Yasushi TAUCHI / Mbed 2 deprecated giken9_HTMLServer_Sample

ソースの整理中ですが、利用はできます。

Dependencies:   EthernetInterface HttpServer TextLCD mbed-rpc mbed-rtos mbed Socket lwip-eth lwip-sys lwip

mbed-rtos/rtx/rt_CMSIS.c@0:7766f6712673, 2014-03-12 (annotated)

Committer:
yueee_yt
Date:
Wed Mar 12 04:19:54 2014 +0000
Revision:
0:7766f6712673
???????????????

Who changed what in which revision?

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yueee_yt 0:7766f6712673 1 /*----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 2 * RL-ARM - RTX
yueee_yt 0:7766f6712673 3 *----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 4 * Name: rt_CMSIS.c
yueee_yt 0:7766f6712673 5 * Purpose: CMSIS RTOS API
yueee_yt 0:7766f6712673 6 * Rev.: V4.60
yueee_yt 0:7766f6712673 7 *----------------------------------------------------------------------------
yueee_yt 0:7766f6712673 8 *
yueee_yt 0:7766f6712673 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
yueee_yt 0:7766f6712673 10 * All rights reserved.
yueee_yt 0:7766f6712673 11 * Redistribution and use in source and binary forms, with or without
yueee_yt 0:7766f6712673 12 * modification, are permitted provided that the following conditions are met:
yueee_yt 0:7766f6712673 13 * - Redistributions of source code must retain the above copyright
yueee_yt 0:7766f6712673 14 * notice, this list of conditions and the following disclaimer.
yueee_yt 0:7766f6712673 15 * - Redistributions in binary form must reproduce the above copyright
yueee_yt 0:7766f6712673 16 * notice, this list of conditions and the following disclaimer in the
yueee_yt 0:7766f6712673 17 * documentation and/or other materials provided with the distribution.
yueee_yt 0:7766f6712673 18 * - Neither the name of ARM nor the names of its contributors may be used
yueee_yt 0:7766f6712673 19 * to endorse or promote products derived from this software without
yueee_yt 0:7766f6712673 20 * specific prior written permission.
yueee_yt 0:7766f6712673 21 *
yueee_yt 0:7766f6712673 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
yueee_yt 0:7766f6712673 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
yueee_yt 0:7766f6712673 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
yueee_yt 0:7766f6712673 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
yueee_yt 0:7766f6712673 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
yueee_yt 0:7766f6712673 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
yueee_yt 0:7766f6712673 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
yueee_yt 0:7766f6712673 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
yueee_yt 0:7766f6712673 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
yueee_yt 0:7766f6712673 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
yueee_yt 0:7766f6712673 32 * POSSIBILITY OF SUCH DAMAGE.
yueee_yt 0:7766f6712673 33 *---------------------------------------------------------------------------*/
yueee_yt 0:7766f6712673 34
yueee_yt 0:7766f6712673 35 #define __CMSIS_GENERIC
yueee_yt 0:7766f6712673 36
yueee_yt 0:7766f6712673 37 #if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
yueee_yt 0:7766f6712673 38 #include "core_cm4.h"
yueee_yt 0:7766f6712673 39 #elif defined (__CORTEX_M3)
yueee_yt 0:7766f6712673 40 #include "core_cm3.h"
yueee_yt 0:7766f6712673 41 #elif defined (__CORTEX_M0)
yueee_yt 0:7766f6712673 42 #include "core_cm0.h"
yueee_yt 0:7766f6712673 43 #elif defined (__CORTEX_M0PLUS)
yueee_yt 0:7766f6712673 44 #include "core_cm0plus.h"
yueee_yt 0:7766f6712673 45 #else
yueee_yt 0:7766f6712673 46 #error "Missing __CORTEX_Mx definition"
yueee_yt 0:7766f6712673 47 #endif
yueee_yt 0:7766f6712673 48
yueee_yt 0:7766f6712673 49 #include "rt_TypeDef.h"
yueee_yt 0:7766f6712673 50 #include "RTX_Conf.h"
yueee_yt 0:7766f6712673 51 #include "rt_System.h"
yueee_yt 0:7766f6712673 52 #include "rt_Task.h"
yueee_yt 0:7766f6712673 53 #include "rt_Event.h"
yueee_yt 0:7766f6712673 54 #include "rt_List.h"
yueee_yt 0:7766f6712673 55 #include "rt_Time.h"
yueee_yt 0:7766f6712673 56 #include "rt_Mutex.h"
yueee_yt 0:7766f6712673 57 #include "rt_Semaphore.h"
yueee_yt 0:7766f6712673 58 #include "rt_Mailbox.h"
yueee_yt 0:7766f6712673 59 #include "rt_MemBox.h"
yueee_yt 0:7766f6712673 60 #include "rt_HAL_CM.h"
yueee_yt 0:7766f6712673 61
yueee_yt 0:7766f6712673 62 #define os_thread_cb OS_TCB
yueee_yt 0:7766f6712673 63
yueee_yt 0:7766f6712673 64 #include "cmsis_os.h"
yueee_yt 0:7766f6712673 65
yueee_yt 0:7766f6712673 66 #if (osFeature_Signals != 16)
yueee_yt 0:7766f6712673 67 #error Invalid "osFeature_Signals" value!
yueee_yt 0:7766f6712673 68 #endif
yueee_yt 0:7766f6712673 69 #if (osFeature_Semaphore > 65535)
yueee_yt 0:7766f6712673 70 #error Invalid "osFeature_Semaphore" value!
yueee_yt 0:7766f6712673 71 #endif
yueee_yt 0:7766f6712673 72 #if (osFeature_Wait != 0)
yueee_yt 0:7766f6712673 73 #error osWait not supported!
yueee_yt 0:7766f6712673 74 #endif
yueee_yt 0:7766f6712673 75
yueee_yt 0:7766f6712673 76
yueee_yt 0:7766f6712673 77 // ==== Enumeration, structures, defines ====
yueee_yt 0:7766f6712673 78
yueee_yt 0:7766f6712673 79 // Service Calls defines
yueee_yt 0:7766f6712673 80
yueee_yt 0:7766f6712673 81 #if defined (__CC_ARM) /* ARM Compiler */
yueee_yt 0:7766f6712673 82
yueee_yt 0:7766f6712673 83 #define __NO_RETURN __declspec(noreturn)
yueee_yt 0:7766f6712673 84
yueee_yt 0:7766f6712673 85 #define osEvent_type osEvent
yueee_yt 0:7766f6712673 86 #define osEvent_ret_status ret
yueee_yt 0:7766f6712673 87 #define osEvent_ret_value ret
yueee_yt 0:7766f6712673 88 #define osEvent_ret_msg ret
yueee_yt 0:7766f6712673 89 #define osEvent_ret_mail ret
yueee_yt 0:7766f6712673 90
yueee_yt 0:7766f6712673 91 #define osCallback_type osCallback
yueee_yt 0:7766f6712673 92 #define osCallback_ret ret
yueee_yt 0:7766f6712673 93
yueee_yt 0:7766f6712673 94 #define SVC_0_1(f,t,...) \
yueee_yt 0:7766f6712673 95 __svc_indirect(0) t _##f (t(*)()); \
yueee_yt 0:7766f6712673 96 t f (void); \
yueee_yt 0:7766f6712673 97 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 98 static __inline t __##f (void) { \
yueee_yt 0:7766f6712673 99 return _##f(f); \
yueee_yt 0:7766f6712673 100 }
yueee_yt 0:7766f6712673 101
yueee_yt 0:7766f6712673 102 #define SVC_1_1(f,t,t1,...) \
yueee_yt 0:7766f6712673 103 __svc_indirect(0) t _##f (t(*)(t1),t1); \
yueee_yt 0:7766f6712673 104 t f (t1 a1); \
yueee_yt 0:7766f6712673 105 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 106 static __inline t __##f (t1 a1) { \
yueee_yt 0:7766f6712673 107 return _##f(f,a1); \
yueee_yt 0:7766f6712673 108 }
yueee_yt 0:7766f6712673 109
yueee_yt 0:7766f6712673 110 #define SVC_2_1(f,t,t1,t2,...) \
yueee_yt 0:7766f6712673 111 __svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
yueee_yt 0:7766f6712673 112 t f (t1 a1, t2 a2); \
yueee_yt 0:7766f6712673 113 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 114 static __inline t __##f (t1 a1, t2 a2) { \
yueee_yt 0:7766f6712673 115 return _##f(f,a1,a2); \
yueee_yt 0:7766f6712673 116 }
yueee_yt 0:7766f6712673 117
yueee_yt 0:7766f6712673 118 #define SVC_3_1(f,t,t1,t2,t3,...) \
yueee_yt 0:7766f6712673 119 __svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
yueee_yt 0:7766f6712673 120 t f (t1 a1, t2 a2, t3 a3); \
yueee_yt 0:7766f6712673 121 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 122 static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
yueee_yt 0:7766f6712673 123 return _##f(f,a1,a2,a3); \
yueee_yt 0:7766f6712673 124 }
yueee_yt 0:7766f6712673 125
yueee_yt 0:7766f6712673 126 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
yueee_yt 0:7766f6712673 127 __svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
yueee_yt 0:7766f6712673 128 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
yueee_yt 0:7766f6712673 129 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 130 static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
yueee_yt 0:7766f6712673 131 return _##f(f,a1,a2,a3,a4); \
yueee_yt 0:7766f6712673 132 }
yueee_yt 0:7766f6712673 133
yueee_yt 0:7766f6712673 134 #define SVC_1_2 SVC_1_1
yueee_yt 0:7766f6712673 135 #define SVC_1_3 SVC_1_1
yueee_yt 0:7766f6712673 136 #define SVC_2_3 SVC_2_1
yueee_yt 0:7766f6712673 137
yueee_yt 0:7766f6712673 138 #elif defined (__GNUC__) /* GNU Compiler */
yueee_yt 0:7766f6712673 139
yueee_yt 0:7766f6712673 140 #define __NO_RETURN __attribute__((noreturn))
yueee_yt 0:7766f6712673 141
yueee_yt 0:7766f6712673 142 typedef uint32_t __attribute__((vector_size(8))) ret64;
yueee_yt 0:7766f6712673 143 typedef uint32_t __attribute__((vector_size(16))) ret128;
yueee_yt 0:7766f6712673 144
yueee_yt 0:7766f6712673 145 #define RET_pointer __r0
yueee_yt 0:7766f6712673 146 #define RET_int32_t __r0
yueee_yt 0:7766f6712673 147 #define RET_osStatus __r0
yueee_yt 0:7766f6712673 148 #define RET_osPriority __r0
yueee_yt 0:7766f6712673 149 #define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
yueee_yt 0:7766f6712673 150 #define RET_osCallback {(void *)__r0, (void *)__r1}
yueee_yt 0:7766f6712673 151
yueee_yt 0:7766f6712673 152 #define osEvent_type ret128
yueee_yt 0:7766f6712673 153 #define osEvent_ret_status (ret128){ret.status}
yueee_yt 0:7766f6712673 154 #define osEvent_ret_value (ret128){ret.status, ret.value.v}
yueee_yt 0:7766f6712673 155 #define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
yueee_yt 0:7766f6712673 156 #define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
yueee_yt 0:7766f6712673 157
yueee_yt 0:7766f6712673 158 #define osCallback_type ret64
yueee_yt 0:7766f6712673 159 #define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
yueee_yt 0:7766f6712673 160
yueee_yt 0:7766f6712673 161 #define SVC_ArgN(n) \
yueee_yt 0:7766f6712673 162 register int __r##n __asm("r"#n);
yueee_yt 0:7766f6712673 163
yueee_yt 0:7766f6712673 164 #define SVC_ArgR(n,t,a) \
yueee_yt 0:7766f6712673 165 register t __r##n __asm("r"#n) = a;
yueee_yt 0:7766f6712673 166
yueee_yt 0:7766f6712673 167 #define SVC_Arg0() \
yueee_yt 0:7766f6712673 168 SVC_ArgN(0) \
yueee_yt 0:7766f6712673 169 SVC_ArgN(1) \
yueee_yt 0:7766f6712673 170 SVC_ArgN(2) \
yueee_yt 0:7766f6712673 171 SVC_ArgN(3)
yueee_yt 0:7766f6712673 172
yueee_yt 0:7766f6712673 173 #define SVC_Arg1(t1) \
yueee_yt 0:7766f6712673 174 SVC_ArgR(0,t1,a1) \
yueee_yt 0:7766f6712673 175 SVC_ArgN(1) \
yueee_yt 0:7766f6712673 176 SVC_ArgN(2) \
yueee_yt 0:7766f6712673 177 SVC_ArgN(3)
yueee_yt 0:7766f6712673 178
yueee_yt 0:7766f6712673 179 #define SVC_Arg2(t1,t2) \
yueee_yt 0:7766f6712673 180 SVC_ArgR(0,t1,a1) \
yueee_yt 0:7766f6712673 181 SVC_ArgR(1,t2,a2) \
yueee_yt 0:7766f6712673 182 SVC_ArgN(2) \
yueee_yt 0:7766f6712673 183 SVC_ArgN(3)
yueee_yt 0:7766f6712673 184
yueee_yt 0:7766f6712673 185 #define SVC_Arg3(t1,t2,t3) \
yueee_yt 0:7766f6712673 186 SVC_ArgR(0,t1,a1) \
yueee_yt 0:7766f6712673 187 SVC_ArgR(1,t2,a2) \
yueee_yt 0:7766f6712673 188 SVC_ArgR(2,t3,a3) \
yueee_yt 0:7766f6712673 189 SVC_ArgN(3)
yueee_yt 0:7766f6712673 190
yueee_yt 0:7766f6712673 191 #define SVC_Arg4(t1,t2,t3,t4) \
yueee_yt 0:7766f6712673 192 SVC_ArgR(0,t1,a1) \
yueee_yt 0:7766f6712673 193 SVC_ArgR(1,t2,a2) \
yueee_yt 0:7766f6712673 194 SVC_ArgR(2,t3,a3) \
yueee_yt 0:7766f6712673 195 SVC_ArgR(3,t4,a4)
yueee_yt 0:7766f6712673 196
yueee_yt 0:7766f6712673 197 #if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
yueee_yt 0:7766f6712673 198 #define SVC_Call(f) \
yueee_yt 0:7766f6712673 199 __asm volatile \
yueee_yt 0:7766f6712673 200 ( \
yueee_yt 0:7766f6712673 201 "ldr r7,="#f"\n\t" \
yueee_yt 0:7766f6712673 202 "mov r12,r7\n\t" \
yueee_yt 0:7766f6712673 203 "svc 0" \
yueee_yt 0:7766f6712673 204 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
yueee_yt 0:7766f6712673 205 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
yueee_yt 0:7766f6712673 206 : "r7", "r12", "lr", "cc" \
yueee_yt 0:7766f6712673 207 );
yueee_yt 0:7766f6712673 208 #else
yueee_yt 0:7766f6712673 209 #define SVC_Call(f) \
yueee_yt 0:7766f6712673 210 __asm volatile \
yueee_yt 0:7766f6712673 211 ( \
yueee_yt 0:7766f6712673 212 "ldr r12,="#f"\n\t" \
yueee_yt 0:7766f6712673 213 "svc 0" \
yueee_yt 0:7766f6712673 214 : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
yueee_yt 0:7766f6712673 215 : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
yueee_yt 0:7766f6712673 216 : "r12", "lr", "cc" \
yueee_yt 0:7766f6712673 217 );
