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/*
* 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.io/license.html
*/
#ifndef _GOS_CHIBIOS_H
#define _GOS_CHIBIOS_H
#if GFX_USE_OS_CHIBIOS
#if GFX_COMPAT_V2
// This shouldn't be needed but some people are complaining
// about TRUE/FALSE redefinition so we fix it here.
// ChibiOS will define them in its own header files.
#undef TRUE
#undef FALSE
#endif
#include "ch.h"
#include "hal.h"
/*===========================================================================*/
/* Type definitions */
/*===========================================================================*/
#define gDelayNone TIME_IMMEDIATE
#define gDelayForever TIME_INFINITE
#if CH_KERNEL_MAJOR <= 4
typedef systime_t gDelay;
#else
typedef sysinterval_t gDelay;
#endif
typedef systime_t gTicks;
typedef cnt_t gSemcount;
#if CH_KERNEL_MAJOR >= 6
typedef void gThreadreturn;
#else
typedef msg_t gThreadreturn;
#endif
typedef tprio_t gThreadpriority;
#define gSemMaxCount ((gSemcount)(((unsigned long)((gSemcount)(-1))) >> 1))
#define gThreadpriorityLow LOWPRIO
#define gThreadpriorityNormal NORMALPRIO
#define gThreadpriorityHigh HIGHPRIO
#define GFX_THREAD_STACK(name, sz) WORKING_AREA(name, sz)
#define GFX_THREAD_FUNCTION(fnName, param) gThreadreturn fnName(void *param)
#define gfxThreadReturn(retval) return retval
#if CH_KERNEL_MAJOR <= 2
typedef struct {
Semaphore sem;
gSemcount limit;
} gSem;
typedef Mutex gMutex;
typedef Thread* gThread;
#else
#undef GFX_THREAD_STACK
#define GFX_THREAD_STACK(a, b) THD_WORKING_AREA(a, b)
typedef struct {
semaphore_t sem;
gSemcount limit;
} gSem;
typedef mutex_t gMutex;
typedef thread_t* gThread;
#endif
/*===========================================================================*/
/* Function declarations. */
/*===========================================================================*/
// First the kernel version specific ones
#if CH_KERNEL_MAJOR <= 2
#define gfxSystemTicks() chTimeNow()
#define gfxMutexInit(pmutex) chMtxInit(pmutex)
#define gfxMutexExit(pmutex) chMtxUnlock()
#define gfxExit() chSysHalt()
#define gfxHalt(msg) { chDbgPanic(msg); chSysHalt(); }
#else
#define gfxSystemTicks() chVTGetSystemTimeX()
#define gfxMutexInit(pmutex) chMtxObjectInit(pmutex)
#define gfxMutexExit(pmutex) chMtxUnlock(pmutex)
#define gfxExit() osalSysHalt("gfx_exit")
#define gfxHalt(msg) { chSysHalt(msg); }
#endif
#if CH_KERNEL_MAJOR <= 4
#define gfxMillisecondsToTicks(ms) MS2ST(ms)
#else
#define gfxMillisecondsToTicks(ms) TIME_MS2I(ms)
#endif
#define gfxAlloc(sz) chHeapAlloc(0, sz)
#define gfxFree(ptr) chHeapFree(ptr)
#define gfxYield() chThdYield()
#define gfxSystemLock() chSysLock()
#define gfxSystemUnlock() chSysUnlock()
#define gfxMutexDestroy(pmutex) (void)pmutex
#define gfxMutexEnter(pmutex) chMtxLock(pmutex)
void *gfxRealloc(void *ptr, gMemSize oldsz, gMemSize newsz);
void gfxSleepMilliseconds(gDelay ms);
void gfxSleepMicroseconds(gDelay ms);
void gfxSemInit(gSem *psem, gSemcount val, gSemcount limit);
void gfxSemDestroy(gSem *psem);
gBool gfxSemWait(gSem *psem, gDelay ms);
gBool gfxSemWaitI(gSem *psem);
void gfxSemSignal(gSem *psem);
void gfxSemSignalI(gSem *psem);
gThread gfxThreadCreate(void *stackarea, gMemSize stacksz, gThreadpriority prio, GFX_THREAD_FUNCTION((*fn),p), void *param);
#define gfxThreadWait(thread) chThdWait(thread)
#define gfxThreadMe() chThdSelf()
#define gfxThreadClose(thread) (void)thread
#endif /* GFX_USE_OS_CHIBIOS */
#endif /* _GOS_CHIBIOS_H */