pico]OS  1.0.4
picoos.h
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1 /*
2  * License: Modified BSD license, see documentation below.
3  *
4  * This file is originally from the pico]OS realtime operating system
5  * (http://picoos.sourceforge.net).
6  *
7  * CVS-ID $Id: picoos.h,v 1.29 2010/02/20 13:18:52 dkuschel Exp $
8  *
9  */
10 
248 #ifndef _PICOOS_H
249 #define _PICOOS_H
250 
251 
252 #define POS_VER_N 0x0104
253 #define POS_VER_S "1.0.4"
254 #define POS_COPYRIGHT "(c) 2004-2012, D.Kuschel"
255 #define POS_STARTUPSTRING "pico]OS " POS_VER_S " " POS_COPYRIGHT
256 
257 #ifndef NULL
258 #ifndef _HAVE_NULL
259 #define _HAVE_NULL
260 #define NULL ((void*)0)
261 #endif
262 #endif
263 
264 #ifndef DOX
265 #define DOX 0
266 #endif
267 #if DOX==0
268 
269 #ifndef _POSPACK
270 #ifdef __MYCPU__
271 #define PICOSUBDIR 1
272 #endif
273 #endif
274 
275 #ifdef PICOSUBDIR
276 /* required because of stupid CC65 compiler */
277 #include <picoos/port.h>
278 #include <picoos/poscfg.h>
279 #else
280 #include <port.h>
281 #include <poscfg.h>
282 #endif
283 
284 
285 /*---------------------------------------------------------------------------
286  * CONFIGURATION
287  *-------------------------------------------------------------------------*/
288 
289 /* test if all needed parameters are set */
290 #ifndef MVAR_t
291 #error MVAR_t not defined
292 #endif
293 #ifndef MVAR_BITS
294 #error MVAR_BITS not defined
295 #endif
296 #ifndef POSCFG_ALIGNMENT
297 #error POSCFG_ALIGNMENT not defined
298 #endif
299 #ifndef POSCFG_MAX_PRIO_LEVEL
300 #error POSCFG_MAX_PRIO_LEVEL not defined
301 #endif
302 #ifndef POSCFG_MAX_TASKS
303 #error POSCFG_MAX_TASKS not defined
304 #endif
305 #ifndef POSCFG_MAX_EVENTS
306 #error POSCFG_MAX_EVENTS not defined
307 #endif
308 #ifndef POSCFG_MAX_MESSAGES
309 #error POSCFG_MAX_MESSAGES not defined
310 #endif
311 #ifndef POSCFG_MAX_TIMER
312 #error POSCFG_MAX_TIMER not defined
313 #endif
314 #ifndef POSCFG_SOFT_MTASK
315 #error POSCFG_SOFT_MTASK not defined
316 #endif
317 #ifndef POSCFG_CTXSW_COMBINE
318 #error POSCFG_CTXSW_COMBINE not defined
319 #endif
320 #ifndef POSCFG_REALTIME_PRIO
321 #error POSCFG_REALTIME_PRIO not defined
322 #endif
323 #ifndef POSCFG_ISR_INTERRUPTABLE
324 #error POSCFG_ISR_INTERRUPTABLE not defined
325 #endif
326 #ifndef POSCFG_ROUNDROBIN
327 #error POSCFG_ROUNDROBIN not defined
328 #endif
329 #ifndef POSCFG_TASKS_PER_PRIO
330 #error POSCFG_TASKS_PER_PRIO not defined
331 #endif
332 #ifndef POSCFG_FASTCODE
333 #error POSCFG_FASTCODE not defined
334 #endif
335 #ifndef POSCFG_SMALLCODE
336 #error POSCFG_SMALLCODE not defined
337 #endif
338 #ifndef POSCFG_ARGCHECK
339 #error POSCFG_ARGCHECK not defined
340 #endif
341 #ifndef POSCFG_MSG_MEMORY
342 #error POSCFG_MSG_MEMORY not defined
343 #endif
344 #ifndef POSCFG_MSG_BUFSIZE
345 #error POSCFG_MSG_BUFSIZE not defined
346 #endif
347 #ifndef POSCFG_DYNAMIC_MEMORY
348 #error POSCFG_DYNAMIC_MEMORY not defined
349 #endif
350 #ifndef POSCFG_DYNAMIC_REFILL
351 #error POSCFG_DYNAMIC_REFILL
352 #endif
353 #if POSCFG_DYNAMIC_MEMORY != 0
354 #ifndef POS_MEM_ALLOC
355 #error POS_MEM_ALLOC not defined
356 #endif
357 #ifndef POS_MEM_ALLOC
358 #error POS_MEM_ALLOC not defined
359 #endif
360 #endif
361 #ifndef POSCFG_CALLINITARCH
362 #error POSCFG_CALLINITARCH not defined
363 #endif
364 #ifndef POSCFG_LOCK_USEFLAGS
365 #error POSCFG_LOCK_USEFLAGS not defined
366 #endif
367 #if POSCFG_LOCK_USEFLAGS != 0
368 #ifndef POSCFG_LOCK_FLAGSTYPE
369 #error POSCFG_LOCK_FLAGSTYPE not defined
370 #endif
371 #endif
372 #ifndef POS_SCHED_LOCK
373 #error POS_SCHED_LOCK not defined
374 #endif
375 #ifndef POS_SCHED_UNLOCK
376 #error POS_SCHED_UNLOCK not defined
377 #endif
378 #ifndef HZ
379 #error HZ not defined
380 #endif
381 #ifndef POSCFG_TASKSTACKTYPE
382 #error POSCFG_TASKSTACKTYPE not defined
383 #endif
384 #ifndef POS_USERTASKDATA
385 #error POS_USERTASKDATA not defined
386 #endif
387 #ifndef POSCFG_FEATURE_YIELD
388 #error POSCFG_FEATURE_YIELD not defined
389 #endif
390 #ifndef POSCFG_FEATURE_SLEEP
391 #error POSCFG_FEATURE_SLEEP not defined
392 #endif
393 #ifndef POSCFG_FEATURE_EXIT
394 #error POSCFG_FEATURE_EXIT not defined
395 #endif
396 #ifndef POSCFG_FEATURE_GETPRIORITY
397 #error POSCFG_FEATURE_GETPRIORITY not defined
398 #endif
399 #ifndef POSCFG_FEATURE_SETPRIORITY
400 #error POSCFG_FEATURE_SETPRIORITY not defined
401 #endif
402 #ifndef POSCFG_FEATURE_SEMAPHORES
403 #error POSCFG_FEATURE_SEMAPHORES not defined
404 #endif
405 #ifndef POSCFG_FEATURE_SEMADESTROY
406 #error POSCFG_FEATURE_SEMADESTROY not defined
407 #endif
408 #ifndef POSCFG_FEATURE_SEMAWAIT
409 #error POSCFG_FEATURE_SEMAWAIT not defined
410 #endif
411 #ifndef POSCFG_FEATURE_MUTEXES
412 #error POSCFG_FEATURE_MUTEXES not defined
413 #endif
414 #ifndef POSCFG_FEATURE_MUTEXDESTROY
415 #error POSCFG_FEATURE_MUTEXDESTROY not defined
416 #endif
417 #ifndef POSCFG_FEATURE_MUTEXTRYLOCK
418 #error POSCFG_FEATURE_MUTEXTRYLOCK not defined
419 #endif
420 #ifndef POSCFG_FEATURE_GETTASK
