diff --git a/.cproject b/.cproject
index b3aa235..3c099c7 100644
--- a/.cproject
+++ b/.cproject
@@ -22,7 +22,7 @@
@@ -41,6 +41,7 @@
@@ -126,6 +126,7 @@
© Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved. © Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
+ * All rights reserved. © Copyright (c) 2016 STMicroelectronics.
+ * All rights reserved.
-#include "cmsis_os.h"
-
-/*
- * ARM Compiler 4/5
- */
-#if defined ( __CC_ARM )
-
- #define __ASM __asm
- #define __INLINE __inline
- #define __STATIC_INLINE static __inline
-
- #include "cmsis_armcc.h"
-
-/*
- * GNU Compiler
- */
-#elif defined ( __GNUC__ )
-
- #define __ASM __asm /*!< asm keyword for GNU Compiler */
- #define __INLINE inline /*!< inline keyword for GNU Compiler */
- #define __STATIC_INLINE static inline
-
- #include "cmsis_gcc.h"
-
-
-/*
- * IAR Compiler
- */
-#elif defined ( __ICCARM__ )
-
- #ifndef __ASM
- #define __ASM __asm
- #endif
- #ifndef __INLINE
- #define __INLINE inline
- #endif
- #ifndef __STATIC_INLINE
- #define __STATIC_INLINE static inline
- #endif
-
- #include
-#endif
-
-extern void xPortSysTickHandler(void);
-
-/* Convert from CMSIS type osPriority to FreeRTOS priority number */
-static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority)
-{
- unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY;
-
- if (priority != osPriorityError) {
- fpriority += (priority - osPriorityIdle);
- }
-
- return fpriority;
-}
-
-#if (INCLUDE_uxTaskPriorityGet == 1)
-/* Convert from FreeRTOS priority number to CMSIS type osPriority */
-static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority)
-{
- osPriority priority = osPriorityError;
-
- if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) {
- priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY));
- }
-
- return priority;
-}
-#endif
-
-
-/* Determine whether we are in thread mode or handler mode. */
-static int inHandlerMode (void)
-{
- return __get_IPSR() != 0;
-}
-
-/*********************** Kernel Control Functions *****************************/
-/**
-* @brief Initialize the RTOS Kernel for creating objects.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osKernelInitialize (void);
-
-/**
-* @brief Start the RTOS Kernel with executing the specified thread.
-* @param thread_def thread definition referenced with \ref osThread.
-* @param argument pointer that is passed to the thread function as start argument.
-* @retval status code that indicates the execution status of the function
-* @note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osKernelStart (void)
-{
- vTaskStartScheduler();
-
- return osOK;
-}
-
-/**
-* @brief Check if the RTOS kernel is already started
-* @param None
-* @retval (0) RTOS is not started
-* (1) RTOS is started
-* (-1) if this feature is disabled in FreeRTOSConfig.h
-* @note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
-*/
-int32_t osKernelRunning(void)
-{
-#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED)
- return 0;
- else
- return 1;
-#else
- return (-1);
-#endif
-}
-
-#if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
-/**
-* @brief Get the value of the Kernel SysTick timer
-* @param None
-* @retval None
-* @note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
-*/
-uint32_t osKernelSysTick(void)
-{
- if (inHandlerMode()) {
- return xTaskGetTickCountFromISR();
- }
- else {
- return xTaskGetTickCount();
- }
-}
-#endif // System Timer available
-/*********************** Thread Management *****************************/
-/**
-* @brief Create a thread and add it to Active Threads and set it to state READY.
-* @param thread_def thread definition referenced with \ref osThread.
-* @param argument pointer that is passed to the thread function as start argument.
-* @retval thread ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
-*/
-osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
-{
- TaskHandle_t handle;
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) {
- handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
- thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
- thread_def->buffer, thread_def->controlblock);
- }
- else {
- if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
- thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
- &handle) != pdPASS) {
- return NULL;
- }
- }
-#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
- thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
- thread_def->buffer, thread_def->controlblock);
-#else
- if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
- thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
- &handle) != pdPASS) {
- return NULL;
- }
-#endif
-
- return handle;
-}
-
-/**
-* @brief Return the thread ID of the current running thread.
-* @retval thread ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
-*/
-osThreadId osThreadGetId (void)
-{
-#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
- return xTaskGetCurrentTaskHandle();
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Terminate execution of a thread and remove it from Active Threads.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osThreadTerminate (osThreadId thread_id)
-{
-#if (INCLUDE_vTaskDelete == 1)
- vTaskDelete(thread_id);
- return osOK;
-#else
- return osErrorOS;
-#endif
-}
-
-/**
-* @brief Pass control to next thread that is in state \b READY.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osThreadYield (void)
-{
- taskYIELD();
-
- return osOK;
-}
-
-/**
-* @brief Change priority of an active thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @param priority new priority value for the thread function.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority)
-{
-#if (INCLUDE_vTaskPrioritySet == 1)
- vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
- return osOK;
-#else
- return osErrorOS;
-#endif
-}
-
-/**
-* @brief Get current priority of an active thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval current priority value of the thread function.
-* @note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
-*/
-osPriority osThreadGetPriority (osThreadId thread_id)
-{
-#if (INCLUDE_uxTaskPriorityGet == 1)
- if (inHandlerMode())
- {
- return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id));
- }
- else
- {
- return makeCmsisPriority(uxTaskPriorityGet(thread_id));
- }
-#else
- return osPriorityError;
-#endif
-}
-
-/*********************** Generic Wait Functions *******************************/
-/**
-* @brief Wait for Timeout (Time Delay)
-* @param millisec time delay value
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osDelay (uint32_t millisec)
-{
-#if INCLUDE_vTaskDelay
- TickType_t ticks = millisec / portTICK_PERIOD_MS;
-
- vTaskDelay(ticks ? ticks : 1); /* Minimum delay = 1 tick */
-
- return osOK;
-#else
- (void) millisec;
-
- return osErrorResource;
-#endif
-}
-
-#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) /* Generic Wait available */
-/**
-* @brief Wait for Signal, Message, Mail, or Timeout
-* @param millisec timeout value or 0 in case of no time-out
-* @retval event that contains signal, message, or mail information or error code.
-* @note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
-*/
-osEvent osWait (uint32_t millisec);
-
-#endif /* Generic Wait available */
-
-/*********************** Timer Management Functions ***************************/
-/**
-* @brief Create a timer.
-* @param timer_def timer object referenced with \ref osTimer.
-* @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
-* @param argument argument to the timer call back function.
-* @retval timer ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
-*/
-osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument)
-{
-#if (configUSE_TIMERS == 1)
-
-#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
- if(timer_def->controlblock != NULL) {
- return xTimerCreateStatic((const char *)"",
- 1, // period should be filled when starting the Timer using osTimerStart
- (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
- (void *) argument,
- (TaskFunction_t)timer_def->ptimer,
- (StaticTimer_t *)timer_def->controlblock);
- }
- else {
- return xTimerCreate((const char *)"",
- 1, // period should be filled when starting the Timer using osTimerStart
- (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
- (void *) argument,
- (TaskFunction_t)timer_def->ptimer);
- }
-#elif( configSUPPORT_STATIC_ALLOCATION == 1 )
- return xTimerCreateStatic((const char *)"",
- 1, // period should be filled when starting the Timer using osTimerStart
- (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
- (void *) argument,
- (TaskFunction_t)timer_def->ptimer,
- (StaticTimer_t *)timer_def->controlblock);
-#else
- return xTimerCreate((const char *)"",
- 1, // period should be filled when starting the Timer using osTimerStart
- (type == osTimerPeriodic) ? pdTRUE : pdFALSE,
- (void *) argument,
- (TaskFunction_t)timer_def->ptimer);
-#endif
-
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Start or restart a timer.
-* @param timer_id timer ID obtained by \ref osTimerCreate.
-* @param millisec time delay value of the timer.
-* @retval status code that indicates the execution status of the function
-* @note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec)
-{
- osStatus result = osOK;
-#if (configUSE_TIMERS == 1)
- portBASE_TYPE taskWoken = pdFALSE;
- TickType_t ticks = millisec / portTICK_PERIOD_MS;
-
- if (ticks == 0)
- ticks = 1;
-
- if (inHandlerMode())
- {
- if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS)
- {
- result = osErrorOS;
- }
- else
- {
- portEND_SWITCHING_ISR(taskWoken);
- }
- }
- else
- {
- if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS)
- result = osErrorOS;
- }
-
-#else
- result = osErrorOS;
-#endif
- return result;
-}
-
-/**
-* @brief Stop a timer.
-* @param timer_id timer ID obtained by \ref osTimerCreate
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osTimerStop (osTimerId timer_id)
-{
- osStatus result = osOK;
-#if (configUSE_TIMERS == 1)
- portBASE_TYPE taskWoken = pdFALSE;
-
- if (inHandlerMode()) {
- if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xTimerStop(timer_id, 0) != pdPASS) {
- result = osErrorOS;
- }
- }
-#else
- result = osErrorOS;
-#endif
- return result;
-}
-
-/**
-* @brief Delete a timer.
-* @param timer_id timer ID obtained by \ref osTimerCreate
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osTimerDelete (osTimerId timer_id)
-{
-osStatus result = osOK;
-
-#if (configUSE_TIMERS == 1)
-
- if (inHandlerMode()) {
- return osErrorISR;
- }
- else {
- if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) {
- result = osErrorOS;
- }
- }
-
-#else
- result = osErrorOS;
-#endif
-
- return result;
-}
-
-/*************************** Signal Management ********************************/
-/**
-* @brief Set the specified Signal Flags of an active thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @param signals specifies the signal flags of the thread that should be set.
-* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-* @note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
-*/
-int32_t osSignalSet (osThreadId thread_id, int32_t signal)
-{
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
- BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- uint32_t ulPreviousNotificationValue = 0;
-
- if (inHandlerMode())
- {
- if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS )
- return 0x80000000;
-
- portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
- }
- else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS )
- return 0x80000000;
-
- return ulPreviousNotificationValue;
-#else
- (void) thread_id;
- (void) signal;
-
- return 0x80000000; /* Task Notification not supported */
-#endif
-}
-
-/**
-* @brief Clear the specified Signal Flags of an active thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @param signals specifies the signal flags of the thread that shall be cleared.
-* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
-* @note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
-*/
-int32_t osSignalClear (osThreadId thread_id, int32_t signal);
-
-/**
-* @brief Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
-* @param signals wait until all specified signal flags set or 0 for any single signal flag.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval event flag information or error code.
-* @note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
-*/
-osEvent osSignalWait (int32_t signals, uint32_t millisec)
-{
- osEvent ret;
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- TickType_t ticks;
-
- ret.value.signals = 0;
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (inHandlerMode())
- {
- ret.status = osErrorISR; /*Not allowed in ISR*/
- }
- else
- {
- if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE)
- {
- if(ticks == 0) ret.status = osOK;
- else ret.status = osEventTimeout;
- }
- else if(ret.value.signals < 0)
- {
- ret.status = osErrorValue;
- }
- else ret.status = osEventSignal;
- }
-#else
- (void) signals;
- (void) millisec;
-
- ret.status = osErrorOS; /* Task Notification not supported */
-#endif
-
- return ret;
-}
-
-/**************************** Mutex Management ********************************/
-/**
-* @brief Create and Initialize a Mutex object
-* @param mutex_def mutex definition referenced with \ref osMutex.
-* @retval mutex ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
-*/
-osMutexId osMutexCreate (const osMutexDef_t *mutex_def)
-{
-#if ( configUSE_MUTEXES == 1)
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- if (mutex_def->controlblock != NULL) {
- return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
- }
- else {
- return xSemaphoreCreateMutex();
- }
-#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
- return xSemaphoreCreateMutexStatic( mutex_def->controlblock );
-#else
- return xSemaphoreCreateMutex();
-#endif
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Wait until a Mutex becomes available
-* @param mutex_id mutex ID obtained by \ref osMutexCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec)
-{
- TickType_t ticks;
- portBASE_TYPE taskWoken = pdFALSE;
-
-
- if (mutex_id == NULL) {
- return osErrorParameter;
- }
-
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (inHandlerMode()) {
- if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) {
- return osErrorOS;
- }
-
- return osOK;
-}
-
-/**
-* @brief Release a Mutex that was obtained by \ref osMutexWait
-* @param mutex_id mutex ID obtained by \ref osMutexCreate.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMutexRelease (osMutexId mutex_id)
-{
- osStatus result = osOK;
- portBASE_TYPE taskWoken = pdFALSE;
-
- if (inHandlerMode()) {
- if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else if (xSemaphoreGive(mutex_id) != pdTRUE)
- {
- result = osErrorOS;
- }
- return result;
-}
-
-/**
-* @brief Delete a Mutex
-* @param mutex_id mutex ID obtained by \ref osMutexCreate.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMutexDelete (osMutexId mutex_id)
-{
- if (inHandlerMode()) {
- return osErrorISR;
- }
-
- vQueueDelete(mutex_id);
-
- return osOK;
-}
-
-/******************** Semaphore Management Functions **************************/
-
-#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0))
-
-/**
-* @brief Create and Initialize a Semaphore object used for managing resources
-* @param semaphore_def semaphore definition referenced with \ref osSemaphore.
-* @param count number of available resources.
-* @retval semaphore ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
-*/
-osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
-{
-#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- osSemaphoreId sema;
-
- if (semaphore_def->controlblock != NULL){
- if (count == 1) {
- return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
- }
- else {
-#if (configUSE_COUNTING_SEMAPHORES == 1 )
- return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
-#else
- return NULL;
-#endif
- }
- }
- else {
- if (count == 1) {
- vSemaphoreCreateBinary(sema);
- return sema;
- }
- else {
-#if (configUSE_COUNTING_SEMAPHORES == 1 )
- return xSemaphoreCreateCounting(count, count);
-#else
- return NULL;
-#endif
- }
- }
-#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0
- if(count == 1) {
- return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock );
- }
- else
- {
-#if (configUSE_COUNTING_SEMAPHORES == 1 )
- return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock );
-#else
- return NULL;
-#endif
- }
-#else // configSUPPORT_STATIC_ALLOCATION == 0 && configSUPPORT_DYNAMIC_ALLOCATION == 1
- osSemaphoreId sema;
-
- if (count == 1) {
- vSemaphoreCreateBinary(sema);
- return sema;
- }
- else {
-#if (configUSE_COUNTING_SEMAPHORES == 1 )
- return xSemaphoreCreateCounting(count, count);
-#else
- return NULL;
-#endif
- }
-#endif
-}
-
-/**
-* @brief Wait until a Semaphore token becomes available
-* @param semaphore_id semaphore object referenced with \ref osSemaphore.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval number of available tokens, or -1 in case of incorrect parameters.
-* @note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
-*/
-int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec)
-{
- TickType_t ticks;
- portBASE_TYPE taskWoken = pdFALSE;
-
-
- if (semaphore_id == NULL) {
- return osErrorParameter;
- }
-
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (inHandlerMode()) {
- if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) {
- return osErrorOS;
- }
-
- return osOK;
-}
-
-/**
-* @brief Release a Semaphore token
-* @param semaphore_id semaphore object referenced with \ref osSemaphore.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id)
-{
- osStatus result = osOK;
- portBASE_TYPE taskWoken = pdFALSE;
-
-
- if (inHandlerMode()) {
- if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xSemaphoreGive(semaphore_id) != pdTRUE) {
- result = osErrorOS;
- }
- }
-
- return result;
-}
-
-/**
-* @brief Delete a Semaphore
-* @param semaphore_id semaphore object referenced with \ref osSemaphore.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id)
-{
- if (inHandlerMode()) {
- return osErrorISR;
- }
-
- vSemaphoreDelete(semaphore_id);
-
- return osOK;
-}
-
-#endif /* Use Semaphores */
-
-/******************* Memory Pool Management Functions ***********************/
-
-#if (defined (osFeature_Pool) && (osFeature_Pool != 0))
-
-//TODO
-//This is a primitive and inefficient wrapper around the existing FreeRTOS memory management.
-//A better implementation will have to modify heap_x.c!
-
-
-typedef struct os_pool_cb {
- void *pool;
- uint8_t *markers;
- uint32_t pool_sz;
- uint32_t item_sz;
- uint32_t currentIndex;
-} os_pool_cb_t;
-
-
-/**
-* @brief Create and Initialize a memory pool
-* @param pool_def memory pool definition referenced with \ref osPool.
-* @retval memory pool ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
-*/
-osPoolId osPoolCreate (const osPoolDef_t *pool_def)
-{
-#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
- osPoolId thePool;
- int itemSize = 4 * ((pool_def->item_sz + 3) / 4);
- uint32_t i;
-
- /* First have to allocate memory for the pool control block. */
- thePool = pvPortMalloc(sizeof(os_pool_cb_t));
-
-
- if (thePool) {
- thePool->pool_sz = pool_def->pool_sz;
- thePool->item_sz = itemSize;
- thePool->currentIndex = 0;
-
- /* Memory for markers */
- thePool->markers = pvPortMalloc(pool_def->pool_sz);
-
- if (thePool->markers) {
- /* Now allocate the pool itself. */
- thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize);
-
- if (thePool->pool) {
- for (i = 0; i < pool_def->pool_sz; i++) {
- thePool->markers[i] = 0;
- }
- }
- else {
- vPortFree(thePool->markers);
- vPortFree(thePool);
- thePool = NULL;
- }
- }
- else {
- vPortFree(thePool);
- thePool = NULL;
- }
- }
-
- return thePool;
-
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Allocate a memory block from a memory pool
-* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-* @retval address of the allocated memory block or NULL in case of no memory available.
-* @note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
-*/
-void *osPoolAlloc (osPoolId pool_id)
-{
- int dummy = 0;
- void *p = NULL;
- uint32_t i;
- uint32_t index;
-
- if (inHandlerMode()) {
- dummy = portSET_INTERRUPT_MASK_FROM_ISR();
- }
- else {
- vPortEnterCritical();
- }
-
- for (i = 0; i < pool_id->pool_sz; i++) {
- index = (pool_id->currentIndex + i) % pool_id->pool_sz;
-
- if (pool_id->markers[index] == 0) {
- pool_id->markers[index] = 1;
- p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz));
- pool_id->currentIndex = index;
- break;
- }
- }
-
- if (inHandlerMode()) {
- portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy);
- }
- else {
- vPortExitCritical();
- }
-
- return p;
-}
-
-/**
-* @brief Allocate a memory block from a memory pool and set memory block to zero
-* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-* @retval address of the allocated memory block or NULL in case of no memory available.
