Header File Template: cmsis_os.h

The file cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS). Each RTOS that is compliant with CMSIS-RTOS shall provide a specific cmsis_os.h header file that represents its implementation.

The file cmsis_os.h contains:

• CMSIS-RTOS API function definitions
• struct definitions for parameters and return types
• status and priority values used by CMSIS-RTOS API functions
• macros for defining threads and other kernel objects

Name conventions and header file modifications

All definitions are prefixed with os to give an unique name space for CMSIS-RTOS functions. Definitions that are prefixed os_ are not used in the application code but local to this header file. All definitions and functions that belong to a module are grouped and have a common prefix, i.e. osThread.

Definitions that are marked with CAN BE CHANGED can be adapted towards the needs of the actual CMSIS-RTOS implementation. These definitions can be specific to the underlying RTOS kernel.

Definitions that are marked with MUST REMAIN UNCHANGED cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation.

Define and reference object definitions

With #define osObjectsExternal objects are defined as external symbols. This allows to create a consistent header file that is used throughout a project as shown below:

Header File

#include <cmsis_os.h>                                         // CMSIS RTOS header file

// Thread definition
extern void thread_sample (void const *argument);             // function prototype
osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100);

// Pool definition
osPoolDef(MyPool, 10, long);

This header file defines all objects when included in a C/C++ source file. When #define osObjectsExternal is present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be used throughout the whole project.

Example

#include "osObjects.h"     // Definition of the CMSIS-RTOS objects

#define osObjectsExternal  // Objects will be defined as external symbols
#include "osObjects.h"     // Reference to the CMSIS-RTOS objects

Header file cmsis_os.h

/* ----------------------------------------------------------------------
 * $Date:        5. February 2013
 * $Revision:    V1.02
 *
 * Project:      CMSIS-RTOS API
 * Title:        cmsis_os.h template header file
 *
 * Version 0.02
 *    Initial Proposal Phase
 * Version 0.03
 *    osKernelStart added, optional feature: main started as thread
 *    osSemaphores have standard behavior
 *    osTimerCreate does not start the timer, added osTimerStart
 *    osThreadPass is renamed to osThreadYield
 * Version 1.01
 *    Support for C++ interface
 *     - const attribute removed from the osXxxxDef_t typedef's
 *     - const attribute added to the osXxxxDef macros
 *    Added: osTimerDelete, osMutexDelete, osSemaphoreDelete
 *    Added: osKernelInitialize
 * Version 1.02
 *    Control functions for short timeouts in microsecond resolution:
 *    Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec
 *    Removed: osSignalGet 
 *----------------------------------------------------------------------------
 *
 * Copyright (c) 2013 ARM LIMITED
 * All rights reserved.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *  - Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  - Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  - Neither the name of ARM  nor the names of its contributors may be used
 *    to endorse or promote products derived from this software without
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *---------------------------------------------------------------------------*/
 
 
#ifndef _CMSIS_OS_H
#define _CMSIS_OS_H
 
/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version.
#define osCMSIS           0x10002      ///< API version (main [31:16] .sub [15:0])
 
/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number.
#define osCMSIS_KERNEL    0x10000          ///< RTOS identification and version (main [31:16] .sub [15:0])
 
/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS.
#define osKernelSystemId "KERNEL V1.00"   ///< RTOS identification string
 
/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS.
#define osFeature_MainThread   1       ///< main thread      1=main can be thread, 0=not available
#define osFeature_Pool         1       ///< Memory Pools:    1=available, 0=not available
#define osFeature_MailQ        1       ///< Mail Queues:     1=available, 0=not available
#define osFeature_MessageQ     1       ///< Message Queues:  1=available, 0=not available
#define osFeature_Signals      8       ///< maximum number of Signal Flags available per thread
#define osFeature_Semaphore    30      ///< maximum count for \ref osSemaphoreCreate function
#define osFeature_Wait         1       ///< osWait function: 1=available, 0=not available
#define osFeature_SysTick      1       ///< osKernelSysTick functions: 1=available, 0=not available
 
