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Dependencies:   mbed

mbed-rtos/rtx/rt_System.c@0:52468b19aa21, 2020-07-29 (annotated)

Committer:
alanffrench
Date:
Wed Jul 29 18:51:38 2020 +0000
Revision:
0:52468b19aa21
Threads

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alanffrench 0:52468b19aa21 1 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 2 * RL-ARM - RTX
alanffrench 0:52468b19aa21 3 *----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 4 * Name: RT_SYSTEM.C
alanffrench 0:52468b19aa21 5 * Purpose: System Task Manager
alanffrench 0:52468b19aa21 6 * Rev.: V4.60
alanffrench 0:52468b19aa21 7 *----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 8 *
alanffrench 0:52468b19aa21 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
alanffrench 0:52468b19aa21 10 * All rights reserved.
alanffrench 0:52468b19aa21 11 * Redistribution and use in source and binary forms, with or without
alanffrench 0:52468b19aa21 12 * modification, are permitted provided that the following conditions are met:
alanffrench 0:52468b19aa21 13 * - Redistributions of source code must retain the above copyright
alanffrench 0:52468b19aa21 14 * notice, this list of conditions and the following disclaimer.
alanffrench 0:52468b19aa21 15 * - Redistributions in binary form must reproduce the above copyright
alanffrench 0:52468b19aa21 16 * notice, this list of conditions and the following disclaimer in the
alanffrench 0:52468b19aa21 17 * documentation and/or other materials provided with the distribution.
alanffrench 0:52468b19aa21 18 * - Neither the name of ARM nor the names of its contributors may be used
alanffrench 0:52468b19aa21 19 * to endorse or promote products derived from this software without
alanffrench 0:52468b19aa21 20 * specific prior written permission.
alanffrench 0:52468b19aa21 21 *
alanffrench 0:52468b19aa21 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
alanffrench 0:52468b19aa21 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
alanffrench 0:52468b19aa21 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
alanffrench 0:52468b19aa21 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
alanffrench 0:52468b19aa21 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
alanffrench 0:52468b19aa21 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
alanffrench 0:52468b19aa21 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
alanffrench 0:52468b19aa21 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
alanffrench 0:52468b19aa21 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
alanffrench 0:52468b19aa21 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
alanffrench 0:52468b19aa21 32 * POSSIBILITY OF SUCH DAMAGE.
alanffrench 0:52468b19aa21 33 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 34
alanffrench 0:52468b19aa21 35 #include "rt_TypeDef.h"
alanffrench 0:52468b19aa21 36 #include "RTX_Config.h"
alanffrench 0:52468b19aa21 37 #include "rt_Task.h"
alanffrench 0:52468b19aa21 38 #include "rt_System.h"
alanffrench 0:52468b19aa21 39 #include "rt_Event.h"
alanffrench 0:52468b19aa21 40 #include "rt_List.h"
alanffrench 0:52468b19aa21 41 #include "rt_Mailbox.h"
alanffrench 0:52468b19aa21 42 #include "rt_Semaphore.h"
alanffrench 0:52468b19aa21 43 #include "rt_Time.h"
