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115 lines
4.4 KiB
C
115 lines
4.4 KiB
C
/// @file
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/// @brief QF/C++ port to TI-RTOS kernel (SYS/BIOS), all supported compilers
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/// @cond
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///***************************************************************************
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/// Last updated for version 5.8.1
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/// Last updated on 2016-12-14
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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. All rights reserved.
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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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/// http://www.state-machine.com
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/// mailto:info@state-machine.com
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///***************************************************************************
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/// @endcond
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#ifndef qf_port_h
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#define qf_port_h
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// TI-RTOS-specific event queue and thread types, see NOTE1
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#define QF_EQUEUE_TYPE QEQueue
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#define QF_OS_OBJECT_TYPE Swi_Struct
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#define QF_THREAD_TYPE Swi_Handle
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// The maximum number of active objects in the application, see NOTE2
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#define QF_MAX_ACTIVE 32
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// TI-RTOS-specific critical section operations, NOTE3
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#define QF_CRIT_STAT_TYPE UInt
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#define QF_CRIT_ENTRY(key_) ((key_) = Hwi_disable())
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#define QF_CRIT_EXIT(key_) (Hwi_restore((key_)))
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#include <ti/sysbios/hal/Hwi.h> // TI-RTOS Hwi package
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#include <ti/sysbios/knl/Swi.h> // TI-RTOS Swi package
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#include "qep_port.h" // QEP port
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#include "qequeue.h" // this QF port uses the native QF event queue
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#include "qmpool.h" // this QF port uses the native QF memory pool
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#include "qf.h" // QF platform-independent public interface
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//****************************************************************************
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// interface used only inside QF, but not in applications
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//
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#ifdef QP_IMPL
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// TI-RTOS-specific scheduler locking, see NOTE4
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#define QF_SCHED_STAT_ UInt key_;
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#define QF_SCHED_LOCK_(dummy) (key_ = Swi_disable())
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#define QF_SCHED_UNLOCK_() (Swi_restore(key_))
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// TI-RTOS-specific native event queue operations...
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#define QACTIVE_EQUEUE_WAIT_(me_) \
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Q_ASSERT_ID(110, (me_)->m_eQueue.m_frontEvt != static_cast<QEvt *>(0))
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#define QACTIVE_EQUEUE_SIGNAL_(me_) Swi_post((me_)->m_thread)
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// TI-RTOS 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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(p_).init((poolSto_), (poolSize_), (evtSize_))
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#define QF_EPOOL_EVENT_SIZE_(p_) \
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static_cast<uint_fast16_t>((p_).getBlockSize())
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#define QF_EPOOL_GET_(p_, e_, m_) \
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((e_) = static_cast<QEvt *>((p_).get((m_))))
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#define QF_EPOOL_PUT_(p_, e_) ((p_).put(e_))
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#endif // ifdef QP_IMPL
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#endif // qf_port_h
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//****************************************************************************
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//
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// NOTE1:
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// This QP port uses the TI-RTOS Swis ("Software Interrupts") to provide the
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// thread context to run QP active objects. The TI-RTOS Swis are a perfect
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// match to execute the run-to-completion (RTC) event-processing in active
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// objects and requre far less resources (no private stacks) than regular
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// blocking threads.
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//
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// NOTE2:
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// The maximum number of active objects in the application cannot exceed the
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// number of Swis available in TI-RTOS. On 32-bit CPUs, such as ARM Cortex-M,
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// the maximum number of Swis is 32.
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//
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// NOTE3:
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// The QF critical section is implemented with the TI-RTOS Hwi disable/enable.
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// The type of critical section preserves the interrupt status and allows
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// critical sections to nest.
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//
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// NOTE4:
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// TI-RTOS provides only global disabling of Swis. Therefore, locking the
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// scheduler only up to the specified lock priority is not supported.
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//
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