Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Mutex.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_MUTEX.C
majik 0:964eb6a2ef00 5 * Purpose: Implements mutex synchronization objects
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_List.h"
majik 0:964eb6a2ef00 38 #include "rt_Task.h"
majik 0:964eb6a2ef00 39 #include "rt_Mutex.h"
majik 0:964eb6a2ef00 40 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 41
majik 0:964eb6a2ef00 42
majik 0:964eb6a2ef00 43 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 44 * Functions
majik 0:964eb6a2ef00 45 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47
majik 0:964eb6a2ef00 48 /*--------------------------- rt_mut_init -----------------------------------*/
majik 0:964eb6a2ef00 49
majik 0:964eb6a2ef00 50 void rt_mut_init (OS_ID mutex) {
majik 0:964eb6a2ef00 51 /* Initialize a mutex object */
majik 0:964eb6a2ef00 52 P_MUCB p_MCB = mutex;
majik 0:964eb6a2ef00 53
majik 0:964eb6a2ef00 54 p_MCB->cb_type = MUCB;
majik 0:964eb6a2ef00 55 p_MCB->prio = 0;
majik 0:964eb6a2ef00 56 p_MCB->level = 0;
majik 0:964eb6a2ef00 57 p_MCB->p_lnk = NULL;
majik 0:964eb6a2ef00 58 p_MCB->owner = NULL;
majik 0:964eb6a2ef00 59 }
majik 0:964eb6a2ef00 60
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 /*--------------------------- rt_mut_delete ---------------------------------*/
majik 0:964eb6a2ef00 63
majik 0:964eb6a2ef00 64 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 65 OS_RESULT rt_mut_delete (OS_ID mutex) {
majik 0:964eb6a2ef00 66 /* Delete a mutex object */
majik 0:964eb6a2ef00 67 P_MUCB p_MCB = mutex;
majik 0:964eb6a2ef00 68 P_TCB p_TCB;
majik 0:964eb6a2ef00 69
majik 0:964eb6a2ef00 70 /* Restore owner task's priority. */
majik 0:964eb6a2ef00 71 if (p_MCB->level != 0) {
majik 0:964eb6a2ef00 72 p_MCB->owner->prio = p_MCB->prio;
majik 0:964eb6a2ef00 73 if (p_MCB->owner != os_tsk.run) {
majik 0:964eb6a2ef00 74 rt_resort_prio (p_MCB->owner);
majik 0:964eb6a2ef00 75 }
majik 0:964eb6a2ef00 76 }
majik 0:964eb6a2ef00 77
majik 0:964eb6a2ef00 78 while (p_MCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 79 /* A task is waiting for mutex. */
majik 0:964eb6a2ef00 80 p_TCB = rt_get_first ((P_XCB)p_MCB);
majik 0:964eb6a2ef00 81 rt_ret_val(p_TCB, 0/*osOK*/);
majik 0:964eb6a2ef00 82 rt_rmv_dly(p_TCB);
majik 0:964eb6a2ef00 83 p_TCB->state = READY;
majik 0:964eb6a2ef00 84 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 85 }
majik 0:964eb6a2ef00 86
majik 0:964eb6a2ef00 87 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
majik 0:964eb6a2ef00 88 /* preempt running task */
majik 0:964eb6a2ef00 89 rt_put_prio (&os_rdy, os_tsk.run);
majik 0:964eb6a2ef00 90 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 91 rt_dispatch (NULL);
majik 0:964eb6a2ef00 92 }
majik 0:964eb6a2ef00 93
majik 0:964eb6a2ef00 94 p_MCB->cb_type = 0;
majik 0:964eb6a2ef00 95
majik 0:964eb6a2ef00 96 return (OS_R_OK);
majik 0:964eb6a2ef00 97 }
majik 0:964eb6a2ef00 98 #endif
majik 0:964eb6a2ef00 99
majik 0:964eb6a2ef00 100
majik 0:964eb6a2ef00 101 /*--------------------------- rt_mut_release --------------------------------*/
majik 0:964eb6a2ef00 102
majik 0:964eb6a2ef00 103 OS_RESULT rt_mut_release (OS_ID mutex) {
majik 0:964eb6a2ef00 104 /* Release a mutex object */
majik 0:964eb6a2ef00 105 P_MUCB p_MCB = mutex;
majik 0:964eb6a2ef00 106 P_TCB p_TCB;
majik 0:964eb6a2ef00 107
majik 0:964eb6a2ef00 108 if (p_MCB->level == 0 || p_MCB->owner != os_tsk.run) {
majik 0:964eb6a2ef00 109 /* Unbalanced mutex release or task is not the owner */
majik 0:964eb6a2ef00 110 return (OS_R_NOK);
majik 0:964eb6a2ef00 111 }
majik 0:964eb6a2ef00 112 if (--p_MCB->level != 0) {
majik 0:964eb6a2ef00 113 return (OS_R_OK);
majik 0:964eb6a2ef00 114 }
majik 0:964eb6a2ef00 115 /* Restore owner task's priority. */
majik 0:964eb6a2ef00 116 os_tsk.run->prio = p_MCB->prio;
majik 0:964eb6a2ef00 117 if (p_MCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 118 /* A task is waiting for mutex. */
