923 lines
40 KiB
C
923 lines
40 KiB
C
/*
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* Copyright (c) 2013-2018 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* ----------------------------------------------------------------------
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*
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* $Date: 18. June 2018
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* $Revision: V2.1.3
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*
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* Project: CMSIS-RTOS API
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* Title: cmsis_os.h template header file
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*
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* Version 0.02
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* Initial Proposal Phase
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* Version 0.03
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* osKernelStart added, optional feature: main started as thread
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* osSemaphores have standard behavior
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* osTimerCreate does not start the timer, added osTimerStart
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* osThreadPass is renamed to osThreadYield
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* Version 1.01
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* Support for C++ interface
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* - const attribute removed from the osXxxxDef_t typedefs
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* - const attribute added to the osXxxxDef macros
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* Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
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* Added: osKernelInitialize
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* Version 1.02
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* Control functions for short timeouts in microsecond resolution:
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* Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
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* Removed: osSignalGet
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* Version 2.0.0
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* OS objects creation without macros (dynamic creation and resource allocation):
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* - added: osXxxxNew functions which replace osXxxxCreate
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* - added: osXxxxAttr_t structures
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* - deprecated: osXxxxCreate functions, osXxxxDef_t structures
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* - deprecated: osXxxxDef and osXxxx macros
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* osStatus codes simplified and renamed to osStatus_t
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* osEvent return structure deprecated
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* Kernel:
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* - added: osKernelInfo_t and osKernelGetInfo
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* - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
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* - added: osKernelLock, osKernelUnlock
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* - added: osKernelSuspend, osKernelResume
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* - added: osKernelGetTickCount, osKernelGetTickFreq
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* - renamed osKernelSysTick to osKernelGetSysTimerCount
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* - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
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* - deprecated osKernelSysTickMicroSec
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* Thread:
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* - extended number of thread priorities
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* - renamed osPrioriry to osPrioriry_t
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* - replaced osThreadCreate with osThreadNew
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* - added: osThreadGetName
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* - added: osThreadState_t and osThreadGetState
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* - added: osThreadGetStackSize, osThreadGetStackSpace
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* - added: osThreadSuspend, osThreadResume
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* - added: osThreadJoin, osThreadDetach, osThreadExit
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* - added: osThreadGetCount, osThreadEnumerate
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* - added: Thread Flags (moved from Signals)
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* Signals:
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* - renamed osSignals to osThreadFlags (moved to Thread Flags)
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* - changed return value of Set/Clear/Wait functions
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* - Clear function limited to current running thread
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* - extended Wait function (options)
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* - added: osThreadFlagsGet
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* Event Flags:
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* - added new independent object for handling Event Flags
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* Delay and Wait functions:
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* - added: osDelayUntil
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* - deprecated: osWait
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* Timer:
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* - replaced osTimerCreate with osTimerNew
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* - added: osTimerGetName, osTimerIsRunning
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* Mutex:
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* - extended: attributes (Recursive, Priority Inherit, Robust)
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* - replaced osMutexCreate with osMutexNew
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* - renamed osMutexWait to osMutexAcquire
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* - added: osMutexGetName, osMutexGetOwner
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* Semaphore:
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* - extended: maximum and initial token count
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* - replaced osSemaphoreCreate with osSemaphoreNew
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* - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
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* - added: osSemaphoreGetName, osSemaphoreGetCount
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* Memory Pool:
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* - using osMemoryPool prefix instead of osPool
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* - replaced osPoolCreate with osMemoryPoolNew
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* - extended osMemoryPoolAlloc (timeout)
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* - added: osMemoryPoolGetName
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* - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
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* - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
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* - added: osMemoryPoolDelete
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* - deprecated: osPoolCAlloc
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* Message Queue:
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* - extended: fixed size message instead of a single 32-bit value
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* - using osMessageQueue prefix instead of osMessage
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* - replaced osMessageCreate with osMessageQueueNew
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* - updated: osMessageQueuePut, osMessageQueueGet
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* - added: osMessageQueueGetName
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* - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
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* - added: osMessageQueueGetCount, osMessageQueueGetSpace
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* - added: osMessageQueueReset, osMessageQueueDelete
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* Mail Queue:
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* - deprecated (superseded by extended Message Queue functionality)
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* Version 2.1.0
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* Support for critical and uncritical sections (nesting safe):
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* - updated: osKernelLock, osKernelUnlock
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* - added: osKernelRestoreLock
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* Updated Thread and Event Flags:
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* - changed flags parameter and return type from int32_t to uint32_t
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* Version 2.1.1
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osKernelGetTickCount, osKernelGetTickFreq
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* Changed Kernel Tick type to uint32_t:
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* - updated: osKernelGetTickCount, osDelayUntil
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* Version 2.1.2
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osKernelGetInfo, osKernelGetState
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* Version 2.1.3
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osThreadGetId
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*---------------------------------------------------------------------------*/
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#ifndef CMSIS_OS_H_
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#define CMSIS_OS_H_
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/// \b osCMSIS identifies the CMSIS-RTOS API version.
