#include <cmsis-plus/rtos/os-c-decls.h>
#include <stdint.h>
#include <stddef.h>

Classes
struct	os_mail_queue_s

struct	os_mailQ_def
	Definition structure for mail queue. More...

struct	os_messageQ_def
	Definition structure for message queue. More...

struct	os_mutex_def
	Mutex definition structure contains setup information for a mutex. More...

struct	os_pool_def
	Definition structure for memory block allocation. More...

struct	os_semaphore_def
	Semaphore definition structure contains setup information for a semaphore. More...

struct	os_thread_def
	Thread definition structure contains startup information of a thread. More...

struct	os_timer_def
	Timer definition structure contains timer parameters. More...

struct	osEvent
	Event structure contains detailed information about an event. More...

Macros
#define	osCMSIS 0x00010002

#define	osCMSIS_KERNEL 0x00010000

#define	osFeature_MailQ 1

#define	osFeature_MainThread 0

#define	osFeature_MessageQ 1

#define	osFeature_Pool 1

#define	osFeature_Semaphore 30

#define	osFeature_Signals 8

#define	osFeature_SysTick 1

#define	osFeature_Wait 1

#define	osKernelSystemId "µOS++"

#define	osKernelSysTickFrequency (OS_INTEGER_SYSTICK_FREQUENCY_HZ)
	The RTOS kernel system timer frequency.

#define	osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
	Convert a microseconds value to ticks.

#define	osMailQ(name) &os_mailQ_def_##name
	Access a mail queue definition.

#define	osMailQAllocatedDef(name, items, type)
	Create a mail queue definition.

#define	osMailQDef(name, items, type) osMailQAllocatedDef(name, items, type)

#define	osMailQStaticDef(name, items, type)

#define	osMessageQ(name) &os_messageQ_def_##name
	Access a Message Queue.

#define	osMessageQAllocatedDef(name, items, type)
	Create a Message Queue Definition.

#define	osMessageQDef(name, items, type) osMessageQAllocatedDef(name, items, type)

#define	osMessageQStaticDef(name, items, type)

#define	osMutex(name) &os_mutex_def_##name
	Access a mutex.

#define	osMutexDef(name)
	Define a mutex.

#define	osPool(name) &os_pool_def_##name
	Access a Memory Pool definition.

#define	osPoolAllocatedDef(name, items, type)
	Define a Memory Pool.

#define	osPoolDef(name, items, type) osPoolAllocatedDef(name, items, type)

#define	osPoolStaticDef(name, items, type)

#define	osSemaphore(name) &os_semaphore_def_##name
	Access a Semaphore definition.

#define	osSemaphoreDef(name)
	Define a Semaphore object.

#define	osThread(name) &os_thread_def_##name
	Access a Thread definition.

#define	osThreadAllocatedDef(name, priority, instances, stacksz)
	Create a Thread Definition.

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

#define	osThreadStaticDef(name, priority, instances, stacksz)

#define	osTimer(name) &os_timer_def_##name
	Access the timer.

#define	osTimerDef(name, function)
	Define timer.

#define	osWaitForever 0xFFFFFFFF
	Timeout value.

Typedefs
typedef struct os_mail_queue_s	os_mail_queue_t

typedef void(*	os_pthread) (void const *argument)
	Entry point of a thread.

typedef void(*	os_ptimer) (void const *argument)
	Entry point of a timer call back function.

typedef os_mail_queue_t	osMailQ

typedef struct os_mailQ_def	osMailQDef_t
	Definition structure for mail queue.

typedef osMailQ *	osMailQId
	Mail ID identifies the mail queue (pointer to a mail queue control block).

typedef os_mqueue_t	osMessageQ

typedef os_mqueue_attr_t	osMessageQAttr

typedef struct os_messageQ_def	osMessageQDef_t
	Definition structure for message queue.

typedef osMessageQ *	osMessageQId
	Message ID identifies the message queue (pointer to a message queue control block).

typedef os_mutex_t	osMutex

typedef os_mutex_attr_t	osMutexAttr

typedef struct os_mutex_def	osMutexDef_t
	Mutex definition structure contains setup information for a mutex.

typedef osMutex *	osMutexId
	Mutex ID identifies the mutex (pointer to a mutex control block).

typedef os_mempool_t	osPool

typedef os_mempool_attr_t	osPoolAttr

typedef struct os_pool_def	osPoolDef_t
	Definition structure for memory block allocation.

typedef osPool *	osPoolId
	Pool ID identifies the memory pool (pointer to a memory pool control block).

typedef os_semaphore_t	osSemaphore

typedef os_semaphore_attr_t	osSemaphoreAttr

typedef struct os_semaphore_def	osSemaphoreDef_t
	Semaphore definition structure contains setup information for a semaphore.

typedef osSemaphore *	osSemaphoreId
	Semaphore ID identifies the semaphore (pointer to a semaphore control block).

typedef os_thread_t	osThread

typedef os_thread_attr_t	osThreadAttr

typedef struct os_thread_def	osThreadDef_t
	Thread definition structure contains startup information of a thread.

typedef osThread *	osThreadId
	Thread ID identifies the thread (pointer to a thread control block).

typedef os_timer_t	osTimer

typedef os_timer_attr_t	osTimerAttr

typedef struct os_timer_def	osTimerDef_t
	Timer definition structure contains timer parameters.

typedef osTimer *	osTimerId
	Timer ID identifies the timer (pointer to a timer control block).

Enumerations
enum	os_timer_type { osTimerOnce = os_timer_once , osTimerPeriodic = os_timer_periodic }
	Timer type value for the timer definition. More...

enum	osPriority { osPriorityIdle = os_thread_priority_idle , osPriorityLow = os_thread_priority_low , osPriorityBelowNormal = os_thread_priority_below_normal , osPriorityNormal = os_thread_priority_normal , osPriorityAboveNormal = os_thread_priority_above_normal , osPriorityHigh = os_thread_priority_high , osPriorityRealtime = os_thread_priority_realtime , osPriorityError = os_thread_priority_error }

enum	osStatus { osOK = 0 , osEventSignal = 0x08 , osEventMessage = 0x10 , osEventMail = 0x20 , osEventTimeout = 0x40 , osErrorParameter = 0x80 , osErrorResource = 0x81 , osErrorTimeoutResource = 0xC1 , osErrorISR = 0x82 , osErrorISRRecursive = 0x83 , osErrorPriority = 0x84 , osErrorNoMemory = 0x85 , osErrorValue = 0x86 , osErrorOS = 0xFF , os_status_reserved = 0x7FFFFFFF }
	Status code values returned by CMSIS-RTOS functions. More...

Functions
osStatus	osDelay (uint32_t millisec)
	Time Delay.

osStatus	osKernelInitialize (void)
	Initialize the RTOS.

int32_t	osKernelRunning (void)
	Check if the RTOS scheduler is started.

osStatus	osKernelStart (void)

uint32_t	osKernelSysTick (void)
	Get the system timer counter.

void *	osMailAlloc (osMailQId mail_id, uint32_t millisec)
	Allocate a memory block from a mail.

void *	osMailCAlloc (osMailQId mail_id, uint32_t millisec)
	Allocate and clear a memory block from a mail.

osMailQId	osMailCreate (const osMailQDef_t *mail_def, osThreadId thread_id)
	Create a mail queue.

osStatus	osMailFree (osMailQId mail_id, void *mail)
	Free a memory block from a mail.

osEvent	osMailGet (osMailQId mail_id, uint32_t millisec)
	Get a mail from a queue.

osStatus	osMailPut (osMailQId mail_id, void *mail)
	Put a mail to a queue.

osMessageQId	osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id)
	Create a message queue.

osEvent	osMessageGet (osMessageQId queue_id, uint32_t millisec)
	Get a message or Wait for a Message from a Queue.

osStatus	osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec)
	Put a message to a queue.

osMutexId	osMutexCreate (const osMutexDef_t *mutex_def)
	Create a mutex.

osStatus	osMutexDelete (osMutexId mutex_id)
	Delete the mutex.

osStatus	osMutexRelease (osMutexId mutex_id)
	Release the mutex.

osStatus	osMutexWait (osMutexId mutex_id, uint32_t millisec)
	Wait for mutex.

void *	osPoolAlloc (osPoolId pool_id)
	Allocate a memory block.

void *	osPoolCAlloc (osPoolId pool_id)
	Allocate and clear a memory block.

osPoolId	osPoolCreate (const osPoolDef_t *pool_def)
	Create a memory pool.

