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source: asp3_wo_tecs/trunk/extension/dcre/kernel/time_manage.c@ 302

Last change on this file since 302 was 302, checked in by ertl-honda, 7 years ago
TECSレスのASP3の開発のため以下のtrunkからコピー http://dev.toppers.jp/svn/asp3/branches/WO_TECS-3.C.0
File size: 9.8 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) 2005-2015 by Embedded and Real-Time Systems Laboratory
9	* Graduate School of Information Science, Nagoya Univ., JAPAN
10	*
11	* ä¸è¨èä½æ¨©è
12	ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
13	* ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ãä½¿ç¨ã»è¤è£½ã»æ¹
14	* å¤ã»åé
15	å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
16	* (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
17	* æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
18	* ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
19	* (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
20	* ç¨ã§ããå½¢ã§åé
21	å¸ããå ´åã«ã¯ï¼åé
22	å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
23	* è
24	ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
25	* ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
26	* (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
27	* ç¨ã§ããªãå½¢ã§åé
28	å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
29	* ã¨ï¼
30	* (a) åé
31	å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
32	ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
33	* ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
34	* (b) åé
35	å¸ã®å½¢æ
36	ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
37	* å ±åãããã¨ï¼
38	* (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
39	* å®³ãããï¼ä¸è¨èä½æ¨©è
40	ããã³TOPPERSããã¸ã§ã¯ããå
41	è²¬ãããã¨ï¼
42	* ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
43	* ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
44	ããã³TOPPERSããã¸ã§ã¯ãã
45	* å
46	è²¬ãããã¨ï¼
47	*
48	* æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
49	ã
50	* ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
51	* ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
52	* ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæå®³ã«é¢ãã¦ãï¼ã
53	* ã®è²¬ä»»ãè² ããªãï¼
54	*
55	* $Id: time_manage.c 463 2015-10-18 14:25:55Z ertl-hiro $
56	*/
57
58	/*
59	* ã·ã¹ãã æå»ç®¡çæ©è½
60	*/
61
62	#include "kernel_impl.h"
63	#include "check.h"
64	#include "task.h"
65	#include "semaphore.h"
66	#include "eventflag.h"
67	#include "dataqueue.h"
68	#include "time_event.h"
69	#include "target_timer.h"
70
71	/*
