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qpc/ports/embos/qf_port.c
MMS cbf328b511 6.9.3 
official release
2021-04-11 13:24:50 -04:00

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/**
* @file
* @brief QF/C port to embOS
* @ingroup ports
* @cond
******************************************************************************
* Last updated for version 6.9.3
* Last updated on 2021-04-09
*
* Q u a n t u m L e a P s
* ------------------------
* Modern Embedded Software
*
* Copyright (C) 2005-2021 Quantum Leaps, LLC. All rights reserved.
*
* This program is open source 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 3 of the License, or
* (at your option) any later version.
*
* Alternatively, this program may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly supersede
* the GNU General Public License and are specifically designed for
* licensees interested in retaining the proprietary status of their code.
*
* 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, see <www.gnu.org/licenses/>.
*
* Contact information:
* <www.state-machine.com/licensing>
* <info@state-machine.com>
******************************************************************************
* @endcond
*/
#define QP_IMPL /* this is QP implementation */
#include "qf_port.h" /* QF port */
#include "qf_pkg.h"
#include "qassert.h"
#ifdef Q_SPY /* QS software tracing enabled? */
#include "qs_port.h" /* QS port */
#include "qs_pkg.h" /* QS package-scope internal interface */
#else
#include "qs_dummy.h" /* disable the QS software tracing */
#endif /* Q_SPY */
Q_DEFINE_THIS_MODULE("qf_port")
/*..........................................................................*/
/* define __TARGET_FPU_VFP symbol depending on the compiler... */
#if defined (__CC_ARM) /* ARM Compiler */
/* in ARM Compiler __TARGET_FPU_VFP is a pre-defined symbol*/
#elif defined (__ICCARM__) /* IAR Compiler */
#if defined __ARMVFP__
#define __TARGET_FPU_VFP 1
#endif
#elif defined (__GNUC__) /* GNU Compiler */
#if defined (__VFP_FP__) && !defined(__SOFTFP__)
#define __TARGET_FPU_VFP 1
#endif
#endif
/*..........................................................................*/
void QF_init(void) {
OS_InitKern(); /* initialize embOS */
OS_InitHW(); /* initialize the hardware used by embOS */
}
/*..........................................................................*/
int_t QF_run(void) {
QS_CRIT_STAT_
QF_onStartup(); /* QF callback to configure and start interrupts */
/* produce the QS_QF_RUN trace record */
QS_BEGIN_PRE_(QS_QF_RUN, 0U)
QS_END_PRE_()
OS_Start(); /* start embOS multitasking */
Q_ERROR_ID(100); /* OS_Start() should never return */
return 0; /* dummy return to make the compiler happy */
}
/*..........................................................................*/
void QF_stop(void) {
QF_onCleanup(); /* cleanup callback */
}
/*..........................................................................*/
static void thread_function(void *pVoid) { /* embOS signature */
QActive *act = (QActive *)pVoid;
#ifdef __TARGET_FPU_VFP
/* does the task use the FPU? see NOTE1 */
if ((act->osObject & TASK_USES_FPU) != 0U) {
OS_ExtendTaskContext_VFP();
}
#endif /* __TARGET_FPU_VFP */
/* event-loop */
for (;;) { /* for-ever */
QEvt const *e = QActive_get_(act);
QHSM_DISPATCH(&act->super, e, act->prio);
QF_gc(e); /* check if the event is garbage, and collect it if so */
}
}
/*..........................................................................*/
void QActive_start_(QActive * const me, uint_fast8_t prio,
QEvt const * * const qSto, uint_fast16_t const qLen,
void * const stkSto, uint_fast16_t const stkSize,
void const * const par)
{
/* create the embOS message box for the AO */
OS_CreateMB(&me->eQueue,
(OS_U16)sizeof(QEvt *),
(OS_UINT)qLen,
(void *)&qSto[0]);
me->prio = prio; /* save the QF priority */
QF_add_(me); /* make QF aware of this active object */
QHSM_INIT(&me->super, par, me->prio); /* the top-most initial tran. */
QS_FLUSH(); /* flush the trace buffer to the host */
/* create an embOS task for the AO */
OS_CreateTaskEx(&me->thread,
#if (OS_TRACKNAME != 0)
me->thread.Name, /* the configured task name */
#elif
"AO", /* a generic AO task name */
#endif
(OS_PRIO)prio, /* embOS uses the same numbering as QP */
&thread_function,
(void OS_STACKPTR *)stkSto,
(OS_UINT)stkSize,
(OS_UINT)0, /* no AOs at the same prio */
(void *)me);
}
