From 4492ac9c2d105d06d4e7ecfb3a63f313d55963a4 Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Tue, 13 Mar 2018 09:47:32 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11721 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/lib/include/chbsem.h | 311 +++++++++++++++++++ os/lib/include/chfactory.h | 486 +++++++++++++++++++++++++++++ os/lib/include/chfifo.h | 342 ++++++++++++++++++++ os/lib/include/chheap.h | 182 +++++++++++ os/lib/include/chlib.h | 226 ++++++++++++++ os/lib/include/chmboxes.h | 214 +++++++++++++ os/lib/include/chmemcore.h | 202 ++++++++++++ os/lib/include/chmempools.h | 323 +++++++++++++++++++ os/lib/lib.mk | 41 +++ os/lib/readme.txt | 3 + os/lib/src/chfactory.c | 725 +++++++++++++++++++++++++++++++++++++++++++ os/lib/src/chheap.c | 399 ++++++++++++++++++++++++ os/lib/src/chmboxes.c | 522 +++++++++++++++++++++++++++++++ os/lib/src/chmemcore.c | 175 +++++++++++ os/lib/src/chmempools.c | 349 +++++++++++++++++++++ os/lib/templates/chlibconf.h | 126 ++++++++ 16 files changed, 4626 insertions(+) create mode 100644 os/lib/include/chbsem.h create mode 100644 os/lib/include/chfactory.h create mode 100644 os/lib/include/chfifo.h create mode 100644 os/lib/include/chheap.h create mode 100644 os/lib/include/chlib.h create mode 100644 os/lib/include/chmboxes.h create mode 100644 os/lib/include/chmemcore.h create mode 100644 os/lib/include/chmempools.h create mode 100644 os/lib/lib.mk create mode 100644 os/lib/readme.txt create mode 100644 os/lib/src/chfactory.c create mode 100644 os/lib/src/chheap.c create mode 100644 os/lib/src/chmboxes.c create mode 100644 os/lib/src/chmemcore.c create mode 100644 os/lib/src/chmempools.c create mode 100644 os/lib/templates/chlibconf.h (limited to 'os/lib') 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 . +*/ + +/** + * @file chbsem.h + * @brief Binary semaphores structures and macros. + * + * @addtogroup binary_semaphores + * @details Binary semaphores related APIs and services. + *

Operation mode

+ * 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: + * - Taken, 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. + * - Not taken, 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.
+ * 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 . +*/ + +/** + * @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 . +*/ + +/** + * @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.
+ * 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: + * - Take: An object is taken from the pool of the free + * objects, can be blocking. + * - Return: An object is returned to the pool of the + * free objects, it is guaranteed to be non-blocking. + * - Send: An object is sent through the mailbox, it is + * guaranteed to be non-blocking + * - Receive: 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 . +*/ + +/** + * @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 . +*/ + +/** + * @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 . +*/ + +/** + * @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 . +*/ + +/** + * @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 . +*/ + +/** + * @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 */ + +/** @} */ diff --git a/os/lib/lib.mk b/os/lib/lib.mk new file mode 100644 index 000000000..f515b0315 --- /dev/null +++ b/os/lib/lib.mk @@ -0,0 +1,41 @@ +# List of all the ChibiOS/LIB files, there is no need to remove the files +# from this list, you can disable parts of the kernel by editing chlibconf.h. +ifeq ($(USE_SMART_BUILD),yes) + +# Configuration files directory +ifeq ($(CONFDIR),) + CONFDIR = . +endif + +CHLIBCONF := $(strip $(shell cat $(CONFDIR)/chconf.h | egrep -e "\#define")) + +LIBSRC := +ifneq ($(findstring CH_CFG_USE_MAILBOXES TRUE,$(CHLIBCONF)),) +LIBSRC += $(CHIBIOS)/os/lib/src/chmboxes.c +endif +ifneq ($(findstring CH_CFG_USE_MEMCORE TRUE,$(CHLIBCONF)),) +LIBSRC += $(CHIBIOS)/os/lib/src/chmemcore.c +endif +ifneq ($(findstring CH_CFG_USE_HEAP TRUE,$(CHLIBCONF)),) +LIBSRC += $(CHIBIOS)/os/lib/src/chheap.c +endif +ifneq ($(findstring CH_CFG_USE_MEMPOOLS TRUE,$(CHLIBCONF)),) +LIBSRC += $(CHIBIOS)/os/lib/src/chmempools.c +endif +ifneq ($(findstring CH_CFG_USE_FACTORY TRUE,$(CHLIBCONF)),) +LIBSRC += $(CHIBIOS)/os/lib/src/chfactory.c +endif +else +LIBSRC := $(CHIBIOS)/os/lib/src/chmboxes.c \ + $(CHIBIOS)/os/lib/src/chmemcore.c \ + $(CHIBIOS)/os/lib/src/chheap.c \ + $(CHIBIOS)/os/lib/src/chmempools.c \ + $(CHIBIOS)/os/lib/src/chfactory.c +endif + +# Required include directories +LIBINC := $(CHIBIOS)/os/lib/include + +# Shared variables +ALLCSRC += $(LIBSRC) +ALLINC += $(LIBINC) diff --git a/os/lib/readme.txt b/os/lib/readme.txt new file mode 100644 index 000000000..e1c274da4 --- /dev/null +++ b/os/lib/readme.txt @@ -0,0 +1,3 @@ +All the code contained under ./os/common/oslib are optional RTOS modules +compatible with both RT and NIL. The code is placed under ./os/common in +order to prevent code duplication and disalignments. diff --git a/os/lib/src/chfactory.c b/os/lib/src/chfactory.c new file mode 100644 index 000000000..dbb13cab8 --- /dev/null +++ b/os/lib/src/chfactory.c @@ -0,0 +1,725 @@ +/* + 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 . +*/ + +/** + * @file chfactory.c + * @brief ChibiOS objects factory and registry code. + * + * @addtogroup objects_factory + * @details The object factory is a subsystem that allows to: + * - Register static objects by name. + * - Dynamically create objects and assign them a name. + * - Retrieve existing objects by name. + * - Free objects by reference. + * . + * Allocated OS objects are handled using a reference counter, only + * when all references have been released then the object memory is + * freed in a pool.