-* @note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
-*/
-void *osPoolCAlloc (osPoolId pool_id)
-{
- void *p = osPoolAlloc(pool_id);
-
- if (p != NULL)
- {
- memset(p, 0, sizeof(pool_id->pool_sz));
- }
-
- return p;
-}
-
-/**
-* @brief Return an allocated memory block back to a specific memory pool
-* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-* @param block address of the allocated memory block that is returned to the memory pool.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osPoolFree (osPoolId pool_id, void *block)
-{
- uint32_t index;
-
- if (pool_id == NULL) {
- return osErrorParameter;
- }
-
- if (block == NULL) {
- return osErrorParameter;
- }
-
- if (block < pool_id->pool) {
- return osErrorParameter;
- }
-
- index = (uint32_t)block - (uint32_t)(pool_id->pool);
- if (index % pool_id->item_sz) {
- return osErrorParameter;
- }
- index = index / pool_id->item_sz;
- if (index >= pool_id->pool_sz) {
- return osErrorParameter;
- }
-
- pool_id->markers[index] = 0;
-
- return osOK;
-}
-
-
-#endif /* Use Memory Pool Management */
-
-/******************* Message Queue Management Functions *********************/
-
-#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) /* Use Message Queues */
-
-/**
-* @brief Create and Initialize a Message Queue
-* @param queue_def queue definition referenced with \ref osMessageQ.
-* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-* @retval message queue ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
-*/
-osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
-{
- (void) thread_id;
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) {
- return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
- }
- else {
- return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
- }
-#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
- return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock);
-#else
- return xQueueCreate(queue_def->queue_sz, queue_def->item_sz);
-#endif
-}
-
-/**
-* @brief Put a Message to a Queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @param info message information.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
-{
- portBASE_TYPE taskWoken = pdFALSE;
- TickType_t ticks;
-
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
-
- if (inHandlerMode()) {
- if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xQueueSend(queue_id, &info, ticks) != pdTRUE) {
- return osErrorOS;
- }
- }
-
- return osOK;
-}
-
-/**
-* @brief Get a Message or Wait for a Message from a Queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval event information that includes status code.
-* @note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
-*/
-osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec)
-{
- portBASE_TYPE taskWoken;
- TickType_t ticks;
- osEvent event;
-
- event.def.message_id = queue_id;
- event.value.v = 0;
-
- if (queue_id == NULL) {
- event.status = osErrorParameter;
- return event;
- }
-
- taskWoken = pdFALSE;
-
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (inHandlerMode()) {
- if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) {
- /* We have mail */
- event.status = osEventMessage;
- }
- else {
- event.status = osOK;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) {
- /* We have mail */
- event.status = osEventMessage;
- }
- else {
- event.status = (ticks == 0) ? osOK : osEventTimeout;
- }
- }
-
- return event;
-}
-
-#endif /* Use Message Queues */
-
-/******************** Mail Queue Management Functions ***********************/
-#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) /* Use Mail Queues */
-
-
-typedef struct os_mailQ_cb {
- const osMailQDef_t *queue_def;
- QueueHandle_t handle;
- osPoolId pool;
-} os_mailQ_cb_t;
-
-/**
-* @brief Create and Initialize mail queue
-* @param queue_def reference to the mail queue definition obtain with \ref osMailQ
-* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
-* @retval mail queue ID for reference by other functions or NULL in case of error.
-* @note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
-*/
-osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id)
-{
-#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
- (void) thread_id;
-
- osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL};
-
- /* Create a mail queue control block */
-
- *(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb));
-
- if (*(queue_def->cb) == NULL) {
- return NULL;
- }
- (*(queue_def->cb))->queue_def = queue_def;
-
- /* Create a queue in FreeRTOS */
- (*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *));
-
-
- if ((*(queue_def->cb))->handle == NULL) {
- vPortFree(*(queue_def->cb));
- return NULL;
- }
-
- /* Create a mail pool */
- (*(queue_def->cb))->pool = osPoolCreate(&pool_def);
- if ((*(queue_def->cb))->pool == NULL) {
- //TODO: Delete queue. How to do it in FreeRTOS?
- vPortFree(*(queue_def->cb));
- return NULL;
- }
-
- return *(queue_def->cb);
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Allocate a memory block from a mail
-* @param queue_id mail queue ID obtained with \ref osMailCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval pointer to memory block that can be filled with mail or NULL in case error.
-* @note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
-*/
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec)
-{
- (void) millisec;
- void *p;
-
-
- if (queue_id == NULL) {
- return NULL;
- }
-
- p = osPoolAlloc(queue_id->pool);
-
- return p;
-}
-
-/**
-* @brief Allocate a memory block from a mail and set memory block to zero
-* @param queue_id mail queue ID obtained with \ref osMailCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval pointer to memory block that can be filled with mail or NULL in case error.
-* @note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
-*/
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec)
-{
- uint32_t i;
- void *p = osMailAlloc(queue_id, millisec);
-
- if (p) {
- for (i = 0; i < queue_id->queue_def->item_sz; i++) {
- ((uint8_t *)p)[i] = 0;
- }
- }
-
- return p;
-}
-
-/**
-* @brief Put a mail to a queue
-* @param queue_id mail queue ID obtained with \ref osMailCreate.
-* @param mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMailPut (osMailQId queue_id, void *mail)
-{
- portBASE_TYPE taskWoken;
-
-
- if (queue_id == NULL) {
- return osErrorParameter;
- }
-
- taskWoken = pdFALSE;
-
- if (inHandlerMode()) {
- if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) {
- return osErrorOS;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) {
- return osErrorOS;
- }
- }
-
- return osOK;
-}
-
-/**
-* @brief Get a mail from a queue
-* @param queue_id mail queue ID obtained with \ref osMailCreate.
-* @param millisec timeout value or 0 in case of no time-out
-* @retval event that contains mail information or error code.
-* @note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
-*/
-osEvent osMailGet (osMailQId queue_id, uint32_t millisec)
-{
- portBASE_TYPE taskWoken;
- TickType_t ticks;
- osEvent event;
-
- event.def.mail_id = queue_id;
-
- if (queue_id == NULL) {
- event.status = osErrorParameter;
- return event;
- }
-
- taskWoken = pdFALSE;
-
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (inHandlerMode()) {
- if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) {
- /* We have mail */
- event.status = osEventMail;
- }
- else {
- event.status = osOK;
- }
- portEND_SWITCHING_ISR(taskWoken);
- }
- else {
- if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) {
- /* We have mail */
- event.status = osEventMail;
- }
- else {
- event.status = (ticks == 0) ? osOK : osEventTimeout;
- }
- }
-
- return event;
-}
-
-/**
-* @brief Free a memory block from a mail
-* @param queue_id mail queue ID obtained with \ref osMailCreate.
-* @param mail pointer to the memory block that was obtained with \ref osMailGet.
-* @retval status code that indicates the execution status of the function.
-* @note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
-*/
-osStatus osMailFree (osMailQId queue_id, void *mail)
-{
- if (queue_id == NULL) {
- return osErrorParameter;
- }
-
- return osPoolFree(queue_id->pool, mail);
-}
-#endif /* Use Mail Queues */
-
-/*************************** Additional specific APIs to Free RTOS ************/
-/**
-* @brief Handles the tick increment
-* @param none.
-* @retval none.
-*/
-void osSystickHandler(void)
-{
-
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
- if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)
- {
-#endif /* INCLUDE_xTaskGetSchedulerState */
- xPortSysTickHandler();
-#if (INCLUDE_xTaskGetSchedulerState == 1 )
- }
-#endif /* INCLUDE_xTaskGetSchedulerState */
-}
-
-#if ( INCLUDE_eTaskGetState == 1 )
-/**
-* @brief Obtain the state of any thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval the stae of the thread, states are encoded by the osThreadState enumerated type.
-*/
-osThreadState osThreadGetState(osThreadId thread_id)
-{
- eTaskState ThreadState;
- osThreadState result;
-
- ThreadState = eTaskGetState(thread_id);
-
- switch (ThreadState)
- {
- case eRunning :
- result = osThreadRunning;
- break;
- case eReady :
- result = osThreadReady;
- break;
- case eBlocked :
- result = osThreadBlocked;
- break;
- case eSuspended :
- result = osThreadSuspended;
- break;
- case eDeleted :
- result = osThreadDeleted;
- break;
- default:
- result = osThreadError;
- }
-
- return result;
-}
-#endif /* INCLUDE_eTaskGetState */
-
-#if (INCLUDE_eTaskGetState == 1)
-/**
-* @brief Check if a thread is already suspended or not.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadIsSuspended(osThreadId thread_id)
-{
- if (eTaskGetState(thread_id) == eSuspended)
- return osOK;
- else
- return osErrorOS;
-}
-#endif /* INCLUDE_eTaskGetState */
-/**
-* @brief Suspend execution of a thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadSuspend (osThreadId thread_id)
-{
-#if (INCLUDE_vTaskSuspend == 1)
- vTaskSuspend(thread_id);
-
- return osOK;
-#else
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Resume execution of a suspended thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadResume (osThreadId thread_id)
-{
-#if (INCLUDE_vTaskSuspend == 1)
- if(inHandlerMode())
- {
- if (xTaskResumeFromISR(thread_id) == pdTRUE)
- {
- portYIELD_FROM_ISR(pdTRUE);
- }
- }
- else
- {
- vTaskResume(thread_id);
- }
- return osOK;
-#else
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Suspend execution of a all active threads.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadSuspendAll (void)
-{
- vTaskSuspendAll();
-
- return osOK;
-}
-
-/**
-* @brief Resume execution of a all suspended threads.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadResumeAll (void)
-{
- if (xTaskResumeAll() == pdTRUE)
- return osOK;
- else
- return osErrorOS;
-
-}
-
-/**
-* @brief Delay a task until a specified time
-* @param PreviousWakeTime Pointer to a variable that holds the time at which the
-* task was last unblocked. PreviousWakeTime must be initialised with the current time
-* prior to its first use (PreviousWakeTime = osKernelSysTick() )
-* @param millisec time delay value
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec)
-{
-#if INCLUDE_vTaskDelayUntil
- TickType_t ticks = (millisec / portTICK_PERIOD_MS);
- vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1);
-
- return osOK;
-#else
- (void) millisec;
- (void) PreviousWakeTime;
-
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Abort the delay for a specific thread
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osAbortDelay(osThreadId thread_id)
-{
-#if INCLUDE_xTaskAbortDelay
-
- xTaskAbortDelay(thread_id);
-
- return osOK;
-#else
- (void) thread_id;
-
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Lists all the current threads, along with their current state
-* and stack usage high water mark.
-* @param buffer A buffer into which the above mentioned details
-* will be written
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadList (uint8_t *buffer)
-{
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
- vTaskList((char *)buffer);
-#endif
- return osOK;
-}
-
-/**
-* @brief Receive an item from a queue without removing the item from the queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval event information that includes status code.
-*/
-osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec)
-{
- TickType_t ticks;
- osEvent event;
-
- event.def.message_id = queue_id;
-
- if (queue_id == NULL) {
- event.status = osErrorParameter;
- return event;
- }
-
- ticks = 0;
- if (millisec == osWaitForever) {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0) {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0) {
- ticks = 1;
- }
- }
-
- if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE)
- {
- /* We have mail */
- event.status = osEventMessage;
- }
- else
- {
- event.status = (ticks == 0) ? osOK : osEventTimeout;
- }
-
- return event;
-}
-
-/**
-* @brief Get the number of messaged stored in a queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval number of messages stored in a queue.
-*/
-uint32_t osMessageWaiting(osMessageQId queue_id)
-{
- if (inHandlerMode()) {
- return uxQueueMessagesWaitingFromISR(queue_id);
- }
- else
- {
- return uxQueueMessagesWaiting(queue_id);
- }
-}
-
-/**
-* @brief Get the available space in a message queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval available space in a message queue.
-*/
-uint32_t osMessageAvailableSpace(osMessageQId queue_id)
-{
- return uxQueueSpacesAvailable(queue_id);
-}
-
-/**
-* @brief Delete a Message Queue
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osMessageDelete (osMessageQId queue_id)
-{
- if (inHandlerMode()) {
- return osErrorISR;
- }
-
- vQueueDelete(queue_id);
-
- return osOK;
-}
-
-/**
-* @brief Create and Initialize a Recursive Mutex
-* @param mutex_def mutex definition referenced with \ref osMutex.
-* @retval mutex ID for reference by other functions or NULL in case of error..
-*/
-osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def)
-{
-#if (configUSE_RECURSIVE_MUTEXES == 1)
-#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- if (mutex_def->controlblock != NULL){
- return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
- }
- else {
- return xSemaphoreCreateRecursiveMutex();
- }
-#elif ( configSUPPORT_STATIC_ALLOCATION == 1 )
- return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock );
-#else
- return xSemaphoreCreateRecursiveMutex();
-#endif
-#else
- return NULL;
-#endif
-}
-
-/**
-* @brief Release a Recursive Mutex
-* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osRecursiveMutexRelease (osMutexId mutex_id)
-{
-#if (configUSE_RECURSIVE_MUTEXES == 1)
- osStatus result = osOK;
-
- if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE)
- {
- result = osErrorOS;
- }
- return result;
-#else
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Release a Recursive Mutex
-* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec)
-{
-#if (configUSE_RECURSIVE_MUTEXES == 1)
- TickType_t ticks;
-
- if (mutex_id == NULL)
- {
- return osErrorParameter;
- }
-
- ticks = 0;
- if (millisec == osWaitForever)
- {
- ticks = portMAX_DELAY;
- }
- else if (millisec != 0)
- {
- ticks = millisec / portTICK_PERIOD_MS;
- if (ticks == 0)
- {
- ticks = 1;
- }
- }
-
- if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE)
- {
- return osErrorOS;
- }
- return osOK;
-#else
- return osErrorResource;
-#endif
-}
-
-/**
-* @brief Returns the current count value of a counting semaphore
-* @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate.
-* @retval count value
-*/
-uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id)
-{
- return uxSemaphoreGetCount(semaphore_id);
-}
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
deleted file mode 100644
index f53a132..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
+++ /dev/null
@@ -1,1026 +0,0 @@
-/* ----------------------------------------------------------------------
- * $Date: 5. February 2013
- * $Revision: V1.02
- *
- * Project: CMSIS-RTOS API
- * Title: cmsis_os.h 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 typedef's
- * - 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
- *
- *
- *----------------------------------------------------------------------------
- *
- * Portions Copyright © 2016 STMicroelectronics International N.V. All rights reserved.
- * Portions Copyright (c) 2013 ARM LIMITED
- * All rights reserved.
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * - Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * - Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * - Neither the name of ARM nor the names of its contributors may be used
- * to endorse or promote products derived from this software without
- * specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *---------------------------------------------------------------------------*/
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "timers.h"
-#include "queue.h"
-#include "semphr.h"
-#include "event_groups.h"
-
-/**
-\page cmsis_os_h Header File Template: cmsis_os.h
-
-The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS).
-Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents
-its implementation.
-
-The file cmsis_os.h contains:
- - CMSIS-RTOS API function definitions
- - struct definitions for parameters and return types
- - status and priority values used by CMSIS-RTOS API functions
- - macros for defining threads and other kernel objects
-
-
-Name conventions and header file modifications
-
-All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions.
-Definitions that are prefixed \b os_ are not used in the application code but local to this header file.
-All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread.
-
-Definitions that are marked with CAN BE CHANGED can be adapted towards the needs of the actual CMSIS-RTOS implementation.
-These definitions can be specific to the underlying RTOS kernel.
-
-Definitions that are marked with MUST REMAIN UNCHANGED cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer
-compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.
-
-
-Function calls from interrupt service routines
-
-The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR):
- - \ref osSignalSet
- - \ref osSemaphoreRelease
- - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree
- - \ref osMessagePut, \ref osMessageGet
- - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree
-
-Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called
-from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector.
-
-Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time.
-If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive.
-
-
-Define and reference object definitions
-
-With \#define osObjectsExternal objects are defined as external symbols. This allows to create a consistent header file
-that is used throughout a project as shown below:
-
-Header File
-\code
-#include // CMSIS RTOS header file
-
-// Thread definition
-extern void thread_sample (void const *argument); // function prototype
-osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);
-
-// Pool definition
-osPoolDef(MyPool, 10, long);
-\endcode
-
-
-This header file defines all objects when included in a C/C++ source file. When \#define osObjectsExternal is
-present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be
-used throughout the whole project.
-
-Example
-\code
-#include "osObjects.h" // Definition of the CMSIS-RTOS objects
-\endcode
-
-\code
-#define osObjectExternal // Objects will be defined as external symbols
-#include "osObjects.h" // Reference to the CMSIS-RTOS objects
-\endcode
-
-*/
-
-#ifndef _CMSIS_OS_H
-#define _CMSIS_OS_H
-
-/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version.
-#define osCMSIS 0x10002 ///< 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 0x10000 ///< RTOS identification and version (main [31:16] .sub [15:0])
-
-/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
-#define osKernelSystemId "KERNEL V1.00" ///< RTOS identification string
-
-/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
-#define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available
-#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available
-#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available
-#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
-#define osFeature_Signals 8 ///< maximum number of Signal Flags available per thread
-#define osFeature_Semaphore 1 ///< osFeature_Semaphore function: 1=available, 0=not available
-#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
-#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-
-// ==== Enumeration, structures, defines ====
-
-/// Priority used for thread control.
-/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
-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 thread has illegal priority
-} osPriority;
-
-/// Timeout value.
-/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
-#define osWaitForever 0xFFFFFFFF ///< wait forever timeout value
-
-/// Status code values returned by CMSIS-RTOS functions.
-/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
-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.
- os_status_reserved = 0x7FFFFFFF ///< prevent from enum down-size compiler optimization.
-} osStatus;
-
-#if ( INCLUDE_eTaskGetState == 1 )
-/* Thread state returned by osThreadGetState */
-typedef enum {
- osThreadRunning = 0x0, /* A thread is querying the state of itself, so must be running. */
- osThreadReady = 0x1 , /* The thread being queried is in a read or pending ready list. */
- osThreadBlocked = 0x2, /* The thread being queried is in the Blocked state. */
- osThreadSuspended = 0x3, /* The thread being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
- osThreadDeleted = 0x4, /* The thread being queried has been deleted, but its TCB has not yet been freed. */
- osThreadError = 0x7FFFFFFF
-} osThreadState;
-#endif /* INCLUDE_eTaskGetState */
-
-/// Timer type value for the timer definition.
-/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
-typedef enum {
- osTimerOnce = 0, ///< one-shot timer
- osTimerPeriodic = 1 ///< repeating timer
-} os_timer_type;
-
-/// Entry point of a thread.
-/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
-typedef void (*os_pthread) (void const *argument);
-
-/// Entry point of a timer call back function.
-/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
-typedef void (*os_ptimer) (void const *argument);
-
-// >>> the following data type definitions may shall adapted towards a specific RTOS
-
-/// Thread ID identifies the thread (pointer to a thread control block).
-/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
-typedef TaskHandle_t osThreadId;
-
-/// Timer ID identifies the timer (pointer to a timer control block).
-/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
-typedef TimerHandle_t osTimerId;
-
-/// Mutex ID identifies the mutex (pointer to a mutex control block).
-/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
-typedef SemaphoreHandle_t osMutexId;
-
-/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
-/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
-typedef SemaphoreHandle_t osSemaphoreId;
-
-/// Pool ID identifies the memory pool (pointer to a memory pool control block).
