Anasse Abdoul / Mbed 2 deprecated Test_MPU6050

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Dependencies:   mbed

mbed-rtos/rtx/TARGET_ARM7/rt_System.c@0:a59a3d743804, 2022-03-31 (annotated)

Committer:
anasse
Date:
Thu Mar 31 07:43:50 2022 +0000
Revision:
0:a59a3d743804
vers0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
anasse 0:a59a3d743804 1 /*----------------------------------------------------------------------------
anasse 0:a59a3d743804 2 * RL-ARM - RTX
anasse 0:a59a3d743804 3 *----------------------------------------------------------------------------
anasse 0:a59a3d743804 4 * Name: RT_SYSTEM.C
anasse 0:a59a3d743804 5 * Purpose: System Task Manager
anasse 0:a59a3d743804 6 * Rev.: V4.60
anasse 0:a59a3d743804 7 *----------------------------------------------------------------------------
anasse 0:a59a3d743804 8 *
anasse 0:a59a3d743804 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
anasse 0:a59a3d743804 10 * All rights reserved.
anasse 0:a59a3d743804 11 * Redistribution and use in source and binary forms, with or without
anasse 0:a59a3d743804 12 * modification, are permitted provided that the following conditions are met:
anasse 0:a59a3d743804 13 * - Redistributions of source code must retain the above copyright
anasse 0:a59a3d743804 14 * notice, this list of conditions and the following disclaimer.
anasse 0:a59a3d743804 15 * - Redistributions in binary form must reproduce the above copyright
anasse 0:a59a3d743804 16 * notice, this list of conditions and the following disclaimer in the
anasse 0:a59a3d743804 17 * documentation and/or other materials provided with the distribution.
anasse 0:a59a3d743804 18 * - Neither the name of ARM nor the names of its contributors may be used
anasse 0:a59a3d743804 19 * to endorse or promote products derived from this software without
anasse 0:a59a3d743804 20 * specific prior written permission.
anasse 0:a59a3d743804 21 *
anasse 0:a59a3d743804 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
anasse 0:a59a3d743804 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
anasse 0:a59a3d743804 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
anasse 0:a59a3d743804 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
anasse 0:a59a3d743804 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
anasse 0:a59a3d743804 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
anasse 0:a59a3d743804 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
anasse 0:a59a3d743804 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
anasse 0:a59a3d743804 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
anasse 0:a59a3d743804 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
anasse 0:a59a3d743804 32 * POSSIBILITY OF SUCH DAMAGE.
anasse 0:a59a3d743804 33 *---------------------------------------------------------------------------*/
anasse 0:a59a3d743804 34
anasse 0:a59a3d743804 35 #include "rt_TypeDef.h"
anasse 0:a59a3d743804 36 #include "RTX_Conf.h"
anasse 0:a59a3d743804 37 #include "rt_Task.h"
anasse 0:a59a3d743804 38 #include "rt_System.h"
anasse 0:a59a3d743804 39 #include "rt_Event.h"
anasse 0:a59a3d743804 40 #include "rt_List.h"
anasse 0:a59a3d743804 41 #include "rt_Mailbox.h"
anasse 0:a59a3d743804 42 #include "rt_Semaphore.h"
anasse 0:a59a3d743804 43 #include "rt_Time.h"
anasse 0:a59a3d743804 44 #include "rt_Robin.h"
anasse 0:a59a3d743804 45 #include "rt_HAL_CM.h"
anasse 0:a59a3d743804 46
anasse 0:a59a3d743804 47 /*----------------------------------------------------------------------------
anasse 0:a59a3d743804 48 * Global Variables
anasse 0:a59a3d743804 49 *---------------------------------------------------------------------------*/
anasse 0:a59a3d743804 50
anasse 0:a59a3d743804 51 int os_tick_irqn;
anasse 0:a59a3d743804 52
