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