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cmsis_rtthread.c
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cmsis_rtthread.c
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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2022-04-27 tyustli The first version
*/
#include <rtthread.h>
#include <rtdbg.h>
#include "cmsis_os.h"
#define DEFAULT_TICK (5)
#define DEFAULT_THREAD_STACK_SIZE (512)
#define SIGNAL_ERROR_CODE (0x80000000)
#define CMSIS_MEM_ALLOC(_size) rt_malloc(_size)
#define CMSIS_MEM_FREE(_ptr) rt_free(_ptr)
#define DBG_TAG "cmsis_rtos1"
#ifdef PKG_USING_CMSIS_RTOS1_DBG
#define DBG_LVL DBG_LOG
#else
#define DBG_LVL DBG_INFO
#endif
/* cmsis to rt-thread priority map */
static const rt_uint8_t priorityArrayMap[7] =
{
RT_THREAD_PRIORITY_MAX - 1,
RT_THREAD_PRIORITY_MAX - 1 - (RT_THREAD_PRIORITY_MAX / 6),
RT_THREAD_PRIORITY_MAX - 1 - (RT_THREAD_PRIORITY_MAX / 3),
RT_THREAD_PRIORITY_MAX / 2,
RT_THREAD_PRIORITY_MAX / 3,
RT_THREAD_PRIORITY_MAX / 6,
0,
};
/* Convert from CMSIS type osPriority to RT-Thread priority number */
static rt_uint8_t makeRttPriority(osPriority priority)
{
rt_uint8_t rttPriority = RT_THREAD_PRIORITY_MAX;
switch (priority)
{
case osPriorityIdle:
rttPriority = priorityArrayMap[0];
break;
case osPriorityLow:
rttPriority = priorityArrayMap[1];
break;
case osPriorityBelowNormal:
rttPriority = priorityArrayMap[2];
break;
case osPriorityNormal:
rttPriority = priorityArrayMap[3];
break;
case osPriorityAboveNormal:
rttPriority = priorityArrayMap[4];
break;
case osPriorityHigh:
rttPriority = priorityArrayMap[5];
break;
case osPriorityRealtime:
rttPriority = priorityArrayMap[6];
break;
default:
break;
}
return rttPriority;
}
/* Convert from RT-Thread priority number to CMSIS type osPriority */
static osPriority makeCmsisPriority(rt_uint8_t rttPriority)
{
osPriority priority = osPriorityError;
if (rttPriority == priorityArrayMap[0])
priority = osPriorityIdle;
else if (rttPriority == priorityArrayMap[1])
priority = osPriorityLow;
else if (rttPriority == priorityArrayMap[2])
priority = osPriorityBelowNormal;
else if (rttPriority == priorityArrayMap[3])
priority = osPriorityNormal;
else if (rttPriority == priorityArrayMap[4])
priority = osPriorityAboveNormal;
else if (rttPriority == priorityArrayMap[5])
priority = osPriorityHigh;
else if (rttPriority == priorityArrayMap[6])
rttPriority = osPriorityRealtime;
return priority;
}
/* Determine whether we are in thread mode or handler mode. */
static int inHandlerMode(void)
{
return rt_interrupt_get_nest() != 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)
{
return osOK;
}
/**
* @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)
{
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
return osErrorISR;
return osOK;
}
/**
* @brief Check if the RTOS kernel is already started
* @param None
* @retval (0) RTOS is not started
* (1) RTOS is started
* @note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
*/
int32_t osKernelRunning(void)
{
if (rt_thread_self())
return 1;
else
return 0;
}
/**
* @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)
{
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
return 0;
return rt_tick_get();
}
/*********************** Thread Management *****************************/
typedef struct os_thread_cb
{
rt_thread_t thread_id;
rt_event_t event_id;
} os_thread_cb_t;
static void thread_cleanup(struct rt_thread *tid)
{
if (tid->user_data)
{
/* delete event */
rt_event_delete(((struct os_thread_cb *)(tid->user_data))->event_id);
/* free mem */
CMSIS_MEM_FREE((void *)(tid->user_data));
