pinebuds/rtos/rtx/TARGET_ARM7/rt_Task.c

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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, 2009-2015 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_Task.h"
#include "RTX_Conf.h"
#include "rt_HAL_CM.h"
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#include "rt_List.h"
#include "rt_MemBox.h"
#include "rt_Robin.h"
#include "rt_System.h"
#include "rt_TypeDef.h"
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/*----------------------------------------------------------------------------
* 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) {
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U32 tid;
for (tid = 1; tid <= os_maxtaskrun; tid++) {
if (os_active_TCB[tid - 1] == NULL) {
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return ((OS_TID)tid);
}
}
return (0);
}
#if defined(__CC_ARM) && !defined(__MICROLIB)
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/*--------------------------- __user_perthread_libspace ---------------------*/
extern void *__libspace_start;
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void *__user_perthread_libspace(void) {
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/* 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) {
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/* 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;
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p_TCB->interval_time = 0;
p_TCB->events = 0;
p_TCB->waits = 0;
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p_TCB->stack_frame = 0;
rt_init_stack(p_TCB, task_body);
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}
/*--------------------------- rt_switch_req ---------------------------------*/
void rt_switch_req(P_TCB p_new) {
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/* Switch to next task (identified by "p_new"). */
os_tsk.new_tsk = p_new;
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p_new->state = RUNNING;
DBG_TASK_SWITCH(p_new->task_id);
}
/*--------------------------- rt_dispatch -----------------------------------*/
void rt_dispatch(P_TCB next_TCB) {
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/* 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 {
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/* Check which task continues */
if (next_TCB->prio > os_tsk.run->prio) {
/* preempt running task */
rt_put_rdy_first(os_tsk.run);
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os_tsk.run->state = READY;
rt_switch_req(next_TCB);
} else {
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/* put next task into ready list, no task switch takes place */
next_TCB->state = READY;
rt_put_prio(&os_rdy, next_TCB);
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}
}
}
/*--------------------------- rt_block --------------------------------------*/
void rt_block(U16 timeout, U8 block_state) {
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/* 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);
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}
os_tsk.run->state = block_state;
next_TCB = rt_get_first(&os_rdy);
rt_switch_req(next_TCB);
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}
}
/*--------------------------- rt_tsk_pass -----------------------------------*/
void rt_tsk_pass(void) {
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/* 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);
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os_tsk.run->state = READY;
rt_switch_req(p_new);
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}
}
/*--------------------------- rt_tsk_self -----------------------------------*/
OS_TID rt_tsk_self(void) {
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/* 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) {
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/* 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);
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}
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) {
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/* Task with "task_id" not found or not started. */
return (OS_R_NOK);
}
p_task = os_active_TCB[task_id - 1];
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p_task->prio = new_prio;
if (p_task == os_tsk.run) {
goto run;
}
rt_resort_prio(p_task);
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if (p_task->state == READY) {
/* Task enqueued in a ready list. */
p_task = rt_get_first(&os_rdy);
rt_dispatch(p_task);
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}
return (OS_R_OK);
}
/*--------------------------- rt_tsk_delete ---------------------------------*/
OS_RESULT rt_tsk_delete(OS_TID task_id) {
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/* 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;
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os_tsk.run->tsk_stack = 0;
rt_stk_check();
os_active_TCB[os_tsk.run->task_id - 1] = NULL;
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os_tsk.run->stack = NULL;
DBG_TASK_NOTIFY(os_tsk.run, __FALSE);
os_tsk.run = NULL;
rt_dispatch(NULL);
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/* The program should never come to this point. */
} else {
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/* Find the task in the "os_active_TCB" array. */
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. */
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;
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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) {
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#else
void rt_sys_init(FUNCP first_task, U32 prio_stksz, void *stk) {
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#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);
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/* Set up ready list: initially empty */
os_rdy.cb_type = HCB;
os_rdy.p_lnk = NULL;
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/* Set up delay list: initially empty */
os_dly.cb_type = HCB;
os_dly.p_dlnk = NULL;
os_dly.p_blnk = NULL;
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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);
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#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;
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rt_init_robin();
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/* Intitialize SVC and PendSV */
rt_svc_init();
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#ifndef __CMSIS_RTOS
/* Intitialize and start system clock timer */
os_tick_irqn = os_tick_init();
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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);
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#endif
}
/*--------------------------- rt_sys_start ----------------------------------*/
#ifdef __CMSIS_RTOS
void rt_sys_start(void) {
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/* Start system */
/* Intitialize and start system clock timer */
os_tick_irqn = os_tick_init();
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if (os_tick_irqn >= 0) {
OS_X_INIT(os_tick_irqn);
}
extern void RestoreContext();
RestoreContext(); // Start the first task
}
#endif
/*----------------------------------------------------------------------------
* end of file
*---------------------------------------------------------------------------*/