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1872 lines
42 KiB
1872 lines
42 KiB
1 year ago
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/* --------------------------------------------------------------------------
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* Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
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* Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
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* --------------------------------------------------------------------------
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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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* Name: cmsis_os2.c
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* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
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*
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*---------------------------------------------------------------------------*/
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#include <string.h>
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#include "cmsis_os2.h" // ::CMSIS:RTOS2
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#include "cmsis_compiler.h"
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#include "FreeRTOS.h" // ARM.FreeRTOS::RTOS:Core
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#include "task.h" // ARM.FreeRTOS::RTOS:Core
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#include "event_groups.h" // ARM.FreeRTOS::RTOS:Event Groups
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#include "semphr.h" // ARM.FreeRTOS::RTOS:Core
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/*---------------------------------------------------------------------------*/
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#ifndef __ARM_ARCH_6M__
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#define __ARM_ARCH_6M__ 0
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#endif
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#ifndef __ARM_ARCH_7M__
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#define __ARM_ARCH_7M__ 0
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#endif
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#ifndef __ARM_ARCH_7EM__
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#define __ARM_ARCH_7EM__ 0
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#endif
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#ifndef __ARM_ARCH_8M_MAIN__
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#define __ARM_ARCH_8M_MAIN__ 0
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#endif
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#ifndef __ARM_ARCH_7A__
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#define __ARM_ARCH_7A__ 0
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#endif
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#if ((__ARM_ARCH_7M__ == 1U) || \
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(__ARM_ARCH_7EM__ == 1U) || \
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(__ARM_ARCH_8M_MAIN__ == 1U))
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#define IS_IRQ_MASKED() ((__get_PRIMASK() != 0U) || ((KernelState == osKernelRunning) && (__get_BASEPRI() != 0U)))
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#elif (__ARM_ARCH_6M__ == 1U)
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#define IS_IRQ_MASKED() ((__get_PRIMASK() != 0U) && (KernelState == osKernelRunning))
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#elif (__ARM_ARCH_7A__ == 1)
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#define IS_IRQ_MASKED() (0U)
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#else
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#define IS_IRQ_MASKED() (__get_PRIMASK() != 0U)
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#endif
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#if (__ARM_ARCH_7A__ == 1U)
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/* CPSR mode bitmasks */
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#define CPSR_MODE_USER 0x10U
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#define CPSR_MODE_SYSTEM 0x1FU
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#define IS_IRQ_MODE() ((__get_mode() != CPSR_MODE_USER) && (__get_mode() != CPSR_MODE_SYSTEM))
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#else
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#define IS_IRQ_MODE() (__get_IPSR() != 0U)
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#endif
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#define IS_IRQ() (IS_IRQ_MODE() || IS_IRQ_MASKED())
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/* Limits */
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#define MAX_BITS_TASK_NOTIFY 31U
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#define MAX_BITS_EVENT_GROUPS 24U
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#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
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#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
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/* Kernel version and identification string definition */
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#define KERNEL_VERSION (((uint32_t)tskKERNEL_VERSION_MAJOR * 10000000UL) | \
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((uint32_t)tskKERNEL_VERSION_MINOR * 10000UL) | \
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((uint32_t)tskKERNEL_VERSION_BUILD * 1UL))
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#define KERNEL_ID "FreeRTOS V10.0.1"
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/* Timer callback information structure definition */
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typedef struct {
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osTimerFunc_t func;
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void *arg;
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} TimerCallback_t;
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/* Kernel initialization state */
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static osKernelState_t KernelState;
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/* Heap region definition used by heap_5 variant */
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#if defined(USE_FreeRTOS_HEAP_5)
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#if (configAPPLICATION_ALLOCATED_HEAP == 1)
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/*
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The application writer has already defined the array used for the RTOS
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heap - probably so it can be placed in a special segment or address.
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*/
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extern uint8_t ucHeap[configTOTAL_HEAP_SIZE];
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#else
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static uint8_t ucHeap[configTOTAL_HEAP_SIZE];
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#endif /* configAPPLICATION_ALLOCATED_HEAP */
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static HeapRegion_t xHeapRegions[] = {
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{ ucHeap, configTOTAL_HEAP_SIZE },
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{ NULL, 0 }
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};
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#endif /* USE_FreeRTOS_HEAP_5 */
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#if defined(SysTick)
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/* FreeRTOS tick timer interrupt handler prototype */
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extern void xPortSysTickHandler (void);
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/*
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SysTick handler implementation that also clears overflow flag.