osStatus	osPoolFree (osPoolId pool_id, void *block)
	Free a memory block.

osSemaphoreId	osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count)
	Create a semaphore.

osStatus	osSemaphoreDelete (osSemaphoreId semaphore_id)
	Delete the semaphore.

osStatus	osSemaphoreRelease (osSemaphoreId semaphore_id)
	Release the semaphore.

int32_t	osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec)
	Wait until a Semaphore token becomes available.

int32_t	osSignalClear (osThreadId thread_id, int32_t signals)
	Clear the specified Signal Flags of an active thread.

int32_t	osSignalSet (osThreadId thread_id, int32_t signals)
	Set signal flags.

osEvent	osSignalWait (int32_t signals, uint32_t millisec)
	Wait for one or more Signal Flags to become signaled for the current RUNNING thread.

osThreadId	osThreadCreate (const osThreadDef_t thread_def, void args)
	Create a thread.

osThreadId	osThreadGetId (void)
	Get the current thread.

osPriority	osThreadGetPriority (osThreadId thread_id)
	Get thread priority.

osStatus	osThreadSetPriority (osThreadId thread_id, osPriority priority)
	Change thread priority.

osStatus	osThreadTerminate (osThreadId thread_id)
	Terminate a thread.

osStatus	osThreadYield (void)
	Yield control.

osTimerId	osTimerCreate (const osTimerDef_t timer_def, os_timer_type type, void args)
	Create a timer.

osStatus	osTimerDelete (osTimerId timer_id)
	Delete the timer.

osStatus	osTimerStart (osTimerId timer_id, uint32_t millisec)
	Start the timer.

osStatus	osTimerStop (osTimerId timer_id)
	Stop the timer.

osEvent	osWait (uint32_t millisec)
	Wait for Signal, Message, Mail, or Timeout.

Macro Definition Documentation

◆ osCMSIS

#define osCMSIS 0x00010002

Note: MUST REMAIN UNCHANGED: osCMSIS identifies the CMSIS-RTOS API version. API version (main [31:16] .sub [15:0]).

Definition at line 98 of file cmsis_os.h.

◆ osCMSIS_KERNEL

#define osCMSIS_KERNEL 0x00010000

Note: CAN BE CHANGED: osCMSIS_KERNEL identifies the underlying RTOS kernel and version number. RTOS identification and version (main [31:16] .sub [15:0]).

Definition at line 101 of file cmsis_os.h.

◆ osFeature_MailQ

#define osFeature_MailQ 1

Mail Queues: 1=available, 0=not available.

Definition at line 109 of file cmsis_os.h.

◆ osFeature_MainThread

#define osFeature_MainThread 0

Note: MUST REMAIN UNCHANGED: osFeature_xxx shall be consistent in every CMSIS-RTOS. Main thread 1=main can be thread, 0=not available.

Definition at line 107 of file cmsis_os.h.

◆ osFeature_MessageQ

#define osFeature_MessageQ 1

Message Queues: 1=available, 0=not available.

Definition at line 110 of file cmsis_os.h.

◆ osFeature_Pool

#define osFeature_Pool 1

Memory Pools: 1=available, 0=not available.

Definition at line 108 of file cmsis_os.h.

◆ osFeature_Semaphore

#define osFeature_Semaphore 30

Maximum count for osSemaphoreCreate function.

Definition at line 112 of file cmsis_os.h.

◆ osFeature_Signals

#define osFeature_Signals 8

Maximum number of Signal Flags available per thread.

Definition at line 111 of file cmsis_os.h.

◆ osFeature_SysTick

#define osFeature_SysTick 1

osKernelSysTick functions: 1=available, 0=not available.

Definition at line 114 of file cmsis_os.h.

◆ osFeature_Wait

#define osFeature_Wait 1

osWait function: 1=available, 0=not available.

Definition at line 113 of file cmsis_os.h.

◆ osKernelSystemId

#define osKernelSystemId "µOS++"

Note: MUST REMAIN UNCHANGED: osKernelSystemId shall be consistent in every CMSIS-RTOS. RTOS identification string.

Definition at line 104 of file cmsis_os.h.

◆ osKernelSysTickFrequency

#define osKernelSysTickFrequency (OS_INTEGER_SYSTICK_FREQUENCY_HZ)

Specifies the frequency of the Kernel SysTick timer in Hz. The value is typically use to scale a time value and is for example used in osKernelSysTickMicroSec.

Note: Reflects the system timer setting and is typically defined in a configuration file.

Definition at line 447 of file cmsis_os.h.

◆ osKernelSysTickMicroSec

#define osKernelSysTickMicroSec ( microsec ) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)

Allows to scale a microsecond value to the frequency of the Kernel SysTick timer. This macro is typically used to check for short timeouts in polling loops.

Parameters

microsec time value in microseconds.

Returns: time value normalized to the osKernelSysTickFrequency.

Definition at line 460 of file cmsis_os.h.

◆ osMailQ

#define osMailQ ( name ) &os_mailQ_def_##name

Parameters

name	name of the queue.

Note: CAN BE CHANGED: The parameter to osMailQ shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 1247 of file cmsis_os.h.

◆ osMailQAllocatedDef

#define osMailQAllocatedDef	(	name,
		items,
		type
	)

Value:

struct { \
    osMailQ data; \
    struct { \
      type pool[items]; \
    } pool_storage; \
    struct { \
      void* queue[items]; \
      os_mqueue_index_t links[2 * items]; \
      os_mqueue_prio_t prios[items]; \
    } queue_storage; \
} os_mailQ_##name; \
const osMailQDef_t os_mailQ_def_##name = { \
    #name, \
    (items), \
    sizeof (type), \
    sizeof (void*), \
    0, \
    0, \
    0, \
    0, \
    &os_mailQ_##name.data \
}

Parameters

name	name of the queue.
items	maximum number of messages in queue.
type	data type of a single message element.

Note: CAN BE CHANGED: The parameter to osMailQDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 1187 of file cmsis_os.h.

◆ osMailQDef

#define osMailQDef	(	name,
		items,
		type
	)	osMailQAllocatedDef(name, items, type)

Definition at line 1236 of file cmsis_os.h.

◆ osMailQStaticDef

#define osMailQStaticDef	(	name,
		items,
		type
	)

Value:

struct { \
    osMailQ data; \
    struct { \
      type pool[items]; \
    } pool_storage; \
    struct { \
      void* queue[items]; \
      os_mqueue_index_t links[2 * items]; \
      os_mqueue_prio_t prios[items]; \
    } queue_storage; \
} os_mailQ_##name; \
const osMailQDef_t os_mailQ_def_##name = { \
    #name, \
    (items), \
    sizeof (type), \
    sizeof (void*), \
    &os_mailQ_##name.pool_storage, \
    sizeof(os_mailQ_##name.pool_storage), \
    &os_mailQ_##name.queue_storage, \
    sizeof(os_mailQ_##name.queue_storage), \
    &os_mailQ_##name.data \
}

Definition at line 1210 of file cmsis_os.h.

◆ osMessageQ

#define osMessageQ ( name ) &os_messageQ_def_##name

Parameters

name	name of the queue.

Access to the message queue definition for the function osMessageCreate.

Note: CAN BE CHANGED: The parameter to osMessageQ shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 1123 of file cmsis_os.h.

◆ osMessageQAllocatedDef

#define osMessageQAllocatedDef	(	name,
		items,
		type
	)

Value:

struct { \
    osMessageQ data; \
} os_messageQ_##name; \
const osMessageQDef_t os_messageQ_def_##name = { \
    #name, \
    (items), \
    sizeof (void*), \
    0, \
    0, \
    &os_messageQ_##name.data \
}

Parameters

name	name of the queue.
items	maximum number of messages in the queue.
type	data type of a single message element (for debugger).

Note: CAN BE CHANGED: The parameter to osMessageQDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 1076 of file cmsis_os.h.

◆ osMessageQDef

#define osMessageQDef	(	name,
		items,
		type
	)	osMessageQAllocatedDef(name, items, type)

Definition at line 1109 of file cmsis_os.h.

◆ osMessageQStaticDef

#define osMessageQStaticDef	(	name,
		items,
		type
	)

Value:

struct { \
    osMessageQ data; \
    struct { \
      void* queue[items]; \
      os_mqueue_index_t links[2 * items]; \
      os_mqueue_prio_t prios[items]; \
    } storage; \
} os_messageQ_##name; \
const osMessageQDef_t os_messageQ_def_##name = { \
    #name, \
    (items), \
    sizeof (void*), \
    &os_messageQ_##name.storage, \
    sizeof(os_messageQ_##name.storage), \
    &os_messageQ_##name.data \
}

Definition at line 1088 of file cmsis_os.h.

