1 files changed, 754 insertions, 0 deletions

diff --git a/lib/chibios/os/hal/osal/os-less/ARMCMx/osal.h b/lib/chibios/os/hal/osal/os-less/ARMCMx/osal.h
new file mode 100644
index 000000000..0ec4ee199
--- /dev/null
+++ b/lib/chibios/os/hal/osal/os-less/ARMCMx/osal.h
@@ -0,0 +1,754 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/**
+ * @file    osal.h
+ * @brief   OSAL module header.
+ *
+ * @addtogroup OSAL
+ * @{
+ */
+
+#ifndef OSAL_H
+#define OSAL_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "cmparams.h"
+
+#include "osalconf.h"
+
+/*===========================================================================*/
+/* Module constants.                                                         */
+/*===========================================================================*/
+
+/**
+ * @name    Common constants
+ * @{
+ */
+#if !defined(FALSE) || defined(__DOXYGEN__)
+#define FALSE                               0
+#endif
+
+#if !defined(TRUE) || defined(__DOXYGEN__)
+#define TRUE                                1
+#endif
+
+#define OSAL_SUCCESS                        false
+#define OSAL_FAILED                         true
+/** @} */
+
+/**
+ * @name    Messages
+ * @{
+ */
+#define MSG_OK                              (msg_t)0
+#define MSG_RESET                           (msg_t)-1
+#define MSG_TIMEOUT                         (msg_t)-2
+#define MSG_WAIT                            (msg_t)-10
+/** @} */
+
+/**
+ * @name    Special time constants
+ * @{
+ */
+#define TIME_IMMEDIATE                      ((sysinterval_t)0)
+#define TIME_INFINITE                       ((sysinterval_t)-1)
+/** @} */
+
+/**
+ * @name    Systick modes.
+ * @{
+ */
+#define OSAL_ST_MODE_NONE                   0
+#define OSAL_ST_MODE_PERIODIC               1
+#define OSAL_ST_MODE_FREERUNNING            2
+/** @} */
+
+/**
+ * @name    Systick parameters.
+ * @{
+ */
+/**
+ * @brief   Size in bits of the @p systick_t type.
+ */
+#define OSAL_ST_RESOLUTION                  32
+
+/**
+ * @brief   Systick mode required by the underlying OS.
+ */
+#define OSAL_ST_MODE                        OSAL_ST_MODE_PERIODIC
+/** @} */
+
+/**
+ * @name    IRQ-related constants
+ * @{
+ */
+/**
+ * @brief   Total priority levels.
+ */
+#define OSAL_IRQ_PRIORITY_LEVELS            (1U << CORTEX_PRIORITY_BITS)
+
+/**
+ * @brief   Highest IRQ priority for HAL drivers.
+ */
+#if (CORTEX_MODEL == 0) || defined(__DOXYGEN__)
+#define OSAL_IRQ_MAXIMUM_PRIORITY           0
+#else
+#define OSAL_IRQ_MAXIMUM_PRIORITY           1
+#endif
+
+/**
+ * @brief   Converts from numeric priority to BASEPRI register value.
+ */
+#define OSAL_BASEPRI(priority)              ((priority) << (8U - CORTEX_PRIORITY_BITS))
+/** @} */
+
+/*===========================================================================*/
+/* Module pre-compile time settings.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Frequency in Hertz of the system tick.
+ */
+#if !defined(OSAL_ST_FREQUENCY) || defined(__DOXYGEN__)
+#define OSAL_ST_FREQUENCY                   1000
+#endif
+
+/**
+ * @brief   Enables OSAL assertions.
+ */
+#if !defined(OSAL_DBG_ENABLE_ASSERTS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_ASSERTS             FALSE
+#endif
+
+/**
+ * @brief   Enables OSAL functions parameters checks.
+ */
+#if !defined(OSAL_DBG_ENABLE_CHECKS) || defined(__DOXYGEN__)
+#define OSAL_DBG_ENABLE_CHECKS              FALSE
+#endif
+
+/**
+ * @brief   OSAL initialization hook.