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#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0])
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/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.
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#define osCMSIS_KERNEL 0x10000U ///< RTOS identification and version (main[31:16].sub[15:0])
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/// \note CAN BE CHANGED: \b osKernelSystemId identifies the underlying RTOS kernel.
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#define osKernelSystemId "KERNEL V1.0" ///< RTOS identification string
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/// \note CAN BE CHANGED: \b osFeature_xxx identifies RTOS features.
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#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
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#define osFeature_Signals 16U ///< maximum number of Signal Flags available per thread
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#define osFeature_Semaphore 65535U ///< maximum count for \ref osSemaphoreCreate function
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#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
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#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
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#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
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#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
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#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
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#if (osCMSIS >= 0x20000U)
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#include "cmsis_os2.h"
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#else
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#include <stdint.h>
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#include <stddef.h>
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#endif
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// ==== Enumerations, structures, defines ====
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/// Priority values.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osPriorityIdle = -3, ///< Priority: idle (lowest)
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osPriorityLow = -2, ///< Priority: low
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osPriorityBelowNormal = -1, ///< Priority: below normal
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osPriorityNormal = 0, ///< Priority: normal (default)
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osPriorityAboveNormal = +1, ///< Priority: above normal
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osPriorityHigh = +2, ///< Priority: high
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osPriorityRealtime = +3, ///< Priority: realtime (highest)
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osPriorityError = 0x84, ///< System cannot determine priority or illegal priority.
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osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
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} osPriority;
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#else
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#define osPriority osPriority_t
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#endif
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/// Entry point of a thread.
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typedef void (*os_pthread) (void const *argument);
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/// Entry point of a timer call back function.
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typedef void (*os_ptimer) (void const *argument);
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/// Timer type.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osTimerOnce = 0, ///< One-shot timer.
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osTimerPeriodic = 1 ///< Repeating timer.
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} os_timer_type;
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#else
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#define os_timer_type osTimerType_t
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#endif
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/// Timeout value.
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#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
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/// Status code values returned by CMSIS-RTOS functions.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osOK = 0, ///< Function completed; no error or event occurred.
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osEventSignal = 0x08, ///< Function completed; signal event occurred.
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osEventMessage = 0x10, ///< Function completed; message event occurred.
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osEventMail = 0x20, ///< Function completed; mail event occurred.
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osEventTimeout = 0x40, ///< Function completed; timeout occurred.
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osErrorParameter = 0x80, ///< Parameter error: a mandatory parameter was missing or specified an incorrect object.
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osErrorResource = 0x81, ///< Resource not available: a specified resource was not available.
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osErrorTimeoutResource = 0xC1, ///< Resource not available within given time: a specified resource was not available within the timeout period.
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osErrorISR = 0x82, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
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osErrorISRRecursive = 0x83, ///< Function called multiple times from ISR with same object.
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osErrorPriority = 0x84, ///< System cannot determine priority or thread has illegal priority.
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osErrorNoMemory = 0x85, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
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osErrorValue = 0x86, ///< Value of a parameter is out of range.
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osErrorOS = 0xFF, ///< Unspecified RTOS error: run-time error but no other error message fits.
