Greg Kuhn
Program to control an accelerometer, motors and a rangefinder using the ScmRTOS ported to mbed. (Work in progress and buggy)
Revision 0:9b057566f9ee, committed 2010-11-01
- Comitter:
- jberry
- Date:
- Mon Nov 01 20:39:01 2010 +0000
- Commit message:
Changed in this revision
diff -r 000000000000 -r 9b057566f9ee Hexacopter/Command_handler.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/Command_handler.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,91 @@
+#pragma once
+#ifndef COMMAND_HANDLER_H
+#define COMMAND_HANDLER_H
+#include <messages.h>
+#include <processes.h>
+
+//DigitalOut led2(LED2);
+extern BusOut leds;
+template<> OS_PROCESS void Command_handler::Exec() //serial stream handling process
+{
+ //led2 = 0;
+ char RX_Command[100] = "";
+ RX_Command[99] = '\0';
+
+ for(;;)
+ {
+
+ //RX_channel.pop(temp);
+ for(byte i = 0; i<100; i++)
+ {
+ RX_channel.pop(RX_Command[i]);
+ leds = 0x4;
+ if(i == 99)
+ {
+ RX_Command[i] = '\0';
+ }
+ //pc.putc(RX_Command[i]);
+ if(RX_Command[i] == '\0') //keep popping chars until a delimiter is found
+ break;
+ }
+ //led2 = !led2;
+ TX_channel.write(RX_Command, strlen(RX_Command)+1); //output the command for debugging
+ TX_channel.push('\n');
+ //char temp = 0;
+ //TX_channel.pop(temp);
+ //OUT->putc(temp);
+ //OUT->printf(RX_Command);
+
+ if (strstr(RX_Command,"SER:") != NULL) //check for Serv: in the command - this will indicate that the command is destined for the servo process
+ {
+ SER_channel.write(RX_Command, strlen(RX_Command)+1);
+ //Servo_Command_Event.Signal();
+ }
+
+ else if (strstr(RX_Command,"PIN") != NULL) //check for PING in the command - this will indicate that the command is destined for the PING process
+ {
+
+ PING_MESSAGE = 0;
+ PING_MESSAGE.send();
+ }
+
+ else if (strstr(RX_Command,"PIC") != NULL) //check for PING in the command - this will indicate that the command is destined for the PING process
+ {
+
+ PING_MESSAGE = 1;
+ PING_MESSAGE.send();
+ }
+
+ else if (strstr(RX_Command, "MOT:") != NULL) //check to see if incoming motor control command
+ {
+ MOT_channel.write(RX_Command, strlen(RX_Command)+1);
+
+ }
+ else if (strstr(RX_Command, "MO2:") != NULL) //this command will deal with both motors
+ {
+ MOT_channel.write(RX_Command, strlen(RX_Command)+1);
+
+ }
+
+ else if (strstr(RX_Command, "ACR") != NULL) //check to see if incoming motor control command
+ { //OS::message<byte> ACCELEROMETER_MESSAGE; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data
+
+ ACCELEROMETER_MESSAGE = 1;
+ ACCELEROMETER_MESSAGE.send(); //send the message
+
+ }
+ else if (strstr(RX_Command, "ACC") != NULL) //check to see if incoming motor control command
+ { //OS::message<byte> ACCELEROMETER_Message; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data
+
+ ACCELEROMETER_MESSAGE = 0;
+ ACCELEROMETER_MESSAGE.send(); //send the message
+
+ }
+ leds = 0x4;
+ }
+
+}
+
+
+#endif
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/Motor_control.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/Motor_control.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,224 @@
+#pragma once
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+#include <cmath>
+#include <processes.h>
+
+
+//Motor_controller M_cont_process;
+enum direction{CLOCKWISE,ANTICLOCKWISE};
+ //PwmOut Out1(p23); //motor1
+ //PwmOut Out2(p24);
+ //PwmOut Out3(p25);
+ //PwmOut Out4(p26);
+
+class motor_control
+{
+ public:
+ motor_control(PinName OUT1, PinName OUT2)
+ :Out1(OUT1),Out2(OUT2),Output(&Out1)
+ {
+ //Output = &Out1;
+ set_direction(CLOCKWISE);
+ SPEED = 0.0;
+ Out1.pulsewidth_ms(1); // pulsewidth should be 1ms
+ Out1.write(0.0); //set initial duty cycle to 0 (i.e. off)
+ Out2.write(0.0); //set initial duty cycle to 0 (i.e. off)
+
+
+
+
+ }
+
+ void set_direction(direction D)
+ {
+ if( D == CLOCKWISE )
+ {
+ *Output = 0;
+ Output = &Out2;
+ }
+ else
+ {
+ *Output = 0;
+ Output = &Out1;
+ }
+ DIR = D;
+ //set_speed(get_speed());
+ }
+
+ direction get_direction()
+ {
+ return DIR;
+ }
+
+ void set_speed(float speed)
+ {
+ SPEED = speed;
+ if(speed >= -1 && speed < 0)
+ {
+ if(get_direction() == CLOCKWISE) //ALLOW SOME TIME for the motor to change direction
+ {
+ *Output = 0;
+ //wait_ms(500);
+ }
+
+ set_direction(ANTICLOCKWISE);
+ *Output = speed;
+ }
+ else if(speed >= 0 && speed <= 1)
+ {
+ if(get_direction() == CLOCKWISE) //ALLOW SOME TIME for the motor to change direction
+ {
+ *Output = 0;
+ //wait_ms(500);
+ }
+
+ set_direction(CLOCKWISE);
+ *Output = speed;
+ }
+
+ }
+ float get_speed()
+ {
+ return SPEED;
+ }
+
+ void speed_inc()
+ {
+ if( (get_speed() + 0.1) <= 1)
+ set_speed(SPEED + 0.1);
+ else if( get_speed() + 0.1 > 1)
+ set_speed(1);
+ }
+
+ void speed_dec()
+ {
+ if( (get_speed() - 0.1) >= 0)
+ set_speed(SPEED - 0.1);
+ else if( get_speed() - 0.1 < 0)
+ set_speed(0);
+
+ }
+
+ void change_direction()
+ {
+ if (get_direction() == CLOCKWISE)
+ set_direction(ANTICLOCKWISE);
+ else
+ set_direction(CLOCKWISE);
+ }
+
+
+ private:
+ //int PIN1,PIN2;
+ direction DIR;
+ PwmOut Out1;
+ PwmOut Out2;
+ PwmOut* Output;
+
+
+ float SPEED;
+
+ };
+
+
+char MOT_Return_chars[100]; //defined in accelerometer.h
+char Motor_command[100] = "";
+byte Motor_number = 0;
+
+extern BusOut leds;
+template<> OS_PROCESS void Motor_controller::Exec() //motor control handling process
+{
+ Motor_command[99] = '\0';
+ motor_control Motor1(p23,p24);
+ motor_control Motor2(p25,p26);
+ motor_control *M = &Motor1;
+ float motor_percentage = -1, motor_direction = 0.5, motor_strength = 0; //motor direction is a float from 0-1 which indicates the relative strength of one motor to the other the strength is the PWM output of the strongest motor as dictated by direction
+ direction PREV_DIR = CLOCKWISE;
+
+
+
+
+ char* pEND, *pEND2;
+
+//MOT_channel
+ for (;;)
+ {
+
+ //OS::message<byte> MOTOR_message;
+ for(byte i = 0; i<100; i++)
+ {
+ MOT_channel.pop(Motor_command[i]); //if data is available, pop, else wait
+ leds = 0x5;
+ if(Motor_command[i] == '\0') //keep popping chars until a delimiter is found
+ break;
+ else if(Motor_command[i] != '\0' && i == 99)
+ Motor_command[i] = '\0';
+
+ }
+
+ //sprintf(MOT_Return_chars, "a command was received.\n");
+ //TX_Channel.write(MOT_Return_chars, strlen(MOT_Return_chars)+1); //output the command for debugging
+ //TX_Channel.write(Motor_command, strlen(Motor_command) +1);
+
+ //which motor?
+ //if (strlen(Servo_Command) >= 20 && strstr(Servo_Command,":Calibrate"))
+ if(strstr(Motor_command, "MOT:") != NULL)
+ {
+ Motor_number = strtod(1+strstr(Motor_command, ":"), &pEND);
+ // motor_percentage = -1;
+
+ //sprintf(output_chars, "motor number is: %d\n", Motor_number);
+ //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
+
+
+ if(Motor_number < 2) // valid conversion
+ {
+ if(Motor_number == 0)
+ M = &Motor1;
+ else
+ M = &Motor2;
+ motor_percentage = strtod(1+pEND, &pEND2);
+ //sprintf(output_chars, "percentage is: %f\n", motor_percentage);
+ //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
+ M->set_speed(motor_percentage*(-1));
+ } //end valid conversion check
+ } //end single MOT: command
+
+
+ else if(strstr(Motor_command, "MO2:") != NULL)
+ {
+ motor_direction = strtod(&Motor_command[4], &pEND);
+ if(motor_direction >= -1 && motor_direction <= 1)
+ {
+ motor_strength = strtod(1+pEND, &pEND2);
+ if(motor_strength >= -1 && motor_strength <= 1)
+ {
+ //sprintf(output_chars, "Motor direction is: %f Motor strength is:%f\n", motor_direction, motor_strength);
+ //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
+ if(motor_direction < 0)
+ {
+ Motor1.set_speed(motor_strength);
+ Motor2.set_speed(motor_strength*abs(motor_direction)*2);
+ }
+ else if(motor_direction>0)
+ {
+ Motor2.set_speed(motor_strength);
+ Motor1.set_speed(motor_strength*abs(motor_direction)*2);
+
+ }
+ }
+ }
+
+ }
+ leds = 0x5;
+ }
+
+
+
+}
+
+
+
+#endif
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/Mutexes.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hexacopter/Mutexes.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,14 @@ + +#pragma once +#ifndef MUTEXES_H +#define MUTEXES_H + +//---------------------------------------------------------------------- +//This file defines the mutexes that are in use in this program + +OS::TMutex Serial_Mutex; //this Mutex is used to selectively give access to the serial port +OS::TMutex XB_Mutex; //this Mutex is used to selectively give access to the XBEE serial port +OS::TMutex Ser_out_Mutex; //serial output mutex + + +#endif \ No newline at end of file
diff -r 000000000000 -r 9b057566f9ee Hexacopter/PING_rangefinder.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/PING_rangefinder.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,203 @@
+#pragma once
+#ifndef PING_RANGEFINDER_H
+#define PING_RANGEFINDER_H
+
+#include <processes.h>
+#include <Mutexes.h>
+#include <channels.h>
+#define PINGPIN p22
+
+
+//DigitalOut led3(LED3); //these LEDs are used to indicate when an interrupt occurs.
+//DigitalOut led4(LED4);
+//byte count = 0;
+
+class rangefinder {
+public:
+ rangefinder()
+ :Pinterrupt(PINGPIN), PingPin(PINGPIN)
+ {
+ //led3 = ~(led4 = 0);
+
+ time = 0;
+ enable_flag = false;
+ set_interrupts();
+ PingPin.mode(PullDown);
+ //Pinterrupt.mode(PullDown);
+ // Pinterrupt.mode(PullUp);
+ PingPin.output(); //set pingpin as output
+ PingPin = 0;
+ }
+
+ void ping() {
+ T.reset(); //reset the timer to 0
+ set_interrupts();
+ enable_flag = false;
+ PingPin.output(); //set as output
+ PingPin = 0; //output initiation sequence of 0 1 0 to the rangefinder
+ wait_us(2);
+ PingPin = 1;
+ wait_us(5);
+ PingPin = 0;
+ wait_us(1);
+ //printf("now waiting for input.\n");
+ PingPin.input(); //set as input
+ wait_us(10);
+ //set_interrupts();
+ enable_flag = true;
+ wait_ms(25); //more than required for maximum distance measurement
+
+
+
+ //T.start(); //begin timing the length of time for an interrupt to occur
+ }
+ void set_interrupts()
+ {
+ Pinterrupt.fall(this, &rangefinder::set_time);
+ Pinterrupt.rise(this, &rangefinder::start_timing);
+ }
+ void disable_interrupts()
+ {
+ Pinterrupt.fall(NULL);
+ Pinterrupt.rise(NULL);
+
+ }
+ void start_timing() { OS::TISRW ISRW;
+ if(enable_flag == true)
+ {
+ T.start();
+ //led3 = !led3;
+ //count++;
+ }
+
+ //printf("start_timing called.\n");
+ }
+
+ void set_time() { OS::TISRW ISRW;
+ if(enable_flag == true)
+ {
+ T.stop();
+ //led4 = !led4;
+ //disable_interrupts();
+ //enable_flag = false;
+ //printf("set_time being called...\n");
+ time = T.read_us();
+ //count++;
+ }
+ //printf("value stored in time %f: \n", time);
+
+ //PingPin.output();
+ //PingPin = 0;
+ //printf("PING:%f\n",get_time());
+
+ }
+
+
+
+ float get_time() {
+ //disable_interrupts();
+ return time/2.0;
+
+ }
+
+
+private:
+ Timer T;
+ float time; //time in us
+ InterruptIn Pinterrupt;
+ DigitalInOut PingPin;
+ bool enable_flag;
+ //Ticker TICKER;// send_ticker;
+
+
+};
+
+
+
+
+
+
+
+
+
+
+extern BusOut leds;
+
+template<> OS_PROCESS void PING_PROC::Exec() //Output stream handling process
+{
+ byte M = 0;
+ rangefinder PING;
+
+
+char PIN_Return_chars[100]; //defined in accelerometer.h
+
+ for(;;)
+ {
+ if(PING_MESSAGE.wait(80)) //length of time to wait also determines how rapidly to ticker ping
+ { leds = 0x2;
+ M = PING_MESSAGE; //read the message that was destined for this process
+ PING_MESSAGE.reset();
+
+ if(M == 0) //then ping! command was sent
+ {
+ {
+ //OS::TISRW ISRW; //this is a critical section as timing is involved
+ //this will not work though as it disables interrupts.
