/*
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/**
* @file osal.h
* @brief OSAL module header.
*
* @addtogroup OSAL
* @{
*/
#ifndef OSAL_H
#define OSAL_H
#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
#include "ch.h"
#if defined(__SPC5_HAL__)
#include "platform.h"
#endif
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/**
* @name Common constants
* @{
*/
#if !defined(FALSE) || defined(__DOXYGEN__)
#define FALSE 0
#endif
#if !defined(TRUE) || defined(__DOXYGEN__)
#define TRUE (!FALSE)
#endif
#define OSAL_SUCCESS FALSE
#define OSAL_FAILED TRUE
/** @} */
#if 0
/**
* @name Messages
* @{
*/
#define MSG_OK RDY_OK
#define MSG_RESET RDY_RESET
#define MSG_TIMEOUT RDY_TIMEOUT
/** @} */
#endif
#if 0
/**
* @name Special time constants
* @{
*/
#define TIME_IMMEDIATE ((systime_t)0)
#define TIME_INFINITE ((systime_t)-1)
/** @} */
#endif
/**
* @name Systick modes.
* @{
*/
#define OSAL_ST_MODE_NONE 0
#define OSAL_ST_MODE_PERIODIC 1
#define OSAL_ST_MODE_FREERUNNING 2
/** @} */
/**
* @name Systick parameters.
* @{
*/
/**
* @brief Size in bits of the @p systick_t type.
*/
#define OSAL_ST_RESOLUTION CH_CFG_ST_RESOLUTION
/**
* @brief Required systick frequency or resolution.
*/
#define OSAL_ST_FREQUENCY CH_CFG_ST_FREQUENCY
/**
* @brief Systick mode required by the underlying OS.
*/
#if (CH_CFG_ST_TIMEDELTA == 0) || defined(__DOXYGEN__)
#define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC
#else
#define OSAL_ST_MODE OSAL_ST_MODE_FREERUNNING
#endif
/** @} */
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
#if CH_CFG_USE_SEMAPHORES == FALSE
#error "OSAL requires CH_CFG_USE_SEMAPHORES=TRUE"
#endif
#if CH_CFG_USE_EVENTS == FALSE
#error "OSAL requires CH_CFG_USE_EVENTS=TRUE"
#endif
#if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \
!(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \
!(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING)
#error "invalid OSAL_ST_MODE setting in osal.h"
#endif
#if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32)
#error "invalid OSAL_ST_RESOLUTION, must be 16 or 32"
#endif
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
#if 0
/**
* @brief Type of a system status word.
*/
typedef uint32_t syssts_t;
#endif
#if 0
/**
* @brief Type of a message.
*/
typedef int32_t msg_t;
#endif
#if 0
/**
* @brief Type of system time counter.
*/
typedef uint32_t systime_t;
#endif
#if 0
/**
* @brief Type of realtime counter.
*/
typedef uint32_t rtcnt_t;
#endif
#if 0
/**
* @brief Type of a thread reference.
*/
typedef thread_t * thread_reference_t;
#endif
/**
* @brief Type of an event flags object.
* @note The content of this structure is not part of the API and should
* not be relied upon. Implementers may define this structure in
* an entirely different way.
* @note Retrieval and clearing of the flags are not defined in this
* API and are implementation-dependent.
*/
typedef struct event_source event_source_t;
/**
* @brief Type of an event source callback.
* @note This type is not part of the OSAL API and is provided
* exclusively as an example and for convenience.
*/
typedef void (*eventcallback_t)(event_source_t *p);
#if 0
/**
* @brief Type of an event flags mask.
*/
typedef uint32_t eventflags_t;
#endif
/**
* @brief Events source object.
* @note The content of this structure is not part of the API and should
* not be relied upon. Implementers may define this structure in
* an entirely different way.
* @note Retrieval and clearing of the flags are not defined in this
* API and are implementation-dependent.
