in OS_TSK, rename run as tsk_run and new as tsk_new.
rt_CMSIS.c@0:5f46ebd8588e, 2012-09-02 (annotated)
- Committer:
- jonathonfletcher
- Date:
- Sun Sep 02 03:24:20 2012 +0000
- Revision:
- 0:5f46ebd8588e
in OS_TSK, rename run as tsk_run and new as tsk_new.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jonathonfletcher | 0:5f46ebd8588e | 1 | /*---------------------------------------------------------------------------- |
jonathonfletcher | 0:5f46ebd8588e | 2 | * RL-ARM - RTX |
jonathonfletcher | 0:5f46ebd8588e | 3 | *---------------------------------------------------------------------------- |
jonathonfletcher | 0:5f46ebd8588e | 4 | * Name: rt_CMSIS.c |
jonathonfletcher | 0:5f46ebd8588e | 5 | * Purpose: CMSIS RTOS API |
jonathonfletcher | 0:5f46ebd8588e | 6 | * Rev.: V4.50 |
jonathonfletcher | 0:5f46ebd8588e | 7 | *---------------------------------------------------------------------------- |
jonathonfletcher | 0:5f46ebd8588e | 8 | * |
jonathonfletcher | 0:5f46ebd8588e | 9 | * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH |
jonathonfletcher | 0:5f46ebd8588e | 10 | * All rights reserved. |
jonathonfletcher | 0:5f46ebd8588e | 11 | * Redistribution and use in source and binary forms, with or without |
jonathonfletcher | 0:5f46ebd8588e | 12 | * modification, are permitted provided that the following conditions are met: |
jonathonfletcher | 0:5f46ebd8588e | 13 | * - Redistributions of source code must retain the above copyright |
jonathonfletcher | 0:5f46ebd8588e | 14 | * notice, this list of conditions and the following disclaimer. |
jonathonfletcher | 0:5f46ebd8588e | 15 | * - Redistributions in binary form must reproduce the above copyright |
jonathonfletcher | 0:5f46ebd8588e | 16 | * notice, this list of conditions and the following disclaimer in the |
jonathonfletcher | 0:5f46ebd8588e | 17 | * documentation and/or other materials provided with the distribution. |
jonathonfletcher | 0:5f46ebd8588e | 18 | * - Neither the name of ARM nor the names of its contributors may be used |
jonathonfletcher | 0:5f46ebd8588e | 19 | * to endorse or promote products derived from this software without |
jonathonfletcher | 0:5f46ebd8588e | 20 | * specific prior written permission. |
jonathonfletcher | 0:5f46ebd8588e | 21 | * |
jonathonfletcher | 0:5f46ebd8588e | 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
jonathonfletcher | 0:5f46ebd8588e | 23 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
jonathonfletcher | 0:5f46ebd8588e | 24 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
jonathonfletcher | 0:5f46ebd8588e | 25 | * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE |
jonathonfletcher | 0:5f46ebd8588e | 26 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
jonathonfletcher | 0:5f46ebd8588e | 27 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
jonathonfletcher | 0:5f46ebd8588e | 28 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
jonathonfletcher | 0:5f46ebd8588e | 29 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
jonathonfletcher | 0:5f46ebd8588e | 30 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
jonathonfletcher | 0:5f46ebd8588e | 31 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
jonathonfletcher | 0:5f46ebd8588e | 32 | * POSSIBILITY OF SUCH DAMAGE. |
jonathonfletcher | 0:5f46ebd8588e | 33 | *---------------------------------------------------------------------------*/ |
jonathonfletcher | 0:5f46ebd8588e | 34 | |
jonathonfletcher | 0:5f46ebd8588e | 35 | #define __CMSIS_GENERIC |
jonathonfletcher | 0:5f46ebd8588e | 36 | |
jonathonfletcher | 0:5f46ebd8588e | 37 | #if defined (__CORTEX_M4) || defined (__CORTEX_M4F) |
jonathonfletcher | 0:5f46ebd8588e | 38 | #include "core_cm4.h" |
jonathonfletcher | 0:5f46ebd8588e | 39 | #elif defined (__CORTEX_M3) |
jonathonfletcher | 0:5f46ebd8588e | 40 | #include "core_cm3.h" |
jonathonfletcher | 0:5f46ebd8588e | 41 | #elif defined (__CORTEX_M0) |
jonathonfletcher | 0:5f46ebd8588e | 42 | #include "core_cm0.h" |
jonathonfletcher | 0:5f46ebd8588e | 43 | #else |
jonathonfletcher | 0:5f46ebd8588e | 44 | #error "Missing __CORTEX_Mx definition" |
jonathonfletcher | 0:5f46ebd8588e | 45 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 46 | |
jonathonfletcher | 0:5f46ebd8588e | 47 | #include "rt_TypeDef.h" |
jonathonfletcher | 0:5f46ebd8588e | 48 | #include "RTX_Config.h" |
jonathonfletcher | 0:5f46ebd8588e | 49 | #include "rt_System.h" |
jonathonfletcher | 0:5f46ebd8588e | 50 | #include "rt_Task.h" |
jonathonfletcher | 0:5f46ebd8588e | 51 | #include "rt_Event.h" |
jonathonfletcher | 0:5f46ebd8588e | 52 | #include "rt_List.h" |
jonathonfletcher | 0:5f46ebd8588e | 53 | #include "rt_Time.h" |
jonathonfletcher | 0:5f46ebd8588e | 54 | #include "rt_Mutex.h" |
jonathonfletcher | 0:5f46ebd8588e | 55 | #include "rt_Semaphore.h" |
jonathonfletcher | 0:5f46ebd8588e | 56 | #include "rt_Mailbox.h" |
jonathonfletcher | 0:5f46ebd8588e | 57 | #include "rt_MemBox.h" |
jonathonfletcher | 0:5f46ebd8588e | 58 | #include "rt_HAL_CM.h" |
jonathonfletcher | 0:5f46ebd8588e | 59 | |
jonathonfletcher | 0:5f46ebd8588e | 60 | #define os_thread_cb OS_TCB |
jonathonfletcher | 0:5f46ebd8588e | 61 | |
jonathonfletcher | 0:5f46ebd8588e | 62 | #include "cmsis_os.h" |
jonathonfletcher | 0:5f46ebd8588e | 63 | |
jonathonfletcher | 0:5f46ebd8588e | 64 | #if (osFeature_Signals != 16) |
jonathonfletcher | 0:5f46ebd8588e | 65 | #error Invalid "osFeature_Signals" value! |
jonathonfletcher | 0:5f46ebd8588e | 66 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 67 | #if (osFeature_Semaphore != 8) |
jonathonfletcher | 0:5f46ebd8588e | 68 | #error Invalid "osFeature_Semaphore" value! |
jonathonfletcher | 0:5f46ebd8588e | 69 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 70 | #if (osFeature_Wait != 0) |
jonathonfletcher | 0:5f46ebd8588e | 71 | #error osWait not supported! |
jonathonfletcher | 0:5f46ebd8588e | 72 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 73 | |
jonathonfletcher | 0:5f46ebd8588e | 74 | |
jonathonfletcher | 0:5f46ebd8588e | 75 | // ==== Enumeration, structures, defines ==== |
jonathonfletcher | 0:5f46ebd8588e | 76 | |
jonathonfletcher | 0:5f46ebd8588e | 77 | // Service Calls defines |
jonathonfletcher | 0:5f46ebd8588e | 78 | |
jonathonfletcher | 0:5f46ebd8588e | 79 | #if defined (__CC_ARM) /* ARM Compiler */ |
jonathonfletcher | 0:5f46ebd8588e | 80 | |
jonathonfletcher | 0:5f46ebd8588e | 81 | #define __NO_RETURN __declspec(noreturn) |
jonathonfletcher | 0:5f46ebd8588e | 82 | |
jonathonfletcher | 0:5f46ebd8588e | 83 | #define osEvent_type osEvent |
jonathonfletcher | 0:5f46ebd8588e | 84 | #define osEvent_ret_status ret |
jonathonfletcher | 0:5f46ebd8588e | 85 | #define osEvent_ret_value ret |
jonathonfletcher | 0:5f46ebd8588e | 86 | #define osEvent_ret_msg ret |
jonathonfletcher | 0:5f46ebd8588e | 87 | #define osEvent_ret_mail ret |
jonathonfletcher | 0:5f46ebd8588e | 88 | |
jonathonfletcher | 0:5f46ebd8588e | 89 | #define osCallback_type osCallback |
jonathonfletcher | 0:5f46ebd8588e | 90 | #define osCallback_ret ret |
jonathonfletcher | 0:5f46ebd8588e | 91 | |
jonathonfletcher | 0:5f46ebd8588e | 92 | #define SVC_0_1(f,t,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 93 | __svc_indirect(0) t _##f (t(*)()); \ |
jonathonfletcher | 0:5f46ebd8588e | 94 | t f (void); \ |
jonathonfletcher | 0:5f46ebd8588e | 95 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 96 | static __inline t __##f (void) { \ |
jonathonfletcher | 0:5f46ebd8588e | 97 | return _##f(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 98 | } |
jonathonfletcher | 0:5f46ebd8588e | 99 | |
jonathonfletcher | 0:5f46ebd8588e | 100 | #define SVC_1_1(f,t,t1,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 101 | __svc_indirect(0) t _##f (t(*)(t1),t1); \ |
jonathonfletcher | 0:5f46ebd8588e | 102 | t f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 103 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 104 | static __inline t __##f (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 105 | return _##f(f,a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 106 | } |
jonathonfletcher | 0:5f46ebd8588e | 107 | |
jonathonfletcher | 0:5f46ebd8588e | 108 | #define SVC_2_1(f,t,t1,t2,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 109 | __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \ |
jonathonfletcher | 0:5f46ebd8588e | 110 | t f (t1 a1, t2 a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 111 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 112 | static __inline t __##f (t1 a1, t2 a2) { \ |
jonathonfletcher | 0:5f46ebd8588e | 113 | return _##f(f,a1,a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 114 | } |
jonathonfletcher | 0:5f46ebd8588e | 115 | |
jonathonfletcher | 0:5f46ebd8588e | 116 | #define SVC_3_1(f,t,t1,t2,t3,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 117 | __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \ |
jonathonfletcher | 0:5f46ebd8588e | 118 | t f (t1 a1, t2 a2, t3 a3); \ |
jonathonfletcher | 0:5f46ebd8588e | 119 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 120 | static __inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
jonathonfletcher | 0:5f46ebd8588e | 121 | return _##f(f,a1,a2,a3); \ |
jonathonfletcher | 0:5f46ebd8588e | 122 | } |
jonathonfletcher | 0:5f46ebd8588e | 123 | |
jonathonfletcher | 0:5f46ebd8588e | 124 | #define SVC_4_1(f,t,t1,t2,t3,t4,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 125 | __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \ |
jonathonfletcher | 0:5f46ebd8588e | 126 | t f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
jonathonfletcher | 0:5f46ebd8588e | 127 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 128 | static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
jonathonfletcher | 0:5f46ebd8588e | 129 | return _##f(f,a1,a2,a3,a4); \ |
jonathonfletcher | 0:5f46ebd8588e | 130 | } |
jonathonfletcher | 0:5f46ebd8588e | 131 | |
jonathonfletcher | 0:5f46ebd8588e | 132 | #define SVC_1_2 SVC_1_1 |
jonathonfletcher | 0:5f46ebd8588e | 133 | #define SVC_1_3 SVC_1_1 |
jonathonfletcher | 0:5f46ebd8588e | 134 | #define SVC_2_3 SVC_2_1 |
jonathonfletcher | 0:5f46ebd8588e | 135 | |
jonathonfletcher | 0:5f46ebd8588e | 136 | #elif defined (__GNUC__) /* GNU Compiler */ |
jonathonfletcher | 0:5f46ebd8588e | 137 | |
jonathonfletcher | 0:5f46ebd8588e | 138 | #define __NO_RETURN __attribute__((noreturn)) |
jonathonfletcher | 0:5f46ebd8588e | 139 | |
jonathonfletcher | 0:5f46ebd8588e | 140 | typedef uint32_t __attribute__((vector_size(8))) ret64; |
jonathonfletcher | 0:5f46ebd8588e | 141 | typedef uint32_t __attribute__((vector_size(16))) ret128; |
jonathonfletcher | 0:5f46ebd8588e | 142 | |
jonathonfletcher | 0:5f46ebd8588e | 143 | #define RET_pointer __r0 |
jonathonfletcher | 0:5f46ebd8588e | 144 | #define RET_int32_t __r0 |
jonathonfletcher | 0:5f46ebd8588e | 145 | #define RET_osStatus __r0 |
jonathonfletcher | 0:5f46ebd8588e | 146 | #define RET_osPriority __r0 |
jonathonfletcher | 0:5f46ebd8588e | 147 | #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}} |
jonathonfletcher | 0:5f46ebd8588e | 148 | #define RET_osCallback {(void *)__r0, (void *)__r1} |
jonathonfletcher | 0:5f46ebd8588e | 149 | |
jonathonfletcher | 0:5f46ebd8588e | 150 | #define osEvent_type ret128 |
jonathonfletcher | 0:5f46ebd8588e | 151 | #define osEvent_ret_status (ret128){ret.status} |
jonathonfletcher | 0:5f46ebd8588e | 152 | #define osEvent_ret_value (ret128){ret.status, ret.value.v} |
jonathonfletcher | 0:5f46ebd8588e | 153 | #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id} |
jonathonfletcher | 0:5f46ebd8588e | 154 | #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id} |
jonathonfletcher | 0:5f46ebd8588e | 155 | |
jonathonfletcher | 0:5f46ebd8588e | 156 | #define osCallback_type ret64 |
jonathonfletcher | 0:5f46ebd8588e | 157 | #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg} |
jonathonfletcher | 0:5f46ebd8588e | 158 | |
jonathonfletcher | 0:5f46ebd8588e | 159 | #define SVC_ArgN(n) \ |
jonathonfletcher | 0:5f46ebd8588e | 160 | register int __r##n __asm("r"#n); |
jonathonfletcher | 0:5f46ebd8588e | 161 | |
jonathonfletcher | 0:5f46ebd8588e | 162 | #define SVC_ArgR(n,t,a) \ |
jonathonfletcher | 0:5f46ebd8588e | 163 | register t __r##n __asm("r"#n) = a; |
jonathonfletcher | 0:5f46ebd8588e | 164 | |
jonathonfletcher | 0:5f46ebd8588e | 165 | #define SVC_Arg0() \ |
jonathonfletcher | 0:5f46ebd8588e | 166 | SVC_ArgN(0) \ |
jonathonfletcher | 0:5f46ebd8588e | 167 | SVC_ArgN(1) \ |
jonathonfletcher | 0:5f46ebd8588e | 168 | SVC_ArgN(2) \ |
jonathonfletcher | 0:5f46ebd8588e | 169 | SVC_ArgN(3) |
jonathonfletcher | 0:5f46ebd8588e | 170 | |
jonathonfletcher | 0:5f46ebd8588e | 171 | #define SVC_Arg1(t1) \ |
jonathonfletcher | 0:5f46ebd8588e | 172 | SVC_ArgR(0,t1,a1) \ |
jonathonfletcher | 0:5f46ebd8588e | 173 | SVC_ArgN(1) \ |
jonathonfletcher | 0:5f46ebd8588e | 174 | SVC_ArgN(2) \ |
jonathonfletcher | 0:5f46ebd8588e | 175 | SVC_ArgN(3) |
jonathonfletcher | 0:5f46ebd8588e | 176 | |
jonathonfletcher | 0:5f46ebd8588e | 177 | #define SVC_Arg2(t1,t2) \ |
jonathonfletcher | 0:5f46ebd8588e | 178 | SVC_ArgR(0,t1,a1) \ |
jonathonfletcher | 0:5f46ebd8588e | 179 | SVC_ArgR(1,t2,a2) \ |
jonathonfletcher | 0:5f46ebd8588e | 180 | SVC_ArgN(2) \ |
jonathonfletcher | 0:5f46ebd8588e | 181 | SVC_ArgN(3) |
jonathonfletcher | 0:5f46ebd8588e | 182 | |
jonathonfletcher | 0:5f46ebd8588e | 183 | #define SVC_Arg3(t1,t2,t3) \ |
jonathonfletcher | 0:5f46ebd8588e | 184 | SVC_ArgR(0,t1,a1) \ |
jonathonfletcher | 0:5f46ebd8588e | 185 | SVC_ArgR(1,t2,a2) \ |
jonathonfletcher | 0:5f46ebd8588e | 186 | SVC_ArgR(2,t3,a3) \ |
jonathonfletcher | 0:5f46ebd8588e | 187 | SVC_ArgN(3) |
jonathonfletcher | 0:5f46ebd8588e | 188 | |
jonathonfletcher | 0:5f46ebd8588e | 189 | #define SVC_Arg4(t1,t2,t3,t4) \ |
jonathonfletcher | 0:5f46ebd8588e | 190 | SVC_ArgR(0,t1,a1) \ |
jonathonfletcher | 0:5f46ebd8588e | 191 | SVC_ArgR(1,t2,a2) \ |
jonathonfletcher | 0:5f46ebd8588e | 192 | SVC_ArgR(2,t3,a3) \ |
jonathonfletcher | 0:5f46ebd8588e | 193 | SVC_ArgR(3,t4,a4) |
jonathonfletcher | 0:5f46ebd8588e | 194 | |
jonathonfletcher | 0:5f46ebd8588e | 195 | #if (defined (__CORTEX_M0)) |
jonathonfletcher | 0:5f46ebd8588e | 196 | #define SVC_Call(f) \ |
jonathonfletcher | 0:5f46ebd8588e | 197 | __asm volatile \ |
jonathonfletcher | 0:5f46ebd8588e | 198 | ( \ |
jonathonfletcher | 0:5f46ebd8588e | 199 | "ldr r7,="#f"\n\t" \ |
jonathonfletcher | 0:5f46ebd8588e | 200 | "mov r12,r7\n\t" \ |
jonathonfletcher | 0:5f46ebd8588e | 201 | "svc 0" \ |
jonathonfletcher | 0:5f46ebd8588e | 202 | : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \ |
jonathonfletcher | 0:5f46ebd8588e | 203 | : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \ |
jonathonfletcher | 0:5f46ebd8588e | 204 | : "r7", "r12", "lr", "cc" \ |
jonathonfletcher | 0:5f46ebd8588e | 205 | ); |
jonathonfletcher | 0:5f46ebd8588e | 206 | #else |
jonathonfletcher | 0:5f46ebd8588e | 207 | #define SVC_Call(f) \ |
jonathonfletcher | 0:5f46ebd8588e | 208 | __asm volatile \ |
jonathonfletcher | 0:5f46ebd8588e | 209 | ( \ |
jonathonfletcher | 0:5f46ebd8588e | 210 | "ldr r12,="#f"\n\t" \ |
jonathonfletcher | 0:5f46ebd8588e | 211 | "svc 0" \ |
jonathonfletcher | 0:5f46ebd8588e | 212 | : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \ |
jonathonfletcher | 0:5f46ebd8588e | 213 | : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \ |
jonathonfletcher | 0:5f46ebd8588e | 214 | : "r12", "lr", "cc" \ |
jonathonfletcher | 0:5f46ebd8588e | 215 | ); |
jonathonfletcher | 0:5f46ebd8588e | 216 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 217 | |
jonathonfletcher | 0:5f46ebd8588e | 218 | #define SVC_0_1(f,t,rv) \ |
