stk Namespace Reference

Namespace of STK package. More...

Namespaces
namespace	hw
	Hardware Abstraction Layer (HAL) for architecture-specific operations.
namespace	util
	Internal utility namespace containing data structure helpers (linked lists, etc.) used by the kernel implementation. Not part of the public user API.
namespace	sync
	Synchronization primitives for task coordination and resource protection.
namespace	time
	Time-related primitives.
namespace	test
	Namespace of the test inventory.

Classes
class	PlatformArmCortexM
	Concrete implementation of IPlatform driver for the Arm Cortex-M0, M3, M4, M7 processors. More...
class	PlatformRiscV
	Concrete implementation of IPlatform driver for the Risc-V processors. More...
class	PlatformContext
	Base platform context for all platform implementations. More...
class	PlatformX86Win32
	Concrete implementation of IPlatform driver for the x86 Win32 platform. More...
class	Kernel
	Concrete implementation of IKernel. More...
class	StackMemoryDef
	Stack memory type definition. More...
class	Stack
	Stack descriptor. More...
class	IStackMemory
	Interface for a stack memory region. More...
class	IWaitObject
	Wait object. More...
class	ITraceable
	Traceable object. More...
class	ISyncObject
	Synchronization object. More...
class	IMutex
	Interface for mutex synchronization primitive. More...
class	ITask
	Interface for a user task. More...
class	IKernelTask
	Scheduling-strategy-facing interface for a kernel task slot. More...
class	IPlatform
	Interface for a platform driver. More...
class	ITaskSwitchStrategy
	Interface for a task switching strategy implementation. More...
class	IKernel
	Interface for the implementation of the kernel of the scheduler. It supports Soft and Hard Real-Time modes. More...
class	IKernelService
	Interface for the kernel services exposed to the user processes during run-time when Kernel started scheduling the processes. More...
class	Task
	Partial implementation of the user task. More...
class	TaskW
	Partial implementation of the user task with a compile-time scheduling weight. Use when the kernel is configured with SwitchStrategySmoothWeightedRoundRobin. More...
class	StackMemoryWrapper
	Adapts an externally-owned stack memory array to the IStackMemory interface. More...
class	SwitchStrategyEDF
	Earliest Deadline First (EDF) scheduling strategy: always selects the runnable task with the least time remaining before its deadline expires. More...
class	SwitchStrategyFixedPriority
	Fixed-priority preemptive scheduling strategy with round-robin arbitration within each priority level. More...
class	SwitchStrategyMonotonic
	Monotonic scheduling strategy: Rate-Monotonic (RM) or Deadline-Monotonic (DM), selected at compile time by the _Type template parameter. More...
class	SchedulabilityCheck
	Utility class providing static methods for Worst-Case Response Time (WCRT) schedulability analysis of a monotonic HRT task set. More...
class	SwitchStrategyRoundRobin
	Round-Robin task-switching strategy: each runnable task receives one time slice (one tick interval) in turn before the kernel moves to the next task. More...
class	SwitchStrategySmoothWeightedRoundRobin
	Smooth Weighted Round-Robin (SWRR) task-switching strategy: distributes CPU time proportionally to per-task weights while avoiding execution bursts by spreading selections evenly over time. More...

Typedefs
typedef PlatformArmCortexM	PlatformDefault
	Default platform implementation.
typedef uintptr_t	Word
	Native processor word type.
typedef Word	TId
typedef int32_t	Timeout
	Timeout time (ticks).
typedef int64_t	Ticks
	Ticks value.
typedef uint64_t	Cycles
	Cycles value.
typedef SwitchStrategyFixedPriority< 32 >	SwitchStrategyFP32
	Shorthand alias for SwitchStrategyFixedPriority<32>: 32 priority levels (0..31), using a single 32-bit m_ready_bitmap for O(1) highest-priority lookup.
typedef SwitchStrategyMonotonic< MSS_TYPE_RATE >	SwitchStrategyRM
	Shorthand alias for SwitchStrategyMonotonic<MSS_TYPE_RATE>: Rate-Monotonic scheduling (shorter scheduling period -> higher priority).
typedef SwitchStrategyMonotonic< MSS_TYPE_DEADLINE >	SwitchStrategyDM
	Shorthand alias for SwitchStrategyMonotonic<MSS_TYPE_DEADLINE>: Deadline-Monotonic scheduling (shorter execution deadline -> higher priority).
typedef SwitchStrategyRoundRobin	SwitchStrategyRR
	Shorthand alias for SwitchStrategyRoundRobin.
typedef SwitchStrategySmoothWeightedRoundRobin	SwitchStrategySWRR
	Shorthand alias for SwitchStrategySmoothWeightedRoundRobin.

