git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9055 35acf78f-673a-0410-8e92-d51de3d6d3f4
Giovanni Di Sirio
parent
1c8b3555ba
commit
e41ffa9424
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@ -52,6 +52,7 @@
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#ifdef __cplusplus
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extern "C" {
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#endif
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void OS_set_printf(int (*printf)(const char *fmt, ...));
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boolean OS_TaskDeleteCheck(void);
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#ifdef __cplusplus
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}
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@ -22,6 +22,7 @@
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* @{
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*/
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#include <stdarg.h>
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#include <string.h>
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#include "ch.h"
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@ -131,6 +132,9 @@ typedef struct {
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*/
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typedef struct {
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bool printf_enabled;
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int (*printf)(const char *fmt, ...);
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virtual_timer_t vt;
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OS_time_t localtime;
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memory_pool_t timers_pool;
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memory_pool_t queues_pool;
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memory_pool_t binary_semaphores_pool;
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@ -153,6 +157,22 @@ static osal_t osal;
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/* Module local functions. */
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/*===========================================================================*/
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/**
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* @brief System time callback.
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*/
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static void systime_update(void *p) {
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systime_t delay = (systime_t)p;
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chSysLockFromISR();
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osal.localtime.microsecs += 1000;
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if (osal.localtime.microsecs >= 1000000) {
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osal.localtime.microsecs = 0;
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osal.localtime.seconds++;
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}
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chVTDoSetI(&osal.vt, delay, systime_update, p);
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chSysUnlockFromISR();
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}
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/**
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* @brief Virtual timers callback.
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*/
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@ -182,7 +202,7 @@ static void timer_handler(void *p) {
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* of the OS Abstraction Layer. It must be called in the application
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* startup code before calling any other OS routines.
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*
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* @return kAn error code.
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* @return An error code.
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*
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* @api
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*/
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@ -192,6 +212,13 @@ int32 OS_API_Init(void) {
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/* OS_printf() initially disabled.*/
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osal.printf_enabled = false;
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osal.printf = NULL;
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/* System time handling.*/
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osal.localtime.microsecs = 0;
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osal.localtime.seconds = 0;
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chVTObjectInit(&osal.vt);
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chVTSet(&osal.vt, MS2ST(1), systime_update, (void *)MS2ST(1));
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/* Timers pool initialization.*/
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chPoolObjectInit(&osal.timers_pool,
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@ -248,11 +275,12 @@ int32 OS_API_Init(void) {
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* @api
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*/
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void OS_printf(const char *string, ...) {
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va_list ap;
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(void)string;
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if (osal.printf_enabled) {
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if (osal.printf_enabled && (osal.printf != NULL)) {
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va_start(ap, string);
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(void) osal.printf(string);
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va_end(ap);
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}
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}
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@ -276,6 +304,20 @@ void OS_printf_enable(void) {
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osal.printf_enabled = true;
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}
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/**
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* @brief Sets the system printf function.
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* @note By default the printf function is not defined.
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* @note This is a ChibiOS/RT extension.
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*
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* @param[in] printf pointer to a @p printf() like function
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*
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* @api
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*/
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void OS_set_printf(int (*printf)(const char *fmt, ...)) {
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osal.printf = printf;
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}
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/**
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* @brief System tick period in microseconds.
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*
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@ -301,10 +343,11 @@ int32 OS_GetLocalTime(OS_time_t *time_struct) {
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return OS_INVALID_POINTER;
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}
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time_struct->seconds = 0;
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time_struct->microsecs = 0;
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chSysLock();
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*time_struct = osal.localtime;
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chSysUnlock();
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return OS_ERR_NOT_IMPLEMENTED;
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return OS_SUCCESS;
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}
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/**
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@ -322,7 +365,11 @@ int32 OS_SetLocalTime(OS_time_t *time_struct) {
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return OS_INVALID_POINTER;
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}
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return OS_ERR_NOT_IMPLEMENTED;
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chSysLock();
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osal.localtime = *time_struct;
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chSysUnlock();
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return OS_SUCCESS;
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}
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/**
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@ -2034,4 +2081,137 @@ int32 OS_TaskGetInfo(uint32 task_id, OS_task_prop_t *task_prop) {
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return OS_SUCCESS;
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}
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/*-- System Interrupt API ---------------------------------------------------*/
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/* In ChibiOS interrupts are statically linked, the vectors table is in
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flash.*/
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int32 OS_IntAttachHandler (uint32 InterruptNumber,
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osal_task_entry InterruptHandler,
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int32 parameter) {
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(void)InterruptNumber;
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(void)parameter;
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/* NULL pointer checks.*/
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if (InterruptHandler == NULL) {
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return OS_INVALID_POINTER;
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}
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return OS_ERR_NOT_IMPLEMENTED;
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}
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int32 OS_IntLock(void) {
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return (int32)chSysGetStatusAndLockX();
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}
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int32 OS_IntUnlock(int32 IntLevel) {
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chSysRestoreStatusX((syssts_t) IntLevel);
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return OS_SUCCESS;
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}
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int32 OS_IntEnable(int32 Level) {
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NVIC_EnableIRQ((IRQn_Type)Level);
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return OS_SUCCESS;
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}
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int32 OS_IntDisable(int32 Level) {
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NVIC_DisableIRQ((IRQn_Type)Level);
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return OS_SUCCESS;
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}
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int32 OS_IntAck(int32 InterruptNumber) {
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NVIC_ClearPendingIRQ((IRQn_Type)InterruptNumber);
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return OS_SUCCESS;
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}
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/*-- System Exception API ---------------------------------------------------*/
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/* In ChibiOS exceptions are statically linked, the vectors table is in
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flash.*/
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int32 OS_ExcAttachHandler(uint32 ExceptionNumber,
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void (*ExceptionHandler)(uint32, uint32 *,uint32),
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int32 parameter) {
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(void)ExceptionNumber;
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(void)parameter;
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/* NULL pointer checks.*/
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if (ExceptionHandler == NULL) {
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return OS_INVALID_POINTER;
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}
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return OS_ERR_NOT_IMPLEMENTED;
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}
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/* No exceptions masking.*/
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int32 OS_ExcEnable(int32 ExceptionNumber) {
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(void)ExceptionNumber;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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/* No exceptions masking.*/
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int32 OS_ExcDisable(int32 ExceptionNumber) {
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(void)ExceptionNumber;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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/*-- Floating Point Unit API ------------------------------------------------*/
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/* In ChibiOS exceptions are statically linked, the vectors table is in
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flash.*/
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int32 OS_FPUExcAttachHandler(uint32 ExceptionNumber,
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void * ExceptionHandler ,
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int32 parameter) {
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(void)ExceptionNumber;
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(void)parameter;
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/* NULL pointer checks.*/
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if (ExceptionHandler == NULL) {
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return OS_INVALID_POINTER;
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}
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return OS_ERR_NOT_IMPLEMENTED;
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}
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int32 OS_FPUExcEnable(int32 ExceptionNumber) {
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(void)ExceptionNumber;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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int32 OS_FPUExcDisable(int32 ExceptionNumber) {
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(void)ExceptionNumber;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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int32 OS_FPUExcSetMask(uint32 mask) {
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(void)mask;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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int32 OS_FPUExcGetMask(uint32 *mask) {
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(void)mask;
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return OS_ERR_NOT_IMPLEMENTED;
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}
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/** @} */
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