Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Mailbox.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_MAILBOX.C
majik 0:964eb6a2ef00 5 * Purpose: Implements waits and wake-ups for mailbox messages
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_Mailbox.h"
majik 0:964eb6a2ef00 40 #include "rt_MemBox.h"
majik 0:964eb6a2ef00 41 #include "rt_Task.h"
majik 0:964eb6a2ef00 42 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 43
majik 0:964eb6a2ef00 44
majik 0:964eb6a2ef00 45 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 46 * Functions
majik 0:964eb6a2ef00 47 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 48
majik 0:964eb6a2ef00 49
majik 0:964eb6a2ef00 50 /*--------------------------- rt_mbx_init -----------------------------------*/
majik 0:964eb6a2ef00 51
majik 0:964eb6a2ef00 52 void rt_mbx_init (OS_ID mailbox, U16 mbx_size) {
majik 0:964eb6a2ef00 53 /* Initialize a mailbox */
majik 0:964eb6a2ef00 54 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 55
majik 0:964eb6a2ef00 56 p_MCB->cb_type = MCB;
majik 0:964eb6a2ef00 57 p_MCB->state = 0;
majik 0:964eb6a2ef00 58 p_MCB->isr_st = 0;
majik 0:964eb6a2ef00 59 p_MCB->p_lnk = NULL;
majik 0:964eb6a2ef00 60 p_MCB->first = 0;
majik 0:964eb6a2ef00 61 p_MCB->last = 0;
majik 0:964eb6a2ef00 62 p_MCB->count = 0;
majik 0:964eb6a2ef00 63 p_MCB->size = (mbx_size + sizeof(void *) - sizeof(struct OS_MCB)) /
majik 0:964eb6a2ef00 64 (U32)sizeof (void *);
majik 0:964eb6a2ef00 65 }
majik 0:964eb6a2ef00 66
majik 0:964eb6a2ef00 67
majik 0:964eb6a2ef00 68 /*--------------------------- rt_mbx_send -----------------------------------*/
majik 0:964eb6a2ef00 69
majik 0:964eb6a2ef00 70 OS_RESULT rt_mbx_send (OS_ID mailbox, void *p_msg, U16 timeout) {
majik 0:964eb6a2ef00 71 /* Send message to a mailbox */
majik 0:964eb6a2ef00 72 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 73 P_TCB p_TCB;
majik 0:964eb6a2ef00 74
majik 0:964eb6a2ef00 75 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 1)) {
majik 0:964eb6a2ef00 76 /* A task is waiting for message */
majik 0:964eb6a2ef00 77 p_TCB = rt_get_first ((P_XCB)p_MCB);
majik 0:964eb6a2ef00 78 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 79 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
majik 0:964eb6a2ef00 80 #else
majik 0:964eb6a2ef00 81 *p_TCB->msg = p_msg;
majik 0:964eb6a2ef00 82 rt_ret_val (p_TCB, OS_R_MBX);
majik 0:964eb6a2ef00 83 #endif
majik 0:964eb6a2ef00 84 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 85 rt_dispatch (p_TCB);
majik 0:964eb6a2ef00 86 }
majik 0:964eb6a2ef00 87 else {
majik 0:964eb6a2ef00 88 /* Store message in mailbox queue */
majik 0:964eb6a2ef00 89 if (p_MCB->count == p_MCB->size) {
majik 0:964eb6a2ef00 90 /* No free message entry, wait for one. If message queue is full, */
majik 0:964eb6a2ef00 91 /* then no task is waiting for message. The 'p_MCB->p_lnk' list */
majik 0:964eb6a2ef00 92 /* pointer can now be reused for send message waits task list. */
majik 0:964eb6a2ef00 93 if (timeout == 0) {
majik 0:964eb6a2ef00 94 return (OS_R_TMO);
majik 0:964eb6a2ef00 95 }
majik 0:964eb6a2ef00 96 if (p_MCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 97 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