jonathonfletcher | 0:5f46ebd8588e | 219 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 220 | static inline t __##f (void) { \ |
jonathonfletcher | 0:5f46ebd8588e | 221 | SVC_Arg0(); \ |
jonathonfletcher | 0:5f46ebd8588e | 222 | SVC_Call(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 223 | return (t) rv; \ |
jonathonfletcher | 0:5f46ebd8588e | 224 | } |
jonathonfletcher | 0:5f46ebd8588e | 225 | |
jonathonfletcher | 0:5f46ebd8588e | 226 | #define SVC_1_1(f,t,t1,rv) \ |
jonathonfletcher | 0:5f46ebd8588e | 227 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 228 | static inline t __##f (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 229 | SVC_Arg1(t1); \ |
jonathonfletcher | 0:5f46ebd8588e | 230 | SVC_Call(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 231 | return (t) rv; \ |
jonathonfletcher | 0:5f46ebd8588e | 232 | } |
jonathonfletcher | 0:5f46ebd8588e | 233 | |
jonathonfletcher | 0:5f46ebd8588e | 234 | #define SVC_2_1(f,t,t1,t2,rv) \ |
jonathonfletcher | 0:5f46ebd8588e | 235 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 236 | static inline t __##f (t1 a1, t2 a2) { \ |
jonathonfletcher | 0:5f46ebd8588e | 237 | SVC_Arg2(t1,t2); \ |
jonathonfletcher | 0:5f46ebd8588e | 238 | SVC_Call(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 239 | return (t) rv; \ |
jonathonfletcher | 0:5f46ebd8588e | 240 | } |
jonathonfletcher | 0:5f46ebd8588e | 241 | |
jonathonfletcher | 0:5f46ebd8588e | 242 | #define SVC_3_1(f,t,t1,t2,t3,rv) \ |
jonathonfletcher | 0:5f46ebd8588e | 243 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 244 | static inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
jonathonfletcher | 0:5f46ebd8588e | 245 | SVC_Arg3(t1,t2,t3); \ |
jonathonfletcher | 0:5f46ebd8588e | 246 | SVC_Call(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 247 | return (t) rv; \ |
jonathonfletcher | 0:5f46ebd8588e | 248 | } |
jonathonfletcher | 0:5f46ebd8588e | 249 | |
jonathonfletcher | 0:5f46ebd8588e | 250 | #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \ |
jonathonfletcher | 0:5f46ebd8588e | 251 | __attribute__((always_inline)) \ |
jonathonfletcher | 0:5f46ebd8588e | 252 | static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
jonathonfletcher | 0:5f46ebd8588e | 253 | SVC_Arg4(t1,t2,t3,t4); \ |
jonathonfletcher | 0:5f46ebd8588e | 254 | SVC_Call(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 255 | return (t) rv; \ |
jonathonfletcher | 0:5f46ebd8588e | 256 | } |
jonathonfletcher | 0:5f46ebd8588e | 257 | |
jonathonfletcher | 0:5f46ebd8588e | 258 | #define SVC_1_2 SVC_1_1 |
jonathonfletcher | 0:5f46ebd8588e | 259 | #define SVC_1_3 SVC_1_1 |
jonathonfletcher | 0:5f46ebd8588e | 260 | #define SVC_2_3 SVC_2_1 |
jonathonfletcher | 0:5f46ebd8588e | 261 | |
jonathonfletcher | 0:5f46ebd8588e | 262 | #elif defined (__ICCARM__) /* IAR Compiler */ |
jonathonfletcher | 0:5f46ebd8588e | 263 | |
jonathonfletcher | 0:5f46ebd8588e | 264 | #define __NO_RETURN __noreturn |
jonathonfletcher | 0:5f46ebd8588e | 265 | |
jonathonfletcher | 0:5f46ebd8588e | 266 | #define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def) |
jonathonfletcher | 0:5f46ebd8588e | 267 | #define RET_osCallback "=r"(ret.fp), "=r"(ret.arg) |
jonathonfletcher | 0:5f46ebd8588e | 268 | |
jonathonfletcher | 0:5f46ebd8588e | 269 | #define osEvent_type osEvent |
jonathonfletcher | 0:5f46ebd8588e | 270 | #define osEvent_ret_status ret |
jonathonfletcher | 0:5f46ebd8588e | 271 | #define osEvent_ret_value ret |
jonathonfletcher | 0:5f46ebd8588e | 272 | #define osEvent_ret_msg ret |
jonathonfletcher | 0:5f46ebd8588e | 273 | #define osEvent_ret_mail ret |
jonathonfletcher | 0:5f46ebd8588e | 274 | |
jonathonfletcher | 0:5f46ebd8588e | 275 | #define osCallback_type uint64_t |
jonathonfletcher | 0:5f46ebd8588e | 276 | #define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32) |
jonathonfletcher | 0:5f46ebd8588e | 277 | |
jonathonfletcher | 0:5f46ebd8588e | 278 | #define SVC_Setup(f) \ |
jonathonfletcher | 0:5f46ebd8588e | 279 | __asm( \ |
jonathonfletcher | 0:5f46ebd8588e | 280 | "mov r12,%0\n" \ |
jonathonfletcher | 0:5f46ebd8588e | 281 | :: "r"(&f): "r12" \ |
jonathonfletcher | 0:5f46ebd8588e | 282 | ); |
jonathonfletcher | 0:5f46ebd8588e | 283 | |
jonathonfletcher | 0:5f46ebd8588e | 284 | #define SVC_Ret3() \ |
jonathonfletcher | 0:5f46ebd8588e | 285 | __asm( \ |
jonathonfletcher | 0:5f46ebd8588e | 286 | "ldr r0,[sp,#0]\n" \ |
jonathonfletcher | 0:5f46ebd8588e | 287 | "ldr r1,[sp,#4]\n" \ |
jonathonfletcher | 0:5f46ebd8588e | 288 | "ldr r2,[sp,#8]\n" \ |
jonathonfletcher | 0:5f46ebd8588e | 289 | ); |
jonathonfletcher | 0:5f46ebd8588e | 290 | |
jonathonfletcher | 0:5f46ebd8588e | 291 | #define SVC_0_1(f,t,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 292 | t f (void); \ |
jonathonfletcher | 0:5f46ebd8588e | 293 | _Pragma("swi_number=0") __swi t _##f (void); \ |
jonathonfletcher | 0:5f46ebd8588e | 294 | static inline t __##f (void) { \ |
jonathonfletcher | 0:5f46ebd8588e | 295 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 296 | return _##f(); \ |
jonathonfletcher | 0:5f46ebd8588e | 297 | } |
jonathonfletcher | 0:5f46ebd8588e | 298 | |
jonathonfletcher | 0:5f46ebd8588e | 299 | #define SVC_1_1(f,t,t1,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 300 | t f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 301 | _Pragma("swi_number=0") __swi t _##f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 302 | static inline t __##f (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 303 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 304 | return _##f(a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 305 | } |
jonathonfletcher | 0:5f46ebd8588e | 306 | |
jonathonfletcher | 0:5f46ebd8588e | 307 | #define SVC_2_1(f,t,t1,t2,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 308 | t f (t1 a1, t2 a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 309 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 310 | static inline t __##f (t1 a1, t2 a2) { \ |
jonathonfletcher | 0:5f46ebd8588e | 311 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 312 | return _##f(a1,a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 313 | } |
jonathonfletcher | 0:5f46ebd8588e | 314 | |
jonathonfletcher | 0:5f46ebd8588e | 315 | #define SVC_3_1(f,t,t1,t2,t3,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 316 | t f (t1 a1, t2 a2, t3 a3); \ |
jonathonfletcher | 0:5f46ebd8588e | 317 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \ |
jonathonfletcher | 0:5f46ebd8588e | 318 | static inline t __##f (t1 a1, t2 a2, t3 a3) { \ |
jonathonfletcher | 0:5f46ebd8588e | 319 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 320 | return _##f(a1,a2,a3); \ |
jonathonfletcher | 0:5f46ebd8588e | 321 | } |
jonathonfletcher | 0:5f46ebd8588e | 322 | |
jonathonfletcher | 0:5f46ebd8588e | 323 | #define SVC_4_1(f,t,t1,t2,t3,t4,...) \ |
jonathonfletcher | 0:5f46ebd8588e | 324 | t f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
jonathonfletcher | 0:5f46ebd8588e | 325 | _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \ |
jonathonfletcher | 0:5f46ebd8588e | 326 | static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \ |
jonathonfletcher | 0:5f46ebd8588e | 327 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 328 | return _##f(a1,a2,a3,a4); \ |
jonathonfletcher | 0:5f46ebd8588e | 329 | } |
jonathonfletcher | 0:5f46ebd8588e | 330 | |
jonathonfletcher | 0:5f46ebd8588e | 331 | #define SVC_1_2(f,t,t1,rr) \ |
jonathonfletcher | 0:5f46ebd8588e | 332 | uint64_t f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 333 | _Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 334 | static inline t __##f (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 335 | t ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 336 | SVC_Setup(f); \ |
jonathonfletcher | 0:5f46ebd8588e | 337 | _##f(a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 338 | __asm("" : rr : :); \ |
jonathonfletcher | 0:5f46ebd8588e | 339 | return ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 340 | } |
jonathonfletcher | 0:5f46ebd8588e | 341 | |
jonathonfletcher | 0:5f46ebd8588e | 342 | #define SVC_1_3(f,t,t1,rr) \ |
jonathonfletcher | 0:5f46ebd8588e | 343 | t f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 344 | void f##_ (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 345 | f(a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 346 | SVC_Ret3(); \ |
jonathonfletcher | 0:5f46ebd8588e | 347 | } \ |
jonathonfletcher | 0:5f46ebd8588e | 348 | _Pragma("swi_number=0") __swi void _##f (t1 a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 349 | static inline t __##f (t1 a1) { \ |
jonathonfletcher | 0:5f46ebd8588e | 350 | t ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 351 | SVC_Setup(f##_); \ |
jonathonfletcher | 0:5f46ebd8588e | 352 | _##f(a1); \ |
jonathonfletcher | 0:5f46ebd8588e | 353 | __asm("" : rr : :); \ |
jonathonfletcher | 0:5f46ebd8588e | 354 | return ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 355 | } |
jonathonfletcher | 0:5f46ebd8588e | 356 | |
jonathonfletcher | 0:5f46ebd8588e | 357 | #define SVC_2_3(f,t,t1,t2,rr) \ |
jonathonfletcher | 0:5f46ebd8588e | 358 | t f (t1 a1, t2 a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 359 | void f##_ (t1 a1, t2 a2) { \ |
jonathonfletcher | 0:5f46ebd8588e | 360 | f(a1,a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 361 | SVC_Ret3(); \ |
jonathonfletcher | 0:5f46ebd8588e | 362 | } \ |
jonathonfletcher | 0:5f46ebd8588e | 363 | _Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 364 | static inline t __##f (t1 a1, t2 a2) { \ |
jonathonfletcher | 0:5f46ebd8588e | 365 | t ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 366 | SVC_Setup(f##_); \ |
jonathonfletcher | 0:5f46ebd8588e | 367 | _##f(a1,a2); \ |
jonathonfletcher | 0:5f46ebd8588e | 368 | __asm("" : rr : :); \ |
jonathonfletcher | 0:5f46ebd8588e | 369 | return ret; \ |
jonathonfletcher | 0:5f46ebd8588e | 370 | } |
jonathonfletcher | 0:5f46ebd8588e | 371 | |
jonathonfletcher | 0:5f46ebd8588e | 372 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 373 | |
jonathonfletcher | 0:5f46ebd8588e | 374 | |
jonathonfletcher | 0:5f46ebd8588e | 375 | // Callback structure |
jonathonfletcher | 0:5f46ebd8588e | 376 | typedef struct { |
jonathonfletcher | 0:5f46ebd8588e | 377 | void *fp; // Function pointer |
jonathonfletcher | 0:5f46ebd8588e | 378 | void *arg; // Function argument |
jonathonfletcher | 0:5f46ebd8588e | 379 | } osCallback; |
jonathonfletcher | 0:5f46ebd8588e | 380 | |
jonathonfletcher | 0:5f46ebd8588e | 381 | |
jonathonfletcher | 0:5f46ebd8588e | 382 | // OS Section definitions |
jonathonfletcher | 0:5f46ebd8588e | 383 | #ifdef OS_SECTIONS_LINK_INFO |
jonathonfletcher | 0:5f46ebd8588e | 384 | extern const uint32_t os_section_id$$Base; |
jonathonfletcher | 0:5f46ebd8588e | 385 | extern const uint32_t os_section_id$$Limit; |
jonathonfletcher | 0:5f46ebd8588e | 386 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 387 | |
jonathonfletcher | 0:5f46ebd8588e | 388 | // OS Timers external resources |
jonathonfletcher | 0:5f46ebd8588e | 389 | extern osThreadDef_t os_thread_def_osTimerThread; |
jonathonfletcher | 0:5f46ebd8588e | 390 | extern osThreadId osThreadId_osTimerThread; |
jonathonfletcher | 0:5f46ebd8588e | 391 | extern osMessageQDef_t os_messageQ_def_osTimerMessageQ; |
jonathonfletcher | 0:5f46ebd8588e | 392 | extern osMessageQId osMessageQId_osTimerMessageQ; |
jonathonfletcher | 0:5f46ebd8588e | 393 | |
jonathonfletcher | 0:5f46ebd8588e | 394 | |
jonathonfletcher | 0:5f46ebd8588e | 395 | // ==== Helper Functions ==== |
jonathonfletcher | 0:5f46ebd8588e | 396 | |
jonathonfletcher | 0:5f46ebd8588e | 397 | /// Convert timeout in millisec to system ticks |
jonathonfletcher | 0:5f46ebd8588e | 398 | static uint32_t rt_ms2tick (uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 399 | uint32_t tick; |
jonathonfletcher | 0:5f46ebd8588e | 400 | |
jonathonfletcher | 0:5f46ebd8588e | 401 | if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout |
jonathonfletcher | 0:5f46ebd8588e | 402 | if (millisec > 4000000) return 0xFFFE; // Max ticks supported |
jonathonfletcher | 0:5f46ebd8588e | 403 | |
jonathonfletcher | 0:5f46ebd8588e | 404 | tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate; |
jonathonfletcher | 0:5f46ebd8588e | 405 | if (tick > 0xFFFE) return 0xFFFE; |
jonathonfletcher | 0:5f46ebd8588e | 406 | |
jonathonfletcher | 0:5f46ebd8588e | 407 | return tick; |
jonathonfletcher | 0:5f46ebd8588e | 408 | } |
jonathonfletcher | 0:5f46ebd8588e | 409 | |
jonathonfletcher | 0:5f46ebd8588e | 410 | /// Convert Thread ID to TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 411 | static P_TCB rt_tid2ptcb (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 412 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 413 | |
jonathonfletcher | 0:5f46ebd8588e | 414 | if (thread_id == NULL) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 415 | |
jonathonfletcher | 0:5f46ebd8588e | 416 | if ((uint32_t)thread_id & 3) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 417 | |
jonathonfletcher | 0:5f46ebd8588e | 418 | #ifdef OS_SECTIONS_LINK_INFO |
jonathonfletcher | 0:5f46ebd8588e | 419 | if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 420 | if (thread_id < (osThreadId)os_section_id$$Base) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 421 | if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 422 | } |
jonathonfletcher | 0:5f46ebd8588e | 423 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 424 | |
jonathonfletcher | 0:5f46ebd8588e | 425 | ptcb = thread_id; |
jonathonfletcher | 0:5f46ebd8588e | 426 | |
jonathonfletcher | 0:5f46ebd8588e | 427 | if (ptcb->cb_type != TCB) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 428 | |
jonathonfletcher | 0:5f46ebd8588e | 429 | return ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 430 | } |
jonathonfletcher | 0:5f46ebd8588e | 431 | |
jonathonfletcher | 0:5f46ebd8588e | 432 | /// Convert ID pointer to Object pointer |
jonathonfletcher | 0:5f46ebd8588e | 433 | static void *rt_id2obj (void *id) { |
jonathonfletcher | 0:5f46ebd8588e | 434 | |
jonathonfletcher | 0:5f46ebd8588e | 435 | if ((uint32_t)id & 3) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 436 | |
jonathonfletcher | 0:5f46ebd8588e | 437 | #ifdef OS_SECTIONS_LINK_INFO |
jonathonfletcher | 0:5f46ebd8588e | 438 | if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 439 | if (id < (void *)os_section_id$$Base) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 440 | if (id >= (void *)os_section_id$$Limit) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 441 | } |
jonathonfletcher | 0:5f46ebd8588e | 442 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 443 | |
jonathonfletcher | 0:5f46ebd8588e | 444 | return id; |
jonathonfletcher | 0:5f46ebd8588e | 445 | } |
jonathonfletcher | 0:5f46ebd8588e | 446 | |
jonathonfletcher | 0:5f46ebd8588e | 447 | |
jonathonfletcher | 0:5f46ebd8588e | 448 | // ==== Kernel Control ==== |
jonathonfletcher | 0:5f46ebd8588e | 449 | |
jonathonfletcher | 0:5f46ebd8588e | 450 | uint8_t os_initialized; // Kernel Initialized flag |
jonathonfletcher | 0:5f46ebd8588e | 451 | uint8_t os_running; // Kernel Running flag |
jonathonfletcher | 0:5f46ebd8588e | 452 | |
jonathonfletcher | 0:5f46ebd8588e | 453 | // Kernel Control Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 454 | SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 455 | SVC_0_1(svcKernelStart, osStatus, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 456 | SVC_0_1(svcKernelRunning, int32_t, RET_int32_t) |
jonathonfletcher | 0:5f46ebd8588e | 457 | |
jonathonfletcher | 0:5f46ebd8588e | 458 | extern void sysThreadError (osStatus status); |