+ */
+#if !defined(OSAL_INIT_HOOK) || defined(__DOXYGEN__)
+#define OSAL_INIT_HOOK()
+#endif
+
+/**
+ * @brief   Idle loop hook macro.
+ */
+#if !defined(OSAL_IDLE_HOOK) || defined(__DOXYGEN__)
+#define OSAL_IDLE_HOOK()
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks.                                       */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types.                                         */
+/*===========================================================================*/
+
+/**
+ * @brief   Type of a system status word.
+ */
+typedef uint32_t syssts_t;
+
+/**
+ * @brief   Type of a message.
+ */
+typedef int32_t msg_t;
+
+/**
+ * @brief   Type of system time counter.
+ */
+typedef uint32_t systime_t;
+
+/**
+ * @brief   Type of system time interval.
+ */
+typedef uint32_t sysinterval_t;
+
+/**
+ * @brief   Type of realtime counter.
+ */
+typedef uint32_t rtcnt_t;
+
+/**
+ * @brief   Type of a thread.
+ * @note    The content of this structure is not part of the API and should
+ *          not be relied upon. Implementers may define this structure in
+ *          an entirely different way.
+ */
+typedef struct {
+  volatile msg_t        message;
+} thread_t;
+
+/**
+ * @brief   Type of a thread reference.
+ */
+typedef thread_t * thread_reference_t;
+
+/**
+ * @brief   Type of an event flags mask.
+ */
+typedef uint32_t eventflags_t;
+
+/**
+ * @brief   Type of an event flags object.
+ * @note    The content of this structure is not part of the API and should
+ *          not be relied upon. Implementers may define this structure in
+ *          an entirely different way.
+ * @note    Retrieval and clearing of the flags are not defined in this
+ *          API and are implementation-dependent.
+ */
+typedef struct event_source event_source_t;
+
+/**
+ * @brief   Type of an event source callback.
+ * @note    This type is not part of the OSAL API and is provided
+ *          exclusively as an example and for convenience.
+ */
+typedef void (*eventcallback_t)(event_source_t *esp);
+
+/**
+ * @brief   Events source object.
+ * @note    The content of this structure is not part of the API and should
+ *          not be relied upon. Implementers may define this structure in
+ *          an entirely different way.
+ * @note    Retrieval and clearing of the flags are not defined in this
+ *          API and are implementation-dependent.
+ */
+struct event_source {
+  volatile eventflags_t flags;      /**< @brief Stored event flags.         */
+  eventcallback_t       cb;         /**< @brief Event source callback.      */
+  void                  *param;     /**< @brief User defined field.         */
+};
+
+/**
+ * @brief   Type of a mutex.
+ * @note    If the OS does not support mutexes or there is no OS then them
+ *          mechanism can be simulated.
+ */
+typedef uint32_t mutex_t;
+
+/**
+ * @brief   Type of a thread queue.
+ * @details A thread queue is a queue of sleeping threads, queued threads
+ *          can be dequeued one at time or all together.
+ * @note    If the OSAL is implemented on a bare metal machine without RTOS
+ *          then the queue can be implemented as a single thread reference.
+ */
+typedef struct {
+  thread_reference_t    tr;
+} threads_queue_t;
+
+/*===========================================================================*/
+/* Module macros.                                                            */
+/*===========================================================================*/
+
+/**
+ * @name    Debug related macros
+ * @{
+ */
+/**
+ * @brief   Condition assertion.
+ * @details If the condition check fails then the OSAL panics with a
+ *          message and halts.
+ * @note    The condition is tested only if the @p OSAL_ENABLE_ASSERTIONS
+ *          switch is enabled.
+ * @note    The remark string is not currently used except for putting a
+ *          comment in the code about the assertion.
+ *
+ * @param[in] c         the condition to be verified to be true
+ * @param[in] remark    a remark string
+ *
+ * @api
+ */
+#define osalDbgAssert(c, remark) do {                                       \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_ASSERTS != FALSE) {                                   \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @brief   Function parameters check.
+ * @details If the condition check fails then the OSAL panics and halts.
+ * @note    The condition is tested only if the @p OSAL_ENABLE_CHECKS switch
+ *          is enabled.
