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mbed-rtos/rtx/TARGET_CORTEX_A/rt_CMSIS.c@0:f9b6112278fe, 2016-06-18 (annotated)
- Committer:
- DieterGraef
- Date:
- Sat Jun 18 10:49:12 2016 +0000
- Revision:
- 0:f9b6112278fe
Ethernet for the NUCLEO STM32F746 Board Testprogram uses DHCP and NTP to set the clock
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
DieterGraef | 0:f9b6112278fe | 1 | /*---------------------------------------------------------------------------- |
DieterGraef | 0:f9b6112278fe | 2 | * RL-ARM - RTX |
DieterGraef | 0:f9b6112278fe | 3 | *---------------------------------------------------------------------------- |
DieterGraef | 0:f9b6112278fe | 4 | * Name: rt_CMSIS.c |
DieterGraef | 0:f9b6112278fe | 5 | * Purpose: CMSIS RTOS API |
DieterGraef | 0:f9b6112278fe | 6 | * Rev.: V4.74 |
DieterGraef | 0:f9b6112278fe | 7 | *---------------------------------------------------------------------------- |
DieterGraef | 0:f9b6112278fe | 8 | * |
DieterGraef | 0:f9b6112278fe | 9 | * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH |
DieterGraef | 0:f9b6112278fe | 10 | * All rights reserved. |
DieterGraef | 0:f9b6112278fe | 11 | * Redistribution and use in source and binary forms, with or without |
DieterGraef | 0:f9b6112278fe | 12 | * modification, are permitted provided that the following conditions are met: |
DieterGraef | 0:f9b6112278fe | 13 | * - Redistributions of source code must retain the above copyright |
DieterGraef | 0:f9b6112278fe | 14 | * notice, this list of conditions and the following disclaimer. |
DieterGraef | 0:f9b6112278fe | 15 | * - Redistributions in binary form must reproduce the above copyright |
DieterGraef | 0:f9b6112278fe | 16 | * notice, this list of conditions and the following disclaimer in the |
DieterGraef | 0:f9b6112278fe | 17 | * documentation and/or other materials provided with the distribution. |
DieterGraef | 0:f9b6112278fe | 18 | * - Neither the name of ARM nor the names of its contributors may be used |
DieterGraef | 0:f9b6112278fe | 19 | * to endorse or promote products derived from this software without |
DieterGraef | 0:f9b6112278fe | 20 | * specific prior written permission. |
DieterGraef | 0:f9b6112278fe | 21 | * |
DieterGraef | 0:f9b6112278fe | 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
DieterGraef | 0:f9b6112278fe | 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
DieterGraef | 0:f9b6112278fe | 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
DieterGraef | 0:f9b6112278fe | 25 | * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE |
DieterGraef | 0:f9b6112278fe | 26 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
DieterGraef | 0:f9b6112278fe | 27 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
DieterGraef | 0:f9b6112278fe | 28 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
DieterGraef | 0:f9b6112278fe | 29 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
DieterGraef | 0:f9b6112278fe | 30 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
DieterGraef | 0:f9b6112278fe | 31 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
DieterGraef | 0:f9b6112278fe | 32 | * POSSIBILITY OF SUCH DAMAGE. |
DieterGraef | 0:f9b6112278fe | 33 | *---------------------------------------------------------------------------*/ |
DieterGraef | 0:f9b6112278fe | 34 | |
DieterGraef | 0:f9b6112278fe | 35 | #define __CMSIS_GENERIC |
DieterGraef | 0:f9b6112278fe | 36 | |
DieterGraef | 0:f9b6112278fe | 37 | #if defined (__CORTEX_M4) || defined (__CORTEX_M4F) |
DieterGraef | 0:f9b6112278fe | 38 | #include "core_cm4.h" |
DieterGraef | 0:f9b6112278fe | 39 | #elif defined (__CORTEX_M3) |
DieterGraef | 0:f9b6112278fe | 40 | #include "core_cm3.h" |
DieterGraef | 0:f9b6112278fe | 41 | #elif defined (__CORTEX_M0) |
DieterGraef | 0:f9b6112278fe | 42 | #include "core_cm0.h" |
DieterGraef | 0:f9b6112278fe | 43 | #elif defined (__CORTEX_A9) |
DieterGraef | 0:f9b6112278fe | 44 | #include "core_ca9.h" |
DieterGraef | 0:f9b6112278fe | 45 | #else |
DieterGraef | 0:f9b6112278fe | 46 | #error "Missing __CORTEX_xx definition" |
DieterGraef | 0:f9b6112278fe | 47 | #endif |
DieterGraef | 0:f9b6112278fe | 48 | |
DieterGraef | 0:f9b6112278fe | 49 | #include "rt_TypeDef.h" |
DieterGraef | 0:f9b6112278fe | 50 | #include "RTX_Config.h" |
DieterGraef | 0:f9b6112278fe | 51 | #include "rt_System.h" |
DieterGraef | 0:f9b6112278fe | 52 | #include "rt_Task.h" |
DieterGraef | 0:f9b6112278fe | 53 | #include "rt_Event.h" |
DieterGraef | 0:f9b6112278fe | 54 | #include "rt_List.h" |
DieterGraef | 0:f9b6112278fe | 55 | #include "rt_Time.h" |
DieterGraef | 0:f9b6112278fe | 56 | #include "rt_Mutex.h" |
DieterGraef | 0:f9b6112278fe | 57 | #include "rt_Semaphore.h" |
DieterGraef | 0:f9b6112278fe | 58 | #include "rt_Mailbox.h" |
DieterGraef | 0:f9b6112278fe | 59 | #include "rt_MemBox.h" |
DieterGraef | 0:f9b6112278fe | 60 | #include "rt_Memory.h" |
DieterGraef | 0:f9b6112278fe | 61 | #include "rt_HAL_CM.h" |
DieterGraef | 0:f9b6112278fe | 62 | |
DieterGraef | 0:f9b6112278fe | 63 | #define os_thread_cb OS_TCB |
DieterGraef | 0:f9b6112278fe | 64 | |
DieterGraef | 0:f9b6112278fe | 65 | #include "cmsis_os.h" |
DieterGraef | 0:f9b6112278fe | 66 | |
DieterGraef | 0:f9b6112278fe | 67 | #if (osFeature_Signals != 16) |
DieterGraef | 0:f9b6112278fe | 68 | #error Invalid "osFeature_Signals" value! |
DieterGraef | 0:f9b6112278fe | 69 | #endif |
DieterGraef | 0:f9b6112278fe | 70 | #if (osFeature_Semaphore > 65535) |
DieterGraef | 0:f9b6112278fe | 71 | #error Invalid "osFeature_Semaphore" value! |
DieterGraef | 0:f9b6112278fe | 72 | #endif |
DieterGraef | 0:f9b6112278fe | 73 | #if (osFeature_Wait != 0) |
DieterGraef | 0:f9b6112278fe | 74 | #error osWait not supported! |
DieterGraef | 0:f9b6112278fe | 75 | #endif |
DieterGraef | 0:f9b6112278fe | 76 | |
DieterGraef | 0:f9b6112278fe | 77 | |
DieterGraef | 0:f9b6112278fe | 78 | // ==== Enumeration, structures, defines ==== |
DieterGraef | 0:f9b6112278fe | 79 | |
DieterGraef | 0:f9b6112278fe | 80 | // Service Calls defines |
DieterGraef | 0:f9b6112278fe | 81 | |
DieterGraef | 0:f9b6112278fe | 82 | #if defined (__CC_ARM) /* ARM Compiler */ |
DieterGraef | 0:f9b6112278fe | 83 | |
DieterGraef | 0:f9b6112278fe | 84 | #define __NO_RETURN __declspec(noreturn) |
DieterGraef | 0:f9b6112278fe | 85 | |
DieterGraef | 0:f9b6112278fe | 86 | #define osEvent_type osEvent |
DieterGraef | 0:f9b6112278fe | 87 | #define osEvent_ret_status ret |
DieterGraef | 0:f9b6112278fe | 88 | #define osEvent_ret_value ret |
DieterGraef | 0:f9b6112278fe | 89 | #define osEvent_ret_msg ret |
DieterGraef | 0:f9b6112278fe | 90 | #define osEvent_ret_mail ret |
DieterGraef | 0:f9b6112278fe | 91 | |
DieterGraef | 0:f9b6112278fe | 92 | #define osCallback_type osCallback |
DieterGraef | 0:f9b6112278fe | 93 | #define osCallback_ret ret |
DieterGraef | 0:f9b6112278fe | 94 | |
DieterGraef | 0:f9b6112278fe | 95 | #define SVC_0_1(f,t,...) \ |
DieterGraef | 0:f9b6112278fe | 96 | __svc_indirect(0) t _##f (t(*)()); \ |
DieterGraef | 0:f9b6112278fe | 97 | t f (void); \ |
DieterGraef | 0:f9b6112278fe | 98 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 99 | static __inline t __##f (void) { \ |
DieterGraef | 0:f9b6112278fe | 100 | return _##f(f); \ |
DieterGraef | 0:f9b6112278fe | 101 | } |
DieterGraef | 0:f9b6112278fe | 102 | |
DieterGraef | 0:f9b6112278fe | 103 | #define SVC_1_0(f,t,t1,...) \ |
DieterGraef | 0:f9b6112278fe | 104 | __svc_indirect(0) t _##f (t(*)(t1),t1); \ |
DieterGraef | 0:f9b6112278fe | 105 | t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 106 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 107 | static __inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 108 | _##f(f,a1); \ |
DieterGraef | 0:f9b6112278fe | 109 | } |
DieterGraef | 0:f9b6112278fe | 110 | |
DieterGraef | 0:f9b6112278fe | 111 | #define SVC_1_1(f,t,t1,...) \ |
DieterGraef | 0:f9b6112278fe | 112 | __svc_indirect(0) t _##f (t(*)(t1),t1); \ |
DieterGraef | 0:f9b6112278fe | 113 | t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 114 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 115 | static __inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 116 | return _##f(f,a1); \ |
DieterGraef | 0:f9b6112278fe | 117 | } |
DieterGraef | 0:f9b6112278fe | 118 | |
DieterGraef | 0:f9b6112278fe | 119 | #define SVC_2_1(f,t,t1,t2,...) \ |
DieterGraef | 0:f9b6112278fe | 120 | __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \ |
DieterGraef | 0:f9b6112278fe | 121 | t f (t1 a1, t2 a2); \ |
DieterGraef | 0:f9b6112278fe | 122 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 123 | static __inline t __##f (t1 a1, t2 a2) { \ |
DieterGraef | 0:f9b6112278fe | 124 | return _##f(f,a1,a2); \ |
DieterGraef | 0:f9b6112278fe | 125 | } |
DieterGraef | 0:f9b6112278fe | 126 | |
DieterGraef | 0:f9b6112278fe | 127 | #define SVC_3_1(f,t,t1,t2,t3,...) \ |
DieterGraef | 0:f9b6112278fe | 128 | __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \ |
DieterGraef | 0:f9b6112278fe | 129 | t f (t1 a1, t2 a2, t3 a3); \ |
DieterGraef | 0:f9b6112278fe | 130 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 131 | static __inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
DieterGraef | 0:f9b6112278fe | 132 | return _##f(f,a1,a2,a3); \ |
DieterGraef | 0:f9b6112278fe | 133 | } |
DieterGraef | 0:f9b6112278fe | 134 | |
DieterGraef | 0:f9b6112278fe | 135 | #define SVC_4_1(f,t,t1,t2,t3,t4,...) \ |
DieterGraef | 0:f9b6112278fe | 136 | __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \ |
DieterGraef | 0:f9b6112278fe | 137 | t f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
DieterGraef | 0:f9b6112278fe | 138 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 139 | static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
DieterGraef | 0:f9b6112278fe | 140 | return _##f(f,a1,a2,a3,a4); \ |
DieterGraef | 0:f9b6112278fe | 141 | } |
DieterGraef | 0:f9b6112278fe | 142 | |
DieterGraef | 0:f9b6112278fe | 143 | #define SVC_1_2 SVC_1_1 |
DieterGraef | 0:f9b6112278fe | 144 | #define SVC_1_3 SVC_1_1 |
DieterGraef | 0:f9b6112278fe | 145 | #define SVC_2_3 SVC_2_1 |
DieterGraef | 0:f9b6112278fe | 146 | |
DieterGraef | 0:f9b6112278fe | 147 | #elif defined (__GNUC__) /* GNU Compiler */ |
DieterGraef | 0:f9b6112278fe | 148 | |
DieterGraef | 0:f9b6112278fe | 149 | #define __NO_RETURN __attribute__((noreturn)) |
DieterGraef | 0:f9b6112278fe | 150 | |
DieterGraef | 0:f9b6112278fe | 151 | typedef uint32_t __attribute__((vector_size(8))) ret64; |
DieterGraef | 0:f9b6112278fe | 152 | typedef uint32_t __attribute__((vector_size(16))) ret128; |
DieterGraef | 0:f9b6112278fe | 153 | |
DieterGraef | 0:f9b6112278fe | 154 | #define RET_pointer __r0 |
DieterGraef | 0:f9b6112278fe | 155 | #define RET_int32_t __r0 |
DieterGraef | 0:f9b6112278fe | 156 | #define RET_uint32_t __r0 |
DieterGraef | 0:f9b6112278fe | 157 | #define RET_osStatus __r0 |
DieterGraef | 0:f9b6112278fe | 158 | #define RET_osPriority __r0 |
DieterGraef | 0:f9b6112278fe | 159 | #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}} |
DieterGraef | 0:f9b6112278fe | 160 | #define RET_osCallback {(void *)__r0, (void *)__r1} |
DieterGraef | 0:f9b6112278fe | 161 | |
DieterGraef | 0:f9b6112278fe | 162 | #if defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 163 | |
DieterGraef | 0:f9b6112278fe | 164 | #define osEvent_type void |
DieterGraef | 0:f9b6112278fe | 165 | #define osEvent_ret_status { __asm ("MOV r0, %0;" \ |
DieterGraef | 0:f9b6112278fe | 166 | : /* no outputs */ \ |
DieterGraef | 0:f9b6112278fe | 167 | : "r"(ret.status) \ |
DieterGraef | 0:f9b6112278fe | 168 | : "r0" \ |
DieterGraef | 0:f9b6112278fe | 169 | ); \ |
DieterGraef | 0:f9b6112278fe | 170 | } |
DieterGraef | 0:f9b6112278fe | 171 | #define osEvent_ret_value { __asm ("MOV r1, %0;" \ |
DieterGraef | 0:f9b6112278fe | 172 | "MOV r0, %1;" \ |
DieterGraef | 0:f9b6112278fe | 173 | : /* no outputs */ \ |
DieterGraef | 0:f9b6112278fe | 174 | : "r"(ret.value.v), \ |
DieterGraef | 0:f9b6112278fe | 175 | "r"(ret.status) \ |
DieterGraef | 0:f9b6112278fe | 176 | : "r0", "r1" \ |
DieterGraef | 0:f9b6112278fe | 177 | ); \ |
DieterGraef | 0:f9b6112278fe | 178 | } |
DieterGraef | 0:f9b6112278fe | 179 | #define osEvent_ret_msg { __asm ("MOV r2, %0;" \ |
DieterGraef | 0:f9b6112278fe | 180 | "MOV r1, %1;" \ |
DieterGraef | 0:f9b6112278fe | 181 | "MOV r0, %2;" \ |
DieterGraef | 0:f9b6112278fe | 182 | : /* no outputs */ \ |
DieterGraef | 0:f9b6112278fe | 183 | : "r"(ret.def.message_id), \ |
DieterGraef | 0:f9b6112278fe | 184 | "r"(ret.value.v), \ |
DieterGraef | 0:f9b6112278fe | 185 | "r"(ret.status) \ |
DieterGraef | 0:f9b6112278fe | 186 | : "r0", "r1" , "r2" \ |
DieterGraef | 0:f9b6112278fe | 187 | ); \ |
DieterGraef | 0:f9b6112278fe | 188 | } |
DieterGraef | 0:f9b6112278fe | 189 | |
DieterGraef | 0:f9b6112278fe | 190 | #define osEvent_ret_mail { __asm ("MOV r2, %0;" \ |
DieterGraef | 0:f9b6112278fe | 191 | "MOV r1, %1;" \ |
DieterGraef | 0:f9b6112278fe | 192 | "MOV r0, %2;" \ |
DieterGraef | 0:f9b6112278fe | 193 | : /* no outputs */ \ |
DieterGraef | 0:f9b6112278fe | 194 | : "r"(ret.def.mail_id), \ |
DieterGraef | 0:f9b6112278fe | 195 | "r"(ret.value.v), \ |
DieterGraef | 0:f9b6112278fe | 196 | "r"(ret.status) \ |
DieterGraef | 0:f9b6112278fe | 197 | : "r0", "r1" , "r2" \ |
DieterGraef | 0:f9b6112278fe | 198 | ); \ |
DieterGraef | 0:f9b6112278fe | 199 | } |
DieterGraef | 0:f9b6112278fe | 200 | |
DieterGraef | 0:f9b6112278fe | 201 | #define osCallback_type void |
DieterGraef | 0:f9b6112278fe | 202 | #define osCallback_ret { __asm ("MOV r1, %0;" \ |
DieterGraef | 0:f9b6112278fe | 203 | "MOV r0, %1;" \ |
DieterGraef | 0:f9b6112278fe | 204 | : /* no outputs */ \ |
DieterGraef | 0:f9b6112278fe | 205 | : "r"(ret.arg), \ |
DieterGraef | 0:f9b6112278fe | 206 | "r"(ret.fp) \ |
DieterGraef | 0:f9b6112278fe | 207 | : "r0", "r1" \ |
DieterGraef | 0:f9b6112278fe | 208 | ); \ |
DieterGraef | 0:f9b6112278fe | 209 | } |
DieterGraef | 0:f9b6112278fe | 210 | |
DieterGraef | 0:f9b6112278fe | 211 | #else /* defined (__ARM_PCS_VFP) */ |
DieterGraef | 0:f9b6112278fe | 212 | |
DieterGraef | 0:f9b6112278fe | 213 | #define osEvent_type ret128 |
DieterGraef | 0:f9b6112278fe | 214 | #define osEvent_ret_status (ret128){ret.status} |
DieterGraef | 0:f9b6112278fe | 215 | #define osEvent_ret_value (ret128){ret.status, ret.value.v} |
DieterGraef | 0:f9b6112278fe | 216 | #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id} |
DieterGraef | 0:f9b6112278fe | 217 | #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id} |
DieterGraef | 0:f9b6112278fe | 218 | |
DieterGraef | 0:f9b6112278fe | 219 | #define osCallback_type ret64 |
DieterGraef | 0:f9b6112278fe | 220 | #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg} |
DieterGraef | 0:f9b6112278fe | 221 | |
DieterGraef | 0:f9b6112278fe | 222 | #endif /* defined (__ARM_PCS_VFP) */ |
DieterGraef | 0:f9b6112278fe | 223 | |
DieterGraef | 0:f9b6112278fe | 224 | #define SVC_ArgN(n) \ |
DieterGraef | 0:f9b6112278fe | 225 | register int __r##n __asm("r"#n); |
DieterGraef | 0:f9b6112278fe | 226 | |
DieterGraef | 0:f9b6112278fe | 227 | #define SVC_ArgR(n,t,a) \ |
DieterGraef | 0:f9b6112278fe | 228 | register t __r##n __asm("r"#n) = a; |
DieterGraef | 0:f9b6112278fe | 229 | |
DieterGraef | 0:f9b6112278fe | 230 | #define SVC_Arg0() \ |
DieterGraef | 0:f9b6112278fe | 231 | SVC_ArgN(0) \ |
DieterGraef | 0:f9b6112278fe | 232 | SVC_ArgN(1) \ |
DieterGraef | 0:f9b6112278fe | 233 | SVC_ArgN(2) \ |
DieterGraef | 0:f9b6112278fe | 234 | SVC_ArgN(3) |
DieterGraef | 0:f9b6112278fe | 235 | |
DieterGraef | 0:f9b6112278fe | 236 | #define SVC_Arg1(t1) \ |
DieterGraef | 0:f9b6112278fe | 237 | SVC_ArgR(0,t1,a1) \ |
DieterGraef | 0:f9b6112278fe | 238 | SVC_ArgN(1) \ |
DieterGraef | 0:f9b6112278fe | 239 | SVC_ArgN(2) \ |
DieterGraef | 0:f9b6112278fe | 240 | SVC_ArgN(3) |
DieterGraef | 0:f9b6112278fe | 241 | |
DieterGraef | 0:f9b6112278fe | 242 | #define SVC_Arg2(t1,t2) \ |
DieterGraef | 0:f9b6112278fe | 243 | SVC_ArgR(0,t1,a1) \ |
DieterGraef | 0:f9b6112278fe | 244 | SVC_ArgR(1,t2,a2) \ |
DieterGraef | 0:f9b6112278fe | 245 | SVC_ArgN(2) \ |
DieterGraef | 0:f9b6112278fe | 246 | SVC_ArgN(3) |
DieterGraef | 0:f9b6112278fe | 247 | |
DieterGraef | 0:f9b6112278fe | 248 | #define SVC_Arg3(t1,t2,t3) \ |
DieterGraef | 0:f9b6112278fe | 249 | SVC_ArgR(0,t1,a1) \ |
DieterGraef | 0:f9b6112278fe | 250 | SVC_ArgR(1,t2,a2) \ |
DieterGraef | 0:f9b6112278fe | 251 | SVC_ArgR(2,t3,a3) \ |
DieterGraef | 0:f9b6112278fe | 252 | SVC_ArgN(3) |
DieterGraef | 0:f9b6112278fe | 253 | |
DieterGraef | 0:f9b6112278fe | 254 | #define SVC_Arg4(t1,t2,t3,t4) \ |
