/*
*********************************************************************************************************
*                                                 uC/OS
*                                          The Real-Time Kernel
*                                           SYSTEM DECLARATIONS
*
*                        (c) Copyright 1992-1996, Jean J. Labrosse, Plantation, FL
*                                           All Rights Reserved
*
*                                                  V1.09
*
* File : UCOS_CL.H
* By   : Jean J. Labrosse
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                            MISCELLANEOUS
*********************************************************************************************************
*/

#ifdef  OS_GLOBALS
#define OS_EXT
#else
#define OS_EXT  extern
#endif

#define OS_PRIO_SELF           0xFF    /* Indicate SELF priority                                       */

/*
*********************************************************************************************************
*                                           uC/OS ERROR CODES
*********************************************************************************************************
*/

#define OS_NO_ERR                 0

#define OS_TIMEOUT               10
#define OS_TASK_NOT_EXIST        11

#define OS_MBOX_FULL             20
#define OS_MBOX_MSG_NOT_AVAIL    21

#define OS_Q_FULL                30
#define OS_Q_MSG_NOT_AVAIL       31

#define OS_PRIO_EXIST            40
#define OS_PRIO_ERR              41
#define OS_PRIO_INVALID          42

#define OS_SEM_ERR               50
#define OS_SEM_OVF               51
#define OS_SEM_NOT_AVAIL         52

#define OS_TASK_DEL_ERR          60
#define OS_TASK_DEL_IDLE         61
#define OS_TASK_DEL_REQ          62

#define OS_NO_MORE_TCB           70

#define OS_TIME_NOT_DLY          80

#define OS_TASK_SUSPEND_PRIO     90
#define OS_TASK_SUSPEND_IDLE     91

#define OS_TASK_RESUME_PRIO     100
#define OS_TASK_NOT_SUSPENDED   101
/*$PAGE*/
/*
*********************************************************************************************************
*                                          EVENT CONTROL BLOCK
*********************************************************************************************************
*/

typedef struct os_event {
        UBYTE  OSEventGrp;             /* Group corresponding to tasks waiting for event to occur      */
        UBYTE  OSEventTbl[8];          /* List of tasks waiting for event to occur                     */
        UWORD  OSEventCnt;             /* Count of used when event is a semaphore                      */
    far void  *OSEventPtr;             /* Pointer to message or queue structure                        */
} OS_EVENT;


/*
*********************************************************************************************************
*                                        uC/OS TASK CONTROL BLOCK
*********************************************************************************************************
*/

typedef struct os_tcb {
    far void          *OSTCBStkPtr;    /* Pointer to current top of stack                              */
        UBYTE          OSTCBStat;      /* Task status                                                  */
        UBYTE          OSTCBPrio;      /* Task priority (0 == highest, 63 == lowest)                   */
        UWORD          OSTCBDly;       /* Nbr ticks to delay task or, timeout waiting for event        */
        BOOLEAN        OSTCBDelReq;    /* Indicates whether a task needs to delete itself              */
        UBYTE          OSTCBX;         /* Bit position in group  corresponding to task priority (0..7) */
        UBYTE          OSTCBY;         /* Index into ready table corresponding to task priority        */
        UBYTE          OSTCBBitX;      /* Bit mask to access bit position in ready table               */
        UBYTE          OSTCBBitY;      /* Bit mask to access bit position in ready group               */
    far OS_EVENT      *OSTCBEventPtr;  /* Pointer to event control block                               */
    far void          *OSTCBMsg;       /* Message received from OSMboxPost() or OSQPost()              */
    far struct os_tcb *OSTCBNext;      /* Pointer to next     TCB in the TCB list                      */
    far struct os_tcb *OSTCBPrev;      /* Pointer to previous TCB in the TCB list                      */
} OS_TCB;


/*
*********************************************************************************************************
*                                          QUEUE CONTROL BLOCK
*********************************************************************************************************
*/

typedef struct os_q {
    far struct os_q   *OSQPtr;         /* Link to next queue control block in list of free blocks      */
    far void         **OSQStart;       /* Pointer to start of queue data                               */
    far void         **OSQEnd;         /* Pointer to end   of queue data                               */
    far void         **OSQIn;          /* Pointer to where next message will be inserted  in   the Q   */
    far void         **OSQOut;         /* Pointer to where next message will be extracted from the Q   */
        UBYTE          OSQSize;        /* Size of queue (maximum number of entries)                    */
        UBYTE          OSQEntries;     /* Current number of entries in the queue                       */
} OS_Q;
/*$PAGE*/
/*
*********************************************************************************************************
*                                         uC/OS GLOBAL VARIABLES
*********************************************************************************************************
*/
                                           /* SYSTEM VARIABLES                                         */
OS_EXT  far UWORD         OSCtxSwCtr;      /* Counter of number of context switches                    */
OS_EXT  far ULONG         OSIdleCtr;       /* Idle counter                                             */
OS_EXT  far UBYTE         OSIntNesting;    /* Interrupt nesting level                                  */
OS_EXT  far BOOLEAN       OSRunning;       /* Flag indicating that kernel is running                   */
OS_EXT  far OS_TCB  * far OSTCBCur;        /* Pointer to currently running TCB                         */
OS_EXT  far OS_TCB  * far OSTCBHighRdy;    /* Pointer to highest priority TCB ready to run             */
OS_EXT  far OS_TCB  * far OSTCBPrioTbl[64];/* Table of pointers to all created TCBs                    */

/*
*********************************************************************************************************
*                                       uC/OS FUNCTION PROTOTYPES
*********************************************************************************************************
*/

    void        OSInit(void);

    void        OSStart(void);
    void        OSStartHighRdy(void);

    void        OSSched(void);
    void        OSSchedLock(void);
    void        OSSchedUnlock(void);

    UBYTE       OSTaskCreate(void (*task)(far void *pd), far void *pdata, far void *pstk, UBYTE prio);
    UBYTE       OSTaskDel(UBYTE prio);
    UBYTE       OSTaskDelReq(UBYTE prio);
    UBYTE       OSTaskChangePrio(UBYTE oldprio, UBYTE newprio);
    UBYTE       OSTaskSuspend(UBYTE prio);
    UBYTE       OSTaskResume(UBYTE prio);
    UBYTE       OSTCBInit(UBYTE prio, far void *stk);

    void        OSIntEnter(void);
    void        OSIntExit(void);
    void        OSIntCtxSw(void);

    void        OSCtxSw(void);
    void        OSTickISR(void);

    void        OSTimeDly(UWORD ticks);
    UBYTE       OSTimeDlyResume(UBYTE prio);
    void        OSTimeTick(void);
    void        OSTimeSet(ULONG ticks);
    ULONG       OSTimeGet(void);

far OS_EVENT   *OSSemCreate(UWORD value);
    UWORD       OSSemAccept(far OS_EVENT *pevent);
    UBYTE       OSSemPost(far OS_EVENT *pevent);
    void        OSSemPend(far OS_EVENT *pevent, UWORD timeout, UBYTE *err);

far OS_EVENT   *OSMboxCreate(far void *msg);
far void       *OSMboxAccept(far OS_EVENT *pevent);
    UBYTE       OSMboxPost(far OS_EVENT *pevent, far void *msg);
far void       *OSMboxPend(far OS_EVENT *pevent, UWORD timeout, UBYTE *err);

far OS_EVENT   *OSQCreate(far void **start, UBYTE size);
far void       *OSQAccept(far OS_EVENT *pevent);
    UBYTE       OSQPost(far OS_EVENT *pevent, far void *msg);
far void       *OSQPend(far OS_EVENT *pevent, UWORD timeout, UBYTE *err);