qk.h File Reference

QK/C platform-independent public interface. More...

#include "qequeue.h"
#include "qmpool.h"
#include "qpset.h"
#include "qs_port.h"

Defines
#define	QF_EQUEUE_TYPE QEQueue
	This macro defines the type of the event queue used for the active objects.
#define	QF_OS_OBJECT_TYPE uint8_t
	This macro defines the type of the OS-Object used for blocking the native QF event queue when the queue is empty.
#define	QF_THREAD_TYPE void *
	This macro defines the type of the thread handle used for the active objects.
#define	QACTIVE_EQUEUE_WAIT_(me_) Q_ASSERT((me_)->eQueue.frontEvt != (QEvent *)0)
	Platform-dependent macro defining how QF should block the calling task when the QF native queue is empty.
#define	QACTIVE_EQUEUE_SIGNAL_(me_)
	Platform-dependent macro defining how QF should signal the active object task that an event has just arrived.
#define	QACTIVE_EQUEUE_ONEMPTY_(me_) QPSet64_remove(&QK_readySet_, (me_)->prio)
	Platform-dependent macro defining the action QF should take when the native QF event queue becomes empty.
#define	QF_EPOOL_TYPE_ QMPool
	This macro defines the type of the event pool used in this QF port.
#define	QF_EPOOL_INIT_(p_, poolSto_, poolSize_, evtSize_) QMPool_init(&(p_), poolSto_, poolSize_, evtSize_)
	Platform-dependent macro defining the event pool initialization.
#define	QF_EPOOL_EVENT_SIZE_(p_) ((p_).blockSize)
	Platform-dependent macro defining how QF should obtain the event pool block-size.
#define	QF_EPOOL_GET_(p_, e_) ((e_) = (QEvent *)QMPool_get(&(p_)))
	Platform-dependent macro defining how QF should obtain an event e_ from the event pool p_.
#define	QF_EPOOL_PUT_(p_, e_) (QMPool_put(&(p_), (e_)))
	Platform-dependent macro defining how QF should return an event e_ to the event pool p_.
#define	QK_SCHEDULE_() QK_schedule_(intLockKey_)
	This is an internal macro for invoking QK scheduler with interrupts locked.
Typedefs
typedef uint8_t	QMutex
	QK Mutex type.
Functions
void	QK_init (void)
	QK initialization.
void	QK_onIdle (void)
	QK idle callback (customized in BSPs for QK).
char const Q_ROM *Q_ROM_VAR	QK_getVersion (void)
	get the current QK version number string
char const Q_ROM *Q_ROM_VAR	QK_getPortVersion (void)
	Returns the QK-port version.
QMutex	QK_mutexLock (uint8_t prioCeiling)
	QK priority-ceiling mutex lock.
void	QK_mutexUnlock (QMutex mutex)
	QK priority-ceiling mutex unlock.
void	QK_schedule_ (QF_INT_KEY_TYPE intLockKey)
	The QK scheduler.
void	QK_scheduleExt_ (QF_INT_KEY_TYPE intLockKey)
	The QK extended scheduler for interrupt context.
Variables
QPSet64 volatile	QK_readySet_
uint8_t volatile	QK_currPrio_
uint8_t volatile	QK_intNest_

Detailed Description

QK/C platform-independent public interface.

This header file must be included directly or indirectly in all modules (*.c files) that use QK/C.

Definition in file qk.h.

Define Documentation

#define QACTIVE_EQUEUE_ONEMPTY_ ( me_ ) QPSet64_remove(&QK_readySet_, (me_)->prio)

Platform-dependent macro defining the action QF should take when the native QF event queue becomes empty.

The macro is necessary only when the native QF event queue is used. The signaling of task involves unblocking the task if it is blocked.

Note:: QACTIVE_EQUEUE_ONEMPTY_ is called from a critical section. It should not leave the critical section.; This is just an example of QACTIVE_EQUEUE_ONEMPTY_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 152 of file qk.h.

Referenced by QActive_get_().

#define QACTIVE_EQUEUE_SIGNAL_ ( me_ )

Value:

QPSet64_insert(&QK_readySet_, (me_)->prio); \
        if (QK_intNest_ == (uint8_t)0) { \
            QK_SCHEDULE_(); \
        } \
        else ((void)0)

Platform-dependent macro defining how QF should signal the active object task that an event has just arrived.

The macro is necessary only when the native QF event queue is used. The signaling of task involves unblocking the task if it is blocked.

Note:: QACTIVE_EQUEUE_SIGNAL_ is called from a critical section. It might leave the critical section internally, but must restore the critical section before exiting to the caller.; This is just an example of QACTIVE_EQUEUE_SIGNAL_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 132 of file qk.h.

Referenced by QActive_postFIFO(), and QActive_postLIFO().

