Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
This commit is contained in:
@@ -0,0 +1,922 @@
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/*
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* Copyright (c) 2013-2018 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
|
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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||||
* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* ----------------------------------------------------------------------
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*
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* $Date: 18. June 2018
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* $Revision: V2.1.3
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*
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* Project: CMSIS-RTOS API
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* Title: cmsis_os.h template header file
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*
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* Version 0.02
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* Initial Proposal Phase
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* Version 0.03
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* osKernelStart added, optional feature: main started as thread
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* osSemaphores have standard behavior
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* osTimerCreate does not start the timer, added osTimerStart
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* osThreadPass is renamed to osThreadYield
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* Version 1.01
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* Support for C++ interface
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* - const attribute removed from the osXxxxDef_t typedefs
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* - const attribute added to the osXxxxDef macros
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* Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
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* Added: osKernelInitialize
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* Version 1.02
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* Control functions for short timeouts in microsecond resolution:
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* Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
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* Removed: osSignalGet
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* Version 2.0.0
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* OS objects creation without macros (dynamic creation and resource allocation):
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* - added: osXxxxNew functions which replace osXxxxCreate
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* - added: osXxxxAttr_t structures
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* - deprecated: osXxxxCreate functions, osXxxxDef_t structures
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* - deprecated: osXxxxDef and osXxxx macros
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* osStatus codes simplified and renamed to osStatus_t
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* osEvent return structure deprecated
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* Kernel:
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* - added: osKernelInfo_t and osKernelGetInfo
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* - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
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* - added: osKernelLock, osKernelUnlock
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* - added: osKernelSuspend, osKernelResume
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* - added: osKernelGetTickCount, osKernelGetTickFreq
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* - renamed osKernelSysTick to osKernelGetSysTimerCount
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* - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
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* - deprecated osKernelSysTickMicroSec
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* Thread:
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* - extended number of thread priorities
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* - renamed osPrioriry to osPrioriry_t
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* - replaced osThreadCreate with osThreadNew
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* - added: osThreadGetName
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* - added: osThreadState_t and osThreadGetState
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* - added: osThreadGetStackSize, osThreadGetStackSpace
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* - added: osThreadSuspend, osThreadResume
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* - added: osThreadJoin, osThreadDetach, osThreadExit
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* - added: osThreadGetCount, osThreadEnumerate
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* - added: Thread Flags (moved from Signals)
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* Signals:
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* - renamed osSignals to osThreadFlags (moved to Thread Flags)
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* - changed return value of Set/Clear/Wait functions
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* - Clear function limited to current running thread
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* - extended Wait function (options)
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* - added: osThreadFlagsGet
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* Event Flags:
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* - added new independent object for handling Event Flags
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* Delay and Wait functions:
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* - added: osDelayUntil
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* - deprecated: osWait
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* Timer:
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* - replaced osTimerCreate with osTimerNew
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* - added: osTimerGetName, osTimerIsRunning
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* Mutex:
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* - extended: attributes (Recursive, Priority Inherit, Robust)
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* - replaced osMutexCreate with osMutexNew
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* - renamed osMutexWait to osMutexAcquire
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* - added: osMutexGetName, osMutexGetOwner
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* Semaphore:
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* - extended: maximum and initial token count
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* - replaced osSemaphoreCreate with osSemaphoreNew
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* - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
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* - added: osSemaphoreGetName, osSemaphoreGetCount
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* Memory Pool:
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* - using osMemoryPool prefix instead of osPool
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* - replaced osPoolCreate with osMemoryPoolNew
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* - extended osMemoryPoolAlloc (timeout)
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* - added: osMemoryPoolGetName
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* - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
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* - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
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* - added: osMemoryPoolDelete
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* - deprecated: osPoolCAlloc
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* Message Queue:
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* - extended: fixed size message instead of a single 32-bit value
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* - using osMessageQueue prefix instead of osMessage
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* - replaced osMessageCreate with osMessageQueueNew
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* - updated: osMessageQueuePut, osMessageQueueGet
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* - added: osMessageQueueGetName
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* - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
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* - added: osMessageQueueGetCount, osMessageQueueGetSpace
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* - added: osMessageQueueReset, osMessageQueueDelete
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* Mail Queue:
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* - deprecated (superseded by extended Message Queue functionality)
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* Version 2.1.0
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* Support for critical and uncritical sections (nesting safe):
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* - updated: osKernelLock, osKernelUnlock
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* - added: osKernelRestoreLock
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* Updated Thread and Event Flags:
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* - changed flags parameter and return type from int32_t to uint32_t
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* Version 2.1.1
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osKernelGetTickCount, osKernelGetTickFreq
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* Changed Kernel Tick type to uint32_t:
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* - updated: osKernelGetTickCount, osDelayUntil
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* Version 2.1.2
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osKernelGetInfo, osKernelGetState
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* Version 2.1.3
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* Additional functions allowed to be called from Interrupt Service Routines:
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* - osThreadGetId
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*---------------------------------------------------------------------------*/
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#ifndef CMSIS_OS_H_
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#define CMSIS_OS_H_
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/// \b osCMSIS identifies the CMSIS-RTOS API version.
