Namespace of STK package. More...

Namespaces
namespace	hw
	Hardware Abstraction Layer (HAL) for architecture-specific operations.
namespace	memory
	Memory-related primitives.
namespace	tz
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	interop_c_helper
namespace	pthread

Classes
class	PlatformArmCortexM
	Concrete implementation of IPlatform driver for the Arm Cortex-M0, M3, M4, M7 processors. More...
struct	FaultContext
	ARMv7-M/ARMv8-M system fault exception context state capture. 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	ArrayView
	Lightweight, non-owning view over a contiguous sequence of elements. 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 interface. 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	StackMemoryDef
	Stack memory type definition. 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	SyncObjectBase
	Default, storage-owning implementation of ISyncObject. 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 TStrategyType 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	SwitchStrategyPreemptionThreshold
	Fixed-priority scheduling with Preemption-Threshold (PTS), modelled on Azure RTOS / ThreadX. Each task has a priority `P` and a threshold `T` with `T` >= `P`. While a task is running it can be preempted only by tasks whose priority is strictly greater than `T`. With `T` == `P` the task behaves like a normal fixed-priority task. More...
class	SwitchStrategyRoundRobinT
class	SwitchStrategySmoothWeightedRoundRobinT
	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
	Task (thread) id.
typedef int32_t	Timeout
	Timeout time (ticks).
typedef int64_t	Ticks
	Ticks value.
typedef int64_t	Time
	Time value.
typedef uint64_t	Cycles
	Cycles value.
typedef int32_t	Weight
	Weight value (aka priority).
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 SwitchStrategyFixedPriority< 32, true >	SwitchStrategyFP32_NSY
	Shorthand alias for SwitchStrategyFixedPriority<32, true>: same as SwitchStrategyFP32 but Yield() keeps the task runnable and hands the CPU to same-priority peers only (NOSLEEP_YIELD_API = 1).
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 SwitchStrategyPreemptionThreshold< 32 >	SwitchStrategyPT32
	SwitchStrategyPreemptionThreshold with 32 priority levels.
typedef SwitchStrategyRoundRobinT< false >	SwitchStrategyRoundRobin
	Shorthand alias for SwitchStrategyRoundRobinT<>.
typedef SwitchStrategyRoundRobinT< false >	SwitchStrategyRR
	Shorthand alias for SwitchStrategyRoundRobin.
typedef SwitchStrategyRoundRobinT< true >	SwitchStrategyRoundRobinNoSleepYield
	Round-Robin strategy where Yield() keeps the task runnable (NOSLEEP_YIELD_API = 1).
typedef SwitchStrategyRoundRobinT< true >	SwitchStrategyRR_NSY
	Shorthand for SwitchStrategyRoundRobinNoSleepYield.
typedef SwitchStrategySmoothWeightedRoundRobinT< false >	SwitchStrategySmoothWeightedRoundRobin
	Shorthand alias for SwitchStrategySmoothWeightedRoundRobinT<false>.
typedef SwitchStrategySmoothWeightedRoundRobinT< false >	SwitchStrategySWRR
	Shorthand alias for SwitchStrategySmoothWeightedRoundRobin.
typedef SwitchStrategySmoothWeightedRoundRobinT< true >	SwitchStrategySmoothWeightedRoundRobinNoSleepYield
	Smooth Weighted Round-Robin strategy where Yield() keeps the task runnable (NOSLEEP_YIELD_API = 1).
typedef SwitchStrategySmoothWeightedRoundRobinT< true >	SwitchStrategySWRR_NSY
	Shorthand for SwitchStrategySmoothWeightedRoundRobinNoSleepYield.

