Junichi Katsu / Mbed 2 deprecated WallbotWii

うおーるぼっとをWiiリモコンでコントロールする新しいプログラムです。 以前のものより、Wiiリモコンが早く繋がる様になりました。 It is a program which controls A with the Wii remote. ※ A Bluetooth dongle and a Wii remote control are needed.

Dependencies:   USBHost mbed FATFileSystem mbed-rtos

USBHost/mbed-rtos/rtx/rt_List.c@0:fccb789424fc, 2013-06-10 (annotated)

Committer:
jksoft
Date:
Mon Jun 10 16:01:50 2013 +0000
Revision:
0:fccb789424fc
1.0

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jksoft 0:fccb789424fc 1 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 2 * RL-ARM - RTX
jksoft 0:fccb789424fc 3 *----------------------------------------------------------------------------
jksoft 0:fccb789424fc 4 * Name: RT_LIST.C
jksoft 0:fccb789424fc 5 * Purpose: Functions for the management of different lists
jksoft 0:fccb789424fc 6 * Rev.: V4.60
jksoft 0:fccb789424fc 7 *----------------------------------------------------------------------------
jksoft 0:fccb789424fc 8 *
jksoft 0:fccb789424fc 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
jksoft 0:fccb789424fc 10 * All rights reserved.
jksoft 0:fccb789424fc 11 * Redistribution and use in source and binary forms, with or without
jksoft 0:fccb789424fc 12 * modification, are permitted provided that the following conditions are met:
jksoft 0:fccb789424fc 13 * - Redistributions of source code must retain the above copyright
jksoft 0:fccb789424fc 14 * notice, this list of conditions and the following disclaimer.
jksoft 0:fccb789424fc 15 * - Redistributions in binary form must reproduce the above copyright
jksoft 0:fccb789424fc 16 * notice, this list of conditions and the following disclaimer in the
jksoft 0:fccb789424fc 17 * documentation and/or other materials provided with the distribution.
jksoft 0:fccb789424fc 18 * - Neither the name of ARM nor the names of its contributors may be used
jksoft 0:fccb789424fc 19 * to endorse or promote products derived from this software without
jksoft 0:fccb789424fc 20 * specific prior written permission.
jksoft 0:fccb789424fc 21 *
jksoft 0:fccb789424fc 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
jksoft 0:fccb789424fc 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
jksoft 0:fccb789424fc 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
jksoft 0:fccb789424fc 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
jksoft 0:fccb789424fc 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
jksoft 0:fccb789424fc 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
jksoft 0:fccb789424fc 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
jksoft 0:fccb789424fc 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
jksoft 0:fccb789424fc 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
jksoft 0:fccb789424fc 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
jksoft 0:fccb789424fc 32 * POSSIBILITY OF SUCH DAMAGE.