majik 0:964eb6a2ef00 98 }
majik 0:964eb6a2ef00 99 else {
majik 0:964eb6a2ef00 100 p_MCB->p_lnk = os_tsk.run;
majik 0:964eb6a2ef00 101 os_tsk.run->p_lnk = NULL;
majik 0:964eb6a2ef00 102 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
majik 0:964eb6a2ef00 103 /* Task is waiting to send a message */
majik 0:964eb6a2ef00 104 p_MCB->state = 2;
majik 0:964eb6a2ef00 105 }
majik 0:964eb6a2ef00 106 os_tsk.run->msg = p_msg;
majik 0:964eb6a2ef00 107 rt_block (timeout, WAIT_MBX);
majik 0:964eb6a2ef00 108 return (OS_R_TMO);
majik 0:964eb6a2ef00 109 }
majik 0:964eb6a2ef00 110 /* Yes, there is a free entry in a mailbox. */
majik 0:964eb6a2ef00 111 p_MCB->msg[p_MCB->first] = p_msg;
majik 0:964eb6a2ef00 112 rt_inc (&p_MCB->count);
majik 0:964eb6a2ef00 113 if (++p_MCB->first == p_MCB->size) {
majik 0:964eb6a2ef00 114 p_MCB->first = 0;
majik 0:964eb6a2ef00 115 }
majik 0:964eb6a2ef00 116 }
majik 0:964eb6a2ef00 117 return (OS_R_OK);
majik 0:964eb6a2ef00 118 }
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120
majik 0:964eb6a2ef00 121 /*--------------------------- rt_mbx_wait -----------------------------------*/
majik 0:964eb6a2ef00 122
majik 0:964eb6a2ef00 123 OS_RESULT rt_mbx_wait (OS_ID mailbox, void **message, U16 timeout) {
majik 0:964eb6a2ef00 124 /* Receive a message; possibly wait for it */
majik 0:964eb6a2ef00 125 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 126 P_TCB p_TCB;
majik 0:964eb6a2ef00 127
majik 0:964eb6a2ef00 128 /* If a message is available in the fifo buffer */
majik 0:964eb6a2ef00 129 /* remove it from the fifo buffer and return. */
majik 0:964eb6a2ef00 130 if (p_MCB->count) {
majik 0:964eb6a2ef00 131 *message = p_MCB->msg[p_MCB->last];
majik 0:964eb6a2ef00 132 if (++p_MCB->last == p_MCB->size) {
majik 0:964eb6a2ef00 133 p_MCB->last = 0;
majik 0:964eb6a2ef00 134 }
majik 0:964eb6a2ef00 135 if ((p_MCB->p_lnk != NULL) && (p_MCB->state == 2)) {
majik 0:964eb6a2ef00 136 /* A task is waiting to send message */
majik 0:964eb6a2ef00 137 p_TCB = rt_get_first ((P_XCB)p_MCB);
majik 0:964eb6a2ef00 138 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 139 rt_ret_val(p_TCB, 0/*osOK*/);
majik 0:964eb6a2ef00 140 #else
majik 0:964eb6a2ef00 141 rt_ret_val(p_TCB, OS_R_OK);
majik 0:964eb6a2ef00 142 #endif
majik 0:964eb6a2ef00 143 p_MCB->msg[p_MCB->first] = p_TCB->msg;
majik 0:964eb6a2ef00 144 if (++p_MCB->first == p_MCB->size) {
majik 0:964eb6a2ef00 145 p_MCB->first = 0;
majik 0:964eb6a2ef00 146 }
majik 0:964eb6a2ef00 147 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 148 rt_dispatch (p_TCB);
majik 0:964eb6a2ef00 149 }
majik 0:964eb6a2ef00 150 else {
majik 0:964eb6a2ef00 151 rt_dec (&p_MCB->count);
majik 0:964eb6a2ef00 152 }
majik 0:964eb6a2ef00 153 return (OS_R_OK);
majik 0:964eb6a2ef00 154 }
majik 0:964eb6a2ef00 155 /* No message available: wait for one */
majik 0:964eb6a2ef00 156 if (timeout == 0) {
majik 0:964eb6a2ef00 157 return (OS_R_TMO);
majik 0:964eb6a2ef00 158 }
majik 0:964eb6a2ef00 159 if (p_MCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 160 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
majik 0:964eb6a2ef00 161 }
majik 0:964eb6a2ef00 162 else {
majik 0:964eb6a2ef00 163 p_MCB->p_lnk = os_tsk.run;
majik 0:964eb6a2ef00 164 os_tsk.run->p_lnk = NULL;
