mbed official
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
- Committer:
- Kojto
- Date:
- 2017-07-04
- Revision:
- 125:5713cbbdb706
- Parent:
- 123:58563e6cba1e
File content as of revision 125:5713cbbdb706:
/*----------------------------------------------------------------------------
* CMSIS-RTOS - RTX
*----------------------------------------------------------------------------
* Name: rt_CMSIS.c
* Purpose: CMSIS RTOS API
* Rev.: V4.80
*----------------------------------------------------------------------------
*
* Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
* All rights reserved.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* - Neither the name of ARM nor the names of its contributors may be used
* to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*---------------------------------------------------------------------------*/
#define __CMSIS_GENERIC
#if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
#include "core_cm4.h"
#elif defined (__CORTEX_M7) || defined (__CORTEX_M7F)
#include "core_cm7.h"
#elif defined (__CORTEX_M3)
#include "core_cm3.h"
#elif defined (__CORTEX_M0)
#include "core_cm0.h"
#elif defined (__CORTEX_M0PLUS)
#include "core_cm0plus.h"
#else
#error "Missing __CORTEX_Mx definition"
#endif
// This affects cmsis_os only, as it's not used anywhere else. This was left by kernel team
// to suppress the warning in rt_tid2ptcb about incompatible pointer assignment.
#define os_thread_cb OS_TCB
#include "rt_TypeDef.h"
#include "RTX_Config.h"
#include "rt_System.h"
#include "rt_Task.h"
#include "rt_Event.h"
#include "rt_List.h"
#include "rt_Time.h"
#include "rt_Mutex.h"
#include "rt_Semaphore.h"
#include "rt_Mailbox.h"
#include "rt_MemBox.h"
#include "rt_Memory.h"
#include "rt_HAL_CM.h"
#include "rt_OsEventObserver.h"
#include "cmsis_os.h"
#if (osFeature_Signals != 16)
#error Invalid "osFeature_Signals" value!
#endif
#if (osFeature_Semaphore > 65535)
#error Invalid "osFeature_Semaphore" value!
#endif
#if (osFeature_Wait != 0)
#error osWait not supported!
#endif
// ==== Enumeration, structures, defines ====
// Service Calls defines
#if defined (__CC_ARM) /* ARM Compiler */
#define __NO_RETURN __declspec(noreturn)
#define osEvent_type osEvent
#define osEvent_ret_status ret
#define osEvent_ret_value ret
#define osEvent_ret_msg ret
#define osEvent_ret_mail ret
#define osCallback_type osCallback
#define osCallback_ret ret
#define SVC_0_1(f,t,...) \
__svc_indirect(0) t _##f (t(*)()); \
t f (void); \
__attribute__((always_inline)) \
static __inline t __##f (void) { \
return _##f(f); \
}
#define SVC_1_0(f,t,t1,...) \
__svc_indirect(0) t _##f (t(*)(t1),t1); \
t f (t1 a1); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1) { \
_##f(f,a1); \
}
#define SVC_1_1(f,t,t1,...) \
__svc_indirect(0) t _##f (t(*)(t1),t1); \
t f (t1 a1); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1) { \
return _##f(f,a1); \
}
#define SVC_2_1(f,t,t1,t2,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
t f (t1 a1, t2 a2); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2) { \
return _##f(f,a1,a2); \
}
#define SVC_3_1(f,t,t1,t2,t3,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
t f (t1 a1, t2 a2, t3 a3); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
return _##f(f,a1,a2,a3); \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
t f (t1 a1, t2 a2, t3 a3, t4 a4); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
return _##f(f,a1,a2,a3,a4); \
}
#define SVC_1_2 SVC_1_1
#define SVC_1_3 SVC_1_1
#define SVC_2_3 SVC_2_1
#elif defined (__GNUC__) /* GNU Compiler */
#define __NO_RETURN __attribute__((noreturn))
typedef uint32_t __attribute__((vector_size(8))) ret64;
typedef uint32_t __attribute__((vector_size(16))) ret128;
#define RET_pointer __r0
#define RET_int32_t __r0
#define RET_uint32_t __r0
#define RET_osStatus __r0
#define RET_osPriority __r0
#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
#define RET_osCallback {(void *)__r0, (void *)__r1}
#define osEvent_type __attribute__((pcs("aapcs"))) ret128
#define osEvent_ret_status (ret128){ret.status}
#define osEvent_ret_value (ret128){ret.status, ret.value.v}
#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
#define osCallback_type __attribute__((pcs("aapcs"))) ret64
#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
#define SVC_ArgN(n) \
register int __r##n __asm("r"#n);
#define SVC_ArgR(n,t,a) \
register t __r##n __asm("r"#n) = a;
#define SVC_Arg0() \
SVC_ArgN(0) \
SVC_ArgN(1) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg1(t1) \
SVC_ArgR(0,t1,a1) \
SVC_ArgN(1) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg2(t1,t2) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg3(t1,t2,t3) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgR(2,t3,a3) \
SVC_ArgN(3)
#define SVC_Arg4(t1,t2,t3,t4) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgR(2,t3,a3) \
SVC_ArgR(3,t4,a4)
#if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
#define SVC_Call(f) \
__asm volatile \
( \
"ldr r7,="#f"\n\t" \
"mov r12,r7\n\t" \
"svc 0" \
: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
: "r7", "r12", "lr", "cc" \
);
#else
#define SVC_Call(f) \
__asm volatile \
( \
"ldr r12,="#f"\n\t" \
"svc 0" \
: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
: "r12", "lr", "cc" \
);
#endif
#define SVC_0_1(f,t,rv) \
__attribute__((always_inline)) \
static inline t __##f (void) { \
SVC_Arg0(); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_1_0(f,t,t1) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1) { \
SVC_Arg1(t1); \
SVC_Call(f); \
}
#define SVC_1_1(f,t,t1,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1) { \
SVC_Arg1(t1); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_2_1(f,t,t1,t2,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2) { \
SVC_Arg2(t1,t2); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_3_1(f,t,t1,t2,t3,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2, t3 a3) { \
SVC_Arg3(t1,t2,t3); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
