Universal Multi Task Library

組み込み(Arduino)からLinux/Windowsまで様々な環境で汎用的に使える協調型マルチスタスク・ライブラリを作ってみた。最近似たような物ばかり作ってるような気がするが気にしないでほしい。(笑)

【過去の投稿】
１．シンプルすぎる汎用C++タスクスケジューラー(CScheduler)を作ってみた。
２．Micro Core Library for Arduino

前回投稿のMicro Core Library for Arduino はハードウェアのタイマー割り込みをサポートしたために少し複雑になってしまったがタスク同期のタイムアウト機能についてはタイマー割り込みで起床したとしてもカレントタスクの自発的なタスク切り替え(yield)がない限りそのタスクが実行されないことからタイムアウト判断はタスク切り替え毎のポーリング判定でも問題ないという結論に落ち着いた。但し、アラームクラスのタイマー割り込みハンドラの呼び出しタイミングについてはタスク切り替えタイミングに依存してかなりズレてしまうことや処理遅延に伴う時間系の破綻がないという前提ではあるが。

今回のライブラリはLinux/Windows にも対応しタイムアウトを含む全機能が使えるようになっている。少し不思議に思われるかもしれないのはＯＳスレッド対応している点かも。このライブラリではハードウェア割り込みからタスク起床が可能となっている。組み込み用途であればハードウェア割り込みが使えるがＯＳの場合は直接ハードウェア割り込みを利用することが出来ない。そのためハードウェア割り込みの代わりにスレッドを使えるようにしてみた。

ＯＳのスレッド上でさらにマルチタスク(サブ・スレッド？)なんて意味があるのかどうか分からないが、組み込み環境と同じライブラリがＰＣでも動作するのでマルチタスク・アプリのクロス開発環境として利用するなんてのもありかも。ＰＣ環境のほうがデバッグが楽だしね。

ちなみに、MinGW32は問題ないがMinGW64はsetjmp/longjmpの実装の問題により誤動作することに注意。詳しいことはわからないがWIN64特有の特殊なスタッフレームに対応できないという致命的な問題があるらしい。

【サンプル・プログラム】
※STACK_SIZEは実行環境に合わせて適切な調整が必要。

/*
 * Task Sample Program
 *
 */
#include <stdio.h>
#include "task.h"

#define STACK_SIZE TASK_STACK_SIZE(4096) // Windows or Linux
//#define STACK_SIZE TASK_STACK_SIZE(128)  // Embedded(avr,...)

void task0(void *arg)
{
  (void)arg;
  while (1)
  {
    printf("task0\n");
    Task::sleep(1000);
  }
}

void task1(void *arg)
{
  (void)arg;
  while (1)
  {
    printf("task1\n");
    Task::sleep(1000);
  }
}

void setup(void)
{
  Task::begin(STACK_SIZE); // setup main task stack size
  Task::start(task0, 0, -STACK_SIZE);
  Task::start(task1, 0, -STACK_SIZE);
}

void loop(void)
{
  Task::yield();
}

#if !defined(ARDUINO)

int main(int argc, char **argv)
{
  setup();
  while (1)
    loop();
}

#endif

* Task Sample Program

#include <stdio.h>

#include "task.h"

#define STACK_SIZE TASK_STACK_SIZE(4096) // Windows or Linux

//#define STACK_SIZE TASK_STACK_SIZE(128) // Embedded(avr,...)

void task0(void *arg)

{

(void)arg;

while (1)

{

printf("task0\n");

Task::sleep(1000);

}

void task1(void *arg)

{

(void)arg;

while (1)

{

printf("task1\n");

Task::sleep(1000);

}

void setup(void)

{

Task::begin(STACK_SIZE); // setup main task stack size

Task::start(task0, 0, -STACK_SIZE);

Task::start(task1, 0, -STACK_SIZE);

}

void loop(void)

{

Task::yield();

}

#if !defined(ARDUINO)

int main(int argc, char **argv)

{

setup();

while (1)

loop();

}

#endif

【ダウンロード】
u-kernel.zip (Eclipse Project)
arduino-u-kernel.zip (Arduino Library)

【ライブラリ】

/*
  task.h - Smallest Non Preemptive Multi Task Library for Embedded System

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#pragma once

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
#include <setjmp.h>
#include "hardware.h"
#include "alarm.h"

#define TASK_STACK_SIZE(n) ((n) + Task::TCB_SIZE)

class Task : protected Hardware
{
  public:

    typedef void (*func_t)(void *arg);

  protected:

    typedef struct tcb
    {
      struct tcb *next;
      jmp_buf context;
      void *alloc;
      void *arg;
      func_t start;
    } tcb_t;

    typedef struct
    {
      Alarm  alarm;
      size_t save;
      bool   retval;
    } ctrl_t;

    static void enqueue0(tcb_t *tcb);
    static void enqueue1(tcb_t *tcb);
    static tcb_t *dequeue(void);
    static void switching(void);
    static void dispatch(void);

  public:

    static const int TCB_SIZE = sizeof(tcb_t);

    static void begin(size_t size);
    static bool start(func_t func, void *arg, int size, void *stack = 0);
    static void stop(void);
    static bool yield(void);
    static size_t current(void);
    static void sleep(int32_t ms, uint8_t busyLoop = 0);
    static void sleepMicroseconds(int32_t us, uint8_t busyLoop = 0);
    static void delay(uint32_t ms, uint8_t busyLoop = 0);
    static void delayMicroseconds(uint32_t us, uint8_t busyLoop = 0);

  private:

    static tcb_t *_disp;
    static tcb_t *_curr;
    static tcb_t *_head;
    static tcb_t *_tail[2];
    static size_t _used;
};

class Sync : protected Task
{
  public:

    Sync(void);
    bool sleep(int32_t timeout = -1);
    size_t wakeup(size_t task = 0);

  protected:

    bool sleep(ctrl_t& ctrl);
    static bool timeup(Alarm& alarm);

    tcb_t *_head;
    tcb_t *_tail;
};

class Mutex : protected Sync
{
  public:

