void rt_rms_exit(void)
{
struct rt_rms *rms;
register rt_base_t level;
/* get current rms */
rms = rt_current_rms;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove from schedule */
rt_schedule_remove_rms(rms);
/* change stat */
rms->thread->stat = RT_RMS_CLOSE;
/* remove it from timer list */
rt_timer_detach(&rms->rms_timer);
rt_timer_detach(&rms->thread->thread_timer);
if(rt_object_is_systemobject((rt_object_t)rms->thread) == RT_TRUE)
{
rt_object_detach((rt_object_t)rms->thread);
}
rt_list_remove(&(rms->thread->tlist));
rt_list_remove(&(rms->rlist));
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* switch to next task */
rt_schedule();
}
/*
* can interrupt routines
*/
rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
{
int size;
struct rt_can_rx_fifo* rx_fifo;
RT_ASSERT(can != RT_NULL);
size = msgs;
rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
RT_ASSERT(rx_fifo != RT_NULL);
/* read from software FIFO */
while (msgs)
{
rt_base_t level;
struct rt_can_msg_list *listmsg=RT_NULL;
/* disable interrupt */
level = rt_hw_interrupt_disable();
#ifdef RT_CAN_USING_HDR
rt_int32_t hdr = data->hdr;
if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
{
listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
rt_list_remove(&listmsg->list);
rt_list_remove(&listmsg->hdrlist);
if(can->hdr[hdr].msgs) {
can->hdr[hdr].msgs--;
}
listmsg->owner = RT_NULL;
} else if(hdr == -1)
/**
* This task will delete the rms task
*/
rt_err_t rt_rms_delete(rt_rms_t rms)
{
RT_ASSERT(rms != RT_NULL);
rt_timer_detach(&rms->thread->thread_timer);
rt_timer_detach(&rms->rms_timer);
rms->thread->stat = RT_RMS_CLOSE;
rt_object_detach((rt_object_t)rms->thread);
rt_list_remove(&(rms->thread->tlist));
rt_list_remove(&(rms->rlist));
return RT_RMS_EOK;
}
static void rt_thread_exit(void)
{
struct rt_thread *thread;
register rt_base_t level;
/* get current thread */
thread = rt_current_thread;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove from schedule */
rt_schedule_remove_thread(thread);
/* change stat */
thread->stat = RT_THREAD_CLOSE;
/* remove it from timer list */
rt_list_remove(&(thread->thread_timer.list));
rt_object_detach((rt_object_t)&(thread->thread_timer));
if ((rt_object_is_systemobject((rt_object_t)thread) == RT_EOK) &&
thread->cleanup == RT_NULL) {
rt_object_detach((rt_object_t)thread);
} else {
/* insert to defunct thread list */
rt_list_insert_after(&rt_thread_defunct, &(thread->tlist));
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* switch to next task */
rt_schedule();
}
/**
* This function will remove a rms task from system ready queue.
*/
void rt_schedule_remove_rms(struct rt_rms *rms)
{
register rt_base_t temp;
RT_ASSERT(rms != RT_NULL);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
/* remove thread from ready list */
rt_list_remove(&(rms->rlist));
if(rt_list_isempty(&(rt_thread_priority_table[rms->thread->current_priority])))
{
#if RT_THREAD_PRIORITY_MAX > 32
rt_thread_ready_table[rms->thread->number] &= ~rms->thread->high_mask;
if(rt_thread_ready_table[rms->thread->number] == 0)
{
rt_thread_ready_priority_group &= ~rms->thread->number_mask;
}
#else
rt_thread_ready_priority_group &= ~rms->thread->number_mask;
#endif
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
}
/**
* This function will stop the timer
*
* @param timer the timer to be stopped
*
* @return the operation status, RT_EOK on OK, -RT_ERROR on error
*
*/
rt_err_t rt_timer_stop(rt_timer_t timer)
{
register rt_base_t level;
/* timer check */
RT_ASSERT(timer != RT_NULL);
if(!(timer->parent.flag & RT_TIMER_FLAG_ACTIVATED)) return -RT_ERROR;
#ifdef RT_USING_HOOK
if (rt_object_put_hook != RT_NULL) rt_object_put_hook(&(timer->parent));
#endif
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* change stat */
timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
/* remove it from timer list */
rt_list_remove(&(timer->list));
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
/**
* This function will let current thread yield processor, and scheduler will
* choose a highest thread to run. After yield processor, the current thread
* is still in READY state.
