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Dependencies:   mbed

Fork of FYDP_Final2 by Dave Lu

mbed-rtos/rtx/rt_CMSIS.c@8:3d5a84b897be, 2015-03-25 (annotated)

Committer:
tntmarket
Date:
Wed Mar 25 11:44:05 2015 +0000
Revision:
8:3d5a84b897be
Parent:
mbed/mbed-rtos/rtx/rt_CMSIS.c@0:21019d94ad33 
lift folders

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 /*----------------------------------------------------------------------------
majik 0:21019d94ad33 2 * RL-ARM - RTX
majik 0:21019d94ad33 3 *----------------------------------------------------------------------------
majik 0:21019d94ad33 4 * Name: rt_CMSIS.c
majik 0:21019d94ad33 5 * Purpose: CMSIS RTOS API
majik 0:21019d94ad33 6 * Rev.: V4.60
majik 0:21019d94ad33 7 *----------------------------------------------------------------------------
majik 0:21019d94ad33 8 *
majik 0:21019d94ad33 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
majik 0:21019d94ad33 10 * All rights reserved.
majik 0:21019d94ad33 11 * Redistribution and use in source and binary forms, with or without
majik 0:21019d94ad33 12 * modification, are permitted provided that the following conditions are met:
majik 0:21019d94ad33 13 * - Redistributions of source code must retain the above copyright
majik 0:21019d94ad33 14 * notice, this list of conditions and the following disclaimer.
majik 0:21019d94ad33 15 * - Redistributions in binary form must reproduce the above copyright
majik 0:21019d94ad33 16 * notice, this list of conditions and the following disclaimer in the
majik 0:21019d94ad33 17 * documentation and/or other materials provided with the distribution.
majik 0:21019d94ad33 18 * - Neither the name of ARM nor the names of its contributors may be used
majik 0:21019d94ad33 19 * to endorse or promote products derived from this software without
majik 0:21019d94ad33 20 * specific prior written permission.
majik 0:21019d94ad33 21 *
majik 0:21019d94ad33 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
majik 0:21019d94ad33 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
majik 0:21019d94ad33 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
majik 0:21019d94ad33 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
majik 0:21019d94ad33 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
majik 0:21019d94ad33 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
majik 0:21019d94ad33 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
majik 0:21019d94ad33 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
majik 0:21019d94ad33 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
majik 0:21019d94ad33 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
majik 0:21019d94ad33 32 * POSSIBILITY OF SUCH DAMAGE.
majik 0:21019d94ad33 33 *---------------------------------------------------------------------------*/
majik 0:21019d94ad33 34
majik 0:21019d94ad33 35 #define __CMSIS_GENERIC
majik 0:21019d94ad33 36
majik 0:21019d94ad33 37 #if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
majik 0:21019d94ad33 38 #include "core_cm4.h"
majik 0:21019d94ad33 39 #elif defined (__CORTEX_M3)
majik 0:21019d94ad33 40 #include "core_cm3.h"
majik 0:21019d94ad33 41 #elif defined (__CORTEX_M0)
majik 0:21019d94ad33 42 #include "core_cm0.h"
majik 0:21019d94ad33 43 #elif defined (__CORTEX_M0PLUS)
majik 0:21019d94ad33 44 #include "core_cm0plus.h"
majik 0:21019d94ad33 45 #else
majik 0:21019d94ad33 46 #error "Missing __CORTEX_Mx definition"
majik 0:21019d94ad33 47 #endif
majik 0:21019d94ad33 48
majik 0:21019d94ad33 49 #include "rt_TypeDef.h"
majik 0:21019d94ad33 50 #include "RTX_Conf.h"
majik 0:21019d94ad33 51 #include "rt_System.h"
majik 0:21019d94ad33 52 #include "rt_Task.h"
majik 0:21019d94ad33 53 #include "rt_Event.h"
majik 0:21019d94ad33 54 #include "rt_List.h"
majik 0:21019d94ad33 55 #include "rt_Time.h"
majik 0:21019d94ad33 56 #include "rt_Mutex.h"
majik 0:21019d94ad33 57 #include "rt_Semaphore.h"
majik 0:21019d94ad33 58 #include "rt_Mailbox.h"
majik 0:21019d94ad33 59 #include "rt_MemBox.h"
majik 0:21019d94ad33 60 #include "rt_HAL_CM.h"
majik 0:21019d94ad33 61
majik 0:21019d94ad33 62 #define os_thread_cb OS_TCB
majik 0:21019d94ad33 63
majik 0:21019d94ad33 64 #include "cmsis_os.h"
majik 0:21019d94ad33 65
majik 0:21019d94ad33 66 #if (osFeature_Signals != 16)
majik 0:21019d94ad33 67 #error Invalid "osFeature_Signals" value!
majik 0:21019d94ad33 68 #endif
majik 0:21019d94ad33 69 #if (osFeature_Semaphore > 65535)
majik 0:21019d94ad33 70 #error Invalid "osFeature_Semaphore" value!
majik 0:21019d94ad33 71 #endif
majik 0:21019d94ad33 72 #if (osFeature_Wait != 0)
majik 0:21019d94ad33 73 #error osWait not supported!
majik 0:21019d94ad33 74 #endif
majik 0:21019d94ad33 75
majik 0:21019d94ad33 76
majik 0:21019d94ad33 77 // ==== Enumeration, structures, defines ====
majik 0:21019d94ad33 78
majik 0:21019d94ad33 79 // Service Calls defines
majik 0:21019d94ad33 80
majik 0:21019d94ad33 81 #if defined (__CC_ARM) /* ARM Compiler */
majik 0:21019d94ad33 82
majik 0:21019d94ad33 83 #define __NO_RETURN __declspec(noreturn)
majik 0:21019d94ad33 84
majik 0:21019d94ad33 85 #define osEvent_type osEvent
majik 0:21019d94ad33 86 #define osEvent_ret_status ret
majik 0:21019d94ad33 87 #define osEvent_ret_value ret
majik 0:21019d94ad33 88 #define osEvent_ret_msg ret
majik 0:21019d94ad33 89 #define osEvent_ret_mail ret
majik 0:21019d94ad33 90
majik 0:21019d94ad33 91 #define osCallback_type osCallback
majik 0:21019d94ad33 92 #define osCallback_ret ret
majik 0:21019d94ad33 93
majik 0:21019d94ad33 94 #define SVC_0_1(f,t,...) \
majik 0:21019d94ad33 95 __svc_indirect(0) t _##f (t(*)()); \
majik 0:21019d94ad33 96 t f (void); \
majik 0:21019d94ad33 97 __attribute__((always_inline)) \
majik 0:21019d94ad33 98 static __inline t __##f (void) { \
majik 0:21019d94ad33 99 return _##f(f); \
majik 0:21019d94ad33 100 }
majik 0:21019d94ad33 101
majik 0:21019d94ad33 102 #define SVC_1_1(f,t,t1,...) \
majik 0:21019d94ad33 103 __svc_indirect(0) t _##f (t(*)(t1),t1); \
majik 0:21019d94ad33 104 t f (t1 a1); \
majik 0:21019d94ad33 105 __attribute__((always_inline)) \
majik 0:21019d94ad33 106 static __inline t __##f (t1 a1) { \
majik 0:21019d94ad33 107 return _##f(f,a1); \
majik 0:21019d94ad33 108 }
majik 0:21019d94ad33 109
majik 0:21019d94ad33 110 #define SVC_2_1(f,t,t1,t2,...) \
majik 0:21019d94ad33 111 __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
majik 0:21019d94ad33 112 t f (t1 a1, t2 a2); \
majik 0:21019d94ad33 113 __attribute__((always_inline)) \
majik 0:21019d94ad33 114 static __inline t __##f (t1 a1, t2 a2) { \
majik 0:21019d94ad33 115 return _##f(f,a1,a2); \
majik 0:21019d94ad33 116 }
majik 0:21019d94ad33 117
majik 0:21019d94ad33 118 #define SVC_3_1(f,t,t1,t2,t3,...) \
majik 0:21019d94ad33 119 __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
majik 0:21019d94ad33 120 t f (t1 a1, t2 a2, t3 a3); \
majik 0:21019d94ad33 121 __attribute__((always_inline)) \
majik 0:21019d94ad33 122 static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
majik 0:21019d94ad33 123 return _##f(f,a1,a2,a3); \
majik 0:21019d94ad33 124 }
majik 0:21019d94ad33 125
majik 0:21019d94ad33 126 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
majik 0:21019d94ad33 127 __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
majik 0:21019d94ad33 128 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
majik 0:21019d94ad33 129 __attribute__((always_inline)) \
majik 0:21019d94ad33 130 static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
majik 0:21019d94ad33 131 return _##f(f,a1,a2,a3,a4); \
majik 0:21019d94ad33 132 }
majik 0:21019d94ad33 133
majik 0:21019d94ad33 134 #define SVC_1_2 SVC_1_1
majik 0:21019d94ad33 135 #define SVC_1_3 SVC_1_1
majik 0:21019d94ad33 136 #define SVC_2_3 SVC_2_1
majik 0:21019d94ad33 137
majik 0:21019d94ad33 138 #elif defined (__GNUC__) /* GNU Compiler */
majik 0:21019d94ad33 139
majik 0:21019d94ad33 140 #define __NO_RETURN __attribute__((noreturn))
majik 0:21019d94ad33 141
majik 0:21019d94ad33 142 typedef uint32_t __attribute__((vector_size(8))) ret64;
majik 0:21019d94ad33 143 typedef uint32_t __attribute__((vector_size(16))) ret128;
majik 0:21019d94ad33 144
majik 0:21019d94ad33 145 #define RET_pointer __r0
majik 0:21019d94ad33 146 #define RET_int32_t __r0
majik 0:21019d94ad33 147 #define RET_osStatus __r0
majik 0:21019d94ad33 148 #define RET_osPriority __r0
majik 0:21019d94ad33 149 #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
majik 0:21019d94ad33 150 #define RET_osCallback {(void *)__r0, (void *)__r1}
majik 0:21019d94ad33 151
majik 0:21019d94ad33 152 #define osEvent_type ret128
majik 0:21019d94ad33 153 #define osEvent_ret_status (ret128){ret.status}
majik 0:21019d94ad33 154 #define osEvent_ret_value (ret128){ret.status, ret.value.v}
majik 0:21019d94ad33 155 #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
majik 0:21019d94ad33 156 #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
majik 0:21019d94ad33 157
majik 0:21019d94ad33 158 #define osCallback_type ret64
majik 0:21019d94ad33 159 #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
majik 0:21019d94ad33 160
majik 0:21019d94ad33 161 #define SVC_ArgN(n) \
majik 0:21019d94ad33 162 register int __r##n __asm("r"#n);
majik 0:21019d94ad33 163
majik 0:21019d94ad33 164 #define SVC_ArgR(n,t,a) \
majik 0:21019d94ad33 165 register t __r##n __asm("r"#n) = a;
majik 0:21019d94ad33 166
majik 0:21019d94ad33 167 #define SVC_Arg0() \
majik 0:21019d94ad33 168 SVC_ArgN(0) \
majik 0:21019d94ad33 169 SVC_ArgN(1) \
majik 0:21019d94ad33 170 SVC_ArgN(2) \
majik 0:21019d94ad33 171 SVC_ArgN(3)
majik 0:21019d94ad33 172
majik 0:21019d94ad33 173 #define SVC_Arg1(t1) \
majik 0:21019d94ad33 174 SVC_ArgR(0,t1,a1) \
majik 0:21019d94ad33 175 SVC_ArgN(1) \
majik 0:21019d94ad33 176 SVC_ArgN(2) \
majik 0:21019d94ad33 177 SVC_ArgN(3)
majik 0:21019d94ad33 178
majik 0:21019d94ad33 179 #define SVC_Arg2(t1,t2) \
majik 0:21019d94ad33 180 SVC_ArgR(0,t1,a1) \
majik 0:21019d94ad33 181 SVC_ArgR(1,t2,a2) \
majik 0:21019d94ad33 182 SVC_ArgN(2) \
majik 0:21019d94ad33 183 SVC_ArgN(3)
majik 0:21019d94ad33 184
majik 0:21019d94ad33 185 #define SVC_Arg3(t1,t2,t3) \
majik 0:21019d94ad33 186 SVC_ArgR(0,t1,a1) \
majik 0:21019d94ad33 187 SVC_ArgR(1,t2,a2) \
majik 0:21019d94ad33 188 SVC_ArgR(2,t3,a3) \
majik 0:21019d94ad33 189 SVC_ArgN(3)
majik 0:21019d94ad33 190
majik 0:21019d94ad33 191 #define SVC_Arg4(t1,t2,t3,t4) \
majik 0:21019d94ad33 192 SVC_ArgR(0,t1,a1) \
majik 0:21019d94ad33 193 SVC_ArgR(1,t2,a2) \
majik 0:21019d94ad33 194 SVC_ArgR(2,t3,a3) \
majik 0:21019d94ad33 195 SVC_ArgR(3,t4,a4)
majik 0:21019d94ad33 196
majik 0:21019d94ad33 197 #if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
majik 0:21019d94ad33 198 #define SVC_Call(f) \
majik 0:21019d94ad33 199 __asm volatile \
majik 0:21019d94ad33 200 ( \
majik 0:21019d94ad33 201 "ldr r7,="#f"\n\t" \
majik 0:21019d94ad33 202 "mov r12,r7\n\t" \
majik 0:21019d94ad33 203 "svc 0" \
majik 0:21019d94ad33 204 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
majik 0:21019d94ad33 205 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
majik 0:21019d94ad33 206 : "r7", "r12", "lr", "cc" \
majik 0:21019d94ad33 207 );
majik 0:21019d94ad33 208 #else
majik 0:21019d94ad33 209 #define SVC_Call(f) \
majik 0:21019d94ad33 210 __asm volatile \
majik 0:21019d94ad33 211 ( \
majik 0:21019d94ad33 212 "ldr r12,="#f"\n\t" \
majik 0:21019d94ad33 213 "svc 0" \
majik 0:21019d94ad33 214 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
majik 0:21019d94ad33 215 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
majik 0:21019d94ad33 216 : "r12", "lr", "cc" \
majik 0:21019d94ad33 217 );
majik 0:21019d94ad33 218 #endif