Enumerations
enum	EAccessMode : uint32_t { ACCESS_USER = 0 , ACCESS_PRIVILEGED = (1 << 0) , ACCESS_SECURE = (1 << 1) }
	Hardware access modes by the 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 : uint8_t { KERNEL_PANIC_NONE = 0U , KERNEL_PANIC_SPINLOCK_DEADLOCK = 1U , KERNEL_PANIC_STACK_CORRUPT = 2U , KERNEL_PANIC_ASSERT = 3U , KERNEL_PANIC_HRT_HARD_FAULT = 4U , KERNEL_PANIC_CPU_EXCEPTION = 5U , KERNEL_PANIC_CS_NESTING_OVERFLOW = 6U , KERNEL_PANIC_UNKNOWN_SVC = 7U , KERNEL_PANIC_BAD_STATE = 8U , KERNEL_PANIC_BAD_MODE = 9U , KERNEL_PANIC_BAD_STACK_TYPE = 10U , KERNEL_PANIC_NS_ACCESS = 11U , KERNEL_PANIC_BAD_MEMORY_REGION = 12U }
	Identifies the source of a kernel panic. More...
enum	EStackType : uint8_t { STACK_USER_TASK = 0 , STACK_SLEEP_TRAP , STACK_EXIT_TRAP }
	Stack type. More...
enum	EConsts : uint32_t { PERIODICITY_MAX = 99000 , PERIODICITY_DEFAULT = 1000 , STACK_SIZE_MIN = (32U) }
	Constants. More...
enum	ESystemTaskId : uint32_t { SYS_TASK_ID_SLEEP = 0xFFFFFFFF , SYS_TASK_ID_EXIT = 0xFFFFFFFE }
	System task id. More...
enum	ETraceEventId : uint32_t { TRACE_EVENT_UNKNOWN = 0 , TRACE_EVENT_SWITCH = 1000 + 0 , TRACE_EVENT_SLEEP = 1000 + 1 , TRACE_EVENT_WAIT = 1000 + 2 , TRACE_EVENT_SUSPEND = 1000 + 3 }
	Trace event identifiers for tracing task suspension and resume with debugging tools (e.g. SEGGER SystemView). More...
enum	EWaitResult : int8_t { WAIT_RESULT_FAIL = -1 , WAIT_RESULT_SIGNAL = 0 , WAIT_RESULT_TIMEOUT = 1 , WAIT_RESULT_CANCELED = 2 }
	Wait result (see `IKernelService::Wait`). More...
enum	EHwException : int8_t { HW_EXCEPT_FATAL = 0 , HW_EXCEPT_MEMACCESS = 1 }
	Hardware exception id (see `IPlatform::IEventOverrider::OnException`). 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
static __stk_forceinline Cycles	ConvertTimeUsToClockCycles (uint32_t clock_freq, Ticks time_us)
	Convert time (microseconds) to core clock cycles.
template<bool TicklessMode>
Timeout	GetInitialSleepTicks ()
template<>
Timeout	GetInitialSleepTicks< true > ()
template<>
Timeout	GetInitialSleepTicks< false > ()
static void	STK_KERNEL_PANIC (stk::EKernelPanicId id)
	Called when the kernel detects an unrecoverable internal fault.
static constexpr TId	GetTidFromUserTask (const ITask *task) noexcept
	Get task identifier from ITask instance.
static constexpr ITask *	GetUserTaskFromTid (TId task_id) noexcept
	Get task instance from its identifier.
static bool	IsIsrTid (TId id)
	Test whether a task identifier represents an ISR context.
template<typename T>
static constexpr T	Min (T a, T b) noexcept
	Compile-time minimum of two values.
template<typename T>
static constexpr T	Max (T a, T b) noexcept
	Compile-time maximum of two values.
template<typename T>
static constexpr T	Align (T v, T align) noexcept
	Aligns a value towards the next larger size multiple.
template<typename T>
static constexpr T	AlignPow2 (T v, T align) noexcept
	Fast compile-time alignment for power-of-two boundaries.
static uint32_t	CountLeadingZeros (const uint32_t value) noexcept
	Count leading zeros.
static TId	GetTid ()
	Get task/thread Id of the calling task.
static uint32_t	GetTickResolution ()
	Get number of microseconds in one tick.
static Time	GetMsFromTicks (Ticks tick_count, uint32_t resolution)
	Convert ticks to milliseconds.
static Ticks	GetTicksFromMs (Time ms, uint32_t resolution)
	Convert milliseconds to ticks.
static Ticks	GetTicksFromMs (Time ms)
	Convert milliseconds to ticks using the current kernel tick resolution.
static Timeout	GetTicksFromMsClampedToTimeout (Timeout ms)
	Convert milliseconds to ticks and clamp the result to a Timeout type.
static Ticks	GetTicks ()
	Get number of ticks elapsed since kernel start.
static Time	GetTimeNowMs ()
	Get current time in milliseconds since kernel start.
static Cycles	GetSysTimerCount ()
	Get system timer count value.
static uint32_t	GetSysTimerFrequency ()
	Get system timer frequency.
static void	Sleep (Timeout tick_count)
	Put calling process into a sleep state.
static void	SleepMs (Timeout ms)
	Put calling process into a sleep state.
static bool	SleepUntil (Ticks timestamp)
	Put calling process into a sleep state until the specified timestamp.
static void	SleepCancel (TId task_id)
	Cancel sleep of the task.
static void	Yield ()
	Notify scheduler to switch to the next runnable task.
static Weight	SetWeight (TId tid, Weight weight)
	Change the base scheduling weight of a task at run-time.
static Weight	SetWeight (Weight weight)
	Change the base scheduling weight of the calling task at run-time.
static void	Delay (Timeout tick_count)
	Delay calling process by busy-waiting until the deadline expires.
static void	DelayMs (Timeout ms)
	Delay calling process by busy-waiting until the deadline expires.
template<typename T, typename Mem, typename... Args>
static T *	ConstructIn (Mem &mem, Args &&... args)
	Construct object T in-place inside a C memory container.

Variables
static constexpr TId	TID_ISR_N = static_cast<TId>(0xFFFFF000U)
	Bitmask sentinel for ISR-context task identifiers.
static constexpr TId	TID_NONE = static_cast<TId>(0U)
	Reserved task/thread id representing zero/none thread id.
static constexpr Timeout	WAIT_INFINITE = INT32_MAX
	Timeout value: block indefinitely until the synchronization object is signaled.
static constexpr Timeout	NO_WAIT = 0
	Timeout value: return immediately if the synchronization object is not yet signaled (non-blocking poll).
static constexpr Weight	NO_WEIGHT = -1
	Weight value: weight is not set.
static constexpr Weight	DEFAULT_WEIGHT = 1
	Weight value: default weight of value (1) (see `SwitchStrategySmoothWeightedRoundRobin`).

Detailed Description

Namespace of STK package.

Typedef Documentation

◆ Cycles

typedef uint64_t stk::Cycles

Cycles value.

Definition at line 169 of file stk_common.h.

◆ PlatformDefault

typedef PlatformX86Win32 stk::PlatformDefault

Default platform implementation.

Definition at line 170 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 546 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 450 of file stk_strategy_fpriority.h.

◆ SwitchStrategyFP32_NSY

typedef SwitchStrategyFixedPriority<32, true> stk::SwitchStrategyFP32_NSY

Shorthand alias for SwitchStrategyFixedPriority<32, true>: same as SwitchStrategyFP32 but Yield() keeps the task runnable and hands the CPU to same-priority peers only (NOSLEEP_YIELD_API = 1).

See also: SwitchStrategyFixedPriority

Definition at line 457 of file stk_strategy_fpriority.h.

◆ SwitchStrategyPT32

typedef SwitchStrategyPreemptionThreshold<32> stk::SwitchStrategyPT32

SwitchStrategyPreemptionThreshold with 32 priority levels.

Definition at line 472 of file stk_strategy_pthreshold.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 539 of file stk_strategy_monotonic.h.

◆ SwitchStrategyRoundRobin

typedef SwitchStrategyRoundRobinT<false> stk::SwitchStrategyRoundRobin

Shorthand alias for SwitchStrategyRoundRobinT<>.

See also: SwitchStrategyRoundRobinT

Definition at line 289 of file stk_strategy_rrobin.h.

◆ SwitchStrategyRoundRobinNoSleepYield

typedef SwitchStrategyRoundRobinT<true> stk::SwitchStrategyRoundRobinNoSleepYield

Round-Robin strategy where Yield() keeps the task runnable (NOSLEEP_YIELD_API = 1).

See also: SwitchStrategyRoundRobinT

Definition at line 301 of file stk_strategy_rrobin.h.

◆ SwitchStrategyRR

typedef SwitchStrategyRoundRobinT<false> stk::SwitchStrategyRR

Shorthand alias for SwitchStrategyRoundRobin.

