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_System.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_SYSTEM.C
jksoft 0:fccb789424fc 5 * Purpose: System Task Manager
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_Task.h"
jksoft 0:fccb789424fc 38 #include "rt_System.h"
jksoft 0:fccb789424fc 39 #include "rt_Event.h"
jksoft 0:fccb789424fc 40 #include "rt_List.h"
jksoft 0:fccb789424fc 41 #include "rt_Mailbox.h"
jksoft 0:fccb789424fc 42 #include "rt_Semaphore.h"
jksoft 0:fccb789424fc 43 #include "rt_Time.h"
jksoft 0:fccb789424fc 44 #include "rt_Robin.h"
jksoft 0:fccb789424fc 45 #include "rt_HAL_CM.h"
jksoft 0:fccb789424fc 46
jksoft 0:fccb789424fc 47 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 48 * Global Variables
jksoft 0:fccb789424fc 49 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 50
jksoft 0:fccb789424fc 51 int os_tick_irqn;
jksoft 0:fccb789424fc 52
jksoft 0:fccb789424fc 53 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 54 * Local Variables
jksoft 0:fccb789424fc 55 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 56
jksoft 0:fccb789424fc 57 static volatile BIT os_lock;
jksoft 0:fccb789424fc 58 static volatile BIT os_psh_flag;
jksoft 0:fccb789424fc 59 static U8 pend_flags;
jksoft 0:fccb789424fc 60
jksoft 0:fccb789424fc 61 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 62 * Global Functions
jksoft 0:fccb789424fc 63 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 64
jksoft 0:fccb789424fc 65 #if defined (__CC_ARM)
jksoft 0:fccb789424fc 66 __asm void $$RTX$$version (void) {
jksoft 0:fccb789424fc 67 /* Export a version number symbol for a version control. */
jksoft 0:fccb789424fc 68
jksoft 0:fccb789424fc 69 EXPORT __RL_RTX_VER
jksoft 0:fccb789424fc 70
jksoft 0:fccb789424fc 71 __RL_RTX_VER EQU 0x450
jksoft 0:fccb789424fc 72 }
jksoft 0:fccb789424fc 73 #endif
jksoft 0:fccb789424fc 74
jksoft 0:fccb789424fc 75
jksoft 0:fccb789424fc 76 /*--------------------------- rt_suspend ------------------------------------*/
jksoft 0:fccb789424fc 77 U32 rt_suspend (void) {
jksoft 0:fccb789424fc 78 /* Suspend OS scheduler */
jksoft 0:fccb789424fc 79 U32 delta = 0xFFFF;
jksoft 0:fccb789424fc 80
jksoft 0:fccb789424fc 81 rt_tsk_lock();
jksoft 0:fccb789424fc 82
jksoft 0:fccb789424fc 83 if (os_dly.p_dlnk) {
jksoft 0:fccb789424fc 84 delta = os_dly.delta_time;
jksoft 0:fccb789424fc 85 }
jksoft 0:fccb789424fc 86 #ifndef __CMSIS_RTOS
jksoft 0:fccb789424fc 87 if (os_tmr.next) {
jksoft 0:fccb789424fc 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
jksoft 0:fccb789424fc 89 }
jksoft 0:fccb789424fc 90 #endif
jksoft 0:fccb789424fc 91
jksoft 0:fccb789424fc 92 return (delta);
jksoft 0:fccb789424fc 93 }
jksoft 0:fccb789424fc 94
jksoft 0:fccb789424fc 95
jksoft 0:fccb789424fc 96 /*--------------------------- rt_resume -------------------------------------*/
jksoft 0:fccb789424fc 97 void rt_resume (U32 sleep_time) {
jksoft 0:fccb789424fc 98 /* Resume OS scheduler after suspend */
jksoft 0:fccb789424fc 99 P_TCB next;
jksoft 0:fccb789424fc 100 U32 delta;
jksoft 0:fccb789424fc 101
