[172] | 1 | /*
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| 2 | * TOPPERS ATK2
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| 3 | * Toyohashi Open Platform for Embedded Real-Time Systems
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| 4 | * Automotive Kernel Version 2
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| 5 | *
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| 6 | * Copyright (C) 2000-2003 by Embedded and Real-Time Systems Laboratory
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| 7 | * Toyohashi Univ. of Technology, JAPAN
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| 8 | * Copyright (C) 2004-2015 by Center for Embedded Computing Systems
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| 9 | * Graduate School of Information Science, Nagoya Univ., JAPAN
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| 10 | * Copyright (C) 2011-2015 by FUJI SOFT INCORPORATED, JAPAN
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| 11 | * Copyright (C) 2011-2013 by Spansion LLC, USA
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| 12 | * Copyright (C) 2011-2015 by NEC Communication Systems, Ltd., JAPAN
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| 13 | * Copyright (C) 2011-2015 by Panasonic Advanced Technology Development Co., Ltd., JAPAN
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| 14 | * Copyright (C) 2011-2014 by Renesas Electronics Corporation, JAPAN
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| 15 | * Copyright (C) 2011-2015 by Sunny Giken Inc., JAPAN
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| 16 | * Copyright (C) 2011-2015 by TOSHIBA CORPORATION, JAPAN
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| 17 | * Copyright (C) 2004-2015 by Witz Corporation
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| 18 | * Copyright (C) 2014-2015 by AISIN COMCRUISE Co., Ltd., JAPAN
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| 19 | * Copyright (C) 2014-2015 by eSOL Co.,Ltd., JAPAN
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| 20 | * Copyright (C) 2014-2015 by SCSK Corporation, JAPAN
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| 21 | * Copyright (C) 2015 by SUZUKI MOTOR CORPORATION
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| 22 | *
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| 23 | * ä¸è¨èä½æ¨©è
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| 24 | ã¯ï¼ä»¥ä¸ã®(1)ã(4)ã®æ¡ä»¶ãæºããå ´åã«éãï¼æ¬ã½ããã¦ã§
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| 25 | * ã¢ï¼æ¬ã½ããã¦ã§ã¢ãæ¹å¤ãããã®ãå«ãï¼ä»¥ä¸åãï¼ã使ç¨ã»è¤è£½ã»æ¹
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| 26 | * å¤ã»åé
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| 27 | å¸ï¼ä»¥ä¸ï¼å©ç¨ã¨å¼ã¶ï¼ãããã¨ãç¡åã§è¨±è«¾ããï¼
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| 28 | * (1) æ¬ã½ããã¦ã§ã¢ãã½ã¼ã¹ã³ã¼ãã®å½¢ã§å©ç¨ããå ´åã«ã¯ï¼ä¸è¨ã®èä½
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| 29 | * 権表示ï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãï¼ãã®ã¾ã¾ã®å½¢ã§ã½ã¼
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| 30 | * ã¹ã³ã¼ãä¸ã«å«ã¾ãã¦ãããã¨ï¼
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| 31 | * (2) æ¬ã½ããã¦ã§ã¢ãï¼ã©ã¤ãã©ãªå½¢å¼ãªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 32 | * ç¨ã§ããå½¢ã§åé
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| 33 | å¸ããå ´åã«ã¯ï¼åé
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| 34 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨
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| 35 | * è
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| 36 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®èä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨
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| 37 | * ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 38 | * (3) æ¬ã½ããã¦ã§ã¢ãï¼æ©å¨ã«çµã¿è¾¼ããªã©ï¼ä»ã®ã½ããã¦ã§ã¢éçºã«ä½¿
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| 39 | * ç¨ã§ããªãå½¢ã§åé
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| 40 | å¸ããå ´åã«ã¯ï¼æ¬¡ã®ããããã®æ¡ä»¶ãæºããã
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| 41 | * ã¨ï¼
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| 42 | * (a) åé
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| 43 | å¸ã«ä¼´ãããã¥ã¡ã³ãï¼å©ç¨è
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| 44 | ããã¥ã¢ã«ãªã©ï¼ã«ï¼ä¸è¨ã®è
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| 45 | * ä½æ¨©è¡¨ç¤ºï¼ãã®å©ç¨æ¡ä»¶ããã³ä¸è¨ã®ç¡ä¿è¨¼è¦å®ãæ²è¼ãããã¨ï¼
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| 46 | * (b) åé
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| 47 | å¸ã®å½¢æ
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| 48 | ãï¼å¥ã«å®ããæ¹æ³ã«ãã£ã¦ï¼TOPPERSããã¸ã§ã¯ãã«
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| 49 | * å ±åãããã¨ï¼
