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rt_CMSIS.c
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/*----------------------------------------------------------------------------
* CMSIS-RTOS - RTX
*----------------------------------------------------------------------------
* Name: rt_CMSIS.c
* Purpose: CMSIS RTOS API
* Rev.: V4.82
*----------------------------------------------------------------------------
*
* Copyright (c) 1999-2009 KEIL, 2009-2016 ARM Germany GmbH
* 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.
*---------------------------------------------------------------------------*/
#define __CMSIS_GENERIC
#if defined (__CORTEX_M4) || defined (__CORTEX_M4F)
#include "core_cm4.h"
#elif defined (__CORTEX_M3)
#include "core_cm3.h"
#elif defined (__CORTEX_M0)
#include "core_cm0.h"
#else
#error "Missing __CORTEX_Mx definition"
#endif
#include "rt_TypeDef.h"
#include "RTX_Config.h"
#include "rt_System.h"
#include "rt_Task.h"
#include "rt_Event.h"
#include "rt_List.h"
#include "rt_Time.h"
#include "rt_Mutex.h"
#include "rt_Semaphore.h"
#include "rt_Mailbox.h"
#include "rt_MemBox.h"
#include "rt_Memory.h"
#include "rt_HAL_CM.h"
#define os_thread_cb OS_TCB
#include "cmsis_os.h"
#if (osFeature_Signals != 16)
#error Invalid "osFeature_Signals" value!
#endif
#if (osFeature_Semaphore > 65535)
#error Invalid "osFeature_Semaphore" value!
#endif
#if (osFeature_Wait != 0)
#error osWait not supported!
#endif
// ==== Enumeration, structures, defines ====
// Service Calls defines
#if defined (__CC_ARM) /* ARM Compiler */
#define __NO_RETURN __declspec(noreturn)
#define osEvent_type osEvent
#define osEvent_ret_status ret
#define osEvent_ret_value ret
#define osEvent_ret_msg ret
#define osEvent_ret_mail ret
#define osCallback_type osCallback
#define osCallback_ret ret
#define SVC_0_1(f,t,...) \
__svc_indirect(0) t _##f (t(*)()); \
t f (void); \
__attribute__((always_inline)) \
static __inline t __##f (void) { \
return _##f(f); \
}
#define SVC_1_0(f,t,t1,...) \
__svc_indirect(0) t _##f (t(*)(t1),t1); \
t f (t1 a1); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1) { \
_##f(f,a1); \
}
#define SVC_1_1(f,t,t1,...) \
__svc_indirect(0) t _##f (t(*)(t1),t1); \
t f (t1 a1); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1) { \
return _##f(f,a1); \
}
#define SVC_2_1(f,t,t1,t2,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2),t1,t2); \
t f (t1 a1, t2 a2); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2) { \
return _##f(f,a1,a2); \
}
#define SVC_3_1(f,t,t1,t2,t3,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2,t3),t1,t2,t3); \
t f (t1 a1, t2 a2, t3 a3); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2, t3 a3) { \
return _##f(f,a1,a2,a3); \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
__svc_indirect(0) t _##f (t(*)(t1,t2,t3,t4),t1,t2,t3,t4); \
t f (t1 a1, t2 a2, t3 a3, t4 a4); \
__attribute__((always_inline)) \
static __inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
return _##f(f,a1,a2,a3,a4); \
}
#define SVC_1_2 SVC_1_1
#define SVC_1_3 SVC_1_1
#define SVC_2_3 SVC_2_1
#elif defined (__GNUC__) /* GNU Compiler */
#define __NO_RETURN __attribute__((noreturn))
typedef uint32_t __attribute__((vector_size(8))) ret64;
