cmsis_os.h File Reference

Header of cmsis_os.c A new set of APIs are added in addition to existing ones, these APIs are specific to FreeRTOS. More...

#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "queue.h"
#include "semphr.h"
#include "event_groups.h"

Go to the source code of this file.

Classes
struct	os_thread_def
struct	os_timer_def
struct	os_mutex_def
struct	os_semaphore_def
struct	os_pool_def
struct	os_messageQ_def
struct	os_mailQ_def
struct	osEvent

Macros
#define	osCMSIS   0x10002
	API version (main [31:16] .sub [15:0]) More...
#define	osCMSIS_KERNEL   0x10000
	RTOS identification and version (main [31:16] .sub [15:0]) More...
#define	osKernelSystemId   "KERNEL V1.00"
	RTOS identification string. More...
#define	osFeature_MainThread   1
	main thread 1=main can be thread, 0=not available More...
#define	osFeature_Pool   1
	Memory Pools: 1=available, 0=not available. More...
#define	osFeature_MailQ   1
	Mail Queues: 1=available, 0=not available. More...
#define	osFeature_MessageQ   1
	Message Queues: 1=available, 0=not available. More...
#define	osFeature_Signals   8
	maximum number of Signal Flags available per thread More...
#define	osFeature_Semaphore   1
	osFeature_Semaphore function: 1=available, 0=not available More...
#define	osFeature_Wait   0
	osWait function: 1=available, 0=not available More...
#define	osFeature_SysTick   1
	osKernelSysTick functions: 1=available, 0=not available More...
#define	osWaitForever   0xFFFFFFFF
	wait forever timeout value More...
#define	osKernelSysTickFrequency   (configTICK_RATE_HZ)
#define	osKernelSysTickMicroSec(microsec)   (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
#define	osThreadDef(name, thread, priority, instances, stacksz)
#define	osThread(name)   &os_thread_def_##name
#define	osTimerDef(name, function)
#define	osTimer(name)   &os_timer_def_##name
#define	osMutexDef(name)   const osMutexDef_t os_mutex_def_##name = { 0 }
#define	osMutex(name)   &os_mutex_def_##name
#define	osSemaphoreDef(name)   const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
#define	osSemaphore(name)   &os_semaphore_def_##name
#define	osPoolDef(name, no, type)
	Define a Memory Pool. More...
#define	osPool(name)   &os_pool_def_##name
	Access a Memory Pool definition. More...
#define	osMessageQDef(name, queue_sz, type)
	Create a Message Queue Definition. More...
#define	osMessageQ(name)   &os_messageQ_def_##name
	Access a Message Queue Definition. More...
#define	osMailQDef(name, queue_sz, type)
	Create a Mail Queue Definition. More...
#define	osMailQ(name)   &os_mailQ_def_##name
	Access a Mail Queue Definition. More...

Typedefs
typedef void(*	os_pthread) (void const *argument)
typedef void(*	os_ptimer) (void const *argument)
typedef TaskHandle_t	osThreadId
typedef TimerHandle_t	osTimerId
typedef SemaphoreHandle_t	osMutexId
typedef SemaphoreHandle_t	osSemaphoreId
typedef struct os_pool_cb *	osPoolId
typedef QueueHandle_t	osMessageQId
typedef struct os_mailQ_cb *	osMailQId
typedef struct os_thread_def	osThreadDef_t
typedef struct os_timer_def	osTimerDef_t
typedef struct os_mutex_def	osMutexDef_t
typedef struct os_semaphore_def	osSemaphoreDef_t
typedef struct os_pool_def	osPoolDef_t
typedef struct os_messageQ_def	osMessageQDef_t
typedef struct os_mailQ_def	osMailQDef_t

Enumerations
enum	osPriority {   osPriorityIdle = -3, osPriorityLow = -2, osPriorityBelowNormal = -1, osPriorityNormal = 0,   osPriorityAboveNormal = +1, osPriorityHigh = +2, osPriorityRealtime = +3, osPriorityError = 0x84 }
enum	osStatus {   osOK = 0, osEventSignal = 0x08, osEventMessage = 0x10, osEventMail = 0x20,   osEventTimeout = 0x40, osErrorParameter = 0x80, osErrorResource = 0x81, osErrorTimeoutResource = 0xC1,   osErrorISR = 0x82, osErrorISRRecursive = 0x83, osErrorPriority = 0x84, osErrorNoMemory = 0x85,   osErrorValue = 0x86, osErrorOS = 0xFF, os_status_reserved = 0x7FFFFFFF }
enum	os_timer_type { osTimerOnce = 0, osTimerPeriodic = 1 }

Functions
osStatus	osKernelInitialize (void)
osStatus	osKernelStart (void)
	Start the RTOS Kernel with executing the specified thread. More...
int32_t	osKernelRunning (void)
	Check if the RTOS kernel is already started. More...
uint32_t	osKernelSysTick (void)
	Get the value of the Kernel SysTick timer. More...
osThreadId	osThreadCreate (const osThreadDef_t *thread_def, void *argument)
	Create a thread and add it to Active Threads and set it to state READY. More...
osThreadId	osThreadGetId (void)
	Return the thread ID of the current running thread. More...
osStatus	osThreadTerminate (osThreadId thread_id)
	Terminate execution of a thread and remove it from Active Threads. More...
osStatus	osThreadYield (void)
	Pass control to next thread that is in state READY. More...
osStatus	osThreadSetPriority (osThreadId thread_id, osPriority priority)
	Change priority of an active thread. More...
osPriority	osThreadGetPriority (osThreadId thread_id)
	Get current priority of an active thread. More...
osStatus	osDelay (uint32_t millisec)
	Wait for Timeout (Time Delay) More...
osTimerId	osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument)
	Create a timer. More...
osStatus	osTimerStart (osTimerId timer_id, uint32_t millisec)
	Start or restart a timer. More...
osStatus	osTimerStop (osTimerId timer_id)
	Stop a timer. More...
osStatus	osTimerDelete (osTimerId timer_id)
	Delete a timer. More...
int32_t	osSignalSet (osThreadId thread_id, int32_t signals)
	Set the specified Signal Flags of an active thread. More...
int32_t	osSignalClear (osThreadId thread_id, int32_t signals)
osEvent	osSignalWait (int32_t signals, uint32_t millisec)
	Wait for one or more Signal Flags to become signaled for the current RUNNING thread. More...
osMutexId	osMutexCreate (const osMutexDef_t *mutex_def)
	Create and Initialize a Mutex object. More...
osStatus	osMutexWait (osMutexId mutex_id, uint32_t millisec)
	Wait until a Mutex becomes available. More...
osStatus	osMutexRelease (osMutexId mutex_id)
	Release a Mutex that was obtained by osMutexWait. More...
osStatus	osMutexDelete (osMutexId mutex_id)
	Delete a Mutex. More...
osSemaphoreId	osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
	Create and Initialize a Semaphore object used for managing resources. More...
int32_t	osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec)
	Wait until a Semaphore token becomes available. More...
osStatus	osSemaphoreRelease (osSemaphoreId semaphore_id)
	Release a Semaphore token. More...
osStatus	osSemaphoreDelete (osSemaphoreId semaphore_id)
	Delete a Semaphore. More...
osPoolId	osPoolCreate (const osPoolDef_t *pool_def)
	Create and Initialize a memory pool. More...
void *	osPoolAlloc (osPoolId pool_id)
	Allocate a memory block from a memory pool. More...
void *	osPoolCAlloc (osPoolId pool_id)
	Allocate a memory block from a memory pool and set memory block to zero. More...
osStatus	osPoolFree (osPoolId pool_id, void *block)
	Return an allocated memory block back to a specific memory pool. More...
osMessageQId	osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
	Create and Initialize a Message Queue. More...
osStatus	osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
	Put a Message to a Queue. More...
osEvent	osMessageGet (osMessageQId queue_id, uint32_t millisec)
	Get a Message or Wait for a Message from a Queue. More...
osMailQId	osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id)
	Create and Initialize mail queue. More...
void *	osMailAlloc (osMailQId queue_id, uint32_t millisec)
	Allocate a memory block from a mail. More...
void *	osMailCAlloc (osMailQId queue_id, uint32_t millisec)
	Allocate a memory block from a mail and set memory block to zero. More...
osStatus	osMailPut (osMailQId queue_id, void *mail)
	Put a mail to a queue. More...
osEvent	osMailGet (osMailQId queue_id, uint32_t millisec)
	Get a mail from a queue. More...
osStatus	osMailFree (osMailQId queue_id, void *mail)
	Free a memory block from a mail. More...
void	osSystickHandler (void)
	Handles the tick increment. More...
osStatus	osThreadSuspend (osThreadId thread_id)
	Suspend execution of a thread. More...
osStatus	osThreadResume (osThreadId thread_id)
	Resume execution of a suspended thread. More...
osStatus	osThreadSuspendAll (void)
	Suspend execution of a all active threads. More...
osStatus	osThreadResumeAll (void)
	Resume execution of a all suspended threads. More...
osStatus	osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec)
	Delay a task until a specified time. More...
osStatus	osAbortDelay (osThreadId thread_id)
	Abort the delay for a specific thread. More...
osStatus	osThreadList (uint8_t *buffer)
	Lists all the current threads, along with their current state and stack usage high water mark. More...
osEvent	osMessagePeek (osMessageQId queue_id, uint32_t millisec)
	Receive an item from a queue without removing the item from the queue. More...
uint32_t	osMessageWaiting (osMessageQId queue_id)
	Get the number of messaged stored in a queue. More...
uint32_t	osMessageAvailableSpace (osMessageQId queue_id)
	Get the available space in a message queue. More...
osStatus	osMessageDelete (osMessageQId queue_id)
	Delete a Message Queue. More...
osMutexId	osRecursiveMutexCreate (const osMutexDef_t *mutex_def)
	Create and Initialize a Recursive Mutex. More...
osStatus	osRecursiveMutexRelease (osMutexId mutex_id)
	Release a Recursive Mutex. More...
osStatus	osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec)
	Release a Recursive Mutex. More...
uint32_t	osSemaphoreGetCount (osSemaphoreId semaphore_id)
	Returns the current count value of a counting semaphore. More...

