369 lines
11 KiB
C
369 lines
11 KiB
C
/*----------------------------------------------------------------------------
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* RL-ARM - RTX
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*----------------------------------------------------------------------------
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* Name: RT_TASK.C
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* Purpose: Task functions and system start up.
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* Rev.: V4.70
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*----------------------------------------------------------------------------
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*
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* Copyright (c) 1999-2009 KEIL, 2009-2013 ARM Germany GmbH
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* - Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* - Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* - Neither the name of ARM nor the names of its contributors may be used
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* to endorse or promote products derived from this software without
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* specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*---------------------------------------------------------------------------*/
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#include "rt_TypeDef.h"
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#include "RTX_Config.h"
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#include "rt_System.h"
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#include "rt_Task.h"
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#include "rt_List.h"
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#include "rt_MemBox.h"
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#include "rt_Robin.h"
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#include "rt_HAL_CM.h"
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/*----------------------------------------------------------------------------
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* Global Variables
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*---------------------------------------------------------------------------*/
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/* Running and next task info. */
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struct OS_TSK os_tsk;
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/* Task Control Blocks of idle demon */
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struct OS_TCB os_idle_TCB;
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/*----------------------------------------------------------------------------
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* Local Functions
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*---------------------------------------------------------------------------*/
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static OS_TID rt_get_TID (void) {
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U32 tid;
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for (tid = 1; tid <= os_maxtaskrun; tid++) {
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if (os_active_TCB[tid-1] == NULL) {
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return ((OS_TID)tid);
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}
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}
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return (0);
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}
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/*--------------------------- rt_init_context -------------------------------*/
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static void rt_init_context (P_TCB p_TCB, U8 priority, FUNCP task_body) {
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/* Initialize general part of the Task Control Block. */
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p_TCB->cb_type = TCB;
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p_TCB->state = READY;
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p_TCB->prio = priority;
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p_TCB->p_lnk = NULL;
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p_TCB->p_rlnk = NULL;
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p_TCB->p_dlnk = NULL;
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p_TCB->p_blnk = NULL;
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p_TCB->delta_time = 0;
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p_TCB->interval_time = 0;
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p_TCB->events = 0;
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p_TCB->waits = 0;
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p_TCB->stack_frame = 0;
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if (p_TCB->priv_stack == 0) {
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/* Allocate the memory space for the stack. */
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p_TCB->stack = rt_alloc_box (mp_stk);
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}
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rt_init_stack (p_TCB, task_body);
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}
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/*--------------------------- rt_switch_req ---------------------------------*/
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void rt_switch_req (P_TCB p_new) {
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/* Switch to next task (identified by "p_new"). */
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os_tsk.new = p_new;
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p_new->state = RUNNING;
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DBG_TASK_SWITCH(p_new->task_id);
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}
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/*--------------------------- rt_dispatch -----------------------------------*/
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void rt_dispatch (P_TCB next_TCB) {
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/* Dispatch next task if any identified or dispatch highest ready task */
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/* "next_TCB" identifies a task to run or has value NULL (=no next task) */
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if (next_TCB == NULL) {
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/* Running task was blocked: continue with highest ready task */
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next_TCB = rt_get_first (&os_rdy);
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rt_switch_req (next_TCB);
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}
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else {
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/* Check which task continues */
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if (next_TCB->prio > os_tsk.run->prio) {
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/* preempt running task */
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rt_put_rdy_first (os_tsk.run);
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os_tsk.run->state = READY;
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rt_switch_req (next_TCB);
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}
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else {
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/* put next task into ready list, no task switch takes place */
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next_TCB->state = READY;
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rt_put_prio (&os_rdy, next_TCB);
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}
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}
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}
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/*--------------------------- rt_block --------------------------------------*/
