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Dependencies:   mbed

mbed-rtos/rtx/TARGET_ARM7/rt_CMSIS.c@0:0d257bbf5c05, 2021-03-11 (annotated)

Committer:
qmaker
Date:
Thu Mar 11 08:00:49 2021 +0000
Revision:
0:0d257bbf5c05
mpu6050 corrige

Who changed what in which revision?

UserRevisionLine numberNew contents of line
qmaker 0:0d257bbf5c05 1 /*----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 2 * RL-ARM - RTX
qmaker 0:0d257bbf5c05 3 *----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 4 * Name: rt_CMSIS.c
qmaker 0:0d257bbf5c05 5 * Purpose: CMSIS RTOS API
qmaker 0:0d257bbf5c05 6 * Rev.: V4.60
qmaker 0:0d257bbf5c05 7 *----------------------------------------------------------------------------
qmaker 0:0d257bbf5c05 8 *
qmaker 0:0d257bbf5c05 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
qmaker 0:0d257bbf5c05 10 * All rights reserved.
qmaker 0:0d257bbf5c05 11 * Redistribution and use in source and binary forms, with or without
qmaker 0:0d257bbf5c05 12 * modification, are permitted provided that the following conditions are met:
qmaker 0:0d257bbf5c05 13 * - Redistributions of source code must retain the above copyright
qmaker 0:0d257bbf5c05 14 * notice, this list of conditions and the following disclaimer.
qmaker 0:0d257bbf5c05 15 * - Redistributions in binary form must reproduce the above copyright
qmaker 0:0d257bbf5c05 16 * notice, this list of conditions and the following disclaimer in the
qmaker 0:0d257bbf5c05 17 * documentation and/or other materials provided with the distribution.
qmaker 0:0d257bbf5c05 18 * - Neither the name of ARM nor the names of its contributors may be used
qmaker 0:0d257bbf5c05 19 * to endorse or promote products derived from this software without
qmaker 0:0d257bbf5c05 20 * specific prior written permission.
qmaker 0:0d257bbf5c05 21 *
qmaker 0:0d257bbf5c05 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
qmaker 0:0d257bbf5c05 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
qmaker 0:0d257bbf5c05 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
qmaker 0:0d257bbf5c05 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
qmaker 0:0d257bbf5c05 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
qmaker 0:0d257bbf5c05 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
qmaker 0:0d257bbf5c05 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
qmaker 0:0d257bbf5c05 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
qmaker 0:0d257bbf5c05 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
qmaker 0:0d257bbf5c05 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
qmaker 0:0d257bbf5c05 32 * POSSIBILITY OF SUCH DAMAGE.
qmaker 0:0d257bbf5c05 33 *---------------------------------------------------------------------------*/
qmaker 0:0d257bbf5c05 34
qmaker 0:0d257bbf5c05 35 #define __CMSIS_GENERIC
qmaker 0:0d257bbf5c05 36
qmaker 0:0d257bbf5c05 37 #include "core_arm7.h"
qmaker 0:0d257bbf5c05 38
qmaker 0:0d257bbf5c05 39 #include "rt_TypeDef.h"
qmaker 0:0d257bbf5c05 40 #include "RTX_Conf.h"
qmaker 0:0d257bbf5c05 41 #include "rt_System.h"
qmaker 0:0d257bbf5c05 42 #include "rt_Task.h"
qmaker 0:0d257bbf5c05 43 #include "rt_Event.h"
qmaker 0:0d257bbf5c05 44 #include "rt_List.h"
qmaker 0:0d257bbf5c05 45 #include "rt_Time.h"
qmaker 0:0d257bbf5c05 46 #include "rt_Mutex.h"
qmaker 0:0d257bbf5c05 47 #include "rt_Semaphore.h"
qmaker 0:0d257bbf5c05 48 #include "rt_Mailbox.h"
qmaker 0:0d257bbf5c05 49 #include "rt_MemBox.h"
qmaker 0:0d257bbf5c05 50 #include "rt_HAL_CM.h"
qmaker 0:0d257bbf5c05 51
qmaker 0:0d257bbf5c05 52 #define os_thread_cb OS_TCB
qmaker 0:0d257bbf5c05 53
qmaker 0:0d257bbf5c05 54 #include "cmsis_os.h"
qmaker 0:0d257bbf5c05 55
qmaker 0:0d257bbf5c05 56 #if (osFeature_Signals != 16)
qmaker 0:0d257bbf5c05 57 #error Invalid "osFeature_Signals" value!
qmaker 0:0d257bbf5c05 58 #endif
qmaker 0:0d257bbf5c05 59 #if (osFeature_Semaphore > 65535)
qmaker 0:0d257bbf5c05 60 #error Invalid "osFeature_Semaphore" value!
qmaker 0:0d257bbf5c05 61 #endif
qmaker 0:0d257bbf5c05 62 #if (osFeature_Wait != 0)
qmaker 0:0d257bbf5c05 63 #error osWait not supported!
qmaker 0:0d257bbf5c05 64 #endif
qmaker 0:0d257bbf5c05 65
qmaker 0:0d257bbf5c05 66
qmaker 0:0d257bbf5c05 67 // ==== Enumeration, structures, defines ====
qmaker 0:0d257bbf5c05 68
qmaker 0:0d257bbf5c05 69 // Service Calls defines
qmaker 0:0d257bbf5c05 70
qmaker 0:0d257bbf5c05 71 #if defined (__CC_ARM) /* ARM Compiler */
qmaker 0:0d257bbf5c05 72
qmaker 0:0d257bbf5c05 73 #define __NO_RETURN __declspec(noreturn)
qmaker 0:0d257bbf5c05 74
qmaker 0:0d257bbf5c05 75 #define osEvent_type osEvent
qmaker 0:0d257bbf5c05 76 #define osEvent_ret_status ret
qmaker 0:0d257bbf5c05 77 #define osEvent_ret_value ret
qmaker 0:0d257bbf5c05 78 #define osEvent_ret_msg ret
qmaker 0:0d257bbf5c05 79 #define osEvent_ret_mail ret
qmaker 0:0d257bbf5c05 80
qmaker 0:0d257bbf5c05 81 #define osCallback_type osCallback
qmaker 0:0d257bbf5c05 82 #define osCallback_ret ret
qmaker 0:0d257bbf5c05 83
qmaker 0:0d257bbf5c05 84 #define SVC_0_1(f,t,...) \
qmaker 0:0d257bbf5c05 85 __svc_indirect(0) t _##f (t(*)()); \
qmaker 0:0d257bbf5c05 86 t f (void); \
qmaker 0:0d257bbf5c05 87 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 88 static __inline t __##f (void) { \
qmaker 0:0d257bbf5c05 89 return _##f(f); \
qmaker 0:0d257bbf5c05 90 }
qmaker 0:0d257bbf5c05 91
qmaker 0:0d257bbf5c05 92 #define SVC_1_1(f,t,t1,...) \
qmaker 0:0d257bbf5c05 93 __svc_indirect(0) t _##f (t(*)(t1),t1); \
qmaker 0:0d257bbf5c05 94 t f (t1 a1); \
qmaker 0:0d257bbf5c05 95 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 96 static __inline t __##f (t1 a1) { \
qmaker 0:0d257bbf5c05 97 return _##f(f,a1); \
qmaker 0:0d257bbf5c05 98 }
qmaker 0:0d257bbf5c05 99
qmaker 0:0d257bbf5c05 100 #define SVC_2_1(f,t,t1,t2,...) \
qmaker 0:0d257bbf5c05 101 __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
qmaker 0:0d257bbf5c05 102 t f (t1 a1, t2 a2); \
qmaker 0:0d257bbf5c05 103 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 104 static __inline t __##f (t1 a1, t2 a2) { \
qmaker 0:0d257bbf5c05 105 return _##f(f,a1,a2); \
qmaker 0:0d257bbf5c05 106 }
qmaker 0:0d257bbf5c05 107
qmaker 0:0d257bbf5c05 108 #define SVC_3_1(f,t,t1,t2,t3,...) \
qmaker 0:0d257bbf5c05 109 __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
qmaker 0:0d257bbf5c05 110 t f (t1 a1, t2 a2, t3 a3); \
qmaker 0:0d257bbf5c05 111 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 112 static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
qmaker 0:0d257bbf5c05 113 return _##f(f,a1,a2,a3); \
qmaker 0:0d257bbf5c05 114 }
qmaker 0:0d257bbf5c05 115
qmaker 0:0d257bbf5c05 116 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
qmaker 0:0d257bbf5c05 117 __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
qmaker 0:0d257bbf5c05 118 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
qmaker 0:0d257bbf5c05 119 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 120 static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
qmaker 0:0d257bbf5c05 121 return _##f(f,a1,a2,a3,a4); \
qmaker 0:0d257bbf5c05 122 }
qmaker 0:0d257bbf5c05 123
qmaker 0:0d257bbf5c05 124 #define SVC_1_2 SVC_1_1
qmaker 0:0d257bbf5c05 125 #define SVC_1_3 SVC_1_1
qmaker 0:0d257bbf5c05 126 #define SVC_2_3 SVC_2_1
qmaker 0:0d257bbf5c05 127
qmaker 0:0d257bbf5c05 128 #elif defined (__GNUC__) /* GNU Compiler */
qmaker 0:0d257bbf5c05 129
qmaker 0:0d257bbf5c05 130 #define __NO_RETURN __attribute__((noreturn))
qmaker 0:0d257bbf5c05 131
qmaker 0:0d257bbf5c05 132 typedef uint32_t __attribute__((vector_size(8))) ret64;
qmaker 0:0d257bbf5c05 133 typedef uint32_t __attribute__((vector_size(16))) ret128;
qmaker 0:0d257bbf5c05 134
qmaker 0:0d257bbf5c05 135 #define RET_pointer __r0
qmaker 0:0d257bbf5c05 136 #define RET_int32_t __r0
qmaker 0:0d257bbf5c05 137 #define RET_osStatus __r0
qmaker 0:0d257bbf5c05 138 #define RET_osPriority __r0
qmaker 0:0d257bbf5c05 139 #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
qmaker 0:0d257bbf5c05 140 #define RET_osCallback {(void *)__r0, (void *)__r1}
qmaker 0:0d257bbf5c05 141
qmaker 0:0d257bbf5c05 142 #define osEvent_type ret128
qmaker 0:0d257bbf5c05 143 #define osEvent_ret_status (ret128){ret.status}
qmaker 0:0d257bbf5c05 144 #define osEvent_ret_value (ret128){ret.status, ret.value.v}
qmaker 0:0d257bbf5c05 145 #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
qmaker 0:0d257bbf5c05 146 #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
qmaker 0:0d257bbf5c05 147
qmaker 0:0d257bbf5c05 148 #define osCallback_type ret64
qmaker 0:0d257bbf5c05 149 #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
qmaker 0:0d257bbf5c05 150
qmaker 0:0d257bbf5c05 151 #define SVC_ArgN(n) \
qmaker 0:0d257bbf5c05 152 register int __r##n __asm("r"#n);
qmaker 0:0d257bbf5c05 153
qmaker 0:0d257bbf5c05 154 #define SVC_ArgR(n,t,a) \
qmaker 0:0d257bbf5c05 155 register t __r##n __asm("r"#n) = a;
qmaker 0:0d257bbf5c05 156
qmaker 0:0d257bbf5c05 157 #define SVC_Arg0() \
qmaker 0:0d257bbf5c05 158 SVC_ArgN(0) \
qmaker 0:0d257bbf5c05 159 SVC_ArgN(1) \
qmaker 0:0d257bbf5c05 160 SVC_ArgN(2) \
qmaker 0:0d257bbf5c05 161 SVC_ArgN(3)
qmaker 0:0d257bbf5c05 162
qmaker 0:0d257bbf5c05 163 #define SVC_Arg1(t1) \
qmaker 0:0d257bbf5c05 164 SVC_ArgR(0,t1,a1) \
qmaker 0:0d257bbf5c05 165 SVC_ArgN(1) \
qmaker 0:0d257bbf5c05 166 SVC_ArgN(2) \
qmaker 0:0d257bbf5c05 167 SVC_ArgN(3)
qmaker 0:0d257bbf5c05 168
qmaker 0:0d257bbf5c05 169 #define SVC_Arg2(t1,t2) \
qmaker 0:0d257bbf5c05 170 SVC_ArgR(0,t1,a1) \
qmaker 0:0d257bbf5c05 171 SVC_ArgR(1,t2,a2) \
qmaker 0:0d257bbf5c05 172 SVC_ArgN(2) \
qmaker 0:0d257bbf5c05 173 SVC_ArgN(3)
qmaker 0:0d257bbf5c05 174
qmaker 0:0d257bbf5c05 175 #define SVC_Arg3(t1,t2,t3) \
qmaker 0:0d257bbf5c05 176 SVC_ArgR(0,t1,a1) \
qmaker 0:0d257bbf5c05 177 SVC_ArgR(1,t2,a2) \
qmaker 0:0d257bbf5c05 178 SVC_ArgR(2,t3,a3) \
qmaker 0:0d257bbf5c05 179 SVC_ArgN(3)
qmaker 0:0d257bbf5c05 180
qmaker 0:0d257bbf5c05 181 #define SVC_Arg4(t1,t2,t3,t4) \
qmaker 0:0d257bbf5c05 182 SVC_ArgR(0,t1,a1) \
qmaker 0:0d257bbf5c05 183 SVC_ArgR(1,t2,a2) \
qmaker 0:0d257bbf5c05 184 SVC_ArgR(2,t3,a3) \
qmaker 0:0d257bbf5c05 185 SVC_ArgR(3,t4,a4)
qmaker 0:0d257bbf5c05 186
qmaker 0:0d257bbf5c05 187 #if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
qmaker 0:0d257bbf5c05 188 #define SVC_Call(f) \
qmaker 0:0d257bbf5c05 189 __asm volatile \
qmaker 0:0d257bbf5c05 190 ( \
qmaker 0:0d257bbf5c05 191 "ldr r7,="#f"\n\t" \
qmaker 0:0d257bbf5c05 192 "mov r12,r7\n\t" \
qmaker 0:0d257bbf5c05 193 "svc 0" \
qmaker 0:0d257bbf5c05 194 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
qmaker 0:0d257bbf5c05 195 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
qmaker 0:0d257bbf5c05 196 : "r7", "r12", "lr", "cc" \
qmaker 0:0d257bbf5c05 197 );
qmaker 0:0d257bbf5c05 198 #else
qmaker 0:0d257bbf5c05 199 #define SVC_Call(f) \
qmaker 0:0d257bbf5c05 200 __asm volatile \
qmaker 0:0d257bbf5c05 201 ( \
qmaker 0:0d257bbf5c05 202 "ldr r12,="#f"\n\t" \
qmaker 0:0d257bbf5c05 203 "svc 0" \
qmaker 0:0d257bbf5c05 204 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
qmaker 0:0d257bbf5c05 205 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
qmaker 0:0d257bbf5c05 206 : "r12", "lr", "cc" \
qmaker 0:0d257bbf5c05 207 );
qmaker 0:0d257bbf5c05 208 #endif
qmaker 0:0d257bbf5c05 209
qmaker 0:0d257bbf5c05 210 #define SVC_0_1(f,t,rv) \
qmaker 0:0d257bbf5c05 211 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 212 static inline t __##f (void) { \