◆ osMutex

#define osMutex ( name ) &os_mutex_def_##name

Parameters

name	name of the mutex object.

Provides osMutexCreate access to the mutex object definition.

Note: CAN BE CHANGED: The parameter to osMutex shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 803 of file cmsis_os.h.

◆ osMutexDef

#define osMutexDef ( name )

Value:

osMutex os_mutex_data_##name; \
const osMutexDef_t os_mutex_def_##name = \
{ \
    #name, \
    &os_mutex_data_##name \
}

Parameters

name	name of the mutex object.

Define a mutex object that is referenced by osMutex.

Note: CAN BE CHANGED: The parameter to osMutexDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 784 of file cmsis_os.h.

◆ osPool

#define osPool ( name ) &os_pool_def_##name

Parameters

name	name of the memory pool.

Note: CAN BE CHANGED: The parameter to osPool shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 1009 of file cmsis_os.h.

◆ osPoolAllocatedDef

#define osPoolAllocatedDef	(	name,
		items,
		type
	)

Value:

struct { \
    osPool data; \
} os_pool_##name; \
const osPoolDef_t os_pool_def_##name = \
{ \
    #name, \
    (items), \
    sizeof(type), \
    0, \
    0, \
    &os_pool_##name.data \
}

Parameters

name	name of the memory pool.
items	maximum number of blocks (objects) in the memory pool.
type	data type of a single block (object).

Note: CAN BE CHANGED: The parameter to osPoolDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 966 of file cmsis_os.h.

◆ osPoolDef

#define osPoolDef	(	name,
		items,
		type
	)	osPoolAllocatedDef(name, items, type)

Definition at line 998 of file cmsis_os.h.

◆ osPoolStaticDef

#define osPoolStaticDef	(	name,
		items,
		type
	)

Value:

struct { \
    osPool data; \
    struct { \
      type pool[items]; \
    } storage; \
} os_pool_##name; \
const osPoolDef_t os_pool_def_##name = \
{ \
    #name, \
    (items), \
    sizeof(type), \
    &os_pool_##name.storage, \
    sizeof(os_pool_##name.storage), \
    &os_pool_##name.data \
}

Definition at line 979 of file cmsis_os.h.

◆ osSemaphore

#define osSemaphore ( name ) &os_semaphore_def_##name

Parameters

name	name of the semaphore object.

Note: CAN BE CHANGED: The parameter to osSemaphore shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 893 of file cmsis_os.h.

◆ osSemaphoreDef

#define osSemaphoreDef ( name )

Value:

osSemaphore os_semaphore_data_##name; \
const osSemaphoreDef_t os_semaphore_def_##name = \
{ \
    #name, \
    &os_semaphore_data_##name \
}

Parameters

name	name of the semaphore object.

Note: CAN BE CHANGED: The parameter to osSemaphoreDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 876 of file cmsis_os.h.

◆ osThread

#define osThread ( name ) &os_thread_def_##name

Parameters

name	name of the thread definition object.

Access to the thread definition for the function osThreadCreate.

Note: CAN BE CHANGED: The parameter to osThread shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 531 of file cmsis_os.h.

◆ osThreadAllocatedDef

#define osThreadAllocatedDef	(	name,
		priority,
		instances,
		stacksz
	)

Value:

struct { \
    osThread data[instances]; \
} os_thread_##name; \
const osThreadDef_t os_thread_def_##name = \
{ \
    #name, \
    (os_pthread)(name), \
    (priority), \
    (instances), \
    (stacksz), \
    &os_thread_##name.data[0], \
    0 \
}

Parameters

name	name of the thread function.
priority	initial priority of the thread function.
instances	number of possible thread instances.
stacksz	stack size (in bytes) requirements for the thread function.

Define the attributes of a thread functions that can be created by the function osThreadCreate using osThread.

Note: CAN BE CHANGED: The parameters to osThreadDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 485 of file cmsis_os.h.

◆ osThreadDef

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

Definition at line 517 of file cmsis_os.h.

◆ osThreadStaticDef

#define osThreadStaticDef	(	name,
		priority,
		instances,
		stacksz
	)

Value:

struct { \
    uint64_t stack[(instances)*((stacksz+sizeof(uint64_t)-1)/sizeof(uint64_t))]; \
    osThread data[instances]; \
} os_thread_##name; \
const osThreadDef_t os_thread_def_##name = \
{ \
    #name, \
    (os_pthread)(name), \
    (priority), \
    (instances), \
    (stacksz), \
    &os_thread_##name.data[0], \
    &os_thread_##name.stack[0] \
}

Definition at line 499 of file cmsis_os.h.

◆ osTimer

#define osTimer ( name ) &os_timer_def_##name

Parameters

name	name of the timer object.

Provide access to the timer definition for the function osTimerCreate.

Note: CAN BE CHANGED: The parameter to osTimer shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 676 of file cmsis_os.h.

◆ osTimerDef

#define osTimerDef	(	name,
		function
	)

Value:

struct { \
    osTimer data; \
} os_timer_##name; \
const osTimerDef_t os_timer_def_##name = \
{ \
    #name, \
    (os_ptimer)(function), \
    &os_timer_##name.data \
}

Parameters

name	name of the timer object.
function	name of the timer call back function.

Define the attributes of a timer object.

Note: CAN BE CHANGED: The parameter to osTimerDef shall be consistent but the macro body is implementation specific in every CMSIS-RTOS.

Definition at line 654 of file cmsis_os.h.

◆ osWaitForever

#define osWaitForever 0xFFFFFFFF

Note: The names MUST REMAIN UNCHANGED: osWaitForever shall be consistent in every CMSIS-RTOS. Wait forever timeout value.

Definition at line 147 of file cmsis_os.h.

Typedef Documentation

◆ os_mail_queue_t

typedef struct os_mail_queue_s os_mail_queue_t

◆ os_pthread

typedef void(* os_pthread) (void const *argument)

Note: MUST REMAIN UNCHANGED: os_pthread shall be consistent in every CMSIS-RTOS.

Definition at line 186 of file cmsis_os.h.

◆ os_ptimer

typedef void(* os_ptimer) (void const *argument)

Note: MUST REMAIN UNCHANGED: os_ptimer shall be consistent in every CMSIS-RTOS.

Definition at line 193 of file cmsis_os.h.

◆ osMailQ

typedef os_mail_queue_t osMailQ

Definition at line 221 of file cmsis_os.h.

◆ osMailQDef_t

typedef struct os_mailQ_def osMailQDef_t

Note: CAN BE CHANGED: os_mailQ_def is implementation specific in every CMSIS-RTOS.

◆ osMailQId

typedef osMailQ* osMailQId

Note: CAN BE CHANGED: os_mailQ_cb is implementation specific in every CMSIS-RTOS.

Definition at line 263 of file cmsis_os.h.

◆ osMessageQ

typedef os_mqueue_t osMessageQ

Definition at line 212 of file cmsis_os.h.

◆ osMessageQAttr

typedef os_mqueue_attr_t osMessageQAttr

Definition at line 213 of file cmsis_os.h.

◆ osMessageQDef_t

typedef struct os_messageQ_def osMessageQDef_t

Note: CAN BE CHANGED: os_messageQ_def is implementation specific in every CMSIS-RTOS.

◆ osMessageQId

typedef osMessageQ* osMessageQId

Note: CAN BE CHANGED: os_messageQ_cb is implementation specific in every CMSIS-RTOS.

Definition at line 257 of file cmsis_os.h.

◆ osMutex

typedef os_mutex_t osMutex

Definition at line 203 of file cmsis_os.h.

◆ osMutexAttr

typedef os_mutex_attr_t osMutexAttr

Definition at line 204 of file cmsis_os.h.

◆ osMutexDef_t

typedef struct os_mutex_def osMutexDef_t

Note: CAN BE CHANGED: os_mutex_def is implementation specific in every CMSIS-RTOS.

◆ osMutexId

typedef osMutex* osMutexId

Note: CAN BE CHANGED: os_mutex_cb is implementation specific in every CMSIS-RTOS.

Definition at line 239 of file cmsis_os.h.

◆ osPool

typedef os_mempool_t osPool

Definition at line 209 of file cmsis_os.h.

