632 lines
17 KiB
C
632 lines
17 KiB
C
/*
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* Copyright (c) 2013-2017 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 Library Configuration
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*
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* -----------------------------------------------------------------------------
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*/
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#include "cmsis_compiler.h"
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#include "rtx_os.h"
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#include "RTX_Config.h"
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// System Configuration
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// ====================
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// Dynamic Memory
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#if (OS_DYNAMIC_MEM_SIZE != 0)
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#if ((OS_DYNAMIC_MEM_SIZE & 7) != 0)
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#error "Invalid Dynamic Memory size!"
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#endif
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static uint64_t os_mem[OS_DYNAMIC_MEM_SIZE/8] \
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__attribute__((section(".bss.os")));
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#endif
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// Kernel Tick Frequency
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#if (OS_TICK_FREQ < 1)
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#error "Invalid Kernel Tick Frequency!"
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#endif
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// ISR FIFO Queue
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static void *os_isr_queue[OS_ISR_FIFO_QUEUE] \
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__attribute__((section(".bss.os")));
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// Thread Configuration
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// ====================
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#if (((OS_STACK_SIZE & 7) != 0) || (OS_STACK_SIZE < 72))
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#error "Invalid default Thread Stack size!"
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#endif
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#if (((OS_IDLE_THREAD_STACK_SIZE & 7) != 0) || (OS_IDLE_THREAD_STACK_SIZE < 72))
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#error "Invalid Idle Thread Stack size!"
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#endif
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#if (OS_THREAD_OBJ_MEM != 0)
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#if (OS_THREAD_NUM == 0)
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#error "Invalid number of user Threads!"
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#endif
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#if ((OS_THREAD_USER_STACK_SIZE != 0) && ((OS_THREAD_USER_STACK_SIZE & 7) != 0))
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#error "Invalid total Stack size!"
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#endif
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// Thread Control Blocks
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static osRtxThread_t os_thread_cb[OS_THREAD_NUM] \
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__attribute__((section(".bss.os.thread.cb")));
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// Thread Default Stack
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#if (OS_THREAD_DEF_STACK_NUM != 0)
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static uint64_t os_thread_def_stack[OS_THREAD_DEF_STACK_NUM*(OS_STACK_SIZE/8)] \
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__attribute__((section(".bss.os.thread.stack")));
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#endif
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// Memory Pool for Thread Control Blocks
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static osRtxMpInfo_t os_mpi_thread \
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__attribute__((section(".data.os.thread.mpi"))) =
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{ (uint32_t)OS_THREAD_NUM, 0U, (uint32_t)osRtxThreadCbSize, &os_thread_cb, NULL, NULL };
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// Memory Pool for Thread Default Stack
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#if (OS_THREAD_DEF_STACK_NUM != 0)
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static osRtxMpInfo_t os_mpi_def_stack \
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__attribute__((section(".data.os.thread.mpi"))) =
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{ (uint32_t)OS_THREAD_DEF_STACK_NUM, 0U, (uint32_t)OS_STACK_SIZE, &os_thread_def_stack, NULL, NULL };
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#endif
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// Memory Pool for Thread Stack
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#if (OS_THREAD_USER_STACK_SIZE != 0)
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static uint64_t os_thread_stack[OS_THREAD_USER_STACK_SIZE/8] \
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__attribute__((section(".bss.os.thread.stack")));
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#endif
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#endif // (OS_THREAD_OBJ_MEM != 0)
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// Stack overrun checking
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#if (OS_STACK_CHECK == 0)
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// Override library function
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void osRtxThreadStackCheck (void);
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void osRtxThreadStackCheck (void) {}
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#endif
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// Idle Thread Control Block
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static osRtxThread_t os_idle_thread_cb \
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__attribute__((section(".bss.os.thread.cb")));
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// Idle Thread Stack
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static uint64_t os_idle_thread_stack[OS_IDLE_THREAD_STACK_SIZE/8] \
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__attribute__((section(".bss.os.thread.stack")));
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// Idle Thread Attributes
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static const osThreadAttr_t os_idle_thread_attr = {
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NULL,
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osThreadDetached,
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&os_idle_thread_cb,
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(uint32_t)sizeof(os_idle_thread_cb),
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&os_idle_thread_stack,
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(uint32_t)sizeof(os_idle_thread_stack),
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osPriorityIdle,
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0U, 0U
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};
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// Timer Configuration
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// ===================
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#if (OS_TIMER_OBJ_MEM != 0)
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#if (OS_TIMER_NUM == 0)
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#error "Invalid number of Timer objects!"