jonathonfletcher | 0:5f46ebd8588e | 459 | osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument); |
jonathonfletcher | 0:5f46ebd8588e | 460 | osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 461 | |
jonathonfletcher | 0:5f46ebd8588e | 462 | // Kernel Control Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 463 | |
jonathonfletcher | 0:5f46ebd8588e | 464 | /// Initialize the RTOS Kernel for creating objects |
jonathonfletcher | 0:5f46ebd8588e | 465 | osStatus svcKernelInitialize (void) { |
jonathonfletcher | 0:5f46ebd8588e | 466 | if (os_initialized) return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 467 | |
jonathonfletcher | 0:5f46ebd8588e | 468 | rt_sys_init(); // RTX System Initialization |
jonathonfletcher | 0:5f46ebd8588e | 469 | os_tsk.tsk_run->prio = 255; // Highest priority |
jonathonfletcher | 0:5f46ebd8588e | 470 | |
jonathonfletcher | 0:5f46ebd8588e | 471 | sysThreadError(osOK); |
jonathonfletcher | 0:5f46ebd8588e | 472 | |
jonathonfletcher | 0:5f46ebd8588e | 473 | os_initialized = 1; |
jonathonfletcher | 0:5f46ebd8588e | 474 | |
jonathonfletcher | 0:5f46ebd8588e | 475 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 476 | } |
jonathonfletcher | 0:5f46ebd8588e | 477 | |
jonathonfletcher | 0:5f46ebd8588e | 478 | /// Start the RTOS Kernel |
jonathonfletcher | 0:5f46ebd8588e | 479 | osStatus svcKernelStart (void) { |
jonathonfletcher | 0:5f46ebd8588e | 480 | |
jonathonfletcher | 0:5f46ebd8588e | 481 | if (os_running) return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 482 | |
jonathonfletcher | 0:5f46ebd8588e | 483 | // Create OS Timers resources (Message Queue & Thread) |
jonathonfletcher | 0:5f46ebd8588e | 484 | osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL); |
jonathonfletcher | 0:5f46ebd8588e | 485 | osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL); |
jonathonfletcher | 0:5f46ebd8588e | 486 | |
jonathonfletcher | 0:5f46ebd8588e | 487 | rt_tsk_prio(0, 0); // Lowest priority |
jonathonfletcher | 0:5f46ebd8588e | 488 | __set_PSP(os_tsk.tsk_run->tsk_stack + 8*4); // New context |
jonathonfletcher | 0:5f46ebd8588e | 489 | os_tsk.tsk_run = NULL; // Force context switch |
jonathonfletcher | 0:5f46ebd8588e | 490 | |
jonathonfletcher | 0:5f46ebd8588e | 491 | rt_sys_start(); |
jonathonfletcher | 0:5f46ebd8588e | 492 | |
jonathonfletcher | 0:5f46ebd8588e | 493 | os_running = 1; |
jonathonfletcher | 0:5f46ebd8588e | 494 | |
jonathonfletcher | 0:5f46ebd8588e | 495 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 496 | } |
jonathonfletcher | 0:5f46ebd8588e | 497 | |
jonathonfletcher | 0:5f46ebd8588e | 498 | /// Check if the RTOS kernel is already started |
jonathonfletcher | 0:5f46ebd8588e | 499 | int32_t svcKernelRunning(void) { |
jonathonfletcher | 0:5f46ebd8588e | 500 | return os_running; |
jonathonfletcher | 0:5f46ebd8588e | 501 | } |
jonathonfletcher | 0:5f46ebd8588e | 502 | |
jonathonfletcher | 0:5f46ebd8588e | 503 | // Kernel Control Public API |
jonathonfletcher | 0:5f46ebd8588e | 504 | |
jonathonfletcher | 0:5f46ebd8588e | 505 | /// Initialize the RTOS Kernel for creating objects |
jonathonfletcher | 0:5f46ebd8588e | 506 | osStatus osKernelInitialize (void) { |
jonathonfletcher | 0:5f46ebd8588e | 507 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 508 | if ((__get_CONTROL() & 1) == 0) { // Privileged mode |
jonathonfletcher | 0:5f46ebd8588e | 509 | return svcKernelInitialize(); |
jonathonfletcher | 0:5f46ebd8588e | 510 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 511 | return __svcKernelInitialize(); |
jonathonfletcher | 0:5f46ebd8588e | 512 | } |
jonathonfletcher | 0:5f46ebd8588e | 513 | } |
jonathonfletcher | 0:5f46ebd8588e | 514 | |
jonathonfletcher | 0:5f46ebd8588e | 515 | /// Start the RTOS Kernel |
jonathonfletcher | 0:5f46ebd8588e | 516 | osStatus osKernelStart (void) { |
jonathonfletcher | 0:5f46ebd8588e | 517 | uint32_t stack[8]; |
jonathonfletcher | 0:5f46ebd8588e | 518 | |
jonathonfletcher | 0:5f46ebd8588e | 519 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 520 | switch (__get_CONTROL() & 0x03) { |
jonathonfletcher | 0:5f46ebd8588e | 521 | case 0x00: // Privileged Thread mode & MSP |
jonathonfletcher | 0:5f46ebd8588e | 522 | __set_PSP((uint32_t)(stack + 8)); // Initial PSP |
jonathonfletcher | 0:5f46ebd8588e | 523 | if (os_flags & 1) { |
jonathonfletcher | 0:5f46ebd8588e | 524 | __set_CONTROL(0x02); // Set Privileged Thread mode & PSP |
jonathonfletcher | 0:5f46ebd8588e | 525 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 526 | __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP |
jonathonfletcher | 0:5f46ebd8588e | 527 | } |
jonathonfletcher | 0:5f46ebd8588e | 528 | __DSB(); |
jonathonfletcher | 0:5f46ebd8588e | 529 | __ISB(); |
jonathonfletcher | 0:5f46ebd8588e | 530 | break; |
jonathonfletcher | 0:5f46ebd8588e | 531 | case 0x01: // Unprivileged Thread mode & MSP |
jonathonfletcher | 0:5f46ebd8588e | 532 | return osErrorOS; |
jonathonfletcher | 0:5f46ebd8588e | 533 | case 0x02: // Privileged Thread mode & PSP |
jonathonfletcher | 0:5f46ebd8588e | 534 | if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested |
jonathonfletcher | 0:5f46ebd8588e | 535 | __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP |
jonathonfletcher | 0:5f46ebd8588e | 536 | __DSB(); |
jonathonfletcher | 0:5f46ebd8588e | 537 | __ISB(); |
jonathonfletcher | 0:5f46ebd8588e | 538 | } |
jonathonfletcher | 0:5f46ebd8588e | 539 | break; |
jonathonfletcher | 0:5f46ebd8588e | 540 | case 0x03: // Unprivileged Thread mode & PSP |
jonathonfletcher | 0:5f46ebd8588e | 541 | if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested |
jonathonfletcher | 0:5f46ebd8588e | 542 | break; |
jonathonfletcher | 0:5f46ebd8588e | 543 | } |
jonathonfletcher | 0:5f46ebd8588e | 544 | return __svcKernelStart(); |
jonathonfletcher | 0:5f46ebd8588e | 545 | } |
jonathonfletcher | 0:5f46ebd8588e | 546 | |
jonathonfletcher | 0:5f46ebd8588e | 547 | /// Check if the RTOS kernel is already started |
jonathonfletcher | 0:5f46ebd8588e | 548 | int32_t osKernelRunning(void) { |
jonathonfletcher | 0:5f46ebd8588e | 549 | if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 550 | // in ISR or Privileged |
jonathonfletcher | 0:5f46ebd8588e | 551 | return os_running; |
jonathonfletcher | 0:5f46ebd8588e | 552 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 553 | return __svcKernelRunning(); |
jonathonfletcher | 0:5f46ebd8588e | 554 | } |
jonathonfletcher | 0:5f46ebd8588e | 555 | } |
jonathonfletcher | 0:5f46ebd8588e | 556 | |
jonathonfletcher | 0:5f46ebd8588e | 557 | |
jonathonfletcher | 0:5f46ebd8588e | 558 | // ==== Thread Management ==== |
jonathonfletcher | 0:5f46ebd8588e | 559 | |
jonathonfletcher | 0:5f46ebd8588e | 560 | __NO_RETURN void osThreadExit (void); |
jonathonfletcher | 0:5f46ebd8588e | 561 | |
jonathonfletcher | 0:5f46ebd8588e | 562 | // Thread Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 563 | SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 564 | SVC_0_1(svcThreadGetId, osThreadId, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 565 | SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 566 | SVC_0_1(svcThreadYield, osStatus, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 567 | SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 568 | SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority) |
jonathonfletcher | 0:5f46ebd8588e | 569 | |
jonathonfletcher | 0:5f46ebd8588e | 570 | // Thread Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 571 | extern OS_TID rt_get_TID (void); |
jonathonfletcher | 0:5f46ebd8588e | 572 | extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body); |
jonathonfletcher | 0:5f46ebd8588e | 573 | |
jonathonfletcher | 0:5f46ebd8588e | 574 | /// Create a thread and add it to Active Threads and set it to state READY |
jonathonfletcher | 0:5f46ebd8588e | 575 | osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) { |
jonathonfletcher | 0:5f46ebd8588e | 576 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 577 | |
jonathonfletcher | 0:5f46ebd8588e | 578 | if ((thread_def == NULL) || |
jonathonfletcher | 0:5f46ebd8588e | 579 | (thread_def->pthread == NULL) || |
jonathonfletcher | 0:5f46ebd8588e | 580 | (thread_def->tpriority <= osPriorityIdle) || |
jonathonfletcher | 0:5f46ebd8588e | 581 | (thread_def->tpriority > osPriorityRealtime) || |
jonathonfletcher | 0:5f46ebd8588e | 582 | (thread_def->stacksize == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 583 | (thread_def->stack_pointer == NULL) ) { |
jonathonfletcher | 0:5f46ebd8588e | 584 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 585 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 586 | } |
jonathonfletcher | 0:5f46ebd8588e | 587 | |
jonathonfletcher | 0:5f46ebd8588e | 588 | U8 priority = thread_def->tpriority - osPriorityIdle + 1; |
jonathonfletcher | 0:5f46ebd8588e | 589 | P_TCB task_context = &thread_def->tcb; |
jonathonfletcher | 0:5f46ebd8588e | 590 | |
jonathonfletcher | 0:5f46ebd8588e | 591 | /* If "size != 0" use a private user provided stack. */ |
jonathonfletcher | 0:5f46ebd8588e | 592 | task_context->stack = (U32*)thread_def->stack_pointer; |
jonathonfletcher | 0:5f46ebd8588e | 593 | task_context->priv_stack = thread_def->stacksize; |
jonathonfletcher | 0:5f46ebd8588e | 594 | /* Pass parameter 'argv' to 'rt_init_context' */ |
jonathonfletcher | 0:5f46ebd8588e | 595 | task_context->msg = argument; |
jonathonfletcher | 0:5f46ebd8588e | 596 | /* For 'size == 0' system allocates the user stack from the memory pool. */ |
jonathonfletcher | 0:5f46ebd8588e | 597 | rt_init_context (task_context, priority, (FUNCP)thread_def->pthread); |
jonathonfletcher | 0:5f46ebd8588e | 598 | |
jonathonfletcher | 0:5f46ebd8588e | 599 | /* Find a free entry in 'os_active_TCB' table. */ |
jonathonfletcher | 0:5f46ebd8588e | 600 | OS_TID tsk = rt_get_TID (); |
jonathonfletcher | 0:5f46ebd8588e | 601 | os_active_TCB[tsk-1] = task_context; |
jonathonfletcher | 0:5f46ebd8588e | 602 | task_context->task_id = tsk; |
jonathonfletcher | 0:5f46ebd8588e | 603 | DBG_TASK_NOTIFY(task_context, __TRUE); |
jonathonfletcher | 0:5f46ebd8588e | 604 | rt_dispatch (task_context); |
jonathonfletcher | 0:5f46ebd8588e | 605 | |
jonathonfletcher | 0:5f46ebd8588e | 606 | ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 607 | |
jonathonfletcher | 0:5f46ebd8588e | 608 | *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit; |
jonathonfletcher | 0:5f46ebd8588e | 609 | |
jonathonfletcher | 0:5f46ebd8588e | 610 | return ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 611 | } |
jonathonfletcher | 0:5f46ebd8588e | 612 | |
jonathonfletcher | 0:5f46ebd8588e | 613 | /// Return the thread ID of the current running thread |
jonathonfletcher | 0:5f46ebd8588e | 614 | osThreadId svcThreadGetId (void) { |
jonathonfletcher | 0:5f46ebd8588e | 615 | OS_TID tsk; |
jonathonfletcher | 0:5f46ebd8588e | 616 | |
jonathonfletcher | 0:5f46ebd8588e | 617 | tsk = rt_tsk_self(); |
jonathonfletcher | 0:5f46ebd8588e | 618 | if (tsk == 0) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 619 | return (P_TCB)os_active_TCB[tsk - 1]; |
jonathonfletcher | 0:5f46ebd8588e | 620 | } |
jonathonfletcher | 0:5f46ebd8588e | 621 | |
jonathonfletcher | 0:5f46ebd8588e | 622 | /// Terminate execution of a thread and remove it from ActiveThreads |
jonathonfletcher | 0:5f46ebd8588e | 623 | osStatus svcThreadTerminate (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 624 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 625 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 626 | |
jonathonfletcher | 0:5f46ebd8588e | 627 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 628 | if (ptcb == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 629 | |
jonathonfletcher | 0:5f46ebd8588e | 630 | res = rt_tsk_delete(ptcb->task_id); // Delete task |
jonathonfletcher | 0:5f46ebd8588e | 631 | |
jonathonfletcher | 0:5f46ebd8588e | 632 | if (res == OS_R_NOK) return osErrorResource; // Delete task failed |
jonathonfletcher | 0:5f46ebd8588e | 633 | |
jonathonfletcher | 0:5f46ebd8588e | 634 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 635 | } |
jonathonfletcher | 0:5f46ebd8588e | 636 | |
jonathonfletcher | 0:5f46ebd8588e | 637 | /// Pass control to next thread that is in state READY |
jonathonfletcher | 0:5f46ebd8588e | 638 | osStatus svcThreadYield (void) { |
jonathonfletcher | 0:5f46ebd8588e | 639 | rt_tsk_pass(); // Pass control to next task |
jonathonfletcher | 0:5f46ebd8588e | 640 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 641 | } |
jonathonfletcher | 0:5f46ebd8588e | 642 | |
jonathonfletcher | 0:5f46ebd8588e | 643 | /// Change prority of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 644 | osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) { |
jonathonfletcher | 0:5f46ebd8588e | 645 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 646 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 647 | |
jonathonfletcher | 0:5f46ebd8588e | 648 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 649 | if (ptcb == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 650 | |
jonathonfletcher | 0:5f46ebd8588e | 651 | if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) { |
jonathonfletcher | 0:5f46ebd8588e | 652 | return osErrorValue; |
jonathonfletcher | 0:5f46ebd8588e | 653 | } |
jonathonfletcher | 0:5f46ebd8588e | 654 | |
jonathonfletcher | 0:5f46ebd8588e | 655 | res = rt_tsk_prio( // Change task priority |
jonathonfletcher | 0:5f46ebd8588e | 656 | ptcb->task_id, // Task ID |
jonathonfletcher | 0:5f46ebd8588e | 657 | priority - osPriorityIdle + 1 // New task priority |
jonathonfletcher | 0:5f46ebd8588e | 658 | ); |
jonathonfletcher | 0:5f46ebd8588e | 659 | |
jonathonfletcher | 0:5f46ebd8588e | 660 | if (res == OS_R_NOK) return osErrorResource; // Change task priority failed |
jonathonfletcher | 0:5f46ebd8588e | 661 | |
jonathonfletcher | 0:5f46ebd8588e | 662 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 663 | } |
jonathonfletcher | 0:5f46ebd8588e | 664 | |
jonathonfletcher | 0:5f46ebd8588e | 665 | /// Get current prority of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 666 | osPriority svcThreadGetPriority (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 667 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 668 | |
jonathonfletcher | 0:5f46ebd8588e | 669 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 670 | if (ptcb == NULL) return osPriorityError; |
jonathonfletcher | 0:5f46ebd8588e | 671 | |
jonathonfletcher | 0:5f46ebd8588e | 672 | return (osPriority)(ptcb->prio - 1 + osPriorityIdle); |
jonathonfletcher | 0:5f46ebd8588e | 673 | } |
jonathonfletcher | 0:5f46ebd8588e | 674 | |
jonathonfletcher | 0:5f46ebd8588e | 675 | |
jonathonfletcher | 0:5f46ebd8588e | 676 | // Thread Public API |
jonathonfletcher | 0:5f46ebd8588e | 677 | |
jonathonfletcher | 0:5f46ebd8588e | 678 | /// Create a thread and add it to Active Threads and set it to state READY |
jonathonfletcher | 0:5f46ebd8588e | 679 | osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) { |
jonathonfletcher | 0:5f46ebd8588e | 680 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 681 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 682 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 683 | return svcThreadCreate(thread_def, argument); |
jonathonfletcher | 0:5f46ebd8588e | 684 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 685 | return __svcThreadCreate(thread_def, argument); |
jonathonfletcher | 0:5f46ebd8588e | 686 | } |
jonathonfletcher | 0:5f46ebd8588e | 687 | } |
jonathonfletcher | 0:5f46ebd8588e | 688 | |
jonathonfletcher | 0:5f46ebd8588e | 689 | /// Return the thread ID of the current running thread |
