james kain
JEK changes enabling proper recording of IMU/GPS datastrams - 02-APR-2013
Fork of
GPS_Incremental
by 
Dan Matthews
Revision 4:68268737ff89, committed 2013-03-29
- Comitter:
- jekain314
- Date:
- Fri Mar 29 20:52:24 2013 +0000
- Parent:
- 3:5913df46f94a
- Child:
- 5:46903325b61f
- Commit message:
- from Jim's site - March 29th,2013
Changed in this revision
--- a/ADIS16488.h Fri Mar 22 01:33:24 2013 +0000
+++ b/ADIS16488.h Fri Mar 29 20:52:24 2013 +0000
@@ -31,21 +31,7 @@
void IMUDataReadyISR(void)
{
- imuRec.GPSTime = GPSTimemsecs + timeFromPPS.read_us()/1000000.0;
- spi.write((int) HIGH_REGISTER[0]); // next read will return results from HIGH_REGITER[0]
- for (int i=0; i<6; i++) //read the 6 rate and accel variables
- {
- wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]) ;
- if (i<5) // dont this on the last because this was pre-called
- {
- wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]);
- }
- imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
-
- }
- IMUDataReady = true;
- IMURecordCounter++;
-
+ IMUDataReady = true;
return;
}
--- a/MODSERIAL/ChangeLog.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,165 +0,0 @@
-/* $Id:$
-
-1.23 25th July 2012
-
- * LPC1768 code as was. This release includes "alpha" support for the LPC11U24
-
-1.22 19th April 2012
-
- * http://mbed.org/forum/bugs-suggestions/topic/2936/
- * Bug fix, protect important buffer pointers from IRQ corruption.
- Credits:
- Anthony Wieser http://mbed.org/users/WieserSoftwareLtd/ for the fix.
- BlazeX http://mbed.org/users/BlazeX/ for the alert that a fix was needed!
-
-1.21 10 May 2011
-
- * http://mbed.org/forum/mbed/topic/2264
-
-1.20 26 April 2011
-
- * Bug fix, not blocking on transmit
- by Erik Petrich, http://mbed.org/forum/bugs-suggestions/topic/2200
-
-1.19 20 April 2011
-
- * Fixed some doxygen comment bugs.
-
-1.18 20 April 2011
-
- * All callbacks now use MODSERIAL_callback (rather than Mbed's FunctionPointer[1] type)
- to store and invoke it's callbacks. This allows MODSERIAL to pass a parameter
- to callbacks. The function prototype is now void func(MODSERIAL_IRQ_INFO *q).
- * Callbacks now pass a pointer to a MODSERIAL_IRQ_INFO class type.
- This class holds a pointer to the MODSERIAL object that invoked the callback
- thus freeing callbacks need to use the global variable of the original
- MODSERIAL instance.
- * MODSERIAL_IRQ_INFO also declares public functions that are protected within MODSERIAL
- thus allowing certain functions to be restricted to callback context only.
- * New function MODSERIAL_IRQ_INFO::rxDiscardLastChar() allows an rxCallback function
- to remove the character that was just placed into the RX buffer.
-
- [1] http://mbed.org/users/AjK/libraries/FPointer/latest/docs/
-
-1.17 08/Mar/2011
- Fixed a memory leak in the DMA code.
-
-1.16 - 12 Feb 2011
-
- * Missed one, doh!
-
-1.15 - 12 Feb 2011
-
- * Fixed some typos.
-
-1.14 - 7 Feb 2011
-
- * Fixed a bug in __putc() that caused the output buffer pointer to
- become corrupted.
-
-1.13 - 20/01/2011
-
- * Added extra documentation.
- * Fixed some typos.
-
-1.12 - 20/01/2011
-
- * Added new "autoDetectChar()" function. To use:-
- 1st: Add a callback to invoke when the char is detected:-
- .attach(&detectedChar, MODSERIAL::RxAutoDetect);
- 2nd: Send the char to detect.
- .autoDectectChar('\n');
- Whenever that char goes into the RX buffer your callback will be invoked.
- Added example2.cpp to demo a simple messaging system using this auto feature.
-
-
-1.11 - 23/11/2010
-
- * Fixed a minor issue with 1.10 missed an alteration of name change.
-
-1.10 - 23/11/2010
-
- * Rename the DMA callback from attach_dma_complete() to attach_dmaSendComplete()
-
-1.9 - 23/11/2010
-
- * Added support for DMA sending of characters. Required is
- the MODDMA library module:-
- http://mbed.org/users/AjK/libraries/MODDMA/latest
- See example_dma.cpp for more information.
-
-1.8 - 22/11/2010
-
- * Added code so that if a buffer is set to zero length then
- MODSERIAL defaults to just using the FIFO for that stream
- thus making the library "fall back" to teh same operation
- that the Mbed Serial library performs.
- * Removed dmaSend() function that should have been removed
- at 1.7
-
-1.7 - 21/11/2010
-
- * Remove the DMA enum from MODSERIAL.h as it's not currently
- ready for release.
- * Added page doxygen comments.
-
-1.6 - 21/11/2010
-
- * Version 1.5 solved a blocking problem on putc() when called
- from another ISR. However, isr_tx() invokes a callback of it's
- own when a byte is tranferred from TX buffer to TX FIFO. User
- programs may interpret that as an IRQ callback. That's an ISR
- call from within an existing ISR which is not good. So the
- TxIrq callback from isr_tx is now conditional. It will only
- be called when isr_tx() is actually within it's own ISR and
- not when called from alternate ISR handlers.
-
-1.5 - 21/11/2010
-
- * Calling putc() (or any derived function that uses it like
- printf()) while inside an interrupt service routine can
- cause the system to lock up if the TX buffer is full. This
- is because bytes are only transferred from the TX buffer to
- the TX FIFO via the TX ISR. If we are, say in an RX ISR already,
- then the TX ISR will never trigger. The TX buffer stays full and
- there is never space to putc() the byte. So, while putc() blocks
- waiting for space it calls isr_tx() to ensure if TX FIFO space
- becomes available it will move bytes from the TX buffer to TX
- FIFO thus removing the blocking condition within putc().
-
-1.4 - 21/11/2010
-
- * Removed all the new DMA code. I wish mbed.org had proper SVN
- versioning, I'm use to working in HEAD and BRANCHES after I've
- released a project. Getting bug reports in current releases
- while trying to dev new code is hard to manage without source
- control of some type!
-
-1.3 - 21/11/2010
-
- * Fixed a macro problem with txIsBusy()
- * Started adding code to use "block data" sending using DMA
- * Removed #include "IOMACROS.h"
-
-1.2 - 21/11/2010
-
- * Removed unsed variables from flushBuffer()
- * Fixed a bug where both RX AND TX fifos are cleared/reset
- when just TX OR RX should be cleared.
- * Fixed a bug that cleared IIR when in fact it should be left
- alone so that any pending interrupt after flush is handled.
- * Merged setBase() into init() as it wasn't required anywhere else.
- * Changed init() to enforce _uidx is set by Serial to define the _base
- address of the Uart in use.
-
-1.1 - 20/11/2010
-
- * Added this file
- * Removed cruft from GETC.cpp
- * "teh" should be "the", why do my fingers do that?
-
-1.0 - 20/11/2010
-
- * First release.
-
-*/
\ No newline at end of file
--- a/MODSERIAL/FLUSH.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,47 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-void
-MODSERIAL::flushBuffer(IrqType type)
-{
- uint32_t ier = _IER;
- switch(type) {
- case TxIrq: _IER &= ~(1UL << 1); break;
- case RxIrq: _IER &= ~(1UL << 0); break;
- }
- buffer_in[type] = 0;
- buffer_out[type] = 0;
- buffer_count[type] = 0;
- buffer_overflow[type] = 0;
- switch(type) {
- case TxIrq: _FCR = MODSERIAL_FIFO_TX_RESET; break;
- case RxIrq: _FCR = MODSERIAL_FIFO_RX_RESET; break;
- }
- _IER = ier;
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/GETC.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,65 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-int
-MODSERIAL::__getc(bool block)
-{
- // If no buffer is in use fall back to standard RX FIFO usage.
- // Note, we must block in this case and ignore bool "block"
- // so as to maintain compat with Mbed Serial.
- if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
- while(! MODSERIAL_RBR_HAS_DATA ) ;
- return (int)(_RBR & 0xFF);
- }
-
- if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks.
- else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1;
-
- int c = buffer[RxIrq][buffer_out[RxIrq]];
- buffer_out[RxIrq]++;
- if (buffer_out[RxIrq] >= buffer_size[RxIrq]) {
- buffer_out[RxIrq] = 0;
- }
-
- // If we have made space in the RX Buffer then copy over
- // any characters in the RX FIFO that my reside there.
- // Temporarily disable the RX IRQ so that we do not re-enter
- // it under interrupts.
- if ( ! MODSERIAL_RX_BUFFER_FULL ) {
- uint32_t ier = _IER;
- _IER &= ~(1UL << 0);
- isr_rx();
- _IER = ier;
- }
-
- __disable_irq();
- buffer_count[RxIrq]--;
- __enable_irq();
- return c;
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/INIT.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-void
-MODSERIAL::init( int txSize, int rxSize )
-{
- disableIrq();
-
- callbackInfo.setSerial(this);
-
-#ifdef __LPC11UXX_H__
-
- _base = LPC_USART;
-
-#else
- switch(_uidx) {
- case 0: _base = LPC_UART0; break;
- case 1: _base = LPC_UART1; break;
- case 2: _base = LPC_UART2; break;
- case 3: _base = LPC_UART3; break;
- default : _base = NULL; break;
- }
-#endif
-
- dmaSendChannel = -1;
- moddma_p = (void *)NULL;
-
- if (_base != NULL) {
- buffer_size[RxIrq] = rxSize;
- buffer[RxIrq] = rxSize > 0 ? (char *)malloc(buffer_size[RxIrq]) : (char *)NULL;
- buffer_in[RxIrq] = 0;
- buffer_out[RxIrq] = 0;
- buffer_count[RxIrq] = 0;
- buffer_overflow[RxIrq] = 0;
- Serial::attach(this, &MODSERIAL::isr_rx, Serial::RxIrq);
-
- buffer_size[TxIrq] = txSize;
- buffer[TxIrq] = txSize > 0 ? (char *)malloc(buffer_size[TxIrq]) : (char *)NULL;
- buffer_in[TxIrq] = 0;
- buffer_out[TxIrq] = 0;
- buffer_count[TxIrq] = 0;
- buffer_overflow[TxIrq] = 0;
- Serial::attach(this, &MODSERIAL::isr_tx, Serial::TxIrq);
- }
- else {
- error("MODSERIAL must have a defined UART to function.");
- }
-
- _FCR = MODSERIAL_FIFO_ENABLE | MODSERIAL_FIFO_RX_RESET | MODSERIAL_FIFO_TX_RESET;
-
- auto_detect_char = 0;
-
- enableIrq();
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/ISR_RX.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,60 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-void
-MODSERIAL::isr_rx(void)
-{
- if (! _base || buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) {
- _isr[RxIrq].call(&this->callbackInfo);
- return;
- }
-
- while( MODSERIAL_RBR_HAS_DATA ) {
- rxc = (char)(_RBR & 0xFF);
- if ( MODSERIAL_RX_BUFFER_FULL ) {
- buffer_overflow[RxIrq] = rxc; // Oh dear, no room in buffer.
- _isr[RxOvIrq].call(&this->callbackInfo);
- }
- else {
- if (buffer[RxIrq] != (char *)NULL) {
- buffer[RxIrq][buffer_in[RxIrq]] = rxc;
- buffer_count[RxIrq]++;
- buffer_in[RxIrq]++;
- if (buffer_in[RxIrq] >= buffer_size[RxIrq]) {
- buffer_in[RxIrq] = 0;
- }
- }
- _isr[RxIrq].call(&this->callbackInfo);
- }
- if (auto_detect_char == rxc) {
- _isr[RxAutoDetect].call(&this->callbackInfo);
- }
- }
-}
-
-}; // namespace AjK ends
-
--- a/MODSERIAL/ISR_TX.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-void
-MODSERIAL::isr_tx(bool doCallback)
-{
- if (! _base || buffer_size[TxIrq] == 0 || buffer[TxIrq] == (char *)NULL) {
- _isr[TxIrq].call(&this->callbackInfo);
- return;
- }
-
- while (! MODSERIAL_TX_BUFFER_EMPTY && MODSERIAL_THR_HAS_SPACE ) {
- _THR = txc = (uint8_t)(buffer[TxIrq][buffer_out[TxIrq]]);
- buffer_count[TxIrq]--;
- buffer_out[TxIrq]++;
- if (buffer_out[TxIrq] >= buffer_size[TxIrq]) {
- buffer_out[TxIrq] = 0;
- }
- if (doCallback) _isr[TxIrq].call(&this->callbackInfo);
- }
-
- if ( MODSERIAL_TX_BUFFER_EMPTY ) {
- _IER = 1;
- _isr[TxEmpty].call(&this->callbackInfo);
- }
-}
-
-}; // namespace AjK ends
-
-
--- a/MODSERIAL/MACROS.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,70 +0,0 @@ -/* - Copyright (c) 2010 Andy Kirkham - - Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - - The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - - THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. -*/ - -#ifndef MODSERIAL_MACROS_H -#define MODSERIAL_MACROS_H - -#define MODSERIAL_RBR 0x00 -#define MODSERIAL_THR 0x00 -#define MODSERIAL_DLL 0x00 -#define MODSERIAL_IER 0x04 -#define MODSERIAL_DML 0x04 -#define MODSERIAL_IIR 0x08 -#define MODSERIAL_FCR 0x08 -#define MODSERIAL_LCR 0x0C -#define MODSERIAL_LSR 0x14 -#define MODSERIAL_SCR 0x1C -#define MODSERIAL_ACR 0x20 -#define MODSERIAL_ICR 0x24 -#define MODSERIAL_FDR 0x28 -#define MODSERIAL_TER 0x30 - -#define MODSERIAL_LSR_RDR (1UL << 0) -#define MODSERIAL_LSR_OE (1UL << 1) -#define MODSERIAL_LSR_PE (1UL << 2) -#define MODSERIAL_LSR_FE (1UL << 3) -#define MODSERIAL_LSR_BR (1UL << 4) -#define MODSERIAL_LSR_THRE (1UL << 5) -#define MODSERIAL_LSR_TEMT (1UL << 6) -#define MODSERIAL_LSR_RXFE (1UL << 7) - -#define MODSERIAL_FIFO_ENABLE 1 -#define MODSERIAL_FIFO_RX_RESET 2 -#define MODSERIAL_FIFO_TX_RESET 4 - -#define _RBR *((char *)_base+MODSERIAL_RBR) -#define _THR *((char *)_base+MODSERIAL_THR) -#define _IIR *((char *)_base+MODSERIAL_IIR) -#define _IER *((char *)_base+MODSERIAL_IER) -#define _LSR *((char *)_base+MODSERIAL_LSR) -#define _FCR *((char *)_base+MODSERIAL_FCR) - -#define MODSERIAL_TX_BUFFER_EMPTY (buffer_count[TxIrq]==0) -#define MODSERIAL_RX_BUFFER_EMPTY (buffer_count[RxIrq]==0) -#define MODSERIAL_TX_BUFFER_FULL (buffer_count[TxIrq]==buffer_size[TxIrq]) -#define MODSERIAL_RX_BUFFER_FULL (buffer_count[RxIrq]==buffer_size[RxIrq]) - -#define MODSERIAL_THR_HAS_SPACE ((int)_LSR&MODSERIAL_LSR_THRE) -#define MODSERIAL_TEMT_IS_EMPTY ((int)_LSR&MODSERIAL_LSR_TEMT) -#define MODSERIAL_RBR_HAS_DATA ((int)_LSR&MODSERIAL_LSR_RDR) - -#endif
--- a/MODSERIAL/MODSERIAL.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,137 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file MODSERIAL.h
- @purpose Extends Serial to provide fully buffered IO
- @version 1.6
- @date Nov 2010
- @author Andy Kirkham
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-MODSERIAL::MODSERIAL( PinName tx, PinName rx, const char *name ) : Serial( tx, rx, name )
-{
- init( MODSERIAL_DEFAULT_TX_BUFFER_SIZE, MODSERIAL_DEFAULT_RX_BUFFER_SIZE );
-}
-
-MODSERIAL::MODSERIAL( PinName tx, PinName rx, int bufferSize, const char *name ) : Serial( tx, rx, name )
-{
- init( bufferSize, bufferSize );
-}
-
-MODSERIAL::MODSERIAL( PinName tx, PinName rx, int txSize, int rxSize, const char *name ) : Serial( tx, rx, name )
-{
- init( txSize, rxSize );
-}
-
-MODSERIAL::~MODSERIAL()
-{
- disableIrq();
- if ( buffer[0] != NULL) free((char *)buffer[0] );
- if ( buffer[1] != NULL) free((char *)buffer[1] );
-}
-
-bool
-MODSERIAL::txBufferFull( void )
-{
- return MODSERIAL_TX_BUFFER_FULL;
-}
-
-bool
-MODSERIAL::rxBufferFull( void )
-{
- return MODSERIAL_RX_BUFFER_FULL;
-}
-
-bool
-MODSERIAL::txBufferEmpty( void )
-{
- return MODSERIAL_TX_BUFFER_EMPTY;
-}
-
-bool
-MODSERIAL::rxBufferEmpty( void )
-{
- return MODSERIAL_RX_BUFFER_EMPTY;
-}
-
-bool
-MODSERIAL::txIsBusy( void )
-{
- return ( _LSR & ( 3UL << 5 ) == 0 ) ? true : false;
-}
-
-void
-MODSERIAL::disableIrq( void )
-{
-
-#ifdef __LPC11UXX_H__
- NVIC_DisableIRQ( UART_IRQn );
-#else
- switch(_uidx) {
- case 0: NVIC_DisableIRQ( UART0_IRQn ); break;
- case 1: NVIC_DisableIRQ( UART1_IRQn ); break;
- case 2: NVIC_DisableIRQ( UART2_IRQn ); break;
- case 3: NVIC_DisableIRQ( UART3_IRQn ); break;
- }
-#endif
-}
-
-void
-MODSERIAL::enableIrq(void)
-{
-#ifdef __LPC11UXX_H__
- NVIC_EnableIRQ( UART_IRQn );
-#else
- switch( _uidx ) {
- case 0: NVIC_EnableIRQ( UART0_IRQn ); break;
- case 1: NVIC_EnableIRQ( UART1_IRQn ); break;
- case 2: NVIC_EnableIRQ( UART2_IRQn ); break;
- case 3: NVIC_EnableIRQ( UART3_IRQn ); break;
- }
-#endif
-}
-
-int
-MODSERIAL::rxDiscardLastChar( void )
-{
- // This function can only be called indirectly from
- // an rxCallback function. Therefore, we know we
- // just placed a char into the buffer.
- char c = buffer[RxIrq][buffer_in[RxIrq]];
-
- if (buffer_count[RxIrq]) {
- buffer_count[RxIrq]--;
- buffer_in[RxIrq]--;
- if (buffer_in[RxIrq] < 0) {
- buffer_in[RxIrq] = buffer_size[RxIrq] - 1;
- }
- }
-
- return (int)c;
-}
-
-
-}; // namespace AjK ends
--- a/MODSERIAL/MODSERIAL.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1091 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file MODSERIAL.h
- @purpose Extends Serial to provide fully buffered IO
- @version see ChangeLog.c
- @date Nov 2010
- @author Andy Kirkham
-*/
-
-#ifndef MODSERIAL_H
-#define MODSERIAL_H
-
-/** @defgroup API The MODSERIAL API */
-/** @defgroup MISC Misc MODSERIAL functions */
-/** @defgroup INTERNALS MODSERIAL Internals */
-
-#ifndef MODSERIAL_DEFAULT_RX_BUFFER_SIZE
-#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
-#endif
-
-#ifndef MODSERIAL_DEFAULT_TX_BUFFER_SIZE
-#define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 256
-#endif
-
-#include "mbed.h"
-
-namespace AjK {
-
-// Forward reference.
-class MODSERIAL;
-
-/**
- * @author Andy Kirkham
- * @see http://mbed.org/cookbook/MODSERIAL
- * @see example3a.cpp
- * @see example3b.cpp
- * @see API
- *
- * <b>MODSERIAL_IRQ_INFO</b> is a class used to pass information (and access to protected
- * MODSERIAL functions) to IRQ callbacks.
- */
-class MODSERIAL_IRQ_INFO
-{
-public:
- friend class MODSERIAL;
-
- MODSERIAL *serial;
-
- MODSERIAL_IRQ_INFO() { serial = 0; }
-
- /** rxDiscardLastChar()
- *
- * Remove the last char placed into the rx buffer.
- * This is an operation that can only be performed
- * by an rxCallback function.
- * @ingroup API
- * @return The byte removed from the buffer.
- */
- int rxDiscardLastChar(void);
-
-protected:
-
- /** setSerial()
- *
- * Used internally by MODSERIAL to set the "this" pointer
- * of the MODSERIAL that created this object.
- * @ingroup INTERNAL
- * @param A pointer to a MODSERIAL object instance.
- */
- void setSerial(MODSERIAL *s) { serial = s; }
-};
-
-// Forward reference dummy class.
-class MODSERIAL_callback_dummy;
-
-/**
- * @author Andy Kirkham
- * @see http://mbed.org/cookbook/MODSERIAL
- * @see example3a.cpp
- * @see example3b.cpp
- * @see API
- *
- * <b>MODSERIAL_callback</b> is a class used to hold application callbacks that
- * MODSERIAL can invoke on certain events.
- */
-class MODSERIAL_callback
-{
-protected:
-
- //! C callback function pointer.
- void (*c_callback)(MODSERIAL_IRQ_INFO *);
-
- //! C++ callback object/method pointer (the object part).
- MODSERIAL_callback_dummy *obj_callback;
-
- //! C++ callback object/method pointer (the method part).
- void (MODSERIAL_callback_dummy::*method_callback)(MODSERIAL_IRQ_INFO *);
-
-public:
-
- /** Constructor
- */
- MODSERIAL_callback() {
- c_callback = 0;
- obj_callback = 0;
- method_callback = 0;
- }
-
- /** attach - Overloaded attachment function.
- *
- * Attach a C type function pointer as the callback.
- *
- * Note, the callback function prototype must be:-
- * @code
- * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
- * @endcode
- * @param A C function pointer to call.
- */
- void attach(void (*function)(MODSERIAL_IRQ_INFO *) = 0) { c_callback = function; }
-
- /** attach - Overloaded attachment function.
- *
- * Attach a C++ type object/method pointer as the callback.
- *
- * Note, the callback method prototype must be:-
- * @code
- * public:
- * void myCallbackFunction(MODSERIAL_IRQ_INFO *);
- * @endcode
- * @param A C++ object pointer.
- * @param A C++ method within the object to call.
- */
- template<class T>
- void attach(T* item, void (T::*method)(MODSERIAL_IRQ_INFO *)) {
- obj_callback = (MODSERIAL_callback_dummy *)item;
- method_callback = (void (MODSERIAL_callback_dummy::*)(MODSERIAL_IRQ_INFO *))method;
- }
-
- /** call - Overloaded callback initiator.
- *
- * call the callback function.
- *
- * @param A pointer to a MODSERIAL_IRQ_INFO object.
- */
- void call(MODSERIAL_IRQ_INFO *arg) {
- if (c_callback != 0) {
- (*c_callback)(arg);
- }
- else {
- if (obj_callback != 0 && method_callback != 0) {
- (obj_callback->*method_callback)(arg);
- }
- }
- }
-};
-
-/**
- * @author Andy Kirkham
- * @see http://mbed.org/cookbook/MODSERIAL
- * @see http://mbed.org/handbook/Serial
- * @see example1.cpp
- * @see example2.cpp
- * @see example3a.cpp
- * @see example3b.cpp
- * @see example_dma.cpp
- * @see API
- *
- * <b>MODSERIAL</b> extends the Mbed library <a href="/handbook/Serial">Serial</a> to provide fully buffered
- * TX and RX streams. Buffer length is fully customisable.
- *
- * Before using MODSERIAL users should be familar with Mbed's standard <a href="/handbook/Serial">Serial</a>
- * library object. MODSERIAL is a direct "drop in" replacement for <a href="/handbook/Serial">Serial</a>. Where
- * previously Serial was used, MODSERIAL can be used as adirect replacement instantly offering standard
- * TX and RX buffering. By default, both TX and RX buffers are 256 bytes in length.
- *
- * @image html /media/uploads/mbedofficial/serial_interfaces.png
- *
- * Standard example:
- * @code
- * #include "mbed.h"
- * #include "MODSERIAL.h"
- *
- * MODSERIAL pc(USBTX, USBRX); // tx, rx
- *
- * int main() {
- * pc.printf("Hello World!");
- * while(1) {
- * pc.putc(pc.getc() + 1);
- * }
- * }
- * @endcode
- *
- * Example with alternate buffer length:
- * @code
- * #include "mbed.h"
- * #include "MODSERIAL.h"
- *
- * // Make TX and RX buffers 512byes in length
- * MODSERIAL pc(USBTX, USBRX, 512); // tx, rx
- *
- * int main() {
- * pc.printf("Hello World!");
- * while(1) {
- * pc.putc(pc.getc() + 1);
- * }
- * }
- * @endcode
- *
- * Example with alternate buffer length:
- * @code
- * #include "mbed.h"
- * #include "MODSERIAL.h"
- *
- * // Make TX 1024bytes and RX 512byes in length
- * MODSERIAL pc(USBTX, USBRX, 1024, 512); // tx, rx
- *
- * int main() {
- * pc.printf("Hello World!");
- * while(1) {
- * pc.putc(pc.getc() + 1);
- * }
- * }
- * @endcode
- */
-class MODSERIAL : public Serial
-{
-public:
-
- // Allow instances of MODSERIAL_IRQ_INFO to use protected properties and methods.
- friend class MODSERIAL_IRQ_INFO;
-
- //! A copy of the Serial parity enum
- /** @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.format */
- enum Parity {
- None = 0
- , Odd
- , Even
- , Forced1
- , Forced0
- };
-
- //! A copy of the Serial IrqType enum
- enum IrqType {
- RxIrq = 0
- , TxIrq
- , RxOvIrq
- , TxOvIrq
- , TxEmpty
- , RxAutoDetect
- , NumOfIrqTypes
- };
-
- //! Non-blocking functions return code.
- enum Result {
- Ok = 0 /*!< Ok. */
- , NoMemory = -1 /*!< Memory allocation failed. */
- , NoChar = -1 /*!< No character in buffer. */
- , BufferOversize = -2 /*!< Oversized buffer. */
- };
-
- /**
- * The MODSERIAL constructor is used to initialise the serial object.
- *
- * @param tx PinName of the TX pin.
- * @param rx PinName of the TX pin.
- * @param name An option name for RPC usage.
- */
- MODSERIAL(PinName tx, PinName rx, const char *name = NULL);
-
- /**
- * The MODSERIAL constructor is used to initialise the serial object.
- *
- * @param tx PinName of the TX pin.
- * @param rx PinName of the TX pin.
- * @param bufferSize Integer of the TX and RX buffer sizes.
- * @param name An option name for RPC usage.
- */
- MODSERIAL(PinName tx, PinName rx, int bufferSize, const char *name = NULL);
-
- /**
- * The MODSERIAL constructor is used to initialise the serial object.
- *
- * @param tx PinName of the TX pin.
- * @param rx PinName of the TX pin.
- * @param txBufferSize Integer of the TX buffer sizes.
- * @param rxBufferSize Integer of the RX buffer sizes.
- * @param name An option name for RPC usage.
- */
- MODSERIAL(PinName tx, PinName rx, int txBufferSize, int rxBufferSize, const char *name = NULL);
-
- virtual ~MODSERIAL();
-
- /**
- * Function: attach
- *
- * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
- * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
- * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
- * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
- * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
- * be used.
- *
- * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
- * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
- * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
- * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
- * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
- * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
- * never come into play.
- *
- * @code
- * #include "mbed.h"
- * #include "MODSERIAL.h"
- *
- * DigitalOut led1(LED1);
- * DigitalOut led2(LED2);
- * DigitalOut led3(LED3);
- *
- * // To test, connect p9 to p10 as a loopback.
- * MODSERIAL pc(p9, p10);
- *
- * // This function is called when a character goes into the TX buffer.
- * void txCallback(void) {
- * led2 = !led2;
- * }
- *
- * // This function is called when a character goes into the RX buffer.
- * void rxCallback(void) {
- * led3 = !led3;
- * }
- *
- * int main() {
- * pc.baud(115200);
- * pc.attach(&txCallback, MODSERIAL::TxIrq);
- * pc.attach(&rxCallback, MODSERIAL::RxIrq);
- *
- * while(1) {
- * led1 = !led1;
- * wait(0.5);
- * pc.putc('A');
- * wait(0.5);
- * }
- * ]
- * @endcode
- *
- * @ingroup API
- * @param fptr A pointer to a void function, or 0 to set as none
- * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
- */
- void attach(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[type].attach(fptr); }
-
- /**
- * Function: attach
- *
- * The Mbed standard <a href="/handbook/Serial">Serial</a> library object allows an interrupt callback
- * to be made when a byte is received by the TX or RX UART hardware. MODSERIAL traps these interrupts
- * to enable it's buffering system. However, after the byte has been received/sent under interrupt control,
- * MODSERIAL can callback a user function as a notification of the interrupt. Note, user code should not
- * directly interact with the Uart hardware, MODSERIAL does that, instead, MODSERIAL API functions should
- * be used.
- *
- * <b>Note</b>, a character is written out then, if there is room in the TX FIFO and the TX buffer is empty,
- * putc() will put the character directly into THR (the output holding register). If the TX FIFO is full and
- * cannot accept the character, it is placed into the TX output buffer. The TX interrupts are then enabled
- * so that when the TX FIFO empties, the TX buffer is then transferred to the THR FIFO. The TxIrq will ONLY
- * be activated when this transfer of a character from BUFFER to THR FIFO takes place. If your character
- * throughput is not high bandwidth, then the 16 byte TX FIFO may be enough and the TX output buffer may
- * never come into play.
- *
- * @code
- * #include "mbed.h"
- * #include "MODSERIAL.h"
- *
- * DigitalOut led1(LED1);
- * DigitalOut led2(LED2);
- * DigitalOut led3(LED3);
- *
- * // To test, connect p9 to p10 as a loopback.
- * MODSERIAL pc(p9, p10);
- *
- * class Foo {
- * public:
- * // This method is called when a character goes into the TX buffer.
- * void txCallback(void) { led2 = !led2; }
- *
- * // This method is called when a character goes into the RX buffer.
- * void rxCallback(void) { led3 = !led3; }
- * };
- *
- * Foo foo;
- *
- * int main() {
- * pc.baud(115200);
- * pc.attach(&foo, &Foo::txCallback, MODSERIAL::TxIrq);
- * pc.attach(&foo, &Foo::rxCallback, MODSERIAL::RxIrq);
- *
- * while(1) {
- * led1 = !led1;
- * wait(0.5);
- * pc.putc('A');
- * wait(0.5);
- * }
- * ]
- * @endcode
- *
- * @ingroup API
- * @param tptr A pointer to the object to call the member function on
- * @param mptr A pointer to the member function to be called
- * @param type Which serial interrupt to attach the member function to (Seriall::RxIrq for receive, TxIrq for transmit buffer empty)
- */
- template<typename T>
- void attach(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
- if((mptr != 0) && (tptr != 0)) {
- _isr[type].attach(tptr, mptr);
- }
- }
-
- /**
- * @see attach
- * @ingroup API
- */
- void connect(void (*fptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) { _isr[RxIrq].attach(fptr); }
-
- /**
- * @see attach
- * @ingroup API
- */
- template<typename T>
- void connect(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *), IrqType type = RxIrq) {
- if((mptr != 0) && (tptr != 0)) {
- _isr[type].attach(tptr, mptr);
- }
- }
-
- /**
- * Function: writeable
- *
- * Determine if there is space available to write a byte
- *
- * @ingroup API
- * @return 1 if there is space to write a character, else 0
- */
- int writeable() { return txBufferFull() ? 0 : 1; }
-
- /**
- * Function: readable
- *
- * Determine if there is a byte available to read
- *
- * @ingroup API
- * @return 1 if there is a character available to read, else 0
- */
- int readable() { return rxBufferEmpty() ? 0 : 1; }
-
- /**
- * Function: txBufferSane
- *
- * Determine if the TX buffer has been initialized.
- *
- * @ingroup API
- * @return true if the buffer is initialized, else false
- */
- bool txBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
-
- /**
- * Function: rxBufferSane
- *
- * Determine if the RX buffer has been initialized.
- *
- * @ingroup API
- * @return true if the buffer is initialized, else false
- */
- bool rxBufferSane(void) { return buffer[TxIrq] != (char *)NULL ? true : false; }
-
- /**
- * Function: txBufferGetCount
- *
- * Returns how many bytes are in the TX buffer
- *
- * @ingroup API
- * @return The number of bytes in the TX buffer
- */
- int txBufferGetCount(void) { return buffer_count[TxIrq]; }
-
- /**
- * Function: rxBufferGetCount
- *
- * Returns how many bytes are in the RX buffer
- *
- * @ingroup API
- * @return The number of bytes in the RX buffer
- */
- int rxBufferGetCount(void) { return buffer_count[RxIrq]; }
-
- /**
- * Function: txBufferGetSize
- *
- * Returns the current size of the TX buffer
- *
- * @ingroup API
- * @return The length iof the TX buffer in bytes
- */
- int txBufferGetSize(int size) { return buffer_size[TxIrq]; }
-
- /**
- * Function: rxBufferGetSize
- *
- * Returns the current size of the RX buffer
- *
- * @ingroup API
- * @return The length iof the RX buffer in bytes
- */
- int rxBufferGetSize(int size) { return buffer_size[RxIrq]; }
-
- /**
- * Function: txBufferFull
- *
- * Is the TX buffer full?
- *
- * @ingroup API
- * @return true if the TX buffer is full, otherwise false
- */
- bool txBufferFull(void);
-
- /**
- * Function: rxBufferFull
- *
- * Is the RX buffer full?
- *
- * @ingroup API
- * @return true if the RX buffer is full, otherwise false
- */
- bool rxBufferFull(void);
-
- /**
- * Function: txBufferEmpty
- *
- * Is the TX buffer empty?
- *
- * @ingroup API
- * @return true if the TX buffer is empty, otherwise false
- */
- bool txBufferEmpty(void);
-
- /**
- * Function: rxBufferEmpty
- *
- * Is the RX buffer empty?
- *
- * @ingroup API
- * @return true if the RX buffer is empty, otherwise false
- */
- bool rxBufferEmpty(void);
-
- /**
- * Function: txBufferSetSize
- *
- * Change the TX buffer size.
- *
- * @see Result
- * @ingroup API
- * @param size The new TX buffer size in bytes.
- * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
- * @return Result Ok on success.
- */
- int txBufferSetSize(int size, bool m) { return resizeBuffer(size, TxIrq, m); }
-
- /**
- * Function: rxBufferSetSize
- *
- * Change the RX buffer size.
- *
- * @see Result
- * @ingroup API
- * @param size The new RX buffer size in bytes.
- * @param m Perform a memory sanity check. Errs the Mbed if memory alloc fails.
- * @return Result Ok on success.
- */
- int rxBufferSetSize(int size, bool m) { return resizeBuffer(size, RxIrq, m); }
-
- /**
- * Function: txBufferSetSize
- *
- * Change the TX buffer size.
- * Always performs a memory sanity check, halting the Mbed on failure.
- *
- * @see Result
- * @ingroup API
- * @param size The new TX buffer size in bytes.
- * @return Result Ok on success.
- */
- int txBufferSetSize(int size) { return resizeBuffer(size, TxIrq, true); }
-
- /**
- * Function: rxBufferSetSize
- *
- * Change the RX buffer size.
- * Always performs a memory sanity check, halting the Mbed on failure.
- *
- * @see Result
- * @ingroup API
- * @param size The new RX buffer size in bytes.
- * @return Result Ok on success.
- */
- int rxBufferSetSize(int size) { return resizeBuffer(size, RxIrq, true); }
-
- /**
- * Function: txBufferFlush
- *
- * Remove all bytes from the TX buffer.
- * @ingroup API
- */
- void txBufferFlush(void) { flushBuffer(TxIrq); }
-
- /**
- * Function: rxBufferFlush
- *
- * Remove all bytes from the RX buffer.
- * @ingroup API
- */
- void rxBufferFlush(void) { flushBuffer(RxIrq); }
-
- /**
- * Function: getcNb
- *
- * Like getc() but is non-blocking. If no bytes are in the RX buffer this
- * function returns Result::NoChar (-1)
- *
- * @ingroup API
- * @return A byte from the RX buffer or Result::NoChar (-1) if bufer empty.
- */
- int getcNb() { return __getc(false); }
-
- /**
- * Function: getc
- *
- * Overloaded version of Serial::getc()
- *
- * This function blocks (if the RX buffer is empty the function will wait for a
- * character to arrive and then return that character).
- *
- * @ingroup API
- * @return A byte from the RX buffer
- */
- int getc() { return __getc(true); }
-
- /**
- * Function: txGetLastChar
- *
- * Rteurn the last byte to pass through the TX interrupt handler.
- *
- * @ingroup MISC
- * @return The byte
- */
- char txGetLastChar(void) { return txc; }
-
- /**
- * Function: rxGetLastChar
- *
- * Return the last byte to pass through the RX interrupt handler.
- *
- * @ingroup MISC
- * @return The byte
- */
- char rxGetLastChar(void) { return rxc; }
-
- /**
- * Function: txIsBusy
- *
- * If the Uart is still actively sending characters this
- * function will return true.
- *
- * @ingroup API
- * @return bool
- */
- bool txIsBusy(void);
-
- /**
- * Function: autoDetectChar
- *
- * Set the char that, if seen incoming, invokes the AutoDetectChar callback.
- *
- * @ingroup API
- * @param int c The character to detect.
- */
- void autoDetectChar(char c) { auto_detect_char = c; }
-
- /**
- * Function: move
- *
- * Move contents of RX buffer to external buffer. Stops if "end" detected.
- *
- * @ingroup API
- * @param char *s The destination buffer address
- * @param int max The maximum number of chars to move.
- * @param char end If this char is detected stop moving.
- */
- int move(char *s, int max, char end) {
- int counter = 0;
- char c;
- while(readable()) {
- c = getc();
- if (c == end) break;
- *(s++) = c;
- counter++;
- if (counter == max) break;
- }
- return counter;
- }
-
- /**
- * Function: move (overloaded)
- *
- * Move contents of RX buffer to external buffer. Stops if auto_detect_char detected.
- *
- * @ingroup API
- * @param int max The maximum number of chars to move.
