diff --git a/components/CMSIS/RTOS/cmsis_os.h b/components/CMSIS/RTOS/cmsis_os.h index 84cd966063..d8f822847b 100644 --- a/components/CMSIS/RTOS/cmsis_os.h +++ b/components/CMSIS/RTOS/cmsis_os.h @@ -215,7 +215,7 @@ typedef struct rt_mailbox *osMailQId; /// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS. typedef const struct os_thread_def { const char *name; - void (*entry)(void *parameter); + os_pthread entry; rt_uint32_t stack_size; rt_uint8_t priority; rt_uint32_t tick; @@ -225,7 +225,7 @@ typedef const struct os_thread_def { /// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS. typedef const struct os_timer_def { const char *name; - void (*timeout)(void *parameter); + os_ptimer timeout; void *parameter; rt_tick_t time; rt_uint8_t flag; @@ -257,8 +257,8 @@ typedef const struct os_pool_def { /// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS. typedef const struct os_messageQ_def { const char *name; - rt_size_t msg_size; rt_size_t max_msgs; + rt_size_t msg_size; rt_uint8_t flag; } osMessageQDef_t; @@ -294,7 +294,7 @@ typedef struct { /// \param[in] argument pointer that is passed to the thread function as start argument. /// \return status code that indicates the execution status of the function. /// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS. -osStatus osKernelStart (osThreadDef_t *thread_def, void *argument); +osStatus osKernelStart (void); /// Check if the RTOS kernel is already started. /// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. @@ -498,6 +498,11 @@ osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec); /// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS. osStatus osMutexRelease (osMutexId mutex_id); +/// Delete a Mutex that was created by \ref osMutexCreate. +/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. +/// \return status code that indicates the execution status of the function. +/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS. +osStatus osMutexDelete (osMutexId mutex_id); // ==== Semaphore Management Functions ==== @@ -560,7 +565,7 @@ extern osPoolDef_t os_pool_def_##name #else // define the object #define osPoolDef(name, no, type) \ osPoolDef_t os_pool_def_##name = \ -{ (no), sizeof(type), NULL } +{"pool", (no), sizeof(type) } #endif /// \brief Access a Memory Pool definition. @@ -614,7 +619,7 @@ extern osMessageQDef_t os_messageQ_def_##name #else // define the object #define osMessageQDef(name, queue_sz, type) \ osMessageQDef_t os_messageQ_def_##name = \ -{ (queue_sz), sizeof (type) } +{"msg", (queue_sz), 4 } #endif /// \brief Access a Message Queue Definition. diff --git a/components/CMSIS/RTOS/cmsis_rtthread.c b/components/CMSIS/RTOS/cmsis_rtthread.c index 5789573297..d95480d892 100644 --- a/components/CMSIS/RTOS/cmsis_rtthread.c +++ b/components/CMSIS/RTOS/cmsis_rtthread.c @@ -3,19 +3,17 @@ // Kernel Control Public API /// Start the RTOS Kernel with executing the specified thread -osStatus osKernelStart(osThreadDef_t *thread_def, void *argument) +osStatus osKernelStart(void) { - osThreadCreate(thread_def, argument); + rt_system_scheduler_start(); - rt_system_scheduler_start(); - - return osOK; + return osOK; } /// Check if the RTOS kernel is already started int32_t osKernelRunning(void) { - return (rt_thread_self() != RT_NULL) ? 1 : 0; + return (rt_thread_self() != RT_NULL) ? 1 : 0; } // Thread Public API @@ -23,76 +21,83 @@ int32_t osKernelRunning(void) /// Create a thread and add it to Active Threads and set it to state READY osThreadId osThreadCreate(osThreadDef_t *thread_def, void *argument) { - osThreadId thread; - - thread = rt_thread_create(thread_def->name, thread_def->entry, argument, thread_def->stack_size, thread_def->priority, thread_def->tick); - if (thread != RT_NULL) - rt_thread_startup(thread); + osThreadId thread; + int size; - return thread; + size = thread_def->stack_size; + if (size == 0) + { + size = 4096; + } + + thread = rt_thread_create(thread_def->name, thread_def->entry, argument, size, thread_def->priority, thread_def->tick); + if (thread != RT_NULL) + rt_thread_startup(thread); + + return thread; } /// Return the thread ID of the current running thread osThreadId osThreadGetId(void) { - return rt_thread_self(); + return rt_thread_self(); } /// Terminate execution of a thread and remove it from ActiveThreads osStatus osThreadTerminate(osThreadId thread_id) { - rt_err_t