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 typedef uint8 StatusType;
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33 #define E_OS_ACCESS (StatusType)1 /**< STD OSEK */
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34 #define E_OS_CALLEVEL (StatusType)2 /**< STD OSEK */
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35 #define E_OS_ID (StatusType)3 /**< STD OSEK */
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36 #define E_OS_LIMIT (StatusType)4 /**< STD OSEK */
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37 #define E_OS_NOFUNC (StatusType)5 /**< STD OSEK */
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38 #define E_OS_RESOURCE (StatusType)6 /**< STD OSEK */
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39 #define E_OS_STATE (StatusType)7 /**< STD OSEK */
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40 #define E_OS_VALUE (StatusType)8 /**< STD OSEK */
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42 #define E_OS_SERVICEID (StatusType)9 /**< AUTOSAR, see 7.10 */
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43 #define E_OS_RATE (StatusType)10 /**< AUTOSAR, see 7.10 */
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44 #define E_OS_ILLEGAL_ADDRESS (StatusType)11 /**< AUTOSAR, see 7.10 */
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45 #define E_OS_MISSINGEND (StatusType)12 /**< AUTOSAR, see 7.10 */
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46 #define E_OS_DISABLEDINT (StatusType)13 /**< AUTOSAR, see 7.10 */
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47 #define E_OS_STACKFAULT (StatusType)14 /**< AUTOSAR, see 7.10 */
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48 #define E_OS_PROTECTION_MEMORY (StatusType)15 /**< AUTOSAR, see 7.10 */
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49 #define E_OS_PROTECTION_TIME (StatusType)16 /**< AUTOSAR, see 7.10 */
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50 #define E_OS_PROTECTION_LOCKED (StatusType)17 /**< AUTOSAR, see 7.10 */
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51 #define E_OS_PROTECTION_EXCEPTION (StatusType)18 /**< AUTOSAR, see 7.10 */
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52 #define E_OS_PROTECTION_RATE (StatusType)19 /**< AUTOSAR, see 7.10 */
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54 #define E_COM_ID 255
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55 #warning "var ska E_COM_ID vara?"
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58 typedef uint32_t EventMaskType;
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59 typedef EventMaskType * EventMaskRefType;
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60 typedef uint16_t TaskType;
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61 typedef TaskType * TaskRefType;
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66 TASK_STATE_SUSPENDED,
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70 #define INVALID_TASK 0xdeadU
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72 typedef TaskStateType *TaskStateRefType;
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74 /* FIXME: OSMEMORY_IS__ , see 8.2*/
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76 #define OSDEFAULTAPPMODE 1
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78 #define INVALID_OSAPPLICATION (-1)
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80 /* TODO, I have no idea what this should be*/
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81 typedef sint32 ApplicationType;
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83 /* See oil config for defines */
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84 typedef sint32 AppModeType;
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86 /* FIXME: more types here */
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87 typedef uint16 ScheduleTableType;
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88 typedef uint16 GlobalTimeTickType;
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91 SCHEDULETABLE_STOPPED,
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93 SCHEDULETABLE_WAITING,
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94 SCHEDULETABLE_RUNNING,
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95 SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS
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96 } ScheduleTableStatusType;
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98 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;
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100 /* Flags for AccessType */
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101 #define ACCESSTYPE_W 1
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102 #define ACCESSTYPE_R (1<<1)
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104 typedef uint32 AccessType;
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109 } ObjectAccessType;
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117 OBJECT_SCHEDULETABLE,
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124 PRO_KILLAPPL_RESTART,
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126 } ProtectionReturnType;
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134 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);
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135 typedef void (*StartupHookType)( void );
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136 typedef void (*ShutdownHookType)( StatusType );
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137 typedef void (*ErrorHookType)( StatusType );
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138 typedef void (*PreTaskHookType)( void );
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139 typedef void (*PostTaskHookType)( void );
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141 ProtectionReturnType ProtectionHook( StatusType FatalError );
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142 void StartupHook( void );
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143 void ShutdownHook( StatusType Error );
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144 void ErrorHook( StatusType Error );
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145 void PreTaskHook( void );
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146 void PostTaskHook( void );
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148 typedef uint16 TrustedFunctionIndexType;
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149 typedef void * TrustedFunctionParameterRefType;
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152 #define INVALID_ISR ((sint16)(-1))
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153 typedef sint16 ISRType;
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155 typedef void * MemoryStartAddressType;
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156 typedef uint32 MemorySizeType;
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159 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)
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160 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)
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161 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)
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163 StatusType WaitEvent( EventMaskType Mask );
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164 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );
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165 StatusType ClearEvent( EventMaskType Mask);
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166 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);
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168 void InitOS( void );
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169 void StartOS( AppModeType Mode );
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173 ApplicationType GetApplicationID( void );
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174 ISRType GetISRID( void );
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175 StatusType GetActiveApplicationMode( AppModeType* mode);
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177 typedef int8_t Os_IntCounterType;
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179 /* requirements here: OS368(ISR2), OS092 */
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181 extern Os_IntCounterType Os_IntDisableAllCnt;
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182 extern Os_IntCounterType Os_IntSuspendAllCnt;
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183 extern Os_IntCounterType Os_IntSuspendOsCnt;
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188 /* OSEK: States that " service does not support nesting", but says
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189 * nothing what to do about it.
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191 * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
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192 * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
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193 * SuspendOSInterrupts() was done before, the Operating System shall not
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194 * perform this OS service.
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196 static inline void DisableAllInterrupts( void ) {
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198 Os_IntDisableAllCnt++;
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199 /* No nesting allowed */
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200 assert(Os_IntDisableAllCnt==1);
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203 static inline void EnableAllInterrupts( void ) {
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205 if(Os_IntDisableAllCnt==0) {
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206 /** @req OS092 EnableAllInterrupts */
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208 Os_IntDisableAllCnt--;
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213 static inline void SuspendAllInterrupts( void ) {
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215 Os_IntSuspendAllCnt++;
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218 static inline void ResumeAllInterrupts( void ) {
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220 if(Os_IntSuspendAllCnt==0) {
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221 /** @req OS092 ResumeAllInterrupts */
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223 Os_IntSuspendAllCnt--;
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228 /* Only ISR2 interrupts should be suspended but this can NEVER be
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229 * done in a more efficient way than to disable all, so let's
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230 * do that for all targets.
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233 static inline void SuspendOSInterrupts( void ) {
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235 Os_IntSuspendOsCnt++;
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238 static inline void ResumeOSInterrupts( void ) {
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240 if(Os_IntSuspendOsCnt==0) {
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241 /** @req OS092 ResumeOSInterrupts */
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243 Os_IntSuspendOsCnt--;
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249 * Class 2,3 and 4 API
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251 ApplicationType GetApplicationID( void );
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252 AccessType CheckISRMemoryAccess( ISRType ISRID,
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253 MemoryStartAddressType Address,
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254 MemorySizeType Size );
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256 AccessType CheckTaskMemoryAccess( TaskType TaskID,
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257 MemoryStartAddressType Address,
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258 MemorySizeType Size );
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260 StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,
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261 TrustedFunctionParameterRefType FunctionParams );
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263 StatusType GetTaskID( TaskRefType TaskID );
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264 StatusType GetTaskState( TaskType task_id, TaskStateRefType state);
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266 void ShutdownOS( StatusType );
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267 StatusType ActivateTask( TaskType TaskID );
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268 StatusType TerminateTask( void );
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269 StatusType ChainTask( TaskType TaskID );
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270 StatusType Schedule( void );
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272 typedef uint8 ResourceType;
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273 #define DeclareResource(x) extern ResourceType (x);
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274 StatusType GetResource( ResourceType ResID );
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275 StatusType ReleaseResource( ResourceType ResID);
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278 * Define scheduler as topmost
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280 #define RES_SCHEDULER OS_RESOURCE_CNT
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283 * Priorities of tasks and resources
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285 #define OS_TASK_PRIORITY_MIN 0
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286 #define OS_TASK_PRIORITY_MAX 31
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287 /* Logical priority is higher higher than normal tasks */
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288 #define OS_RES_SCHEDULER_PRIO 32
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290 typedef struct OsDriver_s {
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291 int OsGptChannelRef;
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296 /*-------------------------------------------------------------------
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298 *-----------------------------------------------------------------*/
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299 typedef sint16 CounterType;
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301 typedef uint32 TickType;
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302 typedef TickType *TickRefType;
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304 StatusType IncrementCounter( CounterType );
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305 StatusType GetCounterValue( CounterType, TickRefType );
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306 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);
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309 /*-------------------------------------------------------------------
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311 *-----------------------------------------------------------------*/
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312 typedef const uint32 OsTickType;
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313 void Os_SysTickInit( void );
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314 void Os_SysTickStart(TickType period_ticks);
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315 TickType Os_SysTickGetValue( void );
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316 TickType Os_SysTickGetElapsedValue( TickType preValue );
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318 /*-------------------------------------------------------------------
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320 *-----------------------------------------------------------------*/
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322 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);
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323 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );
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324 StatusType StartScheduleTableSynchron(ScheduleTableType sid );
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325 StatusType StopScheduleTable(ScheduleTableType sid);
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326 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);
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327 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time );
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328 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );
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329 StatusType SetScheduleTableAsync( ScheduleTableType sid );
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332 /*-------------------------------------------------------------------
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334 *-----------------------------------------------------------------*/
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336 typedef uint16 AlarmType;
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339 TickType maxallowedvalue;
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340 TickType tickperbase;
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344 typedef AlarmBaseType *AlarmBaseRefType;
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346 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );
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347 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);
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348 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);
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349 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);
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350 StatusType CancelAlarm(AlarmType AlarmId);
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353 /*-------------------------------------------------------------------
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355 *-----------------------------------------------------------------*/
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357 OSServiceId_ActivateTask,
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358 OSServiceId_TerminateTask,
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359 OSServiceId_ChainTask,
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360 OSServiceId_Schedule,
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361 OSServiceId_GetTaskID,
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362 OSServiceId_GetResource,
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363 OSServiceId_ReleaseResource,
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364 OSServiceId_SetEvent,
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365 OSServiceId_ClearEvent,
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366 OSServiceId_GetEvent,
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367 OSServiceId_WaitEvent,
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368 OSServiceId_GetAlarmBase,
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369 OSServiceId_GetAlarm,
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370 OSServiceId_SetRelAlarm,
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371 OSServiceId_SetAbsAlarm,
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372 OSServiceId_CancelAlarm,
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373 OSServiceId_StartOS,
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374 OSServiceId_ShutdownOS,
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375 OSServiceId_ErrorHook,
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376 OSServiceId_PreTaskHook,
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377 OSServiceId_PostTaskHook,
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378 OSServiceId_StartupHook,
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379 OSServiceId_ShutdownHook,
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380 OSServiceId_GetTaskState
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383 typedef struct OsError {
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384 OsServiceIdType serviceId;
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390 extern OsErrorType os_error;
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392 // TODO: Add the service id to all OS service methods.
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393 static inline OsServiceIdType OSErrorGetServiceId(void) {
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394 return os_error.serviceId;
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397 extern OsErrorType os_error;
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399 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)
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400 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)
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401 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)
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402 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)
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403 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)
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404 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)
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405 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)
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406 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)
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407 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)
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408 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)
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409 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)
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410 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)
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411 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)
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412 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)
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413 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)
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414 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)
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415 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)
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416 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)
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417 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)
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418 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)
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419 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)
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420 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)
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421 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)
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422 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)
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423 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)
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424 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)
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425 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)
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428 #if defined(LOCALMESSAGESONLY)
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429 #error LOCALMESSAGESONLY shall not be defined
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433 /*-------------------------------------------------------------------
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434 * COM ( TODO : move )
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435 *-----------------------------------------------------------------*/
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438 * The only information about the COM that is valid is
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439 * in the COM specification ..SWS_COM.pdf.
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441 * The most important requirements are COM010 and COM013
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447 * No. GetMessageStatus()
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448 * No. SendZeroMessage()
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449 * No. SendDynamicMessage(), RecieveDynamicMessage()
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451 * Yes. SendMessage()
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456 typedef uint32 MessageType;
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457 typedef void *ApplicationDataRef;
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460 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );
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461 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );
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464 * ArcCore extensions
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466 TickType GetOsTick();
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470 #define OS_ISR_TYPE2 0
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471 #define OS_ISR_TYPE1 1
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475 void (*entry)(void);
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480 #define TTY_WINIDEA 4
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481 #define TTY_SERIAL 8
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