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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: 12.0 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	#ifdef PRIMAP_LEVEL_1
110	uint16_t ready_primap;
111	#else /* PRIMAP_LEVEL_1 */
112	uint16_t ready_primap1;
113	uint16_t ready_primap2[TNUM_PRIMAP2];
114	#endif /* PRIMAP_LEVEL_1 */
115
116	/*
117	* ^XNÇW
118	[Ìú»
119	*/
120	void
121	initialize_task(void)
122	{
123	uint_t i, j;
124	TCB *p_tcb;
125
126	p_runtsk = p_schedtsk = NULL;
127	reqflg = false;
128	ipmflg = true;
129	disdsp = false;
130	dspflg = true;
131
132	for (i = 0; i < TNUM_TPRI; i++) {
133	queue_initialize(&(ready_queue[i]));
134	}
135	#ifdef PRIMAP_LEVEL_1
136	ready_primap = 0U;
137	#else /* PRIMAP_LEVEL_1 */
138	ready_primap1 = 0U;
139	for (i = 0; i < TNUM_PRIMAP2; i++) {
140	ready_primap2[i] = 0U;
141	}
142	#endif /* PRIMAP_LEVEL_1 */
143
144	for (i = 0; i < tnum_tsk; i++) {
145	j = INDEX_TSK(torder_table[i]);
146	p_tcb = &(tcb_table[j]);
147	p_tcb->p_tinib = &(tinib_table[j]);
148	p_tcb->actque = false;
149	make_dormant(p_tcb);
150	if ((p_tcb->p_tinib->tskatr & TA_ACT) != 0U) {
151	make_active(p_tcb);
152	}
153	}
154	}
155
156	#endif /* TOPPERS_tskini */
157
158	/*
159	* rbg}bvT[`Ö
160	*
161	* bitmapàÌ1ÌrbgÌàCÅàºÊiEjÌàÌðT[`µC»Ìrb
162	* gÔðÔ·DrbgÔÍCÅºÊrbgð0Æ·éDbitmapÉ0ðwè
163	* µÄÍÈçÈ¢D±ÌÖÅÍCbitmapª16rbgÅ é±Æð¼èµC
164	* uint16_t^ÆµÄ¢éD
165	*
166	* rbgT[`½ßðÂvZbTÅÍCrbgT[`½ßðg¤æ¤É
167	* «¼µ½ûªø¦ªÇ¢êª éD±Ìæ¤ÈêÉÍC^[Qbg
168	* Ë¶ÅrbgT[`½ßðgÁ½bitmap_searchðè`µC
169	* OMIT_BITMAP_SEARCHð}Nè`·êÎæ¢DÜ½CrbgT[`½ßÌ
170	* T[`ûüªtÈÇÌRÅDæxÆrbgÆÌÎðÏXµ½¢êÉ
171	* ÍCPRIMAP_BITð}Nè`·êÎæ¢D
172	*
173	* Ü½CCuÉffsª éÈçCÌæ¤Éè`µÄCuÖð
174	* gÁ½ûªø¦ªÇ¢Â\«à éD
175	* #define bitmap_search(bitmap) (ffs(bitmap) - 1)
176	*/
177	#ifndef PRIMAP_BIT
178	#define PRIMAP_BIT(pri) (1U << (pri))
179	#endif /* PRIMAP_BIT */
180
181	#ifndef OMIT_BITMAP_SEARCH
182
183	static const unsigned char bitmap_search_table[] = { 0, 1, 0, 2, 0, 1, 0,
184	3, 0, 1, 0, 2, 0, 1, 0 };
185
186	Inline uint_t
187	bitmap_search(uint16_t bitmap)
188	{
189	uint_t n = 0U;
190
191	assert(bitmap != 0U);
192	if ((bitmap & 0x00ffU) == 0U) {
193	bitmap >>= 8;
194	n += 8;
195	}
196	if ((bitmap & 0x0fU) == 0U) {
197	bitmap >>= 4;
198	n += 4;
199	}
200	return(n + bitmap_search_table[(bitmap & 0x0fU) - 1]);