Detailed Description

Header of cmsis_os.c A new set of APIs are added in addition to existing ones, these APIs are specific to FreeRTOS.

Author

MCD Application Team

Date

13-July-2017

Attention

Redistribution and use in source and binary forms, with or without modification, are permitted, provided that the following conditions are met:

1. Redistribution of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of STMicroelectronics nor the names of other contributors to this software may be used to endorse or promote products derived from this software without specific written permission.
4. This software, including modifications and/or derivative works of this software, must execute solely and exclusively on microcontroller or microprocessor devices manufactured by or for STMicroelectronics.
5. Redistribution and use of this software other than as permitted under this license is void and will automatically terminate your rights under this license.

THIS SOFTWARE IS PROVIDED BY STMICROELECTRONICS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS, IMPLIED OR STATUTORY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT OF THIRD PARTY INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED TO THE FULLEST EXTENT PERMITTED BY LAW. IN NO EVENT SHALL STMICROELECTRONICS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Macro Definition Documentation

osCMSIS

#define osCMSIS   0x10002

API version (main [31:16] .sub [15:0])

cmsis_os_h Header File Template: cmsis_os.h

The file cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS). Each RTOS that is compliant with CMSIS-RTOS shall provide a specific cmsis_os.h header file that represents its implementation.

The file cmsis_os.h contains:

• CMSIS-RTOS API function definitions
• struct definitions for parameters and return types
• status and priority values used by CMSIS-RTOS API functions
• macros for defining threads and other kernel objects

Name conventions and header file modifications

All definitions are prefixed with os to give an unique name space for CMSIS-RTOS functions. Definitions that are prefixed os_ are not used in the application code but local to this header file. All definitions and functions that belong to a module are grouped and have a common prefix, i.e. osThread.

Definitions that are marked with CAN BE CHANGED can be adapted towards the needs of the actual CMSIS-RTOS implementation. These definitions can be specific to the underlying RTOS kernel.

Definitions that are marked with MUST REMAIN UNCHANGED cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.

Function calls from interrupt service routines

The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):

• osSignalSet
• osSemaphoreRelease
• osPoolAlloc, osPoolCAlloc, osPoolFree
• osMessagePut, osMessageGet
• osMailAlloc, osMailCAlloc, osMailGet, osMailPut, osMailFree

Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called from an ISR context the status code osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.

Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time. If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code osErrorISRRecursive.

Define and reference object definitions

With #define osObjectsExternal objects are defined as external symbols. This allows to create a consistent header file that is used throughout a project as shown below:

Header File

#include <cmsis_os.h>                                         // CMSIS RTOS header file
 
// Thread definition
extern void thread_sample (void const *argument);             // function prototype
osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
 
// Pool definition
osPoolDef(MyPool, 10, long);

This header file defines all objects when included in a C/C++ source file. When #define osObjectsExternal is present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be used throughout the whole project.

Example

#include "osObjects.h"     // Definition of the CMSIS-RTOS objects

#define osObjectExternal   // Objects will be defined as external symbols
#include "osObjects.h"     // Reference to the CMSIS-RTOS objects

Note

MUST REMAIN UNCHANGED: osCMSIS identifies the CMSIS-RTOS API version.

osCMSIS_KERNEL

#define osCMSIS_KERNEL   0x10000

RTOS identification and version (main [31:16] .sub [15:0])

Note

CAN BE CHANGED: osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.

osKernelSystemId

#define osKernelSystemId   "KERNEL V1.00"

RTOS identification string.

Note

MUST REMAIN UNCHANGED: osKernelSystemId shall be consistent in every CMSIS-RTOS.

osFeature_MainThread

#define osFeature_MainThread   1

main thread 1=main can be thread, 0=not available

Note

MUST REMAIN UNCHANGED: osFeature_xxx shall be consistent in every CMSIS-RTOS.

osFeature_Pool

#define osFeature_Pool   1

Memory Pools: 1=available, 0=not available.

osFeature_MailQ

#define osFeature_MailQ   1

Mail Queues: 1=available, 0=not available.

osFeature_MessageQ

#define osFeature_MessageQ   1

Message Queues: 1=available, 0=not available.

osFeature_Signals

#define osFeature_Signals   8

maximum number of Signal Flags available per thread

osFeature_Semaphore

#define osFeature_Semaphore   1

osFeature_Semaphore function: 1=available, 0=not available

osFeature_Wait

#define osFeature_Wait   0

osWait function: 1=available, 0=not available

osFeature_SysTick

#define osFeature_SysTick   1

osKernelSysTick functions: 1=available, 0=not available

osWaitForever

#define osWaitForever   0xFFFFFFFF

wait forever timeout value

Timeout value.

Note

MUST REMAIN UNCHANGED: osWaitForever shall be consistent in every CMSIS-RTOS.

osKernelSysTickFrequency

#define osKernelSysTickFrequency   (configTICK_RATE_HZ)

The RTOS kernel system timer frequency in Hz

Note

Reflects the system timer setting and is typically defined in a configuration file.

osKernelSysTickMicroSec

#define osKernelSysTickMicroSec

(

microsec

)

(((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)

Convert a microseconds value to a RTOS kernel system timer value.

Parameters

microsec

time value in microseconds.

Returns

time value normalized to the osKernelSysTickFrequency

osThreadDef

#define osThreadDef	(		name,
			thread,
			priority,
			instances,
			stacksz
	)

Value:

const osThreadDef_t os_thread_def_##name = \
{ #name, (thread), (priority), (instances), (stacksz)}

Create a Thread Definition with function, priority, and stack requirements.

Parameters

name	name of the thread function.
priority	initial priority of the thread function.
instances	number of possible thread instances.
stacksz	stack size (in bytes) requirements for the thread function.

Note

CAN BE CHANGED: The parameters to osThreadDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osThread

#define osThread

(

name

)

&os_thread_def_##name

Access a Thread definition.

Parameters

name	name of the thread definition object.

Note

CAN BE CHANGED: The parameter to osThread shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osTimerDef

#define osTimerDef	(		name,
			function
	)

Value:

const osTimerDef_t os_timer_def_##name = \
{ (function) }

Define a Timer object.

Parameters

name	name of the timer object.
function	name of the timer call back function.

Note

CAN BE CHANGED: The parameter to osTimerDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osTimer

#define osTimer

(

name

)

&os_timer_def_##name

Access a Timer definition.

Parameters

name	name of the timer object.

Note

CAN BE CHANGED: The parameter to osTimer shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMutexDef

#define osMutexDef

(

name

)

const osMutexDef_t os_mutex_def_##name = { 0 }

Define a Mutex.

Parameters

name	name of the mutex object.

Note

CAN BE CHANGED: The parameter to osMutexDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMutex

#define osMutex

(

name

)

&os_mutex_def_##name

Access a Mutex definition.

Parameters

name	name of the mutex object.

Note

CAN BE CHANGED: The parameter to osMutex shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osSemaphoreDef

#define osSemaphoreDef

(

name

)

const osSemaphoreDef_t os_semaphore_def_##name = { 0 }

Define a Semaphore object.