SVC_Arg4(t1,t2,t3,t4); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_1_2 SVC_1_1
#define SVC_1_3 SVC_1_1
#define SVC_2_3 SVC_2_1
#elif defined (__ICCARM__) /* IAR Compiler */
#define __NO_RETURN __noreturn
#define osEvent_type osEvent
#define osEvent_ret_status ret
#define osEvent_ret_value ret
#define osEvent_ret_msg ret
#define osEvent_ret_mail ret
#define osCallback_type osCallback
#define osCallback_ret ret
#define RET_osEvent osEvent
#define RET_osCallback osCallback
#define SVC_Setup(f) \
__asm( \
"mov r12,%0\n" \
:: "r"(&f): "r0", "r1", "r2", "r3", "r12" \
);
#define SVC_Ret3() \
__asm( \
"ldr r0,[sp,#0]\n" \
"ldr r1,[sp,#4]\n" \
"ldr r2,[sp,#8]\n" \
);
#define SVC_0_1(f,t,...) \
t f (void); \
_Pragma("swi_number=0") __swi t _##f (void); \
static inline t __##f (void) { \
SVC_Setup(f); \
return _##f(); \
}
#define SVC_1_0(f,t,t1,...) \
t f (t1 a1); \
_Pragma("swi_number=0") __swi t _##f (t1 a1); \
static inline t __##f (t1 a1) { \
SVC_Setup(f); \
_##f(a1); \
}
#define SVC_1_1(f,t,t1,...) \
t f (t1 a1); \
_Pragma("swi_number=0") __swi t _##f (t1 a1); \
static inline t __##f (t1 a1) { \
SVC_Setup(f); \
return _##f(a1); \
}
#define SVC_2_1(f,t,t1,t2,...) \
t f (t1 a1, t2 a2); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
static inline t __##f (t1 a1, t2 a2) { \
SVC_Setup(f); \
return _##f(a1,a2); \
}
#define SVC_3_1(f,t,t1,t2,t3,...) \
t f (t1 a1, t2 a2, t3 a3); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
static inline t __##f (t1 a1, t2 a2, t3 a3) { \
SVC_Setup(f); \
return _##f(a1,a2,a3); \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
t f (t1 a1, t2 a2, t3 a3, t4 a4); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
SVC_Setup(f); \
return _##f(a1,a2,a3,a4); \
}
#define SVC_1_2 SVC_1_1
#define SVC_1_3 SVC_1_1
#define SVC_2_3 SVC_2_1
#endif
// Callback structure
typedef struct {
void *fp; // Function pointer
void *arg; // Function argument
} osCallback;
// OS Section definitions
#ifdef OS_SECTIONS_LINK_INFO
extern const uint32_t os_section_id$$Base;
extern const uint32_t os_section_id$$Limit;
#endif
#ifndef __MBED_CMSIS_RTOS_CM
// OS Stack Memory for Threads definitions
extern uint64_t os_stack_mem[];
extern const uint32_t os_stack_sz;
#endif
// OS Timers external resources
extern const osThreadDef_t os_thread_def_osTimerThread;
extern osThreadId osThreadId_osTimerThread;
extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ;
extern osMessageQId osMessageQId_osTimerMessageQ;
// Thread creation and destruction
osMutexDef(osThreadMutex);
osMutexId osMutexId_osThreadMutex;
void sysThreadTerminate(osThreadId id);
// ==== Helper Functions ====
/// Convert timeout in millisec to system ticks
static uint16_t rt_ms2tick (uint32_t millisec) {
uint32_t tick;
if (millisec == 0U) { return 0x0U; } // No timeout
if (millisec == osWaitForever) { return 0xFFFFU; } // Indefinite timeout
if (millisec > 4000000U) { return 0xFFFEU; } // Max ticks supported
tick = ((1000U * millisec) + os_clockrate - 1U) / os_clockrate;
if (tick > 0xFFFEU) { return 0xFFFEU; }
return (uint16_t)tick;
}
/// Convert Thread ID to TCB pointer
P_TCB rt_tid2ptcb (osThreadId thread_id) {
P_TCB ptcb;
if (thread_id == NULL) { return NULL; }
if ((uint32_t)thread_id & 3U) { return NULL; }
#ifdef OS_SECTIONS_LINK_INFO
if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
if (thread_id < (osThreadId)os_section_id$$Base) { return NULL; }
if (thread_id >= (osThreadId)os_section_id$$Limit) { return NULL; }
}
#endif
ptcb = thread_id;
if (ptcb->cb_type != TCB) { return NULL; }
return ptcb;
}
/// Convert ID pointer to Object pointer
static void *rt_id2obj (void *id) {
if ((uint32_t)id & 3U) { return NULL; }
#ifdef OS_SECTIONS_LINK_INFO
if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
if (id < (void *)os_section_id$$Base) { return NULL; }
if (id >= (void *)os_section_id$$Limit) { return NULL; }
}
#endif
return id;
}
// ==== Kernel Control ====
uint8_t os_initialized; // Kernel Initialized flag
uint8_t os_running; // Kernel Running flag
// Kernel Control Service Calls declarations
SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
SVC_0_1(svcKernelSysTick, uint32_t, RET_uint32_t)
static void sysThreadError (osStatus status);
osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument, void *context);
osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
// Kernel Control Service Calls
/// Initialize the RTOS Kernel for creating objects
osStatus svcKernelInitialize (void) {
#ifdef __MBED_CMSIS_RTOS_CM
if (!os_initialized) {
rt_sys_init(); // RTX System Initialization
}
#else
uint32_t ret;
if (os_initialized == 0U) {
// Init Thread Stack Memory (must be 8-byte aligned)
if (((uint32_t)os_stack_mem & 7U) != 0U) { return osErrorNoMemory; }
ret = rt_init_mem(os_stack_mem, os_stack_sz);
if (ret != 0U) { return osErrorNoMemory; }
rt_sys_init(); // RTX System Initialization
}
#endif
os_tsk.run->prio = 255U; // Highest priority
if (os_initialized == 0U) {
// Create OS Timers resources (Message Queue & Thread)
osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL, NULL);
// Initialize thread mutex
osMutexId_osThreadMutex = osMutexCreate(osMutex(osThreadMutex));
}
sysThreadError(osOK);
os_initialized = 1U;
os_running = 0U;
return osOK;
}
/// Start the RTOS Kernel
osStatus svcKernelStart (void) {
if (os_running) { return osOK; }
rt_tsk_prio(0U, os_tsk.run->prio_base); // Restore priority
if (os_tsk.run->task_id == 0xFFU) { // Idle Thread
__set_PSP(os_tsk.run->tsk_stack + (8U*4U)); // Setup PSP
}
if (os_tsk.new_tsk == NULL) { // Force context switch
os_tsk.new_tsk = os_tsk.run;
os_tsk.run = NULL;
}
rt_sys_start();
os_running = 1U;
return osOK;
}
/// Check if the RTOS kernel is already started
int32_t svcKernelRunning (void) {
return (int32_t)os_running;
}
/// Get the RTOS kernel system timer counter
uint32_t svcKernelSysTick (void) {
uint32_t tick, tick0;
tick = os_tick_val();
if (os_tick_ovf()) {
tick0 = os_tick_val();
if (tick0 < tick) { tick = tick0; }
tick += (os_trv + 1U) * (os_time + 1U);
} else {
