scmRTOS_test - Program to control an accelerometer, motors and a…

Users » jberry » Code » scmRTOS_test

Greg Kuhn / Mbed 2 deprecated scmRTOS_test

Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)

Dependencies: mbed

scmRTOS/Common/OS_Kernel.h@0:9b057566f9ee, 2010-11-01 (annotated)

Committer:: jberry
Date:: Mon Nov 01 20:39:01 2010 +0000
Revision:: 0:9b057566f9ee

Who changed what in which revision?

User	Revision	Line number	New contents of line
jberry	0:9b057566f9ee	1	//******************************************************************************
jberry	0:9b057566f9ee	2	//*
jberry	0:9b057566f9ee	3	//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
jberry	0:9b057566f9ee	4	//*
jberry	0:9b057566f9ee	5	//* NICKNAME: scmRTOS
jberry	0:9b057566f9ee	6	//*
jberry	0:9b057566f9ee	7	//* PURPOSE: OS Kernel Header. Declarations And Definitions
jberry	0:9b057566f9ee	8	//*
jberry	0:9b057566f9ee	9	//* Version: 3.10
jberry	0:9b057566f9ee	10	//*
jberry	0:9b057566f9ee	11	//* $Revision: 256 $
jberry	0:9b057566f9ee	12	//* $Date:: 2010-01-22 #$
jberry	0:9b057566f9ee	13	//*
jberry	0:9b057566f9ee	14	//* Copyright (c)c 2003-2010, Harry E. Zhurov
jberry	0:9b057566f9ee	15	//*
jberry	0:9b057566f9ee	16	//* Permission is hereby granted, free of charge, to any person
jberry	0:9b057566f9ee	17	//* obtaining a copy of this software and associated documentation
jberry	0:9b057566f9ee	18	//* files (the "Software"), to deal in the Software without restriction,
jberry	0:9b057566f9ee	19	//* including without limitation the rights to use, copy, modify, merge,
jberry	0:9b057566f9ee	20	//* publish, distribute, sublicense, and/or sell copies of the Software,
jberry	0:9b057566f9ee	21	//* and to permit persons to whom the Software is furnished to do so,
jberry	0:9b057566f9ee	22	//* subject to the following conditions:
jberry	0:9b057566f9ee	23	//*
jberry	0:9b057566f9ee	24	//* The above copyright notice and this permission notice shall be included
jberry	0:9b057566f9ee	25	//* in all copies or substantial portions of the Software.
jberry	0:9b057566f9ee	26	//*
jberry	0:9b057566f9ee	27	//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
jberry	0:9b057566f9ee	28	//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
jberry	0:9b057566f9ee	29	//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
jberry	0:9b057566f9ee	30	//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
jberry	0:9b057566f9ee	31	//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
jberry	0:9b057566f9ee	32	//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
jberry	0:9b057566f9ee	33	//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
jberry	0:9b057566f9ee	34	//*
jberry	0:9b057566f9ee	35	//* =================================================================
jberry	0:9b057566f9ee	36	//* See http://scmrtos.sourceforge.net for documentation, latest
jberry	0:9b057566f9ee	37	//* information, license and contact details.