+ * @pre This subsystem requires the @p CH_CFG_USE_MEMCORE and + * @p CH_CFG_USE_MEMPOOLS options to be set to @p TRUE. The + * option @p CH_CFG_USE_HEAP is also required if the support + * for variable length objects is enabled. + * @note Compatible with RT and NIL. + * @{ + */ + +#include + +#include "ch.h" + +#if (CH_CFG_USE_FACTORY == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/* + * Defaults on the best synchronization mechanism available. + */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) +#define F_LOCK() chMtxLock(&ch_factory.mtx) +#define F_UNLOCK() chMtxUnlock(&ch_factory.mtx) +#else +#define F_LOCK() (void) chSemWait(&ch_factory.sem) +#define F_UNLOCK() chSemSignal(&ch_factory.sem) +#endif + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/** + * @brief Factory object static instance. + * @note It is a global object because it could be accessed through + * a specific debugger plugin. + */ +objects_factory_t ch_factory; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +static inline void dyn_list_init(dyn_list_t *dlp) { + + dlp->next = (dyn_element_t *)dlp; +} + +static dyn_element_t *dyn_list_find(const char *name, dyn_list_t *dlp) { + dyn_element_t *p = dlp->next; + + while (p != (dyn_element_t *)dlp) { + if (strncmp(p->name, name, CH_CFG_FACTORY_MAX_NAMES_LENGTH) == 0) { + return p; + } + p = p->next; + } + + return NULL; +} + +static dyn_element_t *dyn_list_unlink(dyn_element_t *element, + dyn_list_t *dlp) { + dyn_element_t *prev = (dyn_element_t *)dlp; + + /* Scanning the list.*/ + while (prev->next != (dyn_element_t *)dlp) { + if (prev->next == element) { + /* Found.*/ + prev->next = element->next; + return element; + } + + /* Next element in the list.*/ + prev = prev->next; + } + + return NULL; +} + +#if CH_FACTORY_REQUIRES_HEAP || defined(__DOXYGEN__) +static dyn_element_t *dyn_create_object_heap(const char *name, + dyn_list_t *dlp, + size_t size) { + dyn_element_t *dep; + + chDbgCheck(name != NULL); + + /* Checking if an object with this name has already been created.*/ + dep = dyn_list_find(name, dlp); + if (dep != NULL) { + return NULL; + } + + /* Allocating space for the new buffer object.*/ + /*lint -save -e668 [] Lint is confused by the above chDbgCheck() and + incorrectly assumes that strncpy() could receive a NULL pointer.*/ + dep = (dyn_element_t *)chHeapAlloc(NULL, size); + if (dep == NULL) { + return NULL; + } + + /* Initializing object list element.*/ + strncpy(dep->name, name, CH_CFG_FACTORY_MAX_NAMES_LENGTH); + /*lint -restore*/ + dep->refs = (ucnt_t)1; + dep->next = dlp->next; + + /* Updating factory list.*/ + dlp->next = dep; + + return dep; +} + +static void dyn_release_object_heap(dyn_element_t *dep, + dyn_list_t *dlp) { + + chDbgCheck(dep != NULL); + chDbgAssert(dep->refs > (ucnt_t)0, "invalid references number"); + + + dep->refs--; + if (dep->refs == (ucnt_t)0) { + dep = dyn_list_unlink(dep, dlp); + chHeapFree((void *)dep); + } +} +#endif /* CH_FACTORY_REQUIRES_HEAP */ + +#if CH_FACTORY_REQUIRES_POOLS || defined(__DOXYGEN__) +static dyn_element_t *dyn_create_object_pool(const char *name, + dyn_list_t *dlp, + memory_pool_t *mp) { + dyn_element_t *dep; + + chDbgCheck(name != NULL); + + /* Checking if an object object with this name has already been created.*/ + dep = dyn_list_find(name, dlp); + if (dep != NULL) { + return NULL; + } + + /* Allocating space for the new object.*/ + dep = (dyn_element_t *)chPoolAlloc(mp); + if (dep == NULL) { + return NULL; + } + + /* Initializing object list element.*/ + /*lint -save -e668 [] Lint is confused by the above chDbgCheck() and + incorrectly assumes that strncpy() could receive a NULL pointer.*/ + strncpy(dep->name, name, CH_CFG_FACTORY_MAX_NAMES_LENGTH); + /*lint -restore*/ + dep->refs = (ucnt_t)1; + dep->next = dlp->next; + + /* Updating factory list.*/ + dlp->next = (dyn_element_t *)dep; + + return dep; +} + +static void dyn_release_object_pool(dyn_element_t *dep, + dyn_list_t *dlp, + memory_pool_t *mp) { + + chDbgCheck(dep != NULL); + chDbgAssert(dep->refs > (ucnt_t)0, "invalid references number"); + + dep->refs--; + if (dep->refs == (ucnt_t)0) { + dep = dyn_list_unlink(dep, dlp); + chPoolFree(mp, (void *)dep); + } +} +#endif /* CH_FACTORY_REQUIRES_POOLS */ + +static dyn_element_t *dyn_find_object(const char *name, dyn_list_t *dlp) { + dyn_element_t *dep; + + chDbgCheck(name != NULL); + + /* Checking if an object with this name has already been created.*/ + dep = dyn_list_find(name, dlp); + if (dep != NULL) { + /* Increasing references counter.*/ + dep->refs++; + } + + return dep; +} + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes the objects factory. + * + * @init + */ +void _factory_init(void) { + +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + chMtxObjectInit(&ch_factory.mtx); +#else + chSemObjectInit(&ch_factory.sem, (cnt_t)1); +#endif + +#if CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE + dyn_list_init(&ch_factory.obj_list); + chPoolObjectInit(&ch_factory.obj_pool, + sizeof (registered_object_t), + chCoreAllocAlignedI); +#endif +#if CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE + dyn_list_init(&ch_factory.buf_list); +#endif +#if CH_CFG_FACTORY_SEMAPHORES == TRUE + dyn_list_init(&ch_factory.sem_list); + chPoolObjectInit(&ch_factory.sem_pool, + sizeof (dyn_semaphore_t), + chCoreAllocAlignedI); +#endif +#if CH_CFG_FACTORY_MAILBOXES == TRUE + dyn_list_init(&ch_factory.mbx_list); +#endif +#if CH_CFG_FACTORY_OBJ_FIFOS == TRUE + dyn_list_init(&ch_factory.fifo_list); +#endif +} + +#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXIGEN__) +/** + * @brief Registers a generic object. + * @post A reference to the registered object is returned and the + * reference counter is initialized to one. + * + * @param[in] name name to be assigned to the registered object + * @param[in] objp pointer to the object to be registered + * + * @return The reference to the registered object. + * @retval NULL if the object to be registered cannot be allocated or + * a registered object with the same name exists. + * + * @api + */ +registered_object_t *chFactoryRegisterObject(const char *name, + void *objp) { + registered_object_t *rop; + + F_LOCK(); + + rop = (registered_object_t *)dyn_create_object_pool(name, + &ch_factory.obj_list, + &ch_factory.obj_pool); + if (rop != NULL) { + /* Initializing registered object data.