RTOS - Versie 0.2 Het versturen via de NRF werkt nog ni…

Project5_Software » Code » RTOS

Versie 0.2 Het versturen via de NRF werkt nog niet helemaal omdat er per 4 bytes verstuurd moet worden. Wordt gefixt d.m.v. dynamic stuff!

Dependencies: BufferedSerial

Dependents: rtos_basic rtos_basic

Fork of mbed-rtos by mbed official

rtx/TARGET_CORTEX_M/rt_CMSIS.c@53:c35dab33c427, 2014-11-26 (annotated)

Committer:: mbed_official
Date:: Wed Nov 26 08:00:25 2014 +0000
Revision:: 53:c35dab33c427
Parent:: 49:77c8e4604045
Child:: 59:28712e303960

Synchronized with git revision c3208fe6f480055643b5911ca19a9028da3054a9

Full URL: https://github.com/mbedmicro/mbed/commit/c3208fe6f480055643b5911ca19a9028da3054a9/

RTOS: IAR Export for CORTEX M3

Who changed what in which revision?

User	Revision	Line number	New contents of line
mbed_official	49:77c8e4604045	1	/*----------------------------------------------------------------------------
mbed_official	49:77c8e4604045	2	* RL-ARM - RTX
mbed_official	49:77c8e4604045	3	*----------------------------------------------------------------------------
mbed_official	49:77c8e4604045	4	* Name: rt_CMSIS.c
mbed_official	49:77c8e4604045	5	* Purpose: CMSIS RTOS API
mbed_official	49:77c8e4604045	6	* Rev.: V4.60
mbed_official	49:77c8e4604045	7	*----------------------------------------------------------------------------
mbed_official	49:77c8e4604045	8	*
mbed_official	49:77c8e4604045	9	* Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mbed_official	49:77c8e4604045	10	* All rights reserved.
mbed_official	49:77c8e4604045	11	* Redistribution and use in source and binary forms, with or without
mbed_official	49:77c8e4604045	12	* modification, are permitted provided that the following conditions are met:
mbed_official	49:77c8e4604045	13	* - Redistributions of source code must retain the above copyright
mbed_official	49:77c8e4604045	14	* notice, this list of conditions and the following disclaimer.
mbed_official	49:77c8e4604045	15	* - Redistributions in binary form must reproduce the above copyright
mbed_official	49:77c8e4604045	16	* notice, this list of conditions and the following disclaimer in the
mbed_official	49:77c8e4604045	17	* documentation and/or other materials provided with the distribution.
mbed_official	49:77c8e4604045	18	* - Neither the name of ARM nor the names of its contributors may be used
mbed_official	49:77c8e4604045	19	* to endorse or promote products derived from this software without
mbed_official	49:77c8e4604045	20	* specific prior written permission.
mbed_official	49:77c8e4604045	21	*
mbed_official	49:77c8e4604045	22	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official	49:77c8e4604045	23	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official	49:77c8e4604045	24	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official	49:77c8e4604045	25	* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official	49:77c8e4604045	26	* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official	49:77c8e4604045	27	* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official	49:77c8e4604045	28	* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official	49:77c8e4604045	29	* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official	49:77c8e4604045	30	* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official	49:77c8e4604045	31	* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official	49:77c8e4604045	32	* POSSIBILITY OF SUCH DAMAGE.
mbed_official	49:77c8e4604045	33	---------------------------------------------------------------------------/
mbed_official	49:77c8e4604045	34
mbed_official	49:77c8e4604045	35	#define __CMSIS_GENERIC
mbed_official	49:77c8e4604045	36
mbed_official	49:77c8e4604045	37	#if defined (__CORTEX_M4) \|\| defined (__CORTEX_M4F)
mbed_official	49:77c8e4604045	38	#include "core_cm4.h"
mbed_official	49:77c8e4604045	39	#elif defined (__CORTEX_M3)
mbed_official	49:77c8e4604045	40	#include "core_cm3.h"
mbed_official	49:77c8e4604045	41	#elif defined (__CORTEX_M0)
mbed_official	49:77c8e4604045	42	#include "core_cm0.h"
mbed_official	49:77c8e4604045	43	#elif defined (__CORTEX_M0PLUS)
mbed_official	49:77c8e4604045	44	#include "core_cm0plus.h"
mbed_official	49:77c8e4604045	45	#else
mbed_official	49:77c8e4604045	46	#error "Missing __CORTEX_Mx definition"
mbed_official	49:77c8e4604045	47	#endif
mbed_official	49:77c8e4604045	48
mbed_official	49:77c8e4604045	49	#include "rt_TypeDef.h"
mbed_official	49:77c8e4604045	50	#include "RTX_Conf.h"
mbed_official	49:77c8e4604045	51	#include "rt_System.h"
mbed_official	49:77c8e4604045	52	#include "rt_Task.h"
mbed_official	49:77c8e4604045	53	#include "rt_Event.h"
mbed_official	49:77c8e4604045	54	#include "rt_List.h"
mbed_official	49:77c8e4604045	55	#include "rt_Time.h"
mbed_official	49:77c8e4604045	56	#include "rt_Mutex.h"
mbed_official	49:77c8e4604045	57	#include "rt_Semaphore.h"
mbed_official	49:77c8e4604045	58	#include "rt_Mailbox.h"
mbed_official	49:77c8e4604045	59	#include "rt_MemBox.h"
mbed_official	49:77c8e4604045	60	#include "rt_HAL_CM.h"
mbed_official	49:77c8e4604045	61
mbed_official	49:77c8e4604045	62	#define os_thread_cb OS_TCB
mbed_official	49:77c8e4604045	63
mbed_official	49:77c8e4604045	64	#include "cmsis_os.h"
mbed_official	49:77c8e4604045	65
mbed_official	49:77c8e4604045	66	#if (osFeature_Signals != 16)
mbed_official	49:77c8e4604045	67	#error Invalid "osFeature_Signals" value!
mbed_official	49:77c8e4604045	68	#endif
mbed_official	49:77c8e4604045	69	#if (osFeature_Semaphore > 65535)
mbed_official	49:77c8e4604045	70	#error Invalid "osFeature_Semaphore" value!
mbed_official	49:77c8e4604045	71	#endif
mbed_official	49:77c8e4604045	72	#if (osFeature_Wait != 0)
mbed_official	49:77c8e4604045	73	#error osWait not supported!
mbed_official	49:77c8e4604045	74	#endif
mbed_official	49:77c8e4604045	75
mbed_official	49:77c8e4604045	76
mbed_official	49:77c8e4604045	77	// ==== Enumeration, structures, defines ====
mbed_official	49:77c8e4604045	78
mbed_official	49:77c8e4604045	79	// Service Calls defines
mbed_official	49:77c8e4604045	80
mbed_official	49:77c8e4604045	81	#if defined (__CC_ARM) /* ARM Compiler */
mbed_official	49:77c8e4604045	82
mbed_official	49:77c8e4604045	83	#define __NO_RETURN __declspec(noreturn)
mbed_official	49:77c8e4604045	84
mbed_official	49:77c8e4604045	85	#define osEvent_type osEvent
mbed_official	49:77c8e4604045	86	#define osEvent_ret_status ret
mbed_official	49:77c8e4604045	87	#define osEvent_ret_value ret
mbed_official	49:77c8e4604045	88	#define osEvent_ret_msg ret
mbed_official	49:77c8e4604045	89	#define osEvent_ret_mail ret
mbed_official	49:77c8e4604045	90
mbed_official	49:77c8e4604045	91	#define osCallback_type osCallback
mbed_official	49:77c8e4604045	92	#define osCallback_ret ret
mbed_official	49:77c8e4604045	93
mbed_official	49:77c8e4604045	94	#define SVC_0_1(f,t,...) \
mbed_official	49:77c8e4604045	95	__svc_indirect(0) t _##f (t(*)()); \
mbed_official	49:77c8e4604045	96	t f (void); \
mbed_official	49:77c8e4604045	97	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	98	static __inline t __##f (void) { \
mbed_official	49:77c8e4604045	99	return _##f(f); \
mbed_official	49:77c8e4604045	100	}
mbed_official	49:77c8e4604045	101
mbed_official	49:77c8e4604045	102	#define SVC_1_1(f,t,t1,...) \
mbed_official	49:77c8e4604045	103	__svc_indirect(0) t _##f (t(*)(t1),t1); \
mbed_official	49:77c8e4604045	104	t f (t1 a1); \
mbed_official	49:77c8e4604045	105	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	106	static __inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	107	return _##f(f,a1); \
mbed_official	49:77c8e4604045	108	}
mbed_official	49:77c8e4604045	109
mbed_official	49:77c8e4604045	110	#define SVC_2_1(f,t,t1,t2,...) \
mbed_official	49:77c8e4604045	111	__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
mbed_official	49:77c8e4604045	112	t f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	113	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	114	static __inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	115	return _##f(f,a1,a2); \
mbed_official	49:77c8e4604045	116	}
mbed_official	49:77c8e4604045	117
mbed_official	49:77c8e4604045	118	#define SVC_3_1(f,t,t1,t2,t3,...) \
mbed_official	49:77c8e4604045	119	__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
mbed_official	49:77c8e4604045	120	t f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	121	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	122	static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	123	return _##f(f,a1,a2,a3); \
mbed_official	49:77c8e4604045	124	}
mbed_official	49:77c8e4604045	125
mbed_official	49:77c8e4604045	126	#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
mbed_official	49:77c8e4604045	127	__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
mbed_official	49:77c8e4604045	128	t f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	129	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	130	static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	131	return _##f(f,a1,a2,a3,a4); \
mbed_official	49:77c8e4604045	132	}
mbed_official	49:77c8e4604045	133
mbed_official	49:77c8e4604045	134	#define SVC_1_2 SVC_1_1
mbed_official	49:77c8e4604045	135	#define SVC_1_3 SVC_1_1
mbed_official	49:77c8e4604045	136	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	137
mbed_official	49:77c8e4604045	138	#elif defined (__GNUC__) /* GNU Compiler */
mbed_official	49:77c8e4604045	139
mbed_official	49:77c8e4604045	140	#define __NO_RETURN __attribute__((noreturn))
mbed_official	49:77c8e4604045	141
mbed_official	49:77c8e4604045	142	typedef uint32_t __attribute__((vector_size(8))) ret64;
mbed_official	49:77c8e4604045	143	typedef uint32_t __attribute__((vector_size(16))) ret128;
mbed_official	49:77c8e4604045	144
mbed_official	49:77c8e4604045	145	#define RET_pointer __r0
mbed_official	49:77c8e4604045	146	#define RET_int32_t __r0
mbed_official	49:77c8e4604045	147	#define RET_osStatus __r0
mbed_official	49:77c8e4604045	148	#define RET_osPriority __r0
mbed_official	49:77c8e4604045	149	#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
mbed_official	49:77c8e4604045	150	#define RET_osCallback {(void )__r0, (void )__r1}
mbed_official	49:77c8e4604045	151
mbed_official	49:77c8e4604045	152	#define osEvent_type ret128
mbed_official	49:77c8e4604045	153	#define osEvent_ret_status (ret128){ret.status}
mbed_official	49:77c8e4604045	154	#define osEvent_ret_value (ret128){ret.status, ret.value.v}
mbed_official	49:77c8e4604045	155	#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
mbed_official	49:77c8e4604045	156	#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
mbed_official	49:77c8e4604045	157
mbed_official	49:77c8e4604045	158	#define osCallback_type ret64
mbed_official	49:77c8e4604045	159	#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
mbed_official	49:77c8e4604045	160
mbed_official	49:77c8e4604045	161	#define SVC_ArgN(n) \
mbed_official	49:77c8e4604045	162	register int __r##n __asm("r"#n);
mbed_official	49:77c8e4604045	163
mbed_official	49:77c8e4604045	164	#define SVC_ArgR(n,t,a) \
mbed_official	49:77c8e4604045	165	register t __r##n __asm("r"#n) = a;
mbed_official	49:77c8e4604045	166
mbed_official	49:77c8e4604045	167	#define SVC_Arg0() \
mbed_official	49:77c8e4604045	168	SVC_ArgN(0) \
mbed_official	49:77c8e4604045	169	SVC_ArgN(1) \
mbed_official	49:77c8e4604045	170	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	171	SVC_ArgN(3)
mbed_official	49:77c8e4604045	172
mbed_official	49:77c8e4604045	173	#define SVC_Arg1(t1) \
mbed_official	49:77c8e4604045	174	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	175	SVC_ArgN(1) \
mbed_official	49:77c8e4604045	176	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	177	SVC_ArgN(3)
mbed_official	49:77c8e4604045	178
mbed_official	49:77c8e4604045	179	#define SVC_Arg2(t1,t2) \
mbed_official	49:77c8e4604045	180	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	181	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	182	SVC_ArgN(2) \
mbed_official	49:77c8e4604045	183	SVC_ArgN(3)
mbed_official	49:77c8e4604045	184
mbed_official	49:77c8e4604045	185	#define SVC_Arg3(t1,t2,t3) \
mbed_official	49:77c8e4604045	186	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	187	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	188	SVC_ArgR(2,t3,a3) \
mbed_official	49:77c8e4604045	189	SVC_ArgN(3)
mbed_official	49:77c8e4604045	190
mbed_official	49:77c8e4604045	191	#define SVC_Arg4(t1,t2,t3,t4) \
mbed_official	49:77c8e4604045	192	SVC_ArgR(0,t1,a1) \
mbed_official	49:77c8e4604045	193	SVC_ArgR(1,t2,a2) \
mbed_official	49:77c8e4604045	194	SVC_ArgR(2,t3,a3) \
mbed_official	49:77c8e4604045	195	SVC_ArgR(3,t4,a4)
mbed_official	49:77c8e4604045	196
mbed_official	49:77c8e4604045	197	#if (defined (__CORTEX_M0)) \|\| defined (__CORTEX_M0PLUS)
mbed_official	49:77c8e4604045	198	#define SVC_Call(f) \
mbed_official	49:77c8e4604045	199	__asm volatile \
mbed_official	49:77c8e4604045	200	( \
mbed_official	49:77c8e4604045	201	"ldr r7,="#f"\n\t" \
mbed_official	49:77c8e4604045	202	"mov r12,r7\n\t" \
mbed_official	49:77c8e4604045	203	"svc 0" \
mbed_official	49:77c8e4604045	204	: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
mbed_official	49:77c8e4604045	205	: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
mbed_official	49:77c8e4604045	206	: "r7", "r12", "lr", "cc" \
mbed_official	49:77c8e4604045	207	);
mbed_official	49:77c8e4604045	208	#else