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| 50 | * (4) æ¬ã½ããã¦ã§ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ
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| 51 | * 害ãããï¼ä¸è¨èä½æ¨©è
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| 52 | ããã³TOPPERSããã¸ã§ã¯ããå
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| 53 | 責ãããã¨ï¼
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| 54 | * ã¾ãï¼æ¬ã½ããã¦ã§ã¢ã®ã¦ã¼ã¶ã¾ãã¯ã¨ã³ãã¦ã¼ã¶ããã®ãããªãç
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| 55 | * ç±ã«åºã¥ãè«æ±ãããï¼ä¸è¨èä½æ¨©è
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| 56 | ããã³TOPPERSããã¸ã§ã¯ãã
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| 57 | * å
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| 58 | 責ãããã¨ï¼
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| 59 | *
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| 60 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼AUTOSARï¼AUTomotive Open System ARchitectureï¼ä»
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| 61 | * æ§ã«åºã¥ãã¦ããï¼ä¸è¨ã®è¨±è«¾ã¯ï¼AUTOSARã®ç¥ç財ç£æ¨©ã許諾ãããã®ã§
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| 62 | * ã¯ãªãï¼AUTOSARã¯ï¼AUTOSARä»æ§ã«åºã¥ããã½ããã¦ã§ã¢ãåç¨ç®çã§å©
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| 63 | * ç¨ããè
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| 64 | ã«å¯¾ãã¦ï¼AUTOSARãã¼ããã¼ã«ãªããã¨ãæ±ãã¦ããï¼
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| 65 | *
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| 66 | * æ¬ã½ããã¦ã§ã¢ã¯ï¼ç¡ä¿è¨¼ã§æä¾ããã¦ãããã®ã§ããï¼ä¸è¨èä½æ¨©è
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| 67 | ã
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| 68 | * ãã³TOPPERSããã¸ã§ã¯ãã¯ï¼æ¬ã½ããã¦ã§ã¢ã«é¢ãã¦ï¼ç¹å®ã®ä½¿ç¨ç®ç
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| 69 | * ã«å¯¾ããé©åæ§ãå«ãã¦ï¼ãããªãä¿è¨¼ãè¡ããªãï¼ã¾ãï¼æ¬ã½ããã¦ã§
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| 70 | * ã¢ã®å©ç¨ã«ããç´æ¥çã¾ãã¯éæ¥çã«çãããããªãæ害ã«é¢ãã¦ãï¼ã
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| 71 | * ã®è²¬ä»»ãè² ããªãï¼
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| 72 | *
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| 73 | * $Id: task.c 425 2015-12-07 08:06:19Z witz-itoyo $
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| 74 | */
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| 75 |
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| 76 | /*
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| 77 | * ã¿ã¹ã¯å¶å¾¡ã¢ã¸ã¥ã¼ã«
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| 78 | */
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| 79 |
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| 80 | #include "kernel_impl.h"
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| 81 | #include "check.h"
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| 82 | #include "task.h"
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| 83 | #include "interrupt.h"
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| 84 |
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| 85 | /*
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| 86 | * ãã¬ã¼ã¹ãã°ãã¯ãã®ããã©ã«ãå®ç¾©
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| 87 | */
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| 88 | #ifndef LOG_TSKSTAT
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| 89 | #define LOG_TSKSTAT(p_tcb)
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| 90 | #endif /* LOG_TSKSTAT */
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| 91 |
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| 92 | /* å
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| 93 | é¨é¢æ°ã®ãããã¿ã¤ãå®£è¨ */
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| 94 | LOCAL_INLINE uint16 bitmap_search(uint16 bitmap);
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| 95 | LOCAL_INLINE boolean primap_empty(void);
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| 96 | LOCAL_INLINE PriorityType primap_search(void);
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| 97 | LOCAL_INLINE void primap_set(PriorityType pri);
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| 98 | LOCAL_INLINE void primap_clear(PriorityType pri);
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| 99 |
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| 100 | #ifdef TOPPERS_task_initialize
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| 101 |
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| 102 | /*
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| 103 | * å®è¡ç¶æ
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| 104 | ã®ã¿ã¹ã¯
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| 105 | */
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| 106 | TCB *p_runtsk;
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| 107 |
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| 108 | /*