yueee_yt 0:7766f6712673 218 #endif
yueee_yt 0:7766f6712673 219
yueee_yt 0:7766f6712673 220 #define SVC_0_1(f,t,rv) \
yueee_yt 0:7766f6712673 221 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 222 static inline t __##f (void) { \
yueee_yt 0:7766f6712673 223 SVC_Arg0(); \
yueee_yt 0:7766f6712673 224 SVC_Call(f); \
yueee_yt 0:7766f6712673 225 return (t) rv; \
yueee_yt 0:7766f6712673 226 }
yueee_yt 0:7766f6712673 227
yueee_yt 0:7766f6712673 228 #define SVC_1_1(f,t,t1,rv) \
yueee_yt 0:7766f6712673 229 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 230 static inline t __##f (t1 a1) { \
yueee_yt 0:7766f6712673 231 SVC_Arg1(t1); \
yueee_yt 0:7766f6712673 232 SVC_Call(f); \
yueee_yt 0:7766f6712673 233 return (t) rv; \
yueee_yt 0:7766f6712673 234 }
yueee_yt 0:7766f6712673 235
yueee_yt 0:7766f6712673 236 #define SVC_2_1(f,t,t1,t2,rv) \
yueee_yt 0:7766f6712673 237 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 238 static inline t __##f (t1 a1, t2 a2) { \
yueee_yt 0:7766f6712673 239 SVC_Arg2(t1,t2); \
yueee_yt 0:7766f6712673 240 SVC_Call(f); \
yueee_yt 0:7766f6712673 241 return (t) rv; \
yueee_yt 0:7766f6712673 242 }
yueee_yt 0:7766f6712673 243
yueee_yt 0:7766f6712673 244 #define SVC_3_1(f,t,t1,t2,t3,rv) \
yueee_yt 0:7766f6712673 245 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 246 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
yueee_yt 0:7766f6712673 247 SVC_Arg3(t1,t2,t3); \
yueee_yt 0:7766f6712673 248 SVC_Call(f); \
yueee_yt 0:7766f6712673 249 return (t) rv; \
yueee_yt 0:7766f6712673 250 }
yueee_yt 0:7766f6712673 251
yueee_yt 0:7766f6712673 252 #define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
yueee_yt 0:7766f6712673 253 __attribute__((always_inline)) \
yueee_yt 0:7766f6712673 254 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
yueee_yt 0:7766f6712673 255 SVC_Arg4(t1,t2,t3,t4); \
yueee_yt 0:7766f6712673 256 SVC_Call(f); \
yueee_yt 0:7766f6712673 257 return (t) rv; \
yueee_yt 0:7766f6712673 258 }
yueee_yt 0:7766f6712673 259
yueee_yt 0:7766f6712673 260 #define SVC_1_2 SVC_1_1
yueee_yt 0:7766f6712673 261 #define SVC_1_3 SVC_1_1
yueee_yt 0:7766f6712673 262 #define SVC_2_3 SVC_2_1
yueee_yt 0:7766f6712673 263
yueee_yt 0:7766f6712673 264 #elif defined (__ICCARM__) /* IAR Compiler */
yueee_yt 0:7766f6712673 265
yueee_yt 0:7766f6712673 266 #define __NO_RETURN __noreturn
yueee_yt 0:7766f6712673 267
yueee_yt 0:7766f6712673 268 #define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
yueee_yt 0:7766f6712673 269 #define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
yueee_yt 0:7766f6712673 270
yueee_yt 0:7766f6712673 271 #define osEvent_type osEvent
yueee_yt 0:7766f6712673 272 #define osEvent_ret_status ret
yueee_yt 0:7766f6712673 273 #define osEvent_ret_value ret
yueee_yt 0:7766f6712673 274 #define osEvent_ret_msg ret
yueee_yt 0:7766f6712673 275 #define osEvent_ret_mail ret
yueee_yt 0:7766f6712673 276
yueee_yt 0:7766f6712673 277 #define osCallback_type uint64_t
yueee_yt 0:7766f6712673 278 #define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
yueee_yt 0:7766f6712673 279
yueee_yt 0:7766f6712673 280 #define SVC_Setup(f) \
yueee_yt 0:7766f6712673 281 __asm( \
yueee_yt 0:7766f6712673 282 "mov r12,%0\n" \
yueee_yt 0:7766f6712673 283 :: "r"(&f): "r12" \
yueee_yt 0:7766f6712673 284 );
yueee_yt 0:7766f6712673 285
yueee_yt 0:7766f6712673 286 #define SVC_Ret3() \
yueee_yt 0:7766f6712673 287 __asm( \
yueee_yt 0:7766f6712673 288 "ldr r0,[sp,#0]\n" \
yueee_yt 0:7766f6712673 289 "ldr r1,[sp,#4]\n" \
yueee_yt 0:7766f6712673 290 "ldr r2,[sp,#8]\n" \
yueee_yt 0:7766f6712673 291 );
yueee_yt 0:7766f6712673 292
yueee_yt 0:7766f6712673 293 #define SVC_0_1(f,t,...) \
yueee_yt 0:7766f6712673 294 t f (void); \
yueee_yt 0:7766f6712673 295 _Pragma("swi_number=0") __swi t _##f (void); \
yueee_yt 0:7766f6712673 296 static inline t __##f (void) { \
yueee_yt 0:7766f6712673 297 SVC_Setup(f); \
yueee_yt 0:7766f6712673 298 return _##f(); \
yueee_yt 0:7766f6712673 299 }
yueee_yt 0:7766f6712673 300
yueee_yt 0:7766f6712673 301 #define SVC_1_1(f,t,t1,...) \
yueee_yt 0:7766f6712673 302 t f (t1 a1); \
yueee_yt 0:7766f6712673 303 _Pragma("swi_number=0") __swi t _##f (t1 a1); \
yueee_yt 0:7766f6712673 304 static inline t __##f (t1 a1) { \
yueee_yt 0:7766f6712673 305 SVC_Setup(f); \
yueee_yt 0:7766f6712673 306 return _##f(a1); \
yueee_yt 0:7766f6712673 307 }
yueee_yt 0:7766f6712673 308
yueee_yt 0:7766f6712673 309 #define SVC_2_1(f,t,t1,t2,...) \
yueee_yt 0:7766f6712673 310 t f (t1 a1, t2 a2); \
yueee_yt 0:7766f6712673 311 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
yueee_yt 0:7766f6712673 312 static inline t __##f (t1 a1, t2 a2) { \
yueee_yt 0:7766f6712673 313 SVC_Setup(f); \
yueee_yt 0:7766f6712673 314 return _##f(a1,a2); \
yueee_yt 0:7766f6712673 315 }
yueee_yt 0:7766f6712673 316
yueee_yt 0:7766f6712673 317 #define SVC_3_1(f,t,t1,t2,t3,...) \
yueee_yt 0:7766f6712673 318 t f (t1 a1, t2 a2, t3 a3); \
yueee_yt 0:7766f6712673 319 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
yueee_yt 0:7766f6712673 320 static inline t __##f (t1 a1, t2 a2, t3 a3) { \
yueee_yt 0:7766f6712673 321 SVC_Setup(f); \
yueee_yt 0:7766f6712673 322 return _##f(a1,a2,a3); \
yueee_yt 0:7766f6712673 323 }
yueee_yt 0:7766f6712673 324
yueee_yt 0:7766f6712673 325 #define SVC_4_1(f,t,t1,t2,t3,t4,...) \
yueee_yt 0:7766f6712673 326 t f (t1 a1, t2 a2, t3 a3, t4 a4); \
yueee_yt 0:7766f6712673 327 _Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
yueee_yt 0:7766f6712673 328 static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
yueee_yt 0:7766f6712673 329 SVC_Setup(f); \
yueee_yt 0:7766f6712673 330 return _##f(a1,a2,a3,a4); \
yueee_yt 0:7766f6712673 331 }
yueee_yt 0:7766f6712673 332
yueee_yt 0:7766f6712673 333 #define SVC_1_2(f,t,t1,rr) \
yueee_yt 0:7766f6712673 334 uint64_t f (t1 a1); \
yueee_yt 0:7766f6712673 335 _Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
yueee_yt 0:7766f6712673 336 static inline t __##f (t1 a1) { \
yueee_yt 0:7766f6712673 337 t ret; \
yueee_yt 0:7766f6712673 338 SVC_Setup(f); \
yueee_yt 0:7766f6712673 339 _##f(a1); \
yueee_yt 0:7766f6712673 340 __asm("" : rr : :); \
yueee_yt 0:7766f6712673 341 return ret; \
yueee_yt 0:7766f6712673 342 }
yueee_yt 0:7766f6712673 343
yueee_yt 0:7766f6712673 344 #define SVC_1_3(f,t,t1,rr) \
yueee_yt 0:7766f6712673 345 t f (t1 a1); \
yueee_yt 0:7766f6712673 346 void f##_ (t1 a1) { \
yueee_yt 0:7766f6712673 347 f(a1); \
yueee_yt 0:7766f6712673 348 SVC_Ret3(); \
yueee_yt 0:7766f6712673 349 } \
yueee_yt 0:7766f6712673 350 _Pragma("swi_number=0") __swi void _##f (t1 a1); \
yueee_yt 0:7766f6712673 351 static inline t __##f (t1 a1) { \
yueee_yt 0:7766f6712673 352 t ret; \
yueee_yt 0:7766f6712673 353 SVC_Setup(f##_); \
yueee_yt 0:7766f6712673 354 _##f(a1); \
yueee_yt 0:7766f6712673 355 __asm("" : rr : :); \
yueee_yt 0:7766f6712673 356 return ret; \
yueee_yt 0:7766f6712673 357 }
yueee_yt 0:7766f6712673 358
yueee_yt 0:7766f6712673 359 #define SVC_2_3(f,t,t1,t2,rr) \
yueee_yt 0:7766f6712673 360 t f (t1 a1, t2 a2); \
yueee_yt 0:7766f6712673 361 void f##_ (t1 a1, t2 a2) { \
yueee_yt 0:7766f6712673 362 f(a1,a2); \
yueee_yt 0:7766f6712673 363 SVC_Ret3(); \
yueee_yt 0:7766f6712673 364 } \
yueee_yt 0:7766f6712673 365 _Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
yueee_yt 0:7766f6712673 366 static inline t __##f (t1 a1, t2 a2) { \
yueee_yt 0:7766f6712673 367 t ret; \
yueee_yt 0:7766f6712673 368 SVC_Setup(f##_); \
yueee_yt 0:7766f6712673 369 _##f(a1,a2); \
yueee_yt 0:7766f6712673 370 __asm("" : rr : :); \
yueee_yt 0:7766f6712673 371 return ret; \
yueee_yt 0:7766f6712673 372 }
yueee_yt 0:7766f6712673 373
yueee_yt 0:7766f6712673 374 #endif
yueee_yt 0:7766f6712673 375
yueee_yt 0:7766f6712673 376
yueee_yt 0:7766f6712673 377 // Callback structure
yueee_yt 0:7766f6712673 378 typedef struct {
yueee_yt 0:7766f6712673 379 void *fp; // Function pointer
yueee_yt 0:7766f6712673 380 void *arg; // Function argument
yueee_yt 0:7766f6712673 381 } osCallback;
yueee_yt 0:7766f6712673 382
yueee_yt 0:7766f6712673 383
yueee_yt 0:7766f6712673 384 // OS Section definitions
yueee_yt 0:7766f6712673 385 #ifdef OS_SECTIONS_LINK_INFO
yueee_yt 0:7766f6712673 386 extern const uint32_t os_section_id$$Base;
yueee_yt 0:7766f6712673 387 extern const uint32_t os_section_id$$Limit;
yueee_yt 0:7766f6712673 388 #endif
yueee_yt 0:7766f6712673 389
yueee_yt 0:7766f6712673 390 // OS Timers external resources
yueee_yt 0:7766f6712673 391 extern osThreadDef_t os_thread_def_osTimerThread;
yueee_yt 0:7766f6712673 392 extern osThreadId osThreadId_osTimerThread;
yueee_yt 0:7766f6712673 393 extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
yueee_yt 0:7766f6712673 394 extern osMessageQId osMessageQId_osTimerMessageQ;
yueee_yt 0:7766f6712673 395
yueee_yt 0:7766f6712673 396
yueee_yt 0:7766f6712673 397 // ==== Helper Functions ====
yueee_yt 0:7766f6712673 398
yueee_yt 0:7766f6712673 399 /// Convert timeout in millisec to system ticks
yueee_yt 0:7766f6712673 400 static uint32_t rt_ms2tick (uint32_t millisec) {
yueee_yt 0:7766f6712673 401 uint32_t tick;
yueee_yt 0:7766f6712673 402
yueee_yt 0:7766f6712673 403 if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
yueee_yt 0:7766f6712673 404 if (millisec > 4000000) return 0xFFFE; // Max ticks supported
yueee_yt 0:7766f6712673 405
yueee_yt 0:7766f6712673 406 tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
yueee_yt 0:7766f6712673 407 if (tick > 0xFFFE) return 0xFFFE;
yueee_yt 0:7766f6712673 408
yueee_yt 0:7766f6712673 409 return tick;
yueee_yt 0:7766f6712673 410 }
yueee_yt 0:7766f6712673 411
yueee_yt 0:7766f6712673 412 /// Convert Thread ID to TCB pointer
yueee_yt 0:7766f6712673 413 static P_TCB rt_tid2ptcb (osThreadId thread_id) {
yueee_yt 0:7766f6712673 414 P_TCB ptcb;
yueee_yt 0:7766f6712673 415
yueee_yt 0:7766f6712673 416 if (thread_id == NULL) return NULL;
yueee_yt 0:7766f6712673 417
yueee_yt 0:7766f6712673 418 if ((uint32_t)thread_id & 3) return NULL;
yueee_yt 0:7766f6712673 419
yueee_yt 0:7766f6712673 420 #ifdef OS_SECTIONS_LINK_INFO
yueee_yt 0:7766f6712673 421 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
yueee_yt 0:7766f6712673 422 if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
yueee_yt 0:7766f6712673 423 if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
yueee_yt 0:7766f6712673 424 }
yueee_yt 0:7766f6712673 425 #endif
yueee_yt 0:7766f6712673 426
yueee_yt 0:7766f6712673 427 ptcb = thread_id;
yueee_yt 0:7766f6712673 428
yueee_yt 0:7766f6712673 429 if (ptcb->cb_type != TCB) return NULL;
yueee_yt 0:7766f6712673 430
yueee_yt 0:7766f6712673 431 return ptcb;
yueee_yt 0:7766f6712673 432 }
yueee_yt 0:7766f6712673 433
yueee_yt 0:7766f6712673 434 /// Convert ID pointer to Object pointer
yueee_yt 0:7766f6712673 435 static void *rt_id2obj (void *id) {
yueee_yt 0:7766f6712673 436
yueee_yt 0:7766f6712673 437 if ((uint32_t)id & 3) return NULL;
yueee_yt 0:7766f6712673 438
yueee_yt 0:7766f6712673 439 #ifdef OS_SECTIONS_LINK_INFO
yueee_yt 0:7766f6712673 440 if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
yueee_yt 0:7766f6712673 441 if (id < (void *)os_section_id$$Base) return NULL;
yueee_yt 0:7766f6712673 442 if (id >= (void *)os_section_id$$Limit) return NULL;
yueee_yt 0:7766f6712673 443 }
yueee_yt 0:7766f6712673 444 #endif
yueee_yt 0:7766f6712673 445
yueee_yt 0:7766f6712673 446 return id;
yueee_yt 0:7766f6712673 447 }
yueee_yt 0:7766f6712673 448
yueee_yt 0:7766f6712673 449
yueee_yt 0:7766f6712673 450 // ==== Kernel Control ====
yueee_yt 0:7766f6712673 451
yueee_yt 0:7766f6712673 452 uint8_t os_initialized; // Kernel Initialized flag
yueee_yt 0:7766f6712673 453 uint8_t os_running; // Kernel Running flag
yueee_yt 0:7766f6712673 454
yueee_yt 0:7766f6712673 455 // Kernel Control Service Calls declarations
yueee_yt 0:7766f6712673 456 SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
yueee_yt 0:7766f6712673 457 SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
yueee_yt 0:7766f6712673 458 SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
yueee_yt 0:7766f6712673 459
yueee_yt 0:7766f6712673 460 extern void sysThreadError (osStatus status);
yueee_yt 0:7766f6712673 461 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
yueee_yt 0:7766f6712673 462 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
yueee_yt 0:7766f6712673 463
