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[/] [plasma/] [trunk/] [kernel/] [rtos.h] - Blame information for rev 417

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/*--------------------------------------------------------------------
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 * TITLE: Plasma Real Time Operating System
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 * AUTHOR: Steve Rhoads (rhoadss@yahoo.com)
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 * DATE CREATED: 12/17/05
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 * FILENAME: rtos.h
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 * PROJECT: Plasma CPU core
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 * COPYRIGHT: Software placed into the public domain by the author.
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 *    Software 'as is' without warranty.  Author liable for nothing.
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 * DESCRIPTION:
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 *    Plasma Real Time Operating System
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 *    Fully pre-emptive RTOS with support for:
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 *       Heaps, Threads, Semaphores, Mutexes, Message Queues, and Timers.
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 *--------------------------------------------------------------------*/
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#ifndef __RTOS_H__
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#define __RTOS_H__
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// Symmetric Multi-Processing
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#define OS_CPU_COUNT 1
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// Typedefs
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typedef unsigned int   uint32;
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typedef unsigned short uint16;
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typedef unsigned char  uint8;
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// Memory Access
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#ifdef __TINYC__
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   #define WIN32
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#endif
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#ifdef WIN32
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   #define _CRT_SECURE_NO_WARNINGS 1
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   #include <stdio.h>
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   #include <assert.h>
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   #define _LIBC
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   uint32 MemoryRead(uint32 Address);
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   void MemoryWrite(uint32 Address, uint32 Value);
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#else
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   #define MemoryRead(A) (*(volatile uint32*)(A))
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   #define MemoryWrite(A,V) *(volatile uint32*)(A)=(V)
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#endif
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/***************** LibC ******************/
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#undef isprint
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#undef isspace
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#undef isdigit
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#undef islower
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#undef isupper
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#undef isalpha
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#undef isalnum
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#undef min
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#define isprint(c) (' '<=(c)&&(c)<='~')
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#define isspace(c) ((c)==' '||(c)=='\t'||(c)=='\n'||(c)=='\r')
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#define isdigit(c) ('0'<=(c)&&(c)<='9')
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#define islower(c) ('a'<=(c)&&(c)<='z')
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#define isupper(c) ('A'<=(c)&&(c)<='Z')
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#define isalpha(c) (islower(c)||isupper(c))
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#define isalnum(c) (isalpha(c)||isdigit(c))
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#define min(a,b)   ((a)<(b)?(a):(b))
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#define strcpy     strcpy2  //don't use intrinsic functions
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#define strncpy    strncpy2
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#define strcat     strcat2
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#define strncat    strncat2
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#define strcmp     strcmp2
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#define strncmp    strncmp2
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#define strstr     strstr2
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#define strlen     strlen2
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#define memcpy     memcpy2
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#define memmove    memmove2
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#define memcmp     memcmp2
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#define memset     memset2
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#define abs        abs2
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#define atoi       atoi2
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#define rand       rand2
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#define srand      srand2
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#define strtol     strtol2
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#define itoa       itoa2
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#define sprintf    sprintf2
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#define sscanf     sscanf2
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#define malloc(S)  OS_HeapMalloc(NULL, S)
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#define free(S)    OS_HeapFree(S)
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char *strcpy(char *dst, const char *src);
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char *strncpy(char *dst, const char *src, int count);
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char *strcat(char *dst, const char *src);
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char *strncat(char *dst, const char *src, int count);
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int   strcmp(const char *string1, const char *string2);
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int   strncmp(const char *string1, const char *string2, int count);
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char *strstr(const char *string, const char *find);
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int   strlen(const char *string);
