xref: /third_party/cmsis/CMSIS/RTOS2/Include/cmsis_os2.h

/*
 * Copyright (c) 2013-2023 Arm Limited. All rights reserved.
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the License); you may
 * not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * ----------------------------------------------------------------------
 *
 * $Date:        30. June 2023
 * $Revision:    V2.3.0
 *
 * Project:      CMSIS-RTOS2 API
 * Title:        cmsis_os2.h header file
 *
 * Version 2.3.0
 *    Added provisional support for processor affinity in SMP systems:
      - osThreadAttr_t: affinity_mask
 *    - osThreadSetAffinityMask, osThreadGetAffinityMask
 * Version 2.2.0
 *    Added support for Process Isolation (Functional Safety):
 *    - Kernel Management: osKernelProtect, osKernelDestroyClass
 *    - Thread Management: osThreadGetClass, osThreadGetZone,
 *                         osThreadSuspendClass, osThreadResumeClass
 *                         osThreadTerminateZone,
 *                         osThreadFeedWatchdog,
 *                         osThreadProtectPrivileged
 *    - Thread attributes: osThreadZone, osThreadUnprivileged/osThreadPrivileged
 *    - Object attributes: osSafetyClass
 *    - Handler functions: osWatchdogAlarm_Handler
 *    - Zone Management: osZoneSetup_Callback
 *    - Exception Faults: osFaultResume
 *    Additional functions allowed to be called from Interrupt Service Routines:
 *    - osThreadGetName, osTimerGetName, osEventFlagsGetName, osMutexGetName,
 *      osSemaphoreGetName, osMemoryPoolGetName, osMessageQueueGetName
 * Version 2.1.3
 *    Additional functions allowed to be called from Interrupt Service Routines:
 *    - osThreadGetId
 * Version 2.1.2
 *    Additional functions allowed to be called from Interrupt Service Routines:
 *    - osKernelGetInfo, osKernelGetState
 * Version 2.1.1
 *    Additional functions allowed to be called from Interrupt Service Routines:
 *    - osKernelGetTickCount, osKernelGetTickFreq
 *    Changed Kernel Tick type to uint32_t:
 *    - updated: osKernelGetTickCount, osDelayUntil
 * Version 2.1.0
 *    Support for critical and uncritical sections (nesting safe):
 *    - updated: osKernelLock, osKernelUnlock
 *    - added: osKernelRestoreLock
 *    Updated Thread and Event Flags:
 *    - changed flags parameter and return type from int32_t to uint32_t
 * Version 2.0.0
 *    Initial Release
 *---------------------------------------------------------------------------*/

#ifndef CMSIS_OS2_H_
#define CMSIS_OS2_H_

#ifndef __NO_RETURN
#if   defined(__CC_ARM)
#define __NO_RETURN __declspec(noreturn)
#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
#define __NO_RETURN __attribute__((__noreturn__))
#elif defined(__GNUC__)
#define __NO_RETURN __attribute__((__noreturn__))
#elif defined(__ICCARM__)
#define __NO_RETURN __noreturn
#else
#define __NO_RETURN
#endif
#endif

#include <stdint.h>
#include <stddef.h>

#ifdef  __cplusplus
extern "C"
{
#endif


//  ==== Enumerations, structures, defines ====

/// Version information.
typedef struct {
  uint32_t                       api;   ///< API version (major.minor.rev: mmnnnrrrr dec).
  uint32_t                    kernel;   ///< Kernel version (major.minor.rev: mmnnnrrrr dec).
} osVersion_t;

/// Kernel state.
typedef enum {
  osKernelInactive        =  0,         ///< Inactive.
  osKernelReady           =  1,         ///< Ready.
  osKernelRunning         =  2,         ///< Running.
  osKernelLocked          =  3,         ///< Locked.
  osKernelSuspended       =  4,         ///< Suspended.
  osKernelError           = -1,         ///< Error.
  osKernelReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
} osKernelState_t;

/// Thread state.
typedef enum {
  osThreadInactive        =  0,         ///< Inactive.
  osThreadReady           =  1,         ///< Ready.
  osThreadRunning         =  2,         ///< Running.
  osThreadBlocked         =  3,         ///< Blocked.
  osThreadTerminated      =  4,         ///< Terminated.
  osThreadError           = -1,         ///< Error.
  osThreadReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
} osThreadState_t;