#define QACTIVE_EQUEUE_WAIT_ ( me_ ) Q_ASSERT((me_)->eQueue.frontEvt != (QEvent *)0)

Platform-dependent macro defining how QF should block the calling task when the QF native queue is empty.

Note:: This is just an example of QACTIVE_EQUEUE_WAIT_ for the QK-port of QF. QK never activates a task that has no events to process, so in this case the macro asserts that the queue is not empty. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 104 of file qk.h.

Referenced by QActive_get_().

#define QF_EPOOL_EVENT_SIZE_ ( p_ ) ((p_).blockSize)

Platform-dependent macro defining how QF should obtain the event pool block-size.

Note:: This is just an example of QF_EPOOL_EVENT_SIZE_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 184 of file qk.h.

Referenced by QF_new_(), and QF_poolInit().

#define QF_EPOOL_GET_	(	p_,
		e_		)	((e_) = (QEvent *)QMPool_get(&(p_)))

Platform-dependent macro defining how QF should obtain an event e_ from the event pool p_.

Note:: This is just an example of QF_EPOOL_GET_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 193 of file qk.h.

Referenced by QF_new_().

#define QF_EPOOL_INIT_	(	p_,
		poolSto_,
		poolSize_,
		evtSize_	)	QMPool_init(&(p_), poolSto_, poolSize_, evtSize_)

Platform-dependent macro defining the event pool initialization.

Note:: This is just an example of QF_EPOOL_INIT_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 174 of file qk.h.

Referenced by QF_poolInit().

#define QF_EPOOL_PUT_	(	p_,
		e_		)	(QMPool_put(&(p_), (e_)))

Platform-dependent macro defining how QF should return an event e_ to the event pool p_.

Note:: This is just an example of QF_EPOOL_PUT_ for the QK-port of QF. In other QF ports you need to define the macro appropriately for the underlying kernel/OS you're using.

Definition at line 202 of file qk.h.

Referenced by QF_gc().

#define QF_EPOOL_TYPE_ QMPool

This macro defines the type of the event pool used in this QF port.

Note:: This is just an example of the macro definition. Typically, you need to define it in the specific QF port file (qf_port.h). In case of QK, which always depends on the native QF memory pool, this macro is defined at the level of the platform-independent interface qk.h.

Definition at line 166 of file qk.h.

#define QF_EQUEUE_TYPE QEQueue

This macro defines the type of the event queue used for the active objects.

Note:: This is just an example of the macro definition. Typically, you need to define it in the specific QF port file (qf_port.h). In case of QK, which always depends on the native QF queue, this macro is defined at the level of the platform-independent interface qk.h.

Definition at line 55 of file qk.h.

#define QF_OS_OBJECT_TYPE uint8_t

This macro defines the type of the OS-Object used for blocking the native QF event queue when the queue is empty.

In QK, the OS object is used to hold the per-thread flags, which might be used, for example, to rembember the thread attributes (e.g., if the thread uses a floating point co-processor). The OS object value is set on per-thread basis in QActive_start(). Later, the extended context switch macros (QK_EXT_SAVE() and QK_EXT_RESTORE()) might use the per-thread flags to determine what kind of extended context switch this particular thread needs (e.g., the thread might not be using the coprocessor or might be using a different one).

Definition at line 70 of file qk.h.

#define QF_THREAD_TYPE void *

This macro defines the type of the thread handle used for the active objects.

The thread type in QK is the pointer to the thread-local storage (TLS). This thread-local storage can be set on per-thread basis in QActive_start(). Later, the QK scheduler uses this pointer for extended context switch and passes the pointer to the macro QK_TLS.

Definition at line 80 of file qk.h.

#define QK_SCHEDULE_ ( ) QK_schedule_(intLockKey_)

This is an internal macro for invoking QK scheduler with interrupts locked.

The purpose of this macro is to enable writing the same code for the case when interrupt key is defined and when it is not. If the macro QF_INT_KEY_TYPE is defined, this internal macro invokes QK_schedule_() passing the key variable as the parameter. Otherwise QK_schedule_() is invoked without parameters.

Definition at line 331 of file qk.h.

Referenced by QF_run(), and QK_mutexUnlock().

Typedef Documentation

typedef uint8_t QMutex

QK Mutex type.

QMutex represents the priority-ceiling mutex available in QK.

See also:: QK_mutexLock(); QK_mutexUnlock()

Definition at line 253 of file qk.h.

Function Documentation

char const Q_ROM* Q_ROM_VAR QK_getPortVersion ( void )

Returns the QK-port version.

This function returns constant version string in the format x.y.zz, where x (one digit) is the major version, y (one digit) is the minor version, and zz (two digits) is the maintenance release version. An example of the QK-port version string is "1.1.03".

See also:: QK_getVersion()

char const Q_ROM* Q_ROM_VAR QK_getVersion ( void )

get the current QK version number string

Returns:: version of the QK as a constant 6-character string of the form x.y.zz, where x is a 1-digit major version number, y is a 1-digit minor version number, and zz is a 2-digit release number.

