Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/mbed-rtos/rtx/rt_System.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_SYSTEM.C
majik 0:964eb6a2ef00 5 * Purpose: System Task Manager
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_Task.h"
majik 0:964eb6a2ef00 38 #include "rt_System.h"
majik 0:964eb6a2ef00 39 #include "rt_Event.h"
majik 0:964eb6a2ef00 40 #include "rt_List.h"
majik 0:964eb6a2ef00 41 #include "rt_Mailbox.h"
majik 0:964eb6a2ef00 42 #include "rt_Semaphore.h"
majik 0:964eb6a2ef00 43 #include "rt_Time.h"
majik 0:964eb6a2ef00 44 #include "rt_Robin.h"
majik 0:964eb6a2ef00 45 #include "rt_HAL_CM.h"
majik 0:964eb6a2ef00 46
majik 0:964eb6a2ef00 47 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 48 * Global Variables
majik 0:964eb6a2ef00 49 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 50
majik 0:964eb6a2ef00 51 int os_tick_irqn;
majik 0:964eb6a2ef00 52
majik 0:964eb6a2ef00 53 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 54 * Local Variables
majik 0:964eb6a2ef00 55 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 56
majik 0:964eb6a2ef00 57 static volatile BIT os_lock;
majik 0:964eb6a2ef00 58 static volatile BIT os_psh_flag;
majik 0:964eb6a2ef00 59 static U8 pend_flags;
majik 0:964eb6a2ef00 60
majik 0:964eb6a2ef00 61 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 62 * Global Functions
majik 0:964eb6a2ef00 63 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 64
majik 0:964eb6a2ef00 65 #if defined (__CC_ARM)
majik 0:964eb6a2ef00 66 __asm void $$RTX$$version (void) {
majik 0:964eb6a2ef00 67 /* Export a version number symbol for a version control. */
majik 0:964eb6a2ef00 68
majik 0:964eb6a2ef00 69 EXPORT __RL_RTX_VER
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 __RL_RTX_VER EQU 0x450
majik 0:964eb6a2ef00 72 }
majik 0:964eb6a2ef00 73 #endif
majik 0:964eb6a2ef00 74
majik 0:964eb6a2ef00 75
majik 0:964eb6a2ef00 76 /*--------------------------- rt_suspend ------------------------------------*/
majik 0:964eb6a2ef00 77 U32 rt_suspend (void) {
majik 0:964eb6a2ef00 78 /* Suspend OS scheduler */
majik 0:964eb6a2ef00 79 U32 delta = 0xFFFF;
majik 0:964eb6a2ef00 80
majik 0:964eb6a2ef00 81 rt_tsk_lock();
majik 0:964eb6a2ef00 82
majik 0:964eb6a2ef00 83 if (os_dly.p_dlnk) {
majik 0:964eb6a2ef00 84 delta = os_dly.delta_time;
majik 0:964eb6a2ef00 85 }
majik 0:964eb6a2ef00 86 #ifndef __CMSIS_RTOS
majik 0:964eb6a2ef00 87 if (os_tmr.next) {
majik 0:964eb6a2ef00 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
majik 0:964eb6a2ef00 89 }
majik 0:964eb6a2ef00 90 #endif
majik 0:964eb6a2ef00 91
majik 0:964eb6a2ef00 92 return (delta);
majik 0:964eb6a2ef00 93 }
majik 0:964eb6a2ef00 94
majik 0:964eb6a2ef00 95
majik 0:964eb6a2ef00 96 /*--------------------------- rt_resume -------------------------------------*/
majik 0:964eb6a2ef00 97 void rt_resume (U32 sleep_time) {
majik 0:964eb6a2ef00 98 /* Resume OS scheduler after suspend */
majik 0:964eb6a2ef00 99 P_TCB next;
majik 0:964eb6a2ef00 100 U32 delta;
