Sergey Pastor
Webserver+3d print
Diff: common/os_port_rtx.c
- Revision:
- 0:8918a71cdbe9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/common/os_port_rtx.c Sat Feb 04 18:15:49 2017 +0000
@@ -0,0 +1,601 @@
+/**
+ * @file os_port_rtx.c
+ * @brief RTOS abstraction layer (Keil RTX)
+ *
+ * @section License
+ *
+ * Copyright (C) 2010-2017 Oryx Embedded SARL. All rights reserved.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * @author Oryx Embedded SARL (www.oryx-embedded.com)
+ * @version 1.7.6
+ **/
+
+//Switch to the appropriate trace level
+#define TRACE_LEVEL TRACE_LEVEL_OFF
+
+//Dependencies
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "os_port.h"
+#include "os_port_rtx.h"
+#include "debug.h"
+
+//Variables
+static bool_t running = FALSE;
+static OsTask taskTable[OS_PORT_MAX_TASKS];
+
+
+/**
+ * @brief Kernel initialization
+ **/
+
+void osInitKernel(void)
+{
+ //The scheduler is not running
+ running = FALSE;
+ //Initialize task table
+ memset(taskTable, 0, sizeof(taskTable));
+}
+
+
+/**
+ * @brief Start kernel
+ * @param[in] task Pointer to the task function to start after the kernel is initialized
+ **/
+
+void osStartKernel(OsInitTaskCode task)
+{
+ //The scheduler is now running
+ running = TRUE;
+ //Start the scheduler
+ os_sys_init(task);
+}
+
+
+/**
+ * @brief Create a static task
+ * @param[out] task Pointer to the task structure
+ * @param[in] name A name identifying the task
+ * @param[in] taskCode Pointer to the task entry function
+ * @param[in] params A pointer to a variable to be passed to the task
+ * @param[in] stack Pointer to the stack
+ * @param[in] stackSize The initial size of the stack, in words
+ * @param[in] priority The priority at which the task should run
+ * @return The function returns TRUE if the task was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateStaticTask(OsTask *task, const char_t *name, OsTaskCode taskCode,
+ void *params, void *stack, size_t stackSize, int_t priority)
+{
+ //Create a new task
+ task->tid = os_tsk_create_user_ex(taskCode, priority,
+ stack, stackSize * sizeof(uint_t), params);
+
+ //Check task identifier
+ if(task->tid != 0)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Create a new task
+ * @param[in] name A name identifying the task
+ * @param[in] taskCode Pointer to the task entry function
+ * @param[in] params A pointer to a variable to be passed to the task
+ * @param[in] stackSize The initial size of the stack, in words
+ * @param[in] priority The priority at which the task should run
+ * @return If the function succeeds, the return value is a pointer to the
+ * new task. If the function fails, the return value is NULL
+ **/
+
+OsTask *osCreateTask(const char_t *name, OsTaskCode taskCode,
+ void *params, size_t stackSize, int_t priority)
+{
+ uint_t i;
+ OsTask *task = NULL;
+
+ //Enter critical section
+ osSuspendAllTasks();
+
+ //Loop through table
+ for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+ {
+ //Check whether the current entry is free
+ if(!taskTable[i].tid)
+ break;
+ }
+
+ //Any entry available in the table?
+ if(i < OS_PORT_MAX_TASKS)
+ {
+ //Create a new task
+ taskTable[i].tid = os_tsk_create_ex(taskCode, priority, params);
+
+ //Check whether the task was successfully created
+ if(taskTable[i].tid != 0)
+ task = &taskTable[i];
+ }
+
+ //Leave critical section
+ osResumeAllTasks();
+
+ //Return a pointer to the newly created task
+ return task;
+}
+
+
+/**
+ * @brief Delete a task
+ * @param[in] task Pointer to the task to be deleted
+ **/
+
+void osDeleteTask(OsTask *task)
+{
+ uint_t i;
+ OS_TID tid;
+
+ //Retrieve task ID
+ if(task == NULL)
+ tid = os_tsk_self();
+ else
+ tid = task->tid;
+
+ //Enter critical section
+ osSuspendAllTasks();
+
+ //Loop through table
+ for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+ {
+ //Check current entry
+ if(taskTable[i].tid == tid)
+ {
+ //Release current entry
+ taskTable[i].tid = 0;
+ }
+ }
+
+ //Leave critical section
+ osResumeAllTasks();
+
+ //Delete the currently running task?
