Revision 111:de54bc598ef1, committed 2016-04-29

Comitter:

acarter2

Date:

Fri Apr 29 14:04:02 2016 +0000

Parent:

110:897e881b2190

Commit message:

current code 2;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Mail.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,109 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MAIL_H
+#define MAIL_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Mail class allow to control, send, receive, or wait for mail.
+ A mail is a memory block that is send to a thread or interrupt service routine.
+  @tparam  T         data type of a single message element.
+  @tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Mail {
+public:
+    /** Create and Initialise Mail queue. */
+    Mail() {
+    #ifdef CMSIS_OS_RTX
+        memset(_mail_q, 0, sizeof(_mail_q));
+        _mail_p[0] = _mail_q;
+
+        memset(_mail_m, 0, sizeof(_mail_m));
+        _mail_p[1] = _mail_m;
+
+        _mail_def.pool = _mail_p;
+        _mail_def.queue_sz = queue_sz;
+        _mail_def.item_sz = sizeof(T);
+    #endif
+        _mail_id = osMailCreate(&_mail_def, NULL);
+    }
+
+    /** Allocate a memory block of type T
+      @param   millisec  timeout value or 0 in case of no time-out. (default: 0).
+      @return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* alloc(uint32_t millisec=0) {
+        return (T*)osMailAlloc(_mail_id, millisec);
+    }
+
+    /** Allocate a memory block of type T and set memory block to zero.
+      @param   millisec  timeout value or 0 in case of no time-out.  (default: 0).
+      @return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* calloc(uint32_t millisec=0) {
+        return (T*)osMailCAlloc(_mail_id, millisec);
+    }
+
+    /** Put a mail in the queue.
+      @param   mptr  memory block previously allocated with Mail::alloc or Mail::calloc.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus put(T *mptr) {
+        return osMailPut(_mail_id, (void*)mptr);
+    }
+
+    /** Get a mail from a queue.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  event that contains mail information or error code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMailGet(_mail_id, millisec);
+    }
+
+    /** Free a memory block from a mail.
+      @param   mptr  pointer to the memory block that was obtained with Mail::get.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus free(T *mptr) {
+        return osMailFree(_mail_id, (void*)mptr);
+    }
+
+private:
+    osMailQId    _mail_id;
+    osMailQDef_t _mail_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t     _mail_q[4+(queue_sz)];
+    uint32_t     _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
+    void        *_mail_p[2];
+#endif
+};
+
+}
+
+#endif
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/MemoryPool.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,82 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MEMORYPOOL_H
+#define MEMORYPOOL_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** Define and manage fixed-size memory pools of objects of a given type.
+  @tparam  T         data type of a single object (element).
+  @tparam  queue_sz  maximum number of objects (elements) in the memory pool.
+*/
+template<typename T, uint32_t pool_sz>
+class MemoryPool {
+public:
+    /** Create and Initialize a memory pool. */
+    MemoryPool() {
+    #ifdef CMSIS_OS_RTX
+        memset(_pool_m, 0, sizeof(_pool_m));
+        _pool_def.pool = _pool_m;
+
+        _pool_def.pool_sz = pool_sz;
+        _pool_def.item_sz =  sizeof(T);
+    #endif
+        _pool_id = osPoolCreate(&_pool_def);
+    }
+
+    /** Allocate a memory block of type T from a memory pool.
+      @return  address of the allocated memory block or NULL in case of no memory available.
+    */
+    T* alloc(void) {
+        return (T*)osPoolAlloc(_pool_id);
+    }
+
+    /** Allocate a memory block of type T from a memory pool and set memory block to zero.
+      @return  address of the allocated memory block or NULL in case of no memory available.
+    */
+    T* calloc(void) {
+        return (T*)osPoolCAlloc(_pool_id);
+    }
+
+    /** Return an allocated memory block back to a specific memory pool.
