os_port_chibios.h File Reference

RTOS abstraction layer (ChibiOS/RT) More...

#include "ch.h"

Go to the source code of this file.

Data Structures
struct	OsTaskTcb
	Task control block. More...

Macros
#define	OS_STATIC_TASK_SUPPORT   DISABLED
#define	OS_INVALID_TASK_ID   NULL
#define	OS_SELF_TASK_ID   NULL
#define	OS_TASK_PRIORITY_NORMAL   NORMALPRIO
#define	OS_TASK_PRIORITY_HIGH   HIGHPRIO
#define	OS_MS_TO_SYSTICKS(n)   (n)
#define	OS_SYSTICKS_TO_MS(n)   (n)
#define	osGetSystemTime64()   osGetSystemTime()
#define	osEnterTask()
#define	osExitTask()
#define	osEnterIsr()   CH_IRQ_PROLOGUE(); chSysLockFromISR()
#define	osExitIsr(flag)   chSysUnlockFromISR(); CH_IRQ_EPILOGUE()
#define	thread_t   Thread
#define	semaphore_t   Semaphore
#define	binary_semaphore_t   BinarySemaphore
#define	mutex_t   Mutex
#define	chThdTerminatedX   chThdTerminated
#define	chSemObjectInit   chSemInit
#define	chBSemObjectInit   chBSemInit
#define	chMtxObjectInit   chMtxInit
#define	chVTGetSystemTime   chTimeNow
#define	chSysLockFromISR   chSysLockFromIsr
#define	chSysUnlockFromISR   chSysUnlockFromIsr
#define	THD_WORKING_AREA_SIZE   THD_WA_SIZE
#define	MSG_OK   RDY_OK

Typedefs
typedef uint32_t	systime_t
	System time. More...
typedef thread_t *	OsTaskId
	Task identifier. More...
typedef uint32_t	OsStackType
	Stack data type. More...
typedef binary_semaphore_t	OsEvent
	Event object. More...
typedef semaphore_t	OsSemaphore
	Semaphore object. More...
typedef mutex_t	OsMutex
	Mutex object. More...
typedef void(*	OsTaskCode) (void *param)
	Task routine. More...

Functions
void	osInitKernel (void)
	Kernel initialization. More...
void	osStartKernel (void)
	Start kernel. More...
OsTaskId	osCreateTask (const char_t *name, OsTaskCode taskCode, void *param, size_t stackSize, int_t priority)
	Create a task. More...
OsTaskId	osCreateStaticTask (const char_t *name, OsTaskCode taskCode, void *param, OsTaskTcb *tcb, OsStackType *stack, size_t stackSize, int_t priority)
	Create a task with statically allocated memory. More...
void	osDeleteTask (OsTaskId taskId)
	Delete a task. More...
void	osDelayTask (systime_t delay)
	Delay routine. More...
void	osSwitchTask (void)
	Yield control to the next task. More...
void	osSuspendAllTasks (void)
	Suspend scheduler activity. More...
void	osResumeAllTasks (void)
	Resume scheduler activity. More...
bool_t	osCreateEvent (OsEvent *event)
	Create an event object. More...
void	osDeleteEvent (OsEvent *event)
	Delete an event object. More...
void	osSetEvent (OsEvent *event)
	Set the specified event object to the signaled state. More...
void	osResetEvent (OsEvent *event)
	Set the specified event object to the nonsignaled state. More...
bool_t	osWaitForEvent (OsEvent *event, systime_t timeout)
	Wait until the specified event is in the signaled state. More...
bool_t	osSetEventFromIsr (OsEvent *event)
	Set an event object to the signaled state from an interrupt service routine. More...
bool_t	osCreateSemaphore (OsSemaphore *semaphore, uint_t count)
	Create a semaphore object. More...
void	osDeleteSemaphore (OsSemaphore *semaphore)
	Delete a semaphore object. More...
bool_t	osWaitForSemaphore (OsSemaphore *semaphore, systime_t timeout)
	Wait for the specified semaphore to be available. More...
void	osReleaseSemaphore (OsSemaphore *semaphore)
	Release the specified semaphore object. More...
bool_t	osCreateMutex (OsMutex *mutex)
	Create a mutex object. More...
void	osDeleteMutex (OsMutex *mutex)
	Delete a mutex object. More...
void	osAcquireMutex (OsMutex *mutex)
	Acquire ownership of the specified mutex object. More...
void	osReleaseMutex (OsMutex *mutex)
	Release ownership of the specified mutex object. More...
systime_t	osGetSystemTime (void)
	Retrieve system time. More...
void *	osAllocMem (size_t size)
	Allocate a memory block. More...
void	osFreeMem (void *p)
	Release a previously allocated memory block. More...

