mbed official
Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.
Dependents: denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more
Deprecated
This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.
Revision 48:e9a2c7cb57a4, committed 2014-11-06
- Comitter:
- mbed_official
- Date:
- Thu Nov 06 11:00:33 2014 +0000
- Parent:
- 47:65a1b2fc9a51
- Child:
- 49:77c8e4604045
- Commit message:
- Synchronized with git revision 8724eb616b6e07a3bd111d3022652eb5bbefe9b7
Full URL: https://github.com/mbedmicro/mbed/commit/8724eb616b6e07a3bd111d3022652eb5bbefe9b7/
[RZ/A1H] mbed-RZ first release
Changed in this revision
--- a/rtos/Thread.cpp Mon Nov 03 10:30:24 2014 +0000
+++ b/rtos/Thread.cpp Thu Nov 06 11:00:33 2014 +0000
@@ -31,6 +31,7 @@
_thread_def.pthread = task;
_thread_def.tpriority = priority;
_thread_def.stacksize = stack_size;
+#ifndef __MBED_CMSIS_RTOS_CA9
if (stack_pointer != NULL) {
_thread_def.stack_pointer = stack_pointer;
_dynamic_stack = false;
@@ -41,6 +42,7 @@
_dynamic_stack = true;
}
#endif
+#endif
_tid = osThreadCreate(&_thread_def, argument);
}
@@ -61,7 +63,13 @@
}
Thread::State Thread::get_state() {
+#ifndef __MBED_CMSIS_RTOS_CA9
return ((State)_thread_def.tcb.state);
+#else
+ uint8_t status;
+ status = osThreadGetState(_tid);
+ return ((State)status);
+#endif
}
osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
@@ -82,9 +90,11 @@
Thread::~Thread() {
terminate();
+#ifndef __MBED_CMSIS_RTOS_CA9
if (_dynamic_stack) {
delete[] (_thread_def.stack_pointer);
}
+#endif
}
}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/ARM/HAL_CA9.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,416 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: HAL_CA9.c
+ * Purpose: Hardware Abstraction Layer for Cortex-A9
+ * Rev.: 3 Sept 2013
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 2012 - 2013 ARM Limited
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_Task.h"
+#include "rt_List.h"
+#include "rt_MemBox.h"
+#include "rt_HAL_CA.h"
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+//For A-class, set USR/SYS stack
+__asm void rt_set_PSP (U32 stack) {
+ ARM
+
+ MRS R1, CPSR
+ CPS #MODE_SYS ;no effect in USR mode
+ ISB
+ MOV SP, R0
+ MSR CPSR_c, R1 ;no effect in USR mode
+ ISB
+ BX LR
+
+}
+
+//For A-class, get USR/SYS stack
+__asm U32 rt_get_PSP (void) {
+ ARM
+
+ MRS R1, CPSR
+ CPS #MODE_SYS ;no effect in USR mode
+ ISB
+ MOV R0, SP
+ MSR CPSR_c, R1 ;no effect in USR mode
+ ISB
+ BX LR
+}
+
+/*--------------------------- _alloc_box ------------------------------------*/
+__asm void *_alloc_box (void *box_mem) {
+ /* Function wrapper for Unprivileged/Privileged mode. */
+ ARM
+
+ LDR R12,=__cpp(rt_alloc_box)
+ MRS R2, CPSR
+ LSLS R2, #28
+ BXNE R12
+ SVC 0
+ BX LR
+}
+
+
+/*--------------------------- _free_box -------------------------------------*/
+__asm int _free_box (void *box_mem, void *box) {
+ /* Function wrapper for Unprivileged/Privileged mode. */
+ ARM
+
+ LDR R12,=__cpp(rt_free_box)
+ MRS R2, CPSR
+ LSLS R2, #28
+ BXNE R12
+ SVC 0
+ BX LR
+
+}
+
+/*-------------------------- SVC_Handler -----------------------------------*/
+
+#pragma push
+#pragma arm
+__asm void SVC_Handler (void) {
+ PRESERVE8
+ ARM
+
+ IMPORT rt_tsk_lock
+ IMPORT rt_tsk_unlock
+ IMPORT SVC_Count
+ IMPORT SVC_Table
+ IMPORT rt_stk_check
+ IMPORT FPUEnable
+
+Mode_SVC EQU 0x13
+
+ SRSFD SP!, #Mode_SVC ; Push LR_SVC and SPRS_SVC onto SVC mode stack
+ PUSH {R4} ; Push R4 so we can use it as a temp
+
+ MRS R4,SPSR ; Get SPSR
+ TST R4,#CPSR_T_BIT ; Check Thumb Bit
+ LDRNEH R4,[LR,#-2] ; Thumb: Load Halfword
+ BICNE R4,R4,#0xFF00 ; Extract SVC Number
+ LDREQ R4,[LR,#-4] ; ARM: Load Word
+ BICEQ R4,R4,#0xFF000000 ; Extract SVC Number
+
+ /* Lock out systick and re-enable interrupts */
+ PUSH {R0-R3,R12,LR}
+
+ AND R12, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R12 ; Adjust stack
+ PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack
+
+ BLX rt_tsk_lock
+ CPSIE i
+
+ POP {R12, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R12 ; Unadjust stack
+
+ POP {R0-R3,R12,LR}
+
+ CMP R4,#0
+ BNE SVC_User
+
+ MRS R4,SPSR
+ PUSH {R4} ; Push R4 so we can use it as a temp
+ AND R4, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R4 ; Adjust stack
+ PUSH {R4, LR} ; Store stack adjustment and dummy LR
+ BLX R12
+ POP {R4, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R4 ; Unadjust stack
+ POP {R4} ; Restore R4
+ MSR SPSR_CXSF,R4
+
+ /* Here we will be in SVC mode (even if coming in from PendSV_Handler or OS_Tick_Handler) */
+Sys_Switch
+ LDR LR,=__cpp(&os_tsk)
+ LDM LR,{R4,LR} ; os_tsk.run, os_tsk.new
+ CMP R4,LR
+ BNE switching
+
+ PUSH {R0-R3,R12,LR}
+
+ AND R12, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R12 ; Adjust stack
+ PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack
+
+ CPSID i
+ BLX rt_tsk_unlock
+
+ POP {R12, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R12 ; Unadjust stack
+
+ POP {R0-R3,R12,LR}
+ POP {R4}
+ RFEFD SP! ; Return from exception, no task switch
+
+switching
+ CLREX
+ CMP R4,#0
+ ADDEQ SP,SP,#12 ; Original R4, LR & SPSR do not need to be popped when we are paging in a different task
+ BEQ SVC_Next ; Runtask deleted?
+
+
+ PUSH {R8-R11} //R4 and LR already stacked
+ MOV R10,R4 ; Preserve os_tsk.run
+ MOV R11,LR ; Preserve os_tsk.new
+
+ ADD R8,SP,#16 ; Unstack R4,LR
+ LDMIA R8,{R4,LR}
+
+ SUB SP,SP,#4 ; Make space on the stack for the next instn
+ STMIA SP,{SP}^ ; Put User SP onto stack
+ POP {R8} ; Pop User SP into R8
+
+ MRS R9,SPSR
+ STMDB R8!,{R9} ; User CPSR
+ STMDB R8!,{LR} ; User PC
+ STMDB R8,{LR}^ ; User LR
+ SUB R8,R8,#4 ; No writeback for store of User LR
+ STMDB R8!,{R0-R3,R12} ; User R0-R3,R12
+ MOV R3,R10 ; os_tsk.run
+ MOV LR,R11 ; os_tsk.new
+ POP {R9-R12}
+ ADD SP,SP,#12 ; Fix up SP for unstack of R4, LR & SPSR
+ STMDB R8!,{R4-R7,R9-R12} ; User R4-R11
+
+ //If applicable, stack VFP state
+ MRC p15,0,R1,c1,c0,2 ; VFP/NEON access enabled? (CPACR)
+ AND R2,R1,#0x00F00000
+ CMP R2,#0x00F00000
+ BNE no_outgoing_vfp
+ VMRS R2,FPSCR
+ STMDB R8!,{R2,R4} ; Push FPSCR, maintain 8-byte alignment
+ VSTMDB R8!,{S0-S31}
+ LDRB R2,[R3,#TCB_STACKF] ; Record in TCB that VFP state is stacked
+ ORR R2,#2
+ STRB R2,[R3,#TCB_STACKF]
+
+no_outgoing_vfp
+ STR R8,[R3,#TCB_TSTACK]
+ MOV R4,LR
+
+ PUSH {R4} ; Push R4 so we can use it as a temp
+ AND R4, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R4 ; Adjust stack
+ PUSH {R4, LR} ; Store stack adjustment and dummy LR to SVC stack
+
+ BLX rt_stk_check
+
+ POP {R4, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R4 ; Unadjust stack
+ POP {R4} ; Restore R4
+
+ MOV LR,R4
+
+SVC_Next //R4 == os_tsk.run, LR == os_tsk.new, R0-R3, R5-R12 corruptible
+ LDR R1,=__cpp(&os_tsk) ; os_tsk.run = os_tsk.new
+ STR LR,[R1]
+ LDRB R1,[LR,#TCB_TID] ; os_tsk.run->task_id
+ LSL R1,#8 ; Store PROCID
+ MCR p15,0,R1,c13,c0,1 ; Write CONTEXTIDR
+
+ LDR R0,[LR,#TCB_TSTACK] ; os_tsk.run->tsk_stack
+
+ //Does incoming task have VFP state in stack?
+ LDRB R3,[LR,#TCB_STACKF]
+ TST R3,#0x2
+ MRC p15,0,R1,c1,c0,2 ; Read CPACR
+ ANDEQ R1,R1,#0xFF0FFFFF ; Disable VFP access if incoming task does not have stacked VFP state
+ ORRNE R1,R1,#0x00F00000 ; Enable VFP access if incoming task does have stacked VFP state
+ MCR p15,0,R1,c1,c0,2 ; Write CPACR
+ BEQ no_incoming_vfp
+ ISB ; We only need the sync if we enabled, otherwise we will context switch before next VFP instruction anyway
+ VLDMIA R0!,{S0-S31}
+ LDR R2,[R0]
+ VMSR FPSCR,R2
+ ADD R0,R0,#8
+
+no_incoming_vfp
+ LDR R1,[R0,#60] ; Restore User CPSR
+ MSR SPSR_CXSF,R1
+ LDMIA R0!,{R4-R11} ; Restore User R4-R11
+ ADD R0,R0,#4 ; Restore User R1-R3,R12
+ LDMIA R0!,{R1-R3,R12}
+ LDMIA R0,{LR}^ ; Restore User LR
+ ADD R0,R0,#4 ; No writeback for load to user LR
+ LDMIA R0!,{LR} ; Restore User PC
+ ADD R0,R0,#4 ; Correct User SP for unstacked user CPSR
+
+ PUSH {R0} ; Push R0 onto stack
+ LDMIA SP,{SP}^ ; Get R0 off stack into User SP
+ ADD SP,SP,#4 ; Put SP back
+
+ LDR R0,[R0,#-32] ; Restore R0
+
+ PUSH {R0-R3,R12,LR}
+
+ AND R12, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R12 ; Adjust stack
+ PUSH {R12, LR} ; Store stack adjustment and dummy LR to SVC stack
+
+ CPSID i
+ BLX rt_tsk_unlock
+
+ POP {R12, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R12 ; Unadjust stack
+
+ POP {R0-R3,R12,LR}
+
+ MOVS PC,LR ; Return from exception
+
+
+ /*------------------- User SVC -------------------------------*/
+
+SVC_User
+ LDR R12,=SVC_Count
+ LDR R12,[R12]
+ CMP R4,R12 ; Check for overflow
+ BHI SVC_Done
+
+ LDR R12,=SVC_Table-4
+ LDR R12,[R12,R4,LSL #2] ; Load SVC Function Address
+ MRS R4,SPSR ; Save SPSR
+ PUSH {R4} ; Push R4 so we can use it as a temp
+ AND R4, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R4 ; Adjust stack
+ PUSH {R4, LR} ; Store stack adjustment and dummy LR
+ BLX R12 ; Call SVC Function
+ POP {R4, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R4 ; Unadjust stack
+ POP {R4} ; Restore R4
+ MSR SPSR_CXSF,R4 ; Restore SPSR
+
+SVC_Done
+ PUSH {R0-R3,R12,LR}
+
+ PUSH {R4} ; Push R4 so we can use it as a temp
+ AND R4, SP, #4 ; Ensure stack is 8-byte aligned
+ SUB SP, SP, R4 ; Adjust stack
+ PUSH {R4, LR} ; Store stack adjustment and dummy LR
+
+ CPSID i
+ BLX rt_tsk_unlock
+
+ POP {R4, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R4 ; Unadjust stack
+ POP {R4} ; Restore R4
+
+ POP {R0-R3,R12,LR}
+ POP {R4}
+ RFEFD SP! ; Return from exception
+}
+#pragma pop
+
+#pragma push
+#pragma arm
+__asm void PendSV_Handler (U32 IRQn) {
+ ARM
+
+ IMPORT rt_tsk_lock
+ IMPORT IRQNestLevel
+
+ ADD SP,SP,#8 //fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
+
+ //Disable systick interrupts, then write EOIR. We want interrupts disabled before we enter the context switcher.
+ PUSH {R0, R1}
+ BLX rt_tsk_lock
+ POP {R0, R1}
+ LDR R1, =__cpp(&GICInterface_BASE)
+ LDR R1, [R1, #0]
+ STR R0, [R1, #0x10]
+
+ LDR R0, =IRQNestLevel ; Get address of nesting counter
+ LDR R1, [R0]
+ SUB R1, R1, #1 ; Decrement nesting counter
+ STR R1, [R0]
+
+ BLX __cpp(rt_pop_req)
+
+ POP {R1, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R1 ; Unadjust stack
+
+ LDR R0,[SP,#24]
+ MSR SPSR_CXSF,R0
+ POP {R0-R3,R12} ; Leave SPSR & LR on the stack
+ PUSH {R4}
+ B Sys_Switch
+}
+#pragma pop
+
+
+#pragma push
+#pragma arm
+__asm void OS_Tick_Handler (U32 IRQn) {
+ ARM
+
+ IMPORT rt_tsk_lock
+ IMPORT IRQNestLevel
+
+ ADD SP,SP,#8 //fix up stack pointer (R0 has been pushed and will never be popped, R1 was pushed for stack alignment)
+
+ PUSH {R0, R1}
+ BLX rt_tsk_lock
+ POP {R0, R1}
+ LDR R1, =__cpp(&GICInterface_BASE)
+ LDR R1, [R1, #0]
+ STR R0, [R1, #0x10]
+
+ LDR R0, =IRQNestLevel ; Get address of nesting counter
+ LDR R1, [R0]
+ SUB R1, R1, #1 ; Decrement nesting counter
+ STR R1, [R0]
+
+ BLX __cpp(os_tick_irqack)
+ BLX __cpp(rt_systick)
+
+ POP {R1, LR} ; Get stack adjustment & discard dummy LR
+ ADD SP, SP, R1 ; Unadjust stack
+
+ LDR R0,[SP,#24]
+ MSR SPSR_CXSF,R0
+ POP {R0-R3,R12} ; Leave SPSR & LR on the stack
+ PUSH {R4}
+ B Sys_Switch
+}
+#pragma pop
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/ARM/SVC_Table.s Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,57 @@ +;/*---------------------------------------------------------------------------- +; * RL-ARM - RTX +; *---------------------------------------------------------------------------- +; * Name: SVC_TABLE.S +; * Purpose: Pre-defined SVC Table for Cortex-M +; * Rev.: V4.60 +; *---------------------------------------------------------------------------- +; * +; * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH +; * All rights reserved. +; * Redistribution and use in source and binary forms, with or without +; * modification, are permitted provided that the following conditions are met: +; * - Redistributions of source code must retain the above copyright +; * notice, this list of conditions and the following disclaimer. +; * - Redistributions in binary form must reproduce the above copyright +; * notice, this list of conditions and the following disclaimer in the +; * documentation and/or other materials provided with the distribution. +; * - Neither the name of ARM nor the names of its contributors may be used +; * to endorse or promote products derived from this software without +; * specific prior written permission. +; * +; * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +; * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +; * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +; * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE +; * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +; * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +; * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +; * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +; * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +; * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +; * POSSIBILITY OF SUCH DAMAGE. +; *---------------------------------------------------------------------------*/ + + + AREA SVC_TABLE, CODE, READONLY + + EXPORT SVC_Count + +SVC_Cnt EQU (SVC_End-SVC_Table)/4 +SVC_Count DCD SVC_Cnt + +; Import user SVC functions here. +; IMPORT __SVC_1 + + EXPORT SVC_Table +SVC_Table +; Insert user SVC functions here. SVC 0 used by RTL Kernel. +; DCD __SVC_1 ; InitMemorySubsystem + +SVC_End + + END + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/HAL_CA.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: HAL_CA.C
+ * Purpose: Hardware Abstraction Layer for Cortex-A
+ * Rev.:
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 2012 ARM Limited
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_HAL_CA.h"
+
+/*--------------------------- os_init_context -------------------------------*/
+
+void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
+ /* Prepare TCB and saved context for a first time start of a task. */
+ U32 *stk,i,size;
+
+ /* Prepare a complete interrupt frame for first task start */
+ size = p_TCB->priv_stack >> 2;
+ if (size == 0) {
+ size = (U16)os_stackinfo >> 2;
+ }
+ /* Write to the top of stack. */
+ stk = &p_TCB->stack[size];
+
+ /* Auto correct to 8-byte ARM stack alignment. */
+ if ((U32)stk & 0x04) {
+ stk--;
+ }
+
+ stk -= 16;
+
+ /* Initial PC and default CPSR */
+ stk[14] = (U32)task_body;
+ /* Task run mode is inherited from the startup file. */
+ /* (non-privileged USER or privileged SYSTEM mode) */
+ stk[15] = (os_flags & 1) ? INIT_CPSR_SYS : INIT_CPSR_USER;
+ /* Set T-bit if task function in Thumb mode. */
+ if ((U32)task_body & 1) {
+ stk[15] |= CPSR_T_BIT;
+ }
+ /* Assign a void pointer to R0. */
+ stk[8] = (U32)p_TCB->msg;
+ /* Clear R1-R12,LR registers. */
+ for (i = 0; i < 8; i++) {
+ stk[i] = 0;
+ }
+ for (i = 9; i < 14; i++) {
+ stk[i] = 0;
+ }
+
+ /* Initial Task stack pointer. */
+ p_TCB->tsk_stack = (U32)stk;
+
+ /* Task entry point. */
+ p_TCB->ptask = task_body;
+
+ /* Set a magic word for checking of stack overflow. */
+ p_TCB->stack[0] = MAGIC_WORD;
+}
+
+
+/*--------------------------- rt_ret_val ----------------------------------*/
+
+static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
+ /* Get pointer to task return value registers (R0..R3) in Stack */
+#if (__TARGET_FPU_VFP)
+ if (p_TCB->stack_frame & 0x2) {
+ /* Extended Stack Frame: S0-31,FPSCR,Reserved,R4-R11,R0-R3,R12,LR,PC,xPSR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4 + 34*4);
+ } else {
+ /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4);
+ }
+#else
+ /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4);
+#endif
+}
+
+void rt_ret_val (P_TCB p_TCB, U32 v0) {
+ U32 *ret;
+
+ ret = rt_ret_regs(p_TCB);
+ ret[0] = v0;
+}
+
+void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
+ U32 *ret;
+
+ ret = rt_ret_regs(p_TCB);
+ ret[0] = v0;
+ ret[1] = v1;
+}
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/HAL_CM.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,168 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: HAL_CM.C
+ * Purpose: Hardware Abstraction Layer for Cortex-M
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_HAL_CM.h"
+
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+#ifdef DBG_MSG
+BIT dbg_msg;
+#endif
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_init_stack ---------------------------------*/
+
+void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
+ /* Prepare TCB and saved context for a first time start of a task. */
+ U32 *stk,i,size;
+
+ /* Prepare a complete interrupt frame for first task start */
+ size = p_TCB->priv_stack >> 2;
+ if (size == 0) {
+ size = (U16)os_stackinfo >> 2;
+ }
+
+ /* Write to the top of stack. */
+ stk = &p_TCB->stack[size];
+
+ /* Auto correct to 8-byte ARM stack alignment. */
+ if ((U32)stk & 0x04) {
+ stk--;
+ }
+
+ stk -= 16;
+
+ /* Default xPSR and initial PC */
+ stk[15] = INITIAL_xPSR;
+ stk[14] = (U32)task_body;
+
+ /* Clear R4-R11,R0-R3,R12,LR registers. */
+ for (i = 0; i < 14; i++) {
+ stk[i] = 0;
+ }
+
+ /* Assign a void pointer to R0. */
+ stk[8] = (U32)p_TCB->msg;
+
+ /* Initial Task stack pointer. */
+ p_TCB->tsk_stack = (U32)stk;
+
+ /* Task entry point. */
+ p_TCB->ptask = task_body;
+
+ /* Set a magic word for checking of stack overflow. */
+ p_TCB->stack[0] = MAGIC_WORD;
+}
+
+
+/*--------------------------- rt_ret_val ----------------------------------*/
+
+static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
+ /* Get pointer to task return value registers (R0..R3) in Stack */
+#if (__TARGET_FPU_VFP)
+ if (p_TCB->stack_frame) {
+ /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
+ } else {
+ /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4);
+ }
+#else
+ /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
+ return (U32 *)(p_TCB->tsk_stack + 8*4);
+#endif
+}
+
+void rt_ret_val (P_TCB p_TCB, U32 v0) {
+ U32 *ret;
+
+ ret = rt_ret_regs(p_TCB);
+ ret[0] = v0;
+}
+
+void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
+ U32 *ret;
+
+ ret = rt_ret_regs(p_TCB);
+ ret[0] = v0;
+ ret[1] = v1;
+}
+
+
+/*--------------------------- dbg_init --------------------------------------*/
+
+#ifdef DBG_MSG
+void dbg_init (void) {
+ if ((DEMCR & DEMCR_TRCENA) &&
+ (ITM_CONTROL & ITM_ITMENA) &&
+ (ITM_ENABLE & (1UL << 31))) {
+ dbg_msg = __TRUE;
+ }
+}
+#endif
+
+/*--------------------------- dbg_task_notify -------------------------------*/
+
+#ifdef DBG_MSG
+void dbg_task_notify (P_TCB p_tcb, BOOL create) {
+ while (ITM_PORT31_U32 == 0);
+ ITM_PORT31_U32 = (U32)p_tcb->ptask;
+ while (ITM_PORT31_U32 == 0);
+ ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
+}
+#endif
+
+/*--------------------------- dbg_task_switch -------------------------------*/
+
+#ifdef DBG_MSG
+void dbg_task_switch (U32 task_id) {
+ while (ITM_PORT31_U32 == 0);
+ ITM_PORT31_U8 = task_id;
+}
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/RTX_CM_lib.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,423 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RTX_CM_LIB.H
+ * Purpose: RTX Kernel System Configuration
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#if defined (__CC_ARM)
+#pragma O3
+#define __USED __attribute__((used))
+#elif defined (__GNUC__)
+#pragma GCC optimize ("O3")
+#define __USED __attribute__((used))
+#elif defined (__ICCARM__)
+#define __USED __root
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Definitions
+ *---------------------------------------------------------------------------*/
+
+#define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3]
+#define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
+
+#define OS_TCB_SIZE 48
+#define OS_TMR_SIZE 8
+
+#if defined (__CC_ARM) && !defined (__MICROLIB)
+
+typedef void *OS_ID;
+typedef uint32_t OS_TID;
+typedef uint32_t OS_MUT[3];
+typedef uint32_t OS_RESULT;
+
+#define runtask_id() rt_tsk_self()
+#define mutex_init(m) rt_mut_init(m)
+#define mutex_wait(m) os_mut_wait(m,0xFFFF)
+#define mutex_rel(m) os_mut_release(m)
+
+extern OS_TID rt_tsk_self (void);
+extern void rt_mut_init (OS_ID mutex);
+extern OS_RESULT rt_mut_release (OS_ID mutex);
+extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
+
+#define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
+#define os_mut_release(mutex) _os_mut_release((uint32_t)rt_mut_release,mutex)
+
+OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex) __svc_indirect(0);
+OS_RESULT _os_mut_wait (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
+
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+#if (OS_TIMERS != 0)
+#define OS_TASK_CNT (OS_TASKCNT + 1)
+#define OS_PRIV_CNT (OS_PRIVCNT + 2)
+#define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE+OS_TIMERSTKSZ))
+#else
+#define OS_TASK_CNT OS_TASKCNT
+#define OS_PRIV_CNT (OS_PRIVCNT + 1)
+#define OS_STACK_SZ (4*(OS_PRIVSTKSIZE+OS_MAINSTKSIZE))
+#endif
+
+uint16_t const os_maxtaskrun = OS_TASK_CNT;
+uint32_t const os_stackinfo = (OS_STKCHECK<<24)| (OS_PRIV_CNT<<16) | (OS_STKSIZE*4);
+uint32_t const os_rrobin = (OS_ROBIN << 16) | OS_ROBINTOUT;
+uint32_t const os_trv = OS_TRV;
+uint8_t const os_flags = OS_RUNPRIV;
+
+/* Export following defines to uVision debugger. */
+__USED uint32_t const os_clockrate = OS_TICK;
+__USED uint32_t const os_timernum = 0;
+
+/* Memory pool for TCB allocation */
+_declare_box (mp_tcb, OS_TCB_SIZE, OS_TASK_CNT);
+uint16_t const mp_tcb_size = sizeof(mp_tcb);
+
+/* Memory pool for System stack allocation (+os_idle_demon). */
+_declare_box8 (mp_stk, OS_STKSIZE*4, OS_TASK_CNT-OS_PRIV_CNT+1);
+uint32_t const mp_stk_size = sizeof(mp_stk);
+
+/* Memory pool for user specified stack allocation (+main, +timer) */
+uint64_t os_stack_mem[2+OS_PRIV_CNT+(OS_STACK_SZ/8)];
+uint32_t const os_stack_sz = sizeof(os_stack_mem);
+
+#ifndef OS_FIFOSZ
+ #define OS_FIFOSZ 16
+#endif
+
+/* Fifo Queue buffer for ISR requests.*/
+uint32_t os_fifo[OS_FIFOSZ*2+1];
+uint8_t const os_fifo_size = OS_FIFOSZ;
+
+/* An array of Active task pointers. */
+void *os_active_TCB[OS_TASK_CNT];
+
+/* User Timers Resources */
+#if (OS_TIMERS != 0)
+extern void osTimerThread (void const *argument);
+#if defined (__MBED_CMSIS_RTOS_CA9)
+osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
+#else
+osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 1, 4*OS_TIMERSTKSZ);
+#endif
+osThreadId osThreadId_osTimerThread;
+osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
+osMessageQId osMessageQId_osTimerMessageQ;
+#else
+osThreadDef_t os_thread_def_osTimerThread = { NULL };
+osThreadId osThreadId_osTimerThread;
+osMessageQDef(osTimerMessageQ, 0, void *);
+osMessageQId osMessageQId_osTimerMessageQ;
+#endif
+
+/* Legacy RTX User Timers not used */
+uint32_t os_tmr = 0;
+uint32_t const *m_tmr = NULL;
+uint16_t const mp_tmr_size = 0;
+
+#if defined (__CC_ARM) && !defined (__MICROLIB)
+ /* A memory space for arm standard library. */
+ static uint32_t std_libspace[OS_TASK_CNT][96/4];
+ static OS_MUT std_libmutex[OS_MUTEXCNT];
+ static uint32_t nr_mutex;
+ extern void *__libspace_start;
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * RTX Optimizations (empty functions)
+ *---------------------------------------------------------------------------*/
+
+#if OS_ROBIN == 0
+ void rt_init_robin (void) {;}
+ void rt_chk_robin (void) {;}
+#endif
+
+#if OS_STKCHECK == 0
+ void rt_stk_check (void) {;}
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Standard Library multithreading interface
+ *---------------------------------------------------------------------------*/
+
+#if defined (__CC_ARM) && !defined (__MICROLIB)
+
+/*--------------------------- __user_perthread_libspace ---------------------*/
+
+void *__user_perthread_libspace (void) {
+ /* Provide a separate libspace for each task. */
+ uint32_t idx;
+
+ idx = runtask_id ();
+ if (idx == 0) {
+ /* RTX not running yet. */
+ return (&__libspace_start);
+ }
+ return ((void *)&std_libspace[idx-1]);
+}
+
+/*--------------------------- _mutex_initialize -----------------------------*/
+
+int _mutex_initialize (OS_ID *mutex) {
+ /* Allocate and initialize a system mutex. */
+
+ if (nr_mutex >= OS_MUTEXCNT) {
+ /* If you are here, you need to increase the number OS_MUTEXCNT. */
+ for (;;);
+ }
+ *mutex = &std_libmutex[nr_mutex++];
+ mutex_init (*mutex);
+ return (1);
+}
+
+
+/*--------------------------- _mutex_acquire --------------------------------*/
+
+__attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
+ /* Acquire a system mutex, lock stdlib resources. */
+ if (runtask_id ()) {
+ /* RTX running, acquire a mutex. */
+ mutex_wait (*mutex);
+ }
+}
+
+
+/*--------------------------- _mutex_release --------------------------------*/
+
+__attribute__((used)) void _mutex_release (OS_ID *mutex) {
+ /* Release a system mutex, unlock stdlib resources. */
+ if (runtask_id ()) {
+ /* RTX running, release a mutex. */
+ mutex_rel (*mutex);
+ }
+}
+
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * RTX Startup
+ *---------------------------------------------------------------------------*/
+
+/* Main Thread definition */
+extern int main (void);
+osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 1, 4*OS_MAINSTKSIZE };
+
+
+#if defined (__CC_ARM)
+
+#ifdef __MICROLIB
+void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
+#if __TARGET_ARCH_ARM
+#pragma push
+#pragma arm
+#endif
+void _main_init (void) {
+ osKernelInitialize();
+ osThreadCreate(&os_thread_def_main, NULL);
+ osKernelStart();
+ for (;;);
+}
+#if __TARGET_ARCH_ARM
+#pragma pop
+#endif
+#else
+#if 0
+//#ifdef __MBED_CMSIS_RTOS_CA9
+__asm void __rt_entry (void) {
+
+ IMPORT __user_setup_stackheap
+ IMPORT __rt_lib_init
+ IMPORT os_thread_def_main
+ IMPORT osKernelInitialize
+ IMPORT osKernelStart
+ IMPORT osThreadCreate
+ IMPORT InterruptHandlerRegister
+ IMPORT PendSV_Handler
+ IMPORT OS_Tick_Handler
+ IMPORT exit
+
+ BL __user_setup_stackheap
+ MOV R1,R2
+ BL __rt_lib_init
+ BL osKernelInitialize
+ LDR R0,=os_thread_def_main
+ MOVS R1,#0
+ BL osThreadCreate
+ BL osKernelStart
+ MOVS R0,#0
+ LDR R1,=PendSV_Handler
+ BL InterruptHandlerRegister
+ MOVS R0,#134
+ LDR R1,=OS_Tick_Handler
+ BL InterruptHandlerRegister
+ BL exit
+
+ ALIGN
+}
+#else
+__asm void __rt_entry (void) {
+
+ IMPORT __user_setup_stackheap
+ IMPORT __rt_lib_init
+ IMPORT os_thread_def_main
+ IMPORT osKernelInitialize
+ IMPORT osKernelStart
+ IMPORT osThreadCreate
+ IMPORT exit
+
+ BL __user_setup_stackheap
+ MOV R1,R2
+ BL __rt_lib_init
+ BL osKernelInitialize
+ LDR R0,=os_thread_def_main
+ MOVS R1,#0
+ BL osThreadCreate
+ BL osKernelStart
+ BL exit
+
+ ALIGN
+}
+#endif
+#endif
+
+#elif defined (__GNUC__)
+
+#ifdef __CS3__
+
+/* CS3 start_c routine.
