mbed-rtos - Official mbed Real Time Operating System based on…

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Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents: denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtx/TARGET_CORTEX_M/rt_CMSIS.c@121:3da5f554d8bf, 2016-09-01 (annotated)

Committer:: <>
Date:: Thu Sep 01 15:13:42 2016 +0100
Revision:: 121:3da5f554d8bf
Parent:: 118:6635230e06ba
Child:: 123:58563e6cba1e

RTOS rev121



Compatible with the mbed library v125



Changes:

- K64F: Revert to hardcoded stack pointer in RTX.

- Adding NCS36510 support.

- Add MAX32620 target support.

- Fix implicit declaration of function 'atexit'.

Who changed what in which revision?

User	Revision	Line number	New contents of line
mbed_official	49:77c8e4604045	1	/*----------------------------------------------------------------------------
mbed_official	112:53ace74b190c	2	* CMSIS-RTOS - RTX
mbed_official	49:77c8e4604045	3	*----------------------------------------------------------------------------
mbed_official	49:77c8e4604045	4	* Name: rt_CMSIS.c
mbed_official	49:77c8e4604045	5	* Purpose: CMSIS RTOS API
mbed_official	112:53ace74b190c	6	* Rev.: V4.80
mbed_official	49:77c8e4604045	7	*----------------------------------------------------------------------------
mbed_official	49:77c8e4604045	8	*
mbed_official	112:53ace74b190c	9	* Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
mbed_official	49:77c8e4604045	10	* All rights reserved.
mbed_official	49:77c8e4604045	11	* Redistribution and use in source and binary forms, with or without
mbed_official	49:77c8e4604045	12	* modification, are permitted provided that the following conditions are met:
mbed_official	49:77c8e4604045	13	* - Redistributions of source code must retain the above copyright
mbed_official	49:77c8e4604045	14	* notice, this list of conditions and the following disclaimer.
mbed_official	49:77c8e4604045	15	* - Redistributions in binary form must reproduce the above copyright
mbed_official	49:77c8e4604045	16	* notice, this list of conditions and the following disclaimer in the
mbed_official	49:77c8e4604045	17	* documentation and/or other materials provided with the distribution.
mbed_official	49:77c8e4604045	18	* - Neither the name of ARM nor the names of its contributors may be used
mbed_official	49:77c8e4604045	19	* to endorse or promote products derived from this software without
mbed_official	49:77c8e4604045	20	* specific prior written permission.
mbed_official	49:77c8e4604045	21	*
mbed_official	49:77c8e4604045	22	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official	49:77c8e4604045	23	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official	49:77c8e4604045	24	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official	49:77c8e4604045	25	* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official	49:77c8e4604045	26	* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official	49:77c8e4604045	27	* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official	49:77c8e4604045	28	* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official	49:77c8e4604045	29	* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official	49:77c8e4604045	30	* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official	49:77c8e4604045	31	* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official	49:77c8e4604045	32	* POSSIBILITY OF SUCH DAMAGE.
mbed_official	49:77c8e4604045	33	---------------------------------------------------------------------------/
mbed_official	49:77c8e4604045	34
mbed_official	49:77c8e4604045	35	#define __CMSIS_GENERIC
mbed_official	49:77c8e4604045	36
mbed_official	49:77c8e4604045	37	#if defined (__CORTEX_M4) \|\| defined (__CORTEX_M4F)
mbed_official	49:77c8e4604045	38	#include "core_cm4.h"
mbed_official	101:3d9d2b8b8f17	39	#elif defined (__CORTEX_M7) \|\| defined (__CORTEX_M7F)
mbed_official	101:3d9d2b8b8f17	40	#include "core_cm7.h"
mbed_official	49:77c8e4604045	41	#elif defined (__CORTEX_M3)
mbed_official	49:77c8e4604045	42	#include "core_cm3.h"
mbed_official	49:77c8e4604045	43	#elif defined (__CORTEX_M0)
mbed_official	49:77c8e4604045	44	#include "core_cm0.h"
mbed_official	49:77c8e4604045	45	#elif defined (__CORTEX_M0PLUS)
mbed_official	49:77c8e4604045	46	#include "core_cm0plus.h"
mbed_official	49:77c8e4604045	47	#else
mbed_official	49:77c8e4604045	48	#error "Missing __CORTEX_Mx definition"
mbed_official	49:77c8e4604045	49	#endif
mbed_official	49:77c8e4604045	50
mbed_official	114:031a41d65add	51	// This affects cmsis_os only, as it's not used anywhere else. This was left by kernel team
mbed_official	114:031a41d65add	52	// to suppress the warning in rt_tid2ptcb about incompatible pointer assignment.
mbed_official	114:031a41d65add	53	#define os_thread_cb OS_TCB
mbed_official	114:031a41d65add	54
mbed_official	49:77c8e4604045	55	#include "rt_TypeDef.h"
mbed_official	112:53ace74b190c	56	#include "RTX_Config.h"
mbed_official	49:77c8e4604045	57	#include "rt_System.h"
mbed_official	49:77c8e4604045	58	#include "rt_Task.h"
mbed_official	49:77c8e4604045	59	#include "rt_Event.h"
mbed_official	49:77c8e4604045	60	#include "rt_List.h"
mbed_official	49:77c8e4604045	61	#include "rt_Time.h"
mbed_official	49:77c8e4604045	62	#include "rt_Mutex.h"
mbed_official	49:77c8e4604045	63	#include "rt_Semaphore.h"
mbed_official	49:77c8e4604045	64	#include "rt_Mailbox.h"
mbed_official	49:77c8e4604045	65	#include "rt_MemBox.h"
mbed_official	112:53ace74b190c	66	#include "rt_Memory.h"
mbed_official	49:77c8e4604045	67	#include "rt_HAL_CM.h"
Kojto	118:6635230e06ba	68	#include "rt_OsEventObserver.h"
mbed_official	49:77c8e4604045	69
mbed_official	49:77c8e4604045	70	#include "cmsis_os.h"
mbed_official	49:77c8e4604045	71
mbed_official	49:77c8e4604045	72	#if (osFeature_Signals != 16)
mbed_official	49:77c8e4604045	73	#error Invalid "osFeature_Signals" value!
mbed_official	49:77c8e4604045	74	#endif
mbed_official	49:77c8e4604045	75	#if (osFeature_Semaphore > 65535)
mbed_official	49:77c8e4604045	76	#error Invalid "osFeature_Semaphore" value!
mbed_official	49:77c8e4604045	77	#endif
mbed_official	49:77c8e4604045	78	#if (osFeature_Wait != 0)
mbed_official	49:77c8e4604045	79	#error osWait not supported!
mbed_official	49:77c8e4604045	80	#endif
mbed_official	49:77c8e4604045	81
mbed_official	49:77c8e4604045	82
mbed_official	49:77c8e4604045	83	// ==== Enumeration, structures, defines ====
mbed_official	49:77c8e4604045	84
mbed_official	49:77c8e4604045	85	// Service Calls defines
mbed_official	49:77c8e4604045	86
mbed_official	49:77c8e4604045	87	#if defined (__CC_ARM) /* ARM Compiler */
mbed_official	49:77c8e4604045	88
mbed_official	49:77c8e4604045	89	#define __NO_RETURN __declspec(noreturn)
mbed_official	49:77c8e4604045	90
mbed_official	49:77c8e4604045	91	#define osEvent_type osEvent
mbed_official	49:77c8e4604045	92	#define osEvent_ret_status ret
mbed_official	49:77c8e4604045	93	#define osEvent_ret_value ret
mbed_official	49:77c8e4604045	94	#define osEvent_ret_msg ret
mbed_official	49:77c8e4604045	95	#define osEvent_ret_mail ret
mbed_official	49:77c8e4604045	96
mbed_official	49:77c8e4604045	97	#define osCallback_type osCallback
mbed_official	49:77c8e4604045	98	#define osCallback_ret ret
mbed_official	49:77c8e4604045	99
mbed_official	49:77c8e4604045	100	#define SVC_0_1(f,t,...) \
mbed_official	49:77c8e4604045	101	__svc_indirect(0) t _##f (t(*)()); \
mbed_official	49:77c8e4604045	102	t f (void); \
mbed_official	49:77c8e4604045	103	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	104	static __inline t __##f (void) { \
mbed_official	49:77c8e4604045	105	return _##f(f); \
mbed_official	49:77c8e4604045	106	}
mbed_official	49:77c8e4604045	107
mbed_official	112:53ace74b190c	108	#define SVC_1_0(f,t,t1,...) \
mbed_official	112:53ace74b190c	109	__svc_indirect(0) t _##f (t(*)(t1),t1); \
mbed_official	112:53ace74b190c	110	t f (t1 a1); \
mbed_official	112:53ace74b190c	111	__attribute__((always_inline)) \
mbed_official	112:53ace74b190c	112	static __inline t __##f (t1 a1) { \
mbed_official	112:53ace74b190c	113	_##f(f,a1); \
mbed_official	112:53ace74b190c	114	}
mbed_official	112:53ace74b190c	115
mbed_official	49:77c8e4604045	116	#define SVC_1_1(f,t,t1,...) \
mbed_official	49:77c8e4604045	117	__svc_indirect(0) t _##f (t(*)(t1),t1); \
mbed_official	49:77c8e4604045	118	t f (t1 a1); \
mbed_official	49:77c8e4604045	119	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	120	static __inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	121	return _##f(f,a1); \
mbed_official	49:77c8e4604045	122	}
mbed_official	49:77c8e4604045	123
mbed_official	49:77c8e4604045	124	#define SVC_2_1(f,t,t1,t2,...) \
mbed_official	49:77c8e4604045	125	__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
mbed_official	49:77c8e4604045	126	t f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	127	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	128	static __inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	129	return _##f(f,a1,a2); \
mbed_official	49:77c8e4604045	130	}
mbed_official	49:77c8e4604045	131
mbed_official	49:77c8e4604045	132	#define SVC_3_1(f,t,t1,t2,t3,...) \
mbed_official	49:77c8e4604045	133	__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
mbed_official	49:77c8e4604045	134	t f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	135	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	136	static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	137	return _##f(f,a1,a2,a3); \
mbed_official	49:77c8e4604045	138	}
mbed_official	49:77c8e4604045	139
mbed_official	49:77c8e4604045	140	#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
mbed_official	49:77c8e4604045	141	__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
mbed_official	49:77c8e4604045	142	t f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	143	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	144	static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	145	return _##f(f,a1,a2,a3,a4); \
mbed_official	49:77c8e4604045	146	}
mbed_official	49:77c8e4604045	147
mbed_official	112:53ace74b190c	148	#define SVC_1_2 SVC_1_1
mbed_official	112:53ace74b190c	149	#define SVC_1_3 SVC_1_1
mbed_official	112:53ace74b190c	150	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	151
mbed_official	49:77c8e4604045	152	#elif defined (__GNUC__) /* GNU Compiler */
mbed_official	49:77c8e4604045	153
mbed_official	49:77c8e4604045	154	#define __NO_RETURN __attribute__((noreturn))
mbed_official	49:77c8e4604045	155
mbed_official	49:77c8e4604045	156	typedef uint32_t __attribute__((vector_size(8))) ret64;
mbed_official	49:77c8e4604045	157	typedef uint32_t __attribute__((vector_size(16))) ret128;
mbed_official	49:77c8e4604045	158
mbed_official	49:77c8e4604045	159	#define RET_pointer __r0
mbed_official	49:77c8e4604045	160	#define RET_int32_t __r0
mbed_official	112:53ace74b190c	161	#define RET_uint32_t __r0
mbed_official	49:77c8e4604045	162	#define RET_osStatus __r0
mbed_official	49:77c8e4604045	163	#define RET_osPriority __r0
mbed_official	49:77c8e4604045	164	#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
mbed_official	49:77c8e4604045	165	#define RET_osCallback {(void )__r0, (void )__r1}
mbed_official	49:77c8e4604045	166
mbed_official	112:53ace74b190c	167	#define osEvent_type __attribute__((pcs("aapcs"))) ret128
mbed_official	49:77c8e4604045	168	#define osEvent_ret_status (ret128){ret.status}
mbed_official	49:77c8e4604045	169	#define osEvent_ret_value (ret128){ret.status, ret.value.v}
mbed_official	49:77c8e4604045	170	#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
mbed_official	49:77c8e4604045	171	#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
mbed_official	49:77c8e4604045	172
mbed_official	112:53ace74b190c	173	#define osCallback_type __attribute__((pcs("aapcs"))) ret64
mbed_official	49:77c8e4604045	174	#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
mbed_official	49:77c8e4604045	175
mbed_official	49:77c8e4604045	176	#define SVC_ArgN(n) \
mbed_official	49:77c8e4604045	177	register int __r##n __asm("r"#n);
mbed_official	49:77c8e4604045	178
mbed_official	49:77c8e4604045	179	#define SVC_ArgR(n,t,a) \
mbed_official	49:77c8e4604045	180	register t __r##n __asm("r"#n) = a;
mbed_official	49:77c8e4604045	181
mbed_official	49:77c8e4604045	182	#define SVC_Arg0() \
mbed_official	49:77c8e4604045	183	SVC_ArgN(0) \
mbed_official	49:77c8e4604045	184	SVC_ArgN(1) \
mbed_official	49:77c8e4604045	185	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	186	SVC_ArgN(3)
mbed_official	49:77c8e4604045	187
mbed_official	49:77c8e4604045	188	#define SVC_Arg1(t1) \
mbed_official	49:77c8e4604045	189	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	190	SVC_ArgN(1) \
mbed_official	49:77c8e4604045	191	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	192	SVC_ArgN(3)
mbed_official	49:77c8e4604045	193
mbed_official	49:77c8e4604045	194	#define SVC_Arg2(t1,t2) \
mbed_official	49:77c8e4604045	195	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	196	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	197	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	198	SVC_ArgN(3)
mbed_official	49:77c8e4604045	199
mbed_official	49:77c8e4604045	200	#define SVC_Arg3(t1,t2,t3) \
mbed_official	49:77c8e4604045	201	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	202	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	203	SVC_ArgR(2,t3,a3) \
mbed_official	49:77c8e4604045	204	SVC_ArgN(3)
mbed_official	49:77c8e4604045	205
mbed_official	49:77c8e4604045	206	#define SVC_Arg4(t1,t2,t3,t4) \
mbed_official	49:77c8e4604045	207	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	208	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	209	SVC_ArgR(2,t3,a3) \
mbed_official	49:77c8e4604045	210	SVC_ArgR(3,t4,a4)
mbed_official	49:77c8e4604045	211
mbed_official	49:77c8e4604045	212	#if (defined (__CORTEX_M0)) \|\| defined (__CORTEX_M0PLUS)
mbed_official	49:77c8e4604045	213	#define SVC_Call(f) \
mbed_official	112:53ace74b190c	214	__asm volatile \
mbed_official	49:77c8e4604045	215	( \
mbed_official	49:77c8e4604045	216	"ldr r7,="#f"\n\t" \
mbed_official	49:77c8e4604045	217	"mov r12,r7\n\t" \
mbed_official	49:77c8e4604045	218	"svc 0" \
mbed_official	49:77c8e4604045	219	: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
mbed_official	49:77c8e4604045	220	: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
mbed_official	49:77c8e4604045	221	: "r7", "r12", "lr", "cc" \
mbed_official	49:77c8e4604045	222	);
mbed_official	49:77c8e4604045	223	#else
mbed_official	49:77c8e4604045	224	#define SVC_Call(f) \
mbed_official	112:53ace74b190c	225	__asm volatile \
mbed_official	49:77c8e4604045	226	( \
mbed_official	49:77c8e4604045	227	"ldr r12,="#f"\n\t" \
mbed_official	49:77c8e4604045	228	"svc 0" \
mbed_official	49:77c8e4604045	229	: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
mbed_official	49:77c8e4604045	230	: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
mbed_official	49:77c8e4604045	231	: "r12", "lr", "cc" \
mbed_official	49:77c8e4604045	232	);
mbed_official	49:77c8e4604045	233	#endif
mbed_official	49:77c8e4604045	234
mbed_official	49:77c8e4604045	235	#define SVC_0_1(f,t,rv) \
mbed_official	49:77c8e4604045	236	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	237	static inline t __##f (void) { \
mbed_official	49:77c8e4604045	238	SVC_Arg0(); \
mbed_official	49:77c8e4604045	239	SVC_Call(f); \
mbed_official	49:77c8e4604045	240	return (t) rv; \
mbed_official	49:77c8e4604045	241	}
mbed_official	49:77c8e4604045	242
mbed_official	112:53ace74b190c	243	#define SVC_1_0(f,t,t1) \
mbed_official	112:53ace74b190c	244	__attribute__((always_inline)) \
mbed_official	112:53ace74b190c	245	static inline t __##f (t1 a1) { \
mbed_official	112:53ace74b190c	246	SVC_Arg1(t1); \
