rtai_uitron.h

rtai-3.1-test3的源代码(Real-Time Application Interface )

/*
 * Copyright (C) 2001,2002,2003 Philippe Gerum <[e-mail]>.
 *
 * Xenomai is free software; you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * Xenomai is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Xenomai; if not, write to the Free Software Foundation,
 * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * As a special exception, the RTAI project gives permission
 * for additional uses of the text contained in its release of
 * Xenomai.
 *
 * The exception is that, if you link the Xenomai libraries with other
 * files to produce an executable, this does not by itself cause the
 * resulting executable to be covered by the GNU General Public License.
 * Your use of that executable is in no way restricted on account of
 * linking the Xenomai libraries code into it.
 *
 * This exception does not however invalidate any other reasons why
 * the executable file might be covered by the GNU General Public
 * License.
 *
 * This exception applies only to the code released by the
 * RTAI project under the name Xenomai.  If you copy code from other
 * RTAI project releases into a copy of Xenomai, as the General Public
 * License permits, the exception does not apply to the code that you
 * add in this way.  To avoid misleading anyone as to the status of
 * such modified files, you must delete this exception notice from
 * them.
 *
 * If you write modifications of your own for Xenomai, it is your
 * choice whether to permit this exception to apply to your
 * modifications. If you do not wish that, delete this exception
 * notice.
 *
 * This files defines the basic types, data structures, function
 * prototypes and error codes used in the uITRON API.  The copyright
 * of the uITRON specification is reserved by TRON ASSOCIATION.
 */

#ifndef _rtai_uITRON_h
#define _rtai_uITRON_h

#include <xenomai/xenomai.h>

#define uITRON_SKIN_VERSION_CODE     0x00000002
#define uITRON_SKIN_MAGIC            0x54524F4E

#define uITRON_MIN_PRI  8
#define uITRON_MAX_PRI  1

#define uITRON_MAX_TASKID 64	/* i.e. available range: 1..64 */
#define uITRON_MAX_SEMID  32	/* i.e. available range: 1..32 */
#define uITRON_MAX_FLAGID 32	/* i.e. available range: 1..32 */
#define uITRON_MAX_MBXID  32	/* i.e. available range: 1..32 */
#define uITRON_MAX_MBFID  32	/* i.e. available range: 1..32 */

/*
 * Common Constants and Data Structure Packet Formats
 */

#define NADR   (-1)   /* invalid address or pointer value */
#ifndef TRUE
#define TRUE     1    /* true */
#define FALSE    0    /* false */
#endif /* !TRUE */

#define TMO_POL  0     /* polling */
#define TMO_FEVR (-1)  /* wait forever */

typedef signed char B;		/* signed 8-bit integer */
typedef signed short H;		/* signed 16-bit integer */
typedef signed int W;		/* signed 32-bit integer */
typedef unsigned UB;		/* unsigned 8-bit integer */
typedef unsigned short UH;      /* unsigned 16-bit integer */
typedef unsigned int UW;        /* unsigned 32-bit integer */

typedef unsigned VW;            /* unpredictable data type (32-bit size) */
typedef unsigned short VH;      /* unpredictable data type (16-bit size) */
typedef unsigned char VB;	/* unpredictable data type (8-bit size) */

typedef void *VP;		/* pointer to an unpredictable data type */
typedef void (*FP)(void);	/* program start address */

typedef W INT;
typedef UW UINT;
typedef W BOOL;
typedef H FN;
typedef W ID;
typedef ID BOOL_ID;
typedef W HNO;
typedef W RNO;
typedef W NODE;
typedef UW ATR;
typedef W ER;
typedef W PRI;
typedef W TMO;

/* for task management functions */

typedef struct t_ctsk {

    VP    exinf;     /* extended information */
    ATR   tskatr;    /* task attributes */
    FP    task;      /* task start address */
    PRI   itskpri;   /* initial task priority */
    INT   stksz;     /* stack size */

    /* No implementation-dependent part */

} T_CTSK;

#define TA_ASM   0x0      /* program written in assembly language */
#define TA_HLNG  0x1      /* program written in high-level language */
#define TA_COP0  0x8000   /* uses coprocessor having ID = 0 */
#define TA_COP1  0x4000   /* uses coprocessor having ID = 1 */
#define TA_COP2  0x2000   /* uses coprocessor having ID = 2 */
#define TA_COP3  0x1000   /* uses coprocessor having ID = 3 */
#define TA_COP4  0x0800   /* uses coprocessor having ID = 4 */
#define TA_COP5  0x0400   /* uses coprocessor having ID = 5 */
#define TA_COP6  0x0200   /* uses coprocessor having ID = 6 */
#define TA_COP7  0x0100   /* uses coprocessor having ID = 7 */