qmaker 0:0d257bbf5c05 213 SVC_Arg0(); \
qmaker 0:0d257bbf5c05 214 SVC_Call(f); \
qmaker 0:0d257bbf5c05 215 return (t) rv; \
qmaker 0:0d257bbf5c05 216 }
qmaker 0:0d257bbf5c05 217
qmaker 0:0d257bbf5c05 218 #define SVC_1_1(f,t,t1,rv) \
qmaker 0:0d257bbf5c05 219 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 220 static inline t __##f (t1 a1) { \
qmaker 0:0d257bbf5c05 221 SVC_Arg1(t1); \
qmaker 0:0d257bbf5c05 222 SVC_Call(f); \
qmaker 0:0d257bbf5c05 223 return (t) rv; \
qmaker 0:0d257bbf5c05 224 }
qmaker 0:0d257bbf5c05 225
qmaker 0:0d257bbf5c05 226 #define SVC_2_1(f,t,t1,t2,rv) \
qmaker 0:0d257bbf5c05 227 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 228 static inline t __##f (t1 a1, t2 a2) { \
qmaker 0:0d257bbf5c05 229 SVC_Arg2(t1,t2); \
qmaker 0:0d257bbf5c05 230 SVC_Call(f); \
qmaker 0:0d257bbf5c05 231 return (t) rv; \
qmaker 0:0d257bbf5c05 232 }
qmaker 0:0d257bbf5c05 233
qmaker 0:0d257bbf5c05 234 #define SVC_3_1(f,t,t1,t2,t3,rv) \
qmaker 0:0d257bbf5c05 235 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 236 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
qmaker 0:0d257bbf5c05 237 SVC_Arg3(t1,t2,t3); \
qmaker 0:0d257bbf5c05 238 SVC_Call(f); \
qmaker 0:0d257bbf5c05 239 return (t) rv; \
qmaker 0:0d257bbf5c05 240 }
qmaker 0:0d257bbf5c05 241
qmaker 0:0d257bbf5c05 242 #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
qmaker 0:0d257bbf5c05 243 __attribute__((always_inline)) \
qmaker 0:0d257bbf5c05 244 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
qmaker 0:0d257bbf5c05 245 SVC_Arg4(t1,t2,t3,t4); \
qmaker 0:0d257bbf5c05 246 SVC_Call(f); \
qmaker 0:0d257bbf5c05 247 return (t) rv; \
qmaker 0:0d257bbf5c05 248 }
qmaker 0:0d257bbf5c05 249
qmaker 0:0d257bbf5c05 250 #define SVC_1_2 SVC_1_1
qmaker 0:0d257bbf5c05 251 #define SVC_1_3 SVC_1_1
qmaker 0:0d257bbf5c05 252 #define SVC_2_3 SVC_2_1
qmaker 0:0d257bbf5c05 253
qmaker 0:0d257bbf5c05 254 #elif defined (__ICCARM__) /* IAR Compiler */
qmaker 0:0d257bbf5c05 255
qmaker 0:0d257bbf5c05 256 #define __NO_RETURN __noreturn
qmaker 0:0d257bbf5c05 257
qmaker 0:0d257bbf5c05 258 #define osEvent_type osEvent
qmaker 0:0d257bbf5c05 259 #define osEvent_ret_status ret
qmaker 0:0d257bbf5c05 260 #define osEvent_ret_value ret
qmaker 0:0d257bbf5c05 261 #define osEvent_ret_msg ret
qmaker 0:0d257bbf5c05 262 #define osEvent_ret_mail ret
qmaker 0:0d257bbf5c05 263
qmaker 0:0d257bbf5c05 264 #define osCallback_type osCallback
qmaker 0:0d257bbf5c05 265 #define osCallback_ret ret
qmaker 0:0d257bbf5c05 266
qmaker 0:0d257bbf5c05 267 #define RET_osEvent osEvent
qmaker 0:0d257bbf5c05 268 #define RET_osCallback osCallback
qmaker 0:0d257bbf5c05 269
qmaker 0:0d257bbf5c05 270 #define SVC_Setup(f) \
qmaker 0:0d257bbf5c05 271 __asm( \
qmaker 0:0d257bbf5c05 272 "mov r12,%0\n" \
qmaker 0:0d257bbf5c05 273 :: "r"(&f): "r12" \
qmaker 0:0d257bbf5c05 274 );
qmaker 0:0d257bbf5c05 275
qmaker 0:0d257bbf5c05 276
qmaker 0:0d257bbf5c05 277 #define SVC_0_1(f,t,...) \
qmaker 0:0d257bbf5c05 278 t f (void); \
qmaker 0:0d257bbf5c05 279 _Pragma("swi_number=0") __swi t _##f (void); \
qmaker 0:0d257bbf5c05 280 static inline t __##f (void) { \
qmaker 0:0d257bbf5c05 281 SVC_Setup(f); \
qmaker 0:0d257bbf5c05 282 return _##f(); \
qmaker 0:0d257bbf5c05 283 }
qmaker 0:0d257bbf5c05 284
qmaker 0:0d257bbf5c05 285 #define SVC_1_1(f,t,t1,...) \
qmaker 0:0d257bbf5c05 286 t f (t1 a1); \
qmaker 0:0d257bbf5c05 287 _Pragma("swi_number=0") __swi t _##f (t1 a1); \
qmaker 0:0d257bbf5c05 288 static inline t __##f (t1 a1) { \
qmaker 0:0d257bbf5c05 289 SVC_Setup(f); \
qmaker 0:0d257bbf5c05 290 return _##f(a1); \
qmaker 0:0d257bbf5c05 291 }
qmaker 0:0d257bbf5c05 292
qmaker 0:0d257bbf5c05 293 #define SVC_2_1(f,t,t1,t2,...) \
qmaker 0:0d257bbf5c05 294 t f (t1 a1, t2 a2); \
qmaker 0:0d257bbf5c05 295 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
qmaker 0:0d257bbf5c05 296 static inline t __##f (t1 a1, t2 a2) { \
qmaker 0:0d257bbf5c05 297 SVC_Setup(f); \
qmaker 0:0d257bbf5c05 298 return _##f(a1,a2); \
qmaker 0:0d257bbf5c05 299 }
qmaker 0:0d257bbf5c05 300
qmaker 0:0d257bbf5c05 301 #define SVC_3_1(f,t,t1,t2,t3,...) \
qmaker 0:0d257bbf5c05 302 t f (t1 a1, t2 a2, t3 a3); \
qmaker 0:0d257bbf5c05 303 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
qmaker 0:0d257bbf5c05 304 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
qmaker 0:0d257bbf5c05 305 SVC_Setup(f); \
qmaker 0:0d257bbf5c05 306 return _##f(a1,a2,a3); \
qmaker 0:0d257bbf5c05 307 }
qmaker 0:0d257bbf5c05 308
qmaker 0:0d257bbf5c05 309 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
qmaker 0:0d257bbf5c05 310 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
qmaker 0:0d257bbf5c05 311 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
qmaker 0:0d257bbf5c05 312 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
qmaker 0:0d257bbf5c05 313 SVC_Setup(f); \
qmaker 0:0d257bbf5c05 314 return _##f(a1,a2,a3,a4); \
qmaker 0:0d257bbf5c05 315 }
qmaker 0:0d257bbf5c05 316
qmaker 0:0d257bbf5c05 317 #define SVC_1_2 SVC_1_1
qmaker 0:0d257bbf5c05 318 #define SVC_1_3 SVC_1_1
qmaker 0:0d257bbf5c05 319 #define SVC_2_3 SVC_2_1
qmaker 0:0d257bbf5c05 320
qmaker 0:0d257bbf5c05 321 #endif
qmaker 0:0d257bbf5c05 322
qmaker 0:0d257bbf5c05 323
qmaker 0:0d257bbf5c05 324 // Callback structure
qmaker 0:0d257bbf5c05 325 typedef struct {
qmaker 0:0d257bbf5c05 326 void *fp; // Function pointer
qmaker 0:0d257bbf5c05 327 void *arg; // Function argument
qmaker 0:0d257bbf5c05 328 } osCallback;
qmaker 0:0d257bbf5c05 329
qmaker 0:0d257bbf5c05 330
qmaker 0:0d257bbf5c05 331 // OS Section definitions
qmaker 0:0d257bbf5c05 332 #ifdef OS_SECTIONS_LINK_INFO
qmaker 0:0d257bbf5c05 333 extern const uint32_t os_section_id$$Base;
qmaker 0:0d257bbf5c05 334 extern const uint32_t os_section_id$$Limit;
qmaker 0:0d257bbf5c05 335 #endif
qmaker 0:0d257bbf5c05 336
qmaker 0:0d257bbf5c05 337 // OS Timers external resources
qmaker 0:0d257bbf5c05 338 extern osThreadDef_t os_thread_def_osTimerThread;
qmaker 0:0d257bbf5c05 339 extern osThreadId osThreadId_osTimerThread;
qmaker 0:0d257bbf5c05 340 extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
qmaker 0:0d257bbf5c05 341 extern osMessageQId osMessageQId_osTimerMessageQ;
qmaker 0:0d257bbf5c05 342
qmaker 0:0d257bbf5c05 343
qmaker 0:0d257bbf5c05 344 // ==== Helper Functions ====
qmaker 0:0d257bbf5c05 345
qmaker 0:0d257bbf5c05 346 /// Convert timeout in millisec to system ticks
qmaker 0:0d257bbf5c05 347 static uint32_t rt_ms2tick (uint32_t millisec) {
qmaker 0:0d257bbf5c05 348 uint32_t tick;
qmaker 0:0d257bbf5c05 349
qmaker 0:0d257bbf5c05 350 if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
qmaker 0:0d257bbf5c05 351 if (millisec > 4000000) return 0xFFFE; // Max ticks supported
qmaker 0:0d257bbf5c05 352
qmaker 0:0d257bbf5c05 353 tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
qmaker 0:0d257bbf5c05 354 if (tick > 0xFFFE) return 0xFFFE;
qmaker 0:0d257bbf5c05 355
qmaker 0:0d257bbf5c05 356 return tick;
qmaker 0:0d257bbf5c05 357 }
qmaker 0:0d257bbf5c05 358
qmaker 0:0d257bbf5c05 359 /// Convert Thread ID to TCB pointer
qmaker 0:0d257bbf5c05 360 static P_TCB rt_tid2ptcb (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 361 P_TCB ptcb;
qmaker 0:0d257bbf5c05 362
qmaker 0:0d257bbf5c05 363 if (thread_id == NULL) return NULL;
qmaker 0:0d257bbf5c05 364
qmaker 0:0d257bbf5c05 365 if ((uint32_t)thread_id & 3) return NULL;
qmaker 0:0d257bbf5c05 366
qmaker 0:0d257bbf5c05 367 #ifdef OS_SECTIONS_LINK_INFO
qmaker 0:0d257bbf5c05 368 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
qmaker 0:0d257bbf5c05 369 if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
qmaker 0:0d257bbf5c05 370 if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
qmaker 0:0d257bbf5c05 371 }
qmaker 0:0d257bbf5c05 372 #endif
qmaker 0:0d257bbf5c05 373
qmaker 0:0d257bbf5c05 374 ptcb = thread_id;
qmaker 0:0d257bbf5c05 375
qmaker 0:0d257bbf5c05 376 if (ptcb->cb_type != TCB) return NULL;
qmaker 0:0d257bbf5c05 377
qmaker 0:0d257bbf5c05 378 return ptcb;
qmaker 0:0d257bbf5c05 379 }
qmaker 0:0d257bbf5c05 380
qmaker 0:0d257bbf5c05 381 /// Convert ID pointer to Object pointer
qmaker 0:0d257bbf5c05 382 static void *rt_id2obj (void *id) {
qmaker 0:0d257bbf5c05 383
qmaker 0:0d257bbf5c05 384 if ((uint32_t)id & 3) return NULL;
qmaker 0:0d257bbf5c05 385
qmaker 0:0d257bbf5c05 386 #ifdef OS_SECTIONS_LINK_INFO
qmaker 0:0d257bbf5c05 387 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
qmaker 0:0d257bbf5c05 388 if (id < (void *)os_section_id$$Base) return NULL;
qmaker 0:0d257bbf5c05 389 if (id >= (void *)os_section_id$$Limit) return NULL;
qmaker 0:0d257bbf5c05 390 }
qmaker 0:0d257bbf5c05 391 #endif
qmaker 0:0d257bbf5c05 392
qmaker 0:0d257bbf5c05 393 return id;
qmaker 0:0d257bbf5c05 394 }
qmaker 0:0d257bbf5c05 395
qmaker 0:0d257bbf5c05 396
qmaker 0:0d257bbf5c05 397 // ==== Kernel Control ====
qmaker 0:0d257bbf5c05 398
qmaker 0:0d257bbf5c05 399 uint8_t os_initialized; // Kernel Initialized flag
qmaker 0:0d257bbf5c05 400 uint8_t os_running; // Kernel Running flag
qmaker 0:0d257bbf5c05 401
qmaker 0:0d257bbf5c05 402 // Kernel Control Service Calls declarations
qmaker 0:0d257bbf5c05 403 SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
qmaker 0:0d257bbf5c05 404 SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
qmaker 0:0d257bbf5c05 405 SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
qmaker 0:0d257bbf5c05 406
qmaker 0:0d257bbf5c05 407 extern void sysThreadError (osStatus status);
qmaker 0:0d257bbf5c05 408 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
qmaker 0:0d257bbf5c05 409 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
qmaker 0:0d257bbf5c05 410
qmaker 0:0d257bbf5c05 411 // Kernel Control Service Calls
qmaker 0:0d257bbf5c05 412
qmaker 0:0d257bbf5c05 413 /// Initialize the RTOS Kernel for creating objects
qmaker 0:0d257bbf5c05 414 osStatus svcKernelInitialize (void) {
qmaker 0:0d257bbf5c05 415 if (os_initialized) return osOK;
qmaker 0:0d257bbf5c05 416
qmaker 0:0d257bbf5c05 417 rt_sys_init(); // RTX System Initialization
qmaker 0:0d257bbf5c05 418 os_tsk.run->prio = 255; // Highest priority
qmaker 0:0d257bbf5c05 419
qmaker 0:0d257bbf5c05 420 sysThreadError(osOK);
qmaker 0:0d257bbf5c05 421
qmaker 0:0d257bbf5c05 422 os_initialized = 1;
qmaker 0:0d257bbf5c05 423
qmaker 0:0d257bbf5c05 424 return osOK;
qmaker 0:0d257bbf5c05 425 }
qmaker 0:0d257bbf5c05 426
qmaker 0:0d257bbf5c05 427 /// Start the RTOS Kernel
qmaker 0:0d257bbf5c05 428 osStatus svcKernelStart (void) {
qmaker 0:0d257bbf5c05 429
qmaker 0:0d257bbf5c05 430 if (os_running) return osOK;
qmaker 0:0d257bbf5c05 431
qmaker 0:0d257bbf5c05 432 // Create OS Timers resources (Message Queue & Thread)
qmaker 0:0d257bbf5c05 433 osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
qmaker 0:0d257bbf5c05 434 osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
qmaker 0:0d257bbf5c05 435
qmaker 0:0d257bbf5c05 436 rt_tsk_prio(0, 0); // Lowest priority
qmaker 0:0d257bbf5c05 437 // __set_SP(os_tsk.run->tsk_stack + 8*4); // New context
qmaker 0:0d257bbf5c05 438 os_tsk.run = NULL; // Force context switch
qmaker 0:0d257bbf5c05 439
qmaker 0:0d257bbf5c05 440 rt_sys_start();
qmaker 0:0d257bbf5c05 441
qmaker 0:0d257bbf5c05 442 os_running = 1;
qmaker 0:0d257bbf5c05 443
qmaker 0:0d257bbf5c05 444 return osOK;
qmaker 0:0d257bbf5c05 445 }
qmaker 0:0d257bbf5c05 446
qmaker 0:0d257bbf5c05 447 /// Check if the RTOS kernel is already started
qmaker 0:0d257bbf5c05 448 int32_t svcKernelRunning(void) {
