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/*

 * Copyright (c) 2013-2018 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:        18. June 2018

 * $Revision:    V2.1.3

 *

 * Project:      CMSIS-RTOS API

 * Title:        cmsis_os.h template 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

 * Version 2.1.1

 *    Additional functions allowed to be called from Interrupt Service Routines:

 *    - osKernelGetTickCount, osKernelGetTickFreq

 *    Changed Kernel Tick type to uint32_t:

 *    - updated: osKernelGetTickCount, osDelayUntil

 * Version 2.1.2

 *    Additional functions allowed to be called from Interrupt Service Routines:

 *    - osKernelGetInfo, osKernelGetState

 * Version 2.1.3

 *    Additional functions allowed to be called from Interrupt Service Routines:

 *    - osThreadGetId

 *---------------------------------------------------------------------------*/

#ifndef CMSIS_OS_H_

#define CMSIS_OS_H_

/// \b osCMSIS identifies the CMSIS-RTOS API version.

#define osCMSIS             0x20001U    ///< API version (main[31:16].sub[15:0])

/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.

#define osCMSIS_KERNEL      0x10000U    ///< RTOS identification and version (main[31:16].sub[15:0])

/// \note CAN BE CHANGED: \b osKernelSystemId identifies the underlying RTOS kernel.

#define osKernelSystemId "KERNEL V1.0"  ///< RTOS identification string

/// \note CAN BE CHANGED: \b osFeature_xxx identifies RTOS features.

#define osFeature_MainThread  0         ///< main thread      1=main can be thread, 0=not available

#define osFeature_Signals     16U       ///< 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        1         ///< Memory Pools:    1=available, 0=not available

#define osFeature_MessageQ    1         ///< Message Queues:  1=available, 0=not available

#define osFeature_MailQ       1         ///< Mail Queues:     1=available, 0=not available

#if (osCMSIS >= 0x20000U)

#include "cmsis_os2.h"

#else

#include <stdint.h>

#include <stddef.h>

#endif

#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.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

#if (osCMSIS < 0x20000U)

typedef void *osThreadId;

#else

#define osThreadId osThreadId_t

#endif

/// Timer ID identifies the timer.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

#if (osCMSIS < 0x20000U)

typedef void *osTimerId;

#else

#define osTimerId osTimerId_t

#endif

/// Mutex ID identifies the mutex.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

#if (osCMSIS < 0x20000U)

typedef void *osMutexId;

#else

#define osMutexId osMutexId_t

#endif

/// Semaphore ID identifies the semaphore.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

#if (osCMSIS < 0x20000U)

typedef void *osSemaphoreId;

#else

#define osSemaphoreId osSemaphoreId_t

#endif

/// Pool ID identifies the memory pool.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

typedef void *osPoolId;

/// Message ID identifies the message queue.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

typedef void *osMessageQId;

/// Mail ID identifies the mail queue.

/// \note CAN BE CHANGED: \b implementation specific in every CMSIS-RTOS.

typedef void *osMailQId;

/// Thread Definition structure contains startup information of a thread.

/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osThreadDef(name, priority, instances, stacksz) \

extern const osThreadDef_t os_thread_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osThreadDef(name, priority, instances, stacksz) \

const osThreadDef_t os_thread_def_##name = \

{ (name), (priority), (instances), (stacksz) }

#else

#define osThreadDef(name, priority, instances, stacksz) \

const osThreadDef_t os_thread_def_##name = \

{ (name), \

  { NULL, osThreadDetached, NULL, 0U, NULL, 8*((stacksz+7)/8), (priority), 0U, 0U } }

#endif

#endif

/// Access a Thread definition.

/// \param         name          name of the thread definition object.

/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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.

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.

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.

/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osTimerDef(name, function) \

extern const osTimerDef_t os_timer_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osTimerDef(name, function) \

const osTimerDef_t os_timer_def_##name = { (function) }

#else

#define osTimerDef(name, function) \

const osTimerDef_t os_timer_def_##name = \

{ (function), { NULL, 0U, NULL, 0U } }

#endif

#endif

/// Access a Timer definition.

/// \param         name          name of the timer object.

/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osMutexDef(name) \

extern const osMutexDef_t os_mutex_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osMutexDef(name) \

const osMutexDef_t os_mutex_def_##name = { 0 }

#else

#define osMutexDef(name) \

const osMutexDef_t os_mutex_def_##name = \

{ NULL, osMutexRecursive | osMutexPrioInherit | osMutexRobust, NULL, 0U }

#endif

#endif

/// Access a Mutex definition.

/// \param         name          name of the mutex object.

/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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.

/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osSemaphoreDef(name) \

extern const osSemaphoreDef_t os_semaphore_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osSemaphoreDef(name) \

const osSemaphoreDef_t os_semaphore_def_##name = { 0 }

#else

#define osSemaphoreDef(name) \

const osSemaphoreDef_t os_semaphore_def_##name = \

{ NULL, 0U, NULL, 0U }

#endif

#endif

/// Access a Semaphore definition.

/// \param         name          name of the semaphore object.

/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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).

/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osPoolDef(name, no, type) \

extern const osPoolDef_t os_pool_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osPoolDef(name, no, type) \

const osPoolDef_t os_pool_def_##name = \

{ (no), sizeof(type), NULL }

#else

#define osPoolDef(name, no, type) \

const osPoolDef_t os_pool_def_##name = \

{ (no), sizeof(type), { NULL, 0U, NULL, 0U, NULL, 0U } }

#endif

#endif

/// \brief Access a Memory Pool definition.

/// \param         name          name of the memory pool

/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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).

/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osMessageQDef(name, queue_sz, type) \

extern const osMessageQDef_t os_messageQ_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osMessageQDef(name, queue_sz, type) \

const osMessageQDef_t os_messageQ_def_##name = \

{ (queue_sz), NULL }

#else

#define osMessageQDef(name, queue_sz, type) \

const osMessageQDef_t os_messageQ_def_##name = \

{ (queue_sz), { NULL, 0U, NULL, 0U, NULL, 0U } }

#endif

#endif

/// \brief Access a Message Queue Definition.

/// \param         name          name of the queue

/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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.

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.

/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#if defined (osObjectsExternal)  // object is external

#define osMailQDef(name, queue_sz, type) \

extern const osMailQDef_t os_mailQ_def_##name

#else                            // define the object

#if (osCMSIS < 0x20000U)

#define osMailQDef(name, queue_sz, type) \

const osMailQDef_t os_mailQ_def_##name = \

{ (queue_sz), sizeof(type), NULL }

#else

#define osMailQDef(name, queue_sz, type) \

static void *os_mail_p_##name[2]; \

const osMailQDef_t os_mailQ_def_##name = \

{ (queue_sz), sizeof(type), (&os_mail_p_##name), \

  { NULL, 0U, NULL, 0U, NULL, 0U }, \

  { NULL, 0U, NULL, 0U, NULL, 0U } }

#endif

#endif

/// \brief Access a Mail Queue Definition.

/// \param         name          name of the queue

/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the

///       macro body is implementation specific in every CMSIS-RTOS.

#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.

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_