/*
* QueueDeleteLoop()
*
* Internal function, used to assert all tasks waiting for any event related
* to queue when a kernel object is about to be destroyed
*
*/
inline static void QueueDeleteLoop(OsHandler_t h)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t i = 0, j = 0;
//remove out all tasks of all wait lists:
while((q->queueSlotWait.prioGrp != 0)&&(q->queueInsertWait.prioGrp != 0))
{
//Remove for priority order:
i = uLipeKernelFindHighPrio(&q->queueSlotWait);
j = uLipeKernelFindHighPrio(&q->queueInsertWait);
uLipePrioClr(i, &q->queueSlotWait);
uLipePrioClr(j, &q->queueInsertWait);
//Set these tasks as ready:
//make this task ready:
tcbPtrTbl[i]->taskStatus &= ~(1 << kTaskPendQueue);
if(tcbPtrTbl[i]->taskStatus == 0)
{
uLipePrioSet(i, &taskPrioList);
}
//make this task ready:
tcbPtrTbl[j]->taskStatus &= ~(1 << kTaskPendQueue);
if(tcbPtrTbl[j]->taskStatus == 0)
{
uLipePrioSet(j, &taskPrioList);
}
}
}
/*
* QueueDeleteLoop()
*
* Internal function, used to assert all tasks waiting for any event related
* to queue when a kernel object is about to be destroyed
*
*/
inline static void QueueDeleteLoop(OsHandler_t h)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t i = 0, j = 0;
#if OS_USE_DEPRECATED == 1
for(i = 0; i < OS_NUMBER_OF_TASKS; i++)
{
//check for tasks waiting for slot free:
if(q->tasksPending[i] != OS_Q_PEND_NOT)
{
//make this task ready:
tcbPtrTbl[i]->taskStatus = (1 << kTaskReady);
uLipePrioSet(i, &taskPrioList);
}
//remove this task from wait list:
q->tasksPending[i] = OS_Q_PEND_NOT;
}
#else
//remove out all tasks of all wait lists:
while((q->queueSlotWait.prioGrp != 0)&&(q->queueInsertWait.prioGrp != 0))
{
//Remove for priority order:
i = uLipeFindHighPrio(&q->queueSlotWait);
j = uLipeFindHighPrio(&q->queueInsertWait);
uLipePrioClr(i, &q->queueSlotWait);
uLipePrioClr(j, &q->queueInsertWait);
//Set these tasks as ready:
tcbPtrTbl[i]->taskStatus = (1 << kTaskReady);
uLipePrioSet(i, &taskPrioList);
tcbPtrTbl[j]->taskStatus = (1 << kTaskReady);
uLipePrioSet(j, &taskPrioList);
}
#endif
}
/*
* QueueRemoveLoop()
*
* Internal function, used to process all tasks that waiting to at least
* one slot became free, when a slot had its data removed
*
*/
inline static void QueueRemoveLoop(OsHandler_t h)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t i = 0;
#if OS_USE_DEPRECATED == 1
for(i = 0; i < OS_NUMBER_OF_TASKS; i++)
{
//check for tasks waiting for slot free:
if(q->tasksPending[i] == OS_Q_PEND_FULL)
{
//make this task ready:
tcbPtrTbl[i]->taskStatus = (1 << kTaskReady);
uLipePrioSet(i, &taskPrioList);
//remove this task from wait list:
q->tasksPending[i] = OS_Q_PEND_NOT;
}
}
#else
//extract the highest priority task which waits for a slot:
i = (uint16_t)uLipeFindHighPrio(&q->queueSlotWait);
//valid prio?
if(i != 0)
{
//Remove task from wait list:
uLipePrioClr(i, &q->queueSlotWait);
//make this task ready:
tcbPtrTbl[i]->taskStatus = (1 << kTaskReady);
uLipePrioSet(i, &taskPrioList);
}
#endif
}
inline static void FlagsDeleteLoop(OsHandler_t h)
{
FlagsGrpPtr_t f = (FlagsGrpPtr_t)h;
uint16_t i = 0;
i = uLipeKernelFindHighPrio(&f->waitTasks[f->activeList]);
while( i != 0)
{
//make this task ready:
tcbPtrTbl[i]->taskStatus &= ~((1 << kTaskPendFlagAll) | (1 << kTaskPendFlagAny) | (1 << kTaskPenFlagConsume));
if(tcbPtrTbl[i]->taskStatus == 0) uLipePrioSet(i, &taskPrioList);
i = uLipeKernelFindHighPrio(&f->waitTasks[f->activeList]);
uLipePrioClr(i, &f->waitTasks[f->activeList]);
}
}
/*
* QueueInsertLoop()
*
* Internal function, used to proccess all tasks that waiting to at least
* one slot became filled, when a slot had is space filled of data
*/
inline static void QueueInsertLoop(OsHandler_t h)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t i = 0;
//extract the highest priority task which waits for a slot:
i = (uint16_t)uLipeKernelFindHighPrio(&q->queueInsertWait);
//valid prio?
