mbos_test - Testing [Andrew L] mbos RTOS for mbed Simply by …

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nikos chalikias / Mbed 2 deprecated mbos_test

Testing [Andrew L] mbos RTOS for mbed Simply by copying code for main.cpp from mbos.h-comments

mbos.cpp@0:a61d29450691, 2011-05-05 (annotated)

Committer:: chalikias
Date:: Thu May 05 07:34:12 2011 +0000
Revision:: 0:a61d29450691

Who changed what in which revision?

User	Revision	Line number	New contents of line
chalikias	0:a61d29450691	1	/***********************************************************************************
chalikias	0:a61d29450691	2	* m b o s R T O S F O R m b e d (ARM CORTEX M3)
chalikias	0:a61d29450691	3	*
chalikias	0:a61d29450691	4	* Copyright (c) 2010 - 2011 Andrew Levido
chalikias	0:a61d29450691	5	*
chalikias	0:a61d29450691	6	* THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED
chalikias	0:a61d29450691	7	* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
chalikias	0:a61d29450691	8	* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
chalikias	0:a61d29450691	9	* SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
chalikias	0:a61d29450691	10	* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
chalikias	0:a61d29450691	11	* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
chalikias	0:a61d29450691	12	* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
chalikias	0:a61d29450691	13	* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
chalikias	0:a61d29450691	14	* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chalikias	0:a61d29450691	15	*/
chalikias	0:a61d29450691	16	#include "mbos.h"
chalikias	0:a61d29450691	17	#include "mbed.h"
chalikias	0:a61d29450691	18
chalikias	0:a61d29450691	19	#define MAX_PRIO 99 // maximum priority
chalikias	0:a61d29450691	20	#define READY MAX_PRIO + 1 // always > MAX_PRIO
chalikias	0:a61d29450691	21	#define WAITING 0 // aways 0
chalikias	0:a61d29450691	22	#define DEFAULT_IDLE_STACK_SZ 32 // in words
chalikias	0:a61d29450691	23	#define MAX_TASKS 99 // tasks 0.. 99 including idle
chalikias	0:a61d29450691	24	#define MAX_TIMERS 99 // timers 0..99
chalikias	0:a61d29450691	25	#define MAX_RESOURCES 99 // resources 0..99
chalikias	0:a61d29450691	26	#define MIN_STACKSZ 32 // enough to run an empty function
chalikias	0:a61d29450691	27	#define TICKS_PER_SECOND 1000 // 1ms Ticks
chalikias	0:a61d29450691	28
chalikias	0:a61d29450691	29	typedef struct _tcb{ // task control block
chalikias	0:a61d29450691	30	uint id;
chalikias	0:a61d29450691	31	uint *stack;
chalikias	0:a61d29450691	32	uint priostate;
chalikias	0:a61d29450691	33	uint eventlist;
chalikias	0:a61d29450691	34	uint eventmask;
chalikias	0:a61d29450691	35	uint *stacklimit;
chalikias	0:a61d29450691	36	}_tcb_t;
chalikias	0:a61d29450691	37
chalikias	0:a61d29450691	38	typedef struct _timer{ // timer cotrol block
chalikias	0:a61d29450691	39	uint timer;
chalikias	0:a61d29450691	40	uint reload;
chalikias	0:a61d29450691	41	uint event;
chalikias	0:a61d29450691	42	uint task;
chalikias	0:a61d29450691	43	}_timer_t;
chalikias	0:a61d29450691	44
chalikias	0:a61d29450691	45	typedef struct _rcb{ // resource control block
chalikias	0:a61d29450691	46	uint lock;
chalikias	0:a61d29450691	47	uint priority;
