/* ----------------------------------------------------------------------
* Copyright (C) 2011 ARM Limited. All rights reserved.
*
* $Date: 10. Februar 2012
* $Revision: V0.03
*
* Project: CMSIS-RTOS API
* Title: cmsis_os.h template header file
*
* Version 0.02
* Initial Proposal Phase
* Version 0.03
* osKernelStart added, optional feature: main started as thread
* osSemaphores have standard behaviour
* osTimerCreate does not start the timer, added osTimerStart
* osThreadPass is renamed to osThreadYield
* -------------------------------------------------------------------- */
#ifndef _CMSIS_OS_H
#define _CMSIS_OS_H
#include "lpclib_types.h"
/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version
#define osCMSIS 0x00003 ///< API version (main [31:16] .sub [15:0])
/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlaying RTOS kernel and version number.
#define osCMSIS_KERNEL 0x10000 ///< RTOS identification and version (main [31:16] .sub [15:0])
/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
#define osKernelSystemId "KERNEL V1.00" ///< RTOS identification string
/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
#define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available
#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
#define osFeature_Signals 8 ///< maximum number of Signal Flags available per thread
#define osFeature_Semaphore 30 ///< maximum count for SemaphoreInit function
#define osFeature_Wait 1 ///< osWait function: 1=available, 0=not available
#include <stdint.h>
#include <stddef.h>
#ifdef __cplusplus
extern "C"
{
#endif
// ==== Enumeration, structures, defines ====
/// Priority used for thread control.
/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
typedef enum {
osPriorityIdle = -3, ///< priority: idle (lowest)
osPriorityLow = -2, ///< priority: low
osPriorityBelowNormal = -1, ///< priority: below normal
osPriorityNormal = 0, ///< priority: normal (default)
osPriorityAboveNormal = +1, ///< priority: above normal
osPriorityHigh = +2, ///< priority: high
osPriorityRealtime = +3, ///< priority: realtime (highest)
osPriorityError = 0x84, ///< system cannot determine priority or thread has illegal priority
} osPriority;
/// Timeout value
/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
#define osWaitForever 0xFFFFFFFF ///< wait forever timeout value
/// Status code values returned by CMSIS-RTOS functions
/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
typedef enum {
osOK = 0, ///< function completed; no event occurred.
osEventSignal = 0x08, ///< function completed; signal event occurred.
osEventMessage = 0x10, ///< function completed; message event occurred.
osEventMail = 0x20, ///< function completed; mail event occurred.
osEventTimeout = 0x40, ///< function completed; timeout occurred.
osErrorParameter = 0x80, ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
osErrorResource = 0x81, ///< resource not available: a specified resource was not available.
osErrorTimeoutResource = 0xC1, ///< resource not available within given time: a specified resource was not available within the timeout period.
osErrorISR = 0x82, ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
osErrorISRRecursive = 0x83, ///< function called multiple times from ISR with same object.
osErrorPriority = 0x84, ///< system cannot determine priority or thread has illegal priority.
osErrorNoMemory = 0x85, ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
osErrorValue = 0x86, ///< value of a parameter is out of range.
osErrorOS = 0xFF, ///< unspecified RTOS error: run-time error but no other error message fits.
os_status_reserved = 0x7FFFFFFF, ///< prevent from enum down-size compiler optimization.
} osStatus;
/// Timer type value for the timer definition
/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
typedef enum {
osTimerOnce = 0, ///< one-shot timer
osTimerPeriodic = 1, ///< repeating timer
} os_timer_type;
/// Entry point of a thread.
/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
typedef void (*os_pthread) (void const *argument);
/// Entry point of a timer call back function.
/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
typedef void (*os_ptimer) (void const *argument);
// >>> the following data type definitions may shall adapted towards a specific RTOS
/// Thread ID identifies the thread (pointer to a thread control block).
/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
typedef void * osThreadId;
/// Timer ID identifies the timer (pointer to a timer control block).
/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
typedef void * osTimerId;
/// Mutex ID identifies the mutex (pointer to a mutex control block).
/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
typedef volatile uint8_t * osMutexId;
/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
typedef volatile uint8_t * osSemaphoreId;
/// Pool ID identifies the memory pool (pointer to a memory pool control block).
/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
typedef struct osPool_cb *osPoolId;
/// Message ID identifies the message queue (pointer to a message queue control block).