+      @param   address of the allocated memory block that is returned to the memory pool.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus free(T *block) {
+        return osPoolFree(_pool_id, (void*)block);
+    }
+
+private:
+    osPoolId    _pool_id;
+    osPoolDef_t _pool_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t    _pool_m[3+((sizeof(T)+3)/4)*(pool_sz)];
+#endif
+};
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Mutex.cpp	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,56 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Mutex.h"
+
+#include <string.h>
+#include "mbed_error.h"
+
+namespace rtos {
+
+Mutex::Mutex() {
+#ifdef CMSIS_OS_RTX
+    memset(_mutex_data, 0, sizeof(_mutex_data));
+    _osMutexDef.mutex = _mutex_data;
+#endif
+    _osMutexId = osMutexCreate(&_osMutexDef);
+    if (_osMutexId == NULL) {
+        error("Error initializing the mutex object\n");
+    }
+}
+
+osStatus Mutex::lock(uint32_t millisec) {
+    return osMutexWait(_osMutexId, millisec);
+}
+
+bool Mutex::trylock() {
+    return (osMutexWait(_osMutexId, 0) == osOK);
+}
+
+osStatus Mutex::unlock() {
+    return osMutexRelease(_osMutexId);
+}
+
+Mutex::~Mutex() {
+    osMutexDelete(_osMutexId);
+}
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Mutex.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,69 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MUTEX_H
+#define MUTEX_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Mutex class is used to synchronise the execution of threads.
+ This is for example used to protect access to a shared resource.
+*/
+class Mutex {
+public:
+    /** Create and Initialize a Mutex object */
+    Mutex();
+
+    /** Wait until a Mutex becomes available.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever)
+      @return  status code that indicates the execution status of the function.
+     */
+    osStatus lock(uint32_t millisec=osWaitForever);
+
+    /** Try to lock the mutex, and return immediately
+      @return  true if the mutex was acquired, false otherwise.
+     */
+    bool trylock();
+
+    /** Unlock the mutex that has previously been locked by the same thread
+      @return  status code that indicates the execution status of the function.
+     */
+    osStatus unlock();
+
+    ~Mutex();
+
+private:
+    osMutexId _osMutexId;
+    osMutexDef_t _osMutexDef;
+#ifdef CMSIS_OS_RTX
+#ifdef __MBED_CMSIS_RTOS_CA9
+    int32_t _mutex_data[4];
+#else
+    int32_t _mutex_data[3];
+#endif
+#endif
+};
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Queue.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,81 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef QUEUE_H
+#define QUEUE_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+#include "mbed_error.h"
+
+namespace rtos {
+
+/** The Queue class allow to control, send, receive, or wait for messages.
+ A message can be a integer or pointer value  to a certain type T that is send
+ to a thread or interrupt service routine.
+  @tparam  T         data type of a single message element.
+  @tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Queue {
+public:
+    /** Create and initialise a message Queue. */
+    Queue() {
+    #ifdef CMSIS_OS_RTX
+        memset(_queue_q, 0, sizeof(_queue_q));
+        _queue_def.pool = _queue_q;
+        _queue_def.queue_sz = queue_sz;
+    #endif
+        _queue_id = osMessageCreate(&_queue_def, NULL);
+        if (_queue_id == NULL) {
+            error("Error initialising the queue object\n");
+        }
+    }
+
+    /** Put a message in a Queue.
