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_Mailbox.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_MAILBOX.C
jksoft 0:fccb789424fc 5 * Purpose: Implements waits and wake-ups for mailbox messages
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_Mailbox.h"
jksoft 0:fccb789424fc 40 #include "rt_MemBox.h"
jksoft 0:fccb789424fc 41 #include "rt_Task.h"
jksoft 0:fccb789424fc 42 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 43
jksoft 0:fccb789424fc 44
jksoft 0:fccb789424fc 45 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 46 * Functions
jksoft 0:fccb789424fc 47 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 48
jksoft 0:fccb789424fc 49
jksoft 0:fccb789424fc 50 /*--------------------------- rt_mbx_init -----------------------------------*/
jksoft 0:fccb789424fc 51
jksoft 0:fccb789424fc 52 void rt_mbx_init (OS_ID mailbox, U16 mbx_size) {
jksoft 0:fccb789424fc 53 /* Initialize a mailbox */
jksoft 0:fccb789424fc 54 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 55
jksoft 0:fccb789424fc 56 p_MCB->cb_type = MCB;
jksoft 0:fccb789424fc 57 p_MCB->state = 0;
jksoft 0:fccb789424fc 58 p_MCB->isr_st = 0;
jksoft 0:fccb789424fc 59 p_MCB->p_lnk = NULL;
jksoft 0:fccb789424fc 60 p_MCB->first = 0;
jksoft 0:fccb789424fc 61 p_MCB->last = 0;
jksoft 0:fccb789424fc 62 p_MCB->count = 0;
jksoft 0:fccb789424fc 63 p_MCB->size = (mbx_size + sizeof(void *) - sizeof(struct OS_MCB)) /
jksoft 0:fccb789424fc 64 (U32)sizeof (void *);
jksoft 0:fccb789424fc 65 }
jksoft 0:fccb789424fc 66
jksoft 0:fccb789424fc 67
jksoft 0:fccb789424fc 68 /*--------------------------- rt_mbx_send -----------------------------------*/
jksoft 0:fccb789424fc 69
jksoft 0:fccb789424fc 70 OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout) {
jksoft 0:fccb789424fc 71 /* Send message to a mailbox */
jksoft 0:fccb789424fc 72 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 73 P_TCB p_TCB;
jksoft 0:fccb789424fc 74
jksoft 0:fccb789424fc 75 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 1)) {
jksoft 0:fccb789424fc 76 /* A task is waiting for message */
jksoft 0:fccb789424fc 77 p_TCB = rt_get_first ((P_XCB)p_MCB);
jksoft 0:fccb789424fc 78 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 79 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
jksoft 0:fccb789424fc 80 #else
jksoft 0:fccb789424fc 81 *p_TCB->msg = p_msg;
jksoft 0:fccb789424fc 82 rt_ret_val (p_TCB, OS_R_MBX);
jksoft 0:fccb789424fc 83 #endif
jksoft 0:fccb789424fc 84 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 85 rt_dispatch (p_TCB);
jksoft 0:fccb789424fc 86 }
jksoft 0:fccb789424fc 87 else {
jksoft 0:fccb789424fc 88 /* Store message in mailbox queue */
jksoft 0:fccb789424fc 89 if (p_MCB->count == p_MCB->size) {
jksoft 0:fccb789424fc 90 /* No free message entry, wait for one. If message queue is full, */
jksoft 0:fccb789424fc 91 /* then no task is waiting for message. The 'p_MCB->p_lnk' list */
jksoft 0:fccb789424fc 92 /* pointer can now be reused for send message waits task list. */
jksoft 0:fccb789424fc 93 if (timeout == 0) {
jksoft 0:fccb789424fc 94 return (OS_R_TMO);
jksoft 0:fccb789424fc 95 }
jksoft 0:fccb789424fc 96 if (p_MCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 97 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
