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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013,2014 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Concepts and parts of this file have been contributed by Andre R.
*/
/**
* @file cmsis_os.h
* @brief CMSIS RTOS module macros and structures.
*
* @addtogroup CMSIS_OS
* @{
*/
#ifndef _CMSIS_OS_H_
#define _CMSIS_OS_H_
#include "ch.h"
/*===========================================================================*/
/* Module constants. */
/*===========================================================================*/
/**
* @brief API version.
*/
#define osCMSIS 0x10002
/**
* @brief Kernel version.
*/
#define osKernelSystemId "KERNEL V1.00"
/**
* @brief ChibiOS/RT version encoded for CMSIS.
*/
#define osCMSIS_KERNEL ((CH_KERNEL_MAJOR << 16) | \
(CH_KERNEL_MINOR << 8) | \
(CH_KERNEL_PATCH))
/**
* @name CMSIS Capabilities
* @{
*/
#define osFeature_MainThread 1
#define osFeature_Pool 0
#define osFeature_MailQ 0
#define osFeature_MessageQ 0
#define osFeature_Signals 31
#define osFeature_Semaphore ((1U << 31) - 1U)
#define osFeature_Wait 0
#define osFeature_SysTick 1
/**< @} */
/**
* @brief Wait forever specification for timeouts.
*/
#define osWaitForever TIME_INFINITE
/**
* @brief System tick frequency.
*/
#define osKernelSysTickFrequency CH_CFG_FREQUENCY
/*===========================================================================*/
/* Module pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Module data structures and types. */
/*===========================================================================*/
/**
* @brief Type of priority levels.
*/
typedef enum {
osPriorityIdle = -3,
osPriorityLow = -2,
osPriorityBelowNormal = -1,
osPriorityNormal = 0,
osPriorityAboveNormal = +1,
osPriorityHigh = +2,
osPriorityRealtime = +3,
osPriorityError = 0x84
} osPriority;
/**
* @brief Type of error codes.
*/
typedef enum {
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
} osStatus;
/**
* @brief Type of a timer mode.
*/
typedef enum {
osTimerOnce = 0,
osTimerPeriodic = 1
} os_timer_type;
/**
* @brief Type of thread functions.
*/
typedef void (*os_pthread) (void const *argument);
/**
* @brief Type of timer callback.
*/
typedef void (*os_ptimer) (void const *argument);
/**
* @brief Type of pointer to thread control block.
*/
typedef struct os_thread_cb *osThreadId;
/**
* @brief Type of pointer to timer control block.
*/
typedef struct os_timer_cb *osTimerId;
/**
* @brief Type of pointer to mutex control block.
*/
typedef struct os_mutex_cb *osMutexId;
/**
* @brief Type of pointer to semaphore control block.
*/
typedef struct os_semaphore_cb *osSemaphoreId;
/**
* @brief Type of a thread definition block.
*/
typedef struct os_thread_def {
os_pthread pthread;
osPriority tpriority;
uint32_t stacksize;
} osThreadDef_t;
/**
* @brief Type of a timer definition block.
*/
typedef struct os_timer_def {
os_ptimer ptimer;
} osTimerDef_t;
/**
* @brief Type of a mutex definition block.
*/
typedef struct os_mutex_def {
uint32_t dummy;
} osMutexDef_t;
/**
* @brief Type of a semaphore definition block.
*/
typedef struct os_semaphore_def {
uint32_t dummy;
} osSemaphoreDef_t;
/*===========================================================================*/
/* Module macros. */
/*===========================================================================*/
/**
* @brief Convert a microseconds value to a RTOS kernel system timer value.
*/
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * \
(osKernelSysTickFrequency)) / \
1000000)
/**
* @brief Create a Thread definition.
*/
#if defined(osObjectsExternal)
#define osThreadDef(name, priority, instances, stacksz) \
extern const osThreadDef_t os_thread_def_##name
#else
#define osThreadDef(name, priority, instances, stacksz) \
const osThreadDef_t os_thread_def_##name = { \
(name), \
(priority), \
(stacksz) \
}
#endif
/**
* @brief Access a Thread definition.
*/
#define osThread(name) &os_thread_def_##name
/**
* @brief Define a Timer object.
*/
#if defined(osObjectsExternal)
#define osTimerDef(name, function) \
extern const osTimerDef_t os_timer_def_##name
#else
#define osTimerDef(name, function) \
const osTimerDef_t os_timer_def_##name = { \
(function) \
}
#endif
/**
* @brief Access a Timer definition.
*/
#define osTimer(name) &os_timer_def_##name
/**
* @brief Define a Mutex.
*/
#if defined (osObjectsExternal)
#define osMutexDef(name) extern const osMutexDef_t os_mutex_def_##name
#else
#define osMutexDef(name) const osMutexDef_t os_mutex_def_##name = {0}
#endif
/**
* @brief Access a Mutex definition.
*/
#define osMutex(name) &os_mutex_def_##name
/**
* @brief Define a Semaphore.
*/
#if defined (osObjectsExternal)
#define osSemaphoreDef(name) \
extern const osSemaphoreDef_t os_semaphore_def_##name
#else // define the object
#define osSemaphoreDef(name) \
const osSemaphoreDef_t os_semaphore_def_##name = {0}
#endif
/**
* @brief Access a Semaphore definition.
*/
#define osSemaphore(name) &os_semaphore_def_##name
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#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);
/*osEvent osWait(uint32_t millisec);*/
#ifdef __cplusplus
}
#endif
/*===========================================================================*/
/* Module inline functions. */
/*===========================================================================*/
/**
* @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) {
if (ch.rlist.r_queue.p_next != NULL)
return 1;
return 0;
}
/**
* @brief System ticks since start.
*/
static inline uint32_t osKernelSysTick(void) {
return (uint32_t)chVTGetSystemTimeX();
}
/**
* @brief Creates a thread.
*/
static inline osThreadId osThreadCreate (osThreadDef_t *thread_def,
void *argument) {
return (osThreadId)chThdCreateFromHeap(0,
THD_WORKING_AREA_SIZE(thread_def->stacksize),
NORMALPRIO+thread_def->tpriority,
(tfunc_t)thread_def->pthread,
argument);
}
#endif /* _CMSIS_OS_H_ */
/** @} */
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