*/ + rop->objp = objp; + } + + F_UNLOCK(); + + return rop; +} + +/** + * @brief Retrieves a registered object. + * @post A reference to the registered object is returned with the + * reference counter increased by one. + * + * @param[in] name name of the registered object + * + * @return The reference to the found registered object. + * @retval NULL if a registered object with the specified name + * does not exist. + * + * @api + */ +registered_object_t *chFactoryFindObject(const char *name) { + registered_object_t *rop; + + F_LOCK(); + + rop = (registered_object_t *)dyn_find_object(name, &ch_factory.obj_list); + + F_UNLOCK(); + + return rop; +} + +/** + * @brief Retrieves a registered object by pointer. + * @post A reference to the registered object is returned with the + * reference counter increased by one. + * + * @param[in] objp pointer to the object to be retrieved + * + * @return The reference to the found registered object. + * @retval NULL if a registered object with the specified pointer + * does not exist. + * + * @api + */ +registered_object_t *chFactoryFindObjectByPointer(void *objp) { + registered_object_t *rop = (registered_object_t *)ch_factory.obj_list.next; + + F_LOCK(); + + while ((void *)rop != (void *)&ch_factory.obj_list) { + if (rop->objp == objp) { + rop->element.refs++; + + F_UNLOCK(); + + return rop; + } + rop = (registered_object_t *)rop->element.next; + } + + F_UNLOCK(); + + return NULL; +} + +/** + * @brief Releases a registered object. + * @details The reference counter of the registered object is decreased + * by one, if reaches zero then the registered object memory + * is freed. + * @note The object itself is not freed, it could be static, only the + * allocated list element is freed. + * + * @param[in] rop registered object reference + * + * @api + */ +void chFactoryReleaseObject(registered_object_t *rop){ + + F_LOCK(); + + dyn_release_object_pool(&rop->element, + &ch_factory.obj_list, + &ch_factory.obj_pool); + + F_UNLOCK(); +} +#endif /* CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE */ + +#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXIGEN__) +/** + * @brief Creates a generic dynamic buffer object. + * @post A reference to the dynamic buffer object is returned and the + * reference counter is initialized to one. + * @post The dynamic buffer object is filled with zeros. + * + * @param[in] name name to be assigned to the new dynamic buffer object + * @param[in] size payload size of the dynamic buffer object to be created + * + * @return The reference to the created dynamic buffer object. + * @retval NULL if the dynamic buffer object cannot be allocated or + * a dynamic buffer object with the same name exists. + * + * @api + */ +dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size) { + dyn_buffer_t *dbp; + + F_LOCK(); + + dbp = (dyn_buffer_t *)dyn_create_object_heap(name, + &ch_factory.buf_list, + size); + if (dbp != NULL) { + /* Initializing buffer object data.*/ + memset((void *)dbp->buffer, 0, size); + } + + F_UNLOCK(); + + return dbp; +} + +/** + * @brief Retrieves a dynamic buffer object. + * @post A reference to the dynamic buffer object is returned with the + * reference counter increased by one. + * + * @param[in] name name of the dynamic buffer object + * + * @return The reference to the found dynamic buffer object. + * @retval NULL if a dynamic buffer object with the specified name + * does not exist. + * + * @api + */ +dyn_buffer_t *chFactoryFindBuffer(const char *name) { + dyn_buffer_t *dbp; + + F_LOCK(); + + dbp = (dyn_buffer_t *)dyn_find_object(name, &ch_factory.buf_list); + + F_UNLOCK(); + + return dbp; +} + +/** + * @brief Releases a dynamic buffer object. + * @details The reference counter of the dynamic buffer object is decreased + * by one, if reaches zero then the dynamic buffer object memory + * is freed. + * + * @param[in] dbp dynamic buffer object reference + * + * @api + */ +void chFactoryReleaseBuffer(dyn_buffer_t *dbp) { + + F_LOCK(); + + dyn_release_object_heap(&dbp->element, &ch_factory.buf_list); + + F_UNLOCK(); +} +#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS = TRUE */ + +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXIGEN__) +/** + * @brief Creates a dynamic semaphore object. + * @post A reference to the dynamic semaphore object is returned and the + * reference counter is initialized to one. + * @post The dynamic semaphore object is initialized and ready to use. + * + * @param[in] name name to be assigned to the new dynamic semaphore object + * @param[in] n dynamic semaphore object counter initialization value + * + * @return The reference to the created dynamic semaphore object. + * @retval NULL if the dynamic semaphore object cannot be allocated or + * a dynamic semaphore with the same name exists. + * + * @api + */ +dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n) { + dyn_semaphore_t *dsp; + + F_LOCK(); + + dsp = (dyn_semaphore_t *)dyn_create_object_pool(name, + &ch_factory.sem_list, + &ch_factory.sem_pool); + if (dsp != NULL) { + /* Initializing semaphore object dataa.*/ + chSemObjectInit(&dsp->sem, n); + } + + F_UNLOCK(); + + return dsp; +} + +/** + * @brief Retrieves a dynamic semaphore object. + * @post A reference to the dynamic semaphore object is returned with the + * reference counter increased by one. + * + * @param[in] name name of the dynamic semaphore object + * + * @return The reference to the found dynamic semaphore object. + * @retval NULL if a dynamic semaphore object with the specified name + * does not exist. + * + * @api + */ +dyn_semaphore_t *chFactoryFindSemaphore(const char *name) { + dyn_semaphore_t *dsp; + + F_LOCK(); + + dsp = (dyn_semaphore_t *)dyn_find_object(name, &ch_factory.sem_list); + + F_UNLOCK(); + + return dsp; +} + +/** + * @brief Releases a dynamic semaphore object. + * @details The reference counter of the dynamic semaphore object is decreased + * by one, if reaches zero then the dynamic semaphore object memory + * is freed. + * + * @param[in] dsp dynamic semaphore object reference + * + * @api + */ +void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp) { + + F_LOCK(); + + dyn_release_object_pool(&dsp->element, + &ch_factory.sem_list, + &ch_factory.sem_pool); + + F_UNLOCK(); +} +#endif /* CH_CFG_FACTORY_SEMAPHORES = TRUE */ + +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXIGEN__) +/** + * @brief Creates a dynamic mailbox object. + * @post A reference to the dynamic mailbox object is returned and the + * reference counter is initialized to one. + * @post The dynamic mailbox object is initialized and ready to use. + * + * @param[in] name name to be assigned to the new dynamic mailbox object + * @param[in] n mailbox buffer size as number of messages + * + * @return The reference to the created dynamic mailbox object. + * @retval NULL if the dynamic mailbox object cannot be allocated or + * a dynamic mailbox object with the same name exists. + * + * @api + */ +dyn_mailbox_t *chFactoryCreateMailbox(const char *name, size_t n) { + dyn_mailbox_t *dmp; + + F_LOCK(); + + dmp = (dyn_mailbox_t *)dyn_create_object_heap(name, + &ch_factory.mbx_list, + sizeof (dyn_mailbox_t) + + (n * sizeof (msg_t))); + if (dmp != NULL) { + /* Initializing mailbox object data.