1728 lines
48 KiB
C
1728 lines
48 KiB
C
/* ----------------------------------------------------------------------
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* $Date: 5. February 2013
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* $Revision: V1.02
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*
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* Project: CMSIS-RTOS API
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* Title: cmsis_os.c
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*
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* Version 0.02
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* Initial Proposal Phase
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* Version 0.03
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* osKernelStart added, optional feature: main started as thread
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* osSemaphores have standard behavior
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* osTimerCreate does not start the timer, added osTimerStart
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* osThreadPass is renamed to osThreadYield
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* Version 1.01
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* Support for C++ interface
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* - const attribute removed from the osXxxxDef_t typedef's
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* - const attribute added to the osXxxxDef macros
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* Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
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* Added: osKernelInitialize
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* Version 1.02
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* Control functions for short timeouts in microsecond resolution:
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* Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
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* Removed: osSignalGet
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*
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*
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*----------------------------------------------------------------------------
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*
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* Portions Copyright © 2016 STMicroelectronics International N.V. All rights reserved.
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* Portions Copyright (c) 2013 ARM LIMITED
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* - Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* - Neither the name of ARM nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*---------------------------------------------------------------------------*/
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#include <string.h>
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#include "cmsis_os.h"
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/*
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* ARM Compiler 4/5
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*/
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#if defined ( __CC_ARM )
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#define __ASM __asm
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#define __INLINE __inline
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#define __STATIC_INLINE static __inline
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#include "cmsis_armcc.h"
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/*
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* GNU Compiler
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*/
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#elif defined ( __GNUC__ )
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#define __ASM __asm /*!< asm keyword for GNU Compiler */
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#define __INLINE inline /*!< inline keyword for GNU Compiler */
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#define __STATIC_INLINE static inline
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#include "cmsis_gcc.h"
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/*
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* IAR Compiler
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*/
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#elif defined ( __ICCARM__ )
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#ifndef __ASM
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#define __ASM __asm
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#endif
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#ifndef __INLINE
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#define __INLINE inline
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#endif
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#ifndef __STATIC_INLINE
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#define __STATIC_INLINE static inline
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#endif
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#include <cmsis_iar.h>
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#endif
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extern void xPortSysTickHandler(void);
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/* Convert from CMSIS type osPriority to FreeRTOS priority number */
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static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority)
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{
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unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY;
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if (priority != osPriorityError) {
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fpriority += (priority - osPriorityIdle);
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}
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return fpriority;
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}
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#if (INCLUDE_uxTaskPriorityGet == 1)
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/* Convert from FreeRTOS priority number to CMSIS type osPriority */
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static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority)
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{
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osPriority priority = osPriorityError;
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if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) {
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priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY));
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}
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return priority;
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}
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#endif
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/* Determine whether we are in thread mode or handler mode. */
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static int inHandlerMode (void)
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{
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return __get_IPSR() != 0;
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}
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/*********************** Kernel Control Functions *****************************/
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/**
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* @brief Initialize the RTOS Kernel for creating objects.
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osKernelInitialize (void);
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/**
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* @brief Start the RTOS Kernel with executing the specified thread.
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* @param thread_def thread definition referenced with \ref osThread.
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* @param argument pointer that is passed to the thread function as start argument.
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* @retval status code that indicates the execution status of the function
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* @note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osKernelStart (void)
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{
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vTaskStartScheduler();
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return osOK;
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}
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/**
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* @brief Check if the RTOS kernel is already started
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* @param None
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* @retval (0) RTOS is not started
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* (1) RTOS is started
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* (-1) if this feature is disabled in FreeRTOSConfig.h
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* @note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
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*/
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int32_t osKernelRunning(void)
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{
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#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
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if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED)
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return 0;
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else
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return 1;
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#else
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return (-1);
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#endif
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}
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#if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
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/**
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* @brief Get the value of the Kernel SysTick timer
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* @param None
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* @retval None
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* @note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
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*/
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uint32_t osKernelSysTick(void)
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{
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if (inHandlerMode()) {
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return xTaskGetTickCountFromISR();
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}
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else {
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return xTaskGetTickCount();
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}
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}
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#endif // System Timer available
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/*********************** Thread Management *****************************/
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/**
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* @brief Create a thread and add it to Active Threads and set it to state READY.
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* @param thread_def thread definition referenced with \ref osThread.
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* @param argument pointer that is passed to the thread function as start argument.
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* @retval thread ID for reference by other functions or NULL in case of error.
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* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
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*/
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osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
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{
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TaskHandle_t handle;
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#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
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if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) {
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handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
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thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
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thread_def->buffer, thread_def->controlblock);
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}
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else {
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if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
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thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
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&handle) != pdPASS) {
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return NULL;
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}
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}
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#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
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handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
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thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
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thread_def->buffer, thread_def->controlblock);
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#else
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if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
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thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
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&handle) != pdPASS) {
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return NULL;
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}
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#endif
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return handle;
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}
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/**
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* @brief Return the thread ID of the current running thread.