qmaker 0:0d257bbf5c05 449 return os_running;
qmaker 0:0d257bbf5c05 450 }
qmaker 0:0d257bbf5c05 451
qmaker 0:0d257bbf5c05 452 // Kernel Control Public API
qmaker 0:0d257bbf5c05 453
qmaker 0:0d257bbf5c05 454 /// Initialize the RTOS Kernel for creating objects
qmaker 0:0d257bbf5c05 455 osStatus osKernelInitialize (void) {
qmaker 0:0d257bbf5c05 456 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 457 if (__get_CONTROL() == MODE_SUPERVISOR) { // Privileged mode
qmaker 0:0d257bbf5c05 458 return svcKernelInitialize();
qmaker 0:0d257bbf5c05 459 } else {
qmaker 0:0d257bbf5c05 460 return __svcKernelInitialize();
qmaker 0:0d257bbf5c05 461 }
qmaker 0:0d257bbf5c05 462 }
qmaker 0:0d257bbf5c05 463
qmaker 0:0d257bbf5c05 464 /// Start the RTOS Kernel
qmaker 0:0d257bbf5c05 465 osStatus osKernelStart (void) {
qmaker 0:0d257bbf5c05 466
qmaker 0:0d257bbf5c05 467 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 468 switch (__get_CONTROL()) {
qmaker 0:0d257bbf5c05 469 case MODE_SUPERVISOR: // Privileged mode
qmaker 0:0d257bbf5c05 470 break;
qmaker 0:0d257bbf5c05 471 case MODE_USER:
qmaker 0:0d257bbf5c05 472 case MODE_SYSTEM: // Unprivileged mode
qmaker 0:0d257bbf5c05 473 return osErrorOS;
qmaker 0:0d257bbf5c05 474 default: // Other invalid modes
qmaker 0:0d257bbf5c05 475 return osErrorOS;
qmaker 0:0d257bbf5c05 476 break;
qmaker 0:0d257bbf5c05 477 }
qmaker 0:0d257bbf5c05 478 return svcKernelStart();
qmaker 0:0d257bbf5c05 479 }
qmaker 0:0d257bbf5c05 480
qmaker 0:0d257bbf5c05 481 /// Check if the RTOS kernel is already started
qmaker 0:0d257bbf5c05 482 int32_t osKernelRunning(void) {
qmaker 0:0d257bbf5c05 483 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) {
qmaker 0:0d257bbf5c05 484 // in ISR or Privileged
qmaker 0:0d257bbf5c05 485 return os_running;
qmaker 0:0d257bbf5c05 486 } else {
qmaker 0:0d257bbf5c05 487 return __svcKernelRunning();
qmaker 0:0d257bbf5c05 488 }
qmaker 0:0d257bbf5c05 489 }
qmaker 0:0d257bbf5c05 490
qmaker 0:0d257bbf5c05 491
qmaker 0:0d257bbf5c05 492 // ==== Thread Management ====
qmaker 0:0d257bbf5c05 493
qmaker 0:0d257bbf5c05 494 __NO_RETURN void osThreadExit (void);
qmaker 0:0d257bbf5c05 495
qmaker 0:0d257bbf5c05 496 // Thread Service Calls declarations
qmaker 0:0d257bbf5c05 497 SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
qmaker 0:0d257bbf5c05 498 SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
qmaker 0:0d257bbf5c05 499 SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
qmaker 0:0d257bbf5c05 500 SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
qmaker 0:0d257bbf5c05 501 SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
qmaker 0:0d257bbf5c05 502 SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
qmaker 0:0d257bbf5c05 503
qmaker 0:0d257bbf5c05 504 // Thread Service Calls
qmaker 0:0d257bbf5c05 505 extern OS_TID rt_get_TID (void);
qmaker 0:0d257bbf5c05 506 extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
qmaker 0:0d257bbf5c05 507
qmaker 0:0d257bbf5c05 508 /// Create a thread and add it to Active Threads and set it to state READY
qmaker 0:0d257bbf5c05 509 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
qmaker 0:0d257bbf5c05 510 P_TCB ptcb;
qmaker 0:0d257bbf5c05 511
qmaker 0:0d257bbf5c05 512 if ((thread_def == NULL) ||
qmaker 0:0d257bbf5c05 513 (thread_def->pthread == NULL) ||
qmaker 0:0d257bbf5c05 514 (thread_def->tpriority < osPriorityIdle) ||
qmaker 0:0d257bbf5c05 515 (thread_def->tpriority > osPriorityRealtime) ||
qmaker 0:0d257bbf5c05 516 (thread_def->stacksize == 0) ||
qmaker 0:0d257bbf5c05 517 (thread_def->stack_pointer == NULL) ) {
qmaker 0:0d257bbf5c05 518 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 519 return NULL;
qmaker 0:0d257bbf5c05 520 }
qmaker 0:0d257bbf5c05 521
qmaker 0:0d257bbf5c05 522 U8 priority = thread_def->tpriority - osPriorityIdle + 1;
qmaker 0:0d257bbf5c05 523 P_TCB task_context = &thread_def->tcb;
qmaker 0:0d257bbf5c05 524
qmaker 0:0d257bbf5c05 525 /* Utilize the user provided stack. */
qmaker 0:0d257bbf5c05 526 task_context->stack = (U32*)thread_def->stack_pointer;
qmaker 0:0d257bbf5c05 527 task_context->priv_stack = thread_def->stacksize;
qmaker 0:0d257bbf5c05 528 /* Find a free entry in 'os_active_TCB' table. */
qmaker 0:0d257bbf5c05 529 OS_TID tsk = rt_get_TID ();
qmaker 0:0d257bbf5c05 530 os_active_TCB[tsk-1] = task_context;
qmaker 0:0d257bbf5c05 531 task_context->task_id = tsk;
qmaker 0:0d257bbf5c05 532 /* Pass parameter 'argv' to 'rt_init_context' */
qmaker 0:0d257bbf5c05 533 task_context->msg = argument;
qmaker 0:0d257bbf5c05 534 /* For 'size == 0' system allocates the user stack from the memory pool. */
qmaker 0:0d257bbf5c05 535 rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
qmaker 0:0d257bbf5c05 536
qmaker 0:0d257bbf5c05 537 /* Dispatch this task to the scheduler for execution. */
qmaker 0:0d257bbf5c05 538 DBG_TASK_NOTIFY(task_context, __TRUE);
qmaker 0:0d257bbf5c05 539 rt_dispatch (task_context);
qmaker 0:0d257bbf5c05 540
qmaker 0:0d257bbf5c05 541 ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
qmaker 0:0d257bbf5c05 542
qmaker 0:0d257bbf5c05 543 *((uint32_t *)ptcb->tsk_stack + TCB_STACK_LR_OFFSET_DWORDS) = (uint32_t)osThreadExit; /* LR = osThreadExit */
qmaker 0:0d257bbf5c05 544
qmaker 0:0d257bbf5c05 545 return ptcb;
qmaker 0:0d257bbf5c05 546 }
qmaker 0:0d257bbf5c05 547
qmaker 0:0d257bbf5c05 548 /// Return the thread ID of the current running thread
qmaker 0:0d257bbf5c05 549 osThreadId svcThreadGetId (void) {
qmaker 0:0d257bbf5c05 550 OS_TID tsk;
qmaker 0:0d257bbf5c05 551
qmaker 0:0d257bbf5c05 552 tsk = rt_tsk_self();
qmaker 0:0d257bbf5c05 553 if (tsk == 0) return NULL;
qmaker 0:0d257bbf5c05 554 return (P_TCB)os_active_TCB[tsk - 1];
qmaker 0:0d257bbf5c05 555 }
qmaker 0:0d257bbf5c05 556
qmaker 0:0d257bbf5c05 557 /// Terminate execution of a thread and remove it from ActiveThreads
qmaker 0:0d257bbf5c05 558 osStatus svcThreadTerminate (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 559 OS_RESULT res;
qmaker 0:0d257bbf5c05 560 P_TCB ptcb;
qmaker 0:0d257bbf5c05 561
qmaker 0:0d257bbf5c05 562 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 563 if (ptcb == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 564
qmaker 0:0d257bbf5c05 565 res = rt_tsk_delete(ptcb->task_id); // Delete task
qmaker 0:0d257bbf5c05 566
qmaker 0:0d257bbf5c05 567 if (res == OS_R_NOK) return osErrorResource; // Delete task failed
qmaker 0:0d257bbf5c05 568
qmaker 0:0d257bbf5c05 569 return osOK;
qmaker 0:0d257bbf5c05 570 }
qmaker 0:0d257bbf5c05 571
qmaker 0:0d257bbf5c05 572 /// Pass control to next thread that is in state READY
qmaker 0:0d257bbf5c05 573 osStatus svcThreadYield (void) {
qmaker 0:0d257bbf5c05 574 rt_tsk_pass(); // Pass control to next task
qmaker 0:0d257bbf5c05 575 return osOK;
qmaker 0:0d257bbf5c05 576 }
qmaker 0:0d257bbf5c05 577
qmaker 0:0d257bbf5c05 578 /// Change priority of an active thread
qmaker 0:0d257bbf5c05 579 osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
qmaker 0:0d257bbf5c05 580 OS_RESULT res;
qmaker 0:0d257bbf5c05 581 P_TCB ptcb;
qmaker 0:0d257bbf5c05 582
qmaker 0:0d257bbf5c05 583 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 584 if (ptcb == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 585
qmaker 0:0d257bbf5c05 586 if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
qmaker 0:0d257bbf5c05 587 return osErrorValue;
qmaker 0:0d257bbf5c05 588 }
qmaker 0:0d257bbf5c05 589
qmaker 0:0d257bbf5c05 590 res = rt_tsk_prio( // Change task priority
qmaker 0:0d257bbf5c05 591 ptcb->task_id, // Task ID
qmaker 0:0d257bbf5c05 592 priority - osPriorityIdle + 1 // New task priority
qmaker 0:0d257bbf5c05 593 );
qmaker 0:0d257bbf5c05 594
qmaker 0:0d257bbf5c05 595 if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
qmaker 0:0d257bbf5c05 596
qmaker 0:0d257bbf5c05 597 return osOK;
qmaker 0:0d257bbf5c05 598 }
qmaker 0:0d257bbf5c05 599
qmaker 0:0d257bbf5c05 600 /// Get current priority of an active thread
qmaker 0:0d257bbf5c05 601 osPriority svcThreadGetPriority (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 602 P_TCB ptcb;
qmaker 0:0d257bbf5c05 603
qmaker 0:0d257bbf5c05 604 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 605 if (ptcb == NULL) return osPriorityError;
qmaker 0:0d257bbf5c05 606
qmaker 0:0d257bbf5c05 607 return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
qmaker 0:0d257bbf5c05 608 }
qmaker 0:0d257bbf5c05 609
qmaker 0:0d257bbf5c05 610
qmaker 0:0d257bbf5c05 611 // Thread Public API
qmaker 0:0d257bbf5c05 612
qmaker 0:0d257bbf5c05 613 /// Create a thread and add it to Active Threads and set it to state READY
qmaker 0:0d257bbf5c05 614 osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
qmaker 0:0d257bbf5c05 615 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 616 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 617 // Privileged and not running
qmaker 0:0d257bbf5c05 618 return svcThreadCreate(thread_def, argument);
qmaker 0:0d257bbf5c05 619 } else {
qmaker 0:0d257bbf5c05 620 return __svcThreadCreate(thread_def, argument);
qmaker 0:0d257bbf5c05 621 }
qmaker 0:0d257bbf5c05 622 }
qmaker 0:0d257bbf5c05 623
qmaker 0:0d257bbf5c05 624 /// Return the thread ID of the current running thread
qmaker 0:0d257bbf5c05 625 osThreadId osThreadGetId (void) {
qmaker 0:0d257bbf5c05 626 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 627 return __svcThreadGetId();
qmaker 0:0d257bbf5c05 628 }
qmaker 0:0d257bbf5c05 629
qmaker 0:0d257bbf5c05 630 /// Terminate execution of a thread and remove it from ActiveThreads
qmaker 0:0d257bbf5c05 631 osStatus osThreadTerminate (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 632 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 633 return __svcThreadTerminate(thread_id);
qmaker 0:0d257bbf5c05 634 }
qmaker 0:0d257bbf5c05 635
qmaker 0:0d257bbf5c05 636 /// Pass control to next thread that is in state READY
qmaker 0:0d257bbf5c05 637 osStatus osThreadYield (void) {
qmaker 0:0d257bbf5c05 638 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 639 return __svcThreadYield();
qmaker 0:0d257bbf5c05 640 }
qmaker 0:0d257bbf5c05 641
qmaker 0:0d257bbf5c05 642 /// Change priority of an active thread
qmaker 0:0d257bbf5c05 643 osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
qmaker 0:0d257bbf5c05 644 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 645 return __svcThreadSetPriority(thread_id, priority);
qmaker 0:0d257bbf5c05 646 }
qmaker 0:0d257bbf5c05 647
qmaker 0:0d257bbf5c05 648 /// Get current priority of an active thread
qmaker 0:0d257bbf5c05 649 osPriority osThreadGetPriority (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 650 if (__get_CONTROL() == MODE_IRQ) return osPriorityError;// Not allowed in ISR
qmaker 0:0d257bbf5c05 651 return __svcThreadGetPriority(thread_id);
qmaker 0:0d257bbf5c05 652 }
qmaker 0:0d257bbf5c05 653
qmaker 0:0d257bbf5c05 654 /// INTERNAL - Not Public
qmaker 0:0d257bbf5c05 655 /// Auto Terminate Thread on exit (used implicitly when thread exists)
qmaker 0:0d257bbf5c05 656 __NO_RETURN void osThreadExit (void) {
qmaker 0:0d257bbf5c05 657 __svcThreadTerminate(__svcThreadGetId());
qmaker 0:0d257bbf5c05 658 for (;;); // Should never come here
qmaker 0:0d257bbf5c05 659 }
qmaker 0:0d257bbf5c05 660
qmaker 0:0d257bbf5c05 661
qmaker 0:0d257bbf5c05 662 // ==== Generic Wait Functions ====
qmaker 0:0d257bbf5c05 663
qmaker 0:0d257bbf5c05 664 // Generic Wait Service Calls declarations