jberry	0:9b057566f9ee	38	//* =================================================================
jberry	0:9b057566f9ee	39	//*
jberry	0:9b057566f9ee	40	//*****************************************************************************
jberry	0:9b057566f9ee	41
jberry	0:9b057566f9ee	42	#ifndef OS_KERNEL_H
jberry	0:9b057566f9ee	43	#define OS_KERNEL_H
jberry	0:9b057566f9ee	44
jberry	0:9b057566f9ee	45	#include <stddef.h>
jberry	0:9b057566f9ee	46	#include <commdefs.h>
jberry	0:9b057566f9ee	47	#include <usrlib.h>
jberry	0:9b057566f9ee	48
jberry	0:9b057566f9ee	49	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	50
jberry	0:9b057566f9ee	51	//==============================================================================
jberry	0:9b057566f9ee	52	extern "C" void OS_Start(TStackItem* sp);
jberry	0:9b057566f9ee	53
jberry	0:9b057566f9ee	54	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
jberry	0:9b057566f9ee	55	extern "C" void OS_ContextSwitcher(TStackItem** Curr_SP, TStackItem* Next_SP);
jberry	0:9b057566f9ee	56	#else
jberry	0:9b057566f9ee	57	extern "C" TStackItem* OS_ContextSwitchHook(TStackItem* sp);
jberry	0:9b057566f9ee	58	#endif
jberry	0:9b057566f9ee	59
jberry	0:9b057566f9ee	60	//==============================================================================
jberry	0:9b057566f9ee	61
jberry	0:9b057566f9ee	62	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	63	//
jberry	0:9b057566f9ee	64	//
jberry	0:9b057566f9ee	65	// NAME : OS
jberry	0:9b057566f9ee	66	//
jberry	0:9b057566f9ee	67	// PURPOSE : Namespace for all OS stuff
jberry	0:9b057566f9ee	68	//
jberry	0:9b057566f9ee	69	// DESCRIPTION: Includes: Kernel,
jberry	0:9b057566f9ee	70	// Processes,
jberry	0:9b057566f9ee	71	// Mutexes,
jberry	0:9b057566f9ee	72	// Event Flags,
jberry	0:9b057566f9ee	73	// Byte-wide Channels,
jberry	0:9b057566f9ee	74	// Arbitrary-type Channels,
jberry	0:9b057566f9ee	75	// Messages
jberry	0:9b057566f9ee	76	//
jberry	0:9b057566f9ee	77	namespace OS
jberry	0:9b057566f9ee	78	{
jberry	0:9b057566f9ee	79	class TBaseProcess;
jberry	0:9b057566f9ee	80
jberry	0:9b057566f9ee	81	INLINE inline void SetPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm \|= PrioTag; }
jberry	0:9b057566f9ee	82	INLINE inline void ClrPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm &= ~PrioTag; }
jberry	0:9b057566f9ee	83
jberry	0:9b057566f9ee	84	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	85	//
jberry	0:9b057566f9ee	86	// NAME : TKernel
jberry	0:9b057566f9ee	87	//
jberry	0:9b057566f9ee	88	/// Implements kernel-level operations such as
jberry	0:9b057566f9ee	89	/// process management, process-level scheduling,
jberry	0:9b057566f9ee	90	/// ISR-level scheduling, system timing.
jberry	0:9b057566f9ee	91	//
jberry	0:9b057566f9ee	92	// DESCRIPTION:
jberry	0:9b057566f9ee	93	//
jberry	0:9b057566f9ee	94	//
jberry	0:9b057566f9ee	95	class TKernel
jberry	0:9b057566f9ee	96	{
jberry	0:9b057566f9ee	97	//-----------------------------------------------------------
jberry	0:9b057566f9ee	98	//
jberry	0:9b057566f9ee	99	// Declarations
jberry	0:9b057566f9ee	100	//
jberry	0:9b057566f9ee	101
jberry	0:9b057566f9ee	102
jberry	0:9b057566f9ee	103	friend class TISRW;
jberry	0:9b057566f9ee	104	friend class TISRW_SS;
