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source: UsbWattMeter/trunk/asp_dcre/kernel/task.c@ 164

Last change on this file since 164 was 164, checked in by coas-nagasima, 8 years ago
TOPPERS/ECNLサンプルアプリ「USB充電器電力計」を追加
Property svn:eol-style set to `native` Property svn:keywords set to `Id` Property svn:mime-type set to `text/x-csrc`
File size: 10.8 KB

Line
1	/*
2	* TOPPERS/ASP Kernel
3	* Toyohashi Open Platform for Embedded Real-Time Systems/
4	* Advanced Standard Profile Kernel
5	*
6	* Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
7	* Toyohashi Univ. of Technology, JAPAN
8	* Copyright (C) 2005-2011 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* ãLì ÒÍCÈºÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
12	* Ai{\tgEFAðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»Eü
13	* ÏEÄzziÈºCpÆÄÔj·é±Æð³Åø·éD
14	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
15	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
16	* XR[hÉÜÜêÄ¢é±ÆD
17	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
18	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
19	gip
20	* Ò}j
21	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
22	* Ì³ÛØKèðfÚ·é±ÆD
23	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
24	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
25	* ÆD
26	* (a) ÄzzÉº¤hL
27	gipÒ}j
28	AÈÇjÉCãLÌ
29	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
30	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
31	* ñ·é±ÆD
32	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
33	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
34	* Ü½C{\tgEFAÌ[UÜ½ÍGh[U©çÌ¢©Èé
35	* RÉîÃ¿©çàCãLì Ò¨æÑTOPPERSvWFNgð
36	* ÆÓ·é±ÆD
37	*
38	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
39	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
40	* ÉÎ·éK«àÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEF
41	* AÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»
42	* ÌÓCðíÈ¢D
43	*
44	* $Id: task.c 164 2016-03-07 11:33:50Z coas-nagasima $
45	*/
46
47	/*
48	* ^XNÇW
49	[
50	*/
51
52	#include "kernel_impl.h"
53	#include "wait.h"
54	#include "task.h"
55
56	/*
57	* g[XO}NÌftHgè`
58	*/
59	#ifndef LOG_TEX_ENTER
60	#define LOG_TEX_ENTER(p_tcb, texptn)
61	#endif /* LOG_TEX_ENTER */
62
63	#ifndef LOG_TEX_LEAVE
64	#define LOG_TEX_LEAVE(p_tcb, texptn)
65	#endif /* LOG_TEX_LEAVE */
66
67	#ifdef TOPPERS_tskini
68
69	/*
70	* ÀsóÔÌ^XN
71	*/
72	TCB *p_runtsk;
73
74	/*
75	* ÅDæÊÌ^XN
76	*/
77	TCB *p_schedtsk;
78
79	/*
80	* ^XNfBXpb`^^XNáO[`N®vtO
81	*/
82	bool_t reqflg;
83
84	/*
85	* ÝDæx}XNSðóÔ
86	*/
87	bool_t ipmflg;
88
89	/*
90	* fBXpb`Ö~óÔ
91	*/
92	bool_t disdsp;
93
94	/*
95	* ^XNfBXpb`Â\óÔ
96	*/
97	bool_t dspflg;
98
99	/*
100	* fBL
101	[
102	*/
103	QUEUE ready_queue[TNUM_TPRI];