/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
typedef void *osMessageQId;
/// Mail ID identifies the mail queue (pointer to a mail queue control block).
/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
typedef struct osMailQ_cb *osMailQId;
/// Thread Definition structure contains startup information of a thread.
/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
typedef const struct os_thread_def {
char * name;
os_pthread pthread; ///< start address of thread function
osPriority tpriority; ///< initial thread priority
uint32_t instances; ///< maximum number of instances of that thread function
uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
} osThreadDef_t;
/// Timer Definition structure contains timer parameters.
/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
struct os_timer_custom {
struct os_timer_custom *previous;
struct os_timer_custom *next;
os_timer_type type;
uint32_t remainingTicks;
uint32_t period;
void *argument;
const struct os_timer_def *parent;
};
typedef const struct os_timer_def {
os_ptimer ptimer; ///< start address of a timer function
struct os_timer_custom *custom;
} osTimerDef_t;
/// Mutex Definition structure contains setup information for a mutex.
/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
typedef struct os_mutex_def {
uint8_t value;
} osMutexDef_t;
/// Semaphore Definition structure contains setup information for a semaphore.
/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
typedef struct os_semaphore_def {
uint8_t value; ///< dummy value.
} osSemaphoreDef_t;
/// Definition structure for memory block allocation
/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
typedef const struct os_pool_def {
uint32_t pool_sz; ///< number of items (elements) in the pool
uint32_t item_sz; ///< size of an item
struct osPool_cb *cb; ///< pointer to memory for pool
} osPoolDef_t;
/// Definition structure for message queue
/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
typedef const struct os_messageQ_def {
uint32_t queue_sz; ///< number of elements in the queue
uint32_t item_sz; ///< size of an item
void *pool; ///< memory array for messages
} osMessageQDef_t;
/// Definition structure for mail queue
/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
typedef const struct os_mailQ_def {
uint32_t queue_sz; /**< number of elements in the queue */
uint32_t item_sz; /**< size of an item */
struct osMailQ_cb *cb;
} osMailQDef_t;
/// Event structure contains detailed information about an event.
/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
/// However the struct may be extended at the end.
typedef struct {
osStatus status; ///< status code: event or error information
union {
uint32_t v; ///< message as 32-bit value
void *p; ///< message or mail as void pointer
int32_t signals; ///< signal flags
} value; ///< event value
union {
osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
} def; ///< event definition
} osEvent;
void _osSysTick_Handler (void);
// ==== Kernel Control Functions ====
osStatus osKernelStart (osThreadDef_t *thread_def, void *argument);
static int32_t osKernelRunning (void);
__FORCEINLINE(int32_t osKernelRunning (void))
{
return 1;
}
// ==== Thread Management ====
/// Create a Thread Definition with function, priority, and stack requirements.
/// \param name name of the thread function.
/// \param priority initial priority of the thread function.
/// \param instances number of possible thread instances.
/// \param stacksz stack size (in bytes) requirements for the thread function.
/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osThreadDef(name, priority, instances, stacksz) \
extern osThreadDef_t os_thread_def_##name;
#else // define the object
#define osThreadDef(name, priority, instances, stacksz) \
osThreadDef_t os_thread_def_##name = \
{ #name, (name), (priority), (instances), (stacksz) };
#endif
/// Access a Thread defintion.
/// \param name name of the thread definition object.
/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osThread(name) \
&os_thread_def_##name
/// Create a thread and add it to Active Threads and set it to state READY.
/// \param[in] thread_def thread definition referenced with \ref osThread.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \return 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.
__FORCEINLINE(osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument))
{
(void) thread_def;
(void) argument;
return NULL;
}
/// Return the thread ID of the current running thread.
/// \return 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.
__FORCEINLINE(osThreadId osThreadGetId (void))
{
return NULL;
}
/// Terminate execution of a thread and remove it from Active Threads.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
__FORCEINLINE(osStatus osThreadTerminate (osThreadId thread_id))
{
(void) thread_id;
return osOK;
}
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
__FORCEINLINE(osStatus osThreadYield (void))
{
return osOK;
}
/// Change priority of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] priority new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
__FORCEINLINE(osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority))
{
(void) thread_id;
(void) priority;
return osErrorResource;
}
/// Get current priority of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return current priority value of the thread function.