qmaker 0:0d257bbf5c05 665 SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
qmaker 0:0d257bbf5c05 666 #if osFeature_Wait != 0
qmaker 0:0d257bbf5c05 667 SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
qmaker 0:0d257bbf5c05 668 #endif
qmaker 0:0d257bbf5c05 669
qmaker 0:0d257bbf5c05 670 // Generic Wait Service Calls
qmaker 0:0d257bbf5c05 671
qmaker 0:0d257bbf5c05 672 /// Wait for Timeout (Time Delay)
qmaker 0:0d257bbf5c05 673 osStatus svcDelay (uint32_t millisec) {
qmaker 0:0d257bbf5c05 674 if (millisec == 0) return osOK;
qmaker 0:0d257bbf5c05 675 rt_dly_wait(rt_ms2tick(millisec));
qmaker 0:0d257bbf5c05 676 return osEventTimeout;
qmaker 0:0d257bbf5c05 677 }
qmaker 0:0d257bbf5c05 678
qmaker 0:0d257bbf5c05 679 /// Wait for Signal, Message, Mail, or Timeout
qmaker 0:0d257bbf5c05 680 #if osFeature_Wait != 0
qmaker 0:0d257bbf5c05 681 os_InRegs osEvent_type svcWait (uint32_t millisec) {
qmaker 0:0d257bbf5c05 682 osEvent ret;
qmaker 0:0d257bbf5c05 683
qmaker 0:0d257bbf5c05 684 if (millisec == 0) {
qmaker 0:0d257bbf5c05 685 ret.status = osOK;
qmaker 0:0d257bbf5c05 686 return osEvent_ret_status;
qmaker 0:0d257bbf5c05 687 }
qmaker 0:0d257bbf5c05 688
qmaker 0:0d257bbf5c05 689 /* To Do: osEventSignal, osEventMessage, osEventMail */
qmaker 0:0d257bbf5c05 690 rt_dly_wait(rt_ms2tick(millisec));
qmaker 0:0d257bbf5c05 691 ret.status = osEventTimeout;
qmaker 0:0d257bbf5c05 692
qmaker 0:0d257bbf5c05 693 return osEvent_ret_status;
qmaker 0:0d257bbf5c05 694 }
qmaker 0:0d257bbf5c05 695 #endif
qmaker 0:0d257bbf5c05 696
qmaker 0:0d257bbf5c05 697
qmaker 0:0d257bbf5c05 698 // Generic Wait API
qmaker 0:0d257bbf5c05 699
qmaker 0:0d257bbf5c05 700 /// Wait for Timeout (Time Delay)
qmaker 0:0d257bbf5c05 701 osStatus osDelay (uint32_t millisec) {
qmaker 0:0d257bbf5c05 702 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 703 return __svcDelay(millisec);
qmaker 0:0d257bbf5c05 704 }
qmaker 0:0d257bbf5c05 705
qmaker 0:0d257bbf5c05 706 /// Wait for Signal, Message, Mail, or Timeout
qmaker 0:0d257bbf5c05 707 os_InRegs osEvent osWait (uint32_t millisec) {
qmaker 0:0d257bbf5c05 708 osEvent ret;
qmaker 0:0d257bbf5c05 709
qmaker 0:0d257bbf5c05 710 #if osFeature_Wait == 0
qmaker 0:0d257bbf5c05 711 ret.status = osErrorOS;
qmaker 0:0d257bbf5c05 712 return ret;
qmaker 0:0d257bbf5c05 713 #else
qmaker 0:0d257bbf5c05 714 if (__get_CONTROL() == MODE_IRQ) { // Not allowed in ISR
qmaker 0:0d257bbf5c05 715 ret.status = osErrorISR;
qmaker 0:0d257bbf5c05 716 return ret;
qmaker 0:0d257bbf5c05 717 }
qmaker 0:0d257bbf5c05 718 return __svcWait(millisec);
qmaker 0:0d257bbf5c05 719 #endif
qmaker 0:0d257bbf5c05 720 }
qmaker 0:0d257bbf5c05 721
qmaker 0:0d257bbf5c05 722
qmaker 0:0d257bbf5c05 723 // ==== Timer Management ====
qmaker 0:0d257bbf5c05 724
qmaker 0:0d257bbf5c05 725 // Timer definitions
qmaker 0:0d257bbf5c05 726 #define osTimerInvalid 0
qmaker 0:0d257bbf5c05 727 #define osTimerStopped 1
qmaker 0:0d257bbf5c05 728 #define osTimerRunning 2
qmaker 0:0d257bbf5c05 729
qmaker 0:0d257bbf5c05 730 // Timer structures
qmaker 0:0d257bbf5c05 731
qmaker 0:0d257bbf5c05 732 typedef struct os_timer_cb_ { // Timer Control Block
qmaker 0:0d257bbf5c05 733 struct os_timer_cb_ *next; // Pointer to next active Timer
qmaker 0:0d257bbf5c05 734 uint8_t state; // Timer State
qmaker 0:0d257bbf5c05 735 uint8_t type; // Timer Type (Periodic/One-shot)
qmaker 0:0d257bbf5c05 736 uint16_t reserved; // Reserved
qmaker 0:0d257bbf5c05 737 uint16_t tcnt; // Timer Delay Count
qmaker 0:0d257bbf5c05 738 uint16_t icnt; // Timer Initial Count
qmaker 0:0d257bbf5c05 739 void *arg; // Timer Function Argument
qmaker 0:0d257bbf5c05 740 osTimerDef_t *timer; // Pointer to Timer definition
qmaker 0:0d257bbf5c05 741 } os_timer_cb;
qmaker 0:0d257bbf5c05 742
qmaker 0:0d257bbf5c05 743 // Timer variables
qmaker 0:0d257bbf5c05 744 os_timer_cb *os_timer_head; // Pointer to first active Timer
qmaker 0:0d257bbf5c05 745
qmaker 0:0d257bbf5c05 746
qmaker 0:0d257bbf5c05 747 // Timer Helper Functions
qmaker 0:0d257bbf5c05 748
qmaker 0:0d257bbf5c05 749 // Insert Timer into the list sorted by time
qmaker 0:0d257bbf5c05 750 static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
qmaker 0:0d257bbf5c05 751 os_timer_cb *p, *prev;
qmaker 0:0d257bbf5c05 752
qmaker 0:0d257bbf5c05 753 prev = NULL;
qmaker 0:0d257bbf5c05 754 p = os_timer_head;
qmaker 0:0d257bbf5c05 755 while (p != NULL) {
qmaker 0:0d257bbf5c05 756 if (tcnt < p->tcnt) break;
qmaker 0:0d257bbf5c05 757 tcnt -= p->tcnt;
qmaker 0:0d257bbf5c05 758 prev = p;
qmaker 0:0d257bbf5c05 759 p = p->next;
qmaker 0:0d257bbf5c05 760 }
qmaker 0:0d257bbf5c05 761 pt->next = p;
qmaker 0:0d257bbf5c05 762 pt->tcnt = (uint16_t)tcnt;
qmaker 0:0d257bbf5c05 763 if (p != NULL) {
qmaker 0:0d257bbf5c05 764 p->tcnt -= pt->tcnt;
qmaker 0:0d257bbf5c05 765 }
qmaker 0:0d257bbf5c05 766 if (prev != NULL) {
qmaker 0:0d257bbf5c05 767 prev->next = pt;
qmaker 0:0d257bbf5c05 768 } else {
qmaker 0:0d257bbf5c05 769 os_timer_head = pt;
qmaker 0:0d257bbf5c05 770 }
qmaker 0:0d257bbf5c05 771 }
qmaker 0:0d257bbf5c05 772
qmaker 0:0d257bbf5c05 773 // Remove Timer from the list
qmaker 0:0d257bbf5c05 774 static int rt_timer_remove (os_timer_cb *pt) {
qmaker 0:0d257bbf5c05 775 os_timer_cb *p, *prev;
qmaker 0:0d257bbf5c05 776
qmaker 0:0d257bbf5c05 777 prev = NULL;
qmaker 0:0d257bbf5c05 778 p = os_timer_head;
qmaker 0:0d257bbf5c05 779 while (p != NULL) {
qmaker 0:0d257bbf5c05 780 if (p == pt) break;
qmaker 0:0d257bbf5c05 781 prev = p;
qmaker 0:0d257bbf5c05 782 p = p->next;
qmaker 0:0d257bbf5c05 783 }
qmaker 0:0d257bbf5c05 784 if (p == NULL) return -1;
qmaker 0:0d257bbf5c05 785 if (prev != NULL) {
qmaker 0:0d257bbf5c05 786 prev->next = pt->next;
qmaker 0:0d257bbf5c05 787 } else {
qmaker 0:0d257bbf5c05 788 os_timer_head = pt->next;
qmaker 0:0d257bbf5c05 789 }
qmaker 0:0d257bbf5c05 790 if (pt->next != NULL) {
qmaker 0:0d257bbf5c05 791 pt->next->tcnt += pt->tcnt;
qmaker 0:0d257bbf5c05 792 }
qmaker 0:0d257bbf5c05 793
qmaker 0:0d257bbf5c05 794 return 0;
qmaker 0:0d257bbf5c05 795 }
qmaker 0:0d257bbf5c05 796
qmaker 0:0d257bbf5c05 797
qmaker 0:0d257bbf5c05 798 // Timer Service Calls declarations
qmaker 0:0d257bbf5c05 799 SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
qmaker 0:0d257bbf5c05 800 SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
qmaker 0:0d257bbf5c05 801 SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
qmaker 0:0d257bbf5c05 802 SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
qmaker 0:0d257bbf5c05 803 SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
qmaker 0:0d257bbf5c05 804
qmaker 0:0d257bbf5c05 805 // Timer Management Service Calls
qmaker 0:0d257bbf5c05 806
qmaker 0:0d257bbf5c05 807 /// Create timer
qmaker 0:0d257bbf5c05 808 osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
qmaker 0:0d257bbf5c05 809 os_timer_cb *pt;
qmaker 0:0d257bbf5c05 810
qmaker 0:0d257bbf5c05 811 if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
qmaker 0:0d257bbf5c05 812 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 813 return NULL;
qmaker 0:0d257bbf5c05 814 }
qmaker 0:0d257bbf5c05 815
qmaker 0:0d257bbf5c05 816 pt = timer_def->timer;
qmaker 0:0d257bbf5c05 817 if (pt == NULL) {
qmaker 0:0d257bbf5c05 818 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 819 return NULL;
qmaker 0:0d257bbf5c05 820 }
qmaker 0:0d257bbf5c05 821
qmaker 0:0d257bbf5c05 822 if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
qmaker 0:0d257bbf5c05 823 sysThreadError(osErrorValue);
qmaker 0:0d257bbf5c05 824 return NULL;
qmaker 0:0d257bbf5c05 825 }
qmaker 0:0d257bbf5c05 826
qmaker 0:0d257bbf5c05 827 if (osThreadId_osTimerThread == NULL) {
qmaker 0:0d257bbf5c05 828 sysThreadError(osErrorResource);
qmaker 0:0d257bbf5c05 829 return NULL;
qmaker 0:0d257bbf5c05 830 }
qmaker 0:0d257bbf5c05 831
qmaker 0:0d257bbf5c05 832 if (pt->state != osTimerInvalid){
qmaker 0:0d257bbf5c05 833 sysThreadError(osErrorResource);
qmaker 0:0d257bbf5c05 834 return NULL;
qmaker 0:0d257bbf5c05 835 }
qmaker 0:0d257bbf5c05 836
qmaker 0:0d257bbf5c05 837 pt->state = osTimerStopped;
qmaker 0:0d257bbf5c05 838 pt->type = (uint8_t)type;
qmaker 0:0d257bbf5c05 839 pt->arg = argument;
qmaker 0:0d257bbf5c05 840 pt->timer = timer_def;
qmaker 0:0d257bbf5c05 841
qmaker 0:0d257bbf5c05 842 return (osTimerId)pt;
qmaker 0:0d257bbf5c05 843 }
qmaker 0:0d257bbf5c05 844
qmaker 0:0d257bbf5c05 845 /// Start or restart timer
qmaker 0:0d257bbf5c05 846 osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 847 os_timer_cb *pt;
qmaker 0:0d257bbf5c05 848 uint32_t tcnt;
qmaker 0:0d257bbf5c05 849
qmaker 0:0d257bbf5c05 850 pt = rt_id2obj(timer_id);
qmaker 0:0d257bbf5c05 851 if (pt == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 852
qmaker 0:0d257bbf5c05 853 tcnt = rt_ms2tick(millisec);
qmaker 0:0d257bbf5c05 854 if (tcnt == 0) return osErrorValue;
qmaker 0:0d257bbf5c05 855
qmaker 0:0d257bbf5c05 856 switch (pt->state) {
qmaker 0:0d257bbf5c05 857 case osTimerRunning:
qmaker 0:0d257bbf5c05 858 if (rt_timer_remove(pt) != 0) {
qmaker 0:0d257bbf5c05 859 return osErrorResource;
qmaker 0:0d257bbf5c05 860 }
qmaker 0:0d257bbf5c05 861 break;
qmaker 0:0d257bbf5c05 862 case osTimerStopped:
qmaker 0:0d257bbf5c05 863 pt->state = osTimerRunning;
qmaker 0:0d257bbf5c05 864 pt->icnt = (uint16_t)tcnt;
qmaker 0:0d257bbf5c05 865 break;
qmaker 0:0d257bbf5c05 866 default:
qmaker 0:0d257bbf5c05 867 return osErrorResource;
qmaker 0:0d257bbf5c05 868 }
qmaker 0:0d257bbf5c05 869
qmaker 0:0d257bbf5c05 870 rt_timer_insert(pt, tcnt);
qmaker 0:0d257bbf5c05 871
qmaker 0:0d257bbf5c05 872 return osOK;
qmaker 0:0d257bbf5c05 873 }
qmaker 0:0d257bbf5c05 874
qmaker 0:0d257bbf5c05 875 /// Stop timer
qmaker 0:0d257bbf5c05 876 osStatus svcTimerStop (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 877 os_timer_cb *pt;
qmaker 0:0d257bbf5c05 878
qmaker 0:0d257bbf5c05 879 pt = rt_id2obj(timer_id);
qmaker 0:0d257bbf5c05 880 if (pt == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 881
qmaker 0:0d257bbf5c05 882 if (pt->state != osTimerRunning) return osErrorResource;
qmaker 0:0d257bbf5c05 883
qmaker 0:0d257bbf5c05 884 pt->state = osTimerStopped;
qmaker 0:0d257bbf5c05 885
qmaker 0:0d257bbf5c05 886 if (rt_timer_remove(pt) != 0) {
qmaker 0:0d257bbf5c05 887 return osErrorResource;
qmaker 0:0d257bbf5c05 888 }
qmaker 0:0d257bbf5c05 889
qmaker 0:0d257bbf5c05 890 return osOK;
qmaker 0:0d257bbf5c05 891 }
qmaker 0:0d257bbf5c05 892
qmaker 0:0d257bbf5c05 893 /// Delete timer
qmaker 0:0d257bbf5c05 894 osStatus svcTimerDelete (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 895 os_timer_cb *pt;
qmaker 0:0d257bbf5c05 896
qmaker 0:0d257bbf5c05 897 pt = rt_id2obj(timer_id);
qmaker 0:0d257bbf5c05 898 if (pt == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 899
qmaker 0:0d257bbf5c05 900 switch (pt->state) {
qmaker 0:0d257bbf5c05 901 case osTimerRunning:
qmaker 0:0d257bbf5c05 902 rt_timer_remove(pt);
qmaker 0:0d257bbf5c05 903 break;
qmaker 0:0d257bbf5c05 904 case osTimerStopped:
qmaker 0:0d257bbf5c05 905 break;
qmaker 0:0d257bbf5c05 906 default:
qmaker 0:0d257bbf5c05 907 return osErrorResource;
qmaker 0:0d257bbf5c05 908 }
qmaker 0:0d257bbf5c05 909
qmaker 0:0d257bbf5c05 910 pt->state = osTimerInvalid;
qmaker 0:0d257bbf5c05 911
qmaker 0:0d257bbf5c05 912 return osOK;
qmaker 0:0d257bbf5c05 913 }
qmaker 0:0d257bbf5c05 914
qmaker 0:0d257bbf5c05 915 /// Get timer callback parameters
qmaker 0:0d257bbf5c05 916 os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 917 os_timer_cb *pt;