jonathonfletcher | 0:5f46ebd8588e | 690 | osThreadId osThreadGetId (void) { |
jonathonfletcher | 0:5f46ebd8588e | 691 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 692 | return __svcThreadGetId(); |
jonathonfletcher | 0:5f46ebd8588e | 693 | } |
jonathonfletcher | 0:5f46ebd8588e | 694 | |
jonathonfletcher | 0:5f46ebd8588e | 695 | /// Terminate execution of a thread and remove it from ActiveThreads |
jonathonfletcher | 0:5f46ebd8588e | 696 | osStatus osThreadTerminate (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 697 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 698 | return __svcThreadTerminate(thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 699 | } |
jonathonfletcher | 0:5f46ebd8588e | 700 | |
jonathonfletcher | 0:5f46ebd8588e | 701 | /// Pass control to next thread that is in state READY |
jonathonfletcher | 0:5f46ebd8588e | 702 | osStatus osThreadYield (void) { |
jonathonfletcher | 0:5f46ebd8588e | 703 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 704 | return __svcThreadYield(); |
jonathonfletcher | 0:5f46ebd8588e | 705 | } |
jonathonfletcher | 0:5f46ebd8588e | 706 | |
jonathonfletcher | 0:5f46ebd8588e | 707 | /// Change prority of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 708 | osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) { |
jonathonfletcher | 0:5f46ebd8588e | 709 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 710 | return __svcThreadSetPriority(thread_id, priority); |
jonathonfletcher | 0:5f46ebd8588e | 711 | } |
jonathonfletcher | 0:5f46ebd8588e | 712 | |
jonathonfletcher | 0:5f46ebd8588e | 713 | /// Get current prority of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 714 | osPriority osThreadGetPriority (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 715 | if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 716 | return __svcThreadGetPriority(thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 717 | } |
jonathonfletcher | 0:5f46ebd8588e | 718 | |
jonathonfletcher | 0:5f46ebd8588e | 719 | /// INTERNAL - Not Public |
jonathonfletcher | 0:5f46ebd8588e | 720 | /// Auto Terminate Thread on exit (used implicitly when thread exists) |
jonathonfletcher | 0:5f46ebd8588e | 721 | __NO_RETURN void osThreadExit (void) { |
jonathonfletcher | 0:5f46ebd8588e | 722 | __svcThreadTerminate(__svcThreadGetId()); |
jonathonfletcher | 0:5f46ebd8588e | 723 | for (;;); // Should never come here |
jonathonfletcher | 0:5f46ebd8588e | 724 | } |
jonathonfletcher | 0:5f46ebd8588e | 725 | |
jonathonfletcher | 0:5f46ebd8588e | 726 | |
jonathonfletcher | 0:5f46ebd8588e | 727 | // ==== Generic Wait Functions ==== |
jonathonfletcher | 0:5f46ebd8588e | 728 | |
jonathonfletcher | 0:5f46ebd8588e | 729 | // Generic Wait Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 730 | SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 731 | #if osFeature_Wait != 0 |
jonathonfletcher | 0:5f46ebd8588e | 732 | SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent) |
jonathonfletcher | 0:5f46ebd8588e | 733 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 734 | |
jonathonfletcher | 0:5f46ebd8588e | 735 | // Generic Wait Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 736 | |
jonathonfletcher | 0:5f46ebd8588e | 737 | /// Wait for Timeout (Time Delay) |
jonathonfletcher | 0:5f46ebd8588e | 738 | osStatus svcDelay (uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 739 | if (millisec == 0) return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 740 | rt_dly_wait(rt_ms2tick(millisec)); |
jonathonfletcher | 0:5f46ebd8588e | 741 | return osEventTimeout; |
jonathonfletcher | 0:5f46ebd8588e | 742 | } |
jonathonfletcher | 0:5f46ebd8588e | 743 | |
jonathonfletcher | 0:5f46ebd8588e | 744 | /// Wait for Signal, Message, Mail, or Timeout |
jonathonfletcher | 0:5f46ebd8588e | 745 | #if osFeature_Wait != 0 |
jonathonfletcher | 0:5f46ebd8588e | 746 | os_InRegs osEvent_type svcWait (uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 747 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 748 | |
jonathonfletcher | 0:5f46ebd8588e | 749 | if (millisec == 0) { |
jonathonfletcher | 0:5f46ebd8588e | 750 | ret.status = osOK; |
jonathonfletcher | 0:5f46ebd8588e | 751 | return osEvent_ret_status; |
jonathonfletcher | 0:5f46ebd8588e | 752 | } |
jonathonfletcher | 0:5f46ebd8588e | 753 | |
jonathonfletcher | 0:5f46ebd8588e | 754 | /* To Do: osEventSignal, osEventMessage, osEventMail */ |
jonathonfletcher | 0:5f46ebd8588e | 755 | rt_dly_wait(rt_ms2tick(millisec)); |
jonathonfletcher | 0:5f46ebd8588e | 756 | ret.status = osEventTimeout; |
jonathonfletcher | 0:5f46ebd8588e | 757 | |
jonathonfletcher | 0:5f46ebd8588e | 758 | return osEvent_ret_status; |
jonathonfletcher | 0:5f46ebd8588e | 759 | } |
jonathonfletcher | 0:5f46ebd8588e | 760 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 761 | |
jonathonfletcher | 0:5f46ebd8588e | 762 | |
jonathonfletcher | 0:5f46ebd8588e | 763 | // Generic Wait API |
jonathonfletcher | 0:5f46ebd8588e | 764 | |
jonathonfletcher | 0:5f46ebd8588e | 765 | /// Wait for Timeout (Time Delay) |
jonathonfletcher | 0:5f46ebd8588e | 766 | osStatus osDelay (uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 767 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 768 | return __svcDelay(millisec); |
jonathonfletcher | 0:5f46ebd8588e | 769 | } |
jonathonfletcher | 0:5f46ebd8588e | 770 | |
jonathonfletcher | 0:5f46ebd8588e | 771 | /// Wait for Signal, Message, Mail, or Timeout |
jonathonfletcher | 0:5f46ebd8588e | 772 | os_InRegs osEvent osWait (uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 773 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 774 | |
jonathonfletcher | 0:5f46ebd8588e | 775 | #if osFeature_Wait == 0 |
jonathonfletcher | 0:5f46ebd8588e | 776 | ret.status = osErrorOS; |
jonathonfletcher | 0:5f46ebd8588e | 777 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 778 | #else |
jonathonfletcher | 0:5f46ebd8588e | 779 | if (__get_IPSR() != 0) { // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 780 | ret.status = osErrorISR; |
jonathonfletcher | 0:5f46ebd8588e | 781 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 782 | } |
jonathonfletcher | 0:5f46ebd8588e | 783 | return __svcWait(millisec); |
jonathonfletcher | 0:5f46ebd8588e | 784 | #endif |
jonathonfletcher | 0:5f46ebd8588e | 785 | } |
jonathonfletcher | 0:5f46ebd8588e | 786 | |
jonathonfletcher | 0:5f46ebd8588e | 787 | |
jonathonfletcher | 0:5f46ebd8588e | 788 | // ==== Timer Management ==== |
jonathonfletcher | 0:5f46ebd8588e | 789 | |
jonathonfletcher | 0:5f46ebd8588e | 790 | // Timer definitions |
jonathonfletcher | 0:5f46ebd8588e | 791 | #define osTimerInvalid 0 |
jonathonfletcher | 0:5f46ebd8588e | 792 | #define osTimerStopped 1 |
jonathonfletcher | 0:5f46ebd8588e | 793 | #define osTimerRunning 2 |
jonathonfletcher | 0:5f46ebd8588e | 794 | |
jonathonfletcher | 0:5f46ebd8588e | 795 | // Timer structures |
jonathonfletcher | 0:5f46ebd8588e | 796 | |
jonathonfletcher | 0:5f46ebd8588e | 797 | typedef struct os_timer_cb_ { // Timer Control Block |
jonathonfletcher | 0:5f46ebd8588e | 798 | struct os_timer_cb_ *next; // Pointer to next active Timer |
jonathonfletcher | 0:5f46ebd8588e | 799 | uint8_t state; // Timer State |
jonathonfletcher | 0:5f46ebd8588e | 800 | uint8_t type; // Timer Type (Periodic/One-shot) |
jonathonfletcher | 0:5f46ebd8588e | 801 | uint16_t reserved; // Reserved |
jonathonfletcher | 0:5f46ebd8588e | 802 | uint16_t tcnt; // Timer Delay Count |
jonathonfletcher | 0:5f46ebd8588e | 803 | uint16_t icnt; // Timer Initial Count |
jonathonfletcher | 0:5f46ebd8588e | 804 | void *arg; // Timer Function Argument |
jonathonfletcher | 0:5f46ebd8588e | 805 | osTimerDef_t *timer; // Pointer to Timer definition |
jonathonfletcher | 0:5f46ebd8588e | 806 | } os_timer_cb; |
jonathonfletcher | 0:5f46ebd8588e | 807 | |
jonathonfletcher | 0:5f46ebd8588e | 808 | // Timer variables |
jonathonfletcher | 0:5f46ebd8588e | 809 | os_timer_cb *os_timer_head; // Pointer to first active Timer |
jonathonfletcher | 0:5f46ebd8588e | 810 | |
jonathonfletcher | 0:5f46ebd8588e | 811 | |
jonathonfletcher | 0:5f46ebd8588e | 812 | // Timer Helper Functions |
jonathonfletcher | 0:5f46ebd8588e | 813 | |
jonathonfletcher | 0:5f46ebd8588e | 814 | // Insert Timer into the list sorted by time |
jonathonfletcher | 0:5f46ebd8588e | 815 | static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) { |
jonathonfletcher | 0:5f46ebd8588e | 816 | os_timer_cb *p, *prev; |
jonathonfletcher | 0:5f46ebd8588e | 817 | |
jonathonfletcher | 0:5f46ebd8588e | 818 | prev = NULL; |
jonathonfletcher | 0:5f46ebd8588e | 819 | p = os_timer_head; |
jonathonfletcher | 0:5f46ebd8588e | 820 | while (p != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 821 | if (tcnt < p->tcnt) break; |
jonathonfletcher | 0:5f46ebd8588e | 822 | tcnt -= p->tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 823 | prev = p; |
jonathonfletcher | 0:5f46ebd8588e | 824 | p = p->next; |
jonathonfletcher | 0:5f46ebd8588e | 825 | } |
jonathonfletcher | 0:5f46ebd8588e | 826 | pt->next = p; |
jonathonfletcher | 0:5f46ebd8588e | 827 | pt->tcnt = (uint16_t)tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 828 | if (p != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 829 | p->tcnt -= pt->tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 830 | } |
jonathonfletcher | 0:5f46ebd8588e | 831 | if (prev != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 832 | prev->next = pt; |
jonathonfletcher | 0:5f46ebd8588e | 833 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 834 | os_timer_head = pt; |
jonathonfletcher | 0:5f46ebd8588e | 835 | } |
jonathonfletcher | 0:5f46ebd8588e | 836 | } |
jonathonfletcher | 0:5f46ebd8588e | 837 | |
jonathonfletcher | 0:5f46ebd8588e | 838 | // Remove Timer from the list |
jonathonfletcher | 0:5f46ebd8588e | 839 | static int rt_timer_remove (os_timer_cb *pt) { |
jonathonfletcher | 0:5f46ebd8588e | 840 | os_timer_cb *p, *prev; |
jonathonfletcher | 0:5f46ebd8588e | 841 | |
jonathonfletcher | 0:5f46ebd8588e | 842 | prev = NULL; |
jonathonfletcher | 0:5f46ebd8588e | 843 | p = os_timer_head; |
jonathonfletcher | 0:5f46ebd8588e | 844 | while (p != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 845 | if (p == pt) break; |
jonathonfletcher | 0:5f46ebd8588e | 846 | prev = p; |
jonathonfletcher | 0:5f46ebd8588e | 847 | p = p->next; |
jonathonfletcher | 0:5f46ebd8588e | 848 | } |
jonathonfletcher | 0:5f46ebd8588e | 849 | if (p == NULL) return -1; |
jonathonfletcher | 0:5f46ebd8588e | 850 | if (prev != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 851 | prev->next = pt->next; |
jonathonfletcher | 0:5f46ebd8588e | 852 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 853 | os_timer_head = pt->next; |
jonathonfletcher | 0:5f46ebd8588e | 854 | } |
jonathonfletcher | 0:5f46ebd8588e | 855 | if (pt->next != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 856 | pt->next->tcnt += pt->tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 857 | } |
jonathonfletcher | 0:5f46ebd8588e | 858 | |
jonathonfletcher | 0:5f46ebd8588e | 859 | return 0; |
jonathonfletcher | 0:5f46ebd8588e | 860 | } |
jonathonfletcher | 0:5f46ebd8588e | 861 | |
jonathonfletcher | 0:5f46ebd8588e | 862 | |
jonathonfletcher | 0:5f46ebd8588e | 863 | // Timer Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 864 | SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 865 | SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 866 | SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 867 | SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 868 | SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback) |
jonathonfletcher | 0:5f46ebd8588e | 869 | |
jonathonfletcher | 0:5f46ebd8588e | 870 | // Timer Management Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 871 | |
jonathonfletcher | 0:5f46ebd8588e | 872 | /// Create timer |
jonathonfletcher | 0:5f46ebd8588e | 873 | osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) { |
jonathonfletcher | 0:5f46ebd8588e | 874 | os_timer_cb *pt; |
jonathonfletcher | 0:5f46ebd8588e | 875 | |
jonathonfletcher | 0:5f46ebd8588e | 876 | if ((timer_def == NULL) || (timer_def->ptimer == NULL)) { |
jonathonfletcher | 0:5f46ebd8588e | 877 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 878 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 879 | } |
jonathonfletcher | 0:5f46ebd8588e | 880 | |
jonathonfletcher | 0:5f46ebd8588e | 881 | pt = timer_def->timer; |
jonathonfletcher | 0:5f46ebd8588e | 882 | if (pt == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 883 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 884 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 885 | } |
jonathonfletcher | 0:5f46ebd8588e | 886 | |
jonathonfletcher | 0:5f46ebd8588e | 887 | if ((type != osTimerOnce) && (type != osTimerPeriodic)) { |
jonathonfletcher | 0:5f46ebd8588e | 888 | sysThreadError(osErrorValue); |
jonathonfletcher | 0:5f46ebd8588e | 889 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 890 | } |
jonathonfletcher | 0:5f46ebd8588e | 891 | |
jonathonfletcher | 0:5f46ebd8588e | 892 | if (osThreadId_osTimerThread == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 893 | sysThreadError(osErrorResource); |
jonathonfletcher | 0:5f46ebd8588e | 894 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 895 | } |
jonathonfletcher | 0:5f46ebd8588e | 896 | |
jonathonfletcher | 0:5f46ebd8588e | 897 | if (pt->state != osTimerInvalid){ |
jonathonfletcher | 0:5f46ebd8588e | 898 | sysThreadError(osErrorResource); |
jonathonfletcher | 0:5f46ebd8588e | 899 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 900 | } |
jonathonfletcher | 0:5f46ebd8588e | 901 | |
jonathonfletcher | 0:5f46ebd8588e | 902 | pt->state = osTimerStopped; |
jonathonfletcher | 0:5f46ebd8588e | 903 | pt->type = (uint8_t)type; |
jonathonfletcher | 0:5f46ebd8588e | 904 | pt->arg = argument; |
jonathonfletcher | 0:5f46ebd8588e | 905 | pt->timer = timer_def; |
jonathonfletcher | 0:5f46ebd8588e | 906 | |
jonathonfletcher | 0:5f46ebd8588e | 907 | return (osTimerId)pt; |
jonathonfletcher | 0:5f46ebd8588e | 908 | } |
jonathonfletcher | 0:5f46ebd8588e | 909 | |
jonathonfletcher | 0:5f46ebd8588e | 910 | /// Start or restart timer |
jonathonfletcher | 0:5f46ebd8588e | 911 | osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 912 | os_timer_cb *pt; |
jonathonfletcher | 0:5f46ebd8588e | 913 | uint32_t tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 914 | |
jonathonfletcher | 0:5f46ebd8588e | 915 | pt = rt_id2obj(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 916 | if (pt == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 917 | |
jonathonfletcher | 0:5f46ebd8588e | 918 | tcnt = rt_ms2tick(millisec); |
jonathonfletcher | 0:5f46ebd8588e | 919 | if (tcnt == 0) return osErrorValue; |
jonathonfletcher | 0:5f46ebd8588e | 920 | |
jonathonfletcher | 0:5f46ebd8588e | 921 | switch (pt->state) { |
jonathonfletcher | 0:5f46ebd8588e | 922 | case osTimerRunning: |
jonathonfletcher | 0:5f46ebd8588e | 923 | if (rt_timer_remove(pt) != 0) { |
jonathonfletcher | 0:5f46ebd8588e | 924 | return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 925 | } |
jonathonfletcher | 0:5f46ebd8588e | 926 | break; |
jonathonfletcher | 0:5f46ebd8588e | 927 | case osTimerStopped: |
jonathonfletcher | 0:5f46ebd8588e | 928 | pt->state = osTimerRunning; |
jonathonfletcher | 0:5f46ebd8588e | 929 | pt->icnt = (uint16_t)tcnt; |
jonathonfletcher | 0:5f46ebd8588e | 930 | break; |
jonathonfletcher | 0:5f46ebd8588e | 931 | default: |
jonathonfletcher | 0:5f46ebd8588e | 932 | return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 933 | } |
jonathonfletcher | 0:5f46ebd8588e | 934 | |
