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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__

// Symmetric Multi-Processing

#define OS_CPU_COUNT 1

// Typedefs

typedef unsigned int   uint32;

typedef unsigned short uint16;

typedef unsigned char  uint8;

// Memory Access

#ifdef WIN32

   #define _CRT_SECURE_NO_WARNINGS 1

   #pragma warning(disable:4996) //atoi()

   #include <stdio.h>

   #include <stdlib.h>

   #include <assert.h>

   #define _LIBC

   uint32 MemoryRead(uint32 Address);

   void MemoryWrite(uint32 Address, uint32 Value);

#else

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

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

#endif

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

#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))

#undef  min

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

#define strcpy     strcpy2  //don't use intrinsic functions

#define strcat     strcat2

#define strncat    strncat2

#define strcmp     strcmp2

#define strstr     strstr2

#define strlen     strlen2

#define memcpy     memcpy2

#define memcmp     memcmp2

#define memset     memset2

#define abs        abs2

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);

#ifndef _LIBC

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

#define atoi       atoi2

#define printf     UartPrintf

//#define printf     UartPrintfPoll

#define scanf      UartScanf

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

#define free(S)    OS_HeapFree(S)

#define NULL       (void*)0

int   rand(void);

void  srand(unsigned int seed);

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

int   atoi(const char *s);

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

#ifndef NO_ELLIPSIS

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

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

#endif

#ifdef INCLUDE_DUMP

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

#endif

#ifdef INCLUDE_QSORT

   void qsort(void *base,

              long n,

              long size,

              int (*cmp)(const void *,const void *));

   void *bsearch(const void *key,

                 const void *base,

                 long n,

                 long size,

                 int (*cmp)(const void *,const void *));

#endif

#ifdef INCLUDE_TIMELIB

   #define difftime(time2,time1) (time2-time1)

   typedef unsigned long time_t;  //start at 1/1/80

   struct tm {

      int tm_sec;      //(0,59)

      int tm_min;      //(0,59)

      int tm_hour;     //(0,23)

      int tm_mday;     //(1,31)

      int tm_mon;      //(0,11)

      int tm_year;     //(0,n) from 1900

      int tm_wday;     //(0,6)     calculated

      int tm_yday;     //(0,365)   calculated

      int tm_isdst;    //          calculated

   };

   time_t mktime(struct tm *tp);

   void gmtime_r(const time_t *tp, struct tm *out);

   void gmtimeDst(time_t dstTimeIn, time_t dstTimeOut);

   void gmtimeDstSet(time_t *tp, time_t *dstTimeIn, time_t *dstTimeOut);

#endif

#endif //_LIBC

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

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);

extern void *OS_Syscall(uint32 value);

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

#define HEAP_USER    (void*)0

#define HEAP_SYSTEM  (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);

/***************** Critical Sections *****************/

#if OS_CPU_COUNT <= 1

   // Single CPU

   #define OS_CpuIndex() 0

   #define OS_CriticalBegin() OS_AsmInterruptEnable(0)

   #define OS_CriticalEnd(S) OS_AsmInterruptEnable(S)

   #define OS_SpinLock() 0

   #define OS_SpinUnlock(S) 

#else

   // Symmetric multiprocessing

   uint32 OS_CpuIndex(void);

   #define OS_CriticalBegin() OS_SpinLock()

   #define OS_CriticalEnd(S) OS_SpinUnlock(S)

   uint32 OS_SpinLock(void);

   void OS_SpinUnlock(uint32 state);

#endif

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

#ifdef WIN32

   #define STACK_SIZE_MINIMUM (1024*4)

#else

   #define STACK_SIZE_MINIMUM (1024*1)

#endif

#define STACK_SIZE_DEFAULT 1024*2

#undef THREAD_PRIORITY_IDLE

#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, uint32 index, void *info);

void *OS_ThreadInfoGet(OS_Thread_t *thread, uint32 index);

uint32 OS_ThreadPriorityGet(OS_Thread_t *thread);

void OS_ThreadPrioritySet(OS_Thread_t *thread, uint32 priority);

void OS_ThreadProcessId(OS_Thread_t *thread, uint32 processId, OS_Heap_t *heap);

void OS_ThreadTick(void *arg);

void OS_ThreadCpuLock(OS_Thread_t *thread, int cpuIndex);

