Rtos code cntains bug possible incompatability with I2C
Fork of mbed-rtos by
Diff: rtx/TARGET_CORTEX_M/rt_System.c
- Revision:
- 112:53ace74b190c
- Parent:
- 49:77c8e4604045
diff -r 162b12aea5f2 -r 53ace74b190c rtx/TARGET_CORTEX_M/rt_System.c --- a/rtx/TARGET_CORTEX_M/rt_System.c Tue May 03 00:15:52 2016 +0100 +++ b/rtx/TARGET_CORTEX_M/rt_System.c Thu May 05 20:45:13 2016 +0100 @@ -1,12 +1,12 @@ /*---------------------------------------------------------------------------- - * RL-ARM - RTX + * CMSIS-RTOS - RTX *---------------------------------------------------------------------------- * Name: RT_SYSTEM.C * Purpose: System Task Manager - * Rev.: V4.60 + * Rev.: V4.80 *---------------------------------------------------------------------------- * - * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH * All rights reserved. * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: @@ -33,7 +33,7 @@ *---------------------------------------------------------------------------*/ #include "rt_TypeDef.h" -#include "RTX_Conf.h" +#include "RTX_Config.h" #include "rt_Task.h" #include "rt_System.h" #include "rt_Event.h" @@ -41,6 +41,7 @@ #include "rt_Mailbox.h" #include "rt_Semaphore.h" #include "rt_Time.h" +#include "rt_Timer.h" #include "rt_Robin.h" #include "rt_HAL_CM.h" @@ -48,7 +49,7 @@ * Global Variables *---------------------------------------------------------------------------*/ -int os_tick_irqn; +S32 os_tick_irqn; /*---------------------------------------------------------------------------- * Local Variables @@ -62,28 +63,39 @@ * Global Functions *---------------------------------------------------------------------------*/ +#define RL_RTX_VER 0x480 + #if defined (__CC_ARM) __asm void $$RTX$$version (void) { /* Export a version number symbol for a version control. */ EXPORT __RL_RTX_VER -__RL_RTX_VER EQU 0x450 +__RL_RTX_VER EQU RL_RTX_VER } #endif /*--------------------------- rt_suspend ------------------------------------*/ + +extern U32 sysUserTimerWakeupTime(void); + U32 rt_suspend (void) { /* Suspend OS scheduler */ - U32 delta = 0xFFFF; + U32 delta = 0xFFFFU; +#ifdef __CMSIS_RTOS + U32 sleep; +#endif rt_tsk_lock(); - + if (os_dly.p_dlnk) { delta = os_dly.delta_time; } -#ifndef __CMSIS_RTOS +#ifdef __CMSIS_RTOS + sleep = sysUserTimerWakeupTime(); + if (sleep < delta) { delta = sleep; } +#else if (os_tmr.next) { if (os_tmr.tcnt < delta) delta = os_tmr.tcnt; } @@ -94,6 +106,9 @@ /*--------------------------- rt_resume -------------------------------------*/ + +extern void sysUserTimerUpdate (U32 sleep_time); + void rt_resume (U32 sleep_time) { /* Resume OS scheduler after suspend */ P_TCB next; @@ -110,31 +125,33 @@ if (delta >= os_dly.delta_time) { delta -= os_dly.delta_time; os_time += os_dly.delta_time; - os_dly.delta_time = 1; + os_dly.delta_time = 1U; while (os_dly.p_dlnk) { rt_dec_dly(); - if (delta == 0) break; + if (delta == 0U) { break; } delta--; os_time++; } } else { - os_time += delta; - os_dly.delta_time -= delta; + os_time += delta; + os_dly.delta_time -= (U16)delta; } } else { os_time += sleep_time; } -#ifndef __CMSIS_RTOS /* Check the user timers. */ +#ifdef __CMSIS_RTOS + sysUserTimerUpdate(sleep_time); +#else if (os_tmr.next) { delta = sleep_time; if (delta >= os_tmr.tcnt) { delta -= os_tmr.tcnt; - os_tmr.tcnt = 1; + os_tmr.tcnt = 1U; while (os_tmr.next) { rt_tmr_tick(); - if (delta == 0) break; + if (delta == 0U) { break; } delta--; } } else { @@ -158,11 +175,11 @@ if (os_tick_irqn < 0) { OS_LOCK(); os_lock = __TRUE; - OS_UNPEND (&pend_flags); + OS_UNPEND(pend_flags); } else { - OS_X_LOCK(os_tick_irqn); + OS_X_LOCK((U32)os_tick_irqn); os_lock = __TRUE; - OS_X_UNPEND (&pend_flags); + OS_X_UNPEND(pend_flags); } } @@ -174,12 +191,12 @@ if (os_tick_irqn < 0) { OS_UNLOCK(); os_lock = __FALSE; - OS_PEND (pend_flags, os_psh_flag); + OS_PEND(pend_flags, os_psh_flag); os_psh_flag = __FALSE; } else { - OS_X_UNLOCK(os_tick_irqn); + OS_X_UNLOCK((U32)os_tick_irqn); os_lock = __FALSE; - OS_X_PEND (pend_flags, os_psh_flag); + OS_X_PEND(pend_flags, os_psh_flag); os_psh_flag = __FALSE; } } @@ -190,7 +207,7 @@ void rt_psh_req (void) { /* Initiate a post service handling request if required. */ if (os_lock == __FALSE) { - OS_PEND_IRQ (); + OS_PEND_IRQ(); } else { os_psh_flag = __TRUE; @@ -224,10 +241,10 @@ /* Must be of SCB type */ rt_sem_psh ((P_SCB)p_CB); } - if (++idx == os_psq->size) idx = 0; + if (++idx == os_psq->size) { idx = 0U; } rt_dec (&os_psq->count); } - os_psq->last = idx; + os_psq->last = (U8)idx; next = rt_get_first (&os_rdy); rt_switch_req (next); @@ -236,12 +253,25 @@ /*--------------------------- os_tick_init ----------------------------------*/ -__weak int os_tick_init (void) { +__weak S32 os_tick_init (void) { /* Initialize SysTick timer as system tick timer. */ - rt_systick_init (); + rt_systick_init(); return (-1); /* Return IRQ number of SysTick timer */ } +/*--------------------------- os_tick_val -----------------------------------*/ + +__weak U32 os_tick_val (void) { + /* Get SysTick timer current value (0 .. OS_TRV). */ + return rt_systick_val(); +} + +/*--------------------------- os_tick_ovf -----------------------------------*/ + +__weak U32 os_tick_ovf (void) { + /* Get SysTick timer overflow flag */ + return rt_systick_ovf(); +} /*--------------------------- os_tick_irqack --------------------------------*/ @@ -281,9 +311,11 @@ } /*--------------------------- rt_stk_check ----------------------------------*/ + __weak void rt_stk_check (void) { +#ifdef __MBED_CMSIS_RTOS_CM /* Check for stack overflow. */ - if (os_tsk.run->task_id == 0x01) { + if (os_tsk.run->task_id == 0x02) { // TODO: For the main thread the check should be done against the main heap pointer } else { if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) || @@ -291,6 +323,12 @@ os_error (OS_ERR_STK_OVF); } } +#else + if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) || + (os_tsk.run->stack[0] != MAGIC_WORD)) { + os_error (OS_ERR_STK_OVF); + } +#endif } /*----------------------------------------------------------------------------