Data Structures
struct	k_t
struct	k_msg_t

Macros
#define	KRNL_VRS 20250606
#define	KRNLBUG
#define	BACKSTOPPER
#define	DYNMEMORY
#define	K_TICK 1
#define	WDT_PERIOD WDTO_1S
#define	QHD_PRIO 102
#define	ZOMBI_PRIO (QHD_PRIO - 1)
#define	DMY_PRIO (QHD_PRIO - 2)
#define	DMY_STK_SZ 90
#define	STAK_HASH 0x5c
#define	MAX_SEM_VAL 30000
#define	MAX_INT 0x7FFF
#define	CEILINGFAILNOTCEIL -3
#define	CEILINGFAILPRIO -4
#define	lo8(X)
#define	hi8(X)
#define	DI()
#define	EI()
#define	RETI()
#define	K_CHG_STAK()

Functions
void *	k_malloc (int k)
	overruled malloc call malloc protected by DI and EI if dft as weak so you can supply with your own
void	k_free (void *m)
	a krnl free which do nothing. call free empty - no function if dft as weak so you can supply with your own
void	k_wdt_enable (int t)
	enable HW watchdog Call wdt_enable (AVR lib) DI(); wdt_enable(WDT_PERIOD); EI(); WDT_PERIOD is in KRNL i sec
void	k_wdt_disable ()
	disable HW watchdog disable wdt Disable the watchdog timer
unsigned long	ki_millis (void)
	returns no msec since start - no DI/EI lock Returns nr of milliseconds since krnl was started by k_start
unsigned long	k_millis (void)
	return no of millisec sincs start NB no leap seconds - its clean
void	k_eat_msec (unsigned int eatTime)
	eat milliseconds - to mimik time consuming code
void	ki_task_shift (void)
	shift running to task in front in AQ
int	k_sleep (int time)
	let task sleep for a number of milliseconds
struct k_t *	k_crt_task (void(pTask)(void), char prio, char pS, int stkSize)
	create a task - only to be called before k_start creates a task and put it in the active Q
int	k_set_prio (char prio)
struct k_t *	k_crt_sem (int init_val, int maxvalue)
	change task priority and reinserts it in task Q and do a task shift
struct k_t *	k_crt_mut (char ceiling_prio, int init_val, int maxvalue)
	crt a std semaphore to be used as mutex
int	k_mut_ceil_set (struct k_t *sem, char prio)
	set ceiling priority on a mutex
int	k_mut_ceil_enter (struct k_t *sem, int timeout)
	set ceiling priority on a mutex
int	k_mut_ceil_leave (struct k_t *sem)
	leave a "ceiled mutex" enter with k_mut_ceil_enter
int	k_mut_ceil (struct k_t sem, int timeout, void(fct)(void))
	mutex entet, call fct, leave ceil in one call
int	k_set_sem_timer (struct k_t *sem, int val)
	attach a periodic timer to a semaphore, to be used for realtime
int	ki_signal (struct k_t *sem)
	signal a semaphore from AN ISR - no task shift , do not enable intr,...
int	k_signal (struct k_t *sem)
	Signal a semaphore w eventually task shift.
int	k_wait (struct k_t *sem, int timeout)
	stand wait on semaphore call with timeout facility
int	k_wait2 (struct k_t sem, int timeout, int nrClip)
	wait with add info .´- nr of in max limit from signals since last time(saturation)
int	k_sem_signals_lost (struct k_t *sem)
	return signals lost on a sem(saturation) (and reset the saturation counter) Returns how many signals has been lost on semaphore due to saturation
int	ki_wait (struct k_t *sem, int timeout)
	a wait call with no disable - fct might no be usefull
int	ki_semval (struct k_t *sem)
	return sem counter value - Its a ki_ fct so intr is not enabled by leave
int	k_semval (struct k_t *sem)
	as ki_semval but to enable intr after leave
int	k_clear_sem (struct k_t *sem)
	reset sem counter to 0 is no tasks is waiting - usefull ?
int	ki_msg_count (struct k_msg_t *msgbuffer)
	returns no of pending msg on msgf sem - a ki_ fct so no enable of interrupt
int	k_msg_count (struct k_msg_t *m)
	return no of pending messages
void	k_sem_clip (unsigned char nr, int nrClip)
void	k_sem_signal (unsigned char nr, int val)
	breakout for k_signal
void	k_sem_wait (unsigned char nr, int val)
	breakout for k_wait
void	k_send_Q_clip (unsigned char nr, int nrClip)
	breakout for k_send
struct k_msg_t *	k_crt_send_Q (int nr_el, int el_size, void *pBuf)
char	ki_send (struct k_msg_t pB, void el)
char	k_send (struct k_msg_t pB, void el)
char	k_receive (struct k_msg_t pB, void el, int timeout, int *lost_msg)
char	ki_receive (struct k_msg_t pB, void el, int *lost_msg)
int	ki_clear_msg_Q (struct k_msg_t *pB)
int	k_clear_msg_Q (struct k_msg_t *pB)
int	k_tmrInfo (void)
int	k_init (int nrTask, int nrSem, int nrMsg)
int	k_start (void)
int	k_stop ()
void	k_reset ()
int	k_stk_chk (struct k_t *t)
int	ki_unused_stak (struct k_t *t)
int	k_unused_stak (struct k_t *t)
int	ki_my_unused_stak ()
void	k_round_robbin (void)
void	k_release (void)
void	k_set_coop_multitask (unsigned char onn)
int	freeRam (void)
void	k_breakout (void)

Variables
unsigned char	k_coopFlag
int	k_task
int	k_sem
int	k_msg
volatile char	krnl_preempt_flag
char	dmy_stk [90]
volatile char	k_wdt_enabled
struct k_t *	task_pool
struct k_t *	sem_pool
struct k_t	AQ
struct k_t *	pmain_el
struct k_t *	pAQ
struct k_t *	pDmy
struct k_t *	pRun
struct k_t *	pSleepSem
struct k_msg_t *	send_pool
char	nr_task
char	nr_sem
char	nr_send
volatile char	k_running
volatile char	k_err_cnt
unsigned long	k_millis_counter
char	k_preempt_flag
volatile char	k_bug_on

Macro Definition Documentation

◆ BACKSTOPPER

#define BACKSTOPPER

Definition at line 77 of file krnl.h.