421 #error POSCFG_FEATURE_GETTASK not defined
422 #endif
423 #ifndef POSCFG_FEATURE_TASKUNUSED
424 #error POSCFG_FEATURE_TASKUNUSED not defined
425 #endif
426 #ifndef POSCFG_FEATURE_MSGBOXES
427 #error POSCFG_FEATURE_MSGBOXES not defined
428 #endif
429 #ifndef POSCFG_FEATURE_MSGWAIT
430 #error POSCFG_FEATURE_MSGWAIT not defined
431 #endif
432 #ifndef POSCFG_FEATURE_INHIBITSCHED
433 #error POSCFG_FEATURE_INHIBITSCHED not defined
434 #endif
435 #ifndef POSCFG_FEATURE_JIFFIES
436 #error POSCFG_FEATURE_JIFFIES not defined
437 #endif
438 #ifndef POSCFG_FEATURE_TIMER
439 #error POSCFG_FEATURE_TIMER not defined
440 #endif
441 #ifndef POSCFG_FEATURE_TIMERDESTROY
442 #error POSCFG_FEATURE_TIMERDESTROY not defined
443 #endif
444 #ifndef POSCFG_FEATURE_TIMERFIRED
445 #error POSCFG_FEATURE_TIMERFIRED not defined
446 #endif
447 #ifndef POSCFG_FEATURE_FLAGS
448 #error POSCFG_FEATURE_FLAGS not defined
449 #endif
450 #ifndef POSCFG_FEATURE_FLAGDESTROY
451 #error POSCFG_FEATURE_FLAGDESTROY not defined
452 #endif
453 #ifndef POSCFG_FEATURE_FLAGWAIT
454 #error POSCFG_FEATURE_FLAGWAIT not defined
455 #endif
456 #ifndef POSCFG_FEATURE_SOFTINTS
457 #error POSCFG_FEATURE_SOFTINTS not defined
458 #else
459 #ifndef POSCFG_FEATURE_SOFTINTDEL
460 #error POSCFG_FEATURE_SOFTINTDEL not defined
461 #endif
462 #ifndef POSCFG_SOFTINTERRUPTS
463 #error POSCFG_SOFTINTERRUPTS not defined
464 #endif
465 #ifndef POSCFG_SOFTINTQUEUELEN
466 #error POSCFG_SOFTINTQUEUELEN not defined
467 #endif
468 #endif
469 #ifndef POSCFG_FEATURE_IDLETASKHOOK
470 #error POSCFG_FEATURE_IDLETASKHOOK not defined
471 #endif
472 #ifndef POSCFG_FEATURE_ERRNO
473 #error POSCFG_FEATURE_ERRNO not defined
474 #endif
475 #ifndef POSCFG_FEATURE_ATOMICVAR
476 #error POSCFG_FEATURE_ATOMICVAR not defined
477 #endif
478 #ifndef POSCFG_FEATURE_LISTS
479 #error POSCFG_FEATURE_LISTS not defined
480 #else
481 #ifndef POSCFG_FEATURE_LISTJOIN
482 #error POSCFG_FEATURE_LISTJOIN not defined
483 #endif
484 #ifndef POSCFG_FEATURE_LISTLEN
485 #define POSCFG_FEATURE_LISTLEN 1
486 #endif
487 #endif
488 #ifndef POSCFG_FEATURE_DEBUGHELP
489 #define POSCFG_FEATURE_DEBUGHELP 0
490 #endif
491 #ifdef _DBG
492 #if POSCFG_FEATURE_DEBUGHELP
493 #define POS_DEBUGHELP
494 #endif
495 #endif
496 #ifndef POSCFG_PORTMUTEX
497 #define POSCFG_PORTMUTEX 0
498 #endif
499 #ifndef POSCFG_INT_EXIT_QUICK
500 #define POSCFG_INT_EXIT_QUICK 0
501 #endif
502 
503 /* parameter range checking */
504 #if (POSCFG_DYNAMIC_MEMORY != 0) && (POSCFG_DYNAMIC_REFILL != 0)
505 #define SYS_POSTALLOCATE 1
506 #else
507 #define SYS_POSTALLOCATE 0
508 #endif
509 #if (MVAR_BITS != 8) && (MVAR_BITS != 16) && (MVAR_BITS != 32)
510 #error MVAR_BITS must be 8, 16 or 32
511 #endif
512 #if POSCFG_MAX_PRIO_LEVEL == 0
513 #error POSCFG_MAX_PRIO_LEVEL must not be zero
514 #endif
515 #if (POSCFG_ROUNDROBIN != 0) && (POSCFG_MAX_PRIO_LEVEL > MVAR_BITS)
516 #error POSCFG_MAX_PRIO_LEVEL must not exceed MVAR_BITS
517 #endif
518 #if (POSCFG_ROUNDROBIN == 0) && (POSCFG_MAX_PRIO_LEVEL > (MVAR_BITS*MVAR_BITS))
519 #error POSCFG_MAX_PRIO_LEVEL must not exceed (MVAR_BITS * MVAR_BITS)
520 #endif
521 #if (POSCFG_MAX_TASKS < 2) && (SYS_POSTALLOCATE == 0)
522 #error POSCFG_MAX_TASKS is less than 2
523 #endif
524 #if (POSCFG_MAX_TASKS > (POSCFG_TASKS_PER_PRIO * POSCFG_MAX_PRIO_LEVEL))
525 #error POSCFG_MAX_TASKS is much to big
526 #endif
527 #if (POSCFG_MAX_EVENTS < 1) && (SYS_POSTALLOCATE == 0)
528 #error POSCFG_MAX_EVENTS must be at least 1
529 #endif
530 #if POSCFG_TASKS_PER_PRIO > MVAR_BITS
531 #error POSCFG_TASKS_PER_PRIO can not exceed MVAR_BITS
532 #endif
533 #if (POSCFG_TASKS_PER_PRIO < 2) && (POSCFG_ROUNDROBIN != 0)
534 #error POSCFG_TASKS_PER_PRIO must be at least 2
535 #endif
536 #if (POSCFG_TASKS_PER_PRIO != 1) && (POSCFG_ROUNDROBIN == 0)
537 #error POSCFG_TASKS_PER_PRIO must be 1 when round robin scheduling is disabled
538 #endif
539 #if ((POSCFG_TASKS_PER_PRIO % 3) == 0) || ((POSCFG_TASKS_PER_PRIO % 5) == 0)
540 #error POSCFG_TASKS_PER_PRIO must be 1/2/4/8/16 or 32
541 #endif
542 #if (POSCFG_REALTIME_PRIO >= POSCFG_MAX_PRIO_LEVEL) && (POSCFG_ROUNDROBIN != 0)
543 #error POSCFG_REALTIME_PRIO must be less than POSCFG_MAX_PRIO_LEVEL
544 #endif
545 #if POSCFG_FEATURE_MSGBOXES != 0
546 #if (POSCFG_MAX_MESSAGES < 2) && (SYS_POSTALLOCATE == 0)
547 #error POSCFG_MAX_MESSAGES must be at least 2
548 #endif
549 #if POSCFG_MSG_BUFSIZE < 1
550 #error POSCFG_MSG_BUFSIZE must be at least 1
551 #endif
552 #endif
553 #if (POSCFG_FEATURE_TIMER != 0)
554 #if (POSCFG_MAX_TIMER == 0) && (SYS_POSTALLOCATE == 0)
555 #error POSCFG_MAX_TIMER must be at least 1
556 #endif
557 #endif
558 #if (POSCFG_TASKSTACKTYPE < 0) || (POSCFG_TASKSTACKTYPE > 2)
559 #error POSCFG_TASKSTACKTYPE must be 0, 1 or 2
560 #endif
561 #if POSCFG_ALIGNMENT == 0
562 #undef POSCFG_ALIGNMENT
563 #define POSCFG_ALIGNMENT 1
564 #else
565 #if ((POSCFG_ALIGNMENT % 3) == 0) || ((POSCFG_ALIGNMENT % 5) == 0)
566 #error POSCFG_ALIGNMENT must be 1/2/4/8/16/32/64/128/256 etc.