DieterGraef | 0:f9b6112278fe | 255 | SVC_ArgR(0,t1,a1) \ |
DieterGraef | 0:f9b6112278fe | 256 | SVC_ArgR(1,t2,a2) \ |
DieterGraef | 0:f9b6112278fe | 257 | SVC_ArgR(2,t3,a3) \ |
DieterGraef | 0:f9b6112278fe | 258 | SVC_ArgR(3,t4,a4) |
DieterGraef | 0:f9b6112278fe | 259 | |
DieterGraef | 0:f9b6112278fe | 260 | #if (defined (__CORTEX_M0)) |
DieterGraef | 0:f9b6112278fe | 261 | #define SVC_Call(f) \ |
DieterGraef | 0:f9b6112278fe | 262 | __asm volatile \ |
DieterGraef | 0:f9b6112278fe | 263 | ( \ |
DieterGraef | 0:f9b6112278fe | 264 | "ldr r7,="#f"\n\t" \ |
DieterGraef | 0:f9b6112278fe | 265 | "mov r12,r7\n\t" \ |
DieterGraef | 0:f9b6112278fe | 266 | "svc 0" \ |
DieterGraef | 0:f9b6112278fe | 267 | : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \ |
DieterGraef | 0:f9b6112278fe | 268 | : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \ |
DieterGraef | 0:f9b6112278fe | 269 | : "r7", "r12", "lr", "cc" \ |
DieterGraef | 0:f9b6112278fe | 270 | ); |
DieterGraef | 0:f9b6112278fe | 271 | #else |
DieterGraef | 0:f9b6112278fe | 272 | #define SVC_Call(f) \ |
DieterGraef | 0:f9b6112278fe | 273 | __asm volatile \ |
DieterGraef | 0:f9b6112278fe | 274 | ( \ |
DieterGraef | 0:f9b6112278fe | 275 | "ldr r12,="#f"\n\t" \ |
DieterGraef | 0:f9b6112278fe | 276 | "svc 0" \ |
DieterGraef | 0:f9b6112278fe | 277 | : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \ |
DieterGraef | 0:f9b6112278fe | 278 | : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \ |
DieterGraef | 0:f9b6112278fe | 279 | : "r12", "lr", "cc" \ |
DieterGraef | 0:f9b6112278fe | 280 | ); |
DieterGraef | 0:f9b6112278fe | 281 | #endif |
DieterGraef | 0:f9b6112278fe | 282 | |
DieterGraef | 0:f9b6112278fe | 283 | #define SVC_0_1(f,t,rv) \ |
DieterGraef | 0:f9b6112278fe | 284 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 285 | static inline t __##f (void) { \ |
DieterGraef | 0:f9b6112278fe | 286 | SVC_Arg0(); \ |
DieterGraef | 0:f9b6112278fe | 287 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 288 | return (t) rv; \ |
DieterGraef | 0:f9b6112278fe | 289 | } |
DieterGraef | 0:f9b6112278fe | 290 | |
DieterGraef | 0:f9b6112278fe | 291 | #define SVC_1_0(f,t,t1) \ |
DieterGraef | 0:f9b6112278fe | 292 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 293 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 294 | SVC_Arg1(t1); \ |
DieterGraef | 0:f9b6112278fe | 295 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 296 | } |
DieterGraef | 0:f9b6112278fe | 297 | |
DieterGraef | 0:f9b6112278fe | 298 | #define SVC_1_1(f,t,t1,rv) \ |
DieterGraef | 0:f9b6112278fe | 299 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 300 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 301 | SVC_Arg1(t1); \ |
DieterGraef | 0:f9b6112278fe | 302 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 303 | return (t) rv; \ |
DieterGraef | 0:f9b6112278fe | 304 | } |
DieterGraef | 0:f9b6112278fe | 305 | |
DieterGraef | 0:f9b6112278fe | 306 | #define SVC_2_1(f,t,t1,t2,rv) \ |
DieterGraef | 0:f9b6112278fe | 307 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 308 | static inline t __##f (t1 a1, t2 a2) { \ |
DieterGraef | 0:f9b6112278fe | 309 | SVC_Arg2(t1,t2); \ |
DieterGraef | 0:f9b6112278fe | 310 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 311 | return (t) rv; \ |
DieterGraef | 0:f9b6112278fe | 312 | } |
DieterGraef | 0:f9b6112278fe | 313 | |
DieterGraef | 0:f9b6112278fe | 314 | #define SVC_3_1(f,t,t1,t2,t3,rv) \ |
DieterGraef | 0:f9b6112278fe | 315 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 316 | static inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
DieterGraef | 0:f9b6112278fe | 317 | SVC_Arg3(t1,t2,t3); \ |
DieterGraef | 0:f9b6112278fe | 318 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 319 | return (t) rv; \ |
DieterGraef | 0:f9b6112278fe | 320 | } |
DieterGraef | 0:f9b6112278fe | 321 | |
DieterGraef | 0:f9b6112278fe | 322 | #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \ |
DieterGraef | 0:f9b6112278fe | 323 | __attribute__((always_inline)) \ |
DieterGraef | 0:f9b6112278fe | 324 | static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
DieterGraef | 0:f9b6112278fe | 325 | SVC_Arg4(t1,t2,t3,t4); \ |
DieterGraef | 0:f9b6112278fe | 326 | SVC_Call(f); \ |
DieterGraef | 0:f9b6112278fe | 327 | return (t) rv; \ |
DieterGraef | 0:f9b6112278fe | 328 | } |
DieterGraef | 0:f9b6112278fe | 329 | |
DieterGraef | 0:f9b6112278fe | 330 | #define SVC_1_2 SVC_1_1 |
DieterGraef | 0:f9b6112278fe | 331 | #define SVC_1_3 SVC_1_1 |
DieterGraef | 0:f9b6112278fe | 332 | #define SVC_2_3 SVC_2_1 |
DieterGraef | 0:f9b6112278fe | 333 | |
DieterGraef | 0:f9b6112278fe | 334 | #elif defined (__ICCARM__) /* IAR Compiler */ |
DieterGraef | 0:f9b6112278fe | 335 | |
DieterGraef | 0:f9b6112278fe | 336 | #define __NO_RETURN __noreturn |
DieterGraef | 0:f9b6112278fe | 337 | |
DieterGraef | 0:f9b6112278fe | 338 | #define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def) |
DieterGraef | 0:f9b6112278fe | 339 | #define RET_osCallback "=r"(ret.fp), "=r"(ret.arg) |
DieterGraef | 0:f9b6112278fe | 340 | |
DieterGraef | 0:f9b6112278fe | 341 | #define osEvent_type osEvent |
DieterGraef | 0:f9b6112278fe | 342 | #define osEvent_ret_status ret |
DieterGraef | 0:f9b6112278fe | 343 | #define osEvent_ret_value ret |
DieterGraef | 0:f9b6112278fe | 344 | #define osEvent_ret_msg ret |
DieterGraef | 0:f9b6112278fe | 345 | #define osEvent_ret_mail ret |
DieterGraef | 0:f9b6112278fe | 346 | |
DieterGraef | 0:f9b6112278fe | 347 | #define osCallback_type uint64_t |
DieterGraef | 0:f9b6112278fe | 348 | #define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32) |
DieterGraef | 0:f9b6112278fe | 349 | |
DieterGraef | 0:f9b6112278fe | 350 | #define SVC_Setup(f) \ |
DieterGraef | 0:f9b6112278fe | 351 | __asm( \ |
DieterGraef | 0:f9b6112278fe | 352 | "mov r12,%0\n" \ |
DieterGraef | 0:f9b6112278fe | 353 | :: "r"(&f): "r12" \ |
DieterGraef | 0:f9b6112278fe | 354 | ); |
DieterGraef | 0:f9b6112278fe | 355 | |
DieterGraef | 0:f9b6112278fe | 356 | #define SVC_Ret3() \ |
DieterGraef | 0:f9b6112278fe | 357 | __asm( \ |
DieterGraef | 0:f9b6112278fe | 358 | "ldr r0,[sp,#0]\n" \ |
DieterGraef | 0:f9b6112278fe | 359 | "ldr r1,[sp,#4]\n" \ |
DieterGraef | 0:f9b6112278fe | 360 | "ldr r2,[sp,#8]\n" \ |
DieterGraef | 0:f9b6112278fe | 361 | ); |
DieterGraef | 0:f9b6112278fe | 362 | |
DieterGraef | 0:f9b6112278fe | 363 | #define SVC_0_1(f,t,...) \ |
DieterGraef | 0:f9b6112278fe | 364 | t f (void); \ |
DieterGraef | 0:f9b6112278fe | 365 | _Pragma("swi_number=0") __swi t _##f (void); \ |
DieterGraef | 0:f9b6112278fe | 366 | static inline t __##f (void) { \ |
DieterGraef | 0:f9b6112278fe | 367 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 368 | return _##f(); \ |
DieterGraef | 0:f9b6112278fe | 369 | } |
DieterGraef | 0:f9b6112278fe | 370 | |
DieterGraef | 0:f9b6112278fe | 371 | #define SVC_1_0(f,t,t1,...) \ |
DieterGraef | 0:f9b6112278fe | 372 | t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 373 | _Pragma("swi_number=0") __swi t _##f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 374 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 375 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 376 | _##f(a1); \ |
DieterGraef | 0:f9b6112278fe | 377 | } |
DieterGraef | 0:f9b6112278fe | 378 | |
DieterGraef | 0:f9b6112278fe | 379 | #define SVC_1_1(f,t,t1,...) \ |
DieterGraef | 0:f9b6112278fe | 380 | t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 381 | _Pragma("swi_number=0") __swi t _##f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 382 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 383 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 384 | return _##f(a1); \ |
DieterGraef | 0:f9b6112278fe | 385 | } |
DieterGraef | 0:f9b6112278fe | 386 | |
DieterGraef | 0:f9b6112278fe | 387 | #define SVC_2_1(f,t,t1,t2,...) \ |
DieterGraef | 0:f9b6112278fe | 388 | t f (t1 a1, t2 a2); \ |
DieterGraef | 0:f9b6112278fe | 389 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \ |
DieterGraef | 0:f9b6112278fe | 390 | static inline t __##f (t1 a1, t2 a2) { \ |
DieterGraef | 0:f9b6112278fe | 391 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 392 | return _##f(a1,a2); \ |
DieterGraef | 0:f9b6112278fe | 393 | } |
DieterGraef | 0:f9b6112278fe | 394 | |
DieterGraef | 0:f9b6112278fe | 395 | #define SVC_3_1(f,t,t1,t2,t3,...) \ |
DieterGraef | 0:f9b6112278fe | 396 | t f (t1 a1, t2 a2, t3 a3); \ |
DieterGraef | 0:f9b6112278fe | 397 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \ |
DieterGraef | 0:f9b6112278fe | 398 | static inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
DieterGraef | 0:f9b6112278fe | 399 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 400 | return _##f(a1,a2,a3); \ |
DieterGraef | 0:f9b6112278fe | 401 | } |
DieterGraef | 0:f9b6112278fe | 402 | |
DieterGraef | 0:f9b6112278fe | 403 | #define SVC_4_1(f,t,t1,t2,t3,t4,...) \ |
DieterGraef | 0:f9b6112278fe | 404 | t f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
DieterGraef | 0:f9b6112278fe | 405 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
DieterGraef | 0:f9b6112278fe | 406 | static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
DieterGraef | 0:f9b6112278fe | 407 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 408 | return _##f(a1,a2,a3,a4); \ |
DieterGraef | 0:f9b6112278fe | 409 | } |
DieterGraef | 0:f9b6112278fe | 410 | |
DieterGraef | 0:f9b6112278fe | 411 | #define SVC_1_2(f,t,t1,rr) \ |
DieterGraef | 0:f9b6112278fe | 412 | uint64_t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 413 | _Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 414 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 415 | t ret; \ |
DieterGraef | 0:f9b6112278fe | 416 | SVC_Setup(f); \ |
DieterGraef | 0:f9b6112278fe | 417 | _##f(a1); \ |
DieterGraef | 0:f9b6112278fe | 418 | __asm("" : rr : :); \ |
DieterGraef | 0:f9b6112278fe | 419 | return ret; \ |
DieterGraef | 0:f9b6112278fe | 420 | } |
DieterGraef | 0:f9b6112278fe | 421 | |
DieterGraef | 0:f9b6112278fe | 422 | #define SVC_1_3(f,t,t1,rr) \ |
DieterGraef | 0:f9b6112278fe | 423 | t f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 424 | void f##_ (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 425 | f(a1); \ |
DieterGraef | 0:f9b6112278fe | 426 | SVC_Ret3(); \ |
DieterGraef | 0:f9b6112278fe | 427 | } \ |
DieterGraef | 0:f9b6112278fe | 428 | _Pragma("swi_number=0") __swi void _##f (t1 a1); \ |
DieterGraef | 0:f9b6112278fe | 429 | static inline t __##f (t1 a1) { \ |
DieterGraef | 0:f9b6112278fe | 430 | t ret; \ |
DieterGraef | 0:f9b6112278fe | 431 | SVC_Setup(f##_); \ |
DieterGraef | 0:f9b6112278fe | 432 | _##f(a1); \ |
DieterGraef | 0:f9b6112278fe | 433 | __asm("" : rr : :); \ |
DieterGraef | 0:f9b6112278fe | 434 | return ret; \ |
DieterGraef | 0:f9b6112278fe | 435 | } |
DieterGraef | 0:f9b6112278fe | 436 | |
DieterGraef | 0:f9b6112278fe | 437 | #define SVC_2_3(f,t,t1,t2,rr) \ |
DieterGraef | 0:f9b6112278fe | 438 | t f (t1 a1, t2 a2); \ |
DieterGraef | 0:f9b6112278fe | 439 | void f##_ (t1 a1, t2 a2) { \ |
DieterGraef | 0:f9b6112278fe | 440 | f(a1,a2); \ |
DieterGraef | 0:f9b6112278fe | 441 | SVC_Ret3(); \ |
DieterGraef | 0:f9b6112278fe | 442 | } \ |
DieterGraef | 0:f9b6112278fe | 443 | _Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \ |
DieterGraef | 0:f9b6112278fe | 444 | static inline t __##f (t1 a1, t2 a2) { \ |
DieterGraef | 0:f9b6112278fe | 445 | t ret; \ |
DieterGraef | 0:f9b6112278fe | 446 | SVC_Setup(f##_); \ |
DieterGraef | 0:f9b6112278fe | 447 | _##f(a1,a2); \ |
DieterGraef | 0:f9b6112278fe | 448 | __asm("" : rr : :); \ |
DieterGraef | 0:f9b6112278fe | 449 | return ret; \ |
DieterGraef | 0:f9b6112278fe | 450 | } |
DieterGraef | 0:f9b6112278fe | 451 | |
DieterGraef | 0:f9b6112278fe | 452 | #endif |
DieterGraef | 0:f9b6112278fe | 453 | |
DieterGraef | 0:f9b6112278fe | 454 | |
DieterGraef | 0:f9b6112278fe | 455 | // Callback structure |
DieterGraef | 0:f9b6112278fe | 456 | typedef struct { |
DieterGraef | 0:f9b6112278fe | 457 | void *fp; // Function pointer |
DieterGraef | 0:f9b6112278fe | 458 | void *arg; // Function argument |
DieterGraef | 0:f9b6112278fe | 459 | } osCallback; |
DieterGraef | 0:f9b6112278fe | 460 | |
DieterGraef | 0:f9b6112278fe | 461 | |
DieterGraef | 0:f9b6112278fe | 462 | // OS Section definitions |
DieterGraef | 0:f9b6112278fe | 463 | #ifdef OS_SECTIONS_LINK_INFO |
DieterGraef | 0:f9b6112278fe | 464 | extern const uint32_t os_section_id$$Base; |
DieterGraef | 0:f9b6112278fe | 465 | extern const uint32_t os_section_id$$Limit; |
DieterGraef | 0:f9b6112278fe | 466 | #endif |
DieterGraef | 0:f9b6112278fe | 467 | |
DieterGraef | 0:f9b6112278fe | 468 | #ifndef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 469 | // OS Stack Memory for Threads definitions |
DieterGraef | 0:f9b6112278fe | 470 | extern uint64_t os_stack_mem[]; |
DieterGraef | 0:f9b6112278fe | 471 | extern const uint32_t os_stack_sz; |
DieterGraef | 0:f9b6112278fe | 472 | #endif |
DieterGraef | 0:f9b6112278fe | 473 | |
DieterGraef | 0:f9b6112278fe | 474 | // OS Timers external resources |
DieterGraef | 0:f9b6112278fe | 475 | extern const osThreadDef_t os_thread_def_osTimerThread; |
DieterGraef | 0:f9b6112278fe | 476 | extern osThreadId osThreadId_osTimerThread; |
DieterGraef | 0:f9b6112278fe | 477 | extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ; |
DieterGraef | 0:f9b6112278fe | 478 | extern osMessageQId osMessageQId_osTimerMessageQ; |
DieterGraef | 0:f9b6112278fe | 479 | |
DieterGraef | 0:f9b6112278fe | 480 | extern U32 IRQNestLevel; /* Indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR. */ |
DieterGraef | 0:f9b6112278fe | 481 | |
DieterGraef | 0:f9b6112278fe | 482 | |
DieterGraef | 0:f9b6112278fe | 483 | // ==== Helper Functions ==== |
DieterGraef | 0:f9b6112278fe | 484 | |
DieterGraef | 0:f9b6112278fe | 485 | /// Convert timeout in millisec to system ticks |
DieterGraef | 0:f9b6112278fe | 486 | static uint32_t rt_ms2tick (uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 487 | uint32_t tick; |
DieterGraef | 0:f9b6112278fe | 488 | |
DieterGraef | 0:f9b6112278fe | 489 | if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout |
DieterGraef | 0:f9b6112278fe | 490 | if (millisec > 4000000) return 0xFFFE; // Max ticks supported |
DieterGraef | 0:f9b6112278fe | 491 | |
DieterGraef | 0:f9b6112278fe | 492 | tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate; |
DieterGraef | 0:f9b6112278fe | 493 | if (tick > 0xFFFE) return 0xFFFE; |
DieterGraef | 0:f9b6112278fe | 494 | |
DieterGraef | 0:f9b6112278fe | 495 | return tick; |
DieterGraef | 0:f9b6112278fe | 496 | } |
DieterGraef | 0:f9b6112278fe | 497 | |
DieterGraef | 0:f9b6112278fe | 498 | /// Convert Thread ID to TCB pointer |
DieterGraef | 0:f9b6112278fe | 499 | static P_TCB rt_tid2ptcb (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 500 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 501 | |
DieterGraef | 0:f9b6112278fe | 502 | if (thread_id == NULL) return NULL; |
DieterGraef | 0:f9b6112278fe | 503 | |
DieterGraef | 0:f9b6112278fe | 504 | if ((uint32_t)thread_id & 3) return NULL; |
DieterGraef | 0:f9b6112278fe | 505 | |
DieterGraef | 0:f9b6112278fe | 506 | #ifdef OS_SECTIONS_LINK_INFO |
DieterGraef | 0:f9b6112278fe | 507 | if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) { |
DieterGraef | 0:f9b6112278fe | 508 | if (thread_id < (osThreadId)os_section_id$$Base) return NULL; |
DieterGraef | 0:f9b6112278fe | 509 | if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL; |
DieterGraef | 0:f9b6112278fe | 510 | } |
DieterGraef | 0:f9b6112278fe | 511 | #endif |
DieterGraef | 0:f9b6112278fe | 512 | |
DieterGraef | 0:f9b6112278fe | 513 | ptcb = thread_id; |
DieterGraef | 0:f9b6112278fe | 514 | |
DieterGraef | 0:f9b6112278fe | 515 | if (ptcb->cb_type != TCB) return NULL; |
DieterGraef | 0:f9b6112278fe | 516 | |
DieterGraef | 0:f9b6112278fe | 517 | return ptcb; |
DieterGraef | 0:f9b6112278fe | 518 | } |
DieterGraef | 0:f9b6112278fe | 519 | |
DieterGraef | 0:f9b6112278fe | 520 | /// Convert ID pointer to Object pointer |
DieterGraef | 0:f9b6112278fe | 521 | static void *rt_id2obj (void *id) { |
DieterGraef | 0:f9b6112278fe | 522 | |
DieterGraef | 0:f9b6112278fe | 523 | if ((uint32_t)id & 3) return NULL; |
DieterGraef | 0:f9b6112278fe | 524 | |
DieterGraef | 0:f9b6112278fe | 525 | #ifdef OS_SECTIONS_LINK_INFO |
DieterGraef | 0:f9b6112278fe | 526 | if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) { |
DieterGraef | 0:f9b6112278fe | 527 | if (id < (void *)os_section_id$$Base) return NULL; |
DieterGraef | 0:f9b6112278fe | 528 | if (id >= (void *)os_section_id$$Limit) return NULL; |