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#endif
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// Timer Control Blocks
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static osRtxTimer_t os_timer_cb[OS_TIMER_NUM] \
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__attribute__((section(".bss.os.timer.cb")));
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// Memory Pool for Timer Control Blocks
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static osRtxMpInfo_t os_mpi_timer \
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__attribute__((section(".data.os.timer.mpi"))) =
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{ (uint32_t)OS_TIMER_NUM, 0U, (uint32_t)osRtxTimerCbSize, &os_timer_cb, NULL, NULL };
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#endif // (OS_TIMER_OBJ_MEM != 0)
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#if ((OS_TIMER_THREAD_STACK_SIZE != 0) && (OS_TIMER_CB_QUEUE != 0))
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#if (((OS_TIMER_THREAD_STACK_SIZE & 7) != 0) || (OS_TIMER_THREAD_STACK_SIZE < 96))
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#error "Invalid Timer Thread Stack size!"
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#endif
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// Timer Thread Control Block
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static osRtxThread_t os_timer_thread_cb \
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__attribute__((section(".bss.os.thread.cb")));
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// Timer Thread Stack
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static uint64_t os_timer_thread_stack[OS_TIMER_THREAD_STACK_SIZE/8] \
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__attribute__((section(".bss.os.thread.stack")));
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// Timer Thread Attributes
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static const osThreadAttr_t os_timer_thread_attr = {
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NULL,
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osThreadDetached,
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&os_timer_thread_cb,
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(uint32_t)sizeof(os_timer_thread_cb),
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&os_timer_thread_stack,
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(uint32_t)sizeof(os_timer_thread_stack),
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(osPriority_t)OS_TIMER_THREAD_PRIO,
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0U, 0U
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};
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// Timer Message Queue Control Block
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static osRtxMessageQueue_t os_timer_mq_cb \
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__attribute__((section(".bss.os.msgqueue.cb")));
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// Timer Message Queue Data
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static uint32_t os_timer_mq_data[osRtxMessageQueueMemSize(OS_TIMER_CB_QUEUE,8)/4] \
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__attribute__((section(".bss.os.msgqueue.mem")));
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// Timer Message Queue Attributes
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static const osMessageQueueAttr_t os_timer_mq_attr = {
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NULL,
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0U,
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&os_timer_mq_cb,
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(uint32_t)sizeof(os_timer_mq_cb),
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&os_timer_mq_data,
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(uint32_t)sizeof(os_timer_mq_data)
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};
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#endif // ((OS_TIMER_THREAD_STACK_SIZE != 0) && (OS_TIMER_CB_QUEUE != 0))
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// Event Flags Configuration
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// =========================
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#if (OS_EVFLAGS_OBJ_MEM != 0)
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#if (OS_EVFLAGS_NUM == 0)
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#error "Invalid number of Event Flags objects!"
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#endif
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// Event Flags Control Blocks
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static osRtxEventFlags_t os_ef_cb[OS_EVFLAGS_NUM] \
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__attribute__((section(".bss.os.evflags.cb")));
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// Memory Pool for Event Flags Control Blocks
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static osRtxMpInfo_t os_mpi_ef \
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__attribute__((section(".data.os.evflags.mpi"))) =
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{ (uint32_t)OS_EVFLAGS_NUM, 0U, (uint32_t)osRtxEventFlagsCbSize, &os_ef_cb, NULL, NULL };
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#endif // (OS_EVFLAGS_OBJ_MEM != 0)
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// Mutex Configuration
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// ===================
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#if (OS_MUTEX_OBJ_MEM != 0)
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#if (OS_MUTEX_NUM == 0)
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#error "Invalid number of Mutex objects!"
