Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Event.c@0:964eb6a2ef00, 2015-03-18 (annotated)

Committer:
majik
Date:
Wed Mar 18 22:23:48 2015 +0000
Revision:
0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:964eb6a2ef00 1 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 2 * RL-ARM - RTX
majik 0:964eb6a2ef00 3 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 4 * Name: RT_EVENT.C
majik 0:964eb6a2ef00 5 * Purpose: Implements waits and wake-ups for event flags
majik 0:964eb6a2ef00 6 * Rev.: V4.60
majik 0:964eb6a2ef00 7 *----------------------------------------------------------------------------
majik 0:964eb6a2ef00 8 *
majik 0:964eb6a2ef00 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
majik 0:964eb6a2ef00 10 * All rights reserved.
majik 0:964eb6a2ef00 11 * Redistribution and use in source and binary forms, with or without
majik 0:964eb6a2ef00 12 * modification, are permitted provided that the following conditions are met:
majik 0:964eb6a2ef00 13 * - Redistributions of source code must retain the above copyright
majik 0:964eb6a2ef00 14 * notice, this list of conditions and the following disclaimer.
majik 0:964eb6a2ef00 15 * - Redistributions in binary form must reproduce the above copyright
majik 0:964eb6a2ef00 16 * notice, this list of conditions and the following disclaimer in the
majik 0:964eb6a2ef00 17 * documentation and/or other materials provided with the distribution.
majik 0:964eb6a2ef00 18 * - Neither the name of ARM nor the names of its contributors may be used
majik 0:964eb6a2ef00 19 * to endorse or promote products derived from this software without
majik 0:964eb6a2ef00 20 * specific prior written permission.
majik 0:964eb6a2ef00 21 *
majik 0:964eb6a2ef00 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
majik 0:964eb6a2ef00 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
majik 0:964eb6a2ef00 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
majik 0:964eb6a2ef00 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
majik 0:964eb6a2ef00 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
majik 0:964eb6a2ef00 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
majik 0:964eb6a2ef00 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
majik 0:964eb6a2ef00 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
majik 0:964eb6a2ef00 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
majik 0:964eb6a2ef00 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
majik 0:964eb6a2ef00 32 * POSSIBILITY OF SUCH DAMAGE.
majik 0:964eb6a2ef00 33 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 34
majik 0:964eb6a2ef00 35 #include "rt_TypeDef.h"
majik 0:964eb6a2ef00 36 #include "RTX_Conf.h"
majik 0:964eb6a2ef00 37 #include "rt_System.h"
majik 0:964eb6a2ef00 38 #include "rt_Event.h"
majik 0:964eb6a2ef00 39 #include "rt_List.h"
majik 0:964eb6a2ef00 40 #include "rt_Task.h"
majik 0:964eb6a2ef00 41 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 42
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 45 * Functions
majik 0:964eb6a2ef00 46 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48
majik 0:964eb6a2ef00 49 /*--------------------------- rt_evt_wait -----------------------------------*/
majik 0:964eb6a2ef00 50
majik 0:964eb6a2ef00 51 OS_RESULT rt_evt_wait (U16 wait_flags, U16 timeout, BOOL and_wait) {
majik 0:964eb6a2ef00 52 /* Wait for one or more event flags with optional time-out. */