- * @param char *s The destination buffer address
- */
- int move(char *s, int max) {
- return move(s, max, auto_detect_char);
- }
-
- #if 0 // Inhereted from Serial/Stream, for documentation only
- /**
- * Function: putc
- *
- * Write a character
- * Inhereted from Serial/Stream
- *
- * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.putc
- * @ingroup API
- * @param c The character to write to the serial port
- */
- int putc(int c);
- #endif
-
- #if 0 // Inhereted from Serial/Stream, for documentation only
- /**
- * Function: printf
- *
- * Write a formated string
- * Inhereted from Serial/Stream
- *
- * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.printf
- * @ingroup API
- * @param format A printf-style format string, followed by the variables to use in formating the string.
- */
- int printf(const char* format, ...);
- #endif
-
- #if 0 // Inhereted from Serial/Stream, for documentation only
- /**
- * Function: scanf
- *
- * Read a formated string
- * Inhereted from Serial/Stream
- *
- * @see http://mbed.org/projects/libraries/api/mbed/trunk/Serial#Serial.scanf
- * @ingroup API
- * @param format - A scanf-style format string, followed by the pointers to variables to store the results.
- */
- int scanf(const char* format, ...);
- #endif
-
-protected:
- /**
- * Used to pass information to callbacks.
- * @ingroup INTERNALS
- */
- MODSERIAL_IRQ_INFO callbackInfo;
-
- /**
- * Remove the last char placed into the rx buffer.
- * This is an operation that can only be performed
- * by an rxCallback function. To protect the buffers
- * this function is defined protected so that a
- * regular application cannot call it directly. It
- * can only be called by the public version within a
- * MODSERIAL_IRQ_INFO class.
- * @ingroup INTERNALS
- * @return The byte removed from the buffer.
- */
- int rxDiscardLastChar(void);
-
-private:
-
- /**
- * A pointer to the UART peripheral base address being used.
- * @ingroup INTERNALS
- */
- void *_base;
-
- /**
- * The last byte to pass through the TX IRQ handler.
- * @ingroup INTERNALS
- */
- volatile char txc;
-
- /**
- * The last byte to pass through the RX IRQ handler.
- * @ingroup INTERNALS
- */
- volatile char rxc;
-
- /**
- * Pointers to the TX and RX buffers.
- * @ingroup INTERNALS
- */
- volatile char *buffer[2];
-
- /**
- * Buffer in pointers.
- * @ingroup INTERNALS
- */
- volatile int buffer_in[2];
-
- /**
- * Buffer out pointers.
- * @ingroup INTERNALS
- */
- volatile int buffer_out[2];
-
- /**
- * Buffer lengths.
- * @ingroup INTERNALS
- */
- volatile int buffer_size[2];
-
- /**
- * Buffer content counters.
- * @ingroup INTERNALS
- */
- volatile int buffer_count[2];
-
- /**
- * Buffer overflow.
- * @ingroup INTERNALS
- */
- volatile int buffer_overflow[2];
-
- /**
- * Auto-detect character.
- * @ingroup INTERNALS
- */
- volatile char auto_detect_char;
-
- /**
- * Callback system.
- * @ingroup INTERNALS
- */
- MODSERIAL_callback _isr[NumOfIrqTypes];
-
- /**
- * TX Interrupt Service Routine.
- * @ingroup INTERNALS
- */
- void isr_tx(bool doCallback);
-
- /**
- * TX Interrupt Service Routine stub version.
- * @ingroup INTERNALS
- */
- void isr_tx(void) { isr_tx(true); }
-
-
- /**
- * RX Interrupt Service Routine.
- * @ingroup INTERNALS
- */
- void isr_rx(void);
-
- /**
- * Disable the interrupts for this Uart.
- * @ingroup INTERNALS
- */
- void disableIrq(void);
-
- /**
- * Enable the interrupts for this Uart.
- * @ingroup INTERNALS
- */
- void enableIrq(void);
-
- /**
- * Get a character from the RX buffer
- * @ingroup INTERNALS
- * @param bool True to block (wait for input)
- * @return A byte from the buffer.
- */
- int __getc(bool);
-
- /**
- * Put a character from the TX buffer
- * @ingroup INTERNALS
- * @param bool True to block (wait for space in the TX buffer if full)
- * @return 0 on success
- */
- int __putc(int c, bool);
-
- /**
- * Function: _putc
- * Overloaded virtual function.
- */
- virtual int _putc(int c) { return __putc(c, true); }
-
- /**
- * Function: _getc
- * Overloaded virtual function.
- */
- virtual int _getc() { return __getc(true); }
-
- /**
- * Function: init
- * Initialize the MODSERIAL object
- * @ingroup INTERNALS
- */
- void init(int txSize, int rxSize);
-
- /**
- * Function: flushBuffer
- * @ingroup INTERNALS
- */
- void flushBuffer(IrqType type);
-
- /**
- * Function: resizeBuffer
- * @ingroup INTERNALS
- */
- int resizeBuffer(int size, IrqType type = RxIrq, bool memory_check = true);
-
- /**
- * Function: downSizeBuffer
- * @ingroup INTERNALS
- */
- int downSizeBuffer(int size, IrqType type, bool memory_check);
-
- /**
- * Function: upSizeBuffer
- * @ingroup INTERNALS
- */
- int upSizeBuffer(int size, IrqType type, bool memory_check);
-
- /*
- * If MODDMA is available the compile in code to handle sending
- * an arbitary char buffer. Note, the parts before teh #ifdef
- * are declared so that MODSERIAL can access then even if MODDMA
- * isn't avaiable. Since MODDMA.h is only available at this point
- * all DMA functionality must be declared inline in the class
- * definition.
- */
-public:
-
- int dmaSendChannel;
- void *moddma_p;
-
-#ifdef MODDMA_H
-
- MODDMA_Config *config;
-
- /**
- * Set the "void pointer" moddma_p to be a pointer to a
- * MODDMA controller class instance. Used to manage the
- * data transfer of DMA configurations.
- *
- * @ingroup API
- * @param p A pointer to "the" instance of MODDMA.
- */
- void MODDMA(MODDMA *p) { moddma_p = p; }
-
- /**
- * Send a char buffer to the Uarts TX system
- * using DMA. This blocks regular library
- * sending.
- *
- * @param buffer A char buffer of bytes to send.
- * @param len The length of the buffer to send.
- * @param dmaChannel The DMA channel to use, defaults to 7
- * @return MODDMA::Status MODDMA::ok if all went ok
- */
- int dmaSend(char *buffer, int len, int dmaChannel = 7)
- {
- if (moddma_p == (void *)NULL) return -2;
- class MODDMA *dma = (class MODDMA *)moddma_p;
-
- dmaSendChannel = dmaChannel & 0x7;
-
- uint32_t conn = MODDMA::UART0_Tx;
- switch(_uidx) {
- case 0: conn = MODDMA::UART0_Tx; break;
- case 1: conn = MODDMA::UART1_Tx; break;
- case 2: conn = MODDMA::UART2_Tx; break;
- case 3: conn = MODDMA::UART3_Tx; break;
- }
-
- config = new MODDMA_Config;
- config
- ->channelNum ( (MODDMA::CHANNELS)(dmaSendChannel & 0x7) )
- ->srcMemAddr ( (uint32_t) buffer )
- ->transferSize ( len )
- ->transferType ( MODDMA::m2p )
- ->dstConn ( conn )
- ->attach_tc ( this, &MODSERIAL::dmaSendCallback )
- ->attach_err ( this, &MODSERIAL::dmaSendCallback )
- ; // config end
-
- // Setup the configuration.
- if (dma->Setup(config) == 0) {
- return -1;
- }
-
- //dma.Enable( MODDMA::Channel_0 );
- dma->Enable( config->channelNum() );
- return MODDMA::Ok;
- }
-
- /**
- * Attach a callback to the DMA completion.
- *
- * @ingroup API
- * @param fptr A function pointer to call
- * @return this
- */
- void attach_dmaSendComplete(void (*fptr)(MODSERIAL_IRQ_INFO *)) {
- _isrDmaSendComplete.attach(fptr);
- }
-
- /**
- * Attach a callback to the DMA completion.
- *
- * @ingroup API
- * @param tptr A template pointer to the calling object
- * @param mptr A method pointer within the object to call.
- * @return this
- */
- template<typename T>
- void attach_dmaSendComplete(T* tptr, void (T::*mptr)(MODSERIAL_IRQ_INFO *)) {
- if((mptr != NULL) && (tptr != NULL)) {
- _isrDmaSendComplete.attach(tptr, mptr);
- }
- }
-
- MODSERIAL_callback _isrDmaSendComplete;
-
-protected:
- /**
- * Callback for dmaSend().
- */
- void dmaSendCallback(void)
- {
- if (moddma_p == (void *)NULL) return;
- class MODDMA *dma = (class MODDMA *)moddma_p;
-
- MODDMA_Config *config = dma->getConfig();
- dma->haltAndWaitChannelComplete( (MODDMA::CHANNELS)config->channelNum());
- dma->Disable( (MODDMA::CHANNELS)config->channelNum() );
- if (dma->irqType() == MODDMA::TcIrq) dma->clearTcIrq();
- if (dma->irqType() == MODDMA::ErrIrq) dma->clearErrIrq();
- dmaSendChannel = -1;
- _isrDmaSendComplete.call(&this->callbackInfo);
- delete(config);
- }
-
-#endif // MODDMA_H
-
-};
-
-}; // namespace AjK ends
-
-using namespace AjK;
-
-#endif
--- a/MODSERIAL/MODSERIAL_IRQ_INFO.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,38 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file MODSERIAL_IRQ_INFO.cpp
- @author Andy Kirkham
-*/
-
-#include "MODSERIAL.h"
-
-namespace AjK {
-
-int
-MODSERIAL_IRQ_INFO::rxDiscardLastChar(void)
-{
- if (!serial) return -1;
-
- return serial->rxDiscardLastChar();
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/PUTC.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-int
-MODSERIAL::__putc(int c, bool block) {
-
- // If no buffer is in use fall back to standard TX FIFO usage.
- // Note, we must block in this case and ignore bool "block"
- // so as to maintain compat with Mbed Serial.
- if (buffer[TxIrq] == (char *)NULL || buffer_size[TxIrq] == 0) {
- while (! MODSERIAL_THR_HAS_SPACE) ; // Wait for space in the TX FIFO.
- _THR = (uint32_t)c;
- return 0;
- }
-
- if ( MODSERIAL_THR_HAS_SPACE && MODSERIAL_TX_BUFFER_EMPTY && dmaSendChannel == -1 ) {
- _THR = (uint32_t)c;
- }
- else {
- if (block) {
- uint32_t ier = _IER; _IER = 1;
- while ( MODSERIAL_TX_BUFFER_FULL ) { // Blocks!
- // If putc() is called from an ISR then we are stuffed
- // because in an ISR no bytes from the TX buffer will
- // get transferred to teh TX FIFOs while we block here.
- // So, to work around this, instead of sitting in a
- // loop waiting for space in the TX buffer (which will
- // never happen in IRQ context), check to see if the
- // TX FIFO has space available to move bytes from the
- // TX buffer to TX FIFO to make space. The easiest way
- // to do this is to poll the isr_tx() function while we
- // are blocking.
- isr_tx(false);
- }
- _IER = ier;
- }
- else if( MODSERIAL_TX_BUFFER_FULL ) {
- buffer_overflow[TxIrq] = c; // Oh dear, no room in buffer.
- _isr[TxOvIrq].call(&this->callbackInfo);
- return -1;
- }
- _IER &= ~2;
- buffer[TxIrq][buffer_in[TxIrq]] = c;
- __disable_irq();
- buffer_count[TxIrq]++;
- __enable_irq();
- buffer_in[TxIrq]++;
- if (buffer_in[TxIrq] >= buffer_size[TxIrq]) {
- buffer_in[TxIrq] = 0;
- }
- _IER |= 2;
- }
-
- return 0;
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/RESIZE.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,123 +0,0 @@
-/*
- Copyright (c) 2010 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-*/
-
-#include "MODSERIAL.h"
-#include "MACROS.h"
-
-namespace AjK {
-
-int
-MODSERIAL::resizeBuffer(int size, IrqType type, bool memory_check)
-{
- int rval = Ok;
-
- // If the requested size is the same as the current size there's nothing to do,
- // just continue to use the same buffer as it's fine as it is.
- if (buffer_size[type] == size) return rval;
-
- // Make sure the ISR cannot use the buffers while we are manipulating them.
- disableIrq();
-
- // If the requested buffer size is larger than the current size,
- // attempt to create a new buffer and use it.
- if (buffer_size[type] < size) {
- rval = upSizeBuffer(size, type, memory_check);
- }
- else if (buffer_size[type] > size) {
- rval = downSizeBuffer(size, type, memory_check);
- }
-
- // Start the ISR system again with the new buffers.
- enableIrq();
-
- return rval;
-}
-
-int
-MODSERIAL::downSizeBuffer(int size, IrqType type, bool memory_check)
-{
- if (size >= buffer_count[type]) {
- return BufferOversize;
- }
-
- char *s = (char *)malloc(size);
-
- if (s == (char *)NULL) {
- if (memory_check) {
- error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
- }
- return NoMemory;
- }
-
- int c, new_in = 0;
-
- do {
- c = __getc(false);
- if (c != -1) s[new_in++] = (char)c;
- if (new_in >= size) new_in = 0;
- }
- while (c != -1);
-
- free((char *)buffer[type]);
- buffer[type] = s;
- buffer_in[type] = new_in;
- buffer_out[type] = 0;
- return Ok;
-}
-
-int
-MODSERIAL::upSizeBuffer(int size, IrqType type, bool memory_check)
-{
- char *s = (char *)malloc(size);
-
- if (s == (char *)NULL) {
- if (memory_check) {
- error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
- }
- return NoMemory;
- }
-
- if (buffer_count[type] == 0) { // Current buffer empty?
- free((char *)buffer[type]);
- buffer[type] = s;
- buffer_in[type] = 0;
- buffer_out[type] = 0;
- }
- else { // Copy the current contents into the new buffer.
- int c, new_in = 0;
- do {
- c = __getc(false);
- if (c != -1) s[new_in++] = (char)c;
- if (new_in >= size) new_in = 0; // Shouldn't happen, but be sure.
- }
- while (c != -1);
- free((char *)buffer[type]);
- buffer[type] = s;
- buffer_in[type] = new_in;
- buffer_out[type] = 0;
- }
-
- buffer_size[type] = size;
- return Ok;
-}
-
-}; // namespace AjK ends
--- a/MODSERIAL/example1.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-#ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
-
-/*
- * To run this test program, link p9 to p10 so the Serial loops
- * back and receives characters it sends.
- */
-
-#include "mbed.h"
-#include "MODSERIAL.h"
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
-MODSERIAL pc(USBTX, USBRX);
-
-/*
- * As experiement, you can define MODSERIAL as show here and see what
- * effects it has on the LEDs.
- *
- * MODSERIAL uart(TX_PIN, RX_PIN, 512);
- * With this, the 512 characters sent can straight into the buffer
- * vary quickly. This means LED1 is only on briefly as the TX buffer
- * fills.
- *
- * MODSERIAL uart(TX_PIN, RX_PIN, 32);
- * With this, the buffer is smaller than the default 256 bytes and
- * therefore LED1 stays on much longer while the system waits for
- * room in the TX buffer.
- */
-MODSERIAL uart(TX_PIN, RX_PIN);
-
-// This function is called when a character goes from the TX buffer
-// to the Uart THR FIFO register.
-void txCallback(MODSERIAL_IRQ_INFO *q) {
- led2 = !led2;
-}
-
-// This function is called when TX buffer goes empty
-void txEmpty(MODSERIAL_IRQ_INFO *q) {
- led2 = 0;
- pc.puts(" Done. ");
-}
-
-// This function is called when a character goes into the RX buffer.
-void rxCallback(MODSERIAL_IRQ_INFO *q) {
- led3 = !led3;
- pc.putc(uart.getc());
-}
-
-int main() {
- int c = 'A';
-
- // Ensure the baud rate for the PC "USB" serial is much
- // higher than "uart" baud rate below.
- pc.baud(PC_BAUD);
-
- // Use a deliberatly slow baud to fill up the TX buffer
- uart.baud(1200);
-
- uart.attach(&txCallback, MODSERIAL::TxIrq);
- uart.attach(&rxCallback, MODSERIAL::RxIrq);
- uart.attach(&txEmpty, MODSERIAL::TxEmpty);
-
- // Loop sending characters. We send 512
- // which is twice the default TX/RX buffer size.
-
- led1 = 1; // Show start of sending with LED1.
-
- for (int loop = 0; loop < 512; loop++) {
- uart.printf("%c", c);
- c++;
- if (c > 'Z') c = 'A';
- }
-
- led1 = 0; // Show the end of sending by switching off LED1.
-
- // End program. Flash LED4. Notice how LED 2 and 3 continue
- // to flash for a short period while the interrupt system
- // continues to send the characters left in the TX buffer.
-
- while(1) {
- led4 = !led4;
- wait(0.25);
- }
-}
-
-/*
- * Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
- * machine that is connected to the "pc" USB serial port.
- *
- * ABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUV
- * WXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQR
- * STUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMN
- * OPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJ
- * KLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEF
- * GHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZAB
- * CDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
- *
- * Of interest is that last "R" character after the system has said "Done."
- * This comes from the fact that the TxEmpty callback is made when the TX buffer
- * becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
- * LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
- * when the TxEmpty callback is made, the TX buffer is empty, but that just means
- * the "last few characters" were written to the TX FIFO. So although the TX
- * buffer has gone empty, the Uart's transmit system is still sending any remaining
- * characters from it's TX FIFO. If you want to be truely sure all the characters
- * you have sent have left the Mbed then call txIsBusy(); This function will
- * return true if characters are still being sent. If it returns false after
- * the Tx buffer is empty then all your characters have been sent.
- *
- * In a similar way, when characters are received into the RX FIFO, the entire
- * FIFO contents is moved to the RX buffer, assuming there is room left in the
- * RX buffer. If there is not, any remaining characters are left in the RX FIFO
- * and will be moved to the RX buffer on the next interrupt or when the running
- * program removes a character(s) from the RX buffer with the getc() method.
- */
-
-#endif
--- a/MODSERIAL/example2.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,167 +0,0 @@
-/*
- Copyright (c) 2011 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file example2.cpp
- @purpose Demos a simple messaging system.
- @version see ChangeLog.c
- @date Jan 2011
- @author Andy Kirkham
-*/
-
-/*
- This example demostrates a simple "messaging" system. You can use it with
- a terminal program to test it out or write a cusom C#/C++/VB/etc program
- to read and write messages to or from the Mbed. The default baud rate in
- this example is 115200.
-
- In this example, the LEDs are controlled and pins p21 to p24 are set as
- InterruptIn and send messages out when their value changes.
-
- To use, hook up the MBed USB and open your fav terminal. All messages
- end with the \n character, don't forget to hit carriage return!.
- As an example:-
-
- to switch on LED1 send LED1:1\n, off is LED1:0\n and toggle is LED1:2\n
- to switch on LED2 send LED2:1\n, off is LED2:0\n and toggle is LED2:2\n
- to switch on LED3 send LED3:1\n, off is LED3:0\n and toggle is LED3:2\n
- to switch on LED4 send LED4:1\n, off is LED4:0\n and toggle is LED4:2\n
-
- When a pin change on p21 to p24 happens, a message is sent. As an example
- when p21 goes low PIN21:0\n is sent, when goes high PIN21:1\n is sent.
-
- Note, the InterruptIn pins p21 to p24 are setup to have pullups. This means
- they are high. To activate them use a wire to short the pin to 0volts.
-
- If you find that p21 to p24 sent a lot of on/off/on/off then it's probably
- due to "bounce". If you are connecting a mechanical switch to a pin you
- may prefer to use the PinDetect library rather than using InterruptIn.
- @see http://mbed.org/users/AjK/libraries/PinDetect/latest
-
- One point you may notice. Incoming messages are processed via main()'s
- while(1) loop whereas pin changes have their messages directly sent.
- The reason for this is when MODSERIAL makes callbacks to your application
- it is in "interrupt context". And one thing you want to avoid is spending
- lots of CPU time in that context. So, the callback moves the message from
- the input buffer to a local holding buffer and it then sets a bool flag
- which tells main()'s while(1) loop to process that buffer. This means the
- time spent doing the real incoming message handing is within your program
- and not within MODSERIAL's interrupt context. So you may ask, why not do
- the same for out going messages? Well, because MODSERIAL output buffers
- all your sent content then sending chars is very fast. MODSERIAL handles
- all the nitty gritty bits for you. You can just send. This example uses
- puts() to send the message. If you can, always try and use sprintf()+puts()
- rathe than printf(), printf() is known to often screw things up when used
- within an interrupt context. Better still, just use puts() and do away
- with any of the crappy ?printf() calls if possible. But I found the code
- below to work fine even at 115200baud.
-
-*/
-
-
-#ifdef COMPILE_EXAMPLE1_CODE_MODSERIAL
-
-#include "mbed.h"
-#include "MODSERIAL.h"
-
-#define MESSAGE_BUFFER_SIZE 32
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
-InterruptIn P21(p21);
-InterruptIn P22(p22);
-InterruptIn P23(p23);
-InterruptIn P24(p24);
-
-MODSERIAL messageSystem(USBTX, USBRX);
-
-char messageBufferIncoming[MESSAGE_BUFFER_SIZE];
-char messageBufferOutgoing[MESSAGE_BUFFER_SIZE];
-bool messageReceived;
-
-void messageReceive(MODSERIAL_IRQ_INFO *q) {
- MODSERIAL *sys = q->serial;
- sys->move(messageBufferIncoming, MESSAGE_BUFFER_SIZE);
- messageReceived = true;
- return 0;
-}
-
-void messageProcess(void) {
- if (!strncmp(messageBufferIncoming, "LED1:1", sizeof("LED1:1")-1)) led1 = 1;
- else if (!strncmp(messageBufferIncoming, "LED1:0", sizeof("LED1:0")-1)) led1 = 0;
- else if (!strncmp(messageBufferIncoming, "LED1:2", sizeof("LED1:2")-1)) led1 = !led1;
-
- else if (!strncmp(messageBufferIncoming, "LED2:1", sizeof("LED2:1")-1)) led2 = 1;
- else if (!strncmp(messageBufferIncoming, "LED2:0", sizeof("LED2:0")-1)) led2 = 0;
- else if (!strncmp(messageBufferIncoming, "LED2:2", sizeof("LED2:2")-1)) led2 = !led2;
-
- else if (!strncmp(messageBufferIncoming, "LED3:1", sizeof("LED3:1")-1)) led3 = 1;
- else if (!strncmp(messageBufferIncoming, "LED3:0", sizeof("LED3:0")-1)) led3 = 0;
- else if (!strncmp(messageBufferIncoming, "LED3:2", sizeof("LED3:2")-1)) led3 = !led3;
-
- else if (!strncmp(messageBufferIncoming, "LED4:1", sizeof("LED4:1")-1)) led4 = 1;
- else if (!strncmp(messageBufferIncoming, "LED4:0", sizeof("LED4:0")-1)) led4 = 0;
- else if (!strncmp(messageBufferIncoming, "LED4:2", sizeof("LED4:2")-1)) led4 = !led4;
-
- messageReceived = false;
-}
-
-#define PIN_MESSAGE_SEND(x,y) \
- sprintf(messageBufferOutgoing,"PIN%02d:%d\n",x,y);\
- messageSystem.puts(messageBufferOutgoing);
-
-void pin21Rise(void) { PIN_MESSAGE_SEND(21, 1); }
-void pin21Fall(void) { PIN_MESSAGE_SEND(21, 0); }
-void pin22Rise(void) { PIN_MESSAGE_SEND(22, 1); }
-void pin22Fall(void) { PIN_MESSAGE_SEND(22, 0); }
-void pin23Rise(void) { PIN_MESSAGE_SEND(23, 1); }
-void pin23Fall(void) { PIN_MESSAGE_SEND(23, 0); }
-void pin24Rise(void) { PIN_MESSAGE_SEND(24, 1); }
-void pin24Fall(void) { PIN_MESSAGE_SEND(24, 0); }
-
-int main() {
-
- messageReceived = false;
- messageSystem.baud(115200);
- messageSystem.attach(&messageReceive, MODSERIAL::RxAutoDetect);
- messageSystem.autoDetectChar('\n');
-
- // Enable pullup resistors on pins.
- P21.mode(PullUp); P22.mode(PullUp); P23.mode(PullUp); P24.mode(PullUp);
-
- // Fix Mbed library bug, see http://mbed.org/forum/bugs-suggestions/topic/1498
- LPC_GPIOINT->IO2IntClr = (1UL << 5) | (1UL << 4) | (1UL << 3) | (1UL << 2);
-
- // Attach InterruptIn pin callbacks.
- P21.rise(&pin21Rise); P21.fall(&pin21Fall);
- P22.rise(&pin22Rise); P22.fall(&pin22Fall);
- P23.rise(&pin23Rise); P23.fall(&pin23Fall);
- P24.rise(&pin24Rise); P24.fall(&pin24Fall);
-
- while(1) {
- // Process incoming messages.
- if (messageReceived) messageProcess();
- }
-}
-
-#endif
--- a/MODSERIAL/example3a.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,83 +0,0 @@
-/*
- Copyright (c) 2011 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file example3.cpp
- @purpose Demos a simple filter.
- @version see ChangeLog.c
- @author Andy Kirkham
-*/
-
-/*
- This example shows how to use the new callback system. In the old system
- Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks.
- However, that limits the callback function prototype to void func(void);
- which means we cannot pass parameters.
-
- This latest version of MODSERIAL now uses its own callback object. This allows
- the passing of a pointer to a class that holds information about the MODSERIAL
- object making the callback. As of version 1.18 one critcal piece of information
- is passed, a pointer to the MODSERIAL object. This allows callbacks to use the
- MODSERIAL functions and data.
-
- Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO
- are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL.
- This is used to ensure functions that can only be called during a callback
- can be invoked from a callback.
-
- [1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
-*/
-
-#ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL
-
-#include "mbed.h"
-#include "MODSERIAL.h"
-
-DigitalOut led1(LED1);
-
-MODSERIAL pc(USBTX, USBRX);
-
-// The following callback is defined in example3b.cpp
-//! @see example3b.cpp
-void rxCallback(MODSERIAL_IRQ_INFO *info);
-
-int main() {
-
- int life_counter = 0;
-
- pc.baud(115200);
-
- pc.attach(&rxCallback, MODSERIAL::RxIrq);
-
- while(1) {
- // Echo back any chars we get except 'A' which is filtered by the rxCallback.
- if (pc.readable()) {
- pc.putc(pc.getc());
- }
-
- // Toggle LED1 every so often to show we are alive.
- if (life_counter++ == 1000000) {
- life_counter = 0;
- led1 = !led1;
- }
- }
-}
-
-#endif
--- a/MODSERIAL/example3b.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,78 +0,0 @@
-/*
- Copyright (c) 2011 Andy Kirkham
-
- Permission is hereby granted, free of charge, to any person obtaining a copy
- of this software and associated documentation files (the "Software"), to deal
- in the Software without restriction, including without limitation the rights
- to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in
- all copies or substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- THE SOFTWARE.
-
- @file example3b.cpp
- @purpose Demos a simple filter.
- @version see ChangeLog.c
- @author Andy Kirkham
-*/
-
-/*
- This example shows how to use the new callback system. In the old system
- Mbed's FunctionPointer[1] type was used to store abd make calls to callbacks.
- However, that limits the callback function prototype to void func(void);
- which means we cannot pass parameters.
-
- This latest version of MODSERIAL now uses its own callback object. This allows
- the passing of a pointer to a class that holds information about the MODSERIAL
- object making the callback. As of version 1.18 one critcal piece of information
- is passed, a pointer to the MODSERIAL object. This allows callbacks to use the
- MODSERIAL functions and data.
-
- Additionally, since MODSERIAL and the callback parameter class MODSERIAL_IRQ_INFO
- are friends, MODSERIAL_IRQ_INFO can access the protected functions of MODSERIAL.
- This is used to ensure functions that can only be called during a callback
- can be invoked from a callback.
-
- [1] http://mbed.org/projects/libraries/svn/mbed/trunk/FunctionPointer.h
-*/
-
-
-#ifdef COMPILE_EXAMPLE3_CODE_MODSERIAL
-
-#include "mbed.h"
-#include "MODSERIAL.h"
-
-void rxCallback(MODSERIAL_IRQ_INFO *info) {
-
- // Get the pointer to our MODSERIAL object that invoked this callback.
- MODSERIAL *pc = info->serial;
-
- // info->serial points at the MODSERIAL instance so we can use it to call
- // any of the public MODSERIAL functions that are normally available. So
- // there's now no need to use the global version (pc in our case) inside
- // callback functions.
- char c = pc->rxGetLastChar(); // Where local pc variable is a pointer to the global MODSERIAL pc object.
-
- // The following is rather daft but demos the point.
- // Don't allow the letter "A" go into the RX buffer.
- // Basically acts as a filter to remove the letter "A"
- // if it goes into the RX buffer.
- if (c == 'A') {
- // Note, we call the MODSERIAL_IRQ_INFO::rxDiscardLastChar() public function which
- // is permitted access to the protected version of MODSERIAL::rxDiscardLastChar()
- // within MODSERIAL (because they are friends). This ensures rxDiscardLastChar()
- // can only be called within an rxCallback function.
- info->rxDiscardLastChar();
- }
-}
-
-#endif
--- a/MODSERIAL/example_dma.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,144 +0,0 @@
-#ifdef COMPILE_EXAMPLE_CODE_MODSERIAL_MODDMA
-
-/*
- * To run this test program, link p9 to p10 so the Serial loops
- * back and receives characters it sends.
- */
-
-#include "mbed.h"
-
-/* Note, this example requires that you also import into the Mbed
- compiler the MODDMA project as well as MODSERIAL
- http://mbed.org/users/AjK/libraries/MODDMA/latest
- MODDMA.h MUST come before MODSERIAL.h */
-#include "MODDMA.h" // <--- Declare first
-#include "MODSERIAL.h" // Flollowed by MODSERIAL
-
-DigitalOut led1(LED1);
-DigitalOut led2(LED2);
-DigitalOut led3(LED3);
-DigitalOut led4(LED4);
-
-MODSERIAL pc(USBTX, USBRX);
-
-/*
- * As experiement, you can define MODSERIAL as show here and see what
- * effects it has on the LEDs.
- *
- * MODSERIAL uart(TX_PIN, RX_PIN, 512);
- * With this, the 512 characters sent can straight into the buffer
- * vary quickly. This means LED1 is only on briefly as the TX buffer
- * fills.
- *
- * MODSERIAL uart(TX_PIN, RX_PIN, 32);
- * With this, the buffer is smaller than the default 256 bytes and
- * therefore LED1 stays on much longer while the system waits for
- * room in the TX buffer.
- */
-MODSERIAL uart(TX_PIN, RX_PIN);
-
-MODDMA dma;
-
-// This function is called when a character goes from the TX buffer
-// to the Uart THR FIFO register.
-void txCallback(void) {
- led2 = !led2;
-}
-
-// This function is called when TX buffer goes empty
-void txEmpty(void) {
- led2 = 0;
- pc.puts(" Done. ");
-}
-
-void dmaComplete(void) {
- led1 = 1;
-}
-
-// This function is called when a character goes into the RX buffer.
-void rxCallback(void) {
- led3 = !led3;
- pc.putc(uart.getc());
-}
-
-int main() {
- char s1[] = " *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* ";
- int c = 'A';
-
- // Tell MODSERIAL where the MODDMA controller is.
- pc.MODDMA( &dma );
-
- // Ensure the baud rate for the PC "USB" serial is much
- // higher than "uart" baud rate below.
- pc.baud( PC_BAUD );
-
- // Use a deliberatly slow baud to fill up the TX buffer
- uart.baud(1200);
-
- uart.attach( &txCallback, MODSERIAL::TxIrq );
- uart.attach( &rxCallback, MODSERIAL::RxIrq );
- uart.attach( &txEmpty, MODSERIAL::TxEmpty );
-
- // Loop sending characters. We send 512
- // which is twice the default TX/RX buffer size.
-
- led1 = 0;
-
- // Send the buffer s using DMA channel 7
- pc.attach_dmaSendComplete( &dmaComplete );
- pc.dmaSend( s1, sizeof(s1), MODDMA::Channel_7 );
-
- for (int loop = 0; loop < 512; loop++) {
- uart.printf("%c", c);
- c++;
- if (c > 'Z') c = 'A';
- }
-
- led1 = 0; // Show the end of sending by switching off LED1.
-
- // End program. Flash LED4. Notice how LED 2 and 3 continue
- // to flash for a short period while the interrupt system
- // continues to send the characters left in the TX buffer.
-
- while(1) {
- led4 = !led4;
- wait(0.25);
- }
-}
-
-/*
- * Notes. Here is the sort of output you can expect on your PC/Mac/Linux host
- * machine that is connected to the "pc" USB serial port.
- *
- * *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* *DMA* ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE
- * FGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZA
- * BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVW
- * XYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRS
- * TUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNO
- * PQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJK
- * LMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFG
- * HIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ Done. R
- *
- * Note how the DMA blocks the TX buffer sending under standard interrupt control.
- * Not until the DMA transfer is complete will "normal" buffered TX sending resume.
- *
- * Of interest is that last "R" character after the system has said "Done."
- * This comes from the fact that the TxEmpty callback is made when the TX buffer
- * becomes empty. MODSERIAL makes use of the fact that the Uarts built into the
- * LPC17xx device use a 16 byte FIFO on both RX and TX channels. This means that
- * when the TxEmpty callback is made, the TX buffer is empty, but that just means
- * the "last few characters" were written to the TX FIFO. So although the TX
- * buffer has gone empty, the Uart's transmit system is still sending any remaining
- * characters from it's TX FIFO. If you want to be truely sure all the characters
- * you have sent have left the Mbed then call txIsBusy(); This function will
- * return true if characters are still being sent. If it returns false after
- * the Tx buffer is empty then all your characters have been sent.
- *
- * In a similar way, when characters are received into the RX FIFO, the entire
- * FIFO contents is moved to the RX buffer, assuming there is room left in the
- * RX buffer. If there is not, any remaining characters are left in the RX FIFO
- * and will be moved to the RX buffer on the next interrupt or when the running
- * program removes a character(s) from the RX buffer with the getc() method.
- */
-
-#endif
--- a/OEM615.h Fri Mar 22 01:33:24 2013 +0000
+++ b/OEM615.h Fri Mar 29 20:52:24 2013 +0000
@@ -7,7 +7,7 @@
char synch44; //2nd synch word
char synch12; //3rd synch word
unsigned char headerLength; //always 28
- unsigned short messageID;
+ unsigned short messageID; //42 (BESTPOS) , 43 (RANGE) , or 99 (BESTVEL),
char messageType; //always = 0 for binary
unsigned char portAddress; //0x20 for COM1
unsigned short messageLength; //not including header or CRC
--- a/main.cpp Fri Mar 22 01:33:24 2013 +0000
+++ b/main.cpp Fri Mar 29 20:52:24 2013 +0000
@@ -11,6 +11,8 @@
#include "ADIS16488.h"
#include <string>
+//these are defines for the messages that are sent from the PC across the USB
+//these messages produce reactions on the mbed
#define STATUS_MSG 0
#define POSVEL_MSG 1
#define STARTDATA_MSG 2
@@ -19,33 +21,39 @@
#define STOPSTREAM_MSG 5
#define STARTLOGINFO_MSG 6
#define STOPLOGINFO_MSG 7
+
#define DEGREES_TO_RADIANS (3.14519/180.0)
-//general items for this application
+//general digital I/O specifications for this application
//SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
SDFileSystem sd(p11,p12,p13,p14,"sd");
//Serial debug(USBTX, USBRX); // tx, rx USB communication to the PC for debug purposes
-DigitalOut ppsled(LED1);
-DigitalOut trig1led(LED2);
-DigitalOut recordDataled(LED4);
-InterruptIn camera1Int(p30);
-DigitalOut camera2Pin(p29);
+DigitalOut ppsled(LED1); //blink an LED at the 1PPS
+DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
+DigitalOut recordDataled(LED4); //set the led when the record is on
+InterruptIn camera1Int(p30); // camera interrupt in
+DigitalOut camera2Pin(p29); // i dont believe we use the second camera interrupt
//USB serial data stream back to the PC
Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
-bool detectedGPS1PPS = false;
-bool recordData = false;
-int PPSCounter = 0;
-int byteCounter = 0;
-unsigned short perSecMessageCounter=0;
-bool lookingForMessages = true;
-bool messageDetected = false;
-int savedIMUClockCounter=0;
+bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
+bool recordData = false; //set to true when commanded from the PC
+int PPSCounter = 0; //counts the 1PPS occurrences
+int byteCounter = 0; //byte counter -- where used??
+unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
+bool lookingForMessages = true; //set in the PPS ISR and set false after the message processing in the main
+bool messageDetected = false; //have detected a message header
+int savedIMUClockCounter=0;
+unsigned long IMUbytesWritten = 0;
+int savedByteCounter = 0;
+int savedPerSecMessageCounter=0;
int IMUClockCounter = 0;
bool camera1EventDetected = false;
double camera1Time;
char serBuf[128];
int serBufChars=0;
+
+//flags to control the PC command actions
bool sendPosVel=false;
bool sendStatus=false;
bool sendRecData=false;
@@ -54,41 +62,69 @@
bool logMsgInfo=false;
bool sendLogMsgInfo=false;
-
//ISR for detection of the GPS 1PPS
void detect1PPSISR(void)
{
- timeFromPPS.reset();
- savedIMUClockCounter = IMUClockCounter;
- IMUClockCounter = 0;
- GPS_COM1.rxBufferFlush();
+ timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
+ savedIMUClockCounter = IMUClockCounter; //number of IMU clocks received since last 1PPS
+ savedByteCounter = byteCounter;
+ savedPerSecMessageCounter = perSecMessageCounter;
+ IMUClockCounter = 0; //counts number of IMU samples between 1PPS events
+ GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer -- likely not needed but OK
+ byteCounter = 0;
+ perSecMessageCounter = 0;
- detectedGPS1PPS = true;
- lookingForMessages = true;
- PPSCounter++;
- PPSTimeOffset++;
- ppsled = !ppsled;
+ detectedGPS1PPS = true; //reset in the main when 1PPS actions are complete
+ lookingForMessages = true; //means we should begin looking for new GPS messages
+ PPSCounter++; //count number of 1PPS epochs
+ PPSTimeOffset++; //counts the 1PPS events between occurrences when we have matching POS and VEL messages
+ ppsled = !ppsled; //blink an LED at the 1PPS
};
//ISR for detection of the hotshoe trigger 1
void camera1ISR(void)
{
+ //PPSTimeOffset keeps track of missed
camera1Time = GPSTime + (double)PPSTimeOffset + timeFromPPS.read();
- trig1led = !trig1led;
- camera1EventDetected = true;
+
+ trig1led = !trig1led; //blink an LEWD at the camera event detection
+ camera1EventDetected = true; //reset to false in main after processing the image detection
};
void readFromPC()
{
+
+ //better solution
+ //start a timer when we get a char from the PC and set a bool: detectingPCMessage = true
+ //keep reading bytes until elapsed time from the first byte is : 0.01 secs of numByes > 16
+ //the messages are from 10 to 16 bytes -- this will take from 10/921600 to 16/921600 secs at 921600 baud
+ //8*115200 = 921600
+ //this is about 2e-5 or 20usec.