jksoft 0:fccb789424fc 102 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 103 rt_put_rdy_first (os_tsk.run);
jksoft 0:fccb789424fc 104
jksoft 0:fccb789424fc 105 os_robin.task = NULL;
jksoft 0:fccb789424fc 106
jksoft 0:fccb789424fc 107 /* Update delays. */
jksoft 0:fccb789424fc 108 if (os_dly.p_dlnk) {
jksoft 0:fccb789424fc 109 delta = sleep_time;
jksoft 0:fccb789424fc 110 if (delta >= os_dly.delta_time) {
jksoft 0:fccb789424fc 111 delta -= os_dly.delta_time;
jksoft 0:fccb789424fc 112 os_time += os_dly.delta_time;
jksoft 0:fccb789424fc 113 os_dly.delta_time = 1;
jksoft 0:fccb789424fc 114 while (os_dly.p_dlnk) {
jksoft 0:fccb789424fc 115 rt_dec_dly();
jksoft 0:fccb789424fc 116 if (delta == 0) break;
jksoft 0:fccb789424fc 117 delta--;
jksoft 0:fccb789424fc 118 os_time++;
jksoft 0:fccb789424fc 119 }
jksoft 0:fccb789424fc 120 } else {
jksoft 0:fccb789424fc 121 os_time += delta;
jksoft 0:fccb789424fc 122 os_dly.delta_time -= delta;
jksoft 0:fccb789424fc 123 }
jksoft 0:fccb789424fc 124 } else {
jksoft 0:fccb789424fc 125 os_time += sleep_time;
jksoft 0:fccb789424fc 126 }
jksoft 0:fccb789424fc 127
jksoft 0:fccb789424fc 128 #ifndef __CMSIS_RTOS
jksoft 0:fccb789424fc 129 /* Check the user timers. */
jksoft 0:fccb789424fc 130 if (os_tmr.next) {
jksoft 0:fccb789424fc 131 delta = sleep_time;
jksoft 0:fccb789424fc 132 if (delta >= os_tmr.tcnt) {
jksoft 0:fccb789424fc 133 delta -= os_tmr.tcnt;
jksoft 0:fccb789424fc 134 os_tmr.tcnt = 1;
jksoft 0:fccb789424fc 135 while (os_tmr.next) {
jksoft 0:fccb789424fc 136 rt_tmr_tick();
jksoft 0:fccb789424fc 137 if (delta == 0) break;
jksoft 0:fccb789424fc 138 delta--;
jksoft 0:fccb789424fc 139 }
jksoft 0:fccb789424fc 140 } else {
jksoft 0:fccb789424fc 141 os_tmr.tcnt -= delta;
jksoft 0:fccb789424fc 142 }
jksoft 0:fccb789424fc 143 }
jksoft 0:fccb789424fc 144 #endif
jksoft 0:fccb789424fc 145
jksoft 0:fccb789424fc 146 /* Switch back to highest ready task */
jksoft 0:fccb789424fc 147 next = rt_get_first (&os_rdy);
jksoft 0:fccb789424fc 148 rt_switch_req (next);
jksoft 0:fccb789424fc 149
jksoft 0:fccb789424fc 150 rt_tsk_unlock();
jksoft 0:fccb789424fc 151 }
jksoft 0:fccb789424fc 152
jksoft 0:fccb789424fc 153
jksoft 0:fccb789424fc 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
jksoft 0:fccb789424fc 155
jksoft 0:fccb789424fc 156 void rt_tsk_lock (void) {
jksoft 0:fccb789424fc 157 /* Prevent task switching by locking out scheduler */
jksoft 0:fccb789424fc 158 if (os_tick_irqn < 0) {
jksoft 0:fccb789424fc 159 OS_LOCK();
jksoft 0:fccb789424fc 160 os_lock = __TRUE;
jksoft 0:fccb789424fc 161 OS_UNPEND (&pend_flags);
jksoft 0:fccb789424fc 162 } else {
jksoft 0:fccb789424fc 163 OS_X_LOCK(os_tick_irqn);
jksoft 0:fccb789424fc 164 os_lock = __TRUE;
jksoft 0:fccb789424fc 165 OS_X_UNPEND (&pend_flags);
jksoft 0:fccb789424fc 166 }
jksoft 0:fccb789424fc 167 }
jksoft 0:fccb789424fc 168
jksoft 0:fccb789424fc 169
jksoft 0:fccb789424fc 170 /*--------------------------- rt_tsk_unlock ---------------------------------*/
jksoft 0:fccb789424fc 171
jksoft 0:fccb789424fc 172 void rt_tsk_unlock (void) {
