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118 lines
3.3 KiB
C
118 lines
3.3 KiB
C
#ifndef QOR_H
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#define QOR_H
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extern void ost_hal_panic();
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/**
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* Assert, or panic.
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*/
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#define assert_or_panic(expr) ((expr) ? (void)0U : ost_hal_panic())
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/**
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* The module os encapsulates the core functionality of the operating system and
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* exposes the functions for interacting with it.
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*/
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#include <stdint.h>
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#define MAXNUMTHREADS 10 /* Maximum number of threads, allocated at compile time */
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#define STACKSIZE 100 /* Number of 32-bit words in each TCB's stack */
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#define THREADFREQ 1 /* Maximum time-slice, in Hz, before the scheduler is run */
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#define OS_SCHEDL_PRIO_MIN 1 /* Lowest priority that can be assigned to a thread */
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#define OS_SCHEDL_PRIO_MAX UINT8_MAX /* Highest priority that can be assigned to a thread */
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/**
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* The type Semaphore_t abstracts the semaphore's counter.
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* A value of type *Semaphore_t should only be updated through the fn OS_Semaphore_Wait
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* and OS_Semaphore_Signal.
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*/
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typedef int32_t Semaphore_t;
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typedef void (*thread_func_t)(void *args);
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// ===========================================================================================================
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// THREADS API
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// ===========================================================================================================
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/**
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* @brief RTOS Task state
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*
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*/
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typedef enum
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{
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qor_tcb_state_active,
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qor_tcb_state_wait_mbox,
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qor_tcb_state_sleep
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} qor_tcb_state_t;
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/**
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* @brief Thread Control Block
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*
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* IMPORTANT! keep the stack pointer on top, it is required by the task switch assembly
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*
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*/
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typedef struct qor_mbox_t qor_mbox_t;
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typedef struct TCB
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{
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uint32_t *sp; /* Stack pointer, valid for threads not running */
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struct TCB *next; /* Pointer to circular-linked-list of TCBs */
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struct TCB *wait_next; // Next TCB in waiting list
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qor_tcb_state_t state; /* TCB active or free */
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uint32_t wait_time; //!< Timeout for mbox maiting or sleep
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qor_mbox_t *mbox; /* Pointer to mailbox on which the thread is blocked, NULL if not blocked */
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void *message; //<! Actually the message transmitted
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uint8_t priority; /* Thread priority, 0 is highest, 255 is lowest */
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const char *name; /* Descriptive name to facilitate debugging */
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} qor_tcb_t;
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void OS_Init(uint32_t scheduler_frequency_hz);
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// void OS_Thread_CreateFirst(thread_func_t task, uint8_t priority, const char *name);
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void qor_create_thread(qor_tcb_t *tcb, thread_func_t task, uint8_t priority, const char *name);
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void qor_switch_context();
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void qor_start(void);
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void OS_Thread_Suspend(void);
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void qor_sleep(uint32_t sleep_duration_ms);
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void OS_Thread_Kill(void);
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void OS_Semaphore_Wait(Semaphore_t *sem);
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void OS_Semaphore_Signal(Semaphore_t *sem);
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// ===========================================================================================================
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// MAILBOX API
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// ===========================================================================================================
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struct qor_mbox_t
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{
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qor_tcb_t *head;
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uint32_t count;
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uint32_t read;
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uint32_t write;
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uint32_t maxCount;
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void **msgBuffer;
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};
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typedef struct
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{
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uint32_t count;
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uint32_t maxCount;
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uint32_t taskCount;
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} mbox_stats_t;
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#define QOR_MBOX_OK 1
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#define QOR_MBOX_ERROR 2
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void qor_mbox_init(qor_mbox_t *mbox, void **msgBuffer, uint32_t maxCount);
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uint32_t qor_mbox_wait(qor_mbox_t *mbox, void **msg, uint32_t waitTicks);
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#endif // QOR_H
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