Revision 0:e477ba491a3b, committed 2012-08-07

Comitter:

narshu

Date:

Tue Aug 07 10:24:02 2012 +0000

Commit message:

[mbed] converted /Eurobot_2012_Secondary/rtos

Changed in this revision

diff -r 000000000000 -r e477ba491a3b LPC11U24/uARM/RTX_Conf_CM.o
Binary file LPC11U24/uARM/RTX_Conf_CM.o has changed

diff -r 000000000000 -r e477ba491a3b LPC11U24/uARM/rtos.ar
Binary file LPC11U24/uARM/rtos.ar has changed

diff -r 000000000000 -r e477ba491a3b LPC11U24/uARM/rtx.ar
Binary file LPC11U24/uARM/rtx.ar has changed

diff -r 000000000000 -r e477ba491a3b LPC1768/ARM/RTX_Conf_CM.o
Binary file LPC1768/ARM/RTX_Conf_CM.o has changed

diff -r 000000000000 -r e477ba491a3b LPC1768/ARM/rtos.ar
Binary file LPC1768/ARM/rtos.ar has changed

diff -r 000000000000 -r e477ba491a3b LPC1768/ARM/rtx.ar
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diff -r 000000000000 -r e477ba491a3b Mail.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mail.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,89 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef MAIL_H
+#define MAIL_H 
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! The Mail class allow to control, send, receive, or wait for mail.
+ A mail is a memory block that is send to a thread or interrupt service routine.
+  \tparam  T         data type of a single message element.
+  \tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Mail {
+public:
+    /*! Create and Initialise Mail queue. */
+    Mail() {
+    #ifdef CMSIS_OS_RTX
+        memset(_mail_q, 0, sizeof(_mail_q));
+        _mail_p[0] = _mail_q;
+        
+        memset(_mail_m, 0, sizeof(_mail_m));
+        _mail_p[1] = _mail_m;
+        
+        _mail_def.pool = _mail_p;
+        _mail_def.queue_sz = queue_sz;
+        _mail_def.item_sz = sizeof(T);
+    #endif
+        _mail_id = osMailCreate(&_mail_def, NULL);
+    }
+    
+    /*! Allocate a memory block of type T
+      \param   millisec  timeout value or 0 in case of no time-out. (default: 0).
+      \return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* alloc(uint32_t millisec=0) {
+        return (T*)osMailAlloc(_mail_id, millisec);
+    }
+    
+    /*! Allocate a memory block of type T and set memory block to zero. 
+      \param   millisec  timeout value or 0 in case of no time-out.  (default: 0).
+      \return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* calloc(uint32_t millisec=0) {
+        return (T*)osMailCAlloc(_mail_id, millisec);
+    }
+    
+    /*! Put a mail in the queue.
+      \param   mptr  memory block previously allocated with Mail::alloc or Mail::calloc.
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus put(T *mptr) {
+        return osMailPut(_mail_id, (void*)mptr);
+    }
+    
+    /*! Get a mail from a queue.
+      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      \return  event that contains mail information or error code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMailGet(_mail_id, millisec);
+    }
+    
+    /*! Free a memory block from a mail.
+      \param   mptr  pointer to the memory block that was obtained with Mail::get. 
+      \return  status code that indicates the execution status of the function.
+    */
+    osStatus free(T *mptr) {
+        return osMailFree(_mail_id, (void*)mptr);
+    }
+
+private:
+    osMailQId    _mail_id;
+    osMailQDef_t _mail_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t     _mail_q[4+(queue_sz)];
+    uint32_t     _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
+    void        *_mail_p[2];
+#endif
+};
+
+}
+
+#endif
+

