portTASK_FUNCTION(Timer_Task, pvParameters) {
sec = 3;
vTaskDelay(MSEC2TICK(3000) );
while (sec > 0) {
vTaskDelay(MSEC2TICK(1000) );
sec--;
}
}
static void accel_data_report_worker(void *arg)
{
struct sensor_accel_info *info;
struct report_info *rinfo;
struct report_info_data *rinfo_data;
struct sensor_event_data *event_data;
struct timespec ts;
uint16_t payload_size;
payload_size = (PRESSURE_READING_NUM * sizeof(struct sensor_event_data))
+ (REPORTING_SENSORS * sizeof(struct report_info));
info = arg;
if (info->callback) {
rinfo_data = malloc(sizeof(struct report_info_data) + payload_size);
if (!rinfo_data)
goto out;
rinfo_data->num_sensors_reporting = REPORTING_SENSORS;
rinfo = rinfo_data->reportinfo;
rinfo->id = info->sensor_id;
rinfo->flags = 0;
event_data = (struct sensor_event_data *)&rinfo->data_payload[0];
up_rtc_gettime(&ts);
rinfo->reference_time = timespec_to_nsec(&ts);
gb_debug("[%u.%03u]\n", ts.tv_sec, (ts.tv_nsec / 1000000));
#ifdef BATCH_PROCESS_ENABLED
/*
* Batch sensor data values and its time_deltas
* until max fifo event count
*/
#else
/* Single sensor event data */
rinfo->readings = PRESSURE_READING_NUM;
event_data->time_delta = 0;
event_data->data_value[0] = data++;
event_data->data_value[1] = data++;
event_data->data_value[2] = data++;
#endif
gb_debug("report sensor: %d\n", rinfo->id);
info->callback(info->sensor_id, rinfo_data, payload_size);
free(rinfo_data);
}
out:
/* cancel any work and reset ourselves */
if (!work_available(&info->data_report_work))
work_cancel(LPWORK, &info->data_report_work);
/* if not already scheduled, schedule start */
if (work_available(&info->data_report_work))
work_queue(LPWORK, &info->data_report_work, accel_data_report_worker, info, MSEC2TICK(1200));
}
void up_timer_initialize(void)
{
uint32_t tctl;
/* Make sure the timer interrupts are disabled */
up_disable_irq(IMX_IRQ_SYSTIMER);
/* Make sure that timer1 is disabled */
putreg32(0, IMX_TIMER1_TCTL);
putreg32(0, IMX_TIMER1_TPRER);
/* Select restart mode with source = PERCLK1. In restart mode, after
* the compare value is reached, the counter resets to 0x00000000, the
* compare event (COMP) bit of the timer status register is set, an
* interrupt is issued if the interrupt request enable (IRQEN) bit of
* the corresponding TCTL register is set, and the counter resumes
* counting.
*/
tctl = TCTL_CLKSOURCE_PERCLK1;
putreg32(tctl, IMX_TIMER1_TCTL);
/* The timer is driven by PERCLK1. Set prescaler for division by one
* so that the clock is driven at PERCLK1.
*
* putreg(0, IMX_TIMER1_TPRER); -- already the case
*
* Set the compare register so that the COMP interrupt is generated
* with a period of USEC_PER_TICK. The value IMX_PERCLK1_FREQ/1000
* (defined in board.h) is the number of counts in millisecond, so:
*/
putreg32(MSEC2TICK(IMX_PERCLK1_FREQ / 1000), IMX_TIMER1_TCMP);
/* Configure to provide timer COMP interrupts when TCN increments
* to TCMP.
*/
tctl |= TIMER_TCTL_IRQEN;
putreg32(tctl, IMX_TIMER1_TCTL);
/* Finally, enable the timer (be be the last operation on TCTL) */
tctl |= TIMER_TCTL_TEN;
putreg32(tctl, IMX_TIMER1_TCTL);
/* Attach and enable the timer interrupt */
irq_attach(IMX_IRQ_SYSTIMER, (xcpt_t)up_timerisr);
up_enable_irq(IMX_IRQ_SYSTIMER);
}
systime_t clock_systimer(void)
{
#ifdef CONFIG_SCHED_TICKLESS
# ifdef CONFIG_SYSTEM_TIME64
struct timespec ts;
/* Get the time from the platform specific hardware */
(void)up_timer_gettime(&ts);
/* Convert to a 64-bit value in microseconds, then in clock tick units */
return USEC2TICK(1000000 * (uint64_t)ts.tv_sec + (uint64_t)ts.tv_nsec / 1000);
# else /* CONFIG_SYSTEM_TIME64 */
struct timespec ts;
uint64_t tmp;
/* Get the time from the platform specific hardware */
(void)up_timer_gettime(&ts);
/* Convert to a 64- then a 32-bit value */
tmp = MSEC2TICK(1000 * (uint64_t)ts.tv_sec + (uint64_t)ts.tv_nsec / 1000000);
return (systime_t)(tmp & 0x00000000ffffffff);