567 #endif
568 #endif
569 #if POSCFG_FEATURE_SOFTINTS != 0
570 #if POSCFG_SOFTINTERRUPTS == 0
571 #error POSCFG_SOFTINTERRUPTS must be greater than 0
572 #endif
573 #if POSCFG_SOFTINTQUEUELEN < 2
574 #error POSCFG_SOFTINTQUEUELEN must be at least 2
575 #endif
576 #endif
577 
578 
579 /* parameter reconfiguration */
580 #ifndef POSCFG_TASKCB_USERSPACE
581 #define POSCFG_TASKCB_USERSPACE 0
582 #endif
583 #if POSCFG_FEATURE_SEMAPHORES == 0
584 #undef POSCFG_FEATURE_SEMADESTROY
585 #define POSCFG_FEATURE_SEMADESTROY 0
586 #endif
587 #if POSCFG_FEATURE_FLAGS == 0
588 #undef POSCFG_FEATURE_FLAGDESTROY
589 #define POSCFG_FEATURE_FLAGDESTROY 0
590 #endif
591 #if POSCFG_FEATURE_MUTEXES == 0
592 #undef POSCFG_FEATURE_MUTEXDESTROY
593 #define POSCFG_FEATURE_MUTEXDESTROY 0
594 #else
595 #if (POSCFG_FEATURE_MUTEXDESTROY != 0) && (POSCFG_FEATURE_SEMADESTROY == 0)
596 #undef POSCFG_FEATURE_SEMADESTROY
597 #define POSCFG_FEATURE_SEMADESTROY 1
598 #endif
599 #endif
600 #if (POSCFG_FEATURE_MSGBOXES != 0) && (SYS_POSTALLOCATE == 0)
601 #define SYS_MSGBOXEVENTS 2
602 #else
603 #define SYS_MSGBOXEVENTS 0
604 #endif
605 #if (POSCFG_FEATURE_MSGBOXES != 0) && (POSCFG_FEATURE_GETTASK == 0)
606 #undef POSCFG_FEATURE_GETTASK
607 #define POSCFG_FEATURE_GETTASK 1
608 #endif
609 #if (POSCFG_FEATURE_SEMAWAIT != 0) || (POSCFG_FEATURE_MSGWAIT != 0)
610 #define SYS_TASKDOUBLELINK 1
611 #else
612 #define SYS_TASKDOUBLELINK 0
613 #endif
614 #define SYS_EVENTS_USED \
615  (POSCFG_FEATURE_MUTEXES | POSCFG_FEATURE_MSGBOXES | \
616  POSCFG_FEATURE_FLAGS | POSCFG_FEATURE_LISTS)
617 #define SYS_FEATURE_EVENTS (POSCFG_FEATURE_SEMAPHORES | SYS_EVENTS_USED)
618 #define SYS_FEATURE_EVENTFREE (POSCFG_FEATURE_SEMADESTROY | \
619  POSCFG_FEATURE_MUTEXDESTROY | POSCFG_FEATURE_FLAGDESTROY | \
620  POSCFG_FEATURE_LISTS)
621 #if (POSCFG_FEATURE_MSGBOXES != 0) && (POSCFG_FEATURE_EXIT != 0)
622 #undef SYS_FEATURE_EVENTFREE
623 #define SYS_FEATURE_EVENTFREE 1
624 #endif
625 #ifndef POSCFG_FEATURE_LARGEJIFFIES
626 #if MVAR_BITS < 16
627 #define POSCFG_FEATURE_LARGEJIFFIES 1
628 #else
629 #define POSCFG_FEATURE_LARGEJIFFIES 0
630 #endif
631 #endif
632 #ifndef POSCALL
633 #define POSCALL
634 #endif
635 #if POSCFG_FEATURE_SETPRIORITY != 0
636 #define SYS_TASKEVENTLINK 1
637 #else
638 #define SYS_TASKEVENTLINK 0
639 #endif
640 
641 #endif /* DOX!=0 */
642 
643 
644 
645 /*---------------------------------------------------------------------------
646  * SOME DEFINITIONS AND MACROS
647  *-------------------------------------------------------------------------*/
648 
649 #ifdef _POSCORE_C
650 #define POSEXTERN
651 #define POSFROMEXT extern
652 #else
653 #define POSEXTERN extern
654 #define POSFROMEXT
655 #endif
656 
657 #if POSCFG_ROUNDROBIN == 0
658 #define SYS_TASKTABSIZE_X MVAR_BITS
659 #define SYS_TASKTABSIZE_Y ((POSCFG_MAX_PRIO_LEVEL+MVAR_BITS-1)/MVAR_BITS)
660 #else
661 #define SYS_TASKTABSIZE_X POSCFG_TASKS_PER_PRIO
662 #define SYS_TASKTABSIZE_Y POSCFG_MAX_PRIO_LEVEL
663 #endif
664 
665 #define SYS_TASKSTATE (POSCFG_FEATURE_TASKUNUSED | POSCFG_FEATURE_MSGBOXES)
666 
667 #if POSCFG_LOCK_USEFLAGS != 0
668 #define POS_LOCKFLAGS POSCFG_LOCK_FLAGSTYPE flags
669 #else
670 #define POS_LOCKFLAGS do { } while(0)
671 #endif
672 
673 #define POSTASKSTATE_UNUSED 0
674 #define POSTASKSTATE_ZOMBIE 1
675 #define POSTASKSTATE_ACTIVE 2
676 
677 #define INFINITE ((UINT_t)~0)
678 
679 
680 
681 /*---------------------------------------------------------------------------
682  * ERROR CODES
683  *-------------------------------------------------------------------------*/
684 
699 #define E_OK 0
700 
702 #define E_FAIL 1
703 
705 #define E_NOMEM 2
706 
708 #define E_ARG 3
709 
711 #define E_FORB 4
712 
714 #define E_NOMORE 5
715 
717 #define E_NOTFOUND 6
718 
723 /*---------------------------------------------------------------------------
724  * MACROS
725  *-------------------------------------------------------------------------*/
726 
732 #if (DOX==0) && (HZ <= 1000)
733 #define MS(msec) (((msec)<(1000/HZ)) ? \
734  ((UINT_t)1) : ((UINT_t)((1L*HZ*(msec))/1000)))
735 #else
736 #define MS(msec) ((UINT_t)((1L*HZ*(msec))/1000))
737 #endif
738 
739 
740 
741 /*---------------------------------------------------------------------------
742  * DATA TYPES
743  *-------------------------------------------------------------------------*/
744 
750 typedef signed MVAR_t VAR_t;
751 
757 typedef unsigned MVAR_t UVAR_t;
758 
759 #ifndef MINT_t
760 #define MINT_t int
761 #endif
762 
771 typedef signed MINT_t INT_t;
772 
782 typedef unsigned MINT_t UINT_t;
783 
784 #ifndef MPTR_t
785 #define MPTR_t long
786 #endif
787 
798 typedef unsigned MPTR_t MEMPTR_t;
799 
