mirror of https://github.com/ARMmbed/mbed-os.git
644 lines
18 KiB
C
644 lines
18 KiB
C
/*
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* Copyright (c) 2013-2017 ARM Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* -----------------------------------------------------------------------------
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*
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* Project: CMSIS-RTOS RTX
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* Title: Kernel functions
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*
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* -----------------------------------------------------------------------------
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*/
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#include "rtx_lib.h"
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#include "rt_OsEventObserver.h"
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// OS Runtime Information
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osRtxInfo_t osRtxInfo __attribute__((section(".data.os"))) =
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{ .os_id = osRtxKernelId, .version = osRtxVersionKernel, .kernel.state = osRtxKernelInactive };
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// ==== Helper functions ====
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/// Block Kernel (disable: thread switching, time tick, post ISR processing).
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static void KernelBlock (void) {
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if (osRtxInfo.tick_irqn >= 0) {
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ExtTick_DisableIRQ(osRtxInfo.tick_irqn);
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}
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osRtxSysTimerDisable();
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osRtxInfo.kernel.blocked = 1U;
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__DSB();
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if (osRtxInfo.tick_irqn < 0) {
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osRtxInfo.kernel.pendISR = GetPendSV_ST();
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ClrPendSV_ST();
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} else {
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osRtxInfo.kernel.pendISR = GetPendSV();
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ClrPendSV();
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}
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}
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/// Unblock Kernel
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static void KernelUnblock (void) {
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osRtxInfo.kernel.blocked = 0U;
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__DSB();
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if (osRtxInfo.kernel.pendSV != 0U) {
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osRtxInfo.kernel.pendSV = 0U;
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SetPendSV();
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}
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if (osRtxInfo.kernel.pendISR != 0U) {
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SetPendFlags(osRtxInfo.kernel.pendISR);
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}
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if (osRtxInfo.tick_irqn >= 0) {
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ExtTick_EnableIRQ(osRtxInfo.tick_irqn);
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}
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osRtxSysTimerEnable();
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}
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// ==== Service Calls ====
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// Service Calls definitions
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SVC0_0M(KernelInitialize, osStatus_t)
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SVC0_3 (KernelGetInfo, osStatus_t, osVersion_t *, char *, uint32_t)
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SVC0_0M(KernelStart, osStatus_t)
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SVC0_0 (KernelLock, int32_t)
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SVC0_0 (KernelUnlock, int32_t)
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SVC0_1 (KernelRestoreLock, int32_t, int32_t)
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SVC0_0 (KernelSuspend, uint32_t)
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SVC0_1N(KernelResume, void, uint32_t)
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SVC0_0 (KernelGetState, osKernelState_t)
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SVC0_0D(KernelGetTickCount, uint64_t)
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SVC0_0 (KernelGetTickFreq, uint32_t)
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SVC0_0 (KernelGetSysTimerCount, uint32_t)
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SVC0_0 (KernelGetSysTimerFreq, uint32_t)
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/// Initialize the RTOS Kernel.
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/// \note API identical to osKernelInitialize
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osStatus_t svcRtxKernelInitialize (void) {
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if (osRtxInfo.kernel.state == osRtxKernelReady) {
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EvrRtxKernelInitializeCompleted();
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return osOK;
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}
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if (osRtxInfo.kernel.state != osKernelInactive) {
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EvrRtxKernelError(osError);
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return osError;
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}
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// Initialize osRtxInfo
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memset(&osRtxInfo.kernel, 0, sizeof(osRtxInfo) - offsetof(osRtxInfo_t, kernel));
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if (osRtxConfig.thread_stack_size < (64U + 8U)) {
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EvrRtxKernelError(osRtxErrorInvalidThreadStack);
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return osError;
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}
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if ((osRtxConfig.isr_queue.data == NULL) || (osRtxConfig.isr_queue.max == 0U)) {
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EvrRtxKernelError(osError);
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return osError;
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}
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osRtxInfo.isr_queue.data = osRtxConfig.isr_queue.data;
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osRtxInfo.isr_queue.max = osRtxConfig.isr_queue.max;
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osRtxInfo.thread.robin.timeout = osRtxConfig.robin_timeout;
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// Initialize Memory Pools (Variable Block Size)
