雄介 太田
mbed-rtos
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Diff: rtx/rt_CMSIS.c
- Revision:
- 49:77c8e4604045
- Parent:
- 48:e9a2c7cb57a4
- Child:
- 50:64a5202c3676
--- a/rtx/rt_CMSIS.c Thu Nov 06 11:00:33 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1920 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: rt_CMSIS.c
- * Purpose: CMSIS RTOS API
- * Rev.: V4.60
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#define __CMSIS_GENERIC
-
-#if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
- #include "core_cm4.h"
-#elif defined (__CORTEX_M3)
- #include "core_cm3.h"
-#elif defined (__CORTEX_M0)
- #include "core_cm0.h"
-#elif defined (__CORTEX_M0PLUS)
- #include "core_cm0plus.h"
-#else
- #error "Missing __CORTEX_Mx definition"
-#endif
-
-#include "rt_TypeDef.h"
-#include "RTX_Conf.h"
-#include "rt_System.h"
-#include "rt_Task.h"
-#include "rt_Event.h"
-#include "rt_List.h"
-#include "rt_Time.h"
-#include "rt_Mutex.h"
-#include "rt_Semaphore.h"
-#include "rt_Mailbox.h"
-#include "rt_MemBox.h"
-#include "rt_HAL_CM.h"
-
-#define os_thread_cb OS_TCB
-
-#include "cmsis_os.h"
-
-#if (osFeature_Signals != 16)
-#error Invalid "osFeature_Signals" value!
-#endif
-#if (osFeature_Semaphore > 65535)
-#error Invalid "osFeature_Semaphore" value!
-#endif
-#if (osFeature_Wait != 0)
-#error osWait not supported!
-#endif
-
-
-// ==== Enumeration, structures, defines ====
-
-// Service Calls defines
-
-#if defined (__CC_ARM) /* ARM Compiler */
-
-#define __NO_RETURN __declspec(noreturn)
-
-#define osEvent_type osEvent
-#define osEvent_ret_status ret
-#define osEvent_ret_value ret
-#define osEvent_ret_msg ret
-#define osEvent_ret_mail ret
-
-#define osCallback_type osCallback
-#define osCallback_ret ret
-
-#define SVC_0_1(f,t,...) \
-__svc_indirect(0) t _##f (t(*)()); \
- t f (void); \
-__attribute__((always_inline)) \
-static __inline t __##f (void) { \
- return _##f(f); \
-}
-
-#define SVC_1_1(f,t,t1,...) \
-__svc_indirect(0) t _##f (t(*)(t1),t1); \
- t f (t1 a1); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1) { \
- return _##f(f,a1); \
-}
-
-#define SVC_2_1(f,t,t1,t2,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
- t f (t1 a1, t2 a2); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2) { \
- return _##f(f,a1,a2); \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
- t f (t1 a1, t2 a2, t3 a3); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
- return _##f(f,a1,a2,a3); \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
- t f (t1 a1, t2 a2, t3 a3, t4 a4); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- return _##f(f,a1,a2,a3,a4); \
-}
-
-#define SVC_1_2 SVC_1_1
-#define SVC_1_3 SVC_1_1
-#define SVC_2_3 SVC_2_1
-
-#elif defined (__GNUC__) /* GNU Compiler */
-
-#define __NO_RETURN __attribute__((noreturn))
-
-typedef uint32_t __attribute__((vector_size(8))) ret64;
-typedef uint32_t __attribute__((vector_size(16))) ret128;
-
-#define RET_pointer __r0
-#define RET_int32_t __r0
-#define RET_osStatus __r0
-#define RET_osPriority __r0
-#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
-#define RET_osCallback {(void *)__r0, (void *)__r1}
-
-#define osEvent_type ret128
-#define osEvent_ret_status (ret128){ret.status}
-#define osEvent_ret_value (ret128){ret.status, ret.value.v}
-#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
-#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
-
-#define osCallback_type ret64
-#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
-
-#define SVC_ArgN(n) \
- register int __r##n __asm("r"#n);
-
-#define SVC_ArgR(n,t,a) \
- register t __r##n __asm("r"#n) = a;
-
-#define SVC_Arg0() \
- SVC_ArgN(0) \
- SVC_ArgN(1) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg1(t1) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgN(1) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg2(t1,t2) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg3(t1,t2,t3) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgR(2,t3,a3) \
- SVC_ArgN(3)
-
-#define SVC_Arg4(t1,t2,t3,t4) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgR(2,t3,a3) \
- SVC_ArgR(3,t4,a4)
-
-#if (defined (__CORTEX_M0)) || defined (__CORTEX_M0PLUS)
-#define SVC_Call(f) \
- __asm volatile \
- ( \
- "ldr r7,="#f"\n\t" \
- "mov r12,r7\n\t" \
- "svc 0" \
- : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
- : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
- : "r7", "r12", "lr", "cc" \
- );
-#else
-#define SVC_Call(f) \
- __asm volatile \
- ( \
- "ldr r12,="#f"\n\t" \
- "svc 0" \
- : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
- : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
- : "r12", "lr", "cc" \
- );
-#endif
-
-#define SVC_0_1(f,t,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (void) { \
- SVC_Arg0(); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_1_1(f,t,t1,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1) { \
- SVC_Arg1(t1); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_2_1(f,t,t1,t2,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2) { \
- SVC_Arg2(t1,t2); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2, t3 a3) { \