Enumerations
enum	EAccessMode : int32_t {   ACCESS_USER = 0 ,   ACCESS_PRIVILEGED }
	Hardware access mode by the user task. More...
enum	EKernelMode : uint8_t {   KERNEL_STATIC = (1 << 0) ,   KERNEL_DYNAMIC = (1 << 1) ,   KERNEL_HRT = (1 << 2) ,   KERNEL_SYNC = (1 << 3) ,   KERNEL_TICKLESS = (1 << 4) }
	Kernel operating mode. More...
enum	EKernelPanicId : uint32_t {   KERNEL_PANIC_NONE = 0 ,   KERNEL_PANIC_SPINLOCK_DEADLOCK = 1 ,   KERNEL_PANIC_STACK_CORRUPT = 2 ,   KERNEL_PANIC_ASSERT = 3 ,   KERNEL_PANIC_HRT_HARD_FAULT = 4 ,   KERNEL_PANIC_CPU_EXCEPTION = 5 ,   KERNEL_PANIC_CS_NESTING_OVERFLOW = 6 ,   KERNEL_PANIC_UNKNOWN_SVC = 7 ,   KERNEL_PANIC_BAD_STATE = 8 ,   KERNEL_PANIC_BAD_MODE = 9 }
	Identifies the source of a kernel panic. More...
enum	EStackType {   STACK_USER_TASK = 0 ,   STACK_SLEEP_TRAP ,   STACK_EXIT_TRAP }
	Stack type. More...
enum	EConsts {   PERIODICITY_MAX = 99000 ,   PERIODICITY_DEFAULT = 1000 ,   STACK_SIZE_MIN = 32 }
	Constants. More...
enum	ESystemTaskId {   SYS_TASK_ID_SLEEP = 0xFFFFFFFF ,   SYS_TASK_ID_EXIT = 0xFFFFFFFE }
	System task id. More...
enum	ETraceEventId {   TRACE_EVENT_UNKNOWN = 0 ,   TRACE_EVENT_SWITCH = 1000 + 1 ,   TRACE_EVENT_SLEEP = 1000 + 2 }
	Trace event id for tracing tasks suspension and resume with debugging tools (SEGGER SysView and etc.). More...
enum	EMonotonicSwitchStrategyType {   MSS_TYPE_RATE ,   MSS_TYPE_DEADLINE }
	Policy selector for SwitchStrategyMonotonic: determines the timing attribute used to assign fixed priorities to tasks at AddTask() time. More...

Functions
Word	GetTls ()
	Get thread-local storage (TLS).
void	SetTls (Word tp)
	Set thread-local storage (TLS).
static __stk_forceinline Cycles	ConvertTimeUsToClockCycles (Cycles clock_freq, Ticks time_us)
	Convert time (microseconds) to core clock cycles.
template<typename T>
constexpr T	Min (T a, T b) noexcept
	Compile-time minimum of two values.
template<typename T>
constexpr T	Max (T a, T b) noexcept
	Compile-time maximum of two values.
TId	GetTid ()
	Get task/thread Id of the calling task.
int64_t	GetMsFromTicks (int64_t ticks, int32_t resolution)
	Convert ticks to milliseconds.
Ticks	GetTicksFromMs (int64_t ms, int32_t resolution)
	Convert milliseconds to ticks.
Ticks	GetTicks ()
	Get number of ticks elapsed since kernel start.
int32_t	GetTickResolution ()
	Get number of microseconds in one tick.
Ticks	GetTicksFromMs (int64_t ms)
	Convert milliseconds to ticks using the current kernel tick resolution.
static int64_t	GetTimeNowMs ()
	Get current time in milliseconds since kernel start.
void	Sleep (uint32_t ticks)
	Put calling process into a sleep state.
static void	SleepMs (uint32_t ms)
	Put calling process into a sleep state.
void	SleepUntil (Ticks timestamp)
	Put calling process into a sleep state until the specified timestamp.
void	Yield ()
	Notify scheduler to switch to the next runnable task.
void	Delay (uint32_t ticks)
	Delay calling process by busy-waiting until the deadline expires.
static void	DelayMs (uint32_t ms)
	Delay calling process by busy-waiting until the deadline expires.

Variables
const TId	TID_ISR = static_cast<TId>(~0)
	Reserved task/thread id representing an ISR context.
const TId	TID_NONE = static_cast<TId>(0)
	Reserved task/thread id representing zero/none thread id.
const Timeout	WAIT_INFINITE = INT32_MAX
	Timeout value: block indefinitely until the synchronization object is signaled.
const Timeout	NO_WAIT = 0
	Timeout value: return immediately if the synchronization object is not yet signaled (non-blocking poll).

Detailed Description

Namespace of STK package.

Typedef Documentation

Cycles

typedef uint64_t stk::Cycles

Cycles value.

Definition at line 155 of file stk_common.h.

PlatformDefault

typedef PlatformX86Win32 stk::PlatformDefault

Default platform implementation.

Definition at line 52 of file stk_arch_arm-cortex-m.h.

SwitchStrategyDM

typedef SwitchStrategyMonotonic<MSS_TYPE_DEADLINE> stk::SwitchStrategyDM

Shorthand alias for SwitchStrategyMonotonic<MSS_TYPE_DEADLINE>: Deadline-Monotonic scheduling (shorter execution deadline -> higher priority).

See also

SwitchStrategyMonotonic, SchedulabilityCheck

Definition at line 505 of file stk_strategy_monotonic.h.

SwitchStrategyFP32

typedef SwitchStrategyFixedPriority<32> stk::SwitchStrategyFP32

Shorthand alias for SwitchStrategyFixedPriority<32>: 32 priority levels (0..31), using a single 32-bit m_ready_bitmap for O(1) highest-priority lookup.

See also

SwitchStrategyFixedPriority

Definition at line 355 of file stk_strategy_fpriority.h.

SwitchStrategyRM

typedef SwitchStrategyMonotonic<MSS_TYPE_RATE> stk::SwitchStrategyRM

Shorthand alias for SwitchStrategyMonotonic<MSS_TYPE_RATE>: Rate-Monotonic scheduling (shorter scheduling period -> higher priority).

See also

SwitchStrategyMonotonic, SchedulabilityCheck

Definition at line 498 of file stk_strategy_monotonic.h.

