Project5_Software / RTOS

Versie 0.2 Het versturen via de NRF werkt nog niet helemaal omdat er per 4 bytes verstuurd moet worden. Wordt gefixt d.m.v. dynamic stuff!

Dependencies:   BufferedSerial

Dependents:   rtos_basic rtos_basic

Fork of mbed-rtos by mbed official

rtx/TARGET_CORTEX_M/rt_System.c@108:e3b1083b1577, 2016-04-29 (annotated)

Committer:
Reynier
Date:
Fri Apr 29 15:22:56 2016 +0000
Revision:
108:e3b1083b1577
Parent:
49:77c8e4604045 
versie 0.2; Het versturen via NRF werkt nog niet helemaal omdat er per 4 bytes verstuurd moeten worden. Wordt nog gefixt d.m.v. dynamic stuff!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 49:77c8e4604045 1 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 2 * RL-ARM - RTX
mbed_official 49:77c8e4604045 3 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 4 * Name: RT_SYSTEM.C
mbed_official 49:77c8e4604045 5 * Purpose: System Task Manager
mbed_official 49:77c8e4604045 6 * Rev.: V4.60
mbed_official 49:77c8e4604045 7 *----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 8 *
mbed_official 49:77c8e4604045 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
mbed_official 49:77c8e4604045 10 * All rights reserved.
mbed_official 49:77c8e4604045 11 * Redistribution and use in source and binary forms, with or without
mbed_official 49:77c8e4604045 12 * modification, are permitted provided that the following conditions are met:
mbed_official 49:77c8e4604045 13 * - Redistributions of source code must retain the above copyright
mbed_official 49:77c8e4604045 14 * notice, this list of conditions and the following disclaimer.
mbed_official 49:77c8e4604045 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 49:77c8e4604045 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 49:77c8e4604045 17 * documentation and/or other materials provided with the distribution.
mbed_official 49:77c8e4604045 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 49:77c8e4604045 19 * to endorse or promote products derived from this software without
mbed_official 49:77c8e4604045 20 * specific prior written permission.
mbed_official 49:77c8e4604045 21 *
mbed_official 49:77c8e4604045 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 49:77c8e4604045 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 49:77c8e4604045 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 49:77c8e4604045 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 49:77c8e4604045 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 49:77c8e4604045 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 49:77c8e4604045 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 49:77c8e4604045 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 49:77c8e4604045 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 49:77c8e4604045 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 49:77c8e4604045 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 49:77c8e4604045 33 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 34
mbed_official 49:77c8e4604045 35 #include "rt_TypeDef.h"
mbed_official 49:77c8e4604045 36 #include "RTX_Conf.h"
mbed_official 49:77c8e4604045 37 #include "rt_Task.h"
mbed_official 49:77c8e4604045 38 #include "rt_System.h"
mbed_official 49:77c8e4604045 39 #include "rt_Event.h"
mbed_official 49:77c8e4604045 40 #include "rt_List.h"
mbed_official 49:77c8e4604045 41 #include "rt_Mailbox.h"
mbed_official 49:77c8e4604045 42 #include "rt_Semaphore.h"
mbed_official 49:77c8e4604045 43 #include "rt_Time.h"
mbed_official 49:77c8e4604045 44 #include "rt_Robin.h"
mbed_official 49:77c8e4604045 45 #include "rt_HAL_CM.h"
mbed_official 49:77c8e4604045 46
mbed_official 49:77c8e4604045 47 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 48 * Global Variables
mbed_official 49:77c8e4604045 49 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 50
mbed_official 49:77c8e4604045 51 int os_tick_irqn;
mbed_official 49:77c8e4604045 52
mbed_official 49:77c8e4604045 53 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 54 * Local Variables
mbed_official 49:77c8e4604045 55 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 56
mbed_official 49:77c8e4604045 57 static volatile BIT os_lock;
mbed_official 49:77c8e4604045 58 static volatile BIT os_psh_flag;
mbed_official 49:77c8e4604045 59 static U8 pend_flags;
mbed_official 49:77c8e4604045 60
mbed_official 49:77c8e4604045 61 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 62 * Global Functions
mbed_official 49:77c8e4604045 63 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 64
mbed_official 49:77c8e4604045 65 #if defined (__CC_ARM)
mbed_official 49:77c8e4604045 66 __asm void $$RTX$$version (void) {
mbed_official 49:77c8e4604045 67 /* Export a version number symbol for a version control. */
mbed_official 49:77c8e4604045 68
mbed_official 49:77c8e4604045 69 EXPORT __RL_RTX_VER
mbed_official 49:77c8e4604045 70
mbed_official 49:77c8e4604045 71 __RL_RTX_VER EQU 0x450
mbed_official 49:77c8e4604045 72 }
mbed_official 49:77c8e4604045 73 #endif
mbed_official 49:77c8e4604045 74
mbed_official 49:77c8e4604045 75
mbed_official 49:77c8e4604045 76 /*--------------------------- rt_suspend ------------------------------------*/
mbed_official 49:77c8e4604045 77 U32 rt_suspend (void) {
mbed_official 49:77c8e4604045 78 /* Suspend OS scheduler */
mbed_official 49:77c8e4604045 79 U32 delta = 0xFFFF;
mbed_official 49:77c8e4604045 80
mbed_official 49:77c8e4604045 81 rt_tsk_lock();
mbed_official 49:77c8e4604045 82
mbed_official 49:77c8e4604045 83 if (os_dly.p_dlnk) {
mbed_official 49:77c8e4604045 84 delta = os_dly.delta_time;
mbed_official 49:77c8e4604045 85 }
mbed_official 49:77c8e4604045 86 #ifndef __CMSIS_RTOS
mbed_official 49:77c8e4604045 87 if (os_tmr.next) {
mbed_official 49:77c8e4604045 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
mbed_official 49:77c8e4604045 89 }
mbed_official 49:77c8e4604045 90 #endif
mbed_official 49:77c8e4604045 91
mbed_official 49:77c8e4604045 92 return (delta);
mbed_official 49:77c8e4604045 93 }
mbed_official 49:77c8e4604045 94
mbed_official 49:77c8e4604045 95
mbed_official 49:77c8e4604045 96 /*--------------------------- rt_resume -------------------------------------*/
mbed_official 49:77c8e4604045 97 void rt_resume (U32 sleep_time) {
mbed_official 49:77c8e4604045 98 /* Resume OS scheduler after suspend */
mbed_official 49:77c8e4604045 99 P_TCB next;
mbed_official 49:77c8e4604045 100 U32 delta;
mbed_official 49:77c8e4604045 101
mbed_official 49:77c8e4604045 102 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 103 rt_put_rdy_first (os_tsk.run);
mbed_official 49:77c8e4604045 104
mbed_official 49:77c8e4604045 105 os_robin.task = NULL;
mbed_official 49:77c8e4604045 106
mbed_official 49:77c8e4604045 107 /* Update delays. */
mbed_official 49:77c8e4604045 108 if (os_dly.p_dlnk) {
mbed_official 49:77c8e4604045 109 delta = sleep_time;
mbed_official 49:77c8e4604045 110 if (delta >= os_dly.delta_time) {
mbed_official 49:77c8e4604045 111 delta -= os_dly.delta_time;
mbed_official 49:77c8e4604045 112 os_time += os_dly.delta_time;
mbed_official 49:77c8e4604045 113 os_dly.delta_time = 1;
mbed_official 49:77c8e4604045 114 while (os_dly.p_dlnk) {
mbed_official 49:77c8e4604045 115 rt_dec_dly();
mbed_official 49:77c8e4604045 116 if (delta == 0) break;
mbed_official 49:77c8e4604045 117 delta--;
mbed_official 49:77c8e4604045 118 os_time++;
mbed_official 49:77c8e4604045 119 }
mbed_official 49:77c8e4604045 120 } else {
mbed_official 49:77c8e4604045 121 os_time += delta;
mbed_official 49:77c8e4604045 122 os_dly.delta_time -= delta;
mbed_official 49:77c8e4604045 123 }
mbed_official 49:77c8e4604045 124 } else {
mbed_official 49:77c8e4604045 125 os_time += sleep_time;
mbed_official 49:77c8e4604045 126 }
mbed_official 49:77c8e4604045 127
mbed_official 49:77c8e4604045 128 #ifndef __CMSIS_RTOS
mbed_official 49:77c8e4604045 129 /* Check the user timers. */
mbed_official 49:77c8e4604045 130 if (os_tmr.next) {
mbed_official 49:77c8e4604045 131 delta = sleep_time;
mbed_official 49:77c8e4604045 132 if (delta >= os_tmr.tcnt) {
mbed_official 49:77c8e4604045 133 delta -= os_tmr.tcnt;
mbed_official 49:77c8e4604045 134 os_tmr.tcnt = 1;
mbed_official 49:77c8e4604045 135 while (os_tmr.next) {
mbed_official 49:77c8e4604045 136 rt_tmr_tick();
mbed_official 49:77c8e4604045 137 if (delta == 0) break;
mbed_official 49:77c8e4604045 138 delta--;
mbed_official 49:77c8e4604045 139 }
mbed_official 49:77c8e4604045 140 } else {
mbed_official 49:77c8e4604045 141 os_tmr.tcnt -= delta;
mbed_official 49:77c8e4604045 142 }
mbed_official 49:77c8e4604045 143 }
mbed_official 49:77c8e4604045 144 #endif
mbed_official 49:77c8e4604045 145
mbed_official 49:77c8e4604045 146 /* Switch back to highest ready task */
mbed_official 49:77c8e4604045 147 next = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 148 rt_switch_req (next);
mbed_official 49:77c8e4604045 149
mbed_official 49:77c8e4604045 150 rt_tsk_unlock();
mbed_official 49:77c8e4604045 151 }
mbed_official 49:77c8e4604045 152
mbed_official 49:77c8e4604045 153
mbed_official 49:77c8e4604045 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
mbed_official 49:77c8e4604045 155
mbed_official 49:77c8e4604045 156 void rt_tsk_lock (void) {
mbed_official 49:77c8e4604045 157 /* Prevent task switching by locking out scheduler */
mbed_official 49:77c8e4604045 158 if (os_tick_irqn < 0) {
mbed_official 49:77c8e4604045 159 OS_LOCK();
mbed_official 49:77c8e4604045 160 os_lock = __TRUE;
mbed_official 49:77c8e4604045 161 OS_UNPEND (&pend_flags);
mbed_official 49:77c8e4604045 162 } else {
mbed_official 49:77c8e4604045 163 OS_X_LOCK(os_tick_irqn);
mbed_official 49:77c8e4604045 164 os_lock = __TRUE;
mbed_official 49:77c8e4604045 165 OS_X_UNPEND (&pend_flags);
mbed_official 49:77c8e4604045 166 }
mbed_official 49:77c8e4604045 167 }
mbed_official 49:77c8e4604045 168
mbed_official 49:77c8e4604045 169
mbed_official 49:77c8e4604045 170 /*--------------------------- rt_tsk_unlock ---------------------------------*/
mbed_official 49:77c8e4604045 171
mbed_official 49:77c8e4604045 172 void rt_tsk_unlock (void) {
mbed_official 49:77c8e4604045 173 /* Unlock scheduler and re-enable task switching */
mbed_official 49:77c8e4604045 174 if (os_tick_irqn < 0) {
mbed_official 49:77c8e4604045 175 OS_UNLOCK();
mbed_official 49:77c8e4604045 176 os_lock = __FALSE;
mbed_official 49:77c8e4604045 177 OS_PEND (pend_flags, os_psh_flag);
mbed_official 49:77c8e4604045 178 os_psh_flag = __FALSE;
mbed_official 49:77c8e4604045 179 } else {
mbed_official 49:77c8e4604045 180 OS_X_UNLOCK(os_tick_irqn);
mbed_official 49:77c8e4604045 181 os_lock = __FALSE;
mbed_official 49:77c8e4604045 182 OS_X_PEND (pend_flags, os_psh_flag);
mbed_official 49:77c8e4604045 183 os_psh_flag = __FALSE;
mbed_official 49:77c8e4604045 184 }
mbed_official 49:77c8e4604045 185 }
mbed_official 49:77c8e4604045 186
mbed_official 49:77c8e4604045 187
mbed_official 49:77c8e4604045 188 /*--------------------------- rt_psh_req ------------------------------------*/
mbed_official 49:77c8e4604045 189
mbed_official 49:77c8e4604045 190 void rt_psh_req (void) {
mbed_official 49:77c8e4604045 191 /* Initiate a post service handling request if required. */
mbed_official 49:77c8e4604045 192 if (os_lock == __FALSE) {
mbed_official 49:77c8e4604045 193 OS_PEND_IRQ ();
mbed_official 49:77c8e4604045 194 }
mbed_official 49:77c8e4604045 195 else {
mbed_official 49:77c8e4604045 196 os_psh_flag = __TRUE;
mbed_official 49:77c8e4604045 197 }
mbed_official 49:77c8e4604045 198 }
mbed_official 49:77c8e4604045 199
mbed_official 49:77c8e4604045 200
mbed_official 49:77c8e4604045 201 /*--------------------------- rt_pop_req ------------------------------------*/
mbed_official 49:77c8e4604045 202
mbed_official 49:77c8e4604045 203 void rt_pop_req (void) {
mbed_official 49:77c8e4604045 204 /* Process an ISR post service requests. */
mbed_official 49:77c8e4604045 205 struct OS_XCB *p_CB;
mbed_official 49:77c8e4604045 206 P_TCB next;
mbed_official 49:77c8e4604045 207 U32 idx;
mbed_official 49:77c8e4604045 208
mbed_official 49:77c8e4604045 209 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 210 rt_put_rdy_first (os_tsk.run);
mbed_official 49:77c8e4604045 211
mbed_official 49:77c8e4604045 212 idx = os_psq->last;
mbed_official 49:77c8e4604045 213 while (os_psq->count) {
mbed_official 49:77c8e4604045 214 p_CB = os_psq->q[idx].id;
mbed_official 49:77c8e4604045 215 if (p_CB->cb_type == TCB) {
mbed_official 49:77c8e4604045 216 /* Is of TCB type */
mbed_official 49:77c8e4604045 217 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
mbed_official 49:77c8e4604045 218 }
mbed_official 49:77c8e4604045 219 else if (p_CB->cb_type == MCB) {
mbed_official 49:77c8e4604045 220 /* Is of MCB type */
mbed_official 49:77c8e4604045 221 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
mbed_official 49:77c8e4604045 222 }
mbed_official 49:77c8e4604045 223 else {
mbed_official 49:77c8e4604045 224 /* Must be of SCB type */
mbed_official 49:77c8e4604045 225 rt_sem_psh ((P_SCB)p_CB);
mbed_official 49:77c8e4604045 226 }
mbed_official 49:77c8e4604045 227 if (++idx == os_psq->size) idx = 0;
mbed_official 49:77c8e4604045 228 rt_dec (&os_psq->count);
mbed_official 49:77c8e4604045 229 }
mbed_official 49:77c8e4604045 230 os_psq->last = idx;
mbed_official 49:77c8e4604045 231
mbed_official 49:77c8e4604045 232 next = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 233 rt_switch_req (next);
mbed_official 49:77c8e4604045 234 }
mbed_official 49:77c8e4604045 235
mbed_official 49:77c8e4604045 236
mbed_official 49:77c8e4604045 237 /*--------------------------- os_tick_init ----------------------------------*/
mbed_official 49:77c8e4604045 238
mbed_official 49:77c8e4604045 239 __weak int os_tick_init (void) {
