Motion_EC_HC32_archived/rt-thread/include/rtthread.h

/*
 * Copyright (c) 2006-2021, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2006-03-18     Bernard      the first version
 * 2006-04-26     Bernard      add semaphore APIs
 * 2006-08-10     Bernard      add version information
 * 2007-01-28     Bernard      rename RT_OBJECT_Class_Static to RT_Object_Class_Static
 * 2007-03-03     Bernard      clean up the definitions to rtdef.h
 * 2010-04-11     yi.qiu       add module feature
 * 2013-06-24     Bernard      add rt_kprintf re-define when not use RT_USING_CONSOLE.
 * 2016-08-09     ArdaFu       add new thread and interrupt hook.
 * 2018-11-22     Jesven       add all cpu's lock and ipi handler
 * 2021-02-28     Meco Man     add RT_KSERVICE_USING_STDLIB
 */

#ifndef __RT_THREAD_H__
#define __RT_THREAD_H__

#include <rtconfig.h>
#include <rtdebug.h>
#include <rtdef.h>
#include <rtservice.h>
#include <rtm.h>

#ifdef __cplusplus
extern "C" {
#endif

/**
 * @addtogroup KernelObject
 */

/**@{*/

/*
 * kernel object interface
 */
struct rt_object_information *
rt_object_get_information(enum rt_object_class_type type);
int rt_object_get_length(enum rt_object_class_type type);
int rt_object_get_pointers(enum rt_object_class_type type, rt_object_t *pointers, int maxlen);

void rt_object_init(struct rt_object         *object,
                    enum rt_object_class_type type,
                    const char               *name);
void rt_object_detach(rt_object_t object);
#ifdef RT_USING_HEAP
rt_object_t rt_object_allocate(enum rt_object_class_type type,
                               const char               *name);
void rt_object_delete(rt_object_t object);
#endif
rt_bool_t rt_object_is_systemobject(rt_object_t object);
rt_uint8_t rt_object_get_type(rt_object_t object);
rt_object_t rt_object_find(const char *name, rt_uint8_t type);

#ifdef RT_USING_HOOK
void rt_object_attach_sethook(void (*hook)(struct rt_object *object));
void rt_object_detach_sethook(void (*hook)(struct rt_object *object));
void rt_object_trytake_sethook(void (*hook)(struct rt_object *object));
void rt_object_take_sethook(void (*hook)(struct rt_object *object));
void rt_object_put_sethook(void (*hook)(struct rt_object *object));
#endif

/**@}*/

/**
 * @addtogroup Clock
 */

/**@{*/

/*
 * clock & timer interface
 */
rt_tick_t rt_tick_get(void);
void rt_tick_set(rt_tick_t tick);
void rt_tick_increase(void);
rt_tick_t  rt_tick_from_millisecond(rt_int32_t ms);
rt_tick_t rt_tick_get_millisecond(void);

void rt_system_timer_init(void);
void rt_system_timer_thread_init(void);

void rt_timer_init(rt_timer_t  timer,
                   const char *name,
                   void (*timeout)(void *parameter),
                   void       *parameter,
                   rt_tick_t   time,
                   rt_uint8_t  flag);
rt_err_t rt_timer_detach(rt_timer_t timer);
#ifdef RT_USING_HEAP
rt_timer_t rt_timer_create(const char *name,
                           void (*timeout)(void *parameter),
                           void       *parameter,
                           rt_tick_t   time,
                           rt_uint8_t  flag);
rt_err_t rt_timer_delete(rt_timer_t timer);
#endif
rt_err_t rt_timer_start(rt_timer_t timer);
rt_err_t rt_timer_stop(rt_timer_t timer);
rt_err_t rt_timer_control(rt_timer_t timer, int cmd, void *arg);

rt_tick_t rt_timer_next_timeout_tick(void);
void rt_timer_check(void);

#ifdef RT_USING_HOOK
void rt_timer_enter_sethook(void (*hook)(struct rt_timer *timer));
void rt_timer_exit_sethook(void (*hook)(struct rt_timer *timer));
#endif

