picoos.h

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00001 /*
00002  * License:  Modified BSD license, see documentation below.
00003  *
00004  * This file is originally from the pico]OS realtime operating system
00005  * (http://picoos.sourceforge.net).
00006  *
00007  * CVS-ID $Id: picoos.h,v 1.25 2006/04/29 16:04:22 dkuschel Exp $
00008  *
00009  */
00010 
00244 #ifndef _PICOOS_H
00245 #define _PICOOS_H
00246 
00247 
00248 #define POS_VER_N           0x0100
00249 #define POS_VER_S           "1.0.0"
00250 #define POS_COPYRIGHT       "(c) 2004-2006, D.Kuschel"
00251 #define POS_STARTUPSTRING   "pico]OS " POS_VER_S "  " POS_COPYRIGHT
00252 
00253 #ifndef NULL
00254 #define NULL ((void*)0)
00255 #endif
00256 
00257 #ifndef DOX
00258 #define DOX  0
00259 #endif
00260 #if DOX==0
00261 
00262 #include <port.h>
00263 #include <poscfg.h>
00264 
00265 
00266 
00267 /*---------------------------------------------------------------------------
00268  *  CONFIGURATION
00269  *-------------------------------------------------------------------------*/
00270 
00271 /* test if all needed parameters are set */
00272 #ifndef MVAR_t
00273 #error  MVAR_t not defined
00274 #endif
00275 #ifndef MVAR_BITS
00276 #error  MVAR_BITS not defined
00277 #endif
00278 #ifndef POSCFG_ALIGNMENT
00279 #error  POSCFG_ALIGNMENT not defined
00280 #endif
00281 #ifndef POSCFG_MAX_PRIO_LEVEL
00282 #error  POSCFG_MAX_PRIO_LEVEL not defined
00283 #endif
00284 #ifndef POSCFG_MAX_TASKS
00285 #error  POSCFG_MAX_TASKS not defined
00286 #endif
00287 #ifndef POSCFG_MAX_EVENTS
00288 #error  POSCFG_MAX_EVENTS not defined
00289 #endif
00290 #ifndef POSCFG_MAX_MESSAGES
00291 #error  POSCFG_MAX_MESSAGES not defined
00292 #endif
00293 #ifndef POSCFG_MAX_TIMER
00294 #error  POSCFG_MAX_TIMER not defined
00295 #endif
00296 #ifndef POSCFG_SOFT_MTASK
00297 #error  POSCFG_SOFT_MTASK not defined
00298 #endif
00299 #ifndef POSCFG_CTXSW_COMBINE
00300 #error  POSCFG_CTXSW_COMBINE not defined
00301 #endif
00302 #ifndef POSCFG_REALTIME_PRIO
00303 #error  POSCFG_REALTIME_PRIO not defined
00304 #endif
00305 #ifndef POSCFG_ISR_INTERRUPTABLE
00306 #error  POSCFG_ISR_INTERRUPTABLE not defined
00307 #endif
00308 #ifndef POSCFG_ROUNDROBIN
00309 #error  POSCFG_ROUNDROBIN not defined
00310 #endif
00311 #ifndef POSCFG_TASKS_PER_PRIO
00312 #error  POSCFG_TASKS_PER_PRIO not defined
00313 #endif
00314 #ifndef POSCFG_FASTCODE
00315 #error  POSCFG_FASTCODE not defined
00316 #endif
00317 #ifndef POSCFG_SMALLCODE
00318 #error  POSCFG_SMALLCODE not defined
00319 #endif
00320 #ifndef POSCFG_ARGCHECK
00321 #error  POSCFG_ARGCHECK not defined
00322 #endif
00323 #ifndef POSCFG_MSG_MEMORY
00324 #error  POSCFG_MSG_MEMORY not defined
00325 #endif
00326 #ifndef POSCFG_MSG_BUFSIZE
00327 #error  POSCFG_MSG_BUFSIZE not defined
00328 #endif
00329 #ifndef POSCFG_DYNAMIC_MEMORY
00330 #error  POSCFG_DYNAMIC_MEMORY not defined
00331 #endif
00332 #ifndef POSCFG_DYNAMIC_REFILL
00333 #error  POSCFG_DYNAMIC_REFILL
00334 #endif
00335 #if POSCFG_DYNAMIC_MEMORY != 0
00336 #ifndef POS_MEM_ALLOC
00337 #error  POS_MEM_ALLOC not defined
00338 #endif
00339 #ifndef POS_MEM_ALLOC
00340 #error  POS_MEM_ALLOC not defined
00341 #endif
00342 #endif
00343 #ifndef POSCFG_CALLINITARCH
00344 #error  POSCFG_CALLINITARCH not defined
00345 #endif
00346 #ifndef POSCFG_LOCK_USEFLAGS
00347 #error  POSCFG_LOCK_USEFLAGS not defined
00348 #endif
00349 #if POSCFG_LOCK_USEFLAGS != 0
00350 #ifndef POSCFG_LOCK_FLAGSTYPE
00351 #error  POSCFG_LOCK_FLAGSTYPE not defined
00352 #endif
00353 #endif
00354 #ifndef POS_SCHED_LOCK
00355 #error  POS_SCHED_LOCK not defined
00356 #endif
00357 #ifndef POS_SCHED_UNLOCK
00358 #error  POS_SCHED_UNLOCK not defined
00359 #endif
00360 #ifndef HZ
00361 #error  HZ not defined
00362 #endif
00363 #ifndef POSCFG_TASKSTACKTYPE
00364 #error  POSCFG_TASKSTACKTYPE not defined
00365 #endif
00366 #ifndef POS_USERTASKDATA
00367 #error  POS_USERTASKDATA not defined
00368 #endif
00369 #ifndef POSCFG_FEATURE_YIELD
00370 #error  POSCFG_FEATURE_YIELD not defined
00371 #endif
00372 #ifndef POSCFG_FEATURE_SLEEP
00373 #error  POSCFG_FEATURE_SLEEP not defined
00374 #endif
00375 #ifndef POSCFG_FEATURE_EXIT
00376 #error  POSCFG_FEATURE_EXIT not defined
00377 #endif
00378 #ifndef POSCFG_FEATURE_GETPRIORITY 
00379 #error  POSCFG_FEATURE_GETPRIORITY  not defined
00380 #endif
00381 #ifndef POSCFG_FEATURE_SETPRIORITY
00382 #error  POSCFG_FEATURE_SETPRIORITY not defined
00383 #endif
00384 #ifndef POSCFG_FEATURE_SEMAPHORES
00385 #error  POSCFG_FEATURE_SEMAPHORES not defined
00386 #endif
00387 #ifndef POSCFG_FEATURE_SEMADESTROY
00388 #error  POSCFG_FEATURE_SEMADESTROY not defined
00389 #endif
00390 #ifndef POSCFG_FEATURE_SEMAWAIT
00391 #error  POSCFG_FEATURE_SEMAWAIT not defined
00392 #endif
00393 #ifndef POSCFG_FEATURE_MUTEXES
00394 #error  POSCFG_FEATURE_MUTEXES not defined
00395 #endif
00396 #ifndef POSCFG_FEATURE_MUTEXDESTROY
00397 #error  POSCFG_FEATURE_MUTEXDESTROY not defined
00398 #endif
00399 #ifndef POSCFG_FEATURE_MUTEXTRYLOCK
00400 #error  POSCFG_FEATURE_MUTEXTRYLOCK not defined
00401 #endif
00402 #ifndef POSCFG_FEATURE_GETTASK