mbed_official	49:77c8e4604045	209	#define SVC_Call(f) \
mbed_official	49:77c8e4604045	210	__asm volatile \
mbed_official	49:77c8e4604045	211	( \
mbed_official	49:77c8e4604045	212	"ldr r12,="#f"\n\t" \
mbed_official	49:77c8e4604045	213	"svc 0" \
mbed_official	49:77c8e4604045	214	: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
mbed_official	49:77c8e4604045	215	: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
mbed_official	49:77c8e4604045	216	: "r12", "lr", "cc" \
mbed_official	49:77c8e4604045	217	);
mbed_official	49:77c8e4604045	218	#endif
mbed_official	49:77c8e4604045	219
mbed_official	49:77c8e4604045	220	#define SVC_0_1(f,t,rv) \
mbed_official	49:77c8e4604045	221	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	222	static inline t __##f (void) { \
mbed_official	49:77c8e4604045	223	SVC_Arg0(); \
mbed_official	49:77c8e4604045	224	SVC_Call(f); \
mbed_official	49:77c8e4604045	225	return (t) rv; \
mbed_official	49:77c8e4604045	226	}
mbed_official	49:77c8e4604045	227
mbed_official	49:77c8e4604045	228	#define SVC_1_1(f,t,t1,rv) \
mbed_official	49:77c8e4604045	229	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	230	static inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	231	SVC_Arg1(t1); \
mbed_official	49:77c8e4604045	232	SVC_Call(f); \
mbed_official	49:77c8e4604045	233	return (t) rv; \
mbed_official	49:77c8e4604045	234	}
mbed_official	49:77c8e4604045	235
mbed_official	49:77c8e4604045	236	#define SVC_2_1(f,t,t1,t2,rv) \
mbed_official	49:77c8e4604045	237	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	238	static inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	239	SVC_Arg2(t1,t2); \
mbed_official	49:77c8e4604045	240	SVC_Call(f); \
mbed_official	49:77c8e4604045	241	return (t) rv; \
mbed_official	49:77c8e4604045	242	}
mbed_official	49:77c8e4604045	243
mbed_official	49:77c8e4604045	244	#define SVC_3_1(f,t,t1,t2,t3,rv) \
mbed_official	49:77c8e4604045	245	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	246	static inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	247	SVC_Arg3(t1,t2,t3); \
mbed_official	49:77c8e4604045	248	SVC_Call(f); \
mbed_official	49:77c8e4604045	249	return (t) rv; \
mbed_official	49:77c8e4604045	250	}
mbed_official	49:77c8e4604045	251
mbed_official	49:77c8e4604045	252	#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
mbed_official	49:77c8e4604045	253	__attribute__((always_inline)) \
mbed_official	49:77c8e4604045	254	static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	255	SVC_Arg4(t1,t2,t3,t4); \
mbed_official	49:77c8e4604045	256	SVC_Call(f); \
mbed_official	49:77c8e4604045	257	return (t) rv; \
mbed_official	49:77c8e4604045	258	}
mbed_official	49:77c8e4604045	259
mbed_official	49:77c8e4604045	260	#define SVC_1_2 SVC_1_1
mbed_official	49:77c8e4604045	261	#define SVC_1_3 SVC_1_1
mbed_official	49:77c8e4604045	262	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	263
mbed_official	49:77c8e4604045	264	#elif defined (__ICCARM__) /* IAR Compiler */
mbed_official	49:77c8e4604045	265
mbed_official	49:77c8e4604045	266	#define __NO_RETURN __noreturn
mbed_official	49:77c8e4604045	267
mbed_official	49:77c8e4604045	268	#define osEvent_type osEvent
mbed_official	49:77c8e4604045	269	#define osEvent_ret_status ret
mbed_official	49:77c8e4604045	270	#define osEvent_ret_value ret
mbed_official	49:77c8e4604045	271	#define osEvent_ret_msg ret
mbed_official	49:77c8e4604045	272	#define osEvent_ret_mail ret
mbed_official	49:77c8e4604045	273
mbed_official	53:c35dab33c427	274	#define osCallback_type osCallback
mbed_official	53:c35dab33c427	275	#define osCallback_ret ret
mbed_official	53:c35dab33c427	276
mbed_official	53:c35dab33c427	277	#define RET_osEvent osEvent
mbed_official	53:c35dab33c427	278	#define RET_osCallback osCallback
mbed_official	49:77c8e4604045	279
mbed_official	49:77c8e4604045	280	#define SVC_Setup(f) \
mbed_official	53:c35dab33c427	281	__asm( \
mbed_official	49:77c8e4604045	282	"mov r12,%0\n" \
mbed_official	49:77c8e4604045	283	:: "r"(&f): "r12" \
mbed_official	49:77c8e4604045	284	);
mbed_official	49:77c8e4604045	285
mbed_official	49:77c8e4604045	286
mbed_official	49:77c8e4604045	287	#define SVC_0_1(f,t,...) \
mbed_official	49:77c8e4604045	288	t f (void); \
mbed_official	49:77c8e4604045	289	_Pragma("swi_number=0") __swi t _##f (void); \
mbed_official	49:77c8e4604045	290	static inline t __##f (void) { \
mbed_official	49:77c8e4604045	291	SVC_Setup(f); \
mbed_official	49:77c8e4604045	292	return _##f(); \
mbed_official	49:77c8e4604045	293	}
mbed_official	49:77c8e4604045	294
mbed_official	49:77c8e4604045	295	#define SVC_1_1(f,t,t1,...) \
mbed_official	49:77c8e4604045	296	t f (t1 a1); \
mbed_official	49:77c8e4604045	297	_Pragma("swi_number=0") __swi t _##f (t1 a1); \
mbed_official	49:77c8e4604045	298	static inline t __##f (t1 a1) { \
mbed_official	49:77c8e4604045	299	SVC_Setup(f); \
mbed_official	49:77c8e4604045	300	return _##f(a1); \
mbed_official	49:77c8e4604045	301	}
mbed_official	49:77c8e4604045	302
mbed_official	49:77c8e4604045	303	#define SVC_2_1(f,t,t1,t2,...) \
mbed_official	49:77c8e4604045	304	t f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	305	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
mbed_official	49:77c8e4604045	306	static inline t __##f (t1 a1, t2 a2) { \
mbed_official	49:77c8e4604045	307	SVC_Setup(f); \
mbed_official	49:77c8e4604045	308	return _##f(a1,a2); \
mbed_official	49:77c8e4604045	309	}
mbed_official	49:77c8e4604045	310
mbed_official	49:77c8e4604045	311	#define SVC_3_1(f,t,t1,t2,t3,...) \
mbed_official	49:77c8e4604045	312	t f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	313	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
mbed_official	49:77c8e4604045	314	static inline t __##f (t1 a1, t2 a2, t3 a3) { \
mbed_official	49:77c8e4604045	315	SVC_Setup(f); \
mbed_official	49:77c8e4604045	316	return _##f(a1,a2,a3); \
mbed_official	49:77c8e4604045	317	}
mbed_official	49:77c8e4604045	318
mbed_official	49:77c8e4604045	319	#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
mbed_official	49:77c8e4604045	320	t f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	321	_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
mbed_official	49:77c8e4604045	322	static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
mbed_official	49:77c8e4604045	323	SVC_Setup(f); \
mbed_official	49:77c8e4604045	324	return _##f(a1,a2,a3,a4); \
mbed_official	49:77c8e4604045	325	}
mbed_official	49:77c8e4604045	326
mbed_official	53:c35dab33c427	327	#define SVC_1_2 SVC_1_1
mbed_official	53:c35dab33c427	328	#define SVC_1_3 SVC_1_1
mbed_official	53:c35dab33c427	329	#define SVC_2_3 SVC_2_1
mbed_official	49:77c8e4604045	330
mbed_official	49:77c8e4604045	331	#endif
mbed_official	49:77c8e4604045	332
mbed_official	49:77c8e4604045	333
mbed_official	49:77c8e4604045	334	// Callback structure
mbed_official	49:77c8e4604045	335	typedef struct {
mbed_official	49:77c8e4604045	336	void *fp; // Function pointer
mbed_official	49:77c8e4604045	337	void *arg; // Function argument
mbed_official	49:77c8e4604045	338	} osCallback;
mbed_official	49:77c8e4604045	339
mbed_official	49:77c8e4604045	340
mbed_official	49:77c8e4604045	341	// OS Section definitions
mbed_official	49:77c8e4604045	342	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	49:77c8e4604045	343	extern const uint32_t os_section_id$$Base;
mbed_official	49:77c8e4604045	344	extern const uint32_t os_section_id$$Limit;
mbed_official	49:77c8e4604045	345	#endif
mbed_official	49:77c8e4604045	346
mbed_official	49:77c8e4604045	347	// OS Timers external resources
mbed_official	49:77c8e4604045	348	extern osThreadDef_t os_thread_def_osTimerThread;
mbed_official	49:77c8e4604045	349	extern osThreadId osThreadId_osTimerThread;
mbed_official	49:77c8e4604045	350	extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
mbed_official	49:77c8e4604045	351	extern osMessageQId osMessageQId_osTimerMessageQ;
mbed_official	49:77c8e4604045	352
mbed_official	49:77c8e4604045	353
mbed_official	49:77c8e4604045	354	// ==== Helper Functions ====
mbed_official	49:77c8e4604045	355
mbed_official	49:77c8e4604045	356	/// Convert timeout in millisec to system ticks
mbed_official	49:77c8e4604045	357	static uint32_t rt_ms2tick (uint32_t millisec) {
mbed_official	49:77c8e4604045	358	uint32_t tick;
mbed_official	49:77c8e4604045	359
mbed_official	49:77c8e4604045	360	if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
mbed_official	49:77c8e4604045	361	if (millisec > 4000000) return 0xFFFE; // Max ticks supported
mbed_official	49:77c8e4604045	362
mbed_official	49:77c8e4604045	363	tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
mbed_official	49:77c8e4604045	364	if (tick > 0xFFFE) return 0xFFFE;
mbed_official	49:77c8e4604045	365
mbed_official	49:77c8e4604045	366	return tick;
mbed_official	49:77c8e4604045	367	}
mbed_official	49:77c8e4604045	368
mbed_official	49:77c8e4604045	369	/// Convert Thread ID to TCB pointer
mbed_official	49:77c8e4604045	370	static P_TCB rt_tid2ptcb (osThreadId thread_id) {
mbed_official	49:77c8e4604045	371	P_TCB ptcb;
mbed_official	49:77c8e4604045	372
mbed_official	49:77c8e4604045	373	if (thread_id == NULL) return NULL;
mbed_official	49:77c8e4604045	374
mbed_official	49:77c8e4604045	375	if ((uint32_t)thread_id & 3) return NULL;
mbed_official	49:77c8e4604045	376
mbed_official	49:77c8e4604045	377	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	49:77c8e4604045	378	if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
mbed_official	49:77c8e4604045	379	if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
mbed_official	49:77c8e4604045	380	if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
mbed_official	49:77c8e4604045	381	}
mbed_official	49:77c8e4604045	382	#endif
mbed_official	49:77c8e4604045	383
mbed_official	49:77c8e4604045	384	ptcb = thread_id;
mbed_official	49:77c8e4604045	385
mbed_official	49:77c8e4604045	386	if (ptcb->cb_type != TCB) return NULL;
mbed_official	49:77c8e4604045	387
mbed_official	49:77c8e4604045	388	return ptcb;
mbed_official	49:77c8e4604045	389	}
mbed_official	49:77c8e4604045	390
mbed_official	49:77c8e4604045	391	/// Convert ID pointer to Object pointer
mbed_official	49:77c8e4604045	392	static void rt_id2obj (void id) {
mbed_official	49:77c8e4604045	393
mbed_official	49:77c8e4604045	394	if ((uint32_t)id & 3) return NULL;
mbed_official	49:77c8e4604045	395
mbed_official	49:77c8e4604045	396	#ifdef OS_SECTIONS_LINK_INFO
mbed_official	49:77c8e4604045	397	if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
mbed_official	49:77c8e4604045	398	if (id < (void *)os_section_id$$Base) return NULL;
mbed_official	49:77c8e4604045	399	if (id >= (void *)os_section_id$$Limit) return NULL;
mbed_official	49:77c8e4604045	400	}
mbed_official	49:77c8e4604045	401	#endif
mbed_official	49:77c8e4604045	402
mbed_official	49:77c8e4604045	403	return id;
mbed_official	49:77c8e4604045	404	}
mbed_official	49:77c8e4604045	405
mbed_official	49:77c8e4604045	406
mbed_official	49:77c8e4604045	407	// ==== Kernel Control ====
mbed_official	49:77c8e4604045	408
mbed_official	49:77c8e4604045	409	uint8_t os_initialized; // Kernel Initialized flag
mbed_official	49:77c8e4604045	410	uint8_t os_running; // Kernel Running flag
mbed_official	49:77c8e4604045	411
mbed_official	49:77c8e4604045	412	// Kernel Control Service Calls declarations
mbed_official	49:77c8e4604045	413	SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
mbed_official	49:77c8e4604045	414	SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
mbed_official	49:77c8e4604045	415	SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
mbed_official	49:77c8e4604045	416
mbed_official	49:77c8e4604045	417	extern void sysThreadError (osStatus status);
mbed_official	49:77c8e4604045	418	osThreadId svcThreadCreate (osThreadDef_t thread_def, void argument);
mbed_official	49:77c8e4604045	419	osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
mbed_official	49:77c8e4604045	420
mbed_official	49:77c8e4604045	421	// Kernel Control Service Calls
mbed_official	49:77c8e4604045	422
mbed_official	49:77c8e4604045	423	/// Initialize the RTOS Kernel for creating objects
mbed_official	49:77c8e4604045	424	osStatus svcKernelInitialize (void) {
mbed_official	49:77c8e4604045	425	if (os_initialized) return osOK;
mbed_official	49:77c8e4604045	426
mbed_official	49:77c8e4604045	427	rt_sys_init(); // RTX System Initialization
mbed_official	49:77c8e4604045	428	os_tsk.run->prio = 255; // Highest priority
mbed_official	49:77c8e4604045	429
mbed_official	49:77c8e4604045	430	sysThreadError(osOK);
mbed_official	49:77c8e4604045	431
mbed_official	49:77c8e4604045	432	os_initialized = 1;
mbed_official	49:77c8e4604045	433
mbed_official	49:77c8e4604045	434	return osOK;
mbed_official	49:77c8e4604045	435	}
mbed_official	49:77c8e4604045	436
mbed_official	49:77c8e4604045	437	/// Start the RTOS Kernel
mbed_official	49:77c8e4604045	438	osStatus svcKernelStart (void) {
mbed_official	49:77c8e4604045	439
mbed_official	49:77c8e4604045	440	if (os_running) return osOK;
mbed_official	49:77c8e4604045	441
mbed_official	49:77c8e4604045	442	// Create OS Timers resources (Message Queue & Thread)
mbed_official	49:77c8e4604045	443	osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
mbed_official	49:77c8e4604045	444	osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
mbed_official	49:77c8e4604045	445
mbed_official	49:77c8e4604045	446	rt_tsk_prio(0, 0); // Lowest priority