+ //so we could wait 50usec from the first char reeived and be certain we had all the chars for a message.
+ //the steps are below ....
+ //(1) convert this procedures to a ISR per byte
+ //(2) in the ISR, start the timer on the first byte received when !detectingPCMessage
+ //(3) set detectingPCMessage = true
+ //(4) in the main loop, test the timer for >50usec and parse the bytes to test fr a message
+ //(5) reset the timer to zero in the main loop after parsing the message
+ //(6) set detectingPCMessage = false;
+
+ //The received commands obnly occur at the initialization stage -- time is not that critical there.
+ //during the real-time action, we will never pass the followong if test ( no characters received)
if (toPC.readable()) //read a PC serial byte and test it for a command
{
// Read in next character
char inChar = toPC.getc();
serBuf[serBufChars++] = inChar;
+
// Append end of string character
+ //why do this for every character we read?
+ //answer: we always assume we have a complete message and test for this below
serBuf[serBufChars] = '\0';
+
// Need to parse message to determine behavior
// Need to clean this up
+ //need to do this outside the read byte ---
char msgList[8][32];
sprintf(msgList[STATUS_MSG], "WMsg STATUS");
sprintf(msgList[POSVEL_MSG], "WMsg POSVEL");
@@ -98,16 +134,19 @@
sprintf(msgList[STOPSTREAM_MSG], "WMsg POSSTREAM N");
sprintf(msgList[STARTLOGINFO_MSG], "WMsg LOGINFO Y");
sprintf(msgList[STOPLOGINFO_MSG], "WMsg LOGINFO N");
+ //message length is from 10 to 16 chars
+
// assume an invalid message which needs to be reset
bool validMessage = false;
bool resetMessage = true;
+
// Check for valid message
- for (int m = 0; m < 8 && !validMessage; m++)
+ for (int m = 0; m < 8 && !validMessage; m++) //check for all messages ...
{
if (strncmp(serBuf, msgList[m], serBufChars) == 0)
{
validMessage = true;
- // buffer length is same as message length
+ //test that chars in the serial buffer is same as message length
if (serBufChars == strlen(msgList[m]))
{
switch(m)
@@ -143,6 +182,7 @@
}
}
}
+
// if message should be reset
if (resetMessage)
{
@@ -154,7 +194,7 @@
{
// start a new message
serBuf[serBufChars++] = inChar;
- serBuf[serBufChars] == '\0';
+ serBuf[serBufChars] = '\0';
}
// Append end of string character
serBuf[serBufChars] = '\0';
@@ -164,6 +204,10 @@
void sendASCII(char* ASCI_message, int numChars)
{
+ /////////////////////////////////////////////////
+ //send an ASCII command to the GPS receiver
+ /////////////////////////////////////////////////
+
//char ASCI_message[] = "unlogall COM1";
int as = numChars - 1;
unsigned char CR = 0x0d; //ASCII Carriage Return
@@ -195,7 +239,7 @@
//toPC.baud(1*115200); wait_ms(100);
toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
- //just wait to lauinch the GPS receiver
+ //just wait to launch the GPS receiver
for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }
@@ -210,29 +254,36 @@
else
toPC.printf(" opened the IMUGPS data file \n");
*/
-
+
+ //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
+ //we alwsys start with a reset and reprogram the receiver with our data out products
+ // this prevents failure because of a blown NVRAM as occurred for the older camera systems
+
//this is the COM1 port from th GPS receiuver to the mbed
//it should be always started at 9600 baud because thats the default for the GPS receiver
GPS_COM1.baud(9600); wait_ms(100);
// this ASCII command sets up the serial data from the GPS receiver on its COM1
char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
- // this is a software reset and has the same effect as a hardware reset (why do it??)
- char ch0[] = "RESET";
+ // this is a software reset and has the same effect as a hardware reset (why do it?)
+ //char ch0[] = "RESET";
//this command stops all communication from the GPS receiver on COM1
- //logs should still be presented on USB port so the CDU can be used in parallel
+ //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
char ch1[] = "unlogall COM1";
//set the final baud rate that we will use from here
//allowable baud rate values: 9600 115200 230400 460800 921600
- char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
+ //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
+ char ch2[] = "serialconfig COM1 460800 n 8 1 n off";
//the below commands request the POS, VEL, RANGE, and TIME messages
char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
- char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
+ //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
//set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
+ //in fact, we do not use this output but it is available.
+ //originally planned to use this to command the IMU data
char ch8[] = "FREQUENCYOUT enable 10000 1000000";
toPC.printf("set serial config \n");
@@ -259,7 +310,8 @@
//set the mbed COM port to match the GPS transmit rate
//the below baud rate must match the COM1 rate coming from the GPS receiver
- GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
+ GPS_COM1.baud(460800); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
+ //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
};
void setupTriggers()
@@ -274,8 +326,8 @@
int test = 0;
unsigned short messageCounter = 0;
unsigned short savedMessageCounter = 0;
-unsigned char msgBuffer[1536];
-unsigned short messageLocation[6] = {0};
+unsigned char msgBuffer[1536]; //array to contain one full second of GPS bytes
+unsigned short messageLocation[6] = {0}; //stores the message location start within the message buffer
//see the mbed COOKBOOK for MODSERIAL
//MODSERIAL is an easy to use library that extends Serial to add fully buffered input and output.
@@ -296,19 +348,41 @@
perSecMessageCounter++;
messageDetected = true;
}
+ //byteCounter reset to zero in main after the 1PPS is detected -- its NOT reset in the 1PPS ISR
byteCounter++; //total per-sec byte counter (reset to zero in main when 1PPS detected)
};
+void earthCoefficients(double latitudeRad, double longitudeRad, double height, double &latRateFac, double &lonRateFac)
+{
+ //compute the lat and lon factors for use in the interpolation of the lat and lon between 1 sec epochs
+ //see this document (page 32) www.fas.org/spp/military/program/nav/basicnav.pdf
+ double eccen = 0.0818191908426; //WGS84 earth eccentricity
+ double earthRadius = 6378137; //WGS84 earthRadius in meters
+ double eccenSinLat = eccen * sin(latitudeRad);
+ double temp1 = 1.0 - eccenSinLat*eccenSinLat;
+ double temp2 = sqrt(temp1);
+ double r_meridian = earthRadius * ( 1.0 - eccen*eccen)/ (temp1 * temp2);
+ double r_normal = earthRadius / temp2;
+
+ //multiply latRateFac times V-north to get the latitude rate in radians [er sec
+ latRateFac = 1.0 / (r_meridian + height);
+
+ //multiply lonRatFac by VEast to get the longitude rate in radians per sec
+ lonRateFac = 1.0 / ( (r_normal + height) * cos(latitudeRad) );
+}
+
int main() {
//FILE *fpIMU = NULL;
//FILE *fpGPS = NULL;
FILE *fpNav = NULL;
- OEM615BESTPOS posMsg;
- OEM615BESTPOS curPos;
- OEM615BESTVEL velMsg;
- OEM615BESTVEL curVel;
+
+ OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h
+ OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
+ OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h
+ OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
+
int msgLen;
int msgEnd;
@@ -320,45 +394,62 @@
//setup Hotshoe
setupTriggers();
+
//attempt to use the mbed RTOS library
//Thread thread(writeThread);
+ //this doesnt show up on the PC Rich Text Box because we dont start the init til after this occurs
toPC.printf("completed setting up COM ports \n");
- //set up the interrupt to catch the serial byte availability
+ //set up the interrupt to catch the GPS receiver serial bytes as they are presented
GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
- timeFromPPS.start();
+ timeFromPPS.start(); //start the time for measuring time from 1PPS events
- //while(PPSCounter < 1000)
- while(1)
+ while(PPSCounter < 100)
+ ///////////////////////////////////////////////////////////////////////////
+ // top of the while loop
+ ///////////////////////////////////////////////////////////////////////////
+ //while(1)
{
//read the USB serial data from the PC to check for commands
+ //in the primary real-time portion, there are no bytes from the PC so this has no impact
readFromPC();
- if (sendPosVel)
+ //we should put the below stuff into the readPC() procedure.
+ //only do these actions in response to a command so no need for the tests w/o an inoput byte from the PC
+ //perform the activities as a response to the commands
+ if (sendPosVel) //true if we want to return a position solution
{
- sendPosVel=false;
+ sendPosVel=false; //set to true if a POSVEL is requested from the PC
char solReady = 'N';
- if (posMsg.solStatus == 0)
+ if (posMsg.solStatus == 0) //how is this set??
{
solReady = 'Y';
}
+
+ //north and east velocity from the horizontal speed and heading
+ //velMsg may not be the "current" message --- but is the one also associated with a position message
double nVel = velMsg.horizontalSpeed*cos(velMsg.heading*DEGREES_TO_RADIANS);
double eVel = velMsg.horizontalSpeed*sin(velMsg.heading*DEGREES_TO_RADIANS);
+
// For the 1 second deltas with which we are dealing
- // this calculation should be close enough for now
- // approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile
+ // This calculation should be close enough for now
+ // Approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile
double latMetersPerDeg = 60.0*1852.0;
// longitude separation is approximately equal to latitude separation * cosine of latitude
double lonMetersPerDeg = latMetersPerDeg*cos(posMsg.latitude*DEGREES_TO_RADIANS);
// Elapsed time since last known GPS position
+ //PPSTimeOffset is a result of possibly missing a prior GPS position message
+ // timeFromPPS.read() is always the time from the moset recent 1PPS
double elTime = (double)PPSTimeOffset + timeFromPPS.read();
- // Position time
+
+ // Position time -- GPSTime is the time of the last valid GPS position message
double posTime = GPSTime + elTime;
// Estimated position based on previous position and velocity
+ // posMsg is the last time when the BESTVEL and BESTPOS messages had identical times
double latPos = posMsg.latitude + (nVel/latMetersPerDeg)*elTime;
double lonPos = posMsg.longitude + (eVel/lonMetersPerDeg)*elTime;
double htPos = posMsg.height + velMsg.verticalSpeed/(60*1852)*elTime;
@@ -374,7 +465,9 @@
velMsg.verticalSpeed
);
}
- if (sendStatus)
+
+ //all this does is assess the GPS convergence -- really available in the above
+ if (sendStatus) //send the status message to the PC
{
sendStatus=false;
char solReady = 'N';
@@ -387,7 +480,9 @@
solReady
);
}
- if (sendRecData)
+
+ //should just record ALL the data -- can pck over it in the post-processing
+ if (sendRecData) //begin to (or stop) record the serial data
{
sendRecData=false;
char recChar = 'N';
@@ -427,8 +522,11 @@
recChar
);
}
- recordDataled = recordData;
- if (sendStreamPos)
+
+ //this is called everytime through the loop -- wasteful
+ //recordDataled = recordData;
+
+ if (sendStreamPos) //stream the position data to the PC
{
sendStreamPos=false;
char streamChar = 'N';
@@ -440,7 +538,9 @@
streamChar
);
}
- if (sendLogMsgInfo)
+
+ //not sure this is ever used ..
+ if (sendLogMsgInfo) //send log info to the PC
{
sendLogMsgInfo=false;
char logChar = 'N';
@@ -452,95 +552,32 @@
logChar
);
}
- if (IMUDataReady)
- {
- //write the IMU data
- //if (recordData && (fpIMU != NULL))
- if (recordData && (fpNav != NULL))
+
+
+ ////////////////////////////////////////////////////////////////////////////
+ //below is where we process the complete stored GPS message for the second
+ //The !IMUDataReady test prevents the IMU and GPS data from being written
+ //to disk on the same pass through thi loop
+ /////////////////////////////////////////////////////////////////////////////
+ if (!IMUDataReady && lookingForMessages && (timeFromPPS.read_us() > 20000)) //it takes less than 20msec to receive all messages
+ {
+ toPC.printf(" num messages = %3d time = %5d \n", perSecMessageCounter, timeFromPPS.read_us());
+
+ //cycle through all the bytes stored this sec (after the 1PPS as set)
+ // perSecMessageCounter is incremented whenever we detect a new message headet 0xAA44121C sequence
+ for (int i=0; i<perSecMessageCounter; i++)
{
- fwrite(imuRec.dataWord, sizeof(IMUREC), 1, fpNav);
- }
- IMUDataReady = false;
- }
- //if (lookingForMessages && (timeFromPPS.read() > 0.100)) //it takes less than 20msec to receive all messages
- {
-
- //toPC.printf(" num messages = %3d time = %5d \n", perSecMessageCounter, timeFromPPS.read_us());
- for (int i=0; i<perSecMessageCounter; i++)
- {
- // ensure at message header has arrived before processing
- if (byteCounter < (messageLocation[i] + sizeof(MESSAGEHEADER)))
+ msgHeader[i] = (MESSAGEHEADER*)&msgBuffer[messageLocation[i]];
+ toPC.printf("WMsg MESSAGEINFO %5d %5d \n",
+ msgHeader[i]->messageID,
+ messageLocation[i]);
+ //test for a message 42 (BESTPOS)
+ if (msgHeader[i]->messageID == 42)
{
- // Complete message header has not been received.
- // Clear processed messages and break out of message processing loop
- for (int j = 0; j < i; j++)
- {
- messageLocation[j] = messageLocation[i+j];
- perSecMessageCounter--;
- }
- break;
- }
- msgHeader[i] = (MESSAGEHEADER*)&msgBuffer[messageLocation[i]];
- // Ensure complete message has been received
- // Message length is header length + message length + CRC
- msgLen = 28;
- switch (msgHeader[i]->messageID)
- {
- case 42:
- msgLen = 104;
- break;
- case 99:
- msgLen = 76;
- break;
- default:
- msgLen = msgHeader[i]->headerLength + msgHeader[i]->messageLength + sizeof(unsigned long);
- break;
+ curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[i]]);
- }
- msgLen = msgHeader[i]->headerLength + msgHeader[i]->messageLength + sizeof(unsigned long);
- // Find last byte position of message
- msgEnd = messageLocation[i] + msgLen;
- if (byteCounter < msgEnd)
- {
- // Complete message has not been received.
- // Clear processed messages and break out of message processing loop
- for (int j = 0; j < i; j++)
+ if (streamPos)
{
- messageLocation[j] = messageLocation[i+j];
- perSecMessageCounter--;
- }
- break;
- }
- else if ((i < (perSecMessageCounter-1)) &&
- (messageLocation[i+i] < msgEnd)) // ignore CRC for now
- {
- // Next message was started before this mesage was completely received.
- // Ignore and continue on to the next message
- continue;
- }
- if (logMsgInfo)
- {
- toPC.printf("WMsg MESSAGEINFO %5d %5d %5d %5d %5d = %5d (%5d)\n",
- msgHeader[i]->messageID,
- messageLocation[i],
- msgHeader[i]->headerLength,
- msgHeader[i]->messageLength,
- sizeof(unsigned long),
- msgEnd,
- byteCounter);
- }
- //toPC.printf(" %5d ", msgHeader[i]->messageID);
- if ((msgHeader[i]->messageID == 42) ||
- (msgHeader[i]->messageID == 99))
- {
- if (msgHeader[i]->messageID == 42)
- {
- // Wait until velocity message has also been received before using as
- // base position
- //memcpy(&curPos, &msgBuffer[messageLocation[i]], sizeof(OEM615BESTPOS));
- curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[i]]);
- if (streamPos)
- {
toPC.printf("WMsg BESTPOS %d %d %d %8.5lf %9.5lf %5.3lf %5.3f %5.3f %5.3f %5.3f %5.3f %5.3f %d %d %d %d %d\n",
curPos.msgHeader.GPSTime_msecs,
curPos.solStatus,
@@ -559,69 +596,86 @@
curPos.numGGL1,
curPos.extSolStatus,
curPos.sigMask);
- }
- }
- else if (msgHeader[i]->messageID == 99)
- {
- // Wait until position message has also been received before using as
- // base position
- //memcpy(&curVel, &msgBuffer[messageLocation[i]], sizeof(OEM615BESTVEL));
- curVel = *((OEM615BESTVEL*)&msgBuffer[messageLocation[i]]);
- }
- if ((curVel.msgHeader.GPSTime_msecs+250)/1000 ==
- (curPos.msgHeader.GPSTime_msecs+250)/1000)
- {
- // update position and velocity used for calculation
- GPSTimemsecs = curPos.msgHeader.GPSTime_msecs;
- GPSTime = (double)GPSTimemsecs/1000.0;
- velMsg = curVel;
- posMsg = curPos;
- PPSTimeOffset = 0;
}
}
- if (i == (perSecMessageCounter-1))
+
+ //check for a message 99 (BESTVEL) -- and cast it into its message structure
+ else if (msgHeader[i]->messageID == 99)
+ {
+ curVel = *((OEM615BESTVEL*)&msgBuffer[messageLocation[i]]);
+ }
+
+ //the below test ensures that the positin and veocity are matched in time
+ //not sure the reason for the "250" below
+ if ((curVel.msgHeader.GPSTime_msecs+250)/1000 ==
+ (curPos.msgHeader.GPSTime_msecs+250)/1000)
{
- if (recordData && (fpNav != NULL))
- {
- fwrite(msgBuffer, byteCounter, 1, fpNav);
- }
- byteCounter = 0;
- perSecMessageCounter = 0;
+ // update position and velocity used for calculation
+ GPSTimemsecs = curPos.msgHeader.GPSTime_msecs;
+ GPSTime = (double)GPSTimemsecs/1000.0;
+ velMsg = curVel; //
+ posMsg = curPos;
+
+ /////////////////////////////////////////////////////////////////////////////////////////
+ //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
+ PPSTimeOffset = 0;
+ /////////////////////////////////////////////////////////////////////////////////////////
}
- }
- //toPC.printf(" %3d %8d \n", msgHeader[0]->timeStatus, GPSTimemsecs);
- //if (recordData && (fpGPS != NULL))
-
- /*
+ }
+ lookingForMessages = false;
+
+ } //end of the GPS message processing
+
+ //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
+ //we write the IMU data here
+ if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
+ {
+ imuRec.GPSTime = GPSTimemsecs + timeFromPPS.read_us()/1000000.0;
+ spi.write((int) HIGH_REGISTER[0]); // next read will return results from HIGH_REGITER[0]
+ for (int i=0; i<6; i++) //read the 6 rate and accel variables
+ {
+ wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]) ;
+ if (i<5) // dont this on the last because this was pre-called
+ { wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]); }
+ imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
+
+ }
+ IMURecordCounter++;
+ //write the IMU data
+ //if (recordData && (fpIMU != NULL))
if (recordData && (fpNav != NULL))
{
- fwrite(msgBuffer, byteCounter, 1, fpNav);
+ IMUbytesWritten += fwrite(imuRec.dataWord, sizeof(IMUREC), 1, fpNav);
}
- */
- //lookingForMessages = false;
+ IMUClockCounter++;
+ IMUDataReady = false;
}
- if (messageDetected)
+
+ if (messageDetected) //some GPS message header has been detected
{
- //toPC.printf(" msgTime = %4d \n", timeFromPPS.read_us());
+ toPC.printf(" msgTime = %4d \n", timeFromPPS.read_us());
messageDetected = false;
}
- if (camera1EventDetected)
+
+ if (camera1EventDetected) //we have detected a camera trigger event
{
toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
camera1EventDetected = false;
}
- if (detectedGPS1PPS)
+
+ if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
{
- //toPC.printf(" PPSCounter = %4d byteCounter = %10d num Messages Received = %3d IMUClock = %4d\n",
- // PPSCounter, byteCounter, perSecMessageCounter, savedIMUClockCounter);
+ toPC.printf(" PPSCounter=%4d byteCounter=%10d Msgs Received=%3d IMUClock=%4d bytesWritten=%8d\n",
+ PPSCounter, savedByteCounter, savedPerSecMessageCounter, savedIMUClockCounter, IMUbytesWritten);
if (recordData && (fpNav != NULL) && (byteCounter > 0))
{
- fwrite(msgBuffer, byteCounter, 1, fpNav);
+ // we know that we are not reading a GPS message at exactly the 1PPS occurrence
+ fwrite(msgBuffer, byteCounter, 1, fpNav); // this writes out a complete set of messages for ths sec
}
- byteCounter = 0;
- perSecMessageCounter=0;
detectedGPS1PPS = false;
}
}
+
+ fclose(fpNav);
toPC.printf(" normal termination \n");
}
\ No newline at end of file
--- a/mbed-rtos/rtos.lib Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_official/code/rtos/#68e146c0e76b
--- a/mbed-rtos/rtos/Mail.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MAIL_H
-#define MAIL_H
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Mail class allow to control, send, receive, or wait for mail.
- A mail is a memory block that is send to a thread or interrupt service routine.
- \tparam T data type of a single message element.
- \tparam queue_sz maximum number of messages in queue.
-*/
-template<typename T, uint32_t queue_sz>
-class Mail {
-public:
- /*! Create and Initialise Mail queue. */
- Mail() {
- #ifdef CMSIS_OS_RTX
- memset(_mail_q, 0, sizeof(_mail_q));
- _mail_p[0] = _mail_q;
-
- memset(_mail_m, 0, sizeof(_mail_m));
- _mail_p[1] = _mail_m;
-
- _mail_def.pool = _mail_p;
- _mail_def.queue_sz = queue_sz;
- _mail_def.item_sz = sizeof(T);
- #endif
- _mail_id = osMailCreate(&_mail_def, NULL);
- }
-
- /*! Allocate a memory block of type T
- \param millisec timeout value or 0 in case of no time-out. (default: 0).
- \return pointer to memory block that can be filled with mail or NULL in case error.
- */
- T* alloc(uint32_t millisec=0) {
- return (T*)osMailAlloc(_mail_id, millisec);
- }
-
- /*! Allocate a memory block of type T and set memory block to zero.
- \param millisec timeout value or 0 in case of no time-out. (default: 0).
- \return pointer to memory block that can be filled with mail or NULL in case error.
- */
- T* calloc(uint32_t millisec=0) {
- return (T*)osMailCAlloc(_mail_id, millisec);
- }
-
- /*! Put a mail in the queue.
- \param mptr memory block previously allocated with Mail::alloc or Mail::calloc.
- \return status code that indicates the execution status of the function.
- */
- osStatus put(T *mptr) {
- return osMailPut(_mail_id, (void*)mptr);
- }
-
- /*! Get a mail from a queue.
- \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
- \return event that contains mail information or error code.
- */
- osEvent get(uint32_t millisec=osWaitForever) {
- return osMailGet(_mail_id, millisec);
- }
-
- /*! Free a memory block from a mail.
- \param mptr pointer to the memory block that was obtained with Mail::get.
- \return status code that indicates the execution status of the function.
- */
- osStatus free(T *mptr) {
- return osMailFree(_mail_id, (void*)mptr);
- }
-
-private:
- osMailQId _mail_id;
- osMailQDef_t _mail_def;
-#ifdef CMSIS_OS_RTX
- uint32_t _mail_q[4+(queue_sz)];
- uint32_t _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
- void *_mail_p[2];
-#endif
-};
-
-}
-
-#endif
-
--- a/mbed-rtos/rtos/MemoryPool.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,62 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MEMORYPOOL_H
-#define MEMORYPOOL_H
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! Define and manage fixed-size memory pools of objects of a given type.
- \tparam T data type of a single object (element).
- \tparam queue_sz maximum number of objects (elements) in the memory pool.
-*/
-template<typename T, uint32_t pool_sz>
-class MemoryPool {
-public:
- /*! Create and Initialize a memory pool. */
- MemoryPool() {
- #ifdef CMSIS_OS_RTX
- memset(_pool_m, 0, sizeof(_pool_m));
- _pool_def.pool = _pool_m;
-
- _pool_def.pool_sz = pool_sz;
- _pool_def.item_sz = sizeof(T);
- #endif
- _pool_id = osPoolCreate(&_pool_def);
- }
-
- /*! Allocate a memory block of type T from a memory pool.
- \return address of the allocated memory block or NULL in case of no memory available.
- */
- T* alloc(void) {
- return (T*)osPoolAlloc(_pool_id);
- }
-
- /*! Allocate a memory block of type T from a memory pool and set memory block to zero.
- \return address of the allocated memory block or NULL in case of no memory available.
- */
- T* calloc(void) {
- return (T*)osPoolCAlloc(_pool_id);
- }
-
- /*! Return an allocated memory block back to a specific memory pool.
- \param address of the allocated memory block that is returned to the memory pool.
- \return status code that indicates the execution status of the function.
- */
- osStatus free(T *block) {
- return osPoolFree(_pool_id, (void*)block);
- }
-
-private:
- osPoolId _pool_id;
- osPoolDef_t _pool_def;
-#ifdef CMSIS_OS_RTX
- uint32_t _pool_m[3+((sizeof(T)+3)/4)*(pool_sz)];
-#endif
-};
-
-}
-#endif
--- a/mbed-rtos/rtos/Mutex.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,35 +0,0 @@
-#include "Mutex.h"
-
-#include <string.h>
-#include "error.h"
-
-namespace rtos {
-
-Mutex::Mutex() {
-#ifdef CMSIS_OS_RTX
- memset(_mutex_data, 0, sizeof(_mutex_data));
- _osMutexDef.mutex = _mutex_data;
-#endif
- _osMutexId = osMutexCreate(&_osMutexDef);
- if (_osMutexId == NULL) {
- error("Error initializing the mutex object\n");
- }
-}
-
-osStatus Mutex::lock(uint32_t millisec) {
- return osMutexWait(_osMutexId, millisec);
-}
-
-bool Mutex::trylock() {
- return (osMutexWait(_osMutexId, 0) == osOK);
-}
-
-osStatus Mutex::unlock() {
- return osMutexRelease(_osMutexId);
-}
-
-Mutex::~Mutex() {
- osMutexDelete(_osMutexId);
-}
-
-}
--- a/mbed-rtos/rtos/Mutex.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MUTEX_H
-#define MUTEX_H
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Mutex class is used to synchronise the execution of threads.
- This is for example used to protect access to a shared resource.
-*/
-class Mutex {
-public:
- /*! Create and Initialize a Mutex object */
- Mutex();
-
- /*! Wait until a Mutex becomes available.
- \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever)
- \return status code that indicates the execution status of the function.
- */
- osStatus lock(uint32_t millisec=osWaitForever);
-
- /*! Try to lock the mutex, and return immediately
- \return true if the mutex was acquired, false otherwise.
- */
- bool trylock();
-
- /*! Unlock the mutex that has previously been locked by the same thread
- \return status code that indicates the execution status of the function.
- */
- osStatus unlock();
-
- ~Mutex();
-
-private:
- osMutexId _osMutexId;
- osMutexDef_t _osMutexDef;
-#ifdef CMSIS_OS_RTX
- int32_t _mutex_data[3];
-#endif
-};
-
-}
-#endif
--- a/mbed-rtos/rtos/Queue.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef QUEUE_H
-#define QUEUE_H
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-#include "error.h"
-
-namespace rtos {
-
-/*! The Queue class allow to control, send, receive, or wait for messages.
- A message can be a integer or pointer value to a certain type T that is send
- to a thread or interrupt service routine.
- \tparam T data type of a single message element.
- \tparam queue_sz maximum number of messages in queue.
-*/
-template<typename T, uint32_t queue_sz>
-class Queue {
-public:
- /*! Create and initialise a message Queue. */
- Queue() {
- #ifdef CMSIS_OS_RTX
- memset(_queue_q, 0, sizeof(_queue_q));
- _queue_def.pool = _queue_q;
- _queue_def.queue_sz = queue_sz;
- #endif
- _queue_id = osMessageCreate(&_queue_def, NULL);
- if (_queue_id == NULL) {
- error("Error initialising the queue object\n");
- }
- }
-
- /*! Put a message in a Queue.
- \param data message pointer.
- \param millisec timeout value or 0 in case of no time-out. (default: 0)
- \return status code that indicates the execution status of the function.
- */
- osStatus put(T* data, uint32_t millisec=0) {
- return osMessagePut(_queue_id, (uint32_t)data, millisec);
- }
-
- /*! Get a message or Wait for a message from a Queue.
- \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
- \return event information that includes the message and the status code.
- */
- osEvent get(uint32_t millisec=osWaitForever) {
- return osMessageGet(_queue_id, millisec);
- }
-
-private:
- osMessageQId _queue_id;
- osMessageQDef_t _queue_def;
-#ifdef CMSIS_OS_RTX
- uint32_t _queue_q[4+(queue_sz)];
-#endif
-};
-
-}
-#endif
--- a/mbed-rtos/rtos/RtosTimer.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,32 +0,0 @@
-#include "RtosTimer.h"
-
-#include <string.h>
-
-#include "cmsis_os.h"
-#include "error.h"
-
-namespace rtos {
-
-RtosTimer::RtosTimer(void (*periodic_task)(void const *argument), os_timer_type type, void *argument) {
-#ifdef CMSIS_OS_RTX
- _timer.ptimer = periodic_task;
-
- memset(_timer_data, 0, sizeof(_timer_data));
- _timer.timer = _timer_data;
-#endif
- _timer_id = osTimerCreate(&_timer, type, argument);
-}
-
-osStatus RtosTimer::start(uint32_t millisec) {
- return osTimerStart(_timer_id, millisec);
-}
-
-osStatus RtosTimer::stop(void) {
- return osTimerStop(_timer_id);
-}
-
-RtosTimer::~RtosTimer() {
- osTimerDelete(_timer_id);
-}
-
-}
--- a/mbed-rtos/rtos/RtosTimer.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef TIMER_H
-#define TIMER_H
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The RtosTimer class allow creating and and controlling of timer functions in the system.
- A timer function is called when a time period expires whereby both on-shot and
- periodic timers are possible. A timer can be started, restarted, or stopped.
-
- Timers are handled in the thread osTimerThread.
- Callback functions run under control of this thread and may use CMSIS-RTOS API calls.
-*/
-class RtosTimer {
-public:
- /*! Create and Start timer.
- \param task name of the timer call back function.
- \param type osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
- \param argument argument to the timer call back function. (default: NULL)
- */
- RtosTimer(void (*task)(void const *argument),
- os_timer_type type=osTimerPeriodic,
- void *argument=NULL);
-
- /*! Stop the timer.
- \return status code that indicates the execution status of the function.
- */
- osStatus stop(void);
-
- /*! start a timer.
- \param millisec time delay value of the timer.
- \return status code that indicates the execution status of the function.
- */
- osStatus start(uint32_t millisec);
-
- ~RtosTimer();
-
-private:
- osTimerId _timer_id;
- osTimerDef_t _timer;
-#ifdef CMSIS_OS_RTX
- uint32_t _timer_data[5];
-#endif
-};
-
-}
-
-#endif
--- a/mbed-rtos/rtos/Semaphore.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#include "Semaphore.h"
-
-#include <string.h>
-#include "error.h"
-
-namespace rtos {
-
-Semaphore::Semaphore(int32_t count) {
-#ifdef CMSIS_OS_RTX
- memset(_semaphore_data, 0, sizeof(_semaphore_data));
- _osSemaphoreDef.semaphore = _semaphore_data;
-#endif
- _osSemaphoreId = osSemaphoreCreate(&_osSemaphoreDef, count);
-}
-
-int32_t Semaphore::wait(uint32_t millisec) {
- return osSemaphoreWait(_osSemaphoreId, millisec);
-}
-
-osStatus Semaphore::release(void) {
- return osSemaphoreRelease(_osSemaphoreId);
-}
-
-Semaphore::~Semaphore() {
- osSemaphoreDelete(_osSemaphoreId);
-}
-
-}
--- a/mbed-rtos/rtos/Semaphore.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,40 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef SEMAPHORE_H
-#define SEMAPHORE_H
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Semaphore class is used to manage and protect access to a set of shared resources. */
-class Semaphore {
-public:
- /*! Create and Initialize a Semaphore object used for managing resources.
- \param number of available resources; maximum index value is (count-1).
- */
- Semaphore(int32_t count);
-
- /*! Wait until a Semaphore resource becomes available.
- \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
- \return number of available tokens, or -1 in case of incorrect parameters
- */
- int32_t wait(uint32_t millisec=osWaitForever);
-
- /*! Release a Semaphore resource that was obtain with Semaphore::wait.
- \return status code that indicates the execution status of the function.
- */
- osStatus release(void);
-
- ~Semaphore();
-
-private:
- osSemaphoreId _osSemaphoreId;
- osSemaphoreDef_t _osSemaphoreDef;
-#ifdef CMSIS_OS_RTX
- uint32_t _semaphore_data[2];
-#endif
-};
-
-}
-#endif
--- a/mbed-rtos/rtos/Thread.cpp Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,58 +0,0 @@
-#include "Thread.h"
-
-#include <stdlib.h>
-
-#include "error.h"
-
-namespace rtos {
-
-Thread::Thread(void (*task)(void const *argument), void *argument,
- osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
-#ifdef CMSIS_OS_RTX
- _thread_def.pthread = task;
- _thread_def.tpriority = priority;
- _thread_def.stacksize = stack_size;
- if (stack_pointer != NULL) {
- _thread_def.stack_pointer = stack_pointer;
- } else {
- _thread_def.stack_pointer = (unsigned char*) malloc(stack_size);
- if (_thread_def.stack_pointer == NULL)
- error("Error allocating the stack memory");
- }
-#endif
- _tid = osThreadCreate(&_thread_def, argument);
-}
-
-osStatus Thread::terminate() {
- return osThreadTerminate(_tid);
-}
-
-osStatus Thread::set_priority(osPriority priority) {
- return osThreadSetPriority(_tid, priority);
-}
-
-osPriority Thread::get_priority() {
- return osThreadGetPriority(_tid);
-}
-
-int32_t Thread::signal_set(int32_t signals) {
- return osSignalSet(_tid, signals);
-}
-
-osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
- return osSignalWait(signals, millisec);
-}
-
-osStatus Thread::wait(uint32_t millisec) {
- return osDelay(millisec);
-}
-
-osStatus Thread::yield() {
- return osThreadYield();
-}
-
-osThreadId Thread::gettid() {
- return osThreadGetId();
-}
-
-}
--- a/mbed-rtos/rtos/Thread.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef THREAD_H
-#define THREAD_H
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Thread class allow defining, creating, and controlling thread functions in the system. */
-class Thread {
-public:
- /*! Create a new thread, and start it executing the specified function.
- \param task function to be executed by this thread.
- \param argument pointer that is passed to the thread function as start argument. (default: NULL).
- \param priority initial priority of the thread function. (default: osPriorityNormal).
- \param stack_size stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
- \param stack_pointer pointer to the stack area to be used by this thread (default: NULL).
- */
- Thread(void (*task)(void const *argument), void *argument=NULL,
- osPriority priority=osPriorityNormal,
- uint32_t stack_size=DEFAULT_STACK_SIZE,
- unsigned char *stack_pointer=NULL);
-
- /*! Terminate execution of a thread and remove it from Active Threads
- \return status code that indicates the execution status of the function.
- */
- osStatus terminate();
-
- /*! Set priority of an active thread
- \param priority new priority value for the thread function.
- \return status code that indicates the execution status of the function.
- */
- osStatus set_priority(osPriority priority);
-
- /*! Get priority of an active thread
- \ return current priority value of the thread function.
- */
- osPriority get_priority();
-
- /*! Set the specified Signal Flags of an active thread.
- \param signals specifies the signal flags of the thread that should be set.
- \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
- */
- int32_t signal_set(int32_t signals);
-
- /*! Wait for one or more Signal Flags to become signaled for the current RUNNING thread.
- \param signals wait until all specified signal flags set or 0 for any single signal flag.
- \param millisec timeout value or 0 in case of no time-out. (default: osWaitForever).
- \return event flag information or error code.
- */
- static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
-
-
- /*! Wait for a specified time period in millisec:
- \param millisec time delay value
- \return status code that indicates the execution status of the function.
- */
- static osStatus wait(uint32_t millisec);
-
- /*! Pass control to next thread that is in state READY.
- \return status code that indicates the execution status of the function.
- */
- static osStatus yield();
-
- /*! Get the thread id of the current running thread.
- \return thread ID for reference by other functions or NULL in case of error.
- */
- static osThreadId gettid();
-
-private:
- osThreadId _tid;
- osThreadDef_t _thread_def;
-};
-
-}
-#endif
--- a/mbed-rtos/rtos/rtos.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,17 +0,0 @@ -/* mbed Microcontroller Library - * Copyright (c) 2006-2012 ARM Limited. All rights reserved. - */ -#ifndef RTOS_H -#define RTOS_H - -#include "Thread.h" -#include "Mutex.h" -#include "RtosTimer.h" -#include "Semaphore.h" -#include "Mail.h" -#include "MemoryPool.h" -#include "Queue.h" - -using namespace rtos; - -#endif
--- a/mbed-rtos/rtx.lib Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/mbed_official/code/rtx/#77454ed243ca
--- a/mbed-rtos/rtx/HAL_CM.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,170 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CM.C
- * Purpose: Hardware Abstraction Layer for Cortex-M
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_HAL_CM.h"
-
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-#ifdef DBG_MSG
-BIT dbg_msg;
-#endif
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_init_stack ---------------------------------*/
-
-void rt_init_stack (P_TCB p_TCB, FUNCP task_body) {
- /* Prepare TCB and saved context for a first time start of a task. */
- U32 *stk,i,size;
-
- /* Prepare a complete interrupt frame for first task start */
- size = p_TCB->priv_stack >> 2;
-
- /* Write to the top of stack. */
- stk = &p_TCB->stack[size];
-
- /* Auto correct to 8-byte ARM stack alignment. */
- if ((U32)stk & 0x04) {
- stk--;
- }
-
- stk -= 16;
-
- /* Default xPSR and initial PC */
- stk[15] = INITIAL_xPSR;
- stk[14] = (U32)task_body;
-
- /* Clear R4-R11,R0-R3,R12,LR registers. */
- for (i = 0; i < 14; i++) {
- stk[i] = 0;
- }
-
- /* Assign a void pointer to R0. */
- stk[8] = (U32)p_TCB->msg;
-
- /* Initial Task stack pointer. */
- p_TCB->tsk_stack = (U32)stk;
-
- /* Task entry point. */
- p_TCB->ptask = task_body;
-
- /* Set a magic word for checking of stack overflow.
- For the main thread (ID: 0x01) the stack is in a memory area shared with the
- heap, therefore the last word of the stack is a moving target.
- We want to do stack/heap collision detection instead.