diff -r 000000000000 -r e477ba491a3b MemoryPool.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MemoryPool.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,62 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef MEMORYPOOL_H
+#define MEMORYPOOL_H 
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! Define and manage fixed-size memory pools of objects of a given type.
+  \tparam  T         data type of a single object (element).
+  \tparam  queue_sz  maximum number of objects (elements) in the memory pool.
+*/
+template<typename T, uint32_t pool_sz>
+class MemoryPool {
+public:
+    /*! Create and Initialize a memory pool. */
+    MemoryPool() {
+    #ifdef CMSIS_OS_RTX
+        memset(_pool_m, 0, sizeof(_pool_m));
+        _pool_def.pool = _pool_m;
+        
+        _pool_def.pool_sz = pool_sz;
+        _pool_def.item_sz =  sizeof(T);
+    #endif
+        _pool_id = osPoolCreate(&_pool_def);
+    }
+    
+    /*! Allocate a memory block of type T from a memory pool.
+      \return  address of the allocated memory block or NULL in case of no memory available.
+    */
+    T* alloc(void) {
+        return (T*)osPoolAlloc(_pool_id);
+    }
+    
+    /*! Allocate a memory block of type T from a memory pool and set memory block to zero.
+      \return  address of the allocated memory block or NULL in case of no memory available. 
+    */
+    T* calloc(void) {
+        return (T*)osPoolCAlloc(_pool_id);
+    }
+    
+    /*! Return an allocated memory block back to a specific memory pool.
+      \param   address of the allocated memory block that is returned to the memory pool.
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus free(T *block) {
+        return osPoolFree(_pool_id, (void*)block);
+    }
+
+private:
+    osPoolId    _pool_id;
+    osPoolDef_t _pool_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t    _pool_m[3+((sizeof(T)+3)/4)*(pool_sz)];
+#endif
+};
+
+}
+#endif

diff -r 000000000000 -r e477ba491a3b Mutex.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mutex.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,43 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef MUTEX_H
+#define MUTEX_H 
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! The Mutex class is used to synchronise the execution of threads.
+ This is for example used to protect access to a shared resource.
+*/
+class Mutex {
+public:
+    /*! Create and Initialize a Mutex object */
+    Mutex();
+    
+    /*! Wait until a Mutex becomes available.
+      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever)
+      \return  status code that indicates the execution status of the function.
+     */ 
+    osStatus lock(uint32_t millisec=osWaitForever);
+    
+    /*! Try to lock the mutex, and return immediately
+      \return  true if the mutex was acquired, false otherwise.
+     */
+    bool trylock();
+    
+    /*! Unlock the mutex that has previously been locked by the same thread
+      \return  status code that indicates the execution status of the function. 
+     */
+    osStatus unlock();
+
+private:
+    osMutexId _osMutexId;
+    osMutexDef_t _osMutexDef;
+#ifdef CMSIS_OS_RTX
+    int32_t _mutex_data[3];
+#endif
+};
+
+}
+#endif

diff -r 000000000000 -r e477ba491a3b Queue.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Queue.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,61 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef QUEUE_H
+#define QUEUE_H 
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+#include "error.h"
+
+namespace rtos {
+
+/*! The Queue class allow to control, send, receive, or wait for messages.
+ A message can be a integer or pointer value  to a certain type T that is send
+ to a thread or interrupt service routine.
+  \tparam  T         data type of a single message element.
+  \tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Queue {
+public:
+    /*! Create and initialise a message Queue. */
+    Queue() {
+    #ifdef CMSIS_OS_RTX
+        memset(_queue_q, 0, sizeof(_queue_q));
+        _queue_def.pool = _queue_q;
+        _queue_def.queue_sz = queue_sz;
+    #endif
+        _queue_id = osMessageCreate(&_queue_def, NULL);
+        if (_queue_id == NULL) {
+            error("Error initialising the queue object\n");
+        }
+    }
+    
+    /*! Put a message in a Queue.
+      \param   data      message pointer.
+      \param   millisec  timeout value or 0 in case of no time-out. (default: 0)
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus put(T* data, uint32_t millisec=0) {
+        return osMessagePut(_queue_id, (uint32_t)data, millisec);
+    }
+    
+    /*! Get a message or Wait for a message from a Queue.
+      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      \return  event information that includes the message and the status code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMessageGet(_queue_id, millisec);
+    }
+
+private:
+    osMessageQId    _queue_id;
+    osMessageQDef_t _queue_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t        _queue_q[4+(queue_sz)];
+#endif
+};
+
+}
+#endif

diff -r 000000000000 -r e477ba491a3b RtosTimer.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RtosTimer.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,49 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef TIMER_H
+#define TIMER_H 
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! The RtosTimer class allow creating and and controlling of timer functions in the system.
+ A timer function is called when a time period expires whereby both on-shot and
+ periodic timers are possible. A timer can be started, restarted, or stopped.
+
+ Timers are handled in the thread osTimerThread.
+ Callback functions run under control of this thread and may use CMSIS-RTOS API calls. 
+*/
+class RtosTimer {
+public:
+    /*! Create and Start timer.
+      \param   task      name of the timer call back function.
+      \param   type      osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
+      \param   argument  argument to the timer call back function. (default: NULL)
+    */
+    RtosTimer(void (*task)(void const *argument),
+          os_timer_type type=osTimerPeriodic,
+          void *argument=NULL);
+    
+    /*! Stop the timer.
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus stop(void);
+    
+    /*! start a timer.
+      \param   millisec  time delay value of the timer.
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus start(uint32_t millisec);
+
+private:
+    osTimerId _timer_id;
+    osTimerDef_t _timer;
+#ifdef CMSIS_OS_RTX
+    uint32_t _timer_data[5];
+#endif
+};
+
+}
+
+#endif