jksoft 0:fccb789424fc 98 }
jksoft 0:fccb789424fc 99 else {
jksoft 0:fccb789424fc 100 p_MCB->p_lnk = os_tsk.run;
jksoft 0:fccb789424fc 101 os_tsk.run->p_lnk = NULL;
jksoft 0:fccb789424fc 102 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
jksoft 0:fccb789424fc 103 /* Task is waiting to send a message */
jksoft 0:fccb789424fc 104 p_MCB->state = 2;
jksoft 0:fccb789424fc 105 }
jksoft 0:fccb789424fc 106 os_tsk.run->msg = p_msg;
jksoft 0:fccb789424fc 107 rt_block (timeout, WAIT_MBX);
jksoft 0:fccb789424fc 108 return (OS_R_TMO);
jksoft 0:fccb789424fc 109 }
jksoft 0:fccb789424fc 110 /* Yes, there is a free entry in a mailbox. */
jksoft 0:fccb789424fc 111 p_MCB->msg[p_MCB->first] = p_msg;
jksoft 0:fccb789424fc 112 rt_inc (&p_MCB->count);
jksoft 0:fccb789424fc 113 if (++p_MCB->first == p_MCB->size) {
jksoft 0:fccb789424fc 114 p_MCB->first = 0;
jksoft 0:fccb789424fc 115 }
jksoft 0:fccb789424fc 116 }
jksoft 0:fccb789424fc 117 return (OS_R_OK);
jksoft 0:fccb789424fc 118 }
jksoft 0:fccb789424fc 119
jksoft 0:fccb789424fc 120
jksoft 0:fccb789424fc 121 /*--------------------------- rt_mbx_wait -----------------------------------*/
jksoft 0:fccb789424fc 122
jksoft 0:fccb789424fc 123 OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout) {
jksoft 0:fccb789424fc 124 /* Receive a message; possibly wait for it */
jksoft 0:fccb789424fc 125 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 126 P_TCB p_TCB;
jksoft 0:fccb789424fc 127
jksoft 0:fccb789424fc 128 /* If a message is available in the fifo buffer */
jksoft 0:fccb789424fc 129 /* remove it from the fifo buffer and return. */
jksoft 0:fccb789424fc 130 if (p_MCB->count) {
jksoft 0:fccb789424fc 131 *message = p_MCB->msg[p_MCB->last];
jksoft 0:fccb789424fc 132 if (++p_MCB->last == p_MCB->size) {
jksoft 0:fccb789424fc 133 p_MCB->last = 0;
jksoft 0:fccb789424fc 134 }
jksoft 0:fccb789424fc 135 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 2)) {
jksoft 0:fccb789424fc 136 /* A task is waiting to send message */
jksoft 0:fccb789424fc 137 p_TCB = rt_get_first ((P_XCB)p_MCB);
jksoft 0:fccb789424fc 138 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 139 rt_ret_val(p_TCB, 0/*osOK*/);
jksoft 0:fccb789424fc 140 #else
jksoft 0:fccb789424fc 141 rt_ret_val(p_TCB, OS_R_OK);
jksoft 0:fccb789424fc 142 #endif
jksoft 0:fccb789424fc 143 p_MCB->msg[p_MCB->first] = p_TCB->msg;
jksoft 0:fccb789424fc 144 if (++p_MCB->first == p_MCB->size) {
jksoft 0:fccb789424fc 145 p_MCB->first = 0;
jksoft 0:fccb789424fc 146 }
jksoft 0:fccb789424fc 147 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 148 rt_dispatch (p_TCB);
jksoft 0:fccb789424fc 149 }
jksoft 0:fccb789424fc 150 else {
jksoft 0:fccb789424fc 151 rt_dec (&p_MCB->count);
jksoft 0:fccb789424fc 152 }
jksoft 0:fccb789424fc 153 return (OS_R_OK);
jksoft 0:fccb789424fc 154 }
jksoft 0:fccb789424fc 155 /* No message available: wait for one */
jksoft 0:fccb789424fc 156 if (timeout == 0) {
jksoft 0:fccb789424fc 157 return (OS_R_TMO);
jksoft 0:fccb789424fc 158 }
jksoft 0:fccb789424fc 159 if (p_MCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 160 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
jksoft 0:fccb789424fc 161 }
jksoft 0:fccb789424fc 162 else {
jksoft 0:fccb789424fc 163 p_MCB->p_lnk = os_tsk.run;
jksoft 0:fccb789424fc 164 os_tsk.run->p_lnk = NULL;
