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task.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: 11.3 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: task.c 2018 2010-12-31 13:43:05Z ertl-hiro $
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)
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 = p_schedtsk = NULL;
128	reqflg = false;
129	ipmflg = true;
130	disdsp = false;
131	dspflg = true;
132
133	for (i = 0; i < TNUM_TPRI; i++) {
134	queue_initialize(&(ready_queue[i]));
135	}
136	ready_primap = 0U;
137
138	for (i = 0; i < tnum_stsk; i++) {
139	j = INDEX_TSK(torder_table[i]);
140	p_tcb = &(tcb_table[j]);
141	p_tcb->p_tinib = &(tinib_table[j]);
142	p_tcb->actque = false;
143	make_dormant(p_tcb);
144	if ((p_tcb->p_tinib->tskatr & TA_ACT) != 0U) {
145	make_active(p_tcb);
146	}
147	}
148	queue_initialize(&free_tcb);
149	for (j = 0; i < tnum_tsk; i++, j++) {
150	p_tcb = &(tcb_table[i]);
151	p_tinib = &(atinib_table[j]);
152	p_tinib->tskatr = TA_NOEXS;
153	p_tcb->p_tinib = ((const TINIB *) p_tinib);
154	queue_insert_prev(&free_tcb, &(p_tcb->task_queue));
155	}
156	}
157
158	#endif /* TOPPERS_tskini */
159
160	/*
161	* rbg}bvT[`Ö
162	*
163	* bitmapàÌ1ÌrbgÌàCÅàºÊiEjÌàÌðT[`µC»Ìrb
164	* gÔðÔ·DrbgÔÍCÅºÊrbgð0Æ·éDbitmapÉ0ðwè
165	* µÄÍÈçÈ¢D±ÌÖÅÍCbitmapª16rbgÅ é±Æð¼èµC
166	* uint16_t^ÆµÄ¢éD
167	*
168	* rbgT[`½ßðÂvZbTÅÍCrbgT[`½ßðg¤æ¤É
169	* «¼µ½ûªø¦ªÇ¢êª éD±Ìæ¤ÈêÉÍC^[Qbg
170	* Ë¶ÅrbgT[`½ßðgÁ½bitmap_searchðè`µC
171	* OMIT_BITMAP_SEARCHð}Nè`·êÎæ¢DÜ½CrbgT[`½ßÌ
172	* T[`ûüªtÈÇÌRÅDæxÆrbgÆÌÎðÏXµ½¢êÉ
173	* ÍCPRIMAP_BITð}Nè`·êÎæ¢D
174	*
175	* Ü½CCuÉffsª éÈçCÌæ¤Éè`µÄCuÖð
176	* gÁ½ûªø¦ªÇ¢Â\«à éD
177	* #define bitmap_search(bitmap) (ffs(bitmap) - 1)
178	*/
179	#ifndef PRIMAP_BIT
180	#define PRIMAP_BIT(pri) (1U << (pri))
181	#endif /* PRIMAP_BIT */
182
183	#ifndef OMIT_BITMAP_SEARCH
184
185	static const unsigned char bitmap_search_table[] = { 0, 1, 0, 2, 0, 1, 0,
186	3, 0, 1, 0, 2, 0, 1, 0 };
187
188	Inline uint_t
189	bitmap_search(uint16_t bitmap)
190	{
191	uint_t n = 0U;
192
193	assert(bitmap != 0U);
194	if ((bitmap & 0x00ffU) == 0U) {
195	bitmap >>= 8;
196	n += 8;
197	}
198	if ((bitmap & 0x0fU) == 0U) {
199	bitmap >>= 4;
200	n += 4;
201	}
202	return(n + bitmap_search_table[(bitmap & 0x0fU) - 1]);
203	}
204
205	#endif /* OMIT_BITMAP_SEARCH */
206
207	/*
208	* Dæxrbg}bvªó©Ì`FbN
209	*/
210	Inline bool_t
211	primap_empty(void)
212	{
213	return(ready_primap == 0U);
214	}
215
216	/*
217	* Dæxrbg}bvÌT[`
218	*/
219	Inline uint_t
220	primap_search(void)
221	{
222	return(bitmap_search(ready_primap));
223	}
224
225	/*
226	* Dæxrbg}bvÌZbg
227	*/
228	Inline void
229	primap_set(uint_t pri)
230	{
231	ready_primap \|= PRIMAP_BIT(pri);
232	}
233
234	/*
235	* Dæxrbg}bvÌNA
236	*/
237	Inline void
238	primap_clear(uint_t pri)