/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
__FORCEINLINE(osPriority osThreadGetPriority (osThreadId thread_id))
{
(void) thread_id;
return osPriorityError;
}
// ==== Generic Wait Functions ====
extern volatile uint32_t os_time;
/// Wait for Timeout (Time Delay)
/// \param[in] millisec time delay value
/// \return status code that indicates the execution status of the function.
osStatus osDelay (uint32_t millisec);
#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
/// Wait for Signal, Message, Mail, or Timeout
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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 ====
/// Define a Timer object.
/// \param name name of the timer object.
/// \param function name of the timer call back function.
/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osTimerDef(name, function) \
extern osTimerDef_t os_timer_def_##name; \
extern struct os_timer_custom os_timer_custome_##name;
#else // define the object
#define osTimerDef(name, function) \
struct os_timer_custom os_timer_custom_##name; \
osTimerDef_t os_timer_def_##name = \
{ (function), (&os_timer_custom_##name) };
#endif
/// Access a Timer definition.
/// \param name name of the timer object.
/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osTimer(name) \
&os_timer_def_##name
/// Create a timer.
/// \param[in] timer_def timer object referenced with \ref osTimer.
/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
/// \param[in] argument argument to the timer call back function.
/// \return 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 (osTimerDef_t *timer_def, os_timer_type type, void *argument);
/// Start or restart a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \param[in] millisec time delay value of the timer.
/// \return 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);
/// Stop the timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return 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);
// ==== Signal Management ====
/// Set the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that should be set.
/// \return 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);
/// Clear the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
/// \return 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);
/// Get Signal Flags status of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSignalGet shall be consistent in every CMSIS-RTOS.
int32_t osSignalGet (osThreadId thread_id);
/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return 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);
// ==== Mutex Management ====
/// Define a Mutex.
/// \param name name of the mutex object.
/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osMutexDef(name) \
extern osMutexDef_t os_mutex_def_##name;
#else // define the object
#define osMutexDef(name) \
osMutexDef_t os_mutex_def_##name = { 0 };
#endif
/// Access a Mutex defintion.
/// \param name name of the mutex object.
/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osMutex(name) \
&os_mutex_def_##name
/// Create and Initialize a Mutex object
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
/// \return 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.
static osMutexId osMutexCreate (osMutexDef_t *mutex_def);
__FORCEINLINE(osMutexId osMutexCreate (osMutexDef_t *mutex_def))
{
return &mutex_def->value;
}
/// Wait until a Mutex becomes available
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
static osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
__FORCEINLINE(osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec))
{
if (millisec != 0) {
while (*mutex_id != 0)
; //TODO: add timeout
}
*mutex_id = 1;
return osOK;
}
/// Release a Mutex that was obtained by \ref osMutexWait
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
static osStatus osMutexRelease (osMutexId mutex_id);
__FORCEINLINE(osStatus osMutexRelease (osMutexId mutex_id))
{
*mutex_id = 0;
return osOK;
}
// ==== Semaphore Management Functions ====
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // Semaphore available
/// Define a Semaphore object.
/// \param name name of the semaphore object.
/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osSemaphoreDef(name) \
extern osSemaphoreDef_t os_semaphore_def_##name;
#else // define the object
#define osSemaphoreDef(name) \
osSemaphoreDef_t os_semaphore_def_##name = { 0 };
#endif
/// Access a Semaphore definition.
/// \param name name of the semaphore object.
/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osSemaphore(name) \
&os_semaphore_def_##name
/// Create and Initialize a Semaphore object used for managing resources
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
/// \param[in] count number of available resources.
/// \return 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.
static osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count);
__FORCEINLINE(osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count))
{
(void) count;
semaphore_def->value = 1; /* Only binary semaphore */
return &semaphore_def->value;
}
/// Wait until a Semaphore token becomes available
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphore.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return number of available tokens, or -1 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
static int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
__FORCEINLINE(int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec))
{
if (*semaphore_id) {
*semaphore_id = 0;
return 1;
}
if (millisec != 0) {
while (*semaphore_id == 0)
; //TODO: add timeout
*semaphore_id = 0;
return 1;
}
return 0;
}
/// Release a Semaphore token
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphore.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
static osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
__FORCEINLINE(osStatus osSemaphoreRelease (osSemaphoreId semaphore_id))
{
*semaphore_id = 1;
return osOK;
}
#endif // Semaphore available
// ==== Memory Pool Management Functions ====
#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available
struct osPool_cb {
void *pool;
uint8_t *markers;
uint32_t pool_sz;
uint32_t item_sz;
uint32_t currentIndex;
};
/// \brief Define a Memory Pool.