qmaker 0:0d257bbf5c05 918 osCallback ret;
qmaker 0:0d257bbf5c05 919
qmaker 0:0d257bbf5c05 920 pt = rt_id2obj(timer_id);
qmaker 0:0d257bbf5c05 921 if (pt == NULL) {
qmaker 0:0d257bbf5c05 922 ret.fp = NULL;
qmaker 0:0d257bbf5c05 923 ret.arg = NULL;
qmaker 0:0d257bbf5c05 924 return osCallback_ret;
qmaker 0:0d257bbf5c05 925 }
qmaker 0:0d257bbf5c05 926
qmaker 0:0d257bbf5c05 927 ret.fp = (void *)pt->timer->ptimer;
qmaker 0:0d257bbf5c05 928 ret.arg = pt->arg;
qmaker 0:0d257bbf5c05 929
qmaker 0:0d257bbf5c05 930 return osCallback_ret;
qmaker 0:0d257bbf5c05 931 }
qmaker 0:0d257bbf5c05 932
qmaker 0:0d257bbf5c05 933 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
qmaker 0:0d257bbf5c05 934
qmaker 0:0d257bbf5c05 935 /// Timer Tick (called each SysTick)
qmaker 0:0d257bbf5c05 936 void sysTimerTick (void) {
qmaker 0:0d257bbf5c05 937 os_timer_cb *pt, *p;
qmaker 0:0d257bbf5c05 938
qmaker 0:0d257bbf5c05 939 p = os_timer_head;
qmaker 0:0d257bbf5c05 940 if (p == NULL) return;
qmaker 0:0d257bbf5c05 941
qmaker 0:0d257bbf5c05 942 p->tcnt--;
qmaker 0:0d257bbf5c05 943 while ((p != NULL) && (p->tcnt == 0)) {
qmaker 0:0d257bbf5c05 944 pt = p;
qmaker 0:0d257bbf5c05 945 p = p->next;
qmaker 0:0d257bbf5c05 946 os_timer_head = p;
qmaker 0:0d257bbf5c05 947 isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
qmaker 0:0d257bbf5c05 948 if (pt->type == osTimerPeriodic) {
qmaker 0:0d257bbf5c05 949 rt_timer_insert(pt, pt->icnt);
qmaker 0:0d257bbf5c05 950 } else {
qmaker 0:0d257bbf5c05 951 pt->state = osTimerStopped;
qmaker 0:0d257bbf5c05 952 }
qmaker 0:0d257bbf5c05 953 }
qmaker 0:0d257bbf5c05 954 }
qmaker 0:0d257bbf5c05 955
qmaker 0:0d257bbf5c05 956
qmaker 0:0d257bbf5c05 957 // Timer Management Public API
qmaker 0:0d257bbf5c05 958
qmaker 0:0d257bbf5c05 959 /// Create timer
qmaker 0:0d257bbf5c05 960 osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
qmaker 0:0d257bbf5c05 961 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 962 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 963 // Privileged and not running
qmaker 0:0d257bbf5c05 964 return svcTimerCreate(timer_def, type, argument);
qmaker 0:0d257bbf5c05 965 } else {
qmaker 0:0d257bbf5c05 966 return __svcTimerCreate(timer_def, type, argument);
qmaker 0:0d257bbf5c05 967 }
qmaker 0:0d257bbf5c05 968 }
qmaker 0:0d257bbf5c05 969
qmaker 0:0d257bbf5c05 970 /// Start or restart timer
qmaker 0:0d257bbf5c05 971 osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 972 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 973 return __svcTimerStart(timer_id, millisec);
qmaker 0:0d257bbf5c05 974 }
qmaker 0:0d257bbf5c05 975
qmaker 0:0d257bbf5c05 976 /// Stop timer
qmaker 0:0d257bbf5c05 977 osStatus osTimerStop (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 978 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 979 return __svcTimerStop(timer_id);
qmaker 0:0d257bbf5c05 980 }
qmaker 0:0d257bbf5c05 981
qmaker 0:0d257bbf5c05 982 /// Delete timer
qmaker 0:0d257bbf5c05 983 osStatus osTimerDelete (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 984 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 985 return __svcTimerDelete(timer_id);
qmaker 0:0d257bbf5c05 986 }
qmaker 0:0d257bbf5c05 987
qmaker 0:0d257bbf5c05 988 /// INTERNAL - Not Public
qmaker 0:0d257bbf5c05 989 /// Get timer callback parameters (used by OS Timer Thread)
qmaker 0:0d257bbf5c05 990 os_InRegs osCallback osTimerCall (osTimerId timer_id) {
qmaker 0:0d257bbf5c05 991 return __svcTimerCall(timer_id);
qmaker 0:0d257bbf5c05 992 }
qmaker 0:0d257bbf5c05 993
qmaker 0:0d257bbf5c05 994
qmaker 0:0d257bbf5c05 995 // Timer Thread
qmaker 0:0d257bbf5c05 996 __NO_RETURN void osTimerThread (void const *argument) {
qmaker 0:0d257bbf5c05 997 osCallback cb;
qmaker 0:0d257bbf5c05 998 osEvent evt;
qmaker 0:0d257bbf5c05 999
qmaker 0:0d257bbf5c05 1000 for (;;) {
qmaker 0:0d257bbf5c05 1001 evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
qmaker 0:0d257bbf5c05 1002 if (evt.status == osEventMessage) {
qmaker 0:0d257bbf5c05 1003 cb = osTimerCall(evt.value.p);
qmaker 0:0d257bbf5c05 1004 if (cb.fp != NULL) {
qmaker 0:0d257bbf5c05 1005 (*(os_ptimer)cb.fp)(cb.arg);
qmaker 0:0d257bbf5c05 1006 }
qmaker 0:0d257bbf5c05 1007 }
qmaker 0:0d257bbf5c05 1008 }
qmaker 0:0d257bbf5c05 1009 }
qmaker 0:0d257bbf5c05 1010
qmaker 0:0d257bbf5c05 1011
qmaker 0:0d257bbf5c05 1012 // ==== Signal Management ====
qmaker 0:0d257bbf5c05 1013
qmaker 0:0d257bbf5c05 1014 // Signal Service Calls declarations
qmaker 0:0d257bbf5c05 1015 SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
qmaker 0:0d257bbf5c05 1016 SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
qmaker 0:0d257bbf5c05 1017 SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
qmaker 0:0d257bbf5c05 1018 SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
qmaker 0:0d257bbf5c05 1019
qmaker 0:0d257bbf5c05 1020 // Signal Service Calls
qmaker 0:0d257bbf5c05 1021
qmaker 0:0d257bbf5c05 1022 /// Set the specified Signal Flags of an active thread
qmaker 0:0d257bbf5c05 1023 int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
qmaker 0:0d257bbf5c05 1024 P_TCB ptcb;
qmaker 0:0d257bbf5c05 1025 int32_t sig;
qmaker 0:0d257bbf5c05 1026
qmaker 0:0d257bbf5c05 1027 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 1028 if (ptcb == NULL) return 0x80000000;
qmaker 0:0d257bbf5c05 1029
qmaker 0:0d257bbf5c05 1030 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
qmaker 0:0d257bbf5c05 1031
qmaker 0:0d257bbf5c05 1032 sig = ptcb->events; // Previous signal flags
qmaker 0:0d257bbf5c05 1033
qmaker 0:0d257bbf5c05 1034 rt_evt_set(signals, ptcb->task_id); // Set event flags
qmaker 0:0d257bbf5c05 1035
qmaker 0:0d257bbf5c05 1036 return sig;
qmaker 0:0d257bbf5c05 1037 }
qmaker 0:0d257bbf5c05 1038
qmaker 0:0d257bbf5c05 1039 /// Clear the specified Signal Flags of an active thread
qmaker 0:0d257bbf5c05 1040 int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
qmaker 0:0d257bbf5c05 1041 P_TCB ptcb;
qmaker 0:0d257bbf5c05 1042 int32_t sig;
qmaker 0:0d257bbf5c05 1043
qmaker 0:0d257bbf5c05 1044 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 1045 if (ptcb == NULL) return 0x80000000;
qmaker 0:0d257bbf5c05 1046
qmaker 0:0d257bbf5c05 1047 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
qmaker 0:0d257bbf5c05 1048
qmaker 0:0d257bbf5c05 1049 sig = ptcb->events; // Previous signal flags
qmaker 0:0d257bbf5c05 1050
qmaker 0:0d257bbf5c05 1051 rt_evt_clr(signals, ptcb->task_id); // Clear event flags
qmaker 0:0d257bbf5c05 1052
qmaker 0:0d257bbf5c05 1053 return sig;
qmaker 0:0d257bbf5c05 1054 }
qmaker 0:0d257bbf5c05 1055
qmaker 0:0d257bbf5c05 1056 /// Get Signal Flags status of an active thread
qmaker 0:0d257bbf5c05 1057 int32_t svcSignalGet (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1058 P_TCB ptcb;
qmaker 0:0d257bbf5c05 1059
qmaker 0:0d257bbf5c05 1060 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 1061 if (ptcb == NULL) return 0x80000000;
qmaker 0:0d257bbf5c05 1062
qmaker 0:0d257bbf5c05 1063 return ptcb->events; // Return event flags
qmaker 0:0d257bbf5c05 1064 }
qmaker 0:0d257bbf5c05 1065
qmaker 0:0d257bbf5c05 1066 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
qmaker 0:0d257bbf5c05 1067 os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1068 OS_RESULT res;
qmaker 0:0d257bbf5c05 1069 osEvent ret;
qmaker 0:0d257bbf5c05 1070
qmaker 0:0d257bbf5c05 1071 if (signals & (0xFFFFFFFF << osFeature_Signals)) {
qmaker 0:0d257bbf5c05 1072 ret.status = osErrorValue;
qmaker 0:0d257bbf5c05 1073 return osEvent_ret_status;
qmaker 0:0d257bbf5c05 1074 }
qmaker 0:0d257bbf5c05 1075
qmaker 0:0d257bbf5c05 1076 if (signals != 0) { // Wait for all specified signals
qmaker 0:0d257bbf5c05 1077 res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
qmaker 0:0d257bbf5c05 1078 } else { // Wait for any signal
qmaker 0:0d257bbf5c05 1079 res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
qmaker 0:0d257bbf5c05 1080 }
qmaker 0:0d257bbf5c05 1081
qmaker 0:0d257bbf5c05 1082 if (res == OS_R_EVT) {
qmaker 0:0d257bbf5c05 1083 ret.status = osEventSignal;
qmaker 0:0d257bbf5c05 1084 ret.value.signals = signals ? signals : os_tsk.run->waits;
qmaker 0:0d257bbf5c05 1085 } else {
qmaker 0:0d257bbf5c05 1086 ret.status = millisec ? osEventTimeout : osOK;
qmaker 0:0d257bbf5c05 1087 ret.value.signals = 0;
qmaker 0:0d257bbf5c05 1088 }
qmaker 0:0d257bbf5c05 1089
qmaker 0:0d257bbf5c05 1090 return osEvent_ret_value;
qmaker 0:0d257bbf5c05 1091 }
qmaker 0:0d257bbf5c05 1092
qmaker 0:0d257bbf5c05 1093
qmaker 0:0d257bbf5c05 1094 // Signal ISR Calls
qmaker 0:0d257bbf5c05 1095
qmaker 0:0d257bbf5c05 1096 /// Set the specified Signal Flags of an active thread
qmaker 0:0d257bbf5c05 1097 static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
qmaker 0:0d257bbf5c05 1098 P_TCB ptcb;
qmaker 0:0d257bbf5c05 1099 int32_t sig;
qmaker 0:0d257bbf5c05 1100
qmaker 0:0d257bbf5c05 1101 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
qmaker 0:0d257bbf5c05 1102 if (ptcb == NULL) return 0x80000000;
qmaker 0:0d257bbf5c05 1103
qmaker 0:0d257bbf5c05 1104 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
qmaker 0:0d257bbf5c05 1105
qmaker 0:0d257bbf5c05 1106 sig = ptcb->events; // Previous signal flags
qmaker 0:0d257bbf5c05 1107
qmaker 0:0d257bbf5c05 1108 isr_evt_set(signals, ptcb->task_id); // Set event flags
qmaker 0:0d257bbf5c05 1109
qmaker 0:0d257bbf5c05 1110 return sig;
qmaker 0:0d257bbf5c05 1111 }
qmaker 0:0d257bbf5c05 1112
qmaker 0:0d257bbf5c05 1113
qmaker 0:0d257bbf5c05 1114 // Signal Public API
qmaker 0:0d257bbf5c05 1115
qmaker 0:0d257bbf5c05 1116 /// Set the specified Signal Flags of an active thread
qmaker 0:0d257bbf5c05 1117 int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
qmaker 0:0d257bbf5c05 1118 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1119 return isrSignalSet(thread_id, signals);
qmaker 0:0d257bbf5c05 1120 } else { // in Thread
qmaker 0:0d257bbf5c05 1121 return __svcSignalSet(thread_id, signals);
qmaker 0:0d257bbf5c05 1122 }
qmaker 0:0d257bbf5c05 1123 }
qmaker 0:0d257bbf5c05 1124
qmaker 0:0d257bbf5c05 1125 /// Clear the specified Signal Flags of an active thread
qmaker 0:0d257bbf5c05 1126 int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
qmaker 0:0d257bbf5c05 1127 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1128 return __svcSignalClear(thread_id, signals);
qmaker 0:0d257bbf5c05 1129 }
qmaker 0:0d257bbf5c05 1130
qmaker 0:0d257bbf5c05 1131 /// Get Signal Flags status of an active thread
qmaker 0:0d257bbf5c05 1132 int32_t osSignalGet (osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1133 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1134 return __svcSignalGet(thread_id);
qmaker 0:0d257bbf5c05 1135 }
qmaker 0:0d257bbf5c05 1136
qmaker 0:0d257bbf5c05 1137 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
qmaker 0:0d257bbf5c05 1138 os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1139 osEvent ret;
qmaker 0:0d257bbf5c05 1140
qmaker 0:0d257bbf5c05 1141 if (__get_CONTROL() == MODE_IRQ) { // Not allowed in ISR
qmaker 0:0d257bbf5c05 1142 ret.status = osErrorISR;
qmaker 0:0d257bbf5c05 1143 return ret;
qmaker 0:0d257bbf5c05 1144 }
qmaker 0:0d257bbf5c05 1145 return __svcSignalWait(signals, millisec);
qmaker 0:0d257bbf5c05 1146 }
qmaker 0:0d257bbf5c05 1147
qmaker 0:0d257bbf5c05 1148
qmaker 0:0d257bbf5c05 1149 // ==== Mutex Management ====
qmaker 0:0d257bbf5c05 1150
qmaker 0:0d257bbf5c05 1151 // Mutex Service Calls declarations