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void rt_block (U16 timeout, U8 block_state) {
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/* Block running task and choose next ready task. */
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/* "timeout" sets a time-out value or is 0xffff (=no time-out). */
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/* "block_state" defines the appropriate task state */
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P_TCB next_TCB;
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if (timeout) {
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if (timeout < 0xffff) {
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rt_put_dly (os_tsk.run, timeout);
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}
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os_tsk.run->state = block_state;
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next_TCB = rt_get_first (&os_rdy);
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rt_switch_req (next_TCB);
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}
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}
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/*--------------------------- rt_tsk_pass -----------------------------------*/
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void rt_tsk_pass (void) {
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/* Allow tasks of same priority level to run cooperatively.*/
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P_TCB p_new;
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p_new = rt_get_same_rdy_prio();
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if (p_new != NULL) {
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rt_put_prio ((P_XCB)&os_rdy, os_tsk.run);
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os_tsk.run->state = READY;
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rt_switch_req (p_new);
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}
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}
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/*--------------------------- rt_tsk_self -----------------------------------*/
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OS_TID rt_tsk_self (void) {
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/* Return own task identifier value. */
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if (os_tsk.run == NULL) {
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return (0);
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}
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return (os_tsk.run->task_id);
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}
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/*--------------------------- rt_tsk_prio -----------------------------------*/
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OS_RESULT rt_tsk_prio (OS_TID task_id, U8 new_prio) {
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/* Change execution priority of a task to "new_prio". */
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P_TCB p_task;
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if (task_id == 0) {
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/* Change execution priority of calling task. */
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os_tsk.run->prio = new_prio;
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run:if (rt_rdy_prio() > new_prio) {
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rt_put_prio (&os_rdy, os_tsk.run);
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os_tsk.run->state = READY;
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rt_dispatch (NULL);
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}
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return (OS_R_OK);
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}
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/* Find the task in the "os_active_TCB" array. */
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if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
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/* Task with "task_id" not found or not started. */
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return (OS_R_NOK);
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}
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p_task = os_active_TCB[task_id-1];
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p_task->prio = new_prio;
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if (p_task == os_tsk.run) {
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goto run;
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}
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rt_resort_prio (p_task);
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if (p_task->state == READY) {
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/* Task enqueued in a ready list. */
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p_task = rt_get_first (&os_rdy);
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rt_dispatch (p_task);
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}
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return (OS_R_OK);
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}
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/*--------------------------- rt_tsk_create ---------------------------------*/
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OS_TID rt_tsk_create (FUNCP task, U32 prio_stksz, void *stk, void *argv) {
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/* Start a new task declared with "task". */
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P_TCB task_context;
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U32 i;
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/* Priority 0 is reserved for idle task! */
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if ((prio_stksz & 0xFF) == 0) {
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prio_stksz += 1;
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}
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task_context = rt_alloc_box (mp_tcb);
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if (task_context == NULL) {
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return (0);
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}
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/* If "size != 0" use a private user provided stack. */
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task_context->stack = stk;
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task_context->priv_stack = prio_stksz >> 8;
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/* Pass parameter 'argv' to 'rt_init_context' */
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task_context->msg = argv;
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/* For 'size == 0' system allocates the user stack from the memory pool. */
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rt_init_context (task_context, prio_stksz & 0xFF, task);
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/* Find a free entry in 'os_active_TCB' table. */
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i = rt_get_TID ();
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os_active_TCB[i-1] = task_context;
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task_context->task_id = i;
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DBG_TASK_NOTIFY(task_context, __TRUE);
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rt_dispatch (task_context);
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return ((OS_TID)i);
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}
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/*--------------------------- rt_tsk_delete ---------------------------------*/
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OS_RESULT rt_tsk_delete (OS_TID task_id) {
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/* Terminate the task identified with "task_id". */
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P_TCB task_context;
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if (task_id == 0 || task_id == os_tsk.run->task_id) {