/// \param name name of the memory pool.
/// \param no maximum number of objects (elements) in the memory pool.
/// \param type data type of a single object (element).
/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osPoolDef(name, no, type) \
extern osPoolDef_t os_pool_def_##name;
#else // define the object
#define osPoolDef(name, no, type) \
uint8_t os_pool_data_##name[no * sizeof(type)]; \
uint8_t os_pool_markers_##name[no]; \
struct osPool_cb os_pool_cb_##name = \
{os_pool_data_##name, os_pool_markers_##name, (no), sizeof(type), 0}; \
osPoolDef_t os_pool_def_##name = \
{ (no), sizeof(type), &os_pool_cb_##name };
#endif
/// \brief Access a Memory Pool definition.
/// \param name name of the memory pool
/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osPool(name) \
&os_pool_def_##name
/// Create and Initialize a memory pool
/// \param[in] pool_def memory pool definition referenced with \ref osPool.
/// \return 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 (osPoolDef_t *pool_def);
/// Allocate a memory block from a memory pool
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return 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);
/// Allocate a memory block from a memory pool and set memory block to zero
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return 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);
/// Return an allocated memory block back to a specific memory pool
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \param[in] block address of the allocated memory block that is returned to the memory pool.
/// \return 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);
#endif // Memory Pool Management available
// ==== Message Queue Management Functions ====
#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available
/// \brief Create a Message Queue Definition.
/// \param name name of the queue.
/// \param queue_sz maximum number of messages in the queue.
/// \param type data type of a single message element (for debugger).
/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osMessageQDef(name, queue_sz, type) \
extern osMessageQDef_t os_messageQ_def_##name;
#else // define the object
#define osMessageQDef(name, queue_sz, type) \
osMessageQDef_t os_messageQ_def_##name = \
{ (queue_sz), sizeof (type) };
#endif
/// \brief Access a Message Queue Definition.
/// \param name name of the queue
/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osMessageQ(name) \
&os_messageQ_def_##name
/// Create and Initialize a Message Queue.
/// \param[in] queue_def queue definition referenced with \ref osMessageQ.
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return 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 (osMessageQDef_t *queue_def, osThreadId thread_id);
/// Put a Message to a Queue.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] info message information.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return 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);
/// Get a Message or Wait for a Message from a Queue.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return 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);
#endif // Message Queues available
// ==== Mail Queue Management Functions ====
#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
struct osMailQ_cb {
volatile int wrptr;
volatile int rdptr;
int queueSize;
int itemSize;
void *data;
};
/// \brief Create a Mail Queue Definition
/// \param name name of the queue
/// \param queue_sz maximum number of messages in queue
/// \param type data type of a single message element
/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal) // object is external
#define osMailQDef(name, queue_sz, type) \
extern struct os_mailQ_cb *os_mailQ_cb_##name; \
extern osMailQDef_t os_mailQ_def_##name;
#else // define the object
#define osMailQDef(name, queue_sz, type) \
uint8_t os_mailQ_data_##name[(queue_sz) * sizeof(type)]; \
struct osMailQ_cb os_mailQ_cb_##name = \
{0, 0, (queue_sz), sizeof(type), os_mailQ_data_##name}; \
osMailQDef_t os_mailQ_def_##name = \
{(queue_sz), sizeof(type), &os_mailQ_cb_##name};
#endif
/// \brief Access a Mail Queue Definition
/// \param name name of the queue
/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
#define osMailQ(name) \
&os_mailQ_def_##name
/// Create and Initialize mail queue
/// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return 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 (osMailQDef_t *queue_def, osThreadId thread_id);
/// Allocate a memory block from a mail
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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);
/// Allocate a memory block from a mail and set memory block to zero
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return pointer to memory block that can shall 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);
/// Put a mail to a queue
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
/// \return 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);
/// Get a mail from a queue
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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);
/// Free a memory block from a mail
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet.