    Mutex(void);
    bool lock(int32_t timeout = -1);
    void unlock(void);

  protected:

    size_t _owner;
    size_t _count;
};

class Sem : protected Sync
{
  public:

    Sem(size_t limit = (size_t)-1, size_t count = 0);
    bool wait(size_t count = 1, int32_t timeout = -1);
    void post(size_t count = 1);

  protected:

    size_t _limit;
    size_t _count;
    size_t _wait;
};

class Event : protected Sem
{
  protected:

    Event(void);
    bool wait(int32_t timeout = -1);
    void signal(void);
};

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task.h - Smallest Non Preemptive Multi Task Library for Embedded System

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#pragma once

#include <stddef.h>

#include <stdint.h>

#include <stdbool.h>

#include <setjmp.h>

#include "hardware.h"

#include "alarm.h"

#define TASK_STACK_SIZE(n) ((n) + Task::TCB_SIZE)

class Task : protected Hardware

{

public:

typedef void (*func_t)(void *arg);

protected:

typedef struct tcb

{

struct tcb *next;

jmp_buf context;

void *alloc;

void *arg;

func_t start;

} tcb_t;

typedef struct

{

Alarm alarm;

size_t save;

bool retval;

} ctrl_t;

static void enqueue0(tcb_t *tcb);

static void enqueue1(tcb_t *tcb);

static tcb_t *dequeue(void);

static void switching(void);

static void dispatch(void);

public:

static const int TCB_SIZE = sizeof(tcb_t);

static void begin(size_t size);

static bool start(func_t func, void *arg, int size, void *stack = 0);

static void stop(void);

static bool yield(void);

static size_t current(void);

static void sleep(int32_t ms, uint8_t busyLoop = 0);

static void sleepMicroseconds(int32_t us, uint8_t busyLoop = 0);

static void delay(uint32_t ms, uint8_t busyLoop = 0);

static void delayMicroseconds(uint32_t us, uint8_t busyLoop = 0);

private:

static tcb_t *_disp;

static tcb_t *_curr;

static tcb_t *_head;

static tcb_t *_tail[2];

static size_t _used;

};

class Sync : protected Task

{

public:

Sync(void);

bool sleep(int32_t timeout = -1);

size_t wakeup(size_t task = 0);

protected:

bool sleep(ctrl_t& ctrl);

static bool timeup(Alarm& alarm);

tcb_t *_head;

tcb_t *_tail;

};

class Mutex : protected Sync

{

public:

Mutex(void);

bool lock(int32_t timeout = -1);

void unlock(void);

protected:

size_t _owner;

size_t _count;

};

class Sem : protected Sync

{

public:

Sem(size_t limit = (size_t)-1, size_t count = 0);

bool wait(size_t count = 1, int32_t timeout = -1);

void post(size_t count = 1);

protected:

size_t _limit;

size_t _count;

size_t _wait;

};

class Event : protected Sem

{

protected:

Event(void);

bool wait(int32_t timeout = -1);

void signal(void);

};

/*
  task.cpp - Smallest Non Preemptive Multi Task Library for Embedded System

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#include <stdlib.h>
#if !defined(alloca)
  #include <alloca.h>
#endif
#include "task.h"

Task::tcb_t *Task::_disp;
Task::tcb_t *Task::_curr;
Task::tcb_t *Task::_head;
Task::tcb_t *Task::_tail[];
size_t       Task::_used;

void Task::begin(size_t size)
{
  /* Registration of main task */
  static tcb_t tcb;
  _curr = &tcb;
  _used = size;
}

bool Task::start(func_t func, void *arg, int size, void *stack)
{
  tcb_t *tcb;
  if (size < 0)
  {
    /* Use the current stack area */
    size_t n = - size;
    size  = _used;
    stack = 0;
    _used += n;
  }
  else if (stack)
  {
    /* Set the stack area to the variable area */
    size  = (char *)&tcb - (char *)stack - size + sizeof(*tcb);
    stack = 0;
  }
  else
  {
    /* Dynamically allocate stack area */
    stack = malloc(size);
    if (!stack)
      return false;
    size = (char *)&tcb - (char *)stack - size + sizeof(*tcb);
  }
  tcb = (tcb_t *)alloca(size);
  tcb->alloc = stack;
  tcb->arg   = arg;
  tcb->start = func;
  enqueue0(tcb);
  if (setjmp(tcb->context))
  {
    _curr = _disp;
    _curr->start(_curr->arg);
    stop();
  }
  return true;
}

void Task::stop(void)
{
  if (_curr->start)
  {
    if (_curr->alloc)
      free(_curr->alloc);
    dispatch();
  }
}

void Task::enqueue0(tcb_t *tcb)
{
  size_t save = disableAndSaveInterrupts();
  if (_tail[0])
  {
    tcb->next = _tail[0]->next;
    _tail[0]  = (_tail[0]->next = tcb);
  }
  else
  {
    tcb->next = _head;
    _tail[0]  = (_head = tcb);
  }
  restoreInterrupts(save);
}

void Task::enqueue1(tcb_t *tcb)
{
  size_t save = disableAndSaveInterrupts();
  (_tail[1] = *(_tail[1] ? &_tail[1]->next : (_tail[0] ? &_tail[0]->next : &_head)) = tcb)->next = 0;
  restoreInterrupts(save);
}


Task::tcb_t *Task::dequeue(void)
{
  tcb_t *tcb;
  size_t save = disableAndSaveInterrupts();
  if ((tcb = _head))
  {
    if (_head == _tail[0])
      _tail[0] = 0;
    else if (_head == _tail[1])
      _tail[1] = 0;
    _head = _head->next;
  }
  restoreInterrupts(save);
  return tcb;
}

size_t Task::current(void)
{
  return (size_t)_curr;
}

bool Task::yield(void)
{
  AlarmTimer.handle();
  enqueue1(_curr);
  switching();
  return !_curr->start;
}

void Task::switching(void)
{
  if (!setjmp(_curr->context))
    dispatch();
  _curr = _disp;
}

void Task::dispatch(void)
{
  while (1)
  {
    if ((_disp = dequeue()))
      longjmp(_disp->context, 1);
    idle();
    AlarmTimer.handle();
  }
}

