Daoyu_Sofiane Yao_Belouka / mbed-rtos

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Dependents:   Mecatro_Gyro_Programme_Codeur_HC06

rtx/TARGET_ARM7/rt_CMSIS.c@0:a8ed743bc1e1, 2021-04-16 (annotated)

Committer:
daoyu_sofiane
Date:
Fri Apr 16 09:25:33 2021 +0000
Revision:
0:a8ed743bc1e1
Projet Gyropode

Who changed what in which revision?

UserRevisionLine numberNew contents of line
daoyu_sofiane 0:a8ed743bc1e1 1 /*----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 2 * RL-ARM - RTX
daoyu_sofiane 0:a8ed743bc1e1 3 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 4 * Name: rt_CMSIS.c
daoyu_sofiane 0:a8ed743bc1e1 5 * Purpose: CMSIS RTOS API
daoyu_sofiane 0:a8ed743bc1e1 6 * Rev.: V4.60
daoyu_sofiane 0:a8ed743bc1e1 7 *----------------------------------------------------------------------------
daoyu_sofiane 0:a8ed743bc1e1 8 *
daoyu_sofiane 0:a8ed743bc1e1 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
daoyu_sofiane 0:a8ed743bc1e1 10 * All rights reserved.
daoyu_sofiane 0:a8ed743bc1e1 11 * Redistribution and use in source and binary forms, with or without
daoyu_sofiane 0:a8ed743bc1e1 12 * modification, are permitted provided that the following conditions are met:
daoyu_sofiane 0:a8ed743bc1e1 13 * - Redistributions of source code must retain the above copyright
daoyu_sofiane 0:a8ed743bc1e1 14 * notice, this list of conditions and the following disclaimer.
daoyu_sofiane 0:a8ed743bc1e1 15 * - Redistributions in binary form must reproduce the above copyright
daoyu_sofiane 0:a8ed743bc1e1 16 * notice, this list of conditions and the following disclaimer in the
daoyu_sofiane 0:a8ed743bc1e1 17 * documentation and/or other materials provided with the distribution.
daoyu_sofiane 0:a8ed743bc1e1 18 * - Neither the name of ARM nor the names of its contributors may be used
daoyu_sofiane 0:a8ed743bc1e1 19 * to endorse or promote products derived from this software without
daoyu_sofiane 0:a8ed743bc1e1 20 * specific prior written permission.
daoyu_sofiane 0:a8ed743bc1e1 21 *
daoyu_sofiane 0:a8ed743bc1e1 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
daoyu_sofiane 0:a8ed743bc1e1 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
daoyu_sofiane 0:a8ed743bc1e1 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
daoyu_sofiane 0:a8ed743bc1e1 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
daoyu_sofiane 0:a8ed743bc1e1 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
daoyu_sofiane 0:a8ed743bc1e1 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
daoyu_sofiane 0:a8ed743bc1e1 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
daoyu_sofiane 0:a8ed743bc1e1 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
daoyu_sofiane 0:a8ed743bc1e1 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
daoyu_sofiane 0:a8ed743bc1e1 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
daoyu_sofiane 0:a8ed743bc1e1 32 * POSSIBILITY OF SUCH DAMAGE.
daoyu_sofiane 0:a8ed743bc1e1 33 *---------------------------------------------------------------------------*/
daoyu_sofiane 0:a8ed743bc1e1 34
daoyu_sofiane 0:a8ed743bc1e1 35 #define __CMSIS_GENERIC
daoyu_sofiane 0:a8ed743bc1e1 36
daoyu_sofiane 0:a8ed743bc1e1 37 #include "core_arm7.h"
daoyu_sofiane 0:a8ed743bc1e1 38
daoyu_sofiane 0:a8ed743bc1e1 39 #include "rt_TypeDef.h"
daoyu_sofiane 0:a8ed743bc1e1 40 #include "RTX_Conf.h"
daoyu_sofiane 0:a8ed743bc1e1 41 #include "rt_System.h"
daoyu_sofiane 0:a8ed743bc1e1 42 #include "rt_Task.h"
daoyu_sofiane 0:a8ed743bc1e1 43 #include "rt_Event.h"
daoyu_sofiane 0:a8ed743bc1e1 44 #include "rt_List.h"
daoyu_sofiane 0:a8ed743bc1e1 45 #include "rt_Time.h"
daoyu_sofiane 0:a8ed743bc1e1 46 #include "rt_Mutex.h"
daoyu_sofiane 0:a8ed743bc1e1 47 #include "rt_Semaphore.h"
daoyu_sofiane 0:a8ed743bc1e1 48 #include "rt_Mailbox.h"
daoyu_sofiane 0:a8ed743bc1e1 49 #include "rt_MemBox.h"
daoyu_sofiane 0:a8ed743bc1e1 50 #include "rt_HAL_CM.h"
daoyu_sofiane 0:a8ed743bc1e1 51
daoyu_sofiane 0:a8ed743bc1e1 52 #define os_thread_cb OS_TCB
daoyu_sofiane 0:a8ed743bc1e1 53
daoyu_sofiane 0:a8ed743bc1e1 54 #include "cmsis_os.h"
daoyu_sofiane 0:a8ed743bc1e1 55
daoyu_sofiane 0:a8ed743bc1e1 56 #if (osFeature_Signals != 16)
daoyu_sofiane 0:a8ed743bc1e1 57 #error Invalid "osFeature_Signals" value!
daoyu_sofiane 0:a8ed743bc1e1 58 #endif
daoyu_sofiane 0:a8ed743bc1e1 59 #if (osFeature_Semaphore > 65535)
daoyu_sofiane 0:a8ed743bc1e1 60 #error Invalid "osFeature_Semaphore" value!
daoyu_sofiane 0:a8ed743bc1e1 61 #endif
daoyu_sofiane 0:a8ed743bc1e1 62 #if (osFeature_Wait != 0)
daoyu_sofiane 0:a8ed743bc1e1 63 #error osWait not supported!
daoyu_sofiane 0:a8ed743bc1e1 64 #endif
daoyu_sofiane 0:a8ed743bc1e1 65
daoyu_sofiane 0:a8ed743bc1e1 66
daoyu_sofiane 0:a8ed743bc1e1 67 // ==== Enumeration, structures, defines ====
daoyu_sofiane 0:a8ed743bc1e1 68
daoyu_sofiane 0:a8ed743bc1e1 69 // Service Calls defines
daoyu_sofiane 0:a8ed743bc1e1 70
daoyu_sofiane 0:a8ed743bc1e1 71 #if defined (__CC_ARM) /* ARM Compiler */
daoyu_sofiane 0:a8ed743bc1e1 72
daoyu_sofiane 0:a8ed743bc1e1 73 #define __NO_RETURN __declspec(noreturn)
daoyu_sofiane 0:a8ed743bc1e1 74
daoyu_sofiane 0:a8ed743bc1e1 75 #define osEvent_type osEvent
daoyu_sofiane 0:a8ed743bc1e1 76 #define osEvent_ret_status ret
daoyu_sofiane 0:a8ed743bc1e1 77 #define osEvent_ret_value ret
daoyu_sofiane 0:a8ed743bc1e1 78 #define osEvent_ret_msg ret
daoyu_sofiane 0:a8ed743bc1e1 79 #define osEvent_ret_mail ret
daoyu_sofiane 0:a8ed743bc1e1 80
daoyu_sofiane 0:a8ed743bc1e1 81 #define osCallback_type osCallback
daoyu_sofiane 0:a8ed743bc1e1 82 #define osCallback_ret ret
daoyu_sofiane 0:a8ed743bc1e1 83
daoyu_sofiane 0:a8ed743bc1e1 84 #define SVC_0_1(f,t,...) \
daoyu_sofiane 0:a8ed743bc1e1 85 __svc_indirect(0) t _##f (t(*)()); \
daoyu_sofiane 0:a8ed743bc1e1 86 t f (void); \
daoyu_sofiane 0:a8ed743bc1e1 87 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 88 static __inline t __##f (void) { \
daoyu_sofiane 0:a8ed743bc1e1 89 return _##f(f); \
daoyu_sofiane 0:a8ed743bc1e1 90 }
daoyu_sofiane 0:a8ed743bc1e1 91
daoyu_sofiane 0:a8ed743bc1e1 92 #define SVC_1_1(f,t,t1,...) \
daoyu_sofiane 0:a8ed743bc1e1 93 __svc_indirect(0) t _##f (t(*)(t1),t1); \
daoyu_sofiane 0:a8ed743bc1e1 94 t f (t1 a1); \
daoyu_sofiane 0:a8ed743bc1e1 95 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 96 static __inline t __##f (t1 a1) { \
daoyu_sofiane 0:a8ed743bc1e1 97 return _##f(f,a1); \
daoyu_sofiane 0:a8ed743bc1e1 98 }
daoyu_sofiane 0:a8ed743bc1e1 99
daoyu_sofiane 0:a8ed743bc1e1 100 #define SVC_2_1(f,t,t1,t2,...) \
daoyu_sofiane 0:a8ed743bc1e1 101 __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
daoyu_sofiane 0:a8ed743bc1e1 102 t f (t1 a1, t2 a2); \
daoyu_sofiane 0:a8ed743bc1e1 103 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 104 static __inline t __##f (t1 a1, t2 a2) { \
daoyu_sofiane 0:a8ed743bc1e1 105 return _##f(f,a1,a2); \
daoyu_sofiane 0:a8ed743bc1e1 106 }
daoyu_sofiane 0:a8ed743bc1e1 107
daoyu_sofiane 0:a8ed743bc1e1 108 #define SVC_3_1(f,t,t1,t2,t3,...) \
daoyu_sofiane 0:a8ed743bc1e1 109 __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
daoyu_sofiane 0:a8ed743bc1e1 110 t f (t1 a1, t2 a2, t3 a3); \
daoyu_sofiane 0:a8ed743bc1e1 111 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 112 static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
daoyu_sofiane 0:a8ed743bc1e1 113 return _##f(f,a1,a2,a3); \
daoyu_sofiane 0:a8ed743bc1e1 114 }
daoyu_sofiane 0:a8ed743bc1e1 115
daoyu_sofiane 0:a8ed743bc1e1 116 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
daoyu_sofiane 0:a8ed743bc1e1 117 __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
daoyu_sofiane 0:a8ed743bc1e1 118 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
daoyu_sofiane 0:a8ed743bc1e1 119 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 120 static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
daoyu_sofiane 0:a8ed743bc1e1 121 return _##f(f,a1,a2,a3,a4); \
daoyu_sofiane 0:a8ed743bc1e1 122 }
daoyu_sofiane 0:a8ed743bc1e1 123
daoyu_sofiane 0:a8ed743bc1e1 124 #define SVC_1_2 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 125 #define SVC_1_3 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 126 #define SVC_2_3 SVC_2_1
daoyu_sofiane 0:a8ed743bc1e1 127
daoyu_sofiane 0:a8ed743bc1e1 128 #elif defined (__GNUC__) /* GNU Compiler */
daoyu_sofiane 0:a8ed743bc1e1 129
daoyu_sofiane 0:a8ed743bc1e1 130 #define __NO_RETURN __attribute__((noreturn))
daoyu_sofiane 0:a8ed743bc1e1 131
daoyu_sofiane 0:a8ed743bc1e1 132 typedef uint32_t __attribute__((vector_size(8))) ret64;
daoyu_sofiane 0:a8ed743bc1e1 133 typedef uint32_t __attribute__((vector_size(16))) ret128;
daoyu_sofiane 0:a8ed743bc1e1 134
daoyu_sofiane 0:a8ed743bc1e1 135 #define RET_pointer __r0
daoyu_sofiane 0:a8ed743bc1e1 136 #define RET_int32_t __r0
daoyu_sofiane 0:a8ed743bc1e1 137 #define RET_osStatus __r0
daoyu_sofiane 0:a8ed743bc1e1 138 #define RET_osPriority __r0
daoyu_sofiane 0:a8ed743bc1e1 139 #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
daoyu_sofiane 0:a8ed743bc1e1 140 #define RET_osCallback {(void *)__r0, (void *)__r1}
daoyu_sofiane 0:a8ed743bc1e1 141
daoyu_sofiane 0:a8ed743bc1e1 142 #define osEvent_type ret128
daoyu_sofiane 0:a8ed743bc1e1 143 #define osEvent_ret_status (ret128){ret.status}
daoyu_sofiane 0:a8ed743bc1e1 144 #define osEvent_ret_value (ret128){ret.status, ret.value.v}
daoyu_sofiane 0:a8ed743bc1e1 145 #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
daoyu_sofiane 0:a8ed743bc1e1 146 #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
daoyu_sofiane 0:a8ed743bc1e1 147
daoyu_sofiane 0:a8ed743bc1e1 148 #define osCallback_type ret64
daoyu_sofiane 0:a8ed743bc1e1 149 #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
daoyu_sofiane 0:a8ed743bc1e1 150
daoyu_sofiane 0:a8ed743bc1e1 151 #define SVC_ArgN(n) \
daoyu_sofiane 0:a8ed743bc1e1 152 register int __r##n __asm("r"#n);
daoyu_sofiane 0:a8ed743bc1e1 153
daoyu_sofiane 0:a8ed743bc1e1 154 #define SVC_ArgR(n,t,a) \
daoyu_sofiane 0:a8ed743bc1e1 155 register t __r##n __asm("r"#n) = a;
daoyu_sofiane 0:a8ed743bc1e1 156
daoyu_sofiane 0:a8ed743bc1e1 157 #define SVC_Arg0() \
daoyu_sofiane 0:a8ed743bc1e1 158 SVC_ArgN(0) \
daoyu_sofiane 0:a8ed743bc1e1 159 SVC_ArgN(1) \
daoyu_sofiane 0:a8ed743bc1e1 160 SVC_ArgN(2) \
daoyu_sofiane 0:a8ed743bc1e1 161 SVC_ArgN(3)
daoyu_sofiane 0:a8ed743bc1e1 162
daoyu_sofiane 0:a8ed743bc1e1 163 #define SVC_Arg1(t1) \
daoyu_sofiane 0:a8ed743bc1e1 164 SVC_ArgR(0,t1,a1) \
daoyu_sofiane 0:a8ed743bc1e1 165 SVC_ArgN(1) \
daoyu_sofiane 0:a8ed743bc1e1 166 SVC_ArgN(2) \
daoyu_sofiane 0:a8ed743bc1e1 167 SVC_ArgN(3)
daoyu_sofiane 0:a8ed743bc1e1 168
daoyu_sofiane 0:a8ed743bc1e1 169 #define SVC_Arg2(t1,t2) \
daoyu_sofiane 0:a8ed743bc1e1 170 SVC_ArgR(0,t1,a1) \
daoyu_sofiane 0:a8ed743bc1e1 171 SVC_ArgR(1,t2,a2) \
daoyu_sofiane 0:a8ed743bc1e1 172 SVC_ArgN(2) \
daoyu_sofiane 0:a8ed743bc1e1 173 SVC_ArgN(3)
daoyu_sofiane 0:a8ed743bc1e1 174
daoyu_sofiane 0:a8ed743bc1e1 175 #define SVC_Arg3(t1,t2,t3) \
daoyu_sofiane 0:a8ed743bc1e1 176 SVC_ArgR(0,t1,a1) \
daoyu_sofiane 0:a8ed743bc1e1 177 SVC_ArgR(1,t2,a2) \
daoyu_sofiane 0:a8ed743bc1e1 178 SVC_ArgR(2,t3,a3) \
daoyu_sofiane 0:a8ed743bc1e1 179 SVC_ArgN(3)
daoyu_sofiane 0:a8ed743bc1e1 180
daoyu_sofiane 0:a8ed743bc1e1 181 #define SVC_Arg4(t1,t2,t3,t4) \
daoyu_sofiane 0:a8ed743bc1e1 182 SVC_ArgR(0,t1,a1) \
daoyu_sofiane 0:a8ed743bc1e1 183 SVC_ArgR(1,t2,a2) \
daoyu_sofiane 0:a8ed743bc1e1 184 SVC_ArgR(2,t3,a3) \
daoyu_sofiane 0:a8ed743bc1e1 185 SVC_ArgR(3,t4,a4)
daoyu_sofiane 0:a8ed743bc1e1 186
daoyu_sofiane 0:a8ed743bc1e1 187 #if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
daoyu_sofiane 0:a8ed743bc1e1 188 #define SVC_Call(f) \
daoyu_sofiane 0:a8ed743bc1e1 189 __asm volatile \
daoyu_sofiane 0:a8ed743bc1e1 190 ( \
daoyu_sofiane 0:a8ed743bc1e1 191 "ldr r7,="#f"\n\t" \
daoyu_sofiane 0:a8ed743bc1e1 192 "mov r12,r7\n\t" \
daoyu_sofiane 0:a8ed743bc1e1 193 "svc 0" \
daoyu_sofiane 0:a8ed743bc1e1 194 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
daoyu_sofiane 0:a8ed743bc1e1 195 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
daoyu_sofiane 0:a8ed743bc1e1 196 : "r7", "r12", "lr", "cc" \
daoyu_sofiane 0:a8ed743bc1e1 197 );
daoyu_sofiane 0:a8ed743bc1e1 198 #else
daoyu_sofiane 0:a8ed743bc1e1 199 #define SVC_Call(f) \
daoyu_sofiane 0:a8ed743bc1e1 200 __asm volatile \
daoyu_sofiane 0:a8ed743bc1e1 201 ( \
daoyu_sofiane 0:a8ed743bc1e1 202 "ldr r12,="#f"\n\t" \
daoyu_sofiane 0:a8ed743bc1e1 203 "svc 0" \
daoyu_sofiane 0:a8ed743bc1e1 204 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
daoyu_sofiane 0:a8ed743bc1e1 205 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
daoyu_sofiane 0:a8ed743bc1e1 206 : "r12", "lr", "cc" \
daoyu_sofiane 0:a8ed743bc1e1 207 );
daoyu_sofiane 0:a8ed743bc1e1 208 #endif
daoyu_sofiane 0:a8ed743bc1e1 209
daoyu_sofiane 0:a8ed743bc1e1 210 #define SVC_0_1(f,t,rv) \
daoyu_sofiane 0:a8ed743bc1e1 211 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 212 static inline t __##f (void) { \
daoyu_sofiane 0:a8ed743bc1e1 213 SVC_Arg0(); \
daoyu_sofiane 0:a8ed743bc1e1 214 SVC_Call(f); \
