Austin Blackstone / Mbed 2 deprecated client-lwip-lightswitch-demo-expanded

mbed client lightswitch demo

Dependencies:   mbed Socket lwip-eth lwip-sys lwip

Fork of mbed-client-classic-example-lwip by Austin Blackstone

mbed-rtos/rtx/TARGET_CORTEX_A/rt_Task.c@11:cada08fc8a70, 2016-06-09 (annotated)

Committer:
mbedAustin
Date:
Thu Jun 09 17:08:36 2016 +0000
Revision:
11:cada08fc8a70
Commit for public Consumption

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedAustin 11:cada08fc8a70 1 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 2 * RL-ARM - RTX
mbedAustin 11:cada08fc8a70 3 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 4 * Name: RT_TASK.C
mbedAustin 11:cada08fc8a70 5 * Purpose: Task functions and system start up.
mbedAustin 11:cada08fc8a70 6 * Rev.: V4.73
mbedAustin 11:cada08fc8a70 7 *----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 8 *
mbedAustin 11:cada08fc8a70 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
mbedAustin 11:cada08fc8a70 10 * All rights reserved.
mbedAustin 11:cada08fc8a70 11 * Redistribution and use in source and binary forms, with or without
mbedAustin 11:cada08fc8a70 12 * modification, are permitted provided that the following conditions are met:
mbedAustin 11:cada08fc8a70 13 * - Redistributions of source code must retain the above copyright
mbedAustin 11:cada08fc8a70 14 * notice, this list of conditions and the following disclaimer.
mbedAustin 11:cada08fc8a70 15 * - Redistributions in binary form must reproduce the above copyright
mbedAustin 11:cada08fc8a70 16 * notice, this list of conditions and the following disclaimer in the
mbedAustin 11:cada08fc8a70 17 * documentation and/or other materials provided with the distribution.
mbedAustin 11:cada08fc8a70 18 * - Neither the name of ARM nor the names of its contributors may be used
mbedAustin 11:cada08fc8a70 19 * to endorse or promote products derived from this software without
mbedAustin 11:cada08fc8a70 20 * specific prior written permission.
mbedAustin 11:cada08fc8a70 21 *
mbedAustin 11:cada08fc8a70 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbedAustin 11:cada08fc8a70 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbedAustin 11:cada08fc8a70 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbedAustin 11:cada08fc8a70 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbedAustin 11:cada08fc8a70 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbedAustin 11:cada08fc8a70 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbedAustin 11:cada08fc8a70 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbedAustin 11:cada08fc8a70 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbedAustin 11:cada08fc8a70 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbedAustin 11:cada08fc8a70 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbedAustin 11:cada08fc8a70 32 * POSSIBILITY OF SUCH DAMAGE.
mbedAustin 11:cada08fc8a70 33 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 34
mbedAustin 11:cada08fc8a70 35 #include "rt_TypeDef.h"
mbedAustin 11:cada08fc8a70 36 #include "RTX_Config.h"
mbedAustin 11:cada08fc8a70 37 #include "rt_System.h"
mbedAustin 11:cada08fc8a70 38 #include "rt_Task.h"
