
-
- chSysLockFromISR();
- msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v);
- chSysUnlockFromISR();
- }
- else {
- msg = chMBFetch((mailbox_t *)queue_id, (msg_t*)&event.value.v, timeout);
- }
-
- /* Returned event type.*/
- event.status = msg == MSG_OK ? osEventMessage : osEventTimeout;
- return event;
-}
-
-/** @} */
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