DieterGraef | 0:f9b6112278fe | 529 | } |
DieterGraef | 0:f9b6112278fe | 530 | #endif |
DieterGraef | 0:f9b6112278fe | 531 | |
DieterGraef | 0:f9b6112278fe | 532 | return id; |
DieterGraef | 0:f9b6112278fe | 533 | } |
DieterGraef | 0:f9b6112278fe | 534 | |
DieterGraef | 0:f9b6112278fe | 535 | // === Helper functions for system call interface === |
DieterGraef | 0:f9b6112278fe | 536 | |
DieterGraef | 0:f9b6112278fe | 537 | static __inline char __get_mode(void) { |
DieterGraef | 0:f9b6112278fe | 538 | return (char)(__get_CPSR() & 0x1f); |
DieterGraef | 0:f9b6112278fe | 539 | } |
DieterGraef | 0:f9b6112278fe | 540 | |
DieterGraef | 0:f9b6112278fe | 541 | static __inline char __exceptional_mode(void) { |
DieterGraef | 0:f9b6112278fe | 542 | switch(__get_mode()) { |
DieterGraef | 0:f9b6112278fe | 543 | case MODE_USR: |
DieterGraef | 0:f9b6112278fe | 544 | case MODE_SYS: |
DieterGraef | 0:f9b6112278fe | 545 | return 0; |
DieterGraef | 0:f9b6112278fe | 546 | case MODE_SVC: |
DieterGraef | 0:f9b6112278fe | 547 | if (IRQNestLevel == 0) |
DieterGraef | 0:f9b6112278fe | 548 | return 0; /* handling a regular service call */ |
DieterGraef | 0:f9b6112278fe | 549 | else |
DieterGraef | 0:f9b6112278fe | 550 | return 1; /* handling an ISR in SVC mode */ |
DieterGraef | 0:f9b6112278fe | 551 | default: |
DieterGraef | 0:f9b6112278fe | 552 | return 1; |
DieterGraef | 0:f9b6112278fe | 553 | } |
DieterGraef | 0:f9b6112278fe | 554 | } |
DieterGraef | 0:f9b6112278fe | 555 | |
DieterGraef | 0:f9b6112278fe | 556 | // ==== Kernel Control ==== |
DieterGraef | 0:f9b6112278fe | 557 | |
DieterGraef | 0:f9b6112278fe | 558 | uint8_t os_initialized; // Kernel Initialized flag |
DieterGraef | 0:f9b6112278fe | 559 | uint8_t os_running; // Kernel Running flag |
DieterGraef | 0:f9b6112278fe | 560 | |
DieterGraef | 0:f9b6112278fe | 561 | // Kernel Control Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 562 | SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 563 | SVC_0_1(svcKernelStart, osStatus, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 564 | SVC_0_1(svcKernelRunning, int32_t, RET_int32_t) |
DieterGraef | 0:f9b6112278fe | 565 | SVC_0_1(svcKernelSysTick, uint32_t, RET_uint32_t) |
DieterGraef | 0:f9b6112278fe | 566 | |
DieterGraef | 0:f9b6112278fe | 567 | static void sysThreadError (osStatus status); |
DieterGraef | 0:f9b6112278fe | 568 | osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument); |
DieterGraef | 0:f9b6112278fe | 569 | osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id); |
DieterGraef | 0:f9b6112278fe | 570 | |
DieterGraef | 0:f9b6112278fe | 571 | // Kernel Control Service Calls |
DieterGraef | 0:f9b6112278fe | 572 | |
DieterGraef | 0:f9b6112278fe | 573 | /// Initialize the RTOS Kernel for creating objects |
DieterGraef | 0:f9b6112278fe | 574 | osStatus svcKernelInitialize (void) { |
DieterGraef | 0:f9b6112278fe | 575 | #ifdef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 576 | if (!os_initialized) { |
DieterGraef | 0:f9b6112278fe | 577 | rt_sys_init(); // RTX System Initialization |
DieterGraef | 0:f9b6112278fe | 578 | } |
DieterGraef | 0:f9b6112278fe | 579 | #else |
DieterGraef | 0:f9b6112278fe | 580 | int ret; |
DieterGraef | 0:f9b6112278fe | 581 | |
DieterGraef | 0:f9b6112278fe | 582 | if (!os_initialized) { |
DieterGraef | 0:f9b6112278fe | 583 | |
DieterGraef | 0:f9b6112278fe | 584 | // Init Thread Stack Memory (must be 8-byte aligned) |
DieterGraef | 0:f9b6112278fe | 585 | if ((uint32_t)os_stack_mem & 7) return osErrorNoMemory; |
DieterGraef | 0:f9b6112278fe | 586 | ret = rt_init_mem(os_stack_mem, os_stack_sz); |
DieterGraef | 0:f9b6112278fe | 587 | if (ret != 0) return osErrorNoMemory; |
DieterGraef | 0:f9b6112278fe | 588 | |
DieterGraef | 0:f9b6112278fe | 589 | rt_sys_init(); // RTX System Initialization |
DieterGraef | 0:f9b6112278fe | 590 | } |
DieterGraef | 0:f9b6112278fe | 591 | #endif |
DieterGraef | 0:f9b6112278fe | 592 | |
DieterGraef | 0:f9b6112278fe | 593 | os_tsk.run->prio = 255; // Highest priority |
DieterGraef | 0:f9b6112278fe | 594 | |
DieterGraef | 0:f9b6112278fe | 595 | if (!os_initialized) { |
DieterGraef | 0:f9b6112278fe | 596 | // Create OS Timers resources (Message Queue & Thread) |
DieterGraef | 0:f9b6112278fe | 597 | osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL); |
DieterGraef | 0:f9b6112278fe | 598 | osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL); |
DieterGraef | 0:f9b6112278fe | 599 | } |
DieterGraef | 0:f9b6112278fe | 600 | |
DieterGraef | 0:f9b6112278fe | 601 | sysThreadError(osOK); |
DieterGraef | 0:f9b6112278fe | 602 | |
DieterGraef | 0:f9b6112278fe | 603 | os_initialized = 1; |
DieterGraef | 0:f9b6112278fe | 604 | os_running = 0; |
DieterGraef | 0:f9b6112278fe | 605 | |
DieterGraef | 0:f9b6112278fe | 606 | return osOK; |
DieterGraef | 0:f9b6112278fe | 607 | } |
DieterGraef | 0:f9b6112278fe | 608 | |
DieterGraef | 0:f9b6112278fe | 609 | /// Start the RTOS Kernel |
DieterGraef | 0:f9b6112278fe | 610 | osStatus svcKernelStart (void) { |
DieterGraef | 0:f9b6112278fe | 611 | |
DieterGraef | 0:f9b6112278fe | 612 | if (os_running) return osOK; |
DieterGraef | 0:f9b6112278fe | 613 | |
DieterGraef | 0:f9b6112278fe | 614 | rt_tsk_prio(0, os_tsk.run->prio_base); // Restore priority |
DieterGraef | 0:f9b6112278fe | 615 | if (os_tsk.run->task_id == 0xFF) { // Idle Thread |
DieterGraef | 0:f9b6112278fe | 616 | __set_PSP(os_tsk.run->tsk_stack + 8*4); // Setup PSP |
DieterGraef | 0:f9b6112278fe | 617 | } |
DieterGraef | 0:f9b6112278fe | 618 | os_tsk.run = NULL; // Force context switch |
DieterGraef | 0:f9b6112278fe | 619 | |
DieterGraef | 0:f9b6112278fe | 620 | rt_sys_start(); |
DieterGraef | 0:f9b6112278fe | 621 | |
DieterGraef | 0:f9b6112278fe | 622 | os_running = 1; |
DieterGraef | 0:f9b6112278fe | 623 | |
DieterGraef | 0:f9b6112278fe | 624 | return osOK; |
DieterGraef | 0:f9b6112278fe | 625 | } |
DieterGraef | 0:f9b6112278fe | 626 | |
DieterGraef | 0:f9b6112278fe | 627 | /// Check if the RTOS kernel is already started |
DieterGraef | 0:f9b6112278fe | 628 | int32_t svcKernelRunning(void) { |
DieterGraef | 0:f9b6112278fe | 629 | return os_running; |
DieterGraef | 0:f9b6112278fe | 630 | } |
DieterGraef | 0:f9b6112278fe | 631 | |
DieterGraef | 0:f9b6112278fe | 632 | /// Get the RTOS kernel system timer counter |
DieterGraef | 0:f9b6112278fe | 633 | uint32_t svcKernelSysTick (void) { |
DieterGraef | 0:f9b6112278fe | 634 | uint32_t tick, tick0; |
DieterGraef | 0:f9b6112278fe | 635 | |
DieterGraef | 0:f9b6112278fe | 636 | tick = os_tick_val(); |
DieterGraef | 0:f9b6112278fe | 637 | if (os_tick_ovf()) { |
DieterGraef | 0:f9b6112278fe | 638 | tick0 = os_tick_val(); |
DieterGraef | 0:f9b6112278fe | 639 | if (tick0 < tick) tick = tick0; |
DieterGraef | 0:f9b6112278fe | 640 | tick += (os_trv + 1) * (os_time + 1); |
DieterGraef | 0:f9b6112278fe | 641 | } else { |
DieterGraef | 0:f9b6112278fe | 642 | tick += (os_trv + 1) * os_time; |
DieterGraef | 0:f9b6112278fe | 643 | } |
DieterGraef | 0:f9b6112278fe | 644 | |
DieterGraef | 0:f9b6112278fe | 645 | return tick; |
DieterGraef | 0:f9b6112278fe | 646 | } |
DieterGraef | 0:f9b6112278fe | 647 | |
DieterGraef | 0:f9b6112278fe | 648 | // Kernel Control Public API |
DieterGraef | 0:f9b6112278fe | 649 | |
DieterGraef | 0:f9b6112278fe | 650 | /// Initialize the RTOS Kernel for creating objects |
DieterGraef | 0:f9b6112278fe | 651 | osStatus osKernelInitialize (void) { |
DieterGraef | 0:f9b6112278fe | 652 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 653 | if (__get_mode() != MODE_USR) { |
DieterGraef | 0:f9b6112278fe | 654 | return svcKernelInitialize(); |
DieterGraef | 0:f9b6112278fe | 655 | } else { |
DieterGraef | 0:f9b6112278fe | 656 | return __svcKernelInitialize(); |
DieterGraef | 0:f9b6112278fe | 657 | } |
DieterGraef | 0:f9b6112278fe | 658 | } |
DieterGraef | 0:f9b6112278fe | 659 | |
DieterGraef | 0:f9b6112278fe | 660 | /// Start the RTOS Kernel |
DieterGraef | 0:f9b6112278fe | 661 | osStatus osKernelStart (void) { |
DieterGraef | 0:f9b6112278fe | 662 | char mode = __get_mode(); |
DieterGraef | 0:f9b6112278fe | 663 | |
DieterGraef | 0:f9b6112278fe | 664 | switch(mode) { |
DieterGraef | 0:f9b6112278fe | 665 | case MODE_USR: |
DieterGraef | 0:f9b6112278fe | 666 | if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested from Unprivileged |
DieterGraef | 0:f9b6112278fe | 667 | break; |
DieterGraef | 0:f9b6112278fe | 668 | case MODE_SYS: |
DieterGraef | 0:f9b6112278fe | 669 | if (!(os_flags & 1)) { |
DieterGraef | 0:f9b6112278fe | 670 | __set_CPS_USR(); |
DieterGraef | 0:f9b6112278fe | 671 | } |
DieterGraef | 0:f9b6112278fe | 672 | break; |
DieterGraef | 0:f9b6112278fe | 673 | default: |
DieterGraef | 0:f9b6112278fe | 674 | return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 675 | } |
DieterGraef | 0:f9b6112278fe | 676 | return __svcKernelStart(); |
DieterGraef | 0:f9b6112278fe | 677 | } |
DieterGraef | 0:f9b6112278fe | 678 | |
DieterGraef | 0:f9b6112278fe | 679 | /// Check if the RTOS kernel is already started |
DieterGraef | 0:f9b6112278fe | 680 | int32_t osKernelRunning(void) { |
DieterGraef | 0:f9b6112278fe | 681 | if(__get_mode() != MODE_USR) { |
DieterGraef | 0:f9b6112278fe | 682 | return os_running; |
DieterGraef | 0:f9b6112278fe | 683 | } else { |
DieterGraef | 0:f9b6112278fe | 684 | return __svcKernelRunning(); |
DieterGraef | 0:f9b6112278fe | 685 | } |
DieterGraef | 0:f9b6112278fe | 686 | } |
DieterGraef | 0:f9b6112278fe | 687 | |
DieterGraef | 0:f9b6112278fe | 688 | /// Get the RTOS kernel system timer counter |
DieterGraef | 0:f9b6112278fe | 689 | uint32_t osKernelSysTick (void) { |
DieterGraef | 0:f9b6112278fe | 690 | if (__exceptional_mode()) return 0; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 691 | return __svcKernelSysTick(); |
DieterGraef | 0:f9b6112278fe | 692 | } |
DieterGraef | 0:f9b6112278fe | 693 | |
DieterGraef | 0:f9b6112278fe | 694 | |
DieterGraef | 0:f9b6112278fe | 695 | // ==== Thread Management ==== |
DieterGraef | 0:f9b6112278fe | 696 | |
DieterGraef | 0:f9b6112278fe | 697 | /// Set Thread Error (for Create functions which return IDs) |
DieterGraef | 0:f9b6112278fe | 698 | static void sysThreadError (osStatus status) { |
DieterGraef | 0:f9b6112278fe | 699 | // To Do |
DieterGraef | 0:f9b6112278fe | 700 | } |
DieterGraef | 0:f9b6112278fe | 701 | |
DieterGraef | 0:f9b6112278fe | 702 | __NO_RETURN void osThreadExit (void); |
DieterGraef | 0:f9b6112278fe | 703 | |
DieterGraef | 0:f9b6112278fe | 704 | // Thread Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 705 | SVC_2_1(svcThreadCreate, osThreadId, const osThreadDef_t *, void *, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 706 | SVC_0_1(svcThreadGetId, osThreadId, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 707 | SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 708 | SVC_0_1(svcThreadYield, osStatus, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 709 | SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 710 | SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority) |
DieterGraef | 0:f9b6112278fe | 711 | |
DieterGraef | 0:f9b6112278fe | 712 | // Thread Service Calls |
DieterGraef | 0:f9b6112278fe | 713 | |
DieterGraef | 0:f9b6112278fe | 714 | /// Create a thread and add it to Active Threads and set it to state READY |
DieterGraef | 0:f9b6112278fe | 715 | osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) { |
DieterGraef | 0:f9b6112278fe | 716 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 717 | OS_TID tsk; |
DieterGraef | 0:f9b6112278fe | 718 | void *stk; |
DieterGraef | 0:f9b6112278fe | 719 | |
DieterGraef | 0:f9b6112278fe | 720 | if ((thread_def == NULL) || |
DieterGraef | 0:f9b6112278fe | 721 | (thread_def->pthread == NULL) || |
DieterGraef | 0:f9b6112278fe | 722 | (thread_def->tpriority < osPriorityIdle) || |
DieterGraef | 0:f9b6112278fe | 723 | (thread_def->tpriority > osPriorityRealtime)) { |
DieterGraef | 0:f9b6112278fe | 724 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 725 | return NULL; |
DieterGraef | 0:f9b6112278fe | 726 | } |
DieterGraef | 0:f9b6112278fe | 727 | |
DieterGraef | 0:f9b6112278fe | 728 | #ifdef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 729 | if (thread_def->stacksize != 0) { // Custom stack size |
DieterGraef | 0:f9b6112278fe | 730 | stk = (void *)thread_def->stack_pointer; |
DieterGraef | 0:f9b6112278fe | 731 | } else { // Default stack size |
DieterGraef | 0:f9b6112278fe | 732 | stk = NULL; |
DieterGraef | 0:f9b6112278fe | 733 | } |
DieterGraef | 0:f9b6112278fe | 734 | #else |
DieterGraef | 0:f9b6112278fe | 735 | if (thread_def->stacksize != 0) { // Custom stack size |
DieterGraef | 0:f9b6112278fe | 736 | stk = rt_alloc_mem( // Allocate stack |
DieterGraef | 0:f9b6112278fe | 737 | os_stack_mem, |
DieterGraef | 0:f9b6112278fe | 738 | thread_def->stacksize |
DieterGraef | 0:f9b6112278fe | 739 | ); |
DieterGraef | 0:f9b6112278fe | 740 | if (stk == NULL) { |
DieterGraef | 0:f9b6112278fe | 741 | sysThreadError(osErrorNoMemory); // Out of memory |
DieterGraef | 0:f9b6112278fe | 742 | return NULL; |
DieterGraef | 0:f9b6112278fe | 743 | } |
DieterGraef | 0:f9b6112278fe | 744 | } else { // Default stack size |
DieterGraef | 0:f9b6112278fe | 745 | stk = NULL; |
DieterGraef | 0:f9b6112278fe | 746 | } |
DieterGraef | 0:f9b6112278fe | 747 | #endif |
DieterGraef | 0:f9b6112278fe | 748 | |
DieterGraef | 0:f9b6112278fe | 749 | tsk = rt_tsk_create( // Create task |
DieterGraef | 0:f9b6112278fe | 750 | (FUNCP)thread_def->pthread, // Task function pointer |
DieterGraef | 0:f9b6112278fe | 751 | (thread_def->tpriority-osPriorityIdle+1) | // Task priority |
DieterGraef | 0:f9b6112278fe | 752 | (thread_def->stacksize << 8), // Task stack size in bytes |
DieterGraef | 0:f9b6112278fe | 753 | stk, // Pointer to task's stack |
DieterGraef | 0:f9b6112278fe | 754 | argument // Argument to the task |
DieterGraef | 0:f9b6112278fe | 755 | ); |
DieterGraef | 0:f9b6112278fe | 756 | |
DieterGraef | 0:f9b6112278fe | 757 | if (tsk == 0) { // Invalid task ID |
DieterGraef | 0:f9b6112278fe | 758 | #ifndef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 759 | if (stk != NULL) { |
DieterGraef | 0:f9b6112278fe | 760 | rt_free_mem(os_stack_mem, stk); // Free allocated stack |
DieterGraef | 0:f9b6112278fe | 761 | } |
DieterGraef | 0:f9b6112278fe | 762 | #endif |
DieterGraef | 0:f9b6112278fe | 763 | sysThreadError(osErrorNoMemory); // Create task failed (Out of memory) |
DieterGraef | 0:f9b6112278fe | 764 | return NULL; |
DieterGraef | 0:f9b6112278fe | 765 | } |
DieterGraef | 0:f9b6112278fe | 766 | |
DieterGraef | 0:f9b6112278fe | 767 | ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer |
DieterGraef | 0:f9b6112278fe | 768 | |
DieterGraef | 0:f9b6112278fe | 769 | *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit; |
DieterGraef | 0:f9b6112278fe | 770 | |
DieterGraef | 0:f9b6112278fe | 771 | return ptcb; |
DieterGraef | 0:f9b6112278fe | 772 | } |
DieterGraef | 0:f9b6112278fe | 773 | |
DieterGraef | 0:f9b6112278fe | 774 | /// Return the thread ID of the current running thread |
DieterGraef | 0:f9b6112278fe | 775 | osThreadId svcThreadGetId (void) { |
DieterGraef | 0:f9b6112278fe | 776 | OS_TID tsk; |
DieterGraef | 0:f9b6112278fe | 777 | |
DieterGraef | 0:f9b6112278fe | 778 | tsk = rt_tsk_self(); |
DieterGraef | 0:f9b6112278fe | 779 | if (tsk == 0) return NULL; |
DieterGraef | 0:f9b6112278fe | 780 | return (P_TCB)os_active_TCB[tsk - 1]; |
DieterGraef | 0:f9b6112278fe | 781 | } |
DieterGraef | 0:f9b6112278fe | 782 | |
DieterGraef | 0:f9b6112278fe | 783 | /// Terminate execution of a thread and remove it from ActiveThreads |
DieterGraef | 0:f9b6112278fe | 784 | osStatus svcThreadTerminate (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 785 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 786 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 787 | #ifndef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 788 | void *stk; |
DieterGraef | 0:f9b6112278fe | 789 | #endif |
DieterGraef | 0:f9b6112278fe | 790 | |
DieterGraef | 0:f9b6112278fe | 791 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 792 | if (ptcb == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 793 | |
DieterGraef | 0:f9b6112278fe | 794 | #ifndef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 795 | stk = ptcb->priv_stack ? ptcb->stack : NULL; // Private stack |
DieterGraef | 0:f9b6112278fe | 796 | #endif |
DieterGraef | 0:f9b6112278fe | 797 | |
DieterGraef | 0:f9b6112278fe | 798 | res = rt_tsk_delete(ptcb->task_id); // Delete task |
DieterGraef | 0:f9b6112278fe | 799 | |