#include <stdint.h>
#include <stddef.h>
 
#ifdef  __cplusplus
extern "C"
{
#endif
 
 
// ==== Enumeration, structures, defines ====
 
/// Priority used for thread control.
/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS.
typedef enum  {
  osPriorityIdle          = -3,          ///< priority: idle (lowest)
  osPriorityLow           = -2,          ///< priority: low
  osPriorityBelowNormal   = -1,          ///< priority: below normal
  osPriorityNormal        =  0,          ///< priority: normal (default)
  osPriorityAboveNormal   = +1,          ///< priority: above normal
  osPriorityHigh          = +2,          ///< priority: high
  osPriorityRealtime      = +3,          ///< priority: realtime (highest)
  osPriorityError         =  0x84        ///< system cannot determine priority or thread has illegal priority
} osPriority;
 
/// Timeout value.
/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS.
#define osWaitForever     0xFFFFFFFF     ///< wait forever timeout value
 
/// Status code values returned by CMSIS-RTOS functions.
/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS.
typedef enum  {
  osOK                    =     0,       ///< function completed; no error or event occurred.
  osEventSignal           =  0x08,       ///< function completed; signal event occurred.
  osEventMessage          =  0x10,       ///< function completed; message event occurred.
  osEventMail             =  0x20,       ///< function completed; mail event occurred.
  osEventTimeout          =  0x40,       ///< function completed; timeout occurred.
  osErrorParameter        =  0x80,       ///< parameter error: a mandatory parameter was missing or specified an incorrect object.
  osErrorResource         =  0x81,       ///< resource not available: a specified resource was not available.
  osErrorTimeoutResource  =  0xC1,       ///< resource not available within given time: a specified resource was not available within the timeout period.
  osErrorISR              =  0x82,       ///< not allowed in ISR context: the function cannot be called from interrupt service routines.
  osErrorISRRecursive     =  0x83,       ///< function called multiple times from ISR with same object.
  osErrorPriority         =  0x84,       ///< system cannot determine priority or thread has illegal priority.
  osErrorNoMemory         =  0x85,       ///< system is out of memory: it was impossible to allocate or reserve memory for the operation.
  osErrorValue            =  0x86,       ///< value of a parameter is out of range.
  osErrorOS               =  0xFF,       ///< unspecified RTOS error: run-time error but no other error message fits.
  os_status_reserved      =  0x7FFFFFFF  ///< prevent from enum down-size compiler optimization.
} osStatus;
 
 
/// Timer type value for the timer definition.
/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS.
typedef enum  {
  osTimerOnce             =     0,       ///< one-shot timer
  osTimerPeriodic         =     1        ///< repeating timer
} os_timer_type;
 
/// Entry point of a thread.
/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS.
typedef void (*os_pthread) (void const *argument);
 
/// Entry point of a timer call back function.
/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS.
typedef void (*os_ptimer) (void const *argument);
 
// >>> the following data type definitions may shall adapted towards a specific RTOS
 
/// Thread ID identifies the thread (pointer to a thread control block).
/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_thread_cb *osThreadId;
 
/// Timer ID identifies the timer (pointer to a timer control block).
/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_timer_cb *osTimerId;
 
/// Mutex ID identifies the mutex (pointer to a mutex control block).
/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_mutex_cb *osMutexId;
 
/// Semaphore ID identifies the semaphore (pointer to a semaphore control block).
/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_semaphore_cb *osSemaphoreId;
 
/// Pool ID identifies the memory pool (pointer to a memory pool control block).
/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_pool_cb *osPoolId;
 
/// Message ID identifies the message queue (pointer to a message queue control block).
/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_messageQ_cb *osMessageQId;
 
/// Mail ID identifies the mail queue (pointer to a mail queue control block).
/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS.
typedef struct os_mailQ_cb *osMailQId;
 
