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-rw-r--r--demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile6
-rw-r--r--os/various/cpp_wrappers/ch.cpp70
-rw-r--r--os/various/cpp_wrappers/ch.hpp138
3 files changed, 94 insertions, 120 deletions
diff --git a/demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile b/demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile
index 7360b53c2..8d16de8c1 100644
--- a/demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile
+++ b/demos/STM32/RT-STM32F407-DISCOVERY-G++/Makefile
@@ -88,6 +88,7 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_stm32f4xx.mk
include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/os/various/cpp_wrappers/chcpp.mk
# Define linker script file here
LDSCRIPT= $(PORTLD)/STM32F407xG.ld
@@ -108,9 +109,8 @@ CSRC = $(PORTSRC) \
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
-CPPSRC = main.cpp \
- $(CHIBIOS)/os/various/cpp_wrappers/ch.cpp \
- $(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp \
+CPPSRC = $(CHCPPSRC) \
+ main.cpp
# C sources to be compiled in ARM mode regardless of the global setting.
# NOTE: Mixing ARM and THUMB mode enables the -mthumb-interwork compiler
diff --git a/os/various/cpp_wrappers/ch.cpp b/os/various/cpp_wrappers/ch.cpp
index d6f4ca0c1..fc9bd8e9a 100644
--- a/os/various/cpp_wrappers/ch.cpp
+++ b/os/various/cpp_wrappers/ch.cpp
@@ -745,76 +745,6 @@ namespace chibios_rt {
}
#endif /* CH_CFG_USE_QUEUES */
-#if CH_CFG_USE_MAILBOXES
- /*------------------------------------------------------------------------*
- * chibios_rt::Mailbox *
- *------------------------------------------------------------------------*/
- Mailbox::Mailbox(msg_t *buf, cnt_t n) {
-
- chMBObjectInit(&mb, buf, n);
- }
-
- void Mailbox::reset(void) {
-
- chMBReset(&mb);
- }
-
- msg_t Mailbox::post(msg_t msg, systime_t time) {
-
- return chMBPost(&mb, msg, time);
- }
-
- msg_t Mailbox::postS(msg_t msg, systime_t time) {
-
- return chMBPostS(&mb, msg, time);
- }
-
- msg_t Mailbox::postI(msg_t msg) {
-
- return chMBPostI(&mb, msg);
- }
-
- msg_t Mailbox::postAhead(msg_t msg, systime_t time) {
-
- return chMBPostAhead(&mb, msg, time);
- }
-
- msg_t Mailbox::postAheadS(msg_t msg, systime_t time) {
-
- return chMBPostAheadS(&mb, msg, time);
- }
-
- msg_t Mailbox::postAheadI(msg_t msg) {
-
- return chMBPostAheadI(&mb, msg);
- }
-
- msg_t Mailbox::fetch(msg_t *msgp, systime_t time) {
-
- return chMBFetch(&mb, msgp, time);
- }
-
- msg_t Mailbox::fetchS(msg_t *msgp, systime_t time) {
-
- return chMBFetchS(&mb, msgp, time);
- }
-
- msg_t Mailbox::fetchI(msg_t *msgp) {
-
- return chMBFetchI(&mb, msgp);
- }
-
- cnt_t Mailbox::getFreeCountI(void) {
-
- return chMBGetFreeCountI(&mb);
- }
-
- cnt_t Mailbox::getUsedCountI(void) {
-
- return chMBGetUsedCountI(&mb);
- }
-#endif /* CH_CFG_USE_MAILBOXES */
-
#if CH_CFG_USE_MEMPOOLS
/*------------------------------------------------------------------------*
* chibios_rt::MemoryPool *
diff --git a/os/various/cpp_wrappers/ch.hpp b/os/various/cpp_wrappers/ch.hpp
index a7fd44df9..2c2a82fb0 100644
--- a/os/various/cpp_wrappers/ch.hpp
+++ b/os/various/cpp_wrappers/ch.hpp
@@ -1843,10 +1843,14 @@ namespace chibios_rt {
* chibios_rt::Mailbox *
*------------------------------------------------------------------------*/
/**
- * @brief Class encapsulating a mailbox.
+ * @brief Base mailbox class.
+ *
+ * @param T type of objects that mailbox able to handle
*/
- class Mailbox {
+ template <typename T>
+ class MailboxBase {
public:
+
/**
* @brief Embedded @p ::Mailbox structure.
*/
@@ -1862,7 +1866,11 @@ namespace chibios_rt {
*
* @init
*/
- Mailbox(msg_t *buf, cnt_t n);
+ MailboxBase(msg_t *buf, cnt_t n) {
+ /* static_assert(sizeof(msg_t) >= sizeof(T),
+ "You can not pass objects bigger than msg_t"); */
+ chMBObjectInit(&mb, buf, n);
+ }
/**
* @brief Resets a Mailbox object.
@@ -1871,7 +1879,10 @@ namespace chibios_rt {
*
* @api
*/
- void reset(void);
+ void reset(void) {
+
+ chMBReset(&mb);
+ }
/**
* @brief Posts a message into a mailbox.
@@ -1885,13 +1896,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
*/
- msg_t post(msg_t msg, systime_t time);
+ msg_t post(T msg, systime_t time) {
+
+ return chMBPost(&mb, reinterpret_cast<msg_t>(msg), time);
+ }
/**
* @brief Posts a message into a mailbox.
@@ -1905,13 +1919,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
*/
- msg_t postS(msg_t msg, systime_t time);
+ msg_t postS(T msg, systime_t time) {
+
+ return chMBPostS(&mb, reinterpret_cast<msg_t>(msg), time);
+ }
/**
* @brief Posts a message into a mailbox.
