Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Robin.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_ROBIN.C
majik 0:964eb6a2ef00 5 * Purpose: Round Robin Task switching
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_Time.h"
majik 0:964eb6a2ef00 40 #include "rt_Robin.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 struct OS_ROBIN os_robin;
majik 0:964eb6a2ef00 48
majik 0:964eb6a2ef00 49
majik 0:964eb6a2ef00 50 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 51 * Global Functions
majik 0:964eb6a2ef00 52 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 53
majik 0:964eb6a2ef00 54 /*--------------------------- rt_init_robin ---------------------------------*/
majik 0:964eb6a2ef00 55
majik 0:964eb6a2ef00 56 __weak void rt_init_robin (void) {
majik 0:964eb6a2ef00 57 /* Initialize Round Robin variables. */
majik 0:964eb6a2ef00 58 os_robin.task = NULL;
majik 0:964eb6a2ef00 59 os_robin.tout = (U16)os_rrobin;
majik 0:964eb6a2ef00 60 }
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 /*--------------------------- rt_chk_robin ----------------------------------*/
majik 0:964eb6a2ef00 63
majik 0:964eb6a2ef00 64 __weak void rt_chk_robin (void) {
majik 0:964eb6a2ef00 65 /* Check if Round Robin timeout expired and switch to the next ready task.*/
majik 0:964eb6a2ef00 66 P_TCB p_new;
majik 0:964eb6a2ef00 67
majik 0:964eb6a2ef00 68 if (os_robin.task != os_rdy.p_lnk) {
majik 0:964eb6a2ef00 69 /* New task was suspended, reset Round Robin timeout. */
majik 0:964eb6a2ef00 70 os_robin.task = os_rdy.p_lnk;
majik 0:964eb6a2ef00 71 os_robin.time = (U16)os_time + os_robin.tout - 1;
majik 0:964eb6a2ef00 72 }
majik 0:964eb6a2ef00 73 if (os_robin.time == (U16)os_time) {
majik 0:964eb6a2ef00 74 /* Round Robin timeout has expired, swap Robin tasks. */
majik 0:964eb6a2ef00 75 os_robin.task = NULL;
majik 0:964eb6a2ef00 76 p_new = rt_get_first (&os_rdy);
majik 0:964eb6a2ef00 77 rt_put_prio ((P_XCB)&os_rdy, p_new);
majik 0:964eb6a2ef00 78 }
majik 0:964eb6a2ef00 79 }
majik 0:964eb6a2ef00 80
majik 0:964eb6a2ef00 81 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 82 * end of file
majik 0:964eb6a2ef00 83 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 84