+ *
+ * Copyright (c) 2006, 2007 CodeSourcery Inc
+ *
+ * The authors hereby grant permission to use, copy, modify, distribute,
+ * and license this software and its documentation for any purpose, provided
+ * that existing copyright notices are retained in all copies and that this
+ * notice is included verbatim in any distributions. No written agreement,
+ * license, or royalty fee is required for any of the authorized uses.
+ * Modifications to this software may be copyrighted by their authors
+ * and need not follow the licensing terms described here, provided that
+ * the new terms are clearly indicated on the first page of each file where
+ * they apply.
+ */
+
+#include "cs3.h"
+
+extern void __libc_init_array (void);
+
+__attribute ((noreturn)) void __cs3_start_c (void){
+ unsigned regions = __cs3_region_num;
+ const struct __cs3_region *rptr = __cs3_regions;
+
+ /* Initialize memory */
+ for (regions = __cs3_region_num, rptr = __cs3_regions; regions--; rptr++) {
+ long long *src = (long long *)rptr->init;
+ long long *dst = (long long *)rptr->data;
+ unsigned limit = rptr->init_size;
+ unsigned count;
+
+ if (src != dst)
+ for (count = 0; count != limit; count += sizeof (long long))
+ *dst++ = *src++;
+ else
+ dst = (long long *)((char *)dst + limit);
+ limit = rptr->zero_size;
+ for (count = 0; count != limit; count += sizeof (long long))
+ *dst++ = 0;
+ }
+
+ /* Run initializers. */
+ __libc_init_array ();
+
+ osKernelInitialize();
+ osThreadCreate(&os_thread_def_main, NULL);
+ osKernelStart();
+ for (;;);
+}
+
+#else
+
+__attribute__((naked)) void software_init_hook (void) {
+ __asm (
+ ".syntax unified\n"
+ ".thumb\n"
+ "movs r0,#0\n"
+ "movs r1,#0\n"
+ "mov r4,r0\n"
+ "mov r5,r1\n"
+ "ldr r0,= __libc_fini_array\n"
+ "bl atexit\n"
+ "bl __libc_init_array\n"
+ "mov r0,r4\n"
+ "mov r1,r5\n"
+ "bl osKernelInitialize\n"
+ "ldr r0,=os_thread_def_main\n"
+ "movs r1,#0\n"
+ "bl osThreadCreate\n"
+ "bl osKernelStart\n"
+ "bl exit\n"
+ );
+}
+
+#endif
+
+#elif defined (__ICCARM__)
+
+extern int __low_level_init(void);
+extern void __iar_data_init3(void);
+extern void exit(int arg);
+
+__noreturn __stackless void __cmain(void) {
+ int a;
+
+ if (__low_level_init() != 0) {
+ __iar_data_init3();
+ }
+ osKernelInitialize();
+ osThreadCreate(&os_thread_def_main, NULL);
+ a = osKernelStart();
+ exit(a);
+}
+
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/RTX_Conf_CA.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,319 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RTX_Conf_CM.C
+ * Purpose: Configuration of CMSIS RTX Kernel
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "cmsis_os.h"
+
+/*----------------------------------------------------------------------------
+ * RTX User configuration part BEGIN
+ *---------------------------------------------------------------------------*/
+
+//-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
+//
+// <h>Thread Configuration
+// =======================
+//
+// <o>Number of concurrent running threads <0-250>
+// <i> Defines max. number of threads that will run at the same time.
+// <i> Default: 6
+#ifndef OS_TASKCNT
+ #define OS_TASKCNT 25
+#endif
+
+// <o>Default Thread stack size [bytes] <64-4096:8><#/4>
+// <i> Defines default stack size for threads with osThreadDef stacksz = 0
+// <i> Default: 200
+#ifndef OS_STKSIZE
+ #define OS_STKSIZE 200
+#endif
+
+// <o>Main Thread stack size [bytes] <64-4096:8><#/4>
+// <i> Defines stack size for main thread.
+// <i> Default: 200
+#ifndef OS_MAINSTKSIZE
+ #define OS_MAINSTKSIZE 512
+#endif
+
+// <o>Number of threads with user-provided stack size <0-250>
+// <i> Defines the number of threads with user-provided stack size.
+// <i> Default: 0
+#ifndef OS_PRIVCNT
+ #define OS_PRIVCNT 8
+#endif
+
+// <o>Total stack size [bytes] for threads with user-provided stack size <0-4096:8><#/4>
+// <i> Defines the combined stack size for threads with user-provided stack size.
+// <i> Default: 0
+#ifndef OS_PRIVSTKSIZE
+ #define OS_PRIVSTKSIZE 4096
+#endif
+
+// <q>Check for stack overflow
+// <i> Includes the stack checking code for stack overflow.
+// <i> Note that additional code reduces the Kernel performance.
+#ifndef OS_STKCHECK
+ #define OS_STKCHECK 1
+#endif
+
+// <o>Processor mode for thread execution
+// <0=> Unprivileged mode
+// <1=> Privileged mode
+// <i> Default: Privileged mode
+#ifndef OS_RUNPRIV
+ #define OS_RUNPRIV 0
+#endif
+
+// </h>
+
+// <h>RTX Kernel Timer Tick Configuration
+// ======================================
+// <q> Use Cortex-M SysTick timer as RTX Kernel Timer
+// <i> Use the Cortex-M SysTick timer as a time-base for RTX.
+#ifndef OS_SYSTICK
+ #define OS_SYSTICK 0
+#endif
+//
+// <o>Timer clock value [Hz] <1-1000000000>
+// <i> Defines the timer clock value.
+// <i> Default: 12000000 (12MHz)
+#ifndef OS_CLOCK
+ #define OS_CLOCK 12000000
+#endif
+
+// <o>Timer tick value [us] <1-1000000>
+// <i> Defines the timer tick value.
+// <i> Default: 1000 (1ms)
+#ifndef OS_TICK
+ #define OS_TICK 1000
+#endif
+
+// </h>
+
+// <h>System Configuration
+// =======================
+//
+// <e>Round-Robin Thread switching
+// ===============================
+//
+// <i> Enables Round-Robin Thread switching.
+#ifndef OS_ROBIN
+ #define OS_ROBIN 1
+#endif
+
+// <o>Round-Robin Timeout [ticks] <1-1000>
+// <i> Defines how long a thread will execute before a thread switch.
+// <i> Default: 5
+#ifndef OS_ROBINTOUT
+ #define OS_ROBINTOUT 5
+#endif
+
+// </e>
+
+// <e>User Timers
+// ==============
+// <i> Enables user Timers
+#ifndef OS_TIMERS
+ #define OS_TIMERS 1
+#endif
+
+// <o>Timer Thread Priority
+// <1=> Low
+// <2=> Below Normal <3=> Normal <4=> Above Normal
+// <5=> High
+// <6=> Realtime (highest)
+// <i> Defines priority for Timer Thread
+// <i> Default: High
+#ifndef OS_TIMERPRIO
+ #define OS_TIMERPRIO 5
+#endif
+
+// <o>Timer Thread stack size [bytes] <64-4096:8><#/4>
+// <i> Defines stack size for Timer thread.
+// <i> Default: 200
+#ifndef OS_TIMERSTKSZ
+ #define OS_TIMERSTKSZ 400
+#endif
+
+// <o>Timer Callback Queue size <1-32>
+// <i> Number of concurrent active timer callback functions.
+// <i> Default: 4
+#ifndef OS_TIMERCBQS
+ #define OS_TIMERCBQS 4
+#endif
+
+// </e>
+
+// <o>ISR FIFO Queue size<4=> 4 entries <8=> 8 entries
+// <12=> 12 entries <16=> 16 entries
+// <24=> 24 entries <32=> 32 entries
+// <48=> 48 entries <64=> 64 entries
+// <96=> 96 entries
+// <i> ISR functions store requests to this buffer,
+// <i> when they are called from the interrupt handler.
+// <i> Default: 16 entries
+#ifndef OS_FIFOSZ
+ #define OS_FIFOSZ 16
+#endif
+
+// </h>
+
+//------------- <<< end of configuration section >>> -----------------------
+
+// Standard library system mutexes
+// ===============================
+// Define max. number system mutexes that are used to protect
+// the arm standard runtime library. For microlib they are not used.
+#ifndef OS_MUTEXCNT
+ #define OS_MUTEXCNT 8
+#endif
+
+/*----------------------------------------------------------------------------
+ * RTX User configuration part END
+ *---------------------------------------------------------------------------*/
+
+#define OS_TRV ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6)-1)
+
+
+/*----------------------------------------------------------------------------
+ * Global Functions
+ *---------------------------------------------------------------------------*/
+
+/*--------------------------- os_idle_demon ---------------------------------*/
+
+void os_idle_demon (void) {
+ /* The idle demon is a system thread, running when no other thread is */
+ /* ready to run. */
+
+ for (;;) {
+ /* HERE: include optional user code to be executed when no thread runs.*/
+#if 0
+ __DSB();
+ __WFI();
+#endif
+ }
+}
+
+#if (OS_SYSTICK == 0) // Functions for alternative timer as RTX kernel timer
+
+/*--------------------------- os_tick_init ----------------------------------*/
+#ifdef TARGET_RZ_A1H
+#define OSTM0 (0xFCFEC000uL) /* OSTM0 */
+#define OSTM1 (0xFCFEC400uL) /* OSTM1 */
+#define CPG (0xFCFE0410uL) /* CPG */
+
+#define CPGSTBCR5 (*((volatile unsigned char*)(CPG + 0x00000018uL)))
+
+#define OSTM0CMP (*((volatile unsigned long*)(OSTM0 + 0x00000000uL)))
+#define OSTM0CNT (*((volatile unsigned long*)(OSTM0 + 0x00000004uL)))
+#define OSTM0TE (*((volatile unsigned char*)(OSTM0 + 0x00000010uL)))
+#define OSTM0TS (*((volatile unsigned char*)(OSTM0 + 0x00000014uL)))
+#define OSTM0TT (*((volatile unsigned char*)(OSTM0 + 0x00000018uL)))
+#define OSTM0CTL (*((volatile unsigned char*)(OSTM0 + 0x00000020uL)))
+
+#define OSTM1CMP (*((volatile unsigned long*)(OSTM1 + 0x00000000uL)))
+#define OSTM1CNT (*((volatile unsigned long*)(OSTM1 + 0x00000004uL)))
+#define OSTM1TE (*((volatile unsigned char*)(OSTM1 + 0x00000010uL)))
+#define OSTM1TS (*((volatile unsigned char*)(OSTM1 + 0x00000014uL)))
+#define OSTM1TT (*((volatile unsigned char*)(OSTM1 + 0x00000018uL)))
+#define OSTM1CTL (*((volatile unsigned char*)(OSTM1 + 0x00000020uL)))
+
+#define CPG_STBCR5_BIT_MSTP51 (0x02u) /* OSTM0 */
+#define CM1_RENESAS_RZ_A1_P0_CLK ( 32000000u)
+#define CM0_RENESAS_RZ_A1_P0_CLK ( 33333333u)
+
+typedef enum
+{
+ IRQ_SGI0 = 0,
+ IRQ_OSTMI0TINT = 134
+} IRQn_Type;
+
+typedef void(*IRQHandler)();
+
+extern void PendSV_Handler(uint32_t);
+extern void OS_Tick_Handler(uint32_t);
+extern uint32_t InterruptHandlerRegister (IRQn_Type irq, IRQHandler handler);
+#endif
+
+// Initialize alternative hardware timer as RTX kernel timer
+// Return: IRQ number of the alternative hardware timer
+int os_tick_init (void) {
+#ifdef TARGET_RZ_A1H
+ CPGSTBCR5 &= ~(CPG_STBCR5_BIT_MSTP51); /* enable OSTM0 clock */
+
+ OSTM0TT = 0x1; /* Stop the counter and clears the OSTM0TE bit. */
+ OSTM0CTL = 0x1; /* Interval timer mode. Interrupt enabled */
+
+ OSTM0CMP = (uint32_t)(((double)CM0_RENESAS_RZ_A1_P0_CLK*(double)OS_TICK)/1E6);
+
+ OSTM0TS = 0x1; /* Start the counter and sets the OSTM0TE bit. */
+
+ InterruptHandlerRegister(IRQ_SGI0 , (IRQHandler)PendSV_Handler);
+ InterruptHandlerRegister(IRQ_OSTMI0TINT, (IRQHandler)OS_Tick_Handler);
+
+
+ return IRQ_OSTMI0TINT; /* Return IRQ number of timer (0..239) */
+ /* RTX will set and configure the interrupt */
+#endif
+}
+
+/*--------------------------- os_tick_irqack --------------------------------*/
+
+// Acknowledge alternative hardware timer interrupt
+void os_tick_irqack (void) {
+ /* ... */
+}
+
+#endif // (OS_SYSTICK == 0)
+
+/*--------------------------- os_error --------------------------------------*/
+extern void mbed_die(void);
+
+void os_error (uint32_t err_code) {
+ /* This function is called when a runtime error is detected. Parameter */
+ /* 'err_code' holds the runtime error code (defined in RTL.H). */
+ mbed_die();
+
+ /* HERE: include optional code to be executed on runtime error. */
+ for (;;);
+}
+
+
+/*----------------------------------------------------------------------------
+ * RTX Configuration Functions
+ *---------------------------------------------------------------------------*/
+
+#include "RTX_CM_lib.h"
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/RTX_Config.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,76 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RTX_CONFIG.H + * Purpose: Exported functions of RTX_Config.c + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + + +/* Error Codes */ +#define OS_ERR_STK_OVF 1 +#define OS_ERR_FIFO_OVF 2 +#define OS_ERR_MBX_OVF 3 + +/* Definitions */ +#define BOX_ALIGN_8 0x80000000 +#define _declare_box(pool,size,cnt) U32 pool[(((size)+3)/4)*(cnt) + 3] +#define _declare_box8(pool,size,cnt) U64 pool[(((size)+7)/8)*(cnt) + 2] +#define _init_box8(pool,size,bsize) _init_box (pool,size,(bsize) | BOX_ALIGN_8) + +/* Variables */ +extern U32 mp_tcb[]; +extern U64 mp_stk[]; +extern U32 os_fifo[]; +extern void *os_active_TCB[]; + +/* Constants */ +extern U16 const os_maxtaskrun; +extern U32 const os_trv; +extern U8 const os_flags; +extern U32 const os_stackinfo; +extern U32 const os_rrobin; +extern U32 const os_clockrate; +extern U32 const os_timernum; +extern U16 const mp_tcb_size; +extern U32 const mp_stk_size; +extern U32 const *m_tmr; +extern U16 const mp_tmr_size; +extern U8 const os_fifo_size; + +/* Functions */ +extern void os_idle_demon (void); +extern int os_tick_init (void); +extern void os_tick_irqack (void); +extern void os_tmr_call (U16 info); +extern void os_error (U32 err_code); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/cmsis_os.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,803 @@
+/* ----------------------------------------------------------------------
+ * $Date: 5. June 2012
+ * $Revision: V1.01
+ *
+ * Project: CMSIS-RTOS API
+ * Title: cmsis_os.h RTX header file
+ *
+ * Version 0.02
+ * Initial Proposal Phase
+ * Version 0.03
+ * osKernelStart added, optional feature: main started as thread
+ * osSemaphores have standard behavior
+ * osTimerCreate does not start the timer, added osTimerStart
+ * osThreadPass is renamed to osThreadYield
+ * Version 1.01
+ * Support for C++ interface
+ * - const attribute removed from the osXxxxDef_t typedef's
+ * - const attribute added to the osXxxxDef macros
+ * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
+ * Added: osKernelInitialize
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 2012 ARM LIMITED
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+/**
+\page cmsis_os_h Header File Template: cmsis_os.h
+
+The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS).
+Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents
+its implementation.
+
+The file cmsis_os.h contains:
+ - CMSIS-RTOS API function definitions
+ - struct definitions for parameters and return types
+ - status and priority values used by CMSIS-RTOS API functions
+ - macros for defining threads and other kernel objects
+
+
+<b>Name conventions and header file modifications</b>
+
+All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions.
+Definitions that are prefixed \b os_ are not used in the application code but local to this header file.
+All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread.
+
+Definitions that are marked with <b>CAN BE CHANGED</b> can be adapted towards the needs of the actual CMSIS-RTOS implementation.
+These definitions can be specific to the underlying RTOS kernel.
+
+Definitions that are marked with <b>MUST REMAIN UNCHANGED</b> cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer
+compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.
+
+
+<b>Function calls from interrupt service routines</b>
+
+The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):
+ - \ref osSignalSet
+ - \ref osSemaphoreRelease
+ - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree
+ - \ref osMessagePut, \ref osMessageGet
+ - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree
+
+Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called
+from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.
+
+Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time.
+If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive.
+
+
+<b>Define and reference object definitions</b>
+
+With <b>\#define osObjectsExternal</b> objects are defined as external symbols. This allows to create a consistent header file
+that is used throughout a project as shown below:
+
+<i>Header File</i>
+\code
+#include <cmsis_os.h> // CMSIS RTOS header file
+
+// Thread definition
+extern void thread_sample (void const *argument); // function prototype
+osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
+
+// Pool definition
+osPoolDef(MyPool, 10, long);
+\endcode
+
+
+This header file defines all objects when included in a C/C++ source file. When <b>\#define osObjectsExternal</b> is
+present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be
+used throughout the whole project.
+
+<i>Example</i>
+\code
+#include "osObjects.h" // Definition of the CMSIS-RTOS objects
+\endcode
+
+\code
+#define osObjectExternal // Objects will be defined as external symbols
+#include "osObjects.h" // Reference to the CMSIS-RTOS objects
+\endcode
+
+*/
+
+#ifndef _CMSIS_OS_H
+#define _CMSIS_OS_H
+
+/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version.
+#define osCMSIS 0x10001 ///< API version (main [31:16] .sub [15:0])
+
+/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.
+#define osCMSIS_RTX ((4<<16)|61) ///< RTOS identification and version (main [31:16] .sub [15:0])
+
+/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
+#define osKernelSystemId "RTX V4.61" ///< RTOS identification string
+
+#define CMSIS_OS_RTX
+#define CMSIS_OS_RTX_CA /* new define for Coretex-A */
+
+// The stack space occupied is mainly dependent on the underling C standard library
+#if defined(TOOLCHAIN_GCC) || defined(TOOLCHAIN_ARM_STD)
+# define WORDS_STACK_SIZE 512
+#elif defined(TOOLCHAIN_ARM_MICRO)
+# define WORDS_STACK_SIZE 128
+#endif
+
+#define DEFAULT_STACK_SIZE (WORDS_STACK_SIZE*4)
+
+/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
+#define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available
+#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
+#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
+#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
+#define osFeature_Signals 16 ///< maximum number of Signal Flags available per thread
+#define osFeature_Semaphore 65535 ///< maximum count for \ref osSemaphoreCreate function
+#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
+
+#if defined (__CC_ARM)
+#define os_InRegs __value_in_regs // Compiler specific: force struct in registers
+#else
+#define os_InRegs
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+// ==== Enumeration, structures, defines ====
+
+/// Priority used for thread control.
