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Rémi Heredero
2024-01-20 18:22:10 +01:00
parent 0039954bd8
commit b585be12c2
41 changed files with 29691 additions and 117 deletions
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Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h vendored Normal file
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/*
* Copyright (c) 2013-2019 ARM Limited. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* ----------------------------------------------------------------------
*
* $Date: 10. January 2017
* $Revision: V2.1.0
*
* Project: CMSIS-RTOS API
* Title: cmsis_os.h FreeRTOS header file
*
* Version 0.02
* Initial Proposal Phase
* Version 0.03
* osKernelStart added, optional feature: main started as thread
* osSemaphores have standard behavior
* osTimerCreate does not start the timer, added osTimerStart
* osThreadPass is renamed to osThreadYield
* Version 1.01
* Support for C++ interface
* - const attribute removed from the osXxxxDef_t typedefs
* - const attribute added to the osXxxxDef macros
* Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
* Added: osKernelInitialize
* Version 1.02
* Control functions for short timeouts in microsecond resolution:
* Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
* Removed: osSignalGet
* Version 2.0.0
* OS objects creation without macros (dynamic creation and resource allocation):
* - added: osXxxxNew functions which replace osXxxxCreate
* - added: osXxxxAttr_t structures
* - deprecated: osXxxxCreate functions, osXxxxDef_t structures
* - deprecated: osXxxxDef and osXxxx macros
* osStatus codes simplified and renamed to osStatus_t
* osEvent return structure deprecated
* Kernel:
* - added: osKernelInfo_t and osKernelGetInfo
* - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
* - added: osKernelLock, osKernelUnlock
* - added: osKernelSuspend, osKernelResume
* - added: osKernelGetTickCount, osKernelGetTickFreq
* - renamed osKernelSysTick to osKernelGetSysTimerCount
* - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
* - deprecated osKernelSysTickMicroSec
* Thread:
* - extended number of thread priorities
* - renamed osPrioriry to osPrioriry_t
* - replaced osThreadCreate with osThreadNew
* - added: osThreadGetName
* - added: osThreadState_t and osThreadGetState
* - added: osThreadGetStackSize, osThreadGetStackSpace
* - added: osThreadSuspend, osThreadResume
* - added: osThreadJoin, osThreadDetach, osThreadExit
* - added: osThreadGetCount, osThreadEnumerate
* - added: Thread Flags (moved from Signals)
* Signals:
* - renamed osSignals to osThreadFlags (moved to Thread Flags)
* - changed return value of Set/Clear/Wait functions
* - Clear function limited to current running thread
* - extended Wait function (options)
* - added: osThreadFlagsGet
* Event Flags:
* - added new independent object for handling Event Flags
* Delay and Wait functions:
* - added: osDelayUntil
* - deprecated: osWait
* Timer:
* - replaced osTimerCreate with osTimerNew
* - added: osTimerGetName, osTimerIsRunning
* Mutex:
* - extended: attributes (Recursive, Priority Inherit, Robust)
* - replaced osMutexCreate with osMutexNew
* - renamed osMutexWait to osMutexAcquire
* - added: osMutexGetName, osMutexGetOwner
* Semaphore:
* - extended: maximum and initial token count
* - replaced osSemaphoreCreate with osSemaphoreNew
* - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
* - added: osSemaphoreGetName, osSemaphoreGetCount
* Memory Pool:
* - using osMemoryPool prefix instead of osPool
* - replaced osPoolCreate with osMemoryPoolNew
* - extended osMemoryPoolAlloc (timeout)
* - added: osMemoryPoolGetName
* - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
* - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
* - added: osMemoryPoolDelete
* - deprecated: osPoolCAlloc
* Message Queue:
* - extended: fixed size message instead of a single 32-bit value
* - using osMessageQueue prefix instead of osMessage
* - replaced osMessageCreate with osMessageQueueNew
* - updated: osMessageQueuePut, osMessageQueueGet
* - added: osMessageQueueGetName
* - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
* - added: osMessageQueueGetCount, osMessageQueueGetSpace
* - added: osMessageQueueReset, osMessageQueueDelete
* Mail Queue:
* - deprecated (superseded by extended Message Queue functionality)
* Version 2.1.0
* Support for critical and uncritical sections (nesting safe):
* - updated: osKernelLock, osKernelUnlock
* - added: osKernelRestoreLock
* Updated Thread and Event Flags:
* - changed flags parameter and return type from int32_t to uint32_t
*---------------------------------------------------------------------------*/
#ifndef CMSIS_OS_H_
#define CMSIS_OS_H_
#include "FreeRTOS.h"
#include "task.h"
#define RTOS_ID_n ((tskKERNEL_VERSION_MAJOR << 16) | (tskKERNEL_VERSION_MINOR))
#define RTOS_ID_s ("FreeRTOS " tskKERNEL_VERSION_NUMBER)
#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0])
#define osCMSIS_FreeRTOS RTOS_ID_n ///< RTOS identification and version (main[31:16].sub[15:0])
#define osKernelSystemId RTOS_ID_s ///< RTOS identification string
#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
#define osFeature_Signals 24U ///< maximum number of Signal Flags available per thread
#define osFeature_Semaphore 65535U ///< maximum count for \ref osSemaphoreCreate function
#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
#define osFeature_Pool 0 ///< Memory Pools: 1=available, 0=not available
#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
#define osFeature_MailQ 0 ///< Mail Queues: 1=available, 0=not available
#if defined(__CC_ARM)
#define os_InRegs __value_in_regs
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define os_InRegs __attribute__((value_in_regs))
#else
#define os_InRegs
#endif
#include "cmsis_os2.h"
#ifdef __cplusplus
extern "C"
{
#endif
// ==== Enumerations, structures, defines ====
/// Priority values.
