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RTL8710_SDK_GCC_VERSION/component/os/freertos/cmsis_os.c

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GCC SDK RTL8710 basic version (including the window platform cygwin installation and Ubuntu platform Linux Installation routines), including cross compilation of the installation, compile, link, run, debug, and so on. SDK implementation of the function: 1, WiFi connection settings (including AP mode and STA mode). 2, peripheral resource control (including GPIO, SPI, UART, IIC, etc.). 3, the user uses the sample method.
2016-09-08 12:52:17 +00:00
#include "cmsis_os.h"
#include "diag.h"
#define CMSIS_OS_ERR(fmt, args...) DBG_8195A("\n\r%s: " fmt, __FUNCTION__, ## args)
extern void *_memset( void *s, int c, SIZE_T n );
#define os_memset _memset
#if configSignalManagementSupport // the older FreeRTOS version didn't support Signal Management functions
#if 0
#define THREAD_SIGNAL_MAP_SIZE 32
typedef struct thread_signal_map {
uint8_t is_in_use;
osThreadId thread_id;
EventGroupHandle_t signals;
} ThreadSignalEntity;
ThreadSignalEntity ThreadSignalMapTable[THREAD_SIGNAL_MAP_SIZE]={0};
#endif
typedef struct thread_signal_map {
osThreadId thread_id;
EventGroupHandle_t signals;
void *pnext;
} ThreadSignalRec, *pThreadSignalRec;
ThreadSignalRec *pThreadSignalMapHead;
ThreadSignalRec *pThreadSignalMapTail;
#endif
/* Convert from CMSIS type osPriority to FreeRTOS priority number */
static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority)
{
unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY;
if (priority != osPriorityError) {
fpriority += (priority - osPriorityIdle);
}
return fpriority;
}
/* Convert from FreeRTOS priority number to CMSIS type osPriority */
static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority)
{
osPriority priority = osPriorityError;
if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) {
priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY));
}
return priority;
}
/* Determine whether we are in thread mode or handler mode. */
static int inHandlerMode (void)
{
return __get_IPSR() != 0;
}
#if configSignalManagementSupport // the older FreeRTOS version didn't support Signal Management functions
static void add_thread_signal_map (osThreadId thread_id, EventGroupHandle_t signals)
{
int dummy;
// uint32_t i;
ThreadSignalRec *prec_entity;
if (inHandlerMode()) {
dummy = portSET_INTERRUPT_MASK_FROM_ISR();
}
else {
vPortEnterCritical();
}
prec_entity = (ThreadSignalRec*) malloc(sizeof(ThreadSignalRec));
if (prec_entity != NULL) {
prec_entity->thread_id = thread_id;
prec_entity->signals = signals;
prec_entity->pnext = NULL;
if (pThreadSignalMapHead == NULL) {
pThreadSignalMapHead = prec_entity;
pThreadSignalMapTail = prec_entity;
}
else {
pThreadSignalMapTail->pnext = prec_entity;
pThreadSignalMapTail = prec_entity;
}
}
else {
CMSIS_OS_ERR("No Free Thread-Signal entity\n");
}
#if 0
for (i=0;i<THREAD_SIGNAL_MAP_SIZE;i++)
{
if (!ThreadSignalMapTable[i].is_in_use) {
ThreadSignalMapTable[i].is_in_use = 1;
ThreadSignalMapTable[i].thread_id = thread_id;
ThreadSignalMapTable[i].signals = signals;
break;
}
}
if (i >= THREAD_SIGNAL_MAP_SIZE) {
// No free Thread-Signals map entity
CMSIS_OS_ERR("No Free Thread-Signal entity\n");
}
#endif
if (inHandlerMode()) {
portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
}
else {
vPortExitCritical();