# endif /* CONFIG_SYSTEM_TIME64 */
#else /* CONFIG_SCHED_TICKLESS */
# ifdef CONFIG_SYSTEM_TIME64
irqstate_t flags;
systime_t sample;
/* 64-bit accesses are not atomic on most architectures. */
flags = irqsave();
sample = g_system_timer;
irqrestore(flags);
return sample;
# else /* CONFIG_SYSTEM_TIME64 */
/* Return the current system time */
return g_system_timer;
# endif /* CONFIG_SYSTEM_TIME64 */
#endif /* CONFIG_SCHED_TICKLESS */
}
int poll(FAR struct pollfd *fds, nfds_t nfds, int timeout)
{
WDOG_ID wdog;
sem_t sem;
int count = 0;
int ret;
sem_init(&sem, 0, 0);
ret = poll_setup(fds, nfds, &sem);
if (ret >= 0)
{
if (timeout >= 0)
{
/* Wait for the poll event with a timeout. Note that the
* millisecond timeout has to be converted to system clock
* ticks for wd_start
*/
wdog = wd_create();
wd_start(wdog, MSEC2TICK(timeout), poll_timeout, 1, (uint32_t)&sem);
poll_semtake(&sem);
wd_delete(wdog);
}
else
{
/* Wait for the poll event with no timeout */
poll_semtake(&sem);
}
/* Teardown the poll operation and get the count of events */
ret = poll_teardown(fds, nfds, &count);
}
sem_destroy(&sem);
/* Check for errors */
if (ret < 0)
{
set_errno(-ret);
return ERROR;
}
return count;
}
/* schedule/cancel longpress event as needed */
static void ara_key_longpress_update(struct ara_key_context *key, bool active)
{
irqstate_t flags;
flags = irqsave();
if (active) {
/* if not already scheduled, schedule the longpress event */
if (work_available(&key->longpress_work))
work_queue(HPWORK, &key->longpress_work,
ara_key_longpress_worker, key,
MSEC2TICK(ARA_KEY_LONGPRESS_TIME_MS));
} else {
/* if key is released, cancel any pending longpress events */
if (!work_available(&key->longpress_work))
work_cancel(HPWORK, &key->longpress_work);
}
irqrestore(flags);
}
portTASK_FUNCTION(Item_Task, pvParameters ) {
int i,j;
u8 itemOnMap;
portTickType xLastWakeTime = xTaskGetTickCount();
portTickType rand;
PA_LoadSpritePal(DOWN_SCREEN, ITEM_PAL, (void*)ITEM_Pal);
while(1)
{
if(length<MAX_BODY_LENGTH)
{
int itemOnMap = FALSE;
for(i=0; i<MAX_MAP_X_LENGTH; i++)
for(j=0; j<MAX_MAP_Y_LENGTH; j++)
if(map[i][j].state==MAP_STATE_ITEM)
itemOnMap = TRUE;
if(itemOnMap==FALSE)
{
u8 x;
u8 y;
do{
x = xTaskGetTickCount()%MAX_MAP_X_LENGTH;
y = xTaskGetTickCount()%MAX_MAP_Y_LENGTH;
}while((map[x][y].state!=MAP_STATE_NULL)|| (x==1) || x==(MAX_MAP_X_LENGTH-2)
|| (y==1) || y==(MAX_MAP_Y_LENGTH-2));
map[x][y].state = MAP_STATE_ITEM;
PA_CreateSprite(DOWN_SCREEN, ITEM,
(void*)ITEM_Sprite, OBJ_SIZE_32X16,
TRUE, ITEM_PAL, map[x][y].x-8, map[x][y].y);
rand = xTaskGetTickCount();
rand = (rand%2)*2; //0 or 2
PA_StartSpriteAnim(DOWN_SCREEN, ITEM, rand, rand+1, 1);
map[x][y].itemSpriteNum = ITEM;
}
}
vTaskDelayUntil(&xLastWakeTime, MSEC2TICK(5555));
}
}
portTASK_FUNCTION(Screen_Task, pvParameters) {
PA_LoadSpritePal(UP_SCREEN, UPSCR_BODY_PAL, (void*) man_Pal);
PA_LoadSpritePal(UP_SCREEN, NUM_PAL, (void*) number_Pal);
PA_LoadSpritePal(UP_SCREEN, WORD_PAL, (void*) word_Pal);
PA_CreateSprite(UP_SCREEN, WORD, (void*) word_Sprite,
OBJ_SIZE_32X32, TRUE, WORD_PAL, 8, 22);
PA_CreateSprite(UP_SCREEN, WORD+1, (void*) word_Sprite,
OBJ_SIZE_32X32, TRUE, WORD_PAL, 40, 22);
PA_CreateSprite(UP_SCREEN, WORD+2, (void*) number_Sprite,
OBJ_SIZE_32X32, TRUE, NUM_PAL, 72, 22);
PA_CreateSprite(UP_SCREEN, WORD+3, (void*) number_Sprite,
OBJ_SIZE_32X32, TRUE, NUM_PAL, 97, 22);
PA_SetSpriteAnim (UP_SCREEN, WORD, 2);
PA_SetSpriteAnim (UP_SCREEN, WORD+1, 3);
PA_SetSpriteAnim (UP_SCREEN, WORD+2, MAX_BODY_LENGTH/10);
PA_SetSpriteAnim (UP_SCREEN, WORD+3, MAX_BODY_LENGTH%10);
PA_CreateSprite(UP_SCREEN, UPSCRBODY, (void*) man_Sprite,
OBJ_SIZE_16X32, TRUE, UPSCR_BODY_PAL, 12, 52);
PA_CreateSprite(UP_SCREEN, UPSCRNUM, (void*) number_Sprite,
OBJ_SIZE_32X32, TRUE, NUM_PAL, 30, 58);
PA_SetSpriteAnim (UP_SCREEN, UPSCRNUM, 10);
PA_CreateSprite(UP_SCREEN, UPSCRNUM+1, (void*) number_Sprite,
OBJ_SIZE_32X32, TRUE, NUM_PAL, 55, 58);