#if (osCMSIS < 0x20000U)
typedef enum {
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 illegal priority.
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osPriority;
#else
#define osPriority osPriority_t
#endif
/// Entry point of a thread.
typedef void (*os_pthread) (void const *argument);
/// Entry point of a timer call back function.
typedef void (*os_ptimer) (void const *argument);
/// Timer type.
#if (osCMSIS < 0x20000U)
typedef enum {
osTimerOnce = 0, ///< One-shot timer.
osTimerPeriodic = 1 ///< Repeating timer.
} os_timer_type;
#else
#define os_timer_type osTimerType_t
#endif
/// Timeout value.
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
/// Status code values returned by CMSIS-RTOS functions.
#if (osCMSIS < 0x20000U)
typedef enum {
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.
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osStatus;
#else
typedef int32_t osStatus;
#define osEventSignal (0x08)
#define osEventMessage (0x10)
#define osEventMail (0x20)
#define osEventTimeout (0x40)
#define osErrorOS osError
#define osErrorTimeoutResource osErrorTimeout
#define osErrorISRRecursive (-126)
#define osErrorValue (-127)
#define osErrorPriority (-128)
#endif
// >>> the following data type definitions may be adapted towards a specific RTOS
/// Thread ID identifies the thread.
#if (osCMSIS < 0x20000U)
typedef void *osThreadId;
#else
#define osThreadId osThreadId_t
#endif
/// Timer ID identifies the timer.
#if (osCMSIS < 0x20000U)
typedef void *osTimerId;
#else
#define osTimerId osTimerId_t
#endif
/// Mutex ID identifies the mutex.
#if (osCMSIS < 0x20000U)
typedef void *osMutexId;
#else
#define osMutexId osMutexId_t
#endif
/// Semaphore ID identifies the semaphore.
#if (osCMSIS < 0x20000U)
typedef void *osSemaphoreId;
#else
#define osSemaphoreId osSemaphoreId_t
#endif
/// Pool ID identifies the memory pool.
typedef void *osPoolId;
/// Message ID identifies the message queue.
typedef void *osMessageQId;
/// Mail ID identifies the mail queue.
typedef void *osMailQId;
/// Thread Definition structure contains startup information of a thread.
#if (osCMSIS < 0x20000U)
typedef struct os_thread_def {
os_pthread pthread; ///< start address of thread function
osPriority tpriority; ///< initial thread priority
uint32_t instances; ///< maximum number of instances of that thread function
uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
} osThreadDef_t;
#else
typedef struct os_thread_def {
os_pthread pthread; ///< start address of thread function
osThreadAttr_t attr; ///< thread attributes
} osThreadDef_t;
#endif
/// Timer Definition structure contains timer parameters.
#if (osCMSIS < 0x20000U)
typedef struct os_timer_def {
os_ptimer ptimer; ///< start address of a timer function
} osTimerDef_t;
#else
typedef struct os_timer_def {
os_ptimer ptimer; ///< start address of a timer function
osTimerAttr_t attr; ///< timer attributes
} osTimerDef_t;
#endif
/// Mutex Definition structure contains setup information for a mutex.
#if (osCMSIS < 0x20000U)
typedef struct os_mutex_def {
uint32_t dummy; ///< dummy value
} osMutexDef_t;
#else
#define osMutexDef_t osMutexAttr_t
#endif
/// Semaphore Definition structure contains setup information for a semaphore.
#if (osCMSIS < 0x20000U)
typedef struct os_semaphore_def {
uint32_t dummy; ///< dummy value
} osSemaphoreDef_t;
#else
#define osSemaphoreDef_t osSemaphoreAttr_t
#endif
/// Definition structure for memory block allocation.
#if (osCMSIS < 0x20000U)
typedef struct os_pool_def {
uint32_t pool_sz; ///< number of items (elements) in the pool
uint32_t item_sz; ///< size of an item
void *pool; ///< pointer to memory for pool
} osPoolDef_t;
#else
typedef struct os_pool_def {
uint32_t pool_sz; ///< number of items (elements) in the pool
uint32_t item_sz; ///< size of an item
osMemoryPoolAttr_t attr; ///< memory pool attributes
} osPoolDef_t;
#endif
/// Definition structure for message queue.
#if (osCMSIS < 0x20000U)
typedef struct os_messageQ_def {
uint32_t queue_sz; ///< number of elements in the queue
void *pool; ///< memory array for messages
} osMessageQDef_t;
#else
typedef struct os_messageQ_def {
uint32_t queue_sz; ///< number of elements in the queue
osMessageQueueAttr_t attr; ///< message queue attributes
} osMessageQDef_t;
#endif
/// Definition structure for mail queue.
