include/Os.h

   1 /* -------------------------------- Arctic Core ------------------------------
   2  * Arctic Core - the open source AUTOSAR platform http://arccore.com
   3  *
   4  * Copyright (C) 2009  ArcCore AB <contact@arccore.com>
   5  *
   6  * This source code is free software; you can redistribute it and/or modify it
   7  * under the terms of the GNU General Public License version 2 as published by the
   8  * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
   9  *
  10  * This program is distributed in the hope that it will be useful, but
  11  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  12  * or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
  13  * for more details.
  14  * -------------------------------- Arctic Core ------------------------------*/
  15
  16
  17 \r
  18 #ifndef OS_H_\r
  19 #define OS_H_\r
  20 \r
  21 #define OS_SW_MAJOR_VERSION    1
  22 #define OS_SW_MINOR_VERSION    0
  23 #define OS_SW_PATCH_VERSION    0\r
  24
  25 #include <assert.h>\r
  26 #include "Std_Types.h"\r
  27 #include "Os_Cfg.h"\r
  28 #include "MemMap.h"\r
  29 #include "Cpu.h"\r
  30 \r
  31 typedef uint32_t                EventMaskType;\r
  32 typedef EventMaskType * EventMaskRefType;\r
  33 typedef uint16_t                TaskType;\r
  34 typedef TaskType *              TaskRefType;\r
  35 \r
  36 typedef enum {\r
  37         TASK_STATE_WAITING,\r
  38         TASK_STATE_READY,\r
  39         TASK_STATE_SUSPENDED,\r
  40         TASK_STATE_RUNNING,\r
  41 } TaskStateType;\r
  42 \r
  43 \r
  44 typedef TaskStateType *TaskStateRefType;\r
  45 \r
  46 /* FIXME: OSMEMORY_IS__ , see 8.2*/\r
  47
  48 #define OSDEFAULTAPPMODE  1\r
  49 \r
  50 #define INVALID_OSAPPLICATION (-1)\r
  51 \r
  52 /* TODO, I have no idea what this should be*/\r
  53 typedef sint32 ApplicationType;\r
  54 \r
  55 /* See oil config for defines */\r
  56 typedef sint32 AppModeType;\r
  57 \r
  58 /* FIXME: more types here */\r
  59 typedef uint16 ScheduleTableType;\r
  60 typedef uint16 GlobalTimeTickType;\r
  61 \r
  62 typedef enum {\r
  63         SCHEDULETABLE_STOPPED,\r
  64         SCHEDULETABLE_NEXT,\r
  65         SCHEDULETABLE_WAITING,\r
  66         SCHEDULETABLE_RUNNING,\r
  67         SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS\r
  68 } ScheduleTableStatusType;\r
  69 \r
  70 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;\r
  71 \r
  72 /* Flags for AccessType */\r
  73 #define ACCESSTYPE_W    1\r
  74 #define ACCESSTYPE_R    (1<<1)\r
  75 \r
  76 typedef uint32 AccessType;\r
  77 \r
  78 typedef enum {\r
  79         ACCESS,\r
  80         NO_ACCESS\r
  81 } ObjectAccessType;\r
  82 \r
  83 typedef enum {\r
  84         OBJECT_TASK,\r
  85         OBJECT_ISR,\r
  86         OBJECT_ALARM,\r
  87         OBJECT_RESOURCE,\r
  88         OBJECT_COUNTER,\r
  89         OBJECT_SCHEDULETABLE,\r
  90         OBJECT_MESSAGE\r
  91 } ObjectTypeType;\r
  92 \r
  93 typedef enum {\r
  94         PRO_KILLTASKISR,\r
  95         PRO_KILLAPPL,\r
  96         PRO_KILLAPPL_RESTART,\r
  97         PRO_SHUTDOWN\r
  98 } ProtectionReturnType;\r
  99 \r
 100 typedef enum {\r
 101         RESTART,\r
 102         NO_RESTART\r
 103 } RestartType;\r
 104 \r
 105 \r
