User | Revision | Line number | New contents of line |
mbed714 |
0:331db0b44b67
|
1
|
//******************************************************************************
|
mbed714 |
0:331db0b44b67
|
2
|
//*
|
mbed714 |
0:331db0b44b67
|
3
|
//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
|
mbed714 |
0:331db0b44b67
|
4
|
//*
|
mbed714 |
0:331db0b44b67
|
5
|
//* NICKNAME: scmRTOS
|
mbed714 |
0:331db0b44b67
|
6
|
//*
|
mbed714 |
0:331db0b44b67
|
7
|
//* PURPOSE: OS Kernel Header. Declarations And Definitions
|
mbed714 |
0:331db0b44b67
|
8
|
//*
|
mbed714 |
0:331db0b44b67
|
9
|
//* Version: 3.10
|
mbed714 |
0:331db0b44b67
|
10
|
//*
|
mbed714 |
0:331db0b44b67
|
11
|
//* $Revision: 256 $
|
mbed714 |
0:331db0b44b67
|
12
|
//* $Date:: 2010-01-22 #$
|
mbed714 |
0:331db0b44b67
|
13
|
//*
|
mbed714 |
0:331db0b44b67
|
14
|
//* Copyright (c) 2003-2010, Harry E. Zhurov
|
mbed714 |
0:331db0b44b67
|
15
|
//*
|
mbed714 |
0:331db0b44b67
|
16
|
//* Permission is hereby granted, free of charge, to any person
|
mbed714 |
0:331db0b44b67
|
17
|
//* obtaining a copy of this software and associated documentation
|
mbed714 |
0:331db0b44b67
|
18
|
//* files (the "Software"), to deal in the Software without restriction,
|
mbed714 |
0:331db0b44b67
|
19
|
//* including without limitation the rights to use, copy, modify, merge,
|
mbed714 |
0:331db0b44b67
|
20
|
//* publish, distribute, sublicense, and/or sell copies of the Software,
|
mbed714 |
0:331db0b44b67
|
21
|
//* and to permit persons to whom the Software is furnished to do so,
|
mbed714 |
0:331db0b44b67
|
22
|
//* subject to the following conditions:
|
mbed714 |
0:331db0b44b67
|
23
|
//*
|
mbed714 |
0:331db0b44b67
|
24
|
//* The above copyright notice and this permission notice shall be included
|
mbed714 |
0:331db0b44b67
|
25
|
//* in all copies or substantial portions of the Software.
|
mbed714 |
0:331db0b44b67
|
26
|
//*
|
mbed714 |
0:331db0b44b67
|
27
|
//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
mbed714 |
0:331db0b44b67
|
28
|
//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
mbed714 |
0:331db0b44b67
|
29
|
//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
|
mbed714 |
0:331db0b44b67
|
30
|
//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
mbed714 |
0:331db0b44b67
|
31
|
//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
|
mbed714 |
0:331db0b44b67
|
32
|
//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
|
mbed714 |
0:331db0b44b67
|
33
|
//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
mbed714 |
0:331db0b44b67
|
34
|
//*
|
mbed714 |
0:331db0b44b67
|
35
|
//* =================================================================
|
mbed714 |
0:331db0b44b67
|
36
|
//* See http://scmrtos.sourceforge.net for documentation, latest
|
mbed714 |
0:331db0b44b67
|
37
|
//* information, license and contact details.
