From 5397ae347acc6d302b68bbdc10ec2d9e70892513 Mon Sep 17 00:00:00 2001 From: Giovanni Di Sirio Date: Sun, 20 Jan 2019 15:20:43 +0000 Subject: Renames for consistency. git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@12564 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/oslib/include/chbsem.h | 311 ++++++++++++++++++++++++ os/oslib/include/chfactory.h | 553 ++++++++++++++++++++++++++++++++++++++++++ os/oslib/include/chlib.h | 217 +++++++++++++++++ os/oslib/include/chmboxes.h | 209 ++++++++++++++++ os/oslib/include/chmemcore.h | 198 +++++++++++++++ os/oslib/include/chmemheaps.h | 178 ++++++++++++++ os/oslib/include/chmempools.h | 371 ++++++++++++++++++++++++++++ os/oslib/include/chobjfifos.h | 430 ++++++++++++++++++++++++++++++++ os/oslib/include/chpipes.h | 208 ++++++++++++++++ 9 files changed, 2675 insertions(+) create mode 100644 os/oslib/include/chbsem.h create mode 100644 os/oslib/include/chfactory.h create mode 100644 os/oslib/include/chlib.h create mode 100644 os/oslib/include/chmboxes.h create mode 100644 os/oslib/include/chmemcore.h create mode 100644 os/oslib/include/chmemheaps.h create mode 100644 os/oslib/include/chmempools.h create mode 100644 os/oslib/include/chobjfifos.h create mode 100644 os/oslib/include/chpipes.h (limited to 'os/oslib/include') diff --git a/os/oslib/include/chbsem.h b/os/oslib/include/chbsem.h new file mode 100644 index 000000000..192aec86a --- /dev/null +++ b/os/oslib/include/chbsem.h @@ -0,0 +1,311 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chbsem.h + * @brief Binary semaphores structures and macros. + * @details Binary semaphores related APIs and services. + *

Operation mode

+ * Binary semaphores are implemented as a set of inline functions + * that use the existing counting semaphores primitives. The + * difference between counting and binary semaphores is that the + * counter of binary semaphores is not allowed to grow above the + * value 1. Repeated signal operation are ignored. A binary + * semaphore can thus have only two defined states: + * - Taken, when its counter has a value of zero or lower + * than zero. A negative number represent the number of threads + * queued on the binary semaphore. + * - Not taken, when its counter has a value of one. + * . + * Binary semaphores are different from mutexes because there is no + * concept of ownership, a binary semaphore can be taken by a + * thread and signaled by another thread or an interrupt handler, + * mutexes can only be taken and released by the same thread. Another + * difference is that binary semaphores, unlike mutexes, do not + * implement the priority inheritance protocol.
+ * In order to use the binary semaphores APIs the + * @p CH_CFG_USE_SEMAPHORES option must be enabled in @p chconf.h. + * + * @addtogroup oslib_binary_semaphores + * @{ + */ + +#ifndef CHBSEM_H +#define CHBSEM_H + +#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @extends semaphore_t + * + * @brief Binary semaphore type. + */ +typedef struct ch_binary_semaphore { + semaphore_t sem; +} binary_semaphore_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Data part of a static semaphore initializer. + * @details This macro should be used when statically initializing a semaphore + * that is part of a bigger structure. + * + * @param[in] name the name of the semaphore variable + * @param[in] taken the semaphore initial state + */ +#define _BSEMAPHORE_DATA(name, taken) \ + {_SEMAPHORE_DATA(name.sem, ((taken) ? 0 : 1))} + +/** + * @brief Static semaphore initializer. + * @details Statically initialized semaphores require no explicit + * initialization using @p chBSemInit(). + * + * @param[in] name the name of the semaphore variable + * @param[in] taken the semaphore initial state + */ +#define BSEMAPHORE_DECL(name, taken) \ + binary_semaphore_t name = _BSEMAPHORE_DATA(name, taken) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes a binary semaphore. + * + * @param[out] bsp pointer to a @p binary_semaphore_t structure + * @param[in] taken initial state of the binary semaphore: + * - @a false, the initial state is not taken. + * - @a true, the initial state is taken. + * . + * + * @init + */ +static inline void chBSemObjectInit(binary_semaphore_t *bsp, bool taken) { + + chSemObjectInit(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1); +} + +/** + * @brief Wait operation on the binary semaphore. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @return A message specifying how the invoking thread has been + * released from the semaphore. + * @retval MSG_OK if the binary semaphore has been successfully taken. + * @retval MSG_RESET if the binary semaphore has been reset using + * @p bsemReset(). + * + * @api + */ +static inline msg_t chBSemWait(binary_semaphore_t *bsp) { + + return chSemWait(&bsp->sem); +} + +/** + * @brief Wait operation on the binary semaphore. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @return A message specifying how the invoking thread has been + * released from the semaphore. + * @retval MSG_OK if the binary semaphore has been successfully taken. + * @retval MSG_RESET if the binary semaphore has been reset using + * @p bsemReset(). + * + * @sclass + */ +static inline msg_t chBSemWaitS(binary_semaphore_t *bsp) { + + chDbgCheckClassS(); + + return chSemWaitS(&bsp->sem); +} + +/** + * @brief Wait operation on the binary semaphore. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return A message specifying how the invoking thread has been + * released from the semaphore. + * @retval MSG_OK if the binary semaphore has been successfully taken. + * @retval MSG_RESET if the binary semaphore has been reset using + * @p bsemReset(). + * @retval MSG_TIMEOUT if the binary semaphore has not been signaled or reset + * within the specified timeout. + * + * @sclass + */ +static inline msg_t chBSemWaitTimeoutS(binary_semaphore_t *bsp, + sysinterval_t timeout) { + + chDbgCheckClassS(); + + return chSemWaitTimeoutS(&bsp->sem, timeout); +} + +/** + * @brief Wait operation on the binary semaphore. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return A message specifying how the invoking thread has been + * released from the semaphore. + * @retval MSG_OK if the binary semaphore has been successfully taken. + * @retval MSG_RESET if the binary semaphore has been reset using + * @p bsemReset(). + * @retval MSG_TIMEOUT if the binary semaphore has not been signaled or reset + * within the specified timeout. + * + * @api + */ +static inline msg_t chBSemWaitTimeout(binary_semaphore_t *bsp, + sysinterval_t timeout) { + + return chSemWaitTimeout(&bsp->sem, timeout); +} + +/** + * @brief Reset operation on the binary semaphore. + * @note The released threads can recognize they were waked up by a reset + * rather than a signal because the @p bsemWait() will return + * @p MSG_RESET instead of @p MSG_OK. + * @note This function does not reschedule. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @param[in] taken new state of the binary semaphore + * - @a false, the new state is not taken. + * - @a true, the new state is taken. + * . + * + * @iclass + */ +static inline void chBSemResetI(binary_semaphore_t *bsp, bool taken) { + + chDbgCheckClassI(); + + chSemResetI(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1); +} + +/** + * @brief Reset operation on the binary semaphore. + * @note The released threads can recognize they were waked up by a reset + * rather than a signal because the @p bsemWait() will return + * @p MSG_RESET instead of @p MSG_OK. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @param[in] taken new state of the binary semaphore + * - @a false, the new state is not taken. + * - @a true, the new state is taken. + * . + * + * @api + */ +static inline void chBSemReset(binary_semaphore_t *bsp, bool taken) { + + chSemReset(&bsp->sem, taken ? (cnt_t)0 : (cnt_t)1); +} + +/** + * @brief Performs a signal operation on a binary semaphore. + * @note This function does not reschedule. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * + * @iclass + */ +static inline void chBSemSignalI(binary_semaphore_t *bsp) { + + chDbgCheckClassI(); + + if (bsp->sem.cnt < (cnt_t)1) { + chSemSignalI(&bsp->sem); + } +} + +/** + * @brief Performs a signal operation on a binary semaphore. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * + * @api + */ +static inline void chBSemSignal(binary_semaphore_t *bsp) { + + chSysLock(); + chBSemSignalI(bsp); + chSchRescheduleS(); + chSysUnlock(); +} + +/** + * @brief Returns the binary semaphore current state. + * + * @param[in] bsp pointer to a @p binary_semaphore_t structure + * @return The binary semaphore current state. + * @retval false if the binary semaphore is not taken. + * @retval true if the binary semaphore is taken. + * + * @iclass + */ +static inline bool chBSemGetStateI(const binary_semaphore_t *bsp) { + + chDbgCheckClassI(); + + return (bsp->sem.cnt > (cnt_t)0) ? false : true; +} + +#endif /* CH_CFG_USE_SEMAPHORES == TRUE */ + +#endif /* CHBSEM_H */ + +/** @} */ diff --git a/os/oslib/include/chfactory.h b/os/oslib/include/chfactory.h new file mode 100644 index 000000000..aaaa5d2c2 --- /dev/null +++ b/os/oslib/include/chfactory.h @@ -0,0 +1,553 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chfactory.h + * @brief ChibiOS objects factory structures and macros. + * + * @addtogroup oslib_objects_factory + * @{ + */ + +#ifndef CHFACTORY_H +#define CHFACTORY_H + +#if (CH_CFG_USE_FACTORY == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Maximum length for object names. + * @details If the specified length is zero then the name is stored by + * pointer but this could have unintended side effects. + */ +#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8 +#endif + +/** + * @brief Enables the registry of generic objects. + */ +#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE +#endif + +/** + * @brief Enables factory for generic buffers. + */ +#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE +#endif + +/** + * @brief Enables factory for semaphores. + */ +#if !defined(CH_CFG_FACTORY_SEMAPHORES) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_SEMAPHORES TRUE +#endif + +/** + * @brief Enables factory for mailboxes. + */ +#if !defined(CH_CFG_FACTORY_MAILBOXES) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_MAILBOXES TRUE +#endif + +/** + * @brief Enables factory for objects FIFOs. + */ +#if !defined(CH_CFG_FACTORY_OBJ_FIFOS) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_OBJ_FIFOS TRUE +#endif + +/** + * @brief Enables factory for objects FIFOs. + */ +#if !defined(CH_CFG_FACTORY_OBJ_FIFOS) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_OBJ_FIFOS TRUE +#endif + +/** + * @brief Enables factory for Pipes. + */ +#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__) +#define CH_CFG_FACTORY_PIPES TRUE +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) && (CH_CFG_USE_SEMAPHORES == FALSE) +/*lint -save -e767 [20.5] Valid because the #undef.*/ +#undef CH_CFG_FACTORY_SEMAPHORES +#define CH_CFG_FACTORY_SEMAPHORES FALSE +/*lint restore*/ +#endif + +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) && (CH_CFG_USE_MAILBOXES == FALSE) +/*lint -save -e767 [20.5] Valid because the #undef.*/ +#undef CH_CFG_FACTORY_MAILBOXES +#define CH_CFG_FACTORY_MAILBOXES FALSE +/*lint restore*/ +#endif + +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) && (CH_CFG_USE_OBJ_FIFOS == FALSE) +/*lint -save -e767 [20.5] Valid because the #undef.*/ +#undef CH_CFG_FACTORY_OBJ_FIFOS +#define CH_CFG_FACTORY_OBJ_FIFOS FALSE +/*lint restore*/ +#endif + +#if (CH_CFG_FACTORY_PIPES == TRUE) && (CH_CFG_USE_PIPES == FALSE) +/*lint -save -e767 [20.5] Valid because the #undef.*/ +#undef CH_CFG_FACTORY_PIPES +#define CH_CFG_FACTORY_PIPES FALSE +/*lint restore*/ +#endif + +#define CH_FACTORY_REQUIRES_POOLS \ + ((CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || \ + (CH_CFG_FACTORY_SEMAPHORES == TRUE)) + +#define CH_FACTORY_REQUIRES_HEAP \ + ((CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || \ + (CH_CFG_FACTORY_MAILBOXES == TRUE) || \ + (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || \ + (CH_CFG_FACTORY_PIPES == TRUE)) + +#if (CH_CFG_FACTORY_MAX_NAMES_LENGTH < 0) || \ + (CH_CFG_FACTORY_MAX_NAMES_LENGTH > 32) +#error "invalid CH_CFG_FACTORY_MAX_NAMES_LENGTH value" +#endif + +#if (CH_CFG_USE_MUTEXES == FALSE) && (CH_CFG_USE_SEMAPHORES == FALSE) +#error "CH_CFG_USE_FACTORY requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES" +#endif + +#if CH_CFG_USE_MEMCORE == FALSE +#error "CH_CFG_USE_FACTORY requires CH_CFG_USE_MEMCORE" +#endif + +#if CH_FACTORY_REQUIRES_POOLS && (CH_CFG_USE_MEMPOOLS == FALSE) +#error "CH_CFG_USE_MEMPOOLS is required" +#endif + +#if CH_FACTORY_REQUIRES_HEAP && (CH_CFG_USE_HEAP == FALSE) +#error "CH_CFG_USE_HEAP is required" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a dynamic object list element. + */ +typedef struct ch_dyn_element { + /** + * @brief Next dynamic object in the list. + */ + struct ch_dyn_element *next; + /** + * @brief Number of references to this object. + */ + ucnt_t refs; +#if (CH_CFG_FACTORY_MAX_NAMES_LENGTH > 0) || defined(__DOXYGEN__) + char name[CH_CFG_FACTORY_MAX_NAMES_LENGTH]; +#else + const char *name; +#endif +} dyn_element_t; + +/** + * @brief Type of a dynamic object list. + */ +typedef struct ch_dyn_list { + dyn_element_t *next; +} dyn_list_t; + +#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a registered object. + */ +typedef struct ch_registered_static_object { + /** + * @brief List element of the registered object. + */ + dyn_element_t element; + /** + * @brief Pointer to the object. + * @note The type of the object is not stored in anyway. + */ + void *objp; +} registered_object_t; +#endif + +#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a dynamic buffer object. + */ +typedef struct ch_dyn_object { + /** + * @brief List element of the dynamic buffer object. + */ + dyn_element_t element; + /*lint -save -e9038 [18.7] Required by design.*/ + /** + * @brief The buffer. + * @note This requires C99. + */ + uint8_t buffer[]; + /*lint restore*/ +} dyn_buffer_t; +#endif + +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a dynamic semaphore. + */ +typedef struct ch_dyn_semaphore { + /** + * @brief List element of the dynamic semaphore. + */ + dyn_element_t element; + /** + * @brief The semaphore. + */ + semaphore_t sem; +} dyn_semaphore_t; +#endif + +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a dynamic buffer object. + */ +typedef struct ch_dyn_mailbox { + /** + * @brief List element of the dynamic buffer object. + */ + dyn_element_t element; + /** + * @brief The mailbox. + */ + mailbox_t mbx; + /*lint -save -e9038 [18.7] Required by design.*/ + /** + * @brief Messages buffer. + * @note This requires C99. + */ + msg_t msgbuf[]; + /*lint restore*/ +} dyn_mailbox_t; +#endif + +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a dynamic buffer object. + */ +typedef struct ch_dyn_objects_fifo { + /** + * @brief List element of the dynamic buffer object. + */ + dyn_element_t element; + /** + * @brief The objects FIFO. + */ + objects_fifo_t fifo; + /*lint -save -e9038 [18.7] Required by design.*/ + /** + * @brief Messages buffer. + * @note This open array is followed by another area containing the + * objects, this area is not represented in this structure. + * @note This requires C99. + */ + msg_t msgbuf[]; + /*lint restore*/ +} dyn_objects_fifo_t; +#endif + +#if (CH_CFG_FACTORY_PIPES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Type of a dynamic pipe object. + */ +typedef struct ch_dyn_pipe { + /** + * @brief List element of the dynamic pipe object. + */ + dyn_element_t element; + /** + * @brief The pipe. + */ + pipe_t pipe; + /*lint -save -e9038 [18.7] Required by design.