/**
\fn TIMER_CNT BRTOS_TimerGet (BRTOS_TIMER p)
\brief public function to get remaining time of a soft timer
\param p soft timer
\return timeout value or "0" as error code
*/
TIMER_CNT OSTimerGet (BRTOS_TIMER p)
{
OS_SR_SAVE_VAR
TIMER_CNT timeout;
TIMER_CNT tickcount;
if((p!= NULL) && (p->state == TIMER_RUNNING))
{
if (currentTask)
OSEnterCritical();
tickcount = OSGetCount();
if(p->timeout >= tickcount)
{
timeout = (TIMER_CNT)(p->timeout - tickcount);
}
else
{
timeout = (TIMER_CNT)(TIMER_MAX_COUNTER - tickcount + p->timeout + 1);
}
if (currentTask)
OSExitCritical();
return timeout;
}
return 0; /* "0" null event pointer or timer not running */
}
INT8U OSTimerStop (BRTOS_TIMER p, INT8U del){
OS_SR_SAVE_VAR
BRTOS_TMR_T* list;
INT8U pos_timer = 0;
if(p != NULL)
{
if (currentTask)
OSEnterCritical();
if(p->timeout >= OSGetCount())
{
list = BRTOS_TIMER_VECTOR.current; // remove from current list
}
else
{
list = BRTOS_TIMER_VECTOR.future; // remove from future list
}
/* search timer index */
p->state = TIMER_SEARCH;
for(pos_timer = 1; pos_timer <= list->count; pos_timer++)
{
if(list->timers[pos_timer]->state == TIMER_SEARCH)
{
break;
}
}
p->timeout = 0;
Subir (list->timers, pos_timer); // order it
list->timers[1]=list->timers[list->count]; // remove from current list
list->timers[list->count] = NULL;
list->count--;
Descer (list->timers, 1, list->count); // order it
if(del > 0)
{
p->state = TIMER_NOT_ALLOCATED;
p->func_cb = NULL;
}
else
{
p->state = TIMER_STOPPED;
}
if (currentTask)
OSExitCritical();
return OK;
}
return NULL_EVENT_POINTER;
}
/**
\fn INT8U BRTOS_TimerStart (BRTOS_TIMER p, TIMER_CNT time_wait)
\brief public function to start or restart a soft timer
\param p soft timer
\param time_wait soft timer expiration time
\return OK success
\return NULL_EVENT_POINTER error code
*/
INT8U OSTimerStart (BRTOS_TIMER p, TIMER_CNT time_wait){
OS_SR_SAVE_VAR
INT32U timeout;
BRTOS_TMR_T* list;
if(p!= NULL && time_wait != 0)
{
if(time_wait> TIMER_MAX_COUNTER) time_wait = TIMER_MAX_COUNTER;
if (currentTask)
OSEnterCritical();
if(time_wait > 0)
{
timeout = (INT32U)((INT32U)OSGetCount() + (INT32U)time_wait);
if (timeout >= TICK_COUNT_OVERFLOW)
{
p->timeout = (TIMER_CNT)(timeout - TICK_COUNT_OVERFLOW);
list = BRTOS_TIMER_VECTOR.future; // add into future list
list->timers[++list->count] = p; // insert in the end
Subir (list->timers, list->count); // order it
}
else
{
p->timeout = (TIMER_CNT)timeout;
list = BRTOS_TIMER_VECTOR.current; // add into current list
list->timers[++list->count] = p; // insert in the end
Subir (list->timers, list->count); // order it
// may need to change wake time of timer task
if(currentTask)
{
if(p->timeout == (list->timers[1])->timeout)
{
ContextTask[BRTOS_TIMER_VECTOR.handling_task].TimeToWait = p->timeout;
}
}
}
p->state = TIMER_RUNNING;
}
if (currentTask)
OSExitCritical();
return OK;
}
return NULL_EVENT_POINTER; /* any error number */
}
INT8U OSSemPend (BRTOS_Sem *pont_event, INT16U time_wait)
{
OS_SR_SAVE_VAR
INT8U iPriority = 0;
INT32U timeout;
ContextType *Task;
#if (ERROR_CHECK == 1)
// Can not use semaphore 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(OS_TRACE_BY_TASK == 1)
Update_OSTrace(currentTask, SEMPEND);
#else
Update_OSTrace(ContextTask[currentTask].Priority, SEMPEND);
#endif
#endif
// Verify if there was a post
if (pont_event->OSEventCount > 0)
{