alanffrench 0:52468b19aa21 44 #include "rt_Robin.h"
alanffrench 0:52468b19aa21 45 #include "rt_HAL_CM.h"
alanffrench 0:52468b19aa21 46
alanffrench 0:52468b19aa21 47 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 48 * Global Variables
alanffrench 0:52468b19aa21 49 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 50
alanffrench 0:52468b19aa21 51 int os_tick_irqn;
alanffrench 0:52468b19aa21 52
alanffrench 0:52468b19aa21 53 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 54 * Local Variables
alanffrench 0:52468b19aa21 55 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 56
alanffrench 0:52468b19aa21 57 static volatile BIT os_lock;
alanffrench 0:52468b19aa21 58 static volatile BIT os_psh_flag;
alanffrench 0:52468b19aa21 59 static U8 pend_flags;
alanffrench 0:52468b19aa21 60
alanffrench 0:52468b19aa21 61 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 62 * Global Functions
alanffrench 0:52468b19aa21 63 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 64
alanffrench 0:52468b19aa21 65 #if defined (__CC_ARM)
alanffrench 0:52468b19aa21 66 __asm void $$RTX$$version (void) {
alanffrench 0:52468b19aa21 67 /* Export a version number symbol for a version control. */
alanffrench 0:52468b19aa21 68
alanffrench 0:52468b19aa21 69 EXPORT __RL_RTX_VER
alanffrench 0:52468b19aa21 70
alanffrench 0:52468b19aa21 71 __RL_RTX_VER EQU 0x450
alanffrench 0:52468b19aa21 72 }
alanffrench 0:52468b19aa21 73 #endif
alanffrench 0:52468b19aa21 74
alanffrench 0:52468b19aa21 75
alanffrench 0:52468b19aa21 76 /*--------------------------- rt_suspend ------------------------------------*/
alanffrench 0:52468b19aa21 77 U32 rt_suspend (void) {
alanffrench 0:52468b19aa21 78 /* Suspend OS scheduler */
alanffrench 0:52468b19aa21 79 U32 delta = 0xFFFF;
alanffrench 0:52468b19aa21 80
alanffrench 0:52468b19aa21 81 rt_tsk_lock();
alanffrench 0:52468b19aa21 82
alanffrench 0:52468b19aa21 83 if (os_dly.p_dlnk) {
alanffrench 0:52468b19aa21 84 delta = os_dly.delta_time;
alanffrench 0:52468b19aa21 85 }
alanffrench 0:52468b19aa21 86 #ifndef __CMSIS_RTOS
alanffrench 0:52468b19aa21 87 if (os_tmr.next) {
alanffrench 0:52468b19aa21 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
alanffrench 0:52468b19aa21 89 }
alanffrench 0:52468b19aa21 90 #endif
alanffrench 0:52468b19aa21 91
alanffrench 0:52468b19aa21 92 return (delta);
alanffrench 0:52468b19aa21 93 }
alanffrench 0:52468b19aa21 94
alanffrench 0:52468b19aa21 95
alanffrench 0:52468b19aa21 96 /*--------------------------- rt_resume -------------------------------------*/
alanffrench 0:52468b19aa21 97 void rt_resume (U32 sleep_time) {
alanffrench 0:52468b19aa21 98 /* Resume OS scheduler after suspend */
alanffrench 0:52468b19aa21 99 P_TCB next;
alanffrench 0:52468b19aa21 100 U32 delta;
alanffrench 0:52468b19aa21 101
alanffrench 0:52468b19aa21 102 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 103 rt_put_rdy_first (os_tsk.run);
alanffrench 0:52468b19aa21 104
alanffrench 0:52468b19aa21 105 os_robin.task = NULL;
alanffrench 0:52468b19aa21 106
alanffrench 0:52468b19aa21 107 /* Update delays. */
alanffrench 0:52468b19aa21 108 if (os_dly.p_dlnk) {
alanffrench 0:52468b19aa21 109 delta = sleep_time;
alanffrench 0:52468b19aa21 110 if (delta >= os_dly.delta_time) {
alanffrench 0:52468b19aa21 111 delta -= os_dly.delta_time;
alanffrench 0:52468b19aa21 112 os_time += os_dly.delta_time;
alanffrench 0:52468b19aa21 113 os_dly.delta_time = 1;
alanffrench 0:52468b19aa21 114 while (os_dly.p_dlnk) {
alanffrench 0:52468b19aa21 115 rt_dec_dly();
alanffrench 0:52468b19aa21 116 if (delta == 0) break;
alanffrench 0:52468b19aa21 117 delta--;
alanffrench 0:52468b19aa21 118 os_time++;
alanffrench 0:52468b19aa21 119 }
alanffrench 0:52468b19aa21 120 } else {
alanffrench 0:52468b19aa21 121 os_time += delta;
alanffrench 0:52468b19aa21 122 os_dly.delta_time -= delta;
alanffrench 0:52468b19aa21 123 }
alanffrench 0:52468b19aa21 124 } else {
alanffrench 0:52468b19aa21 125 os_time += sleep_time;
alanffrench 0:52468b19aa21 126 }
alanffrench 0:52468b19aa21 127
alanffrench 0:52468b19aa21 128 #ifndef __CMSIS_RTOS
alanffrench 0:52468b19aa21 129 /* Check the user timers. */
alanffrench 0:52468b19aa21 130 if (os_tmr.next) {
alanffrench 0:52468b19aa21 131 delta = sleep_time;
alanffrench 0:52468b19aa21 132 if (delta >= os_tmr.tcnt) {
alanffrench 0:52468b19aa21 133 delta -= os_tmr.tcnt;
alanffrench 0:52468b19aa21 134 os_tmr.tcnt = 1;
alanffrench 0:52468b19aa21 135 while (os_tmr.next) {
alanffrench 0:52468b19aa21 136 rt_tmr_tick();
alanffrench 0:52468b19aa21 137 if (delta == 0) break;
alanffrench 0:52468b19aa21 138 delta--;
alanffrench 0:52468b19aa21 139 }
alanffrench 0:52468b19aa21 140 } else {
alanffrench 0:52468b19aa21 141 os_tmr.tcnt -= delta;
alanffrench 0:52468b19aa21 142 }
alanffrench 0:52468b19aa21 143 }
alanffrench 0:52468b19aa21 144 #endif
alanffrench 0:52468b19aa21 145
alanffrench 0:52468b19aa21 146 /* Switch back to highest ready task */
alanffrench 0:52468b19aa21 147 next = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 148 rt_switch_req (next);
alanffrench 0:52468b19aa21 149
alanffrench 0:52468b19aa21 150 rt_tsk_unlock();
alanffrench 0:52468b19aa21 151 }
alanffrench 0:52468b19aa21 152
alanffrench 0:52468b19aa21 153
alanffrench 0:52468b19aa21 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
alanffrench 0:52468b19aa21 155
alanffrench 0:52468b19aa21 156 void rt_tsk_lock (void) {
alanffrench 0:52468b19aa21 157 /* Prevent task switching by locking out scheduler */
alanffrench 0:52468b19aa21 158 if (os_tick_irqn < 0) {
alanffrench 0:52468b19aa21 159 OS_LOCK();
alanffrench 0:52468b19aa21 160 os_lock = __TRUE;
alanffrench 0:52468b19aa21 161 OS_UNPEND (&pend_flags);
alanffrench 0:52468b19aa21 162 } else {
alanffrench 0:52468b19aa21 163 OS_X_LOCK(os_tick_irqn);
alanffrench 0:52468b19aa21 164 os_lock = __TRUE;
alanffrench 0:52468b19aa21 165 OS_X_UNPEND (&pend_flags);
alanffrench 0:52468b19aa21 166 }
alanffrench 0:52468b19aa21 167 }
alanffrench 0:52468b19aa21 168
alanffrench 0:52468b19aa21 169
alanffrench 0:52468b19aa21 170 /*--------------------------- rt_tsk_unlock ---------------------------------*/
alanffrench 0:52468b19aa21 171
alanffrench 0:52468b19aa21 172 void rt_tsk_unlock (void) {
alanffrench 0:52468b19aa21 173 /* Unlock scheduler and re-enable task switching */
alanffrench 0:52468b19aa21 174 if (os_tick_irqn < 0) {
alanffrench 0:52468b19aa21 175 OS_UNLOCK();
alanffrench 0:52468b19aa21 176 os_lock = __FALSE;