◆ osPoolAttr

typedef os_mempool_attr_t osPoolAttr

Definition at line 210 of file cmsis_os.h.

◆ osPoolDef_t

typedef struct os_pool_def osPoolDef_t

Note: CAN BE CHANGED: os_pool_def is implementation specific in every CMSIS-RTOS.

◆ osPoolId

typedef osPool* osPoolId

Note: CAN BE CHANGED: os_pool_cb is implementation specific in every CMSIS-RTOS.

Definition at line 251 of file cmsis_os.h.

◆ osSemaphore

typedef os_semaphore_t osSemaphore

Definition at line 206 of file cmsis_os.h.

◆ osSemaphoreAttr

typedef os_semaphore_attr_t osSemaphoreAttr

Definition at line 207 of file cmsis_os.h.

◆ osSemaphoreDef_t

typedef struct os_semaphore_def osSemaphoreDef_t

Note: CAN BE CHANGED: os_semaphore_def is implementation specific in every CMSIS-RTOS.

◆ osSemaphoreId

typedef osSemaphore* osSemaphoreId

Note: CAN BE CHANGED: os_semaphore_cb is implementation specific in every CMSIS-RTOS.

Definition at line 245 of file cmsis_os.h.

◆ osThread

typedef os_thread_t osThread

Definition at line 197 of file cmsis_os.h.

◆ osThreadAttr

typedef os_thread_attr_t osThreadAttr

Definition at line 198 of file cmsis_os.h.

◆ osThreadDef_t

typedef struct os_thread_def osThreadDef_t

Note: CAN BE CHANGED: os_thread_def is implementation specific in every CMSIS-RTOS.

◆ osThreadId

typedef osThread* osThreadId

Note: CAN BE CHANGED: os_thread_cb is implementation specific in every CMSIS-RTOS.

Definition at line 227 of file cmsis_os.h.

◆ osTimer

typedef os_timer_t osTimer

Definition at line 200 of file cmsis_os.h.

◆ osTimerAttr

typedef os_timer_attr_t osTimerAttr

Definition at line 201 of file cmsis_os.h.

◆ osTimerDef_t

typedef struct os_timer_def osTimerDef_t

Note: CAN BE CHANGED: os_timer_def is implementation specific in every CMSIS-RTOS.

◆ osTimerId

typedef osTimer* osTimerId

Note: CAN BE CHANGED: os_timer_cb is implementation specific in every CMSIS-RTOS.

Definition at line 233 of file cmsis_os.h.

Enumeration Type Documentation

◆ os_timer_type

enum os_timer_type

Note: The names MUST REMAIN UNCHANGED: os_timer_type shall be consistent in every CMSIS-RTOS.

Enumerator
osTimerOnce	One-shot timer.
osTimerPeriodic	Repeating timer.

Definition at line 176 of file cmsis_os.h.

  {
    osTimerOnce = os_timer_once, 
    osTimerPeriodic = os_timer_periodic 
  } os_timer_type;

◆ osPriority

enum osPriority

Priority used for thread control.

Note: The names MUST REMAIN UNCHANGED: osPriority shall be consistent in every CMSIS-RTOS.

Enumerator
osPriorityIdle	Priority: idle (lowest).
osPriorityLow	Priority: low.
osPriorityBelowNormal	Priority: below normal.
osPriorityNormal	Priority: normal (default).
osPriorityAboveNormal	Priority: above normal.
osPriorityHigh	Priority: high.
osPriorityRealtime	Priority: realtime (highest).
osPriorityError	System cannot determine priority or thread has illegal priority.

Definition at line 131 of file cmsis_os.h.

  {
    osPriorityIdle = os_thread_priority_idle, 
    osPriorityLow = os_thread_priority_low, 
    osPriorityBelowNormal = os_thread_priority_below_normal, 
    osPriorityNormal = os_thread_priority_normal, 
    osPriorityAboveNormal = os_thread_priority_above_normal, 
    osPriorityHigh = os_thread_priority_high, 
    osPriorityRealtime = os_thread_priority_realtime, 
    osPriorityError = os_thread_priority_error 
  } osPriority;

◆ osStatus

enum osStatus

Note: The names MUST REMAIN UNCHANGED: osStatus shall be consistent in every CMSIS-RTOS.

Enumerator
osOK	Function completed; no error or event occurred.
osEventSignal	Function completed; signal event occurred.
osEventMessage	Function completed; message event occurred.
osEventMail	Function completed; mail event occurred.
osEventTimeout	Function completed; timeout occurred.
osErrorParameter	Parameter error: a mandatory parameter was missing or specified an incorrect object.
osErrorResource	Resource not available: a specified resource was not available.
osErrorTimeoutResource	Resource not available within given time: a specified resource was not available within the timeout period.
osErrorISR	Not allowed in ISR context: the function cannot be called from interrupt service routines.
osErrorISRRecursive	Function called multiple times from ISR with same object.
osErrorPriority	System cannot determine priority or thread has illegal priority.
osErrorNoMemory	System is out of memory: it was impossible to allocate or reserve memory for the operation.
osErrorValue	Value of a parameter is out of range.
osErrorOS	Unspecified RTOS error: run-time error but no other error message fits.
os_status_reserved	Prevent from enum down-size compiler optimization.

Definition at line 153 of file cmsis_os.h.

  {
    osOK = 0, 
    osEventSignal = 0x08, 
    osEventMessage = 0x10, 
    osEventMail = 0x20, 
    osEventTimeout = 0x40, 
    osErrorParameter = 0x80, 
    osErrorResource = 0x81, 
    osErrorTimeoutResource = 0xC1, 
    osErrorISR = 0x82, 
    osErrorISRRecursive = 0x83, 
    osErrorPriority = 0x84, 
    osErrorNoMemory = 0x85, 
    osErrorValue = 0x86, 
    osErrorOS = 0xFF, 
    os_status_reserved = 0x7FFFFFFF 
  } osStatus;

Function Documentation

◆ osDelay()

osStatus osDelay ( uint32_t millisec )

Parameters

[in] millisec Timeout value "time delay" value.

Return values

osEventTimeout	The time delay is executed.
osErrorISR	osDelay() cannot be called from interrupt service routines.

Wait for a specified time period in millisec.

The millisec value specifies the number of timer ticks and is therefore an upper bound. The exact time delay depends on the actual time elapsed since the last timer tick.

For a value of 1, the system waits until the next timer tick occurs. That means that the actual time delay may be up to one timer tick less.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3734 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  result_t res = sysclock.sleep_for (
      clock_systick::ticks_cast ((uint64_t)(millisec * 1000u)));
 
  if (res == ETIMEDOUT)
    {
      return osEventTimeout;
    }
  else
    {
      return osErrorOS;
    }
}

References os::rtos::interrupts::in_handler_mode(), osErrorISR, osErrorOS, osEventTimeout, os::rtos::clock::sleep_for(), os::rtos::sysclock, and os::rtos::clock_systick::ticks_cast().

◆ osKernelInitialize()

osStatus osKernelInitialize ( void )

Return values

osOK	The RTOS kernel was initialised.
osErrorISR	The function cannot be invoked from Interrupt Service Routines.

Note: MUST REMAIN UNCHANGED: osKernelInitialize shall be consistent in every CMSIS-RTOS.

Initialise of the RTOS Kernel to allow peripheral setup and creation of other RTOS objects with the functions:

osThreadCreate : Create a thread function.
osTimerCreate : Define attributes of the timer callback function.
osMutexCreate : Define and initialise a mutex.
osSemaphoreCreate : Define and initialise a semaphore.
osPoolCreate : Define and initialise a fix-size memory pool.
osMessageCreate : Define and initialise a message queue.
osMailCreate : Define and initialise a mail queue with fix-size memory blocks.

The RTOS scheduler does not start thread switching until the function osKernelStart is called.

Note: In case that the RTOS Kernel starts thread execution with the function main the function osKernelInitialize stops thread switching. This allows you to setup the system to a defined state before thread switching is resumed with osKernelStart.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3409 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  scheduler::initialize ();
  return osOK;
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::scheduler::initialize(), osErrorISR, and osOK.

◆ osKernelRunning()

int32_t osKernelRunning ( void )

Return values

0	The RTOS is not started.
1	The RTOS is started.

Identifies if the RTOS scheduler is started. For systems with the option to start the main function as a thread this allows you to identify that the RTOS scheduler is already running.