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* @retval thread ID for reference by other functions or NULL in case of error.
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* @note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
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*/
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osThreadId osThreadGetId (void)
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{
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#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
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return xTaskGetCurrentTaskHandle();
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#else
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return NULL;
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#endif
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}
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/**
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* @brief Terminate execution of a thread and remove it from Active Threads.
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* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osThreadTerminate (osThreadId thread_id)
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{
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#if (INCLUDE_vTaskDelete == 1)
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vTaskDelete(thread_id);
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return osOK;
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#else
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return osErrorOS;
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#endif
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}
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/**
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* @brief Pass control to next thread that is in state \b READY.
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osThreadYield (void)
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{
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taskYIELD();
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return osOK;
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}
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/**
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* @brief Change priority of an active thread.
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* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
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* @param priority new priority value for the thread function.
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority)
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{
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#if (INCLUDE_vTaskPrioritySet == 1)
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vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
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return osOK;
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#else
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return osErrorOS;
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#endif
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}
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/**
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* @brief Get current priority of an active thread.
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* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
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* @retval current priority value of the thread function.
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* @note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
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*/
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osPriority osThreadGetPriority (osThreadId thread_id)
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{
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#if (INCLUDE_uxTaskPriorityGet == 1)
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if (inHandlerMode())
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{
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return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id));
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}
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else
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{
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return makeCmsisPriority(uxTaskPriorityGet(thread_id));
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}
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#else
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return osPriorityError;
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#endif
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}
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/*********************** Generic Wait Functions *******************************/
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/**
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* @brief Wait for Timeout (Time Delay)
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* @param millisec time delay value
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* @retval status code that indicates the execution status of the function.
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*/
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osStatus osDelay (uint32_t millisec)
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{
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#if INCLUDE_vTaskDelay
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TickType_t ticks = millisec / portTICK_PERIOD_MS;
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vTaskDelay(ticks ? ticks : 1); /* Minimum delay = 1 tick */
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return osOK;
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#else
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(void) millisec;
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return osErrorResource;
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#endif
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}
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#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) /* Generic Wait available */
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/**
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* @brief Wait for Signal, Message, Mail, or Timeout
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* @param millisec timeout value or 0 in case of no time-out
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* @retval event that contains signal, message, or mail information or error code.
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* @note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
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*/
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osEvent osWait (uint32_t millisec);
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#endif /* Generic Wait available */
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/*********************** Timer Management Functions ***************************/
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/**
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* @brief Create a timer.
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* @param timer_def timer object referenced with \ref osTimer.
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* @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
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* @param argument argument to the timer call back function.
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* @retval timer ID for reference by other functions or NULL in case of error.
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* @note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
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*/
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osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument)
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{
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#if (configUSE_TIMERS == 1)
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#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
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if(timer_def->controlblock != NULL) {
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return xTimerCreateStatic((const char *)"",
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1, // period should be filled when starting the Timer using osTimerStart
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(type == osTimerPeriodic) ? pdTRUE : pdFALSE,
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(void *) argument,
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(TaskFunction_t)timer_def->ptimer,
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(StaticTimer_t *)timer_def->controlblock);
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}
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else {
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return xTimerCreate((const char *)"",
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1, // period should be filled when starting the Timer using osTimerStart
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(type == osTimerPeriodic) ? pdTRUE : pdFALSE,
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(void *) argument,
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(TaskFunction_t)timer_def->ptimer);
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}
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#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
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return xTimerCreateStatic((const char *)"",
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1, // period should be filled when starting the Timer using osTimerStart
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(type == osTimerPeriodic) ? pdTRUE : pdFALSE,
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(void *) argument,
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(TaskFunction_t)timer_def->ptimer,
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(StaticTimer_t *)timer_def->controlblock);
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#else
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return xTimerCreate((const char *)"",
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1, // period should be filled when starting the Timer using osTimerStart
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(type == osTimerPeriodic) ? pdTRUE : pdFALSE,
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(void *) argument,
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(TaskFunction_t)timer_def->ptimer);
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#endif
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#else
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return NULL;
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#endif
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}
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/**
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* @brief Start or restart a timer.
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* @param timer_id timer ID obtained by \ref osTimerCreate.
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* @param millisec time delay value of the timer.
