473 lines
21 KiB
C
473 lines
21 KiB
C
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/*
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* Copyright (c) 2013-2019 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* -----------------------------------------------------------------------------
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*
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* Project: CMSIS-RTOS RTX
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* Title: RTX OS definitions
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef RTX_OS_H_
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#define RTX_OS_H_
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#include <stdint.h>
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#include <stddef.h>
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#include "cmsis_os2.h"
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/// Kernel Information
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#define osRtxVersionAPI 20010003 ///< API version (2.1.3)
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#define osRtxVersionKernel 50050002 ///< Kernel version (5.5.2)
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#define osRtxKernelId "RTX V5.5.2" ///< Kernel identification string
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// ==== Common definitions ====
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/// Object Identifier definitions
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#define osRtxIdInvalid 0x00U
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#define osRtxIdThread 0xF1U
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#define osRtxIdTimer 0xF2U
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#define osRtxIdEventFlags 0xF3U
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#define osRtxIdMutex 0xF5U
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#define osRtxIdSemaphore 0xF6U
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#define osRtxIdMemoryPool 0xF7U
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#define osRtxIdMessage 0xF9U
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#define osRtxIdMessageQueue 0xFAU
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/// Object Flags definitions
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#define osRtxFlagSystemObject 0x01U
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#define osRtxFlagSystemMemory 0x02U
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// ==== Kernel definitions ====
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/// Kernel State definitions
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#define osRtxKernelInactive ((uint8_t)osKernelInactive)
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#define osRtxKernelReady ((uint8_t)osKernelReady)
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#define osRtxKernelRunning ((uint8_t)osKernelRunning)
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#define osRtxKernelLocked ((uint8_t)osKernelLocked)
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#define osRtxKernelSuspended ((uint8_t)osKernelSuspended)
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// ==== Thread definitions ====
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/// Thread State definitions (extending osThreadState)
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#define osRtxThreadStateMask 0x0FU
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#define osRtxThreadInactive ((uint8_t)osThreadInactive)
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#define osRtxThreadReady ((uint8_t)osThreadReady)
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#define osRtxThreadRunning ((uint8_t)osThreadRunning)
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#define osRtxThreadBlocked ((uint8_t)osThreadBlocked)
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#define osRtxThreadTerminated ((uint8_t)osThreadTerminated)
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#define osRtxThreadWaitingDelay ((uint8_t)(osRtxThreadBlocked | 0x10U))
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#define osRtxThreadWaitingJoin ((uint8_t)(osRtxThreadBlocked | 0x20U))
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#define osRtxThreadWaitingThreadFlags ((uint8_t)(osRtxThreadBlocked | 0x30U))
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#define osRtxThreadWaitingEventFlags ((uint8_t)(osRtxThreadBlocked | 0x40U))
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#define osRtxThreadWaitingMutex ((uint8_t)(osRtxThreadBlocked | 0x50U))
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#define osRtxThreadWaitingSemaphore ((uint8_t)(osRtxThreadBlocked | 0x60U))
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#define osRtxThreadWaitingMemoryPool ((uint8_t)(osRtxThreadBlocked | 0x70U))
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#define osRtxThreadWaitingMessageGet ((uint8_t)(osRtxThreadBlocked | 0x80U))
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#define osRtxThreadWaitingMessagePut ((uint8_t)(osRtxThreadBlocked | 0x90U))
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/// Thread Flags definitions
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#define osRtxThreadFlagDefStack 0x10U ///< Default Stack flag
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/// Stack Marker definitions
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#define osRtxStackMagicWord 0xE25A2EA5U ///< Stack Magic Word (Stack Base)
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#define osRtxStackFillPattern 0xCCCCCCCCU ///< Stack Fill Pattern
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/// Thread Control Block
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typedef struct osRtxThread_s {
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uint8_t id; ///< Object Identifier
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uint8_t state; ///< Object State
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uint8_t flags; ///< Object Flags
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uint8_t attr; ///< Object Attributes
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const char *name; ///< Object Name
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struct osRtxThread_s *thread_next; ///< Link pointer to next Thread in Object list
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struct osRtxThread_s *thread_prev; ///< Link pointer to previous Thread in Object list
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struct osRtxThread_s *delay_next; ///< Link pointer to next Thread in Delay list
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struct osRtxThread_s *delay_prev; ///< Link pointer to previous Thread in Delay list
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struct osRtxThread_s *thread_join; ///< Thread waiting to Join
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uint32_t delay; ///< Delay Time