mbed_official	112:53ace74b190c	247	SVC_Call(f); \
mbed_official	112:53ace74b190c	248	}
mbed_official	112:53ace74b190c	249
mbed_official	49:77c8e4604045	250	#define SVC_1_1(f,t,t1,rv) \
mbed_official	49:77c8e4604045	251	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	252	static inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	253	SVC_Arg1(t1); \
mbed_official	49:77c8e4604045	254	SVC_Call(f); \
mbed_official	49:77c8e4604045	255	return (t) rv; \
mbed_official	49:77c8e4604045	256	}
mbed_official	49:77c8e4604045	257
mbed_official	49:77c8e4604045	258	#define SVC_2_1(f,t,t1,t2,rv) \
mbed_official	49:77c8e4604045	259	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	260	static inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	261	SVC_Arg2(t1,t2); \
mbed_official	49:77c8e4604045	262	SVC_Call(f); \
mbed_official	49:77c8e4604045	263	return (t) rv; \
mbed_official	49:77c8e4604045	264	}
mbed_official	49:77c8e4604045	265
mbed_official	49:77c8e4604045	266	#define SVC_3_1(f,t,t1,t2,t3,rv) \
mbed_official	49:77c8e4604045	267	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	268	static inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	269	SVC_Arg3(t1,t2,t3); \
mbed_official	49:77c8e4604045	270	SVC_Call(f); \
mbed_official	49:77c8e4604045	271	return (t) rv; \
mbed_official	49:77c8e4604045	272	}
mbed_official	49:77c8e4604045	273
mbed_official	49:77c8e4604045	274	#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
mbed_official	49:77c8e4604045	275	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	276	static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	277	SVC_Arg4(t1,t2,t3,t4); \
mbed_official	49:77c8e4604045	278	SVC_Call(f); \
mbed_official	49:77c8e4604045	279	return (t) rv; \
mbed_official	49:77c8e4604045	280	}
mbed_official	49:77c8e4604045	281
mbed_official	112:53ace74b190c	282	#define SVC_1_2 SVC_1_1
mbed_official	112:53ace74b190c	283	#define SVC_1_3 SVC_1_1
mbed_official	112:53ace74b190c	284	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	285
mbed_official	49:77c8e4604045	286	#elif defined (__ICCARM__) /* IAR Compiler */
mbed_official	49:77c8e4604045	287
mbed_official	49:77c8e4604045	288	#define __NO_RETURN __noreturn
mbed_official	49:77c8e4604045	289
mbed_official	49:77c8e4604045	290	#define osEvent_type osEvent
mbed_official	49:77c8e4604045	291	#define osEvent_ret_status ret
mbed_official	49:77c8e4604045	292	#define osEvent_ret_value ret
mbed_official	49:77c8e4604045	293	#define osEvent_ret_msg ret
mbed_official	49:77c8e4604045	294	#define osEvent_ret_mail ret
mbed_official	49:77c8e4604045	295
mbed_official	53:c35dab33c427	296	#define osCallback_type osCallback
mbed_official	53:c35dab33c427	297	#define osCallback_ret ret
mbed_official	53:c35dab33c427	298
mbed_official	53:c35dab33c427	299	#define RET_osEvent osEvent
mbed_official	53:c35dab33c427	300	#define RET_osCallback osCallback
mbed_official	49:77c8e4604045	301
mbed_official	49:77c8e4604045	302	#define SVC_Setup(f) \
mbed_official	53:c35dab33c427	303	__asm( \
mbed_official	49:77c8e4604045	304	"mov r12,%0\n" \
Kojto	118:6635230e06ba	305	:: "r"(&f): "r0", "r1", "r2", "r3", "r12" \
mbed_official	49:77c8e4604045	306	);
mbed_official	49:77c8e4604045	307
mbed_official	112:53ace74b190c	308	#define SVC_Ret3() \
mbed_official	112:53ace74b190c	309	__asm( \
mbed_official	112:53ace74b190c	310	"ldr r0,[sp,#0]\n" \
mbed_official	112:53ace74b190c	311	"ldr r1,[sp,#4]\n" \
mbed_official	112:53ace74b190c	312	"ldr r2,[sp,#8]\n" \
mbed_official	112:53ace74b190c	313	);
mbed_official	49:77c8e4604045	314
mbed_official	49:77c8e4604045	315	#define SVC_0_1(f,t,...) \
mbed_official	49:77c8e4604045	316	t f (void); \
mbed_official	49:77c8e4604045	317	_Pragma("swi_number=0") __swi t _##f (void); \
mbed_official	49:77c8e4604045	318	static inline t __##f (void) { \
mbed_official	49:77c8e4604045	319	SVC_Setup(f); \
mbed_official	49:77c8e4604045	320	return _##f(); \
mbed_official	49:77c8e4604045	321	}
mbed_official	49:77c8e4604045	322
mbed_official	112:53ace74b190c	323	#define SVC_1_0(f,t,t1,...) \
mbed_official	112:53ace74b190c	324	t f (t1 a1); \
mbed_official	112:53ace74b190c	325	_Pragma("swi_number=0") __swi t _##f (t1 a1); \
mbed_official	112:53ace74b190c	326	static inline t __##f (t1 a1) { \
mbed_official	112:53ace74b190c	327	SVC_Setup(f); \
mbed_official	112:53ace74b190c	328	_##f(a1); \
mbed_official	112:53ace74b190c	329	}
mbed_official	112:53ace74b190c	330
mbed_official	49:77c8e4604045	331	#define SVC_1_1(f,t,t1,...) \
mbed_official	49:77c8e4604045	332	t f (t1 a1); \
mbed_official	49:77c8e4604045	333	_Pragma("swi_number=0") __swi t _##f (t1 a1); \
mbed_official	49:77c8e4604045	334	static inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	335	SVC_Setup(f); \
mbed_official	49:77c8e4604045	336	return _##f(a1); \
mbed_official	49:77c8e4604045	337	}
mbed_official	49:77c8e4604045	338
mbed_official	49:77c8e4604045	339	#define SVC_2_1(f,t,t1,t2,...) \
mbed_official	49:77c8e4604045	340	t f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	341	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	342	static inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	343	SVC_Setup(f); \
mbed_official	49:77c8e4604045	344	return _##f(a1,a2); \
mbed_official	49:77c8e4604045	345	}
mbed_official	49:77c8e4604045	346
mbed_official	49:77c8e4604045	347	#define SVC_3_1(f,t,t1,t2,t3,...) \
mbed_official	49:77c8e4604045	348	t f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	349	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	350	static inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	351	SVC_Setup(f); \
mbed_official	49:77c8e4604045	352	return _##f(a1,a2,a3); \
mbed_official	49:77c8e4604045	353	}
mbed_official	49:77c8e4604045	354
mbed_official	49:77c8e4604045	355	#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
mbed_official	49:77c8e4604045	356	t f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	357	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	358	static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	359	SVC_Setup(f); \
mbed_official	49:77c8e4604045	360	return _##f(a1,a2,a3,a4); \
mbed_official	49:77c8e4604045	361	}
mbed_official	49:77c8e4604045	362
mbed_official	53:c35dab33c427	363	#define SVC_1_2 SVC_1_1
mbed_official	53:c35dab33c427	364	#define SVC_1_3 SVC_1_1
mbed_official	53:c35dab33c427	365	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	366
mbed_official	49:77c8e4604045	367	#endif
mbed_official	49:77c8e4604045	368
mbed_official	49:77c8e4604045	369
mbed_official	49:77c8e4604045	370	// Callback structure
mbed_official	49:77c8e4604045	371	typedef struct {
mbed_official	49:77c8e4604045	372	void *fp; // Function pointer
mbed_official	49:77c8e4604045	373	void *arg; // Function argument
mbed_official	49:77c8e4604045	374	} osCallback;
mbed_official	49:77c8e4604045	375
mbed_official	49:77c8e4604045	376
mbed_official	49:77c8e4604045	377	// OS Section definitions
mbed_official	49:77c8e4604045	378	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	49:77c8e4604045	379	extern const uint32_t os_section_id$$Base;
mbed_official	49:77c8e4604045	380	extern const uint32_t os_section_id$$Limit;
mbed_official	49:77c8e4604045	381	#endif
mbed_official	49:77c8e4604045	382
mbed_official	112:53ace74b190c	383	#ifndef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	384	// OS Stack Memory for Threads definitions
mbed_official	112:53ace74b190c	385	extern uint64_t os_stack_mem[];
mbed_official	112:53ace74b190c	386	extern const uint32_t os_stack_sz;
mbed_official	112:53ace74b190c	387	#endif
mbed_official	112:53ace74b190c	388
mbed_official	49:77c8e4604045	389	// OS Timers external resources
mbed_official	112:53ace74b190c	390	extern const osThreadDef_t os_thread_def_osTimerThread;
mbed_official	112:53ace74b190c	391	extern osThreadId osThreadId_osTimerThread;
mbed_official	112:53ace74b190c	392	extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ;
mbed_official	112:53ace74b190c	393	extern osMessageQId osMessageQId_osTimerMessageQ;
mbed_official	49:77c8e4604045	394
mbed_official	49:77c8e4604045	395
mbed_official	49:77c8e4604045	396	// ==== Helper Functions ====
mbed_official	49:77c8e4604045	397
mbed_official	49:77c8e4604045	398	/// Convert timeout in millisec to system ticks
mbed_official	112:53ace74b190c	399	static uint16_t rt_ms2tick (uint32_t millisec) {
mbed_official	49:77c8e4604045	400	uint32_t tick;
mbed_official	49:77c8e4604045	401
mbed_official	112:53ace74b190c	402	if (millisec == 0U) { return 0x0U; } // No timeout
mbed_official	112:53ace74b190c	403	if (millisec == osWaitForever) { return 0xFFFFU; } // Indefinite timeout
mbed_official	112:53ace74b190c	404	if (millisec > 4000000U) { return 0xFFFEU; } // Max ticks supported
mbed_official	49:77c8e4604045	405
mbed_official	112:53ace74b190c	406	tick = ((1000U * millisec) + os_clockrate - 1U) / os_clockrate;
mbed_official	112:53ace74b190c	407	if (tick > 0xFFFEU) { return 0xFFFEU; }
mbed_official	112:53ace74b190c	408
mbed_official	112:53ace74b190c	409	return (uint16_t)tick;
mbed_official	49:77c8e4604045	410	}
mbed_official	49:77c8e4604045	411
mbed_official	49:77c8e4604045	412	/// Convert Thread ID to TCB pointer
mbed_official	112:53ace74b190c	413	P_TCB rt_tid2ptcb (osThreadId thread_id) {
mbed_official	49:77c8e4604045	414	P_TCB ptcb;
mbed_official	49:77c8e4604045	415
mbed_official	112:53ace74b190c	416	if (thread_id == NULL) { return NULL; }
mbed_official	49:77c8e4604045	417
mbed_official	112:53ace74b190c	418	if ((uint32_t)thread_id & 3U) { return NULL; }
mbed_official	49:77c8e4604045	419
mbed_official	49:77c8e4604045	420	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	112:53ace74b190c	421	if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
mbed_official	112:53ace74b190c	422	if (thread_id < (osThreadId)os_section_id$$Base) { return NULL; }
mbed_official	112:53ace74b190c	423	if (thread_id >= (osThreadId)os_section_id$$Limit) { return NULL; }
mbed_official	49:77c8e4604045	424	}
mbed_official	49:77c8e4604045	425	#endif
mbed_official	49:77c8e4604045	426
mbed_official	49:77c8e4604045	427	ptcb = thread_id;
mbed_official	49:77c8e4604045	428
mbed_official	112:53ace74b190c	429	if (ptcb->cb_type != TCB) { return NULL; }
mbed_official	49:77c8e4604045	430
mbed_official	49:77c8e4604045	431	return ptcb;
mbed_official	49:77c8e4604045	432	}
mbed_official	49:77c8e4604045	433
mbed_official	49:77c8e4604045	434	/// Convert ID pointer to Object pointer
mbed_official	49:77c8e4604045	435	static void rt_id2obj (void id) {
mbed_official	49:77c8e4604045	436
mbed_official	112:53ace74b190c	437	if ((uint32_t)id & 3U) { return NULL; }
mbed_official	49:77c8e4604045	438
mbed_official	49:77c8e4604045	439	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	112:53ace74b190c	440	if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
mbed_official	112:53ace74b190c	441	if (id < (void *)os_section_id$$Base) { return NULL; }
mbed_official	112:53ace74b190c	442	if (id >= (void *)os_section_id$$Limit) { return NULL; }
mbed_official	49:77c8e4604045	443	}
mbed_official	49:77c8e4604045	444	#endif
mbed_official	49:77c8e4604045	445
mbed_official	49:77c8e4604045	446	return id;
mbed_official	49:77c8e4604045	447	}
mbed_official	49:77c8e4604045	448
mbed_official	49:77c8e4604045	449
mbed_official	49:77c8e4604045	450	// ==== Kernel Control ====
mbed_official	49:77c8e4604045	451
mbed_official	49:77c8e4604045	452	uint8_t os_initialized; // Kernel Initialized flag
mbed_official	49:77c8e4604045	453	uint8_t os_running; // Kernel Running flag
mbed_official	49:77c8e4604045	454
mbed_official	49:77c8e4604045	455	// Kernel Control Service Calls declarations
mbed_official	49:77c8e4604045	456	SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
mbed_official	49:77c8e4604045	457	SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
mbed_official	49:77c8e4604045	458	SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
mbed_official	112:53ace74b190c	459	SVC_0_1(svcKernelSysTick, uint32_t, RET_uint32_t)
mbed_official	49:77c8e4604045	460
mbed_official	112:53ace74b190c	461	static void sysThreadError (osStatus status);
Kojto	118:6635230e06ba	462	osThreadId svcThreadCreate (const osThreadDef_t thread_def, void argument, void *context);
mbed_official	112:53ace74b190c	463	osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
mbed_official	49:77c8e4604045	464
mbed_official	49:77c8e4604045	465	// Kernel Control Service Calls
mbed_official	49:77c8e4604045	466
mbed_official	49:77c8e4604045	467	/// Initialize the RTOS Kernel for creating objects
mbed_official	49:77c8e4604045	468	osStatus svcKernelInitialize (void) {
mbed_official	112:53ace74b190c	469	#ifdef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	470	if (!os_initialized) {
mbed_official	112:53ace74b190c	471	rt_sys_init(); // RTX System Initialization
mbed_official	112:53ace74b190c	472	}
mbed_official	112:53ace74b190c	473	#else
mbed_official	112:53ace74b190c	474	uint32_t ret;
mbed_official	112:53ace74b190c	475
mbed_official	112:53ace74b190c	476	if (os_initialized == 0U) {
mbed_official	49:77c8e4604045	477
mbed_official	112:53ace74b190c	478	// Init Thread Stack Memory (must be 8-byte aligned)
mbed_official	112:53ace74b190c	479	if (((uint32_t)os_stack_mem & 7U) != 0U) { return osErrorNoMemory; }
mbed_official	112:53ace74b190c	480	ret = rt_init_mem(os_stack_mem, os_stack_sz);
mbed_official	112:53ace74b190c	481	if (ret != 0U) { return osErrorNoMemory; }
mbed_official	112:53ace74b190c	482
mbed_official	112:53ace74b190c	483	rt_sys_init(); // RTX System Initialization
mbed_official	112:53ace74b190c	484	}
mbed_official	112:53ace74b190c	485	#endif
mbed_official	112:53ace74b190c	486
mbed_official	112:53ace74b190c	487	os_tsk.run->prio = 255U; // Highest priority
mbed_official	112:53ace74b190c	488
mbed_official	112:53ace74b190c	489	if (os_initialized == 0U) {
mbed_official	112:53ace74b190c	490	// Create OS Timers resources (Message Queue & Thread)
mbed_official	112:53ace74b190c	491	osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
Kojto	118:6635230e06ba	492	osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL, NULL);
mbed_official	112:53ace74b190c	493	}
mbed_official	49:77c8e4604045	494
mbed_official	49:77c8e4604045	495	sysThreadError(osOK);
mbed_official	49:77c8e4604045	496
mbed_official	112:53ace74b190c	497	os_initialized = 1U;
mbed_official	112:53ace74b190c	498	os_running = 0U;
mbed_official	49:77c8e4604045	499
mbed_official	49:77c8e4604045	500	return osOK;
mbed_official	49:77c8e4604045	501	}
mbed_official	49:77c8e4604045	502
mbed_official	49:77c8e4604045	503	/// Start the RTOS Kernel
mbed_official	49:77c8e4604045	504	osStatus svcKernelStart (void) {
mbed_official	49:77c8e4604045	505
mbed_official	112:53ace74b190c	506	if (os_running) { return osOK; }
mbed_official	49:77c8e4604045	507
mbed_official	112:53ace74b190c	508	rt_tsk_prio(0U, os_tsk.run->prio_base); // Restore priority
mbed_official	112:53ace74b190c	509	if (os_tsk.run->task_id == 0xFFU) { // Idle Thread
mbed_official	112:53ace74b190c	510	__set_PSP(os_tsk.run->tsk_stack + (8U*4U)); // Setup PSP
mbed_official	112:53ace74b190c	511	}
mbed_official	112:53ace74b190c	512	if (os_tsk.new_tsk == NULL) { // Force context switch
mbed_official	112:53ace74b190c	513	os_tsk.new_tsk = os_tsk.run;
mbed_official	112:53ace74b190c	514	os_tsk.run = NULL;
mbed_official	112:53ace74b190c	515	}
mbed_official	49:77c8e4604045	516
mbed_official	49:77c8e4604045	517	rt_sys_start();
mbed_official	49:77c8e4604045	518
mbed_official	112:53ace74b190c	519	os_running = 1U;
mbed_official	49:77c8e4604045	520
mbed_official	49:77c8e4604045	521	return osOK;
mbed_official	49:77c8e4604045	522	}
mbed_official	49:77c8e4604045	523