mbed_official	49:77c8e4604045	447	__set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
mbed_official	49:77c8e4604045	448	os_tsk.run = NULL; // Force context switch
mbed_official	49:77c8e4604045	449
mbed_official	49:77c8e4604045	450	rt_sys_start();
mbed_official	49:77c8e4604045	451
mbed_official	49:77c8e4604045	452	os_running = 1;
mbed_official	49:77c8e4604045	453
mbed_official	49:77c8e4604045	454	return osOK;
mbed_official	49:77c8e4604045	455	}
mbed_official	49:77c8e4604045	456
mbed_official	49:77c8e4604045	457	/// Check if the RTOS kernel is already started
mbed_official	49:77c8e4604045	458	int32_t svcKernelRunning(void) {
mbed_official	49:77c8e4604045	459	return os_running;
mbed_official	49:77c8e4604045	460	}
mbed_official	49:77c8e4604045	461
mbed_official	49:77c8e4604045	462	// Kernel Control Public API
mbed_official	49:77c8e4604045	463
mbed_official	49:77c8e4604045	464	/// Initialize the RTOS Kernel for creating objects
mbed_official	49:77c8e4604045	465	osStatus osKernelInitialize (void) {
mbed_official	49:77c8e4604045	466	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	467	if ((__get_CONTROL() & 1) == 0) { // Privileged mode
mbed_official	49:77c8e4604045	468	return svcKernelInitialize();
mbed_official	49:77c8e4604045	469	} else {
mbed_official	49:77c8e4604045	470	return __svcKernelInitialize();
mbed_official	49:77c8e4604045	471	}
mbed_official	49:77c8e4604045	472	}
mbed_official	49:77c8e4604045	473
mbed_official	49:77c8e4604045	474	/// Start the RTOS Kernel
mbed_official	49:77c8e4604045	475	osStatus osKernelStart (void) {
mbed_official	49:77c8e4604045	476	uint32_t stack[8];
mbed_official	49:77c8e4604045	477
mbed_official	49:77c8e4604045	478	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	479	switch (__get_CONTROL() & 0x03) {
mbed_official	49:77c8e4604045	480	case 0x00: // Privileged Thread mode & MSP
mbed_official	49:77c8e4604045	481	__set_PSP((uint32_t)(stack + 8)); // Initial PSP
mbed_official	49:77c8e4604045	482	if (os_flags & 1) {
mbed_official	49:77c8e4604045	483	__set_CONTROL(0x02); // Set Privileged Thread mode & PSP
mbed_official	49:77c8e4604045	484	} else {
mbed_official	49:77c8e4604045	485	__set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
mbed_official	49:77c8e4604045	486	}
mbed_official	49:77c8e4604045	487	__DSB();
mbed_official	49:77c8e4604045	488	__ISB();
mbed_official	49:77c8e4604045	489	break;
mbed_official	49:77c8e4604045	490	case 0x01: // Unprivileged Thread mode & MSP
mbed_official	49:77c8e4604045	491	return osErrorOS;
mbed_official	49:77c8e4604045	492	case 0x02: // Privileged Thread mode & PSP
mbed_official	49:77c8e4604045	493	if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
mbed_official	49:77c8e4604045	494	__set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
mbed_official	49:77c8e4604045	495	__DSB();
mbed_official	49:77c8e4604045	496	__ISB();
mbed_official	49:77c8e4604045	497	}
mbed_official	49:77c8e4604045	498	break;
mbed_official	49:77c8e4604045	499	case 0x03: // Unprivileged Thread mode & PSP
mbed_official	49:77c8e4604045	500	if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
mbed_official	49:77c8e4604045	501	break;
mbed_official	49:77c8e4604045	502	}
mbed_official	49:77c8e4604045	503	return __svcKernelStart();
mbed_official	49:77c8e4604045	504	}
mbed_official	49:77c8e4604045	505
mbed_official	49:77c8e4604045	506	/// Check if the RTOS kernel is already started
mbed_official	49:77c8e4604045	507	int32_t osKernelRunning(void) {
mbed_official	49:77c8e4604045	508	if ((__get_IPSR() != 0) \|\| ((__get_CONTROL() & 1) == 0)) {
mbed_official	49:77c8e4604045	509	// in ISR or Privileged
mbed_official	49:77c8e4604045	510	return os_running;
mbed_official	49:77c8e4604045	511	} else {
mbed_official	49:77c8e4604045	512	return __svcKernelRunning();
mbed_official	49:77c8e4604045	513	}
mbed_official	49:77c8e4604045	514	}
mbed_official	49:77c8e4604045	515
mbed_official	49:77c8e4604045	516
mbed_official	49:77c8e4604045	517	// ==== Thread Management ====
mbed_official	49:77c8e4604045	518
mbed_official	49:77c8e4604045	519	__NO_RETURN void osThreadExit (void);
mbed_official	49:77c8e4604045	520
mbed_official	49:77c8e4604045	521	// Thread Service Calls declarations
mbed_official	49:77c8e4604045	522	SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t , void , RET_pointer)
mbed_official	49:77c8e4604045	523	SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
mbed_official	49:77c8e4604045	524	SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
mbed_official	49:77c8e4604045	525	SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
mbed_official	49:77c8e4604045	526	SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
mbed_official	49:77c8e4604045	527	SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
mbed_official	49:77c8e4604045	528
mbed_official	49:77c8e4604045	529	// Thread Service Calls
mbed_official	49:77c8e4604045	530	extern OS_TID rt_get_TID (void);
mbed_official	49:77c8e4604045	531	extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
mbed_official	49:77c8e4604045	532
mbed_official	49:77c8e4604045	533	/// Create a thread and add it to Active Threads and set it to state READY
mbed_official	49:77c8e4604045	534	osThreadId svcThreadCreate (osThreadDef_t thread_def, void argument) {
mbed_official	49:77c8e4604045	535	P_TCB ptcb;
mbed_official	49:77c8e4604045	536
mbed_official	49:77c8e4604045	537	if ((thread_def == NULL) \|\|
mbed_official	49:77c8e4604045	538	(thread_def->pthread == NULL) \|\|
mbed_official	49:77c8e4604045	539	(thread_def->tpriority < osPriorityIdle) \|\|
mbed_official	49:77c8e4604045	540	(thread_def->tpriority > osPriorityRealtime) \|\|
mbed_official	49:77c8e4604045	541	(thread_def->stacksize == 0) \|\|
mbed_official	49:77c8e4604045	542	(thread_def->stack_pointer == NULL) ) {
mbed_official	49:77c8e4604045	543	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	544	return NULL;
mbed_official	49:77c8e4604045	545	}
mbed_official	49:77c8e4604045	546
mbed_official	49:77c8e4604045	547	U8 priority = thread_def->tpriority - osPriorityIdle + 1;
mbed_official	49:77c8e4604045	548	P_TCB task_context = &thread_def->tcb;
mbed_official	49:77c8e4604045	549
mbed_official	49:77c8e4604045	550	/* If "size != 0" use a private user provided stack. */
mbed_official	49:77c8e4604045	551	task_context->stack = (U32*)thread_def->stack_pointer;
mbed_official	49:77c8e4604045	552	task_context->priv_stack = thread_def->stacksize;
mbed_official	49:77c8e4604045	553	/* Pass parameter 'argv' to 'rt_init_context' */
mbed_official	49:77c8e4604045	554	task_context->msg = argument;
mbed_official	49:77c8e4604045	555	/* For 'size == 0' system allocates the user stack from the memory pool. */
mbed_official	49:77c8e4604045	556	rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
mbed_official	49:77c8e4604045	557
mbed_official	49:77c8e4604045	558	/* Find a free entry in 'os_active_TCB' table. */
mbed_official	49:77c8e4604045	559	OS_TID tsk = rt_get_TID ();
mbed_official	49:77c8e4604045	560	os_active_TCB[tsk-1] = task_context;
mbed_official	49:77c8e4604045	561	task_context->task_id = tsk;
mbed_official	49:77c8e4604045	562	DBG_TASK_NOTIFY(task_context, __TRUE);
mbed_official	49:77c8e4604045	563	rt_dispatch (task_context);
mbed_official	49:77c8e4604045	564
mbed_official	49:77c8e4604045	565	ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
mbed_official	49:77c8e4604045	566
mbed_official	49:77c8e4604045	567	((uint32_t )ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
mbed_official	49:77c8e4604045	568
mbed_official	49:77c8e4604045	569	return ptcb;
mbed_official	49:77c8e4604045	570	}
mbed_official	49:77c8e4604045	571
mbed_official	49:77c8e4604045	572	/// Return the thread ID of the current running thread
mbed_official	49:77c8e4604045	573	osThreadId svcThreadGetId (void) {
mbed_official	49:77c8e4604045	574	OS_TID tsk;
mbed_official	49:77c8e4604045	575
mbed_official	49:77c8e4604045	576	tsk = rt_tsk_self();
mbed_official	49:77c8e4604045	577	if (tsk == 0) return NULL;
mbed_official	49:77c8e4604045	578	return (P_TCB)os_active_TCB[tsk - 1];
mbed_official	49:77c8e4604045	579	}
mbed_official	49:77c8e4604045	580
mbed_official	49:77c8e4604045	581	/// Terminate execution of a thread and remove it from ActiveThreads
mbed_official	49:77c8e4604045	582	osStatus svcThreadTerminate (osThreadId thread_id) {
mbed_official	49:77c8e4604045	583	OS_RESULT res;
mbed_official	49:77c8e4604045	584	P_TCB ptcb;
mbed_official	49:77c8e4604045	585
mbed_official	49:77c8e4604045	586	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	587	if (ptcb == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	588
mbed_official	49:77c8e4604045	589	res = rt_tsk_delete(ptcb->task_id); // Delete task
mbed_official	49:77c8e4604045	590
mbed_official	49:77c8e4604045	591	if (res == OS_R_NOK) return osErrorResource; // Delete task failed
mbed_official	49:77c8e4604045	592
mbed_official	49:77c8e4604045	593	return osOK;
mbed_official	49:77c8e4604045	594	}
mbed_official	49:77c8e4604045	595
mbed_official	49:77c8e4604045	596	/// Pass control to next thread that is in state READY
mbed_official	49:77c8e4604045	597	osStatus svcThreadYield (void) {
mbed_official	49:77c8e4604045	598	rt_tsk_pass(); // Pass control to next task
mbed_official	49:77c8e4604045	599	return osOK;
mbed_official	49:77c8e4604045	600	}
mbed_official	49:77c8e4604045	601
mbed_official	49:77c8e4604045	602	/// Change priority of an active thread
mbed_official	49:77c8e4604045	603	osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
mbed_official	49:77c8e4604045	604	OS_RESULT res;
mbed_official	49:77c8e4604045	605	P_TCB ptcb;
mbed_official	49:77c8e4604045	606
mbed_official	49:77c8e4604045	607	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	608	if (ptcb == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	609
mbed_official	49:77c8e4604045	610	if ((priority < osPriorityIdle) \|\| (priority > osPriorityRealtime)) {
mbed_official	49:77c8e4604045	611	return osErrorValue;
mbed_official	49:77c8e4604045	612	}
mbed_official	49:77c8e4604045	613
mbed_official	49:77c8e4604045	614	res = rt_tsk_prio( // Change task priority
mbed_official	49:77c8e4604045	615	ptcb->task_id, // Task ID
mbed_official	49:77c8e4604045	616	priority - osPriorityIdle + 1 // New task priority
mbed_official	49:77c8e4604045	617	);
mbed_official	49:77c8e4604045	618
mbed_official	49:77c8e4604045	619	if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
mbed_official	49:77c8e4604045	620
mbed_official	49:77c8e4604045	621	return osOK;
mbed_official	49:77c8e4604045	622	}
mbed_official	49:77c8e4604045	623
mbed_official	49:77c8e4604045	624	/// Get current priority of an active thread
mbed_official	49:77c8e4604045	625	osPriority svcThreadGetPriority (osThreadId thread_id) {
mbed_official	49:77c8e4604045	626	P_TCB ptcb;
mbed_official	49:77c8e4604045	627
mbed_official	49:77c8e4604045	628	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	629	if (ptcb == NULL) return osPriorityError;
mbed_official	49:77c8e4604045	630
mbed_official	49:77c8e4604045	631	return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
mbed_official	49:77c8e4604045	632	}
mbed_official	49:77c8e4604045	633
mbed_official	49:77c8e4604045	634
mbed_official	49:77c8e4604045	635	// Thread Public API
mbed_official	49:77c8e4604045	636
mbed_official	49:77c8e4604045	637	/// Create a thread and add it to Active Threads and set it to state READY
mbed_official	49:77c8e4604045	638	osThreadId osThreadCreate (osThreadDef_t thread_def, void argument) {
mbed_official	49:77c8e4604045	639	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	640	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	641	// Privileged and not running
mbed_official	49:77c8e4604045	642	return svcThreadCreate(thread_def, argument);
mbed_official	49:77c8e4604045	643	} else {
mbed_official	49:77c8e4604045	644	return __svcThreadCreate(thread_def, argument);
mbed_official	49:77c8e4604045	645	}
mbed_official	49:77c8e4604045	646	}
mbed_official	49:77c8e4604045	647
mbed_official	49:77c8e4604045	648	/// Return the thread ID of the current running thread
mbed_official	49:77c8e4604045	649	osThreadId osThreadGetId (void) {
mbed_official	49:77c8e4604045	650	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	651	return __svcThreadGetId();
mbed_official	49:77c8e4604045	652	}
mbed_official	49:77c8e4604045	653
mbed_official	49:77c8e4604045	654	/// Terminate execution of a thread and remove it from ActiveThreads
mbed_official	49:77c8e4604045	655	osStatus osThreadTerminate (osThreadId thread_id) {
mbed_official	49:77c8e4604045	656	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	657	return __svcThreadTerminate(thread_id);
mbed_official	49:77c8e4604045	658	}
mbed_official	49:77c8e4604045	659
mbed_official	49:77c8e4604045	660	/// Pass control to next thread that is in state READY
mbed_official	49:77c8e4604045	661	osStatus osThreadYield (void) {
mbed_official	49:77c8e4604045	662	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	663	return __svcThreadYield();
mbed_official	49:77c8e4604045	664	}
mbed_official	49:77c8e4604045	665
mbed_official	49:77c8e4604045	666	/// Change priority of an active thread
mbed_official	49:77c8e4604045	667	osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
mbed_official	49:77c8e4604045	668	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	669	return __svcThreadSetPriority(thread_id, priority);
mbed_official	49:77c8e4604045	670	}
mbed_official	49:77c8e4604045	671