yueee_yt 0:7766f6712673 464 // Kernel Control Service Calls
yueee_yt 0:7766f6712673 465
yueee_yt 0:7766f6712673 466 /// Initialize the RTOS Kernel for creating objects
yueee_yt 0:7766f6712673 467 osStatus svcKernelInitialize (void) {
yueee_yt 0:7766f6712673 468 if (os_initialized) return osOK;
yueee_yt 0:7766f6712673 469
yueee_yt 0:7766f6712673 470 rt_sys_init(); // RTX System Initialization
yueee_yt 0:7766f6712673 471 os_tsk.run->prio = 255; // Highest priority
yueee_yt 0:7766f6712673 472
yueee_yt 0:7766f6712673 473 sysThreadError(osOK);
yueee_yt 0:7766f6712673 474
yueee_yt 0:7766f6712673 475 os_initialized = 1;
yueee_yt 0:7766f6712673 476
yueee_yt 0:7766f6712673 477 return osOK;
yueee_yt 0:7766f6712673 478 }
yueee_yt 0:7766f6712673 479
yueee_yt 0:7766f6712673 480 /// Start the RTOS Kernel
yueee_yt 0:7766f6712673 481 osStatus svcKernelStart (void) {
yueee_yt 0:7766f6712673 482
yueee_yt 0:7766f6712673 483 if (os_running) return osOK;
yueee_yt 0:7766f6712673 484
yueee_yt 0:7766f6712673 485 // Create OS Timers resources (Message Queue & Thread)
yueee_yt 0:7766f6712673 486 osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
yueee_yt 0:7766f6712673 487 osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
yueee_yt 0:7766f6712673 488
yueee_yt 0:7766f6712673 489 rt_tsk_prio(0, 0); // Lowest priority
yueee_yt 0:7766f6712673 490 __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
yueee_yt 0:7766f6712673 491 os_tsk.run = NULL; // Force context switch
yueee_yt 0:7766f6712673 492
yueee_yt 0:7766f6712673 493 rt_sys_start();
yueee_yt 0:7766f6712673 494
yueee_yt 0:7766f6712673 495 os_running = 1;
yueee_yt 0:7766f6712673 496
yueee_yt 0:7766f6712673 497 return osOK;
yueee_yt 0:7766f6712673 498 }
yueee_yt 0:7766f6712673 499
yueee_yt 0:7766f6712673 500 /// Check if the RTOS kernel is already started
yueee_yt 0:7766f6712673 501 int32_t svcKernelRunning(void) {
yueee_yt 0:7766f6712673 502 return os_running;
yueee_yt 0:7766f6712673 503 }
yueee_yt 0:7766f6712673 504
yueee_yt 0:7766f6712673 505 // Kernel Control Public API
yueee_yt 0:7766f6712673 506
yueee_yt 0:7766f6712673 507 /// Initialize the RTOS Kernel for creating objects
yueee_yt 0:7766f6712673 508 osStatus osKernelInitialize (void) {
yueee_yt 0:7766f6712673 509 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 510 if ((__get_CONTROL() & 1) == 0) { // Privileged mode
yueee_yt 0:7766f6712673 511 return svcKernelInitialize();
yueee_yt 0:7766f6712673 512 } else {
yueee_yt 0:7766f6712673 513 return __svcKernelInitialize();
yueee_yt 0:7766f6712673 514 }
yueee_yt 0:7766f6712673 515 }
yueee_yt 0:7766f6712673 516
yueee_yt 0:7766f6712673 517 /// Start the RTOS Kernel
yueee_yt 0:7766f6712673 518 osStatus osKernelStart (void) {
yueee_yt 0:7766f6712673 519 uint32_t stack[8];
yueee_yt 0:7766f6712673 520
yueee_yt 0:7766f6712673 521 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 522 switch (__get_CONTROL() & 0x03) {
yueee_yt 0:7766f6712673 523 case 0x00: // Privileged Thread mode & MSP
yueee_yt 0:7766f6712673 524 __set_PSP((uint32_t)(stack + 8)); // Initial PSP
yueee_yt 0:7766f6712673 525 if (os_flags & 1) {
yueee_yt 0:7766f6712673 526 __set_CONTROL(0x02); // Set Privileged Thread mode & PSP
yueee_yt 0:7766f6712673 527 } else {
yueee_yt 0:7766f6712673 528 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
yueee_yt 0:7766f6712673 529 }
yueee_yt 0:7766f6712673 530 __DSB();
yueee_yt 0:7766f6712673 531 __ISB();
yueee_yt 0:7766f6712673 532 break;
yueee_yt 0:7766f6712673 533 case 0x01: // Unprivileged Thread mode & MSP
yueee_yt 0:7766f6712673 534 return osErrorOS;
yueee_yt 0:7766f6712673 535 case 0x02: // Privileged Thread mode & PSP
yueee_yt 0:7766f6712673 536 if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
yueee_yt 0:7766f6712673 537 __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
yueee_yt 0:7766f6712673 538 __DSB();
yueee_yt 0:7766f6712673 539 __ISB();
yueee_yt 0:7766f6712673 540 }
yueee_yt 0:7766f6712673 541 break;
yueee_yt 0:7766f6712673 542 case 0x03: // Unprivileged Thread mode & PSP
yueee_yt 0:7766f6712673 543 if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
yueee_yt 0:7766f6712673 544 break;
yueee_yt 0:7766f6712673 545 }
yueee_yt 0:7766f6712673 546 return __svcKernelStart();
yueee_yt 0:7766f6712673 547 }
yueee_yt 0:7766f6712673 548
yueee_yt 0:7766f6712673 549 /// Check if the RTOS kernel is already started
yueee_yt 0:7766f6712673 550 int32_t osKernelRunning(void) {
yueee_yt 0:7766f6712673 551 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) {
yueee_yt 0:7766f6712673 552 // in ISR or Privileged
yueee_yt 0:7766f6712673 553 return os_running;
yueee_yt 0:7766f6712673 554 } else {
yueee_yt 0:7766f6712673 555 return __svcKernelRunning();
yueee_yt 0:7766f6712673 556 }
yueee_yt 0:7766f6712673 557 }
yueee_yt 0:7766f6712673 558
yueee_yt 0:7766f6712673 559
yueee_yt 0:7766f6712673 560 // ==== Thread Management ====
yueee_yt 0:7766f6712673 561
yueee_yt 0:7766f6712673 562 __NO_RETURN void osThreadExit (void);
yueee_yt 0:7766f6712673 563
yueee_yt 0:7766f6712673 564 // Thread Service Calls declarations
yueee_yt 0:7766f6712673 565 SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
yueee_yt 0:7766f6712673 566 SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
yueee_yt 0:7766f6712673 567 SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
yueee_yt 0:7766f6712673 568 SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
yueee_yt 0:7766f6712673 569 SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
yueee_yt 0:7766f6712673 570 SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
yueee_yt 0:7766f6712673 571
yueee_yt 0:7766f6712673 572 // Thread Service Calls
yueee_yt 0:7766f6712673 573 extern OS_TID rt_get_TID (void);
yueee_yt 0:7766f6712673 574 extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
yueee_yt 0:7766f6712673 575
yueee_yt 0:7766f6712673 576 /// Create a thread and add it to Active Threads and set it to state READY
yueee_yt 0:7766f6712673 577 osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
yueee_yt 0:7766f6712673 578 P_TCB ptcb;
yueee_yt 0:7766f6712673 579
yueee_yt 0:7766f6712673 580 if ((thread_def == NULL) ||
yueee_yt 0:7766f6712673 581 (thread_def->pthread == NULL) ||
yueee_yt 0:7766f6712673 582 (thread_def->tpriority < osPriorityIdle) ||
yueee_yt 0:7766f6712673 583 (thread_def->tpriority > osPriorityRealtime) ||
yueee_yt 0:7766f6712673 584 (thread_def->stacksize == 0) ||
yueee_yt 0:7766f6712673 585 (thread_def->stack_pointer == NULL) ) {
yueee_yt 0:7766f6712673 586 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 587 return NULL;
yueee_yt 0:7766f6712673 588 }
yueee_yt 0:7766f6712673 589
yueee_yt 0:7766f6712673 590 U8 priority = thread_def->tpriority - osPriorityIdle + 1;
yueee_yt 0:7766f6712673 591 P_TCB task_context = &thread_def->tcb;
yueee_yt 0:7766f6712673 592
yueee_yt 0:7766f6712673 593 /* If "size != 0" use a private user provided stack. */
yueee_yt 0:7766f6712673 594 task_context->stack = (U32*)thread_def->stack_pointer;
yueee_yt 0:7766f6712673 595 task_context->priv_stack = thread_def->stacksize;
yueee_yt 0:7766f6712673 596 /* Pass parameter 'argv' to 'rt_init_context' */
yueee_yt 0:7766f6712673 597 task_context->msg = argument;
yueee_yt 0:7766f6712673 598 /* For 'size == 0' system allocates the user stack from the memory pool. */
yueee_yt 0:7766f6712673 599 rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
yueee_yt 0:7766f6712673 600
yueee_yt 0:7766f6712673 601 /* Find a free entry in 'os_active_TCB' table. */
yueee_yt 0:7766f6712673 602 OS_TID tsk = rt_get_TID ();
yueee_yt 0:7766f6712673 603 os_active_TCB[tsk-1] = task_context;
yueee_yt 0:7766f6712673 604 task_context->task_id = tsk;
yueee_yt 0:7766f6712673 605 DBG_TASK_NOTIFY(task_context, __TRUE);
yueee_yt 0:7766f6712673 606 rt_dispatch (task_context);
yueee_yt 0:7766f6712673 607
yueee_yt 0:7766f6712673 608 ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
yueee_yt 0:7766f6712673 609
yueee_yt 0:7766f6712673 610 *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
yueee_yt 0:7766f6712673 611
yueee_yt 0:7766f6712673 612 return ptcb;
yueee_yt 0:7766f6712673 613 }
yueee_yt 0:7766f6712673 614
yueee_yt 0:7766f6712673 615 /// Return the thread ID of the current running thread
yueee_yt 0:7766f6712673 616 osThreadId svcThreadGetId (void) {
yueee_yt 0:7766f6712673 617 OS_TID tsk;
yueee_yt 0:7766f6712673 618
yueee_yt 0:7766f6712673 619 tsk = rt_tsk_self();
yueee_yt 0:7766f6712673 620 if (tsk == 0) return NULL;
yueee_yt 0:7766f6712673 621 return (P_TCB)os_active_TCB[tsk - 1];
yueee_yt 0:7766f6712673 622 }
yueee_yt 0:7766f6712673 623
yueee_yt 0:7766f6712673 624 /// Terminate execution of a thread and remove it from ActiveThreads
yueee_yt 0:7766f6712673 625 osStatus svcThreadTerminate (osThreadId thread_id) {
yueee_yt 0:7766f6712673 626 OS_RESULT res;
yueee_yt 0:7766f6712673 627 P_TCB ptcb;
yueee_yt 0:7766f6712673 628
yueee_yt 0:7766f6712673 629 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 630 if (ptcb == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 631
yueee_yt 0:7766f6712673 632 res = rt_tsk_delete(ptcb->task_id); // Delete task
yueee_yt 0:7766f6712673 633
yueee_yt 0:7766f6712673 634 if (res == OS_R_NOK) return osErrorResource; // Delete task failed
yueee_yt 0:7766f6712673 635
yueee_yt 0:7766f6712673 636 return osOK;
yueee_yt 0:7766f6712673 637 }
yueee_yt 0:7766f6712673 638
yueee_yt 0:7766f6712673 639 /// Pass control to next thread that is in state READY
yueee_yt 0:7766f6712673 640 osStatus svcThreadYield (void) {
yueee_yt 0:7766f6712673 641 rt_tsk_pass(); // Pass control to next task
yueee_yt 0:7766f6712673 642 return osOK;
yueee_yt 0:7766f6712673 643 }
yueee_yt 0:7766f6712673 644
yueee_yt 0:7766f6712673 645 /// Change priority of an active thread
yueee_yt 0:7766f6712673 646 osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
yueee_yt 0:7766f6712673 647 OS_RESULT res;
yueee_yt 0:7766f6712673 648 P_TCB ptcb;
yueee_yt 0:7766f6712673 649
yueee_yt 0:7766f6712673 650 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 651 if (ptcb == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 652
yueee_yt 0:7766f6712673 653 if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
yueee_yt 0:7766f6712673 654 return osErrorValue;
yueee_yt 0:7766f6712673 655 }
yueee_yt 0:7766f6712673 656
yueee_yt 0:7766f6712673 657 res = rt_tsk_prio( // Change task priority
yueee_yt 0:7766f6712673 658 ptcb->task_id, // Task ID
yueee_yt 0:7766f6712673 659 priority - osPriorityIdle + 1 // New task priority
yueee_yt 0:7766f6712673 660 );
yueee_yt 0:7766f6712673 661
yueee_yt 0:7766f6712673 662 if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
yueee_yt 0:7766f6712673 663
yueee_yt 0:7766f6712673 664 return osOK;
yueee_yt 0:7766f6712673 665 }
yueee_yt 0:7766f6712673 666
yueee_yt 0:7766f6712673 667 /// Get current priority of an active thread
yueee_yt 0:7766f6712673 668 osPriority svcThreadGetPriority (osThreadId thread_id) {
yueee_yt 0:7766f6712673 669 P_TCB ptcb;
yueee_yt 0:7766f6712673 670
yueee_yt 0:7766f6712673 671 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 672 if (ptcb == NULL) return osPriorityError;
yueee_yt 0:7766f6712673 673
yueee_yt 0:7766f6712673 674 return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
yueee_yt 0:7766f6712673 675 }
yueee_yt 0:7766f6712673 676
yueee_yt 0:7766f6712673 677
yueee_yt 0:7766f6712673 678 // Thread Public API
yueee_yt 0:7766f6712673 679
yueee_yt 0:7766f6712673 680 /// Create a thread and add it to Active Threads and set it to state READY
yueee_yt 0:7766f6712673 681 osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
yueee_yt 0:7766f6712673 682 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 683 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 684 // Privileged and not running
yueee_yt 0:7766f6712673 685 return svcThreadCreate(thread_def, argument);
yueee_yt 0:7766f6712673 686 } else {
yueee_yt 0:7766f6712673 687 return __svcThreadCreate(thread_def, argument);
yueee_yt 0:7766f6712673 688 }
yueee_yt 0:7766f6712673 689 }
yueee_yt 0:7766f6712673 690
yueee_yt 0:7766f6712673 691 /// Return the thread ID of the current running thread
yueee_yt 0:7766f6712673 692 osThreadId osThreadGetId (void) {
yueee_yt 0:7766f6712673 693 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 694 return __svcThreadGetId();
