xLAB - acutators / led-mrf-osc_full_Latest_2

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Dependencies:   addressable_leds

Dependents:   led-mrf-osc_full

mbed-rtos/rtx/rt_System.c@1:d4c1d8dc8ced, 2015-03-21 (annotated)

Committer:
Jing_Qiu
Date:
Sat Mar 21 02:42:59 2015 +0000
Revision:
1:d4c1d8dc8ced
Parent:
0:284274252007 
revised

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jing_Qiu 0:284274252007 1 /*----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 2 * RL-ARM - RTX
Jing_Qiu 0:284274252007 3 *----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 4 * Name: RT_SYSTEM.C
Jing_Qiu 0:284274252007 5 * Purpose: System Task Manager
Jing_Qiu 0:284274252007 6 * Rev.: V4.60
Jing_Qiu 0:284274252007 7 *----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 8 *
Jing_Qiu 0:284274252007 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
Jing_Qiu 0:284274252007 10 * All rights reserved.
Jing_Qiu 0:284274252007 11 * Redistribution and use in source and binary forms, with or without
Jing_Qiu 0:284274252007 12 * modification, are permitted provided that the following conditions are met:
Jing_Qiu 0:284274252007 13 * - Redistributions of source code must retain the above copyright
Jing_Qiu 0:284274252007 14 * notice, this list of conditions and the following disclaimer.
Jing_Qiu 0:284274252007 15 * - Redistributions in binary form must reproduce the above copyright
Jing_Qiu 0:284274252007 16 * notice, this list of conditions and the following disclaimer in the
Jing_Qiu 0:284274252007 17 * documentation and/or other materials provided with the distribution.
Jing_Qiu 0:284274252007 18 * - Neither the name of ARM nor the names of its contributors may be used
Jing_Qiu 0:284274252007 19 * to endorse or promote products derived from this software without
Jing_Qiu 0:284274252007 20 * specific prior written permission.
Jing_Qiu 0:284274252007 21 *
Jing_Qiu 0:284274252007 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Jing_Qiu 0:284274252007 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Jing_Qiu 0:284274252007 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
Jing_Qiu 0:284274252007 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
Jing_Qiu 0:284274252007 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
Jing_Qiu 0:284274252007 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
Jing_Qiu 0:284274252007 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
Jing_Qiu 0:284274252007 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
Jing_Qiu 0:284274252007 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
Jing_Qiu 0:284274252007 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jing_Qiu 0:284274252007 32 * POSSIBILITY OF SUCH DAMAGE.
Jing_Qiu 0:284274252007 33 *---------------------------------------------------------------------------*/
Jing_Qiu 0:284274252007 34
Jing_Qiu 0:284274252007 35 #include "rt_TypeDef.h"
Jing_Qiu 0:284274252007 36 #include "RTX_Conf.h"
Jing_Qiu 0:284274252007 37 #include "rt_Task.h"
Jing_Qiu 0:284274252007 38 #include "rt_System.h"
Jing_Qiu 0:284274252007 39 #include "rt_Event.h"
Jing_Qiu 0:284274252007 40 #include "rt_List.h"
Jing_Qiu 0:284274252007 41 #include "rt_Mailbox.h"
Jing_Qiu 0:284274252007 42 #include "rt_Semaphore.h"
Jing_Qiu 0:284274252007 43 #include "rt_Time.h"
Jing_Qiu 0:284274252007 44 #include "rt_Robin.h"
Jing_Qiu 0:284274252007 45 #include "rt_HAL_CM.h"
Jing_Qiu 0:284274252007 46
Jing_Qiu 0:284274252007 47 /*----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 48 * Global Variables
Jing_Qiu 0:284274252007 49 *---------------------------------------------------------------------------*/
Jing_Qiu 0:284274252007 50
Jing_Qiu 0:284274252007 51 int os_tick_irqn;
Jing_Qiu 0:284274252007 52
Jing_Qiu 0:284274252007 53 /*----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 54 * Local Variables
Jing_Qiu 0:284274252007 55 *---------------------------------------------------------------------------*/
Jing_Qiu 0:284274252007 56
Jing_Qiu 0:284274252007 57 static volatile BIT os_lock;
Jing_Qiu 0:284274252007 58 static volatile BIT os_psh_flag;
Jing_Qiu 0:284274252007 59 static U8 pend_flags;
Jing_Qiu 0:284274252007 60
Jing_Qiu 0:284274252007 61 /*----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 62 * Global Functions
Jing_Qiu 0:284274252007 63 *---------------------------------------------------------------------------*/
Jing_Qiu 0:284274252007 64
Jing_Qiu 0:284274252007 65 #if defined (__CC_ARM)
Jing_Qiu 0:284274252007 66 __asm void $$RTX$$version (void) {
Jing_Qiu 0:284274252007 67 /* Export a version number symbol for a version control. */
Jing_Qiu 0:284274252007 68
Jing_Qiu 0:284274252007 69 EXPORT __RL_RTX_VER
Jing_Qiu 0:284274252007 70
Jing_Qiu 0:284274252007 71 __RL_RTX_VER EQU 0x450
Jing_Qiu 0:284274252007 72 }
Jing_Qiu 0:284274252007 73 #endif
Jing_Qiu 0:284274252007 74
Jing_Qiu 0:284274252007 75
Jing_Qiu 0:284274252007 76 /*--------------------------- rt_suspend ------------------------------------*/
Jing_Qiu 0:284274252007 77 U32 rt_suspend (void) {
Jing_Qiu 0:284274252007 78 /* Suspend OS scheduler */
Jing_Qiu 0:284274252007 79 U32 delta = 0xFFFF;
Jing_Qiu 0:284274252007 80
Jing_Qiu 0:284274252007 81 rt_tsk_lock();
Jing_Qiu 0:284274252007 82
Jing_Qiu 0:284274252007 83 if (os_dly.p_dlnk) {
Jing_Qiu 0:284274252007 84 delta = os_dly.delta_time;
Jing_Qiu 0:284274252007 85 }
Jing_Qiu 0:284274252007 86 #ifndef __CMSIS_RTOS
Jing_Qiu 0:284274252007 87 if (os_tmr.next) {
Jing_Qiu 0:284274252007 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
Jing_Qiu 0:284274252007 89 }
Jing_Qiu 0:284274252007 90 #endif
Jing_Qiu 0:284274252007 91
Jing_Qiu 0:284274252007 92 return (delta);
Jing_Qiu 0:284274252007 93 }
Jing_Qiu 0:284274252007 94
Jing_Qiu 0:284274252007 95
Jing_Qiu 0:284274252007 96 /*--------------------------- rt_resume -------------------------------------*/
Jing_Qiu 0:284274252007 97 void rt_resume (U32 sleep_time) {
Jing_Qiu 0:284274252007 98 /* Resume OS scheduler after suspend */
Jing_Qiu 0:284274252007 99 P_TCB next;
Jing_Qiu 0:284274252007 100 U32 delta;
Jing_Qiu 0:284274252007 101
Jing_Qiu 0:284274252007 102 os_tsk.run->state = READY;
Jing_Qiu 0:284274252007 103 rt_put_rdy_first (os_tsk.run);
Jing_Qiu 0:284274252007 104
Jing_Qiu 0:284274252007 105 os_robin.task = NULL;
Jing_Qiu 0:284274252007 106
Jing_Qiu 0:284274252007 107 /* Update delays. */
Jing_Qiu 0:284274252007 108 if (os_dly.p_dlnk) {
Jing_Qiu 0:284274252007 109 delta = sleep_time;
Jing_Qiu 0:284274252007 110 if (delta >= os_dly.delta_time) {
Jing_Qiu 0:284274252007 111 delta -= os_dly.delta_time;
Jing_Qiu 0:284274252007 112 os_time += os_dly.delta_time;
Jing_Qiu 0:284274252007 113 os_dly.delta_time = 1;
Jing_Qiu 0:284274252007 114 while (os_dly.p_dlnk) {
Jing_Qiu 0:284274252007 115 rt_dec_dly();
Jing_Qiu 0:284274252007 116 if (delta == 0) break;
Jing_Qiu 0:284274252007 117 delta--;
Jing_Qiu 0:284274252007 118 os_time++;
Jing_Qiu 0:284274252007 119 }
Jing_Qiu 0:284274252007 120 } else {
Jing_Qiu 0:284274252007 121 os_time += delta;
Jing_Qiu 0:284274252007 122 os_dly.delta_time -= delta;
Jing_Qiu 0:284274252007 123 }
Jing_Qiu 0:284274252007 124 } else {
Jing_Qiu 0:284274252007 125 os_time += sleep_time;
Jing_Qiu 0:284274252007 126 }
Jing_Qiu 0:284274252007 127
Jing_Qiu 0:284274252007 128 #ifndef __CMSIS_RTOS
Jing_Qiu 0:284274252007 129 /* Check the user timers. */
Jing_Qiu 0:284274252007 130 if (os_tmr.next) {
Jing_Qiu 0:284274252007 131 delta = sleep_time;
Jing_Qiu 0:284274252007 132 if (delta >= os_tmr.tcnt) {
Jing_Qiu 0:284274252007 133 delta -= os_tmr.tcnt;
Jing_Qiu 0:284274252007 134 os_tmr.tcnt = 1;
Jing_Qiu 0:284274252007 135 while (os_tmr.next) {
Jing_Qiu 0:284274252007 136 rt_tmr_tick();
Jing_Qiu 0:284274252007 137 if (delta == 0) break;
Jing_Qiu 0:284274252007 138 delta--;
Jing_Qiu 0:284274252007 139 }
Jing_Qiu 0:284274252007 140 } else {
Jing_Qiu 0:284274252007 141 os_tmr.tcnt -= delta;
Jing_Qiu 0:284274252007 142 }
Jing_Qiu 0:284274252007 143 }
Jing_Qiu 0:284274252007 144 #endif
Jing_Qiu 0:284274252007 145
Jing_Qiu 0:284274252007 146 /* Switch back to highest ready task */
Jing_Qiu 0:284274252007 147 next = rt_get_first (&os_rdy);
Jing_Qiu 0:284274252007 148 rt_switch_req (next);
Jing_Qiu 0:284274252007 149
Jing_Qiu 0:284274252007 150 rt_tsk_unlock();
Jing_Qiu 0:284274252007 151 }
Jing_Qiu 0:284274252007 152
Jing_Qiu 0:284274252007 153
Jing_Qiu 0:284274252007 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
Jing_Qiu 0:284274252007 155
Jing_Qiu 0:284274252007 156 void rt_tsk_lock (void) {
Jing_Qiu 0:284274252007 157 /* Prevent task switching by locking out scheduler */
Jing_Qiu 0:284274252007 158 if (os_tick_irqn < 0) {
Jing_Qiu 0:284274252007 159 OS_LOCK();
Jing_Qiu 0:284274252007 160 os_lock = __TRUE;
Jing_Qiu 0:284274252007 161 OS_UNPEND (&pend_flags);
Jing_Qiu 0:284274252007 162 } else {
Jing_Qiu 0:284274252007 163 OS_X_LOCK(os_tick_irqn);
Jing_Qiu 0:284274252007 164 os_lock = __TRUE;
Jing_Qiu 0:284274252007 165 OS_X_UNPEND (&pend_flags);
Jing_Qiu 0:284274252007 166 }
Jing_Qiu 0:284274252007 167 }
Jing_Qiu 0:284274252007 168
Jing_Qiu 0:284274252007 169
Jing_Qiu 0:284274252007 170 /*--------------------------- rt_tsk_unlock ---------------------------------*/
Jing_Qiu 0:284274252007 171
Jing_Qiu 0:284274252007 172 void rt_tsk_unlock (void) {
Jing_Qiu 0:284274252007 173 /* Unlock scheduler and re-enable task switching */
Jing_Qiu 0:284274252007 174 if (os_tick_irqn < 0) {
Jing_Qiu 0:284274252007 175 OS_UNLOCK();
Jing_Qiu 0:284274252007 176 os_lock = __FALSE;
Jing_Qiu 0:284274252007 177 OS_PEND (pend_flags, os_psh_flag);
Jing_Qiu 0:284274252007 178 os_psh_flag = __FALSE;
Jing_Qiu 0:284274252007 179 } else {
Jing_Qiu 0:284274252007 180 OS_X_UNLOCK(os_tick_irqn);
Jing_Qiu 0:284274252007 181 os_lock = __FALSE;
Jing_Qiu 0:284274252007 182 OS_X_PEND (pend_flags, os_psh_flag);
Jing_Qiu 0:284274252007 183 os_psh_flag = __FALSE;
Jing_Qiu 0:284274252007 184 }
Jing_Qiu 0:284274252007 185 }
Jing_Qiu 0:284274252007 186
Jing_Qiu 0:284274252007 187
Jing_Qiu 0:284274252007 188 /*--------------------------- rt_psh_req ------------------------------------*/
Jing_Qiu 0:284274252007 189
Jing_Qiu 0:284274252007 190 void rt_psh_req (void) {
Jing_Qiu 0:284274252007 191 /* Initiate a post service handling request if required. */
Jing_Qiu 0:284274252007 192 if (os_lock == __FALSE) {
Jing_Qiu 0:284274252007 193 OS_PEND_IRQ ();
Jing_Qiu 0:284274252007 194 }
Jing_Qiu 0:284274252007 195 else {
Jing_Qiu 0:284274252007 196 os_psh_flag = __TRUE;
Jing_Qiu 0:284274252007 197 }
Jing_Qiu 0:284274252007 198 }
Jing_Qiu 0:284274252007 199
Jing_Qiu 0:284274252007 200
Jing_Qiu 0:284274252007 201 /*--------------------------- rt_pop_req ------------------------------------*/
Jing_Qiu 0:284274252007 202
Jing_Qiu 0:284274252007 203 void rt_pop_req (void) {
Jing_Qiu 0:284274252007 204 /* Process an ISR post service requests. */
Jing_Qiu 0:284274252007 205 struct OS_XCB *p_CB;
Jing_Qiu 0:284274252007 206 P_TCB next;
Jing_Qiu 0:284274252007 207 U32 idx;
Jing_Qiu 0:284274252007 208
Jing_Qiu 0:284274252007 209 os_tsk.run->state = READY;
Jing_Qiu 0:284274252007 210 rt_put_rdy_first (os_tsk.run);
Jing_Qiu 0:284274252007 211
Jing_Qiu 0:284274252007 212 idx = os_psq->last;
Jing_Qiu 0:284274252007 213 while (os_psq->count) {
Jing_Qiu 0:284274252007 214 p_CB = os_psq->q[idx].id;
Jing_Qiu 0:284274252007 215 if (p_CB->cb_type == TCB) {
Jing_Qiu 0:284274252007 216 /* Is of TCB type */
Jing_Qiu 0:284274252007 217 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
Jing_Qiu 0:284274252007 218 }
Jing_Qiu 0:284274252007 219 else if (p_CB->cb_type == MCB) {
Jing_Qiu 0:284274252007 220 /* Is of MCB type */
Jing_Qiu 0:284274252007 221 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
Jing_Qiu 0:284274252007 222 }
Jing_Qiu 0:284274252007 223 else {
Jing_Qiu 0:284274252007 224 /* Must be of SCB type */
Jing_Qiu 0:284274252007 225 rt_sem_psh ((P_SCB)p_CB);
Jing_Qiu 0:284274252007 226 }
Jing_Qiu 0:284274252007 227 if (++idx == os_psq->size) idx = 0;
Jing_Qiu 0:284274252007 228 rt_dec (&os_psq->count);
Jing_Qiu 0:284274252007 229 }
Jing_Qiu 0:284274252007 230 os_psq->last = idx;
Jing_Qiu 0:284274252007 231
Jing_Qiu 0:284274252007 232 next = rt_get_first (&os_rdy);
Jing_Qiu 0:284274252007 233 rt_switch_req (next);
Jing_Qiu 0:284274252007 234 }
Jing_Qiu 0:284274252007 235
Jing_Qiu 0:284274252007 236
Jing_Qiu 0:284274252007 237 /*--------------------------- os_tick_init ----------------------------------*/
Jing_Qiu 0:284274252007 238