majik 0:21019d94ad33 219
majik 0:21019d94ad33 220 #define SVC_0_1(f,t,rv) \
majik 0:21019d94ad33 221 __attribute__((always_inline)) \
majik 0:21019d94ad33 222 static inline t __##f (void) { \
majik 0:21019d94ad33 223 SVC_Arg0(); \
majik 0:21019d94ad33 224 SVC_Call(f); \
majik 0:21019d94ad33 225 return (t) rv; \
majik 0:21019d94ad33 226 }
majik 0:21019d94ad33 227
majik 0:21019d94ad33 228 #define SVC_1_1(f,t,t1,rv) \
majik 0:21019d94ad33 229 __attribute__((always_inline)) \
majik 0:21019d94ad33 230 static inline t __##f (t1 a1) { \
majik 0:21019d94ad33 231 SVC_Arg1(t1); \
majik 0:21019d94ad33 232 SVC_Call(f); \
majik 0:21019d94ad33 233 return (t) rv; \
majik 0:21019d94ad33 234 }
majik 0:21019d94ad33 235
majik 0:21019d94ad33 236 #define SVC_2_1(f,t,t1,t2,rv) \
majik 0:21019d94ad33 237 __attribute__((always_inline)) \
majik 0:21019d94ad33 238 static inline t __##f (t1 a1, t2 a2) { \
majik 0:21019d94ad33 239 SVC_Arg2(t1,t2); \
majik 0:21019d94ad33 240 SVC_Call(f); \
majik 0:21019d94ad33 241 return (t) rv; \
majik 0:21019d94ad33 242 }
majik 0:21019d94ad33 243
majik 0:21019d94ad33 244 #define SVC_3_1(f,t,t1,t2,t3,rv) \
majik 0:21019d94ad33 245 __attribute__((always_inline)) \
majik 0:21019d94ad33 246 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
majik 0:21019d94ad33 247 SVC_Arg3(t1,t2,t3); \
majik 0:21019d94ad33 248 SVC_Call(f); \
majik 0:21019d94ad33 249 return (t) rv; \
majik 0:21019d94ad33 250 }
majik 0:21019d94ad33 251
majik 0:21019d94ad33 252 #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
majik 0:21019d94ad33 253 __attribute__((always_inline)) \
majik 0:21019d94ad33 254 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
majik 0:21019d94ad33 255 SVC_Arg4(t1,t2,t3,t4); \
majik 0:21019d94ad33 256 SVC_Call(f); \
majik 0:21019d94ad33 257 return (t) rv; \
majik 0:21019d94ad33 258 }
majik 0:21019d94ad33 259
majik 0:21019d94ad33 260 #define SVC_1_2 SVC_1_1
majik 0:21019d94ad33 261 #define SVC_1_3 SVC_1_1
majik 0:21019d94ad33 262 #define SVC_2_3 SVC_2_1
majik 0:21019d94ad33 263
majik 0:21019d94ad33 264 #elif defined (__ICCARM__) /* IAR Compiler */
majik 0:21019d94ad33 265
majik 0:21019d94ad33 266 #define __NO_RETURN __noreturn
majik 0:21019d94ad33 267
majik 0:21019d94ad33 268 #define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
majik 0:21019d94ad33 269 #define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
majik 0:21019d94ad33 270
majik 0:21019d94ad33 271 #define osEvent_type osEvent
majik 0:21019d94ad33 272 #define osEvent_ret_status ret
majik 0:21019d94ad33 273 #define osEvent_ret_value ret
majik 0:21019d94ad33 274 #define osEvent_ret_msg ret
majik 0:21019d94ad33 275 #define osEvent_ret_mail ret
majik 0:21019d94ad33 276
majik 0:21019d94ad33 277 #define osCallback_type uint64_t
majik 0:21019d94ad33 278 #define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
majik 0:21019d94ad33 279
majik 0:21019d94ad33 280 #define SVC_Setup(f) \
majik 0:21019d94ad33 281 __asm( \
majik 0:21019d94ad33 282 "mov r12,%0\n" \
majik 0:21019d94ad33 283 :: "r"(&f): "r12" \
majik 0:21019d94ad33 284 );
majik 0:21019d94ad33 285
majik 0:21019d94ad33 286 #define SVC_Ret3() \
majik 0:21019d94ad33 287 __asm( \
majik 0:21019d94ad33 288 "ldr r0,[sp,#0]\n" \
majik 0:21019d94ad33 289 "ldr r1,[sp,#4]\n" \
majik 0:21019d94ad33 290 "ldr r2,[sp,#8]\n" \
majik 0:21019d94ad33 291 );
majik 0:21019d94ad33 292
majik 0:21019d94ad33 293 #define SVC_0_1(f,t,...) \
majik 0:21019d94ad33 294 t f (void); \
majik 0:21019d94ad33 295 _Pragma("swi_number=0") __swi t _##f (void); \
majik 0:21019d94ad33 296 static inline t __##f (void) { \
majik 0:21019d94ad33 297 SVC_Setup(f); \
majik 0:21019d94ad33 298 return _##f(); \
majik 0:21019d94ad33 299 }
majik 0:21019d94ad33 300
majik 0:21019d94ad33 301 #define SVC_1_1(f,t,t1,...) \
majik 0:21019d94ad33 302 t f (t1 a1); \
majik 0:21019d94ad33 303 _Pragma("swi_number=0") __swi t _##f (t1 a1); \
majik 0:21019d94ad33 304 static inline t __##f (t1 a1) { \
majik 0:21019d94ad33 305 SVC_Setup(f); \
majik 0:21019d94ad33 306 return _##f(a1); \
majik 0:21019d94ad33 307 }
majik 0:21019d94ad33 308
majik 0:21019d94ad33 309 #define SVC_2_1(f,t,t1,t2,...) \
majik 0:21019d94ad33 310 t f (t1 a1, t2 a2); \
majik 0:21019d94ad33 311 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
majik 0:21019d94ad33 312 static inline t __##f (t1 a1, t2 a2) { \
majik 0:21019d94ad33 313 SVC_Setup(f); \
majik 0:21019d94ad33 314 return _##f(a1,a2); \
majik 0:21019d94ad33 315 }
majik 0:21019d94ad33 316
majik 0:21019d94ad33 317 #define SVC_3_1(f,t,t1,t2,t3,...) \
majik 0:21019d94ad33 318 t f (t1 a1, t2 a2, t3 a3); \
majik 0:21019d94ad33 319 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
majik 0:21019d94ad33 320 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
majik 0:21019d94ad33 321 SVC_Setup(f); \
majik 0:21019d94ad33 322 return _##f(a1,a2,a3); \
majik 0:21019d94ad33 323 }
majik 0:21019d94ad33 324
majik 0:21019d94ad33 325 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
majik 0:21019d94ad33 326 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
majik 0:21019d94ad33 327 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
majik 0:21019d94ad33 328 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
majik 0:21019d94ad33 329 SVC_Setup(f); \
majik 0:21019d94ad33 330 return _##f(a1,a2,a3,a4); \
majik 0:21019d94ad33 331 }
majik 0:21019d94ad33 332
majik 0:21019d94ad33 333 #define SVC_1_2(f,t,t1,rr) \
majik 0:21019d94ad33 334 uint64_t f (t1 a1); \
majik 0:21019d94ad33 335 _Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
majik 0:21019d94ad33 336 static inline t __##f (t1 a1) { \
majik 0:21019d94ad33 337 t ret; \
majik 0:21019d94ad33 338 SVC_Setup(f); \
majik 0:21019d94ad33 339 _##f(a1); \
majik 0:21019d94ad33 340 __asm("" : rr : :); \
majik 0:21019d94ad33 341 return ret; \
majik 0:21019d94ad33 342 }
majik 0:21019d94ad33 343
majik 0:21019d94ad33 344 #define SVC_1_3(f,t,t1,rr) \
majik 0:21019d94ad33 345 t f (t1 a1); \
majik 0:21019d94ad33 346 void f##_ (t1 a1) { \
majik 0:21019d94ad33 347 f(a1); \
majik 0:21019d94ad33 348 SVC_Ret3(); \
majik 0:21019d94ad33 349 } \
majik 0:21019d94ad33 350 _Pragma("swi_number=0") __swi void _##f (t1 a1); \
majik 0:21019d94ad33 351 static inline t __##f (t1 a1) { \
majik 0:21019d94ad33 352 t ret; \
majik 0:21019d94ad33 353 SVC_Setup(f##_); \
majik 0:21019d94ad33 354 _##f(a1); \
majik 0:21019d94ad33 355 __asm("" : rr : :); \
majik 0:21019d94ad33 356 return ret; \
majik 0:21019d94ad33 357 }
majik 0:21019d94ad33 358
majik 0:21019d94ad33 359 #define SVC_2_3(f,t,t1,t2,rr) \
majik 0:21019d94ad33 360 t f (t1 a1, t2 a2); \
majik 0:21019d94ad33 361 void f##_ (t1 a1, t2 a2) { \
majik 0:21019d94ad33 362 f(a1,a2); \
majik 0:21019d94ad33 363 SVC_Ret3(); \
majik 0:21019d94ad33 364 } \
majik 0:21019d94ad33 365 _Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
majik 0:21019d94ad33 366 static inline t __##f (t1 a1, t2 a2) { \
majik 0:21019d94ad33 367 t ret; \
majik 0:21019d94ad33 368 SVC_Setup(f##_); \
majik 0:21019d94ad33 369 _##f(a1,a2); \
majik 0:21019d94ad33 370 __asm("" : rr : :); \
majik 0:21019d94ad33 371 return ret; \
majik 0:21019d94ad33 372 }
majik 0:21019d94ad33 373
majik 0:21019d94ad33 374 #endif
majik 0:21019d94ad33 375
majik 0:21019d94ad33 376
majik 0:21019d94ad33 377 // Callback structure
majik 0:21019d94ad33 378 typedef struct {
majik 0:21019d94ad33 379 void *fp; // Function pointer
majik 0:21019d94ad33 380 void *arg; // Function argument
majik 0:21019d94ad33 381 } osCallback;
majik 0:21019d94ad33 382
majik 0:21019d94ad33 383
majik 0:21019d94ad33 384 // OS Section definitions
majik 0:21019d94ad33 385 #ifdef OS_SECTIONS_LINK_INFO
majik 0:21019d94ad33 386 extern const uint32_t os_section_id$$Base;
majik 0:21019d94ad33 387 extern const uint32_t os_section_id$$Limit;
majik 0:21019d94ad33 388 #endif
majik 0:21019d94ad33 389
majik 0:21019d94ad33 390 // OS Timers external resources
majik 0:21019d94ad33 391 extern osThreadDef_t os_thread_def_osTimerThread;
majik 0:21019d94ad33 392 extern osThreadId osThreadId_osTimerThread;
majik 0:21019d94ad33 393 extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
majik 0:21019d94ad33 394 extern osMessageQId osMessageQId_osTimerMessageQ;
majik 0:21019d94ad33 395
majik 0:21019d94ad33 396
majik 0:21019d94ad33 397 // ==== Helper Functions ====
majik 0:21019d94ad33 398
majik 0:21019d94ad33 399 /// Convert timeout in millisec to system ticks
majik 0:21019d94ad33 400 static uint32_t rt_ms2tick (uint32_t millisec) {
majik 0:21019d94ad33 401 uint32_t tick;
majik 0:21019d94ad33 402
majik 0:21019d94ad33 403 if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
majik 0:21019d94ad33 404 if (millisec > 4000000) return 0xFFFE; // Max ticks supported
majik 0:21019d94ad33 405
majik 0:21019d94ad33 406 tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
majik 0:21019d94ad33 407 if (tick > 0xFFFE) return 0xFFFE;
majik 0:21019d94ad33 408
majik 0:21019d94ad33 409 return tick;
majik 0:21019d94ad33 410 }
majik 0:21019d94ad33 411
majik 0:21019d94ad33 412 /// Convert Thread ID to TCB pointer
majik 0:21019d94ad33 413 static P_TCB rt_tid2ptcb (osThreadId thread_id) {
majik 0:21019d94ad33 414 P_TCB ptcb;
majik 0:21019d94ad33 415
majik 0:21019d94ad33 416 if (thread_id == NULL) return NULL;
majik 0:21019d94ad33 417
majik 0:21019d94ad33 418 if ((uint32_t)thread_id & 3) return NULL;
majik 0:21019d94ad33 419
majik 0:21019d94ad33 420 #ifdef OS_SECTIONS_LINK_INFO
majik 0:21019d94ad33 421 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
majik 0:21019d94ad33 422 if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
majik 0:21019d94ad33 423 if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
majik 0:21019d94ad33 424 }
majik 0:21019d94ad33 425 #endif
majik 0:21019d94ad33 426
majik 0:21019d94ad33 427 ptcb = thread_id;
majik 0:21019d94ad33 428
majik 0:21019d94ad33 429 if (ptcb->cb_type != TCB) return NULL;
majik 0:21019d94ad33 430
majik 0:21019d94ad33 431 return ptcb;
majik 0:21019d94ad33 432 }
majik 0:21019d94ad33 433
majik 0:21019d94ad33 434 /// Convert ID pointer to Object pointer
majik 0:21019d94ad33 435 static void *rt_id2obj (void *id) {
majik 0:21019d94ad33 436
majik 0:21019d94ad33 437 if ((uint32_t)id & 3) return NULL;
majik 0:21019d94ad33 438
majik 0:21019d94ad33 439 #ifdef OS_SECTIONS_LINK_INFO
majik 0:21019d94ad33 440 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
majik 0:21019d94ad33 441 if (id < (void *)os_section_id$$Base) return NULL;
majik 0:21019d94ad33 442 if (id >= (void *)os_section_id$$Limit) return NULL;
majik 0:21019d94ad33 443 }
majik 0:21019d94ad33 444 #endif
majik 0:21019d94ad33 445
majik 0:21019d94ad33 446 return id;
majik 0:21019d94ad33 447 }
majik 0:21019d94ad33 448
majik 0:21019d94ad33 449
majik 0:21019d94ad33 450 // ==== Kernel Control ====
majik 0:21019d94ad33 451
majik 0:21019d94ad33 452 uint8_t os_initialized; // Kernel Initialized flag
majik 0:21019d94ad33 453 uint8_t os_running; // Kernel Running flag
majik 0:21019d94ad33 454
majik 0:21019d94ad33 455 // Kernel Control Service Calls declarations
majik 0:21019d94ad33 456 SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
majik 0:21019d94ad33 457 SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
majik 0:21019d94ad33 458 SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
majik 0:21019d94ad33 459
majik 0:21019d94ad33 460 extern void sysThreadError (osStatus status);
majik 0:21019d94ad33 461 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
majik 0:21019d94ad33 462 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
majik 0:21019d94ad33 463
majik 0:21019d94ad33 464 // Kernel Control Service Calls
majik 0:21019d94ad33 465