anasse 0:a59a3d743804 53 /*----------------------------------------------------------------------------
anasse 0:a59a3d743804 54 * Local Variables
anasse 0:a59a3d743804 55 *---------------------------------------------------------------------------*/
anasse 0:a59a3d743804 56
anasse 0:a59a3d743804 57 static volatile BIT os_lock;
anasse 0:a59a3d743804 58 static volatile BIT os_psh_flag;
anasse 0:a59a3d743804 59 static U8 pend_flags;
anasse 0:a59a3d743804 60
anasse 0:a59a3d743804 61 /*----------------------------------------------------------------------------
anasse 0:a59a3d743804 62 * Global Functions
anasse 0:a59a3d743804 63 *---------------------------------------------------------------------------*/
anasse 0:a59a3d743804 64
anasse 0:a59a3d743804 65 #if defined (__CC_ARM)
anasse 0:a59a3d743804 66 __asm void $$RTX$$version (void) {
anasse 0:a59a3d743804 67 /* Export a version number symbol for a version control. */
anasse 0:a59a3d743804 68
anasse 0:a59a3d743804 69 EXPORT __RL_RTX_VER
anasse 0:a59a3d743804 70
anasse 0:a59a3d743804 71 __RL_RTX_VER EQU 0x450
anasse 0:a59a3d743804 72 }
anasse 0:a59a3d743804 73 #endif
anasse 0:a59a3d743804 74
anasse 0:a59a3d743804 75
anasse 0:a59a3d743804 76 /*--------------------------- rt_suspend ------------------------------------*/
anasse 0:a59a3d743804 77 U32 rt_suspend (void) {
anasse 0:a59a3d743804 78 /* Suspend OS scheduler */
anasse 0:a59a3d743804 79 U32 delta = 0xFFFF;
anasse 0:a59a3d743804 80
anasse 0:a59a3d743804 81 rt_tsk_lock();
anasse 0:a59a3d743804 82
anasse 0:a59a3d743804 83 if (os_dly.p_dlnk) {
anasse 0:a59a3d743804 84 delta = os_dly.delta_time;
anasse 0:a59a3d743804 85 }
anasse 0:a59a3d743804 86 #ifndef __CMSIS_RTOS
anasse 0:a59a3d743804 87 if (os_tmr.next) {
anasse 0:a59a3d743804 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
anasse 0:a59a3d743804 89 }
anasse 0:a59a3d743804 90 #endif
anasse 0:a59a3d743804 91
anasse 0:a59a3d743804 92 return (delta);
anasse 0:a59a3d743804 93 }
anasse 0:a59a3d743804 94
anasse 0:a59a3d743804 95
anasse 0:a59a3d743804 96 /*--------------------------- rt_resume -------------------------------------*/
anasse 0:a59a3d743804 97 void rt_resume (U32 sleep_time) {
anasse 0:a59a3d743804 98 /* Resume OS scheduler after suspend */
anasse 0:a59a3d743804 99 P_TCB next;
anasse 0:a59a3d743804 100 U32 delta;
anasse 0:a59a3d743804 101
anasse 0:a59a3d743804 102 os_tsk.run->state = READY;
anasse 0:a59a3d743804 103 rt_put_rdy_first (os_tsk.run);
anasse 0:a59a3d743804 104
anasse 0:a59a3d743804 105 os_robin.task = NULL;
anasse 0:a59a3d743804 106
anasse 0:a59a3d743804 107 /* Update delays. */
anasse 0:a59a3d743804 108 if (os_dly.p_dlnk) {
anasse 0:a59a3d743804 109 delta = sleep_time;
anasse 0:a59a3d743804 110 if (delta >= os_dly.delta_time) {
anasse 0:a59a3d743804 111 delta -= os_dly.delta_time;
anasse 0:a59a3d743804 112 os_time += os_dly.delta_time;
anasse 0:a59a3d743804 113 os_dly.delta_time = 1;
anasse 0:a59a3d743804 114 while (os_dly.p_dlnk) {
anasse 0:a59a3d743804 115 rt_dec_dly();
anasse 0:a59a3d743804 116 if (delta == 0) break;
anasse 0:a59a3d743804 117 delta--;
anasse 0:a59a3d743804 118 os_time++;
anasse 0:a59a3d743804 119 }
anasse 0:a59a3d743804 120 } else {
anasse 0:a59a3d743804 121 os_time += delta;
anasse 0:a59a3d743804 122 os_dly.delta_time -= delta;
anasse 0:a59a3d743804 123 }
anasse 0:a59a3d743804 124 } else {
anasse 0:a59a3d743804 125 os_time += sleep_time;
anasse 0:a59a3d743804 126 }
anasse 0:a59a3d743804 127
anasse 0:a59a3d743804 128 #ifndef __CMSIS_RTOS
anasse 0:a59a3d743804 129 /* Check the user timers. */
anasse 0:a59a3d743804 130 if (os_tmr.next) {
anasse 0:a59a3d743804 131 delta = sleep_time;
anasse 0:a59a3d743804 132 if (delta >= os_tmr.tcnt) {
anasse 0:a59a3d743804 133 delta -= os_tmr.tcnt;
anasse 0:a59a3d743804 134 os_tmr.tcnt = 1;
