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523 lines
16 KiB
C
523 lines
16 KiB
C
4 years ago
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
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This file is part of ChibiOS.
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ChibiOS is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Concepts and parts of this file have been contributed by Andre R.
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*/
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/**
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* @file cmsis_os.h
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* @brief CMSIS RTOS module macros and structures.
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*
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* @addtogroup CMSIS_OS
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* @{
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*/
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#ifndef CMSIS_OS_H
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#define CMSIS_OS_H
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#include "ch.h"
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/*===========================================================================*/
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/* Module constants. */
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/*===========================================================================*/
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/**
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* @brief API version.
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*/
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#define osCMSIS 0x10002
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/**
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* @brief Kernel version.
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*/
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#define osKernelSystemId "KERNEL V1.00"
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/**
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* @brief ChibiOS/RT version encoded for CMSIS.
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*/
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#define osCMSIS_KERNEL ((CH_KERNEL_MAJOR << 16) | \
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(CH_KERNEL_MINOR << 8) | \
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(CH_KERNEL_PATCH))
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/**
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* @name CMSIS Capabilities
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* @{
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*/
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#define osFeature_MainThread 1
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#define osFeature_Pool 1
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#define osFeature_MailQ 0
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#define osFeature_MessageQ 1
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#define osFeature_Signals 24
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#define osFeature_Semaphore ((1U << 31) - 1U)
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#define osFeature_Wait 0
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#define osFeature_SysTick 1
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/**< @} */
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/**
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* @brief Wait forever specification for timeouts.
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*/
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#define osWaitForever ((uint32_t)-1)
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/**
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* @brief System tick frequency.
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*/
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#define osKernelSysTickFrequency CH_CFG_ST_FREQUENCY
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/*===========================================================================*/
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/* Module pre-compile time settings. */
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/*===========================================================================*/
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/**
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* @brief Number of pre-allocated static semaphores/mutexes.
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*/
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#if !defined(CMSIS_CFG_DEFAULT_STACK)
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#define CMSIS_CFG_DEFAULT_STACK 256
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#endif
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/**
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* @brief Number of pre-allocated static semaphores/mutexes.
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*/
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#if !defined(CMSIS_CFG_NUM_SEMAPHORES)
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#define CMSIS_CFG_NUM_SEMAPHORES 4
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#endif
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/**
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* @brief Number of pre-allocated static timers.
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*/
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#if !defined(CMSIS_CFG_NUM_TIMERS)
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#define CMSIS_CFG_NUM_TIMERS 4
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#endif
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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#if !CH_CFG_USE_MEMPOOLS
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#error "CMSIS RTOS requires CH_CFG_USE_MEMPOOLS"
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#endif
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#if !CH_CFG_USE_EVENTS
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#error "CMSIS RTOS requires CH_CFG_USE_EVENTS"
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#endif
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#if !CH_CFG_USE_EVENTS_TIMEOUT
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#error "CMSIS RTOS requires CH_CFG_USE_EVENTS_TIMEOUT"
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#endif
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#if !CH_CFG_USE_SEMAPHORES
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#error "CMSIS RTOS requires CH_CFG_USE_SEMAPHORES"
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#endif
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#if !CH_CFG_USE_DYNAMIC
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#error "CMSIS RTOS requires CH_CFG_USE_DYNAMIC"
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#endif
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/*===========================================================================*/
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/* Module data structures and types. */
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/*===========================================================================*/
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/**
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* @brief Type of priority levels.
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*/
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typedef enum {
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osPriorityIdle = -3,
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osPriorityLow = -2,
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osPriorityBelowNormal = -1,
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osPriorityNormal = 0,
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osPriorityAboveNormal = +1,
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osPriorityHigh = +2,
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osPriorityRealtime = +3,
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osPriorityError = 0x84
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} osPriority;
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/**
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* @brief Type of error codes.
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*/
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typedef enum {
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osOK = 0,
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osEventSignal = 0x08,
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osEventMessage = 0x10,
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osEventMail = 0x20,
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osEventTimeout = 0x40,
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osErrorParameter = 0x80,
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osErrorResource = 0x81,
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osErrorTimeoutResource = 0xC1,
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osErrorISR = 0x82,
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osErrorISRRecursive = 0x83,
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osErrorPriority = 0x84,
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osErrorNoMemory = 0x85,
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osErrorValue = 0x86,
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osErrorOS = 0xFF,
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os_status_reserved = 0x7FFFFFFF
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} osStatus;
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/**
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* @brief Type of a timer mode.
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*/
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typedef enum {
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osTimerOnce = 0,
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osTimerPeriodic = 1
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} os_timer_type;
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/**
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* @brief Type of thread functions.
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*/
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typedef void (*os_pthread) (void const *argument);
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/**
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* @brief Type of timer callback.
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*/
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typedef void (*os_ptimer) (void const *argument);
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/**
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* @brief Type of pointer to thread control block.