/**@}*/

/**
 * @addtogroup Thread
 */

/**@{*/

/*
 * thread interface
 */
rt_err_t rt_thread_init(struct rt_thread *thread,
                        const char       *name,
                        void (*entry)(void *parameter),
                        void             *parameter,
                        void             *stack_start,
                        rt_uint32_t       stack_size,
                        rt_uint8_t        priority,
                        rt_uint32_t       tick);
rt_err_t rt_thread_detach(rt_thread_t thread);
#ifdef RT_USING_HEAP
rt_thread_t rt_thread_create(const char *name,
                             void (*entry)(void *parameter),
                             void       *parameter,
                             rt_uint32_t stack_size,
                             rt_uint8_t  priority,
                             rt_uint32_t tick);
rt_err_t rt_thread_delete(rt_thread_t thread);
#endif
rt_thread_t rt_thread_self(void);
rt_thread_t rt_thread_find(char *name);
rt_err_t rt_thread_startup(rt_thread_t thread);
rt_err_t rt_thread_yield(void);
rt_err_t rt_thread_delay(rt_tick_t tick);
rt_err_t rt_thread_delay_until(rt_tick_t *tick, rt_tick_t inc_tick);
rt_err_t rt_thread_mdelay(rt_int32_t ms);
rt_err_t rt_thread_control(rt_thread_t thread, int cmd, void *arg);
rt_err_t rt_thread_suspend(rt_thread_t thread);
rt_err_t rt_thread_resume(rt_thread_t thread);
void rt_thread_timeout(void *parameter);

#ifdef RT_USING_SIGNALS
void rt_thread_alloc_sig(rt_thread_t tid);
void rt_thread_free_sig(rt_thread_t tid);
int  rt_thread_kill(rt_thread_t tid, int sig);
#endif

#ifdef RT_USING_HOOK
void rt_thread_suspend_sethook(void (*hook)(rt_thread_t thread));
void rt_thread_resume_sethook (void (*hook)(rt_thread_t thread));
void rt_thread_inited_sethook (void (*hook)(rt_thread_t thread));
#endif

/*
 * idle thread interface
 */
void rt_thread_idle_init(void);
#if defined(RT_USING_HOOK) || defined(RT_USING_IDLE_HOOK)
rt_err_t rt_thread_idle_sethook(void (*hook)(void));
rt_err_t rt_thread_idle_delhook(void (*hook)(void));
#endif
rt_thread_t rt_thread_idle_gethandler(void);

/*
 * schedule service
 */
void rt_system_scheduler_init(void);
void rt_system_scheduler_start(void);

void rt_schedule(void);
void rt_schedule_insert_thread(struct rt_thread *thread);
void rt_schedule_remove_thread(struct rt_thread *thread);

void rt_enter_critical(void);
void rt_exit_critical(void);
rt_uint16_t rt_critical_level(void);

#ifdef RT_USING_HOOK
void rt_scheduler_sethook(void (*hook)(rt_thread_t from, rt_thread_t to));
void rt_scheduler_switch_sethook(void (*hook)(struct rt_thread *tid));
#endif

#ifdef RT_USING_SMP
void rt_scheduler_ipi_handler(int vector, void *param);
#endif

/**@}*/

/**
 * @addtogroup Signals
 * @{
 */
#ifdef RT_USING_SIGNALS
void rt_signal_mask(int signo);
void rt_signal_unmask(int signo);
rt_sighandler_t rt_signal_install(int signo, rt_sighandler_t handler);
int rt_signal_wait(const rt_sigset_t *set, rt_siginfo_t *si, rt_int32_t timeout);

int rt_system_signal_init(void);
#endif
/*@}*/

/**
 * @addtogroup MM
 */

/**@{*/

/*
 * memory management interface
 */
#ifdef RT_USING_MEMPOOL
/*
 * memory pool interface
 */
rt_err_t rt_mp_init(struct rt_mempool *mp,
                    const char        *name,
                    void              *start,
                    rt_size_t          size,
                    rt_size_t          block_size);
rt_err_t rt_mp_detach(struct rt_mempool *mp);
#ifdef RT_USING_HEAP
rt_mp_t rt_mp_create(const char *name,
                     rt_size_t   block_count,
                     rt_size_t   block_size);
rt_err_t rt_mp_delete(rt_mp_t mp);
#endif

void *rt_mp_alloc(rt_mp_t mp, rt_int32_t time);
void rt_mp_free(void *block);

#ifdef RT_USING_HOOK
void rt_mp_alloc_sethook(void (*hook)(struct rt_mempool *mp, void *block));
void rt_mp_free_sethook(void (*hook)(struct rt_mempool *mp, void *block));
#endif