72	* ãã¬ã¼ã¹ãã°ãã¯ãã®ããã©ã«ãå®ç¾©
73	*/
74	#ifndef LOG_SET_TIM_ENTER
75	#define LOG_SET_TIM_ENTER(systim)
76	#endif /* LOG_SET_TIM_ENTER */
77
78	#ifndef LOG_SET_TIM_LEAVE
79	#define LOG_SET_TIM_LEAVE(ercd)
80	#endif /* LOG_SET_TIM_LEAVE */
81
82	#ifndef LOG_GET_TIM_ENTER
83	#define LOG_GET_TIM_ENTER(p_systim)
84	#endif /* LOG_GET_TIM_ENTER */
85
86	#ifndef LOG_GET_TIM_LEAVE
87	#define LOG_GET_TIM_LEAVE(ercd, p_systim)
88	#endif /* LOG_GET_TIM_LEAVE */
89
90	#ifndef LOG_ADJ_TIM_ENTER
91	#define LOG_ADJ_TIM_ENTER(adjtim)
92	#endif /* LOG_ADJ_TIM_ENTER */
93
94	#ifndef LOG_ADJ_TIM_LEAVE
95	#define LOG_ADJ_TIM_LEAVE(ercd)
96	#endif /* LOG_ADJ_TIM_LEAVE */
97
98	#ifndef LOG_FCH_HRT_ENTER
99	#define LOG_FCH_HRT_ENTER()
100	#endif /* LOG_FCH_HRT_ENTER */
101
102	#ifndef LOG_FCH_HRT_LEAVE
103	#define LOG_FCH_HRT_LEAVE(hrtcnt)
104	#endif /* LOG_FCH_HRT_LEAVE */
105
106	/*
107	* ã·ã¹ãã æå»ã®è¨å®ï¼»NGKI3563ï¼½
108	*/
109	#ifdef TOPPERS_set_tim
110
111	ER
112	set_tim(SYSTIM systim)
113	{
114	ER ercd;
115
116	LOG_SET_TIM_ENTER(systim);
117	CHECK_TSKCTX_UNL(); /ï¼»NGKI3564ï¼½ï¼»NGKI3565ï¼½/
118
119	lock_cpu();
120	update_current_evttim(); /ï¼»ASPD1059ï¼½/
121	systim_offset = systim - monotonic_evttim; /ï¼»ASPD1060ï¼½/
122	ercd = E_OK;
123	unlock_cpu();
124
125	error_exit:
126	LOG_SET_TIM_LEAVE(ercd);
127	return(ercd);
128	}
129
130	#endif /* TOPPERS_set_tim */
131
132	/*
133	* ã·ã¹ãã æå»ã®åç
134	§ï¼»NGKI2349ï¼½
135	*/
136	#ifdef TOPPERS_get_tim
137
138	ER
139	get_tim(SYSTIM *p_systim)
140	{
141	ER ercd;
142
143	LOG_GET_TIM_ENTER(p_systim);
144	CHECK_TSKCTX_UNL(); /ï¼»NGKI2350ï¼½ï¼»NGKI2351ï¼½/
145
146	lock_cpu();
147	update_current_evttim(); /ï¼»ASPD1057ï¼½/
148	p_systim = systim_offset + monotonic_evttim; /ï¼»ASPD1058ï¼½*/
149	ercd = E_OK;
150	unlock_cpu();
151
152	error_exit:
153	LOG_GET_TIM_LEAVE(ercd, p_systim);
154	return(ercd);
155	}
156
157	#endif /* TOPPERS_get_tim */
158
159	/*
160	* ã·ã¹ãã æå»ã®èª¿æ´ï¼»NGKI3581ï¼½
161	*/
162	#ifdef TOPPERS_adj_tim
163
164	ER
165	adj_tim(int32_t adjtim)
166	{
167	EVTTIM previous_evttim;
168	ER ercd;
169
170	LOG_ADJ_TIM_ENTER(adjtim);
171	CHECK_UNL(); /ï¼»NGKI3583ï¼½/
172	CHECK_PAR(TMIN_ADJTIM <= adjtim && adjtim <= TMAX_ADJTIM);
173	/ï¼»NGKI3584ï¼½/
174	lock_cpu();
175	update_current_evttim(); /ï¼»ASPD1051ï¼½/
176	if (check_adjtim(adjtim)) { /ï¼»ASPD1052ï¼½/
177	ercd = E_OBJ;
178	}
179	else {
180	previous_evttim = current_evttim;
181	current_evttim += adjtim; /ï¼»ASPD1053ï¼½/
182	boundary_evttim = current_evttim - BOUNDARY_MARGIN; /ï¼»ASPD1055ï¼½/
183
