RUBEN ELISEO VAZQUEZ / Mbed 2 deprecated ds1302-bluetooth

the program have one sensor acs712 and moduleds1302

Dependencies:   FATFileSystem mbed

rtx/TARGET_CORTEX_A/rt_Task.c@0:b82abca089ac, 2017-06-08 (annotated)

Committer:
RUBENTEC
Date:
Thu Jun 08 20:17:34 2017 +0000
Revision:
0:b82abca089ac
ds1302-bluetooth-acs712

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RUBENTEC 0:b82abca089ac 1 /*----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 2 * RL-ARM - RTX
RUBENTEC 0:b82abca089ac 3 *----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 4 * Name: RT_TASK.C
RUBENTEC 0:b82abca089ac 5 * Purpose: Task functions and system start up.
RUBENTEC 0:b82abca089ac 6 * Rev.: V4.73
RUBENTEC 0:b82abca089ac 7 *----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 8 *
RUBENTEC 0:b82abca089ac 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
RUBENTEC 0:b82abca089ac 10 * All rights reserved.
RUBENTEC 0:b82abca089ac 11 * Redistribution and use in source and binary forms, with or without
RUBENTEC 0:b82abca089ac 12 * modification, are permitted provided that the following conditions are met:
RUBENTEC 0:b82abca089ac 13 * - Redistributions of source code must retain the above copyright
RUBENTEC 0:b82abca089ac 14 * notice, this list of conditions and the following disclaimer.
RUBENTEC 0:b82abca089ac 15 * - Redistributions in binary form must reproduce the above copyright
RUBENTEC 0:b82abca089ac 16 * notice, this list of conditions and the following disclaimer in the
RUBENTEC 0:b82abca089ac 17 * documentation and/or other materials provided with the distribution.
RUBENTEC 0:b82abca089ac 18 * - Neither the name of ARM nor the names of its contributors may be used
RUBENTEC 0:b82abca089ac 19 * to endorse or promote products derived from this software without
RUBENTEC 0:b82abca089ac 20 * specific prior written permission.
RUBENTEC 0:b82abca089ac 21 *
RUBENTEC 0:b82abca089ac 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
RUBENTEC 0:b82abca089ac 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
RUBENTEC 0:b82abca089ac 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
RUBENTEC 0:b82abca089ac 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
RUBENTEC 0:b82abca089ac 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
RUBENTEC 0:b82abca089ac 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
RUBENTEC 0:b82abca089ac 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
RUBENTEC 0:b82abca089ac 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
RUBENTEC 0:b82abca089ac 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
RUBENTEC 0:b82abca089ac 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
RUBENTEC 0:b82abca089ac 32 * POSSIBILITY OF SUCH DAMAGE.
RUBENTEC 0:b82abca089ac 33 *---------------------------------------------------------------------------*/
RUBENTEC 0:b82abca089ac 34
RUBENTEC 0:b82abca089ac 35 #include "rt_TypeDef.h"
RUBENTEC 0:b82abca089ac 36 #include "RTX_Config.h"
RUBENTEC 0:b82abca089ac 37 #include "rt_System.h"