+/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
+typedef enum {
+ osPriorityIdle = -3, ///< priority: idle (lowest)
+ osPriorityLow = -2, ///< priority: low
+ osPriorityBelowNormal = -1, ///< priority: below normal
+ osPriorityNormal = 0, ///< priority: normal (default)
+ osPriorityAboveNormal = +1, ///< priority: above normal
+ osPriorityHigh = +2, ///< priority: high
+ osPriorityRealtime = +3, ///< priority: realtime (highest)
+ osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
+} osPriority;
+
+/// Timeout value.
+/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
+#define osWaitForever 0xFFFFFFFF ///< wait forever timeout value
+
+/// Status code values returned by CMSIS-RTOS functions.
+/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
+typedef enum {
+ osOK = 0, ///< function completed; no error or event occurred.
+ osEventSignal = 0x08, ///< function completed; signal event occurred.
+ osEventMessage = 0x10, ///< function completed; message event occurred.
+ osEventMail = 0x20, ///< function completed; mail event occurred.
+ osEventTimeout = 0x40, ///< function completed; timeout occurred.
+ osErrorParameter = 0x80, ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
+ osErrorResource = 0x81, ///< resource not available: a specified resource was not available.
+ osErrorTimeoutResource = 0xC1, ///< resource not available within given time: a specified resource was not available within the timeout period.
+ osErrorISR = 0x82, ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
+ osErrorISRRecursive = 0x83, ///< function called multiple times from ISR with same object.
+ osErrorPriority = 0x84, ///< system cannot determine priority or thread has illegal priority.
+ osErrorNoMemory = 0x85, ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
+ osErrorValue = 0x86, ///< value of a parameter is out of range.
+ osErrorOS = 0xFF, ///< unspecified RTOS error: run-time error but no other error message fits.
+ os_status_reserved = 0x7FFFFFFF ///< prevent from enum down-size compiler optimization.
+} osStatus;
+
+
+/// Timer type value for the timer definition.
+/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
+typedef enum {
+ osTimerOnce = 0, ///< one-shot timer
+ osTimerPeriodic = 1 ///< repeating timer
+} os_timer_type;
+
+/// Entry point of a thread.
+/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
+typedef void (*os_pthread) (void const *argument);
+
+/// Entry point of a timer call back function.
+/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
+typedef void (*os_ptimer) (void const *argument);
+
+// >>> the following data type definitions may shall adapted towards a specific RTOS
+
+/// Thread ID identifies the thread (pointer to a thread control block).
+/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_thread_cb *osThreadId;
+
+/// Timer ID identifies the timer (pointer to a timer control block).
+/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_timer_cb *osTimerId;
+
+/// Mutex ID identifies the mutex (pointer to a mutex control block).
+/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_mutex_cb *osMutexId;
+
+/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
+/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_semaphore_cb *osSemaphoreId;
+
+/// Pool ID identifies the memory pool (pointer to a memory pool control block).
+/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_cb *osPoolId;
+
+/// Message ID identifies the message queue (pointer to a message queue control block).
+/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_messageQ_cb *osMessageQId;
+
+/// Mail ID identifies the mail queue (pointer to a mail queue control block).
+/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_cb *osMailQId;
+
+
+/// Thread Definition structure contains startup information of a thread.
+/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_thread_def {
+ os_pthread pthread; ///< start address of thread function
+ osPriority tpriority; ///< initial thread priority
+ uint32_t instances; ///< maximum number of instances of that thread function
+ uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
+} osThreadDef_t;
+
+/// Timer Definition structure contains timer parameters.
+/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_timer_def {
+ os_ptimer ptimer; ///< start address of a timer function
+ void *timer; ///< pointer to internal data
+} osTimerDef_t;
+
+/// Mutex Definition structure contains setup information for a mutex.
+/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mutex_def {
+ void *mutex; ///< pointer to internal data
+} osMutexDef_t;
+
+/// Semaphore Definition structure contains setup information for a semaphore.
+/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_semaphore_def {
+ void *semaphore; ///< pointer to internal data
+} osSemaphoreDef_t;
+
+/// Definition structure for memory block allocation.
+/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_pool_def {
+ uint32_t pool_sz; ///< number of items (elements) in the pool
+ uint32_t item_sz; ///< size of an item
+ void *pool; ///< pointer to memory for pool
+} osPoolDef_t;
+
+/// Definition structure for message queue.
+/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_messageQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ void *pool; ///< memory array for messages
+} osMessageQDef_t;
+
+/// Definition structure for mail queue.
+/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
+typedef struct os_mailQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ uint32_t item_sz; ///< size of an item
+ void *pool; ///< memory array for mail
+} osMailQDef_t;
+
+/// Event structure contains detailed information about an event.
+/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
+/// However the struct may be extended at the end.
+typedef struct {
+ osStatus status; ///< status code: event or error information
+ union {
+ uint32_t v; ///< message as 32-bit value
+ void *p; ///< message or mail as void pointer
+ int32_t signals; ///< signal flags
+ } value; ///< event value
+ union {
+ osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
+ osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
+ } def; ///< event definition
+} osEvent;
+
+
+// ==== Kernel Control Functions ====
+
+/// Initialize the RTOS Kernel for creating objects.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
+osStatus osKernelInitialize (void);
+
+/// Start the RTOS Kernel.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
+osStatus osKernelStart (void);
+
+/// Check if the RTOS kernel is already started.
+/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
+/// \return 0 RTOS is not started, 1 RTOS is started.
+int32_t osKernelRunning(void);
+
+
+// ==== Thread Management ====
+
+/// Create a Thread Definition with function, priority, and stack requirements.
+/// \param name name of the thread function.
+/// \param priority initial priority of the thread function.
+/// \param instances number of possible thread instances.
+/// \param stacksz stack size (in bytes) requirements for the thread function.
+/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
+/// macro body is implementation specific in every CMSIS-RTOS.
+#if defined (osObjectsExternal) // object is external
+#define osThreadDef(name, priority, instances, stacksz) \
+extern const osThreadDef_t os_thread_def_##name
+#else // define the object
+#if defined (__MBED_CMSIS_RTOS_CA9)
+#define osThreadDef(name, priority, stacksz) \
+const osThreadDef_t os_thread_def_##name = \
+{ (name), (priority), 1, (stacksz) }
+#else
+#define osThreadDef(name, priority, instances, stacksz) \
+const osThreadDef_t os_thread_def_##name = \
+{ (name), (priority), (instances), (stacksz) }
+#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.
+/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
+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.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
+osThreadId osThreadGetId (void);
+
+/// Terminate execution of a thread and remove it from Active Threads.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
+osStatus osThreadTerminate (osThreadId thread_id);
+
+/// Pass control to next thread that is in state \b READY.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
+osStatus osThreadYield (void);
+
+/// Change priority of an active 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.
+/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
+
+/// Get current priority of an active thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return current priority value of the thread function.
+/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
+osPriority osThreadGetPriority (osThreadId thread_id);
+
+#ifdef __MBED_CMSIS_RTOS_CA9
+/// Get current thread state.
+uint8_t osThreadGetState (osThreadId thread_id);
+#endif
+
+// ==== Generic Wait Functions ====
+
+/// Wait for Timeout (Time Delay).
+/// \param[in] millisec time delay value
+/// \return status code that indicates the execution status of the function.
+osStatus osDelay (uint32_t millisec);
+
+#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
+
+/// Wait for Signal, Message, Mail, or Timeout.
+/// \param[in] millisec timeout value or 0 in case of no time-out
+/// \return event that contains signal, message, or mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
+os_InRegs 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
+#define osTimerDef(name, function) \
+uint32_t os_timer_cb_##name[5]; \
+const osTimerDef_t os_timer_def_##name = \
+{ (function), (os_timer_cb_##name) }
+#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 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.
+/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
+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 time delay value of the timer.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
+
+/// Stop the timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
+osStatus osTimerStop (osTimerId timer_id);
+
+/// Delete a timer that was created by \ref osTimerCreate.
+/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
+osStatus osTimerDelete (osTimerId timer_id);
+
+
+// ==== 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.
+/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
+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.
+/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
+int32_t osSignalClear (osThreadId thread_id, int32_t signals);
+
+/// Get Signal Flags status of an active thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSignalGet shall be consistent in every CMSIS-RTOS.
+int32_t osSignalGet (osThreadId thread_id);
+
+/// 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 timeout value or 0 in case of no time-out.
+/// \return event flag information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
+
+
+// ==== Mutex Management ====
+
+/// 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
+#define osMutexDef(name) \
+uint32_t os_mutex_cb_##name[3]; \
+const osMutexDef_t os_mutex_def_##name = { (os_mutex_cb_##name) }
+#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.
+/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
+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 timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
+
+/// 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.
+/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
+osStatus osMutexRelease (osMutexId mutex_id);
+
+/// Delete a Mutex that was created by \ref osMutexCreate.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
+osStatus osMutexDelete (osMutexId mutex_id);
+
+
+// ==== Semaphore Management Functions ====
+
+#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // 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
+#define osSemaphoreDef(name) \
+uint32_t os_semaphore_cb_##name[2]; \
+const osSemaphoreDef_t os_semaphore_def_##name = { (os_semaphore_cb_##name) }
+#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 used for managing resources.
+/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
+/// \param[in] count number of available resources.
+/// \return semaphore ID for reference by other functions or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
+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 timeout value or 0 in case of no time-out.
+/// \return number of available tokens, or -1 in case of incorrect parameters.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
+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.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
+
+/// Delete a Semaphore that was created by \ref osSemaphoreCreate.
+/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
+
+#endif // Semaphore available
+
+
+// ==== Memory Pool Management Functions ====
+
+#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management 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
+#define osPoolDef(name, no, type) \
+uint32_t os_pool_m_##name[3+((sizeof(type)+3)/4)*(no)]; \
+const osPoolDef_t os_pool_def_##name = \
+{ (no), sizeof(type), (os_pool_m_##name) }
+#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.
+/// \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.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
+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.
+/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
+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.
+/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
+void *osPoolCAlloc (osPoolId pool_id);
+
+/// Return an allocated memory block back to a specific memory pool.
+/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
+/// \param[in] block address of the allocated memory block that is returned to the memory pool.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
+osStatus osPoolFree (osPoolId pool_id, void *block);
+
+#endif // Memory Pool Management available
+
+
+// ==== Message Queue Management Functions ====
+
+#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues 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
+#define osMessageQDef(name, queue_sz, type) \
+uint32_t os_messageQ_q_##name[4+(queue_sz)]; \
+const osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), (os_messageQ_q_##name) }
+#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.
+/// \param[in] queue_def 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.
+/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
+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 timeout value or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
+
+/// Get a Message or Wait for a Message from a Queue.
+/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
+/// \param[in] millisec timeout value or 0 in case of no time-out.
+/// \return event information that includes status code.
+/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
+
+#endif // Message Queues available
+
+
+// ==== Mail Queue Management Functions ====
+
+#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
+
+/// \brief Create a Mail Queue Definition.
+/// \param name name of the queue
+/// \param queue_sz maximum number of messages in queue
+/// \param type data type of a single message 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
+#define osMailQDef(name, queue_sz, type) \
+uint32_t os_mailQ_q_##name[4+(queue_sz)]; \
+uint32_t os_mailQ_m_##name[3+((sizeof(type)+3)/4)*(queue_sz)]; \
+void * os_mailQ_p_##name[2] = { (os_mailQ_q_##name), os_mailQ_m_##name }; \
+const osMailQDef_t os_mailQ_def_##name = \
+{ (queue_sz), sizeof(type), (os_mailQ_p_##name) }
+#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 mail queue.
+/// \param[in] queue_def reference to the mail queue definition obtain 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.
+/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
+osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
+
+/// Allocate a memory block from a mail.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Allocate a memory block from a mail and set memory block to zero.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec timeout value or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Put a mail to a queue.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
+osStatus osMailPut (osMailQId queue_id, void *mail);
+
+/// Get a mail from a queue.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec timeout value or 0 in case of no time-out
+/// \return event that contains mail information or error code.
+/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
+os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
+
+/// Free a memory block from a mail.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet.
+/// \return status code that indicates the execution status of the function.
+/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
+osStatus osMailFree (osMailQId queue_id, void *mail);
+
+#endif // Mail Queues available
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // _CMSIS_OS_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_CMSIS.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,1978 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: rt_CMSIS.c
+ * Purpose: CMSIS RTOS API
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#define __CMSIS_GENERIC
+
+#if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
+ #include "core_cm4.h"
+#elif defined (__CORTEX_M3)
+ #include "core_cm3.h"
+#elif defined (__CORTEX_M0)
+ #include "core_cm0.h"
+#elif defined (__CORTEX_A9)
+ #include "core_ca9.h"
+#else
+ #error "Missing __CORTEX_xx definition"
+#endif
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_Task.h"
+#include "rt_Event.h"
+#include "rt_List.h"
+#include "rt_Time.h"
+#include "rt_Mutex.h"
+#include "rt_Semaphore.h"
+#include "rt_Mailbox.h"
+#include "rt_MemBox.h"
+#include "rt_Memory.h"
+#include "rt_HAL_CM.h"
+
+#define os_thread_cb OS_TCB
+
+#include "cmsis_os.h"
+
+#if (osFeature_Signals != 16)
+#error Invalid "osFeature_Signals" value!
+#endif
+#if (osFeature_Semaphore > 65535)
+#error Invalid "osFeature_Semaphore" value!
+#endif
+#if (osFeature_Wait != 0)
+#error osWait not supported!
+#endif
+
+
+// ==== Enumeration, structures, defines ====
+
+// Service Calls defines
+
+#if defined (__CC_ARM) /* ARM Compiler */
+
+#define __NO_RETURN __declspec(noreturn)
+
+#define osEvent_type osEvent
+#define osEvent_ret_status ret
+#define osEvent_ret_value ret
+#define osEvent_ret_msg ret
+#define osEvent_ret_mail ret
+
+#define osCallback_type osCallback
+#define osCallback_ret ret
+
+#define SVC_0_1(f,t,...) \
+__svc_indirect(0) t _##f (t(*)()); \
+ t f (void); \
+__attribute__((always_inline)) \
+static __inline t __##f (void) { \
+ return _##f(f); \
+}
+
+#define SVC_1_1(f,t,t1,...) \
+__svc_indirect(0) t _##f (t(*)(t1),t1); \
+ t f (t1 a1); \
+__attribute__((always_inline)) \
+static __inline t __##f (t1 a1) { \
+ return _##f(f,a1); \
+}
+
+#define SVC_2_1(f,t,t1,t2,...) \
+__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
+ t f (t1 a1, t2 a2); \
+__attribute__((always_inline)) \
+static __inline t __##f (t1 a1, t2 a2) { \
+ return _##f(f,a1,a2); \
+}
+
+#define SVC_3_1(f,t,t1,t2,t3,...) \
+__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
+ t f (t1 a1, t2 a2, t3 a3); \
+__attribute__((always_inline)) \
+static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
+ return _##f(f,a1,a2,a3); \
+}
+
+#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
+__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
+ t f (t1 a1, t2 a2, t3 a3, t4 a4); \
+__attribute__((always_inline)) \
+static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
+ return _##f(f,a1,a2,a3,a4); \
+}
+
+#define SVC_1_2 SVC_1_1
+#define SVC_1_3 SVC_1_1
+#define SVC_2_3 SVC_2_1
+
+#elif defined (__GNUC__) /* GNU Compiler */
+
+#define __NO_RETURN __attribute__((noreturn))
+
+typedef uint32_t __attribute__((vector_size(8))) ret64;
+typedef uint32_t __attribute__((vector_size(16))) ret128;
+
+#define RET_pointer __r0
+#define RET_int32_t __r0
+#define RET_osStatus __r0
+#define RET_osPriority __r0
+#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
+#define RET_osCallback {(void *)__r0, (void *)__r1}
+
+#define osEvent_type ret128
+#define osEvent_ret_status (ret128){ret.status}
+#define osEvent_ret_value (ret128){ret.status, ret.value.v}
+#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
+#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
+
+#define osCallback_type ret64
+#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
+
+#define SVC_ArgN(n) \
+ register int __r##n __asm("r"#n);
+
+#define SVC_ArgR(n,t,a) \
+ register t __r##n __asm("r"#n) = a;
+
+#define SVC_Arg0() \
+ SVC_ArgN(0) \
+ SVC_ArgN(1) \
+ SVC_ArgN(2) \
+ SVC_ArgN(3)
+
+#define SVC_Arg1(t1) \
+ SVC_ArgR(0,t1,a1) \
+ SVC_ArgN(1) \
+ SVC_ArgN(2) \
+ SVC_ArgN(3)
+
+#define SVC_Arg2(t1,t2) \
+ SVC_ArgR(0,t1,a1) \
+ SVC_ArgR(1,t2,a2) \
+ SVC_ArgN(2) \
+ SVC_ArgN(3)
+
+#define SVC_Arg3(t1,t2,t3) \
+ SVC_ArgR(0,t1,a1) \
+ SVC_ArgR(1,t2,a2) \
+ SVC_ArgR(2,t3,a3) \
+ SVC_ArgN(3)
+
+#define SVC_Arg4(t1,t2,t3,t4) \
+ SVC_ArgR(0,t1,a1) \
+ SVC_ArgR(1,t2,a2) \
+ SVC_ArgR(2,t3,a3) \
+ SVC_ArgR(3,t4,a4)
+
+#if (defined (__CORTEX_M0))
+#define SVC_Call(f) \
+ __asm volatile \
+ ( \
+ "ldr r7,="#f"\n\t" \
+ "mov r12,r7\n\t" \
+ "svc 0" \
+ : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
+ : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
+ : "r7", "r12", "lr", "cc" \
+ );
+#else
+#define SVC_Call(f) \
+ __asm volatile \
+ ( \
+ "ldr r12,="#f"\n\t" \
+ "svc 0" \
+ : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
+ : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
+ : "r12", "lr", "cc" \
+ );
+#endif
+
+#define SVC_0_1(f,t,rv) \
+__attribute__((always_inline)) \
+static inline t __##f (void) { \
+ SVC_Arg0(); \
+ SVC_Call(f); \
+ return (t) rv; \
+}
+
+#define SVC_1_1(f,t,t1,rv) \
+__attribute__((always_inline)) \
+static inline t __##f (t1 a1) { \
+ SVC_Arg1(t1); \
+ SVC_Call(f); \
+ return (t) rv; \
+}
+
+#define SVC_2_1(f,t,t1,t2,rv) \
+__attribute__((always_inline)) \
+static inline t __##f (t1 a1, t2 a2) { \
+ SVC_Arg2(t1,t2); \
+ SVC_Call(f); \
+ return (t) rv; \
+}
+
+#define SVC_3_1(f,t,t1,t2,t3,rv) \
+__attribute__((always_inline)) \
+static inline t __##f (t1 a1, t2 a2, t3 a3) { \
+ SVC_Arg3(t1,t2,t3); \
+ SVC_Call(f); \
+ return (t) rv; \
+}
+
+#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
+__attribute__((always_inline)) \
+static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
+ SVC_Arg4(t1,t2,t3,t4); \
+ SVC_Call(f); \
+ return (t) rv; \
+}
+
+#define SVC_1_2 SVC_1_1
+#define SVC_1_3 SVC_1_1
+#define SVC_2_3 SVC_2_1
+
+#elif defined (__ICCARM__) /* IAR Compiler */
+
+#define __NO_RETURN __noreturn
+
+#define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
+#define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
+
+#define osEvent_type osEvent
+#define osEvent_ret_status ret
+#define osEvent_ret_value ret
+#define osEvent_ret_msg ret
+#define osEvent_ret_mail ret
+
+#define osCallback_type uint64_t
+#define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
+
+#define SVC_Setup(f) \
+ __asm( \
