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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22 #define OS_SW_MAJOR_VERSION 2
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23 #define OS_SW_MINOR_VERSION 0
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24 #define OS_SW_PATCH_VERSION 0
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27 #include "Std_Types.h"
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32 #include <sys/queue.h>
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34 typedef uint8 StatusType;
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36 #if (OS_ISR_CNT > OS_ISR_MAX_CNT)
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37 #error OS configuration error. OS_ISR_MAX_CNT must be bigger or equal to OS_ISR_CNT
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40 #define E_OS_ACCESS (StatusType)1 /**< STD OSEK */
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41 #define E_OS_CALLEVEL (StatusType)2 /**< STD OSEK */
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42 #define E_OS_ID (StatusType)3 /**< STD OSEK */
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43 #define E_OS_LIMIT (StatusType)4 /**< STD OSEK */
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44 #define E_OS_NOFUNC (StatusType)5 /**< STD OSEK */
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45 #define E_OS_RESOURCE (StatusType)6 /**< STD OSEK */
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46 #define E_OS_STATE (StatusType)7 /**< STD OSEK */
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47 #define E_OS_VALUE (StatusType)8 /**< STD OSEK */
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49 #define E_OS_SERVICEID (StatusType)9 /**< AUTOSAR, see 7.10 */
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50 #define E_OS_RATE (StatusType)10 /**< AUTOSAR, see 7.10 */
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51 #define E_OS_ILLEGAL_ADDRESS (StatusType)11 /**< AUTOSAR, see 7.10 */
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52 #define E_OS_MISSINGEND (StatusType)12 /**< AUTOSAR, see 7.10 */
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53 #define E_OS_DISABLEDINT (StatusType)13 /**< AUTOSAR, see 7.10 */
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54 #define E_OS_STACKFAULT (StatusType)14 /**< AUTOSAR, see 7.10 */
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55 #define E_OS_PROTECTION_MEMORY (StatusType)15 /**< AUTOSAR, see 7.10 */
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56 #define E_OS_PROTECTION_TIME (StatusType)16 /**< AUTOSAR, see 7.10 */
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57 #define E_OS_PROTECTION_LOCKED (StatusType)17 /**< AUTOSAR, see 7.10 */
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58 #define E_OS_PROTECTION_EXCEPTION (StatusType)18 /**< AUTOSAR, see 7.10 */
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59 #define E_OS_PROTECTION_RATE (StatusType)19 /**< AUTOSAR, see 7.10 */
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61 #define E_COM_ID 255 // TODO: var ska E_COM_ID vara?"
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64 typedef uint32_t EventMaskType;
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65 typedef EventMaskType * EventMaskRefType;
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66 typedef uint16_t TaskType;
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67 typedef TaskType * TaskRefType;
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72 TASK_STATE_SUSPENDED,
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76 #define INVALID_TASK 0xdeadU
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78 typedef TaskStateType *TaskStateRefType;
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80 /* FIXME: OSMEMORY_IS__ , see 8.2*/
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82 #define OSMEMORY_IS_READABLE(_access)
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83 #define OSMEMORY_IS_WRITEABLE(_access)
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84 #define OSMEMORY_IS_EXECUTABLE(_access)
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85 #define OSMEMORY_IS_STACKSPACE(_access)
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87 #define OSDEFAULTAPPMODE 1
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89 #define INVALID_OSAPPLICATION (-1)
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91 /* TODO, I have no idea what this should be*/
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92 #if (OS_USE_APPLICATIONS == STD_ON)
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93 typedef sint32 ApplicationType;
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96 APPLICATION_ACCESSIBLE,
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97 APPLICATION_RESTARTING,
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98 APPLICATION_TERMINATED
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99 } ApplicationStateType;
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101 typedef ApplicationStateType *ApplicationStateRefType;
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104 /* See oil config for defines */
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105 typedef sint32 AppModeType;
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107 /* FIXME: more types here */
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108 typedef uint16 ScheduleTableType;
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109 typedef uint16 GlobalTimeTickType;
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112 SCHEDULETABLE_STOPPED,
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113 SCHEDULETABLE_NEXT,
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114 SCHEDULETABLE_WAITING,
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115 SCHEDULETABLE_RUNNING,
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116 SCHEDULETABLE_RUNNING_AND_SYNCHRONOUS
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117 } ScheduleTableStatusType;
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119 typedef ScheduleTableStatusType *ScheduleTableStatusRefType;
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121 /* Flags for AccessType */
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122 #define ACCESSTYPE_W 1
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123 #define ACCESSTYPE_R (1<<1)
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125 typedef uint32 AccessType;
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130 } ObjectAccessType;
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138 OBJECT_SCHEDULETABLE,
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145 PRO_KILLAPPL_RESTART,
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147 } ProtectionReturnType;
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155 typedef ProtectionReturnType (*ProtectionHookType)( StatusType);
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156 typedef void (*StartupHookType)( void );
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157 typedef void (*ShutdownHookType)( StatusType );
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158 typedef void (*ErrorHookType)( StatusType );
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159 typedef void (*PreTaskHookType)( void );
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160 typedef void (*PostTaskHookType)( void );
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162 ProtectionReturnType ProtectionHook( StatusType FatalError );
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163 void StartupHook( void );
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164 void ShutdownHook( StatusType Error );
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165 void ErrorHook( StatusType Error );
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166 void PreTaskHook( void );
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167 void PostTaskHook( void );
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169 typedef uint16 TrustedFunctionIndexType;
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170 typedef void * TrustedFunctionParameterRefType;
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173 #define INVALID_ISR ((sint16)(-1))
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174 typedef sint16 ISRType;
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176 #define APP_NO_OWNER (-1UL)
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178 typedef void * MemoryStartAddressType;
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179 typedef uint32 MemorySizeType;
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182 #define WaitEvent(...) SC_CALL(WaitEvent,1,1,__VA_ARGS__)
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183 #define SetEvent(...) SC_CALL(SetEvent,2,2,__VA_ARGS__)
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184 #define ClearEvent(...) SC_CALL(ClearEvent,3,1,__VA_ARGS__)
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186 StatusType WaitEvent( EventMaskType Mask );
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187 StatusType SetEvent( TaskType TaskID, EventMaskType Mask );
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188 StatusType ClearEvent( EventMaskType Mask);
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189 StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);
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191 void InitOS( void );
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192 void StartOS( AppModeType Mode );
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194 ISRType GetISRID( void );
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195 StatusType GetActiveApplicationMode( AppModeType* mode);
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197 typedef int8_t Os_IntCounterType;
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199 /* requirements here: OS368(ISR2), OS092 */
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201 extern Os_IntCounterType Os_IntDisableAllCnt;
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202 extern Os_IntCounterType Os_IntSuspendAllCnt;
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203 extern Os_IntCounterType Os_IntSuspendOsCnt;
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208 /* OSEK: States that " service does not support nesting", but says
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209 * nothing what to do about it.
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211 * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
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212 * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
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213 * SuspendOSInterrupts() was done before, the Operating System shall not
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214 * perform this OS service.
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216 static inline void DisableAllInterrupts( void ) {
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218 Os_IntDisableAllCnt++;
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219 /* No nesting allowed */
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220 assert(Os_IntDisableAllCnt==1);
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223 static inline void EnableAllInterrupts( void ) {
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225 if(Os_IntDisableAllCnt==0) {
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226 /** @req OS092 EnableAllInterrupts */
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228 Os_IntDisableAllCnt--;
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233 static inline void SuspendAllInterrupts( void ) {
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235 Os_IntSuspendAllCnt++;
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238 static inline void ResumeAllInterrupts( void ) {
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240 if(Os_IntSuspendAllCnt==0) {
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241 /** @req OS092 ResumeAllInterrupts */
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243 Os_IntSuspendAllCnt--;
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248 /* Only ISR2 interrupts should be suspended but this can NEVER be
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249 * done in a more efficient way than to disable all, so let's
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250 * do that for all targets.
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253 static inline void SuspendOSInterrupts( void ) {
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255 Os_IntSuspendOsCnt++;
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258 static inline void ResumeOSInterrupts( void ) {
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260 if(Os_IntSuspendOsCnt==0) {
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261 /** @req OS092 ResumeOSInterrupts */
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263 Os_IntSuspendOsCnt--;
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269 * Class 2,3 and 4 API
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272 #if (OS_USE_APPLICATIONS == STD_ON)
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274 ApplicationType GetApplicationID( void );
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275 AccessType CheckISRMemoryAccess( ISRType ISRID,
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276 MemoryStartAddressType Address,
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277 MemorySizeType Size );
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279 AccessType CheckTaskMemoryAccess( TaskType TaskID,
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280 MemoryStartAddressType Address,
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281 MemorySizeType Size );
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283 ObjectAccessType CheckObjectAccess( ApplicationType ApplId,
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284 ObjectTypeType ObjectType,
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285 uint32_t objectId );
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286 ApplicationType CheckObjectOwnership( ObjectTypeType ObjectType,
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287 uint32_t objectId );
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288 StatusType TerminateApplication( ApplicationType Application, RestartType RestartOption );
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289 StatusType AllowAccess( void );
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290 StatusType GetApplicationState( ApplicationType Application, ApplicationStateRefType Value );
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291 StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,
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292 TrustedFunctionParameterRefType FunctionParams );
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295 StatusType GetTaskID( TaskRefType TaskID );
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296 StatusType GetTaskState( TaskType task_id, TaskStateRefType state);
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298 void ShutdownOS( StatusType );
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299 StatusType ActivateTask( TaskType TaskID );
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300 StatusType TerminateTask( void );
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301 StatusType ChainTask( TaskType TaskID );
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302 StatusType Schedule( void );
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304 typedef uint8 ResourceType;
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305 #define DeclareResource(x) extern ResourceType (x);
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306 StatusType GetResource( ResourceType ResID );
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307 StatusType ReleaseResource( ResourceType ResID);
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310 * Define scheduler as topmost
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312 #define RES_SCHEDULER OS_RESOURCE_CNT
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315 * Priorities of tasks and resources
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317 #define OS_TASK_PRIORITY_MIN 0
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318 #define OS_TASK_PRIORITY_MAX 31
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319 /* Logical priority is higher higher than normal tasks */
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320 #define OS_RES_SCHEDULER_PRIO 32
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322 typedef struct OsDriver_s {
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323 int OsGptChannelRef;
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328 /*-------------------------------------------------------------------
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330 *-----------------------------------------------------------------*/
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331 typedef sint16 CounterType;
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333 typedef uint32 TickType;
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334 typedef TickType *TickRefType;
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336 StatusType IncrementCounter( CounterType );
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337 StatusType GetCounterValue( CounterType, TickRefType );
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338 StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);
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341 /*-------------------------------------------------------------------
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343 *-----------------------------------------------------------------*/
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344 typedef const uint32 OsTickType;
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345 void Os_SysTickInit( void );
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346 void Os_SysTickStart(TickType period_ticks);
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347 TickType Os_SysTickGetValue( void );
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348 TickType Os_SysTickGetElapsedValue( TickType preValue );
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350 /* Return a value that is always a free running timer */
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351 TickType GetOsTick( void );
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353 /* Since this is based on SW ticks, no use to have ns resolution */
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354 #define OSTICKDURATION_US (OSTICKDURATION/1000UL)
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356 /* Have special macros to always get the OsTick */
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357 #define OS_TICKS2SEC_OS_TICK(_ticks) ( (OSTICKDURATION_US * (_ticks))/1000000UL )
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358 #define OS_TICKS2MS_OS_TICK(_ticks) ( (OSTICKDURATION_US * (_ticks))/1000UL )
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359 #define OS_TICKS2US_OS_TICK(_ticks) (OSTICKDURATION_US * (_ticks))
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360 #define OS_TICKS2NS_OS_TICK(_ticks) (OSTICKDURATION * (_ticks))
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362 /*-------------------------------------------------------------------
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364 *-----------------------------------------------------------------*/
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366 #if defined(USE_KERNEL_EXTRA)
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368 #define TICK_MAX UINT_MAX
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370 typedef struct OsSemaphore {
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372 STAILQ_HEAD(,OsTaskVar) taskHead;
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375 typedef OsSemaphoreType OsMutexType;
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377 StatusType Sleep( TickType ticks );
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378 StatusType InitSemaphore( OsSemaphoreType *semPtr, int initialCount );
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379 StatusType WaitSemaphore( OsSemaphoreType *semPtr, TickType tmo );
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380 void SignalSemaphore( OsSemaphoreType *semPtr );
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381 StatusType WaitMutex( OsMutexType *mutexPtr );
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382 StatusType ReleaseMutex( OsMutexType *mutexPtr );
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386 /*-------------------------------------------------------------------
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388 *-----------------------------------------------------------------*/
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390 StatusType StartScheduleTableRel(ScheduleTableType sid, TickType offset);
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391 StatusType StartScheduleTableAbs(ScheduleTableType sid, TickType val );
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392 StatusType StartScheduleTableSynchron(ScheduleTableType sid );
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393 StatusType StopScheduleTable(ScheduleTableType sid);
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394 StatusType NextScheduleTable( ScheduleTableType sid_curr, ScheduleTableType sid_next);
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395 StatusType SyncScheduleTable( ScheduleTableType sid, GlobalTimeTickType global_time );
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396 StatusType GetScheduleTableStatus( ScheduleTableType sid, ScheduleTableStatusRefType status );
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397 StatusType SetScheduleTableAsync( ScheduleTableType sid );
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400 /*-------------------------------------------------------------------
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402 *-----------------------------------------------------------------*/
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404 typedef uint16 AlarmType;
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407 TickType maxallowedvalue;
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408 TickType tickperbase;
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412 typedef AlarmBaseType *AlarmBaseRefType;
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414 StatusType GetAlarmBase( AlarmType AlarmId, AlarmBaseRefType Info );
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415 StatusType GetAlarm(AlarmType AlarmId, TickRefType Tick);
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416 StatusType SetRelAlarm(AlarmType AlarmId, TickType Increment, TickType Cycle);
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417 StatusType SetAbsAlarm(AlarmType AlarmId, TickType Start, TickType Cycle);
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418 StatusType CancelAlarm(AlarmType AlarmId);
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421 /*-------------------------------------------------------------------
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423 *-----------------------------------------------------------------*/
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425 OSServiceId_ActivateTask,
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426 OSServiceId_TerminateTask,
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427 OSServiceId_ChainTask,
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428 OSServiceId_Schedule,
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429 OSServiceId_GetTaskID,
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430 OSServiceId_GetResource,
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431 OSServiceId_ReleaseResource,
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432 OSServiceId_SetEvent,
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433 OSServiceId_ClearEvent,
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434 OSServiceId_GetEvent,
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435 OSServiceId_WaitEvent,
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436 OSServiceId_GetAlarmBase,
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437 OSServiceId_GetAlarm,
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438 OSServiceId_SetRelAlarm,
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439 OSServiceId_SetAbsAlarm,
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440 OSServiceId_CancelAlarm,
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441 OSServiceId_StartOS,
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442 OSServiceId_ShutdownOS,
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443 OSServiceId_ErrorHook,
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444 OSServiceId_PreTaskHook,
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445 OSServiceId_PostTaskHook,
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446 OSServiceId_StartupHook,
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447 OSServiceId_ShutdownHook,
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448 OSServiceId_GetTaskState,
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449 OSServiceId_GetApplicationID,
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450 OSServiceId_GetISRID,
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451 OSServiceId_CallTrustedFunction,
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452 OSServiceId_CheckISRMemoryAccess,
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453 OSServiceId_TaskMemoryAccess,
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454 OSServiceId_CheckObjectAccess,
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455 OSServiceId_CheckObjectOwnership,
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456 OSServiceId_StartScheduleTableRel,
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457 OSServiceId_StartScheduleTableAbs,
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458 OSServiceId_StopScheduleTable,
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459 OSServiceId_NextScheduleTable,
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460 OSServiceId_StartScheduleTableSynchron,
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461 OSServiceId_SyncScheduleTable,
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462 OSServiceId_GetScheduleTable,
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463 OSServiceId_SetScheduleTableAsync,
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464 OSServiceId_IncrementCounter,
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465 OSServiceId_GetCounterValue,
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466 OSServiceId_GetElapsedValue,
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467 OSServiceId_TerminateApplication,
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468 OSServiceId_AllowAccess,
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469 OSServiceId_GetApplicationState,
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471 #if defined(USE_KERNEL_EXTRA)
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476 typedef struct OsError {
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477 OsServiceIdType serviceId;
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483 extern OsErrorType os_error;
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485 // TODO: Add the service id to all OS service methods.
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486 static inline OsServiceIdType OSErrorGetServiceId(void) {
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487 return os_error.serviceId;
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490 extern OsErrorType os_error;
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492 #define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)
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493 #define OSError_ChainTask_TaskID ((TaskType) os_error.param1)
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494 #define OSError_GetTaskID_TaskID ((TaskRefType) os_error.param1)
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495 #define OSError_GetResource_ResID ((ResourceType) os_error.param1)
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496 #define OSError_ReleaseResource_ResID ((ResourceType) os_error.param1)
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497 #define OSError_SetEvent_TaskID ((TaskType) os_error.param1)
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498 #define OSError_SetEvent_Mask ((EventMaskType) os_error.param2)
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499 #define OSError_ClearEvent_Mask ((EventMaskType) os_error.param1)
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500 #define OSError_GetEvent_TaskId ((TaskType) os_error.param1)
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501 #define OSError_GetEvent_Mask ((EventMaskRefType) os_error.param2)
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502 #define OSError_WaitEvent_Mask ((EventMaskType) os_error.param1)
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503 #define OSError_GetAlarmBase_AlarmId ((AlarmType) os_error.param1)
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504 #define OSError_GetAlarmBase_Info ((AlarmBaseRefType) os_error.param2)
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505 #define OSError_GetAlarm_AlarmId ((AlarmType) os_error.param1)
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506 #define OSError_GetAlarm_Tick ((TickRefType) os_error.param2)
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507 #define OSError_SetRelAlarm_AlarmId ((AlarmType) os_error.param1)
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508 #define OSError_SetRelAlarm_Increment ((TickType) os_error.param2)
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509 #define OSError_SetRelAlarm_Cycle ((TickType) os_error.param3)
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510 #define OSError_SetAbsAlarm_AlarmId ((AlarmType) os_error.param1)
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511 #define OSError_SetAbsAlarm_Start ((TickType) os_error.param2)
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512 #define OSError_SetAbsAlarm_Cycle ((TickType) os_error.param3)
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513 #define OSError_CancelAlarm_AlarmId ((AlarmType) os_error.param1)
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514 #define OSError_StartOS_Mode ((AppModeType) os_error.param1)
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515 #define OSError_ErrorHook_Error ((StatusType) os_error.param1)
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516 #define OSError_ShutdownHook_Error ((StatusType) os_error.param1)
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517 #define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)
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518 #define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)
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521 #if defined(LOCALMESSAGESONLY)
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522 #error LOCALMESSAGESONLY shall not be defined
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526 /*-------------------------------------------------------------------
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527 * COM ( TODO : move )
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528 *-----------------------------------------------------------------*/
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531 * The only information about the COM that is valid is
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532 * in the COM specification ..SWS_COM.pdf.
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534 * The most important requirements are COM010 and COM013
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540 * No. GetMessageStatus()
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541 * No. SendZeroMessage()
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542 * No. SendDynamicMessage(), RecieveDynamicMessage()
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544 * Yes. SendMessage()
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549 typedef uint32 MessageType;
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550 typedef void *ApplicationDataRef;
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553 StatusType SendMessage( MessageType message_id, ApplicationDataRef dataRef );
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554 StatusType ReceiveMessage( MessageType message_id, ApplicationDataRef dataRef );
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557 * ArcCore extensions
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559 TickType GetOsTick();
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563 #define OS_ISR_TYPE2 0
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564 #define OS_ISR_TYPE1 1
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568 void (*entry)(void);
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573 #define TTY_WINIDEA 4
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574 #define TTY_SERIAL 8
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