diff -r 000000000000 -r e477ba491a3b Semaphore.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Semaphore.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,38 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef SEMAPHORE_H
+#define SEMAPHORE_H 
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! The Semaphore class is used to manage and protect access to a set of shared resources. */
+class Semaphore {
+public:
+    /*! Create and Initialize a Semaphore object used for managing resources. 
+      \param number of available resources; maximum index value is (count-1).
+    */
+    Semaphore(int32_t count);
+    
+    /*! Wait until a Semaphore resource becomes available. 
+      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      \return  number of available tokens, or -1 in case of incorrect parameters
+    */
+    int32_t wait(uint32_t millisec=osWaitForever);
+    
+    /*! Release a Semaphore resource that was obtain with Semaphore::wait.
+      \return  status code that indicates the execution status of the function. 
+    */
+    osStatus release(void);
+
+private:
+    osSemaphoreId _osSemaphoreId;
+    osSemaphoreDef_t _osSemaphoreDef;
+#ifdef CMSIS_OS_RTX
+    uint32_t _semaphore_data[2];
+#endif
+};
+
+}
+#endif

diff -r 000000000000 -r e477ba491a3b Thread.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Thread.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,76 @@
+/* Copyright (c) 2012 mbed.org */
+#ifndef THREAD_H
+#define THREAD_H 
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/*! The Thread class allow defining, creating, and controlling thread functions in the system. */
+class Thread {
+public:
+    /*! Create a new thread, and start it executing the specified function.
+      \param   task      function to be executed by this thread.
+      \param   argument  pointer that is passed to the thread function as start argument. (default: NULL).
+      \param   priority  initial priority of the thread function. (default: osPriorityNormal).
+      \param   stacksz   stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+    */
+    Thread(void (*task)(void const *argument),
+           void *argument=NULL,
+           osPriority priority=osPriorityNormal,
+           uint32_t stacksize=DEFAULT_STACK_SIZE);
+    
+    /*! Terminate execution of a thread and remove it from Active Threads
+      \return  status code that indicates the execution status of the function.
+    */
+    osStatus terminate();
+    
+    /*! Set priority of an active thread
+      \param   priority  new priority value for the thread function.
+      \return  status code that indicates the execution status of the function.
+    */
+    osStatus set_priority(osPriority priority);
+    
+    /*! Get priority of an active thread
+      \ return  current priority value of the thread function.
+    */
+    osPriority get_priority();
+    
+    /*! Set the specified Signal Flags of an active thread.
+      \param   signals  specifies the signal flags of the thread that should be set.
+      \return  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+    */
+    int32_t signal_set(int32_t signals);
+    
+    /*! Wait for one or more Signal Flags to become signaled for the current RUNNING thread. 
+      \param   signals   wait until all specified signal flags set or 0 for any single signal flag.
+      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      \return  event flag information or error code.
+    */
+    static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
+    
+    
+    /*! Wait for a specified time period in millisec:
+      \param   millisec  time delay value
+      \return  status code that indicates the execution status of the function. 
+    */
+    static osStatus wait(uint32_t millisec);
+    
+    /*! Pass control to next thread that is in state READY.
+      \return  status code that indicates the execution status of the function.
+    */
+    static osStatus yield();
+    
+    /*! Get the thread id of the current running thread.
+      \return  thread ID for reference by other functions or NULL in case of error.
+    */
+    static osThreadId gettid();
+
+private:
+    osThreadId _tid;
+    osThreadDef_t _thread_def;
+};
+
+}
+#endif