typedef uint32_t __attribute__((vector_size(16))) ret128;
#define RET_pointer __r0
#define RET_int32_t __r0
#define RET_uint32_t __r0
#define RET_osStatus __r0
#define RET_osPriority __r0
#define RET_osEvent {(osStatus)__r0, {(uint32_t)__r1}, {(void *)__r2}}
#define RET_osCallback {(void *)__r0, (void *)__r1}
#define osEvent_type __attribute__((pcs("aapcs"))) ret128
#define osEvent_ret_status (ret128){ret.status}
#define osEvent_ret_value (ret128){ret.status, ret.value.v}
#define osEvent_ret_msg (ret128){ret.status, ret.value.v, (uint32_t)ret.def.message_id}
#define osEvent_ret_mail (ret128){ret.status, ret.value.v, (uint32_t)ret.def.mail_id}
#define osCallback_type __attribute__((pcs("aapcs"))) ret64
#define osCallback_ret (ret64) {(uint32_t)ret.fp, (uint32_t)ret.arg}
#define SVC_ArgN(n) \
register int __r##n __asm("r"#n);
#define SVC_ArgR(n,t,a) \
register t __r##n __asm("r"#n) = a;
#define SVC_Arg0() \
SVC_ArgN(0) \
SVC_ArgN(1) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg1(t1) \
SVC_ArgR(0,t1,a1) \
SVC_ArgN(1) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg2(t1,t2) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgN(2) \
SVC_ArgN(3)
#define SVC_Arg3(t1,t2,t3) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgR(2,t3,a3) \
SVC_ArgN(3)
#define SVC_Arg4(t1,t2,t3,t4) \
SVC_ArgR(0,t1,a1) \
SVC_ArgR(1,t2,a2) \
SVC_ArgR(2,t3,a3) \
SVC_ArgR(3,t4,a4)
#if (defined (__CORTEX_M0))
#define SVC_Call(f) \
__asm volatile \
( \
"ldr r7,="#f"\n\t" \
"mov r12,r7\n\t" \
"svc 0" \
: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
: "r7", "r12", "lr", "cc" \
);
#else
#define SVC_Call(f) \
__asm volatile \
( \
"ldr r12,="#f"\n\t" \
"svc 0" \
: "=r" (__r0), "=r" (__r1), "=r" (__r2), "=r" (__r3) \
: "r" (__r0), "r" (__r1), "r" (__r2), "r" (__r3) \
: "r12", "lr", "cc" \
);
#endif
#define SVC_0_1(f,t,rv) \
__attribute__((always_inline)) \
static inline t __##f (void) { \
SVC_Arg0(); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_1_0(f,t,t1) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1) { \
SVC_Arg1(t1); \
SVC_Call(f); \
}
#define SVC_1_1(f,t,t1,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1) { \
SVC_Arg1(t1); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_2_1(f,t,t1,t2,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2) { \
SVC_Arg2(t1,t2); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_3_1(f,t,t1,t2,t3,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2, t3 a3) { \
SVC_Arg3(t1,t2,t3); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,rv) \
__attribute__((always_inline)) \
static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
SVC_Arg4(t1,t2,t3,t4); \
SVC_Call(f); \
return (t) rv; \
}
#define SVC_1_2 SVC_1_1
#define SVC_1_3 SVC_1_1
#define SVC_2_3 SVC_2_1
#elif defined (__ICCARM__) /* IAR Compiler */
#define __NO_RETURN __noreturn
#define RET_osEvent "=r"(ret.status), "=r"(ret.value), "=r"(ret.def)
#define RET_osCallback "=r"(ret.fp), "=r"(ret.arg)
#define osEvent_type osEvent
#define osEvent_ret_status ret
#define osEvent_ret_value ret
#define osEvent_ret_msg ret
#define osEvent_ret_mail ret
#define osCallback_type uint64_t
#define osCallback_ret ((uint64_t)ret.fp | ((uint64_t)ret.arg)<<32)
#define SVC_Setup(f) \
__asm( \
"mov r12,%0\n" \