◆ CEILINGFAILNOTCEIL

#define CEILINGFAILNOTCEIL -3

Definition at line 301 of file krnl.h.

Referenced by k_mut_ceil_enter().

◆ CEILINGFAILPRIO

#define CEILINGFAILPRIO -4

Definition at line 302 of file krnl.h.

Referenced by k_mut_ceil_enter().

◆ DI

#define DI ( )

Value:

__asm__ volatile("cli")

Definition at line 478 of file krnl.h.

Referenced by bugBitReset(), bugBitSet(), initISR(), installISR2(), k_clear_msg_Q(), k_clear_sem(), k_malloc(), k_millis(), k_mut_ceil_enter(), k_mut_ceil_leave(), k_receive(), k_release(), k_round_robbin(), k_sem_signals_lost(), k_send(), k_set_prio(), k_set_sem_timer(), k_signal(), k_start(), k_stop(), k_unused_stak(), k_wait(), k_wait2(), k_wdt_disable(), k_wdt_enable(), ki_millis(), ki_msg_count(), ki_receive(), ki_semval(), ki_signal(), ki_wait(), rd(), setup(), t1(), t2(), task(), task1(), task2(), tperiodic(), and wr().

◆ DMY_PRIO

#define DMY_PRIO (QHD_PRIO - 2)

Definition at line 292 of file krnl.h.

Referenced by k_crt_task(), k_init(), k_mut_ceil_set(), and k_set_prio().

◆ DMY_STK_SZ

#define DMY_STK_SZ 90

Definition at line 295 of file krnl.h.

◆ DYNMEMORY

#define DYNMEMORY

Definition at line 85 of file krnl.h.

◆ EI

#define EI ( )

Value:

__asm__ volatile("sei")

Definition at line 479 of file krnl.h.

Referenced by bugBitReset(), bugBitSet(), initISR(), installISR2(), k_clear_msg_Q(), k_clear_sem(), k_malloc(), k_millis(), k_msg_count(), k_mut_ceil_enter(), k_mut_ceil_leave(), k_receive(), k_release(), k_round_robbin(), k_sem_signals_lost(), k_semval(), k_send(), k_set_prio(), k_set_sem_timer(), k_signal(), k_start(), k_stop(), k_unused_stak(), k_wait(), k_wait2(), k_wdt_disable(), k_wdt_enable(), rd(), setup(), t1(), t2(), task(), task1(), task2(), tperiodic(), and wr().

◆ hi8

#define hi8 ( X )

Value:

((unsigned char)((unsigned int)(X) >> 8))

Definition at line 476 of file krnl.h.

Referenced by k_crt_task().

◆ K_CHG_STAK

#define K_CHG_STAK ( )

Value:

                                                                               \
  if (pRun != AQ.next) {                                                       \
    pRun->sp_lo = SPL;                                                         \
    pRun->sp_hi = SPH;                                                         \
    pRun = AQ.next;                                                            \
    k_breakout();                                                              \
    SPL = pRun->sp_lo;                                                         \
    SPH = pRun->sp_hi;                                                         \
  }

Definition at line 488 of file krnl.h.

Referenced by if(), if(), ISR(), ISR(), ki_task_shift(), and xxx().

◆ K_TICK

#define K_TICK 1

Definition at line 88 of file krnl.h.

◆ KRNL_VRS

#define KRNL_VRS 20250606

Definition at line 2 of file krnl.h.

Referenced by setup().

◆ KRNLBUG

#define KRNLBUG

Definition at line 72 of file krnl.h.

◆ lo8

#define lo8 ( X )

Value:

((unsigned char)((unsigned int)(X)))

Definition at line 475 of file krnl.h.

Referenced by k_crt_task().

◆ MAX_INT

#define MAX_INT 0x7FFF

Definition at line 299 of file krnl.h.

◆ MAX_SEM_VAL

#define MAX_SEM_VAL 30000

Definition at line 298 of file krnl.h.

Referenced by k_crt_sem(), ki_send(), and ki_signal().

◆ QHD_PRIO

#define QHD_PRIO 102

Definition at line 290 of file krnl.h.

Referenced by k_crt_sem(), and k_init().

◆ RETI

#define RETI ( )

Value:

__asm__ volatile("reti")

Definition at line 480 of file krnl.h.

Referenced by ISR(), ISR(), ki_task_shift(), and xxx().

◆ STAK_HASH

#define STAK_HASH 0x5c

Definition at line 297 of file krnl.h.

Referenced by k_crt_task(), ki_my_unused_stak(), and ki_unused_stak().

◆ WDT_PERIOD

#define WDT_PERIOD WDTO_1S

Definition at line 95 of file krnl.h.

◆ ZOMBI_PRIO

#define ZOMBI_PRIO (QHD_PRIO - 1)

Definition at line 291 of file krnl.h.

Referenced by jumper().

