Hiruka Hana / Gyro_Accelerometre

Programme gyro_accelero avec acquisition accelero + calcul téta

Dependents:   Gyro_Accelerometre2

rtx/TARGET_ARM7/rt_Mailbox.c@0:07281ea3b26b, 2018-02-20 (annotated)

Committer:
SandrineO
Date:
Tue Feb 20 15:58:26 2018 +0000
Revision:
0:07281ea3b26b
temps r?el

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SandrineO 0:07281ea3b26b 1 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 2 * RL-ARM - RTX
SandrineO 0:07281ea3b26b 3 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 4 * Name: RT_MAILBOX.C
SandrineO 0:07281ea3b26b 5 * Purpose: Implements waits and wake-ups for mailbox messages
SandrineO 0:07281ea3b26b 6 * Rev.: V4.60
SandrineO 0:07281ea3b26b 7 *----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 8 *
SandrineO 0:07281ea3b26b 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
SandrineO 0:07281ea3b26b 10 * All rights reserved.
SandrineO 0:07281ea3b26b 11 * Redistribution and use in source and binary forms, with or without
SandrineO 0:07281ea3b26b 12 * modification, are permitted provided that the following conditions are met:
SandrineO 0:07281ea3b26b 13 * - Redistributions of source code must retain the above copyright
SandrineO 0:07281ea3b26b 14 * notice, this list of conditions and the following disclaimer.
SandrineO 0:07281ea3b26b 15 * - Redistributions in binary form must reproduce the above copyright
SandrineO 0:07281ea3b26b 16 * notice, this list of conditions and the following disclaimer in the
SandrineO 0:07281ea3b26b 17 * documentation and/or other materials provided with the distribution.
SandrineO 0:07281ea3b26b 18 * - Neither the name of ARM nor the names of its contributors may be used
SandrineO 0:07281ea3b26b 19 * to endorse or promote products derived from this software without
SandrineO 0:07281ea3b26b 20 * specific prior written permission.
SandrineO 0:07281ea3b26b 21 *
SandrineO 0:07281ea3b26b 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
SandrineO 0:07281ea3b26b 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
SandrineO 0:07281ea3b26b 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
SandrineO 0:07281ea3b26b 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
SandrineO 0:07281ea3b26b 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
SandrineO 0:07281ea3b26b 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SandrineO 0:07281ea3b26b 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
SandrineO 0:07281ea3b26b 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
SandrineO 0:07281ea3b26b 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
SandrineO 0:07281ea3b26b 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
SandrineO 0:07281ea3b26b 32 * POSSIBILITY OF SUCH DAMAGE.
SandrineO 0:07281ea3b26b 33 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 34
SandrineO 0:07281ea3b26b 35 #include "rt_TypeDef.h"
SandrineO 0:07281ea3b26b 36 #include "RTX_Conf.h"
SandrineO 0:07281ea3b26b 37 #include "rt_System.h"
SandrineO 0:07281ea3b26b 38 #include "rt_List.h"
SandrineO 0:07281ea3b26b 39 #include "rt_Mailbox.h"
SandrineO 0:07281ea3b26b 40 #include "rt_MemBox.h"
SandrineO 0:07281ea3b26b 41 #include "rt_Task.h"
SandrineO 0:07281ea3b26b 42 #include "rt_HAL_CM.h"
SandrineO 0:07281ea3b26b 43
SandrineO 0:07281ea3b26b 44
SandrineO 0:07281ea3b26b 45 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 46 * Functions
