Diff: arch/sys_arch.c

Revision:

1:a7366e261ca3

Parent:

0:762278923909

Child:

4:dd37867293e7

--- a/arch/sys_arch.c	Fri Jun 22 09:35:28 2012 +0000
+++ b/arch/sys_arch.c	Fri Jun 22 11:12:52 2012 +0000
@@ -0,0 +1,454 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include <string.h>
+
+/* mbed includes */
+#include "error.h"
+#include "mbed_interface.h"
+
+/* lwIP includes. */
+#include "lwip/opt.h"
+#include "lwip/debug.h"
+#include "lwip/def.h"
+#include "lwip/sys.h"
+#include "lwip/mem.h"
+
+ #if NO_SYS==1
+#include "cmsis.h"
+
+/* Saved total time in ms since timer was enabled */
+static volatile u32_t systick_timems;
+
+/* Enable systick rate and interrupt */
+void SysTick_Init(void) {
+    if (SysTick_Config(SystemCoreClock / 1000)) {
+        while (1);     /* Capture error */
+    }
+}
+
+/** \brief  SysTick IRQ handler and timebase management
+ *
+ *  This function keeps a timebase for the sysTick that can be
+ * used for other functions. It also calls an external function
+ * (SysTick_User) that must be defined outside this handler.
+ */
+void SysTick_Handler(void) {
+    systick_timems++;
+}
+
+/* Delay for the specified number of milliSeconds */
+void osDelay(uint32_t ms) {
+    uint32_t to = ms + systick_timems;
+    while (to > systick_timems);
+}
+
+/* Returns the current time in mS. This is needed for the LWIP timers */
+u32_t sys_now(void) {
+  return (u32_t) systick_timems;
+}
+
+#else
+/* CMSIS-RTOS implementation of the lwip operating system abstraction */
+#include "arch/sys_arch.h"
+
+// #include "us_ticker_api.h" -> Not yet public
+extern uint32_t us_ticker_read(void);
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_mbox_new
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Creates a new mailbox
+ * Inputs:
+ *      sys_mbox_t mbox         -- Handle of mailbox
+ *      int queue_sz            -- Size of elements in the mailbox
+ * Outputs:
+ *      err_t                   -- ERR_OK if message posted, else ERR_MEM
+ *---------------------------------------------------------------------------*/
+err_t sys_mbox_new(sys_mbox_t *mbox, int queue_sz) {
+    if (queue_sz > MB_SIZE)
+        error("sys_mbox_new size error\n");
+    
+#ifdef CMSIS_OS_RTX
+    memset(mbox->queue, 0, sizeof(mbox->queue));
+    mbox->def.pool = mbox->queue;
+    mbox->def.queue_sz = queue_sz;
+#endif
+    mbox->id = osMessageCreate(&mbox->def, NULL);
+    return (mbox->id == NULL) ? (ERR_MEM) : (ERR_OK);
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_mbox_free
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Deallocates a mailbox. If there are messages still present in the
+ *      mailbox when the mailbox is deallocated, it is an indication of a
+ *      programming error in lwIP and the developer should be notified.
+ * Inputs:
+ *      sys_mbox_t *mbox         -- Handle of mailbox
+ *---------------------------------------------------------------------------*/
+void sys_mbox_free(sys_mbox_t *mbox) {
+    osEvent event = osMessageGet(mbox->id, 0);
+    if (event.status == osEventMessage)
+        error("sys_mbox_free error\n");
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_mbox_post
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Post the "msg" to the mailbox.
+ * Inputs:
+ *      sys_mbox_t mbox        -- Handle of mailbox
+ *      void *msg              -- Pointer to data to post
+ *---------------------------------------------------------------------------*/
+void sys_mbox_post(sys_mbox_t *mbox, void *msg) {
+    if (osMessagePut(mbox->id, (uint32_t)msg, osWaitForever) != osOK)
+        error("sys_mbox_post error\n");
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_mbox_trypost
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Try to post the "msg" to the mailbox.  Returns immediately with
+ *      error if cannot.
+ * Inputs:
+ *      sys_mbox_t mbox         -- Handle of mailbox
+ *      void *msg               -- Pointer to data to post
+ * Outputs:
+ *      err_t                   -- ERR_OK if message posted, else ERR_MEM
+ *                                  if not.
+ *---------------------------------------------------------------------------*/
+err_t sys_mbox_trypost(sys_mbox_t *mbox, void *msg) {
+    osStatus status = osMessagePut(mbox->id, (uint32_t)msg, 0);
+    return (status == osOK) ? (ERR_OK) : (ERR_MEM);
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_arch_mbox_fetch
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Blocks the thread until a message arrives in the mailbox, but does
+ *      not block the thread longer than "timeout" milliseconds (similar to
+ *      the sys_arch_sem_wait() function). The "msg" argument is a result
+ *      parameter that is set by the function (i.e., by doing "*msg =
+ *      ptr"). The "msg" parameter maybe NULL to indicate that the message
+ *      should be dropped.
+ *
+ *      The return values are the same as for the sys_arch_sem_wait() function:
+ *      Number of milliseconds spent waiting or SYS_ARCH_TIMEOUT if there was a
+ *      timeout.
+ *
+ *      Note that a function with a similar name, sys_mbox_fetch(), is
+ *      implemented by lwIP.
+ * Inputs:
+ *      sys_mbox_t mbox         -- Handle of mailbox
+ *      void **msg              -- Pointer to pointer to msg received
+ *      u32_t timeout           -- Number of milliseconds until timeout
+ * Outputs:
+ *      u32_t                   -- SYS_ARCH_TIMEOUT if timeout, else number
+ *                                  of milliseconds until received.
+ *---------------------------------------------------------------------------*/
+u32_t sys_arch_mbox_fetch(sys_mbox_t *mbox, void **msg, u32_t timeout) {
+    u32_t start = us_ticker_read();
+    
+    osEvent event = osMessageGet(mbox->id, (timeout != 0)?(timeout):(osWaitForever));
+    if (event.status != osEventMessage)
+        return SYS_ARCH_TIMEOUT;
+    
+    *msg = (void *)event.value.v;
+    
+    return (us_ticker_read() - start) / 1000;
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_arch_mbox_tryfetch
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Similar to sys_arch_mbox_fetch, but if message is not ready
+ *      immediately, we'll return with SYS_MBOX_EMPTY.  On success, 0 is
+ *      returned.
+ * Inputs:
+ *      sys_mbox_t mbox         -- Handle of mailbox
+ *      void **msg              -- Pointer to pointer to msg received
+ * Outputs:
+ *      u32_t                   -- SYS_MBOX_EMPTY if no messages.  Otherwise,
+ *                                  return ERR_OK.
+ *---------------------------------------------------------------------------*/
+u32_t sys_arch_mbox_tryfetch(sys_mbox_t *mbox, void **msg) {
+    osEvent event = osMessageGet(mbox->id, 0);
+    if (event.status != osEventMessage)
+        return SYS_MBOX_EMPTY;
+    
+    *msg = (void *)event.value.v;
+    
+    return ERR_OK;
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_sem_new
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Creates and returns a new semaphore. The "ucCount" argument specifies
+ *      the initial state of the semaphore.
+ *      NOTE: Currently this routine only creates counts of 1 or 0
+ * Inputs:
+ *      sys_sem_t sem         -- Handle of semaphore
+ *      u8_t count            -- Initial count of semaphore
+ * Outputs:
+ *      err_t                 -- ERR_OK if semaphore created
+ *---------------------------------------------------------------------------*/
+err_t sys_sem_new(sys_sem_t *sem, u8_t count) {
+#ifdef CMSIS_OS_RTX
+    memset(sem->data, 0, sizeof(uint32_t)*2);
+    sem->def.semaphore = sem->data;
+#endif
+    // We cannot initialize the semaphore to 0
+    sem->id = osSemaphoreCreate(&sem->def, (count ? count : 1));
+    if (sem->id == NULL)
+        error("sys_sem_new create error\n");
+    
+    // We cannot initialize the semaphore to 0
+    if (count == 0) {
+        if (osSemaphoreWait(sem->id, osWaitForever) < 1)
+            error("sys_sem_new wait error\n");
+    }
+    
+    return ERR_OK;