}
}
static EventGroupHandle_t find_signal_by_thread (osThreadId thread_id)
{
EventGroupHandle_t signals_hdl=NULL;
// uint32_t i;
int dummy;
ThreadSignalRec *prec_entity;
if (inHandlerMode()) {
dummy = portSET_INTERRUPT_MASK_FROM_ISR();
}
else {
vPortEnterCritical();
}
prec_entity = pThreadSignalMapHead;
while (prec_entity != NULL) {
if (prec_entity->thread_id == thread_id) {
signals_hdl = prec_entity->signals;
break;
}
else {
prec_entity = prec_entity->pnext;
}
}
#if 0
for (i=0;i<THREAD_SIGNAL_MAP_SIZE;i++)
{
if ((ThreadSignalMapTable[i].is_in_use) &&
(ThreadSignalMapTable[i].thread_id == thread_id)) {
signals_hdl = ThreadSignalMapTable[i].signals;
break;
}
}
#endif
if (inHandlerMode()) {
portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
}
else {
vPortExitCritical();
}
if (NULL == signals_hdl) {
CMSIS_OS_ERR("Cannot find the EventGroup Handle by thread_id\n");
}
return signals_hdl;
}
static EventGroupHandle_t remove_thread_signal_map (osThreadId thread_id)
{
EventGroupHandle_t signals_hdl=NULL;
// uint32_t i;
int dummy;
ThreadSignalRec *prec_entity;
ThreadSignalRec *pprev_entity;
if (inHandlerMode()) {
dummy = portSET_INTERRUPT_MASK_FROM_ISR();
}
else {
vPortEnterCritical();
}
prec_entity = pThreadSignalMapHead;
pprev_entity = NULL;
while (prec_entity != NULL) {
if (prec_entity->thread_id == thread_id) {
signals_hdl = prec_entity->signals;
if (prec_entity == pThreadSignalMapHead) {
if (prec_entity->pnext != NULL) {
pThreadSignalMapHead = prec_entity->pnext;
}
else {
pThreadSignalMapHead = NULL;
pThreadSignalMapTail = NULL;
}
}
else if (prec_entity == pThreadSignalMapTail) {
pprev_entity->pnext = NULL;
pThreadSignalMapTail = pprev_entity;
}
else {
pprev_entity->pnext = prec_entity->pnext;
}
free((void *)prec_entity);
break;
}
else {
pprev_entity = prec_entity;
prec_entity = prec_entity->pnext;
}
}
#if 0
for (i=0;i<THREAD_SIGNAL_MAP_SIZE;i++)
{
if ((ThreadSignalMapTable[i].is_in_use) &&
(ThreadSignalMapTable[i].thread_id == thread_id)) {
signals_hdl = ThreadSignalMapTable[i].signals;
ThreadSignalMapTable[i].thread_id = NULL;
ThreadSignalMapTable[i].signals = NULL;
ThreadSignalMapTable[i].is_in_use = 0;
break;
}
}
#endif
if (inHandlerMode()) {
portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
}
else {
vPortExitCritical();
}
return signals_hdl;
}
#endif //end of #if configSignalManagementSupport
/* Convert timeout milli second to system ticks */
static portTickType millisec_to_ticks(uint32_t millisec)
{
portTickType ticks=0;
if (millisec == osWaitForever) {
ticks = portMAX_DELAY;
}
else {
if (millisec != 0) {
ticks = millisec/portTICK_RATE_MS;
if (ticks == 0) {
ticks = 1;
}
}
}
return ticks;
}
// ==== Kernel Control Functions ====
///Initialize the RTOS Kernel for creating objects.
osStatus osKernelInitialize (void)
{
// It seems not thing needs to do for FreeRTOS initialization
return osOK;
}
/// Start the RTOS Kernel with executing the specified thread.
/// \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)
{
vTaskStartScheduler();
return osOK;
}
/// Get the RTOS kernel system timer counter
/// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
/// \return RTOS kernel system timer as 32-bit value
uint32_t osKernelSysTick (void)
{
return ((uint32_t)xTaskGetTickCount());
}
/// 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 and add it to Active Threads and set it to state READY.