PA_CreateSprite(UP_SCREEN, UPSCRNUM+2, (void*) number_Sprite,
OBJ_SIZE_32X32, TRUE, NUM_PAL, 80, 58);
PA_StartSpriteAnim(UP_SCREEN,UPSCRBODY,8, 10, 3);
while (1) {
PA_SetSpriteAnim (UP_SCREEN, UPSCRNUM+1, length/10);
PA_SetSpriteAnim (UP_SCREEN, UPSCRNUM+2, length%10);
vTaskDelay(MSEC2TICK(100));
}
}
// 4*4 key matrix 입력을 6*6 입력으로 바꿈
// 기존의 key scan하는 방식과 동일
portTASK_FUNCTION(Puzzle_Key_Task, pvParameters)
{
// Variables
u8 key, scan = 0;
u8 key_pressed = FALSE;
while (1) {
if (!key_pressed) {
write_puzzle(0x20 >> scan);
key = scan * 6;
switch (read_puzzle()) {
case 32 : key += 1; break;
case 16 : key += 2; break;
case 8 : key += 3; break;
case 4 : key += 4; break;
case 2 : key += 5; break;
case 1 : key += 6; break;
default : key = 255; break;
}
scan++;
if (scan == 6)
scan = 0;
if (key <= 36) {
key_pressed = TRUE;
xQueueSend(KeyQueue, &key, 0);
}
}
if (key_pressed && (read_puzzle() == 0))
key_pressed = FALSE;
vTaskDelay(MSEC2TICK(25));
}
portTASK_FUNCTION(Unit_Task, pvParameters ) {
body bd[MAX_BODY_LENGTH];
int i;
u8 x = 5;
u8 y = 5;
unit.x = 5;
unit.y = 5;
u8 pfx;
u8 pfy;
u8 pfDirection;
u8 tempx;
u8 tempy;
u8 tempDirection;
unit.direction = D_DOWN;
portTickType xLastWakeTime = xTaskGetTickCount();
PA_LoadSpritePal(DOWN_SCREEN, C_PAL, (void*) C_Pal);
PA_LoadSpritePal(DOWN_SCREEN, BODY_PAL, (void*) man_Pal);
PA_CreateSprite(DOWN_SCREEN, C, (void*) C_Sprite, OBJ_SIZE_32X32, TRUE,
C_PAL, map[unit.x][unit.y].x-8, map[unit.x][unit.y].y-16);
while (1) {
x = unit.x;
y = unit.y;
switch (unit.direction) {
case D_UP:
y--;
break;
case D_DOWN:
y++;
break;
case D_LEFT:
x--;
break;
case D_RIGHT:
x++;
break;
default:
break;
}
if ((map[x][y].state == MAP_STATE_NULL)
|| (map[x][y].state == MAP_STATE_ITEM)) {
pfx = unit.x;
pfy = unit.y;
pfDirection = unit.direction;
if ((map[x][y].state == MAP_STATE_ITEM)) {
if (length < MAX_BODY_LENGTH) // to max length
{
length++;
fireCreate(map);
}
if (length == MAX_BODY_LENGTH)
{
dropshipCreate(map);
}
map[x][y].state = MAP_STATE_NULL;
PA_StopSpriteAnim(DOWN_SCREEN,map[x][y].itemSpriteNum);
PA_DeleteSprite(DOWN_SCREEN, map[x][y].itemSpriteNum);
PA_CreateSprite(DOWN_SCREEN, BODY + (length-1), (void*) man_Sprite,
OBJ_SIZE_16X32, TRUE, BODY_PAL, 0, 0);
}
unit.x = x;
unit.y = y;
PA_SetSpriteXY(DOWN_SCREEN, C, map[unit.x][unit.y].x - 8,
map[unit.x][unit.y].y - 16);
for (i = 0; i < length; i++) {
tempx = bd[i].x;
tempy = bd[i].y;
tempDirection = bd[i].direction;
map[tempx][tempy].state = MAP_STATE_NULL;
bd[i].x = pfx;
bd[i].y = pfy;
map[pfx][pfy].state = MAP_STATE_C_BODY;
bd[i].direction = pfDirection;
pfx = tempx;
pfy = tempy;
pfDirection = tempDirection;
PA_SetSpriteXY(DOWN_SCREEN, BODY + i, map[bd[i].x][bd[i].y].x,
(map[bd[i].x][bd[i].y].y)-16);
if(pfDirection!=bd[i].direction)
PA_StartSpriteAnim(DOWN_SCREEN, BODY + i, bd[i].direction, bd[i].direction+2, 7);
}
}
if((map[x][y].state == MAP_STATE_WALL) || map[x][y].state == MAP_STATE_C_BODY) //실패
{
AS_SoundQuickPlay(die);
PA_ResetSpriteSys ();
PA_ResetBgSysScreen (DOWN_SCREEN);
PA_LoadBackground(DOWN_SCREEN, 3, &FAILSCREEN);
vTaskSuspend(NULL);
}
if(map[x][y].state == MAP_STATE_EXIT) //클리어
{
PA_ResetSpriteSys ();
PA_ResetBgSysScreen (DOWN_SCREEN);
PA_LoadBackground(DOWN_SCREEN, 3, &CLEARSCREEN);
vTaskSuspend(NULL);
}
vTaskDelayUntil(&xLastWakeTime, MSEC2TICK(300-(length*10)) );
}
}
int sigtimedwait(FAR const sigset_t *set, FAR struct siginfo *info,
FAR const struct timespec *timeout)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
sigset_t intersection;
FAR sigpendq_t *sigpend;
irqstate_t saved_state;
int32_t waitticks;
int ret = ERROR;
DEBUGASSERT(rtcb->waitdog == NULL);
sched_lock(); /* Not necessary */
/* Several operations must be performed below: We must determine if any
* signal is pending and, if not, wait for the signal. Since signals can
* be posted from the interrupt level, there is a race condition that
* can only be eliminated by disabling interrupts!
