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source: asp3_wo_tecs/trunk/extension/ovrhdr/kernel/sys_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: 10.6 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: sys_manage.c 470 2015-12-30 09:50:36Z ertl-hiro $
56	*/
57
58	/*
59	* ã·ã¹ãã ç¶æ
60	ç®¡çæ©è½
61	*/
62
63	#include "kernel_impl.h"
64	#include "check.h"
65	#include "task.h"
66	#include "overrun.h"
67
68	/*
69	* ãã¬ã¼ã¹ãã°ãã¯ãã®ããã©ã«ãå®ç¾©
70	*/
71	#ifndef LOG_ROT_RDQ_ENTER
72	#define LOG_ROT_RDQ_ENTER(tskpri)
73	#endif /* LOG_ROT_RDQ_ENTER */
74
75	#ifndef LOG_ROT_RDQ_LEAVE
76	#define LOG_ROT_RDQ_LEAVE(ercd)
77	#endif /* LOG_ROT_RDQ_LEAVE */
78
79	#ifndef LOG_GET_TID_ENTER
80	#define LOG_GET_TID_ENTER(p_tskid)
81	#endif /* LOG_GET_TID_ENTER */
82
83	#ifndef LOG_GET_TID_LEAVE
84	#define LOG_GET_TID_LEAVE(ercd, p_tskid)
85	#endif /* LOG_GET_TID_LEAVE */
86
87	#ifndef LOG_GET_LOD_ENTER
88	#define LOG_GET_LOD_ENTER(tskpri, p_load)
89	#endif /* LOG_GET_LOD_ENTER */
90
91	#ifndef LOG_GET_LOD_LEAVE
92	#define LOG_GET_LOD_LEAVE(ercd, p_load)
93	#endif /* LOG_GET_LOD_LEAVE */
94
95	#ifndef LOG_GET_NTH_ENTER
96	#define LOG_GET_NTH_ENTER(tskpri, nth, p_tskid)
97	#endif /* LOG_GET_NTH_ENTER */
98
99	#ifndef LOG_GET_NTH_LEAVE
100	#define LOG_GET_NTH_LEAVE(ercd, p_tskid)
101	#endif /* LOG_GET_NTH_LEAVE */
102
103	#ifndef LOG_LOC_CPU_ENTER
104	#define LOG_LOC_CPU_ENTER()
105	#endif /* LOG_LOC_CPU_ENTER */
106
107	#ifndef LOG_LOC_CPU_LEAVE
108	#define LOG_LOC_CPU_LEAVE(ercd)
109	#endif /* LOG_LOC_CPU_LEAVE */
110
111	#ifndef LOG_UNL_CPU_ENTER
112	#define LOG_UNL_CPU_ENTER()
113	#endif /* LOG_UNL_CPU_ENTER */
114
115	#ifndef LOG_UNL_CPU_LEAVE
116	#define LOG_UNL_CPU_LEAVE(ercd)
117	#endif /* LOG_UNL_CPU_LEAVE */
118
119	#ifndef LOG_DIS_DSP_ENTER
120	#define LOG_DIS_DSP_ENTER()
121	#endif /* LOG_DIS_DSP_ENTER */
122
123	#ifndef LOG_DIS_DSP_LEAVE
124	#define LOG_DIS_DSP_LEAVE(ercd)
125	#endif /* LOG_DIS_DSP_LEAVE */
126
127	#ifndef LOG_ENA_DSP_ENTER
128	#define LOG_ENA_DSP_ENTER()
129	#endif /* LOG_ENA_DSP_ENTER */
130
131	#ifndef LOG_ENA_DSP_LEAVE
132	#define LOG_ENA_DSP_LEAVE(ercd)
133	#endif /* LOG_ENA_DSP_LEAVE */
134
135	#ifndef LOG_SNS_CTX_ENTER
136	#define LOG_SNS_CTX_ENTER()
137	#endif /* LOG_SNS_CTX_ENTER */
138
139	#ifndef LOG_SNS_CTX_LEAVE
140	#define LOG_SNS_CTX_LEAVE(state)
141	#endif /* LOG_SNS_CTX_LEAVE */
142
143	#ifndef LOG_SNS_LOC_ENTER
144	#define LOG_SNS_LOC_ENTER()
145	#endif /* LOG_SNS_LOC_ENTER */
146
147	#ifndef LOG_SNS_LOC_LEAVE
148	#define LOG_SNS_LOC_LEAVE(state)
149	#endif /* LOG_SNS_LOC_LEAVE */
150
151	#ifndef LOG_SNS_DSP_ENTER
152	#define LOG_SNS_DSP_ENTER()
153	#endif /* LOG_SNS_DSP_ENTER */
154
155	#ifndef LOG_SNS_DSP_LEAVE
156	#define LOG_SNS_DSP_LEAVE(state)
157	#endif /* LOG_SNS_DSP_LEAVE */
158
159	#ifndef LOG_SNS_DPN_ENTER
160	#define LOG_SNS_DPN_ENTER()
161	#endif /* LOG_SNS_DPN_ENTER */
162
163	#ifndef LOG_SNS_DPN_LEAVE
164	#define LOG_SNS_DPN_LEAVE(state)
165	#endif /* LOG_SNS_DPN_LEAVE */
166
167	#ifndef LOG_SNS_KER_ENTER
168	#define LOG_SNS_KER_ENTER()
169	#endif /* LOG_SNS_KER_ENTER */
170
171	#ifndef LOG_SNS_KER_LEAVE
172	#define LOG_SNS_KER_LEAVE(state)
173	#endif /* LOG_SNS_KER_LEAVE */
174
175	/*
176	* ã¿ã¹ã¯ã®åªå
177	é ä½ã®åè»¢
178	*/
179	#ifdef TOPPERS_rot_rdq
180
181	ER
182	rot_rdq(PRI tskpri)
183	{
184	uint_t pri;
185	ER ercd;
186
187	LOG_ROT_RDQ_ENTER(tskpri);
188	CHECK_UNL();
189	if (tskpri == TPRI_SELF && !sense_context()) {
190	pri = p_runtsk->bpriority;
191	}
192	else {
193	CHECK_PAR(VALID_TPRI(tskpri));
194	pri = INT_PRIORITY(tskpri);
195	}
196
197	lock_cpu();
198	rotate_ready_queue(&(ready_queue[pri]));
199	if (p_runtsk != p_schedtsk) {
200	if (!sense_context()) {
201	dispatch();
202	}
203	else {
204	request_dispatch();
205	}
206	}
207	ercd = E_OK;
208	unlock_cpu();
209
210	error_exit:
211	LOG_ROT_RDQ_LEAVE(ercd);
212	return(ercd);
213	}
214
215	#endif /* TOPPERS_rot_rdq */
216
217	/*
218	* å®è¡ç¶æ
219	ã®ã¿ã¹ã¯IDã®åç
220	§
221	*/
222	#ifdef TOPPERS_get_tid
223
224	ER
225	get_tid(ID *p_tskid)
226	{
227	ER ercd;
228
229	LOG_GET_TID_ENTER(p_tskid);
230	CHECK_UNL();
231
232	lock_cpu();
233	*p_tskid = (p_runtsk == NULL) ? TSK_NONE : TSKID(p_runtsk);
234	ercd = E_OK;
235	unlock_cpu();
236
237	error_exit:
238	LOG_GET_TID_LEAVE(ercd, p_tskid);
239	return(ercd);
240	}
241
242	#endif /* TOPPERS_get_tid */
243
244	/*
245	* å®è¡ã§ããã¿ã¹ã¯ã®æ°ã®åç
246	§
247	*/
248	#ifdef TOPPERS_get_lod
249
250	ER
251	get_lod(PRI tskpri, uint_t *p_load)
252	{
253	uint_t pri, load;
254	QUEUE p_queue, p_entry;
255	ER ercd;
256
257	LOG_GET_LOD_ENTER(p_tskid, p_load);
258	CHECK_TSKCTX_UNL();
259	if (tskpri == TPRI_SELF) {
260	pri = p_runtsk->bpriority;
261	}
262	else {
263	CHECK_PAR(VALID_TPRI(tskpri));
264	pri = INT_PRIORITY(tskpri);
265	}
266	p_queue = &(ready_queue[pri]);
