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Dependencies:   F7_Ethernet WebSocketClient mbed mcp3008

Fork of Nucleo_F746ZG_Ethernet by Dieter Graef

mbed-rtos/rtx/TARGET_CORTEX_A/rt_Task.c@0:f9b6112278fe, 2016-06-18 (annotated)

Committer:
DieterGraef
Date:
Sat Jun 18 10:49:12 2016 +0000
Revision:
0:f9b6112278fe
Ethernet for the NUCLEO STM32F746 Board Testprogram uses DHCP and NTP to set the clock

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DieterGraef 0:f9b6112278fe 1 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 2 * RL-ARM - RTX
DieterGraef 0:f9b6112278fe 3 *----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 4 * Name: RT_TASK.C
DieterGraef 0:f9b6112278fe 5 * Purpose: Task functions and system start up.
DieterGraef 0:f9b6112278fe 6 * Rev.: V4.73
DieterGraef 0:f9b6112278fe 7 *----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 8 *
DieterGraef 0:f9b6112278fe 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
DieterGraef 0:f9b6112278fe 10 * All rights reserved.
DieterGraef 0:f9b6112278fe 11 * Redistribution and use in source and binary forms, with or without
DieterGraef 0:f9b6112278fe 12 * modification, are permitted provided that the following conditions are met:
DieterGraef 0:f9b6112278fe 13 * - Redistributions of source code must retain the above copyright
DieterGraef 0:f9b6112278fe 14 * notice, this list of conditions and the following disclaimer.
DieterGraef 0:f9b6112278fe 15 * - Redistributions in binary form must reproduce the above copyright
DieterGraef 0:f9b6112278fe 16 * notice, this list of conditions and the following disclaimer in the
DieterGraef 0:f9b6112278fe 17 * documentation and/or other materials provided with the distribution.
DieterGraef 0:f9b6112278fe 18 * - Neither the name of ARM nor the names of its contributors may be used
DieterGraef 0:f9b6112278fe 19 * to endorse or promote products derived from this software without
DieterGraef 0:f9b6112278fe 20 * specific prior written permission.
DieterGraef 0:f9b6112278fe 21 *
DieterGraef 0:f9b6112278fe 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
DieterGraef 0:f9b6112278fe 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
DieterGraef 0:f9b6112278fe 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
DieterGraef 0:f9b6112278fe 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
DieterGraef 0:f9b6112278fe 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
DieterGraef 0:f9b6112278fe 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
DieterGraef 0:f9b6112278fe 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
DieterGraef 0:f9b6112278fe 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
DieterGraef 0:f9b6112278fe 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
DieterGraef 0:f9b6112278fe 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
DieterGraef 0:f9b6112278fe 32 * POSSIBILITY OF SUCH DAMAGE.
DieterGraef 0:f9b6112278fe 33 *---------------------------------------------------------------------------*/
DieterGraef 0:f9b6112278fe 34
DieterGraef 0:f9b6112278fe 35 #include "rt_TypeDef.h"
DieterGraef 0:f9b6112278fe 36 #include "RTX_Config.h"
DieterGraef 0:f9b6112278fe 37 #include "rt_System.h"