 
/// Thread Definition structure contains startup information of a thread.
/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
typedef struct os_thread_def  {
  os_pthread               pthread;    ///< start address of thread function
  osPriority             tpriority;    ///< initial thread priority
  uint32_t               instances;    ///< maximum number of instances of that thread function
  uint32_t               stacksize;    ///< stack size requirements in bytes; 0 is default stack size
} osThreadDef_t;
 
/// Timer Definition structure contains timer parameters.
/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS.
typedef struct os_timer_def  {
  os_ptimer                 ptimer;    ///< start address of a timer function
} osTimerDef_t;
 
/// Mutex Definition structure contains setup information for a mutex.
/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS.
typedef struct os_mutex_def  {
  uint32_t                   dummy;    ///< dummy value.
} osMutexDef_t;
 
/// Semaphore Definition structure contains setup information for a semaphore.
/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS.
typedef struct os_semaphore_def  {
  uint32_t                   dummy;    ///< dummy value.
} osSemaphoreDef_t;
 
/// Definition structure for memory block allocation.
/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS.
typedef struct os_pool_def  {
  uint32_t                 pool_sz;    ///< number of items (elements) in the pool
  uint32_t                 item_sz;    ///< size of an item
  void                       *pool;    ///< pointer to memory for pool
} osPoolDef_t;
 
/// Definition structure for message queue.
/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS.
typedef struct os_messageQ_def  {
  uint32_t                queue_sz;    ///< number of elements in the queue
  uint32_t                 item_sz;    ///< size of an item
  void                       *pool;    ///< memory array for messages
} osMessageQDef_t;
 
/// Definition structure for mail queue.
/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS.
typedef struct os_mailQ_def  {
  uint32_t                queue_sz;    ///< number of elements in the queue
  uint32_t                 item_sz;    ///< size of an item
  void                       *pool;    ///< memory array for mail
} osMailQDef_t;
 
/// Event structure contains detailed information about an event.
/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS.
///       However the struct may be extended at the end.
typedef struct  {
  osStatus                 status;     ///< status code: event or error information
  union  {
    uint32_t                    v;     ///< message as 32-bit value
    void                       *p;     ///< message or mail as void pointer
    int32_t               signals;     ///< signal flags
  } value;                             ///< event value
  union  {
    osMailQId             mail_id;     ///< mail id obtained by \ref osMailCreate
    osMessageQId       message_id;     ///< message id obtained by \ref osMessageCreate
  } def;                               ///< event definition
} osEvent;
 
 
//  ==== Kernel Control Functions ====
 
/// Initialize the RTOS Kernel for creating objects.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS.
osStatus osKernelInitialize (void);
 
/// Start the RTOS Kernel.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS.
osStatus osKernelStart (void);
 
/// Check if the RTOS kernel is already started.
/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS.
/// \return 0 RTOS is not started, 1 RTOS is started.
int32_t osKernelRunning(void);
 
#if (defined (osFeature_SysTick)  &&  (osFeature_SysTick != 0))     // System Timer available
 
/// Get the RTOS kernel system timer counter 
/// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS.
/// \return RTOS kernel system timer as 32-bit value 
uint32_t osKernelSysTick (void);
 
/// The RTOS kernel system timer frequency in Hz
/// \note Reflects the system timer setting and is typically defined in a configuration file.
#define osKernelSysTickFrequency 100000000
 
/// Convert a microseconds value to a RTOS kernel system timer value.
/// \param         microsec     time value in microseconds.
/// \return time value normalized to the \ref osKernelSysTickFrequency
#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000)
 