239	{
240	ready_primap &= ~PRIMAP_BIT(pri);
241	}
242
243	/*
244	* ÅDæÊ^XNÌT[`
245	*/
246	#ifdef TOPPERS_tsksched
247
248	TCB *
249	search_schedtsk(void)
250	{
251	uint_t schedpri;
252
253	schedpri = primap_search();
254	return((TCB *)(ready_queue[schedpri].p_next));
255	}
256
257	#endif /* TOPPERS_tsksched */
258
259	/*
260	* ÀsÅ«éóÔÖÌJÚ
261	*
262	* ÅDæÊÌ^XNðXV·éÌÍCÀsÅ«é^XNªÈ©Á½ê
263	* ÆCp_tcbÌDæxªÅDæÊÌ^XNÌDæxæèà¢êÅ
264	* éD
265	*/
266	#ifdef TOPPERS_tskrun
267
268	bool_t
269	make_runnable(TCB *p_tcb)
270	{
271	uint_t pri = p_tcb->priority;
272
273	queue_insert_prev(&(ready_queue[pri]), &(p_tcb->task_queue));
274	primap_set(pri);
275
276	if (p_schedtsk == (TCB *) NULL \|\| pri < p_schedtsk->priority) {
277	p_schedtsk = p_tcb;
278	return(dspflg);
279	}
280	return(false);
281	}
282
283	#endif /* TOPPERS_tskrun */
284
285	/*
286	* ÀsÅ«éóÔ©ç¼ÌóÔÖÌJÚ
287	*
288	* ÅDæÊÌ^XNðXV·éÌÍCp_tcbªÅDæÊÌ^XNÅ
289	* Á½êÅ éDp_tcbÆ¯¶DæxÌ^XNª¼É éêÍCp_tcb
290	* ÌÌ^XNªÅDæÊÉÈéD»¤ÅÈ¢êÍCfBL
291	[ð
292	* T[`·éKvª éD
293	*/
294	#ifdef TOPPERS_tsknrun
295
296	bool_t
297	make_non_runnable(TCB *p_tcb)
298	{
299	uint_t pri = p_tcb->priority;
300	QUEUE *p_queue = &(ready_queue[pri]);
301
302	queue_delete(&(p_tcb->task_queue));
303	if (queue_empty(p_queue)) {
304	primap_clear(pri);
305	if (p_schedtsk == p_tcb) {
306	p_schedtsk = primap_empty() ? (TCB *) NULL : search_schedtsk();
307	return(dspflg);
308	}
309	}
310	else {
311	if (p_schedtsk == p_tcb) {
312	p_schedtsk = (TCB *)(p_queue->p_next);
313	return(dspflg);
314	}
315	}
316	return(false);
317	}
318
319	#endif /* TOPPERS_tsknrun */
320
321	/*
322	* x~óÔÖÌJÚ
323	*/
324	#ifdef TOPPERS_tskdmt
325
326	void
327	make_dormant(TCB *p_tcb)
328	{
329	p_tcb->tstat = TS_DORMANT;
330	p_tcb->priority = p_tcb->p_tinib->ipriority;
331	p_tcb->wupque = false;
332	p_tcb->enatex = false;
333	p_tcb->texptn = 0U;
334	LOG_TSKSTAT(p_tcb);
335	}
336
337	#endif /* TOPPERS_tskdmt */
338
339	/*
340	* x~óÔ©çÀsÅ«éóÔÖÌJÚ
341	*/
342	#ifdef TOPPERS_tskact
343
344	bool_t
345	make_active(TCB *p_tcb)
346	{
347	activate_context(p_tcb);
348	p_tcb->tstat = TS_RUNNABLE;
349	LOG_TSKSTAT(p_tcb);
350	return(make_runnable(p_tcb));
351	}
352
353	#endif /* TOPPERS_tskact */
354
355	/*
356	* ^XNÌDæxÌÏX
357	*
358	* ^XNªÀsÅ«éóÔÌêÉÍCfBL
359	[ÌÅÌÊuðÏX·
360	* éDIuWFNgÌÒ¿L
361	[ÌÅÒ¿óÔÉÈÁÄ¢éêÉÍCÒ
362	* ¿L
363	[ÌÅÌÊuðÏX·éD
364	*
365	* ÅDæÊÌ^XNðXV·éÌÍC(1) p_tcbªÅDæÊÌ^X
366	* NÅ ÁÄC»ÌDæxðº°½êC(2) p_tcbªÅDæÊÌ^X
367	* NÅÍÈCÏXãÌDæxªÅDæÊÌ^XNÌDæxæèà¢
368	* êÅ éD(1)ÌêÉÍCfBL
369	[ðT[`·éKvª éD
370	*/
371	#ifdef TOPPERS_tskpri
372
373	bool_t
374	change_priority(TCB *p_tcb, uint_t newpri)
375	{
376	uint_t oldpri;
377
378	oldpri = p_tcb->priority;
379	p_tcb->priority = newpri;
380
381	if (TSTAT_RUNNABLE(p_tcb->tstat)) {
382	/*
383	* ^XNªÀsÅ«éóÔÌê