+ if(task == NULL)
+ {
+ //Kill ourselves
+ os_tsk_delete_self();
+ }
+ else
+ {
+ //Delete the specified task
+ os_tsk_delete(tid);
+ }
+}
+
+
+/**
+ * @brief Delay routine
+ * @param[in] delay Amount of time for which the calling task should block
+ **/
+
+void osDelayTask(systime_t delay)
+{
+ uint16_t n;
+
+ //Convert milliseconds to system ticks
+ delay = OS_MS_TO_SYSTICKS(delay);
+
+ //Delay the task for the specified duration
+ while(delay > 0)
+ {
+ //The delay value cannot be higher than 0xFFFE...
+ n = MIN(delay, 0xFFFE);
+ //Wait for the specified amount of time
+ os_dly_wait(n);
+ //Decrement delay value
+ delay -= n;
+ }
+}
+
+
+/**
+ * @brief Yield control to the next task
+ **/
+
+void osSwitchTask(void)
+{
+ //Pass control to the next task
+ os_tsk_pass();
+}
+
+
+/**
+ * @brief Suspend scheduler activity
+ **/
+
+void osSuspendAllTasks(void)
+{
+ //Make sure the operating system is running
+ if(running)
+ {
+ //Suspend all tasks
+ tsk_lock();
+ }
+}
+
+
+/**
+ * @brief Resume scheduler activity
+ **/
+
+void osResumeAllTasks(void)
+{
+ //Make sure the operating system is running
+ if(running)
+ {
+ //Resume all tasks
+ tsk_unlock();
+ }
+}
+
+
+/**
+ * @brief Create an event object
+ * @param[in] event Pointer to the event object
+ * @return The function returns TRUE if the event object was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateEvent(OsEvent *event)
+{
+ //Initialize the event object
+ os_sem_init(event, 0);
+
+ //Event successfully created
+ return TRUE;
+}
+
+
+/**
+ * @brief Delete an event object
+ * @param[in] event Pointer to the event object
+ **/
+
+void osDeleteEvent(OsEvent *event)
+{
+ //No resource to release
+}
+
+
+/**
+ * @brief Set the specified event object to the signaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osSetEvent(OsEvent *event)
+{
+ //Set the specified event to the signaled state
+ os_sem_send(event);
+}
+
+
+/**
+ * @brief Set the specified event object to the nonsignaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osResetEvent(OsEvent *event)
+{
+ OS_RESULT res;
+
+ //Force the specified event to the nonsignaled state
+ do
+ {
+ //Decrement the semaphore's count by one
+ res = os_sem_wait(event, 0);
+
+ //Check status
+ } while(res == OS_R_OK);
+}
+
+
+/**
+ * @brief Wait until the specified event is in the signaled state
+ * @param[in] event Pointer to the event object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the state of the specified object is
+ * signaled. FALSE is returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForEvent(OsEvent *event, systime_t timeout)
+{
+ uint16_t n;
+ OS_RESULT res;
+
+ //Wait until the specified event is in the signaled
+ //state or the timeout interval elapses
+ if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ res = os_sem_wait(event, 0xFFFF);
+ }
+ else
+ {
+ //Convert milliseconds to system ticks
+ timeout = OS_MS_TO_SYSTICKS(timeout);
+
+ //Loop until the assigned time period has elapsed
+ do
+ {
+ //The timeout value cannot be higher than 0xFFFE...
+ n = MIN(timeout, 0xFFFE);
+ //Wait for the specified time interval
+ res = os_sem_wait(event, n);
+ //Decrement timeout value
+ timeout -= n;
+
+ //Check timeout value
+ } while(res == OS_R_TMO && timeout > 0);
+ }
+
+ //Check whether the specified event is set
+ if(res == OS_R_OK || res == OS_R_SEM)
+ {
+ //Force the event back to the nonsignaled state
+ do
+ {
+ //Decrement the semaphore's count by one
+ res = os_sem_wait(event, 0);
+
+ //Check status
+ } while(res == OS_R_OK);
+
+ //The specified event is in the signaled state
+ return TRUE;
+ }
+ else
+ {
+ //The timeout interval elapsed
+ return FALSE;
+ }
+}
+
+
+/**
+ * @brief Set an event object to the signaled state from an interrupt service routine
+ * @param[in] event Pointer to the event object
+ * @return TRUE if setting the event to signaled state caused a task to unblock
+ * and the unblocked task has a priority higher than the currently running task
+ **/
+
+bool_t osSetEventFromIsr(OsEvent *event)
+{
+ //Set the specified event to the signaled state
+ isr_sem_send(event);
+
+ //The return value is not relevant
+ return FALSE;
+}
+
+
+/**
+ * @brief Create a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] count The maximum count for the semaphore object. This value
+ * must be greater than zero
+ * @return The function returns TRUE if the semaphore was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateSemaphore(OsSemaphore *semaphore, uint_t count)
+{
+ //Initialize the semaphore object
+ os_sem_init(semaphore, count);
+
+ //Semaphore successfully created
+ return TRUE;
+}
+
+
+/**
+ * @brief Delete a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osDeleteSemaphore(OsSemaphore *semaphore)
+{
+ //No resource to release
+}
+
+
+/**
+ * @brief Wait for the specified semaphore to be available
+ * @param[in] semaphore Pointer to the semaphore object
+ * @param[in] timeout Timeout interval
+ * @return The function returns TRUE if the semaphore is available. FALSE is
+ * returned if the timeout interval elapsed
+ **/
+
+bool_t osWaitForSemaphore(OsSemaphore *semaphore, systime_t timeout)
+{
+ uint16_t n;
+ OS_RESULT res;
+
+ //Wait until the semaphore is available or the timeout interval elapses
+ if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ res = os_sem_wait(semaphore, 0xFFFF);
+ }
+ else
+ {
+ //Convert milliseconds to system ticks
+ timeout = OS_MS_TO_SYSTICKS(timeout);
+
+ //Loop until the assigned time period has elapsed
+ do
+ {
+ //The timeout value cannot be higher than 0xFFFE...