+ *
+ * @param[in] c         the condition to be verified to be true
+ *
+ * @api
+ */
+#define osalDbgCheck(c) do {                                                \
+  /*lint -save -e506 -e774 [2.1, 14.3] Can be a constant by design.*/       \
+  if (OSAL_DBG_ENABLE_CHECKS != FALSE) {                                    \
+    if (!(c)) {                                                             \
+  /*lint -restore*/                                                         \
+      osalSysHalt(__func__);                                                \
+    }                                                                       \
+  }                                                                         \
+} while (false)
+
+/**
+ * @brief   I-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassI()
+
+/**
+ * @brief   S-Class state check.
+ * @note    Implementation is optional.
+ */
+#define osalDbgCheckClassS()
+/** @} */
+
+/**
+ * @name    IRQ service routines wrappers
+ * @{
+ */
+/**
+ * @brief   Priority level verification macro.
+ */
+#define OSAL_IRQ_IS_VALID_PRIORITY(n)                                       \
+  (((n) >= OSAL_IRQ_MAXIMUM_PRIORITY) && ((n) < OSAL_IRQ_PRIORITY_LEVELS))
+
+/**
+ * @brief   IRQ prologue code.
+ * @details This macro must be inserted at the start of all IRQ handlers.
+ */
+#define OSAL_IRQ_PROLOGUE()
+
+/**
+ * @brief   IRQ epilogue code.
+ * @details This macro must be inserted at the end of all IRQ handlers.
+ */
+#define OSAL_IRQ_EPILOGUE()
+
+/**
+ * @brief   IRQ handler function declaration.
+ * @details This macro hides the details of an ISR function declaration.
+ *
+ * @param[in] id        a vector name as defined in @p vectors.s
+ */
+#define OSAL_IRQ_HANDLER(id) void id(void)
+/** @} */
+
+/**
+ * @name    Time conversion utilities
+ * @{
+ */
+/**
+ * @brief   Seconds to system ticks.
+ * @details Converts from seconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] secs      number of seconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_S2I(secs)                                                      \
+  ((sysinterval_t)((uint32_t)(secs) * (uint32_t)OSAL_ST_FREQUENCY))
+
+/**
+ * @brief   Milliseconds to system ticks.
+ * @details Converts from milliseconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] msecs     number of milliseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_MS2I(msecs)                                                    \
+  ((sysinterval_t)((((((uint32_t)(msecs)) *                                 \
+                  ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000UL) + 1UL))
+
+/**
+ * @brief   Microseconds to system ticks.
+ * @details Converts from microseconds to system ticks number.
+ * @note    The result is rounded upward to the next tick boundary.
+ *
+ * @param[in] usecs     number of microseconds
+ * @return              The number of ticks.
+ *
+ * @api
+ */
+#define OSAL_US2I(usecs)                                                    \
+  ((sysinterval_t)((((((uint32_t)(usecs)) *                                 \
+                  ((uint32_t)OSAL_ST_FREQUENCY)) - 1UL) / 1000000UL) + 1UL))
+/** @} */
+
+/**
+ * @name    Time conversion utilities for the realtime counter
+ * @{
+ */
+/**
+ * @brief   Seconds to realtime counter.
+ * @details Converts from seconds to realtime counter cycles.
+ * @note    The macro assumes that @p freq >= @p 1.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] sec       number of seconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_S2RTC(freq, sec) ((freq) * (sec))
+
+/**
+ * @brief   Milliseconds to realtime counter.
+ * @details Converts from milliseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next millisecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] msec      number of milliseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_MS2RTC(freq, msec) (rtcnt_t)((((freq) + 999UL) / 1000UL) * (msec))
+
+/**
+ * @brief   Microseconds to realtime counter.
+ * @details Converts from microseconds to realtime counter cycles.
+ * @note    The result is rounded upward to the next microsecond boundary.
+ * @note    The macro assumes that @p freq >= @p 1000000.
+ *
+ * @param[in] freq      clock frequency, in Hz, of the realtime counter
+ * @param[in] usec      number of microseconds
+ * @return              The number of cycles.
