/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio.
This file is part of ChibiOS.
ChibiOS is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/*
Concepts and parts of this file have been contributed by Andre R.
*/
/**
* @file cmsis_os.c
* @brief CMSIS RTOS module code.
*
* @addtogroup CMSIS_OS
* @{
*/
#include "cmsis_os.h"
#include
/*===========================================================================*/
/* Module local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Module exported variables. */
/*===========================================================================*/
int32_t cmsis_os_started;
/*===========================================================================*/
/* Module local types. */
/*===========================================================================*/
/*===========================================================================*/
/* Module local variables. */
/*===========================================================================*/
static memory_pool_t sempool;
static semaphore_t semaphores[CMSIS_CFG_NUM_SEMAPHORES];
static memory_pool_t timpool;
static struct os_timer_cb timers[CMSIS_CFG_NUM_TIMERS];
/*===========================================================================*/
/* Module local functions. */
/*===========================================================================*/
__STATIC_INLINE sysinterval_t tmo(uint32_t millisec) {
return millisec == osWaitForever ? TIME_INFINITE :
(millisec == 0 ? TIME_IMMEDIATE :
TIME_MS2I(millisec));
}
/**
* @brief Virtual timers common callback.
*/
static void timer_cb(void const *arg) {
osTimerId timer_id = (osTimerId)arg;
timer_id->ptimer(timer_id->argument);
if (timer_id->type == osTimerPeriodic) {
chSysLockFromISR();
chVTDoSetI(&timer_id->vt, TIME_MS2I(timer_id->millisec),
(vtfunc_t)timer_cb, timer_id);
chSysUnlockFromISR();
}
}
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
/**
* @brief Kernel initialization.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osKernelInitialize(void) {
cmsis_os_started = 0;
chSysInit();
chThdSetPriority(HIGHPRIO);
chPoolObjectInit(&sempool, sizeof(semaphore_t), chCoreAllocAlignedI);
chPoolLoadArray(&sempool, semaphores, CMSIS_CFG_NUM_SEMAPHORES);
chPoolObjectInit(&timpool, sizeof(struct os_timer_cb), chCoreAllocAlignedI);
chPoolLoadArray(&timpool, timers, CMSIS_CFG_NUM_TIMERS);
return osOK;
}
/**
* @brief Kernel start.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osKernelStart(void) {
cmsis_os_started = 1;
chThdSetPriority(NORMALPRIO);
return osOK;
}
/**
* @brief Creates a thread.
*
* @param[in] thread_def the thread object declared with @p osThread
* @return The thread identifier.
* @retval NULL if the function failed.
*/
osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *argument) {
size_t size;
size = thread_def->stacksize == 0 ? CMSIS_CFG_DEFAULT_STACK :
thread_def->stacksize;
return (osThreadId)chThdCreateFromHeap(0,
THD_WORKING_AREA_SIZE(size),
thread_def->name,
NORMALPRIO+thread_def->tpriority,
(tfunc_t)thread_def->pthread,
argument);
}
/**
* @brief Thread termination.
* @note The thread is not really terminated but asked to terminate which
* is not compliant.
*
* @param[in] thread_id a thread identifier
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osThreadTerminate(osThreadId thread_id) {
if (thread_id == osThreadGetId()) {
/* Note, no memory will be recovered unless a cleaner thread is
implemented using the registry.*/
chThdExit(0);
}
chThdTerminate(thread_id);
chThdWait((thread_t *)thread_id);
return osOK;
}
/**
* @brief Change thread priority.
* @note This can interfere with the priority inheritance mechanism.
*
* @param[in] thread_id a thread identifier
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osThreadSetPriority(osThreadId thread_id, osPriority newprio) {
thread_t * tp = (thread_t *)thread_id;
chSysLock();
/* Changing priority.*/
#if CH_CFG_USE_MUTEXES
if ((tp->prio == tp->realprio) || ((tprio_t)newprio > tp->prio))
tp->prio = (tprio_t)newprio;
tp->realprio = (tprio_t)newprio;
#else
tp->prio = (tprio_t)newprio;
#endif
/* The following states need priority queues reordering.*/
switch (tp->state) {
#if CH_CFG_USE_MUTEXES | \
CH_CFG_USE_CONDVARS | \
(CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY) | \
(CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY)
#if CH_CFG_USE_MUTEXES
case CH_STATE_WTMTX:
#endif
#if CH_CFG_USE_CONDVARS
case CH_STATE_WTCOND:
#endif
#if CH_CFG_USE_SEMAPHORES && CH_CFG_USE_SEMAPHORES_PRIORITY
case CH_STATE_WTSEM:
#endif
#if CH_CFG_USE_MESSAGES && CH_CFG_USE_MESSAGES_PRIORITY
case CH_STATE_SNDMSGQ:
#endif
/* Re-enqueues tp with its new priority on the queue.*/
queue_prio_insert(queue_dequeue(tp),
(threads_queue_t *)tp->u.wtobjp);
break;
#endif
case CH_STATE_READY:
#if CH_DBG_ENABLE_ASSERTS
/* Prevents an assertion in chSchReadyI().*/
tp->state = CH_STATE_CURRENT;
#endif
/* Re-enqueues tp with its new priority on the ready list.*/
chSchReadyI(queue_dequeue(tp));
break;
}
/* Rescheduling.*/
chSchRescheduleS();
chSysUnlock();
return osOK;
}
/**
* @brief Create a one-shot or periodic timer.
