Adding dedicated support for generic CMSIS RTOS and specific KEIL RTX

8 files changed, 225 insertions, 90 deletions

diff --git a/src/gos/gos.h b/src/gos/gos.h
index 9d32867a..af9486f8 100644
--- a/src/gos/gos.h
+++ b/src/gos/gos.h
@@ -69,6 +69,16 @@
 	 */
 	#define DECLARE_THREAD_STACK(name, sz)			uint8_t name[sz];
 
+	/*
+	 * @brief	Return from a thread
+	 *
+	 * @details	Some underlying operating systems allow to return a value from a thread while others don't.
+	 *			For systems that don't allow to return a value from a thread function this call is simply ignored.
+	 *
+	 * @param[in] reval		The value which should be returned
+	 */
+	#define THREAD_RETURN(retval);
+
 	/**
 	 * @name	Various platform (and operating system) constants
 	 * @note	Your platform may use slightly different definitions to these
@@ -464,6 +474,8 @@
 	#include "src/gos/gos_ecos.h"
 #elif GFX_USE_OS_ARDUINO
 	#include "src/gos/gos_arduino.h"
+#elif GFX_USE_OS_CMSIS
+ 	#include "src/gos/gos_cmsis.h"
 #elif GFX_USE_OS_KEIL
 	#include "src/gos/gos_keil.h"
 #else
diff --git a/src/gos/gos.mk b/src/gos/gos.mk
index 8e8eb907..048e687f 100644
--- a/src/gos/gos.mk
+++ b/src/gos/gos.mk
@@ -12,7 +12,7 @@ GFXSRC +=   $(GFXLIB)/src/gos/gos_chibios.c	\
 			$(GFXLIB)/src/gos/gos_ecos.c \
 			$(GFXLIB)/src/gos/gos_rawrtos.c \
 			$(GFXLIB)/src/gos/gos_arduino.c \
-			$(GFXLIB)/src/gos/gos_keil.c \
+			$(GFXLIB)/src/gos/gos_cmsis.c \
 			$(GFXLIB)/src/gos/gos_x_threads.c \
 			$(GFXLIB)/src/gos/gos_x_heap.c
 