RUBENTEC 0:b82abca089ac 38 #include "rt_Task.h"
RUBENTEC 0:b82abca089ac 39 #include "rt_List.h"
RUBENTEC 0:b82abca089ac 40 #include "rt_MemBox.h"
RUBENTEC 0:b82abca089ac 41 #include "rt_Robin.h"
RUBENTEC 0:b82abca089ac 42 #ifdef __CORTEX_A9
RUBENTEC 0:b82abca089ac 43 #include "rt_HAL_CA.h"
RUBENTEC 0:b82abca089ac 44 #else
RUBENTEC 0:b82abca089ac 45 #include "rt_HAL_CM.h"
RUBENTEC 0:b82abca089ac 46 #endif
RUBENTEC 0:b82abca089ac 47
RUBENTEC 0:b82abca089ac 48 /*----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 49 * Global Variables
RUBENTEC 0:b82abca089ac 50 *---------------------------------------------------------------------------*/
RUBENTEC 0:b82abca089ac 51
RUBENTEC 0:b82abca089ac 52 /* Running and next task info. */
RUBENTEC 0:b82abca089ac 53 struct OS_TSK os_tsk;
RUBENTEC 0:b82abca089ac 54
RUBENTEC 0:b82abca089ac 55 /* Task Control Blocks of idle demon */
RUBENTEC 0:b82abca089ac 56 struct OS_TCB os_idle_TCB;
RUBENTEC 0:b82abca089ac 57
RUBENTEC 0:b82abca089ac 58
RUBENTEC 0:b82abca089ac 59 /*----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 60 * Local Functions
RUBENTEC 0:b82abca089ac 61 *---------------------------------------------------------------------------*/
RUBENTEC 0:b82abca089ac 62
RUBENTEC 0:b82abca089ac 63 static OS_TID rt_get_TID (void) {
RUBENTEC 0:b82abca089ac 64 U32 tid;
RUBENTEC 0:b82abca089ac 65
RUBENTEC 0:b82abca089ac 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
RUBENTEC 0:b82abca089ac 67 if (os_active_TCB[tid-1] == NULL) {
RUBENTEC 0:b82abca089ac 68 return ((OS_TID)tid);
RUBENTEC 0:b82abca089ac 69 }
RUBENTEC 0:b82abca089ac 70 }
RUBENTEC 0:b82abca089ac 71 return (0);
RUBENTEC 0:b82abca089ac 72 }
RUBENTEC 0:b82abca089ac 73
RUBENTEC 0:b82abca089ac 74
RUBENTEC 0:b82abca089ac 75 /*--------------------------- rt_init_context -------------------------------*/
RUBENTEC 0:b82abca089ac 76
RUBENTEC 0:b82abca089ac 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
RUBENTEC 0:b82abca089ac 78 /* Initialize general part of the Task Control Block. */
RUBENTEC 0:b82abca089ac 79 p_TCB->cb_type = TCB;
RUBENTEC 0:b82abca089ac 80 p_TCB->state = READY;
RUBENTEC 0:b82abca089ac 81 p_TCB->prio = priority;
RUBENTEC 0:b82abca089ac 82 p_TCB->prio_base = priority;
RUBENTEC 0:b82abca089ac 83 p_TCB->p_lnk = NULL;
RUBENTEC 0:b82abca089ac 84 p_TCB->p_rlnk = NULL;
RUBENTEC 0:b82abca089ac 85 p_TCB->p_dlnk = NULL;
RUBENTEC 0:b82abca089ac 86 p_TCB->p_blnk = NULL;
RUBENTEC 0:b82abca089ac 87 p_TCB->p_mlnk = NULL;
RUBENTEC 0:b82abca089ac 88 p_TCB->delta_time = 0;
RUBENTEC 0:b82abca089ac 89 p_TCB->interval_time = 0;
RUBENTEC 0:b82abca089ac 90 p_TCB->events = 0;
RUBENTEC 0:b82abca089ac 91 p_TCB->waits = 0;
RUBENTEC 0:b82abca089ac 92 p_TCB->stack_frame = 0;
RUBENTEC 0:b82abca089ac 93
RUBENTEC 0:b82abca089ac 94 if (p_TCB->priv_stack == 0) {
RUBENTEC 0:b82abca089ac 95 /* Allocate the memory space for the stack. */
RUBENTEC 0:b82abca089ac 96 p_TCB->stack = rt_alloc_box (mp_stk);
RUBENTEC 0:b82abca089ac 97 }
