1 /**************************************************************************/ 2 /* */ 3 /* Copyright (c) Microsoft Corporation. All rights reserved. */ 4 /* */ 5 /* This software is licensed under the Microsoft Software License */ 6 /* Terms for Microsoft Azure RTOS. Full text of the license can be */ 7 /* found in the LICENSE file at https://aka.ms/AzureRTOS_EULA */ 8 /* and in the root directory of this software. */ 9 /* */ 10 /**************************************************************************/ 11 12 13 /**************************************************************************/ 14 /**************************************************************************/ 15 /** */ 16 /** ThreadX Component */ 17 /** */ 18 /** OSEK IMPLEMENTATION */ 19 /** */ 20 /**************************************************************************/ 21 /**************************************************************************/ 22 23 /**************************************************************************/ 24 /* */ 25 /* EKV DEFINITIONS RELEASE */ 26 /* */ 27 /* os.h PORTABLE C */ 28 /* 6.1.7 */ 29 /* AUTHOR */ 30 /* */ 31 /* William E. Lamie, Microsoft Corporation */ 32 /* */ 33 /* DESCRIPTION */ 34 /* */ 35 /* This file defines the constants, structures, etc. needed for the */ 36 /* OSEK implementation. */ 37 /* */ 38 /* */ 39 /* RELEASE HISTORY */ 40 /* */ 41 /* DATE NAME DESCRIPTION */ 42 /* */ 43 /* 06-02-2021 William E. Lamie Initial Version 6.1.7 */ 44 /* */ 45 /**************************************************************************/ 46 47 #ifndef TX_OSEK_H 48 #define TX_OSEK_H 49 50 #include <tx_api.h> 51 52 #include "osek_user.h" 53 54 #ifdef TRUE 55 #undef TRUE 56 #endif 57 58 #ifdef FALSE 59 #undef FALSE 60 #endif 61 62 63 /**************************************************************************/ 64 /* System Macros. */ 65 /**************************************************************************/ 66 67 #define TASK(Taskname) void Func ## Taskname() 68 #define TaskEntry(Taskname) Func ## Taskname 69 #define ALARM(Alarmname) void Func ## Alarmname() 70 #define ISR(ISRname) void ISR_ ## ISRname() 71 #define ISREntry(ISRname) ISR_ ## ISRname 72 73 #define ALARMCALLBACK(Alarmcallbackfunction) void Func ## Alarmcallbackfunction() 74 #define ALARMCALLBACKEntry(Alarmcallbackfunction) Func ## Alarmcallbackfunction 75 #define DeclareALARMCALLBACK(Alarmcallbackfunction) ALARMCALLBACK(Alarmcallbackfunction) 76 77 #define DeclareISR(ISRname) ISR(ISRname) 78 #define DeclareResource(Resource_name) 79 #define DeclareEvent(Event_name) 80 #define DeclareAlarm(Alarmname) ALARM(Alarmname) 81 #define DeclareTask(Taskname) TASK(Taskname) 82 83 #define CALL_ISR(ISRname) ISR_ ## ISRname() 84 85 #define OSErrorGetServiceId() service_GetServiceId.id 86 #define OSError_ActivateTask_TaskID() service_ActivateTask.TaskID 87 #define OSError_ChainTask_TaskID() service_ChainTask.TaskID 88 #define OSError_GetAlarm_AlarmID() service_GetAlarm.AlarmID 89 #define OSError_CancelAlarm_AlarmID() service_CancelAlarm.AlarmID 90 #define OSError_SetAbsAlarm_AlarmID() service_SetAbsAlarm.AlarmID 91 #define OSError_SetRelAlarm_AlarmID() service_SetRelAlarm.AlarmID 92 #define OSError_GetResource_ResID() service_GetResource.ResID 93 #define OSError_ReleaseResource_ResID() service_ReleaseResource.ResID 94 #define OSError_SetEvent_TaskID() service_SetEvent.TaskID 95 #define OSError_GetEvent_TaskID() service_SetEvent.TaskID 96 #define