00403 #error  POSCFG_FEATURE_GETTASK not defined
00404 #endif
00405 #ifndef POSCFG_FEATURE_TASKUNUSED
00406 #error  POSCFG_FEATURE_TASKUNUSED not defined
00407 #endif
00408 #ifndef POSCFG_FEATURE_MSGBOXES
00409 #error  POSCFG_FEATURE_MSGBOXES not defined
00410 #endif
00411 #ifndef POSCFG_FEATURE_MSGWAIT
00412 #error  POSCFG_FEATURE_MSGWAIT not defined
00413 #endif
00414 #ifndef POSCFG_FEATURE_INHIBITSCHED
00415 #error  POSCFG_FEATURE_INHIBITSCHED not defined
00416 #endif
00417 #ifndef POSCFG_FEATURE_JIFFIES
00418 #error  POSCFG_FEATURE_JIFFIES not defined
00419 #endif
00420 #ifndef POSCFG_FEATURE_TIMER
00421 #error  POSCFG_FEATURE_TIMER not defined
00422 #endif
00423 #ifndef POSCFG_FEATURE_TIMERDESTROY
00424 #error  POSCFG_FEATURE_TIMERDESTROY not defined
00425 #endif
00426 #ifndef POSCFG_FEATURE_TIMERFIRED
00427 #error  POSCFG_FEATURE_TIMERFIRED not defined
00428 #endif
00429 #ifndef POSCFG_FEATURE_FLAGS
00430 #error  POSCFG_FEATURE_FLAGS not defined
00431 #endif
00432 #ifndef POSCFG_FEATURE_FLAGDESTROY
00433 #error  POSCFG_FEATURE_FLAGDESTROY not defined
00434 #endif
00435 #ifndef POSCFG_FEATURE_FLAGWAIT
00436 #error  POSCFG_FEATURE_FLAGWAIT not defined
00437 #endif
00438 #ifndef POSCFG_FEATURE_SOFTINTS
00439 #error  POSCFG_FEATURE_SOFTINTS not defined
00440 #else
00441 #ifndef POSCFG_FEATURE_SOFTINTDEL
00442 #error  POSCFG_FEATURE_SOFTINTDEL not defined
00443 #endif
00444 #ifndef POSCFG_SOFTINTERRUPTS
00445 #error  POSCFG_SOFTINTERRUPTS not defined
00446 #endif
00447 #ifndef POSCFG_SOFTINTQUEUELEN
00448 #error  POSCFG_SOFTINTQUEUELEN not defined
00449 #endif
00450 #endif
00451 #ifndef POSCFG_FEATURE_IDLETASKHOOK
00452 #error  POSCFG_FEATURE_IDLETASKHOOK not defined
00453 #endif
00454 #ifndef POSCFG_FEATURE_ERRNO
00455 #error  POSCFG_FEATURE_ERRNO not defined
00456 #endif
00457 #ifndef POSCFG_FEATURE_ATOMICVAR
00458 #error  POSCFG_FEATURE_ATOMICVAR not defined
00459 #endif
00460 #ifndef POSCFG_FEATURE_LISTS
00461 #error  POSCFG_FEATURE_LISTS not defined
00462 #else
00463 #ifndef POSCFG_FEATURE_LISTJOIN
00464 #error  POSCFG_FEATURE_LISTJOIN not defined
00465 #endif
00466 #ifndef POSCFG_FEATURE_LISTLEN
00467 #define POSCFG_FEATURE_LISTLEN  1
00468 #endif
00469 #endif
00470 #ifndef POSCFG_FEATURE_DEBUGHELP
00471 #define POSCFG_FEATURE_DEBUGHELP  0
00472 #endif
00473 #ifdef _DBG
00474 #if POSCFG_FEATURE_DEBUGHELP
00475 #define POS_DEBUGHELP
00476 #endif
00477 #endif
00478 
00479 /* parameter range checking */
00480 #if (POSCFG_DYNAMIC_MEMORY != 0) && (POSCFG_DYNAMIC_REFILL != 0)
00481 #define SYS_POSTALLOCATE    1
00482 #else
00483 #define SYS_POSTALLOCATE    0
00484 #endif
00485 #if (MVAR_BITS != 8) && (MVAR_BITS != 16) && (MVAR_BITS != 32)
00486 #error MVAR_BITS must be 8, 16 or 32
00487 #endif
00488 #if POSCFG_MAX_PRIO_LEVEL == 0
00489 #error POSCFG_MAX_PRIO_LEVEL must not be zero
00490 #endif
00491 #if (POSCFG_ROUNDROBIN != 0) && (POSCFG_MAX_PRIO_LEVEL > MVAR_BITS)
00492 #error POSCFG_MAX_PRIO_LEVEL must not exceed MVAR_BITS
00493 #endif 
00494 #if (POSCFG_ROUNDROBIN == 0) && (POSCFG_MAX_PRIO_LEVEL > (MVAR_BITS*MVAR_BITS))
00495 #error POSCFG_MAX_PRIO_LEVEL must not exceed (MVAR_BITS * MVAR_BITS)
00496 #endif 
00497 #if (POSCFG_MAX_TASKS < 2) && (SYS_POSTALLOCATE == 0)
00498 #error POSCFG_MAX_TASKS is less than 2
00499 #endif
00500 #if (POSCFG_MAX_TASKS > (POSCFG_TASKS_PER_PRIO * POSCFG_MAX_PRIO_LEVEL))
00501 #error POSCFG_MAX_TASKS is much to big
00502 #endif
00503 #if (POSCFG_MAX_EVENTS < 1) && (SYS_POSTALLOCATE == 0)
00504 #error POSCFG_MAX_EVENTS must be at least 1
00505 #endif
00506 #if POSCFG_TASKS_PER_PRIO > MVAR_BITS
00507 #error POSCFG_TASKS_PER_PRIO can not exceed MVAR_BITS
00508 #endif
00509 #if (POSCFG_TASKS_PER_PRIO < 2) && (POSCFG_ROUNDROBIN != 0)
00510 #error POSCFG_TASKS_PER_PRIO must be at least 2
00511 #endif
00512 #if (POSCFG_TASKS_PER_PRIO != 1) && (POSCFG_ROUNDROBIN == 0)
00513 #error POSCFG_TASKS_PER_PRIO must be 1 when round robin scheduling is disabled
00514 #endif
00515 #if ((POSCFG_TASKS_PER_PRIO % 3) == 0) || ((POSCFG_TASKS_PER_PRIO % 5) == 0)
00516 #error POSCFG_TASKS_PER_PRIO must be 1/2/4/8/16 or 32
00517 #endif
00518 #if (POSCFG_REALTIME_PRIO >= POSCFG_MAX_PRIO_LEVEL) && (POSCFG_ROUNDROBIN != 0)
00519 #error POSCFG_REALTIME_PRIO must be less than POSCFG_MAX_PRIO_LEVEL
00520 #endif
00521 #if POSCFG_FEATURE_MSGBOXES != 0
00522 #if (POSCFG_MAX_MESSAGES < 2) && (SYS_POSTALLOCATE == 0)
00523 #error POSCFG_MAX_MESSAGES must be at least 2
00524 #endif
00525 #if POSCFG_MSG_BUFSIZE < 1
00526 #error POSCFG_MSG_BUFSIZE must be at least 1
00527 #endif
00528 #endif
00529 #if (POSCFG_FEATURE_TIMER != 0)
00530 #if (POSCFG_MAX_TIMER == 0) && (SYS_POSTALLOCATE == 0)
00531 #error POSCFG_MAX_TIMER must be at least 1
00532 #endif
00533 #endif
00534 #if (POSCFG_TASKSTACKTYPE < 0) || (POSCFG_TASKSTACKTYPE > 2)
00535 #error POSCFG_TASKSTACKTYPE must be 0, 1 or 2
00536 #endif
00537 #if POSCFG_ALIGNMENT == 0
00538 #undef POSCFG_ALIGNMENT
00539 #define POSCFG_ALIGNMENT  1
00540 #else
00541 #if ((POSCFG_ALIGNMENT % 3) == 0) || ((POSCFG_ALIGNMENT % 5) == 0)
00542 #error POSCFG_ALIGNMENT must be 1/2/4/8/16/32/64/128/256 etc.