/// \param[in] thread_def thread definition referenced with \ref osThread.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \return thread ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
{
// (void) argument;
xTaskHandle handle;
BaseType_t result;
result = xTaskCreate((pdTASK_CODE)thread_def->pthread,
(const portCHAR *)thread_def->name,
(thread_def->stacksize/4),
argument,
makeFreeRtosPriority(thread_def->tpriority),
&handle);
if (pdPASS == result) {
#if configSignalManagementSupport
EventGroupHandle_t signals;
signals = xEventGroupCreate();
if (signals == NULL) {
/* The event group was not created because there was insufficient
FreeRTOS heap available. */
CMSIS_OS_ERR("Create a EventGroup for a new thread failed\n");
}
else
{
add_thread_signal_map(handle, signals);
}
#endif
}
else
{
CMSIS_OS_ERR("Create a new thread(%s) failed\r\n", thread_def->name);
}
return handle;
}
/// 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)
{
return xTaskGetCurrentTaskHandle();
}
/// 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)
{
#if configSignalManagementSupport
EventGroupHandle_t EventHandle;
EventHandle = remove_thread_signal_map (thread_id);
if (EventHandle) {
vEventGroupDelete (EventHandle);
}
#endif
vTaskDelete(thread_id);
return osOK;
}
/// 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)
{
taskYIELD();
return osOK;
}
/// 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)
{
vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
return osOK;
}
/// 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)
{
return makeCmsisPriority(uxTaskPriorityGet(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 INCLUDE_vTaskDelay
portTickType ticks = (millisec * configTICK_RATE_HZ) / 1000;
vTaskDelay(ticks ? ticks : 1); /* Minimum delay = 1 tick */
return osOK;
#else
(void) millisec;
return osErrorResource;
#endif
}
#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.
osEvent osWait (uint32_t millisec);
#endif // Generic Wait available
// ==== Timer Management Functions ====
static void _osTimerCallbackFreeRTOS (xTimerHandle handle)
{
osTimerDef_t *timer = (osTimerDef_t *)(pvTimerGetTimerID(handle));
timer->ptimer(timer->custom->argument);
}
/// Create a timer.
/// \param[in] timer_def timer object referenced with \ref osTimer.
/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
/// \param[in] argument argument to the timer call back function.
/// \return timer ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument)
{
timer_def->custom->argument = argument;
return xTimerCreate((const portCHAR *)"",
1, //Set later when timer is started
(type == osTimerPeriodic) ? pdTRUE : pdFALSE,
(void *)timer_def,
_osTimerCallbackFreeRTOS
);
}
/// 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)
{
portBASE_TYPE taskWoken = pdFALSE;
osStatus result = osOK;
portTickType ticks = millisec / portTICK_RATE_MS;
if (ticks == 0) {
ticks = 1;
}
if (inHandlerMode()) {
if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) == pdPASS) {
xTimerStartFromISR(timer_id, &taskWoken);
portEND_SWITCHING_ISR(taskWoken);
}
}
else {
//TODO: add timeout support
if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS) {
result = osErrorOS;
}
else {
if (xTimerStart(timer_id, 0) != pdPASS) {
result = osErrorOS;
}
}
}
return result;
}
/// 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)
{
portBASE_TYPE taskWoken = pdFALSE;
osStatus result = osOK;
if (inHandlerMode()) {
xTimerStopFromISR(timer_id, &taskWoken);
portEND_SWITCHING_ISR(taskWoken);
}
else {
if (xTimerStop(timer_id, 0) != pdPASS) { //TODO: add timeout support
result = osErrorOS;
}
}
return result;
}
/// 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)
{
osStatus result = osOK;
/* try to delete the soft timer and wait max RTL_TIMER_API_MAX_BLOCK_TICKS
to send the delete command to the timer command queue */
if (xTimerDelete(timer_id, portMAX_DELAY ) != pdPASS) {
result = osErrorOS;
}
return result;
}
// ==== Signal Management ====
#if configSignalManagementSupport