mbedAustin 11:cada08fc8a70 39 #include "rt_List.h"
mbedAustin 11:cada08fc8a70 40 #include "rt_MemBox.h"
mbedAustin 11:cada08fc8a70 41 #include "rt_Robin.h"
mbedAustin 11:cada08fc8a70 42 #ifdef __CORTEX_A9
mbedAustin 11:cada08fc8a70 43 #include "rt_HAL_CA.h"
mbedAustin 11:cada08fc8a70 44 #else
mbedAustin 11:cada08fc8a70 45 #include "rt_HAL_CM.h"
mbedAustin 11:cada08fc8a70 46 #endif
mbedAustin 11:cada08fc8a70 47
mbedAustin 11:cada08fc8a70 48 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 49 * Global Variables
mbedAustin 11:cada08fc8a70 50 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 51
mbedAustin 11:cada08fc8a70 52 /* Running and next task info. */
mbedAustin 11:cada08fc8a70 53 struct OS_TSK os_tsk;
mbedAustin 11:cada08fc8a70 54
mbedAustin 11:cada08fc8a70 55 /* Task Control Blocks of idle demon */
mbedAustin 11:cada08fc8a70 56 struct OS_TCB os_idle_TCB;
mbedAustin 11:cada08fc8a70 57
mbedAustin 11:cada08fc8a70 58
mbedAustin 11:cada08fc8a70 59 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 60 * Local Functions
mbedAustin 11:cada08fc8a70 61 *---------------------------------------------------------------------------*/
mbedAustin 11:cada08fc8a70 62
mbedAustin 11:cada08fc8a70 63 static OS_TID rt_get_TID (void) {
mbedAustin 11:cada08fc8a70 64 U32 tid;
mbedAustin 11:cada08fc8a70 65
mbedAustin 11:cada08fc8a70 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbedAustin 11:cada08fc8a70 67 if (os_active_TCB[tid-1] == NULL) {
mbedAustin 11:cada08fc8a70 68 return ((OS_TID)tid);
mbedAustin 11:cada08fc8a70 69 }
mbedAustin 11:cada08fc8a70 70 }
mbedAustin 11:cada08fc8a70 71 return (0);
mbedAustin 11:cada08fc8a70 72 }
mbedAustin 11:cada08fc8a70 73
mbedAustin 11:cada08fc8a70 74
mbedAustin 11:cada08fc8a70 75 /*--------------------------- rt_init_context -------------------------------*/
mbedAustin 11:cada08fc8a70 76
mbedAustin 11:cada08fc8a70 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbedAustin 11:cada08fc8a70 78 /* Initialize general part of the Task Control Block. */
mbedAustin 11:cada08fc8a70 79 p_TCB->cb_type = TCB;
mbedAustin 11:cada08fc8a70 80 p_TCB->state = READY;
mbedAustin 11:cada08fc8a70 81 p_TCB->prio = priority;
mbedAustin 11:cada08fc8a70 82 p_TCB->prio_base = priority;
mbedAustin 11:cada08fc8a70 83 p_TCB->p_lnk = NULL;
mbedAustin 11:cada08fc8a70 84 p_TCB->p_rlnk = NULL;
mbedAustin 11:cada08fc8a70 85 p_TCB->p_dlnk = NULL;
mbedAustin 11:cada08fc8a70 86 p_TCB->p_blnk = NULL;
mbedAustin 11:cada08fc8a70 87 p_TCB->p_mlnk = NULL;
mbedAustin 11:cada08fc8a70 88 p_TCB->delta_time = 0;
mbedAustin 11:cada08fc8a70 89 p_TCB->interval_time = 0;
mbedAustin 11:cada08fc8a70 90 p_TCB->events = 0;
mbedAustin 11:cada08fc8a70 91 p_TCB->waits = 0;
mbedAustin 11:cada08fc8a70 92 p_TCB->stack_frame = 0;
mbedAustin 11:cada08fc8a70 93
mbedAustin 11:cada08fc8a70 94 if (p_TCB->priv_stack == 0) {
mbedAustin 11:cada08fc8a70 95 /* Allocate the memory space for the stack. */
mbedAustin 11:cada08fc8a70 96 p_TCB->stack = rt_alloc_box (mp_stk);
mbedAustin 11:cada08fc8a70 97 }
mbedAustin 11:cada08fc8a70 98 rt_init_stack (p_TCB, task_body);
mbedAustin 11:cada08fc8a70 99 }
