james kain / Mbed 2 deprecated GPS_Incremental

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Dependencies:   mbed

Fork of GPS_Incremental by Dan Matthews

mbed-rtos/rtx/rt_System.c@0:c746ee34feae, 2013-03-19 (annotated)

Committer:
dannyman939
Date:
Tue Mar 19 02:17:40 2013 +0000
Revision:
0:c746ee34feae
Basic functionality, Chris Version 0.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 2 * RL-ARM - RTX
dannyman939 0:c746ee34feae 3 *----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 4 * Name: RT_SYSTEM.C
dannyman939 0:c746ee34feae 5 * Purpose: System Task Manager
dannyman939 0:c746ee34feae 6 * Rev.: V4.50
dannyman939 0:c746ee34feae 7 *----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 8 *
dannyman939 0:c746ee34feae 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
dannyman939 0:c746ee34feae 10 * All rights reserved.
dannyman939 0:c746ee34feae 11 * Redistribution and use in source and binary forms, with or without
dannyman939 0:c746ee34feae 12 * modification, are permitted provided that the following conditions are met:
dannyman939 0:c746ee34feae 13 * - Redistributions of source code must retain the above copyright
dannyman939 0:c746ee34feae 14 * notice, this list of conditions and the following disclaimer.
dannyman939 0:c746ee34feae 15 * - Redistributions in binary form must reproduce the above copyright
dannyman939 0:c746ee34feae 16 * notice, this list of conditions and the following disclaimer in the
dannyman939 0:c746ee34feae 17 * documentation and/or other materials provided with the distribution.
dannyman939 0:c746ee34feae 18 * - Neither the name of ARM nor the names of its contributors may be used
dannyman939 0:c746ee34feae 19 * to endorse or promote products derived from this software without
dannyman939 0:c746ee34feae 20 * specific prior written permission.
dannyman939 0:c746ee34feae 21 *
dannyman939 0:c746ee34feae 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
dannyman939 0:c746ee34feae 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
dannyman939 0:c746ee34feae 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
dannyman939 0:c746ee34feae 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
dannyman939 0:c746ee34feae 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
dannyman939 0:c746ee34feae 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
dannyman939 0:c746ee34feae 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
dannyman939 0:c746ee34feae 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
dannyman939 0:c746ee34feae 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
dannyman939 0:c746ee34feae 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
dannyman939 0:c746ee34feae 32 * POSSIBILITY OF SUCH DAMAGE.
dannyman939 0:c746ee34feae 33 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 34
dannyman939 0:c746ee34feae 35 #include "rt_TypeDef.h"
dannyman939 0:c746ee34feae 36 #include "RTX_Config.h"
dannyman939 0:c746ee34feae 37 #include "rt_Task.h"
dannyman939 0:c746ee34feae 38 #include "rt_System.h"
dannyman939 0:c746ee34feae 39 #include "rt_Event.h"
dannyman939 0:c746ee34feae 40 #include "rt_List.h"
dannyman939 0:c746ee34feae 41 #include "rt_Mailbox.h"