Note: Can be invoked from Interrupt Service Routines.

Definition at line 3446 of file os-c-wrapper.cpp.

{
  return scheduler::started () ? 1 : 0;
}

References os::rtos::scheduler::started().

◆ osKernelStart()

osStatus osKernelStart ( void )

Start the RTOS scheduler.

Return values

osOK	The RTOS scheduler has been successfully started.
osErrorISR	The function cannot be invoked from Interrupt Service Routines.

Note: MUST REMAIN UNCHANGED: osKernelStart shall be consistent in every CMSIS-RTOS.

Start the RTOS Kernel and begin thread switching.

Note: When the CMSIS-RTOS starts thread execution with the function main this function resumes thread switching. The main thread will continue executing after osKernelStart.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3431 of file os-c-wrapper.cpp.

{
  scheduler::start ();
  // In µOS++ this does not return.
}

References os::rtos::scheduler::start().

◆ osKernelSysTick()

uint32_t osKernelSysTick ( void )

Returns: The RTOS kernel system timer as a 32-bits value.

Note: MUST REMAIN UNCHANGED: osKernelSysTick shall be consistent in every CMSIS-RTOS.

◆ osMailAlloc()

void * osMailAlloc	(	osMailQId	mail_id,
		uint32_t	millisec
	)

Parameters

[in]	mail_id	mail queue ID obtained with osMailCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Returns: pointer to memory block that can be filled with mail or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osMailAlloc shall be consistent in every CMSIS-RTOS.

◆ osMailCAlloc()

void * osMailCAlloc	(	osMailQId	mail_id,
		uint32_t	millisec
	)

Parameters

[in]	mail_id	mail queue ID obtained with osMailCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Returns: pointer to memory block that can be filled with mail or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osMailCAlloc shall be consistent in every CMSIS-RTOS.

◆ osMailCreate()

osMailQId osMailCreate	(	const osMailQDef_t *	mail_def,
		osThreadId	thread_id
	)

Parameters

[in]	mail_def	reference to the mail queue definition obtain with osMailQ.
[in]	thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Returns: mail queue ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osMailCreate shall be consistent in every CMSIS-RTOS.

◆ osMailFree()

osStatus osMailFree	(	osMailQId	mail_id,
		void *	mail
	)

Parameters

[in]	mail_id	mail queue ID obtained with osMailCreate.
[in]	mail	pointer to the memory block that was obtained with osMailGet.

Return values

osOK	The mail block is released.
osErrorValue	Mail block does not belong to the mail queue pool.
osErrorParameter	The value to the parameter queue_id is incorrect.

Note: MUST REMAIN UNCHANGED: osMailFree shall be consistent in every CMSIS-RTOS.

◆ osMailGet()

osEvent osMailGet	(	osMailQId	mail_id,
		uint32_t	millisec
	)

Parameters

[in]	mail_id	mail queue ID obtained with osMailCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Return values

osOK	No mail is available in the queue and no timeout was specified.
osEventTimeout	No mail has arrived during the given timeout period.
osEventMail	Mail received, value.p contains the pointer to mail content.
osErrorParameter	A parameter is invalid or outside of a permitted range.

Note: MUST REMAIN UNCHANGED: osMailGet shall be consistent in every CMSIS-RTOS.

◆ osMailPut()

osStatus osMailPut	(	osMailQId	mail_id,
		void *	mail
	)

Parameters

[in]	mail_id	mail queue ID obtained with osMailCreate.
[in]	mail	memory block previously allocated with osMailAlloc or osMailCAlloc.

Return values

osOK	The message is put into the queue.
osErrorValue	Mail was previously not allocated as memory slot.
osErrorParameter	A parameter is invalid or outside of a permitted range.

Note: MUST REMAIN UNCHANGED: osMailPut shall be consistent in every CMSIS-RTOS.

◆ osMessageCreate()

osMessageQId osMessageCreate	(	const osMessageQDef_t *	queue_def,
		osThreadId	thread_id
	)

Parameters

[in]	queue_def	queue definition referenced with osMessageQ.
[in]	thread_id	thread ID (obtained by osThreadCreate or osThreadGetId) or NULL.

Returns: message queue ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osMessageCreate shall be consistent in every CMSIS-RTOS.

◆ osMessageGet()

osEvent osMessageGet	(	osMessageQId	queue_id,
		uint32_t	millisec
	)

Parameters

[in]	queue_id	message queue ID obtained with osMessageCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Return values

osOK	No message is available in the queue and no timeout was specified.
osEventTimeout	No message has arrived during the given timeout period.
osEventMessage	Message received, value.p contains the pointer to message.
osErrorParameter	A parameter is invalid or outside of a permitted range.

Note: MUST REMAIN UNCHANGED: osMessageGet shall be consistent in every CMSIS-RTOS.

◆ osMessagePut()

osStatus osMessagePut	(	osMessageQId	queue_id,
		uint32_t	info,
		uint32_t	millisec
	)

Parameters

[in]	queue_id	message queue ID obtained with osMessageCreate.
[in]	info	message information.
[in]	millisec	Timeout value or 0 in case of no time-out.

Return values

osOK	The message is put into the queue.
osErrorResource	no memory in the queue was available.
osErrorTimeoutResource	no memory in the queue was available during the given time limit.
osErrorParameter	a parameter is invalid or outside of a permitted range. status code that indicates the execution status of the function.

Note: MUST REMAIN UNCHANGED: osMessagePut shall be consistent in every CMSIS-RTOS.

◆ osMutexCreate()

osMutexId osMutexCreate ( const osMutexDef_t * mutex_def )

Parameters

[in] mutex_def mutex definition referenced with osMutex.

Returns: mutex ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osMutexCreate shall be consistent in every CMSIS-RTOS.

Create and initialise a mutex object instance.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 4099 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return nullptr;
    }
 
  if (mutex_def == nullptr)
    {
      return nullptr;
    }
 
  mutex::attributes attr;
  attr.mx_type = mutex::type::recursive;
  attr.mx_protocol = mutex::protocol::inherit;
 
  new ((void*)mutex_def->data) mutex (mutex_def->name, attr);
 
  return reinterpret_cast<osMutexId> (mutex_def->data);
}

References os_mutex_def::data, os::rtos::interrupts::in_handler_mode(), os::rtos::mutex::protocol::inherit, os::rtos::mutex::attributes::mx_protocol, os::rtos::mutex::attributes::mx_type, os_mutex_def::name, and os::rtos::mutex::type::recursive.

◆ osMutexDelete()

osStatus osMutexDelete ( osMutexId mutex_id )

Parameters

[in] mutex_id mutex ID obtained by osMutexCreate.

Return values

osOK	The mutex object has been deleted.
osErrorISR	osMutexDelete cannot be called from interrupt service routines.
osErrorResource	All tokens have already been released.
osErrorParameter	The parameter mutex_id is incorrect.

Note: MUST REMAIN UNCHANGED: osMutexDelete shall be consistent in every CMSIS-RTOS.

Delete a mutex object instance. The function releases internal memory obtained for mutex handling. After this call the mutex_id is no longer valid and cannot be used. The mutex may be created again using the function osMutexCreate.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 4248 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (mutex_id == nullptr)
    {
      return osErrorParameter;
    }
 
  (reinterpret_cast<rtos::mutex&> (*mutex_id)).~mutex ();
  return osOK;
}

References os::rtos::interrupts::in_handler_mode(), osErrorISR, osErrorParameter, and osOK.

◆ osMutexRelease()

osStatus osMutexRelease ( osMutexId mutex_id )

Parameters

[in] mutex_id mutex ID obtained by osMutexCreate.

Return values

osOK	The mutex has been correctly released.
osErrorResource	The mutex was not obtained before.
osErrorParameter	The parameter mutex_id is incorrect.
osErrorISR	osMutexRelease cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osMutexRelease shall be consistent in every CMSIS-RTOS.

Release a mutex that was obtained with osMutexWait. Other threads that currently wait for the same mutex will be now put into the state READY.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 4209 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (mutex_id == nullptr)
    {
      return osErrorParameter;
    }
 
  result_t res;
  res = (reinterpret_cast<rtos::mutex&> (*mutex_id)).unlock ();
 
  if (res == result::ok)
    {
      return osOK;
    }
  else if ((res == EPERM) || (res == ENOTRECOVERABLE))
    {
      return osErrorResource;
    }
  else
    {
      return osErrorOS;
    }
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorParameter, osErrorResource, and osOK.