DieterGraef | 0:f9b6112278fe | 800 | if (res == OS_R_NOK) return osErrorResource; // Delete task failed |
DieterGraef | 0:f9b6112278fe | 801 | |
DieterGraef | 0:f9b6112278fe | 802 | #ifndef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 803 | if (stk != NULL) { |
DieterGraef | 0:f9b6112278fe | 804 | rt_free_mem(os_stack_mem, stk); // Free private stack |
DieterGraef | 0:f9b6112278fe | 805 | } |
DieterGraef | 0:f9b6112278fe | 806 | #endif |
DieterGraef | 0:f9b6112278fe | 807 | |
DieterGraef | 0:f9b6112278fe | 808 | return osOK; |
DieterGraef | 0:f9b6112278fe | 809 | } |
DieterGraef | 0:f9b6112278fe | 810 | |
DieterGraef | 0:f9b6112278fe | 811 | /// Pass control to next thread that is in state READY |
DieterGraef | 0:f9b6112278fe | 812 | osStatus svcThreadYield (void) { |
DieterGraef | 0:f9b6112278fe | 813 | rt_tsk_pass(); // Pass control to next task |
DieterGraef | 0:f9b6112278fe | 814 | return osOK; |
DieterGraef | 0:f9b6112278fe | 815 | } |
DieterGraef | 0:f9b6112278fe | 816 | |
DieterGraef | 0:f9b6112278fe | 817 | /// Change priority of an active thread |
DieterGraef | 0:f9b6112278fe | 818 | osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) { |
DieterGraef | 0:f9b6112278fe | 819 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 820 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 821 | |
DieterGraef | 0:f9b6112278fe | 822 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 823 | if (ptcb == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 824 | |
DieterGraef | 0:f9b6112278fe | 825 | if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) { |
DieterGraef | 0:f9b6112278fe | 826 | return osErrorValue; |
DieterGraef | 0:f9b6112278fe | 827 | } |
DieterGraef | 0:f9b6112278fe | 828 | |
DieterGraef | 0:f9b6112278fe | 829 | res = rt_tsk_prio( // Change task priority |
DieterGraef | 0:f9b6112278fe | 830 | ptcb->task_id, // Task ID |
DieterGraef | 0:f9b6112278fe | 831 | priority - osPriorityIdle + 1 // New task priority |
DieterGraef | 0:f9b6112278fe | 832 | ); |
DieterGraef | 0:f9b6112278fe | 833 | |
DieterGraef | 0:f9b6112278fe | 834 | if (res == OS_R_NOK) return osErrorResource; // Change task priority failed |
DieterGraef | 0:f9b6112278fe | 835 | |
DieterGraef | 0:f9b6112278fe | 836 | return osOK; |
DieterGraef | 0:f9b6112278fe | 837 | } |
DieterGraef | 0:f9b6112278fe | 838 | |
DieterGraef | 0:f9b6112278fe | 839 | /// Get current priority of an active thread |
DieterGraef | 0:f9b6112278fe | 840 | osPriority svcThreadGetPriority (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 841 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 842 | |
DieterGraef | 0:f9b6112278fe | 843 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 844 | if (ptcb == NULL) return osPriorityError; |
DieterGraef | 0:f9b6112278fe | 845 | |
DieterGraef | 0:f9b6112278fe | 846 | return (osPriority)(ptcb->prio - 1 + osPriorityIdle); |
DieterGraef | 0:f9b6112278fe | 847 | } |
DieterGraef | 0:f9b6112278fe | 848 | |
DieterGraef | 0:f9b6112278fe | 849 | |
DieterGraef | 0:f9b6112278fe | 850 | // Thread Public API |
DieterGraef | 0:f9b6112278fe | 851 | |
DieterGraef | 0:f9b6112278fe | 852 | /// Create a thread and add it to Active Threads and set it to state READY |
DieterGraef | 0:f9b6112278fe | 853 | osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) { |
DieterGraef | 0:f9b6112278fe | 854 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 855 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 856 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 857 | return svcThreadCreate(thread_def, argument); |
DieterGraef | 0:f9b6112278fe | 858 | } else { |
DieterGraef | 0:f9b6112278fe | 859 | return __svcThreadCreate(thread_def, argument); |
DieterGraef | 0:f9b6112278fe | 860 | } |
DieterGraef | 0:f9b6112278fe | 861 | } |
DieterGraef | 0:f9b6112278fe | 862 | |
DieterGraef | 0:f9b6112278fe | 863 | /// Return the thread ID of the current running thread |
DieterGraef | 0:f9b6112278fe | 864 | osThreadId osThreadGetId (void) { |
DieterGraef | 0:f9b6112278fe | 865 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 866 | return __svcThreadGetId(); |
DieterGraef | 0:f9b6112278fe | 867 | } |
DieterGraef | 0:f9b6112278fe | 868 | |
DieterGraef | 0:f9b6112278fe | 869 | /// Terminate execution of a thread and remove it from ActiveThreads |
DieterGraef | 0:f9b6112278fe | 870 | osStatus osThreadTerminate (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 871 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 872 | return __svcThreadTerminate(thread_id); |
DieterGraef | 0:f9b6112278fe | 873 | } |
DieterGraef | 0:f9b6112278fe | 874 | |
DieterGraef | 0:f9b6112278fe | 875 | /// Pass control to next thread that is in state READY |
DieterGraef | 0:f9b6112278fe | 876 | osStatus osThreadYield (void) { |
DieterGraef | 0:f9b6112278fe | 877 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 878 | return __svcThreadYield(); |
DieterGraef | 0:f9b6112278fe | 879 | } |
DieterGraef | 0:f9b6112278fe | 880 | |
DieterGraef | 0:f9b6112278fe | 881 | /// Change priority of an active thread |
DieterGraef | 0:f9b6112278fe | 882 | osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) { |
DieterGraef | 0:f9b6112278fe | 883 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 884 | return __svcThreadSetPriority(thread_id, priority); |
DieterGraef | 0:f9b6112278fe | 885 | } |
DieterGraef | 0:f9b6112278fe | 886 | |
DieterGraef | 0:f9b6112278fe | 887 | /// Get current priority of an active thread |
DieterGraef | 0:f9b6112278fe | 888 | osPriority osThreadGetPriority (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 889 | if (__exceptional_mode()) return osPriorityError;// Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 890 | return __svcThreadGetPriority(thread_id); |
DieterGraef | 0:f9b6112278fe | 891 | } |
DieterGraef | 0:f9b6112278fe | 892 | |
DieterGraef | 0:f9b6112278fe | 893 | /// INTERNAL - Not Public |
DieterGraef | 0:f9b6112278fe | 894 | /// Auto Terminate Thread on exit (used implicitly when thread exists) |
DieterGraef | 0:f9b6112278fe | 895 | __NO_RETURN void osThreadExit (void) { |
DieterGraef | 0:f9b6112278fe | 896 | __svcThreadTerminate(__svcThreadGetId()); |
DieterGraef | 0:f9b6112278fe | 897 | for (;;); // Should never come here |
DieterGraef | 0:f9b6112278fe | 898 | } |
DieterGraef | 0:f9b6112278fe | 899 | |
DieterGraef | 0:f9b6112278fe | 900 | #ifdef __MBED_CMSIS_RTOS_CA9 |
DieterGraef | 0:f9b6112278fe | 901 | /// Get current thread state |
DieterGraef | 0:f9b6112278fe | 902 | uint8_t osThreadGetState (osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 903 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 904 | |
DieterGraef | 0:f9b6112278fe | 905 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 906 | |
DieterGraef | 0:f9b6112278fe | 907 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 908 | if (ptcb == NULL) return INACTIVE; |
DieterGraef | 0:f9b6112278fe | 909 | |
DieterGraef | 0:f9b6112278fe | 910 | return ptcb->state; |
DieterGraef | 0:f9b6112278fe | 911 | } |
DieterGraef | 0:f9b6112278fe | 912 | #endif |
DieterGraef | 0:f9b6112278fe | 913 | |
DieterGraef | 0:f9b6112278fe | 914 | // ==== Generic Wait Functions ==== |
DieterGraef | 0:f9b6112278fe | 915 | |
DieterGraef | 0:f9b6112278fe | 916 | // Generic Wait Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 917 | SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 918 | #if osFeature_Wait != 0 |
DieterGraef | 0:f9b6112278fe | 919 | SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent) |
DieterGraef | 0:f9b6112278fe | 920 | #endif |
DieterGraef | 0:f9b6112278fe | 921 | |
DieterGraef | 0:f9b6112278fe | 922 | // Generic Wait Service Calls |
DieterGraef | 0:f9b6112278fe | 923 | |
DieterGraef | 0:f9b6112278fe | 924 | /// Wait for Timeout (Time Delay) |
DieterGraef | 0:f9b6112278fe | 925 | osStatus svcDelay (uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 926 | if (millisec == 0) return osOK; |
DieterGraef | 0:f9b6112278fe | 927 | rt_dly_wait(rt_ms2tick(millisec)); |
DieterGraef | 0:f9b6112278fe | 928 | return osEventTimeout; |
DieterGraef | 0:f9b6112278fe | 929 | } |
DieterGraef | 0:f9b6112278fe | 930 | |
DieterGraef | 0:f9b6112278fe | 931 | /// Wait for Signal, Message, Mail, or Timeout |
DieterGraef | 0:f9b6112278fe | 932 | #if osFeature_Wait != 0 |
DieterGraef | 0:f9b6112278fe | 933 | os_InRegs osEvent_type svcWait (uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 934 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 935 | |
DieterGraef | 0:f9b6112278fe | 936 | if (millisec == 0) { |
DieterGraef | 0:f9b6112278fe | 937 | ret.status = osOK; |
DieterGraef | 0:f9b6112278fe | 938 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 939 | osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 940 | return; |
DieterGraef | 0:f9b6112278fe | 941 | #else |
DieterGraef | 0:f9b6112278fe | 942 | return osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 943 | #endif |
DieterGraef | 0:f9b6112278fe | 944 | } |
DieterGraef | 0:f9b6112278fe | 945 | |
DieterGraef | 0:f9b6112278fe | 946 | /* To Do: osEventSignal, osEventMessage, osEventMail */ |
DieterGraef | 0:f9b6112278fe | 947 | rt_dly_wait(rt_ms2tick(millisec)); |
DieterGraef | 0:f9b6112278fe | 948 | ret.status = osEventTimeout; |
DieterGraef | 0:f9b6112278fe | 949 | |
DieterGraef | 0:f9b6112278fe | 950 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 951 | osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 952 | return; |
DieterGraef | 0:f9b6112278fe | 953 | #else |
DieterGraef | 0:f9b6112278fe | 954 | return osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 955 | #endif |
DieterGraef | 0:f9b6112278fe | 956 | } |
DieterGraef | 0:f9b6112278fe | 957 | #endif |
DieterGraef | 0:f9b6112278fe | 958 | |
DieterGraef | 0:f9b6112278fe | 959 | |
DieterGraef | 0:f9b6112278fe | 960 | // Generic Wait API |
DieterGraef | 0:f9b6112278fe | 961 | |
DieterGraef | 0:f9b6112278fe | 962 | /// Wait for Timeout (Time Delay) |
DieterGraef | 0:f9b6112278fe | 963 | osStatus osDelay (uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 964 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 965 | return __svcDelay(millisec); |
DieterGraef | 0:f9b6112278fe | 966 | } |
DieterGraef | 0:f9b6112278fe | 967 | |
DieterGraef | 0:f9b6112278fe | 968 | /// Wait for Signal, Message, Mail, or Timeout |
DieterGraef | 0:f9b6112278fe | 969 | os_InRegs osEvent osWait (uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 970 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 971 | |
DieterGraef | 0:f9b6112278fe | 972 | #if osFeature_Wait == 0 |
DieterGraef | 0:f9b6112278fe | 973 | ret.status = osErrorOS; |
DieterGraef | 0:f9b6112278fe | 974 | return ret; |
DieterGraef | 0:f9b6112278fe | 975 | #else |
DieterGraef | 0:f9b6112278fe | 976 | if (__exceptional_mode()) { // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 977 | ret.status = osErrorISR; |
DieterGraef | 0:f9b6112278fe | 978 | return ret; |
DieterGraef | 0:f9b6112278fe | 979 | } |
DieterGraef | 0:f9b6112278fe | 980 | return __svcWait(millisec); |
DieterGraef | 0:f9b6112278fe | 981 | #endif |
DieterGraef | 0:f9b6112278fe | 982 | } |
DieterGraef | 0:f9b6112278fe | 983 | |
DieterGraef | 0:f9b6112278fe | 984 | |
DieterGraef | 0:f9b6112278fe | 985 | // ==== Timer Management ==== |
DieterGraef | 0:f9b6112278fe | 986 | |
DieterGraef | 0:f9b6112278fe | 987 | // Timer definitions |
DieterGraef | 0:f9b6112278fe | 988 | #define osTimerInvalid 0 |
DieterGraef | 0:f9b6112278fe | 989 | #define osTimerStopped 1 |
DieterGraef | 0:f9b6112278fe | 990 | #define osTimerRunning 2 |
DieterGraef | 0:f9b6112278fe | 991 | |
DieterGraef | 0:f9b6112278fe | 992 | // Timer structures |
DieterGraef | 0:f9b6112278fe | 993 | |
DieterGraef | 0:f9b6112278fe | 994 | typedef struct os_timer_cb_ { // Timer Control Block |
DieterGraef | 0:f9b6112278fe | 995 | struct os_timer_cb_ *next; // Pointer to next active Timer |
DieterGraef | 0:f9b6112278fe | 996 | uint8_t state; // Timer State |
DieterGraef | 0:f9b6112278fe | 997 | uint8_t type; // Timer Type (Periodic/One-shot) |
DieterGraef | 0:f9b6112278fe | 998 | uint16_t reserved; // Reserved |
DieterGraef | 0:f9b6112278fe | 999 | uint16_t tcnt; // Timer Delay Count |
DieterGraef | 0:f9b6112278fe | 1000 | uint16_t icnt; // Timer Initial Count |
DieterGraef | 0:f9b6112278fe | 1001 | void *arg; // Timer Function Argument |
DieterGraef | 0:f9b6112278fe | 1002 | const osTimerDef_t *timer; // Pointer to Timer definition |
DieterGraef | 0:f9b6112278fe | 1003 | } os_timer_cb; |
DieterGraef | 0:f9b6112278fe | 1004 | |
DieterGraef | 0:f9b6112278fe | 1005 | // Timer variables |
DieterGraef | 0:f9b6112278fe | 1006 | os_timer_cb *os_timer_head; // Pointer to first active Timer |
DieterGraef | 0:f9b6112278fe | 1007 | |
DieterGraef | 0:f9b6112278fe | 1008 | |
DieterGraef | 0:f9b6112278fe | 1009 | // Timer Helper Functions |
DieterGraef | 0:f9b6112278fe | 1010 | |
DieterGraef | 0:f9b6112278fe | 1011 | // Insert Timer into the list sorted by time |
DieterGraef | 0:f9b6112278fe | 1012 | static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) { |
DieterGraef | 0:f9b6112278fe | 1013 | os_timer_cb *p, *prev; |
DieterGraef | 0:f9b6112278fe | 1014 | |
DieterGraef | 0:f9b6112278fe | 1015 | prev = NULL; |
DieterGraef | 0:f9b6112278fe | 1016 | p = os_timer_head; |
DieterGraef | 0:f9b6112278fe | 1017 | while (p != NULL) { |
DieterGraef | 0:f9b6112278fe | 1018 | if (tcnt < p->tcnt) break; |
DieterGraef | 0:f9b6112278fe | 1019 | tcnt -= p->tcnt; |
DieterGraef | 0:f9b6112278fe | 1020 | prev = p; |
DieterGraef | 0:f9b6112278fe | 1021 | p = p->next; |
DieterGraef | 0:f9b6112278fe | 1022 | } |
DieterGraef | 0:f9b6112278fe | 1023 | pt->next = p; |
DieterGraef | 0:f9b6112278fe | 1024 | pt->tcnt = (uint16_t)tcnt; |
DieterGraef | 0:f9b6112278fe | 1025 | if (p != NULL) { |
DieterGraef | 0:f9b6112278fe | 1026 | p->tcnt -= pt->tcnt; |
DieterGraef | 0:f9b6112278fe | 1027 | } |
DieterGraef | 0:f9b6112278fe | 1028 | if (prev != NULL) { |
DieterGraef | 0:f9b6112278fe | 1029 | prev->next = pt; |
DieterGraef | 0:f9b6112278fe | 1030 | } else { |
DieterGraef | 0:f9b6112278fe | 1031 | os_timer_head = pt; |
DieterGraef | 0:f9b6112278fe | 1032 | } |
DieterGraef | 0:f9b6112278fe | 1033 | } |
DieterGraef | 0:f9b6112278fe | 1034 | |
DieterGraef | 0:f9b6112278fe | 1035 | // Remove Timer from the list |
DieterGraef | 0:f9b6112278fe | 1036 | static int rt_timer_remove (os_timer_cb *pt) { |
DieterGraef | 0:f9b6112278fe | 1037 | os_timer_cb *p, *prev; |
DieterGraef | 0:f9b6112278fe | 1038 | |
DieterGraef | 0:f9b6112278fe | 1039 | prev = NULL; |
DieterGraef | 0:f9b6112278fe | 1040 | p = os_timer_head; |
DieterGraef | 0:f9b6112278fe | 1041 | while (p != NULL) { |
DieterGraef | 0:f9b6112278fe | 1042 | if (p == pt) break; |
DieterGraef | 0:f9b6112278fe | 1043 | prev = p; |
DieterGraef | 0:f9b6112278fe | 1044 | p = p->next; |
DieterGraef | 0:f9b6112278fe | 1045 | } |
DieterGraef | 0:f9b6112278fe | 1046 | if (p == NULL) return -1; |
DieterGraef | 0:f9b6112278fe | 1047 | if (prev != NULL) { |
DieterGraef | 0:f9b6112278fe | 1048 | prev->next = pt->next; |
DieterGraef | 0:f9b6112278fe | 1049 | } else { |
DieterGraef | 0:f9b6112278fe | 1050 | os_timer_head = pt->next; |
DieterGraef | 0:f9b6112278fe | 1051 | } |
DieterGraef | 0:f9b6112278fe | 1052 | if (pt->next != NULL) { |
DieterGraef | 0:f9b6112278fe | 1053 | pt->next->tcnt += pt->tcnt; |
DieterGraef | 0:f9b6112278fe | 1054 | } |
DieterGraef | 0:f9b6112278fe | 1055 | |
DieterGraef | 0:f9b6112278fe | 1056 | return 0; |
DieterGraef | 0:f9b6112278fe | 1057 | } |
DieterGraef | 0:f9b6112278fe | 1058 | |
DieterGraef | 0:f9b6112278fe | 1059 | |
DieterGraef | 0:f9b6112278fe | 1060 | // Timer Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1061 | SVC_3_1(svcTimerCreate, osTimerId, const osTimerDef_t *, os_timer_type, void *, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1062 | SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1063 | SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1064 | SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1065 | SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback) |
DieterGraef | 0:f9b6112278fe | 1066 | |
DieterGraef | 0:f9b6112278fe | 1067 | // Timer Management Service Calls |
DieterGraef | 0:f9b6112278fe | 1068 | |
DieterGraef | 0:f9b6112278fe | 1069 | /// Create timer |
DieterGraef | 0:f9b6112278fe | 1070 | osTimerId svcTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) { |
DieterGraef | 0:f9b6112278fe | 1071 | os_timer_cb *pt; |
DieterGraef | 0:f9b6112278fe | 1072 | |
DieterGraef | 0:f9b6112278fe | 1073 | if ((timer_def == NULL) || (timer_def->ptimer == NULL)) { |