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int8_t priority; ///< Thread Priority
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int8_t priority_base; ///< Base Priority
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uint8_t stack_frame; ///< Stack Frame (EXC_RETURN[7..0])
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uint8_t flags_options; ///< Thread/Event Flags Options
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uint32_t wait_flags; ///< Waiting Thread/Event Flags
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uint32_t thread_flags; ///< Thread Flags
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struct osRtxMutex_s *mutex_list; ///< Link pointer to list of owned Mutexes
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void *stack_mem; ///< Stack Memory
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uint32_t stack_size; ///< Stack Size
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uint32_t sp; ///< Current Stack Pointer
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uint32_t thread_addr; ///< Thread entry address
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uint32_t tz_memory; ///< TrustZone Memory Identifier
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#ifdef RTX_TF_M_EXTENSION
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uint32_t tz_module; ///< TrustZone Module Identifier
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#endif
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} osRtxThread_t;
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// ==== Timer definitions ====
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/// Timer State definitions
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#define osRtxTimerInactive 0x00U ///< Timer Inactive
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#define osRtxTimerStopped 0x01U ///< Timer Stopped
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#define osRtxTimerRunning 0x02U ///< Timer Running
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/// Timer Type definitions
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#define osRtxTimerPeriodic ((uint8_t)osTimerPeriodic)
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/// Timer Function Information
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typedef struct {
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osTimerFunc_t func; ///< Function Pointer
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void *arg; ///< Function Argument
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} osRtxTimerFinfo_t;
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/// Timer Control Block
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typedef struct osRtxTimer_s {
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uint8_t id; ///< Object Identifier
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uint8_t state; ///< Object State
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uint8_t flags; ///< Object Flags
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uint8_t type; ///< Timer Type (Periodic/One-shot)
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const char *name; ///< Object Name
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struct osRtxTimer_s *prev; ///< Pointer to previous active Timer
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struct osRtxTimer_s *next; ///< Pointer to next active Timer
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uint32_t tick; ///< Timer current Tick
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uint32_t load; ///< Timer Load value
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osRtxTimerFinfo_t finfo; ///< Timer Function Info
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} osRtxTimer_t;
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// ==== Event Flags definitions ====
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/// Event Flags Control Block
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typedef struct {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t reserved;
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Waiting Threads List
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uint32_t event_flags; ///< Event Flags
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} osRtxEventFlags_t;
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// ==== Mutex definitions ====
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/// Mutex Control Block
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typedef struct osRtxMutex_s {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t attr; ///< Object Attributes
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Waiting Threads List
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osRtxThread_t *owner_thread; ///< Owner Thread
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struct osRtxMutex_s *owner_prev; ///< Pointer to previous owned Mutex
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struct osRtxMutex_s *owner_next; ///< Pointer to next owned Mutex
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uint8_t lock; ///< Lock counter
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uint8_t padding[3];
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} osRtxMutex_t;
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// ==== Semaphore definitions ====
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/// Semaphore Control Block
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typedef struct {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t reserved;
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Waiting Threads List
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uint16_t tokens; ///< Current number of tokens
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uint16_t max_tokens; ///< Maximum number of tokens
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} osRtxSemaphore_t;
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// ==== Memory Pool definitions ====
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/// Memory Pool Information
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typedef struct {
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uint32_t max_blocks; ///< Maximum number of Blocks
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uint32_t used_blocks; ///< Number of used Blocks
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uint32_t block_size; ///< Block Size
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void *block_base; ///< Block Memory Base Address
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void *block_lim; ///< Block Memory Limit Address
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void *block_free; ///< First free Block Address
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} osRtxMpInfo_t;
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/// Memory Pool Control Block
