static msg_t Th2(void *p) {
(void)p;
chRegSetThreadName("Th2");
while (TRUE) {
/////DEVICE 2///////////
if(palReadPad(GPIO1_PORT, GPIO1_PAD) != PAL_HIGH)
{
palWritePad(GPIO22_PORT,GPIO22_PAD,PAL_HIGH);
chSemWait(&mySemaphore);
chprintf((BaseSequentialStream *)&SD1, "D2ON\r\n");
chSemSignal(&mySemaphore);
}else{
palWritePad(GPIO22_PORT,GPIO22_PAD,PAL_LOW);
chSemWait(&mySemaphore);
chprintf((BaseSequentialStream *)&SD1, "D2OFF\r\n");
chSemSignal(&mySemaphore);
}
chThdSleepMilliseconds(1000);
}
return 0;
}
static void test_002_002_execute(void) {
/* The function chSemWait() is invoked, after return the counter and
the returned message are tested. The semaphore is signaled by another
thread.*/
test_set_step(1);
{
msg_t msg;
msg = chSemWait(&gsem1);
test_assert_lock(chSemGetCounterI(&gsem1) == 0,
"wrong counter value");
test_assert(MSG_OK == msg,
"wrong returned message");
}
/* The function chSemWait() is invoked, after return the counter and
the returned message are tested. The semaphore is reset by another
thread.*/
test_set_step(2);
{
msg_t msg;
msg = chSemWait(&gsem2);
test_assert_lock(chSemGetCounterI(&gsem2) == 0,
"wrong counter value");
test_assert(MSG_RESET == msg,
"wrong returned message");
}
}
static void rt_test_005_001_execute(void) {
/* [5.1.1] The function chSemWait() is invoked, after return the
counter and the returned message are tested.*/
test_set_step(1);
{
msg_t msg;
msg = chSemWait(&sem1);
test_assert_lock(chSemGetCounterI(&sem1) == 0, "wrong counter value");
test_assert(MSG_OK == msg, "wrong returned message");
}
/* [5.1.2] The function chSemSignal() is invoked, after return the
counter is tested.*/
test_set_step(2);
{
chSemSignal(&sem1);
test_assert_lock(chSemGetCounterI(&sem1) == 1, "wrong counter value");
}
/* [5.1.3] The function chSemReset() is invoked, after return the
counter is tested.*/
test_set_step(3);
{
chSemReset(&sem1, 2);
test_assert_lock(chSemGetCounterI(&sem1) == 2, "wrong counter value");
}
}
bool_t gfxSemWait(gfxSem *psem, delaytime_t ms)
{
#if CH_KERNEL_MAJOR == 2
switch(ms) {
case TIME_IMMEDIATE: return chSemWaitTimeout(&psem->sem, TIME_IMMEDIATE) != RDY_TIMEOUT;
case TIME_INFINITE: chSemWait(&psem->sem); return TRUE;
default: return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != RDY_TIMEOUT;
}
#elif CH_KERNEL_MAJOR == 3
switch(ms) {
case TIME_IMMEDIATE: return chSemWaitTimeout(&psem->sem, TIME_IMMEDIATE) != MSG_TIMEOUT;
case TIME_INFINITE: chSemWait(&psem->sem); return TRUE;
default: return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != MSG_TIMEOUT;
}
#endif
}
static msg_t thread3(void *p) {
(void)p;
chSemWait(&sem1);
chSemSignal(&sem1);
return 0;
}
bool_t gfxSemWait(gfxSem *psem, delaytime_t ms) {
if (ms == TIME_INFINITE) {
chSemWait(&psem->sem);
return TRUE;
}
return chSemWaitTimeout(&psem->sem, MS2ST(ms)) != RDY_TIMEOUT;
}
static msg_t thread3(void *p) {
(void)p;
while (!chThdShouldTerminate())
chSemWait(&sem1);
return 0;
}
static msg_t Thread1(void *arg) {
while (TRUE) {
chSemWait(&sem);
digitalWrite(LED_PIN, LOW);
}
return 0;
}
msg_t Light::moduleThread(void* arg) {
(void) arg;
bool noRecall = true;
LedData* state;
while (!chThdShouldTerminate()) {
chSemWait(&_sem);
while (TRUE) {
noRecall = true;
for (uint8_t i = 0; i < N_LEDS; ++i) {
if (!data[i].isEmpty()) {
state = data[i].getHead();
switch (state->state) {
case FADE:
state->current.setRGB(state->startColor.getR() + state->diff.getR() * state->steps / state->totalSteps,
state->startColor.getG() + state->diff.getG() * state->steps / state->totalSteps,
state->startColor.getB() + state->diff.getB() * state->steps / state->totalSteps
);
leds[i].shine(state->current);
state->steps++;
if (state->steps == state->totalSteps) {
leds[i].shine(state->endColor);
data[i].pop();
if (!data[i].isEmpty())
noRecall = false;
}
else
noRecall = false;
break;
case SHINE:
break;
case INACTIVE:
break;
}
}
}
waitMs(_threadDelay);
if (noRecall)
break;
}
}
return (msg_t)0;
}
static void _lun_object_deinit(USBHMassStorageLUNDriver *lunp) {
osalDbgCheck(lunp != NULL);
chSemWait(&lunp->sem);
lunp->msdp = NULL;
lunp->next = NULL;
memset(&lunp->info, 0, sizeof(lunp->info));
lunp->state = BLK_STOP;
chSemSignal(&lunp->sem);
}
/**
* @brief Gains exclusive access to the ADC peripheral.