mbed_official	49:77c8e4604045	672	/// Get current priority of an active thread
mbed_official	49:77c8e4604045	673	osPriority osThreadGetPriority (osThreadId thread_id) {
mbed_official	49:77c8e4604045	674	if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
mbed_official	49:77c8e4604045	675	return __svcThreadGetPriority(thread_id);
mbed_official	49:77c8e4604045	676	}
mbed_official	49:77c8e4604045	677
mbed_official	49:77c8e4604045	678	/// INTERNAL - Not Public
mbed_official	49:77c8e4604045	679	/// Auto Terminate Thread on exit (used implicitly when thread exists)
mbed_official	49:77c8e4604045	680	__NO_RETURN void osThreadExit (void) {
mbed_official	49:77c8e4604045	681	__svcThreadTerminate(__svcThreadGetId());
mbed_official	49:77c8e4604045	682	for (;;); // Should never come here
mbed_official	49:77c8e4604045	683	}
mbed_official	49:77c8e4604045	684
mbed_official	49:77c8e4604045	685
mbed_official	49:77c8e4604045	686	// ==== Generic Wait Functions ====
mbed_official	49:77c8e4604045	687
mbed_official	49:77c8e4604045	688	// Generic Wait Service Calls declarations
mbed_official	49:77c8e4604045	689	SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	690	#if osFeature_Wait != 0
mbed_official	49:77c8e4604045	691	SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	692	#endif
mbed_official	49:77c8e4604045	693
mbed_official	49:77c8e4604045	694	// Generic Wait Service Calls
mbed_official	49:77c8e4604045	695
mbed_official	49:77c8e4604045	696	/// Wait for Timeout (Time Delay)
mbed_official	49:77c8e4604045	697	osStatus svcDelay (uint32_t millisec) {
mbed_official	49:77c8e4604045	698	if (millisec == 0) return osOK;
mbed_official	49:77c8e4604045	699	rt_dly_wait(rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	700	return osEventTimeout;
mbed_official	49:77c8e4604045	701	}
mbed_official	49:77c8e4604045	702
mbed_official	49:77c8e4604045	703	/// Wait for Signal, Message, Mail, or Timeout
mbed_official	49:77c8e4604045	704	#if osFeature_Wait != 0
mbed_official	49:77c8e4604045	705	os_InRegs osEvent_type svcWait (uint32_t millisec) {
mbed_official	49:77c8e4604045	706	osEvent ret;
mbed_official	49:77c8e4604045	707
mbed_official	49:77c8e4604045	708	if (millisec == 0) {
mbed_official	49:77c8e4604045	709	ret.status = osOK;
mbed_official	49:77c8e4604045	710	return osEvent_ret_status;
mbed_official	49:77c8e4604045	711	}
mbed_official	49:77c8e4604045	712
mbed_official	49:77c8e4604045	713	/* To Do: osEventSignal, osEventMessage, osEventMail */
mbed_official	49:77c8e4604045	714	rt_dly_wait(rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	715	ret.status = osEventTimeout;
mbed_official	49:77c8e4604045	716
mbed_official	49:77c8e4604045	717	return osEvent_ret_status;
mbed_official	49:77c8e4604045	718	}
mbed_official	49:77c8e4604045	719	#endif
mbed_official	49:77c8e4604045	720
mbed_official	49:77c8e4604045	721
mbed_official	49:77c8e4604045	722	// Generic Wait API
mbed_official	49:77c8e4604045	723
mbed_official	49:77c8e4604045	724	/// Wait for Timeout (Time Delay)
mbed_official	49:77c8e4604045	725	osStatus osDelay (uint32_t millisec) {
mbed_official	49:77c8e4604045	726	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	727	return __svcDelay(millisec);
mbed_official	49:77c8e4604045	728	}
mbed_official	49:77c8e4604045	729
mbed_official	49:77c8e4604045	730	/// Wait for Signal, Message, Mail, or Timeout
mbed_official	49:77c8e4604045	731	os_InRegs osEvent osWait (uint32_t millisec) {
mbed_official	49:77c8e4604045	732	osEvent ret;
mbed_official	49:77c8e4604045	733
mbed_official	49:77c8e4604045	734	#if osFeature_Wait == 0
mbed_official	49:77c8e4604045	735	ret.status = osErrorOS;
mbed_official	49:77c8e4604045	736	return ret;
mbed_official	49:77c8e4604045	737	#else
mbed_official	49:77c8e4604045	738	if (__get_IPSR() != 0) { // Not allowed in ISR
mbed_official	49:77c8e4604045	739	ret.status = osErrorISR;
mbed_official	49:77c8e4604045	740	return ret;
mbed_official	49:77c8e4604045	741	}
mbed_official	49:77c8e4604045	742	return __svcWait(millisec);
mbed_official	49:77c8e4604045	743	#endif
mbed_official	49:77c8e4604045	744	}
mbed_official	49:77c8e4604045	745
mbed_official	49:77c8e4604045	746
mbed_official	49:77c8e4604045	747	// ==== Timer Management ====
mbed_official	49:77c8e4604045	748
mbed_official	49:77c8e4604045	749	// Timer definitions
mbed_official	49:77c8e4604045	750	#define osTimerInvalid 0
mbed_official	49:77c8e4604045	751	#define osTimerStopped 1
mbed_official	49:77c8e4604045	752	#define osTimerRunning 2
mbed_official	49:77c8e4604045	753
mbed_official	49:77c8e4604045	754	// Timer structures
mbed_official	49:77c8e4604045	755
mbed_official	49:77c8e4604045	756	typedef struct os_timer_cb_ { // Timer Control Block
mbed_official	49:77c8e4604045	757	struct os_timer_cb_ *next; // Pointer to next active Timer
mbed_official	49:77c8e4604045	758	uint8_t state; // Timer State
mbed_official	49:77c8e4604045	759	uint8_t type; // Timer Type (Periodic/One-shot)
mbed_official	49:77c8e4604045	760	uint16_t reserved; // Reserved
mbed_official	49:77c8e4604045	761	uint16_t tcnt; // Timer Delay Count
mbed_official	49:77c8e4604045	762	uint16_t icnt; // Timer Initial Count
mbed_official	49:77c8e4604045	763	void *arg; // Timer Function Argument
mbed_official	49:77c8e4604045	764	osTimerDef_t *timer; // Pointer to Timer definition
mbed_official	49:77c8e4604045	765	} os_timer_cb;
mbed_official	49:77c8e4604045	766
mbed_official	49:77c8e4604045	767	// Timer variables
mbed_official	49:77c8e4604045	768	os_timer_cb *os_timer_head; // Pointer to first active Timer
mbed_official	49:77c8e4604045	769
mbed_official	49:77c8e4604045	770
mbed_official	49:77c8e4604045	771	// Timer Helper Functions
mbed_official	49:77c8e4604045	772
mbed_official	49:77c8e4604045	773	// Insert Timer into the list sorted by time
mbed_official	49:77c8e4604045	774	static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
mbed_official	49:77c8e4604045	775	os_timer_cb p, prev;
mbed_official	49:77c8e4604045	776
mbed_official	49:77c8e4604045	777	prev = NULL;
mbed_official	49:77c8e4604045	778	p = os_timer_head;
mbed_official	49:77c8e4604045	779	while (p != NULL) {
mbed_official	49:77c8e4604045	780	if (tcnt < p->tcnt) break;
mbed_official	49:77c8e4604045	781	tcnt -= p->tcnt;
mbed_official	49:77c8e4604045	782	prev = p;
mbed_official	49:77c8e4604045	783	p = p->next;
mbed_official	49:77c8e4604045	784	}
mbed_official	49:77c8e4604045	785	pt->next = p;
mbed_official	49:77c8e4604045	786	pt->tcnt = (uint16_t)tcnt;
mbed_official	49:77c8e4604045	787	if (p != NULL) {
mbed_official	49:77c8e4604045	788	p->tcnt -= pt->tcnt;
mbed_official	49:77c8e4604045	789	}
mbed_official	49:77c8e4604045	790	if (prev != NULL) {
mbed_official	49:77c8e4604045	791	prev->next = pt;
mbed_official	49:77c8e4604045	792	} else {
mbed_official	49:77c8e4604045	793	os_timer_head = pt;
mbed_official	49:77c8e4604045	794	}
mbed_official	49:77c8e4604045	795	}
mbed_official	49:77c8e4604045	796
mbed_official	49:77c8e4604045	797	// Remove Timer from the list
mbed_official	49:77c8e4604045	798	static int rt_timer_remove (os_timer_cb *pt) {
mbed_official	49:77c8e4604045	799	os_timer_cb p, prev;
mbed_official	49:77c8e4604045	800
mbed_official	49:77c8e4604045	801	prev = NULL;
mbed_official	49:77c8e4604045	802	p = os_timer_head;
mbed_official	49:77c8e4604045	803	while (p != NULL) {
mbed_official	49:77c8e4604045	804	if (p == pt) break;
mbed_official	49:77c8e4604045	805	prev = p;
mbed_official	49:77c8e4604045	806	p = p->next;
mbed_official	49:77c8e4604045	807	}
mbed_official	49:77c8e4604045	808	if (p == NULL) return -1;
mbed_official	49:77c8e4604045	809	if (prev != NULL) {
mbed_official	49:77c8e4604045	810	prev->next = pt->next;
mbed_official	49:77c8e4604045	811	} else {
mbed_official	49:77c8e4604045	812	os_timer_head = pt->next;
mbed_official	49:77c8e4604045	813	}
mbed_official	49:77c8e4604045	814	if (pt->next != NULL) {
mbed_official	49:77c8e4604045	815	pt->next->tcnt += pt->tcnt;
mbed_official	49:77c8e4604045	816	}
mbed_official	49:77c8e4604045	817
mbed_official	49:77c8e4604045	818	return 0;
mbed_official	49:77c8e4604045	819	}
mbed_official	49:77c8e4604045	820
mbed_official	49:77c8e4604045	821
mbed_official	49:77c8e4604045	822	// Timer Service Calls declarations
mbed_official	49:77c8e4604045	823	SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t , os_timer_type, void , RET_pointer)
mbed_official	49:77c8e4604045	824	SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	825	SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
mbed_official	49:77c8e4604045	826	SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
mbed_official	49:77c8e4604045	827	SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
mbed_official	49:77c8e4604045	828
mbed_official	49:77c8e4604045	829	// Timer Management Service Calls
mbed_official	49:77c8e4604045	830
mbed_official	49:77c8e4604045	831	/// Create timer
mbed_official	49:77c8e4604045	832	osTimerId svcTimerCreate (osTimerDef_t timer_def, os_timer_type type, void argument) {
mbed_official	49:77c8e4604045	833	os_timer_cb *pt;
mbed_official	49:77c8e4604045	834
mbed_official	49:77c8e4604045	835	if ((timer_def == NULL) \|\| (timer_def->ptimer == NULL)) {
mbed_official	49:77c8e4604045	836	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	837	return NULL;
mbed_official	49:77c8e4604045	838	}
mbed_official	49:77c8e4604045	839
mbed_official	49:77c8e4604045	840	pt = timer_def->timer;
mbed_official	49:77c8e4604045	841	if (pt == NULL) {
mbed_official	49:77c8e4604045	842	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	843	return NULL;
mbed_official	49:77c8e4604045	844	}
mbed_official	49:77c8e4604045	845
mbed_official	49:77c8e4604045	846	if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
mbed_official	49:77c8e4604045	847	sysThreadError(osErrorValue);
mbed_official	49:77c8e4604045	848	return NULL;
mbed_official	49:77c8e4604045	849	}
mbed_official	49:77c8e4604045	850
mbed_official	49:77c8e4604045	851	if (osThreadId_osTimerThread == NULL) {
mbed_official	49:77c8e4604045	852	sysThreadError(osErrorResource);
mbed_official	49:77c8e4604045	853	return NULL;
mbed_official	49:77c8e4604045	854	}
mbed_official	49:77c8e4604045	855
mbed_official	49:77c8e4604045	856	if (pt->state != osTimerInvalid){
mbed_official	49:77c8e4604045	857	sysThreadError(osErrorResource);
mbed_official	49:77c8e4604045	858	return NULL;
mbed_official	49:77c8e4604045	859	}
mbed_official	49:77c8e4604045	860
mbed_official	49:77c8e4604045	861	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	862	pt->type = (uint8_t)type;
mbed_official	49:77c8e4604045	863	pt->arg = argument;
mbed_official	49:77c8e4604045	864	pt->timer = timer_def;
mbed_official	49:77c8e4604045	865
mbed_official	49:77c8e4604045	866	return (osTimerId)pt;
mbed_official	49:77c8e4604045	867	}
mbed_official	49:77c8e4604045	868
mbed_official	49:77c8e4604045	869	/// Start or restart timer
mbed_official	49:77c8e4604045	870	osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	871	os_timer_cb *pt;
mbed_official	49:77c8e4604045	872	uint32_t tcnt;
mbed_official	49:77c8e4604045	873
mbed_official	49:77c8e4604045	874	pt = rt_id2obj(timer_id);
mbed_official	49:77c8e4604045	875	if (pt == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	876
mbed_official	49:77c8e4604045	877	tcnt = rt_ms2tick(millisec);
mbed_official	49:77c8e4604045	878	if (tcnt == 0) return osErrorValue;
mbed_official	49:77c8e4604045	879
mbed_official	49:77c8e4604045	880	switch (pt->state) {
mbed_official	49:77c8e4604045	881	case osTimerRunning:
mbed_official	49:77c8e4604045	882	if (rt_timer_remove(pt) != 0) {
mbed_official	49:77c8e4604045	883	return osErrorResource;
mbed_official	49:77c8e4604045	884	}
mbed_official	49:77c8e4604045	885	break;
mbed_official	49:77c8e4604045	886	case osTimerStopped:
mbed_official	49:77c8e4604045	887	pt->state = osTimerRunning;
mbed_official	49:77c8e4604045	888	pt->icnt = (uint16_t)tcnt;
mbed_official	49:77c8e4604045	889	break;
mbed_official	49:77c8e4604045	890	default:
mbed_official	49:77c8e4604045	891	return osErrorResource;
mbed_official	49:77c8e4604045	892	}
mbed_official	49:77c8e4604045	893
mbed_official	49:77c8e4604045	894	rt_timer_insert(pt, tcnt);
mbed_official	49:77c8e4604045	895
mbed_official	49:77c8e4604045	896	return osOK;
mbed_official	49:77c8e4604045	897	}
mbed_official	49:77c8e4604045	898
mbed_official	49:77c8e4604045	899	/// Stop timer
mbed_official	49:77c8e4604045	900	osStatus svcTimerStop (osTimerId timer_id) {
mbed_official	49:77c8e4604045	901	os_timer_cb *pt;
mbed_official	49:77c8e4604045	902
mbed_official	49:77c8e4604045	903	pt = rt_id2obj(timer_id);
mbed_official	49:77c8e4604045	904	if (pt == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	905
mbed_official	49:77c8e4604045	906	if (pt->state != osTimerRunning) return osErrorResource;
mbed_official	49:77c8e4604045	907
mbed_official	49:77c8e4604045	908	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	909
mbed_official	49:77c8e4604045	910	if (rt_timer_remove(pt) != 0) {
mbed_official	49:77c8e4604045	911	return osErrorResource;
mbed_official	49:77c8e4604045	912	}
mbed_official	49:77c8e4604045	913
mbed_official	49:77c8e4604045	914	return osOK;
mbed_official	49:77c8e4604045	915	}
mbed_official	49:77c8e4604045	916
mbed_official	49:77c8e4604045	917	/// Delete timer
mbed_official	49:77c8e4604045	918	osStatus svcTimerDelete (osTimerId timer_id) {
mbed_official	49:77c8e4604045	919	os_timer_cb *pt;
mbed_official	49:77c8e4604045	920