-/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_pool_cb *osPoolId;
-
-/// Message ID identifies the message queue (pointer to a message queue control block).
-/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
-typedef QueueHandle_t osMessageQId;
-
-/// Mail ID identifies the mail queue (pointer to a mail queue control block).
-/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
-typedef struct os_mailQ_cb *osMailQId;
-
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
-typedef StaticTask_t osStaticThreadDef_t;
-typedef StaticTimer_t osStaticTimerDef_t;
-typedef StaticSemaphore_t osStaticMutexDef_t;
-typedef StaticSemaphore_t osStaticSemaphoreDef_t;
-typedef StaticQueue_t osStaticMessageQDef_t;
-
-#endif
-
-
-
-
-/// Thread Definition structure contains startup information of a thread.
-/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_thread_def {
- char *name; ///< Thread name
- 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
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- uint32_t *buffer; ///< stack buffer for static allocation; NULL for dynamic allocation
- osStaticThreadDef_t *controlblock; ///< control block to hold thread's data for static allocation; NULL for dynamic allocation
-#endif
-} osThreadDef_t;
-
-/// Timer Definition structure contains timer parameters.
-/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_timer_def {
- os_ptimer ptimer; ///< start address of a timer function
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- osStaticTimerDef_t *controlblock; ///< control block to hold timer's data for static allocation; NULL for dynamic allocation
-#endif
-} osTimerDef_t;
-
-/// Mutex Definition structure contains setup information for a mutex.
-/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_mutex_def {
- uint32_t dummy; ///< dummy value.
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- osStaticMutexDef_t *controlblock; ///< control block for static allocation; NULL for dynamic allocation
-#endif
-} osMutexDef_t;
-
-/// Semaphore Definition structure contains setup information for a semaphore.
-/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_semaphore_def {
- uint32_t dummy; ///< dummy value.
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- osStaticSemaphoreDef_t *controlblock; ///< control block for static allocation; NULL for dynamic allocation
-#endif
-} osSemaphoreDef_t;
-
-/// Definition structure for memory block allocation.
-/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
-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;
-
-/// Definition structure for message queue.
-/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_messageQ_def {
- uint32_t queue_sz; ///< number of elements in the queue
- uint32_t item_sz; ///< size of an item
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- uint8_t *buffer; ///< buffer for static allocation; NULL for dynamic allocation
- osStaticMessageQDef_t *controlblock; ///< control block to hold queue's data for static allocation; NULL for dynamic allocation
-#endif
- //void *pool; ///< memory array for messages
-} osMessageQDef_t;
-
-/// Definition structure for mail queue.
-/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
-typedef struct os_mailQ_def {
- uint32_t queue_sz; ///< number of elements in the queue
- uint32_t item_sz; ///< size of an item
- struct os_mailQ_cb **cb;
-} osMailQDef_t;
-
-/// Event structure contains detailed information about an event.
-/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
-/// However the struct may be extended at the end.
-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 Control Functions ====
-
-/// Initialize the RTOS Kernel for creating objects.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
-osStatus osKernelInitialize (void);
-
-/// Start the RTOS Kernel.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
-osStatus osKernelStart (void);
-
-/// Check if the RTOS kernel is already started.
-/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
-/// \return 0 RTOS is not started, 1 RTOS is started.
-int32_t osKernelRunning(void);
-
-#if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
-
-/// Get the RTOS kernel system timer counter
-/// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
-/// \return RTOS kernel system timer as 32-bit value
-uint32_t osKernelSysTick (void);
-
-/// The RTOS kernel system timer frequency in Hz
-/// \note Reflects the system timer setting and is typically defined in a configuration file.
-#define osKernelSysTickFrequency (configTICK_RATE_HZ)
-
-/// 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
-#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
-
-#endif // System Timer available
-
-// ==== Thread Management ====
-
-/// 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, thread, priority, instances, stacksz) \
-extern const osThreadDef_t os_thread_def_##name
-#else // define the object
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-#define osThreadDef(name, thread, priority, instances, stacksz) \
-const osThreadDef_t os_thread_def_##name = \
-{ #name, (thread), (priority), (instances), (stacksz), NULL, NULL }
-
-#define osThreadStaticDef(name, thread, priority, instances, stacksz, buffer, control) \
-const osThreadDef_t os_thread_def_##name = \
-{ #name, (thread), (priority), (instances), (stacksz), (buffer), (control) }
-#else //configSUPPORT_STATIC_ALLOCATION == 0
-
-#define osThreadDef(name, thread, priority, instances, stacksz) \
-const osThreadDef_t os_thread_def_##name = \
-{ #name, (thread), (priority), (instances), (stacksz)}
-#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.
-/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
-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.
-/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
-osThreadId osThreadGetId (void);
-
-/// Terminate execution of a thread and remove it from Active Threads.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
-osStatus osThreadTerminate (osThreadId thread_id);
-
-/// Pass control to next thread that is in state \b READY.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
-osStatus osThreadYield (void);
-
-/// Change priority of an active 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.
-/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
-osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
-
-/// Get current priority of an active thread.
-/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-/// \return current priority value of the thread function.
-/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
-osPriority osThreadGetPriority (osThreadId thread_id);
-
-
-// ==== Generic Wait Functions ====
-
-/// Wait for Timeout (Time Delay).
-/// \param[in] millisec time delay value
-/// \return status code that indicates the execution status of the function.
-osStatus osDelay (uint32_t millisec);
-
-#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
-
-/// Wait for Signal, Message, Mail, or Timeout.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return event that contains signal, message, or mail information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
-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( configSUPPORT_STATIC_ALLOCATION == 1 )
-#define osTimerDef(name, function) \
-const osTimerDef_t os_timer_def_##name = \
-{ (function), NULL }
-
-#define osTimerStaticDef(name, function, control) \
-const osTimerDef_t os_timer_def_##name = \
-{ (function), (control) }
-#else //configSUPPORT_STATIC_ALLOCATION == 0
-#define osTimerDef(name, function) \
-const osTimerDef_t os_timer_def_##name = \
-{ (function) }
-#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 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.
-/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
-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 time delay value of the timer.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
-osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
-
-/// Stop the timer.
-/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
-osStatus osTimerStop (osTimerId timer_id);
-
-/// Delete a timer that was created by \ref osTimerCreate.
-/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
-osStatus osTimerDelete (osTimerId timer_id);
-
-
-// ==== 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 osOK if successful, osErrorOS if failed.
-/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
-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.
-/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
-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 timeout value or 0 in case of no time-out.
-/// \return event flag information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
-osEvent osSignalWait (int32_t signals, uint32_t millisec);
-
-
-// ==== Mutex Management ====
-
-/// 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( configSUPPORT_STATIC_ALLOCATION == 1 )
-#define osMutexDef(name) \
-const osMutexDef_t os_mutex_def_##name = { 0, NULL }
-
-#define osMutexStaticDef(name, control) \
-const osMutexDef_t os_mutex_def_##name = { 0, (control) }
-#else //configSUPPORT_STATIC_ALLOCATION == 0
-#define osMutexDef(name) \
-const osMutexDef_t os_mutex_def_##name = { 0 }
-
-#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.
-/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
-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 timeout value or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
-osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
-
-/// 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.
-/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
-osStatus osMutexRelease (osMutexId mutex_id);
-
-/// Delete a Mutex that was created by \ref osMutexCreate.
-/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
-osStatus osMutexDelete (osMutexId mutex_id);
-
-
-// ==== Semaphore Management Functions ====
-
-#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // 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( configSUPPORT_STATIC_ALLOCATION == 1 )
-#define osSemaphoreDef(name) \
-const osSemaphoreDef_t os_semaphore_def_##name = { 0, NULL }
-
-#define osSemaphoreStaticDef(name, control) \
-const osSemaphoreDef_t os_semaphore_def_##name = { 0, (control) }
-
-#else //configSUPPORT_STATIC_ALLOCATION == 0
-#define osSemaphoreDef(name) \
-const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
-#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 used for managing resources.
-/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
-/// \param[in] count number of available resources.
-/// \return semaphore ID for reference by other functions or NULL in case of error.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
-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 timeout value or 0 in case of no time-out.
-/// \return number of available tokens, or -1 in case of incorrect parameters.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
-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.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
-osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
-
-/// Delete a Semaphore that was created by \ref osSemaphoreCreate.
-/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
-osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
-
-#endif // Semaphore available
-
-
-// ==== Memory Pool Management Functions ====
-
-#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management 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
-#define osPoolDef(name, no, type) \
-const osPoolDef_t os_pool_def_##name = \
-{ (no), sizeof(type), NULL }
-#endif
-
-/// \brief Access a Memory Pool definition.
-/// \param name name of the memory pool
-/// \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.
-/// \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.
-/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
-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.
-/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
-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.
-/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
-void *osPoolCAlloc (osPoolId pool_id);
-
-/// Return an allocated memory block back to a specific memory pool.
-/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
-/// \param[in] block address of the allocated memory block that is returned to the memory pool.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
-osStatus osPoolFree (osPoolId pool_id, void *block);
-
-#endif // Memory Pool Management available
-
-
-// ==== Message Queue Management Functions ====
-
-#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues 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( configSUPPORT_STATIC_ALLOCATION == 1 )
-#define osMessageQDef(name, queue_sz, type) \
-const osMessageQDef_t os_messageQ_def_##name = \
-{ (queue_sz), sizeof (type), NULL, NULL }
-
-#define osMessageQStaticDef(name, queue_sz, type, buffer, control) \
-const osMessageQDef_t os_messageQ_def_##name = \
-{ (queue_sz), sizeof (type) , (buffer), (control)}
-#else //configSUPPORT_STATIC_ALLOCATION == 1
-#define osMessageQDef(name, queue_sz, type) \
-const osMessageQDef_t os_messageQ_def_##name = \
-{ (queue_sz), sizeof (type) }
-
-#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.
-/// \param[in] queue_def 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.
-/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
-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 timeout value or 0 in case of no time-out.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
-osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
-
-/// Get a Message or Wait for a Message from a Queue.
-/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out.
-/// \return event information that includes status code.
-/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
-osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
-
-#endif // Message Queues available
-
-
-// ==== Mail Queue Management Functions ====
-
-#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available
-
-/// \brief Create a Mail Queue Definition.
-/// \param name name of the queue
-/// \param queue_sz maximum number of messages in queue
-/// \param type data type of a single message 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 struct os_mailQ_cb *os_mailQ_cb_##name \
-extern osMailQDef_t os_mailQ_def_##name
-#else // define the object
-#define osMailQDef(name, queue_sz, type) \
-struct os_mailQ_cb *os_mailQ_cb_##name; \
-const osMailQDef_t os_mailQ_def_##name = \
-{ (queue_sz), sizeof (type), (&os_mailQ_cb_##name) }
-#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 mail queue.
-/// \param[in] queue_def reference to the mail queue definition obtain 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.
-/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
-osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
-
-/// Allocate a memory block from a mail.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value 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.
-/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
-void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
-
-/// Allocate a memory block from a mail and set memory block to zero.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value 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.
-/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
-void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
-
-/// Put a mail to a queue.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
-osStatus osMailPut (osMailQId queue_id, void *mail);
-
-/// Get a mail from a queue.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] millisec timeout value or 0 in case of no time-out
-/// \return event that contains mail information or error code.
-/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
-osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
-
-/// Free a memory block from a mail.
-/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
-/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet.
-/// \return status code that indicates the execution status of the function.
-/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
-osStatus osMailFree (osMailQId queue_id, void *mail);
-
-#endif // Mail Queues available
-
-/*************************** Additional specific APIs to Free RTOS ************/
-/**
-* @brief Handles the tick increment
-* @param none.
-* @retval none.
-*/
-void osSystickHandler(void);
-
-#if ( INCLUDE_eTaskGetState == 1 )
-/**
-* @brief Obtain the state of any thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval the stae of the thread, states are encoded by the osThreadState enumerated type.
-*/
-osThreadState osThreadGetState(osThreadId thread_id);
-#endif /* INCLUDE_eTaskGetState */
-
-#if ( INCLUDE_eTaskGetState == 1 )
-/**
-* @brief Check if a thread is already suspended or not.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-
-osStatus osThreadIsSuspended(osThreadId thread_id);
-
-#endif /* INCLUDE_eTaskGetState */
-
-/**
-* @brief Suspend execution of a thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadSuspend (osThreadId thread_id);
-
-/**
-* @brief Resume execution of a suspended thread.
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadResume (osThreadId thread_id);
-
-/**
-* @brief Suspend execution of a all active threads.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadSuspendAll (void);
-
-/**
-* @brief Resume execution of a all suspended threads.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadResumeAll (void);
-
-/**
-* @brief Delay a task until a specified time
-* @param PreviousWakeTime Pointer to a variable that holds the time at which the
-* task was last unblocked. PreviousWakeTime must be initialised with the current time
-* prior to its first use (PreviousWakeTime = osKernelSysTick() )
-* @param millisec time delay value
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec);
-
-/**
-* @brief Abort the delay for a specific thread
-* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osAbortDelay(osThreadId thread_id);
-
-/**
-* @brief Lists all the current threads, along with their current state
-* and stack usage high water mark.
-* @param buffer A buffer into which the above mentioned details
-* will be written
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osThreadList (uint8_t *buffer);
-
-/**
-* @brief Receive an item from a queue without removing the item from the queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval event information that includes status code.
-*/
-osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec);
-
-/**
-* @brief Get the number of messaged stored in a queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval number of messages stored in a queue.
-*/
-uint32_t osMessageWaiting(osMessageQId queue_id);
-
-/**
-* @brief Get the available space in a message queue.
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval available space in a message queue.
-*/
-uint32_t osMessageAvailableSpace(osMessageQId queue_id);
-
-/**
-* @brief Delete a Message Queue
-* @param queue_id message queue ID obtained with \ref osMessageCreate.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osMessageDelete (osMessageQId queue_id);
-
-/**
-* @brief Create and Initialize a Recursive Mutex
-* @param mutex_def mutex definition referenced with \ref osMutex.
-* @retval mutex ID for reference by other functions or NULL in case of error..
-*/
-osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def);
-
-/**
-* @brief Release a Recursive Mutex
-* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osRecursiveMutexRelease (osMutexId mutex_id);
-
-/**
-* @brief Release a Recursive Mutex
-* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate.
-* @param millisec timeout value or 0 in case of no time-out.
-* @retval status code that indicates the execution status of the function.
-*/
-osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec);
-
-/**
-* @brief Returns the current count value of a counting semaphore
-* @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate.
-* @retval count value
-*/
-uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // _CMSIS_OS_H
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
new file mode 100644
index 0000000..3b885bb
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h
@@ -0,0 +1,837 @@
+/* --------------------------------------------------------------------------
+ * Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
+ * --------------------------------------------------------------------------
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Project: CMSIS-RTOS API
+ * Title: cmsis_os.h header file
+ *
+ * Version 0.02
+ * Initial Proposal Phase
+ * Version 0.03
+ * osKernelStart added, optional feature: main started as thread
+ * osSemaphores have standard behavior
+ * osTimerCreate does not start the timer, added osTimerStart
+ * osThreadPass is renamed to osThreadYield
+ * Version 1.01
+ * Support for C++ interface
+ * - const attribute removed from the osXxxxDef_t typedefs
+ * - const attribute added to the osXxxxDef macros
+ * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
+ * Added: osKernelInitialize
+ * Version 1.02
+ * Control functions for short timeouts in microsecond resolution:
+ * Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
+ * Removed: osSignalGet
+ * Version 2.0.0
+ * OS objects creation without macros (dynamic creation and resource allocation):
+ * - added: osXxxxNew functions which replace osXxxxCreate
+ * - added: osXxxxAttr_t structures
+ * - deprecated: osXxxxCreate functions, osXxxxDef_t structures
+ * - deprecated: osXxxxDef and osXxxx macros
+ * osStatus codes simplified and renamed to osStatus_t
+ * osEvent return structure deprecated
+ * Kernel:
+ * - added: osKernelInfo_t and osKernelGetInfo
+ * - added: osKernelState_t and osKernelGetState (replaces osKernelRunning)
+ * - added: osKernelLock, osKernelUnlock
+ * - added: osKernelSuspend, osKernelResume
+ * - added: osKernelGetTickCount, osKernelGetTickFreq
+ * - renamed osKernelSysTick to osKernelGetSysTimerCount
+ * - replaced osKernelSysTickFrequency with osKernelGetSysTimerFreq
+ * - deprecated osKernelSysTickMicroSec
+ * Thread:
+ * - extended number of thread priorities
+ * - renamed osPrioriry to osPrioriry_t
+ * - replaced osThreadCreate with osThreadNew
+ * - added: osThreadGetName
+ * - added: osThreadState_t and osThreadGetState
+ * - added: osThreadGetStackSize, osThreadGetStackSpace
+ * - added: osThreadSuspend, osThreadResume
+ * - added: osThreadJoin, osThreadDetach, osThreadExit
+ * - added: osThreadGetCount, osThreadEnumerate
+ * - added: Thread Flags (moved from Signals)
+ * Signals:
+ * - renamed osSignals to osThreadFlags (moved to Thread Flags)
+ * - changed return value of Set/Clear/Wait functions
+ * - Clear function limited to current running thread
+ * - extended Wait function (options)
+ * - added: osThreadFlagsGet
+ * Event Flags:
+ * - added new independent object for handling Event Flags
+ * Delay and Wait functions:
+ * - added: osDelayUntil
+ * - deprecated: osWait
+ * Timer:
+ * - replaced osTimerCreate with osTimerNew
+ * - added: osTimerGetName, osTimerIsRunning
+ * Mutex:
+ * - extended: attributes (Recursive, Priority Inherit, Robust)
+ * - replaced osMutexCreate with osMutexNew
+ * - renamed osMutexWait to osMutexAcquire
+ * - added: osMutexGetName, osMutexGetOwner
+ * Semaphore:
+ * - extended: maximum and initial token count
+ * - replaced osSemaphoreCreate with osSemaphoreNew
+ * - renamed osSemaphoreWait to osSemaphoreAcquire (changed return value)
+ * - added: osSemaphoreGetName, osSemaphoreGetCount
+ * Memory Pool:
+ * - using osMemoryPool prefix instead of osPool
+ * - replaced osPoolCreate with osMemoryPoolNew
+ * - extended osMemoryPoolAlloc (timeout)
+ * - added: osMemoryPoolGetName
+ * - added: osMemoryPoolGetCapacity, osMemoryPoolGetBlockSize
+ * - added: osMemoryPoolGetCount, osMemoryPoolGetSpace
+ * - added: osMemoryPoolDelete
+ * - deprecated: osPoolCAlloc
+ * Message Queue:
+ * - extended: fixed size message instead of a single 32-bit value
+ * - using osMessageQueue prefix instead of osMessage
+ * - replaced osMessageCreate with osMessageQueueNew
+ * - updated: osMessageQueuePut, osMessageQueueGet
+ * - added: osMessageQueueGetName
+ * - added: osMessageQueueGetCapacity, osMessageQueueGetMsgSize
+ * - added: osMessageQueueGetCount, osMessageQueueGetSpace
+ * - added: osMessageQueueReset, osMessageQueueDelete
+ * Mail Queue:
+ * - deprecated (superseded by extended Message Queue functionality)
+ * Version 2.1.0
+ * Support for critical and uncritical sections (nesting safe):
+ * - updated: osKernelLock, osKernelUnlock
+ * - added: osKernelRestoreLock
+ * Updated Thread and Event Flags:
+ * - changed flags parameter and return type from int32_t to uint32_t
+ *---------------------------------------------------------------------------*/
+
+#ifndef CMSIS_OS_H_
+#define CMSIS_OS_H_
+
+#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0])
+
+#define osCMSIS_FreeRTOS 0xA0001U ///< RTOS identification and version (main[31:16].sub[15:0])
+
+#define osKernelSystemId "FreeRTOS V10.0.1" ///< RTOS identification string
+
+#define osFeature_MainThread 0 ///< main thread 1=main can be thread, 0=not available
+#define osFeature_Signals 24U ///< maximum number of Signal Flags available per thread
+#define osFeature_Semaphore 65535U ///< maximum count for \ref osSemaphoreCreate function
+#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available
+#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available
+#define osFeature_Pool 0 ///< Memory Pools: 1=available, 0=not available
+#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available
+#define osFeature_MailQ 0 ///< Mail Queues: 1=available, 0=not available
+
+#if defined(__CC_ARM)
+#define os_InRegs __value_in_regs
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+#define os_InRegs __attribute__((value_in_regs))
+#else
+#define os_InRegs
+#endif
+
+#include "cmsis_os2.h"
+#include "FreeRTOS.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+// ==== Enumerations, structures, defines ====
+
+/// Priority values.