*/
saved_state = irqsave();
/* Check if there is a pending signal corresponding to one of the
* signals in the pending signal set argument.
*/
intersection = *set & sig_pendingset(rtcb);
if (intersection != NULL_SIGNAL_SET)
{
/* One or more of the signals in intersections is sufficient to cause
* us to not wait. Pick the lowest numbered signal and mark it not
* pending.
*/
sigpend = sig_removependingsignal(rtcb, sig_lowest(&intersection));
ASSERT(sigpend);
/* Return the signal info to the caller if so requested */
if (info)
{
memcpy(info, &sigpend->info, sizeof(struct siginfo));
}
/* Then dispose of the pending signal structure properly */
sig_releasependingsignal(sigpend);
irqrestore(saved_state);
/* The return value is the number of the signal that awakened us */
ret = sigpend->info.si_signo;
}
/* We will have to wait for a signal to be posted to this task. */
else
{
/* Save the set of pending signals to wait for */
rtcb->sigwaitmask = *set;
/* Check if we should wait for the timeout */
if (timeout)
{
/* Convert the timespec to system clock ticks, making sure that
* the resulting delay is greater than or equal to the requested
* time in nanoseconds.
*/
#ifdef CONFIG_HAVE_LONG_LONG
uint64_t waitticks64 = ((uint64_t)timeout->tv_sec * NSEC_PER_SEC +
(uint64_t)timeout->tv_nsec + NSEC_PER_TICK - 1) /
NSEC_PER_TICK;
DEBUGASSERT(waitticks64 <= UINT32_MAX);
waitticks = (uint32_t)waitticks64;
#else
uint32_t waitmsec;
DEBUGASSERT(timeout->tv_sec < UINT32_MAX / MSEC_PER_SEC);
waitmsec = timeout->tv_sec * MSEC_PER_SEC +
(timeout->tv_nsec + NSEC_PER_MSEC - 1) / NSEC_PER_MSEC;
waitticks = MSEC2TICK(waitmsec);
#endif
/* Create a watchdog */
rtcb->waitdog = wd_create();
DEBUGASSERT(rtcb->waitdog);
if (rtcb->waitdog)
{
/* This little bit of nonsense is necessary for some
* processors where sizeof(pointer) < sizeof(uint32_t).
* see wdog.h.
*/
wdparm_t wdparm;
wdparm.pvarg = (FAR void *)rtcb;
/* Start the watchdog */
wd_start(rtcb->waitdog, waitticks, (wdentry_t)sig_timeout, 1,
wdparm.dwarg);
/* Now wait for either the signal or the watchdog */
up_block_task(rtcb, TSTATE_WAIT_SIG);
/* We no longer need the watchdog */
wd_delete(rtcb->waitdog);
rtcb->waitdog = NULL;
}
/* REVISIT: And do what if there are no watchdog timers? The wait
* will fail and we will return something bogus.
*/
}
/* No timeout, just wait */
else
{
/* And wait until one of the unblocked signals is posted */
up_block_task(rtcb, TSTATE_WAIT_SIG);
}
/* We are running again, clear the sigwaitmask */
rtcb->sigwaitmask = NULL_SIGNAL_SET;
/* When we awaken, the cause will be in the TCB. Get the signal number
* or timeout) that awakened us.
*/
if (GOOD_SIGNO(rtcb->sigunbinfo.si_signo))
{
/* We were awakened by a signal... but is it one of the signals that
* we were waiting for?
*/
if (sigismember(set, rtcb->sigunbinfo.si_signo))
{
/* Yes.. the return value is the number of the signal that
* awakened us.
*/
ret = rtcb->sigunbinfo.si_signo;
}
else
{
/* No... then set EINTR and report an error */
set_errno(EINTR);
ret = ERROR;
}
}
else
{
/* Otherwise, we must have been awakened by the timeout. Set EGAIN
* and return an error.
*/
DEBUGASSERT(rtcb->sigunbinfo.si_signo == SIG_WAIT_TIMEOUT);
set_errno(EAGAIN);
ret = ERROR;
}
/* Return the signal info to the caller if so requested */
if (info)
{
memcpy(info, &rtcb->sigunbinfo, sizeof(struct siginfo));
}
irqrestore(saved_state);
}
sched_unlock();
return ret;
}
void up_unblock_task(struct tcb_s *tcb)
{
struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
/* Verify that the context switch can be performed */
ASSERT((tcb->task_state >= FIRST_BLOCKED_STATE) &&
(tcb->task_state <= LAST_BLOCKED_STATE));
/* Remove the task from the blocked task list */
sched_removeblocked(tcb);
/* Reset its timeslice. This is only meaningful for round
* robin tasks but it doesn't here to do it for everything
*/
#if CONFIG_RR_INTERVAL > 0
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
#endif
/* Add the task in the correct location in the prioritized
* g_readytorun task list
*/
if (sched_addreadytorun(tcb))
{
/* The currently active task has changed! We need to do
* a context switch to the new task.
*
* Are we in an interrupt handler?
*/
if (current_regs)
{
/* Yes, then we have to do things differently.
* Just copy the current_regs into the OLD rtcb.
*/
up_savestate(rtcb->xcp.regs);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (struct tcb_s*)g_readytorun.head;
/* Then switch contexts. Any necessary address environment
* changes will be made when the interrupt returns.
*/
up_restorestate(rtcb->xcp.regs);
}
/* No, then we will need to perform the user context switch */
else
{
/* Restore the exception context of the new task that is ready to
* run (probably tcb). This is the new rtcb at the head of the
* g_readytorun task list.
*/
struct tcb_s *nexttcb = (struct tcb_s*)g_readytorun.head;
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(nexttcb);
#endif
/* Then switch contexts */
up_switchcontext(rtcb->xcp.regs, nexttcb->xcp.regs);
/* up_switchcontext forces a context switch to the task at the
* head of the ready-to-run list. It does not 'return' in the
* normal sense. When it does return, it is because the blocked
* task is again ready to run and has execution priority.
*/
}
}
}
void up_unblock_task(struct tcb_s *tcb)
{
struct tcb_s *rtcb = (struct tcb_s*)g_readytorun.head;
/* Verify that the context switch can be performed */
ASSERT((tcb->task_state >= FIRST_BLOCKED_STATE) &&
(tcb->task_state <= LAST_BLOCKED_STATE));
/* Remove the task from the blocked task list */
sched_removeblocked(tcb);
/* Reset its timeslice. This is only meaningful for round
* robin tasks but it doesn't here to do it for everything
*/
#if CONFIG_RR_INTERVAL > 0
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
#endif
/* Add the task in the correct location in the prioritized
* g_readytorun task list
*/
if (sched_addreadytorun(tcb))
{
/* The currently active task has changed! We need to do
* a context switch to the new task.
*
* Are we in an interrupt handler?
*/
if (current_regs)
{
/* Yes, then we have to do things differently.
* Just copy the current_regs into the OLD rtcb.
*/
up_savestate(rtcb->xcp.regs);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (struct tcb_s*)g_readytorun.head;
/* Then switch contexts */
up_restorestate(rtcb->xcp.regs);
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(rtcb);
#endif
}
/* We are not in an interrupt handler. Copy the user C context
* into the TCB of the task that was previously active. if
* up_saveusercontext returns a non-zero value, then this is really the
* previously running task restarting!
*/
else if (!up_saveusercontext(rtcb->xcp.regs))
{
/* Restore the exception context of the new task that is ready to
* run (probably tcb). This is the new rtcb at the head of the
* g_readytorun task list.
*/
rtcb = (struct tcb_s*)g_readytorun.head;
#ifdef CONFIG_ARCH_ADDRENV
/* Make sure that the address environment for the previously
* running task is closed down gracefully (data caches dump,
* MMU flushed) and set up the address environment for the new
* thread at the head of the ready-to-run list.
*/
(void)group_addrenv(rtcb);
#endif
/* Then switch contexts */
up_fullcontextrestore(rtcb->xcp.regs);
}
}
}
portTASK_FUNCTION(Key_Task, pvParameters) {
vTaskDelay(MSEC2TICK(1000000) );
}
void up_unblock_task(FAR struct tcb_s *tcb)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* Verify that the context switch can be performed */
ASSERT((tcb->task_state >= FIRST_BLOCKED_STATE) &&
(tcb->task_state <= LAST_BLOCKED_STATE));
/* dbg("Unblocking TCB=%p\n", tcb); */
/* Remove the task from the blocked task list */
sched_removeblocked(tcb);
/* Reset its timeslice. This is only meaningful for round
* robin tasks but it doesn't here to do it for everything
*/
#if CONFIG_RR_INTERVAL > 0
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
#endif
/* Add the task in the correct location in the prioritized
* g_readytorun task list
*/
if (sched_addreadytorun(tcb))
{
/* The currently active task has changed! We need to do
* a context switch to the new task.
*
* Are we in an interrupt handler?
*/
if (IN_INTERRUPT)
{
/* Yes, then we have to do things differently.
* Just copy the current context into the OLD rtcb.
*/
SAVE_IRQCONTEXT(rtcb);
/* Restore the exception context of the rtcb at the (new) head
* of the g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then setup so that the context will be performed on exit
* from the interrupt.
*/
SET_IRQCONTEXT(rtcb);
}
/* We are not in an interrupt handler. Copy the user C context
* into the TCB of the task that was previously active. if
* SAVE_USERCONTEXT returns a non-zero value, then this is really the
* previously running task restarting!
*/
else if (!SAVE_USERCONTEXT(rtcb))
{
/* Restore the exception context of the new task that is ready to
* run (probably tcb). This is the new rtcb at the head of the
* g_readytorun task list.