jksoft 0:fccb789424fc 33 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 34
jksoft 0:fccb789424fc 35 #include "rt_TypeDef.h"
jksoft 0:fccb789424fc 36 #include "RTX_Config.h"
jksoft 0:fccb789424fc 37 #include "rt_System.h"
jksoft 0:fccb789424fc 38 #include "rt_List.h"
jksoft 0:fccb789424fc 39 #include "rt_Task.h"
jksoft 0:fccb789424fc 40 #include "rt_Time.h"
jksoft 0:fccb789424fc 41 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 42
jksoft 0:fccb789424fc 43 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 44 * Global Variables
jksoft 0:fccb789424fc 45 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 46
jksoft 0:fccb789424fc 47 /* List head of chained ready tasks */
jksoft 0:fccb789424fc 48 struct OS_XCB os_rdy;
jksoft 0:fccb789424fc 49 /* List head of chained delay tasks */
jksoft 0:fccb789424fc 50 struct OS_XCB os_dly;
jksoft 0:fccb789424fc 51
jksoft 0:fccb789424fc 52
jksoft 0:fccb789424fc 53 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 54 * Functions
jksoft 0:fccb789424fc 55 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 56
jksoft 0:fccb789424fc 57
jksoft 0:fccb789424fc 58 /*--------------------------- rt_put_prio -----------------------------------*/
jksoft 0:fccb789424fc 59
jksoft 0:fccb789424fc 60 void rt_put_prio (P_XCB p_CB, P_TCB p_task) {
jksoft 0:fccb789424fc 61 /* Put task identified with "p_task" into list ordered by priority. */
jksoft 0:fccb789424fc 62 /* "p_CB" points to head of list; list has always an element at end with */
jksoft 0:fccb789424fc 63 /* a priority less than "p_task->prio". */
jksoft 0:fccb789424fc 64 P_TCB p_CB2;
jksoft 0:fccb789424fc 65 U32 prio;
jksoft 0:fccb789424fc 66 BOOL sem_mbx = __FALSE;
jksoft 0:fccb789424fc 67
jksoft 0:fccb789424fc 68 if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
jksoft 0:fccb789424fc 69 sem_mbx = __TRUE;
jksoft 0:fccb789424fc 70 }
jksoft 0:fccb789424fc 71 prio = p_task->prio;
jksoft 0:fccb789424fc 72 p_CB2 = p_CB->p_lnk;
jksoft 0:fccb789424fc 73 /* Search for an entry in the list */
jksoft 0:fccb789424fc 74 while (p_CB2 != NULL && prio <= p_CB2->prio) {
jksoft 0:fccb789424fc 75 p_CB = (P_XCB)p_CB2;
jksoft 0:fccb789424fc 76 p_CB2 = p_CB2->p_lnk;
jksoft 0:fccb789424fc 77 }
jksoft 0:fccb789424fc 78 /* Entry found, insert the task into the list */
jksoft 0:fccb789424fc 79 p_task->p_lnk = p_CB2;
jksoft 0:fccb789424fc 80 p_CB->p_lnk = p_task;
jksoft 0:fccb789424fc 81 if (sem_mbx) {
jksoft 0:fccb789424fc 82 if (p_CB2 != NULL) {
jksoft 0:fccb789424fc 83 p_CB2->p_rlnk = p_task;
jksoft 0:fccb789424fc 84 }
jksoft 0:fccb789424fc 85 p_task->p_rlnk = (P_TCB)p_CB;
jksoft 0:fccb789424fc 86 }
jksoft 0:fccb789424fc 87 else {
jksoft 0:fccb789424fc 88 p_task->p_rlnk = NULL;
jksoft 0:fccb789424fc 89 }
jksoft 0:fccb789424fc 90 }
jksoft 0:fccb789424fc 91
jksoft 0:fccb789424fc 92
