B RoBIOS Operating System
B.5.5 System Functions
Miscellaneous system functions: |
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char *OSVersion |
(void); |
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Input: |
NONE |
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Output: |
OS version |
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Semantics: |
Returns string containing running RoBIOS version. |
Example: |
"3.1b" |
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int OSError (char *msg,int number,BOOL dead); |
Input: |
(msg) pointer to message |
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(number) int number |
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(dead) switch to choose dead end or key wait |
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Valid values are: |
0 = no dead end |
Output: |
NONE |
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1 = dead end |
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Semantics: |
Print message and number to display then |
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stop processor (dead end) or wait for key |
int OSMachineType (void); |
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Input: |
NONE |
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Output: |
Type of used hardware |
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Valid values are: |
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Semantics: |
VEHICLE, PLATFORM, WALKER |
Inform the user in which environment the program runs. |
int OSMachineSpeed (void); |
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Input: |
NONE |
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Output: |
actual clockrate of CPU in Hz |
Semantics: |
Inform the user how fast the processor runs. |
char* OSMachineName (void); |
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Input: |
NONE |
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Output: |
Name of actual Eyebot |
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Semantics: |
Inform the user with which name the Eyebot is |
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titled (entered in HDT). |
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unsigned char OSMachineID (void); |
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Input: |
NONE |
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Output: |
ID of actual Eyebot |
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Semantics: |
Inform the user with which ID the Eyebot is titled |
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(entered in HDT). |
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void *HDTFindEntry(TypeID typeid,DeviceSemantics semantics); |
Input: |
(typeid) |
Type identifier tag of the category |
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(e.g. MOTOR, for a motor type) |
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(semantics) Semantics itentifier tag (e.g. MOTOR_LEFT, |
Output: |
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specifying which of several motors) |
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Reference to matching HDT entry |
Semantics: |
This function is used by device drivers to search for |
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first entry that matches the semantics and returns a |
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pointer to the corresponding data structure. |
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See HDT description in HDT.txt . |
Interrupts: |
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int OSEnable (void); |
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Input: |
NONE |
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Output: |
NONE |
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Semantics: |
Enable all cpu-interrupts |
int OSDisable (void); |
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Input: |
NONE |
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RoBIOS Library Functions
Output: |
NONE |
Semantics: |
Disable all cpu-interrupts |
Saving of variables in TPU-RAM (SAVEVAR1-3 occupied by RoBiOS):
int OSGetVar (int num);
Input: |
(num) number of tpupram save location |
Valid values: |
SAVEVAR1-4 for word saving |
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SAVEVAR1a-4a/1b-4b for byte saving |
Output: |
(returncode) the value saved |
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Valid values are: 0-65535 for word saving |
Semantics: |
0-255 for byte saving |
Get the value from the given save location |
int OSPutVar (int num, int value); |
Input: |
(num) number of tpupram save location |
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valid values are: SAVEVAR1-4 for word saving |
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SAVEVAR1a-4a/1b-4b for byte saving |
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(value) value to be stored |
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Valid values are: 0-65535 for word saving |
Output: |
0-255 for byte saving |
NONE |
Semantics: |
Save the value to the given save location |
B.5.6 Multitasking
RoBiOS implements both preemptive and cooperative multitasking. One of these modes needs to be selected when initializing multitasking operation.