+ *
+ * @api
+ */
+#define OSAL_US2RTC(freq, usec) (rtcnt_t)((((freq) + 999999UL) / 1000000UL) * (usec))
+/** @} */
+
+/**
+ * @name    Sleep macros using absolute time
+ * @{
+ */
+/**
+ * @brief   Delays the invoking thread for the specified number of seconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] secs      time in seconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepSeconds(secs) osalThreadSleep(OSAL_S2I(secs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          milliseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] msecs     time in milliseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMilliseconds(msecs) osalThreadSleep(OSAL_MS2I(msecs))
+
+/**
+ * @brief   Delays the invoking thread for the specified number of
+ *          microseconds.
+ * @note    The specified time is rounded up to a value allowed by the real
+ *          system tick clock.
+ * @note    The maximum specifiable value is implementation dependent.
+ *
+ * @param[in] usecs     time in microseconds, must be different from zero
+ *
+ * @api
+ */
+#define osalThreadSleepMicroseconds(usecs) osalThreadSleep(OSAL_US2I(usecs))
+/** @} */
+
+/*===========================================================================*/
+/* External declarations.                                                    */
+/*===========================================================================*/
+
+extern const char *osal_halt_msg;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void osalInit(void);
+  void osalSysHalt(const char *reason);
+  void osalSysPolledDelayX(rtcnt_t cycles);
+  void osalOsTimerHandlerI(void);
+  void osalOsRescheduleS(void);
+  systime_t osalOsGetSystemTimeX(void);
+  void osalThreadSleepS(sysinterval_t time);
+  void osalThreadSleep(sysinterval_t time);
+  msg_t osalThreadSuspendS(thread_reference_t *trp);
+  msg_t osalThreadSuspendTimeoutS(thread_reference_t *trp, sysinterval_t timeout);
+  void osalThreadResumeI(thread_reference_t *trp, msg_t msg);
+  void osalThreadResumeS(thread_reference_t *trp, msg_t msg);
+  msg_t osalThreadEnqueueTimeoutS(threads_queue_t *tqp, sysinterval_t timeout);
+  void osalThreadDequeueNextI(threads_queue_t *tqp, msg_t msg);
+  void osalThreadDequeueAllI(threads_queue_t *tqp, msg_t msg);
+  void osalEventBroadcastFlagsI(event_source_t *esp, eventflags_t flags);
+  void osalEventBroadcastFlags(event_source_t *esp, eventflags_t flags);
+  void osalEventSetCallback(event_source_t *esp,
+                            eventcallback_t cb,
+                            void *param);
+  void osalMutexLock(mutex_t *mp);
+  void osalMutexUnlock(mutex_t *mp);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions.                                                  */
+/*===========================================================================*/
+
+/**
+ * @brief   Disables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysDisable(void) {
+
+  __disable_irq();
+}
+
+/**
+ * @brief   Enables interrupts globally.
+ *
+ * @special
+ */
+static inline void osalSysEnable(void) {
+
+  __enable_irq();
+}
+
+/**
+ * @brief   Enters a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLock(void) {
+
+#if CORTEX_MODEL == 0
+  __disable_irq();
+#else
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+}
+
+/**
+ * @brief   Leaves a critical zone from thread context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlock(void) {
+
+#if CORTEX_MODEL == 0
+  __enable_irq();
+#else
+  __set_BASEPRI(0);
+#endif
+}
+
+/**
+ * @brief   Enters a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysLockFromISR(void) {
+
+#if CORTEX_MODEL == 0
+  __disable_irq();
+#else
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+}
+
+/**
+ * @brief   Leaves a critical zone from ISR context.
+ * @note    This function cannot be used for reentrant critical zones.
+ *
+ * @special
+ */
+static inline void osalSysUnlockFromISR(void) {
+
+#if CORTEX_MODEL == 0
+  __enable_irq();
+#else
+  __set_BASEPRI(0);
+#endif
+}
+
+/**
+ * @brief   Returns the execution status and enters a critical zone.