184	if (adjtim > 0
185	&& monotonic_evttim - previous_evttim < (EVTTIM) adjtim) {
186	#ifdef UINT64_MAX
187	if (current_evttim < monotonic_evttim) {
188	systim_offset += 1LLU << 32;
189	}
190	#endif /* UINT64_MAX */
191	monotonic_evttim = current_evttim; /ï¼»ASPD1054ï¼½/
192	}
193
194	set_hrt_event(); /ï¼»ASPD1056ï¼½/
195	ercd = E_OK;
196	}
197	unlock_cpu();
198
199	error_exit:
200	LOG_ADJ_TIM_LEAVE(ercd);
201	return(ercd);
202	}
203
204	#endif /* TOPPERS_adj_tim */
205
206	/*
207	* é«åè§£è½ã¿ã¤ãã®åç
208	§ï¼»NGKI3569ï¼½
209	*
210	* ä»»æã®ç¶æ
211	ããå¼ã³åºããããã«ããããã«ï¼SILã®å
212	¨å²è¾¼ã¿ããã¯ç¶æ
213	ã®
214	* å¶å¾¡æ©è½ãç¨ãã¦ï¼æä»å¶å¾¡ãå®ç¾ãã¦ããï¼»NGKI3572ï¼½ï¼
215	*/
216	#ifdef TOPPERS_fch_hrt
217
218	HRTCNT
219	fch_hrt(void)
220	{
221	HRTCNT hrtcnt;
222	SIL_PRE_LOC;
223
224	LOG_FCH_HRT_ENTER();
225
226	SIL_LOC_INT();
227	hrtcnt = target_hrt_get_current(); /ï¼»NGKI3571ï¼½/
228	SIL_UNL_INT();
229
230	LOG_FCH_HRT_LEAVE(hrtcnt);
231	return(hrtcnt);
232	}
233
234	#endif /* TOPPERS_fch_hrt */
235
236	/*
237	* éç¥æ¹æ³ã®ã¨ã©ã¼ãã§ãã¯
238	*/
239	#ifdef TOPPERS_chknfy
240
241	ER
242	check_nfyinfo(const T_NFYINFO *p_nfyinfo)
243	{
244	ER ercd;
245
246	if (p_nfyinfo->nfymode == TNFY_HANDLER) {
247	CHECK_PAR(FUNC_ALIGN(p_nfyinfo->nfy.handler.tmehdr));
248	CHECK_PAR(FUNC_NONNULL(p_nfyinfo->nfy.handler.tmehdr));
249	}
250	else {
251	switch (p_nfyinfo->nfymode & 0x0fU) {
252	case TNFY_SETVAR:
253	CHECK_PAR((p_nfyinfo->nfymode & ~0x0fU) == 0);
254	CHECK_PAR(INTPTR_ALIGN(p_nfyinfo->nfy.setvar.p_var));
255	CHECK_PAR(INTPTR_NONNULL(p_nfyinfo->nfy.setvar.p_var));
256	break;
257	case TNFY_INCVAR:
258	CHECK_PAR((p_nfyinfo->nfymode & ~0x0fU) == 0);
259	CHECK_PAR(INTPTR_ALIGN(p_nfyinfo->nfy.incvar.p_var));
260	CHECK_PAR(INTPTR_NONNULL(p_nfyinfo->nfy.incvar.p_var));
261	break;
262	case TNFY_ACTTSK:
263	CHECK_ID(VALID_TSKID(p_nfyinfo->nfy.acttsk.tskid));
264	break;
265	case TNFY_WUPTSK:
266	CHECK_ID(VALID_TSKID(p_nfyinfo->nfy.wuptsk.tskid));
267	break;
268	case TNFY_SIGSEM:
269	CHECK_ID(VALID_SEMID(p_nfyinfo->nfy.sigsem.semid));
270	break;
271	case TNFY_SETFLG:
272	CHECK_ID(VALID_FLGID(p_nfyinfo->nfy.setflg.flgid));
273	break;
274	case TNFY_SNDDTQ:
275	CHECK_ID(VALID_DTQID(p_nfyinfo->nfy.snddtq.dtqid));
276	break;
277	default:
278	CHECK_PAR(false);
279	break;
280	}
281	switch (p_nfyinfo->nfymode & ~0x0fU) {
282	case TENFY_SETVAR:
283	CHECK_PAR(INTPTR_ALIGN(p_nfyinfo->enfy.setvar.p_var));
284	CHECK_PAR(INTPTR_NONNULL(p_nfyinfo->enfy.setvar.p_var));
285	break;
286	case TENFY_INCVAR:
287	CHECK_PAR(INTPTR_ALIGN(p_nfyinfo->enfy.incvar.p_var));
288	CHECK_PAR(INTPTR_NONNULL(p_nfyinfo->enfy.incvar.p_var));
289	break;
290	case TENFY_ACTTSK:
291	CHECK_ID(VALID_TSKID(p_nfyinfo->enfy.acttsk.tskid));
292	break;
293	case TENFY_WUPTSK:
294	CHECK_ID(VALID_TSKID(p_nfyinfo->enfy.wuptsk.tskid));
295	break;
296	case TENFY_SIGSEM:
297	CHECK_ID(VALID_SEMID(p_nfyinfo->enfy.sigsem.semid));
298	break;
299	case TENFY_SETFLG:
300	CHECK_ID(VALID_FLGID(p_nfyinfo->enfy.setflg.flgid));
301	break;
302	case TENFY_SNDDTQ:
303	CHECK_ID(VALID_DTQID(p_nfyinfo->enfy.snddtq.dtqid));
304	break;
305	default:
306	CHECK_PAR(false);
307	break;
308	}
309	}
310	ercd = E_OK;
311
312	error_exit:
313	return(ercd);
314	}
315
316	#endif /* TOPPERS_chknfy */
317
318	/*
319	* éç¥ãã³ãã©
320	*/
321	#ifdef TOPPERS_nfyhdr
322
323	void
324	notify_handler(intptr_t exinf)
325	{
326	T_NFYINFO p_nfyinfo = (T_NFYINFO ) exinf;
327	ER ercd;
328
329	switch (p_nfyinfo->nfymode & 0x0fU) {
330	case TNFY_SETVAR:
331	*(p_nfyinfo->nfy.setvar.p_var) = p_nfyinfo->nfy.setvar.value;
332	ercd = E_OK;
333	break;
334	case TNFY_INCVAR:
335	*(p_nfyinfo->nfy.incvar.p_var) += 1;
336	ercd = E_OK;
337	break;
338	case TNFY_ACTTSK:
339	ercd = act_tsk(p_nfyinfo->nfy.acttsk.tskid);
340	break;
341	case TNFY_WUPTSK:
342	ercd = wup_tsk(p_nfyinfo->nfy.wuptsk.tskid);
343	break;
344	case TNFY_SIGSEM:
345	ercd = sig_sem(p_nfyinfo->nfy.sigsem.semid);
346	break;
347	case TNFY_SETFLG:
348	ercd = set_flg(p_nfyinfo->nfy.setflg.flgid,
349	p_nfyinfo->nfy.setflg.flgptn);
350	break;
351	case TNFY_SNDDTQ:
352	ercd = snd_dtq(p_nfyinfo->nfy.snddtq.dtqid,
353	p_nfyinfo->nfy.snddtq.data);
354	break;
355	default:
356	ercd = E_SYS;
357	break;
358	}
359
360	if (ercd != E_OK) {
361	switch (p_nfyinfo->nfymode & ~0x0fU) {
362	case TENFY_SETVAR:
363	*(p_nfyinfo->enfy.setvar.p_var) = (intptr_t) ercd;
364	break;
365	case TENFY_INCVAR:
366	*(p_nfyinfo->enfy.incvar.p_var) += 1;
367	break;
368	case TENFY_ACTTSK:
369	(void) act_tsk(p_nfyinfo->enfy.acttsk.tskid);
370	break;
371	case TENFY_WUPTSK:
372	(void) wup_tsk(p_nfyinfo->enfy.wuptsk.tskid);
373	break;
374	case TENFY_SIGSEM:
375	(void) sig_sem(p_nfyinfo->enfy.sigsem.semid);
376	break;
377	case TENFY_SETFLG:
378	(void) set_flg(p_nfyinfo->enfy.setflg.flgid,
379	p_nfyinfo->enfy.setflg.flgptn);
380	break;
381	case TENFY_SNDDTQ:
382	(void) snd_dtq(p_nfyinfo->enfy.snddtq.dtqid, (intptr_t) ercd);
383	break;
384	default:
385	break;
386	}
387	}
388	}
389
390	#endif /* TOPPERS_nfyhdr */

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