mbedAustin 11:cada08fc8a70 100
mbedAustin 11:cada08fc8a70 101
mbedAustin 11:cada08fc8a70 102 /*--------------------------- rt_switch_req ---------------------------------*/
mbedAustin 11:cada08fc8a70 103
mbedAustin 11:cada08fc8a70 104 void rt_switch_req (P_TCB p_new) {
mbedAustin 11:cada08fc8a70 105 /* Switch to next task (identified by "p_new"). */
mbedAustin 11:cada08fc8a70 106 os_tsk.new_tsk = p_new;
mbedAustin 11:cada08fc8a70 107 p_new->state = RUNNING;
mbedAustin 11:cada08fc8a70 108 DBG_TASK_SWITCH(p_new->task_id);
mbedAustin 11:cada08fc8a70 109 }
mbedAustin 11:cada08fc8a70 110
mbedAustin 11:cada08fc8a70 111
mbedAustin 11:cada08fc8a70 112 /*--------------------------- rt_dispatch -----------------------------------*/
mbedAustin 11:cada08fc8a70 113
mbedAustin 11:cada08fc8a70 114 void rt_dispatch (P_TCB next_TCB) {
mbedAustin 11:cada08fc8a70 115 /* Dispatch next task if any identified or dispatch highest ready task */
mbedAustin 11:cada08fc8a70 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbedAustin 11:cada08fc8a70 117 if (next_TCB == NULL) {
mbedAustin 11:cada08fc8a70 118 /* Running task was blocked: continue with highest ready task */
mbedAustin 11:cada08fc8a70 119 next_TCB = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 120 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 121 }
mbedAustin 11:cada08fc8a70 122 else {
mbedAustin 11:cada08fc8a70 123 /* Check which task continues */
mbedAustin 11:cada08fc8a70 124 if (next_TCB->prio > os_tsk.run->prio) {
mbedAustin 11:cada08fc8a70 125 /* preempt running task */
mbedAustin 11:cada08fc8a70 126 rt_put_rdy_first (os_tsk.run);
mbedAustin 11:cada08fc8a70 127 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 128 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 129 }
mbedAustin 11:cada08fc8a70 130 else {
mbedAustin 11:cada08fc8a70 131 /* put next task into ready list, no task switch takes place */
mbedAustin 11:cada08fc8a70 132 next_TCB->state = READY;
mbedAustin 11:cada08fc8a70 133 rt_put_prio (&os_rdy, next_TCB);
mbedAustin 11:cada08fc8a70 134 }
mbedAustin 11:cada08fc8a70 135 }
mbedAustin 11:cada08fc8a70 136 }
mbedAustin 11:cada08fc8a70 137
mbedAustin 11:cada08fc8a70 138
mbedAustin 11:cada08fc8a70 139 /*--------------------------- rt_block --------------------------------------*/
mbedAustin 11:cada08fc8a70 140
mbedAustin 11:cada08fc8a70 141 void rt_block (U16 timeout, U8 block_state) {
mbedAustin 11:cada08fc8a70 142 /* Block running task and choose next ready task. */
mbedAustin 11:cada08fc8a70 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbedAustin 11:cada08fc8a70 144 /* "block_state" defines the appropriate task state */
mbedAustin 11:cada08fc8a70 145 P_TCB next_TCB;
mbedAustin 11:cada08fc8a70 146
mbedAustin 11:cada08fc8a70 147 if (timeout) {
mbedAustin 11:cada08fc8a70 148 if (timeout < 0xffff) {
mbedAustin 11:cada08fc8a70 149 rt_put_dly (os_tsk.run, timeout);
mbedAustin 11:cada08fc8a70 150 }
mbedAustin 11:cada08fc8a70 151 os_tsk.run->state = block_state;
mbedAustin 11:cada08fc8a70 152 next_TCB = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 153 rt_switch_req (next_TCB);
mbedAustin 11:cada08fc8a70 154 }
mbedAustin 11:cada08fc8a70 155 }
