api.h

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#ifndef __TASK_H__
#define __TASK_H__

/* Syscalls*/
#define EXIT                0
#define WRITEPIPE           1
#define READPIPE            2
#define GETTICK             3
#define ECHO                4
#define  REALTIME           5

#define MemoryWrite(A,V) *(volatile unsigned int*)(A)=(V)
#define TRUE    1
#define FALSE   0

extern int SystemCall();

#define Send(msg, target) while(!SystemCall(WRITEPIPE, (unsigned int*)msg, target,0))
#define Receive(msg, source) while(!SystemCall(READPIPE, (unsigned int*)msg, source,0))
#define GetTick() SystemCall(GETTICK,0,0,0)
#define Echo(str) SystemCall(ECHO, (char*)str,0,0)
#define exit() while(!SystemCall(EXIT, 0, 0, 0))

//Real-Time API - time represented in microseconds
#define RealTime(period, deadline, execution_time) while(!SystemCall(REALTIME, period, deadline, execution_time))

/*--------------------------------------------------------------------
 * struct Message
 *
 * DESCRIPTION:
 *    Used to handle messages inside the task.
 *    This is not the same structure used in the kernels.
 *
 *--------------------------------------------------------------------*/
#define MSG_SIZE 128

typedef struct {
    int length;
    int msg[MSG_SIZE];
} Message;

#endif /*__TASK_H__*/