/// Priority values.
typedef enum {
  osPriorityNone          =  0,         ///< No priority (not initialized).
  osPriorityIdle          =  1,         ///< Reserved for Idle thread.
  osPriorityLow           =  8,         ///< Priority: low
  osPriorityLow1          =  8+1,       ///< Priority: low + 1
  osPriorityLow2          =  8+2,       ///< Priority: low + 2
  osPriorityLow3          =  8+3,       ///< Priority: low + 3
  osPriorityLow4          =  8+4,       ///< Priority: low + 4
  osPriorityLow5          =  8+5,       ///< Priority: low + 5
  osPriorityLow6          =  8+6,       ///< Priority: low + 6
  osPriorityLow7          =  8+7,       ///< Priority: low + 7
  osPriorityBelowNormal   = 16,         ///< Priority: below normal
  osPriorityBelowNormal1  = 16+1,       ///< Priority: below normal + 1
  osPriorityBelowNormal2  = 16+2,       ///< Priority: below normal + 2
  osPriorityBelowNormal3  = 16+3,       ///< Priority: below normal + 3
  osPriorityBelowNormal4  = 16+4,       ///< Priority: below normal + 4
  osPriorityBelowNormal5  = 16+5,       ///< Priority: below normal + 5
  osPriorityBelowNormal6  = 16+6,       ///< Priority: below normal + 6
  osPriorityBelowNormal7  = 16+7,       ///< Priority: below normal + 7
  osPriorityNormal        = 24,         ///< Priority: normal
  osPriorityNormal1       = 24+1,       ///< Priority: normal + 1
  osPriorityNormal2       = 24+2,       ///< Priority: normal + 2
  osPriorityNormal3       = 24+3,       ///< Priority: normal + 3
  osPriorityNormal4       = 24+4,       ///< Priority: normal + 4
  osPriorityNormal5       = 24+5,       ///< Priority: normal + 5
  osPriorityNormal6       = 24+6,       ///< Priority: normal + 6
  osPriorityNormal7       = 24+7,       ///< Priority: normal + 7
  osPriorityAboveNormal   = 32,         ///< Priority: above normal
  osPriorityAboveNormal1  = 32+1,       ///< Priority: above normal + 1
  osPriorityAboveNormal2  = 32+2,       ///< Priority: above normal + 2
  osPriorityAboveNormal3  = 32+3,       ///< Priority: above normal + 3
  osPriorityAboveNormal4  = 32+4,       ///< Priority: above normal + 4
  osPriorityAboveNormal5  = 32+5,       ///< Priority: above normal + 5
  osPriorityAboveNormal6  = 32+6,       ///< Priority: above normal + 6
  osPriorityAboveNormal7  = 32+7,       ///< Priority: above normal + 7
  osPriorityHigh          = 40,         ///< Priority: high
  osPriorityHigh1         = 40+1,       ///< Priority: high + 1
  osPriorityHigh2         = 40+2,       ///< Priority: high + 2
  osPriorityHigh3         = 40+3,       ///< Priority: high + 3
  osPriorityHigh4         = 40+4,       ///< Priority: high + 4
  osPriorityHigh5         = 40+5,       ///< Priority: high + 5
  osPriorityHigh6         = 40+6,       ///< Priority: high + 6
  osPriorityHigh7         = 40+7,       ///< Priority: high + 7
  osPriorityRealtime      = 48,         ///< Priority: realtime
  osPriorityRealtime1     = 48+1,       ///< Priority: realtime + 1
  osPriorityRealtime2     = 48+2,       ///< Priority: realtime + 2
  osPriorityRealtime3     = 48+3,       ///< Priority: realtime + 3
  osPriorityRealtime4     = 48+4,       ///< Priority: realtime + 4
  osPriorityRealtime5     = 48+5,       ///< Priority: realtime + 5
  osPriorityRealtime6     = 48+6,       ///< Priority: realtime + 6
  osPriorityRealtime7     = 48+7,       ///< Priority: realtime + 7
  osPriorityISR           = 56,         ///< Reserved for ISR deferred thread.
  osPriorityError         = -1,         ///< System cannot determine priority or illegal priority.
  osPriorityReserved      = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
} osPriority_t;

/// Entry point of a thread.
typedef void (*osThreadFunc_t) (void *argument);

/// Timer callback function.
typedef void (*osTimerFunc_t) (void *argument);

/// Timer type.
typedef enum {
  osTimerOnce             = 0,          ///< One-shot timer.
  osTimerPeriodic         = 1           ///< Repeating timer.
} osTimerType_t;

// Timeout value.
#define osWaitForever           0xFFFFFFFFU ///< Wait forever timeout value.

