1 /* -------------------------------- Arctic Core ------------------------------
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2 * Arctic Core - the open source AUTOSAR platform http://arccore.com
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4 * Copyright (C) 2009 ArcCore AB <contact@arccore.com>
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6 * This source code is free software; you can redistribute it and/or modify it
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7 * under the terms of the GNU General Public License version 2 as published by the
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8 * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
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10 * This program is distributed in the hope that it will be useful, but
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11 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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12 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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14 * -------------------------------- Arctic Core ------------------------------*/
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21 #define OS_SW_MAJOR_VERSION 2
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22 #define OS_SW_MINOR_VERSION 0
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23 #define OS_SW_PATCH_VERSION 0
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26 #include "Std_Types.h"
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31 #include <sys/queue.h>
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33 typedef uint8 StatusType;
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35 #if (OS_ISR_CNT > OS_ISR_MAX_CNT)
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36 #error OS configuration error. OS_ISR_MAX_CNT must be bigger or equal to OS_ISR_CNT
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39 #define E_OS_ACCESS (StatusType)1 /**< STD OSEK */
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40 #define E_OS_CALLEVEL (StatusType)2 /**< STD OSEK */
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41 #define E_OS_ID (StatusType)3 /**< STD OSEK */
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42 #define E_OS_LIMIT (StatusType)4 /**< STD OSEK */
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43 #define E_OS_NOFUNC (StatusType)5 /**< STD OSEK */
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44 #define E_OS_RESOURCE (StatusType)6 /**< STD OSEK */
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45 #define E_OS_STATE (StatusType)7 /**< STD OSEK */
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46 #define E_OS_VALUE (StatusType)8 /**< STD OSEK */
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48 #define E_OS_SERVICEID (StatusType)9 /**< AUTOSAR, see 7.10 */
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49 #define E_OS_RATE (StatusType)10 /**< AUTOSAR, see 7.10 */
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50 #define E_OS_ILLEGAL_ADDRESS (StatusType)11 /**< AUTOSAR, see 7.10 */
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51 #define E_OS_MISSINGEND (StatusType)12 /**< AUTOSAR, see 7.10 */
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52 #define E_OS_DISABLEDINT (StatusType)13 /**< AUTOSAR, see 7.10 */
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53 #define E_OS_STACKFAULT (StatusType)14 /**< AUTOSAR, see 7.10 */
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54 #define E_OS_PROTECTION_MEMORY (StatusType)15 /**< AUTOSAR, see 7.10 */
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55 #define E_OS_PROTECTION_TIME (StatusType)16 /**< AUTOSAR, see 7.10 */
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56 #define E_OS_PROTECTION_LOCKED (StatusType)17 /**< AUTOSAR, see 7.10 */
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57 #define E_OS_PROTECTION_EXCEPTION (StatusType)18 /**< AUTOSAR, see 7.10 */
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58 #define E_OS_PROTECTION_RATE (StatusType)19 /**< AUTOSAR, see 7.10 */
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60 #define E_COM_ID 255 // TODO: var ska E_COM_ID vara?"
