| /* ---------------------------------------------------------------------- |
| * $Date: 5. February 2013 |
| * $Revision: V1.02 |
| * |
| * Project: CMSIS-RTOS API |
| * Title: cmsis_os.c |
| * |
| * Version 0.02 |
| * Initial Proposal Phase |
| * Version 0.03 |
| * osKernelStart added, optional feature: main started as thread |
| * osSemaphores have standard behavior |
| * osTimerCreate does not start the timer, added osTimerStart |
| * osThreadPass is renamed to osThreadYield |
| * Version 1.01 |
| * Support for C++ interface |
| * - const attribute removed from the osXxxxDef_t typedef's |
| * - const attribute added to the osXxxxDef macros |
| * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete |
| * Added: osKernelInitialize |
| * Version 1.02 |
| * Control functions for short timeouts in microsecond resolution: |
| * Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec |
| * Removed: osSignalGet |
| * |
| * |
| *---------------------------------------------------------------------------- |
| * |
| * Portions Copyright © 2016 STMicroelectronics International N.V. All rights reserved. |
| * Portions Copyright (c) 2013 ARM LIMITED |
| * All rights reserved. |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are met: |
| * - Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * - Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * - Neither the name of ARM nor the names of its contributors may be used |
| * to endorse or promote products derived from this software without |
| * specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE |
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| *---------------------------------------------------------------------------*/ |
| |
| #include <string.h> |
| #include "cmsis_os.h" |
| |
| /* |
| * ARM Compiler 4/5 |
| */ |
| #if defined ( __CC_ARM ) |
| |
| #define __ASM __asm |
| #define __INLINE __inline |
| #define __STATIC_INLINE static __inline |
| |
| #include "cmsis_armcc.h" |
| |
| /* |
| * GNU Compiler |
| */ |
| #elif defined ( __GNUC__ ) |
| |
| #define __ASM __asm /*!< asm keyword for GNU Compiler */ |
| #define __INLINE inline /*!< inline keyword for GNU Compiler */ |
| #define __STATIC_INLINE static inline |
| |
| #include "cmsis_gcc.h" |
| |
| |
| /* |
| * IAR Compiler |
| */ |
| #elif defined ( __ICCARM__ ) |
| |
| #ifndef __ASM |
| #define __ASM __asm |
| #endif |
| #ifndef __INLINE |
| #define __INLINE inline |
| #endif |
| #ifndef __STATIC_INLINE |
| #define __STATIC_INLINE static inline |
| #endif |
| |
| #include <cmsis_iar.h> |
| #endif |
| |
| extern void xPortSysTickHandler(void); |
| |
| /* Convert from CMSIS type osPriority to FreeRTOS priority number */ |
| static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority) |
| { |
| unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY; |
| |
| if (priority != osPriorityError) { |
| fpriority += (priority - osPriorityIdle); |
| } |
| |
| return fpriority; |
| } |
| |
| #if (INCLUDE_uxTaskPriorityGet == 1) |
| /* Convert from FreeRTOS priority number to CMSIS type osPriority */ |
| static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority) |
| { |
| osPriority priority = osPriorityError; |
| |
| if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) { |
| priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY)); |
| } |
| |
| return priority; |
| } |
| #endif |
| |
| |
| /* Determine whether we are in thread mode or handler mode. */ |
| static int inHandlerMode (void) |
| { |
| return __get_IPSR() != 0; |
| } |
| |
| /*********************** Kernel Control Functions *****************************/ |
| /** |
| * @brief Initialize the RTOS Kernel for creating objects. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osKernelInitialize (void); |
| |
| /** |
| * @brief Start the RTOS Kernel with executing the specified thread. |
| * @param thread_def thread definition referenced with \ref osThread. |
| * @param argument pointer that is passed to the thread function as start argument. |
| * @retval status code that indicates the execution status of the function |
| * @note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osKernelStart (void) |
| { |
| vTaskStartScheduler(); |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Check if the RTOS kernel is already started |
| * @param None |
| * @retval (0) RTOS is not started |
| * (1) RTOS is started |
| * (-1) if this feature is disabled in FreeRTOSConfig.h |
| * @note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. |
| */ |
| int32_t osKernelRunning(void) |
| { |
| #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) |
| if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) |
| return 0; |
| else |
| return 1; |
| #else |
| return (-1); |
| #endif |
| } |
| |
| #if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available |
| /** |
| * @brief Get the value of the Kernel SysTick timer |
| * @param None |
| * @retval None |
| * @note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS. |
| */ |
| uint32_t osKernelSysTick(void) |
| { |
| if (inHandlerMode()) { |
| return xTaskGetTickCountFromISR(); |
| } |
| else { |
| return xTaskGetTickCount(); |
| } |
| } |
| #endif // System Timer available |
