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/*
ChibiOS/RT - Copyright (C) 2006-2007 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/>.
*/
#include <ch.hpp>
namespace chibios_rt {
/*------------------------------------------------------------------------*
* chibios_rt::System *
*------------------------------------------------------------------------*/
void System::Init(void) {
chSysInit();
}
void Lock(void) {
chSysLock();
}
void Unlock(void) {
chSysUnlock();
}
#ifdef CH_USE_SYSTEMTIME
systime_t System::GetTime(void) {
return chSysGetTime();
}
#endif /* CH_USE_SYSTEMTIME */
#ifdef CH_USE_VIRTUAL_TIMERS
/*------------------------------------------------------------------------*
* chibios_rt::Timer *
*------------------------------------------------------------------------*/
void Timer::Set(systime_t time, vtfunc_t vtfunc, void *par) {
chVTSetI(&timer, time, vtfunc, par);
}
void Timer::Reset() {
chVTResetI(&timer);
}
bool Timer::IsArmed(void) {
return chVTIsArmedI(&timer);
}
#endif /* CH_USE_VIRTUAL_TIMER */
/*------------------------------------------------------------------------*
* chibios_rt::BaseThread *
*------------------------------------------------------------------------*/
static msg_t thdstart(void *arg) {
return ((BaseThread *)arg)->Main();
}
BaseThread::BaseThread(tprio_t prio, tmode_t mode, void *workspace, size_t wsize) {
thread_ref = chThdCreate(prio, mode, workspace, wsize, thdstart, this);
}
void BaseThread::Exit(msg_t msg) {
chThdExit(msg);
}
#ifdef CH_USE_WAITEXIT
msg_t BaseThread::Wait(void) {
return chThdWait(thread_ref);
}
#endif /* CH_USE_WAITEXIT */
void BaseThread::SetPriority(tprio_t newprio) {
chThdSetPriority(newprio);
}
#ifdef CH_USE_RESUME
void BaseThread::Resume(void) {
chThdResume(thread_ref);
}
#endif /* CH_USE_RESUME */
#ifdef CH_USE_TERMINATE
void BaseThread::Terminate(void) {
chThdTerminate(thread_ref);
}
#endif /* CH_USE_TERMINATE */
#ifdef CH_USE_SLEEP
void BaseThread::Sleep(systime_t n) {
chThdSleep(n);
}
#ifdef CH_USE_SYSTEMTIME
void BaseThread::SleepUntil(systime_t time) {
chThdSleepUntil(time);
}
#endif /* CH_USE_SYSTEMTIME */
#endif /* CH_USE_SLEEP */
#ifdef CH_USE_MESSAGES
msg_t BaseThread::SendMessage(msg_t msg) {
return chMsgSend(thread_ref, msg);
}
msg_t BaseThread::WaitMessage(void) {
return chMsgWait();
}
msg_t BaseThread::GetMessage(void) {
return chMsgGet();
}
void BaseThread::ReleaseMessage(msg_t msg) {
chMsgRelease(msg);
}
bool BaseThread::IsPendingMessage(void) {
return chMsgIsPendingI(currp);
}
#endif /* CH_USE_MESSAGES */
msg_t BaseThread::Main(void) {
return 0;
}
#ifdef CH_USE_SEMAPHORES
/*------------------------------------------------------------------------*
* chibios_rt::Semaphore *
*------------------------------------------------------------------------*/
Semaphore::Semaphore(cnt_t n) {
chSemInit(&sem, n);
}
void Semaphore::Reset(cnt_t n) {
chSemReset(&sem, n);
}
msg_t Semaphore::Wait(void) {
return chSemWait(&sem);
}
#ifdef CH_USE_SEMAPHORES_TIMEOUT
msg_t Semaphore::WaitTimeout(systime_t time) {
return chSemWaitTimeout(&sem, time);
}
#endif /* CH_USE_SEMAPHORES_TIMEOUT */
void Semaphore::Signal(void) {
chSemSignal(&sem);
}
#ifdef CH_USE_SEMSW
msg_t Semaphore::SignalWait(Semaphore *ssem, Semaphore *wsem) {
return chSemSignalWait(&ssem->sem, &wsem->sem);
}
#endif /* CH_USE_SEMSW */
#endif /* CH_USE_SEMAPHORES */
#ifdef CH_USE_MUTEXES
/*------------------------------------------------------------------------*
* chibios_rt::Mutex *
*------------------------------------------------------------------------*/
Mutex::Mutex(void) {
chMtxInit(&mutex);
}
bool Mutex::TryLock(void) {
return chMtxTryLock(&mutex);
}
void Mutex::Lock(void) {
chMtxLock(&mutex);
}
void Mutex::Unlock(void) {
chMtxUnlock();
}
void UnlockAll(void) {
chMtxUnlockAll();
}
#endif /* CH_USE_MUTEXES */
#ifdef CH_USE_EVENTS
/*------------------------------------------------------------------------*
* chibios_rt::Event *
*------------------------------------------------------------------------*/
Event::Event(void) {
chEvtInit(&event);
}
void Event::Register(EventListener *elp, eventid_t eid) {
chEvtRegister(&event,elp, eid);
}
void Event::Unregister(EventListener *elp) {
chEvtUnregister(&event, elp);
}
void Event::Send(void) {
chEvtSend(&event);
}
void Event::Clear(eventmask_t mask) {
chEvtClear(mask);
}
eventid_t Event::Wait(eventmask_t ewmask, const evhandler_t handlers[]) {
return chEvtWait(ewmask, handlers);
}
#ifdef CH_USE_EVENTS_TIMEOUT
eventid_t Event::WaitTimeout(eventmask_t ewmask,
const evhandler_t handlers[],
systime_t time) {
return chEvtWaitTimeout(ewmask, handlers, time);
}
#endif /* CH_USE_EVENTS_TIMEOUT */
#endif /* CH_USE_EVENTS */
}
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