daoyu_sofiane 0:a8ed743bc1e1 215 return (t) rv; \
daoyu_sofiane 0:a8ed743bc1e1 216 }
daoyu_sofiane 0:a8ed743bc1e1 217
daoyu_sofiane 0:a8ed743bc1e1 218 #define SVC_1_1(f,t,t1,rv) \
daoyu_sofiane 0:a8ed743bc1e1 219 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 220 static inline t __##f (t1 a1) { \
daoyu_sofiane 0:a8ed743bc1e1 221 SVC_Arg1(t1); \
daoyu_sofiane 0:a8ed743bc1e1 222 SVC_Call(f); \
daoyu_sofiane 0:a8ed743bc1e1 223 return (t) rv; \
daoyu_sofiane 0:a8ed743bc1e1 224 }
daoyu_sofiane 0:a8ed743bc1e1 225
daoyu_sofiane 0:a8ed743bc1e1 226 #define SVC_2_1(f,t,t1,t2,rv) \
daoyu_sofiane 0:a8ed743bc1e1 227 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 228 static inline t __##f (t1 a1, t2 a2) { \
daoyu_sofiane 0:a8ed743bc1e1 229 SVC_Arg2(t1,t2); \
daoyu_sofiane 0:a8ed743bc1e1 230 SVC_Call(f); \
daoyu_sofiane 0:a8ed743bc1e1 231 return (t) rv; \
daoyu_sofiane 0:a8ed743bc1e1 232 }
daoyu_sofiane 0:a8ed743bc1e1 233
daoyu_sofiane 0:a8ed743bc1e1 234 #define SVC_3_1(f,t,t1,t2,t3,rv) \
daoyu_sofiane 0:a8ed743bc1e1 235 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 236 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
daoyu_sofiane 0:a8ed743bc1e1 237 SVC_Arg3(t1,t2,t3); \
daoyu_sofiane 0:a8ed743bc1e1 238 SVC_Call(f); \
daoyu_sofiane 0:a8ed743bc1e1 239 return (t) rv; \
daoyu_sofiane 0:a8ed743bc1e1 240 }
daoyu_sofiane 0:a8ed743bc1e1 241
daoyu_sofiane 0:a8ed743bc1e1 242 #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
daoyu_sofiane 0:a8ed743bc1e1 243 __attribute__((always_inline)) \
daoyu_sofiane 0:a8ed743bc1e1 244 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
daoyu_sofiane 0:a8ed743bc1e1 245 SVC_Arg4(t1,t2,t3,t4); \
daoyu_sofiane 0:a8ed743bc1e1 246 SVC_Call(f); \
daoyu_sofiane 0:a8ed743bc1e1 247 return (t) rv; \
daoyu_sofiane 0:a8ed743bc1e1 248 }
daoyu_sofiane 0:a8ed743bc1e1 249
daoyu_sofiane 0:a8ed743bc1e1 250 #define SVC_1_2 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 251 #define SVC_1_3 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 252 #define SVC_2_3 SVC_2_1
daoyu_sofiane 0:a8ed743bc1e1 253
daoyu_sofiane 0:a8ed743bc1e1 254 #elif defined (__ICCARM__) /* IAR Compiler */
daoyu_sofiane 0:a8ed743bc1e1 255
daoyu_sofiane 0:a8ed743bc1e1 256 #define __NO_RETURN __noreturn
daoyu_sofiane 0:a8ed743bc1e1 257
daoyu_sofiane 0:a8ed743bc1e1 258 #define osEvent_type osEvent
daoyu_sofiane 0:a8ed743bc1e1 259 #define osEvent_ret_status ret
daoyu_sofiane 0:a8ed743bc1e1 260 #define osEvent_ret_value ret
daoyu_sofiane 0:a8ed743bc1e1 261 #define osEvent_ret_msg ret
daoyu_sofiane 0:a8ed743bc1e1 262 #define osEvent_ret_mail ret
daoyu_sofiane 0:a8ed743bc1e1 263
daoyu_sofiane 0:a8ed743bc1e1 264 #define osCallback_type osCallback
daoyu_sofiane 0:a8ed743bc1e1 265 #define osCallback_ret ret
daoyu_sofiane 0:a8ed743bc1e1 266
daoyu_sofiane 0:a8ed743bc1e1 267 #define RET_osEvent osEvent
daoyu_sofiane 0:a8ed743bc1e1 268 #define RET_osCallback osCallback
daoyu_sofiane 0:a8ed743bc1e1 269
daoyu_sofiane 0:a8ed743bc1e1 270 #define SVC_Setup(f) \
daoyu_sofiane 0:a8ed743bc1e1 271 __asm( \
daoyu_sofiane 0:a8ed743bc1e1 272 "mov r12,%0\n" \
daoyu_sofiane 0:a8ed743bc1e1 273 :: "r"(&f): "r12" \
daoyu_sofiane 0:a8ed743bc1e1 274 );
daoyu_sofiane 0:a8ed743bc1e1 275
daoyu_sofiane 0:a8ed743bc1e1 276
daoyu_sofiane 0:a8ed743bc1e1 277 #define SVC_0_1(f,t,...) \
daoyu_sofiane 0:a8ed743bc1e1 278 t f (void); \
daoyu_sofiane 0:a8ed743bc1e1 279 _Pragma("swi_number=0") __swi t _##f (void); \
daoyu_sofiane 0:a8ed743bc1e1 280 static inline t __##f (void) { \
daoyu_sofiane 0:a8ed743bc1e1 281 SVC_Setup(f); \
daoyu_sofiane 0:a8ed743bc1e1 282 return _##f(); \
daoyu_sofiane 0:a8ed743bc1e1 283 }
daoyu_sofiane 0:a8ed743bc1e1 284
daoyu_sofiane 0:a8ed743bc1e1 285 #define SVC_1_1(f,t,t1,...) \
daoyu_sofiane 0:a8ed743bc1e1 286 t f (t1 a1); \
daoyu_sofiane 0:a8ed743bc1e1 287 _Pragma("swi_number=0") __swi t _##f (t1 a1); \
daoyu_sofiane 0:a8ed743bc1e1 288 static inline t __##f (t1 a1) { \
daoyu_sofiane 0:a8ed743bc1e1 289 SVC_Setup(f); \
daoyu_sofiane 0:a8ed743bc1e1 290 return _##f(a1); \
daoyu_sofiane 0:a8ed743bc1e1 291 }
daoyu_sofiane 0:a8ed743bc1e1 292
daoyu_sofiane 0:a8ed743bc1e1 293 #define SVC_2_1(f,t,t1,t2,...) \
daoyu_sofiane 0:a8ed743bc1e1 294 t f (t1 a1, t2 a2); \
daoyu_sofiane 0:a8ed743bc1e1 295 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
daoyu_sofiane 0:a8ed743bc1e1 296 static inline t __##f (t1 a1, t2 a2) { \
daoyu_sofiane 0:a8ed743bc1e1 297 SVC_Setup(f); \
daoyu_sofiane 0:a8ed743bc1e1 298 return _##f(a1,a2); \
daoyu_sofiane 0:a8ed743bc1e1 299 }
daoyu_sofiane 0:a8ed743bc1e1 300
daoyu_sofiane 0:a8ed743bc1e1 301 #define SVC_3_1(f,t,t1,t2,t3,...) \
daoyu_sofiane 0:a8ed743bc1e1 302 t f (t1 a1, t2 a2, t3 a3); \
daoyu_sofiane 0:a8ed743bc1e1 303 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
daoyu_sofiane 0:a8ed743bc1e1 304 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
daoyu_sofiane 0:a8ed743bc1e1 305 SVC_Setup(f); \
daoyu_sofiane 0:a8ed743bc1e1 306 return _##f(a1,a2,a3); \
daoyu_sofiane 0:a8ed743bc1e1 307 }
daoyu_sofiane 0:a8ed743bc1e1 308
daoyu_sofiane 0:a8ed743bc1e1 309 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
daoyu_sofiane 0:a8ed743bc1e1 310 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
daoyu_sofiane 0:a8ed743bc1e1 311 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
daoyu_sofiane 0:a8ed743bc1e1 312 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
daoyu_sofiane 0:a8ed743bc1e1 313 SVC_Setup(f); \
daoyu_sofiane 0:a8ed743bc1e1 314 return _##f(a1,a2,a3,a4); \
daoyu_sofiane 0:a8ed743bc1e1 315 }
daoyu_sofiane 0:a8ed743bc1e1 316
daoyu_sofiane 0:a8ed743bc1e1 317 #define SVC_1_2 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 318 #define SVC_1_3 SVC_1_1
daoyu_sofiane 0:a8ed743bc1e1 319 #define SVC_2_3 SVC_2_1
daoyu_sofiane 0:a8ed743bc1e1 320
daoyu_sofiane 0:a8ed743bc1e1 321 #endif
daoyu_sofiane 0:a8ed743bc1e1 322
daoyu_sofiane 0:a8ed743bc1e1 323
daoyu_sofiane 0:a8ed743bc1e1 324 // Callback structure
daoyu_sofiane 0:a8ed743bc1e1 325 typedef struct {
daoyu_sofiane 0:a8ed743bc1e1 326 void *fp; // Function pointer
daoyu_sofiane 0:a8ed743bc1e1 327 void *arg; // Function argument
daoyu_sofiane 0:a8ed743bc1e1 328 } osCallback;
daoyu_sofiane 0:a8ed743bc1e1 329
daoyu_sofiane 0:a8ed743bc1e1 330
daoyu_sofiane 0:a8ed743bc1e1 331 // OS Section definitions
daoyu_sofiane 0:a8ed743bc1e1 332 #ifdef OS_SECTIONS_LINK_INFO
daoyu_sofiane 0:a8ed743bc1e1 333 extern const uint32_t os_section_id$$Base;
daoyu_sofiane 0:a8ed743bc1e1 334 extern const uint32_t os_section_id$$Limit;
daoyu_sofiane 0:a8ed743bc1e1 335 #endif
daoyu_sofiane 0:a8ed743bc1e1 336
daoyu_sofiane 0:a8ed743bc1e1 337 // OS Timers external resources
daoyu_sofiane 0:a8ed743bc1e1 338 extern osThreadDef_t os_thread_def_osTimerThread;
daoyu_sofiane 0:a8ed743bc1e1 339 extern osThreadId osThreadId_osTimerThread;
daoyu_sofiane 0:a8ed743bc1e1 340 extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
daoyu_sofiane 0:a8ed743bc1e1 341 extern osMessageQId osMessageQId_osTimerMessageQ;
daoyu_sofiane 0:a8ed743bc1e1 342
daoyu_sofiane 0:a8ed743bc1e1 343
daoyu_sofiane 0:a8ed743bc1e1 344 // ==== Helper Functions ====
daoyu_sofiane 0:a8ed743bc1e1 345
daoyu_sofiane 0:a8ed743bc1e1 346 /// Convert timeout in millisec to system ticks
daoyu_sofiane 0:a8ed743bc1e1 347 static uint32_t rt_ms2tick (uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 348 uint32_t tick;
daoyu_sofiane 0:a8ed743bc1e1 349
daoyu_sofiane 0:a8ed743bc1e1 350 if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
daoyu_sofiane 0:a8ed743bc1e1 351 if (millisec > 4000000) return 0xFFFE; // Max ticks supported
daoyu_sofiane 0:a8ed743bc1e1 352
daoyu_sofiane 0:a8ed743bc1e1 353 tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
daoyu_sofiane 0:a8ed743bc1e1 354 if (tick > 0xFFFE) return 0xFFFE;
daoyu_sofiane 0:a8ed743bc1e1 355
daoyu_sofiane 0:a8ed743bc1e1 356 return tick;
daoyu_sofiane 0:a8ed743bc1e1 357 }
daoyu_sofiane 0:a8ed743bc1e1 358
daoyu_sofiane 0:a8ed743bc1e1 359 /// Convert Thread ID to TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 360 static P_TCB rt_tid2ptcb (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 361 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 362
daoyu_sofiane 0:a8ed743bc1e1 363 if (thread_id == NULL) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 364
daoyu_sofiane 0:a8ed743bc1e1 365 if ((uint32_t)thread_id & 3) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 366
daoyu_sofiane 0:a8ed743bc1e1 367 #ifdef OS_SECTIONS_LINK_INFO
daoyu_sofiane 0:a8ed743bc1e1 368 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 369 if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 370 if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 371 }
daoyu_sofiane 0:a8ed743bc1e1 372 #endif
daoyu_sofiane 0:a8ed743bc1e1 373
daoyu_sofiane 0:a8ed743bc1e1 374 ptcb = thread_id;
daoyu_sofiane 0:a8ed743bc1e1 375
daoyu_sofiane 0:a8ed743bc1e1 376 if (ptcb->cb_type != TCB) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 377
daoyu_sofiane 0:a8ed743bc1e1 378 return ptcb;
daoyu_sofiane 0:a8ed743bc1e1 379 }
daoyu_sofiane 0:a8ed743bc1e1 380
daoyu_sofiane 0:a8ed743bc1e1 381 /// Convert ID pointer to Object pointer
daoyu_sofiane 0:a8ed743bc1e1 382 static void *rt_id2obj (void *id) {
daoyu_sofiane 0:a8ed743bc1e1 383
daoyu_sofiane 0:a8ed743bc1e1 384 if ((uint32_t)id & 3) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 385
daoyu_sofiane 0:a8ed743bc1e1 386 #ifdef OS_SECTIONS_LINK_INFO
daoyu_sofiane 0:a8ed743bc1e1 387 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 388 if (id < (void *)os_section_id$$Base) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 389 if (id >= (void *)os_section_id$$Limit) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 390 }
daoyu_sofiane 0:a8ed743bc1e1 391 #endif
daoyu_sofiane 0:a8ed743bc1e1 392
daoyu_sofiane 0:a8ed743bc1e1 393 return id;
daoyu_sofiane 0:a8ed743bc1e1 394 }
daoyu_sofiane 0:a8ed743bc1e1 395
daoyu_sofiane 0:a8ed743bc1e1 396
daoyu_sofiane 0:a8ed743bc1e1 397 // ==== Kernel Control ====
daoyu_sofiane 0:a8ed743bc1e1 398
daoyu_sofiane 0:a8ed743bc1e1 399 uint8_t os_initialized; // Kernel Initialized flag
daoyu_sofiane 0:a8ed743bc1e1 400 uint8_t os_running; // Kernel Running flag
daoyu_sofiane 0:a8ed743bc1e1 401
daoyu_sofiane 0:a8ed743bc1e1 402 // Kernel Control Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 403 SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 404 SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 405 SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
daoyu_sofiane 0:a8ed743bc1e1 406
daoyu_sofiane 0:a8ed743bc1e1 407 extern void sysThreadError (osStatus status);
daoyu_sofiane 0:a8ed743bc1e1 408 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
daoyu_sofiane 0:a8ed743bc1e1 409 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
daoyu_sofiane 0:a8ed743bc1e1 410
daoyu_sofiane 0:a8ed743bc1e1 411 // Kernel Control Service Calls
daoyu_sofiane 0:a8ed743bc1e1 412
daoyu_sofiane 0:a8ed743bc1e1 413 /// Initialize the RTOS Kernel for creating objects
daoyu_sofiane 0:a8ed743bc1e1 414 osStatus svcKernelInitialize (void) {
daoyu_sofiane 0:a8ed743bc1e1 415 if (os_initialized) return osOK;
daoyu_sofiane 0:a8ed743bc1e1 416
daoyu_sofiane 0:a8ed743bc1e1 417 rt_sys_init(); // RTX System Initialization
daoyu_sofiane 0:a8ed743bc1e1 418 os_tsk.run->prio = 255; // Highest priority
daoyu_sofiane 0:a8ed743bc1e1 419
daoyu_sofiane 0:a8ed743bc1e1 420 sysThreadError(osOK);
daoyu_sofiane 0:a8ed743bc1e1 421
daoyu_sofiane 0:a8ed743bc1e1 422 os_initialized = 1;
daoyu_sofiane 0:a8ed743bc1e1 423
daoyu_sofiane 0:a8ed743bc1e1 424 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 425 }
daoyu_sofiane 0:a8ed743bc1e1 426
daoyu_sofiane 0:a8ed743bc1e1 427 /// Start the RTOS Kernel
daoyu_sofiane 0:a8ed743bc1e1 428 osStatus svcKernelStart (void) {
daoyu_sofiane 0:a8ed743bc1e1 429
daoyu_sofiane 0:a8ed743bc1e1 430 if (os_running) return osOK;
daoyu_sofiane 0:a8ed743bc1e1 431
daoyu_sofiane 0:a8ed743bc1e1 432 // Create OS Timers resources (Message Queue & Thread)
daoyu_sofiane 0:a8ed743bc1e1 433 osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
daoyu_sofiane 0:a8ed743bc1e1 434 osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
daoyu_sofiane 0:a8ed743bc1e1 435
daoyu_sofiane 0:a8ed743bc1e1 436 rt_tsk_prio(0, 0); // Lowest priority
daoyu_sofiane 0:a8ed743bc1e1 437 // __set_SP(os_tsk.run->tsk_stack + 8*4); // New context
daoyu_sofiane 0:a8ed743bc1e1 438 os_tsk.run = NULL; // Force context switch
daoyu_sofiane 0:a8ed743bc1e1 439
daoyu_sofiane 0:a8ed743bc1e1 440 rt_sys_start();
daoyu_sofiane 0:a8ed743bc1e1 441
daoyu_sofiane 0:a8ed743bc1e1 442 os_running = 1;
daoyu_sofiane 0:a8ed743bc1e1 443
daoyu_sofiane 0:a8ed743bc1e1 444 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 445 }
daoyu_sofiane 0:a8ed743bc1e1 446
daoyu_sofiane 0:a8ed743bc1e1 447 /// Check if the RTOS kernel is already started
daoyu_sofiane 0:a8ed743bc1e1 448 int32_t svcKernelRunning(void) {
daoyu_sofiane 0:a8ed743bc1e1 449 return os_running;