384	*/
385	queue_delete(&(p_tcb->task_queue));
386	if (queue_empty(&(ready_queue[oldpri]))) {
387	primap_clear(oldpri);
388	}
389	queue_insert_prev(&(ready_queue[newpri]), &(p_tcb->task_queue));
390	primap_set(newpri);
391
392	if (p_schedtsk == p_tcb) {
393	if (newpri >= oldpri) {
394	p_schedtsk = search_schedtsk();
395	return(p_schedtsk != p_tcb && dspflg);
396	}
397	}
398	else {
399	if (newpri < p_schedtsk->priority) {
400	p_schedtsk = p_tcb;
401	return(dspflg);
402	}
403	}
404	}
405	else {
406	if (TSTAT_WAIT_WOBJCB(p_tcb->tstat)) {
407	/*
408	* ^XNªC¯úEÊMIuWFNgÌÇubNÌ¤Ê
409	* ªiWOBJCBjÌÒ¿L
410	[ÉÂÈªêÄ¢éê
411	*/
412	wobj_change_priority(((WINFO_WOBJ *)(p_tcb->p_winfo))->p_wobjcb,
413	p_tcb);
414	}
415	}
416	return(false);
417	}
418
419	#endif /* TOPPERS_tskpri */
420
421	/*
422	* fBL
423	[Ìñ]
424	*
425	* ÅDæÊÌ^XNðXV·éÌÍCÅDæÊÌ^XNª^XNL
426	*
427	[ÌöÉÚ®µ½êÅ éD
428	*/
429	#ifdef TOPPERS_tskrot
430
431	bool_t
432	rotate_ready_queue(uint_t pri)
433	{
434	QUEUE *p_queue = &(ready_queue[pri]);
435	QUEUE *p_entry;
436
437	if (!queue_empty(p_queue) && p_queue->p_next->p_next != p_queue) {
438	p_entry = queue_delete_next(p_queue);
439	queue_insert_prev(p_queue, p_entry);
440	if (p_schedtsk == (TCB *) p_entry) {
441	p_schedtsk = (TCB *)(p_queue->p_next);
442	return(dspflg);
443	}
444	}
445	return(false);
446	}
447
448	#endif /* TOPPERS_tskrot */
449
450	/*
451	* ^XNáO[`ÌÄoµ
452	*
453	* ASPJ[lÅÍC^XNáO[`àÅCPUbNóÔÉJÚµC
454	* ³ÌóÔÉß³¸É^[µ½êCJ[lª³ÌóÔÉß·D
455	*/
456	#ifdef TOPPERS_tsktex
457
458	void
459	call_texrtn(void)
460	{
461	TEXPTN texptn;
462	bool_t saved_disdsp;
463
464	saved_disdsp = disdsp;
465	p_runtsk->enatex = false;
466	do {
467	texptn = p_runtsk->texptn;
468	p_runtsk->texptn = 0U;
469
470	t_unlock_cpu();
471	LOG_TEX_ENTER(p_runtsk, texptn);
472	(*((TEXRTN)(p_runtsk->p_tinib->texrtn)))(texptn,
473	p_runtsk->p_tinib->exinf);
474	LOG_TEX_LEAVE(p_runtsk);
475	if (!t_sense_lock()) {
476	t_lock_cpu();
477	}
478	if (!ipmflg) {
479	t_set_ipm(TIPM_ENAALL);
480	ipmflg = true;
481	}
482	disdsp = saved_disdsp;
483	dspflg = !disdsp;
484	p_runtsk->enatex = false;
485	if (p_runtsk != p_schedtsk && dspflg) {
486	/*
487	* ±±ÅdispatchðÄÑo·ÍCÝÄAÄoµÉÈÁÄ
488	* ¢éªCdispatchðÄÔOÉp_runtsk->enatexðfalseÉµÄ
489	* ¨¯ÎxáªÈ¢D»ÌRÉÂ¢ÄÍCuTOPPERS/ASP J[
490	* l ÝvvðQÆÌ±ÆD
491	*/
492	dispatch();
493	}
494	} while (p_runtsk->texptn != 0U);
495	p_runtsk->enatex = true;
496	}
497
498	/*
499	* ^XNáO[`ÌN®
500	*/
501	#ifndef OMIT_CALLTEX
502
503	void
504	calltex(void)
505	{
506	if (p_runtsk->enatex && p_runtsk->texptn != 0U && ipmflg) {
507	call_texrtn();
508	}
509	}
510
511	#endif /* OMIT_CALLTEX */
512	#endif /* TOPPERS_tsktex */

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

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