+#if (osCMSIS < 0x20000U)
+typedef enum {
+ osPriorityIdle = -3, ///< Priority: idle (lowest)
+ osPriorityLow = -2, ///< Priority: low
+ osPriorityBelowNormal = -1, ///< Priority: below normal
+ osPriorityNormal = 0, ///< Priority: normal (default)
+ osPriorityAboveNormal = +1, ///< Priority: above normal
+ osPriorityHigh = +2, ///< Priority: high
+ osPriorityRealtime = +3, ///< Priority: realtime (highest)
+ osPriorityError = 0x84, ///< System cannot determine priority or illegal priority.
+ osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
+} osPriority;
+#else
+#define osPriority osPriority_t
+#endif
+
+/// Entry point of a thread.
+typedef void (*os_pthread) (void const *argument);
+
+/// Entry point of a timer call back function.
+typedef void (*os_ptimer) (void const *argument);
+
+/// Timer type.
+#if (osCMSIS < 0x20000U)
+typedef enum {
+ osTimerOnce = 0, ///< One-shot timer.
+ osTimerPeriodic = 1 ///< Repeating timer.
+} os_timer_type;
+#else
+#define os_timer_type osTimerType_t
+#endif
+
+/// Timeout value.
+#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
+
+/// Status code values returned by CMSIS-RTOS functions.
+#if (osCMSIS < 0x20000U)
+typedef enum {
+ osOK = 0, ///< Function completed; no error or event occurred.
+ osEventSignal = 0x08, ///< Function completed; signal event occurred.
+ osEventMessage = 0x10, ///< Function completed; message event occurred.
+ osEventMail = 0x20, ///< Function completed; mail event occurred.
+ osEventTimeout = 0x40, ///< Function completed; timeout occurred.
+ osErrorParameter = 0x80, ///< Parameter error: a mandatory parameter was missing or specified an incorrect object.
+ osErrorResource = 0x81, ///< Resource not available: a specified resource was not available.
+ osErrorTimeoutResource = 0xC1, ///< Resource not available within given time: a specified resource was not available within the timeout period.
+ osErrorISR = 0x82, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
+ osErrorISRRecursive = 0x83, ///< Function called multiple times from ISR with same object.
+ osErrorPriority = 0x84, ///< System cannot determine priority or thread has illegal priority.
+ osErrorNoMemory = 0x85, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
+ osErrorValue = 0x86, ///< Value of a parameter is out of range.
+ osErrorOS = 0xFF, ///< Unspecified RTOS error: run-time error but no other error message fits.
+ osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
+} osStatus;
+#else
+typedef int32_t osStatus;
+#define osEventSignal (0x08)
+#define osEventMessage (0x10)
+#define osEventMail (0x20)
+#define osEventTimeout (0x40)
+#define osErrorOS osError
+#define osErrorTimeoutResource osErrorTimeout
+#define osErrorISRRecursive (-126)
+#define osErrorValue (-127)
+#define osErrorPriority (-128)
+#endif
+
+
+// >>> the following data type definitions may be adapted towards a specific RTOS
+
+/// Thread ID identifies the thread.
+#if (osCMSIS < 0x20000U)
+typedef void *osThreadId;
+#else
+#define osThreadId osThreadId_t
+#endif
+
+/// Timer ID identifies the timer.
+#if (osCMSIS < 0x20000U)
+typedef void *osTimerId;
+#else
+#define osTimerId osTimerId_t
+#endif
+
+/// Mutex ID identifies the mutex.
+#if (osCMSIS < 0x20000U)
+typedef void *osMutexId;
+#else
+#define osMutexId osMutexId_t
+#endif
+
+/// Semaphore ID identifies the semaphore.
+#if (osCMSIS < 0x20000U)
+typedef void *osSemaphoreId;
+#else
+#define osSemaphoreId osSemaphoreId_t
+#endif
+
+/// Pool ID identifies the memory pool.
+typedef void *osPoolId;
+
+/// Message ID identifies the message queue.
+typedef void *osMessageQId;
+
+/// Mail ID identifies the mail queue.
+typedef void *osMailQId;
+
+
+/// Thread Definition structure contains startup information of a thread.
+#if (osCMSIS < 0x20000U)
+typedef struct os_thread_def {
+ os_pthread pthread; ///< start address of thread function
+ osPriority tpriority; ///< initial thread priority
+ uint32_t instances; ///< maximum number of instances of that thread function
+ uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size
+} osThreadDef_t;
+#else
+typedef struct os_thread_def {
+ os_pthread pthread; ///< start address of thread function
+ osThreadAttr_t attr; ///< thread attributes
+} osThreadDef_t;
+#endif
+
+/// Timer Definition structure contains timer parameters.
+#if (osCMSIS < 0x20000U)
+typedef struct os_timer_def {
+ os_ptimer ptimer; ///< start address of a timer function
+} osTimerDef_t;
+#else
+typedef struct os_timer_def {
+ os_ptimer ptimer; ///< start address of a timer function
+ osTimerAttr_t attr; ///< timer attributes
+} osTimerDef_t;
+#endif
+
+/// Mutex Definition structure contains setup information for a mutex.
+#if (osCMSIS < 0x20000U)
+typedef struct os_mutex_def {
+ uint32_t dummy; ///< dummy value
+} osMutexDef_t;
+#else
+#define osMutexDef_t osMutexAttr_t
+#endif
+
+/// Semaphore Definition structure contains setup information for a semaphore.
+#if (osCMSIS < 0x20000U)
+typedef struct os_semaphore_def {
+ uint32_t dummy; ///< dummy value
+} osSemaphoreDef_t;
+#else
+#define osSemaphoreDef_t osSemaphoreAttr_t
+#endif
+
+/// Definition structure for memory block allocation.
+#if (osCMSIS < 0x20000U)
+typedef struct os_pool_def {
+ uint32_t pool_sz; ///< number of items (elements) in the pool
+ uint32_t item_sz; ///< size of an item
+ void *pool; ///< pointer to memory for pool
+} osPoolDef_t;
+#else
+typedef struct os_pool_def {
+ uint32_t pool_sz; ///< number of items (elements) in the pool
+ uint32_t item_sz; ///< size of an item
+ osMemoryPoolAttr_t attr; ///< memory pool attributes
+} osPoolDef_t;
+#endif
+
+/// Definition structure for message queue.
+#if (osCMSIS < 0x20000U)
+typedef struct os_messageQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ void *pool; ///< memory array for messages
+} osMessageQDef_t;
+#else
+typedef struct os_messageQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ osMessageQueueAttr_t attr; ///< message queue attributes
+} osMessageQDef_t;
+#endif
+
+/// Definition structure for mail queue.
+#if (osCMSIS < 0x20000U)
+typedef struct os_mailQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ uint32_t item_sz; ///< size of an item
+ void *pool; ///< memory array for mail
+} osMailQDef_t;
+#else
+typedef struct os_mailQ_def {
+ uint32_t queue_sz; ///< number of elements in the queue
+ uint32_t item_sz; ///< size of an item
+ void *mail; ///< pointer to mail
+ osMemoryPoolAttr_t mp_attr; ///< memory pool attributes
+ osMessageQueueAttr_t mq_attr; ///< message queue attributes
+} osMailQDef_t;
+#endif
+
+
+/// Event structure contains detailed information about an event.
+typedef struct {
+ osStatus status; ///< status code: event or error information
+ union {
+ uint32_t v; ///< message as 32-bit value
+ void *p; ///< message or mail as void pointer
+ int32_t signals; ///< signal flags
+ } value; ///< event value
+ union {
+ osMailQId mail_id; ///< mail id obtained by \ref osMailCreate
+ osMessageQId message_id; ///< message id obtained by \ref osMessageCreate
+ } def; ///< event definition
+} osEvent;
+
+
+// ==== Kernel Management Functions ====
+
+/// Initialize the RTOS Kernel for creating objects.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osKernelInitialize (void);
+#endif
+
+/// Start the RTOS Kernel scheduler.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osKernelStart (void);
+#endif
+
+/// Check if the RTOS kernel is already started.
+/// \return 0 RTOS is not started, 1 RTOS is started.
+#if (osCMSIS < 0x20000U)
+int32_t osKernelRunning(void);
+#endif
+
+#if (defined(osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available
+
+/// Get the RTOS kernel system timer counter.
+/// \return RTOS kernel system timer as 32-bit value
+#if (osCMSIS < 0x20000U)
+uint32_t osKernelSysTick (void);
+#else
+#define osKernelSysTick osKernelGetSysTimerCount
+#endif
+
+/// The RTOS kernel system timer frequency in Hz.
+/// \note Reflects the system timer setting and is typically defined in a configuration file.
+#if (osCMSIS < 0x20000U)
+#define osKernelSysTickFrequency 100000000
+#endif
+
+/// Convert a microseconds value to a RTOS kernel system timer value.
+/// \param microsec time value in microseconds.
+/// \return time value normalized to the \ref osKernelSysTickFrequency
+#if (osCMSIS < 0x20000U)
+#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
+#else
+#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * osKernelGetSysTimerFreq()) / 1000000)
+#endif
+
+#endif // System Timer available
+
+
+// ==== Thread Management Functions ====
+
+/// Create a Thread Definition with function, priority, and stack requirements.
+/// \param name name of the thread function.
+/// \param priority initial priority of the thread function.
+/// \param instances number of possible thread instances (used to statically allocate memory).
+/// \param stacksz stack size (in bytes) requirements for the thread function.
+#if defined (osObjectsExternal) // object is external
+#define osThreadDef(name, priority, instances, stacksz) \
+extern const osThreadDef_t os_thread_def_##name
+#else // define the object
+#define osThreadDef(name, priority, instances, stacksz) \
+static uint32_t os_thread_stack##name[(stacksz)?(((stacksz+3)/4)):1]; \
+static StaticTask_t os_thread_cb_##name; \
+const osThreadDef_t os_thread_def_##name = \
+{ (name), \
+ { NULL, osThreadDetached, \
+ (instances == 1) ? (&os_thread_cb_##name) : NULL,\
+ (instances == 1) ? sizeof(StaticTask_t) : 0U, \
+ ((stacksz) && (instances == 1)) ? (&os_thread_stack##name) : NULL, \
+ 4*((stacksz+3)/4), \
+ (priority), 0U, 0U } }
+#endif
+
+/// Access a Thread definition.
+/// \param name name of the thread definition object.
+#define osThread(name) \
+&os_thread_def_##name
+
+/// Create a thread and add it to Active Threads and set it to state READY.
+/// \param[in] thread_def thread definition referenced with \ref osThread.
+/// \param[in] argument pointer that is passed to the thread function as start argument.
+/// \return thread ID for reference by other functions or NULL in case of error.
+osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
+
+/// Return the thread ID of the current running thread.
+/// \return thread ID for reference by other functions or NULL in case of error.
+#if (osCMSIS < 0x20000U)
+osThreadId osThreadGetId (void);
+#endif
+
+/// Change priority of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in] priority new priority value for the thread function.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
+#endif
+
+/// Get current priority of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return current priority value of the specified thread.
+#if (osCMSIS < 0x20000U)
+osPriority osThreadGetPriority (osThreadId thread_id);
+#endif
+
+/// Pass control to next thread that is in state \b READY.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osThreadYield (void);
+#endif
+
+/// Terminate execution of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osThreadTerminate (osThreadId thread_id);
+#endif
+
+
+// ==== Signal Management ====
+
+/// Set the specified Signal Flags of an active thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in] signals specifies the signal flags of the thread that should be set.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+int32_t osSignalSet (osThreadId thread_id, int32_t signals);
+
+/// Clear the specified Signal Flags of an active thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
+/// \param[in] signals specifies the signal flags of the thread that shall be cleared.
+/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.
+int32_t osSignalClear (osThreadId thread_id, int32_t signals);
+
+/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
+/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return event flag information or error code.
+os_InRegs osEvent osSignalWait (int32_t signals, uint32_t millisec);
+
+
+// ==== Generic Wait Functions ====
+
+/// Wait for Timeout (Time Delay).
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osDelay (uint32_t millisec);
+#endif
+
+#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available
+
+/// Wait for Signal, Message, Mail, or Timeout.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
+/// \return event that contains signal, message, or mail information or error code.
+os_InRegs osEvent osWait (uint32_t millisec);
+
+#endif // Generic Wait available
+
+
+// ==== Timer Management Functions ====
+
+/// Define a Timer object.
+/// \param name name of the timer object.
+/// \param function name of the timer call back function.
+#if defined (osObjectsExternal) // object is external
+#define osTimerDef(name, function) \
+extern const osTimerDef_t os_timer_def_##name
+#else // define the object
+#define osTimerDef(name, function) \
+static StaticTimer_t os_timer_cb_##name; \
+const osTimerDef_t os_timer_def_##name = \
+{ (function), { NULL, 0U, (&os_timer_cb_##name), sizeof(StaticTimer_t) } }
+#endif
+
+/// Access a Timer definition.
+/// \param name name of the timer object.
+#define osTimer(name) \
+&os_timer_def_##name
+
+/// Create and Initialize a timer.
+/// \param[in] timer_def timer object referenced with \ref osTimer.
+/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
+/// \param[in] argument argument to the timer call back function.
+/// \return timer ID for reference by other functions or NULL in case of error.
+osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
+
+/// Start or restart a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
+#endif
+
+/// Stop a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osTimerStop (osTimerId timer_id);
+#endif
+
+/// Delete a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osTimerDelete (osTimerId timer_id);
+#endif
+
+
+// ==== Mutex Management Functions ====
+
+/// Define a Mutex.
+/// \param name name of the mutex object.
+#if defined (osObjectsExternal) // object is external
+#define osMutexDef(name) \
+extern const osMutexDef_t os_mutex_def_##name
+#else // define the object
+#define osMutexDef(name) \
+static StaticSemaphore_t os_mutex_cb_##name; \
+const osMutexDef_t os_mutex_def_##name = \
+{ NULL, osMutexRecursive | osMutexPrioInherit, (&os_mutex_cb_##name), sizeof(StaticSemaphore_t) }
+#endif
+
+/// Access a Mutex definition.
+/// \param name name of the mutex object.
+#define osMutex(name) \
+&os_mutex_def_##name
+
+/// Create and Initialize a Mutex object.
+/// \param[in] mutex_def mutex definition referenced with \ref osMutex.
+/// \return mutex ID for reference by other functions or NULL in case of error.
+osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
+
+/// Wait until a Mutex becomes available.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
+#else
+#define osMutexWait osMutexAcquire
+#endif
+
+/// Release a Mutex that was obtained by \ref osMutexWait.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osMutexRelease (osMutexId mutex_id);
+#endif
+
+/// Delete a Mutex object.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osMutexDelete (osMutexId mutex_id);
+#endif
+
+
+// ==== Semaphore Management Functions ====
+
+#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0U)) // Semaphore available
+
+/// Define a Semaphore object.
+/// \param name name of the semaphore object.
+#if defined (osObjectsExternal) // object is external
+#define osSemaphoreDef(name) \
+extern const osSemaphoreDef_t os_semaphore_def_##name
+#else // define the object
+#define osSemaphoreDef(name) \
+static StaticSemaphore_t os_semaphore_cb_##name; \
+const osSemaphoreDef_t os_semaphore_def_##name = \
+{ NULL, 0U, (&os_semaphore_cb_##name), sizeof(StaticSemaphore_t) }
+#endif
+
+/// Access a Semaphore definition.
+/// \param name name of the semaphore object.
+#define osSemaphore(name) \
+&os_semaphore_def_##name
+
+/// Create and Initialize a Semaphore object.
+/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore.
+/// \param[in] count maximum and initial number of available tokens.
+/// \return semaphore ID for reference by other functions or NULL in case of error.
+osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
+
+/// Wait until a Semaphore token becomes available.
+/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return number of available tokens, or -1 in case of incorrect parameters.
+int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
+
+/// Release a Semaphore token.
+/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
+#endif
+
+/// Delete a Semaphore object.
+/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate.
+/// \return status code that indicates the execution status of the function.
+#if (osCMSIS < 0x20000U)
+osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
+#endif
+
+#endif // Semaphore available
+
+
+// ==== Memory Pool Management Functions ====
+
+#if (defined(osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool available
+
+/// \brief Define a Memory Pool.
+/// \param name name of the memory pool.
+/// \param no maximum number of blocks (objects) in the memory pool.
+/// \param type data type of a single block (object).
+#if defined (osObjectsExternal) // object is external
+#define osPoolDef(name, no, type) \
+extern const osPoolDef_t os_pool_def_##name
+#else // define the object
+#define osPoolDef(name, no, type) \
+const osPoolDef_t os_pool_def_##name = \
+{ (no), sizeof(type), NULL }
+#endif
+
+/// \brief Access a Memory Pool definition.
+/// \param name name of the memory pool
+#define osPool(name) \
+&os_pool_def_##name
+
+/// Create and Initialize a Memory Pool object.
+/// \param[in] pool_def memory pool definition referenced with \ref osPool.
+/// \return memory pool ID for reference by other functions or NULL in case of error.
+osPoolId osPoolCreate (const osPoolDef_t *pool_def);
+
+/// Allocate a memory block from a Memory Pool.
+/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+void *osPoolAlloc (osPoolId pool_id);
+
+/// Allocate a memory block from a Memory Pool and set memory block to zero.
+/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
+/// \return address of the allocated memory block or NULL in case of no memory available.
