Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_Semaphore.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_SEMAPHORE.C
majik 0:964eb6a2ef00 5 * Purpose: Implements binary and counting semaphores
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_Semaphore.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_sem_init -----------------------------------*/
majik 0:964eb6a2ef00 50
majik 0:964eb6a2ef00 51 void rt_sem_init (OS_ID semaphore, U16 token_count) {
majik 0:964eb6a2ef00 52 /* Initialize a semaphore */
majik 0:964eb6a2ef00 53 P_SCB p_SCB = semaphore;
majik 0:964eb6a2ef00 54
majik 0:964eb6a2ef00 55 p_SCB->cb_type = SCB;
majik 0:964eb6a2ef00 56 p_SCB->p_lnk = NULL;
majik 0:964eb6a2ef00 57 p_SCB->tokens = token_count;
majik 0:964eb6a2ef00 58 }
majik 0:964eb6a2ef00 59
majik 0:964eb6a2ef00 60
majik 0:964eb6a2ef00 61 /*--------------------------- rt_sem_delete ---------------------------------*/
majik 0:964eb6a2ef00 62
majik 0:964eb6a2ef00 63 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 64 OS_RESULT rt_sem_delete (OS_ID semaphore) {
majik 0:964eb6a2ef00 65 /* Delete semaphore */
majik 0:964eb6a2ef00 66 P_SCB p_SCB = semaphore;
majik 0:964eb6a2ef00 67 P_TCB p_TCB;
majik 0:964eb6a2ef00 68
majik 0:964eb6a2ef00 69 while (p_SCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 70 /* A task is waiting for token */
majik 0:964eb6a2ef00 71 p_TCB = rt_get_first ((P_XCB)p_SCB);
majik 0:964eb6a2ef00 72 rt_ret_val(p_TCB, 0);
majik 0:964eb6a2ef00 73 rt_rmv_dly(p_TCB);
majik 0:964eb6a2ef00 74 p_TCB->state = READY;
majik 0:964eb6a2ef00 75 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 76 }
majik 0:964eb6a2ef00 77
majik 0:964eb6a2ef00 78 if (os_rdy.p_lnk && (os_rdy.p_lnk->prio > os_tsk.run->prio)) {
majik 0:964eb6a2ef00 79 /* preempt running task */
majik 0:964eb6a2ef00 80 rt_put_prio (&os_rdy, os_tsk.run);
majik 0:964eb6a2ef00 81 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 82 rt_dispatch (NULL);
majik 0:964eb6a2ef00 83 }
majik 0:964eb6a2ef00 84
majik 0:964eb6a2ef00 85 p_SCB->cb_type = 0;
majik 0:964eb6a2ef00 86
majik 0:964eb6a2ef00 87 return (OS_R_OK);
majik 0:964eb6a2ef00 88 }
majik 0:964eb6a2ef00 89 #endif
majik 0:964eb6a2ef00 90
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92 /*--------------------------- rt_sem_send -----------------------------------*/
majik 0:964eb6a2ef00 93
majik 0:964eb6a2ef00 94 OS_RESULT rt_sem_send (OS_ID semaphore) {
majik 0:964eb6a2ef00 95 /* Return a token to semaphore */
majik 0:964eb6a2ef00 96 P_SCB p_SCB = semaphore;
majik 0:964eb6a2ef00 97 P_TCB p_TCB;
majik 0:964eb6a2ef00 98
majik 0:964eb6a2ef00 99 if (p_SCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 100 /* A task is waiting for token */
majik 0:964eb6a2ef00 101 p_TCB = rt_get_first ((P_XCB)p_SCB);
majik 0:964eb6a2ef00 102 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 103 rt_ret_val(p_TCB, 1);
majik 0:964eb6a2ef00 104 #else
majik 0:964eb6a2ef00 105 rt_ret_val(p_TCB, OS_R_SEM);
majik 0:964eb6a2ef00 106 #endif
majik 0:964eb6a2ef00 107 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 108 rt_dispatch (p_TCB);
majik 0:964eb6a2ef00 109 }
majik 0:964eb6a2ef00 110 else {
majik 0:964eb6a2ef00 111 /* Store token. */