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if (osRtxMemoryInit(osRtxConfig.mem.common_addr, osRtxConfig.mem.common_size) != 0U) {
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osRtxInfo.mem.common = osRtxConfig.mem.common_addr;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.stack_addr, osRtxConfig.mem.stack_size) != 0U) {
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osRtxInfo.mem.stack = osRtxConfig.mem.stack_addr;
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} else {
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osRtxInfo.mem.stack = osRtxInfo.mem.common;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.mp_data_addr, osRtxConfig.mem.mp_data_size) != 0U) {
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osRtxInfo.mem.mp_data = osRtxConfig.mem.mp_data_addr;
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} else {
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osRtxInfo.mem.mp_data = osRtxInfo.mem.common;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.mq_data_addr, osRtxConfig.mem.mq_data_size) != 0U) {
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osRtxInfo.mem.mq_data = osRtxConfig.mem.mq_data_addr;
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} else {
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osRtxInfo.mem.mq_data = osRtxInfo.mem.common;
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}
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// Initialize Memory Pools (Fixed Block Size)
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if ((osRtxConfig.mpi.stack != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.stack,
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osRtxConfig.mpi.stack->max_blocks,
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osRtxConfig.mpi.stack->block_size,
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osRtxConfig.mpi.stack->block_base) != 0U)) {
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osRtxInfo.mpi.stack = osRtxConfig.mpi.stack;
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}
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if ((osRtxConfig.mpi.thread != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.thread,
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osRtxConfig.mpi.thread->max_blocks,
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osRtxConfig.mpi.thread->block_size,
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osRtxConfig.mpi.thread->block_base) != 0U)) {
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osRtxInfo.mpi.thread = osRtxConfig.mpi.thread;
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}
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if ((osRtxConfig.mpi.timer != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.timer,
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osRtxConfig.mpi.timer->max_blocks,
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osRtxConfig.mpi.timer->block_size,
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osRtxConfig.mpi.timer->block_base) != 0U)) {
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osRtxInfo.mpi.timer = osRtxConfig.mpi.timer;
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}
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if ((osRtxConfig.mpi.event_flags != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.event_flags,
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osRtxConfig.mpi.event_flags->max_blocks,
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osRtxConfig.mpi.event_flags->block_size,
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osRtxConfig.mpi.event_flags->block_base) != 0U)) {
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osRtxInfo.mpi.event_flags = osRtxConfig.mpi.event_flags;
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}
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if ((osRtxConfig.mpi.mutex != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.mutex,
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osRtxConfig.mpi.mutex->max_blocks,
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osRtxConfig.mpi.mutex->block_size,
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osRtxConfig.mpi.mutex->block_base) != 0U)) {
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osRtxInfo.mpi.mutex = osRtxConfig.mpi.mutex;
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}
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if ((osRtxConfig.mpi.semaphore != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.semaphore,
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osRtxConfig.mpi.semaphore->max_blocks,
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osRtxConfig.mpi.semaphore->block_size,
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osRtxConfig.mpi.semaphore->block_base) != 0U)) {
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osRtxInfo.mpi.semaphore = osRtxConfig.mpi.semaphore;
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}
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if ((osRtxConfig.mpi.memory_pool != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.memory_pool,
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osRtxConfig.mpi.memory_pool->max_blocks,
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osRtxConfig.mpi.memory_pool->block_size,
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osRtxConfig.mpi.memory_pool->block_base) != 0U)) {
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osRtxInfo.mpi.memory_pool = osRtxConfig.mpi.memory_pool;
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}
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if ((osRtxConfig.mpi.message_queue != NULL) &&
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(osRtxMemoryPoolInit(osRtxConfig.mpi.message_queue,
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osRtxConfig.mpi.message_queue->max_blocks,
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osRtxConfig.mpi.message_queue->block_size,
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osRtxConfig.mpi.message_queue->block_base) != 0U)) {
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osRtxInfo.mpi.message_queue = osRtxConfig.mpi.message_queue;
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}
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#if (__DOMAIN_NS == 1U)
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// Initialize Secure Process Stack
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if (TZ_InitContextSystem_S() == 0U) {
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EvrRtxKernelError(osRtxErrorTZ_InitContext_S);
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return osError;
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}
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#endif
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// Initialize SVC and PendSV System Service Calls
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SVC_Initialize();
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osRtxInfo.kernel.state = osRtxKernelReady;
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EvrRtxKernelInitializeCompleted();
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return osOK;
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}
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/// Get RTOS Kernel Information.