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*/
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void SysTick_Handler (void) {
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/* Clear overflow flag */
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SysTick->CTRL;
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/* Call tick handler */
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xPortSysTickHandler();
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}
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#endif /* SysTick */
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/*---------------------------------------------------------------------------*/
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osStatus_t osKernelInitialize (void) {
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osStatus_t stat;
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if (IS_IRQ()) {
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stat = osErrorISR;
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}
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else {
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if (KernelState == osKernelInactive) {
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#if defined(USE_FreeRTOS_HEAP_5)
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vPortDefineHeapRegions (xHeapRegions);
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#endif
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KernelState = osKernelReady;
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stat = osOK;
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} else {
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stat = osError;
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}
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}
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return (stat);
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}
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osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
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if (version != NULL) {
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version->api = KERNEL_VERSION;
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version->kernel = KERNEL_VERSION;
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}
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if ((id_buf != NULL) && (id_size != 0U)) {
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if (id_size > sizeof(KERNEL_ID)) {
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id_size = sizeof(KERNEL_ID);
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}
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memcpy(id_buf, KERNEL_ID, id_size);
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}
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return (osOK);
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}
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osKernelState_t osKernelGetState (void) {
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osKernelState_t state;
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switch (xTaskGetSchedulerState()) {
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case taskSCHEDULER_RUNNING:
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state = osKernelRunning;
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break;
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case taskSCHEDULER_SUSPENDED:
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state = osKernelLocked;
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break;
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case taskSCHEDULER_NOT_STARTED:
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default:
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if (KernelState == osKernelReady) {
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state = osKernelReady;
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} else {
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state = osKernelInactive;
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}
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break;
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}
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return (state);
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}
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osStatus_t osKernelStart (void) {
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osStatus_t stat;
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if (IS_IRQ()) {
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stat = osErrorISR;
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}
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else {
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if (KernelState == osKernelReady) {
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KernelState = osKernelRunning;
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vTaskStartScheduler();
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stat = osOK;
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} else {
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stat = osError;
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}
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}
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return (stat);
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}
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int32_t osKernelLock (void) {
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int32_t lock;
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if (IS_IRQ()) {
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lock = (int32_t)osErrorISR;
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}
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else {
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switch (xTaskGetSchedulerState()) {
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case taskSCHEDULER_SUSPENDED:
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lock = 1;
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break;
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case taskSCHEDULER_RUNNING:
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vTaskSuspendAll();