*/
rtcb = (FAR struct tcb_s*)g_readytorun.head;
/* dbg("New Active Task TCB=%p\n", rtcb); */
/* Then switch contexts */
RESTORE_USERCONTEXT(rtcb);
}
}
}
int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
pthread_startroutine_t start_routine, pthread_addr_t arg)
{
FAR struct pthread_tcb_s *ptcb;
FAR struct join_s *pjoin;
struct sched_param param;
int policy;
int errcode;
pid_t pid;
int ret;
#ifdef HAVE_TASK_GROUP
bool group_joined = false;
#endif
/* If attributes were not supplied, use the default attributes */
if (!attr)
{
attr = &g_default_pthread_attr;
}
/* Allocate a TCB for the new task. */
ptcb = (FAR struct pthread_tcb_s *)kmm_zalloc(sizeof(struct pthread_tcb_s));
if (!ptcb)
{
sdbg("ERROR: Failed to allocate TCB\n");
return ENOMEM;
}
#ifdef HAVE_TASK_GROUP
/* Bind the parent's group to the new TCB (we have not yet joined the
* group).
*/
ret = group_bind(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_tcb;
}
#endif
#ifdef CONFIG_ARCH_ADDRENV
/* Share the address environment of the parent task group. */
ret = up_addrenv_attach(ptcb->cmn.group,
(FAR struct tcb_s *)g_readytorun.head);
if (ret < 0)
{
errcode = -ret;
goto errout_with_tcb;
}
#endif
/* Allocate a detachable structure to support pthread_join logic */
pjoin = (FAR struct join_s *)kmm_zalloc(sizeof(struct join_s));
if (!pjoin)
{
sdbg("ERROR: Failed to allocate join\n");
errcode = ENOMEM;
goto errout_with_tcb;
}
/* Allocate the stack for the TCB */
ret = up_create_stack((FAR struct tcb_s *)ptcb, attr->stacksize,
TCB_FLAG_TTYPE_PTHREAD);
if (ret != OK)
{
errcode = ENOMEM;
goto errout_with_join;
}
/* Should we use the priority and scheduler specified in the pthread
* attributes? Or should we use the current thread's priority and
* scheduler?
*/
if (attr->inheritsched == PTHREAD_INHERIT_SCHED)
{
/* Get the priority (and any other scheduling parameters) for this
* thread.
*/
ret = sched_getparam(0, ¶m);
if (ret == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
/* Get the scheduler policy for this thread */
policy = sched_getscheduler(0);
if (policy == ERROR)
{
errcode = get_errno();
goto errout_with_join;
}
}
else
{
/* Use the scheduler policy and policy the attributes */
policy = attr->policy;
param.sched_priority = attr->priority;
#ifdef CONFIG_SCHED_SPORADIC
param.sched_ss_low_priority = attr->low_priority;
param.sched_ss_max_repl = attr->max_repl;
param.sched_ss_repl_period.tv_sec = attr->repl_period.tv_sec;
param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
param.sched_ss_init_budget.tv_sec = attr->budget.tv_sec;
param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
#endif
}
#ifdef CONFIG_SCHED_SPORADIC
if (policy == SCHED_SPORADIC)
{
FAR struct sporadic_s *sporadic;
int repl_ticks;
int budget_ticks;
/* Convert timespec values to system clock ticks */
(void)clock_time2ticks(¶m.sched_ss_repl_period, &repl_ticks);
(void)clock_time2ticks(¶m.sched_ss_init_budget, &budget_ticks);
/* The replenishment period must be greater than or equal to the
* budget period.
*/
if (repl_ticks < budget_ticks)
{
errcode = EINVAL;
goto errout_with_join;
}
/* Initialize the sporadic policy */
ret = sched_sporadic_initialize(&ptcb->cmn);
if (ret >= 0)
{
sporadic = ptcb->cmn.sporadic;
DEBUGASSERT(sporadic != NULL);
/* Save the sporadic scheduling parameters */
sporadic->hi_priority = param.sched_priority;
sporadic->low_priority = param.sched_ss_low_priority;
sporadic->max_repl = param.sched_ss_max_repl;
sporadic->repl_period = repl_ticks;
sporadic->budget = budget_ticks;
/* And start the first replenishment interval */
ret = sched_sporadic_start(&ptcb->cmn);
}
/* Handle any failures */
if (ret < 0)
{
errcode = -ret;
goto errout_with_join;
}
}
#endif
/* Initialize the task control block */
ret = pthread_schedsetup(ptcb, param.sched_priority, pthread_start,
start_routine);
if (ret != OK)
{
errcode = EBUSY;
goto errout_with_join;
}
/* Configure the TCB for a pthread receiving on parameter
* passed by value
*/
pthread_argsetup(ptcb, arg);
#ifdef HAVE_TASK_GROUP
/* Join the parent's task group */
ret = group_join(ptcb);
if (ret < 0)
{
errcode = ENOMEM;
goto errout_with_join;
}
group_joined = true;
#endif
/* Attach the join info to the TCB. */
ptcb->joininfo = (FAR void *)pjoin;
/* Set the appropriate scheduling policy in the TCB */
ptcb->cmn.flags &= ~TCB_FLAG_POLICY_MASK;
switch (policy)
{
default:
DEBUGPANIC();
case SCHED_FIFO:
ptcb->cmn.flags |= TCB_FLAG_SCHED_FIFO;
break;
#if CONFIG_RR_INTERVAL > 0
case SCHED_RR:
ptcb->cmn.flags |= TCB_FLAG_SCHED_RR;
ptcb->cmn.timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
break;
#endif
#ifdef CONFIG_SCHED_SPORADIC
case SCHED_SPORADIC:
ptcb->cmn.flags |= TCB_FLAG_SCHED_SPORADIC;
break;
#endif
#if 0 /* Not supported */
case SCHED_OTHER:
ptcb->cmn.flags |= TCB_FLAG_SCHED_OTHER;
break;
#endif
}
/* Get the assigned pid before we start the task (who knows what
* could happen to ptcb after this!). Copy this ID into the join structure
* as well.