|
mbed714 |
0:331db0b44b67
|
38
|
//* =================================================================
|
mbed714 |
0:331db0b44b67
|
39
|
//*
|
mbed714 |
0:331db0b44b67
|
40
|
//*****************************************************************************
|
mbed714 |
0:331db0b44b67
|
41
|
|
mbed714 |
0:331db0b44b67
|
42
|
#ifndef OS_KERNEL_H
|
mbed714 |
0:331db0b44b67
|
43
|
#define OS_KERNEL_H
|
mbed714 |
0:331db0b44b67
|
44
|
|
mbed714 |
0:331db0b44b67
|
45
|
#include <stddef.h>
|
mbed714 |
0:331db0b44b67
|
46
|
#include <commdefs.h>
|
mbed714 |
0:331db0b44b67
|
47
|
#include <usrlib.h>
|
mbed714 |
0:331db0b44b67
|
48
|
|
mbed714 |
0:331db0b44b67
|
49
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
50
|
|
mbed714 |
0:331db0b44b67
|
51
|
//==============================================================================
|
mbed714 |
0:331db0b44b67
|
52
|
extern "C" void OS_Start(TStackItem* sp);
|
mbed714 |
0:331db0b44b67
|
53
|
|
mbed714 |
0:331db0b44b67
|
54
|
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
|
mbed714 |
0:331db0b44b67
|
55
|
extern "C" void OS_ContextSwitcher(TStackItem** Curr_SP, TStackItem* Next_SP);
|
mbed714 |
0:331db0b44b67
|
56
|
#else
|
mbed714 |
0:331db0b44b67
|
57
|
extern "C" TStackItem* OS_ContextSwitchHook(TStackItem* sp);
|
mbed714 |
0:331db0b44b67
|
58
|
#endif
|
mbed714 |
0:331db0b44b67
|
59
|
|
mbed714 |
0:331db0b44b67
|
60
|
//==============================================================================
|
mbed714 |
0:331db0b44b67
|
61
|
|
mbed714 |
0:331db0b44b67
|
62
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
63
|
//
|
mbed714 |
0:331db0b44b67
|
64
|
//
|
mbed714 |
0:331db0b44b67
|
65
|
// NAME : OS
|
mbed714 |
0:331db0b44b67
|
66
|
//
|
mbed714 |
0:331db0b44b67
|
67
|
// PURPOSE : Namespace for all OS stuff
|
mbed714 |
0:331db0b44b67
|
68
|
//
|
mbed714 |
0:331db0b44b67
|
69
|
// DESCRIPTION: Includes: Kernel,
|
mbed714 |
0:331db0b44b67
|
70
|
// Processes,
|
mbed714 |
0:331db0b44b67
|
71
|
// Mutexes,
|
mbed714 |
0:331db0b44b67
|
72
|
// Event Flags,
|
mbed714 |
0:331db0b44b67
|
73
|
// Byte-wide Channels,
|
mbed714 |
0:331db0b44b67
|
74
|
// Arbitrary-type Channels,
|
mbed714 |
0:331db0b44b67
|
75
|
// Messages
|
mbed714 |
0:331db0b44b67
|
76
|
//
|
mbed714 |
0:331db0b44b67
|
77
|
namespace OS
|
mbed714 |
0:331db0b44b67
|
78
|
{
|
mbed714 |
0:331db0b44b67
|
79
|
class TBaseProcess;
|
mbed714 |
0:331db0b44b67
|
80
|
|
mbed714 |
0:331db0b44b67
|
81
|
INLINE inline void SetPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm |= PrioTag; }
|
mbed714 |
0:331db0b44b67
|
82
|
INLINE inline void ClrPrioTag(TProcessMap& pm, const TProcessMap PrioTag) { pm &= ~PrioTag; }
|
mbed714 |
0:331db0b44b67
|
83
|
|
mbed714 |
0:331db0b44b67
|
84
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
85
|
//
|
mbed714 |
0:331db0b44b67
|
86
|
// NAME : TKernel
|
mbed714 |
0:331db0b44b67
|
87
|
//
|
mbed714 |
0:331db0b44b67
|
88
|
/// Implements kernel-level operations such as
|
mbed714 |
0:331db0b44b67
|
89
|
/// process management, process-level scheduling,
|
mbed714 |
0:331db0b44b67
|
90
|
/// ISR-level scheduling, system timing.
|
mbed714 |
0:331db0b44b67
|
91
|
//
|
mbed714 |
0:331db0b44b67
|
92
|
// DESCRIPTION:
|
mbed714 |
0:331db0b44b67
|
93
|
//
|
mbed714 |
0:331db0b44b67