SwitchStrategyRR

typedef SwitchStrategyRoundRobin stk::SwitchStrategyRR

Shorthand alias for SwitchStrategyRoundRobin.

See also

SwitchStrategyRoundRobin

Definition at line 246 of file stk_strategy_rrobin.h.

SwitchStrategySWRR

typedef SwitchStrategySmoothWeightedRoundRobin stk::SwitchStrategySWRR

Shorthand alias for SwitchStrategySmoothWeightedRoundRobin.

See also

SwitchStrategySmoothWeightedRoundRobin

Definition at line 280 of file stk_strategy_swrrobin.h.

Ticks

typedef int64_t stk::Ticks

Ticks value.

Definition at line 150 of file stk_common.h.

TId

typedef Word stk::TId

Definition at line 117 of file stk_common.h.

Timeout

typedef int32_t stk::Timeout

Timeout time (ticks).

Definition at line 133 of file stk_common.h.

Word

typedef uintptr_t stk::Word

Native processor word type.

Represents natural data width of the CPU (matching uintptr_t). Used for stack allocation, register storage, pointer value storage, and memory alignment to ensure atomic access, optimal performance, and hardware compatibility.

Definition at line 112 of file stk_common.h.

Enumeration Type Documentation

EAccessMode

enum stk::EAccessMode : int32_t

Hardware access mode by the user task.

Warning

Type is explicitly 32-bit to be compatible with platform implementations.

Enumerator
ACCESS_USER	Unprivileged access mode (access to some hardware is restricted, see CPU manual for details).
ACCESS_PRIVILEGED	Privileged access mode (access to hardware is fully unrestricted).

Definition at line 30 of file stk_common.h.

{
    ACCESS_USER = 0,  
    ACCESS_PRIVILEGED 
};

EConsts

enum stk::EConsts

Constants.

Enumerator
PERIODICITY_MAX	Maximum periodicity (microseconds), 99 milliseconds (note: this value is the highest working on a real hardware and QEMU).
PERIODICITY_DEFAULT	Default periodicity (microseconds), 1 millisecond.
STACK_SIZE_MIN	Minimum stack size in elements of Word. Used as a lower bound for all stack allocations (user task, sleep trap, exit trap). See: StackMemoryDef, StackMemoryWrapper.

Definition at line 79 of file stk_common.h.

{
    PERIODICITY_MAX      = 99000,             
    PERIODICITY_DEFAULT  = 1000,              
    STACK_SIZE_MIN       = STK_STACK_SIZE_MIN 
};

EKernelMode

enum stk::EKernelMode : uint8_t

Kernel operating mode.

Enumerator
KERNEL_STATIC	All tasks are static and can not exit.
KERNEL_DYNAMIC	Tasks can be added or removed and therefore exit when done.
KERNEL_HRT	Hard Real-Time (HRT) behavior (tasks are scheduled periodically and have an execution deadline, whole system is failed when task's deadline is failed).
KERNEL_SYNC	Synchronization support (see Event).
KERNEL_TICKLESS	Tickless mode. To use this mode STK_TICKLESS_IDLE must be defined to 1 in stk_config.h.

Definition at line 39 of file stk_common.h.

{
    KERNEL_STATIC   = (1 << 0), 
    KERNEL_DYNAMIC  = (1 << 1), 
    KERNEL_HRT      = (1 << 2), 
    KERNEL_SYNC     = (1 << 3), 
    KERNEL_TICKLESS = (1 << 4), 
};

EKernelPanicId

enum stk::EKernelPanicId : uint32_t

Identifies the source of a kernel panic.

Enumerator
KERNEL_PANIC_NONE	Panic is absent (no fault).
KERNEL_PANIC_SPINLOCK_DEADLOCK	Spin-lock timeout expired: lock owner never released.
KERNEL_PANIC_STACK_CORRUPT	Stack integrity check failed.
KERNEL_PANIC_ASSERT	Internal assertion failed (maps from STK_ASSERT).
KERNEL_PANIC_HRT_HARD_FAULT	Kernel running in KERNEL_HRT mode reported deadline failure of the task.
KERNEL_PANIC_CPU_EXCEPTION	CPU reported an exception and halted execution.
KERNEL_PANIC_CS_NESTING_OVERFLOW	Critical section nesting limit exceeded: violation of STK_CRITICAL_SECTION_NESTINGS_MAX.
KERNEL_PANIC_UNKNOWN_SVC	Unknown service command received by SVC handler.
KERNEL_PANIC_BAD_STATE	Kernel entered unexpected (bad) state.
KERNEL_PANIC_BAD_MODE	Kernel is in bad/unsupported mode for the current operation.

Definition at line 51 of file stk_common.h.

{
    KERNEL_PANIC_NONE                = 0, 
    KERNEL_PANIC_SPINLOCK_DEADLOCK   = 1, 
    KERNEL_PANIC_STACK_CORRUPT       = 2, 
    KERNEL_PANIC_ASSERT              = 3, 
    KERNEL_PANIC_HRT_HARD_FAULT      = 4, 
    KERNEL_PANIC_CPU_EXCEPTION       = 5, 
    KERNEL_PANIC_CS_NESTING_OVERFLOW = 6, 
    KERNEL_PANIC_UNKNOWN_SVC         = 7, 
    KERNEL_PANIC_BAD_STATE           = 8, 
    KERNEL_PANIC_BAD_MODE            = 9  
};

EMonotonicSwitchStrategyType

enum stk::EMonotonicSwitchStrategyType

Policy selector for SwitchStrategyMonotonic: determines the timing attribute used to assign fixed priorities to tasks at AddTask() time.

