Zwei Sensoren jetzt, jeweils 1 Task plus Sendetask. Lange her
This commit is contained in:
AlphaCapella
@@ -23,7 +23,7 @@
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1322465905" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1218336733" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
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||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1055456836" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="NUCLEO-F446RE" valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2120333155" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || NUCLEO-F446RE || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || || USE_HAL_DRIVER | STM32F446xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2120333155" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || NUCLEO-F446RE || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || || USE_HAL_DRIVER | STM32F446xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1293282731" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="84" valueType="string"/>
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||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.665595892" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.157750519" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
|
||||
@@ -62,7 +62,7 @@
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||||
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
|
||||
</option>
|
||||
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.418485283" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
|
||||
</tool>
|
||||
@@ -119,7 +119,7 @@
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||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1647178613" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1962047015" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1436863160" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="NUCLEO-F446RE" valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1385303357" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || NUCLEO-F446RE || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || || USE_HAL_DRIVER | STM32F446xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1385303357" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || NUCLEO-F446RE || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS || || USE_HAL_DRIVER | STM32F446xx || || Drivers | Core/Startup | Middlewares | Core || || || ${workspace_loc:/${ProjName}/STM32F446RETX_FLASH.ld} || true || NonSecure || || secure_nsclib.o || || None || || || " valueType="string"/>
|
||||
<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1009556017" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="84" valueType="string"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1353018287" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
|
||||
<builder buildPath="${workspace_loc:/RTOS_Dual_Sensor_Single_Board_Testing}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1826787541" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
|
||||
@@ -153,7 +153,7 @@
|
||||
<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS"/>
|
||||
<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
|
||||
</option>
|
||||
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1735635849" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
|
||||
</tool>
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -52,6 +52,10 @@
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||||
#include <stdint.h>
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||||
extern uint32_t SystemCoreClock;
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||||
#endif
|
||||
#ifndef CMSIS_device_header
|
||||
#define CMSIS_device_header "stm32f4xx.h"
|
||||
#endif /* CMSIS_device_header */
|
||||
|
||||
#define configENABLE_FPU 1
|
||||
#define configENABLE_MPU 0
|
||||
|
||||
@@ -62,14 +66,17 @@
|
||||
#define configUSE_TICK_HOOK 0
|
||||
#define configCPU_CLOCK_HZ ( SystemCoreClock )
|
||||
#define configTICK_RATE_HZ ((TickType_t)1000)
|
||||
#define configMAX_PRIORITIES ( 7 )
|
||||
#define configMAX_PRIORITIES ( 56 )
|
||||
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
|
||||
#define configTOTAL_HEAP_SIZE ((size_t)15360)
|
||||
#define configMAX_TASK_NAME_LEN ( 16 )
|
||||
#define configUSE_TRACE_FACILITY 1
|
||||
#define configUSE_16_BIT_TICKS 0
|
||||
#define configUSE_MUTEXES 1
|
||||
#define configQUEUE_REGISTRY_SIZE 8
|
||||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
|
||||
#define configUSE_RECURSIVE_MUTEXES 1
|
||||
#define configUSE_COUNTING_SEMAPHORES 1
|
||||
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
|
||||
/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */
|
||||
/* Defaults to size_t for backward compatibility, but can be changed
|
||||
if lengths will always be less than the number of bytes in a size_t. */
|
||||
@@ -80,6 +87,20 @@
|
||||
#define configUSE_CO_ROUTINES 0
|
||||
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
|
||||
|
||||
/* Software timer definitions. */
|
||||
#define configUSE_TIMERS 1
|
||||
#define configTIMER_TASK_PRIORITY ( 2 )
|
||||
#define configTIMER_QUEUE_LENGTH 10
|
||||
#define configTIMER_TASK_STACK_DEPTH 256
|
||||
|
||||
/* CMSIS-RTOS V2 flags */
|
||||
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
|
||||
#define configUSE_OS2_THREAD_ENUMERATE 1
|
||||
#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1
|
||||
#define configUSE_OS2_THREAD_FLAGS 1
|
||||
#define configUSE_OS2_TIMER 1
|
||||
#define configUSE_OS2_MUTEX 1
|
||||
|
||||
/* Set the following definitions to 1 to include the API function, or zero
|
||||
to exclude the API function. */
|
||||
#define INCLUDE_vTaskPrioritySet 1
|
||||
@@ -87,9 +108,20 @@ to exclude the API function. */
|
||||
#define INCLUDE_vTaskDelete 1
|
||||
#define INCLUDE_vTaskCleanUpResources 0
|
||||
#define INCLUDE_vTaskSuspend 1
|
||||
#define INCLUDE_vTaskDelayUntil 0
|
||||
#define INCLUDE_vTaskDelayUntil 1
|
||||
#define INCLUDE_vTaskDelay 1
|
||||
#define INCLUDE_xTaskGetSchedulerState 1
|
||||
#define INCLUDE_xTimerPendFunctionCall 1
|
||||
#define INCLUDE_xQueueGetMutexHolder 1
|
||||
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||
#define INCLUDE_eTaskGetState 1
|
||||
|
||||
/*
|
||||
* The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used
|
||||
* by the application thus the correct define need to be enabled below
|
||||
*/
|
||||
#define USE_FreeRTOS_HEAP_4
|
||||
|
||||
/* Cortex-M specific definitions. */
|
||||
#ifdef __NVIC_PRIO_BITS
|
||||
@@ -127,10 +159,9 @@ standard names. */
|
||||
#define vPortSVCHandler SVC_Handler
|
||||
#define xPortPendSVHandler PendSV_Handler
|
||||
|
||||
/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
|
||||
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
|
||||
/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
|
||||
|
||||
#define xPortSysTickHandler SysTick_Handler
|
||||
#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
|
||||
|
||||
/* USER CODE BEGIN Defines */
|
||||
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
|
||||
|
||||
@@ -52,23 +52,8 @@
|
||||
|
||||
/* USER CODE END FunctionPrototypes */
|
||||
|
||||
/* GetIdleTaskMemory prototype (linked to static allocation support) */
|
||||
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
|
||||
|
||||
/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
|
||||
static StaticTask_t xIdleTaskTCBBuffer;
|
||||
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
|
||||
|
||||
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
|
||||
{
|
||||
*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
|
||||
*ppxIdleTaskStackBuffer = &xIdleStack[0];
|
||||
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
|
||||
/* place for user code */
|
||||
}
|
||||
/* USER CODE END GET_IDLE_TASK_MEMORY */
|
||||
|
||||
/* Private application code --------------------------------------------------*/
|
||||
/* USER CODE BEGIN Application */
|
||||
|
||||
/* USER CODE END Application */
|
||||
|
||||
|
||||
@@ -52,30 +52,40 @@ DMA_HandleTypeDef hdma_i2c1_rx;
|
||||
|
||||
UART_HandleTypeDef huart2;
|
||||
|
||||
osThreadId defaultTaskHandle;
|
||||
osThreadId SensorReadingHandle;
|
||||
osThreadId Sensor2ReadingHandle;
|
||||
/* Definitions for defaultTask */
|
||||
osThreadId_t defaultTaskHandle;
|
||||
const osThreadAttr_t defaultTask_attributes = {
|
||||
.name = "defaultTask",
|
||||
.stack_size = 1024 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for SensorReading */
|
||||
osThreadId_t SensorReadingHandle;
|
||||
const osThreadAttr_t SensorReading_attributes = {
|
||||
.name = "SensorReading",
|
||||
.stack_size = 1024 * 4,
|
||||
.priority = (osPriority_t) osPriorityLow,
|
||||
};
|
||||
/* Definitions for Sensor2Reading */
|
||||
osThreadId_t Sensor2ReadingHandle;
|
||||
const osThreadAttr_t Sensor2Reading_attributes = {
|
||||
.name = "Sensor2Reading",
|
||||
.stack_size = 1024 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for SensorQueue1 */
|
||||
osMessageQueueId_t SensorQueue1Handle;
|
||||
const osMessageQueueAttr_t SensorQueue1_attributes = {
|
||||
.name = "SensorQueue1"
|
||||
};
|
||||
/* USER CODE BEGIN PV */
|
||||
MPU6050_HandleTypeDef hmpu1;
|
||||
MPU6050_HandleTypeDef hmpu2;
|
||||
MadgwickFilter madgwick;
|
||||
|
||||
// sensor reading flags
|
||||
uint8_t sensor1_flag = 0;
|
||||
uint8_t sensor2_flag = 0;
|
||||
|
||||
|
||||
char output[128];
|
||||
int16_t copy_raw_data[6]; //[ax, ay, az, gx, gy, gz]
|
||||
float processed_data[6]; //[Ax, Ay, Az, Gx, Gy, Gz]
|
||||
|
||||
uint32_t last_transmit = 0;
|
||||
uint32_t now = 0;
|
||||
MadgwickFilter Sensor1Quat;
|
||||
MadgwickFilter Sensor2Quat;
|
||||
|
||||
char output[256];
|
||||
float roll, pitch, yaw; // Madgwick euler angles
|
||||
|
||||
|
||||
|
||||
/* USER CODE END PV */
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
@@ -84,9 +94,9 @@ static void MX_GPIO_Init(void);
|
||||
static void MX_DMA_Init(void);
|
||||
static void MX_USART2_UART_Init(void);
|
||||
static void MX_I2C1_Init(void);
|
||||
void StartDefaultTask(void const * argument);
|
||||
void StartSensorReading(void const * argument);
|
||||
void StartSensor2Reading(void const * argument);
|
||||
void StartDefaultTask(void *argument);
|
||||
void StartSensorReading(void *argument);
|
||||
void StartSensor2Reading(void *argument);
|
||||
|
||||
/* USER CODE BEGIN PFP */
|
||||
|
||||
@@ -137,6 +147,9 @@ int main(void)
|
||||
|
||||
/* USER CODE END 2 */
|
||||
|
||||
/* Init scheduler */
|
||||
osKernelInitialize();
|
||||
|
||||
/* USER CODE BEGIN RTOS_MUTEX */
|
||||
/* add mutexes, ... */
|
||||
/* USER CODE END RTOS_MUTEX */
|
||||
@@ -149,27 +162,32 @@ int main(void)
|
||||
/* start timers, add new ones, ... */
|
||||
/* USER CODE END RTOS_TIMERS */
|
||||
|
||||
/* Create the queue(s) */
|
||||
/* creation of SensorQueue1 */
|
||||
SensorQueue1Handle = osMessageQueueNew (5, sizeof(ProcessedData_HandleTypeDef), &SensorQueue1_attributes);
|
||||
|
||||
/* USER CODE BEGIN RTOS_QUEUES */
|
||||
/* add queues, ... */
|
||||
/* USER CODE END RTOS_QUEUES */
|
||||
|
||||
/* Create the thread(s) */
|
||||
/* definition and creation of defaultTask */
|
||||
osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 1024);
|
||||
defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);
|
||||
/* creation of defaultTask */
|
||||
defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
|
||||
|
||||
/* definition and creation of SensorReading */
|
||||
osThreadDef(SensorReading, StartSensorReading, osPriorityIdle, 0, 1024);
|
||||
SensorReadingHandle = osThreadCreate(osThread(SensorReading), NULL);
|
||||
/* creation of SensorReading */
|
||||
SensorReadingHandle = osThreadNew(StartSensorReading, NULL, &SensorReading_attributes);
|
||||
|
||||
/* definition and creation of Sensor2Reading */
|
||||
osThreadDef(Sensor2Reading, StartSensor2Reading, osPriorityNormal, 0, 1024);
|
||||
Sensor2ReadingHandle = osThreadCreate(osThread(Sensor2Reading), NULL);
|
||||
/* creation of Sensor2Reading */
|
||||
Sensor2ReadingHandle = osThreadNew(StartSensor2Reading, NULL, &Sensor2Reading_attributes);
|
||||
|
||||
/* USER CODE BEGIN RTOS_THREADS */
|
||||
/* add threads, ... */
|
||||
/* USER CODE END RTOS_THREADS */
|
||||
|
||||
/* USER CODE BEGIN RTOS_EVENTS */
|
||||
/* add events, ... */
|
||||
/* USER CODE END RTOS_EVENTS */
|
||||
|
||||
/* Start scheduler */
|
||||
osKernelStart();
|
||||
|
||||
@@ -366,85 +384,38 @@ static void MX_GPIO_Init(void)
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_StartDefaultTask */
|
||||
void StartDefaultTask(void const * argument)
|
||||
void StartDefaultTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN 5 */
|
||||
// Initialize MPU struct
|
||||
