-/* -------------------------------- Arctic Core ------------------------------
- * Arctic Core - the open source AUTOSAR platform http://arccore.com
- *
- * Copyright (C) 2009 ArcCore AB <contact@arccore.com>
- *
- * This source code is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License version 2 as published by the
- * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- * -------------------------------- Arctic Core ------------------------------*/
-
-
+/* -------------------------------- Arctic Core ------------------------------\r
+ * Arctic Core - the open source AUTOSAR platform http://arccore.com\r
+ *\r
+ * Copyright (C) 2009 ArcCore AB <contact@arccore.com>\r
+ *\r
+ * This source code is free software; you can redistribute it and/or modify it\r
+ * under the terms of the GNU General Public License version 2 as published by the\r
+ * Free Software Foundation; See <http://www.gnu.org/licenses/old-licenses/gpl-2.0.txt>.\r
+ *\r
+ * This program is distributed in the hope that it will be useful, but\r
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY\r
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License\r
+ * for more details.\r
+ * -------------------------------- Arctic Core ------------------------------*/\r
+\r
+\r
+\r
\r
#ifndef OS_H_\r
#define OS_H_\r
\r
-#define OS_SW_MAJOR_VERSION 1
-#define OS_SW_MINOR_VERSION 0
+#define OS_SW_MAJOR_VERSION 2\r
+#define OS_SW_MINOR_VERSION 0\r
#define OS_SW_PATCH_VERSION 0\r
-
+\r
#include <assert.h>\r
#include "Std_Types.h"\r
#include "Os_Cfg.h"\r
#include "MemMap.h"\r
#include "Cpu.h"\r
+#include "limits.h"\r
+#include <sys/queue.h>\r
+\r
+typedef uint8 StatusType;\r
+\r
+#if (OS_ISR_CNT > OS_ISR_MAX_CNT)\r
+#error OS configuration error. OS_ISR_MAX_CNT must be bigger or equal to OS_ISR_CNT\r
+#endif\r
+\r
+#define E_OS_ACCESS (StatusType)1 /**< STD OSEK */\r
+#define E_OS_CALLEVEL (StatusType)2 /**< STD OSEK */\r
+#define E_OS_ID (StatusType)3 /**< STD OSEK */\r
+#define E_OS_LIMIT (StatusType)4 /**< STD OSEK */\r
+#define E_OS_NOFUNC (StatusType)5 /**< STD OSEK */\r
+#define E_OS_RESOURCE (StatusType)6 /**< STD OSEK */\r
+#define E_OS_STATE (StatusType)7 /**< STD OSEK */\r
+#define E_OS_VALUE (StatusType)8 /**< STD OSEK */\r
+\r
+#define E_OS_SERVICEID (StatusType)9 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_RATE (StatusType)10 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_ILLEGAL_ADDRESS (StatusType)11 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_MISSINGEND (StatusType)12 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_DISABLEDINT (StatusType)13 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_STACKFAULT (StatusType)14 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_PROTECTION_MEMORY (StatusType)15 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_PROTECTION_TIME (StatusType)16 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_PROTECTION_LOCKED (StatusType)17 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_PROTECTION_EXCEPTION (StatusType)18 /**< AUTOSAR, see 7.10 */\r
