void *RTCS_msgqueue_receive
(
_rtcs_msgqueue *msgq,
uint32_t timeout
)
{ /* Body */
void *msg;
TIME_STRUCT time;
MQX_TICK_STRUCT ticks;
if (!timeout) {
_lwsem_wait(&msgq->FULL);
} else {
time.SECONDS = timeout/1000;
time.MILLISECONDS = timeout%1000;
if (!_time_to_ticks(&time, &ticks)) {
return NULL;
} /* Endif */
if (_lwsem_wait_for(&msgq->FULL, &ticks) != MQX_OK) {
/* If we have a timeout, return */
return NULL;
} /* Endif */
} /* Endif */
_int_disable();
msg = msgq->QUEUE[msgq->HEAD++];
if (msgq->HEAD == RTCSMQ_SIZE) {
msgq->HEAD = 0;
} /* Endif */
_int_enable();
_lwsem_post(&msgq->EMPTY);
return msg;
} /* Endbody */
/*!
* \brief MQX API handler for usermode - part of wrapper around standard MQX API
* which require privilege mode.
*
* \param[in] api_no API number - number of wrapped function
* \param[in] params generic parameter - direct use with called MQX API fn
*
* \return uint32_t return of called function
*/
uint32_t _mqx_api_call_handler
(
// [IN] API number - number of wrapped function
MQX_API_NUMBER_ENUM api_no,
// [IN] generic parameter - direct use with called MQX API fn
MQX_API_CALL_PARAMS_PTR params
)
{
int32_t res = -1;
uint32_t param0 = params->param0;
uint32_t param1 = params->param1;
uint32_t param2 = params->param2;
uint32_t param3 = params->param3;
uint32_t param4 = params->param4;
switch (api_no) {
// _lwsem
case MQX_API_LWSEM_POLL:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = (uint32_t)_lwsem_poll((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_POST:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_post((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_WAIT:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_wait((LWSEM_STRUCT_PTR)param0);
break;
case MQX_API_LWSEM_CREATE:
res = _lwsem_create_internal((LWSEM_STRUCT_PTR)param0, (_mqx_int)param1, (bool)param2, TRUE);
break;
#if MQX_HAS_TICK
case MQX_API_LWSEM_WAIT_FOR:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)) && (!param1 || _psp_mem_check_access(param1, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwsem_wait_for((LWSEM_STRUCT_PTR)param0, (MQX_TICK_STRUCT_PTR)param1);
break;
case MQX_API_LWSEM_WAIT_TICKS:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)))
res = _lwsem_wait_ticks((LWSEM_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWSEM_WAIT_UNTIL:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0)) && (!param1 || _psp_mem_check_access(param1, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwsem_wait_until((LWSEM_STRUCT_PTR)param0, (MQX_TICK_STRUCT_PTR)param1);
break;
case MQX_API_LWSEM_DESTROY:
if (MQX_OK == (res = _lwsem_usr_check((LWSEM_STRUCT_PTR)param0))) {
res = _lwsem_destroy_internal((LWSEM_STRUCT_PTR)param0, TRUE);
}
break;
#endif // MQX_HAS_TICK
// _lwevent
#if MQX_USE_LWEVENTS
case MQX_API_LWEVENT_CLEAR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_clear((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_SET:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_set((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_SET_AUTO_CLEAR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)))
res = _lwevent_set_auto_clear((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1);
break;
case MQX_API_LWEVENT_WAIT_FOR:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)) && \
(!param3 || _psp_mem_check_access(param3, sizeof(MQX_TICK_STRUCT), MPU_UM_RW))) {
res = _lwevent_wait_for((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (MQX_TICK_STRUCT_PTR)param3);
}
break;
case MQX_API_LWEVENT_WAIT_FOR_TICKS:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0))) {
res = _lwevent_wait_ticks((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (_mqx_uint)param3);
}
break;
case MQX_API_LWEVENT_WAIT_UNTIL:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0)) && \
