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.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 Services 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) 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_SERVICES_H
jberry	0:9b057566f9ee	43	#define OS_SERVICES_H
jberry	0:9b057566f9ee	44
jberry	0:9b057566f9ee	45	namespace OS
jberry	0:9b057566f9ee	46	{
jberry	0:9b057566f9ee	47	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	48	//
jberry	0:9b057566f9ee	49	// NAME : Mutex
jberry	0:9b057566f9ee	50	//
jberry	0:9b057566f9ee	51	/// Binary semaphore for support of mutual exclusion
jberry	0:9b057566f9ee	52	//
jberry	0:9b057566f9ee	53	// DESCRIPTION:
jberry	0:9b057566f9ee	54	//
jberry	0:9b057566f9ee	55	//
jberry	0:9b057566f9ee	56	class TMutex
jberry	0:9b057566f9ee	57	{
jberry	0:9b057566f9ee	58	public:
jberry	0:9b057566f9ee	59	INLINE TMutex() : ProcessMap(0), ValueTag(0) { }
jberry	0:9b057566f9ee	60	void Lock();
jberry	0:9b057566f9ee	61	void Unlock();
jberry	0:9b057566f9ee	62	void UnlockISR();
jberry	0:9b057566f9ee	63
jberry	0:9b057566f9ee	64	INLINE bool LockSoftly() { TCritSect cs; if(ValueTag) return false; else Lock(); return true; }
jberry	0:9b057566f9ee	65	INLINE bool IsLocked() const { TCritSect cs; if(ValueTag) return true; else return false; }
jberry	0:9b057566f9ee	66
jberry	0:9b057566f9ee	67	private:
jberry	0:9b057566f9ee	68	TProcessMap ProcessMap;
jberry	0:9b057566f9ee	69	TProcessMap ValueTag;
jberry	0:9b057566f9ee	70
jberry	0:9b057566f9ee	71	};
jberry	0:9b057566f9ee	72	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	73
jberry	0:9b057566f9ee	74	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	75	//
jberry	0:9b057566f9ee	76	/// Event Flag
jberry	0:9b057566f9ee	77	///
jberry	0:9b057566f9ee	78	/// Intended for processes synchronization and
jberry	0:9b057566f9ee	79	/// event notification one (or more) process by another
jberry	0:9b057566f9ee	80	//
jberry	0:9b057566f9ee	81	// DESCRIPTION:
jberry	0:9b057566f9ee	82	//
jberry	0:9b057566f9ee	83	//
jberry	0:9b057566f9ee	84	class TEventFlag
jberry	0:9b057566f9ee	85	{
jberry	0:9b057566f9ee	86	public:
jberry	0:9b057566f9ee	87	enum TValue { efOn = 1, efOff= 0 }; // prefix 'ef' means: "Event Flag"
jberry	0:9b057566f9ee	88
jberry	0:9b057566f9ee	89	public:
jberry	0:9b057566f9ee	90	INLINE TEventFlag(TValue init_val = efOff) : ProcessMap(0), Value(init_val) { }
jberry	0:9b057566f9ee	91
jberry	0:9b057566f9ee	92	bool Wait(TTimeout timeout = 0);
jberry	0:9b057566f9ee	93	void Signal();
jberry	0:9b057566f9ee	94	INLINE void Clear() { TCritSect cs; Value = efOff; }
jberry	0:9b057566f9ee	95	INLINE inline void SignalISR();
jberry	0:9b057566f9ee	96	INLINE bool IsSignaled() { TCritSect cs; if(Value == efOn) return true; else return false; }
jberry	0:9b057566f9ee	97
jberry	0:9b057566f9ee	98	private:
jberry	0:9b057566f9ee	99	TProcessMap ProcessMap;
jberry	0:9b057566f9ee	100	TValue Value;
jberry	0:9b057566f9ee	101	};
jberry	0:9b057566f9ee	102	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	103
jberry	0:9b057566f9ee	104	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	105	//
jberry	0:9b057566f9ee	106	/// TChannel
jberry	0:9b057566f9ee	107	///
jberry	0:9b057566f9ee	108	/// Byte-wide data channel for transferring "raw" data
jberry	0:9b057566f9ee	109	//
jberry	0:9b057566f9ee	110	// DESCRIPTION:
jberry	0:9b057566f9ee	111	//
jberry	0:9b057566f9ee	112	//
jberry	0:9b057566f9ee	113	class TChannel
jberry	0:9b057566f9ee	114	{