/*..........................................................................*/
void QActive_setAttr(QActive *const me, uint32_t attr1, void const *attr2) {
switch (attr1) {
case TASK_NAME_ATTR:
#if (OS_TRACKNAME != 0)
Q_ASSERT_ID(300, me->thread.Name == (char_t *)0);
me->thread.Name = (char_t const *)attr2;
#endif
break;
case TASK_USES_FPU:
me->osObject = attr1;
break;
/* ... */
default:
break;
}
}
/*..........................................................................*/
#ifndef Q_SPY
bool QActive_post_(QActive * const me, QEvt const * const e,
uint_fast16_t const margin)
#else
bool QActive_post_(QActive * const me, QEvt const * const e,
uint_fast16_t const margin, void const * const sender)
#endif /* Q_SPY */
{
uint_fast16_t nFree;
bool status;
QF_CRIT_STAT_
QF_CRIT_E_();
nFree = (uint_fast16_t)(me->eQueue.maxMsg - me->eQueue.nofMsg);
if (margin == QF_NO_MARGIN) {
if (nFree > (QEQueueCtr)0) {
status = true; /* can post */
}
else {
status = false; /* cannot post */
Q_ERROR_ID(510); /* must be able to post the event */
}
}
else if (nFree > (QEQueueCtr)margin) {
status = true; /* can post */
}
else {
status = false; /* cannot post */
}
if (status) { /* can post the event? */
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_OBJ_PRE_(sender); /* the sender object */
QS_SIG_PRE_(e->sig); /* the signal of the event */
QS_OBJ_PRE_(me); /* this active object (recipient) */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(nFree); /* # free entries available */
QS_EQC_PRE_(0U); /* min # free entries (unknown) */
QS_END_NOCRIT_PRE_()
if (e->poolId_ != 0U) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
QF_CRIT_X_();
/* posting to the embOS mailbox must succeed, see NOTE3 */
Q_ALLEGE_ID(520,
OS_PutMailCond(&me->eQueue, (OS_CONST_PTR void *)&e)
== (char)0);
}
else {
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST_ATTEMPT, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_OBJ_PRE_(sender); /* the sender object */
QS_SIG_PRE_(e->sig); /* the signal of the event */
QS_OBJ_PRE_(me); /* this active object (recipient) */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(nFree); /* # free entries available */
QS_EQC_PRE_(margin); /* margin requested */
QS_END_NOCRIT_PRE_()
QF_CRIT_X_();
}
return status;
}
/*..........................................................................*/
void QActive_postLIFO_(QActive * const me, QEvt const * const e) {
QF_CRIT_STAT_
QF_CRIT_E_();
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST_LIFO, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_SIG_PRE_(e->sig); /* the signal of this event */
QS_OBJ_PRE_(me); /* this active object */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(me->eQueue.maxMsg - me->eQueue.nofMsg); /* # free */
QS_EQC_PRE_(0U); /* min # free entries (unknown) */
QS_END_NOCRIT_PRE_()
if (e->poolId_ != 0U) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
QF_CRIT_X_();
/* posting to the embOS mailbox must succeed, see NOTE3 */
Q_ALLEGE_ID(810,
OS_PutMailFrontCond(&me->eQueue, (OS_CONST_PTR void *)&e)
== (char)0);
}
/*..........................................................................*/
QEvt const *QActive_get_(QActive * const me) {
QEvt const *e;
QS_CRIT_STAT_
OS_GetMail(&me->eQueue, (void *)&e);
QS_BEGIN_PRE_(QS_QF_ACTIVE_GET, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_SIG_PRE_(e->sig); /* the signal of this event */
QS_OBJ_PRE_(me); /* this active object */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(me->eQueue.maxMsg - me->eQueue.nofMsg);/* # free */
QS_END_PRE_()
return e;
}
/*****************************************************************************
* NOTE1:
* In case of hardware-supported floating point unit (FPU), a task must
* preserve the FPU registers accross the context switch. However, this
* additional overhead is necessary only for tasks that actually use the
* FPU. In this QP-embOS port, an active object task that uses the FPU is
* designated by the QF_TASK_USES_FPU attribute, which can be set wiht the
* QF_setEmbOsTaskAttr() function. The task attributes must be set *before*
* calling QACTIVE_START(). The task attributes are saved in QActive.osObject
* member.
*
* NOTE3:
* The event posting to embOS mailbox occurs inside a critical section,
* but this is OK, because the QF/embOS critical sections are designed
* to nest.
*/
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