jberry	0:9b057566f9ee	105	friend class TBaseProcess;
jberry	0:9b057566f9ee	106	friend class TMutex;
jberry	0:9b057566f9ee	107	friend class TEventFlag;
jberry	0:9b057566f9ee	108	friend class TChannel;
jberry	0:9b057566f9ee	109	friend class TBaseMessage;
jberry	0:9b057566f9ee	110
jberry	0:9b057566f9ee	111	template<typename T, word size, class S> friend class channel;
jberry	0:9b057566f9ee	112	template<typename T> friend class message;
jberry	0:9b057566f9ee	113
jberry	0:9b057566f9ee	114	friend void Run();
jberry	0:9b057566f9ee	115	friend void WakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	116	friend void ForceWakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	117	friend inline bool IsProcessSleeping(const TBaseProcess& p);
jberry	0:9b057566f9ee	118	friend inline bool IsProcessSuspended(const TBaseProcess& p);
jberry	0:9b057566f9ee	119	friend inline dword GetTickCount();
jberry	0:9b057566f9ee	120
jberry	0:9b057566f9ee	121	//-----------------------------------------------------------
jberry	0:9b057566f9ee	122	//
jberry	0:9b057566f9ee	123	// Data
jberry	0:9b057566f9ee	124	//
jberry	0:9b057566f9ee	125	private:
jberry	0:9b057566f9ee	126	byte CurProcPriority;
jberry	0:9b057566f9ee	127	TProcessMap ReadyProcessMap;
jberry	0:9b057566f9ee	128	TBaseProcess* ProcessTable[scmRTOS_PROCESS_COUNT+1];
jberry	0:9b057566f9ee	129	volatile byte ISR_NestCount;
jberry	0:9b057566f9ee	130
jberry	0:9b057566f9ee	131	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
jberry	0:9b057566f9ee	132	byte SchedProcPriority;
jberry	0:9b057566f9ee	133	#endif
jberry	0:9b057566f9ee	134
jberry	0:9b057566f9ee	135	#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
jberry	0:9b057566f9ee	136	volatile dword SysTickCount;
jberry	0:9b057566f9ee	137	#endif
jberry	0:9b057566f9ee	138
jberry	0:9b057566f9ee	139	//-----------------------------------------------------------
jberry	0:9b057566f9ee	140	//
jberry	0:9b057566f9ee	141	// Functions
jberry	0:9b057566f9ee	142	//
jberry	0:9b057566f9ee	143	public:
jberry	0:9b057566f9ee	144	INLINE TKernel()
jberry	0:9b057566f9ee	145	: CurProcPriority(pr0)
jberry	0:9b057566f9ee	146	, ReadyProcessMap( (1 << (scmRTOS_PROCESS_COUNT + 1)) - 1) // set all processes ready
jberry	0:9b057566f9ee	147	, ISR_NestCount(0)
jberry	0:9b057566f9ee	148	{
jberry	0:9b057566f9ee	149	}
jberry	0:9b057566f9ee	150
jberry	0:9b057566f9ee	151	private:
jberry	0:9b057566f9ee	152	INLINE inline void RegisterProcess(TBaseProcess* const p);
jberry	0:9b057566f9ee	153
jberry	0:9b057566f9ee	154	void Sched();
jberry	0:9b057566f9ee	155	INLINE void Scheduler() { if(ISR_NestCount) return; else Sched(); }
jberry	0:9b057566f9ee	156	INLINE inline void SchedISR();
jberry	0:9b057566f9ee	157
jberry	0:9b057566f9ee	158	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
jberry	0:9b057566f9ee	159	INLINE inline bool IsContextSwitchDone() const volatile;
jberry	0:9b057566f9ee	160	#endif
jberry	0:9b057566f9ee	161	INLINE void SetProcessReady (const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); SetPrioTag( ReadyProcessMap, PrioTag); }
jberry	0:9b057566f9ee	162	INLINE void SetProcessUnready(const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); ClrPrioTag( ReadyProcessMap, PrioTag); }
jberry	0:9b057566f9ee	163