qmaker 0:0d257bbf5c05 1152 SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
qmaker 0:0d257bbf5c05 1153 SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
qmaker 0:0d257bbf5c05 1154 SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
qmaker 0:0d257bbf5c05 1155 SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
qmaker 0:0d257bbf5c05 1156
qmaker 0:0d257bbf5c05 1157 // Mutex Service Calls
qmaker 0:0d257bbf5c05 1158
qmaker 0:0d257bbf5c05 1159 /// Create and Initialize a Mutex object
qmaker 0:0d257bbf5c05 1160 osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
qmaker 0:0d257bbf5c05 1161 OS_ID mut;
qmaker 0:0d257bbf5c05 1162
qmaker 0:0d257bbf5c05 1163 if (mutex_def == NULL) {
qmaker 0:0d257bbf5c05 1164 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1165 return NULL;
qmaker 0:0d257bbf5c05 1166 }
qmaker 0:0d257bbf5c05 1167
qmaker 0:0d257bbf5c05 1168 mut = mutex_def->mutex;
qmaker 0:0d257bbf5c05 1169 if (mut == NULL) {
qmaker 0:0d257bbf5c05 1170 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1171 return NULL;
qmaker 0:0d257bbf5c05 1172 }
qmaker 0:0d257bbf5c05 1173
qmaker 0:0d257bbf5c05 1174 if (((P_MUCB)mut)->cb_type != 0) {
qmaker 0:0d257bbf5c05 1175 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1176 return NULL;
qmaker 0:0d257bbf5c05 1177 }
qmaker 0:0d257bbf5c05 1178
qmaker 0:0d257bbf5c05 1179 rt_mut_init(mut); // Initialize Mutex
qmaker 0:0d257bbf5c05 1180
qmaker 0:0d257bbf5c05 1181 return mut;
qmaker 0:0d257bbf5c05 1182 }
qmaker 0:0d257bbf5c05 1183
qmaker 0:0d257bbf5c05 1184 /// Wait until a Mutex becomes available
qmaker 0:0d257bbf5c05 1185 osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1186 OS_ID mut;
qmaker 0:0d257bbf5c05 1187 OS_RESULT res;
qmaker 0:0d257bbf5c05 1188
qmaker 0:0d257bbf5c05 1189 mut = rt_id2obj(mutex_id);
qmaker 0:0d257bbf5c05 1190 if (mut == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1191
qmaker 0:0d257bbf5c05 1192 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1193
qmaker 0:0d257bbf5c05 1194 res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
qmaker 0:0d257bbf5c05 1195
qmaker 0:0d257bbf5c05 1196 if (res == OS_R_TMO) {
qmaker 0:0d257bbf5c05 1197 return (millisec ? osErrorTimeoutResource : osErrorResource);
qmaker 0:0d257bbf5c05 1198 }
qmaker 0:0d257bbf5c05 1199
qmaker 0:0d257bbf5c05 1200 return osOK;
qmaker 0:0d257bbf5c05 1201 }
qmaker 0:0d257bbf5c05 1202
qmaker 0:0d257bbf5c05 1203 /// Release a Mutex that was obtained with osMutexWait
qmaker 0:0d257bbf5c05 1204 osStatus svcMutexRelease (osMutexId mutex_id) {
qmaker 0:0d257bbf5c05 1205 OS_ID mut;
qmaker 0:0d257bbf5c05 1206 OS_RESULT res;
qmaker 0:0d257bbf5c05 1207
qmaker 0:0d257bbf5c05 1208 mut = rt_id2obj(mutex_id);
qmaker 0:0d257bbf5c05 1209 if (mut == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1210
qmaker 0:0d257bbf5c05 1211 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1212
qmaker 0:0d257bbf5c05 1213 res = rt_mut_release(mut); // Release Mutex
qmaker 0:0d257bbf5c05 1214
qmaker 0:0d257bbf5c05 1215 if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
qmaker 0:0d257bbf5c05 1216
qmaker 0:0d257bbf5c05 1217 return osOK;
qmaker 0:0d257bbf5c05 1218 }
qmaker 0:0d257bbf5c05 1219
qmaker 0:0d257bbf5c05 1220 /// Delete a Mutex that was created by osMutexCreate
qmaker 0:0d257bbf5c05 1221 osStatus svcMutexDelete (osMutexId mutex_id) {
qmaker 0:0d257bbf5c05 1222 OS_ID mut;
qmaker 0:0d257bbf5c05 1223
qmaker 0:0d257bbf5c05 1224 mut = rt_id2obj(mutex_id);
qmaker 0:0d257bbf5c05 1225 if (mut == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1226
qmaker 0:0d257bbf5c05 1227 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1228
qmaker 0:0d257bbf5c05 1229 rt_mut_delete(mut); // Release Mutex
qmaker 0:0d257bbf5c05 1230
qmaker 0:0d257bbf5c05 1231 return osOK;
qmaker 0:0d257bbf5c05 1232 }
qmaker 0:0d257bbf5c05 1233
qmaker 0:0d257bbf5c05 1234
qmaker 0:0d257bbf5c05 1235 // Mutex Public API
qmaker 0:0d257bbf5c05 1236
qmaker 0:0d257bbf5c05 1237 /// Create and Initialize a Mutex object
qmaker 0:0d257bbf5c05 1238 osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
qmaker 0:0d257bbf5c05 1239 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1240 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 1241 // Privileged and not running
qmaker 0:0d257bbf5c05 1242 return svcMutexCreate(mutex_def);
qmaker 0:0d257bbf5c05 1243 } else {
qmaker 0:0d257bbf5c05 1244 return __svcMutexCreate(mutex_def);
qmaker 0:0d257bbf5c05 1245 }
qmaker 0:0d257bbf5c05 1246 }
qmaker 0:0d257bbf5c05 1247
qmaker 0:0d257bbf5c05 1248 /// Wait until a Mutex becomes available
qmaker 0:0d257bbf5c05 1249 osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1250 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1251 return __svcMutexWait(mutex_id, millisec);
qmaker 0:0d257bbf5c05 1252 }
qmaker 0:0d257bbf5c05 1253
qmaker 0:0d257bbf5c05 1254 /// Release a Mutex that was obtained with osMutexWait
qmaker 0:0d257bbf5c05 1255 osStatus osMutexRelease (osMutexId mutex_id) {
qmaker 0:0d257bbf5c05 1256 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1257 return __svcMutexRelease(mutex_id);
qmaker 0:0d257bbf5c05 1258 }
qmaker 0:0d257bbf5c05 1259
qmaker 0:0d257bbf5c05 1260 /// Delete a Mutex that was created by osMutexCreate
qmaker 0:0d257bbf5c05 1261 osStatus osMutexDelete (osMutexId mutex_id) {
qmaker 0:0d257bbf5c05 1262 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1263 return __svcMutexDelete(mutex_id);
qmaker 0:0d257bbf5c05 1264 }
qmaker 0:0d257bbf5c05 1265
qmaker 0:0d257bbf5c05 1266
qmaker 0:0d257bbf5c05 1267 // ==== Semaphore Management ====
qmaker 0:0d257bbf5c05 1268
qmaker 0:0d257bbf5c05 1269 // Semaphore Service Calls declarations
qmaker 0:0d257bbf5c05 1270 SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
qmaker 0:0d257bbf5c05 1271 SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
qmaker 0:0d257bbf5c05 1272 SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
qmaker 0:0d257bbf5c05 1273 SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
qmaker 0:0d257bbf5c05 1274
qmaker 0:0d257bbf5c05 1275 // Semaphore Service Calls
qmaker 0:0d257bbf5c05 1276
qmaker 0:0d257bbf5c05 1277 /// Create and Initialize a Semaphore object
qmaker 0:0d257bbf5c05 1278 osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
qmaker 0:0d257bbf5c05 1279 OS_ID sem;
qmaker 0:0d257bbf5c05 1280
qmaker 0:0d257bbf5c05 1281 if (semaphore_def == NULL) {
qmaker 0:0d257bbf5c05 1282 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1283 return NULL;
qmaker 0:0d257bbf5c05 1284 }
qmaker 0:0d257bbf5c05 1285
qmaker 0:0d257bbf5c05 1286 sem = semaphore_def->semaphore;
qmaker 0:0d257bbf5c05 1287 if (sem == NULL) {
qmaker 0:0d257bbf5c05 1288 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1289 return NULL;
qmaker 0:0d257bbf5c05 1290 }
qmaker 0:0d257bbf5c05 1291
qmaker 0:0d257bbf5c05 1292 if (((P_SCB)sem)->cb_type != 0) {
qmaker 0:0d257bbf5c05 1293 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1294 return NULL;
qmaker 0:0d257bbf5c05 1295 }
qmaker 0:0d257bbf5c05 1296
qmaker 0:0d257bbf5c05 1297 if (count > osFeature_Semaphore) {
qmaker 0:0d257bbf5c05 1298 sysThreadError(osErrorValue);
qmaker 0:0d257bbf5c05 1299 return NULL;
qmaker 0:0d257bbf5c05 1300 }
qmaker 0:0d257bbf5c05 1301
qmaker 0:0d257bbf5c05 1302 rt_sem_init(sem, count); // Initialize Semaphore
qmaker 0:0d257bbf5c05 1303
qmaker 0:0d257bbf5c05 1304 return sem;
qmaker 0:0d257bbf5c05 1305 }
qmaker 0:0d257bbf5c05 1306
qmaker 0:0d257bbf5c05 1307 /// Wait until a Semaphore becomes available
qmaker 0:0d257bbf5c05 1308 int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1309 OS_ID sem;
qmaker 0:0d257bbf5c05 1310 OS_RESULT res;
qmaker 0:0d257bbf5c05 1311
qmaker 0:0d257bbf5c05 1312 sem = rt_id2obj(semaphore_id);
qmaker 0:0d257bbf5c05 1313 if (sem == NULL) return -1;
qmaker 0:0d257bbf5c05 1314
qmaker 0:0d257bbf5c05 1315 if (((P_SCB)sem)->cb_type != SCB) return -1;
qmaker 0:0d257bbf5c05 1316
qmaker 0:0d257bbf5c05 1317 res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
qmaker 0:0d257bbf5c05 1318
qmaker 0:0d257bbf5c05 1319 if (res == OS_R_TMO) return 0; // Timeout
qmaker 0:0d257bbf5c05 1320
qmaker 0:0d257bbf5c05 1321 return (((P_SCB)sem)->tokens + 1);
qmaker 0:0d257bbf5c05 1322 }
qmaker 0:0d257bbf5c05 1323
qmaker 0:0d257bbf5c05 1324 /// Release a Semaphore
qmaker 0:0d257bbf5c05 1325 osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
qmaker 0:0d257bbf5c05 1326 OS_ID sem;
qmaker 0:0d257bbf5c05 1327
qmaker 0:0d257bbf5c05 1328 sem = rt_id2obj(semaphore_id);
qmaker 0:0d257bbf5c05 1329 if (sem == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1330
qmaker 0:0d257bbf5c05 1331 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1332
qmaker 0:0d257bbf5c05 1333 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
qmaker 0:0d257bbf5c05 1334
qmaker 0:0d257bbf5c05 1335 rt_sem_send(sem); // Release Semaphore
qmaker 0:0d257bbf5c05 1336
qmaker 0:0d257bbf5c05 1337 return osOK;
qmaker 0:0d257bbf5c05 1338 }
qmaker 0:0d257bbf5c05 1339
qmaker 0:0d257bbf5c05 1340 /// Delete a Semaphore that was created by osSemaphoreCreate
qmaker 0:0d257bbf5c05 1341 osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
qmaker 0:0d257bbf5c05 1342 OS_ID sem;
qmaker 0:0d257bbf5c05 1343
qmaker 0:0d257bbf5c05 1344 sem = rt_id2obj(semaphore_id);
qmaker 0:0d257bbf5c05 1345 if (sem == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1346
qmaker 0:0d257bbf5c05 1347 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1348
qmaker 0:0d257bbf5c05 1349 rt_sem_delete(sem); // Delete Semaphore
qmaker 0:0d257bbf5c05 1350
qmaker 0:0d257bbf5c05 1351 return osOK;
qmaker 0:0d257bbf5c05 1352 }
qmaker 0:0d257bbf5c05 1353
qmaker 0:0d257bbf5c05 1354
qmaker 0:0d257bbf5c05 1355 // Semaphore ISR Calls
qmaker 0:0d257bbf5c05 1356
qmaker 0:0d257bbf5c05 1357 /// Release a Semaphore
qmaker 0:0d257bbf5c05 1358 static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
qmaker 0:0d257bbf5c05 1359 OS_ID sem;
qmaker 0:0d257bbf5c05 1360
qmaker 0:0d257bbf5c05 1361 sem = rt_id2obj(semaphore_id);
qmaker 0:0d257bbf5c05 1362 if (sem == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1363
qmaker 0:0d257bbf5c05 1364 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1365
qmaker 0:0d257bbf5c05 1366 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
qmaker 0:0d257bbf5c05 1367
qmaker 0:0d257bbf5c05 1368 isr_sem_send(sem); // Release Semaphore
qmaker 0:0d257bbf5c05 1369
qmaker 0:0d257bbf5c05 1370 return osOK;
qmaker 0:0d257bbf5c05 1371 }
qmaker 0:0d257bbf5c05 1372
qmaker 0:0d257bbf5c05 1373
qmaker 0:0d257bbf5c05 1374 // Semaphore Public API
qmaker 0:0d257bbf5c05 1375
qmaker 0:0d257bbf5c05 1376 /// Create and Initialize a Semaphore object
qmaker 0:0d257bbf5c05 1377 osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
qmaker 0:0d257bbf5c05 1378 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1379 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 1380 // Privileged and not running
qmaker 0:0d257bbf5c05 1381 return svcSemaphoreCreate(semaphore_def, count);
qmaker 0:0d257bbf5c05 1382 } else {
qmaker 0:0d257bbf5c05 1383 return __svcSemaphoreCreate(semaphore_def, count);
qmaker 0:0d257bbf5c05 1384 }
qmaker 0:0d257bbf5c05 1385 }
qmaker 0:0d257bbf5c05 1386
qmaker 0:0d257bbf5c05 1387 /// Wait until a Semaphore becomes available
qmaker 0:0d257bbf5c05 1388 int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1389 if (__get_CONTROL() == MODE_IRQ) return -1; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1390 return __svcSemaphoreWait(semaphore_id, millisec);