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#endif
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// Mutex Control Blocks
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static osRtxMutex_t os_mutex_cb[OS_MUTEX_NUM] \
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__attribute__((section(".bss.os.mutex.cb")));
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// Memory Pool for Mutex Control Blocks
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static osRtxMpInfo_t os_mpi_mutex \
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__attribute__((section(".data.os.mutex.mpi"))) =
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{ (uint32_t)OS_MUTEX_NUM, 0U, (uint32_t)osRtxMutexCbSize, &os_mutex_cb, NULL, NULL };
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#endif // (OS_MUTEX_OBJ_MEM != 0)
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// Semaphore Configuration
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// =======================
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#if (OS_SEMAPHORE_OBJ_MEM != 0)
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#if (OS_SEMAPHORE_NUM == 0)
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#error "Invalid number of Semaphore objects!"
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#endif
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// Semaphore Control Blocks
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static osRtxSemaphore_t os_semaphore_cb[OS_SEMAPHORE_NUM] \
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__attribute__((section(".bss.os.semaphore.cb")));
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// Memory Pool for Semaphore Control Blocks
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static osRtxMpInfo_t os_mpi_semaphore \
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__attribute__((section(".data.os.semaphore.mpi"))) =
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{ (uint32_t)OS_SEMAPHORE_NUM, 0U, (uint32_t)osRtxSemaphoreCbSize, &os_semaphore_cb, NULL, NULL };
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#endif // (OS_SEMAPHORE_OBJ_MEM != 0)
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// Memory Pool Configuration
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// =========================
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#if (OS_MEMPOOL_OBJ_MEM != 0)
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#if (OS_MEMPOOL_NUM == 0)
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#error "Invalid number of Memory Pool objects!"
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#endif
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// Memory Pool Control Blocks
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static osRtxMemoryPool_t os_mp_cb[OS_MEMPOOL_NUM] \
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__attribute__((section(".bss.os.mempool.cb")));
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// Memory Pool for Memory Pool Control Blocks
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static osRtxMpInfo_t os_mpi_mp \
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__attribute__((section(".data.os.mempool.mpi"))) =
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{ (uint32_t)OS_MEMPOOL_NUM, 0U, (uint32_t)osRtxMemoryPoolCbSize, &os_mp_cb, NULL, NULL };
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// Memory Pool for Memory Pool Data Storage
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#if (OS_MEMPOOL_DATA_SIZE != 0)
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#if ((OS_MEMPOOL_DATA_SIZE & 7) != 0)
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#error "Invalid Data Memory size for Memory Pools!"
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#endif
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static uint64_t os_mp_data[OS_MEMPOOL_DATA_SIZE/8] \
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__attribute__((section(".bss.os.mempool.mem")));
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#endif
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#endif // (OS_MEMPOOL_OBJ_MEM != 0)
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// Message Queue Configuration
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// ===========================
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#if (OS_MSGQUEUE_OBJ_MEM != 0)
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#if (OS_MSGQUEUE_NUM == 0)
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#error "Invalid number of Message Queue objects!"
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#endif
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// Message Queue Control Blocks
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static osRtxMessageQueue_t os_mq_cb[OS_MSGQUEUE_NUM] \
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__attribute__((section(".bss.os.msgqueue.cb")));
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// Memory Pool for Message Queue Control Blocks
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static osRtxMpInfo_t os_mpi_mq \
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__attribute__((section(".data.os.msgqueue.mpi"))) =
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{ (uint32_t)OS_MSGQUEUE_NUM, 0U, (uint32_t)osRtxMessageQueueCbSize, &os_mq_cb, NULL, NULL };
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// Memory Pool for Message Queue Data Storage
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#if (OS_MSGQUEUE_DATA_SIZE != 0)
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#if ((OS_MSGQUEUE_DATA_SIZE & 7) != 0)
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#error "Invalid Data Memory size for Message Queues!"