diff --git a/src/gos/gos_cmsis.c b/src/gos/gos_cmsis.c
new file mode 100644
index 00000000..26a3f7f0
--- /dev/null
+++ b/src/gos/gos_cmsis.c
@@ -0,0 +1,89 @@
+/*
+ * This file is subject to the terms of the GFX License. If a copy of
+ * the license was not distributed with this file, you can obtain one at:
+ *
+ *              http://ugfx.org/license.html
+ */
+
+#include "gfx.h"
+#include <string.h>
+
+#if GFX_USE_OS_CMSIS
+
+void _gosHeapInit(void);
+
+void _gosInit(void)
+{
+	#if !GFX_OS_NO_INIT
+		osKernelInitialize();
+		if (!osKernelRunning())
+			osKernelStart();
+	#elif !GFX_OS_INIT_NO_WARNING
+		#warning "GOS: Operating System initialization has been turned off. Make sure you call osKernelInitialize() and osKernelStart() before gfxInit() in your application!"
+	#endif
+
+	// Set up the heap allocator
+	_gosHeapInit();
+}
+
+void _gosDeinit(void)
+{
+}
+
+void gfxMutexInit(gfxMutex* pmutex)
+{
+	pmutex->id = osMutexCreate(&(pmutex->def));
+}
+
+void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit)
+{
+	psem->id = osSemaphoreCreate(&(psem->def), limit);
+	while(val--)
+		osSemaphoreRelease(psem->id);
+}
+
+void gfxSemDestroy(gfxSem* psem)
+{
+	osSemaphoreDelete(psem->id);
+}
+
+bool_t gfxSemWait(gfxSem* psem, delaytime_t ms)
+{
+	return osSemaphoreWait(psem->id, ms) > 0;
+}
+
+bool_t gfxSemWaitI(gfxSem* psem)
+{
+	return osSemaphoreWait(psem->id, 0) > 0;
+}
+
+void gfxSemSignal(gfxSem* psem)
+{
+	osSemaphoreRelease(psem->id);
+}
+
+void gfxSemSignalI(gfxSem* psem)
+{
+	osSemaphoreRelease(psem->id);
+}
+
+gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param)
+{	
+	osThreadDef_t def;
+
+	(void)stackarea;
+	
+	def.pthread = (os_pthread)fn;
+	def.tpriority = prio;
+	def.instances = 1;
+	def.stacksize = stacksz;
+
+	return osThreadCreate(&def, param);
+}
+
+threadreturn_t gfxThreadWait(gfxThreadHandle thread) {
+	while(osThreadGetPriority(thread) == osPriorityError)
+		gfxYield();
+}
+
+#endif /* GFX_USE_OS_CMSIS */
diff --git a/src/gos/gos_cmsis.h b/src/gos/gos_cmsis.h
new file mode 100644
index 00000000..a0833c07
--- /dev/null
+++ b/src/gos/gos_cmsis.h
@@ -0,0 +1,105 @@
+/*
+ * This file is subject to the terms of the GFX License. If a copy of
+ * the license was not distributed with this file, you can obtain one at:
+ *
+ *              http://ugfx.org/license.html
+ */
+
+/**
+ * @file    src/gos/gos_cmsis.h
+ * @brief   GOS - Operating System Support header file for CMSIS RTOS.
+ */
+
+#ifndef _GOS_CMSIS_H
+#define _GOS_CMSIS_H
+
+#if GFX_USE_OS_CMSIS
+
+#include <stdbool.h>
+#include "cmsis_os.h"
+
+#ifndef GFX_OS_HEAP_SIZE
+	#define GFX_OS_HEAP_SIZE 10240
+#endif
+
+/*===========================================================================*/
+/* Type definitions                                                          */
+/*===========================================================================*/
+
+typedef bool				bool_t;
+
+#define TIME_IMMEDIATE		0
+#define TIME_INFINITE		osWaitForever
+typedef uint32_t			delaytime_t;
+typedef uint32_t			systemticks_t;
+typedef uint16_t			semcount_t;
+typedef void				threadreturn_t;
+typedef osPriority			threadpriority_t;
+
+#define MAX_SEMAPHORE_COUNT	osFeature_Semaphore
+#define LOW_PRIORITY		osPriorityLow
+#define NORMAL_PRIORITY		osPriorityNormal
+#define HIGH_PRIORITY		osPriorityHigh
+
+typedef struct gfxSem {
+	osSemaphoreDef_t def;
+	osSemaphoreId id;
+} gfxSem;
+
+typedef struct gfxMutex {
+	osMutexDef_t def;
+	osMutexId id;
+} gfxMutex;
+
+typedef osThreadId			gfxThreadHandle;
+
+#define DECLARE_THREAD_STACK(name, sz)			uint8_t name[1];	// Some compilers don't allow zero sized arrays. Let's waste one byte
+#define DECLARE_THREAD_FUNCTION(fnName, param)	threadreturn_t fnName(void* param)
+#define THREAD_RETURN(retval)
+
+/*===========================================================================*/
+/* Function declarations.                                                    */
+/*===========================================================================*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define gfxExit()					os_error(0)
+#define gfxHalt(msg)				os_error(1)
+#define gfxSystemTicks()			osKernelSysTick()
+#define gfxMillisecondsToTicks(ms)	osKernelSysTickMicroSec(1000*ms)
+#define gfxSystemLock()				osKernelInitialize()
+#define gfxSystemUnlock()			osKernelStart()
+#define gfxSleepMilliseconds(ms) 	osDelay(ms)
+
+void gfxMutexInit(gfxMutex* pmutex);
+#define gfxMutexDestroy(pmutex)		osMutexDelete((pmutex)->id)
+#define gfxMutexEnter(pmutex)		osMutexWait((pmutex)->id, TIME_INFINITE)
+#define gfxMutexExit(pmutex)		osMutexRelease((pmutex)->id)
+
+void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit);
+void gfxSemDestroy(gfxSem* psem);
+bool_t gfxSemWait(gfxSem* psem, delaytime_t ms);
+bool_t gfxSemWaitI(gfxSem* psem);
+void gfxSemSignal(gfxSem* psem);
+void gfxSemSignalI(gfxSem* psem);
+
+gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param);
+#define gfxYield()					osThreadYield()
+#define gfxThreadMe()				osThreadGetId()
+#define gfxThreadClose(thread)		{}
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Use the generic heap handling                                             */
+/*===========================================================================*/
+
+#define GOS_NEED_X_HEAP TRUE
+#include "gos_x_heap.h"
+
+#endif /* GFX_USE_OS_CMSIS */
+#endif /* _GOS_CMSIS_H */
diff --git a/src/gos/gos_keil.h b/src/gos/gos_keil.h
index f3f60113..84530d16 100644
--- a/src/gos/gos_keil.h
+++ b/src/gos/gos_keil.h
@@ -7,7 +7,7 @@
 
