bool nOS_LeaveIsr (void)
{
nOS_StatusReg sr;
bool swctx = false;
#if (NOS_CONFIG_SAFE > 0)
if (nOS_running)
#endif
{
nOS_EnterCritical(sr);
nOS_isrNestingCounter--;
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
if (nOS_runningThread != nOS_highPrioThread) {
swctx = true;
}
}
}
#endif
nOS_LeaveCritical(sr);
}
return swctx;
}
void nOS_LeaveIsr (void)
{
nOS_StatusReg sr;
#if (NOS_CONFIG_SAFE > 0)
if (nOS_running)
#endif
{
nOS_EnterCritical(sr);
nOS_isrNestingCounter--;
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0) || (NOS_CONFIG_SCHED_ROUND_ROBIN_ENABLE > 0)
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
#if (NOS_CONFIG_HIGHEST_THREAD_PRIO == 0)
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList);
#elif (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
nOS_highPrioThread = nOS_FindHighPrioThread();
#else
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList[nOS_runningThread->prio]);
#endif
if (nOS_runningThread != nOS_highPrioThread) {
*(volatile uint32_t *)0xE000ED04UL = 0x10000000UL;
}
}
}
#endif
nOS_LeaveCritical(sr);
}
}
nOS_Stack *nOS_LeaveIsr (nOS_Stack *sp)
{
#if (NOS_CONFIG_SAFE > 0)
if (nOS_running)
#endif
{
// Enter critical here is not needed, interrupts are already disabled
nOS_isrNestingCounter--;
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0) || (NOS_CONFIG_SCHED_ROUND_ROBIN_ENABLE > 0)
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
#if (NOS_CONFIG_HIGHEST_THREAD_PRIO == 0)
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList);
#elif (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
nOS_highPrioThread = nOS_FindHighPrioThread();
#else
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList[nOS_runningThread->prio]);
#endif
nOS_runningThread = nOS_highPrioThread;
}
#endif
sp = nOS_runningThread->stackPtr;
}
}
return sp;
}
nOS_Stack* nOS_LeaveIsr (nOS_Stack *sp)
{
nOS_StatusReg sr;
#if (NOS_CONFIG_SAFE > 0)
if (nOS_running)
#endif
{
nOS_EnterCritical(sr);
nOS_isrNestingCounter--;
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
nOS_runningThread = nOS_highPrioThread;
}
#endif
sp = nOS_runningThread->stackPtr;
}
nOS_LeaveCritical(sr);
}
return sp;
}
static DWORD WINAPI _SysTick (LPVOID lpParameter)
{
while (true) {
Sleep(1000/NOS_CONFIG_TICKS_PER_SECOND);
/* Enter critical section */
while(WaitForSingleObject(nOS_hCritical, INFINITE) != WAIT_OBJECT_0);
nOS_criticalNestingCounter = 1;
/* Simulate entry in interrupt */
nOS_isrNestingCounter = 1;
nOS_Tick();
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
nOS_highPrioThread = nOS_FindHighPrioThread();
if (nOS_runningThread != nOS_highPrioThread) {
SetEvent(_hSchedRequest);
}
#endif
/* Simulate exit of interrupt */
nOS_isrNestingCounter = 0;
/* Leave critical section */
nOS_criticalNestingCounter = 0;
ReleaseMutex(nOS_hCritical);
}
return 0;
}
nOS_Stack *nOS_LeaveIsr (nOS_Stack *sp)
{
/* Interrupts already disabled before leaving ISR */
nOS_isrNestingCounter--;
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
nOS_runningThread = nOS_highPrioThread;
}
#endif
sp = nOS_runningThread->stackPtr;
}
return sp;
}
void nOS_LeaveIsr (void)
{
nOS_EnterCritical();
nOS_isrNestingCounter--;
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
if (nOS_runningThread != nOS_highPrioThread) {
*(volatile uint32_t *)0xE000ED04UL = 0x10000000UL;
}
}
}
#endif
nOS_LeaveCritical();
}
nOS_Stack *nOS_LeaveIsr (nOS_Stack *sp)
{
// Enter critical here is not needed, interrupts are already disabled
nOS_isrNestingCounter--;
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
nOS_runningThread = nOS_highPrioThread;
}
#endif
sp = nOS_runningThread->stackPtr;
}
return sp;
}
static void* _Scheduler (void *arg)
{
pthread_mutex_lock(&nOS_criticalSection);
/* Signal to init we're running and ready to accept request */
_schedStarted = true;
pthread_cond_signal(&_schedCond);
/* Wait until scheduler is started */
pthread_mutex_unlock(&nOS_criticalSection);
while (!nOS_running) {
usleep(1000);
}
pthread_mutex_lock(&nOS_criticalSection);
while (true) {
/* Wait until a thread send a scheduling request */
while (!_schedRequest) {
pthread_cond_wait(&_schedCond, &nOS_criticalSection);
}
_schedRequest = false;
/* Find next high prio thread and give him permission to run */
#if (NOS_CONFIG_HIGHEST_THREAD_PRIO == 0)
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList);
#elif (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
nOS_highPrioThread = nOS_FindHighPrioThread();
#else
nOS_highPrioThread = nOS_GetHeadOfList(&nOS_readyThreadsList[nOS_runningThread->prio]);
#endif
nOS_runningThread = nOS_highPrioThread;
nOS_highPrioThread->stackPtr->running = true;
pthread_cond_signal(&nOS_highPrioThread->stackPtr->cond);
}
pthread_mutex_unlock(&nOS_criticalSection);
return 0;
}
void nOS_LeaveIsr (void)
{
nOS_StatusReg sr;
nOS_EnterCritical(sr);
nOS_isrNestingCounter--;
#if (NOS_CONFIG_SCHED_PREEMPTIVE_ENABLE > 0)
if (nOS_isrNestingCounter == 0) {
#if (NOS_CONFIG_SCHED_LOCK_ENABLE > 0)
if (nOS_lockNestingCounter == 0)
#endif
{
nOS_highPrioThread = nOS_FindHighPrioThread();
if (nOS_runningThread != nOS_highPrioThread) {
/* Request a software interrupt when going out of ISR */
*(uint8_t*)0x000872E0UL = (uint8_t)1;
}
}
}
#endif
nOS_LeaveCritical(sr);
}