Sergey Pastor
Webserver+3d print
Diff: common/os_port_ucos3.c
- Revision:
- 0:8918a71cdbe9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/common/os_port_ucos3.c Sat Feb 04 18:15:49 2017 +0000
@@ -0,0 +1,672 @@
+/**
+ * @file os_port_ucos3.c
+ * @brief RTOS abstraction layer (Micrium uC/OS-III)
+ *
+ * @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_ucos3.h"
+#include "debug.h"
+
+//Forward declaration of functions
+void osIdleTaskHook(void);
+
+//Variables
+static OS_TCB *tcbTable[OS_PORT_MAX_TASKS];
+static CPU_STK *stkTable[OS_PORT_MAX_TASKS];
+
+
+/**
+ * @brief Kernel initialization
+ **/
+
+void osInitKernel(void)
+{
+ OS_ERR err;
+
+ //Initialize tables
+ memset(tcbTable, 0, sizeof(tcbTable));
+ memset(stkTable, 0, sizeof(stkTable));
+
+ //Scheduler initialization
+ OSInit(&err);
+
+ //Set idle task hook
+ OS_AppIdleTaskHookPtr = osIdleTaskHook;
+}
+
+
+/**
+ * @brief Start kernel
+ **/
+
+void osStartKernel(void)
+{
+ OS_ERR err;
+
+ //Start the scheduler
+ OSStart(&err);
+}
+
+
+/**
+ * @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)
+{
+ OS_ERR err;
+ CPU_STK stackLimit;
+
+ //The watermark limit is used to monitor and ensure that the stack does not overflow
+ stackLimit = stackSize / 10;
+
+ //Create a new task
+ OSTaskCreate(task, (CPU_CHAR *) name, taskCode, params,
+ priority, stack, stackLimit, stackSize, 0, 1, NULL,
+ OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR, &err);
+
+ //Check whether the task was successfully created
+ if(err == OS_ERR_NONE)
+ 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)
+{
+ OS_ERR err;
+ CPU_INT32U i;
+ CPU_STK stackLimit;
+ OS_TCB *task;
+ CPU_STK *stack;
+
+ //The watermark limit is used to monitor and ensure that the stack does not overflow
+ stackLimit = stackSize / 10;
+
+ //Enter critical section
+ osSuspendAllTasks();
+
+ //Loop through TCB table
+ for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+ {
+ //Check whether the current entry is free
+ if(tcbTable[i] == NULL)
+ break;
+ }
+
+ //Any entry available in the table?
+ if(i < OS_PORT_MAX_TASKS)
+ {
+ //Allocate a memory block to hold the task's control block
+ task = osAllocMem(sizeof(OS_TCB));
+
+ //Successful memory allocation?
+ if(task != NULL)
+ {
+ //Allocate a memory block to hold the task's stack
+ stack = osAllocMem(stackSize * sizeof(CPU_STK));
+
+ //Successful memory allocation?
+ if(stack != NULL)
+ {
+ //Create a new task
+ OSTaskCreate(task, (CPU_CHAR *) name, taskCode, params,
+ priority, stack, stackLimit, stackSize, 0, 1, NULL,
+ OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR, &err);
+
+ //Check the return value
+ if(err == OS_ERR_NONE)
+ {
+ //Save TCB base address
+ tcbTable[i] = task;
+ //Save stack base address
+ stkTable[i] = stack;
+ }
+ else
+ {
+ //Clean up side effects
+ osFreeMem(task);
+ osFreeMem(stack);
+ }
+ }
+ else
+ {
+ //Memory allocation failed
+ err = OS_ERR_MEM_FULL;
+ //Clean up side effects
+ osFreeMem(task);
+ }
+ }
+ else
+ {
+ //Memory allocation failed
+ err = OS_ERR_MEM_FULL;
+ }
+ }
+ else
+ {
+ //No entry available in the table
+ err = OS_ERR_MEM_FULL;
+ }
+
+ //Leave critical section
+ osResumeAllTasks();
+
+ //Check whether the task was successfully created
+ if(err == OS_ERR_NONE)
+ return task;
+ else
+ return NULL;
+}
+
+
+/**
+ * @brief Delete a task
+ * @param[in] task Pointer to the task to be deleted
+ **/
+
+void osDeleteTask(OsTask *task)
+{
+ OS_ERR err;
+
