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 // TODO: var ska E_COM_ID vara?"
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57 typedef uint32_t EventMaskType;
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58 typedef EventMaskType * EventMaskRefType;
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59 typedef uint16_t TaskType;
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60 typedef TaskType * TaskRefType;
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65 TASK_STATE_SUSPENDED,
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69 #define INVALID_TASK 0xdeadU
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71 typedef TaskStateType *TaskStateRefType;
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73 /* FIXME: OSMEMORY_IS__ , see 8.2*/
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75 #define OSDEFAULTAPPMODE 1
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77 #define INVALID_OSAPPLICATION (-1)
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79 /* TODO, I have no idea what this should be*/
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80 typedef sint32 ApplicationType;
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82 /* See oil config for defines */
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83 typedef sint32 AppModeType;
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85 /* FIXME: more types here */
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86 typedef uint16 ScheduleTableType;
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87 typedef uint16 GlobalTimeTickType;
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90 SCHEDULETABLE_STOPPED,
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92 SCHEDULETABLE_WAITING,
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93 SCHEDULETABLE_RUNNING,
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94 SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS
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95 } ScheduleTableStatusType;
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97 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;
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99 /* Flags for AccessType */
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100 #define ACCESSTYPE_W 1
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101 #define ACCESSTYPE_R (1<<1)
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103 typedef uint32 AccessType;
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108 } ObjectAccessType;
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116 OBJECT_SCHEDULETABLE,
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123 PRO_KILLAPPL_RESTART,
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125 } ProtectionReturnType;
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133 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);
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134 typedef void (*StartupHookType)( void );
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135 typedef void (*ShutdownHookType)( StatusType );
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136 typedef void (*ErrorHookType)( StatusType );
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137 typedef void (*PreTaskHookType)( void );
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138 typedef void (*PostTaskHookType)( void );
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140 ProtectionReturnType ProtectionHook( StatusType FatalError );
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141 void StartupHook( void );
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142 void ShutdownHook( StatusType Error );
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143 void ErrorHook( StatusType Error );
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144 void PreTaskHook( void );
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145 void PostTaskHook( void );
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147 typedef uint16 TrustedFunctionIndexType;
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148 typedef void * TrustedFunctionParameterRefType;
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151 #define INVALID_ISR ((sint16)(-1))
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152 typedef sint16 ISRType;
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154 typedef void * MemoryStartAddressType;
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155 typedef uint32 MemorySizeType;
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158 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)
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159 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)
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160 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)
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162 StatusType WaitEvent( EventMaskType Mask );
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163 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );
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164 StatusType ClearEvent( EventMaskType Mask);
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165 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);
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167 void InitOS( void );
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168 void StartOS( AppModeType Mode );
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172 ApplicationType GetApplicationID( void );
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173 ISRType GetISRID( void );
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174 StatusType GetActiveApplicationMode( AppModeType* mode);
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176 typedef int8_t Os_IntCounterType;
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178 /* requirements here: OS368(ISR2), OS092 */
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180 extern Os_IntCounterType Os_IntDisableAllCnt;
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181 extern Os_IntCounterType Os_IntSuspendAllCnt;
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182 extern Os_IntCounterType Os_IntSuspendOsCnt;
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187 /* OSEK: States that " service does not support nesting", but says
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188 * nothing what to do about it.
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190 * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
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191 * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
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192 * SuspendOSInterrupts() was done before, the Operating System shall not
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193 * perform this OS service.
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195 static inline void DisableAllInterrupts( void ) {
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197 Os_IntDisableAllCnt++;
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198 /* No nesting allowed */
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199 assert(Os_IntDisableAllCnt==1);
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202 static inline void EnableAllInterrupts( void ) {
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204 if(Os_IntDisableAllCnt==0) {
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205 /** @req OS092 EnableAllInterrupts */
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207 Os_IntDisableAllCnt--;
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212 static inline void SuspendAllInterrupts( void ) {
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214 Os_IntSuspendAllCnt++;
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217 static inline void ResumeAllInterrupts( void ) {
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219 if(Os_IntSuspendAllCnt==0) {
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220 /** @req OS092 ResumeAllInterrupts */
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222 Os_IntSuspendAllCnt--;
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227 /* Only ISR2 interrupts should be suspended but this can NEVER be
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228 * done in a more efficient way than to disable all, so let's
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229 * do that for all targets.