+ "mov r12,%0\n" \
+ :: "r"(&f): "r12" \
+ );
+
+#define SVC_Ret3() \
+ __asm( \
+ "ldr r0,[sp,#0]\n" \
+ "ldr r1,[sp,#4]\n" \
+ "ldr r2,[sp,#8]\n" \
+ );
+
+#define SVC_0_1(f,t,...) \
+t f (void); \
+_Pragma("swi_number=0") __swi t _##f (void); \
+static inline t __##f (void) { \
+ SVC_Setup(f); \
+ return _##f(); \
+}
+
+#define SVC_1_1(f,t,t1,...) \
+t f (t1 a1); \
+_Pragma("swi_number=0") __swi t _##f (t1 a1); \
+static inline t __##f (t1 a1) { \
+ SVC_Setup(f); \
+ return _##f(a1); \
+}
+
+#define SVC_2_1(f,t,t1,t2,...) \
+t f (t1 a1, t2 a2); \
+_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
+static inline t __##f (t1 a1, t2 a2) { \
+ SVC_Setup(f); \
+ return _##f(a1,a2); \
+}
+
+#define SVC_3_1(f,t,t1,t2,t3,...) \
+t f (t1 a1, t2 a2, t3 a3); \
+_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
+static inline t __##f (t1 a1, t2 a2, t3 a3) { \
+ SVC_Setup(f); \
+ return _##f(a1,a2,a3); \
+}
+
+#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
+t f (t1 a1, t2 a2, t3 a3, t4 a4); \
+_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
+static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
+ SVC_Setup(f); \
+ return _##f(a1,a2,a3,a4); \
+}
+
+#define SVC_1_2(f,t,t1,rr) \
+uint64_t f (t1 a1); \
+_Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
+static inline t __##f (t1 a1) { \
+ t ret; \
+ SVC_Setup(f); \
+ _##f(a1); \
+ __asm("" : rr : :); \
+ return ret; \
+}
+
+#define SVC_1_3(f,t,t1,rr) \
+t f (t1 a1); \
+void f##_ (t1 a1) { \
+ f(a1); \
+ SVC_Ret3(); \
+} \
+_Pragma("swi_number=0") __swi void _##f (t1 a1); \
+static inline t __##f (t1 a1) { \
+ t ret; \
+ SVC_Setup(f##_); \
+ _##f(a1); \
+ __asm("" : rr : :); \
+ return ret; \
+}
+
+#define SVC_2_3(f,t,t1,t2,rr) \
+t f (t1 a1, t2 a2); \
+void f##_ (t1 a1, t2 a2) { \
+ f(a1,a2); \
+ SVC_Ret3(); \
+} \
+_Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
+static inline t __##f (t1 a1, t2 a2) { \
+ t ret; \
+ SVC_Setup(f##_); \
+ _##f(a1,a2); \
+ __asm("" : rr : :); \
+ return ret; \
+}
+
+#endif
+
+
+// Callback structure
+typedef struct {
+ void *fp; // Function pointer
+ void *arg; // Function argument
+} osCallback;
+
+
+// OS Section definitions
+#ifdef OS_SECTIONS_LINK_INFO
+extern const uint32_t os_section_id$$Base;
+extern const uint32_t os_section_id$$Limit;
+#endif
+
+// OS Stack Memory for Threads definitions
+extern uint64_t os_stack_mem[];
+extern const uint32_t os_stack_sz;
+
+// OS Timers external resources
+extern const osThreadDef_t os_thread_def_osTimerThread;
+extern osThreadId osThreadId_osTimerThread;
+extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ;
+extern osMessageQId osMessageQId_osTimerMessageQ;
+
+extern U32 IRQNestLevel; /* Indicates whether inside an ISR, and the depth of nesting. 0 = not in ISR. */
+
+
+// ==== Helper Functions ====
+
+/// Convert timeout in millisec to system ticks
+static uint32_t rt_ms2tick (uint32_t millisec) {
+ uint32_t tick;
+
+ if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
+ if (millisec > 4000000) return 0xFFFE; // Max ticks supported
+
+ tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
+ if (tick > 0xFFFE) return 0xFFFE;
+
+ return tick;
+}
+
+/// Convert Thread ID to TCB pointer
+static P_TCB rt_tid2ptcb (osThreadId thread_id) {
+ P_TCB ptcb;
+
+ if (thread_id == NULL) return NULL;
+
+ if ((uint32_t)thread_id & 3) return NULL;
+
+#ifdef OS_SECTIONS_LINK_INFO
+ if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
+ if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
+ if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
+ }
+#endif
+
+ ptcb = thread_id;
+
+ if (ptcb->cb_type != TCB) return NULL;
+
+ return ptcb;
+}
+
+/// Convert ID pointer to Object pointer
+static void *rt_id2obj (void *id) {
+
+ if ((uint32_t)id & 3) return NULL;
+
+#ifdef OS_SECTIONS_LINK_INFO
+ if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
+ if (id < (void *)os_section_id$$Base) return NULL;
+ if (id >= (void *)os_section_id$$Limit) return NULL;
+ }
+#endif
+
+ return id;
+}
+
+// === Helper functions for system call interface ===
+
+static __inline char __get_mode(void) {
+ return (char)(__get_CPSR() & 0x1f);
+}
+
+static __inline char __exceptional_mode(void) {
+ switch(__get_mode()) {
+ case MODE_USR:
+ case MODE_SYS:
+ return 0;
+ case MODE_SVC:
+ if (IRQNestLevel == 0)
+ return 0; /* handling a regular service call */
+ else
+ return 1; /* handling an ISR in SVC mode */
+ default:
+ return 1;
+ }
+}
+
+// ==== Kernel Control ====
+
+uint8_t os_initialized; // Kernel Initialized flag
+uint8_t os_running; // Kernel Running flag
+
+// Kernel Control Service Calls declarations
+SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
+SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
+SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
+
+static void sysThreadError (osStatus status);
+osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument);
+osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
+
+// Kernel Control Service Calls
+
+/// Initialize the RTOS Kernel for creating objects
+osStatus svcKernelInitialize (void) {
+ int ret;
+
+ if (!os_initialized) {
+
+ // Init Thread Stack Memory (must be 8-byte aligned)
+ if ((uint32_t)os_stack_mem & 7) return osErrorNoMemory;
+ ret = rt_init_mem(os_stack_mem, os_stack_sz);
+ if (ret != 0) return osErrorNoMemory;
+
+ rt_sys_init(); // RTX System Initialization
+ }
+
+ os_tsk.run->prio = 255; // Highest priority
+
+ if (!os_initialized) {
+ // Create OS Timers resources (Message Queue & Thread)
+ osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
+ osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
+ }
+
+ sysThreadError(osOK);
+
+ os_initialized = 1;
+
+ return osOK;
+}
+
+/// Start the RTOS Kernel
+osStatus svcKernelStart (void) {
+
+ if (os_running) return osOK;
+
+ rt_tsk_prio(0, 0); // Lowest priority
+ __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
+ os_tsk.run = NULL; // Force context switch
+
+ rt_sys_start();
+
+ os_running = 1;
+
+ return osOK;
+}
+
+/// Check if the RTOS kernel is already started
+int32_t svcKernelRunning(void) {
+ return os_running;
+}
+
+// Kernel Control Public API
+
+/// Initialize the RTOS Kernel for creating objects
+osStatus osKernelInitialize (void) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ if (__get_mode() != MODE_USR) {
+ return svcKernelInitialize();
+ } else {
+ return __svcKernelInitialize();
+ }
+}
+
+/// Start the RTOS Kernel
+osStatus osKernelStart (void) {
+ char mode = __get_mode();
+
+ switch(mode) {
+ case MODE_USR:
+ if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested from Unprivileged
+ break;
+ case MODE_SYS:
+ if (!(os_flags & 1)) {
+ __set_CPS_USR();
+ }
+ break;
+ default:
+ return osErrorISR; // Not allowed in ISR
+ }
+ return __svcKernelStart();
+}
+
+/// Check if the RTOS kernel is already started
+int32_t osKernelRunning(void) {
+ if(__get_mode() != MODE_USR) {
+ return os_running;
+ } else {
+ return __svcKernelRunning();
+ }
+}
+
+
+// ==== Thread Management ====
+
+/// Set Thread Error (for Create functions which return IDs)
+static void sysThreadError (osStatus status) {
+ // To Do
+}
+
+__NO_RETURN void osThreadExit (void);
+
+// Thread Service Calls declarations
+SVC_2_1(svcThreadCreate, osThreadId, const osThreadDef_t *, void *, RET_pointer)
+SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
+SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
+SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
+SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
+SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
+
+// Thread Service Calls
+
+/// Create a thread and add it to Active Threads and set it to state READY
+osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) {
+ P_TCB ptcb;
+ OS_TID tsk;
+ void *stk;
+
+ if ((thread_def == NULL) ||
+ (thread_def->pthread == NULL) ||
+ (thread_def->tpriority < osPriorityIdle) ||
+ (thread_def->tpriority > osPriorityRealtime)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if (thread_def->stacksize != 0) { // Custom stack size
+ stk = rt_alloc_mem( // Allocate stack
+ os_stack_mem,
+ thread_def->stacksize
+ );
+ if (stk == NULL) {
+ sysThreadError(osErrorNoMemory); // Out of memory
+ return NULL;
+ }
+ } else { // Default stack size
+ stk = NULL;
+ }
+
+ tsk = rt_tsk_create( // Create task
+ (FUNCP)thread_def->pthread, // Task function pointer
+ (thread_def->tpriority-osPriorityIdle+1) | // Task priority
+ (thread_def->stacksize << 8), // Task stack size in bytes
+ stk, // Pointer to task's stack
+ argument // Argument to the task
+ );
+
+ if (tsk == 0) { // Invalid task ID
+ if (stk != NULL) {
+ rt_free_mem(os_stack_mem, stk); // Free allocated stack
+ }
+ sysThreadError(osErrorNoMemory); // Create task failed (Out of memory)
+ return NULL;
+ }
+
+ ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
+
+ *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
+
+ return ptcb;
+}
+
+/// Return the thread ID of the current running thread
+osThreadId svcThreadGetId (void) {
+ OS_TID tsk;
+
+ tsk = rt_tsk_self();
+ if (tsk == 0) return NULL;
+ return (P_TCB)os_active_TCB[tsk - 1];
+}
+
+/// Terminate execution of a thread and remove it from ActiveThreads
+osStatus svcThreadTerminate (osThreadId thread_id) {
+ OS_RESULT res;
+ P_TCB ptcb;
+ void *stk;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return osErrorParameter;
+
+ stk = ptcb->priv_stack ? ptcb->stack : NULL; // Private stack
+
+ res = rt_tsk_delete(ptcb->task_id); // Delete task
+
+ if (res == OS_R_NOK) return osErrorResource; // Delete task failed
+
+ if (stk != NULL) {
+ rt_free_mem(os_stack_mem, stk); // Free private stack
+ }
+
+ return osOK;
+}
+
+/// Pass control to next thread that is in state READY
+osStatus svcThreadYield (void) {
+ rt_tsk_pass(); // Pass control to next task
+ return osOK;
+}
+
+/// Change priority of an active thread
+osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
+ OS_RESULT res;
+ P_TCB ptcb;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return osErrorParameter;
+
+ if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
+ return osErrorValue;
+ }
+
+ res = rt_tsk_prio( // Change task priority
+ ptcb->task_id, // Task ID
+ priority - osPriorityIdle + 1 // New task priority
+ );
+
+ if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
+
+ return osOK;
+}
+
+/// Get current priority of an active thread
+osPriority svcThreadGetPriority (osThreadId thread_id) {
+ P_TCB ptcb;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return osPriorityError;
+
+ return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
+}
+
+
+// Thread Public API
+
+/// Create a thread and add it to Active Threads and set it to state READY
+osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcThreadCreate(thread_def, argument);
+ } else {
+ return __svcThreadCreate(thread_def, argument);
+ }
+}
+
+/// Return the thread ID of the current running thread
+osThreadId osThreadGetId (void) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ return __svcThreadGetId();
+}
+
+/// Terminate execution of a thread and remove it from ActiveThreads
+osStatus osThreadTerminate (osThreadId thread_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcThreadTerminate(thread_id);
+}
+
+/// Pass control to next thread that is in state READY
+osStatus osThreadYield (void) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcThreadYield();
+}
+
+/// Change priority of an active thread
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcThreadSetPriority(thread_id, priority);
+}
+
+/// Get current priority of an active thread
+osPriority osThreadGetPriority (osThreadId thread_id) {
+ if (__exceptional_mode()) return osPriorityError;// Not allowed in ISR
+ return __svcThreadGetPriority(thread_id);
+}
+
+/// INTERNAL - Not Public
+/// Auto Terminate Thread on exit (used implicitly when thread exists)
+__NO_RETURN void osThreadExit (void) {
+ __svcThreadTerminate(__svcThreadGetId());
+ for (;;); // Should never come here
+}
+
+#ifdef __MBED_CMSIS_RTOS_CA9
+/// Get current thread state
+uint8_t osThreadGetState (osThreadId thread_id) {
+ P_TCB ptcb;
+
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return osErrorParameter;
+
+ return ptcb->state;
+}
+#endif
+
+// ==== Generic Wait Functions ====
+
+// Generic Wait Service Calls declarations
+SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
+#if osFeature_Wait != 0
+SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
+#endif
+
+// Generic Wait Service Calls
+
+/// Wait for Timeout (Time Delay)
+osStatus svcDelay (uint32_t millisec) {
+ if (millisec == 0) return osOK;
+ rt_dly_wait(rt_ms2tick(millisec));
+ return osEventTimeout;
+}
+
+/// Wait for Signal, Message, Mail, or Timeout
+#if osFeature_Wait != 0
+os_InRegs osEvent_type svcWait (uint32_t millisec) {
+ osEvent ret;
+
+ if (millisec == 0) {
+ ret.status = osOK;
+ return osEvent_ret_status;
+ }
+
+ /* To Do: osEventSignal, osEventMessage, osEventMail */
+ rt_dly_wait(rt_ms2tick(millisec));
+ ret.status = osEventTimeout;
+
+ return osEvent_ret_status;
+}
+#endif
+
+
+// Generic Wait API
+
+/// Wait for Timeout (Time Delay)
+osStatus osDelay (uint32_t millisec) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcDelay(millisec);
+}
+
+/// Wait for Signal, Message, Mail, or Timeout
+os_InRegs osEvent osWait (uint32_t millisec) {
+ osEvent ret;
+
+#if osFeature_Wait == 0
+ ret.status = osErrorOS;
+ return ret;
+#else
+ if (__exceptional_mode()) { // Not allowed in ISR
+ ret.status = osErrorISR;
+ return ret;
+ }
+ return __svcWait(millisec);
+#endif
+}
+
+
+// ==== Timer Management ====
+
+// Timer definitions
+#define osTimerInvalid 0
+#define osTimerStopped 1
+#define osTimerRunning 2
+
+// Timer structures
+
+typedef struct os_timer_cb_ { // Timer Control Block
+ struct os_timer_cb_ *next; // Pointer to next active Timer
+ uint8_t state; // Timer State
+ uint8_t type; // Timer Type (Periodic/One-shot)
+ uint16_t reserved; // Reserved
+ uint16_t tcnt; // Timer Delay Count
+ uint16_t icnt; // Timer Initial Count
+ void *arg; // Timer Function Argument
+ const osTimerDef_t *timer; // Pointer to Timer definition
+} os_timer_cb;
+
+// Timer variables
+os_timer_cb *os_timer_head; // Pointer to first active Timer
+
+
+// Timer Helper Functions
+
+// Insert Timer into the list sorted by time
+static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
+ os_timer_cb *p, *prev;
+
+ prev = NULL;
+ p = os_timer_head;
+ while (p != NULL) {
+ if (tcnt < p->tcnt) break;
+ tcnt -= p->tcnt;
+ prev = p;
+ p = p->next;
+ }
+ pt->next = p;
+ pt->tcnt = (uint16_t)tcnt;
+ if (p != NULL) {
+ p->tcnt -= pt->tcnt;
+ }
+ if (prev != NULL) {
+ prev->next = pt;
+ } else {
+ os_timer_head = pt;
+ }
+}
+
+// Remove Timer from the list
+static int rt_timer_remove (os_timer_cb *pt) {
+ os_timer_cb *p, *prev;
+
+ prev = NULL;
+ p = os_timer_head;
+ while (p != NULL) {
+ if (p == pt) break;
+ prev = p;
+ p = p->next;
+ }
+ if (p == NULL) return -1;
+ if (prev != NULL) {
+ prev->next = pt->next;
+ } else {
+ os_timer_head = pt->next;
+ }
+ if (pt->next != NULL) {
+ pt->next->tcnt += pt->tcnt;
+ }
+
+ return 0;
+}
+
+
+// Timer Service Calls declarations
+SVC_3_1(svcTimerCreate, osTimerId, const osTimerDef_t *, os_timer_type, void *, RET_pointer)
+SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
+SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
+SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
+SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
+
+// Timer Management Service Calls
+
+/// Create timer
+osTimerId svcTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
+ os_timer_cb *pt;
+
+ if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ pt = timer_def->timer;
+ if (pt == NULL) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
+ sysThreadError(osErrorValue);
+ return NULL;
+ }
+
+ if (osThreadId_osTimerThread == NULL) {
+ sysThreadError(osErrorResource);
+ return NULL;
+ }
+
+ if (pt->state != osTimerInvalid){
+ sysThreadError(osErrorResource);
+ return NULL;
+ }
+
+ pt->state = osTimerStopped;
+ pt->type = (uint8_t)type;
+ pt->arg = argument;
+ pt->timer = timer_def;
+
+ return (osTimerId)pt;
+}
+
+/// Start or restart timer
+osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
+ os_timer_cb *pt;
+ uint32_t tcnt;
+
+ pt = rt_id2obj(timer_id);
+ if (pt == NULL) return osErrorParameter;
+
+ tcnt = rt_ms2tick(millisec);
+ if (tcnt == 0) return osErrorValue;
+
+ switch (pt->state) {
+ case osTimerRunning:
+ if (rt_timer_remove(pt) != 0) {
+ return osErrorResource;
+ }
+ break;
+ case osTimerStopped:
+ pt->state = osTimerRunning;
+ pt->icnt = (uint16_t)tcnt;
+ break;
+ default:
+ return osErrorResource;
+ }
+
+ rt_timer_insert(pt, tcnt);
+
+ return osOK;
+}
+
+/// Stop timer
+osStatus svcTimerStop (osTimerId timer_id) {
+ os_timer_cb *pt;
+
+ pt = rt_id2obj(timer_id);
+ if (pt == NULL) return osErrorParameter;
+
+ if (pt->state != osTimerRunning) return osErrorResource;
+
+ pt->state = osTimerStopped;
+
+ if (rt_timer_remove(pt) != 0) {
+ return osErrorResource;
+ }
+
+ return osOK;
+}
+
+/// Delete timer
+osStatus svcTimerDelete (osTimerId timer_id) {
+ os_timer_cb *pt;
+
+ pt = rt_id2obj(timer_id);
+ if (pt == NULL) return osErrorParameter;
+
+ switch (pt->state) {
+ case osTimerRunning:
+ rt_timer_remove(pt);
+ break;
+ case osTimerStopped:
+ break;
+ default:
+ return osErrorResource;
+ }
+
+ pt->state = osTimerInvalid;
+
+ return osOK;
+}
+
+/// Get timer callback parameters
+os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
+ os_timer_cb *pt;
+ osCallback ret;
+
+ pt = rt_id2obj(timer_id);
+ if (pt == NULL) {
+ ret.fp = NULL;
+ ret.arg = NULL;
+ return osCallback_ret;
+ }
+
+ ret.fp = (void *)pt->timer->ptimer;
+ ret.arg = pt->arg;
+
+ return osCallback_ret;
+}
+
+static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
+
+/// Timer Tick (called each SysTick)
+void sysTimerTick (void) {
+ os_timer_cb *pt, *p;
+
+ p = os_timer_head;
+ if (p == NULL) return;
+
+ p->tcnt--;
+ while ((p != NULL) && (p->tcnt == 0)) {
+ pt = p;
+ p = p->next;
+ os_timer_head = p;
+ isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
+ if (pt->type == osTimerPeriodic) {
+ rt_timer_insert(pt, pt->icnt);
+ } else {
+ pt->state = osTimerStopped;
+ }
+ }
+}
+
+
+// Timer Management Public API
+
+/// Create timer
+osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcTimerCreate(timer_def, type, argument);
+ } else {
+ return __svcTimerCreate(timer_def, type, argument);
+ }
+}
+
+/// Start or restart timer
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcTimerStart(timer_id, millisec);
+}
+
+/// Stop timer
+osStatus osTimerStop (osTimerId timer_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcTimerStop(timer_id);
+}
+
+/// Delete timer
+osStatus osTimerDelete (osTimerId timer_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcTimerDelete(timer_id);
+}
+
+/// INTERNAL - Not Public
+/// Get timer callback parameters (used by OS Timer Thread)
+os_InRegs osCallback osTimerCall (osTimerId timer_id) {
+ return __svcTimerCall(timer_id);
+}
+
+
+// Timer Thread
+__NO_RETURN void osTimerThread (void const *argument) {
+ osCallback cb;
+ osEvent evt;
+
+ for (;;) {
+ evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
+ if (evt.status == osEventMessage) {
+ cb = osTimerCall(evt.value.p);
+ if (cb.fp != NULL) {
+ (*(os_ptimer)cb.fp)(cb.arg);
+ }
+ }
+ }
+}
+
+
+// ==== Signal Management ====
+
+// Signal Service Calls declarations
+SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
+SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
+SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
+SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
+
+// Signal Service Calls
+
+/// Set the specified Signal Flags of an active thread
+int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
+ P_TCB ptcb;
+ int32_t sig;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return 0x80000000;
+
+ if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
+
+ sig = ptcb->events; // Previous signal flags
+
+ rt_evt_set(signals, ptcb->task_id); // Set event flags
+
+ return sig;
+}
+
+/// Clear the specified Signal Flags of an active thread
+int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
+ P_TCB ptcb;
+ int32_t sig;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return 0x80000000;
+
+ if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
+
+ sig = ptcb->events; // Previous signal flags
+
+ rt_evt_clr(signals, ptcb->task_id); // Clear event flags
+
+ return sig;
+}
+
+/// Get Signal Flags status of an active thread
+int32_t svcSignalGet (osThreadId thread_id) {
+ P_TCB ptcb;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return 0x80000000;
+
+ return ptcb->events; // Return event flags
+}
+
+/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
+os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
+ OS_RESULT res;
+ osEvent ret;
+
+ if (signals & (0xFFFFFFFF << osFeature_Signals)) {
+ ret.status = osErrorValue;
+ return osEvent_ret_status;
+ }
+
+ if (signals != 0) { // Wait for all specified signals
+ res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
+ } else { // Wait for any signal
+ res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
+ }
+
+ if (res == OS_R_EVT) {
+ ret.status = osEventSignal;
+ ret.value.signals = signals ? signals : os_tsk.run->waits;
+ } else {
+ ret.status = millisec ? osEventTimeout : osOK;
+ ret.value.signals = 0;
+ }
+
+ return osEvent_ret_value;
+}
+
+
+// Signal ISR Calls
+
+/// Set the specified Signal Flags of an active thread
+static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
+ P_TCB ptcb;
+ int32_t sig;
+
+ ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
+ if (ptcb == NULL) return 0x80000000;
+
+ if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
+
+ sig = ptcb->events; // Previous signal flags
+
+ isr_evt_set(signals, ptcb->task_id); // Set event flags
+
+ return sig;
+}
+
+
+// Signal Public API
+
+/// Set the specified Signal Flags of an active thread
+int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
+ if (__exceptional_mode()) { // in ISR
+ return isrSignalSet(thread_id, signals);
+ } else { // in Thread
+ return __svcSignalSet(thread_id, signals);
+ }
+}
+
+/// Clear the specified Signal Flags of an active thread
+int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcSignalClear(thread_id, signals);
+}
+
+/// Get Signal Flags status of an active thread
+int32_t osSignalGet (osThreadId thread_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcSignalGet(thread_id);
+}
+
+/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
+os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
+ osEvent ret;
+
+ if (__exceptional_mode()) { // Not allowed in ISR
+ ret.status = osErrorISR;
+ return ret;
+ }
+ return __svcSignalWait(signals, millisec);
+}
+
+
+// ==== Mutex Management ====
+
+// Mutex Service Calls declarations
+SVC_1_1(svcMutexCreate, osMutexId, const osMutexDef_t *, RET_pointer)
+SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
+SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
+SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
+
+// Mutex Service Calls
+
+/// Create and Initialize a Mutex object
