/* ---------------------------------------------------------------------- * $Date: 5. February 2013 * $Revision: V1.02 * * Project: CMSIS-RTOS API * Title: cmsis_os.h template header file * * Version 0.02 * Initial Proposal Phase * Version 0.03 * osKernelStart added, optional feature: main started as thread * osSemaphores have standard behavior * osTimerCreate does not start the timer, added osTimerStart * osThreadPass is renamed to osThreadYield * Version 1.01 * Support for C++ interface * - const attribute removed from the osXxxxDef_t typedef's * - const attribute added to the osXxxxDef macros * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete * Added: osKernelInitialize * Version 1.02 * Control functions for short timeouts in microsecond resolution: * Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec * Removed: osSignalGet *---------------------------------------------------------------------------- * * Copyright (c) 2013-2017 ARM LIMITED * * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the License); you may * not use this file except in compliance with the License. * You may obtain a copy of the License at * * www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an AS IS BASIS, WITHOUT * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. *---------------------------------------------------------------------------*/ #ifndef ZEPHYR_INCLUDE_CMSIS_RTOS_V1_CMSIS_OS_H_ #define ZEPHYR_INCLUDE_CMSIS_RTOS_V1_CMSIS_OS_H_ /// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version. #define osCMSIS 0x10002 ///< API version (main [31:16] .sub [15:0]) /// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number. #define osCMSIS_KERNEL 0x10000 ///< RTOS identification and version (main [31:16] .sub [15:0]) /// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS. #define osKernelSystemId "KERNEL V1.00" ///< RTOS identification string /// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS. #define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available #define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available #define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available #define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available #define osFeature_Signals 8 ///< maximum number of Signal Flags available per thread #define osFeature_Semaphore 30 ///< maximum count for \ref osSemaphoreCreate function #define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available #define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available #include #include #include #ifdef __cplusplus extern "C" { #endif // ==== Enumeration, structures, defines ==== /// Priority used for thread control. /// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS. typedef enum { osPriorityIdle = -3, ///< priority: idle (lowest) osPriorityLow = -2, ///< priority: low osPriorityBelowNormal = -1, ///< priority: below normal osPriorityNormal = 0, ///< priority: normal (default) osPriorityAboveNormal = +1, ///< priority: above normal osPriorityHigh = +2, ///< priority: high osPriorityRealtime = +3, ///< priority: realtime (highest) osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority } osPriority; /// Timeout value. /// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS. #define osWaitForever 0xFFFFFFFF ///< wait forever timeout value /// Status code values returned by CMSIS-RTOS functions. /// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS. typedef enum { osOK = 0, ///< function completed; no error or event occurred. osEventSignal = 0x08, ///< function completed; signal event occurred. osEventMessage = 0x10, ///< function completed; message event occurred. osEventMail = 0x20, ///< function completed; mail event occurred. osEventTimeout = 0x40, ///< function completed; timeout occurred. osErrorParameter = 0x80, ///< parameter error: a mandatory parameter was missing or specified an incorrect object. osErrorResource = 0x81, ///< resource not available: a specified resource was not available. osErrorTimeoutResource = 0xC1, ///< resource not available within given time: a specified resource was not available within the timeout period. osErrorISR = 0x82, ///< not allowed in ISR context: the function cannot be called from interrupt service routines. osErrorISRRecursive = 0x83, ///< function called multiple times from ISR with same object. osErrorPriority = 0x84, ///< system cannot determine priority or thread has illegal priority. osErrorNoMemory = 0x85, ///< system is out of memory: it was impossible to allocate or reserve memory for the operation. osErrorValue = 0x86, ///< value of a parameter is out of range. osErrorOS = 0xFF, ///< unspecified RTOS error: run-time error but no other error message fits. os_status_reserved = 0x7FFFFFFF ///< prevent from enum down-size compiler optimization. } osStatus; /// Timer type value for the timer definition. /// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS. typedef enum { osTimerOnce = 0, ///< one-shot timer osTimerPeriodic = 1 ///< repeating timer } os_timer_type; /// Entry point of a thread. /// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS. typedef void (*os_pthread) (void const *argument); /// Entry point of a timer call back function. /// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS. typedef void (*os_ptimer) (void const *argument); // >>> the following data type definitions may shall adapted towards a specific RTOS /// Thread ID identifies the thread (pointer to a thread control block). /// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS. typedef struct os_thread_cb *osThreadId; /// Timer ID identifies the timer (pointer to a timer control block). /// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS. typedef struct os_timer_cb *osTimerId; /// Mutex ID identifies the mutex (pointer to a mutex control block). /// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS. typedef struct os_mutex_cb *osMutexId; /// Semaphore ID identifies the semaphore (pointer to a semaphore control block). /// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS. typedef struct os_semaphore_cb *osSemaphoreId; /// Pool ID identifies the memory pool (pointer to a memory pool control block). /// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS. typedef struct os_pool_cb *osPoolId; /// Message ID identifies the message queue (pointer to a message queue control block). /// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS. typedef struct os_messageQ_cb *osMessageQId; /// Mail