*/
struct event_source {
volatile eventflags_t flags; /**< @brief Stored event flags. */
eventcallback_t cb; /**< @brief Event source callback. */
void *param; /**< @brief User defined field. */
};
/**
* @brief Type of a mutex.
* @note If the OS does not support mutexes or there is no OS then them
* mechanism can be simulated.
*/
typedef semaphore_t mutex_t;
#if 0
/**
* @brief Type of a thread queue.
* @details A thread queue is a queue of sleeping threads, queued threads
* can be dequeued one at time or all together.
* @note In this implementation it is implemented as a single reference
* because there are no real threads.
*/
typedef struct {
thread_reference_t tr;
} threads_queue_t;
#endif
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @name Debug related macros
* @{
*/
/**
* @brief Condition assertion.
* @details If the condition check fails then the OSAL panics with a
* message and halts.
* @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
* switch is enabled.
* @note The remark string is not currently used except for putting a
* comment in the code about the assertion.
*
* @param[in] c the condition to be verified to be true
* @param[in] remark a remark string
*
* @api
*/
#define osalDbgAssert(c, remark) chDbgAssert(c, remark)
/**
* @brief Function parameters check.
* @details If the condition check fails then the OSAL panics and halts.
* @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
* is enabled.
*
* @param[in] c the condition to be verified to be true
*
* @api
*/
#define osalDbgCheck(c) chDbgCheck(c)
/**
* @brief I-Class state check.
*/
#define osalDbgCheckClassI() chDbgCheckClassI()
/**
* @brief S-Class state check.
*/
#define osalDbgCheckClassS() chDbgCheckClassS()
/** @} */
/**
* @name IRQ service routines wrappers
* @{
*/
/**
* @brief Priority level verification macro.
*/
#define OSAL_IRQ_IS_VALID_PRIORITY(n) CH_IRQ_IS_VALID_KERNEL_PRIORITY(n)
/**
* @brief IRQ prologue code.
* @details This macro must be inserted at the start of all IRQ handlers.
*/
#define OSAL_IRQ_PROLOGUE() CH_IRQ_PROLOGUE()
/**
* @brief IRQ epilogue code.
* @details This macro must be inserted at the end of all IRQ handlers.
*/
#define OSAL_IRQ_EPILOGUE() CH_IRQ_EPILOGUE()
/**
* @brief IRQ handler function declaration.
* @details This macro hides the details of an ISR function declaration.
*
* @param[in] id a vector name as defined in @p vectors.s
*/
#define OSAL_IRQ_HANDLER(id) CH_IRQ_HANDLER(id)
/** @} */
/**
* @name Time conversion utilities
* @{
*/
/**
* @brief Seconds to system ticks.
* @details Converts from seconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] sec number of seconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_S2ST(sec) S2ST(sec)
/**
* @brief Milliseconds to system ticks.
* @details Converts from milliseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] msec number of milliseconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_MS2ST(msec) MS2ST(msec)
/**
* @brief Microseconds to system ticks.
* @details Converts from microseconds to system ticks number.
* @note The result is rounded upward to the next tick boundary.
*
* @param[in] usec number of microseconds
* @return The number of ticks.
*
* @api
*/
#define OSAL_US2ST(usec) US2ST(usec)
/** @} */
/**
* @name Time conversion utilities for the realtime counter
* @{
*/
/**
* @brief Seconds to realtime counter.
* @details Converts from seconds to realtime counter cycles.
* @note The macro assumes that @p freq >= @p 1.
*
* @param[in] freq clock frequency, in Hz, of the realtime counter
* @param[in] sec number of seconds
* @return The number of cycles.
*
* @api
*/
#define OSAL_S2RTC(freq, sec) S2RTC(freq, sec)
/**
* @brief Milliseconds to realtime counter.
* @details Converts from milliseconds to realtime counter cycles.
* @note The result is rounded upward to the next millisecond boundary.
* @note The macro assumes that @p freq >= @p 1000.