+      @param   data      message pointer.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: 0)
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus put(T* data, uint32_t millisec=0) {
+        return osMessagePut(_queue_id, (uint32_t)data, millisec);
+    }
+
+    /** Get a message or Wait for a message from a Queue.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  event information that includes the message and the status code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMessageGet(_queue_id, millisec);
+    }
+
+private:
+    osMessageQId    _queue_id;
+    osMessageQDef_t _queue_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t        _queue_q[4+(queue_sz)];
+#endif
+};
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/RtosTimer.cpp	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,53 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "RtosTimer.h"
+
+#include <string.h>
+
+#include "cmsis_os.h"
+#include "mbed_error.h"
+
+namespace rtos {
+
+RtosTimer::RtosTimer(void (*periodic_task)(void const *argument), os_timer_type type, void *argument) {
+#ifdef CMSIS_OS_RTX
+    _timer.ptimer = periodic_task;
+
+    memset(_timer_data, 0, sizeof(_timer_data));
+    _timer.timer = _timer_data;
+#endif
+    _timer_id = osTimerCreate(&_timer, type, argument);
+}
+
+osStatus RtosTimer::start(uint32_t millisec) {
+    return osTimerStart(_timer_id, millisec);
+}
+
+osStatus RtosTimer::stop(void) {
+    return osTimerStop(_timer_id);
+}
+
+RtosTimer::~RtosTimer() {
+    osTimerDelete(_timer_id);
+}
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/RtosTimer.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,71 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef RTOS_TIMER_H
+#define RTOS_TIMER_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The RtosTimer class allow creating and and controlling of timer functions in the system.
+ A timer function is called when a time period expires whereby both on-shot and
+ periodic timers are possible. A timer can be started, restarted, or stopped.
+
+ Timers are handled in the thread osTimerThread.
+ Callback functions run under control of this thread and may use CMSIS-RTOS API calls.
+*/
+class RtosTimer {
+public:
+    /** Create and Start timer.
+      @param   task      name of the timer call back function.
+      @param   type      osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
+      @param   argument  argument to the timer call back function. (default: NULL)
+    */
+    RtosTimer(void (*task)(void const *argument),
+          os_timer_type type=osTimerPeriodic,
+          void *argument=NULL);
+
+    /** Stop the timer.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus stop(void);
+
+    /** start a timer.
+      @param   millisec  time delay value of the timer.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus start(uint32_t millisec);
+
+    ~RtosTimer();
+
+private:
+    osTimerId _timer_id;
+    osTimerDef_t _timer;
+#ifdef CMSIS_OS_RTX
+    uint32_t _timer_data[5];
+#endif
+};
+
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Semaphore.cpp	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,48 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Semaphore.h"
+
+#include <string.h>
+
+namespace rtos {
+
+Semaphore::Semaphore(int32_t count) {
+#ifdef CMSIS_OS_RTX
+    memset(_semaphore_data, 0, sizeof(_semaphore_data));
+    _osSemaphoreDef.semaphore = _semaphore_data;
+#endif
+    _osSemaphoreId = osSemaphoreCreate(&_osSemaphoreDef, count);
+}
+
+int32_t Semaphore::wait(uint32_t millisec) {
+    return osSemaphoreWait(_osSemaphoreId, millisec);
+}
+
+osStatus Semaphore::release(void) {
+    return osSemaphoreRelease(_osSemaphoreId);
+}
+
+Semaphore::~Semaphore() {
+    osSemaphoreDelete(_osSemaphoreId);
+}
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Semaphore.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,60 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef SEMAPHORE_H
+#define SEMAPHORE_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Semaphore class is used to manage and protect access to a set of shared resources. */
+class Semaphore {
+public:
+    /** Create and Initialize a Semaphore object used for managing resources.
+      @param number of available resources; maximum index value is (count-1).