alanffrench 0:52468b19aa21 177 OS_PEND (pend_flags, os_psh_flag);
alanffrench 0:52468b19aa21 178 os_psh_flag = __FALSE;
alanffrench 0:52468b19aa21 179 } else {
alanffrench 0:52468b19aa21 180 OS_X_UNLOCK(os_tick_irqn);
alanffrench 0:52468b19aa21 181 os_lock = __FALSE;
alanffrench 0:52468b19aa21 182 OS_X_PEND (pend_flags, os_psh_flag);
alanffrench 0:52468b19aa21 183 os_psh_flag = __FALSE;
alanffrench 0:52468b19aa21 184 }
alanffrench 0:52468b19aa21 185 }
alanffrench 0:52468b19aa21 186
alanffrench 0:52468b19aa21 187
alanffrench 0:52468b19aa21 188 /*--------------------------- rt_psh_req ------------------------------------*/
alanffrench 0:52468b19aa21 189
alanffrench 0:52468b19aa21 190 void rt_psh_req (void) {
alanffrench 0:52468b19aa21 191 /* Initiate a post service handling request if required. */
alanffrench 0:52468b19aa21 192 if (os_lock == __FALSE) {
alanffrench 0:52468b19aa21 193 OS_PEND_IRQ ();
alanffrench 0:52468b19aa21 194 }
alanffrench 0:52468b19aa21 195 else {
alanffrench 0:52468b19aa21 196 os_psh_flag = __TRUE;
alanffrench 0:52468b19aa21 197 }
alanffrench 0:52468b19aa21 198 }
alanffrench 0:52468b19aa21 199
alanffrench 0:52468b19aa21 200
alanffrench 0:52468b19aa21 201 /*--------------------------- rt_pop_req ------------------------------------*/
alanffrench 0:52468b19aa21 202
alanffrench 0:52468b19aa21 203 void rt_pop_req (void) {
alanffrench 0:52468b19aa21 204 /* Process an ISR post service requests. */
alanffrench 0:52468b19aa21 205 struct OS_XCB *p_CB;
alanffrench 0:52468b19aa21 206 P_TCB next;
alanffrench 0:52468b19aa21 207 U32 idx;
alanffrench 0:52468b19aa21 208
alanffrench 0:52468b19aa21 209 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 210 rt_put_rdy_first (os_tsk.run);
alanffrench 0:52468b19aa21 211
alanffrench 0:52468b19aa21 212 idx = os_psq->last;
alanffrench 0:52468b19aa21 213 while (os_psq->count) {
alanffrench 0:52468b19aa21 214 p_CB = os_psq->q[idx].id;
alanffrench 0:52468b19aa21 215 if (p_CB->cb_type == TCB) {
alanffrench 0:52468b19aa21 216 /* Is of TCB type */
alanffrench 0:52468b19aa21 217 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
alanffrench 0:52468b19aa21 218 }
alanffrench 0:52468b19aa21 219 else if (p_CB->cb_type == MCB) {
alanffrench 0:52468b19aa21 220 /* Is of MCB type */
alanffrench 0:52468b19aa21 221 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
alanffrench 0:52468b19aa21 222 }
alanffrench 0:52468b19aa21 223 else {
alanffrench 0:52468b19aa21 224 /* Must be of SCB type */
alanffrench 0:52468b19aa21 225 rt_sem_psh ((P_SCB)p_CB);
alanffrench 0:52468b19aa21 226 }
alanffrench 0:52468b19aa21 227 if (++idx == os_psq->size) idx = 0;
alanffrench 0:52468b19aa21 228 rt_dec (&os_psq->count);
alanffrench 0:52468b19aa21 229 }
alanffrench 0:52468b19aa21 230 os_psq->last = idx;
alanffrench 0:52468b19aa21 231
alanffrench 0:52468b19aa21 232 next = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 233 rt_switch_req (next);
alanffrench 0:52468b19aa21 234 }
alanffrench 0:52468b19aa21 235
alanffrench 0:52468b19aa21 236
alanffrench 0:52468b19aa21 237 /*--------------------------- os_tick_init ----------------------------------*/
alanffrench 0:52468b19aa21 238
alanffrench 0:52468b19aa21 239 __weak int os_tick_init (void) {
