/* NOTE: disarm a timer (no harm in disarming an already disarmed timer) */
uint8_t QTimeEvt_disarm(QTimeEvt * const me) {
uint8_t wasArmed;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (me->ctr != (QTimeEvtCtr)0) { /* is the time evt running? */
wasArmed = (uint8_t)1;
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_DISARM, QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the target AO */
QS_TEC_(me->ctr); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_U8_((uint8_t)(me->super.refCtr_ & (uint8_t)0x7F));/*tick rate*/
QS_END_NOCRIT_()
me->ctr = (QTimeEvtCtr)0; /* schedule removal from the list */
}
else { /* the time event was already not running */
wasArmed = (uint8_t)0;
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_DISARM_ATTEMPT,
QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the target AO */
QS_U8_((uint8_t)(me->super.refCtr_ & (uint8_t)0x7F));/*tick rate*/
QS_END_NOCRIT_()
}
QF_CRIT_EXIT_();
return wasArmed;
}
/*..........................................................................*/
QEvent const *QEQueue_get(QEQueue *me) {
QEvent const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (me->frontEvt == (QEvent *)0) { /* is the queue empty? */
e = (QEvent *)0; /* no event available at this time */
}
else { /* the queue is not empty */
e = me->frontEvt;
if (me->nFree != me->end) { /* any events in the ring buffer? */
me->frontEvt = QF_PTR_AT_(me->ring, me->tail); /* get from tail */
if (me->tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->tail = me->end; /* wrap around */
}
--me->tail;
++me->nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOCRIT_(QS_QF_EQUEUE_GET, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(QF_EVT_POOL_ID_(e)); /* the pool Id of the event */
QS_U8_(QF_EVT_REF_CTR_(e)); /* the ref count of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_END_NOCRIT_()
}
else {
/* NOTE: the QK scheduler is entered and exited with interrupts DISABLED */
void QK_sched_(uint8_t p) {
uint8_t pin = QK_currPrio_; /* save the initial priority */
QActive *a;
#ifdef QK_TLS /* thread-local storage used? */
uint8_t pprev = pin;
#endif
do {
QEvt const *e;
a = QF_active_[p]; /* obtain the pointer to the AO */
QK_currPrio_ = p; /* this becomes the current task priority */
#ifdef QK_TLS /* thread-local storage used? */
if (p != pprev) { /* are we changing threads? */
QK_TLS(a); /* switch new thread-local storage */
pprev = p;
}
#endif
QS_BEGIN_NOCRIT_(QS_QK_SCHEDULE, QS_priv_.aoObjFilter, a)
QS_TIME_(); /* timestamp */
QS_U8_(p); /* the priority of the AO */
QS_U8_(pin); /* the preempted priority */
QS_END_NOCRIT_()
QF_INT_ENABLE(); /* unconditionally enable interrupts */
e = QActive_get_(a); /* get the next event for this AO */
QMSM_DISPATCH(&a->super, e); /* dispatch to the AO */
QF_gc(e); /* garbage collect the event, if necessary */
QF_INT_DISABLE(); /* disable interrupts */
#if (QF_MAX_ACTIVE <= 8) /* new highest-prio AO ready to run */
QPSet8_findMax(&QK_readySet_, p);
#else
QPSet64_findMax(&QK_readySet_, p);
#endif
if (p <= pin) { /* below the current preemption threshold? */
p = (uint8_t)0;
}
#ifndef QK_NO_MUTEX
else if (p <= QK_ceilingPrio_) { /* below the mutex ceiling? */
p = (uint8_t)0;
}
else {
/* empty */
}
#endif
} while (p != (uint8_t)0);
QK_currPrio_ = pin; /* restore the initial priority */
#ifdef QK_TLS /* thread-local storage used? */
if (pin != (uint8_t)0) { /* no extended context for the idle loop */
a = QF_active_[pin]; /* the pointer to the preempted AO */
QK_TLS(a); /* restore the original TLS */
}
#endif
}
QP_BEGIN_
//Q_DEFINE_THIS_MODULE("qeq_get")
//............................................................................
QEvt const *QEQueue::get(void) {
QEvt const *e;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (m_frontEvt == null_evt) { // is the queue empty?
e = null_evt; // no event available at this time
}
else {
e = m_frontEvt;
if (m_nFree != m_end) { // any events in the the ring buffer?
m_frontEvt = QF_PTR_AT_(m_ring, m_tail); // remove from the tail
if (m_tail == static_cast<QEQueueCtr>(0)) { // need to wrap?