00543 #endif
00544 #endif
00545 #if POSCFG_FEATURE_SOFTINTS != 0
00546 #if POSCFG_SOFTINTERRUPTS == 0
00547 #error POSCFG_SOFTINTERRUPTS must be greater than 0
00548 #endif
00549 #if POSCFG_SOFTINTQUEUELEN < 2
00550 #error POSCFG_SOFTINTQUEUELEN must be at least 2
00551 #endif
00552 #endif
00553 
00554 
00555 /* parameter reconfiguration */
00556 #ifndef POSCFG_TASKCB_USERSPACE
00557 #define POSCFG_TASKCB_USERSPACE     0
00558 #endif
00559 #if POSCFG_FEATURE_SEMAPHORES == 0
00560 #undef POSCFG_FEATURE_SEMADESTROY
00561 #define POSCFG_FEATURE_SEMADESTROY  0
00562 #endif
00563 #if POSCFG_FEATURE_FLAGS == 0
00564 #undef POSCFG_FEATURE_FLAGDESTROY
00565 #define POSCFG_FEATURE_FLAGDESTROY  0
00566 #endif
00567 #if POSCFG_FEATURE_MUTEXES == 0
00568 #undef POSCFG_FEATURE_MUTEXDESTROY
00569 #define POSCFG_FEATURE_MUTEXDESTROY  0
00570 #else
00571 #if (POSCFG_FEATURE_MUTEXDESTROY != 0) && (POSCFG_FEATURE_SEMADESTROY == 0)
00572 #undef POSCFG_FEATURE_SEMADESTROY
00573 #define POSCFG_FEATURE_SEMADESTROY 1
00574 #endif
00575 #endif
00576 #if (POSCFG_FEATURE_MSGBOXES != 0) && (SYS_POSTALLOCATE == 0)
00577 #define SYS_MSGBOXEVENTS  2
00578 #else
00579 #define SYS_MSGBOXEVENTS  0
00580 #endif
00581 #if (POSCFG_FEATURE_MSGBOXES != 0) && (POSCFG_FEATURE_GETTASK == 0)
00582 #undef POSCFG_FEATURE_GETTASK
00583 #define POSCFG_FEATURE_GETTASK 1
00584 #endif
00585 #if (POSCFG_FEATURE_SEMAWAIT != 0) || (POSCFG_FEATURE_MSGWAIT != 0)
00586 #define SYS_TASKDOUBLELINK  1
00587 #else
00588 #define SYS_TASKDOUBLELINK  0
00589 #endif
00590 #define SYS_EVENTS_USED  \
00591       (POSCFG_FEATURE_MUTEXES | POSCFG_FEATURE_MSGBOXES | \
00592        POSCFG_FEATURE_FLAGS | POSCFG_FEATURE_LISTS)
00593 #define SYS_FEATURE_EVENTS  (POSCFG_FEATURE_SEMAPHORES | SYS_EVENTS_USED)
00594 #define SYS_FEATURE_EVENTFREE  (POSCFG_FEATURE_SEMADESTROY | \
00595           POSCFG_FEATURE_MUTEXDESTROY | POSCFG_FEATURE_FLAGDESTROY | \
00596           POSCFG_FEATURE_LISTS)
00597 #if (POSCFG_FEATURE_MSGBOXES != 0) && (POSCFG_FEATURE_EXIT != 0)
00598 #undef  SYS_FEATURE_EVENTFREE
00599 #define SYS_FEATURE_EVENTFREE  1
00600 #endif
00601 #ifndef POSCFG_FEATURE_LARGEJIFFIES
00602 #if MVAR_BITS < 16
00603 #define POSCFG_FEATURE_LARGEJIFFIES  1
00604 #else
00605 #define POSCFG_FEATURE_LARGEJIFFIES  0
00606 #endif
00607 #endif
00608 #endif /* DOX!=0 */
00609 
00610 
00611 
00612 /*---------------------------------------------------------------------------
00613  *  SOME DEFINITIONS AND MACROS
00614  *-------------------------------------------------------------------------*/
00615 
00616 #ifdef _POSCORE_C
00617 #define POSEXTERN
00618 #define POSFROMEXT  extern
00619 #else
00620 #define POSEXTERN   extern
00621 #define POSFROMEXT
00622 #endif
00623 
00624 #if POSCFG_ROUNDROBIN == 0
00625 #define SYS_TASKTABSIZE_X  MVAR_BITS
00626 #define SYS_TASKTABSIZE_Y  ((POSCFG_MAX_PRIO_LEVEL+MVAR_BITS-1)/MVAR_BITS)
00627 #else
00628 #define SYS_TASKTABSIZE_X  POSCFG_TASKS_PER_PRIO
00629 #define SYS_TASKTABSIZE_Y  POSCFG_MAX_PRIO_LEVEL
00630 #endif
00631 
00632 #define SYS_TASKSTATE (POSCFG_FEATURE_TASKUNUSED | POSCFG_FEATURE_MSGBOXES)
00633 
00634 #if POSCFG_LOCK_USEFLAGS != 0
00635 #define POS_LOCKFLAGS   POSCFG_LOCK_FLAGSTYPE flags
00636 #else
00637 #define POS_LOCKFLAGS   do { } while(0)
00638 #endif
00639 
00640 #define POSTASKSTATE_UNUSED      0
00641 #define POSTASKSTATE_ZOMBIE      1
00642 #define POSTASKSTATE_ACTIVE      2
00643 
00644 #define INFINITE   ((UINT_t)~0)
00645 
00646 
00647 
00648 /*---------------------------------------------------------------------------
00649  *  ERROR CODES
00650  *-------------------------------------------------------------------------*/
00651 
00666 #define E_OK        0
00667 
00669 #define E_FAIL      1
00670 
00672 #define E_NOMEM     2
00673 
00675 #define E_ARG       3
00676 
00678 #define E_FORB      4
00679 
00681 #define E_NOMORE    5
00682 
00684 #define E_NOTFOUND  6
00685 
00690 /*---------------------------------------------------------------------------
00691  *  MACROS
00692  *-------------------------------------------------------------------------*/
00693 
00699 #if (DOX==0) && (HZ <= 1000)
00700 #define MS(msec)  (((UINT_t)(msec)<(1000/HZ)) ? \
00701                     ((UINT_t)1) : ((UINT_t)((1L*HZ*(UINT_t)(msec))/1000)))
00702 #else
00703 #define MS(msec)  ((UINT_t)((1L*HZ*(UINT_t)(msec))/1000))
00704 #endif
00705 
00706 
00707 
00708 /*---------------------------------------------------------------------------
00709  *  DATA TYPES
00710  *-------------------------------------------------------------------------*/
00711 
00717 typedef signed MVAR_t     VAR_t;
00718 
00724 typedef unsigned MVAR_t   UVAR_t;
00725 
00726 #ifndef MINT_t
00727 #define MINT_t int
00728 #endif
00729 
00738 typedef signed MINT_t     INT_t;
00739 
00749 typedef unsigned MINT_t   UINT_t;
00750 
00751 #ifndef MPTR_t
00752 #define MPTR_t long
00753 #endif
00754 
00765 typedef unsigned MPTR_t   MEMPTR_t;
00766 