Enumerator
MSS_TYPE_RATE	Rate-Monotonic (RM): shorter scheduling period -> higher priority. Priority is derived from GetHrtPeriodicity() and is fixed at task registration.
MSS_TYPE_DEADLINE	Deadline-Monotonic (DM): shorter execution deadline -> higher priority. Priority is derived from GetHrtDeadline() and is fixed at task registration.

Definition at line 28 of file stk_strategy_monotonic.h.

{
    MSS_TYPE_RATE,    
    MSS_TYPE_DEADLINE 
};

EStackType

enum stk::EStackType

Stack type.

See also

IPlatform::InitStack

Enumerator
STACK_USER_TASK	Stack of the user task.
STACK_SLEEP_TRAP	Stack of the Sleep trap.
STACK_EXIT_TRAP	Stack of the Exit trap.

Definition at line 69 of file stk_common.h.

{
    STACK_USER_TASK = 0, 
    STACK_SLEEP_TRAP,    
    STACK_EXIT_TRAP      
};

ESystemTaskId

enum stk::ESystemTaskId

System task id.

Enumerator
SYS_TASK_ID_SLEEP	Sleep trap.
SYS_TASK_ID_EXIT	Exit trap.

Definition at line 89 of file stk_common.h.

{
    SYS_TASK_ID_SLEEP = 0xFFFFFFFF, 
    SYS_TASK_ID_EXIT  = 0xFFFFFFFE  
};

ETraceEventId

enum stk::ETraceEventId

Trace event id for tracing tasks suspension and resume with debugging tools (SEGGER SysView and etc.).

Enumerator
TRACE_EVENT_UNKNOWN
TRACE_EVENT_SWITCH
TRACE_EVENT_SLEEP

Definition at line 98 of file stk_common.h.

{
    TRACE_EVENT_UNKNOWN = 0,
    TRACE_EVENT_SWITCH  = 1000 + 1,
    TRACE_EVENT_SLEEP   = 1000 + 2
};

Function Documentation

ConvertTimeUsToClockCycles()

__stk_forceinline Cycles stk::ConvertTimeUsToClockCycles ( Cycles clock_freq, Ticks time_us )

static

Convert time (microseconds) to core clock cycles.

Parameters

[in]	clock_freq	Clock frequency.
[in]	time_us	Time (microseconds).

Returns

Clock cycles.

Definition at line 104 of file stk_arch_common.h.

{
    return ((clock_freq * static_cast<Cycles>(time_us)) / 1000000ULL);
}

References __stk_forceinline.

Delay()

void stk::Delay

(

uint32_t

ticks

)

Delay calling process by busy-waiting until the deadline expires.

Note

Unlike Sleep this function delays code execution by spinning in a loop until deadline expiry.

Use with care in HRT mode to avoid missed deadline (see stk::KERNEL_HRT, ITask::OnDeadlineMissed).

Parameters

[in]

ticks

Delay time (ticks).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 342 of file stk_helper.h.

{
    IKernelService::GetInstance()->Delay(ticks);
}

References __stk_forceinline, stk::IKernelService::Delay(), and stk::IKernelService::GetInstance().

Referenced by DelayMs(), stk::test::chain::TestTask< _AccessMode >::Run(), stk::test::condvar::NotifyOneOrderTask< _AccessMode >::Run(), stk::test::condvar::NotifyOneWakesTask< _AccessMode >::Run(), stk::test::condvar::PredicateLoopTask< _AccessMode >::Run(), stk::test::event::AutoResetBasicTask< _AccessMode >::Run(), stk::test::event::PulseAutoResetTask< _AccessMode >::Run(), stk::test::eventflags::MultiWaiterAllTask< _AccessMode >::Run(), stk::test::eventflags::SetWaitAnyTask< _AccessMode >::Run(), stk::test::hrt::TestTask< _AccessMode >::Run(), stk::test::mutex::BasicLockUnlockTask< _AccessMode >::Run(), stk::test::mutex::InterTaskCoordinationTask< _AccessMode >::Run(), stk::test::mutex::StressTestTask< _AccessMode >::Run(), stk::test::rwmutex::ReaderWriterAlternationTask< _AccessMode >::Run(), stk::test::rwmutex::StressTestTask< _AccessMode >::Run(), stk::test::rwmutex::WriterExclusivityTask< _AccessMode >::Run(), stk::test::rwmutex::WriterStarvationTask< _AccessMode >::Run(), stk::test::semaphore::BasicSignalWaitTask< _AccessMode >::Run(), stk::test::semaphore::BoundedBufferTask< _AccessMode >::Run(), stk::test::semaphore::FIFOOrderTask< _AccessMode >::Run(), stk::test::semaphore::StressTestTask< _AccessMode >::Run(), stk::test::spinlock::MutualExclusionTask< _AccessMode >::Run(), stk::test::spinlock::UnlockTransferTask< _AccessMode >::Run(), stk::test::switch_::TestTask< _AccessMode >::Run(), stk_delay(), stk::test::TEST(), and stk::test::TEST().

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DelayMs()

void stk::DelayMs ( uint32_t ms )

inlinestatic

Delay calling process by busy-waiting until the deadline expires.

Note

Unlike Sleep this function delays code execution by spinning in a loop until deadline expiry.

Use with care in HRT mode to avoid missed deadline (see stk::KERNEL_HRT, ITask::OnDeadlineMissed).

Parameters

[in]

ms

Delay time (milliseconds).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 353 of file stk_helper.h.

