Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_List.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_LIST.C
majik 0:964eb6a2ef00 5 * Purpose: Functions for the management of different lists
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_List.h"
majik 0:964eb6a2ef00 39 #include "rt_Task.h"
majik 0:964eb6a2ef00 40 #include "rt_Time.h"
majik 0:964eb6a2ef00 41 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 42
majik 0:964eb6a2ef00 43 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 44 * Global Variables
majik 0:964eb6a2ef00 45 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47 /* List head of chained ready tasks */
majik 0:964eb6a2ef00 48 struct OS_XCB os_rdy;
majik 0:964eb6a2ef00 49 /* List head of chained delay tasks */
majik 0:964eb6a2ef00 50 struct OS_XCB os_dly;
majik 0:964eb6a2ef00 51
majik 0:964eb6a2ef00 52
majik 0:964eb6a2ef00 53 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 54 * Functions
majik 0:964eb6a2ef00 55 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 56
majik 0:964eb6a2ef00 57
majik 0:964eb6a2ef00 58 /*--------------------------- rt_put_prio -----------------------------------*/
majik 0:964eb6a2ef00 59
majik 0:964eb6a2ef00 60 void rt_put_prio (P_XCB p_CB, P_TCB p_task) {
majik 0:964eb6a2ef00 61 /* Put task identified with "p_task" into list ordered by priority. */
majik 0:964eb6a2ef00 62 /* "p_CB" points to head of list; list has always an element at end with */
majik 0:964eb6a2ef00 63 /* a priority less than "p_task->prio". */
majik 0:964eb6a2ef00 64 P_TCB p_CB2;
majik 0:964eb6a2ef00 65 U32 prio;
majik 0:964eb6a2ef00 66 BOOL sem_mbx = __FALSE;
majik 0:964eb6a2ef00 67
majik 0:964eb6a2ef00 68 if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
majik 0:964eb6a2ef00 69 sem_mbx = __TRUE;
majik 0:964eb6a2ef00 70 }
majik 0:964eb6a2ef00 71 prio = p_task->prio;
majik 0:964eb6a2ef00 72 p_CB2 = p_CB->p_lnk;
majik 0:964eb6a2ef00 73 /* Search for an entry in the list */
majik 0:964eb6a2ef00 74 while (p_CB2 != NULL && prio <= p_CB2->prio) {
majik 0:964eb6a2ef00 75 p_CB = (P_XCB)p_CB2;
majik 0:964eb6a2ef00 76 p_CB2 = p_CB2->p_lnk;
majik 0:964eb6a2ef00 77 }
majik 0:964eb6a2ef00 78 /* Entry found, insert the task into the list */
majik 0:964eb6a2ef00 79 p_task->p_lnk = p_CB2;
majik 0:964eb6a2ef00 80 p_CB->p_lnk = p_task;
majik 0:964eb6a2ef00 81 if (sem_mbx) {
majik 0:964eb6a2ef00 82 if (p_CB2 != NULL) {
majik 0:964eb6a2ef00 83 p_CB2->p_rlnk = p_task;
majik 0:964eb6a2ef00 84 }
majik 0:964eb6a2ef00 85 p_task->p_rlnk = (P_TCB)p_CB;
majik 0:964eb6a2ef00 86 }
majik 0:964eb6a2ef00 87 else {
majik 0:964eb6a2ef00 88 p_task->p_rlnk = NULL;
majik 0:964eb6a2ef00 89 }
majik 0:964eb6a2ef00 90 }
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92