Parameters

name	name of the semaphore object.

Note

CAN BE CHANGED: The parameter to osSemaphoreDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osSemaphore

#define osSemaphore

(

name

)

&os_semaphore_def_##name

Access a Semaphore definition.

Parameters

name	name of the semaphore object.

Note

CAN BE CHANGED: The parameter to osSemaphore shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osPoolDef

#define osPoolDef	(		name,
			no,
			type
	)

Value:

const osPoolDef_t os_pool_def_##name = \
{ (no), sizeof(type), NULL }

Define a Memory Pool.

Parameters

name	name of the memory pool.
no	maximum number of blocks (objects) in the memory pool.
type	data type of a single block (object).

Note

CAN BE CHANGED: The parameter to osPoolDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osPool

#define osPool

(

name

)

&os_pool_def_##name

Access a Memory Pool definition.

Parameters

name	name of the memory pool

Note

CAN BE CHANGED: The parameter to osPool shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMessageQDef

#define osMessageQDef	(		name,
			queue_sz,
			type
	)

Value:

const osMessageQDef_t os_messageQ_def_##name = \
{ (queue_sz), sizeof (type) }

Create a Message Queue Definition.

Parameters

name	name of the queue.
queue_sz	maximum number of messages in the queue.
type	data type of a single message element (for debugger).

Note

CAN BE CHANGED: The parameter to osMessageQDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMessageQ

#define osMessageQ

(

name

)

&os_messageQ_def_##name

Access a Message Queue Definition.

Parameters

name	name of the queue

Note

CAN BE CHANGED: The parameter to osMessageQ shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMailQDef

#define osMailQDef	(		name,
			queue_sz,
			type
	)

Value:

struct os_mailQ_cb *os_mailQ_cb_##name; \
const osMailQDef_t os_mailQ_def_##name =  \
{ (queue_sz), sizeof (type), (&os_mailQ_cb_##name) }

Create a Mail Queue Definition.

Parameters

name	name of the queue
queue_sz	maximum number of messages in queue
type	data type of a single message element

Note

CAN BE CHANGED: The parameter to osMailQDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

osMailQ

#define osMailQ

(

name

)

&os_mailQ_def_##name

Access a Mail Queue Definition.

Parameters

name	name of the queue

Note

CAN BE CHANGED: The parameter to osMailQ shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Typedef Documentation

os_pthread

typedef void(* os_pthread) (void const *argument)

Entry point of a thread.

Note

MUST REMAIN UNCHANGED: os_pthread shall be consistent in every CMSIS-RTOS.

os_ptimer

typedef void(* os_ptimer) (void const *argument)

Entry point of a timer call back function.

Note

MUST REMAIN UNCHANGED: os_ptimer shall be consistent in every CMSIS-RTOS.

osThreadId

typedef TaskHandle_t osThreadId

Thread ID identifies the thread (pointer to a thread control block).

Note

CAN BE CHANGED: os_thread_cb is implementation specific in every CMSIS-RTOS.

osTimerId

typedef TimerHandle_t osTimerId

Timer ID identifies the timer (pointer to a timer control block).

Note

CAN BE CHANGED: os_timer_cb is implementation specific in every CMSIS-RTOS.

osMutexId

typedef SemaphoreHandle_t osMutexId

Mutex ID identifies the mutex (pointer to a mutex control block).

Note

CAN BE CHANGED: os_mutex_cb is implementation specific in every CMSIS-RTOS.

osSemaphoreId

typedef SemaphoreHandle_t osSemaphoreId

Semaphore ID identifies the semaphore (pointer to a semaphore control block).

Note

CAN BE CHANGED: os_semaphore_cb is implementation specific in every CMSIS-RTOS.

osPoolId

typedef struct os_pool_cb* osPoolId

Pool ID identifies the memory pool (pointer to a memory pool control block).

Note

CAN BE CHANGED: os_pool_cb is implementation specific in every CMSIS-RTOS.

osMessageQId

typedef QueueHandle_t osMessageQId

Message ID identifies the message queue (pointer to a message queue control block).

Note

CAN BE CHANGED: os_messageQ_cb is implementation specific in every CMSIS-RTOS.

osMailQId

typedef struct os_mailQ_cb* osMailQId

Mail ID identifies the mail queue (pointer to a mail queue control block).

Note

CAN BE CHANGED: os_mailQ_cb is implementation specific in every CMSIS-RTOS.

osThreadDef_t

typedef struct os_thread_def osThreadDef_t

Thread Definition structure contains startup information of a thread.

Note

CAN BE CHANGED: os_thread_def is implementation specific in every CMSIS-RTOS.

osTimerDef_t

typedef struct os_timer_def osTimerDef_t

Timer Definition structure contains timer parameters.

Note

CAN BE CHANGED: os_timer_def is implementation specific in every CMSIS-RTOS.

osMutexDef_t

typedef struct os_mutex_def osMutexDef_t

Mutex Definition structure contains setup information for a mutex.

Note

CAN BE CHANGED: os_mutex_def is implementation specific in every CMSIS-RTOS.

osSemaphoreDef_t

typedef struct os_semaphore_def osSemaphoreDef_t

Semaphore Definition structure contains setup information for a semaphore.

Note

CAN BE CHANGED: os_semaphore_def is implementation specific in every CMSIS-RTOS.

osPoolDef_t

typedef struct os_pool_def osPoolDef_t

Definition structure for memory block allocation.

Note

CAN BE CHANGED: os_pool_def is implementation specific in every CMSIS-RTOS.

osMessageQDef_t

typedef struct os_messageQ_def osMessageQDef_t

Definition structure for message queue.

Note

CAN BE CHANGED: os_messageQ_def is implementation specific in every CMSIS-RTOS.

osMailQDef_t

typedef struct os_mailQ_def osMailQDef_t

Definition structure for mail queue.

Note

CAN BE CHANGED: os_mailQ_def is implementation specific in every CMSIS-RTOS.

Enumeration Type Documentation

osPriority

enum osPriority

Priority used for thread control.

Note

MUST REMAIN UNCHANGED: osPriority shall be consistent in every CMSIS-RTOS.

Enumerator
osPriorityIdle	priority: idle (lowest)
osPriorityLow	priority: low
osPriorityBelowNormal	priority: below normal
osPriorityNormal	priority: normal (default)
osPriorityAboveNormal	priority: above normal
osPriorityHigh	priority: high
osPriorityRealtime	priority: realtime (highest)
osPriorityError	system cannot determine priority or thread has illegal priority

              {
  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;

osStatus

enum osStatus

Status code values returned by CMSIS-RTOS functions.

Note

MUST REMAIN UNCHANGED: osStatus shall be consistent in every CMSIS-RTOS.

Enumerator
osOK	function completed; no error or event occurred.
osEventSignal	function completed; signal event occurred.
osEventMessage	function completed; message event occurred.
osEventMail	function completed; mail event occurred.
osEventTimeout	function completed; timeout occurred.
osErrorParameter	parameter error: a mandatory parameter was missing or specified an incorrect object.
osErrorResource	resource not available: a specified resource was not available.
osErrorTimeoutResource	resource not available within given time: a specified resource was not available within the timeout period.
osErrorISR	not allowed in ISR context: the function cannot be called from interrupt service routines.
osErrorISRRecursive	function called multiple times from ISR with same object.
osErrorPriority	system cannot determine priority or thread has illegal priority.
osErrorNoMemory	system is out of memory: it was impossible to allocate or reserve memory for the operation.
osErrorValue	value of a parameter is out of range.
osErrorOS	unspecified RTOS error: run-time error but no other error message fits.
os_status_reserved	prevent from enum down-size compiler optimization.

              {
  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;

os_timer_type

enum os_timer_type

Timer type value for the timer definition.

Note

MUST REMAIN UNCHANGED: os_timer_type shall be consistent in every CMSIS-RTOS.

Enumerator
osTimerOnce	one-shot timer
osTimerPeriodic	repeating timer

              {
  osTimerOnce             =     0,       ///< one-shot timer
  osTimerPeriodic         =     1        ///< repeating timer
} os_timer_type;

Function Documentation

osKernelInitialize()

osStatus osKernelInitialize

(

void

)

Initialize the RTOS Kernel for creating objects.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osKernelInitialize shall be consistent in every CMSIS-RTOS.

osKernelStart()

osStatus osKernelStart

(

void

)

Start the RTOS Kernel with executing the specified thread.

Start the RTOS Kernel.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osKernelStart shall be consistent in every CMSIS-RTOS.

Parameters

thread_def	thread definition referenced with osThread.
argument	pointer that is passed to the thread function as start argument.