jksoft 0:fccb789424fc 93 /*--------------------------- rt_get_first ----------------------------------*/
jksoft 0:fccb789424fc 94
jksoft 0:fccb789424fc 95 P_TCB rt_get_first (P_XCB p_CB) {
jksoft 0:fccb789424fc 96 /* Get task at head of list: it is the task with highest priority. */
jksoft 0:fccb789424fc 97 /* "p_CB" points to head of list. */
jksoft 0:fccb789424fc 98 P_TCB p_first;
jksoft 0:fccb789424fc 99
jksoft 0:fccb789424fc 100 p_first = p_CB->p_lnk;
jksoft 0:fccb789424fc 101 p_CB->p_lnk = p_first->p_lnk;
jksoft 0:fccb789424fc 102 if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
jksoft 0:fccb789424fc 103 if (p_first->p_lnk != NULL) {
jksoft 0:fccb789424fc 104 p_first->p_lnk->p_rlnk = (P_TCB)p_CB;
jksoft 0:fccb789424fc 105 p_first->p_lnk = NULL;
jksoft 0:fccb789424fc 106 }
jksoft 0:fccb789424fc 107 p_first->p_rlnk = NULL;
jksoft 0:fccb789424fc 108 }
jksoft 0:fccb789424fc 109 else {
jksoft 0:fccb789424fc 110 p_first->p_lnk = NULL;
jksoft 0:fccb789424fc 111 }
jksoft 0:fccb789424fc 112 return (p_first);
jksoft 0:fccb789424fc 113 }
jksoft 0:fccb789424fc 114
jksoft 0:fccb789424fc 115
jksoft 0:fccb789424fc 116 /*--------------------------- rt_put_rdy_first ------------------------------*/
jksoft 0:fccb789424fc 117
jksoft 0:fccb789424fc 118 void rt_put_rdy_first (P_TCB p_task) {
jksoft 0:fccb789424fc 119 /* Put task identified with "p_task" at the head of the ready list. The */
jksoft 0:fccb789424fc 120 /* task must have at least a priority equal to highest priority in list. */
jksoft 0:fccb789424fc 121 p_task->p_lnk = os_rdy.p_lnk;
jksoft 0:fccb789424fc 122 p_task->p_rlnk = NULL;
jksoft 0:fccb789424fc 123 os_rdy.p_lnk = p_task;
jksoft 0:fccb789424fc 124 }
jksoft 0:fccb789424fc 125
jksoft 0:fccb789424fc 126
jksoft 0:fccb789424fc 127 /*--------------------------- rt_get_same_rdy_prio --------------------------*/
jksoft 0:fccb789424fc 128
jksoft 0:fccb789424fc 129 P_TCB rt_get_same_rdy_prio (void) {
jksoft 0:fccb789424fc 130 /* Remove a task of same priority from ready list if any exists. Other- */
jksoft 0:fccb789424fc 131 /* wise return NULL. */
jksoft 0:fccb789424fc 132 P_TCB p_first;
jksoft 0:fccb789424fc 133
jksoft 0:fccb789424fc 134 p_first = os_rdy.p_lnk;
jksoft 0:fccb789424fc 135 if (p_first->prio == os_tsk.run->prio) {
jksoft 0:fccb789424fc 136 os_rdy.p_lnk = os_rdy.p_lnk->p_lnk;
jksoft 0:fccb789424fc 137 return (p_first);
jksoft 0:fccb789424fc 138 }
jksoft 0:fccb789424fc 139 return (NULL);
jksoft 0:fccb789424fc 140 }
jksoft 0:fccb789424fc 141
jksoft 0:fccb789424fc 142
jksoft 0:fccb789424fc 143 /*--------------------------- rt_resort_prio --------------------------------*/
jksoft 0:fccb789424fc 144
jksoft 0:fccb789424fc 145 void rt_resort_prio (P_TCB p_task) {
jksoft 0:fccb789424fc 146 /* Re-sort ordered lists after the priority of 'p_task' has changed. */