See also: SwitchStrategyRoundRobinT

Definition at line 295 of file stk_strategy_rrobin.h.

◆ SwitchStrategyRR_NSY

typedef SwitchStrategyRoundRobinT<true> stk::SwitchStrategyRR_NSY

Shorthand for SwitchStrategyRoundRobinNoSleepYield.

See also: SwitchStrategyRoundRobinNoSleepYield

Definition at line 307 of file stk_strategy_rrobin.h.

◆ SwitchStrategySmoothWeightedRoundRobin

typedef SwitchStrategySmoothWeightedRoundRobinT<false> stk::SwitchStrategySmoothWeightedRoundRobin

Shorthand alias for SwitchStrategySmoothWeightedRoundRobinT<false>.

See also: SwitchStrategySmoothWeightedRoundRobinT

Definition at line 368 of file stk_strategy_swrrobin.h.

◆ SwitchStrategySmoothWeightedRoundRobinNoSleepYield

typedef SwitchStrategySmoothWeightedRoundRobinT<true> stk::SwitchStrategySmoothWeightedRoundRobinNoSleepYield

Smooth Weighted Round-Robin strategy where Yield() keeps the task runnable (NOSLEEP_YIELD_API = 1).

See also: SwitchStrategySmoothWeightedRoundRobinT

Definition at line 380 of file stk_strategy_swrrobin.h.

◆ SwitchStrategySWRR

typedef SwitchStrategySmoothWeightedRoundRobinT<false> stk::SwitchStrategySWRR

Shorthand alias for SwitchStrategySmoothWeightedRoundRobin.

See also: SwitchStrategySmoothWeightedRoundRobinT

Definition at line 374 of file stk_strategy_swrrobin.h.

◆ SwitchStrategySWRR_NSY

typedef SwitchStrategySmoothWeightedRoundRobinT<true> stk::SwitchStrategySWRR_NSY

Shorthand for SwitchStrategySmoothWeightedRoundRobinNoSleepYield.

See also: SwitchStrategySmoothWeightedRoundRobinNoSleepYield

Definition at line 386 of file stk_strategy_swrrobin.h.

◆ Ticks

typedef int64_t stk::Ticks

Ticks value.

Definition at line 159 of file stk_common.h.

◆ TId

typedef Word stk::TId

Task (thread) id.

Definition at line 149 of file stk_common.h.

◆ Time

typedef int64_t stk::Time

Time value.

Definition at line 164 of file stk_common.h.

◆ Timeout

typedef int32_t stk::Timeout

Timeout time (ticks).

Definition at line 154 of file stk_common.h.

◆ Weight

typedef int32_t stk::Weight

Weight value (aka priority).

Definition at line 174 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 144 of file stk_common.h.

Enumeration Type Documentation

◆ EAccessMode

enum stk::EAccessMode : uint32_t

Hardware access modes by the task.

Note: Can be used as a bit-field.

Enumerator
ACCESS_USER	Unprivileged access mode (access to some hardware is restricted, see CPU manual for details). If compiled as ARM TrustZone, this is also a Non-Secure mode.
ACCESS_PRIVILEGED	Privileged access mode (access to hardware is fully unrestricted).
ACCESS_SECURE	Secure access mode (ARM TrustZone, Secure binary).

Definition at line 35 of file stk_common.h.

{
    ACCESS_USER       = 0,        
    ACCESS_PRIVILEGED = (1 << 0), 
    ACCESS_SECURE     = (1 << 1), 
};

◆ EConsts

enum stk::EConsts : uint32_t

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 88 of file stk_common.h.

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

◆ EHwException

enum stk::EHwException : int8_t

Hardware exception id (see IPlatform::IEventOverrider::OnException).

Enumerator
HW_EXCEPT_FATAL	HardFault on ARM / Unhandled Fatal Trap on RISC-V.
HW_EXCEPT_MEMACCESS	MemManage on ARM / Page Fault or PMP violation on RISC-V.

Definition at line 131 of file stk_common.h.

{
    HW_EXCEPT_FATAL     = 0, 
    HW_EXCEPT_MEMACCESS = 1  
};

◆ 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 45 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 : uint8_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_CS_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.
KERNEL_PANIC_BAD_STACK_TYPE	Stack type is unknown.
KERNEL_PANIC_NS_ACCESS	Non-secure access to protected resource.
KERNEL_PANIC_BAD_MEMORY_REGION	Bad memory region (ARM TrustZone: provided memory region overlaps with another one).

Definition at line 57 of file stk_common.h.

{
    KERNEL_PANIC_NONE                = 0U,  
    KERNEL_PANIC_SPINLOCK_DEADLOCK   = 1U,  
    KERNEL_PANIC_STACK_CORRUPT       = 2U,  
    KERNEL_PANIC_ASSERT              = 3U,  
    KERNEL_PANIC_HRT_HARD_FAULT      = 4U,  
    KERNEL_PANIC_CPU_EXCEPTION       = 5U,  
    KERNEL_PANIC_CS_NESTING_OVERFLOW = 6U,  
    KERNEL_PANIC_UNKNOWN_SVC         = 7U,  
    KERNEL_PANIC_BAD_STATE           = 8U,  
    KERNEL_PANIC_BAD_MODE            = 9U,  
    KERNEL_PANIC_BAD_STACK_TYPE      = 10U, 
    KERNEL_PANIC_NS_ACCESS           = 11U, 
    KERNEL_PANIC_BAD_MEMORY_REGION   = 12U  
};

◆ 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 27 of file stk_strategy_monotonic.h.

{
    MSS_TYPE_RATE,    
    MSS_TYPE_DEADLINE 
};

◆ EStackType

enum stk::EStackType : uint8_t

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 78 of file stk_common.h.

{
    STACK_USER_TASK = 0, 
    STACK_SLEEP_TRAP,    
    STACK_EXIT_TRAP      
};

◆ ESystemTaskId

enum stk::ESystemTaskId : uint32_t

System task id.

Enumerator
SYS_TASK_ID_SLEEP	Sleep trap.
SYS_TASK_ID_EXIT	Exit trap.

Definition at line 98 of file stk_common.h.

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

◆ ETraceEventId

enum stk::ETraceEventId : uint32_t

Trace event identifiers for tracing task suspension and resume with debugging tools (e.g. SEGGER SystemView).