| /*********************** Thread Management *****************************/ |
| /** |
| * @brief Create a thread and add it to Active Threads and set it to state READY. |
| * @param thread_def thread definition referenced with \ref osThread. |
| * @param argument pointer that is passed to the thread function as start argument. |
| * @retval thread ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) |
| { |
| TaskHandle_t handle; |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) { |
| handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, |
| thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), |
| thread_def->buffer, thread_def->controlblock); |
| } |
| else { |
| if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, |
| thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), |
| &handle) != pdPASS) { |
| return NULL; |
| } |
| } |
| #elif( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| |
| handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, |
| thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), |
| thread_def->buffer, thread_def->controlblock); |
| #else |
| if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, |
| thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), |
| &handle) != pdPASS) { |
| return NULL; |
| } |
| #endif |
| |
| return handle; |
| } |
| |
| /** |
| * @brief Return the thread ID of the current running thread. |
| * @retval thread ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS. |
| */ |
| osThreadId osThreadGetId (void) |
| { |
| #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) |
| return xTaskGetCurrentTaskHandle(); |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Terminate execution of a thread and remove it from Active Threads. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osThreadTerminate (osThreadId thread_id) |
| { |
| #if (INCLUDE_vTaskDelete == 1) |
| vTaskDelete(thread_id); |
| return osOK; |
| #else |
| return osErrorOS; |
| #endif |
| } |
| |
| /** |
| * @brief Pass control to next thread that is in state \b READY. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osThreadYield (void) |
| { |
| taskYIELD(); |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Change priority of an active thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @param priority new priority value for the thread function. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) |
| { |
| #if (INCLUDE_vTaskPrioritySet == 1) |
| vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority)); |
| return osOK; |
| #else |
| return osErrorOS; |
| #endif |
| } |
| |
| /** |
| * @brief Get current priority of an active thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval current priority value of the thread function. |
| * @note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS. |
| */ |
| osPriority osThreadGetPriority (osThreadId thread_id) |
| { |
| #if (INCLUDE_uxTaskPriorityGet == 1) |
| if (inHandlerMode()) |
| { |
| return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id)); |
| } |
| else |
| { |
| return makeCmsisPriority(uxTaskPriorityGet(thread_id)); |
| } |
| #else |
| return osPriorityError; |
| #endif |
| } |
| |
| /*********************** Generic Wait Functions *******************************/ |
| /** |
| * @brief Wait for Timeout (Time Delay) |
| * @param millisec time delay value |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osDelay (uint32_t millisec) |
| { |
| #if INCLUDE_vTaskDelay |
| TickType_t ticks = millisec / portTICK_PERIOD_MS; |
| |
| vTaskDelay(ticks ? ticks : 1); /* Minimum delay = 1 tick */ |
| |
| return osOK; |
| #else |
| (void) millisec; |
| |
| return osErrorResource; |
| #endif |
| } |
| |
| #if (defined (osFeature_Wait) && (osFeature_Wait != 0)) /* Generic Wait available */ |
| /** |
| * @brief Wait for Signal, Message, Mail, or Timeout |
| * @param millisec timeout value or 0 in case of no time-out |
| * @retval event that contains signal, message, or mail information or error code. |
| * @note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS. |
| */ |
| osEvent osWait (uint32_t millisec); |
| |
| #endif /* Generic Wait available */ |
| |
| /*********************** Timer Management Functions ***************************/ |
| /** |
| * @brief Create a timer. |
| * @param timer_def timer object referenced with \ref osTimer. |
| * @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior. |
| * @param argument argument to the timer call back function. |
| * @retval timer ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) |
| { |
| #if (configUSE_TIMERS == 1) |
| |
| #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) |
| if(timer_def->controlblock != NULL) { |
| return xTimerCreateStatic((const char *)"", |
| 1, // period should be filled when starting the Timer using osTimerStart |
| (type == osTimerPeriodic) ? pdTRUE : pdFALSE, |
| (void *) argument, |
| (TimerCallbackFunction_t)timer_def->ptimer, |
| (StaticTimer_t *)timer_def->controlblock); |
| } |
| else { |
| return xTimerCreate((const char *)"", |
| 1, // period should be filled when starting the Timer using osTimerStart |
| (type == osTimerPeriodic) ? pdTRUE : pdFALSE, |