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63 typedef uint32_t EventMaskType;
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64 typedef EventMaskType * EventMaskRefType;
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65 typedef uint16_t TaskType;
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66 typedef TaskType * TaskRefType;
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71 TASK_STATE_SUSPENDED,
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75 #define INVALID_TASK 0xdeadU
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77 typedef TaskStateType *TaskStateRefType;
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79 /* FIXME: OSMEMORY_IS__ , see 8.2*/
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81 #define OSMEMORY_IS_READABLE(_access)
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82 #define OSMEMORY_IS_WRITEABLE(_access)
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83 #define OSMEMORY_IS_EXECUTABLE(_access)
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84 #define OSMEMORY_IS_STACKSPACE(_access)
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86 #define OSDEFAULTAPPMODE 1
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88 #define INVALID_OSAPPLICATION (-1)
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90 /* TODO, I have no idea what this should be*/
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91 #if (OS_USE_APPLICATIONS == STD_ON)
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92 typedef sint32 ApplicationType;
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95 APPLICATION_ACCESSIBLE,
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96 APPLICATION_RESTARTING,
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97 APPLICATION_TERMINATED
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98 } ApplicationStateType;
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100 typedef ApplicationStateType *ApplicationStateRefType;
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103 /* See oil config for defines */
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104 typedef sint32 AppModeType;
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106 /* FIXME: more types here */
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107 typedef uint16 ScheduleTableType;
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108 typedef uint16 GlobalTimeTickType;
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111 SCHEDULETABLE_STOPPED,
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112 SCHEDULETABLE_NEXT,
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113 SCHEDULETABLE_WAITING,
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114 SCHEDULETABLE_RUNNING,
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115 SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS
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116 } ScheduleTableStatusType;
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118 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;
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120 /* Flags for AccessType */
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121 #define ACCESSTYPE_W 1
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122 #define ACCESSTYPE_R (1<<1)
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124 typedef uint32 AccessType;
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129 } ObjectAccessType;
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137 OBJECT_SCHEDULETABLE,
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144 PRO_KILLAPPL_RESTART,
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146 } ProtectionReturnType;
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154 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);
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155 typedef void (*StartupHookType)( void );
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156 typedef void (*ShutdownHookType)( StatusType );
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157 typedef void (*ErrorHookType)( StatusType );
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158 typedef void (*PreTaskHookType)( void );
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159 typedef void (*PostTaskHookType)( void );
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161 ProtectionReturnType ProtectionHook( StatusType FatalError );
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162 void StartupHook( void );
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163 void ShutdownHook( StatusType Error );
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164 void ErrorHook( StatusType Error );
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165 void PreTaskHook( void );
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166 void PostTaskHook( void );
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168 typedef uint16 TrustedFunctionIndexType;
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169 typedef void * TrustedFunctionParameterRefType;
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172 #define INVALID_ISR ((sint16)(-1))
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173 typedef sint16 ISRType;
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175 #define APP_NO_OWNER (-1UL)
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177 typedef void * MemoryStartAddressType;
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178 typedef uint32 MemorySizeType;
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181 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)
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182 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)
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183 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)
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185 StatusType WaitEvent( EventMaskType Mask );
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186 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );
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187 StatusType ClearEvent( EventMaskType Mask);
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188 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);
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190 void InitOS( void );
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191 void StartOS( AppModeType Mode );
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193 ISRType GetISRID( void );
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194 StatusType GetActiveApplicationMode( AppModeType* mode);
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196 typedef int8_t Os_IntCounterType;
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198 /* requirements here: OS368(ISR2), OS092 */
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200 extern Os_IntCounterType Os_IntDisableAllCnt;
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201 extern Os_IntCounterType Os_IntSuspendAllCnt;
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202 extern Os_IntCounterType Os_IntSuspendOsCnt;
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207 /* OSEK: States that " service does not support nesting", but says
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208 * nothing what to do about it.
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210 * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
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211 * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
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212 * SuspendOSInterrupts() was done before, the Operating System shall not
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213 * perform this OS service.
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215 static inline void DisableAllInterrupts( void ) {
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217 Os_IntDisableAllCnt++;
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218 /* No nesting allowed */
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219 assert(Os_IntDisableAllCnt==1);
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222 static inline void EnableAllInterrupts( void ) {
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224 if(Os_IntDisableAllCnt==0) {
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225 /** @req OS092 EnableAllInterrupts */
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227 Os_IntDisableAllCnt--;
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232 static inline void SuspendAllInterrupts( void ) {
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234 Os_IntSuspendAllCnt++;
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237 static inline void ResumeAllInterrupts( void ) {
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239 if(Os_IntSuspendAllCnt==0) {
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240 /** @req OS092 ResumeAllInterrupts */
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242 Os_IntSuspendAllCnt--;
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247 /* Only ISR2 interrupts should be suspended but this can NEVER be
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248 * done in a more efficient way than to disable all, so let's
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249 * do that for all targets.