:: "r"(&f): "r12" \
);
#define SVC_Ret3() \
__asm( \
"ldr r0,[sp,#0]\n" \
"ldr r1,[sp,#4]\n" \
"ldr r2,[sp,#8]\n" \
);
#define SVC_0_1(f,t,...) \
t f (void); \
_Pragma("swi_number=0") __swi t _##f (void); \
static inline t __##f (void) { \
SVC_Setup(f); \
return _##f(); \
}
#define SVC_1_0(f,t,t1,...) \
t f (t1 a1); \
_Pragma("swi_number=0") __swi t _##f (t1 a1); \
static inline t __##f (t1 a1) { \
SVC_Setup(f); \
_##f(a1); \
}
#define SVC_1_1(f,t,t1,...) \
t f (t1 a1); \
_Pragma("swi_number=0") __swi t _##f (t1 a1); \
static inline t __##f (t1 a1) { \
SVC_Setup(f); \
return _##f(a1); \
}
#define SVC_2_1(f,t,t1,t2,...) \
t f (t1 a1, t2 a2); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2); \
static inline t __##f (t1 a1, t2 a2) { \
SVC_Setup(f); \
return _##f(a1,a2); \
}
#define SVC_3_1(f,t,t1,t2,t3,...) \
t f (t1 a1, t2 a2, t3 a3); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3); \
static inline t __##f (t1 a1, t2 a2, t3 a3) { \
SVC_Setup(f); \
return _##f(a1,a2,a3); \
}
#define SVC_4_1(f,t,t1,t2,t3,t4,...) \
t f (t1 a1, t2 a2, t3 a3, t4 a4); \
_Pragma("swi_number=0") __swi t _##f (t1 a1, t2 a2, t3 a3, t4 a4); \
static inline t __##f (t1 a1, t2 a2, t3 a3, t4 a4) { \
SVC_Setup(f); \
return _##f(a1,a2,a3,a4); \
}
#define SVC_1_2(f,t,t1,rr) \
uint64_t f (t1 a1); \
_Pragma("swi_number=0") __swi uint64_t _##f (t1 a1); \
static inline t __##f (t1 a1) { \
t ret; \
SVC_Setup(f); \
_##f(a1); \
__asm("" : rr : :); \
return ret; \
}
#define SVC_1_3(f,t,t1,rr) \
t f (t1 a1); \
void f##_ (t1 a1) { \
f(a1); \
SVC_Ret3(); \
} \
_Pragma("swi_number=0") __swi void _##f (t1 a1); \
static inline t __##f (t1 a1) { \
t ret; \
SVC_Setup(f##_); \
_##f(a1); \
__asm("" : rr : :); \
return ret; \
}
#define SVC_2_3(f,t,t1,t2,rr) \
t f (t1 a1, t2 a2); \
void f##_ (t1 a1, t2 a2) { \
f(a1,a2); \
SVC_Ret3(); \
} \
_Pragma("swi_number=0") __swi void _##f (t1 a1, t2 a2); \
static inline t __##f (t1 a1, t2 a2) { \
t ret; \
SVC_Setup(f##_); \
_##f(a1,a2); \
__asm("" : rr : :); \
return ret; \
}
#endif
// Callback structure
typedef struct {
void *fp; // Function pointer
void *arg; // Function argument
} osCallback;
// OS Section definitions
#ifdef OS_SECTIONS_LINK_INFO
extern const uint32_t os_section_id$$Base;
extern const uint32_t os_section_id$$Limit;
#endif
// OS Stack Memory for Threads definitions
extern uint64_t os_stack_mem[];
extern const uint32_t os_stack_sz;
// OS Timers external resources
extern const osThreadDef_t os_thread_def_osTimerThread;
extern osThreadId osThreadId_osTimerThread;
extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ;
extern osMessageQId osMessageQId_osTimerMessageQ;
// ==== Helper Functions ====
/// Convert timeout in millisec to system ticks
static uint16_t rt_ms2tick (uint32_t millisec) {
uint32_t tick;
if (millisec == 0U) { return 0x0U; } // No timeout
if (millisec == osWaitForever) { return 0xFFFFU; } // Indefinite timeout
if (millisec > 4000000U) { return 0xFFFEU; } // Max ticks supported
tick = ((1000U * millisec) + os_clockrate - 1U) / os_clockrate;
if (tick > 0xFFFEU) { return 0xFFFEU; }
return (uint16_t)tick;
}
/// Convert Thread ID to TCB pointer
static P_TCB rt_tid2ptcb (osThreadId thread_id) {
P_TCB ptcb;
if (thread_id == NULL) { return NULL; }
