mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.4 KiB
C++
137 lines
3.4 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "Semaphores.h"
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#include <hal.h>
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#include <chsem.h>
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#include "AP_HAL_ChibiOS.h"
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#include <AP_Math/AP_Math.h>
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#if CH_CFG_USE_MUTEXES == TRUE
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extern const AP_HAL::HAL& hal;
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using namespace ChibiOS;
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// constructor
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Semaphore::Semaphore()
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{
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static_assert(sizeof(_lock) >= sizeof(mutex_t), "invalid mutex size");
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mutex_t *mtx = (mutex_t *)_lock;
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chMtxObjectInit(mtx);
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}
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bool Semaphore::give()
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{
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mutex_t *mtx = (mutex_t *)_lock;
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chMtxUnlock(mtx);
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return true;
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}
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bool Semaphore::take(uint32_t timeout_ms)
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{
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mutex_t *mtx = (mutex_t *)_lock;
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if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
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chMtxLock(mtx);
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return true;
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}
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if (take_nonblocking()) {
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return true;
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}
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uint64_t start = AP_HAL::micros64();
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do {
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hal.scheduler->delay_microseconds(200);
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if (take_nonblocking()) {
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return true;
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}
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} while ((AP_HAL::micros64() - start) < timeout_ms*1000);
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return false;
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}
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bool Semaphore::take_nonblocking()
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{
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mutex_t *mtx = (mutex_t *)_lock;
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return chMtxTryLock(mtx);
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}
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bool Semaphore::check_owner(void)
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{
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mutex_t *mtx = (mutex_t *)_lock;
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return mtx->owner == chThdGetSelfX();
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}
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void Semaphore::assert_owner(void)
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{
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osalDbgAssert(check_owner(), "owner");
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}
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#if CH_CFG_USE_SEMAPHORES == TRUE
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BinarySemaphore::BinarySemaphore(bool initial_state) :
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AP_HAL::BinarySemaphore(initial_state)
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{
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static_assert(sizeof(_lock) >= sizeof(semaphore_t), "invalid semaphore_t size");
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auto *sem = (binary_semaphore_t *)_lock;
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/*
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the initial_state in ChibiOS binary semaphores is 'taken', so we
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need to negate it for the ArduPilot semantics
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*/
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chBSemObjectInit(sem, !initial_state);
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}
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bool BinarySemaphore::wait(uint32_t timeout_us)
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{
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auto *sem = (binary_semaphore_t *)_lock;
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if (timeout_us == 0) {
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return chBSemWaitTimeout(sem, TIME_IMMEDIATE) == MSG_OK;
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}
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// loop waiting for 60ms at a time. This ensures we can wait for
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// any amount of time even on systems with a 16 bit timer
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while (timeout_us > 0) {
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const uint32_t us = MIN(timeout_us, 60000U);
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if (chBSemWaitTimeout(sem, TIME_US2I(us)) == MSG_OK) {
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return true;
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}
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timeout_us -= us;
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}
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return false;
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}
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bool BinarySemaphore::wait_blocking(void)
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{
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auto *sem = (binary_semaphore_t *)_lock;
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return chBSemWait(sem) == MSG_OK;
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}
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void BinarySemaphore::signal(void)
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{
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auto *sem = (binary_semaphore_t *)_lock;
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chBSemSignal(sem);
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}
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void BinarySemaphore::signal_ISR(void)
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{
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auto *sem = (binary_semaphore_t *)_lock;
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chSysLockFromISR();
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chBSemSignalI(sem);
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chSysUnlockFromISR();
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}
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#endif // CH_CFG_USE_SEMAPHORES == TRUE
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#endif // CH_CFG_USE_MUTEXES
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