+void *osPoolCAlloc (osPoolId pool_id);
+
+/// Return an allocated memory block back to a Memory Pool.
+/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate.
+/// \param[in] block address of the allocated memory block to be returned to the memory pool.
+/// \return status code that indicates the execution status of the function.
+osStatus osPoolFree (osPoolId pool_id, void *block);
+
+#endif // Memory Pool available
+
+
+// ==== Message Queue Management Functions ====
+
+#if (defined(osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queue available
+
+/// \brief Create a Message Queue Definition.
+/// \param name name of the queue.
+/// \param queue_sz maximum number of messages in the queue.
+/// \param type data type of a single message element (for debugger).
+#if defined (osObjectsExternal) // object is external
+#define osMessageQDef(name, queue_sz, type) \
+extern const osMessageQDef_t os_messageQ_def_##name
+#else // define the object
+#define osMessageQDef(name, queue_sz, type) \
+static StaticQueue_t os_mq_cb_##name; \
+static uint32_t os_mq_data_##name[(queue_sz) * sizeof(type)]; \
+const osMessageQDef_t os_messageQ_def_##name = \
+{ (queue_sz), \
+ { NULL, 0U, (&os_mq_cb_##name), sizeof(StaticQueue_t), \
+ (&os_mq_data_##name), sizeof(os_mq_data_##name) } }
+#endif
+
+/// \brief Access a Message Queue Definition.
+/// \param name name of the queue
+#define osMessageQ(name) \
+&os_messageQ_def_##name
+
+/// Create and Initialize a Message Queue object.
+/// \param[in] queue_def message queue definition referenced with \ref osMessageQ.
+/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return message queue ID for reference by other functions or NULL in case of error.
+osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
+
+/// Put a Message to a Queue.
+/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
+/// \param[in] info message information.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
+
+/// Get a Message from a Queue or timeout if Queue is empty.
+/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return event information that includes status code.
+os_InRegs osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
+
+#endif // Message Queue available
+
+
+// ==== Mail Queue Management Functions ====
+
+#if (defined(osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queue available
+
+/// \brief Create a Mail Queue Definition.
+/// \param name name of the queue.
+/// \param queue_sz maximum number of mails in the queue.
+/// \param type data type of a single mail element.
+#if defined (osObjectsExternal) // object is external
+#define osMailQDef(name, queue_sz, type) \
+extern const osMailQDef_t os_mailQ_def_##name
+#else // define the object
+#define osMailQDef(name, queue_sz, type) \
+const osMailQDef_t os_mailQ_def_##name = \
+{ (queue_sz), sizeof(type), NULL }
+#endif
+
+/// \brief Access a Mail Queue Definition.
+/// \param name name of the queue
+#define osMailQ(name) \
+&os_mailQ_def_##name
+
+/// Create and Initialize a Mail Queue object.
+/// \param[in] queue_def mail queue definition referenced with \ref osMailQ.
+/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
+/// \return mail queue ID for reference by other functions or NULL in case of error.
+osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
+
+/// Allocate a memory block for mail from a mail memory pool.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Allocate a memory block for mail from a mail memory pool and set memory block to zero.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
+/// \return pointer to memory block that can be filled with mail or NULL in case of error.
+void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
+
+/// Put a Mail into a Queue.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] mail pointer to memory with mail to put into a queue.
+/// \return status code that indicates the execution status of the function.
+osStatus osMailPut (osMailQId queue_id, const void *mail);
+
+/// Get a Mail from a Queue or timeout if Queue is empty.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] millisec \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return event information that includes status code.
+os_InRegs osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
+
+/// Free a memory block by returning it to a mail memory pool.
+/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate.
+/// \param[in] mail pointer to memory block that was obtained with \ref osMailGet.
+/// \return status code that indicates the execution status of the function.
+osStatus osMailFree (osMailQId queue_id, void *mail);
+
+#endif // Mail Queue available
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CMSIS_OS_H_
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
new file mode 100644
index 0000000..b65b3a0
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
@@ -0,0 +1,1871 @@
+/* --------------------------------------------------------------------------
+ * Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
+ * --------------------------------------------------------------------------
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Name: cmsis_os2.c
+ * Purpose: CMSIS RTOS2 wrapper for FreeRTOS
+ *
+ *---------------------------------------------------------------------------*/
+
+#include
+
+#include "cmsis_os2.h" // ::CMSIS:RTOS2
+#include "cmsis_compiler.h"
+
+#include "FreeRTOS.h" // ARM.FreeRTOS::RTOS:Core
+#include "task.h" // ARM.FreeRTOS::RTOS:Core
+#include "event_groups.h" // ARM.FreeRTOS::RTOS:Event Groups
+#include "semphr.h" // ARM.FreeRTOS::RTOS:Core
+
+/*---------------------------------------------------------------------------*/
+#ifndef __ARM_ARCH_6M__
+ #define __ARM_ARCH_6M__ 0
+#endif
+#ifndef __ARM_ARCH_7M__
+ #define __ARM_ARCH_7M__ 0
+#endif
+#ifndef __ARM_ARCH_7EM__
+ #define __ARM_ARCH_7EM__ 0
+#endif
+#ifndef __ARM_ARCH_8M_MAIN__
+ #define __ARM_ARCH_8M_MAIN__ 0
+#endif
+#ifndef __ARM_ARCH_7A__
+ #define __ARM_ARCH_7A__ 0
+#endif
+
+#if ((__ARM_ARCH_7M__ == 1U) || \
+ (__ARM_ARCH_7EM__ == 1U) || \
+ (__ARM_ARCH_8M_MAIN__ == 1U))
+#define IS_IRQ_MASKED() ((__get_PRIMASK() != 0U) || ((KernelState == osKernelRunning) && (__get_BASEPRI() != 0U)))
+#elif (__ARM_ARCH_6M__ == 1U)
+#define IS_IRQ_MASKED() ((__get_PRIMASK() != 0U) && (KernelState == osKernelRunning))
+#elif (__ARM_ARCH_7A__ == 1)
+#define IS_IRQ_MASKED() (0U)
+#else
+#define IS_IRQ_MASKED() (__get_PRIMASK() != 0U)
+#endif
+
+#if (__ARM_ARCH_7A__ == 1U)
+/* CPSR mode bitmasks */
+#define CPSR_MODE_USER 0x10U
+#define CPSR_MODE_SYSTEM 0x1FU
+
+#define IS_IRQ_MODE() ((__get_mode() != CPSR_MODE_USER) && (__get_mode() != CPSR_MODE_SYSTEM))
+#else
+#define IS_IRQ_MODE() (__get_IPSR() != 0U)
+#endif
+
+#define IS_IRQ() (IS_IRQ_MODE() || IS_IRQ_MASKED())
+
+/* Limits */
+#define MAX_BITS_TASK_NOTIFY 31U
+#define MAX_BITS_EVENT_GROUPS 24U
+
+#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U))
+#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U))
+
+/* Kernel version and identification string definition */
+#define KERNEL_VERSION (((uint32_t)tskKERNEL_VERSION_MAJOR * 10000000UL) | \
+ ((uint32_t)tskKERNEL_VERSION_MINOR * 10000UL) | \
+ ((uint32_t)tskKERNEL_VERSION_BUILD * 1UL))
+
+#define KERNEL_ID "FreeRTOS V10.0.1"
+
+/* Timer callback information structure definition */
+typedef struct {
+ osTimerFunc_t func;
+ void *arg;
+} TimerCallback_t;
+
+/* Kernel initialization state */
+static osKernelState_t KernelState;
+
+/* Heap region definition used by heap_5 variant */
+#if defined(USE_FreeRTOS_HEAP_5)
+#if (configAPPLICATION_ALLOCATED_HEAP == 1)
+/*
+ The application writer has already defined the array used for the RTOS
+ heap - probably so it can be placed in a special segment or address.
+*/
+ extern uint8_t ucHeap[configTOTAL_HEAP_SIZE];
+#else
+ static uint8_t ucHeap[configTOTAL_HEAP_SIZE];
+#endif /* configAPPLICATION_ALLOCATED_HEAP */
+
+static HeapRegion_t xHeapRegions[] = {
+ { ucHeap, configTOTAL_HEAP_SIZE },
+ { NULL, 0 }
+};
+#endif /* USE_FreeRTOS_HEAP_5 */
+
+#if defined(SysTick)
+/* FreeRTOS tick timer interrupt handler prototype */
+extern void xPortSysTickHandler (void);
+
+/*
+ SysTick handler implementation that also clears overflow flag.
+*/
+void SysTick_Handler (void) {
+ /* Clear overflow flag */
+ SysTick->CTRL;
+
+ /* Call tick handler */
+ xPortSysTickHandler();
+}
+#endif /* SysTick */
+
+/*---------------------------------------------------------------------------*/
+
+osStatus_t osKernelInitialize (void) {
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else {
+ if (KernelState == osKernelInactive) {
+ #if defined(USE_FreeRTOS_HEAP_5)
+ vPortDefineHeapRegions (xHeapRegions);
+ #endif
+ KernelState = osKernelReady;
+ stat = osOK;
+ } else {
+ stat = osError;
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
+
+ if (version != NULL) {
+ version->api = KERNEL_VERSION;
+ version->kernel = KERNEL_VERSION;
+ }
+
+ if ((id_buf != NULL) && (id_size != 0U)) {
+ if (id_size > sizeof(KERNEL_ID)) {
+ id_size = sizeof(KERNEL_ID);
+ }
+ memcpy(id_buf, KERNEL_ID, id_size);
+ }
+
+ return (osOK);
+}
+
+osKernelState_t osKernelGetState (void) {
+ osKernelState_t state;
+
+ switch (xTaskGetSchedulerState()) {
+ case taskSCHEDULER_RUNNING:
+ state = osKernelRunning;
+ break;
+
+ case taskSCHEDULER_SUSPENDED:
+ state = osKernelLocked;
+ break;
+
+ case taskSCHEDULER_NOT_STARTED:
+ default:
+ if (KernelState == osKernelReady) {
+ state = osKernelReady;
+ } else {
+ state = osKernelInactive;
+ }
+ break;
+ }
+
+ return (state);
+}
+
+osStatus_t osKernelStart (void) {
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else {
+ if (KernelState == osKernelReady) {
+ KernelState = osKernelRunning;
+ vTaskStartScheduler();
+ stat = osOK;
+ } else {
+ stat = osError;
+ }
+ }
+
+ return (stat);
+}
+
+int32_t osKernelLock (void) {
+ int32_t lock;
+
+ if (IS_IRQ()) {
+ lock = (int32_t)osErrorISR;
+ }
+ else {
+ switch (xTaskGetSchedulerState()) {
+ case taskSCHEDULER_SUSPENDED:
+ lock = 1;
+ break;
+
+ case taskSCHEDULER_RUNNING:
+ vTaskSuspendAll();
+ lock = 0;
+ break;
+
+ case taskSCHEDULER_NOT_STARTED:
+ default:
+ lock = (int32_t)osError;
+ break;
+ }
+ }
+
+ return (lock);
+}
+
+int32_t osKernelUnlock (void) {
+ int32_t lock;
+
+ if (IS_IRQ()) {
+ lock = (int32_t)osErrorISR;
+ }
+ else {
+ switch (xTaskGetSchedulerState()) {
+ case taskSCHEDULER_SUSPENDED:
+ lock = 1;
+
+ if (xTaskResumeAll() != pdTRUE) {
+ if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) {
+ lock = (int32_t)osError;
+ }
+ }
+ break;
+
+ case taskSCHEDULER_RUNNING:
+ lock = 0;
+ break;
+
+ case taskSCHEDULER_NOT_STARTED:
+ default:
+ lock = (int32_t)osError;
+ break;
+ }
+ }
+
+ return (lock);
+}
+
+int32_t osKernelRestoreLock (int32_t lock) {
+
+ if (IS_IRQ()) {
+ lock = (int32_t)osErrorISR;
+ }
+ else {
+ switch (xTaskGetSchedulerState()) {
+ case taskSCHEDULER_SUSPENDED:
+ case taskSCHEDULER_RUNNING:
+ if (lock == 1) {
+ vTaskSuspendAll();
+ }
+ else {
+ if (lock != 0) {
+ lock = (int32_t)osError;
+ }
+ else {
+ if (xTaskResumeAll() != pdTRUE) {
+ if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
+ lock = (int32_t)osError;
+ }
+ }
+ }
+ }
+ break;
+
+ case taskSCHEDULER_NOT_STARTED:
+ default:
+ lock = (int32_t)osError;
+ break;
+ }
+ }
+
+ return (lock);
+}
+
+uint32_t osKernelGetTickCount (void) {
+ TickType_t ticks;
+
+ if (IS_IRQ()) {
+ ticks = xTaskGetTickCountFromISR();
+ } else {
+ ticks = xTaskGetTickCount();
+ }
+
+ return (ticks);
+}
+
+uint32_t osKernelGetTickFreq (void) {
+ return (configTICK_RATE_HZ);
+}
+
+uint32_t osKernelGetSysTimerCount (void) {
+ TickType_t ticks;
+ uint32_t val;
+
+ portDISABLE_INTERRUPTS();
+
+ ticks = xTaskGetTickCount();
+
+ val = ticks * ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
+ portENABLE_INTERRUPTS();
+
+ return (val);
+}
+
+uint32_t osKernelGetSysTimerFreq (void) {
+ return (configCPU_CLOCK_HZ);
+}
+
+/*---------------------------------------------------------------------------*/
+
+osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr) {
+ char empty;
+ const char *name;
+ uint32_t stack;
+ TaskHandle_t hTask;
+ UBaseType_t prio;
+ int32_t mem;
+
+ hTask = NULL;
+
+ if (!IS_IRQ() && (func != NULL)) {
+ stack = configMINIMAL_STACK_SIZE;
+ prio = (UBaseType_t)osPriorityNormal;
+
+ empty = '\0';
+ name = ∅
+ mem = -1;
+
+ if (attr != NULL) {
+ if (attr->name != NULL) {
+ name = attr->name;
+ }
+ if (attr->priority != osPriorityNone) {
+ prio = (UBaseType_t)attr->priority;
+ }
+
+ if ((prio < osPriorityIdle) || (prio > osPriorityISR) || ((attr->attr_bits & osThreadJoinable) == osThreadJoinable)) {
+ return (NULL);
+ }
+
+ if (attr->stack_size > 0U) {
+ /* In FreeRTOS stack is not in bytes, but in sizeof(StackType_t) which is 4 on ARM ports. */
+ /* Stack size should be therefore 4 byte aligned in order to avoid division caused side effects */
+ stack = attr->stack_size / sizeof(StackType_t);
+ }
+
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTask_t)) &&
+ (attr->stack_mem != NULL) && (attr->stack_size > 0U)) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) && (attr->stack_mem == NULL)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem == 1) {
+ hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t *)attr->stack_mem,
+ (StaticTask_t *)attr->cb_mem);
+ }
+ else {
+ if (mem == 0) {
+ if (xTaskCreate ((TaskFunction_t)func, name, (uint16_t)stack, argument, prio, &hTask) != pdPASS) {
+ hTask = NULL;
+ }
+ }
+ }
+ }
+
+ return ((osThreadId_t)hTask);
+}
+
+const char *osThreadGetName (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ const char *name;
+
+ if (IS_IRQ() || (hTask == NULL)) {
+ name = NULL;
+ } else {
+ name = pcTaskGetName (hTask);
+ }
+
+ return (name);
+}
+
+osThreadId_t osThreadGetId (void) {
+ osThreadId_t id;
+
+ if (IS_IRQ()) {
+ id = NULL;
+ } else {
+ id = (osThreadId_t)xTaskGetCurrentTaskHandle();
+ }
+
+ return (id);
+}
+
+osThreadState_t osThreadGetState (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osThreadState_t state;
+
+ if (IS_IRQ() || (hTask == NULL)) {
+ state = osThreadError;
+ }
+ else {
+ switch (eTaskGetState (hTask)) {
+ case eRunning: state = osThreadRunning; break;
+ case eReady: state = osThreadReady; break;
+ case eBlocked:
+ case eSuspended: state = osThreadBlocked; break;
+ case eDeleted: state = osThreadTerminated; break;
+ case eInvalid:
+ default: state = osThreadError; break;
+ }
+ }
+
+ return (state);
+}
+
+uint32_t osThreadGetStackSpace (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ uint32_t sz;
+
+ if (IS_IRQ() || (hTask == NULL)) {
+ sz = 0U;
+ } else {
+ sz = (uint32_t)uxTaskGetStackHighWaterMark (hTask);
+ }
+
+ return (sz);
+}
+
+uint32_t osThreadGetStackSize (osThreadId_t thread_id) {
+ /*
+ * this implmentation is not correct.
