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Diffstat (limited to 'os/hal/osal/chibios/osal.c')
| -rw-r--r-- | os/hal/osal/chibios/osal.c | 237 |
1 files changed, 237 insertions, 0 deletions
diff --git a/os/hal/osal/chibios/osal.c b/os/hal/osal/chibios/osal.c new file mode 100644 index 000000000..8b0398538 --- /dev/null +++ b/os/hal/osal/chibios/osal.c @@ -0,0 +1,237 @@ +/*
+ 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.c
+ * @brief OSAL module code.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#include "osal.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief Pointer to a halt error message.
+ * @note The message is meant to be retrieved by the debugger after the
+ * system halt caused by an unexpected error.
+ */
+const char *osal_halt_msg;
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief OSAL module initialization.
+ *
+ * @api
+ */
+void osalInit(void) {
+
+}
+
+/**
+ * @brief System halt with error message.
+ *
+ * @param[in] reason the halt message pointer
+ *
+ * @api
+ */
+#if !defined(__DOXYGEN__)
+__attribute__((weak))
+#endif
+void osalSysHalt(const char *reason) {
+
+ osal_halt_msg = reason;
+ chSysHalt();
+}
+
+/**
+ * @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
+ */
+msg_t osalThreadSuspendS(thread_reference_t *trp) {
+
+ chDbgAssert(*trp == NULL, "osalThreadSuspendS(), #1", "not NULL");
+
+ *trp = (thread_reference_t)chThdSelf();
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ return chThdSelf()->p_msg;
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeI(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+
+ chDbgAssert((*trp)->p_state == CH_STATE_SUSPENDED,
+ "osalThreadResumeI(), #1", "not THD_STATE_SUSPENDED");
+
+ (*trp)->p_u.rdymsg = msg;
+ chSchReadyI((thread_t *)*trp);
+ *trp = NULL;
+ }
+}
+
+/**
+ * @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
+ */
+void osalThreadResumeS(thread_reference_t *trp, msg_t msg) {
+
+ if (*trp != NULL) {
+ thread_t *tp = (thread_t *)*trp;
+
+ chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
+ "osalThreadResumeS(), #1", "not THD_STATE_SUSPENDED");
+
+ *trp = NULL;
+ chSchWakeupS(tp, msg);
+ }
+}
+
+/**
+ * @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 RDY_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
+ */
+msg_t osalQueueGoSleepTimeoutS(threads_queue_t *tqp, systime_t time) {
+
+ void wakeup(void *p) {
+ thread_t *tp = (thread_t *)p;
+
+ chSysUnlockFromISR();
+ tp->p_u.rdymsg = RDY_TIMEOUT;
+ chSchReadyI(queue_dequeue(tp));
+ chSysUnlockFromISR();
+ }
+
+ if (TIME_IMMEDIATE == time)
+ return MSG_TIMEOUT;
+
+ queue_insert(currp, tqp);
+ if (TIME_INFINITE == time)
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ else {
+ virtual_timer_t vt;
+
+ chVTDoSetI(&vt, time, wakeup, currp);
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ if (chVTIsArmedI(&vt))
+ chVTDoResetI(&vt);
+ }
+ return currp->p_u.rdymsg;
+}
+
+/**
+ * @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
+ */
+void osalQueueWakeupOneI(threads_queue_t *tqp, msg_t msg) {
+
+ if (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/**
+ * @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
+ */
+void osalQueueWakeupAllI(threads_queue_t *tqp, msg_t msg) {
+
+ while (queue_notempty(tqp)) {
+ thread_t *tp = queue_fifo_remove(tqp);
+ tp->p_u.rdymsg = msg;
+ chSchReadyI(tp);
+ }
+}
+
+/** @} */
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