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void *memcpy(void *dst, const void *src, unsigned long bytes);
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void *memmove(void *dst, const void *src, unsigned long bytes);
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int   memcmp(const void *cs, const void *ct, unsigned long bytes);
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void *memset(void *dst, int c, unsigned long bytes);
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int   abs(int n);
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int   atoi(const char *s);
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unsigned int rand(void);
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void  srand(unsigned int seed);
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long  strtol(const char *s, char **end, int base);
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char *itoa(int num, char *dst, int base);
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#ifndef NO_ELLIPSIS
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   int sprintf(char *s, const char *format, ...);
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   int sscanf(const char *s, const char *format, ...);
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#endif
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#define printf     UartPrintf
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#ifndef _LIBC
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   #define assert(A) if((A)==0){OS_Assert();UartPrintfCritical("\r\nAssert %s:%d\r\n", __FILE__, __LINE__);}
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   #define scanf      UartScanf
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   #define NULL       (void*)0
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#else
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   #define UartPrintfCritical UartPrintf
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#endif //_LIBC
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#ifdef INCLUDE_DUMP
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   void dump(const unsigned char *data, int length);
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#endif
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#ifdef INCLUDE_QSORT
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   void qsort(void *base,
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              long n,
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              long size,
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              int (*cmp)(const void *,const void *));
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   void *bsearch(const void *key,
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                 const void *base,
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                 long n,
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                 long size,
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                 int (*cmp)(const void *,const void *));
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#endif
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#ifdef INCLUDE_TIMELIB
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   #define difftime(time2,time1) (time2-time1)
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   typedef unsigned long time_t;  //start at 1/1/80
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   struct tm {
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      int tm_sec;      //(0,59)
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      int tm_min;      //(0,59)
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      int tm_hour;     //(0,23)
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      int tm_mday;     //(1,31)
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      int tm_mon;      //(0,11)
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      int tm_year;     //(0,n) from 1900
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      int tm_wday;     //(0,6)     calculated
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      int tm_yday;     //(0,365)   calculated
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      int tm_isdst;    //          calculated
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   };
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   time_t mktime(struct tm *tp);
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   void gmtime_r(const time_t *tp, struct tm *out);
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   void gmtimeDst(time_t dstTimeIn, time_t dstTimeOut);
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   void gmtimeDstSet(time_t *tp, time_t *dstTimeIn, time_t *dstTimeOut);
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#endif
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/***************** Assembly **************/
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typedef uint32 jmp_buf[20];
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extern uint32 OS_AsmInterruptEnable(uint32 state);
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extern void OS_AsmInterruptInit(void);
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extern int setjmp(jmp_buf env);
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extern void longjmp(jmp_buf env, int val);
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extern uint32 OS_AsmMult(uint32 a, uint32 b, unsigned long *hi);
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extern void *OS_Syscall(uint32 value);
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/***************** Heap ******************/
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typedef struct OS_Heap_s OS_Heap_t;
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#define HEAP_USER    (OS_Heap_t*)0
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#define HEAP_SYSTEM  (OS_Heap_t*)1
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#define HEAP_SMALL   (OS_Heap_t*)2
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#define HEAP_UI      (OS_Heap_t*)3
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OS_Heap_t *OS_HeapCreate(const char *name, void *memory, uint32 size);
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void OS_HeapDestroy(OS_Heap_t *heap);
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void *OS_HeapMalloc(OS_Heap_t *heap, int bytes);
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void OS_HeapFree(void *block);
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void OS_HeapAlternate(OS_Heap_t *heap, OS_Heap_t *alternate);
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void OS_HeapRegister(void *index, OS_Heap_t *heap);
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/***************** Critical Sections *****************/
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#if OS_CPU_COUNT <= 1
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   // Single CPU
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   #define OS_CpuIndex() 0
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   #define OS_CriticalBegin() OS_AsmInterruptEnable(0)
