cebri alyac / mbed-rtos

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Dependents:   Asservissement_Gyro

rtos/Mail.h@0:77205fc699b9, 2022-05-08 (annotated)

Committer:
braichi13
Date:
Sun May 08 14:39:47 2022 +0000
Revision:
0:77205fc699b9
Programme du Gyropode

Who changed what in which revision?

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braichi13 0:77205fc699b9 1 /* mbed Microcontroller Library
braichi13 0:77205fc699b9 2 * Copyright (c) 2006-2012 ARM Limited
braichi13 0:77205fc699b9 3 *
braichi13 0:77205fc699b9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
braichi13 0:77205fc699b9 5 * of this software and associated documentation files (the "Software"), to deal
braichi13 0:77205fc699b9 6 * in the Software without restriction, including without limitation the rights
braichi13 0:77205fc699b9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
braichi13 0:77205fc699b9 8 * copies of the Software, and to permit persons to whom the Software is
braichi13 0:77205fc699b9 9 * furnished to do so, subject to the following conditions:
braichi13 0:77205fc699b9 10 *
braichi13 0:77205fc699b9 11 * The above copyright notice and this permission notice shall be included in
braichi13 0:77205fc699b9 12 * all copies or substantial portions of the Software.
braichi13 0:77205fc699b9 13 *
braichi13 0:77205fc699b9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
braichi13 0:77205fc699b9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
braichi13 0:77205fc699b9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
braichi13 0:77205fc699b9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
braichi13 0:77205fc699b9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
braichi13 0:77205fc699b9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
braichi13 0:77205fc699b9 20 * SOFTWARE.
braichi13 0:77205fc699b9 21 */
braichi13 0:77205fc699b9 22 #ifndef MAIL_H
braichi13 0:77205fc699b9 23 #define MAIL_H
braichi13 0:77205fc699b9 24
braichi13 0:77205fc699b9 25 #include <stdint.h>
braichi13 0:77205fc699b9 26 #include <string.h>
braichi13 0:77205fc699b9 27
braichi13 0:77205fc699b9 28 #include "cmsis_os.h"
braichi13 0:77205fc699b9 29
braichi13 0:77205fc699b9 30 namespace rtos {
braichi13 0:77205fc699b9 31 /** \addtogroup rtos */
braichi13 0:77205fc699b9 32 /** @{*/
braichi13 0:77205fc699b9 33
braichi13 0:77205fc699b9 34 /** The Mail class allow to control, send, receive, or wait for mail.
braichi13 0:77205fc699b9 35 A mail is a memory block that is send to a thread or interrupt service routine.
braichi13 0:77205fc699b9 36 @tparam T data type of a single message element.
braichi13 0:77205fc699b9 37 @tparam queue_sz maximum number of messages in queue.
braichi13 0:77205fc699b9 38 */
braichi13 0:77205fc699b9 39 template<typename T, uint32_t queue_sz>
braichi13 0:77205fc699b9 40 class Mail {
braichi13 0:77205fc699b9 41 public:
braichi13 0:77205fc699b9 42 /** Create and Initialise Mail queue. */
braichi13 0:77205fc699b9 43 Mail() {
braichi13 0:77205fc699b9 44 #ifdef CMSIS_OS_RTX
braichi13 0:77205fc699b9 45 memset(_mail_q, 0, sizeof(_mail_q));
braichi13 0:77205fc699b9 46 _mail_p[0] = _mail_q;
braichi13 0:77205fc699b9 47
braichi13 0:77205fc699b9 48 memset(_mail_m, 0, sizeof(_mail_m));
braichi13 0:77205fc699b9 49 _mail_p[1] = _mail_m;
braichi13 0:77205fc699b9 50
braichi13 0:77205fc699b9 51 _mail_def.pool = _mail_p;