/// Set the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that should be set.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
int32_t osSignalSet (osThreadId thread_id, int32_t signals)
{
EventGroupHandle_t event_handle;
portBASE_TYPE taskWoken = pdFALSE;
portBASE_TYPE xResult;
EventBits_t uxBits_ret=0x80000000;
#ifdef CHECK_VALUE_OF_EVENT_GROUP
EventBits_t uxBits;
#endif
if (signals & (0xFFFFFFFF << osFeature_Signals)) {
return 0x80000000;
}
event_handle = find_signal_by_thread(thread_id);
if (event_handle) {
if (inHandlerMode()) {
uxBits_ret = xEventGroupGetBitsFromISR(event_handle);
xResult = xEventGroupSetBitsFromISR(
event_handle, /* The event group being updated. */
signals, /* The bits being set. */
&taskWoken );
if( xResult != pdFAIL )
{
portYIELD_FROM_ISR(taskWoken);
}
}
else {
uxBits_ret = xEventGroupGetBits(event_handle);
#ifdef CHECK_VALUE_OF_EVENT_GROUP
uxBits =
#endif
xEventGroupSetBits(
event_handle, /* The event group being updated. */
signals );/* The bits being set. */
}
}
return uxBits_ret;
}
/// Clear the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
int32_t osSignalClear (osThreadId thread_id, int32_t signals)
{
EventGroupHandle_t event_handle;
//portBASE_TYPE taskWoken = pdFALSE;
EventBits_t uxBits_ret=0x80000000;
#ifdef CHECK_VALUE_OF_EVENT_GROUP
EventBits_t uxBits;
#endif
if (signals & (0xFFFFFFFF << osFeature_Signals)) {
return 0x80000000;
}
event_handle = find_signal_by_thread(thread_id);
if (event_handle) {
if (inHandlerMode()) {
uxBits_ret = xEventGroupGetBitsFromISR(event_handle);
#ifdef CHECK_VALUE_OF_EVENT_GROUP
uxBits =
#endif
xEventGroupClearBitsFromISR(
event_handle, /* The event group being updated. */
signals);/* The bits being cleared. */
}
else {
uxBits_ret = xEventGroupGetBits(event_handle);
#ifdef CHECK_VALUE_OF_EVENT_GROUP
uxBits =
#endif
xEventGroupClearBits(
event_handle, /* The event group being updated. */
signals);/* The bits being cleared. */
}
}
return uxBits_ret;
}
/// 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.
osEvent osSignalWait (int32_t signals, uint32_t millisec)
{
TaskHandle_t thread_id;
EventGroupHandle_t event_handle;
EventBits_t uxBits=0x80000000;
osEvent ret;
uint32_t wait_ticks;
if (signals & (0xFFFFFFFF << osFeature_Signals)) {
ret.status = osErrorValue;
ret.value.signals = 0;
return ret;
}
thread_id = xTaskGetCurrentTaskHandle();
event_handle = find_signal_by_thread(thread_id);
if (event_handle) {
if (signals == 0) {
// if signals is 0, then wait any signal
signals = (1 << osFeature_Signals) - 1;
}
wait_ticks = millisec_to_ticks(millisec);
uxBits = xEventGroupWaitBits(
event_handle, /* The event group being tested. */
signals, /* The bits within the event group to wait for. */
pdTRUE, /* the signals should be cleared before returning. */
pdFALSE, /* Don't wait for both bits, either bit will do. */
wait_ticks );/* Wait for either bit to be set. */
if (uxBits == 0) {
ret.status = millisec ? osEventTimeout : osOK;
ret.value.signals = 0;
}
else {
ret.status = osEventSignal;
ret.value.signals = uxBits;
}
}
return ret;
}
#else
// The older FreeRTOS version didn't support Signal Management functions
int32_t osSignalSet (osThreadId thread_id, int32_t signals)
{
return 0;
}
int32_t osSignalClear (osThreadId thread_id, int32_t signals)
{
return 0;
}
osEvent osSignalWait (int32_t signals, uint32_t millisec)
{
osEvent ret;
ret.status = osErrorOS;
return ret;
}
#endif // end of "else of #if configSignalManagementSupport
// ==== Mutex Management ====
/// Create and Initialize a Mutex object
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
/// \return mutex ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
osMutexId osMutexCreate (const osMutexDef_t *mutex_def)
{
(void) mutex_def;
return xSemaphoreCreateMutex();
}
/// 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)
{
portTickType ticks;
if (mutex_id == NULL) {
return osErrorParameter;
}
if (inHandlerMode()) {
return osErrorISR;
}
ticks = millisec_to_ticks(millisec);
