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141 lines
5.5 KiB
C
141 lines
5.5 KiB
C
/**
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* @file
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* @brief QF/C port to POSIX threads (pthreads)
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* @cond
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******************************************************************************
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* Last Updated for Version: 5.4.0
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* Date of the Last Update: 2015-04-08
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*
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* Q u a n t u m L e a P s
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* ---------------------------
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* innovating embedded systems
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*
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* Copyright (C) Quantum Leaps, LLC. state-machine.com.
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*
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* This program is open source software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published
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* by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Alternatively, this program may be distributed and modified under the
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* terms of Quantum Leaps commercial licenses, which expressly supersede
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* the GNU General Public License and are specifically designed for
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* licensees interested in retaining the proprietary status of their code.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Contact information:
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* Web: www.state-machine.com
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* Email: info@state-machine.com
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******************************************************************************
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* @endcond
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*/
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#ifndef qf_port_h
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#define qf_port_h
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/* POSIX event queue and thread types */
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#define QF_EQUEUE_TYPE QEQueue
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#define QF_OS_OBJECT_TYPE pthread_cond_t
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#define QF_THREAD_TYPE uint8_t
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/* The maximum number of active objects in the application */
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#define QF_MAX_ACTIVE 63
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/* The number of system clock tick rates */
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#define QF_MAX_TICK_RATE 2
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/* various QF object sizes configuration for this port */
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#define QF_EVENT_SIZ_SIZE 4
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#define QF_EQUEUE_CTR_SIZE 4
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#define QF_MPOOL_SIZ_SIZE 4
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#define QF_MPOOL_CTR_SIZE 4
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#define QF_TIMEEVT_CTR_SIZE 4
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/* QF interrupt disable/enable, see NOTE1 */
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#define QF_INT_DISABLE() pthread_mutex_lock(&QF_pThreadMutex_)
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#define QF_INT_ENABLE() pthread_mutex_unlock(&QF_pThreadMutex_)
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/* QF critical section for POSIX */
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/* QF_CRIT_STAT_TYPE not defined */
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#define QF_CRIT_ENTRY(dummy) QF_INT_DISABLE()
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#define QF_CRIT_EXIT(dummy) QF_INT_ENABLE()
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#include <pthread.h> /* POSIX-thread API */
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#include "qep_port.h" /* QEP port */
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#include "qequeue.h" /* POSIX needs event-queue */
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#include "qmpool.h" /* POSIX needs memory-pool */
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#include "qf.h" /* QF platform-independent public interface */
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void QF_setTickRate(uint32_t ticksPerSec); /* set clock tick rate */
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void QF_onClockTick(void); /* clock tick callback (provided in the app) */
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extern pthread_mutex_t QF_pThreadMutex_; /* mutex for QF critical section */
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/****************************************************************************/
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/* interface used only inside QF implementation, but not in applications */
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#ifdef QP_IMPL
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/* QF-specific scheduler locking (not used at this point) */
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#define QF_SCHED_STAT_TYPE_ struct { uint_fast8_t lockPrio; }
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#define QF_SCHED_LOCK_(pLockStat_) \
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((pLockStat_)->lockPrio = (uint_fast8_t)(QF_MAX_ACTIVE + 1))
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#define QF_SCHED_UNLOCK_(dummy) ((void)0)
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/* POSIX OS object object implementation */
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#define QACTIVE_EQUEUE_WAIT_(me_) \
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while ((me_)->eQueue.frontEvt == (QEvt *)0) \
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pthread_cond_wait(&(me_)->osObject, &QF_pThreadMutex_)
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#define QACTIVE_EQUEUE_SIGNAL_(me_) \
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pthread_cond_signal(&(me_)->osObject)
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#define QACTIVE_EQUEUE_ONEMPTY_(me_) ((void)0)
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/* native QF event pool operations */
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#define QF_EPOOL_TYPE_ QMPool
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#define QF_EPOOL_INIT_(p_, poolSto_, poolSize_, evtSize_) \
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QMPool_init(&(p_), poolSto_, poolSize_, evtSize_)
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#define QF_EPOOL_EVENT_SIZE_(p_) ((p_).blockSize)
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#define QF_EPOOL_GET_(p_, e_, m_) ((e_) = (QEvt *)QMPool_get(&(p_), (m_)))
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#define QF_EPOOL_PUT_(p_, e_) (QMPool_put(&(p_), e_))
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#endif /* QP_IMPL */
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/*****************************************************************************
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*
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* NOTE1:
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* QF, like all real-time frameworks, needs to execute certain sections of
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* code indivisibly to avoid data corruption. The most straightforward way of
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* protecting such critical sections of code is disabling and enabling
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* interrupts, which POSIX does not allow.
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*
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* This QF port uses therefore a single package-scope p-thread mutex
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* QF_pThreadMutex_ to protect all critical sections. The mutex is locked upon
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* the entry to each critical sectioni and unlocked upon exit.
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*
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* Using the single mutex for all crtical section guarantees that only one
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* thread at a time can execute inside a critical section. This prevents race
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* conditions and data corruption.
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*
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* Please note, however, that the mutex implementation of a critical section
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* behaves differently than the standard interrupt locking. A common mutex
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* ensures that only one thread at a time can execute a critical section, but
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* it does not guarantee that a context switch cannot occur within the
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* critical section. In fact, such context switches probably will happen, but
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* they should not cause concurrency hazards because the mutex eliminates all
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* race conditionis.
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*
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* Unlinke simply disabling and enabling interrupts, the mutex approach is
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* also subject to priority inversions. However, the p-thread mutex
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* implementation, such as POSIX threads, should support the priority-
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* inheritance protocol.
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*/
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#endif /* qf_port_h */
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