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/*--------------------------------------------------------------------

 * TITLE: Plasma Real Time Operating System

 * AUTHOR: Steve Rhoads (rhoadss@yahoo.com)

 * DATE CREATED: 12/17/05

 * FILENAME: rtos.h

 * PROJECT: Plasma CPU core

 * COPYRIGHT: Software placed into the public domain by the author.

 *    Software 'as is' without warranty.  Author liable for nothing.

 * DESCRIPTION:

 *    Plasma Real Time Operating System

 *--------------------------------------------------------------------*/

#ifndef __RTOS_H__

#define __RTOS_H__

#define printf     UartPrintf

//#define printf     UartPrintfPoll

#define scanf      UartScanf

#ifndef WIN32

#define malloc(S)  OS_HeapMalloc(NULL, S)

#define free(S)    OS_HeapFree(S)

#endif

// Typedefs

typedef unsigned int   uint32;

typedef unsigned short uint16;

typedef unsigned char  uint8;

// Memory Access

#ifdef WIN32

uint32 MemoryRead(uint32 Address);

void MemoryWrite(uint32 Address, uint32 Value);

#define atoi atoi2

#else

#define MemoryRead(A) (*(volatile uint32*)(A))

#define MemoryWrite(A,V) *(volatile uint32*)(A)=(V)

#endif

/***************** LibC ******************/

#ifndef _LIBC

#ifndef NULL

#define NULL (void*)0

#endif

#define assert(A) if((A)==0){OS_Assert();UartPrintfCritical("\r\nAssert %s:%d\r\n", __FILE__, __LINE__);}

#define isprint(c) (' '<=(c)&&(c)<='~')

#define isspace(c) ((c)==' '||(c)=='\t'||(c)=='\n'||(c)=='\r')

#define isdigit(c) ('0'<=(c)&&(c)<='9')

#define islower(c) ('a'<=(c)&&(c)<='z')

#define isupper(c) ('A'<=(c)&&(c)<='Z')

#define isalpha(c) (islower(c)||isupper(c))

#define isalnum(c) (isalpha(c)||isdigit(c))

#define min(a,b)   ((a)<(b)?(a):(b))

#define memcpy     memcpy2 //don't use built in version

char *strcpy(char *dst, const char *src);

char *strncpy(char *dst, const char *src, int count);

char *strcat(char *dst, const char *src);

char *strncat(char *dst, const char *src, int count);

int strcmp(const char *string1, const char *string2);

int strncmp(const char *string1, const char *string2, int count);

char *strstr(const char *string, const char *find);

int strlen(const char *string);

void *memcpy(void *dst, const void *src, unsigned long bytes);

void *memmove(void *dst, const void *src, unsigned long bytes);

int memcmp(const void *cs, const void *ct, unsigned long bytes);

void *memset(void *dst, int c, unsigned long bytes);

int abs(int n);

int rand(void);

void srand(unsigned int seed);

long strtol(const char *s, const char **end, int base);

int atoi(const char *s);

char *itoa(int num, char *dst, int base);

void dump(const unsigned char *data, int length);

#ifndef NO_ELLIPSIS

int sprintf(char *s, const char *format, ...);

int sscanf(char *s, const char *format, ...);

#endif

#define _LIBC

#endif

/***************** Assembly **************/

#define OS_CriticalBegin() OS_AsmInterruptEnable(0)

#define OS_CriticalEnd(S) OS_AsmInterruptEnable(S)

typedef uint32 jmp_buf[20];

extern uint32 OS_AsmInterruptEnable(uint32 state);

extern void OS_AsmInterruptInit(void);

extern int setjmp(jmp_buf env);

extern void longjmp(jmp_buf env, int val);

extern uint32 OS_AsmMult(uint32 a, uint32 b, unsigned long *hi);

/***************** Heap ******************/

#define HEAP_SYSTEM  (void*)0

#define HEAP_GENERAL (void*)1

#define HEAP_SMALL   (void*)2

#define HEAP_UI      (void*)3

typedef struct OS_Heap_s OS_Heap_t;

OS_Heap_t *OS_HeapCreate(const char *Name, void *Memory, uint32 Size);

void OS_HeapDestroy(OS_Heap_t *Heap);

void *OS_HeapMalloc(OS_Heap_t *Heap, int Bytes);

void OS_HeapFree(void *Block);

void OS_HeapAlternate(OS_Heap_t *Heap, OS_Heap_t *Alternate);

void OS_HeapRegister(void *Index, OS_Heap_t *Heap);

/***************** Thread *****************/

#ifdef WIN32

#define STACK_SIZE_MINIMUM (1024*4)

#else

#define STACK_SIZE_MINIMUM (1024*1)

#endif

#define STACK_SIZE_DEFAULT 1024*2

#define THREAD_PRIORITY_IDLE 0

#define THREAD_PRIORITY_MAX 255

typedef void (*OS_FuncPtr_t)(void *Arg);

typedef struct OS_Thread_s OS_Thread_t;

OS_Thread_t *OS_ThreadCreate(const char *Name,

                             OS_FuncPtr_t FuncPtr,

                             void *Arg,

                             uint32 Priority,

                             uint32 StackSize);

void OS_ThreadExit(void);