jonathonfletcher | 0:5f46ebd8588e | 935 | rt_timer_insert(pt, tcnt); |
jonathonfletcher | 0:5f46ebd8588e | 936 | |
jonathonfletcher | 0:5f46ebd8588e | 937 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 938 | } |
jonathonfletcher | 0:5f46ebd8588e | 939 | |
jonathonfletcher | 0:5f46ebd8588e | 940 | /// Stop timer |
jonathonfletcher | 0:5f46ebd8588e | 941 | osStatus svcTimerStop (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 942 | os_timer_cb *pt; |
jonathonfletcher | 0:5f46ebd8588e | 943 | |
jonathonfletcher | 0:5f46ebd8588e | 944 | pt = rt_id2obj(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 945 | if (pt == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 946 | |
jonathonfletcher | 0:5f46ebd8588e | 947 | if (pt->state != osTimerRunning) return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 948 | |
jonathonfletcher | 0:5f46ebd8588e | 949 | pt->state = osTimerStopped; |
jonathonfletcher | 0:5f46ebd8588e | 950 | |
jonathonfletcher | 0:5f46ebd8588e | 951 | if (rt_timer_remove(pt) != 0) { |
jonathonfletcher | 0:5f46ebd8588e | 952 | return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 953 | } |
jonathonfletcher | 0:5f46ebd8588e | 954 | |
jonathonfletcher | 0:5f46ebd8588e | 955 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 956 | } |
jonathonfletcher | 0:5f46ebd8588e | 957 | |
jonathonfletcher | 0:5f46ebd8588e | 958 | /// Delete timer |
jonathonfletcher | 0:5f46ebd8588e | 959 | osStatus svcTimerDelete (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 960 | os_timer_cb *pt; |
jonathonfletcher | 0:5f46ebd8588e | 961 | |
jonathonfletcher | 0:5f46ebd8588e | 962 | pt = rt_id2obj(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 963 | if (pt == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 964 | |
jonathonfletcher | 0:5f46ebd8588e | 965 | switch (pt->state) { |
jonathonfletcher | 0:5f46ebd8588e | 966 | case osTimerRunning: |
jonathonfletcher | 0:5f46ebd8588e | 967 | rt_timer_remove(pt); |
jonathonfletcher | 0:5f46ebd8588e | 968 | break; |
jonathonfletcher | 0:5f46ebd8588e | 969 | case osTimerStopped: |
jonathonfletcher | 0:5f46ebd8588e | 970 | break; |
jonathonfletcher | 0:5f46ebd8588e | 971 | default: |
jonathonfletcher | 0:5f46ebd8588e | 972 | return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 973 | } |
jonathonfletcher | 0:5f46ebd8588e | 974 | |
jonathonfletcher | 0:5f46ebd8588e | 975 | pt->state = osTimerInvalid; |
jonathonfletcher | 0:5f46ebd8588e | 976 | |
jonathonfletcher | 0:5f46ebd8588e | 977 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 978 | } |
jonathonfletcher | 0:5f46ebd8588e | 979 | |
jonathonfletcher | 0:5f46ebd8588e | 980 | /// Get timer callback parameters |
jonathonfletcher | 0:5f46ebd8588e | 981 | os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 982 | os_timer_cb *pt; |
jonathonfletcher | 0:5f46ebd8588e | 983 | osCallback ret; |
jonathonfletcher | 0:5f46ebd8588e | 984 | |
jonathonfletcher | 0:5f46ebd8588e | 985 | pt = rt_id2obj(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 986 | if (pt == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 987 | ret.fp = NULL; |
jonathonfletcher | 0:5f46ebd8588e | 988 | ret.arg = NULL; |
jonathonfletcher | 0:5f46ebd8588e | 989 | return osCallback_ret; |
jonathonfletcher | 0:5f46ebd8588e | 990 | } |
jonathonfletcher | 0:5f46ebd8588e | 991 | |
jonathonfletcher | 0:5f46ebd8588e | 992 | ret.fp = (void *)pt->timer->ptimer; |
jonathonfletcher | 0:5f46ebd8588e | 993 | ret.arg = pt->arg; |
jonathonfletcher | 0:5f46ebd8588e | 994 | |
jonathonfletcher | 0:5f46ebd8588e | 995 | return osCallback_ret; |
jonathonfletcher | 0:5f46ebd8588e | 996 | } |
jonathonfletcher | 0:5f46ebd8588e | 997 | |
jonathonfletcher | 0:5f46ebd8588e | 998 | static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec); |
jonathonfletcher | 0:5f46ebd8588e | 999 | |
jonathonfletcher | 0:5f46ebd8588e | 1000 | /// Timer Tick (called each SysTick) |
jonathonfletcher | 0:5f46ebd8588e | 1001 | void sysTimerTick (void) { |
jonathonfletcher | 0:5f46ebd8588e | 1002 | os_timer_cb *pt, *p; |
jonathonfletcher | 0:5f46ebd8588e | 1003 | |
jonathonfletcher | 0:5f46ebd8588e | 1004 | p = os_timer_head; |
jonathonfletcher | 0:5f46ebd8588e | 1005 | if (p == NULL) return; |
jonathonfletcher | 0:5f46ebd8588e | 1006 | |
jonathonfletcher | 0:5f46ebd8588e | 1007 | p->tcnt--; |
jonathonfletcher | 0:5f46ebd8588e | 1008 | while ((p != NULL) && (p->tcnt == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1009 | pt = p; |
jonathonfletcher | 0:5f46ebd8588e | 1010 | p = p->next; |
jonathonfletcher | 0:5f46ebd8588e | 1011 | os_timer_head = p; |
jonathonfletcher | 0:5f46ebd8588e | 1012 | isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1013 | if (pt->type == osTimerPeriodic) { |
jonathonfletcher | 0:5f46ebd8588e | 1014 | rt_timer_insert(pt, pt->icnt); |
jonathonfletcher | 0:5f46ebd8588e | 1015 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1016 | pt->state = osTimerStopped; |
jonathonfletcher | 0:5f46ebd8588e | 1017 | } |
jonathonfletcher | 0:5f46ebd8588e | 1018 | } |
jonathonfletcher | 0:5f46ebd8588e | 1019 | } |
jonathonfletcher | 0:5f46ebd8588e | 1020 | |
jonathonfletcher | 0:5f46ebd8588e | 1021 | |
jonathonfletcher | 0:5f46ebd8588e | 1022 | // Timer Management Public API |
jonathonfletcher | 0:5f46ebd8588e | 1023 | |
jonathonfletcher | 0:5f46ebd8588e | 1024 | /// Create timer |
jonathonfletcher | 0:5f46ebd8588e | 1025 | osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) { |
jonathonfletcher | 0:5f46ebd8588e | 1026 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1027 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1028 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1029 | return svcTimerCreate(timer_def, type, argument); |
jonathonfletcher | 0:5f46ebd8588e | 1030 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1031 | return __svcTimerCreate(timer_def, type, argument); |
jonathonfletcher | 0:5f46ebd8588e | 1032 | } |
jonathonfletcher | 0:5f46ebd8588e | 1033 | } |
jonathonfletcher | 0:5f46ebd8588e | 1034 | |
jonathonfletcher | 0:5f46ebd8588e | 1035 | /// Start or restart timer |
jonathonfletcher | 0:5f46ebd8588e | 1036 | osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1037 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1038 | return __svcTimerStart(timer_id, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1039 | } |
jonathonfletcher | 0:5f46ebd8588e | 1040 | |
jonathonfletcher | 0:5f46ebd8588e | 1041 | /// Stop timer |
jonathonfletcher | 0:5f46ebd8588e | 1042 | osStatus osTimerStop (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1043 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1044 | return __svcTimerStop(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 1045 | } |
jonathonfletcher | 0:5f46ebd8588e | 1046 | |
jonathonfletcher | 0:5f46ebd8588e | 1047 | /// Delete timer |
jonathonfletcher | 0:5f46ebd8588e | 1048 | osStatus osTimerDelete (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1049 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1050 | return __svcTimerDelete(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 1051 | } |
jonathonfletcher | 0:5f46ebd8588e | 1052 | |
jonathonfletcher | 0:5f46ebd8588e | 1053 | /// INTERNAL - Not Public |
jonathonfletcher | 0:5f46ebd8588e | 1054 | /// Get timer callback parameters (used by OS Timer Thread) |
jonathonfletcher | 0:5f46ebd8588e | 1055 | os_InRegs osCallback osTimerCall (osTimerId timer_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1056 | return __svcTimerCall(timer_id); |
jonathonfletcher | 0:5f46ebd8588e | 1057 | } |
jonathonfletcher | 0:5f46ebd8588e | 1058 | |
jonathonfletcher | 0:5f46ebd8588e | 1059 | |
jonathonfletcher | 0:5f46ebd8588e | 1060 | // Timer Thread |
jonathonfletcher | 0:5f46ebd8588e | 1061 | __NO_RETURN void osTimerThread (void const *argument) { |
jonathonfletcher | 0:5f46ebd8588e | 1062 | osCallback cb; |
jonathonfletcher | 0:5f46ebd8588e | 1063 | osEvent evt; |
jonathonfletcher | 0:5f46ebd8588e | 1064 | |
jonathonfletcher | 0:5f46ebd8588e | 1065 | for (;;) { |
jonathonfletcher | 0:5f46ebd8588e | 1066 | evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever); |
jonathonfletcher | 0:5f46ebd8588e | 1067 | if (evt.status == osEventMessage) { |
jonathonfletcher | 0:5f46ebd8588e | 1068 | cb = osTimerCall(evt.value.p); |
jonathonfletcher | 0:5f46ebd8588e | 1069 | if (cb.fp != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1070 | (*(os_ptimer)cb.fp)(cb.arg); |
jonathonfletcher | 0:5f46ebd8588e | 1071 | } |
jonathonfletcher | 0:5f46ebd8588e | 1072 | } |
jonathonfletcher | 0:5f46ebd8588e | 1073 | } |
jonathonfletcher | 0:5f46ebd8588e | 1074 | } |
jonathonfletcher | 0:5f46ebd8588e | 1075 | |
jonathonfletcher | 0:5f46ebd8588e | 1076 | |
jonathonfletcher | 0:5f46ebd8588e | 1077 | // ==== Signal Management ==== |
jonathonfletcher | 0:5f46ebd8588e | 1078 | |
jonathonfletcher | 0:5f46ebd8588e | 1079 | // Signal Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1080 | SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t) |
jonathonfletcher | 0:5f46ebd8588e | 1081 | SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t) |
jonathonfletcher | 0:5f46ebd8588e | 1082 | SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t) |
jonathonfletcher | 0:5f46ebd8588e | 1083 | SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent) |
jonathonfletcher | 0:5f46ebd8588e | 1084 | |
jonathonfletcher | 0:5f46ebd8588e | 1085 | // Signal Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 1086 | |
jonathonfletcher | 0:5f46ebd8588e | 1087 | /// Set the specified Signal Flags of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1088 | int32_t svcSignalSet (osThreadId thread_id, int32_t signal) { |
jonathonfletcher | 0:5f46ebd8588e | 1089 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 1090 | int32_t sig; |
jonathonfletcher | 0:5f46ebd8588e | 1091 | |
jonathonfletcher | 0:5f46ebd8588e | 1092 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 1093 | if (ptcb == NULL) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1094 | |
jonathonfletcher | 0:5f46ebd8588e | 1095 | if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1096 | |
jonathonfletcher | 0:5f46ebd8588e | 1097 | sig = ptcb->events; // Previous signal flags |
jonathonfletcher | 0:5f46ebd8588e | 1098 | |
jonathonfletcher | 0:5f46ebd8588e | 1099 | rt_evt_set(signal, ptcb->task_id); // Set event flags |
jonathonfletcher | 0:5f46ebd8588e | 1100 | |
jonathonfletcher | 0:5f46ebd8588e | 1101 | return sig; |
jonathonfletcher | 0:5f46ebd8588e | 1102 | } |
jonathonfletcher | 0:5f46ebd8588e | 1103 | |
jonathonfletcher | 0:5f46ebd8588e | 1104 | /// Clear the specified Signal Flags of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1105 | int32_t svcSignalClear (osThreadId thread_id, int32_t signal) { |
jonathonfletcher | 0:5f46ebd8588e | 1106 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 1107 | int32_t sig; |
jonathonfletcher | 0:5f46ebd8588e | 1108 | |
jonathonfletcher | 0:5f46ebd8588e | 1109 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 1110 | if (ptcb == NULL) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1111 | |
jonathonfletcher | 0:5f46ebd8588e | 1112 | if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1113 | |
jonathonfletcher | 0:5f46ebd8588e | 1114 | sig = ptcb->events; // Previous signal flags |
jonathonfletcher | 0:5f46ebd8588e | 1115 | |
jonathonfletcher | 0:5f46ebd8588e | 1116 | rt_evt_clr(signal, ptcb->task_id); // Clear event flags |
jonathonfletcher | 0:5f46ebd8588e | 1117 | |
jonathonfletcher | 0:5f46ebd8588e | 1118 | return sig; |
jonathonfletcher | 0:5f46ebd8588e | 1119 | } |
jonathonfletcher | 0:5f46ebd8588e | 1120 | |
jonathonfletcher | 0:5f46ebd8588e | 1121 | /// Get Signal Flags status of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1122 | int32_t svcSignalGet (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1123 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 1124 | |
jonathonfletcher | 0:5f46ebd8588e | 1125 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 1126 | if (ptcb == NULL) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1127 | |
jonathonfletcher | 0:5f46ebd8588e | 1128 | return ptcb->events; // Return event flags |
jonathonfletcher | 0:5f46ebd8588e | 1129 | } |
jonathonfletcher | 0:5f46ebd8588e | 1130 | |
jonathonfletcher | 0:5f46ebd8588e | 1131 | /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread |
jonathonfletcher | 0:5f46ebd8588e | 1132 | os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1133 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1134 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 1135 | |
jonathonfletcher | 0:5f46ebd8588e | 1136 | if (signals & (0xFFFFFFFF << osFeature_Signals)) { |
jonathonfletcher | 0:5f46ebd8588e | 1137 | ret.status = osErrorValue; |
jonathonfletcher | 0:5f46ebd8588e | 1138 | return osEvent_ret_status; |
jonathonfletcher | 0:5f46ebd8588e | 1139 | } |
jonathonfletcher | 0:5f46ebd8588e | 1140 | |
jonathonfletcher | 0:5f46ebd8588e | 1141 | if (signals != 0) { // Wait for all specified signals |
jonathonfletcher | 0:5f46ebd8588e | 1142 | res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE); |
jonathonfletcher | 0:5f46ebd8588e | 1143 | } else { // Wait for any signal |
jonathonfletcher | 0:5f46ebd8588e | 1144 | res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE); |
jonathonfletcher | 0:5f46ebd8588e | 1145 | } |
jonathonfletcher | 0:5f46ebd8588e | 1146 | |
jonathonfletcher | 0:5f46ebd8588e | 1147 | if (res == OS_R_EVT) { |
jonathonfletcher | 0:5f46ebd8588e | 1148 | ret.status = osEventSignal; |
jonathonfletcher | 0:5f46ebd8588e | 1149 | ret.value.signals = signals ? signals : os_tsk.tsk_run->waits; |
jonathonfletcher | 0:5f46ebd8588e | 1150 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1151 | ret.status = millisec ? osEventTimeout : osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1152 | ret.value.signals = 0; |
jonathonfletcher | 0:5f46ebd8588e | 1153 | } |
jonathonfletcher | 0:5f46ebd8588e | 1154 | |
jonathonfletcher | 0:5f46ebd8588e | 1155 | return osEvent_ret_value; |
jonathonfletcher | 0:5f46ebd8588e | 1156 | } |
jonathonfletcher | 0:5f46ebd8588e | 1157 | |
jonathonfletcher | 0:5f46ebd8588e | 1158 | |
jonathonfletcher | 0:5f46ebd8588e | 1159 | // Signal ISR Calls |
jonathonfletcher | 0:5f46ebd8588e | 1160 | |
jonathonfletcher | 0:5f46ebd8588e | 1161 | /// Set the specified Signal Flags of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1162 | static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signal) { |
jonathonfletcher | 0:5f46ebd8588e | 1163 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 1164 | int32_t sig; |
jonathonfletcher | 0:5f46ebd8588e | 1165 | |
jonathonfletcher | 0:5f46ebd8588e | 1166 | ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer |
jonathonfletcher | 0:5f46ebd8588e | 1167 | if (ptcb == NULL) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1168 | |
jonathonfletcher | 0:5f46ebd8588e | 1169 | if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000; |
jonathonfletcher | 0:5f46ebd8588e | 1170 | |
jonathonfletcher | 0:5f46ebd8588e | 1171 | sig = ptcb->events; // Previous signal flags |
jonathonfletcher | 0:5f46ebd8588e | 1172 | |
jonathonfletcher | 0:5f46ebd8588e | 1173 | isr_evt_set(signal, ptcb->task_id); // Set event flags |
jonathonfletcher | 0:5f46ebd8588e | 1174 | |
jonathonfletcher | 0:5f46ebd8588e | 1175 | return sig; |
jonathonfletcher | 0:5f46ebd8588e | 1176 | } |
jonathonfletcher | 0:5f46ebd8588e | 1177 | |
jonathonfletcher | 0:5f46ebd8588e | 1178 | |
jonathonfletcher | 0:5f46ebd8588e | 1179 | // Signal Public API |
jonathonfletcher | 0:5f46ebd8588e | 1180 | |