00767 #if (DOX!=0) || (POSCFG_FEATURE_LARGEJIFFIES == 0)
00768 
00771 typedef VAR_t             SJIF_t;
00775 typedef UVAR_t            JIF_t;
00776 #else
00777 typedef INT_t             SJIF_t;
00778 typedef UINT_t            JIF_t;
00779 #endif
00780 
00784 typedef void (*POSTASKFUNC_t)(void* arg);
00785 
00792 typedef void (*POSINTFUNC_t)(UVAR_t arg);
00793 
00794 #if (DOX!=0) ||(POSCFG_FEATURE_IDLETASKHOOK != 0)
00795 
00796 typedef void (*POSIDLEFUNC_t)(void);
00797 #endif
00798 
00799 /* forward declarations (just dummies) */
00800 struct POSSEMA;
00801 struct POSMUTEX;
00802 struct POSFLAG;
00803 struct POSTIMER;
00804 
00808 typedef struct POSSEMA *POSSEMA_t;
00809 
00813 typedef struct POSMUTEX *POSMUTEX_t;
00814 
00818 typedef struct POSFLAG *POSFLAG_t;
00819 
00823 typedef struct POSTIMER *POSTIMER_t;
00824 
00828 typedef volatile INT_t  POSATOMIC_t;
00829 
00830 #if (DOX!=0) || (POSCFG_FEATURE_LISTS != 0)
00831 struct POSLIST;
00832 struct POSLISTHEAD {
00833   struct POSLIST* volatile  prev;
00834   struct POSLIST* volatile  next;
00835   POSSEMA_t       volatile  sema;
00836   UVAR_t          volatile  flag;
00837 #if POSCFG_FEATURE_LISTLEN != 0
00838   UINT_t          volatile  length;
00839 #endif
00840 };
00841 struct POSLIST {
00842   struct POSLIST* volatile  prev;
00843   struct POSLIST* volatile  next;
00844 #if POSCFG_FEATURE_LISTLEN != 0
00845   struct POSLISTHEAD* volatile head;
00846 #endif
00847 };
00852 typedef struct POSLIST POSLIST_t;
00857 typedef struct POSLISTHEAD POSLISTHEAD_t;
00858 #endif
00859 
00860 
00880 typedef struct POSTASK  *POSTASK_t; /* forward declaration */
00881 
00882 
00883 
00884 /*---------------------------------------------------------------------------
00885  *  DEFINITIONS FOR GENERIC "findbit" FUNCTION  (file fbit_gen.c)
00886  *-------------------------------------------------------------------------*/
00887 
00888 #ifndef POSCFG_FBIT_USE_LUTABLE
00889 #define POSCFG_FBIT_USE_LUTABLE  0
00890 #endif
00891 #if (POSCFG_FBIT_USE_LUTABLE > 1) && (POSCFG_ROUNDROBIN == 0)
00892 #undef POSCFG_FBIT_USE_LUTABLE
00893 #define POSCFG_FBIT_USE_LUTABLE 1
00894 #endif
00895 #ifndef FINDBIT
00896 #if POSCFG_FBIT_USE_LUTABLE == 1
00897 #if POSCFG_ROUNDROBIN == 0
00898 #ifndef _FBIT_GEN_C
00899 extern VAR_t const p_pos_fbittbl[256];
00900 #endif
00901 #define FINDBIT(x)  p_pos_fbittbl[x] 
00902 #else
00903 UVAR_t p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset);
00904 #define FINDBIT(x, o)  p_pos_findbit(x, o)
00905 #endif
00906 #elif POSCFG_FBIT_USE_LUTABLE == 2
00907 #ifndef _FBIT_GEN_C
00908 extern VAR_t const p_pos_fbittbl_rr[8][256];
00909 #endif
00910 #define FINDBIT(x, o)  p_pos_fbittbl_rr[o][x]
00911 #endif
00912 #endif /* !FINDBIT */
00913 
00914 
00915 
00916 /*---------------------------------------------------------------------------
00917  *  GLOBAL VARIABLES
00918  *-------------------------------------------------------------------------*/
00919 
00928 POSEXTERN volatile POSTASK_t posCurrentTask_g;
00929 
00938 POSEXTERN volatile POSTASK_t posNextTask_g;
00939 
00946 #ifndef _POSCORE_C
00947 POSEXTERN volatile UVAR_t    posInInterrupt_g;
00948 #else
00949 POSEXTERN volatile UVAR_t    posInInterrupt_g = 1;
00950 #endif
00951 
00958 #ifndef _POSCORE_C
00959 POSEXTERN volatile UVAR_t    posRunning_g;
00960 #else
00961 POSEXTERN volatile UVAR_t    posRunning_g = 0;
00962 #endif
00963 
00964 
00965 #if DOX!=0
00966 
00971 VAR_t   errno;
00972 #endif
00973 #if POSCFG_FEATURE_ERRNO != 0
00974 #ifdef errno
00975 #undef errno
00976 #endif
00977 POSEXTERN VAR_t* _errno_p(void);
00978 #define errno (*_errno_p())
00979 #endif
00980 
00981 
00982 
00983 /*---------------------------------------------------------------------------
00984  *  PROTOTYPES OF INTERNAL FUNCTIONS
00985  *-------------------------------------------------------------------------*/
00986 
01121 /* findbit  function or macro definition */
01122 #if (DOX!=0) || (POSCFG_ROUNDROBIN == 0)
01123 #ifdef FINDBIT
01124 #define POS_FINDBIT(bf)          FINDBIT(bf, 0)
01125 #define POS_FINDBIT_EX(bf, ofs)  FINDBIT(bf, 0)
01126 #else  /* FINDBIT */
01127 POSFROMEXT UVAR_t p_pos_findbit(const UVAR_t bitfield);  /* arch_c.c */
01128 #define POS_FINDBIT(bf)          p_pos_findbit(bf)
01129 #define POS_FINDBIT_EX(bf, ofs)  p_pos_findbit(bf)
01130 #endif /* FINDBIT */
01131 #else  /* POSCFG_ROUNDROBIN */
01132 #ifdef FINDBIT
01133 #define POS_FINDBIT(bf)          FINDBIT(bf, 0)
01134 #define POS_FINDBIT_EX(bf, ofs)  FINDBIT(bf, ofs)
01135 #else  /* FINDBIT */
01136 POSFROMEXT UVAR_t p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset);  /* arch_c.c */
01137 #define POS_FINDBIT(bf)          p_pos_findbit(bf, 0)
01138 #define POS_FINDBIT_EX(bf, ofs)  p_pos_findbit(bf, ofs)
01139 #endif /* FINDBIT */
01140 #endif /* POSCFG_ROUNDROBIN */
01141 
01142 #if DOX!=0
01143 
01152 POSFROMEXT UVAR_t p_pos_findbit(const UVAR_t bitfield);  
01153 
01164 POSFROMEXT UVAR_t p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset); 
