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