- */
- if (p_TCB->task_id != 0x01)
- p_TCB->stack[0] = MAGIC_WORD;
-}
-
-
-/*--------------------------- rt_ret_val ----------------------------------*/
-
-static __inline U32 *rt_ret_regs (P_TCB p_TCB) {
- /* Get pointer to task return value registers (R0..R3) in Stack */
-#if (__TARGET_FPU_VFP)
- if (p_TCB->stack_frame) {
- /* Extended Stack Frame: R4-R11,S16-S31,R0-R3,R12,LR,PC,xPSR,S0-S15,FPSCR */
- return (U32 *)(p_TCB->tsk_stack + 8*4 + 16*4);
- } else {
- /* Basic Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
- return (U32 *)(p_TCB->tsk_stack + 8*4);
- }
-#else
- /* Stack Frame: R4-R11,R0-R3,R12,LR,PC,xPSR */
- return (U32 *)(p_TCB->tsk_stack + 8*4);
-#endif
-}
-
-void rt_ret_val (P_TCB p_TCB, U32 v0) {
- U32 *ret;
-
- ret = rt_ret_regs(p_TCB);
- ret[0] = v0;
-}
-
-void rt_ret_val2(P_TCB p_TCB, U32 v0, U32 v1) {
- U32 *ret;
-
- ret = rt_ret_regs(p_TCB);
- ret[0] = v0;
- ret[1] = v1;
-}
-
-
-/*--------------------------- dbg_init --------------------------------------*/
-
-#ifdef DBG_MSG
-void dbg_init (void) {
- if ((DEMCR & DEMCR_TRCENA) &&
- (ITM_CONTROL & ITM_ITMENA) &&
- (ITM_ENABLE & (1UL << 31))) {
- dbg_msg = __TRUE;
- }
-}
-#endif
-
-/*--------------------------- dbg_task_notify -------------------------------*/
-
-#ifdef DBG_MSG
-void dbg_task_notify (P_TCB p_tcb, BOOL create) {
- while (ITM_PORT31_U32 == 0);
- ITM_PORT31_U32 = (U32)p_tcb->ptask;
- while (ITM_PORT31_U32 == 0);
- ITM_PORT31_U16 = (create << 8) | p_tcb->task_id;
-}
-#endif
-
-/*--------------------------- dbg_task_switch -------------------------------*/
-
-#ifdef DBG_MSG
-void dbg_task_switch (U32 task_id) {
- while (ITM_PORT31_U32 == 0);
- ITM_PORT31_U8 = task_id;
-}
-#endif
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/LPC11U24/GCC_ARM/HAL_CM0.s Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,370 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CM0.S
- * Purpose: Hardware Abstraction Layer for Cortex-M0
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
- .file "HAL_CM0.S"
- .syntax unified
-
- .equ TCB_TSTACK, 36
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
- .thumb
-
- .section ".text"
- .align 2
-
-
-/*--------------------------- rt_set_PSP ------------------------------------*/
-
-# void rt_set_PSP (U32 stack);
-
- .thumb_func
- .type rt_set_PSP, %function
- .global rt_set_PSP
-rt_set_PSP:
- .fnstart
- .cantunwind
-
- MSR PSP,R0
- BX LR
-
- .fnend
- .size rt_set_PSP, .-rt_set_PSP
-
-
-/*--------------------------- rt_get_PSP ------------------------------------*/
-
-# U32 rt_get_PSP (void);
-
- .thumb_func
- .type rt_get_PSP, %function
- .global rt_get_PSP
-rt_get_PSP:
- .fnstart
- .cantunwind
-
- MRS R0,PSP
- BX LR
-
- .fnend
- .size rt_get_PSP, .-rt_get_PSP
-
-
-/*--------------------------- os_set_env ------------------------------------*/
-
-# void os_set_env (void);
- /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
-
- .thumb_func
- .type os_set_env, %function
- .global os_set_env
-os_set_env:
- .fnstart
- .cantunwind
-
- MOV R0,SP /* PSP = MSP */
- MSR PSP,R0
- LDR R0,=os_flags
- LDRB R0,[R0]
- LSLS R0,#31
- BNE PrivilegedE
- MOVS R0,#0x03 /* Unprivileged Thread mode, use PSP */
- MSR CONTROL,R0
- BX LR
-PrivilegedE:
- MOVS R0,#0x02 /* Privileged Thread mode, use PSP */
- MSR CONTROL,R0
- BX LR
-
- .fnend
- .size os_set_env, .-os_set_env
-
-
-/*--------------------------- _alloc_box ------------------------------------*/
-
-# void *_alloc_box (void *box_mem);
- /* Function wrapper for Unprivileged/Privileged mode. */
-
- .thumb_func
- .type _alloc_box, %function
- .global _alloc_box
-_alloc_box:
- .fnstart
- .cantunwind
-
- LDR R3,=rt_alloc_box
- MOV R12,R3
- MRS R3,IPSR
- LSLS R3,#24
- BNE PrivilegedA
- MRS R3,CONTROL
- LSLS R3,#31
- BEQ PrivilegedA
- SVC 0
- BX LR
-PrivilegedA:
- BX R12
-
- .fnend
- .size _alloc_box, .-_alloc_box
-
-
-/*--------------------------- _free_box -------------------------------------*/
-
-# int _free_box (void *box_mem, void *box);
- /* Function wrapper for Unprivileged/Privileged mode. */
-
- .thumb_func
- .type _free_box, %function
- .global _free_box
-_free_box:
- .fnstart
- .cantunwind
-
- LDR R3,=rt_free_box
- MOV R12,R3
- MRS R3,IPSR
- LSLS R3,#24
- BNE PrivilegedF
- MRS R3,CONTROL
- LSLS R3,#31
- BEQ PrivilegedF
- SVC 0
- BX LR
-PrivilegedF:
- BX R12
-
- .fnend
- .size _free_box, .-_free_box
-
-
-/*-------------------------- SVC_Handler ------------------------------------*/
-
-# void SVC_Handler (void);
-
- .thumb_func
- .type SVC_Handler, %function
- .global SVC_Handler
-SVC_Handler:
- .fnstart
- .cantunwind
-
- MRS R0,PSP /* Read PSP */
- LDR R1,[R0,#24] /* Read Saved PC from Stack */
- SUBS R1,R1,#2 /* Point to SVC Instruction */
- LDRB R1,[R1] /* Load SVC Number */
- CMP R1,#0
- BNE SVC_User /* User SVC Number > 0 */
-
- MOV LR,R4
- LDMIA R0,{R0-R3,R4} /* Read R0-R3,R12 from stack */
- MOV R12,R4
- MOV R4,LR
- BLX R12 /* Call SVC Function */
-
- MRS R3,PSP /* Read PSP */
- STMIA R3!,{R0-R2} /* Store return values */
-
- LDR R3,=os_tsk
- LDMIA R3!,{R1,R2} /* os_tsk.run, os_tsk.new */
- CMP R1,R2
- BEQ SVC_Exit /* no task switch */
-
- SUBS R3,#8
- CMP R1,#0 /* Runtask deleted? */
- BEQ SVC_Next
-
- MRS R0,PSP /* Read PSP */
- SUBS R0,R0,#32 /* Adjust Start Address */
- STR R0,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
- STMIA R0!,{R4-R7} /* Save old context (R4-R7) */
- MOV R4,R8
- MOV R5,R9
- MOV R6,R10
- MOV R7,R11
- STMIA R0!,{R4-R7} /* Save old context (R8-R11) */
-
- PUSH {R2,R3}
- BL rt_stk_check /* Check for Stack overflow */
- POP {R2,R3}
-
-SVC_Next:
- STR R2,[R3] /* os_tsk.run = os_tsk.new */
-
- LDR R0,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
- ADDS R0,R0,#16 /* Adjust Start Address */
- LDMIA R0!,{R4-R7} /* Restore new Context (R8-R11) */
- MOV R8,R4
- MOV R9,R5
- MOV R10,R6
- MOV R11,R7
- MSR PSP,R0 /* Write PSP */
- SUBS R0,R0,#32 /* Adjust Start Address */
- LDMIA R0!,{R4-R7} /* Restore new Context (R4-R7) */
-
-SVC_Exit:
- MOVS R0,#~0xFFFFFFFD /* Set EXC_RETURN value */
- MVNS R0,R0
- BX R0 /* RETI to Thread Mode, use PSP */
-
- /*------------------- User SVC ------------------------------*/
-
-SVC_User:
- PUSH {R4,LR} /* Save Registers */
- LDR R2,=SVC_Count
- LDR R2,[R2]
- CMP R1,R2
- BHI SVC_Done /* Overflow */
-
- LDR R4,=SVC_Table-4
- LSLS R1,R1,#2
- LDR R4,[R4,R1] /* Load SVC Function Address */
- MOV LR,R4
-
- LDMIA R0,{R0-R3,R4} /* Read R0-R3,R12 from stack */
- MOV R12,R4
- BLX LR /* Call SVC Function */
-
- MRS R4,PSP /* Read PSP */
- STMIA R4!,{R0-R3} /* Function return values */
-SVC_Done:
- POP {R4,PC} /* RETI */
-
- .fnend
- .size SVC_Handler, .-SVC_Handler
-
-
-/*-------------------------- PendSV_Handler ---------------------------------*/
-
-# void PendSV_Handler (void);
-
- .thumb_func
- .type PendSV_Handler, %function
- .global PendSV_Handler
- .global Sys_Switch
-PendSV_Handler:
- .fnstart
- .cantunwind
-
- BL rt_pop_req
-
-Sys_Switch:
- LDR R3,=os_tsk
- LDMIA R3!,{R1,R2} /* os_tsk.run, os_tsk.new */
- CMP R1,R2
- BEQ Sys_Exit /* no task switch */
-
- SUBS R3,#8
-
- MRS R0,PSP /* Read PSP */
- SUBS R0,R0,#32 /* Adjust Start Address */
- STR R0,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
- STMIA R0!,{R4-R7} /* Save old context (R4-R7) */
- MOV R4,R8
- MOV R5,R9
- MOV R6,R10
- MOV R7,R11
- STMIA R0!,{R4-R7} /* Save old context (R8-R11) */
-
- PUSH {R2,R3}
- BL rt_stk_check /* Check for Stack overflow */
- POP {R2,R3}
-
- STR R2,[R3] /* os_tsk.run = os_tsk.new */
-
- LDR R0,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
- ADDS R0,R0,#16 /* Adjust Start Address */
- LDMIA R0!,{R4-R7} /* Restore new Context (R8-R11) */
- MOV R8,R4
- MOV R9,R5
- MOV R10,R6
- MOV R11,R7
- MSR PSP,R0 /* Write PSP */
- SUBS R0,R0,#32 /* Adjust Start Address */
- LDMIA R0!,{R4-R7} /* Restore new Context (R4-R7) */
-
-Sys_Exit:
- MOVS R0,#~0xFFFFFFFD /* Set EXC_RETURN value */
- MVNS R0,R0
- BX R0 /* RETI to Thread Mode, use PSP */
-
- .fnend
- .size PendSV_Handler, .-PendSV_Handler
-
-
-/*-------------------------- SysTick_Handler --------------------------------*/
-
-# void SysTick_Handler (void);
-
- .thumb_func
- .type SysTick_Handler, %function
- .global SysTick_Handler
-SysTick_Handler:
- .fnstart
- .cantunwind
-
- BL rt_systick
- B Sys_Switch
-
- .fnend
- .size SysTick_Handler, .-SysTick_Handler
-
-
-/*-------------------------- OS_Tick_Handler --------------------------------*/
-
-# void OS_Tick_Handler (void);
-
- .thumb_func
- .type OS_Tick_Handler, %function
- .global OS_Tick_Handler
-OS_Tick_Handler:
- .fnstart
- .cantunwind
-
- BL os_tick_irqack
- BL rt_systick
- B Sys_Switch
-
- .fnend
- .size OS_Tick_Handler, .-OS_Tick_Handler
-
-
- .end
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/LPC11U24/GCC_ARM/SVC_Table.s Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,56 +0,0 @@ -;/*---------------------------------------------------------------------------- -; * RL-ARM - RTX -; *---------------------------------------------------------------------------- -; * Name: SVC_TABLE.S -; * Purpose: Pre-defined SVC Table for Cortex-M -; * Rev.: V4.50 -; *---------------------------------------------------------------------------- -; * -; * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH -; * All rights reserved. -; * Redistribution and use in source and binary forms, with or without -; * modification, are permitted provided that the following conditions are met: -; * - Redistributions of source code must retain the above copyright -; * notice, this list of conditions and the following disclaimer. -; * - Redistributions in binary form must reproduce the above copyright -; * notice, this list of conditions and the following disclaimer in the -; * documentation and/or other materials provided with the distribution. -; * - Neither the name of ARM nor the names of its contributors may be used -; * to endorse or promote products derived from this software without -; * specific prior written permission. -; * -; * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -; * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -; * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -; * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE -; * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -; * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -; * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -; * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -; * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -; * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -; * POSSIBILITY OF SUCH DAMAGE. -; *---------------------------------------------------------------------------*/ - - - .file "SVC_Table.S" - - - .section ".svc_table" - - .global SVC_Table -SVC_Table: -/* Insert user SVC functions here. SVC 0 used by RTL Kernel. */ -# .long __SVC_1 /* user SVC function */ -SVC_End: - - .global SVC_Count -SVC_Count: - .long (SVC_End-SVC_Table)/4 - - - .end - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/LPC11U24/uARM/HAL_CM0.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,301 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CM0.C
- * Purpose: Hardware Abstraction Layer for Cortex-M0
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_HAL_CM.h"
-#include "rt_Task.h"
-#include "rt_MemBox.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_set_PSP ------------------------------------*/
-
-__asm void rt_set_PSP (U32 stack) {
- MSR PSP,R0
- BX LR
-}
-
-
-/*--------------------------- rt_get_PSP ------------------------------------*/
-
-__asm U32 rt_get_PSP (void) {
- MRS R0,PSP
- BX LR
-}
-
-
-/*--------------------------- os_set_env ------------------------------------*/
-
-__asm void os_set_env (void) {
- /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
- MOV R0,SP ; PSP = MSP
- MSR PSP,R0
- LDR R0,=__cpp(&os_flags)
- LDRB R0,[R0]
- LSLS R0,#31
- BNE PrivilegedE
- MOVS R0,#0x03 ; Unprivileged Thread mode, use PSP
- MSR CONTROL,R0
- BX LR
-PrivilegedE
- MOVS R0,#0x02 ; Privileged Thread mode, use PSP
- MSR CONTROL,R0
- BX LR
-
- ALIGN
-}
-
-
-/*--------------------------- _alloc_box ------------------------------------*/
-
-__asm void *_alloc_box (void *box_mem) {
- /* Function wrapper for Unprivileged/Privileged mode. */
- LDR R3,=__cpp(rt_alloc_box)
- MOV R12,R3
- MRS R3,IPSR
- LSLS R3,#24
- BNE PrivilegedA
- MRS R3,CONTROL
- LSLS R3,#31
- BEQ PrivilegedA
- SVC 0
- BX LR
-PrivilegedA
- BX R12
-
- ALIGN
-}
-
-
-/*--------------------------- _free_box -------------------------------------*/
-
-__asm int _free_box (void *box_mem, void *box) {
- /* Function wrapper for Unprivileged/Privileged mode. */
- LDR R3,=__cpp(rt_free_box)
- MOV R12,R3
- MRS R3,IPSR
- LSLS R3,#24
- BNE PrivilegedF
- MRS R3,CONTROL
- LSLS R3,#31
- BEQ PrivilegedF
- SVC 0
- BX LR
-PrivilegedF
- BX R12
-
- ALIGN
-}
-
-
-/*-------------------------- SVC_Handler ------------------------------------*/
-
-__asm void SVC_Handler (void) {
- PRESERVE8
-
- IMPORT SVC_Count
- IMPORT SVC_Table
- IMPORT rt_stk_check
-
- MRS R0,PSP ; Read PSP
- LDR R1,[R0,#24] ; Read Saved PC from Stack
- SUBS R1,R1,#2 ; Point to SVC Instruction
- LDRB R1,[R1] ; Load SVC Number
- CMP R1,#0
- BNE SVC_User ; User SVC Number > 0
-
- MOV LR,R4
- LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
- MOV R12,R4
- MOV R4,LR
- BLX R12 ; Call SVC Function
-
- MRS R3,PSP ; Read PSP
- STMIA R3!,{R0-R2} ; Store return values
-
- LDR R3,=__cpp(&os_tsk)
- LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
- CMP R1,R2
- BEQ SVC_Exit ; no task switch
-
- SUBS R3,#8
- CMP R1,#0 ; Runtask deleted?
- BEQ SVC_Next
-
- MRS R0,PSP ; Read PSP
- SUBS R0,R0,#32 ; Adjust Start Address
- STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
- STMIA R0!,{R4-R7} ; Save old context (R4-R7)
- MOV R4,R8
- MOV R5,R9
- MOV R6,R10
- MOV R7,R11
- STMIA R0!,{R4-R7} ; Save old context (R8-R11)
-
- PUSH {R2,R3}
- BL rt_stk_check ; Check for Stack overflow
- POP {R2,R3}
-
-SVC_Next
- STR R2,[R3] ; os_tsk.run = os_tsk.new
-
- LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
- ADDS R0,R0,#16 ; Adjust Start Address
- LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
- MOV R8,R4
- MOV R9,R5
- MOV R10,R6
- MOV R11,R7
- MSR PSP,R0 ; Write PSP
- SUBS R0,R0,#32 ; Adjust Start Address
- LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
-
-SVC_Exit
- MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
- MVNS R0,R0
- BX R0 ; RETI to Thread Mode, use PSP
-
- /*------------------- User SVC ------------------------------*/
-
-SVC_User
- PUSH {R4,LR} ; Save Registers
- LDR R2,=SVC_Count
- LDR R2,[R2]
- CMP R1,R2
- BHI SVC_Done ; Overflow
-
- LDR R4,=SVC_Table-4
- LSLS R1,R1,#2
- LDR R4,[R4,R1] ; Load SVC Function Address
- MOV LR,R4
-
- LDMIA R0,{R0-R3,R4} ; Read R0-R3,R12 from stack
- MOV R12,R4
- BLX LR ; Call SVC Function
-
- MRS R4,PSP ; Read PSP
- STMIA R4!,{R0-R3} ; Function return values
-SVC_Done
- POP {R4,PC} ; RETI
-
- ALIGN
-}
-
-
-/*-------------------------- PendSV_Handler ---------------------------------*/
-
-__asm void PendSV_Handler (void) {
- PRESERVE8
-
- BL __cpp(rt_pop_req)
-
-Sys_Switch
- LDR R3,=__cpp(&os_tsk)
- LDMIA R3!,{R1,R2} ; os_tsk.run, os_tsk.new
- CMP R1,R2
- BEQ Sys_Exit ; no task switch
-
- SUBS R3,#8
-
- MRS R0,PSP ; Read PSP
- SUBS R0,R0,#32 ; Adjust Start Address
- STR R0,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
- STMIA R0!,{R4-R7} ; Save old context (R4-R7)
- MOV R4,R8
- MOV R5,R9
- MOV R6,R10
- MOV R7,R11
- STMIA R0!,{R4-R7} ; Save old context (R8-R11)
-
- PUSH {R2,R3}
- BL rt_stk_check ; Check for Stack overflow
- POP {R2,R3}
-
- STR R2,[R3] ; os_tsk.run = os_tsk.new
-
- LDR R0,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
- ADDS R0,R0,#16 ; Adjust Start Address
- LDMIA R0!,{R4-R7} ; Restore new Context (R8-R11)
- MOV R8,R4
- MOV R9,R5
- MOV R10,R6
- MOV R11,R7
- MSR PSP,R0 ; Write PSP
- SUBS R0,R0,#32 ; Adjust Start Address
- LDMIA R0!,{R4-R7} ; Restore new Context (R4-R7)
-
-Sys_Exit
- MOVS R0,#:NOT:0xFFFFFFFD ; Set EXC_RETURN value
- MVNS R0,R0
- BX R0 ; RETI to Thread Mode, use PSP
-
- ALIGN
-}
-
-
-/*-------------------------- SysTick_Handler --------------------------------*/
-
-__asm void SysTick_Handler (void) {
- PRESERVE8
-
- BL __cpp(rt_systick)
- B Sys_Switch
-
- ALIGN
-}
-
-
-/*-------------------------- OS_Tick_Handler --------------------------------*/
-
-__asm void OS_Tick_Handler (void) {
- PRESERVE8
-
- BL __cpp(os_tick_irqack)
- BL __cpp(rt_systick)
- B Sys_Switch
-
- ALIGN
-}
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/LPC11U24/uARM/SVC_Table.s Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,57 +0,0 @@ -;/*---------------------------------------------------------------------------- -; * RL-ARM - RTX -; *---------------------------------------------------------------------------- -; * Name: SVC_TABLE.S -; * Purpose: Pre-defined SVC Table for Cortex-M -; * Rev.: V4.50 -; *---------------------------------------------------------------------------- -; * -; * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH -; * All rights reserved. -; * Redistribution and use in source and binary forms, with or without -; * modification, are permitted provided that the following conditions are met: -; * - Redistributions of source code must retain the above copyright -; * notice, this list of conditions and the following disclaimer. -; * - Redistributions in binary form must reproduce the above copyright -; * notice, this list of conditions and the following disclaimer in the -; * documentation and/or other materials provided with the distribution. -; * - Neither the name of ARM nor the names of its contributors may be used -; * to endorse or promote products derived from this software without -; * specific prior written permission. -; * -; * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -; * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -; * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -; * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE -; * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -; * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -; * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -; * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -; * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -; * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -; * POSSIBILITY OF SUCH DAMAGE. -; *---------------------------------------------------------------------------*/ - - - AREA SVC_TABLE, CODE, READONLY - - EXPORT SVC_Count - -SVC_Cnt EQU (SVC_End-SVC_Table)/4 -SVC_Count DCD SVC_Cnt - -; Import user SVC functions here. -; IMPORT __SVC_1 - - EXPORT SVC_Table -SVC_Table -; Insert user SVC functions here. SVC 0 used by RTL Kernel. -; DCD __SVC_1 ; user SVC function - -SVC_End - - END - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/LPC1768/ARM/HAL_CM3.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,249 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CM3.C
- * Purpose: Hardware Abstraction Layer for Cortex-M3
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_HAL_CM.h"
-#include "rt_Task.h"
-#include "rt_MemBox.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_set_PSP ------------------------------------*/
-
-__asm void rt_set_PSP (U32 stack) {
- MSR PSP,R0
- BX LR
-}
-
-
-/*--------------------------- rt_get_PSP ------------------------------------*/
-
-__asm U32 rt_get_PSP (void) {
- MRS R0,PSP
- BX LR
-}
-
-
-/*--------------------------- os_set_env ------------------------------------*/
-
-__asm void os_set_env (void) {
- /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
- MOV R0,SP ; PSP = MSP
- MSR PSP,R0
- LDR R0,=__cpp(&os_flags)
- LDRB R0,[R0]
- LSLS R0,#31
- MOVNE R0,#0x02 ; Privileged Thread mode, use PSP
- MOVEQ R0,#0x03 ; Unprivileged Thread mode, use PSP
- MSR CONTROL,R0
- BX LR
-
- ALIGN
-}
-
-
-/*--------------------------- _alloc_box ------------------------------------*/
-
-__asm void *_alloc_box (void *box_mem) {
- /* Function wrapper for Unprivileged/Privileged mode. */
- LDR R12,=__cpp(rt_alloc_box)
- MRS R3,IPSR
- LSLS R3,#24
- BXNE R12
- MRS R3,CONTROL
- LSLS R3,#31
- BXEQ R12
- SVC 0
- BX LR
-
- ALIGN
-}
-
-
-/*--------------------------- _free_box -------------------------------------*/
-
-__asm int _free_box (void *box_mem, void *box) {
- /* Function wrapper for Unprivileged/Privileged mode. */
- LDR R12,=__cpp(rt_free_box)
- MRS R3,IPSR
- LSLS R3,#24
- BXNE R12
- MRS R3,CONTROL
- LSLS R3,#31
- BXEQ R12
- SVC 0
- BX LR
-
- ALIGN
-}
-
-
-/*-------------------------- SVC_Handler ------------------------------------*/
-
-__asm void SVC_Handler (void) {
- PRESERVE8
-
- IMPORT SVC_Count
- IMPORT SVC_Table
- IMPORT rt_stk_check
-
- MRS R0,PSP ; Read PSP
- LDR R1,[R0,#24] ; Read Saved PC from Stack
- LDRB R1,[R1,#-2] ; Load SVC Number
- CBNZ R1,SVC_User
-
- LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
- BLX R12 ; Call SVC Function
-
- MRS R12,PSP ; Read PSP
- STM R12,{R0-R2} ; Store return values
-
- LDR R3,=__cpp(&os_tsk)
- LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
- CMP R1,R2
- BEQ SVC_Exit ; no task switch
-
- CBZ R1,SVC_Next ; Runtask deleted?
- STMDB R12!,{R4-R11} ; Save Old context
- STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
-
- PUSH {R2,R3}
- BL rt_stk_check ; Check for Stack overflow
- POP {R2,R3}
-
-SVC_Next
- STR R2,[R3] ; os_tsk.run = os_tsk.new
-
- LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
- LDMIA R12!,{R4-R11} ; Restore New Context
- MSR PSP,R12 ; Write PSP
-
-SVC_Exit
- MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
- BX LR
-
- /*------------------- User SVC ------------------------------*/
-
-SVC_User
- PUSH {R4,LR} ; Save Registers
- LDR R2,=SVC_Count
- LDR R2,[R2]
- CMP R1,R2
- BHI SVC_Done ; Overflow
-
- LDR R4,=SVC_Table-4
- LDR R4,[R4,R1,LSL #2] ; Load SVC Function Address
-
- LDM R0,{R0-R3,R12} ; Read R0-R3,R12 from stack
- BLX R4 ; Call SVC Function
-
- MRS R12,PSP
- STM R12,{R0-R3} ; Function return values
-SVC_Done
- POP {R4,PC} ; RETI
-
- ALIGN
-}
-
-
-/*-------------------------- PendSV_Handler ---------------------------------*/
-
-__asm void PendSV_Handler (void) {
- PRESERVE8
-
- BL __cpp(rt_pop_req)
-
-Sys_Switch
- LDR R3,=__cpp(&os_tsk)
- LDM R3,{R1,R2} ; os_tsk.run, os_tsk.new
- CMP R1,R2
- BEQ Sys_Exit
-
- MRS R12,PSP ; Read PSP
- STMDB R12!,{R4-R11} ; Save Old context
- STR R12,[R1,#TCB_TSTACK] ; Update os_tsk.run->tsk_stack
-
- PUSH {R2,R3}
- BL rt_stk_check ; Check for Stack overflow
- POP {R2,R3}
-
- STR R2,[R3] ; os_tsk.run = os_tsk.new
-
- LDR R12,[R2,#TCB_TSTACK] ; os_tsk.new->tsk_stack
- LDMIA R12!,{R4-R11} ; Restore New Context
- MSR PSP,R12 ; Write PSP
-
-Sys_Exit
- MVN LR,#:NOT:0xFFFFFFFD ; set EXC_RETURN value
- BX LR ; Return to Thread Mode
-
- ALIGN
-}
-
-
-/*-------------------------- SysTick_Handler --------------------------------*/
-
-__asm void SysTick_Handler (void) {
- PRESERVE8
-
- BL __cpp(rt_systick)
- B Sys_Switch
-
- ALIGN
-}
-
-
-/*-------------------------- OS_Tick_Handler --------------------------------*/
-
-__asm void OS_Tick_Handler (void) {
- PRESERVE8
-
- BL __cpp(os_tick_irqack)
- BL __cpp(rt_systick)
- B Sys_Switch
-
- ALIGN
-}
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/LPC1768/ARM/SVC_Table.s Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,57 +0,0 @@ -;/*---------------------------------------------------------------------------- -; * RL-ARM - RTX -; *---------------------------------------------------------------------------- -; * Name: SVC_TABLE.S -; * Purpose: Pre-defined SVC Table for Cortex-M -; * Rev.: V4.50 -; *---------------------------------------------------------------------------- -; * -; * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH -; * All rights reserved. -; * Redistribution and use in source and binary forms, with or without -; * modification, are permitted provided that the following conditions are met: -; * - Redistributions of source code must retain the above copyright -; * notice, this list of conditions and the following disclaimer. -; * - Redistributions in binary form must reproduce the above copyright -; * notice, this list of conditions and the following disclaimer in the -; * documentation and/or other materials provided with the distribution. -; * - Neither the name of ARM nor the names of its contributors may be used -; * to endorse or promote products derived from this software without -; * specific prior written permission. -; * -; * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -; * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -; * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -; * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE -; * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -; * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -; * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -; * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -; * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -; * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -; * POSSIBILITY OF SUCH DAMAGE. -; *---------------------------------------------------------------------------*/ - - - AREA SVC_TABLE, CODE, READONLY - - EXPORT SVC_Count - -SVC_Cnt EQU (SVC_End-SVC_Table)/4 -SVC_Count DCD SVC_Cnt - -; Import user SVC functions here. -; IMPORT __SVC_1 - - EXPORT SVC_Table -SVC_Table -; Insert user SVC functions here. SVC 0 used by RTL Kernel. -; DCD __SVC_1 ; user SVC function - -SVC_End - - END - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/LPC1768/GCC_ARM/HAL_CM3.s Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,323 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: HAL_CM3.S
- * Purpose: Hardware Abstraction Layer for Cortex-M3
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
- .file "HAL_CM3.S"
- .syntax unified
-
- .equ TCB_TSTACK, 36
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
- .thumb
-
- .section ".text"
- .align 2
-
-
-/*--------------------------- rt_set_PSP ------------------------------------*/
-
-# void rt_set_PSP (U32 stack);
-
- .thumb_func
- .type rt_set_PSP, %function
- .global rt_set_PSP
-rt_set_PSP:
- .fnstart
- .cantunwind
-
- MSR PSP,R0
- BX LR
-
- .fnend
- .size rt_set_PSP, .-rt_set_PSP
-
-
-/*--------------------------- rt_get_PSP ------------------------------------*/
-
-# U32 rt_get_PSP (void);
-
- .thumb_func
- .type rt_get_PSP, %function
- .global rt_get_PSP
-rt_get_PSP:
- .fnstart
- .cantunwind
-
- MRS R0,PSP
- BX LR
-
- .fnend
- .size rt_get_PSP, .-rt_get_PSP
-
-
-/*--------------------------- os_set_env ------------------------------------*/
-
-# void os_set_env (void);
- /* Switch to Unprivileged/Privileged Thread mode, use PSP. */
-
- .thumb_func
- .type os_set_env, %function
- .global os_set_env
-os_set_env:
- .fnstart
- .cantunwind
-
- MOV R0,SP /* PSP = MSP */
- MSR PSP,R0
- LDR R0,=os_flags
- LDRB R0,[R0]
- LSLS R0,#31
- ITE NE
- MOVNE R0,#0x02 /* Privileged Thread mode, use PSP */
- MOVEQ R0,#0x03 /* Unprivileged Thread mode, use PSP */
- MSR CONTROL,R0
- BX LR
-
- .fnend
- .size os_set_env, .-os_set_env
-
-
-/*--------------------------- _alloc_box ------------------------------------*/
-
-# void *_alloc_box (void *box_mem);
- /* Function wrapper for Unprivileged/Privileged mode. */
-
- .thumb_func
- .type _alloc_box, %function
- .global _alloc_box
-_alloc_box:
- .fnstart
- .cantunwind
-
- LDR R12,=rt_alloc_box
- MRS R3,IPSR
- LSLS R3,#24
- IT NE
- BXNE R12
- MRS R3,CONTROL
- LSLS R3,#31
- IT EQ
- BXEQ R12
- SVC 0
- BX LR
-
- .fnend
- .size _alloc_box, .-_alloc_box
-
-
-/*--------------------------- _free_box -------------------------------------*/
-
-# int _free_box (void *box_mem, void *box);
- /* Function wrapper for Unprivileged/Privileged mode. */
-
- .thumb_func
- .type _free_box, %function
- .global _free_box
-_free_box:
- .fnstart
- .cantunwind
-
- LDR R12,=rt_free_box
- MRS R3,IPSR
- LSLS R3,#24
- IT NE
- BXNE R12
- MRS R3,CONTROL
- LSLS R3,#31
- IT EQ
- BXEQ R12
- SVC 0
- BX LR
-
- .fnend
- .size _free_box, .-_free_box
-
-
-/*-------------------------- SVC_Handler ------------------------------------*/
-
-# void SVC_Handler (void);
-
- .thumb_func
- .type SVC_Handler, %function
- .global SVC_Handler
-SVC_Handler:
- .fnstart
- .cantunwind
-
- MRS R0,PSP /* Read PSP */
- LDR R1,[R0,#24] /* Read Saved PC from Stack */
- LDRB R1,[R1,#-2] /* Load SVC Number */
- CBNZ R1,SVC_User
-
- LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */
- BLX R12 /* Call SVC Function */
-
- MRS R12,PSP /* Read PSP */
- STM R12,{R0-R2} /* Store return values */
-
- LDR R3,=os_tsk
- LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */
- CMP R1,R2
- BEQ SVC_Exit /* no task switch */
-
- CBZ R1,SVC_Next /* Runtask deleted? */
- STMDB R12!,{R4-R11} /* Save Old context */
- STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
-
- PUSH {R2,R3}
- BL rt_stk_check /* Check for Stack overflow */
- POP {R2,R3}
-
-SVC_Next:
- STR R2,[R3] /* os_tsk.run = os_tsk.new */
-
- LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
- LDMIA R12!,{R4-R11} /* Restore New Context */
- MSR PSP,R12 /* Write PSP */
-
-SVC_Exit:
- MVN LR,#~0xFFFFFFFD /* set EXC_RETURN value */
- BX LR
-
- /*------------------- User SVC ------------------------------*/
-
-SVC_User:
- PUSH {R4,LR} /* Save Registers */
- LDR R2,=SVC_Count
- LDR R2,[R2]
- CMP R1,R2
- BHI SVC_Done /* Overflow */
-
- LDR R4,=SVC_Table-4
- LDR R4,[R4,R1,LSL #2] /* Load SVC Function Address */
-
- LDM R0,{R0-R3,R12} /* Read R0-R3,R12 from stack */
- BLX R4 /* Call SVC Function */
-
- MRS R12,PSP
- STM R12,{R0-R3} /* Function return values */
-SVC_Done:
- POP {R4,PC} /* RETI */
-
- .fnend
- .size SVC_Handler, .-SVC_Handler
-
-
-/*-------------------------- PendSV_Handler ---------------------------------*/
-
-# void PendSV_Handler (void);
-
- .thumb_func
- .type PendSV_Handler, %function
- .global PendSV_Handler
- .global Sys_Switch
-PendSV_Handler:
- .fnstart
- .cantunwind
-
- BL rt_pop_req
-
-Sys_Switch:
- LDR R3,=os_tsk
- LDM R3,{R1,R2} /* os_tsk.run, os_tsk.new */
- CMP R1,R2
- BEQ Sys_Exit
-
- MRS R12,PSP /* Read PSP */
- STMDB R12!,{R4-R11} /* Save Old context */
- STR R12,[R1,#TCB_TSTACK] /* Update os_tsk.run->tsk_stack */
-
- PUSH {R2,R3}
- BL rt_stk_check /* Check for Stack overflow */
- POP {R2,R3}
-
- STR R2,[R3] /* os_tsk.run = os_tsk.new */
-
- LDR R12,[R2,#TCB_TSTACK] /* os_tsk.new->tsk_stack */
- LDMIA R12!,{R4-R11} /* Restore New Context */
- MSR PSP,R12 /* Write PSP */
-
-Sys_Exit:
- MVN LR,#~0xFFFFFFFD /* set EXC_RETURN value */
- BX LR /* Return to Thread Mode */
-
- .fnend
- .size PendSV_Handler, .-PendSV_Handler
-
-
-/*-------------------------- SysTick_Handler --------------------------------*/
-
-# void SysTick_Handler (void);
-
- .thumb_func
- .type SysTick_Handler, %function
- .global SysTick_Handler
-SysTick_Handler:
- .fnstart
- .cantunwind
-
- BL rt_systick
- B Sys_Switch
-
- .fnend
- .size SysTick_Handler, .-SysTick_Handler
-
-
-/*-------------------------- OS_Tick_Handler --------------------------------*/
-
-# void OS_Tick_Handler (void);
-
- .thumb_func
- .type OS_Tick_Handler, %function
- .global OS_Tick_Handler
-OS_Tick_Handler:
- .fnstart
- .cantunwind
-
- BL os_tick_irqack
- BL rt_systick
- B Sys_Switch
-
- .fnend
- .size OS_Tick_Handler, .-OS_Tick_Handler
-
-
- .end
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/LPC1768/GCC_ARM/SVC_Table.s Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,56 +0,0 @@ -;/*---------------------------------------------------------------------------- -; * RL-ARM - RTX -; *---------------------------------------------------------------------------- -; * Name: SVC_TABLE.S -; * Purpose: Pre-defined SVC Table for Cortex-M -; * Rev.: V4.50 -; *---------------------------------------------------------------------------- -; * -; * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH -; * All rights reserved. -; * Redistribution and use in source and binary forms, with or without -; * modification, are permitted provided that the following conditions are met: -; * - Redistributions of source code must retain the above copyright -; * notice, this list of conditions and the following disclaimer. -; * - Redistributions in binary form must reproduce the above copyright -; * notice, this list of conditions and the following disclaimer in the -; * documentation and/or other materials provided with the distribution. -; * - Neither the name of ARM nor the names of its contributors may be used -; * to endorse or promote products derived from this software without -; * specific prior written permission. -; * -; * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -; * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -; * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -; * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE -; * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -; * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -; * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -; * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -; * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -; * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -; * POSSIBILITY OF SUCH DAMAGE. -; *---------------------------------------------------------------------------*/ - - - .file "SVC_Table.S" - - - .section ".svc_table" - - .global SVC_Table -SVC_Table: -/* Insert user SVC functions here. SVC 0 used by RTL Kernel. */ -# .long __SVC_1 /* user SVC function */ -SVC_End: - - .global SVC_Count -SVC_Count: - .long (SVC_End-SVC_Table)/4 - - - .end - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/RTX_CM_lib.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,367 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RTX_CM_LIB.H
- * Purpose: RTX Kernel System Configuration
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#if defined (__CC_ARM)
-#pragma O3
-#define __USED __attribute__((used))
-#elif defined (__GNUC__)
-#pragma GCC optimize ("O3")
-#define __USED __attribute__((used))
-#elif defined (__ICCARM__)
-#define __USED __root
-#endif
-
-
-/*----------------------------------------------------------------------------
- * Definitions
- *---------------------------------------------------------------------------*/
-
-#define _declare_box(pool,size,cnt) uint32_t pool[(((size)+3)/4)*(cnt) + 3]
-#define _declare_box8(pool,size,cnt) uint64_t pool[(((size)+7)/8)*(cnt) + 2]
-
-#define OS_TCB_SIZE 48
-#define OS_TMR_SIZE 8
-
-#if defined (__CC_ARM) && !defined (__MICROLIB)
-
-typedef void *OS_ID;
-typedef uint32_t OS_TID;
-typedef uint32_t OS_MUT[3];
-typedef uint32_t OS_RESULT;
-
-#define runtask_id() rt_tsk_self()
-#define mutex_init(m) rt_mut_init(m)
-#define mutex_wait(m) os_mut_wait(m,0xFFFF)
-#define mutex_rel(m) os_mut_release(m)
-
-extern OS_TID rt_tsk_self (void);
-extern void rt_mut_init (OS_ID mutex);
-extern OS_RESULT rt_mut_release (OS_ID mutex);
-extern OS_RESULT rt_mut_wait (OS_ID mutex, uint16_t timeout);
-
-#define os_mut_wait(mutex,timeout) _os_mut_wait((uint32_t)rt_mut_wait,mutex,timeout)
-#define os_mut_release(mutex) _os_mut_release((uint32_t)rt_mut_release,mutex)
-
-OS_RESULT _os_mut_release (uint32_t p, OS_ID mutex) __svc_indirect(0);
-OS_RESULT _os_mut_wait (uint32_t p, OS_ID mutex, uint16_t timeout) __svc_indirect(0);
-
-#endif
-
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-#if (OS_TIMERS != 0)
-#define OS_TASK_CNT (OS_TASKCNT + 1)
-#else
-#define OS_TASK_CNT OS_TASKCNT
-#endif
-
-uint16_t const os_maxtaskrun = OS_TASK_CNT;
-uint32_t const os_rrobin = (OS_ROBIN << 16) | OS_ROBINTOUT;
-uint32_t const os_trv = OS_TRV;
-uint8_t const os_flags = OS_RUNPRIV;
-
-/* Export following defines to uVision debugger. */
-__USED uint32_t const os_clockrate = OS_TICK;
-__USED uint32_t const os_timernum = 0;
-
-/* Stack for the os_idle_demon */
-unsigned int idle_task_stack[OS_IDLESTKSIZE];
-unsigned short const idle_task_stack_size = OS_IDLESTKSIZE;
-
-#ifndef OS_FIFOSZ
- #define OS_FIFOSZ 16
-#endif
-
-/* Fifo Queue buffer for ISR requests.*/
-uint32_t os_fifo[OS_FIFOSZ*2+1];
-uint8_t const os_fifo_size = OS_FIFOSZ;
-
-/* An array of Active task pointers. */
-void *os_active_TCB[OS_TASK_CNT];
-
-/* User Timers Resources */
-#if (OS_TIMERS != 0)
-extern void osTimerThread (void const *argument);
-osThreadDef(osTimerThread, (osPriority)(OS_TIMERPRIO-3), 4*OS_TIMERSTKSZ);
-osThreadId osThreadId_osTimerThread;
-osMessageQDef(osTimerMessageQ, OS_TIMERCBQS, void *);
-osMessageQId osMessageQId_osTimerMessageQ;
-#else
-osThreadDef_t os_thread_def_osTimerThread = { NULL };
-osThreadId osThreadId_osTimerThread;
-osMessageQDef(osTimerMessageQ, 0, void *);
-osMessageQId osMessageQId_osTimerMessageQ;
-#endif
-
-
-/*----------------------------------------------------------------------------
- * RTX Optimizations (empty functions)
- *---------------------------------------------------------------------------*/
-
-#if OS_ROBIN == 0
- void rt_init_robin (void) {;}
- void rt_chk_robin (void) {;}
-#endif
-
-#if OS_STKCHECK == 0
- void rt_stk_check (void) {;}
-#endif
-
-
-/*----------------------------------------------------------------------------
- * Standard Library multithreading interface
- *---------------------------------------------------------------------------*/
-
-#if defined (__CC_ARM) && !defined (__MICROLIB)
- static OS_MUT std_libmutex[OS_MUTEXCNT];
- static uint32_t nr_mutex;
-
- /*--------------------------- _mutex_initialize -----------------------------*/
-
-int _mutex_initialize (OS_ID *mutex) {
- /* Allocate and initialize a system mutex. */
-
- if (nr_mutex >= OS_MUTEXCNT) {
- /* If you are here, you need to increase the number OS_MUTEXCNT. */
- for (;;);
- }
- *mutex = &std_libmutex[nr_mutex++];
- mutex_init (*mutex);
- return (1);
-}
-
-
-/*--------------------------- _mutex_acquire --------------------------------*/
-
-__attribute__((used)) void _mutex_acquire (OS_ID *mutex) {
- /* Acquire a system mutex, lock stdlib resources. */
- if (runtask_id ()) {
- /* RTX running, acquire a mutex. */
- mutex_wait (*mutex);
- }
-}
-
-
-/*--------------------------- _mutex_release --------------------------------*/
-
-__attribute__((used)) void _mutex_release (OS_ID *mutex) {
- /* Release a system mutex, unlock stdlib resources. */
- if (runtask_id ()) {
- /* RTX runnning, release a mutex. */
- mutex_rel (*mutex);
- }
-}
-
-#endif
-
-
-/*----------------------------------------------------------------------------
- * RTX Startup
- *---------------------------------------------------------------------------*/
-
-/* Main Thread definition */
-extern int main (void);
-osThreadDef_t os_thread_def_main = {(os_pthread)main, osPriorityNormal, 0, NULL};
-
-#if defined (__CC_ARM)
-
-// This define should be probably moved to the CMSIS layer
-#ifdef TARGET_LPC1768
-#define INITIAL_SP (0x10008000UL)
-
-#elif TARGET_LPC11U24
-#define INITIAL_SP (0x10001000UL)
-
-#endif
-
-extern unsigned char Image$$RW_IRAM1$$ZI$$Limit[];
-
-void set_main_stack(void) {
- // Leave OS_SCHEDULERSTKSIZE words for the scheduler and interrupts
- os_thread_def_main.stack_pointer = Image$$RW_IRAM1$$ZI$$Limit;
- os_thread_def_main.stacksize = (INITIAL_SP - (unsigned int)Image$$RW_IRAM1$$ZI$$Limit) - (OS_SCHEDULERSTKSIZE * 4);
-}
-
-#ifdef __MICROLIB
-void _main_init (void) __attribute__((section(".ARM.Collect$$$$000000FF")));
-void _main_init (void) {
- osKernelInitialize();
- set_main_stack();
- osThreadCreate(&os_thread_def_main, NULL);
- osKernelStart();
- for (;;);
-}
-#else
-
-/* The single memory model is checking for stack collision at run time, verifing
- that the heap pointer is underneath the stack pointer.