201	}
202
203	#endif /* OMIT_BITMAP_SEARCH */
204
205	/*
206	* Dæxrbg}bvªó©Ì`FbN
207	*/
208	Inline bool_t
209	primap_empty(void)
210	{
211	#ifdef PRIMAP_LEVEL_1
212	return(ready_primap == 0U);
213	#else /* PRIMAP_LEVEL_1 */
214	return(ready_primap1 == 0U);
215	#endif /* PRIMAP_LEVEL_1 */
216	}
217
218	/*
219	* Dæxrbg}bvÌT[`
220	*/
221	Inline uint_t
222	primap_search(void)
223	{
224	#ifdef PRIMAP_LEVEL_1
225	return(bitmap_search(ready_primap));
226	#else /* PRIMAP_LEVEL_1 */
227	uint_t i;
228
229	i = bitmap_search(ready_primap1);
230	return(i * TBIT_PRIMAP + bitmap_search(ready_primap2[i]));
231	#endif /* PRIMAP_LEVEL_1 */
232	}
233
234	/*
235	* Dæxrbg}bvÌZbg
236	*/
237	Inline void
238	primap_set(uint_t pri)
239	{
240	#ifdef PRIMAP_LEVEL_1
241	ready_primap \|= PRIMAP_BIT(pri);
242	#else /* PRIMAP_LEVEL_1 */
243	ready_primap2[pri / TBIT_PRIMAP] \|= PRIMAP_BIT(pri % TBIT_PRIMAP);
244	ready_primap1 \|= PRIMAP_BIT(pri / TBIT_PRIMAP);
245	#endif /* PRIMAP_LEVEL_1 */
246	}
247
248	/*
249	* Dæxrbg}bvÌNA
250	*/
251	Inline void
252	primap_clear(uint_t pri)
253	{
254	#ifdef PRIMAP_LEVEL_1
255	ready_primap &= ~PRIMAP_BIT(pri);
256	#else /* PRIMAP_LEVEL_1 */
257	if ((ready_primap2[pri / TBIT_PRIMAP] &= ~PRIMAP_BIT(pri % TBIT_PRIMAP))
258	== 0U) {
259	ready_primap1 &= ~PRIMAP_BIT(pri / TBIT_PRIMAP);
260	}
261	#endif /* PRIMAP_LEVEL_1 */
262	}
263
264	/*
265	* ÅDæÊ^XNÌT[`
266	*/
267	#ifdef TOPPERS_tsksched
268
269	TCB *
270	search_schedtsk(void)
271	{
272	uint_t schedpri;
273
274	schedpri = primap_search();
275	return((TCB *)(ready_queue[schedpri].p_next));
276	}
277
278	#endif /* TOPPERS_tsksched */
279
280	/*
281	* ÀsÅ«éóÔÖÌJÚ
282	*
283	* ÅDæÊÌ^XNðXV·éÌÍCÀsÅ«é^XNªÈ©Á½ê
284	* ÆCp_tcbÌDæxªÅDæÊÌ^XNÌDæxæèà¢êÅ
285	* éD
286	*/
287	#ifdef TOPPERS_tskrun
288
289	bool_t
290	make_runnable(TCB *p_tcb)
291	{
292	uint_t pri = p_tcb->priority;
293
294	queue_insert_prev(&(ready_queue[pri]), &(p_tcb->task_queue));
295	primap_set(pri);
296
297	if (p_schedtsk == (TCB *) NULL \|\| pri < p_schedtsk->priority) {
298	p_schedtsk = p_tcb;
299	return(dspflg);
300	}
301	return(false);
302	}
303
304	#endif /* TOPPERS_tskrun */
305
306	/*
307	* ÀsÅ«éóÔ©ç¼ÌóÔÖÌJÚ
308	*
309	* ÅDæÊÌ^XNðXV·éÌÍCp_tcbªÅDæÊÌ^XNÅ
310	* Á½êÅ éDp_tcbÆ¯¶DæxÌ^XNª¼É éêÍCp_tcb
