CMSIS RTOS added.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7377 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 380 insertions, 32 deletions

diff --git a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
index 94334af5e..454a77d1f 100644
--- a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
+++ b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c
@@ -35,6 +35,12 @@
 /* Module local definitions.                                                 */

 /*===========================================================================*/

 

+static memory_pool_t sempool;

+static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];

+

+static memory_pool_t timpool;

+static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];

+

 /*===========================================================================*/

 /* Module exported variables.                                                */

 /*===========================================================================*/

@@ -51,8 +57,274 @@
 /* Module local functions.                                                   */

 /*===========================================================================*/

 

+/**

+ * @brief   Virtual timers common callback.

+ */

+static void timer_cb(void *arg) {

+

+  osTimerId timer_id = (osTimerId)arg;

+  timer_id->ptimer(timer_id->argument);

+  if (timer_id->type == osTimerPeriodic) {

+    chSysLockFromISR();

+    chVTDoSetI(&timer_id->vt, timer_id->millisec, timer_cb, timer_id);

+    chSysUnlockFromISR();

+  }

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

 

+/**

+ * @brief   Kernel initialization.

+ */

+osStatus osKernelInitialize(void) {

+

+  chSysInit();

+  chThdSetPriority(HIGHPRIO);

+

+  chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAlloc);

+  chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);

+

+  chPoolObjectInit(&timpool, sizeof(virtual_timer_t), chCoreAlloc);

+  chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);

+

+  return osOK;

+}

+

+/**

+ * @brief   Kernel start.

+ */

+osStatus osKernelStart(void) {

+

+  chThdSetPriority(NORMALPRIO);

+

+  return osOK;

+}

+

+/**

+ * @brief   Change thread priority.

+ * @note    This can interfere with the priority inheritance mechanism.

+ */

+osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {

+  osPriority oldprio;

+  thread_t * tp = (thread_t *)thread_id;

+

+  chSysLock();

+

+  /* Changing priority.*/

+#if CH_CFG_USE_MUTEXES

+  oldprio = (osPriority)tp->p_realprio;

+  if ((tp->p_prio == tp->p_realprio) || ((tprio_t)newprio > tp->p_prio))

+    tp->p_prio = (tprio_t)newprio;

+  tp->p_realprio = (tprio_t)newprio;

+#else

+  oldprio = tp->p_prio;

+  tp->p_prio = (tprio_t)newprio;

+#endif

+

+  /* The following states need priority queues reordering.*/

+  switch (tp->p_state) {

+#if CH_CFG_USE_MUTEXES |                                                    \

+    CH_CFG_USE_CONDVARS |                                                   \

+    (CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) |             \

+    (CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)

+#if CH_CFG_USE_MUTEXES

+  case CH_STATE_WTMTX:

+#endif

+#if CH_CFG_USE_CONDVARS

+  case CH_STATE_WTCOND:

+#endif

+#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY

+  case CH_STATE_WTSEM:

+#endif

+#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY

+  case CH_STATE_SNDMSGQ:

+#endif

+    /* Re-enqueues tp with its new priority on the queue.*/

+    queue_prio_insert(queue_dequeue(tp),

+                      (threads_queue_t *)tp->p_u.wtobjp);

+    break;

+#endif

+  case CH_STATE_READY:

+#if CH_DBG_ENABLE_ASSERTS

+    /* Prevents an assertion in chSchReadyI().*/

+    tp->p_state = CH_STATE_CURRENT;

+#endif

+    /* Re-enqueues tp with its new priority on the ready list.*/

+    chSchReadyI(queue_dequeue(tp));

+    break;

+  }

+

+  /* Rescheduling.*/

+  chSchRescheduleS();

+

+  chSysUnlock();

+

+  return oldprio;

+}

+

+/**

+ * @brief   Create a timer.

+ */

+osTimerId osTimerCreate (const osTimerDef_t *timer_def,

+                         os_timer_type type,

+                         void *argument) {

+

+  osTimerId timer = chPoolAlloc(&timpool);

+  chVTObjectInit(&timer->vt);

+  timer->ptimer = timer_def->ptimer;

+  timer->type = type;

+  timer->argument = argument;

+  return timer;

+}

+

+/**

+ * @brief   Start a timer.

+ */

+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {

+

+  if (millisec == 0)

+    return osErrorParameter;

+

+  timer_id->millisec = millisec;

+  chVTSet(&timer_id->vt, millisec, timer_cb, timer_id);

+

+  return osOK;

+}

+

+/**

+ * @brief   Stop a timer.