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   #define OS_CriticalEnd(S) OS_AsmInterruptEnable(S)
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   #define OS_SpinLock() 0
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   #define OS_SpinUnlock(S) 
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#else
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   // Symmetric multiprocessing
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   uint32 OS_CpuIndex(void);
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   #define OS_CriticalBegin() OS_SpinLock()
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   #define OS_CriticalEnd(S) OS_SpinUnlock(S)
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   uint32 OS_SpinLock(void);
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   void OS_SpinUnlock(uint32 state);
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#endif
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/***************** Thread *****************/
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#ifdef WIN32
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   #define STACK_SIZE_MINIMUM (1024*8)
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#else
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   #define STACK_SIZE_MINIMUM (1024*1)
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#endif
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#define STACK_SIZE_DEFAULT 1024*2
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#undef THREAD_PRIORITY_IDLE
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#define THREAD_PRIORITY_IDLE 0
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#define THREAD_PRIORITY_MAX 255
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typedef void (*OS_FuncPtr_t)(void *arg);
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typedef struct OS_Thread_s OS_Thread_t;
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OS_Thread_t *OS_ThreadCreate(const char *name,
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                             OS_FuncPtr_t funcPtr,
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                             void *arg,
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                             uint32 priority,
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                             uint32 stackSize);
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void OS_ThreadExit(void);
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OS_Thread_t *OS_ThreadSelf(void);
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void OS_ThreadSleep(int ticks);
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uint32 OS_ThreadTime(void);
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void OS_ThreadInfoSet(OS_Thread_t *thread, uint32 index, void *info);
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void *OS_ThreadInfoGet(OS_Thread_t *thread, uint32 index);
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uint32 OS_ThreadPriorityGet(OS_Thread_t *thread);
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void OS_ThreadPrioritySet(OS_Thread_t *thread, uint32 priority);
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void OS_ThreadProcessId(OS_Thread_t *thread, uint32 processId, OS_Heap_t *heap);
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void OS_ThreadCpuLock(OS_Thread_t *thread, int cpuIndex);
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/***************** Semaphore **************/
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#define OS_SUCCESS 0
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#define OS_ERROR  -1
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#define OS_WAIT_FOREVER -1
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#define OS_NO_WAIT 0
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typedef struct OS_Semaphore_s OS_Semaphore_t;
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OS_Semaphore_t *OS_SemaphoreCreate(const char *name, uint32 count);
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void OS_SemaphoreDelete(OS_Semaphore_t *semaphore);
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int OS_SemaphorePend(OS_Semaphore_t *semaphore, int ticks); //tick ~= 10ms
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void OS_SemaphorePost(OS_Semaphore_t *semaphore);
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/***************** Mutex ******************/
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typedef struct OS_Mutex_s OS_Mutex_t;
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OS_Mutex_t *OS_MutexCreate(const char *name);
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void OS_MutexDelete(OS_Mutex_t *semaphore);
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void OS_MutexPend(OS_Mutex_t *semaphore);
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void OS_MutexPost(OS_Mutex_t *semaphore);
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/***************** MQueue *****************/
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enum {
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   MESSAGE_TYPE_USER = 0,
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   MESSAGE_TYPE_TIMER = 5
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};
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typedef struct OS_MQueue_s OS_MQueue_t;
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OS_MQueue_t *OS_MQueueCreate(const char *name,
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                             int messageCount,
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                             int messageBytes);
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void OS_MQueueDelete(OS_MQueue_t *mQueue);
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int OS_MQueueSend(OS_MQueue_t *mQueue, void *message);
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int OS_MQueueGet(OS_MQueue_t *mQueue, void *message, int ticks);
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/***************** Job ********************/
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typedef void (*JobFunc_t)(void *a0, void *a1, void *a2);
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void OS_Job(JobFunc_t funcPtr, void *arg0, void *arg1, void *arg2);
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/***************** Timer ******************/
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typedef struct OS_Timer_s OS_Timer_t;
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typedef void (*OS_TimerFuncPtr_t)(OS_Timer_t *timer, uint32 info);
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OS_Timer_t *OS_TimerCreate(const char *name, OS_MQueue_t *mQueue, uint32 info);
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void OS_TimerDelete(OS_Timer_t *timer);
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void OS_TimerCallback(OS_Timer_t *timer, OS_TimerFuncPtr_t callback);
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void OS_TimerStart(OS_Timer_t *timer, uint32 ticks, uint32 ticksRestart);
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void OS_TimerStop(OS_Timer_t *timer);
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/***************** ISR ********************/