* @details The timer is in stopped state until it is started with
* @p osTimerStart.
*
* @param[in] timer_def the timer object declared with @p osTimer
* @param[in] type @p osTimerOnce or @p osTimerPeriodic
* @param[in] argument argument to the timer callback function
* @return The timer identifier.
* @retval NULL if the function failed.
*/
osTimerId osTimerCreate(const osTimerDef_t *timer_def,
os_timer_type type,
void *argument) {
if ((timer_def == NULL) || port_is_isr_context()) {
return NULL;
}
osTimerId timer = chPoolAlloc(&timpool);
chVTObjectInit(&timer->vt);
timer->ptimer = timer_def->ptimer;
timer->type = type;
timer->argument = argument;
return timer;
}
/**
* @brief Start or restart the timer.
*
* @param[in] timer_id the timer ID returned by @p osTimerCreate()
* @param[in] millisec time delay value of the timer
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
* @retval osErrorISR if the function has been called from ISR
* context.
* @retval osErrorValue if a parameter has an invalid value.
*/
osStatus osTimerStart(osTimerId timer_id, uint32_t millisec) {
if (timer_id == NULL) {
return osErrorParameter;
}
if (port_is_isr_context()) {
return osErrorISR;
}
if ((millisec == 0) || (millisec == osWaitForever)) {
return osErrorValue;
}
timer_id->millisec = millisec;
chVTSet(&timer_id->vt, TIME_MS2I(millisec), (vtfunc_t)timer_cb, timer_id);
return osOK;
}
/**
* @brief Stop a timer.
*
* @param[in] timer_id the timer ID returned by @p osTimerCreate()
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
* @retval osErrorISR if the function has been called from ISR
* context.
* @retval osErrorResource if the object is in an invalid state.
*/
osStatus osTimerStop(osTimerId timer_id) {
if (timer_id == NULL) {
return osErrorParameter;
}
if (port_is_isr_context()) {
return osErrorISR;
}
if (chVTIsArmed(&timer_id->vt) == false) {
return osErrorResource;
}
chVTReset(&timer_id->vt);
return osOK;
}
/**
* @brief Delete the timer object.
*
* @param[in] timer_id timer ID obtained by osTimerCreate
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
* @retval osErrorISR if the function has been called from ISR
* context.
*/
osStatus osTimerDelete(osTimerId timer_id) {
if (timer_id == NULL) {
return osErrorParameter;
};
if (port_is_isr_context()) {
return osErrorISR;
}
chVTReset(&timer_id->vt);
chPoolFree(&timpool, (void *)timer_id);
return osOK;
}
/**
* @brief Send signals.
*
* @param[in] thread_id a thread identifier
* @return The previous signals mask.
*/
int32_t osSignalSet(osThreadId thread_id, int32_t signals) {
int32_t oldsignals;
syssts_t sts = chSysGetStatusAndLockX();
oldsignals = (int32_t)thread_id->epending;
chEvtSignalI((thread_t *)thread_id, (eventmask_t)signals);
chSysRestoreStatusX(sts);
return oldsignals;
}
/**
* @brief Clear signals.
*
* @param[in] thread_id a thread identifier
* @return The signals mask.
*/
int32_t osSignalClear(osThreadId thread_id, int32_t signals) {
eventmask_t m;
chSysLock();
m = thread_id->epending & (eventmask_t)signals;
thread_id->epending &= ~(eventmask_t)signals;
chSysUnlock();
return (int32_t)m;
}
/**
* @brief Wait for signals.
*
* @return An @p osEvent structure.