{
    Delay(static_cast<Timeout>(GetTicksFromMs(ms)));
}

References Delay(), and GetTicksFromMs().

Referenced by stk_delay_ms(), and stk::test::TEST().

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GetMsFromTicks()

int64_t stk::GetMsFromTicks	(	int64_t	ticks,
		int32_t	resolution )

Convert ticks to milliseconds.

Parameters

[in]	ticks	Tick count to convert.
[in]	resolution	Microseconds per tick, as returned by IKernelService::GetTickResolution().

Returns

Equivalent time in milliseconds.

Note

ISR-safe (performs only arithmetic, no kernel calls).

Definition at line 228 of file stk_helper.h.

{
    return (ticks * resolution) / 1000;
}

References __stk_forceinline.

Referenced by stk::test::TEST().

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GetTickResolution()

int32_t stk::GetTickResolution

(

)

Get number of microseconds in one tick.

Note

Tick is a periodicity of the system timer expressed in microseconds.

ISR-safe.

Returns

Microseconds in one tick.

Definition at line 258 of file stk_helper.h.

{
    return IKernelService::GetInstance()->GetTickResolution();
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::GetTickResolution().

Referenced by GetTicksFromMs(), stk_tick_resolution(), stk_ticks_from_ms(), and stk::test::TEST().

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GetTicks()

Ticks stk::GetTicks

(

)

Get number of ticks elapsed since kernel start.

Note

ISR-safe.

Returns

Ticks.

Definition at line 248 of file stk_helper.h.

{
    return IKernelService::GetInstance()->GetTicks();
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::GetTicks().

Referenced by stk::time::TimerHost::Timer::GetRemainingTime(), stk::time::PeriodicTrigger::Poll(), stk::time::TimerHost::Reset(), stk::time::PeriodicTrigger::Restart(), stk::time::TimerHost::Restart(), stk::time::TimerHost::Start(), stk::time::TimerHost::StartOrReset(), stk_ticks(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), stk::test::TestTaskSleep(), stk::time::TimerHost::UpdateTime(), and stk::sync::EventFlags::Wait().

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GetTicksFromMs() [1/2]

Ticks stk::GetTicksFromMs

(

int64_t

ms

)

Convert milliseconds to ticks using the current kernel tick resolution.

Parameters

[in]

ms

Time in milliseconds to convert.

Returns

Equivalent tick count.

Note

Convenience overload that queries GetTickResolution() automatically. Use the two-argument form GetTicksFromMsec(ms, resolution) in ISR context.

Warning

ISR-unsafe (internally calls GetTickResolution() which accesses the kernel service).

Definition at line 270 of file stk_helper.h.

{
    return GetTicksFromMs(ms, GetTickResolution());
}

References __stk_forceinline, GetTickResolution(), and GetTicksFromMs().

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GetTicksFromMs() [2/2]

Ticks stk::GetTicksFromMs	(	int64_t	ms,
		int32_t	resolution )

Convert milliseconds to ticks.

Parameters

[in]	ms	Time in milliseconds to convert.
[in]	resolution	Microseconds per tick, as returned by IKernelService::GetTickResolution().

Returns

Equivalent tick count.

Note

ISR-safe (performs only arithmetic, no kernel calls).

Definition at line 239 of file stk_helper.h.

{
    return ms * 1000 / resolution;
}

References __stk_forceinline.

Referenced by DelayMs(), GetTicksFromMs(), stk::test::stk::SetTimeNowMsec(), and SleepMs().

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GetTid()

TId stk::GetTid

(

)

Get task/thread Id of the calling task.

Returns

Id of the calling task/thread.

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 217 of file stk_helper.h.

{
    return IKernelService::GetInstance()->GetTid();
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::GetTid().

Referenced by stk::sync::SpinLock::Lock(), stk_tid(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), stk::test::Test_SyncWait(), stk::sync::SpinLock::TryLock(), stk::sync::Mutex::Unlock(), and stk::sync::SpinLock::Unlock().

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GetTimeNowMs()

int64_t stk::GetTimeNowMs ( )

inlinestatic

Get current time in milliseconds since kernel start.

Returns

Milliseconds elapsed since IKernel::Start() was called.

Note

ISR-safe.

When the tick resolution is exactly 1000 µs (1 ms, the default PERIODICITY_DEFAULT), the tick count is returned directly without multiplication, avoiding a 64-bit multiply.

Definition at line 281 of file stk_helper.h.

{
    IKernelService *service = IKernelService::GetInstance();
    int32_t resolution = service->GetTickResolution();
 
    if (resolution == 1000) // fast path: tick == 1 ms, no conversion needed
        return service->GetTicks();
    else
        return (service->GetTicks() * resolution) / 1000;
}

References stk::IKernelService::GetInstance(), stk::IKernelService::GetTickResolution(), and stk::IKernelService::GetTicks().

