/usr/include/xenomai/uitron/uitron.h is in libxenomai-dev 2.6.2.1-2ubuntu2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (C) 2001,2002,2003 Philippe Gerum <rpm@xenomai.org>.
*
* 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.
*/
#ifndef _UITRON_UITRON_H
#define _UITRON_UITRON_H
#include <uitron/syscall.h>
#define uITRON_SKIN_MAGIC 0x54524F4E
/*
* 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 (*FPTR)(void); /* program start address -- should be FP, but conflicts */
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 */
FPTR 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 TA_SHADOW 0x1000 /* shadow task (Xenomai user-space task) */
#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 */
FPTR 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 */
FPTR 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 */
FPTR 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 */
FPTR almhdr; /* alarm handler address */
UINT tmmode; /* start time specification mode */
ALMTIME almtim; /* handler startup time */
} T_DALM;
#define TTM_ABS 0x00 /* specified as an absolute time */
#define TTM_REL 0x01 /* specified as a relative time */
typedef struct t_ralm {
VP exinf; /* extended information */
ALMTIME lfttim; /* time left before next handler startup */
/* Implementation-dependent part */
} T_RALM;
/* for system management functions */
typedef struct t_ver {
UH maker; /* vendor */
UH id; /* format number */
UH spver; /* specification version */
UH prver; /* product version */
UH prno[4]; /* product control information */
UH cpu; /* CPU information */
UH var; /* variation descriptor */
} T_VER;
typedef struct t_rsys {
INT sysstat; /* system state */
/* Implementation-dependent part */
} T_RSYS;
#define TSS_TSK 0 /* normal state in which dispatching is enabled during
task portion execution */
#define TSS_DDSP 1 /* state after dis_dsp has been executed during task
portion execution (dispatch disabled) */
#define TSS_LOC 3 /* state after loc_cpu has been executed during task
portion execution (interrupt and dispatch disabled) */
#define TSS_INDP 4 /* state during execution of task-independent portions
(interrupt and timer handlers) */
typedef struct t_rcfg {
/* Implementation-dependent part */
} T_RCFG;
typedef struct t_dsvc {
ATR svcatr; /* extended SVC handler attributes */
FPTR svchdr; /* extended SVC handler address */
/* Implementation-dependent part */
} T_DSVC;
typedef struct t_dexc {
ATR excatr; /* exception handler attributes */
FPTR exchdr; /* exception handler address */
/* Implementation-dependent part */
} T_DEXC;
#define E_OK 0 /* Normal completion */
#define E_SYS (-5) /* System error */
#define E_NOMEM (-10) /* Insufficient memory */
#define E_NOSPT (-17) /* Feature not supported */
#define E_INOSPT (-18) /* Feature not supported */
#define E_RSFN (-20) /* Reserved function code number */
#define E_RSATR (-24) /* Reserved attribute */
#define E_PAR (-33) /* Parameter error */
#define E_ID (-35) /* Invalid ID number */
#define E_NOEXS (-52) /* Object does not exist */
#define E_OBJ (-63) /* Invalid object state */
#define E_MACV (-65) /* Memory access disabled/invalid */
#define E_OACV (-66) /* Object access violation */
#define E_CTX (-69) /* Context error */
#define E_QOVR (-73) /* Queuing or nesting overflow */
#define E_DLT (-81) /* Object being waited for was deleted */
#define E_TMOUT (-85) /* Polling failure or timeout exceeded */
#define E_RLWAI (-86) /* WAIT state was forcibly released */
#define EN_CTXID (-121) /* Task-related call in non-task context */
/*
* The following macros return normalized or native priority values
* for the underlying pod. The core scheduler uses an ascending
* [0..257] priority scale (include/nucleus/sched.h), whilst the
* uITRON personality exhibits a decreasing scale [8..1]. We normalize
* to the range [92..99], leaving 0 unchanged.
*/
#define ui_normalized_prio(prio) ({ int __p = (prio) ? XNSCHED_HIGH_PRIO - (prio) + 1 : 0; __p; })
#define ui_denormalized_prio(prio) ui_normalized_prio(prio)
#ifdef __cplusplus
extern "C" {
