Code for our FYDP -only one IMU works right now -RTOS is working
Diff: mbed/mbed-rtos/rtx/rt_System.c
- Revision:
- 0:964eb6a2ef00
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed/mbed-rtos/rtx/rt_System.c Wed Mar 18 22:23:48 2015 +0000 @@ -0,0 +1,299 @@ +/*---------------------------------------------------------------------------- + * RL-ARM - RTX + *---------------------------------------------------------------------------- + * Name: RT_SYSTEM.C + * Purpose: System Task Manager + * Rev.: V4.60 + *---------------------------------------------------------------------------- + * + * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH + * All rights reserved. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * - Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * - Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * - Neither the name of ARM nor the names of its contributors may be used + * to endorse or promote products derived from this software without + * specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *---------------------------------------------------------------------------*/ + +#include "rt_TypeDef.h" +#include "RTX_Conf.h" +#include "rt_Task.h" +#include "rt_System.h" +#include "rt_Event.h" +#include "rt_List.h" +#include "rt_Mailbox.h" +#include "rt_Semaphore.h" +#include "rt_Time.h" +#include "rt_Robin.h" +#include "rt_HAL_CM.h" + +/*---------------------------------------------------------------------------- + * Global Variables + *---------------------------------------------------------------------------*/ + +int os_tick_irqn; + +/*---------------------------------------------------------------------------- + * Local Variables + *---------------------------------------------------------------------------*/ + +static volatile BIT os_lock; +static volatile BIT os_psh_flag; +static U8 pend_flags; + +/*---------------------------------------------------------------------------- + * Global Functions + *---------------------------------------------------------------------------*/ + +#if defined (__CC_ARM) +__asm void $$RTX$$version (void) { + /* Export a version number symbol for a version control. */ + + EXPORT __RL_RTX_VER + +__RL_RTX_VER EQU 0x450 +} +#endif + + +/*--------------------------- rt_suspend ------------------------------------*/ +U32 rt_suspend (void) { + /* Suspend OS scheduler */ + U32 delta = 0xFFFF; + + rt_tsk_lock(); + + if (os_dly.p_dlnk) { + delta = os_dly.delta_time; + } +#ifndef __CMSIS_RTOS + if (os_tmr.next) { + if (os_tmr.tcnt < delta) delta = os_tmr.tcnt; + } +#endif + + return (delta); +} + + +/*--------------------------- rt_resume -------------------------------------*/ +void rt_resume (U32 sleep_time) { + /* Resume OS scheduler after suspend */ + P_TCB next; + U32 delta; + + os_tsk.run->state = READY; + rt_put_rdy_first (os_tsk.run); + + os_robin.task = NULL; + + /* Update delays. */ + if (os_dly.p_dlnk) { + delta = sleep_time; + if (delta >= os_dly.delta_time) { + delta -= os_dly.delta_time; + os_time += os_dly.delta_time; + os_dly.delta_time = 1; + while (os_dly.p_dlnk) { + rt_dec_dly(); + if (delta == 0) break; + delta--; + os_time++; + } + } else { + os_time += delta; + os_dly.delta_time -= delta; + } + } else { + os_time += sleep_time; + } + +#ifndef __CMSIS_RTOS + /* Check the user timers. */ + if (os_tmr.next) { + delta = sleep_time; + if (delta >= os_tmr.tcnt) { + delta -= os_tmr.tcnt; + os_tmr.tcnt = 1; + while (os_tmr.next) { + rt_tmr_tick(); + if (delta == 0) break; + delta--; + } + } else { + os_tmr.tcnt -= delta; + } + } +#endif + + /* Switch back to highest ready task */ + next = rt_get_first (&os_rdy); + rt_switch_req (next); + + rt_tsk_unlock(); +} + + +/*--------------------------- rt_tsk_lock -----------------------------------*/ + +void rt_tsk_lock (void) { + /* Prevent task switching by locking out scheduler */ + if (os_tick_irqn < 0) { + OS_LOCK(); + os_lock = __TRUE; + OS_UNPEND (&pend_flags); + } else { + OS_X_LOCK(os_tick_irqn); + os_lock = __TRUE; + OS_X_UNPEND (&pend_flags); + } +} + + +/*--------------------------- rt_tsk_unlock ---------------------------------*/ + +void rt_tsk_unlock (void) { + /* Unlock scheduler and re-enable task switching */ + if (os_tick_irqn < 0) { + OS_UNLOCK(); + os_lock = __FALSE; + OS_PEND (pend_flags, os_psh_flag); + os_psh_flag = __FALSE; + } else { + OS_X_UNLOCK(os_tick_irqn); + os_lock = __FALSE; + OS_X_PEND (pend_flags, os_psh_flag); + os_psh_flag = __FALSE; + } +} + + +/*--------------------------- rt_psh_req ------------------------------------*/ + +void rt_psh_req (void) { + /* Initiate a post service handling request if required. */ + if (os_lock == __FALSE) { + OS_PEND_IRQ (); + } + else { + os_psh_flag = __TRUE; + } +} + + +/*--------------------------- rt_pop_req ------------------------------------*/ + +void rt_pop_req (void) { + /* Process an ISR post service requests. */ + struct OS_XCB *p_CB; + P_TCB next; + U32 idx; + + os_tsk.run->state = READY; + rt_put_rdy_first (os_tsk.run); + + idx = os_psq->last; + while (os_psq->count) { + p_CB = os_psq->q[idx].id; + if (p_CB->cb_type == TCB) { + /* Is of TCB type */ + rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg); + } + else if (p_CB->cb_type == MCB) { + /* Is of MCB type */ + rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg); + } + else { + /* Must be of SCB type */ + rt_sem_psh ((P_SCB)p_CB); + } + if (++idx == os_psq->size) idx = 0; + rt_dec (&os_psq->count); + } + os_psq->last = idx; + + next = rt_get_first (&os_rdy); + rt_switch_req (next); +} + + +/*--------------------------- os_tick_init ----------------------------------*/ + +__weak int os_tick_init (void) { + /* Initialize SysTick timer as system tick timer. */ + rt_systick_init (); + return (-1); /* Return IRQ number of SysTick timer */ +} + + +/*--------------------------- os_tick_irqack --------------------------------*/ + +__weak void os_tick_irqack (void) { + /* Acknowledge timer interrupt. */ +} + + +/*--------------------------- rt_systick ------------------------------------*/ + +extern void sysTimerTick(void); + +void rt_systick (void) { + /* Check for system clock update, suspend running task. */ + P_TCB next; + + os_tsk.run->state = READY; + rt_put_rdy_first (os_tsk.run); + + /* Check Round Robin timeout. */ + rt_chk_robin (); + + /* Update delays. */ + os_time++; + rt_dec_dly (); + + /* Check the user timers. */ +#ifdef __CMSIS_RTOS + sysTimerTick(); +#else + rt_tmr_tick (); +#endif + + /* Switch back to highest ready task */ + next = rt_get_first (&os_rdy); + rt_switch_req (next); +} + +/*--------------------------- rt_stk_check ----------------------------------*/ +__weak void rt_stk_check (void) { + /* Check for stack overflow. */ + if (os_tsk.run->task_id == 0x01) { + // TODO: For the main thread the check should be done against the main heap pointer + } else { + if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) || + (os_tsk.run->stack[0] != MAGIC_WORD)) { + os_error (OS_ERR_STK_OVF); + } + } +} + +/*---------------------------------------------------------------------------- + * end of file + *---------------------------------------------------------------------------*/ +