*/
osEvent osSignalWait(int32_t signals, uint32_t millisec) {
osEvent event;
if (signals == 0)
event.value.signals = (uint32_t)chEvtWaitAnyTimeout(ALL_EVENTS,
tmo(millisec));
else
event.value.signals = (uint32_t)chEvtWaitAllTimeout((eventmask_t)signals,
tmo(millisec));
/* Type of event.*/
if (event.value.signals == 0)
event.status = osEventTimeout;
else
event.status = osEventSignal;
return event;
}
/**
* @brief Create a semaphore.
* @note @p semaphore_def is not used in this implementation.
* @note Can involve memory allocation.
*
* @param[in] semaphore_def the semaphore object declared with @p osSemaphore
* @return The semaphore identifier.
* @retval NULL if the function failed.
*/
osSemaphoreId osSemaphoreCreate(const osSemaphoreDef_t *semaphore_def,
int32_t count) {
(void)semaphore_def;
semaphore_t *sem = chPoolAlloc(&sempool);
chSemObjectInit(sem, (cnt_t)count);
return sem;
}
/**
* @brief Wait on a semaphore.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
* @retval osErrorISR if the function has been called from ISR
* context.
* @retval osErrorResource if the object is in an invalid state.
* @retval osErrorValue if a parameter has an invalid value.
* @retval osErrorTimeoutResource if the function timed out.
*/
int32_t osSemaphoreWait(osSemaphoreId semaphore_id, uint32_t millisec) {
/* TODO it is not consistent with specification.*/
msg_t msg = chSemWaitTimeout((semaphore_t *)semaphore_id, tmo(millisec));
switch (msg) {
case MSG_OK:
return osOK;
case MSG_TIMEOUT:
return osErrorTimeoutResource;
}
return osErrorResource;
}
/**
* @brief Release a semaphore.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osSemaphoreRelease(osSemaphoreId semaphore_id) {
syssts_t sts = chSysGetStatusAndLockX();
chSemSignalI((semaphore_t *)semaphore_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Deletes a semaphore.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
chSemReset((semaphore_t *)semaphore_id, 0);
chPoolFree(&sempool, (void *)semaphore_id);
return osOK;
}
/**
* @brief Create a mutex.
* @note @p mutex_def is not used.
* @note Can involve memory allocation.
*
* @param[in] mutex_def the mutex object declared with @p osMutex
* @return The mutex identifier.
* @retval NULL if the function failed.
*/
osMutexId osMutexCreate(const osMutexDef_t *mutex_def) {
(void)mutex_def;
binary_semaphore_t *mtx = chPoolAlloc(&sempool);
chBSemObjectInit(mtx, false);
return mtx;
}
/**
* @brief Wait on a mutex.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorResource if the object is in an invalid state.
* @retval osErrorTimeoutResource if the function timed out.
*/
osStatus osMutexWait(osMutexId mutex_id, uint32_t millisec) {
msg_t msg = chBSemWaitTimeout((binary_semaphore_t *)mutex_id, tmo(millisec));
switch (msg) {
case MSG_OK:
return osOK;
case MSG_TIMEOUT:
return osErrorTimeoutResource;
}
return osErrorResource;
}
/**
* @brief Release a mutex.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osMutexRelease(osMutexId mutex_id) {
syssts_t sts = chSysGetStatusAndLockX();
chBSemSignalI((binary_semaphore_t *)mutex_id);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Deletes a mutex.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
*/
osStatus osMutexDelete(osMutexId mutex_id) {
chSemReset((semaphore_t *)mutex_id, 0);
chPoolFree(&sempool, (void *)mutex_id);
return osOK;
}
/**
* @brief Create a memory pool.
* @note The pool is not really created because it is allocated statically,
* this function just re-initializes it.
*
* @param[in] pool_def the pool object declared with @p osPool
* @return The pool identifier.
* @retval NULL if the function failed.
*/
osPoolId osPoolCreate(const osPoolDef_t *pool_def) {
if ((pool_def == NULL) || port_is_isr_context()) {
return NULL;
}
chPoolObjectInit(pool_def->pool, (size_t)pool_def->item_sz, NULL);
chPoolLoadArray(pool_def->pool, pool_def->items, (size_t)pool_def->pool_sz);
return (osPoolId)pool_def->pool;
}
/**
* @brief Allocate a memory block from the memory pool.
*
* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
*
* @return The pointer to the allocated memory block.
* @retval NULL if the function failed.