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osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
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} osStatus;
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#else
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typedef int32_t osStatus;
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#define osEventSignal (0x08)
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#define osEventMessage (0x10)
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#define osEventMail (0x20)
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#define osEventTimeout (0x40)
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#define osErrorOS osError
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#define osErrorTimeoutResource osErrorTimeout
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#define osErrorISRRecursive (-126)
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#define osErrorValue (-127)
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#define osErrorPriority (-128)
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#endif
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// >>> the following data type definitions may be adapted towards a specific RTOS
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/// Thread ID identifies the thread.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osThreadId;
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#else
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#define osThreadId osThreadId_t
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#endif
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/// Timer ID identifies the timer.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osTimerId;
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#else
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#define osTimerId osTimerId_t
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#endif
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/// Mutex ID identifies the mutex.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osMutexId;
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#else
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#define osMutexId osMutexId_t
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#endif
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/// Semaphore ID identifies the semaphore.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osSemaphoreId;
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#else
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#define osSemaphoreId osSemaphoreId_t
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#endif
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/// Pool ID identifies the memory pool.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osPoolId;
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/// Message ID identifies the message queue.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osMessageQId;
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/// Mail ID identifies the mail queue.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osMailQId;
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/// Thread Definition structure contains startup information of a thread.
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/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_thread_def {
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os_pthread pthread; ///< start address of thread function
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osPriority tpriority; ///< initial thread priority
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uint32_t instances; ///< maximum number of instances of that thread function
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uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
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} osThreadDef_t;
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#else
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typedef struct os_thread_def {
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os_pthread pthread; ///< start address of thread function
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osThreadAttr_t attr; ///< thread attributes
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} osThreadDef_t;
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#endif
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/// Timer Definition structure contains timer parameters.
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/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_timer_def {
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os_ptimer ptimer; ///< start address of a timer function
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} osTimerDef_t;
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#else
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typedef struct os_timer_def {
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os_ptimer ptimer; ///< start address of a timer function
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osTimerAttr_t attr; ///< timer attributes
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} osTimerDef_t;
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#endif
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/// Mutex Definition structure contains setup information for a mutex.
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/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_mutex_def {
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uint32_t dummy; ///< dummy value
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} osMutexDef_t;
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#else
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#define osMutexDef_t osMutexAttr_t
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#endif
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/// Semaphore Definition structure contains setup information for a semaphore.
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/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_semaphore_def {
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uint32_t dummy; ///< dummy value
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} osSemaphoreDef_t;
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#else
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#define osSemaphoreDef_t osSemaphoreAttr_t
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#endif
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/// Definition structure for memory block allocation.
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/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_pool_def {
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uint32_t pool_sz; ///< number of items (elements) in the pool
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uint32_t item_sz; ///< size of an item
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void *pool; ///< pointer to memory for pool
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} osPoolDef_t;
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#else
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typedef struct os_pool_def {
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uint32_t pool_sz; ///< number of items (elements) in the pool
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uint32_t item_sz; ///< size of an item
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osMemoryPoolAttr_t attr; ///< memory pool attributes
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} osPoolDef_t;
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#endif
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/// Definition structure for message queue.
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/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_messageQ_def {
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uint32_t queue_sz; ///< number of elements in the queue
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void *pool; ///< memory array for messages
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} osMessageQDef_t;
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#else
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typedef struct os_messageQ_def {
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uint32_t queue_sz; ///< number of elements in the queue
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osMessageQueueAttr_t attr; ///< message queue attributes
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} osMessageQDef_t;
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#endif
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/// Definition structure for mail queue.
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/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_mailQ_def {
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uint32_t queue_sz; ///< number of elements in the queue
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uint32_t item_sz; ///< size of an item
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void *pool; ///< memory array for mail
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} osMailQDef_t;
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#else
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typedef struct os_mailQ_def {
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uint32_t queue_sz; ///< number of elements in the queue
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uint32_t item_sz; ///< size of an item
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void *mail; ///< pointer to mail
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osMemoryPoolAttr_t mp_attr; ///< memory pool attributes
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osMessageQueueAttr_t mq_attr; ///< message queue attributes
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} osMailQDef_t;
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#endif
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/// Event structure contains detailed information about an event.
