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source: asp3_wo_tecs/trunk/extension/rstr_task/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
67	/*
68	* ãã¬ã¼ã¹ãã°ãã¯ãã®ããã©ã«ãå®ç¾©
69	*/
70	#ifndef LOG_ROT_RDQ_ENTER
71	#define LOG_ROT_RDQ_ENTER(tskpri)
72	#endif /* LOG_ROT_RDQ_ENTER */
73
74	#ifndef LOG_ROT_RDQ_LEAVE
75	#define LOG_ROT_RDQ_LEAVE(ercd)
76	#endif /* LOG_ROT_RDQ_LEAVE */
77
78	#ifndef LOG_GET_TID_ENTER
79	#define LOG_GET_TID_ENTER(p_tskid)
80	#endif /* LOG_GET_TID_ENTER */
81
82	#ifndef LOG_GET_TID_LEAVE
83	#define LOG_GET_TID_LEAVE(ercd, p_tskid)
84	#endif /* LOG_GET_TID_LEAVE */
85
86	#ifndef LOG_GET_LOD_ENTER
87	#define LOG_GET_LOD_ENTER(tskpri, p_load)
88	#endif /* LOG_GET_LOD_ENTER */
89
90	#ifndef LOG_GET_LOD_LEAVE
91	#define LOG_GET_LOD_LEAVE(ercd, p_load)
92	#endif /* LOG_GET_LOD_LEAVE */
93
94	#ifndef LOG_GET_NTH_ENTER
95	#define LOG_GET_NTH_ENTER(tskpri, nth, p_tskid)
96	#endif /* LOG_GET_NTH_ENTER */
97
98	#ifndef LOG_GET_NTH_LEAVE
99	#define LOG_GET_NTH_LEAVE(ercd, p_tskid)
100	#endif /* LOG_GET_NTH_LEAVE */
101
102	#ifndef LOG_LOC_CPU_ENTER
103	#define LOG_LOC_CPU_ENTER()
104	#endif /* LOG_LOC_CPU_ENTER */
105
106	#ifndef LOG_LOC_CPU_LEAVE
107	#define LOG_LOC_CPU_LEAVE(ercd)
108	#endif /* LOG_LOC_CPU_LEAVE */
109
110	#ifndef LOG_UNL_CPU_ENTER
111	#define LOG_UNL_CPU_ENTER()
112	#endif /* LOG_UNL_CPU_ENTER */
113
114	#ifndef LOG_UNL_CPU_LEAVE
115	#define LOG_UNL_CPU_LEAVE(ercd)
116	#endif /* LOG_UNL_CPU_LEAVE */
117
118	#ifndef LOG_DIS_DSP_ENTER
119	#define LOG_DIS_DSP_ENTER()
120	#endif /* LOG_DIS_DSP_ENTER */
121
122	#ifndef LOG_DIS_DSP_LEAVE
123	#define LOG_DIS_DSP_LEAVE(ercd)
124	#endif /* LOG_DIS_DSP_LEAVE */
125
126	#ifndef LOG_ENA_DSP_ENTER
127	#define LOG_ENA_DSP_ENTER()
128	#endif /* LOG_ENA_DSP_ENTER */
129
130	#ifndef LOG_ENA_DSP_LEAVE
131	#define LOG_ENA_DSP_LEAVE(ercd)
132	#endif /* LOG_ENA_DSP_LEAVE */
133
134	#ifndef LOG_SNS_CTX_ENTER
135	#define LOG_SNS_CTX_ENTER()
136	#endif /* LOG_SNS_CTX_ENTER */
137
138	#ifndef LOG_SNS_CTX_LEAVE
139	#define LOG_SNS_CTX_LEAVE(state)
140	#endif /* LOG_SNS_CTX_LEAVE */
141
142	#ifndef LOG_SNS_LOC_ENTER
143	#define LOG_SNS_LOC_ENTER()
144	#endif /* LOG_SNS_LOC_ENTER */
145
146	#ifndef LOG_SNS_LOC_LEAVE
147	#define LOG_SNS_LOC_LEAVE(state)
148	#endif /* LOG_SNS_LOC_LEAVE */