if ((uint32_t)thread_id & 3U) { return NULL; }
#ifdef OS_SECTIONS_LINK_INFO
if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
if (thread_id < (osThreadId)os_section_id$$Base) { return NULL; }
if (thread_id >= (osThreadId)os_section_id$$Limit) { return NULL; }
}
#endif
ptcb = thread_id;
if (ptcb->cb_type != TCB) { return NULL; }
return ptcb;
}
/// Convert ID pointer to Object pointer
static void *rt_id2obj (void *id) {
if ((uint32_t)id & 3U) { return NULL; }
#ifdef OS_SECTIONS_LINK_INFO
if ((os_section_id$$Base != 0U) && (os_section_id$$Limit != 0U)) {
if (id < (void *)os_section_id$$Base) { return NULL; }
if (id >= (void *)os_section_id$$Limit) { return NULL; }
}
#endif
return id;
}
// ==== Kernel Control ====
uint8_t os_initialized; // Kernel Initialized flag
uint8_t os_running; // Kernel Running flag
// Kernel Control Service Calls declarations
SVC_0_1(svcKernelInitialize, osStatus, RET_osStatus)
SVC_0_1(svcKernelStart, osStatus, RET_osStatus)
SVC_0_1(svcKernelRunning, int32_t, RET_int32_t)
SVC_0_1(svcKernelSysTick, uint32_t, RET_uint32_t)
static void sysThreadError (osStatus status);
osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument);
osMessageQId svcMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
// Kernel Control Service Calls
/// Initialize the RTOS Kernel for creating objects
osStatus svcKernelInitialize (void) {
uint32_t ret;
if (os_initialized == 0U) {
// Init Thread Stack Memory (must be 8-byte aligned)
if (((uint32_t)os_stack_mem & 7U) != 0U) { return osErrorNoMemory; }
ret = rt_init_mem(os_stack_mem, os_stack_sz);
if (ret != 0U) { return osErrorNoMemory; }
rt_sys_init(); // RTX System Initialization
}
os_tsk.run->prio = 255U; // Highest priority
if (os_initialized == 0U) {
// Create OS Timers resources (Message Queue & Thread)
osMessageQId_osTimerMessageQ = svcMessageCreate (&os_messageQ_def_osTimerMessageQ, NULL);
osThreadId_osTimerThread = svcThreadCreate(&os_thread_def_osTimerThread, NULL);
}
sysThreadError(osOK);
os_initialized = 1U;
os_running = 0U;
return osOK;
}
/// Start the RTOS Kernel
osStatus svcKernelStart (void) {
if (os_running) { return osOK; }
rt_tsk_prio(0U, os_tsk.run->prio_base); // Restore priority
if (os_tsk.run->task_id == 0xFFU) { // Idle Thread
__set_PSP(os_tsk.run->tsk_stack + (8U*4U)); // Setup PSP
}
if (os_tsk.next == NULL) { // Force context switch
os_tsk.next = os_tsk.run;
os_tsk.run = NULL;
}
rt_sys_start();
os_running = 1U;
return osOK;
}
/// Check if the RTOS kernel is already started
int32_t svcKernelRunning (void) {
return (int32_t)os_running;
}
/// Get the RTOS kernel system timer counter
uint32_t svcKernelSysTick (void) {
uint32_t tick, tick0;
tick = os_tick_val();
if (os_tick_ovf()) {
tick0 = os_tick_val();
if (tick0 < tick) { tick = tick0; }
tick += (os_trv + 1U) * (os_time + 1U);
} else {
tick += (os_trv + 1U) * os_time;
}
return tick;
}
// Kernel Control Public API
/// Initialize the RTOS Kernel for creating objects
osStatus osKernelInitialize (void) {
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
if ((__get_CONTROL() & 1U) == 0U) { // Privileged mode
return svcKernelInitialize();
} else {
return __svcKernelInitialize();
}
}
/// Start the RTOS Kernel
osStatus osKernelStart (void) {