DieterGraef | 0:f9b6112278fe | 1074 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1075 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1076 | } |
DieterGraef | 0:f9b6112278fe | 1077 | |
DieterGraef | 0:f9b6112278fe | 1078 | pt = timer_def->timer; |
DieterGraef | 0:f9b6112278fe | 1079 | if (pt == NULL) { |
DieterGraef | 0:f9b6112278fe | 1080 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1081 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1082 | } |
DieterGraef | 0:f9b6112278fe | 1083 | |
DieterGraef | 0:f9b6112278fe | 1084 | if ((type != osTimerOnce) && (type != osTimerPeriodic)) { |
DieterGraef | 0:f9b6112278fe | 1085 | sysThreadError(osErrorValue); |
DieterGraef | 0:f9b6112278fe | 1086 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1087 | } |
DieterGraef | 0:f9b6112278fe | 1088 | |
DieterGraef | 0:f9b6112278fe | 1089 | if (osThreadId_osTimerThread == NULL) { |
DieterGraef | 0:f9b6112278fe | 1090 | sysThreadError(osErrorResource); |
DieterGraef | 0:f9b6112278fe | 1091 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1092 | } |
DieterGraef | 0:f9b6112278fe | 1093 | |
DieterGraef | 0:f9b6112278fe | 1094 | if (pt->state != osTimerInvalid){ |
DieterGraef | 0:f9b6112278fe | 1095 | sysThreadError(osErrorResource); |
DieterGraef | 0:f9b6112278fe | 1096 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1097 | } |
DieterGraef | 0:f9b6112278fe | 1098 | |
DieterGraef | 0:f9b6112278fe | 1099 | pt->next = NULL; |
DieterGraef | 0:f9b6112278fe | 1100 | pt->state = osTimerStopped; |
DieterGraef | 0:f9b6112278fe | 1101 | pt->type = (uint8_t)type; |
DieterGraef | 0:f9b6112278fe | 1102 | pt->arg = argument; |
DieterGraef | 0:f9b6112278fe | 1103 | pt->timer = timer_def; |
DieterGraef | 0:f9b6112278fe | 1104 | |
DieterGraef | 0:f9b6112278fe | 1105 | return (osTimerId)pt; |
DieterGraef | 0:f9b6112278fe | 1106 | } |
DieterGraef | 0:f9b6112278fe | 1107 | |
DieterGraef | 0:f9b6112278fe | 1108 | /// Start or restart timer |
DieterGraef | 0:f9b6112278fe | 1109 | osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1110 | os_timer_cb *pt; |
DieterGraef | 0:f9b6112278fe | 1111 | uint32_t tcnt; |
DieterGraef | 0:f9b6112278fe | 1112 | |
DieterGraef | 0:f9b6112278fe | 1113 | pt = rt_id2obj(timer_id); |
DieterGraef | 0:f9b6112278fe | 1114 | if (pt == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1115 | |
DieterGraef | 0:f9b6112278fe | 1116 | tcnt = rt_ms2tick(millisec); |
DieterGraef | 0:f9b6112278fe | 1117 | if (tcnt == 0) return osErrorValue; |
DieterGraef | 0:f9b6112278fe | 1118 | |
DieterGraef | 0:f9b6112278fe | 1119 | switch (pt->state) { |
DieterGraef | 0:f9b6112278fe | 1120 | case osTimerRunning: |
DieterGraef | 0:f9b6112278fe | 1121 | if (rt_timer_remove(pt) != 0) { |
DieterGraef | 0:f9b6112278fe | 1122 | return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1123 | } |
DieterGraef | 0:f9b6112278fe | 1124 | break; |
DieterGraef | 0:f9b6112278fe | 1125 | case osTimerStopped: |
DieterGraef | 0:f9b6112278fe | 1126 | pt->state = osTimerRunning; |
DieterGraef | 0:f9b6112278fe | 1127 | pt->icnt = (uint16_t)tcnt; |
DieterGraef | 0:f9b6112278fe | 1128 | break; |
DieterGraef | 0:f9b6112278fe | 1129 | default: |
DieterGraef | 0:f9b6112278fe | 1130 | return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1131 | } |
DieterGraef | 0:f9b6112278fe | 1132 | |
DieterGraef | 0:f9b6112278fe | 1133 | rt_timer_insert(pt, tcnt); |
DieterGraef | 0:f9b6112278fe | 1134 | |
DieterGraef | 0:f9b6112278fe | 1135 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1136 | } |
DieterGraef | 0:f9b6112278fe | 1137 | |
DieterGraef | 0:f9b6112278fe | 1138 | /// Stop timer |
DieterGraef | 0:f9b6112278fe | 1139 | osStatus svcTimerStop (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1140 | os_timer_cb *pt; |
DieterGraef | 0:f9b6112278fe | 1141 | |
DieterGraef | 0:f9b6112278fe | 1142 | pt = rt_id2obj(timer_id); |
DieterGraef | 0:f9b6112278fe | 1143 | if (pt == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1144 | |
DieterGraef | 0:f9b6112278fe | 1145 | if (pt->state != osTimerRunning) return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1146 | |
DieterGraef | 0:f9b6112278fe | 1147 | pt->state = osTimerStopped; |
DieterGraef | 0:f9b6112278fe | 1148 | |
DieterGraef | 0:f9b6112278fe | 1149 | if (rt_timer_remove(pt) != 0) { |
DieterGraef | 0:f9b6112278fe | 1150 | return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1151 | } |
DieterGraef | 0:f9b6112278fe | 1152 | |
DieterGraef | 0:f9b6112278fe | 1153 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1154 | } |
DieterGraef | 0:f9b6112278fe | 1155 | |
DieterGraef | 0:f9b6112278fe | 1156 | /// Delete timer |
DieterGraef | 0:f9b6112278fe | 1157 | osStatus svcTimerDelete (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1158 | os_timer_cb *pt; |
DieterGraef | 0:f9b6112278fe | 1159 | |
DieterGraef | 0:f9b6112278fe | 1160 | pt = rt_id2obj(timer_id); |
DieterGraef | 0:f9b6112278fe | 1161 | if (pt == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1162 | |
DieterGraef | 0:f9b6112278fe | 1163 | switch (pt->state) { |
DieterGraef | 0:f9b6112278fe | 1164 | case osTimerRunning: |
DieterGraef | 0:f9b6112278fe | 1165 | rt_timer_remove(pt); |
DieterGraef | 0:f9b6112278fe | 1166 | break; |
DieterGraef | 0:f9b6112278fe | 1167 | case osTimerStopped: |
DieterGraef | 0:f9b6112278fe | 1168 | break; |
DieterGraef | 0:f9b6112278fe | 1169 | default: |
DieterGraef | 0:f9b6112278fe | 1170 | return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1171 | } |
DieterGraef | 0:f9b6112278fe | 1172 | |
DieterGraef | 0:f9b6112278fe | 1173 | pt->state = osTimerInvalid; |
DieterGraef | 0:f9b6112278fe | 1174 | |
DieterGraef | 0:f9b6112278fe | 1175 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1176 | } |
DieterGraef | 0:f9b6112278fe | 1177 | |
DieterGraef | 0:f9b6112278fe | 1178 | /// Get timer callback parameters |
DieterGraef | 0:f9b6112278fe | 1179 | os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1180 | os_timer_cb *pt; |
DieterGraef | 0:f9b6112278fe | 1181 | osCallback ret; |
DieterGraef | 0:f9b6112278fe | 1182 | |
DieterGraef | 0:f9b6112278fe | 1183 | pt = rt_id2obj(timer_id); |
DieterGraef | 0:f9b6112278fe | 1184 | if (pt == NULL) { |
DieterGraef | 0:f9b6112278fe | 1185 | ret.fp = NULL; |
DieterGraef | 0:f9b6112278fe | 1186 | ret.arg = NULL; |
DieterGraef | 0:f9b6112278fe | 1187 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1188 | osCallback_ret; |
DieterGraef | 0:f9b6112278fe | 1189 | return; |
DieterGraef | 0:f9b6112278fe | 1190 | #else |
DieterGraef | 0:f9b6112278fe | 1191 | return osCallback_ret; |
DieterGraef | 0:f9b6112278fe | 1192 | #endif |
DieterGraef | 0:f9b6112278fe | 1193 | } |
DieterGraef | 0:f9b6112278fe | 1194 | |
DieterGraef | 0:f9b6112278fe | 1195 | ret.fp = (void *)pt->timer->ptimer; |
DieterGraef | 0:f9b6112278fe | 1196 | ret.arg = pt->arg; |
DieterGraef | 0:f9b6112278fe | 1197 | |
DieterGraef | 0:f9b6112278fe | 1198 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1199 | osCallback_ret; |
DieterGraef | 0:f9b6112278fe | 1200 | return; |
DieterGraef | 0:f9b6112278fe | 1201 | #else |
DieterGraef | 0:f9b6112278fe | 1202 | return osCallback_ret; |
DieterGraef | 0:f9b6112278fe | 1203 | #endif |
DieterGraef | 0:f9b6112278fe | 1204 | } |
DieterGraef | 0:f9b6112278fe | 1205 | |
DieterGraef | 0:f9b6112278fe | 1206 | static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec); |
DieterGraef | 0:f9b6112278fe | 1207 | |
DieterGraef | 0:f9b6112278fe | 1208 | /// Timer Tick (called each SysTick) |
DieterGraef | 0:f9b6112278fe | 1209 | void sysTimerTick (void) { |
DieterGraef | 0:f9b6112278fe | 1210 | os_timer_cb *pt, *p; |
DieterGraef | 0:f9b6112278fe | 1211 | |
DieterGraef | 0:f9b6112278fe | 1212 | p = os_timer_head; |
DieterGraef | 0:f9b6112278fe | 1213 | if (p == NULL) return; |
DieterGraef | 0:f9b6112278fe | 1214 | |
DieterGraef | 0:f9b6112278fe | 1215 | p->tcnt--; |
DieterGraef | 0:f9b6112278fe | 1216 | while ((p != NULL) && (p->tcnt == 0)) { |
DieterGraef | 0:f9b6112278fe | 1217 | pt = p; |
DieterGraef | 0:f9b6112278fe | 1218 | p = p->next; |
DieterGraef | 0:f9b6112278fe | 1219 | os_timer_head = p; |
DieterGraef | 0:f9b6112278fe | 1220 | isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0); |
DieterGraef | 0:f9b6112278fe | 1221 | if (pt->type == osTimerPeriodic) { |
DieterGraef | 0:f9b6112278fe | 1222 | rt_timer_insert(pt, pt->icnt); |
DieterGraef | 0:f9b6112278fe | 1223 | } else { |
DieterGraef | 0:f9b6112278fe | 1224 | pt->state = osTimerStopped; |
DieterGraef | 0:f9b6112278fe | 1225 | } |
DieterGraef | 0:f9b6112278fe | 1226 | } |
DieterGraef | 0:f9b6112278fe | 1227 | } |
DieterGraef | 0:f9b6112278fe | 1228 | |
DieterGraef | 0:f9b6112278fe | 1229 | /// Get user timers wake-up time |
DieterGraef | 0:f9b6112278fe | 1230 | uint32_t sysUserTimerWakeupTime (void) { |
DieterGraef | 0:f9b6112278fe | 1231 | |
DieterGraef | 0:f9b6112278fe | 1232 | if (os_timer_head) { |
DieterGraef | 0:f9b6112278fe | 1233 | return os_timer_head->tcnt; |
DieterGraef | 0:f9b6112278fe | 1234 | } |
DieterGraef | 0:f9b6112278fe | 1235 | return 0xFFFF; |
DieterGraef | 0:f9b6112278fe | 1236 | } |
DieterGraef | 0:f9b6112278fe | 1237 | |
DieterGraef | 0:f9b6112278fe | 1238 | /// Update user timers on resume |
DieterGraef | 0:f9b6112278fe | 1239 | void sysUserTimerUpdate (uint32_t sleep_time) { |
DieterGraef | 0:f9b6112278fe | 1240 | |
DieterGraef | 0:f9b6112278fe | 1241 | while (os_timer_head && sleep_time) { |
DieterGraef | 0:f9b6112278fe | 1242 | if (sleep_time >= os_timer_head->tcnt) { |
DieterGraef | 0:f9b6112278fe | 1243 | sleep_time -= os_timer_head->tcnt; |
DieterGraef | 0:f9b6112278fe | 1244 | os_timer_head->tcnt = 1; |
DieterGraef | 0:f9b6112278fe | 1245 | sysTimerTick(); |
DieterGraef | 0:f9b6112278fe | 1246 | } else { |
DieterGraef | 0:f9b6112278fe | 1247 | os_timer_head->tcnt -= sleep_time; |
DieterGraef | 0:f9b6112278fe | 1248 | break; |
DieterGraef | 0:f9b6112278fe | 1249 | } |
DieterGraef | 0:f9b6112278fe | 1250 | } |
DieterGraef | 0:f9b6112278fe | 1251 | } |
DieterGraef | 0:f9b6112278fe | 1252 | |
DieterGraef | 0:f9b6112278fe | 1253 | |
DieterGraef | 0:f9b6112278fe | 1254 | // Timer Management Public API |
DieterGraef | 0:f9b6112278fe | 1255 | |
DieterGraef | 0:f9b6112278fe | 1256 | /// Create timer |
DieterGraef | 0:f9b6112278fe | 1257 | osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) { |
DieterGraef | 0:f9b6112278fe | 1258 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1259 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 1260 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 1261 | return svcTimerCreate(timer_def, type, argument); |
DieterGraef | 0:f9b6112278fe | 1262 | } else { |
DieterGraef | 0:f9b6112278fe | 1263 | return __svcTimerCreate(timer_def, type, argument); |
DieterGraef | 0:f9b6112278fe | 1264 | } |
DieterGraef | 0:f9b6112278fe | 1265 | } |
DieterGraef | 0:f9b6112278fe | 1266 | |
DieterGraef | 0:f9b6112278fe | 1267 | /// Start or restart timer |
DieterGraef | 0:f9b6112278fe | 1268 | osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1269 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1270 | return __svcTimerStart(timer_id, millisec); |
DieterGraef | 0:f9b6112278fe | 1271 | } |
DieterGraef | 0:f9b6112278fe | 1272 | |
DieterGraef | 0:f9b6112278fe | 1273 | /// Stop timer |
DieterGraef | 0:f9b6112278fe | 1274 | osStatus osTimerStop (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1275 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1276 | return __svcTimerStop(timer_id); |
DieterGraef | 0:f9b6112278fe | 1277 | } |
DieterGraef | 0:f9b6112278fe | 1278 | |
DieterGraef | 0:f9b6112278fe | 1279 | /// Delete timer |
DieterGraef | 0:f9b6112278fe | 1280 | osStatus osTimerDelete (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1281 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1282 | return __svcTimerDelete(timer_id); |
DieterGraef | 0:f9b6112278fe | 1283 | } |
DieterGraef | 0:f9b6112278fe | 1284 | |
DieterGraef | 0:f9b6112278fe | 1285 | /// INTERNAL - Not Public |
DieterGraef | 0:f9b6112278fe | 1286 | /// Get timer callback parameters (used by OS Timer Thread) |
DieterGraef | 0:f9b6112278fe | 1287 | os_InRegs osCallback osTimerCall (osTimerId timer_id) { |
DieterGraef | 0:f9b6112278fe | 1288 | return __svcTimerCall(timer_id); |
DieterGraef | 0:f9b6112278fe | 1289 | } |
DieterGraef | 0:f9b6112278fe | 1290 | |
DieterGraef | 0:f9b6112278fe | 1291 | |
DieterGraef | 0:f9b6112278fe | 1292 | // Timer Thread |
DieterGraef | 0:f9b6112278fe | 1293 | __NO_RETURN void osTimerThread (void const *argument) { |
DieterGraef | 0:f9b6112278fe | 1294 | osCallback cb; |
DieterGraef | 0:f9b6112278fe | 1295 | osEvent evt; |
DieterGraef | 0:f9b6112278fe | 1296 | |
DieterGraef | 0:f9b6112278fe | 1297 | for (;;) { |
DieterGraef | 0:f9b6112278fe | 1298 | evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever); |
DieterGraef | 0:f9b6112278fe | 1299 | if (evt.status == osEventMessage) { |
DieterGraef | 0:f9b6112278fe | 1300 | cb = osTimerCall(evt.value.p); |
DieterGraef | 0:f9b6112278fe | 1301 | if (cb.fp != NULL) { |
DieterGraef | 0:f9b6112278fe | 1302 | (*(os_ptimer)cb.fp)(cb.arg); |
DieterGraef | 0:f9b6112278fe | 1303 | } |
DieterGraef | 0:f9b6112278fe | 1304 | } |
DieterGraef | 0:f9b6112278fe | 1305 | } |
DieterGraef | 0:f9b6112278fe | 1306 | } |
DieterGraef | 0:f9b6112278fe | 1307 | |
DieterGraef | 0:f9b6112278fe | 1308 | |
DieterGraef | 0:f9b6112278fe | 1309 | // ==== Signal Management ==== |
DieterGraef | 0:f9b6112278fe | 1310 | |
DieterGraef | 0:f9b6112278fe | 1311 | // Signal Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1312 | SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t) |
DieterGraef | 0:f9b6112278fe | 1313 | SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t) |
DieterGraef | 0:f9b6112278fe | 1314 | SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent) |
DieterGraef | 0:f9b6112278fe | 1315 | |
DieterGraef | 0:f9b6112278fe | 1316 | // Signal Service Calls |
DieterGraef | 0:f9b6112278fe | 1317 | |
DieterGraef | 0:f9b6112278fe | 1318 | /// Set the specified Signal Flags of an active thread |
DieterGraef | 0:f9b6112278fe | 1319 | int32_t svcSignalSet (osThreadId thread_id, int32_t signals) { |
DieterGraef | 0:f9b6112278fe | 1320 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 1321 | int32_t sig; |
DieterGraef | 0:f9b6112278fe | 1322 | |
DieterGraef | 0:f9b6112278fe | 1323 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 1324 | if (ptcb == NULL) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1325 | |
DieterGraef | 0:f9b6112278fe | 1326 | if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1327 | |
DieterGraef | 0:f9b6112278fe | 1328 | sig = ptcb->events; // Previous signal flags |
DieterGraef | 0:f9b6112278fe | 1329 | |
DieterGraef | 0:f9b6112278fe | 1330 | rt_evt_set(signals, ptcb->task_id); // Set event flags |
DieterGraef | 0:f9b6112278fe | 1331 | |
DieterGraef | 0:f9b6112278fe | 1332 | return sig; |
DieterGraef | 0:f9b6112278fe | 1333 | } |
DieterGraef | 0:f9b6112278fe | 1334 | |
DieterGraef | 0:f9b6112278fe | 1335 | /// Clear the specified Signal Flags of an active thread |
DieterGraef | 0:f9b6112278fe | 1336 | int32_t svcSignalClear (osThreadId thread_id, int32_t signals) { |
DieterGraef | 0:f9b6112278fe | 1337 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 1338 | int32_t sig; |
DieterGraef | 0:f9b6112278fe | 1339 | |
DieterGraef | 0:f9b6112278fe | 1340 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 1341 | if (ptcb == NULL) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1342 | |
DieterGraef | 0:f9b6112278fe | 1343 | if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1344 | |
DieterGraef | 0:f9b6112278fe | 1345 | sig = ptcb->events; // Previous signal flags |
DieterGraef | 0:f9b6112278fe | 1346 | |
DieterGraef | 0:f9b6112278fe | 1347 | rt_evt_clr(signals, ptcb->task_id); // Clear event flags |
DieterGraef | 0:f9b6112278fe | 1348 | |
DieterGraef | 0:f9b6112278fe | 1349 | return sig; |
DieterGraef | 0:f9b6112278fe | 1350 | } |
DieterGraef | 0:f9b6112278fe | 1351 | |
DieterGraef | 0:f9b6112278fe | 1352 | /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread |
DieterGraef | 0:f9b6112278fe | 1353 | os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1354 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1355 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 1356 | |
DieterGraef | 0:f9b6112278fe | 1357 | if (signals & (0xFFFFFFFF << osFeature_Signals)) { |
DieterGraef | 0:f9b6112278fe | 1358 | ret.status = osErrorValue; |