 106 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);\r
 107 typedef void (*StartupHookType)( void );\r
 108 typedef void (*ShutdownHookType)( StatusType );\r
 109 typedef void (*ErrorHookType)( StatusType );\r
 110 typedef void (*PreTaskHookType)( void );\r
 111 typedef void (*PostTaskHookType)( void );\r
 112 \r
 113 ProtectionReturnType ProtectionHook( StatusType FatalError );\r
 114 void StartupHook( void );\r
 115 void ShutdownHook( StatusType Error );\r
 116 void ErrorHook( StatusType Error );\r
 117 void PreTaskHook( void );\r
 118 void PostTaskHook( void );\r
 119 \r
 120 typedef uint16 TrustedFunctionIndexType;\r
 121 typedef  void * TrustedFunctionParameterRefType;\r
 122 \r
 123 /* See 8.3.9 */\r
 124 #define INVALID_ISR             ((sint16)(-1))\r
 125 typedef sint16 ISRType;\r
 126 \r
 127 typedef void * MemoryStartAddressType;\r
 128 typedef uint32 MemorySizeType;\r
 129 \r
 130 #if 0\r
 131 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)\r
 132 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)\r
 133 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)\r
 134 #endif\r
 135 StatusType WaitEvent( EventMaskType Mask );\r
 136 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );\r
 137 StatusType ClearEvent( EventMaskType Mask);\r
 138 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);\r
 139
 140 void InitOS( void );
 141 void StartOS( AppModeType Mode );
 142
 143 \r
 144 \r
 145 ApplicationType GetApplicationID( void );\r
 146 ISRType GetISRID( void );\r
 147
 148 typedef int8_t Os_IntCounterType;
 149 \r
 150 /* requirements here: OS368(ISR2), OS092 */
 151
 152 extern Os_IntCounterType Os_IntDisableAllCnt;
 153 extern Os_IntCounterType Os_IntSuspendAllCnt;
 154 extern Os_IntCounterType Os_IntSuspendOsCnt;
 155
 156
 157
 158 /** @req OS299 */
 159 /* OSEK: States that " service  does  not  support  nesting", but says
 160  * nothing what to do about it.
 161  *
 162  * OS092: "  If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
 163  * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
 164  * SuspendOSInterrupts()  was  done  before,  the Operating System shall not
 165  * perform this OS service.
 166  */
 167 static inline void DisableAllInterrupts( void ) {
 168         Irq_Disable();
 169         Os_IntDisableAllCnt++;
 170         /* No nesting allowed */
 171         assert(Os_IntDisableAllCnt>1);
 172 }
 173
 174 static inline void EnableAllInterrupts( void ) {
 175
 176         if(Os_IntDisableAllCnt==0) {
 177                 /** @req OS092 EnableAllInterrupts */
 178         } else {
 179                 Os_IntDisableAllCnt--;
 180                 Irq_Enable();
 181         }
 182 }
 183
 184 static inline void SuspendAllInterrupts( void ) {
 185         Irq_SuspendAll();
 186         Os_IntSuspendAllCnt++;
 187 }
 188
 189 static inline void ResumeAllInterrupts( void ) {
 190
 191         if(Os_IntSuspendAllCnt==0) {
 192                 /** @req OS092 ResumeAllInterrupts */
 193         } else {
 194                 Os_IntSuspendAllCnt--;
 195                 Irq_ResumeAll();
 196         }
 197 }
 198
 199 /* Only ISR2 interrupts should be suspended but this can NEVER be
 200  * done in a more efficient way than to disable all, so let's
 201  * do that for all targets.