01165 #endif
01166 
01167 #if (DOX!=0) || (POSCFG_CALLINITARCH != 0)
01168 
01179 POSFROMEXT void p_pos_initArch(void);
01180 #endif
01181 
01182 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 0)
01183 
01202 POSFROMEXT void p_pos_initTask(POSTASK_t task, void *stackstart,
01203                                POSTASKFUNC_t funcptr,
01204                                void *funcarg);  /* arch_c.c */
01205 #endif
01206 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 1)
01207 
01231 POSFROMEXT VAR_t p_pos_initTask(POSTASK_t task, UINT_t stacksize,
01232                                 POSTASKFUNC_t funcptr,
01233                                 void *funcarg);  /* arch_c.c */
01234 /*
01235  * Stack free function.
01236  * This function is called by the operating system to
01237  * free a stack frame that was set up by the function
01238  * ::p_pos_initTask.
01239  * See the available port source files for an
01240  * example on how to write this function.
01241  * @param   task  pointer to the task environment structure.
01242  * @note    ::POSCFG_TASKSTACKTYPE <b>must be defined to 1 or 2</b>
01243  *          to have this format of the function compiled in.@n
01244  *          This function is not part of the pico]OS. It must be
01245  *          provided by the user, since it is architecture specific.@n
01246  *          The processor interrupts are disabled when this function
01247  *          is called; but the processor may still write some bytes to
01248  *          the stack frame after this function was called and before
01249  *          the interrupts are enabled again.
01250  * @sa      p_pos_initTask
01251  */
01252 POSFROMEXT void p_pos_freeStack(POSTASK_t task);/* arch_c.c */
01253 #endif
01254 
01255 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 2)
01256 
01279 POSFROMEXT VAR_t p_pos_initTask(POSTASK_t task, POSTASKFUNC_t funcptr,
01280                                 void *funcarg);  /* arch_c.c */
01281 
01298 POSFROMEXT void p_pos_freeStack(POSTASK_t task);/* arch_c.c */
01299 #endif
01300 
01314 POSFROMEXT void p_pos_startFirstContext(void);   /* arch_c.c */
01315 
01330 POSFROMEXT void p_pos_softContextSwitch(void);   /* arch_c.c */
01331 
01345 POSFROMEXT void p_pos_intContextSwitch(void);    /* arch_c.c */
01346 
01355 POSEXTERN void c_pos_intEnter(void);            /* picoos.c */
01356 
01365 POSEXTERN void c_pos_intExit(void);             /* picoos.c */
01366 
01399 POSEXTERN void c_pos_timerInterrupt(void);      /* picoos.c */
01400 
01405 /*---------------------------------------------------------------------------
01406  *  PROTOTYPES OF EXPORTED FUNCTIONS  (USER API)
01407  *-------------------------------------------------------------------------*/
01408 
01414 #if (DOX!=0) || (POSCFG_FEATURE_YIELD != 0)
01415 
01423 POSEXTERN void posTaskYield(void);
01424 #endif
01425 
01426 #if (DOX!=0) || (POSCFG_FEATURE_SLEEP != 0)
01427 
01441 POSEXTERN void posTaskSleep(UINT_t ticks);
01442 #endif
01443 
01444 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 0)
01445 
01461 POSEXTERN POSTASK_t posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
01462                                   VAR_t priority, void *stackstart);
01463 
01479 POSEXTERN void posInit(POSTASKFUNC_t firstfunc, void *funcarg, VAR_t priority,
01480                        void *stackFirstTask, void *stackIdleTask);
01481 #endif
01482 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 1)
01483 
01502 POSEXTERN POSTASK_t posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
01503                                   VAR_t priority, UINT_t stacksize);
01504 
01520 POSEXTERN void posInit(POSTASKFUNC_t firstfunc, void *funcarg, VAR_t priority,
01521                        UINT_t taskStackSize, UINT_t idleStackSize);
01522 #endif
01523 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 2)
01524 
01540 POSEXTERN POSTASK_t posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
01541                                   VAR_t priority);
01542 
01556 POSEXTERN void posInit(POSTASKFUNC_t firstfunc, void *funcarg, VAR_t priority);
01557 
01558 #endif
01559 
01560 
01561 #if (DOX!=0) || (POSCFG_FEATURE_EXIT != 0)
01562 
01569 POSEXTERN void posTaskExit(void);
01570 #endif
01571 
01572 #if (DOX!=0) || (POSCFG_FEATURE_GETTASK != 0)
01573 
01581 POSEXTERN POSTASK_t posTaskGetCurrent(void);
01582 #endif
01583 
01584 #if (DOX!=0) || (POSCFG_FEATURE_TASKUNUSED != 0)
01585 
01598 POSEXTERN VAR_t posTaskUnused(POSTASK_t taskhandle);
01599 #endif
01600 
01601 #if (DOX!=0) || (POSCFG_FEATURE_SETPRIORITY != 0)
01602 
01615 POSEXTERN VAR_t posTaskSetPriority(POSTASK_t taskhandle, VAR_t priority);
01616 #endif
01617 
01618 #if (DOX!=0) || (POSCFG_FEATURE_GETPRIORITY != 0)
01619 
01628 POSEXTERN VAR_t posTaskGetPriority(POSTASK_t taskhandle);
01629 #endif
01630 
01631 #if (DOX!=0) || (POSCFG_FEATURE_INHIBITSCHED != 0)
01632 
01643 POSEXTERN void posTaskSchedLock(void);
01644 