daoyu_sofiane 0:a8ed743bc1e1 450 }
daoyu_sofiane 0:a8ed743bc1e1 451
daoyu_sofiane 0:a8ed743bc1e1 452 // Kernel Control Public API
daoyu_sofiane 0:a8ed743bc1e1 453
daoyu_sofiane 0:a8ed743bc1e1 454 /// Initialize the RTOS Kernel for creating objects
daoyu_sofiane 0:a8ed743bc1e1 455 osStatus osKernelInitialize (void) {
daoyu_sofiane 0:a8ed743bc1e1 456 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 457 if (__get_CONTROL() == MODE_SUPERVISOR) { // Privileged mode
daoyu_sofiane 0:a8ed743bc1e1 458 return svcKernelInitialize();
daoyu_sofiane 0:a8ed743bc1e1 459 } else {
daoyu_sofiane 0:a8ed743bc1e1 460 return __svcKernelInitialize();
daoyu_sofiane 0:a8ed743bc1e1 461 }
daoyu_sofiane 0:a8ed743bc1e1 462 }
daoyu_sofiane 0:a8ed743bc1e1 463
daoyu_sofiane 0:a8ed743bc1e1 464 /// Start the RTOS Kernel
daoyu_sofiane 0:a8ed743bc1e1 465 osStatus osKernelStart (void) {
daoyu_sofiane 0:a8ed743bc1e1 466
daoyu_sofiane 0:a8ed743bc1e1 467 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 468 switch (__get_CONTROL()) {
daoyu_sofiane 0:a8ed743bc1e1 469 case MODE_SUPERVISOR: // Privileged mode
daoyu_sofiane 0:a8ed743bc1e1 470 break;
daoyu_sofiane 0:a8ed743bc1e1 471 case MODE_USER:
daoyu_sofiane 0:a8ed743bc1e1 472 case MODE_SYSTEM: // Unprivileged mode
daoyu_sofiane 0:a8ed743bc1e1 473 return osErrorOS;
daoyu_sofiane 0:a8ed743bc1e1 474 default: // Other invalid modes
daoyu_sofiane 0:a8ed743bc1e1 475 return osErrorOS;
daoyu_sofiane 0:a8ed743bc1e1 476 break;
daoyu_sofiane 0:a8ed743bc1e1 477 }
daoyu_sofiane 0:a8ed743bc1e1 478 return svcKernelStart();
daoyu_sofiane 0:a8ed743bc1e1 479 }
daoyu_sofiane 0:a8ed743bc1e1 480
daoyu_sofiane 0:a8ed743bc1e1 481 /// Check if the RTOS kernel is already started
daoyu_sofiane 0:a8ed743bc1e1 482 int32_t osKernelRunning(void) {
daoyu_sofiane 0:a8ed743bc1e1 483 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) {
daoyu_sofiane 0:a8ed743bc1e1 484 // in ISR or Privileged
daoyu_sofiane 0:a8ed743bc1e1 485 return os_running;
daoyu_sofiane 0:a8ed743bc1e1 486 } else {
daoyu_sofiane 0:a8ed743bc1e1 487 return __svcKernelRunning();
daoyu_sofiane 0:a8ed743bc1e1 488 }
daoyu_sofiane 0:a8ed743bc1e1 489 }
daoyu_sofiane 0:a8ed743bc1e1 490
daoyu_sofiane 0:a8ed743bc1e1 491
daoyu_sofiane 0:a8ed743bc1e1 492 // ==== Thread Management ====
daoyu_sofiane 0:a8ed743bc1e1 493
daoyu_sofiane 0:a8ed743bc1e1 494 __NO_RETURN void osThreadExit (void);
daoyu_sofiane 0:a8ed743bc1e1 495
daoyu_sofiane 0:a8ed743bc1e1 496 // Thread Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 497 SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 498 SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 499 SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 500 SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 501 SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 502 SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
daoyu_sofiane 0:a8ed743bc1e1 503
daoyu_sofiane 0:a8ed743bc1e1 504 // Thread Service Calls
daoyu_sofiane 0:a8ed743bc1e1 505 extern OS_TID rt_get_TID (void);
daoyu_sofiane 0:a8ed743bc1e1 506 extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
daoyu_sofiane 0:a8ed743bc1e1 507
daoyu_sofiane 0:a8ed743bc1e1 508 /// Create a thread and add it to Active Threads and set it to state READY
daoyu_sofiane 0:a8ed743bc1e1 509 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
daoyu_sofiane 0:a8ed743bc1e1 510 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 511
daoyu_sofiane 0:a8ed743bc1e1 512 if ((thread_def == NULL) ||
daoyu_sofiane 0:a8ed743bc1e1 513 (thread_def->pthread == NULL) ||
daoyu_sofiane 0:a8ed743bc1e1 514 (thread_def->tpriority < osPriorityIdle) ||
daoyu_sofiane 0:a8ed743bc1e1 515 (thread_def->tpriority > osPriorityRealtime) ||
daoyu_sofiane 0:a8ed743bc1e1 516 (thread_def->stacksize == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 517 (thread_def->stack_pointer == NULL) ) {
daoyu_sofiane 0:a8ed743bc1e1 518 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 519 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 520 }
daoyu_sofiane 0:a8ed743bc1e1 521
daoyu_sofiane 0:a8ed743bc1e1 522 U8 priority = thread_def->tpriority - osPriorityIdle + 1;
daoyu_sofiane 0:a8ed743bc1e1 523 P_TCB task_context = &thread_def->tcb;
daoyu_sofiane 0:a8ed743bc1e1 524
daoyu_sofiane 0:a8ed743bc1e1 525 /* Utilize the user provided stack. */
daoyu_sofiane 0:a8ed743bc1e1 526 task_context->stack = (U32*)thread_def->stack_pointer;
daoyu_sofiane 0:a8ed743bc1e1 527 task_context->priv_stack = thread_def->stacksize;
daoyu_sofiane 0:a8ed743bc1e1 528 /* Find a free entry in 'os_active_TCB' table. */
daoyu_sofiane 0:a8ed743bc1e1 529 OS_TID tsk = rt_get_TID ();
daoyu_sofiane 0:a8ed743bc1e1 530 os_active_TCB[tsk-1] = task_context;
daoyu_sofiane 0:a8ed743bc1e1 531 task_context->task_id = tsk;
daoyu_sofiane 0:a8ed743bc1e1 532 /* Pass parameter 'argv' to 'rt_init_context' */
daoyu_sofiane 0:a8ed743bc1e1 533 task_context->msg = argument;
daoyu_sofiane 0:a8ed743bc1e1 534 /* For 'size == 0' system allocates the user stack from the memory pool. */
daoyu_sofiane 0:a8ed743bc1e1 535 rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
daoyu_sofiane 0:a8ed743bc1e1 536
daoyu_sofiane 0:a8ed743bc1e1 537 /* Dispatch this task to the scheduler for execution. */
daoyu_sofiane 0:a8ed743bc1e1 538 DBG_TASK_NOTIFY(task_context, __TRUE);
daoyu_sofiane 0:a8ed743bc1e1 539 rt_dispatch (task_context);
daoyu_sofiane 0:a8ed743bc1e1 540
daoyu_sofiane 0:a8ed743bc1e1 541 ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 542
daoyu_sofiane 0:a8ed743bc1e1 543 *((uint32_t *)ptcb->tsk_stack + TCB_STACK_LR_OFFSET_DWORDS) = (uint32_t)osThreadExit; /* LR = osThreadExit */
daoyu_sofiane 0:a8ed743bc1e1 544
daoyu_sofiane 0:a8ed743bc1e1 545 return ptcb;
daoyu_sofiane 0:a8ed743bc1e1 546 }
daoyu_sofiane 0:a8ed743bc1e1 547
daoyu_sofiane 0:a8ed743bc1e1 548 /// Return the thread ID of the current running thread
daoyu_sofiane 0:a8ed743bc1e1 549 osThreadId svcThreadGetId (void) {
daoyu_sofiane 0:a8ed743bc1e1 550 OS_TID tsk;
daoyu_sofiane 0:a8ed743bc1e1 551
daoyu_sofiane 0:a8ed743bc1e1 552 tsk = rt_tsk_self();
daoyu_sofiane 0:a8ed743bc1e1 553 if (tsk == 0) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 554 return (P_TCB)os_active_TCB[tsk - 1];
daoyu_sofiane 0:a8ed743bc1e1 555 }
daoyu_sofiane 0:a8ed743bc1e1 556
daoyu_sofiane 0:a8ed743bc1e1 557 /// Terminate execution of a thread and remove it from ActiveThreads
daoyu_sofiane 0:a8ed743bc1e1 558 osStatus svcThreadTerminate (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 559 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 560 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 561
daoyu_sofiane 0:a8ed743bc1e1 562 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 563 if (ptcb == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 564
daoyu_sofiane 0:a8ed743bc1e1 565 res = rt_tsk_delete(ptcb->task_id); // Delete task
daoyu_sofiane 0:a8ed743bc1e1 566
daoyu_sofiane 0:a8ed743bc1e1 567 if (res == OS_R_NOK) return osErrorResource; // Delete task failed
daoyu_sofiane 0:a8ed743bc1e1 568
daoyu_sofiane 0:a8ed743bc1e1 569 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 570 }
daoyu_sofiane 0:a8ed743bc1e1 571
daoyu_sofiane 0:a8ed743bc1e1 572 /// Pass control to next thread that is in state READY
daoyu_sofiane 0:a8ed743bc1e1 573 osStatus svcThreadYield (void) {
daoyu_sofiane 0:a8ed743bc1e1 574 rt_tsk_pass(); // Pass control to next task
daoyu_sofiane 0:a8ed743bc1e1 575 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 576 }
daoyu_sofiane 0:a8ed743bc1e1 577
daoyu_sofiane 0:a8ed743bc1e1 578 /// Change priority of an active thread
daoyu_sofiane 0:a8ed743bc1e1 579 osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
daoyu_sofiane 0:a8ed743bc1e1 580 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 581 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 582
daoyu_sofiane 0:a8ed743bc1e1 583 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 584 if (ptcb == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 585
daoyu_sofiane 0:a8ed743bc1e1 586 if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
daoyu_sofiane 0:a8ed743bc1e1 587 return osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 588 }
daoyu_sofiane 0:a8ed743bc1e1 589
daoyu_sofiane 0:a8ed743bc1e1 590 res = rt_tsk_prio( // Change task priority
daoyu_sofiane 0:a8ed743bc1e1 591 ptcb->task_id, // Task ID
daoyu_sofiane 0:a8ed743bc1e1 592 priority - osPriorityIdle + 1 // New task priority
daoyu_sofiane 0:a8ed743bc1e1 593 );
daoyu_sofiane 0:a8ed743bc1e1 594
daoyu_sofiane 0:a8ed743bc1e1 595 if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
daoyu_sofiane 0:a8ed743bc1e1 596
daoyu_sofiane 0:a8ed743bc1e1 597 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 598 }
daoyu_sofiane 0:a8ed743bc1e1 599
daoyu_sofiane 0:a8ed743bc1e1 600 /// Get current priority of an active thread
daoyu_sofiane 0:a8ed743bc1e1 601 osPriority svcThreadGetPriority (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 602 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 603
daoyu_sofiane 0:a8ed743bc1e1 604 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 605 if (ptcb == NULL) return osPriorityError;
daoyu_sofiane 0:a8ed743bc1e1 606
daoyu_sofiane 0:a8ed743bc1e1 607 return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
daoyu_sofiane 0:a8ed743bc1e1 608 }
daoyu_sofiane 0:a8ed743bc1e1 609
daoyu_sofiane 0:a8ed743bc1e1 610
daoyu_sofiane 0:a8ed743bc1e1 611 // Thread Public API
daoyu_sofiane 0:a8ed743bc1e1 612
daoyu_sofiane 0:a8ed743bc1e1 613 /// Create a thread and add it to Active Threads and set it to state READY
daoyu_sofiane 0:a8ed743bc1e1 614 osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
daoyu_sofiane 0:a8ed743bc1e1 615 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 616 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 617 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 618 return svcThreadCreate(thread_def, argument);
daoyu_sofiane 0:a8ed743bc1e1 619 } else {
daoyu_sofiane 0:a8ed743bc1e1 620 return __svcThreadCreate(thread_def, argument);
daoyu_sofiane 0:a8ed743bc1e1 621 }
daoyu_sofiane 0:a8ed743bc1e1 622 }
daoyu_sofiane 0:a8ed743bc1e1 623
daoyu_sofiane 0:a8ed743bc1e1 624 /// Return the thread ID of the current running thread
daoyu_sofiane 0:a8ed743bc1e1 625 osThreadId osThreadGetId (void) {
daoyu_sofiane 0:a8ed743bc1e1 626 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 627 return __svcThreadGetId();
daoyu_sofiane 0:a8ed743bc1e1 628 }
daoyu_sofiane 0:a8ed743bc1e1 629
daoyu_sofiane 0:a8ed743bc1e1 630 /// Terminate execution of a thread and remove it from ActiveThreads
daoyu_sofiane 0:a8ed743bc1e1 631 osStatus osThreadTerminate (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 632 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 633 return __svcThreadTerminate(thread_id);
daoyu_sofiane 0:a8ed743bc1e1 634 }
daoyu_sofiane 0:a8ed743bc1e1 635
daoyu_sofiane 0:a8ed743bc1e1 636 /// Pass control to next thread that is in state READY
daoyu_sofiane 0:a8ed743bc1e1 637 osStatus osThreadYield (void) {
daoyu_sofiane 0:a8ed743bc1e1 638 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 639 return __svcThreadYield();
daoyu_sofiane 0:a8ed743bc1e1 640 }
daoyu_sofiane 0:a8ed743bc1e1 641
daoyu_sofiane 0:a8ed743bc1e1 642 /// Change priority of an active thread
daoyu_sofiane 0:a8ed743bc1e1 643 osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
daoyu_sofiane 0:a8ed743bc1e1 644 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 645 return __svcThreadSetPriority(thread_id, priority);
daoyu_sofiane 0:a8ed743bc1e1 646 }
daoyu_sofiane 0:a8ed743bc1e1 647
daoyu_sofiane 0:a8ed743bc1e1 648 /// Get current priority of an active thread
daoyu_sofiane 0:a8ed743bc1e1 649 osPriority osThreadGetPriority (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 650 if (__get_CONTROL() == MODE_IRQ) return osPriorityError;// Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 651 return __svcThreadGetPriority(thread_id);
daoyu_sofiane 0:a8ed743bc1e1 652 }
daoyu_sofiane 0:a8ed743bc1e1 653
daoyu_sofiane 0:a8ed743bc1e1 654 /// INTERNAL - Not Public
daoyu_sofiane 0:a8ed743bc1e1 655 /// Auto Terminate Thread on exit (used implicitly when thread exists)
daoyu_sofiane 0:a8ed743bc1e1 656 __NO_RETURN void osThreadExit (void) {
daoyu_sofiane 0:a8ed743bc1e1 657 __svcThreadTerminate(__svcThreadGetId());
daoyu_sofiane 0:a8ed743bc1e1 658 for (;;); // Should never come here
daoyu_sofiane 0:a8ed743bc1e1 659 }
daoyu_sofiane 0:a8ed743bc1e1 660
daoyu_sofiane 0:a8ed743bc1e1 661
daoyu_sofiane 0:a8ed743bc1e1 662 // ==== Generic Wait Functions ====
daoyu_sofiane 0:a8ed743bc1e1 663
daoyu_sofiane 0:a8ed743bc1e1 664 // Generic Wait Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 665 SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 666 #if osFeature_Wait != 0
daoyu_sofiane 0:a8ed743bc1e1 667 SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
daoyu_sofiane 0:a8ed743bc1e1 668 #endif
daoyu_sofiane 0:a8ed743bc1e1 669
daoyu_sofiane 0:a8ed743bc1e1 670 // Generic Wait Service Calls