|
94
|
//
|
mbed714 |
0:331db0b44b67
|
95
|
class TKernel
|
mbed714 |
0:331db0b44b67
|
96
|
{
|
mbed714 |
0:331db0b44b67
|
97
|
//-----------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
98
|
//
|
mbed714 |
0:331db0b44b67
|
99
|
// Declarations
|
mbed714 |
0:331db0b44b67
|
100
|
//
|
mbed714 |
0:331db0b44b67
|
101
|
|
mbed714 |
0:331db0b44b67
|
102
|
|
mbed714 |
0:331db0b44b67
|
103
|
friend class TISRW;
|
mbed714 |
0:331db0b44b67
|
104
|
friend class TISRW_SS;
|
mbed714 |
0:331db0b44b67
|
105
|
friend class TBaseProcess;
|
mbed714 |
0:331db0b44b67
|
106
|
friend class TMutex;
|
mbed714 |
0:331db0b44b67
|
107
|
friend class TEventFlag;
|
mbed714 |
0:331db0b44b67
|
108
|
friend class TChannel;
|
mbed714 |
0:331db0b44b67
|
109
|
friend class TBaseMessage;
|
mbed714 |
0:331db0b44b67
|
110
|
|
mbed714 |
0:331db0b44b67
|
111
|
template<typename T, word size, class S> friend class channel;
|
mbed714 |
0:331db0b44b67
|
112
|
template<typename T> friend class message;
|
mbed714 |
0:331db0b44b67
|
113
|
|
mbed714 |
0:331db0b44b67
|
114
|
friend void Run();
|
mbed714 |
0:331db0b44b67
|
115
|
friend void WakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
116
|
friend void ForceWakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
117
|
friend inline bool IsProcessSleeping(const TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
118
|
friend inline bool IsProcessSuspended(const TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
119
|
friend inline dword GetTickCount();
|
mbed714 |
0:331db0b44b67
|
120
|
|
mbed714 |
0:331db0b44b67
|
121
|
//-----------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
122
|
//
|
mbed714 |
0:331db0b44b67
|
123
|
// Data
|
mbed714 |
0:331db0b44b67
|
124
|
//
|
mbed714 |
0:331db0b44b67
|
125
|
private:
|
mbed714 |
0:331db0b44b67
|
126
|
byte CurProcPriority;
|
mbed714 |
0:331db0b44b67
|
127
|
TProcessMap ReadyProcessMap;
|
mbed714 |
0:331db0b44b67
|
128
|
TBaseProcess* ProcessTable[scmRTOS_PROCESS_COUNT+1];
|
mbed714 |
0:331db0b44b67
|
129
|
volatile byte ISR_NestCount;
|
mbed714 |
0:331db0b44b67
|
130
|
|
mbed714 |
0:331db0b44b67
|
131
|
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
|
mbed714 |
0:331db0b44b67
|
132
|
byte SchedProcPriority;
|
mbed714 |
0:331db0b44b67
|
133
|
#endif
|
mbed714 |
0:331db0b44b67
|
134
|
|
mbed714 |
0:331db0b44b67
|
135
|
#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
136
|
volatile dword SysTickCount;
|
mbed714 |
0:331db0b44b67
|
137
|
#endif
|
mbed714 |
0:331db0b44b67
|
138
|
|
mbed714 |
0:331db0b44b67
|
139
|
//-----------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
140
|
//
|
mbed714 |
0:331db0b44b67
|
141
|
// Functions
|
mbed714 |
0:331db0b44b67
|
142
|
//
|
mbed714 |
0:331db0b44b67
|
143
|
public:
|
mbed714 |
0:331db0b44b67
|
144
|
INLINE TKernel()
|
mbed714 |
0:331db0b44b67
|
145
|
: CurProcPriority(pr0)
|
mbed714 |
0:331db0b44b67
|
146
|
, ReadyProcessMap( (1 << (scmRTOS_PROCESS_COUNT + 1)) - 1) // set all processes ready
|
mbed714 |
0:331db0b44b67
|
147
|
, ISR_NestCount(0)
|
mbed714 |
0:331db0b44b67
|
148
|
{
|
mbed714 |
0:331db0b44b67
|
149
|
}
|
mbed714 |
0:331db0b44b67
|
150
|
|
mbed714 |
0:331db0b44b67
|
151
|
private:
|
mbed714 |
0:331db0b44b67
|
152
|
INLINE inline void RegisterProcess(TBaseProcess* const p);