majik 0:964eb6a2ef00 119 p_TCB = rt_get_first ((P_XCB)p_MCB);
majik 0:964eb6a2ef00 120 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 121 rt_ret_val(p_TCB, 0/*osOK*/);
majik 0:964eb6a2ef00 122 #else
majik 0:964eb6a2ef00 123 rt_ret_val(p_TCB, OS_R_MUT);
majik 0:964eb6a2ef00 124 #endif
majik 0:964eb6a2ef00 125 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 126 /* A waiting task becomes the owner of this mutex. */
majik 0:964eb6a2ef00 127 p_MCB->level = 1;
majik 0:964eb6a2ef00 128 p_MCB->owner = p_TCB;
majik 0:964eb6a2ef00 129 p_MCB->prio = p_TCB->prio;
majik 0:964eb6a2ef00 130 /* Priority inversion, check which task continues. */
majik 0:964eb6a2ef00 131 if (os_tsk.run->prio >= rt_rdy_prio()) {
majik 0:964eb6a2ef00 132 rt_dispatch (p_TCB);
majik 0:964eb6a2ef00 133 }
majik 0:964eb6a2ef00 134 else {
majik 0:964eb6a2ef00 135 /* Ready task has higher priority than running task. */
majik 0:964eb6a2ef00 136 rt_put_prio (&os_rdy, os_tsk.run);
majik 0:964eb6a2ef00 137 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 138 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 139 p_TCB->state = READY;
majik 0:964eb6a2ef00 140 rt_dispatch (NULL);
majik 0:964eb6a2ef00 141 }
majik 0:964eb6a2ef00 142 }
majik 0:964eb6a2ef00 143 else {
majik 0:964eb6a2ef00 144 /* Check if own priority raised by priority inversion. */
majik 0:964eb6a2ef00 145 if (rt_rdy_prio() > os_tsk.run->prio) {
majik 0:964eb6a2ef00 146 rt_put_prio (&os_rdy, os_tsk.run);
majik 0:964eb6a2ef00 147 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 148 rt_dispatch (NULL);
majik 0:964eb6a2ef00 149 }
majik 0:964eb6a2ef00 150 }
majik 0:964eb6a2ef00 151 return (OS_R_OK);
majik 0:964eb6a2ef00 152 }
majik 0:964eb6a2ef00 153
majik 0:964eb6a2ef00 154
majik 0:964eb6a2ef00 155 /*--------------------------- rt_mut_wait -----------------------------------*/
majik 0:964eb6a2ef00 156
majik 0:964eb6a2ef00 157 OS_RESULT rt_mut_wait (OS_ID mutex, U16 timeout) {
majik 0:964eb6a2ef00 158 /* Wait for a mutex, continue when mutex is free. */
majik 0:964eb6a2ef00 159 P_MUCB p_MCB = mutex;
majik 0:964eb6a2ef00 160
majik 0:964eb6a2ef00 161 if (p_MCB->level == 0) {
majik 0:964eb6a2ef00 162 p_MCB->owner = os_tsk.run;
majik 0:964eb6a2ef00 163 p_MCB->prio = os_tsk.run->prio;
majik 0:964eb6a2ef00 164 goto inc;
majik 0:964eb6a2ef00 165 }
majik 0:964eb6a2ef00 166 if (p_MCB->owner == os_tsk.run) {
majik 0:964eb6a2ef00 167 /* OK, running task is the owner of this mutex. */
majik 0:964eb6a2ef00 168 inc:p_MCB->level++;
majik 0:964eb6a2ef00 169 return (OS_R_OK);
majik 0:964eb6a2ef00 170 }
majik 0:964eb6a2ef00 171 /* Mutex owned by another task, wait until released. */
majik 0:964eb6a2ef00 172 if (timeout == 0) {
majik 0:964eb6a2ef00 173 return (OS_R_TMO);
majik 0:964eb6a2ef00 174 }
majik 0:964eb6a2ef00 175 /* Raise the owner task priority if lower than current priority. */
majik 0:964eb6a2ef00 176 /* This priority inversion is called priority inheritance. */
majik 0:964eb6a2ef00 177 if (p_MCB->prio < os_tsk.run->prio) {
majik 0:964eb6a2ef00 178 p_MCB->owner->prio = os_tsk.run->prio;
majik 0:964eb6a2ef00 179 rt_resort_prio (p_MCB->owner);
majik 0:964eb6a2ef00 180 }
majik 0:964eb6a2ef00 181 if (p_MCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 182 rt_put_prio ((P_XCB)p_MCB, os_tsk.run);
majik 0:964eb6a2ef00 183 }
majik 0:964eb6a2ef00 184 else {
majik 0:964eb6a2ef00 185 p_MCB->p_lnk = os_tsk.run;
majik 0:964eb6a2ef00 186 os_tsk.run->p_lnk = NULL;
majik 0:964eb6a2ef00 187 os_tsk.run->p_rlnk = (P_TCB)p_MCB;
majik 0:964eb6a2ef00 188 }
majik 0:964eb6a2ef00 189 rt_block(timeout, WAIT_MUT);
majik 0:964eb6a2ef00 190 return (OS_R_TMO);
majik 0:964eb6a2ef00 191 }
majik 0:964eb6a2ef00 192
majik 0:964eb6a2ef00 193
majik 0:964eb6a2ef00 194 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 195 * end of file
majik 0:964eb6a2ef00 196 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 197