jberry	0:9b057566f9ee	164	public:
jberry	0:9b057566f9ee	165	INLINE inline void SystemTimer();
jberry	0:9b057566f9ee	166	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
jberry	0:9b057566f9ee	167	INLINE inline TStackItem* ContextSwitchHook(TStackItem* sp);
jberry	0:9b057566f9ee	168	#endif
jberry	0:9b057566f9ee	169
jberry	0:9b057566f9ee	170	}; // End of TKernel class definition
jberry	0:9b057566f9ee	171	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	172	extern TKernel Kernel;
jberry	0:9b057566f9ee	173
jberry	0:9b057566f9ee	174	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	175	//
jberry	0:9b057566f9ee	176	/// BaseProcess
jberry	0:9b057566f9ee	177	///
jberry	0:9b057566f9ee	178	/// Implements base class-type for application processes
jberry	0:9b057566f9ee	179	//
jberry	0:9b057566f9ee	180	// DESCRIPTION:
jberry	0:9b057566f9ee	181	//
jberry	0:9b057566f9ee	182	//
jberry	0:9b057566f9ee	183	class TBaseProcess
jberry	0:9b057566f9ee	184	{
jberry	0:9b057566f9ee	185	friend class TKernel;
jberry	0:9b057566f9ee	186	friend class TISRW;
jberry	0:9b057566f9ee	187	friend class TISRW_SS;
jberry	0:9b057566f9ee	188	friend class TEventFlag;
jberry	0:9b057566f9ee	189	friend class TMutex;
jberry	0:9b057566f9ee	190	friend class TBaseMessage;
jberry	0:9b057566f9ee	191
jberry	0:9b057566f9ee	192	template<typename T, word size, class S> friend class channel;
jberry	0:9b057566f9ee	193	template<typename T> friend class message;
jberry	0:9b057566f9ee	194
jberry	0:9b057566f9ee	195
jberry	0:9b057566f9ee	196	friend void Run();
jberry	0:9b057566f9ee	197	friend void WakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	198	friend void ForceWakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	199	friend bool IsProcessSleeping(const TBaseProcess& p);
jberry	0:9b057566f9ee	200	friend bool IsProcessSuspended(const TBaseProcess& p);
jberry	0:9b057566f9ee	201
jberry	0:9b057566f9ee	202	public:
jberry	0:9b057566f9ee	203	#if SEPARATE_RETURN_STACK == 0
jberry	0:9b057566f9ee	204	TBaseProcess( TStackItem* Stack, TPriority pr, void (*exec)() );
jberry	0:9b057566f9ee	205	#else
jberry	0:9b057566f9ee	206	TBaseProcess( TStackItem* Stack, TStackItem* RStack, TPriority pr, void (*exec)() );
jberry	0:9b057566f9ee	207	#endif
jberry	0:9b057566f9ee	208
jberry	0:9b057566f9ee	209	static void Sleep(TTimeout timeout = 0);
jberry	0:9b057566f9ee	210
jberry	0:9b057566f9ee	211	protected:
jberry	0:9b057566f9ee	212	TStackItem* StackPointer;
jberry	0:9b057566f9ee	213	TTimeout Timeout;
jberry	0:9b057566f9ee	214	TPriority Priority;
jberry	0:9b057566f9ee	215	};
jberry	0:9b057566f9ee	216	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	217
jberry	0:9b057566f9ee	218	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	219	//
jberry	0:9b057566f9ee	220	/// process
jberry	0:9b057566f9ee	221	///
jberry	0:9b057566f9ee	222	/// Implements template for application processes instantiation
jberry	0:9b057566f9ee	223	//
jberry	0:9b057566f9ee	224	// DESCRIPTION:
jberry	0:9b057566f9ee	225	//
jberry	0:9b057566f9ee	226	//
jberry	0:9b057566f9ee	227	#if SEPARATE_RETURN_STACK == 0
jberry	0:9b057566f9ee	228
jberry	0:9b057566f9ee	229	template<TPriority pr, word stack_size>
jberry	0:9b057566f9ee	230	class process : public TBaseProcess
