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rtx/TARGET_ARM7/rt_Task.c
- Committer:
- mbed_official
- Date:
- 2015-06-01
- Revision:
- 80:2dab120a94c2
File content as of revision 80:2dab120a94c2:
/*---------------------------------------------------------------------------- * RL-ARM - RTX *---------------------------------------------------------------------------- * Name: RT_TASK.C * Purpose: Task functions and system start up. * Rev.: V4.60 *---------------------------------------------------------------------------- * * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * - Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * - Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * - Neither the name of ARM nor the names of its contributors may be used * to endorse or promote products derived from this software without * specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. *---------------------------------------------------------------------------*/ #include "rt_TypeDef.h" #include "RTX_Conf.h" #include "rt_System.h" #include "rt_Task.h" #include "rt_List.h" #include "rt_MemBox.h" #include "rt_Robin.h" #include "rt_HAL_CM.h" /*---------------------------------------------------------------------------- * Global Variables *---------------------------------------------------------------------------*/ /* Running and next task info. */ struct OS_TSK os_tsk; /* Task Control Blocks of idle demon */ struct OS_TCB os_idle_TCB; /*---------------------------------------------------------------------------- * Local Functions *---------------------------------------------------------------------------*/ OS_TID rt_get_TID (void) { U32 tid; for (tid = 1; tid <= os_maxtaskrun; tid++) { if (os_active_TCB[tid-1] == NULL) { return ((OS_TID)tid); } } return (0); } #if defined (__CC_ARM) && !defined (__MICROLIB) /*--------------------------- __user_perthread_libspace ---------------------*/ extern void *__libspace_start; void *__user_perthread_libspace (void) { /* Provide a separate libspace for each task. */ if (os_tsk.run == NULL) { /* RTX not running yet. */ return (&__libspace_start); } return (void *)(os_tsk.run->std_libspace); } #endif /*--------------------------- rt_init_context -------------------------------*/ void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) { /* Initialize general part of the Task Control Block. */ p_TCB->cb_type = TCB; p_TCB->state = READY; p_TCB->prio = priority; p_TCB->p_lnk = NULL; p_TCB->p_rlnk = NULL; p_TCB->p_dlnk = NULL; p_TCB->p_blnk = NULL; p_TCB->delta_time = 0; p_TCB->interval_time = 0; p_TCB->events = 0; p_TCB->waits = 0; p_TCB->stack_frame = 0; rt_init_stack (p_TCB, task_body); } /*--------------------------- rt_switch_req ---------------------------------*/ void rt_switch_req (P_TCB p_new) { /* Switch to next task (identified by "p_new"). */ os_tsk.new_tsk = p_new; p_new->state = RUNNING; DBG_TASK_SWITCH(p_new->task_id); } /*--------------------------- rt_dispatch -----------------------------------*/ void rt_dispatch (P_TCB next_TCB) { /* Dispatch next task if any identified or dispatch highest ready task */ /* "next_TCB" identifies a task to run or has value NULL (=no next task) */ if (next_TCB == NULL) { /* Running task was blocked: continue with highest ready task */ next_TCB = rt_get_first (&os_rdy); rt_switch_req (next_TCB); } else { /* Check which task continues */ if (next_TCB->prio > os_tsk.run->prio) { /* preempt running task */ rt_put_rdy_first (os_tsk.run); os_tsk.run->state = READY; rt_switch_req (next_TCB); } else { /* put next task into ready list, no task switch takes place */ next_TCB->state = READY; rt_put_prio (&os_rdy, next_TCB); } } } /*--------------------------- rt_block --------------------------------------*/ void rt_block (U16 timeout, U8 block_state) { /* Block running task and choose next ready task. */ /* "timeout" sets a time-out value or is 0xffff (=no time-out). */ /* "block_state" defines the appropriate task state */ P_TCB next_TCB; if (timeout) { if (timeout < 0xffff) { rt_put_dly (os_tsk.run, timeout); } os_tsk.run->state = block_state; next_TCB = rt_get_first (&os_rdy); rt_switch_req (next_TCB); } } /*--------------------------- rt_tsk_pass -----------------------------------*/ void rt_tsk_pass (void) { /* Allow tasks of same priority level to run cooperatively.