mbed_official	49:77c8e4604045	524	/// Check if the RTOS kernel is already started
mbed_official	112:53ace74b190c	525	int32_t svcKernelRunning (void) {
mbed_official	112:53ace74b190c	526	return (int32_t)os_running;
mbed_official	112:53ace74b190c	527	}
mbed_official	112:53ace74b190c	528
mbed_official	112:53ace74b190c	529	/// Get the RTOS kernel system timer counter
mbed_official	112:53ace74b190c	530	uint32_t svcKernelSysTick (void) {
mbed_official	112:53ace74b190c	531	uint32_t tick, tick0;
mbed_official	112:53ace74b190c	532
mbed_official	112:53ace74b190c	533	tick = os_tick_val();
mbed_official	112:53ace74b190c	534	if (os_tick_ovf()) {
mbed_official	112:53ace74b190c	535	tick0 = os_tick_val();
mbed_official	112:53ace74b190c	536	if (tick0 < tick) { tick = tick0; }
mbed_official	112:53ace74b190c	537	tick += (os_trv + 1U) * (os_time + 1U);
mbed_official	112:53ace74b190c	538	} else {
mbed_official	112:53ace74b190c	539	tick += (os_trv + 1U) * os_time;
mbed_official	112:53ace74b190c	540	}
mbed_official	112:53ace74b190c	541
mbed_official	112:53ace74b190c	542	return tick;
mbed_official	49:77c8e4604045	543	}
mbed_official	49:77c8e4604045	544
mbed_official	49:77c8e4604045	545	// Kernel Control Public API
mbed_official	49:77c8e4604045	546
mbed_official	49:77c8e4604045	547	/// Initialize the RTOS Kernel for creating objects
mbed_official	49:77c8e4604045	548	osStatus osKernelInitialize (void) {
mbed_official	112:53ace74b190c	549	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	550	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	551	}
mbed_official	112:53ace74b190c	552	if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
mbed_official	49:77c8e4604045	553	return svcKernelInitialize();
mbed_official	49:77c8e4604045	554	} else {
mbed_official	49:77c8e4604045	555	return __svcKernelInitialize();
mbed_official	49:77c8e4604045	556	}
mbed_official	49:77c8e4604045	557	}
mbed_official	49:77c8e4604045	558
mbed_official	49:77c8e4604045	559	/// Start the RTOS Kernel
mbed_official	49:77c8e4604045	560	osStatus osKernelStart (void) {
mbed_official	49:77c8e4604045	561	uint32_t stack[8];
mbed_official	49:77c8e4604045	562
mbed_official	112:53ace74b190c	563	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	564	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	565	}
Kojto	118:6635230e06ba	566
Kojto	118:6635230e06ba	567	/* Call the pre-start event (from unprivileged mode) if the handler exists
Kojto	118:6635230e06ba	568	* and the kernel is not running. */
Kojto	118:6635230e06ba	569	/* FIXME osEventObs needs to be readable but not writable from unprivileged
Kojto	118:6635230e06ba	570	* code. */
Kojto	118:6635230e06ba	571	if (!osKernelRunning() && osEventObs && osEventObs->pre_start) {
Kojto	118:6635230e06ba	572	osEventObs->pre_start();
Kojto	118:6635230e06ba	573	}
Kojto	118:6635230e06ba	574
mbed_official	112:53ace74b190c	575	switch (__get_CONTROL() & 0x03U) {
mbed_official	112:53ace74b190c	576	case 0x00U: // Privileged Thread mode & MSP
mbed_official	49:77c8e4604045	577	__set_PSP((uint32_t)(stack + 8)); // Initial PSP
mbed_official	112:53ace74b190c	578	if (os_flags & 1U) {
mbed_official	112:53ace74b190c	579	__set_CONTROL(0x02U); // Set Privileged Thread mode & PSP
mbed_official	49:77c8e4604045	580	} else {
mbed_official	112:53ace74b190c	581	__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
mbed_official	49:77c8e4604045	582	}
mbed_official	49:77c8e4604045	583	__DSB();
mbed_official	49:77c8e4604045	584	__ISB();
mbed_official	49:77c8e4604045	585	break;
mbed_official	112:53ace74b190c	586	case 0x01U: // Unprivileged Thread mode & MSP
mbed_official	49:77c8e4604045	587	return osErrorOS;
mbed_official	112:53ace74b190c	588	case 0x02U: // Privileged Thread mode & PSP
mbed_official	112:53ace74b190c	589	if ((os_flags & 1U) == 0U) { // Unprivileged Thread mode requested
mbed_official	112:53ace74b190c	590	__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
mbed_official	49:77c8e4604045	591	__DSB();
mbed_official	49:77c8e4604045	592	__ISB();
mbed_official	49:77c8e4604045	593	}
mbed_official	49:77c8e4604045	594	break;
mbed_official	112:53ace74b190c	595	case 0x03U: // Unprivileged Thread mode & PSP
mbed_official	112:53ace74b190c	596	if (os_flags & 1U) { return osErrorOS; } // Privileged Thread mode requested
mbed_official	49:77c8e4604045	597	break;
mbed_official	49:77c8e4604045	598	}
mbed_official	49:77c8e4604045	599	return __svcKernelStart();
mbed_official	49:77c8e4604045	600	}
mbed_official	49:77c8e4604045	601
mbed_official	49:77c8e4604045	602	/// Check if the RTOS kernel is already started
mbed_official	112:53ace74b190c	603	int32_t osKernelRunning (void) {
mbed_official	112:53ace74b190c	604	if ((__get_IPSR() != 0U) \|\| ((__get_CONTROL() & 1U) == 0U)) {
mbed_official	49:77c8e4604045	605	// in ISR or Privileged
mbed_official	112:53ace74b190c	606	return (int32_t)os_running;
mbed_official	49:77c8e4604045	607	} else {
mbed_official	49:77c8e4604045	608	return __svcKernelRunning();
mbed_official	49:77c8e4604045	609	}
mbed_official	49:77c8e4604045	610	}
mbed_official	49:77c8e4604045	611
mbed_official	112:53ace74b190c	612	/// Get the RTOS kernel system timer counter
mbed_official	112:53ace74b190c	613	uint32_t osKernelSysTick (void) {
mbed_official	112:53ace74b190c	614	if (__get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
mbed_official	112:53ace74b190c	615	return __svcKernelSysTick();
mbed_official	112:53ace74b190c	616	}
mbed_official	112:53ace74b190c	617
mbed_official	49:77c8e4604045	618
mbed_official	49:77c8e4604045	619	// ==== Thread Management ====
mbed_official	49:77c8e4604045	620
mbed_official	112:53ace74b190c	621	/// Set Thread Error (for Create functions which return IDs)
mbed_official	112:53ace74b190c	622	static void sysThreadError (osStatus status) {
mbed_official	112:53ace74b190c	623	// To Do
mbed_official	112:53ace74b190c	624	}
mbed_official	112:53ace74b190c	625
mbed_official	49:77c8e4604045	626	__NO_RETURN void osThreadExit (void);
mbed_official	49:77c8e4604045	627
mbed_official	49:77c8e4604045	628	// Thread Service Calls declarations
Kojto	118:6635230e06ba	629	SVC_3_1(svcThreadCreate, osThreadId, const osThreadDef_t , void , void *, RET_pointer)
mbed_official	112:53ace74b190c	630	SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
mbed_official	112:53ace74b190c	631	SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
mbed_official	112:53ace74b190c	632	SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
mbed_official	112:53ace74b190c	633	SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
mbed_official	112:53ace74b190c	634	SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
mbed_official	49:77c8e4604045	635
mbed_official	49:77c8e4604045	636	// Thread Service Calls
mbed_official	49:77c8e4604045	637
mbed_official	49:77c8e4604045	638	/// Create a thread and add it to Active Threads and set it to state READY
Kojto	118:6635230e06ba	639	osThreadId svcThreadCreate (const osThreadDef_t thread_def, void argument, void *context) {
mbed_official	49:77c8e4604045	640	P_TCB ptcb;
mbed_official	112:53ace74b190c	641	OS_TID tsk;
mbed_official	112:53ace74b190c	642	void *stk;
mbed_official	49:77c8e4604045	643
mbed_official	49:77c8e4604045	644	if ((thread_def == NULL) \|\|
mbed_official	49:77c8e4604045	645	(thread_def->pthread == NULL) \|\|
mbed_official	49:77c8e4604045	646	(thread_def->tpriority < osPriorityIdle) \|\|
mbed_official	112:53ace74b190c	647	(thread_def->tpriority > osPriorityRealtime)) {
mbed_official	112:53ace74b190c	648	sysThreadError(osErrorParameter);
mbed_official	112:53ace74b190c	649	return NULL;
mbed_official	112:53ace74b190c	650	}
mbed_official	112:53ace74b190c	651
mbed_official	112:53ace74b190c	652	#ifdef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	653	if (thread_def->stacksize != 0) { // Custom stack size
mbed_official	112:53ace74b190c	654	stk = (void *)thread_def->stack_pointer;
mbed_official	112:53ace74b190c	655	} else { // Default stack size
mbed_official	112:53ace74b190c	656	stk = NULL;
mbed_official	112:53ace74b190c	657	}
mbed_official	112:53ace74b190c	658	#else
mbed_official	112:53ace74b190c	659	if (thread_def->stacksize != 0) { // Custom stack size
mbed_official	112:53ace74b190c	660	stk = rt_alloc_mem( // Allocate stack
mbed_official	112:53ace74b190c	661	os_stack_mem,
mbed_official	112:53ace74b190c	662	thread_def->stacksize
mbed_official	112:53ace74b190c	663	);
mbed_official	112:53ace74b190c	664	if (stk == NULL) {
mbed_official	112:53ace74b190c	665	sysThreadError(osErrorNoMemory); // Out of memory
mbed_official	112:53ace74b190c	666	return NULL;
mbed_official	112:53ace74b190c	667	}
mbed_official	112:53ace74b190c	668	} else { // Default stack size
mbed_official	112:53ace74b190c	669	stk = NULL;
mbed_official	112:53ace74b190c	670	}
mbed_official	112:53ace74b190c	671	#endif
mbed_official	112:53ace74b190c	672
mbed_official	112:53ace74b190c	673	tsk = rt_tsk_create( // Create task
mbed_official	112:53ace74b190c	674	(FUNCP)thread_def->pthread, // Task function pointer
mbed_official	112:53ace74b190c	675	(uint32_t)
mbed_official	112:53ace74b190c	676	(thread_def->tpriority-osPriorityIdle+1) \| // Task priority
mbed_official	112:53ace74b190c	677	(thread_def->stacksize << 8), // Task stack size in bytes
mbed_official	112:53ace74b190c	678	stk, // Pointer to task's stack
mbed_official	112:53ace74b190c	679	argument // Argument to the task
mbed_official	112:53ace74b190c	680	);
mbed_official	112:53ace74b190c	681
mbed_official	112:53ace74b190c	682	if (tsk == 0U) { // Invalid task ID
mbed_official	112:53ace74b190c	683	#ifndef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	684	if (stk != NULL) {
mbed_official	112:53ace74b190c	685	rt_free_mem(os_stack_mem, stk); // Free allocated stack
mbed_official	112:53ace74b190c	686	}
mbed_official	112:53ace74b190c	687	#endif
mbed_official	112:53ace74b190c	688	sysThreadError(osErrorNoMemory); // Create task failed (Out of memory)
mbed_official	49:77c8e4604045	689	return NULL;
mbed_official	49:77c8e4604045	690	}
mbed_official	49:77c8e4604045	691
mbed_official	112:53ace74b190c	692	ptcb = (P_TCB)os_active_TCB[tsk - 1U]; // TCB pointer
mbed_official	49:77c8e4604045	693
mbed_official	49:77c8e4604045	694	((uint32_t )ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
mbed_official	49:77c8e4604045	695
Kojto	118:6635230e06ba	696	if (osEventObs && osEventObs->thread_create) {
Kojto	118:6635230e06ba	697	ptcb->context = osEventObs->thread_create(ptcb->task_id, context);
Kojto	118:6635230e06ba	698	} else {
Kojto	118:6635230e06ba	699	ptcb->context = context;
Kojto	118:6635230e06ba	700	}
Kojto	118:6635230e06ba	701
mbed_official	49:77c8e4604045	702	return ptcb;
mbed_official	49:77c8e4604045	703	}
mbed_official	49:77c8e4604045	704
mbed_official	49:77c8e4604045	705	/// Return the thread ID of the current running thread
mbed_official	49:77c8e4604045	706	osThreadId svcThreadGetId (void) {
mbed_official	49:77c8e4604045	707	OS_TID tsk;
mbed_official	49:77c8e4604045	708
mbed_official	49:77c8e4604045	709	tsk = rt_tsk_self();
mbed_official	112:53ace74b190c	710	if (tsk == 0U) { return NULL; }
mbed_official	112:53ace74b190c	711	return (P_TCB)os_active_TCB[tsk - 1U];
mbed_official	49:77c8e4604045	712	}
mbed_official	49:77c8e4604045	713
mbed_official	49:77c8e4604045	714	/// Terminate execution of a thread and remove it from ActiveThreads
mbed_official	49:77c8e4604045	715	osStatus svcThreadTerminate (osThreadId thread_id) {
mbed_official	49:77c8e4604045	716	OS_RESULT res;
mbed_official	49:77c8e4604045	717	P_TCB ptcb;
mbed_official	112:53ace74b190c	718	#ifndef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	719	void *stk;
mbed_official	112:53ace74b190c	720	#endif
mbed_official	49:77c8e4604045	721
mbed_official	49:77c8e4604045	722	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	723	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	724	return osErrorParameter;
mbed_official	112:53ace74b190c	725	}
mbed_official	112:53ace74b190c	726
mbed_official	112:53ace74b190c	727	#ifndef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	728	stk = ptcb->priv_stack ? ptcb->stack : NULL; // Private stack
mbed_official	112:53ace74b190c	729	#endif
mbed_official	49:77c8e4604045	730
Kojto	118:6635230e06ba	731	if (osEventObs && osEventObs->thread_destroy) {
Kojto	118:6635230e06ba	732	osEventObs->thread_destroy(ptcb->context);
Kojto	118:6635230e06ba	733	}
Kojto	118:6635230e06ba	734
mbed_official	49:77c8e4604045	735	res = rt_tsk_delete(ptcb->task_id); // Delete task
mbed_official	49:77c8e4604045	736
mbed_official	112:53ace74b190c	737	if (res == OS_R_NOK) {
mbed_official	112:53ace74b190c	738	return osErrorResource; // Delete task failed
mbed_official	112:53ace74b190c	739	}
mbed_official	112:53ace74b190c	740
mbed_official	112:53ace74b190c	741	#ifndef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	742	if (stk != NULL) {
mbed_official	112:53ace74b190c	743	rt_free_mem(os_stack_mem, stk); // Free private stack
mbed_official	112:53ace74b190c	744	}
mbed_official	112:53ace74b190c	745	#endif
mbed_official	49:77c8e4604045	746
mbed_official	49:77c8e4604045	747	return osOK;
mbed_official	49:77c8e4604045	748	}
mbed_official	49:77c8e4604045	749
mbed_official	49:77c8e4604045	750	/// Pass control to next thread that is in state READY
mbed_official	49:77c8e4604045	751	osStatus svcThreadYield (void) {
mbed_official	49:77c8e4604045	752	rt_tsk_pass(); // Pass control to next task
mbed_official	49:77c8e4604045	753	return osOK;
mbed_official	49:77c8e4604045	754	}
mbed_official	49:77c8e4604045	755
mbed_official	49:77c8e4604045	756	/// Change priority of an active thread
mbed_official	49:77c8e4604045	757	osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
mbed_official	49:77c8e4604045	758	OS_RESULT res;
mbed_official	49:77c8e4604045	759	P_TCB ptcb;
mbed_official	49:77c8e4604045	760
mbed_official	49:77c8e4604045	761	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	762	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	763	return osErrorParameter;
mbed_official	112:53ace74b190c	764	}
mbed_official	49:77c8e4604045	765
mbed_official	49:77c8e4604045	766	if ((priority < osPriorityIdle) \|\| (priority > osPriorityRealtime)) {
mbed_official	49:77c8e4604045	767	return osErrorValue;
mbed_official	49:77c8e4604045	768	}
mbed_official	49:77c8e4604045	769
mbed_official	49:77c8e4604045	770	res = rt_tsk_prio( // Change task priority
mbed_official	49:77c8e4604045	771	ptcb->task_id, // Task ID
mbed_official	112:53ace74b190c	772	(uint8_t)(priority - osPriorityIdle + 1) // New task priority
mbed_official	49:77c8e4604045	773	);
mbed_official	49:77c8e4604045	774
mbed_official	112:53ace74b190c	775	if (res == OS_R_NOK) {
mbed_official	112:53ace74b190c	776	return osErrorResource; // Change task priority failed
mbed_official	112:53ace74b190c	777	}
mbed_official	49:77c8e4604045	778
mbed_official	49:77c8e4604045	779	return osOK;
mbed_official	49:77c8e4604045	780	}
mbed_official	49:77c8e4604045	781
mbed_official	49:77c8e4604045	782	/// Get current priority of an active thread
mbed_official	49:77c8e4604045	783	osPriority svcThreadGetPriority (osThreadId thread_id) {
mbed_official	49:77c8e4604045	784	P_TCB ptcb;
mbed_official	49:77c8e4604045	785
mbed_official	49:77c8e4604045	786	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	787	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	788	return osPriorityError;
mbed_official	112:53ace74b190c	789	}
mbed_official	49:77c8e4604045	790
mbed_official	112:53ace74b190c	791	return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
mbed_official	49:77c8e4604045	792	}
mbed_official	49:77c8e4604045	793
mbed_official	49:77c8e4604045	794
mbed_official	49:77c8e4604045	795	// Thread Public API
mbed_official	49:77c8e4604045	796