+ * this function is implmented to avoid link errors (undefined reference)
+ * Bug reported : https://github.com/ARM-software/CMSIS-FreeRTOS/issues/14
+ */
+ (void) thread_id;
+ return 0;
+}
+
+osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if ((hTask == NULL) || (priority < osPriorityIdle) || (priority > osPriorityISR)) {
+ stat = osErrorParameter;
+ }
+ else {
+ stat = osOK;
+ vTaskPrioritySet (hTask, (UBaseType_t)priority);
+ }
+
+ return (stat);
+}
+
+osPriority_t osThreadGetPriority (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osPriority_t prio;
+
+ if (IS_IRQ() || (hTask == NULL)) {
+ prio = osPriorityError;
+ } else {
+ prio = (osPriority_t)uxTaskPriorityGet (hTask);
+ }
+
+ return (prio);
+}
+
+osStatus_t osThreadYield (void) {
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ } else {
+ stat = osOK;
+ taskYIELD();
+ }
+
+ return (stat);
+}
+
+osStatus_t osThreadSuspend (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTask == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ stat = osOK;
+ vTaskSuspend (hTask);
+ }
+
+ return (stat);
+}
+
+osStatus_t osThreadResume (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTask == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ stat = osOK;
+ vTaskResume (hTask);
+ }
+
+ return (stat);
+}
+
+__NO_RETURN void osThreadExit (void) {
+#ifndef USE_FreeRTOS_HEAP_1
+ vTaskDelete (NULL);
+#endif
+ for (;;);
+}
+
+osStatus_t osThreadTerminate (osThreadId_t thread_id) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ osStatus_t stat;
+#ifndef USE_FreeRTOS_HEAP_1
+ eTaskState tstate;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTask == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ tstate = eTaskGetState (hTask);
+
+ if (tstate != eDeleted) {
+ stat = osOK;
+ vTaskDelete (hTask);
+ } else {
+ stat = osErrorResource;
+ }
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+uint32_t osThreadGetCount (void) {
+ uint32_t count;
+
+ if (IS_IRQ()) {
+ count = 0U;
+ } else {
+ count = uxTaskGetNumberOfTasks();
+ }
+
+ return (count);
+}
+
+uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
+ uint32_t i, count;
+ TaskStatus_t *task;
+
+ if (IS_IRQ() || (thread_array == NULL) || (array_items == 0U)) {
+ count = 0U;
+ } else {
+ vTaskSuspendAll();
+
+ count = uxTaskGetNumberOfTasks();
+ task = pvPortMalloc (count * sizeof(TaskStatus_t));
+
+ if (task != NULL) {
+ count = uxTaskGetSystemState (task, count, NULL);
+
+ for (i = 0U; (i < count) && (i < array_items); i++) {
+ thread_array[i] = (osThreadId_t)task[i].xHandle;
+ }
+ count = i;
+ }
+ (void)xTaskResumeAll();
+
+ vPortFree (task);
+ }
+
+ return (count);
+}
+
+uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) {
+ TaskHandle_t hTask = (TaskHandle_t)thread_id;
+ uint32_t rflags;
+ BaseType_t yield;
+
+ if ((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else {
+ rflags = (uint32_t)osError;
+
+ if (IS_IRQ()) {
+ yield = pdFALSE;
+
+ (void)xTaskNotifyFromISR (hTask, flags, eSetBits, &yield);
+ (void)xTaskNotifyAndQueryFromISR (hTask, 0, eNoAction, &rflags, NULL);
+
+ portYIELD_FROM_ISR (yield);
+ }
+ else {
+ (void)xTaskNotify (hTask, flags, eSetBits);
+ (void)xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags);
+ }
+ }
+ /* Return flags after setting */
+ return (rflags);
+}
+
+uint32_t osThreadFlagsClear (uint32_t flags) {
+ TaskHandle_t hTask;
+ uint32_t rflags, cflags;
+
+ if (IS_IRQ()) {
+ rflags = (uint32_t)osErrorISR;
+ }
+ else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else {
+ hTask = xTaskGetCurrentTaskHandle();
+
+ if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &cflags) == pdPASS) {
+ rflags = cflags;
+ cflags &= ~flags;
+
+ if (xTaskNotify (hTask, cflags, eSetValueWithOverwrite) != pdPASS) {
+ rflags = (uint32_t)osError;
+ }
+ }
+ else {
+ rflags = (uint32_t)osError;
+ }
+ }
+
+ /* Return flags before clearing */
+ return (rflags);
+}
+
+uint32_t osThreadFlagsGet (void) {
+ TaskHandle_t hTask;
+ uint32_t rflags;
+
+ if (IS_IRQ()) {
+ rflags = (uint32_t)osErrorISR;
+ }
+ else {
+ hTask = xTaskGetCurrentTaskHandle();
+
+ if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags) != pdPASS) {
+ rflags = (uint32_t)osError;
+ }
+ }
+
+ return (rflags);
+}
+
+uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout) {
+ uint32_t rflags, nval;
+ uint32_t clear;
+ TickType_t t0, td, tout;
+ BaseType_t rval;
+
+ if (IS_IRQ()) {
+ rflags = (uint32_t)osErrorISR;
+ }
+ else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else {
+ if ((options & osFlagsNoClear) == osFlagsNoClear) {
+ clear = 0U;
+ } else {
+ clear = flags;
+ }
+
+ rflags = 0U;
+ tout = timeout;
+
+ t0 = xTaskGetTickCount();
+ do {
+ rval = xTaskNotifyWait (0, clear, &nval, tout);
+
+ if (rval == pdPASS) {
+ rflags &= flags;
+ rflags |= nval;
+
+ if ((options & osFlagsWaitAll) == osFlagsWaitAll) {
+ if ((flags & rflags) == flags) {
+ break;
+ } else {
+ if (timeout == 0U) {
+ rflags = (uint32_t)osErrorResource;
+ break;
+ }
+ }
+ }
+ else {
+ if ((flags & rflags) != 0) {
+ break;
+ } else {
+ if (timeout == 0U) {
+ rflags = (uint32_t)osErrorResource;
+ break;
+ }
+ }
+ }
+
+ /* Update timeout */
+ td = xTaskGetTickCount() - t0;
+
+ if (td > tout) {
+ tout = 0;
+ } else {
+ tout -= td;
+ }
+ }
+ else {
+ if (timeout == 0) {
+ rflags = (uint32_t)osErrorResource;
+ } else {
+ rflags = (uint32_t)osErrorTimeout;
+ }
+ }
+ }
+ while (rval != pdFAIL);
+ }
+
+ /* Return flags before clearing */
+ return (rflags);
+}
+
+osStatus_t osDelay (uint32_t ticks) {
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else {
+ stat = osOK;
+
+ if (ticks != 0U) {
+ vTaskDelay(ticks);
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osDelayUntil (uint32_t ticks) {
+ TickType_t tcnt;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else {
+ stat = osOK;
+ tcnt = xTaskGetTickCount();
+
+ vTaskDelayUntil (&tcnt, (TickType_t)(ticks - tcnt));
+ }
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+static void TimerCallback (TimerHandle_t hTimer) {
+ TimerCallback_t *callb;
+
+ callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
+
+ if (callb != NULL) {
+ callb->func (callb->arg);
+ }
+}
+
+osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr) {
+ const char *name;
+ TimerHandle_t hTimer;
+ TimerCallback_t *callb;
+ UBaseType_t reload;
+ int32_t mem;
+
+ hTimer = NULL;
+
+ if (!IS_IRQ() && (func != NULL)) {
+ /* Allocate memory to store callback function and argument */
+ callb = pvPortMalloc (sizeof(TimerCallback_t));
+
+ if (callb != NULL) {
+ callb->func = func;
+ callb->arg = argument;
+
+ if (type == osTimerOnce) {
+ reload = pdFALSE;
+ } else {
+ reload = pdTRUE;
+ }
+
+ mem = -1;
+ name = NULL;
+
+ if (attr != NULL) {
+ if (attr->name != NULL) {
+ name = attr->name;
+ }
+
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTimer_t))) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem == 1) {
+ hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem);
+ }
+ else {
+ if (mem == 0) {
+ hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback);
+ }
+ }
+ }
+ }
+
+ return ((osTimerId_t)hTimer);
+}
+
+const char *osTimerGetName (osTimerId_t timer_id) {
+ TimerHandle_t hTimer = (TimerHandle_t)timer_id;
+ const char *p;
+
+ if (IS_IRQ() || (hTimer == NULL)) {
+ p = NULL;
+ } else {
+ p = pcTimerGetName (hTimer);
+ }
+
+ return (p);
+}
+
+osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks) {
+ TimerHandle_t hTimer = (TimerHandle_t)timer_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTimer == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (xTimerChangePeriod (hTimer, ticks, 0) == pdPASS) {
+ stat = osOK;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osTimerStop (osTimerId_t timer_id) {
+ TimerHandle_t hTimer = (TimerHandle_t)timer_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTimer == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (xTimerIsTimerActive (hTimer) == pdFALSE) {
+ stat = osErrorResource;
+ }
+ else {
+ if (xTimerStop (hTimer, 0) == pdPASS) {
+ stat = osOK;
+ } else {
+ stat = osError;
+ }
+ }
+ }
+
+ return (stat);
+}
+
+uint32_t osTimerIsRunning (osTimerId_t timer_id) {
+ TimerHandle_t hTimer = (TimerHandle_t)timer_id;
+ uint32_t running;
+
+ if (IS_IRQ() || (hTimer == NULL)) {
+ running = 0U;
+ } else {
+ running = (uint32_t)xTimerIsTimerActive (hTimer);
+ }
+
+ return (running);
+}
+
+osStatus_t osTimerDelete (osTimerId_t timer_id) {
+ TimerHandle_t hTimer = (TimerHandle_t)timer_id;
+ osStatus_t stat;
+#ifndef USE_FreeRTOS_HEAP_1
+ TimerCallback_t *callb;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hTimer == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer);
+
+ if (xTimerDelete (hTimer, 0) == pdPASS) {
+ vPortFree (callb);
+ stat = osOK;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr) {
+ EventGroupHandle_t hEventGroup;
+ int32_t mem;
+
+ hEventGroup = NULL;
+
+ if (!IS_IRQ()) {
+ mem = -1;
+
+ if (attr != NULL) {
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticEventGroup_t))) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem == 1) {
+ hEventGroup = xEventGroupCreateStatic (attr->cb_mem);
+ }
+ else {
+ if (mem == 0) {
+ hEventGroup = xEventGroupCreate();
+ }
+ }
+ }
+
+ return ((osEventFlagsId_t)hEventGroup);
+}
+
+uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) {
+ EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
+ uint32_t rflags;
+ BaseType_t yield;
+
+ if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else if (IS_IRQ()) {
+ yield = pdFALSE;
+
+ if (xEventGroupSetBitsFromISR (hEventGroup, (EventBits_t)flags, &yield) != pdFAIL) {
+ rflags = (uint32_t)osErrorResource;
+ } else {
+ rflags = flags;
+ portYIELD_FROM_ISR (yield);
+ }
+ }
+ else {
+ rflags = xEventGroupSetBits (hEventGroup, (EventBits_t)flags);
+ }
+
+ return (rflags);
+}
+
+uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags) {
+ EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
+ uint32_t rflags;
+
+ if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else if (IS_IRQ()) {
+ rflags = xEventGroupGetBitsFromISR (hEventGroup);
+
+ if (xEventGroupClearBitsFromISR (hEventGroup, (EventBits_t)flags) == pdFAIL) {
+ rflags = (uint32_t)osErrorResource;
+ }
+ }
+ else {
+ rflags = xEventGroupClearBits (hEventGroup, (EventBits_t)flags);
+ }
+
+ return (rflags);
+}
+
+uint32_t osEventFlagsGet (osEventFlagsId_t ef_id) {
+ EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
+ uint32_t rflags;
+
+ if (ef_id == NULL) {
+ rflags = 0U;
+ }
+ else if (IS_IRQ()) {
+ rflags = xEventGroupGetBitsFromISR (hEventGroup);
+ }
+ else {
+ rflags = xEventGroupGetBits (hEventGroup);
+ }
+
+ return (rflags);
+}
+
+uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout) {
+ EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
+ BaseType_t wait_all;
+ BaseType_t exit_clr;
+ uint32_t rflags;
+
+ if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) {
+ rflags = (uint32_t)osErrorParameter;
+ }
+ else if (IS_IRQ()) {
+ rflags = (uint32_t)osErrorISR;
+ }
+ else {
+ if (options & osFlagsWaitAll) {
+ wait_all = pdTRUE;
+ } else {
+ wait_all = pdFAIL;
+ }
+
+ if (options & osFlagsNoClear) {
+ exit_clr = pdFAIL;
+ } else {
+ exit_clr = pdTRUE;
+ }
+
+ rflags = xEventGroupWaitBits (hEventGroup, (EventBits_t)flags, exit_clr, wait_all, (TickType_t)timeout);
+
+ if (options & osFlagsWaitAll) {
+ if (flags != rflags) {
+ if (timeout > 0U) {
+ rflags = (uint32_t)osErrorTimeout;
+ } else {
+ rflags = (uint32_t)osErrorResource;
+ }
+ }
+ }
+ else {
+ if ((flags & rflags) == 0U) {
+ if (timeout > 0U) {
+ rflags = (uint32_t)osErrorTimeout;
+ } else {
+ rflags = (uint32_t)osErrorResource;
+ }
+ }
+ }
+ }
+
+ return (rflags);
+}
+
+osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id) {
+ EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id;
+ osStatus_t stat;
+
+#ifndef USE_FreeRTOS_HEAP_1
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hEventGroup == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ stat = osOK;
+ vEventGroupDelete (hEventGroup);
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+osMutexId_t osMutexNew (const osMutexAttr_t *attr) {
+ SemaphoreHandle_t hMutex;
+ uint32_t type;
+ uint32_t rmtx;
+ int32_t mem;
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ const char *name;
+ #endif
+
+ hMutex = NULL;
+
+ if (!IS_IRQ()) {
+ if (attr != NULL) {
+ type = attr->attr_bits;
+ } else {
+ type = 0U;
+ }
+
+ if ((type & osMutexRecursive) == osMutexRecursive) {
+ rmtx = 1U;
+ } else {
+ rmtx = 0U;
+ }
+
+ if ((type & osMutexRobust) != osMutexRobust) {
+ mem = -1;
+
+ if (attr != NULL) {
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem == 1) {
+ if (rmtx != 0U) {
+ hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
+ }
+ else {
+ hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
+ }
+ }
+ else {
+ if (mem == 0) {
+ if (rmtx != 0U) {
+ hMutex = xSemaphoreCreateRecursiveMutex ();
+ } else {
+ hMutex = xSemaphoreCreateMutex ();
+ }
+ }
+ }
+
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ if (hMutex != NULL) {
+ if (attr != NULL) {
+ name = attr->name;
+ } else {
+ name = NULL;
+ }
+ vQueueAddToRegistry (hMutex, name);
+ }
+ #endif
+
+ if ((hMutex != NULL) && (rmtx != 0U)) {
+ hMutex = (SemaphoreHandle_t)((uint32_t)hMutex | 1U);
+ }
+ }
+ }
+
+ return ((osMutexId_t)hMutex);
+}
+
+osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) {
+ SemaphoreHandle_t hMutex;
+ osStatus_t stat;
+ uint32_t rmtx;
+
+ hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
+
+ rmtx = (uint32_t)mutex_id & 1U;
+
+ stat = osOK;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hMutex == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (rmtx != 0U) {
+ if (xSemaphoreTakeRecursive (hMutex, timeout) != pdPASS) {
+ if (timeout != 0U) {
+ stat = osErrorTimeout;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+ }
+ else {
+ if (xSemaphoreTake (hMutex, timeout) != pdPASS) {
+ if (timeout != 0U) {
+ stat = osErrorTimeout;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osMutexRelease (osMutexId_t mutex_id) {
+ SemaphoreHandle_t hMutex;
+ osStatus_t stat;
+ uint32_t rmtx;
+
+ hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
+
+ rmtx = (uint32_t)mutex_id & 1U;
+
+ stat = osOK;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hMutex == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (rmtx != 0U) {
+ if (xSemaphoreGiveRecursive (hMutex) != pdPASS) {
+ stat = osErrorResource;
+ }
+ }
+ else {
+ if (xSemaphoreGive (hMutex) != pdPASS) {
+ stat = osErrorResource;
+ }
+ }
+ }
+
+ return (stat);
+}
+
+osThreadId_t osMutexGetOwner (osMutexId_t mutex_id) {
+ SemaphoreHandle_t hMutex;
+ osThreadId_t owner;
+
+ hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
+
+ if (IS_IRQ() || (hMutex == NULL)) {
+ owner = NULL;
+ } else {
+ owner = (osThreadId_t)xSemaphoreGetMutexHolder (hMutex);
+ }
+
+ return (owner);
+}
+
+osStatus_t osMutexDelete (osMutexId_t mutex_id) {
+ osStatus_t stat;
+#ifndef USE_FreeRTOS_HEAP_1
+ SemaphoreHandle_t hMutex;
+
+ hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U);
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hMutex == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ vQueueUnregisterQueue (hMutex);
+ #endif
+ stat = osOK;
+ vSemaphoreDelete (hMutex);
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr) {
+ SemaphoreHandle_t hSemaphore;
+ int32_t mem;
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ const char *name;
+ #endif
+
+ hSemaphore = NULL;
+
+ if (!IS_IRQ() && (max_count > 0U) && (initial_count <= max_count)) {
+ mem = -1;
+
+ if (attr != NULL) {
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem != -1) {
+ if (max_count == 1U) {
+ if (mem == 1) {
+ hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem);
+ }
+ else {
+ hSemaphore = xSemaphoreCreateBinary();
+ }
+
+ if ((hSemaphore != NULL) && (initial_count != 0U)) {
+ if (xSemaphoreGive (hSemaphore) != pdPASS) {
+ vSemaphoreDelete (hSemaphore);
+ hSemaphore = NULL;
+ }
+ }
+ }
+ else {
+ if (mem == 1) {
+ hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem);
+ }
+ else {
+ hSemaphore = xSemaphoreCreateCounting (max_count, initial_count);
+ }
+ }
+
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ if (hSemaphore != NULL) {
+ if (attr != NULL) {
+ name = attr->name;
+ } else {
+ name = NULL;
+ }
+ vQueueAddToRegistry (hSemaphore, name);
+ }
+ #endif
+ }
+ }
+
+ return ((osSemaphoreId_t)hSemaphore);
+}
+
+osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout) {
+ SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
+ osStatus_t stat;
+ BaseType_t yield;
+
+ stat = osOK;
+
+ if (hSemaphore == NULL) {
+ stat = osErrorParameter;
+ }
+ else if (IS_IRQ()) {
+ if (timeout != 0U) {
+ stat = osErrorParameter;
+ }
+ else {
+ yield = pdFALSE;
+
+ if (xSemaphoreTakeFromISR (hSemaphore, &yield) != pdPASS) {
+ stat = osErrorResource;
+ } else {
+ portYIELD_FROM_ISR (yield);
+ }
+ }
+ }
+ else {
+ if (xSemaphoreTake (hSemaphore, (TickType_t)timeout) != pdPASS) {
+ if (timeout != 0U) {
+ stat = osErrorTimeout;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id) {
+ SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
+ osStatus_t stat;
+ BaseType_t yield;
+
+ stat = osOK;
+
+ if (hSemaphore == NULL) {
+ stat = osErrorParameter;
+ }
+ else if (IS_IRQ()) {
+ yield = pdFALSE;
+
+ if (xSemaphoreGiveFromISR (hSemaphore, &yield) != pdTRUE) {
+ stat = osErrorResource;
+ } else {
+ portYIELD_FROM_ISR (yield);
+ }
+ }
+ else {
+ if (xSemaphoreGive (hSemaphore) != pdPASS) {
+ stat = osErrorResource;
+ }
+ }
+
+ return (stat);
+}
+
+uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id) {
+ SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
+ uint32_t count;
+
+ if (hSemaphore == NULL) {
+ count = 0U;
+ }
+ else if (IS_IRQ()) {
+ count = uxQueueMessagesWaitingFromISR (hSemaphore);
+ } else {
+ count = (uint32_t)uxSemaphoreGetCount (hSemaphore);
+ }
+
+ return (count);
+}
+
+osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id) {
+ SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id;
+ osStatus_t stat;
+
+#ifndef USE_FreeRTOS_HEAP_1
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hSemaphore == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ vQueueUnregisterQueue (hSemaphore);
+ #endif
+
+ stat = osOK;
+ vSemaphoreDelete (hSemaphore);
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) {
+ QueueHandle_t hQueue;
+ int32_t mem;
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ const char *name;
+ #endif
+
+ hQueue = NULL;
+
+ if (!IS_IRQ() && (msg_count > 0U) && (msg_size > 0U)) {
+ mem = -1;
+
+ if (attr != NULL) {
+ if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticQueue_t)) &&
+ (attr->mq_mem != NULL) && (attr->mq_size >= (msg_count * msg_size))) {
+ mem = 1;
+ }
+ else {
+ if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) &&
+ (attr->mq_mem == NULL) && (attr->mq_size == 0U)) {
+ mem = 0;
+ }
+ }
+ }
+ else {
+ mem = 0;
+ }
+
+ if (mem == 1) {
+ hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
+ }
+ else {
+ if (mem == 0) {
+ hQueue = xQueueCreate (msg_count, msg_size);
+ }
+ }
+
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ if (hQueue != NULL) {
+ if (attr != NULL) {
+ name = attr->name;
+ } else {
+ name = NULL;
+ }
+ vQueueAddToRegistry (hQueue, name);
+ }
+ #endif
+
+ }
+
+ return ((osMessageQueueId_t)hQueue);
+}
+
+osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout) {
+ QueueHandle_t hQueue = (QueueHandle_t)mq_id;
+ osStatus_t stat;
+ BaseType_t yield;
+
+ (void)msg_prio; /* Message priority is ignored */
+
+ stat = osOK;
+
+ if (IS_IRQ()) {
+ if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
+ stat = osErrorParameter;
+ }
+ else {
+ yield = pdFALSE;
+
+ if (xQueueSendToBackFromISR (hQueue, msg_ptr, &yield) != pdTRUE) {
+ stat = osErrorResource;
+ } else {
+ portYIELD_FROM_ISR (yield);
+ }
+ }
+ }
+ else {
+ if ((hQueue == NULL) || (msg_ptr == NULL)) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (xQueueSendToBack (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
+ if (timeout != 0U) {
+ stat = osErrorTimeout;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+ }
+ }
+
+ return (stat);
+}
+
+osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout) {
+ QueueHandle_t hQueue = (QueueHandle_t)mq_id;
+ osStatus_t stat;
+ BaseType_t yield;
+
+ (void)msg_prio; /* Message priority is ignored */
+
+ stat = osOK;
+
+ if (IS_IRQ()) {
+ if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) {
+ stat = osErrorParameter;
+ }
+ else {
+ yield = pdFALSE;
+
+ if (xQueueReceiveFromISR (hQueue, msg_ptr, &yield) != pdPASS) {
+ stat = osErrorResource;
+ } else {
+ portYIELD_FROM_ISR (yield);
+ }
+ }
+ }
+ else {
+ if ((hQueue == NULL) || (msg_ptr == NULL)) {
+ stat = osErrorParameter;
+ }
+ else {
+ if (xQueueReceive (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) {
+ if (timeout != 0U) {
+ stat = osErrorTimeout;
+ } else {
+ stat = osErrorResource;
+ }
+ }
+ }
+ }
+
+ return (stat);
+}
+
+uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id) {
+ StaticQueue_t *mq = (StaticQueue_t *)mq_id;
+ uint32_t capacity;
+
+ if (mq == NULL) {
+ capacity = 0U;
+ } else {
+ /* capacity = pxQueue->uxLength */
+ capacity = mq->uxDummy4[1];
+ }
+
+ return (capacity);
+}
+
+uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id) {
+ StaticQueue_t *mq = (StaticQueue_t *)mq_id;
+ uint32_t size;
+
+ if (mq == NULL) {
+ size = 0U;
+ } else {
+ /* size = pxQueue->uxItemSize */
+ size = mq->uxDummy4[2];
+ }
+
+ return (size);
+}
+
+uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id) {
+ QueueHandle_t hQueue = (QueueHandle_t)mq_id;
+ UBaseType_t count;
+
+ if (hQueue == NULL) {
+ count = 0U;
+ }
+ else if (IS_IRQ()) {
+ count = uxQueueMessagesWaitingFromISR (hQueue);
+ }
+ else {
+ count = uxQueueMessagesWaiting (hQueue);
+ }
+
+ return ((uint32_t)count);
+}
+
+uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id) {
+ StaticQueue_t *mq = (StaticQueue_t *)mq_id;
+ uint32_t space;
+ uint32_t isrm;
+
+ if (mq == NULL) {
+ space = 0U;
+ }
+ else if (IS_IRQ()) {
+ isrm = taskENTER_CRITICAL_FROM_ISR();
+
+ /* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */
+ space = mq->uxDummy4[1] - mq->uxDummy4[0];
+
+ taskEXIT_CRITICAL_FROM_ISR(isrm);
+ }
+ else {
+ space = (uint32_t)uxQueueSpacesAvailable ((QueueHandle_t)mq);
+ }
+
+ return (space);
+}
+
+osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id) {
+ QueueHandle_t hQueue = (QueueHandle_t)mq_id;
+ osStatus_t stat;
+
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hQueue == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ stat = osOK;
+ (void)xQueueReset (hQueue);
+ }
+
+ return (stat);
+}
+
+osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) {
+ QueueHandle_t hQueue = (QueueHandle_t)mq_id;
+ osStatus_t stat;
+
+#ifndef USE_FreeRTOS_HEAP_1
+ if (IS_IRQ()) {
+ stat = osErrorISR;
+ }
+ else if (hQueue == NULL) {
+ stat = osErrorParameter;
+ }
+ else {
+ #if (configQUEUE_REGISTRY_SIZE > 0)
+ vQueueUnregisterQueue (hQueue);
+ #endif
+
+ stat = osOK;
+ vQueueDelete (hQueue);
+ }
+#else
+ stat = osError;
+#endif
+
+ return (stat);
+}
+
+/*---------------------------------------------------------------------------*/
+
+/* Callback function prototypes */
+extern void vApplicationIdleHook (void);
+extern void vApplicationTickHook (void);
+extern void vApplicationMallocFailedHook (void);
+extern void vApplicationDaemonTaskStartupHook (void);
+extern void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName);
+
+/**
+ Dummy implementation of the callback function vApplicationIdleHook().