m_tail = m_end; // wrap around
}
--m_tail;
++m_nFree; // one more free event in the ring buffer
QS_BEGIN_NOCRIT_(QS_QF_EQUEUE_GET, QS::eqObj_, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this queue object
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_EQC_(m_nFree); // number of free entries
QS_END_NOCRIT_()
}
else {
void QActive_postFIFO(QActive *me, QEvent const *e) {
#else
void QActive_postFIFO(QActive *me, QEvent const *e, void const *sender) {
#endif
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_POST_FIFO, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(sender); /* the sender object */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this active object (recipient) */
QS_U8_(EVT_POOL_ID(e)); /* the pool Id of the event */
QS_U8_(EVT_REF_CTR(e)); /* the ref count of the event */
QS_EQC_(0); /* number of free entries (unknown) */
QS_EQC_(0); /* min number of free entries (unknown) */
QS_END_NOLOCK_()
if (EVT_POOL_ID(e) != (uint8_t)0) { /* is it a pool event? */
EVT_INC_REF_CTR(e); /* increment the reference counter */
}
QF_INT_UNLOCK_();
Q_ALLEGE(OSQPost((OS_EVENT *)me->eQueue, (void *)e) == OS_NO_ERR);
}
uint8_t QS_onStartup(void const *arg)
{
qsBuf = kmalloc(QS_SPY_SIZE, GFP_KERNEL);
if (qsBuf == NULL)
return 0;
QS_initBuf(qsBuf, QS_SPY_SIZE);
QS_FILTER_ON(QS_ALL_RECORDS);
QS_FILTER_OFF(QS_QF_TICK);
QS_BEGIN_NOCRIT_(QS_QEP_RESERVED0, (void *)0, (void *)0)
QS_U8_(QS_TIME_SIZE);
QS_U8_(QS_OBJ_PTR_SIZE);
QS_U8_(QS_FUN_PTR_SIZE);
QS_U8_(Q_SIGNAL_SIZE);
QS_U8_(QF_EQUEUE_CTR_SIZE);
QS_U8_(QF_EQUEUE_CTR_SIZE);
QS_U8_(QF_MPOOL_CTR_SIZE);
QS_U8_(QF_MPOOL_SIZ_SIZE);
QS_U8_(QF_TIMEEVT_CTR_SIZE);
QS_END_NOCRIT_();
return 1;
}
/*..........................................................................*/
QEvent const *QActive_get_(QActive *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QACTIVE_EQUEUE_WAIT_(me); /* wait for event to arrive directly
^#defined as: Q_ASSERT((me_)->eQueue.frontEvt != (QEvent *)0) */
e = me->eQueue.frontEvt;
if (me->eQueue.nFree != me->eQueue.end) { /* any events in the buffer? */
/* remove event from the tail */
me->eQueue.frontEvt = me->eQueue.ring[me->eQueue.tail];
if (me->eQueue.tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->eQueue.tail = me->eQueue.end; /* wrap around */
}
--me->eQueue.tail;
++me->eQueue.nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->eQueue.nFree); /* number of free entries */
QS_END_NOLOCK_()
}
/*..........................................................................*/
QEvent const *QEQueue_get(QEQueue *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
if (me->frontEvt == (QEvent *)0) { /* is the queue empty? */
e = (QEvent const *)0; /* no event available at this time */
}
else { /* the queue is not empty */
e = me->frontEvt;
if (me->nFree != me->end) { /* any events in the ring buffer? */
me->frontEvt = me->ring[me->tail]; /* remove from the tail */
if (me->tail == (QEQueueCtr)0) { /* need to wrap the tail? */
me->tail = me->end; /* wrap around */
}
--me->tail;
++me->nFree; /* one more free event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_EQUEUE_GET, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_END_NOLOCK_()
}
else {
/*..........................................................................*/
uint8_t QTimeEvt_rearm(QTimeEvt * const me, QTimeEvtCtr const nTicks) {
uint8_t isArmed;
QF_CRIT_STAT_
Q_REQUIRE((nTicks != (QTimeEvtCtr)0) /* cannot arm a timer with 0 ticks */
&& (me->act != (QActive *)0) /* active object must be valid */
&& (me->super.sig >= (QSignal)Q_USER_SIG)); /* valid signal */
QF_CRIT_ENTRY_();
if (me->ctr == (QTimeEvtCtr)0) { /* is the time evt disarmed? */
isArmed = (uint8_t)0;
if (QF_EVT_REF_CTR_(&me->super) == (uint8_t)0) { /* not linked? */
me->next = QF_timeEvtListHead_;
QF_timeEvtListHead_ = me;
QF_EVT_REF_CTR_INC_(&me->super); /* mark as linked */
}
}
else { /* the time event is armed */
isArmed = (uint8_t)1;
}
me->ctr = nTicks; /* re-load the tick counter (shift the phasing) */
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_REARM, QS_teObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the active object */
QS_TEC_(me->ctr); /* the number of ticks */
QS_TEC_(me->interval); /* the interval */
QS_U8_(isArmed); /* was the timer armed? */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
return isArmed;
}
/*..........................................................................*/
QMutex QK_mutexLock(uint8_t prioCeiling) {
uint8_t mutex;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
mutex = QK_ceilingPrio_; /* the original QK priority ceiling to return */
if (QK_ceilingPrio_ < prioCeiling) {
QK_ceilingPrio_ = prioCeiling; /* raise the QK priority ceiling */