dannyman939 0:c746ee34feae 42 #include "rt_Semaphore.h"
dannyman939 0:c746ee34feae 43 #include "rt_Time.h"
dannyman939 0:c746ee34feae 44 #include "rt_Robin.h"
dannyman939 0:c746ee34feae 45 #include "rt_HAL_CM.h"
dannyman939 0:c746ee34feae 46
dannyman939 0:c746ee34feae 47 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 48 * Global Variables
dannyman939 0:c746ee34feae 49 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 50
dannyman939 0:c746ee34feae 51 int os_tick_irqn;
dannyman939 0:c746ee34feae 52
dannyman939 0:c746ee34feae 53 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 54 * Local Variables
dannyman939 0:c746ee34feae 55 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 56
dannyman939 0:c746ee34feae 57 static volatile BIT os_lock;
dannyman939 0:c746ee34feae 58 static volatile BIT os_psh_flag;
dannyman939 0:c746ee34feae 59 static U8 pend_flags;
dannyman939 0:c746ee34feae 60
dannyman939 0:c746ee34feae 61 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 62 * Global Functions
dannyman939 0:c746ee34feae 63 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 64
dannyman939 0:c746ee34feae 65 #if defined (__CC_ARM)
dannyman939 0:c746ee34feae 66 __asm void $$RTX$$version (void) {
dannyman939 0:c746ee34feae 67 /* Export a version number symbol for a version control. */
dannyman939 0:c746ee34feae 68
dannyman939 0:c746ee34feae 69 EXPORT __RL_RTX_VER
dannyman939 0:c746ee34feae 70
dannyman939 0:c746ee34feae 71 __RL_RTX_VER EQU 0x450
dannyman939 0:c746ee34feae 72 }
dannyman939 0:c746ee34feae 73 #endif
dannyman939 0:c746ee34feae 74
dannyman939 0:c746ee34feae 75
dannyman939 0:c746ee34feae 76 /*--------------------------- rt_suspend ------------------------------------*/
dannyman939 0:c746ee34feae 77 U32 rt_suspend (void) {
dannyman939 0:c746ee34feae 78 /* Suspend OS scheduler */
dannyman939 0:c746ee34feae 79 U32 delta = 0xFFFF;
dannyman939 0:c746ee34feae 80
dannyman939 0:c746ee34feae 81 rt_tsk_lock();
dannyman939 0:c746ee34feae 82
dannyman939 0:c746ee34feae 83 if (os_dly.p_dlnk) {
dannyman939 0:c746ee34feae 84 delta = os_dly.delta_time;
dannyman939 0:c746ee34feae 85 }
dannyman939 0:c746ee34feae 86
dannyman939 0:c746ee34feae 87 return (delta);
dannyman939 0:c746ee34feae 88 }
dannyman939 0:c746ee34feae 89
dannyman939 0:c746ee34feae 90
dannyman939 0:c746ee34feae 91 /*--------------------------- rt_resume -------------------------------------*/
dannyman939 0:c746ee34feae 92 void rt_resume (U32 sleep_time) {
dannyman939 0:c746ee34feae 93 /* Resume OS scheduler after suspend */
dannyman939 0:c746ee34feae 94 P_TCB next;
dannyman939 0:c746ee34feae 95 U32 delta;
dannyman939 0:c746ee34feae 96
dannyman939 0:c746ee34feae 97 os_tsk.run->state = READY;
dannyman939 0:c746ee34feae 98 rt_put_rdy_first (os_tsk.run);
dannyman939 0:c746ee34feae 99
dannyman939 0:c746ee34feae 100 os_robin.task = NULL;
dannyman939 0:c746ee34feae 101
dannyman939 0:c746ee34feae 102 /* Update delays. */
dannyman939 0:c746ee34feae 103 if (os_dly.p_dlnk) {
dannyman939 0:c746ee34feae 104 delta = sleep_time;
dannyman939 0:c746ee34feae 105 if (delta >= os_dly.delta_time) {
dannyman939 0:c746ee34feae 106 delta -= os_dly.delta_time;
dannyman939 0:c746ee34feae 107 os_time += os_dly.delta_time;