if(i != 0)
{
//Remove task from wait list:
uLipePrioClr(i, &q->queueInsertWait);
//make this task ready:
tcbPtrTbl[i]->taskStatus &= ~((1 << kTaskPendQueue)|(1 << kTaskPendDelay));
if(tcbPtrTbl[i]->taskStatus == 0)
{
uLipePrioSet(i, &taskPrioList);
}
}
}
/*
* uLipeQueueRemove()
*/
void *uLipeQueueRemove(OsHandler_t h, uint8_t opt, uint16_t timeout, OsStatus_t *err)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t sReg = 0;
void *ptr = NULL;
//check arguments:
if(q == 0)
{
if(err != NULL )*err = kInvalidParam ;
return(NULL);
}
//Arguments valid, then proceed:
OS_CRITICAL_IN();
//Check queue status first:
if(q->usedSlots == 0)
{
OS_CRITICAL_OUT();
//Queue full, check options:
switch(opt)
{
case OS_Q_BLOCK_EMPTY:
{
//task will block so:
OS_CRITICAL_IN();
uLipePrioClr(currentTask->taskPrio, &taskPrioList);
//prepare task to wait
currentTask->taskStatus |= (1 << kTaskPendQueue);
if(timeout != 0)
{
currentTask->taskStatus |= (1 << kTaskPendDelay);
currentTask->delayTime = timeout;
uLipePrioSet(currentTask->taskPrio, &timerPendingList.list[timerPendingList.activeList]);
}
//Adds task to wait list:
currentTask->queueBmp = &q->queueInsertWait;
uLipePrioSet(currentTask->taskPrio, &q->queueInsertWait);
OS_CRITICAL_OUT();
//So check for a context switch:
uLipeKernelTaskYield();
if(err != NULL )*err = kQueueEmpty;
return(ptr);
}
break;
case OS_Q_NON_BLOCK:
{
if(q->usedSlots != 0) break;
else
{
OS_CRITICAL_OUT();
if(err != NULL )*err = kQueueEmpty;
return(ptr);
}
}
break;
default:
{
//All other cases, only return:
if(err != NULL )*err = kQueueEmpty;
return(ptr);
}
break;
}
}
//queue holds data, so remove it:
ptr = (void *) q->queueBase[q->queueBack];
q->queueBack++;
//queue bevahes as circular FIFO fashion
if(q->queueBack > (q->numSlots - 1))
{
q->queueBack = 0;
}
//Update the number of used slots:
q->usedSlots--;
//Update tasks wich pend this queue:
QueueRemoveLoop(h);
OS_CRITICAL_OUT();
//Check for context switching:
uLipeKernelTaskYield();
if(err != NULL )*err = kStatusOk;
//All gone well:
return(ptr);
}
/*
* uLipeQueueInsert()
*/
OsStatus_t uLipeQueueInsert(OsHandler_t h, void *data, uint8_t opt, uint16_t timeout)
{
QueuePtr_t q = (QueuePtr_t)h;
uint32_t sReg = 0;
//check arguments:
if(data == NULL)
{
return(kInvalidParam);
}
if(q == 0)
{
return(kInvalidParam);
}
//Arguments valid, proceed then:
OS_CRITICAL_IN();
//Before insert, check queue status:
if(q->usedSlots >= q->numSlots)
{
OS_CRITICAL_OUT();
//Queue full, check options:
switch(opt)
{
case OS_Q_BLOCK_FULL:
{
//suspend current task:
uLipePrioClr(currentTask->taskPrio, &taskPrioList);
currentTask->taskStatus |= (1 << kTaskPendQueue);
if(timeout != 0)
{
currentTask->taskStatus |= (1 << kTaskPendDelay);
currentTask->delayTime = timeout;
uLipePrioSet(currentTask->taskPrio, &timerPendingList.list[timerPendingList.activeList]);
}
currentTask->queueBmp = &q->queueSlotWait;
//Adds task to wait list:
uLipePrioSet(currentTask->taskPrio, &q->queueSlotWait);
OS_CRITICAL_OUT();
//So check for a context switch:
uLipeKernelTaskYield();
return(kQueueFull);
}
break;
case OS_Q_NON_BLOCK:
{
if(q->usedSlots < q->numSlots) break;