OSError_WaitEvent_EventID() service_SetEvent.EventID 97 #define OSError_ClearEvent_EventID() service_ClearEvent.EventID 98 99 /**************************************************************************/ 100 /* OSEK data Types */ 101 /**************************************************************************/ 102 103 typedef ULONG STATUS; 104 typedef void *VP; 105 typedef void (* FP)(); 106 typedef ULONG PRI; 107 typedef ULONG CounterType; 108 typedef ULONG TaskType; 109 typedef TaskType ISRType; /* TaskType and ISRType must be same as both often used interchangeably. */ 110 typedef ULONG TaskStateType; 111 typedef ULONG *TaskStateRefType; 112 typedef ULONG *TaskRefType; 113 typedef ULONG TickType; 114 typedef ULONG *TickRefType; 115 typedef ULONG AppModeType; 116 typedef ULONG AlarmType; 117 typedef ULONG StatusType; 118 typedef ULONG OsServiceIdType; 119 typedef ULONG ResourceType; 120 typedef ULONG *ResourceRefType; 121 typedef ULONG EventMaskType; 122 typedef ULONG *EventMaskRefType; 123 typedef ULONG EventType; 124 typedef ULONG *EventRefType; 125 126 127 /**************************************************************************/ 128 /* OSEK Error Codes */ 129 /**************************************************************************/ 130 131 #define E_OK (0U) 132 #define E_OS_ACCESS (1U) 133 #define E_OS_CALLEVEL (2U) 134 #define E_OS_ID (3U) 135 #define E_OS_LIMIT (4U) 136 #define E_OS_NOFUNC (5U) 137 #define E_OS_RESOURCE (6U) 138 #define E_OS_STATE (7U) 139 #define E_OS_VALUE (8U) 140 141 142 /* Additional error codes defined for this Implementation. */ 143 144 #define E_OS_EVENT (9U) 145 #define E_OS_EXIST (10U) /* identical task name are found. */ 146 #define E_OS_SYSTEM (11U) /* Error for the OSEK system. */ 147 #define E_OS_SYS_STACK (12U) /* Error For OSEK Memory. */ 148 149 /* osek_internal_error() error codes. */ 150 151 #define THREADX_OBJECT_CREATION_ERROR (1U) 152 #define THREADX_THREAD_RESUME_IN_ACTIVATE_TASK (2U) 153 #define THREADX_PREEMPTION_CHANGE_GETRESOURCE (3U) 154 #define THREADX_PREEMPTION_CHANGE_RLSRESOURCE (4U) 155 #define THREADX_THREAD_TERMINATE_TERMINATETASK (5U) 156 #define THREADX_THREAD_DELETE_TERMINATETASK (6U) 157 #define THREADX_THREAD_TERMINATE_CHAINTASK (7U) 158 #define THREADX_THREAD_DELETE_CHAINTASK (8U) 159 #define THREADX_THREAD_DELETE_DELETETASK (9U) 160 #define THREADX_THREAD_TERMINATE_DELETETASK (10U) 161 #define THREADX_PREEMPTION_CHANGE_WRAPPER (11U) 162 #define THREADX_THREAD_RELINQUISH_SCHEDULE (12U) 163 #define THREADX_MUTEX_CREATERESOURCE (13U) 164 #define THREADX_EVENT_SETEVENT (14U) 165 #define THREADX_EVENT_CLEAREVENT (15U) 166 #define THREADX_EVENT_FLAG_GETEVENT (16U) 167 #define THREADX_EVENT_FLAG_WAITEVENT (17U) 168 #define QUEUE_DELETETASK (18U) 169 #define NO_FREE_EVENT (20U) 170 #define SYSMGR_FATAL_ERROR (21U) 171 #define EVENT_DELETETASK (22U) 172 #define ERROR_FREEING_MEMORY (23U) 173 #define SYS_MGR_SEND_CHAINTASK (24U) 174 #define SYS_MGR_SEND_TERMINATETASK (25U) 175 #define INVALID_ALARMID_TIMERWRAPPER (26U) 176 #define TASK_ENDING_WITHOUT_CHAIN_OR_TERMINATE (27U) 177 #define SYSMGR_QUEUE_SEND (28U) 178 #define INVALID_OBJECT_CREATION_CALL (29U) 179 #define SYS_MGR_START_OS (30U) 180 #define SYS_MGR_SEND_ACTIVATETASK (31U) 181 #define ERROR_OBJECT_CREATION (32U) 182 183 184 /**************************************************************************/ 185 /* OSEM SYSTEM SERVICES IDs */ 186 /**************************************************************************/ 