path: root/os/hal/osal/chibios/osal.h

/*
    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
                 2011,2012,2013 Giovanni Di Sirio.

    This file is part of ChibiOS/RT.

    ChibiOS/RT 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/RT 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 <http://www.gnu.org/licenses/>.
*/

/**
 * @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"

/*===========================================================================*/
/* 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
/** @} */

/**
 * @name    Messages
 * @{
 */
#define MSG_OK                              RDY_OK
#define MSG_RESET                           RDY_RESET
#define MSG_TIMEOUT                         RDY_TIMEOUT
/** @} */

#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
/** @} */

/**
 * @brief   Systick mode required by the underlying OS.
 */
#if (CH_CFG_TIMEDELTA == 0) || defined(__DOXYGEN__)
#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
#else
#define OSAL_ST_MODE                        OSAL_ST_MODE_FREERUNNING
#endif

/**
 * @brief   Required systick frequency or resolution.
 */
#define OSAL_SYSTICK_FREQUENCY              CH_CFG_ST_FREQUENCY

/*===========================================================================*/
/* Module pre-compile time settings.                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Module data structures and types.                                         */
/*===========================================================================*/

#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

/**
 * @brief   Type of a thread reference.
 */
typedef thread_t * thread_reference_t;

#if 0
/**
 * @brief   Type of an event flags mask.
 */
typedef uint32_t eventflags_t;
#endif

#if 0
/**
 * @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 {
  volatile eventflags_t flags;      /**< @brief Flags stored into the
                                                object.                     */
} event_source_t;
#endif

/**
 * @brief   Type of a mutex.
 * @note    If the OS does not support mutexes or there is no OS then them
 *          mechanism can be simulated.
 */
#if CH_CFG_USE_MUTEXES || defined(__DOXYGEN__)
#elif CH_CFG_USE_SEMAPHORES
typedef semaphore_t mutex_t;
#else
typedef uint32_t mutex_t;
#endif

#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.                                                            */
/*===========================================================================*/

/**
 * @brief   Condition assertion.
 * @details If the condition check fails then the OSAL panics with the
 *          specified message and halts.
 * @note    The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
 *          switch is enabled.
 * @note    The convention for the message is the following:<br>
 *          @<function_name@>(), #@<assert_number@>
 * @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] msg       the text message
 * @param[in] remark    a remark string
 *
 * @api
 */
#define osalDbgAssert(c, msg, remark) chDbgAssert(c, msg, 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, __FUNCTION__)

/**
 * @brief   I-Class state check.
 * @note    Not implemented in this simplified OSAL.
 */
#define osalDbgCheckClassI() chDbgCheckClassI()

/**
 * @brief   S-Class state check.
 * @note    Not implemented in this simplified OSAL.
 */
#define osalDbgCheckClassS() chDbgCheckClassS()

/**
 * @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)

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif
  void osalInit(void);
  void osalSysHalt(const char *reason);
  msg_t osalThreadSuspendS(thread_reference_t *trp);
  void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
  void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
  msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time);
  void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg);
  void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg);
#ifdef __cplusplus
}
#endif

/*===========================================================================*/
/* Module inline functions.                                                  */
/*===========================================================================*/

/**
 * @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();
}

#if CH_PORT_SUPPORTS_RT || defined(__DOXYGEN__)
/**
 * @brief   Polled delay.
 * @note    The real delay is always few cycles in excess of the specified
 *          value.
 *
 * @param[in] cycles    number of cycles
 *
 * @xclass
 */
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   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   Initializes an event flags object.
 *
 * @param[out] esp      pointer to the event flags object
 *
 * @init
 */
static inline void osalEventObjectInit(event_source_t *esp) {

  chEvtObjectInit(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 osalEventBroadcastFlagsI(event_source_t *esp,
                                            eventflags_t flags) {

  chEvtBroadcastFlagsI(esp, flags);
}

/**
 * @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) {

  chEvtBroadcastFlags(esp, flags);
}

/**
 * @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) {

#if CH_CFG_USE_MUTEXES
  chMtxObjectInit(mp);
#elif CH_CFG_USE_SEMAPHORES
  chSemObjectInit((semaphore_t *)mp, 1);
#else
 *mp = 0;
#endif
}

/*
 * @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) {

#if CH_CFG_USE_MUTEXES
  chMtxLock(mp);
#elif CH_CFG_USE_SEMAPHORES
  chSemWait((semaphore_t *)mp);
#else
  *mp = 1;
#endif
}

/**
 * @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) {

#if CH_CFG_USE_MUTEXES
  (void)mp;
  chMtxUnlock();
#elif CH_CFG_USE_SEMAPHORES
  chSemSignal((semaphore_t *)mp);
#else
  *mp = 0;
#endif
}

/**
 * @brief   Initializes a threads queue object.
 *
 * @param[out] tqp      pointer to the threads queue object
 *
 * @init
 */
static inline void osalQueueObjectInit(threads_queue_t *tqp) {

  queue_init(tqp);
}

#endif /* _OSAL_H_ */

/** @} */