File content as of revision 18:2305dcd0c72e:

/*----------------------------------------------------------------------------
 *      RL-ARM - RTX
 *----------------------------------------------------------------------------
 *      Name:    RT_SYSTEM.C
 *      Purpose: System Task Manager
 *      Rev.:    V4.60
 *----------------------------------------------------------------------------
 *
 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
 * All rights reserved.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *  - Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  - Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  - Neither the name of ARM  nor the names of its contributors may be used 
 *    to endorse or promote products derived from this software without 
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *---------------------------------------------------------------------------*/

#include "rt_TypeDef.h"
#include "RTX_Conf.h"
#include "rt_Task.h"
#include "rt_System.h"
#include "rt_Event.h"
#include "rt_List.h"
#include "rt_Mailbox.h"
#include "rt_Semaphore.h"
#include "rt_Time.h"
#include "rt_Robin.h"
#include "rt_HAL_CM.h"

/*----------------------------------------------------------------------------
 *      Global Variables
 *---------------------------------------------------------------------------*/

int os_tick_irqn;

/*----------------------------------------------------------------------------
 *      Local Variables
 *---------------------------------------------------------------------------*/

static volatile BIT os_lock;
static volatile BIT os_psh_flag;
static          U8  pend_flags;

/*----------------------------------------------------------------------------
 *      Global Functions
 *---------------------------------------------------------------------------*/

#if defined (__CC_ARM)
__asm void $$RTX$$version (void) {
   /* Export a version number symbol for a version control. */

                EXPORT  __RL_RTX_VER

__RL_RTX_VER    EQU     0x450
}
#endif


/*--------------------------- rt_suspend ------------------------------------*/
U32 rt_suspend (void) {
  /* Suspend OS scheduler */
  U32 delta = 0xFFFF;
  
  rt_tsk_lock();
  
  if (os_dly.p_dlnk) {
    delta = os_dly.delta_time;
  }
#ifndef __CMSIS_RTOS
  if (os_tmr.next) {
    if (os_tmr.tcnt < delta) delta = os_tmr.tcnt;
  }
#endif
  
  return (delta);
}


/*--------------------------- rt_resume -------------------------------------*/
void rt_resume (U32 sleep_time) {
  /* Resume OS scheduler after suspend */
  P_TCB next;
  U32   delta;

  os_tsk.run->state = READY;
  rt_put_rdy_first (os_tsk.run);

  os_robin.task = NULL;

  /* Update delays. */
  if (os_dly.p_dlnk) {
    delta = sleep_time;
    if (delta >= os_dly.delta_time) {
      delta   -= os_dly.delta_time;
      os_time += os_dly.delta_time;
      os_dly.delta_time = 1;
      while (os_dly.p_dlnk) {
        rt_dec_dly();
        if (delta == 0) break;
        delta--;
        os_time++;
      }
    } else {
      os_time           += delta;
      os_dly.delta_time -= delta;
    }
  } else {
    os_time += sleep_time;
  }
  
#ifndef __CMSIS_RTOS
  /* Check the user timers. */
  if (os_tmr.next) {
    delta = sleep_time;
    if (delta >= os_tmr.tcnt) {
      delta   -= os_tmr.tcnt;
      os_tmr.tcnt = 1;
      while (os_tmr.next) {
        rt_tmr_tick();
        if (delta == 0) break;
        delta--;
      }
    } else {
      os_tmr.tcnt -= delta;
    }
  }
#endif

  /* Switch back to highest ready task */
  next = rt_get_first (&os_rdy);
  rt_switch_req (next);

  rt_tsk_unlock();
}


/*--------------------------- rt_tsk_lock -----------------------------------*/

void rt_tsk_lock (void) {
  /* Prevent task switching by locking out scheduler */
  if (os_tick_irqn < 0) {
    OS_LOCK();
    os_lock = __TRUE;
    OS_UNPEND (&pend_flags);
  } else {
    OS_X_LOCK(os_tick_irqn);
    os_lock = __TRUE;
    OS_X_UNPEND (&pend_flags);
  }
}


/*--------------------------- rt_tsk_unlock ---------------------------------*/

void rt_tsk_unlock (void) {
  /* Unlock scheduler and re-enable task switching */
  if (os_tick_irqn < 0) {
    OS_UNLOCK();
    os_lock = __FALSE;
    OS_PEND (pend_flags, os_psh_flag);
    os_psh_flag = __FALSE;
  } else {
    OS_X_UNLOCK(os_tick_irqn);
    os_lock = __FALSE;
    OS_X_PEND (pend_flags, os_psh_flag);
    os_psh_flag = __FALSE;
  }
}


/*--------------------------- rt_psh_req ------------------------------------*/

void rt_psh_req (void) {
  /* Initiate a post service handling request if required. */
  if (os_lock == __FALSE) {
    OS_PEND_IRQ ();
  }
  else {
    os_psh_flag = __TRUE;
  }
}


/*--------------------------- rt_pop_req ------------------------------------*/

void rt_pop_req (void) {
  /* Process an ISR post service requests. */
  struct OS_XCB *p_CB;
  P_TCB next;
  U32  idx;

  os_tsk.run->state = READY;
  rt_put_rdy_first (os_tsk.run);

  idx = os_psq->last;
  while (os_psq->count) {
    p_CB = os_psq->q[idx].id;
    if (p_CB->cb_type == TCB) {
      /* Is of TCB type */
      rt_evt_psh ((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
    }
    else if (p_CB->cb_type == MCB) {
      /* Is of MCB type */
      rt_mbx_psh ((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
    }
    else {
      /* Must be of SCB type */
      rt_sem_psh ((P_SCB)p_CB);
    }
    if (++idx == os_psq->size) idx = 0;
    rt_dec (&os_psq->count);
  }
  os_psq->last = idx;

  next = rt_get_first (&os_rdy);
  rt_switch_req (next);
}


/*--------------------------- os_tick_init ----------------------------------*/

__weak int os_tick_init (void) {
  /* Initialize SysTick timer as system tick timer. */
  rt_systick_init ();
  return (-1);  /* Return IRQ number of SysTick timer */
}


/*--------------------------- os_tick_irqack --------------------------------*/

__weak void os_tick_irqack (void) {
  /* Acknowledge timer interrupt. */
}


/*--------------------------- rt_systick ------------------------------------*/

extern void sysTimerTick(void);

void rt_systick (void) {
  /* Check for system clock update, suspend running task. */
  P_TCB next;

  os_tsk.run->state = READY;
  rt_put_rdy_first (os_tsk.run);

  /* Check Round Robin timeout. */
  rt_chk_robin ();

  /* Update delays. */
  os_time++;
  rt_dec_dly ();

  /* Check the user timers. */
#ifdef __CMSIS_RTOS
  sysTimerTick();
#else
  rt_tmr_tick ();
#endif
  
  /* Switch back to highest ready task */
  next = rt_get_first (&os_rdy);
  rt_switch_req (next);
}

/*--------------------------- rt_stk_check ----------------------------------*/
__weak void rt_stk_check (void) {
    /* Check for stack overflow. */
    if (os_tsk.run->task_id == 0x01) {
        // TODO: For the main thread the check should be done against the main heap pointer
    } else {
        if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
            (os_tsk.run->stack[0] != MAGIC_WORD)) {
            os_error (OS_ERR_STK_OVF);
        }
    }
}

/*----------------------------------------------------------------------------
 * end of file
 *---------------------------------------------------------------------------*/