#endif    // System Timer available
 
//  ==== Thread Management ====
 
/// Create a Thread Definition with function, priority, and stack requirements.
/// \param         name         name of the thread function.
/// \param         priority     initial priority of the thread function.
/// \param         instances    number of possible thread instances.
/// \param         stacksz      stack size (in bytes) requirements for the thread function.
/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osThreadDef(name, priority, instances, stacksz)  \
extern const osThreadDef_t os_thread_def_##name
#else                            // define the object
#define osThreadDef(name, priority, instances, stacksz)  \
const osThreadDef_t os_thread_def_##name = \
{ (name), (priority), (instances), (stacksz)  }
#endif
 
/// Access a Thread definition.
/// \param         name          name of the thread definition object.
/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osThread(name)  \
&os_thread_def_##name
 
/// Create a thread and add it to Active Threads and set it to state READY.
/// \param[in]     thread_def    thread definition referenced with \ref osThread.
/// \param[in]     argument      pointer that is passed to the thread function as start argument.
/// \return thread ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument);
 
/// Return the thread ID of the current running thread.
/// \return thread ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS.
osThreadId osThreadGetId (void);
 
/// Terminate execution of a thread and remove it from Active Threads.
/// \param[in]     thread_id   thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS.
osStatus osThreadTerminate (osThreadId thread_id);
 
/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS.
osStatus osThreadYield (void);
 
/// Change priority of an active thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in]     priority      new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority);
 
/// Get current priority of an active thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \return current priority value of the thread function.
/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS.
osPriority osThreadGetPriority (osThreadId thread_id);
 
 
//  ==== Generic Wait Functions ====
 
/// Wait for Timeout (Time Delay).
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue "time delay" value
/// \return status code that indicates the execution status of the function.
osStatus osDelay (uint32_t millisec);
 
#if (defined (osFeature_Wait)  &&  (osFeature_Wait != 0))     // Generic Wait available
 
/// Wait for Signal, Message, Mail, or Timeout.
/// \param[in] millisec          \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return event that contains signal, message, or mail information or error code.
/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS.
osEvent osWait (uint32_t millisec);
 
#endif  // Generic Wait available
 
 
//  ==== Timer Management Functions ====
/// Define a Timer object.
/// \param         name          name of the timer object.
/// \param         function      name of the timer call back function.
/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osTimerDef(name, function)  \
extern const osTimerDef_t os_timer_def_##name
#else                            // define the object
#define osTimerDef(name, function)  \
const osTimerDef_t os_timer_def_##name = \
{ (function) }
#endif
 
/// Access a Timer definition.
/// \param         name          name of the timer object.
/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osTimer(name) \
&os_timer_def_##name
 
/// Create a timer.
/// \param[in]     timer_def     timer object referenced with \ref osTimer.
/// \param[in]     type          osTimerOnce for one-shot or osTimerPeriodic for periodic behavior.
/// \param[in]     argument      argument to the timer call back function.
/// \return timer ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS.
osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument);
 
/// Start or restart a timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue "time delay" value of the timer.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS.
osStatus osTimerStart (osTimerId timer_id, uint32_t millisec);
 
/// Stop the timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS.
osStatus osTimerStop (osTimerId timer_id);
 
/// Delete a timer that was created by \ref osTimerCreate.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS.
osStatus osTimerDelete (osTimerId timer_id);
 
 
//  ==== Signal Management ====
 
/// Set the specified Signal Flags of an active thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in]     signals       specifies the signal flags of the thread that should be set.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS.
int32_t osSignalSet (osThreadId thread_id, int32_t signals);
 
/// Clear the specified Signal Flags of an active thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
/// \param[in]     signals       specifies the signal flags of the thread that shall be cleared.
/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters or call from ISR.
/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS.
int32_t osSignalClear (osThreadId thread_id, int32_t signals);
 
/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread.
/// \param[in]     signals       wait until all specified signal flags set or 0 for any single signal flag.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event flag information or error code.
/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS.
osEvent osSignalWait (int32_t signals, uint32_t millisec);
 
