249 lines
9.3 KiB
C
249 lines
9.3 KiB
C
/**************************************************************************/
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/*!
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@file osal_cmsis_rtx.h
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@author hathach (tinyusb.org)
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@section LICENSE
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Software License Agreement (BSD License)
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Copyright (c) 2013, hathach (tinyusb.org)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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3. Neither the name of the copyright holders nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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This file is part of the tinyusb stack.
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*/
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/**************************************************************************/
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/** \ingroup TBD
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* \defgroup TBD
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* \brief TBD
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*
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* @{
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*/
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#ifndef _TUSB_OSAL_CMSIS_RTX_H_
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#define _TUSB_OSAL_CMSIS_RTX_H_
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#include "osal_common.h"
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#include "cmsis_os.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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//--------------------------------------------------------------------+
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// TICK API
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//--------------------------------------------------------------------+
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#define osal_tick_get osKernelSysTick
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//--------------------------------------------------------------------+
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// TASK API
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//--------------------------------------------------------------------+
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#define OSAL_TASK_FUNCTION(task_func) \
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void task_func
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typedef osThreadDef_t osal_task_t;
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#define OSAL_TASK_DEF(task_code, task_stack_depth, task_prio) \
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osThreadDef(task_code, task_prio, 1, task_stack_depth*4) // stack depth is in bytes
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#define OSAL_TASK_REF(task_name) osThread(task_name)
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static inline tusb_error_t osal_task_create(const osal_task_t *task) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
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static inline tusb_error_t osal_task_create(const osal_task_t *task)
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{
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return ( osThreadCreate(task, NULL) != NULL ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TASK_CREATE_FAILED;
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}
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#define osal_task_delay(msec) osDelay(msec)
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#define OSAL_TASK_LOOP_BEGIN \
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while(1) {
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#define OSAL_TASK_LOOP_END \
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}
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//------------- Sub Task -------------//
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#define OSAL_SUBTASK_BEGIN // TODO refractor move
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#define OSAL_SUBTASK_END \
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return TUSB_ERROR_NONE;
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#define SUBTASK_EXIT(error) return error;
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#define OSAL_SUBTASK_INVOKED_AND_WAIT(subtask, status) \
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status = subtask
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//------------- Sub Task Assert -------------//
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#define SUBTASK_ASSERT_STATUS(sts) ASSERT_STATUS(sts)
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#define SUBTASK_ASSERT(condition) ASSERT(condition, TUSB_ERROR_OSAL_TASK_FAILED)
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#define _SUBTASK_ASSERT_ERROR_HANDLER(error, func_call)\
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func_call; return error
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#define SUBTASK_ASSERT_STATUS_WITH_HANDLER(sts, func_call) \
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ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, tusb_error_t status = (tusb_error_t)(sts),\
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TUSB_ERROR_NONE == status, status, "%s", TUSB_ErrorStr[status])
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#define SUBTASK_ASSERT_WITH_HANDLER(condition, func_call) \
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ASSERT_DEFINE_WITH_HANDLER(_SUBTASK_ASSERT_ERROR_HANDLER, func_call, ,\
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condition, TUSB_ERROR_OSAL_TASK_FAILED, "%s", "evaluated to false")
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//--------------------------------------------------------------------+
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// Semaphore API
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//--------------------------------------------------------------------+
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typedef struct {
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uint32_t sem_cb[2];
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}osal_semaphore_t;
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typedef osSemaphoreId osal_semaphore_handle_t;
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#define OSAL_SEM_DEF(name) osal_semaphore_t name
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#define OSAL_SEM_REF(name) (&name)
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static inline osal_semaphore_handle_t osal_semaphore_create(osal_semaphore_t * p_sem) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
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static inline osal_semaphore_handle_t osal_semaphore_create(osal_semaphore_t * p_sem)
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{
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return osSemaphoreCreate( &(osSemaphoreDef_t) { p_sem }, 0 );
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}
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// TODO add timeout (with instant return from ISR option) for semaphore post & queue send
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static inline tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
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static inline tusb_error_t osal_semaphore_post(osal_semaphore_handle_t const sem_hdl)
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{
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return (osSemaphoreRelease(sem_hdl) == osOK) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_SEMAPHORE_FAILED;
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}
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static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
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static inline void osal_semaphore_wait(osal_semaphore_handle_t const sem_hdl, uint32_t msec, tusb_error_t *p_error)
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{