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252 static inline void SuspendOSInterrupts( void ) {
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254 Os_IntSuspendOsCnt++;
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257 static inline void ResumeOSInterrupts( void ) {
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259 if(Os_IntSuspendOsCnt==0) {
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260 /** @req OS092 ResumeOSInterrupts */
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262 Os_IntSuspendOsCnt--;
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268 * Class 2,3 and 4 API
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271 #if (OS_USE_APPLICATIONS == STD_ON)
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273 ApplicationType GetApplicationID( void );
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274 AccessType CheckISRMemoryAccess( ISRType ISRID,
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275 MemoryStartAddressType Address,
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276 MemorySizeType Size );
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278 AccessType CheckTaskMemoryAccess( TaskType TaskID,
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279 MemoryStartAddressType Address,
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280 MemorySizeType Size );
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282 ObjectAccessType CheckObjectAccess( ApplicationType ApplId,
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283 ObjectTypeType ObjectType,
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284 uint32_t objectId );
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285 ApplicationType CheckObjectOwnership( ObjectTypeType ObjectType,
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286 uint32_t objectId );
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287 StatusType TerminateApplication( ApplicationType Application, RestartType RestartOption );
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288 StatusType AllowAccess( void );
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289 StatusType GetApplicationState( ApplicationType Application, ApplicationStateRefType Value );
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290 StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,
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291 TrustedFunctionParameterRefType FunctionParams );
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294 StatusType GetTaskID( TaskRefType TaskID );
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295 StatusType GetTaskState( TaskType task_id, TaskStateRefType state);
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297 void ShutdownOS( StatusType );
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298 StatusType ActivateTask( TaskType TaskID );
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299 StatusType TerminateTask( void );
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300 StatusType ChainTask( TaskType TaskID );
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301 StatusType Schedule( void );
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303 typedef uint8 ResourceType;
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304 #define DeclareResource(x) extern ResourceType (x);
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305 StatusType GetResource( ResourceType ResID );
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306 StatusType ReleaseResource( ResourceType ResID);
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309 * Define scheduler as topmost
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311 #define RES_SCHEDULER OS_RESOURCE_CNT
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314 * Priorities of tasks and resources
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316 #define OS_TASK_PRIORITY_MIN 0
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317 #define OS_TASK_PRIORITY_MAX 31
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318 /* Logical priority is higher higher than normal tasks */
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319 #define OS_RES_SCHEDULER_PRIO 32
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321 typedef struct OsDriver_s {
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322 int OsGptChannelRef;
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327 /*-------------------------------------------------------------------
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329 *-----------------------------------------------------------------*/
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330 typedef sint16 CounterType;
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332 typedef uint32 TickType;
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333 typedef TickType *TickRefType;
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335 StatusType IncrementCounter( CounterType );
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336 StatusType GetCounterValue( CounterType, TickRefType );
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337 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);
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340 /*-------------------------------------------------------------------
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342 *-----------------------------------------------------------------*/
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343 typedef const uint32 OsTickType;
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344 void Os_SysTickInit( void );
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345 void Os_SysTickStart(TickType period_ticks);
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346 TickType Os_SysTickGetValue( void );
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347 TickType Os_SysTickGetElapsedValue( TickType preValue );
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349 /*-------------------------------------------------------------------
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351 *-----------------------------------------------------------------*/
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353 #if defined(USE_KERNEL_EXTRA)
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355 #define TICK_MAX UINT_MAX
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357 typedef struct OsSemaphore {
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359 STAILQ_HEAD(,OsTaskVar) taskHead;
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362 typedef OsSemaphoreType OsMutexType;
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364 StatusType Sleep( TickType ticks );
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365 StatusType InitSemaphore( OsSemaphoreType *semPtr, int initialCount );
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366 StatusType WaitSemaphore( OsSemaphoreType *semPtr, TickType tmo );
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367 void SignalSemaphore( OsSemaphoreType *semPtr );
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368 StatusType WaitMutex( OsMutexType *mutexPtr );
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369 StatusType ReleaseMutex( OsMutexType *mutexPtr );
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373 /*-------------------------------------------------------------------
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375 *-----------------------------------------------------------------*/
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377 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);
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378 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );
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379 StatusType StartScheduleTableSynchron(ScheduleTableType sid );
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380 StatusType StopScheduleTable(ScheduleTableType sid);
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381 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);
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382 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time );
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383 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );
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384 StatusType SetScheduleTableAsync( ScheduleTableType sid );
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387 /*-------------------------------------------------------------------
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389 *-----------------------------------------------------------------*/
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391 typedef uint16 AlarmType;
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394 TickType maxallowedvalue;
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395 TickType tickperbase;
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399 typedef AlarmBaseType *AlarmBaseRefType;
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401 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );
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402 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);
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403 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);
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404 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);
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405 StatusType CancelAlarm(AlarmType AlarmId);
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408 /*-------------------------------------------------------------------
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410 *-----------------------------------------------------------------*/
