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cyclic.c@ 61

Last change on this file since 61 was 61, checked in by ertl-honda, 11 years ago
ASP for EWARM のコミット．
File size: 9.5 KB

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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) 2005-2010 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: cyclic.c 1966 2010-11-20 07:23:56Z ertl-hiro $
45	*/
46
47	/*
48	* üúnh@\
49	*/
50
51	#include "kernel_impl.h"
52	#include "check.h"
53	#include "cyclic.h"
54
55	/*
56	* g[XO}NÌftHgè`
57	*/
58	#ifndef LOG_CYC_ENTER
59	#define LOG_CYC_ENTER(p_cyccb)
60	#endif /* LOG_CYC_ENTER */
61
62	#ifndef LOG_CYC_LEAVE
63	#define LOG_CYC_LEAVE(p_cyccb)
64	#endif /* LOG_CYC_LEAVE */
65
66	#ifndef LOG_ACRE_CYC_ENTER
67	#define LOG_ACRE_CYC_ENTER(pk_ccyc)
68	#endif /* LOG_ACRE_CYC_ENTER */
69
70	#ifndef LOG_ACRE_CYC_LEAVE
71	#define LOG_ACRE_CYC_LEAVE(ercd)
72	#endif /* LOG_ACRE_CYC_LEAVE */
73
74	#ifndef LOG_DEL_CYC_ENTER
75	#define LOG_DEL_CYC_ENTER(cycid)
76	#endif /* LOG_DEL_CYC_ENTER */
77
78	#ifndef LOG_DEL_CYC_LEAVE
79	#define LOG_DEL_CYC_LEAVE(ercd)
80	#endif /* LOG_DEL_CYC_LEAVE */
81
82	#ifndef LOG_STA_CYC_ENTER
83	#define LOG_STA_CYC_ENTER(cycid)
84	#endif /* LOG_STA_CYC_ENTER */
85
86	#ifndef LOG_STA_CYC_LEAVE
87	#define LOG_STA_CYC_LEAVE(ercd)
88	#endif /* LOG_STA_CYC_LEAVE */
89
90	#ifndef LOG_STP_CYC_ENTER
91	#define LOG_STP_CYC_ENTER(cycid)
92	#endif /* LOG_STP_CYC_ENTER */
93
94	#ifndef LOG_STP_CYC_LEAVE
95	#define LOG_STP_CYC_LEAVE(ercd)
96	#endif /* LOG_STP_CYC_LEAVE */
97
98	#ifndef LOG_REF_CYC_ENTER
99	#define LOG_REF_CYC_ENTER(cycid, pk_rcyc)
100	#endif /* LOG_REF_CYC_ENTER */
101
102	#ifndef LOG_REF_CYC_LEAVE
103	#define LOG_REF_CYC_LEAVE(ercd, pk_rcyc)
104	#endif /* LOG_REF_CYC_LEAVE */
105
106	/*
107	* üúnhÌ
108	*/
109	#define tnum_cyc ((uint_t)(tmax_cycid - TMIN_CYCID + 1))
110	#define tnum_scyc ((uint_t)(tmax_scycid - TMIN_CYCID + 1))
111
112	/*
113	* üúnhID©çüúnhÇubNðæèo·½ßÌ}N
114	*/
115	#define INDEX_CYC(cycid) ((uint_t)((cycid) - TMIN_CYCID))
116	#define get_cyccb(cycid) (&(cyccb_table[INDEX_CYC(cycid)]))
117
118	/*
119	* üúnhN®Ì½ßÌ^CCxgubNÌo^
120	*/
121	Inline void
122	tmevtb_enqueue_cyc(CYCCB *p_cyccb, EVTTIM evttim)
123	{
124	tmevtb_enqueue_evttim(&(p_cyccb->tmevtb), evttim,
125	(CBACK) call_cychdr, (void *) p_cyccb);
126	p_cyccb->evttim = evttim;
127	}
128
129	#ifdef TOPPERS_cycini
130
131	/*
132	* gpµÄ¢È¢üúnhÇubNÌXg
133	*
134	* üúnhÇubNÌæªÉÍL
135	[ÉÂÈ®½ßÌÌæªÈ¢½
136	* ßC^CCxgubNitmevtbjÌÌæðp¢éD
137	*/
138	QUEUE free_cyccb;
139
140	/*
141	* üúnh@\Ìú»
142	*/
143	void
144	initialize_cyclic(void)
145	{
146	uint_t i, j;
147	CYCCB *p_cyccb;
148	CYCINIB *p_cycinib;
149
150	for (p_cyccb = cyccb_table, i = 0; i < tnum_scyc; p_cyccb++, i++) {
151	p_cyccb->p_cycinib = &(cycinib_table[i]);