majik 0:21019d94ad33 466 /// Initialize the RTOS Kernel for creating objects
majik 0:21019d94ad33 467 osStatus svcKernelInitialize (void) {
majik 0:21019d94ad33 468 if (os_initialized) return osOK;
majik 0:21019d94ad33 469
majik 0:21019d94ad33 470 rt_sys_init(); // RTX System Initialization
majik 0:21019d94ad33 471 os_tsk.run->prio = 255; // Highest priority
majik 0:21019d94ad33 472
majik 0:21019d94ad33 473 sysThreadError(osOK);
majik 0:21019d94ad33 474
majik 0:21019d94ad33 475 os_initialized = 1;
majik 0:21019d94ad33 476
majik 0:21019d94ad33 477 return osOK;
majik 0:21019d94ad33 478 }
majik 0:21019d94ad33 479
majik 0:21019d94ad33 480 /// Start the RTOS Kernel
majik 0:21019d94ad33 481 osStatus svcKernelStart (void) {
majik 0:21019d94ad33 482
majik 0:21019d94ad33 483 if (os_running) return osOK;
majik 0:21019d94ad33 484
majik 0:21019d94ad33 485 // Create OS Timers resources (Message Queue & Thread)
majik 0:21019d94ad33 486 osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
majik 0:21019d94ad33 487 osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
majik 0:21019d94ad33 488
majik 0:21019d94ad33 489 rt_tsk_prio(0, 0); // Lowest priority
majik 0:21019d94ad33 490 __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
majik 0:21019d94ad33 491 os_tsk.run = NULL; // Force context switch
majik 0:21019d94ad33 492
majik 0:21019d94ad33 493 rt_sys_start();
majik 0:21019d94ad33 494
majik 0:21019d94ad33 495 os_running = 1;
majik 0:21019d94ad33 496
majik 0:21019d94ad33 497 return osOK;
majik 0:21019d94ad33 498 }
majik 0:21019d94ad33 499
majik 0:21019d94ad33 500 /// Check if the RTOS kernel is already started
majik 0:21019d94ad33 501 int32_t svcKernelRunning(void) {
majik 0:21019d94ad33 502 return os_running;
majik 0:21019d94ad33 503 }
majik 0:21019d94ad33 504
majik 0:21019d94ad33 505 // Kernel Control Public API
majik 0:21019d94ad33 506
majik 0:21019d94ad33 507 /// Initialize the RTOS Kernel for creating objects
majik 0:21019d94ad33 508 osStatus osKernelInitialize (void) {
majik 0:21019d94ad33 509 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 510 if ((__get_CONTROL() & 1) == 0) { // Privileged mode
majik 0:21019d94ad33 511 return svcKernelInitialize();
majik 0:21019d94ad33 512 } else {
majik 0:21019d94ad33 513 return __svcKernelInitialize();
majik 0:21019d94ad33 514 }
majik 0:21019d94ad33 515 }
majik 0:21019d94ad33 516
majik 0:21019d94ad33 517 /// Start the RTOS Kernel
majik 0:21019d94ad33 518 osStatus osKernelStart (void) {
majik 0:21019d94ad33 519 uint32_t stack[8];
majik 0:21019d94ad33 520
majik 0:21019d94ad33 521 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 522 switch (__get_CONTROL() & 0x03) {
majik 0:21019d94ad33 523 case 0x00: // Privileged Thread mode & MSP
majik 0:21019d94ad33 524 __set_PSP((uint32_t)(stack + 8)); // Initial PSP
majik 0:21019d94ad33 525 if (os_flags & 1) {
majik 0:21019d94ad33 526 __set_CONTROL(0x02); // Set Privileged Thread mode & PSP
majik 0:21019d94ad33 527 } else {
majik 0:21019d94ad33 528 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
majik 0:21019d94ad33 529 }
majik 0:21019d94ad33 530 __DSB();
majik 0:21019d94ad33 531 __ISB();
majik 0:21019d94ad33 532 break;
majik 0:21019d94ad33 533 case 0x01: // Unprivileged Thread mode & MSP
majik 0:21019d94ad33 534 return osErrorOS;
majik 0:21019d94ad33 535 case 0x02: // Privileged Thread mode & PSP
majik 0:21019d94ad33 536 if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
majik 0:21019d94ad33 537 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
majik 0:21019d94ad33 538 __DSB();
majik 0:21019d94ad33 539 __ISB();
majik 0:21019d94ad33 540 }
majik 0:21019d94ad33 541 break;
majik 0:21019d94ad33 542 case 0x03: // Unprivileged Thread mode & PSP
majik 0:21019d94ad33 543 if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
majik 0:21019d94ad33 544 break;
majik 0:21019d94ad33 545 }
majik 0:21019d94ad33 546 return __svcKernelStart();
majik 0:21019d94ad33 547 }
majik 0:21019d94ad33 548
majik 0:21019d94ad33 549 /// Check if the RTOS kernel is already started
majik 0:21019d94ad33 550 int32_t osKernelRunning(void) {
majik 0:21019d94ad33 551 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) {
majik 0:21019d94ad33 552 // in ISR or Privileged
majik 0:21019d94ad33 553 return os_running;
majik 0:21019d94ad33 554 } else {
majik 0:21019d94ad33 555 return __svcKernelRunning();
majik 0:21019d94ad33 556 }
majik 0:21019d94ad33 557 }
majik 0:21019d94ad33 558
majik 0:21019d94ad33 559
majik 0:21019d94ad33 560 // ==== Thread Management ====
majik 0:21019d94ad33 561
majik 0:21019d94ad33 562 __NO_RETURN void osThreadExit (void);
majik 0:21019d94ad33 563
majik 0:21019d94ad33 564 // Thread Service Calls declarations
majik 0:21019d94ad33 565 SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
majik 0:21019d94ad33 566 SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
majik 0:21019d94ad33 567 SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
majik 0:21019d94ad33 568 SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
majik 0:21019d94ad33 569 SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
majik 0:21019d94ad33 570 SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
majik 0:21019d94ad33 571
majik 0:21019d94ad33 572 // Thread Service Calls
majik 0:21019d94ad33 573 extern OS_TID rt_get_TID (void);
majik 0:21019d94ad33 574 extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
majik 0:21019d94ad33 575
majik 0:21019d94ad33 576 /// Create a thread and add it to Active Threads and set it to state READY
majik 0:21019d94ad33 577 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
majik 0:21019d94ad33 578 P_TCB ptcb;
majik 0:21019d94ad33 579
majik 0:21019d94ad33 580 if ((thread_def == NULL) ||
majik 0:21019d94ad33 581 (thread_def->pthread == NULL) ||
majik 0:21019d94ad33 582 (thread_def->tpriority < osPriorityIdle) ||
majik 0:21019d94ad33 583 (thread_def->tpriority > osPriorityRealtime) ||
majik 0:21019d94ad33 584 (thread_def->stacksize == 0) ||
majik 0:21019d94ad33 585 (thread_def->stack_pointer == NULL) ) {
majik 0:21019d94ad33 586 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 587 return NULL;
majik 0:21019d94ad33 588 }
majik 0:21019d94ad33 589
majik 0:21019d94ad33 590 U8 priority = thread_def->tpriority - osPriorityIdle + 1;
majik 0:21019d94ad33 591 P_TCB task_context = &thread_def->tcb;
majik 0:21019d94ad33 592
majik 0:21019d94ad33 593 /* If "size != 0" use a private user provided stack. */
majik 0:21019d94ad33 594 task_context->stack = (U32*)thread_def->stack_pointer;
majik 0:21019d94ad33 595 task_context->priv_stack = thread_def->stacksize;
majik 0:21019d94ad33 596 /* Pass parameter 'argv' to 'rt_init_context' */
majik 0:21019d94ad33 597 task_context->msg = argument;
majik 0:21019d94ad33 598 /* For 'size == 0' system allocates the user stack from the memory pool. */
majik 0:21019d94ad33 599 rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
majik 0:21019d94ad33 600
majik 0:21019d94ad33 601 /* Find a free entry in 'os_active_TCB' table. */
majik 0:21019d94ad33 602 OS_TID tsk = rt_get_TID ();
majik 0:21019d94ad33 603 os_active_TCB[tsk-1] = task_context;
majik 0:21019d94ad33 604 task_context->task_id = tsk;
majik 0:21019d94ad33 605 DBG_TASK_NOTIFY(task_context, __TRUE);
majik 0:21019d94ad33 606 rt_dispatch (task_context);
majik 0:21019d94ad33 607
majik 0:21019d94ad33 608 ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
majik 0:21019d94ad33 609
majik 0:21019d94ad33 610 *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
majik 0:21019d94ad33 611
majik 0:21019d94ad33 612 return ptcb;
majik 0:21019d94ad33 613 }
majik 0:21019d94ad33 614
majik 0:21019d94ad33 615 /// Return the thread ID of the current running thread
majik 0:21019d94ad33 616 osThreadId svcThreadGetId (void) {
majik 0:21019d94ad33 617 OS_TID tsk;
majik 0:21019d94ad33 618
majik 0:21019d94ad33 619 tsk = rt_tsk_self();
majik 0:21019d94ad33 620 if (tsk == 0) return NULL;
majik 0:21019d94ad33 621 return (P_TCB)os_active_TCB[tsk - 1];
majik 0:21019d94ad33 622 }
majik 0:21019d94ad33 623
majik 0:21019d94ad33 624 /// Terminate execution of a thread and remove it from ActiveThreads
majik 0:21019d94ad33 625 osStatus svcThreadTerminate (osThreadId thread_id) {
majik 0:21019d94ad33 626 OS_RESULT res;
majik 0:21019d94ad33 627 P_TCB ptcb;
majik 0:21019d94ad33 628
majik 0:21019d94ad33 629 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 630 if (ptcb == NULL) return osErrorParameter;
majik 0:21019d94ad33 631
majik 0:21019d94ad33 632 res = rt_tsk_delete(ptcb->task_id); // Delete task
majik 0:21019d94ad33 633
majik 0:21019d94ad33 634 if (res == OS_R_NOK) return osErrorResource; // Delete task failed
majik 0:21019d94ad33 635
majik 0:21019d94ad33 636 return osOK;
majik 0:21019d94ad33 637 }
majik 0:21019d94ad33 638
majik 0:21019d94ad33 639 /// Pass control to next thread that is in state READY
majik 0:21019d94ad33 640 osStatus svcThreadYield (void) {
majik 0:21019d94ad33 641 rt_tsk_pass(); // Pass control to next task
majik 0:21019d94ad33 642 return osOK;
majik 0:21019d94ad33 643 }
majik 0:21019d94ad33 644
majik 0:21019d94ad33 645 /// Change priority of an active thread
majik 0:21019d94ad33 646 osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
majik 0:21019d94ad33 647 OS_RESULT res;
majik 0:21019d94ad33 648 P_TCB ptcb;
majik 0:21019d94ad33 649
majik 0:21019d94ad33 650 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 651 if (ptcb == NULL) return osErrorParameter;
majik 0:21019d94ad33 652
majik 0:21019d94ad33 653 if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
majik 0:21019d94ad33 654 return osErrorValue;
majik 0:21019d94ad33 655 }
majik 0:21019d94ad33 656
majik 0:21019d94ad33 657 res = rt_tsk_prio( // Change task priority
majik 0:21019d94ad33 658 ptcb->task_id, // Task ID
majik 0:21019d94ad33 659 priority - osPriorityIdle + 1 // New task priority
majik 0:21019d94ad33 660 );
majik 0:21019d94ad33 661
majik 0:21019d94ad33 662 if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
majik 0:21019d94ad33 663
majik 0:21019d94ad33 664 return osOK;
majik 0:21019d94ad33 665 }
majik 0:21019d94ad33 666
majik 0:21019d94ad33 667 /// Get current priority of an active thread
majik 0:21019d94ad33 668 osPriority svcThreadGetPriority (osThreadId thread_id) {
majik 0:21019d94ad33 669 P_TCB ptcb;
majik 0:21019d94ad33 670
majik 0:21019d94ad33 671 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 672 if (ptcb == NULL) return osPriorityError;
majik 0:21019d94ad33 673
majik 0:21019d94ad33 674 return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
majik 0:21019d94ad33 675 }
majik 0:21019d94ad33 676
majik 0:21019d94ad33 677
majik 0:21019d94ad33 678 // Thread Public API
majik 0:21019d94ad33 679
majik 0:21019d94ad33 680 /// Create a thread and add it to Active Threads and set it to state READY
majik 0:21019d94ad33 681 osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
majik 0:21019d94ad33 682 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 683 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 684 // Privileged and not running
majik 0:21019d94ad33 685 return svcThreadCreate(thread_def, argument);
majik 0:21019d94ad33 686 } else {
majik 0:21019d94ad33 687 return __svcThreadCreate(thread_def, argument);
majik 0:21019d94ad33 688 }
majik 0:21019d94ad33 689 }
majik 0:21019d94ad33 690
majik 0:21019d94ad33 691 /// Return the thread ID of the current running thread
majik 0:21019d94ad33 692 osThreadId osThreadGetId (void) {
majik 0:21019d94ad33 693 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 694 return __svcThreadGetId();
majik 0:21019d94ad33 695 }
majik 0:21019d94ad33 696