hmpu1.address = GYR1_Add;
|
||||
hmpu1.hi2c = &hi2c1;
|
||||
hmpu1.accel_range = 0x02;
|
||||
hmpu1.gyro_range = 0x02;
|
||||
hmpu1.accel_factor = 4096.0;
|
||||
hmpu1.gyro_factor = 32.8;
|
||||
hmpu1.calibrate = 0;
|
||||
|
||||
|
||||
data_ready = 0;
|
||||
dma_ready = 1;
|
||||
|
||||
|
||||
Init_MPU6050(&hmpu1, &huart2);
|
||||
Calibrate_MPU(&hmpu1, &huart2);
|
||||
|
||||
MadgwickFilter_Init(&madgwick, 125.0f, 0.1f);
|
||||
start_dma_transfer(&hmpu1);
|
||||
|
||||
MadgwickFilter_Init(&Sensor1Quat, 20.0f, 0.1f);
|
||||
MadgwickFilter_Init(&Sensor2Quat, 20.0f, 0.1f);
|
||||
ProcessedData_HandleTypeDef RecievedData;
|
||||
/* Infinite loop */
|
||||
for(;;)
|
||||
{
|
||||
if (data_ready){
|
||||
// copy the data so it doesnt get changed while working on it
|
||||
// accelerometer
|
||||
copy_raw_data[0] = raw_data[0];
|
||||
copy_raw_data[1] = raw_data[1];
|
||||
copy_raw_data[2] = raw_data[2];
|
||||
// gyro
|
||||
copy_raw_data[3] = raw_data[3];
|
||||
copy_raw_data[4] = raw_data[4];
|
||||
copy_raw_data[5] = raw_data[5];
|
||||
osMessageQueueGet(SensorQueue1Handle, &RecievedData, NULL, osWaitForever);
|
||||
|
||||
// DEBUG
|
||||
//sprintf(output, "RAW: %02X %02X %02X %02X %02X %02X\n", ax_copy, ay_copy, az_copy, gx_copy, gy_copy, gz_copy);
|
||||
// Update Madgwick filter with processed data
|
||||
MadgwickFilter_Update(&Sensor1Quat, RecievedData.Sensor1Data[3], RecievedData.Sensor1Data[4], RecievedData.Sensor1Data[5], // Gx, Gy, Gz
|
||||
RecievedData.Sensor1Data[0], RecievedData.Sensor1Data[1], RecievedData.Sensor1Data[2]); // Ax, Ay, Az
|
||||
MadgwickFilter_Update(&Sensor2Quat, RecievedData.Sensor2Data[3], RecievedData.Sensor2Data[4], RecievedData.Sensor2Data[5], // Gx, Gy, Gz
|
||||
RecievedData.Sensor2Data[0], RecievedData.Sensor2Data[1], RecievedData.Sensor2Data[2]); // Ax, Ay, Az
|
||||
|
||||
data_ready = 0;
|
||||
|
||||
processed_data[0] = (float)copy_raw_data[0]/hmpu->accel_factor;
|
||||
processed_data[1] = (float)copy_raw_data[1]/hmpu->accel_factor;
|
||||
processed_data[2] = (float)copy_raw_data[2]/hmpu->accel_factor;
|
||||
processed_data[3] = (float)copy_raw_data[3]/hmpu->gyro_factor;
|
||||
processed_data[4] = (float)copy_raw_data[4]/hmpu->gyro_factor;
|
||||
processed_data[5] = (float)copy_raw_data[5]/hmpu->gyro_factor;
|
||||
// Get Euler angles
|
||||
MadgwickFilter_GetEulerAngles(&Sensor1Quat, &roll, &pitch, &yaw);
|
||||
MadgwickFilter_GetEulerAngles(&Sensor2Quat, &roll, &pitch, &yaw);
|
||||
|
||||
if(hmpu->calibrate) {
|
||||
processed_data[0] -= hmpu->accel_bias[0];
|
||||
processed_data[1] -= hmpu->accel_bias[1];
|
||||
processed_data[2] -= hmpu->accel_bias[2];
|
||||
processed_data[3] -= hmpu->gyro_bias[0];
|
||||
processed_data[4] -= hmpu->gyro_bias[1];
|
||||
processed_data[5] -= hmpu->gyro_bias[2];
|
||||
}
|
||||
sendQuat(&huart2, &hmpu1, &Sensor1Quat);
|
||||
// // Output orientation
|
||||
// sprintf(output, "Sensor 1 qw: %.4f qx: %.4f qy: %.4f qz: %.4f\n",
|
||||
// Sensor1Quat.q[0], Sensor1Quat.q[1], Sensor1Quat.q[2], Sensor1Quat.q[3]);
|
||||
// HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
//
|
||||
// sprintf(output, "Sensor 2 qw: %.4f qx: %.4f qy: %.4f qz: %.4f\n",
|
||||
// Sensor2Quat.q[0], Sensor2Quat.q[1], Sensor2Quat.q[2], Sensor2Quat.q[3]);
|
||||
// HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
|
||||
start_dma_transfer(&hmpu1);
|
||||
// Update Madgwick filter with processed data
|
||||
MadgwickFilter_Update(&madgwick, processed_data[3], processed_data[4], processed_data[5], // Gx, Gy, Gz
|
||||
processed_data[0], processed_data[1], processed_data[2]); // Ax, Ay, Az
|
||||
|
||||
// Get Euler angles
|
||||
MadgwickFilter_GetEulerAngles(&madgwick, &roll, &pitch, &yaw);
|
||||
|
||||
// Output orientation
|
||||
now = HAL_GetTick();
|
||||
if (now - last_transmit >= 50) { // Limit to 5 Hz (every 50ms)
|
||||
sprintf(output, "qw: %.4f qx: %.4f qy: %.4f qz: %.4f\n",
|
||||
madgwick.q[0], madgwick.q[1], madgwick.q[2], madgwick.q[3]);
|
||||
HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
last_transmit = now;
|
||||
}
|
||||
// sprintf(output, "Roll: %.2f Pitch: %.2f Yaw: %.2f\n", roll, pitch, yaw);
|
||||
// HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
|
||||
start_dma_transfer(&hmpu1);
|
||||
}
|
||||
}
|
||||
/* USER CODE END 5 */
|
||||
}
|
||||
@@ -456,7 +427,7 @@ void StartDefaultTask(void const * argument)
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_StartSensorReading */
|
||||
void StartSensorReading(void const * argument)
|
||||
void StartSensorReading(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN StartSensorReading */
|
||||
// set the sensor struct
|
||||
@@ -468,6 +439,7 @@ void StartSensorReading(void const * argument)
|
||||
hmpu1.gyro_factor = 32.8;
|
||||
hmpu1.calibrate = 0;
|
||||
|
||||
|
||||
hmpu2.address = GYR2_Add;
|
||||
hmpu2.hi2c = &hi2c1;
|
||||
hmpu2.accel_range = 0x02;
|
||||
@@ -475,22 +447,49 @@ void StartSensorReading(void const * argument)
|
||||
hmpu2.accel_factor = 4096.0;
|
||||
hmpu2.gyro_factor = 32.8;
|
||||
hmpu2.calibrate = 0;
|
||||
// initialize and calibrate both sensors
|
||||
Init_MPU6050(&hmpu1, &huart2);
|
||||
Calibrate_MPU(&hmpu1, &huart2);
|
||||
|
||||
Init_MPU6050(&hmpu2, &huart2);
|
||||
Calibrate_MPU(&hmpu2, &huart2);
|
||||
xSensorReadingTask = xTaskGetCurrentTaskHandle();
|
||||
|
||||
// hold the sensor data
|
||||
uint8_t binarySensorData[14];
|
||||
int16_t rawData[6];
|
||||
uint8_t binarySensor1Data[14];
|
||||
uint8_t binarySensor2Data[14];
|
||||
// float processedData[6];
|
||||
ProcessedData_HandleTypeDef ProcessedData;
|
||||
|
||||
// initialize and calibrate both sensors
|
||||
Init_MPU6050(&hmpu1, &huart2);
|
||||
calibrate_Sensor(&hmpu1, &huart2);
|
||||
|
||||
Init_MPU6050(&hmpu2, &huart2);
|
||||
calibrate_Sensor(&hmpu2, &huart2);
|
||||
|
||||
/* Infinite loop */
|
||||
for(;;)
|
||||
{
|
||||
read_dma(&hmpu1, binarySensor1Data);
|
||||
read_dma(&hmpu1, binarySensor2Data);
|
||||
|
||||
osDelay(1);
|
||||
process_binaryData(&hmpu1, binarySensor1Data, ProcessedData.Sensor1Data);
|
||||
process_binaryData(&hmpu1, binarySensor2Data, ProcessedData.Sensor2Data);
|
||||
|
||||
osMessageQueuePut(SensorQueue1Handle, &ProcessedData, NULL, 5);
|
||||
|
||||
// // Update Madgwick filter with processed data
|
||||
// MadgwickFilter_Update(&madgwick, processedData[3], processedData[4], processedData[5], // Gx, Gy, Gz
|
||||
// processedData[0], processedData[1], processedData[2]); // Ax, Ay, Az
|
||||
//
|
||||
// // Get Euler angles
|
||||
// MadgwickFilter_GetEulerAngles(&madgwick, &roll, &pitch, &yaw);
|
||||
//
|
||||
// // Output orientation
|
||||
// sprintf(output, "qw: %.4f qx: %.4f qy: %.4f qz: %.4f\n",
|
||||
// madgwick.q[0], madgwick.q[1], madgwick.q[2], madgwick.q[3]);
|
||||
// HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
|
||||
// sprintf(output, "Roll: %.2f Pitch: %.2f Yaw: %.2f\n", roll, pitch, yaw);
|
||||
// HAL_UART_Transmit(&huart2, (uint8_t*)output, strlen(output), 250);
|
||||
|
||||
osDelay(50);
|
||||
}
|
||||
/* USER CODE END StartSensorReading */
|
||||
}
|
||||
@@ -502,7 +501,7 @@ void StartSensorReading(void const * argument)
|
||||
* @retval None
|
||||
*/
|
||||
/* USER CODE END Header_StartSensor2Reading */
|
||||
void StartSensor2Reading(void const * argument)
|
||||
void StartSensor2Reading(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN StartSensor2Reading */
|
||||
// Initialize MPU struct
|
||||
@@ -515,9 +514,9 @@ void StartSensor2Reading(void const * argument)
|
||||
hmpu2.calibrate = 0;
|
||||
|
||||
// init, calibrate and start mpu
|
||||
Init_MPU6050(&hmpu2, &huart2);
|
||||
Calibrate_MPU(&hmpu2, &huart2);
|
||||
start_dma_transfer(&hmpu2);
|
||||
//Init_MPU6050(&hmpu2, &huart2);
|
||||
//Calibrate_MPU(&hmpu2, &huart2);
|
||||
//start_dma_transfer(&hmpu2);
|
||||
/* Infinite loop */
|
||||
for(;;)
|
||||
{
|
||||
|
||||
@@ -3,35 +3,84 @@
|
||||
#include <string.h>
|
||||
#include "mpu6050.h"
|
||||
#include <math.h>
|
||||
#include "madgwick.h"
|
||||
// FreeRTOS Header
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "semphr.h"
|
||||
|
||||
|
||||
UART_HandleTypeDef *huart_mpu;
|
||||
MPU6050_HandleTypeDef *hmpu;
|
||||
uint8_t sensorData[14];
|
||||
TaskHandle_t xSensorReadingTask = NULL;
|
||||
|
||||
// using volatile variables so that the calculation of the DMA callback can be handled in the main loop
|
||||
volatile int16_t raw_data[6];
|
||||
volatile uint8_t data_ready = 0;
|
||||
volatile uint8_t dma_ready = 1;
|
||||
|
||||
void sendQuat (UART_HandleTypeDef *uart, MPU6050_HandleTypeDef *mpu, MadgwickFilter *quat) {
|
||||
QuaternionData FrameQuat;
|
||||
|
||||
// new function to initiate dma transter
|
||||
HAL_StatusTypeDef start_dma_transfer(MPU6050_HandleTypeDef *mpu) {
|
||||
// check if previous transfer is complete before initiating new one, else return HAL_BUSY
|
||||
if (dma_ready) {
|
||||
dma_ready = 0;
|
||||
return HAL_I2C_Mem_Read_DMA(mpu->hi2c, mpu->address, MPU6050_ACC_MEAS_REG, I2C_MEMADD_SIZE_8BIT, sensorData, 14);
|
||||
FrameQuat.StartByte = PACKET_START_BYTE;
|
||||
FrameQuat.SensorAddress = mpu->address;
|
||||
FrameQuat.qw = quat->q[0];
|
||||
FrameQuat.qx = quat->q[1];
|
||||
FrameQuat.qy = quat->q[2];
|
||||
FrameQuat.qz = quat->q[3];
|
||||
FrameQuat.EndByte = PACKET_END_BYTE;
|
||||
|
||||
HAL_UART_Transmit(uart, (uint8_t*)&FrameQuat, sizeof(FrameQuat), 50);
|
||||
}
|
||||
|
||||
void read_dma (MPU6050_HandleTypeDef *mpu, uint8_t binaryData[]) {
|
||||
if(HAL_I2C_Mem_Read_DMA(mpu->hi2c, mpu->address, MPU6050_ACC_MEAS_REG, I2C_MEMADD_SIZE_8BIT, binaryData, 14) == HAL_OK) {
|
||||
ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(10));
|
||||
}
|
||||
}
|
||||
|
||||
float* process_binaryData (MPU6050_HandleTypeDef *mpu, uint8_t binarySensorData[], float processedData[]) {
|
||||
int16_t rawData[6]; //[Ax, Ay, Az, Gx, Gy, Gz]
|
||||
|
||||
// accelerometer
|
||||
rawData[0] = (int16_t)(binarySensorData[0] << 8 | binarySensorData[1]);
|
||||
rawData[1] = (int16_t)(binarySensorData[2] << 8 | binarySensorData[3]);
|
||||
rawData[2] = (int16_t)(binarySensorData[4] << 8 | binarySensorData[5]);
|
||||
// gyro
|
||||
rawData[3] = (int16_t)(binarySensorData[8] << 8 | binarySensorData[9]);
|
||||
rawData[4] = (int16_t)(binarySensorData[10] << 8 | binarySensorData[11]);
|
||||
rawData[5] = (int16_t)(binarySensorData[12] << 8 | binarySensorData[13]);
|
||||
|
||||
// processedData [ax, ay, az, gx, gy, gz]
|
||||
processedData[0] = (float)rawData[0]/mpu->accel_factor;
|
||||
processedData[1] = (float)rawData[1]/mpu->accel_factor;
|
||||
processedData[2] = (float)rawData[2]/mpu->accel_factor;
|
||||
processedData[3] = (float)rawData[3]/mpu->gyro_factor;
|
||||
processedData[4] = (float)rawData[4]/mpu->gyro_factor;
|
||||
processedData[5] = (float)rawData[5]/mpu->gyro_factor;
|
||||
|
||||
if (mpu->calibrate) {
|
||||
processedData[0] -= mpu->accel_bias[0];
|
||||
processedData[1] -= mpu->accel_bias[1];
|
||||
processedData[2] -= mpu->accel_bias[2];
|
||||
processedData[3] -= mpu->gyro_bias[0];
|
||||
processedData[4] -= mpu->gyro_bias[1];
|
||||
processedData[5] -= mpu->gyro_bias[2];
|
||||
}
|
||||
return HAL_BUSY;
|
||||
return processedData;
|
||||
}
|
||||
|
||||
// custom function to read device status, because HAL_I2C_IsDeviceReady is apparently
|
||||
// often buggy in its implementation - not using it currently
|
||||
HAL_StatusTypeDef check_mpu6050_ready(MPU6050_HandleTypeDef *mpu) {
|
||||
uint8_t dummy;
|
||||
return HAL_I2C_Mem_Read(mpu->hi2c, mpu->address, 0x75, I2C_MEMADD_SIZE_8BIT, &dummy, 1, 100);
|
||||
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) {
|
||||
// all this function does now is alarm the sensor reading task that the
|
||||
// dma read is finished
|
||||
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||
if (I2C_address -> Instance == I2C1) {
|
||||
vTaskNotifyGiveFromISR(xSensorReadingTask, &xHigherPriorityTaskWoken);
|
||||
}
|
||||
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void Init_MPU6050 (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
uint8_t data;
|
||||
uint8_t readback;
|
||||
@@ -115,7 +164,6 @@ void Init_MPU6050 (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
HAL_I2C_Mem_Read_DMA(mpu->hi2c, mpu->address, MPU6050_ACC_MEAS_REG, I2C_MEMADD_SIZE_8BIT, sensorData, 14);
|
||||
}
|
||||
|
||||
|
||||
void setRange_MPU (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
char buffer[128];
|
||||
|
||||
@@ -158,108 +206,61 @@ void setRange_MPU (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
}
|
||||
}
|
||||
|
||||
void Calibrate_MPU (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart){
|
||||
const uint16_t num_samples = 1000;
|
||||
int32_t accel_sum[3] = {0, 0, 0};
|
||||
int32_t gyro_sum[3] = {0, 0, 0};
|
||||
int16_t local_data[6];
