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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file osal.c
* @brief OSAL module code.
*
* @addtogroup OSAL
* @{
*/
#include "osal.h"
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
/**
* @brief Pointer to a halt error message.
* @note The message is meant to be retrieved by the debugger after the
* system halt caused by an unexpected error.
*/
const char *osal_halt_msg;
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief OSAL module initialization.
*
* @api
*/
void osalInit(void) {
}
/**
* @brief System halt with error message.
*
* @param[in] reason the halt message pointer
*
* @api
*/
#if !defined(__DOXYGEN__)
__attribute__((weak))
#endif
void osalSysHalt(const char *reason) {
osal_halt_msg = reason;
chSysHalt();
}
/**
* @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
*/
msg_t osalThreadSuspendS(thread_reference_t *trp) {
chDbgAssert(*trp == NULL, "not NULL");
*trp = (thread_reference_t)chThdSelf();
chSchGoSleepS(CH_STATE_SUSPENDED);
return chThdSelf()->p_msg;
}
/**
* @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
*/
void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
"not THD_STATE_SUSPENDED");
(*trp)->p_u.rdymsg = msg;
chSchReadyI((thread_t *)*trp);
*trp = NULL;
}
}
/**
* @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
*/
void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
if (*trp != NULL) {
thread_t *tp = (thread_t *)*trp;
chDbgAssert(tp->p_state == CH_STATE_SUSPENDED, "not THD_STATE_SUSPENDED");
*trp = NULL;
chSchWakeupS(tp, msg);
}
}
/**
* @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
*/
msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
void wakeup(void *p) {
thread_t *tp = (thread_t *)p;
chSysUnlockFromISR();
tp->p_u.rdymsg = RDY_TIMEOUT;
chSchReadyI(queue_dequeue(tp));
chSysUnlockFromISR();
}
if (TIME_IMMEDIATE == time)
return MSG_TIMEOUT;
queue_insert(currp, tqp);
if (TIME_INFINITE == time)
chSchGoSleepS(CH_STATE_SUSPENDED);
else {
virtual_timer_t vt;
chVTDoSetI(&vt, time, wakeup, currp);
chSchGoSleepS(CH_STATE_SUSPENDED);
if (chVTIsArmedI(&vt))
chVTDoResetI(&vt);
}
return currp->p_u.rdymsg;
}
/**
* @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
*/
void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
if (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
/**
* @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
*/
void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
while (queue_notempty(tqp)) {
thread_t *tp = queue_fifo_remove(tqp);
tp->p_u.rdymsg = msg;
chSchReadyI(tp);
}
}
/** @} */
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