+ PING.ping();
+ }
+
+ {
+ //TCritSect cs;
+ sprintf(PIN_Return_chars, "PING:%f\n", PING.get_time()); //
+ }
+ //Ser_out_Mutex.Lock();
+ //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+ TX_channel.write(PIN_Return_chars, strlen(PIN_Return_chars)+1); //output the ping result
+ //Ser_out_Mutex.Unlock();
+
+
+ }
+ }
+ if(M == 1) //ticker ping
+ {
+ {
+ //OS::TISRW ISRW; //this is a critical section as timing is involved
+ PING.ping();
+ }
+ //Sleep(2);
+ {
+ //TCritSect cs;
+ sprintf(PIN_Return_chars, "PING:%f\n", PING.get_time()); //"PING:%f\n"
+ }
+ //Ser_out_Mutex.Lock();
+ //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+ TX_channel.write(PIN_Return_chars, strlen(PIN_Return_chars)+1); //output the result
+ //Ser_out_Mutex.Unlock();
+ //TX_flag.Signal();
+
+ }
+
+ //PING_MESSAGE.reset();
+
+ leds = 0x2;
+
+ }
+}
+
+
+ #endif
+
+ //void enable_ticker() {
+ // TICKER.attach_us(this, &rangefinder::ping, TX_RATE); //call ping() every 40 ms
+ //send_ticker.attach_us(this, &rangefinder::send_data, TX_RATE); //send the data out every 40 ms
+ //}
+ //void disable_ticker() {
+ //printf("ticker should now be detached.\n");
+ // TICKER.detach();
+ //send_ticker.detach();
+ //}
+
+
+
+
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/Servo_Control.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/Servo_Control.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,89 @@
+#pragma once
+#ifndef SERVO_CONTROL_H
+#define SERVO_CONTROL_H
+//#include <processes.h>
+#include "Servo.h"
+
+#define SERVO_PIN p21
+extern BusOut leds;
+template<> OS_PROCESS void Servo_control::Exec() //serial stream handling process
+{
+ Servo Servo_object(SERVO_PIN);
+ char Servo_Command[100] = "";
+ Servo_Command[99] = '\0';
+ float servo_position = 0, range = 0, degrees = 0;
+ char *pEnd;
+ //char output_chars[50] = "";
+
+ for (;;)
+ {
+
+ //Servo_Command_Event.Wait();
+ for(byte i = 0; i<100; i++)
+ {
+ SER_channel.pop(Servo_Command[i]);
+ leds = 0x6;
+ if(Servo_Command[i] == '\0') //keep popping chars until a delimiter is found
+ break;
+ else if(Servo_Command[i] != '\0' && i == 99)
+ Servo_Command[i] = '\0';
+
+ }
+
+ //sprintf(output_chars, "a servo command was received:\n");
+ //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
+ //TX_Channel.write(Servo_Command, strlen(Servo_Command)+1); //output the command for debugging
+
+ if(strlen(Servo_Command) > 6)
+ {
+
+ if (strlen(Servo_Command) >= 20 && strstr(Servo_Command,":Calibrate"))
+ { //Serv:Calibrate:range:degrees
+
+ range = strtod(&Servo_Command[15], &pEnd);
+ if (range >= 0 && range <= 1 && pEnd - &Servo_Command[15] != 0)
+ {
+ const char* deg = strstr(strstr(strstr(Servo_Command,":"),":"),":");
+ degrees = strtod(deg+1, &pEnd);
+ if (degrees >= -360 && range <= 360 && (pEnd - deg) != 0)
+ {
+ //printf("Received command: Serv:Calibrate:%f:%f. \n", range, degrees);
+ Servo_object.calibrate(range,degrees);
+ }
+ }
+
+ }
+
+ else
+ {
+ servo_position = strtod(&Servo_Command[4], &pEnd); //&Servo_Command[5]
+
+ //sprintf(output_chars, "servo position is %f\n", servo_position);
+ //TX_Channel.write(output_chars, strlen(output_chars)+1); //output the command for debugging
+
+ if (servo_position >= 0 && servo_position <= 1 && (pEnd - &Servo_Command[4]) != 0) //the magic number 4 relates to the position in the string where the actual data should start
+ {
+ Servo_object = servo_position;
+ }
+ else if (servo_position == -1) //sweep the position through range
+ {
+ for(float p=0; p<1.0; p += 0.1)
+ {
+ Servo_object = p;
+ Sleep(200);
+ }
+
+ }
+ }
+ }
+ leds = 0x6;
+ }
+
+
+
+}
+
+
+
+#endif
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/accelerometer.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/accelerometer.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,197 @@
+#pragma once
+#ifndef ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <processes.h>
+#include <Mutexes.h>
+#include <channels.h>
+#define X_axis p28
+#define Y_axis p27
+
+//DigitalOut led3(LED3); //these LEDs are used to indicate when an interrupt occurs.
+//DigitalOut led4(LED4);
+
+
+class accelerometer {
+public:
+ accelerometer()
+ :X_int(X_axis),
+ Y_int(Y_axis)
+ //X_input(X_axis),
+ //Y_input(Y_axis)
+ {
+ //led3 = led4 = 0;
+ X_time = Y_time = 0;
+ //enable_flag = false;
+ enable_X_rising_flag = enable_X_falling_flag = enable_Y_rising_flag = enable_Y_falling_flag = false;
+ X_int.mode(PullDown);
+ Y_int.mode(PullDown);
+ //Y_input.mode(PullDown);
+ //X_input.mode(PullDown);
+ X_timer.reset();
+ Y_timer.reset();
+ set_interrupts();
+ enable_X_rising_flag = enable_Y_rising_flag = true;
+ }
+
+
+ void set_interrupts()
+ {
+ X_int.fall(this, &accelerometer::set_X_time);
+ X_int.rise(this, &accelerometer::start_X_timing);
+ Y_int.fall(this, &accelerometer::set_Y_time);
+ Y_int.rise(this, &accelerometer::start_Y_timing);
+ }
+
+ void start_X_timing()
+ {
+ OS::TISRW ISRW;
+ if(enable_X_rising_flag == true)
+ {
+ X_timer.start();
+ enable_X_falling_flag = true;
+ //printf("In start_x_time().\n");
+
+ }
+
+
+ }
+ void start_Y_timing()
+ {
+ OS::TISRW ISRW;
+ if(enable_Y_rising_flag == true)
+ {
+ Y_timer.start();
+ enable_Y_falling_flag = true;
+
+ }
+
+
+ }
+
+ void set_X_time() {
+ if(enable_X_falling_flag == true)
+ {
+ OS::TISRW ISRW;
+ X_timer.stop();
+ X_time = X_timer.read_us();
+ X_timer.reset();
+ // led3 = !led3;
+ //printf("In set_x_time().\n");
+
+
+ }
+ }
+
+
+ void set_Y_time() {
+ if(enable_Y_falling_flag == true)
+ {
+ OS::TISRW ISRW;
+ Y_timer.stop();
+ Y_time = Y_timer.read_us();
+ Y_timer.reset();
+ // led4 = !led4;
+
+
+ }
+ }
+
+ float get_X_time()
+ {
+ return X_time;
+ }
+
+ float get_Y_time()
+ {
+ return Y_time;
+ }
+
+
+private:
+ Timer X_timer;
+ Timer Y_timer;
+ float X_time; //time in us
+ float Y_time;
+ InterruptIn X_int;
+ InterruptIn Y_int;
+ //DigitalIn X_input;
+ //DigitalIn Y_input;
+ bool enable_X_rising_flag;
+ bool enable_X_falling_flag;
+ bool enable_Y_rising_flag;
+ bool enable_Y_falling_flag;
+};
+
+
+
+
+
+
+
+
+extern BusOut leds;
+
+char ACC_Return_chars[100] = "";
+
+
+//typedef OS::process<OS::pr2, 1400> Accelo_proc;
+template<> OS_PROCESS void Accelo_proc::Exec() //Output stream handling process
+{
+
+ accelerometer ACC;
+
+ byte M = 0;
+ for(;;)
+ {
+ if(ACCELEROMETER_MESSAGE.wait(70)) //length of time to wait also determines how rapidly to return accelerometer data
+ { leds = 0x2;
+ M = ACCELEROMETER_MESSAGE; //read the message that was destined for this process
+ ACCELEROMETER_MESSAGE.reset();
+
+ if(M == 0) //then return x and y data once
+ {
+ sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string
+ //if(!Ser_out_Mutex.IsLocked())
+ {
+ //Ser_out_Mutex.Lock();
+ //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+ TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
+ //Ser_out_Mutex.Unlock();
+ }
+
+
+
+ }
+ }
+ if(M == 1) //ticker
+ {
+
+ {
+ //TCritSect cs;
+ sprintf(ACC_Return_chars, "ACC_X:%f\nACC_Y:%f\n", ACC.get_X_time(), ACC.get_Y_time()); // ready return string //"ACC_X:%f\nACC_Y:%f\n"
+ }
+ //if(!Ser_out_Mutex.IsLocked())
+ {
+ //Ser_out_Mutex.Lock();
+ //if(TX_Channel.get_free_size() > strlen(Return_chars)+1)
+ TX_channel.write(ACC_Return_chars, strlen(ACC_Return_chars)+1); //output the data!
+ //Ser_out_Mutex.Unlock();
+ }
+ //TX_flag.Signal();
+
+ }
+
+ leds = 0x2;
+
+
+ }
+}
+
+
+ #endif
+
+
+
+
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/channels.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hexacopter/channels.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,17 @@ +#pragma once +#ifndef CHANNELS_H +#define CHANNELS_H + +//-------------------------------------------------------------------------------------------- +//define the channels that are going to be used in the program + // command channel + +OS::channel<char, 100> RX_channel; +OS::channel<char, 100> SER_channel; +OS::channel<char, 100> MOT_channel; +OS::channel<char, 100> TX_channel; + + + + +#endif \ No newline at end of file
diff -r 000000000000 -r 9b057566f9ee Hexacopter/event_flags.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hexacopter/event_flags.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,18 @@ +#pragma once +#ifndef EVENT_FLAGS_H +#define EVENT_FLAGS_H + +//--------------------------------------------------------------------------- +// +// Event Flags to test +// +OS::TEventFlag ef; +//OS::TEventFlag RX_flag; //this signals the command_handler process +//OS::TEventFlag TX_flag; //signals the serial_out process +OS::TEventFlag timerEvent; +//OS::TEventFlag Servo_Command_Event; //signals the servo_control process that there is a new command + + + + +#endif \ No newline at end of file
diff -r 000000000000 -r 9b057566f9ee Hexacopter/messages.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Hexacopter/messages.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,17 @@ +//----------------------------------------------------------------- +//file containing the os::message list used in the program + +#pragma once +#ifndef MESSAGES_H +#define MESSAGES_H + +//-------------------------------------------------------------------------------------------- +//define the channels that are going to be used in the program + // command channel + +OS::message<byte> PING_MESSAGE; //if message is a zero, then PING once, if a 1 then Ticker ping +OS::message<byte> ACCELEROMETER_MESSAGE; //if message is a zero, then return acceleration once, if a 1 then continually return acceleration data +//OS::message<float> MOTOR_message; + + +#endif \ No newline at end of file
diff -r 000000000000 -r 9b057566f9ee Hexacopter/processes.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/processes.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,105 @@
+#pragma once
+
+#ifndef PROCESSES_H
+#define PROCESSES_H
+#include <event_flags.h>
+//#include <Servo_Control.h>
+
+// Process types
+//
+
+/*
+typedef OS::process<OS::pr0, 1400> PING_PROC;
+typedef OS::process<OS::pr1, 1000> TProc2;
+typedef OS::process<OS::pr2, 3000> Accelo_proc;
+typedef OS::process<OS::pr3, 1000> Servo_control;
+typedef OS::process<OS::pr4, 3000> Command_handler;
+typedef OS::process<OS::pr5, 1000> Motor_controller;
+typedef OS::process<OS::pr6, 4000> Serial_Out;
+*/
+
+typedef OS::process<OS::pr0, 2000> PING_PROC;
+typedef OS::process<OS::pr1, 1400> TProc2;
+typedef OS::process<OS::pr2, 3000> Accelo_proc;
+typedef OS::process<OS::pr3, 2000> Servo_control;
+typedef OS::process<OS::pr4, 3000> Command_handler;
+typedef OS::process<OS::pr5, 2000> Motor_controller;
+typedef OS::process<OS::pr6, 4000> Serial_Out;
+
+//typedef OS::process<OS::pr3, 300> TProc4;
+
+//---------------------------------------------------------------------------
+//
+// Process objects
+//
+PING_PROC PING_PROCESS;
+TProc2 Proc2;
+Accelo_proc Accelerometer_process;
+Servo_control Servo_process;
+Command_handler Com_Handler;
+Serial_Out Serial_Out_Proc;
+Motor_controller M_cont_process;
+
+//---------------------------------------------------------------------------
+
+
+
+// IO Pins
+//
+//DigitalOut led1(LED1);
+//DigitalOut led2(LED2);
+
+
+//---------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------
+//extra declarations
+
+
+
+
+
+
+
+
+BusOut leds(LED1, LED2, LED3, LED4);
+
+
+//---------------------------------------------------------------------------
+template<> OS_PROCESS void TProc2::Exec()
+{
+ for(;;)
+ {
+ Sleep(500); //suspend process
+ //printf("e\n");
+ //led1 = !led1;
+ //leds = 0x1;
+ }
+}
+
+//---------------------------------------------------------------------------
+
+
+
+void OS::SystemTimerUserHook()
+{
+ static int cnt=0;
+ if (++cnt == 2000)
+ {
+ cnt = 0;
+ //led2.write(1);
+ timerEvent.SignalISR();
+ }
+}
+
+//---------------------------------------------------------------------------
+void OS::IdleProcessUserHook()
+{
+ __WFI(); //sleep the ucontroller and wait for interrupt
+}
+//-----------------------------------------------------------------------------
+
+#endif
+
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/serial.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/serial.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,97 @@
+#ifndef SERIAL_H
+#define SERIAL_H
+#include <channels.h>
+#include <Mutexes.h>
+#include <processes.h>
+
+#define UART1TX p9
+#define UART1RX p10
+
+Serial USB(USBTX, USBRX); // tx, rx
+Serial XB(UART1TX, UART1RX); // tx, rx
+Serial *OUT = &USB; //intially set to USB
+
+extern BusOut leds;
+ void USB_serial() //signal RTOS event that RXinterrupt has been asserted
+{
+ OS::TISRW ISRW;
+ leds = 0x7;
+ //char count = 0;
+ //led3 = !led3;
+ char temp = 0;
+
+ //leds = 0xa;
+ if(true)//!Serial_Mutex.IsLocked())
+ {
+ //leds = 0xb;
+ //Serial_Mutex.Lock();
+ leds = 0xc;
+ if(USB.readable())
+ {
+ temp = USB.getc();
+ leds = 0xd;
+
+ if(RX_channel.get_free_size() >0 ) //only push a character onto the channel if there is free space
+ {
+ //OUT = &USB;
+ if(temp != '\n')
+ {
+ RX_channel.push(temp);
+ leds = 0xe;
+ }
+ else if(temp == '\n')
+ {
+ RX_channel.push('\0');
+ }
+ }
+ else USB.getc(); //start discarding characters!*/
+ leds = 0xf;
+ leds = 0xa;
+ }
+ leds = 0xb;
+ //Serial_Mutex.Unlock();
+ //Serial_Mutex.Lock();
+ //if(USB.writeable())
+ //USB.putc(temp);
+ //Serial_Mutex.Unlock();
+ leds = 0x1;
+ }
+ else USB.getc(); //start discarding characters!
