From ca42df5088ea593ffc4f55edf078a91d030e24c7 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Mon, 2 Sep 2013 10:04:22 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6244 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- os/hal/osal/chibios/osal.c | 55 ---- os/hal/osal/chibios/osal.h | 787 -------------------------------------------- os/hal/osal/chibios/osal.mk | 5 - os/hal/osal/rt/osal.c | 55 ++++ os/hal/osal/rt/osal.h | 787 ++++++++++++++++++++++++++++++++++++++++++++ os/hal/osal/rt/osal.mk | 5 + 6 files changed, 847 insertions(+), 847 deletions(-) delete mode 100644 os/hal/osal/chibios/osal.c delete mode 100644 os/hal/osal/chibios/osal.h delete mode 100644 os/hal/osal/chibios/osal.mk create mode 100644 os/hal/osal/rt/osal.c create mode 100644 os/hal/osal/rt/osal.h create mode 100644 os/hal/osal/rt/osal.mk (limited to 'os/hal') diff --git a/os/hal/osal/chibios/osal.c b/os/hal/osal/chibios/osal.c deleted file mode 100644 index 52fc27041..000000000 --- a/os/hal/osal/chibios/osal.c +++ /dev/null @@ -1,55 +0,0 @@ -/* - ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, - 2011,2012,2013 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 . -*/ - -/** - * @file osal.c - * @brief OSAL module code. - * - * @addtogroup OSAL - * @{ - */ - -#include "osal.h" - -/*===========================================================================*/ -/* Module local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module local types. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module local variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module local functions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Module exported functions. */ -/*===========================================================================*/ - -/** @} */ diff --git a/os/hal/osal/chibios/osal.h b/os/hal/osal/chibios/osal.h deleted file mode 100644 index 7ae97f92b..000000000 --- a/os/hal/osal/chibios/osal.h +++ /dev/null @@ -1,787 +0,0 @@ -/* - ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, - 2011,2012,2013 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 . -*/ - -/** - * @file osal.h - * @brief OSAL module header. - * - * @addtogroup OSAL - * @{ - */ - -#ifndef _OSAL_H_ -#define _OSAL_H_ - -#include -#include -#include - -#include "ch.h" - -/*===========================================================================*/ -/* Module constants. */ -/*===========================================================================*/ - -/** - * @name Common constants - * @{ - */ -#if !defined(FALSE) || defined(__DOXYGEN__) -#define FALSE 0 -#endif - -#if !defined(TRUE) || defined(__DOXYGEN__) -#define TRUE (!FALSE) -#endif - -#define OSAL_SUCCESS FALSE -#define OSAL_FAILED TRUE -/** @} */ - -#if 0 -/** - * @name Messages - * @{ - */ -#define MSG_OK RDY_OK -#define MSG_RESET RDY_RESET -#define MSG_TIMEOUT RDY_TIMEOUT -/** @} */ -#endif - -#if 0 -/** - * @name Special time constants - * @{ - */ -#define TIME_IMMEDIATE ((systime_t)0) -#define TIME_INFINITE ((systime_t)-1) -/** @} */ -#endif - -/** - * @name Systick modes. - * @{ - */ -#define OSAL_ST_MODE_NONE 0 -#define OSAL_ST_MODE_PERIODIC 1 -#define OSAL_ST_MODE_FREERUNNING 2 -/** @} */ - -/** - * @brief Systick mode required by the underlying OS. - */ -#if (CH_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__) -#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC -#else -#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING -#endif - -/** - * @brief Required systick frequency or resolution. - */ -#define OSAL_SYSTICK_FREQUENCY CH_CFG_ST_FREQUENCY - -/*===========================================================================*/ -/* Module pre-compile time settings. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \ - !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \ - !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) -#error "invalid OSAL_ST_MODE setting in osal.h" -#endif - -/*===========================================================================*/ -/* Module data structures and types. */ -/*===========================================================================*/ - -#if 0 -/** - * @brief Type of a system status word. - */ -typedef uint32_t syssts_t; -#endif - -#if 0 -/** - * @brief Type of a message. - */ -typedef int32_t msg_t; -#endif - -#if 0 -/** - * @brief Type of system time counter. - */ -typedef uint32_t systime_t; -#endif - -#if 0 -/** - * @brief Type of realtime counter. - */ -typedef uint32_t rtcnt_t; -#endif - -#if 0 -/** - * @brief Type of a thread reference. - */ -typedef