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#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0])
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/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.
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#define osCMSIS_KERNEL 0x10000U ///< RTOS identification and version (main[31:16].sub[15:0])
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/// \note CAN BE CHANGED: \b osKernelSystemId identifies the underlying RTOS kernel.
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#define osKernelSystemId "KERNEL V1.0" ///< RTOS identification string
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/// \note CAN BE CHANGED: \b osFeature_xxx identifies RTOS features.
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#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
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#define osFeature_Signals 16U ///< maximum number of Signal Flags available per thread
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#define osFeature_Semaphore 65535U ///< maximum count for \ref osSemaphoreCreate function
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#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
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#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
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#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
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#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
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#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
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#if (osCMSIS >= 0x20000U)
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#include "cmsis_os2.h"
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#else
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#include <stdint.h>
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#include <stddef.h>
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#endif
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// ==== Enumerations, structures, defines ====
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/// Priority values.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osPriorityIdle = -3, ///< Priority: idle (lowest)
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osPriorityLow = -2, ///< Priority: low
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osPriorityBelowNormal = -1, ///< Priority: below normal
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osPriorityNormal = 0, ///< Priority: normal (default)
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osPriorityAboveNormal = +1, ///< Priority: above normal
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osPriorityHigh = +2, ///< Priority: high
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osPriorityRealtime = +3, ///< Priority: realtime (highest)
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osPriorityError = 0x84, ///< System cannot determine priority or illegal priority.
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osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
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} osPriority;
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#else
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#define osPriority osPriority_t
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#endif
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/// Entry point of a thread.
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typedef void (*os_pthread) (void const *argument);
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/// Entry point of a timer call back function.
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typedef void (*os_ptimer) (void const *argument);
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/// Timer type.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osTimerOnce = 0, ///< One-shot timer.
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osTimerPeriodic = 1 ///< Repeating timer.
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} os_timer_type;
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#else
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#define os_timer_type osTimerType_t
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#endif
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/// Timeout value.
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#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
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/// Status code values returned by CMSIS-RTOS functions.
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#if (osCMSIS < 0x20000U)
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typedef enum {
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osOK = 0, ///< Function completed; no error or event occurred.
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osEventSignal = 0x08, ///< Function completed; signal event occurred.
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osEventMessage = 0x10, ///< Function completed; message event occurred.
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osEventMail = 0x20, ///< Function completed; mail event occurred.
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osEventTimeout = 0x40, ///< Function completed; timeout occurred.
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osErrorParameter = 0x80, ///< Parameter error: a mandatory parameter was missing or specified an incorrect object.
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osErrorResource = 0x81, ///< Resource not available: a specified resource was not available.
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osErrorTimeoutResource = 0xC1, ///< Resource not available within given time: a specified resource was not available within the timeout period.
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osErrorISR = 0x82, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
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osErrorISRRecursive = 0x83, ///< Function called multiple times from ISR with same object.
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osErrorPriority = 0x84, ///< System cannot determine priority or thread has illegal priority.
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osErrorNoMemory = 0x85, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
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osErrorValue = 0x86, ///< Value of a parameter is out of range.
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osErrorOS = 0xFF, ///< Unspecified RTOS error: run-time error but no other error message fits.