187 188 #define OSServiceId_ActivateTask (1U) 189 #define OSServiceId_TerminateTask (2U) 190 #define OSServiceId_ChainTask (3U) 191 #define OSServiceId_Schedule (4U) 192 #define OSServiceId_GetTaskID (5U) 193 #define OSServiceId_GetTaskState (6U) 194 #define OSServiceId_DisableAllInterrupts (7U) 195 #define OSServiceId_EnableAllInterrupts (8U) 196 #define OSServiceId_SuspendAllInterrupts (9U) 197 #define OSServiceId_ResumeAllInterrupts (10U) 198 #define OSServiceId_SuspendOSInterrupts (11U) 199 #define OSServiceId_ResumeOSInterrupts (12U) 200 #define OSServiceId_GetResource (13U) 201 #define OSServiceId_ReleaseResource (14U) 202 #define OSServiceId_SetEvent (15U) 203 #define OSServiceId_ClearEvent (16U) 204 #define OSServiceId_GetEvent (17U) 205 #define OSServiceId_WaitEvent (18U) 206 #define OSServiceId_GetAlarmBase (19U) 207 #define OSServiceId_GetAlarm (20U) 208 #define OSServiceId_SetRelAlarm (21U) 209 #define OSServiceId_SetAbsAlarm (22U) 210 #define OSServiceId_CancelAlarm (23U) 211 #define OSServiceId_GetActiveApplicationMode (24U) 212 #define OSServiceId_StartOS (25U) 213 #define OSServiceId_ShutdownOS (26U) 214 215 216 /**************************************************************************/ 217 /* Implementation Specific OSEK operating modes */ 218 /* */ 219 /**************************************************************************/ 220 221 #define NORMAL_EXECUTION_MODE (0U) 222 #define STARTUPHOOK_MODE (1U) 223 #define SHUTDOWNHOOK_MODE (2U) 224 #define PRETASKHOOK_MODE (3U) 225 #define POSTTASKHOOK_MODE (4U) 226 #define ERRORHOOK_MODE (5U) 227 #define ISR1_MODE (6U) 228 #define ISR2_MODE (7U) 229 #define TIMER_MODE (8U) 230 #define INITSYSTEM_MODE (9U) 231 #define ALARM_CALLBACK_MODE (10U) 232 #define OSEK_INIT_NOT_DONE (99U) 233 234 235 /**************************************************************************/ 236 /* OSEK Constants and Definitions */ 237 /**************************************************************************/ 238 239 /* OS APPLICATION MODES */ 240 241 #define OSDEFAULTAPPMODE (1U) 242 243 244 /* OSEK Task Types */ 245 246 #define EXTENDED (1U) 247 #define BASIC (0U) 248 #define TRUE (1U) 249 #define FALSE (0U) 250 251 252 /* OSEK Task States */ 253 254 #define RUNNING (0U) 255 #define WAITING (1U) 256 #define READY (2U) 257 #define SUSPENDED (3U) 258 #define THREADX_STATE (4U) 259 260 /* Invalid task id */ 261 #define INVALID_TASK (0U) 262 263 264 /* ALARM OPERATION MODES */ 265 266 #define ABSOLUTE_ALARM (1U) 267 #define RELATIVE_ALARM (0U) 268 #define AUTO_START (1U) 269 #define NO_START (0U) 270 271 272 /* RESOURCE TYPE */ 273 274 #define STANDARD (0U) 275 #define INTERNAL (1U) 276 #define LINKED (2U) 277 278 typedef enum {NON, FULL} SCHEDULE; 279 typedef enum {ACTIVATETASK, SETEVENT, CALLBACK, NONE} ACTION; 280 typedef ULONG ACCR_TYPE; 281 typedef ULONG TASK_TYPE; 282 typedef ULONG COPY; 283 typedef ULONG AUTOSTART; 284 285 286 /* ISR types */ 287 288 #define CATEGORY1 (1U) 289 #define CATEGORY2 (2U) 290 291 292 /**************************************************************************/ 293 /* SYSTEM CONFIGURATION PARAMETERS */ 294 /**************************************************************************/ 295 296 /* OSEK Priority Definitions */ 297 298 #define THREADX_MAX_PRIORITY (31U) 299 #define THREADX_HIGHEST_PRIORITY (0U) 300 #define THREADX_LOWEST_PRIORITY (31U) 301 302 #define OSEK_MAX_PRIORITY (23U) 303 #define OSEK_HIGHEST_PRIORITY (OSEK_MAX_PRIORITY) 304 #define OSEK_LOWEST_PRIORITY (0U) 305 306 #define OSEK_NON_SCHEDULE_PRIORITY (OSEK_HIGHEST_PRIORITY + 1u) /* 24 */ 307 #define OSEK_ISR2_PRIORITY (OSEK_NON_SCHEDULE_PRIORITY + 1u) /* 25 */ 308 #define OSEK_ISR1_PRIORITY (OSEK_ISR2_PRIORITY + 1u) /* 26 */ 309 310 311 /* Define maximum queued activation per task */ 312 313 #define OSEK_MAX_ACTIVATION (8U) 314 315 /* Define maximum time count for Counters / Alarms */ 316 317 #define MAXALLOWEDVALUE (0x7FFFFFFFUL) 318 319 #define OSEK_STACK_PADDING (128U) 320 #define OSEK_SYSTEM_STACK_SIZE (1024U) 321 322 323 /* Requests/commands to SysMgr task. */ 324 325 #define SYSMGR_START_OS (0U) 326 #define SYSMGR_TERMINATE_TASK (1U) 327 #define SYSMGR_CHAIN_TASK (2U) 328 #define SYSMGR_ACTIVATE_TASK (3U) 329 #define SYSMGR_SCHEDULE (4U) 330 #define SYSMGR_WAITEVENT (5U) 331 #define SYSMGR_RELEASE_RESOURCE (6U) 332 #define SYSMGR_SETEVENT (7U) 333 #define SYSMGR_SHUTDOWN_OS (8U) 334 #define SYSMGR_ERRORHOOK (9U) 335 #define SYSMGR_GET_RESOURCE (10U) 336 337 /**************************************************************************/ 338 /* Define size of Region 0 memory segment. */ 339 /* NOTE: This region should be large enough to supply the memory */ 340 /* for all task stacks, TCBs, thread control blocks in the system. */ 341 /**************************************************************************/ 342 343 #define TX_REGION0_SIZE (OSEK_MEMORY_SIZE) 344 #define TX_REGION0_SIZE_IN_BYTES (TX_REGION0_SIZE) 345 346 347 /**********************************************************************************/ 348 /* OSEK System Object maximum numbers */ 349 /* NOTE: These are only suggested values, user may modify them as needed. */ 350 /* Memory is the only limiting factor. */ 351 /**********************************************************************************/ 352 353 /* Define the maximum number of simultaneous OSEK tasks supported. */ 354 /* Interrupt Service Routines are also treated as a task. */ 355 /* Total 8 Interrupt sources are supported. */ 356 /* That gives 24 max OSEK tasks. */ 357 358 #define OSEK_MAX_TASKS (32U) 359 360 /* Define the maximum number of simultaneous Internal OSEK Resources supported. */ 361 362 #define OSEK_MAX_INTERNAL_RES (8U) 363 364 365 /* Define the maximum number of simultaneous External OSEK Resources supported. */ 366 367 #define OSEK_MAX_EXTERNAL_RES (16U) 368 369 370 /* Define the maximum number of simultaneous OSEK Resources (Internal & External Combined) supported. */ 371 372 #define OSEK_MAX_RES (OSEK_MAX_INTERNAL_RES + OSEK_MAX_EXTERNAL_RES) 373 374 375 /* Define the maximum number of simultaneous OSEK alarms supported. */ 376 377 #define OSEK_MAX_ALARMS (16U) 378 379 380 /* Define the maximum number of simultaneous OSEK counters supported. */ 381 /* This includes a counter to be assigned as a SystemTimer. */ 382 /* A system can have 8 alarms so 8 counters (one counter for each alarm) would be enough. */ 383 384 #define OSEK_MAX_COUNTERS (16U) 385 386 387 /* Define the maximum number of simultaneous OSEK events supported. */ 388 /* An event is just a bit , so a ULONG (32 bit data type) is used. */ 389 390 #define OSEK_MAX_EVENTS (32U) 391 392 393 /* Define the maximum number of OSEK ISR sources supported. */ 394 395 #define OSEK_MAX_ISR (8U) 396 397 398 /* Define OSEK Internal Task Queue depth per priority. */ 399 /* There is one such queue for each priority level. */ 400 /* What is the maximum