DieterGraef | 0:f9b6112278fe | 1359 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1360 | osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1361 | return; |
DieterGraef | 0:f9b6112278fe | 1362 | #else |
DieterGraef | 0:f9b6112278fe | 1363 | return osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1364 | #endif |
DieterGraef | 0:f9b6112278fe | 1365 | } |
DieterGraef | 0:f9b6112278fe | 1366 | |
DieterGraef | 0:f9b6112278fe | 1367 | if (signals != 0) { // Wait for all specified signals |
DieterGraef | 0:f9b6112278fe | 1368 | res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE); |
DieterGraef | 0:f9b6112278fe | 1369 | } else { // Wait for any signal |
DieterGraef | 0:f9b6112278fe | 1370 | res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE); |
DieterGraef | 0:f9b6112278fe | 1371 | } |
DieterGraef | 0:f9b6112278fe | 1372 | |
DieterGraef | 0:f9b6112278fe | 1373 | if (res == OS_R_EVT) { |
DieterGraef | 0:f9b6112278fe | 1374 | ret.status = osEventSignal; |
DieterGraef | 0:f9b6112278fe | 1375 | ret.value.signals = signals ? signals : os_tsk.run->waits; |
DieterGraef | 0:f9b6112278fe | 1376 | } else { |
DieterGraef | 0:f9b6112278fe | 1377 | ret.status = millisec ? osEventTimeout : osOK; |
DieterGraef | 0:f9b6112278fe | 1378 | ret.value.signals = 0; |
DieterGraef | 0:f9b6112278fe | 1379 | } |
DieterGraef | 0:f9b6112278fe | 1380 | |
DieterGraef | 0:f9b6112278fe | 1381 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1382 | osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1383 | return; |
DieterGraef | 0:f9b6112278fe | 1384 | #else |
DieterGraef | 0:f9b6112278fe | 1385 | return osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1386 | #endif |
DieterGraef | 0:f9b6112278fe | 1387 | } |
DieterGraef | 0:f9b6112278fe | 1388 | |
DieterGraef | 0:f9b6112278fe | 1389 | |
DieterGraef | 0:f9b6112278fe | 1390 | // Signal ISR Calls |
DieterGraef | 0:f9b6112278fe | 1391 | |
DieterGraef | 0:f9b6112278fe | 1392 | /// Set the specified Signal Flags of an active thread |
DieterGraef | 0:f9b6112278fe | 1393 | static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) { |
DieterGraef | 0:f9b6112278fe | 1394 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 1395 | int32_t sig; |
DieterGraef | 0:f9b6112278fe | 1396 | |
DieterGraef | 0:f9b6112278fe | 1397 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
DieterGraef | 0:f9b6112278fe | 1398 | if (ptcb == NULL) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1399 | |
DieterGraef | 0:f9b6112278fe | 1400 | if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
DieterGraef | 0:f9b6112278fe | 1401 | |
DieterGraef | 0:f9b6112278fe | 1402 | sig = ptcb->events; // Previous signal flags |
DieterGraef | 0:f9b6112278fe | 1403 | |
DieterGraef | 0:f9b6112278fe | 1404 | isr_evt_set(signals, ptcb->task_id); // Set event flags |
DieterGraef | 0:f9b6112278fe | 1405 | |
DieterGraef | 0:f9b6112278fe | 1406 | return sig; |
DieterGraef | 0:f9b6112278fe | 1407 | } |
DieterGraef | 0:f9b6112278fe | 1408 | |
DieterGraef | 0:f9b6112278fe | 1409 | |
DieterGraef | 0:f9b6112278fe | 1410 | // Signal Public API |
DieterGraef | 0:f9b6112278fe | 1411 | |
DieterGraef | 0:f9b6112278fe | 1412 | /// Set the specified Signal Flags of an active thread |
DieterGraef | 0:f9b6112278fe | 1413 | int32_t osSignalSet (osThreadId thread_id, int32_t signals) { |
DieterGraef | 0:f9b6112278fe | 1414 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 1415 | return isrSignalSet(thread_id, signals); |
DieterGraef | 0:f9b6112278fe | 1416 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1417 | return __svcSignalSet(thread_id, signals); |
DieterGraef | 0:f9b6112278fe | 1418 | } |
DieterGraef | 0:f9b6112278fe | 1419 | } |
DieterGraef | 0:f9b6112278fe | 1420 | |
DieterGraef | 0:f9b6112278fe | 1421 | /// Clear the specified Signal Flags of an active thread |
DieterGraef | 0:f9b6112278fe | 1422 | int32_t osSignalClear (osThreadId thread_id, int32_t signals) { |
DieterGraef | 0:f9b6112278fe | 1423 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1424 | return __svcSignalClear(thread_id, signals); |
DieterGraef | 0:f9b6112278fe | 1425 | } |
DieterGraef | 0:f9b6112278fe | 1426 | |
DieterGraef | 0:f9b6112278fe | 1427 | /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread |
DieterGraef | 0:f9b6112278fe | 1428 | os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1429 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 1430 | |
DieterGraef | 0:f9b6112278fe | 1431 | if (__exceptional_mode()) { // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1432 | ret.status = osErrorISR; |
DieterGraef | 0:f9b6112278fe | 1433 | return ret; |
DieterGraef | 0:f9b6112278fe | 1434 | } |
DieterGraef | 0:f9b6112278fe | 1435 | return __svcSignalWait(signals, millisec); |
DieterGraef | 0:f9b6112278fe | 1436 | } |
DieterGraef | 0:f9b6112278fe | 1437 | |
DieterGraef | 0:f9b6112278fe | 1438 | |
DieterGraef | 0:f9b6112278fe | 1439 | // ==== Mutex Management ==== |
DieterGraef | 0:f9b6112278fe | 1440 | |
DieterGraef | 0:f9b6112278fe | 1441 | // Mutex Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1442 | SVC_1_1(svcMutexCreate, osMutexId, const osMutexDef_t *, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1443 | SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1444 | SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1445 | SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1446 | |
DieterGraef | 0:f9b6112278fe | 1447 | // Mutex Service Calls |
DieterGraef | 0:f9b6112278fe | 1448 | |
DieterGraef | 0:f9b6112278fe | 1449 | /// Create and Initialize a Mutex object |
DieterGraef | 0:f9b6112278fe | 1450 | osMutexId svcMutexCreate (const osMutexDef_t *mutex_def) { |
DieterGraef | 0:f9b6112278fe | 1451 | OS_ID mut; |
DieterGraef | 0:f9b6112278fe | 1452 | |
DieterGraef | 0:f9b6112278fe | 1453 | if (mutex_def == NULL) { |
DieterGraef | 0:f9b6112278fe | 1454 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1455 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1456 | } |
DieterGraef | 0:f9b6112278fe | 1457 | |
DieterGraef | 0:f9b6112278fe | 1458 | mut = mutex_def->mutex; |
DieterGraef | 0:f9b6112278fe | 1459 | if (mut == NULL) { |
DieterGraef | 0:f9b6112278fe | 1460 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1461 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1462 | } |
DieterGraef | 0:f9b6112278fe | 1463 | |
DieterGraef | 0:f9b6112278fe | 1464 | if (((P_MUCB)mut)->cb_type != 0) { |
DieterGraef | 0:f9b6112278fe | 1465 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1466 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1467 | } |
DieterGraef | 0:f9b6112278fe | 1468 | |
DieterGraef | 0:f9b6112278fe | 1469 | rt_mut_init(mut); // Initialize Mutex |
DieterGraef | 0:f9b6112278fe | 1470 | |
DieterGraef | 0:f9b6112278fe | 1471 | return mut; |
DieterGraef | 0:f9b6112278fe | 1472 | } |
DieterGraef | 0:f9b6112278fe | 1473 | |
DieterGraef | 0:f9b6112278fe | 1474 | /// Wait until a Mutex becomes available |
DieterGraef | 0:f9b6112278fe | 1475 | osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1476 | OS_ID mut; |
DieterGraef | 0:f9b6112278fe | 1477 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1478 | |
DieterGraef | 0:f9b6112278fe | 1479 | mut = rt_id2obj(mutex_id); |
DieterGraef | 0:f9b6112278fe | 1480 | if (mut == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1481 | |
DieterGraef | 0:f9b6112278fe | 1482 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1483 | |
DieterGraef | 0:f9b6112278fe | 1484 | res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex |
DieterGraef | 0:f9b6112278fe | 1485 | |
DieterGraef | 0:f9b6112278fe | 1486 | if (res == OS_R_TMO) { |
DieterGraef | 0:f9b6112278fe | 1487 | return (millisec ? osErrorTimeoutResource : osErrorResource); |
DieterGraef | 0:f9b6112278fe | 1488 | } |
DieterGraef | 0:f9b6112278fe | 1489 | |
DieterGraef | 0:f9b6112278fe | 1490 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1491 | } |
DieterGraef | 0:f9b6112278fe | 1492 | |
DieterGraef | 0:f9b6112278fe | 1493 | /// Release a Mutex that was obtained with osMutexWait |
DieterGraef | 0:f9b6112278fe | 1494 | osStatus svcMutexRelease (osMutexId mutex_id) { |
DieterGraef | 0:f9b6112278fe | 1495 | OS_ID mut; |
DieterGraef | 0:f9b6112278fe | 1496 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1497 | |
DieterGraef | 0:f9b6112278fe | 1498 | mut = rt_id2obj(mutex_id); |
DieterGraef | 0:f9b6112278fe | 1499 | if (mut == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1500 | |
DieterGraef | 0:f9b6112278fe | 1501 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1502 | |
DieterGraef | 0:f9b6112278fe | 1503 | res = rt_mut_release(mut); // Release Mutex |
DieterGraef | 0:f9b6112278fe | 1504 | |
DieterGraef | 0:f9b6112278fe | 1505 | if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter |
DieterGraef | 0:f9b6112278fe | 1506 | |
DieterGraef | 0:f9b6112278fe | 1507 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1508 | } |
DieterGraef | 0:f9b6112278fe | 1509 | |
DieterGraef | 0:f9b6112278fe | 1510 | /// Delete a Mutex that was created by osMutexCreate |
DieterGraef | 0:f9b6112278fe | 1511 | osStatus svcMutexDelete (osMutexId mutex_id) { |
DieterGraef | 0:f9b6112278fe | 1512 | OS_ID mut; |
DieterGraef | 0:f9b6112278fe | 1513 | |
DieterGraef | 0:f9b6112278fe | 1514 | mut = rt_id2obj(mutex_id); |
DieterGraef | 0:f9b6112278fe | 1515 | if (mut == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1516 | |
DieterGraef | 0:f9b6112278fe | 1517 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1518 | |
DieterGraef | 0:f9b6112278fe | 1519 | rt_mut_delete(mut); // Release Mutex |
DieterGraef | 0:f9b6112278fe | 1520 | |
DieterGraef | 0:f9b6112278fe | 1521 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1522 | } |
DieterGraef | 0:f9b6112278fe | 1523 | |
DieterGraef | 0:f9b6112278fe | 1524 | |
DieterGraef | 0:f9b6112278fe | 1525 | // Mutex Public API |
DieterGraef | 0:f9b6112278fe | 1526 | |
DieterGraef | 0:f9b6112278fe | 1527 | /// Create and Initialize a Mutex object |
DieterGraef | 0:f9b6112278fe | 1528 | osMutexId osMutexCreate (const osMutexDef_t *mutex_def) { |
DieterGraef | 0:f9b6112278fe | 1529 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1530 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 1531 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 1532 | return svcMutexCreate(mutex_def); |
DieterGraef | 0:f9b6112278fe | 1533 | } else { |
DieterGraef | 0:f9b6112278fe | 1534 | return __svcMutexCreate(mutex_def); |
DieterGraef | 0:f9b6112278fe | 1535 | } |
DieterGraef | 0:f9b6112278fe | 1536 | } |
DieterGraef | 0:f9b6112278fe | 1537 | |
DieterGraef | 0:f9b6112278fe | 1538 | /// Wait until a Mutex becomes available |
DieterGraef | 0:f9b6112278fe | 1539 | osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1540 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1541 | return __svcMutexWait(mutex_id, millisec); |
DieterGraef | 0:f9b6112278fe | 1542 | } |
DieterGraef | 0:f9b6112278fe | 1543 | |
DieterGraef | 0:f9b6112278fe | 1544 | /// Release a Mutex that was obtained with osMutexWait |
DieterGraef | 0:f9b6112278fe | 1545 | osStatus osMutexRelease (osMutexId mutex_id) { |
DieterGraef | 0:f9b6112278fe | 1546 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1547 | return __svcMutexRelease(mutex_id); |
DieterGraef | 0:f9b6112278fe | 1548 | } |
DieterGraef | 0:f9b6112278fe | 1549 | |
DieterGraef | 0:f9b6112278fe | 1550 | /// Delete a Mutex that was created by osMutexCreate |
DieterGraef | 0:f9b6112278fe | 1551 | osStatus osMutexDelete (osMutexId mutex_id) { |
DieterGraef | 0:f9b6112278fe | 1552 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1553 | return __svcMutexDelete(mutex_id); |
DieterGraef | 0:f9b6112278fe | 1554 | } |
DieterGraef | 0:f9b6112278fe | 1555 | |
DieterGraef | 0:f9b6112278fe | 1556 | |
DieterGraef | 0:f9b6112278fe | 1557 | // ==== Semaphore Management ==== |
DieterGraef | 0:f9b6112278fe | 1558 | |
DieterGraef | 0:f9b6112278fe | 1559 | // Semaphore Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1560 | SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1561 | SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t) |
DieterGraef | 0:f9b6112278fe | 1562 | SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1563 | SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1564 | |
DieterGraef | 0:f9b6112278fe | 1565 | // Semaphore Service Calls |
DieterGraef | 0:f9b6112278fe | 1566 | |
DieterGraef | 0:f9b6112278fe | 1567 | /// Create and Initialize a Semaphore object |
DieterGraef | 0:f9b6112278fe | 1568 | osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) { |
DieterGraef | 0:f9b6112278fe | 1569 | OS_ID sem; |
DieterGraef | 0:f9b6112278fe | 1570 | |
DieterGraef | 0:f9b6112278fe | 1571 | if (semaphore_def == NULL) { |
DieterGraef | 0:f9b6112278fe | 1572 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1573 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1574 | } |
DieterGraef | 0:f9b6112278fe | 1575 | |
DieterGraef | 0:f9b6112278fe | 1576 | sem = semaphore_def->semaphore; |
DieterGraef | 0:f9b6112278fe | 1577 | if (sem == NULL) { |
DieterGraef | 0:f9b6112278fe | 1578 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1579 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1580 | } |
DieterGraef | 0:f9b6112278fe | 1581 | |
DieterGraef | 0:f9b6112278fe | 1582 | if (((P_SCB)sem)->cb_type != 0) { |
DieterGraef | 0:f9b6112278fe | 1583 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1584 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1585 | } |
DieterGraef | 0:f9b6112278fe | 1586 | |
DieterGraef | 0:f9b6112278fe | 1587 | if (count > osFeature_Semaphore) { |
DieterGraef | 0:f9b6112278fe | 1588 | sysThreadError(osErrorValue); |
DieterGraef | 0:f9b6112278fe | 1589 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1590 | } |
DieterGraef | 0:f9b6112278fe | 1591 | |
DieterGraef | 0:f9b6112278fe | 1592 | rt_sem_init(sem, count); // Initialize Semaphore |
DieterGraef | 0:f9b6112278fe | 1593 | |
DieterGraef | 0:f9b6112278fe | 1594 | return sem; |
DieterGraef | 0:f9b6112278fe | 1595 | } |
DieterGraef | 0:f9b6112278fe | 1596 | |
DieterGraef | 0:f9b6112278fe | 1597 | /// Wait until a Semaphore becomes available |
DieterGraef | 0:f9b6112278fe | 1598 | int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1599 | OS_ID sem; |
DieterGraef | 0:f9b6112278fe | 1600 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1601 | |
DieterGraef | 0:f9b6112278fe | 1602 | sem = rt_id2obj(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1603 | if (sem == NULL) return -1; |
DieterGraef | 0:f9b6112278fe | 1604 | |
DieterGraef | 0:f9b6112278fe | 1605 | if (((P_SCB)sem)->cb_type != SCB) return -1; |
DieterGraef | 0:f9b6112278fe | 1606 | |
DieterGraef | 0:f9b6112278fe | 1607 | res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore |
DieterGraef | 0:f9b6112278fe | 1608 | |
DieterGraef | 0:f9b6112278fe | 1609 | if (res == OS_R_TMO) return 0; // Timeout |
DieterGraef | 0:f9b6112278fe | 1610 | |
DieterGraef | 0:f9b6112278fe | 1611 | return (((P_SCB)sem)->tokens + 1); |
DieterGraef | 0:f9b6112278fe | 1612 | } |
DieterGraef | 0:f9b6112278fe | 1613 | |
DieterGraef | 0:f9b6112278fe | 1614 | /// Release a Semaphore |
DieterGraef | 0:f9b6112278fe | 1615 | osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) { |
DieterGraef | 0:f9b6112278fe | 1616 | OS_ID sem; |
DieterGraef | 0:f9b6112278fe | 1617 | |
DieterGraef | 0:f9b6112278fe | 1618 | sem = rt_id2obj(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1619 | if (sem == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1620 | |
DieterGraef | 0:f9b6112278fe | 1621 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1622 | |
DieterGraef | 0:f9b6112278fe | 1623 | if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1624 | |
DieterGraef | 0:f9b6112278fe | 1625 | rt_sem_send(sem); // Release Semaphore |
DieterGraef | 0:f9b6112278fe | 1626 | |
DieterGraef | 0:f9b6112278fe | 1627 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1628 | } |
DieterGraef | 0:f9b6112278fe | 1629 | |
DieterGraef | 0:f9b6112278fe | 1630 | /// Delete a Semaphore that was created by osSemaphoreCreate |
DieterGraef | 0:f9b6112278fe | 1631 | osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) { |
DieterGraef | 0:f9b6112278fe | 1632 | OS_ID sem; |
DieterGraef | 0:f9b6112278fe | 1633 | |
DieterGraef | 0:f9b6112278fe | 1634 | sem = rt_id2obj(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1635 | if (sem == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1636 | |
DieterGraef | 0:f9b6112278fe | 1637 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1638 | |
