diff options
Diffstat (limited to 'src/lib/ch.cpp')
| -rw-r--r-- | src/lib/ch.cpp | 266 |
1 files changed, 266 insertions, 0 deletions
diff --git a/src/lib/ch.cpp b/src/lib/ch.cpp new file mode 100644 index 000000000..ad4be5f4d --- /dev/null +++ b/src/lib/ch.cpp @@ -0,0 +1,266 @@ +/*
+ ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+ This file is part of ChibiOS/RT.
+
+ ChibiOS/RT is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS/RT is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <ch.hpp>
+
+namespace chibios_rt {
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::System *
+ *------------------------------------------------------------------------*/
+ void System::Init(void) {
+
+ chSysInit();
+ }
+
+ void Lock(void) {
+
+ chSysLock();
+ }
+
+ void Unlock(void) {
+
+ chSysUnlock();
+ }
+
+#ifdef CH_USE_SYSTEMTIME
+ systime_t System::GetTime(void) {
+
+ return chSysGetTime();
+ }
+#endif /* CH_USE_SYSTEMTIME */
+
+#ifdef CH_USE_VIRTUAL_TIMERS
+ /*------------------------------------------------------------------------*
+ * chibios_rt::Timer *
+ *------------------------------------------------------------------------*/
+ void Timer::Set(systime_t time, vtfunc_t vtfunc, void *par) {
+
+ chVTSetI(&timer, time, vtfunc, par);
+ }
+
+ void Timer::Reset() {
+
+ chVTResetI(&timer);
+ }
+
+ bool Timer::IsArmed(void) {
+
+ return chVTIsArmedI(&timer);
+ }
+#endif /* CH_USE_VIRTUAL_TIMER */
+
+ /*------------------------------------------------------------------------*
+ * chibios_rt::BaseThread *
+ *------------------------------------------------------------------------*/
+ static msg_t thdstart(void *arg) {
+ BaseThread *btp = (BaseThread *)arg;
+
+ return btp->Main();
+ }
+
+ BaseThread::BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize) {
+ msg_t thdstart(void *arg);
+
+ thread_ref = chThdCreate(prio, mode, workspace, wsize, thdstart, this);
+ }
+
+ void BaseThread::Exit(msg_t msg) {
+
+ chThdExit(msg);
+ }
+
+#ifdef CH_USE_WAITEXIT
+ msg_t BaseThread::Wait(void) {
+
+ return chThdWait(thread_ref);
+ }
+#endif /* CH_USE_WAITEXIT */
+
+ void BaseThread::SetPriority(tprio_t newprio) {
+
+ chThdSetPriority(newprio);
+ }
+
+#ifdef CH_USE_RESUME
+ void BaseThread::Resume(void) {
+
+ chThdResume(thread_ref);
+ }
+#endif /* CH_USE_RESUME */
+
+#ifdef CH_USE_TERMINATE
+ void BaseThread::Terminate(void) {
+
+ chThdTerminate(thread_ref);
+ }
+#endif /* CH_USE_TERMINATE */
+
+#ifdef CH_USE_SLEEP
+ void BaseThread::Sleep(systime_t n) {
+
+ chThdSleep(n);
+ }
+
+#ifdef CH_USE_SYSTEMTIME
+ void BaseThread::SleepUntil(systime_t time) {
+
+ chThdSleepUntil(time);
+ }
+#endif /* CH_USE_SYSTEMTIME */
+#endif /* CH_USE_SLEEP */
+
+#ifdef CH_USE_MESSAGES
+ msg_t BaseThread::SendMessage(msg_t msg) {
+
+ return chMsgSend(thread_ref, msg);
+ }
+
+ msg_t BaseThread::WaitMessage(void) {
+
+ return chMsgWait();
+ }
+
+ msg_t BaseThread::GetMessage(void) {
+
+ return chMsgGet();
+ }
+
+ void BaseThread::ReleaseMessage(msg_t msg) {
+
+ chMsgRelease(msg);
+ }
+
+ bool BaseThread::IsPendingMessage(void) {
+
+ return chMsgIsPendingI(thread_ref);
+ }
+#endif /* CH_USE_MESSAGES */
+
+ msg_t BaseThread::Main(void) {
+
+ return 0;
+ }
+
+#ifdef CH_USE_SEMAPHORES
+ /*------------------------------------------------------------------------*
+ * chibios_rt::Semaphore *
+ *------------------------------------------------------------------------*/
+ Semaphore::Semaphore(cnt_t n) {
+
+ chSemInit(&sem, n);
+ }
+
+ void Semaphore::Reset(cnt_t n) {
+
+ chSemReset(&sem, n);
+ }
+
+ msg_t Semaphore::Wait(void) {
+
+ return chSemWait(&sem);
+ }
+
+#ifdef CH_USE_SEMAPHORES_TIMEOUT
+ msg_t Semaphore::WaitTimeout(systime_t time) {
+
+ return chSemWaitTimeout(&sem, time);
+ }
+#endif /* CH_USE_SEMAPHORES_TIMEOUT */
+
+ void Semaphore::Signal(void) {
+
+ chSemSignal(&sem);
+ }
+#endif /* CH_USE_SEMAPHORES */
+
+#ifdef CH_USE_MUTEXES
+ /*------------------------------------------------------------------------*
+ * chibios_rt::Mutex *
+ *------------------------------------------------------------------------*/
+ Mutex::Mutex(void) {
+
+ chMtxInit(&mutex);
+ }
+
+ bool Mutex::TryLock(void) {
+
+ return chMtxTryLock(&mutex);
+ }
+
+ void Mutex::Lock(void) {
+
+ chMtxLock(&mutex);
+ }
+
+ void Mutex::Unlock(void) {
+
+ chMtxUnlock();
+ }
+
+ void UnlockAll(void) {
+
+ chMtxUnlockAll();
+ }
+#endif /* CH_USE_MUTEXES */
+
+#ifdef CH_USE_EVENTS
+ /*------------------------------------------------------------------------*
+ * chibios_rt::Event *
+ *------------------------------------------------------------------------*/
+ Event::Event(void) {
+
+ chEvtInit(&event);
+ }
+
+ void Event::Register(EventListener *elp, eventid_t eid) {
+
+ chEvtRegister(&event,elp, eid);
+ }
+
+ void Event::Unregister(EventListener *elp) {
+
+ chEvtUnregister(&event, elp);
+ }
+
+ void Event::Send(void) {
+
+ chEvtSend(&event);
+ }
+
+ void Event::Clear(eventmask_t mask) {
+
+ chEvtClear(mask);
+ }
+
+ eventid_t Event::Wait(eventmask_t ewmask, const evhandler_t handlers[]) {
+
+ return chEvtWait(ewmask, handlers);
+ }
+
+#ifdef CH_USE_EVENTS_TIMEOUT
+ eventid_t Event::WaitTimeout(eventmask_t ewmask,
+ const evhandler_t handlers[],
+ systime_t time) {
+
+ return chEvtWaitTimeout(ewmask, handlers, time);
+ }
+#endif /* CH_USE_EVENTS_TIMEOUT */
+#endif /* CH_USE_EVENTS */
+}
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