/*
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*/
void
call_pretaskhook(void)
{
callevel = TCL_PREPOST;
set_ipl(ipl_maxisr2);
unlock_cpu();
PreTaskHook();
lock_cpu();
set_ipl(IPL_ENA_ALL);
callevel = TCL_TASK;
}
//when task start to run
EXPORT void knl_activate_r(void)
{
#if(cfgOS_PRE_TASK_HOOK == STD_ON)
PreTaskHook();
#endif
/* This is the most easiest Way to get Internal Resourse and
* to make a task non-preemtable I think */
GetInternalResource();
__asm CLI; // enable interrupt
knl_ctxtsk->task();
}
//when task resume to run
EXPORT void knl_dispatch_r(void)
{
#if(cfgOS_SHARE_SYSTEM_STACK == STD_ON)
/* Context restore */
//asm ldx knl_ctxtsk;
asm lds SP_OFFSET,x; /* Restore 'ssp' from TCB */
#endif
#if(cfgOS_PRE_TASK_HOOK == STD_ON)
PreTaskHook();
#endif
asm pula;
asm staa tk_ppage; /* restore PPAGE */
//asm puld;
//asm std knl_taskmode /* restore knl_taskmode */
asm rti;
}
/**********************************************************************
* Restore CTX and call another task.
*
* @return void
**********************************************************************/
void TaskLauncher(void)
{
ptrTCB nextTask;
/* we are in KERNEL mode : done by SCHEDULE macro */
nextTask = NULL;
while (nextTask == NULL)
nextTask = GetNextRunningTCB();
if (kernelState & RUN)
{
SuspendOSInterrupts();
id_tsk_run = nextTask->TaskID;
#ifdef PRETASKHOOK
PreTaskHook();
#endif
WREG15 = (unsigned int)(nextTask->Stack_register);
Nop();
SPLIM = (unsigned int)(nextTask->StackAddress);
SPLIM += (unsigned int)(nextTask->StackSize);
Nop();
WREG14 = (unsigned int)(nextTask->Frame_register);
asm ("mov.w [--w15],w0" : : );
asm ("mov.w w0,SR" : : );
asm ("mov.w [--w15],w13" : : );
asm ("mov.w [--w15],w12" : : );
asm ("mov.w [--w15],w11" : : );
asm ("mov.w [--w15],w10" : : );
asm ("mov.w [--w15],w9" : : );
asm ("mov.w [--w15],w8" : : );
asm ("mov.w [--w15],w7" : : );
asm ("mov.w [--w15],w6" : : );
asm ("mov.w [--w15],w5" : : );
asm ("mov.w [--w15],w4" : : );
asm ("mov.w [--w15],w3" : : );
asm ("mov.w [--w15],w2" : : );
asm ("mov.w [--w15],w1" : : );
asm ("mov.w [--w15],w0" : : );
/* Enable interrupts */
asm ("bclr _kernelState, #3" : : ); // Exit KERNEL mode
asm ("bset _kernelState, #2" : : ); // Enter USER mode
asm volatile ("disi #0x3");
asm ("bclr SR, #5" : : ); // Enable interrupts
asm ("bclr SR, #6" : : ); // Enable interrupts
asm ("bclr SR, #7" : : ); // Enable interrupts
asm ("return" : : );
}
void vPortPreActivateTask(void)
{
#if(cfgOS_USE_INTERNAL_RESOURCE == STD_TRUE)
if(OSCurTsk < cfgOS_TASK_WITH_IN_RES_NUM)
{
/* Do Get The Internal Resource */
GetInResource();
}
#endif
#if(cfgOS_PRE_TASK_HOOK == 1)
OS_ENTER_CRITICAL();
PreTaskHook();
OS_EXIT_CRITICAL();
#endif
OSTaskEntryTable[OSCurTsk]();
OS_ASSERT(STD_FALSE);
}
extern StatusType Schedule
(
void
)
#endif
{
/* \req OSEK_SYS_3.4 The system service StatusType Schedule ( void ) shall
** be defined */
/* \req OSEK_SYS_3.4.4 Possible return values in Standard mode is E_OK */
StatusType ret = E_OK;
TaskType nextTask;
TaskType actualTask;
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
ContextType actualContext;
#endif
IntSecure_Start();
/* get actual running task */
actualTask = GetRunningTask();
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode are E_OS
** CALLEVEL, E_OS_RESOURCE */
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
/* get actual context */