+ //Delete the specified task
+ OSTaskDel(task, &err);
+}
+
+
+/**
+ * @brief Delay routine
+ * @param[in] delay Amount of time for which the calling task should block
+ **/
+
+void osDelayTask(systime_t delay)
+{
+ OS_ERR err;
+
+ //Delay the task for the specified duration
+ OSTimeDly(OS_MS_TO_SYSTICKS(delay), OS_OPT_TIME_DLY, &err);
+}
+
+
+/**
+ * @brief Yield control to the next task
+ **/
+
+void osSwitchTask(void)
+{
+ //Force a context switch
+ OSSched();
+}
+
+
+/**
+ * @brief Suspend scheduler activity
+ **/
+
+void osSuspendAllTasks(void)
+{
+ OS_ERR err;
+
+ //Make sure the operating system is running
+ if(OSRunning == OS_STATE_OS_RUNNING)
+ {
+ //Suspend scheduler activity
+ OSSchedLock(&err);
+ }
+}
+
+
+/**
+ * @brief Resume scheduler activity
+ **/
+
+void osResumeAllTasks(void)
+{
+ OS_ERR err;
+
+ //Make sure the operating system is running
+ if(OSRunning == OS_STATE_OS_RUNNING)
+ {
+ //Resume scheduler activity
+ OSSchedUnlock(&err);
+ }
+}
+
+
+/**
+ * @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)
+{
+ OS_ERR err;
+
+ //Create an event flag group
+ OSFlagCreate(event, "EVENT", 0, &err);
+
+ //Check whether the event flag group was successfully created
+ if(err == OS_ERR_NONE)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Delete an event object
+ * @param[in] event Pointer to the event object
+ **/
+
+void osDeleteEvent(OsEvent *event)
+{
+ OS_ERR err;
+
+ //Make sure the operating system is running
+ if(OSRunning == OS_STATE_OS_RUNNING)
+ {
+ //Properly dispose the event object
+ OSFlagDel(event, OS_OPT_DEL_ALWAYS, &err);
+ }
+}
+
+
+/**
+ * @brief Set the specified event object to the signaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osSetEvent(OsEvent *event)
+{
+ OS_ERR err;
+
+ //Set the specified event to the signaled state
+ OSFlagPost(event, 1, OS_OPT_POST_FLAG_SET, &err);
+}
+
+
+/**
+ * @brief Set the specified event object to the nonsignaled state
+ * @param[in] event Pointer to the event object
+ **/
+
+void osResetEvent(OsEvent *event)
+{
+ OS_ERR err;
+
+ //Force the specified event to the nonsignaled state
+ OSFlagPost(event, 1, OS_OPT_POST_FLAG_CLR, &err);
+}
+
+
+/**
+ * @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)
+{
+ OS_ERR err;
+
+ //Wait until the specified event is in the signaled
+ //state or the timeout interval elapses
+ if(timeout == 0)
+ {
+ //Non-blocking call
+ OSFlagPend(event, 1, 0, OS_OPT_PEND_FLAG_SET_ANY |
+ OS_OPT_PEND_FLAG_CONSUME | OS_OPT_PEND_NON_BLOCKING, NULL, &err);
+ }
+ else if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ OSFlagPend(event, 1, 0, OS_OPT_PEND_FLAG_SET_ANY |
+ OS_OPT_PEND_FLAG_CONSUME | OS_OPT_PEND_BLOCKING, NULL, &err);
+ }
+ else
+ {
+ //Wait until the specified event becomes set
+ OSFlagPend(event, 1, OS_MS_TO_SYSTICKS(timeout), OS_OPT_PEND_FLAG_SET_ANY |
+ OS_OPT_PEND_FLAG_CONSUME | OS_OPT_PEND_BLOCKING, NULL, &err);
+ }
+
+ //Check whether the specified event is set
+ if(err == OS_ERR_NONE)
+ return TRUE;
+ else
+ 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)
+{
+ OS_ERR err;
+
+ //Set the specified event to the signaled state
+ OSFlagPost(event, 1, OS_OPT_POST_FLAG_SET, &err);
+
+ //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)
+{
+ OS_ERR err;
+
+ //Create a semaphore
+ OSSemCreate(semaphore, "SEMAPHORE", count, &err);
+
+ //Check whether the semaphore was successfully created