jksoft 0:fccb789424fc 147 P_TCB p_CB;
jksoft 0:fccb789424fc 148
jksoft 0:fccb789424fc 149 if (p_task->p_rlnk == NULL) {
jksoft 0:fccb789424fc 150 if (p_task->state == READY) {
jksoft 0:fccb789424fc 151 /* Task is chained into READY list. */
jksoft 0:fccb789424fc 152 p_CB = (P_TCB)&os_rdy;
jksoft 0:fccb789424fc 153 goto res;
jksoft 0:fccb789424fc 154 }
jksoft 0:fccb789424fc 155 }
jksoft 0:fccb789424fc 156 else {
jksoft 0:fccb789424fc 157 p_CB = p_task->p_rlnk;
jksoft 0:fccb789424fc 158 while (p_CB->cb_type == TCB) {
jksoft 0:fccb789424fc 159 /* Find a header of this task chain list. */
jksoft 0:fccb789424fc 160 p_CB = p_CB->p_rlnk;
jksoft 0:fccb789424fc 161 }
jksoft 0:fccb789424fc 162 res:rt_rmv_list (p_task);
jksoft 0:fccb789424fc 163 rt_put_prio ((P_XCB)p_CB, p_task);
jksoft 0:fccb789424fc 164 }
jksoft 0:fccb789424fc 165 }
jksoft 0:fccb789424fc 166
jksoft 0:fccb789424fc 167
jksoft 0:fccb789424fc 168 /*--------------------------- rt_put_dly ------------------------------------*/
jksoft 0:fccb789424fc 169
jksoft 0:fccb789424fc 170 void rt_put_dly (P_TCB p_task, U16 delay) {
jksoft 0:fccb789424fc 171 /* Put a task identified with "p_task" into chained delay wait list using */
jksoft 0:fccb789424fc 172 /* a delay value of "delay". */
jksoft 0:fccb789424fc 173 P_TCB p;
jksoft 0:fccb789424fc 174 U32 delta,idelay = delay;
jksoft 0:fccb789424fc 175
jksoft 0:fccb789424fc 176 p = (P_TCB)&os_dly;
jksoft 0:fccb789424fc 177 if (p->p_dlnk == NULL) {
jksoft 0:fccb789424fc 178 /* Delay list empty */
jksoft 0:fccb789424fc 179 delta = 0;
jksoft 0:fccb789424fc 180 goto last;
jksoft 0:fccb789424fc 181 }
jksoft 0:fccb789424fc 182 delta = os_dly.delta_time;
jksoft 0:fccb789424fc 183 while (delta < idelay) {
jksoft 0:fccb789424fc 184 if (p->p_dlnk == NULL) {
jksoft 0:fccb789424fc 185 /* End of list found */
jksoft 0:fccb789424fc 186 last: p_task->p_dlnk = NULL;
jksoft 0:fccb789424fc 187 p->p_dlnk = p_task;
jksoft 0:fccb789424fc 188 p_task->p_blnk = p;
jksoft 0:fccb789424fc 189 p->delta_time = (U16)(idelay - delta);
jksoft 0:fccb789424fc 190 p_task->delta_time = 0;
jksoft 0:fccb789424fc 191 return;
jksoft 0:fccb789424fc 192 }
jksoft 0:fccb789424fc 193 p = p->p_dlnk;
jksoft 0:fccb789424fc 194 delta += p->delta_time;
jksoft 0:fccb789424fc 195 }
jksoft 0:fccb789424fc 196 /* Right place found */
jksoft 0:fccb789424fc 197 p_task->p_dlnk = p->p_dlnk;
jksoft 0:fccb789424fc 198 p->p_dlnk = p_task;
jksoft 0:fccb789424fc 199 p_task->p_blnk = p;
jksoft 0:fccb789424fc 200 if (p_task->p_dlnk != NULL) {
jksoft 0:fccb789424fc 201 p_task->p_dlnk->p_blnk = p_task;
jksoft 0:fccb789424fc 202 }
jksoft 0:fccb789424fc 203 p_task->delta_time = (U16)(delta - idelay);
jksoft 0:fccb789424fc 204 p->delta_time -= p_task->delta_time;
jksoft 0:fccb789424fc 205 }