RUBENTEC 0:b82abca089ac 98 rt_init_stack (p_TCB, task_body);
RUBENTEC 0:b82abca089ac 99 }
RUBENTEC 0:b82abca089ac 100
RUBENTEC 0:b82abca089ac 101
RUBENTEC 0:b82abca089ac 102 /*--------------------------- rt_switch_req ---------------------------------*/
RUBENTEC 0:b82abca089ac 103
RUBENTEC 0:b82abca089ac 104 void rt_switch_req (P_TCB p_new) {
RUBENTEC 0:b82abca089ac 105 /* Switch to next task (identified by "p_new"). */
RUBENTEC 0:b82abca089ac 106 os_tsk.new_tsk = p_new;
RUBENTEC 0:b82abca089ac 107 p_new->state = RUNNING;
RUBENTEC 0:b82abca089ac 108 DBG_TASK_SWITCH(p_new->task_id);
RUBENTEC 0:b82abca089ac 109 }
RUBENTEC 0:b82abca089ac 110
RUBENTEC 0:b82abca089ac 111
RUBENTEC 0:b82abca089ac 112 /*--------------------------- rt_dispatch -----------------------------------*/
RUBENTEC 0:b82abca089ac 113
RUBENTEC 0:b82abca089ac 114 void rt_dispatch (P_TCB next_TCB) {
RUBENTEC 0:b82abca089ac 115 /* Dispatch next task if any identified or dispatch highest ready task */
RUBENTEC 0:b82abca089ac 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
RUBENTEC 0:b82abca089ac 117 if (next_TCB == NULL) {
RUBENTEC 0:b82abca089ac 118 /* Running task was blocked: continue with highest ready task */
RUBENTEC 0:b82abca089ac 119 next_TCB = rt_get_first (&os_rdy);
RUBENTEC 0:b82abca089ac 120 rt_switch_req (next_TCB);
RUBENTEC 0:b82abca089ac 121 }
RUBENTEC 0:b82abca089ac 122 else {
RUBENTEC 0:b82abca089ac 123 /* Check which task continues */
RUBENTEC 0:b82abca089ac 124 if (next_TCB->prio > os_tsk.run->prio) {
RUBENTEC 0:b82abca089ac 125 /* preempt running task */
RUBENTEC 0:b82abca089ac 126 rt_put_rdy_first (os_tsk.run);
RUBENTEC 0:b82abca089ac 127 os_tsk.run->state = READY;
RUBENTEC 0:b82abca089ac 128 rt_switch_req (next_TCB);
RUBENTEC 0:b82abca089ac 129 }
RUBENTEC 0:b82abca089ac 130 else {
RUBENTEC 0:b82abca089ac 131 /* put next task into ready list, no task switch takes place */
RUBENTEC 0:b82abca089ac 132 next_TCB->state = READY;
RUBENTEC 0:b82abca089ac 133 rt_put_prio (&os_rdy, next_TCB);
RUBENTEC 0:b82abca089ac 134 }
RUBENTEC 0:b82abca089ac 135 }
RUBENTEC 0:b82abca089ac 136 }
RUBENTEC 0:b82abca089ac 137
RUBENTEC 0:b82abca089ac 138
RUBENTEC 0:b82abca089ac 139 /*--------------------------- rt_block --------------------------------------*/
RUBENTEC 0:b82abca089ac 140
RUBENTEC 0:b82abca089ac 141 void rt_block (U16 timeout, U8 block_state) {
RUBENTEC 0:b82abca089ac 142 /* Block running task and choose next ready task. */
RUBENTEC 0:b82abca089ac 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
RUBENTEC 0:b82abca089ac 144 /* "block_state" defines the appropriate task state */
RUBENTEC 0:b82abca089ac 145 P_TCB next_TCB;
RUBENTEC 0:b82abca089ac 146
RUBENTEC 0:b82abca089ac 147 if (timeout) {
RUBENTEC 0:b82abca089ac 148 if (timeout < 0xffff) {
RUBENTEC 0:b82abca089ac 149 rt_put_dly (os_tsk.run, timeout);
RUBENTEC 0:b82abca089ac 150 }
RUBENTEC 0:b82abca089ac 151 os_tsk.run->state = block_state;
RUBENTEC 0:b82abca089ac 152 next_TCB = rt_get_first (&os_rdy);