+osMutexId svcMutexCreate (const osMutexDef_t *mutex_def) {
+ OS_ID mut;
+
+ if (mutex_def == NULL) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ mut = mutex_def->mutex;
+ if (mut == NULL) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if (((P_MUCB)mut)->cb_type != 0) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ rt_mut_init(mut); // Initialize Mutex
+
+ return mut;
+}
+
+/// Wait until a Mutex becomes available
+osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
+ OS_ID mut;
+ OS_RESULT res;
+
+ mut = rt_id2obj(mutex_id);
+ if (mut == NULL) return osErrorParameter;
+
+ if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
+
+ res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
+
+ if (res == OS_R_TMO) {
+ return (millisec ? osErrorTimeoutResource : osErrorResource);
+ }
+
+ return osOK;
+}
+
+/// Release a Mutex that was obtained with osMutexWait
+osStatus svcMutexRelease (osMutexId mutex_id) {
+ OS_ID mut;
+ OS_RESULT res;
+
+ mut = rt_id2obj(mutex_id);
+ if (mut == NULL) return osErrorParameter;
+
+ if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
+
+ res = rt_mut_release(mut); // Release Mutex
+
+ if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
+
+ return osOK;
+}
+
+/// Delete a Mutex that was created by osMutexCreate
+osStatus svcMutexDelete (osMutexId mutex_id) {
+ OS_ID mut;
+
+ mut = rt_id2obj(mutex_id);
+ if (mut == NULL) return osErrorParameter;
+
+ if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
+
+ rt_mut_delete(mut); // Release Mutex
+
+ return osOK;
+}
+
+
+// Mutex Public API
+
+/// Create and Initialize a Mutex object
+osMutexId osMutexCreate (const osMutexDef_t *mutex_def) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcMutexCreate(mutex_def);
+ } else {
+ return __svcMutexCreate(mutex_def);
+ }
+}
+
+/// Wait until a Mutex becomes available
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcMutexWait(mutex_id, millisec);
+}
+
+/// Release a Mutex that was obtained with osMutexWait
+osStatus osMutexRelease (osMutexId mutex_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcMutexRelease(mutex_id);
+}
+
+/// Delete a Mutex that was created by osMutexCreate
+osStatus osMutexDelete (osMutexId mutex_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcMutexDelete(mutex_id);
+}
+
+
+// ==== Semaphore Management ====
+
+// Semaphore Service Calls declarations
+SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
+SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
+SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
+SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
+
+// Semaphore Service Calls
+
+/// Create and Initialize a Semaphore object
+osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
+ OS_ID sem;
+
+ if (semaphore_def == NULL) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ sem = semaphore_def->semaphore;
+ if (sem == NULL) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if (((P_SCB)sem)->cb_type != 0) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if (count > osFeature_Semaphore) {
+ sysThreadError(osErrorValue);
+ return NULL;
+ }
+
+ rt_sem_init(sem, count); // Initialize Semaphore
+
+ return sem;
+}
+
+/// Wait until a Semaphore becomes available
+int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
+ OS_ID sem;
+ OS_RESULT res;
+
+ sem = rt_id2obj(semaphore_id);
+ if (sem == NULL) return -1;
+
+ if (((P_SCB)sem)->cb_type != SCB) return -1;
+
+ res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
+
+ if (res == OS_R_TMO) return 0; // Timeout
+
+ return (((P_SCB)sem)->tokens + 1);
+}
+
+/// Release a Semaphore
+osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
+ OS_ID sem;
+
+ sem = rt_id2obj(semaphore_id);
+ if (sem == NULL) return osErrorParameter;
+
+ if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
+
+ if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
+
+ rt_sem_send(sem); // Release Semaphore
+
+ return osOK;
+}
+
+/// Delete a Semaphore that was created by osSemaphoreCreate
+osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
+ OS_ID sem;
+
+ sem = rt_id2obj(semaphore_id);
+ if (sem == NULL) return osErrorParameter;
+
+ if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
+
+ rt_sem_delete(sem); // Delete Semaphore
+
+ return osOK;
+}
+
+
+// Semaphore ISR Calls
+
+/// Release a Semaphore
+static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
+ OS_ID sem;
+
+ sem = rt_id2obj(semaphore_id);
+ if (sem == NULL) return osErrorParameter;
+
+ if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
+
+ if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
+
+ isr_sem_send(sem); // Release Semaphore
+
+ return osOK;
+}
+
+
+// Semaphore Public API
+
+/// Create and Initialize a Semaphore object
+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcSemaphoreCreate(semaphore_def, count);
+ } else {
+ return __svcSemaphoreCreate(semaphore_def, count);
+ }
+}
+
+/// Wait until a Semaphore becomes available
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
+ if (__exceptional_mode()) return -1; // Not allowed in ISR
+ return __svcSemaphoreWait(semaphore_id, millisec);
+}
+
+/// Release a Semaphore
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
+ if (__exceptional_mode()) { // in ISR
+ return isrSemaphoreRelease(semaphore_id);
+ } else { // in Thread
+ return __svcSemaphoreRelease(semaphore_id);
+ }
+}
+
+/// Delete a Semaphore that was created by osSemaphoreCreate
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
+ if (__exceptional_mode()) return osErrorISR; // Not allowed in ISR
+ return __svcSemaphoreDelete(semaphore_id);
+}
+
+
+// ==== Memory Management Functions ====
+
+// Memory Management Helper Functions
+
+// Clear Memory Box (Zero init)
+static void rt_clr_box (void *box_mem, void *box) {
+ uint32_t *p, n;
+
+ if (box) {
+ p = box;
+ for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
+ *p++ = 0;
+ }
+ }
+}
+
+// Memory Management Service Calls declarations
+SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
+SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
+SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
+
+// Memory Management Service & ISR Calls
+
+/// Create and Initialize memory pool
+osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
+ uint32_t blk_sz;
+
+ if ((pool_def == NULL) ||
+ (pool_def->pool_sz == 0) ||
+ (pool_def->item_sz == 0) ||
+ (pool_def->pool == NULL)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ blk_sz = (pool_def->item_sz + 3) & ~3;
+
+ _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
+
+ return pool_def->pool;
+}
+
+/// Allocate a memory block from a memory pool
+void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
+ void *ptr;
+
+ if (pool_id == NULL) return NULL;
+
+ ptr = rt_alloc_box(pool_id);
+ if (clr) {
+ rt_clr_box(pool_id, ptr);
+ }
+
+ return ptr;
+}
+
+/// Return an allocated memory block back to a specific memory pool
+osStatus sysPoolFree (osPoolId pool_id, void *block) {
+ int32_t res;
+
+ if (pool_id == NULL) return osErrorParameter;
+
+ res = rt_free_box(pool_id, block);
+ if (res != 0) return osErrorValue;
+
+ return osOK;
+}
+
+
+// Memory Management Public API
+
+/// Create and Initialize memory pool
+osPoolId osPoolCreate (const osPoolDef_t *pool_def) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcPoolCreate(pool_def);
+ } else {
+ return __svcPoolCreate(pool_def);
+ }
+}
+
+/// Allocate a memory block from a memory pool
+void *osPoolAlloc (osPoolId pool_id) {
+ if (__get_mode() != MODE_USR) { // in ISR or Privileged
+ return sysPoolAlloc(pool_id, 0);
+ } else { // in Thread
+ return __sysPoolAlloc(pool_id, 0);
+ }
+}
+
+/// Allocate a memory block from a memory pool and set memory block to zero
+void *osPoolCAlloc (osPoolId pool_id) {
+ if (__get_mode() != MODE_USR) { // in ISR or Privileged
+ return sysPoolAlloc(pool_id, 1);
+ } else { // in Thread
+ return __sysPoolAlloc(pool_id, 1);
+ }
+}
+
+/// Return an allocated memory block back to a specific memory pool
+osStatus osPoolFree (osPoolId pool_id, void *block) {
+ if (__get_mode() != MODE_USR) { // in ISR or Privileged
+ return sysPoolFree(pool_id, block);
+ } else { // in Thread
+ return __sysPoolFree(pool_id, block);
+ }
+}
+
+
+// ==== Message Queue Management Functions ====
+
+// Message Queue Management Service Calls declarations
+SVC_2_1(svcMessageCreate, osMessageQId, const osMessageQDef_t *, osThreadId, RET_pointer)
+SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
+SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
+
+// Message Queue Service Calls
+
+/// Create and Initialize Message Queue
+osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
+
+ if ((queue_def == NULL) ||
+ (queue_def->queue_sz == 0) ||
+ (queue_def->pool == NULL)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ if (((P_MCB)queue_def->pool)->cb_type != 0) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
+
+ return queue_def->pool;
+}
+
+/// Put a Message to a Queue
+osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
+ OS_RESULT res;
+
+ if (queue_id == NULL) return osErrorParameter;
+
+ if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
+
+ res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
+
+ if (res == OS_R_TMO) {
+ return (millisec ? osErrorTimeoutResource : osErrorResource);
+ }
+
+ return osOK;
+}
+
+/// Get a Message or Wait for a Message from a Queue
+os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
+ OS_RESULT res;
+ osEvent ret;
+
+ if (queue_id == NULL) {
+ ret.status = osErrorParameter;
+ return osEvent_ret_status;
+ }
+
+ if (((P_MCB)queue_id)->cb_type != MCB) {
+ ret.status = osErrorParameter;
+ return osEvent_ret_status;
+ }
+
+ res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
+
+ if (res == OS_R_TMO) {
+ ret.status = millisec ? osEventTimeout : osOK;
+ return osEvent_ret_value;
+ }
+
+ ret.status = osEventMessage;
+
+ return osEvent_ret_value;
+}
+
+
+// Message Queue ISR Calls
+
+/// Put a Message to a Queue
+static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
+
+ if ((queue_id == NULL) || (millisec != 0)) {
+ return osErrorParameter;
+ }
+
+ if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
+
+ if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
+ return osErrorResource;
+ }
+
+ isr_mbx_send(queue_id, (void *)info);
+
+ return osOK;
+}
+
+/// Get a Message or Wait for a Message from a Queue
+static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
+ OS_RESULT res;
+ osEvent ret;
+
+ if ((queue_id == NULL) || (millisec != 0)) {
+ ret.status = osErrorParameter;
+ return ret;
+ }
+
+ if (((P_MCB)queue_id)->cb_type != MCB) {
+ ret.status = osErrorParameter;
+ return ret;
+ }
+
+ res = isr_mbx_receive(queue_id, &ret.value.p);
+
+ if (res != OS_R_MBX) {
+ ret.status = osOK;
+ return ret;
+ }
+
+ ret.status = osEventMessage;
+
+ return ret;
+}
+
+
+// Message Queue Management Public API
+
+/// Create and Initialize Message Queue
+osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcMessageCreate(queue_def, thread_id);
+ } else {
+ return __svcMessageCreate(queue_def, thread_id);
+ }
+}
+
+/// Put a Message to a Queue
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
+ if (__exceptional_mode()) { // in ISR
+ return isrMessagePut(queue_id, info, millisec);
+ } else { // in Thread
+ return __svcMessagePut(queue_id, info, millisec);
+ }
+}
+
+/// Get a Message or Wait for a Message from a Queue
+os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
+ if (__exceptional_mode()) { // in ISR
+ return isrMessageGet(queue_id, millisec);
+ } else { // in Thread
+ return __svcMessageGet(queue_id, millisec);
+ }
+}
+
+
+// ==== Mail Queue Management Functions ====
+
+// Mail Queue Management Service Calls declarations
+SVC_2_1(svcMailCreate, osMailQId, const osMailQDef_t *, osThreadId, RET_pointer)
+SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
+SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
+
+// Mail Queue Management Service & ISR Calls
+
+/// Create and Initialize mail queue
+osMailQId svcMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
+ uint32_t blk_sz;
+ P_MCB pmcb;
+ void *pool;
+
+ if ((queue_def == NULL) ||
+ (queue_def->queue_sz == 0) ||
+ (queue_def->item_sz == 0) ||
+ (queue_def->pool == NULL)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ pmcb = *(((void **)queue_def->pool) + 0);
+ pool = *(((void **)queue_def->pool) + 1);
+
+ if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
+ sysThreadError(osErrorParameter);
+ return NULL;
+ }
+
+ blk_sz = (queue_def->item_sz + 3) & ~3;
+
+ _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
+
+ rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
+
+
+ return queue_def->pool;
+}
+
+/// Allocate a memory block from a mail
+void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
+ P_MCB pmcb;
+ void *pool;
+ void *mem;
+
+ if (queue_id == NULL) return NULL;
+
+ pmcb = *(((void **)queue_id) + 0);
+ pool = *(((void **)queue_id) + 1);
+
+ if ((pool == NULL) || (pmcb == NULL)) return NULL;
+
+ if (isr && (millisec != 0)) return NULL;
+
+ mem = rt_alloc_box(pool);
+ if (clr) {
+ rt_clr_box(pool, mem);
+ }
+
+ if ((mem == NULL) && (millisec != 0)) {
+ // Put Task to sleep when Memory not available
+ if (pmcb->p_lnk != NULL) {
+ rt_put_prio((P_XCB)pmcb, os_tsk.run);
+ } else {
+ pmcb->p_lnk = os_tsk.run;
+ os_tsk.run->p_lnk = NULL;
+ os_tsk.run->p_rlnk = (P_TCB)pmcb;
+ // Task is waiting to allocate a message
+ pmcb->state = 3;
+ }
+ rt_block(rt_ms2tick(millisec), WAIT_MBX);
+ }
+
+ return mem;
+}
+
+/// Free a memory block from a mail
+osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
+ P_MCB pmcb;
+ P_TCB ptcb;
+ void *pool;
+ void *mem;
+ int32_t res;
+
+ if (queue_id == NULL) return osErrorParameter;
+
+ pmcb = *(((void **)queue_id) + 0);
+ pool = *(((void **)queue_id) + 1);
+
+ if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
+
+ res = rt_free_box(pool, mail);
+
+ if (res != 0) return osErrorValue;
+
+ if (pmcb->state == 3) {
+ // Task is waiting to allocate a message
+ if (isr) {
+ rt_psq_enq (pmcb, (U32)pool);
+ rt_psh_req ();
+ } else {
+ mem = rt_alloc_box(pool);
+ if (mem != NULL) {
+ ptcb = rt_get_first((P_XCB)pmcb);
+ if (pmcb->p_lnk == NULL) {
+ pmcb->state = 0;
+ }
+ rt_ret_val(ptcb, (U32)mem);
+ rt_rmv_dly(ptcb);
+ rt_dispatch(ptcb);
+ }
+ }
+ }
+
+ return osOK;
+}
+
+
+// Mail Queue Management Public API
+
+/// Create and Initialize mail queue
+osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) {
+ if (__exceptional_mode()) return NULL; // Not allowed in ISR
+ if ((__get_mode() != MODE_USR) && (os_running == 0)) {
+ // Privileged and not running
+ return svcMailCreate(queue_def, thread_id);
+ } else {
+ return __svcMailCreate(queue_def, thread_id);
+ }
+}
+
+/// Allocate a memory block from a mail
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
+ if (__exceptional_mode()) { // in ISR
+ return sysMailAlloc(queue_id, millisec, 1, 0);
+ } else { // in Thread
+ return __sysMailAlloc(queue_id, millisec, 0, 0);
+ }
+}
+
+/// Allocate a memory block from a mail and set memory block to zero
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
+ if (__exceptional_mode()) { // in ISR
+ return sysMailAlloc(queue_id, millisec, 1, 1);
+ } else { // in Thread
+ return __sysMailAlloc(queue_id, millisec, 0, 1);
+ }
+}
+
+/// Free a memory block from a mail
+osStatus osMailFree (osMailQId queue_id, void *mail) {
+ if (__exceptional_mode()) { // in ISR
+ return sysMailFree(queue_id, mail, 1);
+ } else { // in Thread
+ return __sysMailFree(queue_id, mail, 0);
+ }
+}
+
+/// Put a mail to a queue
+osStatus osMailPut (osMailQId queue_id, void *mail) {
+ if (queue_id == NULL) return osErrorParameter;
+ if (mail == NULL) return osErrorValue;
+ return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
+}
+
+/// Get a mail from a queue
+os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
+ osEvent ret;
+
+ if (queue_id == NULL) {
+ ret.status = osErrorParameter;
+ return ret;
+ }
+
+ ret = osMessageGet(*((void **)queue_id), millisec);
+ if (ret.status == osEventMessage) ret.status = osEventMail;
+
+ return ret;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Event.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,194 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_EVENT.C
+ * Purpose: Implements waits and wake-ups for event flags
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_Event.h"
+#include "rt_List.h"
+#include "rt_Task.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_evt_wait -----------------------------------*/
+
+OS_RESULT rt_evt_wait (U16 wait_flags, U16 timeout, BOOL and_wait) {
+ /* Wait for one or more event flags with optional time-out. */
+ /* "wait_flags" identifies the flags to wait for. */
+ /* "timeout" is the time-out limit in system ticks (0xffff if no time-out) */
+ /* "and_wait" specifies the AND-ing of "wait_flags" as condition to be met */
+ /* to complete the wait. (OR-ing if set to 0). */
+ U32 block_state;
+
+ if (and_wait) {
+ /* Check for AND-connected events */
+ if ((os_tsk.run->events & wait_flags) == wait_flags) {
+ os_tsk.run->events &= ~wait_flags;
+ return (OS_R_EVT);
+ }
+ block_state = WAIT_AND;
+ }
+ else {
+ /* Check for OR-connected events */
+ if (os_tsk.run->events & wait_flags) {
+ os_tsk.run->waits = os_tsk.run->events & wait_flags;
+ os_tsk.run->events &= ~wait_flags;
+ return (OS_R_EVT);
+ }
+ block_state = WAIT_OR;
+ }
+ /* Task has to wait */
+ os_tsk.run->waits = wait_flags;
+ rt_block (timeout, (U8)block_state);
+ return (OS_R_TMO);
+}
+
+
+/*--------------------------- rt_evt_set ------------------------------------*/
+
+void rt_evt_set (U16 event_flags, OS_TID task_id) {
+ /* Set one or more event flags of a selectable task. */
+ P_TCB p_tcb;
+
+ p_tcb = os_active_TCB[task_id-1];
+ if (p_tcb == NULL) {
+ return;
+ }
+ p_tcb->events |= event_flags;
+ event_flags = p_tcb->waits;
+ /* If the task is not waiting for an event, it should not be put */
+ /* to ready state. */
+ if (p_tcb->state == WAIT_AND) {
+ /* Check for AND-connected events */
+ if ((p_tcb->events & event_flags) == event_flags) {
+ goto wkup;
+ }
+ }
+ if (p_tcb->state == WAIT_OR) {
+ /* Check for OR-connected events */
+ if (p_tcb->events & event_flags) {
+ p_tcb->waits &= p_tcb->events;
+wkup: p_tcb->events &= ~event_flags;
+ rt_rmv_dly (p_tcb);
+ p_tcb->state = READY;
+#ifdef __CMSIS_RTOS
+ rt_ret_val2(p_tcb, 0x08/*osEventSignal*/, p_tcb->waits);
+#else
+ rt_ret_val (p_tcb, OS_R_EVT);
+#endif
+ rt_dispatch (p_tcb);
+ }
+ }
+}
+
+
+/*--------------------------- rt_evt_clr ------------------------------------*/
+
+void rt_evt_clr (U16 clear_flags, OS_TID task_id) {
+ /* Clear one or more event flags (identified by "clear_flags") of a */
+ /* selectable task (identified by "task"). */
+ P_TCB task = os_active_TCB[task_id-1];
+
+ if (task == NULL) {
+ return;
+ }
+ task->events &= ~clear_flags;
+}
+
+
+/*--------------------------- isr_evt_set -----------------------------------*/
+
+void isr_evt_set (U16 event_flags, OS_TID task_id) {
+ /* Same function as "os_evt_set", but to be called by ISRs. */
+ P_TCB p_tcb = os_active_TCB[task_id-1];
+
+ if (p_tcb == NULL) {
+ return;
+ }
+ rt_psq_enq (p_tcb, event_flags);
+ rt_psh_req ();
+}
+
+
+/*--------------------------- rt_evt_get ------------------------------------*/
+
+U16 rt_evt_get (void) {
+ /* Get events of a running task after waiting for OR connected events. */
+ return (os_tsk.run->waits);
+}
+
+
+/*--------------------------- rt_evt_psh ------------------------------------*/
+
+void rt_evt_psh (P_TCB p_CB, U16 set_flags) {
+ /* Check if task has to be waken up */
+ U16 event_flags;
+
+ p_CB->events |= set_flags;
+ event_flags = p_CB->waits;
+ if (p_CB->state == WAIT_AND) {
+ /* Check for AND-connected events */
+ if ((p_CB->events & event_flags) == event_flags) {
+ goto rdy;
+ }
+ }
+ if (p_CB->state == WAIT_OR) {
+ /* Check for OR-connected events */
+ if (p_CB->events & event_flags) {
+ p_CB->waits &= p_CB->events;
+rdy: p_CB->events &= ~event_flags;
+ rt_rmv_dly (p_CB);
+ p_CB->state = READY;
+#ifdef __CMSIS_RTOS
+ rt_ret_val2(p_CB, 0x08/*osEventSignal*/, p_CB->waits);
+#else
+ rt_ret_val (p_CB, OS_R_EVT);
+#endif
+ rt_put_prio (&os_rdy, p_CB);
+ }
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Event.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,46 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_EVENT.H + * Purpose: Implements waits and wake-ups for event flags + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Functions */ +extern OS_RESULT rt_evt_wait (U16 wait_flags, U16 timeout, BOOL and_wait); +extern void rt_evt_set (U16 event_flags, OS_TID task_id); +extern void rt_evt_clr (U16 clear_flags, OS_TID task_id); +extern void isr_evt_set (U16 event_flags, OS_TID task_id); +extern U16 rt_evt_get (void); +extern void rt_evt_psh (P_TCB p_CB, U16 set_flags); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_HAL_CA.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,199 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_HAL_CM.H
+ * Purpose: Hardware Abstraction Layer for Cortex-A definitions
+ * Rev.: 21 Aug 2013
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+/* Definitions */
+#define INIT_CPSR_SYS 0x4000001F
+#define INIT_CPSR_USER 0x40000010
+
+#define CPSR_T_BIT 0x20
+#define CPSR_I_BIT 0x80
+#define CPSR_F_BIT 0x40
+
+#define MODE_USR 0x10
+#define MODE_FIQ 0x11
+#define MODE_IRQ 0x12
+#define MODE_SVC 0x13
+#define MODE_ABT 0x17
+#define MODE_UND 0x1B
+#define MODE_SYS 0x1F
+
+#define MAGIC_WORD 0xE25A2EA5
+
+#include "core_ca9.h"
+
+#if defined (__CC_ARM) /* ARM Compiler */
+
+#if ((__TARGET_ARCH_7_M || __TARGET_ARCH_7E_M || __TARGET_ARCH_7_A) && !NO_EXCLUSIVE_ACCESS)
+ #define __USE_EXCLUSIVE_ACCESS
+#else
+ #undef __USE_EXCLUSIVE_ACCESS
+#endif
+
+#elif defined (__GNUC__) /* GNU Compiler */
+
+#error GNU Compiler support not implemented for Cortex-A
+
+#elif defined (__ICCARM__) /* IAR Compiler */
+
+#error IAR Compiler support not implemented for Cortex-A
+
+#endif
+
+static U8 priority = 0xff;
+
+extern const U32 GICDistributor_BASE;
+extern const U32 GICInterface_BASE;
+
+/* GIC registers - Distributor */
+#define GICD_ICDICER0 (*((volatile U32 *)(GICDistributor_BASE + 0x180))) /* - RW - Interrupt Clear-Enable Registers */
+#define GICD_ICDISER0 (*((volatile U32 *)(GICDistributor_BASE + 0x100))) /* - RW - Interrupt Set-Enable Registers */
+#define GICD_ICDIPR0 (*((volatile U32 *)(GICDistributor_BASE + 0x400))) /* - RW - Interrupt Priority Registers */
+#define GICD_ICDSGIR (*((volatile U32 *)(GICDistributor_BASE + 0xf00))) /* - RW - Interrupt Software Interrupt Register */
+#define GICD_ICDICERx(irq) *(volatile U32 *)(&GICD_ICDICER0 + irq/32)
+#define GICD_ICDISERx(irq) *(volatile U32 *)(&GICD_ICDISER0 + irq/32)
+
+/* GIC register - CPU Interface */
+#define GICI_ICCPMR (*((volatile U32 *)(GICInterface_BASE + 0x004))) /* - RW - Interrupt Priority Mask Register */
+
+#define SGI_PENDSV 0 /* SGI0 */
+#define SGI_PENDSV_BIT ((U32)(1 << (SGI_PENDSV & 0xf)))
+
+//Increase priority filter to prevent timer and PendSV interrupts signaling. Guarantees that interrupts will not be forwarded.