actualContext = GetCallingContext();
/* if called from scheduler no checks shall be performed */
if (FALSE == PerformChecks)
{
/* no checks shall be performed */
}
else if ( ( CONTEXT_TASK != actualContext ) &&
( CONTEXT_SYS != actualContext ) )
{
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode
** are E_OS_CALLEVEL, E_OS_RESOURCE */
ret = E_OS_CALLEVEL;
}
else if ( ( INVALID_TASK != actualTask ) &&
( CONTEXT_TASK == actualContext ) )
{
if ( TasksVar[actualTask].Resources != 0 )
{
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode
** are E_OS_CALLEVEL, E_OS_RESOURCE */
ret = E_OS_RESOURCE;
}
}
else
{
/* nothing to check Runngin Task is invalid */
}
if (ret == E_OK)
#endif
{
/* get next task */
nextTask = GetNextTask();
/* while until one or boths are not more invalid tasks */
while ( ( actualTask == INVALID_TASK ) &&
( nextTask == INVALID_TASK) )
{
IntSecure_End();
/* macro used to indicate the processor that we are in idle time */
osekpause();
IntSecure_Start();
/* get next task */
nextTask = GetNextTask();
};
/* if the actual task is invalid */
if ( actualTask == INVALID_TASK )
{
/* set task state to running */
TasksVar[nextTask].Flags.State = TASK_ST_RUNNING;
/* set as running task */
SetRunningTask(nextTask);
/* set actual context task */
SetActualContext(CONTEXT_TASK);
IntSecure_End();
#if (HOOK_PRETASKHOOK == OSEK_ENABLE)
PreTaskHook();
#endif /* #if (HOOK_PRETASKHOOK == OSEK_ENABLE) */
/* jmp tp the next task */
JmpTask(nextTask);
}
else
{
/* check priorities */
/* \req OSEK_SYS_3.4.1 If a task with a lower or equal priority than the
** ceiling priority of the internal resource and higher priority than
** the priority of the calling task is ready */
if ( TasksConst[nextTask].StaticPriority > TasksVar[actualTask].ActualPriority )
{
#if (HOOK_POSTTASKHOOK == OSEK_ENABLE)
PostTaskHook();
#endif /* #if (HOOK_POSTTASKHOOK == OSEK_ENABLE) */
/* \req OSEK_SYS_3.4.1.1 the internal resource of the task shall be
** released */
ReleaseInternalResources();
/* \req OSEK_SYS_3.4.1.2 the current task is put into the ready state */
TasksVar[actualTask].Flags.State = TASK_ST_READY;
/* set the new task to running */
TasksVar[nextTask].Flags.State = TASK_ST_RUNNING;
/* set as running task */
SetRunningTask(nextTask);
/* set actual context task */
SetActualContext(CONTEXT_TASK);
IntSecure_End();
#if (HOOK_PRETASKHOOK == OSEK_ENABLE)
PreTaskHook();
#endif /* #if (HOOK_PRETASKHOOK == OSEK_ENABLE) */
/* \req OSEK_SYS_3.4.1.3 its context is saved */
/* \req OSEK_SYS_3.4.1.4 and the higher-priority task is executed */
CallTask(actualTask, nextTask);
}
else
{
IntSecure_End();
/* \req OSEK_SYS_3.4.2 Otherwise the calling task is continued */
}
}
}
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
else
{
IntSecure_End();
}
#endif /* #if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED) */
#if (HOOK_ERRORHOOK == OSEK_ENABLE)
/* \req OSEK_ERR_1.3-4/xx The ErrorHook hook routine shall be called if a
** system service returns a StatusType value not equal to E_OK.*/
/* \req OSEK_ERR_1.3.1-4/xx The hook routine ErrorHook is not called if a
** system service is called from the ErrorHook itself. */
if ( ( ret != E_OK ) && (ErrorHookRunning != 1))
{
SetError_Api(OSServiceId_Schedule);
SetError_Ret(ret);
SetError_Msg("Schedule Task returns != than E_OK");
SetError_ErrorHook();
}
#endif
return ret;
}