result; + rt_err_t result; - result = rt_thread_delete(thread_id); + result = rt_thread_delete(thread_id); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Pass control to next thread that is in state READY osStatus osThreadYield(void) { - rt_err_t result; + rt_err_t result; - result = rt_thread_yield(); + result = rt_thread_yield(); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Change prority of an active thread osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority) { - rt_err_t result; - - if (thread_id == RT_NULL) - return osErrorOS; + rt_err_t result; - if (priority < osPriorityIdle || priority > osPriorityRealtime) - return osErrorPriority; + if (thread_id == RT_NULL) + return osErrorOS; - result = rt_thread_control(thread_id, RT_THREAD_CTRL_CHANGE_PRIORITY, &priority); - - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (priority < osPriorityIdle || priority > osPriorityRealtime) + return osErrorPriority; + + result = rt_thread_control(thread_id, RT_THREAD_CTRL_CHANGE_PRIORITY, &priority); + + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Get current prority of an active thread osPriority osThreadGetPriority(osThreadId thread_id) { - if (thread_id == RT_NULL) - return osErrorOS; + if (thread_id == RT_NULL) + return osPriorityError; - if (thread_id->current_priority < osPriorityIdle || thread_id->current_priority > osPriorityRealtime) - return osPriorityError; - - return thread_id->current_priority; + if ((osPriority)thread_id->current_priority < osPriorityIdle || (osPriority)thread_id->current_priority > osPriorityRealtime) + return osPriorityError; + + return thread_id->current_priority; } // Generic Wait API @@ -100,31 +105,31 @@ osPriority osThreadGetPriority(osThreadId thread_id) /// Wait for Timeout (Time Delay) osStatus osDelay(uint32_t millisec) { - rt_err_t result; - rt_tick_t ticks; + rt_err_t result; + rt_tick_t ticks; - ticks = rt_tick_from_millisecond(millisec); - result = rt_thread_delay(ticks); + ticks = rt_tick_from_millisecond(millisec); + result = rt_thread_delay(ticks); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Wait for Signal, Message, Mail, or Timeout osEvent osWait(uint32_t millisec) { - rt_err_t result; - rt_tick_t ticks; + rt_err_t result; + rt_tick_t ticks; - ticks = rt_tick_from_millisecond(millisec); - result = rt_thread_delay(ticks); + ticks = rt_tick_from_millisecond(millisec); + result = rt_thread_delay(ticks); /* - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; */ } @@ -133,31 +138,41 @@ osEvent osWait(uint32_t millisec) /// Create timer osTimerId osTimerCreate(osTimerDef_t *timer_def, os_timer_type type, void *argument) { - return rt_timer_create(timer_def->name, timer_def->timeout, timer_def->parameter, timer_def->time, timer_def->flag); + uint8_t flag = RT_TIMER_FLAG_SOFT_TIMER; + + if (type == osTimerPeriodic) + { + flag |= RT_TIMER_FLAG_PERIODIC; + } + + return rt_timer_create(timer_def->name, timer_def->timeout, argument, timer_def->time, flag); } /// Start or restart timer osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) { - rt_err_t result; - - result = rt_timer_start(timer_id); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + rt_err_t result; + rt_tick_t ticks; + + ticks = rt_tick_from_millisecond(millisec); + rt_timer_control(timer_id, RT_TIMER_CTRL_SET_TIME, &ticks); + result = rt_timer_start(timer_id); + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Stop timer osStatus osTimerStop(osTimerId timer_id) { - rt_err_t result; - - result = rt_timer_stop(timer_id); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + rt_err_t result; + + result = rt_timer_stop(timer_id); + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } // Mutex Public API @@ -165,35 +180,47 @@ osStatus osTimerStop(osTimerId timer_id) /// Create and Initialize a Mutex object osMutexId osMutexCreate(osMutexDef_t *mutex_def) { - return rt_mutex_create(mutex_def->name, mutex_def->flag); + return rt_mutex_create(mutex_def->name, mutex_def->flag); } /// Wait until a Mutex becomes available osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) { - rt_err_t result; - rt_tick_t ticks; + rt_err_t result; + rt_tick_t ticks; - ticks = rt_tick_from_millisecond(millisec); - result = rt_mutex_take(mutex_id, ticks); + ticks = rt_tick_from_millisecond(millisec); + result = rt_mutex_take(mutex_id, ticks); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Release