*
* @return RT_EOK
*
*/
rt_err_t rt_thread_yield(void)
{
register rt_base_t level;
struct rt_thread *thread;
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* set to current thread */
thread = rt_current_thread;
/* if the thread stat is READY and on ready queue list */
if (thread->stat == RT_THREAD_READY && thread->tlist.next != thread->tlist.prev)
{
/* remove thread from thread list */
rt_list_remove(&(thread->tlist));
/* put thread to end of ready queue */
rt_list_insert_before(&(rt_thread_priority_table[thread->current_priority]),
&(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_schedule();
return RT_EOK;
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
return RT_EOK;
}
static void rt_thread_idle_entry(void* parameter)
{
while (1)
{
#ifdef RT_USING_HOOK
/* if there is an idle thread hook */
if (rt_thread_idle_hook != RT_NULL) rt_thread_idle_hook();
#endif
#ifdef RT_USING_HEAP
/* check the defunct thread list */
if (!rt_list_isempty(&rt_thread_defunct))
{
rt_base_t lock;
struct rt_thread* thread = rt_list_entry(rt_thread_defunct.next, struct rt_thread, tlist);
/* disable interrupt */
lock = rt_hw_interrupt_disable();
rt_list_remove(&(thread->tlist));
/* enable interrupt */
rt_hw_interrupt_enable(lock);
/* release thread's stack */
rt_free(thread->stack_addr);
/* delete thread object */
rt_object_delete((rt_object_t)thread);
}
#endif
}
/**
* This function will check timer list, if a timeout event happens, the
* corresponding timeout function will be invoked.
*
*/
void rt_soft_timer_check()
{
rt_tick_t current_tick;
rt_list_t *n;
struct rt_timer *t;
#ifdef RT_TIMER_DEBUG
rt_kprintf("software timer check enter\n");
#endif
current_tick = rt_tick_get();
for (n = rt_soft_timer_list.next; n != &(rt_soft_timer_list); )
{
t = rt_list_entry(n, struct rt_timer, list);
/*
* It supposes that the new tick shall less than the half duration of tick max.
*/
if ((current_tick - t->timeout_tick) < RT_TICK_MAX/2)
{
#ifdef RT_USING_HOOK
if (rt_timer_timeout_hook != RT_NULL) rt_timer_timeout_hook(t);
#endif
/* move node to the next */
n = n->next;
/* remove timer from timer list firstly */
rt_list_remove(&(t->list));
/* call timeout function */
t->timeout_func(t->parameter);
/* re-get tick */
current_tick = rt_tick_get();
#ifdef RT_TIMER_DEBUG
rt_kprintf("current tick: %d\n", current_tick);
#endif
if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
(t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
{
/* start it */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
rt_timer_start(t);
}
else
{
/* stop timer */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
}
}
else break; /* not check anymore */
}
#ifdef RT_TIMER_DEBUG
rt_kprintf("software timer check leave\n");
#endif
}
/**
* This function will delete an object and release object memory.
*
* @param object the specified object to be deleted.
*/
void rt_object_delete(rt_object_t object)
{
register rt_base_t temp;
/* object check */
RT_ASSERT(object != RT_NULL);
RT_ASSERT(!(object->type & RT_Object_Class_Static));
RT_OBJECT_HOOK_CALL(rt_object_detach_hook, (object));
/* lock interrupt */
temp = rt_hw_interrupt_disable();
/* remove from old list */
rt_list_remove(&(object->list));
/* unlock interrupt */
rt_hw_interrupt_enable(temp);
#if defined(RT_USING_MODULE) && defined(RT_USING_SLAB)
if (object->flag & RT_OBJECT_FLAG_MODULE)
rt_module_free((rt_module_t)object->module_id, object);
else
#endif
/* free the memory of object */
rt_free(object);
}
rt_inline void _rt_timer_remove(rt_timer_t timer)
{
int i;
for (i = 0; i < RT_TIMER_SKIP_LIST_LEVEL; i++)
{
rt_list_remove(&timer->row[i]);
}
}
/**
* This function will check timer list, if a timeout event happens, the
* corresponding timeout function will be invoked.
*
*/
void rt_soft_timer_check(void)
{
rt_tick_t current_tick;
rt_list_t *n;
struct rt_timer *t;
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check enter\n"));
current_tick = rt_tick_get();
for (n = rt_soft_timer_list.next; n != &(rt_soft_timer_list);)
{
t = rt_list_entry(n, struct rt_timer, list);
/*
* It supposes that the new tick shall less than the half duration of tick max.