Referenced by stk::test::timer::TestTimer::OnExpired(), stk::test::chain::TestTask< _AccessMode >::Run(), stk::test::condvar::NoWaitTimeoutTask< _AccessMode >::Run(), stk::test::condvar::TimeoutExpiresTask< _AccessMode >::Run(), stk::test::event::TimeoutWaitTask< _AccessMode >::Run(), stk::test::event::TryWaitTask< _AccessMode >::Run(), stk::test::eventflags::TimeoutTask< _AccessMode >::Run(), stk::test::eventflags::TryWaitTask< _AccessMode >::Run(), stk::test::hrt::TestTask< _AccessMode >::Run(), stk::test::mutex::TimedLockTask< _AccessMode >::Run(), stk::test::mutex::TryLockTask< _AccessMode >::Run(), stk::test::pipe::TimeoutTask< _AccessMode >::Run(), stk::test::rwmutex::ReadUnlockWakesWriterTask< _AccessMode >::Run(), stk::test::rwmutex::TimedReadLockTask< _AccessMode >::Run(), stk::test::rwmutex::TimedWriteLockTask< _AccessMode >::Run(), stk::test::rwmutex::TryReadLockWhileWriterTask< _AccessMode >::Run(), stk::test::rwmutex::WriterStarvationTask< _AccessMode >::Run(), stk::test::semaphore::TimeoutWaitTask< _AccessMode >::Run(), stk::test::semaphore::ZeroTimeoutTask< _AccessMode >::Run(), stk::test::sleep::TestTask< _AccessMode >::Run(), stk::test::spinlock::TryLockContendedTask< _AccessMode >::Run(), stk::test::timer::OneShotTimerTask< _AccessMode >::Run(), stk::test::timer::ResetPeriodicTimerTask< _AccessMode >::Run(), stk::test::timer::RestartTimerTask< _AccessMode >::Run(), stk::test::timer::StartOrResetTask< _AccessMode >::Run(), stk_time_now_ms(), stk::test::TEST(), and stk::test::TEST().

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GetTls()

uintptr_t stk::hw::GetTls

(

)

Get thread-local storage (TLS).

Returns

TLS value.

Note

Using r9 register.

Returns

TLS value.

Note

tp register is an alias for x4

Definition at line 58 of file stk_arch_arm-cortex-m.h.

{
    Word tp;
    __asm volatile("MOV %0, r9" : "=r"(tp) : /* input: none */ : /* clobbers: none */);
    return tp;
}

References __stk_forceinline.

Max()

template<typename T>

T stk::Max ( T a, T b )

constexprnoexcept

Compile-time maximum of two values.

Note

Arguments are evaluated exactly once, safe for any expression type.

Definition at line 536 of file stk_defs.h.

{ return (a < b) ? b : a; }

Referenced by stk::test::TEST(), and stk::Kernel< TMode, TSize, TStrategy, TPlatform >::UpdateTaskState().

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Min()

template<typename T>

T stk::Min ( T a, T b )

constexprnoexcept

Compile-time minimum of two values.

Note

Arguments are evaluated exactly once, safe for any expression type.

Definition at line 530 of file stk_defs.h.

{ return (a < b) ? a : b; }

Referenced by stk::test::TEST(), and stk::Kernel< TMode, TSize, TStrategy, TPlatform >::UpdateTaskState().

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SetTls()

void stk::hw::SetTls

(

Word

tp

)

Set thread-local storage (TLS).

Parameters

[in]

tp

TLS value.

Note

Using r9 register.

Parameters

[in]

tp

TLS value.

Note

tp register is an alias for x4

Definition at line 69 of file stk_arch_arm-cortex-m.h.

{
    __asm volatile("MOV r9, %0" : /* output: none */ : "r"(tp) : /* clobbers: none */);
}

References __stk_forceinline.

Sleep()

void stk::Sleep

(

uint32_t

ticks

)

Put calling process into a sleep state.

Note

Unlike Delay this function does not waste CPU cycles and allows kernel to put CPU into a low-power state.

Unsupported in HRT mode (see stk::KERNEL_HRT); in HRT mode tasks sleep automatically according to their periodicity and workload.

Parameters

[in]

ticks

Sleep time (ticks).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 298 of file stk_helper.h.

{
    IKernelService::GetInstance()->Sleep(ticks);
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::Sleep().