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/// \note API identical to osKernelGetInfo
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osStatus_t svcRtxKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
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if (version != NULL) {
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version->api = osRtxVersionAPI;
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version->kernel = osRtxVersionKernel;
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}
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if ((id_buf != NULL) && (id_size != 0U)) {
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if (id_size > sizeof(osRtxKernelId)) {
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id_size = sizeof(osRtxKernelId);
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}
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memcpy(id_buf, osRtxKernelId, id_size);
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}
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EvrRtxKernelInfoRetrieved(version, id_buf);
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return osOK;
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}
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/// Get the current RTOS Kernel state.
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/// \note API identical to osKernelGetState
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osKernelState_t svcRtxKernelGetState (void) {
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EvrRtxKernelGetState((osKernelState_t)(osRtxInfo.kernel.state));
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return ((osKernelState_t)(osRtxInfo.kernel.state));
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}
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/// Start the RTOS Kernel scheduler.
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/// \note API identical to osKernelStart
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osStatus_t svcRtxKernelStart (void) {
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os_thread_t *thread;
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if (osRtxInfo.kernel.state != osRtxKernelReady) {
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EvrRtxKernelError(osRtxErrorKernelNotReady);
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return osError;
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}
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// Create Idle Thread
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if (osRtxInfo.thread.idle == NULL) {
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osRtxInfo.thread.idle = svcRtxThreadNew(osRtxIdleThread, NULL, osRtxConfig.idle_thread_attr, NULL);
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if (osRtxInfo.thread.idle == NULL) {
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EvrRtxKernelError(osError);
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return osError;
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}
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}
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// Create Timer Thread
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if (osRtxConfig.timer_mq_mcnt != 0U) {
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if (osRtxInfo.timer.thread == NULL) {
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osRtxInfo.timer.thread = svcRtxThreadNew(osRtxTimerThread, NULL, osRtxConfig.timer_thread_attr, NULL);
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if (osRtxInfo.timer.thread == NULL) {
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EvrRtxKernelError(osError);
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return osError;
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}
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}
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}
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// Switch to Ready Thread with highest Priority
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thread = osRtxThreadListGet(&osRtxInfo.thread.ready);
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if (thread == NULL) {
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EvrRtxKernelError(osError);
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return osError;
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}
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osRtxThreadSwitch(thread);
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if ((osRtxConfig.flags & osRtxConfigPrivilegedMode) != 0U) {
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// Privileged Thread mode & PSP
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__set_CONTROL(0x02U);
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} else {
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// Unprivileged Thread mode & PSP
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__set_CONTROL(0x03U);
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}
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osRtxInfo.kernel.sys_freq = SystemCoreClock;
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// Setup and Enable System Timer
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osRtxInfo.tick_irqn = osRtxSysTimerSetup();
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if (osRtxInfo.tick_irqn >= 0) {
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ExtTick_SetupIRQ (osRtxInfo.tick_irqn);
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ExtTick_EnableIRQ(osRtxInfo.tick_irqn);
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}
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osRtxSysTimerEnable();
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelStarted();
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return osOK;
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}
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/// Lock the RTOS Kernel scheduler.
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/// \note API identical to osKernelLock
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int32_t svcRtxKernelLock (void) {
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if (osRtxInfo.kernel.state == osRtxKernelLocked) {
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EvrRtxKernelLocked(1);
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return 1;
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}
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if (osRtxInfo.kernel.state == osRtxKernelRunning) {
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osRtxInfo.kernel.state = osRtxKernelLocked;
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EvrRtxKernelLocked(0);
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return 0;
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}
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EvrRtxKernelError(osError);
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return osError;
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}
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/// Unlock the RTOS Kernel scheduler.
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/// \note API identical to osKernelUnlock
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int32_t svcRtxKernelUnlock (void) {
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if (osRtxInfo.kernel.state == osRtxKernelLocked) {
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelUnlocked(1);
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return 1;
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}
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if (osRtxInfo.kernel.state == osRtxKernelRunning) {
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EvrRtxKernelUnlocked(0);
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return 0;
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}
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EvrRtxKernelError(osError);
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return osError;
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}
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/// Restore the RTOS Kernel scheduler lock state.
