Pierre Provent / USBHost

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Dependents:   TEST_USB_Nucleo_F429ZI Essais_USB_Nucleo_F429ZI SID_V3_Nucleo_F429ZI SID_V4_Nucleo_F429ZI_copy

mbed-rtos/rtx/TARGET_ARM7/rt_System.c@0:77ca32e8e04e, 2020-09-25 (annotated)

Committer:
pierreprovent
Date:
Fri Sep 25 10:17:49 2020 +0000
Revision:
0:77ca32e8e04e
Programme acquisition en enregistrement sur clef USB carte Nucleo F429ZI cours ELE118 Cnam

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pierreprovent 0:77ca32e8e04e 1 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 2 * RL-ARM - RTX
pierreprovent 0:77ca32e8e04e 3 *----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 4 * Name: RT_SYSTEM.C
pierreprovent 0:77ca32e8e04e 5 * Purpose: System Task Manager
pierreprovent 0:77ca32e8e04e 6 * Rev.: V4.60
pierreprovent 0:77ca32e8e04e 7 *----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 8 *
pierreprovent 0:77ca32e8e04e 9 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
pierreprovent 0:77ca32e8e04e 10 * All rights reserved.
pierreprovent 0:77ca32e8e04e 11 * Redistribution and use in source and binary forms, with or without
pierreprovent 0:77ca32e8e04e 12 * modification, are permitted provided that the following conditions are met:
pierreprovent 0:77ca32e8e04e 13 * - Redistributions of source code must retain the above copyright
pierreprovent 0:77ca32e8e04e 14 * notice, this list of conditions and the following disclaimer.
pierreprovent 0:77ca32e8e04e 15 * - Redistributions in binary form must reproduce the above copyright
pierreprovent 0:77ca32e8e04e 16 * notice, this list of conditions and the following disclaimer in the
pierreprovent 0:77ca32e8e04e 17 * documentation and/or other materials provided with the distribution.
pierreprovent 0:77ca32e8e04e 18 * - Neither the name of ARM nor the names of its contributors may be used
pierreprovent 0:77ca32e8e04e 19 * to endorse or promote products derived from this software without
pierreprovent 0:77ca32e8e04e 20 * specific prior written permission.
pierreprovent 0:77ca32e8e04e 21 *
pierreprovent 0:77ca32e8e04e 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
pierreprovent 0:77ca32e8e04e 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
pierreprovent 0:77ca32e8e04e 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
pierreprovent 0:77ca32e8e04e 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
pierreprovent 0:77ca32e8e04e 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
pierreprovent 0:77ca32e8e04e 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
pierreprovent 0:77ca32e8e04e 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
pierreprovent 0:77ca32e8e04e 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
pierreprovent 0:77ca32e8e04e 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
pierreprovent 0:77ca32e8e04e 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
pierreprovent 0:77ca32e8e04e 32 * POSSIBILITY OF SUCH DAMAGE.
pierreprovent 0:77ca32e8e04e 33 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 34
pierreprovent 0:77ca32e8e04e 35 #include "rt_TypeDef.h"
pierreprovent 0:77ca32e8e04e 36 #include "RTX_Conf.h"
pierreprovent 0:77ca32e8e04e 37 #include "rt_Task.h"
pierreprovent 0:77ca32e8e04e 38 #include "rt_System.h"
pierreprovent 0:77ca32e8e04e 39 #include "rt_Event.h"
pierreprovent 0:77ca32e8e04e 40 #include "rt_List.h"
pierreprovent 0:77ca32e8e04e 41 #include "rt_Mailbox.h"
pierreprovent 0:77ca32e8e04e 42 #include "rt_Semaphore.h"
pierreprovent 0:77ca32e8e04e 43 #include "rt_Time.h"
pierreprovent 0:77ca32e8e04e 44 #include "rt_Robin.h"
pierreprovent 0:77ca32e8e04e 45 #include "rt_HAL_CM.h"
pierreprovent 0:77ca32e8e04e 46
pierreprovent 0:77ca32e8e04e 47 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 48 * Global Variables
pierreprovent 0:77ca32e8e04e 49 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 50
pierreprovent 0:77ca32e8e04e 51 int os_tick_irqn;
pierreprovent 0:77ca32e8e04e 52
pierreprovent 0:77ca32e8e04e 53 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 54 * Local Variables
pierreprovent 0:77ca32e8e04e 55 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 56
pierreprovent 0:77ca32e8e04e 57 static volatile BIT os_lock;
pierreprovent 0:77ca32e8e04e 58 static volatile BIT os_psh_flag;
pierreprovent 0:77ca32e8e04e 59 static U8 pend_flags;
pierreprovent 0:77ca32e8e04e 60
pierreprovent 0:77ca32e8e04e 61 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 62 * Global Functions
pierreprovent 0:77ca32e8e04e 63 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 64
pierreprovent 0:77ca32e8e04e 65 #if defined (__CC_ARM)
pierreprovent 0:77ca32e8e04e 66 __asm void $$RTX$$version (void) {
pierreprovent 0:77ca32e8e04e 67 /* Export a version number symbol for a version control. */
pierreprovent 0:77ca32e8e04e 68
pierreprovent 0:77ca32e8e04e 69 EXPORT __RL_RTX_VER
pierreprovent 0:77ca32e8e04e 70
pierreprovent 0:77ca32e8e04e 71 __RL_RTX_VER EQU 0x450
pierreprovent 0:77ca32e8e04e 72 }
pierreprovent 0:77ca32e8e04e 73 #endif
pierreprovent 0:77ca32e8e04e 74
pierreprovent 0:77ca32e8e04e 75
pierreprovent 0:77ca32e8e04e 76 /*--------------------------- rt_suspend ------------------------------------*/
pierreprovent 0:77ca32e8e04e 77 U32 rt_suspend (void) {
pierreprovent 0:77ca32e8e04e 78 /* Suspend OS scheduler */
pierreprovent 0:77ca32e8e04e 79 U32 delta = 0xFFFF;
pierreprovent 0:77ca32e8e04e 80
pierreprovent 0:77ca32e8e04e 81 rt_tsk_lock();
pierreprovent 0:77ca32e8e04e 82
pierreprovent 0:77ca32e8e04e 83 if (os_dly.p_dlnk) {
pierreprovent 0:77ca32e8e04e 84 delta = os_dly.delta_time;
pierreprovent 0:77ca32e8e04e 85 }
pierreprovent 0:77ca32e8e04e 86 #ifndef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 87 if (os_tmr.next) {
pierreprovent 0:77ca32e8e04e 88 if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
pierreprovent 0:77ca32e8e04e 89 }
pierreprovent 0:77ca32e8e04e 90 #endif
pierreprovent 0:77ca32e8e04e 91
pierreprovent 0:77ca32e8e04e 92 return (delta);
pierreprovent 0:77ca32e8e04e 93 }
pierreprovent 0:77ca32e8e04e 94
pierreprovent 0:77ca32e8e04e 95
pierreprovent 0:77ca32e8e04e 96 /*--------------------------- rt_resume -------------------------------------*/
pierreprovent 0:77ca32e8e04e 97 void rt_resume (U32 sleep_time) {
pierreprovent 0:77ca32e8e04e 98 /* Resume OS scheduler after suspend */
pierreprovent 0:77ca32e8e04e 99 P_TCB next;
pierreprovent 0:77ca32e8e04e 100 U32 delta;
pierreprovent 0:77ca32e8e04e 101
pierreprovent 0:77ca32e8e04e 102 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 103 rt_put_rdy_first (os_tsk.run);
pierreprovent 0:77ca32e8e04e 104
pierreprovent 0:77ca32e8e04e 105 os_robin.task = NULL;
pierreprovent 0:77ca32e8e04e 106
pierreprovent 0:77ca32e8e04e 107 /* Update delays. */
pierreprovent 0:77ca32e8e04e 108 if (os_dly.p_dlnk) {
pierreprovent 0:77ca32e8e04e 109 delta = sleep_time;
pierreprovent 0:77ca32e8e04e 110 if (delta >= os_dly.delta_time) {
pierreprovent 0:77ca32e8e04e 111 delta -= os_dly.delta_time;
pierreprovent 0:77ca32e8e04e 112 os_time += os_dly.delta_time;
pierreprovent 0:77ca32e8e04e 113 os_dly.delta_time = 1;
pierreprovent 0:77ca32e8e04e 114 while (os_dly.p_dlnk) {
pierreprovent 0:77ca32e8e04e 115 rt_dec_dly();
pierreprovent 0:77ca32e8e04e 116 if (delta == 0) break;
pierreprovent 0:77ca32e8e04e 117 delta--;
pierreprovent 0:77ca32e8e04e 118 os_time++;
pierreprovent 0:77ca32e8e04e 119 }
pierreprovent 0:77ca32e8e04e 120 } else {
pierreprovent 0:77ca32e8e04e 121 os_time += delta;
pierreprovent 0:77ca32e8e04e 122 os_dly.delta_time -= delta;
pierreprovent 0:77ca32e8e04e 123 }
pierreprovent 0:77ca32e8e04e 124 } else {
pierreprovent 0:77ca32e8e04e 125 os_time += sleep_time;
pierreprovent 0:77ca32e8e04e 126 }
pierreprovent 0:77ca32e8e04e 127
pierreprovent 0:77ca32e8e04e 128 #ifndef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 129 /* Check the user timers. */
pierreprovent 0:77ca32e8e04e 130 if (os_tmr.next) {
pierreprovent 0:77ca32e8e04e 131 delta = sleep_time;
pierreprovent 0:77ca32e8e04e 132 if (delta >= os_tmr.tcnt) {
pierreprovent 0:77ca32e8e04e 133 delta -= os_tmr.tcnt;
pierreprovent 0:77ca32e8e04e 134 os_tmr.tcnt = 1;
pierreprovent 0:77ca32e8e04e 135 while (os_tmr.next) {
pierreprovent 0:77ca32e8e04e 136 rt_tmr_tick();
pierreprovent 0:77ca32e8e04e 137 if (delta == 0) break;
pierreprovent 0:77ca32e8e04e 138 delta--;
pierreprovent 0:77ca32e8e04e 139 }
pierreprovent 0:77ca32e8e04e 140 } else {
pierreprovent 0:77ca32e8e04e 141 os_tmr.tcnt -= delta;
pierreprovent 0:77ca32e8e04e 142 }
pierreprovent 0:77ca32e8e04e 143 }
pierreprovent 0:77ca32e8e04e 144 #endif
pierreprovent 0:77ca32e8e04e 145
pierreprovent 0:77ca32e8e04e 146 /* Switch back to highest ready task */
pierreprovent 0:77ca32e8e04e 147 next = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 148 rt_switch_req (next);
pierreprovent 0:77ca32e8e04e 149
pierreprovent 0:77ca32e8e04e 150 rt_tsk_unlock();
pierreprovent 0:77ca32e8e04e 151 }
pierreprovent 0:77ca32e8e04e 152
pierreprovent 0:77ca32e8e04e 153
pierreprovent 0:77ca32e8e04e 154 /*--------------------------- rt_tsk_lock -----------------------------------*/
pierreprovent 0:77ca32e8e04e 155
pierreprovent 0:77ca32e8e04e 156 void rt_tsk_lock (void) {
pierreprovent 0:77ca32e8e04e 157 /* Prevent task switching by locking out scheduler */
pierreprovent 0:77ca32e8e04e 158 OS_X_LOCK(os_tick_irqn);
pierreprovent 0:77ca32e8e04e 159 os_lock = __TRUE;
pierreprovent 0:77ca32e8e04e 160 OS_X_UNPEND (&pend_flags);
pierreprovent 0:77ca32e8e04e 161 }
pierreprovent 0:77ca32e8e04e 162
pierreprovent 0:77ca32e8e04e 163
pierreprovent 0:77ca32e8e04e 164 /*--------------------------- rt_tsk_unlock ---------------------------------*/
pierreprovent 0:77ca32e8e04e 165
pierreprovent 0:77ca32e8e04e 166 void rt_tsk_unlock (void) {
pierreprovent 0:77ca32e8e04e 167 /* Unlock scheduler and re-enable task switching */
pierreprovent 0:77ca32e8e04e 168 OS_X_UNLOCK(os_tick_irqn);
pierreprovent 0:77ca32e8e04e 169 os_lock = __FALSE;
pierreprovent 0:77ca32e8e04e 170 OS_X_PEND (pend_flags, os_psh_flag);
pierreprovent 0:77ca32e8e04e 171 os_psh_flag = __FALSE;
pierreprovent 0:77ca32e8e04e 172 }
pierreprovent 0:77ca32e8e04e 173
pierreprovent 0:77ca32e8e04e 174
pierreprovent 0:77ca32e8e04e 175 /*--------------------------- rt_psh_req ------------------------------------*/
pierreprovent 0:77ca32e8e04e 176
pierreprovent 0:77ca32e8e04e 177 void rt_psh_req (void) {
pierreprovent 0:77ca32e8e04e 178 /* Initiate a post service handling request if required. */
pierreprovent 0:77ca32e8e04e 179 if (os_lock == __FALSE) {
pierreprovent 0:77ca32e8e04e 180 OS_PEND_IRQ ();
pierreprovent 0:77ca32e8e04e 181 }
pierreprovent 0:77ca32e8e04e 182 else {
pierreprovent 0:77ca32e8e04e 183 os_psh_flag = __TRUE;
pierreprovent 0:77ca32e8e04e 184 }
pierreprovent 0:77ca32e8e04e 185 }
pierreprovent 0:77ca32e8e04e 186
pierreprovent 0:77ca32e8e04e 187
pierreprovent 0:77ca32e8e04e 188 /*--------------------------- rt_pop_req ------------------------------------*/
pierreprovent 0:77ca32e8e04e 189
pierreprovent 0:77ca32e8e04e 190 void rt_pop_req (void) {
pierreprovent 0:77ca32e8e04e 191 /* Process an ISR post service requests. */
pierreprovent 0:77ca32e8e04e 192 struct OS_XCB *p_CB;
pierreprovent 0:77ca32e8e04e 193 P_TCB next;
pierreprovent 0:77ca32e8e04e 194 U32 idx;
pierreprovent 0:77ca32e8e04e 195
pierreprovent 0:77ca32e8e04e 196 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 197 rt_put_rdy_first (os_tsk.run);
pierreprovent 0:77ca32e8e04e 198
pierreprovent 0:77ca32e8e04e 199 idx = os_psq->last;
pierreprovent 0:77ca32e8e04e 200 while (os_psq->count) {
pierreprovent 0:77ca32e8e04e 201 p_CB = os_psq->q[idx].id;
pierreprovent 0:77ca32e8e04e 202 if (p_CB->cb_type == TCB) {
pierreprovent 0:77ca32e8e04e 203 /* Is of TCB type */
pierreprovent 0:77ca32e8e04e 204 rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
pierreprovent 0:77ca32e8e04e 205 }
pierreprovent 0:77ca32e8e04e 206 else if (p_CB->cb_type == MCB) {
pierreprovent 0:77ca32e8e04e 207 /* Is of MCB type */
pierreprovent 0:77ca32e8e04e 208 rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
pierreprovent 0:77ca32e8e04e 209 }
pierreprovent 0:77ca32e8e04e 210 else {
pierreprovent 0:77ca32e8e04e 211 /* Must be of SCB type */
pierreprovent 0:77ca32e8e04e 212 rt_sem_psh ((P_SCB)p_CB);
pierreprovent 0:77ca32e8e04e 213 }
pierreprovent 0:77ca32e8e04e 214 if (++idx == os_psq->size) idx = 0;
pierreprovent 0:77ca32e8e04e 215 rt_dec (&os_psq->count);
pierreprovent 0:77ca32e8e04e 216 }
pierreprovent 0:77ca32e8e04e 217 os_psq->last = idx;
pierreprovent 0:77ca32e8e04e 218
pierreprovent 0:77ca32e8e04e 219 next = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 220 rt_switch_req (next);
pierreprovent 0:77ca32e8e04e 221 }
pierreprovent 0:77ca32e8e04e 222
pierreprovent 0:77ca32e8e04e 223
pierreprovent 0:77ca32e8e04e 224 /*--------------------------- os_tick_init ----------------------------------*/
pierreprovent 0:77ca32e8e04e 225
pierreprovent 0:77ca32e8e04e 226 __weak int os_tick_init (void) {
pierreprovent 0:77ca32e8e04e 227 /* Initialize SysTick timer as system tick timer. */
pierreprovent 0:77ca32e8e04e 228 rt_systick_init ();
pierreprovent 0:77ca32e8e04e 229 return (SYS_TICK_IRQn); /* Return IRQ number of SysTick timer */
pierreprovent 0:77ca32e8e04e 230 }
pierreprovent 0:77ca32e8e04e 231
pierreprovent 0:77ca32e8e04e 232
pierreprovent 0:77ca32e8e04e 233 /*--------------------------- os_tick_irqack --------------------------------*/
pierreprovent 0:77ca32e8e04e 234
pierreprovent 0:77ca32e8e04e 235 __weak void os_tick_irqack (void) {
pierreprovent 0:77ca32e8e04e 236 /* Acknowledge timer interrupt. */
pierreprovent 0:77ca32e8e04e 237 }
pierreprovent 0:77ca32e8e04e 238
pierreprovent 0:77ca32e8e04e 239
pierreprovent 0:77ca32e8e04e 240 /*--------------------------- rt_systick ------------------------------------*/
pierreprovent 0:77ca32e8e04e 241
pierreprovent 0:77ca32e8e04e 242 extern void sysTimerTick(void);
pierreprovent 0:77ca32e8e04e 243
pierreprovent 0:77ca32e8e04e 244 void rt_systick (void) {
pierreprovent 0:77ca32e8e04e 245 if(NVIC_Pending(SYS_TICK_IRQn)){
pierreprovent 0:77ca32e8e04e 246 rt_pop_req();
pierreprovent 0:77ca32e8e04e 247 NVIC_UnpendIRQ(SYS_TICK_IRQn);
pierreprovent 0:77ca32e8e04e 248 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
pierreprovent 0:77ca32e8e04e 249 return;
pierreprovent 0:77ca32e8e04e 250 }
pierreprovent 0:77ca32e8e04e 251 /* Check for system clock update, suspend running task. */
pierreprovent 0:77ca32e8e04e 252 P_TCB next;
pierreprovent 0:77ca32e8e04e 253
pierreprovent 0:77ca32e8e04e 254 os_tsk.run->state = READY;
pierreprovent 0:77ca32e8e04e 255 rt_put_rdy_first (os_tsk.run);
pierreprovent 0:77ca32e8e04e 256
pierreprovent 0:77ca32e8e04e 257 /* Check Round Robin timeout. */
pierreprovent 0:77ca32e8e04e 258 rt_chk_robin ();
pierreprovent 0:77ca32e8e04e 259
pierreprovent 0:77ca32e8e04e 260 /* Update delays. */
pierreprovent 0:77ca32e8e04e 261 os_time++;
pierreprovent 0:77ca32e8e04e 262 rt_dec_dly ();
pierreprovent 0:77ca32e8e04e 263
pierreprovent 0:77ca32e8e04e 264 /* Check the user timers. */
pierreprovent 0:77ca32e8e04e 265 #ifdef __CMSIS_RTOS
pierreprovent 0:77ca32e8e04e 266 sysTimerTick();
pierreprovent 0:77ca32e8e04e 267 #else
pierreprovent 0:77ca32e8e04e 268 rt_tmr_tick ();
pierreprovent 0:77ca32e8e04e 269 #endif
pierreprovent 0:77ca32e8e04e 270
pierreprovent 0:77ca32e8e04e 271 /* Switch back to highest ready task */
pierreprovent 0:77ca32e8e04e 272 next = rt_get_first (&os_rdy);
pierreprovent 0:77ca32e8e04e 273 rt_switch_req (next);
pierreprovent 0:77ca32e8e04e 274 SYS_TICK_TIMER->IR = 0xF; // clear timer interrupt
pierreprovent 0:77ca32e8e04e 275 }
pierreprovent 0:77ca32e8e04e 276
pierreprovent 0:77ca32e8e04e 277 /*--------------------------- rt_stk_check ----------------------------------*/
pierreprovent 0:77ca32e8e04e 278 __weak void rt_stk_check (void) {
pierreprovent 0:77ca32e8e04e 279 /* Check for stack overflow. */
pierreprovent 0:77ca32e8e04e 280 if (os_tsk.run->task_id == 0x01) {
pierreprovent 0:77ca32e8e04e 281 // TODO: For the main thread the check should be done against the main heap pointer
pierreprovent 0:77ca32e8e04e 282 } else {
pierreprovent 0:77ca32e8e04e 283 if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
pierreprovent 0:77ca32e8e04e 284 (os_tsk.run->stack[0] != MAGIC_WORD)) {
pierreprovent 0:77ca32e8e04e 285 os_error (OS_ERR_STK_OVF);
pierreprovent 0:77ca32e8e04e 286 }
pierreprovent 0:77ca32e8e04e 287 }
pierreprovent 0:77ca32e8e04e 288 }
pierreprovent 0:77ca32e8e04e 289
pierreprovent 0:77ca32e8e04e 290 /*----------------------------------------------------------------------------
pierreprovent 0:77ca32e8e04e 291 * end of file
pierreprovent 0:77ca32e8e04e 292 *---------------------------------------------------------------------------*/
pierreprovent 0:77ca32e8e04e 293