mbedAustin 11:cada08fc8a70 156
mbedAustin 11:cada08fc8a70 157
mbedAustin 11:cada08fc8a70 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbedAustin 11:cada08fc8a70 159
mbedAustin 11:cada08fc8a70 160 void rt_tsk_pass (void) {
mbedAustin 11:cada08fc8a70 161 /* Allow tasks of same priority level to run cooperatively.*/
mbedAustin 11:cada08fc8a70 162 P_TCB p_new;
mbedAustin 11:cada08fc8a70 163
mbedAustin 11:cada08fc8a70 164 p_new = rt_get_same_rdy_prio();
mbedAustin 11:cada08fc8a70 165 if (p_new != NULL) {
mbedAustin 11:cada08fc8a70 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbedAustin 11:cada08fc8a70 167 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 168 rt_switch_req (p_new);
mbedAustin 11:cada08fc8a70 169 }
mbedAustin 11:cada08fc8a70 170 }
mbedAustin 11:cada08fc8a70 171
mbedAustin 11:cada08fc8a70 172
mbedAustin 11:cada08fc8a70 173 /*--------------------------- rt_tsk_self -----------------------------------*/
mbedAustin 11:cada08fc8a70 174
mbedAustin 11:cada08fc8a70 175 OS_TID rt_tsk_self (void) {
mbedAustin 11:cada08fc8a70 176 /* Return own task identifier value. */
mbedAustin 11:cada08fc8a70 177 if (os_tsk.run == NULL) {
mbedAustin 11:cada08fc8a70 178 return (0);
mbedAustin 11:cada08fc8a70 179 }
mbedAustin 11:cada08fc8a70 180 return (os_tsk.run->task_id);
mbedAustin 11:cada08fc8a70 181 }
mbedAustin 11:cada08fc8a70 182
mbedAustin 11:cada08fc8a70 183
mbedAustin 11:cada08fc8a70 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbedAustin 11:cada08fc8a70 185
mbedAustin 11:cada08fc8a70 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbedAustin 11:cada08fc8a70 187 /* Change execution priority of a task to "new_prio". */
mbedAustin 11:cada08fc8a70 188 P_TCB p_task;
mbedAustin 11:cada08fc8a70 189
mbedAustin 11:cada08fc8a70 190 if (task_id == 0) {
mbedAustin 11:cada08fc8a70 191 /* Change execution priority of calling task. */
mbedAustin 11:cada08fc8a70 192 os_tsk.run->prio = new_prio;
mbedAustin 11:cada08fc8a70 193 os_tsk.run->prio_base = new_prio;
mbedAustin 11:cada08fc8a70 194 run:if (rt_rdy_prio() > new_prio) {
mbedAustin 11:cada08fc8a70 195 rt_put_prio (&os_rdy, os_tsk.run);
mbedAustin 11:cada08fc8a70 196 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 197 rt_dispatch (NULL);
mbedAustin 11:cada08fc8a70 198 }
mbedAustin 11:cada08fc8a70 199 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 200 }
mbedAustin 11:cada08fc8a70 201
mbedAustin 11:cada08fc8a70 202 /* Find the task in the "os_active_TCB" array. */
mbedAustin 11:cada08fc8a70 203 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbedAustin 11:cada08fc8a70 204 /* Task with "task_id" not found or not started. */
mbedAustin 11:cada08fc8a70 205 return (OS_R_NOK);
mbedAustin 11:cada08fc8a70 206 }
mbedAustin 11:cada08fc8a70 207 p_task = os_active_TCB[task_id-1];
mbedAustin 11:cada08fc8a70 208 p_task->prio = new_prio;
mbedAustin 11:cada08fc8a70 209 p_task->prio_base = new_prio;
mbedAustin 11:cada08fc8a70 210 if (p_task == os_tsk.run) {
mbedAustin 11:cada08fc8a70 211 goto run;
mbedAustin 11:cada08fc8a70 212 }
mbedAustin 11:cada08fc8a70 213 rt_resort_prio (p_task);
mbedAustin 11:cada08fc8a70 214 if (p_task->state == READY) {