// Flags options (\ref osThreadFlagsWait and \ref osEventFlagsWait).
#define osFlagsWaitAny          0x00000000U ///< Wait for any flag (default).
#define osFlagsWaitAll          0x00000001U ///< Wait for all flags.
#define osFlagsNoClear          0x00000002U ///< Do not clear flags which have been specified to wait for.

// Flags errors (returned by osThreadFlagsXxxx and osEventFlagsXxxx).
#define osFlagsError            0x80000000U ///< Error indicator.
#define osFlagsErrorUnknown     0xFFFFFFFFU ///< osError (-1).
#define osFlagsErrorTimeout     0xFFFFFFFEU ///< osErrorTimeout (-2).
#define osFlagsErrorResource    0xFFFFFFFDU ///< osErrorResource (-3).
#define osFlagsErrorParameter   0xFFFFFFFCU ///< osErrorParameter (-4).
#define osFlagsErrorISR         0xFFFFFFFAU ///< osErrorISR (-6).
#define osFlagsErrorSafetyClass 0xFFFFFFF9U ///< osErrorSafetyClass (-7).

// Thread attributes (attr_bits in \ref osThreadAttr_t).
#define osThreadDetached        0x00000000U ///< Thread created in detached mode (default)
#define osThreadJoinable        0x00000001U ///< Thread created in joinable mode
#define osThreadUnprivileged    0x00000002U ///< Thread runs in unprivileged mode
#define osThreadPrivileged      0x00000004U ///< Thread runs in privileged mode

#define osThreadZone_Pos        8U                            ///< MPU protected zone position
#define osThreadZone_Msk        (0x3FUL << osThreadZone_Pos)  ///< MPU protected zone mask
#define osThreadZone_Valid      (0x80UL << osThreadZone_Pos)  ///< MPU protected zone valid flag
#define osThreadZone(n)         ((((n) << osThreadZone_Pos) & osThreadZone_Msk) | \
                                 osThreadZone_Valid)          ///< MPU zone value in attribute bit field format

// Thread processor affinity (affinity_mask in \ref osThreadAttr_t).
#define osThreadProcessor(n)    (1UL << (n))    ///< Thread processor number for SMP systems

// Mutex attributes (attr_bits in \ref osMutexAttr_t).
#define osMutexRecursive        0x00000001U ///< Recursive mutex.
#define osMutexPrioInherit      0x00000002U ///< Priority inherit protocol.
#define osMutexRobust           0x00000008U ///< Robust mutex.

// Object attributes (attr_bits in all objects).
#define osSafetyClass_Pos       16U                           ///< Safety class position
#define osSafetyClass_Msk       (0x0FUL << osSafetyClass_Pos) ///< Safety class mask
#define osSafetyClass_Valid     (0x10UL << osSafetyClass_Pos) ///< Safety class valid flag
#define osSafetyClass(n)        ((((n) << osSafetyClass_Pos) & osSafetyClass_Msk) | \
                                 osSafetyClass_Valid)         ///< Safety class

// Safety mode (\ref osThreadSuspendClass, \ref osThreadResumeClass and \ref osKernelDestroyClass).
#define osSafetyWithSameClass   0x00000001U ///< Objects with same safety class.
#define osSafetyWithLowerClass  0x00000002U ///< Objects with lower safety class.

// Error indication (returned by \ref osThreadGetClass and \ref osThreadGetZone).
#define osErrorId               0xFFFFFFFFU ///< osError (-1).

/// Status code values returned by CMSIS-RTOS functions.
typedef enum {
  osOK                    =  0,         ///< Operation completed successfully.
  osError                 = -1,         ///< Unspecified RTOS error: run-time error but no other error message fits.
  osErrorTimeout          = -2,         ///< Operation not completed within the timeout period.
  osErrorResource         = -3,         ///< Resource not available.
  osErrorParameter        = -4,         ///< Parameter error.
  osErrorNoMemory         = -5,         ///< System is out of memory: it was impossible to allocate or reserve memory for the operation.
  osErrorISR              = -6,         ///< Not allowed in ISR context: the function cannot be called from interrupt service routines.
  osErrorSafetyClass      = -7,         ///< Operation denied because of safety class violation.
  osStatusReserved        = 0x7FFFFFFF  ///< Prevents enum down-size compiler optimization.
} osStatus_t;