ID identifies the mail queue (pointer to a mail queue control block). /// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS. typedef struct os_mailQ_cb *osMailQId; /// Thread Definition structure contains startup information of a thread. /// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS. typedef struct os_thread_def { os_pthread pthread; ///< start address of thread function osPriority tpriority; ///< initial thread priority uint32_t instances; ///< maximum number of instances of that thread function uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size void *stack_mem; ///< pointer to array of stack memory struct k_thread *cm_thread; ///< pointer to k_thread structure struct k_poll_signal *poll_signal; struct k_poll_event *poll_event; int32_t signal_results; } osThreadDef_t; /// Timer Definition structure contains timer parameters. /// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS. typedef struct os_timer_def { os_ptimer ptimer; ///< start address of a timer function } osTimerDef_t; /// Mutex Definition structure contains setup information for a mutex. /// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS. typedef struct os_mutex_def { uint32_t dummy; ///< dummy value. } osMutexDef_t; /// Semaphore Definition structure contains setup information for a semaphore. /// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS. typedef struct os_semaphore_def { uint32_t dummy; ///< dummy value. } osSemaphoreDef_t; /// Definition structure for memory block allocation. /// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS. typedef struct os_pool_def { uint32_t pool_sz; ///< number of items (elements) in the pool uint32_t item_sz; ///< size of an item void *pool; ///< pointer to memory for pool } osPoolDef_t; /// Definition structure for message queue. /// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS. typedef struct os_messageQ_def { uint32_t queue_sz; ///< number of elements in the queue uint32_t item_sz; ///< size of an item void *pool; ///< memory array for messages struct k_msgq *msgq; } osMessageQDef_t; /// Definition structure for mail queue. /// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS. typedef struct os_mailQ_def { uint32_t queue_sz; ///< number of elements in the queue uint32_t item_sz; ///< size of an item void *pool; ///< memory array for mail struct k_mbox *mbox; } osMailQDef_t; /// Event structure contains detailed information about an event. /// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS. /// However the struct may be extended at the end. typedef struct { osStatus status; ///< status code: event or error information union { uint32_t v; ///< message as 32-bit value void *p; ///< message or mail as void pointer int32_t signals; ///< signal flags } value; ///< event value union { osMailQId mail_id; ///< mail id obtained by \ref osMailCreate osMessageQId message_id; ///< message id obtained by \ref osMessageCreate } def; ///< event definition } osEvent; // ==== Kernel Control Functions ==== /// Initialize the RTOS Kernel for creating objects. /// \return 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); /// Start the RTOS Kernel. /// \return 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); /// Check if the RTOS kernel is already started. /// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. /// \return 0 RTOS is not started, 1 RTOS is started. int32_t osKernelRunning(void); #if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available /// Get the RTOS kernel system timer counter /// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS. /// \return RTOS kernel system timer as 32-bit value uint32_t osKernelSysTick (void); /// The RTOS kernel system timer frequency in Hz /// \note Reflects the system timer setting and is typically defined in a configuration file. #define osKernelSysTickFrequency sys_clock_hw_cycles_per_sec /// Convert a microseconds value to a RTOS kernel system timer value. /// \param microsec time value in microseconds. /// \return time value normalized to the \ref osKernelSysTickFrequency #define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000) #endif // System Timer available // ==== Thread Management ==== /// Create a Thread Definition with function, priority, and stack requirements. /// \param name name of the thread function. /// \param priority initial priority of the thread function. /// \param instances number of possible thread instances. /// \param stacksz stack size (in bytes) requirements for the thread function. /// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osThreadDef(name, priority, instances, stacksz) \ extern const osThreadDef_t os_thread_def_##name #else // define the object #define osThreadDef(name, priority, instances, stacksz) \ static K_THREAD_STACK_ARRAY_DEFINE(stacks_##name, instances, CONFIG_CMSIS_THREAD_MAX_STACK_SIZE); \ static struct k_thread cm_thread_##name[instances]; \ static struct k_poll_signal wait_signal_##name; \ static struct k_poll_event wait_events_##name; \ static osThreadDef_t os_thread_def_##name = \ { (name), (priority), (instances), (stacksz), (void *)(stacks_##name), (cm_thread_##name), (&wait_signal_##name), (&wait_events_##name), 0 } #endif /// Access a Thread definition. /// \param name name of the thread definition object. /// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osThread(name) \ &os_thread_def_##name /// Create a thread and add it to Active Threads and set it to state READY. /// \param[in] thread_def thread definition referenced with \ref osThread. /// \param[in] argument pointer that is passed to the thread function as start argument. /// \return thread ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS. osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument); /// Return the thread ID of the current running thread. /// \return thread ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS. osThreadId osThreadGetId (void); /// Terminate execution of a thread and remove it from Active Threads. /// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS. osStatus osThreadTerminate (osThreadId thread_id); /// Pass control to next thread that is in state \b READY. /// \return 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); /// Change priority of an active thread. /// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. /// \param[in] priority new priority value for the thread function. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS. osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority); /// Get current priority of an active thread. /// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. /// \return 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); // ==== Generic Wait Functions ==== /// Wait for Timeout (Time Delay). /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value /// \return status code that indicates the execution status of the function. osStatus osDelay (uint32_t millisec); #if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available /// Wait for Signal, Message, Mail, or Timeout. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out /// \return event that contains signal, message, or mail information or error code. /// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS. osEvent osWait (uint32_t millisec); #endif // Generic Wait available // ==== Timer Management Functions ==== /// Define a Timer object. /// \param name name of the timer object. /// \param function name of the timer call back function. /// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osTimerDef(name, function) \ extern const osTimerDef_t os_timer_def_##name #else // define the object #define osTimerDef(name, function) \ const osTimerDef_t os_timer_def_##name = \ { (function) } #endif /// Access a Timer definition. /// \param name name of the timer object. /// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osTimer(name) \ &os_timer_def_##name /// Create a timer. /// \param[in] timer_def timer object referenced with \ref osTimer. /// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior. /// \param[in] argument argument to the timer call back function. /// \return timer ID for reference by other functions or NULL in case of error. /// \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); /// Start or restart a timer. /// \param[in] timer_id timer ID obtained by \ref osTimerCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS. osStatus osTimerStart (osTimerId timer_id, uint32_t millisec); /// Stop the timer. /// \param[in] timer_id timer ID obtained by \ref osTimerCreate. /// \return 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); /// Delete a timer that was created by \ref osTimerCreate. /// \param[in] timer_id timer ID obtained by \ref osTimerCreate. /// \return 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); // ==== Signal Management ==== /// Set the specified Signal Flags of an active thread. /// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. /// \param[in] signals specifies the signal flags of the thread that should be set. /// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. /// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS. int32_t osSignalSet (osThreadId thread_id, int32_t signals); /// Clear the specified Signal Flags of an active thread. /// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. /// \param[in] signals specifies the signal flags of the thread that shall be cleared. /// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR. /// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS. int32_t osSignalClear (osThreadId thread_id, int32_t signals); /// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread. /// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out. /// \return event flag information or error code. /// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS. osEvent osSignalWait (int32_t signals, uint32_t millisec); // ==== Mutex Management ==== /// Define a Mutex. /// \param name name of the mutex object. /// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osMutexDef(name) \ extern const osMutexDef_t os_mutex_def_##name #else // define the object #define osMutexDef(name) \ const osMutexDef_t os_mutex_def_##name = { 0 } #endif /// Access a Mutex definition. /// \param name name of the mutex object. /// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osMutex(name) \ &os_mutex_def_##name /// Create and Initialize a Mutex object. /// \param[in] mutex_def mutex definition referenced with \ref osMutex. /// \return mutex ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS. osMutexId osMutexCreate (const osMutexDef_t *mutex_def); /// Wait until a Mutex becomes available. /// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS. osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec); /// Release a Mutex that was obtained by \ref osMutexWait. /// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS. osStatus osMutexRelease (osMutexId mutex_id); /// Delete a Mutex that was created by \ref osMutexCreate. /// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. /// \return 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); // ==== Semaphore Management Functions ==== #if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // Semaphore available /// Define a Semaphore object. /// \param name name of the semaphore object. /// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osSemaphoreDef(name) \ extern const osSemaphoreDef_t os_semaphore_def_##name #else // define the object #define osSemaphoreDef(name) \ const osSemaphoreDef_t os_semaphore_def_##name = { 0 } #endif /// Access a Semaphore definition. /// \param name name of the semaphore object. /// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osSemaphore(name) \ &os_semaphore_def_##name /// Create and Initialize a Semaphore object used for managing resources. /// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore. /// \param[in] count number of available resources. /// \return 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); /// Wait until a Semaphore token becomes available. /// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out. /// \return number of available tokens, or -1 in case of incorrect parameters. /// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS. int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec); /// Release a Semaphore token. /// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS. osStatus osSemaphoreRelease (osSemaphoreId semaphore_id); /// Delete a Semaphore that was created by \ref osSemaphoreCreate. /// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS. osStatus osSemaphoreDelete (osSemaphoreId semaphore_id); #endif // Semaphore available // ==== Memory Pool Management Functions ==== #if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available /// \brief Define a Memory Pool. /// \param name name of the memory pool. /// \param no maximum number of blocks (objects) in the memory pool. /// \param type data type of a single