daoyu_sofiane 0:a8ed743bc1e1 671
daoyu_sofiane 0:a8ed743bc1e1 672 /// Wait for Timeout (Time Delay)
daoyu_sofiane 0:a8ed743bc1e1 673 osStatus svcDelay (uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 674 if (millisec == 0) return osOK;
daoyu_sofiane 0:a8ed743bc1e1 675 rt_dly_wait(rt_ms2tick(millisec));
daoyu_sofiane 0:a8ed743bc1e1 676 return osEventTimeout;
daoyu_sofiane 0:a8ed743bc1e1 677 }
daoyu_sofiane 0:a8ed743bc1e1 678
daoyu_sofiane 0:a8ed743bc1e1 679 /// Wait for Signal, Message, Mail, or Timeout
daoyu_sofiane 0:a8ed743bc1e1 680 #if osFeature_Wait != 0
daoyu_sofiane 0:a8ed743bc1e1 681 os_InRegs osEvent_type svcWait (uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 682 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 683
daoyu_sofiane 0:a8ed743bc1e1 684 if (millisec == 0) {
daoyu_sofiane 0:a8ed743bc1e1 685 ret.status = osOK;
daoyu_sofiane 0:a8ed743bc1e1 686 return osEvent_ret_status;
daoyu_sofiane 0:a8ed743bc1e1 687 }
daoyu_sofiane 0:a8ed743bc1e1 688
daoyu_sofiane 0:a8ed743bc1e1 689 /* To Do: osEventSignal, osEventMessage, osEventMail */
daoyu_sofiane 0:a8ed743bc1e1 690 rt_dly_wait(rt_ms2tick(millisec));
daoyu_sofiane 0:a8ed743bc1e1 691 ret.status = osEventTimeout;
daoyu_sofiane 0:a8ed743bc1e1 692
daoyu_sofiane 0:a8ed743bc1e1 693 return osEvent_ret_status;
daoyu_sofiane 0:a8ed743bc1e1 694 }
daoyu_sofiane 0:a8ed743bc1e1 695 #endif
daoyu_sofiane 0:a8ed743bc1e1 696
daoyu_sofiane 0:a8ed743bc1e1 697
daoyu_sofiane 0:a8ed743bc1e1 698 // Generic Wait API
daoyu_sofiane 0:a8ed743bc1e1 699
daoyu_sofiane 0:a8ed743bc1e1 700 /// Wait for Timeout (Time Delay)
daoyu_sofiane 0:a8ed743bc1e1 701 osStatus osDelay (uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 702 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 703 return __svcDelay(millisec);
daoyu_sofiane 0:a8ed743bc1e1 704 }
daoyu_sofiane 0:a8ed743bc1e1 705
daoyu_sofiane 0:a8ed743bc1e1 706 /// Wait for Signal, Message, Mail, or Timeout
daoyu_sofiane 0:a8ed743bc1e1 707 os_InRegs osEvent osWait (uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 708 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 709
daoyu_sofiane 0:a8ed743bc1e1 710 #if osFeature_Wait == 0
daoyu_sofiane 0:a8ed743bc1e1 711 ret.status = osErrorOS;
daoyu_sofiane 0:a8ed743bc1e1 712 return ret;
daoyu_sofiane 0:a8ed743bc1e1 713 #else
daoyu_sofiane 0:a8ed743bc1e1 714 if (__get_CONTROL() == MODE_IRQ) { // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 715 ret.status = osErrorISR;
daoyu_sofiane 0:a8ed743bc1e1 716 return ret;
daoyu_sofiane 0:a8ed743bc1e1 717 }
daoyu_sofiane 0:a8ed743bc1e1 718 return __svcWait(millisec);
daoyu_sofiane 0:a8ed743bc1e1 719 #endif
daoyu_sofiane 0:a8ed743bc1e1 720 }
daoyu_sofiane 0:a8ed743bc1e1 721
daoyu_sofiane 0:a8ed743bc1e1 722
daoyu_sofiane 0:a8ed743bc1e1 723 // ==== Timer Management ====
daoyu_sofiane 0:a8ed743bc1e1 724
daoyu_sofiane 0:a8ed743bc1e1 725 // Timer definitions
daoyu_sofiane 0:a8ed743bc1e1 726 #define osTimerInvalid 0
daoyu_sofiane 0:a8ed743bc1e1 727 #define osTimerStopped 1
daoyu_sofiane 0:a8ed743bc1e1 728 #define osTimerRunning 2
daoyu_sofiane 0:a8ed743bc1e1 729
daoyu_sofiane 0:a8ed743bc1e1 730 // Timer structures
daoyu_sofiane 0:a8ed743bc1e1 731
daoyu_sofiane 0:a8ed743bc1e1 732 typedef struct os_timer_cb_ { // Timer Control Block
daoyu_sofiane 0:a8ed743bc1e1 733 struct os_timer_cb_ *next; // Pointer to next active Timer
daoyu_sofiane 0:a8ed743bc1e1 734 uint8_t state; // Timer State
daoyu_sofiane 0:a8ed743bc1e1 735 uint8_t type; // Timer Type (Periodic/One-shot)
daoyu_sofiane 0:a8ed743bc1e1 736 uint16_t reserved; // Reserved
daoyu_sofiane 0:a8ed743bc1e1 737 uint16_t tcnt; // Timer Delay Count
daoyu_sofiane 0:a8ed743bc1e1 738 uint16_t icnt; // Timer Initial Count
daoyu_sofiane 0:a8ed743bc1e1 739 void *arg; // Timer Function Argument
daoyu_sofiane 0:a8ed743bc1e1 740 osTimerDef_t *timer; // Pointer to Timer definition
daoyu_sofiane 0:a8ed743bc1e1 741 } os_timer_cb;
daoyu_sofiane 0:a8ed743bc1e1 742
daoyu_sofiane 0:a8ed743bc1e1 743 // Timer variables
daoyu_sofiane 0:a8ed743bc1e1 744 os_timer_cb *os_timer_head; // Pointer to first active Timer
daoyu_sofiane 0:a8ed743bc1e1 745
daoyu_sofiane 0:a8ed743bc1e1 746
daoyu_sofiane 0:a8ed743bc1e1 747 // Timer Helper Functions
daoyu_sofiane 0:a8ed743bc1e1 748
daoyu_sofiane 0:a8ed743bc1e1 749 // Insert Timer into the list sorted by time
daoyu_sofiane 0:a8ed743bc1e1 750 static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
daoyu_sofiane 0:a8ed743bc1e1 751 os_timer_cb *p, *prev;
daoyu_sofiane 0:a8ed743bc1e1 752
daoyu_sofiane 0:a8ed743bc1e1 753 prev = NULL;
daoyu_sofiane 0:a8ed743bc1e1 754 p = os_timer_head;
daoyu_sofiane 0:a8ed743bc1e1 755 while (p != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 756 if (tcnt < p->tcnt) break;
daoyu_sofiane 0:a8ed743bc1e1 757 tcnt -= p->tcnt;
daoyu_sofiane 0:a8ed743bc1e1 758 prev = p;
daoyu_sofiane 0:a8ed743bc1e1 759 p = p->next;
daoyu_sofiane 0:a8ed743bc1e1 760 }
daoyu_sofiane 0:a8ed743bc1e1 761 pt->next = p;
daoyu_sofiane 0:a8ed743bc1e1 762 pt->tcnt = (uint16_t)tcnt;
daoyu_sofiane 0:a8ed743bc1e1 763 if (p != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 764 p->tcnt -= pt->tcnt;
daoyu_sofiane 0:a8ed743bc1e1 765 }
daoyu_sofiane 0:a8ed743bc1e1 766 if (prev != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 767 prev->next = pt;
daoyu_sofiane 0:a8ed743bc1e1 768 } else {
daoyu_sofiane 0:a8ed743bc1e1 769 os_timer_head = pt;
daoyu_sofiane 0:a8ed743bc1e1 770 }
daoyu_sofiane 0:a8ed743bc1e1 771 }
daoyu_sofiane 0:a8ed743bc1e1 772
daoyu_sofiane 0:a8ed743bc1e1 773 // Remove Timer from the list
daoyu_sofiane 0:a8ed743bc1e1 774 static int rt_timer_remove (os_timer_cb *pt) {
daoyu_sofiane 0:a8ed743bc1e1 775 os_timer_cb *p, *prev;
daoyu_sofiane 0:a8ed743bc1e1 776
daoyu_sofiane 0:a8ed743bc1e1 777 prev = NULL;
daoyu_sofiane 0:a8ed743bc1e1 778 p = os_timer_head;
daoyu_sofiane 0:a8ed743bc1e1 779 while (p != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 780 if (p == pt) break;
daoyu_sofiane 0:a8ed743bc1e1 781 prev = p;
daoyu_sofiane 0:a8ed743bc1e1 782 p = p->next;
daoyu_sofiane 0:a8ed743bc1e1 783 }
daoyu_sofiane 0:a8ed743bc1e1 784 if (p == NULL) return -1;
daoyu_sofiane 0:a8ed743bc1e1 785 if (prev != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 786 prev->next = pt->next;
daoyu_sofiane 0:a8ed743bc1e1 787 } else {
daoyu_sofiane 0:a8ed743bc1e1 788 os_timer_head = pt->next;
daoyu_sofiane 0:a8ed743bc1e1 789 }
daoyu_sofiane 0:a8ed743bc1e1 790 if (pt->next != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 791 pt->next->tcnt += pt->tcnt;
daoyu_sofiane 0:a8ed743bc1e1 792 }
daoyu_sofiane 0:a8ed743bc1e1 793
daoyu_sofiane 0:a8ed743bc1e1 794 return 0;
daoyu_sofiane 0:a8ed743bc1e1 795 }
daoyu_sofiane 0:a8ed743bc1e1 796
daoyu_sofiane 0:a8ed743bc1e1 797
daoyu_sofiane 0:a8ed743bc1e1 798 // Timer Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 799 SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 800 SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 801 SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 802 SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 803 SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
daoyu_sofiane 0:a8ed743bc1e1 804
daoyu_sofiane 0:a8ed743bc1e1 805 // Timer Management Service Calls
daoyu_sofiane 0:a8ed743bc1e1 806
daoyu_sofiane 0:a8ed743bc1e1 807 /// Create timer
daoyu_sofiane 0:a8ed743bc1e1 808 osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
daoyu_sofiane 0:a8ed743bc1e1 809 os_timer_cb *pt;
daoyu_sofiane 0:a8ed743bc1e1 810
daoyu_sofiane 0:a8ed743bc1e1 811 if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
daoyu_sofiane 0:a8ed743bc1e1 812 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 813 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 814 }
daoyu_sofiane 0:a8ed743bc1e1 815
daoyu_sofiane 0:a8ed743bc1e1 816 pt = timer_def->timer;
daoyu_sofiane 0:a8ed743bc1e1 817 if (pt == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 818 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 819 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 820 }
daoyu_sofiane 0:a8ed743bc1e1 821
daoyu_sofiane 0:a8ed743bc1e1 822 if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
daoyu_sofiane 0:a8ed743bc1e1 823 sysThreadError(osErrorValue);
daoyu_sofiane 0:a8ed743bc1e1 824 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 825 }
daoyu_sofiane 0:a8ed743bc1e1 826
daoyu_sofiane 0:a8ed743bc1e1 827 if (osThreadId_osTimerThread == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 828 sysThreadError(osErrorResource);
daoyu_sofiane 0:a8ed743bc1e1 829 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 830 }
daoyu_sofiane 0:a8ed743bc1e1 831
daoyu_sofiane 0:a8ed743bc1e1 832 if (pt->state != osTimerInvalid){
daoyu_sofiane 0:a8ed743bc1e1 833 sysThreadError(osErrorResource);
daoyu_sofiane 0:a8ed743bc1e1 834 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 835 }
daoyu_sofiane 0:a8ed743bc1e1 836
daoyu_sofiane 0:a8ed743bc1e1 837 pt->state = osTimerStopped;
daoyu_sofiane 0:a8ed743bc1e1 838 pt->type = (uint8_t)type;
daoyu_sofiane 0:a8ed743bc1e1 839 pt->arg = argument;
daoyu_sofiane 0:a8ed743bc1e1 840 pt->timer = timer_def;
daoyu_sofiane 0:a8ed743bc1e1 841
daoyu_sofiane 0:a8ed743bc1e1 842 return (osTimerId)pt;
daoyu_sofiane 0:a8ed743bc1e1 843 }
daoyu_sofiane 0:a8ed743bc1e1 844
daoyu_sofiane 0:a8ed743bc1e1 845 /// Start or restart timer
daoyu_sofiane 0:a8ed743bc1e1 846 osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 847 os_timer_cb *pt;
daoyu_sofiane 0:a8ed743bc1e1 848 uint32_t tcnt;
daoyu_sofiane 0:a8ed743bc1e1 849
daoyu_sofiane 0:a8ed743bc1e1 850 pt = rt_id2obj(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 851 if (pt == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 852
daoyu_sofiane 0:a8ed743bc1e1 853 tcnt = rt_ms2tick(millisec);
daoyu_sofiane 0:a8ed743bc1e1 854 if (tcnt == 0) return osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 855
daoyu_sofiane 0:a8ed743bc1e1 856 switch (pt->state) {
daoyu_sofiane 0:a8ed743bc1e1 857 case osTimerRunning:
daoyu_sofiane 0:a8ed743bc1e1 858 if (rt_timer_remove(pt) != 0) {
daoyu_sofiane 0:a8ed743bc1e1 859 return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 860 }
daoyu_sofiane 0:a8ed743bc1e1 861 break;
daoyu_sofiane 0:a8ed743bc1e1 862 case osTimerStopped:
daoyu_sofiane 0:a8ed743bc1e1 863 pt->state = osTimerRunning;
daoyu_sofiane 0:a8ed743bc1e1 864 pt->icnt = (uint16_t)tcnt;
daoyu_sofiane 0:a8ed743bc1e1 865 break;
daoyu_sofiane 0:a8ed743bc1e1 866 default:
daoyu_sofiane 0:a8ed743bc1e1 867 return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 868 }
daoyu_sofiane 0:a8ed743bc1e1 869
daoyu_sofiane 0:a8ed743bc1e1 870 rt_timer_insert(pt, tcnt);
daoyu_sofiane 0:a8ed743bc1e1 871
daoyu_sofiane 0:a8ed743bc1e1 872 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 873 }
daoyu_sofiane 0:a8ed743bc1e1 874
daoyu_sofiane 0:a8ed743bc1e1 875 /// Stop timer
daoyu_sofiane 0:a8ed743bc1e1 876 osStatus svcTimerStop (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 877 os_timer_cb *pt;
daoyu_sofiane 0:a8ed743bc1e1 878
daoyu_sofiane 0:a8ed743bc1e1 879 pt = rt_id2obj(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 880 if (pt == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 881
daoyu_sofiane 0:a8ed743bc1e1 882 if (pt->state != osTimerRunning) return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 883
daoyu_sofiane 0:a8ed743bc1e1 884 pt->state = osTimerStopped;
daoyu_sofiane 0:a8ed743bc1e1 885
daoyu_sofiane 0:a8ed743bc1e1 886 if (rt_timer_remove(pt) != 0) {
daoyu_sofiane 0:a8ed743bc1e1 887 return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 888 }
daoyu_sofiane 0:a8ed743bc1e1 889
daoyu_sofiane 0:a8ed743bc1e1 890 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 891 }
daoyu_sofiane 0:a8ed743bc1e1 892
daoyu_sofiane 0:a8ed743bc1e1 893 /// Delete timer
daoyu_sofiane 0:a8ed743bc1e1 894 osStatus svcTimerDelete (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 895 os_timer_cb *pt;
daoyu_sofiane 0:a8ed743bc1e1 896
daoyu_sofiane 0:a8ed743bc1e1 897 pt = rt_id2obj(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 898 if (pt == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 899
daoyu_sofiane 0:a8ed743bc1e1 900 switch (pt->state) {
daoyu_sofiane 0:a8ed743bc1e1 901 case osTimerRunning:
daoyu_sofiane 0:a8ed743bc1e1 902 rt_timer_remove(pt);
daoyu_sofiane 0:a8ed743bc1e1 903 break;
daoyu_sofiane 0:a8ed743bc1e1 904 case osTimerStopped:
daoyu_sofiane 0:a8ed743bc1e1 905 break;
daoyu_sofiane 0:a8ed743bc1e1 906 default:
daoyu_sofiane 0:a8ed743bc1e1 907 return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 908 }
daoyu_sofiane 0:a8ed743bc1e1 909
daoyu_sofiane 0:a8ed743bc1e1 910 pt->state = osTimerInvalid;
daoyu_sofiane 0:a8ed743bc1e1 911
daoyu_sofiane 0:a8ed743bc1e1 912 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 913 }
daoyu_sofiane 0:a8ed743bc1e1 914
daoyu_sofiane 0:a8ed743bc1e1 915 /// Get timer callback parameters
daoyu_sofiane 0:a8ed743bc1e1 916 os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 917 os_timer_cb *pt;