|
mbed714 |
0:331db0b44b67
|
153
|
|
mbed714 |
0:331db0b44b67
|
154
|
void Sched();
|
mbed714 |
0:331db0b44b67
|
155
|
INLINE void Scheduler() { if(ISR_NestCount) return; else Sched(); }
|
mbed714 |
0:331db0b44b67
|
156
|
INLINE inline void SchedISR();
|
mbed714 |
0:331db0b44b67
|
157
|
|
mbed714 |
0:331db0b44b67
|
158
|
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
|
mbed714 |
0:331db0b44b67
|
159
|
INLINE inline bool IsContextSwitchDone() const volatile;
|
mbed714 |
0:331db0b44b67
|
160
|
#endif
|
mbed714 |
0:331db0b44b67
|
161
|
INLINE void SetProcessReady (const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); SetPrioTag( ReadyProcessMap, PrioTag); }
|
mbed714 |
0:331db0b44b67
|
162
|
INLINE void SetProcessUnready(const byte pr) { TProcessMap PrioTag = GetPrioTag(pr); ClrPrioTag( ReadyProcessMap, PrioTag); }
|
mbed714 |
0:331db0b44b67
|
163
|
|
mbed714 |
0:331db0b44b67
|
164
|
public:
|
mbed714 |
0:331db0b44b67
|
165
|
INLINE inline void SystemTimer();
|
mbed714 |
0:331db0b44b67
|
166
|
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 1
|
mbed714 |
0:331db0b44b67
|
167
|
INLINE inline TStackItem* ContextSwitchHook(TStackItem* sp);
|
mbed714 |
0:331db0b44b67
|
168
|
#endif
|
mbed714 |
0:331db0b44b67
|
169
|
|
mbed714 |
0:331db0b44b67
|
170
|
}; // End of TKernel class definition
|
mbed714 |
0:331db0b44b67
|
171
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
172
|
extern TKernel Kernel;
|
mbed714 |
0:331db0b44b67
|
173
|
|
mbed714 |
0:331db0b44b67
|
174
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
175
|
//
|
mbed714 |
0:331db0b44b67
|
176
|
/// BaseProcess
|
mbed714 |
0:331db0b44b67
|
177
|
///
|
mbed714 |
0:331db0b44b67
|
178
|
/// Implements base class-type for application processes
|
mbed714 |
0:331db0b44b67
|
179
|
//
|
mbed714 |
0:331db0b44b67
|
180
|
// DESCRIPTION:
|
mbed714 |
0:331db0b44b67
|
181
|
//
|
mbed714 |
0:331db0b44b67
|
182
|
//
|
mbed714 |
0:331db0b44b67
|
183
|
class TBaseProcess
|
mbed714 |
0:331db0b44b67
|
184
|
{
|
mbed714 |
0:331db0b44b67
|
185
|
friend class TKernel;
|
mbed714 |
0:331db0b44b67
|
186
|
friend class TISRW;
|
mbed714 |
0:331db0b44b67
|
187
|
friend class TISRW_SS;
|
mbed714 |
0:331db0b44b67
|
188
|
friend class TEventFlag;
|
mbed714 |
0:331db0b44b67
|
189
|
friend class TMutex;
|
mbed714 |
0:331db0b44b67
|
190
|
friend class TBaseMessage;
|
mbed714 |
0:331db0b44b67
|
191
|
|
mbed714 |
0:331db0b44b67
|
192
|
template<typename T, word size, class S> friend class channel;
|
mbed714 |
0:331db0b44b67
|
193
|
template<typename T> friend class message;
|
mbed714 |
0:331db0b44b67
|
194
|
|
mbed714 |
0:331db0b44b67
|
195
|
|
mbed714 |
0:331db0b44b67
|
196
|
friend void Run();
|
mbed714 |
0:331db0b44b67
|
197
|
friend void WakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
198
|
friend void ForceWakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
199
|
friend bool IsProcessSleeping(const TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
200
|
friend bool IsProcessSuspended(const TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
201
|
|
mbed714 |
0:331db0b44b67
|
202
|
public:
|
mbed714 |
0:331db0b44b67
|
203
|
#if SEPARATE_RETURN_STACK == 0
|
mbed714 |
0:331db0b44b67
|
204
|
TBaseProcess( TStackItem* Stack, word stack_size, TPriority pr, void (*exec)() );