SandrineO 0:07281ea3b26b 47 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 48
SandrineO 0:07281ea3b26b 49
SandrineO 0:07281ea3b26b 50 /*--------------------------- rt_mbx_init -----------------------------------*/
SandrineO 0:07281ea3b26b 51
SandrineO 0:07281ea3b26b 52 void rt_mbx_init (OS_ID mailbox, U16 mbx_size) {
SandrineO 0:07281ea3b26b 53 /* Initialize a mailbox */
SandrineO 0:07281ea3b26b 54 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 55
SandrineO 0:07281ea3b26b 56 p_MCB->cb_type = MCB;
SandrineO 0:07281ea3b26b 57 p_MCB->state = 0;
SandrineO 0:07281ea3b26b 58 p_MCB->isr_st = 0;
SandrineO 0:07281ea3b26b 59 p_MCB->p_lnk = NULL;
SandrineO 0:07281ea3b26b 60 p_MCB->first = 0;
SandrineO 0:07281ea3b26b 61 p_MCB->last = 0;
SandrineO 0:07281ea3b26b 62 p_MCB->count = 0;
SandrineO 0:07281ea3b26b 63 p_MCB->size = (mbx_size + sizeof(void *) - sizeof(struct OS_MCB)) /
SandrineO 0:07281ea3b26b 64 (U32)sizeof (void *);
SandrineO 0:07281ea3b26b 65 }
SandrineO 0:07281ea3b26b 66
SandrineO 0:07281ea3b26b 67
SandrineO 0:07281ea3b26b 68 /*--------------------------- rt_mbx_send -----------------------------------*/
SandrineO 0:07281ea3b26b 69
SandrineO 0:07281ea3b26b 70 OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout) {
SandrineO 0:07281ea3b26b 71 /* Send message to a mailbox */
SandrineO 0:07281ea3b26b 72 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 73 P_TCB p_TCB;
SandrineO 0:07281ea3b26b 74
SandrineO 0:07281ea3b26b 75 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 1)) {
SandrineO 0:07281ea3b26b 76 /* A task is waiting for message */
SandrineO 0:07281ea3b26b 77 p_TCB = rt_get_first ((P_XCB)p_MCB);
SandrineO 0:07281ea3b26b 78 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 79 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
SandrineO 0:07281ea3b26b 80 #else
SandrineO 0:07281ea3b26b 81 *p_TCB->msg = p_msg;
SandrineO 0:07281ea3b26b 82 rt_ret_val (p_TCB, OS_R_MBX);
SandrineO 0:07281ea3b26b 83 #endif
SandrineO 0:07281ea3b26b 84 rt_rmv_dly (p_TCB);
SandrineO 0:07281ea3b26b 85 rt_dispatch (p_TCB);
SandrineO 0:07281ea3b26b 86 }
SandrineO 0:07281ea3b26b 87 else {
SandrineO 0:07281ea3b26b 88 /* Store message in mailbox queue */
SandrineO 0:07281ea3b26b 89 if (p_MCB->count == p_MCB->size) {
SandrineO 0:07281ea3b26b 90 /* No free message entry, wait for one. If message queue is full, */
SandrineO 0:07281ea3b26b 91 /* then no task is waiting for message. The 'p_MCB->p_lnk' list */
SandrineO 0:07281ea3b26b 92 /* pointer can now be reused for send message waits task list. */
SandrineO 0:07281ea3b26b 93 if (timeout == 0) {
SandrineO 0:07281ea3b26b 94 return (OS_R_TMO);
SandrineO 0:07281ea3b26b 95 }
SandrineO 0:07281ea3b26b 96 if (p_MCB->p_lnk != NULL) {
SandrineO 0:07281ea3b26b 97 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
SandrineO 0:07281ea3b26b 98 }
SandrineO 0:07281ea3b26b 99 else {
SandrineO 0:07281ea3b26b 100 p_MCB->p_lnk = os_tsk.run;
SandrineO 0:07281ea3b26b 101 os_tsk.run->p_lnk = NULL;
SandrineO 0:07281ea3b26b 102 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
SandrineO 0:07281ea3b26b 103 /* Task is waiting to send a message */
SandrineO 0:07281ea3b26b 104 p_MCB->state = 2;
SandrineO 0:07281ea3b26b 105 }
SandrineO 0:07281ea3b26b 106 os_tsk.run->msg = p_msg;