majik 0:964eb6a2ef00 101
majik 0:964eb6a2ef00 102 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 103 rt_put_rdy_first (os_tsk.run);
majik 0:964eb6a2ef00 104
majik 0:964eb6a2ef00 105 os_robin.task = NULL;
majik 0:964eb6a2ef00 106
majik 0:964eb6a2ef00 107 /* Update delays. */
majik 0:964eb6a2ef00 108 if (os_dly.p_dlnk) {
majik 0:964eb6a2ef00 109 delta = sleep_time;
majik 0:964eb6a2ef00 110 if (delta >= os_dly.delta_time) {
majik 0:964eb6a2ef00 111 delta -= os_dly.delta_time;
majik 0:964eb6a2ef00 112 os_time += os_dly.delta_time;
majik 0:964eb6a2ef00 113 os_dly.delta_time = 1;
majik 0:964eb6a2ef00 114 while (os_dly.p_dlnk) {
majik 0:964eb6a2ef00 115 rt_dec_dly();
majik 0:964eb6a2ef00 116 if (delta == 0) break;
majik 0:964eb6a2ef00 117 delta--;
majik 0:964eb6a2ef00 118 os_time++;
majik 0:964eb6a2ef00 119 }
majik 0:964eb6a2ef00 120 } else {
majik 0:964eb6a2ef00 121 os_time += delta;
majik 0:964eb6a2ef00 122 os_dly.delta_time -= delta;
majik 0:964eb6a2ef00 123 }
majik 0:964eb6a2ef00 124 } else {
majik 0:964eb6a2ef00 125 os_time += sleep_time;
majik 0:964eb6a2ef00 126 }
majik 0:964eb6a2ef00 127
majik 0:964eb6a2ef00 128 #ifndef __CMSIS_RTOS
majik 0:964eb6a2ef00 129 /* Check the user timers. */
majik 0:964eb6a2ef00 130 if (os_tmr.next) {
majik 0:964eb6a2ef00 131 delta = sleep_time;
majik 0:964eb6a2ef00 132 if (delta >= os_tmr.tcnt) {
majik 0:964eb6a2ef00 133 delta -= os_tmr.tcnt;
majik 0:964eb6a2ef00 134 os_tmr.tcnt = 1;
majik 0:964eb6a2ef00 135 while (os_tmr.next) {
majik 0:964eb6a2ef00 136 rt_tmr_tick();
majik 0:964eb6a2ef00 137 if (delta == 0) break;
majik 0:964eb6a2ef00 138 delta--;
majik 0:964eb6a2ef00 139 }
majik 0:964eb6a2ef00 140 } else {
majik 0:964eb6a2ef00 141 os_tmr.tcnt -= delta;
majik 0:964eb6a2ef00 142 }
majik 0:964eb6a2ef00 143 }
majik 0:964eb6a2ef00 144 #endif
majik 0:964eb6a2ef00 145
majik 0:964eb6a2ef00 146 /* Switch back to highest ready task */
majik 0:964eb6a2ef00 147 next = rt_get_first (&os_rdy);
majik 0:964eb6a2ef00 148 rt_switch_req (next);
majik 0:964eb6a2ef00 149
majik 0:964eb6a2ef00 150 rt_tsk_unlock();
majik 0:964eb6a2ef00 151 }
majik 0:964eb6a2ef00 152
majik 0:964eb6a2ef00 153
majik 0:964eb6a2ef00 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
majik 0:964eb6a2ef00 155
majik 0:964eb6a2ef00 156 void rt_tsk_lock (void) {
majik 0:964eb6a2ef00 157 /* Prevent task switching by locking out scheduler */
majik 0:964eb6a2ef00 158 if (os_tick_irqn < 0) {
majik 0:964eb6a2ef00 159 OS_LOCK();
majik 0:964eb6a2ef00 160 os_lock = __TRUE;
majik 0:964eb6a2ef00 161 OS_UNPEND (&pend_flags);
majik 0:964eb6a2ef00 162 } else {
majik 0:964eb6a2ef00 163 OS_X_LOCK(os_tick_irqn);
majik 0:964eb6a2ef00 164 os_lock = __TRUE;
majik 0:964eb6a2ef00 165 OS_X_UNPEND (&pend_flags);
majik 0:964eb6a2ef00 166 }
majik 0:964eb6a2ef00 167 }
majik 0:964eb6a2ef00 168
majik 0:964eb6a2ef00 169
majik 0:964eb6a2ef00 170 /*--------------------------- rt_tsk_unlock ---------------------------------*/
majik 0:964eb6a2ef00 171
majik 0:964eb6a2ef00 172 void rt_tsk_unlock (void) {