thread_t * thread_reference_t; -#endif - -#if 0 -/** - * @brief Type of an event flags mask. - */ -typedef uint32_t eventflags_t; -#endif - -#if 0 -/** - * @brief Type of an event flags object. - * @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 Retrieval and clearing of the flags are not defined in this - * API and are implementation-dependent. - */ -typedef struct { - volatile eventflags_t flags; /**< @brief Flags stored into the - object. */ -} event_source_t; -#endif - -/** - * @brief Type of a mutex. - * @note If the OS does not support mutexes or there is no OS then them - * mechanism can be simulated. - */ -#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__) -#elif CH_CFG_USE_SEMAPHORES -typedef semaphore_t mutex_t; -#else -typedef uint32_t mutex_t; -#endif - -#if 0 -/** - * @brief Type of a thread queue. - * @details A thread queue is a queue of sleeping threads, queued threads - * can be dequeued one at time or all together. - * @note In this implementation it is implemented as a single reference - * because there are no real threads. - */ -typedef struct { - thread_reference_t tr; -} threads_queue_t; -#endif - -/*===========================================================================*/ -/* Module macros. */ -/*===========================================================================*/ - -/** - * @name Debug related macros - * @{ - */ -/** - * @brief Condition assertion. - * @details If the condition check fails then the OSAL panics with a - * message and halts. - * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS - * switch is enabled. - * @note The convention for the message is the following:
- * @(), #@ - * @note The remark string is not currently used except for putting a - * comment in the code about the assertion. - * - * @param[in] c the condition to be verified to be true - * @param[in] remark a remark string - * - * @api - */ -#define osalDbgAssert(c, remark) chDbgAssert(c, remark) - -/** - * @brief Function parameters check. - * @details If the condition check fails then the OSAL panics and halts. - * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch - * is enabled. - * - * @param[in] c the condition to be verified to be true - * - * @api - */ -#define osalDbgCheck(c) chDbgCheck(c) - -/** - * @brief I-Class state check. - * @note Not implemented in this simplified OSAL. - */ -#define osalDbgCheckClassI() chDbgCheckClassI() -/** @} */ - -/** - * @brief S-Class state check. - * @note Not implemented in this simplified OSAL. - */ -#define osalDbgCheckClassS() chDbgCheckClassS() - -/** - * @name IRQ service routines wrappers - * @{ - */ -/** - * @brief IRQ prologue code. - * @details This macro must be inserted at the start of all IRQ handlers. - */ -#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE() - -/** - * @brief IRQ epilogue code. - * @details This macro must be inserted at the end of all IRQ handlers. - */ -#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE() - -/** - * @brief IRQ handler function declaration. - * @details This macro hides the details of an ISR function declaration. - * - * @param[in] id a vector name as defined in @p vectors.s - */ -#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id) -/** @} */ - -/** - * @name Time conversion utilities - * @{ - */ -/** - * @brief Seconds to system ticks. - * @details Converts from seconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] sec number of seconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_S2ST(sec) S2ST(sec) - -/** - * @brief Milliseconds to system ticks. - * @details Converts from milliseconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] msec number of milliseconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_MS2ST(msec) MS2ST(msec) -/** - * @brief Microseconds to system ticks. - * @details Converts from microseconds to system ticks number. - * @note The result is rounded upward to the next tick boundary. - * - * @param[in] usec number of microseconds - * @return The number of ticks. - * - * @api - */ -#define OSAL_US2ST(usec) US2ST(usec) -/** @} */ - -/*===========================================================================*/ -/* External declarations. */ -/*===========================================================================*/ - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __cplusplus -} -#endif - -/*===========================================================================*/ -/* Module inline functions. */ -/*===========================================================================*/ - -/** - * @brief OSAL module initialization. - * - * @api - */ -static inline void osalInit(void) { - -} - -/** - * @brief System halt with error message. - * - * @param[in] reason the halt message pointer - * - * @api - */ -static inline void osalSysHalt(const char *reason) { - - chSysHalt(reason); -} - -/** - * @brief Enters a critical zone from thread context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysLock(void) { - - chSysLock(); -} - -/** - * @brief Leaves a critical zone from thread context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysUnlock(void) { - - chSysUnlock(); -} - -/** - * @brief Enters a critical zone from ISR context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysLockFromISR(void) { - - chSysLockFromISR(); -} - -/** - * @brief Leaves a critical zone from ISR context. - * @note This function cannot be used for reentrant critical zones. - * - * @special - */ -static inline void osalSysUnlockFromISR(void) { - - chSysUnlockFromISR(); -} - -/** - * @brief Returns the execution status and enters a critical zone. - * @details This functions enters into a critical zone and can be called - * from any context. Because its flexibility it is less efficient - * than @p chSysLock() which is preferable when the calling context - * is known. - * @post The system is in a critical zone. - * - * @return The previous system status, the encoding of this - * status word is architecture-dependent and opaque. - * - * @xclass - */ -static inline syssts_t osalSysGetStatusAndLockX(void) { - - return chSysGetStatusAndLockX(); -} - -/** - * @brief Restores the specified execution status and leaves a critical zone. - * @note A call to @p chSchRescheduleS() is automatically performed - * if exiting the critical zone and if not in ISR context. - * - * @param[in] sts the system status to be restored. - * - * @xclass - */ -static inline void osalSysRestoreStatusX(syssts_t sts) { - - chSysRestoreStatusX(sts); -} - -/** - * @brief Polled delay. - * @note The real delay is always few cycles in excess of the specified - * value. - * - * @param[in] cycles number of cycles - * - * @xclass - */ -#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__) -static inline void osalSysPolledDelayX(rtcnt_t cycles) { - - chSysPolledDelayX(cycles); -} -#endif - -/** - * @brief Systick callback for the underlying OS. - * @note This callback is only defined if the OSAL requires such a - * service from the HAL. - */ -#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__) -static inline void osalOsTimerHandlerI(void) { - - chSysTimerHandlerI(); -} -#endif - -/** - * @brief Checks if a reschedule is required and performs it. - * @note I-Class functions invoked from thread context must not reschedule - * by themselves, an explicit reschedule using this function is - * required in this scenario. - * @note Not implemented in this simplified OSAL. - * - * @sclass - */ -static inline void osalOsRescheduleS(void) { - - chSchRescheduleS(); -} - -/** - * @brief Current system time. - * @details Returns the number of system ticks since the @p chSysInit() - * invocation. - * @note The counter can reach its maximum and then restart from zero. - * @note This function can be called from any context but its atomicity - * is not guaranteed on architectures whose word size is less than - * @systime_t size. - * - * @return The system time in ticks. - * - * @xclass - */ -static inline systime_t osalOsGetSystemTimeX(void) { - - return chVTGetSystemTimeX(); -} - -/** - * @brief Checks if the specified time is within the specified time window. - * @note When start==end then the function returns always true because the - * whole time range is specified. - * @note This function can be called from any context. - * - * @param[in] time the time to be verified - * @param[in] start the start of the time window (inclusive) - * @param[in] end the end of the time window (non inclusive) - * @retval true current time within the specified time window. - * @retval false current time not within the specified time window. - * - * @xclass - */ -static inline bool osalOsIsTimeWithinX(systime_t time, - systime_t start, - systime_t end) { - - return chVTIsTimeWithinX(time, start, end); -} - -/** - * @brief Suspends the invoking thread for the specified time. - * - * @param[in] time the delay in system ticks, 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. - * . - * - * @sclass - */ -static inline void osalThreadSleepS(systime_t time) { - - chThdSleepS(time); -} - -/** - * @brief Suspends the invoking thread for the specified time. - * - * @param[in] time the delay in system ticks, 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. - * . - * - * @api - */ -static inline void osalThreadSleep(systime_t time) { - - chThdSleep(time); -} - -/** - * @brief Sends the current thread sleeping and sets a reference variable. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @return The wake up message. - * - * @sclass - */ -static inline msg_t osalThreadSuspendS(thread_reference_t *trp) { - - return chThreadSuspendS(trp); -} - -/** - * @brief Sends the current thread sleeping and sets a reference variable. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] timeout the timeout in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state. - * - @a TIME_IMMEDIATE the thread is not enqueued and - * the function returns @p MSG_TIMEOUT as if a timeout - * occurred. - * . - * @return The wake up message. - * @retval MSG_TIMEOUT if the operation timed out. - * - * @sclass - */ -static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, - systime_t timeout) { - - return chThreadSuspendTimeoutS(trp, timeout); -} - -/** - * @brief Wakes up a thread waiting on a thread reference object. - * @note This function must not reschedule because it can be called from - * ISR context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] msg the message code - * - * @iclass - */ -static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { - - chThreadResumeI(trp, msg); -} - -/** - * @brief Wakes up a thread waiting on a thread reference object. - * @note This function must reschedule, it can only be called from thread - * context. - * - * @param[in] trp a pointer to a thread reference object - * @param[in] msg the message code - * - * @iclass - */ -static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { - - chThreadResumeS(trp, msg); -} - -/** - * @brief Initializes a threads queue object. - * - * @param[out] tqp pointer to the threads queue object - * - * @init - */ -static inline void osalQueueObjectInit(threads_queue_t *tqp) { - - queue_init(tqp); -} - -/** - * @brief Enqueues the caller thread. - * @details The caller thread is enqueued and put to sleep until it is - * dequeued or the specified timeouts expires. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] time the timeout in system ticks, the special values are - * handled as follow: - * - @a TIME_INFINITE the thread enters an infinite sleep - * state. - * - @a TIME_IMMEDIATE the thread is not enqueued and - * the function returns @p MSG_TIMEOUT as if a timeout - * occurred. - * . - * @return The message from @p osalQueueWakeupOneI() or - * @p osalQueueWakeupAllI() functions. - * @retval RDY_TIMEOUT if the thread has not been dequeued within the - * specified timeout or if the function has been - * invoked with @p TIME_IMMEDIATE as timeout - * specification. - * - * @sclass - */ -static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) { - - return chQueueGoSleepTimeoutS(tqp, time); -} - -/** - * @brief Dequeues and wakes up one thread from the queue, if any. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] msg the message code - * - * @iclass - */ -static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) { - - chQueueWakeupOneI(tqp, msg); -} - -/** - * @brief Dequeues and wakes up all threads from the queue. - * - * @param[in] tqp pointer to the threads queue object - * @param[in] msg the message code - * - * @iclass - */ -static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) { - - chQueueWakeupAllI(tqp, msg); -} - -/** - * @brief Initializes an event flags object. - * - * @param[out] esp pointer to the event flags object - * - * @init - */ -static inline void osalEventObjectInit(event_source_t *esp) { - - chEvtObjectInit(esp); -} - -/** - * @brief Add flags to an event source object. - * - * @param[in] esp pointer to the event flags object - * @param[in] flags flags to be ORed to the flags mask - * - * @iclass - */ -static inline void osalEventBroadcastFlagsI(event_source_t *esp, - eventflags_t flags) { - - chEvtBroadcastFlagsI(esp, flags); -} - -/** - * @brief Add flags to an event source object. - * - * @param[in] esp pointer to the event flags object - * @param[in] flags flags to be ORed to the flags mask - * - * @iclass - */ -static inline void osalEventBroadcastFlags(event_source_t *esp, - eventflags_t flags) { - - chEvtBroadcastFlags(esp, flags); -} - -/** - * @brief Initializes s @p mutex_t object. - * - * @param[out] mp pointer to the @p mutex_t object - * - * @init - */ -static inline void osalMutexObjectInit(mutex_t *mp) { - -#if CH_CFG_USE_MUTEXES - chMtxObjectInit(mp); -#elif CH_CFG_USE_SEMAPHORES - chSemObjectInit((semaphore_t *)mp, 1); -#else - *mp = 0; -#endif -} - -/* - * @brief Locks the specified mutex. - * @post The mutex is locked and inserted in the per-thread stack of owned - * mutexes. - * - * @param[in,out] mp pointer to the @p mutex_t object - * - * @api - */ -static inline void osalMutexLock(mutex_t *mp) { - -#if CH_CFG_USE_MUTEXES - chMtxLock(mp); -#elif CH_CFG_USE_SEMAPHORES - chSemWait((semaphore_t *)mp); -#else - *mp = 1; -#endif -} - -/** - * @brief Unlocks the specified mutex. - * @note The HAL guarantees to release mutex in reverse lock order. The - * mutex being unlocked is guaranteed to be the last locked mutex - * by the invoking thread. - * The implementation can rely on this behavior and eventually - * ignore the @p mp parameter which is supplied in order to support - * those OSes not supporting a stack of the owned mutexes. - * - * @param[in,out] mp pointer to the @p mutex_t object - * - * @api - */ -static inline void osalMutexUnlock(mutex_t *mp) { - -#if CH_CFG_USE_MUTEXES - (void)mp; - chMtxUnlock(); -#elif CH_CFG_USE_SEMAPHORES - chSemSignal((semaphore_t *)mp); -#else - *mp = 0; -#endif -} - -#endif /* _OSAL_H_ */ - -/** @} */ diff --git a/os/hal/osal/chibios/osal.mk b/os/hal/osal/chibios/osal.mk deleted file mode 100644 index d80e71931..000000000 --- a/os/hal/osal/chibios/osal.mk +++ /dev/null @@ -1,5 +0,0 @@ -# OSAL files. -OSALSRC += ${CHIBIOS}/os/hal/osal/chibios/osal.c - -# Required include directories -OSALINC += ${CHIBIOS}/os/hal/osal/chibios diff --git a/os/hal/osal/rt/osal.c b/os/hal/osal/rt/osal.c new file mode 100644 index 000000000..52fc27041 --- /dev/null +++ b/os/hal/osal/rt/osal.c @@ -0,0 +1,55 @@ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, + 2011,2012,2013 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 . +*/ + +/** + * @file osal.c + * @brief OSAL module code. + * + * @addtogroup OSAL + * @{ + */ + +#include "osal.h" + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** @} */ diff --git a/os/hal/osal/rt/osal.h b/os/hal/osal/rt/osal.h new file mode 100644 index 000000000..7ae97f92b --- /dev/null +++ b/os/hal/osal/rt/osal.h @@ -0,0 +1,787 @@ +/* + ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010, + 2011,2012,2013 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 . +*/ + +/** + * @file osal.h + * @brief OSAL module header. + * + * @addtogroup OSAL + * @{ + */ + +#ifndef _OSAL_H_ +#define _OSAL_H_ + +#include +#include +#include + +#include "ch.h" + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @name Common constants + * @{ + */ +#if !defined(FALSE) || defined(__DOXYGEN__) +#define FALSE 0 +#endif + +#if !defined(TRUE) || defined(__DOXYGEN__) +#define TRUE (!FALSE) +#endif + +#define OSAL_SUCCESS FALSE +#define OSAL_FAILED TRUE +/** @} */ + +#if 0 +/** + * @name Messages + * @{ + */ +#define MSG_OK RDY_OK +#define MSG_RESET RDY_RESET +#define MSG_TIMEOUT RDY_TIMEOUT +/** @} */ +#endif + +#if 0 +/** + * @name Special time constants + * @{ + */ +#define TIME_IMMEDIATE ((systime_t)0) +#define TIME_INFINITE ((systime_t)-1) +/** @} */ +#endif + +/** + * @name Systick modes. + * @{ + */ +#define OSAL_ST_MODE_NONE 0 +#define OSAL_ST_MODE_PERIODIC 1 +#define OSAL_ST_MODE_FREERUNNING 2 +/** @} */ + +/** + * @brief Systick mode required by the underlying OS. + */ +#if (CH_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__) +#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC +#else +#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING +#endif + +/** + * @brief Required systick frequency or resolution. + */ +#define OSAL_SYSTICK_FREQUENCY CH_CFG_ST_FREQUENCY + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \ + !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \ + !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) +#error "invalid OSAL_ST_MODE setting in osal.h" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +#if 0 +/** + * @brief Type of a system status word. + */ +typedef uint32_t syssts_t; +#endif + +#if 0 +/** + * @brief Type of a message. + */ +typedef int32_t msg_t; +#endif + +#if 0 +/** + * @brief Type of system time counter. + */ +typedef uint32_t systime_t; +#endif + +#if 0 +/** + * @brief Type of realtime counter. + */ +typedef uint32_t rtcnt_t; +#endif + +#if 0 +/** + * @brief Type of a thread reference. + */ +typedef thread_t * thread_reference_t; +#endif + +#if 0 +/** + * @brief Type of an event flags mask. + */ +typedef uint32_t eventflags_t; +#endif + +#if 0 +/** + * @brief Type of an event flags object. + * @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 Retrieval and clearing of the flags are not defined in this + * API and are implementation-dependent. + */ +typedef struct { + volatile eventflags_t flags; /**< @brief Flags stored into the + object. */ +} event_source_t; +#endif + +/** + * @brief Type of a mutex. + * @note If the OS does not support mutexes or there is no OS then them + * mechanism can be simulated. + */ +#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__) +#elif CH_CFG_USE_SEMAPHORES +typedef semaphore_t mutex_t; +#else +typedef uint32_t mutex_t; +#endif + +#if 0 +/** + * @brief Type of a thread queue. + * @details A thread queue is a queue of sleeping threads, queued threads + * can be dequeued one at time or all together. + * @note In this implementation it is implemented as a single reference + * because there are no real threads. + */ +typedef struct { + thread_reference_t tr; +} threads_queue_t; +#endif + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @name Debug related macros + * @{ + */ +/** + * @brief Condition assertion. + * @details If the condition check fails then the OSAL panics with a + * message and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS + * switch is enabled. + * @note The convention for the message is the following:
+ * @(), #@ + * @note The remark string is not currently used except for putting a + * comment in the code about the assertion. + * + * @param[in] c the condition to be verified to be true + * @param[in] remark a remark string + * + * @api + */ +#define osalDbgAssert(c, remark) chDbgAssert(c, remark) + +/** + * @brief Function parameters check. + * @details If the condition check fails then the OSAL panics and halts. + * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch + * is enabled. + * + * @param[in] c the condition to be verified to be true + * + * @api + */ +#define osalDbgCheck(c) chDbgCheck(c) + +/** + * @brief I-Class state check. + * @note Not implemented in this simplified OSAL. + */ +#define osalDbgCheckClassI() chDbgCheckClassI() +/** @} */ + +/** + * @brief S-Class state check. + * @note Not implemented in this simplified OSAL. + */ +#define osalDbgCheckClassS() chDbgCheckClassS() + +/** + * @name IRQ service routines wrappers + * @{ + */ +/** + * @brief IRQ prologue code. + * @details This macro must be inserted at the start of all IRQ handlers. + */ +#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE() + +/** + * @brief IRQ epilogue code. + * @details This macro must be inserted at the end of all IRQ handlers. + */ +#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE() + +/** + * @brief IRQ handler function declaration. + * @details This macro hides the details of an ISR function declaration. + * + * @param[in] id a vector name as defined in @p vectors.s + */ +#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id) +/** @} */ + +/** + * @name Time conversion utilities + * @{ + */ +/** + * @brief Seconds to system ticks. + * @details Converts from seconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] sec number of seconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_S2ST(sec) S2ST(sec) + +/** + * @brief Milliseconds to system ticks. + * @details Converts from milliseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] msec number of milliseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_MS2ST(msec) MS2ST(msec) +/** + * @brief Microseconds to system ticks. + * @details Converts from microseconds to system ticks number. + * @note The result is rounded upward to the next tick boundary. + * + * @param[in] usec number of microseconds + * @return The number of ticks. + * + * @api + */ +#define OSAL_US2ST(usec) US2ST(usec) +/** @} */ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief OSAL module initialization. + * + * @api + */ +static inline void osalInit(void) { + +} + +/** + * @brief System halt with error message. + * + * @param[in] reason the halt message pointer + * + * @api + */ +static inline void osalSysHalt(const char *reason) { + + chSysHalt(reason); +} + +/** + * @brief Enters a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLock(void) { + + chSysLock(); +} + +/** + * @brief Leaves a critical zone from thread context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlock(void) { + + chSysUnlock(); +} + +/** + * @brief Enters a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysLockFromISR(void) { + + chSysLockFromISR(); +} + +/** + * @brief Leaves a critical zone from ISR context. + * @note