/// \details Thread ID identifies the thread.
typedef void *osThreadId_t;

/// \details Timer ID identifies the timer.
typedef void *osTimerId_t;

/// \details Event Flags ID identifies the event flags.
typedef void *osEventFlagsId_t;

/// \details Mutex ID identifies the mutex.
typedef void *osMutexId_t;

/// \details Semaphore ID identifies the semaphore.
typedef void *osSemaphoreId_t;

/// \details Memory Pool ID identifies the memory pool.
typedef void *osMemoryPoolId_t;

/// \details Message Queue ID identifies the message queue.
typedef void *osMessageQueueId_t;


#ifndef TZ_MODULEID_T
#define TZ_MODULEID_T
/// \details Data type that identifies secure software modules called by a process.
typedef uint32_t TZ_ModuleId_t;
#endif


/// Attributes structure for thread.
typedef struct {
  const char                   *name;   ///< name of the thread
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
  void                   *stack_mem;    ///< memory for stack
  uint32_t                stack_size;   ///< size of stack
  osPriority_t              priority;   ///< initial thread priority (default: osPriorityNormal)
  TZ_ModuleId_t            tz_module;   ///< TrustZone module identifier
  uint32_t             affinity_mask;   ///< processor affinity mask for binding the thread to a CPU in a SMP system (0 when not used)
} osThreadAttr_t;

/// Attributes structure for timer.
typedef struct {
  const char                   *name;   ///< name of the timer
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
} osTimerAttr_t;

/// Attributes structure for event flags.
typedef struct {
  const char                   *name;   ///< name of the event flags
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
} osEventFlagsAttr_t;

/// Attributes structure for mutex.
typedef struct {
  const char                   *name;   ///< name of the mutex
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
} osMutexAttr_t;

/// Attributes structure for semaphore.
typedef struct {
  const char                   *name;   ///< name of the semaphore
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
} osSemaphoreAttr_t;

/// Attributes structure for memory pool.
typedef struct {
  const char                   *name;   ///< name of the memory pool
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
  void                      *mp_mem;    ///< memory for data storage
  uint32_t                   mp_size;   ///< size of provided memory for data storage
} osMemoryPoolAttr_t;

/// Attributes structure for message queue.
typedef struct {
  const char                   *name;   ///< name of the message queue
  uint32_t                 attr_bits;   ///< attribute bits
  void                      *cb_mem;    ///< memory for control block
  uint32_t                   cb_size;   ///< size of provided memory for control block
  void                      *mq_mem;    ///< memory for data storage
  uint32_t                   mq_size;   ///< size of provided memory for data storage
} osMessageQueueAttr_t;


//  ==== Kernel Management Functions ====

/// Initialize the RTOS Kernel.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelInitialize (void);

///  Get RTOS Kernel Information.
/// \param[out]    version       pointer to buffer for retrieving version information.
/// \param[out]    id_buf        pointer to buffer for retrieving kernel identification string.
/// \param[in]     id_size       size of buffer for kernel identification string.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size);

/// Get the current RTOS Kernel state.
/// \return current RTOS Kernel state.
osKernelState_t osKernelGetState (void);

/// Start the RTOS Kernel scheduler.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelStart (void);

/// Lock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelLock (void);

/// Unlock the RTOS Kernel scheduler.
/// \return previous lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelUnlock (void);

/// Restore the RTOS Kernel scheduler lock state.
/// \param[in]     lock          lock state obtained by \ref osKernelLock or \ref osKernelUnlock.
/// \return new lock state (1 - locked, 0 - not locked, error code if negative).
int32_t osKernelRestoreLock (int32_t lock);

/// Suspend the RTOS Kernel scheduler.
/// \return time in ticks, for how long the system can sleep or power-down.
uint32_t osKernelSuspend (void);

/// Resume the RTOS Kernel scheduler.
/// \param[in]     sleep_ticks   time in ticks for how long the system was in sleep or power-down mode.
void osKernelResume (uint32_t sleep_ticks);

/// Protect the RTOS Kernel scheduler access.
/// \param[in]     safety_class  safety class.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelProtect (uint32_t safety_class);