#define TSK_SELF  0   /* task specifies itself */

#define TPRI_INI  0   /* specifies the initial priority on task startup
			 (chg_pri) */
#define TPRI_RUN  0   /* specifies the highest priority during execution
			 (rot_rdq) */

typedef struct t_rtsk {
    VP     exinf;     /* extended information */
    PRI    tskpri;    /* current priority */
    UINT   tskstat;   /* task state */
    /* the following are represent extended features of support
       [level X] (implementation-dependent) */
    UINT   tskwait;   /* cause of wait */
    ID     wid;       /* ID of object being waited for */
    INT    wupcnt;    /* wakeup request count */
    INT    suscnt;    /* SUSPEND request count */
    ATR    tskatr;    /* task attributes */
    FP     task;      /* task start address */
    PRI    itskpri;   /* initial task priority */
    INT    stksz;     /* stack size */

    /* Implementation-dependent part */

} T_RTSK;


#define TTS_RUN  0x01   /* RUN */
#define TTS_RDY  0x02   /* READY */
#define TTS_WAI  0x04   /* WAIT */
#define TTS_SUS  0x08   /* SUSPEND */
#define TTS_WAS  0x0C   /* WAIT-SUSPEND */
#define TTS_DMT  0x10   /* DORMANT */

#define TTW_SLP  0x0001   /* wait due to slp_tsk or tslp_tsk */
#define TTW_DLY  0x0002   /* wait due to dly_tsk */
#define TTW_NOD  0x0008   /* connection function response wait */
#define TTW_FLG  0x0010   /* wait due to wai_flg or twai_flg */
#define TTW_SEM  0x0020   /* wait due to wai_sem or twai_sem */
#define TTW_MBX  0x0040   /* wait due to rcv_msg or trcv_msg */
#define TTW_SMBF 0x0080   /* wait due to snd_mbf or tsnd_mbf */
#define TTW_MBF  0x0100   /* wait due to rcv_mbf or trcv_mbf */
#define TTW_CAL  0x0200   /* wait for rendezvous call */
#define TTW_ACP  0x0400   /* wait for rendezvous accept */
#define TTW_RDV  0x0800   /* wait for rendezvous completion */
#define TTW_MPL  0x1000   /* wait due to get_blk or tget_blk */
#define TTW_MPF  0x2000   /* wait due to get_blf or tget_blf */

/* for semaphore functions */

typedef struct t_csem {
    VP    exinf;    /* extended information */
    ATR   sematr;   /* semaphore attributes */
    /* Following is the extended function for [level X]. */
    INT   isemcnt;   /* initial semaphore count */
    INT   maxsem;    /* maximum semaphore count */

    /* Implementation-dependent part */

} T_CSEM;

#define TA_TFIFO 0x00   /* waiting tasks are handled by FIFO */
#define TA_TPRI  0x01   /* waiting tasks are handled by priority */

typedef struct t_rsem {
    VP      exinf;    /* extended information */
    BOOL_ID wtsk;     /* indicates whether or not there is a waiting
			 task */
    INT     semcnt;   /* current semaphore count */

    /* Implementation-dependent part */

} T_RSEM;

/* for eventflag functions */

typedef struct t_cflg {
    VP     exinf;     /* extended information */
    ATR    flgatr;    /* eventflag attribute */
    UINT   iflgptn;   /* initial eventflag */

    /* Implementation-dependent part */

} T_CFLG;

#define TA_WSGL 0x00   /* multiple tasks are not allowed to wait (Wait
			  Single Task) */
#define TA_WMUL 0x08   /* multiple tasks are allowed to wait (Wait
			  Multiple Task) */

#define TWF_ANDW 0x00   /* AND wait */
#define TWF_ORW  0x02   /* OR wait */
#define TWF_CLR  0x01   /* clear specification */

typedef struct t_rflg {
    VP        exinf;      /* extended information */
    BOOL_ID   wtsk;       /* indicates whether or not there is a
			     waiting task */
    UINT      flgptn;     /* eventflag bit pattern */

    /* Implementation-dependent part */

} T_RFLG;

/* for mailbox functions */

typedef struct t_cmbx {
    VP    exinf;    /* extended information */
    ATR   mbxatr;   /* mailbox attributes */
    /* Following is implementation-dependent function */
    INT   bufcnt;   /* ring buffer size */

    /* Implementation-dependent part */

} T_CMBX;