chalikias	0:a61d29450691	48	uint taskprio;
chalikias	0:a61d29450691	49	}_resource_t;
chalikias	0:a61d29450691	50
chalikias	0:a61d29450691	51	extern "C" void _startos(void); // Assembly routine to start the scheduler
chalikias	0:a61d29450691	52	extern "C" void _swap(void); // Assembly routine to set PendSV exception
chalikias	0:a61d29450691	53	extern "C" void SysTick_Handler(void); // Override weak declaration in startup file
chalikias	0:a61d29450691	54	extern "C" void _stackerror(uint task); // Stack error function called by assembler
chalikias	0:a61d29450691	55
chalikias	0:a61d29450691	56	extern void __attribute__((__weak__)) mbosIdleTask(void); // Allow user to write their own idle task
chalikias	0:a61d29450691	57
chalikias	0:a61d29450691	58	// Static Variables
chalikias	0:a61d29450691	59	uint _hardstacklimit; // stack limit
chalikias	0:a61d29450691	60	_tcb_t **_tasklist; // pointer to task list
chalikias	0:a61d29450691	61	_tcb_t *_tasks; // pointer to task control block 0
chalikias	0:a61d29450691	62	_timer_t *_timers; // pointer to timer control block 0
chalikias	0:a61d29450691	63	_resource_t *_resources; // pointer to resource control block 0
chalikias	0:a61d29450691	64	uint _numtasks; // number of tasks (including idle)
chalikias	0:a61d29450691	65	uint _numtimers; // number of timers
chalikias	0:a61d29450691	66	uint _numresources; // number of resources
chalikias	0:a61d29450691	67	uint _tasklistsize; // task list length in bytes
chalikias	0:a61d29450691	68
chalikias	0:a61d29450691	69	// Default Idle Task -------------------------------------------------------------------
chalikias	0:a61d29450691	70	void _idletask(void) { while(1); } // Default idle task
chalikias	0:a61d29450691	71
chalikias	0:a61d29450691	72	// Constructor -------------------------------------------------------------------------
chalikias	0:a61d29450691	73	mbos::mbos(uint ntasks, uint ntimers, uint nresources)
chalikias	0:a61d29450691	74	{
chalikias	0:a61d29450691	75	uint i;
chalikias	0:a61d29450691	76
chalikias	0:a61d29450691	77	ntasks += 1;
chalikias	0:a61d29450691	78	// Create the tcblist, zero initialised
chalikias	0:a61d29450691	79	if(ntasks > MAX_TASKS \|\| ntasks < 1) error("mbos::mbos - %i is an invalid number of tasks\n", ntasks);
chalikias	0:a61d29450691	80	_tasklist = (_tcb_t*)calloc(sizeof(_tcb_t), ntasks);
chalikias	0:a61d29450691	81	if(_tasklist == 0) error("mbos::mbos - Insufficient memory to create Tasklist\n");
chalikias	0:a61d29450691	82
chalikias	0:a61d29450691	83	// Create the tcbs
chalikias	0:a61d29450691	84	_tasklist[0] = (_tcb_t*)calloc(sizeof(_tcb_t), ntasks);
chalikias	0:a61d29450691	85	if(_tasklist[0] == 0) error("mbos::mbos - Insufficient memory to create TCBs\n");
chalikias	0:a61d29450691	86	for(i = 1; i < ntasks; i++){
chalikias	0:a61d29450691	87	_tasklist[i] = _tasklist[i - 1] + 1;
chalikias	0:a61d29450691	88	}
chalikias	0:a61d29450691	89	// Create the timers and clear them
chalikias	0:a61d29450691	90	if(ntimers > MAX_TIMERS + 1) error("mbos::mbos - %i is an invalid number of Timers\n", ntimers);
chalikias	0:a61d29450691	91	_timers = (_timer_t*)calloc(sizeof(_timer_t), ntimers);
chalikias	0:a61d29450691	92	if(_timers == 0) error("mbos::mbos - Insufficient memory to create Timers");