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osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
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} osStatus;
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#else
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typedef int32_t osStatus;
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#define osEventSignal (0x08)
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#define osEventMessage (0x10)
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#define osEventMail (0x20)
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#define osEventTimeout (0x40)
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#define osErrorOS osError
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#define osErrorTimeoutResource osErrorTimeout
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#define osErrorISRRecursive (-126)
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#define osErrorValue (-127)
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#define osErrorPriority (-128)
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#endif
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// >>> the following data type definitions may be adapted towards a specific RTOS
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/// Thread ID identifies the thread.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osThreadId;
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#else
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#define osThreadId osThreadId_t
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#endif
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/// Timer ID identifies the timer.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osTimerId;
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#else
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#define osTimerId osTimerId_t
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#endif
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/// Mutex ID identifies the mutex.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osMutexId;
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#else
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#define osMutexId osMutexId_t
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#endif
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/// Semaphore ID identifies the semaphore.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef void *osSemaphoreId;
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#else
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#define osSemaphoreId osSemaphoreId_t
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#endif
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/// Pool ID identifies the memory pool.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osPoolId;
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/// Message ID identifies the message queue.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osMessageQId;
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/// Mail ID identifies the mail queue.
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/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
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typedef void *osMailQId;
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/// Thread Definition structure contains startup information of a thread.
|
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/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
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#if (osCMSIS < 0x20000U)
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typedef struct os_thread_def {
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os_pthread pthread; ///< start address of thread function
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osPriority tpriority; ///< initial thread priority
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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
|
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osThreadAttr_t attr; ///< thread attributes
|
||||
} osThreadDef_t;
|
||||
#endif
|
||||
|
||||
/// Timer Definition structure contains timer parameters.
|
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/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
|
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#if (osCMSIS < 0x20000U)
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typedef struct os_timer_def {
|
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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.
|
||||
/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
|
||||
#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.
|
||||
/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
|
||||
#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.
|
||||
/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
|
||||
#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.
|
||||
/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
|
||||
#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.
|
||||
/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
|
||||
#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.
|
||||
/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osThreadDef(name, priority, instances, stacksz) \
|
||||
extern const osThreadDef_t os_thread_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osThreadDef(name, priority, instances, stacksz) \
|
||||
const osThreadDef_t os_thread_def_##name = \
|
||||
{ (name), (priority), (instances), (stacksz) }
|
||||
#else
|
||||
#define osThreadDef(name, priority, instances, stacksz) \
|
||||
const osThreadDef_t os_thread_def_##name = \
|
||||
{ (name), \
|
||||
{ NULL, osThreadDetached, NULL, 0U, NULL, 8*((stacksz+7)/8), (priority), 0U, 0U } }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// Access a Thread definition.
|
||||
/// \param name name of the thread definition object.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osThread(name) \
|
||||
&os_thread_def_##name
|
||||
|
||||
/// Create a thread and add it to Active Threads and set it to state READY.
|
||||
/// \param[in] thread_def thread definition referenced with \ref osThread.
|
||||
/// \param[in] argument pointer that is passed to the thread function as start argument.
|
||||
/// \return thread ID for reference by other functions or NULL in case of error.
|
||||
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.
|
||||
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.
|
||||
osEvent osWait (uint32_t millisec);
|
||||
|
||||
#endif // Generic Wait available
|
||||
|
||||
|
||||
// ==== Timer Management Functions ====
|
||||
|
||||
/// Define a Timer object.
|
||||
/// \param name name of the timer object.
|
||||
/// \param function name of the timer call back function.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osTimerDef(name, function) \
|
||||
extern const osTimerDef_t os_timer_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osTimerDef(name, function) \
|
||||
const osTimerDef_t os_timer_def_##name = { (function) }
|
||||
#else
|
||||
#define osTimerDef(name, function) \
|
||||
const osTimerDef_t os_timer_def_##name = \
|
||||
{ (function), { NULL, 0U, NULL, 0U } }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// Access a Timer definition.