tid->user_data = RT_NULL;
}
}
/**
* @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)
{
static rt_uint8_t thread_number = 0;
char name[RT_NAME_MAX];
rt_uint8_t rttPriority = 0;
rt_uint32_t stack_size = 0;
void (*entry)(void *parameter);
os_thread_cb_t *thread_cb = RT_NULL;
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
goto thread_create_failed;
if (RT_NULL == thread_def || RT_NULL == thread_def->pthread)
goto thread_create_failed;
rt_snprintf(name, sizeof(name), "thread%02d", thread_number++); /* thread name */
rttPriority = makeRttPriority(thread_def->tpriority); /* thread priority */
entry = (void (*)(void *parameter))(thread_def->pthread); /* thread entry */
stack_size = thread_def->stacksize; /* thread stack size */
if (0 == thread_def->stacksize)
stack_size = DEFAULT_THREAD_STACK_SIZE;
thread_cb = (void *)CMSIS_MEM_ALLOC(sizeof(struct os_thread_cb));
if (RT_NULL == thread_cb)
goto thread_create_failed;
thread_cb->thread_id = rt_thread_create(name,
entry,
argument,
stack_size,
rttPriority,
DEFAULT_TICK);
thread_cb->event_id = rt_event_create(name, RT_IPC_FLAG_PRIO);
if (RT_NULL == thread_cb->thread_id || RT_NULL == thread_cb->event_id)
goto thread_create_failed;
thread_cb->thread_id->user_data = (rt_ubase_t)thread_cb;
thread_cb->thread_id->cleanup = thread_cleanup; /* when thread done. event and mem must be free */
/* start thread */
rt_thread_startup(thread_cb->thread_id);
return thread_cb;
thread_create_failed:
LOG_E("CMSIS RTOS1 %s failed", __func__);
if (thread_cb)
{
if (thread_cb->thread_id)
rt_thread_delete(thread_cb->thread_id);
if (thread_cb->event_id)
rt_event_delete(thread_cb->event_id);
CMSIS_MEM_FREE(thread_cb);
}
return RT_NULL;
}
osStatus osThreadTerminate(osThreadId thread_id)
{
rt_err_t result;
osStatus status;
rt_thread_t thread;
/* thread_id is incorrect */
if (RT_NULL == thread_id)
{
status = osErrorParameter;
goto thread_terminate_error;
}
thread = thread_id->thread_id;
/* thread_id refers to a thread that is not an active thread. thread maybe done or has terminated*/
if (rt_object_get_type((rt_object_t)thread) != RT_Object_Class_Thread)
{
status = osErrorResource;
goto thread_terminate_error;
}
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
{
status = osErrorISR;
goto thread_terminate_error;
}
result = rt_thread_control(thread, RT_THREAD_CTRL_CLOSE, RT_NULL);
if (result != RT_EOK)
{
status = osErrorOS;
goto thread_terminate_error;
}
return osOK;
thread_terminate_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/**
* @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)
{
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
return osErrorISR;
rt_thread_yield();
return osOK;
}
/**
* @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)
{
rt_thread_t thread;
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
return RT_NULL;
thread = rt_thread_self();
return (osThreadId)(thread->user_data);
}
/**
* @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)
{
osStatus status;
rt_err_t result;
rt_uint8_t rttPriority = 0;
rt_thread_t thread;
/* thread_id is incorrect */
if (RT_NULL == thread_id)
{
status = osErrorParameter;
goto set_pri_error;
}
/* incorrect priority value */
if (osPriorityError == priority)
{
status = osErrorValue;
goto set_pri_error;
}
thread = thread_id->thread_id;
/* thread_id refers to a thread that is not an active thread. thread maybe done or has terminated*/
if (rt_object_get_type((rt_object_t)thread) != RT_Object_Class_Thread)
{
status = osErrorResource;
goto set_pri_error;
}
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
{