daoyu_sofiane 0:a8ed743bc1e1 918 osCallback ret;
daoyu_sofiane 0:a8ed743bc1e1 919
daoyu_sofiane 0:a8ed743bc1e1 920 pt = rt_id2obj(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 921 if (pt == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 922 ret.fp = NULL;
daoyu_sofiane 0:a8ed743bc1e1 923 ret.arg = NULL;
daoyu_sofiane 0:a8ed743bc1e1 924 return osCallback_ret;
daoyu_sofiane 0:a8ed743bc1e1 925 }
daoyu_sofiane 0:a8ed743bc1e1 926
daoyu_sofiane 0:a8ed743bc1e1 927 ret.fp = (void *)pt->timer->ptimer;
daoyu_sofiane 0:a8ed743bc1e1 928 ret.arg = pt->arg;
daoyu_sofiane 0:a8ed743bc1e1 929
daoyu_sofiane 0:a8ed743bc1e1 930 return osCallback_ret;
daoyu_sofiane 0:a8ed743bc1e1 931 }
daoyu_sofiane 0:a8ed743bc1e1 932
daoyu_sofiane 0:a8ed743bc1e1 933 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
daoyu_sofiane 0:a8ed743bc1e1 934
daoyu_sofiane 0:a8ed743bc1e1 935 /// Timer Tick (called each SysTick)
daoyu_sofiane 0:a8ed743bc1e1 936 void sysTimerTick (void) {
daoyu_sofiane 0:a8ed743bc1e1 937 os_timer_cb *pt, *p;
daoyu_sofiane 0:a8ed743bc1e1 938
daoyu_sofiane 0:a8ed743bc1e1 939 p = os_timer_head;
daoyu_sofiane 0:a8ed743bc1e1 940 if (p == NULL) return;
daoyu_sofiane 0:a8ed743bc1e1 941
daoyu_sofiane 0:a8ed743bc1e1 942 p->tcnt--;
daoyu_sofiane 0:a8ed743bc1e1 943 while ((p != NULL) && (p->tcnt == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 944 pt = p;
daoyu_sofiane 0:a8ed743bc1e1 945 p = p->next;
daoyu_sofiane 0:a8ed743bc1e1 946 os_timer_head = p;
daoyu_sofiane 0:a8ed743bc1e1 947 isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
daoyu_sofiane 0:a8ed743bc1e1 948 if (pt->type == osTimerPeriodic) {
daoyu_sofiane 0:a8ed743bc1e1 949 rt_timer_insert(pt, pt->icnt);
daoyu_sofiane 0:a8ed743bc1e1 950 } else {
daoyu_sofiane 0:a8ed743bc1e1 951 pt->state = osTimerStopped;
daoyu_sofiane 0:a8ed743bc1e1 952 }
daoyu_sofiane 0:a8ed743bc1e1 953 }
daoyu_sofiane 0:a8ed743bc1e1 954 }
daoyu_sofiane 0:a8ed743bc1e1 955
daoyu_sofiane 0:a8ed743bc1e1 956
daoyu_sofiane 0:a8ed743bc1e1 957 // Timer Management Public API
daoyu_sofiane 0:a8ed743bc1e1 958
daoyu_sofiane 0:a8ed743bc1e1 959 /// Create timer
daoyu_sofiane 0:a8ed743bc1e1 960 osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
daoyu_sofiane 0:a8ed743bc1e1 961 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 962 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 963 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 964 return svcTimerCreate(timer_def, type, argument);
daoyu_sofiane 0:a8ed743bc1e1 965 } else {
daoyu_sofiane 0:a8ed743bc1e1 966 return __svcTimerCreate(timer_def, type, argument);
daoyu_sofiane 0:a8ed743bc1e1 967 }
daoyu_sofiane 0:a8ed743bc1e1 968 }
daoyu_sofiane 0:a8ed743bc1e1 969
daoyu_sofiane 0:a8ed743bc1e1 970 /// Start or restart timer
daoyu_sofiane 0:a8ed743bc1e1 971 osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 972 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 973 return __svcTimerStart(timer_id, millisec);
daoyu_sofiane 0:a8ed743bc1e1 974 }
daoyu_sofiane 0:a8ed743bc1e1 975
daoyu_sofiane 0:a8ed743bc1e1 976 /// Stop timer
daoyu_sofiane 0:a8ed743bc1e1 977 osStatus osTimerStop (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 978 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 979 return __svcTimerStop(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 980 }
daoyu_sofiane 0:a8ed743bc1e1 981
daoyu_sofiane 0:a8ed743bc1e1 982 /// Delete timer
daoyu_sofiane 0:a8ed743bc1e1 983 osStatus osTimerDelete (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 984 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 985 return __svcTimerDelete(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 986 }
daoyu_sofiane 0:a8ed743bc1e1 987
daoyu_sofiane 0:a8ed743bc1e1 988 /// INTERNAL - Not Public
daoyu_sofiane 0:a8ed743bc1e1 989 /// Get timer callback parameters (used by OS Timer Thread)
daoyu_sofiane 0:a8ed743bc1e1 990 os_InRegs osCallback osTimerCall (osTimerId timer_id) {
daoyu_sofiane 0:a8ed743bc1e1 991 return __svcTimerCall(timer_id);
daoyu_sofiane 0:a8ed743bc1e1 992 }
daoyu_sofiane 0:a8ed743bc1e1 993
daoyu_sofiane 0:a8ed743bc1e1 994
daoyu_sofiane 0:a8ed743bc1e1 995 // Timer Thread
daoyu_sofiane 0:a8ed743bc1e1 996 __NO_RETURN void osTimerThread (void const *argument) {
daoyu_sofiane 0:a8ed743bc1e1 997 osCallback cb;
daoyu_sofiane 0:a8ed743bc1e1 998 osEvent evt;
daoyu_sofiane 0:a8ed743bc1e1 999
daoyu_sofiane 0:a8ed743bc1e1 1000 for (;;) {
daoyu_sofiane 0:a8ed743bc1e1 1001 evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
daoyu_sofiane 0:a8ed743bc1e1 1002 if (evt.status == osEventMessage) {
daoyu_sofiane 0:a8ed743bc1e1 1003 cb = osTimerCall(evt.value.p);
daoyu_sofiane 0:a8ed743bc1e1 1004 if (cb.fp != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1005 (*(os_ptimer)cb.fp)(cb.arg);
daoyu_sofiane 0:a8ed743bc1e1 1006 }
daoyu_sofiane 0:a8ed743bc1e1 1007 }
daoyu_sofiane 0:a8ed743bc1e1 1008 }
daoyu_sofiane 0:a8ed743bc1e1 1009 }
daoyu_sofiane 0:a8ed743bc1e1 1010
daoyu_sofiane 0:a8ed743bc1e1 1011
daoyu_sofiane 0:a8ed743bc1e1 1012 // ==== Signal Management ====
daoyu_sofiane 0:a8ed743bc1e1 1013
daoyu_sofiane 0:a8ed743bc1e1 1014 // Signal Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1015 SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
daoyu_sofiane 0:a8ed743bc1e1 1016 SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
daoyu_sofiane 0:a8ed743bc1e1 1017 SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
daoyu_sofiane 0:a8ed743bc1e1 1018 SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
daoyu_sofiane 0:a8ed743bc1e1 1019
daoyu_sofiane 0:a8ed743bc1e1 1020 // Signal Service Calls
daoyu_sofiane 0:a8ed743bc1e1 1021
daoyu_sofiane 0:a8ed743bc1e1 1022 /// Set the specified Signal Flags of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1023 int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
daoyu_sofiane 0:a8ed743bc1e1 1024 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 1025 int32_t sig;
daoyu_sofiane 0:a8ed743bc1e1 1026
daoyu_sofiane 0:a8ed743bc1e1 1027 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 1028 if (ptcb == NULL) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1029
daoyu_sofiane 0:a8ed743bc1e1 1030 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1031
daoyu_sofiane 0:a8ed743bc1e1 1032 sig = ptcb->events; // Previous signal flags
daoyu_sofiane 0:a8ed743bc1e1 1033
daoyu_sofiane 0:a8ed743bc1e1 1034 rt_evt_set(signals, ptcb->task_id); // Set event flags
daoyu_sofiane 0:a8ed743bc1e1 1035
daoyu_sofiane 0:a8ed743bc1e1 1036 return sig;
daoyu_sofiane 0:a8ed743bc1e1 1037 }
daoyu_sofiane 0:a8ed743bc1e1 1038
daoyu_sofiane 0:a8ed743bc1e1 1039 /// Clear the specified Signal Flags of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1040 int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
daoyu_sofiane 0:a8ed743bc1e1 1041 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 1042 int32_t sig;
daoyu_sofiane 0:a8ed743bc1e1 1043
daoyu_sofiane 0:a8ed743bc1e1 1044 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 1045 if (ptcb == NULL) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1046
daoyu_sofiane 0:a8ed743bc1e1 1047 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1048
daoyu_sofiane 0:a8ed743bc1e1 1049 sig = ptcb->events; // Previous signal flags
daoyu_sofiane 0:a8ed743bc1e1 1050
daoyu_sofiane 0:a8ed743bc1e1 1051 rt_evt_clr(signals, ptcb->task_id); // Clear event flags
daoyu_sofiane 0:a8ed743bc1e1 1052
daoyu_sofiane 0:a8ed743bc1e1 1053 return sig;
daoyu_sofiane 0:a8ed743bc1e1 1054 }
daoyu_sofiane 0:a8ed743bc1e1 1055
daoyu_sofiane 0:a8ed743bc1e1 1056 /// Get Signal Flags status of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1057 int32_t svcSignalGet (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1058 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 1059
daoyu_sofiane 0:a8ed743bc1e1 1060 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 1061 if (ptcb == NULL) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1062
daoyu_sofiane 0:a8ed743bc1e1 1063 return ptcb->events; // Return event flags
daoyu_sofiane 0:a8ed743bc1e1 1064 }
daoyu_sofiane 0:a8ed743bc1e1 1065
daoyu_sofiane 0:a8ed743bc1e1 1066 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
daoyu_sofiane 0:a8ed743bc1e1 1067 os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1068 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1069 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 1070
daoyu_sofiane 0:a8ed743bc1e1 1071 if (signals & (0xFFFFFFFF << osFeature_Signals)) {
daoyu_sofiane 0:a8ed743bc1e1 1072 ret.status = osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 1073 return osEvent_ret_status;
daoyu_sofiane 0:a8ed743bc1e1 1074 }
daoyu_sofiane 0:a8ed743bc1e1 1075
daoyu_sofiane 0:a8ed743bc1e1 1076 if (signals != 0) { // Wait for all specified signals
daoyu_sofiane 0:a8ed743bc1e1 1077 res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
daoyu_sofiane 0:a8ed743bc1e1 1078 } else { // Wait for any signal
daoyu_sofiane 0:a8ed743bc1e1 1079 res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
daoyu_sofiane 0:a8ed743bc1e1 1080 }
daoyu_sofiane 0:a8ed743bc1e1 1081
daoyu_sofiane 0:a8ed743bc1e1 1082 if (res == OS_R_EVT) {
daoyu_sofiane 0:a8ed743bc1e1 1083 ret.status = osEventSignal;
daoyu_sofiane 0:a8ed743bc1e1 1084 ret.value.signals = signals ? signals : os_tsk.run->waits;
daoyu_sofiane 0:a8ed743bc1e1 1085 } else {
daoyu_sofiane 0:a8ed743bc1e1 1086 ret.status = millisec ? osEventTimeout : osOK;
daoyu_sofiane 0:a8ed743bc1e1 1087 ret.value.signals = 0;
daoyu_sofiane 0:a8ed743bc1e1 1088 }
daoyu_sofiane 0:a8ed743bc1e1 1089
daoyu_sofiane 0:a8ed743bc1e1 1090 return osEvent_ret_value;
daoyu_sofiane 0:a8ed743bc1e1 1091 }
daoyu_sofiane 0:a8ed743bc1e1 1092
daoyu_sofiane 0:a8ed743bc1e1 1093
daoyu_sofiane 0:a8ed743bc1e1 1094 // Signal ISR Calls
daoyu_sofiane 0:a8ed743bc1e1 1095
daoyu_sofiane 0:a8ed743bc1e1 1096 /// Set the specified Signal Flags of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1097 static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
daoyu_sofiane 0:a8ed743bc1e1 1098 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 1099 int32_t sig;
daoyu_sofiane 0:a8ed743bc1e1 1100
daoyu_sofiane 0:a8ed743bc1e1 1101 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
daoyu_sofiane 0:a8ed743bc1e1 1102 if (ptcb == NULL) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1103
daoyu_sofiane 0:a8ed743bc1e1 1104 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
daoyu_sofiane 0:a8ed743bc1e1 1105
daoyu_sofiane 0:a8ed743bc1e1 1106 sig = ptcb->events; // Previous signal flags
daoyu_sofiane 0:a8ed743bc1e1 1107
daoyu_sofiane 0:a8ed743bc1e1 1108 isr_evt_set(signals, ptcb->task_id); // Set event flags
daoyu_sofiane 0:a8ed743bc1e1 1109
daoyu_sofiane 0:a8ed743bc1e1 1110 return sig;
daoyu_sofiane 0:a8ed743bc1e1 1111 }
daoyu_sofiane 0:a8ed743bc1e1 1112
daoyu_sofiane 0:a8ed743bc1e1 1113
daoyu_sofiane 0:a8ed743bc1e1 1114 // Signal Public API
daoyu_sofiane 0:a8ed743bc1e1 1115
daoyu_sofiane 0:a8ed743bc1e1 1116 /// Set the specified Signal Flags of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1117 int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
daoyu_sofiane 0:a8ed743bc1e1 1118 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1119 return isrSignalSet(thread_id, signals);
daoyu_sofiane 0:a8ed743bc1e1 1120 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1121 return __svcSignalSet(thread_id, signals);
daoyu_sofiane 0:a8ed743bc1e1 1122 }
daoyu_sofiane 0:a8ed743bc1e1 1123 }
daoyu_sofiane 0:a8ed743bc1e1 1124
daoyu_sofiane 0:a8ed743bc1e1 1125 /// Clear the specified Signal Flags of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1126 int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
daoyu_sofiane 0:a8ed743bc1e1 1127 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1128 return __svcSignalClear(thread_id, signals);
daoyu_sofiane 0:a8ed743bc1e1 1129 }
daoyu_sofiane 0:a8ed743bc1e1 1130
daoyu_sofiane 0:a8ed743bc1e1 1131 /// Get Signal Flags status of an active thread
daoyu_sofiane 0:a8ed743bc1e1 1132 int32_t osSignalGet (osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1133 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1134 return __svcSignalGet(thread_id);
daoyu_sofiane 0:a8ed743bc1e1 1135 }
daoyu_sofiane 0:a8ed743bc1e1 1136
daoyu_sofiane 0:a8ed743bc1e1 1137 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
daoyu_sofiane 0:a8ed743bc1e1 1138 os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1139 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 1140
daoyu_sofiane 0:a8ed743bc1e1 1141 if (__get_CONTROL() == MODE_IRQ) { // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1142 ret.status = osErrorISR;
daoyu_sofiane 0:a8ed743bc1e1 1143 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1144 }
daoyu_sofiane 0:a8ed743bc1e1 1145 return __svcSignalWait(signals, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1146 }
daoyu_sofiane 0:a8ed743bc1e1 1147
daoyu_sofiane 0:a8ed743bc1e1 1148
daoyu_sofiane 0:a8ed743bc1e1 1149 // ==== Mutex Management ====
