api.h

Go to the documentation of this file.

#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__*/