*/
void *osPoolAlloc(osPoolId pool_id) {
void *object;
if (pool_id == NULL) {
return NULL;
}
syssts_t sts = chSysGetStatusAndLockX();
object = chPoolAllocI((memory_pool_t *)pool_id);
chSysRestoreStatusX(sts);
return object;
}
/**
* @brief Allocate a memory block from the memory pool. The block is initialized to zero.
*
* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
* @return The pointer to the allocated memory block.
* @retval NULL if the function failed.
*/
void *osPoolCAlloc(osPoolId pool_id) {
void *object;
if (pool_id == NULL) {
return NULL;
}
syssts_t sts = chSysGetStatusAndLockX();
object = chPoolAllocI((memory_pool_t *)pool_id);
chSysRestoreStatusX(sts);
if (object != NULL) {
memset(object, 0, pool_id->object_size);
}
return object;
}
/**
* @brief Return a memory block to a memory pool.
*
* @param[in] pool_id memory pool ID obtain referenced with osPoolCreate.
* @param[in] block address of the allocated memory block that is returned to the memory pool.
*
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
*/
osStatus osPoolFree(osPoolId pool_id, void *block) {
if (pool_id == NULL) {
return osErrorParameter;
}
syssts_t sts = chSysGetStatusAndLockX();
chPoolFreeI((memory_pool_t *)pool_id, block);
chSysRestoreStatusX(sts);
return osOK;
}
/**
* @brief Create a message queue.
* @note The queue is not really created because it is allocated statically,
* this function just re-initializes it.
*
* @param[in] queue_def the message queue object declared with
* @p osMessageQDef
* @param[in] thread_id a thread identifier
* @return The message queue identifier.
* @retval NULL if the function failed.
*/
osMessageQId osMessageCreate(const osMessageQDef_t *queue_def,
osThreadId thread_id) {
/* Ignoring this parameter for now.*/
(void)thread_id;
if (queue_def->item_sz > sizeof (msg_t)) {
return NULL;
}
chMBObjectInit(queue_def->mailbox,
queue_def->items,
(size_t)queue_def->queue_sz);
return (osMessageQId) queue_def->mailbox;
}
/**
* @brief Put a message in the queue.
*
* @param[in] millisec the timeout value, zero for no timeout
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
* @retval osErrorISR if the function has been called from ISR
* context.
* @retval osErrorResource if the object is in an invalid state.
* @retval osErrorValue if a parameter has an invalid value.
* @retval osErrorTimeoutResource if the function timed out.
*/
osStatus osMessagePut(osMessageQId queue_id,
uint32_t info,
uint32_t millisec) {
msg_t msg;
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0)
return osErrorValue;
chSysLockFromISR();
msg = chMBPostI((mailbox_t *)queue_id, (msg_t)info);
chSysUnlockFromISR();
}
else
msg = chMBPostTimeout((mailbox_t *)queue_id, (msg_t)info, tmo(millisec));
return msg == MSG_OK ? osOK : osErrorTimeoutResource;
}
/**
* @brief Get a message from the queue.
*
* @param[in] millisec the timeout value, zero for no timeout
* @return An @p osEvent structure.
*/
osEvent osMessageGet(osMessageQId queue_id, uint32_t millisec) {
msg_t msg;
osEvent event = {
.status = osErrorOS,
.value = {
.v = 0U
},
.def = {
.mail_id = NULL
}
};
event.def.message_id = queue_id;
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0) {
event.status = osErrorValue;
return event;
}
chSysLockFromISR();
msg = chMBFetchI((mailbox_t *)queue_id, (msg_t*)&event.value.v);
chSysUnlockFromISR();
}
else {
msg = chMBFetchTimeout((mailbox_t *)queue_id, (msg_t*)&event.value.v, tmo(millisec));
}
/* Returned event type.*/
event.status = msg == MSG_OK ? osEventMessage : osEventTimeout;
return event;
}
/**
* @brief Initialize and create a mail queue.
*
* @param[in] queue_def the mail object declared with @p osMailQDef
* @param[in] thread_id a thread identifier
* @return The thread identifier.
* @retval NULL if the function failed.
*/
osMailQId osMailCreate(const osMailQDef_t *mail_def, osThreadId thread_id) {
/* Ignoring this parameter for now.*/
(void)thread_id;
if ((mail_def == NULL) || port_is_isr_context()) {
return NULL;
}
chDbgCheck(mail_def != NULL);
/* Messages queue initialization.*/
chFifoObjectInit(mail_def->fifo,
(size_t)mail_def->item_sz,
(size_t)mail_def->queue_sz,
mail_def->objbuf,
mail_def->msgbuf);
return mail_def->fifo;
}
/**
* @brief Allocate a memory block from the mail queue that is filled with the mail information.