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| 109 | * æé«åªå
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| 110 | é ä½ã¿ã¹ã¯
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| 111 | */
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| 112 | TCB *p_schedtsk;
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| 113 |
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| 114 | /*
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| 115 | * ã¬ãã£ãã¥ã¼ä¸ã®æé«åªå
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| 116 | 度
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| 117 | */
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| 118 | PriorityType nextpri;
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| 119 |
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| 120 | /*
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| 121 | * ã¬ãã£ãã¥ã¼
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| 122 | */
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| 123 | QUEUE ready_queue[TNUM_TPRI];
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| 124 |
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| 125 | /*
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| 126 | * ã¬ãã£ãã¥ã¼ãµã¼ãã®ããã®ãããããã
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| 127 | */
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| 128 | uint16 ready_primap;
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| 129 |
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| 130 | /*
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| 131 | * ã¿ã¹ã¯ç®¡çã¢ã¸ã¥ã¼ã«ã®åæå
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| 132 | */
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| 133 | void
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| 134 | task_initialize(void)
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| 135 | {
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| 136 | TaskType i;
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| 137 | TCB *p_tcb;
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| 138 |
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| 139 | p_runtsk = NULL;
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| 140 | p_schedtsk = NULL;
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| 141 |
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| 142 | for (i = 0U; i < TNUM_TPRI; i++) {
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| 143 | queue_initialize(&(ready_queue[i]));
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| 144 | }
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| 145 | nextpri = TPRI_MINTASK;
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| 146 | ready_primap = 0U;
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| 147 |
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| 148 | for (i = 0U; i < tnum_task; i++) {
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| 149 | p_tcb = &(tcb_table[i]);
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| 150 | p_tcb->p_tinib = &(tinib_table[i]);
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| 151 | p_tcb->actcnt = 0U;
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| 152 | p_tcb->tstat = SUSPENDED;
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| 153 | #ifdef CFG_USE_PROTECTIONHOOK
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| 154 | p_tcb->calltfn = FALSE;
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| 155 | #endif /* CFG_USE_PROTECTIONHOOK */
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| 156 | if ((p_tcb->p_tinib->autoact & ((AppModeType) 1 << appmodeid)) != APPMODE_NONE) {
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| 157 | (void) make_active(p_tcb);
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| 158 | }
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| 159 | }
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| 160 | }
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| 161 |
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| 162 | #endif /* TOPPERS_task_initialize */
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| 163 |
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| 164 | /*
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| 165 | * ãããããããµã¼ãé¢æ°
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| 166 | *
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| 167 | * bitmapå
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| 168 | ã®1ã®ãããã®å
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| 169 | ï¼æãä¸ä½ï¼å³ï¼ã®ãã®ããµã¼ããï¼ãã®ãã
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| 170 | * ãçªå·ãè¿ã
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| 171 | * ãããçªå·ã¯ï¼æä¸ä½ãããã0ã¨ããï¼bitmapã«0ãæå®
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| 172 | * ãã¦ã¯ãªããªãï¼ãã®é¢æ°ã§ã¯ï¼bitmapã16ãããã§ãããã¨ãä»®å®ãï¼