majik 0:964eb6a2ef00 173 /* Unlock scheduler and re-enable task switching */
majik 0:964eb6a2ef00 174 if (os_tick_irqn < 0) {
majik 0:964eb6a2ef00 175 OS_UNLOCK();
majik 0:964eb6a2ef00 176 os_lock = __FALSE;
majik 0:964eb6a2ef00 177 OS_PEND (pend_flags, os_psh_flag);
majik 0:964eb6a2ef00 178 os_psh_flag = __FALSE;
majik 0:964eb6a2ef00 179 } else {
majik 0:964eb6a2ef00 180 OS_X_UNLOCK(os_tick_irqn);
majik 0:964eb6a2ef00 181 os_lock = __FALSE;
majik 0:964eb6a2ef00 182 OS_X_PEND (pend_flags, os_psh_flag);
majik 0:964eb6a2ef00 183 os_psh_flag = __FALSE;
majik 0:964eb6a2ef00 184 }
majik 0:964eb6a2ef00 185 }
majik 0:964eb6a2ef00 186
majik 0:964eb6a2ef00 187
majik 0:964eb6a2ef00 188 /*--------------------------- rt_psh_req ------------------------------------*/
majik 0:964eb6a2ef00 189
majik 0:964eb6a2ef00 190 void rt_psh_req (void) {
majik 0:964eb6a2ef00 191 /* Initiate a post service handling request if required. */
majik 0:964eb6a2ef00 192 if (os_lock == __FALSE) {
majik 0:964eb6a2ef00 193 OS_PEND_IRQ ();
majik 0:964eb6a2ef00 194 }
majik 0:964eb6a2ef00 195 else {
majik 0:964eb6a2ef00 196 os_psh_flag = __TRUE;
majik 0:964eb6a2ef00 197 }
majik 0:964eb6a2ef00 198 }
majik 0:964eb6a2ef00 199
majik 0:964eb6a2ef00 200
majik 0:964eb6a2ef00 201 /*--------------------------- rt_pop_req ------------------------------------*/
majik 0:964eb6a2ef00 202
majik 0:964eb6a2ef00 203 void rt_pop_req (void) {
majik 0:964eb6a2ef00 204 /* Process an ISR post service requests. */
majik 0:964eb6a2ef00 205 struct OS_XCB *p_CB;
majik 0:964eb6a2ef00 206 P_TCB next;
majik 0:964eb6a2ef00 207 U32 idx;
majik 0:964eb6a2ef00 208
majik 0:964eb6a2ef00 209 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 210 rt_put_rdy_first (os_tsk.run);
majik 0:964eb6a2ef00 211
majik 0:964eb6a2ef00 212 idx = os_psq->last;
majik 0:964eb6a2ef00 213 while (os_psq->count) {
majik 0:964eb6a2ef00 214 p_CB = os_psq->q[idx].id;
majik 0:964eb6a2ef00 215 if (p_CB->cb_type == TCB) {
majik 0:964eb6a2ef00 216 /* Is of TCB type */
majik 0:964eb6a2ef00 217 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
majik 0:964eb6a2ef00 218 }
majik 0:964eb6a2ef00 219 else if (p_CB->cb_type == MCB) {
majik 0:964eb6a2ef00 220 /* Is of MCB type */
majik 0:964eb6a2ef00 221 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
majik 0:964eb6a2ef00 222 }
majik 0:964eb6a2ef00 223 else {
majik 0:964eb6a2ef00 224 /* Must be of SCB type */
majik 0:964eb6a2ef00 225 rt_sem_psh ((P_SCB)p_CB);
majik 0:964eb6a2ef00 226 }
majik 0:964eb6a2ef00 227 if (++idx == os_psq->size) idx = 0;
majik 0:964eb6a2ef00 228 rt_dec (&os_psq->count);
majik 0:964eb6a2ef00 229 }
majik 0:964eb6a2ef00 230 os_psq->last = idx;
majik 0:964eb6a2ef00 231
majik 0:964eb6a2ef00 232 next = rt_get_first (&os_rdy);
majik 0:964eb6a2ef00 233 rt_switch_req (next);
majik 0:964eb6a2ef00 234 }
majik 0:964eb6a2ef00 235
majik 0:964eb6a2ef00 236
majik 0:964eb6a2ef00 237 /*--------------------------- os_tick_init ----------------------------------*/