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*/
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typedef thread_t *osThreadId;
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/**
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* @brief Type of pointer to timer control block.
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*/
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typedef struct os_timer_cb {
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virtual_timer_t vt;
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os_timer_type type;
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os_ptimer ptimer;
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void *argument;
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uint32_t millisec;
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} *osTimerId;
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/**
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* @brief Type of pointer to mutex control block.
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*/
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typedef binary_semaphore_t *osMutexId;
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/**
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* @brief Type of pointer to semaphore control block.
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*/
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typedef semaphore_t *osSemaphoreId;
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/**
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* @brief Type of pointer to memory pool control block.
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*/
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typedef memory_pool_t *osPoolId;
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/**
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* @brief Type of pointer to message queue control block.
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*/
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typedef struct mailbox *osMessageQId;
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/**
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* @brief Type of an event.
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*/
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typedef struct {
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osStatus status;
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union {
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uint32_t v;
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void *p;
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int32_t signals;
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} value;
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union {
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/* osMailQId mail_id;*/
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osMessageQId message_id;
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} def;
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} osEvent;
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/**
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* @brief Type of a thread definition block.
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*/
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typedef struct os_thread_def {
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os_pthread pthread;
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osPriority tpriority;
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uint32_t stacksize;
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const char *name;
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} osThreadDef_t;
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/**
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* @brief Type of a timer definition block.
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*/
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typedef struct os_timer_def {
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os_ptimer ptimer;
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} osTimerDef_t;
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/**
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* @brief Type of a mutex definition block.
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*/
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typedef struct os_mutex_def {
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uint32_t dummy;
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} osMutexDef_t;
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/**
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* @brief Type of a semaphore definition block.
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*/
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typedef struct os_semaphore_def {
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uint32_t dummy;
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} osSemaphoreDef_t;
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/**
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* @brief Type of a memory pool definition block.
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*/
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typedef struct os_pool_def {
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uint32_t pool_sz;
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uint32_t item_sz;
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memory_pool_t *pool;
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void *items;
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} osPoolDef_t;
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/**
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* @brief Type of a message queue definition block.
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*/
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typedef struct os_messageQ_def {
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uint32_t queue_sz;
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uint32_t item_sz;
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mailbox_t *mailbox;
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void *items;
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} osMessageQDef_t;
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/*===========================================================================*/
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/* Module macros. */
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/*===========================================================================*/
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/**
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* @brief Convert a microseconds value to a RTOS kernel system timer value.
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*/
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#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * \
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(osKernelSysTickFrequency)) / \
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1000000)
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/**
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* @brief Create a Thread definition.
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*/
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#if defined(osObjectsExternal)
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#define osThreadDef(thd, priority, stacksz, name) \
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extern const osThreadDef_t os_thread_def_##thd
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#else
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#define osThreadDef(thd, priority, stacksz, name) \
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const osThreadDef_t os_thread_def_##thd = { \
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(thd), \
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(priority), \
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(stacksz), \
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(name) \
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}
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#endif
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/**
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* @brief Access a Thread definition.
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*/
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#define osThread(name) &os_thread_def_##name
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/**
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* @brief Define a Timer object.
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*/
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#if defined(osObjectsExternal)
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#define osTimerDef(name, function) \
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extern const osTimerDef_t os_timer_def_##name
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#else
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#define osTimerDef(name, function) \
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const osTimerDef_t os_timer_def_##name = { \
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(function) \
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}
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#endif
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/**
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* @brief Access a Timer definition.
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*/
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#define osTimer(name) &os_timer_def_##name
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/**
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* @brief Define a Mutex.
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*/
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#if defined(osObjectsExternal)
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#define osMutexDef(name) extern const osMutexDef_t os_mutex_def_##name
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#else
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#define osMutexDef(name) const osMutexDef_t os_mutex_def_##name = {0}
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#endif
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/**
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* @brief Access a Mutex definition.
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*/
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#define osMutex(name) &os_mutex_def_##name
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/**
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* @brief Define a Semaphore.
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*/
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#if defined(osObjectsExternal)
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#define osSemaphoreDef(name) \
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extern const osSemaphoreDef_t os_semaphore_def_##name
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#else // define the object
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#define osSemaphoreDef(name) \
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const osSemaphoreDef_t os_semaphore_def_##name = {0}
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#endif
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/**
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* @brief Access a Semaphore definition.
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*/
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#define osSemaphore(name) &os_semaphore_def_##name
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/**
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* @brief Define a Memory Pool.
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*/
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#if defined(osObjectsExternal)
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#define osPoolDef(name, no, type) \
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extern const osPoolDef_t os_pool_def_##name
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#else
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#define osPoolDef(name, no, type) \
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static const type os_pool_buf_##name[no]; \
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static memory_pool_t os_pool_obj_##name; \
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const osPoolDef_t os_pool_def_##name = { \
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(no), \
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sizeof (type), \
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(void *)&os_pool_obj_##name, \
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(void *)&os_pool_buf_##name[0] \
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}
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#endif
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/**
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* @brief Access a Memory Pool definition.