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_arch_sem_wait
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Blocks the thread while waiting for the semaphore to be
+ *      signaled. If the "timeout" argument is non-zero, the thread should
+ *      only be blocked for the specified time (measured in
+ *      milliseconds).
+ *
+ *      If the timeout argument is non-zero, the return value is the number of
+ *      milliseconds spent waiting for the semaphore to be signaled. If the
+ *      semaphore wasn't signaled within the specified time, the return value is
+ *      SYS_ARCH_TIMEOUT. If the thread didn't have to wait for the semaphore
+ *      (i.e., it was already signaled), the function may return zero.
+ *
+ *      Notice that lwIP implements a function with a similar name,
+ *      sys_sem_wait(), that uses the sys_arch_sem_wait() function.
+ * Inputs:
+ *      sys_sem_t sem           -- Semaphore to wait on
+ *      u32_t timeout           -- Number of milliseconds until timeout
+ * Outputs:
+ *      u32_t                   -- Time elapsed or SYS_ARCH_TIMEOUT.
+ *---------------------------------------------------------------------------*/
+u32_t sys_arch_sem_wait(sys_sem_t *sem, u32_t timeout) {
+    u32_t start = us_ticker_read();
+    
+    if (osSemaphoreWait(sem->id, (timeout != 0)?(timeout):(osWaitForever)) < 1)
+        return SYS_ARCH_TIMEOUT;
+    
+    return (us_ticker_read() - start) / 1000;
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_sem_signal
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Signals (releases) a semaphore
+ * Inputs:
+ *      sys_sem_t sem           -- Semaphore to signal
+ *---------------------------------------------------------------------------*/
+void sys_sem_signal(sys_sem_t *data) {
+    if (osSemaphoreRelease(data->id) != osOK)
+        mbed_die(); /* Can be called by ISR do not use printf */
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_sem_free
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Deallocates a semaphore
+ * Inputs:
+ *      sys_sem_t sem           -- Semaphore to free
+ *---------------------------------------------------------------------------*/
+void sys_sem_free(sys_sem_t *sem) {}
+
+/** Create a new mutex
+ * @param mutex pointer to the mutex to create
+ * @return a new mutex */
+err_t sys_mutex_new(sys_mutex_t *mutex) {
+#ifdef CMSIS_OS_RTX
+    memset(mutex->data, 0, sizeof(int32_t)*3);
+    mutex->def.mutex = mutex->data;
+#endif
+    mutex->id = osMutexCreate(&mutex->def);
+    if (mutex->id == NULL)
+        return ERR_MEM;
+    
+    return ERR_OK;
+}
+
+/** Lock a mutex
+ * @param mutex the mutex to lock */
+void sys_mutex_lock(sys_mutex_t *mutex) {
+    if (osMutexWait(mutex->id, osWaitForever) != osOK)
+        error("sys_mutex_lock error\n");
+}
+
+/** Unlock a mutex
+ * @param mutex the mutex to unlock */
+void sys_mutex_unlock(sys_mutex_t *mutex) {
+    if (osMutexRelease(mutex->id) != osOK)
+        error("sys_mutex_unlock error\n");
+}
+
+/** Delete a mutex
+ * @param mutex the mutex to delete */
+void sys_mutex_free(sys_mutex_t *mutex) {}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_init
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Initialize sys arch
+ *---------------------------------------------------------------------------*/
+osMutexId lwip_sys_mutex;
+osMutexDef(lwip_sys_mutex);
+
+void sys_init(void) {
+    lwip_sys_mutex = osMutexCreate(osMutex(lwip_sys_mutex));
+    if (lwip_sys_mutex == NULL)
+        error("sys_init error\n");
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_arch_protect
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      This optional function does a "fast" critical region protection and
+ *      returns the previous protection level. This function is only called
+ *      during very short critical regions. An embedded system which supports
+ *      ISR-based drivers might want to implement this function by disabling
+ *      interrupts. Task-based systems might want to implement this by using