149
150	#ifndef LOG_SNS_DSP_ENTER
151	#define LOG_SNS_DSP_ENTER()
152	#endif /* LOG_SNS_DSP_ENTER */
153
154	#ifndef LOG_SNS_DSP_LEAVE
155	#define LOG_SNS_DSP_LEAVE(state)
156	#endif /* LOG_SNS_DSP_LEAVE */
157
158	#ifndef LOG_SNS_DPN_ENTER
159	#define LOG_SNS_DPN_ENTER()
160	#endif /* LOG_SNS_DPN_ENTER */
161
162	#ifndef LOG_SNS_DPN_LEAVE
163	#define LOG_SNS_DPN_LEAVE(state)
164	#endif /* LOG_SNS_DPN_LEAVE */
165
166	#ifndef LOG_SNS_KER_ENTER
167	#define LOG_SNS_KER_ENTER()
168	#endif /* LOG_SNS_KER_ENTER */
169
170	#ifndef LOG_SNS_KER_LEAVE
171	#define LOG_SNS_KER_LEAVE(state)
172	#endif /* LOG_SNS_KER_LEAVE */
173
174	/*
175	* ã¿ã¹ã¯ã®åªå
176	é ä½ã®åè»¢
177	*/
178	#ifdef TOPPERS_rot_rdq
179
180	ER
181	rot_rdq(PRI tskpri)
182	{
183	uint_t pri;
184	QUEUE *p_queue;
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	p_queue = &(ready_queue[pri]);
199	if (queue_empty(p_queue)) {
200	ercd = E_OK;
201	}
202	else if ((((TCB *)(p_queue->p_next))->p_tinib->tskatr & TA_RSTR) != 0U) {
203	ercd = E_NOSPT;
204	}
205	else {
206	rotate_ready_queue(&(ready_queue[pri]));
207	if (p_runtsk != p_schedtsk) {
208	if (!sense_context()) {
209	dispatch();
210	}
211	else {
212	request_dispatch();
213	}
214	}
215	ercd = E_OK;
216	}
217	unlock_cpu();
218
219	error_exit:
220	LOG_ROT_RDQ_LEAVE(ercd);
221	return(ercd);
222	}
223
224	#endif /* TOPPERS_rot_rdq */
225
226	/*
227	* å®è¡ç¶æ
228	ã®ã¿ã¹ã¯IDã®åç
229	§
230	*/
231	#ifdef TOPPERS_get_tid
232
233	ER
234	get_tid(ID *p_tskid)
235	{
236	ER ercd;
237
238	LOG_GET_TID_ENTER(p_tskid);
239	CHECK_UNL();
240
241	lock_cpu();
242	*p_tskid = (p_runtsk == NULL) ? TSK_NONE : TSKID(p_runtsk);
243	ercd = E_OK;
244	unlock_cpu();
245
246	error_exit:
247	LOG_GET_TID_LEAVE(ercd, p_tskid);
248	return(ercd);
249	}
250
251	#endif /* TOPPERS_get_tid */
252
253	/*
254	* å®è¡ã§ããã¿ã¹ã¯ã®æ°ã®åç
255	§
256	*/
257	#ifdef TOPPERS_get_lod
258
259	ER
260	get_lod(PRI tskpri, uint_t *p_load)
261	{
262	uint_t pri, load;
263	QUEUE p_queue, p_entry;
264	ER ercd;
265
266	LOG_GET_LOD_ENTER(p_tskid, p_load);
267	CHECK_TSKCTX_UNL();
268	if (tskpri == TPRI_SELF) {
269	pri = p_runtsk->bpriority;
270	}
271	else {
272	CHECK_PAR(VALID_TPRI(tskpri));
273	pri = INT_PRIORITY(tskpri);
274	}
275	p_queue = &(ready_queue[pri]);
276
277	lock_cpu();
278	load = 0U;
279	for (p_entry = p_queue->p_next; p_entry != p_queue;
280	p_entry = p_entry->p_next) {
281	load += 1U;
282	}
283	*p_load = load;
284	ercd = E_OK;
285	unlock_cpu();
286
287	error_exit:
288	LOG_GET_LOD_LEAVE(ercd, p_load);
289	return(ercd);
290	}
291
292	#endif /* TOPPERS_get_lod */
293
294	/*
295	* æå®ããåªå
296	é ä½ã®ã¿ã¹ã¯IDã®åç
297	§
298	*/
299	#ifdef TOPPERS_get_nth
300
301	ER
302	get_nth(PRI tskpri, uint_t nth, ID *p_tskid)
303	{
304	uint_t pri;
305	QUEUE p_queue, p_entry;
306	ID tskid;
307	ER ercd;
308
309	LOG_GET_NTH_ENTER(p_tskid, nth, p_tskid);
310	CHECK_TSKCTX_UNL();
311	if (tskpri == TPRI_SELF) {
312	pri = p_runtsk->bpriority;
313	}
314	else {
315	CHECK_PAR(VALID_TPRI(tskpri));
316	pri = INT_PRIORITY(tskpri);
317	}
318	p_queue = &(ready_queue[pri]);
319
320	lock_cpu();
321	tskid = TSK_NONE;
322	for (p_entry = p_queue->p_next; p_entry != p_queue;
323	p_entry = p_entry->p_next) {
324	if (nth == 0U) {
325	tskid = TSKID((TCB *) p_entry);
326	break;
327	}
328	nth -= 1U;
329	}
330	*p_tskid = tskid;
331	ercd = E_OK;
332	unlock_cpu();
333
334	error_exit:
335	LOG_GET_NTH_LEAVE(ercd, p_tskid);
336	return(ercd);
337	}
338
339	#endif /* TOPPERS_get_nth */
340
341	/*
342	* CPUããã¯ç¶æ
343	ã¸ã®é·ç§»
344	*/
345	#ifdef TOPPERS_loc_cpu
346
347	ER
348	loc_cpu(void)
349	{
350	ER ercd;
351
352	LOG_LOC_CPU_ENTER();
353
354	if (!sense_lock()) {
355	lock_cpu();
356	}
357	ercd = E_OK;
358
359	LOG_LOC_CPU_LEAVE(ercd);
360	return(ercd);
361	}
362
363	#endif /* TOPPERS_loc_cpu */
364
365	/*
366	* CPUããã¯ç¶æ
367	ã®è§£é¤
368	*
369	* CPUããã¯ä¸ã¯ï¼ãã£ã¹ããããå¿
370	è¦ã¨ãªããµã¼ãã¹ã³ã¼ã«ãå¼ã³åºãã
371	* ã¨ã¯ã§ããªãããï¼CPUããã¯ç¶æ
372	ã®è§£é¤æã«ãã£ã¹ãããã£ãèµ·åãã
373	* å¿
374	è¦ã¯ãªãï¼
375	*/
376	#ifdef TOPPERS_unl_cpu
377
378	ER
379	unl_cpu(void)
380	{
381	ER ercd;
382
383	LOG_UNL_CPU_ENTER();
384
385	if (sense_lock()) {
386	unlock_cpu();
387	}
388	ercd = E_OK;
389
390	LOG_UNL_CPU_LEAVE(ercd);
391	return(ercd);
392	}
393
394	#endif /* TOPPERS_unl_cpu */
395
396	/*
397	* ãã£ã¹ãããã®ç¦æ¢
398	*/
399	#ifdef TOPPERS_dis_dsp
400
401	ER
402	dis_dsp(void)
403	{
404	ER ercd;
405
406	LOG_DIS_DSP_ENTER();
407	CHECK_TSKCTX_UNL();
408
409	lock_cpu();
410	enadsp = false;
411	dspflg = false;
412	ercd = E_OK;
413	unlock_cpu();
414
415	error_exit:
416	LOG_DIS_DSP_LEAVE(ercd);
417	return(ercd);
418	}
419
420	#endif /* TOPPERS_dis_dsp */
421
422	/*
423	* ãã£ã¹ãããã®è¨±å¯
424	*/
425	#ifdef TOPPERS_ena_dsp
426
427	ER
428	ena_dsp(void)
429	{
430	ER ercd;
431
432	LOG_ENA_DSP_ENTER();
433	CHECK_TSKCTX_UNL();
434
435	lock_cpu();
436	enadsp = true;
437	if (t_get_ipm() == TIPM_ENAALL) {
438	dspflg = true;
439	p_schedtsk = search_schedtsk();
440	if (p_runtsk->raster && p_runtsk->enater) {
441	task_terminate(p_runtsk);
442	exit_and_dispatch();
443	ercd = E_SYS;
444	}
445	else {
446	if (p_runtsk != p_schedtsk) {
447	dispatch();
448	}
449	ercd = E_OK;
450	}
451	}
452	else {
453	ercd = E_OK;
454	}
455	unlock_cpu();
456
457	error_exit:
458	LOG_ENA_DSP_LEAVE(ercd);
459	return(ercd);
460	}
461
462	#endif /* TOPPERS_ena_dsp */
463
464	/*
465	* ã³ã³ããã¹ãã®åç
466	§
467	*/
468	#ifdef TOPPERS_sns_ctx
469
470	bool_t
471	sns_ctx(void)
472	{
473	bool_t state;
474
475	LOG_SNS_CTX_ENTER();
476	state = sense_context() ? true : false;
477	LOG_SNS_CTX_LEAVE(state);
478	return(state);
479	}
480
481	#endif /* TOPPERS_sns_ctx */
482
483	/*
484	* CPUããã¯ç¶æ
485	ã®åç
486	§
487	*/
488	#ifdef TOPPERS_sns_loc
489
490	bool_t
491	sns_loc(void)
492	{
493	bool_t state;
494
495	LOG_SNS_LOC_ENTER();
496	state = sense_lock() ? true : false;
497	LOG_SNS_LOC_LEAVE(state);
498	return(state);
499	}
500
501	#endif /* TOPPERS_sns_loc */
502
503	/*
504	* ãã£ã¹ãããç¦æ¢ç¶æ
505	ã®åç
506	§
507	*/
508	#ifdef TOPPERS_sns_dsp
509
510	bool_t
511	sns_dsp(void)
512	{
513	bool_t state;
514
515	LOG_SNS_DSP_ENTER();
516	state = !enadsp;
517	LOG_SNS_DSP_LEAVE(state);
518	return(state);
519	}
520
521	#endif /* TOPPERS_sns_dsp */
522
523	/*
524	* ãã£ã¹ãããä¿çç¶æ
525	ã®åç
526	§
527	*/
528	#ifdef TOPPERS_sns_dpn
529
530	bool_t
531	sns_dpn(void)
532	{
533	bool_t state;
534
535	LOG_SNS_DPN_ENTER();
536	state = (sense_context() \|\| sense_lock() \|\| !dspflg) ? true : false;
537	LOG_SNS_DPN_LEAVE(state);
538	return(state);
539	}
540
541	#endif /* TOPPERS_sns_dpn */
542
543	/*
544	* ã«ã¼ãã«éåä½ç¶æ
545	ã®åç
546	§
547	*/
548	#ifdef TOPPERS_sns_ker
549
550	bool_t
551	sns_ker(void)
552	{
553	bool_t state;
554
555	LOG_SNS_KER_ENTER();
556	state = kerflg ? false : true;
557	LOG_SNS_KER_LEAVE(state);
558	return(state);
559	}
560
561	#endif /* TOPPERS_sns_ker */

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