| (void *) argument, |
| (TimerCallbackFunction_t)timer_def->ptimer); |
| } |
| #elif( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| return xTimerCreateStatic((const char *)"", |
| 1, // period should be filled when starting the Timer using osTimerStart |
| (type == osTimerPeriodic) ? pdTRUE : pdFALSE, |
| (void *) argument, |
| (TimerCallbackFunction_t)timer_def->ptimer, |
| (StaticTimer_t *)timer_def->controlblock); |
| #else |
| return xTimerCreate((const char *)"", |
| 1, // period should be filled when starting the Timer using osTimerStart |
| (type == osTimerPeriodic) ? pdTRUE : pdFALSE, |
| (void *) argument, |
| (TimerCallbackFunction_t)timer_def->ptimer); |
| #endif |
| |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Start or restart a timer. |
| * @param timer_id timer ID obtained by \ref osTimerCreate. |
| * @param millisec time delay value of the timer. |
| * @retval status code that indicates the execution status of the function |
| * @note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) |
| { |
| osStatus result = osOK; |
| #if (configUSE_TIMERS == 1) |
| portBASE_TYPE taskWoken = pdFALSE; |
| TickType_t ticks = millisec / portTICK_PERIOD_MS; |
| |
| if (ticks == 0) |
| ticks = 1; |
| |
| if (inHandlerMode()) |
| { |
| if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS) |
| { |
| result = osErrorOS; |
| } |
| else |
| { |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| } |
| else |
| { |
| if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS) |
| result = osErrorOS; |
| } |
| |
| #else |
| result = osErrorOS; |
| #endif |
| return result; |
| } |
| |
| /** |
| * @brief Stop a timer. |
| * @param timer_id timer ID obtained by \ref osTimerCreate |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osTimerStop (osTimerId timer_id) |
| { |
| osStatus result = osOK; |
| #if (configUSE_TIMERS == 1) |
| portBASE_TYPE taskWoken = pdFALSE; |
| |
| if (inHandlerMode()) { |
| if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xTimerStop(timer_id, 0) != pdPASS) { |
| result = osErrorOS; |
| } |
| } |
| #else |
| result = osErrorOS; |
| #endif |
| return result; |
| } |
| |
| /** |
| * @brief Delete a timer. |
| * @param timer_id timer ID obtained by \ref osTimerCreate |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osTimerDelete (osTimerId timer_id) |
| { |
| osStatus result = osOK; |
| |
| #if (configUSE_TIMERS == 1) |
| |
| if (inHandlerMode()) { |
| return osErrorISR; |
| } |
| else { |
| if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) { |
| result = osErrorOS; |
| } |
| } |
| |
| #else |
| result = osErrorOS; |
| #endif |
| |
| return result; |
| } |
| |
| /*************************** Signal Management ********************************/ |
| /** |
| * @brief Set the specified Signal Flags of an active thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @param signals specifies the signal flags of the thread that should be set. |
| * @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. |
| * @note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS. |
| */ |
| int32_t osSignalSet (osThreadId thread_id, int32_t signal) |
| { |
| #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
| BaseType_t xHigherPriorityTaskWoken = pdFALSE; |
| uint32_t ulPreviousNotificationValue = 0; |
| |
| if (inHandlerMode()) |
| { |
| if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS ) |
| return 0x80000000; |
| |
| portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); |
| } |
| else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS ) |
| return 0x80000000; |
| |
| return ulPreviousNotificationValue; |
| #else |
| (void) thread_id; |
| (void) signal; |
| |
| return 0x80000000; /* Task Notification not supported */ |
| #endif |
| } |
| |
| /** |
| * @brief Clear the specified Signal Flags of an active thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @param signals specifies the signal flags of the thread that shall be cleared. |
| * @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. |
| * @note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS. |
| */ |
| int32_t osSignalClear (osThreadId thread_id, int32_t signal); |
| |
| /** |
| * @brief Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread. |
| * @param signals wait until all specified signal flags set or 0 for any single signal flag. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval event flag information or error code. |
| * @note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS. |
| */ |
| osEvent osSignalWait (int32_t signals, uint32_t millisec) |
| { |
| osEvent ret; |
| |
| #if( configUSE_TASK_NOTIFICATIONS == 1 ) |
| |
| TickType_t ticks; |
| |
| ret.value.signals = 0; |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (inHandlerMode()) |
| { |
| ret.status = osErrorISR; /*Not allowed in ISR*/ |
| } |
| else |
| { |
| if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE) |
| { |
| if(ticks == 0) ret.status = osOK; |
| else ret.status = osEventTimeout; |
| } |
| else if(ret.value.signals < 0) |
| { |
| ret.status = osErrorValue; |
| } |
| else ret.status = osEventSignal; |
| } |
| #else |
| (void) signals; |
| (void) millisec; |
| |