dannyman939 0:c746ee34feae 108 os_dly.delta_time = 1;
dannyman939 0:c746ee34feae 109 while (os_dly.p_dlnk) {
dannyman939 0:c746ee34feae 110 rt_dec_dly();
dannyman939 0:c746ee34feae 111 if (delta == 0) break;
dannyman939 0:c746ee34feae 112 delta--;
dannyman939 0:c746ee34feae 113 os_time++;
dannyman939 0:c746ee34feae 114 }
dannyman939 0:c746ee34feae 115 } else {
dannyman939 0:c746ee34feae 116 os_time += delta;
dannyman939 0:c746ee34feae 117 os_dly.delta_time -= delta;
dannyman939 0:c746ee34feae 118 }
dannyman939 0:c746ee34feae 119 } else {
dannyman939 0:c746ee34feae 120 os_time += sleep_time;
dannyman939 0:c746ee34feae 121 }
dannyman939 0:c746ee34feae 122
dannyman939 0:c746ee34feae 123 /* Switch back to highest ready task */
dannyman939 0:c746ee34feae 124 next = rt_get_first (&os_rdy);
dannyman939 0:c746ee34feae 125 rt_switch_req (next);
dannyman939 0:c746ee34feae 126
dannyman939 0:c746ee34feae 127 rt_tsk_unlock();
dannyman939 0:c746ee34feae 128 }
dannyman939 0:c746ee34feae 129
dannyman939 0:c746ee34feae 130
dannyman939 0:c746ee34feae 131 /*--------------------------- rt_tsk_lock -----------------------------------*/
dannyman939 0:c746ee34feae 132
dannyman939 0:c746ee34feae 133 void rt_tsk_lock (void) {
dannyman939 0:c746ee34feae 134 /* Prevent task switching by locking out scheduler */
dannyman939 0:c746ee34feae 135 if (os_tick_irqn < 0) {
dannyman939 0:c746ee34feae 136 OS_LOCK();
dannyman939 0:c746ee34feae 137 os_lock = __TRUE;
dannyman939 0:c746ee34feae 138 OS_UNPEND (&pend_flags);
dannyman939 0:c746ee34feae 139 } else {
dannyman939 0:c746ee34feae 140 OS_X_LOCK(os_tick_irqn);
dannyman939 0:c746ee34feae 141 os_lock = __TRUE;
dannyman939 0:c746ee34feae 142 OS_X_UNPEND (&pend_flags);
dannyman939 0:c746ee34feae 143 }
dannyman939 0:c746ee34feae 144 }
dannyman939 0:c746ee34feae 145
dannyman939 0:c746ee34feae 146
dannyman939 0:c746ee34feae 147 /*--------------------------- rt_tsk_unlock ---------------------------------*/
dannyman939 0:c746ee34feae 148
dannyman939 0:c746ee34feae 149 void rt_tsk_unlock (void) {
dannyman939 0:c746ee34feae 150 /* Unlock scheduler and re-enable task switching */
dannyman939 0:c746ee34feae 151 if (os_tick_irqn < 0) {
dannyman939 0:c746ee34feae 152 OS_UNLOCK();
dannyman939 0:c746ee34feae 153 os_lock = __FALSE;
dannyman939 0:c746ee34feae 154 OS_PEND (pend_flags, os_psh_flag);
dannyman939 0:c746ee34feae 155 os_psh_flag = __FALSE;
dannyman939 0:c746ee34feae 156 } else {
dannyman939 0:c746ee34feae 157 OS_X_UNLOCK(os_tick_irqn);
dannyman939 0:c746ee34feae 158 os_lock = __FALSE;
dannyman939 0:c746ee34feae 159 OS_X_PEND (pend_flags, os_psh_flag);
dannyman939 0:c746ee34feae 160 os_psh_flag = __FALSE;
dannyman939 0:c746ee34feae 161 }
dannyman939 0:c746ee34feae 162 }
dannyman939 0:c746ee34feae 163
dannyman939 0:c746ee34feae 164
dannyman939 0:c746ee34feae 165 /*--------------------------- rt_psh_req ------------------------------------*/
dannyman939 0:c746ee34feae 166
dannyman939 0:c746ee34feae 167 void rt_psh_req (void) {
dannyman939 0:c746ee34feae 168 /* Initiate a post service handling request if required. */
dannyman939 0:c746ee34feae 169 if (os_lock == __FALSE) {