chalikias	0:a61d29450691	93
chalikias	0:a61d29450691	94	// create the resources & clear them
chalikias	0:a61d29450691	95	if(nresources > MAX_RESOURCES + 1) error("mbos::mbos - %i is an invalid number of Resources\n", nresources);
chalikias	0:a61d29450691	96	_resources = (_resource_t*)calloc(sizeof(_resource_t), nresources);
chalikias	0:a61d29450691	97	if(_resources == 0) error("mbos::mbos - Insufficient memory to create Resources");
chalikias	0:a61d29450691	98	_hardstacklimit = (uint)malloc(1);
chalikias	0:a61d29450691	99	if(_hardstacklimit == 0) error("mbos::mbos - Insufficient memory to create HardStackLimit");
chalikias	0:a61d29450691	100	_numtasks = ntasks;
chalikias	0:a61d29450691	101	_numtimers = ntimers;
chalikias	0:a61d29450691	102	_numresources = nresources;
chalikias	0:a61d29450691	103	_tasks = _tasklist[0];
chalikias	0:a61d29450691	104	}
chalikias	0:a61d29450691	105	// Create Tasks Function --------------------------------------------------------------
chalikias	0:a61d29450691	106	void mbos::CreateTask(uint id, uint priority, uint stacksz, void (*fun)(void))
chalikias	0:a61d29450691	107	{
chalikias	0:a61d29450691	108	uint* stackbase;
chalikias	0:a61d29450691	109
chalikias	0:a61d29450691	110	// check bounds
chalikias	0:a61d29450691	111	if(id >= _numtasks \|\| id < 1) error("mbos::CreateTask - %i is an invalid task id\n", id);
chalikias	0:a61d29450691	112	if(priority > MAX_PRIO) error("mbos::CreateTask - %i is an invalid priority for Task %i\n", priority, id);
chalikias	0:a61d29450691	113	if(stacksz < MIN_STACKSZ) stacksz = MIN_STACKSZ;
chalikias	0:a61d29450691	114
chalikias	0:a61d29450691	115	// fill tcb
chalikias	0:a61d29450691	116	if(_tasks[id].id == 0) _tasks[id].id = id;
chalikias	0:a61d29450691	117	else error("mbos::CreateTask - Task %i already created\n", id);
chalikias	0:a61d29450691	118	_tasks[id].priostate = READY + priority;
chalikias	0:a61d29450691	119	_tasks[id].eventlist = 0;
chalikias	0:a61d29450691	120	_tasks[id].eventmask = 0;
chalikias	0:a61d29450691	121	stackbase = (uint)malloc(stacksz 4);
chalikias	0:a61d29450691	122	if(stackbase == 0) error("mbos::CreateTask - Insufficient memory to create Task %i\n", id);
chalikias	0:a61d29450691	123	_tasks[id].stacklimit = stackbase;
chalikias	0:a61d29450691	124	_tasks[id].stack = _initstack(stackbase + stacksz, fun);
chalikias	0:a61d29450691	125	}
chalikias	0:a61d29450691	126	// Start OS function -------------------------------------------------------------------
chalikias	0:a61d29450691	127	void mbos::Start(uint stacksize)
chalikias	0:a61d29450691	128	{
chalikias	0:a61d29450691	129	uint * stackbase;
chalikias	0:a61d29450691	130
chalikias	0:a61d29450691	131	// Fill idle tcb and initialise idle stack
chalikias	0:a61d29450691	132	_tasks[0].priostate = READY;
chalikias	0:a61d29450691	133	_tasks[0].id = 0;
chalikias	0:a61d29450691	134	_tasks[0].eventlist = 0;
chalikias	0:a61d29450691	135	_tasks[0].eventmask = 0;
chalikias	0:a61d29450691	136	if(mbosIdleTask){
chalikias	0:a61d29450691	137	if(stacksize < MIN_STACKSZ) stacksize = MIN_STACKSZ;
chalikias	0:a61d29450691	138	stackbase = (uint)malloc(stacksize 4);
chalikias	0:a61d29450691	139	if(stackbase == 0) error("mbos::Start - Insufficient memory to create idle task\n");
