/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS 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 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/>.
*/
/*
Concepts and parts of this file have been contributed by Andre R.
*/
/**
* @file cmsis_os.c
* @brief CMSIS RTOS module code.
*
* @addtogroup CMSIS_OS
* @{
*/
#include "cmsis_os.h"
#include <string.h>
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
int32_t cmsis_os_started;
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
static memory_pool_t sempool;
static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
static memory_pool_t timpool;
static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
/**
* @brief Virtual timers common callback.
*/
static void timer_cb(void const *arg) {
osTimerId timer_id = (osTimerId)arg;
timer_id->ptimer(timer_id->argument);
if (timer_id->type == osTimerPeriodic) {
chSysLockFromISR();
chVTDoSetI(&timer_id->vt, TIME_MS2I(timer_id->millisec),
(vtfunc_t)timer_cb, timer_id);
chSysUnlockFromISR();
}
}
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Kernel initialization.
*/
osStatus osKernelInitialize(void) {
cmsis_os_started = 0;
chSysInit();
chThdSetPriority(HIGHPRIO);
chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAllocAligned);
chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
chPoolObjectInit(&timpool, sizeof(struct os_timer_cb), chCoreAllocAligned);
chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
return osOK;
}
/**
* @brief Kernel start.
*/
osStatus osKernelStart(void) {
cmsis_os_started = 1;
chThdSetPriority(NORMALPRIO);
return osOK;
}
/**
* @brief Creates a thread.
*/
osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
size_t size;
size = thread_def->stacksize == 0 ? CMSIS_CFG_DEFAULT_STACK :
thread_def->stacksize;
return (osThreadId)chThdCreateFromHeap(0,
THD_WORKING_AREA_SIZE(size),
thread_def->name,
NORMALPRIO+thread_def->tpriority,
(tfunc_t)thread_def->pthread,
argument);
}
/**
* @brief Thread termination.
* @note The thread is not really terminated but asked to terminate which
* is not compliant.
*/
osStatus osThreadTerminate(osThreadId thread_id) {
if (thread_id == osThreadGetId()) {
/* Note, no memory will be recovered unless a cleaner thread is
implemented using the registry.*/
chThdExit(0);
}
chThdTerminate(thread_id);
chThdWait((thread_t *)thread_id);
return osOK;
}
/**
* @brief Change thread priority.
* @note This can interfere with the priority inheritance mechanism.
*/
osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
thread_t * tp = (thread_t *)thread_id;
chSysLock();
/* Changing priority.*/
#if CH_CFG_USE_MUTEXES
if ((tp->prio == tp->realprio) || ((tprio_t)newprio > tp->prio))
tp->prio = (tprio_t)newprio;
tp->realprio = (tprio_t)newprio;
#else
tp->prio = (tprio_t)newprio;
#endif
/* The following states need priority queues reordering.*/
switch (tp->state) {
#if CH_CFG_USE_MUTEXES | \
CH_CFG_USE_CONDVARS | \
(CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \
(CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
#if CH_CFG_USE_MUTEXES
case CH_STATE_WTMTX:
#endif
#if CH_CFG_USE_CONDVARS
case CH_STATE_WTCOND:
#endif
#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
case CH_STATE_WTSEM:
#endif
#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
case CH_STATE_SNDMSGQ:
#endif
/* Re-enqueues tp with its new priority on the queue.*/
queue_prio_insert(queue_dequeue(tp),
(threads_queue_t *)tp->u.wtobjp);
break;
#endif
case CH_STATE_READY:
#if CH_DBG_ENABLE_ASSERTS
/* Prevents an assertion in chSchReadyI().*/
tp->state = CH_STATE_CURRENT;
#endif
/* Re-enqueues tp with its new priority on the ready list.*/
chSchReadyI(queue_dequeue(tp));
break;
}
/* Rescheduling.*/
chSchRescheduleS();
chSysUnlock();
return osOK;
}
/**
* @brief Create a timer.
*/
osTimerId osTimerCreate(const osTimerDef_t *timer_def,
os_timer_type type,
void *argument) {
osTimerId timer = chPoolAlloc(&timpool);
chVTObjectInit(&timer->vt);
timer->ptimer = timer_def->ptimer;
timer->type = type;
timer->argument = argument;
return timer;
}
/**
* @brief Start a timer.
*/
osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
if ((millisec == 0) || (millisec == osWaitForever))
return osErrorValue;
timer_id->millisec = millisec;
chVTSet(&timer_id->vt, TIME_MS2I(millisec), (vtfunc_t)timer_cb, timer_id);
return osOK;
}
/**
* @brief Stop a timer.
*/
osStatus osTimerStop(osTimerId timer_id) {
chVTReset(&timer_id->vt);
return osOK;
}
/**
* @brief Delete a timer.
*/
osStatus osTimerDelete(osTimerId timer_id) {
chVTReset(&timer_id->vt);
chPoolFree(&timpool, (void *)timer_id);
return osOK;
}
/**
* @brief Send signals.
*/
int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
int32_t oldsignals;
syssts_t sts = chSysGetStatusAndLockX();
oldsignals = (int32_t)thread_id->epending;
chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals);
chSysRestoreStatusX(sts);
return oldsignals;
}
/**
* @brief Clear signals.
*/
int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
eventmask_t m;
chSysLock();
m = thread_id->epending & (eventmask_t)signals;
thread_id->epending &= ~(eventmask_t)signals;
chSysUnlock();
return (int32_t)m;
}
/**
* @brief Wait for signals.