qmaker 0:0d257bbf5c05 1391 }
qmaker 0:0d257bbf5c05 1392
qmaker 0:0d257bbf5c05 1393 /// Release a Semaphore
qmaker 0:0d257bbf5c05 1394 osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
qmaker 0:0d257bbf5c05 1395 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1396 return isrSemaphoreRelease(semaphore_id);
qmaker 0:0d257bbf5c05 1397 } else { // in Thread
qmaker 0:0d257bbf5c05 1398 return __svcSemaphoreRelease(semaphore_id);
qmaker 0:0d257bbf5c05 1399 }
qmaker 0:0d257bbf5c05 1400 }
qmaker 0:0d257bbf5c05 1401
qmaker 0:0d257bbf5c05 1402 /// Delete a Semaphore that was created by osSemaphoreCreate
qmaker 0:0d257bbf5c05 1403 osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
qmaker 0:0d257bbf5c05 1404 if (__get_CONTROL() == MODE_IRQ) return osErrorISR; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1405 return __svcSemaphoreDelete(semaphore_id);
qmaker 0:0d257bbf5c05 1406 }
qmaker 0:0d257bbf5c05 1407
qmaker 0:0d257bbf5c05 1408
qmaker 0:0d257bbf5c05 1409 // ==== Memory Management Functions ====
qmaker 0:0d257bbf5c05 1410
qmaker 0:0d257bbf5c05 1411 // Memory Management Helper Functions
qmaker 0:0d257bbf5c05 1412
qmaker 0:0d257bbf5c05 1413 // Clear Memory Box (Zero init)
qmaker 0:0d257bbf5c05 1414 static void rt_clr_box (void *box_mem, void *box) {
qmaker 0:0d257bbf5c05 1415 uint32_t *p, n;
qmaker 0:0d257bbf5c05 1416
qmaker 0:0d257bbf5c05 1417 if (box) {
qmaker 0:0d257bbf5c05 1418 p = box;
qmaker 0:0d257bbf5c05 1419 for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
qmaker 0:0d257bbf5c05 1420 *p++ = 0;
qmaker 0:0d257bbf5c05 1421 }
qmaker 0:0d257bbf5c05 1422 }
qmaker 0:0d257bbf5c05 1423 }
qmaker 0:0d257bbf5c05 1424
qmaker 0:0d257bbf5c05 1425 // Memory Management Service Calls declarations
qmaker 0:0d257bbf5c05 1426 SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
qmaker 0:0d257bbf5c05 1427 SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
qmaker 0:0d257bbf5c05 1428 SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
qmaker 0:0d257bbf5c05 1429
qmaker 0:0d257bbf5c05 1430 // Memory Management Service & ISR Calls
qmaker 0:0d257bbf5c05 1431
qmaker 0:0d257bbf5c05 1432 /// Create and Initialize memory pool
qmaker 0:0d257bbf5c05 1433 osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
qmaker 0:0d257bbf5c05 1434 uint32_t blk_sz;
qmaker 0:0d257bbf5c05 1435
qmaker 0:0d257bbf5c05 1436 if ((pool_def == NULL) ||
qmaker 0:0d257bbf5c05 1437 (pool_def->pool_sz == 0) ||
qmaker 0:0d257bbf5c05 1438 (pool_def->item_sz == 0) ||
qmaker 0:0d257bbf5c05 1439 (pool_def->pool == NULL)) {
qmaker 0:0d257bbf5c05 1440 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1441 return NULL;
qmaker 0:0d257bbf5c05 1442 }
qmaker 0:0d257bbf5c05 1443
qmaker 0:0d257bbf5c05 1444 blk_sz = (pool_def->item_sz + 3) & ~3;
qmaker 0:0d257bbf5c05 1445
qmaker 0:0d257bbf5c05 1446 _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
qmaker 0:0d257bbf5c05 1447
qmaker 0:0d257bbf5c05 1448 return pool_def->pool;
qmaker 0:0d257bbf5c05 1449 }
qmaker 0:0d257bbf5c05 1450
qmaker 0:0d257bbf5c05 1451 /// Allocate a memory block from a memory pool
qmaker 0:0d257bbf5c05 1452 void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
qmaker 0:0d257bbf5c05 1453 void *ptr;
qmaker 0:0d257bbf5c05 1454
qmaker 0:0d257bbf5c05 1455 if (pool_id == NULL) return NULL;
qmaker 0:0d257bbf5c05 1456
qmaker 0:0d257bbf5c05 1457 ptr = rt_alloc_box(pool_id);
qmaker 0:0d257bbf5c05 1458 if (clr) {
qmaker 0:0d257bbf5c05 1459 rt_clr_box(pool_id, ptr);
qmaker 0:0d257bbf5c05 1460 }
qmaker 0:0d257bbf5c05 1461
qmaker 0:0d257bbf5c05 1462 return ptr;
qmaker 0:0d257bbf5c05 1463 }
qmaker 0:0d257bbf5c05 1464
qmaker 0:0d257bbf5c05 1465 /// Return an allocated memory block back to a specific memory pool
qmaker 0:0d257bbf5c05 1466 osStatus sysPoolFree (osPoolId pool_id, void *block) {
qmaker 0:0d257bbf5c05 1467 int32_t res;
qmaker 0:0d257bbf5c05 1468
qmaker 0:0d257bbf5c05 1469 if (pool_id == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1470
qmaker 0:0d257bbf5c05 1471 res = rt_free_box(pool_id, block);
qmaker 0:0d257bbf5c05 1472 if (res != 0) return osErrorValue;
qmaker 0:0d257bbf5c05 1473
qmaker 0:0d257bbf5c05 1474 return osOK;
qmaker 0:0d257bbf5c05 1475 }
qmaker 0:0d257bbf5c05 1476
qmaker 0:0d257bbf5c05 1477
qmaker 0:0d257bbf5c05 1478 // Memory Management Public API
qmaker 0:0d257bbf5c05 1479
qmaker 0:0d257bbf5c05 1480 /// Create and Initialize memory pool
qmaker 0:0d257bbf5c05 1481 osPoolId osPoolCreate (osPoolDef_t *pool_def) {
qmaker 0:0d257bbf5c05 1482 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1483 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 1484 // Privileged and not running
qmaker 0:0d257bbf5c05 1485 return svcPoolCreate(pool_def);
qmaker 0:0d257bbf5c05 1486 } else {
qmaker 0:0d257bbf5c05 1487 return __svcPoolCreate(pool_def);
qmaker 0:0d257bbf5c05 1488 }
qmaker 0:0d257bbf5c05 1489 }
qmaker 0:0d257bbf5c05 1490
qmaker 0:0d257bbf5c05 1491 /// Allocate a memory block from a memory pool
qmaker 0:0d257bbf5c05 1492 void *osPoolAlloc (osPoolId pool_id) {
qmaker 0:0d257bbf5c05 1493 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
qmaker 0:0d257bbf5c05 1494 return sysPoolAlloc(pool_id, 0);
qmaker 0:0d257bbf5c05 1495 } else { // in Thread
qmaker 0:0d257bbf5c05 1496 return __sysPoolAlloc(pool_id, 0);
qmaker 0:0d257bbf5c05 1497 }
qmaker 0:0d257bbf5c05 1498 }
qmaker 0:0d257bbf5c05 1499
qmaker 0:0d257bbf5c05 1500 /// Allocate a memory block from a memory pool and set memory block to zero
qmaker 0:0d257bbf5c05 1501 void *osPoolCAlloc (osPoolId pool_id) {
qmaker 0:0d257bbf5c05 1502 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
qmaker 0:0d257bbf5c05 1503 return sysPoolAlloc(pool_id, 1);
qmaker 0:0d257bbf5c05 1504 } else { // in Thread
qmaker 0:0d257bbf5c05 1505 return __sysPoolAlloc(pool_id, 1);
qmaker 0:0d257bbf5c05 1506 }
qmaker 0:0d257bbf5c05 1507 }
qmaker 0:0d257bbf5c05 1508
qmaker 0:0d257bbf5c05 1509 /// Return an allocated memory block back to a specific memory pool
qmaker 0:0d257bbf5c05 1510 osStatus osPoolFree (osPoolId pool_id, void *block) {
qmaker 0:0d257bbf5c05 1511 if ((__get_CONTROL() == MODE_IRQ) || (__get_CONTROL() == MODE_SUPERVISOR)) { // in ISR or Privileged
qmaker 0:0d257bbf5c05 1512 return sysPoolFree(pool_id, block);
qmaker 0:0d257bbf5c05 1513 } else { // in Thread
qmaker 0:0d257bbf5c05 1514 return __sysPoolFree(pool_id, block);
qmaker 0:0d257bbf5c05 1515 }
qmaker 0:0d257bbf5c05 1516 }
qmaker 0:0d257bbf5c05 1517
qmaker 0:0d257bbf5c05 1518
qmaker 0:0d257bbf5c05 1519 // ==== Message Queue Management Functions ====
qmaker 0:0d257bbf5c05 1520
qmaker 0:0d257bbf5c05 1521 // Message Queue Management Service Calls declarations
qmaker 0:0d257bbf5c05 1522 SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
qmaker 0:0d257bbf5c05 1523 SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
qmaker 0:0d257bbf5c05 1524 SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
qmaker 0:0d257bbf5c05 1525
qmaker 0:0d257bbf5c05 1526 // Message Queue Service Calls
qmaker 0:0d257bbf5c05 1527
qmaker 0:0d257bbf5c05 1528 /// Create and Initialize Message Queue
qmaker 0:0d257bbf5c05 1529 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1530
qmaker 0:0d257bbf5c05 1531 if ((queue_def == NULL) ||
qmaker 0:0d257bbf5c05 1532 (queue_def->queue_sz == 0) ||
qmaker 0:0d257bbf5c05 1533 (queue_def->pool == NULL)) {
qmaker 0:0d257bbf5c05 1534 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1535 return NULL;
qmaker 0:0d257bbf5c05 1536 }
qmaker 0:0d257bbf5c05 1537
qmaker 0:0d257bbf5c05 1538 if (((P_MCB)queue_def->pool)->cb_type != 0) {
qmaker 0:0d257bbf5c05 1539 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1540 return NULL;
qmaker 0:0d257bbf5c05 1541 }
qmaker 0:0d257bbf5c05 1542
qmaker 0:0d257bbf5c05 1543 rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
qmaker 0:0d257bbf5c05 1544
qmaker 0:0d257bbf5c05 1545 return queue_def->pool;
qmaker 0:0d257bbf5c05 1546 }
qmaker 0:0d257bbf5c05 1547
qmaker 0:0d257bbf5c05 1548 /// Put a Message to a Queue
qmaker 0:0d257bbf5c05 1549 osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1550 OS_RESULT res;
qmaker 0:0d257bbf5c05 1551
qmaker 0:0d257bbf5c05 1552 if (queue_id == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1553
qmaker 0:0d257bbf5c05 1554 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1555
qmaker 0:0d257bbf5c05 1556 res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
qmaker 0:0d257bbf5c05 1557
qmaker 0:0d257bbf5c05 1558 if (res == OS_R_TMO) {
qmaker 0:0d257bbf5c05 1559 return (millisec ? osErrorTimeoutResource : osErrorResource);
qmaker 0:0d257bbf5c05 1560 }
qmaker 0:0d257bbf5c05 1561
qmaker 0:0d257bbf5c05 1562 return osOK;
qmaker 0:0d257bbf5c05 1563 }
qmaker 0:0d257bbf5c05 1564
qmaker 0:0d257bbf5c05 1565 /// Get a Message or Wait for a Message from a Queue
qmaker 0:0d257bbf5c05 1566 os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1567 OS_RESULT res;
qmaker 0:0d257bbf5c05 1568 osEvent ret;
qmaker 0:0d257bbf5c05 1569
qmaker 0:0d257bbf5c05 1570 if (queue_id == NULL) {
qmaker 0:0d257bbf5c05 1571 ret.status = osErrorParameter;
qmaker 0:0d257bbf5c05 1572 return osEvent_ret_status;
qmaker 0:0d257bbf5c05 1573 }
qmaker 0:0d257bbf5c05 1574
qmaker 0:0d257bbf5c05 1575 if (((P_MCB)queue_id)->cb_type != MCB) {
qmaker 0:0d257bbf5c05 1576 ret.status = osErrorParameter;
qmaker 0:0d257bbf5c05 1577 return osEvent_ret_status;
qmaker 0:0d257bbf5c05 1578 }
qmaker 0:0d257bbf5c05 1579
qmaker 0:0d257bbf5c05 1580 res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
qmaker 0:0d257bbf5c05 1581
qmaker 0:0d257bbf5c05 1582 if (res == OS_R_TMO) {
qmaker 0:0d257bbf5c05 1583 ret.status = millisec ? osEventTimeout : osOK;
qmaker 0:0d257bbf5c05 1584 return osEvent_ret_value;
qmaker 0:0d257bbf5c05 1585 }
qmaker 0:0d257bbf5c05 1586
qmaker 0:0d257bbf5c05 1587 ret.status = osEventMessage;
qmaker 0:0d257bbf5c05 1588
qmaker 0:0d257bbf5c05 1589 return osEvent_ret_value;
qmaker 0:0d257bbf5c05 1590 }
qmaker 0:0d257bbf5c05 1591
qmaker 0:0d257bbf5c05 1592
qmaker 0:0d257bbf5c05 1593 // Message Queue ISR Calls
qmaker 0:0d257bbf5c05 1594
qmaker 0:0d257bbf5c05 1595 /// Put a Message to a Queue
qmaker 0:0d257bbf5c05 1596 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1597
qmaker 0:0d257bbf5c05 1598 if ((queue_id == NULL) || (millisec != 0)) {
qmaker 0:0d257bbf5c05 1599 return osErrorParameter;
qmaker 0:0d257bbf5c05 1600 }
qmaker 0:0d257bbf5c05 1601
qmaker 0:0d257bbf5c05 1602 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
qmaker 0:0d257bbf5c05 1603
qmaker 0:0d257bbf5c05 1604 if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
qmaker 0:0d257bbf5c05 1605 return osErrorResource;
qmaker 0:0d257bbf5c05 1606 }
qmaker 0:0d257bbf5c05 1607
qmaker 0:0d257bbf5c05 1608 isr_mbx_send(queue_id, (void *)info);
qmaker 0:0d257bbf5c05 1609
qmaker 0:0d257bbf5c05 1610 return osOK;
qmaker 0:0d257bbf5c05 1611 }
qmaker 0:0d257bbf5c05 1612
qmaker 0:0d257bbf5c05 1613 /// Get a Message or Wait for a Message from a Queue
qmaker 0:0d257bbf5c05 1614 static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1615 OS_RESULT res;
qmaker 0:0d257bbf5c05 1616 osEvent ret;
qmaker 0:0d257bbf5c05 1617
qmaker 0:0d257bbf5c05 1618 if ((queue_id == NULL) || (millisec != 0)) {
qmaker 0:0d257bbf5c05 1619 ret.status = osErrorParameter;
qmaker 0:0d257bbf5c05 1620 return ret;
