diff --git a/src/gos/gos.h b/src/gos/gos.h index 9d32867a..af9486f8 100644 --- a/src/gos/gos.h +++ b/src/gos/gos.h @@ -69,6 +69,16 @@ */ #define DECLARE_THREAD_STACK(name, sz) uint8_t name[sz]; + /* + * @brief Return from a thread + * + * @details Some underlying operating systems allow to return a value from a thread while others don't. + * For systems that don't allow to return a value from a thread function this call is simply ignored. + * + * @param[in] reval The value which should be returned + */ + #define THREAD_RETURN(retval); + /** * @name Various platform (and operating system) constants * @note Your platform may use slightly different definitions to these @@ -464,6 +474,8 @@ #include "src/gos/gos_ecos.h" #elif GFX_USE_OS_ARDUINO #include "src/gos/gos_arduino.h" +#elif GFX_USE_OS_CMSIS + #include "src/gos/gos_cmsis.h" #elif GFX_USE_OS_KEIL #include "src/gos/gos_keil.h" #else diff --git a/src/gos/gos.mk b/src/gos/gos.mk index 8e8eb907..048e687f 100644 --- a/src/gos/gos.mk +++ b/src/gos/gos.mk @@ -12,7 +12,7 @@ GFXSRC += $(GFXLIB)/src/gos/gos_chibios.c \ $(GFXLIB)/src/gos/gos_ecos.c \ $(GFXLIB)/src/gos/gos_rawrtos.c \ $(GFXLIB)/src/gos/gos_arduino.c \ - $(GFXLIB)/src/gos/gos_keil.c \ + $(GFXLIB)/src/gos/gos_cmsis.c \ $(GFXLIB)/src/gos/gos_x_threads.c \ $(GFXLIB)/src/gos/gos_x_heap.c diff --git a/src/gos/gos_cmsis.c b/src/gos/gos_cmsis.c new file mode 100644 index 00000000..26a3f7f0 --- /dev/null +++ b/src/gos/gos_cmsis.c @@ -0,0 +1,89 @@ +/* + * This file is subject to the terms of the GFX License. If a copy of + * the license was not distributed with this file, you can obtain one at: + * + * http://ugfx.org/license.html + */ + +#include "gfx.h" +#include + +#if GFX_USE_OS_CMSIS + +void _gosHeapInit(void); + +void _gosInit(void) +{ + #if !GFX_OS_NO_INIT + osKernelInitialize(); + if (!osKernelRunning()) + osKernelStart(); + #elif !GFX_OS_INIT_NO_WARNING + #warning "GOS: Operating System initialization has been turned off. Make sure you call osKernelInitialize() and osKernelStart() before gfxInit() in your application!" + #endif + + // Set up the heap allocator + _gosHeapInit(); +} + +void _gosDeinit(void) +{ +} + +void gfxMutexInit(gfxMutex* pmutex) +{ + pmutex->id = osMutexCreate(&(pmutex->def)); +} + +void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit) +{ + psem->id = osSemaphoreCreate(&(psem->def), limit); + while(val--) + osSemaphoreRelease(psem->id); +} + +void gfxSemDestroy(gfxSem* psem) +{ + osSemaphoreDelete(psem->id); +} + +bool_t gfxSemWait(gfxSem* psem, delaytime_t ms) +{ + return osSemaphoreWait(psem->id, ms) > 0; +} + +bool_t gfxSemWaitI(gfxSem* psem) +{ + return osSemaphoreWait(psem->id, 0) > 0; +} + +void gfxSemSignal(gfxSem* psem) +{ + osSemaphoreRelease(psem->id); +} + +void gfxSemSignalI(gfxSem* psem) +{ + osSemaphoreRelease(psem->id); +} + +gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param) +{ + osThreadDef_t def; + + (void)stackarea; + + def.pthread = (os_pthread)fn; + def.tpriority = prio; + def.instances = 1; + def.stacksize = stacksz; + + return osThreadCreate(&def, param); +} + +threadreturn_t gfxThreadWait(gfxThreadHandle thread) { + while(osThreadGetPriority(thread) == osPriorityError) + gfxYield(); +} + +#endif /* GFX_USE_OS_CMSIS */ diff --git a/src/gos/gos_cmsis.h b/src/gos/gos_cmsis.h new file mode 100644 index 00000000..a0833c07 --- /dev/null +++ b/src/gos/gos_cmsis.h @@ -0,0 +1,105 @@ +/* + * This file is subject to the terms of the GFX License. If a copy of + * the license was not distributed with this file, you can obtain one at: + * + * http://ugfx.org/license.html + */ + +/** + * @file src/gos/gos_cmsis.h + * @brief GOS - Operating System Support header file for CMSIS RTOS. + */ + +#ifndef _GOS_CMSIS_H +#define _GOS_CMSIS_H + +#if GFX_USE_OS_CMSIS + +#include +#include "cmsis_os.h" + +#ifndef GFX_OS_HEAP_SIZE + #define GFX_OS_HEAP_SIZE 10240 +#endif + +/*===========================================================================*/ +/* Type definitions */ +/*===========================================================================*/ + +typedef bool bool_t; + +#define TIME_IMMEDIATE 0 +#define TIME_INFINITE osWaitForever +typedef uint32_t delaytime_t; +typedef uint32_t systemticks_t; +typedef uint16_t semcount_t; +typedef void threadreturn_t; +typedef osPriority threadpriority_t; + +#define MAX_SEMAPHORE_COUNT osFeature_Semaphore +#define LOW_PRIORITY osPriorityLow +#define NORMAL_PRIORITY osPriorityNormal +#define HIGH_PRIORITY osPriorityHigh + +typedef struct gfxSem { + osSemaphoreDef_t def; + osSemaphoreId id; +} gfxSem; + +typedef struct gfxMutex { + osMutexDef_t def; + osMutexId id; +} gfxMutex; + +typedef osThreadId gfxThreadHandle; + +#define DECLARE_THREAD_STACK(name, sz) uint8_t name[1]; // Some compilers don't allow zero sized arrays. Let's waste one byte +#define DECLARE_THREAD_FUNCTION(fnName, param) threadreturn_t fnName(void* param) +#define THREAD_RETURN(retval) + +/*===========================================================================*/ +/* Function declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + +#define gfxExit() os_error(0) +#define gfxHalt(msg) os_error(1) +#define gfxSystemTicks() osKernelSysTick() +#define gfxMillisecondsToTicks(ms) osKernelSysTickMicroSec(1000*ms) +#define gfxSystemLock() osKernelInitialize() +#define gfxSystemUnlock() osKernelStart() +#define gfxSleepMilliseconds(ms) osDelay(ms) + +void gfxMutexInit(gfxMutex* pmutex); +#define gfxMutexDestroy(pmutex) osMutexDelete((pmutex)->id) +#define gfxMutexEnter(pmutex) osMutexWait((pmutex)->id, TIME_INFINITE) +#define gfxMutexExit(pmutex) osMutexRelease((pmutex)->id) + +void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit); +void gfxSemDestroy(gfxSem* psem); +bool_t gfxSemWait(gfxSem* psem, delaytime_t ms); +bool_t gfxSemWaitI(gfxSem* psem); +void gfxSemSignal(gfxSem* psem); +void gfxSemSignalI(gfxSem* psem); + +gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param); +#define gfxYield() osThreadYield() +#define gfxThreadMe() osThreadGetId() +#define gfxThreadClose(thread) {} + +#ifdef __cplusplus +} +#endif + +/*===========================================================================*/ +/* Use the generic heap handling */ +/*===========================================================================*/ + +#define GOS_NEED_X_HEAP TRUE +#include "gos_x_heap.h" + +#endif /* GFX_USE_OS_CMSIS */ +#endif /* _GOS_CMSIS_H */ diff --git a/src/gos/gos_keil.h b/src/gos/gos_keil.h index f3f60113..84530d16 100644 --- a/src/gos/gos_keil.h +++ b/src/gos/gos_keil.h @@ -7,7 +7,7 @@ /** * @file src/gos/gos_keil.h - * @brief GOS - Operating System Support header file for Keil RTX. + * @brief GOS - Operating System Support header file for Keil RTX */ #ifndef _GOS_KEIL_H @@ -15,91 +15,13 @@ #if GFX_USE_OS_KEIL -#include -#include "cmsis_os.h" +/* + * Keil RTX uses the CMSIS RTOS interface. Therefore, just use the CMSIS RTOS port + */ +#define GFX_USE_OS_KEIL FALSE // Disable KEIL to avoid error: "GOS: More than one operation system has been defined as TRUE." +#define GFX_USE_OS_CMSIS TRUE -#ifndef GFX_OS_HEAP_SIZE - #define GFX_OS_HEAP_SIZE 10240 -#endif - -/*===========================================================================*/ -/* Type definitions */ -/*===========================================================================*/ - -typedef bool bool_t; - -#define TIME_IMMEDIATE 0 -#define TIME_INFINITE osWaitForever -typedef uint32_t delaytime_t; -typedef uint32_t systemticks_t; -typedef uint16_t semcount_t; -typedef void threadreturn_t; -typedef osPriority threadpriority_t; - -#define MAX_SEMAPHORE_COUNT osFeature_Semaphore -#define LOW_PRIORITY osPriorityLow -#define NORMAL_PRIORITY osPriorityNormal -#define HIGH_PRIORITY osPriorityHigh - -typedef struct gfxSem { - osSemaphoreDef_t def; - osSemaphoreId id; -} gfxSem; - -typedef struct gfxMutex { - osMutexDef_t def; - osMutexId