+#define E_OS_PROTECTION_RATE (StatusType)19 /**< AUTOSAR, see 7.10 */\r
+\r
+#define E_COM_ID 255 // TODO: var ska E_COM_ID vara?"\r
+\r
\r
typedef uint32_t EventMaskType;\r
typedef EventMaskType * EventMaskRefType;\r
TASK_STATE_WAITING,\r
TASK_STATE_READY,\r
TASK_STATE_SUSPENDED,\r
- TASK_STATE_RUNNING,\r
+ TASK_STATE_RUNNING\r
} TaskStateType;\r
\r
+#define INVALID_TASK 0xdeadU\r
\r
typedef TaskStateType *TaskStateRefType;\r
\r
/* FIXME: OSMEMORY_IS__ , see 8.2*/\r
\r
+#define OSMEMORY_IS_READABLE(_access)\r
+#define OSMEMORY_IS_WRITEABLE(_access)\r
+#define OSMEMORY_IS_EXECUTABLE(_access)\r
+#define OSMEMORY_IS_STACKSPACE(_access)\r
+\r
+#define OSDEFAULTAPPMODE 1\r
\r
#define INVALID_OSAPPLICATION (-1)\r
\r
+#define TASK(_task) void _task( void )\r
+\r
+\r
/* TODO, I have no idea what this should be*/\r
+#if (OS_USE_APPLICATIONS == STD_ON)\r
typedef sint32 ApplicationType;\r
\r
+typedef enum {\r
+ APPLICATION_ACCESSIBLE,\r
+ APPLICATION_RESTARTING,\r
+ APPLICATION_TERMINATED\r
+} ApplicationStateType;\r
+\r
+typedef ApplicationStateType *ApplicationStateRefType;\r
+#endif\r
+\r
/* See oil config for defines */\r
typedef sint32 AppModeType;\r
\r
#define INVALID_ISR ((sint16)(-1))\r
typedef sint16 ISRType;\r
\r
+#define APP_NO_OWNER (-1UL)\r
+\r
typedef void * MemoryStartAddressType;\r
typedef uint32 MemorySizeType;\r
\r
StatusType SetEvent( TaskType TaskID, EventMaskType Mask );\r
StatusType ClearEvent( EventMaskType Mask);\r
StatusType GetEvent( TaskType TaskId, EventMaskRefType Mask);\r
-
-void InitOS( void );
-void StartOS( AppModeType Mode );
-
\r
+void InitOS( void );\r
+void StartOS( AppModeType Mode );\r
\r
-ApplicationType GetApplicationID( void );\r
ISRType GetISRID( void );\r
-
-typedef int8_t Os_IntCounterType;
-\r
-/* requirements here: OS368(ISR2), OS092 */
-
-extern Os_IntCounterType Os_IntDisableAllCnt;
-extern Os_IntCounterType Os_IntSuspendAllCnt;
-extern Os_IntCounterType Os_IntSuspendOsCnt;
-
-
-
-/** @req OS299 */
-/* OSEK: States that " service does not support nesting", but says
- * nothing what to do about it.
- *
- * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()
- * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/
- * SuspendOSInterrupts() was done before, the Operating System shall not
- * perform this OS service.
- */
-static inline void DisableAllInterrupts( void ) {
- Irq_Disable();
- Os_IntDisableAllCnt++;
- /* No nesting allowed */
- assert(Os_IntDisableAllCnt>1);
-}
-
-static inline void EnableAllInterrupts( void ) {
-
- if(Os_IntDisableAllCnt==0) {
- /** @req OS092 EnableAllInterrupts */
- } else {
- Os_IntDisableAllCnt--;
- Irq_Enable();
- }
-}
-
-static inline void SuspendAllInterrupts( void ) {
- Irq_SuspendAll();
- Os_IntSuspendAllCnt++;
-}
-
-static inline void ResumeAllInterrupts( void ) {
-
- if(Os_IntSuspendAllCnt==0) {
- /** @req OS092 ResumeAllInterrupts */
- } else {
- Os_IntSuspendAllCnt--;
- Irq_ResumeAll();
- }
-}
-
-/* Only ISR2 interrupts should be suspended but this can NEVER be
- * done in a more efficient way than to disable all, so let's
- * do that for all targets.