DieterGraef | 0:f9b6112278fe | 1639 | rt_sem_delete(sem); // Delete Semaphore |
DieterGraef | 0:f9b6112278fe | 1640 | |
DieterGraef | 0:f9b6112278fe | 1641 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1642 | } |
DieterGraef | 0:f9b6112278fe | 1643 | |
DieterGraef | 0:f9b6112278fe | 1644 | |
DieterGraef | 0:f9b6112278fe | 1645 | // Semaphore ISR Calls |
DieterGraef | 0:f9b6112278fe | 1646 | |
DieterGraef | 0:f9b6112278fe | 1647 | /// Release a Semaphore |
DieterGraef | 0:f9b6112278fe | 1648 | static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) { |
DieterGraef | 0:f9b6112278fe | 1649 | OS_ID sem; |
DieterGraef | 0:f9b6112278fe | 1650 | |
DieterGraef | 0:f9b6112278fe | 1651 | sem = rt_id2obj(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1652 | if (sem == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1653 | |
DieterGraef | 0:f9b6112278fe | 1654 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1655 | |
DieterGraef | 0:f9b6112278fe | 1656 | if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1657 | |
DieterGraef | 0:f9b6112278fe | 1658 | isr_sem_send(sem); // Release Semaphore |
DieterGraef | 0:f9b6112278fe | 1659 | |
DieterGraef | 0:f9b6112278fe | 1660 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1661 | } |
DieterGraef | 0:f9b6112278fe | 1662 | |
DieterGraef | 0:f9b6112278fe | 1663 | |
DieterGraef | 0:f9b6112278fe | 1664 | // Semaphore Public API |
DieterGraef | 0:f9b6112278fe | 1665 | |
DieterGraef | 0:f9b6112278fe | 1666 | /// Create and Initialize a Semaphore object |
DieterGraef | 0:f9b6112278fe | 1667 | osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) { |
DieterGraef | 0:f9b6112278fe | 1668 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1669 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 1670 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 1671 | return svcSemaphoreCreate(semaphore_def, count); |
DieterGraef | 0:f9b6112278fe | 1672 | } else { |
DieterGraef | 0:f9b6112278fe | 1673 | return __svcSemaphoreCreate(semaphore_def, count); |
DieterGraef | 0:f9b6112278fe | 1674 | } |
DieterGraef | 0:f9b6112278fe | 1675 | } |
DieterGraef | 0:f9b6112278fe | 1676 | |
DieterGraef | 0:f9b6112278fe | 1677 | /// Wait until a Semaphore becomes available |
DieterGraef | 0:f9b6112278fe | 1678 | int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1679 | if (__exceptional_mode()) return -1; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1680 | return __svcSemaphoreWait(semaphore_id, millisec); |
DieterGraef | 0:f9b6112278fe | 1681 | } |
DieterGraef | 0:f9b6112278fe | 1682 | |
DieterGraef | 0:f9b6112278fe | 1683 | /// Release a Semaphore |
DieterGraef | 0:f9b6112278fe | 1684 | osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) { |
DieterGraef | 0:f9b6112278fe | 1685 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 1686 | return isrSemaphoreRelease(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1687 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1688 | return __svcSemaphoreRelease(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1689 | } |
DieterGraef | 0:f9b6112278fe | 1690 | } |
DieterGraef | 0:f9b6112278fe | 1691 | |
DieterGraef | 0:f9b6112278fe | 1692 | /// Delete a Semaphore that was created by osSemaphoreCreate |
DieterGraef | 0:f9b6112278fe | 1693 | osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) { |
DieterGraef | 0:f9b6112278fe | 1694 | if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1695 | return __svcSemaphoreDelete(semaphore_id); |
DieterGraef | 0:f9b6112278fe | 1696 | } |
DieterGraef | 0:f9b6112278fe | 1697 | |
DieterGraef | 0:f9b6112278fe | 1698 | |
DieterGraef | 0:f9b6112278fe | 1699 | // ==== Memory Management Functions ==== |
DieterGraef | 0:f9b6112278fe | 1700 | |
DieterGraef | 0:f9b6112278fe | 1701 | // Memory Management Helper Functions |
DieterGraef | 0:f9b6112278fe | 1702 | |
DieterGraef | 0:f9b6112278fe | 1703 | // Clear Memory Box (Zero init) |
DieterGraef | 0:f9b6112278fe | 1704 | static void rt_clr_box (void *box_mem, void *box) { |
DieterGraef | 0:f9b6112278fe | 1705 | uint32_t *p, n; |
DieterGraef | 0:f9b6112278fe | 1706 | |
DieterGraef | 0:f9b6112278fe | 1707 | if (box) { |
DieterGraef | 0:f9b6112278fe | 1708 | p = box; |
DieterGraef | 0:f9b6112278fe | 1709 | for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) { |
DieterGraef | 0:f9b6112278fe | 1710 | *p++ = 0; |
DieterGraef | 0:f9b6112278fe | 1711 | } |
DieterGraef | 0:f9b6112278fe | 1712 | } |
DieterGraef | 0:f9b6112278fe | 1713 | } |
DieterGraef | 0:f9b6112278fe | 1714 | |
DieterGraef | 0:f9b6112278fe | 1715 | // Memory Management Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1716 | SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1717 | SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1718 | SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1719 | |
DieterGraef | 0:f9b6112278fe | 1720 | // Memory Management Service & ISR Calls |
DieterGraef | 0:f9b6112278fe | 1721 | |
DieterGraef | 0:f9b6112278fe | 1722 | /// Create and Initialize memory pool |
DieterGraef | 0:f9b6112278fe | 1723 | osPoolId svcPoolCreate (const osPoolDef_t *pool_def) { |
DieterGraef | 0:f9b6112278fe | 1724 | uint32_t blk_sz; |
DieterGraef | 0:f9b6112278fe | 1725 | |
DieterGraef | 0:f9b6112278fe | 1726 | if ((pool_def == NULL) || |
DieterGraef | 0:f9b6112278fe | 1727 | (pool_def->pool_sz == 0) || |
DieterGraef | 0:f9b6112278fe | 1728 | (pool_def->item_sz == 0) || |
DieterGraef | 0:f9b6112278fe | 1729 | (pool_def->pool == NULL)) { |
DieterGraef | 0:f9b6112278fe | 1730 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1731 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1732 | } |
DieterGraef | 0:f9b6112278fe | 1733 | |
DieterGraef | 0:f9b6112278fe | 1734 | blk_sz = (pool_def->item_sz + 3) & ~3; |
DieterGraef | 0:f9b6112278fe | 1735 | |
DieterGraef | 0:f9b6112278fe | 1736 | _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz); |
DieterGraef | 0:f9b6112278fe | 1737 | |
DieterGraef | 0:f9b6112278fe | 1738 | return pool_def->pool; |
DieterGraef | 0:f9b6112278fe | 1739 | } |
DieterGraef | 0:f9b6112278fe | 1740 | |
DieterGraef | 0:f9b6112278fe | 1741 | /// Allocate a memory block from a memory pool |
DieterGraef | 0:f9b6112278fe | 1742 | void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) { |
DieterGraef | 0:f9b6112278fe | 1743 | void *ptr; |
DieterGraef | 0:f9b6112278fe | 1744 | |
DieterGraef | 0:f9b6112278fe | 1745 | if (pool_id == NULL) return NULL; |
DieterGraef | 0:f9b6112278fe | 1746 | |
DieterGraef | 0:f9b6112278fe | 1747 | ptr = rt_alloc_box(pool_id); |
DieterGraef | 0:f9b6112278fe | 1748 | if (clr) { |
DieterGraef | 0:f9b6112278fe | 1749 | rt_clr_box(pool_id, ptr); |
DieterGraef | 0:f9b6112278fe | 1750 | } |
DieterGraef | 0:f9b6112278fe | 1751 | |
DieterGraef | 0:f9b6112278fe | 1752 | return ptr; |
DieterGraef | 0:f9b6112278fe | 1753 | } |
DieterGraef | 0:f9b6112278fe | 1754 | |
DieterGraef | 0:f9b6112278fe | 1755 | /// Return an allocated memory block back to a specific memory pool |
DieterGraef | 0:f9b6112278fe | 1756 | osStatus sysPoolFree (osPoolId pool_id, void *block) { |
DieterGraef | 0:f9b6112278fe | 1757 | int32_t res; |
DieterGraef | 0:f9b6112278fe | 1758 | |
DieterGraef | 0:f9b6112278fe | 1759 | if (pool_id == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1760 | |
DieterGraef | 0:f9b6112278fe | 1761 | res = rt_free_box(pool_id, block); |
DieterGraef | 0:f9b6112278fe | 1762 | if (res != 0) return osErrorValue; |
DieterGraef | 0:f9b6112278fe | 1763 | |
DieterGraef | 0:f9b6112278fe | 1764 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1765 | } |
DieterGraef | 0:f9b6112278fe | 1766 | |
DieterGraef | 0:f9b6112278fe | 1767 | |
DieterGraef | 0:f9b6112278fe | 1768 | // Memory Management Public API |
DieterGraef | 0:f9b6112278fe | 1769 | |
DieterGraef | 0:f9b6112278fe | 1770 | /// Create and Initialize memory pool |
DieterGraef | 0:f9b6112278fe | 1771 | osPoolId osPoolCreate (const osPoolDef_t *pool_def) { |
DieterGraef | 0:f9b6112278fe | 1772 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1773 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 1774 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 1775 | return svcPoolCreate(pool_def); |
DieterGraef | 0:f9b6112278fe | 1776 | } else { |
DieterGraef | 0:f9b6112278fe | 1777 | return __svcPoolCreate(pool_def); |
DieterGraef | 0:f9b6112278fe | 1778 | } |
DieterGraef | 0:f9b6112278fe | 1779 | } |
DieterGraef | 0:f9b6112278fe | 1780 | |
DieterGraef | 0:f9b6112278fe | 1781 | /// Allocate a memory block from a memory pool |
DieterGraef | 0:f9b6112278fe | 1782 | void *osPoolAlloc (osPoolId pool_id) { |
DieterGraef | 0:f9b6112278fe | 1783 | if (__get_mode() != MODE_USR) { // in ISR or Privileged |
DieterGraef | 0:f9b6112278fe | 1784 | return sysPoolAlloc(pool_id, 0); |
DieterGraef | 0:f9b6112278fe | 1785 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1786 | return __sysPoolAlloc(pool_id, 0); |
DieterGraef | 0:f9b6112278fe | 1787 | } |
DieterGraef | 0:f9b6112278fe | 1788 | } |
DieterGraef | 0:f9b6112278fe | 1789 | |
DieterGraef | 0:f9b6112278fe | 1790 | /// Allocate a memory block from a memory pool and set memory block to zero |
DieterGraef | 0:f9b6112278fe | 1791 | void *osPoolCAlloc (osPoolId pool_id) { |
DieterGraef | 0:f9b6112278fe | 1792 | if (__get_mode() != MODE_USR) { // in ISR or Privileged |
DieterGraef | 0:f9b6112278fe | 1793 | return sysPoolAlloc(pool_id, 1); |
DieterGraef | 0:f9b6112278fe | 1794 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1795 | return __sysPoolAlloc(pool_id, 1); |
DieterGraef | 0:f9b6112278fe | 1796 | } |
DieterGraef | 0:f9b6112278fe | 1797 | } |
DieterGraef | 0:f9b6112278fe | 1798 | |
DieterGraef | 0:f9b6112278fe | 1799 | /// Return an allocated memory block back to a specific memory pool |
DieterGraef | 0:f9b6112278fe | 1800 | osStatus osPoolFree (osPoolId pool_id, void *block) { |
DieterGraef | 0:f9b6112278fe | 1801 | if (__get_mode() != MODE_USR) { // in ISR or Privileged |
DieterGraef | 0:f9b6112278fe | 1802 | return sysPoolFree(pool_id, block); |
DieterGraef | 0:f9b6112278fe | 1803 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1804 | return __sysPoolFree(pool_id, block); |
DieterGraef | 0:f9b6112278fe | 1805 | } |
DieterGraef | 0:f9b6112278fe | 1806 | } |
DieterGraef | 0:f9b6112278fe | 1807 | |
DieterGraef | 0:f9b6112278fe | 1808 | |
DieterGraef | 0:f9b6112278fe | 1809 | // ==== Message Queue Management Functions ==== |
DieterGraef | 0:f9b6112278fe | 1810 | |
DieterGraef | 0:f9b6112278fe | 1811 | // Message Queue Management Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1812 | SVC_2_1(svcMessageCreate, osMessageQId, const osMessageQDef_t *, osThreadId, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1813 | SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1814 | SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent) |
DieterGraef | 0:f9b6112278fe | 1815 | |
DieterGraef | 0:f9b6112278fe | 1816 | // Message Queue Service Calls |
DieterGraef | 0:f9b6112278fe | 1817 | |
DieterGraef | 0:f9b6112278fe | 1818 | /// Create and Initialize Message Queue |
DieterGraef | 0:f9b6112278fe | 1819 | osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 1820 | |
DieterGraef | 0:f9b6112278fe | 1821 | if ((queue_def == NULL) || |
DieterGraef | 0:f9b6112278fe | 1822 | (queue_def->queue_sz == 0) || |
DieterGraef | 0:f9b6112278fe | 1823 | (queue_def->pool == NULL)) { |
DieterGraef | 0:f9b6112278fe | 1824 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1825 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1826 | } |
DieterGraef | 0:f9b6112278fe | 1827 | |
DieterGraef | 0:f9b6112278fe | 1828 | if (((P_MCB)queue_def->pool)->cb_type != 0) { |
DieterGraef | 0:f9b6112278fe | 1829 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 1830 | return NULL; |
DieterGraef | 0:f9b6112278fe | 1831 | } |
DieterGraef | 0:f9b6112278fe | 1832 | |
DieterGraef | 0:f9b6112278fe | 1833 | rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4)); |
DieterGraef | 0:f9b6112278fe | 1834 | |
DieterGraef | 0:f9b6112278fe | 1835 | return queue_def->pool; |
DieterGraef | 0:f9b6112278fe | 1836 | } |
DieterGraef | 0:f9b6112278fe | 1837 | |
DieterGraef | 0:f9b6112278fe | 1838 | /// Put a Message to a Queue |
DieterGraef | 0:f9b6112278fe | 1839 | osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1840 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1841 | |
DieterGraef | 0:f9b6112278fe | 1842 | if (queue_id == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1843 | |
DieterGraef | 0:f9b6112278fe | 1844 | if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1845 | |
DieterGraef | 0:f9b6112278fe | 1846 | res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec)); |
DieterGraef | 0:f9b6112278fe | 1847 | |
DieterGraef | 0:f9b6112278fe | 1848 | if (res == OS_R_TMO) { |
DieterGraef | 0:f9b6112278fe | 1849 | return (millisec ? osErrorTimeoutResource : osErrorResource); |
DieterGraef | 0:f9b6112278fe | 1850 | } |
DieterGraef | 0:f9b6112278fe | 1851 | |
DieterGraef | 0:f9b6112278fe | 1852 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1853 | } |
DieterGraef | 0:f9b6112278fe | 1854 | |
DieterGraef | 0:f9b6112278fe | 1855 | /// Get a Message or Wait for a Message from a Queue |
DieterGraef | 0:f9b6112278fe | 1856 | os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1857 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1858 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 1859 | |
DieterGraef | 0:f9b6112278fe | 1860 | if (queue_id == NULL) { |
DieterGraef | 0:f9b6112278fe | 1861 | ret.status = osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1862 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1863 | osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1864 | return; |
DieterGraef | 0:f9b6112278fe | 1865 | #else |
DieterGraef | 0:f9b6112278fe | 1866 | return osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1867 | #endif |
DieterGraef | 0:f9b6112278fe | 1868 | } |
DieterGraef | 0:f9b6112278fe | 1869 | |
DieterGraef | 0:f9b6112278fe | 1870 | if (((P_MCB)queue_id)->cb_type != MCB) { |
DieterGraef | 0:f9b6112278fe | 1871 | ret.status = osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1872 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1873 | osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1874 | return; |
DieterGraef | 0:f9b6112278fe | 1875 | #else |
DieterGraef | 0:f9b6112278fe | 1876 | return osEvent_ret_status; |
DieterGraef | 0:f9b6112278fe | 1877 | #endif |
DieterGraef | 0:f9b6112278fe | 1878 | } |
DieterGraef | 0:f9b6112278fe | 1879 | |
DieterGraef | 0:f9b6112278fe | 1880 | res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec)); |
DieterGraef | 0:f9b6112278fe | 1881 | |
DieterGraef | 0:f9b6112278fe | 1882 | if (res == OS_R_TMO) { |
DieterGraef | 0:f9b6112278fe | 1883 | ret.status = millisec ? osEventTimeout : osOK; |
DieterGraef | 0:f9b6112278fe | 1884 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1885 | osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1886 | return; |
DieterGraef | 0:f9b6112278fe | 1887 | #else |
DieterGraef | 0:f9b6112278fe | 1888 | return osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1889 | #endif |
DieterGraef | 0:f9b6112278fe | 1890 | } |
DieterGraef | 0:f9b6112278fe | 1891 | |
DieterGraef | 0:f9b6112278fe | 1892 | ret.status = osEventMessage; |
DieterGraef | 0:f9b6112278fe | 1893 | |
DieterGraef | 0:f9b6112278fe | 1894 | #if defined (__GNUC__) && defined (__ARM_PCS_VFP) |
DieterGraef | 0:f9b6112278fe | 1895 | osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1896 | return; |
DieterGraef | 0:f9b6112278fe | 1897 | #else |
DieterGraef | 0:f9b6112278fe | 1898 | return osEvent_ret_value; |
DieterGraef | 0:f9b6112278fe | 1899 | #endif |
DieterGraef | 0:f9b6112278fe | 1900 | } |
DieterGraef | 0:f9b6112278fe | 1901 | |
DieterGraef | 0:f9b6112278fe | 1902 | |
DieterGraef | 0:f9b6112278fe | 1903 | // Message Queue ISR Calls |
DieterGraef | 0:f9b6112278fe | 1904 | |
DieterGraef | 0:f9b6112278fe | 1905 | /// Put a Message to a Queue |
DieterGraef | 0:f9b6112278fe | 1906 | static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1907 | |
DieterGraef | 0:f9b6112278fe | 1908 | if ((queue_id == NULL) || (millisec != 0)) { |
DieterGraef | 0:f9b6112278fe | 1909 | return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1910 | } |
DieterGraef | 0:f9b6112278fe | 1911 | |
DieterGraef | 0:f9b6112278fe | 1912 | if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1913 | |
DieterGraef | 0:f9b6112278fe | 1914 | if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full |