majik 0:21019d94ad33 697 /// Terminate execution of a thread and remove it from ActiveThreads
majik 0:21019d94ad33 698 osStatus osThreadTerminate (osThreadId thread_id) {
majik 0:21019d94ad33 699 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 700 return __svcThreadTerminate(thread_id);
majik 0:21019d94ad33 701 }
majik 0:21019d94ad33 702
majik 0:21019d94ad33 703 /// Pass control to next thread that is in state READY
majik 0:21019d94ad33 704 osStatus osThreadYield (void) {
majik 0:21019d94ad33 705 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 706 return __svcThreadYield();
majik 0:21019d94ad33 707 }
majik 0:21019d94ad33 708
majik 0:21019d94ad33 709 /// Change priority of an active thread
majik 0:21019d94ad33 710 osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
majik 0:21019d94ad33 711 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 712 return __svcThreadSetPriority(thread_id, priority);
majik 0:21019d94ad33 713 }
majik 0:21019d94ad33 714
majik 0:21019d94ad33 715 /// Get current priority of an active thread
majik 0:21019d94ad33 716 osPriority osThreadGetPriority (osThreadId thread_id) {
majik 0:21019d94ad33 717 if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
majik 0:21019d94ad33 718 return __svcThreadGetPriority(thread_id);
majik 0:21019d94ad33 719 }
majik 0:21019d94ad33 720
majik 0:21019d94ad33 721 /// INTERNAL - Not Public
majik 0:21019d94ad33 722 /// Auto Terminate Thread on exit (used implicitly when thread exists)
majik 0:21019d94ad33 723 __NO_RETURN void osThreadExit (void) {
majik 0:21019d94ad33 724 __svcThreadTerminate(__svcThreadGetId());
majik 0:21019d94ad33 725 for (;;); // Should never come here
majik 0:21019d94ad33 726 }
majik 0:21019d94ad33 727
majik 0:21019d94ad33 728
majik 0:21019d94ad33 729 // ==== Generic Wait Functions ====
majik 0:21019d94ad33 730
majik 0:21019d94ad33 731 // Generic Wait Service Calls declarations
majik 0:21019d94ad33 732 SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
majik 0:21019d94ad33 733 #if osFeature_Wait != 0
majik 0:21019d94ad33 734 SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
majik 0:21019d94ad33 735 #endif
majik 0:21019d94ad33 736
majik 0:21019d94ad33 737 // Generic Wait Service Calls
majik 0:21019d94ad33 738
majik 0:21019d94ad33 739 /// Wait for Timeout (Time Delay)
majik 0:21019d94ad33 740 osStatus svcDelay (uint32_t millisec) {
majik 0:21019d94ad33 741 if (millisec == 0) return osOK;
majik 0:21019d94ad33 742 rt_dly_wait(rt_ms2tick(millisec));
majik 0:21019d94ad33 743 return osEventTimeout;
majik 0:21019d94ad33 744 }
majik 0:21019d94ad33 745
majik 0:21019d94ad33 746 /// Wait for Signal, Message, Mail, or Timeout
majik 0:21019d94ad33 747 #if osFeature_Wait != 0
majik 0:21019d94ad33 748 os_InRegs osEvent_type svcWait (uint32_t millisec) {
majik 0:21019d94ad33 749 osEvent ret;
majik 0:21019d94ad33 750
majik 0:21019d94ad33 751 if (millisec == 0) {
majik 0:21019d94ad33 752 ret.status = osOK;
majik 0:21019d94ad33 753 return osEvent_ret_status;
majik 0:21019d94ad33 754 }
majik 0:21019d94ad33 755
majik 0:21019d94ad33 756 /* To Do: osEventSignal, osEventMessage, osEventMail */
majik 0:21019d94ad33 757 rt_dly_wait(rt_ms2tick(millisec));
majik 0:21019d94ad33 758 ret.status = osEventTimeout;
majik 0:21019d94ad33 759
majik 0:21019d94ad33 760 return osEvent_ret_status;
majik 0:21019d94ad33 761 }
majik 0:21019d94ad33 762 #endif
majik 0:21019d94ad33 763
majik 0:21019d94ad33 764
majik 0:21019d94ad33 765 // Generic Wait API
majik 0:21019d94ad33 766
majik 0:21019d94ad33 767 /// Wait for Timeout (Time Delay)
majik 0:21019d94ad33 768 osStatus osDelay (uint32_t millisec) {
majik 0:21019d94ad33 769 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 770 return __svcDelay(millisec);
majik 0:21019d94ad33 771 }
majik 0:21019d94ad33 772
majik 0:21019d94ad33 773 /// Wait for Signal, Message, Mail, or Timeout
majik 0:21019d94ad33 774 os_InRegs osEvent osWait (uint32_t millisec) {
majik 0:21019d94ad33 775 osEvent ret;
majik 0:21019d94ad33 776
majik 0:21019d94ad33 777 #if osFeature_Wait == 0
majik 0:21019d94ad33 778 ret.status = osErrorOS;
majik 0:21019d94ad33 779 return ret;
majik 0:21019d94ad33 780 #else
majik 0:21019d94ad33 781 if (__get_IPSR() != 0) { // Not allowed in ISR
majik 0:21019d94ad33 782 ret.status = osErrorISR;
majik 0:21019d94ad33 783 return ret;
majik 0:21019d94ad33 784 }
majik 0:21019d94ad33 785 return __svcWait(millisec);
majik 0:21019d94ad33 786 #endif
majik 0:21019d94ad33 787 }
majik 0:21019d94ad33 788
majik 0:21019d94ad33 789
majik 0:21019d94ad33 790 // ==== Timer Management ====
majik 0:21019d94ad33 791
majik 0:21019d94ad33 792 // Timer definitions
majik 0:21019d94ad33 793 #define osTimerInvalid 0
majik 0:21019d94ad33 794 #define osTimerStopped 1
majik 0:21019d94ad33 795 #define osTimerRunning 2
majik 0:21019d94ad33 796
majik 0:21019d94ad33 797 // Timer structures
majik 0:21019d94ad33 798
majik 0:21019d94ad33 799 typedef struct os_timer_cb_ { // Timer Control Block
majik 0:21019d94ad33 800 struct os_timer_cb_ *next; // Pointer to next active Timer
majik 0:21019d94ad33 801 uint8_t state; // Timer State
majik 0:21019d94ad33 802 uint8_t type; // Timer Type (Periodic/One-shot)
majik 0:21019d94ad33 803 uint16_t reserved; // Reserved
majik 0:21019d94ad33 804 uint16_t tcnt; // Timer Delay Count
majik 0:21019d94ad33 805 uint16_t icnt; // Timer Initial Count
majik 0:21019d94ad33 806 void *arg; // Timer Function Argument
majik 0:21019d94ad33 807 osTimerDef_t *timer; // Pointer to Timer definition
majik 0:21019d94ad33 808 } os_timer_cb;
majik 0:21019d94ad33 809
majik 0:21019d94ad33 810 // Timer variables
majik 0:21019d94ad33 811 os_timer_cb *os_timer_head; // Pointer to first active Timer
majik 0:21019d94ad33 812
majik 0:21019d94ad33 813
majik 0:21019d94ad33 814 // Timer Helper Functions
majik 0:21019d94ad33 815
majik 0:21019d94ad33 816 // Insert Timer into the list sorted by time
majik 0:21019d94ad33 817 static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
majik 0:21019d94ad33 818 os_timer_cb *p, *prev;
majik 0:21019d94ad33 819
majik 0:21019d94ad33 820 prev = NULL;
majik 0:21019d94ad33 821 p = os_timer_head;
majik 0:21019d94ad33 822 while (p != NULL) {
majik 0:21019d94ad33 823 if (tcnt < p->tcnt) break;
majik 0:21019d94ad33 824 tcnt -= p->tcnt;
majik 0:21019d94ad33 825 prev = p;
majik 0:21019d94ad33 826 p = p->next;
majik 0:21019d94ad33 827 }
majik 0:21019d94ad33 828 pt->next = p;
majik 0:21019d94ad33 829 pt->tcnt = (uint16_t)tcnt;
majik 0:21019d94ad33 830 if (p != NULL) {
majik 0:21019d94ad33 831 p->tcnt -= pt->tcnt;
majik 0:21019d94ad33 832 }
majik 0:21019d94ad33 833 if (prev != NULL) {
majik 0:21019d94ad33 834 prev->next = pt;
majik 0:21019d94ad33 835 } else {
majik 0:21019d94ad33 836 os_timer_head = pt;
majik 0:21019d94ad33 837 }
majik 0:21019d94ad33 838 }
majik 0:21019d94ad33 839
majik 0:21019d94ad33 840 // Remove Timer from the list
majik 0:21019d94ad33 841 static int rt_timer_remove (os_timer_cb *pt) {
majik 0:21019d94ad33 842 os_timer_cb *p, *prev;
majik 0:21019d94ad33 843
majik 0:21019d94ad33 844 prev = NULL;
majik 0:21019d94ad33 845 p = os_timer_head;
majik 0:21019d94ad33 846 while (p != NULL) {
majik 0:21019d94ad33 847 if (p == pt) break;
majik 0:21019d94ad33 848 prev = p;
majik 0:21019d94ad33 849 p = p->next;
majik 0:21019d94ad33 850 }
majik 0:21019d94ad33 851 if (p == NULL) return -1;
majik 0:21019d94ad33 852 if (prev != NULL) {
majik 0:21019d94ad33 853 prev->next = pt->next;
majik 0:21019d94ad33 854 } else {
majik 0:21019d94ad33 855 os_timer_head = pt->next;
majik 0:21019d94ad33 856 }
majik 0:21019d94ad33 857 if (pt->next != NULL) {
majik 0:21019d94ad33 858 pt->next->tcnt += pt->tcnt;
majik 0:21019d94ad33 859 }
majik 0:21019d94ad33 860
majik 0:21019d94ad33 861 return 0;
majik 0:21019d94ad33 862 }
majik 0:21019d94ad33 863
majik 0:21019d94ad33 864
majik 0:21019d94ad33 865 // Timer Service Calls declarations
majik 0:21019d94ad33 866 SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
majik 0:21019d94ad33 867 SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
majik 0:21019d94ad33 868 SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
majik 0:21019d94ad33 869 SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
majik 0:21019d94ad33 870 SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
majik 0:21019d94ad33 871
majik 0:21019d94ad33 872 // Timer Management Service Calls
majik 0:21019d94ad33 873
majik 0:21019d94ad33 874 /// Create timer
majik 0:21019d94ad33 875 osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
majik 0:21019d94ad33 876 os_timer_cb *pt;
majik 0:21019d94ad33 877
majik 0:21019d94ad33 878 if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
majik 0:21019d94ad33 879 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 880 return NULL;
majik 0:21019d94ad33 881 }
majik 0:21019d94ad33 882
majik 0:21019d94ad33 883 pt = timer_def->timer;
majik 0:21019d94ad33 884 if (pt == NULL) {
majik 0:21019d94ad33 885 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 886 return NULL;
majik 0:21019d94ad33 887 }
majik 0:21019d94ad33 888
majik 0:21019d94ad33 889 if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
majik 0:21019d94ad33 890 sysThreadError(osErrorValue);
majik 0:21019d94ad33 891 return NULL;
majik 0:21019d94ad33 892 }
majik 0:21019d94ad33 893
majik 0:21019d94ad33 894 if (osThreadId_osTimerThread == NULL) {
majik 0:21019d94ad33 895 sysThreadError(osErrorResource);
majik 0:21019d94ad33 896 return NULL;
majik 0:21019d94ad33 897 }
majik 0:21019d94ad33 898
majik 0:21019d94ad33 899 if (pt->state != osTimerInvalid){
majik 0:21019d94ad33 900 sysThreadError(osErrorResource);
majik 0:21019d94ad33 901 return NULL;
majik 0:21019d94ad33 902 }
majik 0:21019d94ad33 903
majik 0:21019d94ad33 904 pt->state = osTimerStopped;
majik 0:21019d94ad33 905 pt->type = (uint8_t)type;
majik 0:21019d94ad33 906 pt->arg = argument;
majik 0:21019d94ad33 907 pt->timer = timer_def;
majik 0:21019d94ad33 908
majik 0:21019d94ad33 909 return (osTimerId)pt;
majik 0:21019d94ad33 910 }
majik 0:21019d94ad33 911
majik 0:21019d94ad33 912 /// Start or restart timer
majik 0:21019d94ad33 913 osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
majik 0:21019d94ad33 914 os_timer_cb *pt;
majik 0:21019d94ad33 915 uint32_t tcnt;
majik 0:21019d94ad33 916
majik 0:21019d94ad33 917 pt = rt_id2obj(timer_id);
majik 0:21019d94ad33 918 if (pt == NULL) return osErrorParameter;
majik 0:21019d94ad33 919
majik 0:21019d94ad33 920 tcnt = rt_ms2tick(millisec);
majik 0:21019d94ad33 921 if (tcnt == 0) return osErrorValue;
majik 0:21019d94ad33 922
majik 0:21019d94ad33 923 switch (pt->state) {
majik 0:21019d94ad33 924 case osTimerRunning:
majik 0:21019d94ad33 925 if (rt_timer_remove(pt) != 0) {
majik 0:21019d94ad33 926 return osErrorResource;
majik 0:21019d94ad33 927 }
majik 0:21019d94ad33 928 break;
majik 0:21019d94ad33 929 case osTimerStopped:
majik 0:21019d94ad33 930 pt->state = osTimerRunning;
majik 0:21019d94ad33 931 pt->icnt = (uint16_t)tcnt;
majik 0:21019d94ad33 932 break;
majik 0:21019d94ad33 933 default:
majik 0:21019d94ad33 934 return osErrorResource;
majik 0:21019d94ad33 935 }
majik 0:21019d94ad33 936
majik 0:21019d94ad33 937 rt_timer_insert(pt, tcnt);
majik 0:21019d94ad33 938
majik 0:21019d94ad33 939 return osOK;
majik 0:21019d94ad33 940 }
majik 0:21019d94ad33 941
majik 0:21019d94ad33 942 /// Stop timer
majik 0:21019d94ad33 943 osStatus svcTimerStop (osTimerId timer_id) {
majik 0:21019d94ad33 944 os_timer_cb *pt;
majik 0:21019d94ad33 945
majik 0:21019d94ad33 946 pt = rt_id2obj(timer_id);
majik 0:21019d94ad33 947 if (pt == NULL) return osErrorParameter;
majik 0:21019d94ad33 948