 202  */
 203
 204 static inline void SuspendOSInterrupts( void ) {
 205         Irq_SuspendOs();
 206         Os_IntSuspendOsCnt++;
 207 }
 208
 209 static inline void ResumeOSInterrupts( void ) {
 210
 211         if(Os_IntSuspendOsCnt==0) {
 212                 /** @req OS092 ResumeOSInterrupts */
 213         } else {
 214                 Os_IntSuspendOsCnt--;
 215                 Irq_ResumeOs();
 216         }
 217 }
 218
 219 #if 0
 220 /* Can't find these anymore, removed from Autosar? */\r
 221 StatusType EnableInterruptSource( ISRType EnableISR );\r
 222 StatusType DisableInterruptSource( ISRType EnableISR );\r
 223 #endif
 224 \r
 225 /*
 226  * Class 2,3 and 4 API
 227  */\r
 228 ApplicationType GetApplicationID( void );\r
 229 AccessType      CheckISRMemoryAccess(   ISRType ISRID,\r
 230                                                                         MemoryStartAddressType Address,\r
 231                                                                         MemorySizeType Size );\r
 232 \r
 233 AccessType      CheckTaskMemoryAccess(  TaskType TaskID,\r
 234                                                                         MemoryStartAddressType Address,\r
 235                                                                         MemorySizeType Size );
 236 \r
 237 StatusType      CallTrustedFunction(    TrustedFunctionIndexType FunctionIndex,\r
 238                                                                         TrustedFunctionParameterRefType FunctionParams );\r
 239 \r
 240 StatusType      GetTaskID(              TaskRefType TaskID );\r
 241 StatusType      GetTaskState(   TaskType task_id, TaskStateRefType state);\r
 242 \r
 243 void            ShutdownOS( StatusType );\r
 244 StatusType      ActivateTask( TaskType TaskID );\r
 245 StatusType      TerminateTask( void );\r
 246 StatusType      ChainTask( TaskType TaskID );\r
 247 StatusType      Schedule( void );\r
 248 \r
 249 typedef uint32 ResourceType;\r
 250 #define DeclareResource(x) extern ResourceType (x);\r
 251 StatusType GetResource( ResourceType ResID );\r
 252 StatusType ReleaseResource( ResourceType ResID);\r
 253
 254 /*
 255  * Define the scheduler resource as 0
 256  */
 257 #define RES_SCHEDULER                   0\r
 258
 259 /*
 260  * Priorities of tasks and resources
 261  */
 262 #define OS_TASK_PRIORITY_MIN    0
 263 #define OS_TASK_PRIORITY_MAX    31
 264 /* Logical priority is higher higher than normal tasks */
 265 #define OS_RES_SCHEDULER_PRIO   32\r
 266 \r
 267 typedef struct OsDriver_s {\r
 268         int     OsGptChannelRef;\r
 269 } OsDriver;\r
 270 \r
 271 /*-------------------------------------------------------------------\r
 272  * Free running timer\r
 273  *-----------------------------------------------------------------*/
 274 typedef const uint32 OsTickType;
 275 void Os_SysTickInit( void );\r
 276 void Os_SysTickStart(uint32_t period_ticks);\r
 277 uint32_t Os_SysTickGetTimeElapsed( void );\r
 278 \r
 279 /*-------------------------------------------------------------------\r
 280  * Counters\r
 281  *-----------------------------------------------------------------*/\r
 282 typedef sint16 CounterType;
 283 \r
 284 typedef uint32 TickType;\r
 285 typedef TickType *TickRefType;\r
 286 \r
 287 StatusType IncrementCounter( CounterType );\r
 288 StatusType GetCounterValue( CounterType, TickRefType );\r
 289 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);\r
 290 \r
 291 /*-------------------------------------------------------------------\r
 292  * Schedule Tables\r
 293  *-----------------------------------------------------------------*/\r
 294 \r
 295 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);\r
 296 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );\r
 297 StatusType StartScheduleTableSynchron(ScheduleTableType sid );\r
 298 StatusType StopScheduleTable(ScheduleTableType sid);\r
 299 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);\r
 300 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time  );\r
 301 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );\r
 302 StatusType SetScheduleTableAsync( ScheduleTableType sid );\r
 303 \r
 304 \r
 305 /*-------------------------------------------------------------------\r
 306  * Alarms\r
 307  *-----------------------------------------------------------------*/\r
 308 \r
 309 typedef uint16 AlarmType;\r
 310 \r
 311 typedef struct {\r
 312         TickType maxallowedvalue;\r
 313         TickType tickperbase;\r
 314         TickType mincycle;\r
 315 } AlarmBaseType;\r
 316 \r
 317 typedef AlarmBaseType *AlarmBaseRefType;\r
 318 \r
 319 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );\r
 320 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);\r