| ret.status = osErrorOS; /* Task Notification not supported */ |
| #endif |
| |
| return ret; |
| } |
| |
| /**************************** Mutex Management ********************************/ |
| /** |
| * @brief Create and Initialize a Mutex object |
| * @param mutex_def mutex definition referenced with \ref osMutex. |
| * @retval mutex ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osMutexId osMutexCreate (const osMutexDef_t *mutex_def) |
| { |
| #if ( configUSE_MUTEXES == 1) |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| |
| if (mutex_def->controlblock != NULL) { |
| return xSemaphoreCreateMutexStatic( mutex_def->controlblock ); |
| } |
| else { |
| return xSemaphoreCreateMutex(); |
| } |
| #elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| return xSemaphoreCreateMutexStatic( mutex_def->controlblock ); |
| #else |
| return xSemaphoreCreateMutex(); |
| #endif |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Wait until a Mutex becomes available |
| * @param mutex_id mutex ID obtained by \ref osMutexCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) |
| { |
| TickType_t ticks; |
| portBASE_TYPE taskWoken = pdFALSE; |
| |
| |
| if (mutex_id == NULL) { |
| return osErrorParameter; |
| } |
| |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (inHandlerMode()) { |
| if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) { |
| return osErrorOS; |
| } |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Release a Mutex that was obtained by \ref osMutexWait |
| * @param mutex_id mutex ID obtained by \ref osMutexCreate. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMutexRelease (osMutexId mutex_id) |
| { |
| osStatus result = osOK; |
| portBASE_TYPE taskWoken = pdFALSE; |
| |
| if (inHandlerMode()) { |
| if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else if (xSemaphoreGive(mutex_id) != pdTRUE) |
| { |
| result = osErrorOS; |
| } |
| return result; |
| } |
| |
| /** |
| * @brief Delete a Mutex |
| * @param mutex_id mutex ID obtained by \ref osMutexCreate. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMutexDelete (osMutexId mutex_id) |
| { |
| if (inHandlerMode()) { |
| return osErrorISR; |
| } |
| |
| vQueueDelete(mutex_id); |
| |
| return osOK; |
| } |
| |
| /******************** Semaphore Management Functions **************************/ |
| |
| #if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) |
| |
| /** |
| * @brief Create and Initialize a Semaphore object used for managing resources |
| * @param semaphore_def semaphore definition referenced with \ref osSemaphore. |
| * @param count number of available resources. |
| * @retval semaphore ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) |
| { |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| |
| osSemaphoreId sema; |
| |
| if (semaphore_def->controlblock != NULL){ |
| if (count == 1) { |
| return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock ); |
| } |
| else { |
| #if (configUSE_COUNTING_SEMAPHORES == 1 ) |
| return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock ); |
| #else |
| return NULL; |
| #endif |
| } |
| } |
| else { |
| if (count == 1) { |
| vSemaphoreCreateBinary(sema); |
| return sema; |
| } |
| else { |
| #if (configUSE_COUNTING_SEMAPHORES == 1 ) |
| return xSemaphoreCreateCounting(count, count); |
| #else |
| return NULL; |
| #endif |
| } |
| } |
| #elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0 |
| if(count == 1) { |
| return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock ); |
| } |
| else |
| { |
| #if (configUSE_COUNTING_SEMAPHORES == 1 ) |
| return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock ); |
| #else |
| return NULL; |
| #endif |
| } |
| #else // configSUPPORT_STATIC_ALLOCATION == 0 && configSUPPORT_DYNAMIC_ALLOCATION == 1 |
| osSemaphoreId sema; |
| |
| if (count == 1) { |
| vSemaphoreCreateBinary(sema); |
| return sema; |
| } |
| else { |
| #if (configUSE_COUNTING_SEMAPHORES == 1 ) |
| return xSemaphoreCreateCounting(count, count); |
| #else |
| return NULL; |
| #endif |
| } |
| #endif |
| } |
| |
| /** |
| * @brief Wait until a Semaphore token becomes available |
| * @param semaphore_id semaphore object referenced with \ref osSemaphore. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval number of available tokens, or -1 in case of incorrect parameters. |
| * @note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS. |
| */ |
| int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) |
| { |
| TickType_t ticks; |
| portBASE_TYPE taskWoken = pdFALSE; |
| |
| |
| if (semaphore_id == NULL) { |
| return osErrorParameter; |
| } |
| |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (inHandlerMode()) { |
| if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) { |
| return osErrorOS; |
| } |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Release a Semaphore token |
| * @param semaphore_id semaphore object referenced with \ref osSemaphore. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) |
| { |
| osStatus result = osOK; |
| portBASE_TYPE taskWoken = pdFALSE; |
| |
| |
| if (inHandlerMode()) { |
| if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xSemaphoreGive(semaphore_id) != pdTRUE) { |