|
||||
void calibrate_Sensor(MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
const uint16_t num_samples = 1500;
|
||||
uint16_t samples_taken = 0;
|
||||
uint8_t binarySensorData[14];
|
||||
float processedData[6];
|
||||
float accel_sum[3] = {0.0, 0.0, 0.0};
|
||||
float gyro_sum[3] = {0.0, 0.0, 0.0};
|
||||
char buffer[256];
|
||||
uint16_t i = 0, samples_taken = 0;
|
||||
hmpu=mpu;
|
||||
|
||||
sprintf(buffer, "Starting calibration at address: 0x%02X\nKeep the sensor still during calibration...\n", mpu->address >> 1);
|
||||
//sprintf(buffer + strlen(buffer), "Keep the sensor still during calibration...\n");
|
||||
HAL_UART_Transmit(uart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
|
||||
// check if dma ready and i2c
|
||||
data_ready = 0;
|
||||
dma_ready = 1;
|
||||
for (int i = 0; i < num_samples; i++) {
|
||||
read_dma(mpu, binarySensorData);
|
||||
process_binaryData(mpu, binarySensorData, processedData);
|
||||
accel_sum[0] += processedData[0];
|
||||
accel_sum[1] += processedData[1];
|
||||
accel_sum[2] += processedData[2];
|
||||
gyro_sum[0] += processedData[3];
|
||||
gyro_sum[1] += processedData[4];
|
||||
gyro_sum[2] += processedData[5];
|
||||
|
||||
if (HAL_I2C_GetState(mpu->hi2c) == HAL_I2C_STATE_READY) {
|
||||
start_dma_transfer(hmpu);
|
||||
}
|
||||
|
||||
// Check if data is already being collected, start otherwise
|
||||
// if (!data_ready) {
|
||||
// HAL_I2C_Mem_Read_DMA(mpu->hi2c, mpu->address, MPU6050_ACC_MEAS_REG, I2C_MEMADD_SIZE_8BIT, sensorData, 14);
|
||||
// HAL_Delay(10);
|
||||
// }
|
||||
|
||||
// Discard first 50 readings to let the sensor stabilize
|
||||
for (i = 0; i < 50;) {
|
||||
if (data_ready) {
|
||||
data_ready = 0;
|
||||
i++;
|
||||
|
||||
start_dma_transfer(hmpu);
|
||||
// Give progress to user every 100 samples taken
|
||||
if (i % 100 == 0) {
|
||||
sprintf(buffer, "Calibration progress: %d%%\n", (i*100)/num_samples);
|
||||
HAL_UART_Transmit(uart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
}
|
||||
HAL_Delay(1);
|
||||
}
|
||||
|
||||
// Reset counters for actual calibration
|
||||
i = 0;
|
||||
samples_taken = 0;
|
||||
samples_taken++;
|
||||
|
||||
// Collect and sum the samples
|
||||
while (i < num_samples) {
|
||||
if (data_ready) {
|
||||
// Copy sensor data to local array to avoid data loss
|
||||
local_data[0] = raw_data[0];
|
||||
local_data[1] = raw_data[1];
|
||||
local_data[2] = raw_data[2];
|
||||
local_data[3] = raw_data[3];
|
||||
local_data[4] = raw_data[4];
|
||||
local_data[5] = raw_data[5];
|
||||
|
||||
// Reset data gathering flag
|
||||
data_ready = 0;
|
||||
|
||||
// Add to the sum arrays
|
||||
accel_sum[0] += local_data[0];
|
||||
accel_sum[1] += local_data[1];
|
||||
accel_sum[2] += local_data[2];
|
||||
gyro_sum[0] += local_data[3];
|
||||
gyro_sum[1] += local_data[4];
|
||||
gyro_sum[2] += local_data[5];
|
||||
|
||||
samples_taken++;
|
||||
i++;
|
||||
|
||||
// Give progress to user every 100 samples taken
|
||||
if (i % 100 == 0) {
|
||||
sprintf(buffer, "Calibration progress: %d%%\n", (i*100)/num_samples);
|
||||
HAL_UART_Transmit(uart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
}
|
||||
|
||||
start_dma_transfer(hmpu);
|
||||
} else {
|
||||
// Small delay to prevent CPU maxing out
|
||||
HAL_Delay(1);
|
||||
}
|
||||
}
|
||||
|
||||
if (samples_taken > 0) {
|
||||
// Calculate bias values
|
||||
mpu->accel_bias[0] = (float)accel_sum[0] / samples_taken / mpu->accel_factor;
|
||||
mpu->accel_bias[1] = (float)accel_sum[1] / samples_taken / mpu->accel_factor;
|
||||
mpu->accel_bias[2] = (float)accel_sum[2] / samples_taken / mpu->accel_factor;
|
||||
mpu->accel_bias[0] = accel_sum[0] / samples_taken;
|
||||
mpu->accel_bias[1] = accel_sum[1] / samples_taken;
|
||||
mpu->accel_bias[2] = accel_sum[2] / samples_taken;
|
||||
|
||||
// Subtract 1g from z-axis to account for gravity
|
||||
mpu->accel_bias[2] -= 1.0f;
|
||||
|
||||
mpu->gyro_bias[0] = (float)gyro_sum[0] / samples_taken / mpu->gyro_factor;
|
||||
mpu->gyro_bias[1] = (float)gyro_sum[1] / samples_taken / mpu->gyro_factor;
|
||||
mpu->gyro_bias[2] = (float)gyro_sum[2] / samples_taken / mpu->gyro_factor;
|
||||
mpu->gyro_bias[0] = gyro_sum[0] / samples_taken;
|
||||
mpu->gyro_bias[1] = gyro_sum[1] / samples_taken;
|
||||
mpu->gyro_bias[2] = gyro_sum[2] / samples_taken;
|
||||
|
||||
// Set the calibration flag
|
||||
mpu->calibrate = 1;
|
||||
|
||||
// Print results
|
||||
sprintf(buffer, "Calibration successful!\n");
|
||||
sprintf(buffer + strlen(buffer), "Accelerometer bias (g):\n");
|
||||
sprintf(buffer + strlen(buffer), "Accelerometer bias (g): ");
|
||||
sprintf(buffer + strlen(buffer), "X: %.4f, Y: %.4f, Z: %.4f\n",
|
||||
mpu->accel_bias[0], mpu->accel_bias[1], mpu->accel_bias[2]);
|
||||
sprintf(buffer + strlen(buffer), "Gyroscope bias (°/s):\n");
|
||||
sprintf(buffer + strlen(buffer), "Gyroscope bias (°/s): ");
|
||||
sprintf(buffer + strlen(buffer), "X: %.4f, Y: %.4f, Z: %.4f\n",
|
||||
mpu->gyro_bias[0], mpu->gyro_bias[1], mpu->gyro_bias[2]);
|
||||
HAL_UART_Transmit(uart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
@@ -269,33 +270,15 @@ void Calibrate_MPU (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart){
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address) {
|
||||
if (I2C_address -> Instance == I2C1) {
|
||||
// copy data from sensor to array
|
||||
// accelerometer
|
||||
raw_data[0] = (int16_t)(sensorData[0] << 8 | sensorData[1]);
|
||||
raw_data[1] = (int16_t)(sensorData[2] << 8 | sensorData[3]);
|
||||
raw_data[2] = (int16_t)(sensorData[4] << 8 | sensorData[5]);
|
||||
// gyro
|
||||
raw_data[3] = (int16_t)(sensorData[8] << 8 | sensorData[9]);
|
||||
raw_data[4] = (int16_t)(sensorData[10] << 8 | sensorData[11]);
|
||||
raw_data[5] = (int16_t)(sensorData[12] << 8 | sensorData[13]);
|
||||
|
||||
// set the flag for the main loop
|
||||
data_ready = 1;
|
||||
dma_ready = 1;
|
||||
|
||||
// Start next measurement
|
||||
// moved to main for the time being
|
||||
//HAL_I2C_Mem_Read_DMA(I2C_address, hmpu->address, MPU6050_ACC_MEAS_REG, I2C_MEMADD_SIZE_8BIT, sensorData, 14);
|
||||
}
|
||||
// custom function to read device status, because HAL_I2C_IsDeviceReady is apparently
|
||||
// often buggy in its implementation - not using it currently
|
||||
HAL_StatusTypeDef check_mpu6050_ready(MPU6050_HandleTypeDef *mpu) {
|
||||
uint8_t dummy;
|
||||
return HAL_I2C_Mem_Read(mpu->hi2c, mpu->address, 0x75, I2C_MEMADD_SIZE_8BIT, &dummy, 1, 100);
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Debug functions
|
||||
void MPU_Diagnostics(MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart) {
|
||||
char buffer[256];
|
||||
@@ -377,3 +360,21 @@ void checkRegisters(MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart){
|
||||
sprintf(buffer, "-------------------------------\n\n\n\n");
|
||||
HAL_UART_Transmit(uart, (uint8_t*)buffer, strlen(buffer), 250);
|
||||
}
|
||||
|
||||
void I2C_Scanner(I2C_HandleTypeDef *hi2c, UART_HandleTypeDef *huart) {
|
||||
char buffer[64];
|
||||
uint8_t found = 0;
|
||||
|
||||
for (uint8_t addr = 0x08; addr < 0x78; addr++) {
|
||||
if (HAL_I2C_IsDeviceReady(hi2c, addr << 1, 1, 10) == HAL_OK) {
|
||||
sprintf(buffer, "Device found: 0x%02X\n", addr);
|
||||
HAL_UART_Transmit(huart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
found = 1;
|
||||
}
|
||||
}
|
||||
|
||||
if (!found) {
|
||||
sprintf(buffer, "No devices found\n");
|
||||
HAL_UART_Transmit(huart, (uint8_t*)buffer, strlen(buffer), 100);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -4,6 +4,10 @@
|
||||
* Created on: Nov 14, 2024
|
||||
* Author: Pima
|
||||
*/
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
#include "madgwick.h"
|
||||
|
||||
|
||||
// struct to hold the settings for a MPU 6050
|
||||
// typedef struct so you don't have to use struct to declare it
|
||||
@@ -19,6 +23,30 @@ typedef struct {
|
||||
uint8_t calibrate; // calibration flag
|
||||
} MPU6050_HandleTypeDef;
|
||||
|
||||
|
||||
//struct to hold the processed data for each sensor
|
||||
typedef struct {
|
||||
float Sensor1Data[6];
|
||||
float Sensor2Data[6];
|
||||
} ProcessedData_HandleTypeDef;
|
||||
|
||||
// dataframe for sending quaternions over uart
|
||||
typedef struct __attribute__((packed)) {
|
||||
uint8_t StartByte;
|
||||
uint8_t SensorAddress;
|
||||
float qw;
|
||||
float qx;
|
||||
float qy;
|
||||
float qz;
|
||||
uint8_t EndByte;
|
||||
} QuaternionData;
|
||||
|
||||
// enum to hold the packet dataframe data
|
||||
typedef enum {
|
||||
PACKET_START_BYTE = 0xDE,
|
||||
PACKET_END_BYTE = 0xAD
|
||||
} Packet_Bytes;
|
||||
|
||||
// hold the addresses of the MPU6050 registers
|
||||
typedef enum {
|
||||
MPU6050_CONF_REG = 0x1A,
|
||||
@@ -34,21 +62,26 @@ typedef enum {
|
||||
|
||||
extern UART_HandleTypeDef *huart_mpu;
|
||||
extern MPU6050_HandleTypeDef *hmpu;
|
||||
extern TaskHandle_t xSensorReadingTask;
|
||||
extern volatile int16_t raw_data[6]; //[ax, ay, az, gx, gy, gz]
|
||||
extern volatile uint8_t data_ready;
|
||||
extern volatile uint8_t dma_ready;
|
||||
|
||||
HAL_StatusTypeDef start_dma_transfer(MPU6050_HandleTypeDef *);
|
||||
|
||||
|
||||
float* process_binaryData (MPU6050_HandleTypeDef *mpu, uint8_t binarySensorData[], float processedData[]);
|
||||
void read_dma (MPU6050_HandleTypeDef *mpu, uint8_t binaryData[]);
|
||||
|
||||
void sendQuat (UART_HandleTypeDef *uart, MPU6050_HandleTypeDef *mpu, MadgwickFilter *quat);
|
||||
|
||||
HAL_StatusTypeDef check_mpu6050_ready(MPU6050_HandleTypeDef *mpu);
|
||||
void diagnose_i2c(I2C_HandleTypeDef *hi2c, UART_HandleTypeDef *uart);
|
||||
void Init_MPU6050 (MPU6050_HandleTypeDef*, UART_HandleTypeDef*);
|
||||
void Calibrate_MPU (MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart);
|
||||
void setRange_MPU (MPU6050_HandleTypeDef *, UART_HandleTypeDef *);
|
||||
|
||||
void checkRegisters(MPU6050_HandleTypeDef *, UART_HandleTypeDef *);
|
||||
void calibrate_Sensor(MPU6050_HandleTypeDef *mpu, UART_HandleTypeDef *uart);
|
||||
|
||||
|
||||
void MPU_Diagnostics(MPU6050_HandleTypeDef *, UART_HandleTypeDef *);
|
||||
void I2C_Scanner(I2C_HandleTypeDef *hi2c, UART_HandleTypeDef *uart);
|
||||
void checkRegisters(MPU6050_HandleTypeDef *, UART_HandleTypeDef *);
|
||||
|
||||
|
||||
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,846 @@
|
||||
/*
|
||||
* Copyright (c) 2013-2019 ARM Limited. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*
|
||||
* ----------------------------------------------------------------------
|
||||
*
|
||||
* $Date: 10. January 2017
|
||||
* $Revision: V2.1.0
|
||||
*
|
||||
* Project: CMSIS-RTOS API
|
||||
* Title: cmsis_os.h FreeRTOS header file
|
||||
*
|
||||
* Version 0.02
|
||||
* Initial Proposal Phase
|
||||
* Version 0.03
|
||||
* osKernelStart added, optional feature: main started as thread
|
||||
* osSemaphores have standard behavior
|
||||
* osTimerCreate does not start the timer, added osTimerStart
|
||||
* osThreadPass is renamed to osThreadYield
|
||||
* Version 1.01
|
||||
* Support for C++ interface
|
||||
* - const attribute removed from the osXxxxDef_t typedefs
|
||||
* - const attribute added to the osXxxxDef macros
|
||||
* Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
|
||||
* Added: osKernelInitialize
|
||||
* Version 1.02
|
||||
* Control functions for short timeouts in microsecond resolution:
|
||||
* Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
|
||||
* Removed: osSignalGet
|
||||
* Version 2.0.0
|
||||
* OS objects creation without macros (dynamic creation and resource allocation):
|
||||
* - added: osXxxxNew functions which replace osXxxxCreate
|
||||
* - added: osXxxxAttr_t structures
|
||||
* - deprecated: osXxxxCreate functions, osXxxxDef_t structures
|
||||
* - deprecated: osXxxxDef and osXxxx macros
|
||||
* osStatus codes simplified and renamed to osStatus_t
|
||||
* osEvent return structure deprecated
|
||||
* Kernel:
|
||||
* - added: osKernelInfo_t and osKernelGetInfo
|
||||
* - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
|
||||
* - added: osKernelLock, osKernelUnlock
|
||||
* - added: osKernelSuspend, osKernelResume
|
||||
* - added: osKernelGetTickCount, osKernelGetTickFreq
|
||||
* - renamed osKernelSysTick to osKernelGetSysTimerCount
|
||||
* - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
|
||||
* - deprecated osKernelSysTickMicroSec
|
||||
* Thread:
|
||||
* - extended number of thread priorities
|
||||
* - renamed osPrioriry to osPrioriry_t
|
||||
* - replaced osThreadCreate with osThreadNew
|
||||
* - added: osThreadGetName
|
||||
* - added: osThreadState_t and osThreadGetState
|
||||
* - added: osThreadGetStackSize, osThreadGetStackSpace
|
||||
* - added: osThreadSuspend, osThreadResume
|
||||
* - added: osThreadJoin, osThreadDetach, osThreadExit
|
||||
