PAL synchronous API.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@10528 35acf78f-673a-0410-8e92-d51de3d6d3f4

8 files changed, 236 insertions, 46 deletions

diff --git a/os/hal/include/hal_pal.h b/os/hal/include/hal_pal.h
index ede48c470..f19c8396f 100644
--- a/os/hal/include/hal_pal.h
+++ b/os/hal/include/hal_pal.h
@@ -113,6 +113,19 @@
 /* Driver pre-compile time settings.                                         */

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

 

+/**

+ * @name    PAL configuration options

+ * @{

+ */

+/**

+ * @brief   Enables synchronous APIs.

+ * @note    Disabling this option saves both code and data space.

+ */

+#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define PAL_USE_WAIT                TRUE

+#endif

+/** @} */

+

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

 /* Derived constants and error checks.                                       */

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

@@ -130,7 +143,19 @@ typedef void (*palcallback_t)(void *arg);
  * @brief   Type of a PAL event record.

  */

 typedef struct {

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+  /**

+   * @brief   Threads queued for an event.

+   */

+  threads_queue_t       threads;

+#endif

+  /**

+   * @brief   Event callback.

+   */

   palcallback_t         cb;

+  /**

+   * @brief   Event callback argument.

+   */

   void                  *arg;

 } palevent_t;

 

@@ -223,7 +248,22 @@ typedef struct {
  *

  * @notapi

  */

-#define _pal_isr_code(e) _pal_events[e].cb(_pal_events[e].arg)

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define _pal_isr_code(e) do {                                               \

+  if (_pal_events[e].cb != NULL) {                                          \

+    _pal_events[e].cb(_pal_events[e].arg);                                  \

+  }                                                                         \

+  osalSysLockFromISR();                                                     \

+  osalThreadDequeueAllI(&_pal_events[e].threads, MSG_OK);                   \

+  osalSysUnlockFromISR();                                                   \

+} while (false)

+#else

+#define _pal_isr_code(e) do {                                               \

+  if (_pal_events[e].cb != NULL) {                                          \

+    _pal_events[e].cb(_pal_events[e].arg);                                  \

+  }                                                                         \

+} while (false)

+#endif

 

 /**

  * @brief   PAL event setup.

@@ -236,10 +276,18 @@ typedef struct {
  *

  * @notapi

  */

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define _pal_set_event(e, c, a) {                                           \

+  osalThreadQueueObjectInit(&_pal_events[e].threads);                       \

+  _pal_events[e].cb = c;                                                    \

+  _pal_events[e].arg = a;                                                   \

+}

+#else

 #define _pal_set_event(e, c, a) {                                           \

   _pal_events[e].cb = c;                                                    \

   _pal_events[e].arg = a;                                                   \

 }

+#endif

 

 /**

  * @brief   PAL event clear.

@@ -250,10 +298,18 @@ typedef struct {
  *

  * @notapi

  */

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+#define _pal_clear_event(e) {                                               \

+  osalThreadDequeueAllI(&_pal_events[e].threads, MSG_RESET);                \

+  _pal_events[e].cb = NULL;                                                 \

+  _pal_events[e].arg = NULL;                                                \

+}

+#else

 #define _pal_clear_event(e) {                                               \

   _pal_events[e].cb = NULL;                                                 \

   _pal_events[e].arg = NULL;                                                \

 }

+#endif

 /** @} */

 

 /**

@@ -585,9 +641,9 @@ typedef struct {
  * @iclass

  */

 #if !defined(pal_lld_enablepadevent) || defined(__DOXYGEN__)

-#define palPadEnableEventI(port, pad, mode, callback, arg)

+#define palEnablePadEventI(port, pad, mode, callback, arg)

 #else

-#define palPadEnableEventI(port, pad, mode, callback, arg)                  \

+#define palEnablePadEventI(port, pad, mode, callback, arg)                  \

   pal_lld_enablepadevent(port, pad, mode, callback, arg)

 #endif

 

@@ -601,9 +657,9 @@ typedef struct {
  * @iclass

  */

 #if !defined(pal_lld_disablepadevent) || defined(__DOXYGEN__)

-#define palPadDisableEventI(port, pad)

+#define palDisablePadEventI(port, pad)