jksoft 0:fccb789424fc 165 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
jksoft 0:fccb789424fc 166 /* Task is waiting to receive a message */
jksoft 0:fccb789424fc 167 p_MCB->state = 1;
jksoft 0:fccb789424fc 168 }
jksoft 0:fccb789424fc 169 rt_block(timeout, WAIT_MBX);
jksoft 0:fccb789424fc 170 #ifndef __CMSIS_RTOS
jksoft 0:fccb789424fc 171 os_tsk.run->msg = message;
jksoft 0:fccb789424fc 172 #endif
jksoft 0:fccb789424fc 173 return (OS_R_TMO);
jksoft 0:fccb789424fc 174 }
jksoft 0:fccb789424fc 175
jksoft 0:fccb789424fc 176
jksoft 0:fccb789424fc 177 /*--------------------------- rt_mbx_check ----------------------------------*/
jksoft 0:fccb789424fc 178
jksoft 0:fccb789424fc 179 OS_RESULT rt_mbx_check (OS_ID mailbox) {
jksoft 0:fccb789424fc 180 /* Check for free space in a mailbox. Returns the number of messages */
jksoft 0:fccb789424fc 181 /* that can be stored to a mailbox. It returns 0 when mailbox is full. */
jksoft 0:fccb789424fc 182 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 183
jksoft 0:fccb789424fc 184 return (p_MCB->size - p_MCB->count);
jksoft 0:fccb789424fc 185 }
jksoft 0:fccb789424fc 186
jksoft 0:fccb789424fc 187
jksoft 0:fccb789424fc 188 /*--------------------------- isr_mbx_send ----------------------------------*/
jksoft 0:fccb789424fc 189
jksoft 0:fccb789424fc 190 void isr_mbx_send (OS_ID mailbox, void *p_msg) {
jksoft 0:fccb789424fc 191 /* Same function as "os_mbx_send", but to be called by ISRs. */
jksoft 0:fccb789424fc 192 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 193
jksoft 0:fccb789424fc 194 rt_psq_enq (p_MCB, (U32)p_msg);
jksoft 0:fccb789424fc 195 rt_psh_req ();
jksoft 0:fccb789424fc 196 }
jksoft 0:fccb789424fc 197
jksoft 0:fccb789424fc 198
jksoft 0:fccb789424fc 199 /*--------------------------- isr_mbx_receive -------------------------------*/
jksoft 0:fccb789424fc 200
jksoft 0:fccb789424fc 201 OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message) {
jksoft 0:fccb789424fc 202 /* Receive a message in the interrupt function. The interrupt function */
jksoft 0:fccb789424fc 203 /* should not wait for a message since this would block the rtx os. */
jksoft 0:fccb789424fc 204 P_MCB p_MCB = mailbox;
jksoft 0:fccb789424fc 205
jksoft 0:fccb789424fc 206 if (p_MCB->count) {
jksoft 0:fccb789424fc 207 /* A message is available in the fifo buffer. */
jksoft 0:fccb789424fc 208 *message = p_MCB->msg[p_MCB->last];
jksoft 0:fccb789424fc 209 if (p_MCB->state == 2) {
jksoft 0:fccb789424fc 210 /* A task is locked waiting to send message */
jksoft 0:fccb789424fc 211 rt_psq_enq (p_MCB, 0);
jksoft 0:fccb789424fc 212 rt_psh_req ();
jksoft 0:fccb789424fc 213 }
jksoft 0:fccb789424fc 214 rt_dec (&p_MCB->count);
jksoft 0:fccb789424fc 215 if (++p_MCB->last == p_MCB->size) {
jksoft 0:fccb789424fc 216 p_MCB->last = 0;
jksoft 0:fccb789424fc 217 }
jksoft 0:fccb789424fc 218 return (OS_R_MBX);
jksoft 0:fccb789424fc 219 }
jksoft 0:fccb789424fc 220 return (OS_R_OK);
jksoft 0:fccb789424fc 221 }
jksoft 0:fccb789424fc 222
jksoft 0:fccb789424fc 223
jksoft 0:fccb789424fc 224 /*--------------------------- rt_mbx_psh ------------------------------------*/
jksoft 0:fccb789424fc 225
jksoft 0:fccb789424fc 226 void rt_mbx_psh (P_MCB p_CB, void *p_msg) {