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lock = 0;
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break;
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case taskSCHEDULER_NOT_STARTED:
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default:
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lock = (int32_t)osError;
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break;
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}
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}
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return (lock);
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}
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int32_t osKernelUnlock (void) {
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int32_t lock;
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if (IS_IRQ()) {
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lock = (int32_t)osErrorISR;
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}
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else {
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switch (xTaskGetSchedulerState()) {
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case taskSCHEDULER_SUSPENDED:
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lock = 1;
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if (xTaskResumeAll() != pdTRUE) {
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if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
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lock = (int32_t)osError;
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}
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}
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break;
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case taskSCHEDULER_RUNNING:
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lock = 0;
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break;
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case taskSCHEDULER_NOT_STARTED:
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default:
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lock = (int32_t)osError;
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break;
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}
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}
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return (lock);
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}
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int32_t osKernelRestoreLock (int32_t lock) {
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if (IS_IRQ()) {
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lock = (int32_t)osErrorISR;
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}
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else {
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switch (xTaskGetSchedulerState()) {
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case taskSCHEDULER_SUSPENDED:
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case taskSCHEDULER_RUNNING:
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if (lock == 1) {
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vTaskSuspendAll();
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}
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else {
|
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if (lock != 0) {
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lock = (int32_t)osError;
|
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}
|
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else {
|
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if (xTaskResumeAll() != pdTRUE) {
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if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
|
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lock = (int32_t)osError;
|
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}
|
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}
|
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}
|
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}
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break;
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case taskSCHEDULER_NOT_STARTED:
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default:
|
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lock = (int32_t)osError;
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break;
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}
|
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}
|
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|
|
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return (lock);
|
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|
}
|
||
|
|
||
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uint32_t osKernelGetTickCount (void) {
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TickType_t ticks;
|
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|
|
||
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if (IS_IRQ()) {
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ticks = xTaskGetTickCountFromISR();
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} else {
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ticks = xTaskGetTickCount();
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}
|
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|
|
||
|
return (ticks);
|
||
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}
|
||
|
|
||
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uint32_t osKernelGetTickFreq (void) {
|
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|
return (configTICK_RATE_HZ);
|
||
|
}
|
||
|
|
||
|
uint32_t osKernelGetSysTimerCount (void) {
|
||
|
TickType_t ticks;
|
||
|
uint32_t val;
|
||
|
|
||
|
portDISABLE_INTERRUPTS();
|
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|
|
||
|
ticks = xTaskGetTickCount();
|
||
|
|
||
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val = ticks * ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
|
||
|
portENABLE_INTERRUPTS();
|
||
|
|
||
|
return (val);
|
||
|
}
|
||
|
|
||
|
uint32_t osKernelGetSysTimerFreq (void) {
|
||
|
return (configCPU_CLOCK_HZ);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr) {
|
||
|
char empty;
|
||
|
