| /* nanokernel.h - public API for VxMicro nanokernel */ |
| |
| /* |
| * Copyright (c) 1997-2015, Wind River Systems, Inc. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are met: |
| * |
| * 1) Redistributions of source code must retain the above copyright notice, |
| * this list of conditions and the following disclaimer. |
| * |
| * 2) Redistributions in binary form must reproduce the above copyright notice, |
| * this list of conditions and the following disclaimer in the documentation |
| * and/or other materials provided with the distribution. |
| * |
| * 3) Neither the name of Wind River Systems nor the names of its contributors |
| * may be used to endorse or promote products derived from this software without |
| * specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE |
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| * POSSIBILITY OF SUCH DAMAGE. |
| */ |
| |
| #ifndef __NANOKERNEL_H__ |
| #define __NANOKERNEL_H__ |
| |
| #include <stdint.h> |
| #ifdef __DCC__ |
| #undef CONFIG_STACK_CANARIES |
| #endif |
| |
| #include <nanokernel/private.h> |
| #include <kernel_version.h> |
| #include <clock_vars.h> |
| |
| #ifdef __cplusplus |
| extern "C" { |
| #endif |
| |
| typedef int atomic_t; |
| typedef atomic_t atomic_val_t; |
| |
| typedef struct s_CCS *nano_context_id_t; |
| |
| typedef void (*nano_fiber_entry_t)(int i1, int i2); |
| |
| typedef int nano_context_type_t; |
| |
| |
| #define NANO_CTX_ISR (0) |
| #define NANO_CTX_FIBER (1) |
| #define NANO_CTX_TASK (2) |
| |
| /* context APIs |
| */ |
| extern nano_context_id_t context_self_get(void); |
| extern nano_context_type_t context_type_get(void); |
| extern int _context_essential_check(tCCS *pCtx); |
| |
| /* fiber APIs |
| */ |
| /* scheduling context independent method (when context is not known) */ |
| void fiber_start(char *stack, |
| unsigned stack_size, |
| nano_fiber_entry_t entry, |
| int arg1, |
| int arg2, |
| unsigned prio, |
| unsigned options); |
| |
| /* methods for fibers */ |
| extern void fiber_fiber_start(char *pStack, |
| unsigned int stackSize, |
| nano_fiber_entry_t entry, |
| int arg1, |
| int arg2, |
| unsigned prio, |
| unsigned options); |
| extern void fiber_yield(void); |
| extern void fiber_abort(void); |
| /* methods for tasks */ |
| extern void task_fiber_start(char *pStack, |
| unsigned int stackSize, |
| nano_fiber_entry_t entry, |
| int arg1, |
| int arg2, |
| unsigned prio, |
| unsigned options); |
| |
| /* FIFO APIs |
| */ |
| extern void nano_fifo_init(struct nano_fifo *chan); |
| /* scheduling context independent methods (when context is not known) */ |
| extern void nano_fifo_put(struct nano_fifo *chan, void *data); |
| extern void *nano_fifo_get(struct nano_fifo *chan); |
| extern void *nano_fifo_get_wait(struct nano_fifo *chan); |
| /* methods for ISRs */ |
| extern void nano_isr_fifo_put(struct nano_fifo *chan, void *data); |
| extern void *nano_isr_fifo_get(struct nano_fifo *chan); |
| /* methods for fibers */ |
| extern void nano_fiber_fifo_put(struct nano_fifo *chan, void *data); |
| extern void *nano_fiber_fifo_get(struct nano_fifo *chan); |
| extern void *nano_fiber_fifo_get_wait(struct nano_fifo *chan); |
| /* methods for tasks */ |
