Namespace of STK package. More...

Namespaces
namespace	memory
	Memory-related primitives.
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.

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	ArrayView
	Lightweight, non-owning view over a contiguous sequence of elements. 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 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	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 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 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 = 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 }
	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 = (32U) }
	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 identifiers for tracing task suspension and resume with debugging tools (e.g. SEGGER SystemView). 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
__stk_forceinline Word	GetTls ()
	Get thread-local storage (TLS).
__stk_forceinline void	SetTls (Word tp)
	Set thread-local storage (TLS).
static __stk_forceinline Cycles	ConvertTimeUsToClockCycles (uint32_t clock_freq, Ticks time_us)
	Convert time (microseconds) to core clock cycles.
static __stk_forceinline 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)
	Compile-time minimum of two values.
template<typename T>
static constexpr T	Max (T a, T b)
	Compile-time maximum of two values.
template<bool TicklessMode>
Timeout	GetInitialSleepTicks ()
template<>
Timeout	GetInitialSleepTicks< true > ()
template<>
Timeout	GetInitialSleepTicks< false > ()
TId	GetTid ()
	Get task/thread Id of the calling task.
Time	GetMsFromTicks (Ticks tick_count, uint32_t resolution)
	Convert ticks to milliseconds.
Ticks	GetTicksFromMs (Time ms, uint32_t resolution)
	Convert milliseconds to ticks.
Ticks	GetTicks ()
	Get number of ticks elapsed since kernel start.
uint32_t	GetTickResolution ()
	Get number of microseconds in one tick.
Ticks	GetTicksFromMs (Time ms)
	Convert milliseconds to ticks using the current kernel tick resolution.
static Time	GetTimeNowMs ()
	Get current time in milliseconds since kernel start.
Cycles	GetSysTimerCount ()
	Get system timer count value.
uint32_t	GetSysTimerFrequency ()
	Get system timer frequency.
void	Sleep (Timeout tick_count)
	Put calling process into a sleep state.
static void	SleepMs (Timeout ms)
	Put calling process into a sleep state.
bool	SleepUntil (Ticks timestamp)
	Put calling process into a sleep state until the specified timestamp.
void	SleepCancel (TId task_id)
	Cancel sleep of the task.
void	Yield ()
	Notify scheduler to switch to the next runnable task.
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.

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 = static_cast<Weight>(-1)
	Weight value: weight is not set.
static constexpr Weight	DEFAULT_WEIGHT = static_cast<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 140 of file stk_common.h.

◆ PlatformDefault

typedef PlatformX86Win32 stk::PlatformDefault

Default platform implementation.

Definition at line 55 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 518 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 407 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 511 of file stk_strategy_monotonic.h.

◆ SwitchStrategyRR

typedef SwitchStrategyRoundRobin stk::SwitchStrategyRR

Shorthand alias for SwitchStrategyRoundRobin.

See also: SwitchStrategyRoundRobin

Definition at line 247 of file stk_strategy_rrobin.h.

◆ SwitchStrategySWRR

typedef SwitchStrategySmoothWeightedRoundRobin stk::SwitchStrategySWRR

Shorthand alias for SwitchStrategySmoothWeightedRoundRobin.

See also: SwitchStrategySmoothWeightedRoundRobin

Definition at line 276 of file stk_strategy_swrrobin.h.

◆ Ticks

typedef int64_t stk::Ticks

Ticks value.

Definition at line 130 of file stk_common.h.

◆ TId

typedef Word stk::TId

Definition at line 120 of file stk_common.h.

◆ Time

typedef int64_t stk::Time

Time value.

Definition at line 135 of file stk_common.h.

◆ Timeout

typedef int32_t stk::Timeout

Timeout time (ticks).

Definition at line 125 of file stk_common.h.

◆ Weight

typedef int32_t stk::Weight

Weight value (aka priority).

Definition at line 145 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 115 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 31 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 81 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 40 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.
KERNEL_PANIC_BAD_STACK_TYPE	Stack type is unknown.

