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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: 11.0 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 2011 2010-12-31 12:45:41Z 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	* ^XNÇW
113	[Ìú»
114	*/
115	void
116	initialize_task(void)
117	{
118	uint_t i, j;
119	TCB *p_tcb;
120
121	p_runtsk = p_schedtsk = NULL;
122	reqflg = false;
123	ipmflg = true;
124	disdsp = false;
125	dspflg = true;
126
127	for (i = 0; i < TNUM_TPRI; i++) {
128	queue_initialize(&(ready_queue[i]));
129	}
130	ready_primap = 0U;
131
132	for (i = 0; i < tnum_tsk; i++) {
133	j = INDEX_TSK(torder_table[i]);
134	p_tcb = &(tcb_table[j]);
135	p_tcb->p_tinib = &(tinib_table[j]);
136	p_tcb->actque = false;
137	make_dormant(p_tcb);
138	if ((p_tcb->p_tinib->tskatr & TA_ACT) != 0U) {
139	make_active(p_tcb);
140	}
141	}
142	}
143
144	#endif /* TOPPERS_tskini */
145
146	/*
147	* rbg}bvT[`Ö
148	*
149	* bitmapàÌ1ÌrbgÌàCÅàºÊiEjÌàÌðT[`µC»Ìrb
150	* gÔðÔ·DrbgÔÍCÅºÊrbgð0Æ·éDbitmapÉ0ðwè
151	* µÄÍÈçÈ¢D±ÌÖÅÍCbitmapª16rbgÅ é±Æð¼èµC
152	* uint16_t^ÆµÄ¢éD
153	*
154	* rbgT[`½ßðÂvZbTÅÍCrbgT[`½ßðg¤æ¤É
155	* «¼µ½ûªø¦ªÇ¢êª éD±Ìæ¤ÈêÉÍC^[Qbg
156	* Ë¶ÅrbgT[`½ßðgÁ½bitmap_searchðè`µC
157	* OMIT_BITMAP_SEARCHð}Nè`·êÎæ¢DÜ½CrbgT[`½ßÌ
158	* T[`ûüªtÈÇÌRÅDæxÆrbgÆÌÎðÏXµ½¢êÉ
159	* ÍCPRIMAP_BITð}Nè`·êÎæ¢D
160	*
161	* Ü½CCuÉffsª éÈçCÌæ¤Éè`µÄCuÖð
162	* gÁ½ûªø¦ªÇ¢Â\«à éD
163	* #define bitmap_search(bitmap) (ffs(bitmap) - 1)
164	*/
165	#ifndef PRIMAP_BIT
166	#define PRIMAP_BIT(pri) (1U << (pri))
167	#endif /* PRIMAP_BIT */
168
169	#ifndef OMIT_BITMAP_SEARCH
170
171	static const unsigned char bitmap_search_table[] = { 0, 1, 0, 2, 0, 1, 0,
172	3, 0, 1, 0, 2, 0, 1, 0 };
173
174	Inline uint_t
175	bitmap_search(uint16_t bitmap)
176	{
177	uint_t n = 0U;
178
179	assert(bitmap != 0U);
180	if ((bitmap & 0x00ffU) == 0U) {
181	bitmap >>= 8;
182	n += 8;
183	}
184	if ((bitmap & 0x0fU) == 0U) {
185	bitmap >>= 4;
186	n += 4;
187	}
188	return(n + bitmap_search_table[(bitmap & 0x0fU) - 1]);
189	}
190
191	#endif /* OMIT_BITMAP_SEARCH */
192
193	/*
194	* Dæxrbg}bvªó©Ì`FbN
195	*/
196	Inline bool_t
197	primap_empty(void)
198	{
199	return(ready_primap == 0U);
200	}
201
202	/*
203	* Dæxrbg}bvÌT[`
204	*/
205	Inline uint_t
206	primap_search(void)
207	{
208	return(bitmap_search(ready_primap));
209	}
210
211	/*
212	* Dæxrbg}bvÌZbg
213	*/
214	Inline void
215	primap_set(uint_t pri)
216	{
217	ready_primap \|= PRIMAP_BIT(pri);
218	}
219
220	/*
221	* Dæxrbg}bvÌNA
222	*/
223	Inline void
224	primap_clear(uint_t pri)
225	{
226	ready_primap &= ~PRIMAP_BIT(pri);
227	}
228
229	/*
230	* ÅDæÊ^XNÌT[`
231	*/
232	#ifdef TOPPERS_tsksched
233
234	TCB *