104
105	/*
106	* fBL
107	[T[`Ì½ßÌrbg}bv
108	*/
109	uint16_t ready_primap;
110
111	/*
112	* gpµÄ¢È¢TCBÌXg
113	*/
114	QUEUE free_tcb;
115
116	/*
117	* ^XNÇW
118	[Ìú»
119	*/
120	void
121	initialize_task(void)
122	{
123	uint_t i, j;
124	TCB *p_tcb;
125	TINIB *p_tinib;
126
127	p_runtsk = NULL;
128	p_schedtsk = NULL;
129	reqflg = false;
130	ipmflg = true;
131	disdsp = false;
132	dspflg = true;
133
134	for (i = 0; i < TNUM_TPRI; i++) {
135	queue_initialize(&(ready_queue[i]));
136	}
137	ready_primap = 0U;
138
139	for (i = 0; i < tnum_stsk; i++) {
140	j = INDEX_TSK(torder_table[i]);
141	p_tcb = &(tcb_table[j]);
142	p_tcb->p_tinib = &(tinib_table[j]);
143	p_tcb->actque = false;
144	make_dormant(p_tcb);
145	if ((p_tcb->p_tinib->tskatr & TA_ACT) != 0U) {
146	(void) make_active(p_tcb);
147	}
148	}
149	queue_initialize(&free_tcb);
150	for (j = 0; i < tnum_tsk; i++, j++) {
151	p_tcb = &(tcb_table[i]);
152	p_tinib = &(atinib_table[j]);
153	p_tinib->tskatr = TA_NOEXS;
154	p_tcb->p_tinib = ((const TINIB *) p_tinib);
155	queue_insert_prev(&free_tcb, &(p_tcb->task_queue));
156	}
157	}
158
159	#endif /* TOPPERS_tskini */
160
161	/*
162	* rbg}bvT[`Ö
163	*
164	* bitmapàÌ1ÌrbgÌàCÅàºÊiEjÌàÌðT[`µC»Ìrb
165	* gÔðÔ·DrbgÔÍCÅºÊrbgð0Æ·éDbitmapÉ0ðwè
166	* µÄÍÈçÈ¢D±ÌÖÅÍCbitmapª16rbgÅ é±Æð¼èµC
167	* uint16_t^ÆµÄ¢éD
168	*
169	* rbgT[`½ßðÂvZbTÅÍCrbgT[`½ßðg¤æ¤É
170	* «¼µ½ûªø¦ªÇ¢êª éD±Ìæ¤ÈêÉÍC^[Qbg
171	* Ë¶ÅrbgT[`½ßðgÁ½bitmap_searchðè`µC
172	* OMIT_BITMAP_SEARCHð}Nè`·êÎæ¢DÜ½CrbgT[`½ßÌ
173	* T[`ûüªtÈÇÌRÅDæxÆrbgÆÌÎðÏXµ½¢êÉ
174	* ÍCPRIMAP_BITð}Nè`·êÎæ¢D
175	*
176	* Ü½CCuÉffsª éÈçCÌæ¤Éè`µÄCuÖð
177	* gÁ½ûªø¦ªÇ¢Â\«à éD
178	* #define bitmap_search(bitmap) (ffs(bitmap) - 1)
179	*/
180	#ifndef PRIMAP_BIT
181	#define PRIMAP_BIT(pri) (1U << (pri))
182	#endif /* PRIMAP_BIT */
183
184	#ifndef OMIT_BITMAP_SEARCH
185
186	static const unsigned char bitmap_search_table[] = { 0, 1, 0, 2, 0, 1, 0,
187	3, 0, 1, 0, 2, 0, 1, 0 };
188
189	Inline uint_t
190	bitmap_search(uint16_t bitmap)
191	{
192	uint_t n = 0U;
193
194	assert(bitmap != 0U);
195	if ((bitmap & 0x00ffU) == 0U) {
196	bitmap >>= 8;
197	n += 8;
198	}
199	if ((bitmap & 0x0fU) == 0U) {
200	bitmap >>= 4;
201	n += 4;
202	}
203	return(n + bitmap_search_table[(bitmap & 0x0fU) - 1]);
204	}
205
206	#endif /* OMIT_BITMAP_SEARCH */
207
208	/*
209	* Dæxrbg}bvªó©Ì`FbN
210	*/
211	Inline bool_t
212	primap_empty(void)
213	{
214	return(ready_primap == 0U);
215	}
216
217	/*
218	* Dæxrbg}bvÌT[`
219	*/
220	Inline uint_t
221	primap_search(void)
222	{
223	return(bitmap_search(ready_primap));
224	}
225
226	/*
227	* Dæxrbg}bvÌZbg
228	*/
229	Inline void
230	primap_set(uint_t pri)
231	{
232	ready_primap \|= PRIMAP_BIT(pri);
233	}
234
235	/*
236	* Dæxrbg}bvÌNA
237	*/
238	Inline void
239	primap_clear(uint_t pri)