SandrineO 0:07281ea3b26b 107 rt_block (timeout, WAIT_MBX);
SandrineO 0:07281ea3b26b 108 return (OS_R_TMO);
SandrineO 0:07281ea3b26b 109 }
SandrineO 0:07281ea3b26b 110 /* Yes, there is a free entry in a mailbox. */
SandrineO 0:07281ea3b26b 111 p_MCB->msg[p_MCB->first] = p_msg;
SandrineO 0:07281ea3b26b 112 rt_inc (&p_MCB->count);
SandrineO 0:07281ea3b26b 113 if (++p_MCB->first == p_MCB->size) {
SandrineO 0:07281ea3b26b 114 p_MCB->first = 0;
SandrineO 0:07281ea3b26b 115 }
SandrineO 0:07281ea3b26b 116 }
SandrineO 0:07281ea3b26b 117 return (OS_R_OK);
SandrineO 0:07281ea3b26b 118 }
SandrineO 0:07281ea3b26b 119
SandrineO 0:07281ea3b26b 120
SandrineO 0:07281ea3b26b 121 /*--------------------------- rt_mbx_wait -----------------------------------*/
SandrineO 0:07281ea3b26b 122
SandrineO 0:07281ea3b26b 123 OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout) {
SandrineO 0:07281ea3b26b 124 /* Receive a message; possibly wait for it */
SandrineO 0:07281ea3b26b 125 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 126 P_TCB p_TCB;
SandrineO 0:07281ea3b26b 127
SandrineO 0:07281ea3b26b 128 /* If a message is available in the fifo buffer */
SandrineO 0:07281ea3b26b 129 /* remove it from the fifo buffer and return. */
SandrineO 0:07281ea3b26b 130 if (p_MCB->count) {
SandrineO 0:07281ea3b26b 131 *message = p_MCB->msg[p_MCB->last];
SandrineO 0:07281ea3b26b 132 if (++p_MCB->last == p_MCB->size) {
SandrineO 0:07281ea3b26b 133 p_MCB->last = 0;
SandrineO 0:07281ea3b26b 134 }
SandrineO 0:07281ea3b26b 135 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 2)) {
SandrineO 0:07281ea3b26b 136 /* A task is waiting to send message */
SandrineO 0:07281ea3b26b 137 p_TCB = rt_get_first ((P_XCB)p_MCB);
SandrineO 0:07281ea3b26b 138 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 139 rt_ret_val(p_TCB, 0/*osOK*/);
SandrineO 0:07281ea3b26b 140 #else
SandrineO 0:07281ea3b26b 141 rt_ret_val(p_TCB, OS_R_OK);
SandrineO 0:07281ea3b26b 142 #endif
SandrineO 0:07281ea3b26b 143 p_MCB->msg[p_MCB->first] = p_TCB->msg;
SandrineO 0:07281ea3b26b 144 if (++p_MCB->first == p_MCB->size) {
SandrineO 0:07281ea3b26b 145 p_MCB->first = 0;
SandrineO 0:07281ea3b26b 146 }
SandrineO 0:07281ea3b26b 147 rt_rmv_dly (p_TCB);
SandrineO 0:07281ea3b26b 148 rt_dispatch (p_TCB);
SandrineO 0:07281ea3b26b 149 }
SandrineO 0:07281ea3b26b 150 else {
SandrineO 0:07281ea3b26b 151 rt_dec (&p_MCB->count);
SandrineO 0:07281ea3b26b 152 }
SandrineO 0:07281ea3b26b 153 return (OS_R_OK);
SandrineO 0:07281ea3b26b 154 }
SandrineO 0:07281ea3b26b 155 /* No message available: wait for one */
SandrineO 0:07281ea3b26b 156 if (timeout == 0) {
SandrineO 0:07281ea3b26b 157 return (OS_R_TMO);
SandrineO 0:07281ea3b26b 158 }
SandrineO 0:07281ea3b26b 159 if (p_MCB->p_lnk != NULL) {
SandrineO 0:07281ea3b26b 160 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
SandrineO 0:07281ea3b26b 161 }
SandrineO 0:07281ea3b26b 162 else {
SandrineO 0:07281ea3b26b 163 p_MCB->p_lnk = os_tsk.run;
SandrineO 0:07281ea3b26b 164 os_tsk.run->p_lnk = NULL;
SandrineO 0:07281ea3b26b 165 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
SandrineO 0:07281ea3b26b 166 /* Task is waiting to receive a message */
SandrineO 0:07281ea3b26b 167 p_MCB->state = 1;
SandrineO 0:07281ea3b26b 168 }
SandrineO 0:07281ea3b26b 169 rt_block(timeout, WAIT_MBX);