235	search_schedtsk(void)
236	{
237	uint_t schedpri;
238
239	schedpri = primap_search();
240	return((TCB *)(ready_queue[schedpri].p_next));
241	}
242
243	#endif /* TOPPERS_tsksched */
244
245	/*
246	* ÀsÅ«éóÔÖÌJÚ
247	*
248	* ÅDæÊÌ^XNðXV·éÌÍCÀsÅ«é^XNªÈ©Á½ê
249	* ÆCp_tcbÌDæxªÅDæÊÌ^XNÌDæxæèà¢êÅ
250	* éD
251	*/
252	#ifdef TOPPERS_tskrun
253
254	bool_t
255	make_runnable(TCB *p_tcb)
256	{
257	uint_t pri = p_tcb->priority;
258
259	queue_insert_prev(&(ready_queue[pri]), &(p_tcb->task_queue));
260	primap_set(pri);
261
262	if (p_schedtsk == (TCB *) NULL \|\| pri < p_schedtsk->priority) {
263	p_schedtsk = p_tcb;
264	return(dspflg);
265	}
266	return(false);
267	}
268
269	#endif /* TOPPERS_tskrun */
270
271	/*
272	* ÀsÅ«éóÔ©ç¼ÌóÔÖÌJÚ
273	*
274	* ÅDæÊÌ^XNðXV·éÌÍCp_tcbªÅDæÊÌ^XNÅ
275	* Á½êÅ éDp_tcbÆ¯¶DæxÌ^XNª¼É éêÍCp_tcb
276	* ÌÌ^XNªÅDæÊÉÈéD»¤ÅÈ¢êÍCfBL
277	[ð
278	* T[`·éKvª éD
279	*/
280	#ifdef TOPPERS_tsknrun
281
282	bool_t
283	make_non_runnable(TCB *p_tcb)
284	{
285	uint_t pri = p_tcb->priority;
286	QUEUE *p_queue = &(ready_queue[pri]);
287
288	queue_delete(&(p_tcb->task_queue));
289	if (queue_empty(p_queue)) {
290	primap_clear(pri);
291	if (p_schedtsk == p_tcb) {
292	p_schedtsk = primap_empty() ? (TCB *) NULL : search_schedtsk();
293	return(dspflg);
294	}
295	}
296	else {
297	if (p_schedtsk == p_tcb) {
298	p_schedtsk = (TCB *)(p_queue->p_next);
299	return(dspflg);
300	}
301	}
302	return(false);
303	}
304
305	#endif /* TOPPERS_tsknrun */
306
307	/*
308	* x~óÔÖÌJÚ
309	*/
310	#ifdef TOPPERS_tskdmt
311
312	void
313	make_dormant(TCB *p_tcb)
314	{
315	p_tcb->tstat = TS_DORMANT;
316	p_tcb->priority = p_tcb->p_tinib->ipriority;
317	p_tcb->wupque = false;
318	p_tcb->enatex = false;
319	p_tcb->texptn = 0U;
320	LOG_TSKSTAT(p_tcb);
321	}
322
323	#endif /* TOPPERS_tskdmt */
324
325	/*
326	* x~óÔ©çÀsÅ«éóÔÖÌJÚ
327	*/
328	#ifdef TOPPERS_tskact
329
330	bool_t
331	make_active(TCB *p_tcb)
332	{
333	activate_context(p_tcb);
334	p_tcb->tstat = TS_RUNNABLE;
335	LOG_TSKSTAT(p_tcb);
336	return(make_runnable(p_tcb));
337	}
338
339	#endif /* TOPPERS_tskact */
340
341	/*
342	* ^XNÌDæxÌÏX
343	*
344	* ^XNªÀsÅ«éóÔÌêÉÍCfBL
345	[ÌÅÌÊuðÏX·
346	* éDIuWFNgÌÒ¿L
347	[ÌÅÒ¿óÔÉÈÁÄ¢éêÉÍCÒ
348	* ¿L
349	[ÌÅÌÊuðÏX·éD
350	*
351	* ÅDæÊÌ^XNðXV·éÌÍC(1) p_tcbªÅDæÊÌ^X
352	* NÅ ÁÄC»ÌDæxðº°½êC(2) p_tcbªÅDæÊÌ^X
353	* NÅÍÈCÏXãÌDæxªÅDæÊÌ^XNÌDæxæèà¢
354	* êÅ éD(1)ÌêÉÍCfBL
355	[ðT[`·éKvª éD
356	*/
357	#ifdef TOPPERS_tskpri
358
359	bool_t
360	change_priority(TCB *p_tcb, uint_t newpri)
361	{
362	uint_t oldpri;
363
364	oldpri = p_tcb->priority;
365	p_tcb->priority = newpri;
366
367	if (TSTAT_RUNNABLE(p_tcb->tstat)) {
368	/*
369	* ^XNªÀsÅ«éóÔÌê
370	*/
371	queue_delete(&(p_tcb->task_queue));