Definition at line 52 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  
};

◆ 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 71 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 91 of file stk_common.h.

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

◆ ETraceEventId

enum stk::ETraceEventId

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 context switch event (task became active).
TRACE_EVENT_SLEEP	Task entered sleep / blocked state.

Definition at line 101 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	(	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 107 of file stk_arch_common.h.

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

References __stk_forceinline.

◆ Delay()

void stk::Delay ( Timeout tick_count )

inline

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 397 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 408 of file stk_helper.h.

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

References Delay(), GetTicksFromMs(), and WAIT_INFINITE.

Referenced by stk_delay_ms().

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◆ GetInitialSleepTicks()

template<bool TicklessMode>

Timeout stk::GetInitialSleepTicks ( )

inline

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 178 of file stk_helper.h.

178{ return 1; }

◆ GetInitialSleepTicks< true >()

template<>

Timeout stk::GetInitialSleepTicks< true > ( )

inline

Definition at line 177 of file stk_helper.h.

177{ 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:76

References STK_TICKLESS_TICKS_MAX.

◆ GetMsFromTicks()

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

inline

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 254 of file stk_helper.h.

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

References __stk_forceinline.

◆ GetSysTimerCount()

Cycles stk::GetSysTimerCount ( )

inline

Get system timer count value.

Note: ISR-safe.

Returns: 64-bit count value.

Definition at line 321 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 ( )

inline

Get system timer frequency.

Note: ISR-safe.

Returns: Frequency (Hz).

Definition at line 330 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 ( )

inline

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 284 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 ( )

inline

Get number of ticks elapsed since kernel start.

Note: ISR-safe.

Returns: Ticks.

Definition at line 274 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::GetRemainingTicks(), osKernelGetTickCount(), stk::time::PeriodicTrigger::Poll(), 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::time::TimerHost::UpdateTime(), stk::sync::EventFlags::Wait(), 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 )

inline

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 296 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 )

inline

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 265 of file stk_helper.h.

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

References __stk_forceinline.

Referenced by DelayMs(), GetTicksFromMs(), and SleepMs().

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◆ GetTid()

TId stk::GetTid ( )

inline

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 243 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(), 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 495 of file stk_arch.h.

495{ 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:106

References stk::hw::PtrToWord().

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

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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 307 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)) / static_cast<Ticks>(1000)));
}

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

Referenced by stk_time_now_ms().

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◆ GetTls()

__stk_forceinline Word stk::GetTls ( )

Get thread-local storage (TLS).

Returns: TLS value.

Note: tp register is an alias for x4

Definition at line 80 of file stk_arch_risc-v.h.

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

References __stk_forceinline.

◆ GetUserTaskFromTid()

constexpr ITask * stk::GetUserTaskFromTid ( TId task_id )

staticconstexprnoexcept

Get task instance from its identifier.

Returns: ITask instance.

See also: GetTidFromUserTask

Definition at line 501 of file stk_arch.h.

501{ 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:123

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 >::OnTaskSleepCancel(), stk::sync::Mutex::TimedLock(), 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] tid 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 212 of file stk_common.h.

212{ 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:172

References TID_ISR_N.

◆ Max()

template<typename T>

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

staticconstexpr

Compile-time maximum of two values.

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

Definition at line 639 of file stk_defs.h.

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

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

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◆ Min()

template<typename T>

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

staticconstexpr

Compile-time minimum of two values.

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

Definition at line 633 of file stk_defs.h.

633{ 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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◆ SetTls()

__stk_forceinline void stk::SetTls ( Word tp )

Set thread-local storage (TLS).

Parameters

[in] tp TLS value.

Note: tp register is an alias for x4

Definition at line 91 of file stk_arch_risc-v.h.

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

References __stk_forceinline.

◆ Sleep()

void stk::Sleep ( Timeout tick_count )

inline

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 341 of file stk_helper.h.