Detailed Description

RTOS abstraction layer (ChibiOS/RT)

License

SPDX-License-Identifier: GPL-2.0-or-later

Copyright (C) 2010-2023 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

2.3.0

Definition in file os_port_chibios.h.

Macro Definition Documentation

binary_semaphore_t

#define binary_semaphore_t   BinarySemaphore

Definition at line 85 of file os_port_chibios.h.

chBSemObjectInit

#define chBSemObjectInit   chBSemInit

Definition at line 89 of file os_port_chibios.h.

chMtxObjectInit

#define chMtxObjectInit   chMtxInit

Definition at line 90 of file os_port_chibios.h.

chSemObjectInit

#define chSemObjectInit   chSemInit

Definition at line 88 of file os_port_chibios.h.

chSysLockFromISR

#define chSysLockFromISR   chSysLockFromIsr

Definition at line 92 of file os_port_chibios.h.

chSysUnlockFromISR

#define chSysUnlockFromISR   chSysUnlockFromIsr

Definition at line 93 of file os_port_chibios.h.

chThdTerminatedX

#define chThdTerminatedX   chThdTerminated

Definition at line 87 of file os_port_chibios.h.

chVTGetSystemTime

#define chVTGetSystemTime   chTimeNow

Definition at line 91 of file os_port_chibios.h.

MSG_OK

#define MSG_OK   RDY_OK

Definition at line 95 of file os_port_chibios.h.

mutex_t

#define mutex_t   Mutex

Definition at line 86 of file os_port_chibios.h.

OS_INVALID_TASK_ID

#define OS_INVALID_TASK_ID   NULL

Definition at line 43 of file os_port_chibios.h.

OS_MS_TO_SYSTICKS

#define OS_MS_TO_SYSTICKS

(

n

)

(n)

Definition at line 59 of file os_port_chibios.h.

OS_SELF_TASK_ID

#define OS_SELF_TASK_ID   NULL

Definition at line 45 of file os_port_chibios.h.

OS_STATIC_TASK_SUPPORT

#define OS_STATIC_TASK_SUPPORT   DISABLED

Definition at line 37 of file os_port_chibios.h.

OS_SYSTICKS_TO_MS

#define OS_SYSTICKS_TO_MS

(

n

)

(n)

Definition at line 64 of file os_port_chibios.h.

OS_TASK_PRIORITY_HIGH

#define OS_TASK_PRIORITY_HIGH   HIGHPRIO

Definition at line 54 of file os_port_chibios.h.

OS_TASK_PRIORITY_NORMAL

#define OS_TASK_PRIORITY_NORMAL   NORMALPRIO

Definition at line 49 of file os_port_chibios.h.

osEnterIsr

#define osEnterIsr

(

)

CH_IRQ_PROLOGUE(); chSysLockFromISR()

Definition at line 77 of file os_port_chibios.h.

osEnterTask

#define osEnterTask

(

)

Definition at line 73 of file os_port_chibios.h.

osExitIsr

#define osExitIsr

(

flag

)

chSysUnlockFromISR(); CH_IRQ_EPILOGUE()

Definition at line 79 of file os_port_chibios.h.

osExitTask

#define osExitTask

(

)

Definition at line 75 of file os_port_chibios.h.

osGetSystemTime64

#define osGetSystemTime64

(

)

osGetSystemTime()

Definition at line 69 of file os_port_chibios.h.

semaphore_t

#define semaphore_t   Semaphore

Definition at line 84 of file os_port_chibios.h.