mbed_official	49:77c8e4604045	921	pt = rt_id2obj(timer_id);
mbed_official	49:77c8e4604045	922	if (pt == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	923
mbed_official	49:77c8e4604045	924	switch (pt->state) {
mbed_official	49:77c8e4604045	925	case osTimerRunning:
mbed_official	49:77c8e4604045	926	rt_timer_remove(pt);
mbed_official	49:77c8e4604045	927	break;
mbed_official	49:77c8e4604045	928	case osTimerStopped:
mbed_official	49:77c8e4604045	929	break;
mbed_official	49:77c8e4604045	930	default:
mbed_official	49:77c8e4604045	931	return osErrorResource;
mbed_official	49:77c8e4604045	932	}
mbed_official	49:77c8e4604045	933
mbed_official	49:77c8e4604045	934	pt->state = osTimerInvalid;
mbed_official	49:77c8e4604045	935
mbed_official	49:77c8e4604045	936	return osOK;
mbed_official	49:77c8e4604045	937	}
mbed_official	49:77c8e4604045	938
mbed_official	49:77c8e4604045	939	/// Get timer callback parameters
mbed_official	49:77c8e4604045	940	os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
mbed_official	49:77c8e4604045	941	os_timer_cb *pt;
mbed_official	49:77c8e4604045	942	osCallback ret;
mbed_official	49:77c8e4604045	943
mbed_official	49:77c8e4604045	944	pt = rt_id2obj(timer_id);
mbed_official	49:77c8e4604045	945	if (pt == NULL) {
mbed_official	49:77c8e4604045	946	ret.fp = NULL;
mbed_official	49:77c8e4604045	947	ret.arg = NULL;
mbed_official	49:77c8e4604045	948	return osCallback_ret;
mbed_official	49:77c8e4604045	949	}
mbed_official	49:77c8e4604045	950
mbed_official	49:77c8e4604045	951	ret.fp = (void *)pt->timer->ptimer;
mbed_official	49:77c8e4604045	952	ret.arg = pt->arg;
mbed_official	49:77c8e4604045	953
mbed_official	49:77c8e4604045	954	return osCallback_ret;
mbed_official	49:77c8e4604045	955	}
mbed_official	49:77c8e4604045	956
mbed_official	49:77c8e4604045	957	static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
mbed_official	49:77c8e4604045	958
mbed_official	49:77c8e4604045	959	/// Timer Tick (called each SysTick)
mbed_official	49:77c8e4604045	960	void sysTimerTick (void) {
mbed_official	49:77c8e4604045	961	os_timer_cb pt, p;
mbed_official	49:77c8e4604045	962
mbed_official	49:77c8e4604045	963	p = os_timer_head;
mbed_official	49:77c8e4604045	964	if (p == NULL) return;
mbed_official	49:77c8e4604045	965
mbed_official	49:77c8e4604045	966	p->tcnt--;
mbed_official	49:77c8e4604045	967	while ((p != NULL) && (p->tcnt == 0)) {
mbed_official	49:77c8e4604045	968	pt = p;
mbed_official	49:77c8e4604045	969	p = p->next;
mbed_official	49:77c8e4604045	970	os_timer_head = p;
mbed_official	49:77c8e4604045	971	isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
mbed_official	49:77c8e4604045	972	if (pt->type == osTimerPeriodic) {
mbed_official	49:77c8e4604045	973	rt_timer_insert(pt, pt->icnt);
mbed_official	49:77c8e4604045	974	} else {
mbed_official	49:77c8e4604045	975	pt->state = osTimerStopped;
mbed_official	49:77c8e4604045	976	}
mbed_official	49:77c8e4604045	977	}
mbed_official	49:77c8e4604045	978	}
mbed_official	49:77c8e4604045	979
mbed_official	49:77c8e4604045	980
mbed_official	49:77c8e4604045	981	// Timer Management Public API
mbed_official	49:77c8e4604045	982
mbed_official	49:77c8e4604045	983	/// Create timer
mbed_official	49:77c8e4604045	984	osTimerId osTimerCreate (osTimerDef_t timer_def, os_timer_type type, void argument) {
mbed_official	49:77c8e4604045	985	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	986	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	987	// Privileged and not running
mbed_official	49:77c8e4604045	988	return svcTimerCreate(timer_def, type, argument);
mbed_official	49:77c8e4604045	989	} else {
mbed_official	49:77c8e4604045	990	return __svcTimerCreate(timer_def, type, argument);
mbed_official	49:77c8e4604045	991	}
mbed_official	49:77c8e4604045	992	}
mbed_official	49:77c8e4604045	993
mbed_official	49:77c8e4604045	994	/// Start or restart timer
mbed_official	49:77c8e4604045	995	osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	996	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	997	return __svcTimerStart(timer_id, millisec);
mbed_official	49:77c8e4604045	998	}
mbed_official	49:77c8e4604045	999
mbed_official	49:77c8e4604045	1000	/// Stop timer
mbed_official	49:77c8e4604045	1001	osStatus osTimerStop (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1002	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1003	return __svcTimerStop(timer_id);
mbed_official	49:77c8e4604045	1004	}
mbed_official	49:77c8e4604045	1005
mbed_official	49:77c8e4604045	1006	/// Delete timer
mbed_official	49:77c8e4604045	1007	osStatus osTimerDelete (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1008	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1009	return __svcTimerDelete(timer_id);
mbed_official	49:77c8e4604045	1010	}
mbed_official	49:77c8e4604045	1011
mbed_official	49:77c8e4604045	1012	/// INTERNAL - Not Public
mbed_official	49:77c8e4604045	1013	/// Get timer callback parameters (used by OS Timer Thread)
mbed_official	49:77c8e4604045	1014	os_InRegs osCallback osTimerCall (osTimerId timer_id) {
mbed_official	49:77c8e4604045	1015	return __svcTimerCall(timer_id);
mbed_official	49:77c8e4604045	1016	}
mbed_official	49:77c8e4604045	1017
mbed_official	49:77c8e4604045	1018
mbed_official	49:77c8e4604045	1019	// Timer Thread
mbed_official	49:77c8e4604045	1020	__NO_RETURN void osTimerThread (void const *argument) {
mbed_official	49:77c8e4604045	1021	osCallback cb;
mbed_official	49:77c8e4604045	1022	osEvent evt;
mbed_official	49:77c8e4604045	1023
mbed_official	49:77c8e4604045	1024	for (;;) {
mbed_official	49:77c8e4604045	1025	evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
mbed_official	49:77c8e4604045	1026	if (evt.status == osEventMessage) {
mbed_official	49:77c8e4604045	1027	cb = osTimerCall(evt.value.p);
mbed_official	49:77c8e4604045	1028	if (cb.fp != NULL) {
mbed_official	49:77c8e4604045	1029	(*(os_ptimer)cb.fp)(cb.arg);
mbed_official	49:77c8e4604045	1030	}
mbed_official	49:77c8e4604045	1031	}
mbed_official	49:77c8e4604045	1032	}
mbed_official	49:77c8e4604045	1033	}
mbed_official	49:77c8e4604045	1034
mbed_official	49:77c8e4604045	1035
mbed_official	49:77c8e4604045	1036	// ==== Signal Management ====
mbed_official	49:77c8e4604045	1037
mbed_official	49:77c8e4604045	1038	// Signal Service Calls declarations
mbed_official	49:77c8e4604045	1039	SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
mbed_official	49:77c8e4604045	1040	SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
mbed_official	49:77c8e4604045	1041	SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
mbed_official	49:77c8e4604045	1042	SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	1043
mbed_official	49:77c8e4604045	1044	// Signal Service Calls
mbed_official	49:77c8e4604045	1045
mbed_official	49:77c8e4604045	1046	/// Set the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1047	int32_t svcSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1048	P_TCB ptcb;
mbed_official	49:77c8e4604045	1049	int32_t sig;
mbed_official	49:77c8e4604045	1050
mbed_official	49:77c8e4604045	1051	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	1052	if (ptcb == NULL) return 0x80000000;
mbed_official	49:77c8e4604045	1053
mbed_official	49:77c8e4604045	1054	if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
mbed_official	49:77c8e4604045	1055
mbed_official	49:77c8e4604045	1056	sig = ptcb->events; // Previous signal flags
mbed_official	49:77c8e4604045	1057
mbed_official	49:77c8e4604045	1058	rt_evt_set(signals, ptcb->task_id); // Set event flags
mbed_official	49:77c8e4604045	1059
mbed_official	49:77c8e4604045	1060	return sig;
mbed_official	49:77c8e4604045	1061	}
mbed_official	49:77c8e4604045	1062
mbed_official	49:77c8e4604045	1063	/// Clear the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1064	int32_t svcSignalClear (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1065	P_TCB ptcb;
mbed_official	49:77c8e4604045	1066	int32_t sig;
mbed_official	49:77c8e4604045	1067
mbed_official	49:77c8e4604045	1068	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	1069	if (ptcb == NULL) return 0x80000000;
mbed_official	49:77c8e4604045	1070
mbed_official	49:77c8e4604045	1071	if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
mbed_official	49:77c8e4604045	1072
mbed_official	49:77c8e4604045	1073	sig = ptcb->events; // Previous signal flags
mbed_official	49:77c8e4604045	1074
mbed_official	49:77c8e4604045	1075	rt_evt_clr(signals, ptcb->task_id); // Clear event flags
mbed_official	49:77c8e4604045	1076
mbed_official	49:77c8e4604045	1077	return sig;
mbed_official	49:77c8e4604045	1078	}
mbed_official	49:77c8e4604045	1079
mbed_official	49:77c8e4604045	1080	/// Get Signal Flags status of an active thread
mbed_official	49:77c8e4604045	1081	int32_t svcSignalGet (osThreadId thread_id) {
mbed_official	49:77c8e4604045	1082	P_TCB ptcb;
mbed_official	49:77c8e4604045	1083
mbed_official	49:77c8e4604045	1084	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	1085	if (ptcb == NULL) return 0x80000000;
mbed_official	49:77c8e4604045	1086
mbed_official	49:77c8e4604045	1087	return ptcb->events; // Return event flags
mbed_official	49:77c8e4604045	1088	}
mbed_official	49:77c8e4604045	1089
mbed_official	49:77c8e4604045	1090	/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
mbed_official	49:77c8e4604045	1091	os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
mbed_official	49:77c8e4604045	1092	OS_RESULT res;
mbed_official	49:77c8e4604045	1093	osEvent ret;
mbed_official	49:77c8e4604045	1094
mbed_official	49:77c8e4604045	1095	if (signals & (0xFFFFFFFF << osFeature_Signals)) {
mbed_official	49:77c8e4604045	1096	ret.status = osErrorValue;
mbed_official	49:77c8e4604045	1097	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1098	}
mbed_official	49:77c8e4604045	1099
mbed_official	49:77c8e4604045	1100	if (signals != 0) { // Wait for all specified signals
mbed_official	49:77c8e4604045	1101	res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
mbed_official	49:77c8e4604045	1102	} else { // Wait for any signal
mbed_official	49:77c8e4604045	1103	res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
mbed_official	49:77c8e4604045	1104	}
mbed_official	49:77c8e4604045	1105
mbed_official	49:77c8e4604045	1106	if (res == OS_R_EVT) {
mbed_official	49:77c8e4604045	1107	ret.status = osEventSignal;
mbed_official	49:77c8e4604045	1108	ret.value.signals = signals ? signals : os_tsk.run->waits;
mbed_official	49:77c8e4604045	1109	} else {
mbed_official	49:77c8e4604045	1110	ret.status = millisec ? osEventTimeout : osOK;
mbed_official	49:77c8e4604045	1111	ret.value.signals = 0;
mbed_official	49:77c8e4604045	1112	}
mbed_official	49:77c8e4604045	1113
mbed_official	49:77c8e4604045	1114	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1115	}
mbed_official	49:77c8e4604045	1116
mbed_official	49:77c8e4604045	1117
mbed_official	49:77c8e4604045	1118	// Signal ISR Calls
mbed_official	49:77c8e4604045	1119
mbed_official	49:77c8e4604045	1120	/// Set the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1121	static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1122	P_TCB ptcb;
mbed_official	49:77c8e4604045	1123	int32_t sig;
mbed_official	49:77c8e4604045	1124
mbed_official	49:77c8e4604045	1125	ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
mbed_official	49:77c8e4604045	1126	if (ptcb == NULL) return 0x80000000;
mbed_official	49:77c8e4604045	1127
mbed_official	49:77c8e4604045	1128	if (signals & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
mbed_official	49:77c8e4604045	1129
mbed_official	49:77c8e4604045	1130	sig = ptcb->events; // Previous signal flags
mbed_official	49:77c8e4604045	1131
mbed_official	49:77c8e4604045	1132	isr_evt_set(signals, ptcb->task_id); // Set event flags
mbed_official	49:77c8e4604045	1133
mbed_official	49:77c8e4604045	1134	return sig;
mbed_official	49:77c8e4604045	1135	}
mbed_official	49:77c8e4604045	1136
mbed_official	49:77c8e4604045	1137
mbed_official	49:77c8e4604045	1138	// Signal Public API
mbed_official	49:77c8e4604045	1139
mbed_official	49:77c8e4604045	1140	/// Set the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1141	int32_t osSignalSet (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1142	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1143	return isrSignalSet(thread_id, signals);
mbed_official	49:77c8e4604045	1144	} else { // in Thread
mbed_official	49:77c8e4604045	1145	return __svcSignalSet(thread_id, signals);
mbed_official	49:77c8e4604045	1146	}
mbed_official	49:77c8e4604045	1147	}
mbed_official	49:77c8e4604045	1148
mbed_official	49:77c8e4604045	1149	/// Clear the specified Signal Flags of an active thread
mbed_official	49:77c8e4604045	1150	int32_t osSignalClear (osThreadId thread_id, int32_t signals) {
mbed_official	49:77c8e4604045	1151	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1152	return __svcSignalClear(thread_id, signals);
mbed_official	49:77c8e4604045	1153	}
mbed_official	49:77c8e4604045	1154
mbed_official	49:77c8e4604045	1155	/// Get Signal Flags status of an active thread
mbed_official	49:77c8e4604045	1156	int32_t osSignalGet (osThreadId thread_id) {
mbed_official	49:77c8e4604045	1157	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1158	return __svcSignalGet(thread_id);
mbed_official	49:77c8e4604045	1159	}
mbed_official	49:77c8e4604045	1160
mbed_official	49:77c8e4604045	1161	/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
mbed_official	49:77c8e4604045	1162	os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