}
QS_BEGIN_NOCRIT_(QS_QK_MUTEX_LOCK, (void *)0, (void *)0)
QS_TIME_(); /* timestamp */
QS_U8_(mutex); /* the original priority */
QS_U8_(QK_ceilingPrio_); /* the current priority ceiling */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
return mutex;
}
/*..........................................................................*/
QEvent const *QActive_get_(QActive *me) {
INT8U err;
QEvent const *e = (QEvent *)OSQPend((OS_EVENT *)me->eQueue, 0, &err);
QS_INT_LOCK_KEY_
Q_ASSERT(err == OS_NO_ERR);
QS_BEGIN_(QS_QF_ACTIVE_GET, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(EVT_POOL_ID(e)); /* the pool Id of the event */
QS_U8_(EVT_REF_CTR(e)); /* the ref count of the event */
QS_EQC_(0); /* number of free entries (unknown) */
QS_END_()
return e;
}
void QActive_postFIFO(QActive *me, QEvent const *e) {
#else
void QActive_postFIFO(QActive *me, QEvent const *e, void const *sender) {
#endif
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_POST_FIFO, QS_aoObj_, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(sender); /* the sender object */
QS_SIG_(e->sig); /* the signal of the event */
QS_OBJ_(me); /* this active object (recipient) */
QS_U8_(EVT_POOL_ID(e)); /* the pool Id of the event */
QS_U8_(EVT_REF_CTR(e)); /* the ref count of the event */
QS_EQC_(me->eQueue.nFree); /* number of free entries */
QS_EQC_(me->eQueue.nMin); /* min number of free entries */
QS_END_NOLOCK_()
if (EVT_POOL_ID(e) != (uint8_t)0) { /* is it a pool event? */
EVT_INC_REF_CTR(e); /* increment the reference counter */
}
if (me->eQueue.frontEvt == (QEvent *)0) { /* empty queue? */
me->eQueue.frontEvt = e; /* deliver event directly */
QACTIVE_EQUEUE_SIGNAL_(me); /* signal the event queue */
}
else { /* queue is not empty, insert event into the ring-buffer */
/* the queue must be able to accept the event (cannot overflow) */
Q_ASSERT(me->eQueue.nFree != (QEQueueCtr)0);
/* insert event into the ring buffer (FIFO) */
me->eQueue.ring[me->eQueue.head] = e;
if (me->eQueue.head == (QEQueueCtr)0) { /* need to wrap the head? */
me->eQueue.head = me->eQueue.end; /* wrap around */
}
--me->eQueue.head;
--me->eQueue.nFree; /* update number of free events */
if (me->eQueue.nMin > me->eQueue.nFree) {
me->eQueue.nMin = me->eQueue.nFree; /* update min so far */
}
}
QF_INT_UNLOCK_();
}
/*..........................................................................*/
void QK_mutexUnlock(QMutex mutex) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QK_MUTEX_UNLOCK, (void *)0, (void *)0)
QS_TIME_(); /* timestamp */
QS_U8_(mutex); /* the original priority */
QS_U8_(QK_ceilingPrio_); /* the current priority ceiling */
QS_END_NOCRIT_()
if (QK_ceilingPrio_ > mutex) {
QK_ceilingPrio_ = mutex; /* restore the saved priority ceiling */
mutex = QK_schedPrio_(); /* reuse 'mutex' to hold priority */
if (mutex != (uint8_t)0) {
QK_sched_(mutex);
}
}
QF_CRIT_EXIT_();
}
/*..........................................................................*/
QEvent const *QActive_get_(QActive *me) {
QEvent const *e;
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QACTIVE_OSOBJECT_WAIT_(me); /* wait for event to arrive directly */
e = me->eQueue__.frontEvt__;
if (me->eQueue__.nUsed__ != (QEQueueCtr)0) {/*any events in the buffer? */
/* remove from the tail */
me->eQueue__.frontEvt__ = me->eQueue__.ring__[me->eQueue__.tail__];
++me->eQueue__.tail__;
if (me->eQueue__.tail__ == me->eQueue__.end__) { /* wrap around? */
me->eQueue__.tail__ = (QEQueueCtr)0; /* wrap the tail */
}
--me->eQueue__.nUsed__; /* one less event in the ring buffer */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET, QS_aoObj_, me);
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->attrQF__); /* the QF attribute of the event */
QS_EQC_(me->eQueue__.nUsed__); /* number of used entries */
QS_END_NOLOCK_();
}
else {
me->eQueue__.frontEvt__ = (QEvent const *)0; /* queue becomes empty */
QACTIVE_OSOBJECT_ONIDLE_(me);
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_GET_LAST, QS_aoObj_, me);
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this active object */
QS_U8_(e->attrQF__); /* the QF attribute of the event */
QS_END_NOLOCK_();
}
QF_INT_UNLOCK_();
return e;
}
//............................................................................
void QActive::postLIFO(QEvt const * const e) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_LIFO, QS::aoObj_, this)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of this event
QS_OBJ_(this); // this active object
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_EQC_(m_eQueue.m_nFree); // number of free entries
QS_EQC_(m_eQueue.m_nMin); // min number of free entries
QS_END_NOCRIT_()
if (QF_EVT_POOL_ID_(e) != u8_0) { // is it a dynamic event?