+    */
+    Semaphore(int32_t count);
+
+    /** Wait until a Semaphore resource becomes available.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  number of available tokens, or -1 in case of incorrect parameters
+    */
+    int32_t wait(uint32_t millisec=osWaitForever);
+
+    /** Release a Semaphore resource that was obtain with Semaphore::wait.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus release(void);
+
+    ~Semaphore();
+
+private:
+    osSemaphoreId _osSemaphoreId;
+    osSemaphoreDef_t _osSemaphoreDef;
+#ifdef CMSIS_OS_RTX
+    uint32_t _semaphore_data[2];
+#endif
+};
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Thread.cpp	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,147 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Thread.h"
+
+#include "mbed_error.h"
+#include "rtos_idle.h"
+
+namespace rtos {
+
+Thread::Thread(void (*task)(void const *argument), void *argument,
+        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
+#ifdef CMSIS_OS_RTX
+    _thread_def.pthread = task;
+    _thread_def.tpriority = priority;
+    _thread_def.stacksize = stack_size;
+    if (stack_pointer != NULL) {
+        _thread_def.stack_pointer = (uint32_t*)stack_pointer;
+        _dynamic_stack = false;
+    } else {
+        _thread_def.stack_pointer = new uint32_t[stack_size/sizeof(uint32_t)];
+        if (_thread_def.stack_pointer == NULL)
+            error("Error allocating the stack memory\n");
+        _dynamic_stack = true;
+    }
+    
+    //Fill the stack with a magic word for maximum usage checking
+    for (uint32_t i = 0; i < (stack_size / sizeof(uint32_t)); i++) {
+        _thread_def.stack_pointer[i] = 0xE25A2EA5;
+    }
+#endif
+    _tid = osThreadCreate(&_thread_def, argument);
+}
+
+osStatus Thread::terminate() {
+    return osThreadTerminate(_tid);
+}
+
+osStatus Thread::set_priority(osPriority priority) {
+    return osThreadSetPriority(_tid, priority);
+}
+
+osPriority Thread::get_priority() {
+    return osThreadGetPriority(_tid);
+}
+
+int32_t Thread::signal_set(int32_t signals) {
+    return osSignalSet(_tid, signals);
+}
+
+int32_t Thread::signal_clr(int32_t signals) {
+    return osSignalClear(_tid, signals);
+}
+
+Thread::State Thread::get_state() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+    return ((State)_thread_def.tcb.state);
+#else
+    uint8_t status;
+    status = osThreadGetState(_tid);
+    return ((State)status);
+#endif
+}
+
+uint32_t Thread::stack_size() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+    return _thread_def.tcb.priv_stack;
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::free_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+    uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
+    return _thread_def.tcb.tsk_stack - bottom;
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::used_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+    uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
+    return top - _thread_def.tcb.tsk_stack;
+#else
+    return 0;
+#endif
+}
+
+uint32_t Thread::max_stack() {
+#ifndef __MBED_CMSIS_RTOS_CA9
+    uint32_t high_mark = 0;
+    while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
+        high_mark++;
+    return _thread_def.tcb.priv_stack - (high_mark * 4);
+#else
+    return 0;
+#endif
+}
+
+osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
+    return osSignalWait(signals, millisec);
+}
+
+osStatus Thread::wait(uint32_t millisec) {
+    return osDelay(millisec);
+}
+
+osStatus Thread::yield() {
+    return osThreadYield();
+}
+
+osThreadId Thread::gettid() {
+    return osThreadGetId();
+}
+
+void Thread::attach_idle_hook(void (*fptr)(void)) {
+    rtos_attach_idle_hook(fptr);
+}
+
+Thread::~Thread() {
+    terminate();
+    if (_dynamic_stack) {
+        delete[] (_thread_def.stack_pointer);
+    }
+}
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/Thread.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,149 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef THREAD_H
+#define THREAD_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Thread class allow defining, creating, and controlling thread functions in the system. */
+class Thread {
+public:
+    /** Create a new thread, and start it executing the specified function.
+      @param   task           function to be executed by this thread.
+      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
+      @param   priority       initial priority of the thread function. (default: osPriorityNormal).
+      @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    */
+    Thread(void (*task)(void const *argument), void *argument=NULL,
+           osPriority priority=osPriorityNormal,
+           uint32_t stack_size=DEFAULT_STACK_SIZE,
+           unsigned char *stack_pointer=NULL);
+
+    /** Terminate execution of a thread and remove it from Active Threads
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus terminate();
+
+    /** Set priority of an active thread
+      @param   priority  new priority value for the thread function.
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus set_priority(osPriority priority);
+
+    /** Get priority of an active thread
+      @return  current priority value of the thread function.
+    */
+    osPriority get_priority();
+
+    /** Set the specified Signal Flags of an active thread.
+      @param   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.
+    */
+    int32_t signal_set(int32_t signals);
+
+    /** Clears the specified Signal Flags of an active thread.
+      @param   signals  specifies the signal flags of the thread that should be cleared.