| result = osErrorOS; |
| } |
| } |
| |
| return result; |
| } |
| |
| /** |
| * @brief Delete a Semaphore |
| * @param semaphore_id semaphore object referenced with \ref osSemaphore. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) |
| { |
| if (inHandlerMode()) { |
| return osErrorISR; |
| } |
| |
| vSemaphoreDelete(semaphore_id); |
| |
| return osOK; |
| } |
| |
| #endif /* Use Semaphores */ |
| |
| /******************* Memory Pool Management Functions ***********************/ |
| |
| #if (defined (osFeature_Pool) && (osFeature_Pool != 0)) |
| |
| //TODO |
| //This is a primitive and inefficient wrapper around the existing FreeRTOS memory management. |
| //A better implementation will have to modify heap_x.c! |
| |
| |
| typedef struct os_pool_cb { |
| void *pool; |
| uint8_t *markers; |
| uint32_t pool_sz; |
| uint32_t item_sz; |
| uint32_t currentIndex; |
| } os_pool_cb_t; |
| |
| |
| /** |
| * @brief Create and Initialize a memory pool |
| * @param pool_def memory pool definition referenced with \ref osPool. |
| * @retval memory pool ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osPoolId osPoolCreate (const osPoolDef_t *pool_def) |
| { |
| #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) |
| osPoolId thePool; |
| int itemSize = 4 * ((pool_def->item_sz + 3) / 4); |
| uint32_t i; |
| |
| /* First have to allocate memory for the pool control block. */ |
| thePool = pvPortMalloc(sizeof(os_pool_cb_t)); |
| |
| |
| if (thePool) { |
| thePool->pool_sz = pool_def->pool_sz; |
| thePool->item_sz = itemSize; |
| thePool->currentIndex = 0; |
| |
| /* Memory for markers */ |
| thePool->markers = pvPortMalloc(pool_def->pool_sz); |
| |
| if (thePool->markers) { |
| /* Now allocate the pool itself. */ |
| thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize); |
| |
| if (thePool->pool) { |
| for (i = 0; i < pool_def->pool_sz; i++) { |
| thePool->markers[i] = 0; |
| } |
| } |
| else { |
| vPortFree(thePool->markers); |
| vPortFree(thePool); |
| thePool = NULL; |
| } |
| } |
| else { |
| vPortFree(thePool); |
| thePool = NULL; |
| } |
| } |
| |
| return thePool; |
| |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Allocate a memory block from a memory pool |
| * @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. |
| * @retval address of the allocated memory block or NULL in case of no memory available. |
| * @note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS. |
| */ |
| void *osPoolAlloc (osPoolId pool_id) |
| { |
| int dummy = 0; |
| void *p = NULL; |
| uint32_t i; |
| uint32_t index; |
| |
| if (inHandlerMode()) { |
| dummy = portSET_INTERRUPT_MASK_FROM_ISR(); |
| } |
| else { |
| vPortEnterCritical(); |
| } |
| |
| for (i = 0; i < pool_id->pool_sz; i++) { |
| index = (pool_id->currentIndex + i) % pool_id->pool_sz; |
| |
| if (pool_id->markers[index] == 0) { |
| pool_id->markers[index] = 1; |
| p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz)); |
| pool_id->currentIndex = index; |
| break; |
| } |
| } |
| |
| if (inHandlerMode()) { |
| portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy); |
| } |
| else { |
| vPortExitCritical(); |
| } |
| |
| return p; |
| } |
| |
| /** |
| * @brief Allocate a memory block from a memory pool and set memory block to zero |
| * @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. |
| * @retval address of the allocated memory block or NULL in case of no memory available. |
| * @note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS. |
| */ |
| void *osPoolCAlloc (osPoolId pool_id) |
| { |
| void *p = osPoolAlloc(pool_id); |
| |
| if (p != NULL) |
| { |
| memset(p, 0, sizeof(pool_id->pool_sz)); |
| } |
| |
| return p; |
| } |
| |
| /** |
| * @brief Return an allocated memory block back to a specific memory pool |
| * @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. |
| * @param block address of the allocated memory block that is returned to the memory pool. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osPoolFree (osPoolId pool_id, void *block) |
| { |
| uint32_t index; |
| |
| if (pool_id == NULL) { |
| return osErrorParameter; |
| } |
| |
| if (block == NULL) { |
| return osErrorParameter; |
| } |
| |
| if (block < pool_id->pool) { |
| return osErrorParameter; |
| } |
| |
| index = (uint32_t)block - (uint32_t)(pool_id->pool); |
| if (index % pool_id->item_sz) { |
| return osErrorParameter; |
| } |
| index = index / pool_id->item_sz; |
| if (index >= pool_id->pool_sz) { |
| return osErrorParameter; |
| } |
| |
| pool_id->markers[index] = 0; |
| |
| return osOK; |
| } |
| |
| |
| #endif /* Use Memory Pool Management */ |
| |
| /******************* Message Queue Management Functions *********************/ |
| |
| #if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) /* Use Message Queues */ |
| |
| /** |
| * @brief Create and Initialize a Message Queue |
| * @param queue_def queue definition referenced with \ref osMessageQ. |
| * @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. |
| * @retval message queue ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) |
| { |
| (void) thread_id; |
| |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| |
| if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) { |