mbed_official	49:77c8e4604045	797	/// Create a thread and add it to Active Threads and set it to state READY
mbed_official	112:53ace74b190c	798	osThreadId osThreadCreate (const osThreadDef_t thread_def, void argument) {
Kojto	118:6635230e06ba	799	return osThreadContextCreate(thread_def, argument, NULL);
Kojto	118:6635230e06ba	800	}
Kojto	118:6635230e06ba	801	osThreadId osThreadContextCreate (const osThreadDef_t thread_def, void argument, void *context) {
Kojto	118:6635230e06ba	802	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	803	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	804	}
mbed_official	112:53ace74b190c	805	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	806	// Privileged and not running
Kojto	118:6635230e06ba	807	return svcThreadCreate(thread_def, argument, context);
mbed_official	49:77c8e4604045	808	} else {
Kojto	118:6635230e06ba	809	return __svcThreadCreate(thread_def, argument, context);
mbed_official	49:77c8e4604045	810	}
mbed_official	49:77c8e4604045	811	}
mbed_official	49:77c8e4604045	812
mbed_official	49:77c8e4604045	813	/// Return the thread ID of the current running thread
mbed_official	49:77c8e4604045	814	osThreadId osThreadGetId (void) {
mbed_official	112:53ace74b190c	815	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	816	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	817	}
mbed_official	49:77c8e4604045	818	return __svcThreadGetId();
mbed_official	49:77c8e4604045	819	}
mbed_official	49:77c8e4604045	820
mbed_official	49:77c8e4604045	821	/// Terminate execution of a thread and remove it from ActiveThreads
mbed_official	49:77c8e4604045	822	osStatus osThreadTerminate (osThreadId thread_id) {
mbed_official	112:53ace74b190c	823	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	824	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	825	}
mbed_official	49:77c8e4604045	826	return __svcThreadTerminate(thread_id);
mbed_official	49:77c8e4604045	827	}
mbed_official	49:77c8e4604045	828
mbed_official	49:77c8e4604045	829	/// Pass control to next thread that is in state READY
mbed_official	49:77c8e4604045	830	osStatus osThreadYield (void) {
mbed_official	112:53ace74b190c	831	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	832	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	833	}
mbed_official	49:77c8e4604045	834	return __svcThreadYield();
mbed_official	49:77c8e4604045	835	}
mbed_official	49:77c8e4604045	836
mbed_official	49:77c8e4604045	837	/// Change priority of an active thread
mbed_official	49:77c8e4604045	838	osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
mbed_official	112:53ace74b190c	839	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	840	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	841	}
mbed_official	49:77c8e4604045	842	return __svcThreadSetPriority(thread_id, priority);
mbed_official	49:77c8e4604045	843	}
mbed_official	49:77c8e4604045	844
mbed_official	49:77c8e4604045	845	/// Get current priority of an active thread
mbed_official	49:77c8e4604045	846	osPriority osThreadGetPriority (osThreadId thread_id) {
mbed_official	112:53ace74b190c	847	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	848	return osPriorityError; // Not allowed in ISR
mbed_official	112:53ace74b190c	849	}
mbed_official	49:77c8e4604045	850	return __svcThreadGetPriority(thread_id);
mbed_official	49:77c8e4604045	851	}
mbed_official	49:77c8e4604045	852
mbed_official	49:77c8e4604045	853	/// INTERNAL - Not Public
mbed_official	49:77c8e4604045	854	/// Auto Terminate Thread on exit (used implicitly when thread exists)
mbed_official	112:53ace74b190c	855	__NO_RETURN void osThreadExit (void) {
mbed_official	112:53ace74b190c	856	__svcThreadTerminate(__svcThreadGetId());
mbed_official	49:77c8e4604045	857	for (;;); // Should never come here
mbed_official	49:77c8e4604045	858	}
mbed_official	49:77c8e4604045	859
mbed_official	112:53ace74b190c	860	#ifdef __MBED_CMSIS_RTOS_CM
mbed_official	112:53ace74b190c	861	/// Get current thread state
mbed_official	112:53ace74b190c	862	uint8_t osThreadGetState (osThreadId thread_id) {
mbed_official	112:53ace74b190c	863	P_TCB ptcb;
mbed_official	112:53ace74b190c	864
mbed_official	112:53ace74b190c	865	if (__get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	866
mbed_official	112:53ace74b190c	867	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	117:4c105b8d7cae	868	if (ptcb == NULL) return INACTIVE;
mbed_official	112:53ace74b190c	869
mbed_official	112:53ace74b190c	870	return ptcb->state;
mbed_official	112:53ace74b190c	871	}
mbed_official	112:53ace74b190c	872	#endif
mbed_official	49:77c8e4604045	873
mbed_official	49:77c8e4604045	874	// ==== Generic Wait Functions ====
mbed_official	49:77c8e4604045	875
mbed_official	49:77c8e4604045	876	// Generic Wait Service Calls declarations
mbed_official	49:77c8e4604045	877	SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	878	#if osFeature_Wait != 0
mbed_official	49:77c8e4604045	879	SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	880	#endif
mbed_official	49:77c8e4604045	881
mbed_official	49:77c8e4604045	882	// Generic Wait Service Calls
mbed_official	49:77c8e4604045	883
mbed_official	49:77c8e4604045	884	/// Wait for Timeout (Time Delay)
mbed_official	49:77c8e4604045	885	osStatus svcDelay (uint32_t millisec) {
mbed_official	112:53ace74b190c	886	if (millisec == 0U) { return osOK; }
mbed_official	49:77c8e4604045	887	rt_dly_wait(rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	888	return osEventTimeout;
mbed_official	49:77c8e4604045	889	}
mbed_official	49:77c8e4604045	890
mbed_official	49:77c8e4604045	891	/// Wait for Signal, Message, Mail, or Timeout
mbed_official	49:77c8e4604045	892	#if osFeature_Wait != 0
mbed_official	49:77c8e4604045	893	os_InRegs osEvent_type svcWait (uint32_t millisec) {
mbed_official	49:77c8e4604045	894	osEvent ret;
mbed_official	49:77c8e4604045	895
mbed_official	112:53ace74b190c	896	if (millisec == 0U) {
mbed_official	49:77c8e4604045	897	ret.status = osOK;
mbed_official	49:77c8e4604045	898	return osEvent_ret_status;
mbed_official	49:77c8e4604045	899	}
mbed_official	49:77c8e4604045	900
mbed_official	49:77c8e4604045	901	/* To Do: osEventSignal, osEventMessage, osEventMail */
mbed_official	49:77c8e4604045	902	rt_dly_wait(rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	903	ret.status = osEventTimeout;
mbed_official	49:77c8e4604045	904
mbed_official	49:77c8e4604045	905	return osEvent_ret_status;
mbed_official	49:77c8e4604045	906	}
mbed_official	49:77c8e4604045	907	#endif
mbed_official	49:77c8e4604045	908
mbed_official	49:77c8e4604045	909
mbed_official	49:77c8e4604045	910	// Generic Wait API
mbed_official	49:77c8e4604045	911
mbed_official	49:77c8e4604045	912	/// Wait for Timeout (Time Delay)
mbed_official	49:77c8e4604045	913	osStatus osDelay (uint32_t millisec) {
mbed_official	112:53ace74b190c	914	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	915	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	916	}
mbed_official	49:77c8e4604045	917	return __svcDelay(millisec);
mbed_official	49:77c8e4604045	918	}
mbed_official	49:77c8e4604045	919
mbed_official	49:77c8e4604045	920	/// Wait for Signal, Message, Mail, or Timeout
mbed_official	49:77c8e4604045	921	os_InRegs osEvent osWait (uint32_t millisec) {
mbed_official	49:77c8e4604045	922	osEvent ret;
mbed_official	49:77c8e4604045	923
mbed_official	49:77c8e4604045	924	#if osFeature_Wait == 0
mbed_official	49:77c8e4604045	925	ret.status = osErrorOS;
mbed_official	49:77c8e4604045	926	return ret;
mbed_official	49:77c8e4604045	927	#else
mbed_official	112:53ace74b190c	928	if (__get_IPSR() != 0U) { // Not allowed in ISR
mbed_official	49:77c8e4604045	929	ret.status = osErrorISR;
mbed_official	49:77c8e4604045	930	return ret;
mbed_official	49:77c8e4604045	931	}
mbed_official	49:77c8e4604045	932	return __svcWait(millisec);
mbed_official	49:77c8e4604045	933	#endif
mbed_official	49:77c8e4604045	934	}
mbed_official	49:77c8e4604045	935
mbed_official	49:77c8e4604045	936
mbed_official	49:77c8e4604045	937	// ==== Timer Management ====
mbed_official	49:77c8e4604045	938
mbed_official	49:77c8e4604045	939	// Timer definitions
mbed_official	112:53ace74b190c	940	#define osTimerInvalid 0U
mbed_official	112:53ace74b190c	941	#define osTimerStopped 1U
mbed_official	112:53ace74b190c	942	#define osTimerRunning 2U
mbed_official	49:77c8e4604045	943
mbed_official	112:53ace74b190c	944	// Timer structures
mbed_official	49:77c8e4604045	945
mbed_official	49:77c8e4604045	946	typedef struct os_timer_cb_ { // Timer Control Block
mbed_official	49:77c8e4604045	947	struct os_timer_cb_ *next; // Pointer to next active Timer
mbed_official	49:77c8e4604045	948	uint8_t state; // Timer State
mbed_official	49:77c8e4604045	949	uint8_t type; // Timer Type (Periodic/One-shot)
mbed_official	49:77c8e4604045	950	uint16_t reserved; // Reserved
mbed_official	112:53ace74b190c	951	uint32_t tcnt; // Timer Delay Count
mbed_official	112:53ace74b190c	952	uint32_t icnt; // Timer Initial Count
mbed_official	49:77c8e4604045	953	void *arg; // Timer Function Argument
mbed_official	112:53ace74b190c	954	const osTimerDef_t *timer; // Pointer to Timer definition
mbed_official	49:77c8e4604045	955	} os_timer_cb;
mbed_official	49:77c8e4604045	956
mbed_official	49:77c8e4604045	957	// Timer variables
mbed_official	49:77c8e4604045	958	os_timer_cb *os_timer_head; // Pointer to first active Timer
mbed_official	49:77c8e4604045	959
mbed_official	49:77c8e4604045	960
mbed_official	49:77c8e4604045	961	// Timer Helper Functions
mbed_official	49:77c8e4604045	962
mbed_official	49:77c8e4604045	963	// Insert Timer into the list sorted by time
mbed_official	49:77c8e4604045	964	static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
mbed_official	49:77c8e4604045	965	os_timer_cb p, prev;
mbed_official	49:77c8e4604045	966
mbed_official	49:77c8e4604045	967	prev = NULL;
mbed_official	49:77c8e4604045	968	p = os_timer_head;
mbed_official	49:77c8e4604045	969	while (p != NULL) {
mbed_official	112:53ace74b190c	970	if (tcnt < p->tcnt) { break; }
mbed_official	49:77c8e4604045	971	tcnt -= p->tcnt;
mbed_official	49:77c8e4604045	972	prev = p;
mbed_official	49:77c8e4604045	973	p = p->next;
mbed_official	49:77c8e4604045	974	}
mbed_official	49:77c8e4604045	975	pt->next = p;
mbed_official	112:53ace74b190c	976	pt->tcnt = tcnt;
mbed_official	49:77c8e4604045	977	if (p != NULL) {
mbed_official	49:77c8e4604045	978	p->tcnt -= pt->tcnt;
mbed_official	49:77c8e4604045	979	}
mbed_official	49:77c8e4604045	980	if (prev != NULL) {
mbed_official	49:77c8e4604045	981	prev->next = pt;
mbed_official	49:77c8e4604045	982	} else {
mbed_official	49:77c8e4604045	983	os_timer_head = pt;
mbed_official	49:77c8e4604045	984	}
mbed_official	49:77c8e4604045	985	}
mbed_official	49:77c8e4604045	986
mbed_official	49:77c8e4604045	987	// Remove Timer from the list
mbed_official	112:53ace74b190c	988	static int32_t rt_timer_remove (os_timer_cb *pt) {
mbed_official	49:77c8e4604045	989	os_timer_cb p, prev;
mbed_official	49:77c8e4604045	990
mbed_official	49:77c8e4604045	991	prev = NULL;
mbed_official	49:77c8e4604045	992	p = os_timer_head;
mbed_official	49:77c8e4604045	993	while (p != NULL) {
mbed_official	112:53ace74b190c	994	if (p == pt) { break; }
mbed_official	49:77c8e4604045	995	prev = p;
mbed_official	49:77c8e4604045	996	p = p->next;
mbed_official	49:77c8e4604045	997	}
mbed_official	112:53ace74b190c	998	if (p == NULL) { return -1; }
mbed_official	49:77c8e4604045	999	if (prev != NULL) {
mbed_official	49:77c8e4604045	1000	prev->next = pt->next;
mbed_official	49:77c8e4604045	1001	} else {
mbed_official	49:77c8e4604045	1002	os_timer_head = pt->next;
mbed_official	49:77c8e4604045	1003	}
mbed_official	49:77c8e4604045	1004	if (pt->next != NULL) {
mbed_official	49:77c8e4604045	1005	pt->next->tcnt += pt->tcnt;
mbed_official	49:77c8e4604045	1006	}
mbed_official	49:77c8e4604045	1007
mbed_official	49:77c8e4604045	1008	return 0;
mbed_official	49:77c8e4604045	1009	}
mbed_official	49:77c8e4604045	1010
mbed_official	49:77c8e4604045	1011
mbed_official	49:77c8e4604045	1012	// Timer Service Calls declarations
mbed_official	112:53ace74b190c	1013	SVC_3_1(svcTimerCreate, osTimerId, const osTimerDef_t , os_timer_type, void , RET_pointer)
mbed_official	112:53ace74b190c	1014	SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
mbed_official	112:53ace74b190c	1015	SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
mbed_official	112:53ace74b190c	1016	SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
mbed_official	112:53ace74b190c	1017	SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
mbed_official	49:77c8e4604045	1018
mbed_official	49:77c8e4604045	1019	// Timer Management Service Calls
mbed_official	49:77c8e4604045	1020
mbed_official	49:77c8e4604045	1021	/// Create timer
mbed_official	112:53ace74b190c	1022	osTimerId svcTimerCreate (const osTimerDef_t timer_def, os_timer_type type, void argument) {
mbed_official	49:77c8e4604045	1023	os_timer_cb *pt;
mbed_official	49:77c8e4604045	1024
mbed_official	49:77c8e4604045	1025	if ((timer_def == NULL) \|\| (timer_def->ptimer == NULL)) {
mbed_official	49:77c8e4604045	1026	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1027	return NULL;
mbed_official	49:77c8e4604045	1028	}
mbed_official	49:77c8e4604045	1029
mbed_official	49:77c8e4604045	1030	pt = timer_def->timer;
mbed_official	49:77c8e4604045	1031	if (pt == NULL) {
mbed_official	49:77c8e4604045	1032	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1033	return NULL;
mbed_official	49:77c8e4604045	1034	}
mbed_official	49:77c8e4604045	1035
mbed_official	49:77c8e4604045	1036	if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
mbed_official	49:77c8e4604045	1037	sysThreadError(osErrorValue);
mbed_official	49:77c8e4604045	1038	return NULL;
mbed_official	49:77c8e4604045	1039	}
mbed_official	49:77c8e4604045	1040
mbed_official	49:77c8e4604045	1041	if (osThreadId_osTimerThread == NULL) {
mbed_official	49:77c8e4604045	1042	sysThreadError(osErrorResource);
mbed_official	49:77c8e4604045	1043	return NULL;
mbed_official	49:77c8e4604045	1044	}
mbed_official	49:77c8e4604045	1045
mbed_official	49:77c8e4604045	1046	if (pt->state != osTimerInvalid){
mbed_official	49:77c8e4604045	1047	sysThreadError(osErrorResource);
mbed_official	49:77c8e4604045	1048	return NULL;
mbed_official	49:77c8e4604045	1049	}
mbed_official	49:77c8e4604045	1050
mbed_official	112:53ace74b190c	1051	pt->next = NULL;
mbed_official	49:77c8e4604045	1052	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	1053	pt->type = (uint8_t)type;
mbed_official	49:77c8e4604045	1054	pt->arg = argument;
mbed_official	49:77c8e4604045	1055	pt->timer = timer_def;
mbed_official	49:77c8e4604045	1056
mbed_official	49:77c8e4604045	1057	return (osTimerId)pt;
mbed_official	49:77c8e4604045	1058	}
mbed_official	49:77c8e4604045	1059
mbed_official	49:77c8e4604045	1060	/// Start or restart timer
mbed_official	49:77c8e4604045	1061	osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1062	os_timer_cb *pt;
mbed_official	49:77c8e4604045	1063	uint32_t tcnt;
mbed_official	49:77c8e4604045	1064
mbed_official	49:77c8e4604045	1065	pt = rt_id2obj(timer_id);
mbed_official	112:53ace74b190c	1066	if (pt == NULL) {
mbed_official	112:53ace74b190c	1067	return osErrorParameter;
mbed_official	112:53ace74b190c	1068	}
mbed_official	49:77c8e4604045	1069
mbed_official	112:53ace74b190c	1070	if (millisec == 0U) { return osErrorValue; }
mbed_official	112:53ace74b190c	1071
mbed_official	112:53ace74b190c	1072	tcnt = (uint32_t)(((1000U * (uint64_t)millisec) + os_clockrate - 1U) / os_clockrate);
mbed_official	49:77c8e4604045	1073
mbed_official	49:77c8e4604045	1074	switch (pt->state) {
mbed_official	49:77c8e4604045	1075	case osTimerRunning:
mbed_official	49:77c8e4604045	1076	if (rt_timer_remove(pt) != 0) {
mbed_official	49:77c8e4604045	1077	return osErrorResource;
mbed_official	49:77c8e4604045	1078	}
mbed_official	49:77c8e4604045	1079	break;
mbed_official	49:77c8e4604045	1080	case osTimerStopped:
mbed_official	49:77c8e4604045	1081	pt->state = osTimerRunning;
mbed_official	112:53ace74b190c	1082	pt->icnt = tcnt;
mbed_official	49:77c8e4604045	1083	break;
mbed_official	49:77c8e4604045	1084	default:
mbed_official	49:77c8e4604045	1085	return osErrorResource;
mbed_official	49:77c8e4604045	1086	}
mbed_official	112:53ace74b190c	1087
mbed_official	49:77c8e4604045	1088	rt_timer_insert(pt, tcnt);
mbed_official	49:77c8e4604045	1089
mbed_official	49:77c8e4604045	1090	return osOK;
mbed_official	49:77c8e4604045	1091	}
mbed_official	49:77c8e4604045	1092
mbed_official	49:77c8e4604045	1093	/// Stop timer
mbed_official	49:77c8e4604045	1094	osStatus svcTimerStop (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1095	os_timer_cb *pt;
mbed_official	49:77c8e4604045	1096
mbed_official	49:77c8e4604045	1097	pt = rt_id2obj(timer_id);
mbed_official	112:53ace74b190c	1098	if (pt == NULL) {
mbed_official	112:53ace74b190c	1099	return osErrorParameter;
mbed_official	112:53ace74b190c	1100	}
mbed_official	49:77c8e4604045	1101
mbed_official	112:53ace74b190c	1102	if (pt->state != osTimerRunning) { return osErrorResource; }
mbed_official	49:77c8e4604045	1103
mbed_official	49:77c8e4604045	1104	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	1105
mbed_official	49:77c8e4604045	1106	if (rt_timer_remove(pt) != 0) {
mbed_official	49:77c8e4604045	1107	return osErrorResource;
mbed_official	49:77c8e4604045	1108	}
mbed_official	49:77c8e4604045	1109
mbed_official	49:77c8e4604045	1110	return osOK;
mbed_official	49:77c8e4604045	1111	}
mbed_official	49:77c8e4604045	1112
mbed_official	49:77c8e4604045	1113	/// Delete timer
mbed_official	49:77c8e4604045	1114	osStatus svcTimerDelete (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1115	os_timer_cb *pt;
mbed_official	49:77c8e4604045	1116
mbed_official	49:77c8e4604045	1117	pt = rt_id2obj(timer_id);
mbed_official	112:53ace74b190c	1118	if (pt == NULL) {
mbed_official	112:53ace74b190c	1119	return osErrorParameter;
mbed_official	112:53ace74b190c	1120	}
mbed_official	49:77c8e4604045	1121
mbed_official	49:77c8e4604045	1122	switch (pt->state) {
mbed_official	49:77c8e4604045	1123	case osTimerRunning:
mbed_official	49:77c8e4604045	1124	rt_timer_remove(pt);
mbed_official	49:77c8e4604045	1125	break;
mbed_official	49:77c8e4604045	1126	case osTimerStopped:
mbed_official	49:77c8e4604045	1127	break;
mbed_official	49:77c8e4604045	1128	default:
mbed_official	49:77c8e4604045	1129	return osErrorResource;
mbed_official	49:77c8e4604045	1130	}
mbed_official	49:77c8e4604045	1131
mbed_official	49:77c8e4604045	1132	pt->state = osTimerInvalid;
mbed_official	49:77c8e4604045	1133
mbed_official	49:77c8e4604045	1134	return osOK;
mbed_official	49:77c8e4604045	1135	}
mbed_official	49:77c8e4604045	1136
mbed_official	49:77c8e4604045	1137	/// Get timer callback parameters
mbed_official	49:77c8e4604045	1138	os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1139	os_timer_cb *pt;
mbed_official	49:77c8e4604045	1140	osCallback ret;
mbed_official	49:77c8e4604045	1141
mbed_official	49:77c8e4604045	1142	pt = rt_id2obj(timer_id);
mbed_official	49:77c8e4604045	1143	if (pt == NULL) {
mbed_official	49:77c8e4604045	1144	ret.fp = NULL;
mbed_official	49:77c8e4604045	1145	ret.arg = NULL;
mbed_official	49:77c8e4604045	1146	return osCallback_ret;
mbed_official	49:77c8e4604045	1147	}
mbed_official	49:77c8e4604045	1148
mbed_official	49:77c8e4604045	1149	ret.fp = (void *)pt->timer->ptimer;
mbed_official	49:77c8e4604045	1150	ret.arg = pt->arg;
mbed_official	49:77c8e4604045	1151
mbed_official	49:77c8e4604045	1152	return osCallback_ret;
mbed_official	49:77c8e4604045	1153	}
mbed_official	49:77c8e4604045	1154
mbed_official	112:53ace74b190c	1155	osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
mbed_official	49:77c8e4604045	1156
mbed_official	49:77c8e4604045	1157	/// Timer Tick (called each SysTick)
mbed_official	49:77c8e4604045	1158	void sysTimerTick (void) {
mbed_official	49:77c8e4604045	1159	os_timer_cb pt, p;
mbed_official	112:53ace74b190c	1160	osStatus status;
mbed_official	49:77c8e4604045	1161
mbed_official	49:77c8e4604045	1162	p = os_timer_head;
mbed_official	112:53ace74b190c	1163	if (p == NULL) { return; }
mbed_official	49:77c8e4604045	1164
mbed_official	49:77c8e4604045	1165	p->tcnt--;
mbed_official	112:53ace74b190c	1166	while ((p != NULL) && (p->tcnt == 0U)) {
mbed_official	49:77c8e4604045	1167	pt = p;
mbed_official	49:77c8e4604045	1168	p = p->next;
mbed_official	49:77c8e4604045	1169	os_timer_head = p;
mbed_official	112:53ace74b190c	1170	status = isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0U);
mbed_official	112:53ace74b190c	1171	if (status != osOK) {
mbed_official	112:53ace74b190c	1172	os_error(OS_ERR_TIMER_OVF);
mbed_official	112:53ace74b190c	1173	}
mbed_official	112:53ace74b190c	1174	if (pt->type == (uint8_t)osTimerPeriodic) {
mbed_official	49:77c8e4604045	1175	rt_timer_insert(pt, pt->icnt);
mbed_official	49:77c8e4604045	1176	} else {
mbed_official	49:77c8e4604045	1177	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	1178	}
mbed_official	49:77c8e4604045	1179	}
mbed_official	49:77c8e4604045	1180	}
mbed_official	49:77c8e4604045	1181
mbed_official	112:53ace74b190c	1182	/// Get user timers wake-up time
mbed_official	112:53ace74b190c	1183	uint32_t sysUserTimerWakeupTime (void) {
mbed_official	112:53ace74b190c	1184
mbed_official	112:53ace74b190c	1185	if (os_timer_head) {
mbed_official	112:53ace74b190c	1186	return os_timer_head->tcnt;
mbed_official	112:53ace74b190c	1187	}
mbed_official	112:53ace74b190c	1188	return 0xFFFFFFFFU;
mbed_official	112:53ace74b190c	1189	}
mbed_official	112:53ace74b190c	1190
mbed_official	112:53ace74b190c	1191	/// Update user timers on resume
mbed_official	112:53ace74b190c	1192	void sysUserTimerUpdate (uint32_t sleep_time) {
mbed_official	112:53ace74b190c	1193
mbed_official	112:53ace74b190c	1194	while ((os_timer_head != NULL) && (sleep_time != 0U)) {
mbed_official	112:53ace74b190c	1195	if (sleep_time >= os_timer_head->tcnt) {
mbed_official	112:53ace74b190c	1196	sleep_time -= os_timer_head->tcnt;
mbed_official	112:53ace74b190c	1197	os_timer_head->tcnt = 1U;
mbed_official	112:53ace74b190c	1198	sysTimerTick();
mbed_official	112:53ace74b190c	1199	} else {
mbed_official	112:53ace74b190c	1200	os_timer_head->tcnt -= sleep_time;
mbed_official	112:53ace74b190c	1201	break;
mbed_official	112:53ace74b190c	1202	}
mbed_official	112:53ace74b190c	1203	}
mbed_official	112:53ace74b190c	1204	}
mbed_official	112:53ace74b190c	1205
mbed_official	49:77c8e4604045	1206
mbed_official	49:77c8e4604045	1207	// Timer Management Public API
mbed_official	49:77c8e4604045	1208
mbed_official	49:77c8e4604045	1209	/// Create timer
mbed_official	112:53ace74b190c	1210	osTimerId osTimerCreate (const osTimerDef_t timer_def, os_timer_type type, void argument) {
mbed_official	112:53ace74b190c	1211	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1212	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	1213	}
mbed_official	112:53ace74b190c	1214	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	1215	// Privileged and not running
mbed_official	49:77c8e4604045	1216	return svcTimerCreate(timer_def, type, argument);
mbed_official	49:77c8e4604045	1217	} else {
mbed_official	49:77c8e4604045	1218	return __svcTimerCreate(timer_def, type, argument);
mbed_official	49:77c8e4604045	1219	}
mbed_official	49:77c8e4604045	1220	}
mbed_official	49:77c8e4604045	1221
mbed_official	49:77c8e4604045	1222	/// Start or restart timer
mbed_official	49:77c8e4604045	1223	osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	1224	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1225	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1226	}
mbed_official	49:77c8e4604045	1227	return __svcTimerStart(timer_id, millisec);
mbed_official	49:77c8e4604045	1228	}
mbed_official	49:77c8e4604045	1229
mbed_official	49:77c8e4604045	1230	/// Stop timer
mbed_official	49:77c8e4604045	1231	osStatus osTimerStop (osTimerId timer_id) {
mbed_official	112:53ace74b190c	1232	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1233	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1234	}
mbed_official	49:77c8e4604045	1235	return __svcTimerStop(timer_id);
mbed_official	49:77c8e4604045	1236	}
mbed_official	49:77c8e4604045	1237
mbed_official	49:77c8e4604045	1238	/// Delete timer
mbed_official	49:77c8e4604045	1239	osStatus osTimerDelete (osTimerId timer_id) {
mbed_official	112:53ace74b190c	1240	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1241	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1242	}
mbed_official	49:77c8e4604045	1243	return __svcTimerDelete(timer_id);
mbed_official	49:77c8e4604045	1244	}
mbed_official	49:77c8e4604045	1245
mbed_official	49:77c8e4604045	1246	/// INTERNAL - Not Public
mbed_official	49:77c8e4604045	1247	/// Get timer callback parameters (used by OS Timer Thread)
mbed_official	112:53ace74b190c	1248	os_InRegs osCallback osTimerCall (osTimerId timer_id) {
mbed_official	112:53ace74b190c	1249	return __svcTimerCall(timer_id);
mbed_official	49:77c8e4604045	1250	}
mbed_official	49:77c8e4604045	1251
mbed_official	49:77c8e4604045	1252
mbed_official	49:77c8e4604045	1253	// Timer Thread
mbed_official	49:77c8e4604045	1254	__NO_RETURN void osTimerThread (void const *argument) {
mbed_official	49:77c8e4604045	1255	osCallback cb;
mbed_official	49:77c8e4604045	1256	osEvent evt;
mbed_official	49:77c8e4604045	1257
mbed_official	49:77c8e4604045	1258	for (;;) {
mbed_official	49:77c8e4604045	1259	evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
mbed_official	49:77c8e4604045	1260	if (evt.status == osEventMessage) {
mbed_official	49:77c8e4604045	1261	cb = osTimerCall(evt.value.p);
mbed_official	49:77c8e4604045	1262	if (cb.fp != NULL) {
mbed_official	49:77c8e4604045	1263	(*(os_ptimer)cb.fp)(cb.arg);
mbed_official	49:77c8e4604045	1264	}
mbed_official	49:77c8e4604045	1265	}
mbed_official	49:77c8e4604045	1266	}
mbed_official	49:77c8e4604045	1267	}
mbed_official	49:77c8e4604045	1268
mbed_official	49:77c8e4604045	1269
mbed_official	49:77c8e4604045	1270	// ==== Signal Management ====
mbed_official	49:77c8e4604045	1271
mbed_official	49:77c8e4604045	1272	// Signal Service Calls declarations
mbed_official	49:77c8e4604045	1273	SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
mbed_official	49:77c8e4604045	1274	SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
mbed_official	49:77c8e4604045	1275	SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	1276
mbed_official	49:77c8e4604045	1277	// Signal Service Calls
mbed_official	49:77c8e4604045	1278
mbed_official	49:77c8e4604045	1279	/// Set the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1280	int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1281	P_TCB ptcb;
mbed_official	49:77c8e4604045	1282	int32_t sig;
mbed_official	49:77c8e4604045	1283
mbed_official	49:77c8e4604045	1284	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	1285	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	1286	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1287	}
mbed_official	49:77c8e4604045	1288
mbed_official	112:53ace74b190c	1289	if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
mbed_official	112:53ace74b190c	1290	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1291	}
mbed_official	49:77c8e4604045	1292
mbed_official	112:53ace74b190c	1293	sig = (int32_t)ptcb->events; // Previous signal flags
mbed_official	112:53ace74b190c	1294
mbed_official	112:53ace74b190c	1295	rt_evt_set((uint16_t)signals, ptcb->task_id); // Set event flags
mbed_official	49:77c8e4604045	1296
mbed_official	49:77c8e4604045	1297	return sig;
mbed_official	49:77c8e4604045	1298	}
mbed_official	49:77c8e4604045	1299
mbed_official	49:77c8e4604045	1300	/// Clear the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1301	int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1302	P_TCB ptcb;
mbed_official	49:77c8e4604045	1303	int32_t sig;
mbed_official	49:77c8e4604045	1304
mbed_official	49:77c8e4604045	1305	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	1306	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	1307	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1308	}
mbed_official	49:77c8e4604045	1309
mbed_official	112:53ace74b190c	1310	if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
mbed_official	112:53ace74b190c	1311	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1312	}
mbed_official	49:77c8e4604045	1313
mbed_official	112:53ace74b190c	1314	sig = (int32_t)ptcb->events; // Previous signal flags
mbed_official	112:53ace74b190c	1315
mbed_official	112:53ace74b190c	1316	rt_evt_clr((uint16_t)signals, ptcb->task_id); // Clear event flags
mbed_official	49:77c8e4604045	1317
mbed_official	49:77c8e4604045	1318	return sig;
mbed_official	49:77c8e4604045	1319	}
mbed_official	49:77c8e4604045	1320
mbed_official	49:77c8e4604045	1321	/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
mbed_official	49:77c8e4604045	1322	os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
mbed_official	49:77c8e4604045	1323	OS_RESULT res;
mbed_official	49:77c8e4604045	1324	osEvent ret;
mbed_official	49:77c8e4604045	1325
mbed_official	112:53ace74b190c	1326	if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
mbed_official	49:77c8e4604045	1327	ret.status = osErrorValue;
mbed_official	49:77c8e4604045	1328	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1329	}
mbed_official	49:77c8e4604045	1330
mbed_official	49:77c8e4604045	1331	if (signals != 0) { // Wait for all specified signals
mbed_official	112:53ace74b190c	1332	res = rt_evt_wait((uint16_t)signals, rt_ms2tick(millisec), __TRUE);
mbed_official	49:77c8e4604045	1333	} else { // Wait for any signal
mbed_official	112:53ace74b190c	1334	res = rt_evt_wait(0xFFFFU, rt_ms2tick(millisec), __FALSE);
mbed_official	49:77c8e4604045	1335	}
mbed_official	49:77c8e4604045	1336
mbed_official	49:77c8e4604045	1337	if (res == OS_R_EVT) {
mbed_official	49:77c8e4604045	1338	ret.status = osEventSignal;
mbed_official	112:53ace74b190c	1339	ret.value.signals = (signals != 0) ? signals : (int32_t)os_tsk.run->waits;
mbed_official	49:77c8e4604045	1340	} else {
mbed_official	112:53ace74b190c	1341	ret.status = (millisec != 0U) ? osEventTimeout : osOK;
mbed_official	49:77c8e4604045	1342	ret.value.signals = 0;
mbed_official	49:77c8e4604045	1343	}
mbed_official	49:77c8e4604045	1344
mbed_official	49:77c8e4604045	1345	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1346	}
mbed_official	49:77c8e4604045	1347
mbed_official	49:77c8e4604045	1348
mbed_official	49:77c8e4604045	1349	// Signal ISR Calls
mbed_official	49:77c8e4604045	1350
mbed_official	49:77c8e4604045	1351	/// Set the specified Signal Flags of an active thread
mbed_official	112:53ace74b190c	1352	int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1353	P_TCB ptcb;
mbed_official	49:77c8e4604045	1354	int32_t sig;
mbed_official	49:77c8e4604045	1355
mbed_official	49:77c8e4604045	1356	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	112:53ace74b190c	1357	if (ptcb == NULL) {
mbed_official	112:53ace74b190c	1358	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1359	}
mbed_official	49:77c8e4604045	1360
mbed_official	112:53ace74b190c	1361	if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
mbed_official	112:53ace74b190c	1362	return (int32_t)0x80000000U;
mbed_official	112:53ace74b190c	1363	}
mbed_official	49:77c8e4604045	1364
mbed_official	112:53ace74b190c	1365	sig = (int32_t)ptcb->events; // Previous signal flags
