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