int OSMTInit (BYTE mode);
Input: |
(mode) |
operation mode |
Output: |
Valid |
values are: COOP=DEFAULT,PREEMPT |
NONE |
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Semantics: |
Initialize multithreading environment |
tcb *OSSpawn (char *name,int code,int stksiz,int pri,int uid);
Input: |
(name) pointer to thread name |
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(code) thread start address |
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(stksize) size of thread stack |
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(pri) thread priority |
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Valid values are: MINPRI-MAXPRI |
Output: |
(uid) thread user id |
(returncode) pointer to initialized thread |
Semantics: |
control block |
Initialize new thread, tcb is initialized and |
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inserted in scheduler queue but not set to |
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READY |
int OSMTStatus (void); |
Input: |
NONE |
Output: |
PREEMPT, COOP, NOTASK |
Semantics: |
returns actual multitasking mode (preemptive, |
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cooperative or sequential) |
int OSReady (struct tcb *thread); |
Input: |
(thread) pointer to thread control block |
Output: |
NONE |
Semantics: |
Set status of given thread to READY |
int OSSuspend (struct tcb *thread); |
Input: |
(thread) pointer to thread control block |
B RoBIOS Operating System
Output: |
NONE |
Semantics: |
Set status of given thread to SUSPEND |
int OSReschedule (void); |
Input: |
NONE |
Output: |
NONE |
Semantics: |
Choose new current thread |
int OSYield (void); |
Input: |
NONE |
Output: |
NONE |
Semantics: |
Suspend current thread and reschedule |
int OSRun (struct tcb *thread); |
Input: |
(thread) pointer to thread control block |
Output: |
NONE |
Semantics: |
READY given thread and reschedule |
int OSGetUID (thread); |
Input: |
(thread) pointer to thread control block |
Output: |
(tcb *)0 for current thread |
(returncode) UID of thread |
Semantics: |
Get the UID of the given thread |
int OSKill (struct tcb *thread); |
Input: |
(thread) pointer to thread control block |
Output: |
NONE |
Semantics: |
Remove given thread and reschedule |
int OSExit (int code); |
Input: |
(code) exit code |
Output: |
NONE |
Semantics: |
Kill current thread with given exit code and message |
int OSPanic (char *msg); |
Input: |
(msg) pointer to message text |
Output: |
NONE |
Semantics: |
Dead end multithreading error, print message to display |
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and stop processor |
int OSSleep (int n) |
Input: |
(n) number of 1/100 secs to sleep |
Output: |
NONE |
Semantics: |
Let current thread sleep for at least n*1/100 |
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seconds. In multithreaded mode, this will |
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reschedule another thread. Outside |
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multi-threaded mode, it will call OSWait(). |
int OSForbid (void) |
Input: |
NONE |
Output: |
NONE |
Semantics: |
disable thread switching in preemptive mode |
int OSPermit (void) |
Input: |
NONE |
Output: |
NONE |
Semantics: |
enable thread switching in preemptive mode |
In the functions described above the parameter "thread" can always be a pointer to a tcb or 0 for current thread.
Semaphores: |
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int OSSemInit (struct |
sem *sem,int val); |
Input: |
(sem) |
pointer to a semaphore |
RoBIOS Library Functions
Output: |
(val) |
start value |
NONE |
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Semantics: |
Initialize semaphore with given start value |
int OSSemP (struct sem *sem); |
to a semaphore |
Input: |
(sem) pointer |
Output: |
NONE |
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Semantics: |
Do semaphore P (down) operation |
int OSSemV (struct sem *sem); |
to a semaphore |
Input: |
(sem) pointer |
Output: |
NONE |
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Semantics: |
Do semaphore V (up) operation |
B.5.7 Timer
int OSSetTime (int hrs,int mins,int secs);
Input: |
(hrs) value for hours |
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(mins) value for minutes |
Output: |
(secs) value for seconds |
NONE |
Semantics: |
Set system clock to given time |
int OSGetTime (int *hrs,int *mins,int *secs,int *ticks); |
Input: |
(hrs) pointer to int for hours |
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(mins) pointer to int for minutes |
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(secs) pointer to int for seconds |
Output: |
(ticks) pointer to int for ticks |
(hrs) value of hours |
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(mins) value of minutes |
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(secs) value of seconds |
Semantics: |
(ticks) value of ticks |
Get system time, one second has 100 ticks |
int OSShowTime (void); |
Input: |
NONE |
Output: |
NONE |
Semantics: |
Print system time to display |
int OSGetCount (void); |
Input: |
NONE |
Output: |
(returncode) number of 1/100 seconds since last reset |
Semantics: |
Get the number of 1/100 seconds since last reset. |
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Type int is 32 bits, so this value will wrap |
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around after ~248 days. |
int OSWait (int n); |
Input: |
(n) time to wait |
Output: |
NONE |
Semantics: |
Busy loop for n*1/100 seconds. |
Timer-IRQ:
TimerHandle OSAttachTimer (int scale, TimerFnc function);
Input: |
(scale) prescale value |
for 100Hz Timer (1 to ...) |
Output: |
(TimerFnc) function to |
be called periodically |
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(TimerHandle) handle to reference the IRQ-slot |
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A value of 0 indicates |
an error due to a full list |
Semantics: |
(max. 16). |
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the irq-list. |
Attach an irq-routine (void function(void)) to |
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The scale parameter adjusts the call frequency |
(100/scale Hz) |
