rt_System.c

00001 /**
00002  * @file    rt_System.c
00003  * @brief   
00004  *
00005  * DAPLink Interface Firmware
00006  * Copyright (c) 2009-2016, ARM Limited, All Rights Reserved
00007  * SPDX-License-Identifier: Apache-2.0
00008  *
00009  * Licensed under the Apache License, Version 2.0 (the "License"); you may
00010  * not use this file except in compliance with the License.
00011  * You may obtain a copy of the License at
00012  *
00013  * http://www.apache.org/licenses/LICENSE-2.0
00014  *
00015  * Unless required by applicable law or agreed to in writing, software
00016  * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
00017  * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00018  * See the License for the specific language governing permissions and
00019  * limitations under the License.
00020  */
00021 
00022 #include "rt_TypeDef.h"
00023 #include "RTX_Config.h"
00024 #include "rt_Task.h"
00025 #include "rt_System.h"
00026 #include "rt_Event.h"
00027 #include "rt_List.h"
00028 #include "rt_Mailbox.h"
00029 #include "rt_Semaphore.h"
00030 #include "rt_Time.h"
00031 #include "rt_Timer.h"
00032 #include "rt_Robin.h"
00033 #include "rt_HAL_CM.h"
00034 
00035 /*----------------------------------------------------------------------------
00036  *      Global Variables
00037  *---------------------------------------------------------------------------*/
00038 
00039 int os_tick_irqn;
00040 
00041 /*----------------------------------------------------------------------------
00042  *      Local Variables
00043  *---------------------------------------------------------------------------*/
00044 
00045 static volatile BIT os_lock;
00046 static volatile BIT os_psh_flag;
00047 static          U8  pend_flags;
00048 
00049 /*----------------------------------------------------------------------------
00050  *      Global Functions
00051  *---------------------------------------------------------------------------*/
00052 
00053 __asm void $$RTX$$version (void) {
00054    /* Export a version number symbol for a version control. */
00055 
00056                 EXPORT  __RL_RTX_VER
00057 
00058 __RL_RTX_VER    EQU     0x470
00059 }
00060 
00061 
00062 /*--------------------------- rt_suspend ------------------------------------*/
00063 
00064 U32 rt_suspend (void) {
00065   /* Suspend OS scheduler */
00066   U32 delta = 0xFFFF;
00067 
00068   rt_tsk_lock();
00069 
00070   if (os_dly.p_dlnk) {
00071     delta = os_dly.delta_time;
00072   }
00073   if (os_tmr.next) {
00074     if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
00075   }
00076 
00077   return (delta);
00078 }
00079 
00080 
00081 /*--------------------------- rt_resume -------------------------------------*/
00082 
00083 void rt_resume (U32 sleep_time) {
00084   /* Resume OS scheduler after suspend */
00085   P_TCB next;
00086   U32   delta;
00087 
00088   os_tsk.run->state = READY;
00089   rt_put_rdy_first (os_tsk.run);
00090 
00091   os_robin.task = NULL;
00092 
00093   /* Update delays. */
00094   if (os_dly.p_dlnk) {
00095     delta = sleep_time;
00096     if (delta >= os_dly.delta_time) {
00097       delta   -= os_dly.delta_time;
00098       os_time += os_dly.delta_time;
00099       os_dly.delta_time = 1;
00100       while (os_dly.p_dlnk) {
00101         rt_dec_dly();
00102         if (delta == 0) break;
00103         delta--;
00104         os_time++;
00105       }
00106     } else {
00107       os_time           += delta;
00108       os_dly.delta_time -= delta;
00109     }
00110   } else {
00111     os_time += sleep_time;
00112   }
00113 
00114   /* Check the user timers. */
00115   if (os_tmr.next) {
00116     delta = sleep_time;
00117     if (delta >= os_tmr.tcnt) {
00118       delta   -= os_tmr.tcnt;
00119       os_tmr.tcnt = 1;
00120       while (os_tmr.next) {
00121         rt_tmr_tick();
00122         if (delta == 0) break;
00123         delta--;
00124       }
00125     } else {
00126       os_tmr.tcnt -= delta;
00127     }
00128   }
00129 
00130   /* Switch back to highest ready task */
00131   next = rt_get_first (&os_rdy);
00132   rt_switch_req (next);
00133 