chalikias	0:a61d29450691	140	_tasks[0].stacklimit = stackbase;
chalikias	0:a61d29450691	141	_tasks[0].stack = _initstack(stackbase + stacksize, mbosIdleTask);
chalikias	0:a61d29450691	142	}
chalikias	0:a61d29450691	143	else {
chalikias	0:a61d29450691	144	stackbase = (uint)malloc(DEFAULT_IDLE_STACK_SZ 4);
chalikias	0:a61d29450691	145	if(stackbase == 0) error("mbos::Start - Insufficient memory to create idle task\n");
chalikias	0:a61d29450691	146	_tasks[0].stacklimit = stackbase;
chalikias	0:a61d29450691	147	_tasks[0].stack = _initstack(stackbase + DEFAULT_IDLE_STACK_SZ, _idletask);
chalikias	0:a61d29450691	148	}
chalikias	0:a61d29450691	149	_tasklistsize = 4 * (_numtasks - 1);
chalikias	0:a61d29450691	150	SysTick_Config(SystemCoreClock / TICKS_PER_SECOND);
chalikias	0:a61d29450691	151	NVIC_SetPriority(SysTick_IRQn, 0);
chalikias	0:a61d29450691	152	_startos();
chalikias	0:a61d29450691	153
chalikias	0:a61d29450691	154	while(1);
chalikias	0:a61d29450691	155	}
chalikias	0:a61d29450691	156	// OS Tick Function -------------------------------------------------------------------
chalikias	0:a61d29450691	157	void SysTick_Handler(void)
chalikias	0:a61d29450691	158	{
chalikias	0:a61d29450691	159	uint i;
chalikias	0:a61d29450691	160
chalikias	0:a61d29450691	161	__disable_irq();
chalikias	0:a61d29450691	162
chalikias	0:a61d29450691	163	for(i = 0; i < _numtimers; i++){
chalikias	0:a61d29450691	164	if(_timers[i].timer){
chalikias	0:a61d29450691	165	_timers[i].timer--;
chalikias	0:a61d29450691	166	if(_timers[i].timer == 0){
chalikias	0:a61d29450691	167	_timers[i].timer = _timers[i].reload;
chalikias	0:a61d29450691	168	if(_tasks[_timers[i].task].eventmask & _timers[i].event){
chalikias	0:a61d29450691	169	_tasks[_timers[i].task].eventlist \|= _timers[i].event;
chalikias	0:a61d29450691	170	_tasks[_timers[i].task].priostate += READY;
chalikias	0:a61d29450691	171	}
chalikias	0:a61d29450691	172	}
chalikias	0:a61d29450691	173	}
chalikias	0:a61d29450691	174	}
chalikias	0:a61d29450691	175	if((__return_address() & 0x08) == 0) { // called from Handler, so swap later
chalikias	0:a61d29450691	176	__enable_irq();
chalikias	0:a61d29450691	177	return;
chalikias	0:a61d29450691	178	}
chalikias	0:a61d29450691	179	_swap();
chalikias	0:a61d29450691	180	__enable_irq();
chalikias	0:a61d29450691	181	}
chalikias	0:a61d29450691	182	// Get Task id Function -----------------------------------------------------------------
chalikias	0:a61d29450691	183	uint mbos::GetTask(void)
chalikias	0:a61d29450691	184	{
chalikias	0:a61d29450691	185	return _tasklist[0]->id;
chalikias	0:a61d29450691	186	}
chalikias	0:a61d29450691	187	// Set Priority Function ----------------------------------------------------------------
chalikias	0:a61d29450691	188	void mbos::SetPriority(uint priority)
chalikias	0:a61d29450691	189	{
chalikias	0:a61d29450691	190	if(_tasklist[0]->id == 0) return;
chalikias	0:a61d29450691	191	if(priority > MAX_PRIO) error("mbos::SetPriority - %i is an invalid priority\n", priority);
chalikias	0:a61d29450691	192	_tasklist[0]->priostate = priority + READY;
chalikias	0:a61d29450691	193	}
chalikias	0:a61d29450691	194	// Get Priority Function ----------------------------------------------------------------
