/* ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. */ /** * @file osal.h * @brief OSAL module header. * * @addtogroup OSAL * @{ */ #ifndef OSAL_H #define OSAL_H #include #include #include #include "sbuser.h" /*===========================================================================*/ /* Module constants. */ /*===========================================================================*/ /** * @name Common constants * @{ */ #if !defined(FALSE) || defined(__DOXYGEN__) #define FALSE 0 #endif #if !defined(TRUE) || defined(__DOXYGEN__) #define TRUE 1 #endif #define OSAL_SUCCESS false #define OSAL_FAILED true /** @} */ /** * @name Systick modes. * @{ */ #define OSAL_ST_MODE_NONE 0 #define OSAL_ST_MODE_PERIODIC 1 #define OSAL_ST_MODE_FREERUNNING 2 /** @} */ /** * @name Systick parameters. * @{ */ /** * @brief Systick mode required by the underlying OS. */ #define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC /** @} */ /*===========================================================================*/ /* Module pre-compile time settings. */ /*===========================================================================*/ /** * @brief Enables OSAL assertions. */ #if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__) #define OSAL_DBG_ENABLE_ASSERTS FALSE #endif /** * @brief Enables OSAL functions parameters checks. */ #if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__) #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. */ /*===========================================================================*/ /*===========================================================================*/ /* Module data structures and types. */ /*===========================================================================*/ /*===========================================================================*/ /* Module macros. */ /*===========================================================================*/ /** * @name Debug related macros * @{ */ /** * @brief Condition assertion. * @details If the condition check fails then the OSAL panics with a * message and halts. * @note The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS * switch is enabled. * @note The remark string is not currently used except for putting a * comment in the code about the assertion. * * @param[in] c the condition to be verified to be true * @param[in] remark a remark string * * @api */ #define osalDbgAssert(c, remark) do { \ /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ if (OSAL_DBG_ENABLE_ASSERTS != FALSE) { \ if (!(c)) { \ /*lint -restore*/ \ osalSysHalt(__func__); \ } \ } \ } while (false) /** * @brief Function parameters check. * @details If the condition check fails then the OSAL panics and halts. * @note The condition is tested only if the @p OSAL_ENABLE_CHECKS switch * is enabled. * * @param[in] c the condition to be verified to be true * * @api */ #define osalDbgCheck(c) do { \ /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/ \ if (OSAL_DBG_ENABLE_CHECKS != FALSE) { \ if (!(c)) { \ /*lint -restore*/ \ osalSysHalt(__func__); \ } \ } \ } while (false) /** * @brief I-Class state check. * @note Implementation is optional. */ #define osalDbgCheckClassI() /** * @brief S-Class state check. * @note Implementation is optional. */ #define osalDbgCheckClassS() /** @} */ /** * @name Time conversion utilities * @{ */ /** * @brief Seconds to time interval. * @details Converts from seconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] secs number of seconds * @return The number of ticks. * * @api */ #define OSAL_S2I(secs) \ ((sysinterval_t)((time_conv_t)(secs) * (time_conv_t)OSAL_ST_FREQUENCY)) /** * @brief Milliseconds to time interval. * @details Converts from milliseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] msecs number of milliseconds * @return The number of ticks. * * @api */ #define OSAL_MS2I(msecs) \ ((sysinterval_t)((((time_conv_t)(msecs) * \ (time_conv_t)OSAL_ST_FREQUENCY) + \ (time_conv_t)999) / (time_conv_t)1000)) /** * @brief Microseconds to time interval. * @details Converts from microseconds to system ticks number. * @note The result is rounded upward to the next tick boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] usecs number of microseconds * @return The number of ticks. * * @api */ #define OSAL_US2I(usecs) \ ((sysinterval_t)((((time_conv_t)(usecs) * \ (time_conv_t)OSAL_ST_FREQUENCY) + \ (time_conv_t)999999) / (time_conv_t)1000000)) /** * @brief Time interval to seconds. * @details Converts from system ticks number to seconds. * @note The result is rounded up to the next second boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] interval interval in ticks * @return The number of seconds. * * @api */ #define OSAL_I2S(interval) \ (time_secs_t)(((time_conv_t)(interval) + \ (time_conv_t)OSAL_ST_FREQUENCY - \ (time_conv_t)1) / (time_conv_t)OSAL_ST_FREQUENCY) /** * @brief Time interval to milliseconds. * @details Converts from system ticks number to milliseconds. * @note The result is rounded up to the next millisecond boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] interval interval in ticks * @return The number of milliseconds. * * @api */ #define OSAL_I2MS(interval) \ (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000) + \ (time_conv_t)OSAL_ST_FREQUENCY - (time_conv_t)1) / \ (time_conv_t)OSAL_ST_FREQUENCY) /** * @brief Time interval to microseconds. * @details Converts from system ticks number to microseconds. * @note The result is rounded up to the next microsecond boundary. * @note Use of