daoyu_sofiane 0:a8ed743bc1e1 1150
daoyu_sofiane 0:a8ed743bc1e1 1151 // Mutex Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1152 SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1153 SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1154 SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1155 SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1156
daoyu_sofiane 0:a8ed743bc1e1 1157 // Mutex Service Calls
daoyu_sofiane 0:a8ed743bc1e1 1158
daoyu_sofiane 0:a8ed743bc1e1 1159 /// Create and Initialize a Mutex object
daoyu_sofiane 0:a8ed743bc1e1 1160 osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
daoyu_sofiane 0:a8ed743bc1e1 1161 OS_ID mut;
daoyu_sofiane 0:a8ed743bc1e1 1162
daoyu_sofiane 0:a8ed743bc1e1 1163 if (mutex_def == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1164 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1165 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1166 }
daoyu_sofiane 0:a8ed743bc1e1 1167
daoyu_sofiane 0:a8ed743bc1e1 1168 mut = mutex_def->mutex;
daoyu_sofiane 0:a8ed743bc1e1 1169 if (mut == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1170 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1171 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1172 }
daoyu_sofiane 0:a8ed743bc1e1 1173
daoyu_sofiane 0:a8ed743bc1e1 1174 if (((P_MUCB)mut)->cb_type != 0) {
daoyu_sofiane 0:a8ed743bc1e1 1175 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1176 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1177 }
daoyu_sofiane 0:a8ed743bc1e1 1178
daoyu_sofiane 0:a8ed743bc1e1 1179 rt_mut_init(mut); // Initialize Mutex
daoyu_sofiane 0:a8ed743bc1e1 1180
daoyu_sofiane 0:a8ed743bc1e1 1181 return mut;
daoyu_sofiane 0:a8ed743bc1e1 1182 }
daoyu_sofiane 0:a8ed743bc1e1 1183
daoyu_sofiane 0:a8ed743bc1e1 1184 /// Wait until a Mutex becomes available
daoyu_sofiane 0:a8ed743bc1e1 1185 osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1186 OS_ID mut;
daoyu_sofiane 0:a8ed743bc1e1 1187 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1188
daoyu_sofiane 0:a8ed743bc1e1 1189 mut = rt_id2obj(mutex_id);
daoyu_sofiane 0:a8ed743bc1e1 1190 if (mut == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1191
daoyu_sofiane 0:a8ed743bc1e1 1192 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1193
daoyu_sofiane 0:a8ed743bc1e1 1194 res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
daoyu_sofiane 0:a8ed743bc1e1 1195
daoyu_sofiane 0:a8ed743bc1e1 1196 if (res == OS_R_TMO) {
daoyu_sofiane 0:a8ed743bc1e1 1197 return (millisec ? osErrorTimeoutResource : osErrorResource);
daoyu_sofiane 0:a8ed743bc1e1 1198 }
daoyu_sofiane 0:a8ed743bc1e1 1199
daoyu_sofiane 0:a8ed743bc1e1 1200 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1201 }
daoyu_sofiane 0:a8ed743bc1e1 1202
daoyu_sofiane 0:a8ed743bc1e1 1203 /// Release a Mutex that was obtained with osMutexWait
daoyu_sofiane 0:a8ed743bc1e1 1204 osStatus svcMutexRelease (osMutexId mutex_id) {
daoyu_sofiane 0:a8ed743bc1e1 1205 OS_ID mut;
daoyu_sofiane 0:a8ed743bc1e1 1206 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1207
daoyu_sofiane 0:a8ed743bc1e1 1208 mut = rt_id2obj(mutex_id);
daoyu_sofiane 0:a8ed743bc1e1 1209 if (mut == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1210
daoyu_sofiane 0:a8ed743bc1e1 1211 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1212
daoyu_sofiane 0:a8ed743bc1e1 1213 res = rt_mut_release(mut); // Release Mutex
daoyu_sofiane 0:a8ed743bc1e1 1214
daoyu_sofiane 0:a8ed743bc1e1 1215 if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
daoyu_sofiane 0:a8ed743bc1e1 1216
daoyu_sofiane 0:a8ed743bc1e1 1217 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1218 }
daoyu_sofiane 0:a8ed743bc1e1 1219
daoyu_sofiane 0:a8ed743bc1e1 1220 /// Delete a Mutex that was created by osMutexCreate
daoyu_sofiane 0:a8ed743bc1e1 1221 osStatus svcMutexDelete (osMutexId mutex_id) {
daoyu_sofiane 0:a8ed743bc1e1 1222 OS_ID mut;
daoyu_sofiane 0:a8ed743bc1e1 1223
daoyu_sofiane 0:a8ed743bc1e1 1224 mut = rt_id2obj(mutex_id);
daoyu_sofiane 0:a8ed743bc1e1 1225 if (mut == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1226
daoyu_sofiane 0:a8ed743bc1e1 1227 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1228
daoyu_sofiane 0:a8ed743bc1e1 1229 rt_mut_delete(mut); // Release Mutex
daoyu_sofiane 0:a8ed743bc1e1 1230
daoyu_sofiane 0:a8ed743bc1e1 1231 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1232 }
daoyu_sofiane 0:a8ed743bc1e1 1233
daoyu_sofiane 0:a8ed743bc1e1 1234
daoyu_sofiane 0:a8ed743bc1e1 1235 // Mutex Public API
daoyu_sofiane 0:a8ed743bc1e1 1236
daoyu_sofiane 0:a8ed743bc1e1 1237 /// Create and Initialize a Mutex object
daoyu_sofiane 0:a8ed743bc1e1 1238 osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
daoyu_sofiane 0:a8ed743bc1e1 1239 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1240 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1241 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 1242 return svcMutexCreate(mutex_def);
daoyu_sofiane 0:a8ed743bc1e1 1243 } else {
daoyu_sofiane 0:a8ed743bc1e1 1244 return __svcMutexCreate(mutex_def);
daoyu_sofiane 0:a8ed743bc1e1 1245 }
daoyu_sofiane 0:a8ed743bc1e1 1246 }
daoyu_sofiane 0:a8ed743bc1e1 1247
daoyu_sofiane 0:a8ed743bc1e1 1248 /// Wait until a Mutex becomes available
daoyu_sofiane 0:a8ed743bc1e1 1249 osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1250 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1251 return __svcMutexWait(mutex_id, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1252 }
daoyu_sofiane 0:a8ed743bc1e1 1253
daoyu_sofiane 0:a8ed743bc1e1 1254 /// Release a Mutex that was obtained with osMutexWait
daoyu_sofiane 0:a8ed743bc1e1 1255 osStatus osMutexRelease (osMutexId mutex_id) {
daoyu_sofiane 0:a8ed743bc1e1 1256 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1257 return __svcMutexRelease(mutex_id);
daoyu_sofiane 0:a8ed743bc1e1 1258 }
daoyu_sofiane 0:a8ed743bc1e1 1259
daoyu_sofiane 0:a8ed743bc1e1 1260 /// Delete a Mutex that was created by osMutexCreate
daoyu_sofiane 0:a8ed743bc1e1 1261 osStatus osMutexDelete (osMutexId mutex_id) {
daoyu_sofiane 0:a8ed743bc1e1 1262 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1263 return __svcMutexDelete(mutex_id);
daoyu_sofiane 0:a8ed743bc1e1 1264 }
daoyu_sofiane 0:a8ed743bc1e1 1265
daoyu_sofiane 0:a8ed743bc1e1 1266
daoyu_sofiane 0:a8ed743bc1e1 1267 // ==== Semaphore Management ====
daoyu_sofiane 0:a8ed743bc1e1 1268
daoyu_sofiane 0:a8ed743bc1e1 1269 // Semaphore Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1270 SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1271 SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
daoyu_sofiane 0:a8ed743bc1e1 1272 SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1273 SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1274
daoyu_sofiane 0:a8ed743bc1e1 1275 // Semaphore Service Calls
daoyu_sofiane 0:a8ed743bc1e1 1276
daoyu_sofiane 0:a8ed743bc1e1 1277 /// Create and Initialize a Semaphore object
daoyu_sofiane 0:a8ed743bc1e1 1278 osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
daoyu_sofiane 0:a8ed743bc1e1 1279 OS_ID sem;
daoyu_sofiane 0:a8ed743bc1e1 1280
daoyu_sofiane 0:a8ed743bc1e1 1281 if (semaphore_def == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1282 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1283 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1284 }
daoyu_sofiane 0:a8ed743bc1e1 1285
daoyu_sofiane 0:a8ed743bc1e1 1286 sem = semaphore_def->semaphore;
daoyu_sofiane 0:a8ed743bc1e1 1287 if (sem == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1288 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1289 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1290 }
daoyu_sofiane 0:a8ed743bc1e1 1291
daoyu_sofiane 0:a8ed743bc1e1 1292 if (((P_SCB)sem)->cb_type != 0) {
daoyu_sofiane 0:a8ed743bc1e1 1293 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1294 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1295 }
daoyu_sofiane 0:a8ed743bc1e1 1296
daoyu_sofiane 0:a8ed743bc1e1 1297 if (count > osFeature_Semaphore) {
daoyu_sofiane 0:a8ed743bc1e1 1298 sysThreadError(osErrorValue);
daoyu_sofiane 0:a8ed743bc1e1 1299 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1300 }
daoyu_sofiane 0:a8ed743bc1e1 1301
daoyu_sofiane 0:a8ed743bc1e1 1302 rt_sem_init(sem, count); // Initialize Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1303
daoyu_sofiane 0:a8ed743bc1e1 1304 return sem;
daoyu_sofiane 0:a8ed743bc1e1 1305 }
daoyu_sofiane 0:a8ed743bc1e1 1306
daoyu_sofiane 0:a8ed743bc1e1 1307 /// Wait until a Semaphore becomes available
daoyu_sofiane 0:a8ed743bc1e1 1308 int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1309 OS_ID sem;
daoyu_sofiane 0:a8ed743bc1e1 1310 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1311
daoyu_sofiane 0:a8ed743bc1e1 1312 sem = rt_id2obj(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1313 if (sem == NULL) return -1;
daoyu_sofiane 0:a8ed743bc1e1 1314
daoyu_sofiane 0:a8ed743bc1e1 1315 if (((P_SCB)sem)->cb_type != SCB) return -1;
daoyu_sofiane 0:a8ed743bc1e1 1316
daoyu_sofiane 0:a8ed743bc1e1 1317 res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1318
daoyu_sofiane 0:a8ed743bc1e1 1319 if (res == OS_R_TMO) return 0; // Timeout
daoyu_sofiane 0:a8ed743bc1e1 1320
daoyu_sofiane 0:a8ed743bc1e1 1321 return (((P_SCB)sem)->tokens + 1);
daoyu_sofiane 0:a8ed743bc1e1 1322 }
daoyu_sofiane 0:a8ed743bc1e1 1323
daoyu_sofiane 0:a8ed743bc1e1 1324 /// Release a Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1325 osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
daoyu_sofiane 0:a8ed743bc1e1 1326 OS_ID sem;
daoyu_sofiane 0:a8ed743bc1e1 1327
daoyu_sofiane 0:a8ed743bc1e1 1328 sem = rt_id2obj(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1329 if (sem == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1330
daoyu_sofiane 0:a8ed743bc1e1 1331 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1332
daoyu_sofiane 0:a8ed743bc1e1 1333 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 1334
daoyu_sofiane 0:a8ed743bc1e1 1335 rt_sem_send(sem); // Release Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1336
daoyu_sofiane 0:a8ed743bc1e1 1337 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1338 }
daoyu_sofiane 0:a8ed743bc1e1 1339
daoyu_sofiane 0:a8ed743bc1e1 1340 /// Delete a Semaphore that was created by osSemaphoreCreate
daoyu_sofiane 0:a8ed743bc1e1 1341 osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
daoyu_sofiane 0:a8ed743bc1e1 1342 OS_ID sem;
daoyu_sofiane 0:a8ed743bc1e1 1343
daoyu_sofiane 0:a8ed743bc1e1 1344 sem = rt_id2obj(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1345 if (sem == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1346
daoyu_sofiane 0:a8ed743bc1e1 1347 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1348
daoyu_sofiane 0:a8ed743bc1e1 1349 rt_sem_delete(sem); // Delete Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1350
daoyu_sofiane 0:a8ed743bc1e1 1351 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1352 }
daoyu_sofiane 0:a8ed743bc1e1 1353
daoyu_sofiane 0:a8ed743bc1e1 1354
daoyu_sofiane 0:a8ed743bc1e1 1355 // Semaphore ISR Calls
daoyu_sofiane 0:a8ed743bc1e1 1356
daoyu_sofiane 0:a8ed743bc1e1 1357 /// Release a Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1358 static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
daoyu_sofiane 0:a8ed743bc1e1 1359 OS_ID sem;
daoyu_sofiane 0:a8ed743bc1e1 1360
daoyu_sofiane 0:a8ed743bc1e1 1361 sem = rt_id2obj(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1362 if (sem == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1363
daoyu_sofiane 0:a8ed743bc1e1 1364 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1365
daoyu_sofiane 0:a8ed743bc1e1 1366 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 1367
daoyu_sofiane 0:a8ed743bc1e1 1368 isr_sem_send(sem); // Release Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1369
daoyu_sofiane 0:a8ed743bc1e1 1370 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1371 }
daoyu_sofiane 0:a8ed743bc1e1 1372
daoyu_sofiane 0:a8ed743bc1e1 1373
daoyu_sofiane 0:a8ed743bc1e1 1374 // Semaphore Public API
daoyu_sofiane 0:a8ed743bc1e1 1375
daoyu_sofiane 0:a8ed743bc1e1 1376 /// Create and Initialize a Semaphore object
daoyu_sofiane 0:a8ed743bc1e1 1377 osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
daoyu_sofiane 0:a8ed743bc1e1 1378 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1379 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1380 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 1381 return svcSemaphoreCreate(semaphore_def, count);
daoyu_sofiane 0:a8ed743bc1e1 1382 } else {
daoyu_sofiane 0:a8ed743bc1e1 1383 return __svcSemaphoreCreate(semaphore_def, count);
daoyu_sofiane 0:a8ed743bc1e1 1384 }
daoyu_sofiane 0:a8ed743bc1e1 1385 }
daoyu_sofiane 0:a8ed743bc1e1 1386
daoyu_sofiane 0:a8ed743bc1e1 1387 /// Wait until a Semaphore becomes available