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* @retval status code that indicates the execution status of the function
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* @note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osTimerStart (osTimerId timer_id, uint32_t millisec)
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{
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osStatus result = osOK;
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#if (configUSE_TIMERS == 1)
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portBASE_TYPE taskWoken = pdFALSE;
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TickType_t ticks = millisec / portTICK_PERIOD_MS;
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if (ticks == 0)
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ticks = 1;
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if (inHandlerMode())
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{
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if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS)
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{
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result = osErrorOS;
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}
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else
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{
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portEND_SWITCHING_ISR(taskWoken);
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}
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}
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else
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{
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if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS)
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result = osErrorOS;
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}
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#else
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result = osErrorOS;
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#endif
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return result;
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}
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/**
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* @brief Stop a timer.
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* @param timer_id timer ID obtained by \ref osTimerCreate
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osTimerStop (osTimerId timer_id)
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{
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osStatus result = osOK;
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#if (configUSE_TIMERS == 1)
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portBASE_TYPE taskWoken = pdFALSE;
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if (inHandlerMode()) {
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if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) {
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return osErrorOS;
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}
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portEND_SWITCHING_ISR(taskWoken);
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}
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else {
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if (xTimerStop(timer_id, 0) != pdPASS) {
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result = osErrorOS;
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}
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}
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#else
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result = osErrorOS;
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#endif
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return result;
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}
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/**
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* @brief Delete a timer.
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* @param timer_id timer ID obtained by \ref osTimerCreate
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* @retval status code that indicates the execution status of the function.
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* @note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
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*/
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osStatus osTimerDelete (osTimerId timer_id)
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{
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osStatus result = osOK;
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#if (configUSE_TIMERS == 1)
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if (inHandlerMode()) {
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return osErrorISR;
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}
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else {
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if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) {
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result = osErrorOS;
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}
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}
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#else
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result = osErrorOS;
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#endif
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return result;
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}
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|
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/*************************** Signal Management ********************************/
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/**
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* @brief Set the specified Signal Flags of an active thread.
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* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
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* @param signals specifies the signal flags of the thread that should be set.
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* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
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* @note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
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*/
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int32_t osSignalSet (osThreadId thread_id, int32_t signal)
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{
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#if( configUSE_TASK_NOTIFICATIONS == 1 )
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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uint32_t ulPreviousNotificationValue = 0;
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if (inHandlerMode())
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{
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if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS )
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return 0x80000000;
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portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
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}
|
|
else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS )
|
|
return 0x80000000;
|
|
|
|
return ulPreviousNotificationValue;
|
|
#else
|
|
(void) thread_id;
|
|
(void) signal;
|
|
|
|
return 0x80000000; /* Task Notification not supported */
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Clear the specified Signal Flags of an active thread.
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
* @param signals specifies the signal flags of the thread that shall be cleared.
|
|
* @retval 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);
|
|
|
|
/**
|
|
* @brief Wait for one or more Signal Flags to become signaled for the current \b 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.
|
|
* @retval event flag information or error code.
|
|
* @note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osEvent osSignalWait (int32_t signals, uint32_t millisec)
|
|
{
|
|
osEvent ret;
|
|
|
|
#if( configUSE_TASK_NOTIFICATIONS == 1 )
|
|
|
|
TickType_t ticks;
|
|
|
|
ret.value.signals = 0;
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode())
|
|
{
|
|
ret.status = osErrorISR; /*Not allowed in ISR*/
|
|
}
|
|
else
|
|
{
|
|
if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE)
|
|
{
|
|
if(ticks == 0) ret.status = osOK;
|
|
else ret.status = osEventTimeout;
|
|
}
|
|
else if(ret.value.signals < 0)
|
|
{
|
|
ret.status = osErrorValue;
|
|
}
|
|
else ret.status = osEventSignal;
|
|
}
|
|
#else
|
|
(void) signals;
|
|
(void) millisec;
|
|
|
|
ret.status = osErrorOS; /* Task Notification not supported */
|
|
#endif
|
|
|
|
return ret;
|
|
}
|
|
|
|
/**************************** Mutex Management ********************************/
|
|
/**
|
|
* @brief Create and Initialize a Mutex object
|
|
* @param mutex_def mutex definition referenced with \ref osMutex.
|
|
* @retval mutex ID for reference by other functions or NULL in case of error.
|
|
* @note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osMutexId osMutexCreate (const osMutexDef_t *mutex_def)
|
|
{
|
|
#if ( configUSE_MUTEXES == 1)
|
|
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
if (mutex_def->controlblock != NULL) {
|
|
return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
|
|
}
|
|
else {
|
|
return xSemaphoreCreateMutex();
|
|
}
|
|
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
|
|
#else
|
|
return xSemaphoreCreateMutex();
|
|
#endif
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Wait until a Mutex becomes available
|
|
* @param mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval 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)
|
|
{
|
|
TickType_t ticks;
|
|
portBASE_TYPE taskWoken = pdFALSE;
|
|
|
|
|
|
if (mutex_id == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Release a Mutex that was obtained by \ref osMutexWait
|
|
* @param mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
* @retval 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)
|
|
{
|
|
osStatus result = osOK;
|
|
portBASE_TYPE taskWoken = pdFALSE;
|
|
|
|
if (inHandlerMode()) {
|
|
if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else if (xSemaphoreGive(mutex_id) != pdTRUE)
|
|
{
|
|
result = osErrorOS;
|
|
}
|
|
return result;
|
|
}
|
|
|
|
/**
|
|
* @brief Delete a Mutex
|
|
* @param mutex_id mutex ID obtained by \ref osMutexCreate.