/***************** 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);

/***************** Job ********************/

typedef void (*JobFunc_t)(void *a0, void *a1, void *a2);

void OS_Job(JobFunc_t funcPtr, void *arg0, void *arg1, void *arg2);

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

typedef struct OS_Timer_s OS_Timer_t;

typedef void (*OS_TimerFuncPtr_t)(OS_Timer_t *timer, uint32 info);

OS_Timer_t *OS_TimerCreate(const char *name, OS_MQueue_t *mQueue, uint32 info);

void OS_TimerDelete(OS_Timer_t *timer);

void OS_TimerCallback(OS_Timer_t *timer, OS_TimerFuncPtr_t callback);

void OS_TimerStart(OS_Timer_t *timer, uint32 ticks, uint32 ticksRestart);

void OS_TimerStop(OS_Timer_t *timer);

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

#define STACK_EPC 88/4

void OS_InterruptServiceRoutine(uint32 status, uint32 *stack);

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 OS_DebuggerInit(void);

void MainThread(void *Arg);

/***************** MMU ******************/

typedef struct {

   const char *name;

   OS_FuncPtr_t funcPtr;

   void *arg;

   uint32 priority;

   uint32 stackSize;

   uint32 heapSize;

   uint32 processId;

   OS_Semaphore_t *semaphoreDone;

   uint8 *memory;       //private

   OS_Heap_t *heap;     //private

   OS_Thread_t *thread; //private

} OS_Process_t;

void OS_MMUInit(void);

void OS_MMUMemoryRegister(uint32 processId,

                          uint32 virtualAddress,

                          uint32 physicalAddress,

                          uint32 size,

                          uint32 writable);

OS_Process_t *OS_MMUProcessCreate(OS_Process_t *process);

void OS_MMUProcessDelete(OS_Process_t *process);

void OS_MMUUartPrintf(void);

void OS_MMUUartScanf(void);

void OS_MMUUartPrintfCritical(void);

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

typedef uint8* (*PacketGetFunc_t)(void);

void UartInit(void);

void UartWrite(int ch);

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 UartPrintfNull(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);

#ifdef WIN32

#define puts  puts2

#define getch getch2

#define kbhit kbhit2

#endif

int puts(const char *string);

int getch(void);

int kbhit(void);

void LogWrite(int a);

void LogDump(void);

void Led(int mask, int value);

/***************** Keyboard **************/

#define KEYBOARD_RAW     0x100

#define KEYBOARD_E0      0x200

#define KEYBOARD_RELEASE 0x400

void KeyboardInit(void);

int KeyboardGetch(void);

/***************** 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);

/***************** Filesys ******************/

#ifdef INCLUDE_FILESYS

#define FILE   OS_FILE

#define fopen  OS_fopen

#define fclose OS_fclose

#define fread  OS_fread

#define fwrite OS_fwrite

#define fseek  OS_fseek

#endif

#define _FILESYS_

typedef struct OS_FILE_s OS_FILE;

OS_FILE *OS_fopen(char *name, char *mode);

void OS_fclose(OS_FILE *file);

int OS_fread(void *buffer, int size, int count, OS_FILE *file);

int OS_fwrite(void *buffer, int size, int count, OS_FILE *file);

int OS_fseek(OS_FILE *file, int offset, int mode);

int OS_fmkdir(char *name);

int OS_fdir(OS_FILE *dir, char name[64]);

void OS_fdelete(char *name);

int OS_flength(char *entry);

/***************** Flash ******************/

void FlashRead(uint16 *dst, uint32 byteOffset, int bytes);

void FlashWrite(uint16 *src, uint32 byteOffset, int bytes);

void FlashErase(uint32 byteOffset);

#endif //__RTOS_H__