Diff: rtx_ca/rt_Task.c

Revision:

49:77c8e4604045

Parent:

48:e9a2c7cb57a4

Child:

50:64a5202c3676

--- a/rtx_ca/rt_Task.c	Thu Nov 06 11:00:33 2014 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,372 +0,0 @@
-/*----------------------------------------------------------------------------
- *      RL-ARM - RTX
- *----------------------------------------------------------------------------
- *      Name:    RT_TASK.C
- *      Purpose: Task functions and system start up.
- *      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_Config.h"
-#include "rt_System.h"
-#include "rt_Task.h"
-#include "rt_List.h"
-#include "rt_MemBox.h"
-#include "rt_Robin.h"
-#ifdef __CORTEX_A9
-#include "rt_HAL_CA.h"
-#else
-#include "rt_HAL_CM.h"
-#endif
-
-/*----------------------------------------------------------------------------
- *      Global Variables
- *---------------------------------------------------------------------------*/
-
-/* Running and next task info. */
-struct OS_TSK os_tsk;
-
-/* Task Control Blocks of idle demon */
-struct OS_TCB os_idle_TCB;
-
-
-/*----------------------------------------------------------------------------
- *      Local Functions
- *---------------------------------------------------------------------------*/
-
-static OS_TID rt_get_TID (void) {
-  U32 tid;
-
-  for (tid = 1; tid <= os_maxtaskrun; tid++) {
-    if (os_active_TCB[tid-1] == NULL) {
-      return ((OS_TID)tid);
-    }
-  }
-  return (0);
-}
-
-
-/*--------------------------- rt_init_context -------------------------------*/
-
-static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
-  /* Initialize general part of the Task Control Block. */
-  p_TCB->cb_type = TCB;
-  p_TCB->state   = READY;
-  p_TCB->prio    = priority;
-  p_TCB->p_lnk   = NULL;
-  p_TCB->p_rlnk  = NULL;
-  p_TCB->p_dlnk  = NULL;
-  p_TCB->p_blnk  = NULL;
-  p_TCB->delta_time    = 0;
-  p_TCB->interval_time = 0;
-  p_TCB->events  = 0;
-  p_TCB->waits   = 0;
-  p_TCB->stack_frame = 0;
-
-  if (p_TCB->priv_stack == 0) {
-    /* Allocate the memory space for the stack. */
-    p_TCB->stack = rt_alloc_box (mp_stk);
-  }
-  rt_init_stack (p_TCB, task_body);
-}
-
-
-/*--------------------------- rt_switch_req ---------------------------------*/
-
-void rt_switch_req (P_TCB p_new) {
-  /* Switch to next task (identified by "p_new"). */
-  os_tsk.new   = p_new;
-  p_new->state = RUNNING;
-  DBG_TASK_SWITCH(p_new->task_id);
-}
-
-
-/*--------------------------- rt_dispatch -----------------------------------*/
-
-void rt_dispatch (P_TCB next_TCB) {
-  /* Dispatch next task if any identified or dispatch highest ready task    */
-  /* "next_TCB" identifies a task to run or has value NULL (=no next task)  */
-  if (next_TCB == NULL) {
-    /* Running task was blocked: continue with highest ready task */
-    next_TCB = rt_get_first (&os_rdy);
-    rt_switch_req (next_TCB);
-  }
-  else {
-    /* Check which task continues */
-    if (next_TCB->prio > os_tsk.run->prio) {
-      /* preempt running task */
-      rt_put_rdy_first (os_tsk.run);
-      os_tsk.run->state = READY;
-      rt_switch_req (next_TCB);
-    }
-    else {
-      /* put next task into ready list, no task switch takes place */
-      next_TCB->state = READY;
-      rt_put_prio (&os_rdy, next_TCB);
-    }
-  }
-}
-
-
-/*--------------------------- rt_block --------------------------------------*/
-
-void rt_block (U16 timeout, U8 block_state) {
-  /* Block running task and choose next ready task.                         */
-  /* "timeout" sets a time-out value or is 0xffff (=no time-out).           */
-  /* "block_state" defines the appropriate task state */
-  P_TCB next_TCB;
-
-  if (timeout) {
-    if (timeout < 0xffff) {
-      rt_put_dly (os_tsk.run, timeout);
-    }
-    os_tsk.run->state = block_state;
-    next_TCB = rt_get_first (&os_rdy);
-    rt_switch_req (next_TCB);
-  }
-}
-
-
-/*--------------------------- rt_tsk_pass -----------------------------------*/
-
-void rt_tsk_pass (void) {
-  /* Allow tasks of same priority level to run cooperatively.*/
-  P_TCB p_new;
-
-  p_new = rt_get_same_rdy_prio();
-  if (p_new != NULL) {
-    rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
-    os_tsk.run->state = READY;
-    rt_switch_req (p_new);
-  }
-}
-
-
-/*--------------------------- rt_tsk_self -----------------------------------*/
-
-OS_TID rt_tsk_self (void) {
-  /* Return own task identifier value. */
-  if (os_tsk.run == NULL) {
-    return (0);
-  }
-  return (os_tsk.run->task_id);
-}
-
-
-/*--------------------------- rt_tsk_prio -----------------------------------*/
-
-OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
-  /* Change execution priority of a task to "new_prio". */
-  P_TCB p_task;
-
-  if (task_id == 0) {
-    /* Change execution priority of calling task. */
-    os_tsk.run->prio = new_prio;
-run:if (rt_rdy_prio() > new_prio) {
-      rt_put_prio (&os_rdy, os_tsk.run);
-      os_tsk.run->state   = READY;
-      rt_dispatch (NULL);
-    }
-    return (OS_R_OK);
-  }
-
-  /* Find the task in the "os_active_TCB" array. */
-  if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
-    /* Task with "task_id" not found or not started. */
-    return (OS_R_NOK);
-  }
-  p_task = os_active_TCB[task_id-1];
-  p_task->prio = new_prio;
-  if (p_task == os_tsk.run) {
-    goto run;
-  }
-  rt_resort_prio (p_task);
-  if (p_task->state == READY) {
-    /* Task enqueued in a ready list. */
-    p_task = rt_get_first (&os_rdy);
-    rt_dispatch (p_task);
-  }
-  return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_tsk_create ---------------------------------*/
-
-OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
-  /* Start a new task declared with "task". */
-  P_TCB task_context;
-  U32 i;
-
-  /* Priority 0 is reserved for idle task! */
-  if ((prio_stksz & 0xFF) == 0) {
-    prio_stksz += 1;
-  }
-  task_context = rt_alloc_box (mp_tcb);
-  if (task_context == NULL) {
-    return (0);
-  }
-  /* If "size != 0" use a private user provided stack. */
-  task_context->stack      = stk;
-  task_context->priv_stack = prio_stksz >> 8;
-  /* Pass parameter 'argv' to 'rt_init_context' */
-  task_context->msg = argv;
-  /* For 'size == 0' system allocates the user stack from the memory pool. */
-  rt_init_context (task_context, prio_stksz & 0xFF, task);
-
-  /* Find a free entry in 'os_active_TCB' table. */
-  i = rt_get_TID ();
-  os_active_TCB[i-1] = task_context;
-  task_context->task_id = i;
-  DBG_TASK_NOTIFY(task_context, __TRUE);
-  rt_dispatch (task_context);
-  return ((OS_TID)i);
-}
-
-
-/*--------------------------- rt_tsk_delete ---------------------------------*/
-
-OS_RESULT rt_tsk_delete (OS_TID task_id) {
-  /* Terminate the task identified with "task_id". */
-  P_TCB task_context;
-
-  if (task_id == 0 || task_id == os_tsk.run->task_id) {
-    /* Terminate itself. */
-    os_tsk.run->state     = INACTIVE;
-    os_tsk.run->tsk_stack = rt_get_PSP ();
-    rt_stk_check ();
-    os_active_TCB[os_tsk.run->task_id-1] = NULL;
-    rt_free_box (mp_stk, os_tsk.run->stack);
-    os_tsk.run->stack = NULL;
-    DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
-    rt_free_box (mp_tcb, os_tsk.run);
-    os_tsk.run = NULL;
-    rt_dispatch (NULL);
-    /* The program should never come to this point. */
-  }
-  else {
-    /* Find the task in the "os_active_TCB" array. */
-    if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
-      /* Task with "task_id" not found or not started. */
-      return (OS_R_NOK);
-    }
-    task_context = os_active_TCB[task_id-1];
-    rt_rmv_list (task_context);
-    rt_rmv_dly (task_context);
-    os_active_TCB[task_id-1] = NULL;
-    rt_free_box (mp_stk, task_context->stack);
-    task_context->stack = NULL;
-    DBG_TASK_NOTIFY(task_context, __FALSE);
-    rt_free_box (mp_tcb, task_context);
-  }
-  return (OS_R_OK);
-}
-
-
-/*--------------------------- rt_sys_init -----------------------------------*/
-
-#ifdef __CMSIS_RTOS
-void rt_sys_init (void) {
-#else
-void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
-#endif
-  /* Initialize system and start up task declared with "first_task". */
-  U32 i;
-
-  DBG_INIT();
-
-  /* Initialize dynamic memory and task TCB pointers to NULL. */
-  for (i = 0; i < os_maxtaskrun; i++) {
-    os_active_TCB[i] = NULL;
-  }
-  rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
-  rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
-  rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
-
-  /* Set up TCB of idle demon */
-  os_idle_TCB.task_id    = 255;
-  os_idle_TCB.priv_stack = 0;
-  rt_init_context (&os_idle_TCB, 0, os_idle_demon);
-
-  /* Set up ready list: initially empty */
-  os_rdy.cb_type = HCB;
-  os_rdy.p_lnk   = NULL;
-  /* Set up delay list: initially empty */
-  os_dly.cb_type = HCB;
-  os_dly.p_dlnk  = NULL;
-  os_dly.p_blnk  = NULL;
-  os_dly.delta_time = 0;
-
-  /* Fix SP and system variables to assume idle task is running  */
-  /* Transform main program into idle task by assuming idle TCB */
-#ifndef __CMSIS_RTOS
-  rt_set_PSP (os_idle_TCB.tsk_stack+32);
-#endif
-  os_tsk.run = &os_idle_TCB;
-  os_tsk.run->state = RUNNING;
-
-  /* Initialize ps queue */
-  os_psq->first = 0;
-  os_psq->last  = 0;
-  os_psq->size  = os_fifo_size;
-
-  rt_init_robin ();
-
-  /* Initialize SVC and PendSV */
-  rt_svc_init ();
-
-#ifndef __CMSIS_RTOS
-  /* Initialize and start system clock timer */
-  os_tick_irqn = os_tick_init ();
-  if (os_tick_irqn >= 0) {
-    OS_X_INIT(os_tick_irqn);
-  }
-
-  /* Start up first user task before entering the endless loop */
-  rt_tsk_create (first_task, prio_stksz, stk, NULL);
-#endif
-}
-
-
-/*--------------------------- rt_sys_start ----------------------------------*/
-
-#ifdef __CMSIS_RTOS
-void rt_sys_start (void) {
-  /* Start system */
-
-  /* Initialize and start system clock timer */
-  os_tick_irqn = os_tick_init ();
-  if (os_tick_irqn >= 0) {
-    OS_X_INIT(os_tick_irqn);
-  }
-}
-#endif
-
-/*----------------------------------------------------------------------------
- * end of file
- *---------------------------------------------------------------------------*/