- */
-
-static inline void SuspendOSInterrupts( void ) {
- Irq_SuspendOs();
- Os_IntSuspendOsCnt++;
-}
-
-static inline void ResumeOSInterrupts( void ) {
-
- if(Os_IntSuspendOsCnt==0) {
- /** @req OS092 ResumeOSInterrupts */
- } else {
- Os_IntSuspendOsCnt--;
- Irq_ResumeOs();
- }
-}
-
-#if 0
-/* Can't find these anymore, removed from Autosar? */\r
-StatusType EnableInterruptSource( ISRType EnableISR );\r
-StatusType DisableInterruptSource( ISRType EnableISR );\r
-#endif
-\r
-/*
- * Class 2,3 and 4 API
+StatusType GetActiveApplicationMode( AppModeType* mode);\r
+\r
+typedef int8_t Os_IntCounterType;\r
+\r
+/* requirements here: OS368(ISR2), OS092 */\r
+\r
+extern Os_IntCounterType Os_IntDisableAllCnt;\r
+extern Os_IntCounterType Os_IntSuspendAllCnt;\r
+extern Os_IntCounterType Os_IntSuspendOsCnt;\r
+\r
+\r
+\r
+/** @req OS299 */\r
+/* OSEK: States that " service does not support nesting", but says\r
+ * nothing what to do about it.\r
+ *\r
+ * OS092: " If EnableAllInterrupts()/ResumeAllInterrupts()/ResumeOSInterrupts()\r
+ * are called and no corresponding DisableAllInterupts()/SuspendAllInterrupts()/\r
+ * SuspendOSInterrupts() was done before, the Operating System shall not\r
+ * perform this OS service.\r
*/\r
+static inline void DisableAllInterrupts( void ) {\r
+ Irq_Disable();\r
+ Os_IntDisableAllCnt++;\r
+ /* No nesting allowed */\r
+ assert(Os_IntDisableAllCnt==1);\r
+}\r
+\r
+static inline void EnableAllInterrupts( void ) {\r
+\r
+ if(Os_IntDisableAllCnt==0) {\r
+ /** @req OS092 EnableAllInterrupts */\r
+ } else {\r
+ Os_IntDisableAllCnt--;\r
+ Irq_Enable();\r
+ }\r
+}\r
+\r
+static inline void SuspendAllInterrupts( void ) {\r
+ Irq_SuspendAll();\r
+ Os_IntSuspendAllCnt++;\r
+}\r
+\r
+static inline void ResumeAllInterrupts( void ) {\r
+\r
+ if(Os_IntSuspendAllCnt==0) {\r
+ /** @req OS092 ResumeAllInterrupts */\r
+ } else {\r
+ Os_IntSuspendAllCnt--;\r
+ Irq_ResumeAll();\r
+ }\r
+}\r
+\r
+/* Only ISR2 interrupts should be suspended but this can NEVER be\r
+ * done in a more efficient way than to disable all, so let's\r
+ * do that for all targets.\r
+ */\r
+\r
+static inline void SuspendOSInterrupts( void ) {\r
+ Irq_SuspendOs();\r
+ Os_IntSuspendOsCnt++;\r
+}\r
+\r
+static inline void ResumeOSInterrupts( void ) {\r
+\r
+ if(Os_IntSuspendOsCnt==0) {\r
+ /** @req OS092 ResumeOSInterrupts */\r
+ } else {\r
+ Os_IntSuspendOsCnt--;\r
+ Irq_ResumeOs();\r
+ }\r
+}\r
+\r
+/*\r
+ * Class 2,3 and 4 API\r
+ */\r
+\r
+#if (OS_USE_APPLICATIONS == STD_ON)\r
+\r
ApplicationType GetApplicationID( void );\r
AccessType CheckISRMemoryAccess( ISRType ISRID,\r
MemoryStartAddressType Address,\r
\r
AccessType CheckTaskMemoryAccess( TaskType TaskID,\r
MemoryStartAddressType Address,\r
- MemorySizeType Size );
+ MemorySizeType Size );\r
\r
+ObjectAccessType CheckObjectAccess( ApplicationType ApplId,\r
+ ObjectTypeType ObjectType,\r
+ uint32_t objectId );\r
+ApplicationType CheckObjectOwnership( ObjectTypeType ObjectType,\r
+ uint32_t objectId );\r
+StatusType TerminateApplication( ApplicationType Application, RestartType RestartOption );\r
+StatusType AllowAccess( void );\r
+StatusType GetApplicationState( ApplicationType Application, ApplicationStateRefType Value );\r
StatusType CallTrustedFunction( TrustedFunctionIndexType FunctionIndex,\r
TrustedFunctionParameterRefType FunctionParams );\r
+#endif\r
\r
StatusType GetTaskID( TaskRefType TaskID );\r
StatusType GetTaskState( TaskType task_id, TaskStateRefType state);\r
StatusType ChainTask( TaskType TaskID );\r
StatusType Schedule( void );\r
\r
-typedef uint32 ResourceType;\r
+typedef uint8 ResourceType;\r
#define DeclareResource(x) extern ResourceType (x);\r
StatusType GetResource( ResourceType ResID );\r
StatusType ReleaseResource( ResourceType ResID);\r
-
-/*
- * Define the scheduler resource as 0
- */
-#define RES_SCHEDULER 0\r
-
-/*
- * Priorities of tasks and resources
- */
-#define OS_TASK_PRIORITY_MIN 0
-#define OS_TASK_PRIORITY_MAX 31
-/* Logical priority is higher higher than normal tasks */
+\r
+/*\r
+ * Define scheduler as topmost\r
+ */\r
+#define RES_SCHEDULER OS_RESOURCE_CNT\r
+\r
+/*\r
+ * Priorities of tasks and resources\r
+ */\r
+#define OS_TASK_PRIORITY_MIN 0\r
+#define OS_TASK_PRIORITY_MAX 31\r
+/* Logical priority is higher higher than normal tasks */\r
#define OS_RES_SCHEDULER_PRIO 32\r
\r
typedef struct OsDriver_s {\r
int OsGptChannelRef;\r
} OsDriver;\r
\r
-/*-------------------------------------------------------------------\r
- * Free running timer\r
- *-----------------------------------------------------------------*/
-typedef const uint32 OsTickType;
-void Os_SysTickInit( void );\r
-void Os_SysTickStart(uint32_t period_ticks);\r
-uint32_t Os_SysTickGetTimeElapsed( void );\r
+\r
\r
/*-------------------------------------------------------------------\r
* Counters\r
*-----------------------------------------------------------------*/\r
-typedef sint16 CounterType;
+typedef sint16 CounterType;\r
\r
typedef uint32 TickType;\r
typedef TickType *TickRefType;\r
StatusType GetCounterValue( CounterType, TickRefType );\r
StatusType GetElapsedCounterValue( CounterType, TickRefType val, TickRefType elapsed_val);\r
\r
+\r
+/*-------------------------------------------------------------------\r
+ * System timer\r
+ *-----------------------------------------------------------------*/\r
+typedef const uint32 OsTickType;\r
+\r
+extern OsTickType OsTickFreq;\r
+void Os_SysTickInit( void );\r
+void Os_SysTickStart(TickType period_ticks);\r
+TickType Os_SysTickGetValue( void );\r
+TickType Os_SysTickGetElapsedValue( TickType preValue );\r
+\r
+/* Return a value that is always a free running timer */\r
+TickType GetOsTick( void );\r
+\r
+/* Since this is based on SW ticks, no use to have ns resolution */\r
+#define OSTICKDURATION_US (OSTICKDURATION/1000UL)\r
+\r
+/* Have special macros to always get the OsTick */\r
+#define OS_TICKS2SEC_OS_TICK(_ticks) ( (OSTICKDURATION_US * (_ticks))/1000000UL )\r
+#define OS_TICKS2MS_OS_TICK(_ticks) ( (OSTICKDURATION_US * (_ticks))/1000UL )\r
+#define OS_TICKS2US_OS_TICK(_ticks) (OSTICKDURATION_US * (_ticks))\r
+#define OS_TICKS2NS_OS_TICK(_ticks) (OSTICKDURATION * (_ticks))\r
+\r
+/*-------------------------------------------------------------------\r
+ * Kernel extra\r
+ *-----------------------------------------------------------------*/\r
+\r
+#if defined(USE_KERNEL_EXTRA)\r
+\r
+#define TICK_MAX UINT_MAX\r
+\r
+typedef struct OsSemaphore {\r
+ int val;\r
+ STAILQ_HEAD(,OsTaskVar) taskHead;\r
+} OsSemaphoreType;\r
+\r
+typedef OsSemaphoreType OsMutexType;\r
+\r
+StatusType Sleep( TickType ticks );\r
+StatusType InitSemaphore( OsSemaphoreType *semPtr, int initialCount );\r
+StatusType WaitSemaphore( OsSemaphoreType *semPtr, TickType tmo );\r
+void SignalSemaphore( OsSemaphoreType *semPtr );\r
+StatusType WaitMutex( OsMutexType *mutexPtr );\r
+StatusType ReleaseMutex( OsMutexType *mutexPtr );\r
+#endif\r
+\r
+\r
/*-------------------------------------------------------------------\r
* Schedule Tables\r
*-----------------------------------------------------------------*/\r
OSServiceId_StartupHook,\r
OSServiceId_ShutdownHook,\r
OSServiceId_GetTaskState,\r
-} OsServiceIdType;;\r
+ OSServiceId_GetApplicationID,\r
+ OSServiceId_GetISRID,\r
+ OSServiceId_CallTrustedFunction,\r
+ OSServiceId_CheckISRMemoryAccess,\r
+ OSServiceId_TaskMemoryAccess,\r
+ OSServiceId_CheckObjectAccess,\r
+ OSServiceId_CheckObjectOwnership,\r
+ OSServiceId_StartScheduleTableRel,\r
+ OSServiceId_StartScheduleTableAbs,\r
+ OSServiceId_StopScheduleTable,\r
+ OSServiceId_NextScheduleTable,\r
+ OSServiceId_StartScheduleTableSynchron,\r
+ OSServiceId_SyncScheduleTable,\r
+ OSServiceId_GetScheduleTable,\r
+ OSServiceId_SetScheduleTableAsync,\r
+ OSServiceId_IncrementCounter,\r
+ OSServiceId_GetCounterValue,\r
+ OSServiceId_GetElapsedValue,\r
+ OSServiceId_TerminateApplication,\r
+ OSServiceId_AllowAccess,\r
+ OSServiceId_GetApplicationState,\r
+\r
+#if defined(USE_KERNEL_EXTRA)\r
+ OSServiceId_Sleep,\r
+#endif\r
+} OsServiceIdType;\r
\r
-typedef struct os_error_s {\r
+typedef struct OsError {\r
OsServiceIdType serviceId;\r
uint32_t param1;\r
uint32_t param2;\r
uint32_t param3;\r
-} os_error_t;\r
+} OsErrorType;\r
\r
-extern os_error_t os_error;\r
+extern OsErrorType os_error;\r
\r
// TODO: Add the service id to all OS service methods.\r
static inline OsServiceIdType OSErrorGetServiceId(void) {\r
return os_error.serviceId;\r
}\r
\r
-extern os_error_t os_error;\r
+extern OsErrorType os_error;\r
\r
#define OSError_ActivateTask_TaskID ((TaskType) os_error.param1)\r
#define OSError_ChainTask_TaskID ((TaskType) os_error.param1)\r
#define OSError_ShutdownHook_Error ((StatusType) os_error.param1)\r
#define OSError_GetTaskState_TaskId ((TaskType) os_error.param1)\r
#define OSError_GetTaskState_State ((TaskStateRefType) os_error.param2)\r
-
-/** @req OS398 */
-#if defined(LOCALMESSAGESONLY)
-#error LOCALMESSAGESONLY shall not be defined
-#endif
-
+\r
+/** @req OS398 */\r
+#if defined(LOCALMESSAGESONLY)\r
+#error LOCALMESSAGESONLY shall not be defined\r
+#endif\r
+\r
\r
/*-------------------------------------------------------------------\r
* COM ( TODO : move )\r
TickType GetOsTick();\r
void OsTick(void);\r
void OsIdle(void);\r
-
+\r
#define OS_ISR_TYPE2 0\r
#define OS_ISR_TYPE1 1\r
\r
void (*entry)(void);\r
};\r
\r
+#define TTY_NONE 1\r
+#define TTY_T32 2\r
+#define TTY_WINIDEA 4\r
+#define TTY_SERIAL 8\r
+#define RAMLOG 16\r
+\r
#endif /*OS_H_*/\r
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