majik 0:964eb6a2ef00 93 /*--------------------------- rt_get_first ----------------------------------*/
majik 0:964eb6a2ef00 94
majik 0:964eb6a2ef00 95 P_TCB rt_get_first (P_XCB p_CB) {
majik 0:964eb6a2ef00 96 /* Get task at head of list: it is the task with highest priority. */
majik 0:964eb6a2ef00 97 /* "p_CB" points to head of list. */
majik 0:964eb6a2ef00 98 P_TCB p_first;
majik 0:964eb6a2ef00 99
majik 0:964eb6a2ef00 100 p_first = p_CB->p_lnk;
majik 0:964eb6a2ef00 101 p_CB->p_lnk = p_first->p_lnk;
majik 0:964eb6a2ef00 102 if (p_CB->cb_type == SCB || p_CB->cb_type == MCB || p_CB->cb_type == MUCB) {
majik 0:964eb6a2ef00 103 if (p_first->p_lnk != NULL) {
majik 0:964eb6a2ef00 104 p_first->p_lnk->p_rlnk = (P_TCB)p_CB;
majik 0:964eb6a2ef00 105 p_first->p_lnk = NULL;
majik 0:964eb6a2ef00 106 }
majik 0:964eb6a2ef00 107 p_first->p_rlnk = NULL;
majik 0:964eb6a2ef00 108 }
majik 0:964eb6a2ef00 109 else {
majik 0:964eb6a2ef00 110 p_first->p_lnk = NULL;
majik 0:964eb6a2ef00 111 }
majik 0:964eb6a2ef00 112 return (p_first);
majik 0:964eb6a2ef00 113 }
majik 0:964eb6a2ef00 114
majik 0:964eb6a2ef00 115
majik 0:964eb6a2ef00 116 /*--------------------------- rt_put_rdy_first ------------------------------*/
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 void rt_put_rdy_first (P_TCB p_task) {
majik 0:964eb6a2ef00 119 /* Put task identified with "p_task" at the head of the ready list. The */
majik 0:964eb6a2ef00 120 /* task must have at least a priority equal to highest priority in list. */
majik 0:964eb6a2ef00 121 p_task->p_lnk = os_rdy.p_lnk;
majik 0:964eb6a2ef00 122 p_task->p_rlnk = NULL;
majik 0:964eb6a2ef00 123 os_rdy.p_lnk = p_task;
majik 0:964eb6a2ef00 124 }
majik 0:964eb6a2ef00 125
majik 0:964eb6a2ef00 126
majik 0:964eb6a2ef00 127 /*--------------------------- rt_get_same_rdy_prio --------------------------*/
majik 0:964eb6a2ef00 128
majik 0:964eb6a2ef00 129 P_TCB rt_get_same_rdy_prio (void) {
majik 0:964eb6a2ef00 130 /* Remove a task of same priority from ready list if any exists. Other- */
majik 0:964eb6a2ef00 131 /* wise return NULL. */
majik 0:964eb6a2ef00 132 P_TCB p_first;
majik 0:964eb6a2ef00 133
majik 0:964eb6a2ef00 134 p_first = os_rdy.p_lnk;
majik 0:964eb6a2ef00 135 if (p_first->prio == os_tsk.run->prio) {
majik 0:964eb6a2ef00 136 os_rdy.p_lnk = os_rdy.p_lnk->p_lnk;
majik 0:964eb6a2ef00 137 return (p_first);
majik 0:964eb6a2ef00 138 }
majik 0:964eb6a2ef00 139 return (NULL);
majik 0:964eb6a2ef00 140 }
majik 0:964eb6a2ef00 141
majik 0:964eb6a2ef00 142
majik 0:964eb6a2ef00 143 /*--------------------------- rt_resort_prio --------------------------------*/
majik 0:964eb6a2ef00 144
majik 0:964eb6a2ef00 145 void rt_resort_prio (P_TCB p_task) {
majik 0:964eb6a2ef00 146 /* Re-sort ordered lists after the priority of 'p_task' has changed. */