uint32_t stack[8];
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
switch (__get_CONTROL() & 0x03U) {
case 0x00U: // Privileged Thread mode & MSP
__set_PSP((uint32_t)(stack + 8)); // Initial PSP
if (os_flags & 1U) {
__set_CONTROL(0x02U); // Set Privileged Thread mode & PSP
} else {
__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
}
__DSB();
__ISB();
break;
case 0x01U: // Unprivileged Thread mode & MSP
return osErrorOS;
case 0x02U: // Privileged Thread mode & PSP
if ((os_flags & 1U) == 0U) { // Unprivileged Thread mode requested
__set_CONTROL(0x03U); // Set Unprivileged Thread mode & PSP
__DSB();
__ISB();
}
break;
case 0x03U: // Unprivileged Thread mode & PSP
if (os_flags & 1U) { return osErrorOS; } // Privileged Thread mode requested
break;
}
return __svcKernelStart();
}
/// Check if the RTOS kernel is already started
int32_t osKernelRunning (void) {
if ((__get_IPSR() != 0U) || ((__get_CONTROL() & 1U) == 0U)) {
// in ISR or Privileged
return (int32_t)os_running;
} else {
return __svcKernelRunning();
}
}
/// Get the RTOS kernel system timer counter
uint32_t osKernelSysTick (void) {
if (__get_IPSR() != 0U) { return 0U; } // Not allowed in ISR
return __svcKernelSysTick();
}
// ==== Thread Management ====
/// Set Thread Error (for Create functions which return IDs)
static void sysThreadError (osStatus status) {
// To Do
}
__NO_RETURN void osThreadExit (void);
// Thread Service Calls declarations
SVC_2_1(svcThreadCreate, osThreadId, const osThreadDef_t *, void *, RET_pointer)
SVC_0_1(svcThreadGetId, osThreadId, RET_pointer)
SVC_1_1(svcThreadTerminate, osStatus, osThreadId, RET_osStatus)
SVC_0_1(svcThreadYield, osStatus, RET_osStatus)
SVC_2_1(svcThreadSetPriority, osStatus, osThreadId, osPriority, RET_osStatus)
SVC_1_1(svcThreadGetPriority, osPriority, osThreadId, RET_osPriority)
// Thread Service Calls
/// Create a thread and add it to Active Threads and set it to state READY
osThreadId svcThreadCreate (const osThreadDef_t *thread_def, void *argument) {
P_TCB ptcb;
OS_TID tsk;
void *stk;
if ((thread_def == NULL) ||
(thread_def->pthread == NULL) ||
(thread_def->tpriority < osPriorityIdle) ||
(thread_def->tpriority > osPriorityRealtime)) {
sysThreadError(osErrorParameter);
return NULL;
}
if (thread_def->stacksize != 0U) { // Custom stack size
stk = rt_alloc_mem( // Allocate stack
os_stack_mem,
thread_def->stacksize
);
if (stk == NULL) {
sysThreadError(osErrorNoMemory); // Out of memory
return NULL;
}
} else { // Default stack size
stk = NULL;
}
tsk = rt_tsk_create( // Create task
(FUNCP)thread_def->pthread, // Task function pointer
(uint32_t)
(thread_def->tpriority-osPriorityIdle+1) | // Task priority
(thread_def->stacksize << 8), // Task stack size in bytes
stk, // Pointer to task's stack
argument // Argument to the task
);
if (tsk == 0U) { // Invalid task ID
if (stk != NULL) {
rt_free_mem(os_stack_mem, stk); // Free allocated stack
}
sysThreadError(osErrorNoMemory); // Create task failed (Out of memory)
return NULL;
}
ptcb = (P_TCB)os_active_TCB[tsk - 1U]; // TCB pointer
*((uint32_t *)ptcb->tsk_stack + 13) = (uint32_t)osThreadExit;
return ptcb;
}
/// Return the thread ID of the current running thread
osThreadId svcThreadGetId (void) {
OS_TID tsk;