jksoft 0:fccb789424fc 206
jksoft 0:fccb789424fc 207
jksoft 0:fccb789424fc 208 /*--------------------------- rt_dec_dly ------------------------------------*/
jksoft 0:fccb789424fc 209
jksoft 0:fccb789424fc 210 void rt_dec_dly (void) {
jksoft 0:fccb789424fc 211 /* Decrement delta time of list head: remove tasks having a value of zero.*/
jksoft 0:fccb789424fc 212 P_TCB p_rdy;
jksoft 0:fccb789424fc 213
jksoft 0:fccb789424fc 214 if (os_dly.p_dlnk == NULL) {
jksoft 0:fccb789424fc 215 return;
jksoft 0:fccb789424fc 216 }
jksoft 0:fccb789424fc 217 os_dly.delta_time--;
jksoft 0:fccb789424fc 218 while ((os_dly.delta_time == 0) && (os_dly.p_dlnk != NULL)) {
jksoft 0:fccb789424fc 219 p_rdy = os_dly.p_dlnk;
jksoft 0:fccb789424fc 220 if (p_rdy->p_rlnk != NULL) {
jksoft 0:fccb789424fc 221 /* Task is really enqueued, remove task from semaphore/mailbox */
jksoft 0:fccb789424fc 222 /* timeout waiting list. */
jksoft 0:fccb789424fc 223 p_rdy->p_rlnk->p_lnk = p_rdy->p_lnk;
jksoft 0:fccb789424fc 224 if (p_rdy->p_lnk != NULL) {
jksoft 0:fccb789424fc 225 p_rdy->p_lnk->p_rlnk = p_rdy->p_rlnk;
jksoft 0:fccb789424fc 226 p_rdy->p_lnk = NULL;
jksoft 0:fccb789424fc 227 }
jksoft 0:fccb789424fc 228 p_rdy->p_rlnk = NULL;
jksoft 0:fccb789424fc 229 }
jksoft 0:fccb789424fc 230 rt_put_prio (&os_rdy, p_rdy);
jksoft 0:fccb789424fc 231 os_dly.delta_time = p_rdy->delta_time;
jksoft 0:fccb789424fc 232 if (p_rdy->state == WAIT_ITV) {
jksoft 0:fccb789424fc 233 /* Calculate the next time for interval wait. */
jksoft 0:fccb789424fc 234 p_rdy->delta_time = p_rdy->interval_time + (U16)os_time;
jksoft 0:fccb789424fc 235 }
jksoft 0:fccb789424fc 236 p_rdy->state = READY;
jksoft 0:fccb789424fc 237 os_dly.p_dlnk = p_rdy->p_dlnk;
jksoft 0:fccb789424fc 238 if (p_rdy->p_dlnk != NULL) {
jksoft 0:fccb789424fc 239 p_rdy->p_dlnk->p_blnk = (P_TCB)&os_dly;
jksoft 0:fccb789424fc 240 p_rdy->p_dlnk = NULL;
jksoft 0:fccb789424fc 241 }
jksoft 0:fccb789424fc 242 p_rdy->p_blnk = NULL;
jksoft 0:fccb789424fc 243 }
jksoft 0:fccb789424fc 244 }
jksoft 0:fccb789424fc 245
jksoft 0:fccb789424fc 246
jksoft 0:fccb789424fc 247 /*--------------------------- rt_rmv_list -----------------------------------*/
jksoft 0:fccb789424fc 248
jksoft 0:fccb789424fc 249 void rt_rmv_list (P_TCB p_task) {
jksoft 0:fccb789424fc 250 /* Remove task identified with "p_task" from ready, semaphore or mailbox */
jksoft 0:fccb789424fc 251 /* waiting list if enqueued. */
jksoft 0:fccb789424fc 252 P_TCB p_b;
jksoft 0:fccb789424fc 253
jksoft 0:fccb789424fc 254 if (p_task->p_rlnk != NULL) {
jksoft 0:fccb789424fc 255 /* A task is enqueued in semaphore / mailbox waiting list. */
jksoft 0:fccb789424fc 256 p_task->p_rlnk->p_lnk = p_task->p_lnk;
jksoft 0:fccb789424fc 257 if (p_task->p_lnk != NULL) {
jksoft 0:fccb789424fc 258 p_task->p_lnk->p_rlnk = p_task->p_rlnk;
