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_Services.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 Services 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	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	47	//
jberry	0:9b057566f9ee	48	//
jberry	0:9b057566f9ee	49	// TEventFlag
jberry	0:9b057566f9ee	50	//
jberry	0:9b057566f9ee	51	//
jberry	0:9b057566f9ee	52	bool OS::TEventFlag::Wait(TTimeout timeout)
jberry	0:9b057566f9ee	53	{
jberry	0:9b057566f9ee	54	TCritSect cs;
jberry	0:9b057566f9ee	55
jberry	0:9b057566f9ee	56	if(Value) // if flag already signaled
jberry	0:9b057566f9ee	57	{
jberry	0:9b057566f9ee	58	Value = efOff; // clear flag
jberry	0:9b057566f9ee	59	return true;
jberry	0:9b057566f9ee	60	}
jberry	0:9b057566f9ee	61	else
jberry	0:9b057566f9ee	62	{
jberry	0:9b057566f9ee	63	TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
jberry	0:9b057566f9ee	64	p->Timeout = timeout;
jberry	0:9b057566f9ee	65	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	66
jberry	0:9b057566f9ee	67	SetPrioTag(ProcessMap, PrioTag); // put current process to the wait map
jberry	0:9b057566f9ee	68	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	69
jberry	0:9b057566f9ee	70	Kernel.Scheduler();
jberry	0:9b057566f9ee	71
jberry	0:9b057566f9ee	72	p->Timeout = 0;
jberry	0:9b057566f9ee	73
jberry	0:9b057566f9ee	74	if( !(ProcessMap & PrioTag) ) // if waked up by signal() or signal_ISR()
jberry	0:9b057566f9ee	75	return true;
jberry	0:9b057566f9ee	76
jberry	0:9b057566f9ee	77	ClrPrioTag(ProcessMap, PrioTag); // otherwise waked up by timeout or by
jberry	0:9b057566f9ee	78	return false; // OS::ForceWakeUpProcess(), remove process from the wait map
jberry	0:9b057566f9ee	79	}
jberry	0:9b057566f9ee	80	}
jberry	0:9b057566f9ee	81	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	82	void OS::TEventFlag::Signal()
jberry	0:9b057566f9ee	83	{
jberry	0:9b057566f9ee	84	TCritSect cs;
jberry	0:9b057566f9ee	85	if(ProcessMap) // if any process waits for event
jberry	0:9b057566f9ee	86	{
jberry	0:9b057566f9ee	87	TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout expired
jberry	0:9b057566f9ee	88	// or it was waked up by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	89
jberry	0:9b057566f9ee	90	if( ProcessMap & ~Timeouted ) // if any process has to be waked up
jberry	0:9b057566f9ee	91	{
jberry	0:9b057566f9ee	92	SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
jberry	0:9b057566f9ee	93	ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
jberry	0:9b057566f9ee	94	// Used to check that process waked up by signal() or signalISR()
jberry	0:9b057566f9ee	95	// and not by timeout or OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	96	Kernel.Scheduler();
jberry	0:9b057566f9ee	97	return;
jberry	0:9b057566f9ee	98	}
jberry	0:9b057566f9ee	99	}
jberry	0:9b057566f9ee	100	Value = efOn;
jberry	0:9b057566f9ee	101	}
jberry	0:9b057566f9ee	102	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	103
jberry	0:9b057566f9ee	104	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	105	//
jberry	0:9b057566f9ee	106	//
jberry	0:9b057566f9ee	107	// TMutex
jberry	0:9b057566f9ee	108	//
jberry	0:9b057566f9ee	109	//
jberry	0:9b057566f9ee	110	void OS::TMutex::Lock()
jberry	0:9b057566f9ee	111	{
jberry	0:9b057566f9ee	112	TCritSect cs;
jberry	0:9b057566f9ee	113
jberry	0:9b057566f9ee	114	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	115	while(ValueTag)
jberry	0:9b057566f9ee	116	{
jberry	0:9b057566f9ee	117	SetPrioTag(ProcessMap, PrioTag); // mutex already locked by another process, put current process to the wait map
jberry	0:9b057566f9ee	118	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	119
jberry	0:9b057566f9ee	120	Kernel.Scheduler();
jberry	0:9b057566f9ee	121	}
jberry	0:9b057566f9ee	122	ValueTag = PrioTag; // mutex has been successfully locked
jberry	0:9b057566f9ee	123	}
jberry	0:9b057566f9ee	124	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	125	void OS::TMutex::Unlock()
jberry	0:9b057566f9ee	126	{
jberry	0:9b057566f9ee	127	TCritSect cs;
jberry	0:9b057566f9ee	128
jberry	0:9b057566f9ee	129	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	130	if(ValueTag != PrioTag) return; // the only process that had locked mutex can unlock the mutex