mbedAustin 11:cada08fc8a70 215 /* Task enqueued in a ready list. */
mbedAustin 11:cada08fc8a70 216 p_task = rt_get_first (&os_rdy);
mbedAustin 11:cada08fc8a70 217 rt_dispatch (p_task);
mbedAustin 11:cada08fc8a70 218 }
mbedAustin 11:cada08fc8a70 219 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 220 }
mbedAustin 11:cada08fc8a70 221
mbedAustin 11:cada08fc8a70 222
mbedAustin 11:cada08fc8a70 223 /*--------------------------- rt_tsk_create ---------------------------------*/
mbedAustin 11:cada08fc8a70 224
mbedAustin 11:cada08fc8a70 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
mbedAustin 11:cada08fc8a70 226 /* Start a new task declared with "task". */
mbedAustin 11:cada08fc8a70 227 P_TCB task_context;
mbedAustin 11:cada08fc8a70 228 U32 i;
mbedAustin 11:cada08fc8a70 229
mbedAustin 11:cada08fc8a70 230 /* Priority 0 is reserved for idle task! */
mbedAustin 11:cada08fc8a70 231 if ((prio_stksz & 0xFF) == 0) {
mbedAustin 11:cada08fc8a70 232 prio_stksz += 1;
mbedAustin 11:cada08fc8a70 233 }
mbedAustin 11:cada08fc8a70 234 task_context = rt_alloc_box (mp_tcb);
mbedAustin 11:cada08fc8a70 235 if (task_context == NULL) {
mbedAustin 11:cada08fc8a70 236 return (0);
mbedAustin 11:cada08fc8a70 237 }
mbedAustin 11:cada08fc8a70 238 /* If "size != 0" use a private user provided stack. */
mbedAustin 11:cada08fc8a70 239 task_context->stack = stk;
mbedAustin 11:cada08fc8a70 240 task_context->priv_stack = prio_stksz >> 8;
mbedAustin 11:cada08fc8a70 241 /* Pass parameter 'argv' to 'rt_init_context' */
mbedAustin 11:cada08fc8a70 242 task_context->msg = argv;
mbedAustin 11:cada08fc8a70 243 /* For 'size == 0' system allocates the user stack from the memory pool. */
mbedAustin 11:cada08fc8a70 244 rt_init_context (task_context, prio_stksz & 0xFF, task);
mbedAustin 11:cada08fc8a70 245
mbedAustin 11:cada08fc8a70 246 /* Find a free entry in 'os_active_TCB' table. */
mbedAustin 11:cada08fc8a70 247 i = rt_get_TID ();
mbedAustin 11:cada08fc8a70 248 os_active_TCB[i-1] = task_context;
mbedAustin 11:cada08fc8a70 249 task_context->task_id = i;
mbedAustin 11:cada08fc8a70 250 DBG_TASK_NOTIFY(task_context, __TRUE);
mbedAustin 11:cada08fc8a70 251 rt_dispatch (task_context);
mbedAustin 11:cada08fc8a70 252 return ((OS_TID)i);
mbedAustin 11:cada08fc8a70 253 }
mbedAustin 11:cada08fc8a70 254
mbedAustin 11:cada08fc8a70 255
mbedAustin 11:cada08fc8a70 256 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbedAustin 11:cada08fc8a70 257
mbedAustin 11:cada08fc8a70 258 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbedAustin 11:cada08fc8a70 259 /* Terminate the task identified with "task_id". */
mbedAustin 11:cada08fc8a70 260 P_TCB task_context;
mbedAustin 11:cada08fc8a70 261 P_TCB p_TCB;
mbedAustin 11:cada08fc8a70 262 P_MUCB p_MCB, p_MCB0;
mbedAustin 11:cada08fc8a70 263
mbedAustin 11:cada08fc8a70 264 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbedAustin 11:cada08fc8a70 265 /* Terminate itself. */
mbedAustin 11:cada08fc8a70 266 os_tsk.run->state = INACTIVE;
mbedAustin 11:cada08fc8a70 267 os_tsk.run->tsk_stack = rt_get_PSP ();
mbedAustin 11:cada08fc8a70 268 rt_stk_check ();
mbedAustin 11:cada08fc8a70 269 p_MCB = os_tsk.run->p_mlnk;
mbedAustin 11:cada08fc8a70 270 while (p_MCB) {
mbedAustin 11:cada08fc8a70 271 /* Release mutexes owned by this task */
mbedAustin 11:cada08fc8a70 272 if (p_MCB->p_lnk) {
mbedAustin 11:cada08fc8a70 273 /* A task is waiting for mutex. */
mbedAustin 11:cada08fc8a70 274 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbedAustin 11:cada08fc8a70 275 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 276 rt_ret_val(p_TCB, 0/*osOK*/);
mbedAustin 11:cada08fc8a70 277 #else
mbedAustin 11:cada08fc8a70 278 rt_ret_val(p_TCB, OS_R_MUT);
mbedAustin 11:cada08fc8a70 279 #endif
mbedAustin 11:cada08fc8a70 280 rt_rmv_dly (p_TCB);
mbedAustin 11:cada08fc8a70 281 p_TCB->state = READY;
mbedAustin 11:cada08fc8a70 282 rt_put_prio (&os_rdy, p_TCB);
mbedAustin 11:cada08fc8a70 283 /* A waiting task becomes the owner of this mutex. */
mbedAustin 11:cada08fc8a70 284 p_MCB0 = p_MCB;
mbedAustin 11:cada08fc8a70 285 p_MCB->level = 1;
mbedAustin 11:cada08fc8a70 286 p_MCB->owner = p_TCB;
mbedAustin 11:cada08fc8a70 287 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbedAustin 11:cada08fc8a70 288 p_TCB->p_mlnk = p_MCB;
mbedAustin 11:cada08fc8a70 289 p_MCB = p_MCB0->p_mlnk;
mbedAustin 11:cada08fc8a70 290 }
mbedAustin 11:cada08fc8a70 291 else {
mbedAustin 11:cada08fc8a70 292 p_MCB = p_MCB->p_mlnk;
mbedAustin 11:cada08fc8a70 293 }
mbedAustin 11:cada08fc8a70 294 }
mbedAustin 11:cada08fc8a70 295 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbedAustin 11:cada08fc8a70 296 rt_free_box (mp_stk, os_tsk.run->stack);
mbedAustin 11:cada08fc8a70 297 os_tsk.run->stack = NULL;
mbedAustin 11:cada08fc8a70 298 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbedAustin 11:cada08fc8a70 299 rt_free_box (mp_tcb, os_tsk.run);
mbedAustin 11:cada08fc8a70 300 os_tsk.run = NULL;
mbedAustin 11:cada08fc8a70 301 rt_dispatch (NULL);
mbedAustin 11:cada08fc8a70 302 /* The program should never come to this point. */
mbedAustin 11:cada08fc8a70 303 }
mbedAustin 11:cada08fc8a70 304 else {
mbedAustin 11:cada08fc8a70 305 /* Find the task in the "os_active_TCB" array. */
mbedAustin 11:cada08fc8a70 306 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbedAustin 11:cada08fc8a70 307 /* Task with "task_id" not found or not started. */
mbedAustin 11:cada08fc8a70 308 return (OS_R_NOK);
mbedAustin 11:cada08fc8a70 309 }
mbedAustin 11:cada08fc8a70 310 task_context = os_active_TCB[task_id-1];
mbedAustin 11:cada08fc8a70 311 rt_rmv_list (task_context);
mbedAustin 11:cada08fc8a70 312 rt_rmv_dly (task_context);
mbedAustin 11:cada08fc8a70 313 p_MCB = task_context->p_mlnk;
mbedAustin 11:cada08fc8a70 314 while (p_MCB) {
mbedAustin 11:cada08fc8a70 315 /* Release mutexes owned by this task */
mbedAustin 11:cada08fc8a70 316 if (p_MCB->p_lnk) {
mbedAustin 11:cada08fc8a70 317 /* A task is waiting for mutex. */
mbedAustin 11:cada08fc8a70 318 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbedAustin 11:cada08fc8a70 319 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 320 rt_ret_val(p_TCB, 0/*osOK*/);
mbedAustin 11:cada08fc8a70 321 #else
mbedAustin 11:cada08fc8a70 322 rt_ret_val(p_TCB, OS_R_MUT);
mbedAustin 11:cada08fc8a70 323 #endif
mbedAustin 11:cada08fc8a70 324 rt_rmv_dly (p_TCB);
mbedAustin 11:cada08fc8a70 325 p_TCB->state = READY;
mbedAustin 11:cada08fc8a70 326 rt_put_prio (&os_rdy, p_TCB);
mbedAustin 11:cada08fc8a70 327 /* A waiting task becomes the owner of this mutex. */
mbedAustin 11:cada08fc8a70 328 p_MCB0 = p_MCB;
mbedAustin 11:cada08fc8a70 329 p_MCB->level = 1;
mbedAustin 11:cada08fc8a70 330 p_MCB->owner = p_TCB;
mbedAustin 11:cada08fc8a70 331 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbedAustin 11:cada08fc8a70 332 p_TCB->p_mlnk = p_MCB;
mbedAustin 11:cada08fc8a70 333 p_MCB = p_MCB0->p_mlnk;
mbedAustin 11:cada08fc8a70 334 }
mbedAustin 11:cada08fc8a70 335 else {
mbedAustin 11:cada08fc8a70 336 p_MCB = p_MCB->p_mlnk;
mbedAustin 11:cada08fc8a70 337 }
mbedAustin 11:cada08fc8a70 338 }
mbedAustin 11:cada08fc8a70 339 os_active_TCB[task_id-1] = NULL;
mbedAustin 11:cada08fc8a70 340 rt_free_box (mp_stk, task_context->stack);
mbedAustin 11:cada08fc8a70 341 task_context->stack = NULL;
mbedAustin 11:cada08fc8a70 342 DBG_TASK_NOTIFY(task_context, __FALSE);
mbedAustin 11:cada08fc8a70 343 rt_free_box (mp_tcb, task_context);
mbedAustin 11:cada08fc8a70 344 if (rt_rdy_prio() > os_tsk.run->prio) {
mbedAustin 11:cada08fc8a70 345 /* Ready task has higher priority than running task. */
mbedAustin 11:cada08fc8a70 346 os_tsk.run->state = READY;
mbedAustin 11:cada08fc8a70 347 rt_put_prio (&os_rdy, os_tsk.run);
mbedAustin 11:cada08fc8a70 348 rt_dispatch (NULL);
mbedAustin 11:cada08fc8a70 349 }
mbedAustin 11:cada08fc8a70 350 }
mbedAustin 11:cada08fc8a70 351 return (OS_R_OK);
mbedAustin 11:cada08fc8a70 352 }
mbedAustin 11:cada08fc8a70 353
mbedAustin 11:cada08fc8a70 354
mbedAustin 11:cada08fc8a70 355 /*--------------------------- rt_sys_init -----------------------------------*/
mbedAustin 11:cada08fc8a70 356
mbedAustin 11:cada08fc8a70 357 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 358 void rt_sys_init (void) {
mbedAustin 11:cada08fc8a70 359 #else
mbedAustin 11:cada08fc8a70 360 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbedAustin 11:cada08fc8a70 361 #endif
mbedAustin 11:cada08fc8a70 362 /* Initialize system and start up task declared with "first_task". */
mbedAustin 11:cada08fc8a70 363 U32 i;
mbedAustin 11:cada08fc8a70 364
mbedAustin 11:cada08fc8a70 365 DBG_INIT();
mbedAustin 11:cada08fc8a70 366
mbedAustin 11:cada08fc8a70 367 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbedAustin 11:cada08fc8a70 368 for (i = 0; i < os_maxtaskrun; i++) {
mbedAustin 11:cada08fc8a70 369 os_active_TCB[i] = NULL;
mbedAustin 11:cada08fc8a70 370 }
mbedAustin 11:cada08fc8a70 371 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
mbedAustin 11:cada08fc8a70 372 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
mbedAustin 11:cada08fc8a70 373 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
mbedAustin 11:cada08fc8a70 374
mbedAustin 11:cada08fc8a70 375 /* Set up TCB of idle demon */
mbedAustin 11:cada08fc8a70 376 os_idle_TCB.task_id = 255;
mbedAustin 11:cada08fc8a70 377 os_idle_TCB.priv_stack = 0;
mbedAustin 11:cada08fc8a70 378 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbedAustin 11:cada08fc8a70 379
mbedAustin 11:cada08fc8a70 380 /* Set up ready list: initially empty */
mbedAustin 11:cada08fc8a70 381 os_rdy.cb_type = HCB;
mbedAustin 11:cada08fc8a70 382 os_rdy.p_lnk = NULL;
mbedAustin 11:cada08fc8a70 383 /* Set up delay list: initially empty */
mbedAustin 11:cada08fc8a70 384 os_dly.cb_type = HCB;
mbedAustin 11:cada08fc8a70 385 os_dly.p_dlnk = NULL;
mbedAustin 11:cada08fc8a70 386 os_dly.p_blnk = NULL;
mbedAustin 11:cada08fc8a70 387 os_dly.delta_time = 0;
mbedAustin 11:cada08fc8a70 388
mbedAustin 11:cada08fc8a70 389 /* Fix SP and system variables to assume idle task is running */
mbedAustin 11:cada08fc8a70 390 /* Transform main program into idle task by assuming idle TCB */
mbedAustin 11:cada08fc8a70 391 #ifndef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 392 rt_set_PSP (os_idle_TCB.tsk_stack+32);
mbedAustin 11:cada08fc8a70 393 #endif
mbedAustin 11:cada08fc8a70 394 os_tsk.run = &os_idle_TCB;
mbedAustin 11:cada08fc8a70 395 os_tsk.run->state = RUNNING;
mbedAustin 11:cada08fc8a70 396
mbedAustin 11:cada08fc8a70 397 /* Initialize ps queue */
mbedAustin 11:cada08fc8a70 398 os_psq->first = 0;
mbedAustin 11:cada08fc8a70 399 os_psq->last = 0;
mbedAustin 11:cada08fc8a70 400 os_psq->size = os_fifo_size;
mbedAustin 11:cada08fc8a70 401
mbedAustin 11:cada08fc8a70 402 rt_init_robin ();
mbedAustin 11:cada08fc8a70 403
mbedAustin 11:cada08fc8a70 404 /* Initialize SVC and PendSV */
mbedAustin 11:cada08fc8a70 405 rt_svc_init ();
mbedAustin 11:cada08fc8a70 406
mbedAustin 11:cada08fc8a70 407 #ifndef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 408 /* Initialize and start system clock timer */
mbedAustin 11:cada08fc8a70 409 os_tick_irqn = os_tick_init ();
mbedAustin 11:cada08fc8a70 410 if (os_tick_irqn >= 0) {
mbedAustin 11:cada08fc8a70 411 OS_X_INIT(os_tick_irqn);
mbedAustin 11:cada08fc8a70 412 }
mbedAustin 11:cada08fc8a70 413
mbedAustin 11:cada08fc8a70 414 /* Start up first user task before entering the endless loop */
mbedAustin 11:cada08fc8a70 415 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbedAustin 11:cada08fc8a70 416 #endif
mbedAustin 11:cada08fc8a70 417 }
mbedAustin 11:cada08fc8a70 418
mbedAustin 11:cada08fc8a70 419
mbedAustin 11:cada08fc8a70 420 /*--------------------------- rt_sys_start ----------------------------------*/
mbedAustin 11:cada08fc8a70 421
mbedAustin 11:cada08fc8a70 422 #ifdef __CMSIS_RTOS
mbedAustin 11:cada08fc8a70 423 void rt_sys_start (void) {
mbedAustin 11:cada08fc8a70 424 /* Start system */
mbedAustin 11:cada08fc8a70 425
mbedAustin 11:cada08fc8a70 426 /* Initialize and start system clock timer */
mbedAustin 11:cada08fc8a70 427 os_tick_irqn = os_tick_init ();
mbedAustin 11:cada08fc8a70 428 if (os_tick_irqn >= 0) {
mbedAustin 11:cada08fc8a70 429 OS_X_INIT(os_tick_irqn);
mbedAustin 11:cada08fc8a70 430 }
mbedAustin 11:cada08fc8a70 431 }
mbedAustin 11:cada08fc8a70 432 #endif
mbedAustin 11:cada08fc8a70 433
mbedAustin 11:cada08fc8a70 434 /*----------------------------------------------------------------------------
mbedAustin 11:cada08fc8a70 435 * end of file
mbedAustin 11:cada08fc8a70 436 *---------------------------------------------------------------------------*/