majik 0:964eb6a2ef00 165 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
majik 0:964eb6a2ef00 166 /* Task is waiting to receive a message */
majik 0:964eb6a2ef00 167 p_MCB->state = 1;
majik 0:964eb6a2ef00 168 }
majik 0:964eb6a2ef00 169 rt_block(timeout, WAIT_MBX);
majik 0:964eb6a2ef00 170 #ifndef __CMSIS_RTOS
majik 0:964eb6a2ef00 171 os_tsk.run->msg = message;
majik 0:964eb6a2ef00 172 #endif
majik 0:964eb6a2ef00 173 return (OS_R_TMO);
majik 0:964eb6a2ef00 174 }
majik 0:964eb6a2ef00 175
majik 0:964eb6a2ef00 176
majik 0:964eb6a2ef00 177 /*--------------------------- rt_mbx_check ----------------------------------*/
majik 0:964eb6a2ef00 178
majik 0:964eb6a2ef00 179 OS_RESULT rt_mbx_check (OS_ID mailbox) {
majik 0:964eb6a2ef00 180 /* Check for free space in a mailbox. Returns the number of messages */
majik 0:964eb6a2ef00 181 /* that can be stored to a mailbox. It returns 0 when mailbox is full. */
majik 0:964eb6a2ef00 182 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 183
majik 0:964eb6a2ef00 184 return (p_MCB->size - p_MCB->count);
majik 0:964eb6a2ef00 185 }
majik 0:964eb6a2ef00 186
majik 0:964eb6a2ef00 187
majik 0:964eb6a2ef00 188 /*--------------------------- isr_mbx_send ----------------------------------*/
majik 0:964eb6a2ef00 189
majik 0:964eb6a2ef00 190 void isr_mbx_send (OS_ID mailbox, void *p_msg) {
majik 0:964eb6a2ef00 191 /* Same function as "os_mbx_send", but to be called by ISRs. */
majik 0:964eb6a2ef00 192 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 193
majik 0:964eb6a2ef00 194 rt_psq_enq (p_MCB, (U32)p_msg);
majik 0:964eb6a2ef00 195 rt_psh_req ();
majik 0:964eb6a2ef00 196 }
majik 0:964eb6a2ef00 197
majik 0:964eb6a2ef00 198
majik 0:964eb6a2ef00 199 /*--------------------------- isr_mbx_receive -------------------------------*/
majik 0:964eb6a2ef00 200
majik 0:964eb6a2ef00 201 OS_RESULT isr_mbx_receive (OS_ID mailbox, void **message) {
majik 0:964eb6a2ef00 202 /* Receive a message in the interrupt function. The interrupt function */
majik 0:964eb6a2ef00 203 /* should not wait for a message since this would block the rtx os. */
majik 0:964eb6a2ef00 204 P_MCB p_MCB = mailbox;
majik 0:964eb6a2ef00 205
majik 0:964eb6a2ef00 206 if (p_MCB->count) {
majik 0:964eb6a2ef00 207 /* A message is available in the fifo buffer. */
majik 0:964eb6a2ef00 208 *message = p_MCB->msg[p_MCB->last];
majik 0:964eb6a2ef00 209 if (p_MCB->state == 2) {
majik 0:964eb6a2ef00 210 /* A task is locked waiting to send message */
majik 0:964eb6a2ef00 211 rt_psq_enq (p_MCB, 0);
majik 0:964eb6a2ef00 212 rt_psh_req ();
majik 0:964eb6a2ef00 213 }
majik 0:964eb6a2ef00 214 rt_dec (&p_MCB->count);
majik 0:964eb6a2ef00 215 if (++p_MCB->last == p_MCB->size) {
majik 0:964eb6a2ef00 216 p_MCB->last = 0;
majik 0:964eb6a2ef00 217 }
majik 0:964eb6a2ef00 218 return (OS_R_MBX);
majik 0:964eb6a2ef00 219 }
majik 0:964eb6a2ef00 220 return (OS_R_OK);
majik 0:964eb6a2ef00 221 }
majik 0:964eb6a2ef00 222
majik 0:964eb6a2ef00 223
majik 0:964eb6a2ef00 224 /*--------------------------- rt_mbx_psh ------------------------------------*/
majik 0:964eb6a2ef00 225
majik 0:964eb6a2ef00 226 void rt_mbx_psh (P_MCB p_CB, void *p_msg) {