*/ + chMBObjectInit(&dmp->mbx, dmp->msgbuf, n); + } + + F_UNLOCK(); + + return dmp; +} + +/** + * @brief Retrieves a dynamic mailbox object. + * @post A reference to the dynamic mailbox object is returned with the + * reference counter increased by one. + * + * @param[in] name name of the dynamic mailbox object + * + * @return The reference to the found dynamic mailbox object. + * @retval NULL if a dynamic mailbox object with the specified name + * does not exist. + * + * @api + */ +dyn_mailbox_t *chFactoryFindMailbox(const char *name) { + dyn_mailbox_t *dmp; + + F_LOCK(); + + dmp = (dyn_mailbox_t *)dyn_find_object(name, &ch_factory.mbx_list); + + F_UNLOCK(); + + return dmp; +} + +/** + * @brief Releases a dynamic mailbox object. + * @details The reference counter of the dynamic mailbox object is decreased + * by one, if reaches zero then the dynamic mailbox object memory + * is freed. + * + * @param[in] dmp dynamic mailbox object reference + * + * @api + */ +void chFactoryReleaseMailbox(dyn_mailbox_t *dmp) { + + F_LOCK(); + + dyn_release_object_heap(&dmp->element, &ch_factory.mbx_list); + + F_UNLOCK(); +} +#endif /* CH_CFG_FACTORY_MAILBOXES = TRUE */ + +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXIGEN__) +/** + * @brief Creates a dynamic "objects FIFO" object. + * @post A reference to the dynamic "objects FIFO" object is returned and + * the reference counter is initialized to one. + * @post The dynamic "objects FIFO" object is initialized and ready to use. + * + * @param[in] name name to be assigned to the new dynamic "objects FIFO" + * object + * @param[in] objsize size of objects + * @param[in] objn number of objects available + * @param[in] objalign required objects alignment + * @return The reference to the created dynamic "objects FIFO" + * object. + * @retval NULL if the dynamic "objects FIFO" object cannot be + * allocated or a dynamic "objects FIFO" object with + * the same name exists. + * + * @api + */ +dyn_objects_fifo_t *chFactoryCreateObjectsFIFO(const char *name, + size_t objsize, + size_t objn, + unsigned objalign) { + dyn_objects_fifo_t *dofp; + + F_LOCK(); + + dofp = (dyn_objects_fifo_t *)dyn_create_object_heap(name, + &ch_factory.fifo_list, + sizeof (dyn_objects_fifo_t) + + (objn * sizeof (msg_t)) + + (objn * objsize)); + if (dofp != NULL) { + /* Initializing mailbox object data.*/ + chFifoObjectInit(&dofp->fifo, objsize, objn, objalign, + (void *)&dofp->msgbuf[objn], dofp->msgbuf); + } + + F_UNLOCK(); + + return dofp; +} + +/** + * @brief Retrieves a dynamic "objects FIFO" object. + * @post A reference to the dynamic "objects FIFO" object is returned with + * the reference counter increased by one. + * + * @param[in] name name of the dynamic "objects FIFO" object + * + * @return The reference to the found dynamic "objects FIFO" + * object. + * @retval NULL if a dynamic "objects FIFO" object with the specified + * name does not exist. + * + * @api + */ +dyn_objects_fifo_t *chFactoryFindObjectsFIFO(const char *name) { + dyn_objects_fifo_t *dofp; + + F_LOCK(); + + dofp = (dyn_objects_fifo_t *)dyn_find_object(name, &ch_factory.fifo_list); + + F_UNLOCK(); + + return dofp; +} + +/** + * @brief Releases a dynamic "objects FIFO" object. + * @details The reference counter of the dynamic "objects FIFO" object is + * decreased by one, if reaches zero then the dynamic "objects FIFO" + * object memory is freed. + * + * @param[in] dofp dynamic "objects FIFO" object reference + * + * @api + */ +void chFactoryReleaseObjectsFIFO(dyn_objects_fifo_t *dofp) { + + F_LOCK(); + + dyn_release_object_heap(&dofp->element, &ch_factory.fifo_list); + + F_UNLOCK(); +} +#endif /* CH_CFG_FACTORY_MAILBOXES = TRUE */ + +#endif /* CH_CFG_USE_FACTORY == TRUE */ + +/** @} */ diff --git a/os/lib/src/chheap.c b/os/lib/src/chheap.c new file mode 100644 index 000000000..d3d25458f --- /dev/null +++ b/os/lib/src/chheap.c @@ -0,0 +1,399 @@ +/* + 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 . +*/ + +/** + * @file chheap.c + * @brief Heaps code. + * + * @addtogroup heaps + * @details Heap Allocator related APIs. + *

Operation mode

+ * The heap allocator implements a first-fit strategy and its APIs + * are functionally equivalent to the usual @p malloc() and @p free() + * library functions. The main difference is that the OS heap APIs + * are guaranteed to be thread safe and there is the ability to + * return memory blocks aligned to arbitrary powers of two.
+ * @pre In order to use the heap APIs the @p CH_CFG_USE_HEAP option must + * be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module local definitions. */ +/*===========================================================================*/ + +/* + * Defaults on the best synchronization mechanism available. + */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) +#define H_LOCK(h) chMtxLock(&(h)->mtx) +#define H_UNLOCK(h) chMtxUnlock(&(h)->mtx) +#else +#define H_LOCK(h) (void) chSemWait(&(h)->sem) +#define H_UNLOCK(h) chSemSignal(&(h)->sem) +#endif + +#define H_BLOCK(hp) ((hp) + 1U) + +#define H_LIMIT(hp) (H_BLOCK(hp) + H_PAGES(hp)) + +#define H_NEXT(hp) ((hp)->free.next) + +#define H_PAGES(hp) ((hp)->free.pages) + +#define H_HEAP(hp) ((hp)->used.heap) + +#define H_SIZE(hp) ((hp)->used.size) + +/* + * Number of pages between two pointers in a MISRA-compatible way. + */ +#define NPAGES(p1, p2) \ + /*lint -save -e9033 [10.8] The cast is safe.*/ \ + ((size_t)((p1) - (p2))) \ + /*lint -restore*/ + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/** + * @brief Default heap descriptor. + */ +static memory_heap_t default_heap; + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes the default heap. + * + * @notapi + */ +void _heap_init(void) { + + default_heap.provider = chCoreAllocAlignedWithOffset; + H_NEXT(&default_heap.header) = NULL; + H_PAGES(&default_heap.header) = 0; +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + chMtxObjectInit(&default_heap.mtx); +#else + chSemObjectInit(&default_heap.sem, (cnt_t)1); +#endif +} + +/** + * @brief Initializes a memory heap from a static memory area. + * @note The heap buffer base and size are adjusted if the passed buffer + * is not aligned to @p CH_HEAP_ALIGNMENT. This mean that the + * effective heap size can be less than @p size. + * + * @param[out] heapp pointer to the memory heap descriptor to be initialized + * @param[in] buf heap buffer base + * @param[in] size heap size + * + * @init + */ +void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size) { + heap_header_t *hp = (heap_header_t *)MEM_ALIGN_NEXT(buf, CH_HEAP_ALIGNMENT); + + chDbgCheck((heapp != NULL) && (size > 0U)); + + /* Adjusting the size in case the initial block was not correctly + aligned.*/ + /*lint -save -e9033 [10.8] Required cast operations.*/ + size -= (size_t)((uint8_t *)hp - (uint8_t *)buf); + /*lint restore*/ + + /* Initializing the heap header.*/ + heapp->provider = NULL; + H_NEXT(&heapp->header) = hp; + H_PAGES(&heapp->header) = 0; + H_NEXT(hp) = NULL; + H_PAGES(hp) = (size - sizeof (heap_header_t)) / CH_HEAP_ALIGNMENT; +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + chMtxObjectInit(&heapp->mtx); +#else + chSemObjectInit(&heapp->sem, (cnt_t)1); +#endif +} + +/** + * @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 to the + * specified alignment. + * + * @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. + * @param[in] align desired memory alignment + * @return A pointer to the aligned allocated block. + * @retval NULL if the block cannot be allocated. + * + * @api + */ +void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align) { + heap_header_t *qp, *hp, *ahp; + size_t pages; + + chDbgCheck((size > 0U) && MEM_IS_VALID_ALIGNMENT(align)); + + /* If an heap is not specified then the default system header is used.*/ + if (heapp == NULL) { + heapp = &default_heap; + } + + /* Minimum alignment is constrained by the heap header structure size.*/ + if (align < CH_HEAP_ALIGNMENT) { + align = CH_HEAP_ALIGNMENT; + } + + /* Size is converted in number of elementary allocation units.*/ + pages = MEM_ALIGN_NEXT(size, CH_HEAP_ALIGNMENT) / CH_HEAP_ALIGNMENT; + + /* Taking heap mutex/semaphore.*/ + H_LOCK(heapp); + + /* Start of the free blocks list.*/ + qp = &heapp->header; + while (H_NEXT(qp) != NULL) { + + /* Next free block.*/ + hp = H_NEXT(qp); + + /* Pointer aligned to the requested alignment.*/ + ahp = (heap_header_t *)MEM_ALIGN_NEXT(H_BLOCK(hp), align) - 1U; + + if ((ahp < H_LIMIT(hp)) && (pages <= NPAGES(H_LIMIT(hp), ahp + 1U))) { + /* The block is large enough to contain a correctly aligned area + of sufficient size.*/ + + if (ahp > hp) { + /* The block is not properly aligned, must split it.*/ + size_t bpages; + + bpages = NPAGES(H_LIMIT(hp), H_BLOCK(ahp)); + H_PAGES(hp) = NPAGES(ahp, H_BLOCK(hp)); + if (bpages > pages) { + /* The block is bigger than required, must split the excess.*/ + heap_header_t *fp; + + /* Creating the excess block.*/ + fp = H_BLOCK(ahp) + pages; + H_PAGES(fp) = (bpages - pages) - 1U; + + /* Linking the excess block.*/ + H_NEXT(fp) = H_NEXT(hp); + H_NEXT(hp) = fp; + } + + hp = ahp; + } + else { + /* The block is already properly aligned.*/ + + if (H_PAGES(hp) == pages) { + /* Exact size, getting the whole block.*/ + H_NEXT(qp) = H_NEXT(hp); + } + else { + /* The block is bigger than required, must split the excess.*/ + heap_header_t *fp; + + fp = H_BLOCK(hp) + pages; + H_NEXT(fp) = H_NEXT(hp); + H_PAGES(fp) = NPAGES(H_LIMIT(hp), H_BLOCK(fp)); + H_NEXT(qp) = fp; + } + } + + /* Setting in the block owner heap and size.*/ + H_SIZE(hp) = size; + H_HEAP(hp) = heapp; + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + /*lint -save -e9087 [11.3] Safe cast.*/ + return (void *)H_BLOCK(hp); + /*lint -restore*/ + } + + /* Next in the free blocks list.*/ + qp = hp; + } + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + /* More memory is required, tries to get it from the associated provider + else fails.*/ + if (heapp->provider != NULL) { + ahp = heapp->provider((pages + 1U) * CH_HEAP_ALIGNMENT, + align, + sizeof (heap_header_t)); + if (ahp != NULL) { + hp = ahp - 1U; + H_HEAP(hp) = heapp; + H_SIZE(hp) = size; + + /*lint -save -e9087 [11.3] Safe cast.*/ + return (void *)ahp; + /*lint -restore*/ + } + } + + return NULL; +} + +/** + * @brief Frees a previously allocated memory block. + * + * @param[in] p pointer to the memory block to be freed + * + * @api + */ +void chHeapFree(void *p) { + heap_header_t *qp, *hp; + memory_heap_t *heapp; + + chDbgCheck((p != NULL) && MEM_IS_ALIGNED(p, CH_HEAP_ALIGNMENT)); + + /*lint -save -e9087 [11.3] Safe cast.*/ + hp = (heap_header_t *)p - 1U; + /*lint -restore*/ + heapp = H_HEAP(hp); + qp = &heapp->header; + + /* Size is converted in number of elementary allocation units.*/ + H_PAGES(hp) = MEM_ALIGN_NEXT(H_SIZE(hp), + CH_HEAP_ALIGNMENT) / CH_HEAP_ALIGNMENT; + + /* Taking heap mutex/semaphore.*/ + H_LOCK(heapp); + + while (true) { + chDbgAssert((hp < qp) || (hp >= H_LIMIT(qp)), "within free block"); + + if (((qp == &heapp->header) || (hp > qp)) && + ((H_NEXT(qp) == NULL) || (hp < H_NEXT(qp)))) { + /* Insertion after qp.*/ + H_NEXT(hp) = H_NEXT(qp); + H_NEXT(qp) = hp; + /* Verifies if the newly inserted block should be merged.*/ + if (H_LIMIT(hp) == H_NEXT(hp)) { + /* Merge with the next block.*/ + H_PAGES(hp) += H_PAGES(H_NEXT(hp)) + 1U; + H_NEXT(hp) = H_NEXT(H_NEXT(hp)); + } + if ((H_LIMIT(qp) == hp)) { + /* Merge with the previous block.*/ + H_PAGES(qp) += H_PAGES(hp) + 1U; + H_NEXT(qp) = H_NEXT(hp); + } + break; + } + qp = H_NEXT(qp); + } + + /* Releasing heap mutex/semaphore.*/ + H_UNLOCK(heapp); + + return; +} + +/** + * @brief Reports the heap status. + * @note This function is meant to be used in the test suite, it should + * not be really useful for the application code. + * + * @param[in] heapp pointer to a heap descriptor or @p NULL in order to + * access the default heap. + * @param[in] totalp pointer to a variable that will receive the total + * fragmented free space or @ NULL + * @param[in] largestp pointer to a variable that will receive the largest + * free free block found space or @ NULL + * @return The number of fragments in the heap. + * + * @api + */ +size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp) { + heap_header_t *qp; + size_t n, tpages, lpages; + + if (heapp == NULL) { + heapp = &default_heap; + } + + H_LOCK(heapp); + tpages = 0U; + lpages = 0U; + n = 0U; + qp = &heapp->header; + while (H_NEXT(qp) != NULL) { + size_t pages = H_PAGES(H_NEXT(qp)); + + /* Updating counters.*/ + n++; + tpages += pages; + if (pages > lpages) { + lpages = pages; + } + + qp = H_NEXT(qp); + } + + /* Writing out fragmented free memory.*/ + if (totalp != NULL) { + *totalp = tpages * CH_HEAP_ALIGNMENT; + } + + /* Writing out unfragmented free memory.*/ + if (largestp != NULL) { + *largestp = lpages * CH_HEAP_ALIGNMENT; + } + H_UNLOCK(heapp); + + return n; +} + +#endif /* CH_CFG_USE_HEAP == TRUE */ + +/** @} */ diff --git a/os/lib/src/chmboxes.c b/os/lib/src/chmboxes.c new file mode 100644 index 000000000..af10c6d7e --- /dev/null +++ b/os/lib/src/chmboxes.c @@ -0,0 +1,522 @@ +/* + 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 . +*/ + +/** + * @file chmboxes.c + * @brief Mailboxes code. + * + * @addtogroup mailboxes + * @details Asynchronous messages. + *

Operation mode

+ * A mailbox is an asynchronous communication mechanism.