jksoft 0:fccb789424fc 259 }
jksoft 0:fccb789424fc 260 return;
jksoft 0:fccb789424fc 261 }
jksoft 0:fccb789424fc 262
jksoft 0:fccb789424fc 263 p_b = (P_TCB)&os_rdy;
jksoft 0:fccb789424fc 264 while (p_b != NULL) {
jksoft 0:fccb789424fc 265 /* Search the ready list for task "p_task" */
jksoft 0:fccb789424fc 266 if (p_b->p_lnk == p_task) {
jksoft 0:fccb789424fc 267 p_b->p_lnk = p_task->p_lnk;
jksoft 0:fccb789424fc 268 return;
jksoft 0:fccb789424fc 269 }
jksoft 0:fccb789424fc 270 p_b = p_b->p_lnk;
jksoft 0:fccb789424fc 271 }
jksoft 0:fccb789424fc 272 }
jksoft 0:fccb789424fc 273
jksoft 0:fccb789424fc 274
jksoft 0:fccb789424fc 275 /*--------------------------- rt_rmv_dly ------------------------------------*/
jksoft 0:fccb789424fc 276
jksoft 0:fccb789424fc 277 void rt_rmv_dly (P_TCB p_task) {
jksoft 0:fccb789424fc 278 /* Remove task identified with "p_task" from delay list if enqueued. */
jksoft 0:fccb789424fc 279 P_TCB p_b;
jksoft 0:fccb789424fc 280
jksoft 0:fccb789424fc 281 p_b = p_task->p_blnk;
jksoft 0:fccb789424fc 282 if (p_b != NULL) {
jksoft 0:fccb789424fc 283 /* Task is really enqueued */
jksoft 0:fccb789424fc 284 p_b->p_dlnk = p_task->p_dlnk;
jksoft 0:fccb789424fc 285 if (p_task->p_dlnk != NULL) {
jksoft 0:fccb789424fc 286 /* 'p_task' is in the middle of list */
jksoft 0:fccb789424fc 287 p_b->delta_time += p_task->delta_time;
jksoft 0:fccb789424fc 288 p_task->p_dlnk->p_blnk = p_b;
jksoft 0:fccb789424fc 289 p_task->p_dlnk = NULL;
jksoft 0:fccb789424fc 290 }
jksoft 0:fccb789424fc 291 else {
jksoft 0:fccb789424fc 292 /* 'p_task' is at the end of list */
jksoft 0:fccb789424fc 293 p_b->delta_time = 0;
jksoft 0:fccb789424fc 294 }
jksoft 0:fccb789424fc 295 p_task->p_blnk = NULL;
jksoft 0:fccb789424fc 296 }
jksoft 0:fccb789424fc 297 }
jksoft 0:fccb789424fc 298
jksoft 0:fccb789424fc 299
jksoft 0:fccb789424fc 300 /*--------------------------- rt_psq_enq ------------------------------------*/
jksoft 0:fccb789424fc 301
jksoft 0:fccb789424fc 302 void rt_psq_enq (OS_ID entry, U32 arg) {
jksoft 0:fccb789424fc 303 /* Insert post service request "entry" into ps-queue. */
jksoft 0:fccb789424fc 304 U32 idx;
jksoft 0:fccb789424fc 305
jksoft 0:fccb789424fc 306 idx = rt_inc_qi (os_psq->size, &os_psq->count, &os_psq->first);
jksoft 0:fccb789424fc 307 if (idx < os_psq->size) {
jksoft 0:fccb789424fc 308 os_psq->q[idx].id = entry;
jksoft 0:fccb789424fc 309 os_psq->q[idx].arg = arg;
jksoft 0:fccb789424fc 310 }
jksoft 0:fccb789424fc 311 else {
jksoft 0:fccb789424fc 312 os_error (OS_ERR_FIFO_OVF);
jksoft 0:fccb789424fc 313 }
jksoft 0:fccb789424fc 314 }
jksoft 0:fccb789424fc 315
jksoft 0:fccb789424fc 316
jksoft 0:fccb789424fc 317 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 318 * end of file
jksoft 0:fccb789424fc 319 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 320