QF_EVT_REF_CTR_INC_(e); // increment the reference counter
}
if (m_eQueue.m_frontEvt == null_evt) { // is the queue empty?
m_eQueue.m_frontEvt = e; // deliver event directly
QACTIVE_EQUEUE_SIGNAL_(this); // signal the event queue
}
else { // queue is not empty, leave event in the ring-buffer
// queue must accept all posted events
Q_ASSERT(m_eQueue.m_nFree != static_cast<QEQueueCtr>(0));
++m_eQueue.m_tail;
if (m_eQueue.m_tail == m_eQueue.m_end) { // need to wrap the tail?
m_eQueue.m_tail = static_cast<QEQueueCtr>(0); // wrap around
}
QF_PTR_AT_(m_eQueue.m_ring, m_eQueue.m_tail) = m_eQueue.m_frontEvt;
m_eQueue.m_frontEvt = e; // put event to front
--m_eQueue.m_nFree; // update number of free events
if (m_eQueue.m_nMin > m_eQueue.m_nFree) {
m_eQueue.m_nMin = m_eQueue.m_nFree; // update minimum so far
}
}
QF_CRIT_EXIT_();
}
/*..........................................................................*/
void QS_usr_dict(enum_t const rec,
char_t const Q_ROM * const name)
{
QS_CRIT_STAT_
QS_CRIT_ENTRY_();
QS_beginRec((uint8_t)QS_USR_DICT);
QS_U8_((uint8_t)rec);
QS_STR_ROM_(name);
QS_endRec();
QS_CRIT_EXIT_();
QS_onFlush();
}
//............................................................................
void QF::gc(QEvt const * const e) {
if (QF_EVT_POOL_ID_(e) != u8_0) { // is it a dynamic event?
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
if (QF_EVT_REF_CTR_(e) > u8_1) { // isn't this the last reference?
QF_EVT_REF_CTR_DEC_(e); // decrement the ref counter
QS_BEGIN_NOCRIT_(QS_QF_GC_ATTEMPT, null_void, null_void)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}
else { // this is the last reference to this event, recycle it
uint8_t idx = static_cast<uint8_t>(QF_EVT_POOL_ID_(e) - u8_1);
QS_BEGIN_NOCRIT_(QS_QF_GC, null_void, null_void)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(QF_EVT_POOL_ID_(e)); // the pool Id of the event
QS_U8_(QF_EVT_REF_CTR_(e)); // the ref count of the event
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
Q_ASSERT(idx < QF_maxPool_);
#ifdef Q_EVT_VIRTUAL
QF_EVT_CONST_CAST_(e)->~QEvt(); // xtor, cast 'const' away,
// which is legitimate, because it's a pool event
#endif
// cast 'const' away, which is OK, because it's a pool event
QF_EPOOL_PUT_(QF_pool_[idx], QF_EVT_CONST_CAST_(e));
}
}
}
/**
* \description
* Arms a time event to fire in a specified number of clock ticks and with
* a specified interval. If the interval is zero, the time event is armed for
* one shot ('one-shot' time event). The time event gets directly posted
* (using the FIFO policy) into the event queue of the host active object.
*
* \arguments
* \arg[in,out] \c me pointer (see \ref derivation)
* \arg[in] \c nTicks number of clock ticks (at the associated rate)
* to rearm the time event with.
* \arg[in] \c interval interval (in clock ticks) for periodic time event.
*
* \note After posting, a one-shot time event gets automatically disarmed
* while a periodic time event (interval != 0) is automatically re-armed.
*
* \note A time event can be disarmed at any time by calling the
* QTimeEvt_disarm() function. Also, a time event can be re-armed to fire
* in a different number of clock ticks by calling the QTimeEvt_rearm()
* function.
*
* \usage
* The following example shows how to arm a one-shot time event from a state
* machine of an active object:
* \include qf_state.c
*/
void QTimeEvt_armX(QTimeEvt * const me,
QTimeEvtCtr const nTicks, QTimeEvtCtr const interval)
{
uint_fast8_t tickRate = (uint_fast8_t)me->super.refCtr_
& (uint_fast8_t)0x7F;
QTimeEvtCtr ctr = me->ctr;
QF_CRIT_STAT_
/** \pre the host AO must be valid, time evnet must be disarmed,
* number of clock ticks cannot be zero, and the signal must be valid.
*/
Q_REQUIRE_ID(100, (me->act != (void *)0)
&& (ctr == (QTimeEvtCtr)0)
&& (nTicks != (QTimeEvtCtr)0)
&& (tickRate < (uint_fast8_t)QF_MAX_TICK_RATE)
&& (me->super.sig >= (QSignal)Q_USER_SIG));
QF_CRIT_ENTRY_();
me->ctr = nTicks;
me->interval = interval;
/* is the time event unlinked?
* NOTE: For the duration of a single clock tick of the specified tick
* rate a time event can be disarmed and yet still linked into the list,
* because un-linking is performed exclusively in the QF_tickX() function.
*/
if ((me->super.refCtr_ & (uint8_t)0x80) == (uint8_t)0) {
me->super.refCtr_ |= (uint8_t)0x80; /* mark as linked */
/* The time event is initially inserted into the separate
* "freshly armed" link list based on QF_timeEvtHead_[tickRate].act.
* Only later, inside the QF_tickX() function, the "freshly armed"
* list is appended to the main list of armed time events based on
* QF_timeEvtHead_[tickRate].next. Again, this is to keep any
* changes to the main list exclusively inside the QF_tickX()
* function.