else
{
OS_CRITICAL_OUT();
return(kQueueFull);
}
}
break;
default:
{
OS_CRITICAL_OUT();
return(kQueueFull);
}
break;
}
}
//freespace, Insert the data pointer on queue:
q->queueBase[q->queueFront] = (void *)data;
q->queueFront++;
//queue behaves as a circular FIFO fashion:
if(q->queueFront > (q->numSlots - 1))
{
q->queueFront = 0;
}
//update number of used slots
q->usedSlots++;
//Run insertion update loop:
QueueInsertLoop(h);
OS_CRITICAL_OUT();
//check for a context switch:
uLipeKernelTaskYield();
//All gone ok:
return(kStatusOk);
}
/*
* uLipeQueueRemove()
*/
void *uLipeQueueRemove(OsHandler_t h, uint8_t opt, uint16_t timeout, OsStatus_t *err)
{
uint32_t sReg = 0;
QueuePtr_t q = (QueuePtr_t)h;
void *ptr = NULL;
//check arguments:
if(h == NULL)
{
return(kInvalidParam);
}
//Arguments valid, then proceed:
OS_CRITICAL_IN();
//Check queue status first:
if(q->usedSlots == 0)
{
OS_CRITICAL_OUT();
//Queue full, check options:
switch(opt)
{
case OS_Q_BLOCK_EMPTY:
{
//task will block so:
OS_CRITICAL_IN();
//suspend current task:
uLipePrioClr(currentTask->taskPrio, &taskPrioList);
currentTask->taskStatus = (1 << kTaskPendQueue) | (1 << kTaskPendDelay);
currentTask->delayTime = timeout;
#if OS_USE_DEPRECATED == 1
//Assert this task on queue wait list:
q->tasksPending[currentTask->taskPrio] = OS_Q_PEND_EMPTY;
#else
//Adds task to wait list:
uLipePrioSet(currentTask->taskPrio, &q->queueInsertWait);
#endif
OS_CRITICAL_OUT();
//So check for a context switch:
uLipeKernelTaskYield();
*err = kQueueEmpty;
return(ptr);
}
break;
default:
{
//All other cases, only return:
*err = kQueueEmpty;
return(ptr);
}
break;
}
}
//queue holds data, so remove it:
ptr = (void *) q->queueBase[q->queueBack];
q->queueBack++;
//queue bevahes as circular FIFO fashion
if(q->queueBack > (q->numSlots - 1))
{
q->queueBack = 0;
}
//Update the number of used slots:
q->usedSlots--;
//Update tasks wich pend this queue:
QueueRemoveLoop(h);
OS_CRITICAL_OUT();
//Check for context switching:
uLipeKernelTaskYield();
*err = kStatusOk;
//All gone well:
return(ptr);
}
/*
* FlagsPostLoop()
* Internal, used to process when all tasks when a flag is asserted
*/
inline static void FlagsPostLoop(OsHandler_t h)
{
FlagsGrpPtr_t f = (FlagsGrpPtr_t)h;
uint16_t i = 0;
uint16_t match = FALSE;
uint32_t mask = 0;
uint16_t tmp = 0;
//Search for a match flags:
i = uLipeKernelFindHighPrio(&f->waitTasks[f->activeList]);
while(i != 0)
{
//check for pend type of this task:
switch(tcbPtrTbl[i]->taskStatus & ((1 << kTaskPendFlagAll) | (1 << kTaskPendFlagAny)))
{
case (1 << kTaskPendFlagAll):
{
//Only match if all specific flags are set
mask = f->flagRegister & tcbPtrTbl[i]->flagsPending;
if(mask == tcbPtrTbl[i]->flagsPending)
{
match = TRUE;
tcbPtrTbl[i]->taskStatus &= ~((1 << kTaskPendFlagAll | (1 << kTaskPendDelay)) );
}
}
break;
case (1 << kTaskPendFlagAny):
{
//Match if any of flags are set
mask = f->flagRegister;
if(mask != 0)
{
match = TRUE;
tcbPtrTbl[i]->taskStatus &= ~((1 << kTaskPendFlagAny | (1 << kTaskPendDelay)) );
}
}
break;
default:
match = FALSE; //task waiting nothing
break;
}
//match ocurred?