THD_WORKING_AREA_SIZE

#define THD_WORKING_AREA_SIZE   THD_WA_SIZE

Definition at line 94 of file os_port_chibios.h.

thread_t

#define thread_t   Thread

Definition at line 83 of file os_port_chibios.h.

Typedef Documentation

OsEvent

typedef binary_semaphore_t OsEvent

Event object.

Definition at line 139 of file os_port_chibios.h.

OsMutex

typedef mutex_t OsMutex

Mutex object.

Definition at line 153 of file os_port_chibios.h.

OsSemaphore

typedef semaphore_t OsSemaphore

Semaphore object.

Definition at line 146 of file os_port_chibios.h.

OsStackType

typedef uint32_t OsStackType

Stack data type.

Definition at line 132 of file os_port_chibios.h.

OsTaskCode

typedef void(* OsTaskCode) (void *param)

Task routine.

Definition at line 160 of file os_port_chibios.h.

OsTaskId

typedef thread_t* OsTaskId

Task identifier.

Definition at line 115 of file os_port_chibios.h.

systime_t

typedef uint32_t systime_t

System time.

Definition at line 108 of file os_port_chibios.h.

Function Documentation

osAcquireMutex()

void osAcquireMutex

(

OsMutex *

mutex

)

Acquire ownership of the specified mutex object.

Parameters

[in]

mutex

Pointer to the mutex object

Definition at line 397 of file os_port_chibios.c.

osAllocMem()

void* osAllocMem

(

size_t

size

)

Allocate a memory block.

Parameters

[in]

size

Bytes to allocate

Returns

A pointer to the allocated memory block or NULL if there is insufficient memory available

Definition at line 444 of file os_port_chibios.c.

osCreateEvent()

bool_t osCreateEvent

(

OsEvent *

event

)

Create an event object.

Parameters

[in]

event

Pointer to the event object

Returns

The function returns TRUE if the event object was successfully created. Otherwise, FALSE is returned

Definition at line 185 of file os_port_chibios.c.

osCreateMutex()

bool_t osCreateMutex

(

OsMutex *

mutex

)

Create a mutex object.

Parameters

[in]

mutex

Pointer to the mutex object

Returns

The function returns TRUE if the mutex was successfully created. Otherwise, FALSE is returned

Definition at line 371 of file os_port_chibios.c.

osCreateSemaphore()

bool_t osCreateSemaphore	(	OsSemaphore *	semaphore,
		uint_t	count
	)

Create a semaphore object.

Parameters

[in]	semaphore	Pointer to the semaphore object
[in]	count	The maximum count for the semaphore object. This value must be greater than zero

Returns

The function returns TRUE if the semaphore was successfully created. Otherwise, FALSE is returned

Definition at line 294 of file os_port_chibios.c.

osCreateStaticTask()

OsTaskId osCreateStaticTask	(	const char_t *	name,
		OsTaskCode	taskCode,
		void *	param,
		OsTaskTcb *	tcb,
		OsStackType *	stack,
		size_t	stackSize,
		int_t	priority
	)

Create a task with statically allocated memory.

Parameters

[in]	name	A name identifying the task
[in]	taskCode	Pointer to the task entry function
[in]	param	A pointer to a variable to be passed to the task
[in]	tcb	Pointer to the task control block
[in]	stack	Pointer to the stack
[in]	stackSize	The initial size of the stack, in words
[in]	priority	The priority at which the task should run

Returns

Task identifier referencing the newly created task

Definition at line 99 of file os_port_chibios.c.

osCreateTask()

OsTaskId osCreateTask	(	const char_t *	name,
		OsTaskCode	taskCode,
		void *	param,
		size_t	stackSize,
		int_t	priority
	)

Create a task.

Parameters

[in]	name	A name identifying the task
[in]	taskCode	Pointer to the task entry function
[in]	param	A pointer to a variable to be passed to the task
[in]	stackSize	The initial size of the stack, in words
[in]	priority	The priority at which the task should run

Returns

Task identifier referencing the newly created task

Definition at line 73 of file os_port_chibios.c.

osDelayTask()

void osDelayTask

(

systime_t

delay

)

Delay routine.