152	if ((p_cyccb->p_cycinib->cycatr & TA_STA) != 0U) {
153	p_cyccb->cycsta = true;
154	tmevtb_enqueue_cyc(p_cyccb, (EVTTIM)(p_cyccb->p_cycinib->cycphs));
155	}
156	else {
157	p_cyccb->cycsta = false;
158	}
159	}
160	queue_initialize(&free_cyccb);
161	for (j = 0; i < tnum_cyc; p_cyccb++, i++, j++) {
162	p_cycinib = &(acycinib_table[j]);
163	p_cycinib->cycatr = TA_NOEXS;
164	p_cyccb->p_cycinib = ((const CYCINIB *) p_cycinib);
165	queue_insert_prev(&free_cyccb, ((QUEUE *) &(p_cyccb->tmevtb)));
166	}
167	}
168
169	#endif /* TOPPERS_cycini */
170
171	/*
172	* üúnhÌ¶¬
173	*/
174	#ifdef TOPPERS_acre_cyc
175
176	ER_UINT
177	acre_cyc(const T_CCYC *pk_ccyc)
178	{
179	CYCCB *p_cyccb;
180	CYCINIB *p_cycinib;
181	ER ercd;
182
183	LOG_ACRE_CYC_ENTER(pk_ccyc);
184	CHECK_TSKCTX_UNL();
185	CHECK_RSATR(pk_ccyc->cycatr, TA_STA);
186	CHECK_ALIGN_FUNC(pk_ccyc->cychdr);
187	CHECK_NONNULL_FUNC(pk_ccyc->cychdr);
188	CHECK_PAR(0 < pk_ccyc->cyctim && pk_ccyc->cyctim <= TMAX_RELTIM);
189	CHECK_PAR(0 <= pk_ccyc->cycphs && pk_ccyc->cycphs <= TMAX_RELTIM);
190
191	t_lock_cpu();
192	if (queue_empty(&free_cyccb)) {
193	ercd = E_NOID;
194	}
195	else {
196	p_cyccb = ((CYCCB )(((char ) queue_delete_next(&free_cyccb))
197	- offsetof(CYCCB, tmevtb)));
198	p_cycinib = (CYCINIB *)(p_cyccb->p_cycinib);
199	p_cycinib->cycatr = pk_ccyc->cycatr;
200	p_cycinib->exinf = pk_ccyc->exinf;
201	p_cycinib->cychdr = pk_ccyc->cychdr;
202	p_cycinib->cyctim = pk_ccyc->cyctim;
203	p_cycinib->cycphs = pk_ccyc->cycphs;
204
205	if ((p_cyccb->p_cycinib->cycatr & TA_STA) != 0U) {
206	p_cyccb->cycsta = true;
207	tmevtb_enqueue_cyc(p_cyccb, (EVTTIM)(p_cyccb->p_cycinib->cycphs));
208	}
209	else {
210	p_cyccb->cycsta = false;
211	}
212	ercd = CYCID(p_cyccb);
213	}
214	t_unlock_cpu();
215
216	error_exit:
217	LOG_ACRE_CYC_LEAVE(ercd);
218	return(ercd);
219	}
220
221	#endif /* TOPPERS_acre_cyc */
222
223	/*
224	* üúnhÌí
225	*/
226	#ifdef TOPPERS_del_cyc
227
228	ER
229	del_cyc(ID cycid)
230	{
231	CYCCB *p_cyccb;
232	CYCINIB *p_cycinib;
233	ER ercd;
234
235	LOG_DEL_CYC_ENTER(cycid);
236	CHECK_TSKCTX_UNL();
237	CHECK_CYCID(cycid);
238	p_cyccb = get_cyccb(cycid);
239
240	t_lock_cpu();
241	if (p_cyccb->p_cycinib->cycatr == TA_NOEXS) {
242	ercd = E_NOEXS;
243	}
244	else if (CYCID(p_cyccb) > tmax_scycid) {
245	if (p_cyccb->cycsta) {
246	p_cyccb->cycsta = false;
247	tmevtb_dequeue(&(p_cyccb->tmevtb));
248	}
249
250	p_cycinib = (CYCINIB *)(p_cyccb->p_cycinib);
251	p_cycinib->cycatr = TA_NOEXS;
252	queue_insert_prev(&free_cyccb, ((QUEUE *) &(p_cyccb->tmevtb)));
253	ercd = E_OK;
254	}
255	else {
256	ercd = E_OBJ;
257	}
258	t_unlock_cpu();
259
260	error_exit:
261	LOG_DEL_CYC_LEAVE(ercd);
262	return(ercd);
263	}
264
265	#endif /* TOPPERS_del_cyc */
266
267	/*
268	* üúnhÌ®ìJn
269	*/
270	#ifdef TOPPERS_sta_cyc
271
272	ER
273	sta_cyc(ID cycid)
274	{
275	CYCCB *p_cyccb;
276	ER ercd;
277
278	LOG_STA_CYC_ENTER(cycid);
279	CHECK_TSKCTX_UNL();
280	CHECK_CYCID(cycid);
281	p_cyccb = get_cyccb(cycid);
282
283	t_lock_cpu();
284	if (p_cyccb->p_cycinib->cycatr == TA_NOEXS) {
285	ercd = E_NOEXS;
286	}
287	else if (p_cyccb->cycsta) {
288	tmevtb_dequeue(&(p_cyccb->tmevtb));
289	}
290	else {
291	p_cyccb->cycsta = true;
292	}
293	tmevtb_enqueue_cyc(p_cyccb, base_time + p_cyccb->p_cycinib->cycphs);
294	ercd = E_OK;
295	t_unlock_cpu();
296
297	error_exit:
298	LOG_STA_CYC_LEAVE(ercd);
299	return(ercd);
300	}
301
302	#endif /* TOPPERS_sta_cyc */
303
304	/*
305	* üúnhÌ®ìâ~
306	*/
307	#ifdef TOPPERS_stp_cyc
308
309	ER
310	stp_cyc(ID cycid)
311	{
312	CYCCB *p_cyccb;
313	ER ercd;
314
315	LOG_STP_CYC_ENTER(cycid);
316	CHECK_TSKCTX_UNL();
317	CHECK_CYCID(cycid);
318	p_cyccb = get_cyccb(cycid);
319
320	t_lock_cpu();
321	if (p_cyccb->p_cycinib->cycatr == TA_NOEXS) {
322	ercd = E_NOEXS;
323	}
324	else if (p_cyccb->cycsta) {
325	p_cyccb->cycsta = false;
326	tmevtb_dequeue(&(p_cyccb->tmevtb));
327	}
328	ercd = E_OK;
329	t_unlock_cpu();
330
331	error_exit:
332	LOG_STP_CYC_LEAVE(ercd);
333	return(ercd);
334	}
335
336	#endif /* TOPPERS_stp_cyc */
337
338	/*
339	* üúnhÌóÔQÆ
340	*/
341	#ifdef TOPPERS_ref_cyc
342
343	ER
344	ref_cyc(ID cycid, T_RCYC *pk_rcyc)
345	{
346	CYCCB *p_cyccb;
347	ER ercd;
348
349	LOG_REF_CYC_ENTER(cycid, pk_rcyc);
350	CHECK_TSKCTX_UNL();
351	CHECK_CYCID(cycid);
352	p_cyccb = get_cyccb(cycid);
353
354	t_lock_cpu();
355	if (p_cyccb->p_cycinib->cycatr == TA_NOEXS) {
356	ercd = E_NOEXS;
357	}
358	else {
359	if (p_cyccb->cycsta) {
360	pk_rcyc->cycstat = TCYC_STA;
361	pk_rcyc->lefttim = tmevt_lefttim(&(p_cyccb->tmevtb));
362	}
363	else {
364	pk_rcyc->cycstat = TCYC_STP;
365	}
366	ercd = E_OK;
367	}
368	t_unlock_cpu();
369
370	error_exit:
371	LOG_REF_CYC_LEAVE(ercd, pk_rcyc);
372	return(ercd);
373	}
374
375	#endif /* TOPPERS_ref_cyc */
376
377	/*
378	* üúnhN®[`
379	*/
380	#ifdef TOPPERS_cyccal
381
382	void
383	call_cychdr(CYCCB *p_cyccb)
384	{
385	PRI saved_ipm;
386
387	/*
388	* ñÌN®Ì½ßÌ^CCxgubNðo^·éD
389	*
390	* ¯¶^CeBbNÅüúnhðÄxN®·×«êÉÍC±Ì
391	* Ö©çsignal_timeÉßÁ½ãÉCÄx±ÌÖªÄÎêé±ÆÉÈ
392	* éD
393	*/
394	tmevtb_enqueue_cyc(p_cyccb, p_cyccb->evttim + p_cyccb->p_cycinib->cyctim);
395
396	/*
397	* üúnhðCCPUbNðóÔÅÄÑo·D
398	*/
399	saved_ipm = i_get_ipm();
400	i_unlock_cpu();
401
402	LOG_CYC_ENTER(p_cyccb);
403	(*((CYCHDR)(p_cyccb->p_cycinib->cychdr)))(p_cyccb->p_cycinib->exinf);
404	LOG_CYC_LEAVE(p_cyccb);
405
406	if (!i_sense_lock()) {
407	i_lock_cpu();
408	}
409	i_set_ipm(saved_ipm);
410	}
411
412	#endif /* TOPPERS_cyccal */

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source: asp_ewarm/asp-1.7.0/extension/dcre/kernel/cyclic.c@ 61

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