jberry	0:9b057566f9ee	115	public:
jberry	0:9b057566f9ee	116	INLINE TChannel(byte* buf, byte size) : Cbuf(buf, size) { }
jberry	0:9b057566f9ee	117	void Push(byte x);
jberry	0:9b057566f9ee	118	byte Pop();
jberry	0:9b057566f9ee	119	void Write(const byte* data, const byte count);
jberry	0:9b057566f9ee	120	void Read(byte* const data, const byte count);
jberry	0:9b057566f9ee	121
jberry	0:9b057566f9ee	122	INLINE byte GetCount() const { TCritSect cs; return Cbuf.get_count(); }
jberry	0:9b057566f9ee	123
jberry	0:9b057566f9ee	124	private:
jberry	0:9b057566f9ee	125	TProcessMap ProducersProcessMap;
jberry	0:9b057566f9ee	126	TProcessMap ConsumersProcessMap;
jberry	0:9b057566f9ee	127	usr::TCbuf Cbuf;
jberry	0:9b057566f9ee	128
jberry	0:9b057566f9ee	129	private:
jberry	0:9b057566f9ee	130	void CheckWaiters(TProcessMap& pm);
jberry	0:9b057566f9ee	131	};
jberry	0:9b057566f9ee	132	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	133
jberry	0:9b057566f9ee	134
jberry	0:9b057566f9ee	135	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	136	//
jberry	0:9b057566f9ee	137	// NAME : channel
jberry	0:9b057566f9ee	138	//
jberry	0:9b057566f9ee	139	// PURPOSE : Data channel for transferring data
jberry	0:9b057566f9ee	140	// objects of arbitrary type
jberry	0:9b057566f9ee	141	//
jberry	0:9b057566f9ee	142	// DESCRIPTION:
jberry	0:9b057566f9ee	143	//
jberry	0:9b057566f9ee	144	//
jberry	0:9b057566f9ee	145	template<typename T, word Size, typename S = byte>
jberry	0:9b057566f9ee	146	/// channel
jberry	0:9b057566f9ee	147	///
jberry	0:9b057566f9ee	148	/// Data channel for transferring data objects of arbitrary type
jberry	0:9b057566f9ee	149	class channel
jberry	0:9b057566f9ee	150	{
jberry	0:9b057566f9ee	151	public:
jberry	0:9b057566f9ee	152	INLINE channel() : ProducersProcessMap(0)
jberry	0:9b057566f9ee	153	, ConsumersProcessMap(0)
jberry	0:9b057566f9ee	154	, pool()
jberry	0:9b057566f9ee	155	{
jberry	0:9b057566f9ee	156	}
jberry	0:9b057566f9ee	157
jberry	0:9b057566f9ee	158	//----------------------------------------------------------------
jberry	0:9b057566f9ee	159	//
jberry	0:9b057566f9ee	160	// Data transfer functions
jberry	0:9b057566f9ee	161	//
jberry	0:9b057566f9ee	162	void write(const T* data, const S cnt);
jberry	0:9b057566f9ee	163	bool read (T* const data, const S cnt, TTimeout timeout = 0);
jberry	0:9b057566f9ee	164
jberry	0:9b057566f9ee	165	void push (const T& item);
jberry	0:9b057566f9ee	166	void push_front(const T& item);
jberry	0:9b057566f9ee	167
jberry	0:9b057566f9ee	168	bool pop (T& item, TTimeout timeout = 0);
jberry	0:9b057566f9ee	169	bool pop_back(T& item, TTimeout timeout = 0);
jberry	0:9b057566f9ee	170
jberry	0:9b057566f9ee	171
jberry	0:9b057566f9ee	172	//----------------------------------------------------------------
jberry	0:9b057566f9ee	173	//
jberry	0:9b057566f9ee	174	// Service functions
jberry	0:9b057566f9ee	175	//
jberry	0:9b057566f9ee	176	INLINE S get_count() const { TCritSect cs; return pool.get_count(); }
jberry	0:9b057566f9ee	177	INLINE S get_free_size() const { TCritSect cs; return pool.get_free_size(); }
jberry	0:9b057566f9ee	178	void flush();
jberry	0:9b057566f9ee	179	//const T& operator[](const S index) { TCritSect cs; return pool[index]; }
jberry	0:9b057566f9ee	180
jberry	0:9b057566f9ee	181
jberry	0:9b057566f9ee	182	private:
jberry	0:9b057566f9ee	183	TProcessMap ProducersProcessMap;
jberry	0:9b057566f9ee	184	TProcessMap ConsumersProcessMap;
jberry	0:9b057566f9ee	185	usr::ring_buffer<T, Size, S> pool;