#if (osCMSIS < 0x20000U)
typedef struct os_mailQ_def {
uint32_t queue_sz; ///< number of elements in the queue
uint32_t item_sz; ///< size of an item
void *pool; ///< memory array for mail
} osMailQDef_t;
#else
typedef struct os_mailQ_def {
uint32_t queue_sz; ///< number of elements in the queue
uint32_t item_sz; ///< size of an item
void *mail; ///< pointer to mail
osMemoryPoolAttr_t mp_attr; ///< memory pool attributes
osMessageQueueAttr_t mq_attr; ///< message queue attributes
} osMailQDef_t;
#endif
/// Event structure contains detailed information about an event.
typedef struct {
osStatus status; ///< status code: event or error information
union {
uint32_t v; ///< message as 32-bit value
void *p; ///< message or mail as void pointer
int32_t signals; ///< signal flags
} value; ///< event value
union {
osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
} def; ///< event definition
} osEvent;
// ==== Kernel Management Functions ====
/// Initialize the RTOS Kernel for creating objects.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osKernelInitialize (void);
#endif
/// Start the RTOS Kernel scheduler.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osKernelStart (void);
#endif
/// Check if the RTOS kernel is already started.
/// \return 0 RTOS is not started, 1 RTOS is started.
#if (osCMSIS < 0x20000U)
int32_t osKernelRunning(void);
#endif
#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
/// Get the RTOS kernel system timer counter.
/// \return RTOS kernel system timer as 32-bit value
#if (osCMSIS < 0x20000U)
uint32_t osKernelSysTick (void);
#else
#define osKernelSysTick osKernelGetSysTimerCount
#endif
/// The RTOS kernel system timer frequency in Hz.
/// \note Reflects the system timer setting and is typically defined in a configuration file.
#if (osCMSIS < 0x20000U)
#define osKernelSysTickFrequency 100000000
#endif
/// Convert a microseconds value to a RTOS kernel system timer value.
/// \param microsec time value in microseconds.
/// \return time value normalized to the \ref osKernelSysTickFrequency
#if (osCMSIS < 0x20000U)
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
#else
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * osKernelGetSysTimerFreq()) / 1000000)
#endif
#endif // System Timer available
// ==== Thread Management Functions ====
/// Create a Thread Definition with function, priority, and stack requirements.
/// \param name name of the thread function.
/// \param priority initial priority of the thread function.
/// \param instances number of possible thread instances.
/// \param stacksz stack size (in bytes) requirements for the thread function.
#if defined (osObjectsExternal) // object is external
#define osThreadDef(name, priority, instances, stacksz) \
extern const osThreadDef_t os_thread_def_##name
#else // define the object
#define osThreadDef(name, priority, instances, stacksz) \
static uint64_t os_thread_stack##name[(stacksz)?(((stacksz+7)/8)):1]; \
static StaticTask_t os_thread_cb_##name; \
const osThreadDef_t os_thread_def_##name = \
{ (name), \
{ NULL, osThreadDetached, \
(instances == 1) ? (&os_thread_cb_##name) : NULL,\
(instances == 1) ? sizeof(StaticTask_t) : 0U, \
((stacksz) && (instances == 1)) ? (&os_thread_stack##name) : NULL, \
8*((stacksz+7)/8), \
(priority), 0U, 0U } }
#endif
/// Access a Thread definition.
/// \param name name of the thread definition object.
#define osThread(name) \
&os_thread_def_##name
/// Create a thread and add it to Active Threads and set it to state READY.
/// \param[in] thread_def thread definition referenced with \ref osThread.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
/// Return the thread ID of the current running thread.
/// \return thread ID for reference by other functions or NULL in case of error.
#if (osCMSIS < 0x20000U)
osThreadId osThreadGetId (void);
#endif
/// Change priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] priority new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
#endif
/// Get current priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return current priority value of the specified thread.
#if (osCMSIS < 0x20000U)
osPriority osThreadGetPriority (osThreadId thread_id);
#endif
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osThreadYield (void);
#endif
/// Terminate execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osThreadTerminate (osThreadId thread_id);
#endif
// ==== Signal Management ====
/// Set the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that should be set.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
int32_t osSignalSet (osThreadId thread_id, int32_t signals);
/// Clear the specified Signal Flags of an active thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.
int32_t osSignalClear (osThreadId thread_id, int32_t signals);
/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event flag information or error code.
os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
// ==== Generic Wait Functions ====
/// Wait for Timeout (Time Delay).
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osDelay (uint32_t millisec);
#endif
#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
/// Wait for Signal, Message, Mail, or Timeout.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return event that contains signal, message, or mail information or error code.
os_InRegs osEvent osWait (uint32_t millisec);
#endif // Generic Wait available
// ==== Timer Management Functions ====
/// Define a Timer object.
/// \param name name of the timer object.
/// \param function name of the timer call back function.
#if defined (osObjectsExternal) // object is external
#define osTimerDef(name, function) \
extern const osTimerDef_t os_timer_def_##name
#else // define the object
#define osTimerDef(name, function) \
static StaticTimer_t os_timer_cb_##name; \
const osTimerDef_t os_timer_def_##name = \
{ (function), { NULL, 0U, (&os_timer_cb_##name), sizeof(StaticTimer_t) } }
#endif
/// Access a Timer definition.
/// \param name name of the timer object.
#define osTimer(name) \
&os_timer_def_##name
/// Create and Initialize a timer.
/// \param[in] timer_def timer object referenced with \ref osTimer.
/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
/// \param[in] argument argument to the timer call back function.
/// \return timer ID for reference by other functions or NULL in case of error.