+
+ leds = 0x9;
+}
+
+/*void XB_serial()
+{
+ //led4 = !led4;
+ char temp = 0;
+ OS::TISRW ISRW;
+ if(!XB_Mutex.IsLocked())
+ {
+ XB_Mutex.Lock();
+ while(XB.readable())
+ {
+ temp = XB.getc();
+ if(RX_channel.get_free_size() >0 ) //only push a character onto the channel if there is free space
+ {
+ OUT = &XB;
+ if(temp != '\n')
+ {
+ RX_channel.push(temp);
+ }
+ else if(temp == '\n')
+ {
+ OUT = &XB;
+ RX_channel.push('\0');
+ }
+ }
+ else temp = XB.getc(); //otherwise, wait until another character is sent and try then
+ }
+ XB_Mutex.Unlock();
+ }
+
+
+}*/
+
+#endif
+
diff -r 000000000000 -r 9b057566f9ee Hexacopter/serial_out.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Hexacopter/serial_out.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,60 @@
+#pragma once
+#ifndef SERIAL_OUT_H
+#define SERIAL_OUT_H
+#include <processes.h>
+#include <Mutexes.h>
+#include <channels.h>
+#include <serial.h>
+//DigitalOut led3(LED3);
+extern BusOut leds;
+template<> OS_PROCESS void Serial_Out::Exec() //Output stream handling process
+{
+
+
+ char temp1 = 0;
+ //led3 = 0;
+ //char buf[50] = "output process working.\n";
+ for(;;)
+ {
+ //Sleep(500);
+ TX_channel.pop(temp1);
+ leds = 0x8;
+ //wait_ms(200); //simulate delays
+ //Sleep(10);
+ //led3 = !led3;
+ //OUT->printf(buf);
+ //if(OUT == &USB)
+ //{
+ //Serial_Mutex.Lock();
+ //XB_Mutex.Lock();
+ if(OUT->writeable())
+ {
+ OUT->putc(temp1);
+
+
+
+
+
+ //XB_Mutex.Unlock();
+ }
+ else
+ {
+ //TX_channel.push_front(temp1);
+ //OUT->printf("output is not writeable!\n");
+ //Sleep(0.5); //sleep
+ }
+ //Serial_Mutex.Unlock();
+ //}
+
+
+
+ leds = 0x8;
+
+ }
+}
+
+
+ #endif
+
+
+
diff -r 000000000000 -r 9b057566f9ee Servo.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,74 @@
+/* mbed R/C Servo Library
+ *
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "Servo.h"
+#include "mbed.h"
+
+static float clamp(float value, float min, float max) {
+ if(value < min) {
+ return min;
+ } else if(value > max) {
+ return max;
+ } else {
+ return value;
+ }
+}
+
+Servo::Servo(PinName pin) : _pwm(pin) {
+ calibrate();
+ write(0.5);
+}
+
+void Servo::write(float percent) {
+ float offset = _range * 2.0 * (percent - 0.5);
+ _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+ _p = clamp(percent, 0.0, 1.0);
+}
+
+void Servo::position(float degrees) {
+ float offset = _range * (degrees / _degrees);
+ _pwm.pulsewidth(0.0015 + clamp(offset, -_range, _range));
+}
+
+void Servo::calibrate(float range, float degrees) {
+ _range = range;
+ _degrees = degrees;
+}
+
+float Servo::read() {
+ return _p;
+}
+
+Servo& Servo::operator= (float percent) {
+ write(percent);
+ return *this;
+}
+
+Servo& Servo::operator= (Servo& rhs) {
+ write(rhs.read());
+ return *this;
+}
+
+Servo::operator float() {
+ return read();
+}
diff -r 000000000000 -r 9b057566f9ee Servo.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,98 @@
+/* mbed R/C Servo Library
+ * Copyright (c) 2007-2010 sford, cstyles
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MBED_SERVO_H
+#define MBED_SERVO_H
+
+#include "mbed.h"
+
+/** Servo control class, based on a PwmOut
+ *
+ * Example:
+ * @code
+ * // Continuously sweep the servo through it's full range
+ * #include "mbed.h"
+ * #include "Servo.h"
+ *
+ * Servo myservo(p21);
+ *
+ * int main() {
+ * while(1) {
+ * for(int i=0; i<100; i++) {
+ * myservo = i/100.0;
+ * wait(0.01);
+ * }
+ * for(int i=100; i>0; i--) {
+ * myservo = i/100.0;
+ * wait(0.01);
+ * }
+ * }
+ * }
+ * @endcode
+ */
+class Servo {
+
+public:
+ /** Create a servo object connected to the specified PwmOut pin
+ *
+ * @param pin PwmOut pin to connect to
+ */
+ Servo(PinName pin);
+
+ /** Set the servo position, normalised to it's full range
+ *
+ * @param percent A normalised number 0.0-1.0 to represent the full range.
+ */
+ void write(float percent);
+
+ /** Read the servo motors current position
+ *
+ * @param returns A normalised number 0.0-1.0 representing the full range.
+ */
+ float read();
+
+ /** Set the servo position
+ *
+ * @param degrees Servo position in degrees
+ */
+ void position(float degrees);
+
+ /** Allows calibration of the range and angles for a particular servo
+ *
+ * @param range Pulsewidth range from center (1.5ms) to maximum/minimum position in seconds
+ * @param degrees Angle from centre to maximum/minimum position in degrees
+ */
+ void calibrate(float range = 0.0005, float degrees = 45.0);
+
+ /** Shorthand for the write and read functions */
+ Servo& operator= (float percent);
+ Servo& operator= (Servo& rhs);
+ operator float();
+
+protected:
+ PwmOut _pwm;
+ float _range;
+ float _degrees;
+ float _p;
+};
+
+#endif
diff -r 000000000000 -r 9b057566f9ee main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,89 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PROCESSOR: ARM Cortex-M3
+//*
+//* TOOLKIT: RVCT (ARM)
+//*
+//* PURPOSE: Port Test File
+//*
+//* Version: 3.10
+//*
+//* $Revision: 196 $
+//* $Date:: 2010-09-09 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+//* mbed port by Igor Skochinsky
+
+#include <mbed.h>
+#include <scmRTOS.h>
+#include <processes.h>
+#include <serial.h>
+#include <Command_handler.h>
+#include <event_flags.h>
+#include <Servo_Control.h>
+#include <serial_out.h>
+#include <PING_rangefinder.h>
+#include <Motor_control.h>
+#include <accelerometer.h>
+//---------------------------------------------------------------------------
+//
+
+//
+
+
+
+
+
+//
+int main()
+{
+
+ USB.baud(921600);
+ USB.attach(USB_serial);
+ //XB.baud(115200);
+ //XB.attach(XB_serial);
+ // configure IO pins
+ //led1.write(0);
+ //led2.write(0);
+
+ // run
+ OS::Run();
+}
+
+
+
+
+//---------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/OS_Kernel.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/OS_Kernel.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,115 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: OS Kernel Source
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#include "scmRTOS.h"
+
+using namespace OS;
+//------------------------------------------------------------------------------
+OS::TKernel OS::Kernel;
+
+//------------------------------------------------------------------------------
+#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
+void TKernel::Sched()
+{
+ byte NextPrty = GetHighPriority(ReadyProcessMap);
+ if(NextPrty != CurProcPriority)
+ {
+ TStackItem* Next_SP = ProcessTable[NextPrty]->StackPointer;
+ TStackItem** Curr_SP_addr = &(ProcessTable[CurProcPriority]->StackPointer);
+ CurProcPriority = NextPrty;
+ OS_ContextSwitcher(Curr_SP_addr, Next_SP);
+ }
+}
+#else
+//------------------------------------------------------------------------------
+void TKernel::Sched()
+{
+ byte NextPrty = GetHighPriority(ReadyProcessMap);
+ if(NextPrty != CurProcPriority)
+ {
+ SchedProcPriority = NextPrty;
+
+ RaiseContextSwitch();
+ do
+ {
+ EnableContextSwitch();
+ DUMMY_INSTR();
+ DisableContextSwitch();
+ }
+ while(!IsContextSwitchDone());
+ }
+}
+//------------------------------------------------------------------------------
+TStackItem* OS_ContextSwitchHook(TStackItem* sp) { return OS::Kernel.ContextSwitchHook(sp); }
+//------------------------------------------------------------------------------
+#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
+//------------------------------------------------------------------------------
+void TBaseProcess::Sleep(TTimeout timeout)
+{
+ TCritSect cs;
+
+ Kernel.ProcessTable[Kernel.CurProcPriority]->Timeout = timeout;
+ Kernel.SetProcessUnready(Kernel.CurProcPriority);
+ Kernel.Scheduler();
+}
+//------------------------------------------------------------------------------
+void OS::WakeUpProcess(TBaseProcess& p)
+{
+ TCritSect cs;
+
+ if(p.Timeout)
+ {
+ p.Timeout = 0;
+ Kernel.SetProcessReady(p.Priority);
+ Kernel.Scheduler();
+ }
+}
+//------------------------------------------------------------------------------
+void OS::ForceWakeUpProcess(TBaseProcess& p)
+{
+ TCritSect cs;
+
+ p.Timeout = 0;
+ Kernel.SetProcessReady(p.Priority);
+ Kernel.Scheduler();
+}
+//------------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/OS_Kernel.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/OS_Kernel.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,426 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: OS Kernel Header. Declarations And Definitions
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c)c 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//*****************************************************************************
+
+#ifndef OS_KERNEL_H
+#define OS_KERNEL_H
+
+#include <stddef.h>
+#include <commdefs.h>
+#include <usrlib.h>
+
+//------------------------------------------------------------------------------
+
+//==============================================================================
+extern "C" void OS_Start(TStackItem* sp);
+
+#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
+ extern "C" void OS_ContextSwitcher(TStackItem** Curr_SP, TStackItem* Next_SP);
+#else
+ extern "C" TStackItem* OS_ContextSwitchHook(TStackItem* sp);
+#endif
+
+//==============================================================================
+
+//------------------------------------------------------------------------------
+//
+//
+// NAME : OS
+//
+// PURPOSE : Namespace for all OS stuff
+//
+// DESCRIPTION: Includes: Kernel,
+// Processes,
+// Mutexes,
+// Event Flags,
+// Byte-wide Channels,
+// Arbitrary-type Channels,
+// Messages
+//
+namespace OS
+{
+ class TBaseProcess;
+
+ INLINE inline void SetPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm |= PrioTag; }
+ INLINE inline void ClrPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm &= ~PrioTag; }
+
+ //--------------------------------------------------------------------------
+ //
+ // NAME : TKernel
+ //
+ /// Implements kernel-level operations such as
+ /// process management, process-level scheduling,
+ /// ISR-level scheduling, system timing.