/// Destroy objects for specified safety classes.
/// \param[in]     safety_class  safety class.
/// \param[in]     mode          safety mode.
/// \return status code that indicates the execution status of the function.
osStatus_t osKernelDestroyClass (uint32_t safety_class, uint32_t mode);

/// Get the RTOS kernel tick count.
/// \return RTOS kernel current tick count.
uint32_t osKernelGetTickCount (void);

/// Get the RTOS kernel tick frequency.
/// \return frequency of the kernel tick in hertz, i.e. kernel ticks per second.
uint32_t osKernelGetTickFreq (void);

/// Get the RTOS kernel system timer count.
/// \return RTOS kernel current system timer count as 32-bit value.
uint32_t osKernelGetSysTimerCount (void);

/// Get the RTOS kernel system timer frequency.
/// \return frequency of the system timer in hertz, i.e. timer ticks per second.
uint32_t osKernelGetSysTimerFreq (void);


//  ==== Thread Management Functions ====

/// Create a thread and add it to Active Threads.
/// \param[in]     func          thread function.
/// \param[in]     argument      pointer that is passed to the thread function as start argument.
/// \param[in]     attr          thread attributes; NULL: default values.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);

/// Get name of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return name as null-terminated string.
const char *osThreadGetName (osThreadId_t thread_id);

/// Get safety class of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return safety class of the specified thread.
uint32_t osThreadGetClass (osThreadId_t thread_id);

/// Get MPU protected zone of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return MPU protected zone of the specified thread.
uint32_t osThreadGetZone (osThreadId_t thread_id);

/// Return the thread ID of the current running thread.
/// \return thread ID for reference by other functions or NULL in case of error.
osThreadId_t osThreadGetId (void);

/// Get current thread state of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current thread state of the specified thread.
osThreadState_t osThreadGetState (osThreadId_t thread_id);

/// Get stack size of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return stack size in bytes.
uint32_t osThreadGetStackSize (osThreadId_t thread_id);

/// Get available stack space of a thread based on stack watermark recording during execution.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return remaining stack space in bytes.
uint32_t osThreadGetStackSpace (osThreadId_t thread_id);

/// Change priority of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in]     priority      new priority value for the thread function.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority);

/// Get current priority of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current priority value of the specified thread.
osPriority_t osThreadGetPriority (osThreadId_t thread_id);

/// Pass control to next thread that is in state \b READY.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadYield (void);

/// Suspend execution of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSuspend (osThreadId_t thread_id);

/// Resume execution of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadResume (osThreadId_t thread_id);

/// Detach a thread (thread storage can be reclaimed when thread terminates).
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadDetach (osThreadId_t thread_id);

/// Wait for specified thread to terminate.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadJoin (osThreadId_t thread_id);

/// Terminate execution of current running thread.
__NO_RETURN void osThreadExit (void);

/// Terminate execution of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadTerminate (osThreadId_t thread_id);

/// Feed watchdog of the current running thread.
/// \param[in]     ticks         interval in kernel ticks until the thread watchdog expires, or 0 to stop the watchdog
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadFeedWatchdog (uint32_t ticks);

/// Protect creation of privileged threads.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadProtectPrivileged (void);

/// Suspend execution of threads for specified safety classes.
/// \param[in]     safety_class  safety class.
/// \param[in]     mode          safety mode.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSuspendClass (uint32_t safety_class, uint32_t mode);

/// Resume execution of threads for specified safety classes.
/// \param[in]     safety_class  safety class.
/// \param[in]     mode          safety mode.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadResumeClass (uint32_t safety_class, uint32_t mode);

/// Terminate execution of threads assigned to a specified MPU protected zone.
/// \param[in]     zone          MPU protected zone.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadTerminateZone (uint32_t zone);

/// Set processor affinity mask of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in]     affinity_mask processor affinity mask for the thread.
/// \return status code that indicates the execution status of the function.
osStatus_t osThreadSetAffinityMask (osThreadId_t thread_id, uint32_t affinity_mask);

/// Get current processor affinity mask of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return current processor affinity mask of the specified thread.
uint32_t osThreadGetAffinityMask (osThreadId_t thread_id);

/// Get number of active threads.
/// \return number of active threads.
uint32_t osThreadGetCount (void);

/// Enumerate active threads.
/// \param[out]    thread_array  pointer to array for retrieving thread IDs.
/// \param[in]     array_items   maximum number of items in array for retrieving thread IDs.
/// \return number of enumerated threads.
uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items);