const char *name;
|
||
|
uint32_t stack;
|
||
|
TaskHandle_t hTask;
|
||
|
UBaseType_t prio;
|
||
|
int32_t mem;
|
||
|
|
||
|
hTask = NULL;
|
||
|
|
||
|
if (!IS_IRQ() && (func != NULL)) {
|
||
|
stack = configMINIMAL_STACK_SIZE;
|
||
|
prio = (UBaseType_t)osPriorityNormal;
|
||
|
|
||
|
empty = '\0';
|
||
|
name = ∅
|
||
|
mem = -1;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if (attr->name != NULL) {
|
||
|
name = attr->name;
|
||
|
}
|
||
|
if (attr->priority != osPriorityNone) {
|
||
|
prio = (UBaseType_t)attr->priority;
|
||
|
}
|
||
|
|
||
|
if ((prio < osPriorityIdle) || (prio > osPriorityISR) || ((attr->attr_bits & osThreadJoinable) == osThreadJoinable)) {
|
||
|
return (NULL);
|
||
|
}
|
||
|
|
||
|
if (attr->stack_size > 0U) {
|
||
|
/* In FreeRTOS stack is not in bytes, but in sizeof(StackType_t) which is 4 on ARM ports. */
|
||
|
/* Stack size should be therefore 4 byte aligned in order to avoid division caused side effects */
|
||
|
stack = attr->stack_size / sizeof(StackType_t);
|
||
|
}
|
||
|
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTask_t)) &&
|
||
|
(attr->stack_mem != NULL) && (attr->stack_size > 0U)) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) && (attr->stack_mem == NULL)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem == 1) {
|
||
|
hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t *)attr->stack_mem,
|
||
|
(StaticTask_t *)attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 0) {
|
||
|
if (xTaskCreate ((TaskFunction_t)func, name, (uint16_t)stack, argument, prio, &hTask) != pdPASS) {
|
||
|
hTask = NULL;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return ((osThreadId_t)hTask);
|
||
|
}
|
||
|
|
||
|
const char *osThreadGetName (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
const char *name;
|
||
|
|
||
|
if (IS_IRQ() || (hTask == NULL)) {
|
||
|
name = NULL;
|
||
|
} else {
|
||
|
name = pcTaskGetName (hTask);
|
||
|
}
|
||
|
|
||
|
return (name);
|
||
|
}
|
||
|
|
||
|
osThreadId_t osThreadGetId (void) {
|
||
|
osThreadId_t id;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
id = NULL;
|
||
|
} else {
|
||
|
id = (osThreadId_t)xTaskGetCurrentTaskHandle();
|
||
|
}
|
||
|
|
||
|
return (id);
|
||
|
}
|
||
|
|
||
|
osThreadState_t osThreadGetState (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osThreadState_t state;
|
||
|
|
||
|
if (IS_IRQ() || (hTask == NULL)) {
|
||
|
state = osThreadError;
|
||
|
}
|
||
|
else {
|
||
|
switch (eTaskGetState (hTask)) {
|
||
|
case eRunning: state = osThreadRunning; break;
|
||
|
case eReady: state = osThreadReady; break;
|
||
|
case eBlocked:
|
||
|
case eSuspended: state = osThreadBlocked; break;
|
||
|
case eDeleted: state = osThreadTerminated; break;
|
||
|
case eInvalid:
|
||
|
default: state = osThreadError; break;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (state);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadGetStackSpace (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
uint32_t sz;
|
||
|
|
||
|
if (IS_IRQ() || (hTask == NULL)) {
|
||
|
sz = 0U;
|
||
|
} else {
|
||
|
sz = (uint32_t)uxTaskGetStackHighWaterMark (hTask);
|
||
|
}
|
||
|
|
||
|
return (sz);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadGetStackSize (osThreadId_t thread_id) {
|
||
|
/*
|
||
|
* this implmentation is not correct.
|
||
|
* this function is implmented to avoid link errors (undefined reference)
|
||
|
* Bug reported : https://github.com/ARM-software/CMSIS-FreeRTOS/issues/14
|
||
|
*/
|
||
|
(void) thread_id;
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if ((hTask == NULL) || (priority < osPriorityIdle) || (priority > osPriorityISR)) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
vTaskPrioritySet (hTask, (UBaseType_t)priority);
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osPriority_t osThreadGetPriority (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osPriority_t prio;
|
||
|
|
||
|
if (IS_IRQ() || (hTask == NULL)) {
|
||
|
prio = osPriorityError;
|
||
|
} else {
|
||
|
prio = (osPriority_t)uxTaskPriorityGet (hTask);
|
||
|
}
|
||
|
|
||
|
return (prio);
|
||
|
}
|
||
|
|
||
|
osStatus_t osThreadYield (void) {
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
} else {
|
||
|
stat = osOK;
|
||
|
taskYIELD();
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osThreadSuspend (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTask == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
vTaskSuspend (hTask);
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osThreadResume (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTask == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
vTaskResume (hTask);
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
__NO_RETURN void osThreadExit (void) {
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
vTaskDelete (NULL);
|
||
|
#endif
|
||
|
for (;;);
|
||
|
}
|
||
|
|
||
|
osStatus_t osThreadTerminate (osThreadId_t thread_id) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
osStatus_t stat;
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
eTaskState tstate;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTask == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
tstate = eTaskGetState (hTask);
|
||
|
|
||
|
if (tstate != eDeleted) {
|
||
|
stat = osOK;
|
||
|
vTaskDelete (hTask);
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadGetCount (void) {
|
||
|
uint32_t count;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
count = 0U;
|
||
|
} else {
|
||
|
count = uxTaskGetNumberOfTasks();
|
||
|
}
|
||
|
|
||
|
return (count);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
|
||
|
uint32_t i, count;
|
||
|
TaskStatus_t *task;
|
||
|
|
||
|
if (IS_IRQ() || (thread_array == NULL) || (array_items == 0U)) {
|
||
|
count = 0U;
|
||
|
} else {
|
||
|
vTaskSuspendAll();
|
||
|
|
||
|
count = uxTaskGetNumberOfTasks();
|
||
|
task = pvPortMalloc (count * sizeof(TaskStatus_t));
|
||
|
|
||
|
if (task != NULL) {
|
||
|
count = uxTaskGetSystemState (task, count, NULL);
|
||
|
|
||
|
for (i = 0U; (i < count) && (i < array_items); i++) {
|
||
|
thread_array[i] = (osThreadId_t)task[i].xHandle;
|
||
|
}
|
||
|
count = i;
|
||
|
}
|
||
|
(void)xTaskResumeAll();
|
||
|
|
||
|
vPortFree (task);
|
||
|
}
|
||
|
|
||
|
return (count);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) {