*/
me->next = (QTimeEvt *)QF_timeEvtHead_[tickRate].act;
QF_timeEvtHead_[tickRate].act = me;
}
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_ARM, QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the active object */
QS_TEC_(nTicks); /* the number of ticks */
QS_TEC_(interval); /* the interval */
QS_U8_((uint8_t)tickRate); /* tick rate */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}
/*..........................................................................*/
void QEQueue_postLIFO(QEQueue *me, QEvent const *e) {
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_EQUEUE_POST_LIFO, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(QF_EVT_POOL_ID_(e)); /* the pool Id of the event */
QS_U8_(QF_EVT_REF_CTR_(e)); /* the ref count of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_EQC_(me->nMin); /* min number of free entries */
QS_END_NOCRIT_()
if (QF_EVT_POOL_ID_(e) != (uint8_t)0) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
if (me->frontEvt != (QEvent *)0) { /* is the queue not empty? */
/* the queue must be able to accept the event (cannot overflow) */
Q_ASSERT(me->nFree != (QEQueueCtr)0);
++me->tail;
if (me->tail == me->end) { /* need to wrap the tail? */
me->tail = (QEQueueCtr)0; /* wrap around */
}
QF_PTR_AT_(me->ring, me->tail) = me->frontEvt;/* save old front evt */
--me->nFree; /* update number of free events */
if (me->nMin > me->nFree) {
me->nMin = me->nFree; /* update minimum so far */
}
}
me->frontEvt = e; /* stick the new event to the front */
QF_CRIT_EXIT_();
}
//............................................................................
void QF::gc(QEvent const *e) {
if (e->dynamic_ != (uint8_t)0) { // is it a dynamic event?
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
if ((e->dynamic_ & 0x3F) > 1) { // isn't this the last reference?
//lint -e1773 Attempt to cast away const
--((QEvent *)e)->dynamic_; // decrement the reference counter
// NOTE: cast the 'const' away, which is legitimate because
// it's a dynamic event
QS_BEGIN_NOLOCK_(QS_QF_GC_ATTEMPT, (void *)0, (void *)0)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(e->dynamic_); // the dynamic attributes of the event
QS_END_NOLOCK_()
QF_INT_UNLOCK_();
}
else { // this is the last reference to this event, recycle it
uint8_t idx = (uint8_t)((e->dynamic_ >> 6) - 1);
QS_BEGIN_NOLOCK_(QS_QF_GC, (void *)0, (void *)0)
QS_TIME_(); // timestamp
QS_SIG_(e->sig); // the signal of the event
QS_U8_(e->dynamic_); // the dynamic attributes of the event
QS_END_NOLOCK_()
QF_INT_UNLOCK_();
Q_ASSERT(idx < QF_maxPool_);
//lint -e1773 Attempt to cast away const
QF_EPOOL_PUT_(QF_pool_[idx], (QEvent *)e); // cast 'const' away,
// which is legitimate, because it's a pool event
}
}
/*..........................................................................*/
void QF_remove_(QActive const *a) {
uint8_t p = a->prio;
QF_INT_LOCK_KEY_
Q_REQUIRE(((uint8_t)0 < p) && (p <= (uint8_t)QF_MAX_ACTIVE)
&& (QF_active_[p] == a));
QF_INT_LOCK_();
QF_active_[p] = (QActive *)0; /* free-up the priority level */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_REMOVE, QS_aoObj_, a)
QS_TIME_(); /* timestamp */
QS_OBJ_(a); /* the active object */
QS_U8_(p); /* the priority of the active object */
QS_END_NOLOCK_()
QF_INT_UNLOCK_();
}
/*..........................................................................*/
void QF_add_(QActive *a) {
uint8_t p = a->prio;
QF_INT_LOCK_KEY_
Q_REQUIRE(((uint8_t)0 < p) && (p <= (uint8_t)QF_MAX_ACTIVE)
&& (QF_active_[p] == (QActive *)0));
QF_INT_LOCK_();
QF_active_[p] = a; /* registger the active object at this priority */
QS_BEGIN_NOLOCK_(QS_QF_ACTIVE_ADD, QS_aoObj_, a)
QS_TIME_(); /* timestamp */
QS_OBJ_(a); /* the active object */
QS_U8_(p); /* the priority of the active object */
QS_END_NOLOCK_()
QF_INT_UNLOCK_();
}
/*..........................................................................*/
QTimeEvtCtr QTimeEvt_ctr(QTimeEvt const * const me) {
QTimeEvtCtr ret;
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
ret = me->ctr;
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_CTR, QS_priv_.teObjFilter, me)
QS_TIME_(); /* timestamp */
QS_OBJ_(me); /* this time event object */
QS_OBJ_(me->act); /* the target AO */
QS_TEC_(ret); /* the current counter */
QS_TEC_(me->interval); /* the interval */
QS_U8_((uint8_t)(me->super.refCtr_ & (uint8_t)0x7F)); /* tick rate */
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
return ret;
}
//****************************************************************************
/// @description
/// This function removes a given active object from the active objects
/// managed by the QF framework. It should not be called by the application
/// directly, only through the function QP::QMActive::stop().
///
/// @param[in] a pointer to the active object to remove from the framework.
///
/// @note The active object that is removed from the framework can no longer
/// participate in the publish-subscribe event exchange.
