void DRV_USART_BufferAddRead ( DRV_HANDLE hClient, DRV_USART_BUFFER_HANDLE * bufferHandle, void * destination, size_t nBytes ) { DRV_USART_CLIENT_OBJ * clientObj; DRV_USART_OBJ * hDriver; bool interruptWasEnabled = false; DRV_USART_BUFFER_OBJ * bufferObj = NULL; DRV_USART_BUFFER_OBJ * iterator; unsigned int i; /* This function adds a buffer to the read queue */ /* We first check the arguments and initialize the buffer handle */ if(bufferHandle == NULL) { return; } *bufferHandle = DRV_USART_BUFFER_HANDLE_INVALID; clientObj = _DRV_USART_DriverHandleValidate(hClient); if(clientObj == NULL) { SYS_ASSERT(false, "Invalid driver handle"); return; } if((nBytes == 0) || (NULL == destination)) { /* We either got an invalid client handle, invalid destination pointer or 0 bytes to transfer */ SYS_ASSERT(false, "Invalid parameters"); return; } hDriver = clientObj->hDriver; if(hDriver->queueSizeCurrentRead >= hDriver->queueSizeRead) { /* This means the queue is full. We cannot add * this request */ //SYS_ASSERT(false, "Receive Queue is full"); return; } /* We will allow buffers to be added in the interrupt * context of this USART driver. But we must make * sure that if we are in interrupt, then we should * not modify mutexes. */ if(hDriver->interruptNestingCount == 0) { /* Grab a mutex. This is okay because we are not in an * interrupt context */ if(OSAL_MUTEX_Lock(&(hDriver->mutexDriverInstance), OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { /* We will disable interrupts so that the queue * status does not get updated asynchronously. * This code will always execute. */ interruptWasEnabled = _DRV_USART_InterruptSourceDisable(hDriver->rxInterruptSource); } else { /* The mutex acquisition timed out. Return with an * invalid handle. This code will not execute * if there is no RTOS. */ return; } } /* Search the buffer pool for a free buffer object */ for(i = 0 ; i < DRV_USART_QUEUE_DEPTH_COMBINED; i ++) { if(!gDrvUSARTBufferObj[i].inUse) { /* This means this object is free. * Configure the object and then * break */ bufferObj = &gDrvUSARTBufferObj[i]; bufferObj->size = nBytes; bufferObj->inUse = true; bufferObj->buffer = (uint8_t*)destination; bufferObj->hClient = clientObj; bufferObj->next = NULL; bufferObj->previous = NULL; bufferObj->nCurrentBytes = 0; bufferObj->flags = (0 | DRV_USART_BUFFER_OBJ_FLAG_BUFFER_ADD); /* Assign a handle to this buffer. The buffer handle must be unique. * To do this, we construct the buffer handle out of the * gDrvUSARTTokenCount and allocated buffer index. Note that * gDrvUSARTTokenCount is incremented and wrapped around when the * value reaches OxFFFF. We do avoid a case where the token value * becomes 0xFFFF and the buffer index also becomes 0xFFFF */ bufferObj->bufferHandle = _DRV_USART_MAKE_HANDLE(gDrvUSARTTokenCount, i); *bufferHandle = bufferObj->bufferHandle; /* Update the token number. */ _DRV_USART_UPDATE_BUFFER_TOKEN(gDrvUSARTTokenCount); break; } } if(i == DRV_USART_QUEUE_DEPTH_COMBINED) { /* This means we could not find a buffer. This will happen if the the DRV_USART_QUEUE_DEPTH_COMBINED parameter is configured to be less */ SYS_ASSERT(false, "Insufficient Combined Queue Depth"); /* Enable the interrupt if it was enabled */ if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } if(hDriver->interruptNestingCount == 0) { /* Release mutex */ OSAL_MUTEX_Unlock(&(hDriver->mutexDriverInstance)); } return; } /* Increment the current queue size*/ hDriver->queueSizeCurrentRead ++; /* Check if the queue is empty */ if(hDriver->queueRead == NULL) { /* This is the first buffer in the queue */ hDriver->queueRead = bufferObj; /* This is the first item in the queue. Enable RX interrupt. */ _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } else { /* This means the read queue is not empty. We must add the buffer object to the end of the queue */ iterator = hDriver->queueRead; while(iterator->next != NULL) { /* Get the next buffer object */ iterator = iterator->next; } /* At this point, iterator will point to the last object in the queue. We add the buffer object to the linked list. Note that we need to set up the previous pointer as well because buffer should be deleted when the client closes the driver */ iterator->next = bufferObj; bufferObj->previous = iterator; /* We are done. Restore the interrupt enable status and return. */ if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } } if(hDriver->interruptNestingCount == 0) { /* Release mutex */ OSAL_MUTEX_Unlock(&(hDriver->mutexDriverInstance)); } return; }
size_t DRV_USART_Read(const DRV_HANDLE hClient, void * destination, size_t nBytes) { DRV_USART_CLIENT_OBJ * clientObj; DRV_USART_OBJ * hDriver; USART_MODULE_ID plibID; DRV_USART_BUFFER_OBJ * iterator, * bufferObj; size_t count = 0; uint8_t * data; bool status; /* Validate the driver handle */ clientObj = _DRV_USART_DriverHandleValidate(hClient); if(clientObj == NULL) { SYS_DEBUG(0, "Invalid driver handle"); return 0; } hDriver = (DRV_USART_OBJ *)clientObj->hDriver; plibID = hDriver->moduleId; if(!(clientObj->ioIntent & DRV_IO_INTENT_READ)) { /* This client did not open the driver for reading */ SYS_DEBUG(0, "Driver not opened for read"); return 0; } if((destination == NULL) || (nBytes == 0)) { /* We have a NULL pointer or dont have any data to write. */ SYS_DEBUG(0, "NULL data pointer or no data to write"); return 0; } data = (uint8_t *)destination; /* Grab he hardware instance mutex */ if(OSAL_MUTEX_Lock(hDriver->mutexDriverInstance, OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { if(!(clientObj->ioIntent & DRV_IO_INTENT_NONBLOCKING)) { /* This is a blocking implementation. We populate the client buffer object and add it to the queue. We then wait till the buffer is completely processed. */ /* Because we are modifying the queue, we should disable the interrupt */ status = _DRV_USART_InterruptSourceDisable(hDriver->rxInterruptSource); /* Get the queue head */ iterator = hDriver->queueRead; /* If the queue is not empty, get to the end of the queue */ if(iterator != NULL) { while(iterator->next != NULL) { iterator = iterator->next; } } /* We should be at the end of the queue now. Populate the client buffer object */ bufferObj = &clientObj->bufferObject; bufferObj->buffer = destination; bufferObj->nCurrentBytes = 0; bufferObj->size = nBytes; bufferObj->inUse = true; bufferObj->hClient = clientObj; bufferObj->flags = (0 | DRV_USART_BUFFER_OBJ_FLAG_READ_WRITE); /* Add this object to the queue and enable the RX interrupt */ bufferObj->previous = iterator; bufferObj->next = NULL; /* If we are not at the start of the queue, then update the next pointer of the last object else set the queue head to point to this object */ if(hDriver->queueRead == NULL) { hDriver->queueRead = bufferObj; } else { iterator->next = bufferObj; bufferObj->previous = iterator; } /* Now enable the interrupt and release the mutex so that the system can proceed */ _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); OSAL_ASSERT((OSAL_MUTEX_Unlock(hDriver->mutexDriverInstance)), "Unable to unlock hardware instance mutex"); /* If we are in a bare metal configuration, then wait till the buffer is processed. If we are in RTOS configuration then pend on the client semaphore. */ if(OSAL_SEM_Pend(clientObj->semReadDone, OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { /* This is the implementation of the blocking behavior. In a RTOS configuration, if the code reaches here, it means then that buffer has been processed. */ while(bufferObj->inUse); if(bufferObj->nCurrentBytes != nBytes) { /* This means this buffer was terminated because of an error. */ return(DRV_USART_READ_ERROR); } count = nBytes; } } else if(clientObj->ioIntent & DRV_IO_INTENT_NONBLOCKING) { /* This is a