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rtl00TstMinAmebaV35a/component/os/freertos/cmsis_os.c
pvvx c399bf5be0 first commit
2016-09-23 07:21:45 +03:00

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#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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