dannyman939 0:c746ee34feae 170 OS_PEND_IRQ ();
dannyman939 0:c746ee34feae 171 }
dannyman939 0:c746ee34feae 172 else {
dannyman939 0:c746ee34feae 173 os_psh_flag = __TRUE;
dannyman939 0:c746ee34feae 174 }
dannyman939 0:c746ee34feae 175 }
dannyman939 0:c746ee34feae 176
dannyman939 0:c746ee34feae 177
dannyman939 0:c746ee34feae 178 /*--------------------------- rt_pop_req ------------------------------------*/
dannyman939 0:c746ee34feae 179
dannyman939 0:c746ee34feae 180 void rt_pop_req (void) {
dannyman939 0:c746ee34feae 181 /* Process an ISR post service requests. */
dannyman939 0:c746ee34feae 182 struct OS_XCB *p_CB;
dannyman939 0:c746ee34feae 183 P_TCB next;
dannyman939 0:c746ee34feae 184 U32 idx;
dannyman939 0:c746ee34feae 185
dannyman939 0:c746ee34feae 186 os_tsk.run->state = READY;
dannyman939 0:c746ee34feae 187 rt_put_rdy_first (os_tsk.run);
dannyman939 0:c746ee34feae 188
dannyman939 0:c746ee34feae 189 idx = os_psq->last;
dannyman939 0:c746ee34feae 190 while (os_psq->count) {
dannyman939 0:c746ee34feae 191 p_CB = os_psq->q[idx].id;
dannyman939 0:c746ee34feae 192 if (p_CB->cb_type == TCB) {
dannyman939 0:c746ee34feae 193 /* Is of TCB type */
dannyman939 0:c746ee34feae 194 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
dannyman939 0:c746ee34feae 195 }
dannyman939 0:c746ee34feae 196 else if (p_CB->cb_type == MCB) {
dannyman939 0:c746ee34feae 197 /* Is of MCB type */
dannyman939 0:c746ee34feae 198 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
dannyman939 0:c746ee34feae 199 }
dannyman939 0:c746ee34feae 200 else {
dannyman939 0:c746ee34feae 201 /* Must be of SCB type */
dannyman939 0:c746ee34feae 202 rt_sem_psh ((P_SCB)p_CB);
dannyman939 0:c746ee34feae 203 }
dannyman939 0:c746ee34feae 204 if (++idx == os_psq->size) idx = 0;
dannyman939 0:c746ee34feae 205 rt_dec (&os_psq->count);
dannyman939 0:c746ee34feae 206 }
dannyman939 0:c746ee34feae 207 os_psq->last = idx;
dannyman939 0:c746ee34feae 208
dannyman939 0:c746ee34feae 209 next = rt_get_first (&os_rdy);
dannyman939 0:c746ee34feae 210 rt_switch_req (next);
dannyman939 0:c746ee34feae 211 }
dannyman939 0:c746ee34feae 212
dannyman939 0:c746ee34feae 213
dannyman939 0:c746ee34feae 214 /*--------------------------- os_tick_init ----------------------------------*/
dannyman939 0:c746ee34feae 215
dannyman939 0:c746ee34feae 216 __weak int os_tick_init (void) {
dannyman939 0:c746ee34feae 217 /* Initialize SysTick timer as system tick timer. */
dannyman939 0:c746ee34feae 218 rt_systick_init ();
dannyman939 0:c746ee34feae 219 return (-1); /* Return IRQ number of SysTick timer */
dannyman939 0:c746ee34feae 220 }
dannyman939 0:c746ee34feae 221
dannyman939 0:c746ee34feae 222
dannyman939 0:c746ee34feae 223 /*--------------------------- os_tick_irqack --------------------------------*/
dannyman939 0:c746ee34feae 224
dannyman939 0:c746ee34feae 225 __weak void os_tick_irqack (void) {
dannyman939 0:c746ee34feae 226 /* Acknowledge timer interrupt. */
dannyman939 0:c746ee34feae 227 }
dannyman939 0:c746ee34feae 228
dannyman939 0:c746ee34feae 229
dannyman939 0:c746ee34feae 230 /*--------------------------- rt_systick ------------------------------------*/
dannyman939 0:c746ee34feae 231