372	if (queue_empty(&(ready_queue[oldpri]))) {
373	primap_clear(oldpri);
374	}
375	queue_insert_prev(&(ready_queue[newpri]), &(p_tcb->task_queue));
376	primap_set(newpri);
377
378	if (p_schedtsk == p_tcb) {
379	if (newpri >= oldpri) {
380	p_schedtsk = search_schedtsk();
381	return(p_schedtsk != p_tcb && dspflg);
382	}
383	}
384	else {
385	if (newpri < p_schedtsk->priority) {
386	p_schedtsk = p_tcb;
387	return(dspflg);
388	}
389	}
390	}
391	else {
392	if (TSTAT_WAIT_WOBJCB(p_tcb->tstat)) {
393	/*
394	* ^XNªC¯úEÊMIuWFNgÌÇubNÌ¤Ê
395	* ªiWOBJCBjÌÒ¿L
396	[ÉÂÈªêÄ¢éê
397	*/
398	wobj_change_priority(((WINFO_WOBJ *)(p_tcb->p_winfo))->p_wobjcb,
399	p_tcb);
400	}
401	}
402	return(false);
403	}
404
405	#endif /* TOPPERS_tskpri */
406
407	/*
408	* fBL
409	[Ìñ]
410	*
411	* ÅDæÊÌ^XNðXV·éÌÍCÅDæÊÌ^XNª^XNL
412	*
413	[ÌöÉÚ®µ½êÅ éD
414	*/
415	#ifdef TOPPERS_tskrot
416
417	bool_t
418	rotate_ready_queue(uint_t pri)
419	{
420	QUEUE *p_queue = &(ready_queue[pri]);
421	QUEUE *p_entry;
422
423	if (!queue_empty(p_queue) && p_queue->p_next->p_next != p_queue) {
424	p_entry = queue_delete_next(p_queue);
425	queue_insert_prev(p_queue, p_entry);
426	if (p_schedtsk == (TCB *) p_entry) {
427	p_schedtsk = (TCB *)(p_queue->p_next);
428	return(dspflg);
429	}
430	}
431	return(false);
432	}
433
434	#endif /* TOPPERS_tskrot */
435
436	/*
437	* ^XNáO[`ÌÄoµ
438	*
439	* ASPJ[lÅÍC^XNáO[`àÅCPUbNóÔÉJÚµC
440	* ³ÌóÔÉß³¸É^[µ½êCJ[lª³ÌóÔÉß·D
441	*/
442	#ifdef TOPPERS_tsktex
443
444	void
445	call_texrtn(void)
446	{
447	TEXPTN texptn;
448	bool_t saved_disdsp;
449
450	saved_disdsp = disdsp;
451	p_runtsk->enatex = false;
452	do {
453	texptn = p_runtsk->texptn;
454	p_runtsk->texptn = 0U;
455
456	t_unlock_cpu();
457	LOG_TEX_ENTER(p_runtsk, texptn);
458	(*((TEXRTN)(p_runtsk->p_tinib->texrtn)))(texptn,
459	p_runtsk->p_tinib->exinf);
460	LOG_TEX_LEAVE(p_runtsk);
461	if (!t_sense_lock()) {
462	t_lock_cpu();
463	}
464	if (!ipmflg) {
465	t_set_ipm(TIPM_ENAALL);
466	ipmflg = true;
467	}
468	disdsp = saved_disdsp;
469	dspflg = !disdsp;
470	p_runtsk->enatex = false;
471	if (p_runtsk != p_schedtsk && dspflg) {
472	/*
473	* ±±ÅdispatchðÄÑo·ÍCÝÄAÄoµÉÈÁÄ
474	* ¢éªCdispatchðÄÔOÉp_runtsk->enatexðfalseÉµÄ
475	* ¨¯ÎxáªÈ¢D»ÌRÉÂ¢ÄÍCuTOPPERS/ASP J[
476	* l ÝvvðQÆÌ±ÆD
477	*/
478	dispatch();
479	}
480	} while (p_runtsk->texptn != 0U);
481	p_runtsk->enatex = true;
482	}
483
484	/*
485	* ^XNáO[`ÌN®
486	*/
487	#ifndef OMIT_CALLTEX
488
489	void
490	calltex(void)
491	{
492	if (p_runtsk->enatex && p_runtsk->texptn != 0U && ipmflg) {
493	call_texrtn();
494	}
495	}
496
497	#endif /* OMIT_CALLTEX */
498	#endif /* TOPPERS_tsktex */

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