@@ -1920,13 +1937,16 @@ namespace chibios_rt {
*
* @param[in] msg the message to be posted on the mailbox
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted.
*
* @iclass
*/
- msg_t postI(msg_t msg);
+ msg_t postI(T msg) {
+
+ return chMBPostI(&mb, reinterpret_cast<msg_t>(msg));
+ }
/**
* @brief Posts an high priority message into a mailbox.
@@ -1940,13 +1960,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
*/
- msg_t postAhead(msg_t msg, systime_t time);
+ msg_t postAhead(T msg, systime_t time) {
+
+ return chMBPostAhead(&mb, reinterpret_cast<msg_t>(msg), time);
+ }
/**
* @brief Posts an high priority message into a mailbox.
@@ -1960,13 +1983,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
*/
- msg_t postAheadS(msg_t msg, systime_t time);
+ msg_t postAheadS(T msg, systime_t time) {
+
+ return chMBPostAheadS(&mb, reinterpret_cast<msg_t>(msg), time);
+ }
/**
* @brief Posts an high priority message into a mailbox.
@@ -1975,13 +2001,16 @@ namespace chibios_rt {
*
* @param[in] msg the message to be posted on the mailbox
* @return The operation status.
- * @retval RDY_OK if a message has been correctly posted.
- * @retval RDY_TIMEOUT if the mailbox is full and the message cannot be
+ * @retval MSG_OK if a message has been correctly posted.
+ * @retval MSG_TIMEOUT if the mailbox is full and the message cannot be
* posted.
*
* @iclass
*/
- msg_t postAheadI(msg_t msg);
+ msg_t postAheadI(T msg) {
+
+ return chMBPostAheadI(&mb, reinterpret_cast<msg_t>(msg));
+ }
/**
* @brief Retrieves a message from a mailbox.
@@ -1995,13 +2024,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly fetched.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly fetched.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @api
*/
- msg_t fetch(msg_t *msgp, systime_t time);
+ msg_t fetch(T *msgp, systime_t time) {
+
+ return chMBFetch(&mb, reinterpret_cast<msg_t*>(msgp), time);
+ }
/**
* @brief Retrieves a message from a mailbox.
@@ -2015,13 +2047,16 @@ namespace chibios_rt {
* - @a TIME_INFINITE no timeout.
* .
* @return The operation status.
- * @retval RDY_OK if a message has been correctly fetched.
- * @retval RDY_RESET if the mailbox has been reset while waiting.
- * @retval RDY_TIMEOUT if the operation has timed out.
+ * @retval MSG_OK if a message has been correctly fetched.
+ * @retval MSG_RESET if the mailbox has been reset while waiting.
+ * @retval MSG_TIMEOUT if the operation has timed out.
*
* @sclass
*/
- msg_t fetchS(msg_t *msgp, systime_t time);
+ msg_t fetchS(T *msgp, systime_t time) {
+
+ return chMBFetchS(&mb, reinterpret_cast<msg_t*>(msgp), time);
+ }
/**
* @brief Retrieves a message from a mailbox.
@@ -2031,13 +2066,16 @@ namespace chibios_rt {
* @param[out] msgp pointer to a message variable for the received
* message
* @return The operation status.
- * @retval RDY_OK if a message has been correctly fetched.
- * @retval RDY_TIMEOUT if the mailbox is empty and a message cannot be
+ * @retval MSG_OK if a message has been correctly fetched.
+ * @retval MSG_TIMEOUT if the mailbox is empty and a message cannot be
* fetched.
*
* @iclass
*/
- msg_t fetchI(msg_t *msgp);
+ msg_t fetchI(T *msgp) {
+
+ return chMBFetchI(&mb, reinterpret_cast<msg_t*>(msgp));
+ }
/**
* @brief Returns the number of free message slots into a mailbox.
@@ -2050,7 +2088,10 @@ namespace chibios_rt {
*
* @iclass
*/
- cnt_t getFreeCountI(void);
+ cnt_t getFreeCountI(void) {
+
+ return chMBGetFreeCountI(&mb);
+ }
/**
* @brief Returns the number of used message slots into a mailbox.
@@ -2063,30 +2104,33 @@ namespace chibios_rt {
*
* @iclass
*/
- cnt_t getUsedCountI(void);
+ cnt_t getUsedCountI(void) {
+
+ return chMBGetUsedCountI(&mb);
+ }
};
/*------------------------------------------------------------------------*
- * chibios_rt::MailboxBuffer *
+ * chibios_rt::Mailbox *
*------------------------------------------------------------------------*/
/**
- * @brief Template class encapsulating a mailbox and its messages buffer.
+ * @brief Template class encapsulating a mailbox and its messages buffer.
*
- * @param N size of the mailbox
+ * @param N length of the mailbox buffer
*/
- template <int N>
- class MailboxBuffer : public Mailbox {
+ template <typename T, int N>
+ class Mailbox : public MailboxBase<T> {
private:
msg_t mb_buf[N];
public:
/**
- * @brief BufferMailbox constructor.
+ * @brief Mailbox constructor.
*
* @init
*/
- MailboxBuffer(void) : Mailbox(mb_buf,
- (cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
+ Mailbox(void) :
+ MailboxBase<T>(mb_buf, (cnt_t)(sizeof mb_buf / sizeof (msg_t))) {
}
};
#endif /* CH_CFG_USE_MAILBOXES */
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-31 14:06:14 +0000