jberry	0:9b057566f9ee	186
jberry	0:9b057566f9ee	187	private:
jberry	0:9b057566f9ee	188	void CheckWaiters(TProcessMap& pm);
jberry	0:9b057566f9ee	189	};
jberry	0:9b057566f9ee	190
jberry	0:9b057566f9ee	191	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	192
jberry	0:9b057566f9ee	193	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	194	//
jberry	0:9b057566f9ee	195	/// message
jberry	0:9b057566f9ee	196	///
jberry	0:9b057566f9ee	197	/// Template for messages
jberry	0:9b057566f9ee	198	//
jberry	0:9b057566f9ee	199	// DESCRIPTION:
jberry	0:9b057566f9ee	200	//
jberry	0:9b057566f9ee	201	//
jberry	0:9b057566f9ee	202	class TBaseMessage
jberry	0:9b057566f9ee	203	{
jberry	0:9b057566f9ee	204	public:
jberry	0:9b057566f9ee	205	INLINE TBaseMessage() : ProcessMap(0), NonEmpty(false) { }
jberry	0:9b057566f9ee	206
jberry	0:9b057566f9ee	207	bool wait (TTimeout timeout = 0);
jberry	0:9b057566f9ee	208	void send();
jberry	0:9b057566f9ee	209	INLINE inline void sendISR();
jberry	0:9b057566f9ee	210	INLINE bool is_non_empty() const { TCritSect cs; return NonEmpty; }
jberry	0:9b057566f9ee	211	INLINE void reset () { TCritSect cs; NonEmpty = false; }
jberry	0:9b057566f9ee	212
jberry	0:9b057566f9ee	213	private:
jberry	0:9b057566f9ee	214	TProcessMap ProcessMap;
jberry	0:9b057566f9ee	215	bool NonEmpty;
jberry	0:9b057566f9ee	216	};
jberry	0:9b057566f9ee	217	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	218	template<typename T>
jberry	0:9b057566f9ee	219	class message : public TBaseMessage
jberry	0:9b057566f9ee	220	{
jberry	0:9b057566f9ee	221	public:
jberry	0:9b057566f9ee	222	INLINE message() : TBaseMessage() { }
jberry	0:9b057566f9ee	223	INLINE const T& operator=(const T& msg) { TCritSect cs; Msg = msg; return Msg; }
jberry	0:9b057566f9ee	224	INLINE operator T() const { TCritSect cs; return Msg; }
jberry	0:9b057566f9ee	225
jberry	0:9b057566f9ee	226	private:
jberry	0:9b057566f9ee	227	T Msg;
jberry	0:9b057566f9ee	228	};
jberry	0:9b057566f9ee	229	//--------------------------------------------------------------------------
jberry	0:9b057566f9ee	230	}
jberry	0:9b057566f9ee	231	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	232	//
jberry	0:9b057566f9ee	233	// Function-members implementation
jberry	0:9b057566f9ee	234	//
jberry	0:9b057566f9ee	235	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	236	void OS::TEventFlag::SignalISR()
jberry	0:9b057566f9ee	237	{
jberry	0:9b057566f9ee	238	TCritSect cs;
jberry	0:9b057566f9ee	239	if(ProcessMap) // if any process waits for event
jberry	0:9b057566f9ee	240	{
jberry	0:9b057566f9ee	241	TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout
jberry	0:9b057566f9ee	242	// expired, or it was waked up by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	243	if( ProcessMap & ~Timeouted ) // if any process has to be waked up
jberry	0:9b057566f9ee	244	{
jberry	0:9b057566f9ee	245	SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
jberry	0:9b057566f9ee	246	ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
jberry	0:9b057566f9ee	247	return;
jberry	0:9b057566f9ee	248	}
jberry	0:9b057566f9ee	249	}
jberry	0:9b057566f9ee	250	Value = efOn;
jberry	0:9b057566f9ee	251	}
jberry	0:9b057566f9ee	252	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	253	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	254	void OS::channel<T, Size, S>::CheckWaiters(TProcessMap& pm)
jberry	0:9b057566f9ee	255	{
jberry	0:9b057566f9ee	256	if(pm)
jberry	0:9b057566f9ee	257	{
jberry	0:9b057566f9ee	258	TProcessMap Timeouted = Kernel.ReadyProcessMap;
jberry	0:9b057566f9ee	259
jberry	0:9b057566f9ee	260	SetPrioTag(Kernel.ReadyProcessMap, pm); // place all waiting processes to the ready map
jberry	0:9b057566f9ee	261	ClrPrioTag(pm, ~Timeouted); // remove waiting processes from the wait map
jberry	0:9b057566f9ee	262	Kernel.Scheduler();
jberry	0:9b057566f9ee	263	}
jberry	0:9b057566f9ee	264	}
jberry	0:9b057566f9ee	265	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	266	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	267	void OS::channel<T, Size, S>::push(const T& item)
jberry	0:9b057566f9ee	268	{
jberry	0:9b057566f9ee	269	TCritSect cs;
jberry	0:9b057566f9ee	270
jberry	0:9b057566f9ee	271	while(!pool.get_free_size())
jberry	0:9b057566f9ee	272	{
jberry	0:9b057566f9ee	273	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	274	SetPrioTag(ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
jberry	0:9b057566f9ee	275	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	276	Kernel.Scheduler();
jberry	0:9b057566f9ee	277	}
jberry	0:9b057566f9ee	278
jberry	0:9b057566f9ee	279	pool.push_back(item);
jberry	0:9b057566f9ee	280	CheckWaiters(ConsumersProcessMap);
jberry	0:9b057566f9ee	281	}
jberry	0:9b057566f9ee	282	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	283	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	284	void OS::channel<T, Size, S>::push_front(const T& item)
jberry	0:9b057566f9ee	285	{
jberry	0:9b057566f9ee	286	TCritSect cs;
jberry	0:9b057566f9ee	287
jberry	0:9b057566f9ee	288	while(!pool.get_free_size())
jberry	0:9b057566f9ee	289	{
jberry	0:9b057566f9ee	290	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	291	SetPrioTag(ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
jberry	0:9b057566f9ee	292	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	293	Kernel.Scheduler();
jberry	0:9b057566f9ee	294	}
jberry	0:9b057566f9ee	295
jberry	0:9b057566f9ee	296	pool.push_front(item);
jberry	0:9b057566f9ee	297	CheckWaiters(ConsumersProcessMap);
jberry	0:9b057566f9ee	298	}
jberry	0:9b057566f9ee	299	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	300	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	301	bool OS::channel<T, Size, S>::pop(T& item, TTimeout timeout)
jberry	0:9b057566f9ee	302	{
jberry	0:9b057566f9ee	303	TCritSect cs;
jberry	0:9b057566f9ee	304
jberry	0:9b057566f9ee	305	if(pool.get_count())
jberry	0:9b057566f9ee	306	{
jberry	0:9b057566f9ee	307	item = pool.pop();
jberry	0:9b057566f9ee	308	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	309	return true;
jberry	0:9b057566f9ee	310	}
jberry	0:9b057566f9ee	311	else
jberry	0:9b057566f9ee	312	{
jberry	0:9b057566f9ee	313	TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
jberry	0:9b057566f9ee	314	p->Timeout = timeout;
jberry	0:9b057566f9ee	315
jberry	0:9b057566f9ee	316	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	317	for(;;)
jberry	0:9b057566f9ee	318	{
jberry	0:9b057566f9ee	319	SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
jberry	0:9b057566f9ee	320	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	321	Kernel.Scheduler();
jberry	0:9b057566f9ee	322
jberry	0:9b057566f9ee	323	if(pool.get_count())
jberry	0:9b057566f9ee	324	{
jberry	0:9b057566f9ee	325	p->Timeout = 0;
jberry	0:9b057566f9ee	326	item = pool.pop();
jberry	0:9b057566f9ee	327	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	328	return true;
jberry	0:9b057566f9ee	329	}
jberry	0:9b057566f9ee	330