267
268	lock_cpu();
269	load = 0U;
270	for (p_entry = p_queue->p_next; p_entry != p_queue;
271	p_entry = p_entry->p_next) {
272	load += 1U;
273	}
274	*p_load = load;
275	ercd = E_OK;
276	unlock_cpu();
277
278	error_exit:
279	LOG_GET_LOD_LEAVE(ercd, p_load);
280	return(ercd);
281	}
282
283	#endif /* TOPPERS_get_lod */
284
285	/*
286	* æå®ããåªå
287	é ä½ã®ã¿ã¹ã¯IDã®åç
288	§
289	*/
290	#ifdef TOPPERS_get_nth
291
292	ER
293	get_nth(PRI tskpri, uint_t nth, ID *p_tskid)
294	{
295	uint_t pri;
296	QUEUE p_queue, p_entry;
297	ID tskid;
298	ER ercd;
299
300	LOG_GET_NTH_ENTER(p_tskid, nth, p_tskid);
301	CHECK_TSKCTX_UNL();
302	if (tskpri == TPRI_SELF) {
303	pri = p_runtsk->bpriority;
304	}
305	else {
306	CHECK_PAR(VALID_TPRI(tskpri));
307	pri = INT_PRIORITY(tskpri);
308	}
309	p_queue = &(ready_queue[pri]);
310
311	lock_cpu();
312	tskid = TSK_NONE;
313	for (p_entry = p_queue->p_next; p_entry != p_queue;
314	p_entry = p_entry->p_next) {
315	if (nth == 0U) {
316	tskid = TSKID((TCB *) p_entry);
317	break;
318	}
319	nth -= 1U;
320	}
321	*p_tskid = tskid;
322	ercd = E_OK;
323	unlock_cpu();
324
325	error_exit:
326	LOG_GET_NTH_LEAVE(ercd, p_tskid);
327	return(ercd);
328	}
329
330	#endif /* TOPPERS_get_nth */
331
332	/*
333	* CPUããã¯ç¶æ
334	ã¸ã®é·ç§»
335	*/
336	#ifdef TOPPERS_loc_cpu
337
338	ER
339	loc_cpu(void)
340	{
341	ER ercd;
342
343	LOG_LOC_CPU_ENTER();
344
345	if (!sense_lock()) {
346	lock_cpu();
347	}
348	ercd = E_OK;
349
350	LOG_LOC_CPU_LEAVE(ercd);
351	return(ercd);
352	}
353
354	#endif /* TOPPERS_loc_cpu */
355
356	/*
357	* CPUããã¯ç¶æ
358	ã®è§£é¤
359	*
360	* CPUããã¯ä¸ã¯ï¼ãã£ã¹ããããå¿
361	è¦ã¨ãªããµã¼ãã¹ã³ã¼ã«ãå¼ã³åºãã
362	* ã¨ã¯ã§ããªãããï¼CPUããã¯ç¶æ
363	ã®è§£é¤æã«ãã£ã¹ãããã£ãèµ·åãã
364	* å¿
365	è¦ã¯ãªãï¼
366	*/
367	#ifdef TOPPERS_unl_cpu
368
369	ER
370	unl_cpu(void)
371	{
372	ER ercd;
373
374	LOG_UNL_CPU_ENTER();
375
376	if (sense_lock()) {
377	unlock_cpu();
378	}
379	ercd = E_OK;
380
381	LOG_UNL_CPU_LEAVE(ercd);
382	return(ercd);
383	}
384
385	#endif /* TOPPERS_unl_cpu */
386
387	/*
388	* ãã£ã¹ãããã®ç¦æ¢
389	*/
390	#ifdef TOPPERS_dis_dsp
391
392	ER
393	dis_dsp(void)
394	{
395	ER ercd;
396
397	LOG_DIS_DSP_ENTER();
398	CHECK_TSKCTX_UNL();
399
400	lock_cpu();
401	enadsp = false;
402	dspflg = false;
403	ercd = E_OK;
404	unlock_cpu();
405
406	error_exit:
407	LOG_DIS_DSP_LEAVE(ercd);
408	return(ercd);
409	}
410
411	#endif /* TOPPERS_dis_dsp */
412
413	/*