majik 0:21019d94ad33 949 if (pt->state != osTimerRunning) return osErrorResource;
majik 0:21019d94ad33 950
majik 0:21019d94ad33 951 pt->state = osTimerStopped;
majik 0:21019d94ad33 952
majik 0:21019d94ad33 953 if (rt_timer_remove(pt) != 0) {
majik 0:21019d94ad33 954 return osErrorResource;
majik 0:21019d94ad33 955 }
majik 0:21019d94ad33 956
majik 0:21019d94ad33 957 return osOK;
majik 0:21019d94ad33 958 }
majik 0:21019d94ad33 959
majik 0:21019d94ad33 960 /// Delete timer
majik 0:21019d94ad33 961 osStatus svcTimerDelete (osTimerId timer_id) {
majik 0:21019d94ad33 962 os_timer_cb *pt;
majik 0:21019d94ad33 963
majik 0:21019d94ad33 964 pt = rt_id2obj(timer_id);
majik 0:21019d94ad33 965 if (pt == NULL) return osErrorParameter;
majik 0:21019d94ad33 966
majik 0:21019d94ad33 967 switch (pt->state) {
majik 0:21019d94ad33 968 case osTimerRunning:
majik 0:21019d94ad33 969 rt_timer_remove(pt);
majik 0:21019d94ad33 970 break;
majik 0:21019d94ad33 971 case osTimerStopped:
majik 0:21019d94ad33 972 break;
majik 0:21019d94ad33 973 default:
majik 0:21019d94ad33 974 return osErrorResource;
majik 0:21019d94ad33 975 }
majik 0:21019d94ad33 976
majik 0:21019d94ad33 977 pt->state = osTimerInvalid;
majik 0:21019d94ad33 978
majik 0:21019d94ad33 979 return osOK;
majik 0:21019d94ad33 980 }
majik 0:21019d94ad33 981
majik 0:21019d94ad33 982 /// Get timer callback parameters
majik 0:21019d94ad33 983 os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
majik 0:21019d94ad33 984 os_timer_cb *pt;
majik 0:21019d94ad33 985 osCallback ret;
majik 0:21019d94ad33 986
majik 0:21019d94ad33 987 pt = rt_id2obj(timer_id);
majik 0:21019d94ad33 988 if (pt == NULL) {
majik 0:21019d94ad33 989 ret.fp = NULL;
majik 0:21019d94ad33 990 ret.arg = NULL;
majik 0:21019d94ad33 991 return osCallback_ret;
majik 0:21019d94ad33 992 }
majik 0:21019d94ad33 993
majik 0:21019d94ad33 994 ret.fp = (void *)pt->timer->ptimer;
majik 0:21019d94ad33 995 ret.arg = pt->arg;
majik 0:21019d94ad33 996
majik 0:21019d94ad33 997 return osCallback_ret;
majik 0:21019d94ad33 998 }
majik 0:21019d94ad33 999
majik 0:21019d94ad33 1000 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
majik 0:21019d94ad33 1001
majik 0:21019d94ad33 1002 /// Timer Tick (called each SysTick)
majik 0:21019d94ad33 1003 void sysTimerTick (void) {
majik 0:21019d94ad33 1004 os_timer_cb *pt, *p;
majik 0:21019d94ad33 1005
majik 0:21019d94ad33 1006 p = os_timer_head;
majik 0:21019d94ad33 1007 if (p == NULL) return;
majik 0:21019d94ad33 1008
majik 0:21019d94ad33 1009 p->tcnt--;
majik 0:21019d94ad33 1010 while ((p != NULL) && (p->tcnt == 0)) {
majik 0:21019d94ad33 1011 pt = p;
majik 0:21019d94ad33 1012 p = p->next;
majik 0:21019d94ad33 1013 os_timer_head = p;
majik 0:21019d94ad33 1014 isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
majik 0:21019d94ad33 1015 if (pt->type == osTimerPeriodic) {
majik 0:21019d94ad33 1016 rt_timer_insert(pt, pt->icnt);
majik 0:21019d94ad33 1017 } else {
majik 0:21019d94ad33 1018 pt->state = osTimerStopped;
majik 0:21019d94ad33 1019 }
majik 0:21019d94ad33 1020 }
majik 0:21019d94ad33 1021 }
majik 0:21019d94ad33 1022
majik 0:21019d94ad33 1023
majik 0:21019d94ad33 1024 // Timer Management Public API
majik 0:21019d94ad33 1025
majik 0:21019d94ad33 1026 /// Create timer
majik 0:21019d94ad33 1027 osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
majik 0:21019d94ad33 1028 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1029 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1030 // Privileged and not running
majik 0:21019d94ad33 1031 return svcTimerCreate(timer_def, type, argument);
majik 0:21019d94ad33 1032 } else {
majik 0:21019d94ad33 1033 return __svcTimerCreate(timer_def, type, argument);
majik 0:21019d94ad33 1034 }
majik 0:21019d94ad33 1035 }
majik 0:21019d94ad33 1036
majik 0:21019d94ad33 1037 /// Start or restart timer
majik 0:21019d94ad33 1038 osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
majik 0:21019d94ad33 1039 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1040 return __svcTimerStart(timer_id, millisec);
majik 0:21019d94ad33 1041 }
majik 0:21019d94ad33 1042
majik 0:21019d94ad33 1043 /// Stop timer
majik 0:21019d94ad33 1044 osStatus osTimerStop (osTimerId timer_id) {
majik 0:21019d94ad33 1045 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1046 return __svcTimerStop(timer_id);
majik 0:21019d94ad33 1047 }
majik 0:21019d94ad33 1048
majik 0:21019d94ad33 1049 /// Delete timer
majik 0:21019d94ad33 1050 osStatus osTimerDelete (osTimerId timer_id) {
majik 0:21019d94ad33 1051 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1052 return __svcTimerDelete(timer_id);
majik 0:21019d94ad33 1053 }
majik 0:21019d94ad33 1054
majik 0:21019d94ad33 1055 /// INTERNAL - Not Public
majik 0:21019d94ad33 1056 /// Get timer callback parameters (used by OS Timer Thread)
majik 0:21019d94ad33 1057 os_InRegs osCallback osTimerCall (osTimerId timer_id) {
majik 0:21019d94ad33 1058 return __svcTimerCall(timer_id);
majik 0:21019d94ad33 1059 }
majik 0:21019d94ad33 1060
majik 0:21019d94ad33 1061
majik 0:21019d94ad33 1062 // Timer Thread
majik 0:21019d94ad33 1063 __NO_RETURN void osTimerThread (void const *argument) {
majik 0:21019d94ad33 1064 osCallback cb;
majik 0:21019d94ad33 1065 osEvent evt;
majik 0:21019d94ad33 1066
majik 0:21019d94ad33 1067 for (;;) {
majik 0:21019d94ad33 1068 evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
majik 0:21019d94ad33 1069 if (evt.status == osEventMessage) {
majik 0:21019d94ad33 1070 cb = osTimerCall(evt.value.p);
majik 0:21019d94ad33 1071 if (cb.fp != NULL) {
majik 0:21019d94ad33 1072 (*(os_ptimer)cb.fp)(cb.arg);
majik 0:21019d94ad33 1073 }
majik 0:21019d94ad33 1074 }
majik 0:21019d94ad33 1075 }
majik 0:21019d94ad33 1076 }
majik 0:21019d94ad33 1077
majik 0:21019d94ad33 1078
majik 0:21019d94ad33 1079 // ==== Signal Management ====
majik 0:21019d94ad33 1080
majik 0:21019d94ad33 1081 // Signal Service Calls declarations
majik 0:21019d94ad33 1082 SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
majik 0:21019d94ad33 1083 SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
majik 0:21019d94ad33 1084 SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
majik 0:21019d94ad33 1085 SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
majik 0:21019d94ad33 1086
majik 0:21019d94ad33 1087 // Signal Service Calls
majik 0:21019d94ad33 1088
majik 0:21019d94ad33 1089 /// Set the specified Signal Flags of an active thread
majik 0:21019d94ad33 1090 int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
majik 0:21019d94ad33 1091 P_TCB ptcb;
majik 0:21019d94ad33 1092 int32_t sig;
majik 0:21019d94ad33 1093
majik 0:21019d94ad33 1094 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 1095 if (ptcb == NULL) return 0x80000000;
majik 0:21019d94ad33 1096
majik 0:21019d94ad33 1097 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
majik 0:21019d94ad33 1098
majik 0:21019d94ad33 1099 sig = ptcb->events; // Previous signal flags
majik 0:21019d94ad33 1100
majik 0:21019d94ad33 1101 rt_evt_set(signals, ptcb->task_id); // Set event flags
majik 0:21019d94ad33 1102
majik 0:21019d94ad33 1103 return sig;
majik 0:21019d94ad33 1104 }
majik 0:21019d94ad33 1105
majik 0:21019d94ad33 1106 /// Clear the specified Signal Flags of an active thread
majik 0:21019d94ad33 1107 int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
majik 0:21019d94ad33 1108 P_TCB ptcb;
majik 0:21019d94ad33 1109 int32_t sig;
majik 0:21019d94ad33 1110
majik 0:21019d94ad33 1111 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 1112 if (ptcb == NULL) return 0x80000000;
majik 0:21019d94ad33 1113
majik 0:21019d94ad33 1114 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
majik 0:21019d94ad33 1115
majik 0:21019d94ad33 1116 sig = ptcb->events; // Previous signal flags
majik 0:21019d94ad33 1117
majik 0:21019d94ad33 1118 rt_evt_clr(signals, ptcb->task_id); // Clear event flags
majik 0:21019d94ad33 1119
majik 0:21019d94ad33 1120 return sig;
majik 0:21019d94ad33 1121 }
majik 0:21019d94ad33 1122
majik 0:21019d94ad33 1123 /// Get Signal Flags status of an active thread
majik 0:21019d94ad33 1124 int32_t svcSignalGet (osThreadId thread_id) {
majik 0:21019d94ad33 1125 P_TCB ptcb;
majik 0:21019d94ad33 1126
majik 0:21019d94ad33 1127 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 1128 if (ptcb == NULL) return 0x80000000;
majik 0:21019d94ad33 1129
majik 0:21019d94ad33 1130 return ptcb->events; // Return event flags
majik 0:21019d94ad33 1131 }
majik 0:21019d94ad33 1132
majik 0:21019d94ad33 1133 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
majik 0:21019d94ad33 1134 os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
majik 0:21019d94ad33 1135 OS_RESULT res;
majik 0:21019d94ad33 1136 osEvent ret;
majik 0:21019d94ad33 1137
majik 0:21019d94ad33 1138 if (signals & (0xFFFFFFFF << osFeature_Signals)) {
majik 0:21019d94ad33 1139 ret.status = osErrorValue;
majik 0:21019d94ad33 1140 return osEvent_ret_status;
majik 0:21019d94ad33 1141 }
majik 0:21019d94ad33 1142
majik 0:21019d94ad33 1143 if (signals != 0) { // Wait for all specified signals
majik 0:21019d94ad33 1144 res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
majik 0:21019d94ad33 1145 } else { // Wait for any signal
majik 0:21019d94ad33 1146 res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
majik 0:21019d94ad33 1147 }
majik 0:21019d94ad33 1148
majik 0:21019d94ad33 1149 if (res == OS_R_EVT) {
majik 0:21019d94ad33 1150 ret.status = osEventSignal;
majik 0:21019d94ad33 1151 ret.value.signals = signals ? signals : os_tsk.run->waits;
majik 0:21019d94ad33 1152 } else {
majik 0:21019d94ad33 1153 ret.status = millisec ? osEventTimeout : osOK;
majik 0:21019d94ad33 1154 ret.value.signals = 0;
majik 0:21019d94ad33 1155 }
majik 0:21019d94ad33 1156
majik 0:21019d94ad33 1157 return osEvent_ret_value;
majik 0:21019d94ad33 1158 }
majik 0:21019d94ad33 1159
majik 0:21019d94ad33 1160
majik 0:21019d94ad33 1161 // Signal ISR Calls
majik 0:21019d94ad33 1162
majik 0:21019d94ad33 1163 /// Set the specified Signal Flags of an active thread
majik 0:21019d94ad33 1164 static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
majik 0:21019d94ad33 1165 P_TCB ptcb;
majik 0:21019d94ad33 1166 int32_t sig;
majik 0:21019d94ad33 1167
majik 0:21019d94ad33 1168 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
majik 0:21019d94ad33 1169 if (ptcb == NULL) return 0x80000000;
majik 0:21019d94ad33 1170
majik 0:21019d94ad33 1171 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
majik 0:21019d94ad33 1172
majik 0:21019d94ad33 1173 sig = ptcb->events; // Previous signal flags
majik 0:21019d94ad33 1174
majik 0:21019d94ad33 1175 isr_evt_set(signals, ptcb->task_id); // Set event flags
majik 0:21019d94ad33 1176
majik 0:21019d94ad33 1177 return sig;
majik 0:21019d94ad33 1178 }
majik 0:21019d94ad33 1179
majik 0:21019d94ad33 1180
majik 0:21019d94ad33 1181 // Signal Public API
majik 0:21019d94ad33 1182
majik 0:21019d94ad33 1183 /// Set the specified Signal Flags of an active thread
majik 0:21019d94ad33 1184 int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
majik 0:21019d94ad33 1185 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1186 return isrSignalSet(thread_id, signals);
majik 0:21019d94ad33 1187 } else { // in Thread
majik 0:21019d94ad33 1188 return __svcSignalSet(thread_id, signals);
majik 0:21019d94ad33 1189 }
majik 0:21019d94ad33 1190 }
majik 0:21019d94ad33 1191
majik 0:21019d94ad33 1192 /// Clear the specified Signal Flags of an active thread
majik 0:21019d94ad33 1193 int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
majik 0:21019d94ad33 1194 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1195 return __svcSignalClear(thread_id, signals);
