Update kernel ref. Update documentation

Author: camilo

doc/Doxygen

@@ -38,7 +38,7 @@ PROJECT_NAME           = "OS"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = v7.3.3
+PROJECT_NUMBER         = v7.3.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

doc/pages/_2_foundations.dox

@@ -5,7 +5,7 @@
 * Download the latest release from the official repository :
 *
 * <a style="font-weight:bold" href="https://github.com/kmilo17pet/QuarkTS/releases">QuarkTS Releases</a>
-* 
+*
 * Unpack the release package and add the sources files to your project.
 *
 * @subsection q_cloneos Cloning QuarkTS
@@ -35,8 +35,8 @@
 * @endcode
 *
 * @subsection q_getqconfig Get a copy of the OS configuration file
-* The file @c qconfig.h provides specific @ref q_configmacros to customize 
-* several aspects of the OS. In order to build your solution with QuarkTS, you 
+* The file @c qconfig.h provides specific @ref q_configmacros to customize
+* several aspects of the OS. In order to build your solution with QuarkTS, you
 * should provided your own copy of this configuration file. You can obtain a copy
 * with the default configuration by issuing the following command:
 *
@@ -45,61 +45,61 @@
 * @endcode
 *
  @section q_firststeps First steps
-* Include the source files to your project. Also, make sure you add a copy of 
-* the file @c qconfig.h and modify it according to your needs. Setup your 
-* compiler including the path of the OS directory. Include the header file 
-* @c QuarkTS.h and setup the instance of the kernel using the qOS_Setup() 
-* inside the main thread to initialize te kernel, specify the reference clock and 
-* the idle-task ( see @ref q_timmingapproach). Additional configuration to the 
+* Include the source files to your project. Also, make sure you add a copy of
+* the file @c qconfig.h and modify it according to your needs. Setup your
+* compiler including the path of the OS directory. Include the header file
+* @c QuarkTS.h and setup the instance of the kernel using the qOS_Setup()
+* inside the main thread to initialize te kernel, specify the reference clock and
+* the idle-task ( see @ref q_timmingapproach). Additional configuration to the
 * target compiler may be required to add the path to the directory of header files.
 * The code below shows a common initialization procedure  in the main source file.
 *
 * File @c main.c
 *  @code{.c}
 *  #include "QuarkTS.h"
 *  #define TIMER_TICK       ( 0.001f ) // 1ms
-* 
+*
 *  void main( void ) {
 *      //device startup with hardware-specific code
 *      HardwareSetup();
 *      Configure_Periodic_Timer_Interrupt_1ms();
 *      //end of device startup with hardware-specific code
-*      qOS_Setup( NULL , TIMER_TICK , IdleTask_Callback );
+*      qOS_Setup( NULL , TIMER_TICK , IdleTask_Callback, NULL );
 *      // TODO: add Tasks to the scheduler scheme and run the OS
 *  }
 *  @endcode
 *
 * In the above code, the following considerations should be taken:
 * - The function qOS_Setup() must be called before any interaction with the OS.
-* - The procedure @c HardwareSetup() should be a function with all the hardware 
+* - The procedure @c HardwareSetup() should be a function with all the hardware
 * instructions needed to initialize the target system.
-* - The procedure @c Configure_Periodic_Timer_Interrupt_1ms() should be a 
-* function with all the hardware instructions needed to initialize and enable a 
+* - The procedure @c Configure_Periodic_Timer_Interrupt_1ms() should be a
+* function with all the hardware instructions needed to initialize and enable a
 * timer with an overflow tick of one millisecond.
 *
-* Tasks can be later added to the scheduling scheme by simply calling 
+* Tasks can be later added to the scheduling scheme by simply calling
 * qOS_Add_Task() or any of the other available APIs for specific purpose tasks.
 *
 * @section q_os_demo Two simple demonstrative examples
 *
 * @subsection q_os_example1 A simple scheduling
-* This example demonstrates a simple environment setup for multiple tasks. 
-* Initially, only @c task1 and @c task2 are enabled. @c task1 runs every 2 
-* seconds 10 times and then stops. @c task2 runs every 3 seconds indefinitely. 
-* @c task1 enables @c task3 at its first run. @c task3 run every  5 seconds. 
-* @c task1 disables @c task3 on its last iteration and change @c task2 to run 