jonathonfletcher | 0:5f46ebd8588e | 1181 | /// Set the specified Signal Flags of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1182 | int32_t osSignalSet (osThreadId thread_id, int32_t signal) { |
jonathonfletcher | 0:5f46ebd8588e | 1183 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1184 | return isrSignalSet(thread_id, signal); |
jonathonfletcher | 0:5f46ebd8588e | 1185 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1186 | return __svcSignalSet(thread_id, signal); |
jonathonfletcher | 0:5f46ebd8588e | 1187 | } |
jonathonfletcher | 0:5f46ebd8588e | 1188 | } |
jonathonfletcher | 0:5f46ebd8588e | 1189 | |
jonathonfletcher | 0:5f46ebd8588e | 1190 | /// Clear the specified Signal Flags of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1191 | int32_t osSignalClear (osThreadId thread_id, int32_t signal) { |
jonathonfletcher | 0:5f46ebd8588e | 1192 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1193 | return __svcSignalClear(thread_id, signal); |
jonathonfletcher | 0:5f46ebd8588e | 1194 | } |
jonathonfletcher | 0:5f46ebd8588e | 1195 | |
jonathonfletcher | 0:5f46ebd8588e | 1196 | /// Get Signal Flags status of an active thread |
jonathonfletcher | 0:5f46ebd8588e | 1197 | int32_t osSignalGet (osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1198 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1199 | return __svcSignalGet(thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 1200 | } |
jonathonfletcher | 0:5f46ebd8588e | 1201 | |
jonathonfletcher | 0:5f46ebd8588e | 1202 | /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread |
jonathonfletcher | 0:5f46ebd8588e | 1203 | os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1204 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 1205 | |
jonathonfletcher | 0:5f46ebd8588e | 1206 | if (__get_IPSR() != 0) { // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1207 | ret.status = osErrorISR; |
jonathonfletcher | 0:5f46ebd8588e | 1208 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1209 | } |
jonathonfletcher | 0:5f46ebd8588e | 1210 | return __svcSignalWait(signals, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1211 | } |
jonathonfletcher | 0:5f46ebd8588e | 1212 | |
jonathonfletcher | 0:5f46ebd8588e | 1213 | |
jonathonfletcher | 0:5f46ebd8588e | 1214 | // ==== Mutex Management ==== |
jonathonfletcher | 0:5f46ebd8588e | 1215 | |
jonathonfletcher | 0:5f46ebd8588e | 1216 | // Mutex Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1217 | SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1218 | SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1219 | SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1220 | SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1221 | |
jonathonfletcher | 0:5f46ebd8588e | 1222 | // Mutex Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 1223 | |
jonathonfletcher | 0:5f46ebd8588e | 1224 | /// Create and Initialize a Mutex object |
jonathonfletcher | 0:5f46ebd8588e | 1225 | osMutexId svcMutexCreate (osMutexDef_t *mutex_def) { |
jonathonfletcher | 0:5f46ebd8588e | 1226 | OS_ID mut; |
jonathonfletcher | 0:5f46ebd8588e | 1227 | |
jonathonfletcher | 0:5f46ebd8588e | 1228 | if (mutex_def == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1229 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1230 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1231 | } |
jonathonfletcher | 0:5f46ebd8588e | 1232 | |
jonathonfletcher | 0:5f46ebd8588e | 1233 | mut = mutex_def->mutex; |
jonathonfletcher | 0:5f46ebd8588e | 1234 | if (mut == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1235 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1236 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1237 | } |
jonathonfletcher | 0:5f46ebd8588e | 1238 | |
jonathonfletcher | 0:5f46ebd8588e | 1239 | if (((P_MUCB)mut)->cb_type != 0) { |
jonathonfletcher | 0:5f46ebd8588e | 1240 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1241 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1242 | } |
jonathonfletcher | 0:5f46ebd8588e | 1243 | |
jonathonfletcher | 0:5f46ebd8588e | 1244 | rt_mut_init(mut); // Initialize Mutex |
jonathonfletcher | 0:5f46ebd8588e | 1245 | |
jonathonfletcher | 0:5f46ebd8588e | 1246 | return mut; |
jonathonfletcher | 0:5f46ebd8588e | 1247 | } |
jonathonfletcher | 0:5f46ebd8588e | 1248 | |
jonathonfletcher | 0:5f46ebd8588e | 1249 | /// Wait until a Mutex becomes available |
jonathonfletcher | 0:5f46ebd8588e | 1250 | osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1251 | OS_ID mut; |
jonathonfletcher | 0:5f46ebd8588e | 1252 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1253 | |
jonathonfletcher | 0:5f46ebd8588e | 1254 | mut = rt_id2obj(mutex_id); |
jonathonfletcher | 0:5f46ebd8588e | 1255 | if (mut == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1256 | |
jonathonfletcher | 0:5f46ebd8588e | 1257 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1258 | |
jonathonfletcher | 0:5f46ebd8588e | 1259 | res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex |
jonathonfletcher | 0:5f46ebd8588e | 1260 | |
jonathonfletcher | 0:5f46ebd8588e | 1261 | if (res == OS_R_TMO) { |
jonathonfletcher | 0:5f46ebd8588e | 1262 | return (millisec ? osErrorTimeoutResource : osErrorResource); |
jonathonfletcher | 0:5f46ebd8588e | 1263 | } |
jonathonfletcher | 0:5f46ebd8588e | 1264 | |
jonathonfletcher | 0:5f46ebd8588e | 1265 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1266 | } |
jonathonfletcher | 0:5f46ebd8588e | 1267 | |
jonathonfletcher | 0:5f46ebd8588e | 1268 | /// Release a Mutex that was obtained with osMutexWait |
jonathonfletcher | 0:5f46ebd8588e | 1269 | osStatus svcMutexRelease (osMutexId mutex_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1270 | OS_ID mut; |
jonathonfletcher | 0:5f46ebd8588e | 1271 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1272 | |
jonathonfletcher | 0:5f46ebd8588e | 1273 | mut = rt_id2obj(mutex_id); |
jonathonfletcher | 0:5f46ebd8588e | 1274 | if (mut == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1275 | |
jonathonfletcher | 0:5f46ebd8588e | 1276 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1277 | |
jonathonfletcher | 0:5f46ebd8588e | 1278 | res = rt_mut_release(mut); // Release Mutex |
jonathonfletcher | 0:5f46ebd8588e | 1279 | |
jonathonfletcher | 0:5f46ebd8588e | 1280 | if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter |
jonathonfletcher | 0:5f46ebd8588e | 1281 | |
jonathonfletcher | 0:5f46ebd8588e | 1282 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1283 | } |
jonathonfletcher | 0:5f46ebd8588e | 1284 | |
jonathonfletcher | 0:5f46ebd8588e | 1285 | /// Delete a Mutex that was created by osMutexCreate |
jonathonfletcher | 0:5f46ebd8588e | 1286 | osStatus svcMutexDelete (osMutexId mutex_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1287 | OS_ID mut; |
jonathonfletcher | 0:5f46ebd8588e | 1288 | |
jonathonfletcher | 0:5f46ebd8588e | 1289 | mut = rt_id2obj(mutex_id); |
jonathonfletcher | 0:5f46ebd8588e | 1290 | if (mut == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1291 | |
jonathonfletcher | 0:5f46ebd8588e | 1292 | if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1293 | |
jonathonfletcher | 0:5f46ebd8588e | 1294 | rt_mut_delete(mut); // Release Mutex |
jonathonfletcher | 0:5f46ebd8588e | 1295 | |
jonathonfletcher | 0:5f46ebd8588e | 1296 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1297 | } |
jonathonfletcher | 0:5f46ebd8588e | 1298 | |
jonathonfletcher | 0:5f46ebd8588e | 1299 | |
jonathonfletcher | 0:5f46ebd8588e | 1300 | // Mutex Public API |
jonathonfletcher | 0:5f46ebd8588e | 1301 | |
jonathonfletcher | 0:5f46ebd8588e | 1302 | /// Create and Initialize a Mutex object |
jonathonfletcher | 0:5f46ebd8588e | 1303 | osMutexId osMutexCreate (osMutexDef_t *mutex_def) { |
jonathonfletcher | 0:5f46ebd8588e | 1304 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1305 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1306 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1307 | return svcMutexCreate(mutex_def); |
jonathonfletcher | 0:5f46ebd8588e | 1308 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1309 | return __svcMutexCreate(mutex_def); |
jonathonfletcher | 0:5f46ebd8588e | 1310 | } |
jonathonfletcher | 0:5f46ebd8588e | 1311 | } |
jonathonfletcher | 0:5f46ebd8588e | 1312 | |
jonathonfletcher | 0:5f46ebd8588e | 1313 | /// Wait until a Mutex becomes available |
jonathonfletcher | 0:5f46ebd8588e | 1314 | osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1315 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1316 | return __svcMutexWait(mutex_id, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1317 | } |
jonathonfletcher | 0:5f46ebd8588e | 1318 | |
jonathonfletcher | 0:5f46ebd8588e | 1319 | /// Release a Mutex that was obtained with osMutexWait |
jonathonfletcher | 0:5f46ebd8588e | 1320 | osStatus osMutexRelease (osMutexId mutex_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1321 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1322 | return __svcMutexRelease(mutex_id); |
jonathonfletcher | 0:5f46ebd8588e | 1323 | } |
jonathonfletcher | 0:5f46ebd8588e | 1324 | |
jonathonfletcher | 0:5f46ebd8588e | 1325 | /// Delete a Mutex that was created by osMutexCreate |
jonathonfletcher | 0:5f46ebd8588e | 1326 | osStatus osMutexDelete (osMutexId mutex_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1327 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1328 | return __svcMutexDelete(mutex_id); |
jonathonfletcher | 0:5f46ebd8588e | 1329 | } |
jonathonfletcher | 0:5f46ebd8588e | 1330 | |
jonathonfletcher | 0:5f46ebd8588e | 1331 | |
jonathonfletcher | 0:5f46ebd8588e | 1332 | // ==== Semaphore Management ==== |
jonathonfletcher | 0:5f46ebd8588e | 1333 | |
jonathonfletcher | 0:5f46ebd8588e | 1334 | // Semaphore Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1335 | SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1336 | SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t) |
jonathonfletcher | 0:5f46ebd8588e | 1337 | SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1338 | SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1339 | |
jonathonfletcher | 0:5f46ebd8588e | 1340 | // Semaphore Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 1341 | |
jonathonfletcher | 0:5f46ebd8588e | 1342 | /// Create and Initialize a Semaphore object |
jonathonfletcher | 0:5f46ebd8588e | 1343 | osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) { |
jonathonfletcher | 0:5f46ebd8588e | 1344 | OS_ID sem; |
jonathonfletcher | 0:5f46ebd8588e | 1345 | |
jonathonfletcher | 0:5f46ebd8588e | 1346 | if (semaphore_def == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1347 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1348 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1349 | } |
jonathonfletcher | 0:5f46ebd8588e | 1350 | |
jonathonfletcher | 0:5f46ebd8588e | 1351 | sem = semaphore_def->semaphore; |
jonathonfletcher | 0:5f46ebd8588e | 1352 | if (sem == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1353 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1354 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1355 | } |
jonathonfletcher | 0:5f46ebd8588e | 1356 | |
jonathonfletcher | 0:5f46ebd8588e | 1357 | if (((P_SCB)sem)->cb_type != 0) { |
jonathonfletcher | 0:5f46ebd8588e | 1358 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1359 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1360 | } |
jonathonfletcher | 0:5f46ebd8588e | 1361 | |
jonathonfletcher | 0:5f46ebd8588e | 1362 | if (count > osFeature_Semaphore) { |
jonathonfletcher | 0:5f46ebd8588e | 1363 | sysThreadError(osErrorValue); |
jonathonfletcher | 0:5f46ebd8588e | 1364 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1365 | } |
jonathonfletcher | 0:5f46ebd8588e | 1366 | |
jonathonfletcher | 0:5f46ebd8588e | 1367 | rt_sem_init(sem, count); // Initialize Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1368 | |
jonathonfletcher | 0:5f46ebd8588e | 1369 | return sem; |
jonathonfletcher | 0:5f46ebd8588e | 1370 | } |
jonathonfletcher | 0:5f46ebd8588e | 1371 | |
jonathonfletcher | 0:5f46ebd8588e | 1372 | /// Wait until a Semaphore becomes available |
jonathonfletcher | 0:5f46ebd8588e | 1373 | int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1374 | OS_ID sem; |
jonathonfletcher | 0:5f46ebd8588e | 1375 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1376 | |
jonathonfletcher | 0:5f46ebd8588e | 1377 | sem = rt_id2obj(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1378 | if (sem == NULL) return -1; |
jonathonfletcher | 0:5f46ebd8588e | 1379 | |
jonathonfletcher | 0:5f46ebd8588e | 1380 | if (((P_SCB)sem)->cb_type != SCB) return -1; |
jonathonfletcher | 0:5f46ebd8588e | 1381 | |
jonathonfletcher | 0:5f46ebd8588e | 1382 | res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1383 | |
jonathonfletcher | 0:5f46ebd8588e | 1384 | if (res == OS_R_TMO) return 0; // Timeout |
jonathonfletcher | 0:5f46ebd8588e | 1385 | |
jonathonfletcher | 0:5f46ebd8588e | 1386 | return (((P_SCB)sem)->tokens + 1); |
jonathonfletcher | 0:5f46ebd8588e | 1387 | } |
jonathonfletcher | 0:5f46ebd8588e | 1388 | |
jonathonfletcher | 0:5f46ebd8588e | 1389 | /// Release a Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1390 | osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1391 | OS_ID sem; |
jonathonfletcher | 0:5f46ebd8588e | 1392 | |
jonathonfletcher | 0:5f46ebd8588e | 1393 | sem = rt_id2obj(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1394 | if (sem == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1395 | |
jonathonfletcher | 0:5f46ebd8588e | 1396 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1397 | |
jonathonfletcher | 0:5f46ebd8588e | 1398 | rt_sem_send(sem); // Release Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1399 | |
jonathonfletcher | 0:5f46ebd8588e | 1400 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1401 | } |
jonathonfletcher | 0:5f46ebd8588e | 1402 | |
jonathonfletcher | 0:5f46ebd8588e | 1403 | /// Delete a Semaphore that was created by osSemaphoreCreate |
jonathonfletcher | 0:5f46ebd8588e | 1404 | osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1405 | OS_ID sem; |
jonathonfletcher | 0:5f46ebd8588e | 1406 | |
jonathonfletcher | 0:5f46ebd8588e | 1407 | sem = rt_id2obj(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1408 | if (sem == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1409 | |
jonathonfletcher | 0:5f46ebd8588e | 1410 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1411 | |
jonathonfletcher | 0:5f46ebd8588e | 1412 | rt_sem_delete(sem); // Delete Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1413 | |
jonathonfletcher | 0:5f46ebd8588e | 1414 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1415 | } |
jonathonfletcher | 0:5f46ebd8588e | 1416 | |
jonathonfletcher | 0:5f46ebd8588e | 1417 | |
jonathonfletcher | 0:5f46ebd8588e | 1418 | // Semaphore ISR Calls |
jonathonfletcher | 0:5f46ebd8588e | 1419 | |
jonathonfletcher | 0:5f46ebd8588e | 1420 | /// Release a Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1421 | static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1422 | OS_ID sem; |
jonathonfletcher | 0:5f46ebd8588e | 1423 | |
jonathonfletcher | 0:5f46ebd8588e | 1424 | sem = rt_id2obj(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1425 | if (sem == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1426 | |
jonathonfletcher | 0:5f46ebd8588e | 1427 | if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1428 | |
jonathonfletcher | 0:5f46ebd8588e | 1429 | isr_sem_send(sem); // Release Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1430 | |
jonathonfletcher | 0:5f46ebd8588e | 1431 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1432 | } |
jonathonfletcher | 0:5f46ebd8588e | 1433 | |