- SVC_Arg3(t1,t2,t3); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- SVC_Arg4(t1,t2,t3,t4); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_1_2 SVC_1_1
-#define SVC_1_3 SVC_1_1
-#define SVC_2_3 SVC_2_1
-
-#elif defined (__ICCARM__) /* IAR Compiler */
-
-#define __NO_RETURN __noreturn
-
-#define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
-#define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
-
-#define osEvent_type osEvent
-#define osEvent_ret_status ret
-#define osEvent_ret_value ret
-#define osEvent_ret_msg ret
-#define osEvent_ret_mail ret
-
-#define osCallback_type uint64_t
-#define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
-
-#define SVC_Setup(f) \
- __asm( \
- "mov r12,%0\n" \
- :: "r"(&f): "r12" \
- );
-
-#define SVC_Ret3() \
- __asm( \
- "ldr r0,[sp,#0]\n" \
- "ldr r1,[sp,#4]\n" \
- "ldr r2,[sp,#8]\n" \
- );
-
-#define SVC_0_1(f,t,...) \
-t f (void); \
-_Pragma("swi_number=0") __swi t _##f (void); \
-static inline t __##f (void) { \
- SVC_Setup(f); \
- return _##f(); \
-}
-
-#define SVC_1_1(f,t,t1,...) \
-t f (t1 a1); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- SVC_Setup(f); \
- return _##f(a1); \
-}
-
-#define SVC_2_1(f,t,t1,t2,...) \
-t f (t1 a1, t2 a2); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
-static inline t __##f (t1 a1, t2 a2) { \
- SVC_Setup(f); \
- return _##f(a1,a2); \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,...) \
-t f (t1 a1, t2 a2, t3 a3); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
-static inline t __##f (t1 a1, t2 a2, t3 a3) { \
- SVC_Setup(f); \
- return _##f(a1,a2,a3); \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
-t f (t1 a1, t2 a2, t3 a3, t4 a4); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
-static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- SVC_Setup(f); \
- return _##f(a1,a2,a3,a4); \
-}
-
-#define SVC_1_2(f,t,t1,rr) \
-uint64_t f (t1 a1); \
-_Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- t ret; \
- SVC_Setup(f); \
- _##f(a1); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#define SVC_1_3(f,t,t1,rr) \
-t f (t1 a1); \
-void f##_ (t1 a1) { \
- f(a1); \
- SVC_Ret3(); \
-} \
-_Pragma("swi_number=0") __swi void _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- t ret; \
- SVC_Setup(f##_); \
- _##f(a1); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#define SVC_2_3(f,t,t1,t2,rr) \
-t f (t1 a1, t2 a2); \
-void f##_ (t1 a1, t2 a2) { \
- f(a1,a2); \
- SVC_Ret3(); \
-} \
-_Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
-static inline t __##f (t1 a1, t2 a2) { \
- t ret; \
- SVC_Setup(f##_); \
- _##f(a1,a2); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#endif
-
-
-// Callback structure
-typedef struct {
- void *fp; // Function pointer
- void *arg; // Function argument
-} osCallback;
-
-
-// OS Section definitions
-#ifdef OS_SECTIONS_LINK_INFO
-extern const uint32_t os_section_id$$Base;
-extern const uint32_t os_section_id$$Limit;
-#endif
-
-// OS Timers external resources
-extern osThreadDef_t os_thread_def_osTimerThread;
-extern osThreadId osThreadId_osTimerThread;
-extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
-extern osMessageQId osMessageQId_osTimerMessageQ;
-
-
-// ==== Helper Functions ====
-
-/// Convert timeout in millisec to system ticks
-static uint32_t rt_ms2tick (uint32_t millisec) {
- uint32_t tick;
-
- if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
- if (millisec > 4000000) return 0xFFFE; // Max ticks supported
-
- tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
- if (tick > 0xFFFE) return 0xFFFE;
-
- return tick;
-}
-
-/// Convert Thread ID to TCB pointer
-static P_TCB rt_tid2ptcb (osThreadId thread_id) {
- P_TCB ptcb;
-
- if (thread_id == NULL) return NULL;
-
- if ((uint32_t)thread_id & 3) return NULL;
-
-#ifdef OS_SECTIONS_LINK_INFO
- if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
- if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
- if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
- }
-#endif
-
- ptcb = thread_id;
-
- if (ptcb->cb_type != TCB) return NULL;
-
- return ptcb;
-}
-
-/// Convert ID pointer to Object pointer
-static void *rt_id2obj (void *id) {
-
- if ((uint32_t)id & 3) return NULL;
-
-#ifdef OS_SECTIONS_LINK_INFO
- if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
- if (id < (void *)os_section_id$$Base) return NULL;
- if (id >= (void *)os_section_id$$Limit) return NULL;
- }
-#endif
-
- return id;
-}
-
-
-// ==== Kernel Control ====
-
-uint8_t os_initialized; // Kernel Initialized flag
-uint8_t os_running; // Kernel Running flag
-
-// Kernel Control Service Calls declarations
-SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
-SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
-SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
-
-extern void sysThreadError (osStatus status);
-osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
-osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
-
-// Kernel Control Service Calls
-
-/// Initialize the RTOS Kernel for creating objects
-osStatus svcKernelInitialize (void) {
- if (os_initialized) return osOK;
-
- rt_sys_init(); // RTX System Initialization
- os_tsk.run->prio = 255; // Highest priority