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
/// Start or restart a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
#endif
/// Stop a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osTimerStop (osTimerId timer_id);
#endif
/// Delete a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osTimerDelete (osTimerId timer_id);
#endif
// ==== Mutex Management Functions ====
/// Define a Mutex.
/// \param name name of the mutex object.
#if defined (osObjectsExternal) // object is external
#define osMutexDef(name) \
extern const osMutexDef_t os_mutex_def_##name
#else // define the object
#define osMutexDef(name) \
static StaticSemaphore_t os_mutex_cb_##name; \
const osMutexDef_t os_mutex_def_##name = \
{ NULL, osMutexRecursive | osMutexPrioInherit, (&os_mutex_cb_##name), sizeof(StaticSemaphore_t) }
#endif
/// Access a Mutex definition.
/// \param name name of the mutex object.
#define osMutex(name) \
&os_mutex_def_##name
/// Create and Initialize a Mutex object.
/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
/// \return mutex ID for reference by other functions or NULL in case of error.
osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
/// Wait until a Mutex becomes available.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
#else
#define osMutexWait osMutexAcquire
#endif
/// Release a Mutex that was obtained by \ref osMutexWait.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osMutexRelease (osMutexId mutex_id);
#endif
/// Delete a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osMutexDelete (osMutexId mutex_id);
#endif
// ==== Semaphore Management Functions ====
#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U)) // Semaphore available
/// Define a Semaphore object.
/// \param name name of the semaphore object.
#if defined (osObjectsExternal) // object is external
#define osSemaphoreDef(name) \
extern const osSemaphoreDef_t os_semaphore_def_##name
#else // define the object
#define osSemaphoreDef(name) \
static StaticSemaphore_t os_semaphore_cb_##name; \
const osSemaphoreDef_t os_semaphore_def_##name = \
{ NULL, 0U, (&os_semaphore_cb_##name), sizeof(StaticSemaphore_t) }
#endif
/// Access a Semaphore definition.
/// \param name name of the semaphore object.
#define osSemaphore(name) \
&os_semaphore_def_##name
/// Create and Initialize a Semaphore object.
/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
/// \param[in] count maximum and initial number of available tokens.
/// \return semaphore ID for reference by other functions or NULL in case of error.
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
/// Wait until a Semaphore token becomes available.
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return number of available tokens, or -1 in case of incorrect parameters.
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
/// Release a Semaphore token.
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
#endif
/// Delete a Semaphore object.
/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
/// \return status code that indicates the execution status of the function.
#if (osCMSIS < 0x20000U)
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
#endif
#endif // Semaphore available
// ==== Memory Pool Management Functions ====
#if (defined(osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool available
/// \brief Define a Memory Pool.
/// \param name name of the memory pool.
/// \param no maximum number of blocks (objects) in the memory pool.
/// \param type data type of a single block (object).
#if defined (osObjectsExternal) // object is external
#define osPoolDef(name, no, type) \
extern const osPoolDef_t os_pool_def_##name
#else // define the object
#define osPoolDef(name, no, type) \
const osPoolDef_t os_pool_def_##name = \
{ (no), sizeof(type), {NULL} }
#endif
/// \brief Access a Memory Pool definition.
/// \param name name of the memory pool
#define osPool(name) \
&os_pool_def_##name
/// Create and Initialize a Memory Pool object.
/// \param[in] pool_def memory pool definition referenced with \ref osPool.
/// \return memory pool ID for reference by other functions or NULL in case of error.
osPoolId osPoolCreate (const osPoolDef_t *pool_def);
/// Allocate a memory block from a Memory Pool.
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return address of the allocated memory block or NULL in case of no memory available.
void *osPoolAlloc (osPoolId pool_id);
/// Allocate a memory block from a Memory Pool and set memory block to zero.
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \return address of the allocated memory block or NULL in case of no memory available.
void *osPoolCAlloc (osPoolId pool_id);
/// Return an allocated memory block back to a Memory Pool.
/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
/// \return status code that indicates the execution status of the function.
osStatus osPoolFree (osPoolId pool_id, void *block);
#endif // Memory Pool available
// ==== Message Queue Management Functions ====
#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queue available
/// \brief Create a Message Queue Definition.
/// \param name name of the queue.
/// \param queue_sz maximum number of messages in the queue.
/// \param type data type of a single message element (for debugger).
#if defined (osObjectsExternal) // object is external
#define osMessageQDef(name, queue_sz, type) \
extern const osMessageQDef_t os_messageQ_def_##name
#else // define the object
#define osMessageQDef(name, queue_sz, type) \
static StaticQueue_t os_mq_cb_##name; \
static uint32_t os_mq_data_##name[(queue_sz) * sizeof(type)]; \
const osMessageQDef_t os_messageQ_def_##name = \
{ (queue_sz), \
{ NULL, 0U, (&os_mq_cb_##name), sizeof(StaticQueue_t), \
(&os_mq_data_##name), sizeof(os_mq_data_##name) } }
#endif
/// \brief Access a Message Queue Definition.
/// \param name name of the queue
#define osMessageQ(name) \
&os_messageQ_def_##name
/// Create and Initialize a Message Queue object.
/// \param[in] queue_def message queue definition referenced with \ref osMessageQ.
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return message queue ID for reference by other functions or NULL in case of error.
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
/// Put a Message to a Queue.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] info message information.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
/// Get a Message from a Queue or timeout if Queue is empty.
