diff options
Diffstat (limited to 'src/gos/chibios.h')
| -rw-r--r-- | src/gos/chibios.h | 40 |
1 files changed, 31 insertions, 9 deletions
diff --git a/src/gos/chibios.h b/src/gos/chibios.h index 3da247b1..9f7f5e37 100644 --- a/src/gos/chibios.h +++ b/src/gos/chibios.h @@ -8,6 +8,7 @@ /** * @file src/gos/chibios.h * @brief GOS - Operating System Support header file for ChibiOS. + * @details Supports both, ChibiOS/RT 2.x and 3.x */ #ifndef _GOS_CHIBIOS_H @@ -47,13 +48,27 @@ typedef tprio_t threadpriority_t; #define DECLARE_THREAD_STACK(name, sz) WORKING_AREA(name, sz) #define DECLARE_THREAD_FUNCTION(fnName, param) threadreturn_t fnName(void *param) -typedef struct { - Semaphore sem; - semcount_t limit; +#if CH_KERNEL_MAJOR == 2 + typedef struct { + Semaphore sem; + semcount_t limit; } gfxSem; -typedef Mutex gfxMutex; -typedef Thread * gfxThreadHandle; + typedef Mutex gfxMutex; + typedef Thread* gfxThreadHandle; +#elif CH_KERNEL_MAJOR == 3 + #undef DECLARE_THREAD_STACK + #define DECLARE_THREAD_STACK(a, b) THD_WORKING_AREA(a, b) + + typedef struct { + semaphore_t sem; + semcount_t limit; + } gfxSem; + + typedef mutex_t gfxMutex; + typedef thread_t* gfxThreadHandle; +#endif + /*===========================================================================*/ /* Function declarations. */ @@ -63,19 +78,27 @@ typedef Thread * gfxThreadHandle; extern "C" { #endif +// First the kernel version specific ones +#if CH_KERNEL_MAJOR == 2 + #define gfxSystemTicks() chTimeNow() + #define gfxMutexInit(pmutex) chMtxInit(pmutex) + #define gfxMutexExit(pmutex) chMtxUnlock() +#elif CH_KERNEL_MAJOR == 3 + #define gfxSystemTicks() chVTGetSystemTimeX() + #define gfxMutexInit(pmutex) chMtxObjectInit(pmutex) + #define gfxMutexExit(pmutex) chMtxUnlock(pmutex) +#endif + #define gfxHalt(msg) { chDbgPanic(msg); chSysHalt(); } #define gfxExit() chSysHalt() #define gfxAlloc(sz) chHeapAlloc(0, sz) #define gfxFree(ptr) chHeapFree(ptr) #define gfxYield() chThdYield() -#define gfxSystemTicks() chTimeNow() #define gfxMillisecondsToTicks(ms) MS2ST(ms) #define gfxSystemLock() chSysLock() #define gfxSystemUnlock() chSysUnlock() -#define gfxMutexInit(pmutex) chMtxInit(pmutex) #define gfxMutexDestroy(pmutex) (void)pmutex #define gfxMutexEnter(pmutex) chMtxLock(pmutex) -#define gfxMutexExit(pmutex) chMtxUnlock() void *gfxRealloc(void *ptr, size_t oldsz, size_t newsz); void gfxSleepMilliseconds(delaytime_t ms); void gfxSleepMicroseconds(delaytime_t ms); @@ -98,4 +121,3 @@ gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_ #endif /* GFX_USE_OS_CHIBIOS */ #endif /* _GOS_CHIBIOS_H */ - |