void Task::sleep(int32_t ms, uint8_t busyLoop)
{
  sleepMicroseconds(ms * 1000L, busyLoop);
}

void Task::sleepMicroseconds(int32_t us, uint8_t busyLoop)
{
  uint32_t t = micros();
  if (us > busyLoop)
  {
    Sync sync;
    sync.sleep(us -= busyLoop);
    t += us;
  }
  if (busyLoop)
  {
    while (micros() - t < busyLoop)
      continue;
  }
}

void Task::delay(uint32_t ms, uint8_t busyLoop)
{
  delayMicroseconds(ms * 1000UL, busyLoop);
}

void Task::delayMicroseconds(uint32_t us, uint8_t busyLoop)
{
  uint32_t t = micros();
  if (us > busyLoop)
  {
    us -= busyLoop;
    while (micros() - t < us)
      yield();
    t += us;
  }
  if (busyLoop)
  {
    while (micros() - t < busyLoop)
      continue;
  }
}

Sync::Sync(void)
: _head(0)
, _tail(0)
{
}

bool Sync::timeup(Alarm& alarm)
{
  if (((Sync *)alarm.param(0))->wakeup((size_t)alarm.param(1)))
    *(bool *)alarm.param(2) = false;
  return false;
}

bool Sync::sleep(ctrl_t& ctrl)
{
  tcb_t *tcb = (tcb_t *)current();
  (_tail = *(_tail ? &_tail->next : &_head) = tcb)->next = 0;
  restoreInterrupts(ctrl.save);
  ctrl.alarm.param(0, this);
  ctrl.alarm.param(1, tcb);
  ctrl.alarm.param(2, &ctrl.retval);
  ctrl.alarm.handler(timeup);
  AlarmTimer.start(ctrl.alarm);
  switching();
  return ctrl.retval;
}

bool Sync::sleep(int32_t timeout)
{
  if (timeout == 0)
    return false;
  ctrl_t ctrl;
  ctrl.alarm.interval(timeout);
  ctrl.retval = true;
  ctrl.save   = disableAndSaveInterrupts();
  return sleep(ctrl);
}

size_t Sync::wakeup(size_t task)
{
  tcb_t *tcb = 0;
  size_t save = disableAndSaveInterrupts();
  if (task)
  {
    for (tcb_t **p = &_head; *p; p = &(*p)->next)
    {
      if (*p == (tcb_t *)task)
      {
        if (!(*p = (*p)->next))
          _tail = (p == &_head ? 0 : (tcb_t *)p);
        tcb = (tcb_t *)task;
        break;
      }
    }
  }
  else
    _head = ((tcb = _head) != _tail ? _head->next : _tail = 0);
  restoreInterrupts(save);
  if (tcb)
  {
    AlarmTimer.cancel(1, tcb);
    enqueue0(tcb);
  }
  return (size_t)tcb;
}

Mutex::Mutex(void)
: _owner(0)
{
}

bool Mutex::lock(int32_t timeout)
{
  ctrl_t ctrl;
  ctrl.alarm.interval(timeout);
  ctrl.retval = true;
  ctrl.save   = disableAndSaveInterrupts();
  size_t task = current();
  if (!_owner)
  {
    _owner = task;
    _count = 1;
  }
  else if (_owner == task)
    ++_count;
  else if (timeout == 0)
    ctrl.retval = false;
  else
    return sleep(ctrl);
  restoreInterrupts(ctrl.save);
  return ctrl.retval;
}

void Mutex::unlock(void)
{
  size_t save = disableAndSaveInterrupts();
  if (_owner == current())
  {
    if (--_count == 0)
    {
      _owner = wakeup();
      _count = 1;
    }
  }
  restoreInterrupts(save);
}

Sem::Sem(size_t limit, size_t count)
: _limit(limit)
, _count(count)
, _wait(0)
{
}

bool Sem::wait(size_t count, int32_t timeout)
{
  ctrl_t ctrl;
  ctrl.alarm.interval(timeout);
  ctrl.retval = true;
  ctrl.save   = disableAndSaveInterrupts();
  if ((count == 0) || (count > _limit))
    ctrl.retval = false;
  else if (!_wait && (_count >= count))
    _count -= count;
  else if (timeout == 0)
    ctrl.retval = false;
  else
  {
    ++_wait;
    ((tcb_t *)current())->arg = (void *)count;
    sleep(ctrl);
    disableAndSaveInterrupts();
    --_wait;
    while (_head)
    {
      count = (size_t)_head->arg;
      if (_count < count)
        break;
      _count -= count;
      wakeup();
    }
  }
  restoreInterrupts(ctrl.save);
  return ctrl.retval;
}

void Sem::post(size_t count)
{
  size_t save = disableAndSaveInterrupts();
  if (count && (count + _count <= _limit))
  {
    _count += count;
    if (_head)
    {
      count = (size_t)_head->arg;
      if (_count >= count)
      {
        _count -= count;
        wakeup();
      }
    }
  }
  restoreInterrupts(save);
}

Event::Event(void) : Sem(1)
{
}

bool Event::wait(int32_t timeout)
{
  return Sem::wait(1, timeout);
}

void Event::signal(void)
{
  Sem::post();
}

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task.cpp - Smallest Non Preemptive Multi Task Library for Embedded System

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#include <stdlib.h>

#if !defined(alloca)

#include <alloca.h>

#endif

#include "task.h"

Task::tcb_t *Task::_disp;

Task::tcb_t *Task::_curr;

Task::tcb_t *Task::_head;

Task::tcb_t *Task::_tail[];

size_t Task::_used;

void Task::begin(size_t size)

{

/* Registration of main task */

static tcb_t tcb;

_curr = &tcb;

_used = size;

}

bool Task::start(func_t func, void *arg, int size, void *stack)

{

tcb_t *tcb;

if (size < 0)

{

/* Use the current stack area */

size_t n = - size;

size = _used;

stack = 0;

_used += n;

}

else if (stack)

{

/* Set the stack area to the variable area */

size = (char *)&tcb - (char *)stack - size + sizeof(*tcb);

stack = 0;