DieterGraef 0:f9b6112278fe 38 #include "rt_Task.h"
DieterGraef 0:f9b6112278fe 39 #include "rt_List.h"
DieterGraef 0:f9b6112278fe 40 #include "rt_MemBox.h"
DieterGraef 0:f9b6112278fe 41 #include "rt_Robin.h"
DieterGraef 0:f9b6112278fe 42 #ifdef __CORTEX_A9
DieterGraef 0:f9b6112278fe 43 #include "rt_HAL_CA.h"
DieterGraef 0:f9b6112278fe 44 #else
DieterGraef 0:f9b6112278fe 45 #include "rt_HAL_CM.h"
DieterGraef 0:f9b6112278fe 46 #endif
DieterGraef 0:f9b6112278fe 47
DieterGraef 0:f9b6112278fe 48 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 49 * Global Variables
DieterGraef 0:f9b6112278fe 50 *---------------------------------------------------------------------------*/
DieterGraef 0:f9b6112278fe 51
DieterGraef 0:f9b6112278fe 52 /* Running and next task info. */
DieterGraef 0:f9b6112278fe 53 struct OS_TSK os_tsk;
DieterGraef 0:f9b6112278fe 54
DieterGraef 0:f9b6112278fe 55 /* Task Control Blocks of idle demon */
DieterGraef 0:f9b6112278fe 56 struct OS_TCB os_idle_TCB;
DieterGraef 0:f9b6112278fe 57
DieterGraef 0:f9b6112278fe 58
DieterGraef 0:f9b6112278fe 59 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 60 * Local Functions
DieterGraef 0:f9b6112278fe 61 *---------------------------------------------------------------------------*/
DieterGraef 0:f9b6112278fe 62
DieterGraef 0:f9b6112278fe 63 static OS_TID rt_get_TID (void) {
DieterGraef 0:f9b6112278fe 64 U32 tid;
DieterGraef 0:f9b6112278fe 65
DieterGraef 0:f9b6112278fe 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
DieterGraef 0:f9b6112278fe 67 if (os_active_TCB[tid-1] == NULL) {
DieterGraef 0:f9b6112278fe 68 return ((OS_TID)tid);
DieterGraef 0:f9b6112278fe 69 }
DieterGraef 0:f9b6112278fe 70 }
DieterGraef 0:f9b6112278fe 71 return (0);
DieterGraef 0:f9b6112278fe 72 }
DieterGraef 0:f9b6112278fe 73
DieterGraef 0:f9b6112278fe 74
DieterGraef 0:f9b6112278fe 75 /*--------------------------- rt_init_context -------------------------------*/
DieterGraef 0:f9b6112278fe 76
DieterGraef 0:f9b6112278fe 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
DieterGraef 0:f9b6112278fe 78 /* Initialize general part of the Task Control Block. */
DieterGraef 0:f9b6112278fe 79 p_TCB->cb_type = TCB;
DieterGraef 0:f9b6112278fe 80 p_TCB->state = READY;
DieterGraef 0:f9b6112278fe 81 p_TCB->prio = priority;
DieterGraef 0:f9b6112278fe 82 p_TCB->prio_base = priority;
DieterGraef 0:f9b6112278fe 83 p_TCB->p_lnk = NULL;
DieterGraef 0:f9b6112278fe 84 p_TCB->p_rlnk = NULL;
DieterGraef 0:f9b6112278fe 85 p_TCB->p_dlnk = NULL;
DieterGraef 0:f9b6112278fe 86 p_TCB->p_blnk = NULL;
DieterGraef 0:f9b6112278fe 87 p_TCB->p_mlnk = NULL;
DieterGraef 0:f9b6112278fe 88 p_TCB->delta_time = 0;
DieterGraef 0:f9b6112278fe 89 p_TCB->interval_time = 0;
DieterGraef 0:f9b6112278fe 90 p_TCB->events = 0;
DieterGraef 0:f9b6112278fe 91 p_TCB->waits = 0;
DieterGraef 0:f9b6112278fe 92 p_TCB->stack_frame = 0;
DieterGraef 0:f9b6112278fe 93
DieterGraef 0:f9b6112278fe 94 if (p_TCB->priv_stack == 0) {
DieterGraef 0:f9b6112278fe 95 /* Allocate the memory space for the stack. */
DieterGraef 0:f9b6112278fe 96 p_TCB->stack = rt_alloc_box (mp_stk);
DieterGraef 0:f9b6112278fe 97 }