-
- sysThreadError(osOK);
-
- os_initialized = 1;
-
- return osOK;
-}
-
-/// Start the RTOS Kernel
-osStatus svcKernelStart (void) {
-
- if (os_running) return osOK;
-
- // Create OS Timers resources (Message Queue & Thread)
- osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
- osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
-
- rt_tsk_prio(0, 0); // Lowest priority
- __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
- os_tsk.run = NULL; // Force context switch
-
- rt_sys_start();
-
- os_running = 1;
-
- return osOK;
-}
-
-/// Check if the RTOS kernel is already started
-int32_t svcKernelRunning(void) {
- return os_running;
-}
-
-// Kernel Control Public API
-
-/// Initialize the RTOS Kernel for creating objects
-osStatus osKernelInitialize (void) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- if ((__get_CONTROL() & 1) == 0) { // Privileged mode
- return svcKernelInitialize();
- } else {
- return __svcKernelInitialize();
- }
-}
-
-/// Start the RTOS Kernel
-osStatus osKernelStart (void) {
- uint32_t stack[8];
-
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- switch (__get_CONTROL() & 0x03) {
- case 0x00: // Privileged Thread mode & MSP
- __set_PSP((uint32_t)(stack + 8)); // Initial PSP
- if (os_flags & 1) {
- __set_CONTROL(0x02); // Set Privileged Thread mode & PSP
- } else {
- __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
- }
- __DSB();
- __ISB();
- break;
- case 0x01: // Unprivileged Thread mode & MSP
- return osErrorOS;
- case 0x02: // Privileged Thread mode & PSP
- if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
- __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
- __DSB();
- __ISB();
- }
- break;
- case 0x03: // Unprivileged Thread mode & PSP
- if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
- break;
- }
- return __svcKernelStart();
-}
-
-/// Check if the RTOS kernel is already started
-int32_t osKernelRunning(void) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) {
- // in ISR or Privileged
- return os_running;
- } else {
- return __svcKernelRunning();
- }
-}
-
-
-// ==== Thread Management ====
-
-__NO_RETURN void osThreadExit (void);
-
-// Thread Service Calls declarations
-SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
-SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
-SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
-SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
-SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
-SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
-
-// Thread Service Calls
-extern OS_TID rt_get_TID (void);
-extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
-
-/// Create a thread and add it to Active Threads and set it to state READY
-osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
- P_TCB ptcb;
-
- if ((thread_def == NULL) ||
- (thread_def->pthread == NULL) ||
- (thread_def->tpriority < osPriorityIdle) ||
- (thread_def->tpriority > osPriorityRealtime) ||
- (thread_def->stacksize == 0) ||
- (thread_def->stack_pointer == NULL) ) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- U8 priority = thread_def->tpriority - osPriorityIdle + 1;
- P_TCB task_context = &thread_def->tcb;
-
- /* If "size != 0" use a private user provided stack. */
- task_context->stack = (U32*)thread_def->stack_pointer;
- task_context->priv_stack = thread_def->stacksize;
- /* Pass parameter 'argv' to 'rt_init_context' */
- task_context->msg = argument;
- /* For 'size == 0' system allocates the user stack from the memory pool. */
- rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
-
- /* Find a free entry in 'os_active_TCB' table. */
- OS_TID tsk = rt_get_TID ();
- os_active_TCB[tsk-1] = task_context;
- task_context->task_id = tsk;
- DBG_TASK_NOTIFY(task_context, __TRUE);
- rt_dispatch (task_context);
-
- ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
-
- *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
-
- return ptcb;
-}
-
-/// Return the thread ID of the current running thread
-osThreadId svcThreadGetId (void) {
- OS_TID tsk;
-
- tsk = rt_tsk_self();
- if (tsk == 0) return NULL;
- return (P_TCB)os_active_TCB[tsk - 1];
-}
-
-/// Terminate execution of a thread and remove it from ActiveThreads
-osStatus svcThreadTerminate (osThreadId thread_id) {
- OS_RESULT res;
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osErrorParameter;
-
- res = rt_tsk_delete(ptcb->task_id); // Delete task
-
- if (res == OS_R_NOK) return osErrorResource; // Delete task failed
-
- return osOK;
-}
-
-/// Pass control to next thread that is in state READY
-osStatus svcThreadYield (void) {
- rt_tsk_pass(); // Pass control to next task
- return osOK;
-}
-
-/// Change priority of an active thread
-osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
- OS_RESULT res;
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osErrorParameter;
-
- if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
- return osErrorValue;
- }
-
- res = rt_tsk_prio( // Change task priority
- ptcb->task_id, // Task ID
- priority - osPriorityIdle + 1 // New task priority
- );
-
- if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
-
- return osOK;
-}