#define TA_MFIFO  0x00   /* messages are handled by FIFO */
#define TA_MPRI   0x02   /* messages are handled by priority */

typedef struct t_msg {

    /* Implementation-dependent part */

    VB   msgcont[1];
} T_MSG;

typedef struct t_rmbx {
    VP        exinf;    /* extended information */
    BOOL_ID   wtsk;     /* indicates whether or not there is a
			   waiting task */
    T_MSG*    pk_msg;   /* message to be sent next */

    /* Implementation-dependent part */

} T_RMBX;

/* for messagebuffer functions */

typedef struct t_cmbf {
    VP    exinf;    /* extended information */
    ATR   mbfatr;   /* messagebuffer attributes */
    INT   bufsz;    /* messagebuffer size */
    INT   maxmsz;   /* maximum size of messages */

    /* Implementation-dependent part */

} T_CMBF;

#define TMBF_OS  (-4)   /* messagebuffer used for OS error log */
#define TMBF_DB  (-3)   /* messagebuffer used for debugging */

typedef struct t_rmbf {
    VP        exinf;     /* extended information */
    BOOL_ID   wtsk;      /* indicates whether or not there is a
			    task waiting to receive a message */
    BOOL_ID   stsk;      /* indicates whether or not there is a
			    task waiting to send a message */
    INT       msgsz;     /* size of message to be sent next */
    INT       frbufsz;   /* size of free buffer */

    /* Implementation-dependent part */

} T_RMBF;

/* for port or rendezvous functions */

typedef struct t_cpor {
    VP    exinf;     /* extended information */
    ATR   poratr;    /* port attributes */
    INT   maxcmsz;   /* maximum call message size */
    INT   maxrmsz;   /* maximum reply message size */

    /* Implementation-dependent part */

} T_CPOR;

#define TA_NULL 0   /* specifies no particular attributes */

typedef struct t_rpor {
    VP        exinf;   /* extended information */
    BOOL_ID   wtsk;    /* indicates whether or not there is a task
			  waiting to call a rendezvous */
    BOOL_ID   atsk;    /* indicates whether or not there is a task
			  waiting to accept a rendezvous */

    /* Implementation-dependent part */

} T_RPOR;

/* for interrupt management functions */

typedef struct t_dint {
    ATR   intatr;   /* interrupt handler attributes */
    FP    inthdr;   /* interrupt handler address */

    /* Implementation-dependent part */

} T_DINT;

/* for memorypool management functions */

typedef struct t_cmpl {
    VP    exinf;    /* extended information */
    ATR   mplatr;   /* memorypool attributes */
    INT   mplsz;    /* memorypool size */

    /* Implementation-dependent part */

} T_CMPL;

#define TMPL_OS  (-4)   /* memorypool used by OS */

typedef struct t_rmpl {
    VP        exinf;    /* extended information */
    BOOL_ID   wtsk;     /* indicates whether or not there are
			   waiting tasks */
    INT       frsz;     /* total size of free memory */
    INT       maxsz;    /* size of largest contiguous memory */

    /* Implementation-dependent part */

} T_RMPL;

typedef struct t_cmpf {
    VP    exinf;     /* extended information */
    ATR   mpfatr;    /* memorypool attributes */
    INT   mpfcnt;    /* block count for entire memorypool */
    INT   blfsz;     /* fixed-size memory block size */

    /* Implementation-dependent part */

} T_CMPF;

typedef struct t_rmpf {
    VP        exinf;    /* extended information */
    BOOL_ID   wtsk;     /* indicates whether or not there are
			   waiting tasks */
    INT       frbcnt;   /* free block count */

    /* Implementation-dependent part */

} T_RMPF;

/* for time management functions */

typedef struct t_systime {
    H    utime;   /* upper 16 bits */
    UW   ltime;   /* lower 32 bits */
} SYSTIME, CYCTIME, ALMTIME, DLYTIME;

typedef struct t_dcyc {
    VP        exinf;    /* extended information */
    ATR       cycatr;   /* cyclic handler attributes */
    FP        cychdr;   /* cyclic handler address */
    UINT      cycact;   /* cyclic handler activation */
    CYCTIME   cyctim;   /* cyclic startup period */
} T_DCYC;

#define TCY_OFF  0x00   /* do not invoke cyclic handler */
#define TCY_ON   0x01   /* invoke cyclic handler */
#define TCY_INT  0x02   /* initialize cycle count */

typedef struct t_rcyc {
    VP        exinf;    /* extended information */
    CYCTIME   lfttim;   /* time left before next handler startup */
    UINT      cycact;   /* cyclic handler activation */

    /* Implementation-dependent part */

} T_RCYC;

typedef struct t_dalm {
    VP        exinf;    /* extended information */
    ATR       almatr;   /* alarm handler attributes */
    FP        almhdr;   /* alarm handler address */