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_Mutex.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_MUTEX.C
jksoft 0:fccb789424fc 5 * Purpose: Implements mutex synchronization objects
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_List.h"
jksoft 0:fccb789424fc 38 #include "rt_Task.h"
jksoft 0:fccb789424fc 39 #include "rt_Mutex.h"
jksoft 0:fccb789424fc 40 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 41
jksoft 0:fccb789424fc 42
jksoft 0:fccb789424fc 43 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 44 * Functions
jksoft 0:fccb789424fc 45 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 46
jksoft 0:fccb789424fc 47
jksoft 0:fccb789424fc 48 /*--------------------------- rt_mut_init -----------------------------------*/
jksoft 0:fccb789424fc 49
jksoft 0:fccb789424fc 50 void rt_mut_init (OS_ID mutex) {
jksoft 0:fccb789424fc 51 /* Initialize a mutex object */
jksoft 0:fccb789424fc 52 P_MUCB p_MCB = mutex;
jksoft 0:fccb789424fc 53
jksoft 0:fccb789424fc 54 p_MCB->cb_type = MUCB;
jksoft 0:fccb789424fc 55 p_MCB->prio = 0;
jksoft 0:fccb789424fc 56 p_MCB->level = 0;
jksoft 0:fccb789424fc 57 p_MCB->p_lnk = NULL;
jksoft 0:fccb789424fc 58 p_MCB->owner = NULL;
jksoft 0:fccb789424fc 59 }
jksoft 0:fccb789424fc 60
jksoft 0:fccb789424fc 61
jksoft 0:fccb789424fc 62 /*--------------------------- rt_mut_delete ---------------------------------*/
jksoft 0:fccb789424fc 63
jksoft 0:fccb789424fc 64 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 65 OS_RESULT rt_mut_delete (OS_ID mutex) {
jksoft 0:fccb789424fc 66 /* Delete a mutex object */
jksoft 0:fccb789424fc 67 P_MUCB p_MCB = mutex;
jksoft 0:fccb789424fc 68 P_TCB p_TCB;
jksoft 0:fccb789424fc 69
jksoft 0:fccb789424fc 70 /* Restore owner task's priority. */
jksoft 0:fccb789424fc 71 if (p_MCB->level != 0) {
jksoft 0:fccb789424fc 72 p_MCB->owner->prio = p_MCB->prio;
jksoft 0:fccb789424fc 73 if (p_MCB->owner != os_tsk.run) {
jksoft 0:fccb789424fc 74 rt_resort_prio (p_MCB->owner);
jksoft 0:fccb789424fc 75 }
jksoft 0:fccb789424fc 76 }
jksoft 0:fccb789424fc 77
jksoft 0:fccb789424fc 78 while (p_MCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 79 /* A task is waiting for mutex. */
jksoft 0:fccb789424fc 80 p_TCB = rt_get_first ((P_XCB)p_MCB);
jksoft 0:fccb789424fc 81 rt_ret_val(p_TCB, 0/*osOK*/);
jksoft 0:fccb789424fc 82 rt_rmv_dly(p_TCB);
jksoft 0:fccb789424fc 83 p_TCB->state = READY;
jksoft 0:fccb789424fc 84 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 85 }
jksoft 0:fccb789424fc 86
jksoft 0:fccb789424fc 87 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
jksoft 0:fccb789424fc 88 /* preempt running task */
jksoft 0:fccb789424fc 89 rt_put_prio (&os_rdy, os_tsk.run);
jksoft 0:fccb789424fc 90 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 91 rt_dispatch (NULL);
jksoft 0:fccb789424fc 92 }
jksoft 0:fccb789424fc 93
jksoft 0:fccb789424fc 94 p_MCB->cb_type = 0;
jksoft 0:fccb789424fc 95
jksoft 0:fccb789424fc 96 return (OS_R_OK);
jksoft 0:fccb789424fc 97 }
jksoft 0:fccb789424fc 98 #endif
jksoft 0:fccb789424fc 99
jksoft 0:fccb789424fc 100
jksoft 0:fccb789424fc 101 /*--------------------------- rt_mut_release --------------------------------*/
jksoft 0:fccb789424fc 102
jksoft 0:fccb789424fc 103 OS_RESULT rt_mut_release (OS_ID mutex) {
jksoft 0:fccb789424fc 104 /* Release a mutex object */
jksoft 0:fccb789424fc 105 P_MUCB p_MCB = mutex;
jksoft 0:fccb789424fc 106 P_TCB p_TCB;
jksoft 0:fccb789424fc 107
jksoft 0:fccb789424fc 108 if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
jksoft 0:fccb789424fc 109 /* Unbalanced mutex release or task is not the owner */
jksoft 0:fccb789424fc 110 return (OS_R_NOK);
jksoft 0:fccb789424fc 111 }
jksoft 0:fccb789424fc 112 if (--p_MCB->level != 0) {
jksoft 0:fccb789424fc 113 return (OS_R_OK);
jksoft 0:fccb789424fc 114 }
jksoft 0:fccb789424fc 115 /* Restore owner task's priority. */
jksoft 0:fccb789424fc 116 os_tsk.run->prio = p_MCB->prio;
jksoft 0:fccb789424fc 117 if (p_MCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 118 /* A task is waiting for mutex. */