Parameters

[in]

delay

Amount of time for which the calling task should block

Definition at line 138 of file os_port_chibios.c.

osDeleteEvent()

void osDeleteEvent

(

OsEvent *

event

)

Delete an event object.

Parameters

[in]

event

Pointer to the event object

Definition at line 200 of file os_port_chibios.c.

osDeleteMutex()

void osDeleteMutex

(

OsMutex *

mutex

)

Delete a mutex object.

Parameters

[in]

mutex

Pointer to the mutex object

Definition at line 386 of file os_port_chibios.c.

osDeleteSemaphore()

void osDeleteSemaphore

(

OsSemaphore *

semaphore

)

Delete a semaphore object.

Parameters

[in]

semaphore

Pointer to the semaphore object

Definition at line 309 of file os_port_chibios.c.

osDeleteTask()

void osDeleteTask

(

OsTaskId

taskId

)

Delete a task.

Parameters

[in]

taskId

Task identifier referencing the task to be deleted

Definition at line 119 of file os_port_chibios.c.

osFreeMem()

void osFreeMem

(

void *

p

)

Release a previously allocated memory block.

Parameters

[in]

p

Previously allocated memory block to be freed

Definition at line 465 of file os_port_chibios.c.

osGetSystemTime()

systime_t osGetSystemTime

(

void

)

Retrieve system time.

Returns

Number of milliseconds elapsed since the system was last started

Definition at line 425 of file os_port_chibios.c.

osInitKernel()

void osInitKernel

(

void

)

Kernel initialization.

Definition at line 45 of file os_port_chibios.c.

osReleaseMutex()

void osReleaseMutex

(

OsMutex *

mutex

)

Release ownership of the specified mutex object.

Parameters

[in]

mutex

Pointer to the mutex object

Definition at line 409 of file os_port_chibios.c.

osReleaseSemaphore()

void osReleaseSemaphore

(

OsSemaphore *

semaphore

)

Release the specified semaphore object.

Parameters

[in]

semaphore

Pointer to the semaphore object

Definition at line 357 of file os_port_chibios.c.

osResetEvent()

void osResetEvent

(

OsEvent *

event

)

Set the specified event object to the nonsignaled state.

Parameters

[in]

event

Pointer to the event object

Definition at line 223 of file os_port_chibios.c.

osResumeAllTasks()

void osResumeAllTasks

(

void

)

Resume scheduler activity.

Definition at line 171 of file os_port_chibios.c.

osSetEvent()

void osSetEvent

(

OsEvent *

event

)

Set the specified event object to the signaled state.

Parameters

[in]

event

Pointer to the event object

Definition at line 211 of file os_port_chibios.c.

osSetEventFromIsr()

bool_t osSetEventFromIsr

(

OsEvent *

event

)

Set an event object to the signaled state from an interrupt service routine.

Parameters

[in]

event

Pointer to the event object

Returns

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

Definition at line 275 of file os_port_chibios.c.

osStartKernel()

void osStartKernel

(

void

)

Start kernel.

Definition at line 56 of file os_port_chibios.c.

osSuspendAllTasks()

void osSuspendAllTasks

(

void

)

Suspend scheduler activity.

Definition at line 160 of file os_port_chibios.c.

osSwitchTask()

void osSwitchTask

(

void

)

Yield control to the next task.

Definition at line 149 of file os_port_chibios.c.

osWaitForEvent()

bool_t osWaitForEvent	(	OsEvent *	event,
		systime_t	timeout
	)

Wait until the specified event is in the signaled state.

Parameters

[in]	event	Pointer to the event object
[in]	timeout	Timeout interval

Returns

The function returns TRUE if the state of the specified object is signaled. FALSE is returned if the timeout interval elapsed

Definition at line 238 of file os_port_chibios.c.

osWaitForSemaphore()

bool_t osWaitForSemaphore	(	OsSemaphore *	semaphore,
		systime_t	timeout
	)

Wait for the specified semaphore to be available.

Parameters

[in]	semaphore	Pointer to the semaphore object
[in]	timeout	Timeout interval

Returns

The function returns TRUE if the semaphore is available. FALSE is returned if the timeout interval elapsed

Definition at line 323 of file os_port_chibios.c.