*/
if ((current_tick - t->timeout_tick) < RT_TICK_MAX/2)
{
RT_OBJECT_HOOK_CALL(rt_timer_timeout_hook, (t));
/* move node to the next */
n = n->next;
/* remove timer from timer list firstly */
rt_list_remove(&(t->list));
/* call timeout function */
t->timeout_func(t->parameter);
/* re-get tick */
current_tick = rt_tick_get();
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("current tick: %d\n", current_tick));
if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
(t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
{
/* start it */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
rt_timer_start(t);
}
else
{
/* stop timer */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
}
}
else break; /* not check anymore */
}
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check leave\n"));
}
/**
* RM Scheduling clock ISR
*/
void rt_rms_wakeup(void *parameter)
{
register struct rt_rms *rms;
rt_int8_t count = 0;
rt_tick_t tick = 0;
rt_ubase_t priority = (rt_ubase_t)parameter;
tick = rt_tick_get();
/* awake idle tasks */
rms = rt_list_entry(rt_rms_idle_table[priority].next, struct rt_rms, rlist);
if(rms != RT_NULL && rms->deadline <= tick && rms->thread->stat == RT_RMS_IDLE)
{
rms->deadline += rms->period;
rms->thread->stat = RT_RMS_READY;
rt_list_remove(&(rt_rms_idle_table[priority]));
rt_schedule_insert_rms(rms);
count++;
}
rms = rt_list_entry(rt_rms_zombie_table[priority].next, struct rt_rms, rlist);
/* remove all zombie tasks for which their deadline is expired */
if(rms != RT_NULL && rms->deadline <= tick && rms->thread->stat == RT_RMS_ZOMBIE)
{
utilization -= rms->utilization;
rms->thread->stat = RT_RMS_CLOSE;
rt_list_remove(&(rt_rms_zombie_table[priority]));
rt_rms_delete(rms);
count ++;
}
/* if at least a task has been awakened, call the scheduler */
if(count > 0)
{
rt_schedule();
}
}
/**
* @ingroup Thread
*
* This function will perform system background job when system idle.
*/
void rt_thread_idle_excute(void)
{
/* check the defunct thread list */
if (!rt_list_isempty(&rt_thread_defunct))
{
rt_base_t lock;
rt_thread_t thread;
#ifdef RT_USING_MODULE
rt_module_t module = RT_NULL;
#endif
RT_DEBUG_NOT_IN_INTERRUPT;
/* disable interrupt */
lock = rt_hw_interrupt_disable();
/* re-check whether list is empty */
if (!rt_list_isempty(&rt_thread_defunct))
{
/* get defunct thread */
thread = rt_list_entry(rt_thread_defunct.next,
struct rt_thread,
tlist);
#ifdef RT_USING_MODULE
/* get thread's parent module */
module = (rt_module_t)thread->module_id;
/* if the thread is module's main thread */
if (module != RT_NULL && module->module_thread == thread)
{
/* detach module's main thread */
module->module_thread = RT_NULL;
}
#endif
/* remove defunct thread */
rt_list_remove(&(thread->tlist));
/* invoke thread cleanup */
if (thread->cleanup != RT_NULL)
thread->cleanup(thread);
/* if it's a system object, not delete it */
if (rt_object_is_systemobject((rt_object_t)thread) == RT_TRUE)
{
/* enable interrupt */
rt_hw_interrupt_enable(lock);
return;
}
}
rt_err_t rt_mq_delete (rt_mq_t *mq)
{
/* parameter check */
RT_ASSERT(mq != RT_NULL);
/* remove from list */
rt_list_remove(&(mq->list));
/* free mailbox pool */
rt_free(mq->msg_pool);
/* delete mailbox object */
rt_free(mq);
return RT_EOK;
}
/**
* This function will resume a rms task and put it into ready queue
*/
rt_err_t rt_rms_resume(rt_rms_t rms)
{
register rt_base_t temp;
/* rms check */
RT_ASSERT(rms != RT_NULL);
temp = rt_hw_interrupt_disable();
rt_list_remove(&(rms->rlist));
rt_timer_stop(&rms->thread->thread_timer);
rt_hw_interrupt_enable(temp);
rt_schedule_insert_rms(rms);
return RT_RMS_EOK;
}
rt_err_t rt_mq_detach(rt_mq_t mq)
{
/* parameter check */
RT_ASSERT(mq != RT_NULL);
SDL_DestroySemaphore(hmq->msg);
SDL_DestroySemaphore(hmq->mutex);
free(mq->host_mq);
mq->host_mq = NULL;
/* remove from list */
SDL_mutexP(_mq_list_mutex);
rt_list_remove(&(mq->list));
SDL_mutexV(_mq_list_mutex);
return RT_EOK;
}
/**
* This function will detach a static object from object system,
* and the memory of static object is not freed.
*
* @param object the specified object to be detached.
*/
void rt_object_detach(rt_object_t object)
{
register rt_base_t temp;
/* object check */
RT_ASSERT(object != RT_NULL);
RT_OBJECT_HOOK_CALL(rt_object_detach_hook, (object));
/* lock interrupt */
temp = rt_hw_interrupt_disable();
/* remove from old list */
rt_list_remove(&(object->list));
/* unlock interrupt */
rt_hw_interrupt_enable(temp);
}
/**
* This function will detach a static object from object system,
* and the memory of static object is not freed.