+ *      a mutex or disabling tasking. This function should support recursive
+ *      calls from the same task or interrupt. In other words,
+ *      sys_arch_protect() could be called while already protected. In
+ *      that case the return value indicates that it is already protected.
+ *
+ *      sys_arch_protect() is only required if your port is supporting an
+ *      operating system.
+ * Outputs:
+ *      sys_prot_t              -- Previous protection level (not used here)
+ *---------------------------------------------------------------------------*/
+sys_prot_t sys_arch_protect(void) {
+    if (osMutexWait(lwip_sys_mutex, osWaitForever) != osOK)
+        error("sys_arch_protect error\n");
+    return (sys_prot_t) 1;
+}
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_arch_unprotect
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      This optional function does a "fast" set of critical region
+ *      protection to the value specified by pval. See the documentation for
+ *      sys_arch_protect() for more information. This function is only
+ *      required if your port is supporting an operating system.
+ * Inputs:
+ *      sys_prot_t              -- Previous protection level (not used here)
+ *---------------------------------------------------------------------------*/
+void sys_arch_unprotect(sys_prot_t p) {
+    if (osMutexRelease(lwip_sys_mutex) != osOK)
+        error("sys_arch_unprotect error\n");
+}
+
+u32_t sys_now(void) {
+    return us_ticker_read() / 1000;
+}
+
+void sys_msleep(u32_t ms) {
+    osDelay(ms);
+}
+
+// Keep a pool of thread structures
+static int thread_pool_index = 0;
+static sys_thread_data_t thread_pool[SYS_THREAD_POOL_N];
+
+/*---------------------------------------------------------------------------*
+ * Routine:  sys_thread_new
+ *---------------------------------------------------------------------------*
+ * Description:
+ *      Starts a new thread with priority "prio" that will begin its
+ *      execution in the function "thread()". The "arg" argument will be
+ *      passed as an argument to the thread() function. The id of the new
+ *      thread is returned. Both the id and the priority are system
+ *      dependent.
+ * Inputs:
+ *      char *name                -- Name of thread
+ *      void (*thread)(void *arg) -- Pointer to function to run.
+ *      void *arg                 -- Argument passed into function
+ *      int stacksize             -- Required stack amount in bytes
+ *      int priority              -- Thread priority
+ * Outputs:
+ *      sys_thread_t              -- Pointer to thread handle.
+ *---------------------------------------------------------------------------*/
+sys_thread_t sys_thread_new(const char *pcName,
+                            void (*thread)(void *arg),
+                            void *arg, int stacksize, int priority) {
+    LWIP_DEBUGF(SYS_DEBUG, ("New Thread: %s\n", pcName));
+    
+    if (thread_pool_index >= SYS_THREAD_POOL_N)
+        error("sys_thread_new number error\n");
+    sys_thread_t t = (sys_thread_t)&thread_pool[thread_pool_index];
+    thread_pool_index++;
+    
+#ifdef CMSIS_OS_RTX
+    t->def.pthread = (os_pthread)thread;
+    t->def.tpriority = (osPriority)priority;
+    t->def.instances = 1;
+    t->def.stacksize = stacksize;
+#endif
+    t->id = osThreadCreate(&t->def, arg);
+    if (t->id == NULL)
+        error("sys_thread_new create error\n");
+    
+    return t;
+}
+
+#endif
+
+#ifdef LWIP_DEBUG 
+
+/** \brief  Displays an error message on assertion
+
+    This function will display an error message on an assertion
+    to the debug output.
+
+    \param[in]    msg   Error message to display
+    \param[in]    line  Line number in file with error
+    \param[in]    file  Filename with error
+ */
+void assert_printf(char *msg, int line, char *file) {
+    if (msg)
+        error("%s:%d in file %s\n", msg, line, file);
+    else
+        error("LWIP ASSERT\n");
+}
+
+#endif /* LWIP_DEBUG */