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(*p_error) = ( osSemaphoreWait(sem_hdl, msec) > 0 ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
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}
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static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl) ATTR_ALWAYS_INLINE;
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static inline void osal_semaphore_reset(osal_semaphore_handle_t const sem_hdl)
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{
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osSemaphoreWait(sem_hdl, 0); // instant return without putting caller to suspend
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}
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//--------------------------------------------------------------------+
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// MUTEX API (priority inheritance)
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//--------------------------------------------------------------------+
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typedef struct {
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uint32_t mutex_cb[3];
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}osal_mutex_t;
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typedef osMutexId osal_mutex_handle_t;
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#define OSAL_MUTEX_DEF(name) osal_mutex_t name
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#define OSAL_MUTEX_REF(name) (&name)
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static inline osal_mutex_handle_t osal_mutex_create(osal_mutex_t * p_mutex) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
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static inline osal_mutex_handle_t osal_mutex_create(osal_mutex_t * p_mutex)
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{
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return osMutexCreate( &(osMutexDef_t) {p_mutex} );
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}
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static inline tusb_error_t osal_mutex_release(osal_mutex_handle_t const mutex_hdl) ATTR_ALWAYS_INLINE;
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static inline tusb_error_t osal_mutex_release(osal_mutex_handle_t const mutex_hdl)
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{
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return (osMutexRelease(mutex_hdl) == osOK) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_MUTEX_FAILED;
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}
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static inline void osal_mutex_wait(osal_mutex_handle_t const mutex_hdl, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
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static inline void osal_mutex_wait(osal_mutex_handle_t const mutex_hdl, uint32_t msec, tusb_error_t *p_error)
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{
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(*p_error) = ( osMutexWait(mutex_hdl, msec) == osOK ) ? TUSB_ERROR_NONE : TUSB_ERROR_OSAL_TIMEOUT;
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}
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static inline void osal_mutex_reset(osal_mutex_handle_t const mutex_hdl) ATTR_ALWAYS_INLINE;
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static inline void osal_mutex_reset(osal_mutex_handle_t const mutex_hdl)
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{
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osMutexRelease(mutex_hdl);
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}
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//--------------------------------------------------------------------+
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// QUEUE API (for RTX: osMailQId is osMessageQDef_t.pool)
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//--------------------------------------------------------------------+
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typedef osMailQDef_t osal_queue_t;
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typedef osal_queue_t * osal_queue_handle_t;
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#define OSAL_QUEUE_DEF(name, queue_depth, type)\
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osMailQDef(name, queue_depth, type);
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#define OSAL_QUEUE_REF(name) osMailQ(name)
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static inline osal_queue_handle_t osal_queue_create(osal_queue_t * const p_queue) ATTR_WARN_UNUSED_RESULT ATTR_ALWAYS_INLINE;
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static inline osal_queue_handle_t osal_queue_create(osal_queue_t * const p_queue)
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{
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return (NULL != osMailCreate(p_queue, NULL)) ? p_queue : NULL;
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}
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static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error) ATTR_ALWAYS_INLINE;
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static inline void osal_queue_receive (osal_queue_handle_t const queue_hdl, void *p_data, uint32_t msec, tusb_error_t *p_error)
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{
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osEvent evt = osMailGet(queue_hdl->pool, msec);
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if (evt.status != osEventMail)
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{
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(*p_error) = TUSB_ERROR_OSAL_TIMEOUT;
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}else
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{
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memcpy(p_data, evt.value.p, queue_hdl->item_sz);
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osMailFree(queue_hdl->pool, evt.value.p);
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(*p_error) = TUSB_ERROR_NONE;
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}
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}
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static inline tusb_error_t osal_queue_send(osal_queue_handle_t const queue_hdl, void const * data) ATTR_ALWAYS_INLINE;
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static inline tusb_error_t osal_queue_send(osal_queue_handle_t const queue_hdl, void const * data)
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{
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void *p_buf = osMailAlloc(queue_hdl->pool, 0); // instantly return in case of sending within ISR (mostly used)
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if (p_buf == NULL) return TUSB_ERROR_OSAL_QUEUE_FAILED;
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memcpy(p_buf, data, queue_hdl->item_sz);
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osMailPut(queue_hdl->pool, p_buf);
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return TUSB_ERROR_NONE;
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}
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static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl) ATTR_ALWAYS_INLINE;
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static inline void osal_queue_flush(osal_queue_handle_t const queue_hdl)
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{
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osEvent evt;
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while( (evt = osMailGet(queue_hdl->pool, 0) ).status == osEventMail )
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{
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osMailFree(queue_hdl->pool, evt.value.p);
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}
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}
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#ifdef __cplusplus
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}
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#endif
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#endif /* _TUSB_OSAL_CMSIS_RTX_H_ */
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/** @} */
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