qpcpp/ports/embos/qf_port.cpp
Quantum Leaps 8601e4bc74 5.6.2
2016-04-01 13:55:34 -04:00

274 lines
10 KiB
C++

/// @file
/// @brief QF/C++ port to embOS (v4.00) kernel, all supported compilers
/// @cond
////**************************************************************************
/// Last updated for version 5.6.2
/// Last updated on 2016-03-09
///
/// Q u a n t u m L e a P s
/// ---------------------------
/// innovating embedded systems
///
/// Copyright (C) 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 <http://www.gnu.org/licenses/>.
///
/// Contact information:
/// http://www.state-machine.com
/// mailto: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" // include QS port
#else
#include "qs_dummy.h" // disable the QS software tracing
#endif // Q_SPY
// namespace QP ==============================================================
namespace QP {
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) {
onStartup(); // QF callback to configure and start interrupts
OS_Start(); // start embOS multitasking
Q_ERROR_ID(100); // OS_Start() should never return
return static_cast<int_t>(0); // dummy return to make the compiler happy
}
//............................................................................
void QF::stop(void) {
onCleanup(); // cleanup callback
}
//............................................................................
void QF_setEmbOsTaskAttr(QMActive *act, uint32_t attr) {
act->getOsObject() = attr;
}
// thread for active objects -------------------------------------------------
void QF::thread_(QMActive *act) {
// enable thread-loop, see NOTE2
act->m_osObject = static_cast<uint32_t>(1); // set event-loop control
do {
QEvt const *e = act->get_(); // wait for event
act->dispatch(e); // dispatch to the active object's state machine
gc(e); // check if the event is garbage, and collect it if so
} while (act->m_osObject != static_cast<uint32_t>(0));
act->unsubscribeAll();
OS_DeleteMB(&act->m_eQueue);
}
//............................................................................
static void thread_function(void *pVoid) { // embOS signature
QMActive *act = reinterpret_cast<QMActive *>(pVoid);
#ifdef __TARGET_FPU_VFP
// does the task use the FPU? see NOTE1
if ((act->getOsObject() & QF_TASK_USES_FPU) != static_cast<uint32_t>(0)) {
OS_ExtendTaskContext_VFP();
}
#endif // __TARGET_FPU_VFP
QF::thread_(act);
QF::remove_(act); // remove this object from QF
OS_TerminateTask(&act->getThread());
}
//............................................................................
void QMActive::start(uint_fast8_t prio,
QEvt const *qSto[], uint_fast16_t qLen,
void *stkSto, uint_fast16_t stkSize,
QEvt const *ie)
{
// create the embOS message box for the AO
OS_CreateMB(&m_eQueue,
static_cast<OS_U16>(sizeof(QEvt *)),
static_cast<OS_UINT>(qLen),
static_cast<void *>(&qSto[0]));
m_prio = prio; // save the QF priority
QF::add_(this); // make QF aware of this active object
init(ie); // thake the top-most initial tran.
QS_FLUSH(); // flush the trace buffer to the host
// create an embOS task for the AO
OS_CreateTaskEx(&m_thread,
"AO",
static_cast<OS_PRIO>(prio), // embOS uses same numbering as QP
&thread_function,
static_cast<void OS_STACKPTR *>(stkSto),
static_cast<OS_UINT>(stkSize),
static_cast<OS_UINT>(0), // no AOs at the same prio
this);
}
//............................................................................
void QMActive::stop() {
m_osObject = static_cast<uint32_t>(0); // stop the thread loop, see NOTE2
}
//............................................................................
#ifndef Q_SPY
bool QMActive::post_(QEvt const * const e, uint_fast16_t const margin)
#else
bool QMActive::post_(QEvt const * const e, uint_fast16_t const margin,
void const * const sender)
#endif
{
uint_fast16_t nFree;
bool status;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
nFree = static_cast<uint_fast16_t>(m_eQueue.maxMsg - m_eQueue.nofMsg);
if (nFree > margin) {
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_FIFO, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_OBJ_(sender); // the sender object
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this active object (recipient)
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
QS_EQC_(static_cast<QEQueueCtr>(nFree)); // # free entries
QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
QS_END_NOCRIT_()
if (e->poolId_ != static_cast<uint8_t>(0)) { // is it a pool event?
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
QF_CRIT_EXIT_();
// posting to the embOS mailbox must succeed, see NOTE3
Q_ALLEGE_ID(710,
OS_PutMailCond(&m_eQueue, static_cast<OS_CONST_PTR void *>(&e))
== static_cast<char>(0));
status = true; // report success
}
else {
// can tolerate dropping evts?
Q_ASSERT_ID(720, margin != static_cast<uint_fast16_t>(0));
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_ATTEMPT,
QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_OBJ_(sender); // the sender object
QS_SIG_(e->sig); // the signal of the event
QS_OBJ_(this); // this active object (recipient)
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
QS_EQC_(static_cast<QEQueueCtr>(nFree)); // # free entries
QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
status = false; // report failure
}
return status;
}
//............................................................................
void QMActive::postLIFO(QEvt const * const e) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_LIFO, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
// # free entries
QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free entries (unknown)
QS_END_NOCRIT_()
if (e->poolId_ != static_cast<uint8_t>(0)) { // is it a pool event?
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
QF_CRIT_EXIT_();
// posting to the embOS mailbox must succeed, see NOTE3
Q_ALLEGE_ID(810,
OS_PutMailFrontCond(&m_eQueue, static_cast<OS_CONST_PTR void *>(&e))
== static_cast<char>(0));
}
//............................................................................
QEvt const *QMActive::get_(void) {
QEvt const *e;
QS_CRIT_STAT_
OS_GetMail(&m_eQueue, &e);
QS_BEGIN_(QS_QF_ACTIVE_GET, QS::priv_.aoObjFilter, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
// # free entries
QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
QS_END_()
return e;
}
} // namespace QP
//****************************************************************************
// 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
// QMActive.m_osObject member.
//
// NOTE2:
// The member QActive.osObject is reused as the loop control variable,
// because the task attributes are alredy applied.
//
// 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.
//