jksoft 0:fccb789424fc 119 p_TCB = rt_get_first ((P_XCB)p_MCB);
jksoft 0:fccb789424fc 120 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 121 rt_ret_val(p_TCB, 0/*osOK*/);
jksoft 0:fccb789424fc 122 #else
jksoft 0:fccb789424fc 123 rt_ret_val(p_TCB, OS_R_MUT);
jksoft 0:fccb789424fc 124 #endif
jksoft 0:fccb789424fc 125 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 126 /* A waiting task becomes the owner of this mutex. */
jksoft 0:fccb789424fc 127 p_MCB->level = 1;
jksoft 0:fccb789424fc 128 p_MCB->owner = p_TCB;
jksoft 0:fccb789424fc 129 p_MCB->prio = p_TCB->prio;
jksoft 0:fccb789424fc 130 /* Priority inversion, check which task continues. */
jksoft 0:fccb789424fc 131 if (os_tsk.run->prio >= rt_rdy_prio()) {
jksoft 0:fccb789424fc 132 rt_dispatch (p_TCB);
jksoft 0:fccb789424fc 133 }
jksoft 0:fccb789424fc 134 else {
jksoft 0:fccb789424fc 135 /* Ready task has higher priority than running task. */
jksoft 0:fccb789424fc 136 rt_put_prio (&os_rdy, os_tsk.run);
jksoft 0:fccb789424fc 137 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 138 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 139 p_TCB->state = READY;
jksoft 0:fccb789424fc 140 rt_dispatch (NULL);
jksoft 0:fccb789424fc 141 }
jksoft 0:fccb789424fc 142 }
jksoft 0:fccb789424fc 143 else {
jksoft 0:fccb789424fc 144 /* Check if own priority raised by priority inversion. */
jksoft 0:fccb789424fc 145 if (rt_rdy_prio() > os_tsk.run->prio) {
jksoft 0:fccb789424fc 146 rt_put_prio (&os_rdy, os_tsk.run);
jksoft 0:fccb789424fc 147 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 148 rt_dispatch (NULL);
jksoft 0:fccb789424fc 149 }
jksoft 0:fccb789424fc 150 }
jksoft 0:fccb789424fc 151 return (OS_R_OK);
jksoft 0:fccb789424fc 152 }
jksoft 0:fccb789424fc 153
jksoft 0:fccb789424fc 154
jksoft 0:fccb789424fc 155 /*--------------------------- rt_mut_wait -----------------------------------*/
jksoft 0:fccb789424fc 156
jksoft 0:fccb789424fc 157 OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
jksoft 0:fccb789424fc 158 /* Wait for a mutex, continue when mutex is free. */
jksoft 0:fccb789424fc 159 P_MUCB p_MCB = mutex;
jksoft 0:fccb789424fc 160
jksoft 0:fccb789424fc 161 if (p_MCB->level == 0) {
jksoft 0:fccb789424fc 162 p_MCB->owner = os_tsk.run;
jksoft 0:fccb789424fc 163 p_MCB->prio = os_tsk.run->prio;
jksoft 0:fccb789424fc 164 goto inc;
jksoft 0:fccb789424fc 165 }
jksoft 0:fccb789424fc 166 if (p_MCB->owner == os_tsk.run) {
jksoft 0:fccb789424fc 167 /* OK, running task is the owner of this mutex. */
jksoft 0:fccb789424fc 168 inc:p_MCB->level++;
jksoft 0:fccb789424fc 169 return (OS_R_OK);
jksoft 0:fccb789424fc 170 }
jksoft 0:fccb789424fc 171 /* Mutex owned by another task, wait until released. */
jksoft 0:fccb789424fc 172 if (timeout == 0) {
jksoft 0:fccb789424fc 173 return (OS_R_TMO);
jksoft 0:fccb789424fc 174 }
jksoft 0:fccb789424fc 175 /* Raise the owner task priority if lower than current priority. */
jksoft 0:fccb789424fc 176 /* This priority inversion is called priority inheritance. */
jksoft 0:fccb789424fc 177 if (p_MCB->prio < os_tsk.run->prio) {
jksoft 0:fccb789424fc 178 p_MCB->owner->prio = os_tsk.run->prio;
jksoft 0:fccb789424fc 179 rt_resort_prio (p_MCB->owner);
jksoft 0:fccb789424fc 180 }
jksoft 0:fccb789424fc 181 if (p_MCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 182 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
jksoft 0:fccb789424fc 183 }
jksoft 0:fccb789424fc 184 else {
jksoft 0:fccb789424fc 185 p_MCB->p_lnk = os_tsk.run;
jksoft 0:fccb789424fc 186 os_tsk.run->p_lnk = NULL;
jksoft 0:fccb789424fc 187 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
jksoft 0:fccb789424fc 188 }
jksoft 0:fccb789424fc 189 rt_block(timeout, WAIT_MUT);
jksoft 0:fccb789424fc 190 return (OS_R_TMO);
jksoft 0:fccb789424fc 191 }
jksoft 0:fccb789424fc 192
jksoft 0:fccb789424fc 193
jksoft 0:fccb789424fc 194 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 195 * end of file
jksoft 0:fccb789424fc 196 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 197