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/*
* Copyright (c) 2013-2018 Arm Limited. All rights reserved. * * 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. * * ---------------------------------------------------------------------- * * $Date: 18. June 2018 * $Revision: V2.1.3 * * 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 typedefs * - 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 * Version 2.0.0 * OS objects creation without macros (dynamic creation and resource allocation): * - added: osXxxxNew functions which replace osXxxxCreate * - added: osXxxxAttr_t structures * - deprecated: osXxxxCreate functions, osXxxxDef_t structures * - deprecated: osXxxxDef and osXxxx macros * osStatus codes simplified and renamed to osStatus_t * osEvent return structure deprecated * Kernel: * - added: osKernelInfo_t and osKernelGetInfo * - added: osKernelState_t and osKernelGetState (replaces osKernelRunning) * - added: osKernelLock, osKernelUnlock * - added: osKernelSuspend, osKernelResume * - added: osKernelGetTickCount, osKernelGetTickFreq * - renamed osKernelSysTick to osKernelGetSysTimerCount * - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq * - deprecated osKernelSysTickMicroSec * Thread: * - extended number of thread priorities * - renamed osPrioriry to osPrioriry_t * - replaced osThreadCreate with osThreadNew * - added: osThreadGetName * - added: osThreadState_t and osThreadGetState * - added: osThreadGetStackSize, osThreadGetStackSpace * - added: osThreadSuspend, osThreadResume * - added: osThreadJoin, osThreadDetach, osThreadExit * - added: osThreadGetCount, osThreadEnumerate * - added: Thread Flags (moved from Signals) * Signals: * - renamed osSignals to osThreadFlags (moved to Thread Flags) * - changed return value of Set/Clear/Wait functions * - Clear function limited to current running thread * - extended Wait function (options) * - added: osThreadFlagsGet * Event Flags: * - added new independent object for handling Event Flags * Delay and Wait functions: * - added: osDelayUntil * - deprecated: osWait * Timer: * - replaced osTimerCreate with osTimerNew * - added: osTimerGetName, osTimerIsRunning * Mutex: * - extended: attributes (Recursive, Priority Inherit, Robust) * - replaced osMutexCreate with osMutexNew * - renamed osMutexWait to osMutexAcquire * - added: osMutexGetName, osMutexGetOwner * Semaphore: * - extended: maximum and initial token count * - replaced osSemaphoreCreate with osSemaphoreNew * - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value) * - added: osSemaphoreGetName, osSemaphoreGetCount * Memory Pool: * - using osMemoryPool prefix instead of osPool * - replaced osPoolCreate with osMemoryPoolNew * - extended osMemoryPoolAlloc (timeout) * - added: osMemoryPoolGetName * - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize * - added: osMemoryPoolGetCount, osMemoryPoolGetSpace * - added: osMemoryPoolDelete * - deprecated: osPoolCAlloc * Message Queue: * - extended: fixed size message instead of a single 32-bit value * - using osMessageQueue prefix instead of osMessage * - replaced osMessageCreate with osMessageQueueNew * - updated: osMessageQueuePut, osMessageQueueGet * - added: osMessageQueueGetName * - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize * - added: osMessageQueueGetCount, osMessageQueueGetSpace * - added: osMessageQueueReset, osMessageQueueDelete * Mail Queue: * - deprecated (superseded by extended Message Queue functionality) * Version 2.1.0 * Support for critical and uncritical sections (nesting safe): * - updated: osKernelLock, osKernelUnlock * - added: osKernelRestoreLock * Updated Thread and Event Flags: * - changed flags parameter and return type from int32_t to uint32_t * Version 2.1.1 * Additional functions allowed to be called from Interrupt Service Routines: * - osKernelGetTickCount, osKernelGetTickFreq * Changed Kernel Tick type to uint32_t: * - updated: osKernelGetTickCount, osDelayUntil * Version 2.1.2 * Additional functions allowed to be called from Interrupt Service Routines: * - osKernelGetInfo, osKernelGetState * Version 2.1.3 * Additional functions allowed to be called from Interrupt Service Routines: * - osThreadGetId *---------------------------------------------------------------------------*/ #ifndef CMSIS_OS_H_
#define CMSIS_OS_H_
/// \b osCMSIS identifies the CMSIS-RTOS API version.
