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_Semaphore.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_SEMAPHORE.C
jksoft 0:fccb789424fc 5 * Purpose: Implements binary and counting semaphores
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_Semaphore.h"
jksoft 0:fccb789424fc 41 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 42
jksoft 0:fccb789424fc 43
jksoft 0:fccb789424fc 44 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 45 * Functions
jksoft 0:fccb789424fc 46 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 47
jksoft 0:fccb789424fc 48
jksoft 0:fccb789424fc 49 /*--------------------------- rt_sem_init -----------------------------------*/
jksoft 0:fccb789424fc 50
jksoft 0:fccb789424fc 51 void rt_sem_init (OS_ID semaphore, U16 token_count) {
jksoft 0:fccb789424fc 52 /* Initialize a semaphore */
jksoft 0:fccb789424fc 53 P_SCB p_SCB = semaphore;
jksoft 0:fccb789424fc 54
jksoft 0:fccb789424fc 55 p_SCB->cb_type = SCB;
jksoft 0:fccb789424fc 56 p_SCB->p_lnk = NULL;
jksoft 0:fccb789424fc 57 p_SCB->tokens = token_count;
jksoft 0:fccb789424fc 58 }
jksoft 0:fccb789424fc 59
jksoft 0:fccb789424fc 60
jksoft 0:fccb789424fc 61 /*--------------------------- rt_sem_delete ---------------------------------*/
jksoft 0:fccb789424fc 62
jksoft 0:fccb789424fc 63 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 64 OS_RESULT rt_sem_delete (OS_ID semaphore) {
jksoft 0:fccb789424fc 65 /* Delete semaphore */
jksoft 0:fccb789424fc 66 P_SCB p_SCB = semaphore;
jksoft 0:fccb789424fc 67 P_TCB p_TCB;
jksoft 0:fccb789424fc 68
jksoft 0:fccb789424fc 69 while (p_SCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 70 /* A task is waiting for token */
jksoft 0:fccb789424fc 71 p_TCB = rt_get_first ((P_XCB)p_SCB);
jksoft 0:fccb789424fc 72 rt_ret_val(p_TCB, 0);
jksoft 0:fccb789424fc 73 rt_rmv_dly(p_TCB);
jksoft 0:fccb789424fc 74 p_TCB->state = READY;
jksoft 0:fccb789424fc 75 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 76 }
jksoft 0:fccb789424fc 77
jksoft 0:fccb789424fc 78 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
jksoft 0:fccb789424fc 79 /* preempt running task */
jksoft 0:fccb789424fc 80 rt_put_prio (&os_rdy, os_tsk.run);
jksoft 0:fccb789424fc 81 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 82 rt_dispatch (NULL);
jksoft 0:fccb789424fc 83 }
jksoft 0:fccb789424fc 84
jksoft 0:fccb789424fc 85 p_SCB->cb_type = 0;
jksoft 0:fccb789424fc 86
jksoft 0:fccb789424fc 87 return (OS_R_OK);
jksoft 0:fccb789424fc 88 }
jksoft 0:fccb789424fc 89 #endif
jksoft 0:fccb789424fc 90
jksoft 0:fccb789424fc 91
jksoft 0:fccb789424fc 92 /*--------------------------- rt_sem_send -----------------------------------*/
jksoft 0:fccb789424fc 93
jksoft 0:fccb789424fc 94 OS_RESULT rt_sem_send (OS_ID semaphore) {
jksoft 0:fccb789424fc 95 /* Return a token to semaphore */
jksoft 0:fccb789424fc 96 P_SCB p_SCB = semaphore;
jksoft 0:fccb789424fc 97 P_TCB p_TCB;
jksoft 0:fccb789424fc 98
jksoft 0:fccb789424fc 99 if (p_SCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 100 /* A task is waiting for token */
jksoft 0:fccb789424fc 101 p_TCB = rt_get_first ((P_XCB)p_SCB);
jksoft 0:fccb789424fc 102 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 103 rt_ret_val(p_TCB, 1);
jksoft 0:fccb789424fc 104 #else
jksoft 0:fccb789424fc 105 rt_ret_val(p_TCB, OS_R_SEM);
jksoft 0:fccb789424fc 106 #endif
jksoft 0:fccb789424fc 107 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 108 rt_dispatch (p_TCB);
