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[rtos] Make sure RTOS_WAIT_MS() sleeps > 0 ticks; Add RTOS_GET_MS(); Calculate ticks per ms at compile time; Fix field narrowing warning on RTOS_GET_TIME().

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This commit is contained in:
Max Paperno
2018-09-08 18:51:36 -04:00
parent 55789db088
commit 691d3e6e33
1 changed files with 33 additions and 13 deletions
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radio/src/rtos.h
+33 -13
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@@ -27,9 +27,10 @@
extern "C++" {
#endif
#define doNothing() do { } while(0)
#define doNothing() do { } while(0) // seems unused? don't ever use this with SIMU
#if defined(SIMU)
#include <pthread.h>
#include <semaphore.h>
#if __GNUC__
@@ -46,6 +47,13 @@ extern "C++" {
}
#endif
typedef pthread_t RTOS_TASK_HANDLE;
typedef pthread_mutex_t RTOS_MUTEX_HANDLE;
typedef uint32_t RTOS_FLAG_HANDLE;
typedef sem_t * RTOS_EVENT_HANDLE;
extern uint64_t simuTimerMicros(void);
static inline void RTOS_INIT()
{
}
@@ -64,11 +72,6 @@ extern "C++" {
msleep(x * 2);
}
typedef pthread_t RTOS_TASK_HANDLE;
typedef pthread_mutex_t RTOS_MUTEX_HANDLE;
typedef uint32_t RTOS_FLAG_HANDLE;
typedef sem_t * RTOS_EVENT_HANDLE;
#ifdef __cplusplus
static inline void RTOS_CREATE_MUTEX(pthread_mutex_t &mutex)
{
@@ -133,15 +136,21 @@ extern "C++" {
{
return 500;
}
#endif
#endif // __cplusplus
// return 2ms resolution to match CoOS settings
static inline uint32_t RTOS_GET_TIME(void)
{
extern uint64_t simuTimerMicros(void);
return simuTimerMicros() / 2000;
return (uint32_t)(simuTimerMicros() / 2000);
}
static inline uint32_t RTOS_GET_MS(void)
{
return (uint32_t)(simuTimerMicros() / 1000);
}
#elif defined(RTOS_COOS)
#ifdef __cplusplus
extern "C" {
#endif
@@ -150,6 +159,8 @@ extern "C++" {
}
#endif
#define RTOS_MS_PER_TICK (CFG_CPU_FREQ / CFG_SYSTICK_FREQ / (CFG_CPU_FREQ / 1000)) // RTOS timer tick length in ms (currently 2)
typedef OS_TID RTOS_TASK_HANDLE;
typedef OS_MutexID RTOS_MUTEX_HANDLE;
typedef OS_FlagID RTOS_FLAG_HANDLE;
@@ -167,7 +178,11 @@ extern "C++" {
static inline void RTOS_WAIT_MS(unsigned x)
{
CoTickDelay(x / 2);
if (!x)
return;
if ((x = x / RTOS_MS_PER_TICK) < 1)
x = 1;
CoTickDelay(x);
}
static inline void RTOS_WAIT_TICKS(unsigned x)
@@ -193,7 +208,7 @@ extern "C++" {
{
CoLeaveMutexSection(mutex);
}
#endif
#endif // __cplusplus
static inline uint16_t getStackAvailable(void * address, uint16_t size)
{
@@ -252,7 +267,12 @@ extern "C++" {
static inline uint32_t RTOS_GET_TIME(void)
{
return CoGetOSTime();
return (uint32_t)CoGetOSTime();
}
static inline uint32_t RTOS_GET_MS(void)
{
return (RTOS_GET_TIME() * RTOS_MS_PER_TICK);
}
#define RTOS_DEFINE_STACK(name, size) TaskStack<size> __ALIGNED(8) name // stack must be aligned to 8 bytes otherwise printf for %f does not work!
@@ -272,7 +292,7 @@ extern "C++" {
static inline void RTOS_WAIT_TICKS(unsigned x)
{
}
#endif
#endif // RTOS type
#ifdef __cplusplus
}