-
-/// Get current priority of an active thread
-osPriority svcThreadGetPriority (osThreadId thread_id) {
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osPriorityError;
-
- return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
-}
-
-
-// Thread Public API
-
-/// Create a thread and add it to Active Threads and set it to state READY
-osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcThreadCreate(thread_def, argument);
- } else {
- return __svcThreadCreate(thread_def, argument);
- }
-}
-
-/// Return the thread ID of the current running thread
-osThreadId osThreadGetId (void) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- return __svcThreadGetId();
-}
-
-/// Terminate execution of a thread and remove it from ActiveThreads
-osStatus osThreadTerminate (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadTerminate(thread_id);
-}
-
-/// Pass control to next thread that is in state READY
-osStatus osThreadYield (void) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadYield();
-}
-
-/// Change priority of an active thread
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadSetPriority(thread_id, priority);
-}
-
-/// Get current priority of an active thread
-osPriority osThreadGetPriority (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
- return __svcThreadGetPriority(thread_id);
-}
-
-/// INTERNAL - Not Public
-/// Auto Terminate Thread on exit (used implicitly when thread exists)
-__NO_RETURN void osThreadExit (void) {
- __svcThreadTerminate(__svcThreadGetId());
- for (;;); // Should never come here
-}
-
-
-// ==== Generic Wait Functions ====
-
-// Generic Wait Service Calls declarations
-SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
-#if osFeature_Wait != 0
-SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
-#endif
-
-// Generic Wait Service Calls
-
-/// Wait for Timeout (Time Delay)
-osStatus svcDelay (uint32_t millisec) {
- if (millisec == 0) return osOK;
- rt_dly_wait(rt_ms2tick(millisec));
- return osEventTimeout;
-}
-
-/// Wait for Signal, Message, Mail, or Timeout
-#if osFeature_Wait != 0
-os_InRegs osEvent_type svcWait (uint32_t millisec) {
- osEvent ret;
-
- if (millisec == 0) {
- ret.status = osOK;
- return osEvent_ret_status;
- }
-
- /* To Do: osEventSignal, osEventMessage, osEventMail */
- rt_dly_wait(rt_ms2tick(millisec));
- ret.status = osEventTimeout;
-
- return osEvent_ret_status;
-}
-#endif
-
-
-// Generic Wait API
-
-/// Wait for Timeout (Time Delay)
-osStatus osDelay (uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcDelay(millisec);
-}
-
-/// Wait for Signal, Message, Mail, or Timeout
-os_InRegs osEvent osWait (uint32_t millisec) {
- osEvent ret;
-
-#if osFeature_Wait == 0
- ret.status = osErrorOS;
- return ret;
-#else
- if (__get_IPSR() != 0) { // Not allowed in ISR
- ret.status = osErrorISR;
- return ret;
- }
- return __svcWait(millisec);
-#endif
-}
-
-
-// ==== Timer Management ====
-
-// Timer definitions
-#define osTimerInvalid 0
-#define osTimerStopped 1
-#define osTimerRunning 2
-
-// Timer structures
-
-typedef struct os_timer_cb_ { // Timer Control Block
- struct os_timer_cb_ *next; // Pointer to next active Timer
- uint8_t state; // Timer State
- uint8_t type; // Timer Type (Periodic/One-shot)
- uint16_t reserved; // Reserved
- uint16_t tcnt; // Timer Delay Count
- uint16_t icnt; // Timer Initial Count
- void *arg; // Timer Function Argument
- osTimerDef_t *timer; // Pointer to Timer definition
-} os_timer_cb;
-
-// Timer variables
-os_timer_cb *os_timer_head; // Pointer to first active Timer
-
-
-// Timer Helper Functions
-
-// Insert Timer into the list sorted by time
-static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
- os_timer_cb *p, *prev;
-
- prev = NULL;
- p = os_timer_head;
- while (p != NULL) {
- if (tcnt < p->tcnt) break;
- tcnt -= p->tcnt;
- prev = p;
- p = p->next;
- }
- pt->next = p;
- pt->tcnt = (uint16_t)tcnt;
- if (p != NULL) {
- p->tcnt -= pt->tcnt;
- }
- if (prev != NULL) {
- prev->next = pt;
- } else {
- os_timer_head = pt;
- }
-}
-
-// Remove Timer from the list
-static int rt_timer_remove (os_timer_cb *pt) {
- os_timer_cb *p, *prev;
-
- prev = NULL;
- p = os_timer_head;
- while (p != NULL) {
- if (p == pt) break;
- prev = p;
- p = p->next;
- }
- if (p == NULL) return -1;
- if (prev != NULL) {
- prev->next = pt->next;
- } else {
- os_timer_head = pt->next;
- }
- if (pt->next != NULL) {
- pt->next->tcnt += pt->tcnt;
- }
-
- return 0;
-}
-
-
-// Timer Service Calls declarations
-SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
-SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
-SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
-SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
-SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
-
-// Timer Management Service Calls
-
-/// Create timer
-osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
- os_timer_cb *pt;
-
- if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- pt = timer_def->timer;
- if (pt == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
- sysThreadError(osErrorValue);
- return NULL;
- }
-
- if (osThreadId_osTimerThread == NULL) {
- sysThreadError(osErrorResource);
