Hiruka Hana / Gyro_Accelerometre

Programme gyro_accelero avec acquisition accelero + calcul téta

Dependents:   Gyro_Accelerometre2

rtos/Mail.h@0:07281ea3b26b, 2018-02-20 (annotated)

Committer:
SandrineO
Date:
Tue Feb 20 15:58:26 2018 +0000
Revision:
0:07281ea3b26b
temps r?el

Who changed what in which revision?

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SandrineO 0:07281ea3b26b 1 /* mbed Microcontroller Library
SandrineO 0:07281ea3b26b 2 * Copyright (c) 2006-2012 ARM Limited
SandrineO 0:07281ea3b26b 3 *
SandrineO 0:07281ea3b26b 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
SandrineO 0:07281ea3b26b 5 * of this software and associated documentation files (the "Software"), to deal
SandrineO 0:07281ea3b26b 6 * in the Software without restriction, including without limitation the rights
SandrineO 0:07281ea3b26b 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
SandrineO 0:07281ea3b26b 8 * copies of the Software, and to permit persons to whom the Software is
SandrineO 0:07281ea3b26b 9 * furnished to do so, subject to the following conditions:
SandrineO 0:07281ea3b26b 10 *
SandrineO 0:07281ea3b26b 11 * The above copyright notice and this permission notice shall be included in
SandrineO 0:07281ea3b26b 12 * all copies or substantial portions of the Software.
SandrineO 0:07281ea3b26b 13 *
SandrineO 0:07281ea3b26b 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
SandrineO 0:07281ea3b26b 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
SandrineO 0:07281ea3b26b 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
SandrineO 0:07281ea3b26b 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
SandrineO 0:07281ea3b26b 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
SandrineO 0:07281ea3b26b 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SandrineO 0:07281ea3b26b 20 * SOFTWARE.
SandrineO 0:07281ea3b26b 21 */
SandrineO 0:07281ea3b26b 22 #ifndef MAIL_H
SandrineO 0:07281ea3b26b 23 #define MAIL_H
SandrineO 0:07281ea3b26b 24
SandrineO 0:07281ea3b26b 25 #include <stdint.h>
SandrineO 0:07281ea3b26b 26 #include <string.h>
SandrineO 0:07281ea3b26b 27
SandrineO 0:07281ea3b26b 28 #include "cmsis_os.h"
SandrineO 0:07281ea3b26b 29
SandrineO 0:07281ea3b26b 30 namespace rtos {
SandrineO 0:07281ea3b26b 31 /** \addtogroup rtos */
SandrineO 0:07281ea3b26b 32 /** @{*/
SandrineO 0:07281ea3b26b 33
SandrineO 0:07281ea3b26b 34 /** The Mail class allow to control, send, receive, or wait for mail.
SandrineO 0:07281ea3b26b 35 A mail is a memory block that is send to a thread or interrupt service routine.
SandrineO 0:07281ea3b26b 36 @tparam T data type of a single message element.
SandrineO 0:07281ea3b26b 37 @tparam queue_sz maximum number of messages in queue.
SandrineO 0:07281ea3b26b 38 */
SandrineO 0:07281ea3b26b 39 template<typename T, uint32_t queue_sz>
SandrineO 0:07281ea3b26b 40 class Mail {
SandrineO 0:07281ea3b26b 41 public:
SandrineO 0:07281ea3b26b 42 /** Create and Initialise Mail queue. */
SandrineO 0:07281ea3b26b 43 Mail() {
SandrineO 0:07281ea3b26b 44 #ifdef CMSIS_OS_RTX
SandrineO 0:07281ea3b26b 45 memset(_mail_q, 0, sizeof(_mail_q));
SandrineO 0:07281ea3b26b 46 _mail_p[0] = _mail_q;
SandrineO 0:07281ea3b26b 47
SandrineO 0:07281ea3b26b 48 memset(_mail_m, 0, sizeof(_mail_m));
SandrineO 0:07281ea3b26b 49 _mail_p[1] = _mail_m;
SandrineO 0:07281ea3b26b 50
SandrineO 0:07281ea3b26b 51 _mail_def.pool = _mail_p;