jonathonfletcher | 0:5f46ebd8588e | 1434 | |
jonathonfletcher | 0:5f46ebd8588e | 1435 | // Semaphore Public API |
jonathonfletcher | 0:5f46ebd8588e | 1436 | |
jonathonfletcher | 0:5f46ebd8588e | 1437 | /// Create and Initialize a Semaphore object |
jonathonfletcher | 0:5f46ebd8588e | 1438 | osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) { |
jonathonfletcher | 0:5f46ebd8588e | 1439 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1440 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1441 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1442 | return svcSemaphoreCreate(semaphore_def, count); |
jonathonfletcher | 0:5f46ebd8588e | 1443 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1444 | return __svcSemaphoreCreate(semaphore_def, count); |
jonathonfletcher | 0:5f46ebd8588e | 1445 | } |
jonathonfletcher | 0:5f46ebd8588e | 1446 | } |
jonathonfletcher | 0:5f46ebd8588e | 1447 | |
jonathonfletcher | 0:5f46ebd8588e | 1448 | /// Wait until a Semaphore becomes available |
jonathonfletcher | 0:5f46ebd8588e | 1449 | int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1450 | if (__get_IPSR() != 0) return -1; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1451 | return __svcSemaphoreWait(semaphore_id, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1452 | } |
jonathonfletcher | 0:5f46ebd8588e | 1453 | |
jonathonfletcher | 0:5f46ebd8588e | 1454 | /// Release a Semaphore |
jonathonfletcher | 0:5f46ebd8588e | 1455 | osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1456 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1457 | return isrSemaphoreRelease(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1458 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1459 | return __svcSemaphoreRelease(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1460 | } |
jonathonfletcher | 0:5f46ebd8588e | 1461 | } |
jonathonfletcher | 0:5f46ebd8588e | 1462 | |
jonathonfletcher | 0:5f46ebd8588e | 1463 | /// Delete a Semaphore that was created by osSemaphoreCreate |
jonathonfletcher | 0:5f46ebd8588e | 1464 | osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1465 | if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1466 | return __svcSemaphoreDelete(semaphore_id); |
jonathonfletcher | 0:5f46ebd8588e | 1467 | } |
jonathonfletcher | 0:5f46ebd8588e | 1468 | |
jonathonfletcher | 0:5f46ebd8588e | 1469 | |
jonathonfletcher | 0:5f46ebd8588e | 1470 | // ==== Memory Management Functions ==== |
jonathonfletcher | 0:5f46ebd8588e | 1471 | |
jonathonfletcher | 0:5f46ebd8588e | 1472 | // Memory Management Helper Functions |
jonathonfletcher | 0:5f46ebd8588e | 1473 | |
jonathonfletcher | 0:5f46ebd8588e | 1474 | // Clear Memory Box (Zero init) |
jonathonfletcher | 0:5f46ebd8588e | 1475 | static void rt_clr_box (void *box_mem, void *box) { |
jonathonfletcher | 0:5f46ebd8588e | 1476 | uint32_t *p, n; |
jonathonfletcher | 0:5f46ebd8588e | 1477 | |
jonathonfletcher | 0:5f46ebd8588e | 1478 | if (box) { |
jonathonfletcher | 0:5f46ebd8588e | 1479 | p = box; |
jonathonfletcher | 0:5f46ebd8588e | 1480 | for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) { |
jonathonfletcher | 0:5f46ebd8588e | 1481 | *p++ = 0; |
jonathonfletcher | 0:5f46ebd8588e | 1482 | } |
jonathonfletcher | 0:5f46ebd8588e | 1483 | } |
jonathonfletcher | 0:5f46ebd8588e | 1484 | } |
jonathonfletcher | 0:5f46ebd8588e | 1485 | |
jonathonfletcher | 0:5f46ebd8588e | 1486 | // Memory Management Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1487 | SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1488 | SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1489 | SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1490 | |
jonathonfletcher | 0:5f46ebd8588e | 1491 | // Memory Management Service & ISR Calls |
jonathonfletcher | 0:5f46ebd8588e | 1492 | |
jonathonfletcher | 0:5f46ebd8588e | 1493 | /// Create and Initialize memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1494 | osPoolId svcPoolCreate (const osPoolDef_t *pool_def) { |
jonathonfletcher | 0:5f46ebd8588e | 1495 | uint32_t blk_sz; |
jonathonfletcher | 0:5f46ebd8588e | 1496 | |
jonathonfletcher | 0:5f46ebd8588e | 1497 | if ((pool_def == NULL) || |
jonathonfletcher | 0:5f46ebd8588e | 1498 | (pool_def->pool_sz == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 1499 | (pool_def->item_sz == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 1500 | (pool_def->pool == NULL)) { |
jonathonfletcher | 0:5f46ebd8588e | 1501 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1502 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1503 | } |
jonathonfletcher | 0:5f46ebd8588e | 1504 | |
jonathonfletcher | 0:5f46ebd8588e | 1505 | blk_sz = (pool_def->item_sz + 3) & ~3; |
jonathonfletcher | 0:5f46ebd8588e | 1506 | |
jonathonfletcher | 0:5f46ebd8588e | 1507 | _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz); |
jonathonfletcher | 0:5f46ebd8588e | 1508 | |
jonathonfletcher | 0:5f46ebd8588e | 1509 | return pool_def->pool; |
jonathonfletcher | 0:5f46ebd8588e | 1510 | } |
jonathonfletcher | 0:5f46ebd8588e | 1511 | |
jonathonfletcher | 0:5f46ebd8588e | 1512 | /// Allocate a memory block from a memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1513 | void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) { |
jonathonfletcher | 0:5f46ebd8588e | 1514 | void *ptr; |
jonathonfletcher | 0:5f46ebd8588e | 1515 | |
jonathonfletcher | 0:5f46ebd8588e | 1516 | if (pool_id == NULL) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1517 | |
jonathonfletcher | 0:5f46ebd8588e | 1518 | ptr = rt_alloc_box(pool_id); |
jonathonfletcher | 0:5f46ebd8588e | 1519 | if (clr) { |
jonathonfletcher | 0:5f46ebd8588e | 1520 | rt_clr_box(pool_id, ptr); |
jonathonfletcher | 0:5f46ebd8588e | 1521 | } |
jonathonfletcher | 0:5f46ebd8588e | 1522 | |
jonathonfletcher | 0:5f46ebd8588e | 1523 | return ptr; |
jonathonfletcher | 0:5f46ebd8588e | 1524 | } |
jonathonfletcher | 0:5f46ebd8588e | 1525 | |
jonathonfletcher | 0:5f46ebd8588e | 1526 | /// Return an allocated memory block back to a specific memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1527 | osStatus sysPoolFree (osPoolId pool_id, void *block) { |
jonathonfletcher | 0:5f46ebd8588e | 1528 | int32_t res; |
jonathonfletcher | 0:5f46ebd8588e | 1529 | |
jonathonfletcher | 0:5f46ebd8588e | 1530 | if (pool_id == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1531 | |
jonathonfletcher | 0:5f46ebd8588e | 1532 | res = rt_free_box(pool_id, block); |
jonathonfletcher | 0:5f46ebd8588e | 1533 | if (res != 0) return osErrorValue; |
jonathonfletcher | 0:5f46ebd8588e | 1534 | |
jonathonfletcher | 0:5f46ebd8588e | 1535 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1536 | } |
jonathonfletcher | 0:5f46ebd8588e | 1537 | |
jonathonfletcher | 0:5f46ebd8588e | 1538 | |
jonathonfletcher | 0:5f46ebd8588e | 1539 | // Memory Management Public API |
jonathonfletcher | 0:5f46ebd8588e | 1540 | |
jonathonfletcher | 0:5f46ebd8588e | 1541 | /// Create and Initialize memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1542 | osPoolId osPoolCreate (osPoolDef_t *pool_def) { |
jonathonfletcher | 0:5f46ebd8588e | 1543 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1544 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1545 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1546 | return svcPoolCreate(pool_def); |
jonathonfletcher | 0:5f46ebd8588e | 1547 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1548 | return __svcPoolCreate(pool_def); |
jonathonfletcher | 0:5f46ebd8588e | 1549 | } |
jonathonfletcher | 0:5f46ebd8588e | 1550 | } |
jonathonfletcher | 0:5f46ebd8588e | 1551 | |
jonathonfletcher | 0:5f46ebd8588e | 1552 | /// Allocate a memory block from a memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1553 | void *osPoolAlloc (osPoolId pool_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1554 | if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged |
jonathonfletcher | 0:5f46ebd8588e | 1555 | return sysPoolAlloc(pool_id, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1556 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1557 | return __sysPoolAlloc(pool_id, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1558 | } |
jonathonfletcher | 0:5f46ebd8588e | 1559 | } |
jonathonfletcher | 0:5f46ebd8588e | 1560 | |
jonathonfletcher | 0:5f46ebd8588e | 1561 | /// Allocate a memory block from a memory pool and set memory block to zero |
jonathonfletcher | 0:5f46ebd8588e | 1562 | void *osPoolCAlloc (osPoolId pool_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1563 | if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged |
jonathonfletcher | 0:5f46ebd8588e | 1564 | return sysPoolAlloc(pool_id, 1); |
jonathonfletcher | 0:5f46ebd8588e | 1565 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1566 | return __sysPoolAlloc(pool_id, 1); |
jonathonfletcher | 0:5f46ebd8588e | 1567 | } |
jonathonfletcher | 0:5f46ebd8588e | 1568 | } |
jonathonfletcher | 0:5f46ebd8588e | 1569 | |
jonathonfletcher | 0:5f46ebd8588e | 1570 | /// Return an allocated memory block back to a specific memory pool |
jonathonfletcher | 0:5f46ebd8588e | 1571 | osStatus osPoolFree (osPoolId pool_id, void *block) { |
jonathonfletcher | 0:5f46ebd8588e | 1572 | if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged |
jonathonfletcher | 0:5f46ebd8588e | 1573 | return sysPoolFree(pool_id, block); |
jonathonfletcher | 0:5f46ebd8588e | 1574 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1575 | return __sysPoolFree(pool_id, block); |
jonathonfletcher | 0:5f46ebd8588e | 1576 | } |
jonathonfletcher | 0:5f46ebd8588e | 1577 | } |
jonathonfletcher | 0:5f46ebd8588e | 1578 | |
jonathonfletcher | 0:5f46ebd8588e | 1579 | |
jonathonfletcher | 0:5f46ebd8588e | 1580 | // ==== Message Queue Management Functions ==== |
jonathonfletcher | 0:5f46ebd8588e | 1581 | |
jonathonfletcher | 0:5f46ebd8588e | 1582 | // Message Queue Management Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1583 | SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1584 | SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1585 | SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent) |
jonathonfletcher | 0:5f46ebd8588e | 1586 | |
jonathonfletcher | 0:5f46ebd8588e | 1587 | // Message Queue Service Calls |
jonathonfletcher | 0:5f46ebd8588e | 1588 | |
jonathonfletcher | 0:5f46ebd8588e | 1589 | /// Create and Initialize Message Queue |
jonathonfletcher | 0:5f46ebd8588e | 1590 | osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1591 | |
jonathonfletcher | 0:5f46ebd8588e | 1592 | if ((queue_def == NULL) || |
jonathonfletcher | 0:5f46ebd8588e | 1593 | (queue_def->queue_sz == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 1594 | (queue_def->pool == NULL)) { |
jonathonfletcher | 0:5f46ebd8588e | 1595 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1596 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1597 | } |
jonathonfletcher | 0:5f46ebd8588e | 1598 | |
jonathonfletcher | 0:5f46ebd8588e | 1599 | if (((P_MCB)queue_def->pool)->cb_type != 0) { |
jonathonfletcher | 0:5f46ebd8588e | 1600 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1601 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1602 | } |
jonathonfletcher | 0:5f46ebd8588e | 1603 | |
jonathonfletcher | 0:5f46ebd8588e | 1604 | rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4)); |
jonathonfletcher | 0:5f46ebd8588e | 1605 | |
jonathonfletcher | 0:5f46ebd8588e | 1606 | return queue_def->pool; |
jonathonfletcher | 0:5f46ebd8588e | 1607 | } |
jonathonfletcher | 0:5f46ebd8588e | 1608 | |
jonathonfletcher | 0:5f46ebd8588e | 1609 | /// Put a Message to a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1610 | osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1611 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1612 | |
jonathonfletcher | 0:5f46ebd8588e | 1613 | if (queue_id == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1614 | |
jonathonfletcher | 0:5f46ebd8588e | 1615 | if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1616 | |
jonathonfletcher | 0:5f46ebd8588e | 1617 | res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec)); |
jonathonfletcher | 0:5f46ebd8588e | 1618 | |
jonathonfletcher | 0:5f46ebd8588e | 1619 | if (res == OS_R_TMO) { |
jonathonfletcher | 0:5f46ebd8588e | 1620 | return (millisec ? osErrorTimeoutResource : osErrorResource); |
jonathonfletcher | 0:5f46ebd8588e | 1621 | } |
jonathonfletcher | 0:5f46ebd8588e | 1622 | |
jonathonfletcher | 0:5f46ebd8588e | 1623 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1624 | } |
jonathonfletcher | 0:5f46ebd8588e | 1625 | |
jonathonfletcher | 0:5f46ebd8588e | 1626 | /// Get a Message or Wait for a Message from a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1627 | os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1628 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1629 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 1630 | |
jonathonfletcher | 0:5f46ebd8588e | 1631 | if (queue_id == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1632 | ret.status = osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1633 | return osEvent_ret_status; |
jonathonfletcher | 0:5f46ebd8588e | 1634 | } |
jonathonfletcher | 0:5f46ebd8588e | 1635 | |
jonathonfletcher | 0:5f46ebd8588e | 1636 | if (((P_MCB)queue_id)->cb_type != MCB) { |
jonathonfletcher | 0:5f46ebd8588e | 1637 | ret.status = osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1638 | return osEvent_ret_status; |
jonathonfletcher | 0:5f46ebd8588e | 1639 | } |
jonathonfletcher | 0:5f46ebd8588e | 1640 | |
jonathonfletcher | 0:5f46ebd8588e | 1641 | res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec)); |
jonathonfletcher | 0:5f46ebd8588e | 1642 | |
jonathonfletcher | 0:5f46ebd8588e | 1643 | if (res == OS_R_TMO) { |
jonathonfletcher | 0:5f46ebd8588e | 1644 | ret.status = millisec ? osEventTimeout : osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1645 | return osEvent_ret_value; |
jonathonfletcher | 0:5f46ebd8588e | 1646 | } |
jonathonfletcher | 0:5f46ebd8588e | 1647 | |
jonathonfletcher | 0:5f46ebd8588e | 1648 | ret.status = osEventMessage; |
jonathonfletcher | 0:5f46ebd8588e | 1649 | |
jonathonfletcher | 0:5f46ebd8588e | 1650 | return osEvent_ret_value; |
jonathonfletcher | 0:5f46ebd8588e | 1651 | } |
jonathonfletcher | 0:5f46ebd8588e | 1652 | |
jonathonfletcher | 0:5f46ebd8588e | 1653 | |
jonathonfletcher | 0:5f46ebd8588e | 1654 | // Message Queue ISR Calls |
jonathonfletcher | 0:5f46ebd8588e | 1655 | |
jonathonfletcher | 0:5f46ebd8588e | 1656 | /// Put a Message to a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1657 | static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1658 | |
jonathonfletcher | 0:5f46ebd8588e | 1659 | if ((queue_id == NULL) || (millisec != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1660 | return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1661 | } |
jonathonfletcher | 0:5f46ebd8588e | 1662 | |
jonathonfletcher | 0:5f46ebd8588e | 1663 | if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1664 | |
jonathonfletcher | 0:5f46ebd8588e | 1665 | if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full |
jonathonfletcher | 0:5f46ebd8588e | 1666 | return osErrorResource; |
jonathonfletcher | 0:5f46ebd8588e | 1667 | } |
jonathonfletcher | 0:5f46ebd8588e | 1668 | |
jonathonfletcher | 0:5f46ebd8588e | 1669 | isr_mbx_send(queue_id, (void *)info); |
jonathonfletcher | 0:5f46ebd8588e | 1670 | |
jonathonfletcher | 0:5f46ebd8588e | 1671 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1672 | } |
jonathonfletcher | 0:5f46ebd8588e | 1673 | |
jonathonfletcher | 0:5f46ebd8588e | 1674 | /// Get a Message or Wait for a Message from a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1675 | static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1676 | OS_RESULT res; |