tick += (os_trv + 1U) * os_time;
}
return tick;
}
// Kernel Control Public API
/// Initialize the RTOS Kernel for creating objects
osStatus osKernelInitialize (void) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
return svcKernelInitialize();
} else {
return __svcKernelInitialize();
}
}
/// Start the RTOS Kernel
osStatus osKernelStart (void) {
uint32_t stack[8];
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
/* Call the pre-start event (from unprivileged mode) if the handler exists
* and the kernel is not running. */
/* FIXME osEventObs needs to be readable but not writable from unprivileged
* code. */
if (!osKernelRunning() && osEventObs && osEventObs->pre_start) {
osEventObs->pre_start();
}
switch (__get_CONTROL() & 0x03U) {
case 0x00U: // Privileged Thread mode & MSP
__set_PSP((uint32_t)(stack + 8)); // Initial PSP
if (os_flags & 1U) {
__set_CONTROL(0x02U); // Set Privileged Thread mode & PSP
} else {
__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
}
__DSB();
__ISB();
break;
case 0x01U: // Unprivileged Thread mode & MSP
return osErrorOS;
case 0x02U: // Privileged Thread mode & PSP
if ((os_flags & 1U) == 0U) { // Unprivileged Thread mode requested
__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
__DSB();
__ISB();
}
break;
case 0x03U: // Unprivileged Thread mode & PSP
if (os_flags & 1U) { return osErrorOS; } // Privileged Thread mode requested
break;
}
return __svcKernelStart();
}
/// Check if the RTOS kernel is already started
int32_t osKernelRunning (void) {
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
// in ISR or Privileged
return (int32_t)os_running;
} else {
return __svcKernelRunning();
}
}
/// Get the RTOS kernel system timer counter
uint32_t osKernelSysTick (void) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
return __svcKernelSysTick();
}
// ==== Thread Management ====
/// Set Thread Error (for Create functions which return IDs)
static void sysThreadError (osStatus status) {
// To Do
}
__NO_RETURN void osThreadExit (void);
// Thread Service Calls declarations
SVC_3_1(svcThreadCreate, osThreadId, const osThreadDef_t *, void *, void *, RET_pointer)
SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
SVC_2_3(svcThreadGetInfo, os_InRegs osEvent, osThreadId, osThreadInfo, RET_osEvent)
// Thread Service Calls
/// Create a thread and add it to Active Threads and set it to state READY
osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument, void *context) {
P_TCB ptcb;
OS_TID tsk;
void *stk;
if ((thread_def == NULL) ||
(thread_def->pthread == NULL) ||
(thread_def->tpriority < osPriorityIdle) ||
(thread_def->tpriority > osPriorityRealtime)) {
sysThreadError(osErrorParameter);
return NULL;
}
#ifdef __MBED_CMSIS_RTOS_CM
if (thread_def->stacksize != 0) { // Custom stack size
stk = (void *)thread_def->stack_pointer;
} else { // Default stack size
stk = NULL;
}
#else
if (thread_def->stacksize != 0) { // Custom stack size
stk = rt_alloc_mem( // Allocate stack
os_stack_mem,
thread_def->stacksize
);
if (stk == NULL) {
sysThreadError(osErrorNoMemory); // Out of memory
return NULL;
}
} else { // Default stack size
stk = NULL;
}
#endif
tsk = rt_tsk_create( // Create task
(FUNCP)thread_def->pthread, // Task function pointer
(uint32_t)
(thread_def->tpriority-osPriorityIdle+1) | // Task priority
(thread_def->stacksize << 8), // Task stack size in bytes
stk, // Pointer to task's stack
argument // Argument to the task
);
if (tsk == 0U) { // Invalid task ID
#ifndef __MBED_CMSIS_RTOS_CM
if (stk != NULL) {
rt_free_mem(os_stack_mem, stk); // Free allocated stack
}
#endif
sysThreadError(osErrorNoMemory); // Create task failed (Out of memory)
return NULL;
}
ptcb = (P_TCB)os_active_TCB[tsk - 1U]; // TCB pointer
*((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
if (osEventObs && osEventObs->thread_create) {
ptcb->context = osEventObs->thread_create(ptcb->task_id, context);
} else {
ptcb->context = context;
}
return ptcb;
}
/// Return the thread ID of the current running thread
osThreadId svcThreadGetId (void) {
OS_TID tsk;
tsk = rt_tsk_self();
if (tsk == 0U) { return NULL; }
return (P_TCB)os_active_TCB[tsk - 1U];
}
/// Terminate execution of a thread and remove it from ActiveThreads
osStatus svcThreadTerminate (osThreadId thread_id) {
OS_RESULT res;
P_TCB ptcb;
#ifndef __MBED_CMSIS_RTOS_CM
void *stk;
#endif
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osErrorParameter;
}
#ifndef __MBED_CMSIS_RTOS_CM
stk = ptcb->priv_stack ? ptcb->stack : NULL; // Private stack
#endif
if (osEventObs && osEventObs->thread_destroy) {
osEventObs->thread_destroy(ptcb->context);
}
res = rt_tsk_delete(ptcb->task_id); // Delete task
if (res == OS_R_NOK) {
return osErrorResource; // Delete task failed
}
#ifndef __MBED_CMSIS_RTOS_CM
if (stk != NULL) {
rt_free_mem(os_stack_mem, stk); // Free private stack
}
#endif
return osOK;
}
/// Pass control to next thread that is in state READY
osStatus svcThreadYield (void) {
rt_tsk_pass(); // Pass control to next task
return osOK;
}
/// Change priority of an active thread
osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
OS_RESULT res;
P_TCB ptcb;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osErrorParameter;
}
if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
return osErrorValue;
}
res = rt_tsk_prio( // Change task priority
ptcb->task_id, // Task ID
(uint8_t)(priority - osPriorityIdle + 1) // New task priority
);
if (res == OS_R_NOK) {
return osErrorResource; // Change task priority failed
}
return osOK;
}
/// Get current priority of an active thread
osPriority svcThreadGetPriority (osThreadId thread_id) {
P_TCB ptcb;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osPriorityError;
}
return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
}
/// Get info from an active thread
os_InRegs osEvent_type svcThreadGetInfo (osThreadId thread_id, osThreadInfo info) {
P_TCB ptcb;
osEvent ret;
ret.status = osOK;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
ret.status = osErrorValue;
return osEvent_ret_status;
}