|
mbed714 |
0:331db0b44b67
|
205
|
#else
|
mbed714 |
0:331db0b44b67
|
206
|
TBaseProcess( TStackItem* Stack, TStackItem* RStack, TPriority pr, void (*exec)() );
|
mbed714 |
0:331db0b44b67
|
207
|
#endif
|
mbed714 |
0:331db0b44b67
|
208
|
|
mbed714 |
0:331db0b44b67
|
209
|
static void Sleep(TTimeout timeout = 0);
|
mbed714 |
0:331db0b44b67
|
210
|
|
mbed714 |
0:331db0b44b67
|
211
|
protected:
|
mbed714 |
0:331db0b44b67
|
212
|
TStackItem* StackPointer;
|
mbed714 |
0:331db0b44b67
|
213
|
word StackSize;
|
mbed714 |
0:331db0b44b67
|
214
|
TTimeout Timeout;
|
mbed714 |
0:331db0b44b67
|
215
|
TPriority Priority;
|
mbed714 |
0:331db0b44b67
|
216
|
|
mbed714 |
0:331db0b44b67
|
217
|
};
|
mbed714 |
0:331db0b44b67
|
218
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
219
|
|
mbed714 |
0:331db0b44b67
|
220
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
221
|
//
|
mbed714 |
0:331db0b44b67
|
222
|
/// process
|
mbed714 |
0:331db0b44b67
|
223
|
///
|
mbed714 |
0:331db0b44b67
|
224
|
/// Implements template for application processes instantiation
|
mbed714 |
0:331db0b44b67
|
225
|
//
|
mbed714 |
0:331db0b44b67
|
226
|
// DESCRIPTION:
|
mbed714 |
0:331db0b44b67
|
227
|
//
|
mbed714 |
0:331db0b44b67
|
228
|
//
|
mbed714 |
0:331db0b44b67
|
229
|
#if SEPARATE_RETURN_STACK == 0
|
mbed714 |
0:331db0b44b67
|
230
|
|
mbed714 |
0:331db0b44b67
|
231
|
template<TPriority pr, word stack_size>
|
mbed714 |
0:331db0b44b67
|
232
|
class process : public TBaseProcess
|
mbed714 |
0:331db0b44b67
|
233
|
{
|
mbed714 |
0:331db0b44b67
|
234
|
public:
|
mbed714 |
0:331db0b44b67
|
235
|
INLINE_PROCESS_CTOR process();
|
mbed714 |
0:331db0b44b67
|
236
|
#ifdef DEBUG_STACK
|
mbed714 |
0:331db0b44b67
|
237
|
word UsedStackSize();
|
mbed714 |
0:331db0b44b67
|
238
|
#endif //DEBUG_STACK
|
mbed714 |
0:331db0b44b67
|
239
|
OS_PROCESS static void Exec();
|
mbed714 |
0:331db0b44b67
|
240
|
|
mbed714 |
0:331db0b44b67
|
241
|
private:
|
mbed714 |
0:331db0b44b67
|
242
|
TStackItem Stack[stack_size/sizeof(TStackItem)];
|
mbed714 |
0:331db0b44b67
|
243
|
};
|
mbed714 |
0:331db0b44b67
|
244
|
|
mbed714 |
0:331db0b44b67
|
245
|
template<TPriority pr, word stack_size>
|
mbed714 |
0:331db0b44b67
|
246
|
OS::process<pr, stack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
|
mbed714 |
0:331db0b44b67
|
247
|
, stack_size // debug
|
mbed714 |
0:331db0b44b67
|
248
|
, pr
|
mbed714 |
0:331db0b44b67
|
249
|
, reinterpret_cast<void (*)()>(Exec) )
|
mbed714 |
0:331db0b44b67
|
250
|
{
|
mbed714 |
0:331db0b44b67
|
251
|
}
|
mbed714 |
0:331db0b44b67
|
252
|
#ifdef DEBUG_STACK
|
mbed714 |
0:331db0b44b67
|
253
|
template<TPriority pr, word stack_size>
|
mbed714 |
0:331db0b44b67
|
254
|
word process<pr,stack_size>::UsedStackSize()
|
mbed714 |
0:331db0b44b67
|
255
|
{
|
mbed714 |
0:331db0b44b67
|
256
|
TStackItem* Idx = Stack;
|
mbed714 |
0:331db0b44b67
|
257
|
while(*(Idx++) == STACK_FILL_CONST);
|
mbed714 |
0:331db0b44b67
|
258
|
return ((Stack + (StackSize/sizeof(TStackItem))) - Idx)*sizeof(TStackItem);
|
mbed714 |
0:331db0b44b67
|
259
|
}
|
mbed714 |
0:331db0b44b67
|
260
|
#endif //DEBUG_STACK
|
mbed714 |
0:331db0b44b67
|
261
|
#else
|
mbed714 |
0:331db0b44b67
|
262
|
|
mbed714 |
0:331db0b44b67
|
263
|
template<TPriority pr, word stack_size, word rstack_size>