majik 0:964eb6a2ef00 238
majik 0:964eb6a2ef00 239 __weak int os_tick_init (void) {
majik 0:964eb6a2ef00 240 /* Initialize SysTick timer as system tick timer. */
majik 0:964eb6a2ef00 241 rt_systick_init ();
majik 0:964eb6a2ef00 242 return (-1); /* Return IRQ number of SysTick timer */
majik 0:964eb6a2ef00 243 }
majik 0:964eb6a2ef00 244
majik 0:964eb6a2ef00 245
majik 0:964eb6a2ef00 246 /*--------------------------- os_tick_irqack --------------------------------*/
majik 0:964eb6a2ef00 247
majik 0:964eb6a2ef00 248 __weak void os_tick_irqack (void) {
majik 0:964eb6a2ef00 249 /* Acknowledge timer interrupt. */
majik 0:964eb6a2ef00 250 }
majik 0:964eb6a2ef00 251
majik 0:964eb6a2ef00 252
majik 0:964eb6a2ef00 253 /*--------------------------- rt_systick ------------------------------------*/
majik 0:964eb6a2ef00 254
majik 0:964eb6a2ef00 255 extern void sysTimerTick(void);
majik 0:964eb6a2ef00 256
majik 0:964eb6a2ef00 257 void rt_systick (void) {
majik 0:964eb6a2ef00 258 /* Check for system clock update, suspend running task. */
majik 0:964eb6a2ef00 259 P_TCB next;
majik 0:964eb6a2ef00 260
majik 0:964eb6a2ef00 261 os_tsk.run->state = READY;
majik 0:964eb6a2ef00 262 rt_put_rdy_first (os_tsk.run);
majik 0:964eb6a2ef00 263
majik 0:964eb6a2ef00 264 /* Check Round Robin timeout. */
majik 0:964eb6a2ef00 265 rt_chk_robin ();
majik 0:964eb6a2ef00 266
majik 0:964eb6a2ef00 267 /* Update delays. */
majik 0:964eb6a2ef00 268 os_time++;
majik 0:964eb6a2ef00 269 rt_dec_dly ();
majik 0:964eb6a2ef00 270
majik 0:964eb6a2ef00 271 /* Check the user timers. */
majik 0:964eb6a2ef00 272 #ifdef __CMSIS_RTOS
majik 0:964eb6a2ef00 273 sysTimerTick();
majik 0:964eb6a2ef00 274 #else
majik 0:964eb6a2ef00 275 rt_tmr_tick ();
majik 0:964eb6a2ef00 276 #endif
majik 0:964eb6a2ef00 277
majik 0:964eb6a2ef00 278 /* Switch back to highest ready task */
majik 0:964eb6a2ef00 279 next = rt_get_first (&os_rdy);
majik 0:964eb6a2ef00 280 rt_switch_req (next);
majik 0:964eb6a2ef00 281 }
majik 0:964eb6a2ef00 282
majik 0:964eb6a2ef00 283 /*--------------------------- rt_stk_check ----------------------------------*/
majik 0:964eb6a2ef00 284 __weak void rt_stk_check (void) {
majik 0:964eb6a2ef00 285 /* Check for stack overflow. */
majik 0:964eb6a2ef00 286 if (os_tsk.run->task_id == 0x01) {
majik 0:964eb6a2ef00 287 // TODO: For the main thread the check should be done against the main heap pointer
majik 0:964eb6a2ef00 288 } else {
majik 0:964eb6a2ef00 289 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
majik 0:964eb6a2ef00 290 (os_tsk.run->stack[0] != MAGIC_WORD)) {
majik 0:964eb6a2ef00 291 os_error (OS_ERR_STK_OVF);
majik 0:964eb6a2ef00 292 }
majik 0:964eb6a2ef00 293 }
majik 0:964eb6a2ef00 294 }
majik 0:964eb6a2ef00 295
majik 0:964eb6a2ef00 296 /*----------------------------------------------------------------------------
majik 0:964eb6a2ef00 297 * end of file
majik 0:964eb6a2ef00 298 *---------------------------------------------------------------------------*/
majik 0:964eb6a2ef00 299