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TKernel
+ {
+ //-----------------------------------------------------------
+ //
+ // Declarations
+ //
+
+
+ friend class TISRW;
+ friend class TISRW_SS;
+ friend class TBaseProcess;
+ friend class TMutex;
+ friend class TEventFlag;
+ friend class TChannel;
+ friend class TBaseMessage;
+
+ template<typename T, word size, class S> friend class channel;
+ template<typename T> friend class message;
+
+ friend void Run();
+ friend void WakeUpProcess(TBaseProcess& p);
+ friend void ForceWakeUpProcess(TBaseProcess& p);
+ friend inline bool IsProcessSleeping(const TBaseProcess& p);
+ friend inline bool IsProcessSuspended(const TBaseProcess& p);
+ friend inline dword GetTickCount();
+
+ //-----------------------------------------------------------
+ //
+ // Data
+ //
+ private:
+ byte CurProcPriority;
+ TProcessMap ReadyProcessMap;
+ TBaseProcess* ProcessTable[scmRTOS_PROCESS_COUNT+1];
+ volatile byte ISR_NestCount;
+
+ #if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
+ byte SchedProcPriority;
+ #endif
+
+ #if scmRTOS_SYSTEM_TICKS_ENABLE == 1
+ volatile dword SysTickCount;
+ #endif
+
+ //-----------------------------------------------------------
+ //
+ // Functions
+ //
+ public:
+ INLINE TKernel()
+ : CurProcPriority(pr0)
+ , ReadyProcessMap( (1 << (scmRTOS_PROCESS_COUNT + 1)) - 1) // set all processes ready
+ , ISR_NestCount(0)
+ {
+ }
+
+ private:
+ INLINE inline void RegisterProcess(TBaseProcess* const p);
+
+ void Sched();
+ INLINE void Scheduler() { if(ISR_NestCount) return; else Sched(); }
+ INLINE inline void SchedISR();
+
+ #if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
+ INLINE inline bool IsContextSwitchDone() const volatile;
+ #endif
+ INLINE void SetProcessReady (const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); SetPrioTag( ReadyProcessMap, PrioTag); }
+ INLINE void SetProcessUnready(const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); ClrPrioTag( ReadyProcessMap, PrioTag); }
+
+ public:
+ INLINE inline void SystemTimer();
+ #if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
+ INLINE inline TStackItem* ContextSwitchHook(TStackItem* sp);
+ #endif
+
+ }; // End of TKernel class definition
+ //--------------------------------------------------------------------------
+ extern TKernel Kernel;
+
+ //--------------------------------------------------------------------------
+ //
+ /// BaseProcess
+ ///
+ /// Implements base class-type for application processes
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TBaseProcess
+ {
+ friend class TKernel;
+ friend class TISRW;
+ friend class TISRW_SS;
+ friend class TEventFlag;
+ friend class TMutex;
+ friend class TBaseMessage;
+
+ template<typename T, word size, class S> friend class channel;
+ template<typename T> friend class message;
+
+
+ friend void Run();
+ friend void WakeUpProcess(TBaseProcess& p);
+ friend void ForceWakeUpProcess(TBaseProcess& p);
+ friend bool IsProcessSleeping(const TBaseProcess& p);
+ friend bool IsProcessSuspended(const TBaseProcess& p);
+
+ public:
+ #if SEPARATE_RETURN_STACK == 0
+ TBaseProcess( TStackItem* Stack, TPriority pr, void (*exec)() );
+ #else
+ TBaseProcess( TStackItem* Stack, TStackItem* RStack, TPriority pr, void (*exec)() );
+ #endif
+
+ static void Sleep(TTimeout timeout = 0);
+
+ protected:
+ TStackItem* StackPointer;
+ TTimeout Timeout;
+ TPriority Priority;
+ };
+ //--------------------------------------------------------------------------
+
+ //--------------------------------------------------------------------------
+ //
+ /// process
+ ///
+ /// Implements template for application processes instantiation
+ //
+ // DESCRIPTION:
+ //
+ //
+ #if SEPARATE_RETURN_STACK == 0
+
+ template<TPriority pr, word stack_size>
+ class process : public TBaseProcess
+ {
+ public:
+ INLINE_PROCESS_CTOR process();
+
+ OS_PROCESS static void Exec();
+
+ private:
+ TStackItem Stack[stack_size/sizeof(TStackItem)];
+ };
+
+ template<TPriority pr, word stack_size>
+ OS::process<pr, stack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
+ , pr
+ , reinterpret_cast<void (*)()>(Exec) )
+ {
+ }
+
+ #else
+
+ template<TPriority pr, word stack_size, word rstack_size>
+ class process : public TBaseProcess
+ {
+ public:
+ INLINE_PROCESS_CTOR process();
+
+ OS_PROCESS static void Exec();
+
+ private:
+ TStackItem Stack [stack_size/sizeof(TStackItem)];
+ TStackItem RStack[rstack_size/sizeof(TStackItem)];
+ };
+
+ template<TPriority pr, word stack_size, word rstack_size>
+ process<pr, stack_size, rstack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
+ , &RStack[rstack_size/sizeof(TStackItem)]
+ , pr
+ , reinterpret_cast<void (*)()>(Exec))
+ {
+ }
+
+ #endif
+ //--------------------------------------------------------------------------
+
+ //--------------------------------------------------------------------------
+ //
+ // Miscellaneous
+ //
+ //
+ INLINE inline void Run();
+ INLINE inline void LockSystemTimer() { TCritSect cs; LOCK_SYSTEM_TIMER(); }
+ INLINE inline void UnlockSystemTimer() { TCritSect cs; UNLOCK_SYSTEM_TIMER(); }
+ void WakeUpProcess(TBaseProcess& p);
+ void ForceWakeUpProcess(TBaseProcess& p);
+ INLINE inline void Sleep(TTimeout t = 0) { TBaseProcess::Sleep(t); }
+
+ INLINE inline bool IsProcessSleeping(const TBaseProcess& p)
+ {
+ TCritSect cs;
+ if(p.Timeout)
+ return true;
+ else
+ return false;
+ }
+
+ INLINE inline bool IsProcessSuspended(const TBaseProcess& p)
+ {
+ TCritSect cs;
+ if(Kernel.ReadyProcessMap & GetPrioTag(p.Priority))
+ return false;
+ else
+ return true;
+ }
+ //--------------------------------------------------------------------------
+
+#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
+ INLINE inline dword GetTickCount() { TCritSect cs; return Kernel.SysTickCount; }
+#endif
+
+#if scmRTOS_SYSTIMER_HOOK_ENABLE == 1
+ INLINE_SYS_TIMER_HOOK void SystemTimerUserHook();
+#endif
+
+#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
+ INLINE_CONTEXT_SWITCH_HOOK void ContextSwitchUserHook();
+#endif
+
+}
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+//
+/// Register Process
+///
+/// Places pointer to process in kernel's process table
+//
+void OS::TKernel::RegisterProcess(OS::TBaseProcess* const p)
+{
+ ProcessTable[p->Priority] = p;
+}
+//------------------------------------------------------------------------------
+//
+/// System Timer Implementation
+///
+/// Performs process's timeouts checking and
+/// moving processes to ready-to-run state
+//
+void OS::TKernel::SystemTimer()
+{
+ SYS_TIMER_CRIT_SECT();
+#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
+ SysTickCount++;
+#endif
+
+#if scmRTOS_PRIORITY_ORDER == 0
+ const byte BaseIndex = 0;
+#else
+ const byte BaseIndex = 1;
+#endif
+
+ for(byte i = BaseIndex; i < (scmRTOS_PROCESS_COUNT + BaseIndex); i++)
+ {
+ TBaseProcess* p = ProcessTable[i];
+
+ if(p->Timeout > 0)
+ {
+ if(--p->Timeout == 0)
+ {
+ SetProcessReady(p->Priority);
+ }
+ }
+ }
+}
+//------------------------------------------------------------------------------
+//
+/// ISR optimized scheduler
+///
+/// !!! IMPORTANT: This function must be call from ISR services only !!!
+//
+//
+#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
+void OS::TKernel::SchedISR()
+{
+ byte NextPrty = GetHighPriority(ReadyProcessMap);
+ if(NextPrty != CurProcPriority)
+ {
+ TStackItem* Next_SP = ProcessTable[NextPrty]->StackPointer;
+ TStackItem** Curr_SP_addr = &(ProcessTable[CurProcPriority]->StackPointer);
+ CurProcPriority = NextPrty;
+ OS_ContextSwitcher(Curr_SP_addr, Next_SP);
+ }
+}
+#else
+void OS::TKernel::SchedISR()
+{
+ byte NextPrty = GetHighPriority(ReadyProcessMap);
+ if(NextPrty != CurProcPriority)
+ {
+ SchedProcPriority = NextPrty;
+ RaiseContextSwitch();
+ }
+}
+//------------------------------------------------------------------------------
+bool OS::TKernel::IsContextSwitchDone() const volatile
+{
+ byte cur = CurProcPriority; ///< reading to temporary vars is performed due to
+ byte sched = SchedProcPriority; ///< suppress warning about order of volatile access
+ return cur == sched;
+}
+//------------------------------------------------------------------------------
+TStackItem* OS::TKernel::ContextSwitchHook(TStackItem* sp)
+{
+ ProcessTable[CurProcPriority]->StackPointer = sp;
+ sp = ProcessTable[SchedProcPriority]->StackPointer;
+
+#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
+ ContextSwitchUserHook();
+#endif
+
+ CurProcPriority = SchedProcPriority;
+ return sp;
+}
+//------------------------------------------------------------------------------
+#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
+
+//-----------------------------------------------------------------------------
+/// Start Operation
+INLINE inline void OS::Run()
+{
+ TStackItem* sp = Kernel.ProcessTable[pr0]->StackPointer;
+ OS_Start(sp);
+}
+
+#include <OS_Services.h>
+
+#endif // OS_KERNEL_H
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/OS_Services.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/OS_Services.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,298 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: OS Services Source
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#include "scmRTOS.h"
+
+using namespace OS;
+
+//------------------------------------------------------------------------------
+//
+//
+// TEventFlag
+//
+//
+bool OS::TEventFlag::Wait(TTimeout timeout)
+{
+ TCritSect cs;
+
+ if(Value) // if flag already signaled
+ {
+ Value = efOff; // clear flag
+ return true;
+ }
+ else
+ {
+ TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
+ p->Timeout = timeout;
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+
+ SetPrioTag(ProcessMap, PrioTag); // put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+
+ Kernel.Scheduler();
+
+ p->Timeout = 0;
+
+ if( !(ProcessMap & PrioTag) ) // if waked up by signal() or signal_ISR()
+ return true;
+
+ ClrPrioTag(ProcessMap, PrioTag); // otherwise waked up by timeout or by
+ return false; // OS::ForceWakeUpProcess(), remove process from the wait map
+ }
+}
+//------------------------------------------------------------------------------
+void OS::TEventFlag::Signal()
+{
+ TCritSect cs;
+ if(ProcessMap) // if any process waits for event
+ {
+ TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout expired
+ // or it was waked up by OS::ForceWakeUpProcess()
+
+ if( ProcessMap & ~Timeouted ) // if any process has to be waked up
+ {
+ SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
+ ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
+ // Used to check that process waked up by signal() or signalISR()
+ // and not by timeout or OS::ForceWakeUpProcess()
+ Kernel.Scheduler();
+ return;
+ }
+ }
+ Value = efOn;
+}
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+//
+//
+// TMutex
+//
+//
+void OS::TMutex::Lock()
+{
+ TCritSect cs;
+
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ while(ValueTag)
+ {
+ SetPrioTag(ProcessMap, PrioTag); // mutex already locked by another process, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+
+ Kernel.Scheduler();
+ }
+ ValueTag = PrioTag; // mutex has been successfully locked
+}
+//------------------------------------------------------------------------------
+void OS::TMutex::Unlock()
+{
+ TCritSect cs;
+
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ if(ValueTag != PrioTag) return; // the only process that had locked mutex can unlock the mutex
+ ValueTag = 0;
+ if(ProcessMap)
+ {
+ byte pr = GetHighPriority(ProcessMap);
+ PrioTag = GetPrioTag(pr);
+ ClrPrioTag(ProcessMap, PrioTag); // remove next ready process from the wait map
+ SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
+ Kernel.Scheduler();
+ }
+}
+//------------------------------------------------------------------------------
+void OS::TMutex::UnlockISR()
+{
+ TCritSect cs;
+
+ ValueTag = 0;
+ if(ProcessMap)
+ {
+ byte pr = GetHighPriority(ProcessMap);
+ TProcessMap PrioTag = GetPrioTag(pr);
+ ClrPrioTag(ProcessMap, PrioTag); // remove next ready process from the wait map
+ SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
+ }
+}
+//------------------------------------------------------------------------------
+
+
+//------------------------------------------------------------------------------
+//
+//
+// TChannel
+//
+//
+void OS::TChannel::CheckWaiters(TProcessMap& pm)
+{
+ if(pm)
+ {
+ byte pr = GetHighPriority(pm);
+ TProcessMap PrioTag = GetPrioTag(pr);
+ ClrPrioTag(pm, PrioTag); // remove next ready process from the wait map
+ SetPrioTag(Kernel.ReadyProcessMap, PrioTag); // place next process to the ready map
+ Kernel.Scheduler();
+ }
+}
+//------------------------------------------------------------------------------
+void OS::TChannel::Push(byte x)
+{
+ TCritSect cs;
+
+ while (!Cbuf.get_free_size())
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag (ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler(); // wait until waked-up by Pop() or Read()
+ }
+
+ Cbuf.put(x);
+ CheckWaiters(ConsumersProcessMap);
+}
+//------------------------------------------------------------------------------
+byte OS::TChannel::Pop()
+{
+ TCritSect cs;
+ byte x;
+
+ while(!Cbuf.get_count())
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler(); // wait until waked up by Push() or Write()
+ }
+ x = Cbuf.get();
+ CheckWaiters(ProducersProcessMap);
+ return x;
+}
+//------------------------------------------------------------------------------
+void OS::TChannel::Write(const byte* data, const byte count)
+{
+ TCritSect cs;
+
+ while(Cbuf.get_free_size() < count)
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ProducersProcessMap, PrioTag); // channel has not enough space, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler(); // wait until waked up by Read() or Pop()
+ }
+
+ Cbuf.write(data, count);
+ CheckWaiters(ConsumersProcessMap);
+}
+//------------------------------------------------------------------------------
+void OS::TChannel::Read(byte* const data, const byte count)
+{
+ TCritSect cs;
+
+ while(Cbuf.get_count() < count)
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ConsumersProcessMap, PrioTag); // channel doesn't contain enough data, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler(); // wait until waked up by Write() or Push()
+ }
+
+ Cbuf.read(data, count);
+ CheckWaiters(ProducersProcessMap);
+}
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+//
+// OS::message template
+//
+// Function-members implementation
+//
+//
+//------------------------------------------------------------------------------
+bool OS::TBaseMessage::wait(TTimeout timeout)
+{
+ TCritSect cs;
+
+ if(NonEmpty) // message alredy send
+ {
+ NonEmpty = false;
+ return true;
+ }
+ else
+ {
+ TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
+ p->Timeout = timeout;
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+
+ SetPrioTag(ProcessMap, PrioTag); // put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler(); // wait until wake up
+
+ p->Timeout = 0;
+ if( !(ProcessMap & PrioTag) ) // if waked up by send() or sendISR()