#endif

#ifdef RT_USING_HEAP
/*
 * heap memory interface
 */
void rt_system_heap_init(void *begin_addr, void *end_addr);

void *rt_malloc(rt_size_t nbytes);
void rt_free(void *ptr);
void *rt_realloc(void *ptr, rt_size_t nbytes);
void *rt_calloc(rt_size_t count, rt_size_t size);
void *rt_malloc_align(rt_size_t size, rt_size_t align);
void rt_free_align(void *ptr);

void rt_memory_info(rt_uint32_t *total,
                    rt_uint32_t *used,
                    rt_uint32_t *max_used);

#ifdef RT_USING_SLAB
void *rt_page_alloc(rt_size_t npages);
void rt_page_free(void *addr, rt_size_t npages);
#endif

#ifdef RT_USING_HOOK
void rt_malloc_sethook(void (*hook)(void *ptr, rt_size_t size));
void rt_free_sethook(void (*hook)(void *ptr));
#endif

#endif

#ifdef RT_USING_MEMHEAP
/**
 * memory heap object interface
 */
rt_err_t rt_memheap_init(struct rt_memheap *memheap,
                         const char        *name,
                         void              *start_addr,
                         rt_size_t         size);
rt_err_t rt_memheap_detach(struct rt_memheap *heap);
void *rt_memheap_alloc(struct rt_memheap *heap, rt_size_t size);
void *rt_memheap_realloc(struct rt_memheap *heap, void *ptr, rt_size_t newsize);
void rt_memheap_free(void *ptr);
#endif

/**@}*/

/**
 * @addtogroup IPC
 */

/**@{*/

#ifdef RT_USING_SEMAPHORE
/*
 * semaphore interface
 */
rt_err_t rt_sem_init(rt_sem_t    sem,
                     const char *name,
                     rt_uint32_t value,
                     rt_uint8_t  flag);
rt_err_t rt_sem_detach(rt_sem_t sem);
#ifdef RT_USING_HEAP
rt_sem_t rt_sem_create(const char *name, rt_uint32_t value, rt_uint8_t flag);
rt_err_t rt_sem_delete(rt_sem_t sem);
#endif

rt_err_t rt_sem_take(rt_sem_t sem, rt_int32_t time);
rt_err_t rt_sem_trytake(rt_sem_t sem);
rt_err_t rt_sem_release(rt_sem_t sem);
rt_err_t rt_sem_control(rt_sem_t sem, int cmd, void *arg);
#endif

#ifdef RT_USING_MUTEX
/*
 * mutex interface
 */
rt_err_t rt_mutex_init(rt_mutex_t mutex, const char *name, rt_uint8_t flag);
rt_err_t rt_mutex_detach(rt_mutex_t mutex);
#ifdef RT_USING_HEAP
rt_mutex_t rt_mutex_create(const char *name, rt_uint8_t flag);
rt_err_t rt_mutex_delete(rt_mutex_t mutex);
#endif

rt_err_t rt_mutex_take(rt_mutex_t mutex, rt_int32_t time);
rt_err_t rt_mutex_trytake(rt_mutex_t mutex);
rt_err_t rt_mutex_release(rt_mutex_t mutex);
rt_err_t rt_mutex_control(rt_mutex_t mutex, int cmd, void *arg);
#endif

#ifdef RT_USING_EVENT
/*
 * event interface
 */
rt_err_t rt_event_init(rt_event_t event, const char *name, rt_uint8_t flag);
rt_err_t rt_event_detach(rt_event_t event);
#ifdef RT_USING_HEAP
rt_event_t rt_event_create(const char *name, rt_uint8_t flag);
rt_err_t rt_event_delete(rt_event_t event);
#endif

rt_err_t rt_event_send(rt_event_t event, rt_uint32_t set);
rt_err_t rt_event_recv(rt_event_t   event,
                       rt_uint32_t  set,
                       rt_uint8_t   opt,
                       rt_int32_t   timeout,
                       rt_uint32_t *recved);
rt_err_t rt_event_control(rt_event_t event, int cmd, void *arg);
#endif

#ifdef RT_USING_MAILBOX
/*
 * mailbox interface
 */
rt_err_t rt_mb_init(rt_mailbox_t mb,
                    const char  *name,
                    void        *msgpool,
                    rt_size_t    size,
                    rt_uint8_t   flag);
rt_err_t rt_mb_detach(rt_mailbox_t mb);
#ifdef RT_USING_HEAP
rt_mailbox_t rt_mb_create(const char *name, rt_size_t size, rt_uint8_t flag);
rt_err_t rt_mb_delete(rt_mailbox_t mb);
#endif

rt_err_t rt_mb_send(rt_mailbox_t mb, rt_ubase_t value);
rt_err_t rt_mb_send_wait(rt_mailbox_t mb,
                         rt_ubase_t  value,
                         rt_int32_t   timeout);
rt_err_t rt_mb_recv(rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout);
rt_err_t rt_mb_control(rt_mailbox_t mb, int cmd, void *arg);
#endif

#ifdef RT_USING_MESSAGEQUEUE
/*
 * message queue interface
 */
rt_err_t rt_mq_init(rt_mq_t     mq,
                    const char *name,
                    void       *msgpool,
                    rt_size_t   msg_size,
                    rt_size_t   pool_size,
                    rt_uint8_t  flag);
rt_err_t rt_mq_detach(rt_mq_t mq);
#ifdef RT_USING_HEAP
rt_mq_t rt_mq_create(const char *name,
                     rt_size_t   msg_size,
                     rt_size_t   max_msgs,
                     rt_uint8_t  flag);
rt_err_t rt_mq_delete(rt_mq_t mq);
#endif

rt_err_t rt_mq_send(rt_mq_t mq, const void *buffer, rt_size_t size);
rt_err_t rt_mq_send_wait(rt_mq_t     mq,
                         const void *buffer,
                         rt_size_t   size,
                         rt_int32_t  timeout);
rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size);
rt_err_t rt_mq_recv(rt_mq_t    mq,
                    void      *buffer,
                    rt_size_t  size,
                    rt_int32_t timeout);
rt_err_t rt_mq_control(rt_mq_t mq, int cmd, void *arg);
#endif

/* defunct */
void rt_thread_defunct_enqueue(rt_thread_t thread);
rt_thread_t rt_thread_defunct_dequeue(void);

/*
 * spinlock
 */
#ifdef RT_USING_SMP
struct rt_spinlock;

void rt_spin_lock_init(struct rt_spinlock *lock);
void rt_spin_lock(struct rt_spinlock *lock);
void rt_spin_unlock(struct rt_spinlock *lock);
rt_base_t rt_spin_lock_irqsave(struct rt_spinlock *lock);
void rt_spin_unlock_irqrestore(struct rt_spinlock *lock, rt_base_t level);

#else
#define rt_spin_lock_init(lock)                 /* nothing */
#define rt_spin_lock(lock)                      rt_enter_critical()
#define rt_spin_unlock(lock)                    rt_exit_critical()
#define rt_spin_lock_irqsave(lock)              rt_hw_interrupt_disable()
#define rt_spin_unlock_irqrestore(lock, level)  rt_hw_interrupt_enable(level)

#endif

/**@}*/

#ifdef RT_USING_DEVICE
/**
 * @addtogroup Device
 */

/**@{*/

/*
 * device (I/O) system interface
 */
rt_device_t rt_device_find(const char *name);

rt_err_t rt_device_register(rt_device_t dev,
                            const char *name,
                            rt_uint16_t flags);
rt_err_t rt_device_unregister(rt_device_t dev);

#ifdef RT_USING_HEAP
rt_device_t rt_device_create(int type, int attach_size);
void rt_device_destroy(rt_device_t device);
#endif

rt_err_t
rt_device_set_rx_indicate(rt_device_t dev,
                          rt_err_t (*rx_ind)(rt_device_t dev, rt_size_t size));
rt_err_t
rt_device_set_tx_complete(rt_device_t dev,
                          rt_err_t (*tx_done)(rt_device_t dev, void *buffer));

rt_err_t  rt_device_init (rt_device_t dev);
rt_err_t  rt_device_open (rt_device_t dev, rt_uint16_t oflag);
rt_err_t  rt_device_close(rt_device_t dev);
rt_size_t rt_device_read (rt_device_t dev,
                          rt_off_t    pos,
                          void       *buffer,
                          rt_size_t   size);
rt_size_t rt_device_write(rt_device_t dev,
                          rt_off_t    pos,
                          const void *buffer,
                          rt_size_t   size);
rt_err_t  rt_device_control(rt_device_t dev, int cmd, void *arg);

/**@}*/
#endif

/*
 * interrupt service
 */

/*
 * rt_interrupt_enter and rt_interrupt_leave only can be called by BSP
 */
void rt_interrupt_enter(void);
void rt_interrupt_leave(void);