majik 0:964eb6a2ef00 147 P_TCB p_CB;
majik 0:964eb6a2ef00 148
majik 0:964eb6a2ef00 149 if (p_task->p_rlnk == NULL) {
majik 0:964eb6a2ef00 150 if (p_task->state == READY) {
majik 0:964eb6a2ef00 151 /* Task is chained into READY list. */
majik 0:964eb6a2ef00 152 p_CB = (P_TCB)&os_rdy;
majik 0:964eb6a2ef00 153 goto res;
majik 0:964eb6a2ef00 154 }
majik 0:964eb6a2ef00 155 }
majik 0:964eb6a2ef00 156 else {
majik 0:964eb6a2ef00 157 p_CB = p_task->p_rlnk;
majik 0:964eb6a2ef00 158 while (p_CB->cb_type == TCB) {
majik 0:964eb6a2ef00 159 /* Find a header of this task chain list. */
majik 0:964eb6a2ef00 160 p_CB = p_CB->p_rlnk;
majik 0:964eb6a2ef00 161 }
majik 0:964eb6a2ef00 162 res:rt_rmv_list (p_task);
majik 0:964eb6a2ef00 163 rt_put_prio ((P_XCB)p_CB, p_task);
majik 0:964eb6a2ef00 164 }
majik 0:964eb6a2ef00 165 }
majik 0:964eb6a2ef00 166
majik 0:964eb6a2ef00 167
majik 0:964eb6a2ef00 168 /*--------------------------- rt_put_dly ------------------------------------*/
majik 0:964eb6a2ef00 169
majik 0:964eb6a2ef00 170 void rt_put_dly (P_TCB p_task, U16 delay) {
majik 0:964eb6a2ef00 171 /* Put a task identified with "p_task" into chained delay wait list using */
majik 0:964eb6a2ef00 172 /* a delay value of "delay". */
majik 0:964eb6a2ef00 173 P_TCB p;
majik 0:964eb6a2ef00 174 U32 delta,idelay = delay;
majik 0:964eb6a2ef00 175
majik 0:964eb6a2ef00 176 p = (P_TCB)&os_dly;
majik 0:964eb6a2ef00 177 if (p->p_dlnk == NULL) {
majik 0:964eb6a2ef00 178 /* Delay list empty */
majik 0:964eb6a2ef00 179 delta = 0;
majik 0:964eb6a2ef00 180 goto last;
majik 0:964eb6a2ef00 181 }
majik 0:964eb6a2ef00 182 delta = os_dly.delta_time;
majik 0:964eb6a2ef00 183 while (delta < idelay) {
majik 0:964eb6a2ef00 184 if (p->p_dlnk == NULL) {
majik 0:964eb6a2ef00 185 /* End of list found */
majik 0:964eb6a2ef00 186 last: p_task->p_dlnk = NULL;
majik 0:964eb6a2ef00 187 p->p_dlnk = p_task;
majik 0:964eb6a2ef00 188 p_task->p_blnk = p;
majik 0:964eb6a2ef00 189 p->delta_time = (U16)(idelay - delta);
majik 0:964eb6a2ef00 190 p_task->delta_time = 0;
majik 0:964eb6a2ef00 191 return;
majik 0:964eb6a2ef00 192 }
majik 0:964eb6a2ef00 193 p = p->p_dlnk;
majik 0:964eb6a2ef00 194 delta += p->delta_time;
majik 0:964eb6a2ef00 195 }
majik 0:964eb6a2ef00 196 /* Right place found */
majik 0:964eb6a2ef00 197 p_task->p_dlnk = p->p_dlnk;
majik 0:964eb6a2ef00 198 p->p_dlnk = p_task;
majik 0:964eb6a2ef00 199 p_task->p_blnk = p;
majik 0:964eb6a2ef00 200 if (p_task->p_dlnk != NULL) {
majik 0:964eb6a2ef00 201 p_task->p_dlnk->p_blnk = p_task;
majik 0:964eb6a2ef00 202 }
majik 0:964eb6a2ef00 203 p_task->delta_time = (U16)(delta - idelay);
majik 0:964eb6a2ef00 204 p->delta_time -= p_task->delta_time;
majik 0:964eb6a2ef00 205 }