 /**
  * @file    src/gos/gos_keil.h
- * @brief   GOS - Operating System Support header file for Keil RTX.
+ * @brief   GOS - Operating System Support header file for Keil RTX
  */
 
 #ifndef _GOS_KEIL_H
@@ -15,91 +15,13 @@
 
 #if GFX_USE_OS_KEIL
 
-#include <stdbool.h>
-#include "cmsis_os.h"
-
-#ifndef GFX_OS_HEAP_SIZE
-	#define GFX_OS_HEAP_SIZE 10240
-#endif
-
-/*===========================================================================*/
-/* Type definitions                                                          */
-/*===========================================================================*/
-
-typedef bool				bool_t;
-
-#define TIME_IMMEDIATE		0
-#define TIME_INFINITE		osWaitForever
-typedef uint32_t			delaytime_t;
-typedef uint32_t			systemticks_t;
-typedef uint16_t			semcount_t;
-typedef void				threadreturn_t;
-typedef osPriority			threadpriority_t;
-
-#define MAX_SEMAPHORE_COUNT	osFeature_Semaphore
-#define LOW_PRIORITY		osPriorityLow
-#define NORMAL_PRIORITY		osPriorityNormal
-#define HIGH_PRIORITY		osPriorityHigh
-
-typedef struct gfxSem {
-	osSemaphoreDef_t def;
-	osSemaphoreId id;
-} gfxSem;
-
-typedef struct gfxMutex {
-	osMutexDef_t def;
-	osMutexId id;
-} gfxMutex;
-
-typedef osThreadId			gfxThreadHandle;
-
-#define DECLARE_THREAD_STACK(name, sz)			uint8_t name[1];	// Some compilers don't allow zero sized arrays. Let's waste one byte
-#define DECLARE_THREAD_FUNCTION(fnName, param)	threadreturn_t fnName(void* param)
-#define THREAD_RETURN(retval)
-
-/*===========================================================================*/
-/* Function declarations.                                                    */
-/*===========================================================================*/
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define gfxExit()					os_error(0)
-#define gfxHalt(msg)				os_error(1)
-#define gfxSystemTicks()			osKernelSysTick()
-#define gfxMillisecondsToTicks(ms)	osKernelSysTickMicroSec(1000*ms)
-#define gfxSystemLock()				osKernelInitialize()
-#define gfxSystemUnlock()			osKernelStart()
-#define gfxSleepMilliseconds(ms) 	osDelay(ms)
-
-void gfxMutexInit(gfxMutex* pmutex);
-#define gfxMutexDestroy(pmutex)		osMutexDelete((pmutex)->id)
-#define gfxMutexEnter(pmutex)		osMutexWait((pmutex)->id, TIME_INFINITE)
-#define gfxMutexExit(pmutex)		osMutexRelease((pmutex)->id)
-
-void gfxSemInit(gfxSem* psem, semcount_t val, semcount_t limit);
-void gfxSemDestroy(gfxSem* psem);
-bool_t gfxSemWait(gfxSem* psem, delaytime_t ms);
-bool_t gfxSemWaitI(gfxSem* psem);
-void gfxSemSignal(gfxSem* psem);
-void gfxSemSignalI(gfxSem* psem);
-
-gfxThreadHandle gfxThreadCreate(void* stackarea, size_t stacksz, threadpriority_t prio, DECLARE_THREAD_FUNCTION((*fn),p), void* param);
-#define gfxYield()					osThreadYield()
-#define gfxThreadMe()				osThreadGetId()
-#define gfxThreadClose(thread)		{}
-
-#ifdef __cplusplus
-}
-#endif
-
-/*===========================================================================*/
-/* Use the generic heap handling                                             */
-/*===========================================================================*/
+/*
+ * Keil RTX uses the CMSIS RTOS interface. Therefore, just use the CMSIS RTOS port
+ */
+#define GFX_USE_OS_KEIL FALSE		// Disable KEIL to avoid error: "GOS: More than one operation system has been defined as TRUE."
+#define GFX_USE_OS_CMSIS TRUE
 