800 #if (DOX!=0) || (POSCFG_FEATURE_LARGEJIFFIES == 0)
801 
804 typedef VAR_t SJIF_t;
808 typedef UVAR_t JIF_t;
809 #else
810 typedef INT_t SJIF_t;
811 typedef UINT_t JIF_t;
812 #endif
813 
817 typedef void (*POSTASKFUNC_t)(void* arg);
818 
825 typedef void (*POSINTFUNC_t)(UVAR_t arg);
826 
827 #if (DOX!=0) ||(POSCFG_FEATURE_IDLETASKHOOK != 0)
828 
829 typedef void (*POSIDLEFUNC_t)(void);
830 #endif
831 
832 /* forward declarations (just dummies) */
833 struct POSSEMA;
834 struct POSMUTEX;
835 struct POSFLAG;
836 struct POSTIMER;
837 
841 typedef struct POSSEMA *POSSEMA_t;
842 
846 typedef struct POSMUTEX *POSMUTEX_t;
847 
851 typedef struct POSFLAG *POSFLAG_t;
852 
856 typedef struct POSTIMER *POSTIMER_t;
857 
861 typedef volatile INT_t POSATOMIC_t;
862 
863 #if (DOX!=0) || (POSCFG_FEATURE_LISTS != 0)
864 struct POSLIST;
865 struct POSLISTHEAD {
866  struct POSLIST* volatile prev;
867  struct POSLIST* volatile next;
868  POSSEMA_t volatile sema;
869  UVAR_t volatile flag;
870 #if POSCFG_FEATURE_LISTLEN != 0
871  UINT_t volatile length;
872 #endif
873 };
874 struct POSLIST {
875  struct POSLIST* volatile prev;
876  struct POSLIST* volatile next;
877 #if POSCFG_FEATURE_LISTLEN != 0
878  struct POSLISTHEAD* volatile head;
879 #endif
880 };
885 typedef struct POSLIST POSLIST_t;
890 typedef struct POSLISTHEAD POSLISTHEAD_t;
891 #endif
892 
893 
913 typedef struct POSTASK *POSTASK_t; /* forward declaration */
914 
915 
916 
917 /*---------------------------------------------------------------------------
918  * DEFINITIONS FOR GENERIC "findbit" FUNCTION (file fbit_gen.c)
919  *-------------------------------------------------------------------------*/
920 
921 #ifndef POSCFG_FBIT_USE_LUTABLE
922 #define POSCFG_FBIT_USE_LUTABLE 0
923 #endif
924 #if (POSCFG_FBIT_USE_LUTABLE > 1) && (POSCFG_ROUNDROBIN == 0)
925 #undef POSCFG_FBIT_USE_LUTABLE
926 #define POSCFG_FBIT_USE_LUTABLE 1
927 #endif
928 #ifndef FINDBIT
929 #if POSCFG_FBIT_USE_LUTABLE == 1
930 #if POSCFG_ROUNDROBIN == 0
931 #ifndef _FBIT_GEN_C
932 extern VAR_t const p_pos_fbittbl[256];
933 #endif
934 #define FINDBIT(x) p_pos_fbittbl[x]
935 #else
936 UVAR_t POSCALL p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset);
937 #define FINDBIT(x, o) p_pos_findbit(x, o)
938 #endif
939 #elif POSCFG_FBIT_USE_LUTABLE == 2
940 #ifndef _FBIT_GEN_C
941 extern VAR_t const p_pos_fbittbl_rr[8][256];
942 #endif
943 #define FINDBIT(x, o) p_pos_fbittbl_rr[o][x]
944 #endif
945 #endif /* !FINDBIT */
946 
947 
948 
949 /*---------------------------------------------------------------------------
950  * GLOBAL VARIABLES
951  *-------------------------------------------------------------------------*/
952 
961 POSEXTERN volatile POSTASK_t posCurrentTask_g;
962 
971 POSEXTERN volatile POSTASK_t posNextTask_g;
972 
979 #ifndef _POSCORE_C
980 POSEXTERN volatile UVAR_t posInInterrupt_g;
981 #else
982 POSEXTERN volatile UVAR_t posInInterrupt_g = 1;
983 #endif
984 
991 #ifndef _POSCORE_C
992 POSEXTERN volatile UVAR_t posRunning_g;
993 #else
994 POSEXTERN volatile UVAR_t posRunning_g = 0;
995 #endif
996 
997 
998 #if DOX!=0
999 
1004 VAR_t errno;
1005 #endif
1006 #if POSCFG_FEATURE_ERRNO != 0
1007 #ifdef errno
1008 #undef errno
1009 #endif
1010 POSEXTERN VAR_t* _errno_p(void);
1011 #define errno (*_errno_p())
1012 #endif
1013 
1014 
1015 
1016 /*---------------------------------------------------------------------------
1017  * PROTOTYPES OF INTERNAL FUNCTIONS
1018  *-------------------------------------------------------------------------*/
1019 
1154 /* findbit function or macro definition */
1155 #if (DOX!=0) || (POSCFG_ROUNDROBIN == 0)
1156 #ifdef FINDBIT
1157 #define POS_FINDBIT(bf) FINDBIT(bf, 0)
1158 #define POS_FINDBIT_EX(bf, ofs) FINDBIT(bf, 0)
1159 #else /* FINDBIT */
1160 POSFROMEXT UVAR_t POSCALL p_pos_findbit(const UVAR_t bitfield); /* arch_c.c */
1161 #define POS_FINDBIT(bf) p_pos_findbit(bf)
1162 #define POS_FINDBIT_EX(bf, ofs) p_pos_findbit(bf)
1163 #endif /* FINDBIT */
1164 #else /* POSCFG_ROUNDROBIN */
1165 #ifdef FINDBIT
1166 #define POS_FINDBIT(bf) FINDBIT(bf, 0)
1167 #define POS_FINDBIT_EX(bf, ofs) FINDBIT(bf, ofs)
1168 #else /* FINDBIT */
1169 POSFROMEXT UVAR_t POSCALL p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset); /* arch_c.c */
1170 #define POS_FINDBIT(bf) p_pos_findbit(bf, 0)
1171 #define POS_FINDBIT_EX(bf, ofs) p_pos_findbit(bf, ofs)
1172 #endif /* FINDBIT */
1173 #endif /* POSCFG_ROUNDROBIN */
1174 
1175 #if DOX!=0
1176 
1185 POSFROMEXT UVAR_t POSCALL p_pos_findbit(const UVAR_t bitfield);
1186 
1197 POSFROMEXT UVAR_t POSCALL p_pos_findbit(const UVAR_t bitfield, UVAR_t rrOffset);
1198 #endif
1199 
1200 #if (DOX!=0) || (POSCFG_CALLINITARCH != 0)
