Diff: common/os_port_chibios.c

Revision:

0:8918a71cdbe9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/common/os_port_chibios.c	Sat Feb 04 18:15:49 2017 +0000
@@ -0,0 +1,568 @@
+/**
+ * @file os_port_chibios.c
+ * @brief RTOS abstraction layer (ChibiOS/RT)
+ *
+ * @section License
+ *
+ * Copyright (C) 2010-2017 Oryx Embedded SARL. All rights reserved.
+ *
+ * This program 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 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program 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, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+ *
+ * @author Oryx Embedded SARL (www.oryx-embedded.com)
+ * @version 1.7.6
+ **/
+
+//Switch to the appropriate trace level
+#define TRACE_LEVEL TRACE_LEVEL_OFF
+
+//Dependencies
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "os_port.h"
+#include "os_port_chibios.h"
+#include "debug.h"
+
+//Variables
+static OsTask taskTable[OS_PORT_MAX_TASKS];
+static uint_t *waTable[OS_PORT_MAX_TASKS];
+
+
+/**
+ * @brief Kernel initialization
+ **/
+
+void osInitKernel(void)
+{
+   //Initialize tables
+   memset(taskTable, 0, sizeof(taskTable));
+   memset(waTable, 0, sizeof(waTable));
+
+   //Kernel initialization
+   chSysInit();
+}
+
+
+/**
+ * @brief Start kernel
+ **/
+
+void osStartKernel(void)
+{
+   //Terminate the main thread
+   chThdExit(MSG_OK);
+}
+
+
+/**
+ * @brief Create a static task
+ * @param[out] task Pointer to the task structure
+ * @param[in] name A name identifying the task
+ * @param[in] taskCode Pointer to the task entry function
+ * @param[in] params A pointer to a variable to be passed to the task
+ * @param[in] stack Pointer to the stack
+ * @param[in] stackSize The initial size of the stack, in words
+ * @param[in] priority The priority at which the task should run
+ * @return The function returns TRUE if the task was successfully
+ *   created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateStaticTask(OsTask *task, const char_t *name, OsTaskCode taskCode,
+   void *params, void *stack, size_t stackSize, int_t priority)
+{
+   //Compute the size of the working area in bytes
+   stackSize *= sizeof(uint_t);
+
+   //Create a new task
+   task->tp = chThdCreateStatic(stack, stackSize,
+      priority, (tfunc_t) taskCode, params);
+
+   //Check whether the task was successfully created
+   if(task->tp != NULL)
+      return TRUE;
+   else
+      return FALSE;
+}
+
+
+/**
+ * @brief Create a new task
+ * @param[in] name A name identifying the task
+ * @param[in] taskCode Pointer to the task entry function
+ * @param[in] params A pointer to a variable to be passed to the task
+ * @param[in] stackSize The initial size of the stack, in words
+ * @param[in] priority The priority at which the task should run
+ * @return If the function succeeds, the return value is a pointer to the
+ *   new task. If the function fails, the return value is NULL
+ **/
+
+OsTask *osCreateTask(const char_t *name, OsTaskCode taskCode,
+   void *params, size_t stackSize, int_t priority)
+{
+   uint_t i;
+   void *wa;
+   OsTask *task = NULL;
+
+   //Compute the size of the stack in bytes
+   stackSize *= sizeof(uint_t);
+
+   //Allocate a memory block to hold the working area
+   wa = osAllocMem(THD_WORKING_AREA_SIZE(stackSize));
+
+   //Successful memory allocation?
+   if(wa != NULL)
+   {
+      //Enter critical section
+      chSysLock();
+
+      //Loop through task table
+      for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+      {
+         //Check whether the current entry is free
+         if(taskTable[i].tp == NULL)
+            break;
+      }
+
+      //Any entry available in the table?