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| 173 | * uint16åã¨ãã¦ãã
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| 174 | *
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| 175 | * ããããµã¼ãå½ä»¤ãæã¤ããã»ããµã§ã¯ï¼ããããµã¼ãå½ä»¤ã使ãããã«
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| 176 | * æ¸ãç´ããæ¹ãå¹çãè¯ãå ´åããã
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| 177 | * ãã®ãããªå ´åã«ã¯ï¼ã¿ã¼ã²ããä¾åé¨ã§ããããµã¼ãå½ä»¤ã使ã£ã
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| 178 | * bitmap_searchãå®ç¾©ãï¼OMIT_BITMAP_SEARCHããã¯ãå®ç¾©ããã°ãã
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| 179 | * ã¾ãï¼ããããµã¼ãå½ä»¤ã®ãµã¼ãæ¹åãéãªã©ã®çç±ã§åªå
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| 180 | 度ã¨ããã
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| 181 | * ã¨ã®å¯¾å¿ãå¤æ´ãããå ´åã«ã¯ï¼PRIMAP_BITããã¯ãå®ç¾©ããã°ãã
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| 182 | *
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| 183 | * ã¾ãï¼æ¨æºã©ã¤ãã©ãªã«ffsããããªãï¼æ¬¡ã®ããã«å®ç¾©ãã¦æ¨æºã©ã¤ã
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| 184 | * ã©ãªã使ã£ãæ¹ãå¹çãè¯ãå¯è½æ§ããã
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| 185 | * #define bitmap_search(bitmap) (ffs(bitmap) - 1)
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| 186 | */
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| 187 | #ifndef PRIMAP_BIT
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| 188 | #define PRIMAP_BIT(pri) ((uint16) ((uint16) 1U << (pri)))
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| 189 | #endif /* PRIMAP_BIT */
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| 190 |
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| 191 | #ifndef OMIT_BITMAP_SEARCH
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| 192 |
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| 193 | LOCAL_INLINE uint16
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| 194 | bitmap_search(uint16 bitmap)
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| 195 | {
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| 196 | /*
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| 197 | * ãããããããµã¼ãé¢æ°ç¨ãã¼ãã«
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| 198 | */
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| 199 | const uint8 bitmap_search_table[BITMAP_NUM] = {
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| 200 | 0U, 1U, 0U, 2U, 0U, 1U, 0U,
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| 201 | 3U, 0U, 1U, 0U, 2U, 0U, 1U, 0U
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| 202 | };
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| 203 |
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| 204 | uint16 n = 0U;
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| 205 |
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| 206 | ASSERT(bitmap != 0U);
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| 207 | if ((bitmap & 0x00ffU) == 0U) {
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| 208 | bitmap >>= 8U;
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| 209 | n += 8U;
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| 210 | }
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| 211 | if ((bitmap & 0x0fU) == 0U) {
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| 212 | bitmap >>= 4U;
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| 213 | n += 4U;
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| 214 | }
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| 215 | return(n + bitmap_search_table[(bitmap & 0x000fU) - 1U]);
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| 216 | }
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| 217 |
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| 218 | #endif /* OMIT_BITMAP_SEARCH */
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| 219 |
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| 220 | /*
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| 221 | * åªå
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| 222 | 度ããããããã空ãã®ãã§ãã¯
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| 223 | */
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| 224 | LOCAL_INLINE boolean
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| 225 | primap_empty(void)
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| 226 | {
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| 227 | return(ready_primap == 0U);
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| 228 | }
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| 229 |
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| 230 | /*
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| 231 | * åªå
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| 232 | 度ããããããã®ãµã¼ã
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| 233 | */