-* every 1/2 seconds. In the end, @c task2 is the only task running every 1/2 
+* This example demonstrates a simple environment setup for multiple tasks.
+* Initially, only @c task1 and @c task2 are enabled. @c task1 runs every 2
+* seconds 10 times and then stops. @c task2 runs every 3 seconds indefinitely.
+* @c task1 enables @c task3 at its first run. @c task3 run every  5 seconds.
+* @c task1 disables @c task3 on its last iteration and change @c task2 to run
+* every 1/2 seconds. In the end, @c task2 is the only task running every 1/2
 * seconds.
 *
 *  @code{.c}
 *  #include <stdio.h>
 *  #include <stdlib.h>
 *  #include <stdint.h>
 *  #include "BSP.h"
-*  
+*
 *  #include "QuarkTS.h"
 *  #define TIMER_TICK       ( 0.001f )   /* 1ms */
-*  
+*
 *  qTask_t task1, task2, task3; /*task nodes*/
 *  /*==================================================================*/
 *  void interrupt Timer0_ISR( void ) {
@@ -108,11 +108,11 @@
 *  /*==================================================================*/
 *  void Task1_Callback( qEvent_t e ) {
 *      BSP_UART1_WriteString( "Task1" );
-*  
+*
 *      if ( e->FirstIteration ) {
 *          qTask_Resume( &Task3 );
 *      }
-*      
+*
 *      if ( e->LastIteration ) {
 *          qTask_Suspend( &Task3 );
 *          qTask_Set_Time( &Task2, 0.5 );
@@ -131,8 +131,8 @@
 *      HardwareSetup();  /*hardware initialization function*/
 *      /*function to fire an interrupt at 1ms - timer tick*/
 *      Configure_Periodic_Timer0_Interrupt_1ms();
-*      
-*      qOS_Setup( NULL, TIMER_TICK, NULL );
+*
+*      qOS_Setup( NULL, TIMER_TICK, NULL, NULL );
 *      qOS_Add_Task( &Task1, Task1_Callback, 50, 2.0f, 10, qEnabled, NULL );
 *      qOS_Add_Task( &Task2, Task2_Callback, 50, 3.0f, qPeriodic, qEnabled, NULL );
 *      qOS_Add_Task( &Task2, Task3_Callback, 50, 5.0f, qPeriodic, qDisabled, NULL );
@@ -144,17 +144,17 @@
 *
 * @subsection q_os_example2 Using the task argument
 * When adding tasks, they can accept a parameter of type pointer to void @c void*
-* also called the storage pointer. This parameter could be used for multiple 
+* also called the storage pointer. This parameter could be used for multiple
 * applications, including storage, task identification, duplication removal and
-* others. The following example shows the usage of this argument to avoid 
+* others. The following example shows the usage of this argument to avoid
 * callback duplication among tasks with the same behavior.
 *
-* Consider a scenario where you have to build a digital controller for several 
+* Consider a scenario where you have to build a digital controller for several
 * physical variables, for example, a PID controller for temperature, humidity and
-* light. The PID algorithm will be the same for all variables. The only 
-* difference will be the variable input, the controlled output action and the 
-* PID gains. In this case, each of the PID tasks will utilize the same callback 
-* methods. The only difference will be the I/O parameters (specific for each 
+* light. The PID algorithm will be the same for all variables. The only
+* difference will be the variable input, the controlled output action and the
+* PID gains. In this case, each of the PID tasks will utilize the same callback
+* methods. The only difference will be the I/O parameters (specific for each
 * PID controller).
 *
 * Let’s define a PID data structure with the I/O variables and gains.
@@ -169,7 +169,7 @@
 *       float sp; /*Set-Point*/
 *       float Kc, Ki, Kd; /*PID Gains*/
 *   } PID_Params_t;
-*   
+*
 *   PID_Params_t TemperatureControl = {
 *      0.0f, 0.0f, 0.0f, 0.0f, /*Initial IO state of yt and ut*/
 *      1.5f, /*time step*/
@@ -190,7 +190,7 @@
 *   };
 *  @endcode
 *
-* A task will be added to the scheme to collect the sensor data and apply 
+* A task will be added to the scheme to collect the sensor data and apply
 * the respective control output.
 *
 *  @code{.c}
@@ -208,8 +208,8 @@
 *  }
 *  @endcode
 *
-* Then, three different tasks are created to apply the respective PID controller. 
-* Note that these tasks refer to the same callback method and we assign 
+* Then, three different tasks are created to apply the respective PID controller.
+* Note that these tasks refer to the same callback method and we assign
 * pointers to the respective variables.
 *
 *  @code{.c}