status = osErrorISR;
goto set_pri_error;
}
rttPriority = makeRttPriority(priority);
result = rt_thread_control(thread, RT_THREAD_CTRL_CHANGE_PRIORITY, &rttPriority);
if (result != RT_EOK)
{
status = osErrorOS;
goto set_pri_error;
}
return osOK;
set_pri_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/**
* @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)
{
rt_thread_t thread;
if (RT_NULL == thread_id)
goto get_pri_error;
thread = thread_id->thread_id;
/* thread_id refers to a thread that is not an active thread. thread maybe done or has terminated*/
if (rt_object_get_type((rt_object_t)thread) != RT_Object_Class_Thread)
goto get_pri_error;
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
goto get_pri_error;
return makeCmsisPriority(thread->current_priority);
get_pri_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__);
return osPriorityError;
}
/*********************** 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)
{
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
return osErrorISR;
rt_thread_mdelay(millisec);
return osOK;
}
#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)
{
osEvent event;
event.status = osErrorOS;
LOG_E("CMSIS RTOS1 %s failed. this function not implement", __func__);
return event;
}
#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)
{
rt_timer_t timer;
static rt_uint16_t timer_number = 0U;
rt_uint8_t flag = RT_TIMER_FLAG_SOFT_TIMER;
char name[RT_NAME_MAX];
void (*timeout_callback)(void *parameter);
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
goto timer_create_error;
if (RT_NULL == timer_def || RT_NULL == timer_def->ptimer)
goto timer_create_error;
if (osTimerPeriodic == type)
flag |= RT_TIMER_FLAG_PERIODIC;
else if (osTimerOnce == type)
flag |= RT_TIMER_FLAG_ONE_SHOT;
else
goto timer_create_error;
rt_snprintf(name, sizeof(name), "timer%02d", timer_number++); /* timer name */
timeout_callback = (void (*)(void *parameter))(timer_def->ptimer); /* timeout callback */
timer = rt_timer_create(name,
timeout_callback,
argument,
0,
flag);
if (RT_NULL == timer)
goto timer_create_error;
return (osTimerId)timer;
timer_create_error:
LOG_E("CMSIS RTOS1 %s failed", __func__);
return RT_NULL;
}
/**
* @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)
{
rt_err_t result;
rt_tick_t ticks;
osStatus status;
/* timer_id is incorrect */
if ((RT_NULL == timer_id))
{
status = osErrorParameter;
goto timer_start_error;
}
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
{
status = osErrorISR;
goto timer_start_error;
}
ticks = rt_tick_from_millisecond(millisec);
result = rt_timer_control((rt_timer_t)timer_id, RT_TIMER_CTRL_SET_TIME, &ticks);
if (result != RT_EOK)
{
status = osErrorOS;
goto timer_start_error;
}
result = rt_timer_start((rt_timer_t)timer_id);
if (result != RT_EOK)
{
status = osErrorOS;
goto timer_start_error;
}
return osOK;
timer_start_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/**
* @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)
{
rt_err_t result;
rt_uint32_t timer_status;
osStatus status;
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
{
status = osErrorISR;
goto timer_stop_error;
}
/* timer_id is incorrect */
if (RT_NULL == timer_id)
{
status = osErrorParameter;
goto timer_stop_error;
}
/* the timer is not started */
rt_timer_control((rt_timer_t)timer_id, RT_TIMER_CTRL_GET_STATE, &timer_status);
if (RT_TIMER_FLAG_ACTIVATED != timer_status)
{
status = osErrorResource;
goto timer_stop_error;
}
result = rt_timer_stop((rt_timer_t)timer_id);
if (result != RT_EOK)
{
status = osErrorOS;
goto timer_stop_error;
}