//  ==== Thread Flags Functions ====

/// Set the specified Thread Flags of a thread.
/// \param[in]     thread_id     thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \param[in]     flags         specifies the flags of the thread that shall be set.
/// \return thread flags after setting or error code if highest bit set.
uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags);

/// Clear the specified Thread Flags of current running thread.
/// \param[in]     flags         specifies the flags of the thread that shall be cleared.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsClear (uint32_t flags);

/// Get the current Thread Flags of current running thread.
/// \return current thread flags.
uint32_t osThreadFlagsGet (void);

/// Wait for one or more Thread Flags of the current running thread to become signaled.
/// \param[in]     flags         specifies the flags to wait for.
/// \param[in]     options       specifies flags options (osFlagsXxxx).
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return thread flags before clearing or error code if highest bit set.
uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout);


//  ==== Generic Wait Functions ====

/// Wait for Timeout (Time Delay).
/// \param[in]     ticks         \ref CMSIS_RTOS_TimeOutValue "time ticks" value
/// \return status code that indicates the execution status of the function.
osStatus_t osDelay (uint32_t ticks);

/// Wait until specified time.
/// \param[in]     ticks         absolute time in ticks
/// \return status code that indicates the execution status of the function.
osStatus_t osDelayUntil (uint32_t ticks);


//  ==== Timer Management Functions ====

/// Create and Initialize a timer.
/// \param[in]     func          function pointer to callback function.
/// \param[in]     type          \ref osTimerOnce for one-shot or \ref osTimerPeriodic for periodic behavior.
/// \param[in]     argument      argument to the timer callback function.
/// \param[in]     attr          timer attributes; NULL: default values.
/// \return timer ID for reference by other functions or NULL in case of error.
osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr);

/// Get name of a timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
/// \return name as null-terminated string.
const char *osTimerGetName (osTimerId_t timer_id);

/// Start or restart a timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
/// \param[in]     ticks         \ref CMSIS_RTOS_TimeOutValue "time ticks" value of the timer.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks);

/// Stop a timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerStop (osTimerId_t timer_id);

/// Check if a timer is running.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
/// \return 0 not running, 1 running.
uint32_t osTimerIsRunning (osTimerId_t timer_id);

/// Delete a timer.
/// \param[in]     timer_id      timer ID obtained by \ref osTimerNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osTimerDelete (osTimerId_t timer_id);


//  ==== Event Flags Management Functions ====

/// Create and Initialize an Event Flags object.
/// \param[in]     attr          event flags attributes; NULL: default values.
/// \return event flags ID for reference by other functions or NULL in case of error.
osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr);

/// Get name of an Event Flags object.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \return name as null-terminated string.
const char *osEventFlagsGetName (osEventFlagsId_t ef_id);

/// Set the specified Event Flags.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \param[in]     flags         specifies the flags that shall be set.
/// \return event flags after setting or error code if highest bit set.
uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags);

/// Clear the specified Event Flags.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \param[in]     flags         specifies the flags that shall be cleared.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags);

/// Get the current Event Flags.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \return current event flags.
uint32_t osEventFlagsGet (osEventFlagsId_t ef_id);

/// Wait for one or more Event Flags to become signaled.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \param[in]     flags         specifies the flags to wait for.
/// \param[in]     options       specifies flags options (osFlagsXxxx).
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return event flags before clearing or error code if highest bit set.
uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout);

/// Delete an Event Flags object.
/// \param[in]     ef_id         event flags ID obtained by \ref osEventFlagsNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id);


//  ==== Mutex Management Functions ====

/// Create and Initialize a Mutex object.
/// \param[in]     attr          mutex attributes; NULL: default values.
/// \return mutex ID for reference by other functions or NULL in case of error.
osMutexId_t osMutexNew (const osMutexAttr_t *attr);

/// Get name of a Mutex object.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
/// \return name as null-terminated string.
const char *osMutexGetName (osMutexId_t mutex_id);

/// Acquire a Mutex or timeout if it is locked.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout);

/// Release a Mutex that was acquired by \ref osMutexAcquire.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexRelease (osMutexId_t mutex_id);

/// Get Thread which owns a Mutex object.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
/// \return thread ID of owner thread or NULL when mutex was not acquired.
osThreadId_t osMutexGetOwner (osMutexId_t mutex_id);

/// Delete a Mutex object.
/// \param[in]     mutex_id      mutex ID obtained by \ref osMutexNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMutexDelete (osMutexId_t mutex_id);


