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231 lines
8.7 KiB
C++
231 lines
8.7 KiB
C++
//****************************************************************************
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// Product: QF/C++ generic port to embOS
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// Last updated for version 5.3.0
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// Last updated on 2014-06-27
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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, www.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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#define QP_IMPL // this is QP implementation
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#include "qf_port.h" // QF port
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#include "qf_pkg.h"
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#include "qassert.h"
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#ifdef Q_SPY // QS software tracing enabled?
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#include "qs_port.h" // include QS port
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#else
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#include "qs_dummy.h" // disable the QS software tracing
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#endif // Q_SPY
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namespace QP {
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Q_DEFINE_THIS_MODULE("qf_port")
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//............................................................................
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void QF::init(void) {
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OS_InitKern(); // initialize embOS
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OS_InitHW(); // initialize the hardware used by embOS
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}
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//............................................................................
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int_t QF::run(void) {
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onStartup(); // startup callback
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OS_Start(); // start multitasking; NOTE: QS_start() does not return
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return static_cast<int_t>(0); // return success (just in case)
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}
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//............................................................................
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void QF::stop(void) {
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onCleanup(); // cleanup callback
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}
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//............................................................................
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extern "C" void thread_function(void *pdata) { // embOS thread signature
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QF::thread_(static_cast<QActive *>(pdata));
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}
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//............................................................................
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void QActive::start(uint_fast8_t const prio,
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QEvt const *qSto[], uint_fast16_t const qLen,
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void * const stkSto, uint_fast16_t const stkSize,
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QEvt const * const ie)
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{
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// create the embOS message box for the AO
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OS_CreateMB(&m_eQueue,
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static_cast<OS_U16>(sizeof(QEvt *)),
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static_cast<OS_UINT>(qLen),
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static_cast<void *>(&qSto[0]));
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m_prio = static_cast<uint8_t>(prio); // set the QF priority of this AO
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QF::add_(this); // make QF aware of this AO
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this->init(ie); // execute initial transition (virtual call)
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QS_FLUSH(); // flush the trace buffer to the host
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// create AO's task...
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OS_CreateTaskEx(&m_thread,
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"AO",
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static_cast<OS_PRIO>(prio), // the same numbering as QP
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&thread_function,
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static_cast<void OS_STACKPTR *>(stkSto),
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static_cast<OS_UINT>(stkSize),
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static_cast<OS_UINT>(0), // no AOs at the same prio
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static_cast<void *>(this));
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}
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//............................................................................
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void QF::thread_(QActive *act) {
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#if defined (__ARM7EM__) && (__CORE__ == __ARM7EM__) && defined (__ARMVFP__)
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// does the task use the FPU? see NOTE1
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if ((act->m_osObject & QF_TASK_USES_FPU) != static_cast<uint_fast8_t>(0)){
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OS_ExtendTaskContext_VFP();
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}
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#endif
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// event-loop of an active object thread
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act->m_osObject = static_cast<uint_fast8_t>(1); // enable thread loop
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while (act->m_osObject != static_cast<uint_fast8_t>(0)) {
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QEvt const *e = act->get_(); // wait for event
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act->dispatch(e); // dispatch to the active object's state machine
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gc(e); // check if the event is garbage, and collect it if so
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}
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QF::remove_(act); // remove this object from the framework
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OS_DeleteMB(&act->m_eQueue);
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OS_TerminateTask(&act->m_thread);
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}
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//............................................................................
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void QActive::stop(void) {
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m_osObject = static_cast<uint_fast8_t>(0); // stop the AO thread loop
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}
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//............................................................................
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#ifndef Q_SPY
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bool QActive::post_(QEvt const * const e, uint_fast16_t const margin)
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#else
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bool QActive::post_(QEvt const * const e, uint_fast16_t const margin,
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void const * const sender)
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#endif // Q_SPY
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{
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bool status;
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QF_CRIT_STAT_
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QF_CRIT_ENTRY_();
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uint_fast16_t nFree = (uint_fast16_t)(m_eQueue.maxMsg - m_eQueue.nofMsg);
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if (nFree > margin) {
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_FIFO, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_OBJ_(sender); // the sender object
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QS_SIG_(e->sig); // the signal of the event
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QS_OBJ_(this); // this active object (recipient)
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id/ref Ctr of the event
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(nFree));
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
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QS_END_NOCRIT_()
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if (e->poolId_ != u8_0) { // is it a pool event?
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QF_EVT_REF_CTR_INC_(e); // increment the reference counter
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}
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// posting to the embOS mailbox must succeed, see NOTE2
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Q_ALLEGE(OS_PutMailCond(&m_eQueue,
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static_cast<OS_CONST_PTR void *>(&e))
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== static_cast<char>(0));
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status = true; // return success
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}
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else {
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Q_ASSERT(margin != u16_0); // can tolerate dropping evts?
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_ATTEMPT, QS::priv_.aoObjFilter,
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this)
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QS_TIME_(); // timestamp
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QS_OBJ_(sender); // the sender object
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QS_SIG_(e->sig); // the signal of the event
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QS_OBJ_(this); // this active object (recipient)
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id/ref Ctr of the event
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(nFree));
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
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QS_END_NOCRIT_()
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status = false; // return failure
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}
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QF_CRIT_EXIT_();
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return status;
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}
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//............................................................................
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void QActive::postLIFO(QEvt const * const e) {
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QF_CRIT_STAT_
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QF_CRIT_ENTRY_();
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_LIFO, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_SIG_(e->sig); // the signal of this event
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QS_OBJ_(this); // this active object
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id/ref Ctr of the event
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
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QS_END_NOCRIT_()
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if (e->poolId_ != u8_0) { // is it a pool event?
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QF_EVT_REF_CTR_INC_(e); // increment the reference counter
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}
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// posting to the embOS mailbox must succeed, see NOTE2
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Q_ALLEGE(OS_PutMailFrontCond(&m_eQueue,
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static_cast<OS_CONST_PTR void *>(&e))
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== static_cast<char>(0));
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QF_CRIT_EXIT_();
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}
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//............................................................................
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QEvt const *QActive::get_(void) {
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QEvt const *e;
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QS_CRIT_STAT_
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OS_GetMail(&m_eQueue, static_cast<void *>(&e));
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QS_BEGIN_(QS_QF_ACTIVE_GET, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_SIG_(e->sig); // the signal of this event
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QS_OBJ_(this); // this active object
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id/ref Ctr of the event
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
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QS_END_()
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return e;
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}
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} // namespace QP
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