|
|
* @retval 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)
|
|
{
|
|
if (inHandlerMode()) {
|
|
return osErrorISR;
|
|
}
|
|
|
|
vQueueDelete(mutex_id);
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/******************** Semaphore Management Functions **************************/
|
|
|
|
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0))
|
|
|
|
/**
|
|
* @brief Create and Initialize a Semaphore object used for managing resources
|
|
* @param semaphore_def semaphore definition referenced with \ref osSemaphore.
|
|
* @param count number of available resources.
|
|
* @retval semaphore ID for reference by other functions or NULL in case of error.
|
|
* @note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
|
|
{
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
osSemaphoreId sema;
|
|
|
|
if (semaphore_def->controlblock != NULL){
|
|
if (count == 1) {
|
|
return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
|
|
}
|
|
else {
|
|
#if (configUSE_COUNTING_SEMAPHORES == 1 )
|
|
return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
}
|
|
else {
|
|
if (count == 1) {
|
|
vSemaphoreCreateBinary(sema);
|
|
return sema;
|
|
}
|
|
else {
|
|
#if (configUSE_COUNTING_SEMAPHORES == 1 )
|
|
return xSemaphoreCreateCounting(count, count);
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
}
|
|
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0
|
|
if(count == 1) {
|
|
return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
|
|
}
|
|
else
|
|
{
|
|
#if (configUSE_COUNTING_SEMAPHORES == 1 )
|
|
return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
#else // configSUPPORT_STATIC_ALLOCATION == 0 && configSUPPORT_DYNAMIC_ALLOCATION == 1
|
|
osSemaphoreId sema;
|
|
|
|
if (count == 1) {
|
|
vSemaphoreCreateBinary(sema);
|
|
return sema;
|
|
}
|
|
else {
|
|
#if (configUSE_COUNTING_SEMAPHORES == 1 )
|
|
return xSemaphoreCreateCounting(count, count);
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Wait until a Semaphore token becomes available
|
|
* @param semaphore_id semaphore object referenced with \ref osSemaphore.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval 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)
|
|
{
|
|
TickType_t ticks;
|
|
portBASE_TYPE taskWoken = pdFALSE;
|
|
|
|
|
|
if (semaphore_id == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Release a Semaphore token
|
|
* @param semaphore_id semaphore object referenced with \ref osSemaphore.
|
|
* @retval 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)
|
|
{
|
|
osStatus result = osOK;
|
|
portBASE_TYPE taskWoken = pdFALSE;
|
|
|
|
|
|
if (inHandlerMode()) {
|
|
if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else {
|
|
if (xSemaphoreGive(semaphore_id) != pdTRUE) {
|
|
result = osErrorOS;
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
/**
|
|
* @brief Delete a Semaphore
|
|
* @param semaphore_id semaphore object referenced with \ref osSemaphore.
|
|
* @retval 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)
|
|
{
|
|
if (inHandlerMode()) {
|
|
return osErrorISR;
|
|
}
|
|
|
|
vSemaphoreDelete(semaphore_id);
|
|
|
|
return osOK;
|
|
}
|
|
|
|
#endif /* Use Semaphores */
|
|
|
|
/******************* Memory Pool Management Functions ***********************/
|
|
|
|
#if (defined (osFeature_Pool) && (osFeature_Pool != 0))
|
|
|
|
//TODO
|
|
//This is a primitive and inefficient wrapper around the existing FreeRTOS memory management.
|
|
//A better implementation will have to modify heap_x.c!
|
|
|
|
|
|
typedef struct os_pool_cb {
|
|
void *pool;
|
|
uint8_t *markers;
|
|
uint32_t pool_sz;
|
|
uint32_t item_sz;
|
|
uint32_t currentIndex;
|
|
} os_pool_cb_t;
|
|
|
|
|
|
/**
|
|
* @brief Create and Initialize a memory pool
|
|
* @param pool_def memory pool definition referenced with \ref osPool.
|
|
* @retval memory pool ID for reference by other functions or NULL in case of error.