}

else

{

/* Dynamically allocate stack area */

stack = malloc(size);

if (!stack)

return false;

size = (char *)&tcb - (char *)stack - size + sizeof(*tcb);

}

tcb = (tcb_t *)alloca(size);

tcb->alloc = stack;

tcb->arg = arg;

tcb->start = func;

enqueue0(tcb);

if (setjmp(tcb->context))

{

_curr = _disp;

_curr->start(_curr->arg);

stop();

}

return true;

}

void Task::stop(void)

{

if (_curr->start)

{

if (_curr->alloc)

free(_curr->alloc);

dispatch();

}

void Task::enqueue0(tcb_t *tcb)

{

size_t save = disableAndSaveInterrupts();

if (_tail[0])

{

tcb->next = _tail[0]->next;

_tail[0] = (_tail[0]->next = tcb);

}

else

{

tcb->next = _head;

_tail[0] = (_head = tcb);

}

restoreInterrupts(save);

}

void Task::enqueue1(tcb_t *tcb)

{

size_t save = disableAndSaveInterrupts();

(_tail[1] = *(_tail[1] ? &_tail[1]->next : (_tail[0] ? &_tail[0]->next : &_head)) = tcb)->next = 0;

restoreInterrupts(save);

}

Task::tcb_t *Task::dequeue(void)

{

tcb_t *tcb;

size_t save = disableAndSaveInterrupts();

if ((tcb = _head))

{

if (_head == _tail[0])

_tail[0] = 0;

else if (_head == _tail[1])

_tail[1] = 0;

_head = _head->next;

}

restoreInterrupts(save);

return tcb;

}

size_t Task::current(void)

{

return (size_t)_curr;

}

bool Task::yield(void)

{

AlarmTimer.handle();

enqueue1(_curr);

switching();

return !_curr->start;

}

void Task::switching(void)

{

if (!setjmp(_curr->context))

dispatch();

_curr = _disp;

}

void Task::dispatch(void)

{

while (1)

{

if ((_disp = dequeue()))

longjmp(_disp->context, 1);

idle();

AlarmTimer.handle();

}

void Task::sleep(int32_t ms, uint8_t busyLoop)

{

sleepMicroseconds(ms * 1000L, busyLoop);

}

void Task::sleepMicroseconds(int32_t us, uint8_t busyLoop)

{

uint32_t t = micros();

if (us > busyLoop)

{

Sync sync;

sync.sleep(us -= busyLoop);

t += us;

}

if (busyLoop)

{

while (micros() - t < busyLoop)

continue;

}

void Task::delay(uint32_t ms, uint8_t busyLoop)

{

delayMicroseconds(ms * 1000UL, busyLoop);

}

void Task::delayMicroseconds(uint32_t us, uint8_t busyLoop)

{

uint32_t t = micros();

if (us > busyLoop)

{

us -= busyLoop;

while (micros() - t < us)

yield();

t += us;

}

if (busyLoop)

{

while (micros() - t < busyLoop)

continue;

}

Sync::Sync(void)

: _head(0)

, _tail(0)

{

}

bool Sync::timeup(Alarm& alarm)

{

if (((Sync *)alarm.param(0))->wakeup((size_t)alarm.param(1)))

*(bool *)alarm.param(2) = false;

return false;

}

bool Sync::sleep(ctrl_t& ctrl)

{

tcb_t *tcb = (tcb_t *)current();

(_tail = *(_tail ? &_tail->next : &_head) = tcb)->next = 0;

restoreInterrupts(ctrl.save);

ctrl.alarm.param(0, this);

ctrl.alarm.param(1, tcb);

ctrl.alarm.param(2, &ctrl.retval);

ctrl.alarm.handler(timeup);

AlarmTimer.start(ctrl.alarm);

switching();

return ctrl.retval;

}

bool Sync::sleep(int32_t timeout)

{

if (timeout == 0)

return false;

ctrl_t ctrl;

ctrl.alarm.interval(timeout);

ctrl.retval = true;

ctrl.save = disableAndSaveInterrupts();

return sleep(ctrl);

}

size_t Sync::wakeup(size_t task)

{

tcb_t *tcb = 0;

size_t save = disableAndSaveInterrupts();

if (task)

{

for (tcb_t **p = &_head; *p; p = &(*p)->next)

{

if (*p == (tcb_t *)task)

{

if (!(*p = (*p)->next))

_tail = (p == &_head ? 0 : (tcb_t *)p);

tcb = (tcb_t *)task;

break;

}

else

_head = ((tcb = _head) != _tail ? _head->next : _tail = 0);

restoreInterrupts(save);

if (tcb)

{

AlarmTimer.cancel(1, tcb);

enqueue0(tcb);

}

return (size_t)tcb;

}

Mutex::Mutex(void)

: _owner(0)

{

}

bool Mutex::lock(int32_t timeout)

{

ctrl_t ctrl;

ctrl.alarm.interval(timeout);

ctrl.retval = true;

ctrl.save = disableAndSaveInterrupts();

size_t task = current();

if (!_owner)

{

_owner = task;

_count = 1;

}

else if (_owner == task)

++_count;

else if (timeout == 0)

ctrl.retval = false;

else

return sleep(ctrl);

restoreInterrupts(ctrl.save);

return ctrl.retval;

}

void Mutex::unlock(void)

{

size_t save = disableAndSaveInterrupts();

if (_owner == current())

{

if (--_count == 0)

{

_owner = wakeup();

_count = 1;

}

restoreInterrupts(save);

}

Sem::Sem(size_t limit, size_t count)

: _limit(limit)

, _count(count)

, _wait(0)

{

}

bool Sem::wait(size_t count, int32_t timeout)

{

ctrl_t ctrl;

ctrl.alarm.interval(timeout);

ctrl.retval = true;

ctrl.save = disableAndSaveInterrupts();

if ((count == 0) || (count > _limit))

ctrl.retval = false;

else if (!_wait && (_count >= count))

_count -= count;

else if (timeout == 0)

ctrl.retval = false;

else

{

++_wait;

((tcb_t *)current())->arg = (void *)count;

sleep(ctrl);

disableAndSaveInterrupts();

--_wait;

while (_head)