majik 0:964eb6a2ef00 206
majik 0:964eb6a2ef00 207
majik 0:964eb6a2ef00 208 /*--------------------------- rt_dec_dly ------------------------------------*/
majik 0:964eb6a2ef00 209
majik 0:964eb6a2ef00 210 void rt_dec_dly (void) {
majik 0:964eb6a2ef00 211 /* Decrement delta time of list head: remove tasks having a value of zero.*/
majik 0:964eb6a2ef00 212 P_TCB p_rdy;
majik 0:964eb6a2ef00 213
majik 0:964eb6a2ef00 214 if (os_dly.p_dlnk == NULL) {
majik 0:964eb6a2ef00 215 return;
majik 0:964eb6a2ef00 216 }
majik 0:964eb6a2ef00 217 os_dly.delta_time--;
majik 0:964eb6a2ef00 218 while ((os_dly.delta_time == 0) && (os_dly.p_dlnk != NULL)) {
majik 0:964eb6a2ef00 219 p_rdy = os_dly.p_dlnk;
majik 0:964eb6a2ef00 220 if (p_rdy->p_rlnk != NULL) {
majik 0:964eb6a2ef00 221 /* Task is really enqueued, remove task from semaphore/mailbox */
majik 0:964eb6a2ef00 222 /* timeout waiting list. */
majik 0:964eb6a2ef00 223 p_rdy->p_rlnk->p_lnk = p_rdy->p_lnk;
majik 0:964eb6a2ef00 224 if (p_rdy->p_lnk != NULL) {
majik 0:964eb6a2ef00 225 p_rdy->p_lnk->p_rlnk = p_rdy->p_rlnk;
majik 0:964eb6a2ef00 226 p_rdy->p_lnk = NULL;
majik 0:964eb6a2ef00 227 }
majik 0:964eb6a2ef00 228 p_rdy->p_rlnk = NULL;
majik 0:964eb6a2ef00 229 }
majik 0:964eb6a2ef00 230 rt_put_prio (&os_rdy, p_rdy);
majik 0:964eb6a2ef00 231 os_dly.delta_time = p_rdy->delta_time;
majik 0:964eb6a2ef00 232 if (p_rdy->state == WAIT_ITV) {
majik 0:964eb6a2ef00 233 /* Calculate the next time for interval wait. */
majik 0:964eb6a2ef00 234 p_rdy->delta_time = p_rdy->interval_time + (U16)os_time;
majik 0:964eb6a2ef00 235 }
majik 0:964eb6a2ef00 236 p_rdy->state = READY;
majik 0:964eb6a2ef00 237 os_dly.p_dlnk = p_rdy->p_dlnk;
majik 0:964eb6a2ef00 238 if (p_rdy->p_dlnk != NULL) {
majik 0:964eb6a2ef00 239 p_rdy->p_dlnk->p_blnk = (P_TCB)&os_dly;
majik 0:964eb6a2ef00 240 p_rdy->p_dlnk = NULL;
majik 0:964eb6a2ef00 241 }
majik 0:964eb6a2ef00 242 p_rdy->p_blnk = NULL;
majik 0:964eb6a2ef00 243 }
majik 0:964eb6a2ef00 244 }
majik 0:964eb6a2ef00 245
majik 0:964eb6a2ef00 246
majik 0:964eb6a2ef00 247 /*--------------------------- rt_rmv_list -----------------------------------*/
majik 0:964eb6a2ef00 248
majik 0:964eb6a2ef00 249 void rt_rmv_list (P_TCB p_task) {
majik 0:964eb6a2ef00 250 /* Remove task identified with "p_task" from ready, semaphore or mailbox */
majik 0:964eb6a2ef00 251 /* waiting list if enqueued. */
majik 0:964eb6a2ef00 252 P_TCB p_b;
majik 0:964eb6a2ef00 253
majik 0:964eb6a2ef00 254 if (p_task->p_rlnk != NULL) {
majik 0:964eb6a2ef00 255 /* A task is enqueued in semaphore / mailbox waiting list. */
majik 0:964eb6a2ef00 256 p_task->p_rlnk->p_lnk = p_task->p_lnk;
majik 0:964eb6a2ef00 257 if (p_task->p_lnk != NULL) {
majik 0:964eb6a2ef00 258 p_task->p_lnk->p_rlnk = p_task->p_rlnk;