/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event information that includes status code.
os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
#endif // Message Queue available
// ==== Mail Queue Management Functions ====
#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queue available
/// \brief Create a Mail Queue Definition.
/// \param name name of the queue.
/// \param queue_sz maximum number of mails in the queue.
/// \param type data type of a single mail element.
#if defined (osObjectsExternal) // object is external
#define osMailQDef(name, queue_sz, type) \
extern const osMailQDef_t os_mailQ_def_##name
#else // define the object
#define osMailQDef(name, queue_sz, type) \
const osMailQDef_t os_mailQ_def_##name = \
{ (queue_sz), sizeof(type), NULL }
#endif
/// \brief Access a Mail Queue Definition.
/// \param name name of the queue
#define osMailQ(name) \
&os_mailQ_def_##name
/// Create and Initialize a Mail Queue object.
/// \param[in] queue_def mail queue definition referenced with \ref osMailQ.
/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return mail queue ID for reference by other functions or NULL in case of error.
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
/// Allocate a memory block for mail from a mail memory pool.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
/// Allocate a memory block for mail from a mail memory pool and set memory block to zero.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
/// Put a Mail into a Queue.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to memory with mail to put into a queue.
/// \return status code that indicates the execution status of the function.
osStatus osMailPut (osMailQId queue_id, const void *mail);
/// Get a Mail from a Queue or timeout if Queue is empty.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event information that includes status code.
os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
/// Free a memory block by returning it to a mail memory pool.
/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
/// \param[in] mail pointer to memory block that was obtained with \ref osMailGet.
/// \return status code that indicates the execution status of the function.
osStatus osMailFree (osMailQId queue_id, void *mail);
#endif // Mail Queue available
#ifdef __cplusplus
}
#endif
#endif // CMSIS_OS_H_

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/* --------------------------------------------------------------------------
* Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
* Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
* --------------------------------------------------------------------------
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Name: cmsis_os2.h
* Purpose: CMSIS RTOS2 wrapper for FreeRTOS
*
*---------------------------------------------------------------------------*/
#ifndef CMSIS_OS2_H_
#define CMSIS_OS2_H_
#ifndef __NO_RETURN
#if defined(__CC_ARM)
#define __NO_RETURN __declspec(noreturn)
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define __NO_RETURN __attribute__((__noreturn__))
#elif defined(__GNUC__)
#define __NO_RETURN __attribute__((__noreturn__))
#elif defined(__ICCARM__)
#define __NO_RETURN __noreturn
#else
#define __NO_RETURN
#endif
#endif
#include <stdint.h>
#include <stddef.h>
#ifdef __cplusplus
extern "C"
{
#endif
// ==== Enumerations, structures, defines ====
/// Version information.
typedef struct {
uint32_t api; ///< API version (major.minor.rev: mmnnnrrrr dec).
uint32_t kernel; ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
} osVersion_t;
/// Kernel state.
typedef enum {
osKernelInactive = 0, ///< Inactive.
osKernelReady = 1, ///< Ready.
osKernelRunning = 2, ///< Running.
osKernelLocked = 3, ///< Locked.
osKernelSuspended = 4, ///< Suspended.
osKernelError = -1, ///< Error.
osKernelReserved = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization.
} osKernelState_t;
/// Thread state.
typedef enum {
osThreadInactive = 0, ///< Inactive.
osThreadReady = 1, ///< Ready.
osThreadRunning = 2, ///< Running.
osThreadBlocked = 3, ///< Blocked.
osThreadTerminated = 4, ///< Terminated.
osThreadError = -1, ///< Error.
osThreadReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osThreadState_t;
/// Priority values.
typedef enum {
osPriorityNone = 0, ///< No priority (not initialized).
osPriorityIdle = 1, ///< Reserved for Idle thread.
osPriorityLow = 8, ///< Priority: low
osPriorityLow1 = 8+1, ///< Priority: low + 1
osPriorityLow2 = 8+2, ///< Priority: low + 2
osPriorityLow3 = 8+3, ///< Priority: low + 3
osPriorityLow4 = 8+4, ///< Priority: low + 4
osPriorityLow5 = 8+5, ///< Priority: low + 5
osPriorityLow6 = 8+6, ///< Priority: low + 6
osPriorityLow7 = 8+7, ///< Priority: low + 7
osPriorityBelowNormal = 16, ///< Priority: below normal
osPriorityBelowNormal1 = 16+1, ///< Priority: below normal + 1
osPriorityBelowNormal2 = 16+2, ///< Priority: below normal + 2
osPriorityBelowNormal3 = 16+3, ///< Priority: below normal + 3
osPriorityBelowNormal4 = 16+4, ///< Priority: below normal + 4
osPriorityBelowNormal5 = 16+5, ///< Priority: below normal + 5
osPriorityBelowNormal6 = 16+6, ///< Priority: below normal + 6