Function Documentation

◆ freeRam()

int freeRam ( void )

returns amount of free memory in your system (free size of heap) se docu in krnl.c

Definition at line 420 of file krnl.c.

References x.

Referenced by setup().

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◆ k_breakout()

void k_breakout ( void )

Definition at line 93 of file k02twotasks.ino.

References cntt1, cntt2, k_millis_counter, led13, logg, pRun, reg, and wI.

◆ k_clear_msg_Q()

int k_clear_msg_Q ( struct k_msg_t * pB )

Empty sendQ See ki_clear_msg-Q for description

Definition at line 900 of file krnl.c.

References DI, EI, ki_clear_msg_Q(), and k_msg_t::r.

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◆ k_clear_sem()

int k_clear_sem ( struct k_t * sem )

reset sem counter to 0 is no tasks is waiting - usefull ?

Clear semaphore if possible. Will set semaphore vallue 0 if possible (if no tasks is waiting)

Parameters

[in] sem pointer ref to semaphore

Returns: semValue - if negative it indicates task are waiting and no clear

Definition at line 814 of file krnl.c.

References DI, EI, and sem.

◆ k_crt_mut()

struct k_t * k_crt_mut	(	char	ceiling_prio,
		int	init_val,
		int	maxvalue )

crt a std semaphore to be used as mutex

creates a standard mutex. It can be initialized to values in range [0..maxvalue]

Parameters

[in]	ceiling_prio	priority - task ceiling prio
[in]	init_val	startvalue of semaphore 0,1,2,... maxvalue
[in]	maxvalue	which is maxvalue semaphore can reach

Returns: handle to semaphore or NULL pointer

Remarks: only to be called before start of KRNL; you can use a normale semaphore - its the same

Definition at line 703 of file krnl.c.

References k_t::ceiling_prio, k_crt_sem(), k_err_cnt, and k_running.

Referenced by setup().

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◆ k_crt_sem()

struct k_t * k_crt_sem	(	int	init_val,
		int	maxvalue )

change task priority and reinserts it in task Q and do a task shift

creates a standard Dijkstra semaphore. It can be initialized to values in range [0..maxvalue]

Parameters

[in]	init_val	startvalue of semaphore 0,1,2,... maxvalue
[in]	maxvalue	which is maxvalue semaphore can reach

Returns: handle to semaphore or NULL pointer

Remarks: only to be called before start of KRNL

Definition at line 544 of file krnl.c.

References k_err_cnt, k_running, k_sem, MAX_SEM_VAL, nr_sem, QHD_PRIO, sem, and sem_pool.

Referenced by initSemaphores(), k_crt_mut(), k_crt_send_Q(), k_init(), rdWrLockInit(), and setup().

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◆ k_crt_send_Q()

struct k_msg_t * k_crt_send_Q	(	int	nr_el,
		int	el_size,
		void *	pBuf )

Definition at line 841 of file krnl.c.

References k_msg_t::el_size, k_crt_sem(), k_err_cnt, k_msg, k_running, k_sem, k_msg_t::nr_el, nr_sem, nr_send, k_msg_t::pBuf, pMsg, and send_pool.

Referenced by setup().

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◆ k_crt_task()

struct k_t * k_crt_task	(	void(*	pTask )(void),
		char	prio,
		char *	pS,
		int	stkSize )

create a task - only to be called before k_start creates a task and put it in the active Q

Parameters

[in]	pTask	pointer to function for code ( void task(void) ...)
[in]	prio	- task prio max: 1 lowest < DUMMY_PRIO
[in]	pS	- ptr to bye to be used as stack
[in]	stkSize	size of data area(in bytes) to be used for stak

Returns: : pointer to task handle or NULL if no success

Remarks: only to be called before start of KRNL but after k_init

Definition at line 328 of file krnl.c.

References k_t::cnt1, k_t::cnt2, k_t::cnt3, DMY_PRIO, hi8, i, jumper(), k_err_cnt, k_running, k_task, lo8, k_t::maxv, k_t::nr, nr_task, pAQ, k_t::prio, prio_enQ(), k_t::pt, pTask, s, k_t::sp_hi, k_t::sp_lo, STAK_HASH, and task_pool.

Referenced by initTasks(), and setup().

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◆ k_eat_msec()

void k_eat_msec ( unsigned int eatTime )

eat milliseconds - to mimik time consuming code

Eat time in milliseconds starting from now but not from next tick (1 msec)

Parameters

[in] eatTime number of ticks to eat

Definition at line 246 of file krnl.c.

References delayMicroseconds().

Referenced by getDataInCritRegion(), t1(), t1(), t2(), t2(), task(), task1(), task2(), tgeneric(), tnoise(), and tperiodic().

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◆ k_free()

void k_free ( void * m )

a krnl free which do nothing. call free empty - no function if dft as weak so you can supply with your own

Remarks: do no free mem bq we do not want fragmented memory

Definition at line 1363 of file krnl.c.

References m.

◆ k_init()

int k_init	(	int	nrTask,
		int	nrSem,
		int	nrMsg )

Initialise KRNL. First function to be called. You have to give max number of tasks, semaphores and message queues you will use

Parameters

[in]	nrTask	...
[in]	nrSem	...
[in]	nrMsg	...

Definition at line 1108 of file krnl.c.

References AQ, DMY_PRIO, k_crt_sem(), k_err_cnt, k_msg, k_running, k_sem, k_task, nr_send, nr_task, pAQ, pmain_el, prio_enQ(), pSleepSem, QHD_PRIO, sem_pool, send_pool, and task_pool.

Referenced by setup().