if (osThreadInfoStackSize == info) {
uint32_t size;
size = ptcb->priv_stack;
if (0 == size) {
// This is an OS task - always a fixed size
size = os_stackinfo & 0x3FFFF;
}
ret.value.v = size;
return osEvent_ret_value;
}
if (osThreadInfoStackMax == info) {
uint32_t i;
uint32_t *stack_ptr;
uint32_t stack_size;
if (!(os_stackinfo & (1 << 28))) {
// Stack init must be turned on for max stack usage
ret.status = osErrorResource;
return osEvent_ret_status;
}
stack_ptr = (uint32_t*)ptcb->stack;
stack_size = ptcb->priv_stack;
if (0 == stack_size) {
// This is an OS task - always a fixed size
stack_size = os_stackinfo & 0x3FFFF;
}
for (i = 1; i <stack_size / 4; i++) {
if (stack_ptr[i] != MAGIC_PATTERN) {
break;
}
}
ret.value.v = stack_size - i * 4;
return osEvent_ret_value;
}
if (osThreadInfoEntry == info) {
ret.value.p = (void*)ptcb->ptask;
return osEvent_ret_value;
}
if (osThreadInfoArg == info) {
ret.value.p = (void*)ptcb->argv;
return osEvent_ret_value;
}
// Unsupported option so return error
ret.status = osErrorParameter;
return osEvent_ret_status;
}
// Thread Public API
/// Create a thread and add it to Active Threads and set it to state READY
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
return osThreadContextCreate(thread_def, argument, NULL);
}
osThreadId osThreadContextCreate (const osThreadDef_t *thread_def, void *argument, void *context) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcThreadCreate(thread_def, argument, context);
} else {
osThreadId id;
osMutexWait(osMutexId_osThreadMutex, osWaitForever);
// Thread mutex must be held when a thread is created or terminated
id = __svcThreadCreate(thread_def, argument, context);
osMutexRelease(osMutexId_osThreadMutex);
return id;
}
}
/// Return the thread ID of the current running thread
osThreadId osThreadGetId (void) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
return __svcThreadGetId();
}
/// Terminate execution of a thread and remove it from ActiveThreads
osStatus osThreadTerminate (osThreadId thread_id) {
osStatus status;
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
osMutexWait(osMutexId_osThreadMutex, osWaitForever);
sysThreadTerminate(thread_id);
// Thread mutex must be held when a thread is created or terminated
status = __svcThreadTerminate(thread_id);
osMutexRelease(osMutexId_osThreadMutex);
return status;
}
/// Pass control to next thread that is in state READY
osStatus osThreadYield (void) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadYield();
}
/// Change priority of an active thread
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadSetPriority(thread_id, priority);
}
/// Get current priority of an active thread
osPriority osThreadGetPriority (osThreadId thread_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osPriorityError; // Not allowed in ISR
}
return __svcThreadGetPriority(thread_id);
}
/// INTERNAL - Not Public
/// Auto Terminate Thread on exit (used implicitly when thread exists)
__NO_RETURN void osThreadExit (void) {
osThreadId id;
// Thread mutex must be held when a thread is created or terminated
// Note - the mutex will be released automatically by the os when
// the thread is terminated
osMutexWait(osMutexId_osThreadMutex, osWaitForever);
id = __svcThreadGetId();
sysThreadTerminate(id);
__svcThreadTerminate(id);
for (;;); // Should never come here
}
#ifdef __MBED_CMSIS_RTOS_CM
/// Get current thread state
uint8_t osThreadGetState (osThreadId thread_id) {
P_TCB ptcb;
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) return osErrorISR; // Not allowed in ISR
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) return INACTIVE;
return ptcb->state;
}
#endif
/// Get the requested info from the specified active thread
os_InRegs osEvent _osThreadGetInfo(osThreadId thread_id, osThreadInfo info) {
osEvent ret;
if (__get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
return __svcThreadGetInfo(thread_id, info);
}
osThreadEnumId _osThreadsEnumStart() {
static uint32_t thread_enum_index;
osMutexWait(osMutexId_osThreadMutex, osWaitForever);
thread_enum_index = 0;
return &thread_enum_index;
}
osThreadId _osThreadEnumNext(osThreadEnumId enum_id) {
uint32_t i;
osThreadId id = NULL;
uint32_t *index = (uint32_t*)enum_id;
for (i = *index; i < os_maxtaskrun; i++) {
if (os_active_TCB[i] != NULL) {
id = (osThreadId)os_active_TCB[i];
break;
}
}
if (i == os_maxtaskrun) {
// Include the idle task at the end of the enumeration
id = &os_idle_TCB;
}
*index = i + 1;
return id;
}
osStatus _osThreadEnumFree(osThreadEnumId enum_id) {
uint32_t *index = (uint32_t*)enum_id;
*index = 0;
osMutexRelease(osMutexId_osThreadMutex);
return osOK;
}
// ==== Generic Wait Functions ====
// Generic Wait Service Calls declarations
SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
#if osFeature_Wait != 0
SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
#endif
// Generic Wait Service Calls
/// Wait for Timeout (Time Delay)
osStatus svcDelay (uint32_t millisec) {
if (millisec == 0U) { return osOK; }
rt_dly_wait(rt_ms2tick(millisec));
return osEventTimeout;
}
/// Wait for Signal, Message, Mail, or Timeout
#if osFeature_Wait != 0
os_InRegs osEvent_type svcWait (uint32_t millisec) {
osEvent ret;
if (millisec == 0U) {
ret.status = osOK;
return osEvent_ret_status;
}
/* To Do: osEventSignal, osEventMessage, osEventMail */
rt_dly_wait(rt_ms2tick(millisec));
ret.status = osEventTimeout;
return osEvent_ret_status;
}
#endif
// Generic Wait API
/// Wait for Timeout (Time Delay)
osStatus osDelay (uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcDelay(millisec);
}
/// Wait for Signal, Message, Mail, or Timeout
os_InRegs osEvent osWait (uint32_t millisec) {
osEvent ret;
#if osFeature_Wait == 0
ret.status = osErrorOS;
return ret;
#else
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
return __svcWait(millisec);
#endif
}
// ==== Timer Management ====
// Timer definitions
#define osTimerInvalid 0U
#define osTimerStopped 1U
#define osTimerRunning 2U
// Timer structures
typedef struct os_timer_cb_ { // Timer Control Block