id; -} gfxMutex; - -typedef osThreadId gfxThreadHandle; - -#define DECLARE_THREAD_STACK(name, sz) uint8_t name[1]; // Some compilers don't allow zero sized arrays. Let's waste one byte -#define DECLARE_THREAD_FUNCTION(fnName, param) threadreturn_t fnName(void* param) -#define THREAD_RETURN(retval) - -/*===========================================================================*/ -/* Function declarations. */ -/*===========================================================================*/ - -#ifdef __cplusplus -extern "C" { -#endif - -#define gfxExit() os_error(0) -#define gfxHalt(msg) os_error(1) -#define gfxSystemTicks() osKernelSysTick() -#define gfxMillisecondsToTicks(ms) osKernelSysTickMicroSec(1000*ms) -#define gfxSystemLock() osKernelInitialize() -#define gfxSystemUnlock() osKernelStart() -#define gfxSleepMilliseconds(ms) osDelay(ms) - -void gfxMutexInit(gfxMutex* pmutex); -#define gfxMutexDestroy(pmutex) osMutexDelete((pmutex)->id) -#define gfxMutexEnter(pmutex) osMutexWait((pmutex)->id, TIME_INFINITE) -#define gfxMutexExit(pmutex) osMutexRelease((pmutex)->id) - -void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit); -void gfxSemDestroy(gfxSem* psem); -bool_t gfxSemWait(gfxSem* psem, delaytime_t ms); -bool_t gfxSemWaitI(gfxSem* psem); -void gfxSemSignal(gfxSem* psem); -void gfxSemSignalI(gfxSem* psem); - -gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param); -#define gfxYield() osThreadYield() -#define gfxThreadMe() osThreadGetId() -#define gfxThreadClose(thread) {} - -#ifdef __cplusplus -} -#endif - -/*===========================================================================*/ -/* Use the generic heap handling */ -/*===========================================================================*/ - -#define GOS_NEED_X_HEAP TRUE -#include "gos_x_heap.h" +#include "gos_cmsis.h" #endif /* GFX_USE_OS_KEIL */ #endif /* _GOS_KEIL_H */ diff --git a/src/gos/gos_mk.c b/src/gos/gos_mk.c index 13808791..49d6efb9 100644 --- a/src/gos/gos_mk.c +++ b/src/gos/gos_mk.c @@ -14,6 +14,6 @@ #include "gos_raw32.c" #include "gos_rawrtos.c" #include "gos_win32.c" -#include "gos_keil.c" +#include "gos_cmsis.c" #include "gos_x_threads.c" #include "gos_x_heap.c" diff --git a/src/gos/gos_options.h b/src/gos/gos_options.h index 1521a123..37007650 100644 --- a/src/gos/gos_options.h +++ b/src/gos/gos_options.h @@ -76,12 +76,19 @@ #ifndef GFX_USE_OS_ARDUINO #define GFX_USE_OS_ARDUINO FALSE #endif + /** + * @brief Use CMSIS RTOS compatible OS + * @details Defaults to FALSE + */ + #ifndef GFX_USE_OS_CMSIS + #define GFX_USE_OS_CMSIS FALSE + #endif /** * @brief Use Keil CMSIS * @details Defaults to FALSE */ #ifndef GFX_USE_OS_KEIL - #define GFX_USE_OS_KEIL FALSE + #define GFX_USE_OS_KEIL FALSE #endif /** * @} diff --git a/src/gos/gos_rules.h b/src/gos/gos_rules.h index 49d32b1d..0f0f6596 100644 --- a/src/gos/gos_rules.h +++ b/src/gos/gos_rules.h @@ -16,7 +16,7 @@ #ifndef _GOS_RULES_H #define _GOS_RULES_H -#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32 && !GFX_USE_OS_FREERTOS && !GFX_USE_OS_ECOS && !GFX_USE_OS_RAWRTOS && !GFX_USE_OS_ARDUINO && !GFX_USE_OS_KEIL +#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32 && !GFX_USE_OS_FREERTOS && !GFX_USE_OS_ECOS && !GFX_USE_OS_RAWRTOS && !GFX_USE_OS_ARDUINO && !GFX_USE_OS_CMSIS && !GFX_USE_OS_KEIL #if GFX_DISPLAY_RULE_WARNINGS #warning "GOS: No Operating System has been defined. ChibiOS (GFX_USE_OS_CHIBIOS) has been turned on for you." #endif @@ -24,7 +24,7 @@ #define GFX_USE_OS_CHIBIOS TRUE #endif -#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 + GFX_USE_OS_FREERTOS + GFX_USE_OS_ECOS + GFX_USE_OS_RAWRTOS + GFX_USE_OS_ARDUINO + GFX_USE_OS_KEIL != 1 * TRUE +#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 + GFX_USE_OS_FREERTOS + GFX_USE_OS_ECOS + GFX_USE_OS_RAWRTOS + GFX_USE_OS_ARDUINO + GFX_USE_OS_CMSIS + GFX_USE_OS_KEIL != 1 * TRUE #error "GOS: More than one operation system has been defined as TRUE." #endif