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https://github.com/QuantumLeaps/qpcpp.git
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80d9bcd6fb
Added QP Functional Safety (FuSa) Subsystem Memory Isolation with MPU Added QAsm abstract state machine base class Added memory marker to QEvt and rearranged memory layout Updated: QP-FreeRTOS, QP-ESP-IDF,QP-Zephyr Added drift-free ticking for QP-POSIX Reorganized documentation Updated 3rd_party
123 lines
4.2 KiB
C++
123 lines
4.2 KiB
C++
//============================================================================
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// QP/C++ Real-Time Embedded Framework (RTEF)
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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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// Modern Embedded Software
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//
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// Copyright (C) 2005 Quantum Leaps, LLC <state-machine.com>.
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//
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-QL-commercial
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//
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// This software is dual-licensed under the terms of the open source GNU
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// General Public License version 3 (or any later version), or alternatively,
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// under the terms of one of the closed source Quantum Leaps commercial
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// licenses.
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//
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// The terms of the open source GNU General Public License version 3
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// can be found at: <www.gnu.org/licenses/gpl-3.0>
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//
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// The terms of the closed source Quantum Leaps commercial licenses
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// can be found at: <www.state-machine.com/licensing>
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//
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// Redistributions in source code must retain this top-level comment block.
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// Plagiarizing this software to sidestep the license obligations is illegal.
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//
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// Contact information:
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// <www.state-machine.com/licensing>
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// <info@state-machine.com>
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//============================================================================
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//! @date Last updated on: 2023-09-07
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//! @version Last updated for: @ref qpcpp_7_3_0
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//!
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//! @file
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//! @brief QP/C++ port to Zephyr RTOS 3.4
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#ifndef QP_PORT_HPP_
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#define QP_PORT_HPP_
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#include <cstdint> // Exact-width types. C++11 Standard
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#include <zephyr/kernel.h> // Zephyr kernel API
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#include "qp_config.hpp" // external QP configuration
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// no-return function specifier (C++11 Standard)
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#define Q_NORETURN [[ noreturn ]] void
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// QActive event queue and thread types
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#define QACTIVE_EQUEUE_TYPE struct k_msgq
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#define QACTIVE_THREAD_TYPE struct k_thread
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// QF critical section entry/exit for Zephyr, see NOTE1/
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#define QF_CRIT_STAT k_spinlock_key_t key_;
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#define QF_CRIT_ENTRY() ((key_) = k_spin_lock(&QP::QF::spinlock))
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#define QF_CRIT_EXIT() k_spin_unlock(&QP::QF::spinlock, key_)
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// Q_PRINTK() macro to avoid conflicts with Zephyr's printk()
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// when Q_SPY configuration is used
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#ifndef Q_SPY
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#define Q_PRINTK(fmt_, ...) printk(fmt_, ##__VA_ARGS__)
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#else
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#define Q_PRINTK(dummy, ...) (static_cast<void>(0))
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#endif
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// include files -------------------------------------------------------------
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#include "qequeue.hpp" // used for event deferral
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#include "qmpool.hpp" // this QP port uses the native QF memory pool
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#include "qp.hpp" // QP platform-independent public interface
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namespace QP {
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namespace QF {
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// Zephyr spinlock for QF critical section
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extern struct k_spinlock spinlock;
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} // namespace QF
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} // namespace QP
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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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// scheduler locking, see NOTE2
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#define QF_SCHED_STAT_
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#define QF_SCHED_LOCK_(dummy) do { \
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if (!k_is_in_isr()) { \
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k_sched_lock(); \
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} \
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} while (false)
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#define QF_SCHED_UNLOCK_() do { \
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if (!k_is_in_isr()) { \
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k_sched_unlock(); \
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} \
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} while (false)
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// native QF event pool customization
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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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(p_).init((poolSto_), (poolSize_), (evtSize_))
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#define QF_EPOOL_EVENT_SIZE_(p_) ((p_).getBlockSize())
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#define QF_EPOOL_GET_(p_, e_, m_, qs_id_) \
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((e_) = static_cast<QEvt *>((p_).get((m_), (qs_id_))))
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#define QF_EPOOL_PUT_(p_, e_, qs_id_) ((p_).put((e_), (qs_id_)))
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#endif // QP_IMPL
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//============================================================================
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// NOTE1:
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// This QP port to Zephyr assumes that Active Objects will use only the
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// preemptive Zephyr priorities [0..(CONFIG_NUM_PREEMPT_PRIORITIES - 1U)].
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// In this priority numbering, the QP AO priority QF_MAX_ACTIVE (highest)
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// maps to Zephyr priority 0 (highest). The QP AO priority 1 (lowest) maps
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// to Zephyr priority (CONFIG_NUM_PREEMPT_PRIORITIES - 2U).
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//
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// NOTE2:
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// Zephyr does not support selective scheduler locking up to a given
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// priority ceiling. Therefore, this port uses global Zephyr scheduler lock.
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//
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#endif // QP_PORT_HPP_
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