struct os_timer_cb_ *next; // Pointer to next active Timer
uint8_t state; // Timer State
uint8_t type; // Timer Type (Periodic/One-shot)
uint16_t reserved; // Reserved
uint32_t tcnt; // Timer Delay Count
uint32_t icnt; // Timer Initial Count
void *arg; // Timer Function Argument
const osTimerDef_t *timer; // Pointer to Timer definition
} os_timer_cb;
// Timer variables
os_timer_cb *os_timer_head; // Pointer to first active Timer
// Timer Helper Functions
// Insert Timer into the list sorted by time
static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
os_timer_cb *p, *prev;
prev = NULL;
p = os_timer_head;
while (p != NULL) {
if (tcnt < p->tcnt) { break; }
tcnt -= p->tcnt;
prev = p;
p = p->next;
}
pt->next = p;
pt->tcnt = tcnt;
if (p != NULL) {
p->tcnt -= pt->tcnt;
}
if (prev != NULL) {
prev->next = pt;
} else {
os_timer_head = pt;
}
}
// Remove Timer from the list
static int32_t rt_timer_remove (os_timer_cb *pt) {
os_timer_cb *p, *prev;
prev = NULL;
p = os_timer_head;
while (p != NULL) {
if (p == pt) { break; }
prev = p;
p = p->next;
}
if (p == NULL) { return -1; }
if (prev != NULL) {
prev->next = pt->next;
} else {
os_timer_head = pt->next;
}
if (pt->next != NULL) {
pt->next->tcnt += pt->tcnt;
}
return 0;
}
// Timer Service Calls declarations
SVC_3_1(svcTimerCreate, osTimerId, const osTimerDef_t *, os_timer_type, void *, RET_pointer)
SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
// Timer Management Service Calls
/// Create timer
osTimerId svcTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
os_timer_cb *pt;
if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
sysThreadError(osErrorParameter);
return NULL;
}
pt = timer_def->timer;
if (pt == NULL) {
sysThreadError(osErrorParameter);
return NULL;
}
if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
sysThreadError(osErrorValue);
return NULL;
}
if (osThreadId_osTimerThread == NULL) {
sysThreadError(osErrorResource);
return NULL;
}
if (pt->state != osTimerInvalid){
sysThreadError(osErrorResource);
return NULL;
}
pt->next = NULL;
pt->state = osTimerStopped;
pt->type = (uint8_t)type;
pt->arg = argument;
pt->timer = timer_def;
return (osTimerId)pt;
}
/// Start or restart timer
osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
os_timer_cb *pt;
uint32_t tcnt;
pt = rt_id2obj(timer_id);
if (pt == NULL) {
return osErrorParameter;
}
if (millisec == 0U) { return osErrorValue; }
tcnt = (uint32_t)(((1000U * (uint64_t)millisec) + os_clockrate - 1U) / os_clockrate);
switch (pt->state) {
case osTimerRunning:
if (rt_timer_remove(pt) != 0) {
return osErrorResource;
}
break;
case osTimerStopped:
pt->state = osTimerRunning;
pt->icnt = tcnt;
break;
default:
return osErrorResource;
}
rt_timer_insert(pt, tcnt);
return osOK;
}
/// Stop timer
osStatus svcTimerStop (osTimerId timer_id) {
os_timer_cb *pt;
pt = rt_id2obj(timer_id);
if (pt == NULL) {
return osErrorParameter;
}
if (pt->state != osTimerRunning) { return osErrorResource; }
pt->state = osTimerStopped;
if (rt_timer_remove(pt) != 0) {
return osErrorResource;
}
return osOK;
}
/// Delete timer
osStatus svcTimerDelete (osTimerId timer_id) {
os_timer_cb *pt;
pt = rt_id2obj(timer_id);
if (pt == NULL) {
return osErrorParameter;
}
switch (pt->state) {
case osTimerRunning:
rt_timer_remove(pt);
break;
case osTimerStopped:
break;
default:
return osErrorResource;
}
pt->state = osTimerInvalid;
return osOK;
}
/// Get timer callback parameters
os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
os_timer_cb *pt;
osCallback ret;
pt = rt_id2obj(timer_id);
if (pt == NULL) {
ret.fp = NULL;
ret.arg = NULL;
return osCallback_ret;
}
ret.fp = (void *)pt->timer->ptimer;
ret.arg = pt->arg;
return osCallback_ret;
}
osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
/// Timer Tick (called each SysTick)
void sysTimerTick (void) {
os_timer_cb *pt, *p;
osStatus status;
p = os_timer_head;
if (p == NULL) { return; }
p->tcnt--;
while ((p != NULL) && (p->tcnt == 0U)) {
pt = p;
p = p->next;
os_timer_head = p;
status = isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0U);
if (status != osOK) {
os_error(OS_ERR_TIMER_OVF);
}
if (pt->type == (uint8_t)osTimerPeriodic) {
rt_timer_insert(pt, pt->icnt);
} else {
pt->state = osTimerStopped;
}
}
}
/// Get user timers wake-up time
uint32_t sysUserTimerWakeupTime (void) {
if (os_timer_head) {
return os_timer_head->tcnt;
}
return 0xFFFFFFFFU;
}
/// Update user timers on resume
void sysUserTimerUpdate (uint32_t sleep_time) {
while ((os_timer_head != NULL) && (sleep_time != 0U)) {
if (sleep_time >= os_timer_head->tcnt) {
sleep_time -= os_timer_head->tcnt;
os_timer_head->tcnt = 1U;
sysTimerTick();
} else {
os_timer_head->tcnt -= sleep_time;
break;
}
}
}
// Timer Management Public API
/// Create timer
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcTimerCreate(timer_def, type, argument);
} else {
return __svcTimerCreate(timer_def, type, argument);
}
}
/// Start or restart timer
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerStart(timer_id, millisec);
}
/// Stop timer
osStatus osTimerStop (osTimerId timer_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerStop(timer_id);
}
/// Delete timer
osStatus osTimerDelete (osTimerId timer_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcTimerDelete(timer_id);
}
/// INTERNAL - Not Public
/// Get timer callback parameters (used by OS Timer Thread)
os_InRegs osCallback osTimerCall (osTimerId timer_id) {
return __svcTimerCall(timer_id);
}
// Timer Thread
__NO_RETURN void osTimerThread (void const *argument) {
osCallback cb;
osEvent evt;
for (;;) {
evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
if (evt.status == osEventMessage) {
cb = osTimerCall(evt.value.p);
if (cb.fp != NULL) {
(*(os_ptimer)cb.fp)(cb.arg);
}
}
}
}
// ==== Signal Management ====
// Signal Service Calls declarations
SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
// Signal Service Calls
/// Set the specified Signal Flags of an active thread
int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