|
|
* @note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osPoolId osPoolCreate (const osPoolDef_t *pool_def)
|
|
{
|
|
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
|
|
osPoolId thePool;
|
|
int itemSize = 4 * ((pool_def->item_sz + 3) / 4);
|
|
uint32_t i;
|
|
|
|
/* First have to allocate memory for the pool control block. */
|
|
thePool = pvPortMalloc(sizeof(os_pool_cb_t));
|
|
|
|
|
|
if (thePool) {
|
|
thePool->pool_sz = pool_def->pool_sz;
|
|
thePool->item_sz = itemSize;
|
|
thePool->currentIndex = 0;
|
|
|
|
/* Memory for markers */
|
|
thePool->markers = pvPortMalloc(pool_def->pool_sz);
|
|
|
|
if (thePool->markers) {
|
|
/* Now allocate the pool itself. */
|
|
thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize);
|
|
|
|
if (thePool->pool) {
|
|
for (i = 0; i < pool_def->pool_sz; i++) {
|
|
thePool->markers[i] = 0;
|
|
}
|
|
}
|
|
else {
|
|
vPortFree(thePool->markers);
|
|
vPortFree(thePool);
|
|
thePool = NULL;
|
|
}
|
|
}
|
|
else {
|
|
vPortFree(thePool);
|
|
thePool = NULL;
|
|
}
|
|
}
|
|
|
|
return thePool;
|
|
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Allocate a memory block from a memory pool
|
|
* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
* @retval 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)
|
|
{
|
|
int dummy = 0;
|
|
void *p = NULL;
|
|
uint32_t i;
|
|
uint32_t index;
|
|
|
|
if (inHandlerMode()) {
|
|
dummy = portSET_INTERRUPT_MASK_FROM_ISR();
|
|
}
|
|
else {
|
|
vPortEnterCritical();
|
|
}
|
|
|
|
for (i = 0; i < pool_id->pool_sz; i++) {
|
|
index = (pool_id->currentIndex + i) % pool_id->pool_sz;
|
|
|
|
if (pool_id->markers[index] == 0) {
|
|
pool_id->markers[index] = 1;
|
|
p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz));
|
|
pool_id->currentIndex = index;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
|
|
}
|
|
else {
|
|
vPortExitCritical();
|
|
}
|
|
|
|
return p;
|
|
}
|
|
|
|
/**
|
|
* @brief Allocate a memory block from a memory pool and set memory block to zero
|
|
* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
* @retval 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)
|
|
{
|
|
void *p = osPoolAlloc(pool_id);
|
|
|
|
if (p != NULL)
|
|
{
|
|
memset(p, 0, sizeof(pool_id->pool_sz));
|
|
}
|
|
|
|
return p;
|
|
}
|
|
|
|
/**
|
|
* @brief Return an allocated memory block back to a specific memory pool
|
|
* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
|
* @param block address of the allocated memory block that is returned to the memory pool.
|
|
* @retval 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)
|
|
{
|
|
uint32_t index;
|
|
|
|
if (pool_id == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
if (block == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
if (block < pool_id->pool) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
index = (uint32_t)block - (uint32_t)(pool_id->pool);
|
|
if (index % pool_id->item_sz) {
|
|
return osErrorParameter;
|
|
}
|
|
index = index / pool_id->item_sz;
|
|
if (index >= pool_id->pool_sz) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
pool_id->markers[index] = 0;
|
|
|
|
return osOK;
|
|
}
|
|
|
|
|
|
#endif /* Use Memory Pool Management */
|
|
|
|
/******************* Message Queue Management Functions *********************/
|
|
|
|
#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) /* Use Message Queues */
|
|
|
|
/**
|
|
* @brief Create and Initialize a Message Queue
|
|
* @param queue_def queue definition referenced with \ref osMessageQ.
|
|
* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
|
|
* @retval message queue ID for reference by other functions or NULL in case of error.
|
|
* @note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
|
|
{
|
|
(void) thread_id;
|
|
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) {
|
|
return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
|
|
}
|
|
else {
|
|
return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
|
|
}
|
|
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
|
|
#else
|
|
return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Put a Message to a Queue.
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @param info message information.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval 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)
|
|
{
|
|
portBASE_TYPE taskWoken = pdFALSE;
|
|
TickType_t ticks;
|
|
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else {
|
|
if (xQueueSend(queue_id, &info, ticks) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
}
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Get a Message or Wait for a Message from a Queue.
