fosi.h
Go to the documentation of this file.
00001 /***************************************************************************
00002   tag:
00003 
00004                         fosi.hpp -  description
00005                            -------------------
00006     begin                : Jan 21 2006
00007     copyright            : (C) 2006 Klaas Gadeyne
00008     email                : firstname lastname at fmtc be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 #ifndef RTT_ECOS__FOSI_H
00029 #define RTT_ECOS__FOSI_H
00030 
00031 #define HAVE_FOSI_API
00032 
00033 #ifdef __cplusplus
00034 extern "C"
00035 {
00036 #endif
00037 
00038 #include <stdio.h>
00039 #include <cyg/kernel/kapi.h>
00040   // #include <errno.h>
00041 #include "os_ecos.h"
00042 #include <pkgconf/kernel.h>
00043 #include <cyg/infra/diag.h> // for diag_printf
00044 
00045   // Own implementation of recursive mutexes
00046 #include "ecos_rec_mutex.h"
00047 
00048 #define SCHED_ECOS_FIFO 0 
00049 #define ORO_SCHED_RT    0
00050 #define ORO_SCHED_OTHER 0
00051 
00052 #define ORO_WAIT_ABS 0 
00053 #define ORO_WAIT_REL 1 
00055     typedef long long NANO_TIME;
00056     typedef cyg_tick_count_t TICK_TIME;
00057 
00058     const TICK_TIME InfiniteTicks = ULONG_LONG_MAX;
00059     const NANO_TIME InfiniteNSecs = LONG_LONG_MAX;
00060     const double    InfiniteSeconds = DBL_MAX;
00061 
00062   typedef struct {
00063     // the thread
00064     cyg_thread thread;
00065     // its name
00066     char * name;
00067 
00068     // And its handle
00069     cyg_handle_t handle;
00070 
00071     // Stack pointer
00072     char * stack;
00073 
00074     /* bool to fake soft or hard RT behaviour (ecos does not
00075        differentiate between hard and soft realtime)
00076     */
00077     bool hrt;
00078 
00079     // STUFF for periodic threads (ecos has no native API for creating
00080     // periodic threads)
00081     // Next firetime
00082     NANO_TIME periodMark;
00083     // the period
00084     NANO_TIME period;
00085     cyg_handle_t counter_hdl;
00086     cyg_handle_t sys_clk_hdl;
00087     cyg_handle_t alarm_hdl;
00088     cyg_alarm alarm_obj;
00089     cyg_sem_t wakeup_sem;
00090   } RTOS_TASK;
00091 
00092 
00093   // Time Related
00094 #include <time.h>
00095 #include <unistd.h>
00096 
00097   typedef struct timespec TIME_SPEC;
00098 
00099   inline
00100   TICK_TIME nano2ticks( NANO_TIME nano )
00101   {
00102     // FIXME need more efficient calculation...
00103     return (CYGNUM_HAL_RTC_DENOMINATOR*nano)/CYGNUM_HAL_RTC_NUMERATOR;
00104   }
00105 
00106   inline
00107   NANO_TIME ticks2nano( TICK_TIME count )
00108   {
00109     // FIXME need more efficient calculation...