Note: Values are offset by 1000 to avoid collisions with the host tool's built-in system event range (0–999).

Enumerator
TRACE_EVENT_UNKNOWN	Unknown / uninitialized trace event.
TRACE_EVENT_SWITCH	Task blocked by the context switch.
TRACE_EVENT_SLEEP	Task entered a sleep state.
TRACE_EVENT_WAIT	Task suspended on a sync object.
TRACE_EVENT_SUSPEND	Task suspended via Suspend.

Definition at line 108 of file stk_common.h.

{
    TRACE_EVENT_UNKNOWN = 0,        
    TRACE_EVENT_SWITCH  = 1000 + 0, 
    TRACE_EVENT_SLEEP   = 1000 + 1, 
    TRACE_EVENT_WAIT    = 1000 + 2, 
    TRACE_EVENT_SUSPEND = 1000 + 3, 
};

◆ EWaitResult

enum stk::EWaitResult : int8_t

Wait result (see IKernelService::Wait).

Enumerator
WAIT_RESULT_FAIL	IKernelService::Wait returned with error without waiting.
WAIT_RESULT_SIGNAL	The wake was caused by a signal.
WAIT_RESULT_TIMEOUT	The wake was caused by a timeout expiry.
WAIT_RESULT_CANCELED	The wait was cancelled by another task via IKernel::CancelTaskWait(), independent of signal/timeout.

Definition at line 120 of file stk_common.h.

{
    WAIT_RESULT_FAIL     = -1, 
    WAIT_RESULT_SIGNAL   = 0,  
    WAIT_RESULT_TIMEOUT  = 1,  
    WAIT_RESULT_CANCELED = 2   
};

Function Documentation

◆ Align()

template<typename T>

constexpr T stk::Align	(	T	v,
		T	align )

staticconstexprnoexcept

Aligns a value towards the next larger size multiple.

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

Definition at line 765 of file stk_defs.h.

{
    return ((v + align - static_cast<T>(1U)) / align) * align;
}

◆ AlignPow2()

template<typename T>

constexpr T stk::AlignPow2	(	T	v,
		T	align )

staticconstexprnoexcept

Fast compile-time alignment for power-of-two boundaries.

Note: Arguments are evaluated exactly once. The 'align' parameter MUST be a power of two.

Definition at line 774 of file stk_defs.h.

{
    return (v + align - static_cast<T>(1U)) & ~(align - static_cast<T>(1U));
}

◆ ConstructIn()

template<typename T, typename Mem, typename... Args>

T * stk::ConstructIn	(	Mem &	mem,
		Args &&...	args )

inlinestatic

Construct object T in-place inside a C memory container.

Compile-time checks that the container is large and aligned enough for T, run-time check that the actual storage address is aligned.

Parameters

[in]	mem	Memory container (stk_*_mem_t), must expose a `data` member.
[in]	args	Constructor arguments of T.

Returns: Pointer to the constructed object.

Examples: D:/SVN/private/stk/interop/c/include/stk_c.h.

Definition at line 2198 of file stk_c.h.

{
    STK_STATIC_ASSERT_DESC((sizeof(T) <= sizeof(Mem)),
        "stk_*_mem_t is too small for the C++ object");
    STK_STATIC_ASSERT_DESC((alignof(T) <= alignof(Mem)),
        "stk_*_mem_t is not sufficiently aligned for the C++ object");
 
    STK_ASSERT((reinterpret_cast<uintptr_t>(mem.data) % alignof(T)) == 0U);
 
    return new (static_cast<void *>(mem.data)) T(static_cast<Args &&>(args)...);
}

References STK_ASSERT, and STK_STATIC_ASSERT_DESC.

Referenced by stk::pthread::EnsureObject(), stk::pthread::EnsureReaper(), pthread_barrier_init(), pthread_cond_init(), pthread_create(), pthread_mutex_init(), pthread_rwlock_init(), pthread_spin_init(), stk_barrier_create(), stk_blockpool_create(), stk_blockpool_create_static(), stk_cv_create(), stk_ef_create(), stk_event_create(), stk_msgq_create(), stk_mutex_create(), stk_periodic_trigger_create(), stk_pipe_create(), stk_rwmutex_create(), stk_sem_create(), and stk_spinlock_create().

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◆ ConvertTimeUsToClockCycles()

__stk_forceinline Cycles stk::ConvertTimeUsToClockCycles	(	uint32_t	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 108 of file stk_arch_common.h.

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

References __stk_forceinline.

◆ CountLeadingZeros()

uint32_t stk::CountLeadingZeros ( const uint32_t value )

inlinestaticnoexcept

Count leading zeros.

Parameters

[in] value Value must be non 0.

Warning: Undefined behavior if temp_val is 0, but guaranteed safe by upstream checks.

Definition at line 783 of file stk_defs.h.

{
    uint32_t ret_val;
 
#if defined(__GNUC__) || defined(__clang__)
    ret_val = static_cast<uint32_t>(__builtin_clz(value));
#elif defined(__ICCARM__)
    ret_val = static_cast<uint32_t>(__CLZ(value));
#else
    uint32_t temp_val = value;
    uint32_t count = 0U;
 
    // note: binary search requires temp_val > 0 to resolve to a max of 31 leading zeros safely
    if (temp_val <= 0x0000FFFFU) { count += 16U; temp_val = temp_val << 16U; } else { }
    if (temp_val <= 0x00FFFFFFU) { count += 8U;  temp_val = temp_val << 8U;  } else { }
    if (temp_val <= 0x0FFFFFFFU) { count += 4U;  temp_val = temp_val << 4U;  } else { }
    if (temp_val <= 0x3FFFFFFFU) { count += 2U;  temp_val = temp_val << 2U;  } else { }
    if (temp_val <= 0x7FFFFFFFU) { count += 1U; } else { }
 
    ret_val = count;
#endif
 
    return ret_val;
}

References __stk_forceinline.

Referenced by stk::SwitchStrategyFixedPriority< 32 >::GetHighestReadyPriority(), and stk::SwitchStrategyPreemptionThreshold< 32 >::GetHighestReadyPriority().