mbed_official	112:53ace74b190c	1366
mbed_official	112:53ace74b190c	1367	isr_evt_set((uint16_t)signals, ptcb->task_id);// Set event flags
mbed_official	49:77c8e4604045	1368
mbed_official	49:77c8e4604045	1369	return sig;
mbed_official	49:77c8e4604045	1370	}
mbed_official	49:77c8e4604045	1371
mbed_official	49:77c8e4604045	1372
mbed_official	49:77c8e4604045	1373	// Signal Public API
mbed_official	49:77c8e4604045	1374
mbed_official	49:77c8e4604045	1375	/// Set the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1376	int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	112:53ace74b190c	1377	if (__get_IPSR() != 0U) { // in ISR
mbed_official	112:53ace74b190c	1378	return isrSignalSet(thread_id, signals);
mbed_official	49:77c8e4604045	1379	} else { // in Thread
mbed_official	49:77c8e4604045	1380	return __svcSignalSet(thread_id, signals);
mbed_official	49:77c8e4604045	1381	}
mbed_official	49:77c8e4604045	1382	}
mbed_official	49:77c8e4604045	1383
mbed_official	49:77c8e4604045	1384	/// Clear the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1385	int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
mbed_official	112:53ace74b190c	1386	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1387	return (int32_t)0x80000000U; // Not allowed in ISR
mbed_official	112:53ace74b190c	1388	}
mbed_official	49:77c8e4604045	1389	return __svcSignalClear(thread_id, signals);
mbed_official	49:77c8e4604045	1390	}
mbed_official	49:77c8e4604045	1391
mbed_official	49:77c8e4604045	1392	/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
mbed_official	49:77c8e4604045	1393	os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
mbed_official	49:77c8e4604045	1394	osEvent ret;
mbed_official	49:77c8e4604045	1395
mbed_official	112:53ace74b190c	1396	if (__get_IPSR() != 0U) { // Not allowed in ISR
mbed_official	49:77c8e4604045	1397	ret.status = osErrorISR;
mbed_official	49:77c8e4604045	1398	return ret;
mbed_official	49:77c8e4604045	1399	}
mbed_official	49:77c8e4604045	1400	return __svcSignalWait(signals, millisec);
mbed_official	49:77c8e4604045	1401	}
mbed_official	49:77c8e4604045	1402
mbed_official	49:77c8e4604045	1403
mbed_official	49:77c8e4604045	1404	// ==== Mutex Management ====
mbed_official	49:77c8e4604045	1405
mbed_official	49:77c8e4604045	1406	// Mutex Service Calls declarations
mbed_official	112:53ace74b190c	1407	SVC_1_1(svcMutexCreate, osMutexId, const osMutexDef_t *, RET_pointer)
mbed_official	112:53ace74b190c	1408	SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
mbed_official	112:53ace74b190c	1409	SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
mbed_official	112:53ace74b190c	1410	SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
mbed_official	49:77c8e4604045	1411
mbed_official	49:77c8e4604045	1412	// Mutex Service Calls
mbed_official	49:77c8e4604045	1413
mbed_official	49:77c8e4604045	1414	/// Create and Initialize a Mutex object
mbed_official	112:53ace74b190c	1415	osMutexId svcMutexCreate (const osMutexDef_t *mutex_def) {
mbed_official	49:77c8e4604045	1416	OS_ID mut;
mbed_official	49:77c8e4604045	1417
mbed_official	49:77c8e4604045	1418	if (mutex_def == NULL) {
mbed_official	49:77c8e4604045	1419	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1420	return NULL;
mbed_official	49:77c8e4604045	1421	}
mbed_official	49:77c8e4604045	1422
mbed_official	49:77c8e4604045	1423	mut = mutex_def->mutex;
mbed_official	49:77c8e4604045	1424	if (mut == NULL) {
mbed_official	49:77c8e4604045	1425	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1426	return NULL;
mbed_official	49:77c8e4604045	1427	}
mbed_official	49:77c8e4604045	1428
mbed_official	112:53ace74b190c	1429	if (((P_MUCB)mut)->cb_type != 0U) {
mbed_official	49:77c8e4604045	1430	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1431	return NULL;
mbed_official	49:77c8e4604045	1432	}
mbed_official	49:77c8e4604045	1433
mbed_official	49:77c8e4604045	1434	rt_mut_init(mut); // Initialize Mutex
mbed_official	49:77c8e4604045	1435
mbed_official	49:77c8e4604045	1436	return mut;
mbed_official	49:77c8e4604045	1437	}
mbed_official	49:77c8e4604045	1438
mbed_official	49:77c8e4604045	1439	/// Wait until a Mutex becomes available
mbed_official	49:77c8e4604045	1440	osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1441	OS_ID mut;
mbed_official	49:77c8e4604045	1442	OS_RESULT res;
mbed_official	49:77c8e4604045	1443
mbed_official	49:77c8e4604045	1444	mut = rt_id2obj(mutex_id);
mbed_official	112:53ace74b190c	1445	if (mut == NULL) {
mbed_official	112:53ace74b190c	1446	return osErrorParameter;
mbed_official	112:53ace74b190c	1447	}
mbed_official	49:77c8e4604045	1448
mbed_official	112:53ace74b190c	1449	if (((P_MUCB)mut)->cb_type != MUCB) {
mbed_official	112:53ace74b190c	1450	return osErrorParameter;
mbed_official	112:53ace74b190c	1451	}
mbed_official	49:77c8e4604045	1452
mbed_official	49:77c8e4604045	1453	res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
mbed_official	49:77c8e4604045	1454
mbed_official	49:77c8e4604045	1455	if (res == OS_R_TMO) {
mbed_official	112:53ace74b190c	1456	return ((millisec != 0U) ? osErrorTimeoutResource : osErrorResource);
mbed_official	49:77c8e4604045	1457	}
mbed_official	49:77c8e4604045	1458
mbed_official	49:77c8e4604045	1459	return osOK;
mbed_official	49:77c8e4604045	1460	}
mbed_official	49:77c8e4604045	1461
mbed_official	49:77c8e4604045	1462	/// Release a Mutex that was obtained with osMutexWait
mbed_official	49:77c8e4604045	1463	osStatus svcMutexRelease (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1464	OS_ID mut;
mbed_official	49:77c8e4604045	1465	OS_RESULT res;
mbed_official	49:77c8e4604045	1466
mbed_official	49:77c8e4604045	1467	mut = rt_id2obj(mutex_id);
mbed_official	112:53ace74b190c	1468	if (mut == NULL) {
mbed_official	112:53ace74b190c	1469	return osErrorParameter;
mbed_official	112:53ace74b190c	1470	}
mbed_official	49:77c8e4604045	1471
mbed_official	112:53ace74b190c	1472	if (((P_MUCB)mut)->cb_type != MUCB) {
mbed_official	112:53ace74b190c	1473	return osErrorParameter;
mbed_official	112:53ace74b190c	1474	}
mbed_official	49:77c8e4604045	1475
mbed_official	49:77c8e4604045	1476	res = rt_mut_release(mut); // Release Mutex
mbed_official	49:77c8e4604045	1477
mbed_official	112:53ace74b190c	1478	if (res == OS_R_NOK) {
mbed_official	112:53ace74b190c	1479	return osErrorResource; // Thread not owner or Zero Counter
mbed_official	112:53ace74b190c	1480	}
mbed_official	49:77c8e4604045	1481
mbed_official	49:77c8e4604045	1482	return osOK;
mbed_official	49:77c8e4604045	1483	}
mbed_official	49:77c8e4604045	1484
mbed_official	49:77c8e4604045	1485	/// Delete a Mutex that was created by osMutexCreate
mbed_official	49:77c8e4604045	1486	osStatus svcMutexDelete (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1487	OS_ID mut;
mbed_official	49:77c8e4604045	1488
mbed_official	49:77c8e4604045	1489	mut = rt_id2obj(mutex_id);
mbed_official	112:53ace74b190c	1490	if (mut == NULL) {
mbed_official	112:53ace74b190c	1491	return osErrorParameter;
mbed_official	112:53ace74b190c	1492	}
mbed_official	49:77c8e4604045	1493
mbed_official	112:53ace74b190c	1494	if (((P_MUCB)mut)->cb_type != MUCB) {
mbed_official	112:53ace74b190c	1495	return osErrorParameter;
mbed_official	112:53ace74b190c	1496	}
mbed_official	49:77c8e4604045	1497
mbed_official	49:77c8e4604045	1498	rt_mut_delete(mut); // Release Mutex
mbed_official	49:77c8e4604045	1499
mbed_official	49:77c8e4604045	1500	return osOK;
mbed_official	49:77c8e4604045	1501	}
mbed_official	49:77c8e4604045	1502
mbed_official	49:77c8e4604045	1503
mbed_official	49:77c8e4604045	1504	// Mutex Public API
mbed_official	49:77c8e4604045	1505
mbed_official	49:77c8e4604045	1506	/// Create and Initialize a Mutex object
mbed_official	112:53ace74b190c	1507	osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
mbed_official	112:53ace74b190c	1508	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1509	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	1510	}
mbed_official	112:53ace74b190c	1511	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	1512	// Privileged and not running
mbed_official	49:77c8e4604045	1513	return svcMutexCreate(mutex_def);
mbed_official	49:77c8e4604045	1514	} else {
mbed_official	49:77c8e4604045	1515	return __svcMutexCreate(mutex_def);
mbed_official	49:77c8e4604045	1516	}
mbed_official	49:77c8e4604045	1517	}
mbed_official	49:77c8e4604045	1518
mbed_official	49:77c8e4604045	1519	/// Wait until a Mutex becomes available
mbed_official	49:77c8e4604045	1520	osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	1521	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1522	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1523	}
mbed_official	49:77c8e4604045	1524	return __svcMutexWait(mutex_id, millisec);
mbed_official	49:77c8e4604045	1525	}
mbed_official	49:77c8e4604045	1526
mbed_official	49:77c8e4604045	1527	/// Release a Mutex that was obtained with osMutexWait
mbed_official	49:77c8e4604045	1528	osStatus osMutexRelease (osMutexId mutex_id) {
mbed_official	112:53ace74b190c	1529	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1530	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1531	}
mbed_official	49:77c8e4604045	1532	return __svcMutexRelease(mutex_id);
mbed_official	49:77c8e4604045	1533	}
mbed_official	49:77c8e4604045	1534
mbed_official	49:77c8e4604045	1535	/// Delete a Mutex that was created by osMutexCreate
mbed_official	49:77c8e4604045	1536	osStatus osMutexDelete (osMutexId mutex_id) {
mbed_official	112:53ace74b190c	1537	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1538	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1539	}
mbed_official	49:77c8e4604045	1540	return __svcMutexDelete(mutex_id);
mbed_official	49:77c8e4604045	1541	}
mbed_official	49:77c8e4604045	1542
mbed_official	49:77c8e4604045	1543
mbed_official	49:77c8e4604045	1544	// ==== Semaphore Management ====
mbed_official	49:77c8e4604045	1545
mbed_official	49:77c8e4604045	1546	// Semaphore Service Calls declarations
mbed_official	49:77c8e4604045	1547	SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
mbed_official	112:53ace74b190c	1548	SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
mbed_official	112:53ace74b190c	1549	SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
mbed_official	49:77c8e4604045	1550	SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
mbed_official	49:77c8e4604045	1551
mbed_official	49:77c8e4604045	1552	// Semaphore Service Calls
mbed_official	49:77c8e4604045	1553
mbed_official	49:77c8e4604045	1554	/// Create and Initialize a Semaphore object
mbed_official	49:77c8e4604045	1555	osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
mbed_official	49:77c8e4604045	1556	OS_ID sem;
mbed_official	49:77c8e4604045	1557
mbed_official	49:77c8e4604045	1558	if (semaphore_def == NULL) {
mbed_official	49:77c8e4604045	1559	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1560	return NULL;
mbed_official	49:77c8e4604045	1561	}
mbed_official	49:77c8e4604045	1562
mbed_official	49:77c8e4604045	1563	sem = semaphore_def->semaphore;
mbed_official	49:77c8e4604045	1564	if (sem == NULL) {
mbed_official	49:77c8e4604045	1565	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1566	return NULL;
mbed_official	49:77c8e4604045	1567	}
mbed_official	49:77c8e4604045	1568
mbed_official	112:53ace74b190c	1569	if (((P_SCB)sem)->cb_type != 0U) {
mbed_official	49:77c8e4604045	1570	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1571	return NULL;
mbed_official	49:77c8e4604045	1572	}
mbed_official	49:77c8e4604045	1573
mbed_official	49:77c8e4604045	1574	if (count > osFeature_Semaphore) {
mbed_official	49:77c8e4604045	1575	sysThreadError(osErrorValue);
mbed_official	49:77c8e4604045	1576	return NULL;
mbed_official	49:77c8e4604045	1577	}
mbed_official	49:77c8e4604045	1578
mbed_official	112:53ace74b190c	1579	rt_sem_init(sem, (uint16_t)count); // Initialize Semaphore
mbed_official	112:53ace74b190c	1580
mbed_official	49:77c8e4604045	1581	return sem;
mbed_official	49:77c8e4604045	1582	}
mbed_official	49:77c8e4604045	1583
mbed_official	49:77c8e4604045	1584	/// Wait until a Semaphore becomes available
mbed_official	49:77c8e4604045	1585	int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1586	OS_ID sem;
mbed_official	49:77c8e4604045	1587	OS_RESULT res;
mbed_official	49:77c8e4604045	1588
mbed_official	49:77c8e4604045	1589	sem = rt_id2obj(semaphore_id);
mbed_official	112:53ace74b190c	1590	if (sem == NULL) {
mbed_official	112:53ace74b190c	1591	return -1;
mbed_official	112:53ace74b190c	1592	}
mbed_official	49:77c8e4604045	1593
mbed_official	112:53ace74b190c	1594	if (((P_SCB)sem)->cb_type != SCB) {
mbed_official	112:53ace74b190c	1595	return -1;
mbed_official	112:53ace74b190c	1596	}
mbed_official	49:77c8e4604045	1597
mbed_official	49:77c8e4604045	1598	res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
mbed_official	49:77c8e4604045	1599
mbed_official	112:53ace74b190c	1600	if (res == OS_R_TMO) { return 0; } // Timeout
mbed_official	49:77c8e4604045	1601
mbed_official	112:53ace74b190c	1602	return (int32_t)(((P_SCB)sem)->tokens + 1U);
mbed_official	49:77c8e4604045	1603	}
mbed_official	49:77c8e4604045	1604
mbed_official	49:77c8e4604045	1605	/// Release a Semaphore
mbed_official	49:77c8e4604045	1606	osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1607	OS_ID sem;
mbed_official	49:77c8e4604045	1608
mbed_official	49:77c8e4604045	1609	sem = rt_id2obj(semaphore_id);
mbed_official	112:53ace74b190c	1610	if (sem == NULL) {
mbed_official	112:53ace74b190c	1611	return osErrorParameter;
mbed_official	112:53ace74b190c	1612	}
mbed_official	49:77c8e4604045	1613
mbed_official	112:53ace74b190c	1614	if (((P_SCB)sem)->cb_type != SCB) {
mbed_official	112:53ace74b190c	1615	return osErrorParameter;
mbed_official	112:53ace74b190c	1616	}
mbed_official	49:77c8e4604045	1617
mbed_official	112:53ace74b190c	1618	if ((int32_t)((P_SCB)sem)->tokens == osFeature_Semaphore) {
mbed_official	112:53ace74b190c	1619	return osErrorResource;
mbed_official	112:53ace74b190c	1620	}
mbed_official	112:53ace74b190c	1621
mbed_official	49:77c8e4604045	1622	rt_sem_send(sem); // Release Semaphore
mbed_official	49:77c8e4604045	1623
mbed_official	49:77c8e4604045	1624	return osOK;
mbed_official	49:77c8e4604045	1625	}
mbed_official	49:77c8e4604045	1626
mbed_official	49:77c8e4604045	1627	/// Delete a Semaphore that was created by osSemaphoreCreate
mbed_official	49:77c8e4604045	1628	osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1629	OS_ID sem;
mbed_official	49:77c8e4604045	1630
mbed_official	49:77c8e4604045	1631	sem = rt_id2obj(semaphore_id);
mbed_official	112:53ace74b190c	1632	if (sem == NULL) {
mbed_official	112:53ace74b190c	1633	return osErrorParameter;
mbed_official	112:53ace74b190c	1634	}
mbed_official	49:77c8e4604045	1635
mbed_official	112:53ace74b190c	1636	if (((P_SCB)sem)->cb_type != SCB) {
mbed_official	112:53ace74b190c	1637	return osErrorParameter;
mbed_official	112:53ace74b190c	1638	}
mbed_official	49:77c8e4604045	1639
mbed_official	49:77c8e4604045	1640	rt_sem_delete(sem); // Delete Semaphore
mbed_official	49:77c8e4604045	1641
mbed_official	49:77c8e4604045	1642	return osOK;
mbed_official	49:77c8e4604045	1643	}
mbed_official	49:77c8e4604045	1644
mbed_official	49:77c8e4604045	1645
mbed_official	49:77c8e4604045	1646	// Semaphore ISR Calls
mbed_official	49:77c8e4604045	1647
mbed_official	49:77c8e4604045	1648	/// Release a Semaphore
mbed_official	112:53ace74b190c	1649	osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1650	OS_ID sem;
mbed_official	49:77c8e4604045	1651
mbed_official	49:77c8e4604045	1652	sem = rt_id2obj(semaphore_id);
mbed_official	112:53ace74b190c	1653	if (sem == NULL) {
mbed_official	112:53ace74b190c	1654	return osErrorParameter;