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/// \note API identical to osKernelRestoreLock
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int32_t svcRtxKernelRestoreLock (int32_t lock) {
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if ((osRtxInfo.kernel.state == osRtxKernelRunning) ||
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(osRtxInfo.kernel.state == osRtxKernelLocked)) {
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switch (lock) {
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case 1:
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osRtxInfo.kernel.state = osRtxKernelLocked;
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EvrRtxKernelLockRestored(1);
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return 1;
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case 0:
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelLockRestored(0);
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return 0;
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default:
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break;
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}
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}
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EvrRtxKernelError(osError);
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return osError;
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}
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/// Suspend the RTOS Kernel scheduler.
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/// \note API identical to osKernelSuspend
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uint32_t svcRtxKernelSuspend (void) {
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os_thread_t *thread;
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os_timer_t *timer;
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uint32_t delay;
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if (osRtxInfo.kernel.state != osRtxKernelRunning) {
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EvrRtxKernelError(osRtxErrorKernelNotRunning);
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return 0U;
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}
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KernelBlock();
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delay = osWaitForever;
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// Check Thread Delay list
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thread = osRtxInfo.thread.delay_list;
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if (thread != NULL) {
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delay = thread->delay;
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}
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// Check Active Timer list
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timer = osRtxInfo.timer.list;
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if (timer != NULL) {
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if (timer->tick < delay) {
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delay = timer->tick;
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}
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}
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osRtxInfo.kernel.state = osRtxKernelSuspended;
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EvrRtxKernelSuspended(delay);
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return delay;
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}
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/// Resume the RTOS Kernel scheduler.
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/// \note API identical to osKernelResume
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void svcRtxKernelResume (uint32_t sleep_ticks) {
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os_thread_t *thread;
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os_timer_t *timer;
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uint32_t delay;
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if (osRtxInfo.kernel.state != osRtxKernelSuspended) {
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EvrRtxKernelResumed();
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return;
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}
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// Process Thread Delay list
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thread = osRtxInfo.thread.delay_list;
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if (thread != NULL) {
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delay = sleep_ticks;
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if (delay >= thread->delay) {
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delay -= thread->delay;
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osRtxInfo.kernel.tick += thread->delay;
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thread->delay = 1U;
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do {
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osRtxThreadDelayTick();
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if (delay == 0U) {
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break;
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}
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delay--;
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osRtxInfo.kernel.tick++;
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} while (osRtxInfo.thread.delay_list != NULL);
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} else {
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thread->delay -= delay;
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osRtxInfo.kernel.tick += delay;
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}
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} else {
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osRtxInfo.kernel.tick += sleep_ticks;
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}
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// Process Active Timer list
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timer = osRtxInfo.timer.list;
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if (timer != NULL) {
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if (sleep_ticks >= timer->tick) {
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sleep_ticks -= timer->tick;
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timer->tick = 1U;
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do {
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osRtxInfo.timer.tick();
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if (sleep_ticks == 0U) {
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break;
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}
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sleep_ticks--;
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} while (osRtxInfo.timer.list != NULL);
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} else {
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timer->tick -= sleep_ticks;
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}
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}
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osRtxInfo.kernel.state = osRtxKernelRunning;
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osRtxThreadDispatch(NULL);
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KernelUnblock();
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EvrRtxKernelResumed();
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}
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/// Get the RTOS kernel tick count.
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/// \note API identical to osKernelGetTickCount
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uint64_t svcRtxKernelGetTickCount (void) {
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EvrRtxKernelGetTickCount(osRtxInfo.kernel.tick);
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return osRtxInfo.kernel.tick;
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}
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/// Get the RTOS kernel tick frequency.
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/// \note API identical to osKernelGetTickFreq
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uint32_t svcRtxKernelGetTickFreq (void) {
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EvrRtxKernelGetTickFreq(osRtxConfig.tick_freq);
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return osRtxConfig.tick_freq;
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}
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/// Get the RTOS kernel system timer count.
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/// \note API identical to osKernelGetSysTimerCount
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uint32_t svcRtxKernelGetSysTimerCount (void) {
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uint32_t count = osRtxSysTimerGetCount();
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EvrRtxKernelGetSysTimerCount(count);
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return count;
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}
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/// Get the RTOS kernel system timer frequency.
