Sergey Pastor
Webserver+3d print
Diff: common/os_port_cmsis_rtos.c
- Revision:
- 0:8918a71cdbe9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/common/os_port_cmsis_rtos.c Sat Feb 04 18:15:49 2017 +0000
@@ -0,0 +1,595 @@
+/**
+ * @file os_port_cmsis_rtos.c
+ * @brief RTOS abstraction layer (CMSIS-RTOS)
+ *
+ * @section License
+ *
+ * Copyright (C) 2010-2017 Oryx Embedded SARL. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * @author Oryx Embedded SARL (www.oryx-embedded.com)
+ * @version 1.7.6
+ **/
+
+//Switch to the appropriate trace level
+#define TRACE_LEVEL TRACE_LEVEL_OFF
+
+//Dependencies
+#include <stdio.h>
+#include <stdlib.h>
+#include "os_port.h"
+#include "os_port_cmsis_rtos.h"
+#include "debug.h"
+
+
+/**
+ * @brief Kernel initialization
+ **/
+
+void osInitKernel(void)
+{
+//Check CMSIS-RTOS API version
+#if (osCMSIS >= 0x10001)
+ //Initialize the kernel
+ osKernelInitialize();
+#endif
+}
+
+
+/**
+ * @brief Start kernel
+ **/
+
+void osStartKernel(void)
+{
+//Check CMSIS-RTOS API version
+#if (osCMSIS >= 0x10001)
+ //Start the kernel
+ osKernelStart();
+#else
+ //Start the kernel
+ osKernelStart(NULL, NULL);
+#endif
+}
+
+
+/**
+ * @brief Create a new task
+ * @param[in] name A name identifying the task
+ * @param[in] taskCode Pointer to the task entry function
+ * @param[in] params A pointer to a variable to be passed to the task
+ * @param[in] stackSize The initial size of the stack, in words
+ * @param[in] priority The priority at which the task should run
+ * @return If the function succeeds, the return value is a pointer to the
+ * new task. If the function fails, the return value is NULL
+ **/
+
+OsTask *osCreateTask(const char_t *name, OsTaskCode taskCode,
+ void *params, size_t stackSize, int_t priority)
+{
+ osThreadId threadId;
+ osThreadDef_t threadDef;
+
+#if defined(osCMSIS_RTX)
+ threadDef.pthread = (os_pthread) taskCode;
+ threadDef.tpriority = (osPriority) priority;
+ threadDef.instances = 1;
+ threadDef.stacksize = stackSize * sizeof(uint_t);
+#else
+ threadDef.name = (char_t *) name;
+ threadDef.pthread = (os_pthread) taskCode;
+ threadDef.tpriority = (osPriority) priority;
+ threadDef.instances = 1;
+ threadDef.stacksize = stackSize;
+#endif
+
+ //Create a new thread
+ threadId = osThreadCreate(&threadDef, params);
+ //Return a handle to the newly created thread
+ return (OsTask *) threadId;
+}
+
+
+/**
+ * @brief Delete a task
+ * @param[in] task Pointer to the task to be deleted
+ **/
+
+void osDeleteTask(OsTask *task)
+{
+ //Delete the specified thread
+ osThreadTerminate((osThreadId) task);
+}
+
+
+/**
+ * @brief Delay routine
+ * @param[in] delay Amount of time for which the calling task should block
+ **/
+
+void osDelayTask(systime_t delay)
+{
+ //Delay the thread for the specified duration
+ osDelay(delay);
+}
+
+
+/**
+ * @brief Yield control to the next task
+ **/
+
+void osSwitchTask(void)
+{
+ //Force a context switch
+ osThreadYield();
+}
+
+
+/**
+ * @brief Suspend scheduler activity
+ **/
+
+void osSuspendAllTasks(void)
+{
+#if !defined(osCMSIS_RTX)
+ //Make sure the operating system is running
+ if(osKernelRunning())
+ {
+ //Suspend all threads
+ osThreadSuspendAll();
+ }
+#endif
+}
+
+
+/**
+ * @brief Resume scheduler activity
+ **/
+
+void osResumeAllTasks(void)
+{
+#if !defined(osCMSIS_RTX)
+ //Make sure the operating system is running
+ if(osKernelRunning())
+ {
+ //Resume all threads
+ osThreadResumeAll();
+ }
+#endif
+}
+
+
+/**
+ * @brief Create an event object
+ * @param[in] event Pointer to the event object
+ * @return The function returns TRUE if the event object was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateEvent(OsEvent *event)
+{
+ osSemaphoreDef_t semaphoreDef;
+
+#if defined(osCMSIS_RTX)
+ semaphoreDef.semaphore = event->cb;
+#else
+ semaphoreDef.dummy = 0;
+#endif
+
+ //Create a binary semaphore object
+ event->id = osSemaphoreCreate(&semaphoreDef, 1);
+
+ //Check whether the returned semaphore ID is valid
+ if(event->id != NULL)
+ {