1201 
1212 POSFROMEXT void POSCALL p_pos_initArch(void);
1213 #endif
1214 
1215 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 0)
1216 
1235 POSFROMEXT void POSCALL p_pos_initTask(POSTASK_t task, void *stackstart,
1236  POSTASKFUNC_t funcptr,
1237  void *funcarg); /* arch_c.c */
1238 #endif
1239 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 1)
1240 
1264 POSFROMEXT VAR_t POSCALL p_pos_initTask(POSTASK_t task, UINT_t stacksize,
1265  POSTASKFUNC_t funcptr,
1266  void *funcarg); /* arch_c.c */
1285 POSFROMEXT void POSCALL p_pos_freeStack(POSTASK_t task);/* arch_c.c */
1286 #endif
1287 
1288 #if (DOX!=0) || (POSCFG_PORTMUTEX != 0)
1289 
1297 POSFROMEXT void POSCALL p_pos_lock(void);/* arch_c.c */
1298 
1302 POSFROMEXT void POSCALL p_pos_unlock(void);/* arch_c.c */
1303 #endif
1304 
1305 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 2)
1306 
1329 POSFROMEXT VAR_t POSCALL p_pos_initTask(POSTASK_t task, POSTASKFUNC_t funcptr,
1330  void *funcarg); /* arch_c.c */
1331 
1348 POSFROMEXT void POSCALL p_pos_freeStack(POSTASK_t task);/* arch_c.c */
1349 #endif
1350 
1364 POSFROMEXT void POSCALL p_pos_startFirstContext(void); /* arch_c.c */
1365 
1380 POSFROMEXT void POSCALL p_pos_softContextSwitch(void); /* arch_c.c */
1381 
1395 POSFROMEXT void POSCALL p_pos_intContextSwitch(void); /* arch_c.c */
1396 
1397 #if (DOX!=0) || POSCFG_INT_EXIT_QUICK == 1
1398 
1411 POSFROMEXT void POSCALL p_pos_intContextSwitchPending(void); /* arch_c.c */
1412 
1413 #endif
1414 
1423 POSEXTERN void POSCALL c_pos_intEnter(void); /* picoos.c */
1424 
1433 POSEXTERN void POSCALL c_pos_intExit(void); /* picoos.c */
1434 
1435 #if (DOX!=0) || POSCFG_INT_EXIT_QUICK == 1
1436 
1447 POSEXTERN void POSCALL c_pos_intExitQuick(void); /* picoos.c */
1448 
1449 #endif
1450 
1483 POSEXTERN void POSCALL c_pos_timerInterrupt(void); /* picoos.c */
1484 
1489 /*---------------------------------------------------------------------------
1490  * PROTOTYPES OF EXPORTED FUNCTIONS (USER API)
1491  *-------------------------------------------------------------------------*/
1492 
1498 #if (DOX!=0) || (POSCFG_FEATURE_YIELD != 0)
1499 
1507 POSEXTERN void POSCALL posTaskYield(void);
1508 #endif
1509 
1510 #if (DOX!=0) || (POSCFG_FEATURE_SLEEP != 0)
1511 
1525 POSEXTERN void POSCALL posTaskSleep(UINT_t ticks);
1526 #endif
1527 
1528 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 0)
1529 
1545 POSEXTERN POSTASK_t POSCALL posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
1546  VAR_t priority, void *stackstart);
1547 
1563 POSEXTERN void POSCALL posInit(POSTASKFUNC_t firstfunc, void *funcarg,
1564  VAR_t priority,
1565  void *stackFirstTask, void *stackIdleTask);
1566 #endif
1567 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 1)
1568 
1587 POSEXTERN POSTASK_t POSCALL posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
1588  VAR_t priority, UINT_t stacksize);
1589 
1605 POSEXTERN void POSCALL posInit(POSTASKFUNC_t firstfunc, void *funcarg,
1606  VAR_t priority, UINT_t taskStackSize,
1607  UINT_t idleStackSize);
1608 #endif
1609 #if (DOX!=0) || (POSCFG_TASKSTACKTYPE == 2)
1610 
1626 POSEXTERN POSTASK_t POSCALL posTaskCreate(POSTASKFUNC_t funcptr, void *funcarg,
1627  VAR_t priority);
1628 
1642 POSEXTERN void POSCALL posInit(POSTASKFUNC_t firstfunc, void *funcarg,
1643  VAR_t priority);
1644 
1645 #endif
1646 
1647 
1648 #if (DOX!=0) || (POSCFG_FEATURE_EXIT != 0)
1649 
1656 POSEXTERN void POSCALL posTaskExit(void);
1657 #endif
1658 
1659 #if (DOX!=0) || (POSCFG_FEATURE_GETTASK != 0)
1660 
1668 POSEXTERN POSTASK_t POSCALL posTaskGetCurrent(void);
1669 #endif
1670 
1671 #if (DOX!=0) || (POSCFG_FEATURE_TASKUNUSED != 0)
1672 
1685 POSEXTERN VAR_t POSCALL posTaskUnused(POSTASK_t taskhandle);
1686 #endif
1687 
1688 #if (DOX!=0) || (POSCFG_FEATURE_SETPRIORITY != 0)
1689 
1702 POSEXTERN VAR_t POSCALL posTaskSetPriority(POSTASK_t taskhandle,
1703  VAR_t priority);
1704 #endif
1705 
1706 #if (DOX!=0) || (POSCFG_FEATURE_GETPRIORITY != 0)
1707 
1716 POSEXTERN VAR_t POSCALL posTaskGetPriority(POSTASK_t taskhandle);
1717 #endif
1718 
1719 #if (DOX!=0) || (POSCFG_FEATURE_INHIBITSCHED != 0)
1720 
1731 POSEXTERN void POSCALL posTaskSchedLock(void);
1732 
1742 POSEXTERN void POSCALL posTaskSchedUnlock(void);
1743 #endif
1744 
1745 #if (DOX!=0) || (POSCFG_TASKCB_USERSPACE > 0)
1746 
1754 POSEXTERN void* POSCALL posTaskGetUserspace(void);
1755 #endif
1756 
1757 #if (DOX!=0) || (POSCFG_FEATURE_IDLETASKHOOK != 0)
1758 
1776 POSEXTERN POSIDLEFUNC_t POSCALL posInstallIdleTaskHook(POSIDLEFUNC_t idlefunc);
1777 #endif
1778 
1781 /*-------------------------------------------------------------------------*/
