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 uint32_t EventMaskType;
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32 typedef EventMaskType * EventMaskRefType;
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33 typedef uint16_t TaskType;
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34 typedef TaskType * TaskRefType;
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39 TASK_STATE_SUSPENDED,
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43 #define INVALID_TASK 0xdeadU
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45 typedef TaskStateType *TaskStateRefType;
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47 /* FIXME: OSMEMORY_IS__ , see 8.2*/
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49 #define OSDEFAULTAPPMODE 1
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51 #define INVALID_OSAPPLICATION (-1)
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53 /* TODO, I have no idea what this should be*/
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54 typedef sint32 ApplicationType;
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56 /* See oil config for defines */
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57 typedef sint32 AppModeType;
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59 /* FIXME: more types here */
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60 typedef uint16 ScheduleTableType;
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61 typedef uint16 GlobalTimeTickType;
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64 SCHEDULETABLE_STOPPED,
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66 SCHEDULETABLE_WAITING,
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67 SCHEDULETABLE_RUNNING,
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68 SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS
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69 } ScheduleTableStatusType;
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71 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;
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73 /* Flags for AccessType */
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74 #define ACCESSTYPE_W 1
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75 #define ACCESSTYPE_R (1<<1)
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77 typedef uint32 AccessType;
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90 OBJECT_SCHEDULETABLE,
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97 PRO_KILLAPPL_RESTART,
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99 } ProtectionReturnType;
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107 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);
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108 typedef void (*StartupHookType)( void );
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109 typedef void (*ShutdownHookType)( StatusType );
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110 typedef void (*ErrorHookType)( StatusType );
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111 typedef void (*PreTaskHookType)( void );
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112 typedef void (*PostTaskHookType)( void );
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114 ProtectionReturnType ProtectionHook( StatusType FatalError );
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115 void StartupHook( void );
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116 void ShutdownHook( StatusType Error );
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117 void ErrorHook( StatusType Error );
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118 void PreTaskHook( void );
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119 void PostTaskHook( void );
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121 typedef uint16 TrustedFunctionIndexType;
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122 typedef void * TrustedFunctionParameterRefType;
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125 #define INVALID_ISR ((sint16)(-1))
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126 typedef sint16 ISRType;
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128 typedef void * MemoryStartAddressType;
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129 typedef uint32 MemorySizeType;
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132 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)
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133 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)
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134 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)
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136 StatusType WaitEvent( EventMaskType Mask );
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137 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );
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138 StatusType ClearEvent( EventMaskType Mask);
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139 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);
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141 void InitOS( void );
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142 void StartOS( AppModeType Mode );
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146 ApplicationType GetApplicationID( void );
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147 ISRType GetISRID( void );
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148 StatusType GetActiveApplicationMode( AppModeType* mode);
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150 typedef int8_t Os_IntCounterType;
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152 /* requirements here: OS368(ISR2), OS092 */
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154 extern Os_IntCounterType Os_IntDisableAllCnt;
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155 extern Os_IntCounterType Os_IntSuspendAllCnt;
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156 extern Os_IntCounterType Os_IntSuspendOsCnt;
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161 /* OSEK: States that " service does not support nesting", but says
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162 * nothing what to do about it.
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164 * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
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165 * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
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166 * SuspendOSInterrupts() was done before, the Operating System shall not
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167 * perform this OS service.
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169 static inline void DisableAllInterrupts( void ) {
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171 Os_IntDisableAllCnt++;
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172 /* No nesting allowed */
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173 assert(Os_IntDisableAllCnt==1);
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176 static inline void EnableAllInterrupts( void ) {
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178 if(Os_IntDisableAllCnt==0) {
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179 /** @req OS092 EnableAllInterrupts */
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181 Os_IntDisableAllCnt--;
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186 static inline void SuspendAllInterrupts( void ) {
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188 Os_IntSuspendAllCnt++;
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191 static inline void ResumeAllInterrupts( void ) {
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193 if(Os_IntSuspendAllCnt==0) {
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194 /** @req OS092 ResumeAllInterrupts */
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196 Os_IntSuspendAllCnt--;
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201 /* Only ISR2 interrupts should be suspended but this can NEVER be
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202 * done in a more efficient way than to disable all, so let's
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203 * do that for all targets.
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206 static inline void SuspendOSInterrupts( void ) {
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208 Os_IntSuspendOsCnt++;
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211 static inline void ResumeOSInterrupts( void ) {
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213 if(Os_IntSuspendOsCnt==0) {
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214 /** @req OS092 ResumeOSInterrupts */
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216 Os_IntSuspendOsCnt--;
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222 * Class 2,3 and 4 API
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224 ApplicationType GetApplicationID( void );
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225 AccessType CheckISRMemoryAccess( ISRType ISRID,
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226 MemoryStartAddressType Address,
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227 MemorySizeType Size );
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229 AccessType CheckTaskMemoryAccess( TaskType TaskID,
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230 MemoryStartAddressType Address,
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231 MemorySizeType Size );
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233 StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,
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234 TrustedFunctionParameterRefType FunctionParams );
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236 StatusType GetTaskID( TaskRefType TaskID );
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237 StatusType GetTaskState( TaskType task_id, TaskStateRefType state);
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239 void ShutdownOS( StatusType );
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240 StatusType ActivateTask( TaskType TaskID );
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241 StatusType TerminateTask( void );
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242 StatusType ChainTask( TaskType TaskID );
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243 StatusType Schedule( void );
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245 typedef uint8 ResourceType;
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246 #define DeclareResource(x) extern ResourceType (x);
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247 StatusType GetResource( ResourceType ResID );
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248 StatusType ReleaseResource( ResourceType ResID);
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251 * Define scheduler as topmost
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253 #define RES_SCHEDULER OS_RESOURCE_CNT
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256 * Priorities of tasks and resources
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258 #define OS_TASK_PRIORITY_MIN 0
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259 #define OS_TASK_PRIORITY_MAX 31
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260 /* Logical priority is higher higher than normal tasks */
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261 #define OS_RES_SCHEDULER_PRIO 32
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263 typedef struct OsDriver_s {
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264 int OsGptChannelRef;
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269 /*-------------------------------------------------------------------
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271 *-----------------------------------------------------------------*/
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272 typedef sint16 CounterType;
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274 typedef uint32 TickType;
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275 typedef TickType *TickRefType;
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277 StatusType IncrementCounter( CounterType );
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278 StatusType GetCounterValue( CounterType, TickRefType );
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279 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);
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282 /*-------------------------------------------------------------------
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284 *-----------------------------------------------------------------*/
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285 typedef const uint32 OsTickType;
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286 void Os_SysTickInit( void );
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287 void Os_SysTickStart(TickType period_ticks);
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288 TickType Os_SysTickGetValue( void );
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289 TickType Os_SysTickGetElapsedValue( TickType preValue );
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291 /*-------------------------------------------------------------------
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293 *-----------------------------------------------------------------*/
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295 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);
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296 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );
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297 StatusType StartScheduleTableSynchron(ScheduleTableType sid );
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298 StatusType StopScheduleTable(ScheduleTableType sid);
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299 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);
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300 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time );
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301 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );
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302 StatusType SetScheduleTableAsync( ScheduleTableType sid );
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305 /*-------------------------------------------------------------------
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307 *-----------------------------------------------------------------*/
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309 typedef uint16 AlarmType;
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312 TickType maxallowedvalue;
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313 TickType tickperbase;
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317 typedef AlarmBaseType *AlarmBaseRefType;
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319 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );
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320 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);
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321 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);
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322 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);
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323 StatusType CancelAlarm(AlarmType AlarmId);
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326 /*-------------------------------------------------------------------
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328 *-----------------------------------------------------------------*/
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330 OSServiceId_ActivateTask,
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331 OSServiceId_TerminateTask,
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332 OSServiceId_ChainTask,
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333 OSServiceId_Schedule,
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334 OSServiceId_GetTaskID,
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335 OSServiceId_GetResource,
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336 OSServiceId_ReleaseResource,
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337 OSServiceId_SetEvent,
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338 OSServiceId_ClearEvent,
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339 OSServiceId_GetEvent,
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340 OSServiceId_WaitEvent,
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341 OSServiceId_GetAlarmBase,
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342 OSServiceId_GetAlarm,
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343 OSServiceId_SetRelAlarm,
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344 OSServiceId_SetAbsAlarm,
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345 OSServiceId_CancelAlarm,
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346 OSServiceId_StartOS,
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347 OSServiceId_ShutdownOS,
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348 OSServiceId_ErrorHook,
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349 OSServiceId_PreTaskHook,
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350 OSServiceId_PostTaskHook,
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351 OSServiceId_StartupHook,
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352 OSServiceId_ShutdownHook,
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353 OSServiceId_GetTaskState,
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356 typedef struct OsError {
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357 OsServiceIdType serviceId;
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363 extern OsErrorType os_error;
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365 // TODO: Add the service id to all OS service methods.
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366 static inline OsServiceIdType OSErrorGetServiceId(void) {
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367 return os_error.serviceId;
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370 extern OsErrorType os_error;
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372 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)
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373 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)
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374 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)
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375 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)
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376 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)
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377 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)
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378 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)
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379 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)
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380 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)
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381 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)
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382 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)
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383 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)
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384 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)
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385 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)
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386 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)
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387 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)
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388 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)
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389 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)
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390 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)
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391 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)
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392 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)
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393 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)
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394 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)
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395 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)
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396 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)
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397 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)
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398 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)
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401 #if defined(LOCALMESSAGESONLY)
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402 #error LOCALMESSAGESONLY shall not be defined
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406 /*-------------------------------------------------------------------
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407 * COM ( TODO : move )
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408 *-----------------------------------------------------------------*/
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411 * The only information about the COM that is valid is
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412 * in the COM specification ..SWS_COM.pdf.
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414 * The most important requirements are COM010 and COM013
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420 * No. GetMessageStatus()
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421 * No. SendZeroMessage()
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422 * No. SendDynamicMessage(), RecieveDynamicMessage()
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424 * Yes. SendMessage()
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429 typedef uint32 MessageType;
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430 typedef void *ApplicationDataRef;
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433 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );
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434 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );
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437 * ArcCore extensions
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439 TickType GetOsTick();
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443 #define OS_ISR_TYPE2 0
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444 #define OS_ISR_TYPE1 1
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448 void (*entry)(void);
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453 #define TTY_WINIDEA 4
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454 #define TTY_SERIAL 8
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