|
||
|
TaskHandle_t hTask = (TaskHandle_t)thread_id;
|
||
|
uint32_t rflags;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
if ((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
rflags = (uint32_t)osError;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
(void)xTaskNotifyFromISR (hTask, flags, eSetBits, &yield);
|
||
|
(void)xTaskNotifyAndQueryFromISR (hTask, 0, eNoAction, &rflags, NULL);
|
||
|
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
else {
|
||
|
(void)xTaskNotify (hTask, flags, eSetBits);
|
||
|
(void)xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags);
|
||
|
}
|
||
|
}
|
||
|
/* Return flags after setting */
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadFlagsClear (uint32_t flags) {
|
||
|
TaskHandle_t hTask;
|
||
|
uint32_t rflags, cflags;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
rflags = (uint32_t)osErrorISR;
|
||
|
}
|
||
|
else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
hTask = xTaskGetCurrentTaskHandle();
|
||
|
|
||
|
if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &cflags) == pdPASS) {
|
||
|
rflags = cflags;
|
||
|
cflags &= ~flags;
|
||
|
|
||
|
if (xTaskNotify (hTask, cflags, eSetValueWithOverwrite) != pdPASS) {
|
||
|
rflags = (uint32_t)osError;
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
rflags = (uint32_t)osError;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/* Return flags before clearing */
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadFlagsGet (void) {
|
||
|
TaskHandle_t hTask;
|
||
|
uint32_t rflags;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
rflags = (uint32_t)osErrorISR;
|
||
|
}
|
||
|
else {
|
||
|
hTask = xTaskGetCurrentTaskHandle();
|
||
|
|
||
|
if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags) != pdPASS) {
|
||
|
rflags = (uint32_t)osError;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout) {
|
||
|
uint32_t rflags, nval;
|
||
|
uint32_t clear;
|
||
|
TickType_t t0, td, tout;
|
||
|
BaseType_t rval;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
rflags = (uint32_t)osErrorISR;
|
||
|
}
|
||
|
else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if ((options & osFlagsNoClear) == osFlagsNoClear) {
|
||
|
clear = 0U;
|
||
|
} else {
|
||
|
clear = flags;
|
||
|
}
|
||
|
|
||
|
rflags = 0U;
|
||
|
tout = timeout;
|
||
|
|
||
|
t0 = xTaskGetTickCount();
|
||
|
do {
|
||
|
rval = xTaskNotifyWait (0, clear, &nval, tout);
|
||
|
|
||
|
if (rval == pdPASS) {
|
||
|
rflags &= flags;
|
||
|
rflags |= nval;
|
||
|
|
||
|
if ((options & osFlagsWaitAll) == osFlagsWaitAll) {
|
||
|
if ((flags & rflags) == flags) {
|
||
|
break;
|
||
|
} else {
|
||
|
if (timeout == 0U) {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if ((flags & rflags) != 0) {
|
||
|
break;
|
||
|
} else {
|
||
|
if (timeout == 0U) {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
/* Update timeout */
|
||
|
td = xTaskGetTickCount() - t0;
|
||
|
|
||
|
if (td > tout) {
|
||
|
tout = 0;
|
||
|
} else {
|
||
|
tout -= td;
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (timeout == 0) {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
} else {
|
||
|
rflags = (uint32_t)osErrorTimeout;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
while (rval != pdFAIL);
|
||
|
}
|
||
|
|
||
|
/* Return flags before clearing */
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
osStatus_t osDelay (uint32_t ticks) {
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
|
||
|
if (ticks != 0U) {
|
||
|
vTaskDelay(ticks);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osDelayUntil (uint32_t ticks) {
|
||
|
TickType_t tcnt;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
tcnt = xTaskGetTickCount();
|
||
|
|
||
|
vTaskDelayUntil (&tcnt, (TickType_t)(ticks - tcnt));
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
static void TimerCallback (TimerHandle_t hTimer) {
|
||
|
TimerCallback_t *callb;
|
||
|
|
||
|
callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
|
||
|
|
||
|
if (callb != NULL) {
|
||
|
callb->func (callb->arg);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr) {
|
||
|
const char *name;
|
||
|
TimerHandle_t hTimer;
|
||
|
TimerCallback_t *callb;
|
||
|
UBaseType_t reload;
|
||
|
int32_t mem;
|
||
|
|
||
|
hTimer = NULL;
|
||
|
|
||
|
if (!IS_IRQ() && (func != NULL)) {
|
||
|
/* Allocate memory to store callback function and argument */
|
||
|
callb = pvPortMalloc (sizeof(TimerCallback_t));
|
||
|
|
||
|
if (callb != NULL) {
|
||
|
callb->func = func;
|
||
|
callb->arg = argument;
|
||
|
|
||
|
if (type == osTimerOnce) {
|
||
|
reload = pdFALSE;
|
||
|
} else {
|
||
|
reload = pdTRUE;
|
||
|
}
|
||
|
|
||
|
mem = -1;
|
||
|
name = NULL;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if (attr->name != NULL) {
|
||
|
name = attr->name;
|
||
|
}
|
||
|
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTimer_t))) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem == 1) {
|
||
|
hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 0) {
|
||
|
hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return ((osTimerId_t)hTimer);
|
||
|
}
|
||
|
|
||
|
const char *osTimerGetName (osTimerId_t timer_id) {
|
||
|
TimerHandle_t hTimer = (TimerHandle_t)timer_id;
|
||
|
const char *p;
|
||
|
|
||
|
if (IS_IRQ() || (hTimer == NULL)) {
|
||
|
p = NULL;
|
||
|
} else {
|
||
|
p = pcTimerGetName (hTimer);
|
||
|
}
|
||
|
|
||
|
return (p);
|
||
|
}
|
||
|
|
||
|
osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks) {
|
||
|
TimerHandle_t hTimer = (TimerHandle_t)timer_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTimer == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (xTimerChangePeriod (hTimer, ticks, 0) == pdPASS) {
|
||
|
stat = osOK;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osTimerStop (osTimerId_t timer_id) {
|
||
|
TimerHandle_t hTimer = (TimerHandle_t)timer_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTimer == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (xTimerIsTimerActive (hTimer) == pdFALSE) {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
else {
|
||
|
if (xTimerStop (hTimer, 0) == pdPASS) {
|
||
|
stat = osOK;
|
||
|
} else {
|
||
|
stat = osError;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
uint32_t osTimerIsRunning (osTimerId_t timer_id) {
|
||
|
TimerHandle_t hTimer = (TimerHandle_t)timer_id;