* - added: osThreadGetCount, osThreadEnumerate
|
||||
* - added: Thread Flags (moved from Signals)
|
||||
* Signals:
|
||||
* - renamed osSignals to osThreadFlags (moved to Thread Flags)
|
||||
* - changed return value of Set/Clear/Wait functions
|
||||
* - Clear function limited to current running thread
|
||||
* - extended Wait function (options)
|
||||
* - added: osThreadFlagsGet
|
||||
* Event Flags:
|
||||
* - added new independent object for handling Event Flags
|
||||
* Delay and Wait functions:
|
||||
* - added: osDelayUntil
|
||||
* - deprecated: osWait
|
||||
* Timer:
|
||||
* - replaced osTimerCreate with osTimerNew
|
||||
* - added: osTimerGetName, osTimerIsRunning
|
||||
* Mutex:
|
||||
* - extended: attributes (Recursive, Priority Inherit, Robust)
|
||||
* - replaced osMutexCreate with osMutexNew
|
||||
* - renamed osMutexWait to osMutexAcquire
|
||||
* - added: osMutexGetName, osMutexGetOwner
|
||||
* Semaphore:
|
||||
* - extended: maximum and initial token count
|
||||
* - replaced osSemaphoreCreate with osSemaphoreNew
|
||||
* - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
|
||||
* - added: osSemaphoreGetName, osSemaphoreGetCount
|
||||
* Memory Pool:
|
||||
* - using osMemoryPool prefix instead of osPool
|
||||
* - replaced osPoolCreate with osMemoryPoolNew
|
||||
* - extended osMemoryPoolAlloc (timeout)
|
||||
* - added: osMemoryPoolGetName
|
||||
* - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
|
||||
* - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
|
||||
* - added: osMemoryPoolDelete
|
||||
* - deprecated: osPoolCAlloc
|
||||
* Message Queue:
|
||||
* - extended: fixed size message instead of a single 32-bit value
|
||||
* - using osMessageQueue prefix instead of osMessage
|
||||
* - replaced osMessageCreate with osMessageQueueNew
|
||||
* - updated: osMessageQueuePut, osMessageQueueGet
|
||||
* - added: osMessageQueueGetName
|
||||
* - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
|
||||
* - added: osMessageQueueGetCount, osMessageQueueGetSpace
|
||||
* - added: osMessageQueueReset, osMessageQueueDelete
|
||||
* Mail Queue:
|
||||
* - deprecated (superseded by extended Message Queue functionality)
|
||||
* Version 2.1.0
|
||||
* Support for critical and uncritical sections (nesting safe):
|
||||
* - updated: osKernelLock, osKernelUnlock
|
||||
* - added: osKernelRestoreLock
|
||||
* Updated Thread and Event Flags:
|
||||
* - changed flags parameter and return type from int32_t to uint32_t
|
||||
*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef CMSIS_OS_H_
|
||||
#define CMSIS_OS_H_
|
||||
|
||||
#include "FreeRTOS.h"
|
||||
#include "task.h"
|
||||
|
||||
#define RTOS_ID_n ((tskKERNEL_VERSION_MAJOR << 16) | (tskKERNEL_VERSION_MINOR))
|
||||
#define RTOS_ID_s ("FreeRTOS " tskKERNEL_VERSION_NUMBER)
|
||||
|
||||
#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0])
|
||||
|
||||
#define osCMSIS_FreeRTOS RTOS_ID_n ///< RTOS identification and version (main[31:16].sub[15:0])
|
||||
|
||||
#define osKernelSystemId RTOS_ID_s ///< RTOS identification string
|
||||
|
||||
#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
|
||||
#define osFeature_Signals 24U ///< maximum number of Signal Flags available per thread
|
||||
#define osFeature_Semaphore 65535U ///< maximum count for \ref osSemaphoreCreate function
|
||||
#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
|
||||
#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
|
||||
#define osFeature_Pool 0 ///< Memory Pools: 1=available, 0=not available
|
||||
#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
|
||||
#define osFeature_MailQ 0 ///< Mail Queues: 1=available, 0=not available
|
||||
|
||||
#if defined(__CC_ARM)
|
||||
#define os_InRegs __value_in_regs
|
||||
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
||||
#define os_InRegs __attribute__((value_in_regs))
|
||||
#else
|
||||
#define os_InRegs
|
||||
#endif
|
||||
|
||||
#include "cmsis_os2.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
|
||||
// ==== Enumerations, structures, defines ====
|
||||
|
||||
/// Priority values.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef enum {
|
||||
osPriorityIdle = -3, ///< Priority: idle (lowest)
|
||||
osPriorityLow = -2, ///< Priority: low
|
||||
osPriorityBelowNormal = -1, ///< Priority: below normal
|
||||
osPriorityNormal = 0, ///< Priority: normal (default)
|
||||
osPriorityAboveNormal = +1, ///< Priority: above normal
|
||||
osPriorityHigh = +2, ///< Priority: high
|
||||
osPriorityRealtime = +3, ///< Priority: realtime (highest)
|
||||
osPriorityError = 0x84, ///< System cannot determine priority or illegal priority.
|
||||
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
|
||||
} osPriority;
|
||||
#else
|
||||
#define osPriority osPriority_t
|
||||
#endif
|
||||
|
||||
/// Entry point of a thread.
|
||||
typedef void (*os_pthread) (void const *argument);
|
||||
|
||||
/// Entry point of a timer call back function.
|
||||
typedef void (*os_ptimer) (void const *argument);
|
||||
|
||||
/// Timer type.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef enum {
|
||||
osTimerOnce = 0, ///< One-shot timer.
|
||||
osTimerPeriodic = 1 ///< Repeating timer.
|
||||
} os_timer_type;
|
||||
#else
|
||||
#define os_timer_type osTimerType_t
|
||||
#endif
|
||||
|
||||
/// Timeout value.
|
||||
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
|
||||
|
||||
/// Status code values returned by CMSIS-RTOS functions.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef enum {
|
||||
osOK = 0, ///< Function completed; no error or event occurred.
|
||||
osEventSignal = 0x08, ///< Function completed; signal event occurred.
|
||||
osEventMessage = 0x10, ///< Function completed; message event occurred.
|
||||
osEventMail = 0x20, ///< Function completed; mail event occurred.
|
||||
osEventTimeout = 0x40, ///< Function completed; timeout occurred.
|
||||
osErrorParameter = 0x80, ///< Parameter error: a mandatory parameter was missing or specified an incorrect object.
|
||||
osErrorResource = 0x81, ///< Resource not available: a specified resource was not available.
|
||||
osErrorTimeoutResource = 0xC1, ///< Resource not available within given time: a specified resource was not available within the timeout period.
|
||||
osErrorISR = 0x82, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
|
||||
osErrorISRRecursive = 0x83, ///< Function called multiple times from ISR with same object.
|
||||
osErrorPriority = 0x84, ///< System cannot determine priority or thread has illegal priority.
|
||||
osErrorNoMemory = 0x85, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
|
||||
osErrorValue = 0x86, ///< Value of a parameter is out of range.
|
||||
osErrorOS = 0xFF, ///< Unspecified RTOS error: run-time error but no other error message fits.
|
||||
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
|
||||
} osStatus;
|
||||
#else
|
||||
typedef int32_t osStatus;
|
||||
#define osEventSignal (0x08)
|
||||
#define osEventMessage (0x10)
|
||||
#define osEventMail (0x20)
|
||||
#define osEventTimeout (0x40)
|
||||
#define osErrorOS osError
|
||||
#define osErrorTimeoutResource osErrorTimeout
|
||||
#define osErrorISRRecursive (-126)
|
||||
#define osErrorValue (-127)
|
||||
#define osErrorPriority (-128)
|
||||
#endif
|
||||
|
||||
|
||||
// >>> the following data type definitions may be adapted towards a specific RTOS
|
||||
|
||||
/// Thread ID identifies the thread.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef void *osThreadId;
|
||||
#else
|
||||
#define osThreadId osThreadId_t
|
||||
#endif
|
||||
|
||||
/// Timer ID identifies the timer.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef void *osTimerId;
|
||||
#else
|
||||
#define osTimerId osTimerId_t
|
||||
#endif
|
||||
|
||||
/// Mutex ID identifies the mutex.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef void *osMutexId;
|
||||
#else
|
||||
#define osMutexId osMutexId_t
|
||||
#endif
|
||||
|
||||
/// Semaphore ID identifies the semaphore.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef void *osSemaphoreId;
|
||||
#else
|
||||
#define osSemaphoreId osSemaphoreId_t
|
||||
#endif
|
||||
|
||||
/// Pool ID identifies the memory pool.
|
||||
typedef void *osPoolId;
|
||||
|
||||
/// Message ID identifies the message queue.
|
||||
typedef void *osMessageQId;
|
||||
|
||||
/// Mail ID identifies the mail queue.
|
||||
typedef void *osMailQId;
|
||||
|
||||
|
||||
/// Thread Definition structure contains startup information of a thread.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_thread_def {
|
||||
os_pthread pthread; ///< start address of thread function
|
||||
osPriority tpriority; ///< initial thread priority
|
||||
uint32_t instances; ///< maximum number of instances of that thread function
|
||||
uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
|
||||
} osThreadDef_t;
|
||||
#else
|
||||
typedef struct os_thread_def {
|
||||
os_pthread pthread; ///< start address of thread function
|
||||
osThreadAttr_t attr; ///< thread attributes
|
||||
} osThreadDef_t;
|
||||
#endif
|
||||
|
||||
/// Timer Definition structure contains timer parameters.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_timer_def {
|
||||
os_ptimer ptimer; ///< start address of a timer function
|
||||
} osTimerDef_t;
|
||||
#else
|
||||
typedef struct os_timer_def {
|
||||
os_ptimer ptimer; ///< start address of a timer function
|
||||
osTimerAttr_t attr; ///< timer attributes
|
||||
} osTimerDef_t;
|
||||
#endif
|
||||
|
||||
/// Mutex Definition structure contains setup information for a mutex.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_mutex_def {
|
||||
uint32_t dummy; ///< dummy value
|
||||
} osMutexDef_t;
|
||||
#else
|
||||
#define osMutexDef_t osMutexAttr_t
|
||||
#endif
|
||||
|
||||
/// Semaphore Definition structure contains setup information for a semaphore.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_semaphore_def {
|
||||
uint32_t dummy; ///< dummy value
|
||||
} osSemaphoreDef_t;
|
||||
#else
|
||||
#define osSemaphoreDef_t osSemaphoreAttr_t
|
||||
#endif
|
||||
|
||||
/// Definition structure for memory block allocation.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_pool_def {
|
||||
uint32_t pool_sz; ///< number of items (elements) in the pool
|
||||
uint32_t item_sz; ///< size of an item
|
||||
void *pool; ///< pointer to memory for pool
|
||||
} osPoolDef_t;
|
||||
#else
|
||||
typedef struct os_pool_def {
|
||||
uint32_t pool_sz; ///< number of items (elements) in the pool
|
||||
uint32_t item_sz; ///< size of an item
|
||||
osMemoryPoolAttr_t attr; ///< memory pool attributes
|
||||
} osPoolDef_t;
|
||||
#endif
|
||||
|
||||
/// Definition structure for message queue.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_messageQ_def {
|
||||
uint32_t queue_sz; ///< number of elements in the queue
|
||||
void *pool; ///< memory array for messages
|
||||
} osMessageQDef_t;
|
||||
#else
|
||||
typedef struct os_messageQ_def {
|
||||
uint32_t queue_sz; ///< number of elements in the queue
|
||||
osMessageQueueAttr_t attr; ///< message queue attributes
|
||||
} osMessageQDef_t;
|
||||
#endif
|
||||
|
||||
/// Definition structure for mail queue.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
typedef struct os_mailQ_def {
|
||||
uint32_t queue_sz; ///< number of elements in the queue
|
||||
uint32_t item_sz; ///< size of an item
|
||||
void *pool; ///< memory array for mail
|
||||
} osMailQDef_t;
|
||||
#else
|
||||
typedef struct os_mailQ_def {
|
||||
uint32_t queue_sz; ///< number of elements in the queue
|
||||
uint32_t item_sz; ///< size of an item
|
||||
void *mail; ///< pointer to mail
|
||||
osMemoryPoolAttr_t mp_attr; ///< memory pool attributes
|
||||
osMessageQueueAttr_t mq_attr; ///< message queue attributes
|
||||
} osMailQDef_t;
|
||||
#endif
|
||||
|
||||
|
||||
/// Event structure contains detailed information about an event.
|
||||
typedef struct {
|
||||
osStatus status; ///< status code: event or error information
|
||||
union {
|
||||
uint32_t v; ///< message as 32-bit value
|
||||
void *p; ///< message or mail as void pointer
|
||||
int32_t signals; ///< signal flags
|
||||
} value; ///< event value
|
||||
union {
|
||||
osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
|
||||
osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
|
||||
} def; ///< event definition
|
||||
} osEvent;
|
||||
|
||||
|
||||
// ==== Kernel Management Functions ====
|
||||
|
||||
/// Initialize the RTOS Kernel for creating objects.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osKernelInitialize (void);
|
||||
#endif
|
||||
|
||||
/// Start the RTOS Kernel scheduler.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osKernelStart (void);
|
||||
#endif
|
||||
|
||||
/// Check if the RTOS kernel is already started.
