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.cpp@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 Source
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) 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	#include "scmRTOS.h"
jberry	0:9b057566f9ee	43
jberry	0:9b057566f9ee	44	using namespace OS;
jberry	0:9b057566f9ee	45	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	46	OS::TKernel OS::Kernel;
jberry	0:9b057566f9ee	47
jberry	0:9b057566f9ee	48	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	49	#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
jberry	0:9b057566f9ee	50	void TKernel::Sched()
jberry	0:9b057566f9ee	51	{
jberry	0:9b057566f9ee	52	byte NextPrty = GetHighPriority(ReadyProcessMap);
jberry	0:9b057566f9ee	53	if(NextPrty != CurProcPriority)
jberry	0:9b057566f9ee	54	{
jberry	0:9b057566f9ee	55	TStackItem* Next_SP = ProcessTable[NextPrty]->StackPointer;
jberry	0:9b057566f9ee	56	TStackItem** Curr_SP_addr = &(ProcessTable[CurProcPriority]->StackPointer);
jberry	0:9b057566f9ee	57	CurProcPriority = NextPrty;
jberry	0:9b057566f9ee	58	OS_ContextSwitcher(Curr_SP_addr, Next_SP);
jberry	0:9b057566f9ee	59	}
jberry	0:9b057566f9ee	60	}
jberry	0:9b057566f9ee	61	#else
jberry	0:9b057566f9ee	62	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	63	void TKernel::Sched()
jberry	0:9b057566f9ee	64	{
jberry	0:9b057566f9ee	65	byte NextPrty = GetHighPriority(ReadyProcessMap);
jberry	0:9b057566f9ee	66	if(NextPrty != CurProcPriority)
jberry	0:9b057566f9ee	67	{
jberry	0:9b057566f9ee	68	SchedProcPriority = NextPrty;
jberry	0:9b057566f9ee	69
jberry	0:9b057566f9ee	70	RaiseContextSwitch();
jberry	0:9b057566f9ee	71	do
jberry	0:9b057566f9ee	72	{
jberry	0:9b057566f9ee	73	EnableContextSwitch();
jberry	0:9b057566f9ee	74	DUMMY_INSTR();
jberry	0:9b057566f9ee	75	DisableContextSwitch();
jberry	0:9b057566f9ee	76	}
jberry	0:9b057566f9ee	77	while(!IsContextSwitchDone());
jberry	0:9b057566f9ee	78	}
jberry	0:9b057566f9ee	79	}
jberry	0:9b057566f9ee	80	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	81	TStackItem* OS_ContextSwitchHook(TStackItem* sp) { return OS::Kernel.ContextSwitchHook(sp); }
jberry	0:9b057566f9ee	82	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	83	#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
jberry	0:9b057566f9ee	84	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	85	void TBaseProcess::Sleep(TTimeout timeout)
jberry	0:9b057566f9ee	86	{
jberry	0:9b057566f9ee	87	TCritSect cs;
jberry	0:9b057566f9ee	88
jberry	0:9b057566f9ee	89	Kernel.ProcessTable[Kernel.CurProcPriority]->Timeout = timeout;
jberry	0:9b057566f9ee	90	Kernel.SetProcessUnready(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	91	Kernel.Scheduler();
jberry	0:9b057566f9ee	92	}
jberry	0:9b057566f9ee	93	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	94	void OS::WakeUpProcess(TBaseProcess& p)
jberry	0:9b057566f9ee	95	{
jberry	0:9b057566f9ee	96	TCritSect cs;
jberry	0:9b057566f9ee	97
jberry	0:9b057566f9ee	98	if(p.Timeout)
jberry	0:9b057566f9ee	99	{
jberry	0:9b057566f9ee	100	p.Timeout = 0;
jberry	0:9b057566f9ee	101	Kernel.SetProcessReady(p.Priority);
jberry	0:9b057566f9ee	102	Kernel.Scheduler();
jberry	0:9b057566f9ee	103	}
jberry	0:9b057566f9ee	104	}
jberry	0:9b057566f9ee	105	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	106	void OS::ForceWakeUpProcess(TBaseProcess& p)
jberry	0:9b057566f9ee	107	{
jberry	0:9b057566f9ee	108	TCritSect cs;
jberry	0:9b057566f9ee	109
jberry	0:9b057566f9ee	110	p.Timeout = 0;
jberry	0:9b057566f9ee	111	Kernel.SetProcessReady(p.Priority);
jberry	0:9b057566f9ee	112	Kernel.Scheduler();
jberry	0:9b057566f9ee	113	}
jberry	0:9b057566f9ee	114	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	115

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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.cpp@0:9b057566f9ee, 2010-11-01 (annotated)

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