|
mbed714 |
0:331db0b44b67
|
264
|
class process : public TBaseProcess
|
mbed714 |
0:331db0b44b67
|
265
|
{
|
mbed714 |
0:331db0b44b67
|
266
|
public:
|
mbed714 |
0:331db0b44b67
|
267
|
INLINE_PROCESS_CTOR process();
|
mbed714 |
0:331db0b44b67
|
268
|
|
mbed714 |
0:331db0b44b67
|
269
|
OS_PROCESS static void Exec();
|
mbed714 |
0:331db0b44b67
|
270
|
|
mbed714 |
0:331db0b44b67
|
271
|
private:
|
mbed714 |
0:331db0b44b67
|
272
|
TStackItem Stack [stack_size/sizeof(TStackItem)];
|
mbed714 |
0:331db0b44b67
|
273
|
TStackItem RStack[rstack_size/sizeof(TStackItem)];
|
mbed714 |
0:331db0b44b67
|
274
|
};
|
mbed714 |
0:331db0b44b67
|
275
|
|
mbed714 |
0:331db0b44b67
|
276
|
template<TPriority pr, word stack_size, word rstack_size>
|
mbed714 |
0:331db0b44b67
|
277
|
process<pr, stack_size, rstack_size>::process() : TBaseProcess( &Stack[stack_size/sizeof(TStackItem)]
|
mbed714 |
0:331db0b44b67
|
278
|
, &RStack[rstack_size/sizeof(TStackItem)]
|
mbed714 |
0:331db0b44b67
|
279
|
, pr
|
mbed714 |
0:331db0b44b67
|
280
|
, reinterpret_cast<void (*)()>(Exec))
|
mbed714 |
0:331db0b44b67
|
281
|
{
|
mbed714 |
0:331db0b44b67
|
282
|
}
|
mbed714 |
0:331db0b44b67
|
283
|
|
mbed714 |
0:331db0b44b67
|
284
|
#endif
|
mbed714 |
0:331db0b44b67
|
285
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
286
|
|
mbed714 |
0:331db0b44b67
|
287
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
288
|
//
|
mbed714 |
0:331db0b44b67
|
289
|
// Miscellaneous
|
mbed714 |
0:331db0b44b67
|
290
|
//
|
mbed714 |
0:331db0b44b67
|
291
|
//
|
mbed714 |
0:331db0b44b67
|
292
|
INLINE inline void Run();
|
mbed714 |
0:331db0b44b67
|
293
|
INLINE inline void LockSystemTimer() { TCritSect cs; LOCK_SYSTEM_TIMER(); }
|
mbed714 |
0:331db0b44b67
|
294
|
INLINE inline void UnlockSystemTimer() { TCritSect cs; UNLOCK_SYSTEM_TIMER(); }
|
mbed714 |
0:331db0b44b67
|
295
|
void WakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
296
|
void ForceWakeUpProcess(TBaseProcess& p);
|
mbed714 |
0:331db0b44b67
|
297
|
INLINE inline void Sleep(TTimeout t = 0) { TBaseProcess::Sleep(t); }
|
mbed714 |
0:331db0b44b67
|
298
|
|
mbed714 |
0:331db0b44b67
|
299
|
INLINE inline bool IsProcessSleeping(const TBaseProcess& p)
|
mbed714 |
0:331db0b44b67
|
300
|
{
|
mbed714 |
0:331db0b44b67
|
301
|
TCritSect cs;
|
mbed714 |
0:331db0b44b67
|
302
|
if(p.Timeout)
|
mbed714 |
0:331db0b44b67
|
303
|
return true;
|
mbed714 |
0:331db0b44b67
|
304
|
else
|
mbed714 |
0:331db0b44b67
|
305
|
return false;
|
mbed714 |
0:331db0b44b67
|
306
|
}
|
mbed714 |
0:331db0b44b67
|
307
|
|
mbed714 |
0:331db0b44b67
|
308
|
INLINE inline bool IsProcessSuspended(const TBaseProcess& p)
|
mbed714 |
0:331db0b44b67
|
309
|
{
|
mbed714 |
0:331db0b44b67
|
310
|
TCritSect cs;
|
mbed714 |
0:331db0b44b67
|
311
|
if(Kernel.ReadyProcessMap & GetPrioTag(p.Priority))
|
mbed714 |
0:331db0b44b67
|
312
|
return false;
|
mbed714 |
0:331db0b44b67
|
313
|
else
|
mbed714 |
0:331db0b44b67
|
314
|
return true;
|
mbed714 |
0:331db0b44b67
|
315
|
}
|
mbed714 |
0:331db0b44b67
|
316
|
//--------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
317
|
|
mbed714 |
0:331db0b44b67
|
318
|
#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
319
|
INLINE inline dword GetTickCount() { TCritSect cs; return Kernel.SysTickCount; }