mbed_official	112:53ace74b190c	1655	}
mbed_official	49:77c8e4604045	1656
mbed_official	112:53ace74b190c	1657	if (((P_SCB)sem)->cb_type != SCB) {
mbed_official	112:53ace74b190c	1658	return osErrorParameter;
mbed_official	112:53ace74b190c	1659	}
mbed_official	49:77c8e4604045	1660
mbed_official	112:53ace74b190c	1661	if ((int32_t)((P_SCB)sem)->tokens == osFeature_Semaphore) {
mbed_official	112:53ace74b190c	1662	return osErrorResource;
mbed_official	112:53ace74b190c	1663	}
mbed_official	49:77c8e4604045	1664
mbed_official	49:77c8e4604045	1665	isr_sem_send(sem); // Release Semaphore
mbed_official	49:77c8e4604045	1666
mbed_official	49:77c8e4604045	1667	return osOK;
mbed_official	49:77c8e4604045	1668	}
mbed_official	49:77c8e4604045	1669
mbed_official	49:77c8e4604045	1670
mbed_official	49:77c8e4604045	1671	// Semaphore Public API
mbed_official	49:77c8e4604045	1672
mbed_official	49:77c8e4604045	1673	/// Create and Initialize a Semaphore object
mbed_official	112:53ace74b190c	1674	osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
mbed_official	112:53ace74b190c	1675	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1676	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	1677	}
mbed_official	112:53ace74b190c	1678	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	1679	// Privileged and not running
mbed_official	49:77c8e4604045	1680	return svcSemaphoreCreate(semaphore_def, count);
mbed_official	49:77c8e4604045	1681	} else {
mbed_official	49:77c8e4604045	1682	return __svcSemaphoreCreate(semaphore_def, count);
mbed_official	49:77c8e4604045	1683	}
mbed_official	49:77c8e4604045	1684	}
mbed_official	49:77c8e4604045	1685
mbed_official	49:77c8e4604045	1686	/// Wait until a Semaphore becomes available
mbed_official	49:77c8e4604045	1687	int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	1688	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1689	return -1; // Not allowed in ISR
mbed_official	112:53ace74b190c	1690	}
mbed_official	49:77c8e4604045	1691	return __svcSemaphoreWait(semaphore_id, millisec);
mbed_official	49:77c8e4604045	1692	}
mbed_official	49:77c8e4604045	1693
mbed_official	49:77c8e4604045	1694	/// Release a Semaphore
mbed_official	49:77c8e4604045	1695	osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	112:53ace74b190c	1696	if (__get_IPSR() != 0U) { // in ISR
mbed_official	49:77c8e4604045	1697	return isrSemaphoreRelease(semaphore_id);
mbed_official	49:77c8e4604045	1698	} else { // in Thread
mbed_official	49:77c8e4604045	1699	return __svcSemaphoreRelease(semaphore_id);
mbed_official	49:77c8e4604045	1700	}
mbed_official	49:77c8e4604045	1701	}
mbed_official	49:77c8e4604045	1702
mbed_official	49:77c8e4604045	1703	/// Delete a Semaphore that was created by osSemaphoreCreate
mbed_official	49:77c8e4604045	1704	osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
mbed_official	112:53ace74b190c	1705	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1706	return osErrorISR; // Not allowed in ISR
mbed_official	112:53ace74b190c	1707	}
mbed_official	49:77c8e4604045	1708	return __svcSemaphoreDelete(semaphore_id);
mbed_official	49:77c8e4604045	1709	}
mbed_official	49:77c8e4604045	1710
mbed_official	49:77c8e4604045	1711
mbed_official	49:77c8e4604045	1712	// ==== Memory Management Functions ====
mbed_official	49:77c8e4604045	1713
mbed_official	49:77c8e4604045	1714	// Memory Management Helper Functions
mbed_official	49:77c8e4604045	1715
mbed_official	49:77c8e4604045	1716	// Clear Memory Box (Zero init)
mbed_official	49:77c8e4604045	1717	static void rt_clr_box (void box_mem, void box) {
mbed_official	49:77c8e4604045	1718	uint32_t *p, n;
mbed_official	49:77c8e4604045	1719
mbed_official	112:53ace74b190c	1720	if ((box_mem != NULL) && (box != NULL)) {
mbed_official	49:77c8e4604045	1721	p = box;
mbed_official	112:53ace74b190c	1722	for (n = ((P_BM)box_mem)->blk_size; n; n -= 4U) {
mbed_official	112:53ace74b190c	1723	*p++ = 0U;
mbed_official	49:77c8e4604045	1724	}
mbed_official	49:77c8e4604045	1725	}
mbed_official	49:77c8e4604045	1726	}
mbed_official	49:77c8e4604045	1727
mbed_official	49:77c8e4604045	1728	// Memory Management Service Calls declarations
mbed_official	112:53ace74b190c	1729	SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
mbed_official	112:53ace74b190c	1730	SVC_1_1(sysPoolAlloc, void *, osPoolId, RET_pointer)
mbed_official	112:53ace74b190c	1731	SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
mbed_official	49:77c8e4604045	1732
mbed_official	49:77c8e4604045	1733	// Memory Management Service & ISR Calls
mbed_official	49:77c8e4604045	1734
mbed_official	49:77c8e4604045	1735	/// Create and Initialize memory pool
mbed_official	49:77c8e4604045	1736	osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
mbed_official	49:77c8e4604045	1737	uint32_t blk_sz;
mbed_official	49:77c8e4604045	1738
mbed_official	49:77c8e4604045	1739	if ((pool_def == NULL) \|\|
mbed_official	112:53ace74b190c	1740	(pool_def->pool_sz == 0U) \|\|
mbed_official	112:53ace74b190c	1741	(pool_def->item_sz == 0U) \|\|
mbed_official	49:77c8e4604045	1742	(pool_def->pool == NULL)) {
mbed_official	49:77c8e4604045	1743	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1744	return NULL;
mbed_official	49:77c8e4604045	1745	}
mbed_official	49:77c8e4604045	1746
mbed_official	112:53ace74b190c	1747	blk_sz = (pool_def->item_sz + 3U) & (uint32_t)~3U;
mbed_official	49:77c8e4604045	1748
mbed_official	112:53ace74b190c	1749	_init_box(pool_def->pool, sizeof(struct OS_BM) + (pool_def->pool_sz * blk_sz), blk_sz);
mbed_official	49:77c8e4604045	1750
mbed_official	49:77c8e4604045	1751	return pool_def->pool;
mbed_official	49:77c8e4604045	1752	}
mbed_official	49:77c8e4604045	1753
mbed_official	49:77c8e4604045	1754	/// Allocate a memory block from a memory pool
mbed_official	112:53ace74b190c	1755	void *sysPoolAlloc (osPoolId pool_id) {
mbed_official	112:53ace74b190c	1756	void *mem;
mbed_official	49:77c8e4604045	1757
mbed_official	112:53ace74b190c	1758	if (pool_id == NULL) {
mbed_official	112:53ace74b190c	1759	return NULL;
mbed_official	49:77c8e4604045	1760	}
mbed_official	49:77c8e4604045	1761
mbed_official	112:53ace74b190c	1762	mem = rt_alloc_box(pool_id);
mbed_official	112:53ace74b190c	1763
mbed_official	112:53ace74b190c	1764	return mem;
mbed_official	49:77c8e4604045	1765	}
mbed_official	49:77c8e4604045	1766
mbed_official	49:77c8e4604045	1767	/// Return an allocated memory block back to a specific memory pool
mbed_official	49:77c8e4604045	1768	osStatus sysPoolFree (osPoolId pool_id, void *block) {
mbed_official	112:53ace74b190c	1769	uint32_t res;
mbed_official	112:53ace74b190c	1770
mbed_official	112:53ace74b190c	1771	if (pool_id == NULL) {
mbed_official	112:53ace74b190c	1772	return osErrorParameter;
mbed_official	112:53ace74b190c	1773	}
mbed_official	49:77c8e4604045	1774
mbed_official	49:77c8e4604045	1775	res = rt_free_box(pool_id, block);
mbed_official	112:53ace74b190c	1776	if (res != 0) {
mbed_official	112:53ace74b190c	1777	return osErrorValue;
mbed_official	112:53ace74b190c	1778	}
mbed_official	49:77c8e4604045	1779
mbed_official	49:77c8e4604045	1780	return osOK;
mbed_official	49:77c8e4604045	1781	}
mbed_official	49:77c8e4604045	1782
mbed_official	49:77c8e4604045	1783
mbed_official	49:77c8e4604045	1784	// Memory Management Public API
mbed_official	49:77c8e4604045	1785
mbed_official	49:77c8e4604045	1786	/// Create and Initialize memory pool
mbed_official	112:53ace74b190c	1787	osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
mbed_official	112:53ace74b190c	1788	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1789	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	1790	}
mbed_official	112:53ace74b190c	1791	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	1792	// Privileged and not running
mbed_official	49:77c8e4604045	1793	return svcPoolCreate(pool_def);
mbed_official	49:77c8e4604045	1794	} else {
mbed_official	49:77c8e4604045	1795	return __svcPoolCreate(pool_def);
mbed_official	49:77c8e4604045	1796	}
mbed_official	49:77c8e4604045	1797	}
mbed_official	49:77c8e4604045	1798
mbed_official	49:77c8e4604045	1799	/// Allocate a memory block from a memory pool
mbed_official	49:77c8e4604045	1800	void *osPoolAlloc (osPoolId pool_id) {
mbed_official	112:53ace74b190c	1801	if ((__get_IPSR() != 0U) \|\| ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
mbed_official	112:53ace74b190c	1802	return sysPoolAlloc(pool_id);
mbed_official	49:77c8e4604045	1803	} else { // in Thread
mbed_official	112:53ace74b190c	1804	return __sysPoolAlloc(pool_id);
mbed_official	49:77c8e4604045	1805	}
mbed_official	49:77c8e4604045	1806	}
mbed_official	49:77c8e4604045	1807
mbed_official	49:77c8e4604045	1808	/// Allocate a memory block from a memory pool and set memory block to zero
mbed_official	49:77c8e4604045	1809	void *osPoolCAlloc (osPoolId pool_id) {
mbed_official	112:53ace74b190c	1810	void *mem;
mbed_official	112:53ace74b190c	1811
mbed_official	112:53ace74b190c	1812	if ((__get_IPSR() != 0U) \|\| ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
mbed_official	112:53ace74b190c	1813	mem = sysPoolAlloc(pool_id);
mbed_official	49:77c8e4604045	1814	} else { // in Thread
mbed_official	112:53ace74b190c	1815	mem = __sysPoolAlloc(pool_id);
mbed_official	49:77c8e4604045	1816	}
mbed_official	112:53ace74b190c	1817
mbed_official	112:53ace74b190c	1818	rt_clr_box(pool_id, mem);
mbed_official	112:53ace74b190c	1819
mbed_official	112:53ace74b190c	1820	return mem;
mbed_official	49:77c8e4604045	1821	}
mbed_official	49:77c8e4604045	1822
mbed_official	49:77c8e4604045	1823	/// Return an allocated memory block back to a specific memory pool
mbed_official	49:77c8e4604045	1824	osStatus osPoolFree (osPoolId pool_id, void *block) {
mbed_official	112:53ace74b190c	1825	if ((__get_IPSR() != 0U) \|\| ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
mbed_official	49:77c8e4604045	1826	return sysPoolFree(pool_id, block);
mbed_official	49:77c8e4604045	1827	} else { // in Thread
mbed_official	49:77c8e4604045	1828	return __sysPoolFree(pool_id, block);
mbed_official	49:77c8e4604045	1829	}
mbed_official	49:77c8e4604045	1830	}
mbed_official	49:77c8e4604045	1831
mbed_official	49:77c8e4604045	1832
mbed_official	49:77c8e4604045	1833	// ==== Message Queue Management Functions ====
mbed_official	49:77c8e4604045	1834
mbed_official	49:77c8e4604045	1835	// Message Queue Management Service Calls declarations
mbed_official	112:53ace74b190c	1836	SVC_2_1(svcMessageCreate, osMessageQId, const osMessageQDef_t *, osThreadId, RET_pointer)
mbed_official	112:53ace74b190c	1837	SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
mbed_official	112:53ace74b190c	1838	SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	1839
mbed_official	49:77c8e4604045	1840	// Message Queue Service Calls
mbed_official	49:77c8e4604045	1841
mbed_official	49:77c8e4604045	1842	/// Create and Initialize Message Queue
mbed_official	112:53ace74b190c	1843	osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	1844
mbed_official	49:77c8e4604045	1845	if ((queue_def == NULL) \|\|
mbed_official	112:53ace74b190c	1846	(queue_def->queue_sz == 0U) \|\|
mbed_official	49:77c8e4604045	1847	(queue_def->pool == NULL)) {
mbed_official	49:77c8e4604045	1848	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1849	return NULL;
mbed_official	49:77c8e4604045	1850	}
mbed_official	112:53ace74b190c	1851
mbed_official	112:53ace74b190c	1852	if (((P_MCB)queue_def->pool)->cb_type != 0U) {
mbed_official	49:77c8e4604045	1853	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1854	return NULL;
mbed_official	49:77c8e4604045	1855	}
mbed_official	49:77c8e4604045	1856
mbed_official	112:53ace74b190c	1857	rt_mbx_init(queue_def->pool, (uint16_t)(4U*(queue_def->queue_sz + 4U)));
mbed_official	49:77c8e4604045	1858
mbed_official	49:77c8e4604045	1859	return queue_def->pool;
mbed_official	49:77c8e4604045	1860	}
mbed_official	49:77c8e4604045	1861
mbed_official	49:77c8e4604045	1862	/// Put a Message to a Queue
mbed_official	49:77c8e4604045	1863	osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	49:77c8e4604045	1864	OS_RESULT res;
mbed_official	49:77c8e4604045	1865
mbed_official	112:53ace74b190c	1866	if (queue_id == NULL) {
mbed_official	112:53ace74b190c	1867	return osErrorParameter;
mbed_official	112:53ace74b190c	1868	}
mbed_official	49:77c8e4604045	1869
mbed_official	112:53ace74b190c	1870	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	112:53ace74b190c	1871	return osErrorParameter;
mbed_official	112:53ace74b190c	1872	}
mbed_official	49:77c8e4604045	1873
mbed_official	49:77c8e4604045	1874	res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	1875
mbed_official	49:77c8e4604045	1876	if (res == OS_R_TMO) {
mbed_official	112:53ace74b190c	1877	return ((millisec != 0U) ? osErrorTimeoutResource : osErrorResource);
mbed_official	49:77c8e4604045	1878	}
mbed_official	49:77c8e4604045	1879
mbed_official	49:77c8e4604045	1880	return osOK;
mbed_official	49:77c8e4604045	1881	}
mbed_official	49:77c8e4604045	1882
mbed_official	49:77c8e4604045	1883	/// Get a Message or Wait for a Message from a Queue
mbed_official	49:77c8e4604045	1884	os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1885	OS_RESULT res;
mbed_official	49:77c8e4604045	1886	osEvent ret;
mbed_official	49:77c8e4604045	1887
mbed_official	49:77c8e4604045	1888	if (queue_id == NULL) {
mbed_official	49:77c8e4604045	1889	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1890	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1891	}
mbed_official	49:77c8e4604045	1892
mbed_official	49:77c8e4604045	1893	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	49:77c8e4604045	1894	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1895	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1896	}
mbed_official	49:77c8e4604045	1897
mbed_official	49:77c8e4604045	1898	res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
mbed_official	112:53ace74b190c	1899
mbed_official	49:77c8e4604045	1900	if (res == OS_R_TMO) {
mbed_official	112:53ace74b190c	1901	ret.status = (millisec != 0U) ? osEventTimeout : osOK;
mbed_official	49:77c8e4604045	1902	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1903	}
mbed_official	49:77c8e4604045	1904
mbed_official	49:77c8e4604045	1905	ret.status = osEventMessage;
mbed_official	49:77c8e4604045	1906
mbed_official	49:77c8e4604045	1907	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1908	}
mbed_official	49:77c8e4604045	1909
mbed_official	49:77c8e4604045	1910
mbed_official	49:77c8e4604045	1911	// Message Queue ISR Calls
mbed_official	49:77c8e4604045	1912
mbed_official	49:77c8e4604045	1913	/// Put a Message to a Queue
mbed_official	112:53ace74b190c	1914	osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	49:77c8e4604045	1915
mbed_official	112:53ace74b190c	1916	if ((queue_id == NULL) \|\| (millisec != 0U)) {
mbed_official	49:77c8e4604045	1917	return osErrorParameter;
mbed_official	49:77c8e4604045	1918	}
mbed_official	49:77c8e4604045	1919
mbed_official	112:53ace74b190c	1920	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	112:53ace74b190c	1921	return osErrorParameter;
mbed_official	112:53ace74b190c	1922	}
mbed_official	49:77c8e4604045	1923
mbed_official	112:53ace74b190c	1924	if (rt_mbx_check(queue_id) == 0U) { // Check if Queue is full
mbed_official	49:77c8e4604045	1925	return osErrorResource;
mbed_official	49:77c8e4604045	1926	}
mbed_official	49:77c8e4604045	1927
mbed_official	49:77c8e4604045	1928	isr_mbx_send(queue_id, (void *)info);
mbed_official	49:77c8e4604045	1929
mbed_official	49:77c8e4604045	1930	return osOK;
mbed_official	49:77c8e4604045	1931	}
mbed_official	49:77c8e4604045	1932
mbed_official	49:77c8e4604045	1933	/// Get a Message or Wait for a Message from a Queue