majik 0:964eb6a2ef00 53 /* "wait_flags" identifies the flags to wait for. */
majik 0:964eb6a2ef00 54 /* "timeout" is the time-out limit in system ticks (0xffff if no time-out) */
majik 0:964eb6a2ef00 55 /* "and_wait" specifies the AND-ing of "wait_flags" as condition to be met */
majik 0:964eb6a2ef00 56 /* to complete the wait. (OR-ing if set to 0). */
majik 0:964eb6a2ef00 57 U32 block_state;
majik 0:964eb6a2ef00 58
majik 0:964eb6a2ef00 59 if (and_wait) {
majik 0:964eb6a2ef00 60 /* Check for AND-connected events */
majik 0:964eb6a2ef00 61 if ((os_tsk.run->events & wait_flags) == wait_flags) {
majik 0:964eb6a2ef00 62 os_tsk.run->events &= ~wait_flags;
majik 0:964eb6a2ef00 63 return (OS_R_EVT);
majik 0:964eb6a2ef00 64 }
majik 0:964eb6a2ef00 65 block_state = WAIT_AND;
majik 0:964eb6a2ef00 66 }
majik 0:964eb6a2ef00 67 else {
majik 0:964eb6a2ef00 68 /* Check for OR-connected events */
majik 0:964eb6a2ef00 69 if (os_tsk.run->events & wait_flags) {
majik 0:964eb6a2ef00 70 os_tsk.run->waits = os_tsk.run->events & wait_flags;
majik 0:964eb6a2ef00 71 os_tsk.run->events &= ~wait_flags;
majik 0:964eb6a2ef00 72 return (OS_R_EVT);
majik 0:964eb6a2ef00 73 }
majik 0:964eb6a2ef00 74 block_state = WAIT_OR;
majik 0:964eb6a2ef00 75 }
majik 0:964eb6a2ef00 76 /* Task has to wait */
majik 0:964eb6a2ef00 77 os_tsk.run->waits = wait_flags;
majik 0:964eb6a2ef00 78 rt_block (timeout, (U8)block_state);
majik 0:964eb6a2ef00 79 return (OS_R_TMO);
majik 0:964eb6a2ef00 80 }
majik 0:964eb6a2ef00 81
majik 0:964eb6a2ef00 82
majik 0:964eb6a2ef00 83 /*--------------------------- rt_evt_set ------------------------------------*/
majik 0:964eb6a2ef00 84
majik 0:964eb6a2ef00 85 void rt_evt_set (U16 event_flags, OS_TID task_id) {
majik 0:964eb6a2ef00 86 /* Set one or more event flags of a selectable task. */
majik 0:964eb6a2ef00 87 P_TCB p_tcb;
majik 0:964eb6a2ef00 88
majik 0:964eb6a2ef00 89 p_tcb = os_active_TCB[task_id-1];
majik 0:964eb6a2ef00 90 if (p_tcb == NULL) {
majik 0:964eb6a2ef00 91 return;
majik 0:964eb6a2ef00 92 }
majik 0:964eb6a2ef00 93 p_tcb->events |= event_flags;
majik 0:964eb6a2ef00 94 event_flags = p_tcb->waits;
majik 0:964eb6a2ef00 95 /* If the task is not waiting for an event, it should not be put */
majik 0:964eb6a2ef00 96 /* to ready state. */
majik 0:964eb6a2ef00 97 if (p_tcb->state == WAIT_AND) {
majik 0:964eb6a2ef00 98 /* Check for AND-connected events */
majik 0:964eb6a2ef00 99 if ((p_tcb->events & event_flags) == event_flags) {
majik 0:964eb6a2ef00 100 goto wkup;
majik 0:964eb6a2ef00 101 }
majik 0:964eb6a2ef00 102 }
majik 0:964eb6a2ef00 103 if (p_tcb->state == WAIT_OR) {
majik 0:964eb6a2ef00 104 /* Check for OR-connected events */
majik 0:964eb6a2ef00 105 if (p_tcb->events & event_flags) {
majik 0:964eb6a2ef00 106 p_tcb->waits &= p_tcb->events;
majik 0:964eb6a2ef00 107 wkup: p_tcb->events &= ~event_flags;
majik 0:964eb6a2ef00 108 rt_rmv_dly (p_tcb);
majik 0:964eb6a2ef00 109 p_tcb->state = READY;
majik 0:964eb6a2ef00 110 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 111 rt_ret_val2(p_tcb, 0x08/*osEventSignal*/, p_tcb->waits);
majik 0:964eb6a2ef00 112 #else
majik 0:964eb6a2ef00 113 rt_ret_val (p_tcb, OS_R_EVT);
majik 0:964eb6a2ef00 114 #endif
majik 0:964eb6a2ef00 115 rt_dispatch (p_tcb);
majik 0:964eb6a2ef00 116 }
majik 0:964eb6a2ef00 117 }
majik 0:964eb6a2ef00 118 }
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120
majik 0:964eb6a2ef00 121 /*--------------------------- rt_evt_clr ------------------------------------*/