//  ==== Semaphore Management Functions ====

/// Create and Initialize a Semaphore object.
/// \param[in]     max_count     maximum number of available tokens.
/// \param[in]     initial_count initial number of available tokens.
/// \param[in]     attr          semaphore attributes; NULL: default values.
/// \return semaphore ID for reference by other functions or NULL in case of error.
osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr);

/// Get name of a Semaphore object.
/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
/// \return name as null-terminated string.
const char *osSemaphoreGetName (osSemaphoreId_t semaphore_id);

/// Acquire a Semaphore token or timeout if no tokens are available.
/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout);

/// Release a Semaphore token up to the initial maximum count.
/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id);

/// Get current Semaphore token count.
/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
/// \return number of tokens available.
uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id);

/// Delete a Semaphore object.
/// \param[in]     semaphore_id  semaphore ID obtained by \ref osSemaphoreNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id);


//  ==== Memory Pool Management Functions ====

/// Create and Initialize a Memory Pool object.
/// \param[in]     block_count   maximum number of memory blocks in memory pool.
/// \param[in]     block_size    memory block size in bytes.
/// \param[in]     attr          memory pool attributes; NULL: default values.
/// \return memory pool ID for reference by other functions or NULL in case of error.
osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr);

/// Get name of a Memory Pool object.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return name as null-terminated string.
const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id);

/// Allocate a memory block from a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return address of the allocated memory block or NULL in case of no memory is available.
void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout);

/// Return an allocated memory block back to a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \param[in]     block         address of the allocated memory block to be returned to the memory pool.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block);

/// Get maximum number of memory blocks in a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return maximum number of memory blocks.
uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id);

/// Get memory block size in a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return memory block size in bytes.
uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id);

/// Get number of memory blocks used in a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks used.
uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id);

/// Get number of memory blocks available in a Memory Pool.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return number of memory blocks available.
uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id);

/// Delete a Memory Pool object.
/// \param[in]     mp_id         memory pool ID obtained by \ref osMemoryPoolNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id);


//  ==== Message Queue Management Functions ====

/// Create and Initialize a Message Queue object.
/// \param[in]     msg_count     maximum number of messages in queue.
/// \param[in]     msg_size      maximum message size in bytes.
/// \param[in]     attr          message queue attributes; NULL: default values.
/// \return message queue ID for reference by other functions or NULL in case of error.
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr);

/// Get name of a Message Queue object.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return name as null-terminated string.
const char *osMessageQueueGetName (osMessageQueueId_t mq_id);

/// Put a Message into a Queue or timeout if Queue is full.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \param[in]     msg_ptr       pointer to buffer with message to put into a queue.
/// \param[in]     msg_prio      message priority.
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);

/// Get a Message from a Queue or timeout if Queue is empty.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \param[out]    msg_ptr       pointer to buffer for message to get from a queue.
/// \param[out]    msg_prio      pointer to buffer for message priority or NULL.
/// \param[in]     timeout       \ref CMSIS_RTOS_TimeOutValue or 0 in case of no time-out.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);

/// Get maximum number of messages in a Message Queue.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum number of messages.
uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id);

/// Get maximum message size in a Message Queue.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return maximum message size in bytes.
uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id);

/// Get number of queued messages in a Message Queue.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return number of queued messages.
uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id);

/// Get number of available slots for messages in a Message Queue.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return number of available slots for messages.
uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id);

/// Reset a Message Queue to initial empty state.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id);

/// Delete a Message Queue object.
/// \param[in]     mq_id         message queue ID obtained by \ref osMessageQueueNew.
/// \return status code that indicates the execution status of the function.
osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id);


//  ==== Handler Functions ====

/// Handler for expired thread watchdogs.
/// \param[in]     thread_id thread ID obtained by \ref osThreadNew or \ref osThreadGetId.
/// \return new watchdog reload value or 0 to stop the watchdog.
uint32_t osWatchdogAlarm_Handler (osThreadId_t thread_id);


// ==== Zone Management Function ====

/// Setup MPU protected zone (called when zone changes).
/// \param[in]     zone          zone number.
void osZoneSetup_Callback (uint32_t zone);


//  ==== Exception Faults ====

/// Resume normal operation when exiting exception faults
void osFaultResume (void);


#ifdef  __cplusplus
}
#endif

#endif  // CMSIS_OS2_H_