* @details This function tries to gain ownership to the ADC bus, if the bus
* is already being used then the invoking thread is queued.
* @pre In order to use this function the option
* @p ADC_USE_MUTUAL_EXCLUSION must be enabled.
*
* @param[in] adcp pointer to the @p ADCDriver object
*
* @api
*/
void adcAcquireBus(ADCDriver *adcp) {
chDbgCheck(adcp != NULL, "adcAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&adcp->mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&adcp->semaphore);
#endif
}
/**
* @brief Gains exclusive access to the SPI bus.
* @details This function tries to gain ownership to the SPI bus, if the bus
* is already being used then the invoking thread is queued.
* @pre In order to use this function the option @p SPI_USE_MUTUAL_EXCLUSION
* must be enabled.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiAcquireBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&spip->mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&spip->semaphore);
#endif
}
/**
* @brief Gains exclusive access to the I2C bus.
* @details This function tries to gain ownership to the SPI bus, if the bus
* is already being used then the invoking thread is queued.
* @pre In order to use this function the option @p I2C_USE_MUTUAL_EXCLUSION
* must be enabled.
*
* @param[in] i2cp pointer to the @p I2CDriver object
*
* @api
*/
void i2cAcquireBus(I2CDriver *i2cp) {
chDbgCheck(i2cp != NULL, "i2cAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&i2cp->mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&i2cp->semaphore);
#endif
}
/**
* @brief Gains exclusive access to the DAC bus.
* @details This function tries to gain ownership to the DAC bus, if the bus
* is already being used then the invoking thread is queued.
* @pre In order to use this function the option @p DAC_USE_MUTUAL_EXCLUSION
* must be enabled.
*
* @param[in] dacp pointer to the @p DACDriver object
*
* @api
*/
void dacAcquireBus(DACDriver *dacp) {
chDbgCheck(dacp != NULL, "dacAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&dacp->mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&dacp->semaphore);
#endif
}
static msg_t Thread2(void *arg) {
while (i<3) {
chSemWait(&sem); // acquires the semaphore after it is released by thread 1
// ----------------------- This gives the time to acquire the semaphore -----------------------
digitalWrite(LED_PIN, LOW);
i++;
}
return 0;
}
static THD_FUNCTION(mp45dt02ProcessingThd, arg)
{
(void)arg;
chRegSetThreadName(__FUNCTION__);
while (chThdShouldTerminateX() == false)
{
chSemWait(&mp45dt02ProcessingSem);
if (chThdShouldTerminateX() == true)
{
break;
}
if (mp45dt02I2sData.number != MP45DT02_I2S_SAMPLE_SIZE_2B)
{
PRINT_CRITICAL("Unexpected number of samples provided. %d not %d.",
mp45dt02I2sData.number,
MP45DT02_I2S_SAMPLE_SIZE_2B);
}
/**********************************************************************/
/* Convert I2S data to a useful format */
/**********************************************************************/
expand(mp45dt02ExpandedBuffer,
&mp45dt02I2sData.buffer[mp45dt02I2sData.offset]);
/**********************************************************************/
/* Filtering */
/**********************************************************************/
arm_fir_decimate_f32(&cmsisDsp.decimateInstance,
mp45dt02ExpandedBuffer,
mp45dt02DecimatedBuffer,
MP45DT02_EXPANDED_BUFFER_SIZE);
/**********************************************************************/
/* Notify of new data */
/**********************************************************************/
initConfig.fullbufferCb(mp45dt02DecimatedBuffer,
MP45DT02_DECIMATED_BUFFER_SIZE);
if (mp45dt02I2sData.guard != MEMORY_GUARD)
{
PRINT_CRITICAL("Overflow detected.",0);
}
if (cmsisDsp.guard != MEMORY_GUARD)
{
PRINT_CRITICAL("Overflow detected.",0);
}
}
}
static msg_t Thread1(void *arg) {
while (!chThdShouldTerminate()) {
// Wait for signal from thread 2.