| return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock); |
| } |
| else { |
| return xQueueCreate(queue_def->queue_sz, queue_def->item_sz); |
| } |
| #elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock); |
| #else |
| return xQueueCreate(queue_def->queue_sz, queue_def->item_sz); |
| #endif |
| } |
| |
| /** |
| * @brief Put a Message to a Queue. |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @param info message information. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) |
| { |
| portBASE_TYPE taskWoken = pdFALSE; |
| TickType_t ticks; |
| |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| |
| if (inHandlerMode()) { |
| if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xQueueSend(queue_id, &info, ticks) != pdTRUE) { |
| return osErrorOS; |
| } |
| } |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Get a Message or Wait for a Message from a Queue. |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval event information that includes status code. |
| * @note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS. |
| */ |
| osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) |
| { |
| portBASE_TYPE taskWoken; |
| TickType_t ticks; |
| osEvent event; |
| |
| event.def.message_id = queue_id; |
| event.value.v = 0; |
| |
| if (queue_id == NULL) { |
| event.status = osErrorParameter; |
| return event; |
| } |
| |
| taskWoken = pdFALSE; |
| |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (inHandlerMode()) { |
| if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) { |
| /* We have mail */ |
| event.status = osEventMessage; |
| } |
| else { |
| event.status = osOK; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) { |
| /* We have mail */ |
| event.status = osEventMessage; |
| } |
| else { |
| event.status = (ticks == 0) ? osOK : osEventTimeout; |
| } |
| } |
| |
| return event; |
| } |
| |
| #endif /* Use Message Queues */ |
| |
| /******************** Mail Queue Management Functions ***********************/ |
| #if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) /* Use Mail Queues */ |
| |
| |
| typedef struct os_mailQ_cb { |
| const osMailQDef_t *queue_def; |
| QueueHandle_t handle; |
| osPoolId pool; |
| } os_mailQ_cb_t; |
| |
| /** |
| * @brief Create and Initialize mail queue |
| * @param queue_def reference to the mail queue definition obtain with \ref osMailQ |
| * @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. |
| * @retval mail queue ID for reference by other functions or NULL in case of error. |
| * @note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS. |
| */ |
| osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) |
| { |
| #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) |
| (void) thread_id; |
| |
| osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL}; |
| |
| /* Create a mail queue control block */ |
| |
| *(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb)); |
| |
| if (*(queue_def->cb) == NULL) { |
| return NULL; |
| } |
| (*(queue_def->cb))->queue_def = queue_def; |
| |
| /* Create a queue in FreeRTOS */ |
| (*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *)); |
| |
| |
| if ((*(queue_def->cb))->handle == NULL) { |
| vPortFree(*(queue_def->cb)); |
| return NULL; |
| } |
| |
| /* Create a mail pool */ |
| (*(queue_def->cb))->pool = osPoolCreate(&pool_def); |
| if ((*(queue_def->cb))->pool == NULL) { |
| //TODO: Delete queue. How to do it in FreeRTOS? |
| vPortFree(*(queue_def->cb)); |
| return NULL; |
| } |
| |
| return *(queue_def->cb); |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Allocate a memory block from a mail |
| * @param queue_id mail queue ID obtained with \ref osMailCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval pointer to memory block that can be filled with mail or NULL in case error. |
| * @note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS. |
| */ |
| void *osMailAlloc (osMailQId queue_id, uint32_t millisec) |
| { |
| (void) millisec; |
| void *p; |
| |
| |
| if (queue_id == NULL) { |
| return NULL; |
| } |
| |
| p = osPoolAlloc(queue_id->pool); |
| |
| return p; |
| } |
| |
| /** |
| * @brief Allocate a memory block from a mail and set memory block to zero |
| * @param queue_id mail queue ID obtained with \ref osMailCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval pointer to memory block that can be filled with mail or NULL in case error. |
| * @note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS. |
| */ |
| void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) |
| { |
| uint32_t i; |
| void *p = osMailAlloc(queue_id, millisec); |
| |
| if (p) { |
| for (i = 0; i < queue_id->queue_def->item_sz; i++) { |
| ((uint8_t *)p)[i] = 0; |
| } |
| } |
| |
| return p; |
| } |
| |
| /** |
| * @brief Put a mail to a queue |
| * @param queue_id mail queue ID obtained with \ref osMailCreate. |
| * @param mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMailPut (osMailQId queue_id, void *mail) |
| { |
| portBASE_TYPE taskWoken; |
| |
| |
| if (queue_id == NULL) { |
| return osErrorParameter; |
| } |
| |
| taskWoken = pdFALSE; |
| |
| if (inHandlerMode()) { |
| if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) { |