*
* @param[in] queue_id the mail queue identifier
* @param[in] millisec the timeout value, zero for no timeout
* @return The pointer to the allocated memory block.
* @retval NULL if the function failed.
*/
void *osMailAlloc(osMailQId queue_id, uint32_t millisec) {
void *mail;
if ((queue_id == NULL) ||
(port_is_isr_context() && (millisec > 0))) {
return NULL;
}
if (port_is_isr_context()) {
chSysLockFromISR();
mail = chFifoTakeObjectI(queue_id);
chSysUnlockFromISR();
}
else {
mail = chFifoTakeObjectTimeout(queue_id, tmo(millisec));
}
return mail;
}
/**
* @brief Allocate a memory block from the mail queue that is filled with the mail information.
* The memory block returned is cleared.
*
* @param[in] queue_id the mail queue identifier
* @param[in] millisec the timeout value, zero for no timeout
* @return The pointer to the allocated memory block.
* @retval NULL if the function failed.
*/
void *osMailCAlloc(osMailQId queue_id, uint32_t millisec) {
void *mail;
if ((queue_id == NULL) || (port_is_isr_context() && (millisec > 0))) {
return NULL;
}
if (port_is_isr_context()) {
chSysLockFromISR();
mail = chFifoTakeObjectI(queue_id);
chSysUnlockFromISR();
}
else {
mail = chFifoTakeObjectTimeout(queue_id, tmo(millisec));
}
if (mail != NULL) {
memset(mail, 0, queue_id->free.pool.object_size);
}
return mail;
}
/**
* @brief Put the memory block specified with mail into the mail queue specified by queue.
*
* @param[in] queue_id the mail queue identifier
* @param[in] mail memory block previously returned by
* @p osMailAlloc() or @p osMailCAlloc()
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
*/
osStatus osMailPut(osMailQId queue_id, void *mail) {
if (queue_id == NULL) {
return osErrorParameter;
}
if (mail == NULL) {
return osErrorParameter;
}
chDbgCheck((queue_id != NULL) && (mail != NULL));
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
chSysLockFromISR();
chFifoSendObjectI(queue_id, mail);
chSysUnlockFromISR();
}
else {
chFifoSendObject(queue_id, mail);
}
return MSG_OK;
}
/**
* @brief Suspend the execution of the current RUNNING thread until a mail arrives.
* When a mail is already in the queue, the function returns instantly with the mail information.
*
* @param[in] queue_id the mail queue identifier
* @param[in] millisec the timeout value, zero for no timeout
* @return An @p osEvent structure.
*/
osEvent osMailGet(osMailQId queue_id, uint32_t millisec) {
msg_t msg;
osEvent event = {
.status = osErrorOS,
.value = {
.p = NULL
},
.def = {
.mail_id = NULL
}
};
if (queue_id == NULL) {
event.status = osErrorParameter;
return event;
}
chDbgCheck(queue_id != NULL);
event.def.mail_id = queue_id;
if (port_is_isr_context()) {
/* Waiting makes no sense in ISRs so any value except "immediate"
makes no sense.*/
if (millisec != 0) {
event.status = osErrorValue;
return event;
}
chSysLockFromISR();
msg = chFifoReceiveObjectI(queue_id, &event.value.p);
chSysUnlockFromISR();
}
else {
msg = chFifoReceiveObjectTimeout(queue_id, &event.value.p, tmo(millisec));
}
/* Returned event type.*/
if ((millisec == 0) && (msg == MSG_TIMEOUT)) {
event.status = osOK;
} else {
event.status = msg == MSG_OK ? osEventMail : osEventTimeout;
}
return event;
}
/**
* @brief Free the memory block specified by mail and return it to the mail queue.
*
* @param[in] queue_id the mail queue identifier
* @param[in] mail pointer to the memory block returned
* by @p osMailGet.
* @return The function execution status.
* @retval osOK if the function succeeded.
* @retval osErrorParameter if some parameter is @p NULL.
*/
osStatus osMailFree(osMailQId queue_id, void *mail)
{
if (queue_id == NULL) {
return osErrorParameter;
}
if (mail == NULL) {
return osErrorParameter;
}
chDbgCheck((queue_id != NULL) && (mail != NULL));
syssts_t sts = chSysGetStatusAndLockX();
chFifoReturnObjectI(queue_id, mail);
chSysRestoreStatusX(sts);
return osOK;
}
/** @} */