+*/
+#if (configUSE_IDLE_HOOK == 1)
+__WEAK void vApplicationIdleHook (void){}
+#endif
+
+/**
+ Dummy implementation of the callback function vApplicationTickHook().
+*/
+#if (configUSE_TICK_HOOK == 1)
+ __WEAK void vApplicationTickHook (void){}
+#endif
+
+/**
+ Dummy implementation of the callback function vApplicationMallocFailedHook().
+*/
+#if (configUSE_MALLOC_FAILED_HOOK == 1)
+__WEAK void vApplicationMallocFailedHook (void){}
+#endif
+
+/**
+ Dummy implementation of the callback function vApplicationDaemonTaskStartupHook().
+*/
+#if (configUSE_DAEMON_TASK_STARTUP_HOOK == 1)
+__WEAK void vApplicationDaemonTaskStartupHook (void){}
+#endif
+
+/**
+ Dummy implementation of the callback function vApplicationStackOverflowHook().
+*/
+#if (configCHECK_FOR_STACK_OVERFLOW > 0)
+__WEAK void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName) {
+ (void)xTask;
+ (void)pcTaskName;
+}
+#endif
+
+/*---------------------------------------------------------------------------*/
+
+/* External Idle and Timer task static memory allocation functions */
+extern void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
+extern void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize);
+
+/* Idle task control block and stack */
+static StaticTask_t Idle_TCB;
+static StackType_t Idle_Stack[configMINIMAL_STACK_SIZE];
+
+/* Timer task control block and stack */
+static StaticTask_t Timer_TCB;
+static StackType_t Timer_Stack[configTIMER_TASK_STACK_DEPTH];
+
+/*
+ vApplicationGetIdleTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
+ equals to 1 and is required for static memory allocation support.
+*/
+void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
+ *ppxIdleTaskTCBBuffer = &Idle_TCB;
+ *ppxIdleTaskStackBuffer = &Idle_Stack[0];
+ *pulIdleTaskStackSize = (uint32_t)configMINIMAL_STACK_SIZE;
+}
+
+/*
+ vApplicationGetTimerTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
+ equals to 1 and is required for static memory allocation support.
+*/
+void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
+ *ppxTimerTaskTCBBuffer = &Timer_TCB;
+ *ppxTimerTaskStackBuffer = &Timer_Stack[0];
+ *pulTimerTaskStackSize = (uint32_t)configTIMER_TASK_STACK_DEPTH;
+}
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
new file mode 100644
index 0000000..9774cc7
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.h
@@ -0,0 +1,734 @@
+/* --------------------------------------------------------------------------
+ * Portions Copyright © 2017 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright (c) 2013-2017 ARM Limited. All rights reserved.
+ * --------------------------------------------------------------------------
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * Name: cmsis_os2.h
+ * Purpose: CMSIS RTOS2 wrapper for FreeRTOS
+ *
+ *---------------------------------------------------------------------------*/
+
+#ifndef CMSIS_OS2_H_
+#define CMSIS_OS2_H_
+
+#ifndef __NO_RETURN
+#if defined(__CC_ARM)
+#define __NO_RETURN __declspec(noreturn)
+#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
+#define __NO_RETURN __attribute__((__noreturn__))
+#elif defined(__GNUC__)
+#define __NO_RETURN __attribute__((__noreturn__))
+#elif defined(__ICCARM__)
+#define __NO_RETURN __noreturn
+#else
+#define __NO_RETURN
+#endif
+#endif
+
+#include
+#include
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+// ==== Enumerations, structures, defines ====
+
+/// Version information.
+typedef struct {
+ uint32_t api; ///< API version (major.minor.rev: mmnnnrrrr dec).
+ uint32_t kernel; ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
+} osVersion_t;
+
+/// Kernel state.
+typedef enum {
+ osKernelInactive = 0, ///< Inactive.
+ osKernelReady = 1, ///< Ready.
+ osKernelRunning = 2, ///< Running.
+ osKernelLocked = 3, ///< Locked.
+ osKernelSuspended = 4, ///< Suspended.
+ osKernelError = -1, ///< Error.
+ osKernelReserved = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization.
+} osKernelState_t;
+
+/// Thread state.
+typedef enum {
+ osThreadInactive = 0, ///< Inactive.
+ osThreadReady = 1, ///< Ready.
+ osThreadRunning = 2, ///< Running.
+ osThreadBlocked = 3, ///< Blocked.
+ osThreadTerminated = 4, ///< Terminated.
+ osThreadError = -1, ///< Error.
+ osThreadReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
+} osThreadState_t;
+
+/// Priority values.
+typedef enum {
+ osPriorityNone = 0, ///< No priority (not initialized).
+ osPriorityIdle = 1, ///< Reserved for Idle thread.
+ osPriorityLow = 8, ///< Priority: low
+ osPriorityLow1 = 8+1, ///< Priority: low + 1
+ osPriorityLow2 = 8+2, ///< Priority: low + 2
+ osPriorityLow3 = 8+3, ///< Priority: low + 3
+ osPriorityLow4 = 8+4, ///< Priority: low + 4
+ osPriorityLow5 = 8+5, ///< Priority: low + 5
+ osPriorityLow6 = 8+6, ///< Priority: low + 6
+ osPriorityLow7 = 8+7, ///< Priority: low + 7
+ osPriorityBelowNormal = 16, ///< Priority: below normal
+ osPriorityBelowNormal1 = 16+1, ///< Priority: below normal + 1
+ osPriorityBelowNormal2 = 16+2, ///< Priority: below normal + 2
+ osPriorityBelowNormal3 = 16+3, ///< Priority: below normal + 3
+ osPriorityBelowNormal4 = 16+4, ///< Priority: below normal + 4
+ osPriorityBelowNormal5 = 16+5, ///< Priority: below normal + 5
+ osPriorityBelowNormal6 = 16+6, ///< Priority: below normal + 6
+ osPriorityBelowNormal7 = 16+7, ///< Priority: below normal + 7
+ osPriorityNormal = 24, ///< Priority: normal
+ osPriorityNormal1 = 24+1, ///< Priority: normal + 1
+ osPriorityNormal2 = 24+2, ///< Priority: normal + 2
+ osPriorityNormal3 = 24+3, ///< Priority: normal + 3
+ osPriorityNormal4 = 24+4, ///< Priority: normal + 4
+ osPriorityNormal5 = 24+5, ///< Priority: normal + 5
+ osPriorityNormal6 = 24+6, ///< Priority: normal + 6
+ osPriorityNormal7 = 24+7, ///< Priority: normal + 7
+ osPriorityAboveNormal = 32, ///< Priority: above normal
+ osPriorityAboveNormal1 = 32+1, ///< Priority: above normal + 1
+ osPriorityAboveNormal2 = 32+2, ///< Priority: above normal + 2
+ osPriorityAboveNormal3 = 32+3, ///< Priority: above normal + 3
+ osPriorityAboveNormal4 = 32+4, ///< Priority: above normal + 4
+ osPriorityAboveNormal5 = 32+5, ///< Priority: above normal + 5
+ osPriorityAboveNormal6 = 32+6, ///< Priority: above normal + 6
+ osPriorityAboveNormal7 = 32+7, ///< Priority: above normal + 7
+ osPriorityHigh = 40, ///< Priority: high
+ osPriorityHigh1 = 40+1, ///< Priority: high + 1
+ osPriorityHigh2 = 40+2, ///< Priority: high + 2
+ osPriorityHigh3 = 40+3, ///< Priority: high + 3
+ osPriorityHigh4 = 40+4, ///< Priority: high + 4
+ osPriorityHigh5 = 40+5, ///< Priority: high + 5
+ osPriorityHigh6 = 40+6, ///< Priority: high + 6
+ osPriorityHigh7 = 40+7, ///< Priority: high + 7
+ osPriorityRealtime = 48, ///< Priority: realtime
+ osPriorityRealtime1 = 48+1, ///< Priority: realtime + 1
+ osPriorityRealtime2 = 48+2, ///< Priority: realtime + 2
+ osPriorityRealtime3 = 48+3, ///< Priority: realtime + 3
+ osPriorityRealtime4 = 48+4, ///< Priority: realtime + 4
+ osPriorityRealtime5 = 48+5, ///< Priority: realtime + 5
+ osPriorityRealtime6 = 48+6, ///< Priority: realtime + 6
+ osPriorityRealtime7 = 48+7, ///< Priority: realtime + 7
+ osPriorityISR = 56, ///< Reserved for ISR deferred thread.
+ osPriorityError = -1, ///< System cannot determine priority or illegal priority.
+ osPriorityReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
+} osPriority_t;
+
+/// Entry point of a thread.
+typedef void (*osThreadFunc_t) (void *argument);
+
+/// Timer callback function.
+typedef void (*osTimerFunc_t) (void *argument);
+
+/// Timer type.
+typedef enum {
+ osTimerOnce = 0, ///< One-shot timer.
+ osTimerPeriodic = 1 ///< Repeating timer.
+} osTimerType_t;
+
+// Timeout value.
+#define osWaitForever 0xFFFFFFFFU ///< Wait forever timeout value.
+
+// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
+#define osFlagsWaitAny 0x00000000U ///< Wait for any flag (default).
+#define osFlagsWaitAll 0x00000001U ///< Wait for all flags.
+#define osFlagsNoClear 0x00000002U ///< Do not clear flags which have been specified to wait for.
+
+// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
+#define osFlagsError 0x80000000U ///< Error indicator.
+#define osFlagsErrorUnknown 0xFFFFFFFFU ///< osError (-1).
+#define osFlagsErrorTimeout 0xFFFFFFFEU ///< osErrorTimeout (-2).
+#define osFlagsErrorResource 0xFFFFFFFDU ///< osErrorResource (-3).
+#define osFlagsErrorParameter 0xFFFFFFFCU ///< osErrorParameter (-4).
+#define osFlagsErrorISR 0xFFFFFFFAU ///< osErrorISR (-6).
+
+// Thread attributes (attr_bits in \ref osThreadAttr_t).
+#define osThreadDetached 0x00000000U ///< Thread created in detached mode (default)
+#define osThreadJoinable 0x00000001U ///< Thread created in joinable mode
+
+// Mutex attributes (attr_bits in \ref osMutexAttr_t).
+#define osMutexRecursive 0x00000001U ///< Recursive mutex.
+#define osMutexPrioInherit 0x00000002U ///< Priority inherit protocol.
+#define osMutexRobust 0x00000008U ///< Robust mutex.
+
+/// Status code values returned by CMSIS-RTOS functions.
+typedef enum {
+ osOK = 0, ///< Operation completed successfully.
+ osError = -1, ///< Unspecified RTOS error: run-time error but no other error message fits.
+ osErrorTimeout = -2, ///< Operation not completed within the timeout period.
+ osErrorResource = -3, ///< Resource not available.
+ osErrorParameter = -4, ///< Parameter error.
+ osErrorNoMemory = -5, ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
+ osErrorISR = -6, ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
+ osStatusReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization.
+} osStatus_t;
+
+
+/// \details Thread ID identifies the thread.
+typedef void *osThreadId_t;
+
+/// \details Timer ID identifies the timer.
+typedef void *osTimerId_t;
+
+/// \details Event Flags ID identifies the event flags.
+typedef void *osEventFlagsId_t;
+
+/// \details Mutex ID identifies the mutex.
+typedef void *osMutexId_t;
+
+/// \details Semaphore ID identifies the semaphore.
+typedef void *osSemaphoreId_t;
+
+/// \details Memory Pool ID identifies the memory pool.
+typedef void *osMemoryPoolId_t;
+
+/// \details Message Queue ID identifies the message queue.
+typedef void *osMessageQueueId_t;
+
+
+#ifndef TZ_MODULEID_T
+#define TZ_MODULEID_T
+/// \details Data type that identifies secure software modules called by a process.
+typedef uint32_t TZ_ModuleId_t;
+#endif
+
+
+/// Attributes structure for thread.
+typedef struct {
+ const char *name; ///< name of the thread
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+ void *stack_mem; ///< memory for stack
+ uint32_t stack_size; ///< size of stack
+ osPriority_t priority; ///< initial thread priority (default: osPriorityNormal)
+ TZ_ModuleId_t tz_module; ///< TrustZone module identifier
+ uint32_t reserved; ///< reserved (must be 0)
+} osThreadAttr_t;
+
+/// Attributes structure for timer.
+typedef struct {
+ const char *name; ///< name of the timer
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+} osTimerAttr_t;
+
+/// Attributes structure for event flags.
+typedef struct {
+ const char *name; ///< name of the event flags
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+} osEventFlagsAttr_t;
+
+/// Attributes structure for mutex.
+typedef struct {
+ const char *name; ///< name of the mutex
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+} osMutexAttr_t;
+
+/// Attributes structure for semaphore.
+typedef struct {
+ const char *name; ///< name of the semaphore
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+} osSemaphoreAttr_t;
+
+/// Attributes structure for memory pool.
+typedef struct {
+ const char *name; ///< name of the memory pool
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+ void *mp_mem; ///< memory for data storage
+ uint32_t mp_size; ///< size of provided memory for data storage
+} osMemoryPoolAttr_t;
+
+/// Attributes structure for message queue.
+typedef struct {
+ const char *name; ///< name of the message queue
+ uint32_t attr_bits; ///< attribute bits
+ void *cb_mem; ///< memory for control block
+ uint32_t cb_size; ///< size of provided memory for control block
+ void *mq_mem; ///< memory for data storage
+ uint32_t mq_size; ///< size of provided memory for data storage
+} osMessageQueueAttr_t;
+
+
+// ==== Kernel Management Functions ====
+
+/// Initialize the RTOS Kernel.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osKernelInitialize (void);
+
+/// Get RTOS Kernel Information.