|
mbed714 |
0:331db0b44b67
|
320
|
#endif
|
mbed714 |
0:331db0b44b67
|
321
|
|
mbed714 |
0:331db0b44b67
|
322
|
#if scmRTOS_SYSTIMER_HOOK_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
323
|
INLINE_SYS_TIMER_HOOK void SystemTimerUserHook();
|
mbed714 |
0:331db0b44b67
|
324
|
#endif
|
mbed714 |
0:331db0b44b67
|
325
|
|
mbed714 |
0:331db0b44b67
|
326
|
#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
327
|
INLINE_CONTEXT_SWITCH_HOOK void ContextSwitchUserHook();
|
mbed714 |
0:331db0b44b67
|
328
|
#endif
|
mbed714 |
0:331db0b44b67
|
329
|
|
mbed714 |
0:331db0b44b67
|
330
|
}
|
mbed714 |
0:331db0b44b67
|
331
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
332
|
|
mbed714 |
0:331db0b44b67
|
333
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
334
|
//
|
mbed714 |
0:331db0b44b67
|
335
|
/// Register Process
|
mbed714 |
0:331db0b44b67
|
336
|
///
|
mbed714 |
0:331db0b44b67
|
337
|
/// Places pointer to process in kernel's process table
|
mbed714 |
0:331db0b44b67
|
338
|
//
|
mbed714 |
0:331db0b44b67
|
339
|
void OS::TKernel::RegisterProcess(OS::TBaseProcess* const p)
|
mbed714 |
0:331db0b44b67
|
340
|
{
|
mbed714 |
0:331db0b44b67
|
341
|
ProcessTable[p->Priority] = p;
|
mbed714 |
0:331db0b44b67
|
342
|
}
|
mbed714 |
0:331db0b44b67
|
343
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
344
|
//
|
mbed714 |
0:331db0b44b67
|
345
|
/// System Timer Implementation
|
mbed714 |
0:331db0b44b67
|
346
|
///
|
mbed714 |
0:331db0b44b67
|
347
|
/// Performs process's timeouts checking and
|
mbed714 |
0:331db0b44b67
|
348
|
/// moving processes to ready-to-run state
|
mbed714 |
0:331db0b44b67
|
349
|
//
|
mbed714 |
0:331db0b44b67
|
350
|
void OS::TKernel::SystemTimer()
|
mbed714 |
0:331db0b44b67
|
351
|
{
|
mbed714 |
0:331db0b44b67
|
352
|
SYS_TIMER_CRIT_SECT();
|
mbed714 |
0:331db0b44b67
|
353
|
#if scmRTOS_SYSTEM_TICKS_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
354
|
SysTickCount++;
|
mbed714 |
0:331db0b44b67
|
355
|
#endif
|
mbed714 |
0:331db0b44b67
|
356
|
|
mbed714 |
0:331db0b44b67
|
357
|
#if scmRTOS_PRIORITY_ORDER == 0
|
mbed714 |
0:331db0b44b67
|
358
|
const byte BaseIndex = 0;
|
mbed714 |
0:331db0b44b67
|
359
|
#else
|
mbed714 |
0:331db0b44b67
|
360
|
const byte BaseIndex = 1;
|
mbed714 |
0:331db0b44b67
|
361
|
#endif
|
mbed714 |
0:331db0b44b67
|
362
|
|
mbed714 |
0:331db0b44b67
|
363
|
for(byte i = BaseIndex; i < (scmRTOS_PROCESS_COUNT + BaseIndex); i++)
|
mbed714 |
0:331db0b44b67
|
364
|
{
|
mbed714 |
0:331db0b44b67
|
365
|
TBaseProcess* p = ProcessTable[i];
|
mbed714 |
0:331db0b44b67
|
366
|
|
mbed714 |
0:331db0b44b67
|
367
|
if(p->Timeout > 0)
|
mbed714 |
0:331db0b44b67
|
368
|
{
|
mbed714 |
0:331db0b44b67
|
369
|
if(--p->Timeout == 0)
|
mbed714 |
0:331db0b44b67
|
370
|
{
|
mbed714 |
0:331db0b44b67
|
371
|
SetProcessReady(p->Priority);
|
mbed714 |
0:331db0b44b67
|
372
|
}
|
mbed714 |
0:331db0b44b67
|
373
|
}
|
mbed714 |
0:331db0b44b67
|
374
|
}
|
mbed714 |
0:331db0b44b67
|
375
|
}
|
mbed714 |
0:331db0b44b67
|
376
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
377
|
//
|
mbed714 |
0:331db0b44b67
|
378
|
/// ISR optimized scheduler
|
mbed714 |
0:331db0b44b67
|
379
|
///
|
mbed714 |
0:331db0b44b67
|
380
|
/// !!! IMPORTANT: This function must be call from ISR services only !!!