jberry	0:9b057566f9ee	331	if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
jberry	0:9b057566f9ee	332	{ // or by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	333
jberry	0:9b057566f9ee	334	p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
jberry	0:9b057566f9ee	335	ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
jberry	0:9b057566f9ee	336	return false;
jberry	0:9b057566f9ee	337	}
jberry	0:9b057566f9ee	338	}
jberry	0:9b057566f9ee	339	}
jberry	0:9b057566f9ee	340	}
jberry	0:9b057566f9ee	341	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	342	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	343	bool OS::channel<T, Size, S>::pop_back(T& item, TTimeout timeout)
jberry	0:9b057566f9ee	344	{
jberry	0:9b057566f9ee	345	TCritSect cs;
jberry	0:9b057566f9ee	346
jberry	0:9b057566f9ee	347	if(pool.get_count())
jberry	0:9b057566f9ee	348	{
jberry	0:9b057566f9ee	349	item = pool.pop_back();
jberry	0:9b057566f9ee	350	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	351	return true;
jberry	0:9b057566f9ee	352	}
jberry	0:9b057566f9ee	353	else
jberry	0:9b057566f9ee	354	{
jberry	0:9b057566f9ee	355	TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
jberry	0:9b057566f9ee	356	p->Timeout = timeout;
jberry	0:9b057566f9ee	357
jberry	0:9b057566f9ee	358	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	359	for(;;)
jberry	0:9b057566f9ee	360	{
jberry	0:9b057566f9ee	361	SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
jberry	0:9b057566f9ee	362	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	363	Kernel.Scheduler();
jberry	0:9b057566f9ee	364
jberry	0:9b057566f9ee	365	if(pool.get_count())
jberry	0:9b057566f9ee	366	{
jberry	0:9b057566f9ee	367	p->Timeout = 0;
jberry	0:9b057566f9ee	368	item = pool.pop_back();
jberry	0:9b057566f9ee	369	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	370	return true;
jberry	0:9b057566f9ee	371	}
jberry	0:9b057566f9ee	372
jberry	0:9b057566f9ee	373	if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
jberry	0:9b057566f9ee	374	{ // or by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	375
jberry	0:9b057566f9ee	376	p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
jberry	0:9b057566f9ee	377	ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
jberry	0:9b057566f9ee	378	return false;
jberry	0:9b057566f9ee	379	}
jberry	0:9b057566f9ee	380	}
jberry	0:9b057566f9ee	381	}
jberry	0:9b057566f9ee	382	}
jberry	0:9b057566f9ee	383	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	384	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	385	void OS::channel<T, Size, S>::flush()
jberry	0:9b057566f9ee	386	{
jberry	0:9b057566f9ee	387	TCritSect cs;
jberry	0:9b057566f9ee	388	pool.flush();
jberry	0:9b057566f9ee	389	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	390	}
jberry	0:9b057566f9ee	391	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	392	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	393	void OS::channel<T, Size, S>::write(const T* data, const S count)
jberry	0:9b057566f9ee	394	{
jberry	0:9b057566f9ee	395	TCritSect cs;
jberry	0:9b057566f9ee	396
jberry	0:9b057566f9ee	397	while(pool.get_free_size() < count)
jberry	0:9b057566f9ee	398	{
jberry	0:9b057566f9ee	399	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	400	SetPrioTag(ProducersProcessMap, PrioTag); // channel does not have enough space, put current process to the wait map
jberry	0:9b057566f9ee	401	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	402	Kernel.Scheduler();