| return osErrorOS; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) { |
| return osErrorOS; |
| } |
| } |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Get a mail from a queue |
| * @param queue_id mail queue ID obtained with \ref osMailCreate. |
| * @param millisec timeout value or 0 in case of no time-out |
| * @retval event that contains mail information or error code. |
| * @note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS. |
| */ |
| osEvent osMailGet (osMailQId queue_id, uint32_t millisec) |
| { |
| portBASE_TYPE taskWoken; |
| TickType_t ticks; |
| osEvent event; |
| |
| event.def.mail_id = queue_id; |
| |
| if (queue_id == NULL) { |
| event.status = osErrorParameter; |
| return event; |
| } |
| |
| taskWoken = pdFALSE; |
| |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (inHandlerMode()) { |
| if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) { |
| /* We have mail */ |
| event.status = osEventMail; |
| } |
| else { |
| event.status = osOK; |
| } |
| portEND_SWITCHING_ISR(taskWoken); |
| } |
| else { |
| if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) { |
| /* We have mail */ |
| event.status = osEventMail; |
| } |
| else { |
| event.status = (ticks == 0) ? osOK : osEventTimeout; |
| } |
| } |
| |
| return event; |
| } |
| |
| /** |
| * @brief Free a memory block from a mail |
| * @param queue_id mail queue ID obtained with \ref osMailCreate. |
| * @param mail pointer to the memory block that was obtained with \ref osMailGet. |
| * @retval status code that indicates the execution status of the function. |
| * @note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS. |
| */ |
| osStatus osMailFree (osMailQId queue_id, void *mail) |
| { |
| if (queue_id == NULL) { |
| return osErrorParameter; |
| } |
| |
| return osPoolFree(queue_id->pool, mail); |
| } |
| #endif /* Use Mail Queues */ |
| |
| /*************************** Additional specific APIs to Free RTOS ************/ |
| /** |
| * @brief Handles the tick increment |
| * @param none. |
| * @retval none. |
| */ |
| void osSystickHandler(void) |
| { |
| |
| #if (INCLUDE_xTaskGetSchedulerState == 1 ) |
| if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) |
| { |
| #endif /* INCLUDE_xTaskGetSchedulerState */ |
| xPortSysTickHandler(); |
| #if (INCLUDE_xTaskGetSchedulerState == 1 ) |
| } |
| #endif /* INCLUDE_xTaskGetSchedulerState */ |
| } |
| |
| #if ( INCLUDE_eTaskGetState == 1 ) |
| /** |
| * @brief Obtain the state of any thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval the stae of the thread, states are encoded by the osThreadState enumerated type. |
| */ |
| osThreadState osThreadGetState(osThreadId thread_id) |
| { |
| eTaskState ThreadState; |
| osThreadState result; |
| |
| ThreadState = eTaskGetState(thread_id); |
| |
| switch (ThreadState) |
| { |
| case eRunning : |
| result = osThreadRunning; |
| break; |
| case eReady : |
| result = osThreadReady; |
| break; |
| case eBlocked : |
| result = osThreadBlocked; |
| break; |
| case eSuspended : |
| result = osThreadSuspended; |
| break; |
| case eDeleted : |
| result = osThreadDeleted; |
| break; |
| default: |
| result = osThreadError; |
| } |
| |
| return result; |
| } |
| #endif /* INCLUDE_eTaskGetState */ |
| |
| #if (INCLUDE_eTaskGetState == 1) |
| /** |
| * @brief Check if a thread is already suspended or not. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadIsSuspended(osThreadId thread_id) |
| { |
| if (eTaskGetState(thread_id) == eSuspended) |
| return osOK; |
| else |
| return osErrorOS; |
| } |
| #endif /* INCLUDE_eTaskGetState */ |
| /** |
| * @brief Suspend execution of a thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadSuspend (osThreadId thread_id) |
| { |
| #if (INCLUDE_vTaskSuspend == 1) |
| vTaskSuspend(thread_id); |
| |
| return osOK; |
| #else |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Resume execution of a suspended thread. |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadResume (osThreadId thread_id) |
| { |
| #if (INCLUDE_vTaskSuspend == 1) |
| if(inHandlerMode()) |
| { |
| if (xTaskResumeFromISR(thread_id) == pdTRUE) |
| { |
| portYIELD_FROM_ISR(pdTRUE); |
| } |
| } |
| else |
| { |
| vTaskResume(thread_id); |
| } |
| return osOK; |
| #else |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Suspend execution of a all active threads. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadSuspendAll (void) |
| { |
| vTaskSuspendAll(); |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Resume execution of a all suspended threads. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadResumeAll (void) |
| { |
| if (xTaskResumeAll() == pdTRUE) |
| return osOK; |
| else |
| return osErrorOS; |
| |
| } |
| |
| /** |
| * @brief Delay a task until a specified time |
| * @param PreviousWakeTime Pointer to a variable that holds the time at which the |
| * task was last unblocked. PreviousWakeTime must be initialised with the current time |
| * prior to its first use (PreviousWakeTime = osKernelSysTick() ) |
| * @param millisec time delay value |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec) |
| { |
| #if INCLUDE_vTaskDelayUntil |