1782 
1783 #if (DOX!=0) || (SYS_FEATURE_EVENTS != 0)
1784 
1823 POSEXTERN POSSEMA_t POSCALL posSemaCreate(INT_t initcount);
1824 
1825 #if (DOX!=0) || (SYS_FEATURE_EVENTFREE != 0)
1826 
1836 POSEXTERN void POSCALL posSemaDestroy(POSSEMA_t sema);
1837 #endif
1838 
1851 #if (DOX!=0) || (POSCFG_SMALLCODE == 0) || (POSCFG_FEATURE_SEMAWAIT == 0)
1852 POSEXTERN VAR_t POSCALL posSemaGet(POSSEMA_t sema);
1853 #else
1854 /* this define is for small code and it saves stack memory */
1855 #define posSemaGet(sema) posSemaWait(sema, INFINITE)
1856 #endif
1857 
1869 POSEXTERN VAR_t POSCALL posSemaSignal(POSSEMA_t sema);
1870 
1871 #if (DOX!=0) || (POSCFG_FEATURE_SEMAWAIT != 0)
1872 
1892 POSEXTERN VAR_t POSCALL posSemaWait(POSSEMA_t sema, UINT_t timeoutticks);
1893 #endif
1894 
1895 #endif /* SYS_FEATURE_EVENTS */
1896 
1898 /*-------------------------------------------------------------------------*/
1899 
1900 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXES != 0)
1901 
1922 POSEXTERN POSMUTEX_t POSCALL posMutexCreate(void);
1923 
1924 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXDESTROY != 0)
1925 
1935 POSEXTERN void POSCALL posMutexDestroy(POSMUTEX_t mutex);
1936 #endif
1937 
1938 #if (DOX!=0) || (POSCFG_FEATURE_MUTEXTRYLOCK != 0)
1939 
1954 POSEXTERN VAR_t POSCALL posMutexTryLock(POSMUTEX_t mutex);
1955 #endif
1956 
1969 POSEXTERN VAR_t POSCALL posMutexLock(POSMUTEX_t mutex);
1970 
1981 POSEXTERN VAR_t POSCALL posMutexUnlock(POSMUTEX_t mutex);
1982 
1983 #endif /* POSCFG_FEATURE_MUTEXES */
1984 
1986 /*-------------------------------------------------------------------------*/
1987 
1988 #if (DOX!=0) || (POSCFG_FEATURE_MSGBOXES != 0)
1989 
2011 #if (DOX!=0) || (POSCFG_MSG_MEMORY != 0)
2012 
2025 POSEXTERN void* POSCALL posMessageAlloc(void);
2026 
2039 POSEXTERN void POSCALL posMessageFree(void *buf);
2040 #endif
2041 
2059 POSEXTERN VAR_t POSCALL posMessageSend(void *buf, POSTASK_t taskhandle);
2060 
2076 #if (DOX!=0) || (POSCFG_SMALLCODE == 0) || (POSCFG_FEATURE_MSGWAIT == 0)
2077 POSEXTERN void* POSCALL posMessageGet(void);
2078 #else
2079 /* this define is for small code and it saves stack memory */
2080 #define posMessageGet() posMessageWait(INFINITE)
2081 #endif
2082 
2095 POSEXTERN VAR_t POSCALL posMessageAvailable(void);
2096 
2097 #if (DOX!=0) || (POSCFG_FEATURE_MSGWAIT != 0)
2098 
2123 POSEXTERN void* POSCALL posMessageWait(UINT_t timeoutticks);
2124 #endif
2125 
2126 #endif /* POSCFG_FEATURE_MSGBOXES */
2127 
2129 /*-------------------------------------------------------------------------*/
2130 
2131 #if (DOX!=0) || (POSCFG_FEATURE_FLAGS != 0)
2132 
2152 POSEXTERN POSFLAG_t POSCALL posFlagCreate(void);
2153 
2154 #if (DOX!=0) || (POSCFG_FEATURE_FLAGDESTROY != 0)
2155 
2165 POSEXTERN void POSCALL posFlagDestroy(POSFLAG_t flg);
2166 #endif
2167 
2180 POSEXTERN VAR_t POSCALL posFlagSet(POSFLAG_t flg, UVAR_t flgnum);
2181 
2196 POSEXTERN VAR_t POSCALL posFlagGet(POSFLAG_t flg, UVAR_t mode);
2197 
2198 #if (DOX!=0) || (POSCFG_FEATURE_FLAGWAIT != 0)
2199 
2218 POSEXTERN VAR_t POSCALL posFlagWait(POSFLAG_t flg, UINT_t timeoutticks);
2219 #endif
2220 
2221 #define POSFLAG_MODE_GETSINGLE 0
2222 #define POSFLAG_MODE_GETMASK 1
2223 
2224 #endif /* POSCFG_FEATURE_FLAGS */
2225 
2227 /*-------------------------------------------------------------------------*/
2228 
2250 #if DOX!=0
2251 #define HZ (timerticks per second)
2252 #endif
2253 
2263 #if (DOX!=0) || (POSCFG_FEATURE_JIFFIES != 0)
2264 #if (DOX!=0) || (POSCFG_FEATURE_LARGEJIFFIES == 0)
2265 POSEXTERN volatile JIF_t jiffies;
2266 #else
2267 POSEXTERN JIF_t POSCALL posGetJiffies(void);
2268 #define jiffies posGetJiffies()
2269 #endif
2270 
2281 #define POS_TIMEAFTER(x, y) ((((SJIF_t)(x)) - ((SJIF_t)(y))) >= 0)
2282 
2283 #endif /* POSCFG_FEATURE_JIFFIES */
2284 
2285 #if (DOX!=0) || (POSCFG_FEATURE_TIMER != 0)
2286 
2296 POSEXTERN POSTIMER_t POSCALL posTimerCreate(void);
2297 
2315 POSEXTERN VAR_t POSCALL posTimerSet(POSTIMER_t tmr, POSSEMA_t sema,
2316  UINT_t waitticks, UINT_t periodticks);
2328 POSEXTERN VAR_t POSCALL posTimerStart(POSTIMER_t tmr);
2329 
2340 POSEXTERN VAR_t POSCALL posTimerStop(POSTIMER_t tmr);
2341 
2342 #if (DOX!=0) || (POSCFG_FEATURE_TIMERDESTROY != 0)
2343 
2353 POSEXTERN void POSCALL posTimerDestroy(POSTIMER_t tmr);
2354 #endif
2355 #if (DOX!=0) || (POSCFG_FEATURE_TIMERFIRED != 0)
2356 
2368 POSEXTERN VAR_t POSCALL posTimerFired(POSTIMER_t tmr);
2369 #endif
2370 
2371 #endif /* POSCFG_FEATURE_TIMER */
2372 
2374 /*-------------------------------------------------------------------------*/
2375 
2376 #if (DOX!=0) || (POSCFG_FEATURE_SOFTINTS != 0)
2377 