*
* @param[in] freq clock frequency, in Hz, of the realtime counter
* @param[in] msec number of milliseconds
* @return The number of cycles.
*
* @api
*/
#define OSAL_MS2RTC(freq, msec) MS2RTC(freq, msec)
/**
* @brief Microseconds to realtime counter.
* @details Converts from microseconds to realtime counter cycles.
* @note The result is rounded upward to the next microsecond boundary.
* @note The macro assumes that @p freq >= @p 1000000.
*
* @param[in] freq clock frequency, in Hz, of the realtime counter
* @param[in] usec number of microseconds
* @return The number of cycles.
*
* @api
*/
#define OSAL_US2RTC(freq, usec) US2RTC(freq, usec)
/** @} */
/**
* @name Sleep macros using absolute time
* @{
*/
/**
* @brief Delays the invoking thread for the specified number of seconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] sec time in seconds, must be different from zero
*
* @api
*/
#define osalThreadSleepSeconds(sec) osalThreadSleep(OSAL_S2ST(sec))
/**
* @brief Delays the invoking thread for the specified number of
* milliseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] msec time in milliseconds, must be different from zero
*
* @api
*/
#define osalThreadSleepMilliseconds(msec) osalThreadSleep(OSAL_MS2ST(msec))
/**
* @brief Delays the invoking thread for the specified number of
* microseconds.
* @note The specified time is rounded up to a value allowed by the real
* system tick clock.
* @note The maximum specifiable value is implementation dependent.
*
* @param[in] usec time in microseconds, must be different from zero
*
* @api
*/
#define osalThreadSleepMicroseconds(usec) osalThreadSleep(OSAL_US2ST(usec))
/** @} */
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @brief OSAL module initialization.
*
* @api
*/
static inline void osalInit(void) {
}
/**
* @brief System halt with error message.
*
* @param[in] reason the halt message pointer
*
* @api
*/
static inline void osalSysHalt(const char *reason) {
chSysHalt(reason);
}
/**
* @brief Disables interrupts globally.
*
* @special
*/
static inline void osalSysDisable(void) {
chSysDisable();
}
/**
* @brief Enables interrupts globally.
*
* @special
*/
static inline void osalSysEnable(void) {
chSysEnable();
}
/**
* @brief Enters a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysLock(void) {
chSysLock();
}
/**
* @brief Leaves a critical zone from thread context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysUnlock(void) {
chSysUnlock();
}
/**
* @brief Enters a critical zone from ISR context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysLockFromISR(void) {
chSysLockFromISR();
}
/**
* @brief Leaves a critical zone from ISR context.
* @note This function cannot be used for reentrant critical zones.
*
* @special
*/
static inline void osalSysUnlockFromISR(void) {
chSysUnlockFromISR();
}
/**
* @brief Returns the execution status and enters a critical zone.
* @details This functions enters into a critical zone and can be called
* from any context. Because its flexibility it is less efficient
* than @p chSysLock() which is preferable when the calling context
* is known.
* @post The system is in a critical zone.
*
* @return The previous system status, the encoding of this
* status word is architecture-dependent and opaque.
*
* @xclass
*/
static inline syssts_t osalSysGetStatusAndLockX(void) {
return chSysGetStatusAndLockX();
}
/**
* @brief Restores the specified execution status and leaves a critical zone.
* @note A call to @p chSchRescheduleS() is automatically performed
* if exiting the critical zone and if not in ISR context.
*
* @param[in] sts the system status to be restored.
*
* @xclass
*/
static inline void osalSysRestoreStatusX(syssts_t sts) {
chSysRestoreStatusX(sts);
}
/**
* @brief Polled delay.
* @note The real delay is always few cycles in excess of the specified
* value.
*
* @param[in] cycles number of cycles
*
* @xclass
*/
#if (PORT_SUPPORTS_RT == TRUE) || defined(__DOXYGEN__)
static inline void osalSysPolledDelayX(rtcnt_t cycles) {
chSysPolledDelayX(cycles);
}
#endif
/**
* @brief Systick callback for the underlying OS.