chalikias	0:a61d29450691	195	uint mbos::GetPriority(void)
chalikias	0:a61d29450691	196	{
chalikias	0:a61d29450691	197	return _tasklist[0]->priostate - READY;
chalikias	0:a61d29450691	198	}
chalikias	0:a61d29450691	199	// Wait Event Function ------------------------------------------------------------------
chalikias	0:a61d29450691	200	void mbos::WaitEvent(uint event)
chalikias	0:a61d29450691	201	{
chalikias	0:a61d29450691	202	if(_tasklist[0]->id == 0) return;
chalikias	0:a61d29450691	203	if(event == 0) return;
chalikias	0:a61d29450691	204	__disable_irq();
chalikias	0:a61d29450691	205	_tasklist[0]->eventlist = 0;
chalikias	0:a61d29450691	206	_tasklist[0]->eventmask = event;
chalikias	0:a61d29450691	207	_tasklist[0]->priostate -= READY;
chalikias	0:a61d29450691	208	_swap();
chalikias	0:a61d29450691	209	__enable_irq();
chalikias	0:a61d29450691	210	}
chalikias	0:a61d29450691	211	// Set Event Function --------------------------------------------------------------------
chalikias	0:a61d29450691	212	void mbos::SetEvent(uint event, uint task)
chalikias	0:a61d29450691	213	{
chalikias	0:a61d29450691	214	// check bounds
chalikias	0:a61d29450691	215	if(task >= _numtasks \|\| (task < 1)) return;
chalikias	0:a61d29450691	216
chalikias	0:a61d29450691	217	__disable_irq();
chalikias	0:a61d29450691	218	if(_tasks[task].eventmask & event){
chalikias	0:a61d29450691	219	_tasks[task].eventlist \|= event;
chalikias	0:a61d29450691	220	_tasks[task].priostate += READY;
chalikias	0:a61d29450691	221	}
chalikias	0:a61d29450691	222	else{
chalikias	0:a61d29450691	223	__enable_irq();
chalikias	0:a61d29450691	224	return;
chalikias	0:a61d29450691	225	}
chalikias	0:a61d29450691	226	_swap();
chalikias	0:a61d29450691	227	__enable_irq();
chalikias	0:a61d29450691	228	}
chalikias	0:a61d29450691	229	// Get event Function -----------------------------------------------------------------
chalikias	0:a61d29450691	230	uint mbos::GetEvent(void)
chalikias	0:a61d29450691	231	{
chalikias	0:a61d29450691	232	return _tasklist[0]->eventlist;
chalikias	0:a61d29450691	233	}
chalikias	0:a61d29450691	234	// Create Timer Function --------------------------------------------------------------
chalikias	0:a61d29450691	235	void mbos::CreateTimer(uint id, uint task, uint event)
chalikias	0:a61d29450691	236	{
chalikias	0:a61d29450691	237	// check bounds
chalikias	0:a61d29450691	238	if(id >= _numtimers) error("mbos::CreateTimer - %i is an invalid timer id\n", id);
chalikias	0:a61d29450691	239	if(task < 1\|\| task >= _numtasks) error("mbos::CreateTimer - %i is an invalid task id for Timer %i\n", task, id);
chalikias	0:a61d29450691	240	if(event == 0) error("mbos::CreateTimer - Can't use null event for Timer %i\n", id);
chalikias	0:a61d29450691	241
chalikias	0:a61d29450691	242	// fill tcb
chalikias	0:a61d29450691	243	_timers[id].timer = 0;
chalikias	0:a61d29450691	244	_timers[id].reload = 0;
chalikias	0:a61d29450691	245	_timers[id].task = task;
chalikias	0:a61d29450691	246	_timers[id].event = event;
chalikias	0:a61d29450691	247	}
chalikias	0:a61d29450691	248	// Set Timer Function -------------------------------------------------------------------