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◆ k_malloc()

void * k_malloc ( int k )

overruled malloc call malloc protected by DI and EI if dft as weak so you can supply with your own

Definition at line 1355 of file krnl.c.

References DI, EI, k, and m.

◆ k_millis()

unsigned long k_millis ( void )

return no of millisec sincs start NB no leap seconds - its clean

Returns nr of milliseconds since krnl was started by k_start

Returns: : unsigned long is returned

Remarks: only to be called after start of KRNL; Interrupt is disabled when reading krnl time and is enabled afterwards

Definition at line 1247 of file krnl.c.

References DI, EI, k_millis_counter, and l.

Referenced by setup(), t2(), task1(), and wr().

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◆ k_msg_count()

int k_msg_count ( struct k_msg_t * m )

return no of pending messages

Parameters

[in] m msg Q handle

Returns: positive nr of pending or -1

Remarks: only to be called after start of KRNL

Definition at line 833 of file krnl.c.

References EI, ki_msg_count(), and m.

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◆ k_mut_ceil()

int k_mut_ceil	(	struct k_t *	sem,
		int	timeout,
		void(*	fct )(void) )

mutex entet, call fct, leave ceil in one call

Mutex enter and leave w imm priority ceiling in one operation

Parameters

sem	mutex with ceiling
timeout	0 == forever
fct	void fct(void) the function w critical code

Returns: 0: ok ,waited, 1 straight through; -1 timeout, -3 CEILINGFAILNOTCEIL not a semaphore w ceiling, -4 CEILINGFAIL my priority is above ceil max prio

Definition at line 726 of file krnl.c.

References k_mut_ceil_enter(), k_mut_ceil_leave(), and sem.

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◆ k_mut_ceil_enter()

int k_mut_ceil_enter	(	struct k_t *	sem,
		int	timeout )

set ceiling priority on a mutex

Enter mutex (eq to k_wait...) use k_mut_enter / k_mut_leave instead of wait and signal

Parameters

[in]	sem	aka mutex
[in]	timeout	timeout value

Returns: 0: if you have been waiting, 1 if you just went through, -1 for timeout, -3 if your priority was higher than ceiling priority

Definition at line 739 of file krnl.c.

References CEILINGFAILNOTCEIL, CEILINGFAILPRIO, deQ(), DI, EI, ki_task_shift(), ki_wait(), pAQ, prio_enQ(), pRun, and sem.

Referenced by controlTask(), getDataInCritRegion(), k_mut_ceil(), lowTask(), saveDataInCritRegion(), task1(), and task2().

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◆ k_mut_ceil_leave()

int k_mut_ceil_leave ( struct k_t * sem )

leave a "ceiled mutex" enter with k_mut_ceil_enter

Leave mutex (eq to k_signal...) use k_mut_enter/ k_mut_leave instead of wait and signal

Parameters

[in] sem used as mutex

Returns: 0: ok otherwise bad bad

Definition at line 771 of file krnl.c.

References deQ(), DI, EI, ki_signal(), ki_task_shift(), pAQ, prio_enQ(), pRun, and sem.

Referenced by controlTask(), getDataInCritRegion(), k_mut_ceil(), lowTask(), saveDataInCritRegion(), task1(), and task2().

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◆ k_mut_ceil_set()

int k_mut_ceil_set	(	struct k_t *	sem,
		char	prio )

set ceiling priority on a mutex

Parameters

[in]	sem	semaphore
[in]	prio

Returns: 0 if ok otherwise neg

Definition at line 529 of file krnl.c.

References DMY_PRIO, k_running, k_t::prio, and sem.

Referenced by setup().

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◆ k_receive()

char k_receive	(	struct k_msg_t *	pB,
		void *	el,
		int	timeout,
		int *	lost_msg )

Receive data (one element of el_size)in the ringbuffer if there are data DONE BY COPY !

Parameters

[in]	pB	Ref to message buffer
[out]	el	Reference to where data shall be copied to at your site
[in]	timeout	Max time you want to wait on data, -1: never, 0: forever, positive: nr of KRNL timer quants
[out]	lost_msg	nr of lost messages since last receive. will clip at If lost_msg ptr is NULL then overrun counter is not reset to 0.

Returns: 1: ok no suspension, 0: operation did succed, -1: no data in ringbuffer

Remarks: only to be called after start of KRNL

Definition at line 991 of file krnl.c.

References k_msg_t::cnt, DI, EI, k_msg_t::el_size, i, ki_wait(), k_msg_t::lost_msg, k_msg_t::nr_el, k_msg_t::pBuf, k_msg_t::r, and k_msg_t::sem.

Referenced by t1(), t2(), task1(), and task2().

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◆ k_release()

void k_release ( void )

release switch running to task in front of Active Q calls ki_task_shift (); enveloped by a DI and EI no round robbin

Definition at line 1084 of file krnl.c.

References DI, EI, and ki_task_shift().

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◆ k_reset()

void k_reset ( )

Reset by disable interrupt plus activate watchdog (15 millisseconds) and just wait...

◆ k_round_robbin()

void k_round_robbin ( void )

round robbin reinsert running task in activeQ. so running will be inserted after other tasks with same or higher priority

Definition at line 1073 of file krnl.c.

References deQ(), DI, EI, ki_task_shift(), pAQ, prio_enQ(), and pRun.