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| 234 | LOCAL_INLINE PriorityType
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| 235 | primap_search(void)
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| 236 | {
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| 237 | return((PriorityType) bitmap_search(ready_primap));
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| 238 | }
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| 239 |
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| 240 | /*
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| 241 | * åªå
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| 242 | 度ããããããã®ã»ãã
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| 243 | */
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| 244 | LOCAL_INLINE void
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| 245 | primap_set(PriorityType pri)
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| 246 | {
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| 247 | ready_primap |= PRIMAP_BIT(pri);
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| 248 | }
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| 249 |
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| 250 | /*
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| 251 | * åªå
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| 252 | 度ããããããã®ã¯ãªã¢
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| 253 | */
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| 254 | LOCAL_INLINE void
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| 255 | primap_clear(PriorityType pri)
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| 256 | {
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| 257 | ready_primap &= (uint16) ~PRIMAP_BIT(pri);
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| 258 | }
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| 259 |
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| 260 | /*
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| 261 | * æé«åªå
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| 262 | é ä½ã¿ã¹ã¯ã®ãµã¼ã
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| 263 | */
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| 264 | #ifdef TOPPERS_search_schedtsk
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| 265 |
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| 266 | void
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| 267 | search_schedtsk(void)
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| 268 | {
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| 269 | if (primap_empty() != FALSE) {
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| 270 | p_schedtsk = NULL;
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| 271 | }
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| 272 | else {
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| 273 | p_schedtsk = (TCB *) (queue_delete_next(&(ready_queue[nextpri])));
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| 274 | if (queue_empty(&(ready_queue[nextpri])) != FALSE) {
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| 275 | primap_clear(nextpri);
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| 276 | nextpri = (primap_empty() != FALSE) ?
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| 277 | TPRI_MINTASK : primap_search();
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| 278 | }
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| 279 | }
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| 280 | }
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| 281 |
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| 282 | #endif /* TOPPERS_search_schedtsk */
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| 283 |
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| 284 | /*
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| 285 | * å®è¡ã§ããç¶æ
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| 286 | ã¸ã®ç§»è¡
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| 287 | */
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| 288 | #ifdef TOPPERS_make_runnable
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| 289 |
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| 290 | boolean
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| 291 | make_runnable(TCB *p_tcb)
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| 292 | {
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| 293 | PriorityType pri, schedpri;
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| 294 | boolean is_next_schedtsk = TRUE;
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| 295 |
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| 296 | p_tcb->tstat = READY;
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| 297 | LOG_TSKSTAT(p_tcb);
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| 298 | if (p_schedtsk != NULL) {