alanffrench 0:52468b19aa21 240 /* Initialize SysTick timer as system tick timer. */
alanffrench 0:52468b19aa21 241 rt_systick_init ();
alanffrench 0:52468b19aa21 242 return (-1); /* Return IRQ number of SysTick timer */
alanffrench 0:52468b19aa21 243 }
alanffrench 0:52468b19aa21 244
alanffrench 0:52468b19aa21 245
alanffrench 0:52468b19aa21 246 /*--------------------------- os_tick_irqack --------------------------------*/
alanffrench 0:52468b19aa21 247
alanffrench 0:52468b19aa21 248 __weak void os_tick_irqack (void) {
alanffrench 0:52468b19aa21 249 /* Acknowledge timer interrupt. */
alanffrench 0:52468b19aa21 250 }
alanffrench 0:52468b19aa21 251
alanffrench 0:52468b19aa21 252
alanffrench 0:52468b19aa21 253 /*--------------------------- rt_systick ------------------------------------*/
alanffrench 0:52468b19aa21 254
alanffrench 0:52468b19aa21 255 extern void sysTimerTick(void);
alanffrench 0:52468b19aa21 256
alanffrench 0:52468b19aa21 257 void rt_systick (void) {
alanffrench 0:52468b19aa21 258 /* Check for system clock update, suspend running task. */
alanffrench 0:52468b19aa21 259 P_TCB next;
alanffrench 0:52468b19aa21 260
alanffrench 0:52468b19aa21 261 os_tsk.run->state = READY;
alanffrench 0:52468b19aa21 262 rt_put_rdy_first (os_tsk.run);
alanffrench 0:52468b19aa21 263
alanffrench 0:52468b19aa21 264 /* Check Round Robin timeout. */
alanffrench 0:52468b19aa21 265 rt_chk_robin ();
alanffrench 0:52468b19aa21 266
alanffrench 0:52468b19aa21 267 /* Update delays. */
alanffrench 0:52468b19aa21 268 os_time++;
alanffrench 0:52468b19aa21 269 rt_dec_dly ();
alanffrench 0:52468b19aa21 270
alanffrench 0:52468b19aa21 271 /* Check the user timers. */
alanffrench 0:52468b19aa21 272 #ifdef __CMSIS_RTOS
alanffrench 0:52468b19aa21 273 sysTimerTick();
alanffrench 0:52468b19aa21 274 #else
alanffrench 0:52468b19aa21 275 rt_tmr_tick ();
alanffrench 0:52468b19aa21 276 #endif
alanffrench 0:52468b19aa21 277
alanffrench 0:52468b19aa21 278 /* Switch back to highest ready task */
alanffrench 0:52468b19aa21 279 next = rt_get_first (&os_rdy);
alanffrench 0:52468b19aa21 280 rt_switch_req (next);
alanffrench 0:52468b19aa21 281 }
alanffrench 0:52468b19aa21 282
alanffrench 0:52468b19aa21 283 /*--------------------------- rt_stk_check ----------------------------------*/
alanffrench 0:52468b19aa21 284 __weak void rt_stk_check (void) {
alanffrench 0:52468b19aa21 285 /* Check for stack overflow. */
alanffrench 0:52468b19aa21 286 if (os_tsk.run->task_id == 0x01) {
alanffrench 0:52468b19aa21 287 // TODO: For the main thread the check should be done against the main heap pointer
alanffrench 0:52468b19aa21 288 } else {
alanffrench 0:52468b19aa21 289 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
alanffrench 0:52468b19aa21 290 (os_tsk.run->stack[0] != MAGIC_WORD)) {
alanffrench 0:52468b19aa21 291 os_error (OS_ERR_STK_OVF);
alanffrench 0:52468b19aa21 292 }
alanffrench 0:52468b19aa21 293 }
alanffrench 0:52468b19aa21 294 }
alanffrench 0:52468b19aa21 295
alanffrench 0:52468b19aa21 296 /*----------------------------------------------------------------------------
alanffrench 0:52468b19aa21 297 * end of file
alanffrench 0:52468b19aa21 298 *---------------------------------------------------------------------------*/
alanffrench 0:52468b19aa21 299