/*
ChibiOS/HAL - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/HAL
ChibiOS/HAL is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/**
* @file osal.h
* @brief OSAL module header.
*
* @addtogroup OSAL
* @{
*/
#ifndef _OSAL_H_
#define _OSAL_H_
#include
#include
#include
#include "ch.h"
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/**
* @name Common constants
* @{
*/
#if !defined(FALSE) || defined(__DOXYGEN__)
#define FALSE 0
#endif
#if !defined(TRUE) || defined(__DOXYGEN__)
#define TRUE (!FALSE)
#endif
#define OSAL_SUCCESS FALSE
#define OSAL_FAILED TRUE
/** @} */
#if 0
/**
* @name Messages
* @{
*/
#define MSG_OK RDY_OK
#define MSG_RESET RDY_RESET
#define MSG_TIMEOUT RDY_TIMEOUT
/** @} */
#endif
#if 0
/**
* @name Special time constants
* @{
*/
#define TIME_IMMEDIATE ((systime_t)0)
#define TIME_INFINITE ((systime_t)-1)
/** @} */
#endif
/**
* @name Systick modes.
* @{
*/
#define OSAL_ST_MODE_NONE 0
#define OSAL_ST_MODE_PERIODIC 1
#define OSAL_ST_MODE_FREERUNNING 2
/** @} */
/**
* @name Systick parameters.
* @{
*/
/**
* @brief Size in bits of the @p systick_t type.
*/
#define OSAL_ST_RESOLUTION CH_CFG_ST_RESOLUTION
/**
* @brief Required systick frequency or resolution.
*/
#define OSAL_ST_FREQUENCY CH_CFG_ST_FREQUENCY
/**
* @brief Systick mode required by the underlying OS.
*/
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
#else
#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
#endif
/** @} */
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
!(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
!(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
#error "invalid OSAL_ST_MODE setting in osal.h"
#endif
#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32)
#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32"
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
#if 0
/**
* @brief Type of a system status word.
*/
typedef uint32_t syssts_t;
#endif
#if 0
/**
* @brief Type of a message.
*/
typedef int32_t msg_t;
#endif
#if 0
/**
* @brief Type of system time counter.
*/
typedef uint32_t systime_t;
#endif
#if 0
/**
* @brief Type of realtime counter.
*/
typedef uint32_t rtcnt_t;
#endif
#if 0
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
#endif
#if 0
/**
* @brief Type of an event flags mask.
*/
typedef uint32_t eventflags_t;
#endif
#if !CH_CFG_USE_EVENTS
/**
* @brief Type of an event flags object.
* @note The content of this structure is not part of the API and should
* not be relied upon. Implementers may define this structure in
* an entirely different way.
* @note Retrieval and clearing of the flags are not defined in this
* API and are implementation-dependent.
*/
typedef struct {
volatile eventflags_t flags; /**< @brief Flags stored into the
object. */
} event_source_t;
#endif
/**
* @brief Type of a mutex.
* @note If the OS does not support mutexes or there is no OS then them
* mechanism can be simulated.
*/
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
#elif CH_CFG_USE_SEMAPHORES
typedef semaphore_t mutex_t;
#else
typedef uint32_t mutex_t;
#endif
#if 0
/**
* @brief Type of a thread queue.
* @details A thread queue is a queue of sleeping threads, queued threads
* can be dequeued one at time or all together.
* @note In this implementation it is implemented as a single reference
* because there are no real threads.
*/
typedef struct {
thread_reference_t tr;
} threads_queue_t;
#endif
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/* Temporary names provided for ChibiOS 2.x compatibility.*/
#define osalQueueInit osalThreadQueueObjectInit
#define osalQueueWakeupAllI osalThreadDequeueAllI
#define osalQueueWakeupOneI osalThreadDequeueNextI
#define osalQueueGoSleepTimeoutS osalThreadEnqueueTimeoutS
#define osalEventInit osalEventObjectInit
/**
* @name Debug related macros
* @{
*/
/**
* @brief Condition assertion.
* @details If the condition check fails then the OSAL panics with a
* message and halts.
* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
* switch is enabled.
* @note The remark string is not currently used except for putting a
* comment in the code about the assertion.
*
* @param[in] c the condition to be verified to be true
* @param[in] remark a remark string
*
* @api
*/
#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
/**
* @brief Function parameters check.
* @details If the condition check fails then the OSAL panics and halts.
* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
* is enabled.
*
* @param[in] c the condition to be verified to be true
*
* @api
*/
#define osalDbgCheck(c) chDbgCheck(c)
/**
* @brief I-Class state check.
* @note Not implemented in this simplified OSAL.
*/
#define osalDbgCheckClassI() chDbgCheckClassI()
/**
* @brief S-Class state check.