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#endif
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static uint64_t os_mq_data[OS_MSGQUEUE_DATA_SIZE/8] \
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__attribute__((section(".bss.os.msgqueue.mem")));
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#endif
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#endif // (OS_MSGQUEUE_OBJ_MEM != 0)
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// OS Configuration
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// ================
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__USED
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__attribute__((section(".rodata")))
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const osRtxConfig_t osRtxConfig = {
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0U // Flags
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#if (OS_PRIVILEGE_MODE != 0)
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| osRtxConfigPrivilegedMode
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#endif
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#if (OS_STACK_CHECK != 0)
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| osRtxConfigStackCheck
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#endif
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#if (OS_STACK_WATERMARK != 0)
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| osRtxConfigStackWatermark
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#endif
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,
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(uint32_t)OS_TICK_FREQ,
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#if (OS_ROBIN_ENABLE != 0)
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(uint32_t)OS_ROBIN_TIMEOUT,
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#else
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0U,
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#endif
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{ &os_isr_queue[0], sizeof(os_isr_queue)/sizeof(void *), 0U },
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{
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// Memory Pools (Variable Block Size)
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#if ((OS_THREAD_OBJ_MEM != 0) && (OS_THREAD_USER_STACK_SIZE != 0))
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&os_thread_stack, (uint32_t)OS_THREAD_USER_STACK_SIZE,
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#else
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NULL, 0U,
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#endif
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#if ((OS_MEMPOOL_OBJ_MEM != 0) && (OS_MEMPOOL_DATA_SIZE != 0))
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&os_mp_data, (uint32_t)OS_MEMPOOL_DATA_SIZE,
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#else
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NULL, 0U,
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#endif
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#if ((OS_MSGQUEUE_OBJ_MEM != 0) && (OS_MSGQUEUE_DATA_SIZE != 0))
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&os_mq_data, (uint32_t)OS_MSGQUEUE_DATA_SIZE,
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#else
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NULL, 0U,
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#endif
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#if (OS_DYNAMIC_MEM_SIZE != 0)
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&os_mem, (uint32_t)OS_DYNAMIC_MEM_SIZE,
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#else
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NULL, 0U
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#endif
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},
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{
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// Memory Pools (Fixed Block Size)
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#if (OS_THREAD_OBJ_MEM != 0)
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#if (OS_THREAD_DEF_STACK_NUM != 0)
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&os_mpi_def_stack,
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#else
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NULL,
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#endif
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&os_mpi_thread,
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#else
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NULL,
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NULL,
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#endif
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#if (OS_TIMER_OBJ_MEM != 0)
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&os_mpi_timer,
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#else
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NULL,
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#endif
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#if (OS_EVFLAGS_OBJ_MEM != 0)
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&os_mpi_ef,
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#else
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NULL,
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#endif
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#if (OS_MUTEX_OBJ_MEM != 0)
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&os_mpi_mutex,
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#else
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NULL,
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#endif
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#if (OS_SEMAPHORE_OBJ_MEM != 0)
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&os_mpi_semaphore,
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#else
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NULL,