majik 0:21019d94ad33 1196 }
majik 0:21019d94ad33 1197
majik 0:21019d94ad33 1198 /// Get Signal Flags status of an active thread
majik 0:21019d94ad33 1199 int32_t osSignalGet (osThreadId thread_id) {
majik 0:21019d94ad33 1200 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1201 return __svcSignalGet(thread_id);
majik 0:21019d94ad33 1202 }
majik 0:21019d94ad33 1203
majik 0:21019d94ad33 1204 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
majik 0:21019d94ad33 1205 os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
majik 0:21019d94ad33 1206 osEvent ret;
majik 0:21019d94ad33 1207
majik 0:21019d94ad33 1208 if (__get_IPSR() != 0) { // Not allowed in ISR
majik 0:21019d94ad33 1209 ret.status = osErrorISR;
majik 0:21019d94ad33 1210 return ret;
majik 0:21019d94ad33 1211 }
majik 0:21019d94ad33 1212 return __svcSignalWait(signals, millisec);
majik 0:21019d94ad33 1213 }
majik 0:21019d94ad33 1214
majik 0:21019d94ad33 1215
majik 0:21019d94ad33 1216 // ==== Mutex Management ====
majik 0:21019d94ad33 1217
majik 0:21019d94ad33 1218 // Mutex Service Calls declarations
majik 0:21019d94ad33 1219 SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
majik 0:21019d94ad33 1220 SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
majik 0:21019d94ad33 1221 SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
majik 0:21019d94ad33 1222 SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
majik 0:21019d94ad33 1223
majik 0:21019d94ad33 1224 // Mutex Service Calls
majik 0:21019d94ad33 1225
majik 0:21019d94ad33 1226 /// Create and Initialize a Mutex object
majik 0:21019d94ad33 1227 osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
majik 0:21019d94ad33 1228 OS_ID mut;
majik 0:21019d94ad33 1229
majik 0:21019d94ad33 1230 if (mutex_def == NULL) {
majik 0:21019d94ad33 1231 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1232 return NULL;
majik 0:21019d94ad33 1233 }
majik 0:21019d94ad33 1234
majik 0:21019d94ad33 1235 mut = mutex_def->mutex;
majik 0:21019d94ad33 1236 if (mut == NULL) {
majik 0:21019d94ad33 1237 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1238 return NULL;
majik 0:21019d94ad33 1239 }
majik 0:21019d94ad33 1240
majik 0:21019d94ad33 1241 if (((P_MUCB)mut)->cb_type != 0) {
majik 0:21019d94ad33 1242 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1243 return NULL;
majik 0:21019d94ad33 1244 }
majik 0:21019d94ad33 1245
majik 0:21019d94ad33 1246 rt_mut_init(mut); // Initialize Mutex
majik 0:21019d94ad33 1247
majik 0:21019d94ad33 1248 return mut;
majik 0:21019d94ad33 1249 }
majik 0:21019d94ad33 1250
majik 0:21019d94ad33 1251 /// Wait until a Mutex becomes available
majik 0:21019d94ad33 1252 osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
majik 0:21019d94ad33 1253 OS_ID mut;
majik 0:21019d94ad33 1254 OS_RESULT res;
majik 0:21019d94ad33 1255
majik 0:21019d94ad33 1256 mut = rt_id2obj(mutex_id);
majik 0:21019d94ad33 1257 if (mut == NULL) return osErrorParameter;
majik 0:21019d94ad33 1258
majik 0:21019d94ad33 1259 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
majik 0:21019d94ad33 1260
majik 0:21019d94ad33 1261 res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
majik 0:21019d94ad33 1262
majik 0:21019d94ad33 1263 if (res == OS_R_TMO) {
majik 0:21019d94ad33 1264 return (millisec ? osErrorTimeoutResource : osErrorResource);
majik 0:21019d94ad33 1265 }
majik 0:21019d94ad33 1266
majik 0:21019d94ad33 1267 return osOK;
majik 0:21019d94ad33 1268 }
majik 0:21019d94ad33 1269
majik 0:21019d94ad33 1270 /// Release a Mutex that was obtained with osMutexWait
majik 0:21019d94ad33 1271 osStatus svcMutexRelease (osMutexId mutex_id) {
majik 0:21019d94ad33 1272 OS_ID mut;
majik 0:21019d94ad33 1273 OS_RESULT res;
majik 0:21019d94ad33 1274
majik 0:21019d94ad33 1275 mut = rt_id2obj(mutex_id);
majik 0:21019d94ad33 1276 if (mut == NULL) return osErrorParameter;
majik 0:21019d94ad33 1277
majik 0:21019d94ad33 1278 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
majik 0:21019d94ad33 1279
majik 0:21019d94ad33 1280 res = rt_mut_release(mut); // Release Mutex
majik 0:21019d94ad33 1281
majik 0:21019d94ad33 1282 if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
majik 0:21019d94ad33 1283
majik 0:21019d94ad33 1284 return osOK;
majik 0:21019d94ad33 1285 }
majik 0:21019d94ad33 1286
majik 0:21019d94ad33 1287 /// Delete a Mutex that was created by osMutexCreate
majik 0:21019d94ad33 1288 osStatus svcMutexDelete (osMutexId mutex_id) {
majik 0:21019d94ad33 1289 OS_ID mut;
majik 0:21019d94ad33 1290
majik 0:21019d94ad33 1291 mut = rt_id2obj(mutex_id);
majik 0:21019d94ad33 1292 if (mut == NULL) return osErrorParameter;
majik 0:21019d94ad33 1293
majik 0:21019d94ad33 1294 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
majik 0:21019d94ad33 1295
majik 0:21019d94ad33 1296 rt_mut_delete(mut); // Release Mutex
majik 0:21019d94ad33 1297
majik 0:21019d94ad33 1298 return osOK;
majik 0:21019d94ad33 1299 }
majik 0:21019d94ad33 1300
majik 0:21019d94ad33 1301
majik 0:21019d94ad33 1302 // Mutex Public API
majik 0:21019d94ad33 1303
majik 0:21019d94ad33 1304 /// Create and Initialize a Mutex object
majik 0:21019d94ad33 1305 osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
majik 0:21019d94ad33 1306 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1307 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1308 // Privileged and not running
majik 0:21019d94ad33 1309 return svcMutexCreate(mutex_def);
majik 0:21019d94ad33 1310 } else {
majik 0:21019d94ad33 1311 return __svcMutexCreate(mutex_def);
majik 0:21019d94ad33 1312 }
majik 0:21019d94ad33 1313 }
majik 0:21019d94ad33 1314
majik 0:21019d94ad33 1315 /// Wait until a Mutex becomes available
majik 0:21019d94ad33 1316 osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
majik 0:21019d94ad33 1317 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1318 return __svcMutexWait(mutex_id, millisec);
majik 0:21019d94ad33 1319 }
majik 0:21019d94ad33 1320
majik 0:21019d94ad33 1321 /// Release a Mutex that was obtained with osMutexWait
majik 0:21019d94ad33 1322 osStatus osMutexRelease (osMutexId mutex_id) {
majik 0:21019d94ad33 1323 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1324 return __svcMutexRelease(mutex_id);
majik 0:21019d94ad33 1325 }
majik 0:21019d94ad33 1326
majik 0:21019d94ad33 1327 /// Delete a Mutex that was created by osMutexCreate
majik 0:21019d94ad33 1328 osStatus osMutexDelete (osMutexId mutex_id) {
majik 0:21019d94ad33 1329 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1330 return __svcMutexDelete(mutex_id);
majik 0:21019d94ad33 1331 }
majik 0:21019d94ad33 1332
majik 0:21019d94ad33 1333
majik 0:21019d94ad33 1334 // ==== Semaphore Management ====
majik 0:21019d94ad33 1335
majik 0:21019d94ad33 1336 // Semaphore Service Calls declarations
majik 0:21019d94ad33 1337 SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
majik 0:21019d94ad33 1338 SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
majik 0:21019d94ad33 1339 SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
majik 0:21019d94ad33 1340 SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
majik 0:21019d94ad33 1341
majik 0:21019d94ad33 1342 // Semaphore Service Calls
majik 0:21019d94ad33 1343
majik 0:21019d94ad33 1344 /// Create and Initialize a Semaphore object
majik 0:21019d94ad33 1345 osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
majik 0:21019d94ad33 1346 OS_ID sem;
majik 0:21019d94ad33 1347
majik 0:21019d94ad33 1348 if (semaphore_def == NULL) {
majik 0:21019d94ad33 1349 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1350 return NULL;
majik 0:21019d94ad33 1351 }
majik 0:21019d94ad33 1352
majik 0:21019d94ad33 1353 sem = semaphore_def->semaphore;
majik 0:21019d94ad33 1354 if (sem == NULL) {
majik 0:21019d94ad33 1355 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1356 return NULL;
majik 0:21019d94ad33 1357 }
majik 0:21019d94ad33 1358
majik 0:21019d94ad33 1359 if (((P_SCB)sem)->cb_type != 0) {
majik 0:21019d94ad33 1360 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1361 return NULL;
majik 0:21019d94ad33 1362 }
majik 0:21019d94ad33 1363
majik 0:21019d94ad33 1364 if (count > osFeature_Semaphore) {
majik 0:21019d94ad33 1365 sysThreadError(osErrorValue);
majik 0:21019d94ad33 1366 return NULL;
majik 0:21019d94ad33 1367 }
majik 0:21019d94ad33 1368
majik 0:21019d94ad33 1369 rt_sem_init(sem, count); // Initialize Semaphore
majik 0:21019d94ad33 1370
majik 0:21019d94ad33 1371 return sem;
majik 0:21019d94ad33 1372 }
majik 0:21019d94ad33 1373
majik 0:21019d94ad33 1374 /// Wait until a Semaphore becomes available
majik 0:21019d94ad33 1375 int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
majik 0:21019d94ad33 1376 OS_ID sem;
majik 0:21019d94ad33 1377 OS_RESULT res;
majik 0:21019d94ad33 1378
majik 0:21019d94ad33 1379 sem = rt_id2obj(semaphore_id);
majik 0:21019d94ad33 1380 if (sem == NULL) return -1;
majik 0:21019d94ad33 1381
majik 0:21019d94ad33 1382 if (((P_SCB)sem)->cb_type != SCB) return -1;
majik 0:21019d94ad33 1383
majik 0:21019d94ad33 1384 res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
majik 0:21019d94ad33 1385
majik 0:21019d94ad33 1386 if (res == OS_R_TMO) return 0; // Timeout
majik 0:21019d94ad33 1387
majik 0:21019d94ad33 1388 return (((P_SCB)sem)->tokens + 1);
majik 0:21019d94ad33 1389 }
majik 0:21019d94ad33 1390
majik 0:21019d94ad33 1391 /// Release a Semaphore
majik 0:21019d94ad33 1392 osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
majik 0:21019d94ad33 1393 OS_ID sem;
majik 0:21019d94ad33 1394
majik 0:21019d94ad33 1395 sem = rt_id2obj(semaphore_id);
majik 0:21019d94ad33 1396 if (sem == NULL) return osErrorParameter;
majik 0:21019d94ad33 1397
majik 0:21019d94ad33 1398 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
majik 0:21019d94ad33 1399
majik 0:21019d94ad33 1400 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
majik 0:21019d94ad33 1401
majik 0:21019d94ad33 1402 rt_sem_send(sem); // Release Semaphore
majik 0:21019d94ad33 1403
majik 0:21019d94ad33 1404 return osOK;
majik 0:21019d94ad33 1405 }
majik 0:21019d94ad33 1406
majik 0:21019d94ad33 1407 /// Delete a Semaphore that was created by osSemaphoreCreate
majik 0:21019d94ad33 1408 osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
majik 0:21019d94ad33 1409 OS_ID sem;
majik 0:21019d94ad33 1410
majik 0:21019d94ad33 1411 sem = rt_id2obj(semaphore_id);
majik 0:21019d94ad33 1412 if (sem == NULL) return osErrorParameter;
majik 0:21019d94ad33 1413
majik 0:21019d94ad33 1414 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
majik 0:21019d94ad33 1415
majik 0:21019d94ad33 1416 rt_sem_delete(sem); // Delete Semaphore
majik 0:21019d94ad33 1417
majik 0:21019d94ad33 1418 return osOK;
majik 0:21019d94ad33 1419 }
majik 0:21019d94ad33 1420
majik 0:21019d94ad33 1421
majik 0:21019d94ad33 1422 // Semaphore ISR Calls
majik 0:21019d94ad33 1423
majik 0:21019d94ad33 1424 /// Release a Semaphore
majik 0:21019d94ad33 1425 static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
majik 0:21019d94ad33 1426 OS_ID sem;
majik 0:21019d94ad33 1427
majik 0:21019d94ad33 1428 sem = rt_id2obj(semaphore_id);
majik 0:21019d94ad33 1429 if (sem == NULL) return osErrorParameter;
majik 0:21019d94ad33 1430
majik 0:21019d94ad33 1431 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
majik 0:21019d94ad33 1432
majik 0:21019d94ad33 1433 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
majik 0:21019d94ad33 1434
majik 0:21019d94ad33 1435 isr_sem_send(sem); // Release Semaphore
majik 0:21019d94ad33 1436
majik 0:21019d94ad33 1437 return osOK;
majik 0:21019d94ad33 1438 }
majik 0:21019d94ad33 1439
majik 0:21019d94ad33 1440