240	{
241	ready_primap &= ~PRIMAP_BIT(pri);
242	}
243
244	/*
245	* ÅDæÊ^XNÌT[`
246	*/
247	#ifdef TOPPERS_tsksched
248
249	TCB *
250	search_schedtsk(void)
251	{
252	uint_t schedpri;
253
254	schedpri = primap_search();
255	return((TCB *)(ready_queue[schedpri].p_next));
256	}
257
258	#endif /* TOPPERS_tsksched */
259
260	/*
261	* ÀsÅ«éóÔÖÌJÚ
262	*
263	* ÅDæÊÌ^XNðXV·éÌÍCÀsÅ«é^XNªÈ©Á½ê
264	* ÆCp_tcbÌDæxªÅDæÊÌ^XNÌDæxæèà¢êÅ
265	* éD
266	*/
267	#ifdef TOPPERS_tskrun
268
269	bool_t
270	make_runnable(TCB *p_tcb)
271	{
272	uint_t pri = p_tcb->priority;
273
274	queue_insert_prev(&(ready_queue[pri]), &(p_tcb->task_queue));
275	primap_set(pri);
276
277	if (p_schedtsk == (TCB *) NULL \|\| pri < p_schedtsk->priority) {
278	p_schedtsk = p_tcb;
279	return(dspflg);
280	}
281	return(false);
282	}
283
284	#endif /* TOPPERS_tskrun */
285
286	/*
287	* ÀsÅ«éóÔ©ç¼ÌóÔÖÌJÚ
288	*
289	* ÅDæÊÌ^XNðXV·éÌÍCp_tcbªÅDæÊÌ^XNÅ
290	* Á½êÅ éDp_tcbÆ¯¶DæxÌ^XNª¼É éêÍCp_tcb
291	* ÌÌ^XNªÅDæÊÉÈéD»¤ÅÈ¢êÍCfBL
292	[ð
293	* T[`·éKvª éD
294	*/
295	#ifdef TOPPERS_tsknrun
296
297	bool_t
298	make_non_runnable(TCB *p_tcb)
299	{
300	uint_t pri = p_tcb->priority;
301	QUEUE *p_queue = &(ready_queue[pri]);
302
303	queue_delete(&(p_tcb->task_queue));
304	if (queue_empty(p_queue)) {
305	primap_clear(pri);
306	if (p_schedtsk == p_tcb) {
307	p_schedtsk = primap_empty() ? (TCB *) NULL : search_schedtsk();
308	return(dspflg);
309	}
310	}
311	else {
312	if (p_schedtsk == p_tcb) {
313	p_schedtsk = (TCB *)(p_queue->p_next);
314	return(dspflg);
315	}
316	}
317	return(false);
318	}
319
320	#endif /* TOPPERS_tsknrun */
321
322	/*
323	* x~óÔÖÌJÚ
324	*/
325	#ifdef TOPPERS_tskdmt
326
327	void
328	make_dormant(TCB *p_tcb)
329	{
330	p_tcb->tstat = TS_DORMANT;
331	p_tcb->priority = p_tcb->p_tinib->ipriority;
332	p_tcb->wupque = false;
333	p_tcb->enatex = false;
334	p_tcb->texptn = 0U;
335	LOG_TSKSTAT(p_tcb);
336	}
337
338	#endif /* TOPPERS_tskdmt */
339
340	/*
341	* x~óÔ©çÀsÅ«éóÔÖÌJÚ
342	*/
343	#ifdef TOPPERS_tskact
344
345	bool_t
346	make_active(TCB *p_tcb)
347	{
348	activate_context(p_tcb);
349	p_tcb->tstat = TS_RUNNABLE;
350	LOG_TSKSTAT(p_tcb);
351	return(make_runnable(p_tcb));
352	}
353
354	#endif /* TOPPERS_tskact */
355
356	/*
357	* ^XNÌDæxÌÏX
358	*
359	* ^XNªÀsÅ«éóÔÌêÉÍCfBL
360	[ÌÅÌÊuðÏX·
361	* éDIuWFNgÌÒ¿L
362	[ÌÅÒ¿óÔÉÈÁÄ¢éêÉÍCÒ
363	* ¿L
364	[ÌÅÌÊuðÏX·éD
365	*
366	* ÅDæÊÌ^XNðXV·éÌÍC(1) p_tcbªÅDæÊÌ^X
367	* NÅ ÁÄC»ÌDæxðº°½êC(2) p_tcbªÅDæÊÌ^X
368	* NÅÍÈCÏXãÌDæxªÅDæÊÌ^XNÌDæxæèà¢
369	* êÅ éD(1)ÌêÉÍCfBL
370	[ðT[`·éKvª éD
371	*/
372	#ifdef TOPPERS_tskpri
373
374	bool_t
375	change_priority(TCB *p_tcb, uint_t newpri)
376	{
377	uint_t oldpri;
378
379	oldpri = p_tcb->priority;
380	p_tcb->priority = newpri;
381
382	if (TSTAT_RUNNABLE(p_tcb->tstat)) {