diff -r 000000000000 -r e477ba491a3b cmsis_os.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/cmsis_os.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,749 @@
+/* ----------------------------------------------------------------------  
+ * Copyright (C) 2012 ARM Limited. All rights reserved.  
+ *  
+ * $Date:        5. March 2012
+ * $Revision:    V0.03
+ *  
+ * Project:      CMSIS-RTOS API
+ * Title:        cmsis_os.h RTX header file
+ *  
+ * Version 0.02
+ *    Initial Proposal Phase 
+ * Version 0.03
+ *    osKernelStart added, optional feature: main started as thread
+ *    osSemaphores have standard behaviour
+ *    osTimerCreate does not start the timer, added osTimerStart
+ *    osThreadPass is renamed to osThreadYield 
+ * -------------------------------------------------------------------- */ 
+
+/**
+\page cmsis_os_h Header File Template: cmsis_os.h
+
+The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS).
+Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents
+its implementation.
+
+The file cmsis_os.h contains:
+ - CMSIS-RTOS API function definitions
+ - struct definitions for parameters and return types
+ - status and priority values used by CMSIS-RTOS API functions
+ - macros for defining threads and other kernel objects
+
+
+<b>Name conventions and header file modifications</b>
+
+All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions.
+Definitions that are prefixed \b os_ are not used in the application code but local to this header file.
+All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread.
+ 
+Definitions that are marked with <b>CAN BE CHANGED</b> can be adapted towards the needs of the actual CMSIS-RTOS implementation. 
+These definitions can be specific to the underlying RTOS kernel.
+
+Definitions that are marked with <b>MUST REMAIN UNCHANGED</b> cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer
+compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.
+
+
+<b>Function calls from interrupt service routines</b>
+
+The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):
+  - \ref osSignalSet
+  - \ref osSemaphoreRelease
+  - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree
+  - \ref osMessagePut, \ref osMessageGet
+  - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree
+
+Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called 
+from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.
+
+Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time.
+If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive.
+
+
+<b>Define and reference object definitions</b>
+
+With <b>\#define osObjectsExternal</b> objects are defined as external symbols. This allows to create a consistent header file
+that is used troughtout a project as shown below:
+
+<i>Header File</i>
+\code
+#include <cmsis_os.h>                                         // CMSIS RTOS header file
+
+// Thread definition
+extern void thread_sample (void const *argument);             // function prototype
+osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
+
+// Pool definition
+osPoolDef(MyPool, 10, long);                      
+\endcode
+
+
+This header file defines all objects when included in a C/C++ source file. When <b>\#define osObjectsExternal</b> is 
+present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be
+used throughout the whole project.
+
+<i>Example</i>
+\code
+#include "osObjects.h"     // Definition of the CMSIS-RTOS objects
+\endcode
+
+\code
+#define osObjectExternal   // Objects will be defined as external symbols
+#include "osObjects.h"     // Reference to the CMSIS-RTOS objects
+\endcode
+
+*/
+ 
+#ifndef _CMSIS_OS_H
+#define _CMSIS_OS_H
+
+/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version
+#define osCMSIS           0x10000      ///< API version (main [31:16] .sub [15:0])
+
+/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlaying RTOS kernel and version number.
+#define osCMSIS_RTX       0x0003	   ///< RTOS identification and version (main [31:16] .sub [15:0])
+
+/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
+#define osKernelSystemId "RTX V0.03"   ///< RTOS identification string
+
+
+#define CMSIS_OS_RTX
+
+#ifdef TOOLCHAIN_GCC_ARM
+#       define WORDS_STACK_SIZE   512
+#else
+#    if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
+#       define WORDS_STACK_SIZE   256
+#   elif defined(TARGET_LPC11U24)
+#       define WORDS_STACK_SIZE   128
+#   endif
+#endif
+
+#define DEFAULT_STACK_SIZE         (WORDS_STACK_SIZE*4)
+
+
+/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
+#define osFeature_MainThread   1       ///< main thread      1=main can be thread, 0=not available
+#define osFeature_Pool         1       ///< Memory Pools:    1=available, 0=not available
+#define osFeature_MailQ        1       ///< Mail Queues:     1=available, 0=not available
+#define osFeature_MessageQ     1       ///< Message Queues:  1=available, 0=not available
+#define osFeature_Signals      16      ///< maximum number of Signal Flags available per thread
+#define osFeature_Semaphore    8       ///< maximum count for SemaphoreInit function
+#define osFeature_Wait         0       ///< osWait function: 1=available, 0=not available
+
+#if defined (__CC_ARM)
+#define os_InRegs __value_in_regs      // Compiler specific: force struct in registers
+#else
+#define os_InRegs
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+#ifdef  __cplusplus
+extern "C"
+{
+#endif
+
+
+// ==== Enumeration, structures, defines ====
+
+/// Priority used for thread control.
+/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osPriorityIdle          = -3,          ///< priority: idle (lowest)
+  osPriorityLow           = -2,          ///< priority: low
+  osPriorityBelowNormal   = -1,          ///< priority: below normal
