/* 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 /*===========================================================================*/ /* 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 Messages * @{ */ #define MSG_OK (msg_t)0 #define MSG_TIMEOUT (msg_t)-1 #define MSG_RESET (msg_t)-2 /** @} */ /** * @name Special time constants * @{ */ #define TIME_IMMEDIATE ((sysinterval_t)0) #define TIME_INFINITE ((sysinterval_t)-1) /** @} */ /** * @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 Size in bits of the @p systick_t type. */ #define OSAL_ST_RESOLUTION 32 /** * @brief Required systick frequency or resolution. */ #define OSAL_ST_FREQUENCY 1000 /** * @brief Systick mode required by the underlying OS. */ #define OSAL_ST_MODE OSAL_ST_MODE_PERIODIC /** @} */ /** * @name IRQ-related constants * @{ */ /** * @brief Total priority levels. * @brief Implementation not mandatory. */ #define OSAL_IRQ_PRIORITY_LEVELS 16U /** * @brief Highest IRQ priority for HAL drivers. * @brief Implementation not mandatory. */ #define OSAL_IRQ_MAXIMUM_PRIORITY 0U /** @} */ /*===========================================================================*/ /* 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 /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(OSAL_ST_MODE == OSAL_ST_MODE_NONE) && \ !(OSAL_ST_MODE == OSAL_ST_MODE_PERIODIC) && \ !(OSAL_ST_MODE == OSAL_ST_MODE_FREERUNNING) #error "invalid OSAL_ST_MODE setting in osal.h" #endif #if (OSAL_ST_RESOLUTION != 16) && (OSAL_ST_RESOLUTION != 32) #error "invalid OSAL_ST_RESOLUTION, must be 16 or 32" #endif /*===========================================================================*/ /* Module data structures and types. */ /*===========================================================================*/ /** * @brief Type of a system status word. */ typedef uint32_t syssts_t; /** * @brief Type of a message. */ typedef int32_t msg_t; /** * @brief Type of system time counter. */ typedef uint32_t systime_t; /** * @brief Type of system time interval. */ typedef uint32_t sysinterval_t; /** * @brief Type of time conversion variable. * @note This type must have double width than other time types, it is * only used internally for conversions. */ typedef uint64_t time_conv_t; /** * @brief Type of realtime counter. */ typedef uint32_t rtcnt_t; /** * @brief Type of a thread reference. */ typedef void * thread_reference_t; /** * @brief Type of an event flags mask. */ typedef uint32_t eventflags_t; /** * @brief Type of an event flags object. * @note The content of this structure is not part of the API and should * not be relied upon. Implementers may define this structure in * an entirely different way. * @note Retrieval and clearing of the flags are not defined in this * API and are implementation-dependent. */ typedef struct event_source event_source_t; /** * @brief Type of an event source callback. * @note This type is not part of the OSAL API and is provided * exclusively as an example and for convenience. */ typedef void (*eventcallback_t)(event_source_t *esp); /** * @brief Events source object. * @note The content of this structure is not part of the API and should * not be relied upon. Implementers may define this structure in * an entirely different way. * @note Retrieval and clearing of the flags are not defined in this * API and are implementation-dependent. */ struct event_source { volatile eventflags_t flags; /**< @brief Stored event flags. */ eventcallback_t cb; /**< @brief Event source callback. */ void *param; /**< @brief User defined field. */ }; /** * @brief Type of a mutex. * @note If the OS does not support mutexes or there is no OS then them * mechanism can be simulated. */ typedef uint32_t mutex_t; /** * @brief Type of a thread queue. * @details A thread queue is a queue of sleeping threads, queued threads * can be dequeued one at time or all together. * @note If the OSAL is implemented on a bare metal machine without RTOS * then the queue can be implemented as a single thread reference. */ typedef struct { thread_reference_t tr; } threads_queue_t; /*===========================================================================*/ /* 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 IRQ service routines wrappers * @{ */ /** * @brief Priority level verification macro. */ #define OSAL_IRQ_IS_VALID_PRIORITY(n) \ (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS)) /** * @brief IRQ prologue code. * @details This macro must be inserted at the start of all IRQ handlers. */ #define OSAL_IRQ_PROLOGUE() /** * @brief IRQ epilogue code. * @details This macro must be inserted at the end of all IRQ handlers. */ #define OSAL_IRQ_EPILOGUE() /** * @brief IRQ handler function declaration. * @details This macro hides the details of an ISR function declaration. * * @param[in] id a vector name as defined in @p vectors.s */ #define OSAL_IRQ_HANDLER(id) void id(void) /** @} */ /** * @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); void osalOsTimerHandlerI(void); void osalOsRescheduleS(void); systime_t osalOsGetSystemTimeX(void); void osalThreadSleepS(sysinterval_t time); void osalThreadSleep(sysinterval_t time); msg_t osalThreadSuspendS(thread_reference_t *trp); msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout); void osalThreadResumeI(thread_reference_t *trp, msg_t msg); void osalThreadResumeS(thread_reference_t *trp, msg_t msg); msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout); void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg); void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg); void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags); void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags); void osalEventSetCallback(event_source_t *esp, eventcallback_t cb, void *param); void osalMutexLock(mutex_t *mp); void osalMutexUnlock(mutex_t *mp); #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 Enters a critical zone from ISR context. * @note This function cannot be used for reentrant critical zones. * * @special */ static inline void osalSysLockFromISR(void) { } /** * @brief Leaves a critical zone from ISR context. * @note This function cannot be used for reentrant critical zones. * * @special */ static inline void osalSysUnlockFromISR(void) { } /** * @brief Returns the execution status and enters a critical zone. * @details This functions enters into a critical zone and can be called * from any context. Because its flexibility it is less efficient * than @p chSysLock() which is preferable when the calling context * is known. * @post The system is in a critical zone. * * @return The previous system status, the encoding of this * status word is architecture-dependent and opaque. * * @xclass */ static inline syssts_t osalSysGetStatusAndLockX(void) { return (syssts_t)0; } /** * @brief Restores the specified execution status and leaves a critical zone. * @note A call to @p chSchRescheduleS() is automatically performed * if exiting the critical zone and if not in ISR context. * * @param[in] sts the system status to be restored. * * @xclass */ static inline void osalSysRestoreStatusX(syssts_t sts) { (void)sts; } /** * @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)); } /** * @brief Initializes a threads queue object. * * @param[out] tqp pointer to the threads queue object * * @init */ static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) { osalDbgCheck(tqp != NULL); } /** * @brief Initializes an event source object. * * @param[out] esp pointer to the event source object * * @init */ static inline void osalEventObjectInit(event_source_t *esp) { osalDbgCheck(esp != NULL); esp->flags = (eventflags_t)0; esp->cb = NULL; esp->param = NULL; } /** * @brief Initializes s @p mutex_t object. * * @param[out] mp pointer to the @p mutex_t object * * @init */ static inline void osalMutexObjectInit(mutex_t *mp) { osalDbgCheck(mp != NULL); *mp = 0; } #endif /* OSAL_H */ /** @} */