+ return true;
+
+ ClrPrioTag(ProcessMap, PrioTag); // otherwise waked up by timeout or by
+ return false; // OS::ForceWakeUpProcess(), remove process from wait map
+ }
+}
+//------------------------------------------------------------------------------
+void OS::TBaseMessage::send()
+{
+ TCritSect cs;
+
+ if(ProcessMap)
+ {
+ TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout expired,
+ // or it was waked up by OS::ForceWakeUpProcess()
+ if( ProcessMap & ~Timeouted ) // if any process has to be waked up
+ {
+ SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
+ ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
+ Kernel.Scheduler();
+ return;
+ }
+ }
+
+ NonEmpty = true;
+}
+//------------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/OS_Services.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/OS_Services.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,467 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: OS Services Header. Declarations And Definitions
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#ifndef OS_SERVICES_H
+#define OS_SERVICES_H
+
+namespace OS
+{
+ //--------------------------------------------------------------------------
+ //
+ // NAME : Mutex
+ //
+ /// Binary semaphore for support of mutual exclusion
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TMutex
+ {
+ public:
+ INLINE TMutex() : ProcessMap(0), ValueTag(0) { }
+ void Lock();
+ void Unlock();
+ void UnlockISR();
+
+ INLINE bool LockSoftly() { TCritSect cs; if(ValueTag) return false; else Lock(); return true; }
+ INLINE bool IsLocked() const { TCritSect cs; if(ValueTag) return true; else return false; }
+
+ private:
+ TProcessMap ProcessMap;
+ TProcessMap ValueTag;
+
+ };
+ //--------------------------------------------------------------------------
+
+ //--------------------------------------------------------------------------
+ //
+ /// Event Flag
+ ///
+ /// Intended for processes synchronization and
+ /// event notification one (or more) process by another
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TEventFlag
+ {
+ public:
+ enum TValue { efOn = 1, efOff= 0 }; // prefix 'ef' means: "Event Flag"
+
+ public:
+ INLINE TEventFlag(TValue init_val = efOff) : ProcessMap(0), Value(init_val) { }
+
+ bool Wait(TTimeout timeout = 0);
+ void Signal();
+ INLINE void Clear() { TCritSect cs; Value = efOff; }
+ INLINE inline void SignalISR();
+ INLINE bool IsSignaled() { TCritSect cs; if(Value == efOn) return true; else return false; }
+
+ private:
+ TProcessMap ProcessMap;
+ TValue Value;
+ };
+ //--------------------------------------------------------------------------
+
+ //--------------------------------------------------------------------------
+ //
+ /// TChannel
+ ///
+ /// Byte-wide data channel for transferring "raw" data
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TChannel
+ {
+ public:
+ INLINE TChannel(byte* buf, byte size) : Cbuf(buf, size) { }
+ void Push(byte x);
+ byte Pop();
+ void Write(const byte* data, const byte count);
+ void Read(byte* const data, const byte count);
+
+ INLINE byte GetCount() const { TCritSect cs; return Cbuf.get_count(); }
+
+ private:
+ TProcessMap ProducersProcessMap;
+ TProcessMap ConsumersProcessMap;
+ usr::TCbuf Cbuf;
+
+ private:
+ void CheckWaiters(TProcessMap& pm);
+ };
+ //--------------------------------------------------------------------------
+
+
+ //--------------------------------------------------------------------------
+ //
+ // NAME : channel
+ //
+ // PURPOSE : Data channel for transferring data
+ // objects of arbitrary type
+ //
+ // DESCRIPTION:
+ //
+ //
+ template<typename T, word Size, typename S = byte>
+ /// channel
+ ///
+ /// Data channel for transferring data objects of arbitrary type
+ class channel
+ {
+ public:
+ INLINE channel() : ProducersProcessMap(0)
+ , ConsumersProcessMap(0)
+ , pool()
+ {
+ }
+
+ //----------------------------------------------------------------
+ //
+ // Data transfer functions
+ //
+ void write(const T* data, const S cnt);
+ bool read (T* const data, const S cnt, TTimeout timeout = 0);
+
+ void push (const T& item);
+ void push_front(const T& item);
+
+ bool pop (T& item, TTimeout timeout = 0);
+ bool pop_back(T& item, TTimeout timeout = 0);
+
+
+ //----------------------------------------------------------------
+ //
+ // Service functions
+ //
+ INLINE S get_count() const { TCritSect cs; return pool.get_count(); }
+ INLINE S get_free_size() const { TCritSect cs; return pool.get_free_size(); }
+ void flush();
+ //const T& operator[](const S index) { TCritSect cs; return pool[index]; }
+
+
+ private:
+ TProcessMap ProducersProcessMap;
+ TProcessMap ConsumersProcessMap;
+ usr::ring_buffer<T, Size, S> pool;
+
+ private:
+ void CheckWaiters(TProcessMap& pm);
+ };
+
+ //--------------------------------------------------------------------------
+
+ //--------------------------------------------------------------------------
+ //
+ /// message
+ ///
+ /// Template for messages
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TBaseMessage
+ {
+ public:
+ INLINE TBaseMessage() : ProcessMap(0), NonEmpty(false) { }
+
+ bool wait (TTimeout timeout = 0);
+ void send();
+ INLINE inline void sendISR();
+ INLINE bool is_non_empty() const { TCritSect cs; return NonEmpty; }
+ INLINE void reset () { TCritSect cs; NonEmpty = false; }
+
+ private:
+ TProcessMap ProcessMap;
+ bool NonEmpty;
+ };
+ //--------------------------------------------------------------------------
+ template<typename T>
+ class message : public TBaseMessage
+ {
+ public:
+ INLINE message() : TBaseMessage() { }
+ INLINE const T& operator=(const T& msg) { TCritSect cs; Msg = msg; return Msg; }
+ INLINE operator T() const { TCritSect cs; return Msg; }
+
+ private:
+ T Msg;
+ };
+ //--------------------------------------------------------------------------
+}
+//------------------------------------------------------------------------------
+//
+// Function-members implementation
+//
+//------------------------------------------------------------------------------
+void OS::TEventFlag::SignalISR()
+{
+ TCritSect cs;
+ if(ProcessMap) // if any process waits for event
+ {
+ TProcessMap Timeouted = Kernel.ReadyProcessMap; // Process has its tag set in ReadyProcessMap if timeout
+ // expired, or it was waked up by OS::ForceWakeUpProcess()
+ if( ProcessMap & ~Timeouted ) // if any process has to be waked up
+ {
+ SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
+ ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
+ return;
+ }
+ }
+ Value = efOn;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void OS::channel<T, Size, S>::CheckWaiters(TProcessMap& pm)
+{
+ if(pm)
+ {
+ TProcessMap Timeouted = Kernel.ReadyProcessMap;
+
+ SetPrioTag(Kernel.ReadyProcessMap, pm); // place all waiting processes to the ready map
+ ClrPrioTag(pm, ~Timeouted); // remove waiting processes from the wait map
+ Kernel.Scheduler();
+ }
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void OS::channel<T, Size, S>::push(const T& item)
+{
+ TCritSect cs;
+
+ while(!pool.get_free_size())
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+ }
+
+ pool.push_back(item);
+ CheckWaiters(ConsumersProcessMap);
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void OS::channel<T, Size, S>::push_front(const T& item)
+{
+ TCritSect cs;
+
+ while(!pool.get_free_size())
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ProducersProcessMap, PrioTag); // channel is full, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+ }
+
+ pool.push_front(item);
+ CheckWaiters(ConsumersProcessMap);
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+bool OS::channel<T, Size, S>::pop(T& item, TTimeout timeout)
+{
+ TCritSect cs;
+
+ if(pool.get_count())
+ {
+ item = pool.pop();
+ CheckWaiters(ProducersProcessMap);
+ return true;
+ }
+ else
+ {
+ TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
+ p->Timeout = timeout;
+
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ for(;;)
+ {
+ SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+
+ if(pool.get_count())
+ {
+ p->Timeout = 0;
+ item = pool.pop();
+ CheckWaiters(ProducersProcessMap);
+ return true;
+ }
+
+ if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
+ { // or by OS::ForceWakeUpProcess()
+
+ p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
+ ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
+ return false;
+ }
+ }
+ }
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+bool OS::channel<T, Size, S>::pop_back(T& item, TTimeout timeout)
+{
+ TCritSect cs;
+
+ if(pool.get_count())
+ {
+ item = pool.pop_back();
+ CheckWaiters(ProducersProcessMap);
+ return true;
+ }
+ else
+ {
+ TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
+ p->Timeout = timeout;
+
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ for(;;)
+ {
+ SetPrioTag(ConsumersProcessMap, PrioTag); // channel is empty, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+
+ if(pool.get_count())
+ {
+ p->Timeout = 0;
+ item = pool.pop_back();
+ CheckWaiters(ProducersProcessMap);
+ return true;
+ }
+
+ if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
+ { // or by OS::ForceWakeUpProcess()
+
+ p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
+ ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
+ return false;
+ }
+ }
+ }
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void OS::channel<T, Size, S>::flush()
+{
+ TCritSect cs;
+ pool.flush();
+ CheckWaiters(ProducersProcessMap);
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void OS::channel<T, Size, S>::write(const T* data, const S count)
+{
+ TCritSect cs;
+
+ while(pool.get_free_size() < count)
+ {
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ SetPrioTag(ProducersProcessMap, PrioTag); // channel does not have enough space, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+ }
+
+ pool.write(data, count);
+ CheckWaiters(ConsumersProcessMap);
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+bool OS::channel<T, Size, S>::read(T* const data, const S count, TTimeout timeout)
+{
+ TCritSect cs;
+
+ TBaseProcess* p = Kernel.ProcessTable[Kernel.CurProcPriority];
+ p->Timeout = timeout;
+
+ TProcessMap PrioTag = GetPrioTag(Kernel.CurProcPriority);
+ while(pool.get_count() < count)
+ {
+ SetPrioTag(ConsumersProcessMap, PrioTag); // channel doesn't contain enough data, put current process to the wait map
+ ClrPrioTag(Kernel.ReadyProcessMap, PrioTag); // remove current process from the ready map
+ Kernel.Scheduler();
+
+ if(ConsumersProcessMap & PrioTag) // waked up by timer when timeout expired
+ { // or by OS::ForceWakeUpProcess()
+
+ p->Timeout = 0; // non-zero if waked up by ForceWakeUpProcess()
+ ClrPrioTag(ConsumersProcessMap, PrioTag); // remove current process from the wait map
+ return false;
+ }
+ }
+
+ p->Timeout = 0;
+ pool.read(data, count);
+ CheckWaiters(ProducersProcessMap);
+
+ return true;
+}
+//------------------------------------------------------------------------------
+
+//------------------------------------------------------------------------------
+//
+// OS::message template
+//
+// Function-members implementation
+//
+//
+//------------------------------------------------------------------------------
+void OS::TBaseMessage::sendISR()
+{
+ TCritSect cs;
+
+ if(ProcessMap)
+ {
+ TProcessMap Timeouted = OS::Kernel.ReadyProcessMap; // Process has it's tag set in ReadyProcessMap if timeout
+ // expired, or it was waked up by OS::ForceWakeUpProcess()
+ if( ProcessMap & ~Timeouted ) // if any process has to be waked up
+ {
+ SetPrioTag(Kernel.ReadyProcessMap, ProcessMap); // place all waiting processes to the ready map
+ ClrPrioTag(ProcessMap, ~Timeouted); // remove all non-timeouted processes from the waiting map.
+ return;
+ }
+ }
+ NonEmpty = true;
+}
+//------------------------------------------------------------------------------
+#endif // OS_SERVICES_H
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/scmRTOS.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scmRTOS/Common/scmRTOS.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,58 @@ +//****************************************************************************** +//* +//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System +//* +//* NICKNAME: scmRTOS +//* +//* PURPOSE: Main RTOS header file +//* +//* Version: 3.10 +//* +//* $Revision: 256 $ +//* $Date:: 2010-01-22 #$ +//* +//* Copyright (c) 2003-2010, Harry E. Zhurov +//* +//* Permission is hereby granted, free of charge, to any person +//* obtaining a copy of this software and associated documentation +//* files (the "Software"), to deal in the Software without restriction, +//* including without limitation the rights to use, copy, modify, merge, +//* publish, distribute, sublicense, and/or sell copies of the Software, +//* and to permit persons to whom the Software is furnished to do so, +//* subject to the following conditions: +//* +//* The above copyright notice and this permission notice shall be included +//* in all copies or substantial portions of the Software. +//* +//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH +//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +//* +//* ================================================================= +//* See http://scmrtos.sourceforge.net for documentation, latest +//* information, license and contact details. +//* ================================================================= +//* +//****************************************************************************** + +#ifndef scmRTOS_H +#define scmRTOS_H + +//----------------------------------------------------------------------------- +// +// !!! The order of includes is important !!! +// +#include <stddef.h> +#include <commdefs.h> +#include <usrlib.h> +#include <OS_Target.h> + +//------------------------------------------------------------------------------ + + +#endif // scmRTOS_H +
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/scmRTOS_defs.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/scmRTOS_defs.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,374 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: Macros And Common Definitions
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#ifndef scmRTOS_DEFS_H
+#define scmRTOS_DEFS_H
+
+#include <commdefs.h>
+
+//------------------------------------------------------------------------------
+
+//-----------------------------------------------------------------------------
+//
+//
+/// Macro for Channel Type definition
+//
+//
+#define DefineChannel(Name, Capacity) \
+class Name : public OS::TChannel \
+{ \
+public: \
+ Name() : OS::TChannel(buf, sizeof(buf)) { } \
+ \
+private: \
+ byte buf[Capacity]; \
+ \
+}
+//-----------------------------------------------------------------------------
+//
+// Check CONFIG Macro Definitions
+//
+//
+
+//----------------- scmRTOS_SYSTIMER_NEST_INTS_ENABLE -------------------------
+#ifndef scmRTOS_SYSTIMER_NEST_INTS_ENABLE
+#error "Error: Config macro scmRTOS_SYSTIMER_NEST_INTS_ENABLE must be defined!"