01654 POSEXTERN void posTaskSchedUnlock(void);
01655 #endif
01656 
01657 #if (DOX!=0) || (POSCFG_TASKCB_USERSPACE > 0)
01658 
01666 POSEXTERN void* posTaskGetUserspace(void);
01667 #endif
01668 
01669 #if (DOX!=0) || (POSCFG_FEATURE_IDLETASKHOOK != 0)
01670 
01688 POSEXTERN POSIDLEFUNC_t  posInstallIdleTaskHook(POSIDLEFUNC_t idlefunc);
01689 #endif
01690 
01693 /*-------------------------------------------------------------------------*/
01694 
01695 #if (DOX!=0) || (SYS_FEATURE_EVENTS != 0)
01696 
01735 POSEXTERN POSSEMA_t posSemaCreate(INT_t initcount);
01736 
01737 #if (DOX!=0) || (SYS_FEATURE_EVENTFREE != 0)
01738 
01748 POSEXTERN void posSemaDestroy(POSSEMA_t sema);
01749 #endif
01750 
01763 #if (DOX!=0) || (POSCFG_SMALLCODE == 0) || (POSCFG_FEATURE_SEMAWAIT == 0)
01764 POSEXTERN VAR_t posSemaGet(POSSEMA_t sema);
01765 #else
01766 /* this define is for small code and it saves stack memory */
01767 #define  posSemaGet(sema)  posSemaWait(sema, INFINITE)
01768 #endif
01769 
01781 POSEXTERN VAR_t posSemaSignal(POSSEMA_t sema);
01782 
01783 #if (DOX!=0) || (POSCFG_FEATURE_SEMAWAIT != 0)
01784 
01804 POSEXTERN VAR_t posSemaWait(POSSEMA_t sema, UINT_t timeoutticks);
01805 #endif
01806 
01807 #endif /* SYS_FEATURE_EVENTS */
01808 
01810 /*-------------------------------------------------------------------------*/
01811 
01812 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXES != 0)
01813 
01834 POSEXTERN POSMUTEX_t posMutexCreate(void);
01835 
01836 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXDESTROY != 0)
01837 
01847 POSEXTERN void posMutexDestroy(POSMUTEX_t mutex);
01848 #endif
01849 
01850 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXTRYLOCK != 0)
01851 
01866 POSEXTERN VAR_t posMutexTryLock(POSMUTEX_t mutex);
01867 #endif
01868 
01881 POSEXTERN VAR_t posMutexLock(POSMUTEX_t mutex);
01882 
01893 POSEXTERN VAR_t posMutexUnlock(POSMUTEX_t mutex);
01894 
01895 #endif /* POSCFG_FEATURE_MUTEXES */
01896 
01898 /*-------------------------------------------------------------------------*/
01899 
01900 #if (DOX!=0) || (POSCFG_FEATURE_MSGBOXES != 0)
01901 
01923 #if (DOX!=0) || (POSCFG_MSG_MEMORY != 0)
01924 
01937 POSEXTERN void* posMessageAlloc(void);
01938 
01951 POSEXTERN void posMessageFree(void *buf);
01952 #endif
01953 
01971 POSEXTERN VAR_t posMessageSend(void *buf, POSTASK_t taskhandle);
01972 
01988 #if (DOX!=0) || (POSCFG_SMALLCODE == 0) || (POSCFG_FEATURE_MSGWAIT == 0)
01989 POSEXTERN void* posMessageGet(void);
01990 #else
01991 /* this define is for small code and it saves stack memory */
01992 #define     posMessageGet()  posMessageWait(INFINITE)
01993 #endif
01994 
02007 POSEXTERN VAR_t posMessageAvailable(void);
02008 
02009 #if (DOX!=0) || (POSCFG_FEATURE_MSGWAIT != 0)
02010 
02035 POSEXTERN void* posMessageWait(UINT_t timeoutticks);
02036 #endif
02037 
02038 #endif  /* POSCFG_FEATURE_MSGBOXES */
02039 
02041 /*-------------------------------------------------------------------------*/
02042 
02043 #if (DOX!=0) || (POSCFG_FEATURE_FLAGS != 0)
02044 
02064 POSEXTERN POSFLAG_t posFlagCreate(void);
02065 
02066 #if (DOX!=0) || (POSCFG_FEATURE_FLAGDESTROY != 0)
02067 
02077 POSEXTERN void posFlagDestroy(POSFLAG_t flg);
02078 #endif
02079 
02092 POSEXTERN VAR_t posFlagSet(POSFLAG_t flg, UVAR_t flgnum);
02093 
02108 POSEXTERN VAR_t posFlagGet(POSFLAG_t flg, UVAR_t mode);
02109 
02110 #if (DOX!=0) || (POSCFG_FEATURE_FLAGWAIT != 0)
02111 
02130 POSEXTERN VAR_t posFlagWait(POSFLAG_t flg, UINT_t timeoutticks);
02131 #endif
02132 
02133 #define POSFLAG_MODE_GETSINGLE   0
02134 #define POSFLAG_MODE_GETMASK     1
02135 
02136 #endif  /* POSCFG_FEATURE_FLAGS */
02137 
02139 /*-------------------------------------------------------------------------*/
02140 
02162 #if DOX!=0
02163 #define HZ (timerticks per second)
02164 #endif
02165 
02175 #if (DOX!=0) || (POSCFG_FEATURE_JIFFIES != 0)
02176 #if (DOX!=0) || (POSCFG_FEATURE_LARGEJIFFIES == 0)
02177 POSEXTERN  volatile JIF_t  jiffies;
02178 #else
02179 POSEXTERN  JIF_t  posGetJiffies(void);
02180 #define jiffies  posGetJiffies()
02181 #endif
02182 
02193 #define POS_TIMEAFTER(x, y)    ((((SJIF_t)(x)) - ((SJIF_t)(y))) >= 0)
02194 
02195 #endif  /* POSCFG_FEATURE_JIFFIES */
02196 
02197 #if (DOX!=0) || (POSCFG_FEATURE_TIMER != 0)
02198 
02208 POSEXTERN POSTIMER_t posTimerCreate(void);
02209 
02227 POSEXTERN VAR_t posTimerSet(POSTIMER_t tmr, POSSEMA_t sema,
02228                             UINT_t waitticks, UINT_t periodticks);
02240 POSEXTERN VAR_t posTimerStart(POSTIMER_t tmr);
02241 
02252 POSEXTERN VAR_t posTimerStop(POSTIMER_t tmr);
02253 
02254 #if (DOX!=0) || (POSCFG_FEATURE_TIMERDESTROY != 0)
02255 
02265 POSEXTERN void posTimerDestroy(POSTIMER_t tmr);
02266 #endif
02267 #if (DOX!=0) || (POSCFG_FEATURE_TIMERFIRED != 0)
02268 
02280 POSEXTERN VAR_t posTimerFired(POSTIMER_t tmr);
02281 #endif
02282 
02283 #endif  /* POSCFG_FEATURE_TIMER */
02284 
02286 /*-------------------------------------------------------------------------*/