* @note Not implemented in this simplified OSAL.
*/
#define osalDbgCheckClassS() chDbgCheckClassS()
/** @} */
/**
* @name IRQ service routines wrappers
* @{
*/
/**
* @brief IRQ prologue code.
* @details This macro must be inserted at the start of all IRQ handlers.
*/
#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
/**
* @brief IRQ epilogue code.
* @details This macro must be inserted at the end of all IRQ handlers.
*/
#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
/**
* @brief IRQ handler function declaration.
* @details This macro hides the details of an ISR function declaration.
*
* @param[in] id a vector name as defined in @p vectors.s
*/
#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
/** @} */
/**
* @name Time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_S2ST(sec) S2ST(sec)
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_MS2ST(msec) MS2ST(msec)
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_US2ST(usec) US2ST(usec)
/** @} */
/**
* @name Sleep macros using absolute time
* @{
*/
/**
* @brief Delays the invoking thread for the specified number of seconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] sec time in seconds, must be different from zero
*
* @api
*/
#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
/**
* @brief Delays the invoking thread for the specified number of
* milliseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] msec time in milliseconds, must be different from zero
*
* @api
*/
#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
/**
* @brief Delays the invoking thread for the specified number of
* microseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] usec time in microseconds, must be different from zero
*
* @api
*/
#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief OSAL module initialization.
*
* @api
*/
static inline void osalInit(void) {
}
/**
* @brief System halt with error message.
*
* @param[in] reason the halt message pointer
*
* @api
*/
static inline void osalSysHalt(const char *reason) {
chSysHalt(reason);
}
/**
* @brief Enters a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysLock(void) {
chSysLock();
}
/**
* @brief Leaves a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysUnlock(void) {
chSysUnlock();
}
/**
* @brief Enters a critical zone from ISR context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysLockFromISR(void) {
chSysLockFromISR();
}
/**
* @brief Leaves a critical zone from ISR context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysUnlockFromISR(void) {
chSysUnlockFromISR();
}
/**
* @brief Returns the execution status and enters a critical zone.
* @details This functions enters into a critical zone and can be called
* from any context. Because its flexibility it is less efficient
* than @p chSysLock() which is preferable when the calling context
* is known.
* @post The system is in a critical zone.
*
* @return The previous system status, the encoding of this
* status word is architecture-dependent and opaque.
*
* @xclass
*/
static inline syssts_t osalSysGetStatusAndLockX(void) {
return chSysGetStatusAndLockX();
}
/**
* @brief Restores the specified execution status and leaves a critical zone.
* @note A call to @p chSchRescheduleS() is automatically performed
* if exiting the critical zone and if not in ISR context.
*
* @param[in] sts the system status to be restored.
*
* @xclass
*/
static inline void osalSysRestoreStatusX(syssts_t sts) {
chSysRestoreStatusX(sts);
}
/**
* @brief Polled delay.
* @note The real delay is always few cycles in excess of the specified
* value.
*
* @param[in] cycles number of cycles
*
* @xclass
*/
#if PORT_SUPPORTS_RT || defined(__DOXYGEN__)
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
chSysPolledDelayX(cycles);
}
#endif
/**
* @brief Systick callback for the underlying OS.
* @note This callback is only defined if the OSAL requires such a
* service from the HAL.
*/
#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
static inline void osalOsTimerHandlerI(void) {
chSysTimerHandlerI();
}
#endif
/**
* @brief Checks if a reschedule is required and performs it.
* @note I-Class functions invoked from thread context must not reschedule
* by themselves, an explicit reschedule using this function is
* required in this scenario.
* @note Not implemented in this simplified OSAL.
*
* @sclass
*/
static inline void osalOsRescheduleS(void) {
chSchRescheduleS();
}
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p osalInit()
* invocation.
* @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
* @p systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
static inline systime_t osalOsGetSystemTimeX(void) {
return chVTGetSystemTimeX();
}
/**
* @brief Checks if the specified time is within the specified time window.
* @note When start==end then the function returns always true because the
* whole time range is specified.
* @note This function can be called from any context.
*
* @param[in] time the time to be verified
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
static inline bool osalOsIsTimeWithinX(systime_t time,
systime_t start,
systime_t end) {
return chVTIsTimeWithinX(time, start, end);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] time the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @sclass
*/
static inline void osalThreadSleepS(systime_t time) {
chThdSleepS(time);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] time the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @api
*/
static inline void osalThreadSleep(systime_t time) {
chThdSleep(time);
}
/**
* @brief Sends the current thread sleeping and sets a reference variable.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @return The wake up message.