{

count = (size_t)_head->arg;

if (_count < count)

break;

_count -= count;

wakeup();

}

restoreInterrupts(ctrl.save);

return ctrl.retval;

}

void Sem::post(size_t count)

{

size_t save = disableAndSaveInterrupts();

if (count && (count + _count <= _limit))

{

_count += count;

if (_head)

{

count = (size_t)_head->arg;

if (_count >= count)

{

_count -= count;

wakeup();

}

restoreInterrupts(save);

}

Event::Event(void) : Sem(1)

{

}

bool Event::wait(int32_t timeout)

{

return Sem::wait(1, timeout);

}

void Event::signal(void)

{

Sem::post();

}

/*
  fifo.h - First-In First-Out Buffer Template Library

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#pragma once

#include <string.h>
#include "task.h"

#define FIFO_NO_WAIT       0
#define FIFO_INFINITE_WAIT -1
#define FIFO_OVERWRITE     -2

template<typename T, size_t SIZE>
class Fifo : protected Sync
{
  private:

    size_t _wridx;
    size_t _rdidx;
    size_t _count;
    size_t _losts;
    T _buffer[SIZE];

    void read(T *buf, size_t count)
    {
      _count -= count;
      if (_rdidx + count > SIZE)
      {
        size_t n = SIZE - _rdidx;
        memcpy(buf, _buffer + _rdidx, n * sizeof(T));
        buf   += n;
        count -= n;
        _rdidx = 0;
      }
      memcpy(buf, _buffer + _rdidx, count * sizeof(T));
      _rdidx += count;
    }

    void write(const T *buf, size_t count)
    {
      _count += count;
      if (_wridx + count > SIZE)
      {
        size_t n = SIZE - _wridx;
        memcpy(_buffer + _wridx, buf, n * sizeof(T));
        buf   += n;
        count -= n;
        _wridx = 0;
      }
      memcpy(_buffer + _wridx, buf, count * sizeof(T));
      _wridx += count;
    }

  public:

    Fifo(void)
    : _wridx(0)
    , _rdidx(0)
    , _count(0)
    , _losts(0)
    {
    }

    size_t available(void)
    {
      size_t save = disableAndSaveInterrupts();
      size_t rv = _count;
      restoreInterrupts(save);
      return rv;
    }

    size_t availableForWrite(void)
    {
      return SIZE - available();
    }

    size_t losts(void)
    {
      size_t save = disableAndSaveInterrupts();
      size_t rv = _losts;
      _losts = 0;
      restoreInterrupts(save);
      return rv;
    }

    bool get(T *item, size_t count = 1, int32_t timeout = FIFO_INFINITE_WAIT)
    {
      size_t n, rv = 0;
      ctrl_t ctrl;
      while (count)
      {
        ctrl.alarm.interval(timeout);
        ctrl.retval = true;
        ctrl.save   = disableAndSaveInterrupts();
        if (_count)
        {
          n = count < _count ? count : _count;
          read(item, n);
          restoreInterrupts(ctrl.save);
          item  += n;
          count -= n;
          rv    += n;
        }
        else
        {
          if (timeout == FIFO_NO_WAIT)
            restoreInterrupts(ctrl.save);
          else if (sleep(ctrl))
            continue;
          break;
        }
      }
      return rv;
    }

    size_t put(const T *item, size_t count = 1, int32_t timeout = FIFO_INFINITE_WAIT)
    {
      size_t n, rv = 0;
      Alarm alarm;
      alarm.interval(timeout);
      while (count)
      {
        size_t save = disableAndSaveInterrupts();
        n = SIZE - _count;
        if (n)
        {
          if (count < n)
            n = count;
          write(item, n);
          restoreInterrupts(save);
          wakeup();
          item  += n;
          count -= n;
          rv    += n;
          alarm.interval(timeout);
        }
        else if (timeout == FIFO_OVERWRITE)
        {
          n = _count < count ? _count : count;
          _count -= n;
          _losts += n;
          if ((_rdidx += n) >= SIZE)
            _rdidx -= SIZE;
          restoreInterrupts(save);
        }
        else
        {
          restoreInterrupts(save);
          if (timeout == FIFO_NO_WAIT)
            break;
          else if ((timeout > FIFO_NO_WAIT) && alarm.expire())
            break;
          yield();
        }
      }
      return rv;
    }
};

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fifo.h - First-In First-Out Buffer Template Library

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#pragma once

#include <string.h>

#include "task.h"

#define FIFO_NO_WAIT 0

#define FIFO_INFINITE_WAIT -1

#define FIFO_OVERWRITE -2

template<typename T, size_t SIZE>

class Fifo : protected Sync

{

private:

size_t _wridx;

size_t _rdidx;

size_t _count;

size_t _losts;

T _buffer[SIZE];

void read(T *buf, size_t count)

{

_count -= count;

if (_rdidx + count > SIZE)

{

size_t n = SIZE - _rdidx;

memcpy(buf, _buffer + _rdidx, n * sizeof(T));

buf += n;

count -= n;

_rdidx = 0;

}

memcpy(buf, _buffer + _rdidx, count * sizeof(T));

_rdidx += count;

}

void write(const T *buf, size_t count)

{

_count += count;

if (_wridx + count > SIZE)

{

size_t n = SIZE - _wridx;

memcpy(_buffer + _wridx, buf, n * sizeof(T));

buf += n;

count -= n;

_wridx = 0;

}

memcpy(_buffer + _wridx, buf, count * sizeof(T));

_wridx += count;

}

public:

Fifo(void)

: _wridx(0)

, _rdidx(0)

, _count(0)

, _losts(0)

{

}

size_t available(void)

{

size_t save = disableAndSaveInterrupts();

size_t rv = _count;

restoreInterrupts(save);

return rv;

}

size_t availableForWrite(void)

{

return SIZE - available();

}

size_t losts(void)

{

size_t save = disableAndSaveInterrupts();

size_t rv = _losts;

_losts = 0;

restoreInterrupts(save);

return rv;

}

bool get(T *item, size_t count = 1, int32_t timeout = FIFO_INFINITE_WAIT)

{

size_t n, rv = 0;

ctrl_t ctrl;

while (count)