+ if(err == OS_ERR_NONE)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Delete a semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osDeleteSemaphore(OsSemaphore *semaphore)
+{
+ OS_ERR err;
+
+ //Make sure the operating system is running
+ if(OSRunning == OS_STATE_OS_RUNNING)
+ {
+ //Properly dispose the specified semaphore
+ OSSemDel(semaphore, OS_OPT_DEL_ALWAYS, &err);
+ }
+}
+
+
+/**
+ * @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)
+{
+ OS_ERR err;
+
+ //Wait until the semaphore is available or the timeout interval elapses
+ if(timeout == 0)
+ {
+ //Non-blocking call
+ OSSemPend(semaphore, 0, OS_OPT_PEND_NON_BLOCKING, NULL, &err);
+ }
+ else if(timeout == INFINITE_DELAY)
+ {
+ //Infinite timeout period
+ OSSemPend(semaphore, 0, OS_OPT_PEND_BLOCKING, NULL, &err);
+ }
+ else
+ {
+ //Wait until the specified semaphore becomes available
+ OSSemPend(semaphore, OS_MS_TO_SYSTICKS(timeout),
+ OS_OPT_PEND_BLOCKING, NULL, &err);
+ }
+
+ //Check whether the specified semaphore is available
+ if(err == OS_ERR_NONE)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Release the specified semaphore object
+ * @param[in] semaphore Pointer to the semaphore object
+ **/
+
+void osReleaseSemaphore(OsSemaphore *semaphore)
+{
+ OS_ERR err;
+
+ //Release the semaphore
+ OSSemPost(semaphore, OS_OPT_POST_1, &err);
+}
+
+
+/**
+ * @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)
+{
+ OS_ERR err;
+
+ //Create a mutex
+ OSMutexCreate(mutex, "MUTEX", &err);
+
+ //Check whether the mutex was successfully created
+ if(err == OS_ERR_NONE)
+ return TRUE;
+ else
+ return FALSE;
+}
+
+
+/**
+ * @brief Delete a mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osDeleteMutex(OsMutex *mutex)
+{
+ OS_ERR err;
+
+ //Make sure the operating system is running
+ if(OSRunning == OS_STATE_OS_RUNNING)
+ {
+ //Properly dispose the specified mutex
+ OSMutexDel(mutex, OS_OPT_DEL_ALWAYS, &err);
+ }
+}
+
+
+/**
+ * @brief Acquire ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osAcquireMutex(OsMutex *mutex)
+{
+ OS_ERR err;
+
+ //Obtain ownership of the mutex object
+ OSMutexPend(mutex, 0, OS_OPT_PEND_BLOCKING, NULL, &err);
+}
+
+
+/**
+ * @brief Release ownership of the specified mutex object
+ * @param[in] mutex Pointer to the mutex object
+ **/
+
+void osReleaseMutex(OsMutex *mutex)
+{
+ OS_ERR err;
+
+ //Release ownership of the mutex object
+ OSMutexPost(mutex, OS_OPT_POST_NONE, &err);
+}
+
+
+/**
+ * @brief Retrieve system time
+ * @return Number of milliseconds elapsed since the system was last started
+ **/
+
+systime_t osGetSystemTime(void)
+{
+ OS_ERR err;
+ systime_t time;
+
+ //Get current tick count
+ time = OSTimeGet(&err);
+
+ //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 %" PRIuSIZE " bytes at 0x%08" PRIXPTR "\r\n", size, (uintptr_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%08" PRIXPTR "\r\n", (uintptr_t) p);
+
+ //Enter critical section
+ osSuspendAllTasks();
+ //Free memory block
+ free(p);
+ //Leave critical section
+ osResumeAllTasks();
+ }
+}
+
+
+/**
+ * @brief Idle task hook
+ **/
+
+void osIdleTaskHook(void)
+{
+ uint_t i;
+
+ //Loop through TCB table
+ for(i = 0; i < OS_PORT_MAX_TASKS; i++)
+ {
+ //Check whether current entry is used
+ if(tcbTable[i] != NULL)
+ {
+ //Wait for task termination
+ if(tcbTable[i]->TaskState == OS_TASK_STATE_DEL)
+ {
+ //Free previously allocated resources
+ osFreeMem(stkTable[i]);
+ osFreeMem(tcbTable[i]);
+
+ //Mark the entry as free
+ stkTable[i] = NULL;
+ tcbTable[i] = NULL;
+ }
+ }
+ }
+}
+