LibrePilot/flight/pios/common/pios_semaphore.c

/**
 ******************************************************************************
 * @file       pios_semaphore.c
 * @author     Tau Labs, http://taulabs.org, Copyright (C) 2013-2014
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_Semaphore Semaphore Abstraction
 * @{
 * @brief Abstracts the concept of a binary semaphore to hide different implementations
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "pios.h"
#include "pios_semaphore.h"

#if !defined(PIOS_INCLUDE_FREERTOS) && !defined(PIOS_INCLUDE_CHIBIOS) && !defined(PIOS_INCLUDE_IRQ)
#error "pios_semaphore.c requires either PIOS_INCLUDE_FREERTOS, PIOS_INCLUDE_CHIBIOS or PIOS_INCLUDE_IRQ to be defined"
#endif

#if defined(PIOS_INCLUDE_FREERTOS)

#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

// portTICK_RATE_MS is in [ms/tick].
// See http://sourceforge.net/tracker/?func=detail&aid=3498382&group_id=111543&atid=659636
#define TICKS2MS(t) ((t) * (portTICK_RATE_MS))
#define MS2TICKS(m) ((m) / (portTICK_RATE_MS))

/**
 *
 * @brief   Creates a binary semaphore.
 *
 * @returns instance of @p struct pios_semaphore or NULL on failure
 *
 */
struct pios_semaphore *PIOS_Semaphore_Create(void)
{
    struct pios_semaphore *sema = pios_malloc(sizeof(struct pios_semaphore));

    if (sema == NULL) {
        return NULL;
    }

    /*
     * The initial state of a binary semaphore is "given".
     * FreeRTOS executes a "give" upon creation.
     */
    xSemaphoreHandle temp;
    vSemaphoreCreateBinary(temp);
    sema->sema_handle = (uintptr_t)temp;

    return sema;
}

/**
 *
 * @brief   Takes binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[in] timeout_ms   timeout for acquiring the lock in milliseconds
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take(struct pios_semaphore *sema, uint32_t timeout_ms)
{
    PIOS_Assert(sema != NULL);

    portTickType timeout_ticks;
    if (timeout_ms == PIOS_SEMAPHORE_TIMEOUT_MAX) {
        timeout_ticks = portMAX_DELAY;
    } else {
        timeout_ticks = MS2TICKS(timeout_ms);
    }

    return xSemaphoreTake(sema->sema_handle, timeout_ticks) == pdTRUE;
}

/**
 *
 * @brief   Gives binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give(struct pios_semaphore *sema)
{
    PIOS_Assert(sema != NULL);

    return xSemaphoreGive(sema->sema_handle) == pdTRUE;
}

/* Workaround for simulator version of FreeRTOS. */
#if !defined(SIM_POSIX)
/**
 *
 * @brief   Takes binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take_FromISR(struct pios_semaphore *sema, bool *woken)
{
    PIOS_Assert(sema != NULL);
    PIOS_Assert(woken != NULL);

    signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

    bool result = xSemaphoreTakeFromISR(sema->sema_handle, &xHigherPriorityTaskWoken) == pdTRUE;

    *woken = *woken || xHigherPriorityTaskWoken == pdTRUE;

    return result;
}

/**
 *
 * @brief   Gives binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give_FromISR(struct pios_semaphore *sema, bool *woken)
{
    PIOS_Assert(sema != NULL);
    PIOS_Assert(woken != NULL);

    signed portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

    bool result = xSemaphoreGiveFromISR(sema->sema_handle, &xHigherPriorityTaskWoken) == pdTRUE;

    *woken = *woken || xHigherPriorityTaskWoken == pdTRUE;

    return result;
}
#endif /* !defined(SIM_POSIX) */

#elif defined(PIOS_INCLUDE_CHIBIOS)

