git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7812 35acf78f-673a-0410-8e92-d51de3d6d3f4

2 files changed, 112 insertions, 16 deletions

diff --git a/os/hal/osal/os-less/ARMCMx/osal.c b/os/hal/osal/os-less/ARMCMx/osal.c
index 6273bb874..390b779a8 100644
--- a/os/hal/osal/os-less/ARMCMx/osal.c
+++ b/os/hal/osal/os-less/ARMCMx/osal.c
@@ -57,6 +57,31 @@ virtual_timers_list_t vtlist;
 /*===========================================================================*/

 

 /**

+ * @brief   Timers initialization.

+ *

+ * @notapi

+ */

+static void vtInit(void) {

+

+  /* Virtual Timers initialization.*/

+  vtlist.vt_next = vtlist.vt_prev = (void *)&vtlist;

+  vtlist.vt_time = (systime_t)-1;

+  vtlist.vt_systime = 0;

+}

+

+/**

+ * @brief   Returns @p TRUE if the specified timer is armed.

+ *

+ * @param[out] vtp      the @p virtual_timer_t structure pointer

+ *

+ * @notapi

+ */

+static bool vtIsArmedI(virtual_timer_t *vtp) {

+

+  return vtp->vt_func != NULL;

+}

+

+/**

  * @brief   Virtual timers ticker.

  * @note    The system lock is released before entering the callback and

  *          re-acquired immediately after. It is callback's responsibility

@@ -139,6 +164,13 @@ static void vtResetI(virtual_timer_t *vtp) {
   vtp->vt_func = (vtfunc_t)NULL;

 }

 

+

+static void callback_timeout(void *p) {

+  osalSysLockFromISR();

+  osalThreadResumeI((thread_reference_t *)p, MSG_TIMEOUT);

+  osalSysUnlockFromISR();

+}

+

 /*===========================================================================*/

 /* Module exported functions.                                                */

 /*===========================================================================*/

@@ -150,6 +182,9 @@ static void vtResetI(virtual_timer_t *vtp) {
  */

 void osalInit(void) {

 

+  vtInit();

+

+  OSAL_INIT_HOOK();

 }

 

 /**

@@ -241,8 +276,12 @@ systime_t osalOsGetSystemTimeX(void) {
  * @sclass

  */

 void osalThreadSleepS(systime_t time) {

+  virtual_timer_t vt;

+  thread_reference_t tr;

 

-  (void)time;

+  tr = NULL;

+  vtSetI(&vt, time, callback_timeout, (void *)&tr);

+  osalThreadSuspendS(&tr);

 }

 

 /**

@@ -259,7 +298,9 @@ void osalThreadSleepS(systime_t time) {
  */

 void osalThreadSleep(systime_t time) {

 

-  (void)time;

+  osalSysLock();

+  osalThreadSleepS(time);

+  osalSysUnlock();

 }

 

 /**

@@ -273,10 +314,20 @@ void osalThreadSleep(systime_t time) {
  * @sclass

  */

 msg_t osalThreadSuspendS(thread_reference_t *trp) {

+  thread_t self = {MSG_WAIT};

 

   osalDbgCheck(trp != NULL);

 

-  return MSG_OK;

+  *trp = &self;

+  while (self.message == MSG_WAIT) {

+    osalSysUnlock();

+    /* A state-changing interrupt could occur here and cause the loop to

+       terminate, an hook macro is executed while waiting.*/

+    OSAL_IDLE_HOOK();

+    osalSysLock();

+  }

+

+  return self.message;

 }

 

 /**

@@ -299,12 +350,20 @@ msg_t osalThreadSuspendS(thread_reference_t *trp) {
  * @sclass

  */

 msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, systime_t timeout) {

+  msg_t msg;

+  virtual_timer_t vt;

 

   osalDbgCheck(trp != NULL);

 

-  (void)timeout;

+  if (TIME_INFINITE == timeout)

+   return osalThreadSuspendS(trp);

+

+  vtSetI(&vt, timeout, callback_timeout, (void *)trp);

+  msg = osalThreadSuspendS(trp);

+  if (vtIsArmedI(&vt))

+    vtResetI(&vt);

 

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -321,7 +380,10 @@ void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
 

   osalDbgCheck(trp != NULL);

 

-  (void)msg;

+  if (*trp != NULL) {

+    (*trp)->message = msg;

+    *trp = NULL;

+  }

 }

 

 /**

@@ -338,7 +400,10 @@ void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
 

   osalDbgCheck(trp != NULL);

 

-  (void)msg;

+  if (*trp != NULL) {

+    (*trp)->message = msg;

+    *trp = NULL;

+  }

 }

 

 /**

@@ -365,12 +430,25 @@ void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
  * @sclass

  */

 msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {

+  msg_t msg;

+  virtual_timer_t vt;

 

   osalDbgCheck(tqp != NULL);

 

-  (void)timeout;

+  if (TIME_IMMEDIATE == timeout)

+    return MSG_TIMEOUT;

+

+  tqp->tr = NULL;

+

+  if (TIME_INFINITE == timeout)

+   return osalThreadSuspendS(&tqp->tr);

+

+  vtSetI(&vt, timeout, callback_timeout, (void *)&tqp->tr);

+  msg = osalThreadSuspendS(&tqp->tr);

+  if (vtIsArmedI(&vt))

+    vtResetI(&vt);

 

-  return MSG_OK;

+  return msg;

 }

 

 /**

@@ -385,7 +463,7 @@ void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg) {
 

   osalDbgCheck(tqp != NULL);

 

-  (void)msg;

+  osalThreadResumeI(&tqp->tr, msg);

 }

 

 /**

@@ -400,7 +478,7 @@ void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg) {
 

   osalDbgCheck(tqp != NULL);

 

-  (void)msg;

+  osalThreadResumeI(&tqp->tr, msg);

 }

 

 /**

diff --git a/os/hal/osal/os-less/ARMCMx/osal.h b/os/hal/osal/os-less/ARMCMx/osal.h
index bb030c4f5..66cb594a5 100644
--- a/os/hal/osal/os-less/ARMCMx/osal.h
+++ b/os/hal/osal/os-less/ARMCMx/osal.h
@@ -31,6 +31,8 @@
 

 #include "cmparams.h"

 

+#include "osalconf.h"

+

 /*===========================================================================*/

 /* Module constants.                                                         */

 /*===========================================================================*/

@@ -89,11 +91,6 @@
 #define OSAL_ST_RESOLUTION                  32

 

 /**

- * @brief   Required systick frequency or resolution.

- */

-#define OSAL_ST_FREQUENCY                   1000

-

-/**

  * @brief   Systick mode required by the underlying OS.

  */

 #define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC

@@ -123,6 +120,13 @@
 /*===========================================================================*/

 

 /**

+ * @brief   Frequency in Hertz of the system tick.

+ */

+#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)

+#define OSAL_ST_FREQUENCY                   1000

+#endif

+

+/**

  * @brief   Enables OSAL assertions.

  */

 #if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)

@@ -136,6 +140,20 @@
 #define OSAL_DBG_ENABLE_CHECKS              FALSE

 #endif

 

+/**

+ * @brief   OSAL initialization hook.

+ */

+#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)

+#define OSAL_INIT_HOOK()

+#endif

+

+/**

+ * @brief   Idle loop hook macro.

+ */

+#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)

+#define OSAL_IDLE_HOOK()

+#endif

+

 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

 /*===========================================================================*/