braichi13 0:77205fc699b9 52 _mail_def.queue_sz = queue_sz;
braichi13 0:77205fc699b9 53 _mail_def.item_sz = sizeof(T);
braichi13 0:77205fc699b9 54 #endif
braichi13 0:77205fc699b9 55 _mail_id = osMailCreate(&_mail_def, NULL);
braichi13 0:77205fc699b9 56 }
braichi13 0:77205fc699b9 57
braichi13 0:77205fc699b9 58 /** Allocate a memory block of type T
braichi13 0:77205fc699b9 59 @param millisec timeout value or 0 in case of no time-out. (default: 0).
braichi13 0:77205fc699b9 60 @return pointer to memory block that can be filled with mail or NULL in case error.
braichi13 0:77205fc699b9 61 */
braichi13 0:77205fc699b9 62 T* alloc(uint32_t millisec=0) {
braichi13 0:77205fc699b9 63 return (T*)osMailAlloc(_mail_id, millisec);
braichi13 0:77205fc699b9 64 }
braichi13 0:77205fc699b9 65
braichi13 0:77205fc699b9 66 /** Allocate a memory block of type T and set memory block to zero.
braichi13 0:77205fc699b9 67 @param millisec timeout value or 0 in case of no time-out. (default: 0).
braichi13 0:77205fc699b9 68 @return pointer to memory block that can be filled with mail or NULL in case error.
braichi13 0:77205fc699b9 69 */
braichi13 0:77205fc699b9 70 T* calloc(uint32_t millisec=0) {
braichi13 0:77205fc699b9 71 return (T*)osMailCAlloc(_mail_id, millisec);
braichi13 0:77205fc699b9 72 }
braichi13 0:77205fc699b9 73
braichi13 0:77205fc699b9 74 /** Put a mail in the queue.
braichi13 0:77205fc699b9 75 @param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
braichi13 0:77205fc699b9 76 @return status code that indicates the execution status of the function.
braichi13 0:77205fc699b9 77 */
braichi13 0:77205fc699b9 78 osStatus put(T *mptr) {
braichi13 0:77205fc699b9 79 return osMailPut(_mail_id, (void*)mptr);
braichi13 0:77205fc699b9 80 }
braichi13 0:77205fc699b9 81
braichi13 0:77205fc699b9 82 /** Get a mail from a queue.
braichi13 0:77205fc699b9 83 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
braichi13 0:77205fc699b9 84 @return event that contains mail information or error code.
braichi13 0:77205fc699b9 85 */
braichi13 0:77205fc699b9 86 osEvent get(uint32_t millisec=osWaitForever) {
braichi13 0:77205fc699b9 87 return osMailGet(_mail_id, millisec);
braichi13 0:77205fc699b9 88 }
braichi13 0:77205fc699b9 89
braichi13 0:77205fc699b9 90 /** Free a memory block from a mail.
braichi13 0:77205fc699b9 91 @param mptr pointer to the memory block that was obtained with Mail::get.
braichi13 0:77205fc699b9 92 @return status code that indicates the execution status of the function.
braichi13 0:77205fc699b9 93 */
braichi13 0:77205fc699b9 94 osStatus free(T *mptr) {
braichi13 0:77205fc699b9 95 return osMailFree(_mail_id, (void*)mptr);
braichi13 0:77205fc699b9 96 }
braichi13 0:77205fc699b9 97
braichi13 0:77205fc699b9 98 private:
braichi13 0:77205fc699b9 99 osMailQId _mail_id;
braichi13 0:77205fc699b9 100 osMailQDef_t _mail_def;
braichi13 0:77205fc699b9 101 #ifdef CMSIS_OS_RTX
braichi13 0:77205fc699b9 102 uint32_t _mail_q[4+(queue_sz)];
braichi13 0:77205fc699b9 103 uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
braichi13 0:77205fc699b9 104 void *_mail_p[2];
braichi13 0:77205fc699b9 105 #endif
braichi13 0:77205fc699b9 106 };
braichi13 0:77205fc699b9 107
braichi13 0:77205fc699b9 108 }
braichi13 0:77205fc699b9 109
braichi13 0:77205fc699b9 110 #endif
braichi13 0:77205fc699b9 111
braichi13 0:77205fc699b9 112
braichi13 0:77205fc699b9 113 /** @}*/