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[FL-2591] Furi: remove CMSIS thread api, migrate to FuriThread, remove unused CMSIS APIs (#1333)

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* Furi: remove CMSIS thread api, migrate to FuriThread, remove unused CMSIS APIs
* Furi: magic thread catcher validating thread completion; backtrace improver
* Furi: allow furi_thread_get_current_id outside of thread context
* Furi: use IRQ instead of ISR for core primitives
This commit is contained in:
あく
2022-06-20 17:54:48 +03:00
committed by GitHub
parent 7618c8ba6f
commit 839e52ac32
61 changed files with 1467 additions and 2784 deletions
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1756
lib/FreeRTOS-glue/cmsis_os2.c
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572
lib/FreeRTOS-glue/cmsis_os2.h
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@@ -43,10 +43,10 @@
* Version 2.0.0
* Initial Release
*---------------------------------------------------------------------------*/
#ifndef CMSIS_OS2_H_
#define CMSIS_OS2_H_
#ifndef __NO_RETURN
#if defined(__CC_ARM)
#define __NO_RETURN __declspec(noreturn)
@@ -60,24 +60,23 @@
#define __NO_RETURN
#endif
#endif
#include <stdint.h>
#include <stddef.h>
#include <furi/base.h>
#ifdef __cplusplus
extern "C"
{
#endif
// ==== Enumerations, structures, defines ====
/// Version information.
typedef struct {
uint32_t api; ///< API version (major.minor.rev: mmnnnrrrr dec).
uint32_t kernel; ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
} osVersion_t;
/// Kernel state.
typedef enum {
osKernelInactive = 0, ///< Inactive.
@@ -88,167 +87,31 @@ typedef enum {
osKernelError = -1, ///< Error.
osKernelReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osKernelState_t;
/// Thread state.
typedef enum {
osThreadInactive = 0, ///< Inactive.
osThreadReady = 1, ///< Ready.
osThreadRunning = 2, ///< Running.
osThreadBlocked = 3, ///< Blocked.
osThreadTerminated = 4, ///< Terminated.
osThreadError = -1, ///< Error.
osThreadReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osThreadState_t;
/// Priority values.
typedef enum {
osPriorityNone = 0, ///< No priority (not initialized).
osPriorityIdle = 1, ///< Reserved for Idle thread.
osPriorityLow = 8, ///< Priority: low
osPriorityLow1 = 8+1, ///< Priority: low + 1
osPriorityLow2 = 8+2, ///< Priority: low + 2
osPriorityLow3 = 8+3, ///< Priority: low + 3
osPriorityLow4 = 8+4, ///< Priority: low + 4
osPriorityLow5 = 8+5, ///< Priority: low + 5
osPriorityLow6 = 8+6, ///< Priority: low + 6
osPriorityLow7 = 8+7, ///< Priority: low + 7
osPriorityBelowNormal = 16, ///< Priority: below normal
osPriorityBelowNormal1 = 16+1, ///< Priority: below normal + 1
osPriorityBelowNormal2 = 16+2, ///< Priority: below normal + 2
osPriorityBelowNormal3 = 16+3, ///< Priority: below normal + 3
osPriorityBelowNormal4 = 16+4, ///< Priority: below normal + 4
osPriorityBelowNormal5 = 16+5, ///< Priority: below normal + 5
osPriorityBelowNormal6 = 16+6, ///< Priority: below normal + 6
osPriorityBelowNormal7 = 16+7, ///< Priority: below normal + 7
osPriorityNormal = 24, ///< Priority: normal
osPriorityNormal1 = 24+1, ///< Priority: normal + 1
osPriorityNormal2 = 24+2, ///< Priority: normal + 2