osPriorityBelowNormal7 = 16+7, ///< Priority: below normal + 7
osPriorityNormal = 24, ///< Priority: normal
osPriorityNormal1 = 24+1, ///< Priority: normal + 1
osPriorityNormal2 = 24+2, ///< Priority: normal + 2
osPriorityNormal3 = 24+3, ///< Priority: normal + 3
osPriorityNormal4 = 24+4, ///< Priority: normal + 4
osPriorityNormal5 = 24+5, ///< Priority: normal + 5
osPriorityNormal6 = 24+6, ///< Priority: normal + 6
osPriorityNormal7 = 24+7, ///< Priority: normal + 7
osPriorityAboveNormal = 32, ///< Priority: above normal
osPriorityAboveNormal1 = 32+1, ///< Priority: above normal + 1
osPriorityAboveNormal2 = 32+2, ///< Priority: above normal + 2
osPriorityAboveNormal3 = 32+3, ///< Priority: above normal + 3
osPriorityAboveNormal4 = 32+4, ///< Priority: above normal + 4
osPriorityAboveNormal5 = 32+5, ///< Priority: above normal + 5
osPriorityAboveNormal6 = 32+6, ///< Priority: above normal + 6
osPriorityAboveNormal7 = 32+7, ///< Priority: above normal + 7
osPriorityHigh = 40, ///< Priority: high
osPriorityHigh1 = 40+1, ///< Priority: high + 1
osPriorityHigh2 = 40+2, ///< Priority: high + 2
osPriorityHigh3 = 40+3, ///< Priority: high + 3
osPriorityHigh4 = 40+4, ///< Priority: high + 4
osPriorityHigh5 = 40+5, ///< Priority: high + 5
osPriorityHigh6 = 40+6, ///< Priority: high + 6
osPriorityHigh7 = 40+7, ///< Priority: high + 7
osPriorityRealtime = 48, ///< Priority: realtime
osPriorityRealtime1 = 48+1, ///< Priority: realtime + 1
osPriorityRealtime2 = 48+2, ///< Priority: realtime + 2
osPriorityRealtime3 = 48+3, ///< Priority: realtime + 3
osPriorityRealtime4 = 48+4, ///< Priority: realtime + 4
osPriorityRealtime5 = 48+5, ///< Priority: realtime + 5
osPriorityRealtime6 = 48+6, ///< Priority: realtime + 6
osPriorityRealtime7 = 48+7, ///< Priority: realtime + 7
osPriorityISR = 56, ///< Reserved for ISR deferred thread.
osPriorityError = -1, ///< System cannot determine priority or illegal priority.
osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osPriority_t;
/// Entry point of a thread.
typedef void (*osThreadFunc_t) (void *argument);
/// Timer callback function.
typedef void (*osTimerFunc_t) (void *argument);
/// Timer type.
typedef enum {
osTimerOnce = 0, ///< One-shot timer.
osTimerPeriodic = 1 ///< Repeating timer.
} osTimerType_t;
// Timeout value.
#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
#define osFlagsWaitAny 0x00000000U ///< Wait for any flag (default).
#define osFlagsWaitAll 0x00000001U ///< Wait for all flags.
#define osFlagsNoClear 0x00000002U ///< Do not clear flags which have been specified to wait for.
// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
#define osFlagsError 0x80000000U ///< Error indicator.
#define osFlagsErrorUnknown 0xFFFFFFFFU ///< osError (-1).
#define osFlagsErrorTimeout 0xFFFFFFFEU ///< osErrorTimeout (-2).
#define osFlagsErrorResource 0xFFFFFFFDU ///< osErrorResource (-3).
#define osFlagsErrorParameter 0xFFFFFFFCU ///< osErrorParameter (-4).
#define osFlagsErrorISR 0xFFFFFFFAU ///< osErrorISR (-6).
// Thread attributes (attr_bits in \ref osThreadAttr_t).
#define osThreadDetached 0x00000000U ///< Thread created in detached mode (default)
#define osThreadJoinable 0x00000001U ///< Thread created in joinable mode
// Mutex attributes (attr_bits in \ref osMutexAttr_t).
#define osMutexRecursive 0x00000001U ///< Recursive mutex.
#define osMutexPrioInherit 0x00000002U ///< Priority inherit protocol.
#define osMutexRobust 0x00000008U ///< Robust mutex.
/// Status code values returned by CMSIS-RTOS functions.
typedef enum {
osOK = 0, ///< Operation completed successfully.
osError = -1, ///< Unspecified RTOS error: run-time error but no other error message fits.
osErrorTimeout = -2, ///< Operation not completed within the timeout period.
osErrorResource = -3, ///< Resource not available.
osErrorParameter = -4, ///< Parameter error.
osErrorNoMemory = -5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
osErrorISR = -6, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
} osStatus_t;
/// \details Thread ID identifies the thread.
typedef void *osThreadId_t;
/// \details Timer ID identifies the timer.
typedef void *osTimerId_t;
/// \details Event Flags ID identifies the event flags.
typedef void *osEventFlagsId_t;
/// \details Mutex ID identifies the mutex.
typedef void *osMutexId_t;
/// \details Semaphore ID identifies the semaphore.
typedef void *osSemaphoreId_t;
/// \details Memory Pool ID identifies the memory pool.
typedef void *osMemoryPoolId_t;
/// \details Message Queue ID identifies the message queue.
typedef void *osMessageQueueId_t;
#ifndef TZ_MODULEID_T
#define TZ_MODULEID_T
/// \details Data type that identifies secure software modules called by a process.
typedef uint32_t TZ_ModuleId_t;
#endif
/// Attributes structure for thread.
typedef struct {
const char *name; ///< name of the thread
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *stack_mem; ///< memory for stack
uint32_t stack_size; ///< size of stack
osPriority_t priority; ///< initial thread priority (default: osPriorityNormal)
TZ_ModuleId_t tz_module; ///< TrustZone module identifier
uint32_t reserved; ///< reserved (must be 0)
} osThreadAttr_t;
/// Attributes structure for timer.