Return values

status

code that indicates the execution status of the function

Note

MUST REMAIN UNCHANGED: osKernelStart shall be consistent in every CMSIS-RTOS.

{
  vTaskStartScheduler();
 
  return osOK;
}

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osKernelRunning()

int32_t osKernelRunning

(

void

)

Check if the RTOS kernel is already started.

Check if the RTOS kernel is already started.

Note

MUST REMAIN UNCHANGED: osKernelRunning shall be consistent in every CMSIS-RTOS.

Returns

0 RTOS is not started, 1 RTOS is started.

Parameters

None

Return values

(0)	RTOS is not started (1) RTOS is started (-1) if this feature is disabled in FreeRTOSConfig.h

Note

MUST REMAIN UNCHANGED: osKernelRunning shall be consistent in every CMSIS-RTOS.

{
#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
  if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED)
    return 0;
  else
    return 1;
#else
    return (-1);
#endif
}

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osKernelSysTick()

uint32_t osKernelSysTick

(

void

)

Get the value of the Kernel SysTick timer.

Get the RTOS kernel system timer counter

Note

MUST REMAIN UNCHANGED: osKernelSysTick shall be consistent in every CMSIS-RTOS.

Returns

RTOS kernel system timer as 32-bit value

Parameters

None

Return values

None

Note

MUST REMAIN UNCHANGED: osKernelSysTick shall be consistent in every CMSIS-RTOS.

{
  if (inHandlerMode()) {
    return xTaskGetTickCountFromISR();
  }
  else {
    return xTaskGetTickCount();
  }
}

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osThreadCreate()

osThreadId osThreadCreate	(	const osThreadDef_t *	thread_def,
		void *	argument
	)

Create a thread and add it to Active Threads and set it to state READY.

Create a thread and add it to Active Threads and set it to state READY.

Parameters

[in]	thread_def	thread definition referenced with osThread.
[in]	argument	pointer that is passed to the thread function as start argument.

Returns

thread ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osThreadCreate shall be consistent in every CMSIS-RTOS.

Parameters

thread_def	thread definition referenced with osThread.
argument	pointer that is passed to the thread function as start argument.

Return values

thread

ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osThreadCreate shall be consistent in every CMSIS-RTOS.

{
  TaskHandle_t handle;
 
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) &&  ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
  if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) {
    handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
              thread_def->buffer, thread_def->controlblock);
  }
  else {
    if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
              &handle) != pdPASS)  {
      return NULL;
    }
  }
#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
 
    handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
              thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
              thread_def->buffer, thread_def->controlblock);
#else
  if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
                   thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
                   &handle) != pdPASS)  {
    return NULL;
  }
#endif
 
  return handle;
}

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osThreadGetId()

osThreadId osThreadGetId

(

void

)

Return the thread ID of the current running thread.

Return the thread ID of the current running thread.

Returns

thread ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osThreadGetId shall be consistent in every CMSIS-RTOS.

Return values

thread

ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osThreadGetId shall be consistent in every CMSIS-RTOS.

{
#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
  return xTaskGetCurrentTaskHandle();
#else
    return NULL;
#endif
}

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osThreadTerminate()

osStatus osThreadTerminate

(

osThreadId

thread_id

)

Terminate execution of a thread and remove it from Active Threads.

Terminate execution of a thread and remove it from Active Threads.

Parameters

[in]

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadTerminate shall be consistent in every CMSIS-RTOS.

Parameters

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadTerminate shall be consistent in every CMSIS-RTOS.

{
#if (INCLUDE_vTaskDelete == 1)
  vTaskDelete(thread_id);
  return osOK;
#else
  return osErrorOS;
#endif
}

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osThreadYield()

osStatus osThreadYield

(

void

)

Pass control to next thread that is in state READY.

Pass control to next thread that is in state READY.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadYield shall be consistent in every CMSIS-RTOS.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadYield shall be consistent in every CMSIS-RTOS.

{
  taskYIELD();
 
  return osOK;
}

osThreadSetPriority()

osStatus osThreadSetPriority	(	osThreadId	thread_id,
		osPriority	priority
	)

Change priority of an active thread.

Change priority of an active thread.

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	priority	new priority value for the thread function.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadSetPriority shall be consistent in every CMSIS-RTOS.

Parameters

thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
priority	new priority value for the thread function.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osThreadSetPriority shall be consistent in every CMSIS-RTOS.

{
#if (INCLUDE_vTaskPrioritySet == 1)
  vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
  return osOK;
#else
  return osErrorOS;
#endif
}

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osThreadGetPriority()

osPriority osThreadGetPriority

(

osThreadId

thread_id

)

Get current priority of an active thread.

Get current priority of an active thread.

Parameters

[in]

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Returns

current priority value of the thread function.

Note

MUST REMAIN UNCHANGED: osThreadGetPriority shall be consistent in every CMSIS-RTOS.

Parameters

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Return values

current

priority value of the thread function.

Note

MUST REMAIN UNCHANGED: osThreadGetPriority shall be consistent in every CMSIS-RTOS.

{
#if (INCLUDE_uxTaskPriorityGet == 1)
  if (inHandlerMode())
  {
    return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id));
  }
  else
  {
    return makeCmsisPriority(uxTaskPriorityGet(thread_id));
  }
#else
  return osPriorityError;
#endif
}

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osDelay()

osStatus osDelay

(

uint32_t

millisec

)

Wait for Timeout (Time Delay)

Wait for Timeout (Time Delay).

Parameters

[in]

millisec

time delay value

Returns

status code that indicates the execution status of the function.

Parameters

millisec

time delay value

Return values

status

code that indicates the execution status of the function.

{
#if INCLUDE_vTaskDelay
  TickType_t ticks = millisec / portTICK_PERIOD_MS;
 
  vTaskDelay(ticks ? ticks : 1);          /* Minimum delay = 1 tick */
 
  return osOK;
#else
  (void) millisec;
 
  return osErrorResource;
#endif
}

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osTimerCreate()

osTimerId osTimerCreate	(	const osTimerDef_t *	timer_def,
		os_timer_type	type,
		void *	argument
	)

Create a timer.

Create a timer.

Parameters

[in]	timer_def	timer object referenced with osTimer.
[in]	type	osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
[in]	argument	argument to the timer call back function.

Returns

timer ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osTimerCreate shall be consistent in every CMSIS-RTOS.

Parameters

timer_def	timer object referenced with osTimer.
type	osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
argument	argument to the timer call back function.

Return values

timer

ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osTimerCreate shall be consistent in every CMSIS-RTOS.

{
#if (configUSE_TIMERS == 1)
 
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
  if(timer_def->controlblock != NULL) {
    return xTimerCreateStatic((const char *)"",
                      1, // period should be filled when starting the Timer using osTimerStart
                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
                      (void *) argument,
                      (TaskFunction_t)timer_def->ptimer,
                      (StaticTimer_t *)timer_def->controlblock);
  }
  else {
    return xTimerCreate((const char *)"",
                      1, // period should be filled when starting the Timer using osTimerStart
                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
                      (void *) argument,
                      (TaskFunction_t)timer_def->ptimer);
 }
#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
  return xTimerCreateStatic((const char *)"",
                      1, // period should be filled when starting the Timer using osTimerStart
                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
                      (void *) argument,
                      (TaskFunction_t)timer_def->ptimer,
                      (StaticTimer_t *)timer_def->controlblock);
#else
  return xTimerCreate((const char *)"",
                      1, // period should be filled when starting the Timer using osTimerStart
                      (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
                      (void *) argument,
                      (TaskFunction_t)timer_def->ptimer);
#endif
 
#else
    return NULL;
#endif
}

osTimerStart()

osStatus osTimerStart	(	osTimerId	timer_id,
		uint32_t	millisec
	)

Start or restart a timer.

Start or restart a timer.

Parameters

[in]	timer_id	timer ID obtained by osTimerCreate.
[in]	millisec	time delay value of the timer.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osTimerStart shall be consistent in every CMSIS-RTOS.

Parameters

timer_id	timer ID obtained by osTimerCreate.
millisec	time delay value of the timer.

Return values

status

code that indicates the execution status of the function

Note

MUST REMAIN UNCHANGED: osTimerStart shall be consistent in every CMSIS-RTOS.

{
  osStatus result = osOK;
#if (configUSE_TIMERS == 1)
  portBASE_TYPE taskWoken = pdFALSE;
  TickType_t ticks = millisec / portTICK_PERIOD_MS;
 
  if (ticks == 0)
    ticks = 1;
 
  if (inHandlerMode())
  {
    if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS)
    {
      result = osErrorOS;
    }
    else
    {
      portEND_SWITCHING_ISR(taskWoken);
    }
  }
  else
  {
    if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS)
      result = osErrorOS;
  }
 
#else
  result = osErrorOS;
#endif
  return result;
}

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osTimerStop()

osStatus osTimerStop

(

osTimerId

timer_id

)

Stop a timer.