DieterGraef 0:f9b6112278fe 98 rt_init_stack (p_TCB, task_body);
DieterGraef 0:f9b6112278fe 99 }
DieterGraef 0:f9b6112278fe 100
DieterGraef 0:f9b6112278fe 101
DieterGraef 0:f9b6112278fe 102 /*--------------------------- rt_switch_req ---------------------------------*/
DieterGraef 0:f9b6112278fe 103
DieterGraef 0:f9b6112278fe 104 void rt_switch_req (P_TCB p_new) {
DieterGraef 0:f9b6112278fe 105 /* Switch to next task (identified by "p_new"). */
DieterGraef 0:f9b6112278fe 106 os_tsk.new_tsk = p_new;
DieterGraef 0:f9b6112278fe 107 p_new->state = RUNNING;
DieterGraef 0:f9b6112278fe 108 DBG_TASK_SWITCH(p_new->task_id);
DieterGraef 0:f9b6112278fe 109 }
DieterGraef 0:f9b6112278fe 110
DieterGraef 0:f9b6112278fe 111
DieterGraef 0:f9b6112278fe 112 /*--------------------------- rt_dispatch -----------------------------------*/
DieterGraef 0:f9b6112278fe 113
DieterGraef 0:f9b6112278fe 114 void rt_dispatch (P_TCB next_TCB) {
DieterGraef 0:f9b6112278fe 115 /* Dispatch next task if any identified or dispatch highest ready task */
DieterGraef 0:f9b6112278fe 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
DieterGraef 0:f9b6112278fe 117 if (next_TCB == NULL) {
DieterGraef 0:f9b6112278fe 118 /* Running task was blocked: continue with highest ready task */
DieterGraef 0:f9b6112278fe 119 next_TCB = rt_get_first (&os_rdy);
DieterGraef 0:f9b6112278fe 120 rt_switch_req (next_TCB);
DieterGraef 0:f9b6112278fe 121 }
DieterGraef 0:f9b6112278fe 122 else {
DieterGraef 0:f9b6112278fe 123 /* Check which task continues */
DieterGraef 0:f9b6112278fe 124 if (next_TCB->prio > os_tsk.run->prio) {
DieterGraef 0:f9b6112278fe 125 /* preempt running task */
DieterGraef 0:f9b6112278fe 126 rt_put_rdy_first (os_tsk.run);
DieterGraef 0:f9b6112278fe 127 os_tsk.run->state = READY;
DieterGraef 0:f9b6112278fe 128 rt_switch_req (next_TCB);
DieterGraef 0:f9b6112278fe 129 }
DieterGraef 0:f9b6112278fe 130 else {
DieterGraef 0:f9b6112278fe 131 /* put next task into ready list, no task switch takes place */
DieterGraef 0:f9b6112278fe 132 next_TCB->state = READY;
DieterGraef 0:f9b6112278fe 133 rt_put_prio (&os_rdy, next_TCB);
DieterGraef 0:f9b6112278fe 134 }
DieterGraef 0:f9b6112278fe 135 }
DieterGraef 0:f9b6112278fe 136 }
DieterGraef 0:f9b6112278fe 137
DieterGraef 0:f9b6112278fe 138
DieterGraef 0:f9b6112278fe 139 /*--------------------------- rt_block --------------------------------------*/
DieterGraef 0:f9b6112278fe 140
DieterGraef 0:f9b6112278fe 141 void rt_block (U16 timeout, U8 block_state) {
DieterGraef 0:f9b6112278fe 142 /* Block running task and choose next ready task. */
DieterGraef 0:f9b6112278fe 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
DieterGraef 0:f9b6112278fe 144 /* "block_state" defines the appropriate task state */
DieterGraef 0:f9b6112278fe 145 P_TCB next_TCB;
DieterGraef 0:f9b6112278fe 146
DieterGraef 0:f9b6112278fe 147 if (timeout) {
DieterGraef 0:f9b6112278fe 148 if (timeout < 0xffff) {
DieterGraef 0:f9b6112278fe 149 rt_put_dly (os_tsk.run, timeout);
DieterGraef 0:f9b6112278fe 150 }
DieterGraef 0:f9b6112278fe 151 os_tsk.run->state = block_state;
DieterGraef 0:f9b6112278fe 152 next_TCB = rt_get_first (&os_rdy);