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*/
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#define osPool(name) &os_pool_def_##name
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/**
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* @brief Define a Message Queue.
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*/
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#if defined(osObjectsExternal)
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#define osMessageQDef(name, queue_sz, type) \
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extern const osMessageQDef_t os_messageQ_def_##name
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#else
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#define osMessageQDef(name, queue_sz, type) \
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static const msg_t os_messageQ_buf_##name[queue_sz]; \
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static mailbox_t os_messageQ_obj_##name; \
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const osMessageQDef_t os_messageQ_def_##name = { \
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(queue_sz), \
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sizeof (type), \
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(void *)&os_messageQ_obj_##name, \
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(void *)&os_messageQ_buf_##name[0] \
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Access a Message Queue definition.
|
||
|
|
*/
|
||
|
|
#define osMessageQ(name) &os_messageQ_def_##name
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* External declarations. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
extern int32_t cmsis_os_started;
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
osStatus osKernelInitialize(void);
|
||
|
|
osStatus osKernelStart(void);
|
||
|
|
osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument);
|
||
|
|
osStatus osThreadTerminate(osThreadId thread_id);
|
||
|
|
osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio);
|
||
|
|
/*osEvent osWait(uint32_t millisec);*/
|
||
|
|
osTimerId osTimerCreate(const osTimerDef_t *timer_def,
|
||
|
|
os_timer_type type,
|
||
|
|
void *argument);
|
||
|
|
osStatus osTimerStart(osTimerId timer_id, uint32_t millisec);
|
||
|
|
osStatus osTimerStop(osTimerId timer_id);
|
||
|
|
osStatus osTimerDelete(osTimerId timer_id);
|
||
|
|
int32_t osSignalSet(osThreadId thread_id, int32_t signals);
|
||
|
|
int32_t osSignalClear(osThreadId thread_id, int32_t signals);
|
||
|
|
osEvent osSignalWait(int32_t signals, uint32_t millisec);
|
||
|
|
osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
|
||
|
|
int32_t count);
|
||
|
|
int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec);
|
||
|
|
osStatus osSemaphoreRelease(osSemaphoreId semaphore_id);
|
||
|
|
osStatus osSemaphoreDelete(osSemaphoreId semaphore_id);
|
||
|
|
osMutexId osMutexCreate(const osMutexDef_t *mutex_def);
|
||
|
|
osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec);
|
||
|
|
osStatus osMutexRelease(osMutexId mutex_id);
|
||
|
|
osStatus osMutexDelete(osMutexId mutex_id);
|
||
|
|
osPoolId osPoolCreate(const osPoolDef_t *pool_def);
|
||
|
|
void *osPoolAlloc(osPoolId pool_id);
|
||
|
|
void *osPoolCAlloc(osPoolId pool_id);
|
||
|
|
osStatus osPoolFree(osPoolId pool_id, void *block);
|
||
|
|
osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
|
||
|
|
osThreadId thread_id);
|
||
|
|
osStatus osMessagePut(osMessageQId queue_id,
|
||
|
|
uint32_t info,
|
||
|
|
uint32_t millisec);
|
||
|
|
osEvent osMessageGet(osMessageQId queue_id,
|
||
|
|
uint32_t millisec);
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/*===========================================================================*/
|
||
|
|
/* Module inline functions. */
|
||
|
|
/*===========================================================================*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief To be or not to be.
|
||
|
|
*/
|
||
|
|
static inline int32_t osKernelRunning(void) {
|
||
|
|
|
||
|
|
return cmsis_os_started;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief System ticks since start.
|
||
|
|
*/
|
||
|
|
static inline uint32_t osKernelSysTick(void) {
|
||
|
|
|
||
|
|
return (uint32_t)chVTGetSystemTimeX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns the current thread.
|
||
|
|
*/
|
||
|
|
static inline osThreadId osThreadGetId(void) {
|
||
|
|
|
||
|
|
return (osThreadId)chThdGetSelfX();
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Thread time slice yield.
|
||
|
|
*/
|
||
|
|
static inline osStatus osThreadYield(void) {
|
||
|
|
|
||
|
|
chThdYield();
|
||
|
|
|
||
|
|
return osOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Returns priority of a thread.
|
||
|
|
*/
|
||
|
|
static inline osPriority osThreadGetPriority(osThreadId thread_id) {
|
||
|
|
|
||
|
|
return (osPriority)(NORMALPRIO - thread_id->prio);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Thread delay in milliseconds.
|
||
|
|
*/
|
||
|
|
static inline osStatus osDelay(uint32_t millisec) {
|
||
|
|
|
||
|
|
chThdSleepMilliseconds(millisec);
|
||
|
|
|
||
|
|
return osOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif /* CMSIS_OS_H */
|
||
|
|
|
||
|
|
/** @} */
|