This function cannot be used for reentrant critical zones. + * + * @special + */ +static inline void osalSysUnlockFromISR(void) { + + chSysUnlockFromISR(); +} + +/** + * @brief Returns the execution status and enters a critical zone. + * @details This functions enters into a critical zone and can be called + * from any context. Because its flexibility it is less efficient + * than @p chSysLock() which is preferable when the calling context + * is known. + * @post The system is in a critical zone. + * + * @return The previous system status, the encoding of this + * status word is architecture-dependent and opaque. + * + * @xclass + */ +static inline syssts_t osalSysGetStatusAndLockX(void) { + + return chSysGetStatusAndLockX(); +} + +/** + * @brief Restores the specified execution status and leaves a critical zone. + * @note A call to @p chSchRescheduleS() is automatically performed + * if exiting the critical zone and if not in ISR context. + * + * @param[in] sts the system status to be restored. + * + * @xclass + */ +static inline void osalSysRestoreStatusX(syssts_t sts) { + + chSysRestoreStatusX(sts); +} + +/** + * @brief Polled delay. + * @note The real delay is always few cycles in excess of the specified + * value. + * + * @param[in] cycles number of cycles + * + * @xclass + */ +#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__) +static inline void osalSysPolledDelayX(rtcnt_t cycles) { + + chSysPolledDelayX(cycles); +} +#endif + +/** + * @brief Systick callback for the underlying OS. + * @note This callback is only defined if the OSAL requires such a + * service from the HAL. + */ +#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__) +static inline void osalOsTimerHandlerI(void) { + + chSysTimerHandlerI(); +} +#endif + +/** + * @brief Checks if a reschedule is required and performs it. + * @note I-Class functions invoked from thread context must not reschedule + * by themselves, an explicit reschedule using this function is + * required in this scenario. + * @note Not implemented in this simplified OSAL. + * + * @sclass + */ +static inline void osalOsRescheduleS(void) { + + chSchRescheduleS(); +} + +/** + * @brief Current system time. + * @details Returns the number of system ticks since the @p chSysInit() + * invocation. + * @note The counter can reach its maximum and then restart from zero. + * @note This function can be called from any context but its atomicity + * is not guaranteed on architectures whose word size is less than + * @systime_t size. + * + * @return The system time in ticks. + * + * @xclass + */ +static inline systime_t osalOsGetSystemTimeX(void) { + + return chVTGetSystemTimeX(); +} + +/** + * @brief Checks if the specified time is within the specified time window. + * @note When start==end then the function returns always true because the + * whole time range is specified. + * @note This function can be called from any context. + * + * @param[in] time the time to be verified + * @param[in] start the start of the time window (inclusive) + * @param[in] end the end of the time window (non inclusive) + * @retval true current time within the specified time window. + * @retval false current time not within the specified time window. + * + * @xclass + */ +static inline bool osalOsIsTimeWithinX(systime_t time, + systime_t start, + systime_t end) { + + return chVTIsTimeWithinX(time, start, end); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, 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. + * . + * + * @sclass + */ +static inline void osalThreadSleepS(systime_t time) { + + chThdSleepS(time); +} + +/** + * @brief Suspends the invoking thread for the specified time. + * + * @param[in] time the delay in system ticks, 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. + * . + * + * @api + */ +static inline void osalThreadSleep(systime_t time) { + + chThdSleep(time); +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @return The wake up message. + * + * @sclass + */ +static inline msg_t osalThreadSuspendS(thread_reference_t *trp) { + + return chThreadSuspendS(trp); +} + +/** + * @brief Sends the current thread sleeping and sets a reference variable. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] timeout the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The wake up message. + * @retval MSG_TIMEOUT if the operation timed out. + * + * @sclass + */ +static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, + systime_t timeout) { + + return chThreadSuspendTimeoutS(trp, timeout); +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must not reschedule because it can be called from + * ISR context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) { + + chThreadResumeI(trp, msg); +} + +/** + * @brief Wakes up a thread waiting on a thread reference object. + * @note This function must reschedule, it can only be called from thread + * context. + * + * @param[in] trp a pointer to a thread reference object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) { + + chThreadResumeS(trp, msg); +} + +/** + * @brief Initializes a threads queue object. + * + * @param[out] tqp pointer to the threads queue object + * + * @init + */ +static inline void osalQueueObjectInit(threads_queue_t *tqp) { + + queue_init(tqp); +} + +/** + * @brief Enqueues the caller thread. + * @details The caller thread is enqueued and put to sleep until it is + * dequeued or the specified timeouts expires. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] time the timeout in system ticks, the special values are + * handled as follow: + * - @a TIME_INFINITE the thread enters an infinite sleep + * state. + * - @a TIME_IMMEDIATE the thread is not enqueued and + * the function returns @p MSG_TIMEOUT as if a timeout + * occurred. + * . + * @return The message from @p osalQueueWakeupOneI() or + * @p osalQueueWakeupAllI() functions. + * @retval RDY_TIMEOUT if the thread has not been dequeued within the + * specified timeout or if the function has been + * invoked with @p TIME_IMMEDIATE as timeout + * specification. + * + * @sclass + */ +static inline msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) { + + return chQueueGoSleepTimeoutS(tqp, time); +} + +/** + * @brief Dequeues and wakes up one thread from the queue, if any. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) { + + chQueueWakeupOneI(tqp, msg); +} + +/** + * @brief Dequeues and wakes up all threads from the queue. + * + * @param[in] tqp pointer to the threads queue object + * @param[in] msg the message code + * + * @iclass + */ +static inline void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) { + + chQueueWakeupAllI(tqp, msg); +} + +/** + * @brief Initializes an event flags object. + * + * @param[out] esp pointer to the event flags object + * + * @init + */ +static inline void osalEventObjectInit(event_source_t *esp) { + + chEvtObjectInit(esp); +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +static inline void osalEventBroadcastFlagsI(event_source_t *esp, + eventflags_t flags) { + + chEvtBroadcastFlagsI(esp, flags); +} + +/** + * @brief Add flags to an event source object. + * + * @param[in] esp pointer to the event flags object + * @param[in] flags flags to be ORed to the flags mask + * + * @iclass + */ +static inline void osalEventBroadcastFlags(event_source_t *esp, + eventflags_t flags) { + + chEvtBroadcastFlags(esp, flags); +} + +/** + * @brief Initializes s @p mutex_t object. + * + * @param[out] mp pointer to the @p mutex_t object + * + * @init + */ +static inline void osalMutexObjectInit(mutex_t *mp) { + +#if CH_CFG_USE_MUTEXES + chMtxObjectInit(mp); +#elif CH_CFG_USE_SEMAPHORES + chSemObjectInit((semaphore_t *)mp, 1); +#else + *mp = 0; +#endif +} + +/* + * @brief Locks the specified mutex. + * @post The mutex is locked and inserted in the per-thread stack of owned + * mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +static inline void osalMutexLock(mutex_t *mp) { + +#if CH_CFG_USE_MUTEXES + chMtxLock(mp); +#elif CH_CFG_USE_SEMAPHORES + chSemWait((semaphore_t *)mp); +#else + *mp = 1; +#endif +} + +/** + * @brief Unlocks the specified mutex. + * @note The HAL guarantees to release mutex in reverse lock order. The + * mutex being unlocked is guaranteed to be the last locked mutex + * by the invoking thread. + * The implementation can rely on this behavior and eventually + * ignore the @p mp parameter which is supplied in order to support + * those OSes not supporting a stack of the owned mutexes. + * + * @param[in,out] mp pointer to the @p mutex_t object + * + * @api + */ +static inline void osalMutexUnlock(mutex_t *mp) { + +#if CH_CFG_USE_MUTEXES + (void)mp; + chMtxUnlock(); +#elif CH_CFG_USE_SEMAPHORES + chSemSignal((semaphore_t *)mp); +#else + *mp = 0; +#endif +} + +#endif /* _OSAL_H_ */ + +/** @} */ diff --git a/os/hal/osal/rt/osal.mk b/os/hal/osal/rt/osal.mk new file mode 100644 index 000000000..d80e71931 --- /dev/null +++ b/os/hal/osal/rt/osal.mk @@ -0,0 +1,5 @@ +# OSAL files. +OSALSRC += ${CHIBIOS}/os/hal/osal/chibios/osal.c + +# Required include directories +OSALINC += ${CHIBIOS}/os/hal/osal/chibios -- cgit v1.2.3