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typedef struct {
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osStatus status; ///< status code: event or error information
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union {
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uint32_t v; ///< message as 32-bit value
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void *p; ///< message or mail as void pointer
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int32_t signals; ///< signal flags
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} value; ///< event value
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union {
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osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
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osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
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} def; ///< event definition
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} osEvent;
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// ==== Kernel Management Functions ====
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/// Initialize the RTOS Kernel for creating objects.
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/// \return status code that indicates the execution status of the function.
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#if (osCMSIS < 0x20000U)
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osStatus osKernelInitialize (void);
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#endif
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/// Start the RTOS Kernel scheduler.
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/// \return status code that indicates the execution status of the function.
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#if (osCMSIS < 0x20000U)
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osStatus osKernelStart (void);
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#endif
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/// Check if the RTOS kernel is already started.
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/// \return 0 RTOS is not started, 1 RTOS is started.
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#if (osCMSIS < 0x20000U)
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int32_t osKernelRunning(void);
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#endif
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#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
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/// Get the RTOS kernel system timer counter.
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/// \return RTOS kernel system timer as 32-bit value
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#if (osCMSIS < 0x20000U)
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uint32_t osKernelSysTick (void);
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#else
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#define osKernelSysTick osKernelGetSysTimerCount
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#endif
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/// The RTOS kernel system timer frequency in Hz.
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/// \note Reflects the system timer setting and is typically defined in a configuration file.
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#if (osCMSIS < 0x20000U)
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#define osKernelSysTickFrequency 100000000
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#endif
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/// Convert a microseconds value to a RTOS kernel system timer value.
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/// \param microsec time value in microseconds.
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/// \return time value normalized to the \ref osKernelSysTickFrequency
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#if (osCMSIS < 0x20000U)
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#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
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#else
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#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * osKernelGetSysTimerFreq()) / 1000000)
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#endif
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#endif // System Timer available
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// ==== Thread Management Functions ====
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/// Create a Thread Definition with function, priority, and stack requirements.
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/// \param name name of the thread function.
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/// \param priority initial priority of the thread function.
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/// \param instances number of possible thread instances.
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/// \param stacksz stack size (in bytes) requirements for the thread function.
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/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
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/// macro body is implementation specific in every CMSIS-RTOS.
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#if defined (osObjectsExternal) // object is external
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#define osThreadDef(name, priority, instances, stacksz) \
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extern const osThreadDef_t os_thread_def_##name
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#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osThreadDef(name, priority, instances, stacksz) \
|
|
const osThreadDef_t os_thread_def_##name = \
|
|
{ (name), (priority), (instances), (stacksz) }
|
|
#else
|
|
#define osThreadDef(name, priority, instances, stacksz) \
|
|
const osThreadDef_t os_thread_def_##name = \
|
|
{ (name), \
|
|
{ NULL, osThreadDetached, NULL, 0U, NULL, 8*((stacksz+7)/8), (priority), 0U, 0U } }
|
|
#endif
|
|
#endif
|
|
|
|
/// Access a Thread definition.
|
|
/// \param name name of the thread definition object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osThread(name) \
|
|
&os_thread_def_##name
|
|
|
|
/// Create a thread and add it to Active Threads and set it to state READY.
|
|
/// \param[in] thread_def thread definition referenced with \ref osThread.
|
|
/// \param[in] argument pointer that is passed to the thread function as start argument.
|
|
/// \return thread ID for reference by other functions or NULL in case of error.
|
|
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
|
|
|
|
/// Return the thread ID of the current running thread.
|
|
/// \return thread ID for reference by other functions or NULL in case of error.
|
|
#if (osCMSIS < 0x20000U)
|
|
osThreadId osThreadGetId (void);
|
|
#endif
|
|
|
|
/// Change priority of a thread.
|
|
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
/// \param[in] priority new priority value for the thread function.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
|
|
#endif
|
|
|
|
/// Get current priority of a thread.
|
|
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
/// \return current priority value of the specified thread.
|
|
#if (osCMSIS < 0x20000U)
|
|
osPriority osThreadGetPriority (osThreadId thread_id);
|
|
#endif
|
|
|
|
/// Pass control to next thread that is in state \b READY.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osThreadYield (void);
|
|
#endif
|
|
|
|
/// Terminate execution of a thread.