Stop the timer.

Parameters

[in]

timer_id

timer ID obtained by osTimerCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osTimerStop shall be consistent in every CMSIS-RTOS.

Parameters

timer_id

timer ID obtained by osTimerCreate

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osTimerStop shall be consistent in every CMSIS-RTOS.

{
  osStatus result = osOK;
#if (configUSE_TIMERS == 1)
  portBASE_TYPE taskWoken = pdFALSE;
 
  if (inHandlerMode()) {
    if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xTimerStop(timer_id, 0) != pdPASS) {
      result = osErrorOS;
    }
  }
#else
  result = osErrorOS;
#endif
  return result;
}

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osTimerDelete()

osStatus osTimerDelete

(

osTimerId

timer_id

)

Delete a timer.

Delete a timer that was created by osTimerCreate.

Parameters

[in]

timer_id

timer ID obtained by osTimerCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osTimerDelete shall be consistent in every CMSIS-RTOS.

Parameters

timer_id

timer ID obtained by osTimerCreate

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osTimerDelete shall be consistent in every CMSIS-RTOS.

{
osStatus result = osOK;
 
#if (configUSE_TIMERS == 1)
 
   if (inHandlerMode()) {
     return osErrorISR;
  }
  else {
    if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) {
      result = osErrorOS;
    }
  }
 
#else
  result = osErrorOS;
#endif
 
  return result;
}

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osSignalSet()

int32_t osSignalSet	(	osThreadId	thread_id,
		int32_t	signal
	)

Set the specified Signal Flags of an active thread.

Set the specified Signal Flags of an active thread.

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	signals	specifies the signal flags of the thread that should be set.

Returns

osOK if successful, osErrorOS if failed.

Note

MUST REMAIN UNCHANGED: osSignalSet shall be consistent in every CMSIS-RTOS.

Parameters

thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
signals	specifies the signal flags of the thread that should be set.

Return values

previous

signal flags of the specified thread or 0x80000000 in case of incorrect parameters.

Note

MUST REMAIN UNCHANGED: osSignalSet shall be consistent in every CMSIS-RTOS.

{
#if( configUSE_TASK_NOTIFICATIONS == 1 )
  BaseType_t xHigherPriorityTaskWoken = pdFALSE;
  uint32_t ulPreviousNotificationValue = 0;
 
  if (inHandlerMode())
  {
    if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS )
      return 0x80000000;
 
    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  }
  else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS )
    return 0x80000000;
 
  return ulPreviousNotificationValue;
#else
  (void) thread_id;
  (void) signal;
 
  return 0x80000000; /* Task Notification not supported */
#endif
}

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osSignalClear()

int32_t osSignalClear	(	osThreadId	thread_id,
		int32_t	signals
	)

Clear the specified Signal Flags of an active thread.

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	signals	specifies the signal flags of the thread that shall be cleared.

Returns

previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.

Note

MUST REMAIN UNCHANGED: osSignalClear shall be consistent in every CMSIS-RTOS.

osSignalWait()

osEvent osSignalWait	(	int32_t	signals,
		uint32_t	millisec
	)

Wait for one or more Signal Flags to become signaled for the current RUNNING thread.

Wait for one or more Signal Flags to become signaled for the current RUNNING thread.

Parameters

[in]	signals	wait until all specified signal flags set or 0 for any single signal flag.
[in]	millisec	timeout value or 0 in case of no time-out.

Returns

event flag information or error code.

Note

MUST REMAIN UNCHANGED: osSignalWait shall be consistent in every CMSIS-RTOS.

Parameters

signals	wait until all specified signal flags set or 0 for any single signal flag.
millisec	timeout value or 0 in case of no time-out.

Return values

event

flag information or error code.

Note

MUST REMAIN UNCHANGED: osSignalWait shall be consistent in every CMSIS-RTOS.

{
  osEvent ret;
 
#if( configUSE_TASK_NOTIFICATIONS == 1 )
 
  TickType_t ticks;
 
  ret.value.signals = 0;
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (inHandlerMode())
  {
    ret.status = osErrorISR;  /*Not allowed in ISR*/
  }
  else
  {
    if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE)
    {
      if(ticks == 0)  ret.status = osOK;
      else  ret.status = osEventTimeout;
    }
    else if(ret.value.signals < 0)
    {
      ret.status =  osErrorValue;
    }
    else  ret.status =  osEventSignal;
  }
#else
  (void) signals;
  (void) millisec;
 
  ret.status =  osErrorOS;  /* Task Notification not supported */
#endif
 
  return ret;
}

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osMutexCreate()

osMutexId osMutexCreate

(

const osMutexDef_t *

mutex_def

)

Create and Initialize a Mutex object.

Create and Initialize a Mutex object.

Parameters

[in]

mutex_def

mutex definition referenced with osMutex.

Returns

mutex ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMutexCreate shall be consistent in every CMSIS-RTOS.

Parameters

mutex_def

mutex definition referenced with osMutex.

Return values

mutex

ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMutexCreate shall be consistent in every CMSIS-RTOS.

{
#if ( configUSE_MUTEXES == 1)
 
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
  if (mutex_def->controlblock != NULL) {
    return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
     }
  else {
    return xSemaphoreCreateMutex();
  }
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
  return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
#else
    return xSemaphoreCreateMutex();
#endif
#else
  return NULL;
#endif
}

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osMutexWait()

osStatus osMutexWait	(	osMutexId	mutex_id,
		uint32_t	millisec
	)

Wait until a Mutex becomes available.

Wait until a Mutex becomes available.

Parameters

[in]	mutex_id	mutex ID obtained by osMutexCreate.
[in]	millisec	timeout value or 0 in case of no time-out.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexWait shall be consistent in every CMSIS-RTOS.

Parameters

mutex_id	mutex ID obtained by osMutexCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexWait shall be consistent in every CMSIS-RTOS.

{
  TickType_t ticks;
  portBASE_TYPE taskWoken = pdFALSE;
 
 
  if (mutex_id == NULL) {
    return osErrorParameter;
  }
 
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (inHandlerMode()) {
    if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) {
    return osErrorOS;
  }
 
  return osOK;
}

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osMutexRelease()

osStatus osMutexRelease

(

osMutexId

mutex_id

)

Release a Mutex that was obtained by osMutexWait.

Release a Mutex that was obtained by osMutexWait.

Parameters

[in]

mutex_id

mutex ID obtained by osMutexCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexRelease shall be consistent in every CMSIS-RTOS.

Parameters

mutex_id

mutex ID obtained by osMutexCreate.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexRelease shall be consistent in every CMSIS-RTOS.

{
  osStatus result = osOK;
  portBASE_TYPE taskWoken = pdFALSE;
 
  if (inHandlerMode()) {
    if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else if (xSemaphoreGive(mutex_id) != pdTRUE)
  {
    result = osErrorOS;
  }
  return result;
}

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osMutexDelete()

osStatus osMutexDelete

(

osMutexId

mutex_id

)

Delete a Mutex.

Delete a Mutex that was created by osMutexCreate.

Parameters

[in]

mutex_id

mutex ID obtained by osMutexCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexDelete shall be consistent in every CMSIS-RTOS.

Parameters

mutex_id

mutex ID obtained by osMutexCreate.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMutexDelete shall be consistent in every CMSIS-RTOS.

{
  if (inHandlerMode()) {
    return osErrorISR;
  }
 
  vQueueDelete(mutex_id);
 
  return osOK;
}

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osSemaphoreCreate()

osSemaphoreId osSemaphoreCreate	(	const osSemaphoreDef_t *	semaphore_def,
		int32_t	count
	)

Create and Initialize a Semaphore object used for managing resources.

Create and Initialize a Semaphore object used for managing resources.

Parameters

[in]	semaphore_def	semaphore definition referenced with osSemaphore.
[in]	count	number of available resources.

Returns

semaphore ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osSemaphoreCreate shall be consistent in every CMSIS-RTOS.

Parameters

semaphore_def	semaphore definition referenced with osSemaphore.
count	number of available resources.

Return values

semaphore

ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osSemaphoreCreate shall be consistent in every CMSIS-RTOS.