 
//  ==== Mutex Management ====
 
/// Define a Mutex.
/// \param         name          name of the mutex object.
/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osMutexDef(name)  \
extern const osMutexDef_t os_mutex_def_##name
#else                            // define the object
#define osMutexDef(name)  \
const osMutexDef_t os_mutex_def_##name = { 0 }
#endif
 
/// Access a Mutex definition.
/// \param         name          name of the mutex object.
/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osMutex(name)  \
&os_mutex_def_##name
 
/// Create and Initialize a Mutex object.
/// \param[in]     mutex_def     mutex definition referenced with \ref osMutex.
/// \return mutex ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS.
osMutexId osMutexCreate (const osMutexDef_t *mutex_def);
 
/// Wait until a Mutex becomes available.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS.
osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec);
 
/// Release a Mutex that was obtained by \ref osMutexWait.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS.
osStatus osMutexRelease (osMutexId mutex_id);
 
/// Delete a Mutex that was created by \ref osMutexCreate.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS.
osStatus osMutexDelete (osMutexId mutex_id);
 
 
//  ==== Semaphore Management Functions ====
 
#if (defined (osFeature_Semaphore)  &&  (osFeature_Semaphore != 0))     // Semaphore available
 
/// Define a Semaphore object.
/// \param         name          name of the semaphore object.
/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osSemaphoreDef(name)  \
extern const osSemaphoreDef_t os_semaphore_def_##name
#else                            // define the object
#define osSemaphoreDef(name)  \
const osSemaphoreDef_t os_semaphore_def_##name = { 0 }
#endif
 
/// Access a Semaphore definition.
/// \param         name          name of the semaphore object.
/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osSemaphore(name)  \
&os_semaphore_def_##name
 
/// Create and Initialize a Semaphore object used for managing resources.
/// \param[in]     semaphore_def semaphore definition referenced with \ref osSemaphore.
/// \param[in]     count         number of available resources.
/// \return semaphore ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS.
osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count);
 
/// Wait until a Semaphore token becomes available.
/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return number of available tokens, or -1 in case of incorrect parameters.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS.
int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec);
 
/// Release a Semaphore token.
/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS.
osStatus osSemaphoreRelease (osSemaphoreId semaphore_id);
 
/// Delete a Semaphore that was created by \ref osSemaphoreCreate.
/// \param[in]     semaphore_id  semaphore object referenced with \ref osSemaphoreCreate.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS.
osStatus osSemaphoreDelete (osSemaphoreId semaphore_id);
 
#endif     // Semaphore available
 
 
//  ==== Memory Pool Management Functions ====
 
#if (defined (osFeature_Pool)  &&  (osFeature_Pool != 0))  // Memory Pool Management available
 
/// \brief Define a Memory Pool.
/// \param         name          name of the memory pool.
/// \param         no            maximum number of blocks (objects) in the memory pool.
/// \param         type          data type of a single block (object).
/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osPoolDef(name, no, type)   \
extern const osPoolDef_t os_pool_def_##name
#else                            // define the object
#define osPoolDef(name, no, type)   \
const osPoolDef_t os_pool_def_##name = \
{ (no), sizeof(type), NULL }
#endif
 
/// \brief Access a Memory Pool definition.
/// \param         name          name of the memory pool
/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osPool(name) \
&os_pool_def_##name
 
/// Create and Initialize a memory pool.
/// \param[in]     pool_def      memory pool definition referenced with \ref osPool.
/// \return memory pool ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS.
osPoolId osPoolCreate (const osPoolDef_t *pool_def);
 
/// Allocate a memory block from a memory pool.
/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
/// \return address of the allocated memory block or NULL in case of no memory available.
/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS.
void *osPoolAlloc (osPoolId pool_id);
 
/// Allocate a memory block from a memory pool and set memory block to zero.
/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
/// \return address of the allocated memory block or NULL in case of no memory available.
/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS.
void *osPoolCAlloc (osPoolId pool_id);
 