chSemWait(&sem);
// Turn LED off.
digitalWrite(LED_PIN, LOW);
}
return 0;
}
void Lcd_t::PrintfInverted(const uint8_t x, const uint8_t y, const char *S, ...) {
msg_t msg = chSemWait(&semLcd);
if(msg == RDY_OK) {
GotoCharXY(x, y);
va_list args;
va_start(args, S);
kl_vsprintf(FLcdPutCharInverted, 16, S, args);
va_end(args);
chSemSignal(&semLcd);
}
}
//-----------------------------------------------------------------------------
static void
return_write_buffer_idx_after_writing(int8_t idx)
{
chSemWait(&write_buffer_semaphore);
// @TODO: optional? Do we really need to memset it? we ARE going to be
// overwriting it
memset(&write_buffers[idx],0,sizeof(write_buffers[idx]));
// if the current idx is -1, then we can assume it's good to go
write_buffers[idx].current_idx = -1;
chSemSignal(&write_buffer_semaphore);
}
//-----------------------------------------------------------------------------
// new file scenario / etc.
static void
flush_write_buffers(void)
{
chSemWait(&write_buffer_semaphore);
memset(&write_buffers, 0, sizeof(write_buffers));
for ( int8_t idx = 0 ; idx < BUFFER_COUNT ; idx++ )
write_buffers[idx].current_idx = -1;
flush_counters();
chSemSignal(&write_buffer_semaphore);
}
static void bmk11_execute(void) {
uint32_t n = 0;
test_wait_tick();
test_start_timer(1000);
do {
chSemWait(&sem1);
chSemSignal(&sem1);
chSemWait(&sem1);
chSemSignal(&sem1);
chSemWait(&sem1);
chSemSignal(&sem1);
chSemWait(&sem1);
chSemSignal(&sem1);
n++;
#if defined(SIMULATOR)
ChkIntSources();
#endif
} while (!test_timer_done);
test_print("--- Score : ");
test_printn(n * 4);
test_println(" wait+signal/S");
}
/**
* TX handler
*/
static void handle_uart_tx(struct uart_periph *p)
{
// check if more data to send
struct SerialInit *init_struct = (struct SerialInit*)(p->init_struct);
chSemWait (init_struct->tx_sem);
while (p->tx_insert_idx != p->tx_extract_idx) {
uint8_t data = p->tx_buf[p->tx_extract_idx];
p->tx_running = true;
sdWrite((SerialDriver *)p->reg_addr, &data, sizeof(data));
p->tx_running = false;
// TODO send by block (be careful with circular buffer)
chMtxLock(init_struct->tx_mtx);
p->tx_extract_idx++;
p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
chMtxUnlock(init_struct->tx_mtx);
}
}
void uart_printf_i(const char *format, ...)
{
va_list ap;
va_start (ap, format);
chSemWait(&uart_sem);
/*
* Build string to send to the buffer.
*/
vsnprintf(uart_print_buf, PRINTF_BUF_SIZE, format, ap);
/*
* Print stuff UART
*/
uartStartSendI(&UARTD3, strlen(uart_print_buf), uart_print_buf);
}
bool usbhmsdLUNDisconnect(USBHMassStorageLUNDriver *lunp) {
osalDbgCheck(lunp != NULL);
chSemWait(&lunp->sem);
osalDbgAssert((lunp->state == BLK_READY) || (lunp->state == BLK_ACTIVE), "invalid state");
if (lunp->state == BLK_ACTIVE) {
chSemSignal(&lunp->sem);
return HAL_SUCCESS;
}
lunp->state = BLK_DISCONNECTING;
//TODO: complete: sync, etc.
lunp->state = BLK_ACTIVE;
chSemSignal(&lunp->sem);
return HAL_SUCCESS;
}
bool usbhmsdLUNWrite(USBHMassStorageLUNDriver *lunp, uint32_t startblk,
const uint8_t *buffer, uint32_t n) {
osalDbgCheck(lunp != NULL);
bool ret = HAL_FAILED;
uint16_t blocks;
msd_result_t res;
uint32_t actual_len;
chSemWait(&lunp->sem);
if (lunp->state != BLK_READY) {
chSemSignal(&lunp->sem);
return ret;
}
lunp->state = BLK_WRITING;
while (n) {
if (n > 0xffff) {
blocks = 0xffff;
} else {
blocks = (uint16_t)n;
}
res = scsi_write10(lunp, startblk, blocks, buffer, &actual_len);
if (res == MSD_RESULT_DISCONNECTED) {
goto exit;
} else if (res == MSD_RESULT_TRANSPORT_ERROR) {
//retry?