+  osPriorityNormal        =  0,          ///< priority: normal (default)
+  osPriorityAboveNormal   = +1,          ///< priority: above normal
+  osPriorityHigh          = +2,          ///< priority: high 
+  osPriorityRealtime      = +3,          ///< priority: realtime (highest)
+  osPriorityError         =  0x84        ///< system cannot determine priority or thread has illegal priority
+} osPriority;
+
+/// Timeout value
+/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
+#define osWaitForever     0xFFFFFFFF     ///< wait forever timeout value
+
+/// Status code values returned by CMSIS-RTOS functions
+/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osOK                    =     0,       ///< function completed; no event occurred.
+  osEventSignal           =  0x08,       ///< function completed; signal event occurred.
+  osEventMessage          =  0x10,       ///< function completed; message event occurred.
+  osEventMail             =  0x20,       ///< function completed; mail event occurred.
+  osEventTimeout          =  0x40,       ///< function completed; timeout occurred.
+  osErrorParameter        =  0x80,       ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
+  osErrorResource         =  0x81,       ///< resource not available: a specified resource was not available.
+  osErrorTimeoutResource  =  0xC1,       ///< resource not available within given time: a specified resource was not available within the timeout period.
+  osErrorISR              =  0x82,       ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
+  osErrorISRRecursive     =  0x83,       ///< function called multiple times from ISR with same object.
+  osErrorPriority         =  0x84,       ///< system cannot determine priority or thread has illegal priority.
+  osErrorNoMemory         =  0x85,       ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
+  osErrorValue            =  0x86,       ///< value of a parameter is out of range.
+  osErrorOS               =  0xFF,       ///< unspecified RTOS error: run-time error but no other error message fits.
+  os_status_reserved      =  0x7FFFFFFF  ///< prevent from enum down-size compiler optimization.
+} osStatus; 
+
+
+/// Timer type value for the timer definition
+/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
+typedef enum  {
+  osTimerOnce             =     0,       ///< one-shot timer 
+  osTimerPeriodic         =     1        ///< repeating timer 
+} os_timer_type; 
+
+/// Entry point of a thread.
+/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
+typedef void (*os_pthread) (void const *argument); 
+
+/// Entry point of a timer call back function.
+/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
+typedef void (*os_ptimer) (void const *argument); 
+
+// >>> the following data type definitions may shall adapted towards a specific RTOS
+
+/// Thread ID identifies the thread (pointer to a thread control block).
+/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_thread_cb *osThreadId;
+
+/// Timer ID identifies the timer (pointer to a timer control block).
+/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_timer_cb *osTimerId;
+
+/// Mutex ID identifies the mutex (pointer to a mutex control block).
+/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_mutex_cb *osMutexId;
+
+/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
+/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_semaphore_cb *osSemaphoreId;
+
+/// Pool ID identifies the memory pool (pointer to a memory pool control block).
+/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_cb *osPoolId;
+
+/// Message ID identifies the message queue (pointer to a message queue control block).
+/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_messageQ_cb *osMessageQId;
+
+/// Mail ID identifies the mail queue (pointer to a mail queue control block).
+/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_cb *osMailQId;
+
+
+/// Thread Definition structure contains startup information of a thread.
+/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_thread_def  {
+  os_pthread               pthread;    ///< start address of thread function
+  osPriority             tpriority;    ///< initial thread priority
+  uint32_t               instances;    ///< maximum number of instances of that thread function
+  uint32_t               stacksize;    ///< stack size requirements in bytes; 0 is default stack size
+} osThreadDef_t;
+
+/// Timer Definition structure contains timer parameters.
+/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_timer_def  {
+  os_ptimer                 ptimer;    ///< start address of a timer function
+  void                      *timer;    ///< pointer to internal data
+} osTimerDef_t;
+
+/// Mutex Definition structure contains setup information for a mutex.
+/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mutex_def  {
+  void                      *mutex;    ///< pointer to internal data
+} osMutexDef_t;
+
+/// Semaphore Definition structure contains setup information for a semaphore.
+/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_semaphore_def  {
+  void                  *semaphore;    ///< pointer to internal data
+} osSemaphoreDef_t;
+
+/// Definition structure for memory block allocation
+/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_def  {
+  uint32_t                 pool_sz;    ///< number of items (elements) in the pool
+  uint32_t                 item_sz;    ///< size of an item 
+  void                       *pool;    ///< pointer to memory for pool
+} osPoolDef_t;
+
+/// Definition structure for message queue
+/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_messageQ_def  {