311	* ÌÌ^XNªÅDæÊÉÈéD»¤ÅÈ¢êÍCfBL
312	[ð
313	* T[`·éKvª éD
314	*/
315	#ifdef TOPPERS_tsknrun
316
317	bool_t
318	make_non_runnable(TCB *p_tcb)
319	{
320	uint_t pri = p_tcb->priority;
321	QUEUE *p_queue = &(ready_queue[pri]);
322
323	queue_delete(&(p_tcb->task_queue));
324	if (queue_empty(p_queue)) {
325	primap_clear(pri);
326	if (p_schedtsk == p_tcb) {
327	p_schedtsk = primap_empty() ? (TCB *) NULL : search_schedtsk();
328	return(dspflg);
329	}
330	}
331	else {
332	if (p_schedtsk == p_tcb) {
333	p_schedtsk = (TCB *)(p_queue->p_next);
334	return(dspflg);
335	}
336	}
337	return(false);
338	}
339
340	#endif /* TOPPERS_tsknrun */
341
342	/*
343	* x~óÔÖÌJÚ
344	*/
345	#ifdef TOPPERS_tskdmt
346
347	void
348	make_dormant(TCB *p_tcb)
349	{
350	p_tcb->tstat = TS_DORMANT;
351	p_tcb->priority = p_tcb->p_tinib->ipriority;
352	p_tcb->wupque = false;
353	p_tcb->enatex = false;
354	p_tcb->texptn = 0U;
355	LOG_TSKSTAT(p_tcb);
356	}
357
358	#endif /* TOPPERS_tskdmt */
359
360	/*
361	* x~óÔ©çÀsÅ«éóÔÖÌJÚ
362	*/
363	#ifdef TOPPERS_tskact
364
365	bool_t
366	make_active(TCB *p_tcb)
367	{
368	activate_context(p_tcb);
369	p_tcb->tstat = TS_RUNNABLE;
370	LOG_TSKSTAT(p_tcb);
371	return(make_runnable(p_tcb));
372	}
373
374	#endif /* TOPPERS_tskact */
375
376	/*
377	* ^XNÌDæxÌÏX
378	*
379	* ^XNªÀsÅ«éóÔÌêÉÍCfBL
380	[ÌÅÌÊuðÏX·
381	* éDIuWFNgÌÒ¿L
382	[ÌÅÒ¿óÔÉÈÁÄ¢éêÉÍCÒ
383	* ¿L
384	[ÌÅÌÊuðÏX·éD
385	*
386	* ÅDæÊÌ^XNðXV·éÌÍC(1) p_tcbªÅDæÊÌ^X
387	* NÅ ÁÄC»ÌDæxðº°½êC(2) p_tcbªÅDæÊÌ^X
388	* NÅÍÈCÏXãÌDæxªÅDæÊÌ^XNÌDæxæèà¢
389	* êÅ éD(1)ÌêÉÍCfBL
390	[ðT[`·éKvª éD
391	*/
392	#ifdef TOPPERS_tskpri
393
394	bool_t
395	change_priority(TCB *p_tcb, uint_t newpri)
396	{
397	uint_t oldpri;
398
399	oldpri = p_tcb->priority;
400	p_tcb->priority = newpri;
401
402	if (TSTAT_RUNNABLE(p_tcb->tstat)) {
403	/*
404	* ^XNªÀsÅ«éóÔÌê
405	*/
406	queue_delete(&(p_tcb->task_queue));
407	if (queue_empty(&(ready_queue[oldpri]))) {
408	primap_clear(oldpri);
409	}
410	queue_insert_prev(&(ready_queue[newpri]), &(p_tcb->task_queue));
411	primap_set(newpri);
412
413	if (p_schedtsk == p_tcb) {
414	if (newpri >= oldpri) {
415	p_schedtsk = search_schedtsk();
416	return(p_schedtsk != p_tcb && dspflg);
417	}
418	}
419	else {
420	if (newpri < p_schedtsk->priority) {
421	p_schedtsk = p_tcb;
422	return(dspflg);
423	}