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232 static inline void SuspendOSInterrupts( void ) {
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234 Os_IntSuspendOsCnt++;
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237 static inline void ResumeOSInterrupts( void ) {
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239 if(Os_IntSuspendOsCnt==0) {
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240 /** @req OS092 ResumeOSInterrupts */
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242 Os_IntSuspendOsCnt--;
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248 * Class 2,3 and 4 API
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250 ApplicationType GetApplicationID( void );
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251 AccessType CheckISRMemoryAccess( ISRType ISRID,
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252 MemoryStartAddressType Address,
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253 MemorySizeType Size );
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255 AccessType CheckTaskMemoryAccess( TaskType TaskID,
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256 MemoryStartAddressType Address,
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257 MemorySizeType Size );
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259 StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,
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260 TrustedFunctionParameterRefType FunctionParams );
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262 StatusType GetTaskID( TaskRefType TaskID );
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263 StatusType GetTaskState( TaskType task_id, TaskStateRefType state);
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265 void ShutdownOS( StatusType );
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266 StatusType ActivateTask( TaskType TaskID );
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267 StatusType TerminateTask( void );
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268 StatusType ChainTask( TaskType TaskID );
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269 StatusType Schedule( void );
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271 typedef uint8 ResourceType;
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272 #define DeclareResource(x) extern ResourceType (x);
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273 StatusType GetResource( ResourceType ResID );
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274 StatusType ReleaseResource( ResourceType ResID);
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277 * Define scheduler as topmost
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279 #define RES_SCHEDULER OS_RESOURCE_CNT
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282 * Priorities of tasks and resources
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284 #define OS_TASK_PRIORITY_MIN 0
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285 #define OS_TASK_PRIORITY_MAX 31
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286 /* Logical priority is higher higher than normal tasks */
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287 #define OS_RES_SCHEDULER_PRIO 32
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289 typedef struct OsDriver_s {
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290 int OsGptChannelRef;
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295 /*-------------------------------------------------------------------
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297 *-----------------------------------------------------------------*/
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298 typedef sint16 CounterType;
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300 typedef uint32 TickType;
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301 typedef TickType *TickRefType;
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303 StatusType IncrementCounter( CounterType );
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304 StatusType GetCounterValue( CounterType, TickRefType );
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305 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);
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308 /*-------------------------------------------------------------------
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310 *-----------------------------------------------------------------*/
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311 typedef const uint32 OsTickType;
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312 void Os_SysTickInit( void );
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313 void Os_SysTickStart(TickType period_ticks);
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314 TickType Os_SysTickGetValue( void );
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315 TickType Os_SysTickGetElapsedValue( TickType preValue );
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317 /*-------------------------------------------------------------------
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319 *-----------------------------------------------------------------*/
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321 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);
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322 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );
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323 StatusType StartScheduleTableSynchron(ScheduleTableType sid );
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324 StatusType StopScheduleTable(ScheduleTableType sid);
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325 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);
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326 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time );
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327 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );
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328 StatusType SetScheduleTableAsync( ScheduleTableType sid );
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331 /*-------------------------------------------------------------------
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333 *-----------------------------------------------------------------*/
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335 typedef uint16 AlarmType;
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338 TickType maxallowedvalue;
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339 TickType tickperbase;
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343 typedef AlarmBaseType *AlarmBaseRefType;
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345 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );
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346 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);
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347 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);
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348 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);
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349 StatusType CancelAlarm(AlarmType AlarmId);
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352 /*-------------------------------------------------------------------
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354 *-----------------------------------------------------------------*/
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356 OSServiceId_ActivateTask,
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357 OSServiceId_TerminateTask,
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358 OSServiceId_ChainTask,
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359 OSServiceId_Schedule,
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360 OSServiceId_GetTaskID,
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361 OSServiceId_GetResource,
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362 OSServiceId_ReleaseResource,
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363 OSServiceId_SetEvent,
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364 OSServiceId_ClearEvent,
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365 OSServiceId_GetEvent,
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366 OSServiceId_WaitEvent,
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367 OSServiceId_GetAlarmBase,
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368 OSServiceId_GetAlarm,
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369 OSServiceId_SetRelAlarm,
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370 OSServiceId_SetAbsAlarm,
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371 OSServiceId_CancelAlarm,
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372 OSServiceId_StartOS,
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373 OSServiceId_ShutdownOS,
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374 OSServiceId_ErrorHook,
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375 OSServiceId_PreTaskHook,
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376 OSServiceId_PostTaskHook,
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377 OSServiceId_StartupHook,
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378 OSServiceId_ShutdownHook,
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379 OSServiceId_GetTaskState
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382 typedef struct OsError {
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383 OsServiceIdType serviceId;
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389 extern OsErrorType os_error;
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391 // TODO: Add the service id to all OS service methods.
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392 static inline OsServiceIdType OSErrorGetServiceId(void) {
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393 return os_error.serviceId;
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396 extern OsErrorType os_error;
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398 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)
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399 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)
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400 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)
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401 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)
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402 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)
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403 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)
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404 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)
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405 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)
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406 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)
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407 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)
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408 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)
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409 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)
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410 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)
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411 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)
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412 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)
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413 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)
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414 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)
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415 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)
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416 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)
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417 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)
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418 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)
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419 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)
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420 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)
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421 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)
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422 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)
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423 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)
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424 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)
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427 #if defined(LOCALMESSAGESONLY)
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428 #error LOCALMESSAGESONLY shall not be defined
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432 /*-------------------------------------------------------------------
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433 * COM ( TODO : move )
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434 *-----------------------------------------------------------------*/
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437 * The only information about the COM that is valid is
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438 * in the COM specification ..SWS_COM.pdf.
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440 * The most important requirements are COM010 and COM013
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446 * No. GetMessageStatus()
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447 * No. SendZeroMessage()
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448 * No. SendDynamicMessage(), RecieveDynamicMessage()
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450 * Yes. SendMessage()
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455 typedef uint32 MessageType;
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456 typedef void *ApplicationDataRef;
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459 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );
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460 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );
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463 * ArcCore extensions
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465 TickType GetOsTick();
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469 #define OS_ISR_TYPE2 0
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470 #define OS_ISR_TYPE1 1
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474 void (*entry)(void);
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479 #define TTY_WINIDEA 4
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480 #define TTY_SERIAL 8
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