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/// \note API identical to osKernelGetSysTimerFreq
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uint32_t svcRtxKernelGetSysTimerFreq (void) {
|
|
uint32_t freq = osRtxSysTimerGetFreq();
|
|
EvrRtxKernelGetSysTimerFreq(freq);
|
|
return freq;
|
|
}
|
|
|
|
|
|
// ==== Public API ====
|
|
|
|
/// Initialize the RTOS Kernel.
|
|
osStatus_t osKernelInitialize (void) {
|
|
EvrRtxKernelInitialize();
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
return __svcKernelInitialize();
|
|
}
|
|
|
|
/// Get RTOS Kernel Information.
|
|
osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
|
|
EvrRtxKernelGetInfo(version, id_buf, id_size);
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
if (IS_PRIVILEGED()) {
|
|
return svcRtxKernelGetInfo(version, id_buf, id_size);
|
|
} else {
|
|
return __svcKernelGetInfo(version, id_buf, id_size);
|
|
}
|
|
}
|
|
|
|
/// Get the current RTOS Kernel state.
|
|
osKernelState_t osKernelGetState (void) {
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelGetState(osKernelError);
|
|
return osKernelError;
|
|
}
|
|
if (IS_PRIVILEGED()) {
|
|
return svcRtxKernelGetState();
|
|
} else {
|
|
return __svcKernelGetState();
|
|
}
|
|
}
|
|
|
|
/// Start the RTOS Kernel scheduler.
|
|
osStatus_t osKernelStart (void) {
|
|
EvrRtxKernelStart();
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
|
|
/* Call the pre-start event (from unprivileged mode) if the handler exists
|
|
* and the kernel is not running. */
|
|
/* FIXME osEventObs needs to be readable but not writable from unprivileged
|
|
* code. */
|
|
if (osKernelGetState() != osKernelRunning && osEventObs && osEventObs->pre_start) {
|
|
osEventObs->pre_start();
|
|
}
|
|
|
|
return __svcKernelStart();
|
|
}
|
|
|
|
/// Lock the RTOS Kernel scheduler.
|
|
int32_t osKernelLock (void) {
|
|
EvrRtxKernelLock();
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
return __svcKernelLock();
|
|
}
|
|
|
|
/// Unlock the RTOS Kernel scheduler.
|
|
int32_t osKernelUnlock (void) {
|
|
EvrRtxKernelUnlock();
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
return __svcKernelUnlock();
|
|
}
|
|
|
|
/// Restore the RTOS Kernel scheduler lock state.
|
|
int32_t osKernelRestoreLock (int32_t lock) {
|
|
EvrRtxKernelRestoreLock(lock);
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return osErrorISR;
|
|
}
|
|
return __svcKernelRestoreLock(lock);
|
|
}
|
|
|
|
/// Suspend the RTOS Kernel scheduler.
|
|
uint32_t osKernelSuspend (void) {
|
|
EvrRtxKernelSuspend();
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return 0U;
|
|
}
|
|
return __svcKernelSuspend();
|
|
}
|
|
|
|
/// Resume the RTOS Kernel scheduler.
|
|
void osKernelResume (uint32_t sleep_ticks) {
|
|
EvrRtxKernelResume(sleep_ticks);
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelError(osErrorISR);
|
|
return;
|
|
}
|
|
__svcKernelResume(sleep_ticks);
|
|
}
|
|
|
|
/// Get the RTOS kernel tick count.
|
|
uint64_t osKernelGetTickCount (void) {
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelGetTickCount(0U);
|
|
return 0U;
|
|
} else {
|
|
return __svcKernelGetTickCount();
|
|
}
|
|
}
|
|
|
|
/// Get the RTOS kernel tick frequency.
|
|
uint32_t osKernelGetTickFreq (void) {
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
EvrRtxKernelGetTickFreq(0U);
|
|
return 0U;
|
|
} else {
|
|
return __svcKernelGetTickFreq();
|
|
}
|
|
}
|
|
|
|
/// Get the RTOS kernel system timer count.
|
|
uint32_t osKernelGetSysTimerCount (void) {
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
return svcRtxKernelGetSysTimerCount();
|
|
} else {
|
|
return __svcKernelGetSysTimerCount();
|
|
}
|
|
}
|
|
|
|
/// Get the RTOS kernel system timer frequency.
|
|
uint32_t osKernelGetSysTimerFreq (void) {
|
|
if (IS_IRQ_MODE() || IS_IRQ_MASKED()) {
|
|
return svcRtxKernelGetSysTimerFreq();
|
|
} else {
|
|
return __svcKernelGetSysTimerFreq();
|
|
}
|
|
}
|