+  uint32_t                queue_sz;    ///< number of elements in the queue
+  void                       *pool;    ///< memory array for messages
+} osMessageQDef_t;
+
+/// Definition structure for mail queue
+/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_def  {
+  uint32_t                queue_sz;    ///< number of elements in the queue
+  uint32_t                 item_sz;    ///< size of an item 
+  void                       *pool;    ///< memory array for mail
+} osMailQDef_t;
+
+/// Event structure contains detailed information about an event. 
+/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS. 
+///       However the struct may be extended at the end.
+typedef struct  {
+  osStatus                 status;     ///< status code: event or error information
+  union  {
+    uint32_t                    v;     ///< message as 32-bit value 
+    void                       *p;     ///< message or mail as void pointer
+    int32_t               signals;     ///< signal flags 
+  } value;                             ///< event value
+  union  {
+    osMailQId             mail_id;     ///< mail id obtained by \ref osMailCreate 
+    osMessageQId       message_id;     ///< message id obtained by \ref osMessageCreate 
+  } def;                               ///< event definition
+} osEvent;
+
+
+//  ==== Kernel Control Functions ====
+
+/// Start the RTOS Kernel with executing the specified thread.
+/// \param[in]     thread_def    thread definition referenced with \ref osThread.
+/// \param[in]     argument      pointer that is passed to the thread function as start argument.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS. 
+osStatus osKernelStart (osThreadDef_t *thread_def, void *argument);
+   
+/// Check if the RTOS kernel is already started.
+/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. 
+/// \return 0 RTOS is not started, 1 RTOS is started.
+int32_t osKernelRunning(void);
+
+
+//  ==== Thread Management ====
+
+/// Create a Thread Definition with function, priority, and stack requirements.
+/// \param         name         name of the thread function.
+/// \param         priority     initial priority of the thread function.
+/// \param         instances    number of possible thread instances.
+/// \param         stacksz      stack size (in bytes) requirements for the thread function.
+/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osThreadDef(name, priority, instances, stacksz)  \
+extern osThreadDef_t os_thread_def_##name
+#else                            // define the object
+#define osThreadDef(name, priority, instances, stacksz)  \
+osThreadDef_t os_thread_def_##name = \
+{ (name), (priority), (instances), (stacksz)  }
+#endif
+
+/// Access a Thread defintion.
+/// \param         name          name of the thread definition object.
+/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osThread(name)  \
+&os_thread_def_##name
+
+
+/// Create a thread and add it to Active Threads and set it to state READY.
+/// \param[in]     thread_def    thread definition referenced with \ref osThread.
+/// \param[in]     argument      pointer that is passed to the thread function as start argument.
+/// \return thread ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
+osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument);
+
+/// Return the thread ID of the current running thread.
+/// \return thread ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
+osThreadId osThreadGetId (void);
+
+/// Terminate execution of a thread and remove it from Active Threads.
+/// \param[in]     thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
+osStatus osThreadTerminate (osThreadId thread_id);
+
+/// Pass control to next thread that is in state \b READY.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
+osStatus osThreadYield (void);
+
+/// Change priority of an active thread.  
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     priority      new priority value for the thread function.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
+
+/// Get current priority of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return current priority value of the thread function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
+osPriority osThreadGetPriority (osThreadId thread_id);
+
+
+
+//  ==== Generic Wait Functions ====
+
+/// Wait for Timeout (Time Delay)
+/// \param[in]     millisec      time delay value 
+/// \return status code that indicates the execution status of the function.
+osStatus osDelay (uint32_t millisec);
+
+#if (defined (osFeature_Wait)  &&  (osFeature_Wait != 0))     // Generic Wait available
+
+/// Wait for Signal, Message, Mail, or Timeout
+/// \param[in] millisec          timeout value or 0 in case of no time-out
+/// \return event that contains signal, message, or mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osWait (uint32_t millisec);
+
+#endif  // Generic Wait available
+
+
+//  ==== Timer Management Functions ====
+/// Define a Timer object.
+/// \param         name          name of the timer object.
+/// \param         function      name of the timer call back function.
+/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osTimerDef(name, function)  \
+extern osTimerDef_t os_timer_def_##name
+#else                            // define the object
+#define osTimerDef(name, function)  \
+uint32_t os_timer_cb_##name[5]; \
+osTimerDef_t os_timer_def_##name = \
+{ (function), (os_timer_cb_##name) }
+#endif
+
+/// Access a Timer definition.
+/// \param         name          name of the timer object.
+/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osTimer(name) \
+&os_timer_def_##name
+
+/// Create a timer.
+/// \param[in]     timer_def     timer object referenced with \ref osTimer.