anasse 0:a59a3d743804 135 while (os_tmr.next) {
anasse 0:a59a3d743804 136 rt_tmr_tick();
anasse 0:a59a3d743804 137 if (delta == 0) break;
anasse 0:a59a3d743804 138 delta--;
anasse 0:a59a3d743804 139 }
anasse 0:a59a3d743804 140 } else {
anasse 0:a59a3d743804 141 os_tmr.tcnt -= delta;
anasse 0:a59a3d743804 142 }
anasse 0:a59a3d743804 143 }
anasse 0:a59a3d743804 144 #endif
anasse 0:a59a3d743804 145
anasse 0:a59a3d743804 146 /* Switch back to highest ready task */
anasse 0:a59a3d743804 147 next = rt_get_first (&os_rdy);
anasse 0:a59a3d743804 148 rt_switch_req (next);
anasse 0:a59a3d743804 149
anasse 0:a59a3d743804 150 rt_tsk_unlock();
anasse 0:a59a3d743804 151 }
anasse 0:a59a3d743804 152
anasse 0:a59a3d743804 153
anasse 0:a59a3d743804 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
anasse 0:a59a3d743804 155
anasse 0:a59a3d743804 156 void rt_tsk_lock (void) {
anasse 0:a59a3d743804 157 /* Prevent task switching by locking out scheduler */
anasse 0:a59a3d743804 158 OS_X_LOCK(os_tick_irqn);
anasse 0:a59a3d743804 159 os_lock = __TRUE;
anasse 0:a59a3d743804 160 OS_X_UNPEND (&pend_flags);
anasse 0:a59a3d743804 161 }
anasse 0:a59a3d743804 162
anasse 0:a59a3d743804 163
anasse 0:a59a3d743804 164 /*--------------------------- rt_tsk_unlock ---------------------------------*/
anasse 0:a59a3d743804 165
anasse 0:a59a3d743804 166 void rt_tsk_unlock (void) {
anasse 0:a59a3d743804 167 /* Unlock scheduler and re-enable task switching */
anasse 0:a59a3d743804 168 OS_X_UNLOCK(os_tick_irqn);
anasse 0:a59a3d743804 169 os_lock = __FALSE;
anasse 0:a59a3d743804 170 OS_X_PEND (pend_flags, os_psh_flag);
anasse 0:a59a3d743804 171 os_psh_flag = __FALSE;
anasse 0:a59a3d743804 172 }
anasse 0:a59a3d743804 173
anasse 0:a59a3d743804 174
anasse 0:a59a3d743804 175 /*--------------------------- rt_psh_req ------------------------------------*/
anasse 0:a59a3d743804 176
anasse 0:a59a3d743804 177 void rt_psh_req (void) {
anasse 0:a59a3d743804 178 /* Initiate a post service handling request if required. */
anasse 0:a59a3d743804 179 if (os_lock == __FALSE) {
anasse 0:a59a3d743804 180 OS_PEND_IRQ ();
anasse 0:a59a3d743804 181 }
anasse 0:a59a3d743804 182 else {
anasse 0:a59a3d743804 183 os_psh_flag = __TRUE;
anasse 0:a59a3d743804 184 }
anasse 0:a59a3d743804 185 }
anasse 0:a59a3d743804 186
anasse 0:a59a3d743804 187
anasse 0:a59a3d743804 188 /*--------------------------- rt_pop_req ------------------------------------*/
anasse 0:a59a3d743804 189
anasse 0:a59a3d743804 190 void rt_pop_req (void) {
anasse 0:a59a3d743804 191 /* Process an ISR post service requests. */
anasse 0:a59a3d743804 192 struct OS_XCB *p_CB;
anasse 0:a59a3d743804 193 P_TCB next;
anasse 0:a59a3d743804 194 U32 idx;
anasse 0:a59a3d743804 195
anasse 0:a59a3d743804 196 os_tsk.run->state = READY;
anasse 0:a59a3d743804 197 rt_put_rdy_first (os_tsk.run);
anasse 0:a59a3d743804 198
anasse 0:a59a3d743804 199 idx = os_psq->last;
anasse 0:a59a3d743804 200 while (os_psq->count) {
anasse 0:a59a3d743804 201 p_CB = os_psq->q[idx].id;
anasse 0:a59a3d743804 202 if (p_CB->cb_type == TCB) {
anasse 0:a59a3d743804 203 /* Is of TCB type */
anasse 0:a59a3d743804 204 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
anasse 0:a59a3d743804 205 }
anasse 0:a59a3d743804 206 else if (p_CB->cb_type == MCB) {
anasse 0:a59a3d743804 207 /* Is of MCB type */
anasse 0:a59a3d743804 208 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
anasse 0:a59a3d743804 209 }
anasse 0:a59a3d743804 210 else {
anasse 0:a59a3d743804 211 /* Must be of SCB type */
anasse 0:a59a3d743804 212 rt_sem_psh ((P_SCB)p_CB);
anasse 0:a59a3d743804 213 }
anasse 0:a59a3d743804 214 if (++idx == os_psq->size) idx = 0;
anasse 0:a59a3d743804 215 rt_dec (&os_psq->count);
anasse 0:a59a3d743804 216 }
anasse 0:a59a3d743804 217 os_psq->last = idx;
anasse 0:a59a3d743804 218
anasse 0:a59a3d743804 219 next = rt_get_first (&os_rdy);
anasse 0:a59a3d743804 220 rt_switch_req (next);
anasse 0:a59a3d743804 221 }
anasse 0:a59a3d743804 222
anasse 0:a59a3d743804 223
anasse 0:a59a3d743804 224 /*--------------------------- os_tick_init ----------------------------------*/
anasse 0:a59a3d743804 225
anasse 0:a59a3d743804 226 __weak int os_tick_init (void) {
anasse 0:a59a3d743804 227 /* Initialize SysTick timer as system tick timer. */
anasse 0:a59a3d743804 228 rt_systick_init ();
anasse 0:a59a3d743804 229 return (SYS_TICK_IRQn); /* Return IRQ number of SysTick timer */
anasse 0:a59a3d743804 230 }
anasse 0:a59a3d743804 231
anasse 0:a59a3d743804 232
anasse 0:a59a3d743804 233 /*--------------------------- os_tick_irqack --------------------------------*/
anasse 0:a59a3d743804 234
anasse 0:a59a3d743804 235 __weak void os_tick_irqack (void) {
anasse 0:a59a3d743804 236 /* Acknowledge timer interrupt. */
anasse 0:a59a3d743804 237 }
anasse 0:a59a3d743804 238
anasse 0:a59a3d743804 239
anasse 0:a59a3d743804 240 /*--------------------------- rt_systick ------------------------------------*/
anasse 0:a59a3d743804 241
anasse 0:a59a3d743804 242 extern void sysTimerTick(void);
anasse 0:a59a3d743804 243
anasse 0:a59a3d743804 244 void rt_systick (void) {
anasse 0:a59a3d743804 245 if(NVIC_Pending(SYS_TICK_IRQn)){
anasse 0:a59a3d743804 246 rt_pop_req();
anasse 0:a59a3d743804 247 NVIC_UnpendIRQ(SYS_TICK_IRQn);
anasse 0:a59a3d743804 248 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
anasse 0:a59a3d743804 249 return;
anasse 0:a59a3d743804 250 }
anasse 0:a59a3d743804 251 /* Check for system clock update, suspend running task. */
anasse 0:a59a3d743804 252 P_TCB next;
anasse 0:a59a3d743804 253
anasse 0:a59a3d743804 254 os_tsk.run->state = READY;
anasse 0:a59a3d743804 255 rt_put_rdy_first (os_tsk.run);
anasse 0:a59a3d743804 256
anasse 0:a59a3d743804 257 /* Check Round Robin timeout. */
anasse 0:a59a3d743804 258 rt_chk_robin ();
anasse 0:a59a3d743804 259
anasse 0:a59a3d743804 260 /* Update delays. */
anasse 0:a59a3d743804 261 os_time++;
anasse 0:a59a3d743804 262 rt_dec_dly ();
anasse 0:a59a3d743804 263
anasse 0:a59a3d743804 264 /* Check the user timers. */
anasse 0:a59a3d743804 265 #ifdef __CMSIS_RTOS
anasse 0:a59a3d743804 266 sysTimerTick();
anasse 0:a59a3d743804 267 #else
anasse 0:a59a3d743804 268 rt_tmr_tick ();
anasse 0:a59a3d743804 269 #endif
anasse 0:a59a3d743804 270
anasse 0:a59a3d743804 271 /* Switch back to highest ready task */
anasse 0:a59a3d743804 272 next = rt_get_first (&os_rdy);
anasse 0:a59a3d743804 273 rt_switch_req (next);
anasse 0:a59a3d743804 274 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
anasse 0:a59a3d743804 275 }
anasse 0:a59a3d743804 276
anasse 0:a59a3d743804 277 /*--------------------------- rt_stk_check ----------------------------------*/
anasse 0:a59a3d743804 278 __weak void rt_stk_check (void) {
anasse 0:a59a3d743804 279 /* Check for stack overflow. */
anasse 0:a59a3d743804 280 if (os_tsk.run->task_id == 0x01) {
anasse 0:a59a3d743804 281 // TODO: For the main thread the check should be done against the main heap pointer
anasse 0:a59a3d743804 282 } else {
anasse 0:a59a3d743804 283 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
anasse 0:a59a3d743804 284 (os_tsk.run->stack[0] != MAGIC_WORD)) {
anasse 0:a59a3d743804 285 os_error (OS_ERR_STK_OVF);
anasse 0:a59a3d743804 286 }
anasse 0:a59a3d743804 287 }
anasse 0:a59a3d743804 288 }
anasse 0:a59a3d743804 289
anasse 0:a59a3d743804 290 /*----------------------------------------------------------------------------
anasse 0:a59a3d743804 291 * end of file
anasse 0:a59a3d743804 292 *---------------------------------------------------------------------------*/
anasse 0:a59a3d743804 293