this macro for large values is not secure because * integer overflows, make sure your value can be correctly * converted. * * @param[in] interval interval in ticks * @return The number of microseconds. * * @api */ #define OSAL_I2US(interval) \ (time_msecs_t)((((time_conv_t)(interval) * (time_conv_t)1000000) + \ (time_conv_t)OSAL_ST_FREQUENCY - (time_conv_t)1) / \ (time_conv_t)OSAL_ST_FREQUENCY) /** @} */ /** * @name Time conversion utilities for the realtime counter * @{ */ /** * @brief Seconds to realtime counter. * @details Converts from seconds to realtime counter cycles. * @note The macro assumes that @p freq >= @p 1. * * @param[in] freq clock frequency, in Hz, of the realtime counter * @param[in] sec number of seconds * @return The number of cycles. * * @api */ #define OSAL_S2RTC(freq, sec) ((freq) * (sec)) /** * @brief Milliseconds to realtime counter. * @details Converts from milliseconds to realtime counter cycles. * @note The result is rounded upward to the next millisecond boundary. * @note The macro assumes that @p freq >= @p 1000. * * @param[in] freq clock frequency, in Hz, of the realtime counter * @param[in] msec number of milliseconds * @return The number of cycles. * * @api */ #define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec)) /** * @brief Microseconds to realtime counter. * @details Converts from microseconds to realtime counter cycles. * @note The result is rounded upward to the next microsecond boundary. * @note The macro assumes that @p freq >= @p 1000000. * * @param[in] freq clock frequency, in Hz, of the realtime counter * @param[in] usec number of microseconds * @return The number of cycles. * * @api */ #define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec)) /** @} */ /** * @name Sleep macros using absolute time * @{ */ /** * @brief Delays the invoking thread for the specified number of seconds. * @note The specified time is rounded up to a value allowed by the real * system tick clock. * @note The maximum specifiable value is implementation dependent. * * @param[in] secs time in seconds, must be different from zero * * @api */ #define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs)) /** * @brief Delays the invoking thread for the specified number of * milliseconds. * @note The specified time is rounded up to a value allowed by the real * system tick clock. * @note The maximum specifiable value is implementation dependent. * * @param[in] msecs time in milliseconds, must be different from zero * * @api */ #define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs)) /** * @brief Delays the invoking thread for the specified number of * microseconds. * @note The specified time is rounded up to a value allowed by the real * system tick clock. * @note The maximum specifiable value is implementation dependent. * * @param[in] usecs time in microseconds, must be different from zero * * @api */ #define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs)) /** @} */ /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ extern const char *osal_halt_msg; #ifdef __cplusplus extern "C" { #endif void osalInit(void); void osalSysHalt(const char *reason); void osalSysPolledDelayX(rtcnt_t cycles); systime_t osalOsGetSystemTimeX(void); void osalThreadSleepS(sysinterval_t time); void osalThreadSleep(sysinterval_t time); #ifdef __cplusplus } #endif /*===========================================================================*/ /* Module inline functions. */ /*===========================================================================*/ /** * @brief Disables interrupts globally. * * @special */ static inline void osalSysDisable(void) { } /** * @brief Enables interrupts globally. * * @special */ static inline void osalSysEnable(void) { } /** * @brief Enters a critical zone from thread context. * @note This function cannot be used for reentrant critical zones. * * @special */ static inline void osalSysLock(void) { } /** * @brief Leaves a critical zone from thread context. * @note This function cannot be used for reentrant critical zones. * * @special */ static inline void osalSysUnlock(void) { } /** * @brief Adds an interval to a system time returning a system time. * * @param[in] systime base system time * @param[in] interval interval to be added * @return The new system time. * * @xclass */ static inline systime_t osalTimeAddX(systime_t systime, sysinterval_t interval) { return systime + (systime_t)interval; } /** * @brief Subtracts two system times returning an interval. * * @param[in] start first system time * @param[in] end second system time * @return The interval representing the time difference. * * @xclass */ static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) { return (sysinterval_t)((systime_t)(end - start)); } /** * @brief Checks if the specified time is within the specified time window. * @note When start==end then the function returns always false because the * time window has zero size. * @note This function can be called from any context. * * @param[in] time the time to be verified * @param[in] start the start of the time window (inclusive) * @param[in] end the end of the time window (non inclusive) * @retval true current time within the specified time window. * @retval false current time not within the specified time window. * * @xclass */ static inline bool osalTimeIsInRangeX(systime_t time, systime_t start, systime_t end) { return (bool)((systime_t)((systime_t)time - (systime_t)start) < (systime_t)((systime_t)end - (systime_t)start)); } #endif /* OSAL_H */ /** @} */