jonathonfletcher | 0:5f46ebd8588e | 1677 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 1678 | |
jonathonfletcher | 0:5f46ebd8588e | 1679 | if ((queue_id == NULL) || (millisec != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1680 | ret.status = osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1681 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1682 | } |
jonathonfletcher | 0:5f46ebd8588e | 1683 | |
jonathonfletcher | 0:5f46ebd8588e | 1684 | if (((P_MCB)queue_id)->cb_type != MCB) { |
jonathonfletcher | 0:5f46ebd8588e | 1685 | ret.status = osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1686 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1687 | } |
jonathonfletcher | 0:5f46ebd8588e | 1688 | |
jonathonfletcher | 0:5f46ebd8588e | 1689 | res = isr_mbx_receive(queue_id, &ret.value.p); |
jonathonfletcher | 0:5f46ebd8588e | 1690 | |
jonathonfletcher | 0:5f46ebd8588e | 1691 | if (res != OS_R_MBX) { |
jonathonfletcher | 0:5f46ebd8588e | 1692 | ret.status = osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1693 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1694 | } |
jonathonfletcher | 0:5f46ebd8588e | 1695 | |
jonathonfletcher | 0:5f46ebd8588e | 1696 | ret.status = osEventMessage; |
jonathonfletcher | 0:5f46ebd8588e | 1697 | |
jonathonfletcher | 0:5f46ebd8588e | 1698 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1699 | } |
jonathonfletcher | 0:5f46ebd8588e | 1700 | |
jonathonfletcher | 0:5f46ebd8588e | 1701 | |
jonathonfletcher | 0:5f46ebd8588e | 1702 | // Message Queue Management Public API |
jonathonfletcher | 0:5f46ebd8588e | 1703 | |
jonathonfletcher | 0:5f46ebd8588e | 1704 | /// Create and Initialize Message Queue |
jonathonfletcher | 0:5f46ebd8588e | 1705 | osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1706 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1707 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1708 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1709 | return svcMessageCreate(queue_def, thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 1710 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1711 | return __svcMessageCreate(queue_def, thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 1712 | } |
jonathonfletcher | 0:5f46ebd8588e | 1713 | } |
jonathonfletcher | 0:5f46ebd8588e | 1714 | |
jonathonfletcher | 0:5f46ebd8588e | 1715 | /// Put a Message to a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1716 | osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1717 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1718 | return isrMessagePut(queue_id, info, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1719 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1720 | return __svcMessagePut(queue_id, info, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1721 | } |
jonathonfletcher | 0:5f46ebd8588e | 1722 | } |
jonathonfletcher | 0:5f46ebd8588e | 1723 | |
jonathonfletcher | 0:5f46ebd8588e | 1724 | /// Get a Message or Wait for a Message from a Queue |
jonathonfletcher | 0:5f46ebd8588e | 1725 | os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1726 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1727 | return isrMessageGet(queue_id, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1728 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1729 | return __svcMessageGet(queue_id, millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1730 | } |
jonathonfletcher | 0:5f46ebd8588e | 1731 | } |
jonathonfletcher | 0:5f46ebd8588e | 1732 | |
jonathonfletcher | 0:5f46ebd8588e | 1733 | |
jonathonfletcher | 0:5f46ebd8588e | 1734 | // ==== Mail Queue Management Functions ==== |
jonathonfletcher | 0:5f46ebd8588e | 1735 | |
jonathonfletcher | 0:5f46ebd8588e | 1736 | // Mail Queue Management Service Calls declarations |
jonathonfletcher | 0:5f46ebd8588e | 1737 | SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1738 | SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer) |
jonathonfletcher | 0:5f46ebd8588e | 1739 | SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus) |
jonathonfletcher | 0:5f46ebd8588e | 1740 | |
jonathonfletcher | 0:5f46ebd8588e | 1741 | // Mail Queue Management Service & ISR Calls |
jonathonfletcher | 0:5f46ebd8588e | 1742 | |
jonathonfletcher | 0:5f46ebd8588e | 1743 | /// Create and Initialize mail queue |
jonathonfletcher | 0:5f46ebd8588e | 1744 | osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1745 | uint32_t blk_sz; |
jonathonfletcher | 0:5f46ebd8588e | 1746 | P_MCB pmcb; |
jonathonfletcher | 0:5f46ebd8588e | 1747 | void *pool; |
jonathonfletcher | 0:5f46ebd8588e | 1748 | |
jonathonfletcher | 0:5f46ebd8588e | 1749 | if ((queue_def == NULL) || |
jonathonfletcher | 0:5f46ebd8588e | 1750 | (queue_def->queue_sz == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 1751 | (queue_def->item_sz == 0) || |
jonathonfletcher | 0:5f46ebd8588e | 1752 | (queue_def->pool == NULL)) { |
jonathonfletcher | 0:5f46ebd8588e | 1753 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1754 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1755 | } |
jonathonfletcher | 0:5f46ebd8588e | 1756 | |
jonathonfletcher | 0:5f46ebd8588e | 1757 | pmcb = *(((void **)queue_def->pool) + 0); |
jonathonfletcher | 0:5f46ebd8588e | 1758 | pool = *(((void **)queue_def->pool) + 1); |
jonathonfletcher | 0:5f46ebd8588e | 1759 | |
jonathonfletcher | 0:5f46ebd8588e | 1760 | if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1761 | sysThreadError(osErrorParameter); |
jonathonfletcher | 0:5f46ebd8588e | 1762 | return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1763 | } |
jonathonfletcher | 0:5f46ebd8588e | 1764 | |
jonathonfletcher | 0:5f46ebd8588e | 1765 | blk_sz = (queue_def->item_sz + 3) & ~3; |
jonathonfletcher | 0:5f46ebd8588e | 1766 | |
jonathonfletcher | 0:5f46ebd8588e | 1767 | _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz); |
jonathonfletcher | 0:5f46ebd8588e | 1768 | |
jonathonfletcher | 0:5f46ebd8588e | 1769 | rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4)); |
jonathonfletcher | 0:5f46ebd8588e | 1770 | |
jonathonfletcher | 0:5f46ebd8588e | 1771 | |
jonathonfletcher | 0:5f46ebd8588e | 1772 | return queue_def->pool; |
jonathonfletcher | 0:5f46ebd8588e | 1773 | } |
jonathonfletcher | 0:5f46ebd8588e | 1774 | |
jonathonfletcher | 0:5f46ebd8588e | 1775 | /// Allocate a memory block from a mail |
jonathonfletcher | 0:5f46ebd8588e | 1776 | void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) { |
jonathonfletcher | 0:5f46ebd8588e | 1777 | P_MCB pmcb; |
jonathonfletcher | 0:5f46ebd8588e | 1778 | void *pool; |
jonathonfletcher | 0:5f46ebd8588e | 1779 | void *mem; |
jonathonfletcher | 0:5f46ebd8588e | 1780 | |
jonathonfletcher | 0:5f46ebd8588e | 1781 | if (queue_id == NULL) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1782 | |
jonathonfletcher | 0:5f46ebd8588e | 1783 | pmcb = *(((void **)queue_id) + 0); |
jonathonfletcher | 0:5f46ebd8588e | 1784 | pool = *(((void **)queue_id) + 1); |
jonathonfletcher | 0:5f46ebd8588e | 1785 | |
jonathonfletcher | 0:5f46ebd8588e | 1786 | if ((pool == NULL) || (pmcb == NULL)) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1787 | |
jonathonfletcher | 0:5f46ebd8588e | 1788 | if (isr && (millisec != 0)) return NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1789 | |
jonathonfletcher | 0:5f46ebd8588e | 1790 | mem = rt_alloc_box(pool); |
jonathonfletcher | 0:5f46ebd8588e | 1791 | if (clr) { |
jonathonfletcher | 0:5f46ebd8588e | 1792 | rt_clr_box(pool, mem); |
jonathonfletcher | 0:5f46ebd8588e | 1793 | } |
jonathonfletcher | 0:5f46ebd8588e | 1794 | |
jonathonfletcher | 0:5f46ebd8588e | 1795 | if ((mem == NULL) && (millisec != 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1796 | // Put Task to sleep when Memory not available |
jonathonfletcher | 0:5f46ebd8588e | 1797 | if (pmcb->p_lnk != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1798 | rt_put_prio((P_XCB)pmcb, os_tsk.tsk_run); |
jonathonfletcher | 0:5f46ebd8588e | 1799 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1800 | pmcb->p_lnk = os_tsk.tsk_run; |
jonathonfletcher | 0:5f46ebd8588e | 1801 | os_tsk.tsk_run->p_lnk = NULL; |
jonathonfletcher | 0:5f46ebd8588e | 1802 | os_tsk.tsk_run->p_rlnk = (P_TCB)pmcb; |
jonathonfletcher | 0:5f46ebd8588e | 1803 | // Task is waiting to allocate a message |
jonathonfletcher | 0:5f46ebd8588e | 1804 | pmcb->state = 3; |
jonathonfletcher | 0:5f46ebd8588e | 1805 | } |
jonathonfletcher | 0:5f46ebd8588e | 1806 | rt_block(rt_ms2tick(millisec), WAIT_MBX); |
jonathonfletcher | 0:5f46ebd8588e | 1807 | } |
jonathonfletcher | 0:5f46ebd8588e | 1808 | |
jonathonfletcher | 0:5f46ebd8588e | 1809 | return mem; |
jonathonfletcher | 0:5f46ebd8588e | 1810 | } |
jonathonfletcher | 0:5f46ebd8588e | 1811 | |
jonathonfletcher | 0:5f46ebd8588e | 1812 | /// Free a memory block from a mail |
jonathonfletcher | 0:5f46ebd8588e | 1813 | osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) { |
jonathonfletcher | 0:5f46ebd8588e | 1814 | P_MCB pmcb; |
jonathonfletcher | 0:5f46ebd8588e | 1815 | P_TCB ptcb; |
jonathonfletcher | 0:5f46ebd8588e | 1816 | void *pool; |
jonathonfletcher | 0:5f46ebd8588e | 1817 | void *mem; |
jonathonfletcher | 0:5f46ebd8588e | 1818 | int32_t res; |
jonathonfletcher | 0:5f46ebd8588e | 1819 | |
jonathonfletcher | 0:5f46ebd8588e | 1820 | if (queue_id == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1821 | |
jonathonfletcher | 0:5f46ebd8588e | 1822 | pmcb = *(((void **)queue_id) + 0); |
jonathonfletcher | 0:5f46ebd8588e | 1823 | pool = *(((void **)queue_id) + 1); |
jonathonfletcher | 0:5f46ebd8588e | 1824 | |
jonathonfletcher | 0:5f46ebd8588e | 1825 | if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1826 | |
jonathonfletcher | 0:5f46ebd8588e | 1827 | res = rt_free_box(pool, mail); |
jonathonfletcher | 0:5f46ebd8588e | 1828 | |
jonathonfletcher | 0:5f46ebd8588e | 1829 | if (res != 0) return osErrorValue; |
jonathonfletcher | 0:5f46ebd8588e | 1830 | |
jonathonfletcher | 0:5f46ebd8588e | 1831 | if (pmcb->state == 3) { |
jonathonfletcher | 0:5f46ebd8588e | 1832 | // Task is waiting to allocate a message |
jonathonfletcher | 0:5f46ebd8588e | 1833 | if (isr) { |
jonathonfletcher | 0:5f46ebd8588e | 1834 | rt_psq_enq (pmcb, (U32)pool); |
jonathonfletcher | 0:5f46ebd8588e | 1835 | rt_psh_req (); |
jonathonfletcher | 0:5f46ebd8588e | 1836 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1837 | mem = rt_alloc_box(pool); |
jonathonfletcher | 0:5f46ebd8588e | 1838 | if (mem != NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1839 | ptcb = rt_get_first((P_XCB)pmcb); |
jonathonfletcher | 0:5f46ebd8588e | 1840 | if (pmcb->p_lnk == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1841 | pmcb->state = 0; |
jonathonfletcher | 0:5f46ebd8588e | 1842 | } |
jonathonfletcher | 0:5f46ebd8588e | 1843 | rt_ret_val(ptcb, (U32)mem); |
jonathonfletcher | 0:5f46ebd8588e | 1844 | rt_rmv_dly(ptcb); |
jonathonfletcher | 0:5f46ebd8588e | 1845 | rt_dispatch(ptcb); |
jonathonfletcher | 0:5f46ebd8588e | 1846 | } |
jonathonfletcher | 0:5f46ebd8588e | 1847 | } |
jonathonfletcher | 0:5f46ebd8588e | 1848 | } |
jonathonfletcher | 0:5f46ebd8588e | 1849 | |
jonathonfletcher | 0:5f46ebd8588e | 1850 | return osOK; |
jonathonfletcher | 0:5f46ebd8588e | 1851 | } |
jonathonfletcher | 0:5f46ebd8588e | 1852 | |
jonathonfletcher | 0:5f46ebd8588e | 1853 | |
jonathonfletcher | 0:5f46ebd8588e | 1854 | // Mail Queue Management Public API |
jonathonfletcher | 0:5f46ebd8588e | 1855 | |
jonathonfletcher | 0:5f46ebd8588e | 1856 | /// Create and Initialize mail queue |
jonathonfletcher | 0:5f46ebd8588e | 1857 | osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) { |
jonathonfletcher | 0:5f46ebd8588e | 1858 | if (__get_IPSR() != 0) return NULL; // Not allowed in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1859 | if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) { |
jonathonfletcher | 0:5f46ebd8588e | 1860 | // Privileged and not running |
jonathonfletcher | 0:5f46ebd8588e | 1861 | return svcMailCreate(queue_def, thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 1862 | } else { |
jonathonfletcher | 0:5f46ebd8588e | 1863 | return __svcMailCreate(queue_def, thread_id); |
jonathonfletcher | 0:5f46ebd8588e | 1864 | } |
jonathonfletcher | 0:5f46ebd8588e | 1865 | } |
jonathonfletcher | 0:5f46ebd8588e | 1866 | |
jonathonfletcher | 0:5f46ebd8588e | 1867 | /// Allocate a memory block from a mail |
jonathonfletcher | 0:5f46ebd8588e | 1868 | void *osMailAlloc (osMailQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1869 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1870 | return sysMailAlloc(queue_id, millisec, 1, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1871 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1872 | return __sysMailAlloc(queue_id, millisec, 0, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1873 | } |
jonathonfletcher | 0:5f46ebd8588e | 1874 | } |
jonathonfletcher | 0:5f46ebd8588e | 1875 | |
jonathonfletcher | 0:5f46ebd8588e | 1876 | /// Allocate a memory block from a mail and set memory block to zero |
jonathonfletcher | 0:5f46ebd8588e | 1877 | void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1878 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1879 | return sysMailAlloc(queue_id, millisec, 1, 1); |
jonathonfletcher | 0:5f46ebd8588e | 1880 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1881 | return __sysMailAlloc(queue_id, millisec, 0, 1); |
jonathonfletcher | 0:5f46ebd8588e | 1882 | } |
jonathonfletcher | 0:5f46ebd8588e | 1883 | } |
jonathonfletcher | 0:5f46ebd8588e | 1884 | |
jonathonfletcher | 0:5f46ebd8588e | 1885 | /// Free a memory block from a mail |
jonathonfletcher | 0:5f46ebd8588e | 1886 | osStatus osMailFree (osMailQId queue_id, void *mail) { |
jonathonfletcher | 0:5f46ebd8588e | 1887 | if (__get_IPSR() != 0) { // in ISR |
jonathonfletcher | 0:5f46ebd8588e | 1888 | return sysMailFree(queue_id, mail, 1); |
jonathonfletcher | 0:5f46ebd8588e | 1889 | } else { // in Thread |
jonathonfletcher | 0:5f46ebd8588e | 1890 | return __sysMailFree(queue_id, mail, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1891 | } |
jonathonfletcher | 0:5f46ebd8588e | 1892 | } |
jonathonfletcher | 0:5f46ebd8588e | 1893 | |
jonathonfletcher | 0:5f46ebd8588e | 1894 | /// Put a mail to a queue |
jonathonfletcher | 0:5f46ebd8588e | 1895 | osStatus osMailPut (osMailQId queue_id, void *mail) { |
jonathonfletcher | 0:5f46ebd8588e | 1896 | if (queue_id == NULL) return osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1897 | return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0); |
jonathonfletcher | 0:5f46ebd8588e | 1898 | } |
jonathonfletcher | 0:5f46ebd8588e | 1899 | |
jonathonfletcher | 0:5f46ebd8588e | 1900 | /// Get a mail from a queue |
jonathonfletcher | 0:5f46ebd8588e | 1901 | os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) { |
jonathonfletcher | 0:5f46ebd8588e | 1902 | osEvent ret; |
jonathonfletcher | 0:5f46ebd8588e | 1903 | |
jonathonfletcher | 0:5f46ebd8588e | 1904 | if (queue_id == NULL) { |
jonathonfletcher | 0:5f46ebd8588e | 1905 | ret.status = osErrorParameter; |
jonathonfletcher | 0:5f46ebd8588e | 1906 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1907 | } |
jonathonfletcher | 0:5f46ebd8588e | 1908 | |
jonathonfletcher | 0:5f46ebd8588e | 1909 | ret = osMessageGet(*((void **)queue_id), millisec); |
jonathonfletcher | 0:5f46ebd8588e | 1910 | if (ret.status == osEventMessage) ret.status = osEventMail; |
jonathonfletcher | 0:5f46ebd8588e | 1911 | |
jonathonfletcher | 0:5f46ebd8588e | 1912 | return ret; |
jonathonfletcher | 0:5f46ebd8588e | 1913 | } |