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412 OSServiceId_ActivateTask,
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413 OSServiceId_TerminateTask,
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414 OSServiceId_ChainTask,
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415 OSServiceId_Schedule,
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416 OSServiceId_GetTaskID,
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417 OSServiceId_GetResource,
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418 OSServiceId_ReleaseResource,
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419 OSServiceId_SetEvent,
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420 OSServiceId_ClearEvent,
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421 OSServiceId_GetEvent,
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422 OSServiceId_WaitEvent,
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423 OSServiceId_GetAlarmBase,
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424 OSServiceId_GetAlarm,
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425 OSServiceId_SetRelAlarm,
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426 OSServiceId_SetAbsAlarm,
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427 OSServiceId_CancelAlarm,
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428 OSServiceId_StartOS,
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429 OSServiceId_ShutdownOS,
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430 OSServiceId_ErrorHook,
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431 OSServiceId_PreTaskHook,
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432 OSServiceId_PostTaskHook,
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433 OSServiceId_StartupHook,
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434 OSServiceId_ShutdownHook,
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435 OSServiceId_GetTaskState,
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436 OSServiceId_GetApplicationID,
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437 OSServiceId_GetISRID,
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438 OSServiceId_CallTrustedFunction,
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439 OSServiceId_CheckISRMemoryAccess,
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440 OSServiceId_TaskMemoryAccess,
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441 OSServiceId_CheckObjectAccess,
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442 OSServiceId_CheckObjectOwnership,
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443 OSServiceId_StartScheduleTableRel,
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444 OSServiceId_StartScheduleTableAbs,
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445 OSServiceId_StopScheduleTable,
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446 OSServiceId_NextScheduleTable,
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447 OSServiceId_StartScheduleTableSynchron,
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448 OSServiceId_SyncScheduleTable,
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449 OSServiceId_GetScheduleTable,
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450 OSServiceId_SetScheduleTableAsync,
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451 OSServiceId_IncrementCounter,
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452 OSServiceId_GetCounterValue,
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453 OSServiceId_GetElapsedValue,
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454 OSServiceId_TerminateApplication,
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455 OSServiceId_AllowAccess,
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456 OSServiceId_GetApplicationState,
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458 #if defined(USE_KERNEL_EXTRA)
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463 typedef struct OsError {
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464 OsServiceIdType serviceId;
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470 extern OsErrorType os_error;
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472 // TODO: Add the service id to all OS service methods.
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473 static inline OsServiceIdType OSErrorGetServiceId(void) {
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474 return os_error.serviceId;
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477 extern OsErrorType os_error;
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479 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)
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480 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)
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481 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)
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482 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)
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483 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)
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484 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)
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485 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)
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486 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)
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487 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)
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488 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)
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489 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)
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490 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)
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491 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)
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492 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)
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493 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)
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494 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)
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495 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)
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496 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)
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497 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)
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498 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)
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499 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)
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500 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)
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501 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)
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502 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)
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503 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)
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504 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)
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505 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)
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508 #if defined(LOCALMESSAGESONLY)
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509 #error LOCALMESSAGESONLY shall not be defined
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513 /*-------------------------------------------------------------------
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514 * COM ( TODO : move )
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515 *-----------------------------------------------------------------*/
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518 * The only information about the COM that is valid is
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519 * in the COM specification ..SWS_COM.pdf.
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521 * The most important requirements are COM010 and COM013
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527 * No. GetMessageStatus()
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528 * No. SendZeroMessage()
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529 * No. SendDynamicMessage(), RecieveDynamicMessage()
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531 * Yes. SendMessage()
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536 typedef uint32 MessageType;
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537 typedef void *ApplicationDataRef;
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540 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );
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541 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );
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544 * ArcCore extensions
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546 TickType GetOsTick();
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550 #define OS_ISR_TYPE2 0
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551 #define OS_ISR_TYPE1 1
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555 void (*entry)(void);
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560 #define TTY_WINIDEA 4
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561 #define TTY_SERIAL 8
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