tsk = rt_tsk_self();
if (tsk == 0U) { return NULL; }
return (P_TCB)os_active_TCB[tsk - 1U];
}
/// Terminate execution of a thread and remove it from ActiveThreads
osStatus svcThreadTerminate (osThreadId thread_id) {
OS_RESULT res;
P_TCB ptcb;
void *stk;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osErrorParameter;
}
stk = ptcb->priv_stack ? ptcb->stack : NULL; // Private stack
res = rt_tsk_delete(ptcb->task_id); // Delete task
if (res == OS_R_NOK) {
return osErrorResource; // Delete task failed
}
if (stk != NULL) {
rt_free_mem(os_stack_mem, stk); // Free private stack
}
return osOK;
}
/// Pass control to next thread that is in state READY
osStatus svcThreadYield (void) {
rt_tsk_pass(); // Pass control to next task
return osOK;
}
/// Change priority of an active thread
osStatus svcThreadSetPriority (osThreadId thread_id, osPriority priority) {
OS_RESULT res;
P_TCB ptcb;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osErrorParameter;
}
if ((priority < osPriorityIdle) || (priority > osPriorityRealtime)) {
return osErrorValue;
}
res = rt_tsk_prio( // Change task priority
ptcb->task_id, // Task ID
(uint8_t)(priority - osPriorityIdle + 1) // New task priority
);
if (res == OS_R_NOK) {
return osErrorResource; // Change task priority failed
}
return osOK;
}
/// Get current priority of an active thread
osPriority svcThreadGetPriority (osThreadId thread_id) {
P_TCB ptcb;
ptcb = rt_tid2ptcb(thread_id); // Get TCB pointer
if (ptcb == NULL) {
return osPriorityError;
}
return (osPriority)(ptcb->prio - 1 + osPriorityIdle);
}
// Thread Public API
/// Create a thread and add it to Active Threads and set it to state READY
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
if (__get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
if (((__get_CONTROL() & 1U) == 0U) && (os_running == 0U)) {
// Privileged and not running
return svcThreadCreate(thread_def, argument);
} else {
return __svcThreadCreate(thread_def, argument);
}
}
/// Return the thread ID of the current running thread
osThreadId osThreadGetId (void) {
if (__get_IPSR() != 0U) {
return NULL; // Not allowed in ISR
}
return __svcThreadGetId();
}
/// Terminate execution of a thread and remove it from ActiveThreads
osStatus osThreadTerminate (osThreadId thread_id) {
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadTerminate(thread_id);
}
/// Pass control to next thread that is in state READY
osStatus osThreadYield (void) {
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadYield();
}
/// Change priority of an active thread
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) {
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcThreadSetPriority(thread_id, priority);
}
/// Get current priority of an active thread
osPriority osThreadGetPriority (osThreadId thread_id) {
if (__get_IPSR() != 0U) {
return osPriorityError; // Not allowed in ISR
}
return __svcThreadGetPriority(thread_id);
}
/// INTERNAL - Not Public
/// Auto Terminate Thread on exit (used implicitly when thread exists)
__NO_RETURN void osThreadExit (void) {
__svcThreadTerminate(__svcThreadGetId());
for (;;); // Should never come here
}
// ==== Generic Wait Functions ====
// Generic Wait Service Calls declarations
SVC_1_1(svcDelay, osStatus, uint32_t, RET_osStatus)