jksoft 0:fccb789424fc 173 /* Unlock scheduler and re-enable task switching */
jksoft 0:fccb789424fc 174 if (os_tick_irqn < 0) {
jksoft 0:fccb789424fc 175 OS_UNLOCK();
jksoft 0:fccb789424fc 176 os_lock = __FALSE;
jksoft 0:fccb789424fc 177 OS_PEND (pend_flags, os_psh_flag);
jksoft 0:fccb789424fc 178 os_psh_flag = __FALSE;
jksoft 0:fccb789424fc 179 } else {
jksoft 0:fccb789424fc 180 OS_X_UNLOCK(os_tick_irqn);
jksoft 0:fccb789424fc 181 os_lock = __FALSE;
jksoft 0:fccb789424fc 182 OS_X_PEND (pend_flags, os_psh_flag);
jksoft 0:fccb789424fc 183 os_psh_flag = __FALSE;
jksoft 0:fccb789424fc 184 }
jksoft 0:fccb789424fc 185 }
jksoft 0:fccb789424fc 186
jksoft 0:fccb789424fc 187
jksoft 0:fccb789424fc 188 /*--------------------------- rt_psh_req ------------------------------------*/
jksoft 0:fccb789424fc 189
jksoft 0:fccb789424fc 190 void rt_psh_req (void) {
jksoft 0:fccb789424fc 191 /* Initiate a post service handling request if required. */
jksoft 0:fccb789424fc 192 if (os_lock == __FALSE) {
jksoft 0:fccb789424fc 193 OS_PEND_IRQ ();
jksoft 0:fccb789424fc 194 }
jksoft 0:fccb789424fc 195 else {
jksoft 0:fccb789424fc 196 os_psh_flag = __TRUE;
jksoft 0:fccb789424fc 197 }
jksoft 0:fccb789424fc 198 }
jksoft 0:fccb789424fc 199
jksoft 0:fccb789424fc 200
jksoft 0:fccb789424fc 201 /*--------------------------- rt_pop_req ------------------------------------*/
jksoft 0:fccb789424fc 202
jksoft 0:fccb789424fc 203 void rt_pop_req (void) {
jksoft 0:fccb789424fc 204 /* Process an ISR post service requests. */
jksoft 0:fccb789424fc 205 struct OS_XCB *p_CB;
jksoft 0:fccb789424fc 206 P_TCB next;
jksoft 0:fccb789424fc 207 U32 idx;
jksoft 0:fccb789424fc 208
jksoft 0:fccb789424fc 209 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 210 rt_put_rdy_first (os_tsk.run);
jksoft 0:fccb789424fc 211
jksoft 0:fccb789424fc 212 idx = os_psq->last;
jksoft 0:fccb789424fc 213 while (os_psq->count) {
jksoft 0:fccb789424fc 214 p_CB = os_psq->q[idx].id;
jksoft 0:fccb789424fc 215 if (p_CB->cb_type == TCB) {
jksoft 0:fccb789424fc 216 /* Is of TCB type */
jksoft 0:fccb789424fc 217 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
jksoft 0:fccb789424fc 218 }
jksoft 0:fccb789424fc 219 else if (p_CB->cb_type == MCB) {
jksoft 0:fccb789424fc 220 /* Is of MCB type */
jksoft 0:fccb789424fc 221 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
jksoft 0:fccb789424fc 222 }
jksoft 0:fccb789424fc 223 else {
jksoft 0:fccb789424fc 224 /* Must be of SCB type */
jksoft 0:fccb789424fc 225 rt_sem_psh ((P_SCB)p_CB);
jksoft 0:fccb789424fc 226 }
jksoft 0:fccb789424fc 227 if (++idx == os_psq->size) idx = 0;
jksoft 0:fccb789424fc 228 rt_dec (&os_psq->count);
jksoft 0:fccb789424fc 229 }
jksoft 0:fccb789424fc 230 os_psq->last = idx;
jksoft 0:fccb789424fc 231
jksoft 0:fccb789424fc 232 next = rt_get_first (&os_rdy);
jksoft 0:fccb789424fc 233 rt_switch_req (next);
jksoft 0:fccb789424fc 234 }
jksoft 0:fccb789424fc 235
jksoft 0:fccb789424fc 236
jksoft 0:fccb789424fc 237 /*--------------------------- os_tick_init ----------------------------------*/