daoyu_sofiane 0:a8ed743bc1e1 1388 int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1389 if (__get_CONTROL() == MODE_IRQ) return -1; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1390 return __svcSemaphoreWait(semaphore_id, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1391 }
daoyu_sofiane 0:a8ed743bc1e1 1392
daoyu_sofiane 0:a8ed743bc1e1 1393 /// Release a Semaphore
daoyu_sofiane 0:a8ed743bc1e1 1394 osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
daoyu_sofiane 0:a8ed743bc1e1 1395 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1396 return isrSemaphoreRelease(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1397 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1398 return __svcSemaphoreRelease(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1399 }
daoyu_sofiane 0:a8ed743bc1e1 1400 }
daoyu_sofiane 0:a8ed743bc1e1 1401
daoyu_sofiane 0:a8ed743bc1e1 1402 /// Delete a Semaphore that was created by osSemaphoreCreate
daoyu_sofiane 0:a8ed743bc1e1 1403 osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
daoyu_sofiane 0:a8ed743bc1e1 1404 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1405 return __svcSemaphoreDelete(semaphore_id);
daoyu_sofiane 0:a8ed743bc1e1 1406 }
daoyu_sofiane 0:a8ed743bc1e1 1407
daoyu_sofiane 0:a8ed743bc1e1 1408
daoyu_sofiane 0:a8ed743bc1e1 1409 // ==== Memory Management Functions ====
daoyu_sofiane 0:a8ed743bc1e1 1410
daoyu_sofiane 0:a8ed743bc1e1 1411 // Memory Management Helper Functions
daoyu_sofiane 0:a8ed743bc1e1 1412
daoyu_sofiane 0:a8ed743bc1e1 1413 // Clear Memory Box (Zero init)
daoyu_sofiane 0:a8ed743bc1e1 1414 static void rt_clr_box (void *box_mem, void *box) {
daoyu_sofiane 0:a8ed743bc1e1 1415 uint32_t *p, n;
daoyu_sofiane 0:a8ed743bc1e1 1416
daoyu_sofiane 0:a8ed743bc1e1 1417 if (box) {
daoyu_sofiane 0:a8ed743bc1e1 1418 p = box;
daoyu_sofiane 0:a8ed743bc1e1 1419 for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
daoyu_sofiane 0:a8ed743bc1e1 1420 *p++ = 0;
daoyu_sofiane 0:a8ed743bc1e1 1421 }
daoyu_sofiane 0:a8ed743bc1e1 1422 }
daoyu_sofiane 0:a8ed743bc1e1 1423 }
daoyu_sofiane 0:a8ed743bc1e1 1424
daoyu_sofiane 0:a8ed743bc1e1 1425 // Memory Management Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1426 SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1427 SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1428 SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1429
daoyu_sofiane 0:a8ed743bc1e1 1430 // Memory Management Service & ISR Calls
daoyu_sofiane 0:a8ed743bc1e1 1431
daoyu_sofiane 0:a8ed743bc1e1 1432 /// Create and Initialize memory pool
daoyu_sofiane 0:a8ed743bc1e1 1433 osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
daoyu_sofiane 0:a8ed743bc1e1 1434 uint32_t blk_sz;
daoyu_sofiane 0:a8ed743bc1e1 1435
daoyu_sofiane 0:a8ed743bc1e1 1436 if ((pool_def == NULL) ||
daoyu_sofiane 0:a8ed743bc1e1 1437 (pool_def->pool_sz == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 1438 (pool_def->item_sz == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 1439 (pool_def->pool == NULL)) {
daoyu_sofiane 0:a8ed743bc1e1 1440 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1441 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1442 }
daoyu_sofiane 0:a8ed743bc1e1 1443
daoyu_sofiane 0:a8ed743bc1e1 1444 blk_sz = (pool_def->item_sz + 3) & ~3;
daoyu_sofiane 0:a8ed743bc1e1 1445
daoyu_sofiane 0:a8ed743bc1e1 1446 _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
daoyu_sofiane 0:a8ed743bc1e1 1447
daoyu_sofiane 0:a8ed743bc1e1 1448 return pool_def->pool;
daoyu_sofiane 0:a8ed743bc1e1 1449 }
daoyu_sofiane 0:a8ed743bc1e1 1450
daoyu_sofiane 0:a8ed743bc1e1 1451 /// Allocate a memory block from a memory pool
daoyu_sofiane 0:a8ed743bc1e1 1452 void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
daoyu_sofiane 0:a8ed743bc1e1 1453 void *ptr;
daoyu_sofiane 0:a8ed743bc1e1 1454
daoyu_sofiane 0:a8ed743bc1e1 1455 if (pool_id == NULL) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1456
daoyu_sofiane 0:a8ed743bc1e1 1457 ptr = rt_alloc_box(pool_id);
daoyu_sofiane 0:a8ed743bc1e1 1458 if (clr) {
daoyu_sofiane 0:a8ed743bc1e1 1459 rt_clr_box(pool_id, ptr);
daoyu_sofiane 0:a8ed743bc1e1 1460 }
daoyu_sofiane 0:a8ed743bc1e1 1461
daoyu_sofiane 0:a8ed743bc1e1 1462 return ptr;
daoyu_sofiane 0:a8ed743bc1e1 1463 }
daoyu_sofiane 0:a8ed743bc1e1 1464
daoyu_sofiane 0:a8ed743bc1e1 1465 /// Return an allocated memory block back to a specific memory pool
daoyu_sofiane 0:a8ed743bc1e1 1466 osStatus sysPoolFree (osPoolId pool_id, void *block) {
daoyu_sofiane 0:a8ed743bc1e1 1467 int32_t res;
daoyu_sofiane 0:a8ed743bc1e1 1468
daoyu_sofiane 0:a8ed743bc1e1 1469 if (pool_id == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1470
daoyu_sofiane 0:a8ed743bc1e1 1471 res = rt_free_box(pool_id, block);
daoyu_sofiane 0:a8ed743bc1e1 1472 if (res != 0) return osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 1473
daoyu_sofiane 0:a8ed743bc1e1 1474 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1475 }
daoyu_sofiane 0:a8ed743bc1e1 1476
daoyu_sofiane 0:a8ed743bc1e1 1477
daoyu_sofiane 0:a8ed743bc1e1 1478 // Memory Management Public API
daoyu_sofiane 0:a8ed743bc1e1 1479
daoyu_sofiane 0:a8ed743bc1e1 1480 /// Create and Initialize memory pool
daoyu_sofiane 0:a8ed743bc1e1 1481 osPoolId osPoolCreate (osPoolDef_t *pool_def) {
daoyu_sofiane 0:a8ed743bc1e1 1482 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1483 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1484 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 1485 return svcPoolCreate(pool_def);
daoyu_sofiane 0:a8ed743bc1e1 1486 } else {
daoyu_sofiane 0:a8ed743bc1e1 1487 return __svcPoolCreate(pool_def);
daoyu_sofiane 0:a8ed743bc1e1 1488 }
daoyu_sofiane 0:a8ed743bc1e1 1489 }
daoyu_sofiane 0:a8ed743bc1e1 1490
daoyu_sofiane 0:a8ed743bc1e1 1491 /// Allocate a memory block from a memory pool
daoyu_sofiane 0:a8ed743bc1e1 1492 void *osPoolAlloc (osPoolId pool_id) {
daoyu_sofiane 0:a8ed743bc1e1 1493 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
daoyu_sofiane 0:a8ed743bc1e1 1494 return sysPoolAlloc(pool_id, 0);
daoyu_sofiane 0:a8ed743bc1e1 1495 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1496 return __sysPoolAlloc(pool_id, 0);
daoyu_sofiane 0:a8ed743bc1e1 1497 }
daoyu_sofiane 0:a8ed743bc1e1 1498 }
daoyu_sofiane 0:a8ed743bc1e1 1499
daoyu_sofiane 0:a8ed743bc1e1 1500 /// Allocate a memory block from a memory pool and set memory block to zero
daoyu_sofiane 0:a8ed743bc1e1 1501 void *osPoolCAlloc (osPoolId pool_id) {
daoyu_sofiane 0:a8ed743bc1e1 1502 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
daoyu_sofiane 0:a8ed743bc1e1 1503 return sysPoolAlloc(pool_id, 1);
daoyu_sofiane 0:a8ed743bc1e1 1504 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1505 return __sysPoolAlloc(pool_id, 1);
daoyu_sofiane 0:a8ed743bc1e1 1506 }
daoyu_sofiane 0:a8ed743bc1e1 1507 }
daoyu_sofiane 0:a8ed743bc1e1 1508
daoyu_sofiane 0:a8ed743bc1e1 1509 /// Return an allocated memory block back to a specific memory pool
daoyu_sofiane 0:a8ed743bc1e1 1510 osStatus osPoolFree (osPoolId pool_id, void *block) {
daoyu_sofiane 0:a8ed743bc1e1 1511 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
daoyu_sofiane 0:a8ed743bc1e1 1512 return sysPoolFree(pool_id, block);
daoyu_sofiane 0:a8ed743bc1e1 1513 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1514 return __sysPoolFree(pool_id, block);
daoyu_sofiane 0:a8ed743bc1e1 1515 }
daoyu_sofiane 0:a8ed743bc1e1 1516 }
daoyu_sofiane 0:a8ed743bc1e1 1517
daoyu_sofiane 0:a8ed743bc1e1 1518
daoyu_sofiane 0:a8ed743bc1e1 1519 // ==== Message Queue Management Functions ====
daoyu_sofiane 0:a8ed743bc1e1 1520
daoyu_sofiane 0:a8ed743bc1e1 1521 // Message Queue Management Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1522 SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1523 SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1524 SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
daoyu_sofiane 0:a8ed743bc1e1 1525
daoyu_sofiane 0:a8ed743bc1e1 1526 // Message Queue Service Calls
daoyu_sofiane 0:a8ed743bc1e1 1527
daoyu_sofiane 0:a8ed743bc1e1 1528 /// Create and Initialize Message Queue
daoyu_sofiane 0:a8ed743bc1e1 1529 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1530
daoyu_sofiane 0:a8ed743bc1e1 1531 if ((queue_def == NULL) ||
daoyu_sofiane 0:a8ed743bc1e1 1532 (queue_def->queue_sz == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 1533 (queue_def->pool == NULL)) {
daoyu_sofiane 0:a8ed743bc1e1 1534 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1535 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1536 }
daoyu_sofiane 0:a8ed743bc1e1 1537
daoyu_sofiane 0:a8ed743bc1e1 1538 if (((P_MCB)queue_def->pool)->cb_type != 0) {
daoyu_sofiane 0:a8ed743bc1e1 1539 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1540 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1541 }
daoyu_sofiane 0:a8ed743bc1e1 1542
daoyu_sofiane 0:a8ed743bc1e1 1543 rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
daoyu_sofiane 0:a8ed743bc1e1 1544
daoyu_sofiane 0:a8ed743bc1e1 1545 return queue_def->pool;
daoyu_sofiane 0:a8ed743bc1e1 1546 }
daoyu_sofiane 0:a8ed743bc1e1 1547
daoyu_sofiane 0:a8ed743bc1e1 1548 /// Put a Message to a Queue
daoyu_sofiane 0:a8ed743bc1e1 1549 osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1550 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1551
daoyu_sofiane 0:a8ed743bc1e1 1552 if (queue_id == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1553
daoyu_sofiane 0:a8ed743bc1e1 1554 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1555
daoyu_sofiane 0:a8ed743bc1e1 1556 res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
daoyu_sofiane 0:a8ed743bc1e1 1557
daoyu_sofiane 0:a8ed743bc1e1 1558 if (res == OS_R_TMO) {
daoyu_sofiane 0:a8ed743bc1e1 1559 return (millisec ? osErrorTimeoutResource : osErrorResource);
daoyu_sofiane 0:a8ed743bc1e1 1560 }
daoyu_sofiane 0:a8ed743bc1e1 1561
daoyu_sofiane 0:a8ed743bc1e1 1562 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1563 }
daoyu_sofiane 0:a8ed743bc1e1 1564
daoyu_sofiane 0:a8ed743bc1e1 1565 /// Get a Message or Wait for a Message from a Queue
daoyu_sofiane 0:a8ed743bc1e1 1566 os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1567 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1568 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 1569
daoyu_sofiane 0:a8ed743bc1e1 1570 if (queue_id == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1571 ret.status = osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1572 return osEvent_ret_status;
daoyu_sofiane 0:a8ed743bc1e1 1573 }
daoyu_sofiane 0:a8ed743bc1e1 1574
daoyu_sofiane 0:a8ed743bc1e1 1575 if (((P_MCB)queue_id)->cb_type != MCB) {
daoyu_sofiane 0:a8ed743bc1e1 1576 ret.status = osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1577 return osEvent_ret_status;
daoyu_sofiane 0:a8ed743bc1e1 1578 }
daoyu_sofiane 0:a8ed743bc1e1 1579
daoyu_sofiane 0:a8ed743bc1e1 1580 res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
daoyu_sofiane 0:a8ed743bc1e1 1581
daoyu_sofiane 0:a8ed743bc1e1 1582 if (res == OS_R_TMO) {
daoyu_sofiane 0:a8ed743bc1e1 1583 ret.status = millisec ? osEventTimeout : osOK;
daoyu_sofiane 0:a8ed743bc1e1 1584 return osEvent_ret_value;
daoyu_sofiane 0:a8ed743bc1e1 1585 }
daoyu_sofiane 0:a8ed743bc1e1 1586
daoyu_sofiane 0:a8ed743bc1e1 1587 ret.status = osEventMessage;
daoyu_sofiane 0:a8ed743bc1e1 1588
daoyu_sofiane 0:a8ed743bc1e1 1589 return osEvent_ret_value;
daoyu_sofiane 0:a8ed743bc1e1 1590 }
daoyu_sofiane 0:a8ed743bc1e1 1591
daoyu_sofiane 0:a8ed743bc1e1 1592
daoyu_sofiane 0:a8ed743bc1e1 1593 // Message Queue ISR Calls
daoyu_sofiane 0:a8ed743bc1e1 1594
daoyu_sofiane 0:a8ed743bc1e1 1595 /// Put a Message to a Queue
daoyu_sofiane 0:a8ed743bc1e1 1596 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1597
daoyu_sofiane 0:a8ed743bc1e1 1598 if ((queue_id == NULL) || (millisec != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1599 return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1600 }
daoyu_sofiane 0:a8ed743bc1e1 1601
daoyu_sofiane 0:a8ed743bc1e1 1602 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1603
daoyu_sofiane 0:a8ed743bc1e1 1604 if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
daoyu_sofiane 0:a8ed743bc1e1 1605 return osErrorResource;
daoyu_sofiane 0:a8ed743bc1e1 1606 }
daoyu_sofiane 0:a8ed743bc1e1 1607
daoyu_sofiane 0:a8ed743bc1e1 1608 isr_mbx_send(queue_id, (void *)info);
daoyu_sofiane 0:a8ed743bc1e1 1609
daoyu_sofiane 0:a8ed743bc1e1 1610 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1611 }
daoyu_sofiane 0:a8ed743bc1e1 1612
daoyu_sofiane 0:a8ed743bc1e1 1613 /// Get a Message or Wait for a Message from a Queue
daoyu_sofiane 0:a8ed743bc1e1 1614 static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1615 OS_RESULT res;
daoyu_sofiane 0:a8ed743bc1e1 1616 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 1617
daoyu_sofiane 0:a8ed743bc1e1 1618 if ((queue_id == NULL) || (millisec != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1619 ret.status = osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1620 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1621 }
daoyu_sofiane 0:a8ed743bc1e1 1622