majik 0:21019d94ad33 1441 // Semaphore Public API
majik 0:21019d94ad33 1442
majik 0:21019d94ad33 1443 /// Create and Initialize a Semaphore object
majik 0:21019d94ad33 1444 osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
majik 0:21019d94ad33 1445 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1446 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1447 // Privileged and not running
majik 0:21019d94ad33 1448 return svcSemaphoreCreate(semaphore_def, count);
majik 0:21019d94ad33 1449 } else {
majik 0:21019d94ad33 1450 return __svcSemaphoreCreate(semaphore_def, count);
majik 0:21019d94ad33 1451 }
majik 0:21019d94ad33 1452 }
majik 0:21019d94ad33 1453
majik 0:21019d94ad33 1454 /// Wait until a Semaphore becomes available
majik 0:21019d94ad33 1455 int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
majik 0:21019d94ad33 1456 if (__get_IPSR() != 0) return -1; // Not allowed in ISR
majik 0:21019d94ad33 1457 return __svcSemaphoreWait(semaphore_id, millisec);
majik 0:21019d94ad33 1458 }
majik 0:21019d94ad33 1459
majik 0:21019d94ad33 1460 /// Release a Semaphore
majik 0:21019d94ad33 1461 osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
majik 0:21019d94ad33 1462 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1463 return isrSemaphoreRelease(semaphore_id);
majik 0:21019d94ad33 1464 } else { // in Thread
majik 0:21019d94ad33 1465 return __svcSemaphoreRelease(semaphore_id);
majik 0:21019d94ad33 1466 }
majik 0:21019d94ad33 1467 }
majik 0:21019d94ad33 1468
majik 0:21019d94ad33 1469 /// Delete a Semaphore that was created by osSemaphoreCreate
majik 0:21019d94ad33 1470 osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
majik 0:21019d94ad33 1471 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
majik 0:21019d94ad33 1472 return __svcSemaphoreDelete(semaphore_id);
majik 0:21019d94ad33 1473 }
majik 0:21019d94ad33 1474
majik 0:21019d94ad33 1475
majik 0:21019d94ad33 1476 // ==== Memory Management Functions ====
majik 0:21019d94ad33 1477
majik 0:21019d94ad33 1478 // Memory Management Helper Functions
majik 0:21019d94ad33 1479
majik 0:21019d94ad33 1480 // Clear Memory Box (Zero init)
majik 0:21019d94ad33 1481 static void rt_clr_box (void *box_mem, void *box) {
majik 0:21019d94ad33 1482 uint32_t *p, n;
majik 0:21019d94ad33 1483
majik 0:21019d94ad33 1484 if (box) {
majik 0:21019d94ad33 1485 p = box;
majik 0:21019d94ad33 1486 for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
majik 0:21019d94ad33 1487 *p++ = 0;
majik 0:21019d94ad33 1488 }
majik 0:21019d94ad33 1489 }
majik 0:21019d94ad33 1490 }
majik 0:21019d94ad33 1491
majik 0:21019d94ad33 1492 // Memory Management Service Calls declarations
majik 0:21019d94ad33 1493 SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
majik 0:21019d94ad33 1494 SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
majik 0:21019d94ad33 1495 SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
majik 0:21019d94ad33 1496
majik 0:21019d94ad33 1497 // Memory Management Service & ISR Calls
majik 0:21019d94ad33 1498
majik 0:21019d94ad33 1499 /// Create and Initialize memory pool
majik 0:21019d94ad33 1500 osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
majik 0:21019d94ad33 1501 uint32_t blk_sz;
majik 0:21019d94ad33 1502
majik 0:21019d94ad33 1503 if ((pool_def == NULL) ||
majik 0:21019d94ad33 1504 (pool_def->pool_sz == 0) ||
majik 0:21019d94ad33 1505 (pool_def->item_sz == 0) ||
majik 0:21019d94ad33 1506 (pool_def->pool == NULL)) {
majik 0:21019d94ad33 1507 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1508 return NULL;
majik 0:21019d94ad33 1509 }
majik 0:21019d94ad33 1510
majik 0:21019d94ad33 1511 blk_sz = (pool_def->item_sz + 3) & ~3;
majik 0:21019d94ad33 1512
majik 0:21019d94ad33 1513 _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
majik 0:21019d94ad33 1514
majik 0:21019d94ad33 1515 return pool_def->pool;
majik 0:21019d94ad33 1516 }
majik 0:21019d94ad33 1517
majik 0:21019d94ad33 1518 /// Allocate a memory block from a memory pool
majik 0:21019d94ad33 1519 void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
majik 0:21019d94ad33 1520 void *ptr;
majik 0:21019d94ad33 1521
majik 0:21019d94ad33 1522 if (pool_id == NULL) return NULL;
majik 0:21019d94ad33 1523
majik 0:21019d94ad33 1524 ptr = rt_alloc_box(pool_id);
majik 0:21019d94ad33 1525 if (clr) {
majik 0:21019d94ad33 1526 rt_clr_box(pool_id, ptr);
majik 0:21019d94ad33 1527 }
majik 0:21019d94ad33 1528
majik 0:21019d94ad33 1529 return ptr;
majik 0:21019d94ad33 1530 }
majik 0:21019d94ad33 1531
majik 0:21019d94ad33 1532 /// Return an allocated memory block back to a specific memory pool
majik 0:21019d94ad33 1533 osStatus sysPoolFree (osPoolId pool_id, void *block) {
majik 0:21019d94ad33 1534 int32_t res;
majik 0:21019d94ad33 1535
majik 0:21019d94ad33 1536 if (pool_id == NULL) return osErrorParameter;
majik 0:21019d94ad33 1537
majik 0:21019d94ad33 1538 res = rt_free_box(pool_id, block);
majik 0:21019d94ad33 1539 if (res != 0) return osErrorValue;
majik 0:21019d94ad33 1540
majik 0:21019d94ad33 1541 return osOK;
majik 0:21019d94ad33 1542 }
majik 0:21019d94ad33 1543
majik 0:21019d94ad33 1544
majik 0:21019d94ad33 1545 // Memory Management Public API
majik 0:21019d94ad33 1546
majik 0:21019d94ad33 1547 /// Create and Initialize memory pool
majik 0:21019d94ad33 1548 osPoolId osPoolCreate (osPoolDef_t *pool_def) {
majik 0:21019d94ad33 1549 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1550 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1551 // Privileged and not running
majik 0:21019d94ad33 1552 return svcPoolCreate(pool_def);
majik 0:21019d94ad33 1553 } else {
majik 0:21019d94ad33 1554 return __svcPoolCreate(pool_def);
majik 0:21019d94ad33 1555 }
majik 0:21019d94ad33 1556 }
majik 0:21019d94ad33 1557
majik 0:21019d94ad33 1558 /// Allocate a memory block from a memory pool
majik 0:21019d94ad33 1559 void *osPoolAlloc (osPoolId pool_id) {
majik 0:21019d94ad33 1560 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
majik 0:21019d94ad33 1561 return sysPoolAlloc(pool_id, 0);
majik 0:21019d94ad33 1562 } else { // in Thread
majik 0:21019d94ad33 1563 return __sysPoolAlloc(pool_id, 0);
majik 0:21019d94ad33 1564 }
majik 0:21019d94ad33 1565 }
majik 0:21019d94ad33 1566
majik 0:21019d94ad33 1567 /// Allocate a memory block from a memory pool and set memory block to zero
majik 0:21019d94ad33 1568 void *osPoolCAlloc (osPoolId pool_id) {
majik 0:21019d94ad33 1569 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
majik 0:21019d94ad33 1570 return sysPoolAlloc(pool_id, 1);
majik 0:21019d94ad33 1571 } else { // in Thread
majik 0:21019d94ad33 1572 return __sysPoolAlloc(pool_id, 1);
majik 0:21019d94ad33 1573 }
majik 0:21019d94ad33 1574 }
majik 0:21019d94ad33 1575
majik 0:21019d94ad33 1576 /// Return an allocated memory block back to a specific memory pool
majik 0:21019d94ad33 1577 osStatus osPoolFree (osPoolId pool_id, void *block) {
majik 0:21019d94ad33 1578 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
majik 0:21019d94ad33 1579 return sysPoolFree(pool_id, block);
majik 0:21019d94ad33 1580 } else { // in Thread
majik 0:21019d94ad33 1581 return __sysPoolFree(pool_id, block);
majik 0:21019d94ad33 1582 }
majik 0:21019d94ad33 1583 }
majik 0:21019d94ad33 1584
majik 0:21019d94ad33 1585
majik 0:21019d94ad33 1586 // ==== Message Queue Management Functions ====
majik 0:21019d94ad33 1587
majik 0:21019d94ad33 1588 // Message Queue Management Service Calls declarations
majik 0:21019d94ad33 1589 SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
majik 0:21019d94ad33 1590 SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
majik 0:21019d94ad33 1591 SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
majik 0:21019d94ad33 1592
majik 0:21019d94ad33 1593 // Message Queue Service Calls
majik 0:21019d94ad33 1594
majik 0:21019d94ad33 1595 /// Create and Initialize Message Queue
majik 0:21019d94ad33 1596 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
majik 0:21019d94ad33 1597
majik 0:21019d94ad33 1598 if ((queue_def == NULL) ||
majik 0:21019d94ad33 1599 (queue_def->queue_sz == 0) ||
majik 0:21019d94ad33 1600 (queue_def->pool == NULL)) {
majik 0:21019d94ad33 1601 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1602 return NULL;
majik 0:21019d94ad33 1603 }
majik 0:21019d94ad33 1604
majik 0:21019d94ad33 1605 if (((P_MCB)queue_def->pool)->cb_type != 0) {
majik 0:21019d94ad33 1606 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1607 return NULL;
majik 0:21019d94ad33 1608 }
majik 0:21019d94ad33 1609
majik 0:21019d94ad33 1610 rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
majik 0:21019d94ad33 1611
majik 0:21019d94ad33 1612 return queue_def->pool;
majik 0:21019d94ad33 1613 }
majik 0:21019d94ad33 1614
majik 0:21019d94ad33 1615 /// Put a Message to a Queue
majik 0:21019d94ad33 1616 osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
majik 0:21019d94ad33 1617 OS_RESULT res;
majik 0:21019d94ad33 1618
majik 0:21019d94ad33 1619 if (queue_id == NULL) return osErrorParameter;
majik 0:21019d94ad33 1620
majik 0:21019d94ad33 1621 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
majik 0:21019d94ad33 1622
majik 0:21019d94ad33 1623 res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
majik 0:21019d94ad33 1624
majik 0:21019d94ad33 1625 if (res == OS_R_TMO) {
majik 0:21019d94ad33 1626 return (millisec ? osErrorTimeoutResource : osErrorResource);
majik 0:21019d94ad33 1627 }
majik 0:21019d94ad33 1628
majik 0:21019d94ad33 1629 return osOK;
majik 0:21019d94ad33 1630 }
majik 0:21019d94ad33 1631
majik 0:21019d94ad33 1632 /// Get a Message or Wait for a Message from a Queue
majik 0:21019d94ad33 1633 os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1634 OS_RESULT res;
majik 0:21019d94ad33 1635 osEvent ret;
majik 0:21019d94ad33 1636
majik 0:21019d94ad33 1637 if (queue_id == NULL) {
majik 0:21019d94ad33 1638 ret.status = osErrorParameter;
majik 0:21019d94ad33 1639 return osEvent_ret_status;
majik 0:21019d94ad33 1640 }
majik 0:21019d94ad33 1641
majik 0:21019d94ad33 1642 if (((P_MCB)queue_id)->cb_type != MCB) {
majik 0:21019d94ad33 1643 ret.status = osErrorParameter;
majik 0:21019d94ad33 1644 return osEvent_ret_status;
majik 0:21019d94ad33 1645 }
majik 0:21019d94ad33 1646
majik 0:21019d94ad33 1647 res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
majik 0:21019d94ad33 1648
majik 0:21019d94ad33 1649 if (res == OS_R_TMO) {
majik 0:21019d94ad33 1650 ret.status = millisec ? osEventTimeout : osOK;
majik 0:21019d94ad33 1651 return osEvent_ret_value;
majik 0:21019d94ad33 1652 }
majik 0:21019d94ad33 1653
majik 0:21019d94ad33 1654 ret.status = osEventMessage;
majik 0:21019d94ad33 1655
majik 0:21019d94ad33 1656 return osEvent_ret_value;
majik 0:21019d94ad33 1657 }
majik 0:21019d94ad33 1658
majik 0:21019d94ad33 1659
majik 0:21019d94ad33 1660 // Message Queue ISR Calls
majik 0:21019d94ad33 1661
majik 0:21019d94ad33 1662 /// Put a Message to a Queue
majik 0:21019d94ad33 1663 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
majik 0:21019d94ad33 1664
majik 0:21019d94ad33 1665 if ((queue_id == NULL) || (millisec != 0)) {
majik 0:21019d94ad33 1666 return osErrorParameter;
majik 0:21019d94ad33 1667 }
majik 0:21019d94ad33 1668
majik 0:21019d94ad33 1669 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
majik 0:21019d94ad33 1670
majik 0:21019d94ad33 1671 if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
majik 0:21019d94ad33 1672 return osErrorResource;
majik 0:21019d94ad33 1673 }
majik 0:21019d94ad33 1674
majik 0:21019d94ad33 1675 isr_mbx_send(queue_id, (void *)info);
majik 0:21019d94ad33 1676
majik 0:21019d94ad33 1677 return osOK;
majik 0:21019d94ad33 1678 }
majik 0:21019d94ad33 1679