| extern void nano_task_fifo_put(struct nano_fifo *chan, void *data); |
| extern void *nano_task_fifo_get(struct nano_fifo *chan); |
| extern void *nano_task_fifo_get_wait(struct nano_fifo *chan); |
| |
| /* LIFO APIs |
| */ |
| extern void nano_lifo_init(struct nano_lifo *chan); |
| /* methods for ISRs */ |
| extern void nano_isr_lifo_put(struct nano_lifo *chan, void *data); |
| extern void *nano_isr_lifo_get(struct nano_lifo *chan); |
| /* methods for fibers */ |
| extern void nano_fiber_lifo_put(struct nano_lifo *chan, void *data); |
| extern void *nano_fiber_lifo_get(struct nano_lifo *chan); |
| extern void *nano_fiber_lifo_get_wait(struct nano_lifo *chan); |
| /* methods for tasks */ |
| extern void nano_task_lifo_put(struct nano_lifo *chan, void *data); |
| extern void *nano_task_lifo_get(struct nano_lifo *chan); |
| extern void *nano_task_lifo_get_wait(struct nano_lifo *chan); |
| |
| /* semaphore APIs |
| */ |
| extern void nano_sem_init(struct nano_sem *chan); |
| /* scheduling context independent methods (when context is not known) */ |
| extern void nano_sem_give(struct nano_sem *chan); |
| extern void nano_sem_take_wait(struct nano_sem *chan); |
| /* methods for ISRs */ |
| extern void nano_isr_sem_give(struct nano_sem *chan); |
| extern int nano_isr_sem_take(struct nano_sem *chan); |
| /* methods for fibers */ |
| extern void nano_fiber_sem_give(struct nano_sem *chan); |
| extern int nano_fiber_sem_take(struct nano_sem *chan); |
| extern void nano_fiber_sem_take_wait(struct nano_sem *chan); |
| /* methods for tasks */ |
| extern void nano_task_sem_give(struct nano_sem *chan); |
| extern int nano_task_sem_take(struct nano_sem *chan); |
| extern void nano_task_sem_take_wait(struct nano_sem *chan); |
| |
| /* stack APIs |
| */ |
| extern void nano_stack_init(struct nano_stack *chan, uint32_t *data); |
| /* methods for ISRs */ |
| extern void nano_isr_stack_push(struct nano_stack *chan, uint32_t data); |
| extern int nano_isr_stack_pop(struct nano_stack *chan, uint32_t *data); |
| /* methods for fibers */ |
| extern void nano_fiber_stack_push(struct nano_stack *chan, uint32_t data); |
| extern int nano_fiber_stack_pop(struct nano_stack *chan, uint32_t *data); |
| extern uint32_t nano_fiber_stack_pop_wait(struct nano_stack *chan); |
| /* methods for tasks */ |
| extern void nano_task_stack_push(struct nano_stack *chan, uint32_t data); |
| extern int nano_task_stack_pop(struct nano_stack *chan, uint32_t *data); |
| extern uint32_t nano_task_stack_pop_wait(struct nano_stack *chan); |
| |
| |
| /* context custom data APIs */ |
| #ifdef CONFIG_CONTEXT_CUSTOM_DATA |
| extern void context_custom_data_set(void *value); |
| extern void *context_custom_data_get(void); |
| #endif /* CONFIG_CONTEXT_CUSTOM_DATA */ |
| |
| #if defined(CONFIG_NANOKERNEL) |
| |
| /* nanokernel-only timers */ |
| |
| extern void nano_timer_init(struct nano_timer *chan, void *data); |
| |
| /* methods for fibers */ |
| extern void nano_fiber_timer_start(struct nano_timer *chan, int ticks); |
| extern void *nano_fiber_timer_test(struct nano_timer *chan); |
| extern void *nano_fiber_timer_wait(struct nano_timer *chan); |
| extern void nano_fiber_timer_stop(struct nano_timer *chan); |
| |