daoyu_sofiane 0:a8ed743bc1e1 1623 if (((P_MCB)queue_id)->cb_type != MCB) {
daoyu_sofiane 0:a8ed743bc1e1 1624 ret.status = osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1625 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1626 }
daoyu_sofiane 0:a8ed743bc1e1 1627
daoyu_sofiane 0:a8ed743bc1e1 1628 res = isr_mbx_receive(queue_id, &ret.value.p);
daoyu_sofiane 0:a8ed743bc1e1 1629
daoyu_sofiane 0:a8ed743bc1e1 1630 if (res != OS_R_MBX) {
daoyu_sofiane 0:a8ed743bc1e1 1631 ret.status = osOK;
daoyu_sofiane 0:a8ed743bc1e1 1632 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1633 }
daoyu_sofiane 0:a8ed743bc1e1 1634
daoyu_sofiane 0:a8ed743bc1e1 1635 ret.status = osEventMessage;
daoyu_sofiane 0:a8ed743bc1e1 1636
daoyu_sofiane 0:a8ed743bc1e1 1637 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1638 }
daoyu_sofiane 0:a8ed743bc1e1 1639
daoyu_sofiane 0:a8ed743bc1e1 1640
daoyu_sofiane 0:a8ed743bc1e1 1641 // Message Queue Management Public API
daoyu_sofiane 0:a8ed743bc1e1 1642
daoyu_sofiane 0:a8ed743bc1e1 1643 /// Create and Initialize Message Queue
daoyu_sofiane 0:a8ed743bc1e1 1644 osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1645 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1646 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1647 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 1648 return svcMessageCreate(queue_def, thread_id);
daoyu_sofiane 0:a8ed743bc1e1 1649 } else {
daoyu_sofiane 0:a8ed743bc1e1 1650 return __svcMessageCreate(queue_def, thread_id);
daoyu_sofiane 0:a8ed743bc1e1 1651 }
daoyu_sofiane 0:a8ed743bc1e1 1652 }
daoyu_sofiane 0:a8ed743bc1e1 1653
daoyu_sofiane 0:a8ed743bc1e1 1654 /// Put a Message to a Queue
daoyu_sofiane 0:a8ed743bc1e1 1655 osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1656 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1657 return isrMessagePut(queue_id, info, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1658 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1659 return __svcMessagePut(queue_id, info, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1660 }
daoyu_sofiane 0:a8ed743bc1e1 1661 }
daoyu_sofiane 0:a8ed743bc1e1 1662
daoyu_sofiane 0:a8ed743bc1e1 1663 /// Get a Message or Wait for a Message from a Queue
daoyu_sofiane 0:a8ed743bc1e1 1664 os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1665 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1666 return isrMessageGet(queue_id, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1667 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1668 return __svcMessageGet(queue_id, millisec);
daoyu_sofiane 0:a8ed743bc1e1 1669 }
daoyu_sofiane 0:a8ed743bc1e1 1670 }
daoyu_sofiane 0:a8ed743bc1e1 1671
daoyu_sofiane 0:a8ed743bc1e1 1672
daoyu_sofiane 0:a8ed743bc1e1 1673 // ==== Mail Queue Management Functions ====
daoyu_sofiane 0:a8ed743bc1e1 1674
daoyu_sofiane 0:a8ed743bc1e1 1675 // Mail Queue Management Service Calls declarations
daoyu_sofiane 0:a8ed743bc1e1 1676 SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1677 SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
daoyu_sofiane 0:a8ed743bc1e1 1678 SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
daoyu_sofiane 0:a8ed743bc1e1 1679
daoyu_sofiane 0:a8ed743bc1e1 1680 // Mail Queue Management Service & ISR Calls
daoyu_sofiane 0:a8ed743bc1e1 1681
daoyu_sofiane 0:a8ed743bc1e1 1682 /// Create and Initialize mail queue
daoyu_sofiane 0:a8ed743bc1e1 1683 osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1684 uint32_t blk_sz;
daoyu_sofiane 0:a8ed743bc1e1 1685 P_MCB pmcb;
daoyu_sofiane 0:a8ed743bc1e1 1686 void *pool;
daoyu_sofiane 0:a8ed743bc1e1 1687
daoyu_sofiane 0:a8ed743bc1e1 1688 if ((queue_def == NULL) ||
daoyu_sofiane 0:a8ed743bc1e1 1689 (queue_def->queue_sz == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 1690 (queue_def->item_sz == 0) ||
daoyu_sofiane 0:a8ed743bc1e1 1691 (queue_def->pool == NULL)) {
daoyu_sofiane 0:a8ed743bc1e1 1692 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1693 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1694 }
daoyu_sofiane 0:a8ed743bc1e1 1695
daoyu_sofiane 0:a8ed743bc1e1 1696 pmcb = *(((void **)queue_def->pool) + 0);
daoyu_sofiane 0:a8ed743bc1e1 1697 pool = *(((void **)queue_def->pool) + 1);
daoyu_sofiane 0:a8ed743bc1e1 1698
daoyu_sofiane 0:a8ed743bc1e1 1699 if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1700 sysThreadError(osErrorParameter);
daoyu_sofiane 0:a8ed743bc1e1 1701 return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1702 }
daoyu_sofiane 0:a8ed743bc1e1 1703
daoyu_sofiane 0:a8ed743bc1e1 1704 blk_sz = (queue_def->item_sz + 3) & ~3;
daoyu_sofiane 0:a8ed743bc1e1 1705
daoyu_sofiane 0:a8ed743bc1e1 1706 _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
daoyu_sofiane 0:a8ed743bc1e1 1707
daoyu_sofiane 0:a8ed743bc1e1 1708 rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
daoyu_sofiane 0:a8ed743bc1e1 1709
daoyu_sofiane 0:a8ed743bc1e1 1710
daoyu_sofiane 0:a8ed743bc1e1 1711 return queue_def->pool;
daoyu_sofiane 0:a8ed743bc1e1 1712 }
daoyu_sofiane 0:a8ed743bc1e1 1713
daoyu_sofiane 0:a8ed743bc1e1 1714 /// Allocate a memory block from a mail
daoyu_sofiane 0:a8ed743bc1e1 1715 void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
daoyu_sofiane 0:a8ed743bc1e1 1716 P_MCB pmcb;
daoyu_sofiane 0:a8ed743bc1e1 1717 void *pool;
daoyu_sofiane 0:a8ed743bc1e1 1718 void *mem;
daoyu_sofiane 0:a8ed743bc1e1 1719
daoyu_sofiane 0:a8ed743bc1e1 1720 if (queue_id == NULL) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1721
daoyu_sofiane 0:a8ed743bc1e1 1722 pmcb = *(((void **)queue_id) + 0);
daoyu_sofiane 0:a8ed743bc1e1 1723 pool = *(((void **)queue_id) + 1);
daoyu_sofiane 0:a8ed743bc1e1 1724
daoyu_sofiane 0:a8ed743bc1e1 1725 if ((pool == NULL) || (pmcb == NULL)) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1726
daoyu_sofiane 0:a8ed743bc1e1 1727 if (isr && (millisec != 0)) return NULL;
daoyu_sofiane 0:a8ed743bc1e1 1728
daoyu_sofiane 0:a8ed743bc1e1 1729 mem = rt_alloc_box(pool);
daoyu_sofiane 0:a8ed743bc1e1 1730 if (clr) {
daoyu_sofiane 0:a8ed743bc1e1 1731 rt_clr_box(pool, mem);
daoyu_sofiane 0:a8ed743bc1e1 1732 }
daoyu_sofiane 0:a8ed743bc1e1 1733
daoyu_sofiane 0:a8ed743bc1e1 1734 if ((mem == NULL) && (millisec != 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1735 // Put Task to sleep when Memory not available
daoyu_sofiane 0:a8ed743bc1e1 1736 if (pmcb->p_lnk != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1737 rt_put_prio((P_XCB)pmcb, os_tsk.run);
daoyu_sofiane 0:a8ed743bc1e1 1738 } else {
daoyu_sofiane 0:a8ed743bc1e1 1739 pmcb->p_lnk = os_tsk.run;
daoyu_sofiane 0:a8ed743bc1e1 1740 os_tsk.run->p_lnk = NULL;
daoyu_sofiane 0:a8ed743bc1e1 1741 os_tsk.run->p_rlnk = (P_TCB)pmcb;
daoyu_sofiane 0:a8ed743bc1e1 1742 // Task is waiting to allocate a message
daoyu_sofiane 0:a8ed743bc1e1 1743 pmcb->state = 3;
daoyu_sofiane 0:a8ed743bc1e1 1744 }
daoyu_sofiane 0:a8ed743bc1e1 1745 rt_block(rt_ms2tick(millisec), WAIT_MBX);
daoyu_sofiane 0:a8ed743bc1e1 1746 }
daoyu_sofiane 0:a8ed743bc1e1 1747
daoyu_sofiane 0:a8ed743bc1e1 1748 return mem;
daoyu_sofiane 0:a8ed743bc1e1 1749 }
daoyu_sofiane 0:a8ed743bc1e1 1750
daoyu_sofiane 0:a8ed743bc1e1 1751 /// Free a memory block from a mail
daoyu_sofiane 0:a8ed743bc1e1 1752 osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
daoyu_sofiane 0:a8ed743bc1e1 1753 P_MCB pmcb;
daoyu_sofiane 0:a8ed743bc1e1 1754 P_TCB ptcb;
daoyu_sofiane 0:a8ed743bc1e1 1755 void *pool;
daoyu_sofiane 0:a8ed743bc1e1 1756 void *mem;
daoyu_sofiane 0:a8ed743bc1e1 1757 int32_t res;
daoyu_sofiane 0:a8ed743bc1e1 1758
daoyu_sofiane 0:a8ed743bc1e1 1759 if (queue_id == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1760
daoyu_sofiane 0:a8ed743bc1e1 1761 pmcb = *(((void **)queue_id) + 0);
daoyu_sofiane 0:a8ed743bc1e1 1762 pool = *(((void **)queue_id) + 1);
daoyu_sofiane 0:a8ed743bc1e1 1763
daoyu_sofiane 0:a8ed743bc1e1 1764 if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1765
daoyu_sofiane 0:a8ed743bc1e1 1766 res = rt_free_box(pool, mail);
daoyu_sofiane 0:a8ed743bc1e1 1767
daoyu_sofiane 0:a8ed743bc1e1 1768 if (res != 0) return osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 1769
daoyu_sofiane 0:a8ed743bc1e1 1770 if (pmcb->state == 3) {
daoyu_sofiane 0:a8ed743bc1e1 1771 // Task is waiting to allocate a message
daoyu_sofiane 0:a8ed743bc1e1 1772 if (isr) {
daoyu_sofiane 0:a8ed743bc1e1 1773 rt_psq_enq (pmcb, (U32)pool);
daoyu_sofiane 0:a8ed743bc1e1 1774 rt_psh_req ();
daoyu_sofiane 0:a8ed743bc1e1 1775 } else {
daoyu_sofiane 0:a8ed743bc1e1 1776 mem = rt_alloc_box(pool);
daoyu_sofiane 0:a8ed743bc1e1 1777 if (mem != NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1778 ptcb = rt_get_first((P_XCB)pmcb);
daoyu_sofiane 0:a8ed743bc1e1 1779 if (pmcb->p_lnk == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1780 pmcb->state = 0;
daoyu_sofiane 0:a8ed743bc1e1 1781 }
daoyu_sofiane 0:a8ed743bc1e1 1782 rt_ret_val(ptcb, (U32)mem);
daoyu_sofiane 0:a8ed743bc1e1 1783 rt_rmv_dly(ptcb);
daoyu_sofiane 0:a8ed743bc1e1 1784 rt_dispatch(ptcb);
daoyu_sofiane 0:a8ed743bc1e1 1785 }
daoyu_sofiane 0:a8ed743bc1e1 1786 }
daoyu_sofiane 0:a8ed743bc1e1 1787 }
daoyu_sofiane 0:a8ed743bc1e1 1788
daoyu_sofiane 0:a8ed743bc1e1 1789 return osOK;
daoyu_sofiane 0:a8ed743bc1e1 1790 }
daoyu_sofiane 0:a8ed743bc1e1 1791
daoyu_sofiane 0:a8ed743bc1e1 1792
daoyu_sofiane 0:a8ed743bc1e1 1793 // Mail Queue Management Public API
daoyu_sofiane 0:a8ed743bc1e1 1794
daoyu_sofiane 0:a8ed743bc1e1 1795 /// Create and Initialize mail queue
daoyu_sofiane 0:a8ed743bc1e1 1796 osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
daoyu_sofiane 0:a8ed743bc1e1 1797 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
daoyu_sofiane 0:a8ed743bc1e1 1798 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
daoyu_sofiane 0:a8ed743bc1e1 1799 // Privileged and not running
daoyu_sofiane 0:a8ed743bc1e1 1800 return svcMailCreate(queue_def, thread_id);
daoyu_sofiane 0:a8ed743bc1e1 1801 } else {
daoyu_sofiane 0:a8ed743bc1e1 1802 return __svcMailCreate(queue_def, thread_id);
daoyu_sofiane 0:a8ed743bc1e1 1803 }
daoyu_sofiane 0:a8ed743bc1e1 1804 }
daoyu_sofiane 0:a8ed743bc1e1 1805
daoyu_sofiane 0:a8ed743bc1e1 1806 /// Allocate a memory block from a mail
daoyu_sofiane 0:a8ed743bc1e1 1807 void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1808 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1809 return sysMailAlloc(queue_id, millisec, 1, 0);
daoyu_sofiane 0:a8ed743bc1e1 1810 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1811 return __sysMailAlloc(queue_id, millisec, 0, 0);
daoyu_sofiane 0:a8ed743bc1e1 1812 }
daoyu_sofiane 0:a8ed743bc1e1 1813 }
daoyu_sofiane 0:a8ed743bc1e1 1814
daoyu_sofiane 0:a8ed743bc1e1 1815 /// Allocate a memory block from a mail and set memory block to zero
daoyu_sofiane 0:a8ed743bc1e1 1816 void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1817 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1818 return sysMailAlloc(queue_id, millisec, 1, 1);
daoyu_sofiane 0:a8ed743bc1e1 1819 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1820 return __sysMailAlloc(queue_id, millisec, 0, 1);
daoyu_sofiane 0:a8ed743bc1e1 1821 }
daoyu_sofiane 0:a8ed743bc1e1 1822 }
daoyu_sofiane 0:a8ed743bc1e1 1823
daoyu_sofiane 0:a8ed743bc1e1 1824 /// Free a memory block from a mail
daoyu_sofiane 0:a8ed743bc1e1 1825 osStatus osMailFree (osMailQId queue_id, void *mail) {
daoyu_sofiane 0:a8ed743bc1e1 1826 if (__get_CONTROL() == MODE_IRQ) { // in ISR
daoyu_sofiane 0:a8ed743bc1e1 1827 return sysMailFree(queue_id, mail, 1);
daoyu_sofiane 0:a8ed743bc1e1 1828 } else { // in Thread
daoyu_sofiane 0:a8ed743bc1e1 1829 return __sysMailFree(queue_id, mail, 0);
daoyu_sofiane 0:a8ed743bc1e1 1830 }
daoyu_sofiane 0:a8ed743bc1e1 1831 }
daoyu_sofiane 0:a8ed743bc1e1 1832
daoyu_sofiane 0:a8ed743bc1e1 1833 /// Put a mail to a queue
daoyu_sofiane 0:a8ed743bc1e1 1834 osStatus osMailPut (osMailQId queue_id, void *mail) {
daoyu_sofiane 0:a8ed743bc1e1 1835 if (queue_id == NULL) return osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1836 if (mail == NULL) return osErrorValue;
daoyu_sofiane 0:a8ed743bc1e1 1837 return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
daoyu_sofiane 0:a8ed743bc1e1 1838 }
daoyu_sofiane 0:a8ed743bc1e1 1839
daoyu_sofiane 0:a8ed743bc1e1 1840 /// Get a mail from a queue
daoyu_sofiane 0:a8ed743bc1e1 1841 os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
daoyu_sofiane 0:a8ed743bc1e1 1842 osEvent ret;
daoyu_sofiane 0:a8ed743bc1e1 1843
daoyu_sofiane 0:a8ed743bc1e1 1844 if (queue_id == NULL) {
daoyu_sofiane 0:a8ed743bc1e1 1845 ret.status = osErrorParameter;
daoyu_sofiane 0:a8ed743bc1e1 1846 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1847 }
daoyu_sofiane 0:a8ed743bc1e1 1848
daoyu_sofiane 0:a8ed743bc1e1 1849 ret = osMessageGet(*((void **)queue_id), millisec);
daoyu_sofiane 0:a8ed743bc1e1 1850 if (ret.status == osEventMessage) ret.status = osEventMail;
daoyu_sofiane 0:a8ed743bc1e1 1851
daoyu_sofiane 0:a8ed743bc1e1 1852 return ret;
daoyu_sofiane 0:a8ed743bc1e1 1853 }