#define osCMSIS 0x20001U ///< 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 0x10000U ///< RTOS identification and version (main[31:16].sub[15:0])
/// \note CAN BE CHANGED: \b osKernelSystemId identifies the underlying RTOS kernel.
#define osKernelSystemId "KERNEL V1.0" ///< RTOS identification string
/// \note CAN BE CHANGED: \b osFeature_xxx identifies RTOS features.
#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
#define osFeature_Signals 16U ///< maximum number of Signal Flags available per thread
#define osFeature_Semaphore 65535U ///< 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
#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
#if (osCMSIS >= 0x20000U)
#include "cmsis_os2.h"
#else
#include <stdint.h>
#include <stddef.h>
#endif
#ifdef __cplusplus
extern "C"{#endif
// ==== Enumerations, structures, defines ====
/// Priority values.
#if (osCMSIS < 0x20000U)
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 illegal priority.
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osPriority;#else
#define osPriority osPriority_t
#endif
/// Entry point of a thread.
typedef void (*os_pthread) (void const *argument); /// Entry point of a timer call back function.
typedef void (*os_ptimer) (void const *argument); /// Timer type.
#if (osCMSIS < 0x20000U)
typedef enum { osTimerOnce = 0, ///< One-shot timer.
osTimerPeriodic = 1 ///< Repeating timer.
} os_timer_type;#else
#define os_timer_type osTimerType_t
#endif
/// Timeout value.
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
/// Status code values returned by CMSIS-RTOS functions.
#if (osCMSIS < 0x20000U)
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.
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osStatus;#else
typedef int32_t osStatus;#define osEventSignal (0x08)
#define osEventMessage (0x10)
#define osEventMail (0x20)
#define osEventTimeout (0x40)
#define osErrorOS osError
#define osErrorTimeoutResource osErrorTimeout
#define osErrorISRRecursive (-126)
#define osErrorValue (-127)
#define osErrorPriority (-128)
#endif
// >>> the following data type definitions may be adapted towards a specific RTOS
/// Thread ID identifies the thread.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef void *osThreadId;#else
#define osThreadId osThreadId_t
#endif
/// Timer ID identifies the timer.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef void *osTimerId;#else
#define osTimerId osTimerId_t
#endif
/// Mutex ID identifies the mutex.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef void *osMutexId;#else
#define osMutexId osMutexId_t
#endif
/// Semaphore ID identifies the semaphore.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef void *osSemaphoreId;#else
#define osSemaphoreId osSemaphoreId_t
#endif
/// Pool ID identifies the memory pool.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
typedef void *osPoolId; /// Message ID identifies the message queue.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
typedef void *osMessageQId; /// Mail ID identifies the mail queue.
/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.
typedef void *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.
#if (osCMSIS < 0x20000U)
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
} osThreadDef_t;#else
typedef struct os_thread_def { os_pthread pthread; ///< start address of thread function
osThreadAttr_t attr; ///< thread attributes
} osThreadDef_t;#endif
/// Timer Definition structure contains timer parameters.
/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef struct os_timer_def { os_ptimer ptimer; ///< start address of a timer function
} osTimerDef_t;#else
typedef struct os_timer_def { os_ptimer ptimer; ///< start address of a timer function
osTimerAttr_t attr; ///< timer attributes
} osTimerDef_t;#endif
/// Mutex Definition structure contains setup information for a mutex.
/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef struct os_mutex_def { uint32_t dummy; ///< dummy value
} osMutexDef_t;#else
#define osMutexDef_t osMutexAttr_t
#endif
/// Semaphore Definition structure contains setup information for a semaphore.
/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef struct os_semaphore_def { uint32_t dummy; ///< dummy value
} osSemaphoreDef_t;#else
#define osSemaphoreDef_t osSemaphoreAttr_t
#endif
/// Definition structure for memory block allocation.
/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
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;#else
typedef struct os_pool_def { uint32_t pool_sz; ///< number of items (elements) in the pool
uint32_t item_sz; ///< size of an item
osMemoryPoolAttr_t attr; ///< memory pool attributes
} osPoolDef_t;#endif
/// Definition structure for message queue.