+#endif
+
+#if (scmRTOS_SYSTIMER_NEST_INTS_ENABLE < 0) || (scmRTOS_SYSTIMER_NEST_INTS_ENABLE > 1)
+#error "Error: scmRTOS_SYSTIMER_NEST_INTS_ENABLE must have values 0 or 1 only!"
+#endif
+
+//----------------- scmRTOS_SYSTEM_TICKS_ENABLE -------------------------------
+#ifndef scmRTOS_SYSTEM_TICKS_ENABLE
+#error "Error: Config macro scmRTOS_SYSTEM_TICKS_ENABLE must be defined!"
+#endif
+
+#if (scmRTOS_SYSTEM_TICKS_ENABLE < 0) || (scmRTOS_SYSTEM_TICKS_ENABLE > 1)
+#error "Error: scmRTOS_SYSTEM_TICKS_ENABLE must have values 0 or 1 only!"
+#endif
+
+
+//----------------- scmRTOS_SYSTIMER_HOOK_ENABLE ------------------------------
+#ifndef scmRTOS_SYSTIMER_HOOK_ENABLE
+#error "Error: Config macro scmRTOS_SYSTIMER_HOOK_ENABLE must be defined!"
+#endif
+
+#if (scmRTOS_SYSTIMER_HOOK_ENABLE < 0) || (scmRTOS_SYSTIMER_HOOK_ENABLE > 1)
+#error "Error: scmRTOS_SYSTIMER_HOOK_ENABLE must have values 0 or 1 only!"
+#endif
+
+//-------------- scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE ----------------------
+#ifndef scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE
+#error "Error: Config macro scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE must be defined!"
+#endif
+
+#if (scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE < 0) || (scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE > 1)
+#error "Error: scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE must have values 0 or 1 only!"
+#endif
+
+//----------------- scmRTOS_IDLE_HOOK_ENABLE ----------------------------------
+#ifndef scmRTOS_IDLE_HOOK_ENABLE
+#error "Error: Config macro scmRTOS_IDLE_HOOK_ENABLE must be defined!"
+#endif
+
+#if (scmRTOS_IDLE_HOOK_ENABLE < 0) || (scmRTOS_IDLE_HOOK_ENABLE > 1)
+#error "Error: scmRTOS_IDLE_HOOK_ENABLE must have values 0 or 1 only!"
+#endif
+
+//----------------- scmRTOS_CONTEXT_SWITCH_SCHEME -----------------------------
+#ifndef scmRTOS_CONTEXT_SWITCH_SCHEME
+#error "Error: Config macro scmRTOS_CONTEXT_SWITCH_SCHEME must be defined!"
+#endif
+
+#if (scmRTOS_CONTEXT_SWITCH_SCHEME < 0) || (scmRTOS_CONTEXT_SWITCH_SCHEME > 1)
+#error "Error: scmRTOS_CONTEXT_SWITCH_SCHEME must have values 0 or 1 only!"
+#endif
+
+
+//----------------- scmRTOS_PRIORITY_ORDER ------------------------------------
+#ifndef scmRTOS_PRIORITY_ORDER
+#error "Error: Config macro scmRTOS_PRIORITY_ORDER must be defined!"
+#endif
+
+#if (scmRTOS_PRIORITY_ORDER < 0) || (scmRTOS_PRIORITY_ORDER > 1)
+#error "Error: scmRTOS_PRIORITY_ORDER must have values 0 or 1 only!"
+#endif
+
+//----------------- User Hooks inlining ------------------------------------
+#ifndef INLINE_SYS_TIMER_HOOK
+#define INLINE_SYS_TIMER_HOOK
+#endif
+
+#ifndef INLINE_CONTEXT_SWITCH_HOOK
+#define INLINE_CONTEXT_SWITCH_HOOK
+#endif
+
+
+//-----------------------------------------------------------------------------
+//
+/// Priority and process map type definitions
+//
+//
+namespace OS
+{
+ #if scmRTOS_PROCESS_COUNT < 8
+ typedef byte TProcessMap;
+ #elif scmRTOS_PROCESS_COUNT < 16
+ typedef word TProcessMap;
+ #else
+ typedef dword TProcessMap;
+ #endif
+ //------------------------------------------------------
+#if scmRTOS_PRIORITY_ORDER == 0
+ enum TPriority {
+ #if scmRTOS_PROCESS_COUNT > 0
+ pr0,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 1
+ pr1,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 2
+ pr2,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 3
+ pr3,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 4
+ pr4,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 5
+ pr5,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 6
+ pr6,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 7
+ pr7,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 8
+ pr8,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 9
+ pr9,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 10
+ pr10,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 11
+ pr11,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 12
+ pr12,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 13
+ pr13,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 14
+ pr14,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 15
+ pr15,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 16
+ pr16,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 17
+ pr17,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 18
+ pr18,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 19
+ pr19,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 20
+ pr20,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 21
+ pr21,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 22
+ pr22,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 23
+ pr23,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 24
+ pr24,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 25
+ pr25,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 26
+ pr26,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 27
+ pr27,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 28
+ pr28,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 29
+ pr29,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 30
+ pr30,
+ #endif
+ #if (scmRTOS_PROCESS_COUNT > 31) || (scmRTOS_PROCESS_COUNT < 1)
+ #error "Invalid Process Count specification! Must be from 1 to 31."
+ #endif
+ prIDLE
+ };
+#else // scmRTOS_PRIORITY_ORDER == 1
+ enum TPriority {
+ prIDLE,
+ #if scmRTOS_PROCESS_COUNT > 30
+ pr30,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 29
+ pr29,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 28
+ pr28,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 27
+ pr27,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 26
+ pr26,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 25
+ pr25,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 24
+ pr24,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 23
+ pr23,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 22
+ pr22,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 21
+ pr21,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 20
+ pr20,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 19
+ pr19,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 18
+ pr18,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 17
+ pr17,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 16
+ pr16,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 15
+ pr15,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 14
+ pr14,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 13
+ pr13,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 12
+ pr12,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 11
+ pr11,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 10
+ pr10,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 9
+ pr9,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 8
+ pr8,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 7
+ pr7,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 6
+ pr6,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 5
+ pr5,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 4
+ pr4,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 3
+ pr3,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 2
+ pr2,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 1
+ pr1,
+ #endif
+ #if scmRTOS_PROCESS_COUNT > 0
+ pr0
+ #endif
+ #if (scmRTOS_PROCESS_COUNT > 31) || (scmRTOS_PROCESS_COUNT < 1)
+ #error "Invalid Process Count specification! Must be from 1 to 31."
+ #endif
+ };
+#endif //scmRTOS_PRIORITY_ORDER
+}
+//-----------------------------------------------------------------------------
+//
+// Process's constructor inlining control: default behaviour
+//
+#ifndef INLINE_PROCESS_CTOR
+#define INLINE_PROCESS_CTOR
+#endif
+
+
+//-----------------------------------------------------------------------------
+
+#endif // scmRTOS_DEFS_H
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/usrlib.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/usrlib.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,140 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: User Suport Library Source
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#include <usrlib.h>
+#include <commdefs.h>
+
+using namespace usr;
+
+//------------------------------------------------------------------------------
+//
+/// Circular buffer function-member description
+//
+//
+//
+TCbuf::TCbuf(byte* const Address, const byte Size) :
+ buf(Address),
+ size(Size),
+ count(0),
+ first(0),
+ last(0)
+{
+}
+//------------------------------------------------------------------------------
+bool TCbuf::write(const byte* data, const byte Count)
+{
+ if( Count > (size - count) )
+ return false;
+
+ for(byte i = 0; i < Count; i++)
+ push(*(data++));
+
+ return true;
+}
+//------------------------------------------------------------------------------
+void TCbuf::read(byte* data, const byte Count)
+{
+ byte N = Count <= count ? Count : count;
+
+ for(byte i = 0; i < N; i++)
+ data[i] = pop();
+}
+//------------------------------------------------------------------------------
+byte TCbuf::get_byte(const byte index) const
+{
+ byte x = first + index;
+
+ if(x < size)
+ return buf[x];
+ else
+ return buf[x - size];
+}
+
+//------------------------------------------------------------------------------
+bool TCbuf::put(const byte item)
+{
+ if(count == size)
+ return false;
+
+ push(item);
+ return true;
+}
+//------------------------------------------------------------------------------
+byte TCbuf::get()
+{
+ if(count)
+ return pop();
+ else
+ return 0;
+}
+//------------------------------------------------------------------------------
+//
+/// \note
+/// For internal purposes.
+/// Use this function with care - it doesn't perform free size check.
+//
+void TCbuf::push(const byte item)
+{
+ buf[last] = item;
+ last++;
+ count++;
+
+ if(last == size)
+ last = 0;
+}
+//------------------------------------------------------------------------------
+//
+/// \note
+/// For internal purposes.
+/// Use this function with care - it doesn't perform free size check.
+//
+byte TCbuf::pop()
+{
+ byte item = buf[first];
+
+ count--;
+ first++;
+ if(first == size)
+ first = 0;
+
+ return item;
+}
+//------------------------------------------------------------------------------
diff -r 000000000000 -r 9b057566f9ee scmRTOS/Common/usrlib.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/Common/usrlib.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,298 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PURPOSE: User Suport Library Header
+//*
+//* Version: 3.10
+//*
+//* $Revision: 256 $
+//* $Date:: 2010-01-22 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+
+#ifndef USRLIB_H
+#define USRLIB_H
+
+#include <commdefs.h>
+
+//------------------------------------------------------------------------------
+//
+// DESCRIPTON: user namespace for some useful types and functions
+//
+//
+namespace usr
+{
+ //------------------------------------------------------------------------------
+ //
+ /// The Circular Buffer
+ //
+ /// Byte-wide FIFO.
+ //
+ /// Allows to:
+ /// add byte,
+ /// get byte,
+ /// write bytes from array,
+ /// read bytes to array,
+ /// and some other service actions.
+ //
+ class TCbuf
+ {
+ public:
+ TCbuf(byte* const Address, const byte Size);
+ bool write(const byte* data, const byte Count);
+ void read(byte* const data, const byte Count);
+ byte get_count() const { return count; }
+ byte get_free_size() const { return size - count; }
+ byte get_byte(const byte index) const;
+ void clear() { count = 0; last = first; }
+ bool put(const byte item);
+ byte get();
+
+ private:
+ //------------------------------------------------------------------------------
+ //
+ // DESCRIPTON: For internal purposes
+ //
+ void push(const byte item); ///< Use this function with care - it doesn't perform free size check
+ byte pop(); ///< Use this function with care - it doesn't perform count check
+ //------------------------------------------------------------------------------
+
+ private:
+ byte* buf;
+ byte size;
+ volatile byte count;
+ byte first;
+ byte last;
+ };
+ //------------------------------------------------------------------------------
+
+
+
+ //-----------------------------------------------------------------------
+ //
+ /// The Ring Buffer Template
+ ///
+ /// Carries out FIFO functionality for
+ /// arbitrary data types
+ ///
+ /// Allows to:
+ /// add item to back (default),
+ /// add item to front,
+ /// get item at front (default),
+ /// get item from back,
+ /// write items from array,
+ /// read items to array and some other actions
+ //
+ //
+ //
+ template<typename T, word Size, typename S = byte>
+ class ring_buffer
+ {
+ public:
+ ring_buffer() : Count(0), First(0), Last(0) { }
+
+ //----------------------------------------------------------------
+ //
+ // Data transfer functions
+ //
+ bool write(const T* data, const S cnt);
+ void read(T* const data, const S cnt);
+
+ bool push_back(const T item);
+ bool push_front(const T item);
+
+ T pop_front();
+ T pop_back();
+
+ bool push(const T item) { return push_back(item); }
+ T pop() { return pop_front(); }
+
+ //----------------------------------------------------------------
+ //
+ // Service functions
+ //
+ S get_count() const { return Count; }
+ S get_free_size() const { return Size - Count; }
+ T& operator[](const S index);
+ void flush() { Count = 0; Last = First; }
+
+ private:
+ //--------------------------------------------------------------
+ // DESCRIPTON: For internal purposes
+ // Use this functions with care: it don't perform
+ // free size and count check
+ //
+ void push_item(const T item);
+ void push_item_front(const T item);
+ T pop_item();
+ T pop_item_back();
+ //--------------------------------------------------------------
+
+ private:
+ S Count;
+ S First;
+ S Last;
+ T Buf[Size];
+ };
+ //------------------------------------------------------------------
+}
+//---------------------------------------------------------------------------
+
+
+//------------------------------------------------------------------------------
+//
+// The ring buffer function-member definitions
+//
+//
+//
+template<typename T, word Size, typename S>
+bool usr::ring_buffer<T, Size, S>::write(const T* data, const S cnt)
+{
+ if( cnt > (Size - Count) )
+ return false;
+
+ for(S i = 0; i < cnt; i++)
+ push_item(*(data++));
+
+ return true;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void usr::ring_buffer<T, Size, S>::read(T* data, const S cnt)
+{
+ S nItems = cnt <= Count ? cnt : Count;
+
+ for(S i = 0; i < nItems; i++)
+ data[i] = pop_item();
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+T& usr::ring_buffer<T, Size, S>::operator[](const S index)
+{
+ S x = First + index;
+
+ if(x < Size)
+ return Buf[x];
+ else
+ return Buf[x - Size];
+}
+
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+bool usr::ring_buffer<T, Size, S>::push_back(const T item)
+{
+ if(Count == Size)
+ return false;
+
+ push_item(item);
+ return true;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+bool usr::ring_buffer<T, Size, S>::push_front(const T item)
+{
+ if(Count == Size)
+ return false;
+
+ push_item_front(item);
+ return true;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+T usr::ring_buffer<T, Size, S>::pop_front()
+{
+ if(Count)
+ return pop_item();
+ else
+ return Buf[First];
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+T usr::ring_buffer<T, Size, S>::pop_back()
+{
+ if(Count)
+ return pop_item_back();
+ else
+ return Buf[First];
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void usr::ring_buffer<T, Size, S>::push_item(const T item)
+{
+ Buf[Last] = item;
+ Last++;
+ Count++;
+
+ if(Last == Size)
+ Last = 0;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+void usr::ring_buffer<T, Size, S>::push_item_front(const T item)
+{
+ if(First == 0)
+ First = Size - 1;
+ else
+ --First;
+ Buf[First] = item;
+ Count++;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+T usr::ring_buffer<T, Size, S>::pop_item()
+{
+ T item = Buf[First];
+
+ Count--;
+ First++;
+ if(First == Size)
+ First = 0;
+
+ return item;
+}
+//------------------------------------------------------------------------------
+template<typename T, word Size, typename S>
+T usr::ring_buffer<T, Size, S>::pop_item_back()
+{
+
+ if(Last == 0)
+ Last = Size - 1;
+ else
+ --Last;
+
+ Count--;
+ return Buf[Last];;
+}
+//------------------------------------------------------------------------------
+
+
+#endif // USRLIB_H
diff -r 000000000000 -r 9b057566f9ee scmRTOS/CortexM3/OS_Target.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/CortexM3/OS_Target.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,236 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PROCESSOR: ARM Cortex-M3
+//*
+//* TOOLKIT: RVCT (ARM)
+//*
+//* PURPOSE: Target Dependent Stuff Header. Declarations And Definitions
+//*
+//* Version: 3.10
+//*
+//* $Revision: 195 $
+//* $Date:: 2008-06-19 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+//* Ported by Andrey Chuikin, Copyright (c) 2008-2010
+
+#ifndef scmRTOS_CORTEXM3_H
+#define scmRTOS_CORTEXM3_H
+
+#include <commdefs.h>
+
+//------------------------------------------------------------------------------
+//
+// Compiler and Target checks
+//
+//
+#ifndef __ARMCC_VERSION
+#error "This file should only be compiled with ARM RVCT Compiler"
+#endif // __ARMCC_VERSION
+
+#if __TARGET_ARCH_ARM != 0 || __TARGET_ARCH_THUMB != 4
+#error "This file must be compiled for ARMv7-M (Cortex-M3) processor only."