◆ osMutexWait()

osStatus osMutexWait	(	osMutexId	mutex_id,
		uint32_t	millisec
	)

Parameters

[in]	mutex_id	mutex ID obtained by osMutexCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Return values

osOK	The mutex has been obtain.
osErrorTimeoutResource	the mutex could not be obtained in the given time.
osErrorResource	The mutex could not be obtained when no timeout was specified.
osErrorParameter	The parameter mutex_id is incorrect.
osErrorISR	osMutexWait cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osMutexWait shall be consistent in every CMSIS-RTOS.

Wait until a mutex becomes available. If no other thread has obtained the mutex, the function instantly returns and blocks the mutex object.

The argument millisec specifies how long the system waits for a mutex. While the system waits the thread that is calling this function is put into the state WAITING. The millisec timeout can have the following values:

when millisec is 0, the function returns instantly.
when millisec is set to osWaitForever the function will wait for an infinite time until the mutex becomes available.
all other values specify a time in millisecond for a timeout.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 4139 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (mutex_id == nullptr)
    {
      return osErrorParameter;
    }
 
  result_t ret;
  if (millisec == osWaitForever)
    {
      ret = (reinterpret_cast<rtos::mutex&> (*mutex_id)).lock ();
      // osErrorResource:
    }
  else if (millisec == 0)
    {
      ret = (reinterpret_cast<rtos::mutex&> (*mutex_id)).try_lock ();
    }
  else
    {
      ret = (reinterpret_cast<rtos::mutex&> (*mutex_id))
                .timed_lock (
                    clock_systick::ticks_cast ((uint64_t)(millisec * 1000u)));
      // osErrorTimeoutResource:
    }
 
  if (ret == result::ok)
    {
      // osOK: the mutex has been obtained.
      return osOK;
    }
  else if (ret == EWOULDBLOCK)
    {
      // The mutex could not be obtained when no timeout was specified.
      // Only for try_lock().
      return osErrorResource;
    }
  else if (ret == ENOTRECOVERABLE)
    {
      // The mutex could not be obtained when no timeout was specified.
      // Only for lock().
      return osErrorResource;
    }
  else if (ret == ETIMEDOUT)
    {
      // The mutex could not be obtained in the given time.
      // Only for timed_lock().
      return osErrorTimeoutResource;
    }
  else
    {
      return osErrorOS;
    }
 
  /* NOTREACHED */
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorParameter, osErrorResource, osErrorTimeoutResource, osOK, osWaitForever, and os::rtos::clock_systick::ticks_cast().

◆ osPoolAlloc()

void * osPoolAlloc ( osPoolId pool_id )

Parameters

[in] pool_id memory pool ID obtain referenced with osPoolCreate.

Returns: address of the allocated memory block or NULL in case of no memory available.

Note: MUST REMAIN UNCHANGED: osPoolAlloc shall be consistent in every CMSIS-RTOS.

◆ osPoolCAlloc()

void * osPoolCAlloc ( osPoolId pool_id )

Parameters

[in] pool_id memory pool ID obtain referenced with osPoolCreate.

Returns: address of the allocated memory block or NULL in case of no memory available.

Note: MUST REMAIN UNCHANGED: osPoolCAlloc shall be consistent in every CMSIS-RTOS.

◆ osPoolCreate()

osPoolId osPoolCreate ( const osPoolDef_t * pool_def )

Parameters

[in] pool_def memory pool definition referenced with osPool.

Returns: memory pool ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osPoolCreate shall be consistent in every CMSIS-RTOS.

◆ osPoolFree()

osStatus osPoolFree	(	osPoolId	pool_id,
		void *	block
	)

Parameters

[in]	pool_id	memory pool ID obtain referenced with osPoolCreate.
[in]	block	address of the allocated memory block that is returned to the memory pool.

Return values

osOK	The memory block is released.
osErrorValue	The block does not belong to the memory pool.
osErrorParameter	A parameter is invalid or outside of a permitted range.

Note: MUST REMAIN UNCHANGED: osPoolFree shall be consistent in every CMSIS-RTOS.

◆ osSemaphoreCreate()

osSemaphoreId osSemaphoreCreate	(	const osSemaphoreDef_t *	semaphore_def,
		int32_t	count
	)

Parameters

[in]	semaphore_def	semaphore definition referenced with osSemaphore.
[in]	count	number of available resources.

Returns: semaphore ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osSemaphoreCreate shall be consistent in every CMSIS-RTOS.

◆ osSemaphoreDelete()

osStatus osSemaphoreDelete ( osSemaphoreId semaphore_id )

Parameters

[in] semaphore_id semaphore object referenced with osSemaphoreCreate.

Return values

osOK	The semaphore object has been deleted.
osErrorISR	osSemaphoreDelete cannot be called from interrupt service routines.
osErrorResource	The semaphore object could not be deleted.
osErrorParameter	The parameter semaphore_id is incorrect.

Note: MUST REMAIN UNCHANGED: osSemaphoreDelete shall be consistent in every CMSIS-RTOS.

◆ osSemaphoreRelease()

osStatus osSemaphoreRelease ( osSemaphoreId semaphore_id )

Parameters

[in] semaphore_id semaphore object referenced with osSemaphoreCreate.

Return values

osOK	The semaphore has been released.
osErrorResource	All tokens have already been released.
osErrorParameter	The parameter semaphore_id is incorrect.

Note: MUST REMAIN UNCHANGED: osSemaphoreRelease shall be consistent in every CMSIS-RTOS.

◆ osSemaphoreWait()

int32_t osSemaphoreWait	(	osSemaphoreId	semaphore_id,
		uint32_t	millisec
	)

Parameters

[in]	semaphore_id	semaphore object referenced with osSemaphoreCreate.
[in]	millisec	Timeout value or 0 in case of no time-out.

Returns: number of available tokens, or -1 in case of incorrect parameters.

Note: MUST REMAIN UNCHANGED: osSemaphoreWait shall be consistent in every CMSIS-RTOS.

◆ osSignalClear()

int32_t osSignalClear	(	osThreadId	thread_id,
		int32_t	signals
	)

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	signals	specifies the signal flags of the thread that shall be cleared.

Returns: previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.

Note: MUST REMAIN UNCHANGED: osSignalClear shall be consistent in every CMSIS-RTOS.

Clear the signal flags of an active thread.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3970 of file os-c-wrapper.cpp.

{
  if (thread_id == nullptr)
    {
      return (int32_t)0x80000000;
    }
 
  if (interrupts::in_handler_mode () || (signals == 0))
    {
      return (int32_t)0x80000000;
    }
 
  flags::mask_t sig;
 
#if defined(OS_INCLUDE_RTOS_THREAD_PUBLIC_FLAGS_CLEAR)
  ((thread*)(thread_id))->flags_clear ((flags::mask_t)signals, &sig);
#else
  assert (((thread*)(thread_id)) == &this_thread::thread ());
  // IGNORE THREAD ID!
  this_thread::flags_clear ((flags::mask_t)signals, &sig);
#endif
  return (int32_t)sig;
}

References os::rtos::interrupts::in_handler_mode().

◆ osSignalSet()

int32_t osSignalSet	(	osThreadId	thread_id,
		int32_t	signals
	)

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	signals	specifies the signal flags of the thread that should be set.

Returns: previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.

Note: MUST REMAIN UNCHANGED: osSignalSet shall be consistent in every CMSIS-RTOS.

Set the signal flags of an active thread.

Note: Can be invoked from Interrupt Service Routines.

Definition at line 3946 of file os-c-wrapper.cpp.

{
  if (thread_id == nullptr)
    {
      return (int32_t)0x80000000;
    }
 
  if (signals == (int32_t)0x80000000)
    {
      return (int32_t)0x80000000;
    }
 
  flags::mask_t osig;
  ((thread*)(thread_id))->flags_raise ((flags::mask_t)signals, &osig);
  return (int32_t)osig;
}

◆ osSignalWait()

osEvent osSignalWait	(	int32_t	signals,
		uint32_t	millisec
	)

Parameters

[in]	signals	wait until all specified signal flags set or 0 for any single signal flag.
[in]	millisec	Timeout value or 0 in case of no time-out.

Return values

osOK	No signal received when the timeout value millisec was 0.
osEventTimeout	Signal not occurred within timeout.
osEventSignal	Signal occurred, value.signals contains the signal flags; these signal flags are cleared.
osErrorValue	The value signals is outside of the permitted range.
osErrorISR	osSignalWait cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osSignalWait shall be consistent in every CMSIS-RTOS.