return osOK;
timer_stop_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/**
* @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)
{
rt_err_t result;
osStatus status;
/* timer_id is incorrect. */
if (RT_NULL == timer_id)
{
status = osErrorParameter;
goto timer_delete_error;
}
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
{
status = osErrorISR;
goto timer_delete_error;
}
result = rt_timer_delete((rt_timer_t)timer_id);
if (RT_EOK != result)
{
status = osErrorOS;
goto timer_delete_error;
}
return osOK;
timer_delete_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/*************************** 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)
{
rt_event_t event;
int32_t ret = SIGNAL_ERROR_CODE;
rt_err_t result;
if (RT_NULL == thread_id)
goto signal_set_error;
event = thread_id->event_id;
/* previous signal flags of the specified thread */
rt_enter_critical();
ret = event->set;
rt_exit_critical();
result = rt_event_send(event, signal);
if (RT_EOK != result)
{
ret = SIGNAL_ERROR_CODE;
goto signal_set_error;
}
return ret;
signal_set_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, ret);
return SIGNAL_ERROR_CODE;
}
/**
* @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)
{
rt_event_t event;
int32_t ret = SIGNAL_ERROR_CODE;
if (RT_NULL == thread_id)
goto signal_clear_error;
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
goto signal_clear_error;
event = thread_id->event_id;
/* previous signal flags of the specified thread */
rt_enter_critical();
ret = event->set;
rt_exit_critical();
rt_event_control(event, RT_IPC_CMD_RESET, RT_NULL);
return ret;
signal_clear_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, ret);
return SIGNAL_ERROR_CODE;
}
/**
* @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 event;
rt_event_t recv_event;
osThreadId thread_cb;
rt_uint32_t recved;
rt_uint32_t ticks = 0;
rt_err_t result;
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
{
event.status = osErrorISR;
goto signal_wait_error;
}
/* get receive event */
thread_cb = osThreadGetId();
recv_event = thread_cb->event_id;
/* get timeout */
if (osWaitForever == millisec)
ticks = RT_WAITING_FOREVER;
else if (0U != millisec)
ticks = rt_tick_from_millisecond(millisec);
if (signals != 0)
result = rt_event_recv(recv_event, signals, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, ticks, &recved);
else
result = rt_event_recv(recv_event, signals, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, ticks, &recved);
if (-RT_ETIMEOUT == result)
{
event.status = osEventTimeout;
goto signal_wait_error;
}
else if (RT_EOK != result)
{
event.status = osErrorOS;
goto signal_wait_error;
}
event.status = osEventSignal;
return event;
signal_wait_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, event.status);
return event;
}
/**************************** 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)
{
#ifdef RT_USING_MUTEX
static rt_uint16_t mutex_cnt = 0U;
char name[RT_NAME_MAX];
rt_mutex_t mutex;
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
goto mutex_create_failed;
rt_snprintf(name, sizeof(name), "mutex%02d", mutex_cnt++); /* mutex name */
mutex = rt_mutex_create(name, RT_IPC_FLAG_PRIO);
if (RT_NULL == mutex)
goto mutex_create_failed;
return (osMutexId)mutex;
mutex_create_failed:
LOG_E("CMSIS RTOS1 %s failed", __func__);
return RT_NULL;
#else /* not define RT_USING_MUTEX */
return RT_NULL;
#endif /* RT_USING_MUTEX */
}
/**
* @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)
{
rt_err_t result;
osStatus status;
rt_uint32_t ticks = 0;
/* the parameter mutex_id is incorrect */