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typedef struct {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t reserved;
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Waiting Threads List
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osRtxMpInfo_t mp_info; ///< Memory Pool Info
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} osRtxMemoryPool_t;
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// ==== Message Queue definitions ====
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/// Message Control Block
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typedef struct osRtxMessage_s {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t priority; ///< Message Priority
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struct osRtxMessage_s *prev; ///< Pointer to previous Message
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struct osRtxMessage_s *next; ///< Pointer to next Message
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} osRtxMessage_t;
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/// Message Queue Control Block
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typedef struct {
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uint8_t id; ///< Object Identifier
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uint8_t reserved_state; ///< Object State (not used)
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uint8_t flags; ///< Object Flags
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uint8_t reserved;
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Waiting Threads List
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osRtxMpInfo_t mp_info; ///< Memory Pool Info
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uint32_t msg_size; ///< Message Size
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uint32_t msg_count; ///< Number of queued Messages
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osRtxMessage_t *msg_first; ///< Pointer to first Message
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osRtxMessage_t *msg_last; ///< Pointer to last Message
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} osRtxMessageQueue_t;
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// ==== Generic Object definitions ====
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/// Generic Object Control Block
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typedef struct {
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uint8_t id; ///< Object Identifier
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uint8_t state; ///< Object State
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uint8_t flags; ///< Object Flags
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uint8_t reserved;
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const char *name; ///< Object Name
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osRtxThread_t *thread_list; ///< Threads List
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} osRtxObject_t;
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// ==== OS Runtime Information definitions ====
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/// OS Runtime Information structure
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typedef struct {
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const char *os_id; ///< OS Identification
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uint32_t version; ///< OS Version
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struct { ///< Kernel Info
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uint8_t state; ///< State
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volatile uint8_t blocked; ///< Blocked
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uint8_t pendSV; ///< Pending SV
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uint8_t reserved;
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uint32_t tick; ///< Tick counter
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} kernel;
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int32_t tick_irqn; ///< Tick Timer IRQ Number
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struct { ///< Thread Info
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struct { ///< Thread Run Info
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osRtxThread_t *curr; ///< Current running Thread
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osRtxThread_t *next; ///< Next Thread to Run
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} run;
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osRtxObject_t ready; ///< Ready List Object
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osRtxThread_t *idle; ///< Idle Thread
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osRtxThread_t *delay_list; ///< Delay List
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osRtxThread_t *wait_list; ///< Wait List (no Timeout)
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osRtxThread_t *terminate_list; ///< Terminate Thread List
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struct { ///< Thread Round Robin Info
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osRtxThread_t *thread; ///< Round Robin Thread
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uint32_t tick; ///< Round Robin Time Tick
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uint32_t timeout; ///< Round Robin Timeout
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} robin;
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} thread;
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struct { ///< Timer Info
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osRtxTimer_t *list; ///< Active Timer List
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osRtxThread_t *thread; ///< Timer Thread
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osRtxMessageQueue_t *mq; ///< Timer Message Queue
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void (*tick)(void); ///< Timer Tick Function
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} timer;
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struct { ///< ISR Post Processing Queue
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uint16_t max; ///< Maximum Items
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uint16_t cnt; ///< Item Count
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uint16_t in; ///< Incoming Item Index
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uint16_t out; ///< Outgoing Item Index
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void **data; ///< Queue Data
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} isr_queue;
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struct { ///< ISR Post Processing functions
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void (*thread)(osRtxThread_t*); ///< Thread Post Processing function
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void (*event_flags)(osRtxEventFlags_t*); ///< Event Flags Post Processing function