|
mbed714 |
0:331db0b44b67
|
381
|
//
|
mbed714 |
0:331db0b44b67
|
382
|
//
|
mbed714 |
0:331db0b44b67
|
383
|
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0
|
mbed714 |
0:331db0b44b67
|
384
|
void OS::TKernel::SchedISR()
|
mbed714 |
0:331db0b44b67
|
385
|
{
|
mbed714 |
0:331db0b44b67
|
386
|
byte NextPrty = GetHighPriority(ReadyProcessMap);
|
mbed714 |
0:331db0b44b67
|
387
|
if(NextPrty != CurProcPriority)
|
mbed714 |
0:331db0b44b67
|
388
|
{
|
mbed714 |
0:331db0b44b67
|
389
|
TStackItem* Next_SP = ProcessTable[NextPrty]->StackPointer;
|
mbed714 |
0:331db0b44b67
|
390
|
TStackItem** Curr_SP_addr = &(ProcessTable[CurProcPriority]->StackPointer);
|
mbed714 |
0:331db0b44b67
|
391
|
CurProcPriority = NextPrty;
|
mbed714 |
0:331db0b44b67
|
392
|
OS_ContextSwitcher(Curr_SP_addr, Next_SP);
|
mbed714 |
0:331db0b44b67
|
393
|
}
|
mbed714 |
0:331db0b44b67
|
394
|
}
|
mbed714 |
0:331db0b44b67
|
395
|
#else
|
mbed714 |
0:331db0b44b67
|
396
|
void OS::TKernel::SchedISR()
|
mbed714 |
0:331db0b44b67
|
397
|
{
|
mbed714 |
0:331db0b44b67
|
398
|
byte NextPrty = GetHighPriority(ReadyProcessMap);
|
mbed714 |
0:331db0b44b67
|
399
|
if(NextPrty != CurProcPriority)
|
mbed714 |
0:331db0b44b67
|
400
|
{
|
mbed714 |
0:331db0b44b67
|
401
|
SchedProcPriority = NextPrty;
|
mbed714 |
0:331db0b44b67
|
402
|
RaiseContextSwitch();
|
mbed714 |
0:331db0b44b67
|
403
|
}
|
mbed714 |
0:331db0b44b67
|
404
|
}
|
mbed714 |
0:331db0b44b67
|
405
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
406
|
bool OS::TKernel::IsContextSwitchDone() const volatile
|
mbed714 |
0:331db0b44b67
|
407
|
{
|
mbed714 |
0:331db0b44b67
|
408
|
byte cur = CurProcPriority; ///< reading to temporary vars is performed due to
|
mbed714 |
0:331db0b44b67
|
409
|
byte sched = SchedProcPriority; ///< suppress warning about order of volatile access
|
mbed714 |
0:331db0b44b67
|
410
|
return cur == sched;
|
mbed714 |
0:331db0b44b67
|
411
|
}
|
mbed714 |
0:331db0b44b67
|
412
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
413
|
TStackItem* OS::TKernel::ContextSwitchHook(TStackItem* sp)
|
mbed714 |
0:331db0b44b67
|
414
|
{
|
mbed714 |
0:331db0b44b67
|
415
|
ProcessTable[CurProcPriority]->StackPointer = sp;
|
mbed714 |
0:331db0b44b67
|
416
|
sp = ProcessTable[SchedProcPriority]->StackPointer;
|
mbed714 |
0:331db0b44b67
|
417
|
|
mbed714 |
0:331db0b44b67
|
418
|
#if scmRTOS_CONTEXT_SWITCH_USER_HOOK_ENABLE == 1
|
mbed714 |
0:331db0b44b67
|
419
|
ContextSwitchUserHook();
|
mbed714 |
0:331db0b44b67
|
420
|
#endif
|
mbed714 |
0:331db0b44b67
|
421
|
|
mbed714 |
0:331db0b44b67
|
422
|
CurProcPriority = SchedProcPriority;
|
mbed714 |
0:331db0b44b67
|
423
|
return sp;
|
mbed714 |
0:331db0b44b67
|
424
|
}
|
mbed714 |
0:331db0b44b67
|
425
|
//------------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
426
|
#endif // scmRTOS_CONTEXT_SWITCH_SCHEME
|
mbed714 |
0:331db0b44b67
|
427
|
|
mbed714 |
0:331db0b44b67
|
428
|
//-----------------------------------------------------------------------------
|
mbed714 |
0:331db0b44b67
|
429
|
/// Start Operation
|
mbed714 |
0:331db0b44b67
|
430
|
INLINE inline void OS::Run()
|
mbed714 |
0:331db0b44b67
|
431
|
{
|
mbed714 |
0:331db0b44b67
|
432
|
TStackItem* sp = Kernel.ProcessTable[pr0]->StackPointer;
|
mbed714 |
0:331db0b44b67
|
433
|
OS_Start(sp);
|
mbed714 |
0:331db0b44b67
|
434
|
}
|
mbed714 |
0:331db0b44b67
|
435
|
|
mbed714 |
0:331db0b44b67
|
436
|
#include <OS_Services.h>
|
mbed714 |
0:331db0b44b67
|
437
|
|
mbed714 |
0:331db0b44b67
|
438
|
#endif // OS_KERNEL_H
|
mbed714 |
0:331db0b44b67
|
439
|
|