+#define OS_LOCK() int irq_dis = __disable_irq();\
+ priority = GICI_ICCPMR; \
+ GICI_ICCPMR = 0xff; \
+ GICI_ICCPMR = GICI_ICCPMR - 1; \
+ while(GICI_ICCPMR > priority);\
+ __DSB();\
+ if(!irq_dis) __enable_irq(); \
+
+//Restore priority filter. Re-enable timer and PendSV signaling
+#define OS_UNLOCK() __DSB(); \
+ GICI_ICCPMR = priority; \
+
+#define OS_PEND_IRQ() GICD_ICDSGIR = 0x0010000 | SGI_PENDSV
+#define OS_PEND(fl,p) if(p) OS_PEND_IRQ();
+#define OS_UNPEND(fl)
+
+/* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c-
+ * OS_X_INIT enables the IRQ n in the GIC */
+#define OS_X_INIT(n) char *reg; \
+ reg = (char *)(&GICD_ICDIPR0 + n / 4); \
+ reg += n % 4; \
+ *reg = (char)0xff; \
+ *reg = *reg - 1; \
+ GICD_ICDISERx(n) = (U32)(1 << n % 32);
+#define OS_X_LOCK(n) OS_LOCK()
+#define OS_X_UNLOCK(n) OS_UNLOCK()
+#define OS_X_PEND_IRQ() OS_PEND_IRQ()
+#define OS_X_PEND(fl,p) if(p) OS_X_PEND_IRQ();
+#define OS_X_UNPEND(fl)
+
+
+/* Functions */
+#ifdef __USE_EXCLUSIVE_ACCESS
+ #define rt_inc(p) while(__strex((__ldrex(p)+1),p))
+ #define rt_dec(p) while(__strex((__ldrex(p)-1),p))
+#else
+ #define rt_inc(p) { int irq_dis = __disable_irq();(*p)++;if(!irq_dis) __enable_irq(); }
+ #define rt_dec(p) { int irq_dis = __disable_irq();(*p)--;if(!irq_dis) __enable_irq(); }
+#endif
+
+__inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
+ U32 cnt,c2;
+#ifdef __USE_EXCLUSIVE_ACCESS
+ do {
+ if ((cnt = __ldrex(count)) == size) {
+ __clrex();
+ return (cnt); }
+ } while (__strex(cnt+1, count));
+ do {
+ c2 = (cnt = __ldrex(first)) + 1;
+ if (c2 == size) c2 = 0;
+ } while (__strex(c2, first));
+#else
+ int irq_dis;
+ irq_dis = __disable_irq();
+ if ((cnt = *count) < size) {
+ *count = cnt+1;
+ c2 = (cnt = *first) + 1;
+ if (c2 == size) c2 = 0;
+ *first = c2;
+ }
+ if(!irq_dis) __enable_irq ();
+#endif
+ return (cnt);
+}
+
+__inline static void rt_systick_init (void) {
+ /* Cortex-A doesn't have a Systick. User needs to provide an alternative timer using RTX_Conf_CM configuration */
+ /* HW initialization needs to be done in os_tick_init (void) -RTX_Conf_CM.c- */
+}
+
+__inline static void rt_svc_init (void) {
+ /* Register pendSV - through SGI */
+ char *reg;
+
+ reg = (char *)(&GICD_ICDIPR0 + SGI_PENDSV/4);
+ reg += SGI_PENDSV % 4;
+ /* Write 0xff to read priority level */
+ *reg = (char)0xff;
+ /* Read priority level and set the lowest possible*/
+ *reg = *reg - 1;
+
+ GICD_ICDISERx(SGI_PENDSV) = (U32)SGI_PENDSV_BIT;
+}
+
+extern void rt_set_PSP (U32 stack);
+extern U32 rt_get_PSP (void);
+extern void os_set_env (P_TCB p_TCB);
+extern void *_alloc_box (void *box_mem);
+extern int _free_box (void *box_mem, void *box);
+
+extern void rt_init_stack (P_TCB p_TCB, FUNCP task_body);
+extern void rt_ret_val (P_TCB p_TCB, U32 v0);
+extern void rt_ret_val2 (P_TCB p_TCB, U32 v0, U32 v1);
+
+extern void dbg_init (void);
+extern void dbg_task_notify (P_TCB p_tcb, BOOL create);
+extern void dbg_task_switch (U32 task_id);
+
+#define DBG_INIT()
+#define DBG_TASK_NOTIFY(p_tcb,create)
+#define DBG_TASK_SWITCH(task_id)
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_HAL_CM.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,276 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_HAL_CM.H
+ * Purpose: Hardware Abstraction Layer for Cortex-M definitions
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+/* Definitions */
+#define INITIAL_xPSR 0x01000000
+#define DEMCR_TRCENA 0x01000000
+#define ITM_ITMENA 0x00000001
+#define MAGIC_WORD 0xE25A2EA5
+
+#if defined (__CC_ARM) /* ARM Compiler */
+
+#if ((__TARGET_ARCH_7_M || __TARGET_ARCH_7E_M) && !NO_EXCLUSIVE_ACCESS)
+ #define __USE_EXCLUSIVE_ACCESS
+#else
+ #undef __USE_EXCLUSIVE_ACCESS
+#endif
+
+#elif defined (__GNUC__) /* GNU Compiler */
+
+#undef __USE_EXCLUSIVE_ACCESS
+
+#if defined (__CORTEX_M0)
+#define __TARGET_ARCH_6S_M 1
+#else
+#define __TARGET_ARCH_6S_M 0
+#endif
+
+#if defined (__VFP_FP__) && !defined(__SOFTFP__)
+#define __TARGET_FPU_VFP 1
+#else
+#define __TARGET_FPU_VFP 0
+#endif
+
+#define __inline inline
+#define __weak __attribute__((weak))
+
+#ifndef __CMSIS_GENERIC
+
+__attribute__((always_inline)) static inline void __enable_irq(void)
+{
+ __asm volatile ("cpsie i");
+}
+
+__attribute__((always_inline)) static inline U32 __disable_irq(void)
+{
+ U32 result;
+
+ __asm volatile ("mrs %0, primask" : "=r" (result));
+ __asm volatile ("cpsid i");
+ return(result & 1);
+}
+
+#endif
+
+__attribute__(( always_inline)) static inline U8 __clz(U32 value)
+{
+ U8 result;
+
+ __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
+ return(result);
+}
+
+#elif defined (__ICCARM__) /* IAR Compiler */
+
+#undef __USE_EXCLUSIVE_ACCESS
+
+#if (__CORE__ == __ARM6M__)
+#define __TARGET_ARCH_6S_M 1
+#else
+#define __TARGET_ARCH_6S_M 0
+#endif
+
+#if defined __ARMVFP__
+#define __TARGET_FPU_VFP 1
+#else
+#define __TARGET_FPU_VFP 0
+#endif
+
+#define __inline inline
+
+#ifndef __CMSIS_GENERIC
+
+static inline void __enable_irq(void)
+{
+ __asm volatile ("cpsie i");
+}
+
+static inline U32 __disable_irq(void)
+{
+ U32 result;
+
+ __asm volatile ("mrs %0, primask" : "=r" (result));
+ __asm volatile ("cpsid i");
+ return(result & 1);
+}
+
+#endif
+
+static inline U8 __clz(U32 value)
+{
+ U8 result;
+
+ __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
+ return(result);
+}
+
+#endif
+
+/* NVIC registers */
+#define NVIC_ST_CTRL (*((volatile U32 *)0xE000E010))
+#define NVIC_ST_RELOAD (*((volatile U32 *)0xE000E014))
+#define NVIC_ST_CURRENT (*((volatile U32 *)0xE000E018))
+#define NVIC_ISER ((volatile U32 *)0xE000E100)
+#define NVIC_ICER ((volatile U32 *)0xE000E180)
+#if (__TARGET_ARCH_6S_M)
+#define NVIC_IP ((volatile U32 *)0xE000E400)
+#else
+#define NVIC_IP ((volatile U8 *)0xE000E400)
+#endif
+#define NVIC_INT_CTRL (*((volatile U32 *)0xE000ED04))
+#define NVIC_AIR_CTRL (*((volatile U32 *)0xE000ED0C))
+#define NVIC_SYS_PRI2 (*((volatile U32 *)0xE000ED1C))
+#define NVIC_SYS_PRI3 (*((volatile U32 *)0xE000ED20))
+
+#define OS_PEND_IRQ() NVIC_INT_CTRL = (1<<28)
+#define OS_PENDING ((NVIC_INT_CTRL >> 26) & (1<<2 | 1))
+#define OS_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_PENDING) << 25
+#define OS_PEND(fl,p) NVIC_INT_CTRL = (fl | p<<2) << 26
+#define OS_LOCK() NVIC_ST_CTRL = 0x0005
+#define OS_UNLOCK() NVIC_ST_CTRL = 0x0007
+
+#define OS_X_PENDING ((NVIC_INT_CTRL >> 28) & 1)
+#define OS_X_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_X_PENDING) << 27
+#define OS_X_PEND(fl,p) NVIC_INT_CTRL = (fl | p) << 28
+#if (__TARGET_ARCH_6S_M)
+#define OS_X_INIT(n) NVIC_IP[n>>2] |= 0xFF << (8*(n & 0x03)); \
+ NVIC_ISER[n>>5] = 1 << (n & 0x1F)
+#else
+#define OS_X_INIT(n) NVIC_IP[n] = 0xFF; \
+ NVIC_ISER[n>>5] = 1 << (n & 0x1F)
+#endif
+#define OS_X_LOCK(n) NVIC_ICER[n>>5] = 1 << (n & 0x1F)
+#define OS_X_UNLOCK(n) NVIC_ISER[n>>5] = 1 << (n & 0x1F)
+
+/* Core Debug registers */
+#define DEMCR (*((volatile U32 *)0xE000EDFC))
+
+/* ITM registers */
+#define ITM_CONTROL (*((volatile U32 *)0xE0000E80))
+#define ITM_ENABLE (*((volatile U32 *)0xE0000E00))
+#define ITM_PORT30_U32 (*((volatile U32 *)0xE0000078))
+#define ITM_PORT31_U32 (*((volatile U32 *)0xE000007C))
+#define ITM_PORT31_U16 (*((volatile U16 *)0xE000007C))
+#define ITM_PORT31_U8 (*((volatile U8 *)0xE000007C))
+
+/* Variables */
+extern BIT dbg_msg;
+
+/* Functions */
+#ifdef __USE_EXCLUSIVE_ACCESS
+ #define rt_inc(p) while(__strex((__ldrex(p)+1),p))
+ #define rt_dec(p) while(__strex((__ldrex(p)-1),p))
+#else
+ #define rt_inc(p) __disable_irq();(*p)++;__enable_irq();
+ #define rt_dec(p) __disable_irq();(*p)--;__enable_irq();
+#endif
+
+__inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
+ U32 cnt,c2;
+#ifdef __USE_EXCLUSIVE_ACCESS
+ do {
+ if ((cnt = __ldrex(count)) == size) {
+ __clrex();
+ return (cnt); }
+ } while (__strex(cnt+1, count));
+ do {
+ c2 = (cnt = __ldrex(first)) + 1;
+ if (c2 == size) c2 = 0;
+ } while (__strex(c2, first));
+#else
+ __disable_irq();
+ if ((cnt = *count) < size) {
+ *count = cnt+1;
+ c2 = (cnt = *first) + 1;
+ if (c2 == size) c2 = 0;
+ *first = c2;
+ }
+ __enable_irq ();
+#endif
+ return (cnt);
+}
+
+__inline static void rt_systick_init (void) {
+ NVIC_ST_RELOAD = os_trv;
+ NVIC_ST_CURRENT = 0;
+ NVIC_ST_CTRL = 0x0007;
+ NVIC_SYS_PRI3 |= 0xFF000000;
+}
+
+__inline static void rt_svc_init (void) {
+#if !(__TARGET_ARCH_6S_M)
+ int sh,prigroup;
+#endif
+ NVIC_SYS_PRI3 |= 0x00FF0000;
+#if (__TARGET_ARCH_6S_M)
+ NVIC_SYS_PRI2 |= (NVIC_SYS_PRI3<<(8+1)) & 0xFC000000;
+#else
+ sh = 8 - __clz (~((NVIC_SYS_PRI3 << 8) & 0xFF000000));
+ prigroup = ((NVIC_AIR_CTRL >> 8) & 0x07);
+ if (prigroup >= sh) {
+ sh = prigroup + 1;
+ }
+ NVIC_SYS_PRI2 = ((0xFEFFFFFF << sh) & 0xFF000000) | (NVIC_SYS_PRI2 & 0x00FFFFFF);
+#endif
+}
+
+extern void rt_set_PSP (U32 stack);
+extern U32 rt_get_PSP (void);
+extern void os_set_env (void);
+extern void *_alloc_box (void *box_mem);
+extern int _free_box (void *box_mem, void *box);
+
+extern void rt_init_stack (P_TCB p_TCB, FUNCP task_body);
+extern void rt_ret_val (P_TCB p_TCB, U32 v0);
+extern void rt_ret_val2 (P_TCB p_TCB, U32 v0, U32 v1);
+
+extern void dbg_init (void);
+extern void dbg_task_notify (P_TCB p_tcb, BOOL create);
+extern void dbg_task_switch (U32 task_id);
+
+#ifdef DBG_MSG
+#define DBG_INIT() dbg_init()
+#define DBG_TASK_NOTIFY(p_tcb,create) if (dbg_msg) dbg_task_notify(p_tcb,create)
+#define DBG_TASK_SWITCH(task_id) if (dbg_msg && (os_tsk.new!=os_tsk.run)) \
+ dbg_task_switch(task_id)
+#else
+#define DBG_INIT()
+#define DBG_TASK_NOTIFY(p_tcb,create)
+#define DBG_TASK_SWITCH(task_id)
+#endif
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_List.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,324 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_LIST.C
+ * Purpose: Functions for the management of different lists
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_List.h"
+#include "rt_Task.h"
+#include "rt_Time.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+/* List head of chained ready tasks */
+struct OS_XCB os_rdy;
+/* List head of chained delay tasks */
+struct OS_XCB os_dly;
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_put_prio -----------------------------------*/
+
+void rt_put_prio (P_XCB p_CB, P_TCB p_task) {
+ /* Put task identified with "p_task" into list ordered by priority. */
+ /* "p_CB" points to head of list; list has always an element at end with */
+ /* a priority less than "p_task->prio". */
+ P_TCB p_CB2;
+ U32 prio;
+ BOOL sem_mbx = __FALSE;
+
+ if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
+ sem_mbx = __TRUE;
+ }
+ prio = p_task->prio;
+ p_CB2 = p_CB->p_lnk;
+ /* Search for an entry in the list */
+ while (p_CB2 != NULL && prio <= p_CB2->prio) {
+ p_CB = (P_XCB)p_CB2;
+ p_CB2 = p_CB2->p_lnk;
+ }
+ /* Entry found, insert the task into the list */
+ p_task->p_lnk = p_CB2;
+ p_CB->p_lnk = p_task;
+ if (sem_mbx) {
+ if (p_CB2 != NULL) {
+ p_CB2->p_rlnk = p_task;
+ }
+ p_task->p_rlnk = (P_TCB)p_CB;
+ }
+ else {
+ p_task->p_rlnk = NULL;
+ }
+}
+
+
+/*--------------------------- rt_get_first ----------------------------------*/
+
+P_TCB rt_get_first (P_XCB p_CB) {
+ /* Get task at head of list: it is the task with highest priority. */
+ /* "p_CB" points to head of list. */
+ P_TCB p_first;
+
+ p_first = p_CB->p_lnk;
+ p_CB->p_lnk = p_first->p_lnk;
+ if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
+ if (p_first->p_lnk != NULL) {
+ p_first->p_lnk->p_rlnk = (P_TCB)p_CB;
+ p_first->p_lnk = NULL;
+ }
+ p_first->p_rlnk = NULL;
+ }
+ else {
+ p_first->p_lnk = NULL;
+ }
+ return (p_first);
+}
+
+
+/*--------------------------- rt_put_rdy_first ------------------------------*/
+
+void rt_put_rdy_first (P_TCB p_task) {
+ /* Put task identified with "p_task" at the head of the ready list. The */
+ /* task must have at least a priority equal to highest priority in list. */
+ p_task->p_lnk = os_rdy.p_lnk;
+ p_task->p_rlnk = NULL;
+ os_rdy.p_lnk = p_task;
+}
+
+
+/*--------------------------- rt_get_same_rdy_prio --------------------------*/
+
+P_TCB rt_get_same_rdy_prio (void) {
+ /* Remove a task of same priority from ready list if any exists. Other- */
+ /* wise return NULL. */
+ P_TCB p_first;
+
+ p_first = os_rdy.p_lnk;
+ if (p_first->prio == os_tsk.run->prio) {
+ os_rdy.p_lnk = os_rdy.p_lnk->p_lnk;
+ return (p_first);
+ }
+ return (NULL);
+}
+
+
+/*--------------------------- rt_resort_prio --------------------------------*/
+
+void rt_resort_prio (P_TCB p_task) {
+ /* Re-sort ordered lists after the priority of 'p_task' has changed. */
+ P_TCB p_CB;
+
+ if (p_task->p_rlnk == NULL) {
+ if (p_task->state == READY) {
+ /* Task is chained into READY list. */
+ p_CB = (P_TCB)&os_rdy;
+ goto res;
+ }
+ }
+ else {
+ p_CB = p_task->p_rlnk;
+ while (p_CB->cb_type == TCB) {
+ /* Find a header of this task chain list. */
+ p_CB = p_CB->p_rlnk;
+ }
+res:rt_rmv_list (p_task);
+ rt_put_prio ((P_XCB)p_CB, p_task);
+ }
+}
+
+
+/*--------------------------- rt_put_dly ------------------------------------*/
+
+void rt_put_dly (P_TCB p_task, U16 delay) {
+ /* Put a task identified with "p_task" into chained delay wait list using */
+ /* a delay value of "delay". */
+ P_TCB p;
+ U32 delta,idelay = delay;
+
+ p = (P_TCB)&os_dly;
+ if (p->p_dlnk == NULL) {
+ /* Delay list empty */
+ delta = 0;
+ goto last;
+ }
+ delta = os_dly.delta_time;
+ while (delta < idelay) {
+ if (p->p_dlnk == NULL) {
+ /* End of list found */
+last: p_task->p_dlnk = NULL;
+ p->p_dlnk = p_task;
+ p_task->p_blnk = p;
+ p->delta_time = (U16)(idelay - delta);
+ p_task->delta_time = 0;
+ return;
+ }
+ p = p->p_dlnk;
+ delta += p->delta_time;
+ }
+ /* Right place found */
+ p_task->p_dlnk = p->p_dlnk;
+ p->p_dlnk = p_task;
+ p_task->p_blnk = p;
+ if (p_task->p_dlnk != NULL) {
+ p_task->p_dlnk->p_blnk = p_task;
+ }
+ p_task->delta_time = (U16)(delta - idelay);
+ p->delta_time -= p_task->delta_time;
+}
+
+
+/*--------------------------- rt_dec_dly ------------------------------------*/
+
+void rt_dec_dly (void) {
+ /* Decrement delta time of list head: remove tasks having a value of zero.*/
+ P_TCB p_rdy;
+
+ if (os_dly.p_dlnk == NULL) {
+ return;
+ }
+ os_dly.delta_time--;
+ while ((os_dly.delta_time == 0) && (os_dly.p_dlnk != NULL)) {
+ p_rdy = os_dly.p_dlnk;
+ if (p_rdy->p_rlnk != NULL) {
+ /* Task is really enqueued, remove task from semaphore/mailbox */
+ /* timeout waiting list. */
+ p_rdy->p_rlnk->p_lnk = p_rdy->p_lnk;
+ if (p_rdy->p_lnk != NULL) {
+ p_rdy->p_lnk->p_rlnk = p_rdy->p_rlnk;
+ p_rdy->p_lnk = NULL;
+ }
+ p_rdy->p_rlnk = NULL;
+ }
+ rt_put_prio (&os_rdy, p_rdy);
+ os_dly.delta_time = p_rdy->delta_time;
+ if (p_rdy->state == WAIT_ITV) {
+ /* Calculate the next time for interval wait. */
+ p_rdy->delta_time = p_rdy->interval_time + (U16)os_time;
+ }
+ p_rdy->state = READY;
+ os_dly.p_dlnk = p_rdy->p_dlnk;
+ if (p_rdy->p_dlnk != NULL) {
+ p_rdy->p_dlnk->p_blnk = (P_TCB)&os_dly;
+ p_rdy->p_dlnk = NULL;
+ }
+ p_rdy->p_blnk = NULL;
+ }
+}
+
+
+/*--------------------------- rt_rmv_list -----------------------------------*/
+
+void rt_rmv_list (P_TCB p_task) {
+ /* Remove task identified with "p_task" from ready, semaphore or mailbox */
+ /* waiting list if enqueued. */
+ P_TCB p_b;
+
+ if (p_task->p_rlnk != NULL) {
+ /* A task is enqueued in semaphore / mailbox waiting list. */
+ p_task->p_rlnk->p_lnk = p_task->p_lnk;
+ if (p_task->p_lnk != NULL) {
+ p_task->p_lnk->p_rlnk = p_task->p_rlnk;
+ }
+ return;
+ }
+
+ p_b = (P_TCB)&os_rdy;
+ while (p_b != NULL) {
+ /* Search the ready list for task "p_task" */
+ if (p_b->p_lnk == p_task) {
+ p_b->p_lnk = p_task->p_lnk;
+ return;
+ }
+ p_b = p_b->p_lnk;
+ }
+}
+
+
+/*--------------------------- rt_rmv_dly ------------------------------------*/
+
+void rt_rmv_dly (P_TCB p_task) {
+ /* Remove task identified with "p_task" from delay list if enqueued. */
+ P_TCB p_b;
+
+ p_b = p_task->p_blnk;
+ if (p_b != NULL) {
+ /* Task is really enqueued */
+ p_b->p_dlnk = p_task->p_dlnk;
+ if (p_task->p_dlnk != NULL) {
+ /* 'p_task' is in the middle of list */
+ p_b->delta_time += p_task->delta_time;
+ p_task->p_dlnk->p_blnk = p_b;
+ p_task->p_dlnk = NULL;
+ }
+ else {
+ /* 'p_task' is at the end of list */
+ p_b->delta_time = 0;
+ }
+ p_task->p_blnk = NULL;
+ }
+}
+
+
+/*--------------------------- rt_psq_enq ------------------------------------*/
+
+void rt_psq_enq (OS_ID entry, U32 arg) {
+ /* Insert post service request "entry" into ps-queue. */
+ U32 idx;
+
+ idx = rt_inc_qi (os_psq->size, &os_psq->count, &os_psq->first);
+ if (idx < os_psq->size) {
+ os_psq->q[idx].id = entry;
+ os_psq->q[idx].arg = arg;
+ }
+ else {
+ os_error (OS_ERR_FIFO_OVF);
+ }
+}
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_List.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,67 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_LIST.H + * Purpose: Functions for the management of different lists + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Definitions */ + +/* Values for 'cb_type' */ +#define TCB 0 +#define MCB 1 +#define SCB 2 +#define MUCB 3 +#define HCB 4 + +/* Variables */ +extern struct OS_XCB os_rdy; +extern struct OS_XCB os_dly; + +/* Functions */ +extern void rt_put_prio (P_XCB p_CB, P_TCB p_task); +extern P_TCB rt_get_first (P_XCB p_CB); +extern void rt_put_rdy_first (P_TCB p_task); +extern P_TCB rt_get_same_rdy_prio (void); +extern void rt_resort_prio (P_TCB p_task); +extern void rt_put_dly (P_TCB p_task, U16 delay); +extern void rt_dec_dly (void); +extern void rt_rmv_list (P_TCB p_task); +extern void rt_rmv_dly (P_TCB p_task); +extern void rt_psq_enq (OS_ID entry, U32 arg); + +/* This is a fast macro generating in-line code */ +#define rt_rdy_prio(void) (os_rdy.p_lnk->prio) + + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Mailbox.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,296 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_MAILBOX.C
+ * Purpose: Implements waits and wake-ups for mailbox messages
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_List.h"
+#include "rt_Mailbox.h"
+#include "rt_MemBox.h"
+#include "rt_Task.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_mbx_init -----------------------------------*/
+
+void rt_mbx_init (OS_ID mailbox, U16 mbx_size) {
+ /* Initialize a mailbox */
+ P_MCB p_MCB = mailbox;
+
+ p_MCB->cb_type = MCB;
+ p_MCB->state = 0;
+ p_MCB->isr_st = 0;
+ p_MCB->p_lnk = NULL;
+ p_MCB->first = 0;
+ p_MCB->last = 0;
+ p_MCB->count = 0;
+ p_MCB->size = (mbx_size + sizeof(void *) - sizeof(struct OS_MCB)) /
+ (U32)sizeof (void *);
+}
+
+
+/*--------------------------- rt_mbx_send -----------------------------------*/
+
+OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout) {
+ /* Send message to a mailbox */
+ P_MCB p_MCB = mailbox;
+ P_TCB p_TCB;
+
+ if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 1)) {
+ /* A task is waiting for message */
+ p_TCB = rt_get_first ((P_XCB)p_MCB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
+#else
+ *p_TCB->msg = p_msg;
+ rt_ret_val (p_TCB, OS_R_MBX);
+#endif
+ rt_rmv_dly (p_TCB);
+ rt_dispatch (p_TCB);
+ }
+ else {
+ /* Store message in mailbox queue */
+ if (p_MCB->count == p_MCB->size) {
+ /* No free message entry, wait for one. If message queue is full, */
+ /* then no task is waiting for message. The 'p_MCB->p_lnk' list */
+ /* pointer can now be reused for send message waits task list. */
+ if (timeout == 0) {
+ return (OS_R_TMO);
+ }
+ if (p_MCB->p_lnk != NULL) {
+ rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
+ }
+ else {
+ p_MCB->p_lnk = os_tsk.run;
+ os_tsk.run->p_lnk = NULL;
+ os_tsk.run->p_rlnk = (P_TCB)p_MCB;
+ /* Task is waiting to send a message */
+ p_MCB->state = 2;
+ }
+ os_tsk.run->msg = p_msg;
+ rt_block (timeout, WAIT_MBX);
+ return (OS_R_TMO);
+ }
+ /* Yes, there is a free entry in a mailbox. */
+ p_MCB->msg[p_MCB->first] = p_msg;
+ rt_inc (&p_MCB->count);
+ if (++p_MCB->first == p_MCB->size) {
+ p_MCB->first = 0;
+ }
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_mbx_wait -----------------------------------*/
+
+OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout) {
+ /* Receive a message; possibly wait for it */
+ P_MCB p_MCB = mailbox;
+ P_TCB p_TCB;
+
+ /* If a message is available in the fifo buffer */
+ /* remove it from the fifo buffer and return. */
+ if (p_MCB->count) {
+ *message = p_MCB->msg[p_MCB->last];
+ if (++p_MCB->last == p_MCB->size) {
+ p_MCB->last = 0;
+ }
+ if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 2)) {
+ /* A task is waiting to send message */
+ p_TCB = rt_get_first ((P_XCB)p_MCB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val(p_TCB, 0/*osOK*/);
+#else
+ rt_ret_val(p_TCB, OS_R_OK);
+#endif
+ p_MCB->msg[p_MCB->first] = p_TCB->msg;
+ if (++p_MCB->first == p_MCB->size) {
+ p_MCB->first = 0;
+ }
+ rt_rmv_dly (p_TCB);
+ rt_dispatch (p_TCB);
+ }
+ else {
+ rt_dec (&p_MCB->count);
+ }
+ return (OS_R_OK);
+ }
+ /* No message available: wait for one */
+ if (timeout == 0) {
+ return (OS_R_TMO);
+ }
+ if (p_MCB->p_lnk != NULL) {
+ rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
+ }
+ else {
+ p_MCB->p_lnk = os_tsk.run;
+ os_tsk.run->p_lnk = NULL;
+ os_tsk.run->p_rlnk = (P_TCB)p_MCB;
+ /* Task is waiting to receive a message */
+ p_MCB->state = 1;
+ }
+ rt_block(timeout, WAIT_MBX);
+#ifndef __CMSIS_RTOS
+ os_tsk.run->msg = message;
+#endif
+ return (OS_R_TMO);
+}
+
+
+/*--------------------------- rt_mbx_check ----------------------------------*/
+
+OS_RESULT rt_mbx_check (OS_ID mailbox) {
+ /* Check for free space in a mailbox. Returns the number of messages */
+ /* that can be stored to a mailbox. It returns 0 when mailbox is full. */
+ P_MCB p_MCB = mailbox;
+
+ return (p_MCB->size - p_MCB->count);
+}
+
+
+/*--------------------------- isr_mbx_send ----------------------------------*/
+
+void isr_mbx_send (OS_ID mailbox, void *p_msg) {
+ /* Same function as "os_mbx_send", but to be called by ISRs. */
+ P_MCB p_MCB = mailbox;
+
+ rt_psq_enq (p_MCB, (U32)p_msg);
+ rt_psh_req ();
+}
+
+
+/*--------------------------- isr_mbx_receive -------------------------------*/
+
+OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message) {
+ /* Receive a message in the interrupt function. The interrupt function */
+ /* should not wait for a message since this would block the rtx os. */
+ P_MCB p_MCB = mailbox;
+
+ if (p_MCB->count) {
+ /* A message is available in the fifo buffer. */
+ *message = p_MCB->msg[p_MCB->last];
+ if (p_MCB->state == 2) {
+ /* A task is locked waiting to send message */
+ rt_psq_enq (p_MCB, 0);
+ rt_psh_req ();
+ }
+ rt_dec (&p_MCB->count);
+ if (++p_MCB->last == p_MCB->size) {
+ p_MCB->last = 0;
+ }
+ return (OS_R_MBX);
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_mbx_psh ------------------------------------*/
+
+void rt_mbx_psh (P_MCB p_CB, void *p_msg) {
+ /* Store the message to the mailbox queue or pass it to task directly. */
+ P_TCB p_TCB;
+ void *mem;
+
+ if (p_CB->p_lnk != NULL) switch (p_CB->state) {
+#ifdef __CMSIS_RTOS
+ case 3:
+ /* Task is waiting to allocate memory, remove it from the waiting list */
+ mem = rt_alloc_box(p_msg);
+ if (mem == NULL) break;
+ p_TCB = rt_get_first ((P_XCB)p_CB);
+ rt_ret_val(p_TCB, (U32)mem);
+ p_TCB->state = READY;
+ rt_rmv_dly (p_TCB);
+ rt_put_prio (&os_rdy, p_TCB);
+ break;
+#endif
+ case 2:
+ /* Task is waiting to send a message, remove it from the waiting list */
+ p_TCB = rt_get_first ((P_XCB)p_CB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val(p_TCB, 0/*osOK*/);
+#else
+ rt_ret_val(p_TCB, OS_R_OK);
+#endif
+ p_CB->msg[p_CB->first] = p_TCB->msg;
+ rt_inc (&p_CB->count);
+ if (++p_CB->first == p_CB->size) {
+ p_CB->first = 0;
+ }
+ p_TCB->state = READY;
+ rt_rmv_dly (p_TCB);
+ rt_put_prio (&os_rdy, p_TCB);
+ break;
+ case 1:
+ /* Task is waiting for a message, pass the message to the task directly */
+ p_TCB = rt_get_first ((P_XCB)p_CB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
+#else
+ *p_TCB->msg = p_msg;
+ rt_ret_val (p_TCB, OS_R_MBX);
+#endif
+ p_TCB->state = READY;
+ rt_rmv_dly (p_TCB);
+ rt_put_prio (&os_rdy, p_TCB);
+ break;
+ } else {
+ /* No task is waiting for a message, store it to the mailbox queue */
+ if (p_CB->count < p_CB->size) {
+ p_CB->msg[p_CB->first] = p_msg;
+ rt_inc (&p_CB->count);
+ if (++p_CB->first == p_CB->size) {
+ p_CB->first = 0;
+ }
+ }
+ else {
+ os_error (OS_ERR_MBX_OVF);
+ }