-
- With the RTOS there is not only one stack above the heap, there are multiple
- stacks and some of them are underneath the heap pointer.
-*/
-#pragma import(__use_two_region_memory)
-
-__asm void __rt_entry (void) {
-
- IMPORT __user_setup_stackheap
- IMPORT __rt_lib_init
- IMPORT os_thread_def_main
- IMPORT osKernelInitialize
- IMPORT set_main_stack
- IMPORT osKernelStart
- IMPORT osThreadCreate
- IMPORT exit
-
- BL __user_setup_stackheap
- MOV R1,R2
- BL __rt_lib_init
- BL osKernelInitialize
- BL set_main_stack
- LDR R0,=os_thread_def_main
- MOVS R1,#0
- BL osThreadCreate
- BL osKernelStart
- BL exit
-
- ALIGN
-}
-#endif
-
-#elif defined (__GNUC__)
-
-#ifdef __CS3__
-
-/* CS3 start_c routine.
- *
- * Copyright (c) 2006, 2007 CodeSourcery Inc
- *
- * The authors hereby grant permission to use, copy, modify, distribute,
- * and license this software and its documentation for any purpose, provided
- * that existing copyright notices are retained in all copies and that this
- * notice is included verbatim in any distributions. No written agreement,
- * license, or royalty fee is required for any of the authorized uses.
- * Modifications to this software may be copyrighted by their authors
- * and need not follow the licensing terms described here, provided that
- * the new terms are clearly indicated on the first page of each file where
- * they apply.
- */
-
-#include "cs3.h"
-
-extern void __libc_init_array (void);
-
-__attribute ((noreturn)) void __cs3_start_c (void){
- unsigned regions = __cs3_region_num;
- const struct __cs3_region *rptr = __cs3_regions;
-
- /* Initialize memory */
- for (regions = __cs3_region_num, rptr = __cs3_regions; regions--; rptr++) {
- long long *src = (long long *)rptr->init;
- long long *dst = (long long *)rptr->data;
- unsigned limit = rptr->init_size;
- unsigned count;
-
- if (src != dst)
- for (count = 0; count != limit; count += sizeof (long long))
- *dst++ = *src++;
- else
- dst = (long long *)((char *)dst + limit);
- limit = rptr->zero_size;
- for (count = 0; count != limit; count += sizeof (long long))
- *dst++ = 0;
- }
-
- /* Run initializers. */
- __libc_init_array ();
-
- osKernelInitialize();
- osThreadCreate(&os_thread_def_main, NULL);
- osKernelStart();
- for (;;);
-}
-
-#else
-
-__attribute__((naked)) void software_init_hook (void) {
- __asm (
- ".syntax unified\n"
- ".thumb\n"
- "movs r0,#0\n"
- "movs r1,#0\n"
- "mov r4,r0\n"
- "mov r5,r1\n"
- "ldr r0,= __libc_fini_array\n"
- "bl atexit\n"
- "bl __libc_init_array\n"
- "mov r0,r4\n"
- "mov r1,r5\n"
- "bl osKernelInitialize\n"
- "ldr r0,=os_thread_def_main\n"
- "movs r1,#0\n"
- "bl osThreadCreate\n"
- "bl osKernelStart\n"
- "bl exit\n"
- );
-}
-
-#endif
-
-#elif defined (__ICCARM__)
-
-extern int __low_level_init(void);
-extern void __iar_data_init3(void);
-extern void exit(int arg);
-
-__noreturn __stackless void __cmain(void) {
- int a;
-
- if (__low_level_init() != 0) {
- __iar_data_init3();
- }
- osKernelInitialize();
- osThreadCreate(&os_thread_def_main, NULL);
- a = osKernelStart();
- exit(a);
-}
-
-#endif
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/RTX_Conf_CM.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,242 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RTX_Conf_CM.C
- * Purpose: Configuration of CMSIS RTX Kernel for Cortex-M
- * Rev.: V4.20
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "cmsis_os.h"
-
-
-/*----------------------------------------------------------------------------
- * RTX User configuration part BEGIN
- *---------------------------------------------------------------------------*/
-
-//-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
-//
-// <h>Thread Configuration
-// =======================
-//
-// <o>Number of concurrent running threads <0-250>
-// <i> Defines max. number of threads that will run at the same time.
-// counting "main", but not counting "osTimerThread"
-// <i> Default: 6
-#ifndef OS_TASKCNT
-# if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
-# define OS_TASKCNT 14
-# elif defined(TARGET_LPC11U24)
-# define OS_TASKCNT 6
-# endif
-#endif
-
-// <o>Scheduler (+ interrupts) stack size [bytes] <64-4096:8><#/4>
-#ifndef OS_SCHEDULERSTKSIZE
-# if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
-# define OS_SCHEDULERSTKSIZE 256
-# elif defined(TARGET_LPC11U24)
-# define OS_SCHEDULERSTKSIZE 128
-# endif
-#endif
-
-// <o>Idle stack size [bytes] <64-4096:8><#/4>
-// <i> Defines default stack size for the Idle thread.
-#ifndef OS_IDLESTKSIZE
- #define OS_IDLESTKSIZE 128
-#endif
-
-// <o>Timer Thread stack size [bytes] <64-4096:8><#/4>
-// <i> Defines stack size for Timer thread.
-// <i> Default: 200
-#ifndef OS_TIMERSTKSZ
- #define OS_TIMERSTKSZ WORDS_STACK_SIZE
-#endif
-
-// <q>Check for stack overflow
-// ===========================
-// <i> Includes the stack checking code for stack overflow.
-// <i> Note that additional code reduces the Kernel performance.
-#ifndef OS_STKCHECK
- #define OS_STKCHECK 1
-#endif
-
-// <q>Run in privileged mode
-// =========================
-// <i> Runs all Threads in privileged mode.
-// <i> Default: Unprivileged
-#ifndef OS_RUNPRIV
- #define OS_RUNPRIV 1
-#endif
-
-// </h>
-// <h>SysTick Timer Configuration
-// ==============================
-//
-// <o>Timer clock value [Hz] <1-1000000000>
-// <i> Defines the timer clock value.
-// <i> Default: 6000000 (6MHz)
-#ifndef OS_CLOCK
-# if defined(TARGET_LPC1768) || defined(TARGET_LPC2368)
-# define OS_CLOCK 96000000
-# elif defined(TARGET_LPC11U24)
-# define OS_CLOCK 48000000
-# endif
-#endif
-
-// <o>Timer tick value [us] <1-1000000>
-// <i> Defines the timer tick value.
-// <i> Default: 1000 (1ms)
-#ifndef OS_TICK
- #define OS_TICK 1000
-#endif
-
-// </h>
-
-// <h>System Configuration
-// =======================
-//
-// <e>Round-Robin Thread switching
-// ===============================
-//
-// <i> Enables Round-Robin Thread switching.
-#ifndef OS_ROBIN
- #define OS_ROBIN 1
-#endif
-
-// <o>Round-Robin Timeout [ticks] <1-1000>
-// <i> Defines how long a thread will execute before a thread switch.
-// <i> Default: 5
-#ifndef OS_ROBINTOUT
- #define OS_ROBINTOUT 5
-#endif
-
-// </e>
-
-// <e>User Timers
-// ==============
-// <i> Enables user Timers
-#ifndef OS_TIMERS
- #define OS_TIMERS 1
-#endif
-
-// <o>Timer Thread Priority
-// <1=> Low
-// <2=> Below Normal
-// <3=> Normal
-// <4=> Above Normal
-// <5=> High
-// <6=> Realtime
-// <i> Defines priority for Timer Thread
-// <i> Default: High
-#ifndef OS_TIMERPRIO
- #define OS_TIMERPRIO 5
-#endif
-
-// <o>Timer Callback Queue size <1-32>
-// <i> Defines number of concurrent callbacks that will be queued.
-// <i> Default: 4
-#ifndef OS_TIMERCBQSZ
- #define OS_TIMERCBQS 4
-#endif
-
-// </e>
-
-// <o>ISR FIFO Queue size<4=> 4 entries <8=> 8 entries
-// <12=> 12 entries <16=> 16 entries
-// <24=> 24 entries <32=> 32 entries
-// <48=> 48 entries <64=> 64 entries
-// <96=> 96 entries
-// <i> ISR functions store requests to this buffer,
-// <i> when they are called from the iterrupt handler.
-// <i> Default: 16 entries
-#ifndef OS_FIFOSZ
- #define OS_FIFOSZ 16
-#endif
-
-// </h>
-
-//------------- <<< end of configuration section >>> -----------------------
-
-// Standard library system mutexes
-// ===============================
-// Define max. number system mutexes that are used to protect
-// the arm standard runtime library. For microlib they are not used.
-#ifndef OS_MUTEXCNT
- #define OS_MUTEXCNT 8
-#endif
-
-/*----------------------------------------------------------------------------
- * RTX User configuration part END
- *---------------------------------------------------------------------------*/
-
-#define OS_TRV ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6)-1)
-
-
-/*----------------------------------------------------------------------------
- * OS Idle daemon
- *---------------------------------------------------------------------------*/
-void os_idle_demon (void) {
- /* The idle demon is a system thread, running when no other thread is */
- /* ready to run. */
-
- /* Sleep: ideally, we should put the chip to sleep.
- Unfortunately, this usually requires disconnecting the interface chip (debugger).
- This can be done, but it would break the local file system.
- */
- for (;;) {
- // sleep();
- }
-}
-
-/*----------------------------------------------------------------------------
- * RTX Errors
- *---------------------------------------------------------------------------*/
-extern void mbed_die(void);
-
-void os_error (uint32_t err_code) {
- /* This function is called when a runtime error is detected. Parameter */
- /* 'err_code' holds the runtime error code (defined in RTX_Config.h). */
- mbed_die();
-}
-
-void sysThreadError(osStatus status) {
- if (status != osOK) {
- mbed_die();
- }
-}
-
-/*----------------------------------------------------------------------------
- * RTX Configuration Functions
- *---------------------------------------------------------------------------*/
-
-#include "RTX_CM_lib.h"
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/RTX_Config.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,69 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RTX_CONFIG.H - * Purpose: Exported functions of RTX_Config.c - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -// #define THREAD_STACK_DIAGNOSTIC 1 - -/* Error Codes */ -#define OS_ERR_STK_OVF 1 -#define OS_ERR_FIFO_OVF 2 -#define OS_ERR_MBX_OVF 3 - -/* Definitions */ -#define BOX_ALIGN_8 0x80000000 -#define _declare_box(pool,size,cnt) U32 pool[(((size)+3)/4)*(cnt) + 3] -#define _declare_box8(pool,size,cnt) U64 pool[(((size)+7)/8)*(cnt) + 2] -#define _init_box8(pool,size,bsize) _init_box (pool,size,(bsize) | BOX_ALIGN_8) - -/* Variables */ -extern U32 idle_task_stack[]; -extern U32 os_fifo[]; -extern void *os_active_TCB[]; - -/* Constants */ -extern U16 const os_maxtaskrun; -extern U32 const os_trv; -extern U8 const os_flags; -extern U32 const os_rrobin; -extern U32 const os_clockrate; -extern U32 const os_timernum; -extern U16 const idle_task_stack_size; - -extern U8 const os_fifo_size; - -/* Functions */ -extern void os_idle_demon (void); -extern int os_tick_init (void); -extern void os_tick_irqack (void); -extern void os_tmr_call (U16 info); -extern void os_error (U32 err_code);
--- a/mbed-rtos/rtx/cmsis_os.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,774 +0,0 @@
-/* ----------------------------------------------------------------------
- * Copyright (C) 2012 ARM Limited. All rights reserved.
- *
- * $Date: 5. June 2012
- * $Revision: V1.01
- *
- * Project: CMSIS-RTOS API
- * Title: cmsis_os.h RTX header file
- *
- * Version 0.02
- * Initial Proposal Phase
- * Version 0.03
- * osKernelStart added, optional feature: main started as thread
- * osSemaphores have standard behaviour
- * osTimerCreate does not start the timer, added osTimerStart
- * osThreadPass is renamed to osThreadYield
- * Version 1.01
- * Support for C++ interface
- * - const attribute removed from the osXxxxDef_t typedef's
- * - const attribute added to the osXxxxDef macros
- * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
- * Added: osKernelInitialize
- * -------------------------------------------------------------------- */
-
-/**
-\page cmsis_os_h Header File Template: cmsis_os.h
-
-The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS).
-Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents
-its implementation.
-
-The file cmsis_os.h contains:
- - CMSIS-RTOS API function definitions
- - struct definitions for parameters and return types
- - status and priority values used by CMSIS-RTOS API functions
- - macros for defining threads and other kernel objects
-
-
-<b>Name conventions and header file modifications</b>
-
-All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions.
-Definitions that are prefixed \b os_ are not used in the application code but local to this header file.
-All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread.
-
-Definitions that are marked with <b>CAN BE CHANGED</b> can be adapted towards the needs of the actual CMSIS-RTOS implementation.
-These definitions can be specific to the underlying RTOS kernel.
-
-Definitions that are marked with <b>MUST REMAIN UNCHANGED</b> cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer
-compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.
-
-
-<b>Function calls from interrupt service routines</b>
-
-The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):
- - \ref osSignalSet
- - \ref osSemaphoreRelease
- - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree
- - \ref osMessagePut, \ref osMessageGet
- - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree
-
-Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called
-from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.
-
-Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time.
-If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive.
-
-
-<b>Define and reference object definitions</b>
-
-With <b>\#define osObjectsExternal</b> objects are defined as external symbols. This allows to create a consistent header file
-that is used troughtout a project as shown below:
-
-<i>Header File</i>
-\code
-#include <cmsis_os.h> // CMSIS RTOS header file
-
-// Thread definition
-extern void thread_sample (void const *argument); // function prototype
-osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
-
-// Pool definition
-osPoolDef(MyPool, 10, long);
-\endcode
-
-
-This header file defines all objects when included in a C/C++ source file. When <b>\#define osObjectsExternal</b> is
-present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be
-used throughout the whole project.
-
-<i>Example</i>
-\code
-#include "osObjects.h" // Definition of the CMSIS-RTOS objects
-\endcode
-
-\code
-#define osObjectExternal // Objects will be defined as external symbols
-#include "osObjects.h" // Reference to the CMSIS-RTOS objects
-\endcode
-
-*/
-
-#ifndef _CMSIS_OS_H
-#define _CMSIS_OS_H
-
-/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version.
-#define osCMSIS 0x10001 ///< API version (main [31:16] .sub [15:0])
-
-/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlaying RTOS kernel and version number.
-#define osCMSIS_RTX ((4<<16)|50) ///< RTOS identification and version (main [31:16] .sub [15:0])
-
-/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
-#define osKernelSystemId "RTX V4.50" ///< RTOS identification string
-
-
-#define CMSIS_OS_RTX
-
-// The stack space occupied is mainly dependent on the underling C standard library
-#if defined(TOOLCHAIN_GCC_ARM) || defined(TOOLCHAIN_CS_ARM) || defined(TOOLCHAIN_CR_ARM)
-# define WORDS_STACK_SIZE 512
-#elif defined(TOOLCHAIN_ARM)
-# define WORDS_STACK_SIZE 512
-#elif defined(TOOLCHAIN_uARM)
-# define WORDS_STACK_SIZE 128
-#endif
-
-#define DEFAULT_STACK_SIZE (WORDS_STACK_SIZE*4)
-
-
-/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
-#define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available
-#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
-#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
-#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
-#define osFeature_Signals 16 ///< maximum number of Signal Flags available per thread
-#define osFeature_Semaphore 8 ///< maximum count for \ref osSemaphoreCreate function
-#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
-
-#if defined (__CC_ARM)
-#define os_InRegs __value_in_regs // Compiler specific: force struct in registers
-#else
-#define os_InRegs
-#endif
-
-#include <stdint.h>
-#include <stddef.h>
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "os_tcb.h"
-
-// ==== Enumeration, structures, defines ====
-
-/// Priority used for thread control.
-/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
-typedef enum {
- osPriorityIdle = -3, ///< priority: idle (lowest)
- osPriorityLow = -2, ///< priority: low
- osPriorityBelowNormal = -1, ///< priority: below normal
- osPriorityNormal = 0, ///< priority: normal (default)
- osPriorityAboveNormal = +1, ///< priority: above normal
- osPriorityHigh = +2, ///< priority: high
- osPriorityRealtime = +3, ///< priority: realtime (highest)
- osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority
-} osPriority;
-
-/// Timeout value.
-/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
-#define osWaitForever 0xFFFFFFFF ///< wait forever timeout value
-
-/// Status code values returned by CMSIS-RTOS functions.
-/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
-typedef enum {
- osOK = 0, ///< function completed; no event occurred.
- osEventSignal = 0x08, ///< function completed; signal event occurred.
- osEventMessage = 0x10, ///< function completed; message event occurred.
- osEventMail = 0x20, ///< function completed; mail event occurred.
- osEventTimeout = 0x40, ///< function completed; timeout occurred.
- osErrorParameter = 0x80, ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
- osErrorResource = 0x81, ///< resource not available: a specified resource was not available.
- osErrorTimeoutResource = 0xC1, ///< resource not available within given time: a specified resource was not available within the timeout period.
- osErrorISR = 0x82, ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
- osErrorISRRecursive = 0x83, ///< function called multiple times from ISR with same object.
- osErrorPriority = 0x84, ///< system cannot determine priority or thread has illegal priority.
- osErrorNoMemory = 0x85, ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
- osErrorValue = 0x86, ///< value of a parameter is out of range.
- osErrorOS = 0xFF, ///< unspecified RTOS error: run-time error but no other error message fits.
- os_status_reserved = 0x7FFFFFFF ///< prevent from enum down-size compiler optimization.
-} osStatus;
-
-
-/// Timer type value for the timer definition.
-/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
-typedef enum {
- osTimerOnce = 0, ///< one-shot timer
- osTimerPeriodic = 1 ///< repeating timer
-} os_timer_type;
-
-/// Entry point of a thread.
-/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
-typedef void (*os_pthread) (void const *argument);
-
-/// Entry point of a timer call back function.
-/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
-typedef void (*os_ptimer) (void const *argument);
-
-// >>> the following data type definitions may shall adapted towards a specific RTOS
-
-/// Thread ID identifies the thread (pointer to a thread control block).
-/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_thread_cb *osThreadId;
-
-/// Timer ID identifies the timer (pointer to a timer control block).
-/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_timer_cb *osTimerId;
-
-/// Mutex ID identifies the mutex (pointer to a mutex control block).
-/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_mutex_cb *osMutexId;
-
-/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
-/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_semaphore_cb *osSemaphoreId;
-
-/// Pool ID identifies the memory pool (pointer to a memory pool control block).
-/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_pool_cb *osPoolId;
-
-/// Message ID identifies the message queue (pointer to a message queue control block).
-/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_messageQ_cb *osMessageQId;
-
-/// Mail ID identifies the mail queue (pointer to a mail queue control block).
-/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_mailQ_cb *osMailQId;
-
-
-/// Thread Definition structure contains startup information of a thread.
-/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_thread_def {
- os_pthread pthread; ///< start address of thread function
- osPriority tpriority; ///< initial thread priority
- uint32_t stacksize; ///< stack size requirements in bytes
- unsigned char *stack_pointer; ///< pointer to the stack memory block
- struct OS_TCB tcb;
-} osThreadDef_t;
-
-/// Timer Definition structure contains timer parameters.
-/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_timer_def {
- os_ptimer ptimer; ///< start address of a timer function
- void *timer; ///< pointer to internal data
-} osTimerDef_t;
-
-/// Mutex Definition structure contains setup information for a mutex.
-/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_mutex_def {
- void *mutex; ///< pointer to internal data
-} osMutexDef_t;
-
-/// Semaphore Definition structure contains setup information for a semaphore.
-/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_semaphore_def {
- void *semaphore; ///< pointer to internal data
-} osSemaphoreDef_t;
-
-/// Definition structure for memory block allocation.
-/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_pool_def {
- uint32_t pool_sz; ///< number of items (elements) in the pool
- uint32_t item_sz; ///< size of an item
- void *pool; ///< pointer to memory for pool
-} osPoolDef_t;
-
-/// Definition structure for message queue.
-/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_messageQ_def {
- uint32_t queue_sz; ///< number of elements in the queue
- void *pool; ///< memory array for messages
-} osMessageQDef_t;
-
-/// Definition structure for mail queue.
-/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_mailQ_def {
- uint32_t queue_sz; ///< number of elements in the queue
- uint32_t item_sz; ///< size of an item
- void *pool; ///< memory array for mail
-} osMailQDef_t;
-
-/// Event structure contains detailed information about an event.
-/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
-/// However the struct may be extended at the end.
-typedef struct {
- osStatus status; ///< status code: event or error information
- union {
- uint32_t v; ///< message as 32-bit value
- void *p; ///< message or mail as void pointer
- int32_t signals; ///< signal flags
- } value; ///< event value
- union {
- osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
- osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
- } def; ///< event definition
-} osEvent;
-
-
-// ==== Kernel Control Functions ====
-
-/// Initialize the RTOS Kernel for creating objects.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
-osStatus osKernelInitialize (void);
-
-/// Start the RTOS Kernel.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
-osStatus osKernelStart (void);
-
-/// Check if the RTOS kernel is already started.
-/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
-/// \return 0 RTOS is not started, 1 RTOS is started.
-int32_t osKernelRunning(void);
-
-
-// ==== Thread Management ====
-
-/// Create a Thread Definition with function, priority, and stack requirements.
-/// \param name name of the thread function.
-/// \param priority initial priority of the thread function.
-/// \param stacksz stack size (in bytes) requirements for the thread function.
-/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osThreadDef(name, priority, stacksz) \
-extern osThreadDef_t os_thread_def_##name
-#else // define the object
-#define osThreadDef(name, priority, stacksz) \
-unsigned char os_thread_def_stack_##name [stacksz]; \
-osThreadDef_t os_thread_def_##name = \
-{ (name), (priority), (stacksz), (os_thread_def_stack_##name)}
-#endif
-
-/// Access a Thread defintion.
-/// \param name name of the thread definition object.
-/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osThread(name) \
-&os_thread_def_##name
-
-/// Create a thread and add it to Active Threads and set it to state READY.
-/// \param[in] thread_def thread definition referenced with \ref osThread.
-/// \param[in] argument pointer that is passed to the thread function as start argument.
-/// \return thread ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
-osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument);
-
-/// Return the thread ID of the current running thread.
-/// \return thread ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
-osThreadId osThreadGetId (void);
-
-/// Terminate execution of a thread and remove it from Active Threads.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
-osStatus osThreadTerminate (osThreadId thread_id);
-
-/// Pass control to next thread that is in state \b READY.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
-osStatus osThreadYield (void);
-
-/// Change priority of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in] priority new priority value for the thread function.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
-
-/// Get current priority of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return current priority value of the thread function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
-osPriority osThreadGetPriority (osThreadId thread_id);
-
-
-// ==== Generic Wait Functions ====
-
-/// Wait for Timeout (Time Delay).
-/// \param[in] millisec time delay value
-/// \return status code that indicates the execution status of the function.
-osStatus osDelay (uint32_t millisec);
-
-#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
-
-/// Wait for Signal, Message, Mail, or Timeout.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return event that contains signal, message, or mail information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
-os_InRegs osEvent osWait (uint32_t millisec);
-
-#endif // Generic Wait available
-
-
-// ==== Timer Management Functions ====
-/// Define a Timer object.
-/// \param name name of the timer object.
-/// \param function name of the timer call back function.
-/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osTimerDef(name, function) \
-extern osTimerDef_t os_timer_def_##name
-#else // define the object
-#define osTimerDef(name, function) \
-uint32_t os_timer_cb_##name[5]; \
-osTimerDef_t os_timer_def_##name = \
-{ (function), (os_timer_cb_##name) }
-#endif
-
-/// Access a Timer definition.
-/// \param name name of the timer object.
-/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osTimer(name) \
-&os_timer_def_##name
-
-/// Create a timer.
-/// \param[in] timer_def timer object referenced with \ref osTimer.
-/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
-/// \param[in] argument argument to the timer call back function.
-/// \return timer ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
-osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument);
-
-/// Start or restart a timer.
-/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
-/// \param[in] millisec time delay value of the timer.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
-
-/// Stop the timer.
-/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
-osStatus osTimerStop (osTimerId timer_id);
-
-/// Delete a timer that was created by \ref osTimerCreate.
-/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
-osStatus osTimerDelete (osTimerId timer_id);
-
-
-// ==== Signal Management ====
-
-/// Set the specified Signal Flags of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in] signals specifies the signal flags of the thread that should be set.
-/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
-int32_t osSignalSet (osThreadId thread_id, int32_t signal);
-
-/// Clear the specified Signal Flags of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
-/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
-int32_t osSignalClear (osThreadId thread_id, int32_t signal);
-
-/// Get Signal Flags status of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-/// \note MUST REMAIN UNCHANGED: \b osSignalGet shall be consistent in every CMSIS-RTOS.
-int32_t osSignalGet (osThreadId thread_id);
-
-/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
-/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return event flag information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
-os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
-
-
-// ==== Mutex Management ====
-
-/// Define a Mutex.
-/// \param name name of the mutex object.
-/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osMutexDef(name) \
-extern osMutexDef_t os_mutex_def_##name
-#else // define the object
-#define osMutexDef(name) \
-uint32_t os_mutex_cb_##name[3]; \
-osMutexDef_t os_mutex_def_##name = { (os_mutex_cb_##name) }
-#endif
-
-/// Access a Mutex defintion.
-/// \param name name of the mutex object.
-/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osMutex(name) \
-&os_mutex_def_##name
-
-/// Create and Initialize a Mutex object.
-/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
-/// \return mutex ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
-osMutexId osMutexCreate (osMutexDef_t *mutex_def);
-
-/// Wait until a Mutex becomes available.
-/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
-
-/// Release a Mutex that was obtained by \ref osMutexWait.
-/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
-osStatus osMutexRelease (osMutexId mutex_id);
-
-/// Delete a Mutex that was created by \ref osMutexCreate.
-/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
-osStatus osMutexDelete (osMutexId mutex_id);
-
-
-// ==== Semaphore Management Functions ====
-
-#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // Semaphore available
-
-/// Define a Semaphore object.
-/// \param name name of the semaphore object.
-/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osSemaphoreDef(name) \
-extern osSemaphoreDef_t os_semaphore_def_##name
-#else // define the object
-#define osSemaphoreDef(name) \
-uint32_t os_semaphore_cb_##name[2]; \
-osSemaphoreDef_t os_semaphore_def_##name = { (os_semaphore_cb_##name) }
-#endif
-
-/// Access a Semaphore definition.
-/// \param name name of the semaphore object.
-/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osSemaphore(name) \
-&os_semaphore_def_##name
-
-/// Create and Initialize a Semaphore object used for managing resources.
-/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
-/// \param[in] count number of available resources.
-/// \return semaphore ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
-osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count);
-
-/// Wait until a Semaphore token becomes available.
-/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return number of available tokens, or -1 in case of incorrect parameters.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
-int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
-
-/// Release a Semaphore token.
-/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
-
-/// Delete a Semaphore that was created by \ref osSemaphoreCreate.
-/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
-
-#endif // Semaphore available
-
-
-// ==== Memory Pool Management Functions ====
-
-#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available
-
-/// \brief Define a Memory Pool.
-/// \param name name of the memory pool.
-/// \param no maximum number of blocks (objects) in the memory pool.
-/// \param type data type of a single block (object).
-/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osPoolDef(name, no, type) \
-extern osPoolDef_t os_pool_def_##name
-#else // define the object
-#define osPoolDef(name, no, type) \
-uint32_t os_pool_m_##name[3+((sizeof(type)+3)/4)*(no)]; \
-osPoolDef_t os_pool_def_##name = \
-{ (no), sizeof(type), (os_pool_m_##name) }
-#endif
-
-/// \brief Access a Memory Pool definition.
-/// \param name name of the memory pool
-/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osPool(name) \
-&os_pool_def_##name
-
-/// Create and Initialize a memory pool.
-/// \param[in] pool_def memory pool definition referenced with \ref osPool.
-/// \return memory pool ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
-osPoolId osPoolCreate (osPoolDef_t *pool_def);
-
-/// Allocate a memory block from a memory pool.
-/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-/// \return address of the allocated memory block or NULL in case of no memory available.
-/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
-void *osPoolAlloc (osPoolId pool_id);
-
-/// Allocate a memory block from a memory pool and set memory block to zero.
-/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-/// \return address of the allocated memory block or NULL in case of no memory available.
-/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
-void *osPoolCAlloc (osPoolId pool_id);
-
-/// Return an allocated memory block back to a specific memory pool.
-/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-/// \param[in] block address of the allocated memory block that is returned to the memory pool.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
-osStatus osPoolFree (osPoolId pool_id, void *block);
-
-#endif // Memory Pool Management available
-
-
-// ==== Message Queue Management Functions ====
-
-#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available
-
-/// \brief Create a Message Queue Definition.
-/// \param name name of the queue.
-/// \param queue_sz maximum number of messages in the queue.
-/// \param type data type of a single message element (for debugger).
-/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osMessageQDef(name, queue_sz, type) \
-extern osMessageQDef_t os_messageQ_def_##name
-#else // define the object
-#define osMessageQDef(name, queue_sz, type) \
-uint32_t os_messageQ_q_##name[4+(queue_sz)]; \
-osMessageQDef_t os_messageQ_def_##name = \
-{ (queue_sz), (os_messageQ_q_##name) }
-#endif
-
-/// \brief Access a Message Queue Definition.
-/// \param name name of the queue
-/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osMessageQ(name) \
-&os_messageQ_def_##name
-
-/// Create and Initialize a Message Queue.
-/// \param[in] queue_def queue definition referenced with \ref osMessageQ.
-/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-/// \return message queue ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
-osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
-
-/// Put a Message to a Queue.
-/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
-/// \param[in] info message information.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
-
-/// Get a Message or Wait for a Message from a Queue.
-/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return event information that includes status code.
-/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
-os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
-
-#endif // Message Queues available
-
-
-// ==== Mail Queue Management Functions ====
-
-#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
-
-/// \brief Create a Mail Queue Definition.
-/// \param name name of the queue
-/// \param queue_sz maximum number of messages in queue
-/// \param type data type of a single message element
-/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#if defined (osObjectsExternal) // object is external
-#define osMailQDef(name, queue_sz, type) \
-extern osMailQDef_t os_mailQ_def_##name
-#else // define the object
-#define osMailQDef(name, queue_sz, type) \
-uint32_t os_mailQ_q_##name[4+(queue_sz)]; \
-uint32_t os_mailQ_m_##name[3+((sizeof(type)+3)/4)*(queue_sz)]; \
-void * os_mailQ_p_##name[2] = { (os_mailQ_q_##name), os_mailQ_m_##name }; \
-osMailQDef_t os_mailQ_def_##name = \
-{ (queue_sz), sizeof(type), (os_mailQ_p_##name) }
-#endif
-
-/// \brief Access a Mail Queue Definition.
-/// \param name name of the queue
-/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
-/// macro body is implementation specific in every CMSIS-RTOS.
-#define osMailQ(name) \
-&os_mailQ_def_##name
-
-/// Create and Initialize mail queue.
-/// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ
-/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-/// \return mail queue ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
-osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id);
-
-/// Allocate a memory block from a mail.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return pointer to memory block that can be filled with mail or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
-
-/// Allocate a memory block from a mail and set memory block to zero.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return pointer to memory block that can be filled with mail or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
-
-/// Put a mail to a queue.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
-osStatus osMailPut (osMailQId queue_id, void *mail);
-
-/// Get a mail from a queue.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return event that contains mail information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
-os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
-
-/// Free a memory block from a mail.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
-osStatus osMailFree (osMailQId queue_id, void *mail);
-
-#endif // Mail Queues available
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // _CMSIS_OS_H
--- a/mbed-rtos/rtx/os_tcb.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,50 +0,0 @@
-#ifndef OS_TCB_H
-#define OS_TCB_H
-
-/* Types */
-typedef char S8;
-typedef unsigned char U8;
-typedef short S16;
-typedef unsigned short U16;
-typedef int S32;
-typedef unsigned int U32;
-typedef long long S64;
-typedef unsigned long long U64;
-typedef unsigned char BIT;
-typedef unsigned int BOOL;
-typedef void (*FUNCP)(void);
-
-typedef struct OS_TCB {
- /* General part: identical for all implementations. */
- U8 cb_type; /* Control Block Type */
- U8 state; /* Task state */
- U8 prio; /* Execution priority */
- U8 task_id; /* Task ID value for optimized TCB access */
- struct OS_TCB *p_lnk; /* Link pointer for ready/sem. wait list */
- struct OS_TCB *p_rlnk; /* Link pointer for sem./mbx lst backwards */
- struct OS_TCB *p_dlnk; /* Link pointer for delay list */
- struct OS_TCB *p_blnk; /* Link pointer for delay list backwards */
- U16 delta_time; /* Time until time out */
- U16 interval_time; /* Time interval for periodic waits */
- U16 events; /* Event flags */
- U16 waits; /* Wait flags */
- void **msg; /* Direct message passing when task waits */
-
- /* Hardware dependant part: specific for CM processor */
- U8 stack_frame; /* Stack frame: 0=Basic, 1=Extended */
- U8 reserved;
- U16 priv_stack; /* Private stack size in bytes */
- U32 tsk_stack; /* Current task Stack pointer (R13) */
- U32 *stack; /* Pointer to Task Stack memory block */
-
- /* Library dependant part */
-#if defined (__CC_ARM) && !defined (__MICROLIB)
- /* A memory space for arm standard library. */
- U32 std_libspace[96/4];
-#endif
-
- /* Task entry point used for uVision debugger */
- FUNCP ptask; /* Task entry address */
-} *P_TCB;
-
-#endif
--- a/mbed-rtos/rtx/rt_CMSIS.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1913 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: rt_CMSIS.c
- * Purpose: CMSIS RTOS API
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#define __CMSIS_GENERIC
-
-#if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
- #include "core_cm4.h"
-#elif defined (__CORTEX_M3)
- #include "core_cm3.h"
-#elif defined (__CORTEX_M0)
- #include "core_cm0.h"
-#else
- #error "Missing __CORTEX_Mx definition"
-#endif
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_Task.h"
-#include "rt_Event.h"
-#include "rt_List.h"
-#include "rt_Time.h"
-#include "rt_Mutex.h"
-#include "rt_Semaphore.h"
-#include "rt_Mailbox.h"
-#include "rt_MemBox.h"
-#include "rt_HAL_CM.h"
-
-#define os_thread_cb OS_TCB
-
-#include "cmsis_os.h"
-
-#if (osFeature_Signals != 16)
-#error Invalid "osFeature_Signals" value!