RUBENTEC 0:b82abca089ac 153 rt_switch_req (next_TCB);
RUBENTEC 0:b82abca089ac 154 }
RUBENTEC 0:b82abca089ac 155 }
RUBENTEC 0:b82abca089ac 156
RUBENTEC 0:b82abca089ac 157
RUBENTEC 0:b82abca089ac 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
RUBENTEC 0:b82abca089ac 159
RUBENTEC 0:b82abca089ac 160 void rt_tsk_pass (void) {
RUBENTEC 0:b82abca089ac 161 /* Allow tasks of same priority level to run cooperatively.*/
RUBENTEC 0:b82abca089ac 162 P_TCB p_new;
RUBENTEC 0:b82abca089ac 163
RUBENTEC 0:b82abca089ac 164 p_new = rt_get_same_rdy_prio();
RUBENTEC 0:b82abca089ac 165 if (p_new != NULL) {
RUBENTEC 0:b82abca089ac 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
RUBENTEC 0:b82abca089ac 167 os_tsk.run->state = READY;
RUBENTEC 0:b82abca089ac 168 rt_switch_req (p_new);
RUBENTEC 0:b82abca089ac 169 }
RUBENTEC 0:b82abca089ac 170 }
RUBENTEC 0:b82abca089ac 171
RUBENTEC 0:b82abca089ac 172
RUBENTEC 0:b82abca089ac 173 /*--------------------------- rt_tsk_self -----------------------------------*/
RUBENTEC 0:b82abca089ac 174
RUBENTEC 0:b82abca089ac 175 OS_TID rt_tsk_self (void) {
RUBENTEC 0:b82abca089ac 176 /* Return own task identifier value. */
RUBENTEC 0:b82abca089ac 177 if (os_tsk.run == NULL) {
RUBENTEC 0:b82abca089ac 178 return (0);
RUBENTEC 0:b82abca089ac 179 }
RUBENTEC 0:b82abca089ac 180 return (os_tsk.run->task_id);
RUBENTEC 0:b82abca089ac 181 }
RUBENTEC 0:b82abca089ac 182
RUBENTEC 0:b82abca089ac 183
RUBENTEC 0:b82abca089ac 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
RUBENTEC 0:b82abca089ac 185
RUBENTEC 0:b82abca089ac 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
RUBENTEC 0:b82abca089ac 187 /* Change execution priority of a task to "new_prio". */
RUBENTEC 0:b82abca089ac 188 P_TCB p_task;
RUBENTEC 0:b82abca089ac 189
RUBENTEC 0:b82abca089ac 190 if (task_id == 0) {
RUBENTEC 0:b82abca089ac 191 /* Change execution priority of calling task. */
RUBENTEC 0:b82abca089ac 192 os_tsk.run->prio = new_prio;
RUBENTEC 0:b82abca089ac 193 os_tsk.run->prio_base = new_prio;
RUBENTEC 0:b82abca089ac 194 run:if (rt_rdy_prio() > new_prio) {
RUBENTEC 0:b82abca089ac 195 rt_put_prio (&os_rdy, os_tsk.run);
RUBENTEC 0:b82abca089ac 196 os_tsk.run->state = READY;
RUBENTEC 0:b82abca089ac 197 rt_dispatch (NULL);
RUBENTEC 0:b82abca089ac 198 }
RUBENTEC 0:b82abca089ac 199 return (OS_R_OK);
RUBENTEC 0:b82abca089ac 200 }
RUBENTEC 0:b82abca089ac 201
RUBENTEC 0:b82abca089ac 202 /* Find the task in the "os_active_TCB" array. */
RUBENTEC 0:b82abca089ac 203 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
RUBENTEC 0:b82abca089ac 204 /* Task with "task_id" not found or not started. */
RUBENTEC 0:b82abca089ac 205 return (OS_R_NOK);
RUBENTEC 0:b82abca089ac 206 }
RUBENTEC 0:b82abca089ac 207 p_task = os_active_TCB[task_id-1];
RUBENTEC 0:b82abca089ac 208 p_task->prio = new_prio;
RUBENTEC 0:b82abca089ac 209 p_task->prio_base = new_prio;
RUBENTEC 0:b82abca089ac 210 if (p_task == os_tsk.run) {
RUBENTEC 0:b82abca089ac 211 goto run;
RUBENTEC 0:b82abca089ac 212 }
RUBENTEC 0:b82abca089ac 213 rt_resort_prio (p_task);