|
||
|
uint32_t running;
|
||
|
|
||
|
if (IS_IRQ() || (hTimer == NULL)) {
|
||
|
running = 0U;
|
||
|
} else {
|
||
|
running = (uint32_t)xTimerIsTimerActive (hTimer);
|
||
|
}
|
||
|
|
||
|
return (running);
|
||
|
}
|
||
|
|
||
|
osStatus_t osTimerDelete (osTimerId_t timer_id) {
|
||
|
TimerHandle_t hTimer = (TimerHandle_t)timer_id;
|
||
|
osStatus_t stat;
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
TimerCallback_t *callb;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hTimer == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
|
||
|
|
||
|
if (xTimerDelete (hTimer, 0) == pdPASS) {
|
||
|
vPortFree (callb);
|
||
|
stat = osOK;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr) {
|
||
|
EventGroupHandle_t hEventGroup;
|
||
|
int32_t mem;
|
||
|
|
||
|
hEventGroup = NULL;
|
||
|
|
||
|
if (!IS_IRQ()) {
|
||
|
mem = -1;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticEventGroup_t))) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem == 1) {
|
||
|
hEventGroup = xEventGroupCreateStatic (attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 0) {
|
||
|
hEventGroup = xEventGroupCreate();
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return ((osEventFlagsId_t)hEventGroup);
|
||
|
}
|
||
|
|
||
|
uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) {
|
||
|
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
|
||
|
uint32_t rflags;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
if (xEventGroupSetBitsFromISR (hEventGroup, (EventBits_t)flags, &yield) != pdFAIL) {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
} else {
|
||
|
rflags = flags;
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
rflags = xEventGroupSetBits (hEventGroup, (EventBits_t)flags);
|
||
|
}
|
||
|
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags) {
|
||
|
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
|
||
|
uint32_t rflags;
|
||
|
|
||
|
if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
rflags = xEventGroupGetBitsFromISR (hEventGroup);
|
||
|
|
||
|
if (xEventGroupClearBitsFromISR (hEventGroup, (EventBits_t)flags) == pdFAIL) {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
rflags = xEventGroupClearBits (hEventGroup, (EventBits_t)flags);
|
||
|
}
|
||
|
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osEventFlagsGet (osEventFlagsId_t ef_id) {
|
||
|
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
|
||
|
uint32_t rflags;
|
||
|
|
||
|
if (ef_id == NULL) {
|
||
|
rflags = 0U;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
rflags = xEventGroupGetBitsFromISR (hEventGroup);
|
||
|
}
|
||
|
else {
|
||
|
rflags = xEventGroupGetBits (hEventGroup);
|
||
|
}
|
||
|
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout) {
|
||
|
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
|
||
|
BaseType_t wait_all;
|
||
|
BaseType_t exit_clr;
|
||
|
uint32_t rflags;
|
||
|
|
||
|
if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
|
||
|
rflags = (uint32_t)osErrorParameter;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
rflags = (uint32_t)osErrorISR;
|
||
|
}
|
||
|
else {
|
||
|
if (options & osFlagsWaitAll) {
|
||
|
wait_all = pdTRUE;
|
||
|
} else {
|
||
|
wait_all = pdFAIL;
|
||
|
}
|
||
|
|
||
|
if (options & osFlagsNoClear) {
|
||
|
exit_clr = pdFAIL;
|
||
|
} else {
|
||
|
exit_clr = pdTRUE;
|
||
|
}
|
||
|
|
||
|
rflags = xEventGroupWaitBits (hEventGroup, (EventBits_t)flags, exit_clr, wait_all, (TickType_t)timeout);
|
||
|
|
||
|
if (options & osFlagsWaitAll) {
|
||
|
if (flags != rflags) {
|
||
|
if (timeout > 0U) {
|
||
|
rflags = (uint32_t)osErrorTimeout;
|
||
|
} else {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if ((flags & rflags) == 0U) {
|
||
|
if (timeout > 0U) {
|
||
|
rflags = (uint32_t)osErrorTimeout;
|
||
|
} else {
|
||
|
rflags = (uint32_t)osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (rflags);
|
||
|
}
|
||
|
|
||
|
osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id) {
|
||
|
EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hEventGroup == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
vEventGroupDelete (hEventGroup);
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
osMutexId_t osMutexNew (const osMutexAttr_t *attr) {
|
||
|
SemaphoreHandle_t hMutex;
|
||
|
uint32_t type;
|
||
|
uint32_t rmtx;
|
||
|
int32_t mem;
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
const char *name;
|
||
|
#endif
|
||
|
|
||
|
hMutex = NULL;
|
||
|
|
||
|
if (!IS_IRQ()) {
|
||
|
if (attr != NULL) {
|
||
|
type = attr->attr_bits;
|
||
|
} else {
|
||
|
type = 0U;
|
||
|
}
|
||
|
|
||
|
if ((type & osMutexRecursive) == osMutexRecursive) {
|
||
|
rmtx = 1U;
|
||
|
} else {
|
||
|
rmtx = 0U;
|
||
|
}
|
||
|
|
||
|
if ((type & osMutexRobust) != osMutexRobust) {
|
||
|
mem = -1;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem == 1) {
|
||
|
if (rmtx != 0U) {
|
||
|
hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 0) {
|
||
|
if (rmtx != 0U) {
|
||
|
hMutex = xSemaphoreCreateRecursiveMutex ();
|
||
|
} else {
|
||
|
hMutex = xSemaphoreCreateMutex ();
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
if (hMutex != NULL) {
|
||
|
if (attr != NULL) {
|
||
|
name = attr->name;
|
||
|
} else {
|
||
|
name = NULL;
|
||
|
}
|
||
|
vQueueAddToRegistry (hMutex, name);
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
if ((hMutex != NULL) && (rmtx != 0U)) {
|
||
|
hMutex = (SemaphoreHandle_t)((uint32_t)hMutex | 1U);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return ((osMutexId_t)hMutex);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) {
|
||
|
SemaphoreHandle_t hMutex;
|
||
|
osStatus_t stat;
|
||
|
uint32_t rmtx;
|
||
|
|
||
|
hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
|
||
|
|
||
|
rmtx = (uint32_t)mutex_id & 1U;
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hMutex == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (rmtx != 0U) {
|
||
|
if (xSemaphoreTakeRecursive (hMutex, timeout) != pdPASS) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorTimeout;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (xSemaphoreTake (hMutex, timeout) != pdPASS) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorTimeout;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMutexRelease (osMutexId_t mutex_id) {
|
||
|
SemaphoreHandle_t hMutex;
|
||
|