+#endif
+
+//------------------------------------------------------------------------------
+//
+// Target specific types
+//
+//
+typedef dword TStackItem;
+typedef dword TStatusReg;
+
+//-----------------------------------------------------------------------------
+//
+// Configuration macros
+//
+//
+#define OS_PROCESS __attribute__((__noreturn__))
+#define OS_INTERRUPT
+#define DUMMY_INSTR() __NOP()
+#define INLINE_PROCESS_CTOR INLINE inline
+
+//-----------------------------------------------------------------------------
+//
+// Uncomment macro value below for SystemTimer() run in critical section
+//
+// This is useful (and necessary) when target processor has hardware
+// enabled nested interrups. Cortex-M3 have such interrupts.
+//
+#define SYS_TIMER_CRIT_SECT() TCritSect cs
+
+//-----------------------------------------------------------------------------
+// Separate return stack not required
+#define SEPARATE_RETURN_STACK 0
+
+//-----------------------------------------------------------------------------
+// Software interrupt stack switching not supported in Cortex-M3 port
+// because processor implements hardware stack switching.
+// So, system timer isr wrapper can't be choosen at project level
+//
+#define scmRTOS_ISRW_TYPE TISRW
+
+//-----------------------------------------------------------------------------
+//
+// scmRTOS Context Switch Scheme
+//
+// The macro defines a context switch manner. Value 0 sets direct context
+// switch in the scheduler and in the OS ISRs. This is the primary method.
+// Value 1 sets the second way to switch context - by using of software
+// interrupt. See documentation fo details.
+// Cortex-M3 port supports software interrupt switch method only.
+//
+#define scmRTOS_CONTEXT_SWITCH_SCHEME 1
+
+//-----------------------------------------------------------------------------
+//
+// Include project-level configurations
+// !!! The order of includes is important !!!
+//
+#include "../scmRTOS_config.h"
+#include "../scmRTOS_TARGET_CFG.h"
+#include <scmRTOS_defs.h>
+#include <LPC17xx.h>
+
+//-----------------------------------------------------------------------------
+//
+// The Critital Section Wrapper
+//
+//
+#define __enable_interrupt() __enable_irq()
+#define __disable_interrupt() __disable_irq()
+
+#define __set_interrupt_state(status) __set_PRIMASK(status)
+#define __get_interrupt_state() __get_PRIMASK()
+
+class TCritSect
+{
+public:
+ TCritSect () : StatusReg(__get_interrupt_state()) { __disable_interrupt(); }
+ ~TCritSect() { __set_interrupt_state(StatusReg); }
+
+private:
+ TStatusReg StatusReg;
+};
+//-----------------------------------------------------------------------------
+
+//-----------------------------------------------------------------------------
+//
+// Priority stuff
+//
+//
+namespace OS
+{
+INLINE inline OS::TProcessMap GetPrioTag(const byte pr) { return static_cast<OS::TProcessMap> (1 << pr); }
+
+#if scmRTOS_PRIORITY_ORDER == 0
+ INLINE inline byte GetHighPriority(TProcessMap pm)
+ {
+ byte pr = 0;
+
+ while( !(pm & 0x0001) )
+ {
+ pr++;
+ pm >>= 1;
+ }
+ return pr;
+ }
+#else
+ INLINE inline byte GetHighPriority(TProcessMap pm) { return (31 - __clz(pm)); }
+#endif // scmRTOS_PRIORITY_ORDER
+}
+
+//-----------------------------------------------------------------------------
+//
+// Interrupt and Interrupt Service Routines support
+//
+INLINE inline TStatusReg GetInterruptState( ) { return __get_interrupt_state(); }
+INLINE inline void SetInterruptState(TStatusReg sr) { __set_interrupt_state(sr); }
+
+INLINE inline void EnableInterrupts() { __enable_interrupt(); }
+INLINE inline void DisableInterrupts() { __disable_interrupt(); }
+
+
+namespace OS
+{
+ INLINE inline void EnableContextSwitch() { EnableInterrupts(); }
+ INLINE inline void DisableContextSwitch() { DisableInterrupts(); }
+}
+
+#include <OS_Kernel.h>
+
+namespace OS
+{
+ //--------------------------------------------------------------------------
+ //
+ // NAME : OS ISR support
+ //
+ // PURPOSE : Implements common actions on interrupt enter and exit
+ // under the OS
+ //
+ // DESCRIPTION:
+ //
+ //
+ class TISRW
+ {
+ public:
+ INLINE TISRW() { ISR_Enter(); }
+ INLINE ~TISRW() { ISR_Exit(); }
+
+ private:
+ //-----------------------------------------------------
+ INLINE void ISR_Enter()
+ {
+ TCritSect cs;
+ Kernel.ISR_NestCount++;
+ }
+ //-----------------------------------------------------
+ INLINE void ISR_Exit()
+ {
+ TCritSect cs;
+ if(--Kernel.ISR_NestCount) return;
+ Kernel.SchedISR();
+ }
+ //-----------------------------------------------------
+ };
+
+ // No software interrupt stack switching provided,
+ // TISRW_SS declared to be the same as TISRW for porting compability
+ #define TISRW_SS TISRW
+
+} // ns OS
+//-----------------------------------------------------------------------------
+
+#endif // scmRTOS_CORTEXM3_H
+//-----------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/CortexM3/OS_Target_asm.s
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/CortexM3/OS_Target_asm.s Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,178 @@
+; ******************************************************************************
+; *
+; * FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+; *
+; * NICKNAME: scmRTOS
+; *
+; * PROCESSOR: ARM Cortex-M3
+; *
+; * TOOLKIT: EWARM (IAR Systems)
+; *
+; * PURPOSE: Target Dependent Low-Level Stuff
+; *
+; * Version: 3.10
+; *
+; * $Revision: 195 $
+; * $Date:: 2008-06-19 #$
+; *
+; * Copyright (c) 2003-2010, Harry E. Zhurov
+; *
+; * Permission is hereby granted, free of charge, to any person
+; * obtaining a copy of this software and associated documentation
+; * files (the "Software"), to deal in the Software without restriction,
+; * including without limitation the rights to use, copy, modify, merge,
+; * publish, distribute, sublicense, and/or sell copies of the Software,
+; * and to permit persons to whom the Software is furnished to do so,
+; * subject to the following conditions:
+; *
+; * The above copyright notice and this permission notice shall be included
+; * in all copies or substantial portions of the Software.
+; *
+; * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+; * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+; * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+; * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+; * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+; * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+; * THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+; *
+; * =================================================================
+; * See http://scmrtos.sourceforge.net for documentation, latest
+; * information, license and contact details.
+; * =================================================================
+; *
+; ******************************************************************************
+; * Ported by Andrey Chuikin, Copyright (c) 2008-2010
+
+; #include "scmRTOS_TARGET_CFG.h"
+
+; -----------------------------------------------------------------------------
+; PUBLIC FUNCTIONS
+;
+ EXTERN OS_ContextSwitchHook
+
+ EXPORT OS_Start
+ EXPORT PendSV_Handler
+
+; -----------------------------------------------------------------------------
+; EQUATES
+;
+NVIC_INT_CTRL EQU 0xE000ED04 ; Interrupt control state register.
+NVIC_PENDSVSET EQU 0x10000000 ; Value to trigger PendSV exception.
+
+NVIC_SYSPRI14 EQU 0xE000ED22 ; System priority register (priority 14).
+NVIC_PENDSV_PRI EQU 0xFF ; PendSV priority value (lowest).
+NVIC_SYSPRI15 EQU 0xE000ED23 ; System priority register (priority 15).
+NVIC_ST_PRI EQU 0xFF ; SysTick priority value (lowest).
+
+NVIC_ST_CTRL EQU 0xE000E010 ; SysTick Ctrl & Status Reg.
+NVIC_ST_RELOAD EQU 0xE000E014 ; SysTick Reload Value Reg.
+NVIC_ST_CTRL_CLK_SRC EQU 0x00000004 ; Clock Source.
+NVIC_ST_CTRL_INTEN EQU 0x00000002 ; Interrupt enable.
+NVIC_ST_CTRL_ENABLE EQU 0x00000001 ; Counter mode.
+
+; should be the same as in scmRTOS_TARGET_CFG.h
+SYSTICKFREQ EQU 100000000
+SYSTICKINTRATE EQU 1000
+
+; -----------------------------------------------------------------------------
+; CODE GENERATION DIRECTIVES
+;
+ AREA TEXT, CODE, READONLY
+ THUMB
+
+; -----------------------------------------------------------------------------
+; HANDLE PendSV EXCEPTION
+; void PendSV_Handler(void)
+;
+; Note(s) : 1) PendSV is used to cause a context switch. This is a recommended method for performing
+; context switches with Cortex-M3. This is because the Cortex-M3 auto-saves half of the
+; processor context on any exception, and restores same on return from exception. So only
+; saving of R4-R11 is required and fixing up the stack pointers. Using the PendSV exception
+; this way means that context saving and restoring is identical whether it is initiated from
+; a thread or occurs due to an interrupt or exception.
+;
+; 2) Pseudo-code is:
+; a) Get the process SP, if 0 then skip (goto f) the saving part (first context switch);
+; b) Save remaining regs r4-r11 on process stack;
+; c) Call OS_ContextSwitchHook for save current task SP and get new task SP;
+; d) Restore R4-R11 from new process stack;
+; e) Perform exception return which will restore remaining context.
+; f) Get SP for the first context switch (R2 hold it);
+; run SysTick; goto d);
+;
+; 3) On entry into PendSV handler:
+; a) The following have been saved on the process stack (by processor):
+; xPSR, PC, LR, R12, R0-R3
+; b) Processor mode is switched to Handler mode (from Thread mode)
+; c) Stack is Main stack (switched from Process stack)
+;
+; 4) Since PendSV is set to lowest priority in the system (by OS_Start() below), we
+; know that it will only be run when no other exception or interrupt is active, and
+; therefore safe to assume that context being switched out was using the process stack (PSP).
+;
+PendSV_Handler
+ CPSID I ; Prevent interruption during context switch
+ MRS R0, PSP ; PSP is process stack pointer
+ CBZ R0, nosave ; Skip register save the first time
+
+ STMDB R0!, {R4-R11} ; Save remaining regs r4-11 on process stack
+ ; At this point, entire context of process has been saved
+
+ PUSH {R14} ; Save LR exc_return value
+ LDR R1, =OS_ContextSwitchHook ; OS_ContextSwitchHook();
+ BLX R1
+ POP {R14}
+
+ContextRestore
+ ; R0 is new process SP;
+ LDMIA R0!, {R4-R11} ; Restore r4-11 from new process stack
+ MSR PSP, R0 ; Load PSP with new process SP
+ ORR LR, LR, #0x04 ; Ensure exception return uses process stack
+ CPSIE I
+ BX LR ; Exception return will restore remaining context
+nosave
+ MOV R0, R2 ; R2 hold the first task SP
+
+ LDR R1, =NVIC_ST_CTRL ; Enable and run SysTick
+ LDR R2, =(NVIC_ST_CTRL_CLK_SRC | NVIC_ST_CTRL_INTEN | NVIC_ST_CTRL_ENABLE)
+ STR R2, [R1]
+
+ B ContextRestore
+
+
+; -----------------------------------------------------------------------------
+; START MULTITASKING
+; void OS_Start(TStackItem* sp)
+;
+; Note(s) : 1) OS_Start() MUST:
+; a) Setup PendSV and SysTick exception priority to lowest;
+; b) Setup SysTick (reload value);
+; c) Enable interrupts (tasks will run with interrupts enabled).