yueee_yt 0:7766f6712673 695 }
yueee_yt 0:7766f6712673 696
yueee_yt 0:7766f6712673 697 /// Terminate execution of a thread and remove it from ActiveThreads
yueee_yt 0:7766f6712673 698 osStatus osThreadTerminate (osThreadId thread_id) {
yueee_yt 0:7766f6712673 699 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 700 return __svcThreadTerminate(thread_id);
yueee_yt 0:7766f6712673 701 }
yueee_yt 0:7766f6712673 702
yueee_yt 0:7766f6712673 703 /// Pass control to next thread that is in state READY
yueee_yt 0:7766f6712673 704 osStatus osThreadYield (void) {
yueee_yt 0:7766f6712673 705 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 706 return __svcThreadYield();
yueee_yt 0:7766f6712673 707 }
yueee_yt 0:7766f6712673 708
yueee_yt 0:7766f6712673 709 /// Change priority of an active thread
yueee_yt 0:7766f6712673 710 osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
yueee_yt 0:7766f6712673 711 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 712 return __svcThreadSetPriority(thread_id, priority);
yueee_yt 0:7766f6712673 713 }
yueee_yt 0:7766f6712673 714
yueee_yt 0:7766f6712673 715 /// Get current priority of an active thread
yueee_yt 0:7766f6712673 716 osPriority osThreadGetPriority (osThreadId thread_id) {
yueee_yt 0:7766f6712673 717 if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
yueee_yt 0:7766f6712673 718 return __svcThreadGetPriority(thread_id);
yueee_yt 0:7766f6712673 719 }
yueee_yt 0:7766f6712673 720
yueee_yt 0:7766f6712673 721 /// INTERNAL - Not Public
yueee_yt 0:7766f6712673 722 /// Auto Terminate Thread on exit (used implicitly when thread exists)
yueee_yt 0:7766f6712673 723 __NO_RETURN void osThreadExit (void) {
yueee_yt 0:7766f6712673 724 __svcThreadTerminate(__svcThreadGetId());
yueee_yt 0:7766f6712673 725 for (;;); // Should never come here
yueee_yt 0:7766f6712673 726 }
yueee_yt 0:7766f6712673 727
yueee_yt 0:7766f6712673 728
yueee_yt 0:7766f6712673 729 // ==== Generic Wait Functions ====
yueee_yt 0:7766f6712673 730
yueee_yt 0:7766f6712673 731 // Generic Wait Service Calls declarations
yueee_yt 0:7766f6712673 732 SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
yueee_yt 0:7766f6712673 733 #if osFeature_Wait != 0
yueee_yt 0:7766f6712673 734 SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
yueee_yt 0:7766f6712673 735 #endif
yueee_yt 0:7766f6712673 736
yueee_yt 0:7766f6712673 737 // Generic Wait Service Calls
yueee_yt 0:7766f6712673 738
yueee_yt 0:7766f6712673 739 /// Wait for Timeout (Time Delay)
yueee_yt 0:7766f6712673 740 osStatus svcDelay (uint32_t millisec) {
yueee_yt 0:7766f6712673 741 if (millisec == 0) return osOK;
yueee_yt 0:7766f6712673 742 rt_dly_wait(rt_ms2tick(millisec));
yueee_yt 0:7766f6712673 743 return osEventTimeout;
yueee_yt 0:7766f6712673 744 }
yueee_yt 0:7766f6712673 745
yueee_yt 0:7766f6712673 746 /// Wait for Signal, Message, Mail, or Timeout
yueee_yt 0:7766f6712673 747 #if osFeature_Wait != 0
yueee_yt 0:7766f6712673 748 os_InRegs osEvent_type svcWait (uint32_t millisec) {
yueee_yt 0:7766f6712673 749 osEvent ret;
yueee_yt 0:7766f6712673 750
yueee_yt 0:7766f6712673 751 if (millisec == 0) {
yueee_yt 0:7766f6712673 752 ret.status = osOK;
yueee_yt 0:7766f6712673 753 return osEvent_ret_status;
yueee_yt 0:7766f6712673 754 }
yueee_yt 0:7766f6712673 755
yueee_yt 0:7766f6712673 756 /* To Do: osEventSignal, osEventMessage, osEventMail */
yueee_yt 0:7766f6712673 757 rt_dly_wait(rt_ms2tick(millisec));
yueee_yt 0:7766f6712673 758 ret.status = osEventTimeout;
yueee_yt 0:7766f6712673 759
yueee_yt 0:7766f6712673 760 return osEvent_ret_status;
yueee_yt 0:7766f6712673 761 }
yueee_yt 0:7766f6712673 762 #endif
yueee_yt 0:7766f6712673 763
yueee_yt 0:7766f6712673 764
yueee_yt 0:7766f6712673 765 // Generic Wait API
yueee_yt 0:7766f6712673 766
yueee_yt 0:7766f6712673 767 /// Wait for Timeout (Time Delay)
yueee_yt 0:7766f6712673 768 osStatus osDelay (uint32_t millisec) {
yueee_yt 0:7766f6712673 769 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 770 return __svcDelay(millisec);
yueee_yt 0:7766f6712673 771 }
yueee_yt 0:7766f6712673 772
yueee_yt 0:7766f6712673 773 /// Wait for Signal, Message, Mail, or Timeout
yueee_yt 0:7766f6712673 774 os_InRegs osEvent osWait (uint32_t millisec) {
yueee_yt 0:7766f6712673 775 osEvent ret;
yueee_yt 0:7766f6712673 776
yueee_yt 0:7766f6712673 777 #if osFeature_Wait == 0
yueee_yt 0:7766f6712673 778 ret.status = osErrorOS;
yueee_yt 0:7766f6712673 779 return ret;
yueee_yt 0:7766f6712673 780 #else
yueee_yt 0:7766f6712673 781 if (__get_IPSR() != 0) { // Not allowed in ISR
yueee_yt 0:7766f6712673 782 ret.status = osErrorISR;
yueee_yt 0:7766f6712673 783 return ret;
yueee_yt 0:7766f6712673 784 }
yueee_yt 0:7766f6712673 785 return __svcWait(millisec);
yueee_yt 0:7766f6712673 786 #endif
yueee_yt 0:7766f6712673 787 }
yueee_yt 0:7766f6712673 788
yueee_yt 0:7766f6712673 789
yueee_yt 0:7766f6712673 790 // ==== Timer Management ====
yueee_yt 0:7766f6712673 791
yueee_yt 0:7766f6712673 792 // Timer definitions
yueee_yt 0:7766f6712673 793 #define osTimerInvalid 0
yueee_yt 0:7766f6712673 794 #define osTimerStopped 1
yueee_yt 0:7766f6712673 795 #define osTimerRunning 2
yueee_yt 0:7766f6712673 796
yueee_yt 0:7766f6712673 797 // Timer structures
yueee_yt 0:7766f6712673 798
yueee_yt 0:7766f6712673 799 typedef struct os_timer_cb_ { // Timer Control Block
yueee_yt 0:7766f6712673 800 struct os_timer_cb_ *next; // Pointer to next active Timer
yueee_yt 0:7766f6712673 801 uint8_t state; // Timer State
yueee_yt 0:7766f6712673 802 uint8_t type; // Timer Type (Periodic/One-shot)
yueee_yt 0:7766f6712673 803 uint16_t reserved; // Reserved
yueee_yt 0:7766f6712673 804 uint16_t tcnt; // Timer Delay Count
yueee_yt 0:7766f6712673 805 uint16_t icnt; // Timer Initial Count
yueee_yt 0:7766f6712673 806 void *arg; // Timer Function Argument
yueee_yt 0:7766f6712673 807 osTimerDef_t *timer; // Pointer to Timer definition
yueee_yt 0:7766f6712673 808 } os_timer_cb;
yueee_yt 0:7766f6712673 809
yueee_yt 0:7766f6712673 810 // Timer variables
yueee_yt 0:7766f6712673 811 os_timer_cb *os_timer_head; // Pointer to first active Timer
yueee_yt 0:7766f6712673 812
yueee_yt 0:7766f6712673 813
yueee_yt 0:7766f6712673 814 // Timer Helper Functions
yueee_yt 0:7766f6712673 815
yueee_yt 0:7766f6712673 816 // Insert Timer into the list sorted by time
yueee_yt 0:7766f6712673 817 static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
yueee_yt 0:7766f6712673 818 os_timer_cb *p, *prev;
yueee_yt 0:7766f6712673 819
yueee_yt 0:7766f6712673 820 prev = NULL;
yueee_yt 0:7766f6712673 821 p = os_timer_head;
yueee_yt 0:7766f6712673 822 while (p != NULL) {
yueee_yt 0:7766f6712673 823 if (tcnt < p->tcnt) break;
yueee_yt 0:7766f6712673 824 tcnt -= p->tcnt;
yueee_yt 0:7766f6712673 825 prev = p;
yueee_yt 0:7766f6712673 826 p = p->next;
yueee_yt 0:7766f6712673 827 }
yueee_yt 0:7766f6712673 828 pt->next = p;
yueee_yt 0:7766f6712673 829 pt->tcnt = (uint16_t)tcnt;
yueee_yt 0:7766f6712673 830 if (p != NULL) {
yueee_yt 0:7766f6712673 831 p->tcnt -= pt->tcnt;
yueee_yt 0:7766f6712673 832 }
yueee_yt 0:7766f6712673 833 if (prev != NULL) {
yueee_yt 0:7766f6712673 834 prev->next = pt;
yueee_yt 0:7766f6712673 835 } else {
yueee_yt 0:7766f6712673 836 os_timer_head = pt;
yueee_yt 0:7766f6712673 837 }
yueee_yt 0:7766f6712673 838 }
yueee_yt 0:7766f6712673 839
yueee_yt 0:7766f6712673 840 // Remove Timer from the list
yueee_yt 0:7766f6712673 841 static int rt_timer_remove (os_timer_cb *pt) {
yueee_yt 0:7766f6712673 842 os_timer_cb *p, *prev;
yueee_yt 0:7766f6712673 843
yueee_yt 0:7766f6712673 844 prev = NULL;
yueee_yt 0:7766f6712673 845 p = os_timer_head;
yueee_yt 0:7766f6712673 846 while (p != NULL) {
yueee_yt 0:7766f6712673 847 if (p == pt) break;
yueee_yt 0:7766f6712673 848 prev = p;
yueee_yt 0:7766f6712673 849 p = p->next;
yueee_yt 0:7766f6712673 850 }
yueee_yt 0:7766f6712673 851 if (p == NULL) return -1;
yueee_yt 0:7766f6712673 852 if (prev != NULL) {
yueee_yt 0:7766f6712673 853 prev->next = pt->next;
yueee_yt 0:7766f6712673 854 } else {
yueee_yt 0:7766f6712673 855 os_timer_head = pt->next;
yueee_yt 0:7766f6712673 856 }
yueee_yt 0:7766f6712673 857 if (pt->next != NULL) {
yueee_yt 0:7766f6712673 858 pt->next->tcnt += pt->tcnt;
yueee_yt 0:7766f6712673 859 }
yueee_yt 0:7766f6712673 860
yueee_yt 0:7766f6712673 861 return 0;
yueee_yt 0:7766f6712673 862 }
yueee_yt 0:7766f6712673 863
yueee_yt 0:7766f6712673 864
yueee_yt 0:7766f6712673 865 // Timer Service Calls declarations
yueee_yt 0:7766f6712673 866 SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
yueee_yt 0:7766f6712673 867 SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
yueee_yt 0:7766f6712673 868 SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
yueee_yt 0:7766f6712673 869 SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
yueee_yt 0:7766f6712673 870 SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
yueee_yt 0:7766f6712673 871
yueee_yt 0:7766f6712673 872 // Timer Management Service Calls
yueee_yt 0:7766f6712673 873
yueee_yt 0:7766f6712673 874 /// Create timer
yueee_yt 0:7766f6712673 875 osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
yueee_yt 0:7766f6712673 876 os_timer_cb *pt;
yueee_yt 0:7766f6712673 877
yueee_yt 0:7766f6712673 878 if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
yueee_yt 0:7766f6712673 879 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 880 return NULL;
yueee_yt 0:7766f6712673 881 }
yueee_yt 0:7766f6712673 882
yueee_yt 0:7766f6712673 883 pt = timer_def->timer;
yueee_yt 0:7766f6712673 884 if (pt == NULL) {
yueee_yt 0:7766f6712673 885 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 886 return NULL;
yueee_yt 0:7766f6712673 887 }
yueee_yt 0:7766f6712673 888
yueee_yt 0:7766f6712673 889 if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
yueee_yt 0:7766f6712673 890 sysThreadError(osErrorValue);
yueee_yt 0:7766f6712673 891 return NULL;
yueee_yt 0:7766f6712673 892 }
yueee_yt 0:7766f6712673 893
yueee_yt 0:7766f6712673 894 if (osThreadId_osTimerThread == NULL) {
yueee_yt 0:7766f6712673 895 sysThreadError(osErrorResource);
yueee_yt 0:7766f6712673 896 return NULL;
yueee_yt 0:7766f6712673 897 }
yueee_yt 0:7766f6712673 898
yueee_yt 0:7766f6712673 899 if (pt->state != osTimerInvalid){
yueee_yt 0:7766f6712673 900 sysThreadError(osErrorResource);
yueee_yt 0:7766f6712673 901 return NULL;
yueee_yt 0:7766f6712673 902 }
yueee_yt 0:7766f6712673 903
yueee_yt 0:7766f6712673 904 pt->state = osTimerStopped;
yueee_yt 0:7766f6712673 905 pt->type = (uint8_t)type;
yueee_yt 0:7766f6712673 906 pt->arg = argument;
yueee_yt 0:7766f6712673 907 pt->timer = timer_def;
yueee_yt 0:7766f6712673 908
yueee_yt 0:7766f6712673 909 return (osTimerId)pt;
yueee_yt 0:7766f6712673 910 }
yueee_yt 0:7766f6712673 911
yueee_yt 0:7766f6712673 912 /// Start or restart timer
yueee_yt 0:7766f6712673 913 osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 914 os_timer_cb *pt;
yueee_yt 0:7766f6712673 915 uint32_t tcnt;
yueee_yt 0:7766f6712673 916
yueee_yt 0:7766f6712673 917 pt = rt_id2obj(timer_id);
yueee_yt 0:7766f6712673 918 if (pt == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 919
yueee_yt 0:7766f6712673 920 tcnt = rt_ms2tick(millisec);
yueee_yt 0:7766f6712673 921 if (tcnt == 0) return osErrorValue;
yueee_yt 0:7766f6712673 922
yueee_yt 0:7766f6712673 923 switch (pt->state) {
yueee_yt 0:7766f6712673 924 case osTimerRunning:
yueee_yt 0:7766f6712673 925 if (rt_timer_remove(pt) != 0) {
yueee_yt 0:7766f6712673 926 return osErrorResource;
yueee_yt 0:7766f6712673 927 }
yueee_yt 0:7766f6712673 928 break;
yueee_yt 0:7766f6712673 929 case osTimerStopped:
yueee_yt 0:7766f6712673 930 pt->state = osTimerRunning;
yueee_yt 0:7766f6712673 931 pt->icnt = (uint16_t)tcnt;
yueee_yt 0:7766f6712673 932 break;
yueee_yt 0:7766f6712673 933 default:
yueee_yt 0:7766f6712673 934 return osErrorResource;
yueee_yt 0:7766f6712673 935 }
yueee_yt 0:7766f6712673 936
yueee_yt 0:7766f6712673 937 rt_timer_insert(pt, tcnt);
yueee_yt 0:7766f6712673 938
yueee_yt 0:7766f6712673 939 return osOK;
yueee_yt 0:7766f6712673 940 }
yueee_yt 0:7766f6712673 941
yueee_yt 0:7766f6712673 942 /// Stop timer
yueee_yt 0:7766f6712673 943 osStatus svcTimerStop (osTimerId timer_id) {
yueee_yt 0:7766f6712673 944 os_timer_cb *pt;
yueee_yt 0:7766f6712673 945
yueee_yt 0:7766f6712673 946 pt = rt_id2obj(timer_id);