osStatus_t stat;
|
||
|
uint32_t rmtx;
|
||
|
|
||
|
hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
|
||
|
|
||
|
rmtx = (uint32_t)mutex_id & 1U;
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hMutex == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (rmtx != 0U) {
|
||
|
if (xSemaphoreGiveRecursive (hMutex) != pdPASS) {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (xSemaphoreGive (hMutex) != pdPASS) {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osThreadId_t osMutexGetOwner (osMutexId_t mutex_id) {
|
||
|
SemaphoreHandle_t hMutex;
|
||
|
osThreadId_t owner;
|
||
|
|
||
|
hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
|
||
|
|
||
|
if (IS_IRQ() || (hMutex == NULL)) {
|
||
|
owner = NULL;
|
||
|
} else {
|
||
|
owner = (osThreadId_t)xSemaphoreGetMutexHolder (hMutex);
|
||
|
}
|
||
|
|
||
|
return (owner);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMutexDelete (osMutexId_t mutex_id) {
|
||
|
osStatus_t stat;
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
SemaphoreHandle_t hMutex;
|
||
|
|
||
|
hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hMutex == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
vQueueUnregisterQueue (hMutex);
|
||
|
#endif
|
||
|
stat = osOK;
|
||
|
vSemaphoreDelete (hMutex);
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr) {
|
||
|
SemaphoreHandle_t hSemaphore;
|
||
|
int32_t mem;
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
const char *name;
|
||
|
#endif
|
||
|
|
||
|
hSemaphore = NULL;
|
||
|
|
||
|
if (!IS_IRQ() && (max_count > 0U) && (initial_count <= max_count)) {
|
||
|
mem = -1;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem != -1) {
|
||
|
if (max_count == 1U) {
|
||
|
if (mem == 1) {
|
||
|
hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
hSemaphore = xSemaphoreCreateBinary();
|
||
|
}
|
||
|
|
||
|
if ((hSemaphore != NULL) && (initial_count != 0U)) {
|
||
|
if (xSemaphoreGive (hSemaphore) != pdPASS) {
|
||
|
vSemaphoreDelete (hSemaphore);
|
||
|
hSemaphore = NULL;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 1) {
|
||
|
hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
hSemaphore = xSemaphoreCreateCounting (max_count, initial_count);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
if (hSemaphore != NULL) {
|
||
|
if (attr != NULL) {
|
||
|
name = attr->name;
|
||
|
} else {
|
||
|
name = NULL;
|
||
|
}
|
||
|
vQueueAddToRegistry (hSemaphore, name);
|
||
|
}
|
||
|
#endif
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return ((osSemaphoreId_t)hSemaphore);
|
||
|
}
|
||
|
|
||
|
osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout) {
|
||
|
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
|
||
|
osStatus_t stat;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (hSemaphore == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
if (xSemaphoreTakeFromISR (hSemaphore, &yield) != pdPASS) {
|
||
|
stat = osErrorResource;
|
||
|
} else {
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (xSemaphoreTake (hSemaphore, (TickType_t)timeout) != pdPASS) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorTimeout;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id) {
|
||
|
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
|
||
|
osStatus_t stat;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (hSemaphore == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
if (xSemaphoreGiveFromISR (hSemaphore, &yield) != pdTRUE) {
|
||
|
stat = osErrorResource;
|
||
|
} else {
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if (xSemaphoreGive (hSemaphore) != pdPASS) {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id) {
|
||
|
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
|
||
|
uint32_t count;
|
||
|
|
||
|
if (hSemaphore == NULL) {
|
||
|
count = 0U;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
count = uxQueueMessagesWaitingFromISR (hSemaphore);
|
||
|
} else {
|
||
|
count = (uint32_t)uxSemaphoreGetCount (hSemaphore);
|
||
|
}
|
||
|
|
||
|
return (count);
|
||
|
}
|
||
|
|
||
|
osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id) {
|
||
|
SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hSemaphore == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
vQueueUnregisterQueue (hSemaphore);
|
||
|
#endif
|
||
|
|
||
|
stat = osOK;
|
||
|
vSemaphoreDelete (hSemaphore);
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) {
|
||
|
QueueHandle_t hQueue;
|
||
|
int32_t mem;
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
const char *name;
|
||
|
#endif
|
||
|
|
||
|
hQueue = NULL;
|
||
|
|
||
|
if (!IS_IRQ() && (msg_count > 0U) && (msg_size > 0U)) {
|
||
|
mem = -1;
|
||
|
|
||
|
if (attr != NULL) {
|
||
|
if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticQueue_t)) &&
|
||
|
(attr->mq_mem != NULL) && (attr->mq_size >= (msg_count * msg_size))) {
|
||
|
mem = 1;
|
||
|
}
|
||
|
else {
|
||
|
if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) &&
|
||
|
(attr->mq_mem == NULL) && (attr->mq_size == 0U)) {
|
||
|
mem = 0;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
mem = 0;
|
||
|
}
|
||
|
|
||
|
if (mem == 1) {
|
||
|
hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
|
||
|
}
|
||
|
else {
|
||
|
if (mem == 0) {
|
||
|
hQueue = xQueueCreate (msg_count, msg_size);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
if (hQueue != NULL) {
|
||
|
if (attr != NULL) {
|
||
|
name = attr->name;
|
||
|
} else {
|
||
|
name = NULL;
|
||
|
}
|
||
|
vQueueAddToRegistry (hQueue, name);
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
}
|
||
|
|
||
|
return ((osMessageQueueId_t)hQueue);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout) {
|
||
|
QueueHandle_t hQueue = (QueueHandle_t)mq_id;
|
||
|
osStatus_t stat;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
(void)msg_prio; /* Message priority is ignored */
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
if (xQueueSendToBackFromISR (hQueue, msg_ptr, &yield) != pdTRUE) {
|
||
|
stat = osErrorResource;
|
||
|
} else {
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if ((hQueue == NULL) || (msg_ptr == NULL)) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (xQueueSendToBack (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorTimeout;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout) {
|
||
|
QueueHandle_t hQueue = (QueueHandle_t)mq_id;