majik 0:21019d94ad33 1680 /// Get a Message or Wait for a Message from a Queue
majik 0:21019d94ad33 1681 static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1682 OS_RESULT res;
majik 0:21019d94ad33 1683 osEvent ret;
majik 0:21019d94ad33 1684
majik 0:21019d94ad33 1685 if ((queue_id == NULL) || (millisec != 0)) {
majik 0:21019d94ad33 1686 ret.status = osErrorParameter;
majik 0:21019d94ad33 1687 return ret;
majik 0:21019d94ad33 1688 }
majik 0:21019d94ad33 1689
majik 0:21019d94ad33 1690 if (((P_MCB)queue_id)->cb_type != MCB) {
majik 0:21019d94ad33 1691 ret.status = osErrorParameter;
majik 0:21019d94ad33 1692 return ret;
majik 0:21019d94ad33 1693 }
majik 0:21019d94ad33 1694
majik 0:21019d94ad33 1695 res = isr_mbx_receive(queue_id, &ret.value.p);
majik 0:21019d94ad33 1696
majik 0:21019d94ad33 1697 if (res != OS_R_MBX) {
majik 0:21019d94ad33 1698 ret.status = osOK;
majik 0:21019d94ad33 1699 return ret;
majik 0:21019d94ad33 1700 }
majik 0:21019d94ad33 1701
majik 0:21019d94ad33 1702 ret.status = osEventMessage;
majik 0:21019d94ad33 1703
majik 0:21019d94ad33 1704 return ret;
majik 0:21019d94ad33 1705 }
majik 0:21019d94ad33 1706
majik 0:21019d94ad33 1707
majik 0:21019d94ad33 1708 // Message Queue Management Public API
majik 0:21019d94ad33 1709
majik 0:21019d94ad33 1710 /// Create and Initialize Message Queue
majik 0:21019d94ad33 1711 osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
majik 0:21019d94ad33 1712 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1713 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1714 // Privileged and not running
majik 0:21019d94ad33 1715 return svcMessageCreate(queue_def, thread_id);
majik 0:21019d94ad33 1716 } else {
majik 0:21019d94ad33 1717 return __svcMessageCreate(queue_def, thread_id);
majik 0:21019d94ad33 1718 }
majik 0:21019d94ad33 1719 }
majik 0:21019d94ad33 1720
majik 0:21019d94ad33 1721 /// Put a Message to a Queue
majik 0:21019d94ad33 1722 osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
majik 0:21019d94ad33 1723 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1724 return isrMessagePut(queue_id, info, millisec);
majik 0:21019d94ad33 1725 } else { // in Thread
majik 0:21019d94ad33 1726 return __svcMessagePut(queue_id, info, millisec);
majik 0:21019d94ad33 1727 }
majik 0:21019d94ad33 1728 }
majik 0:21019d94ad33 1729
majik 0:21019d94ad33 1730 /// Get a Message or Wait for a Message from a Queue
majik 0:21019d94ad33 1731 os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1732 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1733 return isrMessageGet(queue_id, millisec);
majik 0:21019d94ad33 1734 } else { // in Thread
majik 0:21019d94ad33 1735 return __svcMessageGet(queue_id, millisec);
majik 0:21019d94ad33 1736 }
majik 0:21019d94ad33 1737 }
majik 0:21019d94ad33 1738
majik 0:21019d94ad33 1739
majik 0:21019d94ad33 1740 // ==== Mail Queue Management Functions ====
majik 0:21019d94ad33 1741
majik 0:21019d94ad33 1742 // Mail Queue Management Service Calls declarations
majik 0:21019d94ad33 1743 SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
majik 0:21019d94ad33 1744 SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
majik 0:21019d94ad33 1745 SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
majik 0:21019d94ad33 1746
majik 0:21019d94ad33 1747 // Mail Queue Management Service & ISR Calls
majik 0:21019d94ad33 1748
majik 0:21019d94ad33 1749 /// Create and Initialize mail queue
majik 0:21019d94ad33 1750 osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
majik 0:21019d94ad33 1751 uint32_t blk_sz;
majik 0:21019d94ad33 1752 P_MCB pmcb;
majik 0:21019d94ad33 1753 void *pool;
majik 0:21019d94ad33 1754
majik 0:21019d94ad33 1755 if ((queue_def == NULL) ||
majik 0:21019d94ad33 1756 (queue_def->queue_sz == 0) ||
majik 0:21019d94ad33 1757 (queue_def->item_sz == 0) ||
majik 0:21019d94ad33 1758 (queue_def->pool == NULL)) {
majik 0:21019d94ad33 1759 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1760 return NULL;
majik 0:21019d94ad33 1761 }
majik 0:21019d94ad33 1762
majik 0:21019d94ad33 1763 pmcb = *(((void **)queue_def->pool) + 0);
majik 0:21019d94ad33 1764 pool = *(((void **)queue_def->pool) + 1);
majik 0:21019d94ad33 1765
majik 0:21019d94ad33 1766 if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
majik 0:21019d94ad33 1767 sysThreadError(osErrorParameter);
majik 0:21019d94ad33 1768 return NULL;
majik 0:21019d94ad33 1769 }
majik 0:21019d94ad33 1770
majik 0:21019d94ad33 1771 blk_sz = (queue_def->item_sz + 3) & ~3;
majik 0:21019d94ad33 1772
majik 0:21019d94ad33 1773 _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
majik 0:21019d94ad33 1774
majik 0:21019d94ad33 1775 rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
majik 0:21019d94ad33 1776
majik 0:21019d94ad33 1777
majik 0:21019d94ad33 1778 return queue_def->pool;
majik 0:21019d94ad33 1779 }
majik 0:21019d94ad33 1780
majik 0:21019d94ad33 1781 /// Allocate a memory block from a mail
majik 0:21019d94ad33 1782 void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
majik 0:21019d94ad33 1783 P_MCB pmcb;
majik 0:21019d94ad33 1784 void *pool;
majik 0:21019d94ad33 1785 void *mem;
majik 0:21019d94ad33 1786
majik 0:21019d94ad33 1787 if (queue_id == NULL) return NULL;
majik 0:21019d94ad33 1788
majik 0:21019d94ad33 1789 pmcb = *(((void **)queue_id) + 0);
majik 0:21019d94ad33 1790 pool = *(((void **)queue_id) + 1);
majik 0:21019d94ad33 1791
majik 0:21019d94ad33 1792 if ((pool == NULL) || (pmcb == NULL)) return NULL;
majik 0:21019d94ad33 1793
majik 0:21019d94ad33 1794 if (isr && (millisec != 0)) return NULL;
majik 0:21019d94ad33 1795
majik 0:21019d94ad33 1796 mem = rt_alloc_box(pool);
majik 0:21019d94ad33 1797 if (clr) {
majik 0:21019d94ad33 1798 rt_clr_box(pool, mem);
majik 0:21019d94ad33 1799 }
majik 0:21019d94ad33 1800
majik 0:21019d94ad33 1801 if ((mem == NULL) && (millisec != 0)) {
majik 0:21019d94ad33 1802 // Put Task to sleep when Memory not available
majik 0:21019d94ad33 1803 if (pmcb->p_lnk != NULL) {
majik 0:21019d94ad33 1804 rt_put_prio((P_XCB)pmcb, os_tsk.run);
majik 0:21019d94ad33 1805 } else {
majik 0:21019d94ad33 1806 pmcb->p_lnk = os_tsk.run;
majik 0:21019d94ad33 1807 os_tsk.run->p_lnk = NULL;
majik 0:21019d94ad33 1808 os_tsk.run->p_rlnk = (P_TCB)pmcb;
majik 0:21019d94ad33 1809 // Task is waiting to allocate a message
majik 0:21019d94ad33 1810 pmcb->state = 3;
majik 0:21019d94ad33 1811 }
majik 0:21019d94ad33 1812 rt_block(rt_ms2tick(millisec), WAIT_MBX);
majik 0:21019d94ad33 1813 }
majik 0:21019d94ad33 1814
majik 0:21019d94ad33 1815 return mem;
majik 0:21019d94ad33 1816 }
majik 0:21019d94ad33 1817
majik 0:21019d94ad33 1818 /// Free a memory block from a mail
majik 0:21019d94ad33 1819 osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
majik 0:21019d94ad33 1820 P_MCB pmcb;
majik 0:21019d94ad33 1821 P_TCB ptcb;
majik 0:21019d94ad33 1822 void *pool;
majik 0:21019d94ad33 1823 void *mem;
majik 0:21019d94ad33 1824 int32_t res;
majik 0:21019d94ad33 1825
majik 0:21019d94ad33 1826 if (queue_id == NULL) return osErrorParameter;
majik 0:21019d94ad33 1827
majik 0:21019d94ad33 1828 pmcb = *(((void **)queue_id) + 0);
majik 0:21019d94ad33 1829 pool = *(((void **)queue_id) + 1);
majik 0:21019d94ad33 1830
majik 0:21019d94ad33 1831 if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
majik 0:21019d94ad33 1832
majik 0:21019d94ad33 1833 res = rt_free_box(pool, mail);
majik 0:21019d94ad33 1834
majik 0:21019d94ad33 1835 if (res != 0) return osErrorValue;
majik 0:21019d94ad33 1836
majik 0:21019d94ad33 1837 if (pmcb->state == 3) {
majik 0:21019d94ad33 1838 // Task is waiting to allocate a message
majik 0:21019d94ad33 1839 if (isr) {
majik 0:21019d94ad33 1840 rt_psq_enq (pmcb, (U32)pool);
majik 0:21019d94ad33 1841 rt_psh_req ();
majik 0:21019d94ad33 1842 } else {
majik 0:21019d94ad33 1843 mem = rt_alloc_box(pool);
majik 0:21019d94ad33 1844 if (mem != NULL) {
majik 0:21019d94ad33 1845 ptcb = rt_get_first((P_XCB)pmcb);
majik 0:21019d94ad33 1846 if (pmcb->p_lnk == NULL) {
majik 0:21019d94ad33 1847 pmcb->state = 0;
majik 0:21019d94ad33 1848 }
majik 0:21019d94ad33 1849 rt_ret_val(ptcb, (U32)mem);
majik 0:21019d94ad33 1850 rt_rmv_dly(ptcb);
majik 0:21019d94ad33 1851 rt_dispatch(ptcb);
majik 0:21019d94ad33 1852 }
majik 0:21019d94ad33 1853 }
majik 0:21019d94ad33 1854 }
majik 0:21019d94ad33 1855
majik 0:21019d94ad33 1856 return osOK;
majik 0:21019d94ad33 1857 }
majik 0:21019d94ad33 1858
majik 0:21019d94ad33 1859
majik 0:21019d94ad33 1860 // Mail Queue Management Public API
majik 0:21019d94ad33 1861
majik 0:21019d94ad33 1862 /// Create and Initialize mail queue
majik 0:21019d94ad33 1863 osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
majik 0:21019d94ad33 1864 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
majik 0:21019d94ad33 1865 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
majik 0:21019d94ad33 1866 // Privileged and not running
majik 0:21019d94ad33 1867 return svcMailCreate(queue_def, thread_id);
majik 0:21019d94ad33 1868 } else {
majik 0:21019d94ad33 1869 return __svcMailCreate(queue_def, thread_id);
majik 0:21019d94ad33 1870 }
majik 0:21019d94ad33 1871 }
majik 0:21019d94ad33 1872
majik 0:21019d94ad33 1873 /// Allocate a memory block from a mail
majik 0:21019d94ad33 1874 void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1875 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1876 return sysMailAlloc(queue_id, millisec, 1, 0);
majik 0:21019d94ad33 1877 } else { // in Thread
majik 0:21019d94ad33 1878 return __sysMailAlloc(queue_id, millisec, 0, 0);
majik 0:21019d94ad33 1879 }
majik 0:21019d94ad33 1880 }
majik 0:21019d94ad33 1881
majik 0:21019d94ad33 1882 /// Allocate a memory block from a mail and set memory block to zero
majik 0:21019d94ad33 1883 void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1884 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1885 return sysMailAlloc(queue_id, millisec, 1, 1);
majik 0:21019d94ad33 1886 } else { // in Thread
majik 0:21019d94ad33 1887 return __sysMailAlloc(queue_id, millisec, 0, 1);
majik 0:21019d94ad33 1888 }
majik 0:21019d94ad33 1889 }
majik 0:21019d94ad33 1890
majik 0:21019d94ad33 1891 /// Free a memory block from a mail
majik 0:21019d94ad33 1892 osStatus osMailFree (osMailQId queue_id, void *mail) {
majik 0:21019d94ad33 1893 if (__get_IPSR() != 0) { // in ISR
majik 0:21019d94ad33 1894 return sysMailFree(queue_id, mail, 1);
majik 0:21019d94ad33 1895 } else { // in Thread
majik 0:21019d94ad33 1896 return __sysMailFree(queue_id, mail, 0);
majik 0:21019d94ad33 1897 }
majik 0:21019d94ad33 1898 }
majik 0:21019d94ad33 1899
majik 0:21019d94ad33 1900 /// Put a mail to a queue
majik 0:21019d94ad33 1901 osStatus osMailPut (osMailQId queue_id, void *mail) {
majik 0:21019d94ad33 1902 if (queue_id == NULL) return osErrorParameter;
majik 0:21019d94ad33 1903 if (mail == NULL) return osErrorValue;
majik 0:21019d94ad33 1904 return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
majik 0:21019d94ad33 1905 }
majik 0:21019d94ad33 1906
majik 0:21019d94ad33 1907 /// Get a mail from a queue
majik 0:21019d94ad33 1908 os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
majik 0:21019d94ad33 1909 osEvent ret;
majik 0:21019d94ad33 1910
majik 0:21019d94ad33 1911 if (queue_id == NULL) {
majik 0:21019d94ad33 1912 ret.status = osErrorParameter;
majik 0:21019d94ad33 1913 return ret;
majik 0:21019d94ad33 1914 }
majik 0:21019d94ad33 1915
majik 0:21019d94ad33 1916 ret = osMessageGet(*((void **)queue_id), millisec);
majik 0:21019d94ad33 1917 if (ret.status == osEventMessage) ret.status = osEventMail;
majik 0:21019d94ad33 1918
majik 0:21019d94ad33 1919 return ret;
majik 0:21019d94ad33 1920 }