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◆ k_sem_clip()

void k_sem_clip	(	unsigned char	nr,
		int	nrClip )

a function for overloading on usersite which is called when a semaphore is overflooding no occur - it's only reading out semaphore idendity Signal operations has not taken place ! 1: means first semahore allocated by user, 2 the next etc Interrupt is disabled when called and must not be enabled during.. so no print etc

Parameters

[in]	nr	id of semaphore 1,2,3,...
[in]	nrClip	number of times clip has occured (may be reset by call k_wait_lost)

Definition at line 100 of file k04periodic-clip.ino.

References cnt, i, led13, and k_t::nr.

Referenced by ki_signal().

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◆ k_sem_signal()

void k_sem_signal	(	unsigned char	nr,
		int	val )

breakout for k_signal

called in a signal call val is sem val AFTER signal has taken place

Parameters

[out]	nr	number of semaphore. Semaphores are allocated by user buth] val
[in]	val	sem val also in message queues. So it may be diff to find the semaphore...

Definition at line 1345 of file krnl.c.

Referenced by ki_signal().

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◆ k_sem_signals_lost()

int k_sem_signals_lost ( struct k_t * sem )

return signals lost on a sem(saturation) (and reset the saturation counter) Returns how many signals has been lost on semaphore due to saturation

Parameters

[in] sem semaphore handle

Returns: nr of signals lost

Remarks: only to be called after start of KRNL

Definition at line 789 of file krnl.c.

References DI, EI, sem, and x.

◆ k_sem_wait()

void k_sem_wait	(	unsigned char	nr,
		int	val )

breakout for k_wait

called when wait called. val is sem value after countdown has taken place NB is the wait call willl not wait and there is no token at the semaphore val will be -1111

Definition at line 1347 of file krnl.c.

◆ k_semval()

int k_semval ( struct k_t * sem )

as ki_semval but to enable intr after leave

returns value of semaphore

Parameters

[in] sem semaphore handle

Returns: 1: ok not suspended, 0: ok you have been suspended; -1 no wait maybe bq no timeout was allowed

Remarks: only to be called after start of KRNL

Definition at line 807 of file krnl.c.

References EI, ki_semval(), and sem.

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◆ k_send()

char k_send	(	struct k_msg_t *	pB,
		void *	el )

Put data (one element of el_size)in the ringbuffer if there are room for it. DONE BY COPY !

Parameters

[in]	pB	Ref to message buffer
[in]	el	Reference to data to be put in buffer. Size if already given in k_crt_send

Returns: 0: operation did succed, -1: no room in ringbuffer

Remarks: only to be called after start of KRNL; k_send does not block if no space in buffer. Instead -1 is returned

Definition at line 944 of file krnl.c.

References DI, EI, ki_send(), and ki_task_shift().

Referenced by t2(), and task1().

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◆ k_send_Q_clip()

void k_send_Q_clip	(	unsigned char	nr,
		int	nrClip )

breakout for k_send

a function for overloading on usersite which is called when a msgQ is overflooding no reset occur - it's only readind out smsgQ idendity 1: means first msgQ allocated by user etc Interrupt is disabled when called and must not be enabled during.. so no print etc

Parameters

[out]	nr	: id of send Q 0,1,2,...
[out]	nrClip	number of times clip has occured (may be reset by call k_receive and lost parm not eq NULL)

Definition at line 91 of file akrnlschedule.ino.

References cnt, and i.

Referenced by ki_send().

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◆ k_set_coop_multitask()

void k_set_coop_multitask ( unsigned char onn )

Definition at line 1236 of file krnl.c.

References k_coopFlag.

◆ k_set_prio()

int k_set_prio ( char prio )

change priority of calling task)

Parameters

[in] prio new prio, Priority 1: highest (QHEAD_PRIO-1): lowest

Returns: : 0: ok, -1: KRNL not running, -2: illegal value

Remarks: only to be called after start of KRNL

Definition at line 503 of file krnl.c.

References deQ(), DI, DMY_PRIO, EI, i, k_running, ki_task_shift(), pAQ, k_t::prio, prio_enQ(), and pRun.

Referenced by jumper().

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◆ k_set_sem_timer()

int k_set_sem_timer	(	struct k_t *	sem,
		int	val )

attach a periodic timer to a semaphore, to be used for realtime

attach a timer to the semaphore so KRNL will signal the semaphore with regular intervals. Can be used for cyclic real time run of a task.

Parameters

[in]	sem	semaphore handle
[in]	val	interval in quant of KRNL ticks (0: disable cyclic timer, 1,2,3... cyclic quant)

Returns: -1: negative val, 0. ok

Remarks: only to be called after start of KRNL

Definition at line 586 of file krnl.c.

References DI, EI, and sem.

Referenced by controlTask(), highprio(), initSemaphores(), lowprio(), medprio(), t1(), t1(), t2(), t2(), task(), task1(), task2(), task2Body(), task3(), and tperiodic().

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◆ k_signal()

int k_signal ( struct k_t * sem )

Signal a semaphore w eventually task shift.

Signal and has higher priority than you. Task shift will task place if a task is started by the signal has higher prio than you

Parameters

[in] sem semaphore handle

Returns: 0: ok , -1: max value of semaphore reached

Remarks: The ki_ indicates that interrups is NOT enabled when leaving ki_signal; only to be called after start of KRNL

Definition at line 636 of file krnl.c.

References DI, EI, ki_signal(), ki_task_shift(), and sem.

Referenced by controlTask(), getDataInCritRegion(), lowTask(), rdEnter(), rdLeave(), saveDataInCritRegion(), saveDataInCritRegionNoWait(), t1(), t1Code(), t2(), t2(), t2Code(), task(), task1(), task2(), task2Body(), wrEnter(), and wrLeave().

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◆ k_sleep()

int k_sleep ( int time )

let task sleep for a number of milliseconds

Set task asleep for a number of msec.