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| 299 | pri = p_tcb->curpri;
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| 300 | schedpri = p_schedtsk->curpri;
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| 301 | if (pri >= schedpri) {
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| 302 | /*
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| 303 | * schedtsk ã®æ¹ãåªå
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| 304 | 度ãé«ãå ´åï¼p_tcb ãã¬
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| 305 | * ãã£ãã¥ã¼ã®æå¾ã«å
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| 306 | ¥ãã
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| 307 | */
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| 308 | queue_insert_prev(&(ready_queue[pri]), &(p_tcb->task_queue));
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| 309 | primap_set(pri);
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| 310 | if (pri < nextpri) {
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| 311 | nextpri = pri;
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| 312 | }
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| 313 | is_next_schedtsk = FALSE;
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| 314 | }
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| 315 | else {
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| 316 | /*
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| 317 | * p_tcb ã®æ¹ãåªå
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| 318 | 度ãé«ãå ´åï¼schedtsk ãã¬ãã£ãã¥ã¼
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| 319 | * ã®å
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| 320 | é ã«å
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| 321 | ¥ãï¼p_tcb ãæ°ãã schedtsk ã¨ãã
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| 322 | */
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| 323 | queue_insert_next(&(ready_queue[schedpri]), &(p_schedtsk->task_queue));
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| 324 | primap_set(schedpri);
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| 325 | nextpri = schedpri;
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| 326 | }
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| 327 | }
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| 328 |
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| 329 | if (is_next_schedtsk != FALSE) {
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| 330 | p_schedtsk = p_tcb;
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| 331 | }
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| 332 | return(is_next_schedtsk);
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| 333 | }
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| 334 |
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| 335 | #endif /* TOPPERS_make_runnable */
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| 336 |
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| 337 | /*
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| 338 | * å®è¡ã§ããç¶æ
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| 339 | ããä»ã®ç¶æ
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| 340 | ã¸ã®é·ç§»
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| 341 | *
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| 342 | * SC1-MCã§make_non_runnableãå®è£
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| 343 | ããããã
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| 344 | * SC1ã«ãmake_non_runableãå®è£
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| 345 | ãï¼SC1ãSC1-MCã®é¢æ°æ§æã«åãã
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| 346 | * ï¼SC1-MCã§ã¯ï¼p_runtskã¨p_schedtskãä¸è´ãã¦ãããã¨ã確èªããå¦çãå
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| 347 | ¥ããå¿
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| 348 | è¦ããããï¼
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| 349 | * SC1ã§ã¯ï¼search_schedtskã®ã¿å¼ã³åºãå¦çã¨ããï¼
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| 350 | */
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| 351 | #ifdef TOPPERS_make_non_runnable
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| 352 |
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| 353 | void
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| 354 | make_non_runnable(void)
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| 355 | {
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| 356 | search_schedtsk();
|
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| 357 | }
|
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| 358 |
|
---|
| 359 | #endif /* TOPPERS_make_non_runnable */
|
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| 360 |
|
---|
| 361 | /*
|
---|
| 362 | * ã¿ã¹ã¯ã®èµ·å
|
---|
| 363 | *
|
---|
| 364 | * TerminateTask ã ChainTask ã®ä¸ã§ï¼èªã¿ã¹ã¯ã«å¯¾ã㦠make_active ã