02287 
02288 #if (DOX!=0) || (POSCFG_FEATURE_SOFTINTS != 0)
02289 
02335 POSEXTERN void posSoftInt(UVAR_t intno, UVAR_t param);
02336 
02350 POSEXTERN VAR_t posSoftIntSetHandler(UVAR_t intno, POSINTFUNC_t inthandler);
02351 
02352 #if (DOX!=0) || (POSCFG_FEATURE_SOFTINTDEL != 0)
02353 
02366 POSEXTERN VAR_t posSoftIntDelHandler(UVAR_t intno);
02367 #endif
02368 
02369 #endif  /* POSCFG_FEATURE_SOFTINTS */
02370 
02372 /*-------------------------------------------------------------------------*/
02373 
02374 #if (DOX!=0) || (POSCFG_FEATURE_ATOMICVAR != 0)
02375 
02400 POSEXTERN void posAtomicSet(POSATOMIC_t *var, INT_t value);
02401 
02412 POSEXTERN INT_t posAtomicGet(POSATOMIC_t *var);
02413 
02424 POSEXTERN INT_t posAtomicAdd(POSATOMIC_t *var, INT_t value);
02425 
02436 POSEXTERN INT_t posAtomicSub(POSATOMIC_t *var, INT_t value);
02437 
02438 #endif /* POSCFG_FEATURE_ATOMICVAR */
02439 
02442 /*-------------------------------------------------------------------------*/
02443 
02444 #if (DOX!=0) || (POSCFG_FEATURE_LISTS != 0)
02445 
02460 #define POSLIST_HEAD  0
02461 #define POSLIST_TAIL  1
02462 
02478 POSEXTERN void posListAdd(POSLISTHEAD_t *listhead, UVAR_t pos, POSLIST_t *new);
02479 
02511 POSEXTERN POSLIST_t* posListGet(POSLISTHEAD_t *listhead, UVAR_t pos,
02512                                 UINT_t timeout);
02513 
02522 POSEXTERN void posListRemove(POSLIST_t *listelem);
02523 
02524 #if (DOX!=0) || (POSCFG_FEATURE_LISTJOIN != 0)
02525 
02544 POSEXTERN void posListJoin(POSLISTHEAD_t *baselisthead, UVAR_t pos,
02545                            POSLISTHEAD_t *joinlisthead);
02546 #endif
02547 
02548 #if (DOX!=0) || (POSCFG_FEATURE_LISTLEN != 0)
02549 
02560 POSEXTERN UINT_t posListLen(POSLISTHEAD_t *listhead);
02561 #endif
02562 
02574 POSEXTERN void posListInit(POSLISTHEAD_t *listhead);
02575 
02583 POSEXTERN void posListTerm(POSLISTHEAD_t *listhead);
02584 
02585 #if (DOX!=0)
02586 
02598 #define POSLIST_ELEMENT(elem, type, member)
02599 #else
02600 #define POSLIST_ELEMENT(elem, type, member) \
02601         ((type*)((char*)(elem)-(char*)(&((type*)NULL)->member)))
02602 #endif
02603 
02607 #define POSLIST_IS_EMPTY(plisthead) \
02608           ((plisthead)->next == (POSLIST_t*)(plisthead))
02609 
02613 #define POSLIST_NEXT_ENTRY(plist)               (plist)->next
02614 
02618 #define POSLIST_PREV_ENTRY(plist)               (plist)->prev
02619 
02623 #define POSLIST_FIRST_ENTRY(plisthead)          (plisthead)->next
02624 
02628 #define POSLIST_LAST_ENTRY(plisthead)           (plisthead)->prev
02629 
02633 #define POSLIST_IS_FIRST_ENTRY(element) ((element)->prev==(element)->head)
02634 
02638 #define POSLIST_IS_LAST_ENTRY(element)  ((element)->next==(element)->head)
02639 
02642 #define POSLIST_IS_END(plisthead, element) \
02643           ((element)==(POSLIST_t*)(plisthead))
02644 
02645 
02646 #if (DOX!=0)
02647 
02663 #define POSLIST_FOR_EACH_ENTRY(plisthead, runvar)
02664 #else
02665 #define POSLIST_FOR_EACH_ENTRY(plisthead, runvar) \
02666   for (runvar = POSLIST_FIRST_ENTRY(plisthead);   \
02667        !POSLIST_IS_END(plisthead, runvar);        \
02668        runvar = POSLIST_NEXT_ENTRY(runvar))
02669 #endif
02670 
02671 #if (DOX!=0)
02672 
02693 #define POSLIST_FOREACH_BEGIN(plisthead, runvar, type, listmember)
02694 #else
02695 #define POSLIST_FOREACH_BEGIN(plisthead, runvar, type, listmember) \
02696   do { POSLIST_t *r, *n; \
02697     for (r = POSLIST_FIRST_ENTRY(plisthead); \
02698          !POSLIST_IS_END(plisthead, r); r = n) { \
02699          n = POSLIST_NEXT_ENTRY(r); \
02700       runvar = POSLIST_ELEMENT(r, type, listmember);
02701 #endif
02702 
02703 #if (DOX!=0)
02704 
02710 #define POSLIST_FOREACH_END
02711 #else
02712 #define POSLIST_FOREACH_END \
02713   } } while(0)
02714 #endif
02715 
02716 #endif /* POSCFG_FEATURE_LISTS */
02717 
02720 /*---------------------------------------------------------------------------
02721  *  DEBUG FEATURES
02722  *-------------------------------------------------------------------------*/
02723 
02768 #if (DOX!=0) || defined(HAVE_PLATFORM_ASSERT)
02769 
02777 #define P_ASSERT(text,x) \
02778   if (!(x)) p_pos_assert((const char*)(text), __FILE__, __LINE__)
02779 #else
02780 #define P_ASSERT(text,x)  do { } while(0)
02781 #endif
02782 
02783 #if (DOX!=0) || defined(POS_DEBUGHELP)
02784 
02789 enum PTASKSTATE
02790 {
02791   task_notExisting = 0,  
02792   task_created     = 1,  
02793   task_running     = 2,  
02794   task_suspended   = 3,  
02795   task_sleeping    = 4,  
02796   task_waitingForSemaphore = 5, 
02797   task_waitingForSemaphoreWithTimeout = 6, 
02799   task_waitingForMutex = 7, 
02800   task_waitingForMutexWithTimeout = 8,  
02802   task_waitingForFlag  = 9, 
02803   task_waitingForFlagWithTimeout = 10, 
02805   task_waitingForMessage = 11, 
02806   task_waitingForMessageWithTimeout = 12   
02808 };
02809 typedef enum PTASKSTATE PTASKSTATE;
02810 
02815 enum PEVENTTYPE
02816 {
02817   event_semaphore = 0,  