if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) {
return osErrorOS;
}
return osOK;
}
/// 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)
{
osStatus result = osOK;
portBASE_TYPE taskWoken = pdFALSE;
if (inHandlerMode()) {
if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) {
result = osErrorOS;
}
portEND_SWITCHING_ISR(taskWoken);
}
else {
if (xSemaphoreGive(mutex_id) != pdTRUE) {
result = osErrorOS;
}
}
return result;
}
/// 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)
{
if (!mutex_id) {
return osErrorValue;
}
vSemaphoreDelete(mutex_id);
return osOK;
}
// ==== Semaphore Management Functions ====
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // Semaphore available
/// Create and Initialize a Semaphore object used for managing resources
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
/// \param[in] count number of available resources.
/// \return semaphore ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
{
(void) semaphore_def;
osSemaphoreId sema;
if (count == 1) {
vSemaphoreCreateBinary(sema);
return sema;
}
return xSemaphoreCreateCounting(count, count);
}
/// Wait until a Semaphore token becomes available
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphore.
/// \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)
{
portTickType ticks;
if (semaphore_id == NULL) {
return osErrorParameter;
}
ticks = millisec_to_ticks(millisec);
if (inHandlerMode()) {
return osErrorISR;
}
if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) {
return osErrorOS;
}
return osOK;
}
/// Release a Semaphore token
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphore.
/// \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)
{
osStatus result = osOK;
portBASE_TYPE taskWoken = pdFALSE;
if (inHandlerMode()) {
if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) {
result = osErrorOS;
}
portEND_SWITCHING_ISR(taskWoken);
}
else {
if (xSemaphoreGive(semaphore_id) != pdTRUE) {
result = osErrorOS;
}
}
return result;
}
/// 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)
{
if (!semaphore_id) {
return osErrorValue;
}
vSemaphoreDelete(semaphore_id);
return osOK;
}
#endif // Semaphore available
// ==== Memory Pool Management Functions ====
#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available
#if 0
/// \brief Define a Memory Pool.
/// \param name name of the memory pool.
/// \param no maximum number of objects (elements) in the memory pool.
/// \param type data type of a single object (element).
/// \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) \
osPoolDef_t os_pool_def_##name = \
{ (no), sizeof(type), NULL };
#endif
#endif
//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;
#if 0
/// \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
#endif
/// Create and Initialize a memory pool
/// \param[in] pool_def memory pool definition referenced with \ref osPool.
/// \return memory pool ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
osPoolId osPoolCreate (const osPoolDef_t *pool_def)
{
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;
}
/// 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)
{
int dummy;
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;
if (index >= pool_id->pool_sz) {
index = 0;
}
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;
}
/// 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)
{
void *p = osPoolAlloc(pool_id);
os_memset(p, 0, pool_id->item_sz);
return p;
}
/// 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)
{
int dummy;
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;
}
if (inHandlerMode()) {
dummy = portSET_INTERRUPT_MASK_FROM_ISR();
}
else {
vPortEnterCritical();
}
pool_id->markers[index] = 0;
if (inHandlerMode()) {
portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
}
else {
vPortExitCritical();
}
return osOK;
}
#endif // Memory Pool Management available
// ==== Message Queue Management Functions ====
#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available
/// Create and Initialize a Message Queue.