goto exit;
} else if (res == MSD_RESULT_FAILED) {
//retry?
goto exit;
}
n -= blocks;
startblk += blocks;
buffer += blocks * lunp->info.blk_size;
}
ret = HAL_SUCCESS;
exit:
lunp->state = BLK_READY;
chSemSignal(&lunp->sem);
return ret;
}
//-----------------------------------------------------------------------------
static int8_t
new_write_buffer_idx_to_write(void)
{
int8_t buffer_idx = -1;
chSemWait(&write_buffer_semaphore);
for ( int8_t idx = 0 ; idx < BUFFER_COUNT ; idx++ )
{
// we know it's full and ready to be written out when current_idx is
// at the end
if ( write_buffers[idx].current_idx == BUFFER_SIZE )
{
buffer_idx = idx;
break;
}
}
chSemSignal(&write_buffer_semaphore);
return buffer_idx;
}
//-----------------------------------------------------------------------------
// when the logger thread needs a new buffer, we call this - it's semaphore
// protected
static int8_t
new_write_buffer_idx_to_fill(void)
{
int8_t buffer_idx = -1;
chSemWait(&write_buffer_semaphore);
for ( int8_t idx = 0 ; idx < BUFFER_COUNT ; idx++ )
{
// we know it's empty and ready to be filled when current_idx == -1
if ( write_buffers[idx].current_idx == -1 )
{
// ok, we're going to return this one, initialise it ready!
write_buffers[idx].current_idx = 0;
buffer_idx = idx;
break;
}
}
chSemSignal(&write_buffer_semaphore);
// if -1, then no buffers are free...
return buffer_idx;
}
void gadcLowSpeedGet(uint32_t physdev, adcsample_t *buffer) {
struct lsdev *p;
BSEMAPHORE_DECL(mysem, TRUE);
/* Start the Low Speed Timer */
chMtxLock(&gadcmutex);
if (!gtimerIsActive(&LowSpeedGTimer))
gtimerStart(&LowSpeedGTimer, LowSpeedGTimerCallback, NULL, TRUE, TIME_INFINITE);
chMtxUnlock();
while(1) {
/* Wait for an available slot */
chSemWait(&gadcsem);
/* Find a slot */
chMtxLock(&gadcmutex);
for(p = ls; p < &ls[GADC_MAX_LOWSPEED_DEVICES]; p++) {
if (!(p->flags & GADC_FLG_ISACTIVE)) {
p->lld.physdev = physdev;
p->lld.buffer = buffer;
p->fn = BSemSignalCallback;
p->param = &mysem;
p->flags = GADC_FLG_ISACTIVE;
chMtxUnlock();
StartADC(FALSE);
chBSemWait(&mysem);
return;
}
}
chMtxUnlock();
/**
* We should never get here - the count semaphore must be wrong.
* Decrement it and try again.
*/
}
}
static msg_t
vexAudioTask( void *arg )
{
uint32_t tmpCounter;
(void)arg;
chRegSetThreadName("audio");
chEvtInit(&sound_done);
while(!chThdShouldTerminate())
{
if(VSL_Counter > 0)
{
tmpCounter = VSL_Counter;
VSL_Counter = 0;
// wait for semaphore timeout or other thread reseting the semaphore
chSemWaitTimeout( &vslSem, tmpCounter );
chSysLock();
if( chEvtIsListeningI(&sound_done) )
chEvtBroadcastI(&sound_done);
chSysUnlock();
if( VSL_Counter == 0 )
{
if( !vexAudioPlayNextChipTone() )
VSL_Deinit();
}
}
else
chSemWait( &vslSem );
}
return (msg_t)0;
}
static gdisp_lld_msg_t *gdispAllocMsg(gdisp_msgaction_t action) {
gdisp_lld_msg_t *p;
while(1) { /* To be sure, to be sure */
/* Wait for a slot */
chSemWait(&gdispMsgsSem);
/* Find the slot */
chMtxLock(&gdispMsgsMutex);
for(p=gdispMsgs; p < &gdispMsgs[GDISP_QUEUE_SIZE]; p++) {
if (p->action == GDISP_LLD_MSG_NOP) {
/* Allocate it */
p->action = action;
chMtxUnlock();
return p;
}
}
chMtxUnlock();
/* Oops - none found, try again */
chSemSignal(&gdispMsgsSem);
}
}