P_TCB ptcb;
int32_t sig;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return (int32_t)0x80000000U;
}
if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
return (int32_t)0x80000000U;
}
sig = (int32_t)ptcb->events; // Previous signal flags
rt_evt_set((uint16_t)signals, ptcb->task_id); // Set event flags
return sig;
}
/// Clear the specified Signal Flags of an active thread
int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
P_TCB ptcb;
int32_t sig;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return (int32_t)0x80000000U;
}
if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
return (int32_t)0x80000000U;
}
sig = (int32_t)ptcb->events; // Previous signal flags
rt_evt_clr((uint16_t)signals, ptcb->task_id); // Clear event flags
return sig;
}
/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
OS_RESULT res;
osEvent ret;
if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
ret.status = osErrorValue;
return osEvent_ret_status;
}
if (signals != 0) { // Wait for all specified signals
res = rt_evt_wait((uint16_t)signals, rt_ms2tick(millisec), __TRUE);
} else { // Wait for any signal
res = rt_evt_wait(0xFFFFU, rt_ms2tick(millisec), __FALSE);
}
if (res == OS_R_EVT) {
ret.status = osEventSignal;
ret.value.signals = (signals != 0) ? signals : (int32_t)os_tsk.run->waits;
} else {
ret.status = (millisec != 0U) ? osEventTimeout : osOK;
ret.value.signals = 0;
}
return osEvent_ret_value;
}
// Signal ISR Calls
/// Set the specified Signal Flags of an active thread
int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
P_TCB ptcb;
int32_t sig;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return (int32_t)0x80000000U;
}
if ((uint32_t)signals & (0xFFFFFFFFU << osFeature_Signals)) {
return (int32_t)0x80000000U;
}
sig = (int32_t)ptcb->events; // Previous signal flags
isr_evt_set((uint16_t)signals, ptcb->task_id);// Set event flags
return sig;
}
// Signal Public API
/// Set the specified Signal Flags of an active thread
int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrSignalSet(thread_id, signals);
} else { // in Thread
return __svcSignalSet(thread_id, signals);
}
}
/// Clear the specified Signal Flags of an active thread
int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return (int32_t)0x80000000U; // Not allowed in ISR
}
return __svcSignalClear(thread_id, signals);
}
/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
osEvent ret;
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
return __svcSignalWait(signals, millisec);
}
// ==== Mutex Management ====
// Mutex Service Calls declarations
SVC_1_1(svcMutexCreate, osMutexId, const osMutexDef_t *, RET_pointer)
SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
// Mutex Service Calls
/// Create and Initialize a Mutex object
osMutexId svcMutexCreate (const osMutexDef_t *mutex_def) {
OS_ID mut;
if (mutex_def == NULL) {
sysThreadError(osErrorParameter);
return NULL;
}
mut = mutex_def->mutex;
if (mut == NULL) {
sysThreadError(osErrorParameter);
return NULL;
}
if (((P_MUCB)mut)->cb_type != 0U) {
sysThreadError(osErrorParameter);
return NULL;
}
rt_mut_init(mut); // Initialize Mutex
return mut;
}
/// Wait until a Mutex becomes available
osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
OS_ID mut;
OS_RESULT res;
mut = rt_id2obj(mutex_id);
if (mut == NULL) {
return osErrorParameter;
}
if (((P_MUCB)mut)->cb_type != MUCB) {
return osErrorParameter;
}
res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
if (res == OS_R_TMO) {
return ((millisec != 0U) ? osErrorTimeoutResource : osErrorResource);
}
return osOK;
}
/// Release a Mutex that was obtained with osMutexWait
osStatus svcMutexRelease (osMutexId mutex_id) {
OS_ID mut;
OS_RESULT res;
mut = rt_id2obj(mutex_id);
if (mut == NULL) {
return osErrorParameter;
}
if (((P_MUCB)mut)->cb_type != MUCB) {
return osErrorParameter;
}
res = rt_mut_release(mut); // Release Mutex
if (res == OS_R_NOK) {
return osErrorResource; // Thread not owner or Zero Counter
}
return osOK;
}
/// Delete a Mutex that was created by osMutexCreate
osStatus svcMutexDelete (osMutexId mutex_id) {
OS_ID mut;
mut = rt_id2obj(mutex_id);
if (mut == NULL) {
return osErrorParameter;
}
if (((P_MUCB)mut)->cb_type != MUCB) {
return osErrorParameter;
}
rt_mut_delete(mut); // Release Mutex
return osOK;
}
// Mutex Public API
/// Create and Initialize a Mutex object
osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcMutexCreate(mutex_def);
} else {
return __svcMutexCreate(mutex_def);
}
}
/// Wait until a Mutex becomes available
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexWait(mutex_id, millisec);
}
/// Release a Mutex that was obtained with osMutexWait
osStatus osMutexRelease (osMutexId mutex_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexRelease(mutex_id);
}
/// Delete a Mutex that was created by osMutexCreate
osStatus osMutexDelete (osMutexId mutex_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcMutexDelete(mutex_id);
}
// ==== Semaphore Management ====
// Semaphore Service Calls declarations
SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
// Semaphore Service Calls
/// Create and Initialize a Semaphore object
osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
OS_ID sem;
if (semaphore_def == NULL) {
sysThreadError(osErrorParameter);
return NULL;
}
sem = semaphore_def->semaphore;
if (sem == NULL) {
sysThreadError(osErrorParameter);
return NULL;
}
if (((P_SCB)sem)->cb_type != 0U) {
sysThreadError(osErrorParameter);
return NULL;
}
if (count > osFeature_Semaphore) {
sysThreadError(osErrorValue);
return NULL;
}
rt_sem_init(sem, (uint16_t)count); // Initialize Semaphore
return sem;
}
/// Wait until a Semaphore becomes available
int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
OS_ID sem;
OS_RESULT res;
sem = rt_id2obj(semaphore_id);
if (sem == NULL) {
return -1;
}
if (((P_SCB)sem)->cb_type != SCB) {
return -1;
}
res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
if (res == OS_R_TMO) { return 0; } // Timeout
return (int32_t)(((P_SCB)sem)->tokens + 1U);