| /* methods for tasks */ |
| extern void nano_task_timer_start(struct nano_timer *chan, int ticks); |
| extern void *nano_task_timer_test(struct nano_timer *chan); |
| extern void *nano_task_timer_wait(struct nano_timer *chan); |
| extern void nano_task_timer_stop(struct nano_timer *chan); |
| |
| /* methods for tasks and fibers for handling time and ticks */ |
| |
| extern uint32_t nano_node_tick_get_32(void); |
| extern uint32_t nano_node_cycle_get_32(void); |
| extern uint32_t nano_node_tick_delta(uint64_t *reftime); |
| |
| #endif /* CONFIG_NANOKERNEL */ |
| |
| /* atomic operator APIs */ |
| |
| extern atomic_val_t atomic_add(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_and(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_dec(atomic_t *target); |
| extern atomic_val_t atomic_inc(atomic_t *target); |
| extern atomic_val_t atomic_nand(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_or(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_sub(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_xor(atomic_t *target, atomic_val_t value); |
| extern atomic_val_t atomic_clear(atomic_t *target); |
| extern atomic_val_t atomic_get(atomic_t *target); |
| extern atomic_val_t atomic_set(atomic_t *target, atomic_val_t value); |
| extern int atomic_cas(atomic_t *target, |
| atomic_val_t oldValue, |
| atomic_val_t newValue); |
| #define ATOMIC_INIT(i) {(i)} |
| |
| /* auto-initialization */ |
| |
| #define NANO_CONSTRUCTOR(lvl) FUNC_CONSTRUCT(lvl) |
| |
| #define NANO_INIT_PRI_SYS_FIRST 225 |
| #define NANO_INIT_PRI_SYS_NORMAL 250 |
| #define NANO_INIT_PRI_SYS_LAST 275 |
| |
| #define NANO_INIT_PRI_DRV_FIRST 325 |
| #define NANO_INIT_PRI_DRV_NORMAL 350 |
| #define NANO_INIT_PRI_DRV_LAST 375 |
| |
| #define NANO_INIT_PRI_USR_FIRST 425 |
| #define NANO_INIT_PRI_USR_NORMAL 450 |
| #define NANO_INIT_PRI_USR_LAST 475 |
| |
| /* To define an init function, write the function as: |
| * NANO_INIT_DRV_NORMAL(myDrv) {<implementation>} |
| * and it will be automatically invoked when the system initializes. |
| * |
| * Always use _NORMAL priority init functions, unless you cant. |
| * _FIRST priorities can be used to initialize ahead of the _NORMAL. |
| * Likewise, _LAST priorities can be used to initialize afterwards. |
| * _SYS priorities are normally for the kernel itself. |
| * _DRV priorities are for device drivers. |
| * _USR priorities are for utilities and libraries. |
| */ |
| #define NANO_INIT_SYS_FIRST NANO_CONSTRUCTOR(NANO_INIT_PRI_SYS_FIRST) |
| #define NANO_INIT_SYS_NORMAL NANO_CONSTRUCTOR(NANO_INIT_PRI_SYS_NORMAL) |
| #define NANO_INIT_SYS_LAST NANO_CONSTRUCTOR(NANO_INIT_PRI_SYS_LAST) |
| |
| #define NANO_INIT_DRV_FIRST NANO_CONSTRUCTOR(NANO_INIT_PRI_DRV_FIRST) |
| #define NANO_INIT_DRV_NORMAL NANO_CONSTRUCTOR(NANO_INIT_PRI_DRV_NORMAL) |
| #define NANO_INIT_DRV_LAST NANO_CONSTRUCTOR(NANO_INIT_PRI_DRV_LAST) |
| |
| #define NANO_INIT_USR_FIRST NANO_CONSTRUCTOR(NANO_INIT_PRI_USR_FIRST) |
| #define NANO_INIT_USR_NORMAL NANO_CONSTRUCTOR(NANO_INIT_PRI_USR_NORMAL) |
| #define NANO_INIT_USR_LAST NANO_CONSTRUCTOR(NANO_INIT_PRI_USR_LAST) |
| |
| extern uint32_t kernel_version_get(void); |
| |
| #ifdef __cplusplus |
| } |
| #endif |
| |
| #endif /* __NANOKERNEL_H__ */ |