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#endif
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#if (OS_MEMPOOL_OBJ_MEM != 0)
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&os_mpi_mp,
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#else
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NULL,
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#endif
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#if (OS_MSGQUEUE_OBJ_MEM != 0)
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&os_mpi_mq,
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#else
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NULL,
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#endif
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},
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(uint32_t)OS_STACK_SIZE,
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&os_idle_thread_attr,
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#if ((OS_TIMER_THREAD_STACK_SIZE != 0) && (OS_TIMER_CB_QUEUE != 0))
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&os_timer_thread_attr,
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&os_timer_mq_attr,
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(uint32_t)OS_TIMER_CB_QUEUE
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#else
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NULL,
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NULL,
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0U
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#endif
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};
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// Non weak reference to library irq module
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extern uint8_t irqRtxLib;
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extern const uint8_t *irqRtxLibRef;
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const uint8_t *irqRtxLibRef = &irqRtxLib;
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// Default User SVC Table
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__WEAK
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extern void * const osRtxUserSVC[];
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void * const osRtxUserSVC[1] = { (void *)0 };
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// OS Sections
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// ===========
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#if (defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))
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__asm (
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".weakref __os_thread_cb_start__, .bss.os.thread.cb$$Base\n\t"
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".weakref __os_thread_cb_end__, .bss.os.thread.cb$$Limit\n\t"
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".weakref __os_timer_cb_start__, .bss.os.timer.cb$$Base\n\t"
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".weakref __os_timer_cb_end__, .bss.os.timer.cb$$Limit\n\t"
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".weakref __os_evflags_cb_start__, .bss.os.evflags.cb$$Base\n\t"
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".weakref __os_evflags_cb_end__, .bss.os.evflags.cb$$Limit\n\t"
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".weakref __os_mutex_cb_start__, .bss.os.mutex.cb$$Base\n\t"
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".weakref __os_mutex_cb_end__, .bss.os.mutex.cb$$Limit\n\t"
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".weakref __os_semaphore_cb_start__, .bss.os.semaphore.cb$$Base\n\t"
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".weakref __os_semaphore_cb_end__, .bss.os.semaphore.cb$$Limit\n\t"
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".weakref __os_mempool_cb_start__, .bss.os.mempool.cb$$Base\n\t"
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".weakref __os_mempool_cb_end__, .bss.os.mempool.cb$$Limit\n\t"
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".weakref __os_msgqueue_cb_start__, .bss.os.msgqueue.cb$$Base\n\t"
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".weakref __os_msgqueue_cb_end__, .bss.os.msgqueue.cb$$Limit\n\t"
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);
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#endif
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#if (defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) || \
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(defined(__GNUC__) && !defined(__CC_ARM))
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extern __attribute__((weak)) uint32_t __os_thread_cb_start__;
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extern __attribute__((weak)) uint32_t __os_thread_cb_end__;
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extern __attribute__((weak)) uint32_t __os_timer_cb_start__;
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extern __attribute__((weak)) uint32_t __os_timer_cb_end__;
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extern __attribute__((weak)) uint32_t __os_evflags_cb_start__;
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extern __attribute__((weak)) uint32_t __os_evflags_cb_end__;
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extern __attribute__((weak)) uint32_t __os_mutex_cb_start__;
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extern __attribute__((weak)) uint32_t __os_mutex_cb_end__;
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extern __attribute__((weak)) uint32_t __os_semaphore_cb_start__;
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extern __attribute__((weak)) uint32_t __os_semaphore_cb_end__;
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extern __attribute__((weak)) uint32_t __os_mempool_cb_start__;
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extern __attribute__((weak)) uint32_t __os_mempool_cb_end__;
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extern __attribute__((weak)) uint32_t __os_msgqueue_cb_start__;