/// Return an allocated memory block back to a specific memory pool.
/// \param[in]     pool_id       memory pool ID obtain referenced with \ref osPoolCreate.
/// \param[in]     block         address of the allocated memory block that is returned to the memory pool.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS.
osStatus osPoolFree (osPoolId pool_id, void *block);
 
#endif   // Memory Pool Management available
 
 
//  ==== Message Queue Management Functions ====
 
#if (defined (osFeature_MessageQ)  &&  (osFeature_MessageQ != 0))     // Message Queues available
 
/// \brief Create a Message Queue Definition.
/// \param         name          name of the queue.
/// \param         queue_sz      maximum number of messages in the queue.
/// \param         type          data type of a single message element (for debugger).
/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osMessageQDef(name, queue_sz, type)   \
extern const osMessageQDef_t os_messageQ_def_##name
#else                            // define the object
#define osMessageQDef(name, queue_sz, type)   \
const osMessageQDef_t os_messageQ_def_##name = \
{ (queue_sz), sizeof (type)  }
#endif
 
/// \brief Access a Message Queue Definition.
/// \param         name          name of the queue
/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osMessageQ(name) \
&os_messageQ_def_##name
 
/// Create and Initialize a Message Queue.
/// \param[in]     queue_def     queue definition referenced with \ref osMessageQ.
/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return message queue ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS.
osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id);
 
/// Put a Message to a Queue.
/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
/// \param[in]     info          message information.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS.
osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec);
 
/// Get a Message or Wait for a Message from a Queue.
/// \param[in]     queue_id      message queue ID obtained with \ref osMessageCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event information that includes status code.
/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS.
osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec);
 
#endif     // Message Queues available
 
 
//  ==== Mail Queue Management Functions ====
 
#if (defined (osFeature_MailQ)  &&  (osFeature_MailQ != 0))     // Mail Queues available
 
/// \brief Create a Mail Queue Definition.
/// \param         name          name of the queue
/// \param         queue_sz      maximum number of messages in queue
/// \param         type          data type of a single message element
/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#if defined (osObjectsExternal)  // object is external
#define osMailQDef(name, queue_sz, type) \
extern const osMailQDef_t os_mailQ_def_##name
#else                            // define the object
#define osMailQDef(name, queue_sz, type) \
const osMailQDef_t os_mailQ_def_##name =  \
{ (queue_sz), sizeof (type) }
#endif
 
/// \brief Access a Mail Queue Definition.
/// \param         name          name of the queue
/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the
///       macro body is implementation specific in every CMSIS-RTOS.
#define osMailQ(name)  \
&os_mailQ_def_##name
 
/// Create and Initialize mail queue.
/// \param[in]     queue_def     reference to the mail queue definition obtain with \ref osMailQ
/// \param[in]     thread_id     thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL.
/// \return mail queue ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS.
osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id);
 
/// Allocate a memory block from a mail.
/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS.
void *osMailAlloc (osMailQId queue_id, uint32_t millisec);
 
/// Allocate a memory block from a mail and set memory block to zero.
/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return pointer to memory block that can be filled with mail or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS.
void *osMailCAlloc (osMailQId queue_id, uint32_t millisec);
 
/// Put a mail to a queue.
/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
/// \param[in]     mail          memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS.
osStatus osMailPut (osMailQId queue_id, void *mail);
 
/// Get a mail from a queue.
/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
/// \param[in]     millisec      \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out
/// \return event that contains mail information or error code.
/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS.
osEvent osMailGet (osMailQId queue_id, uint32_t millisec);
 
/// Free a memory block from a mail.
/// \param[in]     queue_id      mail queue ID obtained with \ref osMailCreate.
/// \param[in]     mail          pointer to the memory block that was obtained with \ref osMailGet.
/// \return status code that indicates the execution status of the function.
/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS.
osStatus osMailFree (osMailQId queue_id, void *mail);
 
#endif  // Mail Queues available
 
 
#ifdef  __cplusplus
}
#endif
 
#endif  // _CMSIS_OS_H