mbed_official	49:77c8e4604045	1163	osEvent ret;
mbed_official	49:77c8e4604045	1164
mbed_official	49:77c8e4604045	1165	if (__get_IPSR() != 0) { // Not allowed in ISR
mbed_official	49:77c8e4604045	1166	ret.status = osErrorISR;
mbed_official	49:77c8e4604045	1167	return ret;
mbed_official	49:77c8e4604045	1168	}
mbed_official	49:77c8e4604045	1169	return __svcSignalWait(signals, millisec);
mbed_official	49:77c8e4604045	1170	}
mbed_official	49:77c8e4604045	1171
mbed_official	49:77c8e4604045	1172
mbed_official	49:77c8e4604045	1173	// ==== Mutex Management ====
mbed_official	49:77c8e4604045	1174
mbed_official	49:77c8e4604045	1175	// Mutex Service Calls declarations
mbed_official	49:77c8e4604045	1176	SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
mbed_official	49:77c8e4604045	1177	SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	1178	SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
mbed_official	49:77c8e4604045	1179	SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
mbed_official	49:77c8e4604045	1180
mbed_official	49:77c8e4604045	1181	// Mutex Service Calls
mbed_official	49:77c8e4604045	1182
mbed_official	49:77c8e4604045	1183	/// Create and Initialize a Mutex object
mbed_official	49:77c8e4604045	1184	osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
mbed_official	49:77c8e4604045	1185	OS_ID mut;
mbed_official	49:77c8e4604045	1186
mbed_official	49:77c8e4604045	1187	if (mutex_def == NULL) {
mbed_official	49:77c8e4604045	1188	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1189	return NULL;
mbed_official	49:77c8e4604045	1190	}
mbed_official	49:77c8e4604045	1191
mbed_official	49:77c8e4604045	1192	mut = mutex_def->mutex;
mbed_official	49:77c8e4604045	1193	if (mut == NULL) {
mbed_official	49:77c8e4604045	1194	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1195	return NULL;
mbed_official	49:77c8e4604045	1196	}
mbed_official	49:77c8e4604045	1197
mbed_official	49:77c8e4604045	1198	if (((P_MUCB)mut)->cb_type != 0) {
mbed_official	49:77c8e4604045	1199	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1200	return NULL;
mbed_official	49:77c8e4604045	1201	}
mbed_official	49:77c8e4604045	1202
mbed_official	49:77c8e4604045	1203	rt_mut_init(mut); // Initialize Mutex
mbed_official	49:77c8e4604045	1204
mbed_official	49:77c8e4604045	1205	return mut;
mbed_official	49:77c8e4604045	1206	}
mbed_official	49:77c8e4604045	1207
mbed_official	49:77c8e4604045	1208	/// Wait until a Mutex becomes available
mbed_official	49:77c8e4604045	1209	osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1210	OS_ID mut;
mbed_official	49:77c8e4604045	1211	OS_RESULT res;
mbed_official	49:77c8e4604045	1212
mbed_official	49:77c8e4604045	1213	mut = rt_id2obj(mutex_id);
mbed_official	49:77c8e4604045	1214	if (mut == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1215
mbed_official	49:77c8e4604045	1216	if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1217
mbed_official	49:77c8e4604045	1218	res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
mbed_official	49:77c8e4604045	1219
mbed_official	49:77c8e4604045	1220	if (res == OS_R_TMO) {
mbed_official	49:77c8e4604045	1221	return (millisec ? osErrorTimeoutResource : osErrorResource);
mbed_official	49:77c8e4604045	1222	}
mbed_official	49:77c8e4604045	1223
mbed_official	49:77c8e4604045	1224	return osOK;
mbed_official	49:77c8e4604045	1225	}
mbed_official	49:77c8e4604045	1226
mbed_official	49:77c8e4604045	1227	/// Release a Mutex that was obtained with osMutexWait
mbed_official	49:77c8e4604045	1228	osStatus svcMutexRelease (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1229	OS_ID mut;
mbed_official	49:77c8e4604045	1230	OS_RESULT res;
mbed_official	49:77c8e4604045	1231
mbed_official	49:77c8e4604045	1232	mut = rt_id2obj(mutex_id);
mbed_official	49:77c8e4604045	1233	if (mut == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1234
mbed_official	49:77c8e4604045	1235	if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1236
mbed_official	49:77c8e4604045	1237	res = rt_mut_release(mut); // Release Mutex
mbed_official	49:77c8e4604045	1238
mbed_official	49:77c8e4604045	1239	if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
mbed_official	49:77c8e4604045	1240
mbed_official	49:77c8e4604045	1241	return osOK;
mbed_official	49:77c8e4604045	1242	}
mbed_official	49:77c8e4604045	1243
mbed_official	49:77c8e4604045	1244	/// Delete a Mutex that was created by osMutexCreate
mbed_official	49:77c8e4604045	1245	osStatus svcMutexDelete (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1246	OS_ID mut;
mbed_official	49:77c8e4604045	1247
mbed_official	49:77c8e4604045	1248	mut = rt_id2obj(mutex_id);
mbed_official	49:77c8e4604045	1249	if (mut == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1250
mbed_official	49:77c8e4604045	1251	if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1252
mbed_official	49:77c8e4604045	1253	rt_mut_delete(mut); // Release Mutex
mbed_official	49:77c8e4604045	1254
mbed_official	49:77c8e4604045	1255	return osOK;
mbed_official	49:77c8e4604045	1256	}
mbed_official	49:77c8e4604045	1257
mbed_official	49:77c8e4604045	1258
mbed_official	49:77c8e4604045	1259	// Mutex Public API
mbed_official	49:77c8e4604045	1260
mbed_official	49:77c8e4604045	1261	/// Create and Initialize a Mutex object
mbed_official	49:77c8e4604045	1262	osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
mbed_official	49:77c8e4604045	1263	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	1264	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	1265	// Privileged and not running
mbed_official	49:77c8e4604045	1266	return svcMutexCreate(mutex_def);
mbed_official	49:77c8e4604045	1267	} else {
mbed_official	49:77c8e4604045	1268	return __svcMutexCreate(mutex_def);
mbed_official	49:77c8e4604045	1269	}
mbed_official	49:77c8e4604045	1270	}
mbed_official	49:77c8e4604045	1271
mbed_official	49:77c8e4604045	1272	/// Wait until a Mutex becomes available
mbed_official	49:77c8e4604045	1273	osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1274	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1275	return __svcMutexWait(mutex_id, millisec);
mbed_official	49:77c8e4604045	1276	}
mbed_official	49:77c8e4604045	1277
mbed_official	49:77c8e4604045	1278	/// Release a Mutex that was obtained with osMutexWait
mbed_official	49:77c8e4604045	1279	osStatus osMutexRelease (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1280	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1281	return __svcMutexRelease(mutex_id);
mbed_official	49:77c8e4604045	1282	}
mbed_official	49:77c8e4604045	1283
mbed_official	49:77c8e4604045	1284	/// Delete a Mutex that was created by osMutexCreate
mbed_official	49:77c8e4604045	1285	osStatus osMutexDelete (osMutexId mutex_id) {
mbed_official	49:77c8e4604045	1286	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1287	return __svcMutexDelete(mutex_id);
mbed_official	49:77c8e4604045	1288	}
mbed_official	49:77c8e4604045	1289
mbed_official	49:77c8e4604045	1290
mbed_official	49:77c8e4604045	1291	// ==== Semaphore Management ====
mbed_official	49:77c8e4604045	1292
mbed_official	49:77c8e4604045	1293	// Semaphore Service Calls declarations
mbed_official	49:77c8e4604045	1294	SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
mbed_official	49:77c8e4604045	1295	SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
mbed_official	49:77c8e4604045	1296	SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
mbed_official	49:77c8e4604045	1297	SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
mbed_official	49:77c8e4604045	1298
mbed_official	49:77c8e4604045	1299	// Semaphore Service Calls
mbed_official	49:77c8e4604045	1300
mbed_official	49:77c8e4604045	1301	/// Create and Initialize a Semaphore object
mbed_official	49:77c8e4604045	1302	osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
mbed_official	49:77c8e4604045	1303	OS_ID sem;
mbed_official	49:77c8e4604045	1304
mbed_official	49:77c8e4604045	1305	if (semaphore_def == NULL) {
mbed_official	49:77c8e4604045	1306	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1307	return NULL;
mbed_official	49:77c8e4604045	1308	}
mbed_official	49:77c8e4604045	1309
mbed_official	49:77c8e4604045	1310	sem = semaphore_def->semaphore;
mbed_official	49:77c8e4604045	1311	if (sem == NULL) {
mbed_official	49:77c8e4604045	1312	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1313	return NULL;
mbed_official	49:77c8e4604045	1314	}
mbed_official	49:77c8e4604045	1315
mbed_official	49:77c8e4604045	1316	if (((P_SCB)sem)->cb_type != 0) {
mbed_official	49:77c8e4604045	1317	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1318	return NULL;
mbed_official	49:77c8e4604045	1319	}
mbed_official	49:77c8e4604045	1320
mbed_official	49:77c8e4604045	1321	if (count > osFeature_Semaphore) {
mbed_official	49:77c8e4604045	1322	sysThreadError(osErrorValue);
mbed_official	49:77c8e4604045	1323	return NULL;
mbed_official	49:77c8e4604045	1324	}
mbed_official	49:77c8e4604045	1325
mbed_official	49:77c8e4604045	1326	rt_sem_init(sem, count); // Initialize Semaphore
mbed_official	49:77c8e4604045	1327
mbed_official	49:77c8e4604045	1328	return sem;
mbed_official	49:77c8e4604045	1329	}
mbed_official	49:77c8e4604045	1330
mbed_official	49:77c8e4604045	1331	/// Wait until a Semaphore becomes available
mbed_official	49:77c8e4604045	1332	int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1333	OS_ID sem;
mbed_official	49:77c8e4604045	1334	OS_RESULT res;
mbed_official	49:77c8e4604045	1335
mbed_official	49:77c8e4604045	1336	sem = rt_id2obj(semaphore_id);
mbed_official	49:77c8e4604045	1337	if (sem == NULL) return -1;
mbed_official	49:77c8e4604045	1338
mbed_official	49:77c8e4604045	1339	if (((P_SCB)sem)->cb_type != SCB) return -1;
mbed_official	49:77c8e4604045	1340
mbed_official	49:77c8e4604045	1341	res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
mbed_official	49:77c8e4604045	1342
mbed_official	49:77c8e4604045	1343	if (res == OS_R_TMO) return 0; // Timeout
mbed_official	49:77c8e4604045	1344
mbed_official	49:77c8e4604045	1345	return (((P_SCB)sem)->tokens + 1);
mbed_official	49:77c8e4604045	1346	}
mbed_official	49:77c8e4604045	1347
mbed_official	49:77c8e4604045	1348	/// Release a Semaphore
mbed_official	49:77c8e4604045	1349	osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1350	OS_ID sem;
mbed_official	49:77c8e4604045	1351
mbed_official	49:77c8e4604045	1352	sem = rt_id2obj(semaphore_id);
mbed_official	49:77c8e4604045	1353	if (sem == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1354
mbed_official	49:77c8e4604045	1355	if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1356
mbed_official	49:77c8e4604045	1357	if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
mbed_official	49:77c8e4604045	1358
mbed_official	49:77c8e4604045	1359	rt_sem_send(sem); // Release Semaphore
mbed_official	49:77c8e4604045	1360
mbed_official	49:77c8e4604045	1361	return osOK;
mbed_official	49:77c8e4604045	1362	}
mbed_official	49:77c8e4604045	1363
mbed_official	49:77c8e4604045	1364	/// Delete a Semaphore that was created by osSemaphoreCreate
mbed_official	49:77c8e4604045	1365	osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1366	OS_ID sem;
mbed_official	49:77c8e4604045	1367
mbed_official	49:77c8e4604045	1368	sem = rt_id2obj(semaphore_id);
mbed_official	49:77c8e4604045	1369	if (sem == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1370
mbed_official	49:77c8e4604045	1371	if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1372
mbed_official	49:77c8e4604045	1373	rt_sem_delete(sem); // Delete Semaphore
mbed_official	49:77c8e4604045	1374
mbed_official	49:77c8e4604045	1375	return osOK;
mbed_official	49:77c8e4604045	1376	}
mbed_official	49:77c8e4604045	1377
mbed_official	49:77c8e4604045	1378
mbed_official	49:77c8e4604045	1379	// Semaphore ISR Calls
mbed_official	49:77c8e4604045	1380
mbed_official	49:77c8e4604045	1381	/// Release a Semaphore
mbed_official	49:77c8e4604045	1382	static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1383	OS_ID sem;
mbed_official	49:77c8e4604045	1384
mbed_official	49:77c8e4604045	1385	sem = rt_id2obj(semaphore_id);
mbed_official	49:77c8e4604045	1386	if (sem == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1387
mbed_official	49:77c8e4604045	1388	if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1389
mbed_official	49:77c8e4604045	1390	if (((P_SCB)sem)->tokens == osFeature_Semaphore) return osErrorResource;
mbed_official	49:77c8e4604045	1391
mbed_official	49:77c8e4604045	1392	isr_sem_send(sem); // Release Semaphore
mbed_official	49:77c8e4604045	1393
mbed_official	49:77c8e4604045	1394	return osOK;
mbed_official	49:77c8e4604045	1395	}
mbed_official	49:77c8e4604045	1396
mbed_official	49:77c8e4604045	1397
mbed_official	49:77c8e4604045	1398	// Semaphore Public API
mbed_official	49:77c8e4604045	1399
mbed_official	49:77c8e4604045	1400	/// Create and Initialize a Semaphore object
mbed_official	49:77c8e4604045	1401	osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
mbed_official	49:77c8e4604045	1402	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	1403	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	1404	// Privileged and not running
mbed_official	49:77c8e4604045	1405	return svcSemaphoreCreate(semaphore_def, count);
mbed_official	49:77c8e4604045	1406	} else {
mbed_official	49:77c8e4604045	1407	return __svcSemaphoreCreate(semaphore_def, count);
mbed_official	49:77c8e4604045	1408	}