yueee_yt 0:7766f6712673 947 if (pt == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 948
yueee_yt 0:7766f6712673 949 if (pt->state != osTimerRunning) return osErrorResource;
yueee_yt 0:7766f6712673 950
yueee_yt 0:7766f6712673 951 pt->state = osTimerStopped;
yueee_yt 0:7766f6712673 952
yueee_yt 0:7766f6712673 953 if (rt_timer_remove(pt) != 0) {
yueee_yt 0:7766f6712673 954 return osErrorResource;
yueee_yt 0:7766f6712673 955 }
yueee_yt 0:7766f6712673 956
yueee_yt 0:7766f6712673 957 return osOK;
yueee_yt 0:7766f6712673 958 }
yueee_yt 0:7766f6712673 959
yueee_yt 0:7766f6712673 960 /// Delete timer
yueee_yt 0:7766f6712673 961 osStatus svcTimerDelete (osTimerId timer_id) {
yueee_yt 0:7766f6712673 962 os_timer_cb *pt;
yueee_yt 0:7766f6712673 963
yueee_yt 0:7766f6712673 964 pt = rt_id2obj(timer_id);
yueee_yt 0:7766f6712673 965 if (pt == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 966
yueee_yt 0:7766f6712673 967 switch (pt->state) {
yueee_yt 0:7766f6712673 968 case osTimerRunning:
yueee_yt 0:7766f6712673 969 rt_timer_remove(pt);
yueee_yt 0:7766f6712673 970 break;
yueee_yt 0:7766f6712673 971 case osTimerStopped:
yueee_yt 0:7766f6712673 972 break;
yueee_yt 0:7766f6712673 973 default:
yueee_yt 0:7766f6712673 974 return osErrorResource;
yueee_yt 0:7766f6712673 975 }
yueee_yt 0:7766f6712673 976
yueee_yt 0:7766f6712673 977 pt->state = osTimerInvalid;
yueee_yt 0:7766f6712673 978
yueee_yt 0:7766f6712673 979 return osOK;
yueee_yt 0:7766f6712673 980 }
yueee_yt 0:7766f6712673 981
yueee_yt 0:7766f6712673 982 /// Get timer callback parameters
yueee_yt 0:7766f6712673 983 os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
yueee_yt 0:7766f6712673 984 os_timer_cb *pt;
yueee_yt 0:7766f6712673 985 osCallback ret;
yueee_yt 0:7766f6712673 986
yueee_yt 0:7766f6712673 987 pt = rt_id2obj(timer_id);
yueee_yt 0:7766f6712673 988 if (pt == NULL) {
yueee_yt 0:7766f6712673 989 ret.fp = NULL;
yueee_yt 0:7766f6712673 990 ret.arg = NULL;
yueee_yt 0:7766f6712673 991 return osCallback_ret;
yueee_yt 0:7766f6712673 992 }
yueee_yt 0:7766f6712673 993
yueee_yt 0:7766f6712673 994 ret.fp = (void *)pt->timer->ptimer;
yueee_yt 0:7766f6712673 995 ret.arg = pt->arg;
yueee_yt 0:7766f6712673 996
yueee_yt 0:7766f6712673 997 return osCallback_ret;
yueee_yt 0:7766f6712673 998 }
yueee_yt 0:7766f6712673 999
yueee_yt 0:7766f6712673 1000 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
yueee_yt 0:7766f6712673 1001
yueee_yt 0:7766f6712673 1002 /// Timer Tick (called each SysTick)
yueee_yt 0:7766f6712673 1003 void sysTimerTick (void) {
yueee_yt 0:7766f6712673 1004 os_timer_cb *pt, *p;
yueee_yt 0:7766f6712673 1005
yueee_yt 0:7766f6712673 1006 p = os_timer_head;
yueee_yt 0:7766f6712673 1007 if (p == NULL) return;
yueee_yt 0:7766f6712673 1008
yueee_yt 0:7766f6712673 1009 p->tcnt--;
yueee_yt 0:7766f6712673 1010 while ((p != NULL) && (p->tcnt == 0)) {
yueee_yt 0:7766f6712673 1011 pt = p;
yueee_yt 0:7766f6712673 1012 p = p->next;
yueee_yt 0:7766f6712673 1013 os_timer_head = p;
yueee_yt 0:7766f6712673 1014 isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
yueee_yt 0:7766f6712673 1015 if (pt->type == osTimerPeriodic) {
yueee_yt 0:7766f6712673 1016 rt_timer_insert(pt, pt->icnt);
yueee_yt 0:7766f6712673 1017 } else {
yueee_yt 0:7766f6712673 1018 pt->state = osTimerStopped;
yueee_yt 0:7766f6712673 1019 }
yueee_yt 0:7766f6712673 1020 }
yueee_yt 0:7766f6712673 1021 }
yueee_yt 0:7766f6712673 1022
yueee_yt 0:7766f6712673 1023
yueee_yt 0:7766f6712673 1024 // Timer Management Public API
yueee_yt 0:7766f6712673 1025
yueee_yt 0:7766f6712673 1026 /// Create timer
yueee_yt 0:7766f6712673 1027 osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
yueee_yt 0:7766f6712673 1028 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1029 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1030 // Privileged and not running
yueee_yt 0:7766f6712673 1031 return svcTimerCreate(timer_def, type, argument);
yueee_yt 0:7766f6712673 1032 } else {
yueee_yt 0:7766f6712673 1033 return __svcTimerCreate(timer_def, type, argument);
yueee_yt 0:7766f6712673 1034 }
yueee_yt 0:7766f6712673 1035 }
yueee_yt 0:7766f6712673 1036
yueee_yt 0:7766f6712673 1037 /// Start or restart timer
yueee_yt 0:7766f6712673 1038 osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1039 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1040 return __svcTimerStart(timer_id, millisec);
yueee_yt 0:7766f6712673 1041 }
yueee_yt 0:7766f6712673 1042
yueee_yt 0:7766f6712673 1043 /// Stop timer
yueee_yt 0:7766f6712673 1044 osStatus osTimerStop (osTimerId timer_id) {
yueee_yt 0:7766f6712673 1045 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1046 return __svcTimerStop(timer_id);
yueee_yt 0:7766f6712673 1047 }
yueee_yt 0:7766f6712673 1048
yueee_yt 0:7766f6712673 1049 /// Delete timer
yueee_yt 0:7766f6712673 1050 osStatus osTimerDelete (osTimerId timer_id) {
yueee_yt 0:7766f6712673 1051 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1052 return __svcTimerDelete(timer_id);
yueee_yt 0:7766f6712673 1053 }
yueee_yt 0:7766f6712673 1054
yueee_yt 0:7766f6712673 1055 /// INTERNAL - Not Public
yueee_yt 0:7766f6712673 1056 /// Get timer callback parameters (used by OS Timer Thread)
yueee_yt 0:7766f6712673 1057 os_InRegs osCallback osTimerCall (osTimerId timer_id) {
yueee_yt 0:7766f6712673 1058 return __svcTimerCall(timer_id);
yueee_yt 0:7766f6712673 1059 }
yueee_yt 0:7766f6712673 1060
yueee_yt 0:7766f6712673 1061
yueee_yt 0:7766f6712673 1062 // Timer Thread
yueee_yt 0:7766f6712673 1063 __NO_RETURN void osTimerThread (void const *argument) {
yueee_yt 0:7766f6712673 1064 osCallback cb;
yueee_yt 0:7766f6712673 1065 osEvent evt;
yueee_yt 0:7766f6712673 1066
yueee_yt 0:7766f6712673 1067 for (;;) {
yueee_yt 0:7766f6712673 1068 evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
yueee_yt 0:7766f6712673 1069 if (evt.status == osEventMessage) {
yueee_yt 0:7766f6712673 1070 cb = osTimerCall(evt.value.p);
yueee_yt 0:7766f6712673 1071 if (cb.fp != NULL) {
yueee_yt 0:7766f6712673 1072 (*(os_ptimer)cb.fp)(cb.arg);
yueee_yt 0:7766f6712673 1073 }
yueee_yt 0:7766f6712673 1074 }
yueee_yt 0:7766f6712673 1075 }
yueee_yt 0:7766f6712673 1076 }
yueee_yt 0:7766f6712673 1077
yueee_yt 0:7766f6712673 1078
yueee_yt 0:7766f6712673 1079 // ==== Signal Management ====
yueee_yt 0:7766f6712673 1080
yueee_yt 0:7766f6712673 1081 // Signal Service Calls declarations
yueee_yt 0:7766f6712673 1082 SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
yueee_yt 0:7766f6712673 1083 SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
yueee_yt 0:7766f6712673 1084 SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
yueee_yt 0:7766f6712673 1085 SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
yueee_yt 0:7766f6712673 1086
yueee_yt 0:7766f6712673 1087 // Signal Service Calls
yueee_yt 0:7766f6712673 1088
yueee_yt 0:7766f6712673 1089 /// Set the specified Signal Flags of an active thread
yueee_yt 0:7766f6712673 1090 int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
yueee_yt 0:7766f6712673 1091 P_TCB ptcb;
yueee_yt 0:7766f6712673 1092 int32_t sig;
yueee_yt 0:7766f6712673 1093
yueee_yt 0:7766f6712673 1094 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 1095 if (ptcb == NULL) return 0x80000000;
yueee_yt 0:7766f6712673 1096
yueee_yt 0:7766f6712673 1097 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
yueee_yt 0:7766f6712673 1098
yueee_yt 0:7766f6712673 1099 sig = ptcb->events; // Previous signal flags
yueee_yt 0:7766f6712673 1100
yueee_yt 0:7766f6712673 1101 rt_evt_set(signals, ptcb->task_id); // Set event flags
yueee_yt 0:7766f6712673 1102
yueee_yt 0:7766f6712673 1103 return sig;
yueee_yt 0:7766f6712673 1104 }
yueee_yt 0:7766f6712673 1105
yueee_yt 0:7766f6712673 1106 /// Clear the specified Signal Flags of an active thread
yueee_yt 0:7766f6712673 1107 int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
yueee_yt 0:7766f6712673 1108 P_TCB ptcb;
yueee_yt 0:7766f6712673 1109 int32_t sig;
yueee_yt 0:7766f6712673 1110
yueee_yt 0:7766f6712673 1111 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 1112 if (ptcb == NULL) return 0x80000000;
yueee_yt 0:7766f6712673 1113
yueee_yt 0:7766f6712673 1114 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
yueee_yt 0:7766f6712673 1115
yueee_yt 0:7766f6712673 1116 sig = ptcb->events; // Previous signal flags
yueee_yt 0:7766f6712673 1117
yueee_yt 0:7766f6712673 1118 rt_evt_clr(signals, ptcb->task_id); // Clear event flags
yueee_yt 0:7766f6712673 1119
yueee_yt 0:7766f6712673 1120 return sig;
yueee_yt 0:7766f6712673 1121 }
yueee_yt 0:7766f6712673 1122
yueee_yt 0:7766f6712673 1123 /// Get Signal Flags status of an active thread
yueee_yt 0:7766f6712673 1124 int32_t svcSignalGet (osThreadId thread_id) {
yueee_yt 0:7766f6712673 1125 P_TCB ptcb;
yueee_yt 0:7766f6712673 1126
yueee_yt 0:7766f6712673 1127 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 1128 if (ptcb == NULL) return 0x80000000;
yueee_yt 0:7766f6712673 1129
yueee_yt 0:7766f6712673 1130 return ptcb->events; // Return event flags
yueee_yt 0:7766f6712673 1131 }
yueee_yt 0:7766f6712673 1132
yueee_yt 0:7766f6712673 1133 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
yueee_yt 0:7766f6712673 1134 os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
yueee_yt 0:7766f6712673 1135 OS_RESULT res;
yueee_yt 0:7766f6712673 1136 osEvent ret;
yueee_yt 0:7766f6712673 1137
yueee_yt 0:7766f6712673 1138 if (signals & (0xFFFFFFFF << osFeature_Signals)) {
yueee_yt 0:7766f6712673 1139 ret.status = osErrorValue;
yueee_yt 0:7766f6712673 1140 return osEvent_ret_status;
yueee_yt 0:7766f6712673 1141 }
yueee_yt 0:7766f6712673 1142
yueee_yt 0:7766f6712673 1143 if (signals != 0) { // Wait for all specified signals
yueee_yt 0:7766f6712673 1144 res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
yueee_yt 0:7766f6712673 1145 } else { // Wait for any signal
yueee_yt 0:7766f6712673 1146 res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
yueee_yt 0:7766f6712673 1147 }
yueee_yt 0:7766f6712673 1148
yueee_yt 0:7766f6712673 1149 if (res == OS_R_EVT) {
yueee_yt 0:7766f6712673 1150 ret.status = osEventSignal;
yueee_yt 0:7766f6712673 1151 ret.value.signals = signals ? signals : os_tsk.run->waits;
yueee_yt 0:7766f6712673 1152 } else {
yueee_yt 0:7766f6712673 1153 ret.status = millisec ? osEventTimeout : osOK;
yueee_yt 0:7766f6712673 1154 ret.value.signals = 0;
yueee_yt 0:7766f6712673 1155 }
yueee_yt 0:7766f6712673 1156
yueee_yt 0:7766f6712673 1157 return osEvent_ret_value;
yueee_yt 0:7766f6712673 1158 }
yueee_yt 0:7766f6712673 1159
yueee_yt 0:7766f6712673 1160
yueee_yt 0:7766f6712673 1161 // Signal ISR Calls
yueee_yt 0:7766f6712673 1162
yueee_yt 0:7766f6712673 1163 /// Set the specified Signal Flags of an active thread
yueee_yt 0:7766f6712673 1164 static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
yueee_yt 0:7766f6712673 1165 P_TCB ptcb;
yueee_yt 0:7766f6712673 1166 int32_t sig;
yueee_yt 0:7766f6712673 1167
yueee_yt 0:7766f6712673 1168 ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
yueee_yt 0:7766f6712673 1169 if (ptcb == NULL) return 0x80000000;
yueee_yt 0:7766f6712673 1170
yueee_yt 0:7766f6712673 1171 if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
yueee_yt 0:7766f6712673 1172
yueee_yt 0:7766f6712673 1173 sig = ptcb->events; // Previous signal flags
yueee_yt 0:7766f6712673 1174
yueee_yt 0:7766f6712673 1175 isr_evt_set(signals, ptcb->task_id); // Set event flags
yueee_yt 0:7766f6712673 1176
yueee_yt 0:7766f6712673 1177 return sig;
yueee_yt 0:7766f6712673 1178 }
yueee_yt 0:7766f6712673 1179
yueee_yt 0:7766f6712673 1180
yueee_yt 0:7766f6712673 1181 // Signal Public API
yueee_yt 0:7766f6712673 1182
yueee_yt 0:7766f6712673 1183 /// Set the specified Signal Flags of an active thread
yueee_yt 0:7766f6712673 1184 int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
yueee_yt 0:7766f6712673 1185 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1186 return isrSignalSet(thread_id, signals);
yueee_yt 0:7766f6712673 1187 } else { // in Thread
yueee_yt 0:7766f6712673 1188 return __svcSignalSet(thread_id, signals);
yueee_yt 0:7766f6712673 1189 }
yueee_yt 0:7766f6712673 1190 }
yueee_yt 0:7766f6712673 1191
yueee_yt 0:7766f6712673 1192 /// Clear the specified Signal Flags of an active thread
yueee_yt 0:7766f6712673 1193 int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
