Dave Lu / Mbed 2 deprecated FYDP

Dependencies:   mbed

Fork of FYDP_Final2 by Dave Lu

mbed-rtos/rtx/rt_Task.c@11:425dff6a4af9, 2015-03-25 (annotated)

Committer:
tntmarket
Date:
Wed Mar 25 18:11:09 2015 +0000
Revision:
11:425dff6a4af9
Parent:
8:3d5a84b897be 
Working

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 /*----------------------------------------------------------------------------
majik 0:21019d94ad33 2 * RL-ARM - RTX
majik 0:21019d94ad33 3 *----------------------------------------------------------------------------
majik 0:21019d94ad33 4 * Name: RT_TASK.C
majik 0:21019d94ad33 5 * Purpose: Task functions and system start up.
majik 0:21019d94ad33 6 * Rev.: V4.60
majik 0:21019d94ad33 7 *----------------------------------------------------------------------------
majik 0:21019d94ad33 8 *
majik 0:21019d94ad33 9 * Copyright (c) 1999-2009 KEIL, 2009-2012 ARM Germany GmbH
majik 0:21019d94ad33 10 * All rights reserved.
majik 0:21019d94ad33 11 * Redistribution and use in source and binary forms, with or without
majik 0:21019d94ad33 12 * modification, are permitted provided that the following conditions are met:
majik 0:21019d94ad33 13 * - Redistributions of source code must retain the above copyright
majik 0:21019d94ad33 14 * notice, this list of conditions and the following disclaimer.
majik 0:21019d94ad33 15 * - Redistributions in binary form must reproduce the above copyright
majik 0:21019d94ad33 16 * notice, this list of conditions and the following disclaimer in the
majik 0:21019d94ad33 17 * documentation and/or other materials provided with the distribution.
majik 0:21019d94ad33 18 * - Neither the name of ARM nor the names of its contributors may be used
majik 0:21019d94ad33 19 * to endorse or promote products derived from this software without
majik 0:21019d94ad33 20 * specific prior written permission.
majik 0:21019d94ad33 21 *
majik 0:21019d94ad33 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
majik 0:21019d94ad33 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
majik 0:21019d94ad33 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
majik 0:21019d94ad33 25 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
majik 0:21019d94ad33 26 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
majik 0:21019d94ad33 27 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
majik 0:21019d94ad33 28 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
majik 0:21019d94ad33 29 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
majik 0:21019d94ad33 30 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
majik 0:21019d94ad33 31 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
majik 0:21019d94ad33 32 * POSSIBILITY OF SUCH DAMAGE.
majik 0:21019d94ad33 33 *---------------------------------------------------------------------------*/
majik 0:21019d94ad33 34
majik 0:21019d94ad33 35 #include "rt_TypeDef.h"
majik 0:21019d94ad33 36 #include "RTX_Conf.h"
majik 0:21019d94ad33 37 #include "rt_System.h"
majik 0:21019d94ad33 38 #include "rt_Task.h"
majik 0:21019d94ad33 39 #include "rt_List.h"
majik 0:21019d94ad33 40 #include "rt_MemBox.h"
majik 0:21019d94ad33 41 #include "rt_Robin.h"
majik 0:21019d94ad33 42 #include "rt_HAL_CM.h"
majik 0:21019d94ad33 43
majik 0:21019d94ad33 44 /*----------------------------------------------------------------------------
majik 0:21019d94ad33 45 * Global Variables
majik 0:21019d94ad33 46 *---------------------------------------------------------------------------*/
majik 0:21019d94ad33 47
majik 0:21019d94ad33 48 /* Running and next task info. */
majik 0:21019d94ad33 49 struct OS_TSK os_tsk;
majik 0:21019d94ad33 50
majik 0:21019d94ad33 51 /* Task Control Blocks of idle demon */
majik 0:21019d94ad33 52 struct OS_TCB os_idle_TCB;
majik 0:21019d94ad33 53
majik 0:21019d94ad33 54
majik 0:21019d94ad33 55 /*----------------------------------------------------------------------------
majik 0:21019d94ad33 56 * Local Functions
majik 0:21019d94ad33 57 *---------------------------------------------------------------------------*/
majik 0:21019d94ad33 58
majik 0:21019d94ad33 59 OS_TID rt_get_TID (void) {
majik 0:21019d94ad33 60 U32 tid;
majik 0:21019d94ad33 61
majik 0:21019d94ad33 62 for (tid = 1; tid <= os_maxtaskrun; tid++) {
majik 0:21019d94ad33 63 if (os_active_TCB[tid-1] == NULL) {
majik 0:21019d94ad33 64 return ((OS_TID)tid);
majik 0:21019d94ad33 65 }
majik 0:21019d94ad33 66 }
majik 0:21019d94ad33 67 return (0);
majik 0:21019d94ad33 68 }
majik 0:21019d94ad33 69
majik 0:21019d94ad33 70 #if defined (__CC_ARM) && !defined (__MICROLIB)
majik 0:21019d94ad33 71 /*--------------------------- __user_perthread_libspace ---------------------*/
majik 0:21019d94ad33 72 extern void *__libspace_start;
majik 0:21019d94ad33 73
majik 0:21019d94ad33 74 void *__user_perthread_libspace (void) {
majik 0:21019d94ad33 75 /* Provide a separate libspace for each task. */
majik 0:21019d94ad33 76 if (os_tsk.run == NULL) {
majik 0:21019d94ad33 77 /* RTX not running yet. */
majik 0:21019d94ad33 78 return (&__libspace_start);
majik 0:21019d94ad33 79 }
majik 0:21019d94ad33 80 return (void *)(os_tsk.run->std_libspace);
majik 0:21019d94ad33 81 }
majik 0:21019d94ad33 82 #endif
majik 0:21019d94ad33 83
majik 0:21019d94ad33 84 /*--------------------------- rt_init_context -------------------------------*/
majik 0:21019d94ad33 85
majik 0:21019d94ad33 86 void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
majik 0:21019d94ad33 87 /* Initialize general part of the Task Control Block. */
majik 0:21019d94ad33 88 p_TCB->cb_type = TCB;
majik 0:21019d94ad33 89 p_TCB->state = READY;
majik 0:21019d94ad33 90 p_TCB->prio = priority;
majik 0:21019d94ad33 91 p_TCB->p_lnk = NULL;
majik 0:21019d94ad33 92 p_TCB->p_rlnk = NULL;
majik 0:21019d94ad33 93 p_TCB->p_dlnk = NULL;
majik 0:21019d94ad33 94 p_TCB->p_blnk = NULL;
majik 0:21019d94ad33 95 p_TCB->delta_time = 0;
majik 0:21019d94ad33 96 p_TCB->interval_time = 0;
majik 0:21019d94ad33 97 p_TCB->events = 0;
majik 0:21019d94ad33 98 p_TCB->waits = 0;
majik 0:21019d94ad33 99 p_TCB->stack_frame = 0;
majik 0:21019d94ad33 100
majik 0:21019d94ad33 101 rt_init_stack (p_TCB, task_body);
majik 0:21019d94ad33 102 }
majik 0:21019d94ad33 103
majik 0:21019d94ad33 104
majik 0:21019d94ad33 105 /*--------------------------- rt_switch_req ---------------------------------*/
majik 0:21019d94ad33 106
majik 0:21019d94ad33 107 void rt_switch_req (P_TCB p_new) {
majik 0:21019d94ad33 108 /* Switch to next task (identified by "p_new"). */
majik 0:21019d94ad33 109 os_tsk.new_tsk = p_new;
majik 0:21019d94ad33 110 p_new->state = RUNNING;
majik 0:21019d94ad33 111 DBG_TASK_SWITCH(p_new->task_id);
majik 0:21019d94ad33 112 }
majik 0:21019d94ad33 113
majik 0:21019d94ad33 114
majik 0:21019d94ad33 115 /*--------------------------- rt_dispatch -----------------------------------*/
majik 0:21019d94ad33 116
majik 0:21019d94ad33 117 void rt_dispatch (P_TCB next_TCB) {
majik 0:21019d94ad33 118 /* Dispatch next task if any identified or dispatch highest ready task */
majik 0:21019d94ad33 119 /* "next_TCB" identifies a task to run or has value NULL (=no next task) */
majik 0:21019d94ad33 120 if (next_TCB == NULL) {
majik 0:21019d94ad33 121 /* Running task was blocked: continue with highest ready task */
majik 0:21019d94ad33 122 next_TCB = rt_get_first (&os_rdy);
majik 0:21019d94ad33 123 rt_switch_req (next_TCB);
majik 0:21019d94ad33 124 }
majik 0:21019d94ad33 125 else {
majik 0:21019d94ad33 126 /* Check which task continues */
majik 0:21019d94ad33 127 if (next_TCB->prio > os_tsk.run->prio) {
majik 0:21019d94ad33 128 /* preempt running task */
majik 0:21019d94ad33 129 rt_put_rdy_first (os_tsk.run);
majik 0:21019d94ad33 130 os_tsk.run->state = READY;
majik 0:21019d94ad33 131 rt_switch_req (next_TCB);
majik 0:21019d94ad33 132 }
majik 0:21019d94ad33 133 else {
majik 0:21019d94ad33 134 /* put next task into ready list, no task switch takes place */
majik 0:21019d94ad33 135 next_TCB->state = READY;
majik 0:21019d94ad33 136 rt_put_prio (&os_rdy, next_TCB);
majik 0:21019d94ad33 137 }
majik 0:21019d94ad33 138 }
majik 0:21019d94ad33 139 }
majik 0:21019d94ad33 140
majik 0:21019d94ad33 141
majik 0:21019d94ad33 142 /*--------------------------- rt_block --------------------------------------*/
majik 0:21019d94ad33 143
majik 0:21019d94ad33 144 void rt_block (U16 timeout, U8 block_state) {
majik 0:21019d94ad33 145 /* Block running task and choose next ready task. */
majik 0:21019d94ad33 146 /* "timeout" sets a time-out value or is 0xffff (=no time-out). */
majik 0:21019d94ad33 147 /* "block_state" defines the appropriate task state */
majik 0:21019d94ad33 148 P_TCB next_TCB;
majik 0:21019d94ad33 149
majik 0:21019d94ad33 150 if (timeout) {
majik 0:21019d94ad33 151 if (timeout < 0xffff) {
majik 0:21019d94ad33 152 rt_put_dly (os_tsk.run, timeout);
majik 0:21019d94ad33 153 }
majik 0:21019d94ad33 154 os_tsk.run->state = block_state;
majik 0:21019d94ad33 155 next_TCB = rt_get_first (&os_rdy);
majik 0:21019d94ad33 156 rt_switch_req (next_TCB);
majik 0:21019d94ad33 157 }
majik 0:21019d94ad33 158 }
majik 0:21019d94ad33 159
majik 0:21019d94ad33 160
majik 0:21019d94ad33 161 /*--------------------------- rt_tsk_pass -----------------------------------*/
majik 0:21019d94ad33 162
majik 0:21019d94ad33 163 void rt_tsk_pass (void) {
majik 0:21019d94ad33 164 /* Allow tasks of same priority level to run cooperatively.*/
majik 0:21019d94ad33 165 P_TCB p_new;
majik 0:21019d94ad33 166
majik 0:21019d94ad33 167 p_new = rt_get_same_rdy_prio();
majik 0:21019d94ad33 168 if (p_new != NULL) {
majik 0:21019d94ad33 169 rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
majik 0:21019d94ad33 170 os_tsk.run->state = READY;
majik 0:21019d94ad33 171 rt_switch_req (p_new);
majik 0:21019d94ad33 172 }
majik 0:21019d94ad33 173 }
majik 0:21019d94ad33 174
majik 0:21019d94ad33 175
majik 0:21019d94ad33 176 /*--------------------------- rt_tsk_self -----------------------------------*/
majik 0:21019d94ad33 177
majik 0:21019d94ad33 178 OS_TID rt_tsk_self (void) {
majik 0:21019d94ad33 179 /* Return own task identifier value. */
majik 0:21019d94ad33 180 if (os_tsk.run == NULL) {
majik 0:21019d94ad33 181 return (0);
majik 0:21019d94ad33 182 }
majik 0:21019d94ad33 183 return (os_tsk.run->task_id);
majik 0:21019d94ad33 184 }
majik 0:21019d94ad33 185
majik 0:21019d94ad33 186
majik 0:21019d94ad33 187 /*--------------------------- rt_tsk_prio -----------------------------------*/
majik 0:21019d94ad33 188
majik 0:21019d94ad33 189 OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
majik 0:21019d94ad33 190 /* Change execution priority of a task to "new_prio". */
majik 0:21019d94ad33 191 P_TCB p_task;
majik 0:21019d94ad33 192
majik 0:21019d94ad33 193 if (task_id == 0) {
majik 0:21019d94ad33 194 /* Change execution priority of calling task. */
majik 0:21019d94ad33 195 os_tsk.run->prio = new_prio;
majik 0:21019d94ad33 196 run:if (rt_rdy_prio() > new_prio) {
majik 0:21019d94ad33 197 rt_put_prio (&os_rdy, os_tsk.run);
majik 0:21019d94ad33 198 os_tsk.run->state = READY;
majik 0:21019d94ad33 199 rt_dispatch (NULL);
majik 0:21019d94ad33 200 }
majik 0:21019d94ad33 201 return (OS_R_OK);
majik 0:21019d94ad33 202 }
majik 0:21019d94ad33 203
majik 0:21019d94ad33 204 /* Find the task in the "os_active_TCB" array. */
majik 0:21019d94ad33 205 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
majik 0:21019d94ad33 206 /* Task with "task_id" not found or not started. */
majik 0:21019d94ad33 207 return (OS_R_NOK);
majik 0:21019d94ad33 208 }
majik 0:21019d94ad33 209 p_task = os_active_TCB[task_id-1];
majik 0:21019d94ad33 210 p_task->prio = new_prio;
majik 0:21019d94ad33 211 if (p_task == os_tsk.run) {
majik 0:21019d94ad33 212 goto run;
majik 0:21019d94ad33 213 }
majik 0:21019d94ad33 214 rt_resort_prio (p_task);
majik 0:21019d94ad33 215 if (p_task->state == READY) {
majik 0:21019d94ad33 216 /* Task enqueued in a ready list. */
majik 0:21019d94ad33 217 p_task = rt_get_first (&os_rdy);
majik 0:21019d94ad33 218 rt_dispatch (p_task);
majik 0:21019d94ad33 219 }
majik 0:21019d94ad33 220 return (OS_R_OK);
majik 0:21019d94ad33 221 }
majik 0:21019d94ad33 222
majik 0:21019d94ad33 223 /*--------------------------- rt_tsk_delete ---------------------------------*/
majik 0:21019d94ad33 224
majik 0:21019d94ad33 225 OS_RESULT rt_tsk_delete (OS_TID task_id) {
majik 0:21019d94ad33 226 /* Terminate the task identified with "task_id". */
majik 0:21019d94ad33 227 P_TCB task_context;
majik 0:21019d94ad33 228
majik 0:21019d94ad33 229 if (task_id == 0 || task_id == os_tsk.run->task_id) {
majik 0:21019d94ad33 230 /* Terminate itself. */
majik 0:21019d94ad33 231 os_tsk.run->state = INACTIVE;
majik 0:21019d94ad33 232 os_tsk.run->tsk_stack = rt_get_PSP ();
majik 0:21019d94ad33 233 rt_stk_check ();
majik 0:21019d94ad33 234 os_active_TCB[os_tsk.run->task_id-1] = NULL;
majik 0:21019d94ad33 235
majik 0:21019d94ad33 236 os_tsk.run->stack = NULL;
majik 0:21019d94ad33 237 DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
majik 0:21019d94ad33 238 os_tsk.run = NULL;
majik 0:21019d94ad33 239 rt_dispatch (NULL);
majik 0:21019d94ad33 240 /* The program should never come to this point. */
majik 0:21019d94ad33 241 }
majik 0:21019d94ad33 242 else {
majik 0:21019d94ad33 243 /* Find the task in the "os_active_TCB" array. */
majik 0:21019d94ad33 244 if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
majik 0:21019d94ad33 245 /* Task with "task_id" not found or not started. */
majik 0:21019d94ad33 246 return (OS_R_NOK);
majik 0:21019d94ad33 247 }
majik 0:21019d94ad33 248 task_context = os_active_TCB[task_id-1];
majik 0:21019d94ad33 249 rt_rmv_list (task_context);
majik 0:21019d94ad33 250 rt_rmv_dly (task_context);
majik 0:21019d94ad33 251 os_active_TCB[task_id-1] = NULL;
majik 0:21019d94ad33 252
majik 0:21019d94ad33 253 task_context->stack = NULL;
majik 0:21019d94ad33 254 DBG_TASK_NOTIFY(task_context, __FALSE);
majik 0:21019d94ad33 255 }
majik 0:21019d94ad33 256 return (OS_R_OK);
majik 0:21019d94ad33 257 }
majik 0:21019d94ad33 258
majik 0:21019d94ad33 259
majik 0:21019d94ad33 260 /*--------------------------- rt_sys_init -----------------------------------*/
majik 0:21019d94ad33 261
majik 0:21019d94ad33 262 #ifdef __CMSIS_RTOS
majik 0:21019d94ad33 263 void rt_sys_init (void) {
majik 0:21019d94ad33 264 #else
majik 0:21019d94ad33 265 void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
majik 0:21019d94ad33 266 #endif
majik 0:21019d94ad33 267 /* Initialize system and start up task declared with "first_task". */
majik 0:21019d94ad33 268 U32 i;
majik 0:21019d94ad33 269
majik 0:21019d94ad33 270 DBG_INIT();
majik 0:21019d94ad33 271
majik 0:21019d94ad33 272 /* Initialize dynamic memory and task TCB pointers to NULL. */
majik 0:21019d94ad33 273 for (i = 0; i < os_maxtaskrun; i++) {
majik 0:21019d94ad33 274 os_active_TCB[i] = NULL;
majik 0:21019d94ad33 275 }
majik 0:21019d94ad33 276
majik 0:21019d94ad33 277 /* Set up TCB of idle demon */
majik 0:21019d94ad33 278 os_idle_TCB.task_id = 255;
majik 0:21019d94ad33 279 os_idle_TCB.priv_stack = idle_task_stack_size;
majik 0:21019d94ad33 280 os_idle_TCB.stack = idle_task_stack;
majik 0:21019d94ad33 281 rt_init_context (&os_idle_TCB, 0, os_idle_demon);
majik 0:21019d94ad33 282
majik 0:21019d94ad33 283 /* Set up ready list: initially empty */
majik 0:21019d94ad33 284 os_rdy.cb_type = HCB;
majik 0:21019d94ad33 285 os_rdy.p_lnk = NULL;
majik 0:21019d94ad33 286 /* Set up delay list: initially empty */
majik 0:21019d94ad33 287 os_dly.cb_type = HCB;
majik 0:21019d94ad33 288 os_dly.p_dlnk = NULL;
majik 0:21019d94ad33 289 os_dly.p_blnk = NULL;
majik 0:21019d94ad33 290 os_dly.delta_time = 0;
majik 0:21019d94ad33 291
majik 0:21019d94ad33 292 /* Fix SP and systemvariables to assume idle task is running */
majik 0:21019d94ad33 293 /* Transform main program into idle task by assuming idle TCB */
majik 0:21019d94ad33 294 #ifndef __CMSIS_RTOS
majik 0:21019d94ad33 295 rt_set_PSP (os_idle_TCB.tsk_stack+32);
majik 0:21019d94ad33 296 #endif
majik 0:21019d94ad33 297 os_tsk.run = &os_idle_TCB;
majik 0:21019d94ad33 298 os_tsk.run->state = RUNNING;
majik 0:21019d94ad33 299
majik 0:21019d94ad33 300 /* Initialize ps queue */
majik 0:21019d94ad33 301 os_psq->first = 0;
majik 0:21019d94ad33 302 os_psq->last = 0;
majik 0:21019d94ad33 303 os_psq->size = os_fifo_size;
majik 0:21019d94ad33 304
majik 0:21019d94ad33 305 rt_init_robin ();
majik 0:21019d94ad33 306
majik 0:21019d94ad33 307 /* Intitialize SVC and PendSV */
majik 0:21019d94ad33 308 rt_svc_init ();
majik 0:21019d94ad33 309
majik 0:21019d94ad33 310 #ifndef __CMSIS_RTOS
majik 0:21019d94ad33 311 /* Intitialize and start system clock timer */
majik 0:21019d94ad33 312 os_tick_irqn = os_tick_init ();
majik 0:21019d94ad33 313 if (os_tick_irqn >= 0) {
majik 0:21019d94ad33 314 OS_X_INIT(os_tick_irqn);
majik 0:21019d94ad33 315 }
majik 0:21019d94ad33 316
majik 0:21019d94ad33 317 /* Start up first user task before entering the endless loop */
majik 0:21019d94ad33 318 rt_tsk_create (first_task, prio_stksz, stk, NULL);
majik 0:21019d94ad33 319 #endif
majik 0:21019d94ad33 320 }
majik 0:21019d94ad33 321
majik 0:21019d94ad33 322
majik 0:21019d94ad33 323 /*--------------------------- rt_sys_start ----------------------------------*/
majik 0:21019d94ad33 324
majik 0:21019d94ad33 325 #ifdef __CMSIS_RTOS
majik 0:21019d94ad33 326 void rt_sys_start (void) {
majik 0:21019d94ad33 327 /* Start system */
majik 0:21019d94ad33 328
majik 0:21019d94ad33 329 /* Intitialize and start system clock timer */
majik 0:21019d94ad33 330 os_tick_irqn = os_tick_init ();
majik 0:21019d94ad33 331 if (os_tick_irqn >= 0) {
majik 0:21019d94ad33 332 OS_X_INIT(os_tick_irqn);
majik 0:21019d94ad33 333 }
majik 0:21019d94ad33 334 }
majik 0:21019d94ad33 335 #endif
majik 0:21019d94ad33 336
majik 0:21019d94ad33 337 /*----------------------------------------------------------------------------
majik 0:21019d94ad33 338 * end of file
majik 0:21019d94ad33 339 *---------------------------------------------------------------------------*/