* @note This callback is only defined if the OSAL requires such a
* service from the HAL.
*/
#if (OSAL_ST_MODE != OSAL_ST_MODE_NONE) || defined(__DOXYGEN__)
static inline void osalOsTimerHandlerI(void) {
chSysTimerHandlerI();
}
#endif
/**
* @brief Checks if a reschedule is required and performs it.
* @note I-Class functions invoked from thread context must not reschedule
* by themselves, an explicit reschedule using this function is
* required in this scenario.
* @note Not implemented in this simplified OSAL.
*
* @sclass
*/
static inline void osalOsRescheduleS(void) {
chSchRescheduleS();
}
/**
* @brief Current system time.
* @details Returns the number of system ticks since the @p osalInit()
* invocation.
* @note The counter can reach its maximum and then restart from zero.
* @note This function can be called from any context but its atomicity
* is not guaranteed on architectures whose word size is less than
* @p systime_t size.
*
* @return The system time in ticks.
*
* @xclass
*/
static inline systime_t osalOsGetSystemTimeX(void) {
return chVTGetSystemTimeX();
}
/**
* @brief Checks if the specified time is within the specified time window.
* @note When start==end then the function returns always true because the
* whole time range is specified.
* @note This function can be called from any context.
*
* @param[in] time the time to be verified
* @param[in] start the start of the time window (inclusive)
* @param[in] end the end of the time window (non inclusive)
* @retval true current time within the specified time window.
* @retval false current time not within the specified time window.
*
* @xclass
*/
static inline bool osalOsIsTimeWithinX(systime_t time,
systime_t start,
systime_t end) {
return chVTIsTimeWithinX(time, start, end);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] time the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @sclass
*/
static inline void osalThreadSleepS(systime_t time) {
chThdSleepS(time);
}
/**
* @brief Suspends the invoking thread for the specified time.
*
* @param[in] time the delay in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE is allowed but interpreted as a
* normal time specification.
* - @a TIME_IMMEDIATE this value is not allowed.
* .
*
* @api
*/
static inline void osalThreadSleep(systime_t time) {
chThdSleep(time);
}
/**
* @brief Sends the current thread sleeping and sets a reference variable.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @return The wake up message.
*
* @sclass
*/
static inline msg_t osalThreadSuspendS(thread_reference_t *trp) {
return chThdSuspendTimeoutS(trp, TIME_INFINITE);
}
/**
* @brief Sends the current thread sleeping and sets a reference variable.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] timeout the timeout in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE the thread is not enqueued and
* the function returns @p MSG_TIMEOUT as if a timeout
* occurred.
* .
* @return The wake up message.
* @retval MSG_TIMEOUT if the operation timed out.
*
* @sclass
*/
static inline msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp,
systime_t timeout) {
return chThdSuspendTimeoutS(trp, timeout);
}
/**
* @brief Wakes up a thread waiting on a thread reference object.
* @note This function must not reschedule because it can be called from
* ISR context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
chThdResumeI(trp, msg);
}
/**
* @brief Wakes up a thread waiting on a thread reference object.
* @note This function must reschedule, it can only be called from thread
* context.
*
* @param[in] trp a pointer to a thread reference object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
chThdResumeI(trp, msg);
chSchRescheduleS();
}
/**
* @brief Initializes a threads queue object.
*
* @param[out] tqp pointer to the threads queue object
*
* @init
*/
static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
chThdQueueObjectInit(tqp);
}
/**
* @brief Enqueues the caller thread.
* @details The caller thread is enqueued and put to sleep until it is
* dequeued or the specified timeouts expires.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] time the timeout in system ticks, the special values are
* handled as follow:
* - @a TIME_INFINITE the thread enters an infinite sleep
* state.