DieterGraef 0:f9b6112278fe 153 rt_switch_req (next_TCB);
DieterGraef 0:f9b6112278fe 154 }
DieterGraef 0:f9b6112278fe 155 }
DieterGraef 0:f9b6112278fe 156
DieterGraef 0:f9b6112278fe 157
DieterGraef 0:f9b6112278fe 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
DieterGraef 0:f9b6112278fe 159
DieterGraef 0:f9b6112278fe 160 void rt_tsk_pass (void) {
DieterGraef 0:f9b6112278fe 161 /* Allow tasks of same priority level to run cooperatively.*/
DieterGraef 0:f9b6112278fe 162 P_TCB p_new;
DieterGraef 0:f9b6112278fe 163
DieterGraef 0:f9b6112278fe 164 p_new = rt_get_same_rdy_prio();
DieterGraef 0:f9b6112278fe 165 if (p_new != NULL) {
DieterGraef 0:f9b6112278fe 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
DieterGraef 0:f9b6112278fe 167 os_tsk.run->state = READY;
DieterGraef 0:f9b6112278fe 168 rt_switch_req (p_new);
DieterGraef 0:f9b6112278fe 169 }
DieterGraef 0:f9b6112278fe 170 }
DieterGraef 0:f9b6112278fe 171
DieterGraef 0:f9b6112278fe 172
DieterGraef 0:f9b6112278fe 173 /*--------------------------- rt_tsk_self -----------------------------------*/
DieterGraef 0:f9b6112278fe 174
DieterGraef 0:f9b6112278fe 175 OS_TID rt_tsk_self (void) {
DieterGraef 0:f9b6112278fe 176 /* Return own task identifier value. */
DieterGraef 0:f9b6112278fe 177 if (os_tsk.run == NULL) {
DieterGraef 0:f9b6112278fe 178 return (0);
DieterGraef 0:f9b6112278fe 179 }
DieterGraef 0:f9b6112278fe 180 return (os_tsk.run->task_id);
DieterGraef 0:f9b6112278fe 181 }
DieterGraef 0:f9b6112278fe 182
DieterGraef 0:f9b6112278fe 183
DieterGraef 0:f9b6112278fe 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
DieterGraef 0:f9b6112278fe 185
DieterGraef 0:f9b6112278fe 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
DieterGraef 0:f9b6112278fe 187 /* Change execution priority of a task to "new_prio". */
DieterGraef 0:f9b6112278fe 188 P_TCB p_task;
DieterGraef 0:f9b6112278fe 189
DieterGraef 0:f9b6112278fe 190 if (task_id == 0) {
DieterGraef 0:f9b6112278fe 191 /* Change execution priority of calling task. */
DieterGraef 0:f9b6112278fe 192 os_tsk.run->prio = new_prio;
DieterGraef 0:f9b6112278fe 193 os_tsk.run->prio_base = new_prio;
DieterGraef 0:f9b6112278fe 194 run:if (rt_rdy_prio() > new_prio) {
DieterGraef 0:f9b6112278fe 195 rt_put_prio (&os_rdy, os_tsk.run);
DieterGraef 0:f9b6112278fe 196 os_tsk.run->state = READY;
DieterGraef 0:f9b6112278fe 197 rt_dispatch (NULL);
DieterGraef 0:f9b6112278fe 198 }
DieterGraef 0:f9b6112278fe 199 return (OS_R_OK);
DieterGraef 0:f9b6112278fe 200 }
DieterGraef 0:f9b6112278fe 201
DieterGraef 0:f9b6112278fe 202 /* Find the task in the "os_active_TCB" array. */
DieterGraef 0:f9b6112278fe 203 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
DieterGraef 0:f9b6112278fe 204 /* Task with "task_id" not found or not started. */
DieterGraef 0:f9b6112278fe 205 return (OS_R_NOK);
DieterGraef 0:f9b6112278fe 206 }
DieterGraef 0:f9b6112278fe 207 p_task = os_active_TCB[task_id-1];
DieterGraef 0:f9b6112278fe 208 p_task->prio = new_prio;
DieterGraef 0:f9b6112278fe 209 p_task->prio_base = new_prio;
DieterGraef 0:f9b6112278fe 210 if (p_task == os_tsk.run) {
DieterGraef 0:f9b6112278fe 211 goto run;
DieterGraef 0:f9b6112278fe 212 }
