gos_chibios.h

/*
 * 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
 */

#ifndef _GOS_CHIBIOS_H
#define _GOS_CHIBIOS_H

#if GFX_USE_OS_CHIBIOS

// This shouldn't be needed but some people are complaining
// about TRUE/FALSE redefinition so we fix it here.
#undef TRUE
#undef FALSE

#include "ch.h"
#include "hal.h"

/*===========================================================================*/
/* Type definitions                                                          */
/*===========================================================================*/

/**
 * bool_t,
 * int8_t, uint8_t,
 * int16_t, uint16_t,
 * int32_t, uint32_t,
 * size_t
 * TRUE, FALSE
 * TIME_IMMEDIATE, TIME_INFINITE
 * are already defined by ChibiOS
 */

#if !defined(FALSE)
  #define FALSE       0
#endif
#if !defined(TRUE)
  #define TRUE        -1
#endif
#if (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
  typedef char  bool_t;
#endif

typedef systime_t delaytime_t;
typedef systime_t systemticks_t;
typedef cnt_t   semcount_t;
typedef msg_t   threadreturn_t;
typedef tprio_t   threadpriority_t;

#define MAX_SEMAPHORE_COUNT     ((semcount_t)(((unsigned long)((semcount_t)(-1))) >> 1))
#define LOW_PRIORITY        LOWPRIO
#define NORMAL_PRIORITY       NORMALPRIO
#define HIGH_PRIORITY       HIGHPRIO

#define DECLARE_THREAD_STACK(name, sz)      WORKING_AREA(name, sz)
#define DECLARE_THREAD_FUNCTION(fnName, param)  threadreturn_t fnName(void *param)
#define THREAD_RETURN(retval)         return retval

#if CH_KERNEL_MAJOR == 2
  typedef struct {
    Semaphore sem;
    semcount_t  limit;
  } gfxSem;

  typedef Mutex   gfxMutex;
  typedef Thread*   gfxThreadHandle;
#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
  #undef DECLARE_THREAD_STACK
  #define DECLARE_THREAD_STACK(a, b)  THD_WORKING_AREA(a, b)
  
  typedef struct {
    semaphore_t sem;
    semcount_t  limit;
  } gfxSem;

  typedef mutex_t   gfxMutex;
  typedef thread_t* gfxThreadHandle;
#endif


/*===========================================================================*/
/* Function declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif

// 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(); }
#elif (CH_KERNEL_MAJOR == 3) || (CH_KERNEL_MAJOR == 4)
  #define gfxSystemTicks()      chVTGetSystemTimeX()
  #define gfxMutexInit(pmutex)    chMtxObjectInit(pmutex)
  #define gfxMutexExit(pmutex)    chMtxUnlock(pmutex)
  #define gfxExit()         osalSysHalt("gfx_exit")
#define gfxHalt(msg)          { chSysHalt(msg); }
#endif

#define gfxAlloc(sz)        chHeapAlloc(0, sz)
#define gfxFree(ptr)        chHeapFree(ptr)
#define gfxYield()          chThdYield()
#define gfxMillisecondsToTicks(ms)  MS2ST(ms)
#define gfxSystemLock()       chSysLock()
#define gfxSystemUnlock()     chSysUnlock()
#define gfxMutexDestroy(pmutex)   (void)pmutex
#define gfxMutexEnter(pmutex)   chMtxLock(pmutex)
void *gfxRealloc(void *ptr, size_t oldsz, size_t newsz);
void gfxSleepMilliseconds(delaytime_t ms);
void gfxSleepMicroseconds(delaytime_t ms);
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 gfxThreadWait(thread)   chThdWait(thread)
#define gfxThreadMe()       chThdSelf()
#define gfxThreadClose(thread)    (void)thread

#ifdef __cplusplus
}
#endif

#endif /* GFX_USE_OS_CHIBIOS */
#endif /* _GOS_CHIBIOS_H */