|
||||
/// \return 0 RTOS is not started, 1 RTOS is started.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
int32_t osKernelRunning(void);
|
||||
#endif
|
||||
|
||||
#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
|
||||
|
||||
/// Get the RTOS kernel system timer counter.
|
||||
/// \return RTOS kernel system timer as 32-bit value
|
||||
#if (osCMSIS < 0x20000U)
|
||||
uint32_t osKernelSysTick (void);
|
||||
#else
|
||||
#define osKernelSysTick osKernelGetSysTimerCount
|
||||
#endif
|
||||
|
||||
/// The RTOS kernel system timer frequency in Hz.
|
||||
/// \note Reflects the system timer setting and is typically defined in a configuration file.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osKernelSysTickFrequency 100000000
|
||||
#endif
|
||||
|
||||
/// Convert a microseconds value to a RTOS kernel system timer value.
|
||||
/// \param microsec time value in microseconds.
|
||||
/// \return time value normalized to the \ref osKernelSysTickFrequency
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
|
||||
#else
|
||||
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * osKernelGetSysTimerFreq()) / 1000000)
|
||||
#endif
|
||||
|
||||
#endif // System Timer available
|
||||
|
||||
|
||||
// ==== Thread Management Functions ====
|
||||
|
||||
/// Create a Thread Definition with function, priority, and stack requirements.
|
||||
/// \param name name of the thread function.
|
||||
/// \param priority initial priority of the thread function.
|
||||
/// \param instances number of possible thread instances.
|
||||
/// \param stacksz stack size (in bytes) requirements for the thread function.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osThreadDef(name, priority, instances, stacksz) \
|
||||
extern const osThreadDef_t os_thread_def_##name
|
||||
#else // define the object
|
||||
#define osThreadDef(name, priority, instances, stacksz) \
|
||||
static uint64_t os_thread_stack##name[(stacksz)?(((stacksz+7)/8)):1]; \
|
||||
static StaticTask_t os_thread_cb_##name; \
|
||||
const osThreadDef_t os_thread_def_##name = \
|
||||
{ (name), \
|
||||
{ NULL, osThreadDetached, \
|
||||
(instances == 1) ? (&os_thread_cb_##name) : NULL,\
|
||||
(instances == 1) ? sizeof(StaticTask_t) : 0U, \
|
||||
((stacksz) && (instances == 1)) ? (&os_thread_stack##name) : NULL, \
|
||||
8*((stacksz+7)/8), \
|
||||
(priority), 0U, 0U } }
|
||||
#endif
|
||||
|
||||
/// Access a Thread definition.
|
||||
/// \param name name of the thread definition object.
|
||||
#define osThread(name) \
|
||||
&os_thread_def_##name
|
||||
|
||||
/// Create a thread and add it to Active Threads and set it to state READY.
|
||||
/// \param[in] thread_def thread definition referenced with \ref osThread.
|
||||
/// \param[in] argument pointer that is passed to the thread function as start argument.
|
||||
/// \return thread ID for reference by other functions or NULL in case of error.
|
||||
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
|
||||
|
||||
/// Return the thread ID of the current running thread.
|
||||
/// \return thread ID for reference by other functions or NULL in case of error.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osThreadId osThreadGetId (void);
|
||||
#endif
|
||||
|
||||
/// Change priority of a 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.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
|
||||
#endif
|
||||
|
||||
/// Get current priority of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
||||
/// \return current priority value of the specified thread.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osPriority osThreadGetPriority (osThreadId thread_id);
|
||||
#endif
|
||||
|
||||
/// Pass control to next thread that is in state \b READY.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osThreadYield (void);
|
||||
#endif
|
||||
|
||||
/// Terminate execution of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osThreadTerminate (osThreadId thread_id);
|
||||
#endif
|
||||
|
||||
|
||||
// ==== Signal Management ====
|
||||
|
||||
/// Set the specified Signal Flags of an active thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
|
||||
/// \param[in] signals specifies the signal flags of the thread that should be set.
|
||||
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
|
||||
int32_t osSignalSet (osThreadId thread_id, int32_t signals);
|
||||
|
||||
/// 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 or call from ISR.
|
||||
int32_t osSignalClear (osThreadId thread_id, int32_t signals);
|
||||
|
||||
/// 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 \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return event flag information or error code.
|
||||
os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
|
||||
|
||||
|
||||
// ==== Generic Wait Functions ====
|
||||
|
||||
/// Wait for Timeout (Time Delay).
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osDelay (uint32_t millisec);
|
||||
#endif
|
||||
|
||||
#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
|
||||
|
||||
/// Wait for Signal, Message, Mail, or Timeout.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
|
||||
/// \return event that contains signal, message, or mail information or error code.
|
||||
os_InRegs osEvent osWait (uint32_t millisec);
|
||||
|
||||
#endif // Generic Wait available
|
||||
|
||||
|
||||
// ==== Timer Management Functions ====
|
||||
|
||||
/// Define a Timer object.
|
||||
/// \param name name of the timer object.
|
||||
/// \param function name of the timer call back function.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osTimerDef(name, function) \
|
||||
extern const osTimerDef_t os_timer_def_##name
|
||||
#else // define the object
|
||||
#define osTimerDef(name, function) \
|
||||
static StaticTimer_t os_timer_cb_##name; \
|
||||
const osTimerDef_t os_timer_def_##name = \
|
||||
{ (function), { NULL, 0U, (&os_timer_cb_##name), sizeof(StaticTimer_t) } }
|
||||
#endif
|
||||
|
||||
/// Access a Timer definition.
|
||||
/// \param name name of the timer object.
|
||||
#define osTimer(name) \
|
||||
&os_timer_def_##name
|
||||
|
||||
/// Create and Initialize 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.
|
||||
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
|
||||
|
||||
/// Start or restart a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
|
||||
#endif
|
||||
|
||||
/// Stop a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osTimerStop (osTimerId timer_id);
|
||||
#endif
|
||||
|
||||
/// Delete a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osTimerDelete (osTimerId timer_id);
|
||||
#endif
|
||||
|
||||
|
||||
// ==== Mutex Management Functions ====
|
||||
|
||||
/// Define a Mutex.
|
||||
/// \param name name of the mutex object.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMutexDef(name) \
|
||||
extern const osMutexDef_t os_mutex_def_##name
|
||||
#else // define the object
|
||||
#define osMutexDef(name) \
|
||||
static StaticSemaphore_t os_mutex_cb_##name; \
|
||||
const osMutexDef_t os_mutex_def_##name = \
|
||||
{ NULL, osMutexRecursive | osMutexPrioInherit, (&os_mutex_cb_##name), sizeof(StaticSemaphore_t) }
|
||||
#endif
|
||||
|
||||
/// Access a Mutex definition.
|
||||
/// \param name name of the mutex object.
|
||||
#define osMutex(name) \
|
||||
&os_mutex_def_##name
|
||||
|
||||
/// Create and Initialize a Mutex object.
|
||||
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
|
||||
/// \return mutex ID for reference by other functions or NULL in case of error.
|
||||
osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
|
||||
|
||||
/// Wait until a Mutex becomes available.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
|
||||
#else
|
||||
#define osMutexWait osMutexAcquire
|
||||
#endif
|
||||
|
||||
/// 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.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osMutexRelease (osMutexId mutex_id);
|
||||
#endif
|
||||
|
||||
/// Delete a Mutex object.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osMutexDelete (osMutexId mutex_id);
|
||||
#endif
|
||||
|
||||
|
||||
// ==== Semaphore Management Functions ====
|
||||
|
||||
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U)) // Semaphore available
|
||||
|
||||
/// Define a Semaphore object.
|
||||
/// \param name name of the semaphore object.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osSemaphoreDef(name) \
|
||||
extern const osSemaphoreDef_t os_semaphore_def_##name
|
||||
#else // define the object
|
||||
#define osSemaphoreDef(name) \
|
||||
static StaticSemaphore_t os_semaphore_cb_##name; \
|
||||
const osSemaphoreDef_t os_semaphore_def_##name = \
|
||||
{ NULL, 0U, (&os_semaphore_cb_##name), sizeof(StaticSemaphore_t) }
|
||||
#endif
|
||||
|
||||
/// Access a Semaphore definition.
|
||||
/// \param name name of the semaphore object.
|
||||
#define osSemaphore(name) \
|
||||
&os_semaphore_def_##name
|
||||
|
||||
/// Create and Initialize a Semaphore object.
|
||||
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
|
||||
/// \param[in] count maximum and initial number of available tokens.
|
||||
/// \return semaphore ID for reference by other functions or NULL in case of error.
|
||||
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
|
||||
|
||||
/// Wait until a Semaphore token becomes available.
|
||||
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return number of available tokens, or -1 in case of incorrect parameters.
|
||||
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
|
||||
|
||||
/// Release a Semaphore token.
|
||||
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
|
||||
#endif
|
||||
|
||||
/// Delete a Semaphore object.
|
||||
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
#if (osCMSIS < 0x20000U)
|
||||
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
|
||||
#endif
|
||||
|
||||
#endif // Semaphore available
|
||||
|
||||
|
||||
// ==== Memory Pool Management Functions ====
|
||||
|
||||
#if (defined(osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool available
|
||||
|
||||
/// \brief Define a Memory Pool.
|
||||
/// \param name name of the memory pool.
|
||||
/// \param no maximum number of blocks (objects) in the memory pool.
|
||||
/// \param type data type of a single block (object).
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osPoolDef(name, no, type) \
|
||||
extern const osPoolDef_t os_pool_def_##name
|
||||
#else // define the object
|
||||
#define osPoolDef(name, no, type) \
|
||||
const osPoolDef_t os_pool_def_##name = \
|
||||
{ (no), sizeof(type), {NULL} }
|
||||
#endif
|
||||
|
||||
/// \brief Access a Memory Pool definition.
|
||||
/// \param name name of the memory pool
|
||||
#define osPool(name) \
|
||||
&os_pool_def_##name
|
||||
|
||||
/// Create and Initialize a Memory Pool object.
|
||||
/// \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.
|
||||
osPoolId osPoolCreate (const osPoolDef_t *pool_def);
|
||||
|
||||
/// Allocate a memory block from a Memory Pool.
|
||||
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
||||
/// \return address of the allocated memory block or NULL in case of no memory available.
|
||||
void *osPoolAlloc (osPoolId pool_id);
|
||||
|
||||
/// Allocate a memory block from a Memory Pool and set memory block to zero.
|
||||
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
||||
/// \return address of the allocated memory block or NULL in case of no memory available.
|
||||
void *osPoolCAlloc (osPoolId pool_id);
|
||||
|
||||
/// Return an allocated memory block back to a Memory Pool.
|
||||
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
|
||||
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus osPoolFree (osPoolId pool_id, void *block);
|
||||
|
||||
#endif // Memory Pool available
|
||||
|
||||
|
||||
// ==== Message Queue Management Functions ====
|
||||
|
||||
#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queue available
|
||||
|
||||
/// \brief Create a Message Queue Definition.
|
||||
/// \param name name of the queue.
|
||||
/// \param queue_sz maximum number of messages in the queue.
|
||||
/// \param type data type of a single message element (for debugger).
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMessageQDef(name, queue_sz, type) \
|
||||
extern const osMessageQDef_t os_messageQ_def_##name
|
||||
#else // define the object
|
||||
#define osMessageQDef(name, queue_sz, type) \
|
||||
static StaticQueue_t os_mq_cb_##name; \
|
||||
static uint32_t os_mq_data_##name[(queue_sz) * sizeof(type)]; \
|
||||
const osMessageQDef_t os_messageQ_def_##name = \
|
||||
{ (queue_sz), \
|
||||
{ NULL, 0U, (&os_mq_cb_##name), sizeof(StaticQueue_t), \
|
||||
(&os_mq_data_##name), sizeof(os_mq_data_##name) } }
|
||||
#endif
|
||||
|
||||
/// \brief Access a Message Queue Definition.
|
||||
/// \param name name of the queue
|
||||
#define osMessageQ(name) \
|
||||
&os_messageQ_def_##name
|
||||
|
||||
/// Create and Initialize a Message Queue object.
|
||||
/// \param[in] queue_def message 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.
|
||||
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
|
||||
|
||||
/// Put a Message to a Queue.
|
||||
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
|
||||
/// \param[in] info message information.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
|
||||
|
||||
/// Get a Message from a Queue or timeout if Queue is empty.
|
||||
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return event information that includes status code.
|
||||
os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
|
||||
|
||||
#endif // Message Queue available
|
||||
|
||||
|
||||
// ==== Mail Queue Management Functions ====
|
||||
|
||||
#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queue available
|
||||
|
||||
/// \brief Create a Mail Queue Definition.
|
||||
/// \param name name of the queue.
|
||||
/// \param queue_sz maximum number of mails in the queue.
|
||||
/// \param type data type of a single mail element.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
extern const osMailQDef_t os_mailQ_def_##name
|
||||
#else // define the object
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
const osMailQDef_t os_mailQ_def_##name = \
|
||||
{ (queue_sz), sizeof(type), NULL }
|
||||
#endif
|
||||
|
||||
/// \brief Access a Mail Queue Definition.
|
||||
/// \param name name of the queue
|
||||
#define osMailQ(name) \
|
||||
&os_mailQ_def_##name
|
||||
|
||||
/// Create and Initialize a Mail Queue object.
|
||||
/// \param[in] queue_def mail queue definition referenced 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.
|
||||
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
|
||||
|
||||
/// Allocate a memory block for mail from a mail memory pool.
|
||||
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
|
||||
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
|
||||
void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
|
||||
|
||||
/// Allocate a memory block for mail from a mail memory pool and set memory block to zero.
|
||||
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
|
||||
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
|
||||
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
|
||||
|
||||
/// Put a Mail into a Queue.
|
||||
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
|
||||
/// \param[in] mail pointer to memory with mail to put into a queue.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus osMailPut (osMailQId queue_id, const void *mail);
|
||||
|
||||
/// Get a Mail from a Queue or timeout if Queue is empty.
|
||||
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
|
||||
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return event information that includes status code.
|
||||
os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
|
||||
|
||||
/// Free a memory block by returning it to a mail memory pool.