if (RT_NULL == mutex_id)
{
status = osErrorParameter;
goto mutex_wait_error;
}
/* the mutex could not be obtained when no timeout was specified */
if (0 == millisec)
{
status = osErrorResource;
goto mutex_wait_error;
}
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
{
status = osErrorISR;
goto mutex_wait_error;
}
rt_enter_critical();
if (((rt_mutex_t)mutex_id)->owner == rt_thread_self())
{
rt_exit_critical();
status = osErrorOS;
goto mutex_wait_error;
}
rt_exit_critical();
if (osWaitForever == millisec)
ticks = RT_WAITING_FOREVER;
else if (0U != millisec)
ticks = rt_tick_from_millisecond(millisec);
result = rt_mutex_take((rt_mutex_t)mutex_id, ticks);
if (-RT_ETIMEOUT == result)
{
status = osErrorTimeoutResource;
goto mutex_wait_error;
}
else if (RT_EOK != result)
{
status = osErrorOS;
goto mutex_wait_error;
}
return osOK;
mutex_wait_error:
LOG_E("CMSIS RTOS1 %s failed", __func__);
return status;
}
/**
* @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)
{
rt_err_t result;
osStatus status;
/* the parameter mutex_id is incorrect */
if (RT_NULL == mutex_id)
{
status = osErrorParameter;
goto mutex_release_error;
}
/* Cannot be called from Interrupt Service Routines. */
if (inHandlerMode())
{
status = osErrorISR;
goto mutex_release_error;
}
/* the mutex was not obtained before */
if (rt_object_get_type(&((rt_mutex_t)mutex_id)->parent.parent) != RT_Object_Class_Mutex)
{
status = osErrorResource;
goto mutex_release_error;
}
result = rt_mutex_release((rt_mutex_t)mutex_id);
if (RT_EOK != result)
{
status = osErrorOS;
goto mutex_release_error;
}
return osOK;
mutex_release_error:
LOG_E("CMSIS RTOS1 %s failed error code is : 0x%x", __func__, status);
return status;
}
/**
* @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)
{
osStatus status;
rt_err_t result;
/* Check parameters */
if (RT_NULL == mutex_id)
{
status = osErrorParameter;
goto mutex_delete_error;
}
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
{
status = osErrorISR;
goto mutex_delete_error;
}
/* all tokens have already been released */
if (rt_object_get_type(&((rt_mutex_t)mutex_id)->parent.parent) != RT_Object_Class_Mutex)
{
status = osErrorResource;
goto mutex_delete_error;
}
result = rt_mutex_delete((rt_mutex_t)mutex_id);
if (RT_EOK != result)
{
status = osErrorOS;
goto mutex_delete_error;
}
return osOK;
mutex_delete_error:
LOG_E("CMSIS RTOS1 %s failed error code is :%d", __func__, status);
return status;
}
/******************** 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)
{
#ifdef RT_USING_SEMAPHORE
static rt_uint16_t sem_cnt = 0U;
char name[RT_NAME_MAX];
rt_sem_t sem;
/* Cannot be called from Interrupt Service Routines */
if (inHandlerMode())
goto sem_create_error;
if (count < 0 || count > osFeature_Semaphore)
goto sem_create_error;
rt_snprintf(name, sizeof(name), "sem%02d", sem_cnt++);
sem = rt_sem_create(name, count, RT_IPC_FLAG_PRIO);
if (RT_NULL == sem)
goto sem_create_error;
return (osSemaphoreId)sem;
sem_create_error:
LOG_E("CMSIS RTOS1 %s failed error", __func__);
return RT_NULL;
#else /* not defined RT_USING_SEMAPHORE */
return RT_NULL;
#endif /* RT_USING_SEMAPHORE */
}
/* get semaphore cnt */
static int32_t _osSemaphoreGetCount(osSemaphoreId semaphore_id)
{
rt_sem_t sem_cb = (rt_sem_t)semaphore_id;
/* Check parameters */
if ((RT_NULL == sem_cb) || (rt_object_get_type(&sem_cb->parent.parent) != RT_Object_Class_Semaphore))
return 0U;
return sem_cb->value;
}
/**
* @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)
{
rt_err_t result;
rt_int32_t ticks = 0;
if (RT_NULL == semaphore_id)
goto sem_take_error;