+/// \param[in]     type          osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
+/// \param[in]     argument      argument to the timer call back function.
+/// \return timer ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
+osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument);
+
+/// Start or restart a timer.
+/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
+/// \param[in]     millisec      time delay value of the timer.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
+
+/// Stop the timer.
+/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStop (osTimerId timer_id);
+
+
+//  ==== Signal Management ====
+
+/// Set the specified Signal Flags of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     signals       specifies the signal flags of the thread that should be set.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
+int32_t osSignalSet (osThreadId thread_id, int32_t signal);
+
+/// Clear the specified Signal Flags of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in]     signals       specifies the signal flags of the thread that shall be cleared.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
+int32_t osSignalClear (osThreadId thread_id, int32_t signal);
+
+/// Get Signal Flags status of an active thread.
+/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSignalGet shall be consistent in every CMSIS-RTOS.
+int32_t osSignalGet (osThreadId thread_id);
+
+/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
+/// \param[in]     signals       wait until all specified signal flags set or 0 for any single signal flag.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return event flag information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
+
+
+//  ==== Mutex Management ====
+
+/// Define a Mutex.
+/// \param         name          name of the mutex object.
+/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMutexDef(name)  \
+extern osMutexDef_t os_mutex_def_##name
+#else                            // define the object
+#define osMutexDef(name)  \
+uint32_t os_mutex_cb_##name[3]; \
+osMutexDef_t os_mutex_def_##name = { (os_mutex_cb_##name) }
+#endif
+
+/// Access a Mutex defintion.
+/// \param         name          name of the mutex object.
+/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMutex(name)  \
+&os_mutex_def_##name
+
+/// Create and Initialize a Mutex object
+/// \param[in]     mutex_def     mutex definition referenced with \ref osMutex.
+/// \return mutex ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
+osMutexId osMutexCreate (osMutexDef_t *mutex_def);
+
+/// Wait until a Mutex becomes available
+/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
+
+/// Release a Mutex that was obtained by \ref osMutexWait
+/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
+osStatus osMutexRelease (osMutexId mutex_id);
+
+
+//  ==== Semaphore Management Functions ====
+
+#if (defined (osFeature_Semaphore)  &&  (osFeature_Semaphore != 0))     // Semaphore available
+
+/// Define a Semaphore object.
+/// \param         name          name of the semaphore object.
+/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osSemaphoreDef(name)  \
+extern osSemaphoreDef_t os_semaphore_def_##name
+#else                            // define the object
+#define osSemaphoreDef(name)  \
+uint32_t os_semaphore_cb_##name[2]; \
+osSemaphoreDef_t os_semaphore_def_##name = { (os_semaphore_cb_##name) }
+#endif
+
+/// Access a Semaphore definition.
+/// \param         name          name of the semaphore object.
+/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osSemaphore(name)  \
+&os_semaphore_def_##name
+
+/// Create and Initialize a Semaphore object used for managing resources
+/// \param[in]     semaphore_def semaphore definition referenced with \ref osSemaphore.
+/// \param[in]     count         number of available resources.
+/// \return semaphore ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
+osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count);
+
+/// Wait until a Semaphore token becomes available
+/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphore.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return number of available tokens, or -1 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
+
+/// Release a Semaphore token
+/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphore.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
+
+#endif     // Semaphore available
+ 
+//  ==== Memory Pool Management Functions ====
+
+#if (defined (osFeature_Pool)  &&  (osFeature_Pool != 0))  // Memory Pool Management available
+
+/// \brief Define a Memory Pool.
+/// \param         name          name of the memory pool.
+/// \param         no            maximum number of objects (elements) in the memory pool.
+/// \param         type          data type of a single object (element).
+/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osPoolDef(name, no, type)   \
+extern osPoolDef_t os_pool_def_##name
+#else                            // define the object
+#define osPoolDef(name, no, type)   \
+uint32_t os_pool_m_##name[3+((sizeof(type)+3)/4)*(no)]; \
+osPoolDef_t os_pool_def_##name = \
+{ (no), sizeof(type), (os_pool_m_##name) }
+#endif
+
+/// \brief Access a Memory Pool definition.
+/// \param         name          name of the memory pool
+/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osPool(name) \
+&os_pool_def_##name
+
+/// Create and Initialize a memory pool
+/// \param[in]     pool_def      memory pool definition referenced with \ref osPool.
+/// \return memory pool ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
+osPoolId osPoolCreate (osPoolDef_t *pool_def);
+
+/// Allocate a memory block from a memory pool
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