///
/// @sa QP::QF::add_()
///
void QF::remove_(QMActive const * const a) {
uint_fast8_t p = a->m_prio;
Q_REQUIRE_ID(200, (static_cast<uint_fast8_t>(0) < p)
&& (p <= static_cast<uint_fast8_t>(QF_MAX_ACTIVE))
&& (active_[p] == a));
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
active_[p] = static_cast<QMActive *>(0); // free-up the priority level
QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_REMOVE, QS::priv_.aoObjFilter, a)
QS_TIME_(); // timestamp
QS_OBJ_(a); // the active object
QS_U8_(p); // the priority of the active object
QS_END_NOCRIT_()
QF_CRIT_EXIT_();
}
/*..........................................................................*/
void QEQueue_postLIFO(QEQueue *me, QEvent const *e) {
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_EQUEUE_POST_LIFO, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_EQC_(me->nMin); /* min number of free entries */
QS_END_NOLOCK_()
if (e->dynamic_ != (uint8_t)0) { /* is it a pool event? */
++((QEvent *)e)->dynamic_; /* increment the reference counter */
/* NOTE: cast the 'const' away, which is legitimate because
* it's a dynamic event
*/
}
if (me->frontEvt != (QEvent *)0) { /* is the queue not empty? */
/* the queue must be able to accept the event (cannot overflow) */
Q_ASSERT(me->nFree != (QEQueueCtr)0);
++me->tail;
if (me->tail == me->end) { /* need to wrap the tail? */
me->tail = (QEQueueCtr)0; /* wrap around */
}
me->ring[me->tail] = me->frontEvt; /* buffer the old front evt */
--me->nFree; /* update number of free events */
if (me->nMin > me->nFree) {
me->nMin = me->nFree; /* update minimum so far */
}
}
me->frontEvt = e; /* stick the new event to the front */
QF_INT_UNLOCK_();
}
/*..........................................................................*/
void QEQueue_postFIFO(QEQueue *me, QEvent const *e) {
QF_INT_LOCK_KEY_
QF_INT_LOCK_();
QS_BEGIN_NOLOCK_(QS_QF_EQUEUE_POST_FIFO, QS_eqObj_, me)
QS_TIME_(); /* timestamp */
QS_SIG_(e->sig); /* the signal of this event */
QS_OBJ_(me); /* this queue object */
QS_U8_(e->dynamic_); /* the dynamic attribute of the event */
QS_EQC_(me->nFree); /* number of free entries */
QS_EQC_(me->nMin); /* min number of free entries */
QS_END_NOLOCK_()
if (e->dynamic_ != (uint8_t)0) { /* is it a pool event? */
++((QEvent *)e)->dynamic_; /* increment the reference counter */
/* NOTE: cast the 'const' away, which is legitimate because
* it's a dynamic event
*/
}
if (me->frontEvt == (QEvent *)0) { /* is the queue empty? */
me->frontEvt = e; /* deliver event directly */
}
else { /* queue is not empty, leave event in the ring-buffer */
/* the queue must be able to accept the event (cannot overflow) */
Q_ASSERT(me->nFree != (QEQueueCtr)0);
me->ring[me->head] = e; /* insert event into the buffer (FIFO) */
if (me->head == (QEQueueCtr)0) { /* need to wrap the head? */
me->head = me->end; /* wrap around */
}
--me->head;
--me->nFree; /* update number of free events */
if (me->nMin > me->nFree) {
me->nMin = me->nFree; /* update minimum so far */
}
}
QF_INT_UNLOCK_();
}
void QK_schedule_(void) {
#else
void QK_schedule_(QF_INT_KEY_TYPE intLockKey_) {
#endif
uint8_t p;
/* the QK scheduler must be called at task level only */
Q_REQUIRE(QK_intNest_ == (uint8_t)0);
#if (QF_MAX_ACTIVE <= 8)
if (QPSet8_notEmpty(&QK_readySet_)) {
/* determine the priority of the highest-priority task ready to run */
QPSet8_findMax(&QK_readySet_, p);
#else
if (QPSet64_notEmpty(&QK_readySet_)) {
/* determine the priority of the highest-priority task ready to run */
QPSet64_findMax(&QK_readySet_, p);
#endif
#ifdef QK_NO_MUTEX
if (p > QK_currPrio_) { /* do we have a preemption? */
#else /* QK priority-ceiling mutexes allowed */
if ((p > QK_currPrio_) && (p > QK_ceilingPrio_)) {
#endif
uint8_t pin = QK_currPrio_; /* save the initial priority */
QActive *a;
#ifdef QK_TLS /* thread-local storage used? */
uint8_t pprev = pin;
#endif
do {
QEvent const *e;
a = QF_active_[p]; /* obtain the pointer to the AO */
QK_currPrio_ = p; /* this becomes the current task priority */
#ifdef QK_TLS /* thread-local storage used? */
if (p != pprev) { /* are we changing threads? */
QK_TLS(a); /* switch new thread-local storage */
pprev = p;
}
#endif
QS_BEGIN_NOLOCK_(QS_QK_SCHEDULE, QS_aoObj_, a)
QS_TIME_(); /* timestamp */
QS_U8_(p); /* the priority of the AO */
QS_U8_(pin); /* the preempted priority */
QS_END_NOLOCK_()
QK_INT_UNLOCK_(); /* unlock the interrupts */
e = QActive_get_(a); /* get the next event for this AO */
QF_ACTIVE_DISPATCH_(&a->super, e); /* dispatch to the AO */
QF_gc(e); /* garbage collect the event, if necessary */
QK_INT_LOCK_();
/* determine the highest-priority AO ready to run */
#if (QF_MAX_ACTIVE <= 8)
if (QPSet8_notEmpty(&QK_readySet_)) {
QPSet8_findMax(&QK_readySet_, p);
#else
if (QPSet64_notEmpty(&QK_readySet_)) {
QPSet64_findMax(&QK_readySet_, p);
#endif
}
else {
p = (uint8_t)0;
}
#ifdef QK_NO_MUTEX
} while (p > pin); /* is the new priority higher than initial? */
#else /* QK priority-ceiling mutexes allowed */
} while ((p > pin) && (p > QK_ceilingPrio_));
#endif
QK_currPrio_ = pin; /* restore the initial priority */
#ifdef QK_TLS /* thread-local storage used? */
if (pin != (uint8_t)0) {/*no extended context for the idle loop */
a = QF_active_[pin]; /* the pointer to the preempted AO */
QK_TLS(a); /* restore the original TLS */
}
#endif
}
}
}
/**
* \description
* The "extended" QK scheduler performs all the steps of the regular scheduler
* QK_sched_() and additionally switches the Thread-Local Storage (TLS) and
* handles the extended context-switch.
