cmsis_os.c File Reference

CMSIS-RTOS API implementation for FreeRTOS V9.0.0. More...

#include <string.h>
#include "cmsis_os.h"

Classes
struct	os_pool_cb
struct	os_mailQ_cb

Typedefs
typedef struct os_pool_cb	os_pool_cb_t
typedef struct os_mailQ_cb	os_mailQ_cb_t

Functions
void	xPortSysTickHandler (void)
static unsigned portBASE_TYPE	makeFreeRtosPriority (osPriority priority)
static int	inHandlerMode (void)
osStatus	osKernelInitialize (void)
	Initialize the RTOS Kernel for creating objects. More...
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 signal)
	Set the specified Signal Flags of an active thread. More...
int32_t	osSignalClear (osThreadId thread_id, int32_t signal)
	Clear the specified Signal Flags of an active thread. More...
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

CMSIS-RTOS API implementation for FreeRTOS V9.0.0.

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.

Typedef Documentation

os_pool_cb_t

typedef struct os_pool_cb os_pool_cb_t

os_mailQ_cb_t

typedef struct os_mailQ_cb os_mailQ_cb_t

Function Documentation

xPortSysTickHandler()

void xPortSysTickHandler

(

void

)

{
    /* The SysTick runs at the lowest interrupt priority, so when this interrupt
    executes all interrupts must be unmasked.  There is therefore no need to
    save and then restore the interrupt mask value as its value is already
    known. */
    portDISABLE_INTERRUPTS();
    {
        /* Increment the RTOS tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            /* A context switch is required.  Context switching is performed in
            the PendSV interrupt.  Pend the PendSV interrupt. */
            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
        }
    }
    portENABLE_INTERRUPTS();
}

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makeFreeRtosPriority()

static unsigned portBASE_TYPE makeFreeRtosPriority ( osPriority  priority )

static

{
  unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY;
 
  if (priority != osPriorityError) {
    fpriority += (priority - osPriorityIdle);
  }
 
  return fpriority;
}

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inHandlerMode()

static int inHandlerMode ( void  )

static

{
  return __get_IPSR() != 0;
}

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osKernelInitialize()

osStatus osKernelInitialize

(

void

)

Initialize the RTOS Kernel for creating objects.

Return values

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.

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.

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.

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.

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 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.

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.

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.

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.

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)

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.

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.

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.

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.

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.

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	signal
	)

Clear the specified Signal Flags of an active thread.

Parameters

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

Return values

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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);
}