/// \return 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);
#endif // Mail Queues available
#ifdef __cplusplus
}
#endif
#endif // _CMSIS_OS_H
#include "lpclib.h"
#include "cmsis_os.h"
/* Determine whether we are in thread mode or handler mode. */
static int inHandlerMode (void)
{
return 0;
}
/* Timer related globals */
volatile uint32_t os_time; /**< Number of SysTick ticks */
static struct os_timer_custom *appTimers; /**< Timer list */
static volatile uint32_t appTicksMult = 1024;
static volatile uint32_t osDelayTimer;
void SysTick_Handler (void)
{
struct os_timer_custom *p;
++os_time;
/* Work on the list of timers */
p = appTimers;
while (p != NULL) {
if (p->remainingTicks != 0) {
--(p->remainingTicks);
if (p->remainingTicks == 0) {
p->parent->ptimer(p->argument);
if (p->type == osTimerPeriodic) {
p->remainingTicks = p->period;
}
}
}
p = p->next;
}
if (osDelayTimer) {
--osDelayTimer;
}
}
osStatus osKernelStart (osThreadDef_t *thread_def, void *argument)
{
uint32_t rvr;
uint32_t tenms;
(void) thread_def;
(void) argument;
/* Calculate factor for ticks<->milliseconds transformation */
rvr = (SysTick->LOAD & SysTick_LOAD_RELOAD_Msk) >> SysTick_LOAD_RELOAD_Pos;
tenms = (SysTick->CALIB & SysTick_CALIB_TENMS_Msk) >> SysTick_CALIB_TENMS_Pos;
if (tenms == 0) {
/* TODO: Wild guess: 100 MHz core clock */
tenms = 1000000;
}
appTicksMult = (((tenms * 256) / rvr) * 4) / 10;
return osOK;
}
// ==== Generic Wait Functions ====
/// Wait for Timeout (Time Delay)
/// \param[in] millisec time delay value
/// \return status code that indicates the execution status of the function.
osStatus osDelay (uint32_t millisec)
{
/* Assume 10-ms tick... TODO */
osDelayTimer = (millisec + 5) / 10 + 1;
while (osDelayTimer)
;
return osOK;
}
#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
/// Wait for Signal, Message, Mail, or Timeout
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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 ====
/// Create a timer.
/// \param[in] timer_def timer object referenced with \ref osTimer.
/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
/// \param[in] argument argument to the timer call back function.
/// \return 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 (osTimerDef_t *timer_def, os_timer_type type, void *argument)
{
struct os_timer_custom *p;
/* Store context parameters */
timer_def->custom->argument = argument;
timer_def->custom->type = type;
timer_def->custom->remainingTicks = 0;
timer_def->custom->period = 0;
timer_def->custom->parent = timer_def;
/* Add to timer list */
timer_def->custom->next = NULL;
if (appTimers == NULL) {
timer_def->custom->previous = NULL;
appTimers = timer_def->custom;
}
else {
p = appTimers;
while (p->next) {
p = p->next;
}
timer_def->custom->previous = p;
p->next = timer_def->custom;
}
return timer_def->custom;
}
/// Start or restart a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \param[in] millisec time delay value of the timer.
/// \return 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)
{
uint32_t ticks;
if (timer_id == NULL) {
return osErrorResource;
}
ticks = (appTicksMult * millisec) / 1024;
((struct os_timer_custom *)timer_id)->period = ticks;
((struct os_timer_custom *)timer_id)->remainingTicks = ticks;
return osOK;
}
/// Stop the timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return 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)
{
if (timer_id == NULL) {
return osErrorResource;
}
((struct os_timer_custom *)timer_id)->remainingTicks = 0;
return osOK;
}
// ==== Memory Pool Management Functions ====
#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available
/// \brief Define a Memory Pool.
/// \param name name of the memory pool.
/// \param no maximum number of objects (elements) in the memory pool.
/// \param type data type of a single object (element).
/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
/// macro body is implementation specific in every CMSIS-RTOS.