424	}
425	}
426	else {
427	if (TSTAT_WAIT_WOBJCB(p_tcb->tstat)) {
428	/*
429	* ^XNªC¯úEÊMIuWFNgÌÇubNÌ¤Ê
430	* ªiWOBJCBjÌÒ¿L
431	[ÉÂÈªêÄ¢éê
432	*/
433	wobj_change_priority(((WINFO_WOBJ *)(p_tcb->p_winfo))->p_wobjcb,
434	p_tcb);
435	}
436	}
437	return(false);
438	}
439
440	#endif /* TOPPERS_tskpri */
441
442	/*
443	* fBL
444	[Ìñ]
445	*
446	* ÅDæÊÌ^XNðXV·éÌÍCÅDæÊÌ^XNª^XNL
447	*
448	[ÌöÉÚ®µ½êÅ éD
449	*/
450	#ifdef TOPPERS_tskrot
451
452	bool_t
453	rotate_ready_queue(uint_t pri)
454	{
455	QUEUE *p_queue = &(ready_queue[pri]);
456	QUEUE *p_entry;
457
458	if (!queue_empty(p_queue) && p_queue->p_next->p_next != p_queue) {
459	p_entry = queue_delete_next(p_queue);
460	queue_insert_prev(p_queue, p_entry);
461	if (p_schedtsk == (TCB *) p_entry) {
462	p_schedtsk = (TCB *)(p_queue->p_next);
463	return(dspflg);
464	}
465	}
466	return(false);
467	}
468
469	#endif /* TOPPERS_tskrot */
470
471	/*
472	* ^XNáO[`ÌÄoµ
473	*
474	* ASPJ[lÅÍC^XNáO[`àÅCPUbNóÔÉJÚµC
475	* ³ÌóÔÉß³¸É^[µ½êCJ[lª³ÌóÔÉß·D
476	*/
477	#ifdef TOPPERS_tsktex
478
479	void
480	call_texrtn(void)
481	{
482	TEXPTN texptn;
483	bool_t saved_disdsp;
484
485	saved_disdsp = disdsp;
486	p_runtsk->enatex = false;
487	do {
488	texptn = p_runtsk->texptn;
489	p_runtsk->texptn = 0U;
490
491	t_unlock_cpu();
492	LOG_TEX_ENTER(p_runtsk, texptn);
493	(*((TEXRTN)(p_runtsk->p_tinib->texrtn)))(texptn,
494	p_runtsk->p_tinib->exinf);
495	LOG_TEX_LEAVE(p_runtsk);
496	if (!t_sense_lock()) {
497	t_lock_cpu();
498	}
499	if (!ipmflg) {
500	t_set_ipm(TIPM_ENAALL);
501	ipmflg = true;
502	}
503	disdsp = saved_disdsp;
504	dspflg = !disdsp;
505	p_runtsk->enatex = false;
506	if (p_runtsk != p_schedtsk && dspflg) {
507	/*
508	* ±±ÅdispatchðÄÑo·ÍCÝÄAÄoµÉÈÁÄ
509	* ¢éªCdispatchðÄÔOÉp_runtsk->enatexðfalseÉµÄ
510	* ¨¯ÎxáªÈ¢D»ÌRÉÂ¢ÄÍCuTOPPERS/ASP J[
511	* l ÝvvðQÆÌ±ÆD
512	*/
513	dispatch();
514	}
515	} while (p_runtsk->texptn != 0U);
516	p_runtsk->enatex = true;
517	}
518
519	/*
520	* ^XNáO[`ÌN®
521	*/
522	#ifndef OMIT_CALLTEX
523
524	void
525	calltex(void)
526	{
527	if (p_runtsk->enatex && p_runtsk->texptn != 0U && ipmflg) {
528	call_texrtn();
529	}
530	}
531
532	#endif /* OMIT_CALLTEX */
533	#endif /* TOPPERS_tsktex */

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

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