+ * Operations defined for mailboxes: + * - Post: Posts a message on the mailbox in FIFO order. + * - Post Ahead: Posts a message on the mailbox with urgent + * priority. + * - Fetch: A message is fetched from the mailbox and removed + * from the queue. + * - Reset: The mailbox is emptied and all the stored messages + * are lost. + * . + * A message is a variable of type msg_t that is guaranteed to have + * the same size of and be compatible with (data) pointers (anyway an + * explicit cast is needed). + * If larger messages need to be exchanged then a pointer to a + * structure can be posted in the mailbox but the posting side has + * no predefined way to know when the message has been processed. A + * possible approach is to allocate memory (from a memory pool for + * example) from the posting side and free it on the fetching side. + * Another approach is to set a "done" flag into the structure pointed + * by the message. + * @pre In order to use the mailboxes APIs the @p CH_CFG_USE_MAILBOXES + * option must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes a @p mailbox_t object. + * + * @param[out] mbp the pointer to the @p mailbox_t structure to be + * initialized + * @param[in] buf pointer to the messages buffer as an array of @p msg_t + * @param[in] n number of elements in the buffer array + * + * @init + */ +void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n) { + + chDbgCheck((mbp != NULL) && (buf != NULL) && (n > (size_t)0)); + + mbp->buffer = buf; + mbp->rdptr = buf; + mbp->wrptr = buf; + mbp->top = &buf[n]; + mbp->cnt = (size_t)0; + mbp->reset = false; + chThdQueueObjectInit(&mbp->qw); + chThdQueueObjectInit(&mbp->qr); +} + +/** + * @brief Resets a @p mailbox_t object. + * @details All the waiting threads are resumed with status @p MSG_RESET and + * the queued messages are lost. + * @post The mailbox is in reset state, all operations will fail and + * return @p MSG reset until the mailbox is enabled again using + * @p chMBResumeX(). + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * + * @api + */ +void chMBReset(mailbox_t *mbp) { + + chSysLock(); + chMBResetI(mbp); + chSchRescheduleS(); + chSysUnlock(); +} + +/** + * @brief Resets a @p mailbox_t object. + * @details All the waiting threads are resumed with status @p MSG_RESET and + * the queued messages are lost. + * @post The mailbox is in reset state, all operations will fail and + * return @p MSG reset until the mailbox is enabled again using + * @p chMBResumeX(). + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * + * @api + */ +void chMBResetI(mailbox_t *mbp) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + mbp->wrptr = mbp->buffer; + mbp->rdptr = mbp->buffer; + mbp->cnt = (size_t)0; + mbp->reset = true; + chThdDequeueAllI(&mbp->qw, MSG_RESET); + chThdDequeueAllI(&mbp->qr, MSG_RESET); +} + +/** + * @brief Posts a message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @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 a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBPostTimeoutS(mbp, msg, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Posts a message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @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 a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck(mbp != NULL); + + do { + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a free message slot in queue? if so then post.*/ + if (chMBGetFreeCountI(mbp) > (size_t)0) { + *mbp->wrptr++ = msg; + if (mbp->wrptr >= mbp->top) { + mbp->wrptr = mbp->buffer; + } + mbp->cnt++; + + /* If there is a reader waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qr, MSG_OK); + chSchRescheduleS(); + + return MSG_OK; + } + + /* No space in the queue, waiting for a slot to become available.*/ + rdymsg = chThdEnqueueTimeoutS(&mbp->qw, timeout); + } while (rdymsg == MSG_OK); + + return rdymsg; +} + +/** + * @brief Posts a message into a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is full. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be + * posted. + * + * @iclass + */ +msg_t chMBPostI(mailbox_t *mbp, msg_t msg) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a free message slot in queue? if so then post.*/ + if (chMBGetFreeCountI(mbp) > (size_t)0) { + *mbp->wrptr++ = msg; + if (mbp->wrptr >= mbp->top) { + mbp->wrptr = mbp->buffer; + } + mbp->cnt++; + + /* If there is a reader waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qr, MSG_OK); + + return MSG_OK; + } + + /* No space, immediate timeout.*/ + return MSG_TIMEOUT; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @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 a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBPostAheadTimeoutS(mbp, msg, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details The invoking thread waits until a empty slot in the mailbox becomes + * available or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @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 a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck(mbp != NULL); + + do { + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a free message slot in queue? if so then post.*/ + if (chMBGetFreeCountI(mbp) > (size_t)0) { + if (--mbp->rdptr < mbp->buffer) { + mbp->rdptr = mbp->top - 1; + } + *mbp->rdptr = msg; + mbp->cnt++; + + /* If there is a reader waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qr, MSG_OK); + chSchRescheduleS(); + + return MSG_OK; + } + + /* No space in the queue, waiting for a slot to become available.*/ + rdymsg = chThdEnqueueTimeoutS(&mbp->qw, timeout); + } while (rdymsg == MSG_OK); + + return rdymsg; +} + +/** + * @brief Posts an high priority message into a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is full. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[in] msg the message to be posted on the mailbox + * @return The operation status. + * @retval MSG_OK if a message has been correctly posted. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be + * posted. + * + * @iclass + */ +msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg) { + + chDbgCheckClassI(); + chDbgCheck(mbp != NULL); + + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a free message slot in queue? if so then post.*/ + if (chMBGetFreeCountI(mbp) > (size_t)0) { + if (--mbp->rdptr < mbp->buffer) { + mbp->rdptr = mbp->top - 1; + } + *mbp->rdptr = msg; + mbp->cnt++; + + /* If there is a reader waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qr, MSG_OK); + + return MSG_OK; + } + + /* No space, immediate timeout.*/ + return MSG_TIMEOUT; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details The invoking thread waits until a message is posted in the mailbox + * or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @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 a message has been correctly fetched. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout) { + msg_t rdymsg; + + chSysLock(); + rdymsg = chMBFetchTimeoutS(mbp, msgp, timeout); + chSysUnlock(); + + return rdymsg; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details The invoking thread waits until a message is posted in the mailbox + * or the specified time runs out. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @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 a message has been correctly fetched. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout) { + msg_t rdymsg; + + chDbgCheckClassS(); + chDbgCheck((mbp != NULL) && (msgp != NULL)); + + do { + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a message in queue? if so then fetch.*/ + if (chMBGetUsedCountI(mbp) > (size_t)0) { + *msgp = *mbp->rdptr++; + if (mbp->rdptr >= mbp->top) { + mbp->rdptr = mbp->buffer; + } + mbp->cnt--; + + /* If there is a writer waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qw, MSG_OK); + chSchRescheduleS(); + + return MSG_OK; + } + + /* No message in the queue, waiting for a message to become available.*/ + rdymsg = chThdEnqueueTimeoutS(&mbp->qr, timeout); + } while (rdymsg == MSG_OK); + + return rdymsg; +} + +/** + * @brief Retrieves a message from a mailbox. + * @details This variant is non-blocking, the function returns a timeout + * condition if the queue is empty. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @param[out] msgp pointer to a message variable for the received message + * @return The operation status. + * @retval MSG_OK if a message has been correctly fetched. + * @retval MSG_RESET if the mailbox has been reset. + * @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be + * fetched. + * + * @iclass + */ +msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp) { + + chDbgCheckClassI(); + chDbgCheck((mbp != NULL) && (msgp != NULL)); + + /* If the mailbox is in reset state then returns immediately.*/ + if (mbp->reset) { + return MSG_RESET; + } + + /* Is there a message in queue? if so then fetch.*/ + if (chMBGetUsedCountI(mbp) > (size_t)0) { + *msgp = *mbp->rdptr++; + if (mbp->rdptr >= mbp->top) { + mbp->rdptr = mbp->buffer; + } + mbp->cnt--; + + /* If there is a writer waiting then makes it ready.*/ + chThdDequeueNextI(&mbp->qw, MSG_OK); + + return MSG_OK; + } + + /* No message, immediate timeout.*/ + return MSG_TIMEOUT; +} +#endif /* CH_CFG_USE_MAILBOXES == TRUE */ + +/** @} */ diff --git a/os/lib/src/chmemcore.c b/os/lib/src/chmemcore.c new file mode 100644 index 000000000..bb3832171 --- /dev/null +++ b/os/lib/src/chmemcore.c @@ -0,0 +1,175 @@ +/* + 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 . +*/ + +/** + * @file chmemcore.c + * @brief Core memory manager code. + * + * @addtogroup memcore + * @details Core Memory Manager related APIs and services. + *

Operation mode

+ * The core memory manager is a simplified allocator that only + * allows to allocate memory blocks without the possibility to + * free them.
+ * This allocator is meant as a memory blocks provider for the + * other allocators such as: + * - C-Runtime allocator (through a compiler specific adapter module). + * - Heap allocator (see @ref heaps). + * - Memory pools allocator (see @ref pools). + * . + * By having a centralized memory provider the various allocators + * can coexist and share the main memory.
+ * This allocator, alone, is also useful for very simple + * applications that just require a simple way to get memory + * blocks. + * @pre In order to use the core memory manager APIs the @p CH_CFG_USE_MEMCORE + * option must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/** + * @brief Memory core descriptor. + */ +memcore_t ch_memcore; + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported functions. */ +/*===========================================================================*/ + +/** + * @brief Low level memory manager initialization. + * + * @notapi + */ +void _core_init(void) { +#if CH_CFG_MEMCORE_SIZE == 0 + extern uint8_t __heap_base__[]; + extern uint8_t __heap_end__[]; + + /*lint -save -e9033 [10.8] Required cast operations.*/ + ch_memcore.nextmem = __heap_base__; + ch_memcore.endmem = __heap_end__; + /*lint restore*/ +#else + static uint8_t static_heap[CH_CFG_MEMCORE_SIZE]; + + ch_memcore.nextmem = &static_heap[0]; + ch_memcore.endmem = &static_heap[CH_CFG_MEMCORE_SIZE]; +#endif +} + +/** + * @brief Allocates a memory block. + * @details This function allocates a block of @p offset + @p size bytes. The + * returned pointer has @p offset bytes before its address and + * @p size bytes after. + * + * @param[in] size the size of the block to be allocated. + * @param[in] align desired memory alignment + * @param[in] offset aligned pointer offset + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @iclass + */ +void *chCoreAllocAlignedWithOffsetI(size_t size, + unsigned align, + size_t offset) { + uint8_t *p, *next; + + chDbgCheckClassI(); + chDbgCheck(MEM_IS_VALID_ALIGNMENT(align)); + + size = MEM_ALIGN_NEXT(size, align); + p = (uint8_t *)MEM_ALIGN_NEXT(ch_memcore.nextmem + offset, align); + next = p + size; + + /* Considering also the case where there is numeric overflow.*/ + if ((next > ch_memcore.endmem) || (next < ch_memcore.nextmem)) { + return NULL; + } + + ch_memcore.nextmem = next; + + return p; +} + +/** + * @brief Allocates a memory block. + * @details This function allocates a block of @p offset + @p size bytes. The + * returned pointer has @p offset bytes before its address and + * @p size bytes after. + * + * @param[in] size the size of the block to be allocated. + * @param[in] align desired memory alignment + * @param[in] offset aligned pointer offset + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @api + */ +void *chCoreAllocAlignedWithOffset(size_t size, + unsigned align, + size_t offset) { + void *p; + + chSysLock(); + p = chCoreAllocAlignedWithOffsetI(size, align, offset); + chSysUnlock(); + + return p; +} + +/** + * @brief Core memory status. + * + * @return The size, in bytes, of the free core memory. + * + * @xclass + */ +size_t chCoreGetStatusX(void) { + + /*lint -save -e9033 [10.8] The cast is safe.*/ + return (size_t)(ch_memcore.endmem - ch_memcore.nextmem); + /*lint -restore*/ +} +#endif /* CH_CFG_USE_MEMCORE == TRUE */ + +/** @} */ diff --git a/os/lib/src/chmempools.c b/os/lib/src/chmempools.c new file mode 100644 index 000000000..bd631d5b0 --- /dev/null +++ b/os/lib/src/chmempools.c @@ -0,0 +1,349 @@ +/* + 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 . +*/ + +/** + * @file chmempools.c + * @brief Memory Pools code. + * + * @addtogroup pools + * @details Memory Pools related APIs and services. + *

Operation mode

+ * The Memory Pools APIs allow to allocate/free fixed size objects in + * constant time and reliably without memory fragmentation + * problems.