* - @a TIME_IMMEDIATE the thread is not enqueued and
* the function returns @p MSG_TIMEOUT as if a timeout
* occurred.
* .
* @return The message from @p osalQueueWakeupOneI() or
* @p osalQueueWakeupAllI() functions.
* @retval MSG_TIMEOUT if the thread has not been dequeued within the
* specified timeout or if the function has been
* invoked with @p TIME_IMMEDIATE as timeout
* specification.
*
* @sclass
*/
static inline msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp,
systime_t time) {
return chThdEnqueueTimeoutS(tqp, time);
}
/**
* @brief Dequeues and wakes up one thread from the queue, if any.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
chThdDequeueNextI(tqp, msg);
}
/**
* @brief Dequeues and wakes up all threads from the queue.
*
* @param[in] tqp pointer to the threads queue object
* @param[in] msg the message code
*
* @iclass
*/
static inline void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
chThdDequeueAllI(tqp, msg);
}
/**
* @brief Initializes an event flags object.
*
* @param[out] esp pointer to the event flags object
*
* @init
*/
static inline void osalEventObjectInit(event_source_t *esp) {
osalDbgCheck(esp != NULL);
esp->flags = 0;
esp->cb = NULL;
esp->param = NULL;
}
/**
* @brief Add flags to an event source object.
*
* @param[in] esp pointer to the event flags object
* @param[in] flags flags to be ORed to the flags mask
*
* @iclass
*/
static inline void osalEventBroadcastFlagsI(event_source_t *esp,
eventflags_t flags) {
osalDbgCheck(esp != NULL);
esp->flags |= flags;
if (esp->cb != NULL) {
esp->cb(esp);
}
}
/**
* @brief Add flags to an event source object.
*
* @param[in] esp pointer to the event flags object
* @param[in] flags flags to be ORed to the flags mask
*
* @iclass
*/
static inline void osalEventBroadcastFlags(event_source_t *esp,
eventflags_t flags) {
osalDbgCheck(esp != NULL);
chSysLock();
osalEventBroadcastFlagsI(esp, flags);
chSchRescheduleS();
chSysUnlock();
}
/**
* @brief Event callback setup.
* @note The callback is invoked from ISR context and can
* only invoke I-Class functions. The callback is meant
* to wakeup the task that will handle the event by
* calling @p osalEventGetAndClearFlagsI().
*
* @param[in] esp pointer to the event flags object
* @param[in] cb pointer to the callback function
* @param[in] param parameter to be passed to the callback function
*
* @api
*/
static inline void osalEventSetCallback(event_source_t *esp,
eventcallback_t cb,
void *param) {
osalDbgCheck(esp != NULL);
esp->cb = cb;
esp->param = param;
}
/**
* @brief Initializes s @p mutex_t object.
*
* @param[out] mp pointer to the @p mutex_t object
*
* @init
*/
static inline void osalMutexObjectInit(mutex_t *mp) {
chSemObjectInit((semaphore_t *)mp, (cnt_t)1);
}
/**
* @brief Locks the specified mutex.
* @post The mutex is locked and inserted in the per-thread stack of owned
* mutexes.
*
* @param[in,out] mp pointer to the @p mutex_t object
*
* @api
*/
static inline void osalMutexLock(mutex_t *mp) {
(void) chSemWait((semaphore_t *)mp);
}
/**
* @brief Unlocks the specified mutex.
* @note The HAL guarantees to release mutex in reverse lock order. The
* mutex being unlocked is guaranteed to be the last locked mutex
* by the invoking thread.
* The implementation can rely on this behavior and eventually
* ignore the @p mp parameter which is supplied in order to support
* those OSes not supporting a stack of the owned mutexes.
*
* @param[in,out] mp pointer to the @p mutex_t object
*
* @api
*/
static inline void osalMutexUnlock(mutex_t *mp) {
chSemSignal((semaphore_t *)mp);
}
#endif /* OSAL_H */
/** @} */