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◆ Delay()

void stk::Delay ( Timeout tick_count )

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] tick_count Delay time (in ticks). Negative will cause an assertion.

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

Definition at line 575 of file stk_helper.h.

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

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

Referenced by DelayMs(), and stk_delay().

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◆ DelayMs()

void stk::DelayMs ( Timeout 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). Negative will cause an assertion.

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

Definition at line 586 of file stk_helper.h.

{
    Delay(GetTicksFromMsClampedToTimeout(ms));
}

References __stk_forceinline, Delay(), and GetTicksFromMsClampedToTimeout().

Referenced by stk_delay_ms().

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◆ GetInitialSleepTicks()

template<bool TicklessMode>

Timeout stk::GetInitialSleepTicks ( )

inline

References __stk_forceinline.

Referenced by stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::UpdateTaskState().

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◆ GetInitialSleepTicks< false >()

template<>

Timeout stk::GetInitialSleepTicks< false > ( )

inline

Definition at line 42 of file stk.h.

42{ return 1; }

References __stk_forceinline.

◆ GetInitialSleepTicks< true >()

template<>

Timeout stk::GetInitialSleepTicks< true > ( )

inline

Definition at line 41 of file stk.h.

41{ return STK_TICKLESS_TICKS_MAX; }

STK_TICKLESS_TICKS_MAX

#define STK_TICKLESS_TICKS_MAX

Maximum number of kernel ticks the hardware timer may be suppressed in one tickless idle interval whe...

Definition stk_defs.h:77

References __stk_forceinline, and STK_TICKLESS_TICKS_MAX.

◆ GetMsFromTicks()

Time stk::GetMsFromTicks	(	Ticks	tick_count,
		uint32_t	resolution )

inlinestatic

Convert ticks to milliseconds.

Parameters

[in]	tick_count	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 379 of file stk_helper.h.

{
    return static_cast<Time>((tick_count * static_cast<Time>(resolution)) / 1000LL);
}

References __stk_forceinline.

◆ GetSysTimerCount()

Cycles stk::GetSysTimerCount ( )

inlinestatic

Get system timer count value.

Note: ISR-safe.

Returns: 64-bit count value.

Definition at line 459 of file stk_helper.h.

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

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

Referenced by osKernelGetSysTimerCount(), osKernelGetSysTimerCount64(), and stk_sys_timer_count().

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◆ GetSysTimerFrequency()

uint32_t stk::GetSysTimerFrequency ( )

inlinestatic

Get system timer frequency.

Note: ISR-safe.

Returns: Frequency (Hz).

Definition at line 468 of file stk_helper.h.

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

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

Referenced by osKernelGetSysTimerFreq(), and stk_sys_timer_frequency().

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◆ GetTickResolution()

uint32_t stk::GetTickResolution ( )

inlinestatic

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 368 of file stk_helper.h.

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

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

Referenced by GetTicksFromMs(), osKernelGetTickFreq(), stk_tick_resolution(), and stk_ticks_from_ms().

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◆ GetTicks()

Ticks stk::GetTicks ( )

inlinestatic

Get number of ticks elapsed since kernel start.

Note: ISR-safe.

Returns: Ticks.

Definition at line 434 of file stk_helper.h.

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

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

Referenced by stk::sync::MessageQueue::Get(), stk::time::TimerHost::Timer::GetRemainingTicks(), osKernelGetTickCount(), stk::sync::MessageQueue::Peek(), stk::sync::MessageQueue::PeekFront(), stk::time::PeriodicTrigger::Poll(), stk::sync::MessageQueue::Put(), stk::sync::MessageQueue::PutFront(), stk::sync::Pipe::Read(), stk::sync::PipeT< Timer *, 32U >::Read(), stk::sync::Pipe::ReadBulk(), stk::sync::PipeT< Timer *, 32U >::ReadBulk(), stk::sync::Pipe::ReadBulkTriggered(), stk::time::TimerHost::Reset(), stk::time::PeriodicTrigger::Restart(), stk::time::TimerHost::Restart(), stk::time::TimerHost::Start(), stk::time::TimerHost::StartOrReset(), stk_ticks(), stk::memory::BlockMemoryPool::TimedAlloc(), stk::sync::RWMutex::TimedLock(), stk::sync::RWMutex::TimedReadLock(), stk::time::TimerHost::UpdateTime(), stk::sync::EventFlags::Wait(), stk::sync::Pipe::Write(), stk::sync::PipeT< Timer *, 32U >::Write(), stk::sync::Pipe::WriteBulk(), stk::sync::PipeT< Timer *, 32U >::WriteBulk(), xTaskGetTickCount(), and xTaskGetTickCountFromISR().

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◆ GetTicksFromMs() [1/2]

Ticks stk::GetTicksFromMs ( Time ms )

inlinestatic

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 409 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	(	Time	ms,
		uint32_t	resolution )

inlinestatic

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 390 of file stk_helper.h.

{
    Ticks tick_count = 0LL;
 
    if (resolution != 0U)
    {
        tick_count = static_cast<Ticks>((ms * 1000LL) / static_cast<Time>(resolution));
    }
 
    return tick_count;
}

References __stk_forceinline.

Referenced by GetTicksFromMs(), and GetTicksFromMsClampedToTimeout().

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◆ GetTicksFromMsClampedToTimeout()

Timeout stk::GetTicksFromMsClampedToTimeout ( Timeout ms )

inlinestatic

Convert milliseconds to ticks and clamp the result to a Timeout type.

Parameters

[in] ms Time in milliseconds to convert.

Returns: Equivalent tick count clamped to the maximum value allowed by Timeout (WAIT_INFINITE).

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

Definition at line 419 of file stk_helper.h.

{
    const Time time_ms = static_cast<Time>(ms);
    const Ticks tick_count = GetTicksFromMs(time_ms);    
    
    const Ticks final_ticks = (tick_count < static_cast<Ticks>(WAIT_INFINITE)) ? 
        tick_count : static_cast<Ticks>(WAIT_INFINITE);
        
    return static_cast<Timeout>(final_ticks);
}

References __stk_forceinline, GetTicksFromMs(), and WAIT_INFINITE.

Referenced by DelayMs(), SleepMs(), stk_ticks_from_ms_clamped_to_timeout(), and stk::pthread::TimespecToRelativeTimeout().