majik 0:964eb6a2ef00 227 /* Store the message to the mailbox queue or pass it to task directly. */
majik 0:964eb6a2ef00 228 P_TCB p_TCB;
majik 0:964eb6a2ef00 229 void *mem;
majik 0:964eb6a2ef00 230
majik 0:964eb6a2ef00 231 if (p_CB->p_lnk != NULL) switch (p_CB->state) {
majik 0:964eb6a2ef00 232 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 233 case 3:
majik 0:964eb6a2ef00 234 /* Task is waiting to allocate memory, remove it from the waiting list */
majik 0:964eb6a2ef00 235 mem = rt_alloc_box(p_msg);
majik 0:964eb6a2ef00 236 if (mem == NULL) break;
majik 0:964eb6a2ef00 237 p_TCB = rt_get_first ((P_XCB)p_CB);
majik 0:964eb6a2ef00 238 rt_ret_val(p_TCB, (U32)mem);
majik 0:964eb6a2ef00 239 p_TCB->state = READY;
majik 0:964eb6a2ef00 240 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 241 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 242 break;
majik 0:964eb6a2ef00 243 #endif
majik 0:964eb6a2ef00 244 case 2:
majik 0:964eb6a2ef00 245 /* Task is waiting to send a message, remove it from the waiting list */
majik 0:964eb6a2ef00 246 p_TCB = rt_get_first ((P_XCB)p_CB);
majik 0:964eb6a2ef00 247 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 248 rt_ret_val(p_TCB, 0/*osOK*/);
majik 0:964eb6a2ef00 249 #else
majik 0:964eb6a2ef00 250 rt_ret_val(p_TCB, OS_R_OK);
majik 0:964eb6a2ef00 251 #endif
majik 0:964eb6a2ef00 252 p_CB->msg[p_CB->first] = p_TCB->msg;
majik 0:964eb6a2ef00 253 rt_inc (&p_CB->count);
majik 0:964eb6a2ef00 254 if (++p_CB->first == p_CB->size) {
majik 0:964eb6a2ef00 255 p_CB->first = 0;
majik 0:964eb6a2ef00 256 }
majik 0:964eb6a2ef00 257 p_TCB->state = READY;
majik 0:964eb6a2ef00 258 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 259 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 260 break;
majik 0:964eb6a2ef00 261 case 1:
majik 0:964eb6a2ef00 262 /* Task is waiting for a message, pass the message to the task directly */
majik 0:964eb6a2ef00 263 p_TCB = rt_get_first ((P_XCB)p_CB);
majik 0:964eb6a2ef00 264 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 265 rt_ret_val2(p_TCB, 0x10/*osEventMessage*/, (U32)p_msg);
majik 0:964eb6a2ef00 266 #else
majik 0:964eb6a2ef00 267 *p_TCB->msg = p_msg;
majik 0:964eb6a2ef00 268 rt_ret_val (p_TCB, OS_R_MBX);
majik 0:964eb6a2ef00 269 #endif
majik 0:964eb6a2ef00 270 p_TCB->state = READY;
majik 0:964eb6a2ef00 271 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 272 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 273 break;
majik 0:964eb6a2ef00 274 } else {
majik 0:964eb6a2ef00 275 /* No task is waiting for a message, store it to the mailbox queue */
majik 0:964eb6a2ef00 276 if (p_CB->count < p_CB->size) {
majik 0:964eb6a2ef00 277 p_CB->msg[p_CB->first] = p_msg;
majik 0:964eb6a2ef00 278 rt_inc (&p_CB->count);
majik 0:964eb6a2ef00 279 if (++p_CB->first == p_CB->size) {
majik 0:964eb6a2ef00 280 p_CB->first = 0;
majik 0:964eb6a2ef00 281 }
majik 0:964eb6a2ef00 282 }
majik 0:964eb6a2ef00 283 else {
majik 0:964eb6a2ef00 284 os_error (OS_ERR_MBX_OVF);
majik 0:964eb6a2ef00 285 }
majik 0:964eb6a2ef00 286 }
majik 0:964eb6a2ef00 287 }
majik 0:964eb6a2ef00 288
majik 0:964eb6a2ef00 289 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 290 * end of file
majik 0:964eb6a2ef00 291 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 292