+void *osPoolAlloc (osPoolId pool_id);
+
+/// Allocate a memory block from a memory pool and set memory block to zero 
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
+void *osPoolCAlloc (osPoolId pool_id);
+
+/// Return an allocated memory block back to a specific memory pool
+/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
+/// \param[in]     block         address of the allocated memory block that is returned to the memory pool.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
+osStatus osPoolFree (osPoolId pool_id, void *block);
+
+#endif   // Memory Pool Management available
+
+
+//  ==== Message Queue Management Functions ====
+
+#if (defined (osFeature_MessageQ)  &&  (osFeature_MessageQ != 0))     // Message Queues available
+
+/// \brief Create a Message Queue Definition.
+/// \param         name          name of the queue.
+/// \param         queue_sz      maximum number of messages in the queue.
+/// \param         type          data type of a single message element (for debugger).
+/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMessageQDef(name, queue_sz, type)   \
+extern osMessageQDef_t os_messageQ_def_##name
+#else                            // define the object
+#define osMessageQDef(name, queue_sz, type)   \
+uint32_t os_messageQ_q_##name[4+(queue_sz)]; \
+osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), (os_messageQ_q_##name) }
+#endif
+
+/// \brief Access a Message Queue Definition.
+/// \param         name          name of the queue
+/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMessageQ(name) \
+&os_messageQ_def_##name
+
+/// Create and Initialize a Message Queue.
+/// \param[in]     queue_def     queue definition referenced with \ref osMessageQ.
+/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return message queue ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
+osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
+
+/// Put a Message to a Queue.
+/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
+/// \param[in]     info          message information.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
+
+/// Get a Message or Wait for a Message from a Queue.
+/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out.
+/// \return event information that includes status code.
+/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
+
+#endif     // Message Queues available
+
+
+//  ==== Mail Queue Management Functions ====
+
+#if (defined (osFeature_MailQ)  &&  (osFeature_MailQ != 0))     // Mail Queues available
+
+/// \brief Create a Mail Queue Definition
+/// \param         name          name of the queue
+/// \param         queue_sz      maximum number of messages in queue
+/// \param         type          data type of a single message element
+/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal)  // object is external
+#define osMailQDef(name, queue_sz, type) \
+extern osMailQDef_t os_mailQ_def_##name
+#else                            // define the object
+#define osMailQDef(name, queue_sz, type) \
+uint32_t os_mailQ_q_##name[4+(queue_sz)]; \
+uint32_t os_mailQ_m_##name[3+((sizeof(type)+3)/4)*(queue_sz)]; \
+void *   os_mailQ_p_##name[2] = { (os_mailQ_q_##name), os_mailQ_m_##name }; \
+osMailQDef_t os_mailQ_def_##name =  \
+{ (queue_sz), sizeof(type), (os_mailQ_p_##name) }
+#endif
+     
+/// \brief Access a Mail Queue Definition
+/// \param         name          name of the queue
+/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the 
+///       macro body is implementation specific in every CMSIS-RTOS.
+#define osMailQ(name)  \
+&os_mailQ_def_##name
+
+/// Create and Initialize mail queue
+/// \param[in]     queue_def     reference to the mail queue definition obtain with \ref osMailQ
+/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return mail queue ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
+osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id);
+
+/// Allocate a memory block from a mail
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case error.
+/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Allocate a memory block from a mail and set memory block to zero
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can shall filled with mail or NULL in case error.
+/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Put a mail to a queue
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     mail          memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
+osStatus osMailPut (osMailQId queue_id, void *mail);
+
+/// Get a mail from a queue
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     millisec      timeout value or 0 in case of no time-out
+/// \return event that contains mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
+
+/// Free a memory block from a mail
+/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
+/// \param[in]     mail          pointer to the memory block that was obtained with \ref osMailGet.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
+osStatus osMailFree (osMailQId queue_id, void *mail);
+                            
+#endif  // Mail Queues available
+
+/// Set Thread Error (for Create funcions which return IDs)
+extern void sysThreadError(osStatus status);
+
+#ifdef  __cplusplus
+}
+#endif
+
+#endif  // _CMSIS_OS_H

diff -r 000000000000 -r e477ba491a3b rtos.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos.h	Tue Aug 07 10:24:02 2012 +0000
@@ -0,0 +1,17 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited. All rights reserved.
+ */
+#ifndef RTOS_H
+#define RTOS_H
+
+#include "Thread.h"
+#include "Mutex.h"
+#include "RtosTimer.h"
+#include "Semaphore.h"
+#include "Mail.h"
+#include "MemoryPool.h"
+#include "Queue.h"
+
+using namespace rtos;
+
+#endif