+;
+OS_Start
+ LDR R1, =NVIC_SYSPRI14 ; Set the PendSV exception priority (lowest)
+ LDR R2, =NVIC_PENDSV_PRI
+ STRB R2, [R1]
+ LDR R1, =NVIC_SYSPRI15 ; Set the SysTick exception priority (lowest)
+ LDR R2, =NVIC_ST_PRI
+ STRB R2, [R1]
+
+ LDR R1, =NVIC_ST_RELOAD ; Setup SysTick
+ LDR R2, =(SYSTICKFREQ/SYSTICKINTRATE-1)
+ STR R2, [R1]
+
+ MOV R2, R0 ; Save the first task stack
+ MOVS R0, #0 ; Set the PSP to 0 for initial context switch call
+ MSR PSP, R0
+
+ LDR R0, =NVIC_INT_CTRL ; Trigger the PendSV exception (causes context switch)
+ LDR R1, =NVIC_PENDSVSET
+ STR R1, [R0]
+
+ CPSIE I ; Enable interrupts at processor level
+loop
+ B loop ; Should never get here
+
+
+ END
diff -r 000000000000 -r 9b057566f9ee scmRTOS/CortexM3/OS_Target_cpp.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/CortexM3/OS_Target_cpp.cpp Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,131 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PROCESSOR: ARM Cortex-M3
+//*
+//* TOOLKIT: EWARM (IAR Systems)
+//*
+//* PURPOSE: Target Dependent Stuff Source
+//*
+//* Version: 3.10
+//*
+//* $Revision: 195 $
+//* $Date:: 2008-06-19 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+//* Ported by Andrey Chuikin, Copyright (c) 2008-2010
+
+
+#include <scmRTOS.h>
+
+using namespace OS;
+
+//------------------------------------------------------------------------------
+//
+// OS Process's constructor
+//
+// Performs:
+// * initializing process data;
+// * registering of the process in kernel;
+// * preparing stack frame;
+//
+//
+TBaseProcess::TBaseProcess(TStackItem* Stack, TPriority pr, void (*exec)())
+ : StackPointer(Stack)
+ , Timeout(0)
+ , Priority(pr)
+{
+ Kernel.RegisterProcess(this);
+
+ //---------------------------------------------------------------
+ //
+ // Prepare Process Stack Frame
+ //
+ *(--StackPointer) = 0x01000000L; // xPSR
+ *(--StackPointer) = reinterpret_cast<dword>(exec); // Entry Point
+ StackPointer -= 14; // emulate "push R14,R12,R3,R2,R1,R0,R11-R4"
+
+ // The code below can be used for debug purpose. In this case comment
+ // line above and uncomment block below.
+/*
+ *(--StackPointer) = 0xFFFFFFFEL; // R14 (LR) (init value will cause fault if ever used)
+ *(--StackPointer) = 0x12121212L; // R12
+ *(--StackPointer) = 0x03030303L; // R3
+ *(--StackPointer) = 0x02020202L; // R2
+ *(--StackPointer) = 0x01010101L; // R1
+ *(--StackPointer) = 0x00000000L; // R0
+
+ // Remaining registers saved on process stack
+ *(--StackPointer) = 0x11111111L; // R11
+ *(--StackPointer) = 0x10101010L; // R10
+ *(--StackPointer) = 0x09090909L; // R9
+ *(--StackPointer) = 0x08080808L; // R8
+ *(--StackPointer) = 0x07070707L; // R7
+ *(--StackPointer) = 0x06060606L; // R6
+ *(--StackPointer) = 0x05050505L; // R5
+ *(--StackPointer) = 0x04040404L; // R4
+*/
+}
+//------------------------------------------------------------------------------
+//
+// Idle Process
+//
+typedef process<prIDLE, scmRTOS_IDLE_PROCESS_STACK_SIZE> TIdleProcess;
+
+TIdleProcess IdleProcess;
+
+template<> OS_PROCESS void TIdleProcess::Exec()
+{
+ for(;;)
+ {
+ #if scmRTOS_IDLE_HOOK_ENABLE == 1
+ IdleProcessUserHook();
+ #endif
+ }
+}
+//------------------------------------------------------------------------------
+OS_INTERRUPT void OS::SysTick_Handler()
+{
+ scmRTOS_ISRW_TYPE ISR;
+
+ Kernel.SystemTimer();
+
+#if scmRTOS_SYSTIMER_NEST_INTS_ENABLE == 0
+ DISABLE_NESTED_INTERRUPTS();
+#endif
+
+#if scmRTOS_SYSTIMER_HOOK_ENABLE == 1
+ SystemTimerUserHook();
+#endif
+}
+//------------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/CortexM3/commdefs.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/CortexM3/commdefs.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,71 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PROCESSOR: ARM Cortex-M3
+//*
+//* TOOLKIT: EWARM (IAR Systems)
+//*
+//* PURPOSE: Common Type Definitions
+//*
+//* Version: 3.10
+//*
+//* $Revision: 195 $
+//* $Date:: 2008-06-19 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+//* Ported by Andrey Chuikin, Copyright (c) 2008-2010
+
+
+#ifndef COMMONDEFS_H
+#define COMMONDEFS_H
+
+#ifndef __IAR_SYSTEMS_ASM__
+
+typedef unsigned char byte;
+typedef signed char sbyte;
+typedef unsigned short word;
+typedef unsigned long dword;
+
+typedef volatile byte sfr_byte;
+typedef volatile word sfr_word;
+typedef volatile dword sfr_dword;
+
+#define INLINE _Pragma("inline=forced")
+
+#endif // __IAR_SYSTEMS_ASM__
+
+#endif // COMMONDEFS_H
+
+//-----------------------------------------------------------------------------
+
+/*============================================================================*/
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/CortexM3/device.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scmRTOS/CortexM3/device.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,60 @@ +//****************************************************************************** +//* +//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System +//* +//* NICKNAME: scmRTOS +//* +//* PROCESSOR: ARM Cortex-M3 +//* +//* TOOLKIT: EWARM (IAR Systems) +//* +//* PURPOSE: Device Definitions +//* +//* Version: 3.10 +//* +//* $Revision: 196 $ +//* $Date:: 2008-06-19 #$ +//* +//* Copyright (c) 2003-2010, Harry E. Zhurov +//* +//* Permission is hereby granted, free of charge, to any person +//* obtaining a copy of this software and associated documentation +//* files (the "Software"), to deal in the Software without restriction, +//* including without limitation the rights to use, copy, modify, merge, +//* publish, distribute, sublicense, and/or sell copies of the Software, +//* and to permit persons to whom the Software is furnished to do so, +//* subject to the following conditions: +//* +//* The above copyright notice and this permission notice shall be included +//* in all copies or substantial portions of the Software. +//* +//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH +//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +//* +//* ================================================================= +//* See http://scmrtos.sourceforge.net for documentation, latest +//* information, license and contact details. +//* ================================================================= +//* +//****************************************************************************** +//* Ported by Andrey Chuikin, Copyright (c) 2008-2010 + +#ifndef DEVICE_H +#define DEVICE_H + +#include <commdefs.h> + +//------------------------------------------------------------------------------ +// Definitions for some processor registers in order to not include specific +// header file for various Cortex-M3 processor derivatives. +#define CPU_ICSR ( ( sfr_dword *) 0xE000ED04 ) // Interrupt Control State Register +#define CPU_SYSTICKCSR ( ( sfr_dword *) 0xE000E010 ) // SysTick Control and Status Register +#define CPU_SYSTICKCSR_EINT 0x02 // Bit for enable/disable SysTick interrupt + + +#endif /* DEVICE_H */
diff -r 000000000000 -r 9b057566f9ee scmRTOS/scmRTOS_TARGET_CFG.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/scmRTOS/scmRTOS_TARGET_CFG.h Mon Nov 01 20:39:01 2010 +0000
@@ -0,0 +1,102 @@
+//******************************************************************************
+//*
+//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
+//*
+//* NICKNAME: scmRTOS
+//*
+//* PROCESSOR: ARM Cortex-M3
+//*
+//* TOOLKIT: EWARM (IAR Systems)
+//*
+//* PURPOSE: Project Level Target Extensions Config
+//*
+//* Version: 3.10
+//*
+//* $Revision: 196 $
+//* $Date:: 2008-06-19 #$
+//*
+//* Copyright (c) 2003-2010, Harry E. Zhurov
+//*
+//* Permission is hereby granted, free of charge, to any person
+//* obtaining a copy of this software and associated documentation
+//* files (the "Software"), to deal in the Software without restriction,
+//* including without limitation the rights to use, copy, modify, merge,
+//* publish, distribute, sublicense, and/or sell copies of the Software,
+//* and to permit persons to whom the Software is furnished to do so,
+//* subject to the following conditions:
+//*
+//* The above copyright notice and this permission notice shall be included
+//* in all copies or substantial portions of the Software.
+//*
+//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
+//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//*
+//* =================================================================
+//* See http://scmrtos.sourceforge.net for documentation, latest
+//* information, license and contact details.
+//* =================================================================
+//*
+//******************************************************************************
+//* mbed port by Igor Skochinsky
+
+#ifndef scmRTOS_TARGET_CFG_H
+#define scmRTOS_TARGET_CFG_H
+
+#include "device.h"
+
+// Define SysTick clock frequency and its interrupt rate in Hz.
+#define SYSTICKFREQ 100000000
+#define SYSTICKINTRATE 1000
+
+//------------------------------------------------------------------------------
+//
+// System Timer stuff
+//
+//
+namespace OS
+{
+extern "C" void SysTick_Handler();
+}
+
+#define LOCK_SYSTEM_TIMER() ( *CPU_SYSTICKCSR &= ~CPU_SYSTICKCSR_EINT )
+#define UNLOCK_SYSTEM_TIMER() ( *CPU_SYSTICKCSR |= CPU_SYSTICKCSR_EINT )
+
+//------------------------------------------------------------------------------
+//
+// Context Switch ISR stuff
+//
+//
+namespace OS
+{
+#if scmRTOS_IDLE_HOOK_ENABLE == 1
+ void IdleProcessUserHook();
+#endif
+
+#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
+
+ INLINE inline void RaiseContextSwitch() { *CPU_ICSR |= 0x10000000; }
+
+ #define ENABLE_NESTED_INTERRUPTS()
+
+ #if scmRTOS_SYSTIMER_NEST_INTS_ENABLE == 0
+ #define DISABLE_NESTED_INTERRUPTS() TCritSect cs
+ #else
+ #define DISABLE_NESTED_INTERRUPTS()
+ #endif
+
+#else
+ #error "Cortex-M3 port supports software interrupt switch method only!"
+
+#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
+
+}
+//-----------------------------------------------------------------------------
+
+#endif // scmRTOS_TARGET_CFG_H
+//-----------------------------------------------------------------------------
+
diff -r 000000000000 -r 9b057566f9ee scmRTOS/scmRTOS_config.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/scmRTOS/scmRTOS_config.h Mon Nov 01 20:39:01 2010 +0000 @@ -0,0 +1,133 @@ +//****************************************************************************** +//* +//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System +//* +//* NICKNAME: scmRTOS +//* +//* PROCESSOR: ARM Cortex-M3 +//* +//* TOOLKIT: EWARM (IAR Systems) +//* +//* PURPOSE: Project Level Configuration +//* +//* Version: 3.10 +//* +//* $Revision: 196 $ +//* $Date:: 2008-06-19 #$ +//* +//* Copyright (c) 2003-2010, Harry E. Zhurov +//* +//* Permission is hereby granted, free of charge, to any person +//* obtaining a copy of this software and associated documentation +//* files (the "Software"), to deal in the Software without restriction, +//* including without limitation the rights to use, copy, modify, merge, +//* publish, distribute, sublicense, and/or sell copies of the Software, +//* and to permit persons to whom the Software is furnished to do so, +//* subject to the following conditions: +//* +//* The above copyright notice and this permission notice shall be included +//* in all copies or substantial portions of the Software. +//* +//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF +//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. +//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY +//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, +//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH +//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +//* +//* ================================================================= +//* See http://scmrtos.sourceforge.net for documentation, latest +//* information, license and contact details. +//* ================================================================= +//* +//****************************************************************************** +//* Ported by Andrey Chuikin, Copyright (c) 2008-2010 + +#ifndef scmRTOS_CONFIG_H +#define scmRTOS_CONFIG_H + +#ifndef __IAR_SYSTEMS_ASM__ +#include <commdefs.h> + +typedef word TTimeout; + +#endif // __IAR_SYSTEMS_ASM__ + +#include "device.h" +//------------------------------------------------------------------------------ +// +// Specify scmRTOS Process Count. Must be less than 31 +// +// +#define scmRTOS_PROCESS_COUNT 7 + +//----------------------------------------------------------------------------- +// +// scmRTOS System Timer +// +// Nested Interrupts enable macro. Value 1 means that interrupts are +// globally enabled within System Timer ISR (this is default for Cortex-M3). +// +// +#define scmRTOS_SYSTIMER_NEST_INTS_ENABLE 1 + +//----------------------------------------------------------------------------- +// +// scmRTOS System Timer Tick Counter Enable +// +// +#define scmRTOS_SYSTEM_TICKS_ENABLE 1 + + +//----------------------------------------------------------------------------- +// +// scmRTOS System Timer Hook +// +// +#define scmRTOS_SYSTIMER_HOOK_ENABLE 1 + +//----------------------------------------------------------------------------- +// +// scmRTOS Idle Process Hook +// +// +#define scmRTOS_IDLE_HOOK_ENABLE 1 + +//----------------------------------------------------------------------------- +// +// scmRTOS Idle Process Stack size (in bytes) +// (20 * sizeof(TStackItem)) - it's a minimum allowed value. +// +#define scmRTOS_IDLE_PROCESS_STACK_SIZE (20 * sizeof(TStackItem)) + +//----------------------------------------------------------------------------- +// +// scmRTOS Priority Order +// +// This macro defines the order of the process's priorities. Default, +// the ascending order is used. Alternatively, the descending priority +// order can be used. On some platforms the descending order is preferred +// because of performance. +// +// Default (corresponding to ascending order) value of macro is 0. +// Alternative (corresponding to descending order) value of macro is 1. +// +// On Cortex-M3 the descending order is preferred for performance reason. +// +#define scmRTOS_PRIORITY_ORDER 1 + +//----------------------------------------------------------------------------- +// +// scmRTOS Context Switch User Hook enable +// +// The macro enables/disables user defined hook called from system +// Context Switch Hook function. +// +// +#define scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE 0 + + +#endif // scmRTOS_CONFIG_H +//----------------------------------------------------------------------------- +