BRTOS.h File Reference

BRTOS kernel main defines, functions prototypes and structs declaration. More...

#include "OS_types.h"
#include "HAL.h"
#include "OSTime.h"
#include "BRTOSConfig.h"

Go to the source code of this file.

Data Structures
struct	BRTOS_Sem
struct	BRTOS_Mutex
struct	BRTOS_Mbox
struct	BRTOS_Queue
struct	OS_QUEUE

Macros
#define	FALSE   0
	False and True defines.
#define	READY   (uint8_t)0
	Task States. More...
#define	SUSPENDED   (uint8_t)1
	Task is suspended.
#define	BLOCKED   (uint8_t)2
	Task is blocked - Will not run until be released.
#define	MAX_TIMER   0xffffffffffffffffULL
	Timer defines.
#define	TICK_COUNT_OVERFLOW   (ostick_t)(MAX_TIMER - 3)
	Determines the tick timer overflow.
#define	TickCountOverFlow   TICK_COUNT_OVERFLOW
	Compatibility with BRTOS less than or equal to 1.7.
#define	OK   (uint8_t)0
	Error codes. More...
#define	NO_MEMORY   (uint8_t)1
	Error - Lack of memory to allocate a task.
#define	STACK_SIZE_TOO_SMALL   (uint8_t)2
	Error - Stack size too small to allocate a task.
#define	END_OF_AVAILABLE_PRIORITIES   (uint8_t)3
	Error - There are no more priorities available.
#define	BUSY_PRIORITY   (uint8_t)4
	Error - Priority is being used by another task.
#define	INVALID_TIME   (uint8_t)5
	Error - Informed time is out of the limits.
#define	TIMEOUT   (uint8_t)6
	Error - Timeout.
#define	CANNOT_ASSIGN_IDLE_TASK_PRIO   (uint8_t)7
	Error - A task can not be assigned into the idle task slot.
#define	NOT_VALID_TASK   (uint8_t)8
	There current task number is not valid for this function.
#define	NO_TASK_DELAY   (uint8_t)9
	Error - No valid time to wait.
#define	END_OF_AVAILABLE_TCB   (uint8_t)10
	Error - There are no more task control blocks (Context task)
#define	EXIT_BY_NO_ENTRY_AVAILABLE   (uint8_t)11
	Error - There are no data into queues and mailboxes or semaphore value is zero with no timeout option.
#define	TASK_WAITING_EVENT   (uint8_t)12
	Error - The task being uninstalled is waiting for an event (uninstall aborted)
#define	CANNOT_UNINSTALL_IDLE_TASK   (uint8_t)13
	Error - It is not be allow to uninstall the idle task.
#define	EXIT_BY_NO_RESOURCE_AVAILABLE   (uint8_t)14
	Error - The resource is not available with no timeout option.
#define	ALLOC_EVENT_OK   (uint8_t)0
	Event allocated with success.
#define	NO_AVAILABLE_EVENT   (uint8_t)1
	No event control blocks available.
#define	NO_AVAILABLE_MEMORY   (uint8_t)2
	Error - Lack of memory to allocate an event.
#define	INVALID_PARAMETERS   (uint8_t)3
	There is at least one invalid parameter.
#define	IRQ_PEND_ERR   (uint8_t)4
	Function can not be called inside an interrupt.
#define	ERR_SEM_OVF   (uint8_t)5
	Semaphore counter overflow.
#define	ERR_MUTEX_OVF   (uint8_t)6
	Mutex counter overflow.
#define	ERR_EVENT_NO_CREATED   (uint8_t)7
	There are no task waiting for the event.
#define	NULL_EVENT_POINTER   (uint8_t)8
	The passed event pointer is NULL.
#define	ERR_EVENT_OWNER   (uint8_t)9
	Function caller is not the owner of the event control block. Used to mutex implementation.
#define	DELETE_EVENT_OK   (uint8_t)10
	Event deleted with success.
#define	AVAILABLE_RESOURCE   (uint8_t)11
	The resource is available.
#define	BUSY_RESOURCE   (uint8_t)12
	The resource is busy.
#define	AVAILABLE_MESSAGE   (uint8_t)13
	There is a message.
#define	NO_MESSAGE   (uint8_t)14
	There is no message.
#define	READ_BUFFER_OK   0
	New data successfully read.
#define	WRITE_BUFFER_OK   0
	New data successfully written.
#define	BUFFER_UNDERRUN   1
	Queue overflow.
#define	CLEAN_BUFFER_OK   2
	Queue successfully cleaned.
#define	NO_ENTRY_AVAILABLE   3
	Queue is empty.
#define	DELAY   0
	Suspended Types. More...
#define	SEMAPHORE   1
	Task suspended by semaphore.
#define	MAILBOX   2
	Task suspended by mailbox.
#define	QUEUE   3
	Task suspended by queue.
#define	MUTEX   4
	Task suspended by mutex.
#define	configMAX_TASK_INSTALL   8
	Task Defines. More...