-#endif
-#if (osFeature_Semaphore != 8)
-#error Invalid "osFeature_Semaphore" value!
-#endif
-#if (osFeature_Wait != 0)
-#error osWait not supported!
-#endif
-
-
-// ==== Enumeration, structures, defines ====
-
-// Service Calls defines
-
-#if defined (__CC_ARM) /* ARM Compiler */
-
-#define __NO_RETURN __declspec(noreturn)
-
-#define osEvent_type osEvent
-#define osEvent_ret_status ret
-#define osEvent_ret_value ret
-#define osEvent_ret_msg ret
-#define osEvent_ret_mail ret
-
-#define osCallback_type osCallback
-#define osCallback_ret ret
-
-#define SVC_0_1(f,t,...) \
-__svc_indirect(0) t _##f (t(*)()); \
- t f (void); \
-__attribute__((always_inline)) \
-static __inline t __##f (void) { \
- return _##f(f); \
-}
-
-#define SVC_1_1(f,t,t1,...) \
-__svc_indirect(0) t _##f (t(*)(t1),t1); \
- t f (t1 a1); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1) { \
- return _##f(f,a1); \
-}
-
-#define SVC_2_1(f,t,t1,t2,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
- t f (t1 a1, t2 a2); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2) { \
- return _##f(f,a1,a2); \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
- t f (t1 a1, t2 a2, t3 a3); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
- return _##f(f,a1,a2,a3); \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
-__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
- t f (t1 a1, t2 a2, t3 a3, t4 a4); \
-__attribute__((always_inline)) \
-static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- return _##f(f,a1,a2,a3,a4); \
-}
-
-#define SVC_1_2 SVC_1_1
-#define SVC_1_3 SVC_1_1
-#define SVC_2_3 SVC_2_1
-
-#elif defined (__GNUC__) /* GNU Compiler */
-
-#define __NO_RETURN __attribute__((noreturn))
-
-typedef uint32_t __attribute__((vector_size(8))) ret64;
-typedef uint32_t __attribute__((vector_size(16))) ret128;
-
-#define RET_pointer __r0
-#define RET_int32_t __r0
-#define RET_osStatus __r0
-#define RET_osPriority __r0
-#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
-#define RET_osCallback {(void *)__r0, (void *)__r1}
-
-#define osEvent_type ret128
-#define osEvent_ret_status (ret128){ret.status}
-#define osEvent_ret_value (ret128){ret.status, ret.value.v}
-#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
-#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
-
-#define osCallback_type ret64
-#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
-
-#define SVC_ArgN(n) \
- register int __r##n __asm("r"#n);
-
-#define SVC_ArgR(n,t,a) \
- register t __r##n __asm("r"#n) = a;
-
-#define SVC_Arg0() \
- SVC_ArgN(0) \
- SVC_ArgN(1) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg1(t1) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgN(1) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg2(t1,t2) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgN(2) \
- SVC_ArgN(3)
-
-#define SVC_Arg3(t1,t2,t3) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgR(2,t3,a3) \
- SVC_ArgN(3)
-
-#define SVC_Arg4(t1,t2,t3,t4) \
- SVC_ArgR(0,t1,a1) \
- SVC_ArgR(1,t2,a2) \
- SVC_ArgR(2,t3,a3) \
- SVC_ArgR(3,t4,a4)
-
-#if (defined (__CORTEX_M0))
-#define SVC_Call(f) \
- __asm volatile \
- ( \
- "ldr r7,="#f"\n\t" \
- "mov r12,r7\n\t" \
- "svc 0" \
- : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
- : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
- : "r7", "r12", "lr", "cc" \
- );
-#else
-#define SVC_Call(f) \
- __asm volatile \
- ( \
- "ldr r12,="#f"\n\t" \
- "svc 0" \
- : "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
- : "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
- : "r12", "lr", "cc" \
- );
-#endif
-
-#define SVC_0_1(f,t,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (void) { \
- SVC_Arg0(); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_1_1(f,t,t1,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1) { \
- SVC_Arg1(t1); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_2_1(f,t,t1,t2,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2) { \
- SVC_Arg2(t1,t2); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2, t3 a3) { \
- SVC_Arg3(t1,t2,t3); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
-__attribute__((always_inline)) \
-static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- SVC_Arg4(t1,t2,t3,t4); \
- SVC_Call(f); \
- return (t) rv; \
-}
-
-#define SVC_1_2 SVC_1_1
-#define SVC_1_3 SVC_1_1
-#define SVC_2_3 SVC_2_1
-
-#elif defined (__ICCARM__) /* IAR Compiler */
-
-#define __NO_RETURN __noreturn
-
-#define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
-#define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
-
-#define osEvent_type osEvent
-#define osEvent_ret_status ret
-#define osEvent_ret_value ret
-#define osEvent_ret_msg ret
-#define osEvent_ret_mail ret
-
-#define osCallback_type uint64_t
-#define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
-
-#define SVC_Setup(f) \
- __asm( \
- "mov r12,%0\n" \
- :: "r"(&f): "r12" \
- );
-
-#define SVC_Ret3() \
- __asm( \
- "ldr r0,[sp,#0]\n" \
- "ldr r1,[sp,#4]\n" \
- "ldr r2,[sp,#8]\n" \
- );
-
-#define SVC_0_1(f,t,...) \
-t f (void); \
-_Pragma("swi_number=0") __swi t _##f (void); \
-static inline t __##f (void) { \
- SVC_Setup(f); \
- return _##f(); \
-}
-
-#define SVC_1_1(f,t,t1,...) \
-t f (t1 a1); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- SVC_Setup(f); \
- return _##f(a1); \
-}
-
-#define SVC_2_1(f,t,t1,t2,...) \
-t f (t1 a1, t2 a2); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
-static inline t __##f (t1 a1, t2 a2) { \
- SVC_Setup(f); \
- return _##f(a1,a2); \
-}
-
-#define SVC_3_1(f,t,t1,t2,t3,...) \
-t f (t1 a1, t2 a2, t3 a3); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
-static inline t __##f (t1 a1, t2 a2, t3 a3) { \
- SVC_Setup(f); \
- return _##f(a1,a2,a3); \
-}
-
-#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
-t f (t1 a1, t2 a2, t3 a3, t4 a4); \
-_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
-static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
- SVC_Setup(f); \
- return _##f(a1,a2,a3,a4); \
-}
-
-#define SVC_1_2(f,t,t1,rr) \
-uint64_t f (t1 a1); \
-_Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- t ret; \
- SVC_Setup(f); \
- _##f(a1); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#define SVC_1_3(f,t,t1,rr) \
-t f (t1 a1); \
-void f##_ (t1 a1) { \
- f(a1); \
- SVC_Ret3(); \
-} \
-_Pragma("swi_number=0") __swi void _##f (t1 a1); \
-static inline t __##f (t1 a1) { \
- t ret; \
- SVC_Setup(f##_); \
- _##f(a1); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#define SVC_2_3(f,t,t1,t2,rr) \
-t f (t1 a1, t2 a2); \
-void f##_ (t1 a1, t2 a2) { \
- f(a1,a2); \
- SVC_Ret3(); \
-} \
-_Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
-static inline t __##f (t1 a1, t2 a2) { \
- t ret; \
- SVC_Setup(f##_); \
- _##f(a1,a2); \
- __asm("" : rr : :); \
- return ret; \
-}
-
-#endif
-
-
-// Callback structure
-typedef struct {
- void *fp; // Function pointer
- void *arg; // Function argument
-} osCallback;
-
-
-// OS Section definitions
-#ifdef OS_SECTIONS_LINK_INFO
-extern const uint32_t os_section_id$$Base;
-extern const uint32_t os_section_id$$Limit;
-#endif
-
-// OS Timers external resources
-extern osThreadDef_t os_thread_def_osTimerThread;
-extern osThreadId osThreadId_osTimerThread;
-extern osMessageQDef_t os_messageQ_def_osTimerMessageQ;
-extern osMessageQId osMessageQId_osTimerMessageQ;
-
-
-// ==== Helper Functions ====
-
-/// Convert timeout in millisec to system ticks
-static uint32_t rt_ms2tick (uint32_t millisec) {
- uint32_t tick;
-
- if (millisec == osWaitForever) return 0xFFFF; // Indefinite timeout
- if (millisec > 4000000) return 0xFFFE; // Max ticks supported
-
- tick = ((1000 * millisec) + os_clockrate - 1) / os_clockrate;
- if (tick > 0xFFFE) return 0xFFFE;
-
- return tick;
-}
-
-/// Convert Thread ID to TCB pointer
-static P_TCB rt_tid2ptcb (osThreadId thread_id) {
- P_TCB ptcb;
-
- if (thread_id == NULL) return NULL;
-
- if ((uint32_t)thread_id & 3) return NULL;
-
-#ifdef OS_SECTIONS_LINK_INFO
- if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
- if (thread_id < (osThreadId)os_section_id$$Base) return NULL;
- if (thread_id >= (osThreadId)os_section_id$$Limit) return NULL;
- }
-#endif
-
- ptcb = thread_id;
-
- if (ptcb->cb_type != TCB) return NULL;
-
- return ptcb;
-}
-
-/// Convert ID pointer to Object pointer
-static void *rt_id2obj (void *id) {
-
- if ((uint32_t)id & 3) return NULL;
-
-#ifdef OS_SECTIONS_LINK_INFO
- if ((os_section_id$$Base != 0) && (os_section_id$$Limit != 0)) {
- if (id < (void *)os_section_id$$Base) return NULL;
- if (id >= (void *)os_section_id$$Limit) return NULL;
- }
-#endif
-
- return id;
-}
-
-
-// ==== Kernel Control ====
-
-uint8_t os_initialized; // Kernel Initialized flag
-uint8_t os_running; // Kernel Running flag
-
-// Kernel Control Service Calls declarations
-SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
-SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
-SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
-
-extern void sysThreadError (osStatus status);
-osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument);
-osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id);
-
-// Kernel Control Service Calls
-
-/// Initialize the RTOS Kernel for creating objects
-osStatus svcKernelInitialize (void) {
- if (os_initialized) return osOK;
-
- rt_sys_init(); // RTX System Initialization
- os_tsk.run->prio = 255; // Highest priority
-
- sysThreadError(osOK);
-
- os_initialized = 1;
-
- return osOK;
-}
-
-/// Start the RTOS Kernel
-osStatus svcKernelStart (void) {
-
- if (os_running) return osOK;
-
- // Create OS Timers resources (Message Queue & Thread)
- osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
- osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
-
- rt_tsk_prio(0, 0); // Lowest priority
- __set_PSP(os_tsk.run->tsk_stack + 8*4); // New context
- os_tsk.run = NULL; // Force context switch
-
- rt_sys_start();
-
- os_running = 1;
-
- return osOK;
-}
-
-/// Check if the RTOS kernel is already started
-int32_t svcKernelRunning(void) {
- return os_running;
-}
-
-// Kernel Control Public API
-
-/// Initialize the RTOS Kernel for creating objects
-osStatus osKernelInitialize (void) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- if ((__get_CONTROL() & 1) == 0) { // Privileged mode
- return svcKernelInitialize();
- } else {
- return __svcKernelInitialize();
- }
-}
-
-/// Start the RTOS Kernel
-osStatus osKernelStart (void) {
- uint32_t stack[8];
-
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- switch (__get_CONTROL() & 0x03) {
- case 0x00: // Privileged Thread mode & MSP
- __set_PSP((uint32_t)(stack + 8)); // Initial PSP
- if (os_flags & 1) {
- __set_CONTROL(0x02); // Set Privileged Thread mode & PSP
- } else {
- __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
- }
- __DSB();
- __ISB();
- break;
- case 0x01: // Unprivileged Thread mode & MSP
- return osErrorOS;
- case 0x02: // Privileged Thread mode & PSP
- if ((os_flags & 1) == 0) { // Unprivileged Thread mode requested
- __set_CONTROL(0x03); // Set Unprivileged Thread mode & PSP
- __DSB();
- __ISB();
- }
- break;
- case 0x03: // Unprivileged Thread mode & PSP
- if (os_flags & 1) return osErrorOS; // Privileged Thread mode requested
- break;
- }
- return __svcKernelStart();
-}
-
-/// Check if the RTOS kernel is already started
-int32_t osKernelRunning(void) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) {
- // in ISR or Privileged
- return os_running;
- } else {
- return __svcKernelRunning();
- }
-}
-
-
-// ==== Thread Management ====
-
-__NO_RETURN void osThreadExit (void);
-
-// Thread Service Calls declarations
-SVC_2_1(svcThreadCreate, osThreadId, osThreadDef_t *, void *, RET_pointer)
-SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
-SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
-SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
-SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
-SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
-
-// Thread Service Calls
-extern OS_TID rt_get_TID (void);
-extern void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body);
-
-/// Create a thread and add it to Active Threads and set it to state READY
-osThreadId svcThreadCreate (osThreadDef_t *thread_def, void *argument) {
- P_TCB ptcb;
-
- if ((thread_def == NULL) ||
- (thread_def->pthread == NULL) ||
- (thread_def->tpriority <= osPriorityIdle) ||
- (thread_def->tpriority > osPriorityRealtime) ||
- (thread_def->stacksize == 0) ||
- (thread_def->stack_pointer == NULL) ) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- U8 priority = thread_def->tpriority - osPriorityIdle + 1;
- P_TCB task_context = &thread_def->tcb;
-
- /* If "size != 0" use a private user provided stack. */
- task_context->stack = (U32*)thread_def->stack_pointer;
- task_context->priv_stack = thread_def->stacksize;
- /* Pass parameter 'argv' to 'rt_init_context' */
- task_context->msg = argument;
- /* For 'size == 0' system allocates the user stack from the memory pool. */
- rt_init_context (task_context, priority, (FUNCP)thread_def->pthread);
-
- /* Find a free entry in 'os_active_TCB' table. */
- OS_TID tsk = rt_get_TID ();
- os_active_TCB[tsk-1] = task_context;
- task_context->task_id = tsk;
- DBG_TASK_NOTIFY(task_context, __TRUE);
- rt_dispatch (task_context);
-
- ptcb = (P_TCB)os_active_TCB[tsk - 1]; // TCB pointer
-
- *((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
-
- return ptcb;
-}
-
-/// Return the thread ID of the current running thread
-osThreadId svcThreadGetId (void) {
- OS_TID tsk;
-
- tsk = rt_tsk_self();
- if (tsk == 0) return NULL;
- return (P_TCB)os_active_TCB[tsk - 1];
-}
-
-/// Terminate execution of a thread and remove it from ActiveThreads
-osStatus svcThreadTerminate (osThreadId thread_id) {
- OS_RESULT res;
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osErrorParameter;
-
- res = rt_tsk_delete(ptcb->task_id); // Delete task
-
- if (res == OS_R_NOK) return osErrorResource; // Delete task failed
-
- return osOK;
-}
-
-/// Pass control to next thread that is in state READY
-osStatus svcThreadYield (void) {
- rt_tsk_pass(); // Pass control to next task
- return osOK;
-}
-
-/// Change prority of an active thread
-osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
- OS_RESULT res;
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osErrorParameter;
-
- if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
- return osErrorValue;
- }
-
- res = rt_tsk_prio( // Change task priority
- ptcb->task_id, // Task ID
- priority - osPriorityIdle + 1 // New task priority
- );
-
- if (res == OS_R_NOK) return osErrorResource; // Change task priority failed
-
- return osOK;
-}
-
-/// Get current prority of an active thread
-osPriority svcThreadGetPriority (osThreadId thread_id) {
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return osPriorityError;
-
- return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
-}
-
-
-// Thread Public API
-
-/// Create a thread and add it to Active Threads and set it to state READY
-osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcThreadCreate(thread_def, argument);
- } else {
- return __svcThreadCreate(thread_def, argument);
- }
-}
-
-/// Return the thread ID of the current running thread
-osThreadId osThreadGetId (void) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- return __svcThreadGetId();
-}
-
-/// Terminate execution of a thread and remove it from ActiveThreads
-osStatus osThreadTerminate (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadTerminate(thread_id);
-}
-
-/// Pass control to next thread that is in state READY
-osStatus osThreadYield (void) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadYield();
-}
-
-/// Change prority of an active thread
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcThreadSetPriority(thread_id, priority);
-}
-
-/// Get current prority of an active thread
-osPriority osThreadGetPriority (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osPriorityError;// Not allowed in ISR
- return __svcThreadGetPriority(thread_id);
-}
-
-/// INTERNAL - Not Public
-/// Auto Terminate Thread on exit (used implicitly when thread exists)
-__NO_RETURN void osThreadExit (void) {
- __svcThreadTerminate(__svcThreadGetId());
- for (;;); // Should never come here
-}
-
-
-// ==== Generic Wait Functions ====
-
-// Generic Wait Service Calls declarations
-SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
-#if osFeature_Wait != 0
-SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
-#endif
-
-// Generic Wait Service Calls
-
-/// Wait for Timeout (Time Delay)
-osStatus svcDelay (uint32_t millisec) {
- if (millisec == 0) return osOK;
- rt_dly_wait(rt_ms2tick(millisec));
- return osEventTimeout;
-}
-
-/// Wait for Signal, Message, Mail, or Timeout
-#if osFeature_Wait != 0
-os_InRegs osEvent_type svcWait (uint32_t millisec) {
- osEvent ret;
-
- if (millisec == 0) {
- ret.status = osOK;
- return osEvent_ret_status;
- }
-
- /* To Do: osEventSignal, osEventMessage, osEventMail */
- rt_dly_wait(rt_ms2tick(millisec));
- ret.status = osEventTimeout;
-
- return osEvent_ret_status;
-}
-#endif
-
-
-// Generic Wait API
-
-/// Wait for Timeout (Time Delay)
-osStatus osDelay (uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcDelay(millisec);
-}
-
-/// Wait for Signal, Message, Mail, or Timeout
-os_InRegs osEvent osWait (uint32_t millisec) {
- osEvent ret;
-
-#if osFeature_Wait == 0
- ret.status = osErrorOS;
- return ret;
-#else
- if (__get_IPSR() != 0) { // Not allowed in ISR
- ret.status = osErrorISR;
- return ret;
- }
- return __svcWait(millisec);
-#endif
-}
-
-
-// ==== Timer Management ====
-
-// Timer definitions
-#define osTimerInvalid 0
-#define osTimerStopped 1
-#define osTimerRunning 2
-
-// Timer structures
-
-typedef struct os_timer_cb_ { // Timer Control Block
- struct os_timer_cb_ *next; // Pointer to next active Timer
- uint8_t state; // Timer State
- uint8_t type; // Timer Type (Periodic/One-shot)
- uint16_t reserved; // Reserved
- uint16_t tcnt; // Timer Delay Count
- uint16_t icnt; // Timer Initial Count
- void *arg; // Timer Function Argument
- osTimerDef_t *timer; // Pointer to Timer definition
-} os_timer_cb;
-
-// Timer variables
-os_timer_cb *os_timer_head; // Pointer to first active Timer
-
-
-// Timer Helper Functions
-
-// Insert Timer into the list sorted by time
-static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
- os_timer_cb *p, *prev;
-
- prev = NULL;
- p = os_timer_head;
- while (p != NULL) {
- if (tcnt < p->tcnt) break;
- tcnt -= p->tcnt;
- prev = p;
- p = p->next;
- }
- pt->next = p;
- pt->tcnt = (uint16_t)tcnt;
- if (p != NULL) {
- p->tcnt -= pt->tcnt;
- }
- if (prev != NULL) {
- prev->next = pt;
- } else {
- os_timer_head = pt;
- }
-}
-
-// Remove Timer from the list
-static int rt_timer_remove (os_timer_cb *pt) {
- os_timer_cb *p, *prev;
-
- prev = NULL;
- p = os_timer_head;
- while (p != NULL) {
- if (p == pt) break;
- prev = p;
- p = p->next;
- }
- if (p == NULL) return -1;
- if (prev != NULL) {
- prev->next = pt->next;
- } else {
- os_timer_head = pt->next;
- }
- if (pt->next != NULL) {
- pt->next->tcnt += pt->tcnt;
- }
-
- return 0;
-}
-
-
-// Timer Service Calls declarations
-SVC_3_1(svcTimerCreate, osTimerId, osTimerDef_t *, os_timer_type, void *, RET_pointer)
-SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
-SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
-SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
-SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
-
-// Timer Management Service Calls
-
-/// Create timer
-osTimerId svcTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
- os_timer_cb *pt;
-
- if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- pt = timer_def->timer;
- if (pt == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if ((type != osTimerOnce) && (type != osTimerPeriodic)) {
- sysThreadError(osErrorValue);
- return NULL;
- }
-
- if (osThreadId_osTimerThread == NULL) {
- sysThreadError(osErrorResource);
- return NULL;
- }
-
- if (pt->state != osTimerInvalid){
- sysThreadError(osErrorResource);
- return NULL;
- }
-
- pt->state = osTimerStopped;
- pt->type = (uint8_t)type;
- pt->arg = argument;
- pt->timer = timer_def;
-
- return (osTimerId)pt;
-}
-
-/// Start or restart timer
-osStatus svcTimerStart (osTimerId timer_id, uint32_t millisec) {
- os_timer_cb *pt;
- uint32_t tcnt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- tcnt = rt_ms2tick(millisec);
- if (tcnt == 0) return osErrorValue;
-
- switch (pt->state) {
- case osTimerRunning:
- if (rt_timer_remove(pt) != 0) {
- return osErrorResource;
- }
- break;
- case osTimerStopped:
- pt->state = osTimerRunning;
- pt->icnt = (uint16_t)tcnt;
- break;
- default:
- return osErrorResource;
- }
-
- rt_timer_insert(pt, tcnt);
-
- return osOK;
-}
-
-/// Stop timer
-osStatus svcTimerStop (osTimerId timer_id) {
- os_timer_cb *pt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- if (pt->state != osTimerRunning) return osErrorResource;
-
- pt->state = osTimerStopped;
-
- if (rt_timer_remove(pt) != 0) {
- return osErrorResource;
- }
-
- return osOK;
-}
-
-/// Delete timer
-osStatus svcTimerDelete (osTimerId timer_id) {
- os_timer_cb *pt;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) return osErrorParameter;
-
- switch (pt->state) {
- case osTimerRunning:
- rt_timer_remove(pt);
- break;
- case osTimerStopped:
- break;
- default:
- return osErrorResource;
- }
-
- pt->state = osTimerInvalid;
-
- return osOK;
-}
-
-/// Get timer callback parameters
-os_InRegs osCallback_type svcTimerCall (osTimerId timer_id) {
- os_timer_cb *pt;
- osCallback ret;
-
- pt = rt_id2obj(timer_id);
- if (pt == NULL) {
- ret.fp = NULL;
- ret.arg = NULL;
- return osCallback_ret;
- }
-
- ret.fp = (void *)pt->timer->ptimer;
- ret.arg = pt->arg;
-
- return osCallback_ret;
-}
-
-static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
-
-/// Timer Tick (called each SysTick)
-void sysTimerTick (void) {
- os_timer_cb *pt, *p;
-
- p = os_timer_head;
- if (p == NULL) return;
-
- p->tcnt--;
- while ((p != NULL) && (p->tcnt == 0)) {
- pt = p;
- p = p->next;
- os_timer_head = p;
- isrMessagePut(osMessageQId_osTimerMessageQ, (uint32_t)pt, 0);
- if (pt->type == osTimerPeriodic) {
- rt_timer_insert(pt, pt->icnt);
- } else {
- pt->state = osTimerStopped;
- }
- }
-}
-
-
-// Timer Management Public API
-
-/// Create timer
-osTimerId osTimerCreate (osTimerDef_t *timer_def, os_timer_type type, void *argument) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcTimerCreate(timer_def, type, argument);
- } else {
- return __svcTimerCreate(timer_def, type, argument);
- }
-}
-
-/// Start or restart timer
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerStart(timer_id, millisec);
-}
-
-/// Stop timer
-osStatus osTimerStop (osTimerId timer_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerStop(timer_id);
-}
-
-/// Delete timer
-osStatus osTimerDelete (osTimerId timer_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcTimerDelete(timer_id);
-}
-
-/// INTERNAL - Not Public
-/// Get timer callback parameters (used by OS Timer Thread)
-os_InRegs osCallback osTimerCall (osTimerId timer_id) {
- return __svcTimerCall(timer_id);
-}
-
-
-// Timer Thread
-__NO_RETURN void osTimerThread (void const *argument) {
- osCallback cb;
- osEvent evt;
-
- for (;;) {
- evt = osMessageGet(osMessageQId_osTimerMessageQ, osWaitForever);
- if (evt.status == osEventMessage) {
- cb = osTimerCall(evt.value.p);
- if (cb.fp != NULL) {
- (*(os_ptimer)cb.fp)(cb.arg);
- }
- }
- }
-}
-
-
-// ==== Signal Management ====
-
-// Signal Service Calls declarations
-SVC_2_1(svcSignalSet, int32_t, osThreadId, int32_t, RET_int32_t)
-SVC_2_1(svcSignalClear, int32_t, osThreadId, int32_t, RET_int32_t)
-SVC_1_1(svcSignalGet, int32_t, osThreadId, RET_int32_t)
-SVC_2_3(svcSignalWait, os_InRegs osEvent, int32_t, uint32_t, RET_osEvent)
-
-// Signal Service Calls
-
-/// Set the specified Signal Flags of an active thread
-int32_t svcSignalSet (osThreadId thread_id, int32_t signal) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- rt_evt_set(signal, ptcb->task_id); // Set event flags
-
- return sig;
-}
-
-/// Clear the specified Signal Flags of an active thread
-int32_t svcSignalClear (osThreadId thread_id, int32_t signal) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- rt_evt_clr(signal, ptcb->task_id); // Clear event flags
-
- return sig;
-}
-
-/// Get Signal Flags status of an active thread
-int32_t svcSignalGet (osThreadId thread_id) {
- P_TCB ptcb;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- return ptcb->events; // Return event flags
-}
-
-/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
-os_InRegs osEvent_type svcSignalWait (int32_t signals, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if (signals & (0xFFFFFFFF << osFeature_Signals)) {
- ret.status = osErrorValue;
- return osEvent_ret_status;
- }
-
- if (signals != 0) { // Wait for all specified signals
- res = rt_evt_wait(signals, rt_ms2tick(millisec), __TRUE);
- } else { // Wait for any signal
- res = rt_evt_wait(0xFFFF, rt_ms2tick(millisec), __FALSE);
- }
-
- if (res == OS_R_EVT) {
- ret.status = osEventSignal;
- ret.value.signals = signals ? signals : os_tsk.run->waits;
- } else {
- ret.status = millisec ? osEventTimeout : osOK;
- ret.value.signals = 0;
- }
-
- return osEvent_ret_value;
-}
-
-
-// Signal ISR Calls
-
-/// Set the specified Signal Flags of an active thread
-static __INLINE int32_t isrSignalSet (osThreadId thread_id, int32_t signal) {
- P_TCB ptcb;
- int32_t sig;
-
- ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
- if (ptcb == NULL) return 0x80000000;
-
- if (signal & (0xFFFFFFFF << osFeature_Signals)) return 0x80000000;
-
- sig = ptcb->events; // Previous signal flags
-
- isr_evt_set(signal, ptcb->task_id); // Set event flags
-
- return sig;
-}
-
-
-// Signal Public API
-
-/// Set the specified Signal Flags of an active thread
-int32_t osSignalSet (osThreadId thread_id, int32_t signal) {
- if (__get_IPSR() != 0) { // in ISR
- return isrSignalSet(thread_id, signal);
- } else { // in Thread
- return __svcSignalSet(thread_id, signal);
- }
-}
-
-/// Clear the specified Signal Flags of an active thread
-int32_t osSignalClear (osThreadId thread_id, int32_t signal) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSignalClear(thread_id, signal);
-}
-
-/// Get Signal Flags status of an active thread
-int32_t osSignalGet (osThreadId thread_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSignalGet(thread_id);
-}
-
-/// Wait for one or more Signal Flags to become signaled for the current RUNNING thread
-os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec) {
- osEvent ret;
-
- if (__get_IPSR() != 0) { // Not allowed in ISR
- ret.status = osErrorISR;
- return ret;
- }
- return __svcSignalWait(signals, millisec);
-}
-
-
-// ==== Mutex Management ====
-
-// Mutex Service Calls declarations
-SVC_1_1(svcMutexCreate, osMutexId, osMutexDef_t *, RET_pointer)
-SVC_2_1(svcMutexWait, osStatus, osMutexId, uint32_t, RET_osStatus)
-SVC_1_1(svcMutexRelease, osStatus, osMutexId, RET_osStatus)
-SVC_1_1(svcMutexDelete, osStatus, osMutexId, RET_osStatus)
-
-// Mutex Service Calls
-
-/// Create and Initialize a Mutex object
-osMutexId svcMutexCreate (osMutexDef_t *mutex_def) {
- OS_ID mut;
-
- if (mutex_def == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- mut = mutex_def->mutex;
- if (mut == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_MUCB)mut)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- rt_mut_init(mut); // Initialize Mutex
-
- return mut;
-}
-
-/// Wait until a Mutex becomes available
-osStatus svcMutexWait (osMutexId mutex_id, uint32_t millisec) {
- OS_ID mut;
- OS_RESULT res;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- res = rt_mut_wait(mut, rt_ms2tick(millisec)); // Wait for Mutex
-
- if (res == OS_R_TMO) {
- return (millisec ? osErrorTimeoutResource : osErrorResource);
- }
-
- return osOK;
-}
-
-/// Release a Mutex that was obtained with osMutexWait
-osStatus svcMutexRelease (osMutexId mutex_id) {
- OS_ID mut;
- OS_RESULT res;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- res = rt_mut_release(mut); // Release Mutex
-
- if (res == OS_R_NOK) return osErrorResource; // Thread not owner or Zero Counter
-
- return osOK;
-}
-
-/// Delete a Mutex that was created by osMutexCreate
-osStatus svcMutexDelete (osMutexId mutex_id) {
- OS_ID mut;
-
- mut = rt_id2obj(mutex_id);
- if (mut == NULL) return osErrorParameter;
-
- if (((P_MUCB)mut)->cb_type != MUCB) return osErrorParameter;
-
- rt_mut_delete(mut); // Release Mutex
-
- return osOK;
-}
-
-
-// Mutex Public API
-
-/// Create and Initialize a Mutex object
-osMutexId osMutexCreate (osMutexDef_t *mutex_def) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMutexCreate(mutex_def);
- } else {
- return __svcMutexCreate(mutex_def);
- }
-}
-
-/// Wait until a Mutex becomes available
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexWait(mutex_id, millisec);
-}
-
-/// Release a Mutex that was obtained with osMutexWait
-osStatus osMutexRelease (osMutexId mutex_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexRelease(mutex_id);
-}
-
-/// Delete a Mutex that was created by osMutexCreate
-osStatus osMutexDelete (osMutexId mutex_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcMutexDelete(mutex_id);
-}
-
-
-// ==== Semaphore Management ====
-
-// Semaphore Service Calls declarations
-SVC_2_1(svcSemaphoreCreate, osSemaphoreId, const osSemaphoreDef_t *, int32_t, RET_pointer)
-SVC_2_1(svcSemaphoreWait, int32_t, osSemaphoreId, uint32_t, RET_int32_t)
-SVC_1_1(svcSemaphoreRelease, osStatus, osSemaphoreId, RET_osStatus)
-SVC_1_1(svcSemaphoreDelete, osStatus, osSemaphoreId, RET_osStatus)
-
-// Semaphore Service Calls
-
-/// Create and Initialize a Semaphore object
-osSemaphoreId svcSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) {
- OS_ID sem;
-
- if (semaphore_def == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- sem = semaphore_def->semaphore;
- if (sem == NULL) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_SCB)sem)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (count > osFeature_Semaphore) {
- sysThreadError(osErrorValue);
- return NULL;
- }
-
- rt_sem_init(sem, count); // Initialize Semaphore
-
- return sem;
-}
-
-/// Wait until a Semaphore becomes available
-int32_t svcSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
- OS_ID sem;
- OS_RESULT res;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return -1;
-
- if (((P_SCB)sem)->cb_type != SCB) return -1;
-
- res = rt_sem_wait(sem, rt_ms2tick(millisec)); // Wait for Semaphore
-
- if (res == OS_R_TMO) return 0; // Timeout
-
- return (((P_SCB)sem)->tokens + 1);
-}
-
-/// Release a Semaphore
-osStatus svcSemaphoreRelease (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- rt_sem_send(sem); // Release Semaphore
-
- return osOK;
-}
-
-/// Delete a Semaphore that was created by osSemaphoreCreate
-osStatus svcSemaphoreDelete (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- rt_sem_delete(sem); // Delete Semaphore
-
- return osOK;
-}
-
-
-// Semaphore ISR Calls
-
-/// Release a Semaphore
-static __INLINE osStatus isrSemaphoreRelease (osSemaphoreId semaphore_id) {
- OS_ID sem;
-
- sem = rt_id2obj(semaphore_id);
- if (sem == NULL) return osErrorParameter;
-
- if (((P_SCB)sem)->cb_type != SCB) return osErrorParameter;
-
- isr_sem_send(sem); // Release Semaphore
-
- return osOK;
-}
-
-
-// Semaphore Public API
-
-/// Create and Initialize a Semaphore object
-osSemaphoreId osSemaphoreCreate (osSemaphoreDef_t *semaphore_def, int32_t count) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcSemaphoreCreate(semaphore_def, count);
- } else {
- return __svcSemaphoreCreate(semaphore_def, count);
- }
-}
-
-/// Wait until a Semaphore becomes available
-int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) {
- if (__get_IPSR() != 0) return -1; // Not allowed in ISR
- return __svcSemaphoreWait(semaphore_id, millisec);
-}
-
-/// Release a Semaphore
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) {
- if (__get_IPSR() != 0) { // in ISR
- return isrSemaphoreRelease(semaphore_id);
- } else { // in Thread
- return __svcSemaphoreRelease(semaphore_id);
- }
-}
-
-/// Delete a Semaphore that was created by osSemaphoreCreate
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) {
- if (__get_IPSR() != 0) return osErrorISR; // Not allowed in ISR
- return __svcSemaphoreDelete(semaphore_id);
-}
-
-
-// ==== Memory Management Functions ====
-
-// Memory Management Helper Functions
-
-// Clear Memory Box (Zero init)
-static void rt_clr_box (void *box_mem, void *box) {
- uint32_t *p, n;
-
- if (box) {
- p = box;
- for (n = ((P_BM)box_mem)->blk_size; n; n -= 4) {
- *p++ = 0;
- }
- }
-}
-
-// Memory Management Service Calls declarations
-SVC_1_1(svcPoolCreate, osPoolId, const osPoolDef_t *, RET_pointer)
-SVC_2_1(sysPoolAlloc, void *, osPoolId, uint32_t, RET_pointer)
-SVC_2_1(sysPoolFree, osStatus, osPoolId, void *, RET_osStatus)
-
-// Memory Management Service & ISR Calls
-
-/// Create and Initialize memory pool
-osPoolId svcPoolCreate (const osPoolDef_t *pool_def) {
- uint32_t blk_sz;
-
- if ((pool_def == NULL) ||
- (pool_def->pool_sz == 0) ||
- (pool_def->item_sz == 0) ||
- (pool_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- blk_sz = (pool_def->item_sz + 3) & ~3;
-
- _init_box(pool_def->pool, sizeof(struct OS_BM) + pool_def->pool_sz * blk_sz, blk_sz);
-
- return pool_def->pool;
-}
-
-/// Allocate a memory block from a memory pool
-void *sysPoolAlloc (osPoolId pool_id, uint32_t clr) {
- void *ptr;
-
- if (pool_id == NULL) return NULL;
-
- ptr = rt_alloc_box(pool_id);
- if (clr) {
- rt_clr_box(pool_id, ptr);
- }
-
- return ptr;
-}
-
-/// Return an allocated memory block back to a specific memory pool
-osStatus sysPoolFree (osPoolId pool_id, void *block) {
- int32_t res;
-
- if (pool_id == NULL) return osErrorParameter;
-
- res = rt_free_box(pool_id, block);
- if (res != 0) return osErrorValue;
-
- return osOK;
-}
-
-
-// Memory Management Public API
-
-/// Create and Initialize memory pool
-osPoolId osPoolCreate (osPoolDef_t *pool_def) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcPoolCreate(pool_def);
- } else {
- return __svcPoolCreate(pool_def);
- }
-}
-
-/// Allocate a memory block from a memory pool
-void *osPoolAlloc (osPoolId pool_id) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolAlloc(pool_id, 0);
- } else { // in Thread
- return __sysPoolAlloc(pool_id, 0);
- }
-}
-
-/// Allocate a memory block from a memory pool and set memory block to zero
-void *osPoolCAlloc (osPoolId pool_id) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolAlloc(pool_id, 1);
- } else { // in Thread
- return __sysPoolAlloc(pool_id, 1);
- }
-}
-
-/// Return an allocated memory block back to a specific memory pool
-osStatus osPoolFree (osPoolId pool_id, void *block) {