dannyman939 0:c746ee34feae 232 extern void sysTimerTick(void);
dannyman939 0:c746ee34feae 233
dannyman939 0:c746ee34feae 234 void rt_systick (void) {
dannyman939 0:c746ee34feae 235 /* Check for system clock update, suspend running task. */
dannyman939 0:c746ee34feae 236 P_TCB next;
dannyman939 0:c746ee34feae 237
dannyman939 0:c746ee34feae 238 os_tsk.run->state = READY;
dannyman939 0:c746ee34feae 239 rt_put_rdy_first (os_tsk.run);
dannyman939 0:c746ee34feae 240
dannyman939 0:c746ee34feae 241 /* Check Round Robin timeout. */
dannyman939 0:c746ee34feae 242 rt_chk_robin ();
dannyman939 0:c746ee34feae 243
dannyman939 0:c746ee34feae 244 /* Update delays. */
dannyman939 0:c746ee34feae 245 os_time++;
dannyman939 0:c746ee34feae 246 rt_dec_dly ();
dannyman939 0:c746ee34feae 247
dannyman939 0:c746ee34feae 248 /* Check the user timers. */
dannyman939 0:c746ee34feae 249 sysTimerTick();
dannyman939 0:c746ee34feae 250
dannyman939 0:c746ee34feae 251 /* Switch back to highest ready task */
dannyman939 0:c746ee34feae 252 next = rt_get_first (&os_rdy);
dannyman939 0:c746ee34feae 253 rt_switch_req (next);
dannyman939 0:c746ee34feae 254 }
dannyman939 0:c746ee34feae 255
dannyman939 0:c746ee34feae 256 /*--------------------------- rt_stk_check ----------------------------------*/
dannyman939 0:c746ee34feae 257 #ifdef THREAD_STACK_DIAGNOSTIC
dannyman939 0:c746ee34feae 258 typedef struct stack_boundaries_s {
dannyman939 0:c746ee34feae 259 unsigned int top;
dannyman939 0:c746ee34feae 260 unsigned int min;
dannyman939 0:c746ee34feae 261 } stack_boundaries_t;
dannyman939 0:c746ee34feae 262 stack_boundaries_t stack_boundaries[256];
dannyman939 0:c746ee34feae 263 #endif
dannyman939 0:c746ee34feae 264
dannyman939 0:c746ee34feae 265 __weak void rt_stk_check (void) {
dannyman939 0:c746ee34feae 266 #ifdef THREAD_STACK_DIAGNOSTIC
dannyman939 0:c746ee34feae 267 stack_boundaries_t* sb = &stack_boundaries[os_tsk.run->task_id];
dannyman939 0:c746ee34feae 268 if (sb->top == 0) {
dannyman939 0:c746ee34feae 269 sb->top = (unsigned int)os_tsk.run->stack + os_tsk.run->priv_stack;
dannyman939 0:c746ee34feae 270 }
dannyman939 0:c746ee34feae 271 if ((sb->min == 0) || (sb->min < os_tsk.run->tsk_stack))
dannyman939 0:c746ee34feae 272 sb->min = os_tsk.run->tsk_stack;
dannyman939 0:c746ee34feae 273 #endif
dannyman939 0:c746ee34feae 274 /* Check for stack overflow */
dannyman939 0:c746ee34feae 275 if (os_tsk.run->task_id == 0x01) {
dannyman939 0:c746ee34feae 276 // TODO: For the main thread the check should be done against the heap pointer
dannyman939 0:c746ee34feae 277 } else {
dannyman939 0:c746ee34feae 278 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
dannyman939 0:c746ee34feae 279 (os_tsk.run->stack[0] != MAGIC_WORD)) {
dannyman939 0:c746ee34feae 280 os_error (OS_ERR_STK_OVF);
dannyman939 0:c746ee34feae 281 }
dannyman939 0:c746ee34feae 282 }
dannyman939 0:c746ee34feae 283 }
dannyman939 0:c746ee34feae 284
dannyman939 0:c746ee34feae 285 /*----------------------------------------------------------------------------
dannyman939 0:c746ee34feae 286 * end of file
dannyman939 0:c746ee34feae 287 *---------------------------------------------------------------------------*/
dannyman939 0:c746ee34feae 288