+ * Memory Pools do not enforce any alignment constraint on the + * contained object however the objects must be properly aligned + * to contain a pointer to void. + * @pre In order to use the memory pools APIs the @p CH_CFG_USE_MEMPOOLS option + * must be enabled in @p chconf.h. + * @note Compatible with RT and NIL. + * @{ + */ + +#include "ch.h" + +#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module local functions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module exported 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] 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 + * + * @init + */ +void chPoolObjectInitAligned(memory_pool_t *mp, size_t size, + unsigned align, memgetfunc_t provider) { + + chDbgCheck((mp != NULL) && (size >= sizeof(void *))); + + mp->next = NULL; + mp->object_size = size; + mp->align = align; + mp->provider = provider; +} + +/** + * @brief Loads a memory pool with an array of static objects. + * @pre The memory pool must already be initialized. + * @pre The array elements must be of the right size for the specified + * memory pool. + * @pre The array elements size must be a multiple of the alignment + * requirement for the pool. + * @post The memory pool contains the elements of the input array. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] p pointer to the array first element + * @param[in] n number of elements in the array + * + * @api + */ +void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n) { + + chDbgCheck((mp != NULL) && (n != 0U)); + + while (n != 0U) { + chPoolAdd(mp, p); + /*lint -save -e9087 [11.3] Safe cast.*/ + p = (void *)(((uint8_t *)p) + mp->object_size); + /*lint -restore*/ + n--; + } +} + +/** + * @brief Allocates an object from a memory pool. + * @pre The memory pool must already be initialized. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @return The pointer to the allocated object. + * @retval NULL if pool is empty. + * + * @iclass + */ +void *chPoolAllocI(memory_pool_t *mp) { + void *objp; + + chDbgCheckClassI(); + chDbgCheck(mp != NULL); + + objp = mp->next; + /*lint -save -e9013 [15.7] There is no else because it is not needed.*/ + if (objp != NULL) { + mp->next = mp->next->next; + } + else if (mp->provider != NULL) { + objp = mp->provider(mp->object_size, mp->align); + } + /*lint -restore*/ + + return objp; +} + +/** + * @brief Allocates an object from a memory pool. + * @pre The memory pool must already be initialized. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @return The pointer to the allocated object. + * @retval NULL if pool is empty. + * + * @api + */ +void *chPoolAlloc(memory_pool_t *mp) { + void *objp; + + chSysLock(); + objp = chPoolAllocI(mp); + chSysUnlock(); + + return objp; +} + +/** + * @brief Releases an object into a memory pool. + * @pre The memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @iclass + */ +void chPoolFreeI(memory_pool_t *mp, void *objp) { + struct pool_header *php = objp; + + chDbgCheckClassI(); + chDbgCheck((mp != NULL) && (objp != NULL)); + + chDbgAssert(((size_t)objp & MEM_ALIGN_MASK(mp->align)) == 0U, + "unaligned object"); + + php->next = mp->next; + mp->next = php; +} + +/** + * @brief Releases an object into a memory pool. + * @pre The memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @api + */ +void chPoolFree(memory_pool_t *mp, void *objp) { + + chSysLock(); + chPoolFreeI(mp, objp); + chSysUnlock(); +} + +#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. + * @param[in] align required memory alignment + * + * @init + */ +void chGuardedPoolObjectInitAligned(guarded_memory_pool_t *gmp, + size_t size, + unsigned align) { + + chPoolObjectInitAligned(&gmp->pool, size, align, NULL); + chSemObjectInit(&gmp->sem, (cnt_t)0); +} + +/** + * @brief Loads a guarded memory pool with an array of static objects. + * @pre The guarded memory pool must already be initialized. + * @pre The array elements must be of the right size for the specified + * guarded memory pool. + * @post The guarded memory pool contains the elements of the input array. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] p pointer to the array first element + * @param[in] n number of elements in the array + * + * @api + */ +void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n) { + + chDbgCheck((gmp != NULL) && (n != 0U)); + + while (n != 0U) { + chGuardedPoolAdd(gmp, p); + /*lint -save -e9087 [11.3] Safe cast.*/ + p = (void *)(((uint8_t *)p) + gmp->pool.object_size); + /*lint -restore*/ + n--; + } +} + +/** + * @brief Allocates an object from a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_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 the operation timed out. + * + * @sclass + */ +void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp, + sysinterval_t timeout) { + msg_t msg; + + msg = chSemWaitTimeoutS(&gmp->sem, timeout); + if (msg != MSG_OK) { + return NULL; + } + + return chPoolAllocI(&gmp->pool); +} + +/** + * @brief Allocates an object from a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_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 the operation timed out. + * + * @api + */ +void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp, + sysinterval_t timeout) { + void *p; + + chSysLock(); + p = chGuardedPoolAllocTimeoutS(gmp, timeout); + chSysUnlock(); + + return p; +} + +/** + * @brief Releases an object into a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @iclass + */ +void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp) { + + chPoolFreeI(&gmp->pool, objp); + chSemSignalI(&gmp->sem); +} + +/** + * @brief Releases an object into a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @api + */ +void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp) { + + chSysLock(); + chGuardedPoolFreeI(gmp, objp); + chSchRescheduleS(); + chSysUnlock(); +} +#endif + +#endif /* CH_CFG_USE_MEMPOOLS == TRUE */ + +/** @} */ diff --git a/os/lib/templates/chlibconf.h b/os/lib/templates/chlibconf.h new file mode 100644 index 000000000..e51397e19 --- /dev/null +++ b/os/lib/templates/chlibconf.h @@ -0,0 +1,126 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/** + * @file templates/chlibconf.h + * @brief Configuration file template. + * @details A copy of this file must be placed in each project directory, it + * contains the application specific kernel settings. + * + * @addtogroup oslib_config + * @details OS Library related settings. + * @{ + */ + +#ifndef CHLIBCONF_H +#define CHLIBCONF_H + +#define _CHIBIOS_LIB_CONF_ +#define _CHIBIOS_LIB_CONF_VER_1_0_ + +/** + * @brief Mailboxes APIs. + * @details If enabled then the asynchronous messages (mailboxes) APIs are + * included in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_SEMAPHORES in chconf.h. + */ +#define CH_CFG_USE_MAILBOXES TRUE + +/** + * @brief Core Memory Manager APIs. + * @details If enabled then the core memory manager APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MEMCORE TRUE + +/** + * @brief Heap Allocator APIs. + * @details If enabled then the memory heap allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + * @note Requires @p CH_CFG_USE_MEMCORE and either @p CH_CFG_USE_MUTEXES or + * @p CH_CFG_USE_SEMAPHORES in chconf.h. + * @note Mutexes are recommended. + */ +#define CH_CFG_USE_HEAP TRUE + +/** + * @brief Memory Pools Allocator APIs. + * @details If enabled then the memory pools allocator APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_MEMPOOLS TRUE + +/** + * @brief Objects FIFOs APIs. + * @details If enabled then the objects FIFOs APIs are included + * in the kernel. + * + * @note The default is @p TRUE. + */ +#define CH_CFG_USE_OBJ_FIFOS TRUE + +/** + * @brief Objects Factory APIs. + * @details If enabled then the objects factory APIs are included in the + * kernel. + * + * @note The default is @p FALSE. + */ +#define CH_CFG_USE_FACTORY TRUE + +/** + * @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. + */ +#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8 + +/** + * @brief Enables the registry of generic objects. + */ +#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE + +/** + * @brief Enables factory for generic buffers. + */ +#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE + +/** + * @brief Enables factory for semaphores. + */ +#define CH_CFG_FACTORY_SEMAPHORES TRUE + +/** + * @brief Enables factory for mailboxes. + */ +#define CH_CFG_FACTORY_MAILBOXES TRUE + +/** + * @brief Enables factory for objects FIFOs. + */ +#define CH_CFG_FACTORY_OBJ_FIFOS TRUE + +#endif /* CHLIBCONF_H */ + +/** @} */ -- cgit v1.2.3