jberry	0:9b057566f9ee	131	ValueTag = 0;
jberry	0:9b057566f9ee	132	if(ProcessMap)
jberry	0:9b057566f9ee	133	{
jberry	0:9b057566f9ee	134	byte pr = GetHighPriority(ProcessMap);
jberry	0:9b057566f9ee	135	PrioTag = GetPrioTag(pr);
jberry	0:9b057566f9ee	136	ClrPrioTag(ProcessMap, PrioTag); // remove next ready process from the wait map
jberry	0:9b057566f9ee	137	SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
jberry	0:9b057566f9ee	138	Kernel.Scheduler();
jberry	0:9b057566f9ee	139	}
jberry	0:9b057566f9ee	140	}
jberry	0:9b057566f9ee	141	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	142	void OS::TMutex::UnlockISR()
jberry	0:9b057566f9ee	143	{
jberry	0:9b057566f9ee	144	TCritSect cs;
jberry	0:9b057566f9ee	145
jberry	0:9b057566f9ee	146	ValueTag = 0;
jberry	0:9b057566f9ee	147	if(ProcessMap)
jberry	0:9b057566f9ee	148	{
jberry	0:9b057566f9ee	149	byte pr = GetHighPriority(ProcessMap);
jberry	0:9b057566f9ee	150	TProcessMap PrioTag = GetPrioTag(pr);
jberry	0:9b057566f9ee	151	ClrPrioTag(ProcessMap, PrioTag); // remove next ready process from the wait map
jberry	0:9b057566f9ee	152	SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
jberry	0:9b057566f9ee	153	}
jberry	0:9b057566f9ee	154	}
jberry	0:9b057566f9ee	155	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	156
jberry	0:9b057566f9ee	157
jberry	0:9b057566f9ee	158	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	159	//
jberry	0:9b057566f9ee	160	//
jberry	0:9b057566f9ee	161	// TChannel
jberry	0:9b057566f9ee	162	//
jberry	0:9b057566f9ee	163	//
jberry	0:9b057566f9ee	164	void OS::TChannel::CheckWaiters(TProcessMap& pm)
jberry	0:9b057566f9ee	165	{
jberry	0:9b057566f9ee	166	if(pm)
jberry	0:9b057566f9ee	167	{
jberry	0:9b057566f9ee	168	byte pr = GetHighPriority(pm);
jberry	0:9b057566f9ee	169	TProcessMap PrioTag = GetPrioTag(pr);
jberry	0:9b057566f9ee	170	ClrPrioTag(pm, PrioTag); // remove next ready process from the wait map
jberry	0:9b057566f9ee	171	SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
jberry	0:9b057566f9ee	172	Kernel.Scheduler();
jberry	0:9b057566f9ee	173	}
jberry	0:9b057566f9ee	174	}
jberry	0:9b057566f9ee	175	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	176	void OS::TChannel::Push(byte x)
jberry	0:9b057566f9ee	177	{
jberry	0:9b057566f9ee	178	TCritSect cs;
jberry	0:9b057566f9ee	179
jberry	0:9b057566f9ee	180	while (!Cbuf.get_free_size())
jberry	0:9b057566f9ee	181	{
jberry	0:9b057566f9ee	182	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	183	SetPrioTag (ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
jberry	0:9b057566f9ee	184	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	185	Kernel.Scheduler(); // wait until waked-up by Pop() or Read()
jberry	0:9b057566f9ee	186	}
jberry	0:9b057566f9ee	187
jberry	0:9b057566f9ee	188	Cbuf.put(x);
jberry	0:9b057566f9ee	189	CheckWaiters(ConsumersProcessMap);
jberry	0:9b057566f9ee	190	}
jberry	0:9b057566f9ee	191	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	192	byte OS::TChannel::Pop()
jberry	0:9b057566f9ee	193	{
jberry	0:9b057566f9ee	194	TCritSect cs;
jberry	0:9b057566f9ee	195	byte x;
jberry	0:9b057566f9ee	196
jberry	0:9b057566f9ee	197	while(!Cbuf.get_count())
jberry	0:9b057566f9ee	198	{
jberry	0:9b057566f9ee	199	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	200	SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
jberry	0:9b057566f9ee	201	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	202	Kernel.Scheduler(); // wait until waked up by Push() or Write()
jberry	0:9b057566f9ee	203	}
jberry	0:9b057566f9ee	204	x = Cbuf.get();
jberry	0:9b057566f9ee	205	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	206	return x;
jberry	0:9b057566f9ee	207	}
jberry	0:9b057566f9ee	208	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	209	void OS::TChannel::Write(const byte* data, const byte count)
jberry	0:9b057566f9ee	210	{
jberry	0:9b057566f9ee	211	TCritSect cs;
jberry	0:9b057566f9ee	212
jberry	0:9b057566f9ee	213	while(Cbuf.get_free_size() < count)
jberry	0:9b057566f9ee	214	{
jberry	0:9b057566f9ee	215	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	216	SetPrioTag(ProducersProcessMap, PrioTag); // channel has not enough space, put current process to the wait map