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void (*semaphore)(osRtxSemaphore_t*); ///< Semaphore Post Processing function
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void (*memory_pool)(osRtxMemoryPool_t*); ///< Memory Pool Post Processing function
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void (*message)(osRtxMessage_t*); ///< Message Post Processing function
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} post_process;
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struct { ///< Memory Pools (Variable Block Size)
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void *stack; ///< Stack Memory
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void *mp_data; ///< Memory Pool Data Memory
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void *mq_data; ///< Message Queue Data Memory
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void *common; ///< Common Memory
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} mem;
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struct { ///< Memory Pools (Fixed Block Size)
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osRtxMpInfo_t *stack; ///< Stack for Threads
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osRtxMpInfo_t *thread; ///< Thread Control Blocks
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osRtxMpInfo_t *timer; ///< Timer Control Blocks
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osRtxMpInfo_t *event_flags; ///< Event Flags Control Blocks
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osRtxMpInfo_t *mutex; ///< Mutex Control Blocks
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osRtxMpInfo_t *semaphore; ///< Semaphore Control Blocks
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osRtxMpInfo_t *memory_pool; ///< Memory Pool Control Blocks
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osRtxMpInfo_t *message_queue; ///< Message Queue Control Blocks
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} mpi;
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} osRtxInfo_t;
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extern osRtxInfo_t osRtxInfo; ///< OS Runtime Information
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/// OS Runtime Object Memory Usage structure
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typedef struct {
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uint32_t cnt_alloc; ///< Counter for alloc
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uint32_t cnt_free; ///< Counter for free
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uint32_t max_used; ///< Maximum used
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} osRtxObjectMemUsage_t;
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/// OS Runtime Object Memory Usage variables
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extern osRtxObjectMemUsage_t osRtxThreadMemUsage;
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extern osRtxObjectMemUsage_t osRtxTimerMemUsage;
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extern osRtxObjectMemUsage_t osRtxEventFlagsMemUsage;
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extern osRtxObjectMemUsage_t osRtxMutexMemUsage;
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extern osRtxObjectMemUsage_t osRtxSemaphoreMemUsage;
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extern osRtxObjectMemUsage_t osRtxMemoryPoolMemUsage;
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extern osRtxObjectMemUsage_t osRtxMessageQueueMemUsage;
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// ==== OS API definitions ====
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// Object Limits definitions
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#define osRtxThreadFlagsLimit 31U ///< number of Thread Flags available per thread
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#define osRtxEventFlagsLimit 31U ///< number of Event Flags available per object
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#define osRtxMutexLockLimit 255U ///< maximum number of recursive mutex locks
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#define osRtxSemaphoreTokenLimit 65535U ///< maximum number of tokens per semaphore
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// Control Block sizes
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#define osRtxThreadCbSize sizeof(osRtxThread_t)
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#define osRtxTimerCbSize sizeof(osRtxTimer_t)
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#define osRtxEventFlagsCbSize sizeof(osRtxEventFlags_t)
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#define osRtxMutexCbSize sizeof(osRtxMutex_t)
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#define osRtxSemaphoreCbSize sizeof(osRtxSemaphore_t)
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#define osRtxMemoryPoolCbSize sizeof(osRtxMemoryPool_t)
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#define osRtxMessageQueueCbSize sizeof(osRtxMessageQueue_t)
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/// Memory size in bytes for Memory Pool storage.
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/// \param block_count maximum number of memory blocks in memory pool.
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/// \param block_size memory block size in bytes.
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#define osRtxMemoryPoolMemSize(block_count, block_size) \
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(4*(block_count)*(((block_size)+3)/4))
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/// Memory size in bytes for Message Queue storage.
|
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/// \param msg_count maximum number of messages in queue.
|
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/// \param msg_size maximum message size in bytes.
|
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#define osRtxMessageQueueMemSize(msg_count, msg_size) \
|
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(4*(msg_count)*(3+(((msg_size)+3)/4)))
|
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|
||
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|
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// ==== OS External Functions ====
|
||
|
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|
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|
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// OS Error Codes
|
||
|
|
#define osRtxErrorStackUnderflow 1U ///< Stack overflow, i.e. stack pointer below its lower memory limit for descending stacks.
|
||
|
|
#define osRtxErrorISRQueueOverflow 2U ///< ISR Queue overflow detected when inserting object.
|
||
|
|
#define osRtxErrorTimerQueueOverflow 3U ///< User Timer Callback Queue overflow detected for timer.
|
||
|
|
#define osRtxErrorClibSpace 4U ///< Standard C/C++ library libspace not available: increase \c OS_THREAD_LIBSPACE_NUM.
|
||
|
|
#define osRtxErrorClibMutex 5U ///< Standard C/C++ library mutex initialization failed.
|
||
|
|
|
||
|
|
/// OS Error Callback function
|
||
|
|
extern uint32_t osRtxErrorNotify (uint32_t code, void *object_id);
|
||
|
|
|
||
|
|
/// OS Idle Thread
|
||
|
|
extern void osRtxIdleThread (void *argument);
|
||
|
|
|
||
|
|
/// OS Exception handlers
|
||
|
|
extern void SVC_Handler (void);
|
||
|
|
extern void PendSV_Handler (void);
|
||
|
|
extern void SysTick_Handler (void);
|
||
|
|
|
||
|
|
/// OS Trusted Firmware M Extension
|
||
|
|
#ifdef RTX_TF_M_EXTENSION
|
||
|
|
extern uint32_t osRtxTzGetModuleId (void);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
// ==== OS External Configuration ====
|
||
|
|
|
||
|
|
/// OS Configuration flags
|
||
|
|
#define osRtxConfigPrivilegedMode (1UL<<0) ///< Threads in Privileged mode
|
||
|
|
#define osRtxConfigStackCheck (1UL<<1) ///< Stack overrun checking
|
||
|
|
#define osRtxConfigStackWatermark (1UL<<2) ///< Stack usage Watermark
|
||
|
|
|
||
|
|
/// OS Configuration structure
|
||
|
|
typedef struct {
|
||
|
|
uint32_t flags; ///< OS Configuration Flags
|
||
|
|
uint32_t tick_freq; ///< Kernel Tick Frequency
|
||
|
|
uint32_t robin_timeout; ///< Round Robin Timeout Tick
|
||
|
|
struct { ///< ISR Post Processing Queue
|
||
|
|
void **data; ///< Queue Data
|
||
|
|
uint16_t max; ///< Maximum Items
|
||
|
|
uint16_t padding;
|
||
|
|
} isr_queue;
|
||
|
|
struct { ///< Memory Pools (Variable Block Size)
|
||
|
|
void *stack_addr; ///< Stack Memory Address
|
||
|
|
uint32_t stack_size; ///< Stack Memory Size
|
||
|
|
void *mp_data_addr; ///< Memory Pool Memory Address
|
||
|
|
uint32_t mp_data_size; ///< Memory Pool Memory Size
|
||
|
|
void *mq_data_addr; ///< Message Queue Data Memory Address
|
||
|
|
uint32_t mq_data_size; ///< Message Queue Data Memory Size
|
||
|
|
void *common_addr; ///< Common Memory Address
|
||
|
|
uint32_t common_size; ///< Common Memory Size
|
||
|
|
} mem;
|
||
|
|
struct { ///< Memory Pools (Fixed Block Size)
|
||
|
|
osRtxMpInfo_t *stack; ///< Stack for Threads
|
||
|
|
osRtxMpInfo_t *thread; ///< Thread Control Blocks
|
||
|
|
osRtxMpInfo_t *timer; ///< Timer Control Blocks
|
||
|
|
osRtxMpInfo_t *event_flags; ///< Event Flags Control Blocks
|
||
|
|
osRtxMpInfo_t *mutex; ///< Mutex Control Blocks
|
||
|
|
osRtxMpInfo_t *semaphore; ///< Semaphore Control Blocks
|
||
|
|
osRtxMpInfo_t *memory_pool; ///< Memory Pool Control Blocks
|
||
|
|
osRtxMpInfo_t *message_queue; ///< Message Queue Control Blocks
|
||
|
|
} mpi;
|
||
|
|
uint32_t thread_stack_size; ///< Default Thread Stack Size
|
||
|
|
const
|
||
|
|
osThreadAttr_t *idle_thread_attr; ///< Idle Thread Attributes
|
||
|
|
const
|
||
|
|
osThreadAttr_t *timer_thread_attr; ///< Timer Thread Attributes
|
||
|
|
const
|
||
|
|
osMessageQueueAttr_t *timer_mq_attr; ///< Timer Message Queue Attributes
|
||
|
|
uint32_t timer_mq_mcnt; ///< Timer Message Queue maximum Messages
|
||
|
|
} osRtxConfig_t;
|
||
|
|
|
||
|
|
extern const osRtxConfig_t osRtxConfig; ///< OS Configuration
|
||
|
|
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif // RTX_OS_H_
|