169 lines
3.9 KiB
C
169 lines
3.9 KiB
C
/*
|
|
* 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://chibios-gfx.com/license.html
|
|
*/
|
|
|
|
/**
|
|
* @file src/gos/chibios.c
|
|
* @brief GOS ChibiOS Operating System support.
|
|
*/
|
|
#include "gfx.h"
|
|
|
|
#if GFX_USE_OS_POSIX
|
|
|
|
#include <stdio.h>
|
|
#include <unistd.h>
|
|
#include <time.h>
|
|
|
|
static gfxMutex SystemMutex;
|
|
|
|
void _gosInit(void) {
|
|
gfxMutexInit(&SystemMutex);
|
|
}
|
|
|
|
void gfxSystemLock(void) {
|
|
gfxMutexEnter(&SystemMutex);
|
|
}
|
|
|
|
void gfxSystemUnlock(void) {
|
|
gfxMutexLeave(&SystemMutex);
|
|
}
|
|
|
|
void gfxHalt(const char *msg) {
|
|
if (msg)
|
|
fprintf(stderr, "%s\n", msg);
|
|
exit(1);
|
|
}
|
|
|
|
void gfxSleepMilliseconds(delaytime_t ms) {
|
|
struct timespec ts;
|
|
|
|
switch(ms) {
|
|
case TIME_IMMEDIATE: pthread_yield(); return;
|
|
case TIME_INFINITE: while(1) sleep(60); return;
|
|
default:
|
|
ts.tv_sec = ms / 1000;
|
|
ts.tv_nsec = (ms % 1000) * 1000;
|
|
nanosleep(&ts, 0);
|
|
return;
|
|
}
|
|
}
|
|
|
|
void gfxSleepMicroseconds(delaytime_t ms) {
|
|
struct timespec ts;
|
|
|
|
switch(ms) {
|
|
case TIME_IMMEDIATE: pthread_yield(); return;
|
|
case TIME_INFINITE: while(1) sleep(60); return;
|
|
default:
|
|
ts.tv_sec = ms / 1000000;
|
|
ts.tv_nsec = ms % 1000000;
|
|
nanosleep(&ts, 0);
|
|
return;
|
|
}
|
|
}
|
|
|
|
systemticks_t gfxSystemTicks(void) {
|
|
struct timespec ts;
|
|
|
|
clock_gettime(CLOCK_MONOTONIC, &ts);
|
|
return ts.tv_sec * 1000UL + ts.tv_nsec / 1000UL;
|
|
}
|
|
|
|
gfxThreadHandle gfxThreadCreate(void *stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void *param) {
|
|
gfxThreadHandle th;
|
|
|
|
// Implementing priority with pthreads is a rats nest that is also pthreads implementation dependent.
|
|
// Only some pthreads schedulers support it, some implementations use the operating system process priority mechanisms.
|
|
// Even those that do support it can have different ranges of priority and "normal" priority is an undefined concept.
|
|
// Across different UNIX style operating systems things can be very different (let alone OS's such as Windows).
|
|
// Even just Linux changes the way priority works with different kernel schedulers and across kernel versions.
|
|
// For these reasons we ignore the priority.
|
|
|
|
if (pthread_create(&th, 0, fn, param))
|
|
return 0;
|
|
return th;
|
|
}
|
|
|
|
threadreturn_t gfxThreadWait(gfxThreadHandle thread) {
|
|
threadreturn_t retval;
|
|
|
|
if (pthread_join(thread, &retval))
|
|
return 0;
|
|
return retval;
|
|
}
|
|
|
|
void gfxSemInit(gfxSem *psem, semcount_t val, semcount_t limit) {
|
|
pthread_mutex_init(&psem->mtx, 0);
|
|
pthread_cond_init(&psem->cond, 0);
|
|
pthread_mutex_lock(&psem->mtx);
|
|
psem->cnt = val;
|
|
psem->max = limit;
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
}
|
|
|
|
void gfxSemDestroy(gfxSem *psem) {
|
|
pthread_mutex_destroy(&psem->mtx);
|
|
pthread_cond_destroy(&psem->cond);
|
|
}
|
|
|
|
bool_t gfxSemWait(gfxSem *psem, delaytime_t ms) {
|
|
pthread_mutex_lock(&psem->mtx);
|
|
switch (ms) {
|
|
case TIME_INFINITE:
|
|
while (!psem->val)
|
|
pthread_cond_wait(&psem->cond, &psem->mtx);
|
|
break;
|
|
case TIME_IMMEDIATE:
|
|
if (!psem->val) {
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
return FALSE;
|
|
}
|
|
break;
|
|
default:
|
|
{
|
|
struct timeval now;
|
|
struct timespec tm;
|
|
|
|
gettimeofday(&now);
|
|
tm.tv_sec = now.tv_sec + ms / 1000;
|
|
tm.tv_nsec = (now.tv_usec + ms % 1000) * 1000;
|
|
while (!psem->val) {
|
|
if (pthread_cond_timedwait(&psem->cond, &psem->mtx, &tm) == ETIMEDOUT) {
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
return FALSE;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
psem->val--;
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
return TRUE;
|
|
}
|
|
|
|
void gfxSemSignal(gfxSem *psem) {
|
|
pthread_mutex_lock(&psem->mtx);
|
|
if (psem->val < psem->limit) {
|
|
psem->val++;
|
|
pthread_cond_signal(&psem->cond);
|
|
}
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
}
|
|
|
|
semcount_t gfxSemCounter(gfxSem *pSem) {
|
|
semcount_t res;
|
|
|
|
// The locking is really only required if obtaining the count is a divisible operation
|
|
// which it might be on a 8/16 bit processor with a 32 bit semaphore count.
|
|
pthread_mutex_lock(&psem->mtx);
|
|
res = psem->cnt;
|
|
pthread_mutex_unlock(&psem->mtx);
|
|
return res;
|
|
}
|
|
|
|
#endif /* GFX_USE_OS_POSIX */
|
|
/** @} */
|