See also:: QK_getPortVersion()

Definition at line 54 of file qk.c.

References QP_VERSION.

void QK_init ( void )

QK initialization.

QK_init() is called from QF_init() in qk.c. This function is defined in the QK ports.

Referenced by QF_init().

QMutex QK_mutexLock ( uint8_t prioCeiling )

QK priority-ceiling mutex lock.

Lock the QK scheduler up to the priority level prioCeiling.

Note:: This function should be always paired with QK_mutexUnlock(). The code between QK_mutexLock() and QK_mutexUnlock() should be kept to the minimum.

    QMutex mux;
    . . .
    mux = QK_mutexLock(PRIO_CEILING);

    /* access the shared resource */

    QK_mutexUnlock(mux);

    . . .

Definition at line 47 of file qk_mutex.c.

References QK_ceilingPrio_, QK_INT_LOCK_, QK_INT_LOCK_KEY_, QK_INT_UNLOCK_, QS_BEGIN_NOLOCK_, QS_END_NOLOCK_, QS_QK_MUTEX_LOCK, QS_TIME_, and QS_U8_.

void QK_mutexUnlock ( QMutex mutex )

QK priority-ceiling mutex unlock.

Note:: This function should be always paired with QK_mutexLock(). The code between QK_mutexLock() and QK_mutexUnlock() should be kept to the minimum.

    QMutex mux;
    . . .
    mux = QK_mutexLock(PRIO_CEILING);

    /* access the shared resource */

    QK_mutexUnlock(mux);

    . . .

Definition at line 66 of file qk_mutex.c.

References QK_ceilingPrio_, QK_INT_LOCK_, QK_INT_LOCK_KEY_, QK_INT_UNLOCK_, QK_SCHEDULE_, QS_BEGIN_NOLOCK_, QS_END_NOLOCK_, QS_QK_MUTEX_UNLOCK, QS_TIME_, and QS_U8_.

void QK_onIdle ( void )

QK idle callback (customized in BSPs for QK).

QK_onIdle() is called continously by the QK idle loop. This callback gives the application an opportunity to enter a power-saving CPU mode, or perform some other idle processing.

Note:: QK_onIdle() is invoked with interrupts unlocked and must also return with interrupts unlocked.

See also:: QF_onIdle()

Referenced by QF_run().

void QK_schedule_ ( QF_INT_KEY_TYPE intLockKey )

The QK scheduler.

Note:: The QK scheduler must be always called with the interrupts locked and unlocks interrupts internally.

The signature of QK_schedule_() depends on the policy of locking and unlocking interrupts. When the interrupt lock key is not used (QF_INT_KEY_TYPE undefined), the signature is as follows:
void QK_schedule_(void);

However, when the interrupt key lock is used (QF_INT_KEY_TYPE defined), the signature is different:
void QK_schedule_(QF_INT_KEY_TYPE intLockKey);

For the internal use, these differences are hidden by the macro QK_SCHEDULE_().

Definition at line 44 of file qk_sched.c.

References Q_REQUIRE, QActive_get_(), QF_active_, QF_gc(), QK_ceilingPrio_, QK_currPrio_, QK_INT_LOCK_, QK_INT_UNLOCK_, QK_intNest_, QK_readySet_, QK_TLS, QPSet64_findMax, QPSet8_findMax, QS_aoObj_, QS_BEGIN_NOLOCK_, QS_END_NOLOCK_, QS_QK_SCHEDULE, QS_TIME_, QS_U8_, and QActive::super.

void QK_scheduleExt_ ( QF_INT_KEY_TYPE intLockKey )

The QK extended scheduler for interrupt context.

Note:: The QK extended exscheduler must be always called with the interrupts locked and unlocks interrupts internally.

The signature of QK_scheduleExt_() depends on the policy of locking and unlocking interrupts. When the interrupt lock key is not used (QF_INT_KEY_TYPE undefined), the signature is as follows:
void QK_scheduleExt_(void);

However, when the interrupt key lock is used (QF_INT_KEY_TYPE defined), the signature is different:
void QK_scheduleExt_(QF_INT_KEY_TYPE intLockKey);

Definition at line 44 of file qk_ext.c.

References Q_REQUIRE, QActive_get_(), QF_active_, QF_gc(), QK_ceilingPrio_, QK_currPrio_, QK_EXT_RESTORE, QK_EXT_SAVE, QK_INT_LOCK_, QK_INT_UNLOCK_, QK_intNest_, QK_readySet_, QK_TLS, QPSet64_findMax, QPSet8_findMax, QS_aoObj_, QS_BEGIN_NOLOCK_, QS_END_NOLOCK_, QS_QK_SCHEDULE, QS_TIME_, QS_U8_, and QActive::super.