| TickType_t ticks = (millisec / portTICK_PERIOD_MS); |
| vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1); |
| |
| return osOK; |
| #else |
| (void) millisec; |
| (void) PreviousWakeTime; |
| |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Abort the delay for a specific thread |
| * @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osAbortDelay(osThreadId thread_id) |
| { |
| #if INCLUDE_xTaskAbortDelay |
| |
| xTaskAbortDelay(thread_id); |
| |
| return osOK; |
| #else |
| (void) thread_id; |
| |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Lists all the current threads, along with their current state |
| * and stack usage high water mark. |
| * @param buffer A buffer into which the above mentioned details |
| * will be written |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osThreadList (uint8_t *buffer) |
| { |
| #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) |
| vTaskList((char *)buffer); |
| #endif |
| return osOK; |
| } |
| |
| /** |
| * @brief Receive an item from a queue without removing the item from the queue. |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval event information that includes status code. |
| */ |
| osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec) |
| { |
| TickType_t ticks; |
| osEvent event; |
| |
| event.def.message_id = queue_id; |
| |
| if (queue_id == NULL) { |
| event.status = osErrorParameter; |
| return event; |
| } |
| |
| ticks = 0; |
| if (millisec == osWaitForever) { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) { |
| ticks = 1; |
| } |
| } |
| |
| if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE) |
| { |
| /* We have mail */ |
| event.status = osEventMessage; |
| } |
| else |
| { |
| event.status = (ticks == 0) ? osOK : osEventTimeout; |
| } |
| |
| return event; |
| } |
| |
| /** |
| * @brief Get the number of messaged stored in a queue. |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @retval number of messages stored in a queue. |
| */ |
| uint32_t osMessageWaiting(osMessageQId queue_id) |
| { |
| if (inHandlerMode()) { |
| return uxQueueMessagesWaitingFromISR(queue_id); |
| } |
| else |
| { |
| return uxQueueMessagesWaiting(queue_id); |
| } |
| } |
| |
| /** |
| * @brief Get the available space in a message queue. |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @retval available space in a message queue. |
| */ |
| uint32_t osMessageAvailableSpace(osMessageQId queue_id) |
| { |
| return uxQueueSpacesAvailable(queue_id); |
| } |
| |
| /** |
| * @brief Delete a Message Queue |
| * @param queue_id message queue ID obtained with \ref osMessageCreate. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osMessageDelete (osMessageQId queue_id) |
| { |
| if (inHandlerMode()) { |
| return osErrorISR; |
| } |
| |
| vQueueDelete(queue_id); |
| |
| return osOK; |
| } |
| |
| /** |
| * @brief Create and Initialize a Recursive Mutex |
| * @param mutex_def mutex definition referenced with \ref osMutex. |
| * @retval mutex ID for reference by other functions or NULL in case of error.. |
| */ |
| osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def) |
| { |
| #if (configUSE_RECURSIVE_MUTEXES == 1) |
| #if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) |
| |
| if (mutex_def->controlblock != NULL){ |
| return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock ); |
| } |
| else { |
| return xSemaphoreCreateRecursiveMutex(); |
| } |
| #elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) |
| return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock ); |
| #else |
| return xSemaphoreCreateRecursiveMutex(); |
| #endif |
| #else |
| return NULL; |
| #endif |
| } |
| |
| /** |
| * @brief Release a Recursive Mutex |
| * @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osRecursiveMutexRelease (osMutexId mutex_id) |
| { |
| #if (configUSE_RECURSIVE_MUTEXES == 1) |
| osStatus result = osOK; |
| |
| if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE) |
| { |
| result = osErrorOS; |
| } |
| return result; |
| #else |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Release a Recursive Mutex |
| * @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. |
| * @param millisec timeout value or 0 in case of no time-out. |
| * @retval status code that indicates the execution status of the function. |
| */ |
| osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec) |
| { |
| #if (configUSE_RECURSIVE_MUTEXES == 1) |
| TickType_t ticks; |
| |
| if (mutex_id == NULL) |
| { |
| return osErrorParameter; |
| } |
| |
| ticks = 0; |
| if (millisec == osWaitForever) |
| { |
| ticks = portMAX_DELAY; |
| } |
| else if (millisec != 0) |
| { |
| ticks = millisec / portTICK_PERIOD_MS; |
| if (ticks == 0) |
| { |
| ticks = 1; |
| } |
| } |
| |
| if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE) |
| { |
| return osErrorOS; |
| } |
| return osOK; |
| #else |
| return osErrorResource; |
| #endif |
| } |
| |
| /** |
| * @brief Returns the current count value of a counting semaphore |
| * @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate. |
| * @retval count value |
| */ |
| uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id) |
| { |
| return uxSemaphoreGetCount(semaphore_id); |
| } |