/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
typedef struct os_messageQ_def { uint32_t queue_sz; ///< number of elements in the queue
void *pool; ///< memory array for messages
} osMessageQDef_t;#else
typedef struct os_messageQ_def { uint32_t queue_sz; ///< number of elements in the queue
osMessageQueueAttr_t attr; ///< message queue attributes
} osMessageQDef_t;#endif
/// Definition structure for mail queue.
/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
#if (osCMSIS < 0x20000U)
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
} osMailQDef_t;#else
typedef struct os_mailQ_def { uint32_t queue_sz; ///< number of elements in the queue
uint32_t item_sz; ///< size of an item
void *mail; ///< pointer to mail
osMemoryPoolAttr_t mp_attr; ///< memory pool attributes
osMessageQueueAttr_t mq_attr; ///< message queue attributes
} osMailQDef_t;#endif
/// Event structure contains detailed information about an event.
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 Management Functions ====
/// Initialize the RTOS Kernel for creating objects.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osKernelInitialize (void);#endif
/// Start the RTOS Kernel scheduler.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osKernelStart (void);#endif
/// Check if the RTOS kernel is already started.
/// \return 0 RTOS is not started, 1 RTOS is started.
#if (osCMSIS < 0x20000U)
int32_t osKernelRunning(void);#endif
#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
/// Get the RTOS kernel system timer counter.
/// \return RTOS kernel system timer as 32-bit value
#if (osCMSIS < 0x20000U)
uint32_t osKernelSysTick (void);#else
#define osKernelSysTick osKernelGetSysTimerCount
#endif
/// The RTOS kernel system timer frequency in Hz.
/// \note Reflects the system timer setting and is typically defined in a configuration file.
#if (osCMSIS < 0x20000U)
#define osKernelSysTickFrequency 100000000
#endif
/// 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
#if (osCMSIS < 0x20000U)
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
#else
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * osKernelGetSysTimerFreq()) / 1000000)
#endif
#endif // System Timer available
// ==== Thread Management Functions ====
/// 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
#if (osCMSIS < 0x20000U)
#define osThreadDef(name, priority, instances, stacksz) \
const osThreadDef_t os_thread_def_##name = \{ (name), (priority), (instances), (stacksz) }#else
#define osThreadDef(name, priority, instances, stacksz) \
const osThreadDef_t os_thread_def_##name = \{ (name), \ { NULL, osThreadDetached, NULL, 0U, NULL, 8*((stacksz+7)/8), (priority), 0U, 0U } }#endif
#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.
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.
#if (osCMSIS < 0x20000U)
osThreadId osThreadGetId (void);#endif
/// Change priority of a 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.
#if (osCMSIS < 0x20000U)
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);#endif
/// Get current priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return current priority value of the specified thread.
#if (osCMSIS < 0x20000U)
osPriority osThreadGetPriority (osThreadId thread_id);#endif
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osThreadYield (void);#endif
/// Terminate execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osThreadTerminate (osThreadId thread_id);#endif
// ==== 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.
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.
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.
osEvent osSignalWait (int32_t signals, uint32_t millisec); // ==== 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.
#if (osCMSIS < 0x20000U)
osStatus osDelay (uint32_t millisec);#endif
#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.
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
#if (osCMSIS < 0x20000U)
#define osTimerDef(name, function) \
const osTimerDef_t os_timer_def_##name = { (function) }#else
#define osTimerDef(name, function) \
const osTimerDef_t os_timer_def_##name = \{ (function), { NULL, 0U, NULL, 0U } }#endif
#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 and Initialize 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.
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.
#if (osCMSIS < 0x20000U)
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);#endif
/// Stop a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osTimerStop (osTimerId timer_id);#endif
/// Delete a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osTimerDelete (osTimerId timer_id);#endif
// ==== Mutex Management Functions ====
/// 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
#if (osCMSIS < 0x20000U)
#define osMutexDef(name) \
const osMutexDef_t os_mutex_def_##name = { 0 }#else
#define osMutexDef(name) \
const osMutexDef_t os_mutex_def_##name = \{ NULL, osMutexRecursive | osMutexPrioInherit | osMutexRobust, NULL, 0U }#endif
#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.
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.