Suspend the execution of the current RUNNING thread until all specified signal flags with the parameter signals are set. When the parameter signals is 0 the current RUNNING thread is suspended until any signal is set. When these signal flags are already set, the function returns instantly. Otherwise the thread is put into the state WAITING. Signal flags that are reported as event are automatically cleared.

The argument millisec specifies how long the system waits for the specified signal flags. While the system waits the tread calling this function is put into the state WAITING. The timeout value can have the following values:

when millisec is 0, the function returns instantly.
when millisec is set to osWaitForever the function will wait an infinite time until a specified signal is set.
all other values specify a time in millisecond for a timeout.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 4023 of file os-c-wrapper.cpp.

{
  osEvent event;
 
  if (interrupts::in_handler_mode ())
    {
      event.status = osErrorISR;
      return event;
    }
 
  if ((uint32_t)signals & 0x80000000)
    {
      event.status = osErrorValue;
      return event;
    }
 
  result_t res;
  if (millisec == osWaitForever)
    {
      res = this_thread::flags_wait ((flags::mask_t)signals,
                                     (flags::mask_t*)&event.value.signals);
    }
  else if (millisec == 0)
    {
      res = this_thread::flags_try_wait ((flags::mask_t)signals,
                                         (flags::mask_t*)&event.value.signals);
    }
  else
    {
      res = this_thread::flags_timed_wait (
          (flags::mask_t)signals,
          clock_systick::ticks_cast ((uint64_t)(millisec * 1000u)),
          (flags::mask_t*)&event.value.signals);
    }
 
  if (res == result::ok)
    {
      event.status = osEventSignal;
    }
  else if (res == EWOULDBLOCK)
    {
      event.status = osOK; // Only for try_flags_wait().
    }
  else if (res == ETIMEDOUT)
    {
      event.status = osEventTimeout; // Only for timed_flags_wait().
    }
  else if (res == EPERM)
    {
      event.status = osErrorISR;
    }
  else if (res == EINVAL)
    {
      event.status = osErrorValue;
    }
  else
    {
      event.status = osErrorOS;
    }
 
  return event;
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorValue, osEventSignal, osEventTimeout, osOK, osWaitForever, osEvent::signals, osEvent::status, os::rtos::clock_systick::ticks_cast(), and osEvent::value.

◆ osThreadCreate()

osThreadId osThreadCreate	(	const osThreadDef_t *	thread_def,
		void *	args
	)

Parameters

[in]	thread_def	Thread definition referenced with osThread.
[in]	args	Pointer that is passed to the thread function as start argument.

Returns: thread ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osThreadCreate shall be consistent in every CMSIS-RTOS.

Find a free slot in the array of thread definitions and initialise the thread.

Start the thread function by adding it to the Active Threads list and set it to state READY. The thread function receives the argument pointer as function argument when the function is started. When the priority of the created thread function is higher than the current RUNNING thread, the created thread function starts instantly and becomes the new RUNNING thread.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3493 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return nullptr;
    }
 
  if (thread_def == nullptr)
    {
      return nullptr;
    }
 
  thread::attributes attr;
  attr.th_priority = thread_def->tpriority;
  attr.th_stack_size_bytes = thread_def->stacksize;
 
  // Creating thread with invalid priority should fail (validator requirement).
  if (thread_def->tpriority >= osPriorityError)
    {
      return nullptr;
    }
 
  // Find a free slot in the tread definitions array.
  for (uint32_t i = 0; i < thread_def->instances; ++i)
    {
#pragma GCC diagnostic push
#if defined(__clang__)
#pragma clang diagnostic ignored "-Wunsafe-buffer-usage"
#endif
      thread* th = (thread*)&thread_def->data[i];
      if (th->state () == thread::state::undefined
          || th->state () == thread::state::destroyed)
        {
          if (attr.th_stack_size_bytes > 0)
            {
              attr.th_stack_address
                  = &thread_def->stack[(i)
                                       * ((thread_def->stacksize
                                           + sizeof (uint64_t) - 1)
                                          / sizeof (uint64_t))];
            }
#pragma GCC diagnostic push
#if defined(__clang__)
#pragma clang diagnostic ignored "-Wcast-function-type"
#elif defined(__GNUC__)
#pragma GCC diagnostic ignored "-Wcast-function-type"
#endif
          new (th)
              thread (thread_def->name,
                      reinterpret_cast<thread::func_t> (thread_def->pthread),
                      args, attr);
#pragma GCC diagnostic pop
 
          // No need to yield here, already done by constructor.
          return reinterpret_cast<osThreadId> (th);
        }
#pragma GCC diagnostic pop
    }
  return nullptr;
}

References os_thread_def::data, os::rtos::thread::state::destroyed, os::rtos::interrupts::in_handler_mode(), os_thread_def::instances, os_thread_def::name, osPriorityError, os_thread_def::pthread, os_thread_def::stack, os_thread_def::stacksize, os::rtos::thread::attributes::th_priority, os::rtos::thread::attributes::th_stack_address, os::rtos::thread::attributes::th_stack_size_bytes, os_thread_def::tpriority, and os::rtos::thread::state::undefined.

◆ osThreadGetId()

osThreadId osThreadGetId ( void )

Returns: thread ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osThreadGetId shall be consistent in every CMSIS-RTOS.

Get the thread ID of the current running thread.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3561 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return nullptr;
    }
 
  return reinterpret_cast<osThreadId> (&this_thread::thread ());
}

References os::rtos::interrupts::in_handler_mode().

◆ osThreadGetPriority()

osPriority osThreadGetPriority ( osThreadId thread_id )

Parameters

[in] thread_id thread ID obtained by osThreadCreate or osThreadGetId.

Returns: The current priority value of the thread, or osPriorityError if error.

Note: MUST REMAIN UNCHANGED: osThreadGetPriority shall be consistent in every CMSIS-RTOS.

Get the priority of an active thread. In case of a failure the value osPriorityError is returned.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3699 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osPriorityError;
    }
 
  if (thread_id == nullptr)
    {
      return osPriorityError;
    }
 
  // Call C++ accessor.
  thread::priority_t prio
      = (reinterpret_cast<rtos::thread&> (*thread_id)).priority ();
  return static_cast<osPriority> (prio);
}

References os::rtos::interrupts::in_handler_mode(), and osPriorityError.

◆ osThreadSetPriority()

osStatus osThreadSetPriority	(	osThreadId	thread_id,
		osPriority	priority
	)

Parameters

[in]	thread_id	thread ID obtained by osThreadCreate or osThreadGetId.
[in]	priority	new priority value for the thread function.

Return values

osOK	The priority of the specified thread has been successfully changed.
osErrorParameter	thread_id is incorrect.
osErrorValue	incorrect priority value.
osErrorResource	thread_id refers to a thread that is not an active thread.
osErrorISR	osThreadSetPriority cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osThreadSetPriority shall be consistent in every CMSIS-RTOS.

Change the priority of a running thread. There is no need for an extra yield after it, if the priorities require, there is an implicit reschedule.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3645 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (thread_id == nullptr)
    {
      return osErrorParameter;
    }
 
  thread::state_t state
      = (reinterpret_cast<rtos::thread&> (*thread_id)).state ();
  if (state == thread::state::undefined || state >= thread::state::destroyed)
    {
      return osErrorResource;
    }
 
  if (priority < osPriorityIdle || priority >= osPriorityError)
    {
      return osErrorValue;
    }
 
  // Call C++ mutator.
  thread::priority_t prio = static_cast<thread::priority_t> (priority);
  result_t res
      = ((reinterpret_cast<rtos::thread&> (*thread_id)).priority (prio));
 
  // A mandatory yield is needed here, must be done
  // by the implementation.
 
  if (res == result::ok)
    {
      return osOK;
    }
  else if (res == EINVAL)
    {
      return osErrorValue;
    }
  else
    {
      return osErrorOS;
    }
}

References os::rtos::thread::state::destroyed, os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorParameter, osErrorResource, osErrorValue, osOK, osPriorityError, and os::rtos::thread::state::undefined.

◆ osThreadTerminate()

osStatus osThreadTerminate ( osThreadId thread_id )

Parameters

[in] thread_id thread ID obtained by osThreadCreate or osThreadGetId.

Return values

osOK	The specified thread has been successfully terminated.
osErrorParameter	thread_id is incorrect.
osErrorResource	thread_id refers to a thread that is not an active thread.
osErrorISR	osThreadTerminate cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osThreadTerminate shall be consistent in every CMSIS-RTOS.