/// \param[in] queue_def queue definition referenced with \ref osMessageQ.
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return message queue ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
{
(void) thread_id;
return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
}
/// 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)
{
portBASE_TYPE taskWoken = pdFALSE;
portTickType ticks;
if (inHandlerMode()) {
if (xQueueSendFromISR(queue_id, (const void *)info, &taskWoken) != pdTRUE) {
return osErrorOS;
}
portEND_SWITCHING_ISR(taskWoken);
}
else {
ticks = millisec_to_ticks(millisec);
if (xQueueSend(queue_id, (const void *)info, ticks) != pdTRUE) {
return osErrorOS;
}
}
return osOK;
}
/// 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.
osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec)
{
portBASE_TYPE taskWoken = pdFALSE;
portTickType ticks;
osEvent retEvent;
retEvent.def.message_id = queue_id;
if (inHandlerMode()) {
if (xQueueReceiveFromISR(queue_id, (void *)retEvent.value.p, &taskWoken) != pdTRUE) {
retEvent.status = osErrorOS;
return retEvent;
}
portEND_SWITCHING_ISR(taskWoken);
}
else {
ticks = millisec_to_ticks(millisec);
if (xQueueReceive(queue_id, (void *)retEvent.value.p, ticks) != pdTRUE) {
retEvent.status = osErrorOS;
return retEvent;
}
}
retEvent.status = osOK;
return retEvent;
}
#endif // Message Queues available
// ==== Mail Queue Management Functions ====
#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
typedef struct os_mailQ_cb {
osMailQDef_t *queue_def;
xQueueHandle handle;
osPoolId pool;
} os_mailQ_cb_t;
/// Create and Initialize mail queue
/// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return mail queue ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id)
{
(void) thread_id;
osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz};
/* 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 = (osMailQDef_t *)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) {
vQueueDelete((*(queue_def->cb))->handle);
vPortFree(*(queue_def->cb));
return NULL;
}
return *(queue_def->cb);
}
/// 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 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;
uint32_t retried=0;
if (queue_id == NULL) {
return NULL;
}
do {
p = osPoolAlloc(queue_id->pool);
if (NULL == p) {
// sleep a while and then try again
if (millisec == osWaitForever) {
osDelay(2);
}
else {
if (!retried) {
osDelay(millisec);
retried = 1;
}
else {
break;
}
}
}
} while (NULL == p);
return p;
}
/// 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 shall 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) {
os_memset(p, 0, queue_id->queue_def->item_sz);
}
return p;
}
/// 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)
{
portBASE_TYPE taskWoken;
portTickType ticks=1000/portTICK_RATE_MS; // No timeout is defined for this function, so we just wait 1 sec
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, ticks) != pdTRUE) { //TODO where to get timeout value?
return osErrorOS;
}
}
return osOK;
}
/// 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.
osEvent osMailGet (osMailQId queue_id, uint32_t millisec)
{
portBASE_TYPE taskWoken;
portTickType ticks;
osEvent event;
event.def.mail_id = queue_id;
if (queue_id == NULL) {
event.status = osErrorParameter;
return event;
}
taskWoken = pdFALSE;
ticks = millisec_to_ticks(millisec);
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;
}
/// 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)
{
if (queue_id == NULL) {
return osErrorParameter;
}
osPoolFree(queue_id->pool, mail);
return osOK;
}
void *calloc_freertos(size_t nelements, size_t elementSize)
{
void *pbuf;
uint32_t size;
size = nelements*elementSize;
pbuf = pvPortMalloc(size);
os_memset(pbuf, 0, size);
return pbuf;
}
#endif // Mail Queues available
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