{
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
  osSemaphoreId sema;
 
  if (semaphore_def->controlblock != NULL){
    if (count == 1) {
      return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
    }
    else {
#if (configUSE_COUNTING_SEMAPHORES == 1 )
      return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
#else
      return NULL;
#endif
    }
  }
  else {
    if (count == 1) {
      vSemaphoreCreateBinary(sema);
      return sema;
    }
    else {
#if (configUSE_COUNTING_SEMAPHORES == 1 )
      return xSemaphoreCreateCounting(count, count);
#else
      return NULL;
#endif
    }
  }
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0
  if(count == 1) {
    return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
  }
  else
  {
#if (configUSE_COUNTING_SEMAPHORES == 1 )
      return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
#else
      return NULL;
#endif
  }
#else  // configSUPPORT_STATIC_ALLOCATION == 0  && configSUPPORT_DYNAMIC_ALLOCATION == 1
  osSemaphoreId sema;
 
  if (count == 1) {
    vSemaphoreCreateBinary(sema);
    return sema;
  }
  else {
#if (configUSE_COUNTING_SEMAPHORES == 1 )
    return xSemaphoreCreateCounting(count, count);
#else
    return NULL;
#endif
  }
#endif
}

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osSemaphoreWait()

int32_t osSemaphoreWait	(	osSemaphoreId	semaphore_id,
		uint32_t	millisec
	)

Wait until a Semaphore token becomes available.

Wait until a Semaphore token becomes available.

Parameters

[in]	semaphore_id	semaphore object referenced with osSemaphoreCreate.
[in]	millisec	timeout value or 0 in case of no time-out.

Returns

number of available tokens, or -1 in case of incorrect parameters.

Note

MUST REMAIN UNCHANGED: osSemaphoreWait shall be consistent in every CMSIS-RTOS.

Parameters

semaphore_id	semaphore object referenced with osSemaphore.
millisec	timeout value or 0 in case of no time-out.

Return values

number

of available tokens, or -1 in case of incorrect parameters.

Note

MUST REMAIN UNCHANGED: osSemaphoreWait shall be consistent in every CMSIS-RTOS.

{
  TickType_t ticks;
  portBASE_TYPE taskWoken = pdFALSE;
 
 
  if (semaphore_id == NULL) {
    return osErrorParameter;
  }
 
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (inHandlerMode()) {
    if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) {
    return osErrorOS;
  }
 
  return osOK;
}

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osSemaphoreRelease()

osStatus osSemaphoreRelease

(

osSemaphoreId

semaphore_id

)

Release a Semaphore token.

Release a Semaphore token.

Parameters

[in]

semaphore_id

semaphore object referenced with osSemaphoreCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osSemaphoreRelease shall be consistent in every CMSIS-RTOS.

Parameters

semaphore_id

semaphore object referenced with osSemaphore.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osSemaphoreRelease shall be consistent in every CMSIS-RTOS.

{
  osStatus result = osOK;
  portBASE_TYPE taskWoken = pdFALSE;
 
 
  if (inHandlerMode()) {
    if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xSemaphoreGive(semaphore_id) != pdTRUE) {
      result = osErrorOS;
    }
  }
 
  return result;
}

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osSemaphoreDelete()

osStatus osSemaphoreDelete

(

osSemaphoreId

semaphore_id

)

Delete a Semaphore.

Delete a Semaphore that was created by osSemaphoreCreate.

Parameters

[in]

semaphore_id

semaphore object referenced with osSemaphoreCreate.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osSemaphoreDelete shall be consistent in every CMSIS-RTOS.

Parameters

semaphore_id

semaphore object referenced with osSemaphore.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osSemaphoreDelete shall be consistent in every CMSIS-RTOS.

{
  if (inHandlerMode()) {
    return osErrorISR;
  }
 
  vSemaphoreDelete(semaphore_id);
 
  return osOK;
}

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osPoolCreate()

osPoolId osPoolCreate

(

const osPoolDef_t *

pool_def

)

Create and Initialize a memory pool.

Create and Initialize a memory pool.

Parameters

[in]

pool_def

memory pool definition referenced with osPool.

Returns

memory pool ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osPoolCreate shall be consistent in every CMSIS-RTOS.

Parameters

pool_def

memory pool definition referenced with osPool.

Return values

memory

pool ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osPoolCreate shall be consistent in every CMSIS-RTOS.

{
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
  osPoolId thePool;
  int itemSize = 4 * ((pool_def->item_sz + 3) / 4);
  uint32_t i;
 
  /* First have to allocate memory for the pool control block. */
 thePool = pvPortMalloc(sizeof(os_pool_cb_t));
 
 
  if (thePool) {
    thePool->pool_sz = pool_def->pool_sz;
    thePool->item_sz = itemSize;
    thePool->currentIndex = 0;
 
    /* Memory for markers */
    thePool->markers = pvPortMalloc(pool_def->pool_sz);
 
    if (thePool->markers) {
      /* Now allocate the pool itself. */
     thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize);
 
      if (thePool->pool) {
        for (i = 0; i < pool_def->pool_sz; i++) {
          thePool->markers[i] = 0;
        }
      }
      else {
        vPortFree(thePool->markers);
        vPortFree(thePool);
        thePool = NULL;
      }
    }
    else {
      vPortFree(thePool);
      thePool = NULL;
    }
  }
 
  return thePool;
 
#else
  return NULL;
#endif
}

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osPoolAlloc()

void* osPoolAlloc

(

osPoolId

pool_id

)

Allocate a memory block from a memory pool.

Allocate a memory block from a memory pool.

Parameters

[in]

pool_id

memory pool ID obtain referenced with osPoolCreate.

Returns

address of the allocated memory block or NULL in case of no memory available.

Note

MUST REMAIN UNCHANGED: osPoolAlloc shall be consistent in every CMSIS-RTOS.

Parameters

pool_id

memory pool ID obtain referenced with osPoolCreate.

Return values

address

of the allocated memory block or NULL in case of no memory available.

Note

MUST REMAIN UNCHANGED: osPoolAlloc shall be consistent in every CMSIS-RTOS.

{
  int dummy = 0;
  void *p = NULL;
  uint32_t i;
  uint32_t index;
 
  if (inHandlerMode()) {
    dummy = portSET_INTERRUPT_MASK_FROM_ISR();
  }
  else {
    vPortEnterCritical();
  }
 
  for (i = 0; i < pool_id->pool_sz; i++) {
    index = pool_id->currentIndex + i;
    if (index >= pool_id->pool_sz) {
      index = 0;
    }
 
    if (pool_id->markers[index] == 0) {
      pool_id->markers[index] = 1;
      p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz));
      pool_id->currentIndex = index;
      break;
    }
  }
 
  if (inHandlerMode()) {
    portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
  }
  else {
    vPortExitCritical();
  }
 
  return p;
}

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osPoolCAlloc()

void* osPoolCAlloc

(

osPoolId

pool_id

)

Allocate a memory block from a memory pool and set memory block to zero.

Allocate a memory block from a memory pool and set memory block to zero.

Parameters

[in]

pool_id

memory pool ID obtain referenced with osPoolCreate.

Returns

address of the allocated memory block or NULL in case of no memory available.

Note

MUST REMAIN UNCHANGED: osPoolCAlloc shall be consistent in every CMSIS-RTOS.

Parameters

pool_id

memory pool ID obtain referenced with osPoolCreate.

Return values

address

of the allocated memory block or NULL in case of no memory available.

Note

MUST REMAIN UNCHANGED: osPoolCAlloc shall be consistent in every CMSIS-RTOS.

{
  void *p = osPoolAlloc(pool_id);
 
  if (p != NULL)
  {
    memset(p, 0, sizeof(pool_id->pool_sz));
  }
 
  return p;
}

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osPoolFree()

osStatus osPoolFree	(	osPoolId	pool_id,
		void *	block
	)

Return an allocated memory block back to a specific memory pool.

Return an allocated memory block back to a specific memory pool.

Parameters

[in]	pool_id	memory pool ID obtain referenced with osPoolCreate.
[in]	block	address of the allocated memory block that is returned to the memory pool.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osPoolFree shall be consistent in every CMSIS-RTOS.

Parameters

pool_id	memory pool ID obtain referenced with osPoolCreate.
block	address of the allocated memory block that is returned to the memory pool.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osPoolFree shall be consistent in every CMSIS-RTOS.

{
  uint32_t index;
 
  if (pool_id == NULL) {
    return osErrorParameter;
  }
 
  if (block == NULL) {
    return osErrorParameter;
  }
 
  if (block < pool_id->pool) {
    return osErrorParameter;
  }
 
  index = (uint32_t)block - (uint32_t)(pool_id->pool);
  if (index % pool_id->item_sz) {
    return osErrorParameter;
  }
  index = index / pool_id->item_sz;
  if (index >= pool_id->pool_sz) {
    return osErrorParameter;
  }
 
  pool_id->markers[index] = 0;
 
  return osOK;
}

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osMessageCreate()

osMessageQId osMessageCreate	(	const osMessageQDef_t *	queue_def,
		osThreadId	thread_id
	)

Create and Initialize a Message Queue.