|
||||
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
|
||||
/// \param[in] mail pointer to memory block that was obtained with \ref osMailGet.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus osMailFree (osMailQId queue_id, void *mail);
|
||||
|
||||
#endif // Mail Queue available
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CMSIS_OS_H_
|
||||
2482
RTOS_Dual_Sensor_Single_Board_Testing/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
vendored
Normal file
2482
RTOS_Dual_Sensor_Single_Board_Testing/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
vendored
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,734 @@
|
||||
/* --------------------------------------------------------------------------
|
||||
* Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
|
||||
* Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
|
||||
* --------------------------------------------------------------------------
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*
|
||||
* Name: cmsis_os2.h
|
||||
* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
|
||||
*
|
||||
*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef CMSIS_OS2_H_
|
||||
#define CMSIS_OS2_H_
|
||||
|
||||
#ifndef __NO_RETURN
|
||||
#if defined(__CC_ARM)
|
||||
#define __NO_RETURN __declspec(noreturn)
|
||||
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
|
||||
#define __NO_RETURN __attribute__((__noreturn__))
|
||||
#elif defined(__GNUC__)
|
||||
#define __NO_RETURN __attribute__((__noreturn__))
|
||||
#elif defined(__ICCARM__)
|
||||
#define __NO_RETURN __noreturn
|
||||
#else
|
||||
#define __NO_RETURN
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
|
||||
// ==== Enumerations, structures, defines ====
|
||||
|
||||
/// Version information.
|
||||
typedef struct {
|
||||
uint32_t api; ///< API version (major.minor.rev: mmnnnrrrr dec).
|
||||
uint32_t kernel; ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
|
||||
} osVersion_t;
|
||||
|
||||
/// Kernel state.
|
||||
typedef enum {
|
||||
osKernelInactive = 0, ///< Inactive.
|
||||
osKernelReady = 1, ///< Ready.
|
||||
osKernelRunning = 2, ///< Running.
|
||||
osKernelLocked = 3, ///< Locked.
|
||||
osKernelSuspended = 4, ///< Suspended.
|
||||
osKernelError = -1, ///< Error.
|
||||
osKernelReserved = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization.
|
||||
} osKernelState_t;
|
||||
|
||||
/// Thread state.
|
||||
typedef enum {
|
||||
osThreadInactive = 0, ///< Inactive.
|
||||
osThreadReady = 1, ///< Ready.
|
||||
osThreadRunning = 2, ///< Running.
|
||||
osThreadBlocked = 3, ///< Blocked.
|
||||
osThreadTerminated = 4, ///< Terminated.
|
||||
osThreadError = -1, ///< Error.
|
||||
osThreadReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
|
||||
} osThreadState_t;
|
||||
|
||||
/// Priority values.
|
||||
typedef enum {
|
||||
osPriorityNone = 0, ///< No priority (not initialized).
|
||||
osPriorityIdle = 1, ///< Reserved for Idle thread.
|
||||
osPriorityLow = 8, ///< Priority: low
|
||||
osPriorityLow1 = 8+1, ///< Priority: low + 1
|
||||
osPriorityLow2 = 8+2, ///< Priority: low + 2
|
||||
osPriorityLow3 = 8+3, ///< Priority: low + 3
|
||||
osPriorityLow4 = 8+4, ///< Priority: low + 4
|
||||
osPriorityLow5 = 8+5, ///< Priority: low + 5
|
||||
osPriorityLow6 = 8+6, ///< Priority: low + 6
|
||||
osPriorityLow7 = 8+7, ///< Priority: low + 7
|
||||
osPriorityBelowNormal = 16, ///< Priority: below normal
|
||||
osPriorityBelowNormal1 = 16+1, ///< Priority: below normal + 1
|
||||
osPriorityBelowNormal2 = 16+2, ///< Priority: below normal + 2
|
||||
osPriorityBelowNormal3 = 16+3, ///< Priority: below normal + 3
|
||||
osPriorityBelowNormal4 = 16+4, ///< Priority: below normal + 4
|
||||
osPriorityBelowNormal5 = 16+5, ///< Priority: below normal + 5
|
||||
osPriorityBelowNormal6 = 16+6, ///< Priority: below normal + 6
|
||||
osPriorityBelowNormal7 = 16+7, ///< Priority: below normal + 7
|
||||
osPriorityNormal = 24, ///< Priority: normal
|
||||
osPriorityNormal1 = 24+1, ///< Priority: normal + 1
|
||||
osPriorityNormal2 = 24+2, ///< Priority: normal + 2
|
||||
osPriorityNormal3 = 24+3, ///< Priority: normal + 3
|
||||
osPriorityNormal4 = 24+4, ///< Priority: normal + 4
|
||||
osPriorityNormal5 = 24+5, ///< Priority: normal + 5
|
||||
osPriorityNormal6 = 24+6, ///< Priority: normal + 6
|
||||
osPriorityNormal7 = 24+7, ///< Priority: normal + 7
|
||||
osPriorityAboveNormal = 32, ///< Priority: above normal
|
||||
osPriorityAboveNormal1 = 32+1, ///< Priority: above normal + 1
|
||||
osPriorityAboveNormal2 = 32+2, ///< Priority: above normal + 2
|
||||
osPriorityAboveNormal3 = 32+3, ///< Priority: above normal + 3
|
||||
osPriorityAboveNormal4 = 32+4, ///< Priority: above normal + 4
|
||||
osPriorityAboveNormal5 = 32+5, ///< Priority: above normal + 5
|
||||
osPriorityAboveNormal6 = 32+6, ///< Priority: above normal + 6
|
||||
osPriorityAboveNormal7 = 32+7, ///< Priority: above normal + 7
|
||||
osPriorityHigh = 40, ///< Priority: high
|
||||
osPriorityHigh1 = 40+1, ///< Priority: high + 1
|
||||
osPriorityHigh2 = 40+2, ///< Priority: high + 2
|
||||
osPriorityHigh3 = 40+3, ///< Priority: high + 3
|
||||
osPriorityHigh4 = 40+4, ///< Priority: high + 4
|
||||
osPriorityHigh5 = 40+5, ///< Priority: high + 5
|
||||
osPriorityHigh6 = 40+6, ///< Priority: high + 6
|
||||
osPriorityHigh7 = 40+7, ///< Priority: high + 7
|
||||
osPriorityRealtime = 48, ///< Priority: realtime
|
||||
osPriorityRealtime1 = 48+1, ///< Priority: realtime + 1
|
||||
osPriorityRealtime2 = 48+2, ///< Priority: realtime + 2
|
||||
osPriorityRealtime3 = 48+3, ///< Priority: realtime + 3
|
||||
osPriorityRealtime4 = 48+4, ///< Priority: realtime + 4
|
||||
osPriorityRealtime5 = 48+5, ///< Priority: realtime + 5
|
||||
osPriorityRealtime6 = 48+6, ///< Priority: realtime + 6
|
||||
osPriorityRealtime7 = 48+7, ///< Priority: realtime + 7
|
||||
osPriorityISR = 56, ///< Reserved for ISR deferred thread.
|
||||
osPriorityError = -1, ///< System cannot determine priority or illegal priority.
|
||||
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
|
||||
} osPriority_t;
|
||||
|
||||
/// Entry point of a thread.
|
||||
typedef void (*osThreadFunc_t) (void *argument);
|
||||
|
||||
/// Timer callback function.
|
||||
typedef void (*osTimerFunc_t) (void *argument);
|
||||
|
||||
/// Timer type.
|
||||
typedef enum {
|
||||
osTimerOnce = 0, ///< One-shot timer.
|
||||
osTimerPeriodic = 1 ///< Repeating timer.
|
||||
} osTimerType_t;
|
||||
|
||||
// Timeout value.
|
||||
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
|
||||
|
||||
// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
|
||||
#define osFlagsWaitAny 0x00000000U ///< Wait for any flag (default).
|
||||
#define osFlagsWaitAll 0x00000001U ///< Wait for all flags.
|
||||
#define osFlagsNoClear 0x00000002U ///< Do not clear flags which have been specified to wait for.
|
||||
|
||||
// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
|
||||
#define osFlagsError 0x80000000U ///< Error indicator.
|
||||
#define osFlagsErrorUnknown 0xFFFFFFFFU ///< osError (-1).
|
||||
#define osFlagsErrorTimeout 0xFFFFFFFEU ///< osErrorTimeout (-2).
|
||||
#define osFlagsErrorResource 0xFFFFFFFDU ///< osErrorResource (-3).
|
||||
#define osFlagsErrorParameter 0xFFFFFFFCU ///< osErrorParameter (-4).
|
||||
#define osFlagsErrorISR 0xFFFFFFFAU ///< osErrorISR (-6).
|
||||
|
||||
// Thread attributes (attr_bits in \ref osThreadAttr_t).
|
||||
#define osThreadDetached 0x00000000U ///< Thread created in detached mode (default)
|
||||
#define osThreadJoinable 0x00000001U ///< Thread created in joinable mode
|
||||
|
||||
// Mutex attributes (attr_bits in \ref osMutexAttr_t).
|
||||
#define osMutexRecursive 0x00000001U ///< Recursive mutex.
|
||||
#define osMutexPrioInherit 0x00000002U ///< Priority inherit protocol.
|
||||
#define osMutexRobust 0x00000008U ///< Robust mutex.
|
||||
|
||||
/// Status code values returned by CMSIS-RTOS functions.
|
||||
typedef enum {
|
||||
osOK = 0, ///< Operation completed successfully.
|
||||
osError = -1, ///< Unspecified RTOS error: run-time error but no other error message fits.
|
||||
osErrorTimeout = -2, ///< Operation not completed within the timeout period.
|
||||
osErrorResource = -3, ///< Resource not available.
|
||||
osErrorParameter = -4, ///< Parameter error.
|
||||
osErrorNoMemory = -5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
|
||||
osErrorISR = -6, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
|
||||
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
|
||||
} osStatus_t;
|
||||
|
||||
|
||||
/// \details Thread ID identifies the thread.
|
||||
typedef void *osThreadId_t;
|
||||
|
||||
/// \details Timer ID identifies the timer.
|
||||
typedef void *osTimerId_t;
|
||||
|
||||
/// \details Event Flags ID identifies the event flags.
|
||||
typedef void *osEventFlagsId_t;
|
||||
|
||||
/// \details Mutex ID identifies the mutex.
|
||||
typedef void *osMutexId_t;
|
||||
|
||||
/// \details Semaphore ID identifies the semaphore.
|
||||
typedef void *osSemaphoreId_t;
|
||||
|
||||
/// \details Memory Pool ID identifies the memory pool.
|
||||
typedef void *osMemoryPoolId_t;
|
||||
|
||||
/// \details Message Queue ID identifies the message queue.
|
||||
typedef void *osMessageQueueId_t;
|
||||
|
||||
|
||||
#ifndef TZ_MODULEID_T
|
||||
#define TZ_MODULEID_T
|
||||
/// \details Data type that identifies secure software modules called by a process.
|
||||
typedef uint32_t TZ_ModuleId_t;
|
||||
#endif
|
||||
|
||||
|
||||
/// Attributes structure for thread.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the thread
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
void *stack_mem; ///< memory for stack
|
||||
uint32_t stack_size; ///< size of stack
|
||||
osPriority_t priority; ///< initial thread priority (default: osPriorityNormal)
|
||||
TZ_ModuleId_t tz_module; ///< TrustZone module identifier
|
||||
uint32_t reserved; ///< reserved (must be 0)
|
||||
} osThreadAttr_t;
|
||||
|
||||
/// Attributes structure for timer.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the timer
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
} osTimerAttr_t;
|
||||
|
||||
/// Attributes structure for event flags.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the event flags
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
} osEventFlagsAttr_t;
|
||||
|
||||
/// Attributes structure for mutex.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the mutex
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
} osMutexAttr_t;
|
||||
|
||||
/// Attributes structure for semaphore.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the semaphore
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
} osSemaphoreAttr_t;
|
||||
|
||||
/// Attributes structure for memory pool.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the memory pool
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
void *mp_mem; ///< memory for data storage
|
||||
uint32_t mp_size; ///< size of provided memory for data storage
|
||||
} osMemoryPoolAttr_t;
|
||||
|
||||
/// Attributes structure for message queue.
|
||||
typedef struct {
|
||||
const char *name; ///< name of the message queue
|
||||
uint32_t attr_bits; ///< attribute bits
|
||||
void *cb_mem; ///< memory for control block
|
||||
uint32_t cb_size; ///< size of provided memory for control block
|
||||
void *mq_mem; ///< memory for data storage
|
||||
uint32_t mq_size; ///< size of provided memory for data storage
|
||||
} osMessageQueueAttr_t;
|
||||
|
||||
|
||||
// ==== Kernel Management Functions ====
|
||||
|
||||
/// Initialize the RTOS Kernel.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osKernelInitialize (void);
|
||||
|
||||
/// Get RTOS Kernel Information.
|
||||
/// \param[out] version pointer to buffer for retrieving version information.
|
||||
/// \param[out] id_buf pointer to buffer for retrieving kernel identification string.
|
||||
/// \param[in] id_size size of buffer for kernel identification string.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);
|
||||
|
||||
/// Get the current RTOS Kernel state.
|
||||
/// \return current RTOS Kernel state.
|
||||
osKernelState_t osKernelGetState (void);
|
||||
|
||||
/// Start the RTOS Kernel scheduler.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osKernelStart (void);
|
||||
|
||||
/// Lock the RTOS Kernel scheduler.
|
||||
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
|
||||
int32_t osKernelLock (void);
|
||||
|
||||
/// Unlock the RTOS Kernel scheduler.
|
||||
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
|
||||
int32_t osKernelUnlock (void);
|
||||
|
||||
/// Restore the RTOS Kernel scheduler lock state.
|
||||
/// \param[in] lock lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
|
||||
/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
|
||||
int32_t osKernelRestoreLock (int32_t lock);
|
||||
|
||||
/// Suspend the RTOS Kernel scheduler.
|
||||
/// \return time in ticks, for how long the system can sleep or power-down.
|
||||
uint32_t osKernelSuspend (void);
|
||||
|
||||
/// Resume the RTOS Kernel scheduler.
|
||||
/// \param[in] sleep_ticks time in ticks for how long the system was in sleep or power-down mode.
|
||||
void osKernelResume (uint32_t sleep_ticks);
|
||||
|
||||
/// Get the RTOS kernel tick count.
|
||||
/// \return RTOS kernel current tick count.
|
||||
uint32_t osKernelGetTickCount (void);
|
||||
|
||||
/// Get the RTOS kernel tick frequency.
|
||||
/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
|
||||
uint32_t osKernelGetTickFreq (void);
|
||||
|
||||
/// Get the RTOS kernel system timer count.
|
||||
/// \return RTOS kernel current system timer count as 32-bit value.
|
||||
uint32_t osKernelGetSysTimerCount (void);
|
||||
|
||||
/// Get the RTOS kernel system timer frequency.
|
||||
/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
|
||||
uint32_t osKernelGetSysTimerFreq (void);
|
||||
|
||||
|
||||
// ==== Thread Management Functions ====
|
||||
|
||||
/// Create a thread and add it to Active Threads.
|
||||
/// \param[in] func thread function.
|
||||
/// \param[in] argument pointer that is passed to the thread function as start argument.
|
||||
/// \param[in] attr thread attributes; NULL: default values.
|
||||
/// \return thread ID for reference by other functions or NULL in case of error.
|
||||
osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
|
||||
|
||||
/// Get name of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osThreadGetName (osThreadId_t thread_id);
|
||||
|
||||
/// Return the thread ID of the current running thread.
|
||||
/// \return thread ID for reference by other functions or NULL in case of error.
|
||||
osThreadId_t osThreadGetId (void);
|
||||
|
||||
/// Get current thread state of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return current thread state of the specified thread.
|
||||
osThreadState_t osThreadGetState (osThreadId_t thread_id);
|
||||
|
||||
/// Get stack size of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return stack size in bytes.
|
||||
uint32_t osThreadGetStackSize (osThreadId_t thread_id);
|
||||
|
||||
/// Get available stack space of a thread based on stack watermark recording during execution.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return remaining stack space in bytes.
|
||||
uint32_t osThreadGetStackSpace (osThreadId_t thread_id);
|
||||
|
||||
/// Change priority of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \param[in] priority new priority value for the thread function.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);
|
||||
|
||||
/// Get current priority of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return current priority value of the specified thread.
|
||||
osPriority_t osThreadGetPriority (osThreadId_t thread_id);
|
||||
|
||||
/// Pass control to next thread that is in state \b READY.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadYield (void);
|
||||
|
||||
/// Suspend execution of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadSuspend (osThreadId_t thread_id);
|
||||
|
||||
/// Resume execution of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadResume (osThreadId_t thread_id);
|
||||
|
||||
/// Detach a thread (thread storage can be reclaimed when thread terminates).