osPriorityNormal3 = 24+3, ///< Priority: normal + 3
osPriorityNormal4 = 24+4, ///< Priority: normal + 4
osPriorityNormal5 = 24+5, ///< Priority: normal + 5
osPriorityNormal6 = 24+6, ///< Priority: normal + 6
osPriorityNormal7 = 24+7, ///< Priority: normal + 7
osPriorityAboveNormal = 32, ///< Priority: above normal
osPriorityAboveNormal1 = 32+1, ///< Priority: above normal + 1
osPriorityAboveNormal2 = 32+2, ///< Priority: above normal + 2
osPriorityAboveNormal3 = 32+3, ///< Priority: above normal + 3
osPriorityAboveNormal4 = 32+4, ///< Priority: above normal + 4
osPriorityAboveNormal5 = 32+5, ///< Priority: above normal + 5
osPriorityAboveNormal6 = 32+6, ///< Priority: above normal + 6
osPriorityAboveNormal7 = 32+7, ///< Priority: above normal + 7
osPriorityHigh = 40, ///< Priority: high
osPriorityHigh1 = 40+1, ///< Priority: high + 1
osPriorityHigh2 = 40+2, ///< Priority: high + 2
osPriorityHigh3 = 40+3, ///< Priority: high + 3
osPriorityHigh4 = 40+4, ///< Priority: high + 4
osPriorityHigh5 = 40+5, ///< Priority: high + 5
osPriorityHigh6 = 40+6, ///< Priority: high + 6
osPriorityHigh7 = 40+7, ///< Priority: high + 7
osPriorityRealtime = 48, ///< Priority: realtime
osPriorityRealtime1 = 48+1, ///< Priority: realtime + 1
osPriorityRealtime2 = 48+2, ///< Priority: realtime + 2
osPriorityRealtime3 = 48+3, ///< Priority: realtime + 3
osPriorityRealtime4 = 48+4, ///< Priority: realtime + 4
osPriorityRealtime5 = 48+5, ///< Priority: realtime + 5
osPriorityRealtime6 = 48+6, ///< Priority: realtime + 6
osPriorityRealtime7 = 48+7, ///< Priority: realtime + 7
osPriorityISR = 56, ///< Reserved for ISR deferred thread.
osPriorityError = -1, ///< System cannot determine priority or illegal priority.
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osPriority_t;
/// Entry point of a thread.
typedef void (*osThreadFunc_t) (void *argument);
/// Timer callback function.
typedef void (*osTimerFunc_t) (void *argument);
/// Timer type.
typedef enum {
osTimerOnce = 0, ///< One-shot timer.
osTimerPeriodic = 1 ///< Repeating timer.
} osTimerType_t;
// Timeout value.
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
#define osFlagsWaitAny 0x00000000U ///< Wait for any flag (default).
#define osFlagsWaitAll 0x00000001U ///< Wait for all flags.
#define osFlagsNoClear 0x00000002U ///< Do not clear flags which have been specified to wait for.
// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
#define osFlagsError 0x80000000U ///< Error indicator.
#define osFlagsErrorUnknown 0xFFFFFFFFU ///< osError (-1).
#define osFlagsErrorTimeout 0xFFFFFFFEU ///< osErrorTimeout (-2).
#define osFlagsErrorResource 0xFFFFFFFDU ///< osErrorResource (-3).
#define osFlagsErrorParameter 0xFFFFFFFCU ///< osErrorParameter (-4).
#define osFlagsErrorISR 0xFFFFFFFAU ///< osErrorISR (-6).
// Thread attributes (attr_bits in \ref osThreadAttr_t).
#define osThreadDetached 0x00000000U ///< Thread created in detached mode (default)
#define osThreadJoinable 0x00000001U ///< Thread created in joinable mode
// Mutex attributes (attr_bits in \ref osMutexAttr_t).
#define osMutexRecursive 0x00000001U ///< Recursive mutex.
#define osMutexPrioInherit 0x00000002U ///< Priority inherit protocol.
#define osMutexRobust 0x00000008U ///< Robust mutex.