DieterGraef 0:f9b6112278fe 213 rt_resort_prio (p_task);
DieterGraef 0:f9b6112278fe 214 if (p_task->state == READY) {
DieterGraef 0:f9b6112278fe 215 /* Task enqueued in a ready list. */
DieterGraef 0:f9b6112278fe 216 p_task = rt_get_first (&os_rdy);
DieterGraef 0:f9b6112278fe 217 rt_dispatch (p_task);
DieterGraef 0:f9b6112278fe 218 }
DieterGraef 0:f9b6112278fe 219 return (OS_R_OK);
DieterGraef 0:f9b6112278fe 220 }
DieterGraef 0:f9b6112278fe 221
DieterGraef 0:f9b6112278fe 222
DieterGraef 0:f9b6112278fe 223 /*--------------------------- rt_tsk_create ---------------------------------*/
DieterGraef 0:f9b6112278fe 224
DieterGraef 0:f9b6112278fe 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
DieterGraef 0:f9b6112278fe 226 /* Start a new task declared with "task". */
DieterGraef 0:f9b6112278fe 227 P_TCB task_context;
DieterGraef 0:f9b6112278fe 228 U32 i;
DieterGraef 0:f9b6112278fe 229
DieterGraef 0:f9b6112278fe 230 /* Priority 0 is reserved for idle task! */
DieterGraef 0:f9b6112278fe 231 if ((prio_stksz & 0xFF) == 0) {
DieterGraef 0:f9b6112278fe 232 prio_stksz += 1;
DieterGraef 0:f9b6112278fe 233 }
DieterGraef 0:f9b6112278fe 234 task_context = rt_alloc_box (mp_tcb);
DieterGraef 0:f9b6112278fe 235 if (task_context == NULL) {
DieterGraef 0:f9b6112278fe 236 return (0);
DieterGraef 0:f9b6112278fe 237 }
DieterGraef 0:f9b6112278fe 238 /* If "size != 0" use a private user provided stack. */
DieterGraef 0:f9b6112278fe 239 task_context->stack = stk;
DieterGraef 0:f9b6112278fe 240 task_context->priv_stack = prio_stksz >> 8;
DieterGraef 0:f9b6112278fe 241 /* Pass parameter 'argv' to 'rt_init_context' */
DieterGraef 0:f9b6112278fe 242 task_context->msg = argv;
DieterGraef 0:f9b6112278fe 243 /* For 'size == 0' system allocates the user stack from the memory pool. */
DieterGraef 0:f9b6112278fe 244 rt_init_context (task_context, prio_stksz & 0xFF, task);
DieterGraef 0:f9b6112278fe 245
DieterGraef 0:f9b6112278fe 246 /* Find a free entry in 'os_active_TCB' table. */
DieterGraef 0:f9b6112278fe 247 i = rt_get_TID ();
DieterGraef 0:f9b6112278fe 248 os_active_TCB[i-1] = task_context;
DieterGraef 0:f9b6112278fe 249 task_context->task_id = i;
DieterGraef 0:f9b6112278fe 250 DBG_TASK_NOTIFY(task_context, __TRUE);
DieterGraef 0:f9b6112278fe 251 rt_dispatch (task_context);
DieterGraef 0:f9b6112278fe 252 return ((OS_TID)i);
DieterGraef 0:f9b6112278fe 253 }
DieterGraef 0:f9b6112278fe 254
DieterGraef 0:f9b6112278fe 255
DieterGraef 0:f9b6112278fe 256 /*--------------------------- rt_tsk_delete ---------------------------------*/
DieterGraef 0:f9b6112278fe 257
DieterGraef 0:f9b6112278fe 258 OS_RESULT rt_tsk_delete (OS_TID task_id) {
DieterGraef 0:f9b6112278fe 259 /* Terminate the task identified with "task_id". */
DieterGraef 0:f9b6112278fe 260 P_TCB task_context;
DieterGraef 0:f9b6112278fe 261 P_TCB p_TCB;
DieterGraef 0:f9b6112278fe 262 P_MUCB p_MCB, p_MCB0;
DieterGraef 0:f9b6112278fe 263
DieterGraef 0:f9b6112278fe 264 if (task_id == 0 || task_id == os_tsk.run->task_id) {
DieterGraef 0:f9b6112278fe 265 /* Terminate itself. */
DieterGraef 0:f9b6112278fe 266 os_tsk.run->state = INACTIVE;
DieterGraef 0:f9b6112278fe 267 os_tsk.run->tsk_stack = rt_get_PSP ();