+      @return  resultant signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+    */
+    int32_t signal_clr(int32_t signals);
+
+    /** State of the Thread */
+    enum State {
+        Inactive,           /**< Not created or terminated */
+        Ready,              /**< Ready to run */
+        Running,            /**< Running */
+        WaitingDelay,       /**< Waiting for a delay to occur */
+        WaitingInterval,    /**< Waiting for an interval to occur */
+        WaitingOr,          /**< Waiting for one event in a set to occur */
+        WaitingAnd,         /**< Waiting for multiple events in a set to occur */
+        WaitingSemaphore,   /**< Waiting for a semaphore event to occur */
+        WaitingMailbox,     /**< Waiting for a mailbox event to occur */
+        WaitingMutex,       /**< Waiting for a mutex event to occur */
+    };
+
+    /** State of this Thread
+      @return  the State of this Thread
+    */
+    State get_state();
+    
+    /** Get the total stack memory size for this Thread
+      @return  the total stack memory size in bytes
+    */
+    uint32_t stack_size();
+    
+    /** Get the currently unused stack memory for this Thread
+      @return  the currently unused stack memory in bytes
+    */
+    uint32_t free_stack();
+    
+    /** Get the currently used stack memory for this Thread
+      @return  the currently used stack memory in bytes
+    */
+    uint32_t used_stack();
+    
+    /** Get the maximum stack memory usage to date for this Thread
+      @return  the maximum stack memory usage to date in bytes
+    */
+    uint32_t max_stack();
+
+    /** Wait for one or more Signal Flags to become signaled for the current 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. (default: osWaitForever).
+      @return  event flag information or error code.
+    */
+    static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
+
+    /** Wait for a specified time period in millisec:
+      @param   millisec  time delay value
+      @return  status code that indicates the execution status of the function.
+    */
+    static osStatus wait(uint32_t millisec);
+
+    /** Pass control to next thread that is in state READY.
+      @return  status code that indicates the execution status of the function.
+    */
+    static osStatus yield();
+
+    /** Get the thread id of the current running thread.
+      @return  thread ID for reference by other functions or NULL in case of error.
+    */
+    static osThreadId gettid();
+    
+    /** Attach a function to be called by the RTOS idle task
+      @param   fptr  pointer to the function to be called
+    */
+    static void attach_idle_hook(void (*fptr)(void));
+
+    virtual ~Thread();
+
+private:
+    osThreadId _tid;
+    osThreadDef_t _thread_def;
+    bool _dynamic_stack;
+};
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/rtos.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,35 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef RTOS_H
+#define RTOS_H
+
+#include "Thread.h"
+#include "Mutex.h"
+#include "RtosTimer.h"
+#include "Semaphore.h"
+#include "Mail.h"
+#include "MemoryPool.h"
+#include "Queue.h"
+
+using namespace rtos;
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/rtos_idle.c	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,51 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "rtos_idle.h"
+
+static void default_idle_hook(void)
+{
+    /* Sleep: ideally, we should put the chip to sleep.
+     Unfortunately, this usually requires disconnecting the interface chip (debugger).
+     This can be done, but it would break the local file system.
+    */
+    // sleep();
+}
+static void (*idle_hook_fptr)(void) = &default_idle_hook;
+
+void rtos_attach_idle_hook(void (*fptr)(void))
+{
+    //Attach the specified idle hook, or the default idle hook in case of a NULL pointer
+    if (fptr != NULL) {
+        idle_hook_fptr = fptr;
+    } else {
+        idle_hook_fptr = default_idle_hook;
+    }
+}
+
+void rtos_idle_loop(void)
+{
+    //Continuously call the idle hook function pointer
+    while (1) {
+        idle_hook_fptr();
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos/rtos_idle.h	Fri Apr 29 14:04:02 2016 +0000
@@ -0,0 +1,37 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef RTOS_IDLE_H
+#define RTOS_IDLE_H
+
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void rtos_attach_idle_hook(void (*fptr)(void));
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif