Greg Steiert / pegasus_dev

Development mbed library for MAX32630FTHR

Dependents:   blinky_max32630fthr

rtos/rtx/TARGET_CORTEX_A/rt_Task.c@3:1198227e6421, 2016-12-16 (annotated)

Committer:
switches
Date:
Fri Dec 16 16:27:57 2016 +0000
Revision:
3:1198227e6421
Parent:
0:5c4d7b2438d3 
Changed ADC scale for MAX32625 platforms to 1.2V full scale to match MAX32630 platforms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
switches 0:5c4d7b2438d3 1 /*----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 2 * RL-ARM - RTX
switches 0:5c4d7b2438d3 3 *----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 4 * Name: RT_TASK.C
switches 0:5c4d7b2438d3 5 * Purpose: Task functions and system start up.
switches 0:5c4d7b2438d3 6 * Rev.: V4.73
switches 0:5c4d7b2438d3 7 *----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 8 *
switches 0:5c4d7b2438d3 9 * Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
switches 0:5c4d7b2438d3 10 * All rights reserved.
switches 0:5c4d7b2438d3 11 * Redistribution and use in source and binary forms, with or without
switches 0:5c4d7b2438d3 12 * modification, are permitted provided that the following conditions are met:
switches 0:5c4d7b2438d3 13 * - Redistributions of source code must retain the above copyright
switches 0:5c4d7b2438d3 14 * notice, this list of conditions and the following disclaimer.
switches 0:5c4d7b2438d3 15 * - Redistributions in binary form must reproduce the above copyright
switches 0:5c4d7b2438d3 16 * notice, this list of conditions and the following disclaimer in the
switches 0:5c4d7b2438d3 17 * documentation and/or other materials provided with the distribution.
switches 0:5c4d7b2438d3 18 * - Neither the name of ARM nor the names of its contributors may be used
switches 0:5c4d7b2438d3 19 * to endorse or promote products derived from this software without
switches 0:5c4d7b2438d3 20 * specific prior written permission.
switches 0:5c4d7b2438d3 21 *
switches 0:5c4d7b2438d3 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
switches 0:5c4d7b2438d3 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
switches 0:5c4d7b2438d3 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
switches 0:5c4d7b2438d3 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
switches 0:5c4d7b2438d3 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
switches 0:5c4d7b2438d3 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
switches 0:5c4d7b2438d3 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
switches 0:5c4d7b2438d3 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
switches 0:5c4d7b2438d3 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
switches 0:5c4d7b2438d3 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
switches 0:5c4d7b2438d3 32 * POSSIBILITY OF SUCH DAMAGE.
switches 0:5c4d7b2438d3 33 *---------------------------------------------------------------------------*/
switches 0:5c4d7b2438d3 34
switches 0:5c4d7b2438d3 35 #include "rt_TypeDef.h"
switches 0:5c4d7b2438d3 36 #include "RTX_Config.h"
switches 0:5c4d7b2438d3 37 #include "rt_System.h"
switches 0:5c4d7b2438d3 38 #include "rt_Task.h"
switches 0:5c4d7b2438d3 39 #include "rt_List.h"
switches 0:5c4d7b2438d3 40 #include "rt_MemBox.h"
switches 0:5c4d7b2438d3 41 #include "rt_Robin.h"
switches 0:5c4d7b2438d3 42 #ifdef __CORTEX_A9
switches 0:5c4d7b2438d3 43 #include "rt_HAL_CA.h"
switches 0:5c4d7b2438d3 44 #else
switches 0:5c4d7b2438d3 45 #include "rt_HAL_CM.h"
switches 0:5c4d7b2438d3 46 #endif
switches 0:5c4d7b2438d3 47
switches 0:5c4d7b2438d3 48 /*----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 49 * Global Variables
switches 0:5c4d7b2438d3 50 *---------------------------------------------------------------------------*/
switches 0:5c4d7b2438d3 51
switches 0:5c4d7b2438d3 52 /* Running and next task info. */
switches 0:5c4d7b2438d3 53 struct OS_TSK os_tsk;
switches 0:5c4d7b2438d3 54
switches 0:5c4d7b2438d3 55 /* Task Control Blocks of idle demon */
switches 0:5c4d7b2438d3 56 struct OS_TCB os_idle_TCB;
switches 0:5c4d7b2438d3 57
switches 0:5c4d7b2438d3 58
switches 0:5c4d7b2438d3 59 /*----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 60 * Local Functions
switches 0:5c4d7b2438d3 61 *---------------------------------------------------------------------------*/
switches 0:5c4d7b2438d3 62
switches 0:5c4d7b2438d3 63 static OS_TID rt_get_TID (void) {
switches 0:5c4d7b2438d3 64 U32 tid;
switches 0:5c4d7b2438d3 65
switches 0:5c4d7b2438d3 66 for (tid = 1; tid <= os_maxtaskrun; tid++) {
switches 0:5c4d7b2438d3 67 if (os_active_TCB[tid-1] == NULL) {
switches 0:5c4d7b2438d3 68 return ((OS_TID)tid);
switches 0:5c4d7b2438d3 69 }
switches 0:5c4d7b2438d3 70 }
switches 0:5c4d7b2438d3 71 return (0);
switches 0:5c4d7b2438d3 72 }
switches 0:5c4d7b2438d3 73
switches 0:5c4d7b2438d3 74
switches 0:5c4d7b2438d3 75 /*--------------------------- rt_init_context -------------------------------*/
switches 0:5c4d7b2438d3 76
switches 0:5c4d7b2438d3 77 static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
switches 0:5c4d7b2438d3 78 /* Initialize general part of the Task Control Block. */
switches 0:5c4d7b2438d3 79 p_TCB->cb_type = TCB;
switches 0:5c4d7b2438d3 80 p_TCB->state = READY;
switches 0:5c4d7b2438d3 81 p_TCB->prio = priority;
switches 0:5c4d7b2438d3 82 p_TCB->prio_base = priority;
switches 0:5c4d7b2438d3 83 p_TCB->p_lnk = NULL;
switches 0:5c4d7b2438d3 84 p_TCB->p_rlnk = NULL;
switches 0:5c4d7b2438d3 85 p_TCB->p_dlnk = NULL;
switches 0:5c4d7b2438d3 86 p_TCB->p_blnk = NULL;
switches 0:5c4d7b2438d3 87 p_TCB->p_mlnk = NULL;
switches 0:5c4d7b2438d3 88 p_TCB->delta_time = 0;
switches 0:5c4d7b2438d3 89 p_TCB->interval_time = 0;
switches 0:5c4d7b2438d3 90 p_TCB->events = 0;
switches 0:5c4d7b2438d3 91 p_TCB->waits = 0;
switches 0:5c4d7b2438d3 92 p_TCB->stack_frame = 0;
switches 0:5c4d7b2438d3 93
switches 0:5c4d7b2438d3 94 if (p_TCB->priv_stack == 0) {
switches 0:5c4d7b2438d3 95 /* Allocate the memory space for the stack. */
switches 0:5c4d7b2438d3 96 p_TCB->stack = rt_alloc_box (mp_stk);
switches 0:5c4d7b2438d3 97 }
switches 0:5c4d7b2438d3 98 rt_init_stack (p_TCB, task_body);
switches 0:5c4d7b2438d3 99 }
switches 0:5c4d7b2438d3 100
switches 0:5c4d7b2438d3 101
switches 0:5c4d7b2438d3 102 /*--------------------------- rt_switch_req ---------------------------------*/
switches 0:5c4d7b2438d3 103
switches 0:5c4d7b2438d3 104 void rt_switch_req (P_TCB p_new) {
switches 0:5c4d7b2438d3 105 /* Switch to next task (identified by "p_new"). */
switches 0:5c4d7b2438d3 106 os_tsk.new_tsk = p_new;
switches 0:5c4d7b2438d3 107 p_new->state = RUNNING;
switches 0:5c4d7b2438d3 108 DBG_TASK_SWITCH(p_new->task_id);
switches 0:5c4d7b2438d3 109 }
switches 0:5c4d7b2438d3 110
switches 0:5c4d7b2438d3 111
switches 0:5c4d7b2438d3 112 /*--------------------------- rt_dispatch -----------------------------------*/
switches 0:5c4d7b2438d3 113
switches 0:5c4d7b2438d3 114 void rt_dispatch (P_TCB next_TCB) {
switches 0:5c4d7b2438d3 115 /* Dispatch next task if any identified or dispatch highest ready task */
switches 0:5c4d7b2438d3 116 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
switches 0:5c4d7b2438d3 117 if (next_TCB == NULL) {
switches 0:5c4d7b2438d3 118 /* Running task was blocked: continue with highest ready task */
switches 0:5c4d7b2438d3 119 next_TCB = rt_get_first (&os_rdy);
switches 0:5c4d7b2438d3 120 rt_switch_req (next_TCB);
switches 0:5c4d7b2438d3 121 }
switches 0:5c4d7b2438d3 122 else {
switches 0:5c4d7b2438d3 123 /* Check which task continues */
switches 0:5c4d7b2438d3 124 if (next_TCB->prio > os_tsk.run->prio) {
switches 0:5c4d7b2438d3 125 /* preempt running task */
switches 0:5c4d7b2438d3 126 rt_put_rdy_first (os_tsk.run);
switches 0:5c4d7b2438d3 127 os_tsk.run->state = READY;
switches 0:5c4d7b2438d3 128 rt_switch_req (next_TCB);
switches 0:5c4d7b2438d3 129 }
switches 0:5c4d7b2438d3 130 else {
switches 0:5c4d7b2438d3 131 /* put next task into ready list, no task switch takes place */
switches 0:5c4d7b2438d3 132 next_TCB->state = READY;
switches 0:5c4d7b2438d3 133 rt_put_prio (&os_rdy, next_TCB);
switches 0:5c4d7b2438d3 134 }
switches 0:5c4d7b2438d3 135 }
switches 0:5c4d7b2438d3 136 }
switches 0:5c4d7b2438d3 137
switches 0:5c4d7b2438d3 138
switches 0:5c4d7b2438d3 139 /*--------------------------- rt_block --------------------------------------*/
switches 0:5c4d7b2438d3 140
switches 0:5c4d7b2438d3 141 void rt_block (U16 timeout, U8 block_state) {
switches 0:5c4d7b2438d3 142 /* Block running task and choose next ready task. */
switches 0:5c4d7b2438d3 143 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
switches 0:5c4d7b2438d3 144 /* "block_state" defines the appropriate task state */
switches 0:5c4d7b2438d3 145 P_TCB next_TCB;
switches 0:5c4d7b2438d3 146
switches 0:5c4d7b2438d3 147 if (timeout) {
switches 0:5c4d7b2438d3 148 if (timeout < 0xffff) {
switches 0:5c4d7b2438d3 149 rt_put_dly (os_tsk.run, timeout);
switches 0:5c4d7b2438d3 150 }
switches 0:5c4d7b2438d3 151 os_tsk.run->state = block_state;
switches 0:5c4d7b2438d3 152 next_TCB = rt_get_first (&os_rdy);
switches 0:5c4d7b2438d3 153 rt_switch_req (next_TCB);
switches 0:5c4d7b2438d3 154 }
switches 0:5c4d7b2438d3 155 }
switches 0:5c4d7b2438d3 156
switches 0:5c4d7b2438d3 157
switches 0:5c4d7b2438d3 158 /*--------------------------- rt_tsk_pass -----------------------------------*/
switches 0:5c4d7b2438d3 159
switches 0:5c4d7b2438d3 160 void rt_tsk_pass (void) {
switches 0:5c4d7b2438d3 161 /* Allow tasks of same priority level to run cooperatively.*/
switches 0:5c4d7b2438d3 162 P_TCB p_new;
switches 0:5c4d7b2438d3 163
switches 0:5c4d7b2438d3 164 p_new = rt_get_same_rdy_prio();
switches 0:5c4d7b2438d3 165 if (p_new != NULL) {
switches 0:5c4d7b2438d3 166 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
switches 0:5c4d7b2438d3 167 os_tsk.run->state = READY;
switches 0:5c4d7b2438d3 168 rt_switch_req (p_new);
switches 0:5c4d7b2438d3 169 }
switches 0:5c4d7b2438d3 170 }
switches 0:5c4d7b2438d3 171
switches 0:5c4d7b2438d3 172
switches 0:5c4d7b2438d3 173 /*--------------------------- rt_tsk_self -----------------------------------*/
switches 0:5c4d7b2438d3 174
switches 0:5c4d7b2438d3 175 OS_TID rt_tsk_self (void) {
switches 0:5c4d7b2438d3 176 /* Return own task identifier value. */
switches 0:5c4d7b2438d3 177 if (os_tsk.run == NULL) {
switches 0:5c4d7b2438d3 178 return (0);
switches 0:5c4d7b2438d3 179 }
switches 0:5c4d7b2438d3 180 return (os_tsk.run->task_id);
switches 0:5c4d7b2438d3 181 }
switches 0:5c4d7b2438d3 182
switches 0:5c4d7b2438d3 183
switches 0:5c4d7b2438d3 184 /*--------------------------- rt_tsk_prio -----------------------------------*/
switches 0:5c4d7b2438d3 185
switches 0:5c4d7b2438d3 186 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
switches 0:5c4d7b2438d3 187 /* Change execution priority of a task to "new_prio". */
switches 0:5c4d7b2438d3 188 P_TCB p_task;
switches 0:5c4d7b2438d3 189
switches 0:5c4d7b2438d3 190 if (task_id == 0) {
switches 0:5c4d7b2438d3 191 /* Change execution priority of calling task. */
switches 0:5c4d7b2438d3 192 os_tsk.run->prio = new_prio;
switches 0:5c4d7b2438d3 193 os_tsk.run->prio_base = new_prio;
switches 0:5c4d7b2438d3 194 run:if (rt_rdy_prio() > new_prio) {
switches 0:5c4d7b2438d3 195 rt_put_prio (&os_rdy, os_tsk.run);
switches 0:5c4d7b2438d3 196 os_tsk.run->state = READY;
switches 0:5c4d7b2438d3 197 rt_dispatch (NULL);
switches 0:5c4d7b2438d3 198 }
switches 0:5c4d7b2438d3 199 return (OS_R_OK);
switches 0:5c4d7b2438d3 200 }
switches 0:5c4d7b2438d3 201
switches 0:5c4d7b2438d3 202 /* Find the task in the "os_active_TCB" array. */
switches 0:5c4d7b2438d3 203 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
switches 0:5c4d7b2438d3 204 /* Task with "task_id" not found or not started. */
switches 0:5c4d7b2438d3 205 return (OS_R_NOK);
switches 0:5c4d7b2438d3 206 }
switches 0:5c4d7b2438d3 207 p_task = os_active_TCB[task_id-1];
switches 0:5c4d7b2438d3 208 p_task->prio = new_prio;
switches 0:5c4d7b2438d3 209 p_task->prio_base = new_prio;
switches 0:5c4d7b2438d3 210 if (p_task == os_tsk.run) {
switches 0:5c4d7b2438d3 211 goto run;
switches 0:5c4d7b2438d3 212 }
switches 0:5c4d7b2438d3 213 rt_resort_prio (p_task);
switches 0:5c4d7b2438d3 214 if (p_task->state == READY) {
switches 0:5c4d7b2438d3 215 /* Task enqueued in a ready list. */
switches 0:5c4d7b2438d3 216 p_task = rt_get_first (&os_rdy);
switches 0:5c4d7b2438d3 217 rt_dispatch (p_task);
switches 0:5c4d7b2438d3 218 }
switches 0:5c4d7b2438d3 219 return (OS_R_OK);
switches 0:5c4d7b2438d3 220 }
switches 0:5c4d7b2438d3 221
switches 0:5c4d7b2438d3 222
switches 0:5c4d7b2438d3 223 /*--------------------------- rt_tsk_create ---------------------------------*/
switches 0:5c4d7b2438d3 224
switches 0:5c4d7b2438d3 225 OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
switches 0:5c4d7b2438d3 226 /* Start a new task declared with "task". */
switches 0:5c4d7b2438d3 227 P_TCB task_context;
switches 0:5c4d7b2438d3 228 U32 i;
switches 0:5c4d7b2438d3 229
switches 0:5c4d7b2438d3 230 /* Priority 0 is reserved for idle task! */
switches 0:5c4d7b2438d3 231 if ((prio_stksz & 0xFF) == 0) {
switches 0:5c4d7b2438d3 232 prio_stksz += 1;
switches 0:5c4d7b2438d3 233 }
switches 0:5c4d7b2438d3 234 task_context = rt_alloc_box (mp_tcb);
switches 0:5c4d7b2438d3 235 if (task_context == NULL) {
switches 0:5c4d7b2438d3 236 return (0);
switches 0:5c4d7b2438d3 237 }
switches 0:5c4d7b2438d3 238 /* If "size != 0" use a private user provided stack. */
switches 0:5c4d7b2438d3 239 task_context->stack = stk;
switches 0:5c4d7b2438d3 240 task_context->priv_stack = prio_stksz >> 8;
switches 0:5c4d7b2438d3 241 /* Pass parameter 'argv' to 'rt_init_context' */
switches 0:5c4d7b2438d3 242 task_context->msg = argv;
switches 0:5c4d7b2438d3 243 /* For 'size == 0' system allocates the user stack from the memory pool. */
switches 0:5c4d7b2438d3 244 rt_init_context (task_context, prio_stksz & 0xFF, task);
switches 0:5c4d7b2438d3 245
switches 0:5c4d7b2438d3 246 /* Find a free entry in 'os_active_TCB' table. */
switches 0:5c4d7b2438d3 247 i = rt_get_TID ();
switches 0:5c4d7b2438d3 248 os_active_TCB[i-1] = task_context;
switches 0:5c4d7b2438d3 249 task_context->task_id = i;
switches 0:5c4d7b2438d3 250 DBG_TASK_NOTIFY(task_context, __TRUE);
switches 0:5c4d7b2438d3 251 rt_dispatch (task_context);
switches 0:5c4d7b2438d3 252 return ((OS_TID)i);
switches 0:5c4d7b2438d3 253 }
switches 0:5c4d7b2438d3 254
switches 0:5c4d7b2438d3 255
switches 0:5c4d7b2438d3 256 /*--------------------------- rt_tsk_delete ---------------------------------*/
switches 0:5c4d7b2438d3 257
switches 0:5c4d7b2438d3 258 OS_RESULT rt_tsk_delete (OS_TID task_id) {
switches 0:5c4d7b2438d3 259 /* Terminate the task identified with "task_id". */
switches 0:5c4d7b2438d3 260 P_TCB task_context;
switches 0:5c4d7b2438d3 261 P_TCB p_TCB;
switches 0:5c4d7b2438d3 262 P_MUCB p_MCB, p_MCB0;
switches 0:5c4d7b2438d3 263
switches 0:5c4d7b2438d3 264 if (task_id == 0 || task_id == os_tsk.run->task_id) {
switches 0:5c4d7b2438d3 265 /* Terminate itself. */
switches 0:5c4d7b2438d3 266 os_tsk.run->state = INACTIVE;
switches 0:5c4d7b2438d3 267 os_tsk.run->tsk_stack = rt_get_PSP ();
switches 0:5c4d7b2438d3 268 rt_stk_check ();
switches 0:5c4d7b2438d3 269 p_MCB = os_tsk.run->p_mlnk;
switches 0:5c4d7b2438d3 270 while (p_MCB) {
switches 0:5c4d7b2438d3 271 /* Release mutexes owned by this task */
switches 0:5c4d7b2438d3 272 if (p_MCB->p_lnk) {
switches 0:5c4d7b2438d3 273 /* A task is waiting for mutex. */
switches 0:5c4d7b2438d3 274 p_TCB = rt_get_first ((P_XCB)p_MCB);
switches 0:5c4d7b2438d3 275 #ifdef __CMSIS_RTOS
switches 0:5c4d7b2438d3 276 rt_ret_val(p_TCB, 0/*osOK*/);
switches 0:5c4d7b2438d3 277 #else
switches 0:5c4d7b2438d3 278 rt_ret_val(p_TCB, OS_R_MUT);
switches 0:5c4d7b2438d3 279 #endif
switches 0:5c4d7b2438d3 280 rt_rmv_dly (p_TCB);
switches 0:5c4d7b2438d3 281 p_TCB->state = READY;
switches 0:5c4d7b2438d3 282 rt_put_prio (&os_rdy, p_TCB);
switches 0:5c4d7b2438d3 283 /* A waiting task becomes the owner of this mutex. */
switches 0:5c4d7b2438d3 284 p_MCB0 = p_MCB;
switches 0:5c4d7b2438d3 285 p_MCB->level = 1;
switches 0:5c4d7b2438d3 286 p_MCB->owner = p_TCB;
switches 0:5c4d7b2438d3 287 p_MCB->p_mlnk = p_TCB->p_mlnk;
switches 0:5c4d7b2438d3 288 p_TCB->p_mlnk = p_MCB;
switches 0:5c4d7b2438d3 289 p_MCB = p_MCB0->p_mlnk;
switches 0:5c4d7b2438d3 290 }
switches 0:5c4d7b2438d3 291 else {
switches 0:5c4d7b2438d3 292 p_MCB = p_MCB->p_mlnk;
switches 0:5c4d7b2438d3 293 }
switches 0:5c4d7b2438d3 294 }
switches 0:5c4d7b2438d3 295 os_active_TCB[os_tsk.run->task_id-1] = NULL;
switches 0:5c4d7b2438d3 296 rt_free_box (mp_stk, os_tsk.run->stack);
switches 0:5c4d7b2438d3 297 os_tsk.run->stack = NULL;
switches 0:5c4d7b2438d3 298 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
switches 0:5c4d7b2438d3 299 rt_free_box (mp_tcb, os_tsk.run);
switches 0:5c4d7b2438d3 300 os_tsk.run = NULL;
switches 0:5c4d7b2438d3 301 rt_dispatch (NULL);
switches 0:5c4d7b2438d3 302 /* The program should never come to this point. */
switches 0:5c4d7b2438d3 303 }
switches 0:5c4d7b2438d3 304 else {
switches 0:5c4d7b2438d3 305 /* Find the task in the "os_active_TCB" array. */
switches 0:5c4d7b2438d3 306 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
switches 0:5c4d7b2438d3 307 /* Task with "task_id" not found or not started. */
switches 0:5c4d7b2438d3 308 return (OS_R_NOK);
switches 0:5c4d7b2438d3 309 }
switches 0:5c4d7b2438d3 310 task_context = os_active_TCB[task_id-1];
switches 0:5c4d7b2438d3 311 rt_rmv_list (task_context);
switches 0:5c4d7b2438d3 312 rt_rmv_dly (task_context);
switches 0:5c4d7b2438d3 313 p_MCB = task_context->p_mlnk;
switches 0:5c4d7b2438d3 314 while (p_MCB) {
switches 0:5c4d7b2438d3 315 /* Release mutexes owned by this task */
switches 0:5c4d7b2438d3 316 if (p_MCB->p_lnk) {
switches 0:5c4d7b2438d3 317 /* A task is waiting for mutex. */
switches 0:5c4d7b2438d3 318 p_TCB = rt_get_first ((P_XCB)p_MCB);
switches 0:5c4d7b2438d3 319 #ifdef __CMSIS_RTOS
switches 0:5c4d7b2438d3 320 rt_ret_val(p_TCB, 0/*osOK*/);
switches 0:5c4d7b2438d3 321 #else
switches 0:5c4d7b2438d3 322 rt_ret_val(p_TCB, OS_R_MUT);
switches 0:5c4d7b2438d3 323 #endif
switches 0:5c4d7b2438d3 324 rt_rmv_dly (p_TCB);
switches 0:5c4d7b2438d3 325 p_TCB->state = READY;
switches 0:5c4d7b2438d3 326 rt_put_prio (&os_rdy, p_TCB);
switches 0:5c4d7b2438d3 327 /* A waiting task becomes the owner of this mutex. */
switches 0:5c4d7b2438d3 328 p_MCB0 = p_MCB;
switches 0:5c4d7b2438d3 329 p_MCB->level = 1;
switches 0:5c4d7b2438d3 330 p_MCB->owner = p_TCB;
switches 0:5c4d7b2438d3 331 p_MCB->p_mlnk = p_TCB->p_mlnk;
switches 0:5c4d7b2438d3 332 p_TCB->p_mlnk = p_MCB;
switches 0:5c4d7b2438d3 333 p_MCB = p_MCB0->p_mlnk;
switches 0:5c4d7b2438d3 334 }
switches 0:5c4d7b2438d3 335 else {
switches 0:5c4d7b2438d3 336 p_MCB = p_MCB->p_mlnk;
switches 0:5c4d7b2438d3 337 }
switches 0:5c4d7b2438d3 338 }
switches 0:5c4d7b2438d3 339 os_active_TCB[task_id-1] = NULL;
switches 0:5c4d7b2438d3 340 rt_free_box (mp_stk, task_context->stack);
switches 0:5c4d7b2438d3 341 task_context->stack = NULL;
switches 0:5c4d7b2438d3 342 DBG_TASK_NOTIFY(task_context, __FALSE);
switches 0:5c4d7b2438d3 343 rt_free_box (mp_tcb, task_context);
switches 0:5c4d7b2438d3 344 if (rt_rdy_prio() > os_tsk.run->prio) {
switches 0:5c4d7b2438d3 345 /* Ready task has higher priority than running task. */
switches 0:5c4d7b2438d3 346 os_tsk.run->state = READY;
switches 0:5c4d7b2438d3 347 rt_put_prio (&os_rdy, os_tsk.run);
switches 0:5c4d7b2438d3 348 rt_dispatch (NULL);
switches 0:5c4d7b2438d3 349 }
switches 0:5c4d7b2438d3 350 }
switches 0:5c4d7b2438d3 351 return (OS_R_OK);
switches 0:5c4d7b2438d3 352 }
switches 0:5c4d7b2438d3 353
switches 0:5c4d7b2438d3 354
switches 0:5c4d7b2438d3 355 /*--------------------------- rt_sys_init -----------------------------------*/
switches 0:5c4d7b2438d3 356
switches 0:5c4d7b2438d3 357 #ifdef __CMSIS_RTOS
switches 0:5c4d7b2438d3 358 void rt_sys_init (void) {
switches 0:5c4d7b2438d3 359 #else
switches 0:5c4d7b2438d3 360 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
switches 0:5c4d7b2438d3 361 #endif
switches 0:5c4d7b2438d3 362 /* Initialize system and start up task declared with "first_task". */
switches 0:5c4d7b2438d3 363 U32 i;
switches 0:5c4d7b2438d3 364
switches 0:5c4d7b2438d3 365 DBG_INIT();
switches 0:5c4d7b2438d3 366
switches 0:5c4d7b2438d3 367 /* Initialize dynamic memory and task TCB pointers to NULL. */
switches 0:5c4d7b2438d3 368 for (i = 0; i < os_maxtaskrun; i++) {
switches 0:5c4d7b2438d3 369 os_active_TCB[i] = NULL;
switches 0:5c4d7b2438d3 370 }
switches 0:5c4d7b2438d3 371 rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
switches 0:5c4d7b2438d3 372 rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
switches 0:5c4d7b2438d3 373 rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
switches 0:5c4d7b2438d3 374
switches 0:5c4d7b2438d3 375 /* Set up TCB of idle demon */
switches 0:5c4d7b2438d3 376 os_idle_TCB.task_id = 255;
switches 0:5c4d7b2438d3 377 os_idle_TCB.priv_stack = 0;
switches 0:5c4d7b2438d3 378 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
switches 0:5c4d7b2438d3 379
switches 0:5c4d7b2438d3 380 /* Set up ready list: initially empty */
switches 0:5c4d7b2438d3 381 os_rdy.cb_type = HCB;
switches 0:5c4d7b2438d3 382 os_rdy.p_lnk = NULL;
switches 0:5c4d7b2438d3 383 /* Set up delay list: initially empty */
switches 0:5c4d7b2438d3 384 os_dly.cb_type = HCB;
switches 0:5c4d7b2438d3 385 os_dly.p_dlnk = NULL;
switches 0:5c4d7b2438d3 386 os_dly.p_blnk = NULL;
switches 0:5c4d7b2438d3 387 os_dly.delta_time = 0;
switches 0:5c4d7b2438d3 388
switches 0:5c4d7b2438d3 389 /* Fix SP and system variables to assume idle task is running */
switches 0:5c4d7b2438d3 390 /* Transform main program into idle task by assuming idle TCB */
switches 0:5c4d7b2438d3 391 #ifndef __CMSIS_RTOS
switches 0:5c4d7b2438d3 392 rt_set_PSP (os_idle_TCB.tsk_stack+32);
switches 0:5c4d7b2438d3 393 #endif
switches 0:5c4d7b2438d3 394 os_tsk.run = &os_idle_TCB;
switches 0:5c4d7b2438d3 395 os_tsk.run->state = RUNNING;
switches 0:5c4d7b2438d3 396
switches 0:5c4d7b2438d3 397 /* Initialize ps queue */
switches 0:5c4d7b2438d3 398 os_psq->first = 0;
switches 0:5c4d7b2438d3 399 os_psq->last = 0;
switches 0:5c4d7b2438d3 400 os_psq->size = os_fifo_size;
switches 0:5c4d7b2438d3 401
switches 0:5c4d7b2438d3 402 rt_init_robin ();
switches 0:5c4d7b2438d3 403
switches 0:5c4d7b2438d3 404 /* Initialize SVC and PendSV */
switches 0:5c4d7b2438d3 405 rt_svc_init ();
switches 0:5c4d7b2438d3 406
switches 0:5c4d7b2438d3 407 #ifndef __CMSIS_RTOS
switches 0:5c4d7b2438d3 408 /* Initialize and start system clock timer */
switches 0:5c4d7b2438d3 409 os_tick_irqn = os_tick_init ();
switches 0:5c4d7b2438d3 410 if (os_tick_irqn >= 0) {
switches 0:5c4d7b2438d3 411 OS_X_INIT(os_tick_irqn);
switches 0:5c4d7b2438d3 412 }
switches 0:5c4d7b2438d3 413
switches 0:5c4d7b2438d3 414 /* Start up first user task before entering the endless loop */
switches 0:5c4d7b2438d3 415 rt_tsk_create (first_task, prio_stksz, stk, NULL);
switches 0:5c4d7b2438d3 416 #endif
switches 0:5c4d7b2438d3 417 }
switches 0:5c4d7b2438d3 418
switches 0:5c4d7b2438d3 419
switches 0:5c4d7b2438d3 420 /*--------------------------- rt_sys_start ----------------------------------*/
switches 0:5c4d7b2438d3 421
switches 0:5c4d7b2438d3 422 #ifdef __CMSIS_RTOS
switches 0:5c4d7b2438d3 423 void rt_sys_start (void) {
switches 0:5c4d7b2438d3 424 /* Start system */
switches 0:5c4d7b2438d3 425
switches 0:5c4d7b2438d3 426 /* Initialize and start system clock timer */
switches 0:5c4d7b2438d3 427 os_tick_irqn = os_tick_init ();
switches 0:5c4d7b2438d3 428 if (os_tick_irqn >= 0) {
switches 0:5c4d7b2438d3 429 OS_X_INIT(os_tick_irqn);
switches 0:5c4d7b2438d3 430 }
switches 0:5c4d7b2438d3 431 }
switches 0:5c4d7b2438d3 432 #endif
switches 0:5c4d7b2438d3 433
switches 0:5c4d7b2438d3 434 /*----------------------------------------------------------------------------
switches 0:5c4d7b2438d3 435 * end of file
switches 0:5c4d7b2438d3 436 *---------------------------------------------------------------------------*/