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◆ GetTid()

TId stk::GetTid ( )

inlinestatic

Get task/thread Id of the calling task.

Returns: Id of the calling task/thread.

Note: ISR-safe. When called from an ISR context, returns TID_ISR_N | exception_number (see TID_ISR_N) rather than asserting; use IsIsrTid() to test for this.

See also: TID_ISR_N, TID_NONE, IsIsrTid

Definition at line 358 of file stk_helper.h.

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

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

Referenced by eTaskGetState(), stk::sync::SpinLock::Lock(), osThreadGetId(), SetWeight(), stk_tid(), stk::sync::SpinLock::TryLock(), stk::sync::Mutex::Unlock(), stk::sync::SpinLock::Unlock(), uxTaskGetStackHighWaterMark(), uxTaskGetStackHighWaterMark2(), uxTaskGetSystemState(), uxTaskPriorityGet(), vTaskDelete(), vTaskList(), vTaskPrioritySet(), vTaskSuspend(), and xTaskGetCurrentTaskHandle().

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◆ GetTidFromUserTask()

constexpr TId stk::GetTidFromUserTask ( const ITask * task )

staticconstexprnoexcept

Get task identifier from ITask instance.

Returns: TId derived from the bound ITask pointer address (unique per task instance).

See also: GetUserTaskFromTid

Definition at line 716 of file stk_arch.h.

716{ return hw::PtrToWord(task); }

stk::hw::PtrToWord

static constexpr Word PtrToWord(T *const ptr) noexcept

Cast a pointer to a CPU register-width integer.

Definition stk_arch.h:214

References stk::hw::PtrToWord().

Referenced by stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetTid(), and stk_task_get_id().

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◆ GetTimeNowMs()

Time 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 445 of file stk_helper.h.

{
    const IKernelService *const service = IKernelService::GetInstance();
    const uint32_t resolution = service->GetTickResolution();
    const Ticks tick_count = service->GetTicks();
 
    return ((resolution == 1000U) ? tick_count : 
        ((tick_count * static_cast<Ticks>(resolution)) / 1000LL));
}

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

Referenced by stk_time_now_ms(), and stk::pthread::TimespecToRelativeTimeout().

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◆ GetUserTaskFromTid()

constexpr ITask * stk::GetUserTaskFromTid ( TId task_id )

staticconstexprnoexcept

Get task instance from its identifier.

Returns: ITask instance.

See also: GetTidFromUserTask

Definition at line 725 of file stk_arch.h.

725{ return hw::WordToPtr<ITask>(task_id); }

stk::hw::WordToPtr

static constexpr T * WordToPtr(Word value) noexcept

Cast a CPU register-width integer back to a pointer.

Definition stk_arch.h:231

References stk::hw::WordToPtr().

Referenced by stk::ISyncObject::FindWeightHigherThan(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnInheritWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnRestoreWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnSetWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskSleepCancel(), stk::sync::FastMutex::TimedLock(), stk::sync::Mutex::TimedLock(), stk::sync::FastMutex::Unlock(), and stk::sync::Mutex::Unlock().

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◆ IsIsrTid()

bool stk::IsIsrTid ( TId id )

inlinestatic

Test whether a task identifier represents an ISR context.

Returns true if tid was produced by GetTid() called from an interrupt service routine, i.e. its upper 20 bits match TID_ISR_N. Use this predicate instead of comparing against TID_ISR_N directly.

Parameters

[in] id Task identifier to test.

Returns: true if tid encodes an ISR context, false otherwise.

Note: ISR-safe (bitmask arithmetic only, no kernel calls).

See also: TID_ISR_N

Definition at line 241 of file stk_common.h.

241{ return ((id & TID_ISR_N) == TID_ISR_N); }

stk::TID_ISR_N

static constexpr TId TID_ISR_N

Bitmask sentinel for ISR-context task identifiers.

Definition stk_common.h:201

References __stk_forceinline, and TID_ISR_N.

◆ Max()

template<typename T>

constexpr T stk::Max	(	T	a,
		T	b )

staticconstexprnoexcept

Compile-time maximum of two values.

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

Definition at line 759 of file stk_defs.h.

759{ return ((a > b) ? a : b); }

Referenced by stk::memory::BlockMemoryPool::AlignBlockSize(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetSleepTicks(), and osThreadNew().

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◆ Min()

template<typename T>

constexpr T stk::Min	(	T	a,
		T	b )

staticconstexprnoexcept

Compile-time minimum of two values.

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

Definition at line 753 of file stk_defs.h.

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

Referenced by stk::sync::Pipe::DrainLocked(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::EnumerateKernelTasks(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::EnumerateTasks(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetSleepTicks(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskSleepUntil(), osSemaphoreNew(), and stk::memory::MemoryAllocator::Stats::RecordAllocate().

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◆ SetWeight() [1/2]

Weight stk::SetWeight	(	TId	tid,
		Weight	weight )

inlinestatic

Change the base scheduling weight of a task at run-time.

Parameters

[in]	tid	Id of the task.
[in]	weight	New base weight (must not be NO_WEIGHT, must be valid for the active strategy, e.g. built with SwitchStrategyPreemptionThreshold::MakeWeight).

Returns: Previous base weight (pass it back to restore).

Note: Requires a strategy with WEIGHT_API = 1 and PRIORITY_INHERITANCE_API = 1, asserts otherwise.; Takes the kernel critical section internally. Intended for task context.

See also: IKernelService::SetWeight, SwitchStrategyPreemptionThreshold::ChangeThreshold

Definition at line 550 of file stk_helper.h.

{
    return IKernelService::GetInstance()->SetWeight(tid, weight);
}

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

Referenced by SetWeight().

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◆ SetWeight() [2/2]

Weight stk::SetWeight ( Weight weight )

inlinestatic

Change the base scheduling weight of the calling task at run-time.

Parameters

[in] weight New base weight, see SetWeight(TId, Weight).

Returns: Previous base weight.