*
* @sclass
*/
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
return chThdSuspendS(trp);
}
/**
* @brief Sends the current thread sleeping and sets a reference variable.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] timeout the timeout in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE the thread is not enqueued and
* the function returns @p MSG_TIMEOUT as if a timeout
* occurred.
* .
* @return The wake up message.
* @retval MSG_TIMEOUT if the operation timed out.
*
* @sclass
*/
static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
systime_t timeout) {
return chThdSuspendTimeoutS(trp, timeout);
}
/**
* @brief Wakes up a thread waiting on a thread reference object.
* @note This function must not reschedule because it can be called from
* ISR context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
chThdResumeI(trp, msg);
}
/**
* @brief Wakes up a thread waiting on a thread reference object.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
chThdResumeS(trp, msg);
}
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
chThdQueueObjectInit(tqp);
}
/**
* @brief Enqueues the caller thread.
* @details The caller thread is enqueued and put to sleep until it is
* dequeued or the specified timeouts expires.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] time the timeout in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE the thread is not enqueued and
* the function returns @p MSG_TIMEOUT as if a timeout
* occurred.
* .
* @return The message from @p osalQueueWakeupOneI() or
* @p osalQueueWakeupAllI() functions.
* @retval RDY_TIMEOUT if the thread has not been dequeued within the
* specified timeout or if the function has been
* invoked with @p TIME_IMMEDIATE as timeout
* specification.
*
* @sclass
*/
static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
systime_t time) {
return chThdEnqueueTimeoutS(tqp, time);
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
chThdDequeueNextI(tqp, msg);
}
/**
* @brief Dequeues and wakes up all threads from the queue.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
chThdDequeueAllI(tqp, msg);
}
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Initializes an event flags object.
*
* @param[out] esp pointer to the event flags object
*
* @init
*/
static inline void osalEventObjectInit(event_source_t *esp) {
chEvtObjectInit(esp);
}
#else
static inline void osalEventObjectInit(event_source_t *esp) {
esp->flags = 0;
}
#endif
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Add flags to an event source object.
*
* @param[in] esp pointer to the event flags object
* @param[in] flags flags to be ORed to the flags mask
*
* @iclass
*/
static inline void osalEventBroadcastFlagsI(event_source_t *esp,
eventflags_t flags) {
chEvtBroadcastFlagsI(esp, flags);
}
#else
static inline void osalEventBroadcastFlagsI(event_source_t *esp,
eventflags_t flags) {
esp->flags |= flags;
}
#endif
#if CH_CFG_USE_EVENTS || defined(__DOXYGEN__)
/**
* @brief Add flags to an event source object.
*
* @param[in] esp pointer to the event flags object
* @param[in] flags flags to be ORed to the flags mask
*
* @iclass
*/
static inline void osalEventBroadcastFlags(event_source_t *esp,
eventflags_t flags) {
chEvtBroadcastFlags(esp, flags);
}
#else
static inline void osalEventBroadcastFlags(event_source_t *esp,
eventflags_t flags) {
osalSysLock();
esp->flags |= flags;
osalSysUnlock();
}
#endif
/**
* @brief Initializes s @p mutex_t object.
*
* @param[out] mp pointer to the @p mutex_t object
*
* @init
*/
static inline void osalMutexObjectInit(mutex_t *mp) {
#if CH_CFG_USE_MUTEXES
chMtxObjectInit(mp);
#elif CH_CFG_USE_SEMAPHORES
chSemObjectInit((semaphore_t *)mp, 1);
#else
*mp = 0;
#endif
}
/**
* @brief Locks the specified mutex.
* @post The mutex is locked and inserted in the per-thread stack of owned
* mutexes.
*
* @param[in,out] mp pointer to the @p mutex_t object
*
* @api
*/
static inline void osalMutexLock(mutex_t *mp) {
#if CH_CFG_USE_MUTEXES
chMtxLock(mp);
#elif CH_CFG_USE_SEMAPHORES
chSemWait((semaphore_t *)mp);
#else
*mp = 1;
#endif
}
/**
* @brief Unlocks the specified mutex.
* @note The HAL guarantees to release mutex in reverse lock order. The
* mutex being unlocked is guaranteed to be the last locked mutex
* by the invoking thread.
* The implementation can rely on this behavior and eventually
* ignore the @p mp parameter which is supplied in order to support
* those OSes not supporting a stack of the owned mutexes.
*
* @param[in,out] mp pointer to the @p mutex_t object
*
* @api
*/
static inline void osalMutexUnlock(mutex_t *mp) {
#if CH_CFG_USE_MUTEXES
chMtxUnlock(mp);
#elif CH_CFG_USE_SEMAPHORES
chSemSignal((semaphore_t *)mp);
#else
*mp = 0;
#endif
}
#endif /* _OSAL_H_ */
/** @} */