2423 POSEXTERN void POSCALL posSoftInt(UVAR_t intno, UVAR_t param);
2424 
2438 POSEXTERN VAR_t POSCALL posSoftIntSetHandler(UVAR_t intno,
2439  POSINTFUNC_t inthandler);
2440 
2441 #if (DOX!=0) || (POSCFG_FEATURE_SOFTINTDEL != 0)
2442 
2455 POSEXTERN VAR_t POSCALL posSoftIntDelHandler(UVAR_t intno);
2456 #endif
2457 
2458 #endif /* POSCFG_FEATURE_SOFTINTS */
2459 
2461 /*-------------------------------------------------------------------------*/
2462 
2463 #if (DOX!=0) || (POSCFG_FEATURE_ATOMICVAR != 0)
2464 
2489 POSEXTERN void POSCALL posAtomicSet(POSATOMIC_t *var, INT_t value);
2490 
2501 POSEXTERN INT_t POSCALL posAtomicGet(POSATOMIC_t *var);
2502 
2513 POSEXTERN INT_t POSCALL posAtomicAdd(POSATOMIC_t *var, INT_t value);
2514 
2525 POSEXTERN INT_t POSCALL posAtomicSub(POSATOMIC_t *var, INT_t value);
2526 
2527 #endif /* POSCFG_FEATURE_ATOMICVAR */
2528 
2531 /*-------------------------------------------------------------------------*/
2532 
2533 #if (DOX!=0) || (POSCFG_FEATURE_LISTS != 0)
2534 
2549 #define POSLIST_HEAD 0
2550 #define POSLIST_TAIL 1
2551 
2567 POSEXTERN void POSCALL posListAdd(POSLISTHEAD_t *listhead, UVAR_t pos,
2568  POSLIST_t *new);
2569 
2601 POSEXTERN POSLIST_t* POSCALL posListGet(POSLISTHEAD_t *listhead, UVAR_t pos,
2602  UINT_t timeout);
2603 
2612 POSEXTERN void POSCALL posListRemove(POSLIST_t *listelem);
2613 
2614 #if (DOX!=0) || (POSCFG_FEATURE_LISTJOIN != 0)
2615 
2634 POSEXTERN void POSCALL posListJoin(POSLISTHEAD_t *baselisthead, UVAR_t pos,
2635  POSLISTHEAD_t *joinlisthead);
2636 #endif
2637 
2638 #if (DOX!=0) || (POSCFG_FEATURE_LISTLEN != 0)
2639 
2650 POSEXTERN UINT_t POSCALL posListLen(POSLISTHEAD_t *listhead);
2651 #endif
2652 
2664 POSEXTERN void POSCALL posListInit(POSLISTHEAD_t *listhead);
2665 
2673 POSEXTERN void POSCALL posListTerm(POSLISTHEAD_t *listhead);
2674 
2675 #if (DOX!=0)
2676 
2688 #define POSLIST_ELEMENT(elem, type, member)
2689 #else
2690 #define POSLIST_ELEMENT(elem, type, member) \
2691  ((type*)((char*)(elem)-(char*)(&((type*)NULL)->member)))
2692 #endif
2693 
2697 #define POSLIST_IS_EMPTY(plisthead) \
2698  ((plisthead)->next == (POSLIST_t*)(plisthead))
2699 
2703 #define POSLIST_NEXT_ENTRY(plist) (plist)->next
2704 
2708 #define POSLIST_PREV_ENTRY(plist) (plist)->prev
2709 
2713 #define POSLIST_FIRST_ENTRY(plisthead) (plisthead)->next
2714 
2718 #define POSLIST_LAST_ENTRY(plisthead) (plisthead)->prev
2719 
2723 #define POSLIST_IS_FIRST_ENTRY(element) ((element)->prev==(element)->head)
2724 
2728 #define POSLIST_IS_LAST_ENTRY(element) ((element)->next==(element)->head)
2729 
2732 #define POSLIST_IS_END(plisthead, element) \
2733  ((element)==(POSLIST_t*)(plisthead))
2734 
2735 
2736 #if (DOX!=0)
2737 
2753 #define POSLIST_FOR_EACH_ENTRY(plisthead, runvar)
2754 #else
2755 #define POSLIST_FOR_EACH_ENTRY(plisthead, runvar) \
2756  for (runvar = POSLIST_FIRST_ENTRY(plisthead); \
2757  !POSLIST_IS_END(plisthead, runvar); \
2758  runvar = POSLIST_NEXT_ENTRY(runvar))
2759 #endif
2760 
2761 #if (DOX!=0)
2762 
2783 #define POSLIST_FOREACH_BEGIN(plisthead, runvar, type, listmember)
2784 #else
2785 #define POSLIST_FOREACH_BEGIN(plisthead, runvar, type, listmember) \
2786  do { POSLIST_t *r, *n; \
2787  for (r = POSLIST_FIRST_ENTRY(plisthead); \
2788  !POSLIST_IS_END(plisthead, r); r = n) { \
2789  n = POSLIST_NEXT_ENTRY(r); \
2790  runvar = POSLIST_ELEMENT(r, type, listmember);
2791 #endif
2792 
2793 #if (DOX!=0)
2794 
2800 #define POSLIST_FOREACH_END
2801 #else
2802 #define POSLIST_FOREACH_END \
2803  } } while(0)
2804 #endif
2805 
2806 #endif /* POSCFG_FEATURE_LISTS */
2807 
2810 /*---------------------------------------------------------------------------
2811  * DEBUG FEATURES
2812  *-------------------------------------------------------------------------*/
2813 
2858 #if (DOX!=0) || defined(HAVE_PLATFORM_ASSERT)
2859 
2867 #define P_ASSERT(text,x) \
2868  if (!(x)) POSCALL p_pos_assert((const char*)(text), __FILE__, __LINE__)
2869 #else
2870 #define P_ASSERT(text,x) do { } while(0)
2871 #endif
2872 
2873 #if (DOX!=0) || defined(POS_DEBUGHELP)
2874 
2879 enum PTASKSTATE
2880 {
2881  task_notExisting = 0,
2882  task_created = 1,
2883  task_running = 2,
2884  task_suspended = 3,
2885  task_sleeping = 4,
2886  task_waitingForSemaphore = 5,
2887  task_waitingForSemaphoreWithTimeout = 6,
2889  task_waitingForMutex = 7,
2890  task_waitingForMutexWithTimeout = 8,
2892  task_waitingForFlag = 9,
2893  task_waitingForFlagWithTimeout = 10,
2895  task_waitingForMessage = 11,
2896  task_waitingForMessageWithTimeout = 12
2898 };
2899 typedef enum PTASKSTATE PTASKSTATE;
2900 
2905 enum PEVENTTYPE
2906 {
2907  event_semaphore = 0,
2908  event_mutex = 1,
2909  event_flags = 2