jberry	0:9b057566f9ee	231	{
jberry	0:9b057566f9ee	232	public:
jberry	0:9b057566f9ee	233	INLINE_PROCESS_CTOR process();
jberry	0:9b057566f9ee	234
jberry	0:9b057566f9ee	235	OS_PROCESS static void Exec();
jberry	0:9b057566f9ee	236
jberry	0:9b057566f9ee	237	private:
jberry	0:9b057566f9ee	238	TStackItem Stack[stack_size/sizeof(TStackItem)];
jberry	0:9b057566f9ee	239	};
jberry	0:9b057566f9ee	240
jberry	0:9b057566f9ee	241	template<TPriority pr, word stack_size>
jberry	0:9b057566f9ee	242	OS::process<pr, stack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
jberry	0:9b057566f9ee	243	, pr
jberry	0:9b057566f9ee	244	, reinterpret_cast<void (*)()>(Exec) )
jberry	0:9b057566f9ee	245	{
jberry	0:9b057566f9ee	246	}
jberry	0:9b057566f9ee	247
jberry	0:9b057566f9ee	248	#else
jberry	0:9b057566f9ee	249
jberry	0:9b057566f9ee	250	template<TPriority pr, word stack_size, word rstack_size>
jberry	0:9b057566f9ee	251	class process : public TBaseProcess
jberry	0:9b057566f9ee	252	{
jberry	0:9b057566f9ee	253	public:
jberry	0:9b057566f9ee	254	INLINE_PROCESS_CTOR process();
jberry	0:9b057566f9ee	255
jberry	0:9b057566f9ee	256	OS_PROCESS static void Exec();
jberry	0:9b057566f9ee	257
jberry	0:9b057566f9ee	258	private:
jberry	0:9b057566f9ee	259	TStackItem Stack [stack_size/sizeof(TStackItem)];
jberry	0:9b057566f9ee	260	TStackItem RStack[rstack_size/sizeof(TStackItem)];
jberry	0:9b057566f9ee	261	};
jberry	0:9b057566f9ee	262
jberry	0:9b057566f9ee	263	template<TPriority pr, word stack_size, word rstack_size>
jberry	0:9b057566f9ee	264	process<pr, stack_size, rstack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
jberry	0:9b057566f9ee	265	, &RStack[rstack_size/sizeof(TStackItem)]
jberry	0:9b057566f9ee	266	, pr
jberry	0:9b057566f9ee	267	, reinterpret_cast<void (*)()>(Exec))
jberry	0:9b057566f9ee	268	{
jberry	0:9b057566f9ee	269	}
jberry	0:9b057566f9ee	270
jberry	0:9b057566f9ee	271	#endif
jberry	0:9b057566f9ee	272	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	273
jberry	0:9b057566f9ee	274	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	275	//
jberry	0:9b057566f9ee	276	// Miscellaneous
jberry	0:9b057566f9ee	277	//
jberry	0:9b057566f9ee	278	//
jberry	0:9b057566f9ee	279	INLINE inline void Run();
jberry	0:9b057566f9ee	280	INLINE inline void LockSystemTimer() { TCritSect cs; LOCK_SYSTEM_TIMER(); }
jberry	0:9b057566f9ee	281	INLINE inline void UnlockSystemTimer() { TCritSect cs; UNLOCK_SYSTEM_TIMER(); }
jberry	0:9b057566f9ee	282	void WakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	283	void ForceWakeUpProcess(TBaseProcess& p);
jberry	0:9b057566f9ee	284	INLINE inline void Sleep(TTimeout t = 0) { TBaseProcess::Sleep(t); }
jberry	0:9b057566f9ee	285
jberry	0:9b057566f9ee	286	INLINE inline bool IsProcessSleeping(const TBaseProcess& p)
jberry	0:9b057566f9ee	287	{
jberry	0:9b057566f9ee	288	TCritSect cs;
jberry	0:9b057566f9ee	289	if(p.Timeout)
jberry	0:9b057566f9ee	290	return true;
jberry	0:9b057566f9ee	291	else
jberry	0:9b057566f9ee	292	return false;
jberry	0:9b057566f9ee	293	}
jberry	0:9b057566f9ee	294
jberry	0:9b057566f9ee	295	INLINE inline bool IsProcessSuspended(const TBaseProcess& p)
jberry	0:9b057566f9ee	296	{
jberry	0:9b057566f9ee	297	TCritSect cs;
jberry	0:9b057566f9ee	298	if(Kernel.ReadyProcessMap & GetPrioTag(p.Priority))