majik 0:964eb6a2ef00 122
majik 0:964eb6a2ef00 123 void rt_evt_clr (U16 clear_flags, OS_TID task_id) {
majik 0:964eb6a2ef00 124 /* Clear one or more event flags (identified by "clear_flags") of a */
majik 0:964eb6a2ef00 125 /* selectable task (identified by "task"). */
majik 0:964eb6a2ef00 126 P_TCB task = os_active_TCB[task_id-1];
majik 0:964eb6a2ef00 127
majik 0:964eb6a2ef00 128 if (task == NULL) {
majik 0:964eb6a2ef00 129 return;
majik 0:964eb6a2ef00 130 }
majik 0:964eb6a2ef00 131 task->events &= ~clear_flags;
majik 0:964eb6a2ef00 132 }
majik 0:964eb6a2ef00 133
majik 0:964eb6a2ef00 134
majik 0:964eb6a2ef00 135 /*--------------------------- isr_evt_set -----------------------------------*/
majik 0:964eb6a2ef00 136
majik 0:964eb6a2ef00 137 void isr_evt_set (U16 event_flags, OS_TID task_id) {
majik 0:964eb6a2ef00 138 /* Same function as "os_evt_set", but to be called by ISRs. */
majik 0:964eb6a2ef00 139 P_TCB p_tcb = os_active_TCB[task_id-1];
majik 0:964eb6a2ef00 140
majik 0:964eb6a2ef00 141 if (p_tcb == NULL) {
majik 0:964eb6a2ef00 142 return;
majik 0:964eb6a2ef00 143 }
majik 0:964eb6a2ef00 144 rt_psq_enq (p_tcb, event_flags);
majik 0:964eb6a2ef00 145 rt_psh_req ();
majik 0:964eb6a2ef00 146 }
majik 0:964eb6a2ef00 147
majik 0:964eb6a2ef00 148
majik 0:964eb6a2ef00 149 /*--------------------------- rt_evt_get ------------------------------------*/
majik 0:964eb6a2ef00 150
majik 0:964eb6a2ef00 151 U16 rt_evt_get (void) {
majik 0:964eb6a2ef00 152 /* Get events of a running task after waiting for OR connected events. */
majik 0:964eb6a2ef00 153 return (os_tsk.run->waits);
majik 0:964eb6a2ef00 154 }
majik 0:964eb6a2ef00 155
majik 0:964eb6a2ef00 156
majik 0:964eb6a2ef00 157 /*--------------------------- rt_evt_psh ------------------------------------*/
majik 0:964eb6a2ef00 158
majik 0:964eb6a2ef00 159 void rt_evt_psh (P_TCB p_CB, U16 set_flags) {
majik 0:964eb6a2ef00 160 /* Check if task has to be waken up */
majik 0:964eb6a2ef00 161 U16 event_flags;
majik 0:964eb6a2ef00 162
majik 0:964eb6a2ef00 163 p_CB->events |= set_flags;
majik 0:964eb6a2ef00 164 event_flags = p_CB->waits;
majik 0:964eb6a2ef00 165 if (p_CB->state == WAIT_AND) {
majik 0:964eb6a2ef00 166 /* Check for AND-connected events */
majik 0:964eb6a2ef00 167 if ((p_CB->events & event_flags) == event_flags) {
majik 0:964eb6a2ef00 168 goto rdy;
majik 0:964eb6a2ef00 169 }
majik 0:964eb6a2ef00 170 }
majik 0:964eb6a2ef00 171 if (p_CB->state == WAIT_OR) {
majik 0:964eb6a2ef00 172 /* Check for OR-connected events */
majik 0:964eb6a2ef00 173 if (p_CB->events & event_flags) {
majik 0:964eb6a2ef00 174 p_CB->waits &= p_CB->events;
majik 0:964eb6a2ef00 175 rdy: p_CB->events &= ~event_flags;
majik 0:964eb6a2ef00 176 rt_rmv_dly (p_CB);
majik 0:964eb6a2ef00 177 p_CB->state = READY;
majik 0:964eb6a2ef00 178 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 179 rt_ret_val2(p_CB, 0x08/*osEventSignal*/, p_CB->waits);
majik 0:964eb6a2ef00 180 #else
majik 0:964eb6a2ef00 181 rt_ret_val (p_CB, OS_R_EVT);
majik 0:964eb6a2ef00 182 #endif
majik 0:964eb6a2ef00 183 rt_put_prio (&os_rdy, p_CB);
majik 0:964eb6a2ef00 184 }
majik 0:964eb6a2ef00 185 }
majik 0:964eb6a2ef00 186 }
majik 0:964eb6a2ef00 187
majik 0:964eb6a2ef00 188 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 189 * end of file
majik 0:964eb6a2ef00 190 *---------------------------------------------------------------------------*/