/* Create and Initialize a memory pool */
osPoolId osPoolCreate (osPoolDef_t *pool_def)
{
return pool_def->cb;
}
/// Allocate a memory block from a memory pool
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return 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)
{
void *p = NULL;
uint32_t i;
uint32_t index;
if (inHandlerMode()) {
__disable_irq(); //TODO: Save current status!
}
for (i = 0; i < pool_id->pool_sz; i++) {
index = pool_id->currentIndex + i;
if (index >= pool_id->pool_sz) {
index = 0;
}
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()) {
__enable_irq(); //TODO: Restore previous status!
}
return p;
}
/// Allocate a memory block from a memory pool and set memory block to zero
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return 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)
{
unsigned int i;
void *p = osPoolAlloc(pool_id);
for (i = 0; i < pool_id->item_sz; i++) {
((uint8_t *)p)[i] = 0;
}
return p;
}
/// Return an allocated memory block back to a specific memory pool
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \param[in] block address of the allocated memory block that is returned to the memory pool.
/// \return 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 // Memory Pool Management available
// ==== Message Queue Management Functions ====
#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available
/// Create and Initialize a Message Queue.
/// \param[in] queue_def queue definition referenced with \ref osMessageQ.
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return 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 (osMessageQDef_t *queue_def, osThreadId thread_id)
{
(void) queue_def;
(void) thread_id;
return NULL;
}
/// Put a Message to a Queue.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] info message information.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return 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)
{
(void) queue_id;
(void) info;
(void) millisec;
return osOK;
}
/// Get a Message or Wait for a Message from a Queue.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out.
/// \return 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);
#endif // Message Queues available
// ==== Mail Queue Management Functions ====
#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
/// Create and Initialize mail queue
/// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return 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 (osMailQDef_t *queue_def, osThreadId thread_id)
{
(void) thread_id;
return queue_def->cb;
}
/** Check if mail queue is full. */
static int _osMailQueueFull (osMailQId queue_id)
{
if ((((queue_id->rdptr + queue_id->queueSize) - queue_id->wrptr) % queue_id->queueSize) == 1) {
return 1; /* Queue full */
}
return 0; /* Queue not full */
}
/// Allocate a memory block from a mail
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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 *p = NULL;
(void) millisec;
if (queue_id == NULL) {
return NULL;
}
if (!inHandlerMode()) {
__disable_irq();
}
if (!_osMailQueueFull(queue_id)) {
p = (void *)((uint32_t)(queue_id->data) + queue_id->wrptr * queue_id->itemSize);
queue_id->wrptr = (queue_id->wrptr + 1) % queue_id->queueSize;
}
if (!inHandlerMode()) {
__enable_irq();
}
return p;
}
/// Allocate a memory block from a mail and set memory block to zero
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return pointer to memory block that can shall 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 < sizeof(queue_id->itemSize); i++) {
((uint8_t *)p)[i] = 0;
}
}
return p;
}
/// Put a mail to a queue
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
/// \return 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)
{
if (queue_id == NULL) {
return osErrorParameter;
}
if (mail == NULL) {
return osErrorParameter;
}
//TODO:
//The pointer returned by alloc() is a pointer to the queue!
//Therefore the data is already where we want it!
//Better to use a pool and a separate mail queue?
return osOK;
}
/// Get a mail from a queue
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec timeout value or 0 in case of no time-out
/// \return 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)
{
//TODO This function ignores the "millisec" parameter, and returns immediately
osEvent rtosEvent;
rtosEvent.status = osOK;
(void) millisec;
if (queue_id == NULL) {
rtosEvent.status = osErrorParameter;
return rtosEvent;
}
if (!inHandlerMode()) {
__disable_irq();
}
if (queue_id->rdptr != queue_id->wrptr) {
rtosEvent.value.p = (void *)((uint32_t)queue_id->data + queue_id->rdptr * queue_id->itemSize);
rtosEvent.status = osEventMail;
}
if (!inHandlerMode()) {
__enable_irq();
}
return rtosEvent;
}
/// Free a memory block from a mail
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet.
/// \return 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)
{
int mailIndex;
if (queue_id == NULL) {
return osErrorParameter;
}
if (mail == NULL) {
return osErrorParameter;
}
if (!inHandlerMode()) {
__disable_irq();
}
/* Calculate index from pinter */
mailIndex = ((uint32_t)mail - (uint32_t)queue_id->data) / queue_id->itemSize;
/* Invalidate all queue items up to this item */
queue_id->rdptr = (mailIndex + 1) % queue_id->queueSize;
if (!inHandlerMode()) {
__enable_irq();
}
return osOK;
}
#endif // Mail Queues available