+ */

+osStatus osTimerStop (osTimerId timer_id) {

+

+  chVTReset(&timer_id->vt);

+

+  return osOK;

+}

+

+/**

+ * @brief   Delete a timer.

+ */

+osStatus osTimerDelete (osTimerId timer_id) {

+

+  chVTReset(&timer_id->vt);

+  chPoolFree(&timpool, (void *)timer_id);

+

+  return osOK;

+}

+

+/**

+ * @brief   Create a semaphore.

+ * @note    @p semaphore_def is not used.

+ * @note    Can involve memory allocation.

+ */

+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,

+                                 int32_t count) {

+

+  (void)semaphore_def;

+

+  semaphore_t *sem = chPoolAlloc(&sempool);

+  chSemObjectInit(sem, (cnt_t)count);

+  return sem;

+}

+

+/**

+ * @brief   Wait on a semaphore.

+ */

+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {

+

+  systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :

+                                                  (systime_t)millisec;

+  msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);

+  switch (msg) {

+  case MSG_OK:

+    return osOK;

+  case MSG_TIMEOUT:

+    return osErrorTimeoutResource;

+  }

+  return osErrorResource;

+}

+

+/**

+ * @brief   Release a semaphore.

+ */

+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {

+

+  syssts_t sts = chSysGetStatusAndLockX();

+    chSemSignalI((semaphore_t *)semaphore_id);

+  chSysRestoreStatusX(sts);

+

+  return osOK;

+}

+

+/**

+ * @brief   Deletes a semaphore.

+ * @note    After deletion there could be references in the system to a

+ *          non-existent semaphore.

+ */

+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {

+

+  chSemReset((semaphore_t *)semaphore_id, 0);

+  chPoolFree(&sempool, (void *)semaphore_id);

+

+  return osOK;

+}

+

+/**

+ * @brief   Create a mutex.

+ * @note    @p mutex_def is not used.

+ * @note    Can involve memory allocation.

+ */

+osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {

+

+  (void)mutex_def;

+

+  binary_semaphore_t *mtx = chPoolAlloc(&sempool);

+  chBSemObjectInit(mtx, false);

+  return mtx;

+}

+

+/**

+ * @brief   Wait on a mutex.

+ */

+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {

+

+  systime_t timeout = millisec == osWaitForever ? TIME_INFINITE :

+                                                  (systime_t)millisec;

+  msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);

+  switch (msg) {

+  case MSG_OK:

+    return osOK;

+  case MSG_TIMEOUT:

+    return osErrorTimeoutResource;

+  }

+  return osErrorResource;

+}

+

+/**

+ * @brief   Release a mutex.

+ */

+osStatus osMutexRelease (osMutexId mutex_id) {

+

+  syssts_t sts = chSysGetStatusAndLockX();

+    chBSemSignalI((binary_semaphore_t *)mutex_id);

+  chSysRestoreStatusX(sts);

+

+  return osOK;

+}

+

+/**

+ * @brief   Deletes a mutex.

+ * @note    After deletion there could be references in the system to a

+ *          non-existent semaphore.

+ */

+osStatus osMutexDelete (osMutexId mutex_id) {

+

+  chSemReset((semaphore_t *)mutex_id, 0);

+  chPoolFree(&sempool, (void *)mutex_id);

+

+  return osOK;

+}

+

 /** @} */

diff --git a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
index 09013df20..784a04b97 100644
--- a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
+++ b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
@@ -83,10 +83,36 @@
 /* Module pre-compile time settings.                                         */

 /*===========================================================================*/

 

+/**

+ * @brief   Number of pre-allocated static semaphores/mutexes.

+ */

+#if !defined(CMSIS_CFG_NUM_SEMAPHORES)

+#define CMSIS_CFG_NUM_SEMAPHORES    4

+#endif

+

+/**

+ * @brief   Number of pre-allocated static timers.

+ */

+#if !defined(CMSIS_CFG_NUM_TIMERS)

+#define CMSIS_CFG_NUM_TIMERS        4

+#endif

+

 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

 /*===========================================================================*/

 

+#if !CH_CFG_USE_MEMPOOLS

+#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"

+#endif

+

+#if !CH_CFG_USE_SEMAPHORES

+#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"

+#endif

+

+#if !CH_CFG_USE_DYNAMIC

+#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"

+#endif

+

 /*===========================================================================*/

 /* Module data structures and types.                                         */

 /*===========================================================================*/

@@ -130,8 +156,8 @@ typedef enum {
  * @brief   Type of a timer mode.

  */

 typedef enum  {

-  osTimerOnce               =   0,

-  osTimerPeriodic           =   1

+  osTimerOnce               = 0,

+  osTimerPeriodic           = 1

 } os_timer_type;

 

 /**

@@ -147,22 +173,28 @@ typedef void (*os_ptimer) (void const *argument);
 /**

  * @brief   Type of pointer to thread control block.