non blocking implementation*/ if(hDriver->queueRead != NULL) { /* This means queue is not empty. We cannot read data now. */ count = 0; } else { while((PLIB_USART_ReceiverDataIsAvailable(plibID)) && (count < nBytes)) { /* This is not a blocking implementation. We read the hardware till the FIFO is empty. */ data[count] = PLIB_USART_ReceiverByteReceive(plibID); count ++; /* We need to check for errors. Store the error in the client error field. */ clientObj->error = PLIB_USART_ErrorsGet(plibID); if(clientObj->error != DRV_USART_ERROR_NONE) { /* This means we have an error. Release the mutex and exit */ OSAL_ASSERT((OSAL_MUTEX_Unlock(hDriver->mutexDriverInstance)), "Unable to unlock hardware instance mutex"); return(DRV_USART_READ_ERROR); } } } } } else { /* Timed out while waiting for read mutex. * We simply return 0 */ count = 0; } return(count); }
void DRV_USART_BufferAddRead ( DRV_HANDLE hClient, DRV_USART_BUFFER_HANDLE * bufferHandle, void * destination, size_t nBytes ) { DRV_USART_CLIENT_OBJ * clientObj; DRV_USART_OBJ * hDriver; bool interruptWasEnabled=false; DRV_USART_BUFFER_OBJ * bufferObj, * iterator; DRV_USART_BUFFER_OBJECT_INDEX usartBufIndex; /* This function adds a buffer to the read queue */ /* We first check the arguments and initialize the buffer handle */ if(bufferHandle == NULL) { return; } *bufferHandle = DRV_USART_BUFFER_HANDLE_INVALID; clientObj = _DRV_USART_DriverHandleValidate(hClient); if(clientObj == NULL) { SYS_ASSERT(false, "Invalid driver handle"); return; } if((nBytes == 0) || (NULL == destination)) { /* We either got an invalid client handle, invalid destination pointer or 0 bytes to transfer */ SYS_DEBUG(0, "Invalid parameters"); return; } hDriver = clientObj->hDriver; if(hDriver->queueSizeCurrentRead >= hDriver->queueSizeRead) { /* This means the queue is full. We cannot add * this request */ SYS_DEBUG(0, "Receive Queue is full"); return; } /* We will allow buffers to be added in the interrupt * context of this USART driver. But we must make * sure that if we are in interrupt, then we should * not modify mutexes. */ if(hDriver->interruptNestingCount == 0) { /* Grab a mutex. This is okay because we are not in an * interrupt context */ if(OSAL_MUTEX_Lock(&(hDriver->mutexDriverInstance), OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { /* We will disable interrupts so that the queue * status does not get updated asynchronously. * This code will always execute. */ if(SYS_DMA_CHANNEL_HANDLE_INVALID != hDriver->dmaChannelHandleRead) { interruptWasEnabled = _DRV_USART_InterruptSourceDisable(hDriver->dmaInterruptReceive); } else { interruptWasEnabled = _DRV_USART_InterruptSourceDisable(hDriver->rxInterruptSource); } } else { /* The mutex acquisition timed out. Return with an * invalid handle. This code will not execute * if there is no RTOS. */ return; } } usartBufIndex = _DRV_USART_QueueObjectIndexGet(); if (usartBufIndex != DRV_USART_BUFFER_OBJECT_INDEX_INVALID) { bufferObj = &gDrvUSARTBufferObj[usartBufIndex]; bufferObj->bufferHandle = _DRV_USART_DMA_MAKE_HANDLE(gDrvUSARTDMATokenCount, usartBufIndex); *bufferHandle = bufferObj->bufferHandle; _DRV_USART_DMA_UPDATE_BUFFER_TOKEN(gDrvUSARTDMATokenCount); bufferObj->size = nBytes; bufferObj->inUse = true; bufferObj->buffer = (uint8_t*)destination; bufferObj->hClient = clientObj; bufferObj->next = NULL; bufferObj->previous = NULL; bufferObj->nCurrentBytes = 0; bufferObj->flags = (0 | DRV_USART_BUFFER_OBJ_FLAG_BUFFER_ADD); } else { /* This means we could not find a buffer. This will happen if the the DRV_USART_QUEUE_DEPTH_COMBINED parameter is configured to be less */ SYS_ASSERT(false, "Insufficient Combined Queue Depth"); /* Enable the interrupt if it was enabled */ if(interruptWasEnabled) { if(SYS_DMA_CHANNEL_HANDLE_INVALID != hDriver->dmaChannelHandleRead) { _DRV_USART_InterruptSourceEnable(hDriver->dmaInterruptReceive); } else { _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } } /* Release mutex */ OSAL_MUTEX_Unlock(&(hDriver->mutexDriverInstance)); return; } /* Increment the current queue size*/ hDriver->queueSizeCurrentRead ++; /* Check if the queue is empty */ if(hDriver->queueRead == NULL) { /* This is the first buffer in the queue */ hDriver->queueRead = bufferObj; /* This is the first item in the queue. Enable RX interrupt. */ if(SYS_DMA_CHANNEL_HANDLE_INVALID != hDriver->dmaChannelHandleRead) { /* Since this is the first buffer in the queue Add it immediately to DMA for processing */ size_t srcSize, cellSize; srcSize = 1; cellSize = 1; SYS_DMA_ChannelTransferAdd(hDriver->dmaChannelHandleRead, PLIB_USART_ReceiverAddressGet(hDriver->moduleId), srcSize,bufferObj->buffer, bufferObj->size, cellSize); _SYS_DMA_ChannelForceStart(hDriver->dmaChannelHandleRead); _DRV_USART_InterruptSourceEnable(hDriver->dmaInterruptReceive); } else { _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } } else { /* This means the read queue is not empty. We must add the buffer object to the end of the queue */ iterator = hDriver->queueRead; while(iterator->next != NULL) { /* Get the next buffer object */ iterator = iterator->next; } /* At this point, iterator will point to the last object in the queue. We add the buffer object to the linked list. Note that we need to set up the previous pointer as well because buffer should be deleted when the client closes the driver */ iterator->next = bufferObj; bufferObj->previous = iterator; /* We are done. Restore the interrupt enable status and return. */ if(interruptWasEnabled) { if(SYS_DMA_CHANNEL_HANDLE_INVALID != hDriver->dmaChannelHandleRead) { /* There is already a buffer under processing in the queue. This buffer will be added to DMA for processing immediately after the processing of the buffer prior to this buffer completes. (This functionality is implemented in _DRV_USART_BufferQueueRxTasks)*/ _SYS_DMA_ChannelForceStart(hDriver->dmaChannelHandleRead); _DRV_USART_InterruptSourceEnable(hDriver->dmaInterruptReceive); } else { _DRV_USART_InterruptSourceEnable(hDriver->rxInterruptSource); } } } /* Release mutex */ OSAL_MUTEX_Unlock(&(hDriver->mutexDriverInstance)); return; }
void DRV_USART_BufferAddWrite ( DRV_HANDLE hClient, DRV_USART_BUFFER_HANDLE * bufferHandle, void * source, size_t nBytes ) { DRV_USART_CLIENT_OBJ * clientObj; DRV_USART_OBJ * hDriver; bool interruptWasEnabled = false; DRV_USART_BUFFER_OBJ * bufferObj, * iterator; unsigned int i; /* This function adds a buffer to the write queue */ /* We first check the arguments and initialize the buffer handle */ if(bufferHandle != NULL) { *bufferHandle = DRV_USART_BUFFER_HANDLE_INVALID; } /* Validate the driver handle */ clientObj = _DRV_USART_DriverHandleValidate(hClient); if(clientObj == NULL) { SYS_DEBUG(0, "Invalid Driver Handle"); return; } if((nBytes == 0) || (NULL == source) || (bufferHandle == NULL)) { /* We either got an invalid client handle, invalid source pointer or 0 bytes to transfer */ SYS_DEBUG(0, "Invalid parameters"); return; } hDriver = clientObj->hDriver; if(hDriver->queueSizeCurrentWrite >= hDriver->queueSizeWrite) { /* This means the queue is full. We cannot add this request */ SYS_DEBUG(0, "Transmit Queue is full"); return; } /* We will allow buffers to be added in the interrupt context of this USART driver. But we must make sure that if we are in interrupt, then we should not modify mutexes. */ if(hDriver->interruptNestingCount == 0) { /* Grab a mutex. This is okay because we are not in an interrupt context */ if(OSAL_MUTEX_Lock(hDriver->mutexDriverInstance, OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { /* We will disable interrupts so that the queue status does not get updated asynchronously. This code will always execute. */ interruptWasEnabled = _DRV_USART_InterruptSourceDisable(hDriver->txInterruptSource); } else { /* The mutex acquisition timed out. Return with an invalid handle. This code will not execute if there is no RTOS. */ return; } } /* Search the buffer pool for a free buffer object */ for(i = 0 ; i < DRV_USART_QUEUE_DEPTH_COMBINED; i ++) { if(!gDrvUSARTBufferObj[i].inUse) { /* This means this object is free. * Configure the object and then * break */ bufferObj = &gDrvUSARTBufferObj[i]; bufferObj->size = nBytes; bufferObj->inUse = true; bufferObj->buffer = (uint8_t*)source; bufferObj->hClient = clientObj; bufferObj->nCurrentBytes = 0; bufferObj->next = NULL; bufferObj->previous = NULL; bufferObj->flags = (0 | DRV_USART_BUFFER_OBJ_FLAG_BUFFER_ADD); /* Assign a handle to this buffer */ *bufferHandle = (DRV_USART_BUFFER_HANDLE)bufferObj; break; } } if(i == DRV_USART_QUEUE_DEPTH_COMBINED) { /* This means we could not find a buffer. This will happen if the the DRV_USART_QUEUE_DEPTH_COMBINED parameter is configured to be less */ SYS_DEBUG(0, "Insufficient Combined Queue Depth"); /* Enable the interrupt if it was enabled */ if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(hDriver->txInterruptSource); } /* Release mutex */ OSAL_ASSERT((OSAL_MUTEX_Unlock(hDriver->mutexDriverInstance)), "Unable to unlock buffer add write mutex"); return; } /* Increment the current queue size*/ hDriver->queueSizeCurrentWrite ++; /* Check if the queue is empty */ if(hDriver->queueWrite == NULL) { /* This is the first buffer in the queue */ hDriver->queueWrite = bufferObj; /* Enabling the interrupt here will cause the task routine to start processing this buffer. If this function is being called in an ISR, then this statement will not have any effect. */ _DRV_USART_InterruptSourceEnable(hDriver->txInterruptSource); } else { /* This means the write queue is not empty. We must add * the buffer object to the end of the queue */ iterator = hDriver->queueWrite; while(iterator->next != NULL) { /* Get the next buffer object */ iterator = iterator->next; } /* At this point, iterator will point to the last object in the queue. We add the buffer object to the linked list. Note that we need to set up the previous pointer as well because buffer should be deleted when the client closes the driver */ iterator->next = bufferObj; bufferObj->previous = iterator; /* We are done. Restore the interrupt enable status and return. */ if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(hDriver->txInterruptSource); } } /* Release mutex */ OSAL_ASSERT((OSAL_MUTEX_Unlock(hDriver->mutexDriverInstance)), "Unable to unlock buffer add write mutex"); return; }
bool _DRV_USART_ClientBufferQueueObjectsRemove(DRV_USART_CLIENT_OBJ * clientObj) { DRV_USART_OBJ * dObj = clientObj->hDriver; bool interruptWasEnabled = false; DRV_USART_BUFFER_OBJ * iterator = NULL; if(OSAL_MUTEX_Lock(dObj->mutexDriverInstance, OSAL_WAIT_FOREVER) == OSAL_RESULT_TRUE) { /* Disable the transmit interrupt */ interruptWasEnabled = _DRV_USART_InterruptSourceDisable(dObj->txInterruptSource); iterator = dObj->queueWrite; while(iterator != NULL) { if(clientObj == (DRV_USART_CLIENT_OBJ *)iterator->hClient) { /* That means this buffer object is owned by this client. This buffer object should be removed. The following code removes the object from a doubly linked list queue. */ iterator->inUse = false; if(iterator->previous != NULL) { iterator->previous->next = iterator->next; } if(iterator->next != NULL) { iterator->next->previous = iterator->previous; } } iterator = iterator->next; } /* Re-enable the interrupt if it was enabled */ if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(dObj->txInterruptSource); } /* Now check the receive buffer queue. Start by disabling the receive interrupt */ interruptWasEnabled = _DRV_USART_InterruptSourceDisable(dObj->rxInterruptSource); iterator = dObj->queueRead; while(iterator != NULL) { if(clientObj == (DRV_USART_CLIENT_OBJ *)iterator->hClient) { /* That means this buffer object is owned by this client. This buffer object should be removed. The following code removed the object from a doubly linked list queue. */ iterator->inUse = false; if(iterator->previous != NULL) { iterator->previous->next = iterator->next; } if(iterator->next != NULL) { iterator->next->previous = iterator->previous; } } iterator = iterator->next; } if(interruptWasEnabled) { _DRV_USART_InterruptSourceEnable(dObj->rxInterruptSource); } /* Unlock the mutex */ OSAL_ASSERT((OSAL_MUTEX_Unlock(dObj->mutexDriverInstance)), "Unable to unlock Driver instance mutex"); } else { /* The case where the mutex lock timed out and the client buffer objects could not be removed from the driver queue, the close function should fail. */ return false; } return true; }
SYS_MODULE_OBJ DRV_USART_Initialize ( const SYS_MODULE_INDEX drvIndex, const SYS_MODULE_INIT * const init ) { DRV_USART_OBJ *dObj = (DRV_USART_OBJ*)NULL; DRV_USART_INIT *usartInit = NULL ; /* Check if the specified driver index is in valid range */ if(drvIndex >= DRV_USART_INSTANCES_NUMBER) { SYS_DEBUG(0, "Invalid driver index"); return SYS_MODULE_OBJ_INVALID; } /* Check if this hardware instance was already initialized */ if(gDrvUSARTObj[drvIndex].inUse != false) { SYS_DEBUG(0, "Instance already in use"); return SYS_MODULE_OBJ_INVALID; } /* Assign to the local pointer the init data passed */ usartInit = ( DRV_USART_INIT * ) init ; /* Disable the USART module */ PLIB_USART_Disable (usartInit->usartID) ; /* Allocate the driver object and set the operation flag to be in use */ dObj = &gDrvUSARTObj[drvIndex]; dObj->inUse = true; /* Update the USART PLIB Id and other parameters. */ dObj->nClients = 0; dObj->moduleId = usartInit->usartID; dObj->brgClock = usartInit->brgClock; dObj->isExclusive = false; dObj->queueSizeRead = usartInit->queueSizeReceive; dObj->queueSizeWrite = usartInit->queueSizeTransmit; dObj->dmaChannelRead = usartInit->dmaReceive; dObj->dmaChannelWrite = usartInit->dmaTransmit; dObj->txInterruptSource = usartInit->interruptTransmit; dObj->rxInterruptSource = usartInit->interruptReceive; dObj->errorInterruptSource = usartInit->interruptError; dObj->dmaInterruptTransmit = usartInit->dmaInterruptTransmit; dObj->dmaInterruptReceive = usartInit->dmaInterruptReceive; dObj->interruptNestingCount = 0; dObj->queueSizeCurrentRead = 0; dObj->queueSizeCurrentWrite = 0; /* Setup the Hardware */ _DRV_USART_HardwareSetup(usartInit->usartID, usartInit ) ; /* Clear the interrupts */ SYS_INT_SourceStatusClear(dObj->txInterruptSource); SYS_INT_SourceStatusClear(dObj->rxInterruptSource); SYS_INT_SourceStatusClear(dObj->errorInterruptSource); /* Enable the interrupt source in case of interrupt mode */ _DRV_USART_InterruptSourceEnable(dObj->errorInterruptSource); /* TODO: Enable DMA interrupts if the DMA channel is selected */ /* Create the hardware instance mutex. */ OSAL_ASSERT((OSAL_MUTEX_Create(&(dObj->mutexDriverInstance)) == OSAL_RESULT_TRUE), "Unable to create hardware instance mutex"); /* Check if the global mutexes have been created. If not then create these. */ if(!gDrvUSARTCommonDataObj.membersAreInitialized) { /* This means that mutexes where not created. Create them. */ OSAL_ASSERT((OSAL_MUTEX_Create(&(gDrvUSARTCommonDataObj.mutexClientObjects)) == OSAL_RESULT_TRUE), "Unable to create client instance mutex"); OSAL_ASSERT((OSAL_MUTEX_Create(&(gDrvUSARTCommonDataObj.mutexBufferQueueObjects)) == OSAL_RESULT_TRUE), "Unable to create buffer queue objects mutex"); /* Set this flag so that global mutexes get allocated only once */ gDrvUSARTCommonDataObj.membersAreInitialized = true; } /* Enable the USART module */ PLIB_USART_Enable(usartInit->usartID) ; /* Update the status */ dObj->status = SYS_STATUS_READY; /* Return the object structure */ return ( (SYS_MODULE_OBJ)drvIndex ); }