/// Status code values returned by CMSIS-RTOS functions.
typedef enum {
osOK = 0, ///< Operation completed successfully.
osError = -1, ///< Unspecified RTOS error: run-time error but no other error message fits.
osErrorTimeout = -2, ///< Operation not completed within the timeout period.
osErrorResource = -3, ///< Resource not available.
osErrorParameter = -4, ///< Parameter error.
osErrorNoMemory = -5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
osErrorISR = -6, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osStatus_t;
/// \details Thread ID identifies the thread.
typedef void *osThreadId_t;
/// \details Timer ID identifies the timer.
typedef void *osTimerId_t;
/// \details Event Flags ID identifies the event flags.
typedef void *osEventFlagsId_t;
/// \details Mutex ID identifies the mutex.
typedef void *osMutexId_t;
/// \details Semaphore ID identifies the semaphore.
typedef void *osSemaphoreId_t;
/// \details Memory Pool ID identifies the memory pool.
typedef void *osMemoryPoolId_t;
/// \details Message Queue ID identifies the message queue.
typedef void *osMessageQueueId_t;
#ifndef TZ_MODULEID_T
#define TZ_MODULEID_T
/// \details Data type that identifies secure software modules called by a process.
typedef uint32_t TZ_ModuleId_t;
#endif
/// Attributes structure for thread.
typedef struct {
const char *name; ///< name of the thread
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *stack_mem; ///< memory for stack
uint32_t stack_size; ///< size of stack
osPriority_t priority; ///< initial thread priority (default: osPriorityNormal)
TZ_ModuleId_t tz_module; ///< TrustZone module identifier
uint32_t reserved; ///< reserved (must be 0)
} osThreadAttr_t;
/// Attributes structure for timer.
typedef struct {
const char *name; ///< name of the timer
@@ -256,41 +119,7 @@ typedef struct {
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osTimerAttr_t;
/// Attributes structure for event flags.
typedef struct {
const char *name; ///< name of the event flags
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osEventFlagsAttr_t;
/// Attributes structure for mutex.
typedef struct {
const char *name; ///< name of the mutex
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osMutexAttr_t;
/// Attributes structure for semaphore.
typedef struct {
const char *name; ///< name of the semaphore
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osSemaphoreAttr_t;
/// Attributes structure for memory pool.
typedef struct {
const char *name; ///< name of the memory pool
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *mp_mem; ///< memory for data storage
uint32_t mp_size; ///< size of provided memory for data storage
} osMemoryPoolAttr_t;
/// Attributes structure for message queue.
typedef struct {
const char *name; ///< name of the message queue
@@ -298,196 +127,79 @@ typedef struct {
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *mq_mem; ///< memory for data storage
uint32_t mq_size; ///< size of provided memory for data storage
uint32_t mq_size; ///< size of provided memory for data storage
} osMessageQueueAttr_t;
// ==== Kernel Management Functions ====
/// Initialize the RTOS Kernel.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelInitialize (void);
/// Get RTOS Kernel Information.
/// \param[out] version pointer to buffer for retrieving version information.
/// \param[out] id_buf pointer to buffer for retrieving kernel identification string.
/// \param[in] id_size size of buffer for kernel identification string.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);
/// Get the current RTOS Kernel state.
/// \return current RTOS Kernel state.
osKernelState_t osKernelGetState (void);
/// Start the RTOS Kernel scheduler.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelStart (void);
/// Lock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelLock (void);
/// Unlock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelUnlock (void);
/// Restore the RTOS Kernel scheduler lock state.
/// \param[in] lock lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelRestoreLock (int32_t lock);
/// Suspend the RTOS Kernel scheduler.
/// \return time in ticks, for how long the system can sleep or power-down.
uint32_t osKernelSuspend (void);
/// Resume the RTOS Kernel scheduler.
/// \param[in] sleep_ticks time in ticks for how long the system was in sleep or power-down mode.
void osKernelResume (uint32_t sleep_ticks);
/// Get the RTOS kernel tick count.