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadDetach (osThreadId_t thread_id);
|
||||
|
||||
/// Wait for specified thread to terminate.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadJoin (osThreadId_t thread_id);
|
||||
|
||||
/// Terminate execution of current running thread.
|
||||
__NO_RETURN void osThreadExit (void);
|
||||
|
||||
/// Terminate execution of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osThreadTerminate (osThreadId_t thread_id);
|
||||
|
||||
/// Get number of active threads.
|
||||
/// \return number of active threads.
|
||||
uint32_t osThreadGetCount (void);
|
||||
|
||||
/// Enumerate active threads.
|
||||
/// \param[out] thread_array pointer to array for retrieving thread IDs.
|
||||
/// \param[in] array_items maximum number of items in array for retrieving thread IDs.
|
||||
/// \return number of enumerated threads.
|
||||
uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);
|
||||
|
||||
|
||||
// ==== Thread Flags Functions ====
|
||||
|
||||
/// Set the specified Thread Flags of a thread.
|
||||
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
|
||||
/// \param[in] flags specifies the flags of the thread that shall be set.
|
||||
/// \return thread flags after setting or error code if highest bit set.
|
||||
uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);
|
||||
|
||||
/// Clear the specified Thread Flags of current running thread.
|
||||
/// \param[in] flags specifies the flags of the thread that shall be cleared.
|
||||
/// \return thread flags before clearing or error code if highest bit set.
|
||||
uint32_t osThreadFlagsClear (uint32_t flags);
|
||||
|
||||
/// Get the current Thread Flags of current running thread.
|
||||
/// \return current thread flags.
|
||||
uint32_t osThreadFlagsGet (void);
|
||||
|
||||
/// Wait for one or more Thread Flags of the current running thread to become signaled.
|
||||
/// \param[in] flags specifies the flags to wait for.
|
||||
/// \param[in] options specifies flags options (osFlagsXxxx).
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return thread flags before clearing or error code if highest bit set.
|
||||
uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);
|
||||
|
||||
|
||||
// ==== Generic Wait Functions ====
|
||||
|
||||
/// Wait for Timeout (Time Delay).
|
||||
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osDelay (uint32_t ticks);
|
||||
|
||||
/// Wait until specified time.
|
||||
/// \param[in] ticks absolute time in ticks
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osDelayUntil (uint32_t ticks);
|
||||
|
||||
|
||||
// ==== Timer Management Functions ====
|
||||
|
||||
/// Create and Initialize a timer.
|
||||
/// \param[in] func function pointer to callback function.
|
||||
/// \param[in] type \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
|
||||
/// \param[in] argument argument to the timer callback function.
|
||||
/// \param[in] attr timer attributes; NULL: default values.
|
||||
/// \return timer ID for reference by other functions or NULL in case of error.
|
||||
osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);
|
||||
|
||||
/// Get name of a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osTimerGetName (osTimerId_t timer_id);
|
||||
|
||||
/// Start or restart a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
|
||||
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);
|
||||
|
||||
/// Stop a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osTimerStop (osTimerId_t timer_id);
|
||||
|
||||
/// Check if a timer is running.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
|
||||
/// \return 0 not running, 1 running.
|
||||
uint32_t osTimerIsRunning (osTimerId_t timer_id);
|
||||
|
||||
/// Delete a timer.
|
||||
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osTimerDelete (osTimerId_t timer_id);
|
||||
|
||||
|
||||
// ==== Event Flags Management Functions ====
|
||||
|
||||
/// Create and Initialize an Event Flags object.
|
||||
/// \param[in] attr event flags attributes; NULL: default values.
|
||||
/// \return event flags ID for reference by other functions or NULL in case of error.
|
||||
osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);
|
||||
|
||||
/// Get name of an Event Flags object.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osEventFlagsGetName (osEventFlagsId_t ef_id);
|
||||
|
||||
/// Set the specified Event Flags.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \param[in] flags specifies the flags that shall be set.
|
||||
/// \return event flags after setting or error code if highest bit set.
|
||||
uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);
|
||||
|
||||
/// Clear the specified Event Flags.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \param[in] flags specifies the flags that shall be cleared.
|
||||
/// \return event flags before clearing or error code if highest bit set.
|
||||
uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);
|
||||
|
||||
/// Get the current Event Flags.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \return current event flags.
|
||||
uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);
|
||||
|
||||
/// Wait for one or more Event Flags to become signaled.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \param[in] flags specifies the flags to wait for.
|
||||
/// \param[in] options specifies flags options (osFlagsXxxx).
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return event flags before clearing or error code if highest bit set.
|
||||
uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);
|
||||
|
||||
/// Delete an Event Flags object.
|
||||
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);
|
||||
|
||||
|
||||
// ==== Mutex Management Functions ====
|
||||
|
||||
/// Create and Initialize a Mutex object.
|
||||
/// \param[in] attr mutex attributes; NULL: default values.
|
||||
/// \return mutex ID for reference by other functions or NULL in case of error.
|
||||
osMutexId_t osMutexNew (const osMutexAttr_t *attr);
|
||||
|
||||
/// Get name of a Mutex object.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osMutexGetName (osMutexId_t mutex_id);
|
||||
|
||||
/// Acquire a Mutex or timeout if it is locked.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);
|
||||
|
||||
/// Release a Mutex that was acquired by \ref osMutexAcquire.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMutexRelease (osMutexId_t mutex_id);
|
||||
|
||||
/// Get Thread which owns a Mutex object.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
|
||||
/// \return thread ID of owner thread or NULL when mutex was not acquired.
|
||||
osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);
|
||||
|
||||
/// Delete a Mutex object.
|
||||
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMutexDelete (osMutexId_t mutex_id);
|
||||
|
||||
|
||||
// ==== Semaphore Management Functions ====
|
||||
|
||||
/// Create and Initialize a Semaphore object.
|
||||
/// \param[in] max_count maximum number of available tokens.
|
||||
/// \param[in] initial_count initial number of available tokens.
|
||||
/// \param[in] attr semaphore attributes; NULL: default values.
|
||||
/// \return semaphore ID for reference by other functions or NULL in case of error.
|
||||
osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);
|
||||
|
||||
/// Get name of a Semaphore object.
|
||||
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);
|
||||
|
||||
/// Acquire a Semaphore token or timeout if no tokens are available.
|
||||
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);
|
||||
|
||||
/// Release a Semaphore token up to the initial maximum count.
|
||||
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);
|
||||
|
||||
/// Get current Semaphore token count.
|
||||
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
|
||||
/// \return number of tokens available.
|
||||
uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);
|
||||
|
||||
/// Delete a Semaphore object.
|
||||
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);
|
||||
|
||||
|
||||
// ==== Memory Pool Management Functions ====
|
||||
|
||||
/// Create and Initialize a Memory Pool object.
|
||||
/// \param[in] block_count maximum number of memory blocks in memory pool.
|
||||
/// \param[in] block_size memory block size in bytes.
|
||||
/// \param[in] attr memory pool attributes; NULL: default values.
|
||||
/// \return memory pool ID for reference by other functions or NULL in case of error.
|
||||
osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);
|
||||
|
||||
/// Get name of a Memory Pool object.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);
|
||||
|
||||
/// Allocate a memory block from a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return address of the allocated memory block or NULL in case of no memory is available.
|
||||
void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);
|
||||
|
||||
/// Return an allocated memory block back to a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);
|
||||
|
||||
/// Get maximum number of memory blocks in a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return maximum number of memory blocks.
|
||||
uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);
|
||||
|
||||
/// Get memory block size in a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return memory block size in bytes.
|
||||
uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);
|
||||
|
||||
/// Get number of memory blocks used in a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return number of memory blocks used.
|
||||
uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);
|
||||
|
||||
/// Get number of memory blocks available in a Memory Pool.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return number of memory blocks available.
|
||||
uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);
|
||||
|
||||
/// Delete a Memory Pool object.
|
||||
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);
|
||||
|
||||
|
||||
// ==== Message Queue Management Functions ====
|
||||
|
||||
/// Create and Initialize a Message Queue object.
|
||||
/// \param[in] msg_count maximum number of messages in queue.
|
||||
/// \param[in] msg_size maximum message size in bytes.
|
||||
/// \param[in] attr message queue attributes; NULL: default values.
|
||||
/// \return message queue ID for reference by other functions or NULL in case of error.
|
||||
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);
|
||||
|
||||
/// Get name of a Message Queue object.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return name as NULL terminated string.
|
||||
const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Put a Message into a Queue or timeout if Queue is full.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \param[in] msg_ptr pointer to buffer with message to put into a queue.
|
||||
/// \param[in] msg_prio message priority.
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
|
||||
|
||||
/// Get a Message from a Queue or timeout if Queue is empty.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \param[out] msg_ptr pointer to buffer for message to get from a queue.
|
||||
/// \param[out] msg_prio pointer to buffer for message priority or NULL.
|
||||
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
|
||||
|
||||
/// Get maximum number of messages in a Message Queue.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return maximum number of messages.
|
||||
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Get maximum message size in a Memory Pool.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return maximum message size in bytes.
|
||||
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Get number of queued messages in a Message Queue.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return number of queued messages.
|
||||
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Get number of available slots for messages in a Message Queue.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return number of available slots for messages.
|
||||
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Reset a Message Queue to initial empty state.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);
|
||||
|
||||
/// Delete a Message Queue object.
|
||||
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
|
||||
/// \return status code that indicates the execution status of the function.
|
||||
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // CMSIS_OS2_H_
|
||||
@@ -0,0 +1,63 @@
|
||||
/* --------------------------------------------------------------------------
|
||||
* Copyright (c) 2013-2020 Arm Limited. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*
|
||||
* Name: freertos_mpool.h
|
||||
* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
|
||||
*
|
||||
*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef FREERTOS_MPOOL_H_
|
||||
#define FREERTOS_MPOOL_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "FreeRTOS.h"
|
||||
#include "semphr.h"
|
||||
|
||||
/* Memory Pool implementation definitions */
|
||||
#define MPOOL_STATUS 0x5EED0000U
|
||||
|
||||
/* Memory Block header */
|
||||
typedef struct {
|
||||
void *next; /* Pointer to next block */
|
||||
} MemPoolBlock_t;
|
||||
|
||||
/* Memory Pool control block */
|
||||
typedef struct MemPoolDef_t {
|
||||
MemPoolBlock_t *head; /* Pointer to head block */
|
||||
SemaphoreHandle_t sem; /* Pool semaphore handle */
|
||||
uint8_t *mem_arr; /* Pool memory array */
|
||||
uint32_t mem_sz; /* Pool memory array size */
|
||||
const char *name; /* Pointer to name string */
|
||||
uint32_t bl_sz; /* Size of a single block */
|
||||
uint32_t bl_cnt; /* Number of blocks */
|
||||
uint32_t n; /* Block allocation index */
|
||||
volatile uint32_t status; /* Object status flags */
|
||||
#if (configSUPPORT_STATIC_ALLOCATION == 1)
|
||||
StaticSemaphore_t mem_sem; /* Semaphore object memory */
|
||||
#endif
|
||||
} MemPool_t;
|
||||
|
||||
/* No need to hide static object type, just align to coding style */
|
||||
#define StaticMemPool_t MemPool_t
|
||||
|
||||
/* Define memory pool control block size */
|
||||
#define MEMPOOL_CB_SIZE (sizeof(StaticMemPool_t))
|
||||
|
||||
/* Define size of the byte array required to create count of blocks of given size */
|
||||
#define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
|
||||
|
||||
#endif /* FREERTOS_MPOOL_H_ */
|
||||
@@ -0,0 +1,310 @@
|
||||
/* --------------------------------------------------------------------------
|
||||
* Copyright (c) 2013-2020 Arm Limited. All rights reserved.