yueee_yt 0:7766f6712673 1194 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1195 return __svcSignalClear(thread_id, signals);
yueee_yt 0:7766f6712673 1196 }
yueee_yt 0:7766f6712673 1197
yueee_yt 0:7766f6712673 1198 /// Get Signal Flags status of an active thread
yueee_yt 0:7766f6712673 1199 int32_t osSignalGet (osThreadId thread_id) {
yueee_yt 0:7766f6712673 1200 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1201 return __svcSignalGet(thread_id);
yueee_yt 0:7766f6712673 1202 }
yueee_yt 0:7766f6712673 1203
yueee_yt 0:7766f6712673 1204 /// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
yueee_yt 0:7766f6712673 1205 os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
yueee_yt 0:7766f6712673 1206 osEvent ret;
yueee_yt 0:7766f6712673 1207
yueee_yt 0:7766f6712673 1208 if (__get_IPSR() != 0) { // Not allowed in ISR
yueee_yt 0:7766f6712673 1209 ret.status = osErrorISR;
yueee_yt 0:7766f6712673 1210 return ret;
yueee_yt 0:7766f6712673 1211 }
yueee_yt 0:7766f6712673 1212 return __svcSignalWait(signals, millisec);
yueee_yt 0:7766f6712673 1213 }
yueee_yt 0:7766f6712673 1214
yueee_yt 0:7766f6712673 1215
yueee_yt 0:7766f6712673 1216 // ==== Mutex Management ====
yueee_yt 0:7766f6712673 1217
yueee_yt 0:7766f6712673 1218 // Mutex Service Calls declarations
yueee_yt 0:7766f6712673 1219 SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
yueee_yt 0:7766f6712673 1220 SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
yueee_yt 0:7766f6712673 1221 SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
yueee_yt 0:7766f6712673 1222 SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
yueee_yt 0:7766f6712673 1223
yueee_yt 0:7766f6712673 1224 // Mutex Service Calls
yueee_yt 0:7766f6712673 1225
yueee_yt 0:7766f6712673 1226 /// Create and Initialize a Mutex object
yueee_yt 0:7766f6712673 1227 osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
yueee_yt 0:7766f6712673 1228 OS_ID mut;
yueee_yt 0:7766f6712673 1229
yueee_yt 0:7766f6712673 1230 if (mutex_def == NULL) {
yueee_yt 0:7766f6712673 1231 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1232 return NULL;
yueee_yt 0:7766f6712673 1233 }
yueee_yt 0:7766f6712673 1234
yueee_yt 0:7766f6712673 1235 mut = mutex_def->mutex;
yueee_yt 0:7766f6712673 1236 if (mut == NULL) {
yueee_yt 0:7766f6712673 1237 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1238 return NULL;
yueee_yt 0:7766f6712673 1239 }
yueee_yt 0:7766f6712673 1240
yueee_yt 0:7766f6712673 1241 if (((P_MUCB)mut)->cb_type != 0) {
yueee_yt 0:7766f6712673 1242 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1243 return NULL;
yueee_yt 0:7766f6712673 1244 }
yueee_yt 0:7766f6712673 1245
yueee_yt 0:7766f6712673 1246 rt_mut_init(mut); // Initialize Mutex
yueee_yt 0:7766f6712673 1247
yueee_yt 0:7766f6712673 1248 return mut;
yueee_yt 0:7766f6712673 1249 }
yueee_yt 0:7766f6712673 1250
yueee_yt 0:7766f6712673 1251 /// Wait until a Mutex becomes available
yueee_yt 0:7766f6712673 1252 osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1253 OS_ID mut;
yueee_yt 0:7766f6712673 1254 OS_RESULT res;
yueee_yt 0:7766f6712673 1255
yueee_yt 0:7766f6712673 1256 mut = rt_id2obj(mutex_id);
yueee_yt 0:7766f6712673 1257 if (mut == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1258
yueee_yt 0:7766f6712673 1259 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1260
yueee_yt 0:7766f6712673 1261 res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
yueee_yt 0:7766f6712673 1262
yueee_yt 0:7766f6712673 1263 if (res == OS_R_TMO) {
yueee_yt 0:7766f6712673 1264 return (millisec ? osErrorTimeoutResource : osErrorResource);
yueee_yt 0:7766f6712673 1265 }
yueee_yt 0:7766f6712673 1266
yueee_yt 0:7766f6712673 1267 return osOK;
yueee_yt 0:7766f6712673 1268 }
yueee_yt 0:7766f6712673 1269
yueee_yt 0:7766f6712673 1270 /// Release a Mutex that was obtained with osMutexWait
yueee_yt 0:7766f6712673 1271 osStatus svcMutexRelease (osMutexId mutex_id) {
yueee_yt 0:7766f6712673 1272 OS_ID mut;
yueee_yt 0:7766f6712673 1273 OS_RESULT res;
yueee_yt 0:7766f6712673 1274
yueee_yt 0:7766f6712673 1275 mut = rt_id2obj(mutex_id);
yueee_yt 0:7766f6712673 1276 if (mut == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1277
yueee_yt 0:7766f6712673 1278 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1279
yueee_yt 0:7766f6712673 1280 res = rt_mut_release(mut); // Release Mutex
yueee_yt 0:7766f6712673 1281
yueee_yt 0:7766f6712673 1282 if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
yueee_yt 0:7766f6712673 1283
yueee_yt 0:7766f6712673 1284 return osOK;
yueee_yt 0:7766f6712673 1285 }
yueee_yt 0:7766f6712673 1286
yueee_yt 0:7766f6712673 1287 /// Delete a Mutex that was created by osMutexCreate
yueee_yt 0:7766f6712673 1288 osStatus svcMutexDelete (osMutexId mutex_id) {
yueee_yt 0:7766f6712673 1289 OS_ID mut;
yueee_yt 0:7766f6712673 1290
yueee_yt 0:7766f6712673 1291 mut = rt_id2obj(mutex_id);
yueee_yt 0:7766f6712673 1292 if (mut == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1293
yueee_yt 0:7766f6712673 1294 if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1295
yueee_yt 0:7766f6712673 1296 rt_mut_delete(mut); // Release Mutex
yueee_yt 0:7766f6712673 1297
yueee_yt 0:7766f6712673 1298 return osOK;
yueee_yt 0:7766f6712673 1299 }
yueee_yt 0:7766f6712673 1300
yueee_yt 0:7766f6712673 1301
yueee_yt 0:7766f6712673 1302 // Mutex Public API
yueee_yt 0:7766f6712673 1303
yueee_yt 0:7766f6712673 1304 /// Create and Initialize a Mutex object
yueee_yt 0:7766f6712673 1305 osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
yueee_yt 0:7766f6712673 1306 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1307 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1308 // Privileged and not running
yueee_yt 0:7766f6712673 1309 return svcMutexCreate(mutex_def);
yueee_yt 0:7766f6712673 1310 } else {
yueee_yt 0:7766f6712673 1311 return __svcMutexCreate(mutex_def);
yueee_yt 0:7766f6712673 1312 }
yueee_yt 0:7766f6712673 1313 }
yueee_yt 0:7766f6712673 1314
yueee_yt 0:7766f6712673 1315 /// Wait until a Mutex becomes available
yueee_yt 0:7766f6712673 1316 osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1317 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1318 return __svcMutexWait(mutex_id, millisec);
yueee_yt 0:7766f6712673 1319 }
yueee_yt 0:7766f6712673 1320
yueee_yt 0:7766f6712673 1321 /// Release a Mutex that was obtained with osMutexWait
yueee_yt 0:7766f6712673 1322 osStatus osMutexRelease (osMutexId mutex_id) {
yueee_yt 0:7766f6712673 1323 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1324 return __svcMutexRelease(mutex_id);
yueee_yt 0:7766f6712673 1325 }
yueee_yt 0:7766f6712673 1326
yueee_yt 0:7766f6712673 1327 /// Delete a Mutex that was created by osMutexCreate
yueee_yt 0:7766f6712673 1328 osStatus osMutexDelete (osMutexId mutex_id) {
yueee_yt 0:7766f6712673 1329 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1330 return __svcMutexDelete(mutex_id);
yueee_yt 0:7766f6712673 1331 }
yueee_yt 0:7766f6712673 1332
yueee_yt 0:7766f6712673 1333
yueee_yt 0:7766f6712673 1334 // ==== Semaphore Management ====
yueee_yt 0:7766f6712673 1335
yueee_yt 0:7766f6712673 1336 // Semaphore Service Calls declarations
yueee_yt 0:7766f6712673 1337 SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
yueee_yt 0:7766f6712673 1338 SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
yueee_yt 0:7766f6712673 1339 SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
yueee_yt 0:7766f6712673 1340 SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
yueee_yt 0:7766f6712673 1341
yueee_yt 0:7766f6712673 1342 // Semaphore Service Calls
yueee_yt 0:7766f6712673 1343
yueee_yt 0:7766f6712673 1344 /// Create and Initialize a Semaphore object
yueee_yt 0:7766f6712673 1345 osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
yueee_yt 0:7766f6712673 1346 OS_ID sem;
yueee_yt 0:7766f6712673 1347
yueee_yt 0:7766f6712673 1348 if (semaphore_def == NULL) {
yueee_yt 0:7766f6712673 1349 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1350 return NULL;
yueee_yt 0:7766f6712673 1351 }
yueee_yt 0:7766f6712673 1352
yueee_yt 0:7766f6712673 1353 sem = semaphore_def->semaphore;
yueee_yt 0:7766f6712673 1354 if (sem == NULL) {
yueee_yt 0:7766f6712673 1355 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1356 return NULL;
yueee_yt 0:7766f6712673 1357 }
yueee_yt 0:7766f6712673 1358
yueee_yt 0:7766f6712673 1359 if (((P_SCB)sem)->cb_type != 0) {
yueee_yt 0:7766f6712673 1360 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1361 return NULL;
yueee_yt 0:7766f6712673 1362 }
yueee_yt 0:7766f6712673 1363
yueee_yt 0:7766f6712673 1364 if (count > osFeature_Semaphore) {
yueee_yt 0:7766f6712673 1365 sysThreadError(osErrorValue);
yueee_yt 0:7766f6712673 1366 return NULL;
yueee_yt 0:7766f6712673 1367 }
yueee_yt 0:7766f6712673 1368
yueee_yt 0:7766f6712673 1369 rt_sem_init(sem, count); // Initialize Semaphore
yueee_yt 0:7766f6712673 1370
yueee_yt 0:7766f6712673 1371 return sem;
yueee_yt 0:7766f6712673 1372 }
yueee_yt 0:7766f6712673 1373
yueee_yt 0:7766f6712673 1374 /// Wait until a Semaphore becomes available
yueee_yt 0:7766f6712673 1375 int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1376 OS_ID sem;
yueee_yt 0:7766f6712673 1377 OS_RESULT res;
yueee_yt 0:7766f6712673 1378
yueee_yt 0:7766f6712673 1379 sem = rt_id2obj(semaphore_id);
yueee_yt 0:7766f6712673 1380 if (sem == NULL) return -1;
yueee_yt 0:7766f6712673 1381
yueee_yt 0:7766f6712673 1382 if (((P_SCB)sem)->cb_type != SCB) return -1;
yueee_yt 0:7766f6712673 1383
yueee_yt 0:7766f6712673 1384 res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
yueee_yt 0:7766f6712673 1385
yueee_yt 0:7766f6712673 1386 if (res == OS_R_TMO) return 0; // Timeout
yueee_yt 0:7766f6712673 1387
yueee_yt 0:7766f6712673 1388 return (((P_SCB)sem)->tokens + 1);
yueee_yt 0:7766f6712673 1389 }
yueee_yt 0:7766f6712673 1390
yueee_yt 0:7766f6712673 1391 /// Release a Semaphore
yueee_yt 0:7766f6712673 1392 osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
yueee_yt 0:7766f6712673 1393 OS_ID sem;
yueee_yt 0:7766f6712673 1394
yueee_yt 0:7766f6712673 1395 sem = rt_id2obj(semaphore_id);
yueee_yt 0:7766f6712673 1396 if (sem == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1397
yueee_yt 0:7766f6712673 1398 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1399
yueee_yt 0:7766f6712673 1400 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
yueee_yt 0:7766f6712673 1401
yueee_yt 0:7766f6712673 1402 rt_sem_send(sem); // Release Semaphore
yueee_yt 0:7766f6712673 1403
yueee_yt 0:7766f6712673 1404 return osOK;
yueee_yt 0:7766f6712673 1405 }
yueee_yt 0:7766f6712673 1406
yueee_yt 0:7766f6712673 1407 /// Delete a Semaphore that was created by osSemaphoreCreate
yueee_yt 0:7766f6712673 1408 osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
yueee_yt 0:7766f6712673 1409 OS_ID sem;
yueee_yt 0:7766f6712673 1410
yueee_yt 0:7766f6712673 1411 sem = rt_id2obj(semaphore_id);
yueee_yt 0:7766f6712673 1412 if (sem == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1413
yueee_yt 0:7766f6712673 1414 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1415
yueee_yt 0:7766f6712673 1416 rt_sem_delete(sem); // Delete Semaphore
yueee_yt 0:7766f6712673 1417
yueee_yt 0:7766f6712673 1418 return osOK;
yueee_yt 0:7766f6712673 1419 }
yueee_yt 0:7766f6712673 1420
yueee_yt 0:7766f6712673 1421
yueee_yt 0:7766f6712673 1422 // Semaphore ISR Calls
yueee_yt 0:7766f6712673 1423
yueee_yt 0:7766f6712673 1424 /// Release a Semaphore
yueee_yt 0:7766f6712673 1425 static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
yueee_yt 0:7766f6712673 1426 OS_ID sem;
yueee_yt 0:7766f6712673 1427
yueee_yt 0:7766f6712673 1428 sem = rt_id2obj(semaphore_id);
yueee_yt 0:7766f6712673 1429 if (sem == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1430
yueee_yt 0:7766f6712673 1431 if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1432
yueee_yt 0:7766f6712673 1433 if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
yueee_yt 0:7766f6712673 1434
yueee_yt 0:7766f6712673 1435 isr_sem_send(sem); // Release Semaphore
yueee_yt 0:7766f6712673 1436
yueee_yt 0:7766f6712673 1437 return osOK;
yueee_yt 0:7766f6712673 1438 }
yueee_yt 0:7766f6712673 1439
yueee_yt 0:7766f6712673 1440
yueee_yt 0:7766f6712673 1441 // Semaphore Public API