|
---|
| 365 | * å¼ã¶å ´åãããã®ã§æ³¨æãã
|
---|
| 366 | */
|
---|
| 367 | #ifdef TOPPERS_make_active
|
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| 368 |
|
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| 369 | boolean
|
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| 370 | make_active(TCB *p_tcb)
|
---|
| 371 | {
|
---|
| 372 | p_tcb->curpri = p_tcb->p_tinib->inipri;
|
---|
| 373 | if (TSKID(p_tcb) < tnum_exttask) {
|
---|
| 374 | p_tcb->curevt = EVTMASK_NONE;
|
---|
| 375 | p_tcb->waievt = EVTMASK_NONE;
|
---|
| 376 | }
|
---|
| 377 | p_tcb->p_lastrescb = NULL;
|
---|
| 378 | p_tcb->p_lastcntcb = NULL;
|
---|
| 379 |
|
---|
| 380 | activate_context(p_tcb);
|
---|
| 381 | return(make_runnable(p_tcb));
|
---|
| 382 | }
|
---|
| 383 |
|
---|
| 384 | #endif /* TOPPERS_make_active */
|
---|
| 385 |
|
---|
| 386 | /*
|
---|
| 387 | * ã¿ã¹ã¯ã®ããªã¨ã³ãã
|
---|
| 388 | */
|
---|
| 389 | #ifdef TOPPERS_preempt
|
---|
| 390 |
|
---|
| 391 | void
|
---|
| 392 | preempt(void)
|
---|
| 393 | {
|
---|
| 394 | PriorityType pri;
|
---|
| 395 |
|
---|
| 396 | ASSERT(p_runtsk == p_schedtsk);
|
---|
| 397 | pri = p_runtsk->curpri;
|
---|
| 398 | queue_insert_next(&(ready_queue[pri]), &(p_runtsk->task_queue));
|
---|
| 399 | primap_set(pri);
|
---|
| 400 | search_schedtsk();
|
---|
| 401 | }
|
---|
| 402 |
|
---|
| 403 | #endif /* TOPPERS_preempt */
|
---|
| 404 |
|
---|
| 405 | /*
|
---|
| 406 | * å®è¡ä¸ã®ã¿ã¹ã¯ãSUSPENDEDç¶æ
|
---|
| 407 | ã«ãã
|
---|
| 408 | * ãªã½ã¼ã¹è§£æ¾ããç¶æ
|
---|
| 409 | ã§å¼åºãå¿
|
---|
| 410 | è¦ããã
|
---|
| 411 | */
|
---|
| 412 | #ifdef TOPPERS_suspend
|
---|
| 413 |
|
---|
| 414 | void
|
---|
| 415 | suspend(void)
|
---|
| 416 | {
|
---|
| 417 | p_runtsk->tstat = SUSPENDED;
|
---|
| 418 | LOG_TSKSTAT(p_runtsk);
|
---|
| 419 | make_non_runnable();
|
---|
| 420 | if (p_runtsk->actcnt > 0U) {
|
---|
| 421 | p_runtsk->actcnt -= 1U;
|
---|
| 422 | (void) make_active(p_runtsk);
|
---|
| 423 | }
|
---|
| 424 | }
|
---|
| 425 |
|
---|
| 426 | #endif /* TOPPERS_suspend */
|
---|
| 427 |
|
---|
| 428 | /*
|
---|
| 429 | * ã¿ã¹ã¯ã®å
|
---|
| 430 | ¨ãªã½ã¼ã¹è¿å´
|
---|
| 431 | */
|
---|
| 432 | #ifdef TOPPERS_release_taskresources
|
---|
| 433 |
|
---|
| 434 | void
|
---|
| 435 | release_taskresources(TCB *p_tcb)
|
---|
| 436 | {
|
---|
| 437 | if (p_tcb->p_lastrescb != NULL) {
|
---|
| 438 | if (p_tcb->curpri <= TPRI_MINISR) {
|
---|
| 439 | /* ãªã½ã¼ã¹ãå
|
---|
| 440 | ¨é¨è§£æ¾ããã°å²è¾¼ã¿è¨±å¯ã«ãªã */
|
---|
| 441 | x_set_ipm((PriorityType) TIPM_ENAALL);
|
---|
| 442 | }
|
---|
| 443 | /* ãªã½ã¼ã¹ãå
|
---|
| 444 | ¨é¨è§£æ¾ããã°å®è¡ä¸åªå
|
---|
| 445 | 度ã«æ»ã */
|
---|
| 446 | p_tcb->curpri = p_tcb->p_tinib->exepri;
|
---|
| 447 |
|
---|
| 448 | /* OSå²è¾¼ã¿ç¦æ¢ç¶æ
|
---|
| 449 | 以ä¸ã§æ¥ã p_tcb->p_lastrescb != NULL */
|
---|
| 450 | do {
|
---|
| 451 | p_tcb->p_lastrescb->lockflg = FALSE;
|
---|
| 452 | p_tcb->p_lastrescb = p_tcb->p_lastrescb->p_prevrescb;
|
---|
| 453 | } while (p_tcb->p_lastrescb != NULL);
|
---|
| 454 | }
|
---|
| 455 | }
|
---|
| 456 |
|
---|
| 457 | #endif /* TOPPERS_release_taskresources */
|
---|
| 458 |
|
---|
| 459 | /*
|
---|
| 460 | * ã¿ã¹ã¯ã®ã«ã¦ã³ã¿ã®ç¶æ
|
---|
| 461 | ããã¹ã¦CS_NULLã«æ»ã
|
---|
| 462 | */
|
---|
| 463 | #ifdef TOPPERS_cancel_taskcounters
|
---|
| 464 |
|
---|
| 465 | void
|
---|
| 466 | cancel_taskcounters(TCB *p_tcb)
|
---|
| 467 | {
|
---|
| 468 | if (p_tcb->p_lastcntcb != NULL) {
|
---|
| 469 |
|
---|
| 470 | /* OSå²è¾¼ã¿ç¦æ¢ç¶æ
|
---|
| 471 | 以ä¸ã§æ¥ã */
|
---|
| 472 | do {
|
---|
| 473 | p_tcb->p_lastcntcb->cstat = CS_NULL;
|
---|
| 474 | p_tcb->p_lastcntcb = p_tcb->p_lastcntcb->p_prevcntcb;
|
---|
| 475 | } while (p_tcb->p_lastcntcb != NULL);
|
---|
| 476 | }
|
---|
| 477 | }
|
---|
| 478 | #endif /* TOPPERS_cancel_taskcounters */
|
---|
| 479 |
|
---|
| 480 | /*
|
---|
| 481 | * ã¿ã¹ã¯ã®ä¸æ£çµäºæã®ä¿è·
|
---|
| 482 | * TerminateTask()ï¼ChainTask()ãªãã§ã®èªã¿ã¹ã¯ã®çµäº
|
---|
| 483 | * ï¼ã¿ã¹ã¯ã®é¢æ°ãããªã¿ã¼ã³ï¼ããå ´åã®å¦ç
|
---|
| 484 | */
|
---|
| 485 | #ifdef TOPPERS_exit_task
|
---|
| 486 |
|
---|
| 487 | void
|
---|
| 488 | exit_task(void)
|
---|
| 489 | {
|
---|
| 490 | x_nested_lock_os_int();
|
---|
| 491 |
|
---|
| 492 | /* å²è¾¼ã¿ç¦æ¢ç¶æ
|
---|
| 493 | ã®å ´åã¯å²è¾¼ã¿ç¦æ¢ã解é¤ãã */
|
---|
| 494 | release_interrupts(OSServiceId_Invalid);
|
---|
| 495 |
|
---|
| 496 | /* ãªã½ã¼ã¹ç¢ºä¿ããã¾ã¾ã®å ´åã¯ãªã½ã¼ã¹ã解æ¾ãã */
|
---|
| 497 | release_taskresources(p_runtsk);
|
---|
| 498 |
|
---|
| 499 | #ifdef CFG_USE_ERRORHOOK
|
---|
| 500 | /* ã¨ã©ã¼ããã¯ãå¼ã¶ */
|
---|
| 501 | call_errorhook(E_OS_MISSINGEND, OSServiceId_TaskMissingEnd);
|
---|
| 502 | #endif /* CFG_USE_ERRORHOOK */
|
---|
| 503 |
|
---|
| 504 | suspend();
|
---|
| 505 |
|
---|
| 506 | /* ãã¹ãã¿ã¹ã¯ããã¯ãæå¹ãªå ´åã¯ãã¹ãã¿ã¹ã¯ããã¯ãå¼ã°ãã */
|
---|
| 507 | exit_and_dispatch();
|
---|
| 508 | }
|
---|
| 509 |
|
---|
| 510 | #endif /* TOPPERS_exit_task */
|
---|
| 511 |