{

ctrl.alarm.interval(timeout);

ctrl.retval = true;

ctrl.save = disableAndSaveInterrupts();

if (_count)

{

n = count < _count ? count : _count;

read(item, n);

restoreInterrupts(ctrl.save);

item += n;

count -= n;

rv += n;

}

else

{

if (timeout == FIFO_NO_WAIT)

restoreInterrupts(ctrl.save);

else if (sleep(ctrl))

continue;

break;

}

return rv;

}

size_t put(const T *item, size_t count = 1, int32_t timeout = FIFO_INFINITE_WAIT)

{

size_t n, rv = 0;

Alarm alarm;

alarm.interval(timeout);

while (count)

{

size_t save = disableAndSaveInterrupts();

n = SIZE - _count;

if (n)

{

if (count < n)

n = count;

write(item, n);

restoreInterrupts(save);

wakeup();

item += n;

count -= n;

rv += n;

alarm.interval(timeout);

}

else if (timeout == FIFO_OVERWRITE)

{

n = _count < count ? _count : count;

_count -= n;

_losts += n;

if ((_rdidx += n) >= SIZE)

_rdidx -= SIZE;

restoreInterrupts(save);

}

else

{

restoreInterrupts(save);

if (timeout == FIFO_NO_WAIT)

break;

else if ((timeout > FIFO_NO_WAIT) && alarm.expire())

break;

yield();

}

return rv;

}

};

/*
  alarm.h - Alarm Library for Arduino

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#pragma once

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>
#include "hardware.h"

class Alarm : protected Hardware
{
  public:

    typedef bool (*handler_t)(Alarm& alarm);

    Alarm& interval(int32_t interval, bool fromnow = true);
    int32_t interval(void);
    Alarm& handler(handler_t handler);
    handler_t handler(void);
    Alarm& param(uint8_t num, void *val);
    void *param(uint8_t num);
    bool expire(void);

  protected:

    friend class AlarmClass;

    Alarm    *_next;
    uint32_t  _alarm;
    int32_t   _interval;
    handler_t _handler;
    void     *_params[4];
};

class AlarmClass : protected Hardware
{
  public:

    AlarmClass(void);
    bool start(Alarm& alarm);
    void cancel(Alarm& alarm);
    void cancel(uint8_t num, void *arg);
    void handle(void);

  protected:

    bool add(Alarm& alarm);

  private:

    bool timeup(void);

    friend void AlarmClass_timeup(void);

    Alarm *_alarm_list;
    bool _poll_mode;
};

extern AlarmClass AlarmTimer;

alarm.h - Alarm Library for Arduino

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#pragma once

#include <stddef.h>

#include <stdint.h>

#include <stdbool.h>

#include "hardware.h"

class Alarm : protected Hardware

{

public:

typedef bool (*handler_t)(Alarm& alarm);

Alarm& interval(int32_t interval, bool fromnow = true);

int32_t interval(void);

Alarm& handler(handler_t handler);

handler_t handler(void);

Alarm& param(uint8_t num, void *val);

void *param(uint8_t num);

bool expire(void);

protected:

friend class AlarmClass;

Alarm *_next;

uint32_t _alarm;

int32_t _interval;

handler_t _handler;

void *_params[4];

};

class AlarmClass : protected Hardware

{

public:

AlarmClass(void);

bool start(Alarm& alarm);

void cancel(Alarm& alarm);

void cancel(uint8_t num, void *arg);

void handle(void);

protected:

bool add(Alarm& alarm);

private:

bool timeup(void);

friend void AlarmClass_timeup(void);

Alarm *_alarm_list;

bool _poll_mode;

};

extern AlarmClass AlarmTimer;

/*
  alarm.cpp - Alarm Library for Arduino

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#include <stddef.h>
#include "alarm.h"

#define lengthof(a) (sizeof(a)/sizeof(a[0]))

AlarmClass AlarmTimer;

Alarm& Alarm::interval(int32_t interval, bool fromnow)
{
  if (fromnow)
    _alarm = micros() + interval;
  _interval = interval;
  return *this;
}

int32_t Alarm::interval(void)
{
  return _interval;
}

Alarm& Alarm::handler(Alarm::handler_t handler)
{
  _handler = handler;
  return *this;
}

Alarm::handler_t Alarm::handler(void)
{
  return _handler;
}

Alarm& Alarm::param(uint8_t num, void *val)
{
  if (num < lengthof(_params))
    _params[num] = val;
  return *this;
}

void *Alarm::param(uint8_t num)
{
  return num < lengthof(_params) ? _params[num] : NULL;
}

bool Alarm::expire(void)
{
  if ((int32_t)(micros() - _alarm) < 0)
    return false;
  _alarm += _interval;
  return true;
}

AlarmClass::AlarmClass(void)
: _alarm_list(nullptr)
{
  _poll_mode = !setupAlarmTimer();
}

bool AlarmClass::start(Alarm& alarm)
{
  if ((alarm._interval < 1) || !alarm._handler)
    return false;
  size_t save = disableAndSaveInterrupts();
  if (add(alarm) && !_poll_mode)
    startAlarmTimer(_alarm_list->_alarm - micros());
  restoreInterrupts(save);
  return true;
}

void AlarmClass::cancel(Alarm& alarm)
{
  size_t save = disableAndSaveInterrupts();
  for (Alarm **p = &_alarm_list; *p; p = &(*p)->_next)
  {
    if (*p == &alarm)
    {
      *p = (*p)->_next;
      break;
    }
  }
  restoreInterrupts(save);
}

void AlarmClass::cancel(uint8_t num, void *arg)
{
  if ((num < lengthof(Alarm::_params)) && arg)
  {
    size_t save = disableAndSaveInterrupts();
    for (Alarm **p = &_alarm_list; *p; p = &(*p)->_next)
    {
      if ((*p)->_params[num] == arg)
      {
        *p = (*p)->_next;
        break;
      }
    }
    restoreInterrupts(save);
  }
}

bool AlarmClass::add(Alarm& alarm)
{
  Alarm **p;
  for (p = &_alarm_list; *p && ((int32_t)((*p)->_alarm - alarm._alarm) <= 0); p = &(*p)->_next)
    continue;
  alarm._next = *p;
  *p = &alarm;
  return p == &_alarm_list;
}

bool AlarmClass::timeup(void)
{
  Alarm *p = NULL;
  while (_alarm_list)
  {
    int32_t t = _alarm_list->_alarm - micros();
    if (p || (t > 0))
    {
      if (!_poll_mode)
        startAlarmTimer(t);
      return true;
    }
    _alarm_list = (p = _alarm_list)->_next;
    if (p->_handler(*p))
    {
      p->_alarm += p->_interval;
      if (!add(*p))
        p = NULL;
    }
    else
      p = NULL;
  }
  return false;
}

void AlarmClass::handle(void)
{
  if (_poll_mode)
  {
    size_t save = disableAndSaveInterrupts();
    timeup();
    restoreInterrupts(save);
  }
}