414	* ãã£ã¹ãããã®è¨±å¯
415	*/
416	#ifdef TOPPERS_ena_dsp
417
418	ER
419	ena_dsp(void)
420	{
421	ER ercd;
422
423	LOG_ENA_DSP_ENTER();
424	CHECK_TSKCTX_UNL();
425
426	lock_cpu();
427	enadsp = true;
428	if (t_get_ipm() == TIPM_ENAALL) {
429	dspflg = true;
430	p_schedtsk = search_schedtsk();
431	if (p_runtsk->raster && p_runtsk->enater) {
432	#ifdef TOPPERS_SUPPORT_OVRHDR
433	if (p_runtsk->staovr) {
434	(void) target_ovrtimer_stop();
435	ovrtimer_flag = false;
436	}
437	#endif /* TOPPERS_SUPPORT_OVRHDR */
438	task_terminate(p_runtsk);
439	exit_and_dispatch();
440	ercd = E_SYS;
441	}
442	else {
443	if (p_runtsk != p_schedtsk) {
444	dispatch();
445	}
446	ercd = E_OK;
447	}
448	}
449	else {
450	ercd = E_OK;
451	}
452	unlock_cpu();
453
454	error_exit:
455	LOG_ENA_DSP_LEAVE(ercd);
456	return(ercd);
457	}
458
459	#endif /* TOPPERS_ena_dsp */
460
461	/*
462	* ã³ã³ããã¹ãã®åç
463	§
464	*/
465	#ifdef TOPPERS_sns_ctx
466
467	bool_t
468	sns_ctx(void)
469	{
470	bool_t state;
471
472	LOG_SNS_CTX_ENTER();
473	state = sense_context() ? true : false;
474	LOG_SNS_CTX_LEAVE(state);
475	return(state);
476	}
477
478	#endif /* TOPPERS_sns_ctx */
479
480	/*
481	* CPUããã¯ç¶æ
482	ã®åç
483	§
484	*/
485	#ifdef TOPPERS_sns_loc
486
487	bool_t
488	sns_loc(void)
489	{
490	bool_t state;
491
492	LOG_SNS_LOC_ENTER();
493	state = sense_lock() ? true : false;
494	LOG_SNS_LOC_LEAVE(state);
495	return(state);
496	}
497
498	#endif /* TOPPERS_sns_loc */
499
500	/*
501	* ãã£ã¹ãããç¦æ¢ç¶æ
502	ã®åç
503	§
504	*/
505	#ifdef TOPPERS_sns_dsp
506
507	bool_t
508	sns_dsp(void)
509	{
510	bool_t state;
511
512	LOG_SNS_DSP_ENTER();
513	state = !enadsp;
514	LOG_SNS_DSP_LEAVE(state);
515	return(state);
516	}
517
518	#endif /* TOPPERS_sns_dsp */
519
520	/*
521	* ãã£ã¹ãããä¿çç¶æ
522	ã®åç
523	§
524	*/
525	#ifdef TOPPERS_sns_dpn
526
527	bool_t
528	sns_dpn(void)
529	{
530	bool_t state;
531
532	LOG_SNS_DPN_ENTER();
533	state = (sense_context() \|\| sense_lock() \|\| !dspflg) ? true : false;
534	LOG_SNS_DPN_LEAVE(state);
535	return(state);
536	}
537
538	#endif /* TOPPERS_sns_dpn */
539
540	/*
541	* ã«ã¼ãã«éåä½ç¶æ
542	ã®åç
543	§
544	*/
545	#ifdef TOPPERS_sns_ker
546
547	bool_t
548	sns_ker(void)
549	{
550	bool_t state;
551
552	LOG_SNS_KER_ENTER();
553	state = kerflg ? false : true;
554	LOG_SNS_KER_LEAVE(state);
555	return(state);
556	}
557
558	#endif /* TOPPERS_sns_ker */

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