jberry	0:9b057566f9ee	217	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	218	Kernel.Scheduler(); // wait until waked up by Read() or Pop()
jberry	0:9b057566f9ee	219	}
jberry	0:9b057566f9ee	220
jberry	0:9b057566f9ee	221	Cbuf.write(data, count);
jberry	0:9b057566f9ee	222	CheckWaiters(ConsumersProcessMap);
jberry	0:9b057566f9ee	223	}
jberry	0:9b057566f9ee	224	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	225	void OS::TChannel::Read(byte* const data, const byte count)
jberry	0:9b057566f9ee	226	{
jberry	0:9b057566f9ee	227	TCritSect cs;
jberry	0:9b057566f9ee	228
jberry	0:9b057566f9ee	229	while(Cbuf.get_count() < count)
jberry	0:9b057566f9ee	230	{
jberry	0:9b057566f9ee	231	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	232	SetPrioTag(ConsumersProcessMap, PrioTag); // channel doesn't contain enough data, put current process to the wait map
jberry	0:9b057566f9ee	233	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	234	Kernel.Scheduler(); // wait until waked up by Write() or Push()
jberry	0:9b057566f9ee	235	}
jberry	0:9b057566f9ee	236
jberry	0:9b057566f9ee	237	Cbuf.read(data, count);
jberry	0:9b057566f9ee	238	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	239	}
jberry	0:9b057566f9ee	240	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	241
jberry	0:9b057566f9ee	242	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	243	//
jberry	0:9b057566f9ee	244	// OS::message template
jberry	0:9b057566f9ee	245	//
jberry	0:9b057566f9ee	246	// Function-members implementation
jberry	0:9b057566f9ee	247	//
jberry	0:9b057566f9ee	248	//
jberry	0:9b057566f9ee	249	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	250	bool OS::TBaseMessage::wait(TTimeout timeout)
jberry	0:9b057566f9ee	251	{
jberry	0:9b057566f9ee	252	TCritSect cs;
jberry	0:9b057566f9ee	253
jberry	0:9b057566f9ee	254	if(NonEmpty) // message alredy send
jberry	0:9b057566f9ee	255	{
jberry	0:9b057566f9ee	256	NonEmpty = false;
jberry	0:9b057566f9ee	257	return true;
jberry	0:9b057566f9ee	258	}
jberry	0:9b057566f9ee	259	else
jberry	0:9b057566f9ee	260	{
jberry	0:9b057566f9ee	261	TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
jberry	0:9b057566f9ee	262	p->Timeout = timeout;
jberry	0:9b057566f9ee	263	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	264
jberry	0:9b057566f9ee	265	SetPrioTag(ProcessMap, PrioTag); // put current process to the wait map
jberry	0:9b057566f9ee	266	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	267	Kernel.Scheduler(); // wait until wake up
jberry	0:9b057566f9ee	268
jberry	0:9b057566f9ee	269	p->Timeout = 0;
jberry	0:9b057566f9ee	270	if( !(ProcessMap & PrioTag) ) // if waked up by send() or sendISR()
jberry	0:9b057566f9ee	271	return true;
jberry	0:9b057566f9ee	272
jberry	0:9b057566f9ee	273	ClrPrioTag(ProcessMap, PrioTag); // otherwise waked up by timeout or by
jberry	0:9b057566f9ee	274	return false; // OS::ForceWakeUpProcess(), remove process from wait map
jberry	0:9b057566f9ee	275	}
jberry	0:9b057566f9ee	276	}
jberry	0:9b057566f9ee	277	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	278	void OS::TBaseMessage::send()
jberry	0:9b057566f9ee	279	{
jberry	0:9b057566f9ee	280	TCritSect cs;
jberry	0:9b057566f9ee	281
jberry	0:9b057566f9ee	282	if(ProcessMap)
jberry	0:9b057566f9ee	283	{
jberry	0:9b057566f9ee	284	TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout expired,
jberry	0:9b057566f9ee	285	// or it was waked up by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	286	if( ProcessMap & ~Timeouted ) // if any process has to be waked up
jberry	0:9b057566f9ee	287	{
jberry	0:9b057566f9ee	288	SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
jberry	0:9b057566f9ee	289	ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
jberry	0:9b057566f9ee	290	Kernel.Scheduler();
jberry	0:9b057566f9ee	291	return;
jberry	0:9b057566f9ee	292	}
jberry	0:9b057566f9ee	293	}
jberry	0:9b057566f9ee	294
jberry	0:9b057566f9ee	295	NonEmpty = true;
jberry	0:9b057566f9ee	296	}
jberry	0:9b057566f9ee	297	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	298

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning