mbed official / mbed-rtos

Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtx/TARGET_CORTEX_A/rt_Task.c@121:3da5f554d8bf, 2016-09-01 (annotated)

Committer:
<>
Date:
Thu Sep 01 15:13:42 2016 +0100
Revision:
121:3da5f554d8bf
Parent:
92:bc9729798a19 
RTOS rev121



Compatible with the mbed library v125



Changes:

- K64F: Revert to hardcoded stack pointer in RTX.

- Adding NCS36510 support.

- Add MAX32620 target support.

- Fix implicit declaration of function 'atexit'.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 48:e9a2c7cb57a4 1 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 2 * RL-ARM - RTX
mbed_official 48:e9a2c7cb57a4 3 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 4 * Name: RT_TASK.C
mbed_official 48:e9a2c7cb57a4 5 * Purpose: Task functions and system start up.
mbed_official 92:bc9729798a19 6 * Rev.: V4.73
mbed_official 48:e9a2c7cb57a4 7 *----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 8 *
mbed_official 92:bc9729798a19 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
mbed_official 48:e9a2c7cb57a4 10 * All rights reserved.
mbed_official 48:e9a2c7cb57a4 11 * Redistribution and use in source and binary forms, with or without
mbed_official 48:e9a2c7cb57a4 12 * modification, are permitted provided that the following conditions are met:
mbed_official 48:e9a2c7cb57a4 13 * - Redistributions of source code must retain the above copyright
mbed_official 48:e9a2c7cb57a4 14 * notice, this list of conditions and the following disclaimer.
mbed_official 48:e9a2c7cb57a4 15 * - Redistributions in binary form must reproduce the above copyright
mbed_official 48:e9a2c7cb57a4 16 * notice, this list of conditions and the following disclaimer in the
mbed_official 48:e9a2c7cb57a4 17 * documentation and/or other materials provided with the distribution.
mbed_official 68:d3d0e710b443 18 * - Neither the name of ARM nor the names of its contributors may be used
mbed_official 68:d3d0e710b443 19 * to endorse or promote products derived from this software without
mbed_official 48:e9a2c7cb57a4 20 * specific prior written permission.
mbed_official 48:e9a2c7cb57a4 21 *
mbed_official 68:d3d0e710b443 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
mbed_official 68:d3d0e710b443 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
mbed_official 48:e9a2c7cb57a4 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
mbed_official 48:e9a2c7cb57a4 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
mbed_official 48:e9a2c7cb57a4 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
mbed_official 68:d3d0e710b443 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
mbed_official 68:d3d0e710b443 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
mbed_official 68:d3d0e710b443 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
mbed_official 68:d3d0e710b443 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
mbed_official 48:e9a2c7cb57a4 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
mbed_official 48:e9a2c7cb57a4 32 * POSSIBILITY OF SUCH DAMAGE.
mbed_official 48:e9a2c7cb57a4 33 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 34
mbed_official 48:e9a2c7cb57a4 35 #include "rt_TypeDef.h"
mbed_official 48:e9a2c7cb57a4 36 #include "RTX_Config.h"
mbed_official 48:e9a2c7cb57a4 37 #include "rt_System.h"
mbed_official 48:e9a2c7cb57a4 38 #include "rt_Task.h"
mbed_official 48:e9a2c7cb57a4 39 #include "rt_List.h"
mbed_official 48:e9a2c7cb57a4 40 #include "rt_MemBox.h"
mbed_official 48:e9a2c7cb57a4 41 #include "rt_Robin.h"
mbed_official 48:e9a2c7cb57a4 42 #ifdef __CORTEX_A9
mbed_official 48:e9a2c7cb57a4 43 #include "rt_HAL_CA.h"
mbed_official 48:e9a2c7cb57a4 44 #else
mbed_official 48:e9a2c7cb57a4 45 #include "rt_HAL_CM.h"
mbed_official 48:e9a2c7cb57a4 46 #endif
mbed_official 48:e9a2c7cb57a4 47
mbed_official 48:e9a2c7cb57a4 48 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 49 * Global Variables
mbed_official 48:e9a2c7cb57a4 50 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 51
mbed_official 48:e9a2c7cb57a4 52 /* Running and next task info. */
mbed_official 48:e9a2c7cb57a4 53 struct OS_TSK os_tsk;
mbed_official 48:e9a2c7cb57a4 54
mbed_official 48:e9a2c7cb57a4 55 /* Task Control Blocks of idle demon */
mbed_official 48:e9a2c7cb57a4 56 struct OS_TCB os_idle_TCB;
mbed_official 48:e9a2c7cb57a4 57
mbed_official 48:e9a2c7cb57a4 58
mbed_official 48:e9a2c7cb57a4 59 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 60 * Local Functions
mbed_official 48:e9a2c7cb57a4 61 *---------------------------------------------------------------------------*/
mbed_official 48:e9a2c7cb57a4 62
mbed_official 48:e9a2c7cb57a4 63 static OS_TID rt_get_TID (void) {
mbed_official 48:e9a2c7cb57a4 64 U32 tid;
mbed_official 48:e9a2c7cb57a4 65
mbed_official 48:e9a2c7cb57a4 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
mbed_official 48:e9a2c7cb57a4 67 if (os_active_TCB[tid-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 68 return ((OS_TID)tid);
mbed_official 48:e9a2c7cb57a4 69 }
mbed_official 48:e9a2c7cb57a4 70 }
mbed_official 48:e9a2c7cb57a4 71 return (0);
mbed_official 48:e9a2c7cb57a4 72 }
mbed_official 48:e9a2c7cb57a4 73
mbed_official 48:e9a2c7cb57a4 74
mbed_official 48:e9a2c7cb57a4 75 /*--------------------------- rt_init_context -------------------------------*/
mbed_official 48:e9a2c7cb57a4 76
mbed_official 48:e9a2c7cb57a4 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
mbed_official 48:e9a2c7cb57a4 78 /* Initialize general part of the Task Control Block. */
mbed_official 48:e9a2c7cb57a4 79 p_TCB->cb_type = TCB;
mbed_official 48:e9a2c7cb57a4 80 p_TCB->state = READY;
mbed_official 48:e9a2c7cb57a4 81 p_TCB->prio = priority;
mbed_official 92:bc9729798a19 82 p_TCB->prio_base = priority;
mbed_official 48:e9a2c7cb57a4 83 p_TCB->p_lnk = NULL;
mbed_official 48:e9a2c7cb57a4 84 p_TCB->p_rlnk = NULL;
mbed_official 48:e9a2c7cb57a4 85 p_TCB->p_dlnk = NULL;
mbed_official 48:e9a2c7cb57a4 86 p_TCB->p_blnk = NULL;
mbed_official 92:bc9729798a19 87 p_TCB->p_mlnk = NULL;
mbed_official 48:e9a2c7cb57a4 88 p_TCB->delta_time = 0;
mbed_official 48:e9a2c7cb57a4 89 p_TCB->interval_time = 0;
mbed_official 48:e9a2c7cb57a4 90 p_TCB->events = 0;
mbed_official 48:e9a2c7cb57a4 91 p_TCB->waits = 0;
mbed_official 48:e9a2c7cb57a4 92 p_TCB->stack_frame = 0;
mbed_official 48:e9a2c7cb57a4 93
mbed_official 48:e9a2c7cb57a4 94 if (p_TCB->priv_stack == 0) {
mbed_official 48:e9a2c7cb57a4 95 /* Allocate the memory space for the stack. */
mbed_official 48:e9a2c7cb57a4 96 p_TCB->stack = rt_alloc_box (mp_stk);
mbed_official 48:e9a2c7cb57a4 97 }
mbed_official 48:e9a2c7cb57a4 98 rt_init_stack (p_TCB, task_body);
mbed_official 48:e9a2c7cb57a4 99 }
mbed_official 48:e9a2c7cb57a4 100
mbed_official 48:e9a2c7cb57a4 101
mbed_official 48:e9a2c7cb57a4 102 /*--------------------------- rt_switch_req ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 103
mbed_official 48:e9a2c7cb57a4 104 void rt_switch_req (P_TCB p_new) {
mbed_official 48:e9a2c7cb57a4 105 /* Switch to next task (identified by "p_new"). */
mbed_official 92:bc9729798a19 106 os_tsk.new_tsk = p_new;
mbed_official 48:e9a2c7cb57a4 107 p_new->state = RUNNING;
mbed_official 48:e9a2c7cb57a4 108 DBG_TASK_SWITCH(p_new->task_id);
mbed_official 48:e9a2c7cb57a4 109 }
mbed_official 48:e9a2c7cb57a4 110
mbed_official 48:e9a2c7cb57a4 111
mbed_official 48:e9a2c7cb57a4 112 /*--------------------------- rt_dispatch -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 113
mbed_official 48:e9a2c7cb57a4 114 void rt_dispatch (P_TCB next_TCB) {
mbed_official 48:e9a2c7cb57a4 115 /* Dispatch next task if any identified or dispatch highest ready task */
mbed_official 48:e9a2c7cb57a4 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
mbed_official 48:e9a2c7cb57a4 117 if (next_TCB == NULL) {
mbed_official 48:e9a2c7cb57a4 118 /* Running task was blocked: continue with highest ready task */
mbed_official 48:e9a2c7cb57a4 119 next_TCB = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 120 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 121 }
mbed_official 48:e9a2c7cb57a4 122 else {
mbed_official 48:e9a2c7cb57a4 123 /* Check which task continues */
mbed_official 48:e9a2c7cb57a4 124 if (next_TCB->prio > os_tsk.run->prio) {
mbed_official 48:e9a2c7cb57a4 125 /* preempt running task */
mbed_official 48:e9a2c7cb57a4 126 rt_put_rdy_first (os_tsk.run);
mbed_official 48:e9a2c7cb57a4 127 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 128 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 129 }
mbed_official 48:e9a2c7cb57a4 130 else {
mbed_official 48:e9a2c7cb57a4 131 /* put next task into ready list, no task switch takes place */
mbed_official 48:e9a2c7cb57a4 132 next_TCB->state = READY;
mbed_official 48:e9a2c7cb57a4 133 rt_put_prio (&os_rdy, next_TCB);
mbed_official 48:e9a2c7cb57a4 134 }
mbed_official 48:e9a2c7cb57a4 135 }
mbed_official 48:e9a2c7cb57a4 136 }
mbed_official 48:e9a2c7cb57a4 137
mbed_official 48:e9a2c7cb57a4 138
mbed_official 48:e9a2c7cb57a4 139 /*--------------------------- rt_block --------------------------------------*/
mbed_official 48:e9a2c7cb57a4 140
mbed_official 48:e9a2c7cb57a4 141 void rt_block (U16 timeout, U8 block_state) {
mbed_official 48:e9a2c7cb57a4 142 /* Block running task and choose next ready task. */
mbed_official 48:e9a2c7cb57a4 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
mbed_official 48:e9a2c7cb57a4 144 /* "block_state" defines the appropriate task state */
mbed_official 48:e9a2c7cb57a4 145 P_TCB next_TCB;
mbed_official 48:e9a2c7cb57a4 146
mbed_official 48:e9a2c7cb57a4 147 if (timeout) {
mbed_official 48:e9a2c7cb57a4 148 if (timeout < 0xffff) {
mbed_official 48:e9a2c7cb57a4 149 rt_put_dly (os_tsk.run, timeout);
mbed_official 48:e9a2c7cb57a4 150 }
mbed_official 48:e9a2c7cb57a4 151 os_tsk.run->state = block_state;
mbed_official 48:e9a2c7cb57a4 152 next_TCB = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 153 rt_switch_req (next_TCB);
mbed_official 48:e9a2c7cb57a4 154 }
mbed_official 48:e9a2c7cb57a4 155 }
mbed_official 48:e9a2c7cb57a4 156
mbed_official 48:e9a2c7cb57a4 157
mbed_official 48:e9a2c7cb57a4 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 159
mbed_official 48:e9a2c7cb57a4 160 void rt_tsk_pass (void) {
mbed_official 48:e9a2c7cb57a4 161 /* Allow tasks of same priority level to run cooperatively.*/
mbed_official 48:e9a2c7cb57a4 162 P_TCB p_new;
mbed_official 48:e9a2c7cb57a4 163
mbed_official 48:e9a2c7cb57a4 164 p_new = rt_get_same_rdy_prio();
mbed_official 48:e9a2c7cb57a4 165 if (p_new != NULL) {
mbed_official 48:e9a2c7cb57a4 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 167 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 168 rt_switch_req (p_new);
mbed_official 48:e9a2c7cb57a4 169 }
mbed_official 48:e9a2c7cb57a4 170 }
mbed_official 48:e9a2c7cb57a4 171
mbed_official 48:e9a2c7cb57a4 172
mbed_official 48:e9a2c7cb57a4 173 /*--------------------------- rt_tsk_self -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 174
mbed_official 48:e9a2c7cb57a4 175 OS_TID rt_tsk_self (void) {
mbed_official 48:e9a2c7cb57a4 176 /* Return own task identifier value. */
mbed_official 48:e9a2c7cb57a4 177 if (os_tsk.run == NULL) {
mbed_official 48:e9a2c7cb57a4 178 return (0);
mbed_official 48:e9a2c7cb57a4 179 }
mbed_official 48:e9a2c7cb57a4 180 return (os_tsk.run->task_id);
mbed_official 48:e9a2c7cb57a4 181 }
mbed_official 48:e9a2c7cb57a4 182
mbed_official 48:e9a2c7cb57a4 183
mbed_official 48:e9a2c7cb57a4 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 185
mbed_official 48:e9a2c7cb57a4 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
mbed_official 48:e9a2c7cb57a4 187 /* Change execution priority of a task to "new_prio". */
mbed_official 48:e9a2c7cb57a4 188 P_TCB p_task;
mbed_official 48:e9a2c7cb57a4 189
mbed_official 48:e9a2c7cb57a4 190 if (task_id == 0) {
mbed_official 48:e9a2c7cb57a4 191 /* Change execution priority of calling task. */
mbed_official 48:e9a2c7cb57a4 192 os_tsk.run->prio = new_prio;
mbed_official 92:bc9729798a19 193 os_tsk.run->prio_base = new_prio;
mbed_official 48:e9a2c7cb57a4 194 run:if (rt_rdy_prio() > new_prio) {
mbed_official 48:e9a2c7cb57a4 195 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 196 os_tsk.run->state = READY;
mbed_official 48:e9a2c7cb57a4 197 rt_dispatch (NULL);
mbed_official 48:e9a2c7cb57a4 198 }
mbed_official 48:e9a2c7cb57a4 199 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 200 }
mbed_official 48:e9a2c7cb57a4 201
mbed_official 48:e9a2c7cb57a4 202 /* Find the task in the "os_active_TCB" array. */
mbed_official 48:e9a2c7cb57a4 203 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 204 /* Task with "task_id" not found or not started. */
mbed_official 48:e9a2c7cb57a4 205 return (OS_R_NOK);
mbed_official 48:e9a2c7cb57a4 206 }
mbed_official 48:e9a2c7cb57a4 207 p_task = os_active_TCB[task_id-1];
mbed_official 48:e9a2c7cb57a4 208 p_task->prio = new_prio;
mbed_official 92:bc9729798a19 209 p_task->prio_base = new_prio;
mbed_official 48:e9a2c7cb57a4 210 if (p_task == os_tsk.run) {
mbed_official 48:e9a2c7cb57a4 211 goto run;
mbed_official 48:e9a2c7cb57a4 212 }
mbed_official 48:e9a2c7cb57a4 213 rt_resort_prio (p_task);
mbed_official 48:e9a2c7cb57a4 214 if (p_task->state == READY) {
mbed_official 48:e9a2c7cb57a4 215 /* Task enqueued in a ready list. */
mbed_official 48:e9a2c7cb57a4 216 p_task = rt_get_first (&os_rdy);
mbed_official 48:e9a2c7cb57a4 217 rt_dispatch (p_task);
mbed_official 48:e9a2c7cb57a4 218 }
mbed_official 48:e9a2c7cb57a4 219 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 220 }
mbed_official 48:e9a2c7cb57a4 221
mbed_official 48:e9a2c7cb57a4 222
mbed_official 48:e9a2c7cb57a4 223 /*--------------------------- rt_tsk_create ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 224
mbed_official 48:e9a2c7cb57a4 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
mbed_official 48:e9a2c7cb57a4 226 /* Start a new task declared with "task". */
mbed_official 48:e9a2c7cb57a4 227 P_TCB task_context;
mbed_official 48:e9a2c7cb57a4 228 U32 i;
mbed_official 48:e9a2c7cb57a4 229
mbed_official 48:e9a2c7cb57a4 230 /* Priority 0 is reserved for idle task! */
mbed_official 48:e9a2c7cb57a4 231 if ((prio_stksz & 0xFF) == 0) {
mbed_official 48:e9a2c7cb57a4 232 prio_stksz += 1;
mbed_official 48:e9a2c7cb57a4 233 }
mbed_official 48:e9a2c7cb57a4 234 task_context = rt_alloc_box (mp_tcb);
mbed_official 48:e9a2c7cb57a4 235 if (task_context == NULL) {
mbed_official 48:e9a2c7cb57a4 236 return (0);
mbed_official 48:e9a2c7cb57a4 237 }
mbed_official 48:e9a2c7cb57a4 238 /* If "size != 0" use a private user provided stack. */
mbed_official 48:e9a2c7cb57a4 239 task_context->stack = stk;
mbed_official 48:e9a2c7cb57a4 240 task_context->priv_stack = prio_stksz >> 8;
mbed_official 48:e9a2c7cb57a4 241 /* Pass parameter 'argv' to 'rt_init_context' */
mbed_official 48:e9a2c7cb57a4 242 task_context->msg = argv;
mbed_official 48:e9a2c7cb57a4 243 /* For 'size == 0' system allocates the user stack from the memory pool. */
mbed_official 48:e9a2c7cb57a4 244 rt_init_context (task_context, prio_stksz & 0xFF, task);
mbed_official 48:e9a2c7cb57a4 245
mbed_official 48:e9a2c7cb57a4 246 /* Find a free entry in 'os_active_TCB' table. */
mbed_official 48:e9a2c7cb57a4 247 i = rt_get_TID ();
mbed_official 48:e9a2c7cb57a4 248 os_active_TCB[i-1] = task_context;
mbed_official 48:e9a2c7cb57a4 249 task_context->task_id = i;
mbed_official 48:e9a2c7cb57a4 250 DBG_TASK_NOTIFY(task_context, __TRUE);
mbed_official 48:e9a2c7cb57a4 251 rt_dispatch (task_context);
mbed_official 48:e9a2c7cb57a4 252 return ((OS_TID)i);
mbed_official 48:e9a2c7cb57a4 253 }
mbed_official 48:e9a2c7cb57a4 254
mbed_official 48:e9a2c7cb57a4 255
mbed_official 48:e9a2c7cb57a4 256 /*--------------------------- rt_tsk_delete ---------------------------------*/
mbed_official 48:e9a2c7cb57a4 257
mbed_official 48:e9a2c7cb57a4 258 OS_RESULT rt_tsk_delete (OS_TID task_id) {
mbed_official 48:e9a2c7cb57a4 259 /* Terminate the task identified with "task_id". */
mbed_official 48:e9a2c7cb57a4 260 P_TCB task_context;
mbed_official 92:bc9729798a19 261 P_TCB p_TCB;
mbed_official 92:bc9729798a19 262 P_MUCB p_MCB, p_MCB0;
mbed_official 48:e9a2c7cb57a4 263
mbed_official 48:e9a2c7cb57a4 264 if (task_id == 0 || task_id == os_tsk.run->task_id) {
mbed_official 48:e9a2c7cb57a4 265 /* Terminate itself. */
mbed_official 48:e9a2c7cb57a4 266 os_tsk.run->state = INACTIVE;
mbed_official 48:e9a2c7cb57a4 267 os_tsk.run->tsk_stack = rt_get_PSP ();
mbed_official 48:e9a2c7cb57a4 268 rt_stk_check ();
mbed_official 92:bc9729798a19 269 p_MCB = os_tsk.run->p_mlnk;
mbed_official 92:bc9729798a19 270 while (p_MCB) {
mbed_official 92:bc9729798a19 271 /* Release mutexes owned by this task */
mbed_official 92:bc9729798a19 272 if (p_MCB->p_lnk) {
mbed_official 92:bc9729798a19 273 /* A task is waiting for mutex. */
mbed_official 92:bc9729798a19 274 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbed_official 92:bc9729798a19 275 #ifdef __CMSIS_RTOS
mbed_official 92:bc9729798a19 276 rt_ret_val(p_TCB, 0/*osOK*/);
mbed_official 92:bc9729798a19 277 #else
mbed_official 92:bc9729798a19 278 rt_ret_val(p_TCB, OS_R_MUT);
mbed_official 92:bc9729798a19 279 #endif
mbed_official 92:bc9729798a19 280 rt_rmv_dly (p_TCB);
mbed_official 92:bc9729798a19 281 p_TCB->state = READY;
mbed_official 92:bc9729798a19 282 rt_put_prio (&os_rdy, p_TCB);
mbed_official 92:bc9729798a19 283 /* A waiting task becomes the owner of this mutex. */
mbed_official 92:bc9729798a19 284 p_MCB0 = p_MCB;
mbed_official 92:bc9729798a19 285 p_MCB->level = 1;
mbed_official 92:bc9729798a19 286 p_MCB->owner = p_TCB;
mbed_official 92:bc9729798a19 287 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbed_official 92:bc9729798a19 288 p_TCB->p_mlnk = p_MCB;
mbed_official 92:bc9729798a19 289 p_MCB = p_MCB0->p_mlnk;
mbed_official 92:bc9729798a19 290 }
mbed_official 92:bc9729798a19 291 else {
mbed_official 92:bc9729798a19 292 p_MCB = p_MCB->p_mlnk;
mbed_official 92:bc9729798a19 293 }
mbed_official 92:bc9729798a19 294 }
mbed_official 48:e9a2c7cb57a4 295 os_active_TCB[os_tsk.run->task_id-1] = NULL;
mbed_official 48:e9a2c7cb57a4 296 rt_free_box (mp_stk, os_tsk.run->stack);
mbed_official 48:e9a2c7cb57a4 297 os_tsk.run->stack = NULL;
mbed_official 48:e9a2c7cb57a4 298 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
mbed_official 48:e9a2c7cb57a4 299 rt_free_box (mp_tcb, os_tsk.run);
mbed_official 48:e9a2c7cb57a4 300 os_tsk.run = NULL;
mbed_official 48:e9a2c7cb57a4 301 rt_dispatch (NULL);
mbed_official 48:e9a2c7cb57a4 302 /* The program should never come to this point. */
mbed_official 48:e9a2c7cb57a4 303 }
mbed_official 48:e9a2c7cb57a4 304 else {
mbed_official 48:e9a2c7cb57a4 305 /* Find the task in the "os_active_TCB" array. */
mbed_official 48:e9a2c7cb57a4 306 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
mbed_official 48:e9a2c7cb57a4 307 /* Task with "task_id" not found or not started. */
mbed_official 48:e9a2c7cb57a4 308 return (OS_R_NOK);
mbed_official 48:e9a2c7cb57a4 309 }
mbed_official 48:e9a2c7cb57a4 310 task_context = os_active_TCB[task_id-1];
mbed_official 48:e9a2c7cb57a4 311 rt_rmv_list (task_context);
mbed_official 48:e9a2c7cb57a4 312 rt_rmv_dly (task_context);
mbed_official 92:bc9729798a19 313 p_MCB = task_context->p_mlnk;
mbed_official 92:bc9729798a19 314 while (p_MCB) {
mbed_official 92:bc9729798a19 315 /* Release mutexes owned by this task */
mbed_official 92:bc9729798a19 316 if (p_MCB->p_lnk) {
mbed_official 92:bc9729798a19 317 /* A task is waiting for mutex. */
mbed_official 92:bc9729798a19 318 p_TCB = rt_get_first ((P_XCB)p_MCB);
mbed_official 92:bc9729798a19 319 #ifdef __CMSIS_RTOS
mbed_official 92:bc9729798a19 320 rt_ret_val(p_TCB, 0/*osOK*/);
mbed_official 92:bc9729798a19 321 #else
mbed_official 92:bc9729798a19 322 rt_ret_val(p_TCB, OS_R_MUT);
mbed_official 92:bc9729798a19 323 #endif
mbed_official 92:bc9729798a19 324 rt_rmv_dly (p_TCB);
mbed_official 92:bc9729798a19 325 p_TCB->state = READY;
mbed_official 92:bc9729798a19 326 rt_put_prio (&os_rdy, p_TCB);
mbed_official 92:bc9729798a19 327 /* A waiting task becomes the owner of this mutex. */
mbed_official 92:bc9729798a19 328 p_MCB0 = p_MCB;
mbed_official 92:bc9729798a19 329 p_MCB->level = 1;
mbed_official 92:bc9729798a19 330 p_MCB->owner = p_TCB;
mbed_official 92:bc9729798a19 331 p_MCB->p_mlnk = p_TCB->p_mlnk;
mbed_official 92:bc9729798a19 332 p_TCB->p_mlnk = p_MCB;
mbed_official 92:bc9729798a19 333 p_MCB = p_MCB0->p_mlnk;
mbed_official 92:bc9729798a19 334 }
mbed_official 92:bc9729798a19 335 else {
mbed_official 92:bc9729798a19 336 p_MCB = p_MCB->p_mlnk;
mbed_official 92:bc9729798a19 337 }
mbed_official 92:bc9729798a19 338 }
mbed_official 48:e9a2c7cb57a4 339 os_active_TCB[task_id-1] = NULL;
mbed_official 48:e9a2c7cb57a4 340 rt_free_box (mp_stk, task_context->stack);
mbed_official 48:e9a2c7cb57a4 341 task_context->stack = NULL;
mbed_official 48:e9a2c7cb57a4 342 DBG_TASK_NOTIFY(task_context, __FALSE);
mbed_official 48:e9a2c7cb57a4 343 rt_free_box (mp_tcb, task_context);
mbed_official 92:bc9729798a19 344 if (rt_rdy_prio() > os_tsk.run->prio) {
mbed_official 92:bc9729798a19 345 /* Ready task has higher priority than running task. */
mbed_official 92:bc9729798a19 346 os_tsk.run->state = READY;
mbed_official 92:bc9729798a19 347 rt_put_prio (&os_rdy, os_tsk.run);
mbed_official 92:bc9729798a19 348 rt_dispatch (NULL);
mbed_official 92:bc9729798a19 349 }
mbed_official 48:e9a2c7cb57a4 350 }
mbed_official 48:e9a2c7cb57a4 351 return (OS_R_OK);
mbed_official 48:e9a2c7cb57a4 352 }
mbed_official 48:e9a2c7cb57a4 353
mbed_official 48:e9a2c7cb57a4 354
mbed_official 48:e9a2c7cb57a4 355 /*--------------------------- rt_sys_init -----------------------------------*/
mbed_official 48:e9a2c7cb57a4 356
mbed_official 48:e9a2c7cb57a4 357 #ifdef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 358 void rt_sys_init (void) {
mbed_official 48:e9a2c7cb57a4 359 #else
mbed_official 48:e9a2c7cb57a4 360 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
mbed_official 48:e9a2c7cb57a4 361 #endif
mbed_official 48:e9a2c7cb57a4 362 /* Initialize system and start up task declared with "first_task". */
mbed_official 48:e9a2c7cb57a4 363 U32 i;
mbed_official 48:e9a2c7cb57a4 364
mbed_official 48:e9a2c7cb57a4 365 DBG_INIT();
mbed_official 48:e9a2c7cb57a4 366
mbed_official 48:e9a2c7cb57a4 367 /* Initialize dynamic memory and task TCB pointers to NULL. */
mbed_official 48:e9a2c7cb57a4 368 for (i = 0; i < os_maxtaskrun; i++) {
mbed_official 48:e9a2c7cb57a4 369 os_active_TCB[i] = NULL;
mbed_official 48:e9a2c7cb57a4 370 }
mbed_official 48:e9a2c7cb57a4 371 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
mbed_official 48:e9a2c7cb57a4 372 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
mbed_official 48:e9a2c7cb57a4 373 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
mbed_official 48:e9a2c7cb57a4 374
mbed_official 48:e9a2c7cb57a4 375 /* Set up TCB of idle demon */
mbed_official 48:e9a2c7cb57a4 376 os_idle_TCB.task_id = 255;
mbed_official 48:e9a2c7cb57a4 377 os_idle_TCB.priv_stack = 0;
mbed_official 48:e9a2c7cb57a4 378 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
mbed_official 48:e9a2c7cb57a4 379
mbed_official 48:e9a2c7cb57a4 380 /* Set up ready list: initially empty */
mbed_official 48:e9a2c7cb57a4 381 os_rdy.cb_type = HCB;
mbed_official 48:e9a2c7cb57a4 382 os_rdy.p_lnk = NULL;
mbed_official 48:e9a2c7cb57a4 383 /* Set up delay list: initially empty */
mbed_official 48:e9a2c7cb57a4 384 os_dly.cb_type = HCB;
mbed_official 48:e9a2c7cb57a4 385 os_dly.p_dlnk = NULL;
mbed_official 48:e9a2c7cb57a4 386 os_dly.p_blnk = NULL;
mbed_official 48:e9a2c7cb57a4 387 os_dly.delta_time = 0;
mbed_official 48:e9a2c7cb57a4 388
mbed_official 48:e9a2c7cb57a4 389 /* Fix SP and system variables to assume idle task is running */
mbed_official 48:e9a2c7cb57a4 390 /* Transform main program into idle task by assuming idle TCB */
mbed_official 48:e9a2c7cb57a4 391 #ifndef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 392 rt_set_PSP (os_idle_TCB.tsk_stack+32);
mbed_official 48:e9a2c7cb57a4 393 #endif
mbed_official 48:e9a2c7cb57a4 394 os_tsk.run = &os_idle_TCB;
mbed_official 48:e9a2c7cb57a4 395 os_tsk.run->state = RUNNING;
mbed_official 48:e9a2c7cb57a4 396
mbed_official 48:e9a2c7cb57a4 397 /* Initialize ps queue */
mbed_official 48:e9a2c7cb57a4 398 os_psq->first = 0;
mbed_official 48:e9a2c7cb57a4 399 os_psq->last = 0;
mbed_official 48:e9a2c7cb57a4 400 os_psq->size = os_fifo_size;
mbed_official 48:e9a2c7cb57a4 401
mbed_official 48:e9a2c7cb57a4 402 rt_init_robin ();
mbed_official 48:e9a2c7cb57a4 403
mbed_official 48:e9a2c7cb57a4 404 /* Initialize SVC and PendSV */
mbed_official 48:e9a2c7cb57a4 405 rt_svc_init ();
mbed_official 48:e9a2c7cb57a4 406
mbed_official 48:e9a2c7cb57a4 407 #ifndef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 408 /* Initialize and start system clock timer */
mbed_official 48:e9a2c7cb57a4 409 os_tick_irqn = os_tick_init ();
mbed_official 48:e9a2c7cb57a4 410 if (os_tick_irqn >= 0) {
mbed_official 48:e9a2c7cb57a4 411 OS_X_INIT(os_tick_irqn);
mbed_official 48:e9a2c7cb57a4 412 }
mbed_official 48:e9a2c7cb57a4 413
mbed_official 48:e9a2c7cb57a4 414 /* Start up first user task before entering the endless loop */
mbed_official 48:e9a2c7cb57a4 415 rt_tsk_create (first_task, prio_stksz, stk, NULL);
mbed_official 48:e9a2c7cb57a4 416 #endif
mbed_official 48:e9a2c7cb57a4 417 }
mbed_official 48:e9a2c7cb57a4 418
mbed_official 48:e9a2c7cb57a4 419
mbed_official 48:e9a2c7cb57a4 420 /*--------------------------- rt_sys_start ----------------------------------*/
mbed_official 48:e9a2c7cb57a4 421
mbed_official 48:e9a2c7cb57a4 422 #ifdef __CMSIS_RTOS
mbed_official 48:e9a2c7cb57a4 423 void rt_sys_start (void) {
mbed_official 48:e9a2c7cb57a4 424 /* Start system */
mbed_official 48:e9a2c7cb57a4 425
mbed_official 48:e9a2c7cb57a4 426 /* Initialize and start system clock timer */
mbed_official 48:e9a2c7cb57a4 427 os_tick_irqn = os_tick_init ();
mbed_official 48:e9a2c7cb57a4 428 if (os_tick_irqn >= 0) {
mbed_official 48:e9a2c7cb57a4 429 OS_X_INIT(os_tick_irqn);
mbed_official 48:e9a2c7cb57a4 430 }
mbed_official 48:e9a2c7cb57a4 431 }
mbed_official 48:e9a2c7cb57a4 432 #endif
mbed_official 48:e9a2c7cb57a4 433
mbed_official 48:e9a2c7cb57a4 434 /*----------------------------------------------------------------------------
mbed_official 48:e9a2c7cb57a4 435 * end of file
mbed_official 48:e9a2c7cb57a4 436 *---------------------------------------------------------------------------*/