mbed_official	112:53ace74b190c	1934	os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1935	OS_RESULT res;
mbed_official	49:77c8e4604045	1936	osEvent ret;
mbed_official	49:77c8e4604045	1937
mbed_official	112:53ace74b190c	1938	if ((queue_id == NULL) \|\| (millisec != 0U)) {
mbed_official	49:77c8e4604045	1939	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1940	return ret;
mbed_official	49:77c8e4604045	1941	}
mbed_official	49:77c8e4604045	1942
mbed_official	49:77c8e4604045	1943	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	49:77c8e4604045	1944	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1945	return ret;
mbed_official	49:77c8e4604045	1946	}
mbed_official	49:77c8e4604045	1947
mbed_official	49:77c8e4604045	1948	res = isr_mbx_receive(queue_id, &ret.value.p);
mbed_official	112:53ace74b190c	1949
mbed_official	49:77c8e4604045	1950	if (res != OS_R_MBX) {
mbed_official	49:77c8e4604045	1951	ret.status = osOK;
mbed_official	49:77c8e4604045	1952	return ret;
mbed_official	49:77c8e4604045	1953	}
mbed_official	49:77c8e4604045	1954
mbed_official	112:53ace74b190c	1955	ret.status = osEventMessage;
mbed_official	49:77c8e4604045	1956
mbed_official	49:77c8e4604045	1957	return ret;
mbed_official	49:77c8e4604045	1958	}
mbed_official	49:77c8e4604045	1959
mbed_official	49:77c8e4604045	1960
mbed_official	49:77c8e4604045	1961	// Message Queue Management Public API
mbed_official	49:77c8e4604045	1962
mbed_official	49:77c8e4604045	1963	/// Create and Initialize Message Queue
mbed_official	112:53ace74b190c	1964	osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
mbed_official	112:53ace74b190c	1965	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	1966	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	1967	}
mbed_official	112:53ace74b190c	1968	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	1969	// Privileged and not running
mbed_official	49:77c8e4604045	1970	return svcMessageCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1971	} else {
mbed_official	49:77c8e4604045	1972	return __svcMessageCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1973	}
mbed_official	49:77c8e4604045	1974	}
mbed_official	49:77c8e4604045	1975
mbed_official	49:77c8e4604045	1976	/// Put a Message to a Queue
mbed_official	49:77c8e4604045	1977	osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	112:53ace74b190c	1978	if (__get_IPSR() != 0U) { // in ISR
mbed_official	49:77c8e4604045	1979	return isrMessagePut(queue_id, info, millisec);
mbed_official	49:77c8e4604045	1980	} else { // in Thread
mbed_official	49:77c8e4604045	1981	return __svcMessagePut(queue_id, info, millisec);
mbed_official	49:77c8e4604045	1982	}
mbed_official	49:77c8e4604045	1983	}
mbed_official	49:77c8e4604045	1984
mbed_official	49:77c8e4604045	1985	/// Get a Message or Wait for a Message from a Queue
mbed_official	49:77c8e4604045	1986	os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	1987	if (__get_IPSR() != 0U) { // in ISR
mbed_official	49:77c8e4604045	1988	return isrMessageGet(queue_id, millisec);
mbed_official	49:77c8e4604045	1989	} else { // in Thread
mbed_official	49:77c8e4604045	1990	return __svcMessageGet(queue_id, millisec);
mbed_official	49:77c8e4604045	1991	}
mbed_official	49:77c8e4604045	1992	}
mbed_official	49:77c8e4604045	1993
mbed_official	49:77c8e4604045	1994
mbed_official	49:77c8e4604045	1995	// ==== Mail Queue Management Functions ====
mbed_official	49:77c8e4604045	1996
mbed_official	49:77c8e4604045	1997	// Mail Queue Management Service Calls declarations
mbed_official	112:53ace74b190c	1998	SVC_2_1(svcMailCreate, osMailQId, const osMailQDef_t *, osThreadId, RET_pointer)
mbed_official	112:53ace74b190c	1999	SVC_3_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, RET_pointer)
mbed_official	112:53ace74b190c	2000	SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	2001
mbed_official	49:77c8e4604045	2002	// Mail Queue Management Service & ISR Calls
mbed_official	49:77c8e4604045	2003
mbed_official	49:77c8e4604045	2004	/// Create and Initialize mail queue
mbed_official	112:53ace74b190c	2005	osMailQId svcMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	2006	uint32_t blk_sz;
mbed_official	49:77c8e4604045	2007	P_MCB pmcb;
mbed_official	49:77c8e4604045	2008	void *pool;
mbed_official	49:77c8e4604045	2009
mbed_official	49:77c8e4604045	2010	if ((queue_def == NULL) \|\|
mbed_official	112:53ace74b190c	2011	(queue_def->queue_sz == 0U) \|\|
mbed_official	112:53ace74b190c	2012	(queue_def->item_sz == 0U) \|\|
mbed_official	49:77c8e4604045	2013	(queue_def->pool == NULL)) {
mbed_official	49:77c8e4604045	2014	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	2015	return NULL;
mbed_official	49:77c8e4604045	2016	}
mbed_official	49:77c8e4604045	2017
mbed_official	49:77c8e4604045	2018	pmcb = (((void *)queue_def->pool) + 0);
mbed_official	49:77c8e4604045	2019	pool = (((void *)queue_def->pool) + 1);
mbed_official	49:77c8e4604045	2020
mbed_official	112:53ace74b190c	2021	if ((pool == NULL) \|\| (pmcb == NULL) \|\| (pmcb->cb_type != 0U)) {
mbed_official	49:77c8e4604045	2022	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	2023	return NULL;
mbed_official	49:77c8e4604045	2024	}
mbed_official	49:77c8e4604045	2025
mbed_official	112:53ace74b190c	2026	blk_sz = (queue_def->item_sz + 3U) & (uint32_t)~3U;
mbed_official	49:77c8e4604045	2027
mbed_official	112:53ace74b190c	2028	_init_box(pool, sizeof(struct OS_BM) + (queue_def->queue_sz * blk_sz), blk_sz);
mbed_official	49:77c8e4604045	2029
mbed_official	112:53ace74b190c	2030	rt_mbx_init(pmcb, (uint16_t)(4U*(queue_def->queue_sz + 4U)));
mbed_official	49:77c8e4604045	2031
mbed_official	49:77c8e4604045	2032	return queue_def->pool;
mbed_official	49:77c8e4604045	2033	}
mbed_official	49:77c8e4604045	2034
mbed_official	49:77c8e4604045	2035	/// Allocate a memory block from a mail
mbed_official	112:53ace74b190c	2036	void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr) {
mbed_official	49:77c8e4604045	2037	P_MCB pmcb;
mbed_official	49:77c8e4604045	2038	void *pool;
mbed_official	49:77c8e4604045	2039	void *mem;
mbed_official	49:77c8e4604045	2040
mbed_official	112:53ace74b190c	2041	if (queue_id == NULL) {
mbed_official	112:53ace74b190c	2042	return NULL;
mbed_official	112:53ace74b190c	2043	}
mbed_official	49:77c8e4604045	2044
mbed_official	49:77c8e4604045	2045	pmcb = (((void *)queue_id) + 0);
mbed_official	49:77c8e4604045	2046	pool = (((void *)queue_id) + 1);
mbed_official	49:77c8e4604045	2047
mbed_official	112:53ace74b190c	2048	if ((pool == NULL) \|\| (pmcb == NULL)) {
mbed_official	112:53ace74b190c	2049	return NULL;
mbed_official	112:53ace74b190c	2050	}
mbed_official	49:77c8e4604045	2051
mbed_official	112:53ace74b190c	2052	if ((isr != 0U) && (millisec != 0U)) {
mbed_official	112:53ace74b190c	2053	return NULL;
mbed_official	112:53ace74b190c	2054	}
mbed_official	49:77c8e4604045	2055
mbed_official	49:77c8e4604045	2056	mem = rt_alloc_box(pool);
mbed_official	49:77c8e4604045	2057
mbed_official	112:53ace74b190c	2058	if ((mem == NULL) && (millisec != 0U)) {
mbed_official	49:77c8e4604045	2059	// Put Task to sleep when Memory not available
mbed_official	49:77c8e4604045	2060	if (pmcb->p_lnk != NULL) {
mbed_official	49:77c8e4604045	2061	rt_put_prio((P_XCB)pmcb, os_tsk.run);
mbed_official	49:77c8e4604045	2062	} else {
mbed_official	49:77c8e4604045	2063	pmcb->p_lnk = os_tsk.run;
mbed_official	49:77c8e4604045	2064	os_tsk.run->p_lnk = NULL;
mbed_official	49:77c8e4604045	2065	os_tsk.run->p_rlnk = (P_TCB)pmcb;
mbed_official	49:77c8e4604045	2066	// Task is waiting to allocate a message
mbed_official	112:53ace74b190c	2067	pmcb->state = 3U;
mbed_official	49:77c8e4604045	2068	}
mbed_official	49:77c8e4604045	2069	rt_block(rt_ms2tick(millisec), WAIT_MBX);
mbed_official	49:77c8e4604045	2070	}
mbed_official	49:77c8e4604045	2071
mbed_official	112:53ace74b190c	2072	return mem;
mbed_official	49:77c8e4604045	2073	}
mbed_official	49:77c8e4604045	2074
mbed_official	49:77c8e4604045	2075	/// Free a memory block from a mail
mbed_official	49:77c8e4604045	2076	osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
mbed_official	112:53ace74b190c	2077	P_MCB pmcb;
mbed_official	112:53ace74b190c	2078	P_TCB ptcb;
mbed_official	112:53ace74b190c	2079	void *pool;
mbed_official	112:53ace74b190c	2080	void *mem;
mbed_official	112:53ace74b190c	2081	uint32_t res;
mbed_official	49:77c8e4604045	2082
mbed_official	112:53ace74b190c	2083	if (queue_id == NULL) {
mbed_official	112:53ace74b190c	2084	return osErrorParameter;
mbed_official	112:53ace74b190c	2085	}
mbed_official	49:77c8e4604045	2086
mbed_official	49:77c8e4604045	2087	pmcb = (((void *)queue_id) + 0);
mbed_official	49:77c8e4604045	2088	pool = (((void *)queue_id) + 1);
mbed_official	49:77c8e4604045	2089
mbed_official	112:53ace74b190c	2090	if ((pmcb == NULL) \|\| (pool == NULL)) {
mbed_official	112:53ace74b190c	2091	return osErrorParameter;
mbed_official	112:53ace74b190c	2092	}
mbed_official	49:77c8e4604045	2093
mbed_official	49:77c8e4604045	2094	res = rt_free_box(pool, mail);
mbed_official	49:77c8e4604045	2095
mbed_official	112:53ace74b190c	2096	if (res != 0U) {
mbed_official	112:53ace74b190c	2097	return osErrorValue;
mbed_official	112:53ace74b190c	2098	}
mbed_official	49:77c8e4604045	2099
mbed_official	112:53ace74b190c	2100	if ((pmcb->p_lnk != NULL) && (pmcb->state == 3U)) {
mbed_official	49:77c8e4604045	2101	// Task is waiting to allocate a message
mbed_official	112:53ace74b190c	2102	if (isr != 0U) {
mbed_official	49:77c8e4604045	2103	rt_psq_enq (pmcb, (U32)pool);
mbed_official	49:77c8e4604045	2104	rt_psh_req ();
mbed_official	49:77c8e4604045	2105	} else {
mbed_official	49:77c8e4604045	2106	mem = rt_alloc_box(pool);
mbed_official	49:77c8e4604045	2107	if (mem != NULL) {
mbed_official	49:77c8e4604045	2108	ptcb = rt_get_first((P_XCB)pmcb);
mbed_official	49:77c8e4604045	2109	rt_ret_val(ptcb, (U32)mem);
mbed_official	49:77c8e4604045	2110	rt_rmv_dly(ptcb);
mbed_official	49:77c8e4604045	2111	rt_dispatch(ptcb);
mbed_official	49:77c8e4604045	2112	}
mbed_official	49:77c8e4604045	2113	}
mbed_official	49:77c8e4604045	2114	}
mbed_official	49:77c8e4604045	2115
mbed_official	49:77c8e4604045	2116	return osOK;
mbed_official	49:77c8e4604045	2117	}
mbed_official	49:77c8e4604045	2118
mbed_official	49:77c8e4604045	2119
mbed_official	49:77c8e4604045	2120	// Mail Queue Management Public API
mbed_official	49:77c8e4604045	2121
mbed_official	49:77c8e4604045	2122	/// Create and Initialize mail queue
mbed_official	112:53ace74b190c	2123	osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
mbed_official	112:53ace74b190c	2124	if (__get_IPSR() != 0U) {
mbed_official	112:53ace74b190c	2125	return NULL; // Not allowed in ISR
mbed_official	112:53ace74b190c	2126	}
mbed_official	112:53ace74b190c	2127	if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
mbed_official	49:77c8e4604045	2128	// Privileged and not running
mbed_official	49:77c8e4604045	2129	return svcMailCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	2130	} else {
mbed_official	49:77c8e4604045	2131	return __svcMailCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	2132	}
mbed_official	49:77c8e4604045	2133	}
mbed_official	49:77c8e4604045	2134
mbed_official	49:77c8e4604045	2135	/// Allocate a memory block from a mail
mbed_official	49:77c8e4604045	2136	void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	2137	if (__get_IPSR() != 0U) { // in ISR
mbed_official	112:53ace74b190c	2138	return sysMailAlloc(queue_id, millisec, 1U);
mbed_official	49:77c8e4604045	2139	} else { // in Thread
mbed_official	112:53ace74b190c	2140	return __sysMailAlloc(queue_id, millisec, 0U);
mbed_official	49:77c8e4604045	2141	}
mbed_official	49:77c8e4604045	2142	}
mbed_official	49:77c8e4604045	2143
mbed_official	49:77c8e4604045	2144	/// Allocate a memory block from a mail and set memory block to zero
mbed_official	49:77c8e4604045	2145	void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
mbed_official	112:53ace74b190c	2146	void *pool;
mbed_official	112:53ace74b190c	2147	void *mem;
mbed_official	112:53ace74b190c	2148
mbed_official	112:53ace74b190c	2149	if (__get_IPSR() != 0U) { // in ISR
mbed_official	112:53ace74b190c	2150	mem = sysMailAlloc(queue_id, millisec, 1U);
mbed_official	49:77c8e4604045	2151	} else { // in Thread
mbed_official	112:53ace74b190c	2152	mem = __sysMailAlloc(queue_id, millisec, 0U);
mbed_official	49:77c8e4604045	2153	}
mbed_official	112:53ace74b190c	2154
mbed_official	112:53ace74b190c	2155	pool = (((void *)queue_id) + 1);
mbed_official	112:53ace74b190c	2156
mbed_official	112:53ace74b190c	2157	rt_clr_box(pool, mem);
mbed_official	112:53ace74b190c	2158
mbed_official	112:53ace74b190c	2159	return mem;
mbed_official	49:77c8e4604045	2160	}
mbed_official	49:77c8e4604045	2161
mbed_official	49:77c8e4604045	2162	/// Free a memory block from a mail
mbed_official	49:77c8e4604045	2163	osStatus osMailFree (osMailQId queue_id, void *mail) {
mbed_official	112:53ace74b190c	2164	if (__get_IPSR() != 0U) { // in ISR
mbed_official	112:53ace74b190c	2165	return sysMailFree(queue_id, mail, 1U);
mbed_official	49:77c8e4604045	2166	} else { // in Thread
mbed_official	112:53ace74b190c	2167	return __sysMailFree(queue_id, mail, 0U);
mbed_official	49:77c8e4604045	2168	}
mbed_official	49:77c8e4604045	2169	}
mbed_official	49:77c8e4604045	2170
mbed_official	49:77c8e4604045	2171	/// Put a mail to a queue
mbed_official	49:77c8e4604045	2172	osStatus osMailPut (osMailQId queue_id, void *mail) {
mbed_official	112:53ace74b190c	2173	if (queue_id == NULL) {
mbed_official	112:53ace74b190c	2174	return osErrorParameter;
mbed_official	112:53ace74b190c	2175	}
mbed_official	112:53ace74b190c	2176	if (mail == NULL) {
mbed_official	112:53ace74b190c	2177	return osErrorValue;
mbed_official	112:53ace74b190c	2178	}
mbed_official	112:53ace74b190c	2179	return osMessagePut(((void *)queue_id), (uint32_t)mail, 0U);
mbed_official	49:77c8e4604045	2180	}
mbed_official	49:77c8e4604045	2181
mbed_official	49:77c8e4604045	2182	/// Get a mail from a queue
mbed_official	49:77c8e4604045	2183	os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	2184	osEvent ret;
mbed_official	49:77c8e4604045	2185
mbed_official	49:77c8e4604045	2186	if (queue_id == NULL) {
mbed_official	49:77c8e4604045	2187	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	2188	return ret;
mbed_official	49:77c8e4604045	2189	}
mbed_official	49:77c8e4604045	2190
mbed_official	49:77c8e4604045	2191	ret = osMessageGet(((void *)queue_id), millisec);
mbed_official	49:77c8e4604045	2192	if (ret.status == osEventMessage) ret.status = osEventMail;
mbed_official	49:77c8e4604045	2193
mbed_official	49:77c8e4604045	2194	return ret;
mbed_official	49:77c8e4604045	2195	}
mbed_official	112:53ace74b190c	2196
mbed_official	112:53ace74b190c	2197
mbed_official	112:53ace74b190c	2198	// ==== RTX Extensions ====
mbed_official	112:53ace74b190c	2199
mbed_official	112:53ace74b190c	2200	// Service Calls declarations
mbed_official	112:53ace74b190c	2201	SVC_0_1(rt_suspend, uint32_t, RET_uint32_t)
mbed_official	112:53ace74b190c	2202	SVC_1_0(rt_resume, void, uint32_t)
mbed_official	112:53ace74b190c	2203
mbed_official	112:53ace74b190c	2204
mbed_official	112:53ace74b190c	2205	// Public API
mbed_official	112:53ace74b190c	2206
mbed_official	112:53ace74b190c	2207	/// Suspends the OS task scheduler
mbed_official	112:53ace74b190c	2208	uint32_t os_suspend (void) {
mbed_official	112:53ace74b190c	2209	return __rt_suspend();
mbed_official	112:53ace74b190c	2210	}
mbed_official	112:53ace74b190c	2211
mbed_official	112:53ace74b190c	2212	/// Resumes the OS task scheduler
mbed_official	112:53ace74b190c	2213	void os_resume (uint32_t sleep_time) {
mbed_official	112:53ace74b190c	2214	__rt_resume(sleep_time);
mbed_official	112:53ace74b190c	2215	}