typedef struct {
const char *name; ///< name of the timer
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osTimerAttr_t;
/// Attributes structure for event flags.
typedef struct {
const char *name; ///< name of the event flags
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osEventFlagsAttr_t;
/// Attributes structure for mutex.
typedef struct {
const char *name; ///< name of the mutex
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osMutexAttr_t;
/// Attributes structure for semaphore.
typedef struct {
const char *name; ///< name of the semaphore
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
} osSemaphoreAttr_t;
/// Attributes structure for memory pool.
typedef struct {
const char *name; ///< name of the memory pool
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *mp_mem; ///< memory for data storage
uint32_t mp_size; ///< size of provided memory for data storage
} osMemoryPoolAttr_t;
/// Attributes structure for message queue.
typedef struct {
const char *name; ///< name of the message queue
uint32_t attr_bits; ///< attribute bits
void *cb_mem; ///< memory for control block
uint32_t cb_size; ///< size of provided memory for control block
void *mq_mem; ///< memory for data storage
uint32_t mq_size; ///< size of provided memory for data storage
} osMessageQueueAttr_t;
// ==== Kernel Management Functions ====
/// Initialize the RTOS Kernel.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelInitialize (void);
/// Get RTOS Kernel Information.
/// \param[out] version pointer to buffer for retrieving version information.
/// \param[out] id_buf pointer to buffer for retrieving kernel identification string.
/// \param[in] id_size size of buffer for kernel identification string.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);
/// Get the current RTOS Kernel state.
/// \return current RTOS Kernel state.
osKernelState_t osKernelGetState (void);
/// Start the RTOS Kernel scheduler.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelStart (void);
/// Lock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelLock (void);
/// Unlock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelUnlock (void);
/// Restore the RTOS Kernel scheduler lock state.
/// \param[in] lock lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelRestoreLock (int32_t lock);
/// Suspend the RTOS Kernel scheduler.
/// \return time in ticks, for how long the system can sleep or power-down.
uint32_t osKernelSuspend (void);
/// Resume the RTOS Kernel scheduler.
/// \param[in] sleep_ticks time in ticks for how long the system was in sleep or power-down mode.
void osKernelResume (uint32_t sleep_ticks);
/// Get the RTOS kernel tick count.
/// \return RTOS kernel current tick count.
uint32_t osKernelGetTickCount (void);
/// Get the RTOS kernel tick frequency.
/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
uint32_t osKernelGetTickFreq (void);
/// Get the RTOS kernel system timer count.
/// \return RTOS kernel current system timer count as 32-bit value.
uint32_t osKernelGetSysTimerCount (void);
/// Get the RTOS kernel system timer frequency.
/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
uint32_t osKernelGetSysTimerFreq (void);
// ==== Thread Management Functions ====
/// Create a thread and add it to Active Threads.
/// \param[in] func thread function.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \param[in] attr thread attributes; NULL: default values.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
/// Get name of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return name as NULL terminated string.
const char *osThreadGetName (osThreadId_t thread_id);
/// Return the thread ID of the current running thread.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadGetId (void);
/// Get current thread state of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current thread state of the specified thread.
osThreadState_t osThreadGetState (osThreadId_t thread_id);
/// Get stack size of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return stack size in bytes.
uint32_t osThreadGetStackSize (osThreadId_t thread_id);
/// Get available stack space of a thread based on stack watermark recording during execution.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return remaining stack space in bytes.
uint32_t osThreadGetStackSpace (osThreadId_t thread_id);
/// Change priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in] priority new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);
/// Get current priority of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current priority value of the specified thread.
osPriority_t osThreadGetPriority (osThreadId_t thread_id);
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadYield (void);
/// Suspend execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSuspend (osThreadId_t thread_id);
/// Resume execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadResume (osThreadId_t thread_id);
/// Detach a thread (thread storage can be reclaimed when thread terminates).
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadDetach (osThreadId_t thread_id);
/// Wait for specified thread to terminate.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadJoin (osThreadId_t thread_id);
/// Terminate execution of current running thread.
__NO_RETURN void osThreadExit (void);
/// Terminate execution of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadTerminate (osThreadId_t thread_id);
/// Get number of active threads.
/// \return number of active threads.
uint32_t osThreadGetCount (void);
/// Enumerate active threads.
/// \param[out] thread_array pointer to array for retrieving thread IDs.
/// \param[in] array_items maximum number of items in array for retrieving thread IDs.
/// \return number of enumerated threads.
uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);
// ==== Thread Flags Functions ====
/// Set the specified Thread Flags of a thread.
/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in] flags specifies the flags of the thread that shall be set.
/// \return thread flags after setting or error code if highest bit set.
uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);
/// Clear the specified Thread Flags of current running thread.
/// \param[in] flags specifies the flags of the thread that shall be cleared.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsClear (uint32_t flags);
/// Get the current Thread Flags of current running thread.
/// \return current thread flags.
uint32_t osThreadFlagsGet (void);
/// Wait for one or more Thread Flags of the current running thread to become signaled.
/// \param[in] flags specifies the flags to wait for.
/// \param[in] options specifies flags options (osFlagsXxxx).
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);
// ==== Generic Wait Functions ====
/// Wait for Timeout (Time Delay).
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value
/// \return status code that indicates the execution status of the function.
osStatus_t osDelay (uint32_t ticks);
/// Wait until specified time.