#ifdef RT_USING_SMP

/*
 * smp cpus lock service
 */

rt_base_t rt_cpus_lock(void);
void rt_cpus_unlock(rt_base_t level);

struct rt_cpu *rt_cpu_self(void);
struct rt_cpu *rt_cpu_index(int index);

#endif

/*
 * the number of nested interrupts.
 */
rt_uint8_t rt_interrupt_get_nest(void);

#ifdef RT_USING_HOOK
void rt_interrupt_enter_sethook(void (*hook)(void));
void rt_interrupt_leave_sethook(void (*hook)(void));
#endif

#ifdef RT_USING_COMPONENTS_INIT
void rt_components_init(void);
void rt_components_board_init(void);
#endif

/**
 * @addtogroup KernelService
 */

/**@{*/

/*
 * general kernel service
 */
#ifndef RT_USING_CONSOLE
#define rt_kprintf(...)
#define rt_kputs(str)
#else
void rt_kprintf(const char *fmt, ...);
void rt_kputs(const char *str);
#endif

rt_int32_t rt_vsprintf(char *dest, const char *format, va_list arg_ptr);
rt_int32_t rt_vsnprintf(char *buf, rt_size_t size, const char *fmt, va_list args);
rt_int32_t rt_sprintf(char *buf, const char *format, ...);
rt_int32_t rt_snprintf(char *buf, rt_size_t size, const char *format, ...);

#if defined(RT_USING_DEVICE) && defined(RT_USING_CONSOLE)
rt_device_t rt_console_set_device(const char *name);
rt_device_t rt_console_get_device(void);
#endif

rt_err_t rt_get_errno(void);
void rt_set_errno(rt_err_t no);
int *_rt_errno(void);
#if !defined(RT_USING_NEWLIB) && !defined(_WIN32)
#ifndef errno
#define errno    *_rt_errno()
#endif
#endif

int __rt_ffs(int value);

void *rt_memset(void *src, int c, rt_ubase_t n);
void *rt_memcpy(void *dest, const void *src, rt_ubase_t n);
char *rt_strdup(const char *s);

#ifndef RT_KSERVICE_USING_STDLIB
void *rt_memmove(void *dest, const void *src, rt_ubase_t n);
rt_int32_t rt_memcmp(const void *cs, const void *ct, rt_ubase_t count);
char *rt_strstr(const char *str1, const char *str2);
rt_int32_t rt_strcasecmp(const char *a, const char *b);
char *rt_strncpy(char *dest, const char *src, rt_ubase_t n);
rt_int32_t rt_strncmp(const char *cs, const char *ct, rt_ubase_t count);
rt_int32_t rt_strcmp(const char *cs, const char *ct);
rt_size_t rt_strlen(const char *src);
#else
#include <string.h>
#define rt_memmove(dest, src, n)    memmove(dest, src, n)
#define rt_memcmp(cs, ct, count)    memcmp(cs, ct, count)
#define rt_strstr(str1, str2)       strstr(str1, str2)
#define rt_strcasecmp(a, b)         strcasecmp(a, b)
#define rt_strncpy(dest, src, n)    strncpy(dest, src, n)
#define rt_strncmp(cs, ct, count)   strncmp(cs, ct, count)
#define rt_strcmp(cs, ct)           strcmp(cs, ct)
#define rt_strlen(src)              strlen(src)
#endif /*RT_KSERVICE_USING_STDLIB*/

#if !defined(RT_KSERVICE_USING_STDLIB) || defined(__ARMCC_VERSION)
rt_size_t rt_strnlen(const char *s, rt_ubase_t maxlen);
#else
#define rt_strnlen(s, maxlen)       strnlen(s, maxlen)
#endif /* !defined(RT_KSERVICE_USING_STDLIB) || defined(__ARMCC_VERSION) */

#ifdef __ARMCC_VERSION
/* MDK doesn't have these APIs */
char* strdup(const char* str);
rt_size_t strnlen(const char *s, rt_size_t maxlen);
#endif /* __ARMCC_VERSION */

void rt_show_version(void);

#ifdef RT_DEBUG
extern void (*rt_assert_hook)(const char *ex, const char *func, rt_size_t line);
void rt_assert_set_hook(void (*hook)(const char *ex, const char *func, rt_size_t line));

void rt_assert_handler(const char *ex, const char *func, rt_size_t line);
#endif /* RT_DEBUG */

#ifdef RT_USING_FINSH
#include <finsh.h>
#endif

/**@}*/

#ifdef __cplusplus
}
#endif

#endif