|
|
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osThreadTerminate (osThreadId thread_id);
|
|
#endif
|
|
|
|
|
|
// ==== Signal Management ====
|
|
|
|
/// Set the specified Signal Flags of an active thread.
|
|
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
/// \param[in] signals specifies the signal flags of the thread that should be set.
|
|
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
|
|
int32_t osSignalSet (osThreadId thread_id, int32_t signals);
|
|
|
|
/// Clear the specified Signal Flags of an active thread.
|
|
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
|
|
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.
|
|
int32_t osSignalClear (osThreadId thread_id, int32_t signals);
|
|
|
|
/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
|
|
/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
|
/// \return event flag information or error code.
|
|
osEvent osSignalWait (int32_t signals, uint32_t millisec);
|
|
|
|
|
|
// ==== Generic Wait Functions ====
|
|
|
|
/// Wait for Timeout (Time Delay).
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osDelay (uint32_t millisec);
|
|
#endif
|
|
|
|
#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
|
|
|
|
/// Wait for Signal, Message, Mail, or Timeout.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
|
|
/// \return event that contains signal, message, or mail information or error code.
|
|
osEvent osWait (uint32_t millisec);
|
|
|
|
#endif // Generic Wait available
|
|
|
|
|
|
// ==== Timer Management Functions ====
|
|
|
|
/// Define a Timer object.
|
|
/// \param name name of the timer object.
|
|
/// \param function name of the timer call back function.
|
|
/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osTimerDef(name, function) \
|
|
extern const osTimerDef_t os_timer_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osTimerDef(name, function) \
|
|
const osTimerDef_t os_timer_def_##name = { (function) }
|
|
#else
|
|
#define osTimerDef(name, function) \
|
|
const osTimerDef_t os_timer_def_##name = \
|
|
{ (function), { NULL, 0U, NULL, 0U } }
|
|
#endif
|
|
#endif
|
|
|
|
/// Access a Timer definition.
|
|
/// \param name name of the timer object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osTimer(name) \
|
|
&os_timer_def_##name
|
|
|
|
/// Create and Initialize a timer.
|
|
/// \param[in] timer_def timer object referenced with \ref osTimer.
|
|
/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
|
|
/// \param[in] argument argument to the timer call back function.
|
|
/// \return timer ID for reference by other functions or NULL in case of error.
|
|
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
|
|
|
|
/// Start or restart a timer.
|
|
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
|
|
#endif
|
|
|
|
/// Stop a timer.
|
|
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osTimerStop (osTimerId timer_id);
|
|
#endif
|
|
|
|
/// Delete a timer.
|
|
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osTimerDelete (osTimerId timer_id);
|
|
#endif
|
|
|
|
|
|
// ==== Mutex Management Functions ====
|
|
|
|
/// Define a Mutex.
|
|
/// \param name name of the mutex object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osMutexDef(name) \
|
|
extern const osMutexDef_t os_mutex_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osMutexDef(name) \
|
|
const osMutexDef_t os_mutex_def_##name = { 0 }
|
|
#else
|
|
#define osMutexDef(name) \
|
|
const osMutexDef_t os_mutex_def_##name = \
|
|
{ NULL, osMutexRecursive | osMutexPrioInherit | osMutexRobust, NULL, 0U }
|
|
#endif
|
|
#endif
|
|
|
|
/// Access a Mutex definition.
|
|
/// \param name name of the mutex object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osMutex(name) \
|
|
&os_mutex_def_##name
|
|
|
|
/// Create and Initialize a Mutex object.
|
|
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
|
|
/// \return mutex ID for reference by other functions or NULL in case of error.
|
|
osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
|
|
|
|
/// Wait until a Mutex becomes available.
|
|
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
|
|
#else
|
|
#define osMutexWait osMutexAcquire
|
|
#endif
|
|
|
|
/// Release a Mutex that was obtained by \ref osMutexWait.
|
|
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osMutexRelease (osMutexId mutex_id);
|
|
#endif
|
|
|
|
/// Delete a Mutex object.