SandrineO 0:07281ea3b26b 170 #ifndef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 171 os_tsk.run->msg = message;
SandrineO 0:07281ea3b26b 172 #endif
SandrineO 0:07281ea3b26b 173 return (OS_R_TMO);
SandrineO 0:07281ea3b26b 174 }
SandrineO 0:07281ea3b26b 175
SandrineO 0:07281ea3b26b 176
SandrineO 0:07281ea3b26b 177 /*--------------------------- rt_mbx_check ----------------------------------*/
SandrineO 0:07281ea3b26b 178
SandrineO 0:07281ea3b26b 179 OS_RESULT rt_mbx_check (OS_ID mailbox) {
SandrineO 0:07281ea3b26b 180 /* Check for free space in a mailbox. Returns the number of messages */
SandrineO 0:07281ea3b26b 181 /* that can be stored to a mailbox. It returns 0 when mailbox is full. */
SandrineO 0:07281ea3b26b 182 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 183
SandrineO 0:07281ea3b26b 184 return (p_MCB->size - p_MCB->count);
SandrineO 0:07281ea3b26b 185 }
SandrineO 0:07281ea3b26b 186
SandrineO 0:07281ea3b26b 187
SandrineO 0:07281ea3b26b 188 /*--------------------------- isr_mbx_send ----------------------------------*/
SandrineO 0:07281ea3b26b 189
SandrineO 0:07281ea3b26b 190 void isr_mbx_send (OS_ID mailbox, void *p_msg) {
SandrineO 0:07281ea3b26b 191 /* Same function as "os_mbx_send", but to be called by ISRs. */
SandrineO 0:07281ea3b26b 192 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 193
SandrineO 0:07281ea3b26b 194 rt_psq_enq (p_MCB, (U32)p_msg);
SandrineO 0:07281ea3b26b 195 rt_psh_req ();
SandrineO 0:07281ea3b26b 196 }
SandrineO 0:07281ea3b26b 197
SandrineO 0:07281ea3b26b 198
SandrineO 0:07281ea3b26b 199 /*--------------------------- isr_mbx_receive -------------------------------*/
SandrineO 0:07281ea3b26b 200
SandrineO 0:07281ea3b26b 201 OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message) {
SandrineO 0:07281ea3b26b 202 /* Receive a message in the interrupt function. The interrupt function */
SandrineO 0:07281ea3b26b 203 /* should not wait for a message since this would block the rtx os. */
SandrineO 0:07281ea3b26b 204 P_MCB p_MCB = mailbox;
SandrineO 0:07281ea3b26b 205
SandrineO 0:07281ea3b26b 206 if (p_MCB->count) {
SandrineO 0:07281ea3b26b 207 /* A message is available in the fifo buffer. */
SandrineO 0:07281ea3b26b 208 *message = p_MCB->msg[p_MCB->last];
SandrineO 0:07281ea3b26b 209 if (p_MCB->state == 2) {
SandrineO 0:07281ea3b26b 210 /* A task is locked waiting to send message */
SandrineO 0:07281ea3b26b 211 rt_psq_enq (p_MCB, 0);
SandrineO 0:07281ea3b26b 212 rt_psh_req ();
SandrineO 0:07281ea3b26b 213 }
SandrineO 0:07281ea3b26b 214 rt_dec (&p_MCB->count);
SandrineO 0:07281ea3b26b 215 if (++p_MCB->last == p_MCB->size) {
SandrineO 0:07281ea3b26b 216 p_MCB->last = 0;
SandrineO 0:07281ea3b26b 217 }
SandrineO 0:07281ea3b26b 218 return (OS_R_MBX);
SandrineO 0:07281ea3b26b 219 }
SandrineO 0:07281ea3b26b 220 return (OS_R_OK);
SandrineO 0:07281ea3b26b 221 }
SandrineO 0:07281ea3b26b 222
SandrineO 0:07281ea3b26b 223
SandrineO 0:07281ea3b26b 224 /*--------------------------- rt_mbx_psh ------------------------------------*/
SandrineO 0:07281ea3b26b 225
SandrineO 0:07281ea3b26b 226 void rt_mbx_psh (P_MCB p_CB, void *p_msg) {
SandrineO 0:07281ea3b26b 227 /* Store the message to the mailbox queue or pass it to task directly. */
SandrineO 0:07281ea3b26b 228 P_TCB p_TCB;
SandrineO 0:07281ea3b26b 229 void *mem;
SandrineO 0:07281ea3b26b 230