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#define STACK_EPC 88/4
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void OS_InterruptServiceRoutine(uint32 status, uint32 *stack);
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void OS_InterruptRegister(uint32 mask, OS_FuncPtr_t funcPtr);
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uint32 OS_InterruptStatus(void);
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uint32 OS_InterruptMaskSet(uint32 mask);
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uint32 OS_InterruptMaskClear(uint32 mask);
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/***************** Init ******************/
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void OS_Init(uint32 *heapStorage, uint32 bytes);
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void OS_InitSimulation(void);
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void OS_Start(void);
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void OS_Assert(void);
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void MainThread(void *Arg);
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/***************** UART ******************/
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typedef uint8* (*PacketGetFunc_t)(void);
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void UartInit(void);
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void UartWrite(int ch);
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uint8 UartRead(void);
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void UartWriteData(uint8 *data, int length);
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void UartReadData(uint8 *data, int length);
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#ifndef NO_ELLIPSIS2
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void UartPrintf(const char *format, ...);
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void UartPrintfPoll(const char *format, ...);
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void UartPrintfCritical(const char *format, ...);
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void UartPrintfNull(const char *format, ...);
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void UartScanf(const char *format, ...);
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#endif
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void UartPacketConfig(PacketGetFunc_t packetGetFunc,
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                      int packetSize,
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                      OS_MQueue_t *mQueue);
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void UartPacketSend(uint8 *data, int bytes);
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int OS_puts(const char *string);
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int OS_getch(void);
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int OS_kbhit(void);
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void LogWrite(int a);
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void LogDump(void);
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void Led(int mask, int value);
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/***************** Keyboard **************/
301
#define KEYBOARD_RAW     0x100
302
#define KEYBOARD_E0      0x200
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#define KEYBOARD_RELEASE 0x400
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void KeyboardInit(void);
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int KeyboardGetch(void);
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307
/***************** Math ******************/
308
//IEEE single precision floating point math
309
#ifndef WIN32
310
#define FP_Neg     __negsf2
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#define FP_Add     __addsf3
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#define FP_Sub     __subsf3
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#define FP_Mult    __mulsf3
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#define FP_Div     __divsf3
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#define FP_ToLong  __fixsfsi
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#define FP_ToFloat __floatsisf
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#define sqrt FP_Sqrt
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#define cos  FP_Cos
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#define sin  FP_Sin
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#define atan FP_Atan
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#define log  FP_Log
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#define exp  FP_Exp
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#endif
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float FP_Neg(float a_fp);
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float FP_Add(float a_fp, float b_fp);
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float FP_Sub(float a_fp, float b_fp);
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float FP_Mult(float a_fp, float b_fp);
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float FP_Div(float a_fp, float b_fp);
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long  FP_ToLong(float a_fp);
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float FP_ToFloat(long af);
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int   FP_Cmp(float a_fp, float b_fp);
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float FP_Sqrt(float a);
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float FP_Cos(float rad);
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float FP_Sin(float rad);
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float FP_Atan(float x);
336
float FP_Atan2(float y, float x);
337
float FP_Exp(float x);
338
float FP_Log(float x);
339
float FP_Pow(float x, float y);
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/***************** Filesys ******************/
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#ifndef EXCLUDE_FILESYS
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#define FILE   OS_FILE
344
#define fopen  OS_fopen
345
#define fclose OS_fclose
346
#define fread  OS_fread
347
#define fwrite OS_fwrite
348
#define fseek  OS_fseek
349
#endif
350
#define _FILESYS_
351
typedef struct OS_FILE_s OS_FILE;
352
OS_FILE *OS_fopen(char *name, char *mode);
353
void OS_fclose(OS_FILE *file);
354
int OS_fread(void *buffer, int size, int count, OS_FILE *file);
355
int OS_fwrite(void *buffer, int size, int count, OS_FILE *file);
356
int OS_fseek(OS_FILE *file, int offset, int mode);
357
int OS_fmkdir(char *name);
358
int OS_fdir(OS_FILE *dir, char name[64]);
359
void OS_fdelete(char *name);
360
int OS_flength(char *entry);
361
 
362
/***************** Flash ******************/
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void FlashLock(void);
364
void FlashUnlock(void);
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void FlashRead(uint16 *dst, uint32 byteOffset, int bytes);
366
void FlashWrite(uint16 *src, uint32 byteOffset, int bytes);
367
void FlashErase(uint32 byteOffset);
368
 
369
#endif //__RTOS_H__
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