Note: Example (preemption-threshold, equivalent of ThreadX's tx_thread_preemption_change):
const Weight old = stk::SetWeight(SwitchStrategyPT32::MakeWeight(prio, new_threshold));

stk::SetWeight
static Weight SetWeight(TId tid, Weight weight)
Change the base scheduling weight of a task at run-time.
Definition stk_helper.h:550

stk::Weight
int32_t Weight
Weight value (aka priority).
Definition stk_common.h:174

stk::SwitchStrategyPreemptionThreshold< 32 >::MakeWeight
static constexpr Weight MakeWeight(uint8_t priority, uint8_t threshold)
Definition stk_strategy_pthreshold.h:86

Warning: ISR-unsafe (resolves the calling task via GetTid()).

Definition at line 564 of file stk_helper.h.

{
    return SetWeight(GetTid(), weight);
}

References __stk_forceinline, GetTid(), and SetWeight().

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◆ Sleep()

void stk::Sleep ( Timeout tick_count )

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.

Parameters

[in] tick_count Sleep time (in ticks). 0 does not cause yield, use Yield instead. Negative will cause an assertion.

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

Definition at line 479 of file stk_helper.h.

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

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

Referenced by osDelay(), pthread_exit(), SleepMs(), stk_sleep(), and vTaskDelay().

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◆ SleepCancel()

void stk::SleepCancel ( TId task_id )

inlinestatic

Cancel sleep of the task.

Parameters

[in] task_id Id of the task.

Note: No-op if task was not in a sleeping state.; ISR-safe.

Definition at line 514 of file stk_helper.h.

{
    IKernelService::GetInstance()->SleepCancel(task_id);
}

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

Referenced by stk_sleep_cancel(), and xTaskAbortDelay().

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◆ SleepMs()

void stk::SleepMs ( Timeout 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). 0 does not cause yield, use Yield instead. Negative will cause an assertion.

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

Definition at line 492 of file stk_helper.h.

{
    Sleep(GetTicksFromMsClampedToTimeout(ms));
}

References __stk_forceinline, GetTicksFromMsClampedToTimeout(), and Sleep().

Referenced by stk_sleep_ms(), and stk::pthread::WaitForTaskExit().

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◆ SleepUntil()

bool stk::SleepUntil ( Ticks timestamp )

inlinestatic

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). 0 does not cause yield, use Yield instead. Negative will cause an assertion.

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

Returns: True if sleep succeeded, false otherwise.

Definition at line 504 of file stk_helper.h.

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

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

Referenced by osDelayUntil(), stk_sleep_until(), and xTaskDelayUntil().

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◆ STK_KERNEL_PANIC()

void stk::STK_KERNEL_PANIC ( stk::EKernelPanicId id )

inlinestatic

Called when the kernel detects an unrecoverable internal fault.

Note

Unlike STK_ASSERT (which checks preconditions) this macro is reached only when a runtime invariant has been irreversibly violated - the kernel cannot continue operating correctly from this point.

Default behaviour:

In debug builds: triggers a hardware breakpoint so a debugger can inspect state, then falls through to the safe-state handler.
In all builds: calls STK_PANIC_HANDLER(id) which must not return.

Override STK_PANIC_HANDLER by defining it before including this header or in stk_config.h. The handler receives a numeric id (EKernelPanicId) and must never return. A minimal safe default is provided below.

Parameters

[in] id EKernelPanicId value identifying the fault.

Definition at line 183 of file stk_arch.h.

{
    __stk_debug_break();   // debug aid
    STK_PANIC_HANDLER(id); // must not return
}

References __stk_debug_break(), __stk_forceinline, and STK_PANIC_HANDLER.

Referenced by stk::sync::SpinLock::MakeLocked(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnStart(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskExit(), stk::sync::FastMutex::TimedLock(), stk::sync::Mutex::TimedLock(), stk::sync::RWMutex::TimedLock(), and stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::UpdateFsmState().

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◆ Yield()

void stk::Yield ( )

inlinestatic

Notify scheduler to switch to the next runnable task.

A cooperative scheduling mechanism: the calling task voluntarily gives up the remainder of its time slice. Behavior depends on the kernel mode and the active strategy:

Non-HRT modes, strategy with NOSLEEP_YIELD_API = 1 (e.g. stk::SwitchStrategyRR_NSY): the task stays in the runnable set (it is NOT put to sleep) and the strategy hands the CPU to the next task according to its own policy. If no other task is eligible, the call returns almost immediately.
Non-HRT modes, strategy with NOSLEEP_YIELD_API = 0, or when the strategy declines the yield (e.g. the task is not in its runnable set): legacy yield, the task is put to sleep for one tick and is not scheduled during that tick, even if no other task is runnable.
HRT mode (see stk::KERNEL_HRT): signals completion of the current job and acts as a cooperation point. The task sleeps until its next period; NOSLEEP_YIELD_API is ignored.
Note
Not the same as Sleep(0), which does not cause a yield.

Task context only. The call blocks (busy-waits) until the kernel has switched the task out.

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

See also
stk::ITaskSwitchStrategy::OnTaskYield, IKernelService::SwitchToNext

Definition at line 536 of file stk_helper.h.

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

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

Referenced by osThreadExit(), osThreadYield(), pthread_yield(), stk_yield(), taskYIELD_impl(), and vTaskEndScheduler().

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Variable Documentation

◆ DEFAULT_WEIGHT

Weight stk::DEFAULT_WEIGHT = 1

staticconstexpr

Weight value: default weight of value (1) (see SwitchStrategySmoothWeightedRoundRobin).

Definition at line 228 of file stk_common.h.

Referenced by stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetBaseWeight(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetCurrentWeight(), stk::ITask::GetWeight(), stk::pthread::PthreadTask::GetWeight(), stk::time::TimerHost::TimerWorkerTask::Initialize(), TaskWrapper::Initialize(), TaskWrapper::TaskWrapper(), and stk::time::TimerHost::TimerWorkerTask::TimerWorkerTask().

◆ NO_WAIT

Timeout stk::NO_WAIT = 0

staticconstexpr

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 218 of file stk_common.h.

◆ NO_WEIGHT

Weight stk::NO_WEIGHT = -1

staticconstexpr

Weight value: weight is not set.

Definition at line 223 of file stk_common.h.

Referenced by stk::SwitchStrategySmoothWeightedRoundRobinT< false >::AddTask(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::Bind(), stk::ISyncObject::FindWeightHigherThan(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetBaseWeight(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnInheritWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnRestoreWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnSetWeight(), and stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelService::SetWeight().