-#define GOS_NEED_X_HEAP TRUE
-#include "gos_x_heap.h"
+#include "gos_cmsis.h"
 
 #endif /* GFX_USE_OS_KEIL */
 #endif /* _GOS_KEIL_H */
diff --git a/src/gos/gos_mk.c b/src/gos/gos_mk.c
index 13808791..49d6efb9 100644
--- a/src/gos/gos_mk.c
+++ b/src/gos/gos_mk.c
@@ -14,6 +14,6 @@
 #include "gos_raw32.c"
 #include "gos_rawrtos.c"
 #include "gos_win32.c"
-#include "gos_keil.c"
+#include "gos_cmsis.c"
 #include "gos_x_threads.c"
 #include "gos_x_heap.c"
diff --git a/src/gos/gos_options.h b/src/gos/gos_options.h
index 1521a123..37007650 100644
--- a/src/gos/gos_options.h
+++ b/src/gos/gos_options.h
@@ -77,11 +77,18 @@
 		#define GFX_USE_OS_ARDUINO		FALSE
 	#endif
 	/**
+	 * @brief	Use CMSIS RTOS compatible OS
+	 * @details	Defaults to FALSE
+	 */
+	#ifndef GFX_USE_OS_CMSIS
+		#define GFX_USE_OS_CMSIS		FALSE
+	#endif
+	/**
 	 * @brief   Use Keil CMSIS
 	 * @details	Defaults to FALSE
 	 */
 	#ifndef GFX_USE_OS_KEIL
-		#define GFX_USE_OS_KEIL		FALSE
+		#define GFX_USE_OS_KEIL			FALSE
 	#endif
 /**
  * @}
diff --git a/src/gos/gos_rules.h b/src/gos/gos_rules.h
index 49d32b1d..0f0f6596 100644
--- a/src/gos/gos_rules.h
+++ b/src/gos/gos_rules.h
@@ -16,7 +16,7 @@
 #ifndef _GOS_RULES_H
 #define _GOS_RULES_H
 
-#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32 && !GFX_USE_OS_FREERTOS && !GFX_USE_OS_ECOS && !GFX_USE_OS_RAWRTOS && !GFX_USE_OS_ARDUINO && !GFX_USE_OS_KEIL
+#if !GFX_USE_OS_CHIBIOS && !GFX_USE_OS_WIN32 && !GFX_USE_OS_LINUX && !GFX_USE_OS_OSX && !GFX_USE_OS_RAW32 && !GFX_USE_OS_FREERTOS && !GFX_USE_OS_ECOS && !GFX_USE_OS_RAWRTOS && !GFX_USE_OS_ARDUINO && !GFX_USE_OS_CMSIS && !GFX_USE_OS_KEIL
 	#if GFX_DISPLAY_RULE_WARNINGS
 		#warning "GOS: No Operating System has been defined. ChibiOS (GFX_USE_OS_CHIBIOS) has been turned on for you."
 	#endif
@@ -24,7 +24,7 @@
 	#define GFX_USE_OS_CHIBIOS	TRUE
 #endif
 
-#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 + GFX_USE_OS_FREERTOS + GFX_USE_OS_ECOS + GFX_USE_OS_RAWRTOS + GFX_USE_OS_ARDUINO + GFX_USE_OS_KEIL != 1 * TRUE
+#if GFX_USE_OS_CHIBIOS + GFX_USE_OS_WIN32 + GFX_USE_OS_LINUX + GFX_USE_OS_OSX + GFX_USE_OS_RAW32 + GFX_USE_OS_FREERTOS + GFX_USE_OS_ECOS + GFX_USE_OS_RAWRTOS + GFX_USE_OS_ARDUINO + GFX_USE_OS_CMSIS + GFX_USE_OS_KEIL != 1 * TRUE
 	#error "GOS: More than one operation system has been defined as TRUE."
 #endif