Nano-RK API Contents

• Introduction

• Task Management
  • void nrk_setup_ports(void)
  • void nrk_init( void )
  • void void nrk_start(void)
  • nrk_status_t nrk_activate_task( nrk_task_type * )
  • nrk_status_t nrk_terminate_task()
  • int8_t nrk_get_pid()
  • int8_t nrk_wait_until_next_period ()
  • void nrk_halt ()

• Static Configuration
  • nrk_cfg.h

• Error Handling
  • uint8_t nrk_errno_get()
  • void _nrk_errno_set (NRK_ERRNO error_code)
  • void nrk_kernel_error_add( Kernel_Panic_ID, uint8_t task_ID)
  • Kernel Error Codes
  • Kernel Watchdog Timer

• Time Management
  • void nrk_time_set(uint32_t secs, uint32_t nano_secs)
  • void nrk_time_get(nrk_time_t *t)
  • nrk_status_t nrk_wait_until(nrk_time_t t)
  • void nrk_spin_wait_us(uint16_t time)
  • nrk_status_t nrk_status_t nrk_wait(nrk_time_t t)
  • nrk_status_t nrk_status_t nrk_wait_until_ticks(uint16_t ticks)
  • nrk_status_t nrk_time_sub( nrk_time_t *result,nrk_time_t high, nrk_time_t low)
  • nrk_status_t nrk_time_add( nrk_time_t *result, nrk_time_t a, nrk_time_t b)
  • void nrk_time_compact_nanos(nrk_time_t *t)

• Timers and External Interrupts
  • nrk_status_t nrk_timer_int_configure(TIMER_ID, uint8_t divider, uint16_t capture_compare_value, void *callback_function )
  • nrk_status_t nrk_timer_int_reset(TIMER_ID)
  • nrk_status_t nrk_timer_int_start(TIMER_ID)
  • nrk_status_t nrk_timer_int_stop(TIMER_ID)
  • uint16_t nrk_timer_int_read(TIMER_ID)
  • nrk_status_t nrk_ext_int_configure(PIN_ID, NRK_PIN_MODE, void *callback_function )
  • nrk_status_t nrk_ext_int_enable(PIN_ID)
  • nrk_status_t nrk_ext_int_disable(PIN_ID)

• Critical Section
  • void nrk_int_disable()
  • void nrk_int_enable()

• UART
  • void nrk_setup_uart( BAUDRATE )
  • void nrk_kprintf( PSTR("my constant string") )
  • uint8_t nrk_uart_data_ready(uint8_t port_num)
  • void nrk_uart_set_trig_thresh(uint8_t count)
  • void printf()
  • char getchar()
  • char putchar()

• Stack
  • void nrk_stack_check( )
  • int8_t nrk_stack_check_pid(int8_t pid)

• Signals and Semaphores
  • nrk_sig_mask_t nrk_signal_get_registered_mask();
  • int8_t nrk_signal_delete(nrk_sig_t sig_id);
  • int8_t nrk_signal_unregister(nrk_sig_t sig_id);
  • int8_t nrk_signal_register(nrk_sig_t sig_id);
  • nrk_sig_t nrk_signal_create();
  • int8_t nrk_event_signal(nrk_sig_t sig_id);
  • uint32_t nrk_event_wait(uint32_t event_num);
  • nrk_sem_t* nrk_sem_create(uint8_t count, uint8_t ceiling_prio);
  • int8_t nrk_sem_delete(nrk_sem_t *rsrc);
  • int8_t nrk_sem_post(nrk_sem_t *rsrc);
  • int8_t nrk_sem_pend(nrk_sem_t *rsrc );
  • Special Kernel Signals
    • Timing out while waiting on an event

• General Device Drivers
  • int8_t nrk_register_driver(void *devicemanager,uint8_t driver_name)
  • int8_t nrk_open(uint8_t dev_id,uint8_t opt)
  • int8_t nrk_read(uint8_t dev_fd,uint8_t *buffer,uint8_t size)
  • int8_t nrk_write(uint8_t dev_fd,uint8_t *buffer,uint8_t size)
  • int8_t nrk_close(uint8_t dev_fd)
  • int8_t nrk_set_status(uint8_t dev_fd,uint8_t key,uint8_t value)
  • int8_t nrk_get_status(uint8_t dev_fd,uint8_t key)

• LEDs and General Purpose I/O
  • int8_t nrk_led_set( uint8_t num )
  • int8_t nrk_led_clr( uint8_t num )
  • int8_t nrk_gpio_set(uint8_t pin)
  • int8_t nrk_gpio_get(uint8_t pin)
  • int8_t nrk_gpio_clr(uint8_t pin)
  • int8_t nrk_gpio_toggle(uint8_t pin)
  • int8_t nrk_gpio_direction(uint8_t pin, uint8_t pin_direction)
  • int8_t nrk_gpio_pullups(uint8_t enable)
  • void nrk_gpio_raw_set( _port, _pin )
  • void nrk_gpio_raw_clr( _port, _pin )
  • void nrk_gpio_raw_get( _port, _pin )
  • void nrk_gpio_raw_toggle( _port, _pin)

• Resource Reservations
  • int8_t nrk_cpu_reserve_check(nrk_time_t *reserve)
  • int8_t nrk_reserve_create()
  • int8_t nrk_reserve_delete(uint8_t reserve_id)
  • int8_t nrk_reserve_set(uint8_t id, nrk_time_t *period,int16_t access_count,void *errhandler)
  • uint8_t nrk_reserve_get(uint8_t reserve_id)
  • int8_t nrk_reserve_consume(uint8_t reserve_id)

• Power (OUT OF DATE)
  • int8_t nrk_voltage_status( void )
  • int8_t nrk_voltage_value( void )
  • void nrk_sleep(void)
  • void nrk_idle(void)

• Runtime Statistics
  • void nrk_stats_display_all( void )
  • void nrk_stats_display_pid( uint8_t pid )
  • void nrk_stats_reset()
  • int8_t nrk_stats_get(uint8_t pid, nrk_task_stat_t *t)