 #else

-#define palPadDisableEventI(port, pad)                                      \

+#define PadDisablepalEventI(port, pad)                                      \

   pal_lld_disablepadevent(port, pad)

 #endif

 

@@ -620,10 +676,10 @@ typedef struct {
  *

  * @api

  */

-#define palPadEnableEvent(port, pad, mode, callback, arg)                   \

+#define palEnablePadEvent(port, pad, mode, callback, arg)                   \

   do {                                                                      \

     osalSysLock();                                                          \

-    palPadEnableEventI(port, pad, mode, callback, arg);                     \

+    palEnablePadEventI(port, pad, mode, callback, arg);                     \

     osalSysUnlock();                                                        \

   } while (false)

 

@@ -636,10 +692,10 @@ typedef struct {
  *

  * @api

  */

-#define palPadDisableEvent(port, pad)                                       \

+#define palDisablePadEvent(port, pad)                                       \

   do {                                                                      \

     osalSysLock();                                                          \

-    palPadDisableEventI(port, pad);                                         \

+    palisablePadDEventI(port, pad);                                         \

     osalSysUnlock();                                                        \

   } while (false)

 

@@ -764,12 +820,12 @@ typedef struct {
  *

  * @iclass

  */

-#if !defined(pal_lld_lineenableevent) || defined(__DOXYGEN__)

-#define palLineEnableEventI(line, mode, callback, arg)                      \

-  palPadEnableEventI(PAL_PORT(line), PAL_PAD(line), mode, callback, arg)

+#if !defined(pal_lld_enablelineevent) || defined(__DOXYGEN__)

+#define palEnableLineEventI(line, mode, callback, arg)                      \

+  palEnablePadEventI(PAL_PORT(line), PAL_PAD(line), mode, callback, arg)

 #else

-#define palLineEnableEventI(line, mode, callback, arg)                      \

-  pal_lld_lineenableevent(line, mode, callback, arg)

+#define palEnableLineEventI(line, mode, callback, arg)                      \

+    pal_lld_enablelineevent(line, mode, callback, arg)

 #endif

 

 /**

@@ -779,11 +835,11 @@ typedef struct {
  *

  * @iclass

  */

-#if !defined(pal_lld_linedisableevent) || defined(__DOXYGEN__)

-#define palLineDisableEventI(line)                                          \

-  palPadDisableEventI(PAL_PORT(line), PAL_PAD(line))

+#if !defined(pal_lld_disablelineevent) || defined(__DOXYGEN__)

+#define palDisableLineEventI(line)                                          \

+  palDisablePadEventI(PAL_PORT(line), PAL_PAD(line))

 #else

-#define palLineDisableEventI(line) pal_lld_linedisableevent(line)

+#define palDisableLineEventI(line) pal_lld_disablelineevent(line)

 #endif

 

 /**

@@ -796,10 +852,10 @@ typedef struct {
  *

  * @api

  */

-#define palLineEnableEvent(line, mode, callback, arg)                       \

+#define palEnableLineEvent(line, mode, callback, arg)                       \

   do {                                                                      \

     osalSysLock();                                                          \

-    palLineEnableEventI(line, mode, callback, arg);                         \

+    palEnableLineEventI(line, mode, callback, arg);                         \

     osalSysUnlock();                                                        \

   } while (false)

 

@@ -810,12 +866,57 @@ typedef struct {
  *

  * @api

  */

-#define palLineDisableEvent(line)                                           \

+#define paDisableLineEvent(line)                                            \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palDisableLineEventI(line);                                             \

+    osalSysUnlock();                                                        \

+  } while (false)

+

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+/**

+ * @brief   Waits for an edge on the specified port/pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @returns             The operation state.

+ * @retval MSG_OK       if an edge has been detected.

+ * @retval MSG_TIMEOUT  if a timeout occurred before an edge cound be detected.

+ * @retval MSG_RESET    if the event has been disabled while the thread was

+ *                      waiting for an edge.

+ *

+ * @api

+ */

+#define palWaitPadTimeout(port, pad, timeout)                               \

   do {                                                                      \

     osalSysLock();                                                          \

-    palLineDisableEventI(line);                                             \

+    palWaitPadTimeoutS(port, pad, timeout);                                 \

     osalSysUnlock();                                                        \

   } while (false)

+

+

+/**

+ * @brief   Waits for an edge on the specified line.