jksoft 0:fccb789424fc 109 }
jksoft 0:fccb789424fc 110 else {
jksoft 0:fccb789424fc 111 /* Store token. */
jksoft 0:fccb789424fc 112 p_SCB->tokens++;
jksoft 0:fccb789424fc 113 }
jksoft 0:fccb789424fc 114 return (OS_R_OK);
jksoft 0:fccb789424fc 115 }
jksoft 0:fccb789424fc 116
jksoft 0:fccb789424fc 117
jksoft 0:fccb789424fc 118 /*--------------------------- rt_sem_wait -----------------------------------*/
jksoft 0:fccb789424fc 119
jksoft 0:fccb789424fc 120 OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout) {
jksoft 0:fccb789424fc 121 /* Obtain a token; possibly wait for it */
jksoft 0:fccb789424fc 122 P_SCB p_SCB = semaphore;
jksoft 0:fccb789424fc 123
jksoft 0:fccb789424fc 124 if (p_SCB->tokens) {
jksoft 0:fccb789424fc 125 p_SCB->tokens--;
jksoft 0:fccb789424fc 126 return (OS_R_OK);
jksoft 0:fccb789424fc 127 }
jksoft 0:fccb789424fc 128 /* No token available: wait for one */
jksoft 0:fccb789424fc 129 if (timeout == 0) {
jksoft 0:fccb789424fc 130 return (OS_R_TMO);
jksoft 0:fccb789424fc 131 }
jksoft 0:fccb789424fc 132 if (p_SCB->p_lnk != NULL) {
jksoft 0:fccb789424fc 133 rt_put_prio ((P_XCB)p_SCB, os_tsk.run);
jksoft 0:fccb789424fc 134 }
jksoft 0:fccb789424fc 135 else {
jksoft 0:fccb789424fc 136 p_SCB->p_lnk = os_tsk.run;
jksoft 0:fccb789424fc 137 os_tsk.run->p_lnk = NULL;
jksoft 0:fccb789424fc 138 os_tsk.run->p_rlnk = (P_TCB)p_SCB;
jksoft 0:fccb789424fc 139 }
jksoft 0:fccb789424fc 140 rt_block(timeout, WAIT_SEM);
jksoft 0:fccb789424fc 141 return (OS_R_TMO);
jksoft 0:fccb789424fc 142 }
jksoft 0:fccb789424fc 143
jksoft 0:fccb789424fc 144
jksoft 0:fccb789424fc 145 /*--------------------------- isr_sem_send ----------------------------------*/
jksoft 0:fccb789424fc 146
jksoft 0:fccb789424fc 147 void isr_sem_send (OS_ID semaphore) {
jksoft 0:fccb789424fc 148 /* Same function as "os_sem"send", but to be called by ISRs */
jksoft 0:fccb789424fc 149 P_SCB p_SCB = semaphore;
jksoft 0:fccb789424fc 150
jksoft 0:fccb789424fc 151 rt_psq_enq (p_SCB, 0);
jksoft 0:fccb789424fc 152 rt_psh_req ();
jksoft 0:fccb789424fc 153 }
jksoft 0:fccb789424fc 154
jksoft 0:fccb789424fc 155
jksoft 0:fccb789424fc 156 /*--------------------------- rt_sem_psh ------------------------------------*/
jksoft 0:fccb789424fc 157
jksoft 0:fccb789424fc 158 void rt_sem_psh (P_SCB p_CB) {
jksoft 0:fccb789424fc 159 /* Check if task has to be waken up */
jksoft 0:fccb789424fc 160 P_TCB p_TCB;
jksoft 0:fccb789424fc 161
jksoft 0:fccb789424fc 162 if (p_CB->p_lnk != NULL) {
jksoft 0:fccb789424fc 163 /* A task is waiting for token */
jksoft 0:fccb789424fc 164 p_TCB = rt_get_first ((P_XCB)p_CB);
jksoft 0:fccb789424fc 165 rt_rmv_dly (p_TCB);
jksoft 0:fccb789424fc 166 p_TCB->state = READY;
jksoft 0:fccb789424fc 167 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 168 rt_ret_val(p_TCB, 1);
jksoft 0:fccb789424fc 169 #else
jksoft 0:fccb789424fc 170 rt_ret_val(p_TCB, OS_R_SEM);
jksoft 0:fccb789424fc 171 #endif
jksoft 0:fccb789424fc 172 rt_put_prio (&os_rdy, p_TCB);
jksoft 0:fccb789424fc 173 }
jksoft 0:fccb789424fc 174 else {
jksoft 0:fccb789424fc 175 /* Store token */
jksoft 0:fccb789424fc 176 p_CB->tokens++;
jksoft 0:fccb789424fc 177 }
jksoft 0:fccb789424fc 178 }
jksoft 0:fccb789424fc 179
jksoft 0:fccb789424fc 180 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 181 * end of file
jksoft 0:fccb789424fc 182 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 183