Parameters

[in] time millisec to sleep

Returns: : 0 is ok - has sleept, error - did you sleep or did someone signal your sleepSem is less than 0

Remarks: only to be called after start of KRNL

Definition at line 445 of file krnl.c.

References k_wait(), and pSleepSem.

Referenced by code(), lowTask(), rd(), t1(), t1(), t2(), t2(), task(), task2(), tgeneric(), tnoise(), and wr().

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◆ k_start()

int k_start ( void )

Starts krnl is possible If there has been ciritcal errors between k_init and k_start (like no more task descriptors) k_start will return a negative number indicatin how many errors

If k_start starts you will not return from k_start

Definition at line 1149 of file krnl.c.

References DI, EI, k_err_cnt, k_running, k_tick_size, ki_task_shift(), pmain_el, and pRun.

Referenced by setup().

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◆ k_stk_chk()

int k_stk_chk ( struct k_t * t )

Initialise blink on pin 13 ON when dummy is running Nov 2014 - fake do not use it bq it will not work for emergency use :-) returns nr of unbytes bytes on stak. For chekking if stak is too big or to small...

Parameters

[in] t Reference to task (by task handle) If null then yourself

Returns: : nr of unused bytes on stak (int)

Remarks: only to be called after start of KRNL; no chk of if it is a valid task

◆ k_stop()

int k_stop ( )

stop KRNL parm can be 1 or 10 can only run 1 og 10 msec tick speed If krnl is not yet running you will return with a -1 as return value If krnl is running interrupt will be disabled and k_stop ends in an infinite loop

Definition at line 1212 of file krnl.c.

References DI, EI, and k_running.

Referenced by t1().

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◆ k_tmrInfo()

int k_tmrInfo ( void )

returns which timer is used

Returns: 0,1,2,3,4,5 ...

Definition at line 1256 of file krnl.c.

◆ k_unused_stak()

int k_unused_stak ( struct k_t * t )

Returns amount of unused stak

Parameters

[in] t Ptr to taskdescriptor. If NULL it is yourself

Returns: : amount of unused stak(in bytes)

Remarks: : a watermark philosophy is used

Definition at line 493 of file krnl.c.

References DI, EI, i, and ki_unused_stak().

Referenced by t1().

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◆ k_wait()

int k_wait	(	struct k_t *	sem,
		int	timeout )

stand wait on semaphore call with timeout facility

Wait on a semaphore. Task shift will task place if you are blocked.

Parameters

[in]	sem	semaphore handle
[in]	timeout	"<0" you will be started after timeout ticks, "=0" wait forever "-1" you will not wait

Returns: 1: ok there was a signal hanging - so no suspension; 0: ok- you have been suspended; -1: timeout has occured, -2 no wait bq timeout was -1 and semaphore was negative

Remarks: only to be called after start of KRNL

Definition at line 683 of file krnl.c.

References DI, EI, ki_wait(), and sem.

Referenced by controlTask(), getDataInCritRegion(), highprio(), k_sleep(), lowprio(), lowTask(), medprio(), rdEnter(), rdLeave(), saveDataInCritRegion(), saveDataInCritRegionNoWait(), t1(), t1(), t1Code(), t2(), t2(), t2Code(), task(), task1(), task1Body(), task2(), task2Body(), task3(), taskBody(), tperiodic(), wrEnter(), and wrLeave().

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◆ k_wait2()

int k_wait2	(	struct k_t *	sem,
		int	timeout,
		int *	nrClip )

wait with add info .´- nr of in max limit from signals since last time(saturation)

Wait on a semaphore. Task shift will task place if you are blocked.

Parameters

[in]	sem	semaphore handle
[in]	timeout	"<0" you will be started after timeout ticks, "=0" wait forever "-1" you will not wait
[out]	nrClip	If not NULL you will get in return nr of clip on signals on sem and clip counter will be set to 0

Returns: 1: ok there was a signal hanging - so no suspension; 0: ok- you have been suspended; -1: timeout has occured, -2 no wait bq timeout was -1 and semaphore was negative

Remarks: only to be called after start of KRNL

Definition at line 691 of file krnl.c.

References DI, EI, ki_wait(), and sem.

Referenced by task1().

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◆ k_wdt_disable()

void k_wdt_disable ( )

disable HW watchdog disable wdt Disable the watchdog timer

Definition at line 1376 of file krnl.c.

References DI, EI, and k_wdt_enabled.

◆ k_wdt_enable()

void k_wdt_enable ( int t )

enable HW watchdog Call wdt_enable (AVR lib) DI(); wdt_enable(WDT_PERIOD); EI(); WDT_PERIOD is in KRNL i sec

Parameters

[t]	watchdog timout WDT_PERIOD is 1 sec See avrlib docu for more info The watchdog is reset in krnls timer ISR when active

Definition at line 1369 of file krnl.c.

References DI, EI, i, and k_wdt_enabled.

◆ ki_clear_msg_Q()

int ki_clear_msg_Q ( struct k_msg_t * pB )

Empty sendQ

Returns: given no of deleted messages; -1 if its no a msg q; -2 if krnl is not running; 0 or positive gives no of messages deleted

Definition at line 882 of file krnl.c.

References k_msg_t::cnt, k_t::cnt1, k_running, k_msg_t::lost_msg, k_msg_t::r, k_msg_t::sem, and k_msg_t::w.

Referenced by k_clear_msg_Q().