majik 0:964eb6a2ef00 259 }
majik 0:964eb6a2ef00 260 return;
majik 0:964eb6a2ef00 261 }
majik 0:964eb6a2ef00 262
majik 0:964eb6a2ef00 263 p_b = (P_TCB)&os_rdy;
majik 0:964eb6a2ef00 264 while (p_b != NULL) {
majik 0:964eb6a2ef00 265 /* Search the ready list for task "p_task" */
majik 0:964eb6a2ef00 266 if (p_b->p_lnk == p_task) {
majik 0:964eb6a2ef00 267 p_b->p_lnk = p_task->p_lnk;
majik 0:964eb6a2ef00 268 return;
majik 0:964eb6a2ef00 269 }
majik 0:964eb6a2ef00 270 p_b = p_b->p_lnk;
majik 0:964eb6a2ef00 271 }
majik 0:964eb6a2ef00 272 }
majik 0:964eb6a2ef00 273
majik 0:964eb6a2ef00 274
majik 0:964eb6a2ef00 275 /*--------------------------- rt_rmv_dly ------------------------------------*/
majik 0:964eb6a2ef00 276
majik 0:964eb6a2ef00 277 void rt_rmv_dly (P_TCB p_task) {
majik 0:964eb6a2ef00 278 /* Remove task identified with "p_task" from delay list if enqueued. */
majik 0:964eb6a2ef00 279 P_TCB p_b;
majik 0:964eb6a2ef00 280
majik 0:964eb6a2ef00 281 p_b = p_task->p_blnk;
majik 0:964eb6a2ef00 282 if (p_b != NULL) {
majik 0:964eb6a2ef00 283 /* Task is really enqueued */
majik 0:964eb6a2ef00 284 p_b->p_dlnk = p_task->p_dlnk;
majik 0:964eb6a2ef00 285 if (p_task->p_dlnk != NULL) {
majik 0:964eb6a2ef00 286 /* 'p_task' is in the middle of list */
majik 0:964eb6a2ef00 287 p_b->delta_time += p_task->delta_time;
majik 0:964eb6a2ef00 288 p_task->p_dlnk->p_blnk = p_b;
majik 0:964eb6a2ef00 289 p_task->p_dlnk = NULL;
majik 0:964eb6a2ef00 290 }
majik 0:964eb6a2ef00 291 else {
majik 0:964eb6a2ef00 292 /* 'p_task' is at the end of list */
majik 0:964eb6a2ef00 293 p_b->delta_time = 0;
majik 0:964eb6a2ef00 294 }
majik 0:964eb6a2ef00 295 p_task->p_blnk = NULL;
majik 0:964eb6a2ef00 296 }
majik 0:964eb6a2ef00 297 }
majik 0:964eb6a2ef00 298
majik 0:964eb6a2ef00 299
majik 0:964eb6a2ef00 300 /*--------------------------- rt_psq_enq ------------------------------------*/
majik 0:964eb6a2ef00 301
majik 0:964eb6a2ef00 302 void rt_psq_enq (OS_ID entry, U32 arg) {
majik 0:964eb6a2ef00 303 /* Insert post service request "entry" into ps-queue. */
majik 0:964eb6a2ef00 304 U32 idx;
majik 0:964eb6a2ef00 305
majik 0:964eb6a2ef00 306 idx = rt_inc_qi (os_psq->size, &os_psq->count, &os_psq->first);
majik 0:964eb6a2ef00 307 if (idx < os_psq->size) {
majik 0:964eb6a2ef00 308 os_psq->q[idx].id = entry;
majik 0:964eb6a2ef00 309 os_psq->q[idx].arg = arg;
majik 0:964eb6a2ef00 310 }
majik 0:964eb6a2ef00 311 else {
majik 0:964eb6a2ef00 312 os_error (OS_ERR_FIFO_OVF);
majik 0:964eb6a2ef00 313 }
majik 0:964eb6a2ef00 314 }
majik 0:964eb6a2ef00 315
majik 0:964eb6a2ef00 316
majik 0:964eb6a2ef00 317 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 318 * end of file
majik 0:964eb6a2ef00 319 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 320