/**
 *
 * @brief   Creates a binary semaphore.
 *
 * @returns instance of @p struct pios_semaphore or NULL on failure
 *
 */
struct pios_semaphore *PIOS_Semaphore_Create(void)
{
    struct pios_semaphore *sema = PIOS_malloc(sizeof(struct pios_semaphore));

    if (sema == NULL) {
        return NULL;
    }

    /*
     * The initial state of a binary semaphore is "given".
     */
    chBSemInit(&sema->sema, false);

    return sema;
}

/**
 *
 * @brief   Takes binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[in] timeout_ms   timeout for acquiring the lock in milliseconds
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take(struct pios_semaphore *sema, uint32_t timeout_ms)
{
    PIOS_Assert(sema != NULL);

    if (timeout_ms == PIOS_SEMAPHORE_TIMEOUT_MAX) {
        return chBSemWait(&sema->sema) == RDY_OK;
    } else if (timeout_ms == 0) {
        return chBSemWaitTimeout(&sema->sema, TIME_IMMEDIATE) == RDY_OK;
    } else {
        return chBSemWaitTimeout(&sema->sema, MS2ST(timeout_ms)) == RDY_OK;
    }
}

/**
 *
 * @brief   Gives binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give(struct pios_semaphore *sema)
{
    PIOS_Assert(sema != NULL);

    chBSemSignal(&sema->sema);

    return true;
}

/**
 *
 * @brief   Takes binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take_FromISR(struct pios_semaphore *sema, bool *woken)
{
    /* Waiting on a semaphore within an interrupt is not supported by ChibiOS. */
    PIOS_Assert(false);
    return false;
}

/**
 *
 * @brief   Gives binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give_FromISR(struct pios_semaphore *sema, bool *woken)
{
    PIOS_Assert(sema != NULL);
    PIOS_Assert(woken != NULL);

    chSysLockFromIsr();
    chBSemSignalI(&sema->sema);
    chSysUnlockFromIsr();

    return true;
}

#elif defined(PIOS_INCLUDE_IRQ)

/**
 *
 * @brief   Creates a binary semaphore.
 *
 * @returns instance of @p struct pios_semaphore or NULL on failure
 *
 */
struct pios_semaphore *PIOS_Semaphore_Create(void)
{
    struct pios_semaphore *sema = PIOS_malloc_no_dma(sizeof(struct pios_semaphore));

    if (sema == NULL) {
        return NULL;
    }

    /*
     * The initial state of a binary semaphore is "given".
     */
    sema->sema_count = 1;

    return sema;
}

/**
 *
 * @brief   Takes binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[in] timeout_ms   timeout for acquiring the lock in milliseconds
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take(struct pios_semaphore *sema, uint32_t timeout_ms)
{
    PIOS_Assert(sema != NULL);

    uint32_t start = PIOS_DELAY_GetRaw();

    uint32_t temp_sema_count;
    do {
        PIOS_IRQ_Disable();
        if ((temp_sema_count = sema->sema_count) != 0) {
            --sema->sema_count;
        }
        PIOS_IRQ_Enable();
    } while (temp_sema_count == 0 &&
             PIOS_DELAY_DiffuS(start) < timeout_ms * 1000);

    return temp_sema_count != 0;
}

/**
 *
 * @brief   Gives binary semaphore.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give(struct pios_semaphore *sema)
{
    PIOS_Assert(sema != NULL);

    bool result = true;

    PIOS_IRQ_Disable();

    if (sema->sema_count == 0) {
        ++sema->sema_count;
    } else {
        result = false;
    }

    PIOS_IRQ_Enable();

    return result;
}

/* Workaround for simulator version of FreeRTOS. */
#if !defined(SIM_POSIX)
/**
 *
 * @brief   Takes binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Take_FromISR(struct pios_semaphore *sema, bool *woken)
{
    PIOS_Assert(sema != NULL);

    bool result = true;

    PIOS_IRQ_Disable();

    if (sema->sema_count != 0) {
        --sema->sema_count;
    } else {
        result = false;
    }

    PIOS_IRQ_Enable();

    return result;
}

/**
 *
 * @brief   Gives binary semaphore from ISR context.
 *
 * @param[in] sema         pointer to instance of @p struct pios_semaphore
 * @param[out] woken       pointer to bool which will be set true if a context switch is required
 *
 * @returns true on success or false on timeout or failure
 *
 */
bool PIOS_Semaphore_Give_FromISR(struct pios_semaphore *sema, bool *woken)
{
    PIOS_Assert(sema != NULL);

    bool result = true;

    PIOS_IRQ_Disable();

    if (sema->sema_count == 0) {
        ++sema->sema_count;
    } else {
        result = false;
    }

    PIOS_IRQ_Enable();

    return result;
}
#endif /* !defined(SIM_POSIX) */

#endif /* defined(PIOS_INCLUDE_IRQ) */