pinebuds/rtos/rtx/TARGET_CORTEX_M/rt_System.c

/*----------------------------------------------------------------------------
 *      RL-ARM - RTX
 *----------------------------------------------------------------------------
 *      Name:    RT_SYSTEM.C
 *      Purpose: System Task Manager
 *      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_System.h"
#include "RTX_Conf.h"
#include "rt_Event.h"
#include "rt_HAL_CM.h"
#include "rt_List.h"
#include "rt_Mailbox.h"
#include "rt_Robin.h"
#include "rt_Semaphore.h"
#include "rt_Task.h"
#include "rt_Time.h"
#include "rt_TypeDef.h"

#include "hal_sleep.h"
#include "hal_timer.h"
#include "hal_trace.h"

extern void sysTimerTick(void);
extern uint32_t rt_timer_delay_count(void);

/*----------------------------------------------------------------------------
 *      Global Variables
 *---------------------------------------------------------------------------*/

int os_tick_irqn;

/*----------------------------------------------------------------------------
 *      Local Variables
 *---------------------------------------------------------------------------*/

static volatile BIT os_lock;
static volatile BIT os_psh_flag;
static U8 pend_flags;
static U32 systick_lock_tick;
static U32 systick_lock_ts;

/*----------------------------------------------------------------------------
 *      Global Functions
 *---------------------------------------------------------------------------*/

#if defined(__CC_ARM)
__asm void $$RTX$$version(void) {
  /* Export a version number symbol for a version control. */

  EXPORT __RL_RTX_VER

      __RL_RTX_VER EQU 0x450
}
#endif

/*--------------------------- rt_suspend ------------------------------------*/
U32 rt_suspend(void) {
  /* Suspend OS scheduler */
  U32 delta = 0xFFFF;
  U32 start_tick;

  __disable_irq();
  start_tick = NVIC_ST_CURRENT;
  rt_tsk_lock();
  systick_lock_tick = NVIC_ST_CURRENT;
  systick_lock_ts = hal_sys_timer_get();
  if (start_tick != 0 &&
      (systick_lock_tick == 0 || start_tick < systick_lock_tick)) {
#if defined(DEBUG_SLEEP) && (DEBUG_SLEEP >= 1)
    TRACE(6, "[%u/0x%X][%2u/%u] rt_suspend corner case: %02u -> %02u",
          TICKS_TO_MS(hal_sys_timer_get()), hal_sys_timer_get(),
          NVIC_ST_CURRENT, os_time, start_tick, systick_lock_tick);
#endif
    pend_flags |= 1;
  }
  if (pend_flags) {
    delta = 0;
  }
  __enable_irq();

  if (delta == 0) {
    return 0;
  }

  if (os_dly.p_dlnk) {
    delta = os_dly.delta_time;
  }
#ifdef __CMSIS_RTOS
  {
    uint32_t tcnt = rt_timer_delay_count();
    if (tcnt && tcnt < delta) {
      delta = tcnt;
    }
  }
#else
  if (os_tmr.next) {
    if (os_tmr.tcnt < delta)
      delta = os_tmr.tcnt;
  }
#endif

  return (delta);
}

/*--------------------------- rt_resume -------------------------------------*/
void rt_resume(U32 sleep_time) {
  /* Resume OS scheduler after suspend */
  // P_TCB next;
  U32 delta;
  U32 resume_ts;
  U32 unlock_ts;
  U32 systick_remain;
  U32 sleep_ticks;
  U8 tick_running = 0;
  const U32 reload = (NVIC_ST_RELOAD + 1);

  __disable_irq();
  resume_ts = hal_sys_timer_get();
  __enable_irq();

  sleep_ticks = (resume_ts - systick_lock_ts) *
                (OS_CLOCK_NOMINAL / CONFIG_SYSTICK_HZ_NOMINAL);
  if (systick_lock_tick == 0) {
    sleep_time = sleep_ticks / reload;
    systick_remain = reload - sleep_ticks % reload;
  } else if (sleep_ticks >= systick_lock_tick) {
    delta = sleep_ticks - systick_lock_tick;
    sleep_time = delta / reload + 1;
    systick_remain = reload - delta % reload;
  } else {
    sleep_time = 0;
    systick_remain = systick_lock_tick - sleep_ticks;
  }

  if (sleep_time == 0) {
    tick_running = 1;
    goto _task_unlock;
  }

  // Task switching is allowed in SVC/PENDSV/SYSTICK handlers only
#if 0
  os_tsk.run->state = READY;
  rt_put_rdy_first (os_tsk.run);
#endif

_inc_sleep_time:

  os_robin.task = NULL;

  if (sleep_time) {
    /* Update delays. */
    if (os_dly.p_dlnk) {
      delta = sleep_time;
      if (delta >= os_dly.delta_time) {
        delta -= os_dly.delta_time;
        os_time += os_dly.delta_time;
        os_dly.delta_time = 1;
        while (os_dly.p_dlnk) {
          rt_dec_dly();
          if (delta == 0)
            break;
          delta--;
          os_time++;
        }
        while (delta) {
          delta--;
          os_time++;
        }
        rt_psh_req();
      } else {
        os_time += delta;
        os_dly.delta_time -= delta;
      }
    } else {
      os_time += sleep_time;
    }

    os_idle_TCB.rtime += sleep_time;
#ifdef __CMSIS_RTOS
    delta = sleep_time;
    while (delta && rt_timer_delay_count()) {
      sysTimerTick();
      delta--;
    }
#else
    /* Check the user timers. */
    if (os_tmr.next) {
      delta = sleep_time;
      if (delta >= os_tmr.tcnt) {
        delta -= os_tmr.tcnt;
        os_tmr.tcnt = 1;
        while (os_tmr.next) {
          rt_tmr_tick();
          if (delta == 0)
            break;
          delta--;
        }
      } else {
        os_tmr.tcnt -= delta;
      }
    }
#endif
  } // sleep_time

  // Task switching is allowed in SVC/PENDSV/SYSTICK handlers only
#if 0
  /* Switch back to highest ready task */
  next = rt_get_first (&os_rdy);
  rt_switch_req (next);
#endif

#if defined(DEBUG_SLEEP) && (DEBUG_SLEEP >= 1)
  if (sleep_time > 0) {
    TRACE(7,
          "[%u/0x%X][%2u/%u] rt_resume: sleep_ticks=%u sleep_time=%u "
          "systick_remain=%u",
          TICKS_TO_MS(hal_sys_timer_get()), hal_sys_timer_get(),
          NVIC_ST_CURRENT, os_time, sleep_ticks, sleep_time, systick_remain);
  }
#endif

_task_unlock:

  sleep_time = 0;

  __disable_irq();
  // Handle corner case: systick counter wraps inside rt_resume()
  unlock_ts = hal_sys_timer_get();
  sleep_ticks = (unlock_ts - resume_ts) * 2;
  // systick_remain value range: [1, reload]
  if (sleep_ticks >= systick_remain) {
#if defined(DEBUG_SLEEP) && (DEBUG_SLEEP >= 1)
    TRACE(6,
          "[%u/0x%X][%2u/%u] rt_resume corner case: sleep_ticks=%u "
          "systick_remain=%u",
          TICKS_TO_MS(hal_sys_timer_get()), hal_sys_timer_get(),
          NVIC_ST_CURRENT, os_time, sleep_ticks, systick_remain);
    // Update timestamp since traces also consume time
    unlock_ts = hal_sys_timer_get();
    sleep_ticks = (unlock_ts - resume_ts) *
                  (OS_CLOCK_NOMINAL / CONFIG_SYSTICK_HZ_NOMINAL);
#endif
    delta = sleep_ticks - systick_remain;
    sleep_time = delta / reload + 1;
    systick_remain = reload - delta % reload;
    resume_ts = unlock_ts;
  } else {
    if (tick_running == 0) {
      systick_remain -= sleep_ticks;
      // Adjust systick_remain value range to [0, reload - 1]
      if (systick_remain == reload) {
        systick_remain = 0;
      }
      if (systick_remain) {
        NVIC_ST_RELOAD = systick_remain;
        NVIC_ST_CURRENT = 0;
        while (NVIC_ST_CURRENT == 0)
          ;
        NVIC_ST_RELOAD = reload - 1;
      } else {
        NVIC_ST_CURRENT = 0;
      }
    }
    rt_tsk_unlock();
  }
  __enable_irq();

  if (sleep_time) {
    goto _inc_sleep_time;
  }
}

/*--------------------------- rt_tsk_lock -----------------------------------*/

void rt_tsk_lock(void) {
  /* Prevent task switching by locking out scheduler */
  if (os_tick_irqn < 0) {
    OS_LOCK();
    os_lock = __TRUE;
    OS_UNPEND(&pend_flags);
  } else {
    OS_X_LOCK(os_tick_irqn);
    os_lock = __TRUE;
    OS_X_UNPEND(&pend_flags);
  }
}

/*--------------------------- rt_tsk_unlock ---------------------------------*/

void rt_tsk_unlock(void) {
  /* Unlock scheduler and re-enable task switching */
  if (os_tick_irqn < 0) {
    OS_UNLOCK();
    os_lock = __FALSE;
    OS_PEND(pend_flags, os_psh_flag);
    os_psh_flag = __FALSE;
  } else {
    OS_X_UNLOCK(os_tick_irqn);
    os_lock = __FALSE;
    OS_X_PEND(pend_flags, os_psh_flag);
    os_psh_flag = __FALSE;
  }
  // Allow cpu sleep
  hal_cpu_wake_unlock(HAL_CPU_WAKE_LOCK_USER_RTOS);
}

/*--------------------------- rt_psh_req ------------------------------------*/

void rt_psh_req(void) {
  /* Initiate a post service handling request if required. */
  if (os_lock == __FALSE) {
    OS_PEND_IRQ();
  } else {
    os_psh_flag = __TRUE;
    // Prohibit cpu sleep when an OS service request is enqueued during os lock
    // (rt_suspend)
    hal_cpu_wake_lock(HAL_CPU_WAKE_LOCK_USER_RTOS);
  }
}

/*--------------------------- rt_pop_req ------------------------------------*/

void rt_pop_req(void) {
  /* Process an ISR post service requests. */
  struct OS_XCB *p_CB;
  P_TCB next;
  U32 idx;

  os_tsk.run->state = READY;
  if (os_tsk.run == &os_idle_TCB) {
    rt_put_rdy_last(os_tsk.run);
  } else {
    rt_put_rdy_first(os_tsk.run);
  }

  idx = os_psq->last;
  while (os_psq->count) {
    p_CB = os_psq->q[idx].id;
    if (p_CB->cb_type == TCB) {
      /* Is of TCB type */
      rt_evt_psh((P_TCB)p_CB, (U16)os_psq->q[idx].arg);
    } else if (p_CB->cb_type == MCB) {
      /* Is of MCB type */
      rt_mbx_psh((P_MCB)p_CB, (void *)os_psq->q[idx].arg);
    } else {
      /* Must be of SCB type */
      rt_sem_psh((P_SCB)p_CB);
    }
    if (++idx == os_psq->size)
      idx = 0;
    rt_dec(&os_psq->count);
  }
  os_psq->last = idx;

  next = rt_get_first(&os_rdy);
  rt_switch_req(next);
}

/*--------------------------- os_tick_init ----------------------------------*/

__weak int os_tick_init(void) {
  /* Initialize SysTick timer as system tick timer. */
  rt_systick_init();
  return (-1); /* Return IRQ number of SysTick timer */
}

/*--------------------------- os_tick_irqack --------------------------------*/

__weak void os_tick_irqack(void) { /* Acknowledge timer interrupt. */
}

/*--------------------------- rt_systick ------------------------------------*/
void rt_systick(void) {
  /* Check for system clock update, suspend running task. */
  P_TCB next;

#if __RTX_CPU_STATISTICS__
  os_tsk.run->rtime += 1;
#endif

  os_tsk.run->state = READY;
  rt_put_rdy_first(os_tsk.run);

  /* Check Round Robin timeout. */
  rt_chk_robin();

  /* Update delays. */
  os_time++;
  rt_dec_dly();

  /* Check the user timers. */
#ifdef __CMSIS_RTOS
  sysTimerTick();
#else
  rt_tmr_tick();
#endif

  /* Switch back to highest ready task */
  next = rt_get_first(&os_rdy);
  rt_switch_req(next);
}

/*--------------------------- rt_stk_check ----------------------------------*/
__weak void rt_stk_check(void) {
  /* Check for stack overflow. */
  if (os_tsk.run->task_id == 0x01) {
    // TODO: For the main thread the check should be done against the main heap
    // pointer
  } else {
    if ((os_tsk.run->tsk_stack < (U32)os_tsk.run->stack) ||
        (os_tsk.run->stack[0] != MAGIC_WORD)) {
      os_error(OS_ERR_STK_OVF);
    }
  }
}

/*----------------------------------------------------------------------------
 * end of file
 *---------------------------------------------------------------------------*/