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extern __attribute__((weak)) uint32_t __os_msgqueue_cb_end__;
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__asm (".global os_cb_sections");
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extern const uint32_t os_cb_sections[];
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__attribute__((section(".rodata")))
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const uint32_t os_cb_sections[] = {
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(uint32_t)&__os_thread_cb_start__,
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(uint32_t)&__os_thread_cb_end__,
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(uint32_t)&__os_timer_cb_start__,
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(uint32_t)&__os_timer_cb_end__,
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(uint32_t)&__os_evflags_cb_start__,
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(uint32_t)&__os_evflags_cb_end__,
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|
(uint32_t)&__os_mutex_cb_start__,
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|
(uint32_t)&__os_mutex_cb_end__,
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|
(uint32_t)&__os_semaphore_cb_start__,
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(uint32_t)&__os_semaphore_cb_end__,
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|
(uint32_t)&__os_mempool_cb_start__,
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(uint32_t)&__os_mempool_cb_end__,
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(uint32_t)&__os_msgqueue_cb_start__,
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(uint32_t)&__os_msgqueue_cb_end__
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};
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#endif
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// OS Initialization
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// =================
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#if defined(__CC_ARM) || \
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(defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))
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|
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#ifndef __MICROLIB
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__WEAK
|
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void _platform_post_stackheap_init (void);
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void _platform_post_stackheap_init (void) {
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osKernelInitialize();
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}
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#endif
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|
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#elif defined(__GNUC__)
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|
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__WEAK
|
|
void software_init_hook (void);
|
|
void software_init_hook (void) {
|
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osKernelInitialize();
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|
}
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#endif
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|
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|
|
// C/C++ Standard Library Multithreading Interface
|
|
// ===============================================
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|
|
|
#if (( defined(__CC_ARM) || \
|
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(defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050))) && \
|
|
!defined(__MICROLIB))
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|
|
#define LIBSPACE_SIZE 96
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|
|
|
// Memory for libspace
|
|
static uint32_t os_libspace[OS_THREAD_LIBSPACE_NUM+1][LIBSPACE_SIZE/sizeof(uint32_t)] \
|
|
__attribute__((section(".bss.os")));
|
|
|
|
// Thread IDs for libspace
|
|
static osThreadId_t os_libspace_id[OS_THREAD_LIBSPACE_NUM] \
|
|
__attribute__((section(".bss.os")));
|
|
|
|
// Check if Kernel has been started
|
|
static uint32_t os_kernel_is_active (void) {
|
|
static uint8_t os_kernel_active = 0U;
|
|
|
|
if (os_kernel_active == 0U) {
|
|
if (osKernelGetState() > osKernelReady) {
|
|
os_kernel_active = 1U;
|
|
return 1U;
|
|
}
|
|
return 0U;
|
|
} else {
|
|
return 1U;
|
|
}
|
|
}
|
|
|
|
// Provide libspace for current thread
|
|
void *__user_perthread_libspace (void);
|
|
void *__user_perthread_libspace (void) {
|
|
osThreadId_t id;
|
|
uint32_t n;
|
|
|
|
if (!os_kernel_is_active()) {
|
|
return (void *)&os_libspace[OS_THREAD_LIBSPACE_NUM][0];
|
|
}
|
|
|
|
id = osThreadGetId();
|
|
for (n = 0U; n < OS_THREAD_LIBSPACE_NUM; n++) {
|
|
if (os_libspace_id[n] == NULL) {
|
|
os_libspace_id[n] = id;
|
|
return (void *)&os_libspace[n][0];
|
|
}
|
|
if (os_libspace_id[n] == id) {
|
|
return (void *)&os_libspace[n][0];
|
|
}
|
|
}
|
|
|
|
if (n == OS_THREAD_LIBSPACE_NUM) {
|
|
osRtxErrorNotify(osRtxErrorClibSpace, id);
|
|
}
|
|
|
|
return (void *)&os_libspace[n][0];
|
|
}
|
|
|
|
// Mutex identifier
|
|
typedef void *mutex;
|
|
|
|
// Initialize mutex
|
|
__USED
|
|
int _mutex_initialize(mutex *m);
|
|
int _mutex_initialize(mutex *m) {
|
|
*m = osMutexNew(NULL);
|
|
if (*m == NULL) {
|
|
osRtxErrorNotify(osRtxErrorClibMutex, m);
|
|
return 0;
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
// Acquire mutex
|
|
__USED
|
|
void _mutex_acquire(mutex *m);
|
|
void _mutex_acquire(mutex *m) {
|
|
if (os_kernel_is_active()) {
|
|
osMutexAcquire(*m, osWaitForever);
|
|
}
|
|
}
|
|
|
|
// Release mutex
|
|
__USED
|
|
void _mutex_release(mutex *m);
|
|
void _mutex_release(mutex *m) {
|
|
if (os_kernel_is_active()) {
|
|
osMutexRelease(*m);
|
|
}
|
|
}
|
|
|
|
// Free mutex
|
|
__USED
|
|
void _mutex_free(mutex *m);
|
|
void _mutex_free(mutex *m) {
|
|
osMutexDelete(*m);
|
|
}
|
|
|
|
#endif
|