+ *

+ * @param[in] line      line identifier

+ * @param[in] timeout   operation timeout

+ * @returns             The operation state.

+ * @retval MSG_OK       if an edge has been detected.

+ * @retval MSG_TIMEOUT  if a timeout occurred before an edge cound be detected.

+ * @retval MSG_RESET    if the event has been disabled while the thread was

+ *                      waiting for an edge.

+ *

+ * @api

+ */

+#define palWaitLineTimeout(line, timeout)                                   \

+  do {                                                                      \

+    osalSysLock();                                                          \

+    palWaitLineTimeoutS(line, timeout);                                     \

+    osalSysUnlock();                                                        \

+  } while (false)

+

+#endif /* defined(PAL_USE_WAIT) */

+

 /** @} */

 

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

@@ -828,6 +929,10 @@ extern "C" {
   ioportmask_t palReadBus(IOBus *bus);

   void palWriteBus(IOBus *bus, ioportmask_t bits);

   void palSetBusMode(IOBus *bus, iomode_t mode);

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+  msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout);

+  msg_t palWaitLineTimeoutS(ioline_t line, systime_t timeout);

+#endif /* defined(PAL_USE_WAIT) */

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
index b432fa6ee..be8f7e829 100644
--- a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.c
@@ -235,14 +235,8 @@ void _pal_lld_enablepadevent(ioportid_t port,
     EXTI->FTSR &= ~padmask;

 

   /* Programming interrupt and event registers.*/

-  if (callback != NULL) {

-    EXTI->IMR |= padmask;

-    EXTI->EMR &= ~padmask;

-  }

-  else {

-    EXTI->EMR |= padmask;

-    EXTI->IMR &= ~padmask;

-  }

+  EXTI->IMR |= padmask;

+  EXTI->EMR &= ~padmask;

 

   /* Setting up callback and argument for this event.*/

   _pal_set_event(pad, callback, arg);

diff --git a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
index a80597d64..a20cea930 100644
--- a/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv1/hal_pal_lld.h
@@ -394,6 +394,27 @@ typedef uint32_t iopadid_t;
 #define pal_lld_disablepadevent(port, pad)                                  \

   _pal_lld_disablepadevent(port, pad)

 

+/**

+ * @brief   Returns a PAL event structure associated to a pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_get_pad_event(port, pad)                                    \

+  &_pal_events[pad]; (void)(port)

+

+/**

+ * @brief   Returns a PAL event structure associated to a line.

+ *

+ * @param[in] line      line identifier

+ *

+ * @notapi

+ */

+#define pal_lld_get_line_event(line)                                        \

+  &_pal_events[PAL_PAD(line)]

+

 #if !defined(__DOXYGEN__)

 extern const PALConfig pal_default_config;

 extern palevent_t _pal_events[16];

diff --git a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
index 6a23eff29..70f769f02 100644
--- a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.c
@@ -264,14 +264,8 @@ void _pal_lld_enablepadevent(ioportid_t port,
     EXTI->FTSR &= ~padmask;

 

   /* Programming interrupt and event registers.*/

-  if (callback != NULL) {

-    EXTI->IMR |= padmask;

-    EXTI->EMR &= ~padmask;

-  }

-  else {

-    EXTI->EMR |= padmask;

-    EXTI->IMR &= ~padmask;

-  }

+  EXTI->IMR |= padmask;

+  EXTI->EMR &= ~padmask;

 

   /* Setting up callback and argument for this event.*/

   _pal_set_event(pad, callback, arg);

diff --git a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
index ba90ccafd..4a30a61a5 100644
--- a/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv2/hal_pal_lld.h
@@ -577,6 +577,27 @@ typedef uint32_t iopadid_t;
 #define pal_lld_disablepadevent(port, pad)                                  \

   _pal_lld_disablepadevent(port, pad)

 

+/**

+ * @brief   Returns a PAL event structure associated to a pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_get_pad_event(port, pad)                                    \

+  &_pal_events[pad]; (void)(port)

+

+/**

+ * @brief   Returns a PAL event structure associated to a line.