mbed_official	49:77c8e4604045	1409	}
mbed_official	49:77c8e4604045	1410
mbed_official	49:77c8e4604045	1411	/// Wait until a Semaphore becomes available
mbed_official	49:77c8e4604045	1412	int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1413	if (__get_IPSR() != 0) return -1; // Not allowed in ISR
mbed_official	49:77c8e4604045	1414	return __svcSemaphoreWait(semaphore_id, millisec);
mbed_official	49:77c8e4604045	1415	}
mbed_official	49:77c8e4604045	1416
mbed_official	49:77c8e4604045	1417	/// Release a Semaphore
mbed_official	49:77c8e4604045	1418	osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1419	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1420	return isrSemaphoreRelease(semaphore_id);
mbed_official	49:77c8e4604045	1421	} else { // in Thread
mbed_official	49:77c8e4604045	1422	return __svcSemaphoreRelease(semaphore_id);
mbed_official	49:77c8e4604045	1423	}
mbed_official	49:77c8e4604045	1424	}
mbed_official	49:77c8e4604045	1425
mbed_official	49:77c8e4604045	1426	/// Delete a Semaphore that was created by osSemaphoreCreate
mbed_official	49:77c8e4604045	1427	osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
mbed_official	49:77c8e4604045	1428	if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
mbed_official	49:77c8e4604045	1429	return __svcSemaphoreDelete(semaphore_id);
mbed_official	49:77c8e4604045	1430	}
mbed_official	49:77c8e4604045	1431
mbed_official	49:77c8e4604045	1432
mbed_official	49:77c8e4604045	1433	// ==== Memory Management Functions ====
mbed_official	49:77c8e4604045	1434
mbed_official	49:77c8e4604045	1435	// Memory Management Helper Functions
mbed_official	49:77c8e4604045	1436
mbed_official	49:77c8e4604045	1437	// Clear Memory Box (Zero init)
mbed_official	49:77c8e4604045	1438	static void rt_clr_box (void box_mem, void box) {
mbed_official	49:77c8e4604045	1439	uint32_t *p, n;
mbed_official	49:77c8e4604045	1440
mbed_official	49:77c8e4604045	1441	if (box) {
mbed_official	49:77c8e4604045	1442	p = box;
mbed_official	49:77c8e4604045	1443	for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
mbed_official	49:77c8e4604045	1444	*p++ = 0;
mbed_official	49:77c8e4604045	1445	}
mbed_official	49:77c8e4604045	1446	}
mbed_official	49:77c8e4604045	1447	}
mbed_official	49:77c8e4604045	1448
mbed_official	49:77c8e4604045	1449	// Memory Management Service Calls declarations
mbed_official	49:77c8e4604045	1450	SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
mbed_official	49:77c8e4604045	1451	SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
mbed_official	49:77c8e4604045	1452	SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
mbed_official	49:77c8e4604045	1453
mbed_official	49:77c8e4604045	1454	// Memory Management Service & ISR Calls
mbed_official	49:77c8e4604045	1455
mbed_official	49:77c8e4604045	1456	/// Create and Initialize memory pool
mbed_official	49:77c8e4604045	1457	osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
mbed_official	49:77c8e4604045	1458	uint32_t blk_sz;
mbed_official	49:77c8e4604045	1459
mbed_official	49:77c8e4604045	1460	if ((pool_def == NULL) \|\|
mbed_official	49:77c8e4604045	1461	(pool_def->pool_sz == 0) \|\|
mbed_official	49:77c8e4604045	1462	(pool_def->item_sz == 0) \|\|
mbed_official	49:77c8e4604045	1463	(pool_def->pool == NULL)) {
mbed_official	49:77c8e4604045	1464	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1465	return NULL;
mbed_official	49:77c8e4604045	1466	}
mbed_official	49:77c8e4604045	1467
mbed_official	49:77c8e4604045	1468	blk_sz = (pool_def->item_sz + 3) & ~3;
mbed_official	49:77c8e4604045	1469
mbed_official	49:77c8e4604045	1470	_init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
mbed_official	49:77c8e4604045	1471
mbed_official	49:77c8e4604045	1472	return pool_def->pool;
mbed_official	49:77c8e4604045	1473	}
mbed_official	49:77c8e4604045	1474
mbed_official	49:77c8e4604045	1475	/// Allocate a memory block from a memory pool
mbed_official	49:77c8e4604045	1476	void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
mbed_official	49:77c8e4604045	1477	void *ptr;
mbed_official	49:77c8e4604045	1478
mbed_official	49:77c8e4604045	1479	if (pool_id == NULL) return NULL;
mbed_official	49:77c8e4604045	1480
mbed_official	49:77c8e4604045	1481	ptr = rt_alloc_box(pool_id);
mbed_official	49:77c8e4604045	1482	if (clr) {
mbed_official	49:77c8e4604045	1483	rt_clr_box(pool_id, ptr);
mbed_official	49:77c8e4604045	1484	}
mbed_official	49:77c8e4604045	1485
mbed_official	49:77c8e4604045	1486	return ptr;
mbed_official	49:77c8e4604045	1487	}
mbed_official	49:77c8e4604045	1488
mbed_official	49:77c8e4604045	1489	/// Return an allocated memory block back to a specific memory pool
mbed_official	49:77c8e4604045	1490	osStatus sysPoolFree (osPoolId pool_id, void *block) {
mbed_official	49:77c8e4604045	1491	int32_t res;
mbed_official	49:77c8e4604045	1492
mbed_official	49:77c8e4604045	1493	if (pool_id == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1494
mbed_official	49:77c8e4604045	1495	res = rt_free_box(pool_id, block);
mbed_official	49:77c8e4604045	1496	if (res != 0) return osErrorValue;
mbed_official	49:77c8e4604045	1497
mbed_official	49:77c8e4604045	1498	return osOK;
mbed_official	49:77c8e4604045	1499	}
mbed_official	49:77c8e4604045	1500
mbed_official	49:77c8e4604045	1501
mbed_official	49:77c8e4604045	1502	// Memory Management Public API
mbed_official	49:77c8e4604045	1503
mbed_official	49:77c8e4604045	1504	/// Create and Initialize memory pool
mbed_official	49:77c8e4604045	1505	osPoolId osPoolCreate (osPoolDef_t *pool_def) {
mbed_official	49:77c8e4604045	1506	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	1507	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	1508	// Privileged and not running
mbed_official	49:77c8e4604045	1509	return svcPoolCreate(pool_def);
mbed_official	49:77c8e4604045	1510	} else {
mbed_official	49:77c8e4604045	1511	return __svcPoolCreate(pool_def);
mbed_official	49:77c8e4604045	1512	}
mbed_official	49:77c8e4604045	1513	}
mbed_official	49:77c8e4604045	1514
mbed_official	49:77c8e4604045	1515	/// Allocate a memory block from a memory pool
mbed_official	49:77c8e4604045	1516	void *osPoolAlloc (osPoolId pool_id) {
mbed_official	49:77c8e4604045	1517	if ((__get_IPSR() != 0) \|\| ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
mbed_official	49:77c8e4604045	1518	return sysPoolAlloc(pool_id, 0);
mbed_official	49:77c8e4604045	1519	} else { // in Thread
mbed_official	49:77c8e4604045	1520	return __sysPoolAlloc(pool_id, 0);
mbed_official	49:77c8e4604045	1521	}
mbed_official	49:77c8e4604045	1522	}
mbed_official	49:77c8e4604045	1523
mbed_official	49:77c8e4604045	1524	/// Allocate a memory block from a memory pool and set memory block to zero
mbed_official	49:77c8e4604045	1525	void *osPoolCAlloc (osPoolId pool_id) {
mbed_official	49:77c8e4604045	1526	if ((__get_IPSR() != 0) \|\| ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
mbed_official	49:77c8e4604045	1527	return sysPoolAlloc(pool_id, 1);
mbed_official	49:77c8e4604045	1528	} else { // in Thread
mbed_official	49:77c8e4604045	1529	return __sysPoolAlloc(pool_id, 1);
mbed_official	49:77c8e4604045	1530	}
mbed_official	49:77c8e4604045	1531	}
mbed_official	49:77c8e4604045	1532
mbed_official	49:77c8e4604045	1533	/// Return an allocated memory block back to a specific memory pool
mbed_official	49:77c8e4604045	1534	osStatus osPoolFree (osPoolId pool_id, void *block) {
mbed_official	49:77c8e4604045	1535	if ((__get_IPSR() != 0) \|\| ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
mbed_official	49:77c8e4604045	1536	return sysPoolFree(pool_id, block);
mbed_official	49:77c8e4604045	1537	} else { // in Thread
mbed_official	49:77c8e4604045	1538	return __sysPoolFree(pool_id, block);
mbed_official	49:77c8e4604045	1539	}
mbed_official	49:77c8e4604045	1540	}
mbed_official	49:77c8e4604045	1541
mbed_official	49:77c8e4604045	1542
mbed_official	49:77c8e4604045	1543	// ==== Message Queue Management Functions ====
mbed_official	49:77c8e4604045	1544
mbed_official	49:77c8e4604045	1545	// Message Queue Management Service Calls declarations
mbed_official	49:77c8e4604045	1546	SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
mbed_official	49:77c8e4604045	1547	SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	1548	SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
mbed_official	49:77c8e4604045	1549
mbed_official	49:77c8e4604045	1550	// Message Queue Service Calls
mbed_official	49:77c8e4604045	1551
mbed_official	49:77c8e4604045	1552	/// Create and Initialize Message Queue
mbed_official	49:77c8e4604045	1553	osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	1554
mbed_official	49:77c8e4604045	1555	if ((queue_def == NULL) \|\|
mbed_official	49:77c8e4604045	1556	(queue_def->queue_sz == 0) \|\|
mbed_official	49:77c8e4604045	1557	(queue_def->pool == NULL)) {
mbed_official	49:77c8e4604045	1558	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1559	return NULL;
mbed_official	49:77c8e4604045	1560	}
mbed_official	49:77c8e4604045	1561
mbed_official	49:77c8e4604045	1562	if (((P_MCB)queue_def->pool)->cb_type != 0) {
mbed_official	49:77c8e4604045	1563	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1564	return NULL;
mbed_official	49:77c8e4604045	1565	}
mbed_official	49:77c8e4604045	1566
mbed_official	49:77c8e4604045	1567	rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
mbed_official	49:77c8e4604045	1568
mbed_official	49:77c8e4604045	1569	return queue_def->pool;
mbed_official	49:77c8e4604045	1570	}
mbed_official	49:77c8e4604045	1571
mbed_official	49:77c8e4604045	1572	/// Put a Message to a Queue
mbed_official	49:77c8e4604045	1573	osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	49:77c8e4604045	1574	OS_RESULT res;
mbed_official	49:77c8e4604045	1575
mbed_official	49:77c8e4604045	1576	if (queue_id == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1577
mbed_official	49:77c8e4604045	1578	if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1579
mbed_official	49:77c8e4604045	1580	res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	1581
mbed_official	49:77c8e4604045	1582	if (res == OS_R_TMO) {
mbed_official	49:77c8e4604045	1583	return (millisec ? osErrorTimeoutResource : osErrorResource);
mbed_official	49:77c8e4604045	1584	}
mbed_official	49:77c8e4604045	1585
mbed_official	49:77c8e4604045	1586	return osOK;
mbed_official	49:77c8e4604045	1587	}
mbed_official	49:77c8e4604045	1588
mbed_official	49:77c8e4604045	1589	/// Get a Message or Wait for a Message from a Queue
mbed_official	49:77c8e4604045	1590	os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1591	OS_RESULT res;
mbed_official	49:77c8e4604045	1592	osEvent ret;
mbed_official	49:77c8e4604045	1593
mbed_official	49:77c8e4604045	1594	if (queue_id == NULL) {
mbed_official	49:77c8e4604045	1595	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1596	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1597	}
mbed_official	49:77c8e4604045	1598
mbed_official	49:77c8e4604045	1599	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	49:77c8e4604045	1600	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1601	return osEvent_ret_status;
mbed_official	49:77c8e4604045	1602	}
mbed_official	49:77c8e4604045	1603
mbed_official	49:77c8e4604045	1604	res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
mbed_official	49:77c8e4604045	1605
mbed_official	49:77c8e4604045	1606	if (res == OS_R_TMO) {
mbed_official	49:77c8e4604045	1607	ret.status = millisec ? osEventTimeout : osOK;
mbed_official	49:77c8e4604045	1608	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1609	}
mbed_official	49:77c8e4604045	1610
mbed_official	49:77c8e4604045	1611	ret.status = osEventMessage;
mbed_official	49:77c8e4604045	1612
mbed_official	49:77c8e4604045	1613	return osEvent_ret_value;
mbed_official	49:77c8e4604045	1614	}
mbed_official	49:77c8e4604045	1615
mbed_official	49:77c8e4604045	1616
mbed_official	49:77c8e4604045	1617	// Message Queue ISR Calls
mbed_official	49:77c8e4604045	1618
mbed_official	49:77c8e4604045	1619	/// Put a Message to a Queue
mbed_official	49:77c8e4604045	1620	static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	49:77c8e4604045	1621
mbed_official	49:77c8e4604045	1622	if ((queue_id == NULL) \|\| (millisec != 0)) {
mbed_official	49:77c8e4604045	1623	return osErrorParameter;
mbed_official	49:77c8e4604045	1624	}
mbed_official	49:77c8e4604045	1625
mbed_official	49:77c8e4604045	1626	if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
mbed_official	49:77c8e4604045	1627
mbed_official	49:77c8e4604045	1628	if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
mbed_official	49:77c8e4604045	1629	return osErrorResource;
mbed_official	49:77c8e4604045	1630	}
mbed_official	49:77c8e4604045	1631
mbed_official	49:77c8e4604045	1632	isr_mbx_send(queue_id, (void *)info);
mbed_official	49:77c8e4604045	1633
mbed_official	49:77c8e4604045	1634	return osOK;
mbed_official	49:77c8e4604045	1635	}
mbed_official	49:77c8e4604045	1636
mbed_official	49:77c8e4604045	1637	/// Get a Message or Wait for a Message from a Queue
mbed_official	49:77c8e4604045	1638	static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1639	OS_RESULT res;
mbed_official	49:77c8e4604045	1640	osEvent ret;
mbed_official	49:77c8e4604045	1641
mbed_official	49:77c8e4604045	1642	if ((queue_id == NULL) \|\| (millisec != 0)) {
mbed_official	49:77c8e4604045	1643	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1644	return ret;
mbed_official	49:77c8e4604045	1645	}