number of tasks that can go in a queue? */ 401 /* Assuming that all tasks are of same priority and each task is activated to maximum */ 402 /* allowable limits (OSEK_MAX_ACTIVATION) it should be OSEK_MAX_ACTIVATION * OSEK_MAX_TASKS */ 403 /* but sometimes (READY)tasks are moved from queue to queue based on its changed ceiling priority */ 404 /* and that number could be equal to to maximum number of tasks supported. */ 405 406 #define TASK_QUEUE_DEPTH1 (OSEK_MAX_ACTIVATION * OSEK_MAX_TASKS) 407 #define TASK_QUEUE_DEPTH (TASK_QUEUE_DEPTH1 + OSEK_MAX_TASKS) 408 409 #define SYSMGR_QUEUE_MSG_LENGTH (4U) 410 #define SYSMGR_QUEUE_MSG_COUNT (OSEK_MAX_ALARMS) 411 #define SYSMGR_QUEUE_DEPTH ((sizeof(ULONG)) * SYSMGR_QUEUE_MSG_COUNT) 412 413 #define SYSMGR_PRIORITY (0U) 414 #define SYSMGR_THRESHOLD (0U) 415 416 417 /**********************************************************************************/ 418 /* OSEK System Object identifier this is placed in the object's control structure */ 419 /**********************************************************************************/ 420 421 #define OSEK_TASK_ID (0x1234ABCDUL) 422 #define OSEK_ALARM_ID (0x4567ABCDUL) 423 #define OSEK_COUNTER_ID (0xABCD1234UL) 424 #define OSEK_EVENT_ID (0x1234FEDCUL) 425 #define OSEK_RES_ID (0x5678CDEFUL) 426 #define OSEK_APPLICATION_ID (0x789ABCDEUL) 427 #define OSEK_ISR_ID (0x3456CDEFUL) 428 429 430 /**************************************************************************/ 431 /* OSEK SYSTEM OBJECT CONTROL STRUCTURES */ 432 /**************************************************************************/ 433 434 435 /* OSEK SERVICES */ 436 437 struct Service_ActivateTask 438 { 439 StatusType TaskID; 440 }; 441 442 struct Service_TerminateTask 443 { 444 StatusType TaskID; 445 }; 446 447 struct Service_ChainTask 448 { 449 StatusType TaskID; 450 }; 451 452 struct Service_Schedule 453 { 454 StatusType TaskID; 455 }; 456 457 struct Service_GetTaskID 458 { 459 TaskRefType TaskID; 460 }; 461 462 struct Service_GetTaskState 463 { 464 StatusType TaskID; 465 }; 466 467 struct Service_DisableAllInterrupts 468 { 469 StatusType TaskID; 470 }; 471 472 struct Service_EnableAllInterrupts 473 { 474 StatusType TaskID; 475 }; 476 477 struct Service_SuspendAllInterrupts 478 { 479 StatusType TaskID; 480 }; 481 482 struct Service_ResumeAllInterrupts 483 { 484 StatusType TaskID; 485 }; 486 487 struct Service_SuspendOSInterrupts 488 { 489 StatusType TaskID; 490 }; 491 492 struct Service_ResumeOSInterrupts 493 { 494 StatusType TaskID; 495 }; 496 497 struct Service_GetResource 498 { 499 ResourceType ResID; 500 }; 501 502 struct Service_ReleaseResource 503 { 504 ResourceType ResID; 505 }; 506 507 struct Service_SetEvent 508 { 509 StatusType EventID; 510 TaskType TaskID; 511 }; 512 513 struct Service_ClearEvent 514 { 515 EventMaskType EventID; 516 }; 517 518 struct Service_GetEvent 519 { 520 StatusType EventID; 521 TaskType TaskID; 522 }; 523 524 struct Service_WaitEvent 525 { 526 EventMaskType EventID; 527 }; 528 529 struct Service_GetAlarmBase 530 { 531 AlarmType AlarmID; 532 }; 533 534 struct Service_GetAlarm 535 { 536 AlarmType AlarmID; 537 }; 538 539 struct Service_SetRelAlarm 540 { 541 AlarmType AlarmID; 542 TickType increment; 543 TickType cycle; 544 }; 545 546 struct Service_SetAbsAlarm 547 { 548 AlarmType AlarmID; 549 TickType start; 550 TickType cycle; 551 }; 552 553 struct Service_CancelAlarm 554 { 555 AlarmType AlarmID; 556 }; 557 558 struct Service_GetActiveApplicationMode 