RUBENTEC 0:b82abca089ac 214 if (p_task->state == READY) {
RUBENTEC 0:b82abca089ac 215 /* Task enqueued in a ready list. */
RUBENTEC 0:b82abca089ac 216 p_task = rt_get_first (&os_rdy);
RUBENTEC 0:b82abca089ac 217 rt_dispatch (p_task);
RUBENTEC 0:b82abca089ac 218 }
RUBENTEC 0:b82abca089ac 219 return (OS_R_OK);
RUBENTEC 0:b82abca089ac 220 }
RUBENTEC 0:b82abca089ac 221
RUBENTEC 0:b82abca089ac 222
RUBENTEC 0:b82abca089ac 223 /*--------------------------- rt_tsk_create ---------------------------------*/
RUBENTEC 0:b82abca089ac 224
RUBENTEC 0:b82abca089ac 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
RUBENTEC 0:b82abca089ac 226 /* Start a new task declared with "task". */
RUBENTEC 0:b82abca089ac 227 P_TCB task_context;
RUBENTEC 0:b82abca089ac 228 U32 i;
RUBENTEC 0:b82abca089ac 229
RUBENTEC 0:b82abca089ac 230 /* Priority 0 is reserved for idle task! */
RUBENTEC 0:b82abca089ac 231 if ((prio_stksz & 0xFF) == 0) {
RUBENTEC 0:b82abca089ac 232 prio_stksz += 1;
RUBENTEC 0:b82abca089ac 233 }
RUBENTEC 0:b82abca089ac 234 task_context = rt_alloc_box (mp_tcb);
RUBENTEC 0:b82abca089ac 235 if (task_context == NULL) {
RUBENTEC 0:b82abca089ac 236 return (0);
RUBENTEC 0:b82abca089ac 237 }
RUBENTEC 0:b82abca089ac 238 /* If "size != 0" use a private user provided stack. */
RUBENTEC 0:b82abca089ac 239 task_context->stack = stk;
RUBENTEC 0:b82abca089ac 240 task_context->priv_stack = prio_stksz >> 8;
RUBENTEC 0:b82abca089ac 241 /* Pass parameter 'argv' to 'rt_init_context' */
RUBENTEC 0:b82abca089ac 242 task_context->msg = argv;
RUBENTEC 0:b82abca089ac 243 /* For 'size == 0' system allocates the user stack from the memory pool. */
RUBENTEC 0:b82abca089ac 244 rt_init_context (task_context, prio_stksz & 0xFF, task);
RUBENTEC 0:b82abca089ac 245
RUBENTEC 0:b82abca089ac 246 /* Find a free entry in 'os_active_TCB' table. */
RUBENTEC 0:b82abca089ac 247 i = rt_get_TID ();
RUBENTEC 0:b82abca089ac 248 os_active_TCB[i-1] = task_context;
RUBENTEC 0:b82abca089ac 249 task_context->task_id = i;
RUBENTEC 0:b82abca089ac 250 DBG_TASK_NOTIFY(task_context, __TRUE);
RUBENTEC 0:b82abca089ac 251 rt_dispatch (task_context);
RUBENTEC 0:b82abca089ac 252 return ((OS_TID)i);
RUBENTEC 0:b82abca089ac 253 }
RUBENTEC 0:b82abca089ac 254
RUBENTEC 0:b82abca089ac 255
RUBENTEC 0:b82abca089ac 256 /*--------------------------- rt_tsk_delete ---------------------------------*/
RUBENTEC 0:b82abca089ac 257
RUBENTEC 0:b82abca089ac 258 OS_RESULT rt_tsk_delete (OS_TID task_id) {
RUBENTEC 0:b82abca089ac 259 /* Terminate the task identified with "task_id". */
RUBENTEC 0:b82abca089ac 260 P_TCB task_context;
RUBENTEC 0:b82abca089ac 261 P_TCB p_TCB;
RUBENTEC 0:b82abca089ac 262 P_MUCB p_MCB, p_MCB0;
RUBENTEC 0:b82abca089ac 263
RUBENTEC 0:b82abca089ac 264 if (task_id == 0 || task_id == os_tsk.run->task_id) {
RUBENTEC 0:b82abca089ac 265 /* Terminate itself. */
RUBENTEC 0:b82abca089ac 266 os_tsk.run->state = INACTIVE;
RUBENTEC 0:b82abca089ac 267 os_tsk.run->tsk_stack = rt_get_PSP ();
