uint8_t OSSchedule(void)
{
uint8_t TaskSelect = 0xFF;
uint8_t Priority = 0;
Priority = SAScheduler(OSReadyList & OSBlockedList);
TaskSelect = PriorityVector[Priority];
return TaskSelect;
}
INT8U OSSchedule(void)
{
INT8U TaskSelect = 0xFF;
INT8U Priority = 0;
Priority = SAScheduler(OSReadyList & OSBlockedList);
TaskSelect = PriorityVector[Priority];
return TaskSelect;
}
INT8U OSSemPost(BRTOS_Sem *pont_event)
{
OS_SR_SAVE_VAR
INT8U iPriority = (INT8U)0;
#if (VERBOSE == 1)
INT8U TaskSelect = 0;
#endif
#if (ERROR_CHECK == 1)
// Verifies if the pointer is NULL
if(pont_event == NULL)
{
return(NULL_EVENT_POINTER);
}
#endif
// Enter Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSEnterCritical();
#if (ERROR_CHECK == 1)
// Verifies if the event is allocated
if(pont_event->OSEventAllocated != TRUE)
{
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return(ERR_EVENT_NO_CREATED);
}
#endif
// BRTOS TRACE SUPPORT
#if (OSTRACE == 1)
if(!iNesting){
#if(OS_TRACE_BY_TASK == 1)
Update_OSTrace(currentTask, SEMPOST);
#else
Update_OSTrace(ContextTask[currentTask].Priority, SEMPOST);
#endif
}else{
Update_OSTrace(0, SEMPOST);
}
#endif
// See if any task is waiting for semaphore
if (pont_event->OSEventWait != 0)
{
// Selects the highest priority task
iPriority = SAScheduler(pont_event->OSEventWaitList);
// Remove the selected task from the semaphore wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the semaphore wait list counter
pont_event->OSEventWait--;
// Put the selected task into Ready List
#if (VERBOSE == 1)
TaskSelect = PriorityVector[iPriority];
ContextTask[TaskSelect].State = READY;
#endif
OSReadyList = OSReadyList | (PriorityMask[iPriority]);
// If outside of an interrupt service routine, change context to the highest priority task
// If inside of an interrupt, the interrupt itself will change the context to the highest priority task
if (!iNesting)
{
// Verify if there is a higher priority task ready to run
ChangeContext();
}
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return OK;
}
// Make sure semaphore will not overflow
if (pont_event->OSEventCount < 255)
{
// Increment semaphore count
pont_event->OSEventCount++;
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return OK;
}
else
{
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
// Indicates semaphore overflow
return ERR_SEM_OVF;
}
}
INT8U OSMboxPost(BRTOS_Mbox *pont_event, void *message)
{
OS_SR_SAVE_VAR
INT8U iPriority = (INT8U)0;
#if (VERBOSE == 1)
INT8U TaskSelect = 0;
#endif
#if (ERROR_CHECK == 1)
// Verifies if the pointer is NULL
if(pont_event == NULL)
{
return(NULL_EVENT_POINTER);
}
#endif
// Enter Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSEnterCritical();
#if (ERROR_CHECK == 1)
// Verifies if the event is allocated
if(pont_event->OSEventAllocated != TRUE)
{
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return(ERR_EVENT_NO_CREATED);
}
#endif
// See if any task is waiting for a message
if (pont_event->OSEventWait != 0)
{
// Selects the highest priority task
iPriority = SAScheduler(pont_event->OSEventWaitList);
// Remove the selected task from the mailbox wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the mailbox wait list counter
pont_event->OSEventWait--;
// Put the selected task into Ready List
#if (VERBOSE == 1)
TaskSelect = PriorityVector[iPriority];
ContextTask[TaskSelect].State = READY;
#endif
OSReadyList = OSReadyList | (PriorityMask[iPriority]);
// Copy message pointer
pont_event->OSEventPointer = message;
// Free message slot
pont_event->OSEventState = AVAILABLE_MESSAGE;
// If outside of an interrupt service routine, change context to the highest priority task
// If inside of an interrupt, the interrupt itself will change the context to the highest priority task
if (!iNesting)
{
// Verify if there is a higher priority task ready to run
ChangeContext();
}
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return OK;
}
else
{
// Copy message pointer
pont_event->OSEventPointer = message;
// Free message slot
pont_event->OSEventState = AVAILABLE_MESSAGE;
// Exit Critical Section
#if (NESTING_INT == 0)
if (!iNesting)
#endif
OSExitCritical();
return OK;
}
}
INT8U OSMutexRelease(BRTOS_Mutex *pont_event)
{
OS_SR_SAVE_VAR
INT8U iPriority = (INT8U)0;
#if (VERBOSE == 1)
INT8U TaskSelect = 0;
#endif
#if (ERROR_CHECK == 1)
/// Can not use mutex pend function from interrupt handling code
if(iNesting > 0)
{
return(IRQ_PEND_ERR);
}
// Verifies if the pointer is NULL
if(pont_event == NULL)
{
return(NULL_EVENT_POINTER);
}
#endif
// Enter Critical Section
OSEnterCritical();
#if (ERROR_CHECK == 1)
// Verifies if the event is allocated
if(pont_event->OSEventAllocated != TRUE)
{
// Exit Critical Section
OSExitCritical();
return(ERR_EVENT_NO_CREATED);
}
#endif
// BRTOS TRACE SUPPORT
#if (OSTRACE == 1)
if(!iNesting){
#if(OS_TRACE_BY_TASK == 1)
Update_OSTrace(currentTask, MUTEXPOST);
#else
Update_OSTrace(ContextTask[currentTask].Priority, MUTEXPOST);
#endif
}else{
Update_OSTrace(0, MUTEXPOST);
}
#endif
// Verify Mutex Owner
if (pont_event->OSEventOwner != currentTask)
{
OSExitCritical();
return ERR_EVENT_OWNER;
}
// Returns to the original priority, if needed
// Copy backuped original priority to the task context
iPriority = ContextTask[currentTask].Priority;
if (iPriority != pont_event->OSOriginalPriority)
{
// Since current task is executing with another priority, reallocate its priority to the original
// into the Ready List
// Remove "max priority current task" from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[iPriority]);
// Put the "original priority current task" into Ready List
OSReadyList = OSReadyList | (PriorityMask[pont_event->OSOriginalPriority]);
ContextTask[currentTask].Priority = pont_event->OSOriginalPriority;
}
// See if any task is waiting for mutex release
if (pont_event->OSEventWait != 0)
{
// Selects the highest priority task
iPriority = SAScheduler(pont_event->OSEventWaitList);
// Remove the selected task from the mutex wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the mutex wait list counter
pont_event->OSEventWait--;
// Indicates that selected task is ready to run
#if (VERBOSE == 1)
TaskSelect = PriorityVector[iPriority];
ContextTask[TaskSelect].State = READY;
#endif
// Put the selected task into Ready List
OSReadyList = OSReadyList | (PriorityMask[iPriority]);
// Verify if there is a higher priority task ready to run
ChangeContext();
// Exit Critical Section
OSExitCritical();
return OK;
}
// Release Mutex
pont_event->OSEventState = AVAILABLE_RESOURCE;
PriorityVector[pont_event->OSMaxPriority] = MUTEX_PRIO;
// Exit Critical Section
OSExitCritical();
return OK;
}