◆ TID_ISR_N

TId stk::TID_ISR_N = static_cast<TId>(0xFFFFF000U)

staticconstexpr

Bitmask sentinel for ISR-context task identifiers.

The upper 20 bits of the TId space are reserved for ISR contexts. When GetTid() is called from an interrupt service routine, it returns TID_ISR_N | exception_number, where exception_number is the raw value:

// bits[31:12] = 0xFFFFF (this sentinel mask)

// bits[11:0] = exception number

This encoding guarantees uniqueness per exception, so two ISRs at different priority levels or with different exception numbers are never treated as the same owner by synchronization primitives.

Task TIds are word-aligned pointers. On all supported Cortex-M and RISC-V targets they fall in the range 0x00000000..0xEFFFFFFF, so no overlap with the 0xFFFFF000..0xFFFFFFFF sentinel range is possible.

Note: Use IsIsrTid() to test for this sentinel rather than comparing against this constant directly.

See also: IsIsrTid()

Definition at line 201 of file stk_common.h.

Referenced by IsIsrTid().

◆ TID_NONE

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

staticconstexpr

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

Definition at line 206 of file stk_common.h.

Referenced by stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::Bind(), stk::sync::FastMutex::FastMutex(), stk::sync::FastMutex::IsLocked(), stk::sync::SpinLock::MakeLocked(), stk::sync::Mutex::Mutex(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnInheritWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnRestoreWeight(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnSetWeight(), stk::sync::SpinLock::SpinLock(), stk::sync::FastMutex::TimedLock(), stk::sync::Mutex::TimedLock(), stk::sync::FastMutex::Unlock(), stk::sync::Mutex::Unlock(), stk::sync::SpinLock::Unlock(), uxSemaphoreGetCount(), xSemaphoreGetMutexHolder(), xSemaphoreGetMutexHolderFromISR(), and stk::sync::SpinLock::~SpinLock().

◆ WAIT_INFINITE

Timeout stk::WAIT_INFINITE = INT32_MAX

staticconstexpr

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

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

Definition at line 212 of file stk_common.h.

Referenced by stk::memory::BlockMemoryPool::Alloc(), stk::memory::BlockMemoryPool::AllocT(), CmsisTimeoutToStk(), FrtosTimeoutToStk(), stk::sync::MessageQueue::Get(), GetTicksFromMsClampedToTimeout(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::IsSleepInfinite(), stk::sync::FastMutex::Lock(), stk::sync::Mutex::Lock(), stk::sync::RWMutex::Lock(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskSleepUntil(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskWait(), osThreadJoin(), stk::sync::MessageQueue::Peek(), stk::sync::MessageQueue::PeekFront(), stk::time::TimerHost::ProcessCommands(), pthread_exit(), stk::sync::MessageQueue::Put(), stk::sync::MessageQueue::PutFront(), stk::sync::Pipe::Read(), stk::sync::PipeT< Timer *, 32U >::Read(), stk::sync::Pipe::ReadBulk(), stk::sync::PipeT< Timer *, 32U >::ReadBulk(), stk::sync::Pipe::ReadBulkTriggered(), 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< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS,(16U), stk::SwitchStrategyFP32, stk::PlatformDefault >::SuspendTask(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::WaitObject::Tick(), stk::memory::BlockMemoryPool::TimedAlloc(), stk::sync::RWMutex::TimedLock(), stk::sync::RWMutex::TimedReadLock(), stk::time::TimerHost::UpdateTime(), stk::sync::EventFlags::Wait(), stk::sync::Barrier::WaitEx(), stk::sync::Pipe::Write(), stk::sync::PipeT< Timer *, 32U >::Write(), stk::sync::Pipe::WriteBulk(), stk::sync::PipeT< Timer *, 32U >::WriteBulk(), stk::sync::EventFlags::~EventFlags(), stk::sync::MessageQueue::~MessageQueue(), and stk::sync::Pipe::~Pipe().

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ Cycles

◆ PlatformDefault

◆ SwitchStrategyDM

◆ SwitchStrategyFP32

◆ SwitchStrategyFP32_NSY

◆ SwitchStrategyPT32

◆ SwitchStrategyRM

◆ SwitchStrategyRoundRobin

◆ SwitchStrategyRoundRobinNoSleepYield

◆ SwitchStrategyRR

◆ SwitchStrategyRR_NSY

◆ SwitchStrategySmoothWeightedRoundRobin

◆ SwitchStrategySmoothWeightedRoundRobinNoSleepYield

◆ SwitchStrategySWRR

◆ SwitchStrategySWRR_NSY

◆ Ticks

◆ TId

◆ Time

◆ Timeout

◆ Weight

◆ Word

Enumeration Type Documentation

◆ EAccessMode

◆ EConsts

◆ EHwException

◆ EKernelMode

◆ EKernelPanicId

◆ EMonotonicSwitchStrategyType

◆ EStackType

◆ ESystemTaskId

◆ ETraceEventId

◆ EWaitResult

Function Documentation

◆ Align()

◆ AlignPow2()

◆ ConstructIn()

◆ ConvertTimeUsToClockCycles()

◆ CountLeadingZeros()

◆ Delay()

◆ DelayMs()

◆ GetInitialSleepTicks()

◆ GetInitialSleepTicks< false >()

◆ GetInitialSleepTicks< true >()

◆ GetMsFromTicks()

◆ GetSysTimerCount()

◆ GetSysTimerFrequency()

◆ GetTickResolution()

◆ GetTicks()

◆ GetTicksFromMs() [1/2]

◆ GetTicksFromMs() [2/2]

◆ GetTicksFromMsClampedToTimeout()

◆ GetTid()

◆ GetTidFromUserTask()

◆ GetTimeNowMs()

◆ GetUserTaskFromTid()

◆ IsIsrTid()

◆ Max()

◆ Min()

◆ SetWeight() [1/2]

◆ SetWeight() [2/2]

◆ Sleep()

◆ SleepCancel()

◆ SleepMs()

◆ SleepUntil()

◆ STK_KERNEL_PANIC()

◆ Yield()

Variable Documentation

◆ DEFAULT_WEIGHT

◆ NO_WAIT

◆ NO_WEIGHT

◆ TID_ISR_N

◆ TID_NONE