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/* Terminate itself. */
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os_tsk.run->state = INACTIVE;
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os_tsk.run->tsk_stack = rt_get_PSP ();
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rt_stk_check ();
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os_active_TCB[os_tsk.run->task_id-1] = NULL;
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rt_free_box (mp_stk, os_tsk.run->stack);
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os_tsk.run->stack = NULL;
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DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
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rt_free_box (mp_tcb, os_tsk.run);
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os_tsk.run = NULL;
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rt_dispatch (NULL);
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/* The program should never come to this point. */
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}
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else {
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/* Find the task in the "os_active_TCB" array. */
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if (task_id > os_maxtaskrun || os_active_TCB[task_id-1] == NULL) {
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/* Task with "task_id" not found or not started. */
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return (OS_R_NOK);
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}
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task_context = os_active_TCB[task_id-1];
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rt_rmv_list (task_context);
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rt_rmv_dly (task_context);
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os_active_TCB[task_id-1] = NULL;
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rt_free_box (mp_stk, task_context->stack);
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task_context->stack = NULL;
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DBG_TASK_NOTIFY(task_context, __FALSE);
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rt_free_box (mp_tcb, task_context);
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}
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return (OS_R_OK);
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}
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/*--------------------------- rt_sys_init -----------------------------------*/
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#ifdef __CMSIS_RTOS
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void rt_sys_init (void) {
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#else
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void rt_sys_init (FUNCP first_task, U32 prio_stksz, void *stk) {
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#endif
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/* Initialize system and start up task declared with "first_task". */
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U32 i;
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DBG_INIT();
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/* Initialize dynamic memory and task TCB pointers to NULL. */
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for (i = 0; i < os_maxtaskrun; i++) {
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os_active_TCB[i] = NULL;
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}
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rt_init_box (&mp_tcb, mp_tcb_size, sizeof(struct OS_TCB));
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rt_init_box (&mp_stk, mp_stk_size, BOX_ALIGN_8 | (U16)(os_stackinfo));
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rt_init_box ((U32 *)m_tmr, mp_tmr_size, sizeof(struct OS_TMR));
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/* Set up TCB of idle demon */
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os_idle_TCB.task_id = 255;
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os_idle_TCB.priv_stack = 0;
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rt_init_context (&os_idle_TCB, 0, os_idle_demon);
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/* Set up ready list: initially empty */
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os_rdy.cb_type = HCB;
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os_rdy.p_lnk = NULL;
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/* Set up delay list: initially empty */
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os_dly.cb_type = HCB;
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os_dly.p_dlnk = NULL;
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os_dly.p_blnk = NULL;
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os_dly.delta_time = 0;
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/* Fix SP and systemvariables to assume idle task is running */
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/* Transform main program into idle task by assuming idle TCB */
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#ifndef __CMSIS_RTOS
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rt_set_PSP (os_idle_TCB.tsk_stack+32);
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#endif
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os_tsk.run = &os_idle_TCB;
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os_tsk.run->state = RUNNING;
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/* Initialize ps queue */
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os_psq->first = 0;
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os_psq->last = 0;
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os_psq->size = os_fifo_size;
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rt_init_robin ();
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/* Intitialize SVC and PendSV */
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rt_svc_init ();
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#ifndef __CMSIS_RTOS
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/* Intitialize and start system clock timer */
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os_tick_irqn = os_tick_init ();
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if (os_tick_irqn >= 0) {
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OS_X_INIT(os_tick_irqn);
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}
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/* Start up first user task before entering the endless loop */
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rt_tsk_create (first_task, prio_stksz, stk, NULL);
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#endif
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}
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/*--------------------------- rt_sys_start ----------------------------------*/
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#ifdef __CMSIS_RTOS
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void rt_sys_start (void) {
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/* Start system */
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/* Intitialize and start system clock timer */
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os_tick_irqn = os_tick_init ();
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if (os_tick_irqn >= 0) {
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OS_X_INIT(os_tick_irqn);
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}
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}
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#endif
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/*----------------------------------------------------------------------------
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* end of file
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*---------------------------------------------------------------------------*/
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