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Mailbox.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,48 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_MAILBOX.H + * Purpose: Implements waits and wake-ups for mailbox messages + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Functions */ +extern void rt_mbx_init (OS_ID mailbox, U16 mbx_size); +extern OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout); +extern OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout); +extern OS_RESULT rt_mbx_check (OS_ID mailbox); +extern void isr_mbx_send (OS_ID mailbox, void *p_msg); +extern OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message); +extern void rt_mbx_psh (P_MCB p_CB, void *p_msg); + + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_MemBox.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,170 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_MEMBOX.C
+ * Purpose: Interface functions for fixed memory block management system
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_MemBox.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+/*----------------------------------------------------------------------------
+ * Global Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- _init_box -------------------------------------*/
+
+int _init_box (void *box_mem, U32 box_size, U32 blk_size) {
+ /* Initialize memory block system, returns 0 if OK, 1 if fails. */
+ void *end;
+ void *blk;
+ void *next;
+ U32 sizeof_bm;
+
+ /* Create memory structure. */
+ if (blk_size & BOX_ALIGN_8) {
+ /* Memory blocks 8-byte aligned. */
+ blk_size = ((blk_size & ~BOX_ALIGN_8) + 7) & ~7;
+ sizeof_bm = (sizeof (struct OS_BM) + 7) & ~7;
+ }
+ else {
+ /* Memory blocks 4-byte aligned. */
+ blk_size = (blk_size + 3) & ~3;
+ sizeof_bm = sizeof (struct OS_BM);
+ }
+ if (blk_size == 0) {
+ return (1);
+ }
+ if ((blk_size + sizeof_bm) > box_size) {
+ return (1);
+ }
+ /* Create a Memory structure. */
+ blk = ((U8 *) box_mem) + sizeof_bm;
+ ((P_BM) box_mem)->free = blk;
+ end = ((U8 *) box_mem) + box_size;
+ ((P_BM) box_mem)->end = end;
+ ((P_BM) box_mem)->blk_size = blk_size;
+
+ /* Link all free blocks using offsets. */
+ end = ((U8 *) end) - blk_size;
+ while (1) {
+ next = ((U8 *) blk) + blk_size;
+ if (next > end) break;
+ *((void **)blk) = next;
+ blk = next;
+ }
+ /* end marker */
+ *((void **)blk) = 0;
+ return (0);
+}
+
+/*--------------------------- rt_alloc_box ----------------------------------*/
+
+void *rt_alloc_box (void *box_mem) {
+ /* Allocate a memory block and return start address. */
+ void **free;
+#ifndef __USE_EXCLUSIVE_ACCESS
+ int irq_dis;
+
+ irq_dis = __disable_irq ();
+ free = ((P_BM) box_mem)->free;
+ if (free) {
+ ((P_BM) box_mem)->free = *free;
+ }
+ if (!irq_dis) __enable_irq ();
+#else
+ do {
+ if ((free = (void **)__ldrex(&((P_BM) box_mem)->free)) == 0) {
+ __clrex();
+ break;
+ }
+ } while (__strex((U32)*free, &((P_BM) box_mem)->free));
+#endif
+ return (free);
+}
+
+
+/*--------------------------- _calloc_box -----------------------------------*/
+
+void *_calloc_box (void *box_mem) {
+ /* Allocate a 0-initialized memory block and return start address. */
+ void *free;
+ U32 *p;
+ U32 i;
+
+ free = _alloc_box (box_mem);
+ if (free) {
+ p = free;
+ for (i = ((P_BM) box_mem)->blk_size; i; i -= 4) {
+ *p = 0;
+ p++;
+ }
+ }
+ return (free);
+}
+
+
+/*--------------------------- rt_free_box -----------------------------------*/
+
+int rt_free_box (void *box_mem, void *box) {
+ /* Free a memory block, returns 0 if OK, 1 if box does not belong to box_mem */
+#ifndef __USE_EXCLUSIVE_ACCESS
+ int irq_dis;
+#endif
+
+ if (box < box_mem || box >= ((P_BM) box_mem)->end) {
+ return (1);
+ }
+
+#ifndef __USE_EXCLUSIVE_ACCESS
+ irq_dis = __disable_irq ();
+ *((void **)box) = ((P_BM) box_mem)->free;
+ ((P_BM) box_mem)->free = box;
+ if (!irq_dis) __enable_irq ();
+#else
+ do {
+ *((void **)box) = (void *)__ldrex(&((P_BM) box_mem)->free);
+ } while (__strex ((U32)box, &((P_BM) box_mem)->free));
+#endif
+ return (0);
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_MemBox.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,46 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_MEMBOX.H + * Purpose: Interface functions for fixed memory block management system + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Functions */ +#define rt_init_box _init_box +#define rt_calloc_box _calloc_box +extern int _init_box (void *box_mem, U32 box_size, U32 blk_size); +extern void *rt_alloc_box (void *box_mem); +extern void * _calloc_box (void *box_mem); +extern int rt_free_box (void *box_mem, void *box); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Memory.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,140 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_MEMORY.C
+ * Purpose: Interface functions for Dynamic Memory Management System
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "rt_Memory.h"
+
+
+/* Functions */
+
+// Initialize Dynamic Memory pool
+// Parameters:
+// pool: Pointer to memory pool
+// size: Size of memory pool in bytes
+// Return: 0 - OK, 1 - Error
+
+int rt_init_mem (void *pool, U32 size) {
+ MEMP *ptr;
+
+ if ((pool == NULL) || (size < sizeof(MEMP))) return (1);
+
+ ptr = (MEMP *)pool;
+ ptr->next = (MEMP *)((U32)pool + size - sizeof(MEMP *));
+ ptr->next->next = NULL;
+ ptr->len = 0;
+
+ return (0);
+}
+
+// Allocate Memory from Memory pool
+// Parameters:
+// pool: Pointer to memory pool
+// size: Size of memory in bytes to allocate
+// Return: Pointer to allocated memory
+
+void *rt_alloc_mem (void *pool, U32 size) {
+ MEMP *p, *p_search, *p_new;
+ U32 hole_size;
+
+ if ((pool == NULL) || (size == 0)) return NULL;
+
+ /* Add header offset to 'size' */
+ size += sizeof(MEMP);
+ /* Make sure that block is 4-byte aligned */
+ size = (size + 3) & ~3;
+
+ p_search = (MEMP *)pool;
+ while (1) {
+ hole_size = (U32)p_search->next - (U32)p_search;
+ hole_size -= p_search->len;
+ /* Check if hole size is big enough */
+ if (hole_size >= size) break;
+ p_search = p_search->next;
+ if (p_search->next == NULL) {
+ /* Failed, we are at the end of the list */
+ return NULL;
+ }
+ }
+
+ if (p_search->len == 0) {
+ /* No block is allocated, set the Length of the first element */
+ p_search->len = size;
+ p = (MEMP *)(((U32)p_search) + sizeof(MEMP));
+ } else {
+ /* Insert new list element into the memory list */
+ p_new = (MEMP *)((U32)p_search + p_search->len);
+ p_new->next = p_search->next;
+ p_new->len = size;
+ p_search->next = p_new;
+ p = (MEMP *)(((U32)p_new) + sizeof(MEMP));
+ }
+
+ return (p);
+}
+
+// Free Memory and return it to Memory pool
+// Parameters:
+// pool: Pointer to memory pool
+// mem: Pointer to memory to free
+// Return: 0 - OK, 1 - Error
+
+int rt_free_mem (void *pool, void *mem) {
+ MEMP *p_search, *p_prev, *p_return;
+
+ if ((pool == NULL) || (mem == NULL)) return (1);
+
+ p_return = (MEMP *)((U32)mem - sizeof(MEMP));
+
+ /* Set list header */
+ p_prev = NULL;
+ p_search = (MEMP *)pool;
+ while (p_search != p_return) {
+ p_prev = p_search;
+ p_search = p_search->next;
+ if (p_search == NULL) {
+ /* Valid Memory block not found */
+ return (1);
+ }
+ }
+
+ if (p_prev == NULL) {
+ /* First block to be released, only set length to 0 */
+ p_search->len = 0;
+ } else {
+ /* Discard block from chain list */
+ p_prev->next = p_search->next;
+ }
+
+ return (0);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Memory.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_MEMORY.H
+ * Purpose: Interface functions for Dynamic Memory Management System
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+/* Types */
+typedef struct mem { /* << Memory Pool management struct >> */
+ struct mem *next; /* Next Memory Block in the list */
+ U32 len; /* Length of data block */
+} MEMP;
+
+/* Functions */
+extern int rt_init_mem (void *pool, U32 size);
+extern void *rt_alloc_mem (void *pool, U32 size);
+extern int rt_free_mem (void *pool, void *mem);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Mutex.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,204 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_MUTEX.C
+ * Purpose: Implements mutex synchronization objects
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_List.h"
+#include "rt_Task.h"
+#include "rt_Mutex.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_mut_init -----------------------------------*/
+
+void rt_mut_init (OS_ID mutex) {
+ /* Initialize a mutex object */
+ P_MUCB p_MCB = mutex;
+
+ p_MCB->cb_type = MUCB;
+ p_MCB->prio = 0;
+ p_MCB->level = 0;
+ p_MCB->p_lnk = NULL;
+ p_MCB->owner = NULL;
+}
+
+
+/*--------------------------- rt_mut_delete ---------------------------------*/
+
+#ifdef __CMSIS_RTOS
+OS_RESULT rt_mut_delete (OS_ID mutex) {
+ /* Delete a mutex object */
+ P_MUCB p_MCB = mutex;
+ P_TCB p_TCB;
+
+ __DMB();
+ /* Restore owner task's priority. */
+ if (p_MCB->level != 0) {
+ p_MCB->owner->prio = p_MCB->prio;
+ if (p_MCB->owner != os_tsk.run) {
+ rt_resort_prio (p_MCB->owner);
+ }
+ }
+
+ while (p_MCB->p_lnk != NULL) {
+ /* A task is waiting for mutex. */
+ p_TCB = rt_get_first ((P_XCB)p_MCB);
+ rt_ret_val(p_TCB, 0/*osOK*/);
+ rt_rmv_dly(p_TCB);
+ p_TCB->state = READY;
+ rt_put_prio (&os_rdy, p_TCB);
+ }
+
+ if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
+ /* preempt running task */
+ rt_put_prio (&os_rdy, os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_dispatch (NULL);
+ }
+
+ p_MCB->cb_type = 0;
+
+ return (OS_R_OK);
+}
+#endif
+
+
+/*--------------------------- rt_mut_release --------------------------------*/
+
+OS_RESULT rt_mut_release (OS_ID mutex) {
+ /* Release a mutex object */
+ P_MUCB p_MCB = mutex;
+ P_TCB p_TCB;
+
+ if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
+ /* Unbalanced mutex release or task is not the owner */
+ return (OS_R_NOK);
+ }
+ __DMB();
+ if (--p_MCB->level != 0) {
+ return (OS_R_OK);
+ }
+ /* Restore owner task's priority. */
+ os_tsk.run->prio = p_MCB->prio;
+ if (p_MCB->p_lnk != NULL) {
+ /* A task is waiting for mutex. */
+ p_TCB = rt_get_first ((P_XCB)p_MCB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val(p_TCB, 0/*osOK*/);
+#else
+ rt_ret_val(p_TCB, OS_R_MUT);
+#endif
+ rt_rmv_dly (p_TCB);
+ /* A waiting task becomes the owner of this mutex. */
+ p_MCB->level = 1;
+ p_MCB->owner = p_TCB;
+ p_MCB->prio = p_TCB->prio;
+ /* Priority inversion, check which task continues. */
+ if (os_tsk.run->prio >= rt_rdy_prio()) {
+ rt_dispatch (p_TCB);
+ }
+ else {
+ /* Ready task has higher priority than running task. */
+ rt_put_prio (&os_rdy, os_tsk.run);
+ rt_put_prio (&os_rdy, p_TCB);
+ os_tsk.run->state = READY;
+ p_TCB->state = READY;
+ rt_dispatch (NULL);
+ }
+ }
+ else {
+ /* Check if own priority raised by priority inversion. */
+ if (rt_rdy_prio() > os_tsk.run->prio) {
+ rt_put_prio (&os_rdy, os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_dispatch (NULL);
+ }
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_mut_wait -----------------------------------*/
+
+OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
+ /* Wait for a mutex, continue when mutex is free. */
+ P_MUCB p_MCB = mutex;
+
+ if (p_MCB->level == 0) {
+ p_MCB->owner = os_tsk.run;
+ p_MCB->prio = os_tsk.run->prio;
+ goto inc;
+ }
+ if (p_MCB->owner == os_tsk.run) {
+ /* OK, running task is the owner of this mutex. */
+inc:p_MCB->level++;
+ __DMB();
+ return (OS_R_OK);
+ }
+ /* Mutex owned by another task, wait until released. */
+ if (timeout == 0) {
+ return (OS_R_TMO);
+ }
+ /* Raise the owner task priority if lower than current priority. */
+ /* This priority inversion is called priority inheritance. */
+ if (p_MCB->prio < os_tsk.run->prio) {
+ p_MCB->owner->prio = os_tsk.run->prio;
+ rt_resort_prio (p_MCB->owner);
+ }
+ if (p_MCB->p_lnk != NULL) {
+ rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
+ }
+ else {
+ p_MCB->p_lnk = os_tsk.run;
+ os_tsk.run->p_lnk = NULL;
+ os_tsk.run->p_rlnk = (P_TCB)p_MCB;
+ }
+ rt_block(timeout, WAIT_MUT);
+ return (OS_R_TMO);
+}
+
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Mutex.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,44 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_MUTEX.H + * Purpose: Implements mutex synchronization objects + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Functions */ +extern void rt_mut_init (OS_ID mutex); +extern OS_RESULT rt_mut_delete (OS_ID mutex); +extern OS_RESULT rt_mut_release (OS_ID mutex); +extern OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Robin.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_ROBIN.C
+ * Purpose: Round Robin Task switching
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_List.h"
+#include "rt_Task.h"
+#include "rt_Time.h"
+#include "rt_Robin.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+struct OS_ROBIN os_robin;
+
+
+/*----------------------------------------------------------------------------
+ * Global Functions
+ *---------------------------------------------------------------------------*/
+
+/*--------------------------- rt_init_robin ---------------------------------*/
+
+__weak void rt_init_robin (void) {
+ /* Initialize Round Robin variables. */
+ os_robin.task = NULL;
+ os_robin.tout = (U16)os_rrobin;
+}
+
+/*--------------------------- rt_chk_robin ----------------------------------*/
+
+__weak void rt_chk_robin (void) {
+ /* Check if Round Robin timeout expired and switch to the next ready task.*/
+ P_TCB p_new;
+
+ if (os_robin.task != os_rdy.p_lnk) {
+ /* New task was suspended, reset Round Robin timeout. */
+ os_robin.task = os_rdy.p_lnk;
+ os_robin.time = (U16)os_time + os_robin.tout - 1;
+ }
+ if (os_robin.time == (U16)os_time) {
+ /* Round Robin timeout has expired, swap Robin tasks. */
+ os_robin.task = NULL;
+ p_new = rt_get_first (&os_rdy);
+ rt_put_prio ((P_XCB)&os_rdy, p_new);
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Robin.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,45 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_ROBIN.H + * Purpose: Round Robin Task switching definitions + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Variables */ +extern struct OS_ROBIN os_robin; + +/* Functions */ +extern void rt_init_robin (void); +extern void rt_chk_robin (void); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Semaphore.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,191 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_SEMAPHORE.C
+ * Purpose: Implements binary and counting semaphores
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_List.h"
+#include "rt_Task.h"
+#include "rt_Semaphore.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_sem_init -----------------------------------*/
+
+void rt_sem_init (OS_ID semaphore, U16 token_count) {
+ /* Initialize a semaphore */
+ P_SCB p_SCB = semaphore;
+
+ p_SCB->cb_type = SCB;
+ p_SCB->p_lnk = NULL;
+ p_SCB->tokens = token_count;
+}
+
+
+/*--------------------------- rt_sem_delete ---------------------------------*/
+
+#ifdef __CMSIS_RTOS
+OS_RESULT rt_sem_delete (OS_ID semaphore) {
+ /* Delete semaphore */
+ P_SCB p_SCB = semaphore;
+ P_TCB p_TCB;
+
+ __DMB();
+ while (p_SCB->p_lnk != NULL) {
+ /* A task is waiting for token */
+ p_TCB = rt_get_first ((P_XCB)p_SCB);
+ rt_ret_val(p_TCB, 0);
+ rt_rmv_dly(p_TCB);
+ p_TCB->state = READY;
+ rt_put_prio (&os_rdy, p_TCB);
+ }
+
+ if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
+ /* preempt running task */
+ rt_put_prio (&os_rdy, os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_dispatch (NULL);
+ }
+
+ p_SCB->cb_type = 0;
+
+ return (OS_R_OK);
+}
+#endif
+
+
+/*--------------------------- rt_sem_send -----------------------------------*/
+
+OS_RESULT rt_sem_send (OS_ID semaphore) {
+ /* Return a token to semaphore */
+ P_SCB p_SCB = semaphore;
+ P_TCB p_TCB;
+
+ __DMB();
+ if (p_SCB->p_lnk != NULL) {
+ /* A task is waiting for token */
+ p_TCB = rt_get_first ((P_XCB)p_SCB);
+#ifdef __CMSIS_RTOS
+ rt_ret_val(p_TCB, 1);
+#else
+ rt_ret_val(p_TCB, OS_R_SEM);
+#endif
+ rt_rmv_dly (p_TCB);
+ rt_dispatch (p_TCB);
+ }
+ else {
+ /* Store token. */
+ p_SCB->tokens++;
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_sem_wait -----------------------------------*/
+
+OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout) {
+ /* Obtain a token; possibly wait for it */
+ P_SCB p_SCB = semaphore;
+
+ if (p_SCB->tokens) {
+ p_SCB->tokens--;
+ __DMB();
+ return (OS_R_OK);
+ }
+ /* No token available: wait for one */
+ if (timeout == 0) {
+ return (OS_R_TMO);
+ }
+ if (p_SCB->p_lnk != NULL) {
+ rt_put_prio ((P_XCB)p_SCB, os_tsk.run);
+ }
+ else {
+ p_SCB->p_lnk = os_tsk.run;
+ os_tsk.run->p_lnk = NULL;
+ os_tsk.run->p_rlnk = (P_TCB)p_SCB;
+ }
+ rt_block(timeout, WAIT_SEM);
+ return (OS_R_TMO);
+}
+
+
+/*--------------------------- isr_sem_send ----------------------------------*/
+
+void isr_sem_send (OS_ID semaphore) {
+ /* Same function as "os_sem"send", but to be called by ISRs */
+ P_SCB p_SCB = semaphore;
+
+ rt_psq_enq (p_SCB, 0);
+ rt_psh_req ();
+}
+
+
+/*--------------------------- rt_sem_psh ------------------------------------*/
+
+void rt_sem_psh (P_SCB p_CB) {
+ /* Check if task has to be waken up */
+ P_TCB p_TCB;
+
+ __DMB();
+ if (p_CB->p_lnk != NULL) {
+ /* A task is waiting for token */
+ p_TCB = rt_get_first ((P_XCB)p_CB);
+ rt_rmv_dly (p_TCB);
+ p_TCB->state = READY;
+#ifdef __CMSIS_RTOS
+ rt_ret_val(p_TCB, 1);
+#else
+ rt_ret_val(p_TCB, OS_R_SEM);
+#endif
+ rt_put_prio (&os_rdy, p_TCB);
+ }
+ else {
+ /* Store token */
+ p_CB->tokens++;
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Semaphore.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,46 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_SEMAPHORE.H + * Purpose: Implements binary and counting semaphores + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Functions */ +extern void rt_sem_init (OS_ID semaphore, U16 token_count); +extern OS_RESULT rt_sem_delete(OS_ID semaphore); +extern OS_RESULT rt_sem_send (OS_ID semaphore); +extern OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout); +extern void isr_sem_send (OS_ID semaphore); +extern void rt_sem_psh (P_SCB p_CB); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_System.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,304 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_SYSTEM.C
+ * Purpose: System Task Manager
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_Task.h"
+#include "rt_System.h"
+#include "rt_Event.h"
+#include "rt_List.h"
+#include "rt_Mailbox.h"
+#include "rt_Semaphore.h"
+#include "rt_Time.h"
+#include "rt_Timer.h"
+#include "rt_Robin.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+int os_tick_irqn;
+
+/*----------------------------------------------------------------------------
+ * Local Variables
+ *---------------------------------------------------------------------------*/
+
+static volatile BIT os_lock;
+static volatile BIT os_psh_flag;
+#ifndef __CORTEX_A9
+static U8 pend_flags;
+#endif
+/*----------------------------------------------------------------------------
+ * Global Functions
+ *---------------------------------------------------------------------------*/
+
+#if defined (__CC_ARM)
+__asm void $$RTX$$version (void) {
+ /* Export a version number symbol for a version control. */
+
+ EXPORT __RL_RTX_VER
+
+__RL_RTX_VER EQU 0x450
+}
+#endif
+
+
+/*--------------------------- rt_suspend ------------------------------------*/
+
+U32 rt_suspend (void) {
+ /* Suspend OS scheduler */
+ U32 delta = 0xFFFF;
+
+ rt_tsk_lock();
+
+ if (os_dly.p_dlnk) {
+ delta = os_dly.delta_time;
+ }
+#ifndef __CMSIS_RTOS
+ if (os_tmr.next) {
+ if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
+ }
+#endif
+
+ return (delta);
+}
+
+
+/*--------------------------- rt_resume -------------------------------------*/
+
+void rt_resume (U32 sleep_time) {
+ /* Resume OS scheduler after suspend */
+ P_TCB next;
+ U32 delta;
+
+ os_tsk.run->state = READY;
+ rt_put_rdy_first (os_tsk.run);
+
+ os_robin.task = NULL;
+
+ /* Update delays. */
+ if (os_dly.p_dlnk) {
+ delta = sleep_time;
+ if (delta >= os_dly.delta_time) {
+ delta -= os_dly.delta_time;
+ os_time += os_dly.delta_time;
+ os_dly.delta_time = 1;
+ while (os_dly.p_dlnk) {
+ rt_dec_dly();
+ if (delta == 0) break;
+ delta--;
+ os_time++;
+ }
+ } else {
+ os_time += delta;
+ os_dly.delta_time -= delta;
+ }
+ } else {
+ os_time += sleep_time;
+ }
+
+#ifndef __CMSIS_RTOS
+ /* Check the user timers. */
+ if (os_tmr.next) {
+ delta = sleep_time;
+ if (delta >= os_tmr.tcnt) {
+ delta -= os_tmr.tcnt;
+ os_tmr.tcnt = 1;
+ while (os_tmr.next) {
+ rt_tmr_tick();
+ if (delta == 0) break;
+ delta--;
+ }
+ } else {
+ os_tmr.tcnt -= delta;
+ }
+ }
+#endif
+
+ /* Switch back to highest ready task */
+ next = rt_get_first (&os_rdy);
+ rt_switch_req (next);
+
+ rt_tsk_unlock();
+}
+
+
+/*--------------------------- rt_tsk_lock -----------------------------------*/
+
+void rt_tsk_lock (void) {
+ /* Prevent task switching by locking out scheduler */
+ if (os_tick_irqn < 0) {
+ OS_LOCK();
+ os_lock = __TRUE;
+ OS_UNPEND (&pend_flags);
+ } else {
+ OS_X_LOCK(os_tick_irqn);
+ os_lock = __TRUE;
+ OS_X_UNPEND (&pend_flags);
+ }
+}
+
+
+/*--------------------------- rt_tsk_unlock ---------------------------------*/
+
+void rt_tsk_unlock (void) {
+ /* Unlock scheduler and re-enable task switching */
+ if (os_tick_irqn < 0) {
+ OS_UNLOCK();
+ os_lock = __FALSE;
+ OS_PEND (pend_flags, os_psh_flag);
+ os_psh_flag = __FALSE;
+ } else {
+ OS_X_UNLOCK(os_tick_irqn);
+ os_lock = __FALSE;
+ OS_X_PEND (pend_flags, os_psh_flag);
+ os_psh_flag = __FALSE;
+ }
+}
+
+
+/*--------------------------- rt_psh_req ------------------------------------*/
+
+void rt_psh_req (void) {
+ /* Initiate a post service handling request if required. */
+ if (os_lock == __FALSE) {
+ OS_PEND_IRQ ();
+ }
+ else {
+ os_psh_flag = __TRUE;
+ }
+}
+
+
+/*--------------------------- rt_pop_req ------------------------------------*/
+
+void rt_pop_req (void) {
+ /* Process an ISR post service requests. */
+ struct OS_XCB *p_CB;
+ P_TCB next;
+ U32 idx;
+
+ os_tsk.run->state = READY;
+ rt_put_rdy_first (os_tsk.run);
+
+ idx = os_psq->last;
+ while (os_psq->count) {
+ p_CB = os_psq->q[idx].id;
+ if (p_CB->cb_type == TCB) {
+ /* Is of TCB type */
+ rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
+ }
+ else if (p_CB->cb_type == MCB) {
+ /* Is of MCB type */
+ rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
+ }
+ else {
+ /* Must be of SCB type */
+ rt_sem_psh ((P_SCB)p_CB);
+ }
+ if (++idx == os_psq->size) idx = 0;
+ rt_dec (&os_psq->count);
+ }
+ os_psq->last = idx;
+
+ next = rt_get_first (&os_rdy);
+ rt_switch_req (next);
+}
+
+
+/*--------------------------- os_tick_init ----------------------------------*/
+
+__weak int os_tick_init (void) {
+ /* Initialize SysTick timer as system tick timer. */
+ rt_systick_init ();
+ return (-1); /* Return IRQ number of SysTick timer */
+}
+
+
+/*--------------------------- os_tick_irqack --------------------------------*/
+
+__weak void os_tick_irqack (void) {
+ /* Acknowledge timer interrupt. */
+}
+
+
+/*--------------------------- rt_systick ------------------------------------*/
+
+extern void sysTimerTick(void);
+
+void rt_systick (void) {
+ /* Check for system clock update, suspend running task. */
+ P_TCB next;
+
+ os_tsk.run->state = READY;
+ rt_put_rdy_first (os_tsk.run);
+
+ /* Check Round Robin timeout. */
+ rt_chk_robin ();
+
+ /* Update delays. */
+ os_time++;
+ rt_dec_dly ();
+
+ /* Check the user timers. */
+#ifdef __CMSIS_RTOS
+ sysTimerTick();
+#else
+ rt_tmr_tick ();
+#endif
+
+ /* Switch back to highest ready task */
+ next = rt_get_first (&os_rdy);
+ rt_switch_req (next);
+}
+
+/*--------------------------- rt_stk_check ----------------------------------*/
+
+__weak void rt_stk_check (void) {
+ /* Check for stack overflow. */
+ if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
+ (os_tsk.run->stack[0] != MAGIC_WORD)) {
+ os_error (OS_ERR_STK_OVF);
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_System.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,52 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_SYSTEM.H + * Purpose: System Task Manager definitions + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Variables */ +#define os_psq ((P_PSQ)&os_fifo) +extern int os_tick_irqn; + +/* Functions */ +extern U32 rt_suspend (void); +extern void rt_resume (U32 sleep_time); +extern void rt_tsk_lock (void); +extern void rt_tsk_unlock (void); +extern void rt_psh_req (void); +extern void rt_pop_req (void); +extern void rt_systick (void); +extern void rt_stk_check (void); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Task.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,372 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_TASK.C
+ * Purpose: Task functions and system start up.