  */

-typedef struct os_thread_cb *osThreadId;

+typedef thread_t *osThreadId;

 

 /**

  * @brief   Type of pointer to timer control block.

  */

-typedef struct os_timer_cb *osTimerId;

+typedef struct os_timer_cb {

+  virtual_timer_t           vt;

+  os_timer_type             type;

+  os_ptimer                 ptimer;

+  void                      *argument;

+  uint32_t                  millisec;

+} *osTimerId;

 

 /**

  * @brief   Type of pointer to mutex control block.

  */

-typedef struct os_mutex_cb *osMutexId;

+typedef binary_semaphore_t *osMutexId;

 

 /**

  * @brief   Type of pointer to semaphore control block.

  */

-typedef struct os_semaphore_cb *osSemaphoreId;

+typedef semaphore_t *osSemaphoreId;

 

 /**

  * @brief   Type of a thread definition block.

@@ -280,13 +312,25 @@ const osTimerDef_t os_timer_def_##name = {                                  \
 #ifdef __cplusplus

 extern "C" {

 #endif

-  osThreadId osThreadGetId(void);

-  osStatus osThreadTerminate(osThreadId thread_id);

-  osStatus osThreadYield(void);

-  osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority);

-  osPriority osThreadGetPriority(osThreadId thread_id);

-  osStatus osDelay(uint32_t millisec);

+  osStatus osKernelInitialize(void);

+  osStatus osKernelStart(void);

+  osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);

   /*osEvent osWait(uint32_t millisec);*/

+  osTimerId osTimerCreate (const osTimerDef_t *timer_def,

+                           os_timer_type type,

+                           void *argument);

+  osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);

+  osStatus osTimerStop (osTimerId timer_id);

+  osStatus osTimerDelete (osTimerId timer_id);

+  osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,

+                                   int32_t count);

+  int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);

+  osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);

+  osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);

+  osMutexId osMutexCreate (const osMutexDef_t *mutex_def);

+  osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);

+  osStatus osMutexRelease (osMutexId mutex_id);

+  osStatus osMutexDelete (osMutexId mutex_id);

 #ifdef __cplusplus

 }

 #endif

@@ -296,26 +340,6 @@ extern "C" {
 /*===========================================================================*/

 

 /**

- * @brief   Kernel initialization.

- */

-static inline osStatus osKernelInitialize(void) {

-

-  chSysSuspend();

-

-  return osOK;

-}

-

-/**

- * @brief   Kernel start.

- * @note    Does nothing, under ChibiOS/RT there is no concept of starting the

- *          kernel.

- */

-static inline osStatus osKernelStart(void) {

-

-  return osOK;

-}

-

-/**

  * @brief   To be or not to be.

  */

 static inline int32_t osKernelRunning(void) {

@@ -347,6 +371,54 @@ static inline osThreadId osThreadCreate (osThreadDef_t *thread_def,
                                          argument);

 }

 

+/**

+ * @brief   Returns the current thread.

+ */

+static inline osThreadId osThreadGetId(void) {

+

+  return (osThreadId)chThdGetSelfX();

+}

+

+/**

+ * @brief   Thread termination.

+ * @note    The thread is not really terminated but asked to terminate which

+ *          is not compliant.

+ */

+static inline osStatus osThreadTerminate(osThreadId thread_id) {

+

+  chThdTerminate(thread_id);

+

+  return osOK;

+}

+

+/**

+ * @brief   Thread time slice yield.

+ */

+static inline osStatus osThreadYield(void) {

+

+  chThdYield();

+

+  return osOK;

+}

+

+/**

+ * @brief   Returns priority of a thread.

+ */

+static inline osPriority osThreadGetPriority(osThreadId thread_id) {

+

+  return thread_id->p_prio;

+}

+

+/**

+ * @brief   Thread delay in milliseconds.

+ */

+static inline osStatus osDelay(uint32_t millisec) {

+

+  chThdSleepMilliseconds(millisec);

+

+  return osOK;

+}

+

 #endif /* _CMSIS_OS_H_ */

 

 /** @} */

diff --git a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.mk b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.mk
new file mode 100644
index 000000000..d679622ad
--- /dev/null
+++ b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.mk
@@ -0,0 +1,4 @@
+# List of the ChibiOS/RT CMSIS RTOS wrapper.

+CMSISRTOSSRC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.c

+ 

+CMSISRTOSINC = ${CHIBIOS}/os/rt/ports/ARMCMx/cmsis_os