+ //Force the specified event to the nonsignaled state
+ osSemaphoreWait(event->id, 0);
+ //Event successfully created
+ return TRUE;
+ }
+ else
+ {
+ //Failed to create event object
+ return FALSE;
+ }
+}
+
+
+/**
+ * @brief Delete an event object
+ * @param[in] event Pointer to the event object
+ **/
+
+void osDeleteEvent(OsEvent *event)
+{
+ //Make sure the semaphore ID is valid
+ if(event->id != NULL)
+ {
+ //Properly dispose the event object
+ osSemaphoreDelete(event->id);
+ }
+}
+
+
+/**
+ * @brief Set the specified event object to the signaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osSetEvent(OsEvent *event)
+{
+ //Set the specified event to the signaled state
+ osSemaphoreRelease(event->id);
+}
+
+
+/**
+ * @brief Set the specified event object to the nonsignaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osResetEvent(OsEvent *event)
+{
+#if defined(osCMSIS_RTX)
+ //Force the specified event to the nonsignaled state
+ while(osSemaphoreWait(event->id, 0) > 0);
+#else
+ //Force the specified event to the nonsignaled state
+ osSemaphoreWait(event->id, 0);
+#endif
+}
+
+
+/**
+ * @brief Wait until the specified event is in the signaled state
+ * @param[in] event Pointer to the event object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the state of the specified object is
+ * signaled. FALSE is returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForEvent(OsEvent *event, systime_t timeout)
+{
+ int32_t ret;
+
+ //Wait until the specified event is in the signaled
+ //state or the timeout interval elapses
+ if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ ret = osSemaphoreWait(event->id, osWaitForever);
+ }
+ else
+ {
+#if defined(osCMSIS_RTX)
+ systime_t n;
+
+ //Loop until the assigned time period has elapsed
+ do
+ {
+ //Limit the timeout value
+ n = MIN(timeout, 10000);
+ //Wait for the specified time interval
+ ret = osSemaphoreWait(event->id, n);
+ //Decrement timeout value
+ timeout -= n;
+
+ //Check timeout value
+ } while(ret == 0 && timeout > 0);
+#else
+ //Wait for the specified time interval
+ ret = osSemaphoreWait(event->id, timeout);
+#endif
+ }
+
+#if defined(osCMSIS_RTX)
+ //Check return value
+ if(ret > 0)
+ {
+ //Force the event back to the nonsignaled state
+ while(osSemaphoreWait(event->id, 0) > 0);
+
+ //The specified event is in the signaled state
+ return TRUE;
+ }
+ else
+ {
+ //The timeout interval elapsed
+ return FALSE;
+ }
+#else
+ //Check return value
+ if(ret == osOK)
+ return TRUE;
+ else
+ return FALSE;
+#endif
+}
+
+
+/**
+ * @brief Set an event object to the signaled state from an interrupt service routine
+ * @param[in] event Pointer to the event object
+ * @return TRUE if setting the event to signaled state caused a task to unblock
+ * and the unblocked task has a priority higher than the currently running task
+ **/
+
+bool_t osSetEventFromIsr(OsEvent *event)
+{
+ //Set the specified event to the signaled state
+ osSemaphoreRelease(event->id);
+
+ //The return value is not relevant
+ return FALSE;
+}
+
+
+/**
+ * @brief Create a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] count The maximum count for the semaphore object. This value
+ * must be greater than zero
+ * @return The function returns TRUE if the semaphore was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateSemaphore(OsSemaphore *semaphore, uint_t count)
+{
+ osSemaphoreDef_t semaphoreDef;
+
+#if defined(osCMSIS_RTX)
+ semaphoreDef.semaphore = semaphore->cb;
+#else
+ semaphoreDef.dummy = 0;
+#endif
+
+ //Create a semaphore object
+ semaphore->id = osSemaphoreCreate(&semaphoreDef, count);
+
+ //Check whether the returned semaphore ID is valid
+ if(semaphore->id != NULL)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Delete a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osDeleteSemaphore(OsSemaphore *semaphore)
+{
+ //Make sure the semaphore ID is valid
+ if(semaphore->id != NULL)
+ {
+ //Properly dispose the specified semaphore
+ osSemaphoreDelete(semaphore->id);