jksoft 0:fccb789424fc 238
jksoft 0:fccb789424fc 239 __weak int os_tick_init (void) {
jksoft 0:fccb789424fc 240 /* Initialize SysTick timer as system tick timer. */
jksoft 0:fccb789424fc 241 rt_systick_init ();
jksoft 0:fccb789424fc 242 return (-1); /* Return IRQ number of SysTick timer */
jksoft 0:fccb789424fc 243 }
jksoft 0:fccb789424fc 244
jksoft 0:fccb789424fc 245
jksoft 0:fccb789424fc 246 /*--------------------------- os_tick_irqack --------------------------------*/
jksoft 0:fccb789424fc 247
jksoft 0:fccb789424fc 248 __weak void os_tick_irqack (void) {
jksoft 0:fccb789424fc 249 /* Acknowledge timer interrupt. */
jksoft 0:fccb789424fc 250 }
jksoft 0:fccb789424fc 251
jksoft 0:fccb789424fc 252
jksoft 0:fccb789424fc 253 /*--------------------------- rt_systick ------------------------------------*/
jksoft 0:fccb789424fc 254
jksoft 0:fccb789424fc 255 extern void sysTimerTick(void);
jksoft 0:fccb789424fc 256
jksoft 0:fccb789424fc 257 void rt_systick (void) {
jksoft 0:fccb789424fc 258 /* Check for system clock update, suspend running task. */
jksoft 0:fccb789424fc 259 P_TCB next;
jksoft 0:fccb789424fc 260
jksoft 0:fccb789424fc 261 os_tsk.run->state = READY;
jksoft 0:fccb789424fc 262 rt_put_rdy_first (os_tsk.run);
jksoft 0:fccb789424fc 263
jksoft 0:fccb789424fc 264 /* Check Round Robin timeout. */
jksoft 0:fccb789424fc 265 rt_chk_robin ();
jksoft 0:fccb789424fc 266
jksoft 0:fccb789424fc 267 /* Update delays. */
jksoft 0:fccb789424fc 268 os_time++;
jksoft 0:fccb789424fc 269 rt_dec_dly ();
jksoft 0:fccb789424fc 270
jksoft 0:fccb789424fc 271 /* Check the user timers. */
jksoft 0:fccb789424fc 272 #ifdef __CMSIS_RTOS
jksoft 0:fccb789424fc 273 sysTimerTick();
jksoft 0:fccb789424fc 274 #else
jksoft 0:fccb789424fc 275 rt_tmr_tick ();
jksoft 0:fccb789424fc 276 #endif
jksoft 0:fccb789424fc 277
jksoft 0:fccb789424fc 278 /* Switch back to highest ready task */
jksoft 0:fccb789424fc 279 next = rt_get_first (&os_rdy);
jksoft 0:fccb789424fc 280 rt_switch_req (next);
jksoft 0:fccb789424fc 281 }
jksoft 0:fccb789424fc 282
jksoft 0:fccb789424fc 283 /*--------------------------- rt_stk_check ----------------------------------*/
jksoft 0:fccb789424fc 284 __weak void rt_stk_check (void) {
jksoft 0:fccb789424fc 285 /* Check for stack overflow. */
jksoft 0:fccb789424fc 286 if (os_tsk.run->task_id == 0x01) {
jksoft 0:fccb789424fc 287 // TODO: For the main thread the check should be done against the main heap pointer
jksoft 0:fccb789424fc 288 } else {
jksoft 0:fccb789424fc 289 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
jksoft 0:fccb789424fc 290 (os_tsk.run->stack[0] != MAGIC_WORD)) {
jksoft 0:fccb789424fc 291 os_error (OS_ERR_STK_OVF);
jksoft 0:fccb789424fc 292 }
jksoft 0:fccb789424fc 293 }
jksoft 0:fccb789424fc 294 }
jksoft 0:fccb789424fc 295
jksoft 0:fccb789424fc 296 /*----------------------------------------------------------------------------
jksoft 0:fccb789424fc 297 * end of file
jksoft 0:fccb789424fc 298 *---------------------------------------------------------------------------*/
jksoft 0:fccb789424fc 299