+ *

+ * @param[in] line      line identifier

+ *

+ * @notapi

+ */

+#define pal_lld_get_line_event(line)                                        \

+  &_pal_events[PAL_PAD(line)]

+

 #if !defined(__DOXYGEN__)

 extern const PALConfig pal_default_config;

 extern palevent_t _pal_events[16];

diff --git a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
index a20e39c9a..6c8a1ec2e 100644
--- a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
+++ b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.c
@@ -260,14 +260,8 @@ void _pal_lld_enablepadevent(ioportid_t port,
     EXTI->FTSR &= ~padmask;

 

   /* Programming interrupt and event registers.*/

-  if (callback != NULL) {

-    EXTI->IMR |= padmask;

-    EXTI->EMR &= ~padmask;

-  }

-  else {

-    EXTI->EMR |= padmask;

-    EXTI->IMR &= ~padmask;

-  }

+  EXTI->IMR |= padmask;

+  EXTI->EMR &= ~padmask;

 

   /* Setting up callback and argument for this event.*/

   _pal_set_event(pad, callback, arg);

diff --git a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
index b1f5694b6..7b423807e 100644
--- a/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
+++ b/os/hal/ports/STM32/LLD/GPIOv3/hal_pal_lld.h
@@ -589,6 +589,27 @@ typedef uint32_t iopadid_t;
 #define pal_lld_disablepadevent(port, pad)                                  \

   _pal_lld_disablepadevent(port, pad)

 

+/**

+ * @brief   Returns a PAL event structure associated to a pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ *

+ * @notapi

+ */

+#define pal_lld_get_pad_event(port, pad)                                    \

+  &_pal_events[pad]; (void)(port)

+

+/**

+ * @brief   Returns a PAL event structure associated to a line.

+ *

+ * @param[in] line      line identifier

+ *

+ * @notapi

+ */

+#define pal_lld_get_line_event(line)                                        \

+  &_pal_events[PAL_PAD(line)]

+

 #if !defined(__DOXYGEN__)

 extern const PALConfig pal_default_config;

 extern palevent_t _pal_events[16];

diff --git a/os/hal/src/hal_pal.c b/os/hal/src/hal_pal.c
index 0be77ad70..850c3506b 100644
--- a/os/hal/src/hal_pal.c
+++ b/os/hal/src/hal_pal.c
@@ -117,6 +117,46 @@ void palSetBusMode(IOBus *bus, iomode_t mode) {
   palSetGroupMode(bus->portid, bus->mask, bus->offset, mode);

 }

 

+#if defined(PAL_USE_WAIT) || defined(__DOXYGEN__)

+/**

+ * @brief   Waits for an edge on the specified port/pad.

+ *

+ * @param[in] port      port identifier

+ * @param[in] pad       pad number within the port

+ * @returns             The operation state.

+ * @retval MSG_OK       if an edge has been detected.

+ * @retval MSG_TIMEOUT  if a timeout occurred before an edge cound be detected.

+ * @retval MSG_RESET    if the event has been disabled while the thread was

+ *                      waiting for an edge.

+ *

+ * @sclass

+ */

+msg_t palWaitPadTimeoutS(ioportid_t port, iopadid_t pad, systime_t timeout) {

+

+  palevent_t *pep = pal_lld_get_pad_event(port, pad);

+  return osalThreadEnqueueTimeoutS(&pep->threads, timeout);

+}

+

+/**

+ * @brief   Waits for an edge on the specified line.

+ *

+ * @param[in] line      line identifier

+ * @param[in] timeout   operation timeout

+ * @returns             The operation state.

+ * @retval MSG_OK       if an edge has been detected.

+ * @retval MSG_TIMEOUT  if a timeout occurred before an edge cound be detected.

+ * @retval MSG_RESET    if the event has been disabled while the thread was

+ *                      waiting for an edge.

+ *

+ * @sclass

+ */

+msg_t palWaitLineTimeoutS(ioline_t line, systime_t timeout) {

+

+  palevent_t *pep = pal_lld_get_line_event(line);

+  return osalThreadEnqueueTimeoutS(&pep->threads, timeout);

+}

+#endif /* defined(PAL_USE_WAIT) */

+

 #endif /* HAL_USE_PAL == TRUE */

 

 /** @} */