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- /*----------------------------------------------------------------------------
- * 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_Conf.h"
- #include "rt_System.h"
- #include "rt_Task.h"
- #include "rt_List.h"
- #include "rt_MemBox.h"
- #include "rt_Robin.h"
- #include "rt_HAL_CM.h"
-
- /*----------------------------------------------------------------------------
- * 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
- *---------------------------------------------------------------------------*/
-
- 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);
- }
-
- #if defined (__CC_ARM) && !defined (__MICROLIB)
- /*--------------------------- __user_perthread_libspace ---------------------*/
- extern void *__libspace_start;
-
- void *__user_perthread_libspace (void) {
- /* Provide a separate libspace for each task. */
- if (os_tsk.run == NULL) {
- /* RTX not running yet. */
- return (&__libspace_start);
- }
- return (void *)(os_tsk.run->std_libspace);
- }
- #endif
-
- /*--------------------------- rt_init_context -------------------------------*/
-
- 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;
-
- 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_tsk = 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_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;
-
- os_tsk.run->stack = NULL;
- DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
- 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;
-
- task_context->stack = NULL;
- DBG_TASK_NOTIFY(task_context, __FALSE);
- }
- 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;
- }
-
- /* Set up TCB of idle demon */
- os_idle_TCB.task_id = 255;
- os_idle_TCB.priv_stack = idle_task_stack_size;
- os_idle_TCB.stack = idle_task_stack;
- 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 systemvariables 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 ();
-
- /* Intitialize SVC and PendSV */
- rt_svc_init ();
-
- #ifndef __CMSIS_RTOS
- /* Intitialize 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 */
-
- /* Intitialize 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
- *---------------------------------------------------------------------------*/
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