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add support for ChibiOS RT 4 kernel

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This commit is contained in:
Nicolas Reinecke 2016-06-01 12:09:34 +02:00
parent f8dac95e93
commit 1d2c15ce81
2 changed files with 16 additions and 7 deletions
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12
src/gos/gos_chibios.c
View file

@ -20,7 +20,7 @@
#error "GOS: CH_USE_SEMAPHORES must be defined in chconf.h" #error "GOS: CH_USE_SEMAPHORES must be defined in chconf.h"
#endif #endif
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
#if !CH_CFG_USE_MUTEXES #if !CH_CFG_USE_MUTEXES
#error "GOS: CH_CFG_USE_MUTEXES must be defined in chconf.h" #error "GOS: CH_CFG_USE_MUTEXES must be defined in chconf.h"
@ -42,7 +42,7 @@ void _gosInit(void)
halInit(); halInit();
chSysInit(); chSysInit();
} }
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
if (!chThdGetSelfX()) { if (!chThdGetSelfX()) {
halInit(); halInit();
chSysInit(); chSysInit();
@ -102,7 +102,7 @@ void gfxSemInit(gfxSem *psem, semcount_t val, semcount_t limit)
#if CH_KERNEL_MAJOR == 2 #if CH_KERNEL_MAJOR == 2
chSemInit(&psem->sem, val); chSemInit(&psem->sem, val);
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
chSemObjectInit(&psem->sem, val); chSemObjectInit(&psem->sem, val);
#endif #endif
} }
@ -120,7 +120,7 @@ bool_t gfxSemWait(gfxSem *psem, delaytime_t ms)
case TIME_INFINITE: chSemWait(&psem->sem); return TRUE; case TIME_INFINITE: chSemWait(&psem->sem); return TRUE;
default: return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != RDY_TIMEOUT; default: return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != RDY_TIMEOUT;
} }
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
switch(ms) { switch(ms) {
case TIME_IMMEDIATE: return chSemWaitTimeout(&psem->sem, TIME_IMMEDIATE) != MSG_TIMEOUT; case TIME_IMMEDIATE: return chSemWaitTimeout(&psem->sem, TIME_IMMEDIATE) != MSG_TIMEOUT;
case TIME_INFINITE: chSemWait(&psem->sem); return TRUE; case TIME_INFINITE: chSemWait(&psem->sem); return TRUE;
@ -158,7 +158,11 @@ gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_
{ {
if (!stackarea) { if (!stackarea) {
if (!stacksz) stacksz = 256; if (!stacksz) stacksz = 256;
#if (CH_KERNEL_MAJOR == 2) || (CH_KERNEL_MAJOR == 3)
return chThdCreateFromHeap(0, stacksz, prio, (tfunc_t)fn, param); return chThdCreateFromHeap(0, stacksz, prio, (tfunc_t)fn, param);
#elif CH_KERNEL_MAJOR == 4
return chThdCreateFromHeap(0, stacksz, "ugfx", prio, (tfunc_t)fn, param);
#endif
} }
if (!stacksz) if (!stacksz)

11
src/gos/gos_chibios.h
View file

@ -39,7 +39,7 @@
#if !defined(TRUE) #if !defined(TRUE)
#define TRUE -1 #define TRUE -1
#endif #endif
#if CH_KERNEL_MAJOR == 3 #if (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
typedef char bool_t; typedef char bool_t;
#endif #endif
@ -66,7 +66,7 @@ typedef tprio_t threadpriority_t;
typedef Mutex gfxMutex; typedef Mutex gfxMutex;
typedef Thread* gfxThreadHandle; typedef Thread* gfxThreadHandle;
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
#undef DECLARE_THREAD_STACK #undef DECLARE_THREAD_STACK
#define DECLARE_THREAD_STACK(a, b) THD_WORKING_AREA(a, b) #define DECLARE_THREAD_STACK(a, b) THD_WORKING_AREA(a, b)
@ -95,7 +95,7 @@ extern "C" {
#define gfxMutexExit(pmutex) chMtxUnlock() #define gfxMutexExit(pmutex) chMtxUnlock()
#define gfxExit() chSysHalt() #define gfxExit() chSysHalt()
#define gfxHalt(msg) { chDbgPanic(msg); chSysHalt(); } #define gfxHalt(msg) { chDbgPanic(msg); chSysHalt(); }
#elif CH_KERNEL_MAJOR == 3 #elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
#define gfxSystemTicks() chVTGetSystemTimeX() #define gfxSystemTicks() chVTGetSystemTimeX()
#define gfxMutexInit(pmutex) chMtxObjectInit(pmutex) #define gfxMutexInit(pmutex) chMtxObjectInit(pmutex)
#define gfxMutexExit(pmutex) chMtxUnlock(pmutex) #define gfxMutexExit(pmutex) chMtxUnlock(pmutex)
@ -120,8 +120,13 @@ bool_t gfxSemWait(gfxSem *psem, delaytime_t ms);
bool_t gfxSemWaitI(gfxSem *psem); bool_t gfxSemWaitI(gfxSem *psem);
void gfxSemSignal(gfxSem *psem); void gfxSemSignal(gfxSem *psem);
void gfxSemSignalI(gfxSem *psem); void gfxSemSignalI(gfxSem *psem);
#if (CH_KERNEL_MAJOR == 2) || (CH_KERNEL_MAJOR == 3)
#define gfxSemCounterI(psem) ((psem)->sem.s_cnt) #define gfxSemCounterI(psem) ((psem)->sem.s_cnt)
#define gfxSemCounter(psem) ((psem)->sem.s_cnt) #define gfxSemCounter(psem) ((psem)->sem.s_cnt)
#elif (CH_KERNEL_MAJOR == 4)
#define gfxSemCounterI(psem) ((psem)->sem.cnt)
#define gfxSemCounter(psem) ((psem)->sem.cnt)
#endif
gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param); gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param);
#define gfxThreadWait(thread) chThdWait(thread) #define gfxThreadWait(thread) chThdWait(thread)
#define gfxThreadMe() chThdSelf() #define gfxThreadMe() chThdSelf()