(!param3 || _psp_mem_check_access(param3, sizeof(MQX_TICK_STRUCT), MPU_UM_RW))) {
res = _lwevent_wait_until((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, (bool)param2, (MQX_TICK_STRUCT_PTR)param3);
}
break;
case MQX_API_LWEVENT_GET_SIGNALLED:
res = _lwevent_get_signalled();
break;
case MQX_API_LWEVENT_CREATE:
res = _lwevent_create_internal((LWEVENT_STRUCT_PTR)param0, (_mqx_uint)param1, TRUE);
break;
case MQX_API_LWEVENT_DESTROY:
if (MQX_OK == (res = _lwevent_usr_check((LWEVENT_STRUCT_PTR)param0))) {
res = _lwevent_destroy_internal((LWEVENT_STRUCT_PTR)param0, TRUE);
}
break;
#endif
#if MQX_USE_LWMSGQ
case MQX_API_LWMSGQ_INIT:
res = _lwmsgq_init_internal((void *)param0, (_mqx_uint)param1, (_mqx_uint)param2, TRUE);
break;
case MQX_API_LWMSGQ_RECEIVE:
if (MQX_OK == (res = _lwmsgq_usr_check((LWMSGQ_STRUCT_PTR)param0)) && \
_psp_mem_check_access(param1, ((LWMSGQ_STRUCT_PTR)param0)->MSG_SIZE, MPU_UM_RW) && \
(!param4 || _psp_mem_check_access(param4, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)))
res = _lwmsgq_receive((void *)param0, (_mqx_max_type_ptr)param1, (_mqx_uint)param2, (_mqx_uint)param3, (MQX_TICK_STRUCT_PTR)param4);
break;
case MQX_API_LWMSGQ_SEND:
if (MQX_OK == (res = _lwmsgq_usr_check((LWMSGQ_STRUCT_PTR)param0)) && \
_psp_mem_check_access(param1, ((LWMSGQ_STRUCT_PTR)param0)->MSG_SIZE, MPU_UM_RW))
res = _lwmsgq_send((void *)param0, (_mqx_max_type_ptr)param1, (_mqx_uint)param2);
break;
#endif // MQX_USE_LWMSGQ
case MQX_API_TASK_CREATE:
res = _task_create_internal((_processor_number)param0, (_mqx_uint)param1, (uint32_t)param2, TRUE);
break;
case MQX_API_TASK_DESTROY:
res = _task_destroy_internal((_task_id)param0, TRUE);
break;
case MQX_API_TASK_ABORT:
res = _task_abort_internal((_task_id)param0, TRUE);
break;
case MQX_API_TASK_READY:
_task_ready((void *)param0);
res = MQX_OK; // irelevant, function is without return value
break;
case MQX_API_TASK_SET_ERROR:
res = _task_set_error((_mqx_uint)param0);
break;
case MQX_API_TASK_GET_TD:
res = (uint32_t)_task_get_td((_task_id)param0);
break;
#if MQX_USE_LWMEM
case MQX_API_LWMEM_ALLOC:
res = (uint32_t)_usr_lwmem_alloc_internal((_mem_size)param0);
break;
case MQX_API_LWMEM_ALLOC_FROM:
if (_psp_mem_check_access(param0, sizeof(LWMEM_POOL_STRUCT), MPU_UM_RW) && \
_psp_mem_check_access((uint32_t)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_START_PTR), (char*)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_END_PTR) - (char*)(((LWMEM_POOL_STRUCT_PTR)param0)->POOL_ALLOC_START_PTR), MPU_UM_RW))
res = (uint32_t)_lwmem_alloc_from((_lwmem_pool_id)param0, (_mem_size)param1);
else
res = 0; // NULL, allocation failed
break;
case MQX_API_LWMEM_FREE:
if (_psp_mem_check_access(param0, 4, MPU_UM_RW))
res = _lwmem_free((void *)param0);
break;
case MQX_API_LWMEM_CREATE_POOL:\
if (_psp_mem_check_access(param0, sizeof(LWMEM_POOL_STRUCT), MPU_UM_RW) && \
_psp_mem_check_access(param1, param2, MPU_UM_RW))
res = (uint32_t)_lwmem_create_pool((LWMEM_POOL_STRUCT_PTR)param0, (void *)param1, (_mem_size)param2);
break;
case MQX_API_LWMEM_REALLOC:
if (_psp_mem_check_access(param0, 4, MPU_UM_RW))
res = (uint32_t)_lwmem_realloc((void *)param0,(_mem_size)param1);
break;
#endif // MQX_USE_LWMEM
// _time
case MQX_API_TIME_DELAY:
_time_delay(param0);
res = MQX_OK; // irelevant, function is without return value
break;
#if MQX_HAS_TICK
case MQX_API_TIME_DELAY_TICKS:
_time_delay_ticks(param0);
res = MQX_OK; // irelevant, function is without return value
break;
case MQX_API_TIME_GET_ELAPSED_TICKS:
if (_psp_mem_check_access(param0, sizeof(MQX_TICK_STRUCT), MPU_UM_RW)) {
_time_get_elapsed_ticks((MQX_TICK_STRUCT_PTR)param0);
res = MQX_OK; // irelevant, function is without return value
}
else {
_task_set_error(MQX_ACCESS_ERROR);
}
break;
#endif // MQX_HAS_TICK
default:
while (1);
}
return res;
}