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval event information that includes status code.
|
|
* @note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec)
|
|
{
|
|
portBASE_TYPE taskWoken;
|
|
TickType_t ticks;
|
|
osEvent event;
|
|
|
|
event.def.message_id = queue_id;
|
|
event.value.v = 0;
|
|
|
|
if (queue_id == NULL) {
|
|
event.status = osErrorParameter;
|
|
return event;
|
|
}
|
|
|
|
taskWoken = pdFALSE;
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) {
|
|
/* We have mail */
|
|
event.status = osEventMessage;
|
|
}
|
|
else {
|
|
event.status = osOK;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else {
|
|
if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) {
|
|
/* We have mail */
|
|
event.status = osEventMessage;
|
|
}
|
|
else {
|
|
event.status = (ticks == 0) ? osOK : osEventTimeout;
|
|
}
|
|
}
|
|
|
|
return event;
|
|
}
|
|
|
|
#endif /* Use Message Queues */
|
|
|
|
/******************** Mail Queue Management Functions ***********************/
|
|
#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) /* Use Mail Queues */
|
|
|
|
|
|
typedef struct os_mailQ_cb {
|
|
const osMailQDef_t *queue_def;
|
|
QueueHandle_t handle;
|
|
osPoolId pool;
|
|
} os_mailQ_cb_t;
|
|
|
|
/**
|
|
* @brief Create and Initialize mail queue
|
|
* @param queue_def reference to the mail queue definition obtain with \ref osMailQ
|
|
* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
|
|
* @retval mail queue ID for reference by other functions or NULL in case of error.
|
|
* @note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id)
|
|
{
|
|
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
|
|
(void) thread_id;
|
|
|
|
osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL};
|
|
|
|
/* Create a mail queue control block */
|
|
|
|
*(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb));
|
|
|
|
if (*(queue_def->cb) == NULL) {
|
|
return NULL;
|
|
}
|
|
(*(queue_def->cb))->queue_def = queue_def;
|
|
|
|
/* Create a queue in FreeRTOS */
|
|
(*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *));
|
|
|
|
|
|
if ((*(queue_def->cb))->handle == NULL) {
|
|
vPortFree(*(queue_def->cb));
|
|
return NULL;
|
|
}
|
|
|
|
/* Create a mail pool */
|
|
(*(queue_def->cb))->pool = osPoolCreate(&pool_def);
|
|
if ((*(queue_def->cb))->pool == NULL) {
|
|
//TODO: Delete queue. How to do it in FreeRTOS?
|
|
vPortFree(*(queue_def->cb));
|
|
return NULL;
|
|
}
|
|
|
|
return *(queue_def->cb);
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Allocate a memory block from a mail
|
|
* @param queue_id mail queue ID obtained with \ref osMailCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval pointer to memory block that can be filled with mail or NULL in case error.
|
|
* @note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
void *osMailAlloc (osMailQId queue_id, uint32_t millisec)
|
|
{
|
|
(void) millisec;
|
|
void *p;
|
|
|
|
|
|
if (queue_id == NULL) {
|
|
return NULL;
|
|
}
|
|
|
|
p = osPoolAlloc(queue_id->pool);
|
|
|
|
return p;
|
|
}
|
|
|
|
/**
|
|
* @brief Allocate a memory block from a mail and set memory block to zero
|
|
* @param queue_id mail queue ID obtained with \ref osMailCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval pointer to memory block that can be filled with mail or NULL in case error.
|
|
* @note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec)
|
|
{
|
|
uint32_t i;
|
|
void *p = osMailAlloc(queue_id, millisec);
|
|
|
|
if (p) {
|
|
for (i = 0; i < queue_id->queue_def->item_sz; i++) {
|
|
((uint8_t *)p)[i] = 0;
|
|
}
|
|
}
|
|
|
|
return p;
|
|
}
|
|
|
|
/**
|
|
* @brief Put a mail to a queue
|
|
* @param queue_id mail queue ID obtained with \ref osMailCreate.
|
|
* @param mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
|
|
* @retval 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)
|
|
{
|
|
portBASE_TYPE taskWoken;
|
|
|
|
|
|
if (queue_id == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
taskWoken = pdFALSE;
|
|
|
|
if (inHandlerMode()) {
|
|
if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else {
|
|
if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) {
|
|
return osErrorOS;
|
|
}
|
|
}
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Get a mail from a queue
|
|
* @param queue_id mail queue ID obtained with \ref osMailCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out
|
|
* @retval event that contains mail information or error code.
|
|
* @note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
|
|
*/
|
|
osEvent osMailGet (osMailQId queue_id, uint32_t millisec)
|
|
{
|
|
portBASE_TYPE taskWoken;
|
|
TickType_t ticks;
|
|
osEvent event;
|
|
|
|
event.def.mail_id = queue_id;
|
|
|
|
if (queue_id == NULL) {
|
|
event.status = osErrorParameter;
|
|
return event;
|
|
}
|
|
|
|
taskWoken = pdFALSE;
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (inHandlerMode()) {
|
|
if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) {
|
|
/* We have mail */
|
|
event.status = osEventMail;
|
|
}
|
|
else {
|
|
event.status = osOK;
|
|
}
|
|
portEND_SWITCHING_ISR(taskWoken);
|
|
}
|
|
else {
|
|
if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) {
|
|
/* We have mail */
|
|
event.status = osEventMail;
|
|
}
|
|
else {
|
|
event.status = (ticks == 0) ? osOK : osEventTimeout;
|
|
}
|
|
}
|
|
|
|
return event;
|
|
}
|
|
|
|
/**
|
|
* @brief Free a memory block from a mail
|
|
* @param queue_id mail queue ID obtained with \ref osMailCreate.