- if ((__get_IPSR() != 0) || ((__get_CONTROL() & 1) == 0)) { // in ISR or Privileged
- return sysPoolFree(pool_id, block);
- } else { // in Thread
- return __sysPoolFree(pool_id, block);
- }
-}
-
-
-// ==== Message Queue Management Functions ====
-
-// Message Queue Management Service Calls declarations
-SVC_2_1(svcMessageCreate, osMessageQId, osMessageQDef_t *, osThreadId, RET_pointer)
-SVC_3_1(svcMessagePut, osStatus, osMessageQId, uint32_t, uint32_t, RET_osStatus)
-SVC_2_3(svcMessageGet, os_InRegs osEvent, osMessageQId, uint32_t, RET_osEvent)
-
-// Message Queue Service Calls
-
-/// Create and Initialize Message Queue
-osMessageQId svcMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
-
- if ((queue_def == NULL) ||
- (queue_def->queue_sz == 0) ||
- (queue_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- if (((P_MCB)queue_def->pool)->cb_type != 0) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- rt_mbx_init(queue_def->pool, 4*(queue_def->queue_sz + 4));
-
- return queue_def->pool;
-}
-
-/// Put a Message to a Queue
-osStatus svcMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
- OS_RESULT res;
-
- if (queue_id == NULL) return osErrorParameter;
-
- if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
-
- res = rt_mbx_send(queue_id, (void *)info, rt_ms2tick(millisec));
-
- if (res == OS_R_TMO) {
- return (millisec ? osErrorTimeoutResource : osErrorResource);
- }
-
- return osOK;
-}
-
-/// Get a Message or Wait for a Message from a Queue
-os_InRegs osEvent_type svcMessageGet (osMessageQId queue_id, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if (queue_id == NULL) {
- ret.status = osErrorParameter;
- return osEvent_ret_status;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) {
- ret.status = osErrorParameter;
- return osEvent_ret_status;
- }
-
- res = rt_mbx_wait(queue_id, &ret.value.p, rt_ms2tick(millisec));
-
- if (res == OS_R_TMO) {
- ret.status = millisec ? osEventTimeout : osOK;
- return osEvent_ret_value;
- }
-
- ret.status = osEventMessage;
-
- return osEvent_ret_value;
-}
-
-
-// Message Queue ISR Calls
-
-/// Put a Message to a Queue
-static __INLINE osStatus isrMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
-
- if ((queue_id == NULL) || (millisec != 0)) {
- return osErrorParameter;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) return osErrorParameter;
-
- if (rt_mbx_check(queue_id) == 0) { // Check if Queue is full
- return osErrorResource;
- }
-
- isr_mbx_send(queue_id, (void *)info);
-
- return osOK;
-}
-
-/// Get a Message or Wait for a Message from a Queue
-static __INLINE os_InRegs osEvent isrMessageGet (osMessageQId queue_id, uint32_t millisec) {
- OS_RESULT res;
- osEvent ret;
-
- if ((queue_id == NULL) || (millisec != 0)) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- if (((P_MCB)queue_id)->cb_type != MCB) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- res = isr_mbx_receive(queue_id, &ret.value.p);
-
- if (res != OS_R_MBX) {
- ret.status = osOK;
- return ret;
- }
-
- ret.status = osEventMessage;
-
- return ret;
-}
-
-
-// Message Queue Management Public API
-
-/// Create and Initialize Message Queue
-osMessageQId osMessageCreate (osMessageQDef_t *queue_def, osThreadId thread_id) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMessageCreate(queue_def, thread_id);
- } else {
- return __svcMessageCreate(queue_def, thread_id);
- }
-}
-
-/// Put a Message to a Queue
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return isrMessagePut(queue_id, info, millisec);
- } else { // in Thread
- return __svcMessagePut(queue_id, info, millisec);
- }
-}
-
-/// Get a Message or Wait for a Message from a Queue
-os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return isrMessageGet(queue_id, millisec);
- } else { // in Thread
- return __svcMessageGet(queue_id, millisec);
- }
-}
-
-
-// ==== Mail Queue Management Functions ====
-
-// Mail Queue Management Service Calls declarations
-SVC_2_1(svcMailCreate, osMailQId, osMailQDef_t *, osThreadId, RET_pointer)
-SVC_4_1(sysMailAlloc, void *, osMailQId, uint32_t, uint32_t, uint32_t, RET_pointer)
-SVC_3_1(sysMailFree, osStatus, osMailQId, void *, uint32_t, RET_osStatus)
-
-// Mail Queue Management Service & ISR Calls
-
-/// Create and Initialize mail queue
-osMailQId svcMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
- uint32_t blk_sz;
- P_MCB pmcb;
- void *pool;
-
- if ((queue_def == NULL) ||
- (queue_def->queue_sz == 0) ||
- (queue_def->item_sz == 0) ||
- (queue_def->pool == NULL)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- pmcb = *(((void **)queue_def->pool) + 0);
- pool = *(((void **)queue_def->pool) + 1);
-
- if ((pool == NULL) || (pmcb == NULL) || (pmcb->cb_type != 0)) {
- sysThreadError(osErrorParameter);
- return NULL;
- }
-
- blk_sz = (queue_def->item_sz + 3) & ~3;
-
- _init_box(pool, sizeof(struct OS_BM) + queue_def->queue_sz * blk_sz, blk_sz);
-
- rt_mbx_init(pmcb, 4*(queue_def->queue_sz + 4));
-
-
- return queue_def->pool;
-}
-
-/// Allocate a memory block from a mail
-void *sysMailAlloc (osMailQId queue_id, uint32_t millisec, uint32_t isr, uint32_t clr) {
- P_MCB pmcb;
- void *pool;
- void *mem;
-
- if (queue_id == NULL) return NULL;
-
- pmcb = *(((void **)queue_id) + 0);
- pool = *(((void **)queue_id) + 1);
-
- if ((pool == NULL) || (pmcb == NULL)) return NULL;
-
- if (isr && (millisec != 0)) return NULL;
-
- mem = rt_alloc_box(pool);
- if (clr) {
- rt_clr_box(pool, mem);
- }
-
- if ((mem == NULL) && (millisec != 0)) {
- // Put Task to sleep when Memory not available
- if (pmcb->p_lnk != NULL) {
- rt_put_prio((P_XCB)pmcb, os_tsk.run);
- } else {
- pmcb->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)pmcb;
- // Task is waiting to allocate a message
- pmcb->state = 3;
- }
- rt_block(rt_ms2tick(millisec), WAIT_MBX);
- }
-
- return mem;
-}
-
-/// Free a memory block from a mail
-osStatus sysMailFree (osMailQId queue_id, void *mail, uint32_t isr) {
- P_MCB pmcb;
- P_TCB ptcb;
- void *pool;
- void *mem;
- int32_t res;
-
- if (queue_id == NULL) return osErrorParameter;
-
- pmcb = *(((void **)queue_id) + 0);
- pool = *(((void **)queue_id) + 1);
-
- if ((pmcb == NULL) || (pool == NULL)) return osErrorParameter;
-
- res = rt_free_box(pool, mail);
-
- if (res != 0) return osErrorValue;
-
- if (pmcb->state == 3) {
- // Task is waiting to allocate a message
- if (isr) {
- rt_psq_enq (pmcb, (U32)pool);
- rt_psh_req ();
- } else {
- mem = rt_alloc_box(pool);
- if (mem != NULL) {
- ptcb = rt_get_first((P_XCB)pmcb);
- if (pmcb->p_lnk == NULL) {
- pmcb->state = 0;
- }
- rt_ret_val(ptcb, (U32)mem);
- rt_rmv_dly(ptcb);
- rt_dispatch(ptcb);
- }
- }
- }
-
- return osOK;
-}
-
-
-// Mail Queue Management Public API
-
-/// Create and Initialize mail queue
-osMailQId osMailCreate (osMailQDef_t *queue_def, osThreadId thread_id) {
- if (__get_IPSR() != 0) return NULL; // Not allowed in ISR
- if (((__get_CONTROL() & 1) == 0) && (os_running == 0)) {
- // Privileged and not running
- return svcMailCreate(queue_def, thread_id);
- } else {
- return __svcMailCreate(queue_def, thread_id);
- }
-}
-
-/// Allocate a memory block from a mail
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailAlloc(queue_id, millisec, 1, 0);
- } else { // in Thread
- return __sysMailAlloc(queue_id, millisec, 0, 0);
- }
-}
-
-/// Allocate a memory block from a mail and set memory block to zero
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailAlloc(queue_id, millisec, 1, 1);
- } else { // in Thread
- return __sysMailAlloc(queue_id, millisec, 0, 1);
- }
-}
-
-/// Free a memory block from a mail
-osStatus osMailFree (osMailQId queue_id, void *mail) {
- if (__get_IPSR() != 0) { // in ISR
- return sysMailFree(queue_id, mail, 1);
- } else { // in Thread
- return __sysMailFree(queue_id, mail, 0);
- }
-}
-
-/// Put a mail to a queue
-osStatus osMailPut (osMailQId queue_id, void *mail) {
- if (queue_id == NULL) return osErrorParameter;
- return osMessagePut(*((void **)queue_id), (uint32_t)mail, 0);
-}
-
-/// Get a mail from a queue
-os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec) {
- osEvent ret;
-
- if (queue_id == NULL) {
- ret.status = osErrorParameter;
- return ret;
- }
-
- ret = osMessageGet(*((void **)queue_id), millisec);
- if (ret.status == osEventMessage) ret.status = osEventMail;
-
- return ret;
-}
--- a/mbed-rtos/rtx/rt_Event.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,182 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_EVENT.C
- * Purpose: Implements waits and wake-ups for event flags
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_Event.h"
-#include "rt_List.h"
-#include "rt_Task.h"
-#include "rt_HAL_CM.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_evt_wait -----------------------------------*/
-
-OS_RESULT rt_evt_wait (U16 wait_flags, U16 timeout, BOOL and_wait) {
- /* Wait for one or more event flags with optional time-out. */
- /* "wait_flags" identifies the flags to wait for. */
- /* "timeout" is the time-out limit in system ticks (0xffff if no time-out) */
- /* "and_wait" specifies the AND-ing of "wait_flags" as condition to be met */
- /* to complete the wait. (OR-ing if set to 0). */
- U32 block_state;
-
- if (and_wait) {
- /* Check for AND-connected events */
- if ((os_tsk.run->events & wait_flags) == wait_flags) {
- os_tsk.run->events &= ~wait_flags;
- return (OS_R_EVT);
- }
- block_state = WAIT_AND;
- }
- else {
- /* Check for OR-connected events */
- if (os_tsk.run->events & wait_flags) {
- os_tsk.run->waits = os_tsk.run->events & wait_flags;
- os_tsk.run->events &= ~wait_flags;
- return (OS_R_EVT);
- }
- block_state = WAIT_OR;
- }
- /* Task has to wait */
- os_tsk.run->waits = wait_flags;
- rt_block (timeout, (U8)block_state);
- return (OS_R_TMO);
-}
-
-
-/*--------------------------- rt_evt_set ------------------------------------*/
-
-void rt_evt_set (U16 event_flags, OS_TID task_id) {
- /* Set one or more event flags of a selectable task. */
- P_TCB p_tcb;
-
- p_tcb = os_active_TCB[task_id-1];
- if (p_tcb == NULL) {
- return;
- }
- p_tcb->events |= event_flags;
- event_flags = p_tcb->waits;
- /* If the task is not waiting for an event, it should not be put */
- /* to ready state. */
- if (p_tcb->state == WAIT_AND) {
- /* Check for AND-connected events */
- if ((p_tcb->events & event_flags) == event_flags) {
- goto wkup;
- }
- }
- if (p_tcb->state == WAIT_OR) {
- /* Check for OR-connected events */
- if (p_tcb->events & event_flags) {
- p_tcb->waits &= p_tcb->events;
-wkup: p_tcb->events &= ~event_flags;
- rt_rmv_dly (p_tcb);
- p_tcb->state = READY;
- rt_ret_val2(p_tcb, 0x08/*osEventSignal*/, p_tcb->waits);
- rt_dispatch (p_tcb);
- }
- }
-}
-
-
-/*--------------------------- rt_evt_clr ------------------------------------*/
-
-void rt_evt_clr (U16 clear_flags, OS_TID task_id) {
- /* Clear one or more event flags (identified by "clear_flags") of a */
- /* selectable task (identified by "task"). */
- P_TCB task = os_active_TCB[task_id-1];
-
- if (task == NULL) {
- return;
- }
- task->events &= ~clear_flags;
-}
-
-
-/*--------------------------- isr_evt_set -----------------------------------*/
-
-void isr_evt_set (U16 event_flags, OS_TID task_id) {
- /* Same function as "os_evt_set", but to be called by ISRs. */
- P_TCB p_tcb = os_active_TCB[task_id-1];
-
- if (p_tcb == NULL) {
- return;
- }
- rt_psq_enq (p_tcb, event_flags);
- rt_psh_req ();
-}
-
-
-/*--------------------------- rt_evt_get ------------------------------------*/
-
-U16 rt_evt_get (void) {
- /* Get events of a running task after waiting for OR connected events. */
- return (os_tsk.run->waits);
-}
-
-
-/*--------------------------- rt_evt_psh ------------------------------------*/
-
-void rt_evt_psh (P_TCB p_CB, U16 set_flags) {
- /* Check if task has to be waken up */
- U16 event_flags;
-
- p_CB->events |= set_flags;
- event_flags = p_CB->waits;
- if (p_CB->state == WAIT_AND) {
- /* Check for AND-connected events */
- if ((p_CB->events & event_flags) == event_flags) {
- goto rdy;
- }
- }
- if (p_CB->state == WAIT_OR) {
- /* Check for OR-connected events */
- if (p_CB->events & event_flags) {
- p_CB->waits &= p_CB->events;
-rdy: p_CB->events &= ~event_flags;
- rt_rmv_dly (p_CB);
- p_CB->state = READY;
- rt_ret_val2(p_CB, 0x08/*osEventSignal*/, p_CB->waits);
- rt_put_prio (&os_rdy, p_CB);
- }
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/rt_Event.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,46 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_EVENT.H - * Purpose: Implements waits and wake-ups for event flags - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Functions */ -extern OS_RESULT rt_evt_wait (U16 wait_flags, U16 timeout, BOOL and_wait); -extern void rt_evt_set (U16 event_flags, OS_TID task_id); -extern void rt_evt_clr (U16 clear_flags, OS_TID task_id); -extern void isr_evt_set (U16 event_flags, OS_TID task_id); -extern U16 rt_evt_get (void); -extern void rt_evt_psh (P_TCB p_CB, U16 set_flags); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_HAL_CM.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,267 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_HAL_CM.H
- * Purpose: Hardware Abstraction Layer for Cortex-M definitions
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-/* Definitions */
-#define INITIAL_xPSR 0x01000000
-#define DEMCR_TRCENA 0x01000000
-#define ITM_ITMENA 0x00000001
-#define MAGIC_WORD 0xE25A2EA5
-
-#if defined (__CC_ARM) /* ARM Compiler */
-
-#if ((__TARGET_ARCH_7_M || __TARGET_ARCH_7E_M) && !NO_EXCLUSIVE_ACCESS)
- #define __USE_EXCLUSIVE_ACCESS
-#else
- #undef __USE_EXCLUSIVE_ACCESS
-#endif
-
-#elif defined (__GNUC__) /* GNU Compiler */
-
-#undef __USE_EXCLUSIVE_ACCESS
-
-#if defined (__CORTEX_M0)
-#define __TARGET_ARCH_6S_M 1
-#else
-#define __TARGET_ARCH_6S_M 0
-#endif
-
-#if defined (__VFP_FP__) && !defined(__SOFTFP__)
-#define __TARGET_FPU_VFP 1
-#else
-#define __TARGET_FPU_VFP 0
-#endif
-
-#define __inline inline
-#define __weak __attribute__((weak))
-
-#ifndef __CMSIS_GENERIC
-
-__attribute__((always_inline)) static inline void __enable_irq(void)
-{
- __asm volatile ("cpsie i");
-}
-
-__attribute__((always_inline)) static inline U32 __disable_irq(void)
-{
- U32 result;
-
- __asm volatile ("mrs %0, primask" : "=r" (result));
- __asm volatile ("cpsid i");
- return(result & 1);
-}
-
-#endif
-
-__attribute__(( always_inline)) static inline U8 __clz(U32 value)
-{
- U8 result;
-
- __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
- return(result);
-}
-
-#elif defined (__ICCARM__) /* IAR Compiler */
-
-#undef __USE_EXCLUSIVE_ACCESS
-
-#if (__CORE__ == __ARM6M__)
-#define __TARGET_ARCH_6S_M 1
-#else
-#define __TARGET_ARCH_6S_M 0
-#endif
-
-#if defined __ARMVFP__
-#define __TARGET_FPU_VFP 1
-#else
-#define __TARGET_FPU_VFP 0
-#endif
-
-#define __inline inline
-
-#ifndef __CMSIS_GENERIC
-
-static inline void __enable_irq(void)
-{
- __asm volatile ("cpsie i");
-}
-
-static inline U32 __disable_irq(void)
-{
- U32 result;
-
- __asm volatile ("mrs %0, primask" : "=r" (result));
- __asm volatile ("cpsid i");
- return(result & 1);
-}
-
-#endif
-
-static inline U8 __clz(U32 value)
-{
- U8 result;
-
- __asm volatile ("clz %0, %1" : "=r" (result) : "r" (value));
- return(result);
-}
-
-#endif
-
-/* NVIC registers */
-#define NVIC_ST_CTRL (*((volatile U32 *)0xE000E010))
-#define NVIC_ST_RELOAD (*((volatile U32 *)0xE000E014))
-#define NVIC_ST_CURRENT (*((volatile U32 *)0xE000E018))
-#define NVIC_ISER ((volatile U32 *)0xE000E100)
-#define NVIC_ICER ((volatile U32 *)0xE000E180)
-#define NVIC_IP ((volatile U8 *)0xE000E400)
-#define NVIC_INT_CTRL (*((volatile U32 *)0xE000ED04))
-#define NVIC_AIR_CTRL (*((volatile U32 *)0xE000ED0C))
-#define NVIC_SYS_PRI2 (*((volatile U32 *)0xE000ED1C))
-#define NVIC_SYS_PRI3 (*((volatile U32 *)0xE000ED20))
-
-#define OS_PEND_IRQ() NVIC_INT_CTRL = (1<<28)
-#define OS_PENDING ((NVIC_INT_CTRL >> 26) & (1<<2 | 1))
-#define OS_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_PENDING) << 25
-#define OS_PEND(fl,p) NVIC_INT_CTRL = (fl | p<<2) << 26
-#define OS_LOCK() NVIC_ST_CTRL = 0x0005
-#define OS_UNLOCK() NVIC_ST_CTRL = 0x0007
-
-#define OS_X_PENDING ((NVIC_INT_CTRL >> 28) & 1)
-#define OS_X_UNPEND(fl) NVIC_INT_CTRL = (*fl = OS_X_PENDING) << 27
-#define OS_X_PEND(fl,p) NVIC_INT_CTRL = (fl | p) << 28
-#define OS_X_INIT(n) NVIC_IP[n] = 0xFF; \
- NVIC_ISER[n>>5] = 1 << (n & 0x1F)
-#define OS_X_LOCK(n) NVIC_ICER[n>>5] = 1 << (n & 0x1F)
-#define OS_X_UNLOCK(n) NVIC_ISER[n>>5] = 1 << (n & 0x1F)
-
-/* Core Debug registers */
-#define DEMCR (*((volatile U32 *)0xE000EDFC))
-
-/* ITM registers */
-#define ITM_CONTROL (*((volatile U32 *)0xE0000E80))
-#define ITM_ENABLE (*((volatile U32 *)0xE0000E00))
-#define ITM_PORT30_U32 (*((volatile U32 *)0xE0000078))
-#define ITM_PORT31_U32 (*((volatile U32 *)0xE000007C))
-#define ITM_PORT31_U16 (*((volatile U16 *)0xE000007C))
-#define ITM_PORT31_U8 (*((volatile U8 *)0xE000007C))
-
-/* Variables */
-extern BIT dbg_msg;
-
-/* Functions */
-#ifdef __USE_EXCLUSIVE_ACCESS
- #define rt_inc(p) while(__strex((__ldrex(p)+1),p))
- #define rt_dec(p) while(__strex((__ldrex(p)-1),p))
-#else
- #define rt_inc(p) __disable_irq();(*p)++;__enable_irq();
- #define rt_dec(p) __disable_irq();(*p)--;__enable_irq();
-#endif
-
-__inline static U32 rt_inc_qi (U32 size, U8 *count, U8 *first) {
- U32 cnt,c2;
-#ifdef __USE_EXCLUSIVE_ACCESS
- do {
- if ((cnt = __ldrex(count)) == size) {
- __clrex();
- return (cnt); }
- } while (__strex(cnt+1, count));
- do {
- c2 = (cnt = __ldrex(first)) + 1;
- if (c2 == size) c2 = 0;
- } while (__strex(c2, first));
-#else
- __disable_irq();
- if ((cnt = *count) < size) {
- *count = cnt+1;
- c2 = (cnt = *first) + 1;
- if (c2 == size) c2 = 0;
- *first = c2;
- }
- __enable_irq ();
-#endif
- return (cnt);
-}
-
-__inline static void rt_systick_init (void) {
- NVIC_ST_RELOAD = os_trv;
- NVIC_ST_CURRENT = 0;
- NVIC_ST_CTRL = 0x0007;
- NVIC_SYS_PRI3 |= 0xFF000000;
-}
-
-__inline static void rt_svc_init (void) {
-#if !(__TARGET_ARCH_6S_M)
- int sh,prigroup;
-#endif
- NVIC_SYS_PRI3 |= 0x00FF0000;
-#if (__TARGET_ARCH_6S_M)
- NVIC_SYS_PRI2 |= (NVIC_SYS_PRI3<<(8+1)) & 0xFC000000;
-#else
- sh = 8 - __clz (~((NVIC_SYS_PRI3 << 8) & 0xFF000000));
- prigroup = ((NVIC_AIR_CTRL >> 8) & 0x07);
- if (prigroup >= sh) {
- sh = prigroup + 1;
- }
- NVIC_SYS_PRI2 = ((0xFEFFFFFF << sh) & 0xFF000000) | (NVIC_SYS_PRI2 & 0x00FFFFFF);
-#endif
-}
-
-extern void rt_set_PSP (U32 stack);
-extern U32 rt_get_PSP (void);
-extern void os_set_env (void);
-extern void *_alloc_box (void *box_mem);
-extern int _free_box (void *box_mem, void *box);
-
-extern void rt_init_stack (P_TCB p_TCB, FUNCP task_body);
-extern void rt_ret_val (P_TCB p_TCB, U32 v0);
-extern void rt_ret_val2 (P_TCB p_TCB, U32 v0, U32 v1);
-
-extern void dbg_init (void);
-extern void dbg_task_notify (P_TCB p_tcb, BOOL create);
-extern void dbg_task_switch (U32 task_id);
-
-#ifdef DBG_MSG
-#define DBG_INIT() dbg_init()
-#define DBG_TASK_NOTIFY(p_tcb,create) if (dbg_msg) dbg_task_notify(p_tcb,create)
-#define DBG_TASK_SWITCH(task_id) if (dbg_msg && (os_tsk.new!=os_tsk.run)) \
- dbg_task_switch(task_id)
-#else
-#define DBG_INIT()
-#define DBG_TASK_NOTIFY(p_tcb,create)
-#define DBG_TASK_SWITCH(task_id)
-#endif
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_List.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,320 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_LIST.C
- * Purpose: Functions for the management of different lists
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_List.h"
-#include "rt_Task.h"
-#include "rt_Time.h"
-#include "rt_HAL_CM.h"
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-/* List head of chained ready tasks */
-struct OS_XCB os_rdy;
-/* List head of chained delay tasks */
-struct OS_XCB os_dly;
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_put_prio -----------------------------------*/
-
-void rt_put_prio (P_XCB p_CB, P_TCB p_task) {
- /* Put task identified with "p_task" into list ordered by priority. */
- /* "p_CB" points to head of list; list has always an element at end with */
- /* a priority less than "p_task->prio". */
- P_TCB p_CB2;
- U32 prio;
- BOOL sem_mbx = __FALSE;
-
- if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
- sem_mbx = __TRUE;
- }
- prio = p_task->prio;
- p_CB2 = p_CB->p_lnk;
- /* Search for an entry in the list */
- while (p_CB2 != NULL && prio <= p_CB2->prio) {
- p_CB = (P_XCB)p_CB2;
- p_CB2 = p_CB2->p_lnk;
- }
- /* Entry found, insert the task into the list */
- p_task->p_lnk = p_CB2;
- p_CB->p_lnk = p_task;
- if (sem_mbx) {
- if (p_CB2 != NULL) {
- p_CB2->p_rlnk = p_task;
- }
- p_task->p_rlnk = (P_TCB)p_CB;
- }
- else {
- p_task->p_rlnk = NULL;
- }
-}
-
-
-/*--------------------------- rt_get_first ----------------------------------*/
-
-P_TCB rt_get_first (P_XCB p_CB) {
- /* Get task at head of list: it is the task with highest priority. */
- /* "p_CB" points to head of list. */
- P_TCB p_first;
-
- p_first = p_CB->p_lnk;
- p_CB->p_lnk = p_first->p_lnk;
- if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
- if (p_first->p_lnk != NULL) {
- p_first->p_lnk->p_rlnk = (P_TCB)p_CB;
- p_first->p_lnk = NULL;
- }
- p_first->p_rlnk = NULL;
- }
- else {
- p_first->p_lnk = NULL;
- }
- return (p_first);
-}
-
-
-/*--------------------------- rt_put_rdy_first ------------------------------*/
-
-void rt_put_rdy_first (P_TCB p_task) {
- /* Put task identified with "p_task" at the head of the ready list. The */
- /* task must have at least a priority equal to highest priority in list. */
- p_task->p_lnk = os_rdy.p_lnk;
- p_task->p_rlnk = NULL;
- os_rdy.p_lnk = p_task;
-}
-
-
-/*--------------------------- rt_get_same_rdy_prio --------------------------*/
-
-P_TCB rt_get_same_rdy_prio (void) {
- /* Remove a task of same priority from ready list if any exists. Other- */
- /* wise return NULL. */
- P_TCB p_first;
-
- p_first = os_rdy.p_lnk;
- if (p_first->prio == os_tsk.run->prio) {
- os_rdy.p_lnk = os_rdy.p_lnk->p_lnk;
- return (p_first);
- }
- return (NULL);
-}
-
-
-/*--------------------------- rt_resort_prio --------------------------------*/
-
-void rt_resort_prio (P_TCB p_task) {
- /* Re-sort ordered lists after the priority of 'p_task' has changed. */
- P_TCB p_CB;
-
- if (p_task->p_rlnk == NULL) {
- if (p_task->state == READY) {
- /* Task is chained into READY list. */
- p_CB = (P_TCB)&os_rdy;
- goto res;
- }
- }
- else {
- p_CB = p_task->p_rlnk;
- while (p_CB->cb_type == TCB) {
- /* Find a header of this task chain list. */
- p_CB = p_CB->p_rlnk;
- }
-res:rt_rmv_list (p_task);
- rt_put_prio ((P_XCB)p_CB, p_task);
- }
-}
-
-
-/*--------------------------- rt_put_dly ------------------------------------*/
-
-void rt_put_dly (P_TCB p_task, U16 delay) {
- /* Put a task identified with "p_task" into chained delay wait list using */
- /* a delay value of "delay". */
- P_TCB p;
- U32 delta,idelay = delay;
-
- p = (P_TCB)&os_dly;
- if (p->p_dlnk == NULL) {
- /* Delay list empty */
- delta = 0;
- goto last;
- }
- delta = os_dly.delta_time;
- while (delta < idelay) {
- if (p->p_dlnk == NULL) {
- /* End of list found */
-last: p_task->p_dlnk = NULL;
- p->p_dlnk = p_task;
- p_task->p_blnk = p;
- p->delta_time = (U16)(idelay - delta);
- p_task->delta_time = 0;
- return;
- }
- p = p->p_dlnk;
- delta += p->delta_time;
- }
- /* Right place found */
- p_task->p_dlnk = p->p_dlnk;
- p->p_dlnk = p_task;
- p_task->p_blnk = p;
- if (p_task->p_dlnk != NULL) {
- p_task->p_dlnk->p_blnk = p_task;
- }
- p_task->delta_time = (U16)(delta - idelay);
- p->delta_time -= p_task->delta_time;
-}
-
-
-/*--------------------------- rt_dec_dly ------------------------------------*/
-
-void rt_dec_dly (void) {
- /* Decrement delta time of list head: remove tasks having a value of zero.*/
- P_TCB p_rdy;
-
- if (os_dly.p_dlnk == NULL) {
- return;
- }
- os_dly.delta_time--;
- while ((os_dly.delta_time == 0) && (os_dly.p_dlnk != NULL)) {
- p_rdy = os_dly.p_dlnk;
- if (p_rdy->p_rlnk != NULL) {
- /* Task is really enqueued, remove task from semaphore/mailbox */
- /* timeout waiting list. */
- p_rdy->p_rlnk->p_lnk = p_rdy->p_lnk;
- if (p_rdy->p_lnk != NULL) {
- p_rdy->p_lnk->p_rlnk = p_rdy->p_rlnk;
- p_rdy->p_lnk = NULL;
- }
- p_rdy->p_rlnk = NULL;
- }
- rt_put_prio (&os_rdy, p_rdy);
- os_dly.delta_time = p_rdy->delta_time;
- if (p_rdy->state == WAIT_ITV) {
- /* Calculate the next time for interval wait. */
- p_rdy->delta_time = p_rdy->interval_time + (U16)os_time;
- }
- p_rdy->state = READY;
- os_dly.p_dlnk = p_rdy->p_dlnk;
- if (p_rdy->p_dlnk != NULL) {
- p_rdy->p_dlnk->p_blnk = (P_TCB)&os_dly;
- p_rdy->p_dlnk = NULL;
- }
- p_rdy->p_blnk = NULL;
- }
-}
-
-
-/*--------------------------- rt_rmv_list -----------------------------------*/
-
-void rt_rmv_list (P_TCB p_task) {
- /* Remove task identified with "p_task" from ready, semaphore or mailbox */
- /* waiting list if enqueued. */
- P_TCB p_b;
-
- if (p_task->p_rlnk != NULL) {
- /* A task is enqueued in semaphore / mailbox waiting list. */
- p_task->p_rlnk->p_lnk = p_task->p_lnk;
- if (p_task->p_lnk != NULL) {
- p_task->p_lnk->p_rlnk = p_task->p_rlnk;
- }
- return;
- }
-
- p_b = (P_TCB)&os_rdy;
- while (p_b != NULL) {
- /* Search the ready list for task "p_task" */
- if (p_b->p_lnk == p_task) {
- p_b->p_lnk = p_task->p_lnk;
- return;
- }
- p_b = p_b->p_lnk;
- }
-}
-
-
-/*--------------------------- rt_rmv_dly ------------------------------------*/
-
-void rt_rmv_dly (P_TCB p_task) {
- /* Remove task identified with "p_task" from delay list if enqueued. */
- P_TCB p_b;
-
- p_b = p_task->p_blnk;
- if (p_b != NULL) {
- /* Task is really enqueued */
- p_b->p_dlnk = p_task->p_dlnk;
- if (p_task->p_dlnk != NULL) {
- /* 'p_task' is in the middle of list */
- p_b->delta_time += p_task->delta_time;
- p_task->p_dlnk->p_blnk = p_b;
- p_task->p_dlnk = NULL;
- }
- else {
- /* 'p_task' is at the end of list */
- p_b->delta_time = 0;
- }
- p_task->p_blnk = NULL;
- }
-}
-
-
-/*--------------------------- rt_psq_enq ------------------------------------*/
-
-void rt_psq_enq (OS_ID entry, U32 arg) {
- /* Insert post service request "entry" into ps-queue. */
- U32 idx;
-
- idx = rt_inc_qi (os_psq->size, &os_psq->count, &os_psq->first);
- if (idx < os_psq->size) {
- os_psq->q[idx].id = entry;
- os_psq->q[idx].arg = arg;
- }
- else {
- os_error (OS_ERR_FIFO_OVF);
- }
-}
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_List.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,67 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_LIST.H - * Purpose: Functions for the management of different lists - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Definitions */ - -/* Values for 'cb_type' */ -#define TCB 0 -#define MCB 1 -#define SCB 2 -#define MUCB 3 -#define HCB 4 - -/* Variables */ -extern struct OS_XCB os_rdy; -extern struct OS_XCB os_dly; - -/* Functions */ -extern void rt_put_prio (P_XCB p_CB, P_TCB p_task); -extern P_TCB rt_get_first (P_XCB p_CB); -extern void rt_put_rdy_first (P_TCB p_task); -extern P_TCB rt_get_same_rdy_prio (void); -extern void rt_resort_prio (P_TCB p_task); -extern void rt_put_dly (P_TCB p_task, U16 delay); -extern void rt_dec_dly (void); -extern void rt_rmv_list (P_TCB p_task); -extern void rt_rmv_dly (P_TCB p_task); -extern void rt_psq_enq (OS_ID entry, U32 arg); - -/* This is a fast macro generating in-line code */ -#define rt_rdy_prio(void) (os_rdy.p_lnk->prio) - - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_Mailbox.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,285 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_MAILBOX.C
- * Purpose: Implements waits and wake-ups for mailbox messages
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_List.h"
-#include "rt_Mailbox.h"
-#include "rt_MemBox.h"
-#include "rt_Task.h"
-#include "rt_HAL_CM.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_mbx_init -----------------------------------*/
-
-void rt_mbx_init (OS_ID mailbox, U16 mbx_size) {
- /* Initialize a mailbox */
- P_MCB p_MCB = mailbox;
-
- p_MCB->cb_type = MCB;
- p_MCB->state = 0;
- p_MCB->isr_st = 0;
- p_MCB->p_lnk = NULL;
- p_MCB->first = 0;
- p_MCB->last = 0;
- p_MCB->count = 0;
- p_MCB->size = (mbx_size + sizeof(void *) - sizeof(struct OS_MCB)) /
- (U32)sizeof (void *);
-}
-
-
-/*--------------------------- rt_mbx_send -----------------------------------*/
-
-OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout) {
- /* Send message to a mailbox */
- P_MCB p_MCB = mailbox;
- P_TCB p_TCB;
-
- if (p_MCB->state == 1) {
- /* A task is waiting for message */
- p_TCB = rt_get_first ((P_XCB)p_MCB);
- if (p_MCB->p_lnk == NULL) {
- p_MCB->state = 0;
- }
- rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
- rt_rmv_dly (p_TCB);
- rt_dispatch (p_TCB);
- }
- else {
- /* Store message in mailbox queue */
- if (p_MCB->count == p_MCB->size) {
- /* No free message entry, wait for one. If message queue is full, */
- /* then no task is waiting for message. The 'p_MCB->p_lnk' list */
- /* pointer can now be reused for send message waits task list. */
- if (timeout == 0) {
- return (OS_R_TMO);
- }
- if (p_MCB->p_lnk != NULL) {
- rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
- }
- else {
- p_MCB->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)p_MCB;
- /* Task is waiting to send a message */
- p_MCB->state = 2;
- }
- os_tsk.run->msg = p_msg;
- rt_block (timeout, WAIT_MBX);
- return (OS_R_TMO);
- }
- /* Yes, there is a free entry in a mailbox. */
- p_MCB->msg[p_MCB->first] = p_msg;
- rt_inc (&p_MCB->count);
- if (++p_MCB->first == p_MCB->size) {
- p_MCB->first = 0;
- }
- }
- return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_mbx_wait -----------------------------------*/
-
-OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout) {
- /* Receive a message; possibly wait for it */
- P_MCB p_MCB = mailbox;
- P_TCB p_TCB;
-
- /* If a message is available in the fifo buffer */
- /* remove it from the fifo buffer and return. */
- if (p_MCB->count) {
- *message = p_MCB->msg[p_MCB->last];
- if (++p_MCB->last == p_MCB->size) {
- p_MCB->last = 0;
- }
- if (p_MCB->state == 2) {
- /* A task is waiting to send message */
- p_TCB = rt_get_first ((P_XCB)p_MCB);
- if (p_MCB->p_lnk == NULL) {
- p_MCB->state = 0;
- }
- rt_ret_val(p_TCB, 0/*osOK*/);
- p_MCB->msg[p_MCB->first] = p_TCB->msg;
- if (++p_MCB->first == p_MCB->size) {
- p_MCB->first = 0;
- }
- rt_rmv_dly (p_TCB);
- rt_dispatch (p_TCB);
- }
- else {
- rt_dec (&p_MCB->count);
- }
- return (OS_R_OK);
- }
- /* No message available: wait for one */
- if (timeout == 0) {
- return (OS_R_TMO);
- }
- if (p_MCB->p_lnk != NULL) {
- rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
- }
- else {
- p_MCB->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)p_MCB;
- /* Task is waiting to receive a message */
- p_MCB->state = 1;
- }
- rt_block(timeout, WAIT_MBX);
- return (OS_R_TMO);
-}
-
-
-/*--------------------------- rt_mbx_check ----------------------------------*/
-
-OS_RESULT rt_mbx_check (OS_ID mailbox) {
- /* Check for free space in a mailbox. Returns the number of messages */
- /* that can be stored to a mailbox. It returns 0 when mailbox is full. */
- P_MCB p_MCB = mailbox;
-
- return (p_MCB->size - p_MCB->count);
-}
-
-
-/*--------------------------- isr_mbx_send ----------------------------------*/
-
-void isr_mbx_send (OS_ID mailbox, void *p_msg) {
- /* Same function as "os_mbx_send", but to be called by ISRs. */
- P_MCB p_MCB = mailbox;
-
- rt_psq_enq (p_MCB, (U32)p_msg);
- rt_psh_req ();
-}
-
-
-/*--------------------------- isr_mbx_receive -------------------------------*/
-
-OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message) {
- /* Receive a message in the interrupt function. The interrupt function */
- /* should not wait for a message since this would block the rtx os. */
- P_MCB p_MCB = mailbox;
-
- if (p_MCB->count) {
- /* A message is available in the fifo buffer. */
- *message = p_MCB->msg[p_MCB->last];
- if (p_MCB->state == 2) {
- /* A task is locked waiting to send message */
- rt_psq_enq (p_MCB, 0);
- rt_psh_req ();
- }
- rt_dec (&p_MCB->count);
- if (++p_MCB->last == p_MCB->size) {
- p_MCB->last = 0;
- }
- return (OS_R_MBX);
- }
- return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_mbx_psh ------------------------------------*/
-
-void rt_mbx_psh (P_MCB p_CB, void *p_msg) {
- /* Store the message to the mailbox queue or pass it to task directly. */
- P_TCB p_TCB;
- void *mem;
-
- switch (p_CB->state) {
- case 3:
- /* Task is waiting to allocate memory, remove it from the waiting list */
- mem = rt_alloc_box(p_msg);
- if (mem == NULL) break;
- p_TCB = rt_get_first ((P_XCB)p_CB);
- if (p_CB->p_lnk == NULL) {
- p_CB->state = 0;
- }
- rt_ret_val(p_TCB, (U32)mem);
- p_TCB->state = READY;
- rt_rmv_dly (p_TCB);
- rt_put_prio (&os_rdy, p_TCB);
- break;
- case 2:
- /* Task is waiting to send a message, remove it from the waiting list */
- p_TCB = rt_get_first ((P_XCB)p_CB);
- if (p_CB->p_lnk == NULL) {
- p_CB->state = 0;
- }
- rt_ret_val(p_TCB, 0/*osOK*/);
- p_CB->msg[p_CB->first] = p_TCB->msg;
- rt_inc (&p_CB->count);
- if (++p_CB->first == p_CB->size) {
- p_CB->first = 0;
- }
- p_TCB->state = READY;
- rt_rmv_dly (p_TCB);
- rt_put_prio (&os_rdy, p_TCB);
- break;
- case 1:
- /* Task is waiting for a message, pass the message to the task directly */
- p_TCB = rt_get_first ((P_XCB)p_CB);
- if (p_CB->p_lnk == NULL) {
- p_CB->state = 0;
- }
- rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
- p_TCB->state = READY;
- rt_rmv_dly (p_TCB);
- rt_put_prio (&os_rdy, p_TCB);
- break;
- default:
- /* No task is waiting for a message, store it to the mailbox queue */
- if (p_CB->count < p_CB->size) {
- p_CB->msg[p_CB->first] = p_msg;
- rt_inc (&p_CB->count);
- if (++p_CB->first == p_CB->size) {
- p_CB->first = 0;
- }
- }
- else {
- os_error (OS_ERR_MBX_OVF);
- }
- break;
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_Mailbox.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,48 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_MAILBOX.H - * Purpose: Implements waits and wake-ups for mailbox messages - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Functions */ -extern void rt_mbx_init (OS_ID mailbox, U16 mbx_size); -extern OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout); -extern OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout); -extern OS_RESULT rt_mbx_check (OS_ID mailbox); -extern void isr_mbx_send (OS_ID mailbox, void *p_msg); -extern OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message); -extern void rt_mbx_psh (P_MCB p_CB, void *p_msg); - - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_MemBox.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,166 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_MEMBOX.C
- * Purpose: Interface functions for fixed memory block management system
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_MemBox.h"
-#include "rt_HAL_CM.h"
-