#if (osCMSIS < 0x20000U)
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);#else
#define osMutexWait osMutexAcquire
#endif
/// 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.
#if (osCMSIS < 0x20000U)
osStatus osMutexRelease (osMutexId mutex_id);#endif
/// Delete a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osMutexDelete (osMutexId mutex_id);#endif
// ==== Semaphore Management Functions ====
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U)) // 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
#if (osCMSIS < 0x20000U)
#define osSemaphoreDef(name) \
const osSemaphoreDef_t os_semaphore_def_##name = { 0 }#else
#define osSemaphoreDef(name) \
const osSemaphoreDef_t os_semaphore_def_##name = \{ NULL, 0U, NULL, 0U }#endif
#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.
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
/// \param[in] count maximum and initial number of available tokens.
/// \return semaphore ID for reference by other functions or NULL in case of error.
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.
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.
#if (osCMSIS < 0x20000U)
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);#endif
/// Delete a Semaphore object.
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);#endif
#endif // Semaphore available
// ==== Memory Pool Management Functions ====
#if (defined(osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool 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
#if (osCMSIS < 0x20000U)
#define osPoolDef(name, no, type) \
const osPoolDef_t os_pool_def_##name = \{ (no), sizeof(type), NULL }#else
#define osPoolDef(name, no, type) \
const osPoolDef_t os_pool_def_##name = \{ (no), sizeof(type), { NULL, 0U, NULL, 0U, NULL, 0U } }#endif
#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 object.
/// \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.
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.
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.
void *osPoolCAlloc (osPoolId pool_id); /// Return an allocated memory block back to a Memory Pool.
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
/// \return status code that indicates the execution status of the function.
osStatus osPoolFree (osPoolId pool_id, void *block); #endif // Memory Pool available
// ==== Message Queue Management Functions ====
#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queue 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
#if (osCMSIS < 0x20000U)
#define osMessageQDef(name, queue_sz, type) \
const osMessageQDef_t os_messageQ_def_##name = \{ (queue_sz), NULL }#else
#define osMessageQDef(name, queue_sz, type) \
const osMessageQDef_t os_messageQ_def_##name = \{ (queue_sz), { NULL, 0U, NULL, 0U, NULL, 0U } }#endif
#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 object.
/// \param[in] queue_def message 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.
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.
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec); /// Get a Message from a Queue or timeout if Queue is empty.
/// \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.
osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec); #endif // Message Queue available
// ==== Mail Queue Management Functions ====
#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queue available
/// \brief Create a Mail Queue Definition.
/// \param name name of the queue.
/// \param queue_sz maximum number of mails in the queue.
/// \param type data type of a single mail 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
#if (osCMSIS < 0x20000U)
#define osMailQDef(name, queue_sz, type) \
const osMailQDef_t os_mailQ_def_##name = \{ (queue_sz), sizeof(type), NULL }#else
#define osMailQDef(name, queue_sz, type) \
static void *os_mail_p_##name[2]; \const osMailQDef_t os_mailQ_def_##name = \{ (queue_sz), sizeof(type), (&os_mail_p_##name), \ { NULL, 0U, NULL, 0U, NULL, 0U }, \ { NULL, 0U, NULL, 0U, NULL, 0U } }#endif
#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 a Mail Queue object.
/// \param[in] queue_def mail queue definition referenced 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.
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id); /// Allocate a memory block for mail from a mail memory pool.
/// \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.
void *osMailAlloc (osMailQId queue_id, uint32_t millisec); /// Allocate a memory block for mail from a mail memory pool 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.
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec); /// Put a Mail into a Queue.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to memory with mail to put into a queue.
/// \return status code that indicates the execution status of the function.
osStatus osMailPut (osMailQId queue_id, const void *mail); /// Get a Mail from a Queue or timeout if Queue is empty.
/// \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 information that includes status code.
osEvent osMailGet (osMailQId queue_id, uint32_t millisec); /// Free a memory block by returning it to a mail memory pool.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to memory block that was obtained with \ref osMailGet.
/// \return status code that indicates the execution status of the function.
osStatus osMailFree (osMailQId queue_id, void *mail); #endif // Mail Queue available
#ifdef __cplusplus
}#endif
#endif // CMSIS_OS_H_
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