- return NULL;
- }
-
- if (pt->state != osTimerInvalid){
- sysThreadError(osErrorResource);
- return NULL;
- }
-
- pt->state = osTimerStopped;
- pt->type = (uint8_t)type;
- pt->arg = argument;
- pt->timer = timer_def;
-
- return (osTimerId)pt;
-}
-
-/// Start or restart timer
-osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
- os_timer_cb *pt;
- uint32_t tcnt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- tcnt = rt_ms2tick(millisec);
- if (tcnt == 0) return osErrorValue;
-
- switch (pt->state) {
- case osTimerRunning:
- if (rt_timer_remove(pt) != 0) {
- return osErrorResource;
- }
- break;
- case osTimerStopped:
- pt->state = osTimerRunning;
- pt->icnt = (uint16_t)tcnt;
- break;
- default:
- return osErrorResource;
- }
-
- rt_timer_insert(pt, tcnt);
-
- return osOK;
-}
-
-/// Stop timer
-osStatus svcTimerStop (osTimerId timer_id) {
- os_timer_cb *pt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- if (pt->state != osTimerRunning) return osErrorResource;
-
- pt->state = osTimerStopped;
-
- if (rt_timer_remove(pt) != 0) {
- return osErrorResource;
- }
-
- return osOK;
-}
-
-/// Delete timer
-osStatus svcTimerDelete (osTimerId timer_id) {
- os_timer_cb *pt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- switch (pt->state) {
- case osTimerRunning:
- rt_timer_remove(pt);
- break;
- case osTimerStopped:
- break;
- default:
- return osErrorResource;
- }
-
- pt->state = osTimerInvalid;
-
- return osOK;
-}
-
-/// Get timer callback parameters
-os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
- os_timer_cb *pt;
- osCallback ret;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) {
- ret.fp = NULL;
- ret.arg = NULL;
- return osCallback_ret;
- }
-
- ret.fp = (void *)pt->timer->ptimer;
- ret.arg = pt->arg;
-
- return osCallback_ret;
-}
-
-static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
-
-/// Timer Tick (called each SysTick)
-void sysTimerTick (void) {
- os_timer_cb *pt, *p;
-
- p = os_timer_head;
- if (p == NULL) return;
-
- p->tcnt--;
- while ((p != NULL) && (p->tcnt == 0)) {
- pt = p;
- p = p->next;
- os_timer_head = p;
- isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
- if (pt->type == osTimerPeriodic) {
- rt_timer_insert(pt, pt->icnt);
- } else {
- pt->state = osTimerStopped;
- }
- }
-}
-
-
-// Timer Management Public API
-
-/// Create timer
-osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcTimerCreate(timer_def, type, argument);
- } else {
- return __svcTimerCreate(timer_def, type, argument);
- }
-}
-
-/// Start or restart timer
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerStart(timer_id, millisec);
-}
-
-/// Stop timer
-osStatus osTimerStop (osTimerId timer_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerStop(timer_id);
-}
-
-/// Delete timer
-osStatus osTimerDelete (osTimerId timer_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerDelete(timer_id);
-}
-
-/// INTERNAL - Not Public
-/// Get timer callback parameters (used by OS Timer Thread)
-os_InRegs osCallback osTimerCall (osTimerId timer_id) {
- return __svcTimerCall(timer_id);
-}
-
-
-// Timer Thread
-__NO_RETURN void osTimerThread (void const *argument) {
- osCallback cb;
- osEvent evt;
-
- for (;;) {
- evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
- if (evt.status == osEventMessage) {
- cb = osTimerCall(evt.value.p);
- if (cb.fp != NULL) {
- (*(os_ptimer)cb.fp)(cb.arg);
- }
- }
- }
-}
-
-
-// ==== Signal Management ====
-
-// Signal Service Calls declarations
-SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
-SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
-SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
-SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
-
-// Signal Service Calls
-
-/// Set the specified Signal Flags of an active thread
-int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- rt_evt_set(signals, ptcb->task_id); // Set event flags
-
- return sig;
-}
-
-/// Clear the specified Signal Flags of an active thread
-int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- rt_evt_clr(signals, ptcb->task_id); // Clear event flags
-
- return sig;
-}
-
-/// Get Signal Flags status of an active thread
-int32_t svcSignalGet (osThreadId thread_id) {
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- return ptcb->events; // Return event flags
-}
-
-/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
-os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if (signals & (0xFFFFFFFF << osFeature_Signals)) {
- ret.status = osErrorValue;
- return osEvent_ret_status;
- }
-
- if (signals != 0) { // Wait for all specified signals
- res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
- } else { // Wait for any signal
- res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
- }
-
- if (res == OS_R_EVT) {
- ret.status = osEventSignal;
- ret.value.signals = signals ? signals : os_tsk.run->waits;
- } else {
- ret.status = millisec ? osEventTimeout : osOK;
- ret.value.signals = 0;
- }
-
- return osEvent_ret_value;
-}
-
-
-// Signal ISR Calls
-
-/// Set the specified Signal Flags of an active thread
-static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- isr_evt_set(signals, ptcb->task_id); // Set event flags