DieterGraef 0:f9b6112278fe 268 rt_stk_check ();
DieterGraef 0:f9b6112278fe 269 p_MCB = os_tsk.run->p_mlnk;
DieterGraef 0:f9b6112278fe 270 while (p_MCB) {
DieterGraef 0:f9b6112278fe 271 /* Release mutexes owned by this task */
DieterGraef 0:f9b6112278fe 272 if (p_MCB->p_lnk) {
DieterGraef 0:f9b6112278fe 273 /* A task is waiting for mutex. */
DieterGraef 0:f9b6112278fe 274 p_TCB = rt_get_first ((P_XCB)p_MCB);
DieterGraef 0:f9b6112278fe 275 #ifdef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 276 rt_ret_val(p_TCB, 0/*osOK*/);
DieterGraef 0:f9b6112278fe 277 #else
DieterGraef 0:f9b6112278fe 278 rt_ret_val(p_TCB, OS_R_MUT);
DieterGraef 0:f9b6112278fe 279 #endif
DieterGraef 0:f9b6112278fe 280 rt_rmv_dly (p_TCB);
DieterGraef 0:f9b6112278fe 281 p_TCB->state = READY;
DieterGraef 0:f9b6112278fe 282 rt_put_prio (&os_rdy, p_TCB);
DieterGraef 0:f9b6112278fe 283 /* A waiting task becomes the owner of this mutex. */
DieterGraef 0:f9b6112278fe 284 p_MCB0 = p_MCB;
DieterGraef 0:f9b6112278fe 285 p_MCB->level = 1;
DieterGraef 0:f9b6112278fe 286 p_MCB->owner = p_TCB;
DieterGraef 0:f9b6112278fe 287 p_MCB->p_mlnk = p_TCB->p_mlnk;
DieterGraef 0:f9b6112278fe 288 p_TCB->p_mlnk = p_MCB;
DieterGraef 0:f9b6112278fe 289 p_MCB = p_MCB0->p_mlnk;
DieterGraef 0:f9b6112278fe 290 }
DieterGraef 0:f9b6112278fe 291 else {
DieterGraef 0:f9b6112278fe 292 p_MCB = p_MCB->p_mlnk;
DieterGraef 0:f9b6112278fe 293 }
DieterGraef 0:f9b6112278fe 294 }
DieterGraef 0:f9b6112278fe 295 os_active_TCB[os_tsk.run->task_id-1] = NULL;
DieterGraef 0:f9b6112278fe 296 rt_free_box (mp_stk, os_tsk.run->stack);
DieterGraef 0:f9b6112278fe 297 os_tsk.run->stack = NULL;
DieterGraef 0:f9b6112278fe 298 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
DieterGraef 0:f9b6112278fe 299 rt_free_box (mp_tcb, os_tsk.run);
DieterGraef 0:f9b6112278fe 300 os_tsk.run = NULL;
DieterGraef 0:f9b6112278fe 301 rt_dispatch (NULL);
DieterGraef 0:f9b6112278fe 302 /* The program should never come to this point. */
DieterGraef 0:f9b6112278fe 303 }
DieterGraef 0:f9b6112278fe 304 else {
DieterGraef 0:f9b6112278fe 305 /* Find the task in the "os_active_TCB" array. */
DieterGraef 0:f9b6112278fe 306 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
DieterGraef 0:f9b6112278fe 307 /* Task with "task_id" not found or not started. */
DieterGraef 0:f9b6112278fe 308 return (OS_R_NOK);
DieterGraef 0:f9b6112278fe 309 }
DieterGraef 0:f9b6112278fe 310 task_context = os_active_TCB[task_id-1];
DieterGraef 0:f9b6112278fe 311 rt_rmv_list (task_context);
DieterGraef 0:f9b6112278fe 312 rt_rmv_dly (task_context);
DieterGraef 0:f9b6112278fe 313 p_MCB = task_context->p_mlnk;
DieterGraef 0:f9b6112278fe 314 while (p_MCB) {
DieterGraef 0:f9b6112278fe 315 /* Release mutexes owned by this task */
DieterGraef 0:f9b6112278fe 316 if (p_MCB->p_lnk) {
DieterGraef 0:f9b6112278fe 317 /* A task is waiting for mutex. */
DieterGraef 0:f9b6112278fe 318 p_TCB = rt_get_first ((P_XCB)p_MCB);
DieterGraef 0:f9b6112278fe 319 #ifdef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 320 rt_ret_val(p_TCB, 0/*osOK*/);
DieterGraef 0:f9b6112278fe 321 #else
DieterGraef 0:f9b6112278fe 322 rt_ret_val(p_TCB, OS_R_MUT);
DieterGraef 0:f9b6112278fe 323 #endif
DieterGraef 0:f9b6112278fe 324 rt_rmv_dly (p_TCB);
DieterGraef 0:f9b6112278fe 325 p_TCB->state = READY;
DieterGraef 0:f9b6112278fe 326 rt_put_prio (&os_rdy, p_TCB);
DieterGraef 0:f9b6112278fe 327 /* A waiting task becomes the owner of this mutex. */
DieterGraef 0:f9b6112278fe 328 p_MCB0 = p_MCB;
DieterGraef 0:f9b6112278fe 329 p_MCB->level = 1;
DieterGraef 0:f9b6112278fe 330 p_MCB->owner = p_TCB;
DieterGraef 0:f9b6112278fe 331 p_MCB->p_mlnk = p_TCB->p_mlnk;
DieterGraef 0:f9b6112278fe 332 p_TCB->p_mlnk = p_MCB;
DieterGraef 0:f9b6112278fe 333 p_MCB = p_MCB0->p_mlnk;
DieterGraef 0:f9b6112278fe 334 }
DieterGraef 0:f9b6112278fe 335 else {
DieterGraef 0:f9b6112278fe 336 p_MCB = p_MCB->p_mlnk;
DieterGraef 0:f9b6112278fe 337 }
DieterGraef 0:f9b6112278fe 338 }
DieterGraef 0:f9b6112278fe 339 os_active_TCB[task_id-1] = NULL;
DieterGraef 0:f9b6112278fe 340 rt_free_box (mp_stk, task_context->stack);
DieterGraef 0:f9b6112278fe 341 task_context->stack = NULL;
DieterGraef 0:f9b6112278fe 342 DBG_TASK_NOTIFY(task_context, __FALSE);
DieterGraef 0:f9b6112278fe 343 rt_free_box (mp_tcb, task_context);
DieterGraef 0:f9b6112278fe 344 if (rt_rdy_prio() > os_tsk.run->prio) {
DieterGraef 0:f9b6112278fe 345 /* Ready task has higher priority than running task. */
DieterGraef 0:f9b6112278fe 346 os_tsk.run->state = READY;
DieterGraef 0:f9b6112278fe 347 rt_put_prio (&os_rdy, os_tsk.run);
DieterGraef 0:f9b6112278fe 348 rt_dispatch (NULL);
DieterGraef 0:f9b6112278fe 349 }
DieterGraef 0:f9b6112278fe 350 }
DieterGraef 0:f9b6112278fe 351 return (OS_R_OK);
DieterGraef 0:f9b6112278fe 352 }
DieterGraef 0:f9b6112278fe 353
DieterGraef 0:f9b6112278fe 354
DieterGraef 0:f9b6112278fe 355 /*--------------------------- rt_sys_init -----------------------------------*/
DieterGraef 0:f9b6112278fe 356
DieterGraef 0:f9b6112278fe 357 #ifdef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 358 void rt_sys_init (void) {
DieterGraef 0:f9b6112278fe 359 #else
DieterGraef 0:f9b6112278fe 360 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
DieterGraef 0:f9b6112278fe 361 #endif
DieterGraef 0:f9b6112278fe 362 /* Initialize system and start up task declared with "first_task". */
DieterGraef 0:f9b6112278fe 363 U32 i;
DieterGraef 0:f9b6112278fe 364
DieterGraef 0:f9b6112278fe 365 DBG_INIT();
DieterGraef 0:f9b6112278fe 366
DieterGraef 0:f9b6112278fe 367 /* Initialize dynamic memory and task TCB pointers to NULL. */
DieterGraef 0:f9b6112278fe 368 for (i = 0; i < os_maxtaskrun; i++) {
DieterGraef 0:f9b6112278fe 369 os_active_TCB[i] = NULL;
DieterGraef 0:f9b6112278fe 370 }
DieterGraef 0:f9b6112278fe 371 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
DieterGraef 0:f9b6112278fe 372 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
DieterGraef 0:f9b6112278fe 373 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
DieterGraef 0:f9b6112278fe 374
DieterGraef 0:f9b6112278fe 375 /* Set up TCB of idle demon */
DieterGraef 0:f9b6112278fe 376 os_idle_TCB.task_id = 255;
DieterGraef 0:f9b6112278fe 377 os_idle_TCB.priv_stack = 0;
DieterGraef 0:f9b6112278fe 378 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
DieterGraef 0:f9b6112278fe 379
DieterGraef 0:f9b6112278fe 380 /* Set up ready list: initially empty */
DieterGraef 0:f9b6112278fe 381 os_rdy.cb_type = HCB;
DieterGraef 0:f9b6112278fe 382 os_rdy.p_lnk = NULL;
DieterGraef 0:f9b6112278fe 383 /* Set up delay list: initially empty */
DieterGraef 0:f9b6112278fe 384 os_dly.cb_type = HCB;
DieterGraef 0:f9b6112278fe 385 os_dly.p_dlnk = NULL;
DieterGraef 0:f9b6112278fe 386 os_dly.p_blnk = NULL;
DieterGraef 0:f9b6112278fe 387 os_dly.delta_time = 0;
DieterGraef 0:f9b6112278fe 388
DieterGraef 0:f9b6112278fe 389 /* Fix SP and system variables to assume idle task is running */
DieterGraef 0:f9b6112278fe 390 /* Transform main program into idle task by assuming idle TCB */
DieterGraef 0:f9b6112278fe 391 #ifndef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 392 rt_set_PSP (os_idle_TCB.tsk_stack+32);
DieterGraef 0:f9b6112278fe 393 #endif
DieterGraef 0:f9b6112278fe 394 os_tsk.run = &os_idle_TCB;
DieterGraef 0:f9b6112278fe 395 os_tsk.run->state = RUNNING;
DieterGraef 0:f9b6112278fe 396
DieterGraef 0:f9b6112278fe 397 /* Initialize ps queue */
DieterGraef 0:f9b6112278fe 398 os_psq->first = 0;
DieterGraef 0:f9b6112278fe 399 os_psq->last = 0;
DieterGraef 0:f9b6112278fe 400 os_psq->size = os_fifo_size;
DieterGraef 0:f9b6112278fe 401
DieterGraef 0:f9b6112278fe 402 rt_init_robin ();
DieterGraef 0:f9b6112278fe 403
DieterGraef 0:f9b6112278fe 404 /* Initialize SVC and PendSV */
DieterGraef 0:f9b6112278fe 405 rt_svc_init ();
DieterGraef 0:f9b6112278fe 406
DieterGraef 0:f9b6112278fe 407 #ifndef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 408 /* Initialize and start system clock timer */
DieterGraef 0:f9b6112278fe 409 os_tick_irqn = os_tick_init ();
DieterGraef 0:f9b6112278fe 410 if (os_tick_irqn >= 0) {
DieterGraef 0:f9b6112278fe 411 OS_X_INIT(os_tick_irqn);
DieterGraef 0:f9b6112278fe 412 }
DieterGraef 0:f9b6112278fe 413
DieterGraef 0:f9b6112278fe 414 /* Start up first user task before entering the endless loop */
DieterGraef 0:f9b6112278fe 415 rt_tsk_create (first_task, prio_stksz, stk, NULL);
DieterGraef 0:f9b6112278fe 416 #endif
DieterGraef 0:f9b6112278fe 417 }
DieterGraef 0:f9b6112278fe 418
DieterGraef 0:f9b6112278fe 419
DieterGraef 0:f9b6112278fe 420 /*--------------------------- rt_sys_start ----------------------------------*/
DieterGraef 0:f9b6112278fe 421
DieterGraef 0:f9b6112278fe 422 #ifdef __CMSIS_RTOS
DieterGraef 0:f9b6112278fe 423 void rt_sys_start (void) {
DieterGraef 0:f9b6112278fe 424 /* Start system */
DieterGraef 0:f9b6112278fe 425
DieterGraef 0:f9b6112278fe 426 /* Initialize and start system clock timer */
DieterGraef 0:f9b6112278fe 427 os_tick_irqn = os_tick_init ();
DieterGraef 0:f9b6112278fe 428 if (os_tick_irqn >= 0) {
DieterGraef 0:f9b6112278fe 429 OS_X_INIT(os_tick_irqn);
DieterGraef 0:f9b6112278fe 430 }
DieterGraef 0:f9b6112278fe 431 }
DieterGraef 0:f9b6112278fe 432 #endif
DieterGraef 0:f9b6112278fe 433
DieterGraef 0:f9b6112278fe 434 /*----------------------------------------------------------------------------
DieterGraef 0:f9b6112278fe 435 * end of file
DieterGraef 0:f9b6112278fe 436 *---------------------------------------------------------------------------*/