yueee_yt 0:7766f6712673 1442
yueee_yt 0:7766f6712673 1443 /// Create and Initialize a Semaphore object
yueee_yt 0:7766f6712673 1444 osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
yueee_yt 0:7766f6712673 1445 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1446 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1447 // Privileged and not running
yueee_yt 0:7766f6712673 1448 return svcSemaphoreCreate(semaphore_def, count);
yueee_yt 0:7766f6712673 1449 } else {
yueee_yt 0:7766f6712673 1450 return __svcSemaphoreCreate(semaphore_def, count);
yueee_yt 0:7766f6712673 1451 }
yueee_yt 0:7766f6712673 1452 }
yueee_yt 0:7766f6712673 1453
yueee_yt 0:7766f6712673 1454 /// Wait until a Semaphore becomes available
yueee_yt 0:7766f6712673 1455 int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1456 if (__get_IPSR() != 0) return -1; // Not allowed in ISR
yueee_yt 0:7766f6712673 1457 return __svcSemaphoreWait(semaphore_id, millisec);
yueee_yt 0:7766f6712673 1458 }
yueee_yt 0:7766f6712673 1459
yueee_yt 0:7766f6712673 1460 /// Release a Semaphore
yueee_yt 0:7766f6712673 1461 osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
yueee_yt 0:7766f6712673 1462 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1463 return isrSemaphoreRelease(semaphore_id);
yueee_yt 0:7766f6712673 1464 } else { // in Thread
yueee_yt 0:7766f6712673 1465 return __svcSemaphoreRelease(semaphore_id);
yueee_yt 0:7766f6712673 1466 }
yueee_yt 0:7766f6712673 1467 }
yueee_yt 0:7766f6712673 1468
yueee_yt 0:7766f6712673 1469 /// Delete a Semaphore that was created by osSemaphoreCreate
yueee_yt 0:7766f6712673 1470 osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
yueee_yt 0:7766f6712673 1471 if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
yueee_yt 0:7766f6712673 1472 return __svcSemaphoreDelete(semaphore_id);
yueee_yt 0:7766f6712673 1473 }
yueee_yt 0:7766f6712673 1474
yueee_yt 0:7766f6712673 1475
yueee_yt 0:7766f6712673 1476 // ==== Memory Management Functions ====
yueee_yt 0:7766f6712673 1477
yueee_yt 0:7766f6712673 1478 // Memory Management Helper Functions
yueee_yt 0:7766f6712673 1479
yueee_yt 0:7766f6712673 1480 // Clear Memory Box (Zero init)
yueee_yt 0:7766f6712673 1481 static void rt_clr_box (void *box_mem, void *box) {
yueee_yt 0:7766f6712673 1482 uint32_t *p, n;
yueee_yt 0:7766f6712673 1483
yueee_yt 0:7766f6712673 1484 if (box) {
yueee_yt 0:7766f6712673 1485 p = box;
yueee_yt 0:7766f6712673 1486 for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
yueee_yt 0:7766f6712673 1487 *p++ = 0;
yueee_yt 0:7766f6712673 1488 }
yueee_yt 0:7766f6712673 1489 }
yueee_yt 0:7766f6712673 1490 }
yueee_yt 0:7766f6712673 1491
yueee_yt 0:7766f6712673 1492 // Memory Management Service Calls declarations
yueee_yt 0:7766f6712673 1493 SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
yueee_yt 0:7766f6712673 1494 SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
yueee_yt 0:7766f6712673 1495 SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
yueee_yt 0:7766f6712673 1496
yueee_yt 0:7766f6712673 1497 // Memory Management Service & ISR Calls
yueee_yt 0:7766f6712673 1498
yueee_yt 0:7766f6712673 1499 /// Create and Initialize memory pool
yueee_yt 0:7766f6712673 1500 osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
yueee_yt 0:7766f6712673 1501 uint32_t blk_sz;
yueee_yt 0:7766f6712673 1502
yueee_yt 0:7766f6712673 1503 if ((pool_def == NULL) ||
yueee_yt 0:7766f6712673 1504 (pool_def->pool_sz == 0) ||
yueee_yt 0:7766f6712673 1505 (pool_def->item_sz == 0) ||
yueee_yt 0:7766f6712673 1506 (pool_def->pool == NULL)) {
yueee_yt 0:7766f6712673 1507 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1508 return NULL;
yueee_yt 0:7766f6712673 1509 }
yueee_yt 0:7766f6712673 1510
yueee_yt 0:7766f6712673 1511 blk_sz = (pool_def->item_sz + 3) & ~3;
yueee_yt 0:7766f6712673 1512
yueee_yt 0:7766f6712673 1513 _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
yueee_yt 0:7766f6712673 1514
yueee_yt 0:7766f6712673 1515 return pool_def->pool;
yueee_yt 0:7766f6712673 1516 }
yueee_yt 0:7766f6712673 1517
yueee_yt 0:7766f6712673 1518 /// Allocate a memory block from a memory pool
yueee_yt 0:7766f6712673 1519 void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
yueee_yt 0:7766f6712673 1520 void *ptr;
yueee_yt 0:7766f6712673 1521
yueee_yt 0:7766f6712673 1522 if (pool_id == NULL) return NULL;
yueee_yt 0:7766f6712673 1523
yueee_yt 0:7766f6712673 1524 ptr = rt_alloc_box(pool_id);
yueee_yt 0:7766f6712673 1525 if (clr) {
yueee_yt 0:7766f6712673 1526 rt_clr_box(pool_id, ptr);
yueee_yt 0:7766f6712673 1527 }
yueee_yt 0:7766f6712673 1528
yueee_yt 0:7766f6712673 1529 return ptr;
yueee_yt 0:7766f6712673 1530 }
yueee_yt 0:7766f6712673 1531
yueee_yt 0:7766f6712673 1532 /// Return an allocated memory block back to a specific memory pool
yueee_yt 0:7766f6712673 1533 osStatus sysPoolFree (osPoolId pool_id, void *block) {
yueee_yt 0:7766f6712673 1534 int32_t res;
yueee_yt 0:7766f6712673 1535
yueee_yt 0:7766f6712673 1536 if (pool_id == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1537
yueee_yt 0:7766f6712673 1538 res = rt_free_box(pool_id, block);
yueee_yt 0:7766f6712673 1539 if (res != 0) return osErrorValue;
yueee_yt 0:7766f6712673 1540
yueee_yt 0:7766f6712673 1541 return osOK;
yueee_yt 0:7766f6712673 1542 }
yueee_yt 0:7766f6712673 1543
yueee_yt 0:7766f6712673 1544
yueee_yt 0:7766f6712673 1545 // Memory Management Public API
yueee_yt 0:7766f6712673 1546
yueee_yt 0:7766f6712673 1547 /// Create and Initialize memory pool
yueee_yt 0:7766f6712673 1548 osPoolId osPoolCreate (osPoolDef_t *pool_def) {
yueee_yt 0:7766f6712673 1549 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1550 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1551 // Privileged and not running
yueee_yt 0:7766f6712673 1552 return svcPoolCreate(pool_def);
yueee_yt 0:7766f6712673 1553 } else {
yueee_yt 0:7766f6712673 1554 return __svcPoolCreate(pool_def);
yueee_yt 0:7766f6712673 1555 }
yueee_yt 0:7766f6712673 1556 }
yueee_yt 0:7766f6712673 1557
yueee_yt 0:7766f6712673 1558 /// Allocate a memory block from a memory pool
yueee_yt 0:7766f6712673 1559 void *osPoolAlloc (osPoolId pool_id) {
yueee_yt 0:7766f6712673 1560 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
yueee_yt 0:7766f6712673 1561 return sysPoolAlloc(pool_id, 0);
yueee_yt 0:7766f6712673 1562 } else { // in Thread
yueee_yt 0:7766f6712673 1563 return __sysPoolAlloc(pool_id, 0);
yueee_yt 0:7766f6712673 1564 }
yueee_yt 0:7766f6712673 1565 }
yueee_yt 0:7766f6712673 1566
yueee_yt 0:7766f6712673 1567 /// Allocate a memory block from a memory pool and set memory block to zero
yueee_yt 0:7766f6712673 1568 void *osPoolCAlloc (osPoolId pool_id) {
yueee_yt 0:7766f6712673 1569 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
yueee_yt 0:7766f6712673 1570 return sysPoolAlloc(pool_id, 1);
yueee_yt 0:7766f6712673 1571 } else { // in Thread
yueee_yt 0:7766f6712673 1572 return __sysPoolAlloc(pool_id, 1);
yueee_yt 0:7766f6712673 1573 }
yueee_yt 0:7766f6712673 1574 }
yueee_yt 0:7766f6712673 1575
yueee_yt 0:7766f6712673 1576 /// Return an allocated memory block back to a specific memory pool
yueee_yt 0:7766f6712673 1577 osStatus osPoolFree (osPoolId pool_id, void *block) {
yueee_yt 0:7766f6712673 1578 if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
yueee_yt 0:7766f6712673 1579 return sysPoolFree(pool_id, block);
yueee_yt 0:7766f6712673 1580 } else { // in Thread
yueee_yt 0:7766f6712673 1581 return __sysPoolFree(pool_id, block);
yueee_yt 0:7766f6712673 1582 }
yueee_yt 0:7766f6712673 1583 }
yueee_yt 0:7766f6712673 1584
yueee_yt 0:7766f6712673 1585
yueee_yt 0:7766f6712673 1586 // ==== Message Queue Management Functions ====
yueee_yt 0:7766f6712673 1587
yueee_yt 0:7766f6712673 1588 // Message Queue Management Service Calls declarations
yueee_yt 0:7766f6712673 1589 SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
yueee_yt 0:7766f6712673 1590 SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
yueee_yt 0:7766f6712673 1591 SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
yueee_yt 0:7766f6712673 1592
yueee_yt 0:7766f6712673 1593 // Message Queue Service Calls
yueee_yt 0:7766f6712673 1594
yueee_yt 0:7766f6712673 1595 /// Create and Initialize Message Queue
yueee_yt 0:7766f6712673 1596 osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
yueee_yt 0:7766f6712673 1597
yueee_yt 0:7766f6712673 1598 if ((queue_def == NULL) ||
yueee_yt 0:7766f6712673 1599 (queue_def->queue_sz == 0) ||
yueee_yt 0:7766f6712673 1600 (queue_def->pool == NULL)) {
yueee_yt 0:7766f6712673 1601 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1602 return NULL;
yueee_yt 0:7766f6712673 1603 }
yueee_yt 0:7766f6712673 1604
yueee_yt 0:7766f6712673 1605 if (((P_MCB)queue_def->pool)->cb_type != 0) {
yueee_yt 0:7766f6712673 1606 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1607 return NULL;
yueee_yt 0:7766f6712673 1608 }
yueee_yt 0:7766f6712673 1609
yueee_yt 0:7766f6712673 1610 rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
yueee_yt 0:7766f6712673 1611
yueee_yt 0:7766f6712673 1612 return queue_def->pool;
yueee_yt 0:7766f6712673 1613 }
yueee_yt 0:7766f6712673 1614
yueee_yt 0:7766f6712673 1615 /// Put a Message to a Queue
yueee_yt 0:7766f6712673 1616 osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
yueee_yt 0:7766f6712673 1617 OS_RESULT res;
yueee_yt 0:7766f6712673 1618
yueee_yt 0:7766f6712673 1619 if (queue_id == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1620
yueee_yt 0:7766f6712673 1621 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1622
yueee_yt 0:7766f6712673 1623 res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
yueee_yt 0:7766f6712673 1624
yueee_yt 0:7766f6712673 1625 if (res == OS_R_TMO) {
yueee_yt 0:7766f6712673 1626 return (millisec ? osErrorTimeoutResource : osErrorResource);
yueee_yt 0:7766f6712673 1627 }
yueee_yt 0:7766f6712673 1628
yueee_yt 0:7766f6712673 1629 return osOK;
yueee_yt 0:7766f6712673 1630 }
yueee_yt 0:7766f6712673 1631
yueee_yt 0:7766f6712673 1632 /// Get a Message or Wait for a Message from a Queue
yueee_yt 0:7766f6712673 1633 os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1634 OS_RESULT res;
yueee_yt 0:7766f6712673 1635 osEvent ret;
yueee_yt 0:7766f6712673 1636
yueee_yt 0:7766f6712673 1637 if (queue_id == NULL) {
yueee_yt 0:7766f6712673 1638 ret.status = osErrorParameter;
yueee_yt 0:7766f6712673 1639 return osEvent_ret_status;
yueee_yt 0:7766f6712673 1640 }
yueee_yt 0:7766f6712673 1641
yueee_yt 0:7766f6712673 1642 if (((P_MCB)queue_id)->cb_type != MCB) {
yueee_yt 0:7766f6712673 1643 ret.status = osErrorParameter;
yueee_yt 0:7766f6712673 1644 return osEvent_ret_status;
yueee_yt 0:7766f6712673 1645 }
yueee_yt 0:7766f6712673 1646
yueee_yt 0:7766f6712673 1647 res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
yueee_yt 0:7766f6712673 1648
yueee_yt 0:7766f6712673 1649 if (res == OS_R_TMO) {
yueee_yt 0:7766f6712673 1650 ret.status = millisec ? osEventTimeout : osOK;
yueee_yt 0:7766f6712673 1651 return osEvent_ret_value;
yueee_yt 0:7766f6712673 1652 }
yueee_yt 0:7766f6712673 1653
yueee_yt 0:7766f6712673 1654 ret.status = osEventMessage;
yueee_yt 0:7766f6712673 1655
yueee_yt 0:7766f6712673 1656 return osEvent_ret_value;
yueee_yt 0:7766f6712673 1657 }
yueee_yt 0:7766f6712673 1658
yueee_yt 0:7766f6712673 1659
yueee_yt 0:7766f6712673 1660 // Message Queue ISR Calls
yueee_yt 0:7766f6712673 1661
yueee_yt 0:7766f6712673 1662 /// Put a Message to a Queue
yueee_yt 0:7766f6712673 1663 static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
yueee_yt 0:7766f6712673 1664
yueee_yt 0:7766f6712673 1665 if ((queue_id == NULL) || (millisec != 0)) {
yueee_yt 0:7766f6712673 1666 return osErrorParameter;
yueee_yt 0:7766f6712673 1667 }
yueee_yt 0:7766f6712673 1668
yueee_yt 0:7766f6712673 1669 if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
yueee_yt 0:7766f6712673 1670
yueee_yt 0:7766f6712673 1671 if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
yueee_yt 0:7766f6712673 1672 return osErrorResource;
yueee_yt 0:7766f6712673 1673 }
yueee_yt 0:7766f6712673 1674
yueee_yt 0:7766f6712673 1675 isr_mbx_send(queue_id, (void *)info);
yueee_yt 0:7766f6712673 1676
yueee_yt 0:7766f6712673 1677 return osOK;
yueee_yt 0:7766f6712673 1678 }
yueee_yt 0:7766f6712673 1679