+      if(i < OS_PORT_MAX_TASKS)
+      {
+         //Create a new task
+         taskTable[i].tp = chThdCreateI(wa, THD_WORKING_AREA_SIZE(stackSize),
+            priority, (tfunc_t) taskCode, params);
+
+         //Check whether the task was successfully created
+         if(taskTable[i].tp != NULL)
+         {
+            //Insert the newly created task in the ready list
+            chSchWakeupS(taskTable[i].tp, MSG_OK);
+
+            //Save task pointer
+            task = &taskTable[i];
+            //Save working area base address
+            waTable[i] = wa;
+
+            //Leave critical section
+            chSysUnlock();
+         }
+         else
+         {
+            //Leave critical section
+            chSysUnlock();
+            //Clean up side effects
+            osFreeMem(wa);
+         }
+      }
+      else
+      {
+         //Leave critical section
+         chSysUnlock();
+         //No entry available in the table
+         osFreeMem(wa);
+      }
+   }
+
+   //Return a pointer to the newly created task
+   return task;
+}
+
+
+/**
+ * @brief Delete a task
+ * @param[in] task Pointer to the task to be deleted
+ **/
+
+void osDeleteTask(OsTask *task)
+{
+   //Delete the specified task
+   if(task == NULL)
+      chThdExit(MSG_OK);
+   else
+      chThdTerminate(task->tp);
+}
+
+
+/**
+ * @brief Delay routine
+ * @param[in] delay Amount of time for which the calling task should block
+ **/
+
+void osDelayTask(systime_t delay)
+{
+   //Delay the task for the specified duration
+   chThdSleep(OS_MS_TO_SYSTICKS(delay));
+}
+
+
+/**
+ * @brief Yield control to the next task
+ **/
+
+void osSwitchTask(void)
+{
+   //Force a context switch
+   chThdYield();
+}
+
+
+/**
+ * @brief Suspend scheduler activity
+ **/
+
+void osSuspendAllTasks(void)
+{
+   //Suspend scheduler activity
+   chSysLock();
+}
+
+
+/**
+ * @brief Resume scheduler activity
+ **/
+
+void osResumeAllTasks(void)
+{
+   //Resume scheduler activity
+   chSysUnlock();
+}
+
+
+/**
+ * @brief Create an event object
+ * @param[in] event Pointer to the event object
+ * @return The function returns TRUE if the event object was successfully
+ *   created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateEvent(OsEvent *event)
+{
+   //Initialize the binary semaphore object
+   chBSemObjectInit(event, TRUE);
+
+   //Event successfully created
+   return TRUE;
+}
+
+
+/**
+ * @brief Delete an event object
+ * @param[in] event Pointer to the event object
+ **/
+
+void osDeleteEvent(OsEvent *event)
+{
+   //No resource to release
+}
+
+
+/**
+ * @brief Set the specified event object to the signaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osSetEvent(OsEvent *event)
+{
+   //Set the specified event to the signaled state
+   chBSemSignal(event);
+}
+
+
+/**
+ * @brief Set the specified event object to the nonsignaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osResetEvent(OsEvent *event)
+{
+   //Force the specified event to the nonsignaled state
+   chBSemReset(event, TRUE);
+}
+
+
+/**
+ * @brief Wait until the specified event is in the signaled state
+ * @param[in] event Pointer to the event object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the state of the specified object is
+ *   signaled. FALSE is returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForEvent(OsEvent *event, systime_t timeout)
+{
+   msg_t msg;
+
+   //Wait until the specified event is in the signaled
+   //state or the timeout interval elapses
+   if(timeout == 0)
+   {
+      //Non-blocking call
+      msg = chBSemWaitTimeout(event, TIME_IMMEDIATE);
+   }
+   else if(timeout == INFINITE_DELAY)
+   {
+      //Infinite timeout period
+      msg = chBSemWaitTimeout(event, TIME_INFINITE);
+   }
+   else
+   {
+      //Wait until the specified event becomes set
+      msg = chBSemWaitTimeout(event, OS_MS_TO_SYSTICKS(timeout));
+   }
+
+   //Check whether the specified event is set
+   if(msg == MSG_OK)
+      return TRUE;
+   else
+      return FALSE;
+}
+
+
+/**
+ * @brief Set an event object to the signaled state from an interrupt service routine
+ * @param[in] event Pointer to the event object
+ * @return TRUE if setting the event to signaled state caused a task to unblock
+ *   and the unblocked task has a priority higher than the currently running task
+ **/
+
+bool_t osSetEventFromIsr(OsEvent *event)
+{
+   //Set the specified event to the signaled state
+   chBSemSignalI(event);
+
+   //The return value is not relevant
+   return FALSE;
+}
+
+