|
|
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osMutexDelete (osMutexId mutex_id);
|
|
#endif
|
|
|
|
|
|
// ==== Semaphore Management Functions ====
|
|
|
|
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U)) // Semaphore available
|
|
|
|
/// Define a Semaphore object.
|
|
/// \param name name of the semaphore object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osSemaphoreDef(name) \
|
|
extern const osSemaphoreDef_t os_semaphore_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osSemaphoreDef(name) \
|
|
const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
|
|
#else
|
|
#define osSemaphoreDef(name) \
|
|
const osSemaphoreDef_t os_semaphore_def_##name = \
|
|
{ NULL, 0U, NULL, 0U }
|
|
#endif
|
|
#endif
|
|
|
|
/// Access a Semaphore definition.
|
|
/// \param name name of the semaphore object.
|
|
/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osSemaphore(name) \
|
|
&os_semaphore_def_##name
|
|
|
|
/// Create and Initialize a Semaphore object.
|
|
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
|
|
/// \param[in] count maximum and initial number of available tokens.
|
|
/// \return semaphore ID for reference by other functions or NULL in case of error.
|
|
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
|
|
|
|
/// Wait until a Semaphore token becomes available.
|
|
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
|
/// \return number of available tokens, or -1 in case of incorrect parameters.
|
|
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
|
|
|
|
/// Release a Semaphore token.
|
|
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
|
|
#endif
|
|
|
|
/// Delete a Semaphore object.
|
|
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
|
/// \return status code that indicates the execution status of the function.
|
|
#if (osCMSIS < 0x20000U)
|
|
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
|
|
#endif
|
|
|
|
#endif // Semaphore available
|
|
|
|
|
|
// ==== Memory Pool Management Functions ====
|
|
|
|
#if (defined(osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool available
|
|
|
|
/// \brief Define a Memory Pool.
|
|
/// \param name name of the memory pool.
|
|
/// \param no maximum number of blocks (objects) in the memory pool.
|
|
/// \param type data type of a single block (object).
|
|
/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osPoolDef(name, no, type) \
|
|
extern const osPoolDef_t os_pool_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osPoolDef(name, no, type) \
|
|
const osPoolDef_t os_pool_def_##name = \
|
|
{ (no), sizeof(type), NULL }
|
|
#else
|
|
#define osPoolDef(name, no, type) \
|
|
const osPoolDef_t os_pool_def_##name = \
|
|
{ (no), sizeof(type), { NULL, 0U, NULL, 0U, NULL, 0U } }
|
|
#endif
|
|
#endif
|
|
|
|
/// \brief Access a Memory Pool definition.
|
|
/// \param name name of the memory pool
|
|
/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osPool(name) \
|
|
&os_pool_def_##name
|
|
|
|
/// Create and Initialize a Memory Pool object.
|
|
/// \param[in] pool_def memory pool definition referenced with \ref osPool.
|
|
/// \return memory pool ID for reference by other functions or NULL in case of error.
|
|
osPoolId osPoolCreate (const osPoolDef_t *pool_def);
|
|
|
|
/// Allocate a memory block from a Memory Pool.
|
|
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
/// \return address of the allocated memory block or NULL in case of no memory available.
|
|
void *osPoolAlloc (osPoolId pool_id);
|
|
|
|
/// Allocate a memory block from a Memory Pool and set memory block to zero.
|
|
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
/// \return address of the allocated memory block or NULL in case of no memory available.
|
|
void *osPoolCAlloc (osPoolId pool_id);
|
|
|
|
/// Return an allocated memory block back to a Memory Pool.
|
|
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
/// \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 osPoolFree (osPoolId pool_id, void *block);
|
|
|
|
#endif // Memory Pool available
|
|
|
|
|
|
// ==== Message Queue Management Functions ====
|
|
|
|
#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queue available
|
|
|
|
/// \brief Create a Message Queue Definition.
|
|
/// \param name name of the queue.
|
|
/// \param queue_sz maximum number of messages in the queue.
|
|
/// \param type data type of a single message element (for debugger).