+/// \param[out] version pointer to buffer for retrieving version information.
+/// \param[out] id_buf pointer to buffer for retrieving kernel identification string.
+/// \param[in] id_size size of buffer for kernel identification string.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);
+
+/// Get the current RTOS Kernel state.
+/// \return current RTOS Kernel state.
+osKernelState_t osKernelGetState (void);
+
+/// Start the RTOS Kernel scheduler.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osKernelStart (void);
+
+/// Lock the RTOS Kernel scheduler.
+/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
+int32_t osKernelLock (void);
+
+/// Unlock the RTOS Kernel scheduler.
+/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
+int32_t osKernelUnlock (void);
+
+/// Restore the RTOS Kernel scheduler lock state.
+/// \param[in] lock lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
+/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
+int32_t osKernelRestoreLock (int32_t lock);
+
+/// Suspend the RTOS Kernel scheduler.
+/// \return time in ticks, for how long the system can sleep or power-down.
+uint32_t osKernelSuspend (void);
+
+/// Resume the RTOS Kernel scheduler.
+/// \param[in] sleep_ticks time in ticks for how long the system was in sleep or power-down mode.
+void osKernelResume (uint32_t sleep_ticks);
+
+/// Get the RTOS kernel tick count.
+/// \return RTOS kernel current tick count.
+uint32_t osKernelGetTickCount (void);
+
+/// Get the RTOS kernel tick frequency.
+/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
+uint32_t osKernelGetTickFreq (void);
+
+/// Get the RTOS kernel system timer count.
+/// \return RTOS kernel current system timer count as 32-bit value.
+uint32_t osKernelGetSysTimerCount (void);
+
+/// Get the RTOS kernel system timer frequency.
+/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
+uint32_t osKernelGetSysTimerFreq (void);
+
+
+// ==== Thread Management Functions ====
+
+/// Create a thread and add it to Active Threads.
+/// \param[in] func thread function.
+/// \param[in] argument pointer that is passed to the thread function as start argument.
+/// \param[in] attr thread attributes; NULL: default values.
+/// \return thread ID for reference by other functions or NULL in case of error.
+osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
+
+/// Get name of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return name as NULL terminated string.
+const char *osThreadGetName (osThreadId_t thread_id);
+
+/// Return the thread ID of the current running thread.
+/// \return thread ID for reference by other functions or NULL in case of error.
+osThreadId_t osThreadGetId (void);
+
+/// Get current thread state of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return current thread state of the specified thread.
+osThreadState_t osThreadGetState (osThreadId_t thread_id);
+
+/// Get stack size of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return stack size in bytes.
+uint32_t osThreadGetStackSize (osThreadId_t thread_id);
+
+/// Get available stack space of a thread based on stack watermark recording during execution.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return remaining stack space in bytes.
+uint32_t osThreadGetStackSpace (osThreadId_t thread_id);
+
+/// Change priority of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \param[in] priority new priority value for the thread function.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);
+
+/// Get current priority of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return current priority value of the specified thread.
+osPriority_t osThreadGetPriority (osThreadId_t thread_id);
+
+/// Pass control to next thread that is in state \b READY.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadYield (void);
+
+/// Suspend execution of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadSuspend (osThreadId_t thread_id);
+
+/// Resume execution of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadResume (osThreadId_t thread_id);
+
+/// Detach a thread (thread storage can be reclaimed when thread terminates).
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadDetach (osThreadId_t thread_id);
+
+/// Wait for specified thread to terminate.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadJoin (osThreadId_t thread_id);
+
+/// Terminate execution of current running thread.
+__NO_RETURN void osThreadExit (void);
+
+/// Terminate execution of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osThreadTerminate (osThreadId_t thread_id);
+
+/// Get number of active threads.
+/// \return number of active threads.
+uint32_t osThreadGetCount (void);
+
+/// Enumerate active threads.
+/// \param[out] thread_array pointer to array for retrieving thread IDs.
+/// \param[in] array_items maximum number of items in array for retrieving thread IDs.
+/// \return number of enumerated threads.
+uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);
+
+
+// ==== Thread Flags Functions ====
+
+/// Set the specified Thread Flags of a thread.
+/// \param[in] thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
+/// \param[in] flags specifies the flags of the thread that shall be set.
+/// \return thread flags after setting or error code if highest bit set.
+uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);
+
+/// Clear the specified Thread Flags of current running thread.
+/// \param[in] flags specifies the flags of the thread that shall be cleared.
+/// \return thread flags before clearing or error code if highest bit set.
+uint32_t osThreadFlagsClear (uint32_t flags);
+
+/// Get the current Thread Flags of current running thread.
+/// \return current thread flags.
+uint32_t osThreadFlagsGet (void);
+
+/// Wait for one or more Thread Flags of the current running thread to become signaled.
+/// \param[in] flags specifies the flags to wait for.
+/// \param[in] options specifies flags options (osFlagsXxxx).
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return thread flags before clearing or error code if highest bit set.
+uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);
+
+
+// ==== Generic Wait Functions ====
+
+/// Wait for Timeout (Time Delay).
+/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value
+/// \return status code that indicates the execution status of the function.
+osStatus_t osDelay (uint32_t ticks);
+
+/// Wait until specified time.
+/// \param[in] ticks absolute time in ticks
+/// \return status code that indicates the execution status of the function.
+osStatus_t osDelayUntil (uint32_t ticks);
+
+
+// ==== Timer Management Functions ====
+
+/// Create and Initialize a timer.
+/// \param[in] func function pointer to callback function.
+/// \param[in] type \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
+/// \param[in] argument argument to the timer callback function.
+/// \param[in] attr timer attributes; NULL: default values.
+/// \return timer ID for reference by other functions or NULL in case of error.
+osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);
+
+/// Get name of a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
+/// \return name as NULL terminated string.
+const char *osTimerGetName (osTimerId_t timer_id);
+
+/// Start or restart a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
+/// \param[in] ticks \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);
+
+/// Stop a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osTimerStop (osTimerId_t timer_id);
+
+/// Check if a timer is running.
+/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
+/// \return 0 not running, 1 running.
+uint32_t osTimerIsRunning (osTimerId_t timer_id);
+
+/// Delete a timer.
+/// \param[in] timer_id timer ID obtained by \ref osTimerNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osTimerDelete (osTimerId_t timer_id);
+
+
+// ==== Event Flags Management Functions ====
+
+/// Create and Initialize an Event Flags object.
+/// \param[in] attr event flags attributes; NULL: default values.
+/// \return event flags ID for reference by other functions or NULL in case of error.
+osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);
+
+/// Get name of an Event Flags object.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \return name as NULL terminated string.
+const char *osEventFlagsGetName (osEventFlagsId_t ef_id);
+
+/// Set the specified Event Flags.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \param[in] flags specifies the flags that shall be set.
+/// \return event flags after setting or error code if highest bit set.
+uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);
+
+/// Clear the specified Event Flags.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \param[in] flags specifies the flags that shall be cleared.
+/// \return event flags before clearing or error code if highest bit set.
+uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);
+
+/// Get the current Event Flags.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \return current event flags.
+uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);
+
+/// Wait for one or more Event Flags to become signaled.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \param[in] flags specifies the flags to wait for.
+/// \param[in] options specifies flags options (osFlagsXxxx).
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return event flags before clearing or error code if highest bit set.
+uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);
+
+/// Delete an Event Flags object.
+/// \param[in] ef_id event flags ID obtained by \ref osEventFlagsNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);
+
+
+// ==== Mutex Management Functions ====
+
+/// Create and Initialize a Mutex object.
+/// \param[in] attr mutex attributes; NULL: default values.
+/// \return mutex ID for reference by other functions or NULL in case of error.
+osMutexId_t osMutexNew (const osMutexAttr_t *attr);
+
+/// Get name of a Mutex object.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
+/// \return name as NULL terminated string.
+const char *osMutexGetName (osMutexId_t mutex_id);
+
+/// Acquire a Mutex or timeout if it is locked.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);
+
+/// Release a Mutex that was acquired by \ref osMutexAcquire.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMutexRelease (osMutexId_t mutex_id);
+
+/// Get Thread which owns a Mutex object.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
+/// \return thread ID of owner thread or NULL when mutex was not acquired.
+osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);
+
+/// Delete a Mutex object.
+/// \param[in] mutex_id mutex ID obtained by \ref osMutexNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMutexDelete (osMutexId_t mutex_id);
+
+
+// ==== Semaphore Management Functions ====
+
+/// Create and Initialize a Semaphore object.
+/// \param[in] max_count maximum number of available tokens.
+/// \param[in] initial_count initial number of available tokens.
+/// \param[in] attr semaphore attributes; NULL: default values.
+/// \return semaphore ID for reference by other functions or NULL in case of error.
+osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);
+
+/// Get name of a Semaphore object.
+/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
+/// \return name as NULL terminated string.
+const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);
+
+/// Acquire a Semaphore token or timeout if no tokens are available.
+/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);
+
+/// Release a Semaphore token up to the initial maximum count.
+/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);
+
+/// Get current Semaphore token count.
+/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
+/// \return number of tokens available.
+uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);
+
+/// Delete a Semaphore object.
+/// \param[in] semaphore_id semaphore ID obtained by \ref osSemaphoreNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);
+
+
+// ==== Memory Pool Management Functions ====
+
+/// Create and Initialize a Memory Pool object.
+/// \param[in] block_count maximum number of memory blocks in memory pool.
+/// \param[in] block_size memory block size in bytes.
+/// \param[in] attr memory pool attributes; NULL: default values.
+/// \return memory pool ID for reference by other functions or NULL in case of error.
+osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);
+
+/// Get name of a Memory Pool object.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return name as NULL terminated string.
+const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);
+
+/// Allocate a memory block from a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return address of the allocated memory block or NULL in case of no memory is available.
+void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);
+
+/// Return an allocated memory block back to a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \param[in] block address of the allocated memory block to be returned to the memory pool.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);
+
+/// Get maximum number of memory blocks in a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return maximum number of memory blocks.
+uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);
+
+/// Get memory block size in a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return memory block size in bytes.
+uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);
+
+/// Get number of memory blocks used in a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return number of memory blocks used.
+uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);
+
+/// Get number of memory blocks available in a Memory Pool.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return number of memory blocks available.
+uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);
+
+/// Delete a Memory Pool object.
+/// \param[in] mp_id memory pool ID obtained by \ref osMemoryPoolNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);
+
+
+// ==== Message Queue Management Functions ====
+
+/// Create and Initialize a Message Queue object.
+/// \param[in] msg_count maximum number of messages in queue.
+/// \param[in] msg_size maximum message size in bytes.
+/// \param[in] attr message queue attributes; NULL: default values.
+/// \return message queue ID for reference by other functions or NULL in case of error.
+osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);
+
+/// Get name of a Message Queue object.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return name as NULL terminated string.
+const char *osMessageQueueGetName (osMessageQueueId_t mq_id);
+
+/// Put a Message into a Queue or timeout if Queue is full.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \param[in] msg_ptr pointer to buffer with message to put into a queue.
+/// \param[in] msg_prio message priority.
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
+
+/// Get a Message from a Queue or timeout if Queue is empty.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \param[out] msg_ptr pointer to buffer for message to get from a queue.
+/// \param[out] msg_prio pointer to buffer for message priority or NULL.
+/// \param[in] timeout \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
+
+/// Get maximum number of messages in a Message Queue.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return maximum number of messages.
+uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);
+
+/// Get maximum message size in a Memory Pool.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return maximum message size in bytes.
+uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);
+
+/// Get number of queued messages in a Message Queue.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return number of queued messages.
+uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);
+
+/// Get number of available slots for messages in a Message Queue.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return number of available slots for messages.
+uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);
+
+/// Reset a Message Queue to initial empty state.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);
+
+/// Delete a Message Queue object.
+/// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew.
+/// \return status code that indicates the execution status of the function.
+osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // CMSIS_OS2_H_
diff --git a/NaviKit_stm32.ioc b/NaviKit_stm32.ioc
index 290cc4f..b517da3 100644
--- a/NaviKit_stm32.ioc
+++ b/NaviKit_stm32.ioc
@@ -1,6 +1,6 @@
#MicroXplorer Configuration settings - do not modify
FREERTOS.IPParameters=Tasks01
-FREERTOS.Tasks01=defaultTask,0,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
File.Version=6
GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false
@@ -11,10 +11,11 @@ Mcu.IP2=IWDG
Mcu.IP3=NVIC
Mcu.IP4=RCC
Mcu.IP5=SYS
-Mcu.IP6=USB_DEVICE
-Mcu.IP7=USB_OTG_FS
-Mcu.IP8=WWDG
-Mcu.IPNb=9
+Mcu.IP6=UART4
+Mcu.IP7=USB_DEVICE
+Mcu.IP8=USB_OTG_FS
+Mcu.IP9=WWDG
+Mcu.IPNb=10
Mcu.Name=STM32F107V(B-C)Tx
Mcu.Package=LQFP100
Mcu.Pin0=PE2
@@ -23,36 +24,39 @@ Mcu.Pin10=PA11
Mcu.Pin11=PA12
Mcu.Pin12=PA13
Mcu.Pin13=PA14
-Mcu.Pin14=PD2
-Mcu.Pin15=PD3
-Mcu.Pin16=PD4
-Mcu.Pin17=PD5
-Mcu.Pin18=PD6
-Mcu.Pin19=PD7
+Mcu.Pin14=PC10
+Mcu.Pin15=PC11
+Mcu.Pin16=PD2
+Mcu.Pin17=PD3
+Mcu.Pin18=PD4
+Mcu.Pin19=PD5
Mcu.Pin2=OSC_IN
-Mcu.Pin20=PB7
-Mcu.Pin21=PB8
-Mcu.Pin22=PB9
-Mcu.Pin23=PE0
-Mcu.Pin24=PE1
-Mcu.Pin25=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin26=VP_IWDG_VS_IWDG
-Mcu.Pin27=VP_SYS_VS_tim7
-Mcu.Pin28=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin29=VP_WWDG_VS_WWDG
+Mcu.Pin20=PD6
+Mcu.Pin21=PD7
+Mcu.Pin22=PB6
+Mcu.Pin23=PB7
+Mcu.Pin24=PB8
+Mcu.Pin25=PB9
+Mcu.Pin26=PE0
+Mcu.Pin27=PE1
+Mcu.Pin28=VP_FREERTOS_VS_CMSIS_V2
+Mcu.Pin29=VP_IWDG_VS_IWDG
Mcu.Pin3=OSC_OUT
+Mcu.Pin30=VP_SYS_VS_tim7
+Mcu.Pin31=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin32=VP_WWDG_VS_WWDG
Mcu.Pin4=PA0-WKUP
Mcu.Pin5=PE12
Mcu.Pin6=PE13
Mcu.Pin7=PE14
Mcu.Pin8=PE15
Mcu.Pin9=PA8
-Mcu.PinsNb=30
+Mcu.PinsNb=33
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32F107VCTx
-MxCube.Version=5.5.0
-MxDb.Version=DB.5.0.50
+MxCube.Version=5.6.0
+MxDb.Version=DB.5.0.60
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.FLASH_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true
@@ -82,14 +86,18 @@ PA0-WKUP.Mode=SYS_WakeUp0
PA0-WKUP.Signal=SYS_WKUP
PA11.GPIOParameters=GPIO_Label
PA11.GPIO_Label=USB2_DM_G7
+PA11.Locked=true
PA11.Mode=Device_Only
PA11.Signal=USB_OTG_FS_DM
PA12.GPIOParameters=GPIO_Label
PA12.GPIO_Label=USB2_DP_G7
+PA12.Locked=true
PA12.Mode=Device_Only
PA12.Signal=USB_OTG_FS_DP
+PA13.Locked=true
PA13.Mode=Serial_Wire
PA13.Signal=SYS_JTMS-SWDIO
+PA14.Locked=true
PA14.Mode=Serial_Wire
PA14.Signal=SYS_JTCK-SWCLK
PA8.GPIOParameters=PinState,GPIO_Label,GPIO_ModeDefaultOutputPP
@@ -98,6 +106,10 @@ PA8.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_OD
PA8.Locked=true
PA8.PinState=GPIO_PIN_SET
PA8.Signal=GPIO_Output
+PB6.GPIOParameters=GPIO_Label
+PB6.GPIO_Label=BUZZ_CTL
+PB6.Locked=true
+PB6.Signal=GPIO_Output
PB7.GPIOParameters=GPIO_Label
PB7.GPIO_Label=CHRG_STATUS
PB7.Locked=true
@@ -112,14 +124,12 @@ PB9.GPIO_Label=COULOMB_SDA
PB9.Locked=true
PB9.Mode=I2C
PB9.Signal=I2C1_SDA
-PCC.Checker=false
-PCC.Line=STM32F105/107
-PCC.MCU=STM32F107V(B-C)Tx
-PCC.PartNumber=STM32F107VCTx
-PCC.Seq0=0
-PCC.Series=STM32F1
-PCC.Temperature=25
-PCC.Vdd=3.3
+PC10.Locked=true
+PC10.Mode=Asynchronous
+PC10.Signal=UART4_TX
+PC11.Locked=true
+PC11.Mode=Asynchronous
+PC11.Signal=UART4_RX
PD2.GPIOParameters=GPIO_Label
PD2.GPIO_Label=USB2_VBUS_CTL_1
PD2.Locked=true
@@ -203,7 +213,7 @@ ProjectManager.StackSize=0x400
ProjectManager.TargetToolchain=STM32CubeIDE
ProjectManager.ToolChainLocation=
ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_IWDG_Init-IWDG-false-HAL-true,6-MX_WWDG_Init-WWDG-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-true,3-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,4-MX_I2C1_Init-I2C1-false-HAL-true,5-MX_IWDG_Init-IWDG-false-HAL-true,6-MX_WWDG_Init-WWDG-false-HAL-true,7-MX_UART4_Init-UART4-false-HAL-true
RCC.ADCFreqValue=36000000
RCC.AHBFreq_Value=72000000
RCC.APB1CLKDivider=RCC_HCLK_DIV2
@@ -232,14 +242,16 @@ RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
RCC.TimSysFreq_Value=72000000
RCC.USBFreq_Value=48000000
RCC.VCOOutput2Freq_Value=8000000
+UART4.IPParameters=VirtualMode
+UART4.VirtualMode=Asynchronous
USB_DEVICE.CLASS_NAME_FS=CDC
USB_DEVICE.IPParameters=VirtualMode,VirtualModeFS,CLASS_NAME_FS
USB_DEVICE.VirtualMode=Cdc
USB_DEVICE.VirtualModeFS=Cdc_FS
USB_OTG_FS.IPParameters=VirtualMode
USB_OTG_FS.VirtualMode=Device_Only
-VP_FREERTOS_VS_CMSIS_V1.Mode=CMSIS_V1
-VP_FREERTOS_VS_CMSIS_V1.Signal=FREERTOS_VS_CMSIS_V1
+VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
+VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
VP_IWDG_VS_IWDG.Mode=IWDG_Activate
VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
VP_SYS_VS_tim7.Mode=TIM7