*/ + /** + * @brief Messages buffer. + * @note This requires C99. + */ + uint8_t buffer[]; + /*lint restore*/ +} dyn_pipe_t; +#endif + +/** + * @brief Type of the factory main object. + */ +typedef struct ch_objects_factory { + /** + * @brief Factory access mutex or semaphore. + */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + mutex_t mtx; +#else + semaphore_t sem; +#endif + /** + * @brief List of the registered objects. + */ + dyn_list_t obj_list; + /** + * @brief Pool of the available registered objects. + */ + memory_pool_t obj_pool; +#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__) + /** + * @brief List of the allocated buffer objects. + */ + dyn_list_t buf_list; +#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS = TRUE */ +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__) + /** + * @brief List of the allocated semaphores. + */ + dyn_list_t sem_list; + /** + * @brief Pool of the available semaphores. + */ + memory_pool_t sem_pool; +#endif /* CH_CFG_FACTORY_SEMAPHORES = TRUE */ +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__) + /** + * @brief List of the allocated buffer objects. + */ + dyn_list_t mbx_list; +#endif /* CH_CFG_FACTORY_MAILBOXES = TRUE */ +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__) + /** + * @brief List of the allocated "objects FIFO" objects. + */ + dyn_list_t fifo_list; +#endif /* CH_CFG_FACTORY_OBJ_FIFOS = TRUE */ +#if (CH_CFG_FACTORY_PIPES == TRUE) || defined(__DOXYGEN__) + /** + * @brief List of the allocated pipe objects. + */ + dyn_list_t pipe_list; +#endif /* CH_CFG_FACTORY_PIPES = TRUE */ +} objects_factory_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if !defined(__DOXYGEN__) +extern objects_factory_t ch_factory; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void _factory_init(void); +#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__) + registered_object_t *chFactoryRegisterObject(const char *name, + void *objp); + registered_object_t *chFactoryFindObject(const char *name); + registered_object_t *chFactoryFindObjectByPointer(void *objp); + void chFactoryReleaseObject(registered_object_t *rop); +#endif +#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__) + dyn_buffer_t *chFactoryCreateBuffer(const char *name, size_t size); + dyn_buffer_t *chFactoryFindBuffer(const char *name); + void chFactoryReleaseBuffer(dyn_buffer_t *dbp); +#endif +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__) + dyn_semaphore_t *chFactoryCreateSemaphore(const char *name, cnt_t n); + dyn_semaphore_t *chFactoryFindSemaphore(const char *name); + void chFactoryReleaseSemaphore(dyn_semaphore_t *dsp); +#endif +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__) + dyn_mailbox_t *chFactoryCreateMailbox(const char *name, size_t n); + dyn_mailbox_t *chFactoryFindMailbox(const char *name); + void chFactoryReleaseMailbox(dyn_mailbox_t *dmp); +#endif +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__) + dyn_objects_fifo_t *chFactoryCreateObjectsFIFO(const char *name, + size_t objsize, + size_t objn, + unsigned objalign); + dyn_objects_fifo_t *chFactoryFindObjectsFIFO(const char *name); + void chFactoryReleaseObjectsFIFO(dyn_objects_fifo_t *dofp); +#endif +#if (CH_CFG_FACTORY_PIPES == TRUE) || defined(__DOXYGEN__) + dyn_pipe_t *chFactoryCreatePipe(const char *name, size_t size); + dyn_pipe_t *chFactoryFindPipe(const char *name); + void chFactoryReleasePipe(dyn_pipe_t *dpp); +#endif +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Duplicates an object reference. + * @note This function can be used on any kind of dynamic object. + * + * @param[in] dep pointer to the element field of the object + * @return The duplicated object reference. + * + * @api + */ +static inline dyn_element_t *chFactoryDuplicateReference(dyn_element_t *dep) { + + dep->refs++; + + return dep; +} + +#if (CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the pointer to the inner registered object. + * + * @param[in] rop registered object reference + * @return The pointer to the registered object. + * + * @api + */ +static inline void *chFactoryGetObject(registered_object_t *rop) { + + return rop->objp; +} +#endif /* CH_CFG_FACTORY_OBJECTS_REGISTRY == TRUE */ + +#if (CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the size of a generic dynamic buffer object. + * + * @param[in] dbp dynamic buffer object reference + * @return The size of the buffer object in bytes. + * + * @api + */ +static inline size_t chFactoryGetBufferSize(dyn_buffer_t *dbp) { + + return chHeapGetSize(dbp) - sizeof (dyn_element_t); +} + +/** + * @brief Returns the pointer to the inner buffer. + * + * @param[in] dbp dynamic buffer object reference + * @return The pointer to the dynamic buffer. + * + * @api + */ +static inline uint8_t *chFactoryGetBuffer(dyn_buffer_t *dbp) { + + return dbp->buffer; +} +#endif /* CH_CFG_FACTORY_GENERIC_BUFFERS == TRUE */ + +#if (CH_CFG_FACTORY_SEMAPHORES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the pointer to the inner semaphore. + * + * @param[in] dsp dynamic semaphore object reference + * @return The pointer to the semaphore. + * + * @api + */ +static inline semaphore_t *chFactoryGetSemaphore(dyn_semaphore_t *dsp) { + + return &dsp->sem; +} +#endif /* CH_CFG_FACTORY_SEMAPHORES == TRUE */ + +#if (CH_CFG_FACTORY_MAILBOXES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the pointer to the inner mailbox. + * + * @param[in] dmp dynamic mailbox object reference + * @return The pointer to the mailbox. + * + * @api + */ +static inline mailbox_t *chFactoryGetMailbox(dyn_mailbox_t *dmp) { + + return &dmp->mbx; +} +#endif /* CH_CFG_FACTORY_MAILBOXES == TRUE */ + +#if (CH_CFG_FACTORY_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the pointer to the inner objects FIFO. + * + * @param[in] dofp dynamic "objects FIFO" object reference + * @return The pointer to the objects FIFO. + * + * @api + */ +static inline objects_fifo_t *chFactoryGetObjectsFIFO(dyn_objects_fifo_t *dofp) { + + return &dofp->fifo; +} +#endif /* CH_CFG_FACTORY_OBJ_FIFOS == TRUE */ + +#if (CH_CFG_FACTORY_PIPES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Returns the pointer to the inner pipe. + * + * @param[in] dpp dynamic pipe object reference + * @return The pointer to the pipe. + * + * @api + */ +static inline pipe_t *chFactoryGetPipe(dyn_pipe_t *dpp) { + + return &dpp->pipe; +} +#endif /* CH_CFG_FACTORY_PIPES == TRUE */ + +#endif /* CH_CFG_USE_FACTORY == TRUE */ + +#endif /* CHFACTORY_H */ + +/** @} */ diff --git a/os/oslib/include/chlib.h b/os/oslib/include/chlib.h new file mode 100644 index 000000000..495d03643 --- /dev/null +++ b/os/oslib/include/chlib.h @@ -0,0 +1,217 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chlib.h + * @brief ChibiOS/LIB main include file. + * @details This header includes all the required library headers. This file + * is meant do be included by @p ch.h not directly by user. + * + * @addtogroup oslib_info + * @details OS Library related info. + * @{ + */ + +#ifndef CHLIB_H +#define CHLIB_H + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @brief ChibiOS/LIB identification macro. + */ +#define _CHIBIOS_OSLIB_ + +/** + * @brief Stable release flag. + */ +#define CH_OSLIB_STABLE 0 + +/** + * @name ChibiOS/LIB version identification + * @{ + */ +/** + * @brief OS Library version string. + */ +#define CH_OSLIB_VERSION "1.0.0" + +/** + * @brief Kernel version major number. + */ +#define CH_OSLIB_MAJOR 1 + +/** + * @brief Kernel version minor number. + */ +#define CH_OSLIB_MINOR 0 + +/** + * @brief Kernel version patch number. + */ +#define CH_OSLIB_PATCH 0 +/** @} */ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/* Host OS checks.*/ +#if !defined(_CHIBIOS_RT_) && !defined(_CHIBIOS_NIL_) +#error "OS check failed, must be included after ch.h" +#endif + +/* Configuration file checks.