#if osFeature_Wait != 0
SVC_1_3(svcWait, os_InRegs osEvent, uint32_t, RET_osEvent)
#endif
// Generic Wait Service Calls
/// Wait for Timeout (Time Delay)
osStatus svcDelay (uint32_t millisec) {
if (millisec == 0U) { return osOK; }
rt_dly_wait(rt_ms2tick(millisec));
return osEventTimeout;
}
/// Wait for Signal, Message, Mail, or Timeout
#if osFeature_Wait != 0
os_InRegs osEvent_type svcWait (uint32_t millisec) {
osEvent ret;
if (millisec == 0U) {
ret.status = osOK;
return osEvent_ret_status;
}
/* To Do: osEventSignal, osEventMessage, osEventMail */
rt_dly_wait(rt_ms2tick(millisec));
ret.status = osEventTimeout;
return osEvent_ret_status;
}
#endif
// Generic Wait API
/// Wait for Timeout (Time Delay)
osStatus osDelay (uint32_t millisec) {
if (__get_IPSR() != 0U) {
return osErrorISR; // Not allowed in ISR
}
return __svcDelay(millisec);
}
/// Wait for Signal, Message, Mail, or Timeout
os_InRegs osEvent osWait (uint32_t millisec) {
osEvent ret;
#if osFeature_Wait == 0
ret.status = osErrorOS;
return ret;
#else
if (__get_IPSR() != 0U) { // Not allowed in ISR
ret.status = osErrorISR;
return ret;
}
return __svcWait(millisec);
#endif
}
// ==== Timer Management ====
// Timer definitions
#define osTimerInvalid 0U
#define osTimerStopped 1U
#define osTimerRunning 2U
// Timer structures
typedef struct os_timer_cb_ { // Timer Control Block
struct os_timer_cb_ *next; // Pointer to next active Timer
uint8_t state; // Timer State
uint8_t type; // Timer Type (Periodic/One-shot)
uint16_t reserved; // Reserved
uint32_t tcnt; // Timer Delay Count
uint32_t icnt; // Timer Initial Count
void *arg; // Timer Function Argument
const osTimerDef_t *timer; // Pointer to Timer definition
} os_timer_cb;
// Timer variables
os_timer_cb *os_timer_head; // Pointer to first active Timer
// Timer Helper Functions
// Insert Timer into the list sorted by time
static void rt_timer_insert (os_timer_cb *pt, uint32_t tcnt) {
os_timer_cb *p, *prev;
prev = NULL;
p = os_timer_head;
while (p != NULL) {
if (tcnt < p->tcnt) { break; }
tcnt -= p->tcnt;
prev = p;
p = p->next;
}
pt->next = p;
pt->tcnt = tcnt;
if (p != NULL) {
p->tcnt -= pt->tcnt;
}
if (prev != NULL) {
prev->next = pt;
} else {
os_timer_head = pt;
}
}
// Remove Timer from the list
static int32_t rt_timer_remove (os_timer_cb *pt) {
os_timer_cb *p, *prev;
prev = NULL;
p = os_timer_head;
while (p != NULL) {
if (p == pt) { break; }
prev = p;
p = p->next;
}
if (p == NULL) { return -1; }
if (prev != NULL) {
prev->next = pt->next;
} else {
os_timer_head = pt->next;
}
if (pt->next != NULL) {
pt->next->tcnt += pt->tcnt;
}
return 0;
}
// Timer Service Calls declarations
SVC_3_1(svcTimerCreate, osTimerId, const osTimerDef_t *, os_timer_type, void *, RET_pointer)
SVC_2_1(svcTimerStart, osStatus, osTimerId, uint32_t, RET_osStatus)
SVC_1_1(svcTimerStop, osStatus, osTimerId, RET_osStatus)
SVC_1_1(svcTimerDelete, osStatus, osTimerId, RET_osStatus)
SVC_1_2(svcTimerCall, os_InRegs osCallback, osTimerId, RET_osCallback)
// Timer Management Service Calls
/// Create timer
osTimerId svcTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) {
os_timer_cb *pt;
if ((timer_def == NULL) || (timer_def->ptimer == NULL)) {
sysThreadError(osErrorParameter);
return NULL;
}