+ n = MIN(timeout, 0xFFFE);
+ //Wait for the specified time interval
+ res = os_sem_wait(semaphore, n);
+ //Decrement timeout value
+ timeout -= n;
+
+ //Check timeout value
+ } while(res == OS_R_TMO && timeout > 0);
+ }
+
+ //Check whether the specified semaphore is available
+ if(res == OS_R_OK || res == OS_R_SEM)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Release the specified semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osReleaseSemaphore(OsSemaphore *semaphore)
+{
+ //Release the semaphore
+ os_sem_send(semaphore);
+}
+
+
+/**
+ * @brief Create a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ * @return The function returns TRUE if the mutex was successfully
+ * created. Otherwise, FALSE is returned
+ **/
+
+bool_t osCreateMutex(OsMutex *mutex)
+{
+ //Initialize the mutex object
+ os_mut_init(mutex);
+
+ //Mutex successfully created
+ return TRUE;
+}
+
+
+/**
+ * @brief Delete a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osDeleteMutex(OsMutex *mutex)
+{
+ //No resource to release
+}
+
+
+/**
+ * @brief Acquire ownership of the specified mutex object
+ * @param[in] mutex A handle to the mutex object
+ **/
+
+void osAcquireMutex(OsMutex *mutex)
+{
+ //Obtain ownership of the mutex object
+ os_mut_wait(mutex, 0xFFFF);
+}
+
+
+/**
+ * @brief Release ownership of the specified mutex object
+ * @param[in] mutex A handle to the mutex object
+ **/
+
+void osReleaseMutex(OsMutex *mutex)
+{
+ //Release ownership of the mutex object
+ os_mut_release(mutex);
+}
+
+
+/**
+ * @brief Retrieve system time
+ * @return Number of milliseconds elapsed since the system was last started
+ **/
+
+systime_t osGetSystemTime(void)
+{
+ systime_t time;
+
+ //Get current tick count
+ time = os_time_get();
+
+ //Convert system ticks to milliseconds
+ return OS_SYSTICKS_TO_MS(time);
+}
+
+
+/**
+ * @brief Allocate a memory block
+ * @param[in] size Bytes to allocate
+ * @return A pointer to the allocated memory block or NULL if
+ * there is insufficient memory available
+ **/
+
+void *osAllocMem(size_t size)
+{
+ void *p;
+
+ //Enter critical section
+ osSuspendAllTasks();
+ //Allocate a memory block
+ p = malloc(size);
+ //Leave critical section
+ osResumeAllTasks();
+
+ //Debug message
+ TRACE_DEBUG("Allocating %u bytes at 0x%08X\r\n", size, (uint_t) p);
+
+ //Return a pointer to the newly allocated memory block
+ return p;
+}
+
+
+/**
+ * @brief Release a previously allocated memory block
+ * @param[in] p Previously allocated memory block to be freed
+ **/
+
+void osFreeMem(void *p)
+{
+ //Make sure the pointer is valid
+ if(p != NULL)
+ {
+ //Debug message
+ TRACE_DEBUG("Freeing memory at 0x%08X\r\n", (uint_t) p);
+
+ //Enter critical section
+ osSuspendAllTasks();
+ //Free memory block
+ free(p);
+ //Leave critical section
+ osResumeAllTasks();
+ }
+}
+