|
---|
| 512 | #ifdef TOPPERS_remove_task_from_queue
|
---|
| 513 |
|
---|
| 514 | /*
|
---|
| 515 | * ã¬ãã£ãã¥ã¼ããã¿ã¹ã¯ãåé¤ãã
|
---|
| 516 | */
|
---|
| 517 | void
|
---|
| 518 | remove_task_from_queue(TCB *p_tcb, PriorityType remove_task_pri)
|
---|
| 519 | {
|
---|
| 520 | queue_delete(&(p_tcb->task_queue));
|
---|
| 521 | if (queue_empty(&(ready_queue[remove_task_pri])) != FALSE) {
|
---|
| 522 | primap_clear(remove_task_pri);
|
---|
| 523 | nextpri = (primap_empty() != FALSE) ? TPRI_MINTASK : primap_search();
|
---|
| 524 | }
|
---|
| 525 | }
|
---|
| 526 |
|
---|
| 527 | #endif /* TOPPERS_remove_task_from_queue */
|
---|
| 528 |
|
---|
| 529 | /*
|
---|
| 530 | * èªã¿ã¹ã¯ã®å¼·å¶çµäº
|
---|
| 531 | * ProtectionHookããã®ã¿å¼åºããã
|
---|
| 532 | * ãªã½ã¼ã¹ã®è§£æ¾ï¼å²è¾¼ã¿ç¦æ¢ã®è§£é¤ãè¡ã£ãå¾
|
---|
| 533 | * TerminateTaskç¸å½ã®å¦çãè¡ã
|
---|
| 534 | * å¼·å¶ã¿ã¹ã¯çµäºã®å ´åã¯ï¼PostTaskHookãå¼åºããªãã®ã§TerminateTask
|
---|
| 535 | * ã¨ã¯ç°ãªãå¦çã¨ãªã
|
---|
| 536 | * æ¬é¢æ°ã¯OSå²è¾¼ã¿ç¦æ¢ç¶æ
|
---|
| 537 | ã§å¼åºããããã¨ãåæã¨ãã
|
---|
| 538 | */
|
---|
| 539 | #ifdef TOPPERS_force_terminate_task
|
---|
| 540 |
|
---|
| 541 | void
|
---|
| 542 | force_terminate_task(TCB *p_tcb)
|
---|
| 543 | {
|
---|
| 544 | /*
|
---|
| 545 | * å²è¾¼ã¿ç¦æ¢ã解é¤ãã
|
---|
| 546 | * ã¨ã©ã¼ããã¯ãå¼ã°ãªãããï¼å¼æ°ã«OSServiceId_Invalidããã
|
---|
| 547 | */
|
---|
| 548 | release_interrupts(OSServiceId_Invalid);
|
---|
| 549 |
|
---|
| 550 | /* ãªã½ã¼ã¹ç¢ºä¿ããã¾ã¾ã®å ´åï¼ãªã½ã¼ã¹è§£æ¾ */
|
---|
| 551 | release_taskresources(p_tcb);
|
---|
| 552 | /* ã«ã¦ã³ã¿ã®ç¶æ
|
---|
| 553 | ãåæåãã */
|
---|
| 554 | cancel_taskcounters(p_tcb);
|
---|
| 555 |
|
---|
| 556 | suspend();
|
---|
| 557 |
|
---|
| 558 | exit_and_dispatch_nohook();
|
---|
| 559 | }
|
---|
| 560 |
|
---|
| 561 | #endif /* TOPPERS_force_terminate_task */
|
---|
| 562 |
|
---|
| 563 | /*
|
---|
| 564 | * OSAPæå±ããã¿ã¹ã¯ã®å¼·å¶çµäº
|
---|
| 565 | */
|
---|
| 566 | #ifdef TOPPERS_force_term_osap_task
|
---|
| 567 |
|
---|
| 568 | void
|
---|
| 569 | force_term_osap_task(OSAPCB *p_osapcb)
|
---|
| 570 | {
|
---|
| 571 | /* OSAPã«æå±ããã¿ã¹ã¯ãå¼·å¶çµäº */
|
---|
| 572 | TaskType i;
|
---|
| 573 | TCB *p_tcb;
|
---|
| 574 | PriorityType remove_task_pri;
|
---|
| 575 |
|
---|
| 576 | for (i = 0U; i < tnum_task; i++) {
|
---|
| 577 | p_tcb = &tcb_table[i];
|
---|
| 578 | if ((tinib_table[i].p_osapcb == p_osapcb) &&
|
---|
| 579 | (p_tcb != p_runtsk)) {
|
---|
| 580 | /*
|
---|
| 581 | * OSAPçµäº/åèµ·åããã¿ã¹ã¯ã®å¼·å¶çµäº
|
---|
| 582 | */
|
---|
| 583 | p_tcb->actcnt = 0U;
|
---|
| 584 | #ifdef CFG_USE_PROTECTIONHOOK
|
---|
| 585 | p_tcb->calltfn = FALSE;
|
---|
| 586 | #endif /* CFG_USE_PROTECTIONHOOK */
|
---|
| 587 |
|
---|
| 588 | if (p_tcb->tstat == READY) {
|
---|
| 589 | /* curpriã¨inipriãç°ãªãå¤ã§ã¬ãã£ãã¥ã¼ã«ç¹ããã¦ããå ´åã¸ã®å¯¾å¿ */
|
---|
| 590 | remove_task_pri = p_tcb->curpri;
|
---|
| 591 |
|
---|
| 592 | /* ãªã½ã¼ã¹ç¢ºä¿ããã¾ã¾ã®å ´åï¼ãªã½ã¼ã¹è§£æ¾ */
|
---|
| 593 | release_taskresources(p_tcb);
|
---|
| 594 |
|
---|
| 595 | /* ã«ã¦ã³ã¿ã®ç¶æ
|
---|
| 596 | ãåæåãã */
|
---|
| 597 | cancel_taskcounters(p_tcb);
|
---|
| 598 |
|
---|
| 599 | /* 対象ã¿ã¹ã¯ãSUSPENDç¶æ
|
---|
| 600 | ã¨ãï¼ã¬ãã£ãã¥ã¼ããåé¤ãã */
|
---|
| 601 | p_tcb->tstat = SUSPENDED;
|
---|
| 602 | remove_task_from_queue(p_tcb, remove_task_pri);
|
---|
| 603 | }
|
---|
| 604 | else {
|
---|
| 605 | p_tcb->tstat = SUSPENDED;
|
---|
| 606 | }
|
---|
| 607 |
|
---|
| 608 | /*
|
---|
| 609 | * ããã§C2ISRãåãä»ãã.
|
---|
| 610 | * ããã¯ã®ä¸ããããã«æ¥ãå ´åã¯nested_lock_os_int_cntã2以ä¸ãªã®ã§ï¼
|
---|
| 611 | * å²è¾¼ã¿ç¦æ¢è§£é¤ãããªã.
|
---|
| 612 | * SusOSç¶æ
|
---|
| 613 | ã§ãï¼å²è¾¼ã¿åªå
|
---|
| 614 | 度ãã¹ã¯ã¯ä¿æãããã¾ã¾ãªã®ã§ï¼
|
---|
| 615 | * C2ISRã¯çºçããªã.
|
---|
| 616 | */
|
---|
| 617 | x_nested_unlock_os_int();
|
---|
| 618 |
|
---|
| 619 | /* ããã§å²è¾¼ã¿ç¦æ¢ã¨ãã */
|
---|
| 620 | x_nested_lock_os_int();
|
---|
| 621 | }
|
---|
| 622 | }
|
---|
| 623 |
|
---|
| 624 | p_tcb = p_runtsk;
|
---|
| 625 | /* OSAPãå¼·å¶çµäºããããã®ãªã¹ã¿ã¼ãã¿ã¹ã¯ããã³ã¼ã«ããããã */
|
---|
| 626 | /* ãªã½ã¼ã¹è§£æ¾ãã«ã¦ã³ã¿ã®ç¶æ
|
---|
| 627 | ãåæåããå¿
|
---|
| 628 | è¦ã¯ãªã */
|
---|
| 629 | /* 対象ã¿ã¹ã¯ãSUSPENDç¶æ
|
---|
| 630 | ã¨ãã */
|
---|
| 631 | /* p_schedtskã®æ´æ°ã¯force_term_osap_mainã«æ»ã£ã¦ããå®æ½ãã */
|
---|
| 632 | p_tcb->tstat = SUSPENDED;
|
---|
| 633 | }
|
---|
| 634 |
|
---|
| 635 | #endif /* TOPPERS_force_term_osap_task */
|
---|
| 636 |
|
---|
| 637 | /*
|
---|
| 638 | * p_schedtskãã¬ãã£ãã¥ã¼ã®å
|
---|
| 639 | é ã«éé¿
|
---|
| 640 | */
|
---|
| 641 | #ifdef TOPPERS_move_schedtsk
|
---|
| 642 |
|
---|
| 643 | void
|
---|
| 644 | move_schedtsk(void)
|
---|
| 645 | {
|
---|
| 646 | queue_insert_next(&(ready_queue[p_schedtsk->curpri]), &(p_schedtsk->task_queue));
|
---|
| 647 | primap_set(p_schedtsk->curpri);
|
---|
| 648 | nextpri = p_schedtsk->curpri;
|
---|
| 649 | }
|
---|
| 650 |
|
---|
| 651 | #endif /* TOPPERS_move_schedtsk */
|
---|