*
* \arguments
* \arg[in] \c p priority of the next AO to schedule
*
* \note The "extended" QK scheduler needs to be called only to handle
* "asynchronous" preemption, under the assumption that neither the ISRs
* nor the QK idle loop use TLS or the co-processors requiring
* extended context switch (see [PSiCC2] Section 10.4.3).
*
* \note QK_schedExt_() must be always called with interrupts DISABLED.
*
* \note The extended scheduler might enable interrupts internally,
* but always returns with interrupts DISABLED.
*/
void QK_schedExt_(uint_fast8_t p) {
uint_fast8_t pin = QK_currPrio_; /* save the initial priority */
/* thread-local storage used? */
#ifdef QK_TLS
uint_fast8_t pprev = pin;
#endif
QActive *a;
/* extended context-switch used? */
#ifdef QK_EXT_SAVE
/* aren't we preempting the idle loop? (idle loop has prio==0) */
if (pin != (uint_fast8_t)0) {
a = QF_active_[pin]; /* the pointer to the preempted AO */
QK_EXT_SAVE(a); /* save the extended context */
}
#endif
/* loop until have ready-to-run AOs of higher priority than the initial */
do {
QEvt const *e;
a = QF_active_[p]; /* obtain the pointer to the AO */
QK_currPrio_ = p; /* this becomes the current task priority */
/* thread-local storage used? */
#ifdef QK_TLS
/* are we changing threads? */
if (p != pprev) {
QK_TLS(a); /* switch new thread-local storage */
pprev = p;
}
#endif
QS_BEGIN_NOCRIT_(QS_QK_SCHEDULE, QS_priv_.aoObjFilter, a)
QS_TIME_(); /* timestamp */
QS_U8_((uint8_t)p); /* the priority of the AO */
QS_U8_((uint8_t)pin); /* the preempted priority */
QS_END_NOCRIT_()
QF_INT_ENABLE(); /* unconditionally enable interrupts */
/* perform the run-to-completion (RTS) step...
* 1. retrieve the event from the AO's event queue, which by this
* time must be non-empty and QActive_get_() asserts it.
* 2. dispatch the event to the AO's state machine.
* 3. determine if event is garbage and collect it if so
*/
e = QActive_get_(a);
QMSM_DISPATCH(&a->super, e);
QF_gc(e);
QF_INT_DISABLE(); /* disable interrupts */
/* find new highest-priority AO ready to run... */
#if (QF_MAX_ACTIVE <= 8)
QPSet8_findMax(&QK_readySet_, p);
#else
QPSet64_findMax(&QK_readySet_, p);
#endif
/* is the new priority below the current preemption threshold? */
if (p <= pin) {
p = (uint_fast8_t)0;
}
#ifndef QK_NO_MUTEX
/* is the new priority below the mutex ceiling? */
else if (p <= QK_ceilingPrio_) {
p = (uint_fast8_t)0;
}
else {
/* empty */
}
#endif
} while (p != (uint_fast8_t)0);
QK_currPrio_ = pin; /* restore the initial priority */
#if defined(QK_TLS) || defined(QK_EXT_RESTORE)
/* aren't we preempting the idle loop? (idle loop has prio==0) */
if (pin != (uint_fast8_t)0) {
a = QF_active_[pin]; /* the pointer to the preempted AO */
/* thread-local storage used? */
#ifdef QK_TLS
QK_TLS(a); /* restore the original TLS */
#endif
/* extended context-switch used? */
#ifdef QK_EXT_RESTORE
QK_EXT_RESTORE(a); /* restore the extended context */
#endif
}
#endif
}
void QK_scheduleExt_(void) {
#else
void QK_scheduleExt_(QF_INT_KEY_TYPE intLockKey_) {
#endif
// the QK scheduler must be called at task level only
Q_REQUIRE(QK_intNest_ == (uint8_t)0);
// determine the priority of the highest-priority task ready to run
uint8_t p = QK_readySet_.findMax();
#ifdef QK_NO_MUTEX
if (p > QK_currPrio_) { // do we have a preemption?