+/**
+ * @brief Create a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] count The maximum count for the semaphore object. This value
+ *   must be greater than zero
+ * @return The function returns TRUE if the semaphore was successfully
+ *   created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateSemaphore(OsSemaphore *semaphore, uint_t count)
+{
+   //Initialize the semaphore object
+   chSemObjectInit(semaphore, count);
+
+   //Semaphore successfully created
+   return TRUE;
+}
+
+
+/**
+ * @brief Delete a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osDeleteSemaphore(OsSemaphore *semaphore)
+{
+   //No resource to release
+}
+
+
+/**
+ * @brief Wait for the specified semaphore to be available
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the semaphore is available. FALSE is
+ *   returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForSemaphore(OsSemaphore *semaphore, systime_t timeout)
+{
+   msg_t msg;
+
+   //Wait until the semaphore is available or the timeout interval elapses
+   if(timeout == 0)
+   {
+      //Non-blocking call
+      msg = chSemWaitTimeout(semaphore, TIME_IMMEDIATE);
+   }
+   else if(timeout == INFINITE_DELAY)
+   {
+      //Infinite timeout period
+      msg = chSemWaitTimeout(semaphore, TIME_INFINITE);
+   }
+   else
+   {
+      //Wait until the specified semaphore becomes available
+      msg = chSemWaitTimeout(semaphore, OS_MS_TO_SYSTICKS(timeout));
+   }
+
+   //Check whether the specified semaphore is available
+   if(msg == MSG_OK)
+      return TRUE;
+   else
+      return FALSE;
+}
+
+
+/**
+ * @brief Release the specified semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osReleaseSemaphore(OsSemaphore *semaphore)
+{
+   //Release the semaphore
+   chSemSignal(semaphore);
+}
+
+
+/**
+ * @brief Create a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ * @return The function returns TRUE if the mutex was successfully
+ *   created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateMutex(OsMutex *mutex)
+{
+   //Initialize the mutex object
+   chMtxObjectInit(mutex);
+
+   //Mutex successfully created
+   return TRUE;
+}
+
+
+/**
+ * @brief Delete a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osDeleteMutex(OsMutex *mutex)
+{
+   //No resource to release
+}
+
+
+/**
+ * @brief Acquire ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osAcquireMutex(OsMutex *mutex)
+{
+   //Obtain ownership of the mutex object
+   chMtxLock(mutex);
+}
+
+
+/**
+ * @brief Release ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osReleaseMutex(OsMutex *mutex)
+{
+   //Release ownership of the mutex object
+#if (CH_KERNEL_MAJOR < 3)
+   chMtxUnlock();
+#else
+   chMtxUnlock(mutex);
+#endif
+}
+
+
+/**
+ * @brief Retrieve system time
+ * @return Number of milliseconds elapsed since the system was last started
+ **/
+
+systime_t osGetSystemTime(void)
+{
+   systime_t time;
+
+   //Get current tick count
+   time = chVTGetSystemTime();
+
+   //Convert system ticks to milliseconds
+   return OS_SYSTICKS_TO_MS(time);
+}
+
+
+/**
+ * @brief Allocate a memory block
+ * @param[in] size Bytes to allocate
+ * @return A pointer to the allocated memory block or NULL if
+ *   there is insufficient memory available
+ **/
+
+void *osAllocMem(size_t size)
+{
+   void *p;
+
+   //Allocate a memory block
+   p = chHeapAlloc(NULL, size);
+
+   //Debug message
+   TRACE_DEBUG("Allocating %" PRIuSIZE " bytes at 0x%08" PRIXPTR "\r\n", size, (uintptr_t) p);
+
+   //Return a pointer to the newly allocated memory block
+   return p;
+}
+
+
+/**
+ * @brief Release a previously allocated memory block
+ * @param[in] p Previously allocated memory block to be freed
+ **/
+
+void osFreeMem(void *p)
+{
+   //Make sure the pointer is valid
+   if(p != NULL)
+   {
+      //Debug message
+      TRACE_DEBUG("Freeing memory at 0x%08" PRIXPTR "\r\n", (uintptr_t) p);
+
+      //Free memory block
+      chHeapFree(p);
+   }
+}
+
+
+/**
+ * @brief Idle loop hook
+ **/
+
+void osIdleLoopHook(void)
+{
+   uint_t i;
+
+   //Loop through task table
+   for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+   {
+      //Check whether current entry is used
+      if(taskTable[i].tp != NULL)
+      {
+         //Wait for task termination
+         if(chThdTerminatedX(taskTable[i].tp))
+         {
+            //Free working area
+            osFreeMem(waTable[i]);
+
+            //Mark the entry as free
+            waTable[i] = NULL;
+            taskTable[i].tp = NULL;
+         }
+      }
+   }
+}
+