/// \return RTOS kernel current tick count.
uint32_t osKernelGetTickCount (void);
/// Get the RTOS kernel tick frequency.
/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
uint32_t osKernelGetTickFreq (void);
/// Get the RTOS kernel system timer count.
/// \return RTOS kernel current system timer count as 32-bit value.
uint32_t osKernelGetSysTimerCount (void);
/// Get the RTOS kernel system timer frequency.
/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
uint32_t osKernelGetSysTimerFreq (void);
// ==== Thread Management Functions ====
/// Create a thread and add it to Active Threads.
/// \param[in] func thread function.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \param[in] attr thread attributes; NULL: default values.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
/// Get name of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return name as null-terminated string.
const char *osThreadGetName (osThreadId_t thread_id);
/// Return the thread ID of the current running thread.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadGetId (void);
/// Get current thread state of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current thread state of the specified thread.
osThreadState_t osThreadGetState (osThreadId_t thread_id);
/// Get stack size of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return stack size in bytes.
uint32_t osThreadGetStackSize (osThreadId_t thread_id);
/// Get available stack space of a thread based on stack watermark recording during execution.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return remaining stack space in bytes.
uint32_t osThreadGetStackSpace (osThreadId_t thread_id);
/// Change priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in] priority new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);
/// Get current priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current priority value of the specified thread.
osPriority_t osThreadGetPriority (osThreadId_t thread_id);
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadYield (void);
/// Suspend execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSuspend (osThreadId_t thread_id);
/// Resume execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadResume (osThreadId_t thread_id);
/// Detach a thread (thread storage can be reclaimed when thread terminates).
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadDetach (osThreadId_t thread_id);
/// Wait for specified thread to terminate.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadJoin (osThreadId_t thread_id);
/// Terminate execution of current running thread.
__NO_RETURN void osThreadExit (void);
/// Terminate execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadTerminate (osThreadId_t thread_id);
/// Get number of active threads.
/// \return number of active threads.
uint32_t osThreadGetCount (void);
/// Enumerate active threads.
/// \param[out] thread_array pointer to array for retrieving thread IDs.
/// \param[in] array_items maximum number of items in array for retrieving thread IDs.
/// \return number of enumerated threads.
uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);
// ==== Thread Flags Functions ====
/// Set the specified Thread Flags of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in] flags specifies the flags of the thread that shall be set.
/// \return thread flags after setting or error code if highest bit set.
uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);
/// Clear the specified Thread Flags of current running thread.
/// \param[in] flags specifies the flags of the thread that shall be cleared.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsClear (uint32_t flags);
/// Get the current Thread Flags of current running thread.
/// \return current thread flags.
uint32_t osThreadFlagsGet (void);
/// Wait for one or more Thread Flags of the current running thread to become signaled.
/// \param[in] flags specifies the flags to wait for.
/// \param[in] options specifies flags options (osFlagsXxxx).
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);
// ==== Generic Wait Functions ====
/// Wait for Timeout (Time Delay).
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value
/// \return status code that indicates the execution status of the function.
osStatus_t osDelay (uint32_t ticks);
/// Wait until specified time.
/// \param[in] ticks absolute time in ticks
/// \return status code that indicates the execution status of the function.
osStatus_t osDelayUntil (uint32_t ticks);
// ==== Timer Management Functions ====
/// Create and Initialize a timer.
/// \param[in] func function pointer to callback function.
/// \param[in] type \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
@@ -495,213 +207,47 @@ osStatus_t osDelayUntil (uint32_t ticks);
/// \param[in] attr timer attributes; NULL: default values.
/// \return timer ID for reference by other functions or NULL in case of error.
osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);
/// Get name of a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return name as null-terminated string.
const char *osTimerGetName (osTimerId_t timer_id);
/// Start or restart a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);
/// Stop a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStop (osTimerId_t timer_id);
/// Check if a timer is running.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return 0 not running, 1 running.
uint32_t osTimerIsRunning (osTimerId_t timer_id);
/// Delete a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerDelete (osTimerId_t timer_id);
// ==== Event Flags Management Functions ====
/// Create and Initialize an Event Flags object.