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_System.h"
+#include "rt_Task.h"
+#include "rt_List.h"
+#include "rt_MemBox.h"
+#include "rt_Robin.h"
+#ifdef __CORTEX_A9
+#include "rt_HAL_CA.h"
+#else
+#include "rt_HAL_CM.h"
+#endif
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+/* Running and next task info. */
+struct OS_TSK os_tsk;
+
+/* Task Control Blocks of idle demon */
+struct OS_TCB os_idle_TCB;
+
+
+/*----------------------------------------------------------------------------
+ * Local Functions
+ *---------------------------------------------------------------------------*/
+
+static OS_TID rt_get_TID (void) {
+ U32 tid;
+
+ for (tid = 1; tid <= os_maxtaskrun; tid++) {
+ if (os_active_TCB[tid-1] == NULL) {
+ return ((OS_TID)tid);
+ }
+ }
+ return (0);
+}
+
+
+/*--------------------------- rt_init_context -------------------------------*/
+
+static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
+ /* Initialize general part of the Task Control Block. */
+ p_TCB->cb_type = TCB;
+ p_TCB->state = READY;
+ p_TCB->prio = priority;
+ p_TCB->p_lnk = NULL;
+ p_TCB->p_rlnk = NULL;
+ p_TCB->p_dlnk = NULL;
+ p_TCB->p_blnk = NULL;
+ p_TCB->delta_time = 0;
+ p_TCB->interval_time = 0;
+ p_TCB->events = 0;
+ p_TCB->waits = 0;
+ p_TCB->stack_frame = 0;
+
+ if (p_TCB->priv_stack == 0) {
+ /* Allocate the memory space for the stack. */
+ p_TCB->stack = rt_alloc_box (mp_stk);
+ }
+ rt_init_stack (p_TCB, task_body);
+}
+
+
+/*--------------------------- rt_switch_req ---------------------------------*/
+
+void rt_switch_req (P_TCB p_new) {
+ /* Switch to next task (identified by "p_new"). */
+ os_tsk.new = p_new;
+ p_new->state = RUNNING;
+ DBG_TASK_SWITCH(p_new->task_id);
+}
+
+
+/*--------------------------- rt_dispatch -----------------------------------*/
+
+void rt_dispatch (P_TCB next_TCB) {
+ /* Dispatch next task if any identified or dispatch highest ready task */
+ /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
+ if (next_TCB == NULL) {
+ /* Running task was blocked: continue with highest ready task */
+ next_TCB = rt_get_first (&os_rdy);
+ rt_switch_req (next_TCB);
+ }
+ else {
+ /* Check which task continues */
+ if (next_TCB->prio > os_tsk.run->prio) {
+ /* preempt running task */
+ rt_put_rdy_first (os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_switch_req (next_TCB);
+ }
+ else {
+ /* put next task into ready list, no task switch takes place */
+ next_TCB->state = READY;
+ rt_put_prio (&os_rdy, next_TCB);
+ }
+ }
+}
+
+
+/*--------------------------- rt_block --------------------------------------*/
+
+void rt_block (U16 timeout, U8 block_state) {
+ /* Block running task and choose next ready task. */
+ /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
+ /* "block_state" defines the appropriate task state */
+ P_TCB next_TCB;
+
+ if (timeout) {
+ if (timeout < 0xffff) {
+ rt_put_dly (os_tsk.run, timeout);
+ }
+ os_tsk.run->state = block_state;
+ next_TCB = rt_get_first (&os_rdy);
+ rt_switch_req (next_TCB);
+ }
+}
+
+
+/*--------------------------- rt_tsk_pass -----------------------------------*/
+
+void rt_tsk_pass (void) {
+ /* Allow tasks of same priority level to run cooperatively.*/
+ P_TCB p_new;
+
+ p_new = rt_get_same_rdy_prio();
+ if (p_new != NULL) {
+ rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_switch_req (p_new);
+ }
+}
+
+
+/*--------------------------- rt_tsk_self -----------------------------------*/
+
+OS_TID rt_tsk_self (void) {
+ /* Return own task identifier value. */
+ if (os_tsk.run == NULL) {
+ return (0);
+ }
+ return (os_tsk.run->task_id);
+}
+
+
+/*--------------------------- rt_tsk_prio -----------------------------------*/
+
+OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
+ /* Change execution priority of a task to "new_prio". */
+ P_TCB p_task;
+
+ if (task_id == 0) {
+ /* Change execution priority of calling task. */
+ os_tsk.run->prio = new_prio;
+run:if (rt_rdy_prio() > new_prio) {
+ rt_put_prio (&os_rdy, os_tsk.run);
+ os_tsk.run->state = READY;
+ rt_dispatch (NULL);
+ }
+ return (OS_R_OK);
+ }
+
+ /* Find the task in the "os_active_TCB" array. */
+ if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
+ /* Task with "task_id" not found or not started. */
+ return (OS_R_NOK);
+ }
+ p_task = os_active_TCB[task_id-1];
+ p_task->prio = new_prio;
+ if (p_task == os_tsk.run) {
+ goto run;
+ }
+ rt_resort_prio (p_task);
+ if (p_task->state == READY) {
+ /* Task enqueued in a ready list. */
+ p_task = rt_get_first (&os_rdy);
+ rt_dispatch (p_task);
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_tsk_create ---------------------------------*/
+
+OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
+ /* Start a new task declared with "task". */
+ P_TCB task_context;
+ U32 i;
+
+ /* Priority 0 is reserved for idle task! */
+ if ((prio_stksz & 0xFF) == 0) {
+ prio_stksz += 1;
+ }
+ task_context = rt_alloc_box (mp_tcb);
+ if (task_context == NULL) {
+ return (0);
+ }
+ /* If "size != 0" use a private user provided stack. */
+ task_context->stack = stk;
+ task_context->priv_stack = prio_stksz >> 8;
+ /* Pass parameter 'argv' to 'rt_init_context' */
+ task_context->msg = argv;
+ /* For 'size == 0' system allocates the user stack from the memory pool. */
+ rt_init_context (task_context, prio_stksz & 0xFF, task);
+
+ /* Find a free entry in 'os_active_TCB' table. */
+ i = rt_get_TID ();
+ os_active_TCB[i-1] = task_context;
+ task_context->task_id = i;
+ DBG_TASK_NOTIFY(task_context, __TRUE);
+ rt_dispatch (task_context);
+ return ((OS_TID)i);
+}
+
+
+/*--------------------------- rt_tsk_delete ---------------------------------*/
+
+OS_RESULT rt_tsk_delete (OS_TID task_id) {
+ /* Terminate the task identified with "task_id". */
+ P_TCB task_context;
+
+ if (task_id == 0 || task_id == os_tsk.run->task_id) {
+ /* Terminate itself. */
+ os_tsk.run->state = INACTIVE;
+ os_tsk.run->tsk_stack = rt_get_PSP ();
+ rt_stk_check ();
+ os_active_TCB[os_tsk.run->task_id-1] = NULL;
+ rt_free_box (mp_stk, os_tsk.run->stack);
+ os_tsk.run->stack = NULL;
+ DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
+ rt_free_box (mp_tcb, os_tsk.run);
+ os_tsk.run = NULL;
+ rt_dispatch (NULL);
+ /* The program should never come to this point. */
+ }
+ else {
+ /* Find the task in the "os_active_TCB" array. */
+ if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
+ /* Task with "task_id" not found or not started. */
+ return (OS_R_NOK);
+ }
+ task_context = os_active_TCB[task_id-1];
+ rt_rmv_list (task_context);
+ rt_rmv_dly (task_context);
+ os_active_TCB[task_id-1] = NULL;
+ rt_free_box (mp_stk, task_context->stack);
+ task_context->stack = NULL;
+ DBG_TASK_NOTIFY(task_context, __FALSE);
+ rt_free_box (mp_tcb, task_context);
+ }
+ return (OS_R_OK);
+}
+
+
+/*--------------------------- rt_sys_init -----------------------------------*/
+
+#ifdef __CMSIS_RTOS
+void rt_sys_init (void) {
+#else
+void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
+#endif
+ /* Initialize system and start up task declared with "first_task". */
+ U32 i;
+
+ DBG_INIT();
+
+ /* Initialize dynamic memory and task TCB pointers to NULL. */
+ for (i = 0; i < os_maxtaskrun; i++) {
+ os_active_TCB[i] = NULL;
+ }
+ rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
+ rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
+ rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
+
+ /* Set up TCB of idle demon */
+ os_idle_TCB.task_id = 255;
+ os_idle_TCB.priv_stack = 0;
+ rt_init_context (&os_idle_TCB, 0, os_idle_demon);
+
+ /* Set up ready list: initially empty */
+ os_rdy.cb_type = HCB;
+ os_rdy.p_lnk = NULL;
+ /* Set up delay list: initially empty */
+ os_dly.cb_type = HCB;
+ os_dly.p_dlnk = NULL;
+ os_dly.p_blnk = NULL;
+ os_dly.delta_time = 0;
+
+ /* Fix SP and system variables to assume idle task is running */
+ /* Transform main program into idle task by assuming idle TCB */
+#ifndef __CMSIS_RTOS
+ rt_set_PSP (os_idle_TCB.tsk_stack+32);
+#endif
+ os_tsk.run = &os_idle_TCB;
+ os_tsk.run->state = RUNNING;
+
+ /* Initialize ps queue */
+ os_psq->first = 0;
+ os_psq->last = 0;
+ os_psq->size = os_fifo_size;
+
+ rt_init_robin ();
+
+ /* Initialize SVC and PendSV */
+ rt_svc_init ();
+
+#ifndef __CMSIS_RTOS
+ /* Initialize and start system clock timer */
+ os_tick_irqn = os_tick_init ();
+ if (os_tick_irqn >= 0) {
+ OS_X_INIT(os_tick_irqn);
+ }
+
+ /* Start up first user task before entering the endless loop */
+ rt_tsk_create (first_task, prio_stksz, stk, NULL);
+#endif
+}
+
+
+/*--------------------------- rt_sys_start ----------------------------------*/
+
+#ifdef __CMSIS_RTOS
+void rt_sys_start (void) {
+ /* Start system */
+
+ /* Initialize and start system clock timer */
+ os_tick_irqn = os_tick_init ();
+ if (os_tick_irqn >= 0) {
+ OS_X_INIT(os_tick_irqn);
+ }
+}
+#endif
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Task.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,87 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_TASK.H + * Purpose: Task functions and system start up. + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Definitions */ + +/* Values for 'state' */ +#define INACTIVE 0 +#define READY 1 +#define RUNNING 2 +#define WAIT_DLY 3 +#define WAIT_ITV 4 +#define WAIT_OR 5 +#define WAIT_AND 6 +#define WAIT_SEM 7 +#define WAIT_MBX 8 +#define WAIT_MUT 9 + +/* Return codes */ +#define OS_R_TMO 0x01 +#define OS_R_EVT 0x02 +#define OS_R_SEM 0x03 +#define OS_R_MBX 0x04 +#define OS_R_MUT 0x05 + +#define OS_R_OK 0x00 +#define OS_R_NOK 0xff + +/* Variables */ +extern struct OS_TSK os_tsk; +extern struct OS_TCB os_idle_TCB; + +/* Functions */ +extern void rt_switch_req (P_TCB p_new); +extern void rt_dispatch (P_TCB next_TCB); +extern void rt_block (U16 timeout, U8 block_state); +extern void rt_tsk_pass (void); +extern OS_TID rt_tsk_self (void); +extern OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio); +extern OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv); +extern OS_RESULT rt_tsk_delete (OS_TID task_id); +#ifdef __CMSIS_RTOS +extern void rt_sys_init (void); +extern void rt_sys_start (void); +#else +extern void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk); +#endif + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ + + + + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Time.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_TIME.C
+ * Purpose: Delay and interval wait functions
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_Task.h"
+#include "rt_Time.h"
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+/* Free running system tick counter */
+U32 os_time;
+
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+
+/*--------------------------- rt_time_get -----------------------------------*/
+
+U32 rt_time_get (void) {
+ /* Get system time tick */
+ return (os_time);
+}
+
+
+/*--------------------------- rt_dly_wait -----------------------------------*/
+
+void rt_dly_wait (U16 delay_time) {
+ /* Delay task by "delay_time" */
+ rt_block (delay_time, WAIT_DLY);
+}
+
+
+/*--------------------------- rt_itv_set ------------------------------------*/
+
+void rt_itv_set (U16 interval_time) {
+ /* Set interval length and define start of first interval */
+ os_tsk.run->interval_time = interval_time;
+ os_tsk.run->delta_time = interval_time + (U16)os_time;
+}
+
+
+/*--------------------------- rt_itv_wait -----------------------------------*/
+
+void rt_itv_wait (void) {
+ /* Wait for interval end and define start of next one */
+ U16 delta;
+
+ delta = os_tsk.run->delta_time - (U16)os_time;
+ os_tsk.run->delta_time += os_tsk.run->interval_time;
+ if ((delta & 0x8000) == 0) {
+ rt_block (delta, WAIT_ITV);
+ }
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Time.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,47 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_TIME.H + * Purpose: Delay and interval wait functions definitions + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Variables */ +extern U32 os_time; + +/* Functions */ +extern U32 rt_time_get (void); +extern void rt_dly_wait (U16 delay_time); +extern void rt_itv_set (U16 interval_time); +extern void rt_itv_wait (void); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_Timer.c Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,129 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_TIMER.C
+ * Purpose: User timer functions
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+#include "rt_TypeDef.h"
+#include "RTX_Config.h"
+#include "rt_Timer.h"
+#include "rt_MemBox.h"
+
+
+/*----------------------------------------------------------------------------
+ * Global Variables
+ *---------------------------------------------------------------------------*/
+
+/* User Timer list pointer */
+struct OS_XTMR os_tmr;
+
+/*----------------------------------------------------------------------------
+ * Functions
+ *---------------------------------------------------------------------------*/
+
+/*--------------------------- rt_tmr_tick -----------------------------------*/
+
+void rt_tmr_tick (void) {
+ /* Decrement delta count of timer list head. Timers having the value of */
+ /* zero are removed from the list and the callback function is called. */
+ P_TMR p;
+
+ if (os_tmr.next == NULL) {
+ return;
+ }
+ os_tmr.tcnt--;
+ while (os_tmr.tcnt == 0 && (p = os_tmr.next) != NULL) {
+ /* Call a user provided function to handle an elapsed timer */
+ os_tmr_call (p->info);
+ os_tmr.tcnt = p->tcnt;
+ os_tmr.next = p->next;
+ rt_free_box ((U32 *)m_tmr, p);
+ }
+}
+
+/*--------------------------- rt_tmr_create ---------------------------------*/
+
+OS_ID rt_tmr_create (U16 tcnt, U16 info) {
+ /* Create an user timer and put it into the chained timer list using */
+ /* a timeout count value of "tcnt". User parameter "info" is used as a */
+ /* parameter for the user provided callback function "os_tmr_call ()". */
+ P_TMR p_tmr, p;
+ U32 delta,itcnt = tcnt;
+
+ if (tcnt == 0 || m_tmr == NULL) {
+ return (NULL);
+ }
+ p_tmr = rt_alloc_box ((U32 *)m_tmr);
+ if (!p_tmr) {
+ return (NULL);
+ }
+ p_tmr->info = info;
+ p = (P_TMR)&os_tmr;
+ delta = p->tcnt;
+ while (delta < itcnt && p->next != NULL) {
+ p = p->next;
+ delta += p->tcnt;
+ }
+ /* Right place found, insert timer into the list */
+ p_tmr->next = p->next;
+ p_tmr->tcnt = (U16)(delta - itcnt);
+ p->next = p_tmr;
+ p->tcnt -= p_tmr->tcnt;
+ return (p_tmr);
+}
+
+/*--------------------------- rt_tmr_kill -----------------------------------*/
+
+OS_ID rt_tmr_kill (OS_ID timer) {
+ /* Remove user timer from the chained timer list. */
+ P_TMR p, p_tmr;
+
+ p_tmr = (P_TMR)timer;
+ p = (P_TMR)&os_tmr;
+ /* Search timer list for requested timer */
+ while (p->next != p_tmr) {
+ if (p->next == NULL) {
+ /* Failed, "timer" is not in the timer list */
+ return (p_tmr);
+ }
+ p = p->next;
+ }
+ /* Timer was found, remove it from the list */
+ p->next = p_tmr->next;
+ p->tcnt += p_tmr->tcnt;
+ rt_free_box ((U32 *)m_tmr, p_tmr);
+ /* Timer killed */
+ return (NULL);
+}
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rtx_ca/rt_Timer.h Thu Nov 06 11:00:33 2014 +0000 @@ -0,0 +1,46 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_TIMER.H + * Purpose: User timer functions + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +/* Variables */ +extern struct OS_XTMR os_tmr; + +/* Functions */ +extern void rt_tmr_tick (void); +extern OS_ID rt_tmr_create (U16 tcnt, U16 info); +extern OS_ID rt_tmr_kill (OS_ID timer); + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/rtx_ca/rt_TypeDef.h Thu Nov 06 11:00:33 2014 +0000
@@ -0,0 +1,167 @@
+/*----------------------------------------------------------------------------
+ * RL-ARM - RTX
+ *----------------------------------------------------------------------------
+ * Name: RT_TYPEDEF.H
+ * Purpose: Type Definitions
+ * Rev.: V4.60
+ *----------------------------------------------------------------------------
+ *
+ * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * - Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * - Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * - Neither the name of ARM nor the names of its contributors may be used
+ * to endorse or promote products derived from this software without
+ * specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *---------------------------------------------------------------------------*/
+
+/* Types */
+typedef char S8;
+typedef unsigned char U8;
+typedef short S16;
+typedef unsigned short U16;
+typedef int S32;
+typedef unsigned int U32;
+typedef long long S64;
+typedef unsigned long long U64;
+typedef unsigned char BIT;
+typedef unsigned int BOOL;
+typedef void (*FUNCP)(void);
+
+typedef U32 OS_TID;
+typedef void *OS_ID;
+typedef U32 OS_RESULT;
+
+typedef struct OS_TCB {
+ /* General part: identical for all implementations. */
+ U8 cb_type; /* Control Block Type */
+ U8 state; /* Task state */
+ U8 prio; /* Execution priority */
+ U8 task_id; /* Task ID value for optimized TCB access */
+ struct OS_TCB *p_lnk; /* Link pointer for ready/sem. wait list */
+ struct OS_TCB *p_rlnk; /* Link pointer for sem./mbx lst backwards */
+ struct OS_TCB *p_dlnk; /* Link pointer for delay list */
+ struct OS_TCB *p_blnk; /* Link pointer for delay list backwards */
+ U16 delta_time; /* Time until time out */
+ U16 interval_time; /* Time interval for periodic waits */
+ U16 events; /* Event flags */
+ U16 waits; /* Wait flags */
+ void **msg; /* Direct message passing when task waits */
+
+ /* Hardware dependant part: specific for Cortex processor */
+ U8 stack_frame; /* Stack frame: 0x1 Basic/Extended, 0x2 FP stacked/not stacked */
+ U8 reserved;
+ U16 priv_stack; /* Private stack size, 0= system assigned */
+ U32 tsk_stack; /* Current task Stack pointer (R13) */
+ U32 *stack; /* Pointer to Task Stack memory block */
+
+ /* Task entry point used for uVision debugger */
+ FUNCP ptask; /* Task entry address */
+} *P_TCB;
+#define TCB_TID 3 /* 'task id' offset */
+#define TCB_STACKF 32 /* 'stack_frame' offset */
+#define TCB_TSTACK 36 /* 'tsk_stack' offset */
+
+typedef struct OS_PSFE { /* Post Service Fifo Entry */
+ void *id; /* Object Identification */
+ U32 arg; /* Object Argument */
+} *P_PSFE;
+
+typedef struct OS_PSQ { /* Post Service Queue */
+ U8 first; /* FIFO Head Index */
+ U8 last; /* FIFO Tail Index */
+ U8 count; /* Number of stored items in FIFO */
+ U8 size; /* FIFO Size */
+ struct OS_PSFE q[1]; /* FIFO Content */
+} *P_PSQ;
+
+typedef struct OS_TSK {
+ P_TCB run; /* Current running task */
+ P_TCB new; /* Scheduled task to run */
+} *P_TSK;
+
+typedef struct OS_ROBIN { /* Round Robin Control */
+ P_TCB task; /* Round Robin task */
+ U16 time; /* Round Robin switch time */
+ U16 tout; /* Round Robin timeout */
+} *P_ROBIN;
+
+typedef struct OS_XCB {
+ U8 cb_type; /* Control Block Type */
+ struct OS_TCB *p_lnk; /* Link pointer for ready/sem. wait list */
+ struct OS_TCB *p_rlnk; /* Link pointer for sem./mbx lst backwards */
+ struct OS_TCB *p_dlnk; /* Link pointer for delay list */
+ struct OS_TCB *p_blnk; /* Link pointer for delay list backwards */
+ U16 delta_time; /* Time until time out */
+} *P_XCB;
+
+typedef struct OS_MCB {
+ U8 cb_type; /* Control Block Type */
+ U8 state; /* State flag variable */
+ U8 isr_st; /* State flag variable for isr functions */
+ struct OS_TCB *p_lnk; /* Chain of tasks waiting for message */
+ U16 first; /* Index of the message list begin */
+ U16 last; /* Index of the message list end */
+ U16 count; /* Actual number of stored messages */
+ U16 size; /* Maximum number of stored messages */
+ void *msg[1]; /* FIFO for Message pointers 1st element */
+} *P_MCB;
+
+typedef struct OS_SCB {
+ U8 cb_type; /* Control Block Type */
+ U8 mask; /* Semaphore token mask */
+ U16 tokens; /* Semaphore tokens */
+ struct OS_TCB *p_lnk; /* Chain of tasks waiting for tokens */
+} *P_SCB;
+
+typedef struct OS_MUCB {
+ U8 cb_type; /* Control Block Type */
+ U8 prio; /* Owner task default priority */
+ U16 level; /* Call nesting level */
+ struct OS_TCB *p_lnk; /* Chain of tasks waiting for mutex */
+ struct OS_TCB *owner; /* Mutex owner task */
+} *P_MUCB;
+
+typedef struct OS_XTMR {
+ struct OS_TMR *next;
+ U16 tcnt;
+} *P_XTMR;
+
+typedef struct OS_TMR {
+ struct OS_TMR *next; /* Link pointer to Next timer */
+ U16 tcnt; /* Timer delay count */
+ U16 info; /* User defined call info */
+} *P_TMR;
+
+typedef struct OS_BM {
+ void *free; /* Pointer to first free memory block */
+ void *end; /* Pointer to memory block end */
+ U32 blk_size; /* Memory block size */
+} *P_BM;
+
+/* Definitions */
+#define __TRUE 1
+#define __FALSE 0
+#define NULL ((void *) 0)
+
+/*----------------------------------------------------------------------------
+ * end of file
+ *---------------------------------------------------------------------------*/
+