SandrineO 0:07281ea3b26b 231 if (p_CB->p_lnk != NULL) switch (p_CB->state) {
SandrineO 0:07281ea3b26b 232 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 233 case 3:
SandrineO 0:07281ea3b26b 234 /* Task is waiting to allocate memory, remove it from the waiting list */
SandrineO 0:07281ea3b26b 235 mem = rt_alloc_box(p_msg);
SandrineO 0:07281ea3b26b 236 if (mem == NULL) break;
SandrineO 0:07281ea3b26b 237 p_TCB = rt_get_first ((P_XCB)p_CB);
SandrineO 0:07281ea3b26b 238 rt_ret_val(p_TCB, (U32)mem);
SandrineO 0:07281ea3b26b 239 p_TCB->state = READY;
SandrineO 0:07281ea3b26b 240 rt_rmv_dly (p_TCB);
SandrineO 0:07281ea3b26b 241 rt_put_prio (&os_rdy, p_TCB);
SandrineO 0:07281ea3b26b 242 break;
SandrineO 0:07281ea3b26b 243 #endif
SandrineO 0:07281ea3b26b 244 case 2:
SandrineO 0:07281ea3b26b 245 /* Task is waiting to send a message, remove it from the waiting list */
SandrineO 0:07281ea3b26b 246 p_TCB = rt_get_first ((P_XCB)p_CB);
SandrineO 0:07281ea3b26b 247 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 248 rt_ret_val(p_TCB, 0/*osOK*/);
SandrineO 0:07281ea3b26b 249 #else
SandrineO 0:07281ea3b26b 250 rt_ret_val(p_TCB, OS_R_OK);
SandrineO 0:07281ea3b26b 251 #endif
SandrineO 0:07281ea3b26b 252 p_CB->msg[p_CB->first] = p_TCB->msg;
SandrineO 0:07281ea3b26b 253 rt_inc (&p_CB->count);
SandrineO 0:07281ea3b26b 254 if (++p_CB->first == p_CB->size) {
SandrineO 0:07281ea3b26b 255 p_CB->first = 0;
SandrineO 0:07281ea3b26b 256 }
SandrineO 0:07281ea3b26b 257 p_TCB->state = READY;
SandrineO 0:07281ea3b26b 258 rt_rmv_dly (p_TCB);
SandrineO 0:07281ea3b26b 259 rt_put_prio (&os_rdy, p_TCB);
SandrineO 0:07281ea3b26b 260 break;
SandrineO 0:07281ea3b26b 261 case 1:
SandrineO 0:07281ea3b26b 262 /* Task is waiting for a message, pass the message to the task directly */
SandrineO 0:07281ea3b26b 263 p_TCB = rt_get_first ((P_XCB)p_CB);
SandrineO 0:07281ea3b26b 264 #ifdef __CMSIS_RTOS
SandrineO 0:07281ea3b26b 265 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
SandrineO 0:07281ea3b26b 266 #else
SandrineO 0:07281ea3b26b 267 *p_TCB->msg = p_msg;
SandrineO 0:07281ea3b26b 268 rt_ret_val (p_TCB, OS_R_MBX);
SandrineO 0:07281ea3b26b 269 #endif
SandrineO 0:07281ea3b26b 270 p_TCB->state = READY;
SandrineO 0:07281ea3b26b 271 rt_rmv_dly (p_TCB);
SandrineO 0:07281ea3b26b 272 rt_put_prio (&os_rdy, p_TCB);
SandrineO 0:07281ea3b26b 273 break;
SandrineO 0:07281ea3b26b 274 } else {
SandrineO 0:07281ea3b26b 275 /* No task is waiting for a message, store it to the mailbox queue */
SandrineO 0:07281ea3b26b 276 if (p_CB->count < p_CB->size) {
SandrineO 0:07281ea3b26b 277 p_CB->msg[p_CB->first] = p_msg;
SandrineO 0:07281ea3b26b 278 rt_inc (&p_CB->count);
SandrineO 0:07281ea3b26b 279 if (++p_CB->first == p_CB->size) {
SandrineO 0:07281ea3b26b 280 p_CB->first = 0;
SandrineO 0:07281ea3b26b 281 }
SandrineO 0:07281ea3b26b 282 }
SandrineO 0:07281ea3b26b 283 else {
SandrineO 0:07281ea3b26b 284 os_error (OS_ERR_MBX_OVF);
SandrineO 0:07281ea3b26b 285 }
SandrineO 0:07281ea3b26b 286 }
SandrineO 0:07281ea3b26b 287 }
SandrineO 0:07281ea3b26b 288
SandrineO 0:07281ea3b26b 289 /*----------------------------------------------------------------------------
SandrineO 0:07281ea3b26b 290 * end of file
SandrineO 0:07281ea3b26b 291 *---------------------------------------------------------------------------*/
SandrineO 0:07281ea3b26b 292