}
/// Release a Semaphore
osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
OS_ID sem;
sem = rt_id2obj(semaphore_id);
if (sem == NULL) {
return osErrorParameter;
}
if (((P_SCB)sem)->cb_type != SCB) {
return osErrorParameter;
}
if ((int32_t)((P_SCB)sem)->tokens == osFeature_Semaphore) {
return osErrorResource;
}
rt_sem_send(sem); // Release Semaphore
return osOK;
}
/// Delete a Semaphore that was created by osSemaphoreCreate
osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
OS_ID sem;
sem = rt_id2obj(semaphore_id);
if (sem == NULL) {
return osErrorParameter;
}
if (((P_SCB)sem)->cb_type != SCB) {
return osErrorParameter;
}
rt_sem_delete(sem); // Delete Semaphore
return osOK;
}
// Semaphore ISR Calls
/// Release a Semaphore
osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
OS_ID sem;
sem = rt_id2obj(semaphore_id);
if (sem == NULL) {
return osErrorParameter;
}
if (((P_SCB)sem)->cb_type != SCB) {
return osErrorParameter;
}
if ((int32_t)((P_SCB)sem)->tokens == osFeature_Semaphore) {
return osErrorResource;
}
isr_sem_send(sem); // Release Semaphore
return osOK;
}
// Semaphore Public API
/// Create and Initialize a Semaphore object
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcSemaphoreCreate(semaphore_def, count);
} else {
return __svcSemaphoreCreate(semaphore_def, count);
}
}
/// Wait until a Semaphore becomes available
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return -1; // Not allowed in ISR
}
return __svcSemaphoreWait(semaphore_id, millisec);
}
/// Release a Semaphore
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrSemaphoreRelease(semaphore_id);
} else { // in Thread
return __svcSemaphoreRelease(semaphore_id);
}
}
/// Delete a Semaphore that was created by osSemaphoreCreate
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcSemaphoreDelete(semaphore_id);
}
// ==== Memory Management Functions ====
// Memory Management Helper Functions
// Clear Memory Box (Zero init)
static void rt_clr_box (void *box_mem, void *box) {
uint32_t *p, n;
if ((box_mem != NULL) && (box != NULL)) {
p = box;
for (n = ((P_BM)box_mem)->blk_size; n; n -= 4U) {
*p++ = 0U;
}
}
}
// Memory Management Service Calls declarations
SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
SVC_1_1(sysPoolAlloc, void *, osPoolId, RET_pointer)
SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
// Memory Management Service & ISR Calls
/// Create and Initialize memory pool
osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
uint32_t blk_sz;
if ((pool_def == NULL) ||
(pool_def->pool_sz == 0U) ||
(pool_def->item_sz == 0U) ||
(pool_def->pool == NULL)) {
sysThreadError(osErrorParameter);
return NULL;
}
blk_sz = (pool_def->item_sz + 3U) & (uint32_t)~3U;
_init_box(pool_def->pool, sizeof(struct OS_BM) + (pool_def->pool_sz * blk_sz), blk_sz);
return pool_def->pool;
}
/// Allocate a memory block from a memory pool
void *sysPoolAlloc (osPoolId pool_id) {
void *mem;
if (pool_id == NULL) {
return NULL;
}
mem = rt_alloc_box(pool_id);
return mem;
}
/// Return an allocated memory block back to a specific memory pool
osStatus sysPoolFree (osPoolId pool_id, void *block) {
uint32_t res;
if (pool_id == NULL) {
return osErrorParameter;
}
res = rt_free_box(pool_id, block);
if (res != 0) {
return osErrorValue;
}
return osOK;
}
// Memory Management Public API
/// Create and Initialize memory pool
osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcPoolCreate(pool_def);
} else {
return __svcPoolCreate(pool_def);
}
}
/// Allocate a memory block from a memory pool
void *osPoolAlloc (osPoolId pool_id) {
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
return sysPoolAlloc(pool_id);
} else { // in Thread
return __sysPoolAlloc(pool_id);
}
}
/// Allocate a memory block from a memory pool and set memory block to zero
void *osPoolCAlloc (osPoolId pool_id) {
void *mem;
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
mem = sysPoolAlloc(pool_id);
} else { // in Thread
mem = __sysPoolAlloc(pool_id);
}
rt_clr_box(pool_id, mem);
return mem;
}
/// Return an allocated memory block back to a specific memory pool
osStatus osPoolFree (osPoolId pool_id, void *block) {
if ((__get_PRIMASK() != 0U || __get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) { // in ISR or Privileged
return sysPoolFree(pool_id, block);
} else { // in Thread
return __sysPoolFree(pool_id, block);
}
}
// ==== Message Queue Management Functions ====
// Message Queue Management Service Calls declarations
SVC_2_1(svcMessageCreate, osMessageQId, const osMessageQDef_t *, osThreadId, RET_pointer)
SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
// Message Queue Service Calls
/// Create and Initialize Message Queue
osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
if ((queue_def == NULL) ||
(queue_def->queue_sz == 0U) ||
(queue_def->pool == NULL)) {
sysThreadError(osErrorParameter);
return NULL;
}
if (((P_MCB)queue_def->pool)->cb_type != 0U) {
sysThreadError(osErrorParameter);
return NULL;
}
rt_mbx_init(queue_def->pool, (uint16_t)(4U*(queue_def->queue_sz + 4U)));
return queue_def->pool;
}
/// Put a Message to a Queue
osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
OS_RESULT res;
if (queue_id == NULL) {
return osErrorParameter;
}
if (((P_MCB)queue_id)->cb_type != MCB) {
return osErrorParameter;
}
res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
if (res == OS_R_TMO) {
return ((millisec != 0U) ? osErrorTimeoutResource : osErrorResource);
}
return osOK;
}
/// Get a Message or Wait for a Message from a Queue
os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
OS_RESULT res;
osEvent ret;
if (queue_id == NULL) {
ret.status = osErrorParameter;
return osEvent_ret_status;
}
if (((P_MCB)queue_id)->cb_type != MCB) {
ret.status = osErrorParameter;
return osEvent_ret_status;
}
res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
if (res == OS_R_TMO) {
ret.status = (millisec != 0U) ? osEventTimeout : osOK;
return osEvent_ret_value;
}
ret.status = osEventMessage;
return osEvent_ret_value;
}
// Message Queue ISR Calls