*
* @param object the specified object to be detached.
*/
void rt_object_detach(rt_object_t object)
{
register rt_base_t temp;
/* object check */
RT_ASSERT(object != RT_NULL);
#ifdef RT_USING_HOOK
if (rt_object_detach_hook != RT_NULL) rt_object_detach_hook(object);
#endif
/* lock interrupt */
temp = rt_hw_interrupt_disable();
/* remove from old list */
rt_list_remove(&(object->list));
/* unlock interrupt */
rt_hw_interrupt_enable(temp);
}
/**
* This function will delete a timer and release timer memory
*
* @param timer the timer to be deleted
*
* @return the operation status, RT_EOK on OK; RT_ERROR on error
*
*/
rt_err_t rt_timer_delete(rt_timer_t timer)
{
register rt_base_t level;
/* timer check */
RT_ASSERT(timer != RT_NULL);
/* disable interrupt */
level = rt_hw_interrupt_disable();
/* remove it from timer list */
rt_list_remove(&(timer->list));
/* enable interrupt */
rt_hw_interrupt_enable(level);
rt_object_delete((rt_object_t)timer);
return -RT_EOK;
}
/*
* This function will remove a thread from system ready queue.
*
* @param thread the thread to be removed
*
* @note Please do not invoke this function in user application.
*/
void rt_schedule_remove_thread(struct rt_thread *thread)
{
register rt_base_t temp;
RT_ASSERT(thread != RT_NULL);
/* disable interrupt */
temp = rt_hw_interrupt_disable();
#if RT_THREAD_PRIORITY_MAX <= 32
RT_DEBUG_LOG(RT_DEBUG_SCHEDULER, ("remove thread[%.*s], the priority: %d\n",
RT_NAME_MAX, thread->name,
thread->current_priority));
#else
RT_DEBUG_LOG(RT_DEBUG_SCHEDULER,
("remove thread[%.*s], the priority: %d 0x%x %d\n",
RT_NAME_MAX,
thread->name,
thread->number,
thread->number_mask,
thread->high_mask));
#endif
/* remove thread from ready list */
rt_list_remove(&(thread->tlist));
if (rt_list_isempty(&(rt_thread_priority_table[thread->current_priority])))
{
#if RT_THREAD_PRIORITY_MAX > 32
rt_thread_ready_table[thread->number] &= ~thread->high_mask;
if (rt_thread_ready_table[thread->number] == 0)
{
rt_thread_ready_priority_group &= ~thread->number_mask;
}
#else
rt_thread_ready_priority_group &= ~thread->number_mask;
#endif
}
/* enable interrupt */
rt_hw_interrupt_enable(temp);
}
/**
* This function will delete an object and release object memory.
*
* @param object the specified object to be deleted.
*/
void rt_object_delete(rt_object_t object)
{
register rt_base_t temp;
/* object check */
RT_ASSERT(object != RT_NULL);
RT_ASSERT(!(object->type & RT_Object_Class_Static));
#ifdef RT_USING_HOOK
if (rt_object_detach_hook != RT_NULL) rt_object_detach_hook(object);
#endif
/* lock interrupt */
temp = rt_hw_interrupt_disable();
/* remove from old list */
rt_list_remove(&(object->list));
/* unlock interrupt */
rt_hw_interrupt_enable(temp);
/* free the memory of object */
rt_free(object);
}
void rt_timer_check(void)
{
struct rt_timer *t;
rt_tick_t current_tick;
register rt_base_t level;
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("timer check enter\n"));
current_tick = rt_tick_get();
/* disable interrupt */
level = rt_hw_interrupt_disable();
while (!rt_list_isempty(&rt_timer_list))
{
t = rt_list_entry(rt_timer_list.next, struct rt_timer, list);
/*
* It supposes that the new tick shall less than the half duration of tick max.
*/
if ((current_tick - t->timeout_tick) < RT_TICK_MAX/2)
{
RT_OBJECT_HOOK_CALL(rt_timer_timeout_hook, (t));
/* remove timer from timer list firstly */
rt_list_remove(&(t->list));
/* call timeout function */
t->timeout_func(t->parameter);
/* re-get tick */
current_tick = rt_tick_get();
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("current tick: %d\n", current_tick));
if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
(t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
{
/* start it */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
rt_timer_start(t);
}
else
{
/* stop timer */
t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
}
}
else break;
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
/* increase soft timer tick */
#ifdef RT_USING_TIMER_SOFT
rt_soft_timer_tick_increase();
#endif
RT_DEBUG_LOG(RT_DEBUG_TIMER, ("timer check leave\n"));
}