-/*----------------------------------------------------------------------------
- * Global Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- _init_box -------------------------------------*/
-
-int _init_box (void *box_mem, U32 box_size, U32 blk_size) {
- /* Initialize memory block system, returns 0 if OK, 1 if fails. */
- void *end;
- void *blk;
- void *next;
- U32 sizeof_bm;
-
- /* Create memory structure. */
- if (blk_size & BOX_ALIGN_8) {
- /* Memory blocks 8-byte aligned. */
- blk_size = ((blk_size & ~BOX_ALIGN_8) + 7) & ~7;
- sizeof_bm = (sizeof (struct OS_BM) + 7) & ~7;
- }
- else {
- /* Memory blocks 4-byte aligned. */
- blk_size = (blk_size + 3) & ~3;
- sizeof_bm = sizeof (struct OS_BM);
- }
- if (blk_size == 0) {
- return (1);
- }
- if ((blk_size + sizeof_bm) > box_size) {
- return (1);
- }
- /* Create a Memory structure. */
- blk = ((U8 *) box_mem) + sizeof_bm;
- ((P_BM) box_mem)->free = blk;
- end = ((U8 *) box_mem) + box_size;
- ((P_BM) box_mem)->end = end;
- ((P_BM) box_mem)->blk_size = blk_size;
-
- /* Link all free blocks using offsets. */
- end = ((U8 *) end) - blk_size;
- while (1) {
- next = ((U8 *) blk) + blk_size;
- if (next > end) break;
- *((void **)blk) = next;
- blk = next;
- }
- /* end marker */
- *((void **)blk) = 0;
- return (0);
-}
-
-/*--------------------------- rt_alloc_box ----------------------------------*/
-
-void *rt_alloc_box (void *box_mem) {
- /* Allocate a memory block and return start address. */
- void **free;
-#ifndef __USE_EXCLUSIVE_ACCESS
- int irq_dis;
-
- irq_dis = __disable_irq ();
- free = ((P_BM) box_mem)->free;
- if (free) {
- ((P_BM) box_mem)->free = *free;
- }
- if (!irq_dis) __enable_irq ();
-#else
- do {
- if ((free = (void **)__ldrex(&((P_BM) box_mem)->free)) == 0) {
- __clrex();
- break;
- }
- } while (__strex((U32)*free, &((P_BM) box_mem)->free));
-#endif
- return (free);
-}
-
-
-/*--------------------------- _calloc_box -----------------------------------*/
-
-void *_calloc_box (void *box_mem) {
- /* Allocate a 0-initialized memory block and return start address. */
- void *free;
- U32 *p;
- U32 i;
-
- free = _alloc_box (box_mem);
- if (free) {
- p = free;
- for (i = ((P_BM) box_mem)->blk_size; i; i -= 4) {
- *p = 0;
- p++;
- }
- }
- return (free);
-}
-
-
-/*--------------------------- rt_free_box -----------------------------------*/
-
-int rt_free_box (void *box_mem, void *box) {
- /* Free a memory block, returns 0 if OK, 1 if box does not belong to box_mem */
-#ifndef __USE_EXCLUSIVE_ACCESS
- int irq_dis;
-#endif
-
- if (box < box_mem || box >= ((P_BM) box_mem)->end) {
- return (1);
- }
-
-#ifndef __USE_EXCLUSIVE_ACCESS
- irq_dis = __disable_irq ();
- *((void **)box) = ((P_BM) box_mem)->free;
- ((P_BM) box_mem)->free = box;
- if (!irq_dis) __enable_irq ();
-#else
- do {
- *((void **)box) = (void *)__ldrex(&((P_BM) box_mem)->free);
- } while (__strex ((U32)box, &((P_BM) box_mem)->free));
-#endif
- return (0);
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_MemBox.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,46 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_MEMBOX.H - * Purpose: Interface functions for fixed memory block management system - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Functions */ -#define rt_init_box _init_box -#define rt_calloc_box _calloc_box -extern int _init_box (void *box_mem, U32 box_size, U32 blk_size); -extern void *rt_alloc_box (void *box_mem); -extern void * _calloc_box (void *box_mem); -extern int rt_free_box (void *box_mem, void *box); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_Mutex.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,189 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_MUTEX.C
- * Purpose: Implements mutex synchronization objects
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_List.h"
-#include "rt_Task.h"
-#include "rt_Mutex.h"
-#include "rt_HAL_CM.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_mut_init -----------------------------------*/
-
-void rt_mut_init (OS_ID mutex) {
- /* Initialize a mutex object */
- P_MUCB p_MCB = mutex;
-
- p_MCB->cb_type = MUCB;
- p_MCB->prio = 0;
- p_MCB->level = 0;
- p_MCB->p_lnk = NULL;
- p_MCB->owner = NULL;
-}
-
-
-/*--------------------------- rt_mut_delete ---------------------------------*/
-OS_RESULT rt_mut_delete (OS_ID mutex) {
- /* Delete a mutex object */
- P_MUCB p_MCB = mutex;
- P_TCB p_TCB;
-
- /* Restore owner task's priority. */
- if (p_MCB->level != 0) {
- p_MCB->owner->prio = p_MCB->prio;
- if (p_MCB->owner != os_tsk.run) {
- rt_resort_prio (p_MCB->owner);
- }
- }
-
- while (p_MCB->p_lnk != NULL) {
- /* A task is waiting for mutex. */
- p_TCB = rt_get_first ((P_XCB)p_MCB);
- rt_ret_val(p_TCB, 0/*osOK*/);
- rt_rmv_dly(p_TCB);
- p_TCB->state = READY;
- rt_put_prio (&os_rdy, p_TCB);
- }
-
- if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
- /* preempt running task */
- rt_put_prio (&os_rdy, os_tsk.run);
- os_tsk.run->state = READY;
- rt_dispatch (NULL);
- }
-
- p_MCB->cb_type = 0;
-
- return (OS_R_OK);
-}
-
-/*--------------------------- rt_mut_release --------------------------------*/
-
-OS_RESULT rt_mut_release (OS_ID mutex) {
- /* Release a mutex object */
- P_MUCB p_MCB = mutex;
- P_TCB p_TCB;
-
- if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
- /* Unbalanced mutex release or task is not the owner */
- return (OS_R_NOK);
- }
- if (--p_MCB->level != 0) {
- return (OS_R_OK);
- }
- /* Restore owner task's priority. */
- os_tsk.run->prio = p_MCB->prio;
- if (p_MCB->p_lnk != NULL) {
- /* A task is waiting for mutex. */
- p_TCB = rt_get_first ((P_XCB)p_MCB);
- rt_ret_val(p_TCB, 0/*osOK*/);
- rt_rmv_dly (p_TCB);
- /* A waiting task becomes the owner of this mutex. */
- p_MCB->level = 1;
- p_MCB->owner = p_TCB;
- p_MCB->prio = p_TCB->prio;
- /* Priority inversion, check which task continues. */
- if (os_tsk.run->prio >= rt_rdy_prio()) {
- rt_dispatch (p_TCB);
- }
- else {
- /* Ready task has higher priority than running task. */
- rt_put_prio (&os_rdy, os_tsk.run);
- rt_put_prio (&os_rdy, p_TCB);
- os_tsk.run->state = READY;
- p_TCB->state = READY;
- rt_dispatch (NULL);
- }
- }
- else {
- /* Check if own priority raised by priority inversion. */
- if (rt_rdy_prio() > os_tsk.run->prio) {
- rt_put_prio (&os_rdy, os_tsk.run);
- os_tsk.run->state = READY;
- rt_dispatch (NULL);
- }
- }
- return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_mut_wait -----------------------------------*/
-
-OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
- /* Wait for a mutex, continue when mutex is free. */
- P_MUCB p_MCB = mutex;
-
- if (p_MCB->level == 0) {
- p_MCB->owner = os_tsk.run;
- p_MCB->prio = os_tsk.run->prio;
- goto inc;
- }
- if (p_MCB->owner == os_tsk.run) {
- /* OK, running task is the owner of this mutex. */
-inc:p_MCB->level++;
- return (OS_R_OK);
- }
- /* Mutex owned by another task, wait until released. */
- if (timeout == 0) {
- return (OS_R_TMO);
- }
- /* Raise the owner task priority if lower than current priority. */
- /* This priority inversion is called priority inheritance. */
- if (p_MCB->prio < os_tsk.run->prio) {
- p_MCB->owner->prio = os_tsk.run->prio;
- rt_resort_prio (p_MCB->owner);
- }
- if (p_MCB->p_lnk != NULL) {
- rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
- }
- else {
- p_MCB->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)p_MCB;
- }
- rt_block(timeout, WAIT_MUT);
- return (OS_R_TMO);
-}
-
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_Mutex.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,44 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_MUTEX.H - * Purpose: Implements mutex synchronization objects - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Functions */ -extern void rt_mut_init (OS_ID mutex); -extern OS_RESULT rt_mut_delete (OS_ID mutex); -extern OS_RESULT rt_mut_release (OS_ID mutex); -extern OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_Robin.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,84 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_ROBIN.C
- * Purpose: Round Robin Task switching
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_List.h"
-#include "rt_Task.h"
-#include "rt_Time.h"
-#include "rt_Robin.h"
-#include "rt_HAL_CM.h"
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-struct OS_ROBIN os_robin;
-
-
-/*----------------------------------------------------------------------------
- * Global Functions
- *---------------------------------------------------------------------------*/
-
-/*--------------------------- rt_init_robin ---------------------------------*/
-
-__weak void rt_init_robin (void) {
- /* Initialize Round Robin variables. */
- os_robin.task = NULL;
- os_robin.tout = (U16)os_rrobin;
-}
-
-/*--------------------------- rt_chk_robin ----------------------------------*/
-
-__weak void rt_chk_robin (void) {
- /* Check if Round Robin timeout expired and switch to the next ready task.*/
- P_TCB p_new;
-
- if (os_robin.task != os_rdy.p_lnk) {
- /* New task was suspended, reset Round Robin timeout. */
- os_robin.task = os_rdy.p_lnk;
- os_robin.time = (U16)os_time + os_robin.tout - 1;
- }
- if (os_robin.time == (U16)os_time) {
- /* Round Robin timeout has expired, swap Robin tasks. */
- os_robin.task = NULL;
- p_new = rt_get_first (&os_rdy);
- rt_put_prio ((P_XCB)&os_rdy, p_new);
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_Robin.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,45 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_ROBIN.H - * Purpose: Round Robin Task switching definitions - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Variables */ -extern struct OS_ROBIN os_robin; - -/* Functions */ -extern void rt_init_robin (void); -extern void rt_chk_robin (void); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_Semaphore.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,171 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_SEMAPHORE.C
- * Purpose: Implements binary and counting semaphores
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_List.h"
-#include "rt_Task.h"
-#include "rt_Semaphore.h"
-#include "rt_HAL_CM.h"
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_sem_init -----------------------------------*/
-
-void rt_sem_init (OS_ID semaphore, U16 token_count) {
- /* Initialize a semaphore */
- P_SCB p_SCB = semaphore;
-
- p_SCB->cb_type = SCB;
- p_SCB->p_lnk = NULL;
- p_SCB->tokens = token_count;
-}
-
-
-/*--------------------------- rt_sem_delete ---------------------------------*/
-OS_RESULT rt_sem_delete (OS_ID semaphore) {
- /* Delete semaphore */
- P_SCB p_SCB = semaphore;
- P_TCB p_TCB;
-
- while (p_SCB->p_lnk != NULL) {
- /* A task is waiting for token */
- p_TCB = rt_get_first ((P_XCB)p_SCB);
- rt_ret_val(p_TCB, 0);
- rt_rmv_dly(p_TCB);
- p_TCB->state = READY;
- rt_put_prio (&os_rdy, p_TCB);
- }
-
- if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
- /* preempt running task */
- rt_put_prio (&os_rdy, os_tsk.run);
- os_tsk.run->state = READY;
- rt_dispatch (NULL);
- }
-
- p_SCB->cb_type = 0;
-
- return (OS_R_OK);
-}
-
-/*--------------------------- rt_sem_send -----------------------------------*/
-
-OS_RESULT rt_sem_send (OS_ID semaphore) {
- /* Return a token to semaphore */
- P_SCB p_SCB = semaphore;
- P_TCB p_TCB;
-
- if (p_SCB->p_lnk != NULL) {
- /* A task is waiting for token */
- p_TCB = rt_get_first ((P_XCB)p_SCB);
- rt_ret_val(p_TCB, 1);
- rt_rmv_dly (p_TCB);
- rt_dispatch (p_TCB);
- }
- else {
- /* Store token. */
- p_SCB->tokens++;
- }
- return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_sem_wait -----------------------------------*/
-
-OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout) {
- /* Obtain a token; possibly wait for it */
- P_SCB p_SCB = semaphore;
-
- if (p_SCB->tokens) {
- p_SCB->tokens--;
- return (OS_R_OK);
- }
- /* No token available: wait for one */
- if (timeout == 0) {
- return (OS_R_TMO);
- }
- if (p_SCB->p_lnk != NULL) {
- rt_put_prio ((P_XCB)p_SCB, os_tsk.run);
- }
- else {
- p_SCB->p_lnk = os_tsk.run;
- os_tsk.run->p_lnk = NULL;
- os_tsk.run->p_rlnk = (P_TCB)p_SCB;
- }
- rt_block(timeout, WAIT_SEM);
- return (OS_R_TMO);
-}
-
-
-/*--------------------------- isr_sem_send ----------------------------------*/
-
-void isr_sem_send (OS_ID semaphore) {
- /* Same function as "os_sem"send", but to be called by ISRs */
- P_SCB p_SCB = semaphore;
-
- rt_psq_enq (p_SCB, 0);
- rt_psh_req ();
-}
-
-
-/*--------------------------- rt_sem_psh ------------------------------------*/
-
-void rt_sem_psh (P_SCB p_CB) {
- /* Check if task has to be waken up */
- P_TCB p_TCB;
-
- if (p_CB->p_lnk != NULL) {
- /* A task is waiting for token */
- p_TCB = rt_get_first ((P_XCB)p_CB);
- rt_rmv_dly (p_TCB);
- p_TCB->state = READY;
- rt_ret_val(p_TCB, 1);
- rt_put_prio (&os_rdy, p_TCB);
- }
- else {
- /* Store token */
- p_CB->tokens++;
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_Semaphore.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,46 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_SEMAPHORE.H - * Purpose: Implements binary and counting semaphores - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Functions */ -extern void rt_sem_init (OS_ID semaphore, U16 token_count); -extern OS_RESULT rt_sem_delete(OS_ID semaphore); -extern OS_RESULT rt_sem_send (OS_ID semaphore); -extern OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout); -extern void isr_sem_send (OS_ID semaphore); -extern void rt_sem_psh (P_SCB p_CB); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_System.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,288 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_SYSTEM.C
- * Purpose: System Task Manager
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_Task.h"
-#include "rt_System.h"
-#include "rt_Event.h"
-#include "rt_List.h"
-#include "rt_Mailbox.h"
-#include "rt_Semaphore.h"
-#include "rt_Time.h"
-#include "rt_Robin.h"
-#include "rt_HAL_CM.h"
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-int os_tick_irqn;
-
-/*----------------------------------------------------------------------------
- * Local Variables
- *---------------------------------------------------------------------------*/
-
-static volatile BIT os_lock;
-static volatile BIT os_psh_flag;
-static U8 pend_flags;
-
-/*----------------------------------------------------------------------------
- * Global Functions
- *---------------------------------------------------------------------------*/
-
-#if defined (__CC_ARM)
-__asm void $$RTX$$version (void) {
- /* Export a version number symbol for a version control. */
-
- EXPORT __RL_RTX_VER
-
-__RL_RTX_VER EQU 0x450
-}
-#endif
-
-
-/*--------------------------- rt_suspend ------------------------------------*/
-U32 rt_suspend (void) {
- /* Suspend OS scheduler */
- U32 delta = 0xFFFF;
-
- rt_tsk_lock();
-
- if (os_dly.p_dlnk) {
- delta = os_dly.delta_time;
- }
-
- return (delta);
-}
-
-
-/*--------------------------- rt_resume -------------------------------------*/
-void rt_resume (U32 sleep_time) {
- /* Resume OS scheduler after suspend */
- P_TCB next;
- U32 delta;
-
- os_tsk.run->state = READY;
- rt_put_rdy_first (os_tsk.run);
-
- os_robin.task = NULL;
-
- /* Update delays. */
- if (os_dly.p_dlnk) {
- delta = sleep_time;
- if (delta >= os_dly.delta_time) {
- delta -= os_dly.delta_time;
- os_time += os_dly.delta_time;
- os_dly.delta_time = 1;
- while (os_dly.p_dlnk) {
- rt_dec_dly();
- if (delta == 0) break;
- delta--;
- os_time++;
- }
- } else {
- os_time += delta;
- os_dly.delta_time -= delta;
- }
- } else {
- os_time += sleep_time;
- }
-
- /* Switch back to highest ready task */
- next = rt_get_first (&os_rdy);
- rt_switch_req (next);
-
- rt_tsk_unlock();
-}
-
-
-/*--------------------------- rt_tsk_lock -----------------------------------*/
-
-void rt_tsk_lock (void) {
- /* Prevent task switching by locking out scheduler */
- if (os_tick_irqn < 0) {
- OS_LOCK();
- os_lock = __TRUE;
- OS_UNPEND (&pend_flags);
- } else {
- OS_X_LOCK(os_tick_irqn);
- os_lock = __TRUE;
- OS_X_UNPEND (&pend_flags);
- }
-}
-
-
-/*--------------------------- rt_tsk_unlock ---------------------------------*/
-
-void rt_tsk_unlock (void) {
- /* Unlock scheduler and re-enable task switching */
- if (os_tick_irqn < 0) {
- OS_UNLOCK();
- os_lock = __FALSE;
- OS_PEND (pend_flags, os_psh_flag);
- os_psh_flag = __FALSE;
- } else {
- OS_X_UNLOCK(os_tick_irqn);
- os_lock = __FALSE;
- OS_X_PEND (pend_flags, os_psh_flag);
- os_psh_flag = __FALSE;
- }
-}
-
-
-/*--------------------------- rt_psh_req ------------------------------------*/
-
-void rt_psh_req (void) {
- /* Initiate a post service handling request if required. */
- if (os_lock == __FALSE) {
- OS_PEND_IRQ ();
- }
- else {
- os_psh_flag = __TRUE;
- }
-}
-
-
-/*--------------------------- rt_pop_req ------------------------------------*/
-
-void rt_pop_req (void) {
- /* Process an ISR post service requests. */
- struct OS_XCB *p_CB;
- P_TCB next;
- U32 idx;
-
- os_tsk.run->state = READY;
- rt_put_rdy_first (os_tsk.run);
-
- idx = os_psq->last;
- while (os_psq->count) {
- p_CB = os_psq->q[idx].id;
- if (p_CB->cb_type == TCB) {
- /* Is of TCB type */
- rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
- }
- else if (p_CB->cb_type == MCB) {
- /* Is of MCB type */
- rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
- }
- else {
- /* Must be of SCB type */
- rt_sem_psh ((P_SCB)p_CB);
- }
- if (++idx == os_psq->size) idx = 0;
- rt_dec (&os_psq->count);
- }
- os_psq->last = idx;
-
- next = rt_get_first (&os_rdy);
- rt_switch_req (next);
-}
-
-
-/*--------------------------- os_tick_init ----------------------------------*/
-
-__weak int os_tick_init (void) {
- /* Initialize SysTick timer as system tick timer. */
- rt_systick_init ();
- return (-1); /* Return IRQ number of SysTick timer */
-}
-
-
-/*--------------------------- os_tick_irqack --------------------------------*/
-
-__weak void os_tick_irqack (void) {
- /* Acknowledge timer interrupt. */
-}
-
-
-/*--------------------------- rt_systick ------------------------------------*/
-
-extern void sysTimerTick(void);
-
-void rt_systick (void) {
- /* Check for system clock update, suspend running task. */
- P_TCB next;
-
- os_tsk.run->state = READY;
- rt_put_rdy_first (os_tsk.run);
-
- /* Check Round Robin timeout. */
- rt_chk_robin ();
-
- /* Update delays. */
- os_time++;
- rt_dec_dly ();
-
- /* Check the user timers. */
- sysTimerTick();
-
- /* Switch back to highest ready task */
- next = rt_get_first (&os_rdy);
- rt_switch_req (next);
-}
-
-/*--------------------------- rt_stk_check ----------------------------------*/
-#ifdef THREAD_STACK_DIAGNOSTIC
-typedef struct stack_boundaries_s {
- unsigned int top;
- unsigned int min;
-} stack_boundaries_t;
-stack_boundaries_t stack_boundaries[256];
-#endif
-
-__weak void rt_stk_check (void) {
-#ifdef THREAD_STACK_DIAGNOSTIC
- stack_boundaries_t* sb = &stack_boundaries[os_tsk.run->task_id];
- if (sb->top == 0) {
- sb->top = (unsigned int)os_tsk.run->stack + os_tsk.run->priv_stack;
- }
- if ((sb->min == 0) || (sb->min < os_tsk.run->tsk_stack))
- sb->min = os_tsk.run->tsk_stack;
-#endif
- /* Check for stack overflow */
- if (os_tsk.run->task_id == 0x01) {
- // TODO: For the main thread the check should be done against the heap pointer
- } else {
- if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
- (os_tsk.run->stack[0] != MAGIC_WORD)) {
- os_error (OS_ERR_STK_OVF);
- }
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_System.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,52 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_SYSTEM.H - * Purpose: System Task Manager definitions - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Variables */ -#define os_psq ((P_PSQ)&os_fifo) -extern int os_tick_irqn; - -/* Functions */ -extern U32 rt_suspend (void); -extern void rt_resume (U32 sleep_time); -extern void rt_tsk_lock (void); -extern void rt_tsk_unlock (void); -extern void rt_psh_req (void); -extern void rt_pop_req (void); -extern void rt_systick (void); -extern void rt_stk_check (void); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_Task.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,317 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_TASK.C
- * Purpose: Task functions and system start up.
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_System.h"
-#include "rt_Task.h"
-#include "rt_List.h"
-#include "rt_MemBox.h"
-#include "rt_Robin.h"
-#include "rt_HAL_CM.h"
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-/* Running and next task info. */
-struct OS_TSK os_tsk;
-
-/* Task Control Blocks of idle demon */
-struct OS_TCB os_idle_TCB;
-
-
-/*----------------------------------------------------------------------------
- * Local Functions
- *---------------------------------------------------------------------------*/
-
-OS_TID rt_get_TID (void) {
- U32 tid;
-
- for (tid = 1; tid <= os_maxtaskrun; tid++) {
- if (os_active_TCB[tid-1] == NULL) {
- return ((OS_TID)tid);
- }
- }
- return (0);
-}
-
-#if defined (__CC_ARM) && !defined (__MICROLIB)
-/*--------------------------- __user_perthread_libspace ---------------------*/
-extern void *__libspace_start;
-
-void *__user_perthread_libspace (void) {
- /* Provide a separate libspace for each task. */
- if (os_tsk.run == NULL) {
- /* RTX not running yet. */
- return (&__libspace_start);
- }
- return (void *)(os_tsk.run->std_libspace);
-}
-#endif
-
-/*--------------------------- rt_init_context -------------------------------*/
-
-void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
- /* Initialize general part of the Task Control Block. */
- p_TCB->cb_type = TCB;
- p_TCB->state = READY;
- p_TCB->prio = priority;
- p_TCB->p_lnk = NULL;
- p_TCB->p_rlnk = NULL;
- p_TCB->p_dlnk = NULL;
- p_TCB->p_blnk = NULL;
- p_TCB->delta_time = 0;
- p_TCB->interval_time = 0;
- p_TCB->events = 0;
- p_TCB->waits = 0;
- p_TCB->stack_frame = 0;
-
- rt_init_stack (p_TCB, task_body);
-}
-
-
-/*--------------------------- rt_switch_req ---------------------------------*/
-
-void rt_switch_req (P_TCB p_new) {
- /* Switch to next task (identified by "p_new"). */
- os_tsk.new = p_new;
- p_new->state = RUNNING;
- DBG_TASK_SWITCH(p_new->task_id);
-}
-
-
-/*--------------------------- rt_dispatch -----------------------------------*/
-
-void rt_dispatch (P_TCB next_TCB) {
- /* Dispatch next task if any identified or dispatch highest ready task */
- /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
- if (next_TCB == NULL) {
- /* Running task was blocked: continue with highest ready task */
- next_TCB = rt_get_first (&os_rdy);
- rt_switch_req (next_TCB);
- }
- else {
- /* Check which task continues */
- if (next_TCB->prio > os_tsk.run->prio) {
- /* preempt running task */
- rt_put_rdy_first (os_tsk.run);
- os_tsk.run->state = READY;
- rt_switch_req (next_TCB);
- }
- else {
- /* put next task into ready list, no task switch takes place */
- next_TCB->state = READY;
- rt_put_prio (&os_rdy, next_TCB);
- }
- }
-}
-
-
-/*--------------------------- rt_block --------------------------------------*/
-
-void rt_block (U16 timeout, U8 block_state) {
- /* Block running task and choose next ready task. */
- /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
- /* "block_state" defines the appropriate task state */
- P_TCB next_TCB;
-
- if (timeout) {
- if (timeout < 0xffff) {
- rt_put_dly (os_tsk.run, timeout);
- }
- os_tsk.run->state = block_state;
- next_TCB = rt_get_first (&os_rdy);
- rt_switch_req (next_TCB);
- }
-}
-
-
-/*--------------------------- rt_tsk_pass -----------------------------------*/
-
-void rt_tsk_pass (void) {
- /* Allow tasks of same priority level to run cooperatively.*/
- P_TCB p_new;
-
- p_new = rt_get_same_rdy_prio();
- if (p_new != NULL) {
- rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
- os_tsk.run->state = READY;
- rt_switch_req (p_new);
- }
-}
-
-
-/*--------------------------- rt_tsk_self -----------------------------------*/
-
-OS_TID rt_tsk_self (void) {
- /* Return own task identifier value. */
- if (os_tsk.run == NULL) {
- return (0);
- }
- return (os_tsk.run->task_id);
-}
-
-
-/*--------------------------- rt_tsk_prio -----------------------------------*/
-
-OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
- /* Change execution priority of a task to "new_prio". */
- P_TCB p_task;
-
- if (task_id == 0) {
- /* Change execution priority of calling task. */
- os_tsk.run->prio = new_prio;
-run:if (rt_rdy_prio() > new_prio) {
- rt_put_prio (&os_rdy, os_tsk.run);
- os_tsk.run->state = READY;
- rt_dispatch (NULL);
- }
- return (OS_R_OK);
- }
-
- /* Find the task in the "os_active_TCB" array. */
- if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
- /* Task with "task_id" not found or not started. */
- return (OS_R_NOK);
- }
- p_task = os_active_TCB[task_id-1];
- p_task->prio = new_prio;
- if (p_task == os_tsk.run) {
- goto run;
- }
- rt_resort_prio (p_task);
- if (p_task->state == READY) {
- /* Task enqueued in a ready list. */
- p_task = rt_get_first (&os_rdy);
- rt_dispatch (p_task);
- }
- return (OS_R_OK);
-}
-
-/*--------------------------- rt_tsk_delete ---------------------------------*/
-
-OS_RESULT rt_tsk_delete (OS_TID task_id) {
- /* Terminate the task identified with "task_id". */
- P_TCB task_context;
-
- if (task_id == 0 || task_id == os_tsk.run->task_id) {
- /* Terminate itself. */
- os_tsk.run->state = INACTIVE;
- os_tsk.run->tsk_stack = rt_get_PSP ();
- rt_stk_check ();
- os_active_TCB[os_tsk.run->task_id-1] = NULL;
-
- os_tsk.run->stack = NULL;
- DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
- os_tsk.run = NULL;
- rt_dispatch (NULL);
- /* The program should never come to this point. */
- }
- else {
- /* Find the task in the "os_active_TCB" array. */
- if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
- /* Task with "task_id" not found or not started. */
- return (OS_R_NOK);
- }
- task_context = os_active_TCB[task_id-1];
- rt_rmv_list (task_context);
- rt_rmv_dly (task_context);
- os_active_TCB[task_id-1] = NULL;
-
- task_context->stack = NULL;
- DBG_TASK_NOTIFY(task_context, __FALSE);
- }
- return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_sys_init -----------------------------------*/
-void rt_sys_init (void) {
- /* Initialize system and start up task declared with "first_task". */
- U32 i;
-
- DBG_INIT();
-
- /* Initialize dynamic memory and task TCB pointers to NULL. */
- for (i = 0; i < os_maxtaskrun; i++) {
- os_active_TCB[i] = NULL;
- }
-
- /* Set up TCB of idle demon */
- os_idle_TCB.task_id = 255;
- os_idle_TCB.priv_stack = idle_task_stack_size;
- os_idle_TCB.stack = idle_task_stack;
- rt_init_context (&os_idle_TCB, 0, os_idle_demon);
-
- /* Set up ready list: initially empty */
- os_rdy.cb_type = HCB;
- os_rdy.p_lnk = NULL;
- /* Set up delay list: initially empty */
- os_dly.cb_type = HCB;
- os_dly.p_dlnk = NULL;
- os_dly.p_blnk = NULL;
- os_dly.delta_time = 0;
-
- /* Fix SP and systemvariables to assume idle task is running */
- /* Transform main program into idle task by assuming idle TCB */
- os_tsk.run = &os_idle_TCB;
- os_tsk.run->state = RUNNING;
-
- /* Initialize ps queue */
- os_psq->first = 0;
- os_psq->last = 0;
- os_psq->size = os_fifo_size;
-
- rt_init_robin ();
-
- /* Intitialize SVC and PendSV */
- rt_svc_init ();
-}
-
-
-/*--------------------------- rt_sys_start ----------------------------------*/
-void rt_sys_start (void) {
- /* Start system */
-
- /* Intitialize and start system clock timer */
- os_tick_irqn = os_tick_init ();
- if (os_tick_irqn >= 0) {
- OS_X_INIT(os_tick_irqn);
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
--- a/mbed-rtos/rtx/rt_Task.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,72 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_TASK.H - * Purpose: Task functions and system start up. - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Definitions */ - -/* Values for 'state' */ -#define INACTIVE 0 -#define READY 1 -#define RUNNING 2 -#define WAIT_DLY 3 -#define WAIT_ITV 4 -#define WAIT_OR 5 -#define WAIT_AND 6 -#define WAIT_SEM 7 -#define WAIT_MBX 8 -#define WAIT_MUT 9 - -/* Return codes */ -#define OS_R_TMO 0x01 -#define OS_R_EVT 0x02 -#define OS_R_SEM 0x03 -#define OS_R_MBX 0x04 -#define OS_R_MUT 0x05 - -#define OS_R_OK 0x00 -#define OS_R_NOK 0xff - -/* Variables */ -extern struct OS_TSK os_tsk; -extern struct OS_TCB os_idle_TCB; - -/* Functions */ -extern void rt_switch_req (P_TCB p_new); -extern void rt_dispatch (P_TCB next_TCB); -extern void rt_block (U16 timeout, U8 block_state); -extern void rt_tsk_pass (void); -extern OS_TID rt_tsk_self (void); -extern OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio); -extern OS_RESULT rt_tsk_delete (OS_TID task_id); -extern void rt_sys_init (void); -extern void rt_sys_start (void);
--- a/mbed-rtos/rtx/rt_Time.c Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,94 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_TIME.C
- * Purpose: Delay and interval wait functions
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "rt_TypeDef.h"
-#include "RTX_Config.h"
-#include "rt_Task.h"
-#include "rt_Time.h"
-
-/*----------------------------------------------------------------------------
- * Global Variables
- *---------------------------------------------------------------------------*/
-
-/* Free running system tick counter */
-U32 os_time;
-
-
-/*----------------------------------------------------------------------------
- * Functions
- *---------------------------------------------------------------------------*/
-
-
-/*--------------------------- rt_time_get -----------------------------------*/
-
-U32 rt_time_get (void) {
- /* Get system time tick */
- return (os_time);
-}
-
-
-/*--------------------------- rt_dly_wait -----------------------------------*/
-
-void rt_dly_wait (U16 delay_time) {
- /* Delay task by "delay_time" */
- rt_block (delay_time, WAIT_DLY);
-}
-
-
-/*--------------------------- rt_itv_set ------------------------------------*/
-
-void rt_itv_set (U16 interval_time) {
- /* Set interval length and define start of first interval */
- os_tsk.run->interval_time = interval_time;
- os_tsk.run->delta_time = interval_time + (U16)os_time;
-}
-
-
-/*--------------------------- rt_itv_wait -----------------------------------*/
-
-void rt_itv_wait (void) {
- /* Wait for interval end and define start of next one */
- U16 delta;
-
- delta = os_tsk.run->delta_time - (U16)os_time;
- os_tsk.run->delta_time += os_tsk.run->interval_time;
- if ((delta & 0x8000) == 0) {
- rt_block (delta, WAIT_ITV);
- }
-}
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/
-
--- a/mbed-rtos/rtx/rt_Time.h Fri Mar 22 01:33:24 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,47 +0,0 @@ -/*---------------------------------------------------------------------------- - * RL-ARM - RTX - *---------------------------------------------------------------------------- - * Name: RT_TIME.H - * Purpose: Delay and interval wait functions definitions - * Rev.: V4.50 - *---------------------------------------------------------------------------- - * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -/* Variables */ -extern U32 os_time; - -/* Functions */ -extern U32 rt_time_get (void); -extern void rt_dly_wait (U16 delay_time); -extern void rt_itv_set (U16 interval_time); -extern void rt_itv_wait (void); - -/*---------------------------------------------------------------------------- - * end of file - *---------------------------------------------------------------------------*/ -
--- a/mbed-rtos/rtx/rt_TypeDef.h Fri Mar 22 01:33:24 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,128 +0,0 @@
-/*----------------------------------------------------------------------------
- * RL-ARM - RTX
- *----------------------------------------------------------------------------
- * Name: RT_TYPEDEF.H
- * Purpose: Type Definitions
- * Rev.: V4.50
- *----------------------------------------------------------------------------
- *
- * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-#ifndef RT_TYPE_DEF_H
-#define RT_TYPE_DEF_H
-
-#include "os_tcb.h"
-
-typedef U32 OS_TID;
-typedef void *OS_ID;
-typedef U32 OS_RESULT;
-
-#define TCB_STACKF 32 /* 'stack_frame' offset */
-#define TCB_TSTACK 36 /* 'tsk_stack' offset */
-
-typedef struct OS_PSFE { /* Post Service Fifo Entry */
- void *id; /* Object Identification */
- U32 arg; /* Object Argument */
-} *P_PSFE;
-
-typedef struct OS_PSQ { /* Post Service Queue */
- U8 first; /* FIFO Head Index */
- U8 last; /* FIFO Tail Index */
- U8 count; /* Number of stored items in FIFO */
- U8 size; /* FIFO Size */
- struct OS_PSFE q[1]; /* FIFO Content */
-} *P_PSQ;
-
-typedef struct OS_TSK {
- P_TCB run; /* Current running task */
- P_TCB new; /* Scheduled task to run */
-} *P_TSK;
-
-typedef struct OS_ROBIN { /* Round Robin Control */
- P_TCB task; /* Round Robin task */
- U16 time; /* Round Robin switch time */
- U16 tout; /* Round Robin timeout */
-} *P_ROBIN;
-
-typedef struct OS_XCB {
- U8 cb_type; /* Control Block Type */
- struct OS_TCB *p_lnk; /* Link pointer for ready/sem. wait list */
- struct OS_TCB *p_rlnk; /* Link pointer for sem./mbx lst backwards */
- struct OS_TCB *p_dlnk; /* Link pointer for delay list */
- struct OS_TCB *p_blnk; /* Link pointer for delay list backwards */
- U16 delta_time; /* Time until time out */
-} *P_XCB;
-
-typedef struct OS_MCB {
- U8 cb_type; /* Control Block Type */
- U8 state; /* State flag variable */
- U8 isr_st; /* State flag variable for isr functions */
- struct OS_TCB *p_lnk; /* Chain of tasks waiting for message */
- U16 first; /* Index of the message list begin */
- U16 last; /* Index of the message list end */
- U16 count; /* Actual number of stored messages */
- U16 size; /* Maximum number of stored messages */
- void *msg[1]; /* FIFO for Message pointers 1st element */
-} *P_MCB;
-
-typedef struct OS_SCB {
- U8 cb_type; /* Control Block Type */
- U8 mask; /* Semaphore token mask */
- U16 tokens; /* Semaphore tokens */
- struct OS_TCB *p_lnk; /* Chain of tasks waiting for tokens */
-} *P_SCB;
-
-typedef struct OS_MUCB {
- U8 cb_type; /* Control Block Type */
- U8 prio; /* Owner task default priority */
- U16 level; /* Call nesting level */
- struct OS_TCB *p_lnk; /* Chain of tasks waiting for mutex */
- struct OS_TCB *owner; /* Mutex owner task */
-} *P_MUCB;
-
-typedef struct OS_XTMR {
- struct OS_TMR *next;
- U16 tcnt;
-} *P_XTMR;
-
-typedef struct OS_TMR {
- struct OS_TMR *next; /* Link pointer to Next timer */
- U16 tcnt; /* Timer delay count */
- U16 info; /* User defined call info */
-} *P_TMR;
-
-typedef struct OS_BM {
- void *free; /* Pointer to first free memory block */
- void *end; /* Pointer to memory block end */
- U32 blk_size; /* Memory block size */
-} *P_BM;
-
-/* Definitions */
-#define __TRUE 1
-#define __FALSE 0
-#define NULL ((void *) 0)
-
-#endif