/// \param[in] ticks absolute time in ticks
/// \return status code that indicates the execution status of the function.
osStatus_t osDelayUntil (uint32_t ticks);
// ==== Timer Management Functions ====
/// Create and Initialize a timer.
/// \param[in] func function pointer to callback function.
/// \param[in] type \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
/// \param[in] argument argument to the timer callback function.
/// \param[in] attr timer attributes; NULL: default values.
/// \return timer ID for reference by other functions or NULL in case of error.
osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);
/// Get name of a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return name as NULL terminated string.
const char *osTimerGetName (osTimerId_t timer_id);
/// Start or restart a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);
/// Stop a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStop (osTimerId_t timer_id);
/// Check if a timer is running.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return 0 not running, 1 running.
uint32_t osTimerIsRunning (osTimerId_t timer_id);
/// Delete a timer.
/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerDelete (osTimerId_t timer_id);
// ==== Event Flags Management Functions ====
/// Create and Initialize an Event Flags object.
/// \param[in] attr event flags attributes; NULL: default values.
/// \return event flags ID for reference by other functions or NULL in case of error.
osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);
/// Get name of an Event Flags object.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return name as NULL terminated string.
const char *osEventFlagsGetName (osEventFlagsId_t ef_id);
/// Set the specified Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags that shall be set.
/// \return event flags after setting or error code if highest bit set.
uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);
/// Clear the specified Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags that shall be cleared.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);
/// Get the current Event Flags.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return current event flags.
uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);
/// Wait for one or more Event Flags to become signaled.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \param[in] flags specifies the flags to wait for.
/// \param[in] options specifies flags options (osFlagsXxxx).
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);
/// Delete an Event Flags object.
/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);
// ==== Mutex Management Functions ====
/// Create and Initialize a Mutex object.
/// \param[in] attr mutex attributes; NULL: default values.
/// \return mutex ID for reference by other functions or NULL in case of error.
osMutexId_t osMutexNew (const osMutexAttr_t *attr);
/// Get name of a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return name as NULL terminated string.
const char *osMutexGetName (osMutexId_t mutex_id);
/// Acquire a Mutex or timeout if it is locked.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);
/// Release a Mutex that was acquired by \ref osMutexAcquire.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexRelease (osMutexId_t mutex_id);
/// Get Thread which owns a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return thread ID of owner thread or NULL when mutex was not acquired.
osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);
/// Delete a Mutex object.
/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexDelete (osMutexId_t mutex_id);
// ==== Semaphore Management Functions ====
/// Create and Initialize a Semaphore object.
/// \param[in] max_count maximum number of available tokens.
/// \param[in] initial_count initial number of available tokens.
/// \param[in] attr semaphore attributes; NULL: default values.
/// \return semaphore ID for reference by other functions or NULL in case of error.
osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);
/// Get name of a Semaphore object.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return name as NULL terminated string.
const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);
/// Acquire a Semaphore token or timeout if no tokens are available.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);
/// Release a Semaphore token up to the initial maximum count.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);
/// Get current Semaphore token count.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return number of tokens available.
uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);
/// Delete a Semaphore object.
/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);
// ==== Memory Pool Management Functions ====
/// Create and Initialize a Memory Pool object.
/// \param[in] block_count maximum number of memory blocks in memory pool.
/// \param[in] block_size memory block size in bytes.
/// \param[in] attr memory pool attributes; NULL: default values.
/// \return memory pool ID for reference by other functions or NULL in case of error.
osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);
/// Get name of a Memory Pool object.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return name as NULL terminated string.
const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);
/// Allocate a memory block from a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return address of the allocated memory block or NULL in case of no memory is available.
void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);
/// Return an allocated memory block back to a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in] block address of the allocated memory block to be returned to the memory pool.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);
/// Get maximum number of memory blocks in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return maximum number of memory blocks.
uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);
/// Get memory block size in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return memory block size in bytes.
uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);
/// Get number of memory blocks used in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks used.
uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);
/// Get number of memory blocks available in a Memory Pool.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks available.
uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);
/// Delete a Memory Pool object.
/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);
// ==== Message Queue Management Functions ====
/// Create and Initialize a Message Queue object.
/// \param[in] msg_count maximum number of messages in queue.
/// \param[in] msg_size maximum message size in bytes.
/// \param[in] attr message queue attributes; NULL: default values.
/// \return message queue ID for reference by other functions or NULL in case of error.
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);
/// Get name of a Message Queue object.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return name as NULL terminated string.
const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
/// Put a Message into a Queue or timeout if Queue is full.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \param[in] msg_ptr pointer to buffer with message to put into a queue.
/// \param[in] msg_prio message priority.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
/// Get a Message from a Queue or timeout if Queue is empty.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \param[out] msg_ptr pointer to buffer for message to get from a queue.
/// \param[out] msg_prio pointer to buffer for message priority or NULL.
/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
/// Get maximum number of messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum number of messages.
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
/// Get maximum message size in a Memory Pool.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum message size in bytes.
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);
/// Get number of queued messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return number of queued messages.
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);
/// Get number of available slots for messages in a Message Queue.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return number of available slots for messages.
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);
/// Reset a Message Queue to initial empty state.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);
/// Delete a Message Queue object.
/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);
#ifdef __cplusplus
}
#endif
#endif // CMSIS_OS2_H_