#else // QK priority-ceiling mutexes allowed
if ((p > QK_currPrio_) && (p > QK_ceilingPrio_)) {
#endif
uint8_t pin = QK_currPrio_; // save the initial priority
QActive *a;
#ifdef QK_TLS // thread-local storage used?
uint8_t pprev = pin;
#endif
#ifdef QK_EXT_SAVE // extended context-switch used?
if (pin != (uint8_t)0) { // no extended context for the idle loop
a = QF::active_[pin]; // the pointer to the preempted AO
QK_EXT_SAVE(a); // save the extended context
}
#endif
do {
QEvent const *e;
a = QF::active_[p]; // obtain the pointer to the AO
QK_currPrio_ = p; // this becomes the current task priority
#ifdef QK_TLS // thread-local storage used?
if (p != pprev) { // are we changing threads?
QK_TLS(a); // switch new thread-local storage
pprev = p;
}
#endif
QS_BEGIN_NOLOCK_(QS_QK_SCHEDULE, QS::aoObj_, a)
QS_TIME_(); // timestamp
QS_U8_(p); // the priority of the active object
QS_U8_(pin); // the preempted priority
QS_END_NOLOCK_()
QK_INT_UNLOCK_(); // unlock the interrupts
e = a->get_(); // get the next event for this active object
a->dispatch(e); // dispatch e to the active object
QF::gc(e); // garbage collect the event, if necessary
QK_INT_LOCK_();
// determine the highest-priority AO ready to run
p = QK_readySet_.findMax();
#ifdef QK_NO_MUTEX
} while (p > pin); // is the new priority higher than initial?
#else // QK priority-ceiling mutexes allowed
} while ((p > pin) && (p > QK_ceilingPrio_));
#endif
QK_currPrio_ = pin; // restore the initial priority
#if defined(QK_TLS) || defined(QK_EXT_RESTORE)
if (pin != (uint8_t)0) { // no extended context for the idle loop
a = QF::active_[pin]; // the pointer to the preempted AO
#ifdef QK_TLS // thread-local storage used?
QK_TLS(a); // restore the original TLS
#endif
#ifdef QK_EXT_RESTORE // extended context-switch used?
QK_EXT_RESTORE(a); // restore the extended context
#endif
}
#endif
}
}
void QF_tickX_(uint_fast8_t const tickRate, void const * const sender)
#endif
{
QTimeEvt *prev = &QF_timeEvtHead_[tickRate];
QF_CRIT_STAT_
QF_CRIT_ENTRY_();
QS_BEGIN_NOCRIT_(QS_QF_TICK, (void *)0, (void *)0)
QS_TEC_((QTimeEvtCtr)(++prev->ctr)); /* tick ctr */
QS_U8_((uint8_t)tickRate); /* tick rate */
QS_END_NOCRIT_()
/* scan the linked-list of time events at this rate... */
for (;;) {
QTimeEvt *t = prev->next; /* advance down the time evt. list */
/* end of the list? */
if (t == (QTimeEvt *)0) {
/* any new time events armed since the last run of QF_tickX_()? */
if (QF_timeEvtHead_[tickRate].act != (void *)0) {
/* sanity check */
Q_ASSERT_ID(110, prev != (QTimeEvt *)0);
prev->next = (QTimeEvt *)QF_timeEvtHead_[tickRate].act;
QF_timeEvtHead_[tickRate].act = (void *)0;
t = prev->next; /* switch to the new list */
}
else {
break; /* all currently armed time evts. processed */
}
}
/* time event scheduled for removal? */
if (t->ctr == (QTimeEvtCtr)0) {
prev->next = t->next;
t->super.refCtr_ &= (uint8_t)0x7F; /* mark as unlinked */
/* do NOT advance the prev pointer */
QF_CRIT_EXIT_(); /* exit crit. section to reduce latency */
/* prevent merging critical sections, see NOTE1 below */
QF_CRIT_EXIT_NOP();
}
else {
--t->ctr;
/* is time event about to expire? */
if (t->ctr == (QTimeEvtCtr)0) {
QMActive *act = (QMActive *)t->act; /* temp. for volatile */
/* periodic time evt? */
if (t->interval != (QTimeEvtCtr)0) {
t->ctr = t->interval; /* rearm the time event */
prev = t; /* advance to this time event */
}
/* one-shot time event: automatically disarm */
else {
prev->next = t->next;
t->super.refCtr_ &= (uint8_t)0x7F; /* mark as unlinked */
/* do NOT advance the prev pointer */
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_AUTO_DISARM,
QS_priv_.teObjFilter, t)
QS_OBJ_(t); /* this time event object */
QS_OBJ_(act); /* the target AO */
QS_U8_((uint8_t)tickRate); /* tick rate */
QS_END_NOCRIT_()
}
QS_BEGIN_NOCRIT_(QS_QF_TIMEEVT_POST, QS_priv_.teObjFilter, t)
QS_TIME_(); /* timestamp */
QS_OBJ_(t); /* the time event object */
QS_SIG_(t->super.sig); /* signal of this time event */
QS_OBJ_(act); /* the target AO */
QS_U8_((uint8_t)tickRate); /* tick rate */
QS_END_NOCRIT_()
QF_CRIT_EXIT_(); /* exit critical section before posting */
/* QACTIVE_POST() asserts internally if the queue overflows */
QACTIVE_POST(act, &t->super, sender);
}
else {
prev = t; /* advance to this time event */
QF_CRIT_EXIT_(); /* exit crit. section to reduce latency */
/* prevent merging critical sections, see NOTE1 below */
QF_CRIT_EXIT_NOP();
}
}