00110     return CYGNUM_HAL_RTC_NUMERATOR/CYGNUM_HAL_RTC_DENOMINATOR*count;
00111   }
00112 
00113   inline NANO_TIME rtos_get_time_ns( void )
00114   {
00115     return ticks2nano(cyg_current_time());
00116   }
00117 
00118   inline TICK_TIME rtos_get_time_ticks( void )
00119   {
00120     return cyg_current_time();
00121   }
00122 
00123   /*
00124     inline int rtos_nanosleep( const TIME_SPEC * rqtp, TIME_SPEC * rmtp )
00125     {
00126     //    return usleep(rqtp->tv_nsec/1000L);
00127     return nanosleep( rqtp, rmtp );
00128     }
00129   */
00130 
00131   typedef cyg_sem_t rt_sem_t;
00132 
00133   static inline int rtos_sem_init(rt_sem_t* m, int value )
00134   {
00135     cyg_semaphore_init(m, value);
00136     return 0;
00137   }
00138 
00139   static inline int rtos_sem_destroy(rt_sem_t* m )
00140   {
00141     cyg_semaphore_destroy(m);
00142     return 0;
00143   }
00144 
00145   static inline int rtos_sem_signal(rt_sem_t* m )
00146   {
00147     cyg_semaphore_post(m);
00148     return 0;
00149   }
00150 
00151   static inline int rtos_sem_wait(rt_sem_t* m )
00152   {
00153     cyg_semaphore_wait(m);
00154     return 0;
00155   }
00156 
00157   // Should return 0 if no timeout occurs
00158   static inline int rtos_sem_trywait(rt_sem_t* m )
00159   {
00160     if (cyg_semaphore_trywait(m) == true)
00161       return 0;
00162     else
00163       return -1;
00164   }
00165 
00166   // Should return 0 if no timeout occurs
00167   static inline int rtos_sem_wait_timed(rt_sem_t* m, NANO_TIME delay )
00168   {
00169     // cyg_semaphore_timed_wait returns true if no timeout occurs
00170     if (cyg_semaphore_timed_wait(m,cyg_current_time()+nano2ticks(delay)) == true)
00171       return 0;
00172     else
00173       return -1;
00174   }
00175 
00176   static inline int rtos_sem_value(rt_sem_t* m )
00177   {
00178     int val = 0;
00179     cyg_semaphore_peek(m, &val);
00180     return val;
00181   }
00182 
00183   // Mutex functions
00184 
00185   typedef cyg_mutex_t rt_mutex_t;
00186   typedef cyg_recursive_mutex_t rt_rec_mutex_t;
00187 
00188   //
00189   static inline int rtos_mutex_init(rt_mutex_t* m)
00190   {
00191     cyg_mutex_init(m);
00192     return 0;
00193   }
00194 
00195   static inline int rtos_mutex_destroy(rt_mutex_t* m )
00196   {
00197     cyg_mutex_release(m);
00198     cyg_mutex_destroy(m);
00199     return 0;
00200   }
00201 
00202   static inline int rtos_mutex_rec_init(rt_rec_mutex_t* m)
00203   {
00204     cyg_recursive_mutex_init(m);
00205     return 0;
00206   }
00207 
00208   static inline int rtos_mutex_rec_destroy(rt_rec_mutex_t* m )
00209   {
00210     cyg_recursive_mutex_destroy(m);
00211     return 0;
00212   }
00213 
00214   static inline int rtos_mutex_lock( rt_mutex_t* m)
00215   {
00216     return cyg_mutex_lock(m);
00217   }
00218 
00219   static inline int rtos_mutex_rec_lock( rt_rec_mutex_t* m)
00220   {
00221     return cyg_recursive_mutex_lock(m);
00222   }
00223 
00224   static inline int rtos_mutex_trylock( rt_mutex_t* m)
00225   {
00226     if (cyg_mutex_trylock(m) == true)
00227       return 0;
00228     else
00229       return -1;
00230   }
00231 
00232   static inline int rtos_mutex_rec_trylock( rt_rec_mutex_t* m)
00233   {
00234     if (cyg_recursive_mutex_trylock(m) == true)
00235       return 0;
00236     else
00237       return -1;
00238   }
00239 
00240   static inline int rtos_mutex_unlock( rt_mutex_t* m)
00241   {
00242     cyg_mutex_unlock(m);
00243     return 0;
00244   }
00245 
00246   static inline int rtos_mutex_rec_unlock( rt_rec_mutex_t* m)
00247   {
00248     cyg_recursive_mutex_unlock(m);
00249     return 0;
00250   }
00251 
00252     static inline void rtos_enable_rt_warning()
00253     {
00254     }
00255 
00256     static inline void rtos_disable_rt_warning()
00257     {
00258     }
00259 
00260 #define rtos_printf diag_printf
00261 
00262 #ifdef __cplusplus
00263 }
00264 
00265 #endif
00266 #endif


rtt
Author(s): RTT Developers
autogenerated on Sat Jun 8 2019 18:46:11