RUBENTEC 0:b82abca089ac 268 rt_stk_check ();
RUBENTEC 0:b82abca089ac 269 p_MCB = os_tsk.run->p_mlnk;
RUBENTEC 0:b82abca089ac 270 while (p_MCB) {
RUBENTEC 0:b82abca089ac 271 /* Release mutexes owned by this task */
RUBENTEC 0:b82abca089ac 272 if (p_MCB->p_lnk) {
RUBENTEC 0:b82abca089ac 273 /* A task is waiting for mutex. */
RUBENTEC 0:b82abca089ac 274 p_TCB = rt_get_first ((P_XCB)p_MCB);
RUBENTEC 0:b82abca089ac 275 #ifdef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 276 rt_ret_val(p_TCB, 0/*osOK*/);
RUBENTEC 0:b82abca089ac 277 #else
RUBENTEC 0:b82abca089ac 278 rt_ret_val(p_TCB, OS_R_MUT);
RUBENTEC 0:b82abca089ac 279 #endif
RUBENTEC 0:b82abca089ac 280 rt_rmv_dly (p_TCB);
RUBENTEC 0:b82abca089ac 281 p_TCB->state = READY;
RUBENTEC 0:b82abca089ac 282 rt_put_prio (&os_rdy, p_TCB);
RUBENTEC 0:b82abca089ac 283 /* A waiting task becomes the owner of this mutex. */
RUBENTEC 0:b82abca089ac 284 p_MCB0 = p_MCB;
RUBENTEC 0:b82abca089ac 285 p_MCB->level = 1;
RUBENTEC 0:b82abca089ac 286 p_MCB->owner = p_TCB;
RUBENTEC 0:b82abca089ac 287 p_MCB->p_mlnk = p_TCB->p_mlnk;
RUBENTEC 0:b82abca089ac 288 p_TCB->p_mlnk = p_MCB;
RUBENTEC 0:b82abca089ac 289 p_MCB = p_MCB0->p_mlnk;
RUBENTEC 0:b82abca089ac 290 }
RUBENTEC 0:b82abca089ac 291 else {
RUBENTEC 0:b82abca089ac 292 p_MCB = p_MCB->p_mlnk;
RUBENTEC 0:b82abca089ac 293 }
RUBENTEC 0:b82abca089ac 294 }
RUBENTEC 0:b82abca089ac 295 os_active_TCB[os_tsk.run->task_id-1] = NULL;
RUBENTEC 0:b82abca089ac 296 rt_free_box (mp_stk, os_tsk.run->stack);
RUBENTEC 0:b82abca089ac 297 os_tsk.run->stack = NULL;
RUBENTEC 0:b82abca089ac 298 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
RUBENTEC 0:b82abca089ac 299 rt_free_box (mp_tcb, os_tsk.run);
RUBENTEC 0:b82abca089ac 300 os_tsk.run = NULL;
RUBENTEC 0:b82abca089ac 301 rt_dispatch (NULL);
RUBENTEC 0:b82abca089ac 302 /* The program should never come to this point. */
RUBENTEC 0:b82abca089ac 303 }
RUBENTEC 0:b82abca089ac 304 else {
RUBENTEC 0:b82abca089ac 305 /* Find the task in the "os_active_TCB" array. */
RUBENTEC 0:b82abca089ac 306 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
RUBENTEC 0:b82abca089ac 307 /* Task with "task_id" not found or not started. */
RUBENTEC 0:b82abca089ac 308 return (OS_R_NOK);
RUBENTEC 0:b82abca089ac 309 }
RUBENTEC 0:b82abca089ac 310 task_context = os_active_TCB[task_id-1];
RUBENTEC 0:b82abca089ac 311 rt_rmv_list (task_context);
RUBENTEC 0:b82abca089ac 312 rt_rmv_dly (task_context);
RUBENTEC 0:b82abca089ac 313 p_MCB = task_context->p_mlnk;
RUBENTEC 0:b82abca089ac 314 while (p_MCB) {
RUBENTEC 0:b82abca089ac 315 /* Release mutexes owned by this task */
RUBENTEC 0:b82abca089ac 316 if (p_MCB->p_lnk) {
RUBENTEC 0:b82abca089ac 317 /* A task is waiting for mutex. */
RUBENTEC 0:b82abca089ac 318 p_TCB = rt_get_first ((P_XCB)p_MCB);
RUBENTEC 0:b82abca089ac 319 #ifdef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 320 rt_ret_val(p_TCB, 0/*osOK*/);
RUBENTEC 0:b82abca089ac 321 #else
RUBENTEC 0:b82abca089ac 322 rt_ret_val(p_TCB, OS_R_MUT);