+ }
+}
+
+
+/**
+ * @brief Wait for the specified semaphore to be available
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the semaphore is available. FALSE is
+ * returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForSemaphore(OsSemaphore *semaphore, systime_t timeout)
+{
+ int32_t ret;
+
+ //Wait until the semaphore is available or the timeout interval elapses
+ if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ ret = osSemaphoreWait(semaphore->id, osWaitForever);
+ }
+ else
+ {
+#if defined(osCMSIS_RTX)
+ systime_t n;
+
+ //Loop until the assigned time period has elapsed
+ do
+ {
+ //Limit the timeout value
+ n = MIN(timeout, 10000);
+ //Wait for the specified time interval
+ ret = osSemaphoreWait(semaphore->id, n);
+ //Decrement timeout value
+ timeout -= n;
+
+ //Check timeout value
+ } while(ret == 0 && timeout > 0);
+#else
+ //Wait for the specified time interval
+ ret = osSemaphoreWait(semaphore->id, timeout);
+#endif
+ }
+
+#if defined(osCMSIS_RTX)
+ //Check return value
+ if(ret > 0)
+ return TRUE;
+ else
+ return FALSE;
+#else
+ //Check return value
+ if(ret == osOK)
+ return TRUE;
+ else
+ return FALSE;
+#endif
+}
+
+
+/**
+ * @brief Release the specified semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osReleaseSemaphore(OsSemaphore *semaphore)
+{
+ //Release the semaphore
+ osSemaphoreRelease(semaphore->id);
+}
+
+
+/**
+ * @brief Create a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ * @return The function returns TRUE if the mutex was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateMutex(OsMutex *mutex)
+{
+ osMutexDef_t mutexDef;
+
+#if defined(osCMSIS_RTX)
+ mutexDef.mutex = mutex->cb;
+#else
+ mutexDef.dummy = 0;
+#endif
+
+ //Create a mutex object
+ mutex->id = osMutexCreate(&mutexDef);
+
+ //Check whether the returned mutex ID is valid
+ if(mutex->id != NULL)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Delete a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osDeleteMutex(OsMutex *mutex)
+{
+ //Make sure the mutex ID is valid
+ if(mutex->id != NULL)
+ {
+ //Properly dispose the specified mutex
+ osMutexDelete(mutex->id);
+ }
+}
+
+
+/**
+ * @brief Acquire ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osAcquireMutex(OsMutex *mutex)
+{
+ //Obtain ownership of the mutex object
+ osMutexWait(mutex->id, osWaitForever);
+}
+
+
+/**
+ * @brief Release ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osReleaseMutex(OsMutex *mutex)
+{
+ //Release ownership of the mutex object
+ osMutexRelease(mutex->id);
+}
+
+
+/**
+ * @brief Retrieve system time
+ * @return Number of milliseconds elapsed since the system was last started
+ **/
+
+systime_t osGetSystemTime(void)
+{
+ systime_t time;
+
+#if defined(osCMSIS_RTX)
+ //Forward function declaration
+ extern uint32_t rt_time_get(void);
+
+ //Get current tick count
+ time = rt_time_get();
+#else
+ //Get current tick count
+ time = osKernelSysTick();
+#endif
+
+ //Convert system ticks to milliseconds
+ return OS_SYSTICKS_TO_MS(time);
+}
+
+
+/**
+ * @brief Allocate a memory block
+ * @param[in] size Bytes to allocate
+ * @return A pointer to the allocated memory block or NULL if
+ * there is insufficient memory available
+ **/
+
+void *osAllocMem(size_t size)
+{
+ void *p;
+
+ //Enter critical section
+ osSuspendAllTasks();
+ //Allocate a memory block
+ p = malloc(size);
+ //Leave critical section
+ osResumeAllTasks();
+
+ //Debug message
+ TRACE_DEBUG("Allocating %u bytes at 0x%08X\r\n", size, (uint_t) p);
+
+ //Return a pointer to the newly allocated memory block
+ return p;
+}
+
+
+/**
+ * @brief Release a previously allocated memory block
+ * @param[in] p Previously allocated memory block to be freed
+ **/
+
+void osFreeMem(void *p)
+{
+ //Make sure the pointer is valid
+ if(p != NULL)
+ {
+ //Debug message
+ TRACE_DEBUG("Freeing memory at 0x%08X\r\n", (uint_t) p);
+
+ //Enter critical section
+ osSuspendAllTasks();
+ //Free memory block
+ free(p);
+ //Leave critical section
+ osResumeAllTasks();
+ }
+}
+