-
- return sig;
-}
-
-
-// Signal Public API
-
-/// Set the specified Signal Flags of an active thread
-int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
- if (__get_IPSR() != 0) { // in ISR
- return isrSignalSet(thread_id, signals);
- } else { // in Thread
- return __svcSignalSet(thread_id, signals);
- }
-}
-
-/// Clear the specified Signal Flags of an active thread
-int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSignalClear(thread_id, signals);
-}
-
-/// Get Signal Flags status of an active thread
-int32_t osSignalGet (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSignalGet(thread_id);
-}
-
-/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
-os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
- osEvent ret;
-
- if (__get_IPSR() != 0) { // Not allowed in ISR
- ret.status = osErrorISR;
- return ret;
- }
- return __svcSignalWait(signals, millisec);
-}
-
-
-// ==== Mutex Management ====
-
-// Mutex Service Calls declarations
-SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
-SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
-SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
-SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
-
-// Mutex Service Calls
-
-/// Create and Initialize a Mutex object
-osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
- OS_ID mut;
-
- if (mutex_def == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- mut = mutex_def->mutex;
- if (mut == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_MUCB)mut)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- rt_mut_init(mut); // Initialize Mutex
-
- return mut;
-}
-
-/// Wait until a Mutex becomes available
-osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
- OS_ID mut;
- OS_RESULT res;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
-
- if (res == OS_R_TMO) {
- return (millisec ? osErrorTimeoutResource : osErrorResource);
- }
-
- return osOK;
-}
-
-/// Release a Mutex that was obtained with osMutexWait
-osStatus svcMutexRelease (osMutexId mutex_id) {
- OS_ID mut;
- OS_RESULT res;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- res = rt_mut_release(mut); // Release Mutex
-
- if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
-
- return osOK;
-}
-
-/// Delete a Mutex that was created by osMutexCreate
-osStatus svcMutexDelete (osMutexId mutex_id) {
- OS_ID mut;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- rt_mut_delete(mut); // Release Mutex
-
- return osOK;
-}
-
-
-// Mutex Public API
-
-/// Create and Initialize a Mutex object
-osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMutexCreate(mutex_def);
- } else {
- return __svcMutexCreate(mutex_def);
- }
-}
-
-/// Wait until a Mutex becomes available
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexWait(mutex_id, millisec);
-}
-
-/// Release a Mutex that was obtained with osMutexWait
-osStatus osMutexRelease (osMutexId mutex_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexRelease(mutex_id);
-}
-
-/// Delete a Mutex that was created by osMutexCreate
-osStatus osMutexDelete (osMutexId mutex_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexDelete(mutex_id);
-}
-
-
-// ==== Semaphore Management ====
-
-// Semaphore Service Calls declarations
-SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
-SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
-SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
-SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
-
-// Semaphore Service Calls
-
-/// Create and Initialize a Semaphore object
-osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
- OS_ID sem;
-
- if (semaphore_def == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- sem = semaphore_def->semaphore;
- if (sem == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_SCB)sem)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (count > osFeature_Semaphore) {
- sysThreadError(osErrorValue);
- return NULL;
- }
-
- rt_sem_init(sem, count); // Initialize Semaphore
-
- return sem;
-}
-
-/// Wait until a Semaphore becomes available
-int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
- OS_ID sem;
- OS_RESULT res;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return -1;
-
- if (((P_SCB)sem)->cb_type != SCB) return -1;
-
- res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
-
- if (res == OS_R_TMO) return 0; // Timeout
-
- return (((P_SCB)sem)->tokens + 1);
-}
-
-/// Release a Semaphore
-osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
-
- rt_sem_send(sem); // Release Semaphore
-
- return osOK;
-}
-
-/// Delete a Semaphore that was created by osSemaphoreCreate
-osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- rt_sem_delete(sem); // Delete Semaphore
-
- return osOK;
-}
-
-
-// Semaphore ISR Calls
-
-/// Release a Semaphore
-static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
-
- isr_sem_send(sem); // Release Semaphore
-
- return osOK;
-}
-
-
-// Semaphore Public API
-
-/// Create and Initialize a Semaphore object
-osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcSemaphoreCreate(semaphore_def, count);
- } else {