Create and Initialize a Message Queue.

Parameters

[in]	queue_def	queue definition referenced with osMessageQ.
[in]	thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Returns

message queue ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMessageCreate shall be consistent in every CMSIS-RTOS.

Parameters

queue_def	queue definition referenced with osMessageQ.
thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Return values

message

queue ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMessageCreate shall be consistent in every CMSIS-RTOS.

{
  (void) thread_id;
 
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
  if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) {
    return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
  }
  else {
    return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
  }
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
  return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
#else
  return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
#endif
}

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osMessagePut()

osStatus osMessagePut	(	osMessageQId	queue_id,
		uint32_t	info,
		uint32_t	millisec
	)

Put a Message to a Queue.

Put a Message to a Queue.

Parameters

[in]	queue_id	message queue ID obtained with osMessageCreate.
[in]	info	message information.
[in]	millisec	timeout value or 0 in case of no time-out.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMessagePut shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	message queue ID obtained with osMessageCreate.
info	message information.
millisec	timeout value or 0 in case of no time-out.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMessagePut shall be consistent in every CMSIS-RTOS.

{
  portBASE_TYPE taskWoken = pdFALSE;
  TickType_t ticks;
 
  ticks = millisec / portTICK_PERIOD_MS;
  if (ticks == 0) {
    ticks = 1;
  }
 
  if (inHandlerMode()) {
    if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xQueueSend(queue_id, &info, ticks) != pdTRUE) {
      return osErrorOS;
    }
  }
 
  return osOK;
}

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osMessageGet()

osEvent osMessageGet	(	osMessageQId	queue_id,
		uint32_t	millisec
	)

Get a Message or Wait for a Message from a Queue.

Get a Message or Wait for a Message from a Queue.

Parameters

[in]	queue_id	message queue ID obtained with osMessageCreate.
[in]	millisec	timeout value or 0 in case of no time-out.

Returns

event information that includes status code.

Note

MUST REMAIN UNCHANGED: osMessageGet shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	message queue ID obtained with osMessageCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

event

information that includes status code.

Note

MUST REMAIN UNCHANGED: osMessageGet shall be consistent in every CMSIS-RTOS.

{
  portBASE_TYPE taskWoken;
  TickType_t ticks;
  osEvent event;
 
  event.def.message_id = queue_id;
  event.value.v = 0;
 
  if (queue_id == NULL) {
    event.status = osErrorParameter;
    return event;
  }
 
  taskWoken = pdFALSE;
 
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (inHandlerMode()) {
    if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) {
      /* We have mail */
      event.status = osEventMessage;
    }
    else {
      event.status = osOK;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) {
      /* We have mail */
      event.status = osEventMessage;
    }
    else {
      event.status = (ticks == 0) ? osOK : osEventTimeout;
    }
  }
 
  return event;
}

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osMailCreate()

osMailQId osMailCreate	(	const osMailQDef_t *	queue_def,
		osThreadId	thread_id
	)

Create and Initialize mail queue.

Create and Initialize mail queue.

Parameters

[in]	queue_def	reference to the mail queue definition obtain with osMailQ
[in]	thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Returns

mail queue ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMailCreate shall be consistent in every CMSIS-RTOS.

Parameters

queue_def	reference to the mail queue definition obtain with osMailQ
thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Return values

mail	queue ID for reference by other functions or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMailCreate shall be consistent in every CMSIS-RTOS.

{
#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
  (void) thread_id;
 
  osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL};
 
  /* Create a mail queue control block */
 
  *(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb));
 
  if (*(queue_def->cb) == NULL) {
    return NULL;
  }
  (*(queue_def->cb))->queue_def = queue_def;
 
  /* Create a queue in FreeRTOS */
  (*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *));
 
 
  if ((*(queue_def->cb))->handle == NULL) {
    vPortFree(*(queue_def->cb));
    return NULL;
  }
 
  /* Create a mail pool */
  (*(queue_def->cb))->pool = osPoolCreate(&pool_def);
  if ((*(queue_def->cb))->pool == NULL) {
    //TODO: Delete queue. How to do it in FreeRTOS?
    vPortFree(*(queue_def->cb));
    return NULL;
  }
 
  return *(queue_def->cb);
#else
  return NULL;
#endif
}

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osMailAlloc()

void* osMailAlloc	(	osMailQId	queue_id,
		uint32_t	millisec
	)

Allocate a memory block from a mail.

Allocate a memory block from a mail.

Parameters

[in]	queue_id	mail queue ID obtained with osMailCreate.
[in]	millisec	timeout value or 0 in case of no time-out

Returns

pointer to memory block that can be filled with mail or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMailAlloc shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	mail queue ID obtained with osMailCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

pointer

to memory block that can be filled with mail or NULL in case error.

Note

MUST REMAIN UNCHANGED: osMailAlloc shall be consistent in every CMSIS-RTOS.

{
  (void) millisec;
  void *p;
 
 
  if (queue_id == NULL) {
    return NULL;
  }
 
  p = osPoolAlloc(queue_id->pool);
 
  return p;
}

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osMailCAlloc()

void* osMailCAlloc	(	osMailQId	queue_id,
		uint32_t	millisec
	)

Allocate a memory block from a mail and set memory block to zero.

Allocate a memory block from a mail and set memory block to zero.

Parameters

[in]	queue_id	mail queue ID obtained with osMailCreate.
[in]	millisec	timeout value or 0 in case of no time-out

Returns

pointer to memory block that can be filled with mail or NULL in case of error.

Note

MUST REMAIN UNCHANGED: osMailCAlloc shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	mail queue ID obtained with osMailCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

pointer

to memory block that can be filled with mail or NULL in case error.

Note

MUST REMAIN UNCHANGED: osMailCAlloc shall be consistent in every CMSIS-RTOS.

{
  uint32_t i;
  void *p = osMailAlloc(queue_id, millisec);
 
  if (p) {
    for (i = 0; i < queue_id->queue_def->item_sz; i++) {
      ((uint8_t *)p)[i] = 0;
    }
  }
 
  return p;
}

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osMailPut()

osStatus osMailPut	(	osMailQId	queue_id,
		void *	mail
	)

Put a mail to a queue.

Put a mail to a queue.

Parameters

[in]	queue_id	mail queue ID obtained with osMailCreate.
[in]	mail	memory block previously allocated with osMailAlloc or osMailCAlloc.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMailPut shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	mail queue ID obtained with osMailCreate.
mail	memory block previously allocated with osMailAlloc or osMailCAlloc.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMailPut shall be consistent in every CMSIS-RTOS.

{
  portBASE_TYPE taskWoken;
 
 
  if (queue_id == NULL) {
    return osErrorParameter;
  }
 
  taskWoken = pdFALSE;
 
  if (inHandlerMode()) {
    if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) {
      return osErrorOS;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) {
      return osErrorOS;
    }
  }
 
  return osOK;
}

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osMailGet()

osEvent osMailGet	(	osMailQId	queue_id,
		uint32_t	millisec
	)

Get a mail from a queue.

Get a mail from a queue.

Parameters

[in]	queue_id	mail queue ID obtained with osMailCreate.
[in]	millisec	timeout value or 0 in case of no time-out

Returns

event that contains mail information or error code.

Note

MUST REMAIN UNCHANGED: osMailGet shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	mail queue ID obtained with osMailCreate.
millisec	timeout value or 0 in case of no time-out

Return values

event

that contains mail information or error code.

Note

MUST REMAIN UNCHANGED: osMailGet shall be consistent in every CMSIS-RTOS.

{
  portBASE_TYPE taskWoken;
  TickType_t ticks;
  osEvent event;
 
  event.def.mail_id = queue_id;
 
  if (queue_id == NULL) {
    event.status = osErrorParameter;
    return event;
  }
 
  taskWoken = pdFALSE;
 
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (inHandlerMode()) {
    if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) {
      /* We have mail */
      event.status = osEventMail;
    }
    else {
      event.status = osOK;
    }
    portEND_SWITCHING_ISR(taskWoken);
  }
  else {
    if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) {
      /* We have mail */
      event.status = osEventMail;
    }
    else {
      event.status = (ticks == 0) ? osOK : osEventTimeout;
    }
  }
 
  return event;
}

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osMailFree()

osStatus osMailFree	(	osMailQId	queue_id,
		void *	mail
	)

Free a memory block from a mail.