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* Licensed under the Apache License, Version 2.0 (the License); you may
|
||||
* not use this file except in compliance with the License.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
|
||||
*
|
||||
* Unless required by applicable law or agreed to in writing, software
|
||||
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
||||
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
* See the License for the specific language governing permissions and
|
||||
* limitations under the License.
|
||||
*
|
||||
* Name: freertos_os2.h
|
||||
* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
|
||||
*
|
||||
*---------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef FREERTOS_OS2_H_
|
||||
#define FREERTOS_OS2_H_
|
||||
|
||||
#include <string.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include "FreeRTOS.h" // ARM.FreeRTOS::RTOS:Core
|
||||
|
||||
#include CMSIS_device_header
|
||||
|
||||
/*
|
||||
CMSIS-RTOS2 FreeRTOS image size optimization definitions.
|
||||
|
||||
Note: Definitions configUSE_OS2 can be used to optimize FreeRTOS image size when
|
||||
certain functionality is not required when using CMSIS-RTOS2 API.
|
||||
In general optimization decisions are left to the tool chain but in cases
|
||||
when coding style prevents it to optimize the code following optional
|
||||
definitions can be used.
|
||||
*/
|
||||
|
||||
/*
|
||||
Option to exclude CMSIS-RTOS2 functions osThreadSuspend and osThreadResume from
|
||||
the application image.
|
||||
*/
|
||||
#ifndef configUSE_OS2_THREAD_SUSPEND_RESUME
|
||||
#define configUSE_OS2_THREAD_SUSPEND_RESUME 1
|
||||
#endif
|
||||
|
||||
/*
|
||||
Option to exclude CMSIS-RTOS2 function osThreadEnumerate from the application image.
|
||||
*/
|
||||
#ifndef configUSE_OS2_THREAD_ENUMERATE
|
||||
#define configUSE_OS2_THREAD_ENUMERATE 1
|
||||
#endif
|
||||
|
||||
/*
|
||||
Option to disable CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear
|
||||
operation from ISR.
|
||||
*/
|
||||
#ifndef configUSE_OS2_EVENTFLAGS_FROM_ISR
|
||||
#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1
|
||||
#endif
|
||||
|
||||
/*
|
||||
Option to exclude CMSIS-RTOS2 Thread Flags API functions from the application image.
|
||||
*/
|
||||
#ifndef configUSE_OS2_THREAD_FLAGS
|
||||
#define configUSE_OS2_THREAD_FLAGS configUSE_TASK_NOTIFICATIONS
|
||||
#endif
|
||||
|
||||
/*
|
||||
Option to exclude CMSIS-RTOS2 Timer API functions from the application image.
|
||||
*/
|
||||
#ifndef configUSE_OS2_TIMER
|
||||
#define configUSE_OS2_TIMER configUSE_TIMERS
|
||||
#endif
|
||||
|
||||
/*
|
||||
Option to exclude CMSIS-RTOS2 Mutex API functions from the application image.
|
||||
*/
|
||||
#ifndef configUSE_OS2_MUTEX
|
||||
#define configUSE_OS2_MUTEX configUSE_MUTEXES
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
CMSIS-RTOS2 FreeRTOS configuration check (FreeRTOSConfig.h).
|
||||
|
||||
Note: CMSIS-RTOS API requires functions included by using following definitions.
|
||||
In case if certain API function is not used compiler will optimize it away.
|
||||
*/
|
||||
#if (INCLUDE_xSemaphoreGetMutexHolder == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osMutexGetOwner uses FreeRTOS function xSemaphoreGetMutexHolder. In case if
|
||||
osMutexGetOwner is not used in the application image, compiler will optimize it away.
|
||||
Set #define INCLUDE_xSemaphoreGetMutexHolder 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_xSemaphoreGetMutexHolder must equal 1 to implement Mutex Management API."
|
||||
#endif
|
||||
#if (INCLUDE_vTaskDelay == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osDelay uses FreeRTOS function vTaskDelay. In case if
|
||||
osDelay is not used in the application image, compiler will optimize it away.
|
||||
Set #define INCLUDE_vTaskDelay 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_vTaskDelay must equal 1 to implement Generic Wait Functions API."
|
||||
#endif
|
||||
#if (INCLUDE_vTaskDelayUntil == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osDelayUntil uses FreeRTOS function vTaskDelayUntil. In case if
|
||||
osDelayUntil is not used in the application image, compiler will optimize it away.
|
||||
Set #define INCLUDE_vTaskDelayUntil 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_vTaskDelayUntil must equal 1 to implement Generic Wait Functions API."
|
||||
#endif
|
||||
#if (INCLUDE_vTaskDelete == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osThreadTerminate and osThreadExit uses FreeRTOS function
|
||||
vTaskDelete. In case if they are not used in the application image, compiler
|
||||
will optimize them away.
|
||||
Set #define INCLUDE_vTaskDelete 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_vTaskDelete must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_xTaskGetCurrentTaskHandle == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 API uses FreeRTOS function xTaskGetCurrentTaskHandle to implement
|
||||
functions osThreadGetId, osThreadFlagsClear and osThreadFlagsGet. In case if these
|
||||
functions are not used in the application image, compiler will optimize them away.
|
||||
Set #define INCLUDE_xTaskGetCurrentTaskHandle 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_xTaskGetCurrentTaskHandle must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_xTaskGetSchedulerState == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 API uses FreeRTOS function xTaskGetSchedulerState to implement Kernel
|
||||
tick handling and therefore it is vital that xTaskGetSchedulerState is included into
|
||||
the application image.
|
||||
Set #define INCLUDE_xTaskGetSchedulerState 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_xTaskGetSchedulerState must equal 1 to implement Kernel Information and Control API."
|
||||
#endif
|
||||
#if (INCLUDE_uxTaskGetStackHighWaterMark == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osThreadGetStackSpace uses FreeRTOS function uxTaskGetStackHighWaterMark.
|
||||
In case if osThreadGetStackSpace is not used in the application image, compiler will
|
||||
optimize it away.
|
||||
Set #define INCLUDE_uxTaskGetStackHighWaterMark 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_uxTaskGetStackHighWaterMark must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_uxTaskPriorityGet == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osThreadGetPriority uses FreeRTOS function uxTaskPriorityGet. In case if
|
||||
osThreadGetPriority is not used in the application image, compiler will optimize it away.
|
||||
Set #define INCLUDE_uxTaskPriorityGet 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_uxTaskPriorityGet must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_vTaskPrioritySet == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osThreadSetPriority uses FreeRTOS function vTaskPrioritySet. In case if
|
||||
osThreadSetPriority is not used in the application image, compiler will optimize it away.
|
||||
Set #define INCLUDE_vTaskPrioritySet 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_vTaskPrioritySet must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_eTaskGetState == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 API uses FreeRTOS function vTaskDelayUntil to implement functions osThreadGetState
|
||||
and osThreadTerminate. In case if these functions are not used in the application image,
|
||||
compiler will optimize them away.
|
||||
Set #define INCLUDE_eTaskGetState 1 to fix this error.
|
||||
*/
|
||||
#error "Definition INCLUDE_eTaskGetState must equal 1 to implement Thread Management API."
|
||||
#endif
|
||||
#if (INCLUDE_vTaskSuspend == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 API uses FreeRTOS functions vTaskSuspend and vTaskResume to implement
|
||||
functions osThreadSuspend and osThreadResume. In case if these functions are not
|
||||
used in the application image, compiler will optimize them away.
|
||||
Set #define INCLUDE_vTaskSuspend 1 to fix this error.
|
||||
|
||||
Alternatively, if the application does not use osThreadSuspend and
|
||||
osThreadResume they can be excluded from the image code by setting:
|
||||
#define configUSE_OS2_THREAD_SUSPEND_RESUME 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1)
|
||||
#error "Definition INCLUDE_vTaskSuspend must equal 1 to implement Kernel Information and Control API."
|
||||
#endif
|
||||
#endif
|
||||
#if (INCLUDE_xTimerPendFunctionCall == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear, when called from
|
||||
the ISR, call FreeRTOS functions xEventGroupSetBitsFromISR and
|
||||
xEventGroupClearBitsFromISR which are only enabled if timers are operational and
|
||||
xTimerPendFunctionCall in enabled.
|
||||
Set #define INCLUDE_xTimerPendFunctionCall 1 and #define configUSE_TIMERS 1
|
||||
to fix this error.
|
||||
|
||||
Alternatively, if the application does not use osEventFlagsSet and osEventFlagsClear
|
||||
from the ISR their operation from ISR can be restricted by setting:
|
||||
#define configUSE_OS2_EVENTFLAGS_FROM_ISR 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 1)
|
||||
#error "Definition INCLUDE_xTimerPendFunctionCall must equal 1 to implement Event Flags API."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (configUSE_TIMERS == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 Timer Management API functions use FreeRTOS timer functions to implement
|
||||
timer management. In case if these functions are not used in the application image,
|
||||
compiler will optimize them away.
|
||||
Set #define configUSE_TIMERS 1 to fix this error.
|
||||
|
||||
Alternatively, if the application does not use timer functions they can be
|
||||
excluded from the image code by setting:
|
||||
#define configUSE_OS2_TIMER 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_TIMER == 1)
|
||||
#error "Definition configUSE_TIMERS must equal 1 to implement Timer Management API."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (configUSE_MUTEXES == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 Mutex Management API functions use FreeRTOS mutex functions to implement
|
||||
mutex management. In case if these functions are not used in the application image,
|
||||
compiler will optimize them away.
|
||||
Set #define configUSE_MUTEXES 1 to fix this error.
|
||||
|
||||
Alternatively, if the application does not use mutex functions they can be
|
||||
excluded from the image code by setting:
|
||||
#define configUSE_OS2_MUTEX 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_MUTEX == 1)
|
||||
#error "Definition configUSE_MUTEXES must equal 1 to implement Mutex Management API."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (configUSE_COUNTING_SEMAPHORES == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 Memory Pool functions use FreeRTOS function xSemaphoreCreateCounting
|
||||
to implement memory pools. In case if these functions are not used in the application image,
|
||||
compiler will optimize them away.
|
||||
Set #define configUSE_COUNTING_SEMAPHORES 1 to fix this error.
|
||||
*/
|
||||
#error "Definition configUSE_COUNTING_SEMAPHORES must equal 1 to implement Memory Pool API."
|
||||
#endif
|
||||
#if (configUSE_TASK_NOTIFICATIONS == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 Thread Flags API functions use FreeRTOS Task Notification functions to implement
|
||||
thread flag management. In case if these functions are not used in the application image,
|
||||
compiler will optimize them away.
|
||||
Set #define configUSE_TASK_NOTIFICATIONS 1 to fix this error.
|
||||
|
||||
Alternatively, if the application does not use thread flags functions they can be
|
||||
excluded from the image code by setting:
|
||||
#define configUSE_OS2_THREAD_FLAGS 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_THREAD_FLAGS == 1)
|
||||
#error "Definition configUSE_TASK_NOTIFICATIONS must equal 1 to implement Thread Flags API."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (configUSE_TRACE_FACILITY == 0)
|
||||
/*
|
||||
CMSIS-RTOS2 function osThreadEnumerate requires FreeRTOS function uxTaskGetSystemState
|
||||
which is only enabled if configUSE_TRACE_FACILITY == 1.
|
||||
Set #define configUSE_TRACE_FACILITY 1 to fix this error.
|
||||
|
||||
Alternatively, if the application does not use osThreadEnumerate it can be
|
||||
excluded from the image code by setting:
|
||||
#define configUSE_OS2_THREAD_ENUMERATE 0 (in FreeRTOSConfig.h)
|
||||
*/
|
||||
#if (configUSE_OS2_THREAD_ENUMERATE == 1)
|
||||
#error "Definition configUSE_TRACE_FACILITY must equal 1 to implement osThreadEnumerate."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if (configUSE_16_BIT_TICKS == 1)
|
||||
/*
|
||||
CMSIS-RTOS2 wrapper for FreeRTOS relies on 32-bit tick timer which is also optimal on
|
||||
a 32-bit CPU architectures.
|
||||
Set #define configUSE_16_BIT_TICKS 0 to fix this error.
|
||||
*/
|
||||
#error "Definition configUSE_16_BIT_TICKS must be zero to implement CMSIS-RTOS2 API."
|
||||
#endif
|
||||
|
||||
#if (configMAX_PRIORITIES != 56)
|
||||
/*
|
||||
CMSIS-RTOS2 defines 56 different priorities (see osPriority_t) and portable CMSIS-RTOS2
|
||||
implementation should implement the same number of priorities.
|
||||
Set #define configMAX_PRIORITIES 56 to fix this error.
|
||||
*/
|
||||
#error "Definition configMAX_PRIORITIES must equal 56 to implement Thread Management API."
|
||||
#endif
|
||||
#if (configUSE_PORT_OPTIMISED_TASK_SELECTION != 0)
|
||||
/*
|
||||
CMSIS-RTOS2 requires handling of 56 different priorities (see osPriority_t) while FreeRTOS port
|
||||
optimised selection for Cortex core only handles 32 different priorities.
|
||||
Set #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 to fix this error.
|
||||
*/
|
||||
#error "Definition configUSE_PORT_OPTIMISED_TASK_SELECTION must be zero to implement Thread Management API."
|
||||
#endif
|
||||
|
||||
#endif /* FREERTOS_OS2_H_ */
|
||||
@@ -15,8 +15,9 @@ Dma.I2C1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAl
|
||||
Dma.Request0=I2C1_RX
|
||||
Dma.RequestsNb=1
|
||||
FREERTOS.FootprintOK=true
|
||||
FREERTOS.IPParameters=Tasks01,configUSE_IDLE_HOOK,configENABLE_FPU,FootprintOK
|
||||
FREERTOS.Tasks01=defaultTask,0,1024,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;SensorReading,-3,1024,StartSensorReading,Default,NULL,Dynamic,NULL,NULL;Sensor2Reading,0,1024,StartSensor2Reading,Default,NULL,Dynamic,NULL,NULL
|
||||
FREERTOS.IPParameters=Tasks01,configUSE_IDLE_HOOK,configENABLE_FPU,Queues01,FootprintOK
|
||||
FREERTOS.Queues01=SensorQueue1,5,ProcessedData_HandleTypeDef,0,Dynamic,NULL,NULL
|
||||
FREERTOS.Tasks01=defaultTask,24,1024,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;SensorReading,8,1024,StartSensorReading,Default,NULL,Dynamic,NULL,NULL;Sensor2Reading,24,1024,StartSensor2Reading,Default,NULL,Dynamic,NULL,NULL
|
||||
FREERTOS.configENABLE_FPU=1
|
||||
FREERTOS.configUSE_IDLE_HOOK=0
|
||||
File.Version=6
|
||||
@@ -42,7 +43,7 @@ Mcu.Pin1=PC14-OSC32_IN
|
||||
Mcu.Pin10=PB3
|
||||
Mcu.Pin11=PB8
|
||||
Mcu.Pin12=PB9
|
||||
Mcu.Pin13=VP_FREERTOS_VS_CMSIS_V1
|
||||
Mcu.Pin13=VP_FREERTOS_VS_CMSIS_V2
|
||||
Mcu.Pin14=VP_SYS_VS_tim6
|
||||
Mcu.Pin2=PC15-OSC32_OUT
|
||||
Mcu.Pin3=PH0-OSC_IN
|
||||
@@ -145,7 +146,7 @@ ProjectManager.FreePins=false
|
||||
ProjectManager.HalAssertFull=false
|
||||
ProjectManager.HeapSize=0x200
|
||||
ProjectManager.KeepUserCode=true
|
||||
ProjectManager.LastFirmware=true
|
||||
ProjectManager.LastFirmware=false
|
||||
ProjectManager.LibraryCopy=1
|
||||
ProjectManager.MainLocation=Core/Src
|
||||
ProjectManager.NoMain=false
|
||||
@@ -215,8 +216,8 @@ SH.GPXTI13.0=GPIO_EXTI13
|
||||
SH.GPXTI13.ConfNb=1
|
||||
USART2.IPParameters=VirtualMode
|
||||
USART2.VirtualMode=VM_ASYNC
|
||||
VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
|
||||
VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
|
||||
VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
|
||||
VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
|
||||
VP_SYS_VS_tim6.Mode=TIM6
|
||||
VP_SYS_VS_tim6.Signal=SYS_VS_tim6
|
||||
board=NUCLEO-F446RE
|
||||
|
||||
Reference in New Issue
Block a user