/// \param[in] attr event flags attributes; NULL: default values.
/// \return event flags ID for reference by other functions or NULL in case of error.
osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);
/// Get name of an Event Flags object.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return name as null-terminated string.
const char *osEventFlagsGetName (osEventFlagsId_t ef_id);
/// Set the specified Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags that shall be set.
/// \return event flags after setting or error code if highest bit set.
uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);
/// Clear the specified Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags that shall be cleared.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);
/// Get the current Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return current event flags.
uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);
/// Wait for one or more Event Flags to become signaled.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags to wait for.
/// \param[in] options specifies flags options (osFlagsXxxx).
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);
/// Delete an Event Flags object.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);
// ==== Mutex Management Functions ====
/// Create and Initialize a Mutex object.
/// \param[in] attr mutex attributes; NULL: default values.
/// \return mutex ID for reference by other functions or NULL in case of error.
osMutexId_t osMutexNew (const osMutexAttr_t *attr);
/// Get name of a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return name as null-terminated string.
const char *osMutexGetName (osMutexId_t mutex_id);
/// Acquire a Mutex or timeout if it is locked.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);
/// Release a Mutex that was acquired by \ref osMutexAcquire.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexRelease (osMutexId_t mutex_id);
/// Get Thread which owns a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return thread ID of owner thread or NULL when mutex was not acquired.
osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);
/// Delete a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexDelete (osMutexId_t mutex_id);
// ==== Semaphore Management Functions ====
/// Create and Initialize a Semaphore object.
/// \param[in] max_count maximum number of available tokens.
/// \param[in] initial_count initial number of available tokens.
/// \param[in] attr semaphore attributes; NULL: default values.
/// \return semaphore ID for reference by other functions or NULL in case of error.
osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);
/// Get name of a Semaphore object.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return name as null-terminated string.
const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);
/// Acquire a Semaphore token or timeout if no tokens are available.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);
/// Release a Semaphore token up to the initial maximum count.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);
/// Get current Semaphore token count.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return number of tokens available.
uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);
/// Delete a Semaphore object.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);
// ==== Memory Pool Management Functions ====
/// Create and Initialize a Memory Pool object.
/// \param[in] block_count maximum number of memory blocks in memory pool.
/// \param[in] block_size memory block size in bytes.
/// \param[in] attr memory pool attributes; NULL: default values.
/// \return memory pool ID for reference by other functions or NULL in case of error.
osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);
/// Get name of a Memory Pool object.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return name as null-terminated string.
const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);
/// Allocate a memory block from a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return address of the allocated memory block or NULL in case of no memory is available.
void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);
/// Return an allocated memory block back to a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);
/// Get maximum number of memory blocks in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return maximum number of memory blocks.
uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);
/// Get memory block size in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return memory block size in bytes.
uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);
/// Get number of memory blocks used in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks used.
uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);
/// Get number of memory blocks available in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks available.
uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);
/// Delete a Memory Pool object.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);
// ==== Message Queue Management Functions ====
/// Create and Initialize a Message Queue object.
/// \param[in] msg_count maximum number of messages in queue.
/// \param[in] msg_size maximum message size in bytes.
/// \param[in] attr message queue attributes; NULL: default values.
/// \return message queue ID for reference by other functions or NULL in case of error.
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);
/// Get name of a Message Queue object.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return name as null-terminated string.
const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
/// Put a Message into a Queue or timeout if Queue is full.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \param[in] msg_ptr pointer to buffer with message to put into a queue.
@@ -709,7 +255,7 @@ const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
/// Get a Message from a Queue or timeout if Queue is empty.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \param[out] msg_ptr pointer to buffer for message to get from a queue.
@@ -717,40 +263,40 @@ osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uin
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
/// Get maximum number of messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum number of messages.