Free a memory block from a mail.

Parameters

[in]	queue_id	mail queue ID obtained with osMailCreate.
[in]	mail	pointer to the memory block that was obtained with osMailGet.

Returns

status code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMailFree shall be consistent in every CMSIS-RTOS.

Parameters

queue_id	mail queue ID obtained with osMailCreate.
mail	pointer to the memory block that was obtained with osMailGet.

Return values

status

code that indicates the execution status of the function.

Note

MUST REMAIN UNCHANGED: osMailFree shall be consistent in every CMSIS-RTOS.

{
  if (queue_id == NULL) {
    return osErrorParameter;
  }
 
  return osPoolFree(queue_id->pool, mail);
}

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osSystickHandler()

void osSystickHandler

(

void

)

Handles the tick increment.

Parameters

none.

Return values

none.

{
 
#if (INCLUDE_xTaskGetSchedulerState  == 1 )
  if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
  {
#endif  /* INCLUDE_xTaskGetSchedulerState */
    xPortSysTickHandler();
#if (INCLUDE_xTaskGetSchedulerState  == 1 )
  }
#endif  /* INCLUDE_xTaskGetSchedulerState */
}

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osThreadSuspend()

osStatus osThreadSuspend

(

osThreadId

thread_id

)

Suspend execution of a thread.

Parameters

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Return values

status

code that indicates the execution status of the function.

{
#if (INCLUDE_vTaskSuspend == 1)
    vTaskSuspend(thread_id);
 
  return osOK;
#else
  return osErrorResource;
#endif
}

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osThreadResume()

osStatus osThreadResume

(

osThreadId

thread_id

)

Resume execution of a suspended thread.

Parameters

thread_id

thread ID obtained by osThreadCreate or osThreadGetId.

Return values

status

code that indicates the execution status of the function.

{
#if (INCLUDE_vTaskSuspend == 1)
  if(inHandlerMode())
  {
    if (xTaskResumeFromISR(thread_id) == pdTRUE)
    {
      portYIELD_FROM_ISR(pdTRUE);
    }
  }
  else
  {
    vTaskResume(thread_id);
  }
  return osOK;
#else
  return osErrorResource;
#endif
}

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osThreadSuspendAll()

osStatus osThreadSuspendAll

(

void

)

Suspend execution of a all active threads.

Return values

status

code that indicates the execution status of the function.

{
  vTaskSuspendAll();
 
  return osOK;
}

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osThreadResumeAll()

osStatus osThreadResumeAll

(

void

)

Resume execution of a all suspended threads.

Return values

status

code that indicates the execution status of the function.

{
  if (xTaskResumeAll() == pdTRUE)
    return osOK;
  else
    return osErrorOS;
 
}

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osDelayUntil()

osStatus osDelayUntil	(	uint32_t *	PreviousWakeTime,
		uint32_t	millisec
	)

Delay a task until a specified time.

Parameters

PreviousWakeTime	Pointer to a variable that holds the time at which the task was last unblocked. PreviousWakeTime must be initialised with the current time prior to its first use (PreviousWakeTime = osKernelSysTick() )
millisec	time delay value

Return values

status

code that indicates the execution status of the function.

{
#if INCLUDE_vTaskDelayUntil
  TickType_t ticks = (millisec / portTICK_PERIOD_MS);
  vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1);
 
  return osOK;
#else
  (void) millisec;
  (void) PreviousWakeTime;
 
  return osErrorResource;
#endif
}

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osAbortDelay()

osStatus osAbortDelay

(

osThreadId

thread_id

)

Abort the delay for a specific thread.

Parameters

thread_id

thread ID obtained by osThreadCreate or osThreadGetId

Return values

status

code that indicates the execution status of the function.

{
#if INCLUDE_xTaskAbortDelay
 
  xTaskAbortDelay(thread_id);
 
  return osOK;
#else
  (void) thread_id;
 
  return osErrorResource;
#endif
}

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osThreadList()

osStatus osThreadList

(

uint8_t *

buffer

)

Lists all the current threads, along with their current state and stack usage high water mark.

Parameters

buffer

A buffer into which the above mentioned details will be written

Return values

status

code that indicates the execution status of the function.

{
#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
  vTaskList((char *)buffer);
#endif
  return osOK;
}

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osMessagePeek()

osEvent osMessagePeek	(	osMessageQId	queue_id,
		uint32_t	millisec
	)

Receive an item from a queue without removing the item from the queue.

Parameters

queue_id	message queue ID obtained with osMessageCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

event

information that includes status code.

{
  TickType_t ticks;
  osEvent event;
 
  event.def.message_id = queue_id;
 
  if (queue_id == NULL) {
    event.status = osErrorParameter;
    return event;
  }
 
  ticks = 0;
  if (millisec == osWaitForever) {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0) {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0) {
      ticks = 1;
    }
  }
 
  if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE)
  {
    /* We have mail */
    event.status = osEventMessage;
  }
  else
  {
    event.status = (ticks == 0) ? osOK : osEventTimeout;
  }
 
  return event;
}

osMessageWaiting()

uint32_t osMessageWaiting

(

osMessageQId

queue_id

)

Get the number of messaged stored in a queue.

Parameters

queue_id

message queue ID obtained with osMessageCreate.

Return values

number

of messages stored in a queue.

{
  if (inHandlerMode()) {
    return uxQueueMessagesWaitingFromISR(queue_id);
  }
  else
  {
    return uxQueueMessagesWaiting(queue_id);
  }
}

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osMessageAvailableSpace()

uint32_t osMessageAvailableSpace

(

osMessageQId

queue_id

)

Get the available space in a message queue.

Parameters

queue_id

message queue ID obtained with osMessageCreate.

Return values

available

space in a message queue.

{
  return uxQueueSpacesAvailable(queue_id);
}

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osMessageDelete()

osStatus osMessageDelete

(

osMessageQId

queue_id

)

Delete a Message Queue.

Parameters

queue_id

message queue ID obtained with osMessageCreate.

Return values

status

code that indicates the execution status of the function.

{
  if (inHandlerMode()) {
    return osErrorISR;
  }
 
  vQueueDelete(queue_id);
 
  return osOK;
}

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osRecursiveMutexCreate()

osMutexId osRecursiveMutexCreate

(

const osMutexDef_t *

mutex_def

)

Create and Initialize a Recursive Mutex.

Parameters

mutex_def

mutex definition referenced with osMutex.

Return values

mutex

ID for reference by other functions or NULL in case of error..

{
#if (configUSE_RECURSIVE_MUTEXES == 1)
#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
  if (mutex_def->controlblock != NULL){
    return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
  }
  else {
    return xSemaphoreCreateRecursiveMutex();
  }
#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
  return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
#else
  return xSemaphoreCreateRecursiveMutex();
#endif
#else
  return NULL;
#endif
}

osRecursiveMutexRelease()

osStatus osRecursiveMutexRelease

(

osMutexId

mutex_id

)

Release a Recursive Mutex.

Parameters

mutex_id

mutex ID obtained by osRecursiveMutexCreate.

Return values

status

code that indicates the execution status of the function.

{
#if (configUSE_RECURSIVE_MUTEXES == 1)
  osStatus result = osOK;
 
  if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE)
  {
    result = osErrorOS;
  }
  return result;
#else
    return osErrorResource;
#endif
}

osRecursiveMutexWait()

osStatus osRecursiveMutexWait	(	osMutexId	mutex_id,
		uint32_t	millisec
	)

Release a Recursive Mutex.

Parameters

mutex_id	mutex ID obtained by osRecursiveMutexCreate.
millisec	timeout value or 0 in case of no time-out.

Return values

status

code that indicates the execution status of the function.

{
#if (configUSE_RECURSIVE_MUTEXES == 1)
  TickType_t ticks;
 
  if (mutex_id == NULL)
  {
    return osErrorParameter;
  }
 
  ticks = 0;
  if (millisec == osWaitForever)
  {
    ticks = portMAX_DELAY;
  }
  else if (millisec != 0)
  {
    ticks = millisec / portTICK_PERIOD_MS;
    if (ticks == 0)
    {
      ticks = 1;
    }
  }
 
  if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE)
  {
    return osErrorOS;
  }
  return osOK;
#else
    return osErrorResource;
#endif
}

osSemaphoreGetCount()

uint32_t osSemaphoreGetCount

(

osSemaphoreId

semaphore_id

)

Returns the current count value of a counting semaphore.

Parameters

semaphore_id

semaphore_id ID obtained by osSemaphoreCreate.

Return values

count

value

{
  return uxSemaphoreGetCount(semaphore_id);
}