RUBENTEC 0:b82abca089ac 323 #endif
RUBENTEC 0:b82abca089ac 324 rt_rmv_dly (p_TCB);
RUBENTEC 0:b82abca089ac 325 p_TCB->state = READY;
RUBENTEC 0:b82abca089ac 326 rt_put_prio (&os_rdy, p_TCB);
RUBENTEC 0:b82abca089ac 327 /* A waiting task becomes the owner of this mutex. */
RUBENTEC 0:b82abca089ac 328 p_MCB0 = p_MCB;
RUBENTEC 0:b82abca089ac 329 p_MCB->level = 1;
RUBENTEC 0:b82abca089ac 330 p_MCB->owner = p_TCB;
RUBENTEC 0:b82abca089ac 331 p_MCB->p_mlnk = p_TCB->p_mlnk;
RUBENTEC 0:b82abca089ac 332 p_TCB->p_mlnk = p_MCB;
RUBENTEC 0:b82abca089ac 333 p_MCB = p_MCB0->p_mlnk;
RUBENTEC 0:b82abca089ac 334 }
RUBENTEC 0:b82abca089ac 335 else {
RUBENTEC 0:b82abca089ac 336 p_MCB = p_MCB->p_mlnk;
RUBENTEC 0:b82abca089ac 337 }
RUBENTEC 0:b82abca089ac 338 }
RUBENTEC 0:b82abca089ac 339 os_active_TCB[task_id-1] = NULL;
RUBENTEC 0:b82abca089ac 340 rt_free_box (mp_stk, task_context->stack);
RUBENTEC 0:b82abca089ac 341 task_context->stack = NULL;
RUBENTEC 0:b82abca089ac 342 DBG_TASK_NOTIFY(task_context, __FALSE);
RUBENTEC 0:b82abca089ac 343 rt_free_box (mp_tcb, task_context);
RUBENTEC 0:b82abca089ac 344 if (rt_rdy_prio() > os_tsk.run->prio) {
RUBENTEC 0:b82abca089ac 345 /* Ready task has higher priority than running task. */
RUBENTEC 0:b82abca089ac 346 os_tsk.run->state = READY;
RUBENTEC 0:b82abca089ac 347 rt_put_prio (&os_rdy, os_tsk.run);
RUBENTEC 0:b82abca089ac 348 rt_dispatch (NULL);
RUBENTEC 0:b82abca089ac 349 }
RUBENTEC 0:b82abca089ac 350 }
RUBENTEC 0:b82abca089ac 351 return (OS_R_OK);
RUBENTEC 0:b82abca089ac 352 }
RUBENTEC 0:b82abca089ac 353
RUBENTEC 0:b82abca089ac 354
RUBENTEC 0:b82abca089ac 355 /*--------------------------- rt_sys_init -----------------------------------*/
RUBENTEC 0:b82abca089ac 356
RUBENTEC 0:b82abca089ac 357 #ifdef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 358 void rt_sys_init (void) {
RUBENTEC 0:b82abca089ac 359 #else
RUBENTEC 0:b82abca089ac 360 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
RUBENTEC 0:b82abca089ac 361 #endif
RUBENTEC 0:b82abca089ac 362 /* Initialize system and start up task declared with "first_task". */
RUBENTEC 0:b82abca089ac 363 U32 i;
RUBENTEC 0:b82abca089ac 364
RUBENTEC 0:b82abca089ac 365 DBG_INIT();
RUBENTEC 0:b82abca089ac 366
RUBENTEC 0:b82abca089ac 367 /* Initialize dynamic memory and task TCB pointers to NULL. */
RUBENTEC 0:b82abca089ac 368 for (i = 0; i < os_maxtaskrun; i++) {
RUBENTEC 0:b82abca089ac 369 os_active_TCB[i] = NULL;
RUBENTEC 0:b82abca089ac 370 }
RUBENTEC 0:b82abca089ac 371 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
RUBENTEC 0:b82abca089ac 372 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
RUBENTEC 0:b82abca089ac 373 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
RUBENTEC 0:b82abca089ac 374
RUBENTEC 0:b82abca089ac 375 /* Set up TCB of idle demon */
RUBENTEC 0:b82abca089ac 376 os_idle_TCB.task_id = 255;
RUBENTEC 0:b82abca089ac 377 os_idle_TCB.priv_stack = 0;
RUBENTEC 0:b82abca089ac 378 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
RUBENTEC 0:b82abca089ac 379