#endif
/* Task Management Functions */
ER cre_tsk(ID tskid,
T_CTSK *pk_ctsk) __deprecated_in_kernel__;
ER shd_tsk(ID tskid, /* Shadow task - Xenomai extension. */
T_CTSK *pk_ctsk);
ER del_tsk(ID tskid);
ER sta_tsk(ID tskid,
INT stacd);
void ext_tsk(void);
void exd_tsk(void);
ER ter_tsk(ID tskid);
ER dis_dsp(void);
ER ena_dsp(void);
ER chg_pri(ID tskid,
PRI tskpri);
ER rot_rdq(PRI tskpri);
ER rel_wai(ID tskid);
ER get_tid(ID *p_tskid);
ER ref_tsk(T_RTSK *pk_rtsk,
ID tskid);
ER sus_tsk(ID tskid);
ER rsm_tsk(ID tskid);
ER frsm_tsk(ID tskid);
ER slp_tsk(void);
ER tslp_tsk(TMO tmout);
ER wup_tsk(ID tskid);
ER can_wup(INT *p_wupcnt,
ID tskid);
/* Synchronization and Communication Functions */
ER cre_sem(ID semid,
T_CSEM *pk_csem);
ER del_sem(ID semid);
ER sig_sem(ID semid);
ER wai_sem(ID semid);
ER preq_sem(ID semid);
ER twai_sem(ID semid,
TMO tmout);
ER ref_sem(T_RSEM *pk_rsem,
ID semid);
ER cre_flg(ID flgid,
T_CFLG *pk_cflg);
ER del_flg(ID flgid);
ER set_flg(ID flgid,
UINT setptn);
ER clr_flg(ID flgid,
UINT clrptn);
ER wai_flg(UINT *p_flgptn,
ID flgid,
UINT waiptn,
UINT wfmode);
ER pol_flg(UINT *p_flgptn,
ID flgid,
UINT waiptn,
UINT wfmode);
ER twai_flg(UINT *p_flgptn,
ID flgid,
UINT waiptn,
UINT wfmode,
TMO tmout);
ER ref_flg(T_RFLG *pk_rflg,
ID flgid);
ER cre_mbx(ID mbxid,
T_CMBX* pk_cmbx);
ER del_mbx(ID mbxid);
ER snd_msg(ID mbxid,
T_MSG *pk_msg);
ER rcv_msg(T_MSG **ppk_msg,
ID mbxid);
ER prcv_msg(T_MSG **ppk_msg,
ID mbxid);
ER trcv_msg(T_MSG **ppk_msg,
ID mbxid,
TMO tmout);
ER ref_mbx(T_RMBX *pk_rmbx,
ID mbxid);
/* Extended Synchronization and Communication Functions */
ER cre_mbf(ID mbfid,
T_CMBF *pk_cmbf);
ER del_mbf(ID mbfid);
ER snd_mbf(ID mbfid,
VP msg,
INT msgsz);
ER psnd_mbf(ID mbfid,
VP msg,
INT msgsz);
ER tsnd_mbf(ID mbfid,
VP msg,
INT msgsz,
TMO tmout);
ER rcv_mbf(VP msg,
INT *p_msgsz,
ID mbfid);
ER prcv_mbf(VP msg,
INT *p_msgsz,
ID mbfid);
ER trcv_mbf(VP msg,
INT *p_msgsz,
ID mbfid,
TMO tmout);
ER ref_mbf(T_RMBF *pk_rmbf,
ID mbfid);
ER cre_por(ID porid,
T_CPOR *pk_cpor);
ER del_por(ID porid);
ER cal_por(VP msg,
INT *p_rmsgsz,
ID porid,
UINT calptn,
INT cmsgsz);
ER pcal_por(VP msg,
INT *p_rmsgsz,
ID porid,
UINT calptn,
INT cmsgsz);
ER tcal_por(VP msg,
INT *p_rmsgsz,
ID porid,
UINT calptn,
INT cmsgsz,
TMO tmout);
ER acp_por(RNO *p_rdvno,
VP msg,
INT *p_cmsgsz,
ID porid,
UINT acpptn);
ER pacp_por(RNO *p_rdvno,
VP msg,
INT *p_cmsgsz,
ID porid,
UINT acpptn);
ER tacp_por(RNO *p_rdvno,
VP msg,
INT *p_cmsgsz,
ID porid,
UINT acpptn,
TMO tmout);
ER fwd_por(ID porid,
UINT calptn,
RNO rdvno,
VP msg,
INT cmsgsz);
ER rpl_rdv(RNO rdvno,
VP msg,
INT rmsgsz);
ER ref_por(T_RPOR *pk_rpor,
ID porid);
/* Interrupt Management Functions */
ER def_int(UINT dintno,
T_DINT *pk_dint);
void ret_int(void);
void ret_wup(ID tskid);
ER loc_cpu(void);
ER unl_cpu(void);
ER dis_int(UINT eintno);
ER ena_int(UINT eintno);
/* Memorypool Management Functions */
ER cre_mpl(ID mplid,
T_CMPL *pk_cmpl);
ER del_mpl(ID mplid);
ER get_blk(VP *p_blk,
ID mplid,
INT blksz);
ER pget_blk(VP *p_blk,
ID mplid,
INT blksz);
ER tget_blk(VP *p_blk,
ID mplid,
INT blksz,
TMO tmout);
ER rel_blk(ID mplid,
VP blk);
ER ref_mpl(T_RMPL *pk_rmpl,
ID mplid);
ER cre_mpf(ID mpfid,
T_CMPF *pk_cmpf);
ER del_mpf(ID mpfid);
ER get_blf(VP *p_blf,
ID mpfid);
ER pget_blf(VP *p_blf,
ID mpfid);
ER tget_blf(VP *p_blf,
ID mpfid,
TMO tmout);
ER rel_blf(ID mpfid,
VP blf);
ER ref_mpf(T_RMPF *pk_rmpf,
ID mpfid);
/* Time Management Functions */
ER set_tim(SYSTIME *pk_tim);
ER get_tim(SYSTIME *pk_tim);
ER dly_tsk(DLYTIME dlytim);
ER def_cyc(HNO cycno,
T_DCYC *pk_dcyc);
ER act_cyc(HNO cycno,
UINT cycact);
ER ref_cyc(T_RCYC *pk_rcyc,
HNO cycno);
ER def_alm(HNO almno,
T_DALM *pk_dalm);
ER ref_alm(T_RALM *pk_ralm,
HNO almno);
void ret_tmr(void);
/* System Management Functions */
ER get_ver(T_VER *pk_ver);
ER ref_sys(T_RSYS *pk_rsys);
ER ref_cfg(T_RCFG *pk_rcfg);
ER def_svc(FN s_fncd,
T_DSVC *pk_dsvc);
ER def_exc(UINT exckind,
T_DEXC *pk_dexc);
#ifdef __cplusplus
}
#endif
#endif /* !_UITRON_UITRON_H */
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