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alarm.cpp - Alarm Library for Arduino

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#include <stddef.h>

#include "alarm.h"

#define lengthof(a) (sizeof(a)/sizeof(a[0]))

AlarmClass AlarmTimer;

Alarm& Alarm::interval(int32_t interval, bool fromnow)

{

if (fromnow)

_alarm = micros() + interval;

_interval = interval;

return *this;

}

int32_t Alarm::interval(void)

{

return _interval;

}

Alarm& Alarm::handler(Alarm::handler_t handler)

{

_handler = handler;

return *this;

}

Alarm::handler_t Alarm::handler(void)

{

return _handler;

}

Alarm& Alarm::param(uint8_t num, void *val)

{

if (num < lengthof(_params))

_params[num] = val;

return *this;

}

void *Alarm::param(uint8_t num)

{

return num < lengthof(_params) ? _params[num] : NULL;

}

bool Alarm::expire(void)

{

if ((int32_t)(micros() - _alarm) < 0)

return false;

_alarm += _interval;

return true;

}

AlarmClass::AlarmClass(void)

: _alarm_list(nullptr)

{

_poll_mode = !setupAlarmTimer();

}

bool AlarmClass::start(Alarm& alarm)

{

if ((alarm._interval < 1) || !alarm._handler)

return false;

size_t save = disableAndSaveInterrupts();

if (add(alarm) && !_poll_mode)

startAlarmTimer(_alarm_list->_alarm - micros());

restoreInterrupts(save);

return true;

}

void AlarmClass::cancel(Alarm& alarm)

{

size_t save = disableAndSaveInterrupts();

for (Alarm **p = &_alarm_list; *p; p = &(*p)->_next)

{

if (*p == &alarm)

{

*p = (*p)->_next;

break;

}

restoreInterrupts(save);

}

void AlarmClass::cancel(uint8_t num, void *arg)

{

if ((num < lengthof(Alarm::_params)) && arg)

{

size_t save = disableAndSaveInterrupts();

for (Alarm **p = &_alarm_list; *p; p = &(*p)->_next)

{

if ((*p)->_params[num] == arg)

{

*p = (*p)->_next;

break;

}

restoreInterrupts(save);

}

bool AlarmClass::add(Alarm& alarm)

{

Alarm **p;

for (p = &_alarm_list; *p && ((int32_t)((*p)->_alarm - alarm._alarm) <= 0); p = &(*p)->_next)

continue;

alarm._next = *p;

*p = &alarm;

return p == &_alarm_list;

}

bool AlarmClass::timeup(void)

{

Alarm *p = NULL;

while (_alarm_list)

{

int32_t t = _alarm_list->_alarm - micros();

if (p || (t > 0))

{

if (!_poll_mode)

startAlarmTimer(t);

return true;

}

_alarm_list = (p = _alarm_list)->_next;

if (p->_handler(*p))

{

p->_alarm += p->_interval;

if (!add(*p))

p = NULL;

}

else

p = NULL;

}

return false;

}

void AlarmClass::handle(void)

{

if (_poll_mode)

{

size_t save = disableAndSaveInterrupts();

timeup();

restoreInterrupts(save);

}

/*
  hardware.h - Hardware Library

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#pragma once

#include <stddef.h>
#include <stdint.h>
#include <stdbool.h>

class Hardware
{
  public:

    Hardware(void);
    static uint32_t micros(void);
    static size_t disableAndSaveInterrupts(void);
    static void restoreInterrupts(size_t save);
    static void idle(void);

  protected:

    /* For Alarm Class */
    static bool setupAlarmTimer(void);
    static void startAlarmTimer(int32_t interval);
};

hardware.h - Hardware Library

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#pragma once

#include <stddef.h>

#include <stdint.h>

#include <stdbool.h>

class Hardware

{

public:

Hardware(void);

static uint32_t micros(void);

static size_t disableAndSaveInterrupts(void);

static void restoreInterrupts(size_t save);

static void idle(void);

protected:

/* For Alarm Class */

static bool setupAlarmTimer(void);

static void startAlarmTimer(int32_t interval);

};

/*
  hardware.cpp - Hardware Library for ATSAMD21

  Copyright (c) 2022 Sasapea's Lab. All right reserved.

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  This library 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
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General
  Public License along with this library; if not, write to the
  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
  Boston, MA  02111-1307  USA
*/
#include "hardware.h"

/**********************************************************
 * ARDUINO
 **********************************************************/

#if defined(ARDUINO)

#include "Arduino.h"

/*
 * ESP32
 */
#if defined(ESP32)

Hardware::Hardware(void)
{
}

uint32_t Hardware::micros(void)
{
  return ::micros();
}

size_t Hardware::disableAndSaveInterrupts(void)
{
  return portSET_INTERRUPT_MASK_FROM_ISR();
}

void Hardware::restoreInterrupts(size_t save)
{
  portCLEAR_INTERRUPT_MASK_FROM_ISR(save);
}

void Hardware::idle(void)
{
  portENABLE_INTERRUPTS();
}

bool Hardware::setupAlarmTimer(void)
{
  return false;
}

void Hardware::startAlarmTimer(int32_t interval)
{
}

/*
 * Generic Arduino
 */
#else

static unsigned char nest;