383	/*
384	* ^XNªÀsÅ«éóÔÌê
385	*/
386	queue_delete(&(p_tcb->task_queue));
387	if (queue_empty(&(ready_queue[oldpri]))) {
388	primap_clear(oldpri);
389	}
390	queue_insert_prev(&(ready_queue[newpri]), &(p_tcb->task_queue));
391	primap_set(newpri);
392
393	if (p_schedtsk == p_tcb) {
394	if (newpri >= oldpri) {
395	p_schedtsk = search_schedtsk();
396	return(p_schedtsk != p_tcb && dspflg);
397	}
398	}
399	else {
400	if (newpri < p_schedtsk->priority) {
401	p_schedtsk = p_tcb;
402	return(dspflg);
403	}
404	}
405	}
406	else {
407	if (TSTAT_WAIT_WOBJCB(p_tcb->tstat)) {
408	/*
409	* ^XNªC¯úEÊMIuWFNgÌÇubNÌ¤Ê
410	* ªiWOBJCBjÌÒ¿L
411	[ÉÂÈªêÄ¢éê
412	*/
413	wobj_change_priority(((WINFO_WOBJ *)(p_tcb->p_winfo))->p_wobjcb,
414	p_tcb);
415	}
416	}
417	return(false);
418	}
419
420	#endif /* TOPPERS_tskpri */
421
422	/*
423	* fBL
424	[Ìñ]
425	*
426	* ÅDæÊÌ^XNðXV·éÌÍCÅDæÊÌ^XNª^XNL
427	*
428	[ÌöÉÚ®µ½êÅ éD
429	*/
430	#ifdef TOPPERS_tskrot
431
432	bool_t
433	rotate_ready_queue(uint_t pri)
434	{
435	QUEUE *p_queue = &(ready_queue[pri]);
436	QUEUE *p_entry;
437
438	if (!queue_empty(p_queue) && p_queue->p_next->p_next != p_queue) {
439	p_entry = queue_delete_next(p_queue);
440	queue_insert_prev(p_queue, p_entry);
441	if (p_schedtsk == (TCB *) p_entry) {
442	p_schedtsk = (TCB *)(p_queue->p_next);
443	return(dspflg);
444	}
445	}
446	return(false);
447	}
448
449	#endif /* TOPPERS_tskrot */
450
451	/*
452	* ^XNáO[`ÌÄoµ
453	*
454	* ASPJ[lÅÍC^XNáO[`àÅCPUbNóÔÉJÚµC
455	* ³ÌóÔÉß³¸É^[µ½êCJ[lª³ÌóÔÉß·D
456	*/
457	#ifdef TOPPERS_tsktex
458
459	void
460	call_texrtn(void)
461	{
462	TEXPTN texptn;
463	bool_t saved_disdsp;
464
465	saved_disdsp = disdsp;
466	p_runtsk->enatex = false;
467	do {
468	texptn = p_runtsk->texptn;
469	p_runtsk->texptn = 0U;
470
471	t_unlock_cpu();
472	LOG_TEX_ENTER(p_runtsk, texptn);
473	(*((TEXRTN)(p_runtsk->p_tinib->texrtn)))(texptn,
474	p_runtsk->p_tinib->exinf);
475	LOG_TEX_LEAVE(p_runtsk, texptn);
476	if (!t_sense_lock()) {
477	t_lock_cpu();
478	}
479	if (!ipmflg) {
480	t_set_ipm(TIPM_ENAALL);
481	ipmflg = true;
482	}
483	disdsp = saved_disdsp;
484	dspflg = !disdsp;
485	p_runtsk->enatex = false;
486	if (p_runtsk != p_schedtsk && dspflg) {
487	/*
488	* ±±ÅdispatchðÄÑo·ÍCÝÄAÄoµÉÈÁÄ
489	* ¢éªCdispatchðÄÔOÉp_runtsk->enatexðfalseÉµÄ
490	* ¨¯ÎxáªÈ¢D»ÌRÉÂ¢ÄÍCuTOPPERS/ASP J[
491	* l ÝvvðQÆÌ±ÆD
492	*/
493	dispatch();
494	}
495	} while (p_runtsk->texptn != 0U);
496	p_runtsk->enatex = true;
497	}
498
499	/*
500	* ^XNáO[`ÌN®
501	*/
502	#ifndef OMIT_CALLTEX
503
504	void
505	calltex(void)
506	{
507	if (p_runtsk->enatex && p_runtsk->texptn != 0U && ipmflg) {
508	call_texrtn();
509	}
510	}
511
512	#endif /* OMIT_CALLTEX */
513	#endif /* TOPPERS_tsktex */

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