Jing_Qiu 0:284274252007 239 __weak int os_tick_init (void) {
Jing_Qiu 0:284274252007 240 /* Initialize SysTick timer as system tick timer. */
Jing_Qiu 0:284274252007 241 rt_systick_init ();
Jing_Qiu 0:284274252007 242 return (-1); /* Return IRQ number of SysTick timer */
Jing_Qiu 0:284274252007 243 }
Jing_Qiu 0:284274252007 244
Jing_Qiu 0:284274252007 245
Jing_Qiu 0:284274252007 246 /*--------------------------- os_tick_irqack --------------------------------*/
Jing_Qiu 0:284274252007 247
Jing_Qiu 0:284274252007 248 __weak void os_tick_irqack (void) {
Jing_Qiu 0:284274252007 249 /* Acknowledge timer interrupt. */
Jing_Qiu 0:284274252007 250 }
Jing_Qiu 0:284274252007 251
Jing_Qiu 0:284274252007 252
Jing_Qiu 0:284274252007 253 /*--------------------------- rt_systick ------------------------------------*/
Jing_Qiu 0:284274252007 254
Jing_Qiu 0:284274252007 255 extern void sysTimerTick(void);
Jing_Qiu 0:284274252007 256
Jing_Qiu 0:284274252007 257 void rt_systick (void) {
Jing_Qiu 0:284274252007 258 /* Check for system clock update, suspend running task. */
Jing_Qiu 0:284274252007 259 P_TCB next;
Jing_Qiu 0:284274252007 260
Jing_Qiu 0:284274252007 261 os_tsk.run->state = READY;
Jing_Qiu 0:284274252007 262 rt_put_rdy_first (os_tsk.run);
Jing_Qiu 0:284274252007 263
Jing_Qiu 0:284274252007 264 /* Check Round Robin timeout. */
Jing_Qiu 0:284274252007 265 rt_chk_robin ();
Jing_Qiu 0:284274252007 266
Jing_Qiu 0:284274252007 267 /* Update delays. */
Jing_Qiu 0:284274252007 268 os_time++;
Jing_Qiu 0:284274252007 269 rt_dec_dly ();
Jing_Qiu 0:284274252007 270
Jing_Qiu 0:284274252007 271 /* Check the user timers. */
Jing_Qiu 0:284274252007 272 #ifdef __CMSIS_RTOS
Jing_Qiu 0:284274252007 273 sysTimerTick();
Jing_Qiu 0:284274252007 274 #else
Jing_Qiu 0:284274252007 275 rt_tmr_tick ();
Jing_Qiu 0:284274252007 276 #endif
Jing_Qiu 0:284274252007 277
Jing_Qiu 0:284274252007 278 /* Switch back to highest ready task */
Jing_Qiu 0:284274252007 279 next = rt_get_first (&os_rdy);
Jing_Qiu 0:284274252007 280 rt_switch_req (next);
Jing_Qiu 0:284274252007 281 }
Jing_Qiu 0:284274252007 282
Jing_Qiu 0:284274252007 283 /*--------------------------- rt_stk_check ----------------------------------*/
Jing_Qiu 0:284274252007 284 __weak void rt_stk_check (void) {
Jing_Qiu 0:284274252007 285 /* Check for stack overflow. */
Jing_Qiu 0:284274252007 286 if (os_tsk.run->task_id == 0x01) {
Jing_Qiu 0:284274252007 287 // TODO: For the main thread the check should be done against the main heap pointer
Jing_Qiu 0:284274252007 288 } else {
Jing_Qiu 0:284274252007 289 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
Jing_Qiu 0:284274252007 290 (os_tsk.run->stack[0] != MAGIC_WORD)) {
Jing_Qiu 0:284274252007 291 os_error (OS_ERR_STK_OVF);
Jing_Qiu 0:284274252007 292 }
Jing_Qiu 0:284274252007 293 }
Jing_Qiu 0:284274252007 294 }
Jing_Qiu 0:284274252007 295
Jing_Qiu 0:284274252007 296 /*----------------------------------------------------------------------------
Jing_Qiu 0:284274252007 297 * end of file
Jing_Qiu 0:284274252007 298 *---------------------------------------------------------------------------*/
Jing_Qiu 0:284274252007 299