Hardware::Hardware(void)
{
}

uint32_t Hardware::micros(void)
{
  return ::micros();
}

size_t Hardware::disableAndSaveInterrupts(void)
{
  noInterrupts();
  return nest++;
}

void Hardware::restoreInterrupts(size_t save)
{
  if ((nest = save) == 0)
    interrupts();
}

void Hardware::idle(void)
{
  interrupts();
}

bool Hardware::setupAlarmTimer(void)
{
  return false;
}

void Hardware::startAlarmTimer(int32_t interval)
{
}

#endif

/**********************************************************
 * LINUX
 **********************************************************/

#elif defined(__linux__)

#include <time.h>
#include <pthread.h>

static pthread_mutex_t mut = PTHREAD_RECURSIVE_MUTEX_INITIALIZER_NP;

Hardware::Hardware(void)
{
}

uint32_t Hardware::micros(void)
{
  struct timespec ts;
  clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
  return (size_t)ts.tv_sec * 1000000 + (ts.tv_nsec / 1000);
}

size_t Hardware::disableAndSaveInterrupts(void)
{
  pthread_mutex_lock(&mut);
  return 0;
}

void Hardware::restoreInterrupts([[maybe_unused]] size_t save)
{
  pthread_mutex_unlock(&mut);
}

void Hardware::idle(void)
{
}

bool Hardware::setupAlarmTimer(void)
{
  return false;
}

void Hardware::startAlarmTimer(int32_t interval)
{
}

/**********************************************************
 * WINDOWS
 **********************************************************/

#elif defined(_WIN32) || defined(_WIN64)

#include <windows.h>

static CRITICAL_SECTION crit;
static LARGE_INTEGER freq;

Hardware::Hardware(void)
{
  InitializeCriticalSection(&crit);
  QueryPerformanceFrequency(&freq);
}

uint32_t Hardware::micros(void)
{
  LARGE_INTEGER now;
  QueryPerformanceCounter(&now);
  return now.QuadPart * 1000000U / freq.QuadPart;
}

size_t Hardware::disableAndSaveInterrupts(void)
{
  EnterCriticalSection(&crit);
  return 0;
}

void Hardware::restoreInterrupts([[maybe_unused]] size_t save)
{
  LeaveCriticalSection(&crit);
}

void Hardware::idle(void)
{
}

bool Hardware::setupAlarmTimer(void)
{
  return false;
}

void Hardware::startAlarmTimer(int32_t interval)
{
}

#endif

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hardware.cpp - Hardware Library for ATSAMD21

This library is free software; you can redistribute it and/or

modify it under the terms of the GNU Lesser General Public

License as published by the Free Software Foundation; either

version 2.1 of the License, or (at your option) any later version.

This library 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

Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General

Public License along with this library; if not, write to the

Free Software Foundation, Inc., 59 Temple Place, Suite 330,

Boston, MA 02111-1307 USA

#include "hardware.h"

/**********************************************************

* ARDUINO

**********************************************************/

#if defined(ARDUINO)

#include "Arduino.h"

* ESP32

#if defined(ESP32)

Hardware::Hardware(void)

{

}

uint32_t Hardware::micros(void)

{

return ::micros();

}

size_t Hardware::disableAndSaveInterrupts(void)

{

return portSET_INTERRUPT_MASK_FROM_ISR();

}

void Hardware::restoreInterrupts(size_t save)

{

portCLEAR_INTERRUPT_MASK_FROM_ISR(save);

}

void Hardware::idle(void)

{

portENABLE_INTERRUPTS();

}

bool Hardware::setupAlarmTimer(void)

{

return false;

}

void Hardware::startAlarmTimer(int32_t interval)

{

}

* Generic Arduino

#else

static unsigned char nest;

Hardware::Hardware(void)

{

}

uint32_t Hardware::micros(void)

{

return ::micros();

}

size_t Hardware::disableAndSaveInterrupts(void)

{

noInterrupts();

return nest++;

}

void Hardware::restoreInterrupts(size_t save)

{

if ((nest = save) == 0)

interrupts();

}

void Hardware::idle(void)

{

interrupts();

}

bool Hardware::setupAlarmTimer(void)

{

return false;

}

void Hardware::startAlarmTimer(int32_t interval)

{

}

#endif

/**********************************************************

* LINUX

**********************************************************/

#elif defined(__linux__)

#include <time.h>

#include <pthread.h>

static pthread_mutex_t mut = PTHREAD_RECURSIVE_MUTEX_INITIALIZER_NP;

Hardware::Hardware(void)

{

}

uint32_t Hardware::micros(void)

{

struct timespec ts;

clock_gettime(CLOCK_MONOTONIC_RAW, &ts);

return (size_t)ts.tv_sec * 1000000 + (ts.tv_nsec / 1000);

}

size_t Hardware::disableAndSaveInterrupts(void)

{

pthread_mutex_lock(&mut);

return 0;

}

void Hardware::restoreInterrupts([[maybe_unused]] size_t save)

{

pthread_mutex_unlock(&mut);

}

void Hardware::idle(void)

{

}

bool Hardware::setupAlarmTimer(void)

{

return false;

}

void Hardware::startAlarmTimer(int32_t interval)

{

}

/**********************************************************

* WINDOWS

**********************************************************/

#elif defined(_WIN32) || defined(_WIN64)

#include <windows.h>

static CRITICAL_SECTION crit;

static LARGE_INTEGER freq;

Hardware::Hardware(void)

{

InitializeCriticalSection(&crit);

QueryPerformanceFrequency(&freq);

}

uint32_t Hardware::micros(void)

{

LARGE_INTEGER now;

QueryPerformanceCounter(&now);

return now.QuadPart * 1000000U / freq.QuadPart;

}

size_t Hardware::disableAndSaveInterrupts(void)

{

EnterCriticalSection(&crit);

return 0;

}

void Hardware::restoreInterrupts([[maybe_unused]] size_t save)

{

LeaveCriticalSection(&crit);

}

void Hardware::idle(void)

{

}

bool Hardware::setupAlarmTimer(void)

{

return false;

}

void Hardware::startAlarmTimer(int32_t interval)

{

}

#endif

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