jberry	0:9b057566f9ee	403	}
jberry	0:9b057566f9ee	404
jberry	0:9b057566f9ee	405	pool.write(data, count);
jberry	0:9b057566f9ee	406	CheckWaiters(ConsumersProcessMap);
jberry	0:9b057566f9ee	407	}
jberry	0:9b057566f9ee	408	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	409	template<typename T, word Size, typename S>
jberry	0:9b057566f9ee	410	bool OS::channel<T, Size, S>::read(T* const data, const S count, TTimeout timeout)
jberry	0:9b057566f9ee	411	{
jberry	0:9b057566f9ee	412	TCritSect cs;
jberry	0:9b057566f9ee	413
jberry	0:9b057566f9ee	414	TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
jberry	0:9b057566f9ee	415	p->Timeout = timeout;
jberry	0:9b057566f9ee	416
jberry	0:9b057566f9ee	417	TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
jberry	0:9b057566f9ee	418	while(pool.get_count() < count)
jberry	0:9b057566f9ee	419	{
jberry	0:9b057566f9ee	420	SetPrioTag(ConsumersProcessMap, PrioTag); // channel doesn't contain enough data, put current process to the wait map
jberry	0:9b057566f9ee	421	ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
jberry	0:9b057566f9ee	422	Kernel.Scheduler();
jberry	0:9b057566f9ee	423
jberry	0:9b057566f9ee	424	if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
jberry	0:9b057566f9ee	425	{ // or by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	426
jberry	0:9b057566f9ee	427	p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
jberry	0:9b057566f9ee	428	ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
jberry	0:9b057566f9ee	429	return false;
jberry	0:9b057566f9ee	430	}
jberry	0:9b057566f9ee	431	}
jberry	0:9b057566f9ee	432
jberry	0:9b057566f9ee	433	p->Timeout = 0;
jberry	0:9b057566f9ee	434	pool.read(data, count);
jberry	0:9b057566f9ee	435	CheckWaiters(ProducersProcessMap);
jberry	0:9b057566f9ee	436
jberry	0:9b057566f9ee	437	return true;
jberry	0:9b057566f9ee	438	}
jberry	0:9b057566f9ee	439	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	440
jberry	0:9b057566f9ee	441	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	442	//
jberry	0:9b057566f9ee	443	// OS::message template
jberry	0:9b057566f9ee	444	//
jberry	0:9b057566f9ee	445	// Function-members implementation
jberry	0:9b057566f9ee	446	//
jberry	0:9b057566f9ee	447	//
jberry	0:9b057566f9ee	448	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	449	void OS::TBaseMessage::sendISR()
jberry	0:9b057566f9ee	450	{
jberry	0:9b057566f9ee	451	TCritSect cs;
jberry	0:9b057566f9ee	452
jberry	0:9b057566f9ee	453	if(ProcessMap)
jberry	0:9b057566f9ee	454	{
jberry	0:9b057566f9ee	455	TProcessMap Timeouted = OS::Kernel.ReadyProcessMap; // Process has it's tag set in ReadyProcessMap if timeout
jberry	0:9b057566f9ee	456	// expired, or it was waked up by OS::ForceWakeUpProcess()
jberry	0:9b057566f9ee	457	if( ProcessMap & ~Timeouted ) // if any process has to be waked up
jberry	0:9b057566f9ee	458	{
jberry	0:9b057566f9ee	459	SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
jberry	0:9b057566f9ee	460	ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
jberry	0:9b057566f9ee	461	return;
jberry	0:9b057566f9ee	462	}
jberry	0:9b057566f9ee	463	}
jberry	0:9b057566f9ee	464	NonEmpty = true;
jberry	0:9b057566f9ee	465	}
jberry	0:9b057566f9ee	466	//------------------------------------------------------------------------------
jberry	0:9b057566f9ee	467	#endif // OS_SERVICES_H

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

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