chalikias	0:a61d29450691	249	void mbos::SetTimer(uint id, uint time, uint reload)
chalikias	0:a61d29450691	250	{
chalikias	0:a61d29450691	251	// check bounds
chalikias	0:a61d29450691	252	if(id >= _numtimers) error("mbos::SetTimer - %i is an invalid timer id\n", id);
chalikias	0:a61d29450691	253
chalikias	0:a61d29450691	254	__disable_irq();
chalikias	0:a61d29450691	255	_timers[id].timer = time;
chalikias	0:a61d29450691	256	_timers[id].reload = reload;
chalikias	0:a61d29450691	257	__enable_irq();
chalikias	0:a61d29450691	258	}
chalikias	0:a61d29450691	259	// Redirect Timer Function -----------------------------------------------------------------
chalikias	0:a61d29450691	260	void mbos::RedirectTimer(uint id, uint task, uint event)
chalikias	0:a61d29450691	261	{
chalikias	0:a61d29450691	262	// check bounds
chalikias	0:a61d29450691	263	if(id >= _numtimers) error("mbos::RedirectTimer - %i is an invalid timer id\n", id);
chalikias	0:a61d29450691	264	if(task < 1\|\| task >= _numtasks) error("mbos::RedirectTimer - %i is an invalid task id for Timer %i\n", task, id);
chalikias	0:a61d29450691	265	if(event == 0) error("mbos::RedirectTimer - Can't use null event for Timer %i\n", id);
chalikias	0:a61d29450691	266
chalikias	0:a61d29450691	267	__disable_irq();
chalikias	0:a61d29450691	268	if( _timers[id].timer == 0){
chalikias	0:a61d29450691	269	_timers[id].task = task;
chalikias	0:a61d29450691	270	_timers[id].event = event;
chalikias	0:a61d29450691	271	}
chalikias	0:a61d29450691	272	__enable_irq();
chalikias	0:a61d29450691	273	}
chalikias	0:a61d29450691	274	// Clear Timer Function -------------------------------------------------------------------
chalikias	0:a61d29450691	275	void mbos::ClearTimer(uint id)
chalikias	0:a61d29450691	276	{
chalikias	0:a61d29450691	277	// check bounds
chalikias	0:a61d29450691	278	if(id >= _numtimers) error("mbos::ClearTimer - %i is an invalid timer id\n", id);
chalikias	0:a61d29450691	279
chalikias	0:a61d29450691	280	__disable_irq();
chalikias	0:a61d29450691	281	_timers[id].timer = 0;
chalikias	0:a61d29450691	282	_timers[id].reload = 0;
chalikias	0:a61d29450691	283	__enable_irq();
chalikias	0:a61d29450691	284	}
chalikias	0:a61d29450691	285	// Create resources Function --------------------------------------------------------------
chalikias	0:a61d29450691	286	void mbos::CreateResource(uint id, uint priority)
chalikias	0:a61d29450691	287	{
chalikias	0:a61d29450691	288	// check bounds
chalikias	0:a61d29450691	289	if(id >= _numresources) error("mbos::CreateResource - %i is an invalid resource id\n", id);
chalikias	0:a61d29450691	290	if(priority > MAX_PRIO) error("mbos::CreateResource - %i is an invalid priority for Resource %i\n", priority, id);
chalikias	0:a61d29450691	291
chalikias	0:a61d29450691	292	// fill rcb
chalikias	0:a61d29450691	293	_resources[id].priority = priority;
chalikias	0:a61d29450691	294	_resources[id].lock = 0;
chalikias	0:a61d29450691	295	}
chalikias	0:a61d29450691	296	// Lock Resource Function --------------------------------------------------------------
chalikias	0:a61d29450691	297	uint mbos::LockResource(uint id)
chalikias	0:a61d29450691	298	{
chalikias	0:a61d29450691	299	// check bounds
chalikias	0:a61d29450691	300	if(id >= _numresources) error("mbos::LockResource - %i is an invalid resource id\n", id);
chalikias	0:a61d29450691	301	if(_tasklist[0]->id == 0 \|\|_resources[id].lock != 0) return _resources[id].lock;
chalikias	0:a61d29450691	302
chalikias	0:a61d29450691	303	__disable_irq();
chalikias	0:a61d29450691	304	_resources[id].lock = _tasklist[0]->id;
chalikias	0:a61d29450691	305	_resources[id].taskprio = _tasklist[0]->priostate;
chalikias	0:a61d29450691	306	_tasklist[0]->priostate = _resources[id].priority + READY;
chalikias	0:a61d29450691	307	__enable_irq();
chalikias	0:a61d29450691	308	return 0;
chalikias	0:a61d29450691	309	}
chalikias	0:a61d29450691	310	// Test Resource Function --------------------------------------------------------------
chalikias	0:a61d29450691	311	uint mbos::TestResource(uint id)
chalikias	0:a61d29450691	312	{
chalikias	0:a61d29450691	313	// check bounds
chalikias	0:a61d29450691	314	if(id >= _numresources) error("mbos::TestResource - %i is an invalid resource id\n", id);
chalikias	0:a61d29450691	315	return(_resources[id].lock);
chalikias	0:a61d29450691	316	}
chalikias	0:a61d29450691	317	// Free Resource Function --------------------------------------------------------------
chalikias	0:a61d29450691	318	uint mbos::FreeResource(uint id)
chalikias	0:a61d29450691	319	{
chalikias	0:a61d29450691	320	// check bounds
chalikias	0:a61d29450691	321	if(id >= _numresources) error("mbos::FreeResource - %i is an invalid resource id\n", id);
chalikias	0:a61d29450691	322	if(_tasklist[0]->id == 0 \|\| _tasklist[0]->id != _resources[id].lock) return _resources[id].lock;
chalikias	0:a61d29450691	323
chalikias	0:a61d29450691	324	__disable_irq();
chalikias	0:a61d29450691	325	_resources[id].lock = 0;
chalikias	0:a61d29450691	326	_tasklist[0]->priostate = _resources[id].taskprio;
chalikias	0:a61d29450691	327	__enable_irq();
chalikias	0:a61d29450691	328	return 0;
chalikias	0:a61d29450691	329	}
chalikias	0:a61d29450691	330	// Initialise stack function -----------------------------------------------------------
chalikias	0:a61d29450691	331	uint* mbos::_initstack(uint stack, void (fun)())
chalikias	0:a61d29450691	332	{
chalikias	0:a61d29450691	333	stack -= 3; // leave a spare word
chalikias	0:a61d29450691	334	*stack = 0x01000000; // Initial xPSR (reset value)
chalikias	0:a61d29450691	335	stack--;
chalikias	0:a61d29450691	336	*stack = (uint)fun - 1; // Start address of the task corrected
chalikias	0:a61d29450691	337	stack--;
chalikias	0:a61d29450691	338	*stack = 0; // LR
chalikias	0:a61d29450691	339	stack -= 5; // R12, R3, R2, R1, R0
chalikias	0:a61d29450691	340	stack -= 8; // R11, R10, R9, R8, R7, R6, R5, R4
chalikias	0:a61d29450691	341	return stack;
chalikias	0:a61d29450691	342	}
chalikias	0:a61d29450691	343	// Stack Error function ----------------------------------------------------------------
chalikias	0:a61d29450691	344	void _stackerror(uint task)
chalikias	0:a61d29450691	345	{
chalikias	0:a61d29450691	346	error("Stack Overflow on Task %i\n", task);
chalikias	0:a61d29450691	347	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 May 2011
Imports:	50
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	6

mbos.cpp@0:a61d29450691, 2011-05-05 (annotated)

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