|
|
/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osMessageQDef(name, queue_sz, type) \
|
|
extern const osMessageQDef_t os_messageQ_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osMessageQDef(name, queue_sz, type) \
|
|
const osMessageQDef_t os_messageQ_def_##name = \
|
|
{ (queue_sz), NULL }
|
|
#else
|
|
#define osMessageQDef(name, queue_sz, type) \
|
|
const osMessageQDef_t os_messageQ_def_##name = \
|
|
{ (queue_sz), { NULL, 0U, NULL, 0U, NULL, 0U } }
|
|
#endif
|
|
#endif
|
|
|
|
/// \brief Access a Message Queue Definition.
|
|
/// \param name name of the queue
|
|
/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osMessageQ(name) \
|
|
&os_messageQ_def_##name
|
|
|
|
/// Create and Initialize a Message Queue object.
|
|
/// \param[in] queue_def message queue definition referenced with \ref osMessageQ.
|
|
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
|
|
/// \return message queue ID for reference by other functions or NULL in case of error.
|
|
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
|
|
|
|
/// Put a Message to a Queue.
|
|
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
|
|
/// \param[in] info message information.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
|
/// \return status code that indicates the execution status of the function.
|
|
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
|
|
|
|
/// Get a Message from a Queue or timeout if Queue is empty.
|
|
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
|
|
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
|
/// \return event information that includes status code.
|
|
osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
|
|
|
|
#endif // Message Queue available
|
|
|
|
|
|
// ==== Mail Queue Management Functions ====
|
|
|
|
#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queue available
|
|
|
|
/// \brief Create a Mail Queue Definition.
|
|
/// \param name name of the queue.
|
|
/// \param queue_sz maximum number of mails in the queue.
|
|
/// \param type data type of a single mail element.
|
|
/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#if defined (osObjectsExternal) // object is external
|
|
#define osMailQDef(name, queue_sz, type) \
|
|
extern const osMailQDef_t os_mailQ_def_##name
|
|
#else // define the object
|
|
#if (osCMSIS < 0x20000U)
|
|
#define osMailQDef(name, queue_sz, type) \
|
|
const osMailQDef_t os_mailQ_def_##name = \
|
|
{ (queue_sz), sizeof(type), NULL }
|
|
#else
|
|
#define osMailQDef(name, queue_sz, type) \
|
|
static void *os_mail_p_##name[2]; \
|
|
const osMailQDef_t os_mailQ_def_##name = \
|
|
{ (queue_sz), sizeof(type), (&os_mail_p_##name), \
|
|
{ NULL, 0U, NULL, 0U, NULL, 0U }, \
|
|
{ NULL, 0U, NULL, 0U, NULL, 0U } }
|
|
#endif
|
|
#endif
|
|
|
|
/// \brief Access a Mail Queue Definition.
|
|
/// \param name name of the queue
|
|
/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
|
|
/// macro body is implementation specific in every CMSIS-RTOS.
|
|
#define osMailQ(name) \
|
|
&os_mailQ_def_##name
|
|
|
|
/// Create and Initialize a Mail Queue object.
|
|
/// \param[in] queue_def mail queue definition referenced with \ref osMailQ.
|
|
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
|
|
/// \return mail queue ID for reference by other functions or NULL in case of error.
|
|
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
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/// Allocate a memory block for mail from a mail memory pool.
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/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
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/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
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/// \return pointer to memory block that can be filled with mail or NULL in case of error.
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void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
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/// Allocate a memory block for mail from a mail memory pool and set memory block to zero.
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/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
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/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
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/// \return pointer to memory block that can be filled with mail or NULL in case of error.
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void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
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/// Put a Mail into a Queue.
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/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
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/// \param[in] mail pointer to memory with mail to put into a queue.
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/// \return status code that indicates the execution status of the function.
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osStatus osMailPut (osMailQId queue_id, const void *mail);
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/// Get a Mail from a Queue or timeout if Queue is empty.
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/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
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/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
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/// \return event information that includes status code.
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osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
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/// Free a memory block by returning it to a mail memory pool.
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/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
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/// \param[in] mail pointer to memory block that was obtained with \ref osMailGet.
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/// \return status code that indicates the execution status of the function.
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osStatus osMailFree (osMailQId queue_id, void *mail);
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#endif // Mail Queue available
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#ifdef __cplusplus
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}
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#endif
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#endif // CMSIS_OS_H_
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