Remove the thread function from the active thread list. If the thread is currently RUNNING the execution will stop.

Note: In case that osThreadTerminate terminates the currently running task, the function never returns and other threads that are in the READY state are started.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3583 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (thread_id == nullptr)
    {
      return osErrorParameter;
    }
 
  thread::state_t state
      = (reinterpret_cast<rtos::thread&> (*thread_id)).state ();
  if (state == thread::state::undefined)
    {
      return osErrorResource;
    }
 
  if ((reinterpret_cast<thread*> (thread_id)) == &this_thread::thread ())
    {
      this_thread::exit ();
      /* NOTREACHED */
    }
  else
    {
      (reinterpret_cast<rtos::thread&> (*thread_id)).kill ();
    }
 
  return osOK;
}

References os::rtos::interrupts::in_handler_mode(), kill(), osErrorISR, osErrorParameter, osErrorResource, osOK, and os::rtos::thread::state::undefined.

◆ osThreadYield()

osStatus osThreadYield ( void )

Return values

osOK	The function has been correctly executed.
osErrorISR	The function cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osThreadYield shall be consistent in every CMSIS-RTOS.

Pass control to the next thread that is in state READY. If there is no other thread in the state READY, the current thread continues execution and no thread switching occurs.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3624 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  this_thread::yield ();
 
  return osOK;
}

References os::rtos::interrupts::in_handler_mode(), osErrorISR, osOK, and this_thread::yield().

◆ osTimerCreate()

osTimerId osTimerCreate	(	const osTimerDef_t *	timer_def,
		os_timer_type	type,
		void *	args
	)

Parameters

[in]	timer_def	Timer object referenced with osTimer.
[in]	type	osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
[in]	args	Argument to the timer call back function.

Returns: timer ID for reference by other functions or NULL in case of error.

Note: MUST REMAIN UNCHANGED: osTimerCreate shall be consistent in every CMSIS-RTOS.

Create a one-shot or periodic timer and associate it with a callback function argument. The timer is initially stopped and must be started with osTimerStart().

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3822 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return nullptr;
    }
 
  if (timer_def == nullptr)
    {
      return nullptr;
    }
 
  timer::attributes attr;
  attr.tm_type = (timer::type_t)type;
 
#pragma GCC diagnostic push
#if defined(__clang__)
#pragma clang diagnostic ignored "-Wcast-function-type-strict"
#endif
  new ((void*)timer_def->data)
      timer (timer_def->name, (timer::func_t)timer_def->ptimer,
             (timer::func_args_t)args, attr);
#pragma GCC diagnostic pop
 
  return reinterpret_cast<osTimerId> (timer_def->data);
}

References os_timer_def::data, os::rtos::interrupts::in_handler_mode(), os_timer_def::name, os_timer_def::ptimer, and os::rtos::timer::attributes::tm_type.

◆ osTimerDelete()

osStatus osTimerDelete ( osTimerId timer_id )

Parameters

[in] timer_id timer ID obtained by osTimerCreate.

Return values

osOK	The specified timer has been deleted.
osErrorISR	osTimerDelete cannot be called from interrupt service routines.
osErrorParameter	timer_id is incorrect.

Note: MUST REMAIN UNCHANGED: osTimerDelete shall be consistent in every CMSIS-RTOS.

Delete the timer object that was created by osTimerCreate.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3920 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (timer_id == nullptr)
    {
      return osErrorParameter;
    }
 
  (reinterpret_cast<rtos::timer&> (*timer_id)).~timer ();
  return osOK;
}

References os::rtos::interrupts::in_handler_mode(), osErrorISR, osErrorParameter, and osOK.

◆ osTimerStart()

osStatus osTimerStart	(	osTimerId	timer_id,
		uint32_t	millisec
	)

Parameters

[in]	timer_id	timer ID obtained by osTimerCreate.
[in]	millisec	Timeout value "time delay" value of the timer.

Return values

osOK	The specified timer has been started or restarted.
osErrorISR	osTimerStart cannot be called from interrupt service routines.
osErrorParameter	timer_id is incorrect.

Note: MUST REMAIN UNCHANGED: osTimerStart shall be consistent in every CMSIS-RTOS.

Start or restart the timer.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3856 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (timer_id == nullptr)
    {
      return osErrorParameter;
    }
 
  result_t res
      = (reinterpret_cast<rtos::timer&> (*timer_id))
            .start (clock_systick::ticks_cast ((uint64_t)(millisec * 1000u)));
 
  if (res == result::ok)
    {
      return osOK;
    }
  else
    {
      return osErrorOS;
    }
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorParameter, osOK, and os::rtos::clock_systick::ticks_cast().

◆ osTimerStop()

osStatus osTimerStop ( osTimerId timer_id )

Parameters

[in] timer_id timer ID obtained by osTimerCreate.

Return values

osOK	the specified timer has been stopped.
osErrorISR	osTimerStop cannot be called from interrupt service routines.
osErrorParameter	timer_id is incorrect.
osErrorResource	the timer is not started.

Note: MUST REMAIN UNCHANGED: osTimerStop shall be consistent in every CMSIS-RTOS.

Warning: Cannot be invoked from Interrupt Service Routines.

Definition at line 3886 of file os-c-wrapper.cpp.

{
  if (interrupts::in_handler_mode ())
    {
      return osErrorISR;
    }
 
  if (timer_id == nullptr)
    {
      return osErrorParameter;
    }
 
  result_t res = (reinterpret_cast<rtos::timer&> (*timer_id)).stop ();
  if (res == result::ok)
    {
      return osOK;
    }
  else if (res == EAGAIN)
    {
      return osErrorResource;
    }
  else
    {
      return osErrorOS;
    }
}

References os::rtos::interrupts::in_handler_mode(), os::rtos::result::ok, osErrorISR, osErrorOS, osErrorParameter, osErrorResource, and osOK.

◆ osWait()

osEvent osWait ( uint32_t millisec )

Parameters

[in] millisec Timeout value or 0 in case of no time-out.

Return values

osEventSignal	A signal event occurred and is returned.
osEventMessage	A message event occurred and is returned.
osEventMail	A mail event occurred and is returned.
osEventTimeout	The time delay is executed.
osErrorISR	osWait() cannot be called from interrupt service routines.

Note: MUST REMAIN UNCHANGED: osWait shall be consistent in every CMSIS-RTOS.

Classes

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ osCMSIS

◆ osCMSIS_KERNEL

◆ osFeature_MailQ

◆ osFeature_MainThread

◆ osFeature_MessageQ

◆ osFeature_Pool

◆ osFeature_Semaphore

◆ osFeature_Signals

◆ osFeature_SysTick

◆ osFeature_Wait

◆ osKernelSystemId

◆ osKernelSysTickFrequency

◆ osKernelSysTickMicroSec

◆ osMailQ

◆ osMailQAllocatedDef

◆ osMailQDef

◆ osMailQStaticDef

◆ osMessageQ

◆ osMessageQAllocatedDef

◆ osMessageQDef

◆ osMessageQStaticDef

◆ osMutex

◆ osMutexDef

◆ osPool

◆ osPoolAllocatedDef

◆ osPoolDef

◆ osPoolStaticDef

◆ osSemaphore

◆ osSemaphoreDef

◆ osThread

◆ osThreadAllocatedDef

◆ osThreadDef

◆ osThreadStaticDef

◆ osTimer

◆ osTimerDef

◆ osWaitForever

Typedef Documentation

◆ os_mail_queue_t

◆ os_pthread

◆ os_ptimer

◆ osMailQ

◆ osMailQDef_t

◆ osMailQId

◆ osMessageQ

◆ osMessageQAttr

◆ osMessageQDef_t

◆ osMessageQId

◆ osMutex

◆ osMutexAttr

◆ osMutexDef_t

◆ osMutexId

◆ osPool

◆ osPoolAttr

◆ osPoolDef_t

◆ osPoolId

◆ osSemaphore

◆ osSemaphoreAttr

◆ osSemaphoreDef_t

◆ osSemaphoreId

◆ osThread

◆ osThreadAttr

◆ osThreadDef_t

◆ osThreadId

◆ osTimer

◆ osTimerAttr

◆ osTimerDef_t

◆ osTimerId

Enumeration Type Documentation

◆ os_timer_type

◆ osPriority

◆ osStatus

Function Documentation

◆ osDelay()

◆ osKernelInitialize()