*/
pid = (int)ptcb->cmn.pid;
pjoin->thread = (pthread_t)pid;
/* Initialize the semaphores in the join structure to zero. */
ret = sem_init(&pjoin->data_sem, 0, 0);
if (ret == OK)
{
ret = sem_init(&pjoin->exit_sem, 0, 0);
}
/* Activate the task */
sched_lock();
if (ret == OK)
{
ret = task_activate((FAR struct tcb_s *)ptcb);
}
if (ret == OK)
{
/* Wait for the task to actually get running and to register
* its join structure.
*/
(void)pthread_takesemaphore(&pjoin->data_sem);
/* Return the thread information to the caller */
if (thread)
{
*thread = (pthread_t)pid;
}
if (!pjoin->started)
{
ret = EINVAL;
}
sched_unlock();
(void)sem_destroy(&pjoin->data_sem);
}
else
{
sched_unlock();
dq_rem((FAR dq_entry_t *)ptcb, (FAR dq_queue_t *)&g_inactivetasks);
(void)sem_destroy(&pjoin->data_sem);
(void)sem_destroy(&pjoin->exit_sem);
errcode = EIO;
goto errout_with_join;
}
return ret;
errout_with_join:
sched_kfree(pjoin);
ptcb->joininfo = NULL;
errout_with_tcb:
#ifdef HAVE_TASK_GROUP
/* Clear group binding */
if (ptcb && !group_joined)
{
ptcb->cmn.group = NULL;
}
#endif
sched_releasetcb((FAR struct tcb_s *)ptcb, TCB_FLAG_TTYPE_PTHREAD);
return errcode;
}
static int ft80x_fade(FAR struct ft80x_dev_s *priv,
FAR const struct ft80x_fade_s *fade)
{
systime_t start;
systime_t elapsed;
int32_t delay;
int32_t duty;
int16_t endduty;
int16_t delta;
/* 0% corresponds to the value 0, but 100% corresponds to the value 128 */
endduty = (uint16_t)((uint16_t)fade->duty << 7) / 100;
/* Get the change in duty from the current to the terminal duty. */
duty = (int32_t)(ft80x_read_byte(priv, FT80X_REG_PWM_DUTY) & 0x7f);
delta = endduty - (int16_t)duty;
/* The "smoothness" of the steps will depend on the resolution of the
* system timer. The minimum delay is <= 2 * system_clock_period.
*
* We will try for a FADE_STEP_MSEC delay, but we will try to adapt to
* whatever we get is we are working close the system time resolution.
* For human factors reasons, any delay less than 100 MS or so should
* appear more or less smooth.
*
* The delay calculation should never overflow:
*
* Max delay: 16,700 msec (MAX_FADE_DELAY)
* Min clock period: 1 usec
* Max delay: 16,700,000 ticks
* INT32_MAX 2,147,483,647
*/
delay = MSEC2TICK((int32_t)fade->delay);
if (delay <= 0)
{
delay = 1;
}
start = clock_systimer();
do
{
/* Wait for FADE_STEP_MSEC msec (or whatever we get) */
(void)nxsig_usleep(FADE_STEP_MSEC * 1000);
/* Get the elapsed time */
elapsed = clock_systimer() - start;
if (elapsed > INT32_MAX || (int32_t)elapsed >= delay)
{
duty = endduty;
}
else
{
/* Interpolate to get the next PWM duty in the fade. This
* calculation should never overflow:
*
* Max delta: 128
* Max elapsed: 16,700,000 ticks
* Max numerator: 2,137,600,000
* Min denominator: 1
* Max duty: 2,137,600,000
* INT32_MAX 2,147,483,647
*/
duty += ((int32_t)delta * (int32_t)elapsed) / delay;
if (duty > 128)
{
duty = 128;
}
else if (duty < 0)
{
duty = 0;
}
}
/* The set the new backlight PWM duty */
ft80x_write_byte(priv, FT80X_REG_PWM_DUTY, (uint8_t)duty);
}
while (duty != endduty);
return OK;
}
int sched_setscheduler(pid_t pid, int policy,
const struct sched_param *param)
{
FAR struct tcb_s *tcb;
#if CONFIG_RR_INTERVAL > 0
irqstate_t saved_state;
#endif
int ret;
/* Check for supported scheduling policy */
#if CONFIG_RR_INTERVAL > 0
if (policy != SCHED_FIFO && policy != SCHED_RR)
#else
if (policy != SCHED_FIFO)
#endif
{
set_errno(EINVAL);
return ERROR;
}
/* Check if the task to modify the calling task */
if (pid == 0 )
{
pid = getpid();
}
/* Verify that the pid corresponds to a real task */
tcb = sched_gettcb(pid);
if (!tcb)
{
set_errno(ESRCH);
return ERROR;
}
/* Prohibit any context switches while we muck with priority and scheduler
* settings.