|
|
* @param mail pointer to the memory block that was obtained with \ref osMailGet.
|
|
* @retval 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)
|
|
{
|
|
if (queue_id == NULL) {
|
|
return osErrorParameter;
|
|
}
|
|
|
|
return osPoolFree(queue_id->pool, mail);
|
|
}
|
|
#endif /* Use Mail Queues */
|
|
|
|
/*************************** Additional specific APIs to Free RTOS ************/
|
|
/**
|
|
* @brief Handles the tick increment
|
|
* @param none.
|
|
* @retval none.
|
|
*/
|
|
void osSystickHandler(void)
|
|
{
|
|
|
|
#if (INCLUDE_xTaskGetSchedulerState == 1 )
|
|
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
|
|
{
|
|
#endif /* INCLUDE_xTaskGetSchedulerState */
|
|
xPortSysTickHandler();
|
|
#if (INCLUDE_xTaskGetSchedulerState == 1 )
|
|
}
|
|
#endif /* INCLUDE_xTaskGetSchedulerState */
|
|
}
|
|
|
|
#if ( INCLUDE_eTaskGetState == 1 )
|
|
/**
|
|
* @brief Obtain the state of any thread.
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
* @retval the stae of the thread, states are encoded by the osThreadState enumerated type.
|
|
*/
|
|
osThreadState osThreadGetState(osThreadId thread_id)
|
|
{
|
|
eTaskState ThreadState;
|
|
osThreadState result;
|
|
|
|
ThreadState = eTaskGetState(thread_id);
|
|
|
|
switch (ThreadState)
|
|
{
|
|
case eRunning :
|
|
result = osThreadRunning;
|
|
break;
|
|
case eReady :
|
|
result = osThreadReady;
|
|
break;
|
|
case eBlocked :
|
|
result = osThreadBlocked;
|
|
break;
|
|
case eSuspended :
|
|
result = osThreadSuspended;
|
|
break;
|
|
case eDeleted :
|
|
result = osThreadDeleted;
|
|
break;
|
|
default:
|
|
result = osThreadError;
|
|
}
|
|
|
|
return result;
|
|
}
|
|
#endif /* INCLUDE_eTaskGetState */
|
|
|
|
#if (INCLUDE_eTaskGetState == 1)
|
|
/**
|
|
* @brief Check if a thread is already suspended or not.
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadIsSuspended(osThreadId thread_id)
|
|
{
|
|
if (eTaskGetState(thread_id) == eSuspended)
|
|
return osOK;
|
|
else
|
|
return osErrorOS;
|
|
}
|
|
#endif /* INCLUDE_eTaskGetState */
|
|
/**
|
|
* @brief Suspend execution of a thread.
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadSuspend (osThreadId thread_id)
|
|
{
|
|
#if (INCLUDE_vTaskSuspend == 1)
|
|
vTaskSuspend(thread_id);
|
|
|
|
return osOK;
|
|
#else
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Resume execution of a suspended thread.
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadResume (osThreadId thread_id)
|
|
{
|
|
#if (INCLUDE_vTaskSuspend == 1)
|
|
if(inHandlerMode())
|
|
{
|
|
if (xTaskResumeFromISR(thread_id) == pdTRUE)
|
|
{
|
|
portYIELD_FROM_ISR(pdTRUE);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
vTaskResume(thread_id);
|
|
}
|
|
return osOK;
|
|
#else
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Suspend execution of a all active threads.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadSuspendAll (void)
|
|
{
|
|
vTaskSuspendAll();
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Resume execution of a all suspended threads.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadResumeAll (void)
|
|
{
|
|
if (xTaskResumeAll() == pdTRUE)
|
|
return osOK;
|
|
else
|
|
return osErrorOS;
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief Delay a task until a specified time
|
|
* @param PreviousWakeTime Pointer to a variable that holds the time at which the
|
|
* task was last unblocked. PreviousWakeTime must be initialised with the current time
|
|
* prior to its first use (PreviousWakeTime = osKernelSysTick() )
|
|
* @param millisec time delay value
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec)
|
|
{
|
|
#if INCLUDE_vTaskDelayUntil
|
|
TickType_t ticks = (millisec / portTICK_PERIOD_MS);
|
|
vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1);
|
|
|
|
return osOK;
|
|
#else
|
|
(void) millisec;
|
|
(void) PreviousWakeTime;
|
|
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Abort the delay for a specific thread
|
|
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osAbortDelay(osThreadId thread_id)
|
|
{
|
|
#if INCLUDE_xTaskAbortDelay
|
|
|
|
xTaskAbortDelay(thread_id);
|
|
|
|
return osOK;
|
|
#else
|
|
(void) thread_id;
|
|
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Lists all the current threads, along with their current state
|
|
* and stack usage high water mark.
|
|
* @param buffer A buffer into which the above mentioned details
|
|
* will be written
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osThreadList (uint8_t *buffer)
|
|
{
|
|
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
|
|
vTaskList((char *)buffer);
|
|
#endif
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Receive an item from a queue without removing the item from the queue.