00134   rt_tsk_unlock();
00135 }
00136 
00137 
00138 /*--------------------------- rt_tsk_lock -----------------------------------*/
00139 
00140 void rt_tsk_lock (void) {
00141   /* Prevent task switching by locking out scheduler */
00142   if (os_tick_irqn < 0) {
00143     OS_LOCK();
00144     os_lock = __TRUE;
00145     OS_UNPEND (&pend_flags);
00146   } else {
00147     OS_X_LOCK(os_tick_irqn);
00148     os_lock = __TRUE;
00149     OS_X_UNPEND (&pend_flags);
00150   }
00151 }
00152 
00153 
00154 /*--------------------------- rt_tsk_unlock ---------------------------------*/
00155 
00156 void rt_tsk_unlock (void) {
00157   /* Unlock scheduler and re-enable task switching */
00158   if (os_tick_irqn < 0) {
00159     OS_UNLOCK();
00160     os_lock = __FALSE;
00161     OS_PEND (pend_flags, os_psh_flag);
00162     os_psh_flag = __FALSE;
00163   } else {
00164     OS_X_UNLOCK(os_tick_irqn);
00165     os_lock = __FALSE;
00166     OS_X_PEND (pend_flags, os_psh_flag);
00167     os_psh_flag = __FALSE;
00168   }
00169 }
00170 
00171 
00172 /*--------------------------- rt_psh_req ------------------------------------*/
00173 
00174 void rt_psh_req (void) {
00175   /* Initiate a post service handling request if required. */
00176   if (os_lock == __FALSE) {
00177     OS_PEND_IRQ ();
00178   }
00179   else {
00180     os_psh_flag = __TRUE;
00181   }
00182 }
00183 
00184 
00185 /*--------------------------- rt_pop_req ------------------------------------*/
00186 
00187 void rt_pop_req (void) {
00188   /* Process an ISR post service requests. */
00189   struct OS_XCB *p_CB;
00190   P_TCB next;
00191   U32  idx;
00192 
00193   os_tsk.run->state = READY;
00194   rt_put_rdy_first (os_tsk.run);
00195 
00196   idx = os_psq->last;
00197   while (os_psq->count) {
00198     p_CB = os_psq->q[idx].id;
00199     if (p_CB->cb_type == TCB) {
00200       /* Is of TCB type */
00201       rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
00202     }
00203     else if (p_CB->cb_type == MCB) {
00204       /* Is of MCB type */
00205       rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
00206     }
00207     else {
00208       /* Must be of SCB type */
00209       rt_sem_psh ((P_SCB)p_CB);
00210     }
00211     if (++idx == os_psq->size) idx = 0;
00212     rt_dec (&os_psq->count);
00213   }
00214   os_psq->last = idx;
00215 
00216   next = rt_get_first (&os_rdy);
00217   rt_switch_req (next);
00218 }
00219 
00220 
00221 /*--------------------------- os_tick_init ----------------------------------*/
00222 
00223 __weak int os_tick_init (void) {
00224   /* Initialize SysTick timer as system tick timer. */
00225   rt_systick_init ();
00226   return (-1);  /* Return IRQ number of SysTick timer */
00227 }
00228 
00229 
00230 /*--------------------------- os_tick_irqack --------------------------------*/
00231 
00232 __weak void os_tick_irqack (void) {
00233   /* Acknowledge timer interrupt. */
00234 }
00235 
00236 
00237 /*--------------------------- rt_systick ------------------------------------*/
00238 
00239 void rt_systick (void) {
00240   /* Check for system clock update, suspend running task. */
00241   P_TCB next;
00242 
00243   os_tsk.run->state = READY;
00244   rt_put_rdy_first (os_tsk.run);
00245 
00246   /* Check Round Robin timeout. */
00247   rt_chk_robin ();
00248 
00249   /* Update delays. */
00250   os_time++;
00251   rt_dec_dly ();
00252 
00253   /* Check the user timers. */
00254   rt_tmr_tick ();
00255 
00256   /* Switch back to highest ready task */
00257   next = rt_get_first (&os_rdy);
00258   rt_switch_req (next);
00259 }
00260 
00261 /*--------------------------- rt_stk_check ----------------------------------*/
00262 
00263 __weak void rt_stk_check (void) {
00264   /* Check for stack overflow. */
00265   if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
00266       (os_tsk.run->stack[0] != MAGIC_WORD)) {
00267     os_error (OS_ERR_STK_OVF);
00268   }
00269 }
00270 
00271 /*----------------------------------------------------------------------------
00272  * end of file
00273  *---------------------------------------------------------------------------*/
00274