a Mutex that was obtained with osMutexWait osStatus osMutexRelease(osMutexId mutex_id) { - rt_err_t result; + rt_err_t result; - result = rt_mutex_release(mutex_id); + result = rt_mutex_release(mutex_id); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; +} + +osStatus osMutexDelete (osMutexId mutex_id) +{ + rt_err_t result; + + result = rt_mutex_delete(mutex_id); + + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } // Semaphore Public API @@ -201,34 +228,34 @@ osStatus osMutexRelease(osMutexId mutex_id) /// Create and Initialize a Semaphore object osSemaphoreId osSemaphoreCreate(osSemaphoreDef_t *semaphore_def, int32_t count) { - return rt_sem_create(semaphore_def->name, count, semaphore_def->flag); + return rt_sem_create(semaphore_def->name, count, semaphore_def->flag); } /// Wait until a Semaphore becomes available int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) { - rt_tick_t ticks; + rt_tick_t ticks; - if (semaphore_id == RT_NULL) - return -1; + if (semaphore_id == RT_NULL) + return -1; - ticks = rt_tick_from_millisecond(millisec); - rt_sem_take(semaphore_id, ticks); + ticks = rt_tick_from_millisecond(millisec); + rt_sem_take(semaphore_id, ticks); - return semaphore_id->value; + return semaphore_id->value; } /// Release a Semaphore osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) { - rt_err_t result; + rt_err_t result; - result = rt_sem_release(semaphore_id); + result = rt_sem_release(semaphore_id); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } // Memory Management Public API @@ -236,26 +263,27 @@ osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) /// Create and Initialize memory pool osPoolId osPoolCreate(osPoolDef_t *pool_def) { - return rt_mp_create(pool_def->name, pool_def->block_count, pool_def->block_size); + return rt_mp_create(pool_def->name, pool_def->block_count, pool_def->block_size); } /// Allocate a memory block from a memory pool void *osPoolAlloc(osPoolId pool_id) { - return rt_mp_alloc(pool_id, 0); + return rt_mp_alloc(pool_id, 0); } /// Allocate a memory block from a memory pool and set memory block to zero void *osPoolCAlloc(osPoolId pool_id) { + return RT_NULL; } /// Return an allocated memory block back to a specific memory pool osStatus osPoolFree(osPoolId pool_id, void *block) { - rt_mp_free(block); + rt_mp_free(block); - return osOK; + return osOK; } // Message Queue Management Public API @@ -263,26 +291,42 @@ osStatus osPoolFree(osPoolId pool_id, void *block) /// Create and Initialize Message Queue osMessageQId osMessageCreate(osMessageQDef_t *queue_def, osThreadId thread_id) { - return rt_mq_create(queue_def->name, queue_def->msg_size, queue_def->max_msgs, queue_def->flag); + return rt_mq_create(queue_def->name, queue_def->msg_size, queue_def->max_msgs, queue_def->flag); } /// Put a Message to a Queue osStatus osMessagePut(osMessageQId queue_id, uint32_t info, uint32_t millisec) { - rt_err_t result; + rt_err_t result; - result = rt_mq_send(queue_id, &info, 1); + result = rt_mq_send(queue_id, &info, 4); - if (result == RT_EOK) - return osOK; - else - return osErrorOS; + if (result == RT_EOK) + return osOK; + else + return osErrorOS; } /// Get a Message or Wait for a Message from a Queue osEvent osMessageGet(osMessageQId queue_id, uint32_t millisec) { - + osEvent event; + rt_err_t result; + rt_tick_t ticks; + + ticks = rt_tick_from_millisecond(millisec); + result = rt_mq_recv(queue_id, &event.value, 4, ticks); + + if (result == RT_EOK) + { + event.status = osEventMessage; + } + else + { + event.status = osEventTimeout; + } + + return event; } // Mail Queue Management Public API @@ -290,26 +334,31 @@ osEvent osMessageGet(osMessageQId queue_id, uint32_t millisec) /// Create and Initialize mail queue osMailQId osMailCreate(osMailQDef_t *queue_def, osThreadId thread_id) { + return RT_NULL; } /// Allocate a memory block from a mail void *osMailAlloc(osMailQId queue_id, uint32_t millisec) { + return RT_NULL; } /// Allocate a memory block from a mail and set memory block to zero void *osMailCAlloc(osMailQId queue_id, uint32_t millisec) { + return RT_NULL; } /// Free a memory block from a mail osStatus osMailFree(osMailQId queue_id, void *mail) { + return osErrorOS; } /// Put a mail to a queue osStatus osMailPut(osMailQId queue_id, void *mail) { + return osErrorOS; } /// Get a mail from a queue