- return __svcSemaphoreCreate(semaphore_def, count);
- }
-}
-
-/// Wait until a Semaphore becomes available
-int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return -1; // Not allowed in ISR
- return __svcSemaphoreWait(semaphore_id, millisec);
-}
-
-/// Release a Semaphore
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
- if (__get_IPSR() != 0) { // in ISR
- return isrSemaphoreRelease(semaphore_id);
- } else { // in Thread
- return __svcSemaphoreRelease(semaphore_id);
- }
-}
-
-/// Delete a Semaphore that was created by osSemaphoreCreate
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSemaphoreDelete(semaphore_id);
-}
-
-
-// ==== Memory Management Functions ====
-
-// Memory Management Helper Functions
-
-// Clear Memory Box (Zero init)
-static void rt_clr_box (void *box_mem, void *box) {
- uint32_t *p, n;
-
- if (box) {
- p = box;
- for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
- *p++ = 0;
- }
- }
-}
-
-// Memory Management Service Calls declarations
-SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
-SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
-SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
-
-// Memory Management Service & ISR Calls
-
-/// Create and Initialize memory pool
-osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
- uint32_t blk_sz;
-
- if ((pool_def == NULL) ||
- (pool_def->pool_sz == 0) ||
- (pool_def->item_sz == 0) ||
- (pool_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- blk_sz = (pool_def->item_sz + 3) & ~3;
-
- _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
-
- return pool_def->pool;
-}
-
-/// Allocate a memory block from a memory pool
-void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
- void *ptr;
-
- if (pool_id == NULL) return NULL;
-
- ptr = rt_alloc_box(pool_id);
- if (clr) {
- rt_clr_box(pool_id, ptr);
- }
-
- return ptr;
-}
-
-/// Return an allocated memory block back to a specific memory pool
-osStatus sysPoolFree (osPoolId pool_id, void *block) {
- int32_t res;
-
- if (pool_id == NULL) return osErrorParameter;
-
- res = rt_free_box(pool_id, block);
- if (res != 0) return osErrorValue;
-
- return osOK;
-}
-
-
-// Memory Management Public API
-
-/// Create and Initialize memory pool
-osPoolId osPoolCreate (osPoolDef_t *pool_def) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcPoolCreate(pool_def);
- } else {
- return __svcPoolCreate(pool_def);
- }
-}
-
-/// Allocate a memory block from a memory pool
-void *osPoolAlloc (osPoolId pool_id) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolAlloc(pool_id, 0);
- } else { // in Thread
- return __sysPoolAlloc(pool_id, 0);
- }
-}
-
-/// Allocate a memory block from a memory pool and set memory block to zero
-void *osPoolCAlloc (osPoolId pool_id) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolAlloc(pool_id, 1);
- } else { // in Thread
- return __sysPoolAlloc(pool_id, 1);
- }
-}
-
-/// Return an allocated memory block back to a specific memory pool
-osStatus osPoolFree (osPoolId pool_id, void *block) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolFree(pool_id, block);
- } else { // in Thread
- return __sysPoolFree(pool_id, block);
- }
-}
-
-
-// ==== Message Queue Management Functions ====
-
-// Message Queue Management Service Calls declarations
-SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
-SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
-SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
-
-// Message Queue Service Calls
-
-/// Create and Initialize Message Queue
-osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
-
- if ((queue_def == NULL) ||
- (queue_def->queue_sz == 0) ||
- (queue_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_MCB)queue_def->pool)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
-
- return queue_def->pool;
-}
-
-/// Put a Message to a Queue
-osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
- OS_RESULT res;
-
- if (queue_id == NULL) return osErrorParameter;
-
- if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
-
- res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
-
- if (res == OS_R_TMO) {
- return (millisec ? osErrorTimeoutResource : osErrorResource);
- }
-
- return osOK;
-}
-
-/// Get a Message or Wait for a Message from a Queue
-os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if (queue_id == NULL) {
- ret.status = osErrorParameter;
- return osEvent_ret_status;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) {
- ret.status = osErrorParameter;
- return osEvent_ret_status;
- }
-
- res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
-
- if (res == OS_R_TMO) {
- ret.status = millisec ? osEventTimeout : osOK;
- return osEvent_ret_value;
- }
-
- ret.status = osEventMessage;
-
- return osEvent_ret_value;
-}
-
-
-// Message Queue ISR Calls
-
-/// Put a Message to a Queue
-static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
-
- if ((queue_id == NULL) || (millisec != 0)) {
- return osErrorParameter;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
-
- if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
- return osErrorResource;
- }
-
- isr_mbx_send(queue_id, (void *)info);
-
- return osOK;