+ * @details This functions enters into a critical zone and can be called
+ *          from any context. Because its flexibility it is less efficient
+ *          than @p chSysLock() which is preferable when the calling context
+ *          is known.
+ * @post    The system is in a critical zone.
+ *
+ * @return              The previous system status, the encoding of this
+ *                      status word is architecture-dependent and opaque.
+ *
+ * @xclass
+ */
+static inline syssts_t osalSysGetStatusAndLockX(void) {
+  syssts_t sts;
+
+#if CORTEX_MODEL == 0
+  sts = (syssts_t)__get_PRIMASK();
+  __disable_irq();
+#else
+  sts = (syssts_t)__get_BASEPRI();
+  __set_BASEPRI(OSAL_BASEPRI(OSAL_IRQ_MAXIMUM_PRIORITY));
+#endif
+  return sts;
+}
+
+/**
+ * @brief   Restores the specified execution status and leaves a critical zone.
+ * @note    A call to @p chSchRescheduleS() is automatically performed
+ *          if exiting the critical zone and if not in ISR context.
+ *
+ * @param[in] sts       the system status to be restored.
+ *
+ * @xclass
+ */
+static inline void osalSysRestoreStatusX(syssts_t sts) {
+
+#if CORTEX_MODEL == 0
+  if ((sts & (syssts_t)1) == (syssts_t)0) {
+    __enable_irq();
+  }
+#else
+  __set_BASEPRI(sts);
+#endif
+}
+
+/**
+ * @brief   Adds an interval to a system time returning a system time.
+ *
+ * @param[in] systime   base system time
+ * @param[in] interval  interval to be added
+ * @return              The new system time.
+ *
+ * @xclass
+ */
+static inline systime_t osalTimeAddX(systime_t systime,
+                                     sysinterval_t interval) {
+
+  return systime + (systime_t)interval;
+}
+
+/**
+ * @brief   Subtracts two system times returning an interval.
+ *
+ * @param[in] start     first system time
+ * @param[in] end       second system time
+ * @return              The interval representing the time difference.
+ *
+ * @xclass
+ */
+static inline sysinterval_t osalTimeDiffX(systime_t start, systime_t end) {
+
+  return (sysinterval_t)((systime_t)(end - start));
+}
+
+/**
+ * @brief   Checks if the specified time is within the specified time window.
+ * @note    When start==end then the function returns always false because the
+ *          time window has zero size.
+ * @note    This function can be called from any context.
+ *
+ * @param[in] time      the time to be verified
+ * @param[in] start     the start of the time window (inclusive)
+ * @param[in] end       the end of the time window (non inclusive)
+ * @retval true         current time within the specified time window.
+ * @retval false        current time not within the specified time window.
+ *
+ * @xclass
+ */
+static inline bool osalTimeIsInRangeX(systime_t time,
+                                      systime_t start,
+                                      systime_t end) {
+
+  return (bool)((systime_t)((systime_t)time - (systime_t)start) <
+                (systime_t)((systime_t)end - (systime_t)start));
+}
+
+/**
+ * @brief   Initializes a threads queue object.
+ *
+ * @param[out] tqp      pointer to the threads queue object
+ *
+ * @init
+ */
+static inline void osalThreadQueueObjectInit(threads_queue_t *tqp) {
+
+  osalDbgCheck(tqp != NULL);
+}
+
+/**
+ * @brief   Initializes an event source object.
+ *
+ * @param[out] esp      pointer to the event source object
+ *
+ * @init
+ */
+static inline void osalEventObjectInit(event_source_t *esp) {
+
+  osalDbgCheck(esp != NULL);
+
+  esp->flags = (eventflags_t)0;
+  esp->cb    = NULL;
+  esp->param = NULL;
+}
+
+/**
+ * @brief   Initializes s @p mutex_t object.
+ *
+ * @param[out] mp       pointer to the @p mutex_t object
+ *
+ * @init
+ */
+static inline void osalMutexObjectInit(mutex_t *mp) {
+
+  osalDbgCheck(mp != NULL);
+
+  *mp = 0;
+}
+
+#endif /* OSAL_H */
+
+/** @} */