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
/// Get maximum message size in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum message size in bytes.
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);
/// Get number of queued messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return number of queued messages.
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);
/// Get number of available slots for messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return number of available slots for messages.
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);
/// Reset a Message Queue to initial empty state.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);
/// Delete a Message Queue object.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);
#ifdef __cplusplus
}
#endif
#endif // CMSIS_OS2_H_

63
lib/FreeRTOS-glue/freertos_mpool.h
View File

@@ -1,63 +0,0 @@
/* --------------------------------------------------------------------------
* Copyright (c) 2013-2020 Arm Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Name: freertos_mpool.h
* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
*
*---------------------------------------------------------------------------*/
#ifndef FREERTOS_MPOOL_H_
#define FREERTOS_MPOOL_H_
#include <stdint.h>
#include "FreeRTOS.h"
#include "semphr.h"
/* Memory Pool implementation definitions */
#define MPOOL_STATUS 0x5EED0000U
/* Memory Block header */
typedef struct {
void *next; /* Pointer to next block */
} MemPoolBlock_t;
/* Memory Pool control block */
typedef struct MemPoolDef_t {
MemPoolBlock_t *head; /* Pointer to head block */
SemaphoreHandle_t sem; /* Pool semaphore handle */
uint8_t *mem_arr; /* Pool memory array */
uint32_t mem_sz; /* Pool memory array size */
const char *name; /* Pointer to name string */
uint32_t bl_sz; /* Size of a single block */
uint32_t bl_cnt; /* Number of blocks */
uint32_t n; /* Block allocation index */
volatile uint32_t status; /* Object status flags */
#if (configSUPPORT_STATIC_ALLOCATION == 1)
StaticSemaphore_t mem_sem; /* Semaphore object memory */
#endif
} MemPool_t;
/* No need to hide static object type, just align to coding style */
#define StaticMemPool_t MemPool_t
/* Define memory pool control block size */
#define MEMPOOL_CB_SIZE (sizeof(StaticMemPool_t))
/* Define size of the byte array required to create count of blocks of given size */
#define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
#endif /* FREERTOS_MPOOL_H_ */

31
lib/FreeRTOS-glue/freertos_os2.h
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@@ -75,7 +75,7 @@
#endif
/*
Option to exclude CMSIS-RTOS2 function osThreadEnumerate from the application image.
Option to exclude CMSIS-RTOS2 function furi_thread_enumerate from the application image.
*/
#ifndef configUSE_OS2_THREAD_ENUMERATE
#define configUSE_OS2_THREAD_ENUMERATE 1
@@ -153,7 +153,7 @@
#if (INCLUDE_xTaskGetCurrentTaskHandle == 0)
/*
CMSIS-RTOS2 API uses FreeRTOS function xTaskGetCurrentTaskHandle to implement
functions osThreadGetId, osThreadFlagsClear and osThreadFlagsGet. In case if these
functions osThreadGetId, furi_thread_flags_clear and furi_thread_flags_get. In case if these
functions are not used in the application image, compiler will optimize them away.
Set #define INCLUDE_xTaskGetCurrentTaskHandle 1 to fix this error.
*/
@@ -170,8 +170,8 @@
#endif
#if (INCLUDE_uxTaskGetStackHighWaterMark == 0)
/*
CMSIS-RTOS2 function osThreadGetStackSpace uses FreeRTOS function uxTaskGetStackHighWaterMark.
In case if osThreadGetStackSpace is not used in the application image, compiler will
CMSIS-RTOS2 function furi_thread_get_stack_space uses FreeRTOS function uxTaskGetStackHighWaterMark.
In case if furi_thread_get_stack_space is not used in the application image, compiler will
optimize it away.
Set #define INCLUDE_uxTaskGetStackHighWaterMark 1 to fix this error.