mbed_official	49:77c8e4604045	1646
mbed_official	49:77c8e4604045	1647	if (((P_MCB)queue_id)->cb_type != MCB) {
mbed_official	49:77c8e4604045	1648	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1649	return ret;
mbed_official	49:77c8e4604045	1650	}
mbed_official	49:77c8e4604045	1651
mbed_official	49:77c8e4604045	1652	res = isr_mbx_receive(queue_id, &ret.value.p);
mbed_official	49:77c8e4604045	1653
mbed_official	49:77c8e4604045	1654	if (res != OS_R_MBX) {
mbed_official	49:77c8e4604045	1655	ret.status = osOK;
mbed_official	49:77c8e4604045	1656	return ret;
mbed_official	49:77c8e4604045	1657	}
mbed_official	49:77c8e4604045	1658
mbed_official	49:77c8e4604045	1659	ret.status = osEventMessage;
mbed_official	49:77c8e4604045	1660
mbed_official	49:77c8e4604045	1661	return ret;
mbed_official	49:77c8e4604045	1662	}
mbed_official	49:77c8e4604045	1663
mbed_official	49:77c8e4604045	1664
mbed_official	49:77c8e4604045	1665	// Message Queue Management Public API
mbed_official	49:77c8e4604045	1666
mbed_official	49:77c8e4604045	1667	/// Create and Initialize Message Queue
mbed_official	49:77c8e4604045	1668	osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	1669	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	1670	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	1671	// Privileged and not running
mbed_official	49:77c8e4604045	1672	return svcMessageCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1673	} else {
mbed_official	49:77c8e4604045	1674	return __svcMessageCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1675	}
mbed_official	49:77c8e4604045	1676	}
mbed_official	49:77c8e4604045	1677
mbed_official	49:77c8e4604045	1678	/// Put a Message to a Queue
mbed_official	49:77c8e4604045	1679	osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
mbed_official	49:77c8e4604045	1680	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1681	return isrMessagePut(queue_id, info, millisec);
mbed_official	49:77c8e4604045	1682	} else { // in Thread
mbed_official	49:77c8e4604045	1683	return __svcMessagePut(queue_id, info, millisec);
mbed_official	49:77c8e4604045	1684	}
mbed_official	49:77c8e4604045	1685	}
mbed_official	49:77c8e4604045	1686
mbed_official	49:77c8e4604045	1687	/// Get a Message or Wait for a Message from a Queue
mbed_official	49:77c8e4604045	1688	os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1689	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1690	return isrMessageGet(queue_id, millisec);
mbed_official	49:77c8e4604045	1691	} else { // in Thread
mbed_official	49:77c8e4604045	1692	return __svcMessageGet(queue_id, millisec);
mbed_official	49:77c8e4604045	1693	}
mbed_official	49:77c8e4604045	1694	}
mbed_official	49:77c8e4604045	1695
mbed_official	49:77c8e4604045	1696
mbed_official	49:77c8e4604045	1697	// ==== Mail Queue Management Functions ====
mbed_official	49:77c8e4604045	1698
mbed_official	49:77c8e4604045	1699	// Mail Queue Management Service Calls declarations
mbed_official	49:77c8e4604045	1700	SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
mbed_official	49:77c8e4604045	1701	SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
mbed_official	49:77c8e4604045	1702	SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
mbed_official	49:77c8e4604045	1703
mbed_official	49:77c8e4604045	1704	// Mail Queue Management Service & ISR Calls
mbed_official	49:77c8e4604045	1705
mbed_official	49:77c8e4604045	1706	/// Create and Initialize mail queue
mbed_official	49:77c8e4604045	1707	osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	1708	uint32_t blk_sz;
mbed_official	49:77c8e4604045	1709	P_MCB pmcb;
mbed_official	49:77c8e4604045	1710	void *pool;
mbed_official	49:77c8e4604045	1711
mbed_official	49:77c8e4604045	1712	if ((queue_def == NULL) \|\|
mbed_official	49:77c8e4604045	1713	(queue_def->queue_sz == 0) \|\|
mbed_official	49:77c8e4604045	1714	(queue_def->item_sz == 0) \|\|
mbed_official	49:77c8e4604045	1715	(queue_def->pool == NULL)) {
mbed_official	49:77c8e4604045	1716	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1717	return NULL;
mbed_official	49:77c8e4604045	1718	}
mbed_official	49:77c8e4604045	1719
mbed_official	49:77c8e4604045	1720	pmcb = (((void *)queue_def->pool) + 0);
mbed_official	49:77c8e4604045	1721	pool = (((void *)queue_def->pool) + 1);
mbed_official	49:77c8e4604045	1722
mbed_official	49:77c8e4604045	1723	if ((pool == NULL) \|\| (pmcb == NULL) \|\| (pmcb->cb_type != 0)) {
mbed_official	49:77c8e4604045	1724	sysThreadError(osErrorParameter);
mbed_official	49:77c8e4604045	1725	return NULL;
mbed_official	49:77c8e4604045	1726	}
mbed_official	49:77c8e4604045	1727
mbed_official	49:77c8e4604045	1728	blk_sz = (queue_def->item_sz + 3) & ~3;
mbed_official	49:77c8e4604045	1729
mbed_official	49:77c8e4604045	1730	_init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
mbed_official	49:77c8e4604045	1731
mbed_official	49:77c8e4604045	1732	rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
mbed_official	49:77c8e4604045	1733
mbed_official	49:77c8e4604045	1734
mbed_official	49:77c8e4604045	1735	return queue_def->pool;
mbed_official	49:77c8e4604045	1736	}
mbed_official	49:77c8e4604045	1737
mbed_official	49:77c8e4604045	1738	/// Allocate a memory block from a mail
mbed_official	49:77c8e4604045	1739	void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
mbed_official	49:77c8e4604045	1740	P_MCB pmcb;
mbed_official	49:77c8e4604045	1741	void *pool;
mbed_official	49:77c8e4604045	1742	void *mem;
mbed_official	49:77c8e4604045	1743
mbed_official	49:77c8e4604045	1744	if (queue_id == NULL) return NULL;
mbed_official	49:77c8e4604045	1745
mbed_official	49:77c8e4604045	1746	pmcb = (((void *)queue_id) + 0);
mbed_official	49:77c8e4604045	1747	pool = (((void *)queue_id) + 1);
mbed_official	49:77c8e4604045	1748
mbed_official	49:77c8e4604045	1749	if ((pool == NULL) \|\| (pmcb == NULL)) return NULL;
mbed_official	49:77c8e4604045	1750
mbed_official	49:77c8e4604045	1751	if (isr && (millisec != 0)) return NULL;
mbed_official	49:77c8e4604045	1752
mbed_official	49:77c8e4604045	1753	mem = rt_alloc_box(pool);
mbed_official	49:77c8e4604045	1754	if (clr) {
mbed_official	49:77c8e4604045	1755	rt_clr_box(pool, mem);
mbed_official	49:77c8e4604045	1756	}
mbed_official	49:77c8e4604045	1757
mbed_official	49:77c8e4604045	1758	if ((mem == NULL) && (millisec != 0)) {
mbed_official	49:77c8e4604045	1759	// Put Task to sleep when Memory not available
mbed_official	49:77c8e4604045	1760	if (pmcb->p_lnk != NULL) {
mbed_official	49:77c8e4604045	1761	rt_put_prio((P_XCB)pmcb, os_tsk.run);
mbed_official	49:77c8e4604045	1762	} else {
mbed_official	49:77c8e4604045	1763	pmcb->p_lnk = os_tsk.run;
mbed_official	49:77c8e4604045	1764	os_tsk.run->p_lnk = NULL;
mbed_official	49:77c8e4604045	1765	os_tsk.run->p_rlnk = (P_TCB)pmcb;
mbed_official	49:77c8e4604045	1766	// Task is waiting to allocate a message
mbed_official	49:77c8e4604045	1767	pmcb->state = 3;
mbed_official	49:77c8e4604045	1768	}
mbed_official	49:77c8e4604045	1769	rt_block(rt_ms2tick(millisec), WAIT_MBX);
mbed_official	49:77c8e4604045	1770	}
mbed_official	49:77c8e4604045	1771
mbed_official	49:77c8e4604045	1772	return mem;
mbed_official	49:77c8e4604045	1773	}
mbed_official	49:77c8e4604045	1774
mbed_official	49:77c8e4604045	1775	/// Free a memory block from a mail
mbed_official	49:77c8e4604045	1776	osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
mbed_official	49:77c8e4604045	1777	P_MCB pmcb;
mbed_official	49:77c8e4604045	1778	P_TCB ptcb;
mbed_official	49:77c8e4604045	1779	void *pool;
mbed_official	49:77c8e4604045	1780	void *mem;
mbed_official	49:77c8e4604045	1781	int32_t res;
mbed_official	49:77c8e4604045	1782
mbed_official	49:77c8e4604045	1783	if (queue_id == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1784
mbed_official	49:77c8e4604045	1785	pmcb = (((void *)queue_id) + 0);
mbed_official	49:77c8e4604045	1786	pool = (((void *)queue_id) + 1);
mbed_official	49:77c8e4604045	1787
mbed_official	49:77c8e4604045	1788	if ((pmcb == NULL) \|\| (pool == NULL)) return osErrorParameter;
mbed_official	49:77c8e4604045	1789
mbed_official	49:77c8e4604045	1790	res = rt_free_box(pool, mail);
mbed_official	49:77c8e4604045	1791
mbed_official	49:77c8e4604045	1792	if (res != 0) return osErrorValue;
mbed_official	49:77c8e4604045	1793
mbed_official	49:77c8e4604045	1794	if (pmcb->state == 3) {
mbed_official	49:77c8e4604045	1795	// Task is waiting to allocate a message
mbed_official	49:77c8e4604045	1796	if (isr) {
mbed_official	49:77c8e4604045	1797	rt_psq_enq (pmcb, (U32)pool);
mbed_official	49:77c8e4604045	1798	rt_psh_req ();
mbed_official	49:77c8e4604045	1799	} else {
mbed_official	49:77c8e4604045	1800	mem = rt_alloc_box(pool);
mbed_official	49:77c8e4604045	1801	if (mem != NULL) {
mbed_official	49:77c8e4604045	1802	ptcb = rt_get_first((P_XCB)pmcb);
mbed_official	49:77c8e4604045	1803	if (pmcb->p_lnk == NULL) {
mbed_official	49:77c8e4604045	1804	pmcb->state = 0;
mbed_official	49:77c8e4604045	1805	}
mbed_official	49:77c8e4604045	1806	rt_ret_val(ptcb, (U32)mem);
mbed_official	49:77c8e4604045	1807	rt_rmv_dly(ptcb);
mbed_official	49:77c8e4604045	1808	rt_dispatch(ptcb);
mbed_official	49:77c8e4604045	1809	}
mbed_official	49:77c8e4604045	1810	}
mbed_official	49:77c8e4604045	1811	}
mbed_official	49:77c8e4604045	1812
mbed_official	49:77c8e4604045	1813	return osOK;
mbed_official	49:77c8e4604045	1814	}
mbed_official	49:77c8e4604045	1815
mbed_official	49:77c8e4604045	1816
mbed_official	49:77c8e4604045	1817	// Mail Queue Management Public API
mbed_official	49:77c8e4604045	1818
mbed_official	49:77c8e4604045	1819	/// Create and Initialize mail queue
mbed_official	49:77c8e4604045	1820	osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
mbed_official	49:77c8e4604045	1821	if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
mbed_official	49:77c8e4604045	1822	if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
mbed_official	49:77c8e4604045	1823	// Privileged and not running
mbed_official	49:77c8e4604045	1824	return svcMailCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1825	} else {
mbed_official	49:77c8e4604045	1826	return __svcMailCreate(queue_def, thread_id);
mbed_official	49:77c8e4604045	1827	}
mbed_official	49:77c8e4604045	1828	}
mbed_official	49:77c8e4604045	1829
mbed_official	49:77c8e4604045	1830	/// Allocate a memory block from a mail
mbed_official	49:77c8e4604045	1831	void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1832	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1833	return sysMailAlloc(queue_id, millisec, 1, 0);
mbed_official	49:77c8e4604045	1834	} else { // in Thread
mbed_official	49:77c8e4604045	1835	return __sysMailAlloc(queue_id, millisec, 0, 0);
mbed_official	49:77c8e4604045	1836	}
mbed_official	49:77c8e4604045	1837	}
mbed_official	49:77c8e4604045	1838
mbed_official	49:77c8e4604045	1839	/// Allocate a memory block from a mail and set memory block to zero
mbed_official	49:77c8e4604045	1840	void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1841	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1842	return sysMailAlloc(queue_id, millisec, 1, 1);
mbed_official	49:77c8e4604045	1843	} else { // in Thread
mbed_official	49:77c8e4604045	1844	return __sysMailAlloc(queue_id, millisec, 0, 1);
mbed_official	49:77c8e4604045	1845	}
mbed_official	49:77c8e4604045	1846	}
mbed_official	49:77c8e4604045	1847
mbed_official	49:77c8e4604045	1848	/// Free a memory block from a mail
mbed_official	49:77c8e4604045	1849	osStatus osMailFree (osMailQId queue_id, void *mail) {
mbed_official	49:77c8e4604045	1850	if (__get_IPSR() != 0) { // in ISR
mbed_official	49:77c8e4604045	1851	return sysMailFree(queue_id, mail, 1);
mbed_official	49:77c8e4604045	1852	} else { // in Thread
mbed_official	49:77c8e4604045	1853	return __sysMailFree(queue_id, mail, 0);
mbed_official	49:77c8e4604045	1854	}
mbed_official	49:77c8e4604045	1855	}
mbed_official	49:77c8e4604045	1856
mbed_official	49:77c8e4604045	1857	/// Put a mail to a queue
mbed_official	49:77c8e4604045	1858	osStatus osMailPut (osMailQId queue_id, void *mail) {
mbed_official	49:77c8e4604045	1859	if (queue_id == NULL) return osErrorParameter;
mbed_official	49:77c8e4604045	1860	if (mail == NULL) return osErrorValue;
mbed_official	49:77c8e4604045	1861	return osMessagePut(((void *)queue_id), (uint32_t)mail, 0);
mbed_official	49:77c8e4604045	1862	}
mbed_official	49:77c8e4604045	1863
mbed_official	49:77c8e4604045	1864	/// Get a mail from a queue
mbed_official	49:77c8e4604045	1865	os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
mbed_official	49:77c8e4604045	1866	osEvent ret;
mbed_official	49:77c8e4604045	1867
mbed_official	49:77c8e4604045	1868	if (queue_id == NULL) {
mbed_official	49:77c8e4604045	1869	ret.status = osErrorParameter;
mbed_official	49:77c8e4604045	1870	return ret;
mbed_official	49:77c8e4604045	1871	}
mbed_official	49:77c8e4604045	1872
mbed_official	49:77c8e4604045	1873	ret = osMessageGet(((void *)queue_id), millisec);
mbed_official	49:77c8e4604045	1874	if (ret.status == osEventMessage) ret.status = osEventMail;
mbed_official	49:77c8e4604045	1875
mbed_official	49:77c8e4604045	1876	return ret;
mbed_official	49:77c8e4604045	1877	}

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Type:	Library
Created:	29 Apr 2016
Imports:	2
Forks:	0
Commits:	109
Dependents:	2
Dependencies:	1
Followers:	7

rtx/TARGET_CORTEX_M/rt_CMSIS.c@53:c35dab33c427, 2014-11-26 (annotated)

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