CMSIS RTOS added.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7377 35acf78f-673a-0410-8e92-d51de3d6d3f4

1 files changed, 104 insertions, 32 deletions

diff --git a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
index 09013df20..784a04b97 100644
--- a/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
+++ b/os/rt/ports/ARMCMx/cmsis_os/cmsis_os.h
@@ -83,10 +83,36 @@
 /* Module pre-compile time settings.                                         */

 /*===========================================================================*/

 

+/**

+ * @brief   Number of pre-allocated static semaphores/mutexes.

+ */

+#if !defined(CMSIS_CFG_NUM_SEMAPHORES)

+#define CMSIS_CFG_NUM_SEMAPHORES    4

+#endif

+

+/**

+ * @brief   Number of pre-allocated static timers.

+ */

+#if !defined(CMSIS_CFG_NUM_TIMERS)

+#define CMSIS_CFG_NUM_TIMERS        4

+#endif

+

 /*===========================================================================*/

 /* Derived constants and error checks.                                       */

 /*===========================================================================*/

 

+#if !CH_CFG_USE_MEMPOOLS

+#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"

+#endif

+

+#if !CH_CFG_USE_SEMAPHORES

+#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"

+#endif

+

+#if !CH_CFG_USE_DYNAMIC

+#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"

+#endif

+

 /*===========================================================================*/

 /* Module data structures and types.                                         */

 /*===========================================================================*/

@@ -130,8 +156,8 @@ typedef enum {
  * @brief   Type of a timer mode.

  */

 typedef enum  {

-  osTimerOnce               =   0,

-  osTimerPeriodic           =   1

+  osTimerOnce               = 0,

+  osTimerPeriodic           = 1

 } os_timer_type;

 

 /**

@@ -147,22 +173,28 @@ typedef void (*os_ptimer) (void const *argument);
 /**

  * @brief   Type of pointer to thread control block.

  */

-typedef struct os_thread_cb *osThreadId;

+typedef thread_t *osThreadId;

 

 /**

  * @brief   Type of pointer to timer control block.

  */

-typedef struct os_timer_cb *osTimerId;

+typedef struct os_timer_cb {

+  virtual_timer_t           vt;

+  os_timer_type             type;

+  os_ptimer                 ptimer;

+  void                      *argument;

+  uint32_t                  millisec;

+} *osTimerId;

 

 /**

  * @brief   Type of pointer to mutex control block.

  */

-typedef struct os_mutex_cb *osMutexId;

+typedef binary_semaphore_t *osMutexId;

 

 /**

  * @brief   Type of pointer to semaphore control block.

  */

-typedef struct os_semaphore_cb *osSemaphoreId;

+typedef semaphore_t *osSemaphoreId;

 

 /**

  * @brief   Type of a thread definition block.

@@ -280,13 +312,25 @@ const osTimerDef_t os_timer_def_##name = {                                  \
 #ifdef __cplusplus

 extern "C" {

 #endif

-  osThreadId osThreadGetId(void);

-  osStatus osThreadTerminate(osThreadId thread_id);

-  osStatus osThreadYield(void);

-  osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority);

-  osPriority osThreadGetPriority(osThreadId thread_id);

-  osStatus osDelay(uint32_t millisec);

+  osStatus osKernelInitialize(void);

+  osStatus osKernelStart(void);

+  osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);

   /*osEvent osWait(uint32_t millisec);*/

+  osTimerId osTimerCreate (const osTimerDef_t *timer_def,

+                           os_timer_type type,

+                           void *argument);

+  osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);

+  osStatus osTimerStop (osTimerId timer_id);

+  osStatus osTimerDelete (osTimerId timer_id);

+  osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def,

+                                   int32_t count);

+  int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);

+  osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);

+  osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);

+  osMutexId osMutexCreate (const osMutexDef_t *mutex_def);

+  osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);

+  osStatus osMutexRelease (osMutexId mutex_id);

+  osStatus osMutexDelete (osMutexId mutex_id);

 #ifdef __cplusplus

 }

 #endif

@@ -296,26 +340,6 @@ extern "C" {
 /*===========================================================================*/

 

 /**

- * @brief   Kernel initialization.

- */

-static inline osStatus osKernelInitialize(void) {

-

-  chSysSuspend();

-

-  return osOK;

-}

-

-/**

- * @brief   Kernel start.

- * @note    Does nothing, under ChibiOS/RT there is no concept of starting the

- *          kernel.

- */

-static inline osStatus osKernelStart(void) {

-

-  return osOK;

-}

-

-/**

  * @brief   To be or not to be.

  */

 static inline int32_t osKernelRunning(void) {

@@ -347,6 +371,54 @@ static inline osThreadId osThreadCreate (osThreadDef_t *thread_def,
                                          argument);

 }

 

+/**

+ * @brief   Returns the current thread.

+ */

+static inline osThreadId osThreadGetId(void) {

+

+  return (osThreadId)chThdGetSelfX();

+}

+

+/**

+ * @brief   Thread termination.

+ * @note    The thread is not really terminated but asked to terminate which

+ *          is not compliant.

+ */

+static inline osStatus osThreadTerminate(osThreadId thread_id) {

+

+  chThdTerminate(thread_id);

+

+  return osOK;

+}

+

+/**

+ * @brief   Thread time slice yield.

+ */

+static inline osStatus osThreadYield(void) {

+

+  chThdYield();

+

+  return osOK;

+}

+

+/**

+ * @brief   Returns priority of a thread.

+ */

+static inline osPriority osThreadGetPriority(osThreadId thread_id) {

+

+  return thread_id->p_prio;

+}

+

+/**

+ * @brief   Thread delay in milliseconds.

+ */

+static inline osStatus osDelay(uint32_t millisec) {

+

+  chThdSleepMilliseconds(millisec);

+

+  return osOK;

+}

+

 #endif /* _CMSIS_OS_H_ */

 

 /** @} */