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

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

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

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◆ SleepCancel()

void stk::SleepCancel ( TId task_id )

inline

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 377 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 354 of file stk_helper.h.

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

References GetTicksFromMs(), Sleep(), and WAIT_INFINITE.

Referenced by stk_sleep_ms().

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◆ SleepUntil()

bool stk::SleepUntil ( Ticks timestamp )

inline

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 367 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()

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

static

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 75 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::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 ( )

inline

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 386 of file stk_helper.h.

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

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

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

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Variable Documentation

◆ DEFAULT_WEIGHT

Weight stk::DEFAULT_WEIGHT = static_cast<Weight>(1)

staticconstexpr

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

Definition at line 199 of file stk_common.h.

Referenced by stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::GetCurrentWeight(), stk::ITask::GetWeight(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::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 189 of file stk_common.h.

◆ NO_WEIGHT

Weight stk::NO_WEIGHT = static_cast<Weight>(-1)

staticconstexpr

Weight value: weight is not set.

Definition at line 194 of file stk_common.h.

Referenced by stk::SwitchStrategySmoothWeightedRoundRobin::AddTask(), stk::Kernel< TMode, TSize, TStrategy, TPlatform >::KernelTask::Bind(), stk::ISyncObject::FindWeightHigherThan(), 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(), and stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS, 16U, stk::SwitchStrategyFP32, stk::PlatformDefault >::OnRestoreWeight().

◆ 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 172 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 177 of file stk_common.h.

Referenced by 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::sync::SpinLock::SpinLock(), stk::sync::Mutex::TimedLock(), 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 183 of file stk_common.h.

Referenced by stk::memory::BlockMemoryPool::Alloc(), stk::memory::BlockMemoryPool::AllocT(), CmsisTimeoutToStk(), DelayMs(), FrtosTimeoutToStk(), stk::sync::Mutex::Lock(), stk::sync::RWMutex::Lock(), stk::Kernel< stk::KERNEL_DYNAMIC|stk::KERNEL_SYNC|stk::KERNEL_TICKLESS, 16U, stk::SwitchStrategyFP32, stk::PlatformDefault >::OnTaskWait(), osThreadJoin(), stk::time::TimerHost::ProcessCommands(), 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(), SleepMs(), 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::time::TimerHost::UpdateTime(), stk::sync::EventFlags::Wait(), 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

◆ SwitchStrategyRM

◆ SwitchStrategyRR

◆ SwitchStrategySWRR

◆ Ticks

◆ TId

◆ Time

◆ Timeout

◆ Weight

◆ Word

Enumeration Type Documentation

◆ EAccessMode

◆ EConsts

◆ EKernelMode

◆ EKernelPanicId

◆ EMonotonicSwitchStrategyType

◆ EStackType

◆ ESystemTaskId

◆ ETraceEventId

Function Documentation

◆ ConvertTimeUsToClockCycles()

◆ Delay()

◆ DelayMs()

◆ GetInitialSleepTicks()

◆ GetInitialSleepTicks< false >()

◆ GetInitialSleepTicks< true >()

◆ GetMsFromTicks()

◆ GetSysTimerCount()

◆ GetSysTimerFrequency()

◆ GetTickResolution()

◆ GetTicks()

◆ GetTicksFromMs() [1/2]

◆ GetTicksFromMs() [2/2]

◆ GetTid()

◆ GetTidFromUserTask()

◆ GetTimeNowMs()

◆ GetTls()

◆ GetUserTaskFromTid()

◆ IsIsrTid()

◆ Max()

◆ Min()

◆ SetTls()

◆ Sleep()

◆ SleepCancel()

◆ SleepMs()

◆ SleepUntil()

◆ STK_KERNEL_PANIC()

◆ Yield()

Variable Documentation

◆ DEFAULT_WEIGHT

◆ NO_WAIT

◆ NO_WEIGHT

◆ TID_ISR_N

◆ TID_NONE

◆ WAIT_INFINITE