DieterGraef | 0:f9b6112278fe | 1915 | return osErrorResource; |
DieterGraef | 0:f9b6112278fe | 1916 | } |
DieterGraef | 0:f9b6112278fe | 1917 | |
DieterGraef | 0:f9b6112278fe | 1918 | isr_mbx_send(queue_id, (void *)info); |
DieterGraef | 0:f9b6112278fe | 1919 | |
DieterGraef | 0:f9b6112278fe | 1920 | return osOK; |
DieterGraef | 0:f9b6112278fe | 1921 | } |
DieterGraef | 0:f9b6112278fe | 1922 | |
DieterGraef | 0:f9b6112278fe | 1923 | /// Get a Message or Wait for a Message from a Queue |
DieterGraef | 0:f9b6112278fe | 1924 | static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1925 | OS_RESULT res; |
DieterGraef | 0:f9b6112278fe | 1926 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 1927 | |
DieterGraef | 0:f9b6112278fe | 1928 | if ((queue_id == NULL) || (millisec != 0)) { |
DieterGraef | 0:f9b6112278fe | 1929 | ret.status = osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1930 | return ret; |
DieterGraef | 0:f9b6112278fe | 1931 | } |
DieterGraef | 0:f9b6112278fe | 1932 | |
DieterGraef | 0:f9b6112278fe | 1933 | if (((P_MCB)queue_id)->cb_type != MCB) { |
DieterGraef | 0:f9b6112278fe | 1934 | ret.status = osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 1935 | return ret; |
DieterGraef | 0:f9b6112278fe | 1936 | } |
DieterGraef | 0:f9b6112278fe | 1937 | |
DieterGraef | 0:f9b6112278fe | 1938 | res = isr_mbx_receive(queue_id, &ret.value.p); |
DieterGraef | 0:f9b6112278fe | 1939 | |
DieterGraef | 0:f9b6112278fe | 1940 | if (res != OS_R_MBX) { |
DieterGraef | 0:f9b6112278fe | 1941 | ret.status = osOK; |
DieterGraef | 0:f9b6112278fe | 1942 | return ret; |
DieterGraef | 0:f9b6112278fe | 1943 | } |
DieterGraef | 0:f9b6112278fe | 1944 | |
DieterGraef | 0:f9b6112278fe | 1945 | ret.status = osEventMessage; |
DieterGraef | 0:f9b6112278fe | 1946 | |
DieterGraef | 0:f9b6112278fe | 1947 | return ret; |
DieterGraef | 0:f9b6112278fe | 1948 | } |
DieterGraef | 0:f9b6112278fe | 1949 | |
DieterGraef | 0:f9b6112278fe | 1950 | |
DieterGraef | 0:f9b6112278fe | 1951 | // Message Queue Management Public API |
DieterGraef | 0:f9b6112278fe | 1952 | |
DieterGraef | 0:f9b6112278fe | 1953 | /// Create and Initialize Message Queue |
DieterGraef | 0:f9b6112278fe | 1954 | osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 1955 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 1956 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 1957 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 1958 | return svcMessageCreate(queue_def, thread_id); |
DieterGraef | 0:f9b6112278fe | 1959 | } else { |
DieterGraef | 0:f9b6112278fe | 1960 | return __svcMessageCreate(queue_def, thread_id); |
DieterGraef | 0:f9b6112278fe | 1961 | } |
DieterGraef | 0:f9b6112278fe | 1962 | } |
DieterGraef | 0:f9b6112278fe | 1963 | |
DieterGraef | 0:f9b6112278fe | 1964 | /// Put a Message to a Queue |
DieterGraef | 0:f9b6112278fe | 1965 | osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1966 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 1967 | return isrMessagePut(queue_id, info, millisec); |
DieterGraef | 0:f9b6112278fe | 1968 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1969 | return __svcMessagePut(queue_id, info, millisec); |
DieterGraef | 0:f9b6112278fe | 1970 | } |
DieterGraef | 0:f9b6112278fe | 1971 | } |
DieterGraef | 0:f9b6112278fe | 1972 | |
DieterGraef | 0:f9b6112278fe | 1973 | /// Get a Message or Wait for a Message from a Queue |
DieterGraef | 0:f9b6112278fe | 1974 | os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 1975 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 1976 | return isrMessageGet(queue_id, millisec); |
DieterGraef | 0:f9b6112278fe | 1977 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 1978 | return __svcMessageGet(queue_id, millisec); |
DieterGraef | 0:f9b6112278fe | 1979 | } |
DieterGraef | 0:f9b6112278fe | 1980 | } |
DieterGraef | 0:f9b6112278fe | 1981 | |
DieterGraef | 0:f9b6112278fe | 1982 | |
DieterGraef | 0:f9b6112278fe | 1983 | // ==== Mail Queue Management Functions ==== |
DieterGraef | 0:f9b6112278fe | 1984 | |
DieterGraef | 0:f9b6112278fe | 1985 | // Mail Queue Management Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 1986 | SVC_2_1(svcMailCreate, osMailQId, const osMailQDef_t *, osThreadId, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1987 | SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer) |
DieterGraef | 0:f9b6112278fe | 1988 | SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus) |
DieterGraef | 0:f9b6112278fe | 1989 | |
DieterGraef | 0:f9b6112278fe | 1990 | // Mail Queue Management Service & ISR Calls |
DieterGraef | 0:f9b6112278fe | 1991 | |
DieterGraef | 0:f9b6112278fe | 1992 | /// Create and Initialize mail queue |
DieterGraef | 0:f9b6112278fe | 1993 | osMailQId svcMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 1994 | uint32_t blk_sz; |
DieterGraef | 0:f9b6112278fe | 1995 | P_MCB pmcb; |
DieterGraef | 0:f9b6112278fe | 1996 | void *pool; |
DieterGraef | 0:f9b6112278fe | 1997 | |
DieterGraef | 0:f9b6112278fe | 1998 | if ((queue_def == NULL) || |
DieterGraef | 0:f9b6112278fe | 1999 | (queue_def->queue_sz == 0) || |
DieterGraef | 0:f9b6112278fe | 2000 | (queue_def->item_sz == 0) || |
DieterGraef | 0:f9b6112278fe | 2001 | (queue_def->pool == NULL)) { |
DieterGraef | 0:f9b6112278fe | 2002 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 2003 | return NULL; |
DieterGraef | 0:f9b6112278fe | 2004 | } |
DieterGraef | 0:f9b6112278fe | 2005 | |
DieterGraef | 0:f9b6112278fe | 2006 | pmcb = *(((void **)queue_def->pool) + 0); |
DieterGraef | 0:f9b6112278fe | 2007 | pool = *(((void **)queue_def->pool) + 1); |
DieterGraef | 0:f9b6112278fe | 2008 | |
DieterGraef | 0:f9b6112278fe | 2009 | if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) { |
DieterGraef | 0:f9b6112278fe | 2010 | sysThreadError(osErrorParameter); |
DieterGraef | 0:f9b6112278fe | 2011 | return NULL; |
DieterGraef | 0:f9b6112278fe | 2012 | } |
DieterGraef | 0:f9b6112278fe | 2013 | |
DieterGraef | 0:f9b6112278fe | 2014 | blk_sz = (queue_def->item_sz + 3) & ~3; |
DieterGraef | 0:f9b6112278fe | 2015 | |
DieterGraef | 0:f9b6112278fe | 2016 | _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz); |
DieterGraef | 0:f9b6112278fe | 2017 | |
DieterGraef | 0:f9b6112278fe | 2018 | rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4)); |
DieterGraef | 0:f9b6112278fe | 2019 | |
DieterGraef | 0:f9b6112278fe | 2020 | return queue_def->pool; |
DieterGraef | 0:f9b6112278fe | 2021 | } |
DieterGraef | 0:f9b6112278fe | 2022 | |
DieterGraef | 0:f9b6112278fe | 2023 | /// Allocate a memory block from a mail |
DieterGraef | 0:f9b6112278fe | 2024 | void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) { |
DieterGraef | 0:f9b6112278fe | 2025 | P_MCB pmcb; |
DieterGraef | 0:f9b6112278fe | 2026 | void *pool; |
DieterGraef | 0:f9b6112278fe | 2027 | void *mem; |
DieterGraef | 0:f9b6112278fe | 2028 | |
DieterGraef | 0:f9b6112278fe | 2029 | if (queue_id == NULL) return NULL; |
DieterGraef | 0:f9b6112278fe | 2030 | |
DieterGraef | 0:f9b6112278fe | 2031 | pmcb = *(((void **)queue_id) + 0); |
DieterGraef | 0:f9b6112278fe | 2032 | pool = *(((void **)queue_id) + 1); |
DieterGraef | 0:f9b6112278fe | 2033 | |
DieterGraef | 0:f9b6112278fe | 2034 | if ((pool == NULL) || (pmcb == NULL)) return NULL; |
DieterGraef | 0:f9b6112278fe | 2035 | |
DieterGraef | 0:f9b6112278fe | 2036 | if (isr && (millisec != 0)) return NULL; |
DieterGraef | 0:f9b6112278fe | 2037 | |
DieterGraef | 0:f9b6112278fe | 2038 | mem = rt_alloc_box(pool); |
DieterGraef | 0:f9b6112278fe | 2039 | if (clr) { |
DieterGraef | 0:f9b6112278fe | 2040 | rt_clr_box(pool, mem); |
DieterGraef | 0:f9b6112278fe | 2041 | } |
DieterGraef | 0:f9b6112278fe | 2042 | |
DieterGraef | 0:f9b6112278fe | 2043 | if ((mem == NULL) && (millisec != 0)) { |
DieterGraef | 0:f9b6112278fe | 2044 | // Put Task to sleep when Memory not available |
DieterGraef | 0:f9b6112278fe | 2045 | if (pmcb->p_lnk != NULL) { |
DieterGraef | 0:f9b6112278fe | 2046 | rt_put_prio((P_XCB)pmcb, os_tsk.run); |
DieterGraef | 0:f9b6112278fe | 2047 | } else { |
DieterGraef | 0:f9b6112278fe | 2048 | pmcb->p_lnk = os_tsk.run; |
DieterGraef | 0:f9b6112278fe | 2049 | os_tsk.run->p_lnk = NULL; |
DieterGraef | 0:f9b6112278fe | 2050 | os_tsk.run->p_rlnk = (P_TCB)pmcb; |
DieterGraef | 0:f9b6112278fe | 2051 | // Task is waiting to allocate a message |
DieterGraef | 0:f9b6112278fe | 2052 | pmcb->state = 3; |
DieterGraef | 0:f9b6112278fe | 2053 | } |
DieterGraef | 0:f9b6112278fe | 2054 | rt_block(rt_ms2tick(millisec), WAIT_MBX); |
DieterGraef | 0:f9b6112278fe | 2055 | } |
DieterGraef | 0:f9b6112278fe | 2056 | |
DieterGraef | 0:f9b6112278fe | 2057 | return mem; |
DieterGraef | 0:f9b6112278fe | 2058 | } |
DieterGraef | 0:f9b6112278fe | 2059 | |
DieterGraef | 0:f9b6112278fe | 2060 | /// Free a memory block from a mail |
DieterGraef | 0:f9b6112278fe | 2061 | osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) { |
DieterGraef | 0:f9b6112278fe | 2062 | P_MCB pmcb; |
DieterGraef | 0:f9b6112278fe | 2063 | P_TCB ptcb; |
DieterGraef | 0:f9b6112278fe | 2064 | void *pool; |
DieterGraef | 0:f9b6112278fe | 2065 | void *mem; |
DieterGraef | 0:f9b6112278fe | 2066 | int32_t res; |
DieterGraef | 0:f9b6112278fe | 2067 | |
DieterGraef | 0:f9b6112278fe | 2068 | if (queue_id == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 2069 | |
DieterGraef | 0:f9b6112278fe | 2070 | pmcb = *(((void **)queue_id) + 0); |
DieterGraef | 0:f9b6112278fe | 2071 | pool = *(((void **)queue_id) + 1); |
DieterGraef | 0:f9b6112278fe | 2072 | |
DieterGraef | 0:f9b6112278fe | 2073 | if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 2074 | |
DieterGraef | 0:f9b6112278fe | 2075 | res = rt_free_box(pool, mail); |
DieterGraef | 0:f9b6112278fe | 2076 | |
DieterGraef | 0:f9b6112278fe | 2077 | if (res != 0) return osErrorValue; |
DieterGraef | 0:f9b6112278fe | 2078 | |
DieterGraef | 0:f9b6112278fe | 2079 | if ((pmcb->p_lnk != NULL) && (pmcb->state == 3)) { |
DieterGraef | 0:f9b6112278fe | 2080 | // Task is waiting to allocate a message |
DieterGraef | 0:f9b6112278fe | 2081 | if (isr) { |
DieterGraef | 0:f9b6112278fe | 2082 | rt_psq_enq (pmcb, (U32)pool); |
DieterGraef | 0:f9b6112278fe | 2083 | rt_psh_req (); |
DieterGraef | 0:f9b6112278fe | 2084 | } else { |
DieterGraef | 0:f9b6112278fe | 2085 | mem = rt_alloc_box(pool); |
DieterGraef | 0:f9b6112278fe | 2086 | if (mem != NULL) { |
DieterGraef | 0:f9b6112278fe | 2087 | ptcb = rt_get_first((P_XCB)pmcb); |
DieterGraef | 0:f9b6112278fe | 2088 | rt_ret_val(ptcb, (U32)mem); |
DieterGraef | 0:f9b6112278fe | 2089 | rt_rmv_dly(ptcb); |
DieterGraef | 0:f9b6112278fe | 2090 | rt_dispatch(ptcb); |
DieterGraef | 0:f9b6112278fe | 2091 | } |
DieterGraef | 0:f9b6112278fe | 2092 | } |
DieterGraef | 0:f9b6112278fe | 2093 | } |
DieterGraef | 0:f9b6112278fe | 2094 | |
DieterGraef | 0:f9b6112278fe | 2095 | return osOK; |
DieterGraef | 0:f9b6112278fe | 2096 | } |
DieterGraef | 0:f9b6112278fe | 2097 | |
DieterGraef | 0:f9b6112278fe | 2098 | |
DieterGraef | 0:f9b6112278fe | 2099 | // Mail Queue Management Public API |
DieterGraef | 0:f9b6112278fe | 2100 | |
DieterGraef | 0:f9b6112278fe | 2101 | /// Create and Initialize mail queue |
DieterGraef | 0:f9b6112278fe | 2102 | osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) { |
DieterGraef | 0:f9b6112278fe | 2103 | if (__exceptional_mode()) return NULL; // Not allowed in ISR |
DieterGraef | 0:f9b6112278fe | 2104 | if ((__get_mode() != MODE_USR) && (os_running == 0)) { |
DieterGraef | 0:f9b6112278fe | 2105 | // Privileged and not running |
DieterGraef | 0:f9b6112278fe | 2106 | return svcMailCreate(queue_def, thread_id); |
DieterGraef | 0:f9b6112278fe | 2107 | } else { |
DieterGraef | 0:f9b6112278fe | 2108 | return __svcMailCreate(queue_def, thread_id); |
DieterGraef | 0:f9b6112278fe | 2109 | } |
DieterGraef | 0:f9b6112278fe | 2110 | } |
DieterGraef | 0:f9b6112278fe | 2111 | |
DieterGraef | 0:f9b6112278fe | 2112 | /// Allocate a memory block from a mail |
DieterGraef | 0:f9b6112278fe | 2113 | void *osMailAlloc (osMailQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 2114 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 2115 | return sysMailAlloc(queue_id, millisec, 1, 0); |
DieterGraef | 0:f9b6112278fe | 2116 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 2117 | return __sysMailAlloc(queue_id, millisec, 0, 0); |
DieterGraef | 0:f9b6112278fe | 2118 | } |
DieterGraef | 0:f9b6112278fe | 2119 | } |
DieterGraef | 0:f9b6112278fe | 2120 | |
DieterGraef | 0:f9b6112278fe | 2121 | /// Allocate a memory block from a mail and set memory block to zero |
DieterGraef | 0:f9b6112278fe | 2122 | void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 2123 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 2124 | return sysMailAlloc(queue_id, millisec, 1, 1); |
DieterGraef | 0:f9b6112278fe | 2125 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 2126 | return __sysMailAlloc(queue_id, millisec, 0, 1); |
DieterGraef | 0:f9b6112278fe | 2127 | } |
DieterGraef | 0:f9b6112278fe | 2128 | } |
DieterGraef | 0:f9b6112278fe | 2129 | |
DieterGraef | 0:f9b6112278fe | 2130 | /// Free a memory block from a mail |
DieterGraef | 0:f9b6112278fe | 2131 | osStatus osMailFree (osMailQId queue_id, void *mail) { |
DieterGraef | 0:f9b6112278fe | 2132 | if (__exceptional_mode()) { // in ISR |
DieterGraef | 0:f9b6112278fe | 2133 | return sysMailFree(queue_id, mail, 1); |
DieterGraef | 0:f9b6112278fe | 2134 | } else { // in Thread |
DieterGraef | 0:f9b6112278fe | 2135 | return __sysMailFree(queue_id, mail, 0); |
DieterGraef | 0:f9b6112278fe | 2136 | } |
DieterGraef | 0:f9b6112278fe | 2137 | } |
DieterGraef | 0:f9b6112278fe | 2138 | |
DieterGraef | 0:f9b6112278fe | 2139 | /// Put a mail to a queue |
DieterGraef | 0:f9b6112278fe | 2140 | osStatus osMailPut (osMailQId queue_id, void *mail) { |
DieterGraef | 0:f9b6112278fe | 2141 | if (queue_id == NULL) return osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 2142 | if (mail == NULL) return osErrorValue; |
DieterGraef | 0:f9b6112278fe | 2143 | return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0); |
DieterGraef | 0:f9b6112278fe | 2144 | } |
DieterGraef | 0:f9b6112278fe | 2145 | |
DieterGraef | 0:f9b6112278fe | 2146 | #ifdef __CC_ARM |
DieterGraef | 0:f9b6112278fe | 2147 | #pragma push |
DieterGraef | 0:f9b6112278fe | 2148 | #pragma Ospace |
DieterGraef | 0:f9b6112278fe | 2149 | #endif // __arm__ |
DieterGraef | 0:f9b6112278fe | 2150 | /// Get a mail from a queue |
DieterGraef | 0:f9b6112278fe | 2151 | os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) { |
DieterGraef | 0:f9b6112278fe | 2152 | osEvent ret; |
DieterGraef | 0:f9b6112278fe | 2153 | |
DieterGraef | 0:f9b6112278fe | 2154 | if (queue_id == NULL) { |
DieterGraef | 0:f9b6112278fe | 2155 | ret.status = osErrorParameter; |
DieterGraef | 0:f9b6112278fe | 2156 | return ret; |
DieterGraef | 0:f9b6112278fe | 2157 | } |
DieterGraef | 0:f9b6112278fe | 2158 | |
DieterGraef | 0:f9b6112278fe | 2159 | ret = osMessageGet(*((void **)queue_id), millisec); |
DieterGraef | 0:f9b6112278fe | 2160 | if (ret.status == osEventMessage) ret.status = osEventMail; |
DieterGraef | 0:f9b6112278fe | 2161 | |
DieterGraef | 0:f9b6112278fe | 2162 | return ret; |
DieterGraef | 0:f9b6112278fe | 2163 | } |
DieterGraef | 0:f9b6112278fe | 2164 | #ifdef __CC_ARM |
DieterGraef | 0:f9b6112278fe | 2165 | #pragma pop |
DieterGraef | 0:f9b6112278fe | 2166 | #endif // __arm__ |
DieterGraef | 0:f9b6112278fe | 2167 | |
DieterGraef | 0:f9b6112278fe | 2168 | |
DieterGraef | 0:f9b6112278fe | 2169 | // ==== RTX Extensions ==== |
DieterGraef | 0:f9b6112278fe | 2170 | |
DieterGraef | 0:f9b6112278fe | 2171 | // Service Calls declarations |
DieterGraef | 0:f9b6112278fe | 2172 | SVC_0_1(rt_suspend, uint32_t, RET_uint32_t) |
DieterGraef | 0:f9b6112278fe | 2173 | SVC_1_0(rt_resume, void, uint32_t) |
DieterGraef | 0:f9b6112278fe | 2174 | |
DieterGraef | 0:f9b6112278fe | 2175 | |
DieterGraef | 0:f9b6112278fe | 2176 | // Public API |
DieterGraef | 0:f9b6112278fe | 2177 | |
DieterGraef | 0:f9b6112278fe | 2178 | /// Suspends the OS task scheduler |
DieterGraef | 0:f9b6112278fe | 2179 | uint32_t os_suspend (void) { |
DieterGraef | 0:f9b6112278fe | 2180 | return __rt_suspend(); |
DieterGraef | 0:f9b6112278fe | 2181 | } |
DieterGraef | 0:f9b6112278fe | 2182 | |
DieterGraef | 0:f9b6112278fe | 2183 | /// Resumes the OS task scheduler |
DieterGraef | 0:f9b6112278fe | 2184 | void os_resume (uint32_t sleep_time) { |
DieterGraef | 0:f9b6112278fe | 2185 | __rt_resume(sleep_time); |
DieterGraef | 0:f9b6112278fe | 2186 | } |