SandrineO 0:07281ea3b26b 52 _mail_def.queue_sz = queue_sz;
SandrineO 0:07281ea3b26b 53 _mail_def.item_sz = sizeof(T);
SandrineO 0:07281ea3b26b 54 #endif
SandrineO 0:07281ea3b26b 55 _mail_id = osMailCreate(&_mail_def, NULL);
SandrineO 0:07281ea3b26b 56 }
SandrineO 0:07281ea3b26b 57
SandrineO 0:07281ea3b26b 58 /** Allocate a memory block of type T
SandrineO 0:07281ea3b26b 59 @param millisec timeout value or 0 in case of no time-out. (default: 0).
SandrineO 0:07281ea3b26b 60 @return pointer to memory block that can be filled with mail or NULL in case error.
SandrineO 0:07281ea3b26b 61 */
SandrineO 0:07281ea3b26b 62 T* alloc(uint32_t millisec=0) {
SandrineO 0:07281ea3b26b 63 return (T*)osMailAlloc(_mail_id, millisec);
SandrineO 0:07281ea3b26b 64 }
SandrineO 0:07281ea3b26b 65
SandrineO 0:07281ea3b26b 66 /** Allocate a memory block of type T and set memory block to zero.
SandrineO 0:07281ea3b26b 67 @param millisec timeout value or 0 in case of no time-out. (default: 0).
SandrineO 0:07281ea3b26b 68 @return pointer to memory block that can be filled with mail or NULL in case error.
SandrineO 0:07281ea3b26b 69 */
SandrineO 0:07281ea3b26b 70 T* calloc(uint32_t millisec=0) {
SandrineO 0:07281ea3b26b 71 return (T*)osMailCAlloc(_mail_id, millisec);
SandrineO 0:07281ea3b26b 72 }
SandrineO 0:07281ea3b26b 73
SandrineO 0:07281ea3b26b 74 /** Put a mail in the queue.
SandrineO 0:07281ea3b26b 75 @param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
SandrineO 0:07281ea3b26b 76 @return status code that indicates the execution status of the function.
SandrineO 0:07281ea3b26b 77 */
SandrineO 0:07281ea3b26b 78 osStatus put(T *mptr) {
SandrineO 0:07281ea3b26b 79 return osMailPut(_mail_id, (void*)mptr);
SandrineO 0:07281ea3b26b 80 }
SandrineO 0:07281ea3b26b 81
SandrineO 0:07281ea3b26b 82 /** Get a mail from a queue.
SandrineO 0:07281ea3b26b 83 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
SandrineO 0:07281ea3b26b 84 @return event that contains mail information or error code.
SandrineO 0:07281ea3b26b 85 */
SandrineO 0:07281ea3b26b 86 osEvent get(uint32_t millisec=osWaitForever) {
SandrineO 0:07281ea3b26b 87 return osMailGet(_mail_id, millisec);
SandrineO 0:07281ea3b26b 88 }
SandrineO 0:07281ea3b26b 89
SandrineO 0:07281ea3b26b 90 /** Free a memory block from a mail.
SandrineO 0:07281ea3b26b 91 @param mptr pointer to the memory block that was obtained with Mail::get.
SandrineO 0:07281ea3b26b 92 @return status code that indicates the execution status of the function.
SandrineO 0:07281ea3b26b 93 */
SandrineO 0:07281ea3b26b 94 osStatus free(T *mptr) {
SandrineO 0:07281ea3b26b 95 return osMailFree(_mail_id, (void*)mptr);
SandrineO 0:07281ea3b26b 96 }
SandrineO 0:07281ea3b26b 97
SandrineO 0:07281ea3b26b 98 private:
SandrineO 0:07281ea3b26b 99 osMailQId _mail_id;
SandrineO 0:07281ea3b26b 100 osMailQDef_t _mail_def;
SandrineO 0:07281ea3b26b 101 #ifdef CMSIS_OS_RTX
SandrineO 0:07281ea3b26b 102 uint32_t _mail_q[4+(queue_sz)];
SandrineO 0:07281ea3b26b 103 uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
SandrineO 0:07281ea3b26b 104 void *_mail_p[2];
SandrineO 0:07281ea3b26b 105 #endif
SandrineO 0:07281ea3b26b 106 };
SandrineO 0:07281ea3b26b 107
SandrineO 0:07281ea3b26b 108 }
SandrineO 0:07281ea3b26b 109
SandrineO 0:07281ea3b26b 110 #endif
SandrineO 0:07281ea3b26b 111
SandrineO 0:07281ea3b26b 112
SandrineO 0:07281ea3b26b 113 /** @}*/