OS_Thread_t *OS_ThreadSelf(void);

void OS_ThreadSleep(int Ticks);

uint32 OS_ThreadTime(void);

void OS_ThreadInfoSet(OS_Thread_t *Thread, void *Info);

void *OS_ThreadInfoGet(OS_Thread_t *Thread);

uint32 OS_ThreadPriorityGet(OS_Thread_t *Thread);

void OS_ThreadPrioritySet(OS_Thread_t *Thread, uint32 Priority);

void OS_ThreadTick(void *Arg);

/***************** Semaphore **************/

#define OS_SUCCESS 0

#define OS_ERROR  -1

#define OS_WAIT_FOREVER -1

#define OS_NO_WAIT 0

typedef struct OS_Semaphore_s OS_Semaphore_t;

OS_Semaphore_t *OS_SemaphoreCreate(const char *Name, uint32 Count);

void OS_SemaphoreDelete(OS_Semaphore_t *Semaphore);

int OS_SemaphorePend(OS_Semaphore_t *Semaphore, int Ticks); //tick ~= 10ms

void OS_SemaphorePost(OS_Semaphore_t *Semaphore);

/***************** Mutex ******************/

typedef struct OS_Mutex_s OS_Mutex_t;

OS_Mutex_t *OS_MutexCreate(const char *Name);

void OS_MutexDelete(OS_Mutex_t *Semaphore);

void OS_MutexPend(OS_Mutex_t *Semaphore);

void OS_MutexPost(OS_Mutex_t *Semaphore);

/***************** MQueue *****************/

enum {

   MESSAGE_TYPE_USER = 0,

   MESSAGE_TYPE_TIMER = 5

};

typedef struct OS_MQueue_s OS_MQueue_t;

OS_MQueue_t *OS_MQueueCreate(const char *Name,

                             int MessageCount,

                             int MessageBytes);

void OS_MQueueDelete(OS_MQueue_t *MQueue);

int OS_MQueueSend(OS_MQueue_t *MQueue, void *Message);

int OS_MQueueGet(OS_MQueue_t *MQueue, void *Message, int Ticks);

/***************** Timer ******************/

typedef struct OS_Timer_s OS_Timer_t;

OS_Timer_t *OS_TimerCreate(const char *Name, OS_MQueue_t *MQueue, uint32 Info);

void OS_TimerDelete(OS_Timer_t *Timer);

void OS_TimerStart(OS_Timer_t *Timer, uint32 Ticks, uint32 TicksRestart);

void OS_TimerStop(OS_Timer_t *Timer);

/***************** ISR ********************/

void OS_InterruptServiceRoutine(uint32 Status);

void OS_InterruptRegister(uint32 Mask, OS_FuncPtr_t FuncPtr);

uint32 OS_InterruptStatus(void);

uint32 OS_InterruptMaskSet(uint32 Mask);

uint32 OS_InterruptMaskClear(uint32 Mask);

/***************** Init ******************/

void OS_Init(uint32 *HeapStorage, uint32 Bytes);

void OS_Start(void);

void OS_Assert(void);

void MainThread(void *Arg);

/***************** UART ******************/

typedef uint8* (*PacketGetFunc_t)(void);

void UartInit(void);

void UartWrite(int C);

uint8 UartRead(void);

void UartWriteData(uint8 *Data, int Length);

void UartReadData(uint8 *Data, int Length);

#ifndef NO_ELLIPSIS2

void UartPrintf(const char *format, ...);

void UartPrintfPoll(const char *format, ...);

void UartPrintfCritical(const char *format, ...);

void UartScanf(const char *format, ...);

#endif

void UartPacketConfig(PacketGetFunc_t PacketGetFunc,

                      int PacketSize,

                      OS_MQueue_t *mQueue);

void UartPacketSend(uint8 *Data, int Bytes);

int puts(const char *string);

int getch(void);

int kbhit(void);

void LogWrite(int a);

void LogDump(void);

void Led(int value);

/***************** Math ******************/

//IEEE single precision floating point math

#ifndef WIN32

#define FP_Neg     __negsf2

#define FP_Add     __addsf3

#define FP_Sub     __subsf3

#define FP_Mult    __mulsf3

#define FP_Div     __divsf3

#define FP_ToLong  __fixsfsi

#define FP_ToFloat __floatsisf

#define sqrt FP_Sqrt

#define cos  FP_Cos

#define sin  FP_Sin

#define atan FP_Atan

#define log  FP_Log

#define exp  FP_Exp

#endif

float FP_Neg(float a_fp);

float FP_Add(float a_fp, float b_fp);

float FP_Sub(float a_fp, float b_fp);

float FP_Mult(float a_fp, float b_fp);

float FP_Div(float a_fp, float b_fp);

long  FP_ToLong(float a_fp);

float FP_ToFloat(long af);

int   FP_Cmp(float a_fp, float b_fp);

float FP_Sqrt(float a);

float FP_Cos(float rad);

float FP_Sin(float rad);

float FP_Atan(float x);

float FP_Atan2(float y, float x);

float FP_Exp(float x);

float FP_Log(float x);

float FP_Pow(float x, float y);

#endif //__PLASMA_H__