majik 0:964eb6a2ef00 112 p_SCB->tokens++;
majik 0:964eb6a2ef00 113 }
majik 0:964eb6a2ef00 114 return (OS_R_OK);
majik 0:964eb6a2ef00 115 }
majik 0:964eb6a2ef00 116
majik 0:964eb6a2ef00 117
majik 0:964eb6a2ef00 118 /*--------------------------- rt_sem_wait -----------------------------------*/
majik 0:964eb6a2ef00 119
majik 0:964eb6a2ef00 120 OS_RESULT rt_sem_wait (OS_ID semaphore, U16 timeout) {
majik 0:964eb6a2ef00 121 /* Obtain a token; possibly wait for it */
majik 0:964eb6a2ef00 122 P_SCB p_SCB = semaphore;
majik 0:964eb6a2ef00 123
majik 0:964eb6a2ef00 124 if (p_SCB->tokens) {
majik 0:964eb6a2ef00 125 p_SCB->tokens--;
majik 0:964eb6a2ef00 126 return (OS_R_OK);
majik 0:964eb6a2ef00 127 }
majik 0:964eb6a2ef00 128 /* No token available: wait for one */
majik 0:964eb6a2ef00 129 if (timeout == 0) {
majik 0:964eb6a2ef00 130 return (OS_R_TMO);
majik 0:964eb6a2ef00 131 }
majik 0:964eb6a2ef00 132 if (p_SCB->p_lnk != NULL) {
majik 0:964eb6a2ef00 133 rt_put_prio ((P_XCB)p_SCB, os_tsk.run);
majik 0:964eb6a2ef00 134 }
majik 0:964eb6a2ef00 135 else {
majik 0:964eb6a2ef00 136 p_SCB->p_lnk = os_tsk.run;
majik 0:964eb6a2ef00 137 os_tsk.run->p_lnk = NULL;
majik 0:964eb6a2ef00 138 os_tsk.run->p_rlnk = (P_TCB)p_SCB;
majik 0:964eb6a2ef00 139 }
majik 0:964eb6a2ef00 140 rt_block(timeout, WAIT_SEM);
majik 0:964eb6a2ef00 141 return (OS_R_TMO);
majik 0:964eb6a2ef00 142 }
majik 0:964eb6a2ef00 143
majik 0:964eb6a2ef00 144
majik 0:964eb6a2ef00 145 /*--------------------------- isr_sem_send ----------------------------------*/
majik 0:964eb6a2ef00 146
majik 0:964eb6a2ef00 147 void isr_sem_send (OS_ID semaphore) {
majik 0:964eb6a2ef00 148 /* Same function as "os_sem"send", but to be called by ISRs */
majik 0:964eb6a2ef00 149 P_SCB p_SCB = semaphore;
majik 0:964eb6a2ef00 150
majik 0:964eb6a2ef00 151 rt_psq_enq (p_SCB, 0);
majik 0:964eb6a2ef00 152 rt_psh_req ();
majik 0:964eb6a2ef00 153 }
majik 0:964eb6a2ef00 154
majik 0:964eb6a2ef00 155
majik 0:964eb6a2ef00 156 /*--------------------------- rt_sem_psh ------------------------------------*/
majik 0:964eb6a2ef00 157
majik 0:964eb6a2ef00 158 void rt_sem_psh (P_SCB p_CB) {
majik 0:964eb6a2ef00 159 /* Check if task has to be waken up */
majik 0:964eb6a2ef00 160 P_TCB p_TCB;
majik 0:964eb6a2ef00 161
majik 0:964eb6a2ef00 162 if (p_CB->p_lnk != NULL) {
majik 0:964eb6a2ef00 163 /* A task is waiting for token */
majik 0:964eb6a2ef00 164 p_TCB = rt_get_first ((P_XCB)p_CB);
majik 0:964eb6a2ef00 165 rt_rmv_dly (p_TCB);
majik 0:964eb6a2ef00 166 p_TCB->state = READY;
majik 0:964eb6a2ef00 167 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 168 rt_ret_val(p_TCB, 1);
majik 0:964eb6a2ef00 169 #else
majik 0:964eb6a2ef00 170 rt_ret_val(p_TCB, OS_R_SEM);
majik 0:964eb6a2ef00 171 #endif
majik 0:964eb6a2ef00 172 rt_put_prio (&os_rdy, p_TCB);
majik 0:964eb6a2ef00 173 }
majik 0:964eb6a2ef00 174 else {
majik 0:964eb6a2ef00 175 /* Store token */
majik 0:964eb6a2ef00 176 p_CB->tokens++;
majik 0:964eb6a2ef00 177 }
majik 0:964eb6a2ef00 178 }
majik 0:964eb6a2ef00 179
majik 0:964eb6a2ef00 180 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 181 * end of file
majik 0:964eb6a2ef00 182 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 183