|
||||
/// \param name name of the timer object.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osTimer(name) \
|
||||
&os_timer_def_##name
|
||||
|
||||
/// Create 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.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMutexDef(name) \
|
||||
extern const osMutexDef_t os_mutex_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osMutexDef(name) \
|
||||
const osMutexDef_t os_mutex_def_##name = { 0 }
|
||||
#else
|
||||
#define osMutexDef(name) \
|
||||
const osMutexDef_t os_mutex_def_##name = \
|
||||
{ NULL, osMutexRecursive | osMutexPrioInherit | osMutexRobust, NULL, 0U }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// Access a Mutex definition.
|
||||
/// \param name name of the mutex object.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osMutex(name) \
|
||||
&os_mutex_def_##name
|
||||
|
||||
/// Create and Initialize a Mutex object.
|
||||
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
|
||||
/// \return mutex ID for reference by other functions or NULL in case of error.
|
||||
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.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osSemaphoreDef(name) \
|
||||
extern const osSemaphoreDef_t os_semaphore_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osSemaphoreDef(name) \
|
||||
const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
|
||||
#else
|
||||
#define osSemaphoreDef(name) \
|
||||
const osSemaphoreDef_t os_semaphore_def_##name = \
|
||||
{ NULL, 0U, NULL, 0U }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// Access a Semaphore definition.
|
||||
/// \param name name of the semaphore object.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osSemaphore(name) \
|
||||
&os_semaphore_def_##name
|
||||
|
||||
/// Create and Initialize a Semaphore object.
|
||||
/// \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).
|
||||
/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osPoolDef(name, no, type) \
|
||||
extern const osPoolDef_t os_pool_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osPoolDef(name, no, type) \
|
||||
const osPoolDef_t os_pool_def_##name = \
|
||||
{ (no), sizeof(type), NULL }
|
||||
#else
|
||||
#define osPoolDef(name, no, type) \
|
||||
const osPoolDef_t os_pool_def_##name = \
|
||||
{ (no), sizeof(type), { NULL, 0U, NULL, 0U, NULL, 0U } }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// \brief Access a Memory Pool definition.
|
||||
/// \param name name of the memory pool
|
||||
/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osPool(name) \
|
||||
&os_pool_def_##name
|
||||
|
||||
/// Create and Initialize a Memory Pool 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).
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMessageQDef(name, queue_sz, type) \
|
||||
extern const osMessageQDef_t os_messageQ_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osMessageQDef(name, queue_sz, type) \
|
||||
const osMessageQDef_t os_messageQ_def_##name = \
|
||||
{ (queue_sz), NULL }
|
||||
#else
|
||||
#define osMessageQDef(name, queue_sz, type) \
|
||||
const osMessageQDef_t os_messageQ_def_##name = \
|
||||
{ (queue_sz), { NULL, 0U, NULL, 0U, NULL, 0U } }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// \brief Access a Message Queue Definition.
|
||||
/// \param name name of the queue
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osMessageQ(name) \
|
||||
&os_messageQ_def_##name
|
||||
|
||||
/// Create and Initialize a Message Queue 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.
|
||||
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.
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#if defined (osObjectsExternal) // object is external
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
extern const osMailQDef_t os_mailQ_def_##name
|
||||
#else // define the object
|
||||
#if (osCMSIS < 0x20000U)
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
const osMailQDef_t os_mailQ_def_##name = \
|
||||
{ (queue_sz), sizeof(type), NULL }
|
||||
#else
|
||||
#define osMailQDef(name, queue_sz, type) \
|
||||
static void *os_mail_p_##name[2]; \
|
||||
const osMailQDef_t os_mailQ_def_##name = \
|
||||
{ (queue_sz), sizeof(type), (&os_mail_p_##name), \
|
||||
{ NULL, 0U, NULL, 0U, NULL, 0U }, \
|
||||
{ NULL, 0U, NULL, 0U, NULL, 0U } }
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/// \brief Access a Mail Queue Definition.
|
||||
/// \param name name of the queue
|
||||
/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
|
||||
/// macro body is implementation specific in every CMSIS-RTOS.
|
||||
#define osMailQ(name) \
|
||||
&os_mailQ_def_##name
|
||||
|
||||
/// Create and Initialize 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.
|
||||
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_
|
||||
Reference in New Issue
Block a user