if(match != FALSE)
{
//Assert a false for next loop
match = FALSE;
//Check if this assert will consume flags:
if(tcbPtrTbl[i]->taskStatus & (1 << kTaskPenFlagConsume))
{
//clear these flags
tmp |= mask;
tcbPtrTbl[i]->taskStatus &= ~(1 << kTaskPenFlagConsume) ;
//If we had a consume event, so clear these flags;
f->flagRegister &= ~(tmp);
}
//Make this task as ready:
if(tcbPtrTbl[i]->taskStatus == 0) {
uLipePrioSet(i, &taskPrioList);
}
}
else
{
/* ensure this flag is waiting for flags */
if(tcbPtrTbl[i]->taskStatus & ((1 << kTaskPendFlagAll) | (1 << kTaskPendFlagAny))) {
uLipePrioSet(i, &f->waitTasks[f->activeList ^ 0x01]);
}
}
i = uLipeKernelFindHighPrio(&f->waitTasks[f->activeList]);
uLipePrioClr(i, &f->waitTasks[f->activeList]);
}
/* swap to new active list */
f->activeList ^= 0x01;
}
/*
* uLipeFlagsPend()
*/
OsStatus_t uLipeFlagsPend(OsHandler_t h, uint32_t flags, uint8_t opt, uint16_t timeout)
{
uint32_t sReg = 0;
uint32_t mask = 0;
uint16_t match = FALSE;
FlagsGrpPtr_t f = (FlagsGrpPtr_t)h;
//Check for valid handler
if(h == 0)
{
return(kInvalidParam);
}
OS_CRITICAL_IN();
//Check if this task already asserted:
mask = f->flagRegister & currentTask->flagsPending;
//check the pend type:
switch(opt & ~(OS_FLAGS_CONSUME))
{
case OS_FLAGS_PEND_ALL:
{
if(mask != flags)
{
currentTask->taskStatus |= (1 << kTaskPendFlagAll);
//check if wants to consume:
if(opt & OS_FLAGS_CONSUME)
{
currentTask->taskStatus |= (1 << kTaskPenFlagConsume);
}
}
else
{
if(opt & OS_FLAGS_CONSUME)
{
f->flagRegister &= ~currentTask->flagsPending;
}
//The flags of this task is already asserted
match = TRUE;
}
}
break;
case OS_FLAGS_PEND_ANY:
{
if(f->flagRegister == 0x0000000)
{
currentTask->taskStatus |= (1 << kTaskPendFlagAny);
//check if wants to consume:
if(opt & OS_FLAGS_CONSUME)
{
currentTask->taskStatus |= (1 << kTaskPenFlagConsume);
}
}
else
{
if(opt & OS_FLAGS_CONSUME)
{
f->flagRegister = 0;
}
//Any flags of this task was already assert
match = TRUE;
}
}
break;
default:
{
//Invalid option, return with error:
OS_CRITICAL_OUT();
return(kInvalidParam);
}
}
//check for match:
if(match != FALSE)
{
//Only return, without suspend task:
OS_CRITICAL_OUT();
return(kStatusOk);
}
//Set the flags:
currentTask->flagsPending |= flags;
//if not, then suspend task:
uLipePrioClr(currentTask->taskPrio, &taskPrioList);
uLipePrioSet(currentTask->taskPrio, &f->waitTasks[f->activeList]);
currentTask->flagsBmp = &f->waitTasks[0];
//adds the timeout
if(timeout != 0)
{
currentTask->delayTime = timeout;
currentTask->taskStatus |= (1 << kTaskPendDelay);
uLipePrioSet(currentTask->taskPrio, &timerPendingList.list[timerPendingList.activeList]);
}
OS_CRITICAL_OUT();
//Check for a context switch:
uLipeKernelTaskYield();
//all gone well:
return(kStatusOk);
}