*/
@@ -294,16 +294,16 @@
#if (configUSE_TRACE_FACILITY == 0)
/*
CMSIS-RTOS2 function osThreadEnumerate requires FreeRTOS function uxTaskGetSystemState
CMSIS-RTOS2 function furi_thread_enumerate requires FreeRTOS function uxTaskGetSystemState
which is only enabled if configUSE_TRACE_FACILITY == 1.
Set #define configUSE_TRACE_FACILITY 1 to fix this error.
Alternatively, if the application does not use osThreadEnumerate it can be
Alternatively, if the application does not use furi_thread_enumerate it can be
excluded from the image code by setting:
#define configUSE_OS2_THREAD_ENUMERATE 0 (in FreeRTOSConfig.h)
*/
#if (configUSE_OS2_THREAD_ENUMERATE == 1)
#error "Definition configUSE_TRACE_FACILITY must equal 1 to implement osThreadEnumerate."
#error "Definition configUSE_TRACE_FACILITY must equal 1 to implement furi_thread_enumerate."
#endif
#endif
@@ -316,21 +316,4 @@
#error "Definition configUSE_16_BIT_TICKS must be zero to implement CMSIS-RTOS2 API."
#endif
#if (configMAX_PRIORITIES != 56)
/*
CMSIS-RTOS2 defines 56 different priorities (see osPriority_t) and portable CMSIS-RTOS2
implementation should implement the same number of priorities.
Set #define configMAX_PRIORITIES 56 to fix this error.
*/
#error "Definition configMAX_PRIORITIES must equal 56 to implement Thread Management API."
#endif
#if (configUSE_PORT_OPTIMISED_TASK_SELECTION != 0)
/*
CMSIS-RTOS2 requires handling of 56 different priorities (see osPriority_t) while FreeRTOS port
optimised selection for Cortex core only handles 32 different priorities.
Set #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 to fix this error.
*/
#error "Definition configUSE_PORT_OPTIMISED_TASK_SELECTION must be zero to implement Thread Management API."
#endif
#endif /* FREERTOS_OS2_H_ */

80
lib/FreeRTOS-glue/os_tick.h
View File

@@ -1,80 +0,0 @@
/**************************************************************************//**
* @file os_tick.h
* @brief CMSIS OS Tick header file
* @version V1.0.2
* @date 19. March 2021
******************************************************************************/
/*
* Copyright (c) 2017-2021 ARM Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef OS_TICK_H
#define OS_TICK_H
#include <stdint.h>
#ifdef __cplusplus
extern "C"
{
#endif
/// IRQ Handler.
#ifndef IRQHANDLER_T
#define IRQHANDLER_T
typedef void (*IRQHandler_t) (void);
#endif
/// Setup OS Tick timer to generate periodic RTOS Kernel Ticks
/// \param[in] freq tick frequency in Hz
/// \param[in] handler tick IRQ handler
/// \return 0 on success, -1 on error.
int32_t OS_Tick_Setup (uint32_t freq, IRQHandler_t handler);
/// Enable OS Tick timer interrupt
void OS_Tick_Enable (void);
/// Disable OS Tick timer interrupt
void OS_Tick_Disable (void);
/// Acknowledge execution of OS Tick timer interrupt
void OS_Tick_AcknowledgeIRQ (void);
/// Get OS Tick timer IRQ number
/// \return OS Tick IRQ number
int32_t OS_Tick_GetIRQn (void);
/// Get OS Tick timer clock frequency
/// \return OS Tick timer clock frequency in Hz
uint32_t OS_Tick_GetClock (void);
/// Get OS Tick timer interval reload value
/// \return OS Tick timer interval reload value
uint32_t OS_Tick_GetInterval (void);
/// Get OS Tick timer counter value
/// \return OS Tick timer counter value
uint32_t OS_Tick_GetCount (void);
/// Get OS Tick timer overflow status
/// \return OS Tick overflow status (1 - overflow, 0 - no overflow).
uint32_t OS_Tick_GetOverflow (void);
#ifdef __cplusplus
}
#endif
#endif /* OS_TICK_H */