block (object). /// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osPoolDef(name, no, type) \ extern const osPoolDef_t os_pool_def_##name #else // define the object #define osPoolDef(name, no, type) \ K_MEM_SLAB_DEFINE(os_mem_##name, sizeof(type), no, 4); \ const osPoolDef_t os_pool_def_##name = \ { (no), sizeof(type), &os_mem_##name } #endif /// \brief Access a Memory Pool definition. /// \param name name of the memory pool /// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osPool(name) \ &os_pool_def_##name /// Create and Initialize a memory pool. /// \param[in] pool_def memory pool definition referenced with \ref osPool. /// \return memory pool ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS. osPoolId osPoolCreate (const osPoolDef_t *pool_def); /// Allocate a memory block from a memory pool. /// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. /// \return address of the allocated memory block or NULL in case of no memory available. /// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS. void *osPoolAlloc (osPoolId pool_id); /// Allocate a memory block from a memory pool and set memory block to zero. /// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. /// \return address of the allocated memory block or NULL in case of no memory available. /// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS. void *osPoolCAlloc (osPoolId pool_id); /// Return an allocated memory block back to a specific memory pool. /// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. /// \param[in] block address of the allocated memory block that is returned to the memory pool. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS. osStatus osPoolFree (osPoolId pool_id, void *block); #endif // Memory Pool Management available // ==== Message Queue Management Functions ==== #if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available /// \brief Create a Message Queue Definition. /// \param name name of the queue. /// \param queue_sz maximum number of messages in the queue. /// \param type data type of a single message element (for debugger). /// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osMessageQDef(name, queue_sz, type) \ extern const osMessageQDef_t os_messageQ_def_##name #else // define the object #define osMessageQDef(name, queue_sz, type) \ struct k_msgq msgq_##name; \ static char __aligned(4) buf_##name[queue_sz * sizeof(type)]; \ const osMessageQDef_t os_messageQ_def_##name = \ { (queue_sz), sizeof (type), (buf_##name), (&msgq_##name) } #endif /// \brief Access a Message Queue Definition. /// \param name name of the queue /// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osMessageQ(name) \ &os_messageQ_def_##name /// Create and Initialize a Message Queue. /// \param[in] queue_def queue definition referenced with \ref osMessageQ. /// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. /// \return message queue ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS. osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id); /// Put a Message to a Queue. /// \param[in] queue_id message queue ID obtained with \ref osMessageCreate. /// \param[in] info message information. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS. osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec); /// Get a Message or Wait for a Message from a Queue. /// \param[in] queue_id message queue ID obtained with \ref osMessageCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out. /// \return event information that includes status code. /// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS. osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec); #endif // Message Queues available // ==== Mail Queue Management Functions ==== #if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available /// \brief Create a Mail Queue Definition. /// \param name name of the queue /// \param queue_sz maximum number of messages in queue /// \param type data type of a single message element /// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #if defined (osObjectsExternal) // object is external #define osMailQDef(name, queue_sz, type) \ extern const osMailQDef_t os_mailQ_def_##name #else // define the object #define osMailQDef(name, queue_sz, type) \ struct k_mbox mbox_##name; \ K_MEM_SLAB_DEFINE(mailq_slab_##name, sizeof(type), queue_sz, 4); \ const osMailQDef_t os_mailQ_def_##name = \ { (queue_sz), sizeof (type), (&mailq_slab_##name), (&mbox_##name) } #endif /// \brief Access a Mail Queue Definition. /// \param name name of the queue /// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the /// macro body is implementation specific in every CMSIS-RTOS. #define osMailQ(name) \ &os_mailQ_def_##name /// Create and Initialize mail queue. /// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ /// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. /// \return mail queue ID for reference by other functions or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS. osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id); /// Allocate a memory block from a mail. /// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out /// \return pointer to memory block that can be filled with mail or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS. void *osMailAlloc (osMailQId queue_id, uint32_t millisec); /// Allocate a memory block from a mail and set memory block to zero. /// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out /// \return pointer to memory block that can be filled with mail or NULL in case of error. /// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS. void *osMailCAlloc (osMailQId queue_id, uint32_t millisec); /// Put a mail to a queue. /// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. /// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS. osStatus osMailPut (osMailQId queue_id, void *mail); /// Get a mail from a queue. /// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. /// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out /// \return event that contains mail information or error code. /// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS. osEvent osMailGet (osMailQId queue_id, uint32_t millisec); /// Free a memory block from a mail. /// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. /// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS. osStatus osMailFree (osMailQId queue_id, void *mail); #endif // Mail Queues available #ifdef __cplusplus } #endif #endif /* ZEPHYR_INCLUDE_CMSIS_RTOS_V1_CMSIS_OS_H_ */