*/
osEvent osSignalWait(int32_t signals, uint32_t millisec) {
osEvent event;
sysinterval_t timeout = (millisec == osWaitForever ?
TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec)));
if (signals == 0)
event.value.signals = (uint32_t)chEvtWaitAnyTimeout(ALL_EVENTS, timeout);
else
event.value.signals = (uint32_t)chEvtWaitAllTimeout((eventmask_t)signals,
timeout);
/* Type of event.*/
if (event.value.signals == 0)
event.status = osEventTimeout;
else
event.status = osEventSignal;
return event;
}
/**
* @brief Create a semaphore.
* @note @p semaphore_def is not used.
* @note Can involve memory allocation.
*/
osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
int32_t count) {
(void)semaphore_def;
semaphore_t *sem = chPoolAlloc(&sempool);
chSemObjectInit(sem, (cnt_t)count);
return sem;
}
/**
* @brief Wait on a semaphore.
*/
int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
sysinterval_t timeout = (millisec == osWaitForever ?
TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec)));
msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, timeout);
switch (msg) {
case MSG_OK:
return osOK;
case MSG_TIMEOUT:
return osErrorTimeoutResource;
}
return osErrorResource;
}
/**
* @brief Release a semaphore.
*/
osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
syssts_t sts = chSysGetStatusAndLockX();
chSemSignalI((semaphore_t *)semaphore_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Deletes a semaphore.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*/
osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
chSemReset((semaphore_t *)semaphore_id, 0);
chPoolFree(&sempool, (void *)semaphore_id);
return osOK;
}
/**
* @brief Create a mutex.
* @note @p mutex_def is not used.
* @note Can involve memory allocation.
*/
osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
(void)mutex_def;
binary_semaphore_t *mtx = chPoolAlloc(&sempool);
chBSemObjectInit(mtx, false);
return mtx;
}
/**
* @brief Wait on a mutex.
*/
osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
sysinterval_t timeout = (millisec == osWaitForever ?
TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec)));
msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, timeout);
switch (msg) {
case MSG_OK:
return osOK;
case MSG_TIMEOUT:
return osErrorTimeoutResource;
}
return osErrorResource;
}
/**
* @brief Release a mutex.
*/
osStatus osMutexRelease(osMutexId mutex_id) {
syssts_t sts = chSysGetStatusAndLockX();
chBSemSignalI((binary_semaphore_t *)mutex_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Deletes a mutex.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*/
osStatus osMutexDelete(osMutexId mutex_id) {
chSemReset((semaphore_t *)mutex_id, 0);
chPoolFree(&sempool, (void *)mutex_id);
return osOK;
}
/**
* @brief Create a memory pool.
* @note The pool is not really created because it is allocated statically,
* this function just re-initializes it.
*/
osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL);
chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz);
return (osPoolId)pool_def->pool;
}
/**
* @brief Allocate an object.
*/
void *osPoolAlloc(osPoolId pool_id) {
void *object;
syssts_t sts = chSysGetStatusAndLockX();
object = chPoolAllocI((memory_pool_t *)pool_id);
chSysRestoreStatusX(sts);
return object;
}
/**
* @brief Allocate an object clearing it.
*/
void *osPoolCAlloc(osPoolId pool_id) {
void *object;
object = chPoolAllocI((memory_pool_t *)pool_id);
memset(object, 0, pool_id->object_size);
return object;
}
/**
* @brief Free an object.
*/
osStatus osPoolFree(osPoolId pool_id, void *block) {
syssts_t sts = chSysGetStatusAndLockX();
chPoolFreeI((memory_pool_t *)pool_id, block);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Create a message queue.
* @note The queue is not really created because it is allocated statically,
* this function just re-initializes it.
*/
osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
osThreadId thread_id) {
/* Ignoring this parameter for now.*/
(void)thread_id;
if (queue_def->item_sz > sizeof (msg_t))
return NULL;
chMBObjectInit(queue_def->mailbox,
queue_def->items,
(size_t)queue_def->queue_sz);
return (osMessageQId) queue_def->mailbox;
}
/**
* @brief Put a message in the queue.
*/
osStatus osMessagePut(osMessageQId queue_id,
uint32_t info,
uint32_t millisec) {
msg_t msg;
sysinterval_t timeout = (millisec == osWaitForever ?
TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec)));
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0)
return osErrorValue;
chSysLockFromISR();
msg = chMBPostI((mailbox_t *)queue_id, (msg_t)info);
chSysUnlockFromISR();
}
else
msg = chMBPostTimeout((mailbox_t *)queue_id, (msg_t)info, timeout);
return msg == MSG_OK ? osOK : osEventTimeout;
}
/**
* @brief Get a message from the queue.
*/
osEvent osMessageGet(osMessageQId queue_id,
uint32_t millisec) {
msg_t msg;
osEvent event;
sysinterval_t timeout = (millisec == osWaitForever ?
TIME_INFINITE : (millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec)));
event.def.message_id = queue_id;
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0) {
event.status = osErrorValue;
return event;
}
chSysLockFromISR();
msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v);
chSysUnlockFromISR();
}
else {
msg = chMBFetchTimeout((mailbox_t *)queue_id, (msg_t*)&event.value.v, timeout);
}
/* Returned event type.*/
event.status = msg == MSG_OK ? osEventMessage : osEventTimeout;
return event;
}
/** @} */