2910 };
2911 typedef enum PEVENTTYPE PEVENTTYPE;
2912 
2922 typedef struct PICOEVENT
2923 {
2924  struct PICOEVENT *next;
2926  struct PICOEVENT *prev;
2928 #if DOX
2929  PEVENTTYPE type;
2932 #else
2933  enum PEVENTTYPE type;
2934 #endif
2935  void *handle;
2937  const char *name;
2939  INT_t counter;
2943 } PICOEVENT;
2944 
2954 typedef struct PICOTASK
2955 {
2956  struct PICOTASK *next;
2958  struct PICOTASK *prev;
2960  POSTASK_t handle;
2962  POSTASKFUNC_t func;
2964  const char *name;
2966 #if DOX
2967  PTASKSTATE state;
2970 #else
2971  enum PTASKSTATE state;
2972 #endif
2973  struct PICOEVENT *event;
2975  UINT_t timeout;
2977 } PICOTASK;
2978 
2979 #if DOX
2980 
3002 #define POS_SETTASKNAME(taskhandle, taskname)
3003 
3023 #define POS_SETEVENTNAME(eventhandle, name)
3024 
3025 #else
3026 #define POS_SETTASKNAME(taskhandle, taskname) \
3027  do { if ((taskhandle) != NULL) (taskhandle)->deb.name = taskname;} while(0)
3028 #define POS_SETEVENTNAME(eventhandle, name) \
3029  posdeb_setEventName(eventhandle, name)
3030 POSEXTERN void posdeb_setEventName(void *event, const char *name);
3031 #endif
3032 
3033 #ifdef _POSCORE_C
3034 struct PICOTASK *picodeb_taskhistory[3];
3035 struct PICOTASK *picodeb_tasklist = NULL;
3036 struct PICOEVENT *picodeb_eventlist = NULL;
3037 #else
3038 
3052 extern struct PICOTASK *picodeb_taskhistory[3];
3053 
3066 extern struct PICOTASK *picodeb_tasklist;
3067 
3082 extern struct PICOEVENT *picodeb_eventlist;
3083 #endif
3084 
3085 #else /* POS_DEBUGHELP */
3086 
3087 #define POS_SETTASKNAME(taskhandle, name) do { } while(0)
3088 #define POS_SETEVENTNAME(eventhandle, name) do { } while(0)
3089 
3090 #endif /* POS_DEBUGHELP */
3091 
3094 /* ==== END OF USER API ==== */
3095 
3096 
3097 
3098 /*---------------------------------------------------------------------------
3099  * INTERNAL DEFINITIONS
3100  *-------------------------------------------------------------------------*/
3101 
3102 #ifdef PICOS_PRIVINCL
3103 
3104 #if MVAR_BITS == 8
3105 #ifndef _POSCORE_C
3106 POSEXTERN UVAR_t posShift1lTab_g[8];
3107 #endif
3108 #define pos_shift1l(bits) posShift1lTab_g[(UVAR_t)(bits)]
3109 #else
3110 #define pos_shift1l(bits) (((UVAR_t)1)<<(bits))
3111 #endif
3112 
3113 #endif /* PICOS_PRIV_H */
3114 
3115 /*-------------------------------------------------------------------------*/
3116 
3117 /* include the header of the nano layer */
3118 
3119 #ifdef POSNANO
3120 #ifdef POSCFG_ENABLE_NANO
3121 #undef POSCFG_ENABLE_NANO
3122 #endif
3123 #define POSCFG_ENABLE_NANO 1
3124 #else
3125 #ifndef POSCFG_ENABLE_NANO
3126 #define POSCFG_ENABLE_NANO 0
3127 #endif
3128 #endif
3129 #if POSCFG_ENABLE_NANO != 0
3130 #ifdef PICOSUBDIR
3131 /* required because of stupid CC65 compiler */
3132 #include <picoos\pos_nano.h>
3133 #else
3134 #include <pos_nano.h>
3135 #endif
3136 #endif
3137 
3138 /*-------------------------------------------------------------------------*/
3139 
3140 /* defaults for hooks */
3141 
3142 #ifndef POSCFG_TASKEXIT_HOOK
3143 #define POSCFG_TASKEXIT_HOOK 0
3144 #endif
3145 
3146 /*-------------------------------------------------------------------------*/
3147 
3148 /* fully define the task structure */
3149 
3150 #ifndef NOS_TASKDATA
3151 #define NOS_TASKDATA
3152 #endif
3153 
3154 #if POSCFG_TASKEXIT_HOOK != 0
3155 typedef enum {
3156  texh_exitcalled,
3157  texh_freestackmem
3158 } texhookevent_t;
3159 typedef void (*POSTASKEXITFUNC_t)(POSTASK_t task, texhookevent_t event);
3160 #endif
3161 
3162 struct POSTASK {
3163  POS_USERTASKDATA
3164  NOS_TASKDATA
3165 #if POSCFG_TASKCB_USERSPACE > 0
3166  UVAR_t usrspace[(POSCFG_TASKCB_USERSPACE + POSCFG_ALIGNMENT +
3167  sizeof(UVAR_t)-2) / sizeof(UVAR_t)];
3168 #endif
3169 #if POSCFG_TASKEXIT_HOOK != 0
3170  POSTASKEXITFUNC_t exithook;
3171 #endif
3172 #if DOX==0
3173 #if POSCFG_ARGCHECK > 1
3174  UVAR_t magic;
3175 #endif
3176 #if SYS_TASKDOUBLELINK != 0
3177  struct POSTASK *prev;
3178 #endif
3179  struct POSTASK *next;
3180  UVAR_t bit_x;
3181 #if SYS_TASKTABSIZE_Y > 1
3182  UVAR_t bit_y;
3183  UVAR_t idx_y;
3184 #endif
3185 #ifndef POS_DEBUGHELP
3186  UINT_t ticks;
3187 #endif
3188 #if SYS_TASKSTATE != 0
3189  UVAR_t state;
3190 #endif
3191 #if POSCFG_FEATURE_ERRNO != 0
3192  VAR_t error;
3193 #endif
3194 #if POSCFG_FEATURE_MSGBOXES != 0
3195  UVAR_t msgwait;
3196  POSSEMA_t msgsem;
3197  void *firstmsg;
3198  void *lastmsg;
3199 #endif
3200 #ifdef POS_DEBUGHELP
3201  struct PICOTASK deb;
3202 #endif
3203 #if SYS_TASKEVENTLINK != 0
3204  void *event;
3205 #endif
3206 #endif /* !DOX */
3207 };
3208 
3209 
3210 #endif /* _PICOOS_H */
3211 
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