*/
sched_lock();
#if CONFIG_RR_INTERVAL > 0
/* Further, disable timer interrupts while we set up scheduling policy. */
saved_state = irqsave();
if (policy == SCHED_RR)
{
/* Set round robin scheduling */
tcb->flags |= TCB_FLAG_ROUND_ROBIN;
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
}
else
{
/* Set FIFO scheduling */
tcb->flags &= ~TCB_FLAG_ROUND_ROBIN;
tcb->timeslice = 0;
}
irqrestore(saved_state);
#endif
/* Set the new priority */
ret = sched_reprioritize(tcb, param->sched_priority);
sched_unlock();
if (ret != OK)
{
return ERROR;
}
else
{
return OK;
}
}
int sched_unlock(void)
{
FAR struct tcb_s *rtcb = (FAR struct tcb_s *)g_readytorun.head;
/* Check for some special cases: (1) rtcb may be NULL only during
* early boot-up phases, and (2) sched_unlock() should have no
* effect if called from the interrupt level.
*/
if (rtcb && !up_interrupt_context())
{
/* Prevent context switches throughout the following */
irqstate_t flags = irqsave();
/* Decrement the preemption lock counter */
if (rtcb->lockcount)
{
rtcb->lockcount--;
}
/* Check if the lock counter has decremented to zero. If so,
* then pre-emption has been re-enabled.
*/
if (rtcb->lockcount <= 0)
{
rtcb->lockcount = 0;
/* Release any ready-to-run tasks that have collected in
* g_pendingtasks.
*/
if (g_pendingtasks.head)
{
up_release_pending();
}
#if CONFIG_RR_INTERVAL > 0
/* If (1) the task that was running supported round-robin
* scheduling and (2) if its time slice has already expired, but
* (3) it could not slice out because pre-emption was disabled,
* then we need to swap the task out now and reassess the interval
* timer for the next time slice.
*/
if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_RR &&
rtcb->timeslice == 0)
{
/* Yes.. that is the situation. But one more thing. The call
* to up_release_pending() above may have actually replaced
* the task at the head of the read-to-run list. In that case,
* we need only to reset the timeslice value back to the
* maximum.
*/
if (rtcb != (FAR struct tcb_s *)g_readytorun.head)
{
rtcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
}
#ifdef CONFIG_SCHED_TICKLESS
else
{
sched_timer_reassess();
}
#endif
}
#endif
#ifdef CONFIG_SCHED_SPORADIC
#if CONFIG_RR_INTERVAL > 0
else
#endif
/* If (1) the task that was running supported sporadic scheduling
* and (2) if its budget slice has already expired, but (3) it
* could not slice out because pre-emption was disabled, then we
* need to swap the task out now and reassess the interval timer
* for the next time slice.
*/
if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC &&
rtcb->timeslice < 0)
{
/* Yes.. that is the situation. Force the low-priority state
* now
*/
sched_sporadic_lowpriority(rtcb);
#ifdef CONFIG_SCHED_TICKLESS
/* Make sure that the call to up_release_pending() did not
* change the currently active task.
*/
if (rtcb == (FAR struct tcb_s *)g_readytorun.head)
{
sched_timer_reassess();
}
#endif
}
#endif
}
irqrestore(flags);
}
return OK;
}
uint32_t sched_roundrobin_process(FAR struct tcb_s *tcb, uint32_t ticks,
bool noswitches)
{
uint32_t ret;
int decr;
/* How much can we decrement the timeslice delay? If 'ticks' is greater
* than the timeslice value, then we ignore any excess amount.
*
* 'ticks' should never be greater than the remaining timeslice. We try
* to handle that gracefully but it would be an error in the scheduling
* if there ever were the case.
*/
DEBUGASSERT(tcb != NULL && ticks <= tcb->timeslice);
decr = MIN(tcb->timeslice, ticks);
/* Decrement the timeslice counter */
tcb->timeslice -= decr;
/* Did decrementing the timeslice counter cause the timeslice to expire?
*
* If the task has pre-emption disabled. Then we will let the timeslice
* count go negative as a indication of this situation.
*/
ret = tcb->timeslice;
if (tcb->timeslice <= 0 && tcb->lockcount == 0)
{
/* We will also suppress context switches if we were called via one
* of the unusual cases handled by sched_timer_reasses(). In that
* case, we will return a value of one so that the timer will expire
* as soon as possible and we can perform this action in the normal
* timer expiration context.
*
* This is kind of kludge, but I am not to concerned because I hope
* that the situation is impossible or at least could only occur on
* rare corner-cases.
*/
if (noswitches)
{
ret = 1;
}
else
{
/* Reset the timeslice. */
tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
ret = tcb->timeslice;
/* We know we are at the head of the ready to run prioritized
* list. We must be the highest priority task eligible for
* execution. Check the next task in the ready to run list. If
* it is the same priority, then we need to relinquish the CPU and
* give that task a shot.
*/
if (tcb->flink &&
tcb->flink->sched_priority >= tcb->sched_priority)
{
/* Just resetting the task priority to its current value.
* This this will cause the task to be rescheduled behind any
* other tasks at the same priority.
*/
up_reprioritize_rtr(tcb, tcb->sched_priority);
}
}
}
return ret;
}