RUBENTEC 0:b82abca089ac 380 /* Set up ready list: initially empty */
RUBENTEC 0:b82abca089ac 381 os_rdy.cb_type = HCB;
RUBENTEC 0:b82abca089ac 382 os_rdy.p_lnk = NULL;
RUBENTEC 0:b82abca089ac 383 /* Set up delay list: initially empty */
RUBENTEC 0:b82abca089ac 384 os_dly.cb_type = HCB;
RUBENTEC 0:b82abca089ac 385 os_dly.p_dlnk = NULL;
RUBENTEC 0:b82abca089ac 386 os_dly.p_blnk = NULL;
RUBENTEC 0:b82abca089ac 387 os_dly.delta_time = 0;
RUBENTEC 0:b82abca089ac 388
RUBENTEC 0:b82abca089ac 389 /* Fix SP and system variables to assume idle task is running */
RUBENTEC 0:b82abca089ac 390 /* Transform main program into idle task by assuming idle TCB */
RUBENTEC 0:b82abca089ac 391 #ifndef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 392 rt_set_PSP (os_idle_TCB.tsk_stack+32);
RUBENTEC 0:b82abca089ac 393 #endif
RUBENTEC 0:b82abca089ac 394 os_tsk.run = &os_idle_TCB;
RUBENTEC 0:b82abca089ac 395 os_tsk.run->state = RUNNING;
RUBENTEC 0:b82abca089ac 396
RUBENTEC 0:b82abca089ac 397 /* Initialize ps queue */
RUBENTEC 0:b82abca089ac 398 os_psq->first = 0;
RUBENTEC 0:b82abca089ac 399 os_psq->last = 0;
RUBENTEC 0:b82abca089ac 400 os_psq->size = os_fifo_size;
RUBENTEC 0:b82abca089ac 401
RUBENTEC 0:b82abca089ac 402 rt_init_robin ();
RUBENTEC 0:b82abca089ac 403
RUBENTEC 0:b82abca089ac 404 /* Initialize SVC and PendSV */
RUBENTEC 0:b82abca089ac 405 rt_svc_init ();
RUBENTEC 0:b82abca089ac 406
RUBENTEC 0:b82abca089ac 407 #ifndef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 408 /* Initialize and start system clock timer */
RUBENTEC 0:b82abca089ac 409 os_tick_irqn = os_tick_init ();
RUBENTEC 0:b82abca089ac 410 if (os_tick_irqn >= 0) {
RUBENTEC 0:b82abca089ac 411 OS_X_INIT(os_tick_irqn);
RUBENTEC 0:b82abca089ac 412 }
RUBENTEC 0:b82abca089ac 413
RUBENTEC 0:b82abca089ac 414 /* Start up first user task before entering the endless loop */
RUBENTEC 0:b82abca089ac 415 rt_tsk_create (first_task, prio_stksz, stk, NULL);
RUBENTEC 0:b82abca089ac 416 #endif
RUBENTEC 0:b82abca089ac 417 }
RUBENTEC 0:b82abca089ac 418
RUBENTEC 0:b82abca089ac 419
RUBENTEC 0:b82abca089ac 420 /*--------------------------- rt_sys_start ----------------------------------*/
RUBENTEC 0:b82abca089ac 421
RUBENTEC 0:b82abca089ac 422 #ifdef __CMSIS_RTOS
RUBENTEC 0:b82abca089ac 423 void rt_sys_start (void) {
RUBENTEC 0:b82abca089ac 424 /* Start system */
RUBENTEC 0:b82abca089ac 425
RUBENTEC 0:b82abca089ac 426 /* Initialize and start system clock timer */
RUBENTEC 0:b82abca089ac 427 os_tick_irqn = os_tick_init ();
RUBENTEC 0:b82abca089ac 428 if (os_tick_irqn >= 0) {
RUBENTEC 0:b82abca089ac 429 OS_X_INIT(os_tick_irqn);
RUBENTEC 0:b82abca089ac 430 }
RUBENTEC 0:b82abca089ac 431 }
RUBENTEC 0:b82abca089ac 432 #endif
RUBENTEC 0:b82abca089ac 433
RUBENTEC 0:b82abca089ac 434 /*----------------------------------------------------------------------------
RUBENTEC 0:b82abca089ac 435 * end of file
RUBENTEC 0:b82abca089ac 436 *---------------------------------------------------------------------------*/