|
||
|
osStatus_t stat;
|
||
|
BaseType_t yield;
|
||
|
|
||
|
(void)msg_prio; /* Message priority is ignored */
|
||
|
|
||
|
stat = osOK;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
yield = pdFALSE;
|
||
|
|
||
|
if (xQueueReceiveFromISR (hQueue, msg_ptr, &yield) != pdPASS) {
|
||
|
stat = osErrorResource;
|
||
|
} else {
|
||
|
portYIELD_FROM_ISR (yield);
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
else {
|
||
|
if ((hQueue == NULL) || (msg_ptr == NULL)) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
if (xQueueReceive (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
|
||
|
if (timeout != 0U) {
|
||
|
stat = osErrorTimeout;
|
||
|
} else {
|
||
|
stat = osErrorResource;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id) {
|
||
|
StaticQueue_t *mq = (StaticQueue_t *)mq_id;
|
||
|
uint32_t capacity;
|
||
|
|
||
|
if (mq == NULL) {
|
||
|
capacity = 0U;
|
||
|
} else {
|
||
|
/* capacity = pxQueue->uxLength */
|
||
|
capacity = mq->uxDummy4[1];
|
||
|
}
|
||
|
|
||
|
return (capacity);
|
||
|
}
|
||
|
|
||
|
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id) {
|
||
|
StaticQueue_t *mq = (StaticQueue_t *)mq_id;
|
||
|
uint32_t size;
|
||
|
|
||
|
if (mq == NULL) {
|
||
|
size = 0U;
|
||
|
} else {
|
||
|
/* size = pxQueue->uxItemSize */
|
||
|
size = mq->uxDummy4[2];
|
||
|
}
|
||
|
|
||
|
return (size);
|
||
|
}
|
||
|
|
||
|
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id) {
|
||
|
QueueHandle_t hQueue = (QueueHandle_t)mq_id;
|
||
|
UBaseType_t count;
|
||
|
|
||
|
if (hQueue == NULL) {
|
||
|
count = 0U;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
count = uxQueueMessagesWaitingFromISR (hQueue);
|
||
|
}
|
||
|
else {
|
||
|
count = uxQueueMessagesWaiting (hQueue);
|
||
|
}
|
||
|
|
||
|
return ((uint32_t)count);
|
||
|
}
|
||
|
|
||
|
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id) {
|
||
|
StaticQueue_t *mq = (StaticQueue_t *)mq_id;
|
||
|
uint32_t space;
|
||
|
uint32_t isrm;
|
||
|
|
||
|
if (mq == NULL) {
|
||
|
space = 0U;
|
||
|
}
|
||
|
else if (IS_IRQ()) {
|
||
|
isrm = taskENTER_CRITICAL_FROM_ISR();
|
||
|
|
||
|
/* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
|
||
|
space = mq->uxDummy4[1] - mq->uxDummy4[0];
|
||
|
|
||
|
taskEXIT_CRITICAL_FROM_ISR(isrm);
|
||
|
}
|
||
|
else {
|
||
|
space = (uint32_t)uxQueueSpacesAvailable ((QueueHandle_t)mq);
|
||
|
}
|
||
|
|
||
|
return (space);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id) {
|
||
|
QueueHandle_t hQueue = (QueueHandle_t)mq_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hQueue == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
stat = osOK;
|
||
|
(void)xQueueReset (hQueue);
|
||
|
}
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) {
|
||
|
QueueHandle_t hQueue = (QueueHandle_t)mq_id;
|
||
|
osStatus_t stat;
|
||
|
|
||
|
#ifndef USE_FreeRTOS_HEAP_1
|
||
|
if (IS_IRQ()) {
|
||
|
stat = osErrorISR;
|
||
|
}
|
||
|
else if (hQueue == NULL) {
|
||
|
stat = osErrorParameter;
|
||
|
}
|
||
|
else {
|
||
|
#if (configQUEUE_REGISTRY_SIZE > 0)
|
||
|
vQueueUnregisterQueue (hQueue);
|
||
|
#endif
|
||
|
|
||
|
stat = osOK;
|
||
|
vQueueDelete (hQueue);
|
||
|
}
|
||
|
#else
|
||
|
stat = osError;
|
||
|
#endif
|
||
|
|
||
|
return (stat);
|
||
|
}
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
/* Callback function prototypes */
|
||
|
extern void vApplicationIdleHook (void);
|
||
|
extern void vApplicationTickHook (void);
|
||
|
extern void vApplicationMallocFailedHook (void);
|
||
|
extern void vApplicationDaemonTaskStartupHook (void);
|
||
|
extern void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName);
|
||
|
|
||
|
/**
|
||
|
Dummy implementation of the callback function vApplicationIdleHook().
|
||
|
*/
|
||
|
#if (configUSE_IDLE_HOOK == 1)
|
||
|
__WEAK void vApplicationIdleHook (void){}
|
||
|
#endif
|
||
|
|
||
|
/**
|
||
|
Dummy implementation of the callback function vApplicationTickHook().
|
||
|
*/
|
||
|
#if (configUSE_TICK_HOOK == 1)
|
||
|
__WEAK void vApplicationTickHook (void){}
|
||
|
#endif
|
||
|
|
||
|
/**
|
||
|
Dummy implementation of the callback function vApplicationMallocFailedHook().
|
||
|
*/
|
||
|
#if (configUSE_MALLOC_FAILED_HOOK == 1)
|
||
|
__WEAK void vApplicationMallocFailedHook (void){}
|
||
|
#endif
|
||
|
|
||
|
/**
|
||
|
Dummy implementation of the callback function vApplicationDaemonTaskStartupHook().
|
||
|
*/
|
||
|
#if (configUSE_DAEMON_TASK_STARTUP_HOOK == 1)
|
||
|
__WEAK void vApplicationDaemonTaskStartupHook (void){}
|
||
|
#endif
|
||
|
|
||
|
/**
|
||
|
Dummy implementation of the callback function vApplicationStackOverflowHook().
|
||
|
*/
|
||
|
#if (configCHECK_FOR_STACK_OVERFLOW > 0)
|
||
|
__WEAK void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName) {
|
||
|
(void)xTask;
|
||
|
(void)pcTaskName;
|
||
|
}
|
||
|
#endif
|
||
|
|
||
|
/*---------------------------------------------------------------------------*/
|
||
|
|
||
|
/* External Idle and Timer task static memory allocation functions */
|
||
|
extern void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
|
||
|
extern void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize);
|
||
|
|
||
|
/* Idle task control block and stack */
|
||
|
static StaticTask_t Idle_TCB;
|
||
|
static StackType_t Idle_Stack[configMINIMAL_STACK_SIZE];
|
||
|
|
||
|
/* Timer task control block and stack */
|
||
|
static StaticTask_t Timer_TCB;
|
||
|
static StackType_t Timer_Stack[configTIMER_TASK_STACK_DEPTH];
|
||
|
|
||
|
/*
|
||
|
vApplicationGetIdleTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
|
||
|
equals to 1 and is required for static memory allocation support.
|
||
|
*/
|
||
|
void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
|
||
|
*ppxIdleTaskTCBBuffer = &Idle_TCB;
|
||
|
*ppxIdleTaskStackBuffer = &Idle_Stack[0];
|
||
|
*pulIdleTaskStackSize = (uint32_t)configMINIMAL_STACK_SIZE;
|
||
|
}
|
||
|
|
||
|
/*
|
||
|
vApplicationGetTimerTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
|
||
|
equals to 1 and is required for static memory allocation support.
|
||
|
*/
|
||
|
void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
|
||
|
*ppxTimerTaskTCBBuffer = &Timer_TCB;
|
||
|
*ppxTimerTaskStackBuffer = &Timer_Stack[0];
|
||
|
*pulTimerTaskStackSize = (uint32_t)configTIMER_TASK_STACK_DEPTH;
|
||
|
}
|