-}
-
-/// Get a Message or Wait for a Message from a Queue
-static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if ((queue_id == NULL) || (millisec != 0)) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- res = isr_mbx_receive(queue_id, &ret.value.p);
-
- if (res != OS_R_MBX) {
- ret.status = osOK;
- return ret;
- }
-
- ret.status = osEventMessage;
-
- return ret;
-}
-
-
-// Message Queue Management Public API
-
-/// Create and Initialize Message Queue
-osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMessageCreate(queue_def, thread_id);
- } else {
- return __svcMessageCreate(queue_def, thread_id);
- }
-}
-
-/// Put a Message to a Queue
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return isrMessagePut(queue_id, info, millisec);
- } else { // in Thread
- return __svcMessagePut(queue_id, info, millisec);
- }
-}
-
-/// Get a Message or Wait for a Message from a Queue
-os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return isrMessageGet(queue_id, millisec);
- } else { // in Thread
- return __svcMessageGet(queue_id, millisec);
- }
-}
-
-
-// ==== Mail Queue Management Functions ====
-
-// Mail Queue Management Service Calls declarations
-SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
-SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
-SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
-
-// Mail Queue Management Service & ISR Calls
-
-/// Create and Initialize mail queue
-osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
- uint32_t blk_sz;
- P_MCB pmcb;
- void *pool;
-
- if ((queue_def == NULL) ||
- (queue_def->queue_sz == 0) ||
- (queue_def->item_sz == 0) ||
- (queue_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- pmcb = *(((void **)queue_def->pool) + 0);
- pool = *(((void **)queue_def->pool) + 1);
-
- if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- blk_sz = (queue_def->item_sz + 3) & ~3;
-
- _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
-
- rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
-
-
- return queue_def->pool;
-}
-
-/// Allocate a memory block from a mail
-void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
- P_MCB pmcb;
- void *pool;
- void *mem;
-
- if (queue_id == NULL) return NULL;
-
- pmcb = *(((void **)queue_id) + 0);
- pool = *(((void **)queue_id) + 1);
-
- if ((pool == NULL) || (pmcb == NULL)) return NULL;
-
- if (isr && (millisec != 0)) return NULL;
-
- mem = rt_alloc_box(pool);
- if (clr) {
- rt_clr_box(pool, mem);
- }
-
- if ((mem == NULL) && (millisec != 0)) {
- // Put Task to sleep when Memory not available
- if (pmcb->p_lnk != NULL) {
- rt_put_prio((P_XCB)pmcb, os_tsk.run);
- } else {
- pmcb->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)pmcb;
- // Task is waiting to allocate a message
- pmcb->state = 3;
- }
- rt_block(rt_ms2tick(millisec), WAIT_MBX);
- }
-
- return mem;
-}
-
-/// Free a memory block from a mail
-osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
- P_MCB pmcb;
- P_TCB ptcb;
- void *pool;
- void *mem;
- int32_t res;
-
- if (queue_id == NULL) return osErrorParameter;
-
- pmcb = *(((void **)queue_id) + 0);
- pool = *(((void **)queue_id) + 1);
-
- if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
-
- res = rt_free_box(pool, mail);
-
- if (res != 0) return osErrorValue;
-
- if (pmcb->state == 3) {
- // Task is waiting to allocate a message
- if (isr) {
- rt_psq_enq (pmcb, (U32)pool);
- rt_psh_req ();
- } else {
- mem = rt_alloc_box(pool);
- if (mem != NULL) {
- ptcb = rt_get_first((P_XCB)pmcb);
- if (pmcb->p_lnk == NULL) {
- pmcb->state = 0;
- }
- rt_ret_val(ptcb, (U32)mem);
- rt_rmv_dly(ptcb);
- rt_dispatch(ptcb);
- }
- }
- }
-
- return osOK;
-}
-
-
-// Mail Queue Management Public API
-
-/// Create and Initialize mail queue
-osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMailCreate(queue_def, thread_id);
- } else {
- return __svcMailCreate(queue_def, thread_id);
- }
-}
-
-/// Allocate a memory block from a mail
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailAlloc(queue_id, millisec, 1, 0);
- } else { // in Thread
- return __sysMailAlloc(queue_id, millisec, 0, 0);
- }
-}
-
-/// Allocate a memory block from a mail and set memory block to zero
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailAlloc(queue_id, millisec, 1, 1);
- } else { // in Thread
- return __sysMailAlloc(queue_id, millisec, 0, 1);
- }
-}
-
-/// Free a memory block from a mail
-osStatus osMailFree (osMailQId queue_id, void *mail) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailFree(queue_id, mail, 1);
- } else { // in Thread
- return __sysMailFree(queue_id, mail, 0);
- }
-}
-
-/// Put a mail to a queue
-osStatus osMailPut (osMailQId queue_id, void *mail) {
- if (queue_id == NULL) return osErrorParameter;
- if (mail == NULL) return osErrorValue;
- return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
-}
-
-/// Get a mail from a queue
-os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
- osEvent ret;
-
- if (queue_id == NULL) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- ret = osMessageGet(*((void **)queue_id), millisec);
- if (ret.status == osEventMessage) ret.status = osEventMail;
-
- return ret;
-}