Department of Electrical Eng University of Moratuwa / Mbed 2 deprecated Vibration_Analysis_Force_Control

Dependencies:   mbed

mbed-rtos/rtos/Mail.h@0:5459cdde6298, 2019-08-01 (annotated)

Committer:
eembed
Date:
Thu Aug 01 08:00:33 2019 +0000
Revision:
0:5459cdde6298
first commit

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eembed 0:5459cdde6298 1 /* mbed Microcontroller Library
eembed 0:5459cdde6298 2 * Copyright (c) 2006-2012 ARM Limited
eembed 0:5459cdde6298 3 *
eembed 0:5459cdde6298 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
eembed 0:5459cdde6298 5 * of this software and associated documentation files (the "Software"), to deal
eembed 0:5459cdde6298 6 * in the Software without restriction, including without limitation the rights
eembed 0:5459cdde6298 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
eembed 0:5459cdde6298 8 * copies of the Software, and to permit persons to whom the Software is
eembed 0:5459cdde6298 9 * furnished to do so, subject to the following conditions:
eembed 0:5459cdde6298 10 *
eembed 0:5459cdde6298 11 * The above copyright notice and this permission notice shall be included in
eembed 0:5459cdde6298 12 * all copies or substantial portions of the Software.
eembed 0:5459cdde6298 13 *
eembed 0:5459cdde6298 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
eembed 0:5459cdde6298 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
eembed 0:5459cdde6298 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
eembed 0:5459cdde6298 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
eembed 0:5459cdde6298 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
eembed 0:5459cdde6298 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
eembed 0:5459cdde6298 20 * SOFTWARE.
eembed 0:5459cdde6298 21 */
eembed 0:5459cdde6298 22 #ifndef MAIL_H
eembed 0:5459cdde6298 23 #define MAIL_H
eembed 0:5459cdde6298 24
eembed 0:5459cdde6298 25 #include <stdint.h>
eembed 0:5459cdde6298 26 #include <string.h>
eembed 0:5459cdde6298 27
eembed 0:5459cdde6298 28 #include "cmsis_os.h"
eembed 0:5459cdde6298 29
eembed 0:5459cdde6298 30 namespace rtos {
eembed 0:5459cdde6298 31
eembed 0:5459cdde6298 32 /** The Mail class allow to control, send, receive, or wait for mail.
eembed 0:5459cdde6298 33 A mail is a memory block that is send to a thread or interrupt service routine.
eembed 0:5459cdde6298 34 @tparam T data type of a single message element.
eembed 0:5459cdde6298 35 @tparam queue_sz maximum number of messages in queue.
eembed 0:5459cdde6298 36 */
eembed 0:5459cdde6298 37 template<typename T, uint32_t queue_sz>
eembed 0:5459cdde6298 38 class Mail {
eembed 0:5459cdde6298 39 public:
eembed 0:5459cdde6298 40 /** Create and Initialise Mail queue. */
eembed 0:5459cdde6298 41 Mail() {
eembed 0:5459cdde6298 42 #ifdef CMSIS_OS_RTX
eembed 0:5459cdde6298 43 memset(_mail_q, 0, sizeof(_mail_q));
eembed 0:5459cdde6298 44 _mail_p[0] = _mail_q;
eembed 0:5459cdde6298 45
eembed 0:5459cdde6298 46 memset(_mail_m, 0, sizeof(_mail_m));
eembed 0:5459cdde6298 47 _mail_p[1] = _mail_m;
eembed 0:5459cdde6298 48
eembed 0:5459cdde6298 49 _mail_def.pool = _mail_p;
eembed 0:5459cdde6298 50 _mail_def.queue_sz = queue_sz;
eembed 0:5459cdde6298 51 _mail_def.item_sz = sizeof(T);
eembed 0:5459cdde6298 52 #endif
eembed 0:5459cdde6298 53 _mail_id = osMailCreate(&_mail_def, NULL);
eembed 0:5459cdde6298 54 }
eembed 0:5459cdde6298 55
eembed 0:5459cdde6298 56 /** Allocate a memory block of type T
eembed 0:5459cdde6298 57 @param millisec timeout value or 0 in case of no time-out. (default: 0).
eembed 0:5459cdde6298 58 @return pointer to memory block that can be filled with mail or NULL in case error.
eembed 0:5459cdde6298 59 */
eembed 0:5459cdde6298 60 T* alloc(uint32_t millisec=0) {
eembed 0:5459cdde6298 61 return (T*)osMailAlloc(_mail_id, millisec);
eembed 0:5459cdde6298 62 }
eembed 0:5459cdde6298 63
eembed 0:5459cdde6298 64 /** Allocate a memory block of type T and set memory block to zero.
eembed 0:5459cdde6298 65 @param millisec timeout value or 0 in case of no time-out. (default: 0).
eembed 0:5459cdde6298 66 @return pointer to memory block that can be filled with mail or NULL in case error.
eembed 0:5459cdde6298 67 */
eembed 0:5459cdde6298 68 T* calloc(uint32_t millisec=0) {
eembed 0:5459cdde6298 69 return (T*)osMailCAlloc(_mail_id, millisec);
eembed 0:5459cdde6298 70 }
eembed 0:5459cdde6298 71
eembed 0:5459cdde6298 72 /** Put a mail in the queue.
eembed 0:5459cdde6298 73 @param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
eembed 0:5459cdde6298 74 @return status code that indicates the execution status of the function.
eembed 0:5459cdde6298 75 */
eembed 0:5459cdde6298 76 osStatus put(T *mptr) {
eembed 0:5459cdde6298 77 return osMailPut(_mail_id, (void*)mptr);
eembed 0:5459cdde6298 78 }
eembed 0:5459cdde6298 79
eembed 0:5459cdde6298 80 /** Get a mail from a queue.
eembed 0:5459cdde6298 81 @param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
eembed 0:5459cdde6298 82 @return event that contains mail information or error code.
eembed 0:5459cdde6298 83 */
eembed 0:5459cdde6298 84 osEvent get(uint32_t millisec=osWaitForever) {
eembed 0:5459cdde6298 85 return osMailGet(_mail_id, millisec);
eembed 0:5459cdde6298 86 }
eembed 0:5459cdde6298 87
eembed 0:5459cdde6298 88 /** Free a memory block from a mail.
eembed 0:5459cdde6298 89 @param mptr pointer to the memory block that was obtained with Mail::get.
eembed 0:5459cdde6298 90 @return status code that indicates the execution status of the function.
eembed 0:5459cdde6298 91 */
eembed 0:5459cdde6298 92 osStatus free(T *mptr) {
eembed 0:5459cdde6298 93 return osMailFree(_mail_id, (void*)mptr);
eembed 0:5459cdde6298 94 }
eembed 0:5459cdde6298 95
eembed 0:5459cdde6298 96 private:
eembed 0:5459cdde6298 97 osMailQId _mail_id;
eembed 0:5459cdde6298 98 osMailQDef_t _mail_def;
eembed 0:5459cdde6298 99 #ifdef CMSIS_OS_RTX
eembed 0:5459cdde6298 100 uint32_t _mail_q[4+(queue_sz)];
eembed 0:5459cdde6298 101 uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
eembed 0:5459cdde6298 102 void *_mail_p[2];
eembed 0:5459cdde6298 103 #endif
eembed 0:5459cdde6298 104 };
eembed 0:5459cdde6298 105
eembed 0:5459cdde6298 106 }
eembed 0:5459cdde6298 107
eembed 0:5459cdde6298 108 #endif
eembed 0:5459cdde6298 109