mbed_official 49:77c8e4604045 240 /* Initialize SysTick timer as system tick timer. */
mbed_official 49:77c8e4604045 241 rt_systick_init ();
mbed_official 49:77c8e4604045 242 return (-1); /* Return IRQ number of SysTick timer */
mbed_official 49:77c8e4604045 243 }
mbed_official 49:77c8e4604045 244
mbed_official 49:77c8e4604045 245
mbed_official 49:77c8e4604045 246 /*--------------------------- os_tick_irqack --------------------------------*/
mbed_official 49:77c8e4604045 247
mbed_official 49:77c8e4604045 248 __weak void os_tick_irqack (void) {
mbed_official 49:77c8e4604045 249 /* Acknowledge timer interrupt. */
mbed_official 49:77c8e4604045 250 }
mbed_official 49:77c8e4604045 251
mbed_official 49:77c8e4604045 252
mbed_official 49:77c8e4604045 253 /*--------------------------- rt_systick ------------------------------------*/
mbed_official 49:77c8e4604045 254
mbed_official 49:77c8e4604045 255 extern void sysTimerTick(void);
mbed_official 49:77c8e4604045 256
mbed_official 49:77c8e4604045 257 void rt_systick (void) {
mbed_official 49:77c8e4604045 258 /* Check for system clock update, suspend running task. */
mbed_official 49:77c8e4604045 259 P_TCB next;
mbed_official 49:77c8e4604045 260
mbed_official 49:77c8e4604045 261 os_tsk.run->state = READY;
mbed_official 49:77c8e4604045 262 rt_put_rdy_first (os_tsk.run);
mbed_official 49:77c8e4604045 263
mbed_official 49:77c8e4604045 264 /* Check Round Robin timeout. */
mbed_official 49:77c8e4604045 265 rt_chk_robin ();
mbed_official 49:77c8e4604045 266
mbed_official 49:77c8e4604045 267 /* Update delays. */
mbed_official 49:77c8e4604045 268 os_time++;
mbed_official 49:77c8e4604045 269 rt_dec_dly ();
mbed_official 49:77c8e4604045 270
mbed_official 49:77c8e4604045 271 /* Check the user timers. */
mbed_official 49:77c8e4604045 272 #ifdef __CMSIS_RTOS
mbed_official 49:77c8e4604045 273 sysTimerTick();
mbed_official 49:77c8e4604045 274 #else
mbed_official 49:77c8e4604045 275 rt_tmr_tick ();
mbed_official 49:77c8e4604045 276 #endif
mbed_official 49:77c8e4604045 277
mbed_official 49:77c8e4604045 278 /* Switch back to highest ready task */
mbed_official 49:77c8e4604045 279 next = rt_get_first (&os_rdy);
mbed_official 49:77c8e4604045 280 rt_switch_req (next);
mbed_official 49:77c8e4604045 281 }
mbed_official 49:77c8e4604045 282
mbed_official 49:77c8e4604045 283 /*--------------------------- rt_stk_check ----------------------------------*/
mbed_official 49:77c8e4604045 284 __weak void rt_stk_check (void) {
mbed_official 49:77c8e4604045 285 /* Check for stack overflow. */
mbed_official 49:77c8e4604045 286 if (os_tsk.run->task_id == 0x01) {
mbed_official 49:77c8e4604045 287 // TODO: For the main thread the check should be done against the main heap pointer
mbed_official 49:77c8e4604045 288 } else {
mbed_official 49:77c8e4604045 289 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
mbed_official 49:77c8e4604045 290 (os_tsk.run->stack[0] != MAGIC_WORD)) {
mbed_official 49:77c8e4604045 291 os_error (OS_ERR_STK_OVF);
mbed_official 49:77c8e4604045 292 }
mbed_official 49:77c8e4604045 293 }
mbed_official 49:77c8e4604045 294 }
mbed_official 49:77c8e4604045 295
mbed_official 49:77c8e4604045 296 /*----------------------------------------------------------------------------
mbed_official 49:77c8e4604045 297 * end of file
mbed_official 49:77c8e4604045 298 *---------------------------------------------------------------------------*/
mbed_official 49:77c8e4604045 299