jksoft 0:fccb789424fc 227 /* Store the message to the mailbox queue or pass it to task directly. */
jksoft 0:fccb789424fc 228 P_TCB p_TCB;
jksoft 0:fccb789424fc 229 void *mem;
jksoft 0:fccb789424fc 230
jksoft 0:fccb789424fc 231 if (p_CB->p_lnk != NULL) switch (p_CB->state) {
jksoft 0:fccb789424fc 232 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 233 case 3:
jksoft 0:fccb789424fc 234 /* Task is waiting to allocate memory, remove it from the waiting list */
jksoft 0:fccb789424fc 235 mem = rt_alloc_box(p_msg);
jksoft 0:fccb789424fc 236 if (mem == NULL) break;
jksoft 0:fccb789424fc 237 p_TCB = rt_get_first ((P_XCB)p_CB);
jksoft 0:fccb789424fc 238 rt_ret_val(p_TCB, (U32)mem);
jksoft 0:fccb789424fc 239 p_TCB->state = READY;
jksoft 0:fccb789424fc 240 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 241 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 242 break;
jksoft 0:fccb789424fc 243 #endif
jksoft 0:fccb789424fc 244 case 2:
jksoft 0:fccb789424fc 245 /* Task is waiting to send a message, remove it from the waiting list */
jksoft 0:fccb789424fc 246 p_TCB = rt_get_first ((P_XCB)p_CB);
jksoft 0:fccb789424fc 247 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 248 rt_ret_val(p_TCB, 0/*osOK*/);
jksoft 0:fccb789424fc 249 #else
jksoft 0:fccb789424fc 250 rt_ret_val(p_TCB, OS_R_OK);
jksoft 0:fccb789424fc 251 #endif
jksoft 0:fccb789424fc 252 p_CB->msg[p_CB->first] = p_TCB->msg;
jksoft 0:fccb789424fc 253 rt_inc (&p_CB->count);
jksoft 0:fccb789424fc 254 if (++p_CB->first == p_CB->size) {
jksoft 0:fccb789424fc 255 p_CB->first = 0;
jksoft 0:fccb789424fc 256 }
jksoft 0:fccb789424fc 257 p_TCB->state = READY;
jksoft 0:fccb789424fc 258 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 259 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 260 break;
jksoft 0:fccb789424fc 261 case 1:
jksoft 0:fccb789424fc 262 /* Task is waiting for a message, pass the message to the task directly */
jksoft 0:fccb789424fc 263 p_TCB = rt_get_first ((P_XCB)p_CB);
jksoft 0:fccb789424fc 264 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 265 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
jksoft 0:fccb789424fc 266 #else
jksoft 0:fccb789424fc 267 *p_TCB->msg = p_msg;
jksoft 0:fccb789424fc 268 rt_ret_val (p_TCB, OS_R_MBX);
jksoft 0:fccb789424fc 269 #endif
jksoft 0:fccb789424fc 270 p_TCB->state = READY;
jksoft 0:fccb789424fc 271 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 272 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 273 break;
jksoft 0:fccb789424fc 274 } else {
jksoft 0:fccb789424fc 275 /* No task is waiting for a message, store it to the mailbox queue */
jksoft 0:fccb789424fc 276 if (p_CB->count < p_CB->size) {
jksoft 0:fccb789424fc 277 p_CB->msg[p_CB->first] = p_msg;
jksoft 0:fccb789424fc 278 rt_inc (&p_CB->count);
jksoft 0:fccb789424fc 279 if (++p_CB->first == p_CB->size) {
jksoft 0:fccb789424fc 280 p_CB->first = 0;
jksoft 0:fccb789424fc 281 }
jksoft 0:fccb789424fc 282 }
jksoft 0:fccb789424fc 283 else {
jksoft 0:fccb789424fc 284 os_error (OS_ERR_MBX_OVF);
jksoft 0:fccb789424fc 285 }
jksoft 0:fccb789424fc 286 }
jksoft 0:fccb789424fc 287 }
jksoft 0:fccb789424fc 288
jksoft 0:fccb789424fc 289 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 290 * end of file
jksoft 0:fccb789424fc 291 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 292