02818   event_mutex     = 1,  
02819   event_flags     = 2   
02820 };
02821 typedef enum PEVENTTYPE PEVENTTYPE;
02822 
02832 typedef struct PICOEVENT
02833 {
02834   struct PICOEVENT  *next;  
02836   struct PICOEVENT  *prev;  
02838 #if DOX
02839   PEVENTTYPE        type;   
02842 #else
02843   enum PEVENTTYPE   type;
02844 #endif
02845   void              *handle;
02847   const char        *name;  
02849   INT_t             counter;
02853 } PICOEVENT;
02854 
02864 typedef struct PICOTASK
02865 {
02866   struct PICOTASK   *next;  
02868   struct PICOTASK   *prev;  
02870   POSTASK_t         handle; 
02872   POSTASKFUNC_t     func;   
02874   const char        *name;  
02876 #if DOX
02877   PTASKSTATE        state;  
02880 #else
02881   enum PTASKSTATE   state;
02882 #endif
02883   struct PICOEVENT  *event; 
02885   UINT_t            timeout;
02887 } PICOTASK;
02888 
02889 #if DOX
02890 
02912 #define POS_SETTASKNAME(taskhandle, taskname)
02913 
02933 #define POS_SETEVENTNAME(eventhandle, name)
02934 
02935 #else
02936 #define POS_SETTASKNAME(taskhandle, taskname)  \
02937   do { if ((taskhandle) != NULL) (taskhandle)->deb.name = taskname;} while(0)
02938 #define POS_SETEVENTNAME(eventhandle, name) \
02939   posdeb_setEventName(eventhandle, name)
02940 POSEXTERN void posdeb_setEventName(void *event, const char *name);
02941 #endif
02942 
02943 #ifdef _POSCORE_C
02944 struct PICOTASK  *picodeb_taskhistory[3];
02945 struct PICOTASK  *picodeb_tasklist = NULL;
02946 struct PICOEVENT *picodeb_eventlist = NULL;
02947 #else
02948 
02962 extern struct PICOTASK  *picodeb_taskhistory[3];
02963 
02976 extern struct PICOTASK  *picodeb_tasklist;
02977 
02992 extern struct PICOEVENT *picodeb_eventlist;
02993 #endif
02994 
02995 #else /* POS_DEBUGHELP */
02996 
02997 #define POS_SETTASKNAME(taskhandle, name)  do { } while(0)
02998 #define POS_SETEVENTNAME(eventhandle, name)  do { } while(0)
02999 
03000 #endif /* POS_DEBUGHELP */
03001 
03004 /* ==== END OF USER API ==== */
03005 
03006 
03007 
03008 /*---------------------------------------------------------------------------
03009  *  INTERNAL DEFINITIONS
03010  *-------------------------------------------------------------------------*/
03011 
03012 #ifdef PICOS_PRIVINCL
03013 
03014 #if MVAR_BITS == 8
03015 #ifndef _POSCORE_C
03016 POSEXTERN UVAR_t posShift1lTab_g[8];
03017 #endif
03018 #define pos_shift1l(bits)   posShift1lTab_g[(UVAR_t)(bits)]
03019 #else
03020 #define pos_shift1l(bits)   (((UVAR_t)1)<<(bits))
03021 #endif
03022 
03023 #endif /* PICOS_PRIV_H */
03024 
03025 /*-------------------------------------------------------------------------*/
03026 
03027 /* include the header of the nano layer */
03028 
03029 #ifdef POSNANO
03030 #ifdef POSCFG_ENABLE_NANO
03031 #undef POSCFG_ENABLE_NANO
03032 #endif
03033 #define POSCFG_ENABLE_NANO  1
03034 #else
03035 #ifndef POSCFG_ENABLE_NANO
03036 #define POSCFG_ENABLE_NANO  0
03037 #endif
03038 #endif
03039 #if POSCFG_ENABLE_NANO != 0
03040 #include <pos_nano.h>
03041 #endif
03042 
03043 /*-------------------------------------------------------------------------*/
03044 
03045 /* defaults for hooks */
03046 
03047 #ifndef POSCFG_TASKEXIT_HOOK
03048 #define POSCFG_TASKEXIT_HOOK  0
03049 #endif
03050 
03051 /*-------------------------------------------------------------------------*/
03052 
03053 /* fully define the task structure */
03054 
03055 #ifndef NOS_TASKDATA
03056 #define NOS_TASKDATA
03057 #endif
03058 
03059 #if POSCFG_TASKEXIT_HOOK != 0
03060 typedef enum {
03061  texh_exitcalled,
03062  texh_freestackmem
03063 } texhookevent_t;
03064 typedef void (*POSTASKEXITFUNC_t)(POSTASK_t task, texhookevent_t event);
03065 #endif
03066 
03067 struct POSTASK {
03068     POS_USERTASKDATA
03069     NOS_TASKDATA
03070 #if POSCFG_TASKCB_USERSPACE > 0
03071     UVAR_t      usrspace[(POSCFG_TASKCB_USERSPACE + POSCFG_ALIGNMENT +
03072                          sizeof(UVAR_t)-2) / sizeof(UVAR_t)];
03073 #endif
03074 #if POSCFG_TASKEXIT_HOOK != 0
03075     POSTASKEXITFUNC_t  exithook;
03076 #endif
03077 #if DOX==0
03078 #if POSCFG_ARGCHECK > 1
03079     UVAR_t      magic;
03080 #endif
03081 #if SYS_TASKDOUBLELINK != 0
03082     struct POSTASK  *prev;
03083 #endif
03084     struct POSTASK  *next;
03085     UVAR_t      bit_x;
03086 #if SYS_TASKTABSIZE_Y > 1
03087     UVAR_t      bit_y;
03088     UVAR_t      idx_y;
03089 #endif
03090 #ifndef POS_DEBUGHELP
03091     UINT_t      ticks;
03092 #endif
03093 #if SYS_TASKSTATE != 0
03094     UVAR_t      state;
03095 #endif
03096 #if POSCFG_FEATURE_ERRNO != 0
03097     VAR_t       error;
03098 #endif
03099 #if POSCFG_FEATURE_MSGBOXES != 0
03100     UVAR_t      msgwait;
03101     POSSEMA_t   msgsem;
03102     void        *firstmsg;
03103     void        *lastmsg;
03104 #endif
03105 #ifdef POS_DEBUGHELP
03106     struct PICOTASK  deb;
03107 #endif
03108 #endif /* !DOX */
03109 };
03110 
03111 
03112 #endif /* _PICOOS_H */
03113
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