qmaker 0:0d257bbf5c05 1621 }
qmaker 0:0d257bbf5c05 1622
qmaker 0:0d257bbf5c05 1623 if (((P_MCB)queue_id)->cb_type != MCB) {
qmaker 0:0d257bbf5c05 1624 ret.status = osErrorParameter;
qmaker 0:0d257bbf5c05 1625 return ret;
qmaker 0:0d257bbf5c05 1626 }
qmaker 0:0d257bbf5c05 1627
qmaker 0:0d257bbf5c05 1628 res = isr_mbx_receive(queue_id, &ret.value.p);
qmaker 0:0d257bbf5c05 1629
qmaker 0:0d257bbf5c05 1630 if (res != OS_R_MBX) {
qmaker 0:0d257bbf5c05 1631 ret.status = osOK;
qmaker 0:0d257bbf5c05 1632 return ret;
qmaker 0:0d257bbf5c05 1633 }
qmaker 0:0d257bbf5c05 1634
qmaker 0:0d257bbf5c05 1635 ret.status = osEventMessage;
qmaker 0:0d257bbf5c05 1636
qmaker 0:0d257bbf5c05 1637 return ret;
qmaker 0:0d257bbf5c05 1638 }
qmaker 0:0d257bbf5c05 1639
qmaker 0:0d257bbf5c05 1640
qmaker 0:0d257bbf5c05 1641 // Message Queue Management Public API
qmaker 0:0d257bbf5c05 1642
qmaker 0:0d257bbf5c05 1643 /// Create and Initialize Message Queue
qmaker 0:0d257bbf5c05 1644 osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1645 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1646 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 1647 // Privileged and not running
qmaker 0:0d257bbf5c05 1648 return svcMessageCreate(queue_def, thread_id);
qmaker 0:0d257bbf5c05 1649 } else {
qmaker 0:0d257bbf5c05 1650 return __svcMessageCreate(queue_def, thread_id);
qmaker 0:0d257bbf5c05 1651 }
qmaker 0:0d257bbf5c05 1652 }
qmaker 0:0d257bbf5c05 1653
qmaker 0:0d257bbf5c05 1654 /// Put a Message to a Queue
qmaker 0:0d257bbf5c05 1655 osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1656 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1657 return isrMessagePut(queue_id, info, millisec);
qmaker 0:0d257bbf5c05 1658 } else { // in Thread
qmaker 0:0d257bbf5c05 1659 return __svcMessagePut(queue_id, info, millisec);
qmaker 0:0d257bbf5c05 1660 }
qmaker 0:0d257bbf5c05 1661 }
qmaker 0:0d257bbf5c05 1662
qmaker 0:0d257bbf5c05 1663 /// Get a Message or Wait for a Message from a Queue
qmaker 0:0d257bbf5c05 1664 os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1665 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1666 return isrMessageGet(queue_id, millisec);
qmaker 0:0d257bbf5c05 1667 } else { // in Thread
qmaker 0:0d257bbf5c05 1668 return __svcMessageGet(queue_id, millisec);
qmaker 0:0d257bbf5c05 1669 }
qmaker 0:0d257bbf5c05 1670 }
qmaker 0:0d257bbf5c05 1671
qmaker 0:0d257bbf5c05 1672
qmaker 0:0d257bbf5c05 1673 // ==== Mail Queue Management Functions ====
qmaker 0:0d257bbf5c05 1674
qmaker 0:0d257bbf5c05 1675 // Mail Queue Management Service Calls declarations
qmaker 0:0d257bbf5c05 1676 SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
qmaker 0:0d257bbf5c05 1677 SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
qmaker 0:0d257bbf5c05 1678 SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
qmaker 0:0d257bbf5c05 1679
qmaker 0:0d257bbf5c05 1680 // Mail Queue Management Service & ISR Calls
qmaker 0:0d257bbf5c05 1681
qmaker 0:0d257bbf5c05 1682 /// Create and Initialize mail queue
qmaker 0:0d257bbf5c05 1683 osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1684 uint32_t blk_sz;
qmaker 0:0d257bbf5c05 1685 P_MCB pmcb;
qmaker 0:0d257bbf5c05 1686 void *pool;
qmaker 0:0d257bbf5c05 1687
qmaker 0:0d257bbf5c05 1688 if ((queue_def == NULL) ||
qmaker 0:0d257bbf5c05 1689 (queue_def->queue_sz == 0) ||
qmaker 0:0d257bbf5c05 1690 (queue_def->item_sz == 0) ||
qmaker 0:0d257bbf5c05 1691 (queue_def->pool == NULL)) {
qmaker 0:0d257bbf5c05 1692 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1693 return NULL;
qmaker 0:0d257bbf5c05 1694 }
qmaker 0:0d257bbf5c05 1695
qmaker 0:0d257bbf5c05 1696 pmcb = *(((void **)queue_def->pool) + 0);
qmaker 0:0d257bbf5c05 1697 pool = *(((void **)queue_def->pool) + 1);
qmaker 0:0d257bbf5c05 1698
qmaker 0:0d257bbf5c05 1699 if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
qmaker 0:0d257bbf5c05 1700 sysThreadError(osErrorParameter);
qmaker 0:0d257bbf5c05 1701 return NULL;
qmaker 0:0d257bbf5c05 1702 }
qmaker 0:0d257bbf5c05 1703
qmaker 0:0d257bbf5c05 1704 blk_sz = (queue_def->item_sz + 3) & ~3;
qmaker 0:0d257bbf5c05 1705
qmaker 0:0d257bbf5c05 1706 _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
qmaker 0:0d257bbf5c05 1707
qmaker 0:0d257bbf5c05 1708 rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
qmaker 0:0d257bbf5c05 1709
qmaker 0:0d257bbf5c05 1710
qmaker 0:0d257bbf5c05 1711 return queue_def->pool;
qmaker 0:0d257bbf5c05 1712 }
qmaker 0:0d257bbf5c05 1713
qmaker 0:0d257bbf5c05 1714 /// Allocate a memory block from a mail
qmaker 0:0d257bbf5c05 1715 void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
qmaker 0:0d257bbf5c05 1716 P_MCB pmcb;
qmaker 0:0d257bbf5c05 1717 void *pool;
qmaker 0:0d257bbf5c05 1718 void *mem;
qmaker 0:0d257bbf5c05 1719
qmaker 0:0d257bbf5c05 1720 if (queue_id == NULL) return NULL;
qmaker 0:0d257bbf5c05 1721
qmaker 0:0d257bbf5c05 1722 pmcb = *(((void **)queue_id) + 0);
qmaker 0:0d257bbf5c05 1723 pool = *(((void **)queue_id) + 1);
qmaker 0:0d257bbf5c05 1724
qmaker 0:0d257bbf5c05 1725 if ((pool == NULL) || (pmcb == NULL)) return NULL;
qmaker 0:0d257bbf5c05 1726
qmaker 0:0d257bbf5c05 1727 if (isr && (millisec != 0)) return NULL;
qmaker 0:0d257bbf5c05 1728
qmaker 0:0d257bbf5c05 1729 mem = rt_alloc_box(pool);
qmaker 0:0d257bbf5c05 1730 if (clr) {
qmaker 0:0d257bbf5c05 1731 rt_clr_box(pool, mem);
qmaker 0:0d257bbf5c05 1732 }
qmaker 0:0d257bbf5c05 1733
qmaker 0:0d257bbf5c05 1734 if ((mem == NULL) && (millisec != 0)) {
qmaker 0:0d257bbf5c05 1735 // Put Task to sleep when Memory not available
qmaker 0:0d257bbf5c05 1736 if (pmcb->p_lnk != NULL) {
qmaker 0:0d257bbf5c05 1737 rt_put_prio((P_XCB)pmcb, os_tsk.run);
qmaker 0:0d257bbf5c05 1738 } else {
qmaker 0:0d257bbf5c05 1739 pmcb->p_lnk = os_tsk.run;
qmaker 0:0d257bbf5c05 1740 os_tsk.run->p_lnk = NULL;
qmaker 0:0d257bbf5c05 1741 os_tsk.run->p_rlnk = (P_TCB)pmcb;
qmaker 0:0d257bbf5c05 1742 // Task is waiting to allocate a message
qmaker 0:0d257bbf5c05 1743 pmcb->state = 3;
qmaker 0:0d257bbf5c05 1744 }
qmaker 0:0d257bbf5c05 1745 rt_block(rt_ms2tick(millisec), WAIT_MBX);
qmaker 0:0d257bbf5c05 1746 }
qmaker 0:0d257bbf5c05 1747
qmaker 0:0d257bbf5c05 1748 return mem;
qmaker 0:0d257bbf5c05 1749 }
qmaker 0:0d257bbf5c05 1750
qmaker 0:0d257bbf5c05 1751 /// Free a memory block from a mail
qmaker 0:0d257bbf5c05 1752 osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
qmaker 0:0d257bbf5c05 1753 P_MCB pmcb;
qmaker 0:0d257bbf5c05 1754 P_TCB ptcb;
qmaker 0:0d257bbf5c05 1755 void *pool;
qmaker 0:0d257bbf5c05 1756 void *mem;
qmaker 0:0d257bbf5c05 1757 int32_t res;
qmaker 0:0d257bbf5c05 1758
qmaker 0:0d257bbf5c05 1759 if (queue_id == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1760
qmaker 0:0d257bbf5c05 1761 pmcb = *(((void **)queue_id) + 0);
qmaker 0:0d257bbf5c05 1762 pool = *(((void **)queue_id) + 1);
qmaker 0:0d257bbf5c05 1763
qmaker 0:0d257bbf5c05 1764 if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
qmaker 0:0d257bbf5c05 1765
qmaker 0:0d257bbf5c05 1766 res = rt_free_box(pool, mail);
qmaker 0:0d257bbf5c05 1767
qmaker 0:0d257bbf5c05 1768 if (res != 0) return osErrorValue;
qmaker 0:0d257bbf5c05 1769
qmaker 0:0d257bbf5c05 1770 if (pmcb->state == 3) {
qmaker 0:0d257bbf5c05 1771 // Task is waiting to allocate a message
qmaker 0:0d257bbf5c05 1772 if (isr) {
qmaker 0:0d257bbf5c05 1773 rt_psq_enq (pmcb, (U32)pool);
qmaker 0:0d257bbf5c05 1774 rt_psh_req ();
qmaker 0:0d257bbf5c05 1775 } else {
qmaker 0:0d257bbf5c05 1776 mem = rt_alloc_box(pool);
qmaker 0:0d257bbf5c05 1777 if (mem != NULL) {
qmaker 0:0d257bbf5c05 1778 ptcb = rt_get_first((P_XCB)pmcb);
qmaker 0:0d257bbf5c05 1779 if (pmcb->p_lnk == NULL) {
qmaker 0:0d257bbf5c05 1780 pmcb->state = 0;
qmaker 0:0d257bbf5c05 1781 }
qmaker 0:0d257bbf5c05 1782 rt_ret_val(ptcb, (U32)mem);
qmaker 0:0d257bbf5c05 1783 rt_rmv_dly(ptcb);
qmaker 0:0d257bbf5c05 1784 rt_dispatch(ptcb);
qmaker 0:0d257bbf5c05 1785 }
qmaker 0:0d257bbf5c05 1786 }
qmaker 0:0d257bbf5c05 1787 }
qmaker 0:0d257bbf5c05 1788
qmaker 0:0d257bbf5c05 1789 return osOK;
qmaker 0:0d257bbf5c05 1790 }
qmaker 0:0d257bbf5c05 1791
qmaker 0:0d257bbf5c05 1792
qmaker 0:0d257bbf5c05 1793 // Mail Queue Management Public API
qmaker 0:0d257bbf5c05 1794
qmaker 0:0d257bbf5c05 1795 /// Create and Initialize mail queue
qmaker 0:0d257bbf5c05 1796 osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
qmaker 0:0d257bbf5c05 1797 if (__get_CONTROL() == MODE_IRQ) return NULL; // Not allowed in ISR
qmaker 0:0d257bbf5c05 1798 if ((__get_CONTROL() == MODE_SUPERVISOR) && (os_running == 0)) {
qmaker 0:0d257bbf5c05 1799 // Privileged and not running
qmaker 0:0d257bbf5c05 1800 return svcMailCreate(queue_def, thread_id);
qmaker 0:0d257bbf5c05 1801 } else {
qmaker 0:0d257bbf5c05 1802 return __svcMailCreate(queue_def, thread_id);
qmaker 0:0d257bbf5c05 1803 }
qmaker 0:0d257bbf5c05 1804 }
qmaker 0:0d257bbf5c05 1805
qmaker 0:0d257bbf5c05 1806 /// Allocate a memory block from a mail
qmaker 0:0d257bbf5c05 1807 void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1808 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1809 return sysMailAlloc(queue_id, millisec, 1, 0);
qmaker 0:0d257bbf5c05 1810 } else { // in Thread
qmaker 0:0d257bbf5c05 1811 return __sysMailAlloc(queue_id, millisec, 0, 0);
qmaker 0:0d257bbf5c05 1812 }
qmaker 0:0d257bbf5c05 1813 }
qmaker 0:0d257bbf5c05 1814
qmaker 0:0d257bbf5c05 1815 /// Allocate a memory block from a mail and set memory block to zero
qmaker 0:0d257bbf5c05 1816 void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1817 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1818 return sysMailAlloc(queue_id, millisec, 1, 1);
qmaker 0:0d257bbf5c05 1819 } else { // in Thread
qmaker 0:0d257bbf5c05 1820 return __sysMailAlloc(queue_id, millisec, 0, 1);
qmaker 0:0d257bbf5c05 1821 }
qmaker 0:0d257bbf5c05 1822 }
qmaker 0:0d257bbf5c05 1823
qmaker 0:0d257bbf5c05 1824 /// Free a memory block from a mail
qmaker 0:0d257bbf5c05 1825 osStatus osMailFree (osMailQId queue_id, void *mail) {
qmaker 0:0d257bbf5c05 1826 if (__get_CONTROL() == MODE_IRQ) { // in ISR
qmaker 0:0d257bbf5c05 1827 return sysMailFree(queue_id, mail, 1);
qmaker 0:0d257bbf5c05 1828 } else { // in Thread
qmaker 0:0d257bbf5c05 1829 return __sysMailFree(queue_id, mail, 0);
qmaker 0:0d257bbf5c05 1830 }
qmaker 0:0d257bbf5c05 1831 }
qmaker 0:0d257bbf5c05 1832
qmaker 0:0d257bbf5c05 1833 /// Put a mail to a queue
qmaker 0:0d257bbf5c05 1834 osStatus osMailPut (osMailQId queue_id, void *mail) {
qmaker 0:0d257bbf5c05 1835 if (queue_id == NULL) return osErrorParameter;
qmaker 0:0d257bbf5c05 1836 if (mail == NULL) return osErrorValue;
qmaker 0:0d257bbf5c05 1837 return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
qmaker 0:0d257bbf5c05 1838 }
qmaker 0:0d257bbf5c05 1839
qmaker 0:0d257bbf5c05 1840 /// Get a mail from a queue
qmaker 0:0d257bbf5c05 1841 os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
qmaker 0:0d257bbf5c05 1842 osEvent ret;
qmaker 0:0d257bbf5c05 1843
qmaker 0:0d257bbf5c05 1844 if (queue_id == NULL) {
qmaker 0:0d257bbf5c05 1845 ret.status = osErrorParameter;
qmaker 0:0d257bbf5c05 1846 return ret;
qmaker 0:0d257bbf5c05 1847 }
qmaker 0:0d257bbf5c05 1848
qmaker 0:0d257bbf5c05 1849 ret = osMessageGet(*((void **)queue_id), millisec);
qmaker 0:0d257bbf5c05 1850 if (ret.status == osEventMessage) ret.status = osEventMail;
qmaker 0:0d257bbf5c05 1851
qmaker 0:0d257bbf5c05 1852 return ret;
qmaker 0:0d257bbf5c05 1853 }