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◆ ki_millis()

unsigned long ki_millis ( void )

returns no msec since start - no DI/EI lock Returns nr of milliseconds since krnl was started by k_start

Returns: : unsigned long is returned

Remarks: only to be called after start of KRNL and only when interrupt is disabled; To be called within an ISR so interrupts is no disabled

Definition at line 1240 of file krnl.c.

References DI, k_millis_counter, and l.

Referenced by if(), myISR_Debounce(), myISR_No_Debounce(), and wr().

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◆ ki_msg_count()

int ki_msg_count ( struct k_msg_t * msgbuffer )

returns no of pending msg on msgf sem - a ki_ fct so no enable of interrupt

Parameters

[in] msgbuffer handle

Returns: no of pending messages or -1

Definition at line 828 of file krnl.c.

References DI, and m.

Referenced by k_msg_count().

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◆ ki_my_unused_stak()

int ki_my_unused_stak ( )

Returns amount of unused stak for running task

Returns: : amount of unused stak(in bytes)

Remarks: : a watermark philosophy is used; can be called from ISR . iif userapce you must disable intr

Definition at line 455 of file krnl.c.

References i, pRun, and STAK_HASH.

◆ ki_receive()

char ki_receive	(	struct k_msg_t *	pB,
		void *	el,
		int *	lost_msg )

Receive data (one element of el_size)in the ringbuffer if there are data DONE BY COPY ! No blocking if no data Interrupt will not be enabled after ki_receive and intr must be blocked prior to call

Parameters

[in]	pB	Ref to message buffer
[out]	el	Reference to where data shall be copied to at your site
[out]	lost_msg	nr of lost messages since last receive. will clip at If lost_msg ptr is NULL then overrun counter is not reset to 0

Returns: 1: data was rdy no suspension, 0: ok you have been suspended , -1: no data in ringbuffer

Remarks: can be used from ISR; only to be called after start of KRNL

Definition at line 959 of file krnl.c.

References k_msg_t::cnt, DI, k_msg_t::el_size, i, ki_wait(), k_msg_t::lost_msg, k_msg_t::nr_el, k_msg_t::pBuf, k_msg_t::r, and k_msg_t::sem.

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◆ ki_semval()

int ki_semval ( struct k_t * sem )

return sem counter value - Its a ki_ fct so intr is not enabled by leave

returns value of semaphore

Parameters

[in] sem semaphore handle

Returns: 1: ok not suspended, 0: ok you have been suspended; -1 no wait maybe bq no timeout was allowed

Remarks: only to be called after start of KRNL; do not enable interrupt upon leaving

Definition at line 801 of file krnl.c.

References DI, and sem.

Referenced by k_semval(), and rdEnter().

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◆ ki_send()

char ki_send	(	struct k_msg_t *	pB,
		void *	el )

Put data (one element of el_size)in the ringbuffer if there are room for it. Intended for ISR use DONE BY COPY !

Parameters

[in]	pB	Ref to message buffer
[in]	el	Reference to data to be put in buffer. Size if already given in k_crt_send

Returns: 0: operation did succed, -1: no room in ringbuffer

Remarks: Interrupt will not enabled upon leaving, so ki_send is intended to be used from an ISR; only to be called before start of KRNL

Definition at line 908 of file krnl.c.

References k_msg_t::cnt, k_msg_t::el_size, i, k_send_Q_clip(), ki_signal(), k_msg_t::lost_msg, MAX_SEM_VAL, k_msg_t::nr, k_msg_t::nr_el, k_msg_t::pBuf, k_msg_t::sem, and k_msg_t::w.

Referenced by ISR(), ISR(), k_send(), myISR_Debounce(), and myISR_No_Debounce().

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◆ ki_signal()

int ki_signal ( struct k_t * sem )

signal a semaphore from AN ISR - no task shift , do not enable intr,...

Signal a semaphore. Can be called from an ISR when interrupt is disabled. No task shift will occur - only queue manipulation.

Parameters

[in] sem semaphore handle

Returns: 0: ok , -1: max value of semaphore reached

Remarks: only to be called after start of KRNL

Definition at line 605 of file krnl.c.

References deQ(), DI, k_sem_clip(), k_sem_signal(), MAX_SEM_VAL, pAQ, prio_enQ(), and sem.

Referenced by for(), if(), ISR(), k_mut_ceil_leave(), k_signal(), ki_send(), myISR(), myISR_Debounce(), myISR_No_Debounce(), and xxx().

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◆ ki_task_shift()

void ki_task_shift ( void )

shift running to task in front in AQ

Remarks: you must disable interrupt before calling issues a task shift - handle with care Not to be used by normal user

HERE

Definition at line 302 of file krnl.c.

References K_CHG_STAK, PUSHREGS(), and RETI.

Referenced by k_mut_ceil_enter(), k_mut_ceil_leave(), k_release(), k_round_robbin(), k_send(), k_set_prio(), k_signal(), k_start(), and ki_wait().

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◆ ki_unused_stak()

int ki_unused_stak ( struct k_t * t )

Returns amount of unused stak

Parameters

[in] t Ptr to taskdescriptor. If NULL it is yourself

Returns: : amount of unused stak(in bytes)

Remarks: : a watermark philosophy is used; can be called from ISR . iif userapce you must disable intr

Definition at line 472 of file krnl.c.

References k_t::cnt1, i, pRun, and STAK_HASH.

Referenced by k_unused_stak().