Referenced by stk::test::condvar::MutexReacquiredTask< _AccessMode >::Run(), stk::test::condvar::NotifyAllWakesTask< _AccessMode >::Run(), stk::test::condvar::NotifyOneOrderTask< _AccessMode >::Run(), stk::test::condvar::NotifyOneWakesTask< _AccessMode >::Run(), stk::test::condvar::NoWaitTimeoutTask< _AccessMode >::Run(), stk::test::condvar::PredicateLoopTask< _AccessMode >::Run(), stk::test::condvar::StressTestTask< _AccessMode >::Run(), stk::test::condvar::TimeoutExpiresTask< _AccessMode >::Run(), stk::test::event::AutoResetBasicTask< _AccessMode >::Run(), stk::test::event::InitialStateTask< _AccessMode >::Run(), stk::test::event::ManualResetBasicTask< _AccessMode >::Run(), stk::test::event::PulseAutoResetTask< _AccessMode >::Run(), stk::test::event::PulseManualResetTask< _AccessMode >::Run(), stk::test::event::ResetManualTask< _AccessMode >::Run(), stk::test::event::TimeoutWaitTask< _AccessMode >::Run(), stk::test::event::TryWaitTask< _AccessMode >::Run(), stk::test::eventflags::ClearTask< _AccessMode >::Run(), stk::test::eventflags::GetTask< _AccessMode >::Run(), stk::test::eventflags::InitialFlagsTask< _AccessMode >::Run(), stk::test::eventflags::MultiWaiterAllTask< _AccessMode >::Run(), stk::test::eventflags::MultiWaiterAnyTask< _AccessMode >::Run(), stk::test::eventflags::NoClearTask< _AccessMode >::Run(), stk::test::eventflags::SetWaitAllTask< _AccessMode >::Run(), stk::test::eventflags::SetWaitAnyTask< _AccessMode >::Run(), stk::test::eventflags::TimeoutTask< _AccessMode >::Run(), stk::test::eventflags::TryWaitTask< _AccessMode >::Run(), stk::test::mutex::BasicLockUnlockTask< _AccessMode >::Run(), stk::test::mutex::FIFOOrderTask< _AccessMode >::Run(), stk::test::mutex::InterTaskCoordinationTask< _AccessMode >::Run(), stk::test::mutex::RecursiveDepthTask< _AccessMode >::Run(), stk::test::mutex::RecursiveLockTask< _AccessMode >::Run(), stk::test::mutex::StressTestTask< _AccessMode >::Run(), stk::test::mutex::TimedLockTask< _AccessMode >::Run(), stk::test::mutex::TryLockTask< _AccessMode >::Run(), stk::test::pipe::BasicWriteReadTask< _AccessMode >::Run(), stk::test::pipe::BulkWriteReadTask< _AccessMode >::Run(), stk::test::pipe::GetSizeIsEmptyTask< _AccessMode >::Run(), stk::test::pipe::MultiProducerConsumerTask< _AccessMode >::Run(), stk::test::pipe::ReadBlocksWhenEmptyTask< _AccessMode >::Run(), stk::test::pipe::StressTestTask< _AccessMode >::Run(), stk::test::pipe::TimeoutTask< _AccessMode >::Run(), stk::test::pipe::WriteBlocksWhenFullTask< _AccessMode >::Run(), stk::test::rwmutex::ConcurrentReadersTask< _AccessMode >::Run(), stk::test::rwmutex::ReaderWriterAlternationTask< _AccessMode >::Run(), stk::test::rwmutex::ReadUnlockWakesWriterTask< _AccessMode >::Run(), stk::test::rwmutex::StressTestTask< _AccessMode >::Run(), stk::test::rwmutex::TimedReadLockTask< _AccessMode >::Run(), stk::test::rwmutex::TimedWriteLockTask< _AccessMode >::Run(), stk::test::rwmutex::TryReadLockWhileWriterTask< _AccessMode >::Run(), stk::test::rwmutex::WriterExclusivityTask< _AccessMode >::Run(), stk::test::rwmutex::WriterPriorityTask< _AccessMode >::Run(), stk::test::rwmutex::WriterStarvationTask< _AccessMode >::Run(), stk::test::semaphore::BasicSignalWaitTask< _AccessMode >::Run(), stk::test::semaphore::BoundedBufferTask< _AccessMode >::Run(), stk::test::semaphore::FIFOOrderTask< _AccessMode >::Run(), stk::test::semaphore::InitialCountTask< _AccessMode >::Run(), stk::test::semaphore::SignalBeforeWaitTask< _AccessMode >::Run(), stk::test::semaphore::StressTestTask< _AccessMode >::Run(), stk::test::semaphore::TimeoutWaitTask< _AccessMode >::Run(), stk::test::semaphore::ZeroTimeoutTask< _AccessMode >::Run(), stk::test::sleep::TestTask< _AccessMode >::Run(), stk::test::spinlock::MutualExclusionTask< _AccessMode >::Run(), stk::test::spinlock::RecursiveLockTask< _AccessMode >::Run(), stk::test::spinlock::RecursiveTryLockTask< _AccessMode >::Run(), stk::test::spinlock::StressTestTask< _AccessMode >::Run(), stk::test::spinlock::TryLockContendedTask< _AccessMode >::Run(), stk::test::spinlock::TryLockFreeTask< _AccessMode >::Run(), stk::test::spinlock::UnlockTransferTask< _AccessMode >::Run(), stk::test::spinlock::YieldUnderContentionTask< _AccessMode >::Run(), stk::test::timer::MultipleTimersTask< _AccessMode >::Run(), stk::test::timer::OneShotTimerTask< _AccessMode >::Run(), stk::test::timer::PeriodicTimerTask< _AccessMode >::Run(), stk::test::timer::ResetPeriodicTimerTask< _AccessMode >::Run(), stk::test::timer::RestartTimerTask< _AccessMode >::Run(), stk::test::timer::SetPeriodTask< _AccessMode >::Run(), stk::test::timer::StartOrResetTask< _AccessMode >::Run(), stk::test::timer::StopTimerTask< _AccessMode >::Run(), stk::test::timer::StressTestTask< _AccessMode >::Run(), SleepMs(), stk_sleep(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), and stk::test::TestTaskSleep().

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SleepMs()

void stk::SleepMs ( uint32_t ms )

inlinestatic

Put calling process into a sleep state.

Note

Unlike Delay this function does not waste CPU cycles and allows kernel to put CPU into a low-power state.

Unsupported in HRT mode (see stk::KERNEL_HRT); in HRT mode tasks sleep automatically according to their periodicity and workload.

Converts ms to ticks and calls IKernelService::SleepTicks() which schedules the calling task to sleep and spins until the kernel switches it back in.

Parameters

[in]

ms

Sleep time (milliseconds).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 311 of file stk_helper.h.

{
    Sleep(static_cast<Timeout>(GetTicksFromMs(ms)));
}

References GetTicksFromMs(), and Sleep().

Referenced by stk_sleep_ms(), and stk::test::TEST().

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SleepUntil()

void stk::SleepUntil

(

Ticks

timestamp

)

Put calling process into a sleep state until the specified timestamp.

Note

Unlike Delay this function does not waste CPU cycles and allows kernel to put CPU into a low-power state.

Unsupported in HRT mode (see stk::KERNEL_HRT); in HRT mode tasks sleep automatically according to their periodicity and workload.