559 { 560 StatusType TaskID; 561 }; 562 563 struct Service_StartOS 564 { 565 StatusType TaskID; 566 }; 567 568 struct Service_ShutdownOS 569 { 570 StatusType TaskID; 571 }; 572 573 struct Service_GetServiceId 574 { 575 OsServiceIdType id; 576 }; 577 578 579 /**************************************************************************/ 580 /* OSEK Resource */ 581 /**************************************************************************/ 582 583 typedef struct osek_resource_struct 584 { 585 /* Name. */ 586 const CHAR *name; 587 588 /* This Resource is in use. */ 589 ULONG res_in_use; 590 591 /* Ceiling priority of the resource. */ 592 UINT c_priority; 593 594 /* Task occupying this resource. */ 595 TaskType taskid; 596 597 /* Type. */ 598 StatusType type; /* Internal, External, Linked. */ 599 600 /* Linked Resource. */ 601 602 ResourceType linked_res; /* id of the resource , Linked with this res. */ 603 604 ResourceType resolved_res; /* Id of the res linked to this , after all chained links. */ 605 606 /* Resource Object id. */ 607 ULONG osek_res_id; 608 609 } OSEK_RESOURCE; 610 611 612 /**************************************************************************/ 613 /* Task structure */ 614 /**************************************************************************/ 615 616 typedef struct osek_tcb_struct 617 { 618 /* This task's ThreadX TCB. */ 619 TX_THREAD task; 620 621 /* Name. */ 622 const CHAR *name; 623 624 /* This field indicates if this task is in use. */ 625 ULONG tcb_in_use; 626 627 /* Task type BASIC or EXTENDED. */ 628 UINT task_type; 629 630 /* Task AUTOSTART mode. */ 631 UINT task_autostart; 632 633 /* Design time Scheduling policy of this Task. */ 634 SCHEDULE policy; 635 636 /* Task start address (entry point). */ 637 FP task_entry; 638 639 /* Design time task priority. */ 640 UINT org_prio; 641 642 643 /* Current ThreadX thread preemption threshold. */ 644 UINT cur_threshold; 645 646 /* task stack size. */ 647 ULONG stack_size; 648 649 /* start address of the task stack. */ 650 CHAR *pStackBase; 651 652 653 /* Task status Suspended/ Ready(Running). */ 654 ULONG suspended; 655 656 /* Wait status */ 657 ULONG waiting; 658 659 /* Task to be activated when this task calls ChainTask(). */ 660 TaskType task_to_chain; 661 662 /* Counter to indicate how many Resources are occupied. */ 663 ULONG res_ocp; 664 665 /* Maximum multiple activation allowed for this task. */ 666 UINT max_active; 667 668 /* Current (recorded) multiple activation requests. */ 669 UINT current_active; 670 671 /* List of Event assigned to this task. */ 672 EventMaskType events; 673 674 EventMaskType waiting_events; 675 676 EventMaskType set_events; 677 678 /* List of External resources assigned (Design time) to this task. */ 679 ResourceType external_resource_list[OSEK_MAX_EXTERNAL_RES]; 680 681 /* List of External Resources currently occupied (Run time) by this task. */ 682 ResourceType external_resource_occuplied_list[OSEK_MAX_EXTERNAL_RES]; 683 684 /* List of Internal resources assigned (Design Time) to this task. */ 685 ResourceType internal_resource_list[OSEK_MAX_INTERNAL_RES]; 686 687 /* List of Internal Resources currently occupied (Run Time) by this task. */ 688 ResourceType internal_resource_occuplied_list[OSEK_MAX_INTERNAL_RES]; 689 690 /* Internal Resource assigned or not. */ 691 UINT internal_res; 692 693 /* RES_SCHEDULER taken or not. */ 694 UINT resource_scheduler; 695 696 AppModeType task_Appl_Mode; 