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◆ ki_wait()

int ki_wait	(	struct k_t *	sem,
		int	timeout )

a wait call with no disable - fct might no be usefull

Like k_wait with the exception interrupt is NOT enabled when leaving

Parameters

[in]	sem	semaphore handle
[in]	timeout	"<0" you will be started after timeout ticks, "=0" wait forever "-1" you will not wait

Returns: 0: ok , -1: could do wait bw blocking would have taken place

Remarks: The ki_ indicates that interrups is NOT enabled when leaving ki_wait; only to be called after start of KRNL; normally not to be used by users !!! BEWARE

Definition at line 653 of file krnl.c.

References deQ(), DI, enQ(), ki_task_shift(), pRun, and sem.

Referenced by k_mut_ceil_enter(), k_receive(), k_wait(), k_wait2(), and ki_receive().

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Variable Documentation

◆ AQ

struct k_t AQ

Definition at line 369 of file krnl.h.

◆ dmy_stk

char dmy_stk[90]

extern

◆ k_bug_on

volatile char k_bug_on

extern

◆ k_coopFlag

unsigned char k_coopFlag

extern

Definition at line 166 of file krnl.c.

Referenced by if(), and k_set_coop_multitask().

◆ k_err_cnt

volatile char k_err_cnt

extern

Definition at line 156 of file krnl.c.

Referenced by k_crt_mut(), k_crt_sem(), k_crt_send_Q(), k_crt_task(), k_init(), and k_start().

◆ k_millis_counter

unsigned long k_millis_counter

extern

Definition at line 161 of file krnl.c.

◆ k_msg

int k_msg

Definition at line 362 of file krnl.h.

◆ k_preempt_flag

char k_preempt_flag

extern

◆ k_running

volatile char k_running

extern

Definition at line 156 of file krnl.c.

Referenced by if(), ISR(), ISR(), k_crt_mut(), k_crt_sem(), k_crt_send_Q(), k_crt_task(), k_init(), k_mut_ceil_set(), k_set_prio(), k_start(), k_stop(), ki_clear_msg_Q(), PUSHREGS(), and xxx().

◆ k_sem

int k_sem

Definition at line 362 of file krnl.h.

◆ k_task

int k_task

extern

Definition at line 153 of file krnl.c.

Referenced by k_crt_task(), and k_init().

◆ k_wdt_enabled

volatile char k_wdt_enabled

extern

Referenced by k_wdt_disable(), and k_wdt_enable().

◆ krnl_preempt_flag

volatile char krnl_preempt_flag

extern

◆ nr_sem

char nr_sem

Definition at line 376 of file krnl.h.

◆ nr_send

char nr_send

Definition at line 376 of file krnl.h.

◆ nr_task

char nr_task

extern

Definition at line 154 of file krnl.c.

Referenced by k_crt_task(), and k_init().

◆ pAQ

struct k_t * pAQ

Definition at line 370 of file krnl.h.

◆ pDmy

struct k_t * pDmy

Definition at line 370 of file krnl.h.

◆ pmain_el

struct k_t * pmain_el

Definition at line 370 of file krnl.h.

◆ pRun

struct k_t * pRun

Definition at line 371 of file krnl.h.

◆ pSleepSem

struct k_t * pSleepSem

Definition at line 372 of file krnl.h.

◆ sem_pool

struct k_t * sem_pool

Definition at line 369 of file krnl.h.

◆ send_pool

struct k_msg_t* send_pool

extern

Definition at line 151 of file krnl.c.

Referenced by k_crt_send_Q(), and k_init().

◆ task_pool

struct k_t* task_pool

extern

Definition at line 143 of file krnl.c.

Referenced by k_crt_task(), and k_init().

Data Structures

Macros

Functions

Variables

Macro Definition Documentation

◆ BACKSTOPPER

◆ CEILINGFAILNOTCEIL

◆ CEILINGFAILPRIO

◆ DI

◆ DMY_PRIO

◆ DMY_STK_SZ

◆ DYNMEMORY

◆ EI

◆ hi8

◆ K_CHG_STAK

◆ K_TICK

◆ KRNL_VRS

◆ KRNLBUG

◆ lo8

◆ MAX_INT

◆ MAX_SEM_VAL

◆ QHD_PRIO

◆ RETI

◆ STAK_HASH

◆ WDT_PERIOD

◆ ZOMBI_PRIO

Function Documentation

◆ freeRam()

◆ k_breakout()

◆ k_clear_msg_Q()

◆ k_clear_sem()

◆ k_crt_mut()

◆ k_crt_sem()

◆ k_crt_send_Q()

◆ k_crt_task()

◆ k_eat_msec()

◆ k_free()

◆ k_init()

◆ k_malloc()

◆ k_millis()

◆ k_msg_count()

◆ k_mut_ceil()

◆ k_mut_ceil_enter()

◆ k_mut_ceil_leave()

◆ k_mut_ceil_set()

◆ k_receive()

◆ k_release()

◆ k_reset()

◆ k_round_robbin()

◆ k_sem_clip()

◆ k_sem_signal()

◆ k_sem_signals_lost()

◆ k_sem_wait()

◆ k_semval()

◆ k_send()

◆ k_send_Q_clip()

◆ k_set_coop_multitask()

◆ k_set_prio()

◆ k_set_sem_timer()

◆ k_signal()

◆ k_sleep()

◆ k_start()

◆ k_stk_chk()

◆ k_stop()

◆ k_tmrInfo()

◆ k_unused_stak()

◆ k_wait()

◆ k_wait2()

◆ k_wdt_disable()

◆ k_wdt_enable()

◆ ki_clear_msg_Q()

◆ ki_millis()

◆ ki_msg_count()

◆ ki_my_unused_stak()

◆ ki_receive()

◆ ki_semval()

◆ ki_send()

◆ ki_signal()

◆ ki_task_shift()

◆ ki_unused_stak()