 321 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);\r
 322 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);\r
 323 StatusType CancelAlarm(AlarmType AlarmId);\r
 324 \r
 325 \r
 326 /*-------------------------------------------------------------------\r
 327  * Error's\r
 328  *-----------------------------------------------------------------*/\r
 329 typedef enum {\r
 330     OSServiceId_ActivateTask,\r
 331     OSServiceId_TerminateTask,\r
 332     OSServiceId_ChainTask,\r
 333     OSServiceId_Schedule,\r
 334     OSServiceId_GetTaskID,\r
 335     OSServiceId_GetResource,\r
 336     OSServiceId_ReleaseResource,\r
 337     OSServiceId_SetEvent,\r
 338     OSServiceId_ClearEvent,\r
 339     OSServiceId_GetEvent,\r
 340     OSServiceId_WaitEvent,\r
 341     OSServiceId_GetAlarmBase,\r
 342     OSServiceId_GetAlarm,\r
 343     OSServiceId_SetRelAlarm,\r
 344     OSServiceId_SetAbsAlarm,\r
 345     OSServiceId_CancelAlarm,\r
 346     OSServiceId_StartOS,\r
 347     OSServiceId_ShutdownOS,\r
 348     OSServiceId_ErrorHook,\r
 349     OSServiceId_PreTaskHook,\r
 350     OSServiceId_PostTaskHook,\r
 351     OSServiceId_StartupHook,\r
 352     OSServiceId_ShutdownHook,\r
 353     OSServiceId_GetTaskState,\r
 354 } OsServiceIdType;;\r
 355 \r
 356 typedef struct os_error_s {\r
 357         OsServiceIdType serviceId;\r
 358         uint32_t param1;\r
 359         uint32_t param2;\r
 360         uint32_t param3;\r
 361 } os_error_t;\r
 362 \r
 363 extern os_error_t os_error;\r
 364 \r
 365 // TODO: Add the service id to all OS service methods.\r
 366 static inline OsServiceIdType OSErrorGetServiceId(void)  {\r
 367         return os_error.serviceId;\r
 368 }\r
 369 \r
 370 extern os_error_t os_error;\r
 371 \r
 372 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)\r
 373 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)\r
 374 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)\r
 375 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)\r
 376 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)\r
 377 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)\r
 378 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)\r
 379 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)\r
 380 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)\r
 381 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)\r
 382 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)\r
 383 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)\r
 384 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)\r
 385 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)\r
 386 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)\r
 387 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)\r
 388 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)\r
 389 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)\r
 390 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)\r
 391 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)\r
 392 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)\r
 393 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)\r
 394 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)\r
 395 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)\r
 396 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)\r
 397 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)\r
 398 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)\r
 399
 400 /** @req OS398 */
 401 #if defined(LOCALMESSAGESONLY)
 402 #error LOCALMESSAGESONLY shall not be defined
 403 #endif
 404
 405 \r
 406 /*-------------------------------------------------------------------\r
 407  * COM ( TODO : move )\r
 408  *-----------------------------------------------------------------*/\r
 409 \r
 410 /*\r
 411  * The only information about the COM that is valid is\r
 412  * in the COM specification ..SWS_COM.pdf.\r
 413  *\r
 414  * The most important requirements are COM010 and COM013\r
 415  *\r
 416  * Com_Init()\r
 417  * Com_DeInit()\r
 418  *\r
 419  * No error hooks..\r
 420  * No. GetMessageStatus()\r
 421  * No. SendZeroMessage()\r
 422  * No. SendDynamicMessage(), RecieveDynamicMessage()\r
 423  *\r
 424  * Yes. SendMessage()\r
 425  *\r
 426  * */\r
 427 \r
 428 \r
 429 typedef uint32 MessageType;\r
 430 typedef void *ApplicationDataRef;\r
 431 \r
 432 \r
 433 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );\r
 434 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );\r
 435 \r
 436 /*\r
 437  * ArcCore extensions\r
 438  */\r
 439 TickType GetOsTick();\r
 440 void OsTick(void);\r
 441 void OsIdle(void);\r
 442
 443 #define OS_ISR_TYPE2    0\r
 444 #define OS_ISR_TYPE1    1\r
 445 \r
 446 union isr_attr {\r
 447         TaskType tid;\r
 448         void (*entry)(void);\r
 449 };\r
 450 \r
 451 #endif /*OS_H_*/\r