yueee_yt 0:7766f6712673 1680 /// Get a Message or Wait for a Message from a Queue
yueee_yt 0:7766f6712673 1681 static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1682 OS_RESULT res;
yueee_yt 0:7766f6712673 1683 osEvent ret;
yueee_yt 0:7766f6712673 1684
yueee_yt 0:7766f6712673 1685 if ((queue_id == NULL) || (millisec != 0)) {
yueee_yt 0:7766f6712673 1686 ret.status = osErrorParameter;
yueee_yt 0:7766f6712673 1687 return ret;
yueee_yt 0:7766f6712673 1688 }
yueee_yt 0:7766f6712673 1689
yueee_yt 0:7766f6712673 1690 if (((P_MCB)queue_id)->cb_type != MCB) {
yueee_yt 0:7766f6712673 1691 ret.status = osErrorParameter;
yueee_yt 0:7766f6712673 1692 return ret;
yueee_yt 0:7766f6712673 1693 }
yueee_yt 0:7766f6712673 1694
yueee_yt 0:7766f6712673 1695 res = isr_mbx_receive(queue_id, &ret.value.p);
yueee_yt 0:7766f6712673 1696
yueee_yt 0:7766f6712673 1697 if (res != OS_R_MBX) {
yueee_yt 0:7766f6712673 1698 ret.status = osOK;
yueee_yt 0:7766f6712673 1699 return ret;
yueee_yt 0:7766f6712673 1700 }
yueee_yt 0:7766f6712673 1701
yueee_yt 0:7766f6712673 1702 ret.status = osEventMessage;
yueee_yt 0:7766f6712673 1703
yueee_yt 0:7766f6712673 1704 return ret;
yueee_yt 0:7766f6712673 1705 }
yueee_yt 0:7766f6712673 1706
yueee_yt 0:7766f6712673 1707
yueee_yt 0:7766f6712673 1708 // Message Queue Management Public API
yueee_yt 0:7766f6712673 1709
yueee_yt 0:7766f6712673 1710 /// Create and Initialize Message Queue
yueee_yt 0:7766f6712673 1711 osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
yueee_yt 0:7766f6712673 1712 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1713 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1714 // Privileged and not running
yueee_yt 0:7766f6712673 1715 return svcMessageCreate(queue_def, thread_id);
yueee_yt 0:7766f6712673 1716 } else {
yueee_yt 0:7766f6712673 1717 return __svcMessageCreate(queue_def, thread_id);
yueee_yt 0:7766f6712673 1718 }
yueee_yt 0:7766f6712673 1719 }
yueee_yt 0:7766f6712673 1720
yueee_yt 0:7766f6712673 1721 /// Put a Message to a Queue
yueee_yt 0:7766f6712673 1722 osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
yueee_yt 0:7766f6712673 1723 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1724 return isrMessagePut(queue_id, info, millisec);
yueee_yt 0:7766f6712673 1725 } else { // in Thread
yueee_yt 0:7766f6712673 1726 return __svcMessagePut(queue_id, info, millisec);
yueee_yt 0:7766f6712673 1727 }
yueee_yt 0:7766f6712673 1728 }
yueee_yt 0:7766f6712673 1729
yueee_yt 0:7766f6712673 1730 /// Get a Message or Wait for a Message from a Queue
yueee_yt 0:7766f6712673 1731 os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1732 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1733 return isrMessageGet(queue_id, millisec);
yueee_yt 0:7766f6712673 1734 } else { // in Thread
yueee_yt 0:7766f6712673 1735 return __svcMessageGet(queue_id, millisec);
yueee_yt 0:7766f6712673 1736 }
yueee_yt 0:7766f6712673 1737 }
yueee_yt 0:7766f6712673 1738
yueee_yt 0:7766f6712673 1739
yueee_yt 0:7766f6712673 1740 // ==== Mail Queue Management Functions ====
yueee_yt 0:7766f6712673 1741
yueee_yt 0:7766f6712673 1742 // Mail Queue Management Service Calls declarations
yueee_yt 0:7766f6712673 1743 SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
yueee_yt 0:7766f6712673 1744 SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
yueee_yt 0:7766f6712673 1745 SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
yueee_yt 0:7766f6712673 1746
yueee_yt 0:7766f6712673 1747 // Mail Queue Management Service & ISR Calls
yueee_yt 0:7766f6712673 1748
yueee_yt 0:7766f6712673 1749 /// Create and Initialize mail queue
yueee_yt 0:7766f6712673 1750 osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
yueee_yt 0:7766f6712673 1751 uint32_t blk_sz;
yueee_yt 0:7766f6712673 1752 P_MCB pmcb;
yueee_yt 0:7766f6712673 1753 void *pool;
yueee_yt 0:7766f6712673 1754
yueee_yt 0:7766f6712673 1755 if ((queue_def == NULL) ||
yueee_yt 0:7766f6712673 1756 (queue_def->queue_sz == 0) ||
yueee_yt 0:7766f6712673 1757 (queue_def->item_sz == 0) ||
yueee_yt 0:7766f6712673 1758 (queue_def->pool == NULL)) {
yueee_yt 0:7766f6712673 1759 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1760 return NULL;
yueee_yt 0:7766f6712673 1761 }
yueee_yt 0:7766f6712673 1762
yueee_yt 0:7766f6712673 1763 pmcb = *(((void **)queue_def->pool) + 0);
yueee_yt 0:7766f6712673 1764 pool = *(((void **)queue_def->pool) + 1);
yueee_yt 0:7766f6712673 1765
yueee_yt 0:7766f6712673 1766 if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
yueee_yt 0:7766f6712673 1767 sysThreadError(osErrorParameter);
yueee_yt 0:7766f6712673 1768 return NULL;
yueee_yt 0:7766f6712673 1769 }
yueee_yt 0:7766f6712673 1770
yueee_yt 0:7766f6712673 1771 blk_sz = (queue_def->item_sz + 3) & ~3;
yueee_yt 0:7766f6712673 1772
yueee_yt 0:7766f6712673 1773 _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
yueee_yt 0:7766f6712673 1774
yueee_yt 0:7766f6712673 1775 rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
yueee_yt 0:7766f6712673 1776
yueee_yt 0:7766f6712673 1777
yueee_yt 0:7766f6712673 1778 return queue_def->pool;
yueee_yt 0:7766f6712673 1779 }
yueee_yt 0:7766f6712673 1780
yueee_yt 0:7766f6712673 1781 /// Allocate a memory block from a mail
yueee_yt 0:7766f6712673 1782 void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
yueee_yt 0:7766f6712673 1783 P_MCB pmcb;
yueee_yt 0:7766f6712673 1784 void *pool;
yueee_yt 0:7766f6712673 1785 void *mem;
yueee_yt 0:7766f6712673 1786
yueee_yt 0:7766f6712673 1787 if (queue_id == NULL) return NULL;
yueee_yt 0:7766f6712673 1788
yueee_yt 0:7766f6712673 1789 pmcb = *(((void **)queue_id) + 0);
yueee_yt 0:7766f6712673 1790 pool = *(((void **)queue_id) + 1);
yueee_yt 0:7766f6712673 1791
yueee_yt 0:7766f6712673 1792 if ((pool == NULL) || (pmcb == NULL)) return NULL;
yueee_yt 0:7766f6712673 1793
yueee_yt 0:7766f6712673 1794 if (isr && (millisec != 0)) return NULL;
yueee_yt 0:7766f6712673 1795
yueee_yt 0:7766f6712673 1796 mem = rt_alloc_box(pool);
yueee_yt 0:7766f6712673 1797 if (clr) {
yueee_yt 0:7766f6712673 1798 rt_clr_box(pool, mem);
yueee_yt 0:7766f6712673 1799 }
yueee_yt 0:7766f6712673 1800
yueee_yt 0:7766f6712673 1801 if ((mem == NULL) && (millisec != 0)) {
yueee_yt 0:7766f6712673 1802 // Put Task to sleep when Memory not available
yueee_yt 0:7766f6712673 1803 if (pmcb->p_lnk != NULL) {
yueee_yt 0:7766f6712673 1804 rt_put_prio((P_XCB)pmcb, os_tsk.run);
yueee_yt 0:7766f6712673 1805 } else {
yueee_yt 0:7766f6712673 1806 pmcb->p_lnk = os_tsk.run;
yueee_yt 0:7766f6712673 1807 os_tsk.run->p_lnk = NULL;
yueee_yt 0:7766f6712673 1808 os_tsk.run->p_rlnk = (P_TCB)pmcb;
yueee_yt 0:7766f6712673 1809 // Task is waiting to allocate a message
yueee_yt 0:7766f6712673 1810 pmcb->state = 3;
yueee_yt 0:7766f6712673 1811 }
yueee_yt 0:7766f6712673 1812 rt_block(rt_ms2tick(millisec), WAIT_MBX);
yueee_yt 0:7766f6712673 1813 }
yueee_yt 0:7766f6712673 1814
yueee_yt 0:7766f6712673 1815 return mem;
yueee_yt 0:7766f6712673 1816 }
yueee_yt 0:7766f6712673 1817
yueee_yt 0:7766f6712673 1818 /// Free a memory block from a mail
yueee_yt 0:7766f6712673 1819 osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
yueee_yt 0:7766f6712673 1820 P_MCB pmcb;
yueee_yt 0:7766f6712673 1821 P_TCB ptcb;
yueee_yt 0:7766f6712673 1822 void *pool;
yueee_yt 0:7766f6712673 1823 void *mem;
yueee_yt 0:7766f6712673 1824 int32_t res;
yueee_yt 0:7766f6712673 1825
yueee_yt 0:7766f6712673 1826 if (queue_id == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1827
yueee_yt 0:7766f6712673 1828 pmcb = *(((void **)queue_id) + 0);
yueee_yt 0:7766f6712673 1829 pool = *(((void **)queue_id) + 1);
yueee_yt 0:7766f6712673 1830
yueee_yt 0:7766f6712673 1831 if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
yueee_yt 0:7766f6712673 1832
yueee_yt 0:7766f6712673 1833 res = rt_free_box(pool, mail);
yueee_yt 0:7766f6712673 1834
yueee_yt 0:7766f6712673 1835 if (res != 0) return osErrorValue;
yueee_yt 0:7766f6712673 1836
yueee_yt 0:7766f6712673 1837 if (pmcb->state == 3) {
yueee_yt 0:7766f6712673 1838 // Task is waiting to allocate a message
yueee_yt 0:7766f6712673 1839 if (isr) {
yueee_yt 0:7766f6712673 1840 rt_psq_enq (pmcb, (U32)pool);
yueee_yt 0:7766f6712673 1841 rt_psh_req ();
yueee_yt 0:7766f6712673 1842 } else {
yueee_yt 0:7766f6712673 1843 mem = rt_alloc_box(pool);
yueee_yt 0:7766f6712673 1844 if (mem != NULL) {
yueee_yt 0:7766f6712673 1845 ptcb = rt_get_first((P_XCB)pmcb);
yueee_yt 0:7766f6712673 1846 if (pmcb->p_lnk == NULL) {
yueee_yt 0:7766f6712673 1847 pmcb->state = 0;
yueee_yt 0:7766f6712673 1848 }
yueee_yt 0:7766f6712673 1849 rt_ret_val(ptcb, (U32)mem);
yueee_yt 0:7766f6712673 1850 rt_rmv_dly(ptcb);
yueee_yt 0:7766f6712673 1851 rt_dispatch(ptcb);
yueee_yt 0:7766f6712673 1852 }
yueee_yt 0:7766f6712673 1853 }
yueee_yt 0:7766f6712673 1854 }
yueee_yt 0:7766f6712673 1855
yueee_yt 0:7766f6712673 1856 return osOK;
yueee_yt 0:7766f6712673 1857 }
yueee_yt 0:7766f6712673 1858
yueee_yt 0:7766f6712673 1859
yueee_yt 0:7766f6712673 1860 // Mail Queue Management Public API
yueee_yt 0:7766f6712673 1861
yueee_yt 0:7766f6712673 1862 /// Create and Initialize mail queue
yueee_yt 0:7766f6712673 1863 osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
yueee_yt 0:7766f6712673 1864 if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
yueee_yt 0:7766f6712673 1865 if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
yueee_yt 0:7766f6712673 1866 // Privileged and not running
yueee_yt 0:7766f6712673 1867 return svcMailCreate(queue_def, thread_id);
yueee_yt 0:7766f6712673 1868 } else {
yueee_yt 0:7766f6712673 1869 return __svcMailCreate(queue_def, thread_id);
yueee_yt 0:7766f6712673 1870 }
yueee_yt 0:7766f6712673 1871 }
yueee_yt 0:7766f6712673 1872
yueee_yt 0:7766f6712673 1873 /// Allocate a memory block from a mail
yueee_yt 0:7766f6712673 1874 void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1875 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1876 return sysMailAlloc(queue_id, millisec, 1, 0);
yueee_yt 0:7766f6712673 1877 } else { // in Thread
yueee_yt 0:7766f6712673 1878 return __sysMailAlloc(queue_id, millisec, 0, 0);
yueee_yt 0:7766f6712673 1879 }
yueee_yt 0:7766f6712673 1880 }
yueee_yt 0:7766f6712673 1881
yueee_yt 0:7766f6712673 1882 /// Allocate a memory block from a mail and set memory block to zero
yueee_yt 0:7766f6712673 1883 void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1884 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1885 return sysMailAlloc(queue_id, millisec, 1, 1);
yueee_yt 0:7766f6712673 1886 } else { // in Thread
yueee_yt 0:7766f6712673 1887 return __sysMailAlloc(queue_id, millisec, 0, 1);
yueee_yt 0:7766f6712673 1888 }
yueee_yt 0:7766f6712673 1889 }
yueee_yt 0:7766f6712673 1890
yueee_yt 0:7766f6712673 1891 /// Free a memory block from a mail
yueee_yt 0:7766f6712673 1892 osStatus osMailFree (osMailQId queue_id, void *mail) {
yueee_yt 0:7766f6712673 1893 if (__get_IPSR() != 0) { // in ISR
yueee_yt 0:7766f6712673 1894 return sysMailFree(queue_id, mail, 1);
yueee_yt 0:7766f6712673 1895 } else { // in Thread
yueee_yt 0:7766f6712673 1896 return __sysMailFree(queue_id, mail, 0);
yueee_yt 0:7766f6712673 1897 }
yueee_yt 0:7766f6712673 1898 }
yueee_yt 0:7766f6712673 1899
yueee_yt 0:7766f6712673 1900 /// Put a mail to a queue
yueee_yt 0:7766f6712673 1901 osStatus osMailPut (osMailQId queue_id, void *mail) {
yueee_yt 0:7766f6712673 1902 if (queue_id == NULL) return osErrorParameter;
yueee_yt 0:7766f6712673 1903 if (mail == NULL) return osErrorValue;
yueee_yt 0:7766f6712673 1904 return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
yueee_yt 0:7766f6712673 1905 }
yueee_yt 0:7766f6712673 1906
yueee_yt 0:7766f6712673 1907 /// Get a mail from a queue
yueee_yt 0:7766f6712673 1908 os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
yueee_yt 0:7766f6712673 1909 osEvent ret;
yueee_yt 0:7766f6712673 1910
yueee_yt 0:7766f6712673 1911 if (queue_id == NULL) {
yueee_yt 0:7766f6712673 1912 ret.status = osErrorParameter;
yueee_yt 0:7766f6712673 1913 return ret;
yueee_yt 0:7766f6712673 1914 }
yueee_yt 0:7766f6712673 1915
yueee_yt 0:7766f6712673 1916 ret = osMessageGet(*((void **)queue_id), millisec);
yueee_yt 0:7766f6712673 1917 if (ret.status == osEventMessage) ret.status = osEventMail;
yueee_yt 0:7766f6712673 1918
yueee_yt 0:7766f6712673 1919 return ret;
yueee_yt 0:7766f6712673 1920 }