*/ +#if !defined(CH_CFG_USE_MAILBOXES) +#error "CH_CFG_USE_MAILBOXES not defined in chconf.h" +#endif + +#if !defined(CH_CFG_USE_MEMCORE) +#error "CH_CFG_USE_MEMCORE not defined in chconf.h" +#endif + +#if !defined(CH_CFG_USE_HEAP) +#error "CH_CFG_USE_HEAP not defined in chconf.h" +#endif + +#if !defined(CH_CFG_USE_MEMPOOLS) +#error "CH_CFG_USE_MEMPOOLS not defined in chconf.h" +#endif + +#if !defined(CH_CFG_USE_OBJ_FIFOS) +#error "CH_CFG_USE_OBJ_FIFOS not defined in chconf.h" +#endif + +#if !defined(CH_CFG_USE_PIPES) +#error "CH_CFG_USE_PIPES not defined in chconf.h" +#endif + +/* Objects factory options checks.*/ +#if !defined(CH_CFG_USE_FACTORY) +#error "CH_CFG_USE_FACTORY not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH) +#error "CH_CFG_FACTORY_MAX_NAMES_LENGTH not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY) +#error "CH_CFG_FACTORY_OBJECTS_REGISTRY not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS) +#error "CH_CFG_FACTORY_GENERIC_BUFFERS not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_SEMAPHORES) +#error "CH_CFG_FACTORY_SEMAPHORES not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_MAILBOXES) +#error "CH_CFG_FACTORY_MAILBOXES not defined in chconf.h" +#endif + +#if !defined(CH_CFG_FACTORY_OBJ_FIFOS) +#error "CH_CFG_FACTORY_OBJ_FIFOS not defined in chconf.h" +#endif + +/* License checks.*/ +#if !defined(CH_CUSTOMER_LIC_OSLIB) || !defined(CH_LICENSE_FEATURES) +#error "malformed chlicense.h" +#endif + +#if CH_CUSTOMER_LIC_OSLIB== FALSE +#error "ChibiOS/LIB not licensed" +#endif + +#if (CH_LICENSE_FEATURES != CH_FEATURES_FULL) && \ + (CH_LICENSE_FEATURES != CH_FEATURES_INTERMEDIATE) && \ + (CH_LICENSE_FEATURES != CH_FEATURES_BASIC) +#error "invalid CH_LICENSE_FEATURES setting" +#endif + +/* Restrictions in basic and intermediate modes.*/ +#if (CH_CUSTOMER_LIC_OSLIB == FALSE) || \ + (CH_LICENSE_FEATURES == CH_FEATURES_INTERMEDIATE) || \ + (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) + +/* Restricted subsystems.*/ +#undef CH_CFG_USE_FACTORY + +#define CH_CFG_USE_FACTORY FALSE + +#endif /* (CH_CUSTOMER_LIC_OSLIB == FALSE) || + (CH_LICENSE_FEATURES == CH_FEATURES_INTERMEDIATE) || + (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) */ + +/* Restrictions in basic mode.*/ +#if (CH_CUSTOMER_LIC_OSLIB == FALSE) || \ + (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) + +/* Restricted subsystems.*/ +#undef CH_CFG_USE_MEMCORE +#undef CH_CFG_USE_HEAP +#undef CH_CFG_USE_MEMPOOLS +#undef CH_CFG_USE_OBJ_FIFOS +#undef CH_CFG_USE_PIPES + +#define CH_CFG_USE_MEMCORE FALSE +#define CH_CFG_USE_HEAP FALSE +#define CH_CFG_USE_MEMPOOLS FALSE +#define CH_CFG_USE_OBJ_FIFOS FALSE +#define CH_CFG_USE_PIPES FALSE + +#endif /* (CH_CUSTOMER_LIC_OSLIB == FALSE) || + (CH_LICENSE_FEATURES == CH_FEATURES_BASIC) */ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Late inclusions. */ +/*===========================================================================*/ + +/* OS Library headers.*/ +#include "chbsem.h" +#include "chmboxes.h" +#include "chmemcore.h" +#include "chmemheaps.h" +#include "chmempools.h" +#include "chobjfifos.h" +#include "chpipes.h" +#include "chfactory.h" + +#endif /* CHLIB_H */ + +/** @} */ diff --git a/os/oslib/include/chmboxes.h b/os/oslib/include/chmboxes.h new file mode 100644 index 000000000..fd76b995a --- /dev/null +++ b/os/oslib/include/chmboxes.h @@ -0,0 +1,209 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chmboxes.h + * @brief Mailboxes macros and structures. + * + * @addtogroup oslib_mailboxes + * @{ + */ + +#ifndef CHMBOXES_H +#define CHMBOXES_H + +#if (CH_CFG_USE_MAILBOXES == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Structure representing a mailbox object. + */ +typedef struct { + msg_t *buffer; /**< @brief Pointer to the mailbox + buffer. */ + msg_t *top; /**< @brief Pointer to the location + after the buffer. */ + msg_t *wrptr; /**< @brief Write pointer. */ + msg_t *rdptr; /**< @brief Read pointer. */ + size_t cnt; /**< @brief Messages in queue. */ + bool reset; /**< @brief True in reset state. */ + threads_queue_t qw; /**< @brief Queued writers. */ + threads_queue_t qr; /**< @brief Queued readers. */ +} mailbox_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Data part of a static mailbox initializer. + * @details This macro should be used when statically initializing a + * mailbox that is part of a bigger structure. + * + * @param[in] name the name of the mailbox variable + * @param[in] buffer pointer to the mailbox buffer array of @p msg_t + * @param[in] size number of @p msg_t elements in the buffer array + */ +#define _MAILBOX_DATA(name, buffer, size) { \ + (msg_t *)(buffer), \ + (msg_t *)(buffer) + size, \ + (msg_t *)(buffer), \ + (msg_t *)(buffer), \ + (size_t)0, \ + false, \ + _THREADS_QUEUE_DATA(name.qw), \ + _THREADS_QUEUE_DATA(name.qr), \ +} + +/** + * @brief Static mailbox initializer. + * @details Statically initialized mailboxes require no explicit + * initialization using @p chMBObjectInit(). + * + * @param[in] name the name of the mailbox variable + * @param[in] buffer pointer to the mailbox buffer array of @p msg_t + * @param[in] size number of @p msg_t elements in the buffer array + */ +#define MAILBOX_DECL(name, buffer, size) \ + mailbox_t name = _MAILBOX_DATA(name, buffer, size) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void chMBObjectInit(mailbox_t *mbp, msg_t *buf, size_t n); + void chMBReset(mailbox_t *mbp); + void chMBResetI(mailbox_t *mbp); + msg_t chMBPostTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout); + msg_t chMBPostTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout); + msg_t chMBPostI(mailbox_t *mbp, msg_t msg); + msg_t chMBPostAheadTimeout(mailbox_t *mbp, msg_t msg, sysinterval_t timeout); + msg_t chMBPostAheadTimeoutS(mailbox_t *mbp, msg_t msg, sysinterval_t timeout); + msg_t chMBPostAheadI(mailbox_t *mbp, msg_t msg); + msg_t chMBFetchTimeout(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout); + msg_t chMBFetchTimeoutS(mailbox_t *mbp, msg_t *msgp, sysinterval_t timeout); + msg_t chMBFetchI(mailbox_t *mbp, msg_t *msgp); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Returns the mailbox buffer size as number of messages. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @return The size of the mailbox. + * + * @iclass + */ +static inline size_t chMBGetSizeI(const mailbox_t *mbp) { + + /*lint -save -e9033 [10.8] Perfectly safe pointers + arithmetic.*/ + return (size_t)(mbp->top - mbp->buffer); + /*lint -restore*/ +} + +/** + * @brief Returns the number of used message slots into a mailbox. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @return The number of queued messages. + * + * @iclass + */ +static inline size_t chMBGetUsedCountI(const mailbox_t *mbp) { + + chDbgCheckClassI(); + + return mbp->cnt; +} + +/** + * @brief Returns the number of free message slots into a mailbox. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @return The number of empty message slots. + * + * @iclass + */ +static inline size_t chMBGetFreeCountI(const mailbox_t *mbp) { + + chDbgCheckClassI(); + + return chMBGetSizeI(mbp) - chMBGetUsedCountI(mbp); +} + +/** + * @brief Returns the next message in the queue without removing it. + * @pre A message must be waiting in the queue for this function to work + * or it would return garbage. The correct way to use this macro is + * to use @p chMBGetUsedCountI() and then use this macro, all within + * a lock state. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * @return The next message in queue. + * + * @iclass + */ +static inline msg_t chMBPeekI(const mailbox_t *mbp) { + + chDbgCheckClassI(); + + return *mbp->rdptr; +} + +/** + * @brief Terminates the reset state. + * + * @param[in] mbp the pointer to an initialized @p mailbox_t object + * + * @xclass + */ +static inline void chMBResumeX(mailbox_t *mbp) { + + mbp->reset = false; +} + +#endif /* CH_CFG_USE_MAILBOXES == TRUE */ + +#endif /* CHMBOXES_H */ + +/** @} */ diff --git a/os/oslib/include/chmemcore.h b/os/oslib/include/chmemcore.h new file mode 100644 index 000000000..b9b728389 --- /dev/null +++ b/os/oslib/include/chmemcore.h @@ -0,0 +1,198 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chmemcore.h + * @brief Core memory manager macros and structures. + * + * @addtogroup oslib_memcore + * @{ + */ + +#ifndef CHMEMCORE_H +#define CHMEMCORE_H + +#if (CH_CFG_USE_MEMCORE == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @brief Managed RAM size. + * @details Size of the RAM area to be managed by the OS. If set to zero + * then the whole available RAM is used. The core memory is made + * available to the heap allocator and/or can be used directly through + * the simplified core memory allocator. + * + * @note In order to let the OS manage the whole RAM the linker script must + * provide the @p __heap_base__ and @p __heap_end__ symbols. + * @note Requires @p CH_CFG_USE_MEMCORE. + */ +#if !defined(CH_CFG_MEMCORE_SIZE) || defined(__DOXYGEN__) +#define CH_CFG_MEMCORE_SIZE 0 +#endif + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if CH_CFG_MEMCORE_SIZE < 0 +#error "invalid CH_CFG_MEMCORE_SIZE value specified" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Memory get function. + */ +typedef void *(*memgetfunc_t)(size_t size, unsigned align); + +/** + * @brief Enhanced memory get function. + */ +typedef void *(*memgetfunc2_t)(size_t size, unsigned align, size_t offset); + +/** + * @brief Type of memory core object. + */ +typedef struct { + /** + * @brief Next free address. + */ + uint8_t *nextmem; + /** + * @brief Final address. + */ + uint8_t *endmem; +} memcore_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#if !defined(__DOXYGEN__) +extern memcore_t ch_memcore; +#endif + +#ifdef __cplusplus +extern "C" { +#endif + void _core_init(void); + void *chCoreAllocAlignedWithOffsetI(size_t size, + unsigned align, + size_t offset); + void *chCoreAllocAlignedWithOffset(size_t size, + unsigned align, + size_t offset); + size_t chCoreGetStatusX(void); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned to the + * specified alignment. + * + * @param[in] size the size of the block to be allocated. + * @param[in] align desired memory alignment + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @iclass + */ +static inline void *chCoreAllocAlignedI(size_t size, unsigned align) { + + return chCoreAllocAlignedWithOffsetI(size, align, 0U); +} + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned to the + * specified alignment. + * + * @param[in] size the size of the block to be allocated + * @param[in] align desired memory alignment + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @api + */ +static inline void *chCoreAllocAligned(size_t size, unsigned align) { + void *p; + + chSysLock(); + p = chCoreAllocAlignedWithOffsetI(size, align, 0U); + chSysUnlock(); + + return p; +} + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned for a + * pointer data type. + * + * @param[in] size the size of the block to be allocated. + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @iclass + */ +static inline void *chCoreAllocI(size_t size) { + + return chCoreAllocAlignedWithOffsetI(size, PORT_NATURAL_ALIGN, 0U); +} + +/** + * @brief Allocates a memory block. + * @details The allocated block is guaranteed to be properly aligned for a + * pointer data type. + * + * @param[in] size the size of the block to be allocated. + * @return A pointer to the allocated memory block. + * @retval NULL allocation failed, core memory exhausted. + * + * @api + */ +static inline void *chCoreAlloc(size_t size) { + + return chCoreAllocAlignedWithOffset(size, PORT_NATURAL_ALIGN, 0U); +} + +#endif /* CH_CFG_USE_MEMCORE == TRUE */ + +#endif /* CHMEMCORE_H */ + +/** @} */ diff --git a/os/oslib/include/chmemheaps.h b/os/oslib/include/chmemheaps.h new file mode 100644 index 000000000..f20969a32 --- /dev/null +++ b/os/oslib/include/chmemheaps.h @@ -0,0 +1,178 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chmemheaps.h + * @brief Memory heaps macros and structures. + * + * @addtogroup oslib_memheaps + * @{ + */ + +#ifndef CHMEMHEAPS_H +#define CHMEMHEAPS_H + +#if (CH_CFG_USE_HEAP == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/** + * @brief Minimum alignment used for heap. + * @note Cannot use the sizeof operator in this macro. + */ +#if (SIZEOF_PTR == 4) || defined(__DOXYGEN__) +#define CH_HEAP_ALIGNMENT 8U +#elif (SIZEOF_PTR == 2) +#define CH_HEAP_ALIGNMENT 4U +#else +#error "unsupported pointer size" +#endif + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if CH_CFG_USE_MEMCORE == FALSE +#error "CH_CFG_USE_HEAP requires CH_CFG_USE_MEMCORE" +#endif + +#if (CH_CFG_USE_MUTEXES == FALSE) && (CH_CFG_USE_SEMAPHORES == FALSE) +#error "CH_CFG_USE_HEAP requires CH_CFG_USE_MUTEXES and/or CH_CFG_USE_SEMAPHORES" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of a memory heap. + */ +typedef struct memory_heap memory_heap_t; + +/** + * @brief Type of a memory heap header. + */ +typedef union heap_header heap_header_t; + +/** + * @brief Memory heap block header. + */ +union heap_header { + struct { + heap_header_t *next; /**< @brief Next block in free list. */ + size_t pages; /**< @brief Size of the area in pages. */ + } free; + struct { + memory_heap_t *heap; /**< @brief Block owner heap. */ + size_t size; /**< @brief Size of the area in bytes. */ + } used; +}; + +/** + * @brief Structure describing a memory heap. + */ +struct memory_heap { + memgetfunc2_t provider; /**< @brief Memory blocks provider for + this heap. */ + heap_header_t header; /**< @brief Free blocks list header. */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + mutex_t mtx; /**< @brief Heap access mutex. */ +#else + semaphore_t sem; /**< @brief Heap access semaphore. */ +#endif +}; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Allocation of an aligned static heap buffer. + */ +#define CH_HEAP_AREA(name, size) \ + ALIGNED_VAR(CH_HEAP_ALIGNMENT) \ + uint8_t name[MEM_ALIGN_NEXT((size), CH_HEAP_ALIGNMENT)] + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void _heap_init(void); + void chHeapObjectInit(memory_heap_t *heapp, void *buf, size_t size); + void *chHeapAllocAligned(memory_heap_t *heapp, size_t size, unsigned align); + void chHeapFree(void *p); + size_t chHeapStatus(memory_heap_t *heapp, size_t *totalp, size_t *largestp); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Allocates a block of memory from the heap by using the first-fit + * algorithm. + * @details The allocated block is guaranteed to be properly aligned for a + * pointer data type. + * + * @param[in] heapp pointer to a heap descriptor or @p NULL in order to + * access the default heap. + * @param[in] size the size of the block to be allocated. Note that the + * allocated block may be a bit bigger than the requested + * size for alignment and fragmentation reasons. + * @return A pointer to the allocated block. + * @retval NULL if the block cannot be allocated. + * + * @api + */ +static inline void *chHeapAlloc(memory_heap_t *heapp, size_t size) { + + return chHeapAllocAligned(heapp, size, CH_HEAP_ALIGNMENT); +} + +/** + * @brief Returns the size of an allocated block. + * @note The returned value is the requested size, the real size is the + * same value aligned to the next @p CH_HEAP_ALIGNMENT multiple. + * + * @param[in] p pointer to the memory block + * @return Size of the block. + * + * @api + */ +static inline size_t chHeapGetSize(const void *p) { + + return ((heap_header_t *)p - 1U)->used.size; +} + +#endif /* CH_CFG_USE_HEAP == TRUE */ + +#endif /* CHMEMHEAPS_H */ + +/** @} */ diff --git a/os/oslib/include/chmempools.h b/os/oslib/include/chmempools.h new file mode 100644 index 000000000..6e5a45277 --- /dev/null +++ b/os/oslib/include/chmempools.h @@ -0,0 +1,371 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chmempools.h + * @brief Memory Pools macros and structures. + * + * @addtogroup oslib_mempools + * @{ + */ + +#ifndef CHMEMPOOLS_H +#define CHMEMPOOLS_H + +#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if CH_CFG_USE_MEMCORE == FALSE +#error "CH_CFG_USE_MEMPOOLS requires CH_CFG_USE_MEMCORE" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Memory pool free object header. + */ +struct pool_header { + struct pool_header *next; /**< @brief Pointer to the next pool + header in the list. */ +}; + +/** + * @brief Memory pool descriptor. + */ +typedef struct { + struct pool_header *next; /**< @brief Pointer to the header. */ + size_t object_size; /**< @brief Memory pool objects + size. */ + unsigned align; /**< @brief Required alignment. */ + memgetfunc_t provider; /**< @brief Memory blocks provider + for this pool. */ +} memory_pool_t; + +#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Guarded memory pool descriptor. + */ +typedef struct { + semaphore_t sem; /**< @brief Counter semaphore guarding + the memory pool. */ + memory_pool_t pool; /**< @brief The memory pool itself. */ +} guarded_memory_pool_t; +#endif /* CH_CFG_USE_SEMAPHORES == TRUE */ + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Data part of a static memory pool initializer. + * @details This macro should be used when statically initializing a + * memory pool that is part of a bigger structure. + * + * @param[in] name the name of the memory pool variable + * @param[in] size size of the memory pool contained objects + * @param[in] align required memory alignment + * @param[in] provider memory provider function for the memory pool + */ +#define _MEMORYPOOL_DATA(name, size, align, provider) \ + {NULL, size, align, provider} + +/** + * @brief Static memory pool initializer. + * @details Statically initialized memory pools require no explicit + * initialization using @p chPoolInit(). + * + * @param[in] name the name of the memory pool variable + * @param[in] size size of the memory pool contained objects + * @param[in] align required memory alignment + * @param[in] provider memory provider function for the memory pool or @p NULL + * if the pool is not allowed to grow automatically + */ +#define MEMORYPOOL_DECL(name, size, align, provider) \ + memory_pool_t name = _MEMORYPOOL_DATA(name, size, align, provider) + +#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Data part of a static guarded memory pool initializer. + * @details This macro should be used when statically initializing a + * memory pool that is part of a bigger structure. + * + * @param[in] name the name of the memory pool variable + * @param[in] size size of the memory pool contained objects + * @param[in] align required memory alignment + */ +#define _GUARDEDMEMORYPOOL_DATA(name, size, align) { \ + _SEMAPHORE_DATA(name.sem, (cnt_t)0), \ + _MEMORYPOOL_DATA(NULL, size, align, NULL) \ +} + +/** + * @brief Static guarded memory pool initializer. + * @details Statically initialized guarded memory pools require no explicit + * initialization using @p chGuardedPoolInit(). + * + * @param[in] name the name of the guarded memory pool variable + * @param[in] size size of the memory pool contained objects + * @param[in] align required memory alignment + */ +#define GUARDEDMEMORYPOOL_DECL(name, size, align) \ + guarded_memory_pool_t name = _GUARDEDMEMORYPOOL_DATA(name, size, align) +#endif /* CH_CFG_USE_SEMAPHORES == TRUE */ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void chPoolObjectInitAligned(memory_pool_t *mp, size_t size, + unsigned align, memgetfunc_t provider); + void chPoolLoadArray(memory_pool_t *mp, void *p, size_t n); + void *chPoolAllocI(memory_pool_t *mp); + void *chPoolAlloc(memory_pool_t *mp); + void chPoolFreeI(memory_pool_t *mp, void *objp); + void chPoolFree(memory_pool_t *mp, void *objp); +#if CH_CFG_USE_SEMAPHORES == TRUE + void chGuardedPoolObjectInitAligned(guarded_memory_pool_t *gmp, + size_t size, + unsigned align); + void chGuardedPoolLoadArray(guarded_memory_pool_t *gmp, void *p, size_t n); + void *chGuardedPoolAllocTimeoutS(guarded_memory_pool_t *gmp, + sysinterval_t timeout); + void *chGuardedPoolAllocTimeout(guarded_memory_pool_t *gmp, + sysinterval_t timeout); + void chGuardedPoolFree(guarded_memory_pool_t *gmp, void *objp); +#endif +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an empty memory pool. + * + * @param[out] mp pointer to a @p memory_pool_t structure + * @param[in] size the size of the objects contained in this memory pool, + * the minimum accepted size is the size of a pointer to + * void. + * @param[in] provider memory provider function for the memory pool or + * @p NULL if the pool is not allowed to grow + * automatically + * + * @init + */ +static inline void chPoolObjectInit(memory_pool_t *mp, + size_t size, + memgetfunc_t provider) { + + chPoolObjectInitAligned(mp, size, PORT_NATURAL_ALIGN, provider); +} + +/** + * @brief Adds an object to a memory pool. + * @pre The memory pool must be already been initialized. + * @pre The added object must be of the right size for the specified + * memory pool. + * @pre The added object must be properly aligned. + * @note This function is just an alias for @p chPoolFree() and has been + * added for clarity. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be added + * + * @api + */ +static inline void chPoolAdd(memory_pool_t *mp, void *objp) { + + chPoolFree(mp, objp); +} + +/** + * @brief Adds an object to a memory pool. + * @pre The memory pool must be already been initialized. + * @pre The added object must be of the right size for the specified + * memory pool. + * @pre The added object must be properly aligned. + * @note This function is just an alias for @p chPoolFreeI() and has been + * added for clarity. + * + * @param[in] mp pointer to a @p memory_pool_t structure + * @param[in] objp the pointer to the object to be added + * + * @iclass + */ +static inline void chPoolAddI(memory_pool_t *mp, void *objp) { + + chPoolFreeI(mp, objp); +} + +#if (CH_CFG_USE_SEMAPHORES == TRUE) || defined(__DOXYGEN__) +/** + * @brief Initializes an empty guarded memory pool. + * + * @param[out] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] size the size of the objects contained in this guarded + * memory pool, the minimum accepted size is the size + * of a pointer to void. + * + * @init + */ +static inline void chGuardedPoolObjectInit(guarded_memory_pool_t *gmp, + size_t size) { + + chGuardedPoolObjectInitAligned(gmp, size, PORT_NATURAL_ALIGN); +} + +/** + * @brief Allocates an object from a guarded memory pool. + * @pre The guarded memory pool must be already been initialized. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @return The pointer to the allocated object. + * @retval NULL if the pool is empty. + * + * @iclass + */ +static inline void *chGuardedPoolAllocI(guarded_memory_pool_t *gmp) { + void *p; + + p = chPoolAllocI(&gmp->pool); + if (p != NULL) { + chSemFastWaitI(&gmp->sem); + chDbgAssert(chSemGetCounterI(&gmp->sem) >= (cnt_t)0, + "semaphore out of sync"); + } + return p; +} + +/** + * @brief Releases an object into a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @iclass + */ +static inline void chGuardedPoolFreeI(guarded_memory_pool_t *gmp, void *objp) { + + chPoolFreeI(&gmp->pool, objp); + chSemSignalI(&gmp->sem); +} + +/** + * @brief Releases an object into a guarded memory pool. + * @pre The guarded memory pool must already be initialized. + * @pre The freed object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be released + * + * @sclass + */ +static inline void chGuardedPoolFreeS(guarded_memory_pool_t *gmp, void *objp) { + + chGuardedPoolFreeI(gmp, objp); + chSchRescheduleS(); +} + +/** + * @brief Adds an object to a guarded memory pool. + * @pre The guarded memory pool must be already been initialized. + * @pre The added object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * @note This function is just an alias for @p chGuardedPoolFree() and + * has been added for clarity. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be added + * + * @api + */ +static inline void chGuardedPoolAdd(guarded_memory_pool_t *gmp, void *objp) { + + chGuardedPoolFree(gmp, objp); +} + +/** + * @brief Adds an object to a guarded memory pool. + * @pre The guarded memory pool must be already been initialized. + * @pre The added object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * @note This function is just an alias for @p chGuardedPoolFreeI() and + * has been added for clarity. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be added + * + * @iclass + */ +static inline void chGuardedPoolAddI(guarded_memory_pool_t *gmp, void *objp) { + + chGuardedPoolFreeI(gmp, objp); +} + +/** + * @brief Adds an object to a guarded memory pool. + * @pre The guarded memory pool must be already been initialized. + * @pre The added object must be of the right size for the specified + * guarded memory pool. + * @pre The added object must be properly aligned. + * @note This function is just an alias for @p chGuardedPoolFreeI() and + * has been added for clarity. + * + * @param[in] gmp pointer to a @p guarded_memory_pool_t structure + * @param[in] objp the pointer to the object to be added + * + * @sclass + */ +static inline void chGuardedPoolAddS(guarded_memory_pool_t *gmp, void *objp) { + + chGuardedPoolFreeS(gmp, objp); +} +#endif /* CH_CFG_USE_SEMAPHORES == TRUE */ + +#endif /* CH_CFG_USE_MEMPOOLS == TRUE */ + +#endif /* CHMEMPOOLS_H */ + +/** @} */ diff --git a/os/oslib/include/chobjfifos.h b/os/oslib/include/chobjfifos.h new file mode 100644 index 000000000..c75937eb7 --- /dev/null +++ b/os/oslib/include/chobjfifos.h @@ -0,0 +1,430 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chobjfifos.h + * @brief Objects FIFO structures and macros. + * @details This module implements a generic FIFO queue of objects by + * coupling a Guarded Memory Pool (for objects storage) and + * a MailBox.
+ * On the sender side free objects are taken from the pool, filled + * and then sent to the receiver, on the receiver side objects are + * fetched, used and then returned to the pool. + * Operations defined for object FIFOs: + * - Take: An object is taken from the pool of the free + * objects, can be blocking. + * - Return: An object is returned to the pool of the + * free objects, it is guaranteed to be non-blocking. + * - Send: An object is sent through the mailbox, it is + * guaranteed to be non-blocking + * - Receive: An object is received from the mailbox, + * can be blocking. + * . + * + * @addtogroup oslib_objects_fifos + * @{ + */ + +#ifndef CHOBJFIFOS_H +#define CHOBJFIFOS_H + +#if (CH_CFG_USE_OBJ_FIFOS == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if CH_CFG_USE_MEMPOOLS == FALSE +#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_MEMPOOLS" +#endif + +#if CH_CFG_USE_SEMAPHORES == FALSE +#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_SEMAPHORES" +#endif + +#if CH_CFG_USE_MAILBOXES == FALSE +#error "CH_CFG_USE_OBJ_FIFOS requires CH_CFG_USE_MAILBOXES" +#endif + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Type of an objects FIFO. + */ +typedef struct ch_objects_fifo { + /** + * @brief Pool of the free objects. + */ + guarded_memory_pool_t free; + /** + * @brief Mailbox of the sent objects. + */ + mailbox_t mbx; +} objects_fifo_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes a FIFO object. + * @pre The messages size must be a multiple of the alignment + * requirement. + * + * @param[out] ofp pointer to a @p objects_fifo_t structure + * @param[in] objsize size of objects + * @param[in] objn number of objects available + * @param[in] objalign required objects alignment + * @param[in] objbuf pointer to the buffer of objects, it must be able + * to hold @p objn objects of @p objsize size with + * @p objealign alignment + * @param[in] msgbuf pointer to the buffer of messages, it must be able + * to hold @p objn messages + * + * @init + */ +static inline void chFifoObjectInitAligned(objects_fifo_t *ofp, size_t objsize, + size_t objn, unsigned objalign, + void *objbuf, msg_t *msgbuf) { + + chDbgCheck((objsize >= objalign) && (objsize % objalign == 0U)); + + chGuardedPoolObjectInitAligned(&ofp->free, objsize, objalign); + chGuardedPoolLoadArray(&ofp->free, objbuf, objn); + chMBObjectInit(&ofp->mbx, msgbuf, objn); +} + +/** + * @brief Initializes a FIFO object. + * @pre The messages size must be a multiple of the alignment + * requirement. + * + * @param[out] ofp pointer to a @p objects_fifo_t structure + * @param[in] objsize size of objects + * @param[in] objn number of objects available + * @param[in] objbuf pointer to the buffer of objects, it must be able + * to hold @p objn objects of @p objsize size with + * @p objealign alignment + * @param[in] msgbuf pointer to the buffer of messages, it must be able + * to hold @p objn messages + * + * @init + */ +static inline void chFifoObjectInit(objects_fifo_t *ofp, size_t objsize, + size_t objn, void *objbuf, + msg_t *msgbuf) { + + chFifoObjectInitAligned(ofp, objsize, objn, + PORT_NATURAL_ALIGN, + objbuf, msgbuf); +} + +/** + * @brief Allocates a free object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @return The pointer to the allocated object. + * @retval NULL if an object is not immediately available. + * + * @iclass + */ +static inline void *chFifoTakeObjectI(objects_fifo_t *ofp) { + + return chGuardedPoolAllocI(&ofp->free); +} + +/** + * @brief Allocates a free object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The pointer to the allocated object. + * @retval NULL if an object is not available within the specified + * timeout. + * + * @sclass + */ +static inline void *chFifoTakeObjectTimeoutS(objects_fifo_t *ofp, + sysinterval_t timeout) { + + return chGuardedPoolAllocTimeoutS(&ofp->free, timeout); +} + +/** + * @brief Allocates a free object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The pointer to the allocated object. + * @retval NULL if an object is not available within the specified + * timeout. + * + * @api + */ +static inline void *chFifoTakeObjectTimeout(objects_fifo_t *ofp, + sysinterval_t timeout) { + + return chGuardedPoolAllocTimeout(&ofp->free, timeout); +} + +/** + * @brief Releases a fetched object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be released + * + * @iclass + */ +static inline void chFifoReturnObjectI(objects_fifo_t *ofp, + void *objp) { + + chGuardedPoolFreeI(&ofp->free, objp); +} + +/** + * @brief Releases a fetched object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be released + * + * @sclass + */ +static inline void chFifoReturnObjectS(objects_fifo_t *ofp, + void *objp) { + + chGuardedPoolFreeS(&ofp->free, objp); +} + +/** + * @brief Releases a fetched object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be released + * + * @api + */ +static inline void chFifoReturnObject(objects_fifo_t *ofp, + void *objp) { + + chGuardedPoolFree(&ofp->free, objp); +} + +/** + * @brief Posts an object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be posted + * + * @iclass + */ +static inline void chFifoSendObjectI(objects_fifo_t *ofp, + void *objp) { + msg_t msg; + + msg = chMBPostI(&ofp->mbx, (msg_t)objp); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Posts an object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be posted + * + * @sclass + */ +static inline void chFifoSendObjectS(objects_fifo_t *ofp, + void *objp) { + msg_t msg; + + msg = chMBPostTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Posts an object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be released + * + * @api + */ +static inline void chFifoSendObject(objects_fifo_t *ofp, void *objp) { + + msg_t msg; + + msg = chMBPostTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Posts an high priority object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be posted + * + * @iclass + */ +static inline void chFifoSendObjectAheadI(objects_fifo_t *ofp, + void *objp) { + msg_t msg; + + msg = chMBPostAheadI(&ofp->mbx, (msg_t)objp); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Posts an high priority object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be posted + * + * @sclass + */ +static inline void chFifoSendObjectAheadS(objects_fifo_t *ofp, + void *objp) { + msg_t msg; + + msg = chMBPostAheadTimeoutS(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Posts an high priority object. + * @note By design the object can be always immediately posted. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objp pointer to the object to be released + * + * @api + */ +static inline void chFifoSendObjectAhead(objects_fifo_t *ofp, void *objp) { + + msg_t msg; + + msg = chMBPostAheadTimeout(&ofp->mbx, (msg_t)objp, TIME_IMMEDIATE); + chDbgAssert(msg == MSG_OK, "post failed"); +} + +/** + * @brief Fetches an object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objpp pointer to the fetched object reference + * @return The operation status. + * @retval MSG_OK if an object has been correctly fetched. + * @retval MSG_TIMEOUT if the FIFO is empty and a message cannot be fetched. + * + * @iclass + */ +static inline msg_t chFifoReceiveObjectI(objects_fifo_t *ofp, + void **objpp) { + + return chMBFetchI(&ofp->mbx, (msg_t *)objpp); +} + +/** + * @brief Fetches an object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objpp pointer to the fetched object reference + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if an object has been correctly fetched. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @sclass + */ +static inline msg_t chFifoReceiveObjectTimeoutS(objects_fifo_t *ofp, + void **objpp, + sysinterval_t timeout) { + + return chMBFetchTimeoutS(&ofp->mbx, (msg_t *)objpp, timeout); +} + +/** + * @brief Fetches an object. + * + * @param[in] ofp pointer to a @p objects_fifo_t structure + * @param[in] objpp pointer to the fetched object reference + * @param[in] timeout the number of ticks before the operation timeouts, + * the following special values are allowed: + * - @a TIME_IMMEDIATE immediate timeout. + * - @a TIME_INFINITE no timeout. + * . + * @return The operation status. + * @retval MSG_OK if an object has been correctly fetched. + * @retval MSG_TIMEOUT if the operation has timed out. + * + * @api + */ +static inline msg_t chFifoReceiveObjectTimeout(objects_fifo_t *ofp, + void **objpp, + sysinterval_t timeout) { + + return chMBFetchTimeout(&ofp->mbx, (msg_t *)objpp, timeout); +} +#endif /* CH_CFG_USE_OBJ_FIFOS == TRUE */ + +#endif /* CHOBJFIFOS_H */ + +/** @} */ diff --git a/os/oslib/include/chpipes.h b/os/oslib/include/chpipes.h new file mode 100644 index 000000000..8bf26c62b --- /dev/null +++ b/os/oslib/include/chpipes.h @@ -0,0 +1,208 @@ +/* + ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio. + + This file is part of ChibiOS. + + ChibiOS 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 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 . +*/ + +/** + * @file chpipes.h + * @brief Pipes macros and structures. + * + * @addtogroup oslib_pipes + * @{ + */ + +#ifndef CHPIPES_H +#define CHPIPES_H + +#if (CH_CFG_USE_PIPES == TRUE) || defined(__DOXYGEN__) + +/*===========================================================================*/ +/* Module constants. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module pre-compile time settings. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Module data structures and types. */ +/*===========================================================================*/ + +/** + * @brief Structure representing a pipe object. + */ +typedef struct { + uint8_t *buffer; /**< @brief Pointer to the pipe + buffer. */ + uint8_t *top; /**< @brief Pointer to the location + after the buffer. */ + uint8_t *wrptr; /**< @brief Write pointer. */ + uint8_t *rdptr; /**< @brief Read pointer. */ + size_t cnt; /**< @brief Bytes in the pipe. */ + bool reset; /**< @brief True if in reset state. */ + thread_reference_t wtr; /**< @brief Waiting writer. */ + thread_reference_t rtr; /**< @brief Waiting reader. */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) + mutex_t cmtx; /**< @brief Common access mutex. */ + mutex_t wmtx; /**< @brief Write access mutex. */ + mutex_t rmtx; /**< @brief Read access mutex. */ +#else + semaphore_t csem; /**< @brief Common access semaphore.*/ + semaphore_t wsem; /**< @brief Write access semaphore. */ + semaphore_t rsem; /**< @brief Read access semaphore. */ +#endif +} pipe_t; + +/*===========================================================================*/ +/* Module macros. */ +/*===========================================================================*/ + +/** + * @brief Data part of a static pipe initializer. + * @details This macro should be used when statically initializing a + * pipe that is part of a bigger structure. + * + * @param[in] name the name of the pipe variable + * @param[in] buffer pointer to the pipe buffer array of @p uint8_t + * @param[in] size number of @p uint8_t elements in the buffer array + */ +#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__) +#define _PIPE_DATA(name, buffer, size) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + (size_t)0, \ + false, \ + NULL, \ + NULL, \ + _MUTEX_DATA(name.cmtx), \ + _MUTEX_DATA(name.wmtx), \ + _MUTEX_DATA(name.rmtx), \ +} +#else /* CH_CFG_USE_MUTEXES == FALSE */ +#define _PIPE_DATA(name, buffer, size) { \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer) + size, \ + (uint8_t *)(buffer), \ + (uint8_t *)(buffer), \ + (size_t)0, \ + false, \ + NULL, \ + NULL, \ + _SEMAPHORE_DATA(name.csem, (cnt_t)1), \ + _SEMAPHORE_DATA(name.wsem, (cnt_t)1), \ + _SEMAPHORE_DATA(name.rsem, (cnt_t)1), \ +} +#endif /* CH_CFG_USE_MUTEXES == FALSE */ + +/** + * @brief Static pipe initializer. + * @details Statically initialized pipes require no explicit + * initialization using @p chPipeObjectInit(). + * + * @param[in] name the name of the pipe variable + * @param[in] buffer pointer to the pipe buffer array of @p uint8_t + * @param[in] size number of @p uint8_t elements in the buffer array + */ +#define PIPE_DECL(name, buffer, size) \ + pipe_t name = _PIPE_DATA(name, buffer, size) + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void chPipeObjectInit(pipe_t *pp, uint8_t *buf, size_t n); + void chPipeReset(pipe_t *pp); + size_t chPipeWriteTimeout(pipe_t *pp, const uint8_t *bp, + size_t n, sysinterval_t timeout); + size_t chPipeReadTimeout(pipe_t *pp, uint8_t *bp, + size_t n, sysinterval_t timeout); +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Module inline functions. */ +/*===========================================================================*/ + +/** + * @brief Returns the pipe buffer size as number of bytes. + * + * @param[in] pp the pointer to an initialized @p pipe_t object + * @return The size of the pipe. + * + * @api + */ +static inline size_t chPipeGetSize(const pipe_t *pp) { + + /*lint -save -e9033 [10.8] Perfectly safe pointers + arithmetic.*/ + return (size_t)(pp->top - pp->buffer); + /*lint -restore*/ +} + +/** + * @brief Returns the number of used byte slots into a pipe. + * + * @param[in] pp the pointer to an initialized @p pipe_t object + * @return The number of queued bytes. + * + * @api + */ +static inline size_t chPipeGetUsedCount(const pipe_t *pp) { + + return pp->cnt; +} + +/** + * @brief Returns the number of free byte slots into a pipe. + * + * @param[in] pp the pointer to an initialized @p pipe_t object + * @return The number of empty byte slots. + * + * @api + */ +static inline size_t chPipeGetFreeCount(const pipe_t *pp) { + + return chPipeGetSize(pp) - chPipeGetUsedCount(pp); +} + +/** + * @brief Terminates the reset state. + * + * @param[in] pp the pointer to an initialized @p pipe_t object + * + * @api + */ +static inline void chPipeResume(pipe_t *pp) { + + pp->reset = false; +} + +#endif /* CH_CFG_USE_PIPES == TRUE */ + +#endif /* CHPIPES_H */ + +/** @} */ -- cgit v1.2.3