jberry	0:9b057566f9ee	299	return false;
jberry	0:9b057566f9ee	300	else
jberry	0:9b057566f9ee	301	return true;
jberry	0:9b057566f9ee	302	}
jberry	0:9b057566f9ee	303	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	304
jberry	0:9b057566f9ee	305	#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
jberry	0:9b057566f9ee	306	INLINE inline dword GetTickCount() { TCritSect cs; return Kernel.SysTickCount; }
jberry	0:9b057566f9ee	307	#endif
jberry	0:9b057566f9ee	308
jberry	0:9b057566f9ee	309	#if scmRTOS_SYSTIMER_HOOK_ENABLE == 1
jberry	0:9b057566f9ee	310	INLINE_SYS_TIMER_HOOK void SystemTimerUserHook();
jberry	0:9b057566f9ee	311	#endif
jberry	0:9b057566f9ee	312
jberry	0:9b057566f9ee	313	#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
jberry	0:9b057566f9ee	314	INLINE_CONTEXT_SWITCH_HOOK void ContextSwitchUserHook();
jberry	0:9b057566f9ee	315	#endif
jberry	0:9b057566f9ee	316
jberry	0:9b057566f9ee	317	}
jberry	0:9b057566f9ee	318	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	319
jberry	0:9b057566f9ee	320	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	321	//
jberry	0:9b057566f9ee	322	/// Register Process
jberry	0:9b057566f9ee	323	///
jberry	0:9b057566f9ee	324	/// Places pointer to process in kernel's process table
jberry	0:9b057566f9ee	325	//
jberry	0:9b057566f9ee	326	void OS::TKernel::RegisterProcess(OS::TBaseProcess* const p)
jberry	0:9b057566f9ee	327	{
jberry	0:9b057566f9ee	328	ProcessTable[p->Priority] = p;
jberry	0:9b057566f9ee	329	}
jberry	0:9b057566f9ee	330	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	331	//
jberry	0:9b057566f9ee	332	/// System Timer Implementation
jberry	0:9b057566f9ee	333	///
jberry	0:9b057566f9ee	334	/// Performs process's timeouts checking and
jberry	0:9b057566f9ee	335	/// moving processes to ready-to-run state
jberry	0:9b057566f9ee	336	//
jberry	0:9b057566f9ee	337	void OS::TKernel::SystemTimer()
jberry	0:9b057566f9ee	338	{
jberry	0:9b057566f9ee	339	SYS_TIMER_CRIT_SECT();
jberry	0:9b057566f9ee	340	#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
jberry	0:9b057566f9ee	341	SysTickCount++;
jberry	0:9b057566f9ee	342	#endif
jberry	0:9b057566f9ee	343
jberry	0:9b057566f9ee	344	#if scmRTOS_PRIORITY_ORDER == 0
jberry	0:9b057566f9ee	345	const byte BaseIndex = 0;
jberry	0:9b057566f9ee	346	#else
jberry	0:9b057566f9ee	347	const byte BaseIndex = 1;
jberry	0:9b057566f9ee	348	#endif
jberry	0:9b057566f9ee	349
jberry	0:9b057566f9ee	350	for(byte i = BaseIndex; i < (scmRTOS_PROCESS_COUNT + BaseIndex); i++)
jberry	0:9b057566f9ee	351	{
jberry	0:9b057566f9ee	352	TBaseProcess* p = ProcessTable[i];
jberry	0:9b057566f9ee	353
jberry	0:9b057566f9ee	354	if(p->Timeout > 0)
jberry	0:9b057566f9ee	355	{
jberry	0:9b057566f9ee	356	if(--p->Timeout == 0)
jberry	0:9b057566f9ee	357	{
jberry	0:9b057566f9ee	358	SetProcessReady(p->Priority);
jberry	0:9b057566f9ee	359	}
jberry	0:9b057566f9ee	360	}
jberry	0:9b057566f9ee	361	}
jberry	0:9b057566f9ee	362	}
jberry	0:9b057566f9ee	363	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	364	//
jberry	0:9b057566f9ee	365	/// ISR optimized scheduler
jberry	0:9b057566f9ee	366	///
jberry	0:9b057566f9ee	367	/// !!! IMPORTANT: This function must be call from ISR services only !!!