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval event information that includes status code.
|
|
*/
|
|
osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec)
|
|
{
|
|
TickType_t ticks;
|
|
osEvent event;
|
|
|
|
event.def.message_id = queue_id;
|
|
|
|
if (queue_id == NULL) {
|
|
event.status = osErrorParameter;
|
|
return event;
|
|
}
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever) {
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0) {
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0) {
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE)
|
|
{
|
|
/* We have mail */
|
|
event.status = osEventMessage;
|
|
}
|
|
else
|
|
{
|
|
event.status = (ticks == 0) ? osOK : osEventTimeout;
|
|
}
|
|
|
|
return event;
|
|
}
|
|
|
|
/**
|
|
* @brief Get the number of messaged stored in a queue.
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @retval number of messages stored in a queue.
|
|
*/
|
|
uint32_t osMessageWaiting(osMessageQId queue_id)
|
|
{
|
|
if (inHandlerMode()) {
|
|
return uxQueueMessagesWaitingFromISR(queue_id);
|
|
}
|
|
else
|
|
{
|
|
return uxQueueMessagesWaiting(queue_id);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Get the available space in a message queue.
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @retval available space in a message queue.
|
|
*/
|
|
uint32_t osMessageAvailableSpace(osMessageQId queue_id)
|
|
{
|
|
return uxQueueSpacesAvailable(queue_id);
|
|
}
|
|
|
|
/**
|
|
* @brief Delete a Message Queue
|
|
* @param queue_id message queue ID obtained with \ref osMessageCreate.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osMessageDelete (osMessageQId queue_id)
|
|
{
|
|
if (inHandlerMode()) {
|
|
return osErrorISR;
|
|
}
|
|
|
|
vQueueDelete(queue_id);
|
|
|
|
return osOK;
|
|
}
|
|
|
|
/**
|
|
* @brief Create and Initialize a Recursive Mutex
|
|
* @param mutex_def mutex definition referenced with \ref osMutex.
|
|
* @retval mutex ID for reference by other functions or NULL in case of error..
|
|
*/
|
|
osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def)
|
|
{
|
|
#if (configUSE_RECURSIVE_MUTEXES == 1)
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
|
|
|
|
if (mutex_def->controlblock != NULL){
|
|
return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
|
|
}
|
|
else {
|
|
return xSemaphoreCreateRecursiveMutex();
|
|
}
|
|
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
|
|
return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
|
|
#else
|
|
return xSemaphoreCreateRecursiveMutex();
|
|
#endif
|
|
#else
|
|
return NULL;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Release a Recursive Mutex
|
|
* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osRecursiveMutexRelease (osMutexId mutex_id)
|
|
{
|
|
#if (configUSE_RECURSIVE_MUTEXES == 1)
|
|
osStatus result = osOK;
|
|
|
|
if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE)
|
|
{
|
|
result = osErrorOS;
|
|
}
|
|
return result;
|
|
#else
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Release a Recursive Mutex
|
|
* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
|
|
* @param millisec timeout value or 0 in case of no time-out.
|
|
* @retval status code that indicates the execution status of the function.
|
|
*/
|
|
osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec)
|
|
{
|
|
#if (configUSE_RECURSIVE_MUTEXES == 1)
|
|
TickType_t ticks;
|
|
|
|
if (mutex_id == NULL)
|
|
{
|
|
return osErrorParameter;
|
|
}
|
|
|
|
ticks = 0;
|
|
if (millisec == osWaitForever)
|
|
{
|
|
ticks = portMAX_DELAY;
|
|
}
|
|
else if (millisec != 0)
|
|
{
|
|
ticks = millisec / portTICK_PERIOD_MS;
|
|
if (ticks == 0)
|
|
{
|
|
ticks = 1;
|
|
}
|
|
}
|
|
|
|
if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE)
|
|
{
|
|
return osErrorOS;
|
|
}
|
|
return osOK;
|
|
#else
|
|
return osErrorResource;
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Returns the current count value of a counting semaphore
|
|
* @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate.
|
|
* @retval count value
|
|
*/
|
|
uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id)
|
|
{
|
|
return uxSemaphoreGetCount(semaphore_id);
|
|
}
|