/// Put a Message to a Queue
osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
if ((queue_id == NULL) || (millisec != 0U)) {
return osErrorParameter;
}
if (((P_MCB)queue_id)->cb_type != MCB) {
return osErrorParameter;
}
if (rt_mbx_check(queue_id) == 0U) { // Check if Queue is full
return osErrorResource;
}
isr_mbx_send(queue_id, (void *)info);
return osOK;
}
/// Get a Message or Wait for a Message from a Queue
os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
OS_RESULT res;
osEvent ret;
if ((queue_id == NULL) || (millisec != 0U)) {
ret.status = osErrorParameter;
return ret;
}
if (((P_MCB)queue_id)->cb_type != MCB) {
ret.status = osErrorParameter;
return ret;
}
res = isr_mbx_receive(queue_id, &ret.value.p);
if (res != OS_R_MBX) {
ret.status = osOK;
return ret;
}
ret.status = osEventMessage;
return ret;
}
// Message Queue Management Public API
/// Create and Initialize Message Queue
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcMessageCreate(queue_def, thread_id);
} else {
return __svcMessageCreate(queue_def, thread_id);
}
}
/// Put a Message to a Queue
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrMessagePut(queue_id, info, millisec);
} else { // in Thread
return __svcMessagePut(queue_id, info, millisec);
}
}
/// Get a Message or Wait for a Message from a Queue
os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return isrMessageGet(queue_id, millisec);
} else { // in Thread
return __svcMessageGet(queue_id, millisec);
}
}
// ==== Mail Queue Management Functions ====
// Mail Queue Management Service Calls declarations
SVC_2_1(svcMailCreate, osMailQId, const osMailQDef_t *, osThreadId, RET_pointer)
SVC_3_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, RET_pointer)
SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
// Mail Queue Management Service & ISR Calls
/// Create and Initialize mail queue
osMailQId svcMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
uint32_t blk_sz;
P_MCB pmcb;
void *pool;
if ((queue_def == NULL) ||
(queue_def->queue_sz == 0U) ||
(queue_def->item_sz == 0U) ||
(queue_def->pool == NULL)) {
sysThreadError(osErrorParameter);
return NULL;
}
pmcb = *(((void **)queue_def->pool) + 0);
pool = *(((void **)queue_def->pool) + 1);
if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0U)) {
sysThreadError(osErrorParameter);
return NULL;
}
blk_sz = (queue_def->item_sz + 3U) & (uint32_t)~3U;
_init_box(pool, sizeof(struct OS_BM) + (queue_def->queue_sz * blk_sz), blk_sz);
rt_mbx_init(pmcb, (uint16_t)(4U*(queue_def->queue_sz + 4U)));
return queue_def->pool;
}
/// Allocate a memory block from a mail
void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr) {
P_MCB pmcb;
void *pool;
void *mem;
if (queue_id == NULL) {
return NULL;
}
pmcb = *(((void **)queue_id) + 0);
pool = *(((void **)queue_id) + 1);
if ((pool == NULL) || (pmcb == NULL)) {
return NULL;
}
if ((isr != 0U) && (millisec != 0U)) {
return NULL;
}
mem = rt_alloc_box(pool);
if ((mem == NULL) && (millisec != 0U)) {
// Put Task to sleep when Memory not available
if (pmcb->p_lnk != NULL) {
rt_put_prio((P_XCB)pmcb, os_tsk.run);
} else {
pmcb->p_lnk = os_tsk.run;
os_tsk.run->p_lnk = NULL;
os_tsk.run->p_rlnk = (P_TCB)pmcb;
// Task is waiting to allocate a message
pmcb->state = 3U;
}
rt_block(rt_ms2tick(millisec), WAIT_MBX);
}
return mem;
}
/// Free a memory block from a mail
osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
P_MCB pmcb;
P_TCB ptcb;
void *pool;
void *mem;
uint32_t res;
if (queue_id == NULL) {
return osErrorParameter;
}
pmcb = *(((void **)queue_id) + 0);
pool = *(((void **)queue_id) + 1);
if ((pmcb == NULL) || (pool == NULL)) {
return osErrorParameter;
}
res = rt_free_box(pool, mail);
if (res != 0U) {
return osErrorValue;
}
if ((pmcb->p_lnk != NULL) && (pmcb->state == 3U)) {
// Task is waiting to allocate a message
if (isr != 0U) {
rt_psq_enq (pmcb, (U32)pool);
rt_psh_req ();
} else {
mem = rt_alloc_box(pool);
if (mem != NULL) {
ptcb = rt_get_first((P_XCB)pmcb);
rt_ret_val(ptcb, (U32)mem);
rt_rmv_dly(ptcb);
rt_dispatch(ptcb);
}
}
}
return osOK;
}
// Mail Queue Management Public API
/// Create and Initialize mail queue
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcMailCreate(queue_def, thread_id);
} else {
return __svcMailCreate(queue_def, thread_id);
}
}
/// Allocate a memory block from a mail
void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return sysMailAlloc(queue_id, millisec, 1U);
} else { // in Thread
return __sysMailAlloc(queue_id, millisec, 0U);
}
}
/// Allocate a memory block from a mail and set memory block to zero
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
void *pool;
void *mem;
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
mem = sysMailAlloc(queue_id, millisec, 1U);
} else { // in Thread
mem = __sysMailAlloc(queue_id, millisec, 0U);
}
pool = *(((void **)queue_id) + 1);
rt_clr_box(pool, mem);
return mem;
}
/// Free a memory block from a mail
osStatus osMailFree (osMailQId queue_id, void *mail) {
if (__get_PRIMASK() != 0U || __get_IPSR() != 0U) { // in ISR
return sysMailFree(queue_id, mail, 1U);
} else { // in Thread
return __sysMailFree(queue_id, mail, 0U);
}
}
/// Put a mail to a queue
osStatus osMailPut (osMailQId queue_id, void *mail) {
if (queue_id == NULL) {
return osErrorParameter;
}
if (mail == NULL) {
return osErrorValue;
}
return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0U);
}
/// Get a mail from a queue
os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
osEvent ret;
if (queue_id == NULL) {
ret.status = osErrorParameter;
return ret;
}
ret = osMessageGet(*((void **)queue_id), millisec);
if (ret.status == osEventMessage) ret.status = osEventMail;
return ret;
}
// ==== RTX Extensions ====
// Service Calls declarations
SVC_0_1(rt_suspend, uint32_t, RET_uint32_t)
SVC_1_0(rt_resume, void, uint32_t)
// Public API
/// Suspends the OS task scheduler
uint32_t os_suspend (void) {
return __rt_suspend();
}
/// Resumes the OS task scheduler
void os_resume (uint32_t sleep_time) {
__rt_resume(sleep_time);
}