jberry	0:9b057566f9ee	368	//
jberry	0:9b057566f9ee	369	//
jberry	0:9b057566f9ee	370	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
jberry	0:9b057566f9ee	371	void OS::TKernel::SchedISR()
jberry	0:9b057566f9ee	372	{
jberry	0:9b057566f9ee	373	byte NextPrty = GetHighPriority(ReadyProcessMap);
jberry	0:9b057566f9ee	374	if(NextPrty != CurProcPriority)
jberry	0:9b057566f9ee	375	{
jberry	0:9b057566f9ee	376	TStackItem* Next_SP = ProcessTable[NextPrty]->StackPointer;
jberry	0:9b057566f9ee	377	TStackItem** Curr_SP_addr = &(ProcessTable[CurProcPriority]->StackPointer);
jberry	0:9b057566f9ee	378	CurProcPriority = NextPrty;
jberry	0:9b057566f9ee	379	OS_ContextSwitcher(Curr_SP_addr, Next_SP);
jberry	0:9b057566f9ee	380	}
jberry	0:9b057566f9ee	381	}
jberry	0:9b057566f9ee	382	#else
jberry	0:9b057566f9ee	383	void OS::TKernel::SchedISR()
jberry	0:9b057566f9ee	384	{
jberry	0:9b057566f9ee	385	byte NextPrty = GetHighPriority(ReadyProcessMap);
jberry	0:9b057566f9ee	386	if(NextPrty != CurProcPriority)
jberry	0:9b057566f9ee	387	{
jberry	0:9b057566f9ee	388	SchedProcPriority = NextPrty;
jberry	0:9b057566f9ee	389	RaiseContextSwitch();
jberry	0:9b057566f9ee	390	}
jberry	0:9b057566f9ee	391	}
jberry	0:9b057566f9ee	392	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	393	bool OS::TKernel::IsContextSwitchDone() const volatile
jberry	0:9b057566f9ee	394	{
jberry	0:9b057566f9ee	395	byte cur = CurProcPriority; ///< reading to temporary vars is performed due to
jberry	0:9b057566f9ee	396	byte sched = SchedProcPriority; ///< suppress warning about order of volatile access
jberry	0:9b057566f9ee	397	return cur == sched;
jberry	0:9b057566f9ee	398	}
jberry	0:9b057566f9ee	399	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	400	TStackItem* OS::TKernel::ContextSwitchHook(TStackItem* sp)
jberry	0:9b057566f9ee	401	{
jberry	0:9b057566f9ee	402	ProcessTable[CurProcPriority]->StackPointer = sp;
jberry	0:9b057566f9ee	403	sp = ProcessTable[SchedProcPriority]->StackPointer;
jberry	0:9b057566f9ee	404
jberry	0:9b057566f9ee	405	#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
jberry	0:9b057566f9ee	406	ContextSwitchUserHook();
jberry	0:9b057566f9ee	407	#endif
jberry	0:9b057566f9ee	408
jberry	0:9b057566f9ee	409	CurProcPriority = SchedProcPriority;
jberry	0:9b057566f9ee	410	return sp;
jberry	0:9b057566f9ee	411	}
jberry	0:9b057566f9ee	412	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	413	#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
jberry	0:9b057566f9ee	414
jberry	0:9b057566f9ee	415	//-----------------------------------------------------------------------------
jberry	0:9b057566f9ee	416	/// Start Operation
jberry	0:9b057566f9ee	417	INLINE inline void OS::Run()
jberry	0:9b057566f9ee	418	{
jberry	0:9b057566f9ee	419	TStackItem* sp = Kernel.ProcessTable[pr0]->StackPointer;
jberry	0:9b057566f9ee	420	OS_Start(sp);
jberry	0:9b057566f9ee	421	}
jberry	0:9b057566f9ee	422
jberry	0:9b057566f9ee	423	#include <OS_Services.h>
jberry	0:9b057566f9ee	424
jberry	0:9b057566f9ee	425	#endif // OS_KERNEL_H
jberry	0:9b057566f9ee	426

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Nov 2010
Imports:	6
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	1
Followers:	1

scmRTOS/Common/OS_Kernel.h@0:9b057566f9ee, 2010-11-01 (annotated)

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