*/ P_TCB p_new; p_new = rt_get_same_rdy_prio(); if (p_new != NULL) { rt_put_prio ((P_XCB)&os_rdy, os_tsk.run); os_tsk.run->state = READY; rt_switch_req (p_new); } } /*--------------------------- rt_tsk_self -----------------------------------*/ OS_TID rt_tsk_self (void) { /* Return own task identifier value. */ if (os_tsk.run == NULL) { return (0); } return (os_tsk.run->task_id); } /*--------------------------- rt_tsk_prio -----------------------------------*/ OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) { /* Change execution priority of a task to "new_prio". */ P_TCB p_task; if (task_id == 0) { /* Change execution priority of calling task. */ os_tsk.run->prio = new_prio; run:if (rt_rdy_prio() > new_prio) { rt_put_prio (&os_rdy, os_tsk.run); os_tsk.run->state = READY; rt_dispatch (NULL); } return (OS_R_OK); } /* Find the task in the "os_active_TCB" array. */ if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) { /* Task with "task_id" not found or not started. */ return (OS_R_NOK); } p_task = os_active_TCB[task_id-1]; p_task->prio = new_prio; if (p_task == os_tsk.run) { goto run; } rt_resort_prio (p_task); if (p_task->state == READY) { /* Task enqueued in a ready list. */ p_task = rt_get_first (&os_rdy); rt_dispatch (p_task); } return (OS_R_OK); } /*--------------------------- rt_tsk_delete ---------------------------------*/ OS_RESULT rt_tsk_delete (OS_TID task_id) { /* Terminate the task identified with "task_id". */ P_TCB task_context; if (task_id == 0 || task_id == os_tsk.run->task_id) { /* Terminate itself. */ os_tsk.run->state = INACTIVE; os_tsk.run->tsk_stack = 0; rt_stk_check (); os_active_TCB[os_tsk.run->task_id-1] = NULL; os_tsk.run->stack = NULL; DBG_TASK_NOTIFY(os_tsk.run, __FALSE); os_tsk.run = NULL; rt_dispatch (NULL); /* The program should never come to this point. */ } else { /* Find the task in the "os_active_TCB" array. */ if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) { /* Task with "task_id" not found or not started. */ return (OS_R_NOK); } task_context = os_active_TCB[task_id-1]; rt_rmv_list (task_context); rt_rmv_dly (task_context); os_active_TCB[task_id-1] = NULL; task_context->stack = NULL; DBG_TASK_NOTIFY(task_context, __FALSE); } return (OS_R_OK); } /*--------------------------- rt_sys_init -----------------------------------*/ #ifdef __CMSIS_RTOS void rt_sys_init (void) { #else void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) { #endif /* Initialize system and start up task declared with "first_task". */ U32 i; DBG_INIT(); /* Initialize dynamic memory and task TCB pointers to NULL. */ for (i = 0; i < os_maxtaskrun; i++) { os_active_TCB[i] = NULL; } /* Set up TCB of idle demon */ os_idle_TCB.task_id = 255; os_idle_TCB.priv_stack = idle_task_stack_size; os_idle_TCB.stack = idle_task_stack; rt_init_context (&os_idle_TCB, 0, os_idle_demon); /* Set up ready list: initially empty */ os_rdy.cb_type = HCB; os_rdy.p_lnk = NULL; /* Set up delay list: initially empty */ os_dly.cb_type = HCB; os_dly.p_dlnk = NULL; os_dly.p_blnk = NULL; os_dly.delta_time = 0; /* Fix SP and systemvariables to assume idle task is running */ /* Transform main program into idle task by assuming idle TCB */ #ifndef __CMSIS_RTOS rt_set_PSP (os_idle_TCB.tsk_stack); #endif os_tsk.run = &os_idle_TCB; os_tsk.run->state = RUNNING; /* Initialize ps queue */ os_psq->first = 0; os_psq->last = 0; os_psq->size = os_fifo_size; rt_init_robin (); /* Intitialize SVC and PendSV */ rt_svc_init (); #ifndef __CMSIS_RTOS /* Intitialize and start system clock timer */ os_tick_irqn = os_tick_init (); if (os_tick_irqn >= 0) { OS_X_INIT(os_tick_irqn); } /* Start up first user task before entering the endless loop */ rt_tsk_create (first_task, prio_stksz, stk, NULL); #endif } /*--------------------------- rt_sys_start ----------------------------------*/ #ifdef __CMSIS_RTOS void rt_sys_start (void) { /* Start system */ /* Intitialize and start system clock timer */ os_tick_irqn = os_tick_init (); if (os_tick_irqn >= 0) { OS_X_INIT(os_tick_irqn); } extern void RestoreContext(); RestoreContext(); // Start the first task } #endif /*---------------------------------------------------------------------------- * end of file *---------------------------------------------------------------------------*/