Functions
void	Idle (void)
	Idle Task. May be used to implement low power commands. More...
void	OS_TICK_HANDLER (void)
	Tick timer interrupt handler routine (Internal kernel function).
uint8_t	BRTOSStart (void)
	Start the Operating System Scheduler The user must call this function to start the tasks execution. More...
BRTOS_TH	OSGetCurrentTaskHandle (void)
	Return the handle of the current task. The user must call this function in order to receive the current task handle. More...
BRTOS_TH	OSGetTaskPriority (BRTOS_TH task_handle)
	Return the priority of the specified task. The user must call this function in order to receive the priority of the specified task. More...
uint8_t	OSDelayTask (ostick_t time_wait)
	Wait for a specified period. A task that calling this function will be suspended for a certain time. When this time is reached the task back to ready state. More...
uint8_t	OSDelayTaskHMSM (uint8_t hours, uint8_t minutes, uint8_t seconds, uint16_t miliseconds)
	Wait for a specified period (in hours, minutes, seconds and miliseconds). A task that calling this function will be suspended for a certain time. When this time is reached the task back to ready state. More...
ostick_t	OSGetTickCount (void)
	Return current tick count. The user must call this function in order to receive the current tick count. More...
ostick_t	OSGetCount (void)
	Return current tick count. Internal BRTOS function. More...
void	OSIncCounter (void)
	Update the tick counter. More...
void	PreInstallTasks (void)
	Function that initialize the kernel main variables. This function resets the kernel main variables, preparing the system to be started. More...
uint8_t	OSBlockPriority (uint8_t iPriority)
	Blocks a specific priority Blocks the task that is associated with the specified priority. The user must be careful when using this function in together with mutexes. This can lead to undesired results due the "cealing priority" property used in the mutex. More...
uint8_t	OSUnBlockPriority (uint8_t iPriority)
	UnBlock a specific priority UnBlocks the task that is associated with the specified priority. The user must be careful when using this function in together with mutexes. This can lead to undesired results due the "cealing priority" property used in the mutex. More...
uint8_t	OSBlockMultipleTask (uint8_t TaskStart, uint8_t TaskNumber)
	Blocks a set of tasks. More...
uint8_t	OSUnBlockMultipleTask (uint8_t TaskStart, uint8_t TaskNumber)
	UnBlocks a set of tasks. More...
void	BRTOSInit (void)
	Initialize BRTOS control blocks and tick timer (Internal kernel function).
uint8_t	OSSchedule (void)
	Priority Preemptive Scheduler (Internal kernel function). More...
uint8_t	SAScheduler (PriorityType ReadyList)
	Sucessive Aproximation Scheduler (Internal kernel function). More...
void	initEvents (void)
	Initialize event control blocks. More...

Variables
uint8_t	iNesting
	Used to inform if the current code position is an interrupt handler code.
volatile uint8_t	currentTask
	Current task being executed.
ContextType	ContextTask [NUMBER_OF_TASKS+1]
uint16_t	iStackAddress
	Virtual stack counter - Informs the stack occupation in bytes.
uint8_t	NumberOfInstalledTasks
	Number of Installed tasks at the moment.
volatile uint32_t	OSDuty
	Used to compute the CPU load.
uint8_t	PriorityVector [configMAX_TASK_INSTALL]
	Allocate task priorities.
volatile uint32_t	OSDutyTmp
	Used to compute the CPU load.
volatile uint16_t	LastOSDuty
	Last CPU load computed.
uint32_t	TaskAlloc
	Used to search a empty task control block.
uint16_t	iQueueAddress
	Queue heap control.
PGM_P CONST BRTOSStringTable[]	PROGMEM
	Informs BRTOS version.
stack_pointer_t	StackAddress
	Virtual stack pointer.

Detailed Description

BRTOS kernel main defines, functions prototypes and structs declaration.

Macro Definition Documentation

#define configMAX_TASK_INSTALL   8

Task Defines.

Defines the maximum number of tasks that can be installed

#define DELAY   0

Suspended Types.