Parameters

[in]

timestamp

Absolute timestamp (ticks).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 322 of file stk_helper.h.

{
    IKernelService::GetInstance()->SleepUntil(timestamp);
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::SleepUntil().

Referenced by stk_sleep_until(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), and stk::test::TestTaskSleep().

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Yield()

void stk::Yield

(

)

Notify scheduler to switch to the next runnable task.

Note

A cooperative scheduling mechanism. In HRT mode acts as a cooperation point (see stk::KERNEL_HRT).

Warning

ISR-unsafe. Calling from an ISR context is not permitted and will trigger an assertion.

Definition at line 331 of file stk_helper.h.

{
    IKernelService::GetInstance()->SwitchToNext();
}

References __stk_forceinline, stk::IKernelService::GetInstance(), and stk::IKernelService::SwitchToNext().

Referenced by stk::test::EDFDynamicSchedulingContext::Process(), stk::test::hrt::TestTask< _AccessMode >::Run(), stk::test::mutex::BasicLockUnlockTask< _AccessMode >::Run(), stk::test::rwmutex::ReadUnlockWakesWriterTask< _AccessMode >::Run(), stk::test::rwmutex::TimedReadLockTask< _AccessMode >::Run(), stk::test::rwmutex::TimedWriteLockTask< _AccessMode >::Run(), stk::test::rwmutex::TryReadLockWhileWriterTask< _AccessMode >::Run(), stk::test::rwmutex::WriterExclusivityTask< _AccessMode >::Run(), stk::test::rwmutex::WriterPriorityTask< _AccessMode >::Run(), stk::test::spinlock::MutualExclusionTask< _AccessMode >::Run(), stk::test::spinlock::RecursiveTryLockTask< _AccessMode >::Run(), stk::test::spinlock::TryLockContendedTask< _AccessMode >::Run(), stk::test::spinlock::TryLockFreeTask< _AccessMode >::Run(), stk::test::timer::PeriodicTimerTask< _AccessMode >::Run(), stk::test::timer::StartOrResetTask< _AccessMode >::Run(), stk_yield(), stk::test::TEST(), stk::test::TEST(), stk::test::TEST(), and stk::test::TEST().

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Variable Documentation

NO_WAIT

const Timeout stk::NO_WAIT = 0

Timeout value: return immediately if the synchronization object is not yet signaled (non-blocking poll).

Note

Pass as the timeout argument to IKernelService::Wait().

Definition at line 145 of file stk_common.h.

Referenced by stk::time::TimerHost::ProcessCommands(), stk::time::TimerHost::PushCommand(), stk::test::condvar::NoWaitTimeoutTask< _AccessMode >::Run(), stk::test::semaphore::ZeroTimeoutTask< _AccessMode >::Run(), stk::sync::Mutex::TimedLock(), stk::sync::Mutex::TryLock(), stk::sync::RWMutex::TryLock(), stk::sync::Pipe< Timer *, 32 >::TryRead(), stk::sync::Pipe< Timer *, 32 >::TryReadBulk(), stk::sync::RWMutex::TryReadLock(), stk::sync::EventFlags::TryWait(), stk::sync::Semaphore::TryWait(), stk::sync::Pipe< Timer *, 32 >::TryWrite(), stk::sync::Pipe< Timer *, 32 >::TryWriteBulk(), stk::time::TimerHost::UpdateTime(), stk::sync::ConditionVariable::Wait(), stk::sync::Event::Wait(), stk::sync::EventFlags::Wait(), and stk::sync::Semaphore::Wait().

TID_ISR

const TId stk::TID_ISR = static_cast<TId>(~0)

Reserved task/thread id representing an ISR context.

Note

Returned by GetTid() when called from an interrupt service routine.

Definition at line 123 of file stk_common.h.

TID_NONE

const TId stk::TID_NONE = static_cast<TId>(0)

Reserved task/thread id representing zero/none thread id.

Definition at line 128 of file stk_common.h.

Referenced by stk::sync::SpinLock::MakeLocked(), stk::sync::Mutex::Mutex(), stk::sync::SpinLock::SpinLock(), stk::sync::Mutex::TimedLock(), stk::sync::Mutex::Unlock(), stk::sync::SpinLock::Unlock(), and stk::sync::SpinLock::~SpinLock().

WAIT_INFINITE

const Timeout stk::WAIT_INFINITE = INT32_MAX

Timeout value: block indefinitely until the synchronization object is signaled.

Note

Pass as the timeout argument to IKernelService::Wait().

Definition at line 139 of file stk_common.h.

Referenced by stk::sync::Mutex::Lock(), stk::sync::RWMutex::Lock(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::OnTaskWait(), stk::time::TimerHost::ProcessCommands(), stk::sync::Pipe< Timer *, 32 >::Read(), stk::sync::Pipe< Timer *, 32 >::ReadBulk(), stk::sync::RWMutex::ReadLock(), stk::time::TimerHost::Restart(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::ScheduleRemoval(), stk::sync::RWMutex::ScopedTimedLock::ScopedTimedLock(), stk::sync::RWMutex::ScopedTimedReadMutex::ScopedTimedReadMutex(), stk::time::TimerHost::SetPeriod(), stk::time::TimerHost::Start(), stk::time::TimerHost::StartOrReset(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::WaitObject::Tick(), stk::time::TimerHost::UpdateTime(), stk::sync::EventFlags::Wait(), stk::sync::Pipe< Timer *, 32 >::Write(), and stk::sync::Pipe< Timer *, 32 >::WriteBulk().