697 698 /* Task Object id. */ 699 ULONG osek_task_id; 700 701 } OSEK_TCB; 702 703 704 /**************************************************************************/ 705 /* Counter */ 706 /**************************************************************************/ 707 708 typedef struct OSEK_COUNTER_STRUCT 709 { 710 711 /* Max. allowable value. */ 712 TickType maxallowedvalue; 713 714 /* Tick base multiplier. */ 715 TickType ticksperbase; 716 717 /* Minimum cyclic numbers of counter ticks allowed for a cyclic alarm. */ 718 TickType mincycle; 719 720 /* Name. */ 721 const CHAR* name; 722 723 /* This field indicates if this counter is in use. */ 724 UINT cntr_in_use; 725 726 /* Pre-count needed to increment main count by 1. */ 727 TickType sub_count; 728 729 /* Current counter value in ticks. */ 730 TickType counter_value; 731 732 /* Whether attached to system timer. */ 733 UINT system_timer; 734 735 /* List of all alarms attached to this counter. */ 736 AlarmType alarm_list[OSEK_MAX_ALARMS]; 737 738 /* Counter object id. */ 739 ULONG osek_counter_id; 740 741 742 }OSEK_COUNTER; 743 744 745 /**************************************************************************/ 746 /* ALARM */ 747 /**************************************************************************/ 748 749 typedef struct OSEK_ALARM_STRUCT 750 { 751 752 /* Name. */ 753 const CHAR* name; 754 755 /* This field indicates if this entry is in use. */ 756 UINT alarm_in_use; 757 758 UINT occupied; 759 760 /* Max allowed value of count for this alarm depends on the counter to which this alarm is attached. */ 761 TickType max_allowed_value; 762 763 /* Cycles programmed depends on the counter to which this alarm is attached. */ 764 TickType min_cyc; 765 766 /* Tick base multiplier. */ 767 TickType ticks_per_base; 768 769 /* Cycles programmed for this alarm. */ 770 TickType cycle; 771 772 /* alarm expiration count. */ 773 774 TickType expiration_count; 775 776 /* Alarm Callback function. */ 777 void (*alarm_callback)(); 778 779 /* Alarm Activation. */ 780 UINT armed; 781 782 /* Alarm Action. */ 783 UINT action; 784 785 /* Attach task here. */ 786 OSEK_TCB* task; 787 788 /* Attach the counter. */ 789 OSEK_COUNTER *cntr; 790 791 /* Event to set in case of SET_EVENT action. The event bits should be 1 792 to SET that EVENT of the task. */ 793 EventMaskType events; 794 795 /* Start up action. */ 796 UINT auto_start; 797 798 /* ALARM armed in relative mode or abs mode. */ 799 UINT rel_abs_mode; 800 801 /* Counter roll back flag for absolute alarm mode. */ 802 UINT counter_rollback; 803 804 /* Alarm object id. */ 805 ULONG osek_alarm_id; 806 807 } OSEK_ALARM; 808 809 810 typedef struct USER_ALARM_STRUCT 811 { 812 813 /* Max allowed value of count. */ 814 TickType maxallowedvalue; 815 816 /* Cycles. */ 817 TickType mincycle; 818 819 /* Tick base multiplier. */ 820 TickType ticksperbase; 821 822 }AlarmBaseType; 823 824 typedef AlarmBaseType *AlarmBaseRefType; 825 826 827 typedef struct REGISTER_APPLICATION_STRUCT 828 { 829 830 AppModeType application_mode; 831 832 /* ErrorHook. */ 833 void (*error_hook_handler)(StatusType); 834 /* Startup hook. */ 835 void (*startup_hook_handler)(); 836 /* Shutdown Hook. */ 837 void (*shutdown_hook_handler)(StatusType); 838 839 void (*pretask_hook_handler)(void); 840 841 void (*posttask_hook_handler)(void); 842 843 /* Any errors generated while creating the application. */ 844 StatusType osek_object_creation_error; 845 846 847 /* Application object ID. */ 848 ULONG osek_application_id; 849 850 851 }APPLICATION_INFO; 852 853 typedef APPLICATION_INFO *APPLICATION_INFO_PTR; 854 855 856 /**************************************************************************/ 857 /* OSEK API CALLS */ 858 /**************************************************************************/ 859 860 861 /* TASK MANAGEMENT */ 862 863 StatusType ActivateTask(TaskType TaskId); 864 StatusType GetTaskID(TaskType *TaskID); 865 StatusType TerminateTask(void); 866 StatusType ChainTask(TaskType TaskID); 867 StatusType GetTaskState(TaskType TaskID, TaskStateRefType State); 868 TaskType CreateTask(const CHAR *name, void(*entry_function)(), UINT priority, UINT max_activation, 869 ULONG stack_size, SCHEDULE policy, AUTOSTART start, UINT, AppModeType mode); 870 StatusType Schedule (void); 871 872 873 /* RESOURCE MANAGEMENT */ 874 875 ResourceType CreateResource(const CHAR *name, StatusType type, ResourceType linked_res); 876 StatusType GetResource(ResourceType id); 877 StatusType ReleaseResource(ResourceType id); 878 StatusType RegisterTasktoResource(ResourceType Resource, TaskType TaskID); 879 880 /* EVENT MANAGEMENT */ 881 882 StatusType SetEvent(TaskType task_id, EventMaskType mask); 883 StatusType ClearEvent(EventMaskType mask); 884 StatusType GetEvent(TaskType task_id, EventMaskRefType event); 885 StatusType WaitEvent(EventMaskType mask); 886 EventMaskType CreateEvent(void); 887 StatusType RegisterEventtoTask(EventType eventid, TaskType TaskID); 888 889 /* INTERUUPT MANAGEMENT */ 890 891 StatusType EnableInterrupt(void); 892 StatusType DisableInterrupt(void); 893 894 StatusType GetInterruptDescriptor(UINT *mask); 895 896 void SuspendAllInterrupts(void); 897 void ResumeAllInterrupts(void); 898 899 void SuspendOSInterrupts(void); 900 void ResumeOSInterrupts(void); 901 902 void DisableAllInterrupts(void); 903 void EnableAllInterrupts(void); 904 905 ISRType CreateISR(const CHAR *name, void(*entry_function)(), UINT category, ULONG stack_size); 906 StatusType RegisterISRtoResource(ResourceType Resource, ISRType ISRID); 907 908 909 /* COUNTER MANAGEMENT */ 910 911 StatusType GetCounterValue(OSEK_COUNTER *counter_ptr, TickRefType ticks); 912 CounterType CreateCounter(const CHAR *name, TickType max_allowed_value, TickType ticks_per_base, 913 TickType min_cycle, TickType start_value); 914 StatusType IncrCounter(CounterType cntr); 915 StatusType DefineSystemCounter(CounterType cntr); 916 917 /* ALARM MANAGEMENT */ 918 919 StatusType GetAlarmBase(AlarmType AlarmID, AlarmBaseRefType info); 920 StatusType SetAbsAlarm(AlarmType AlarmID, TickType start, TickType cycle); 921 StatusType SetRelAlarm(AlarmType AlarmID, TickType increment, TickType cycle); 922 StatusType CancelAlarm(AlarmType AlarmID); 923 StatusType GetAlarm(AlarmType AlarmID, TickRefType tick_ptr); 924 AlarmType CreateAlarm(const CHAR *name, CounterType cntr, UINT action, ULONG events, 925 TaskType task, void (*callback)(), UINT Startup, TickType Alarmtime, TickType Cycle); 926 927 /* OS MANAGEMENT */ 928 929 UCHAR *osek_initialize(void *osek_memory, APPLICATION_INFO_PTR application1); 930 UINT osek_cleanup(APPLICATION_INFO_PTR application1); 931 void ShutdownOS(StatusType error); 932 void StartOS(StatusType os_mode); 933 AppModeType GetActiveApplicationMode(void); 934 935 936 void process_ISR2(ISRType isrname); 937 938 #endif 939 940 941 /******************************* End of file ************************/ 942