Task suspended by delay

#define OK   (uint8_t)0

Error codes.

OK define

#define READY   (uint8_t)0

Task States.

Task is ready to be executed - waiting for the scheduler authorization

Function Documentation

uint8_t BRTOSStart

(

void

)

Start the Operating System Scheduler The user must call this function to start the tasks execution.

Returns

OK Success

NO_MEMORY There was not enough memory to start all tasks

void Idle

(

void

)

Idle Task. May be used to implement low power commands.

Returns

NONE

void initEvents

(

void

)

Initialize event control blocks.

Returns

NONE

uint8_t OSBlockMultipleTask	(	uint8_t	TaskStart,
		uint8_t	TaskNumber
	)

Blocks a set of tasks.

Parameters

TaskStart	Number of the first task to be blocked
TaskNumber	Number of tasks to be blocked from the specified task start

Returns

OK - Success

IRQ_PEND_ERR - Can not use block multiple tasks function from interrupt handler code

uint8_t OSBlockPriority

(

uint8_t

iPriority

)

Blocks a specific priority Blocks the task that is associated with the specified priority. The user must be careful when using this function in together with mutexes. This can lead to undesired results due the "cealing priority" property used in the mutex.

Parameters

iPriority

Priority to be blocked

Returns

OK - Success

IRQ_PEND_ERR - Can not use block priority function from interrupt handler code

uint8_t OSDelayTask

(

ostick_t

time_wait

)

Wait for a specified period. A task that calling this function will be suspended for a certain time. When this time is reached the task back to ready state.

Parameters

time_wait

Time in ticks to delay. System default = 1ms. The user can change the time value.

Returns

OK Success

IRQ_PEND_ERR - Can not use block priority function from interrupt handler code

uint8_t OSDelayTaskHMSM	(	uint8_t	hours,
		uint8_t	minutes,
		uint8_t	seconds,
		uint16_t	miliseconds
	)

Wait for a specified period (in hours, minutes, seconds and miliseconds). A task that calling this function will be suspended for a certain time. When this time is reached the task back to ready state.

Parameters

hours	Hours to delay
minutes	Minutes to delay
seconds	Seconds to delay
miliseconds	Miliseconds to delay

Returns

OK Success

INVALID_TIME The specified parameters are outside of the permitted range

ostick_t OSGetCount

(

void

)

Return current tick count. Internal BRTOS function.

Returns

current tick count

BRTOS_TH OSGetCurrentTaskHandle

(

void

)

Return the handle of the current task. The user must call this function in order to receive the current task handle.

Returns

current task handle

BRTOS_TH OSGetTaskPriority

(

BRTOS_TH

task_handle

)

Return the priority of the specified task. The user must call this function in order to receive the priority of the specified task.

Returns

task priority

ostick_t OSGetTickCount

(

void

)

Return current tick count. The user must call this function in order to receive the current tick count.

Returns

current tick count

void OSIncCounter

(

void

)

Update the tick counter.

Returns

NONE

uint8_t OSSchedule

(

void

)

Priority Preemptive Scheduler (Internal kernel function).

BRTOS Scheduler function (Internal kernel function).

uint8_t OSUnBlockMultipleTask	(	uint8_t	TaskStart,
		uint8_t	TaskNumber
	)

UnBlocks a set of tasks.

Parameters

TaskStart	Number of the first task to be unblocked
TaskNumber	Number of tasks to be unblocked from the specified task start

Returns

OK - Success

IRQ_PEND_ERR - Can not use unblock multiple tasks function from interrupt handler code

uint8_t OSUnBlockPriority

(

uint8_t

iPriority

)

UnBlock a specific priority UnBlocks the task that is associated with the specified priority. The user must be careful when using this function in together with mutexes. This can lead to undesired results due the "cealing priority" property used in the mutex.

Parameters

iPriority

Priority to be unblocked

Returns

OK - Success

IRQ_PEND_ERR - Can not use unblock priority function from interrupt handler code

void PreInstallTasks

(

void

)

Function that initialize the kernel main variables. This function resets the kernel main variables, preparing the system to be started.

Returns

NONE

uint8_t SAScheduler

(

PriorityType

ReadyList

)

Sucessive Aproximation Scheduler (Internal kernel function).

Parameters

ReadyList

List of the tasks ready to run

Returns

The priority of the highest priority task ready to run

Variable Documentation

ContextType ContextTask[NUMBER_OF_TASKS+1]

Task context info ContextTask[0] not used Last ContexTask is the Idle Task