// Decreases semaphore count
pont_event->OSEventCount--;
// Exit Critical Section
OSExitCritical();
return OK;
}
Task = (ContextType*)&ContextTask[currentTask];
// Copy task priority to local scope
iPriority = Task->Priority;
// Increases the semaphore wait list counter
pont_event->OSEventWait++;
// Allocates the current task on the semaphore wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList | (PriorityMask[iPriority]);
// Task entered suspended state, waiting for semaphore post
#if (VERBOSE == 1)
Task->State = SUSPENDED;
Task->SuspendedType = SEMAPHORE;
#endif
// Remove current task from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[iPriority]);
// Set timeout overflow
if (time_wait)
{
timeout = (INT32U)((INT32U)OSGetCount() + (INT32U)time_wait);
if (timeout >= TICK_COUNT_OVERFLOW)
{
Task->TimeToWait = (INT16U)(timeout - TICK_COUNT_OVERFLOW);
}
else
{
Task->TimeToWait = (INT16U)timeout;
}
// Put task into delay list
IncludeTaskIntoDelayList();
} else
{
Task->TimeToWait = NO_TIMEOUT;
}
// Change Context - Returns on time overflow or semaphore post
ChangeContext();
if (time_wait)
{
/* Edited by Carlos H. Barriquello */
/* Moved critical region to inside test region */
// Exit Critical Section
OSExitCritical();
// Enter Critical Section
OSEnterCritical();
/* End of edition */
// Verify if the reason of task wake up was queue timeout
if(Task->TimeToWait == EXIT_BY_TIMEOUT)
{
// Test if both timeout and post have occured before arrive here
if ((pont_event->OSEventWaitList & PriorityMask[iPriority]))
{
// Remove the task from the queue wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the queue wait list counter
pont_event->OSEventWait--;
// Exit Critical Section
OSExitCritical();
// Indicates queue timeout
return TIMEOUT;
}
}
else
{
// Remove the time to wait condition
Task->TimeToWait = NO_TIMEOUT;
// Remove from delay list
RemoveFromDelayList();
}
}
// Exit Critical Section
OSExitCritical();
return OK;
}
INT8U OSMboxPend (BRTOS_Mbox *pont_event, void **Mail, INT16U time_wait)
{
OS_SR_SAVE_VAR
INT8U iPriority = 0;
INT32U timeout;
ContextType *Task;
#if (ERROR_CHECK == 1)
/// Can not use mailbox pend function from interrupt handling code
if(iNesting > 0)
{
// Return NULL message
*Mail = (void *)NULL;
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
// Verify if there was a message post
if (pont_event->OSEventState == AVAILABLE_MESSAGE)
{
// Copy message pointer
*Mail = pont_event->OSEventPointer;
// Free message slot
pont_event->OSEventState = NO_MESSAGE;
// Exit Critical Section
OSExitCritical();
return OK;
}
else
{
Task = (ContextType*)&ContextTask[currentTask];
// Copy task priority to local scope
iPriority = Task->Priority;
// Increases the semaphore wait list counter
pont_event->OSEventWait++;
// Allocates the current task on the mailbox wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList | (PriorityMask[iPriority]);
// Task entered suspended state, waiting for mailbox post
#if (VERBOSE == 1)
Task->State = SUSPENDED;
Task->SuspendedType = MAILBOX;
#endif
// Remove current task from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[iPriority]);
// Set timeout overflow
if (time_wait)
{
timeout = (INT32U)((INT32U)OSGetCount() + (INT32U)time_wait);
if (timeout >= TICK_COUNT_OVERFLOW)
{
Task->TimeToWait = (INT16U)(timeout - TICK_COUNT_OVERFLOW);
}
else
{
Task->TimeToWait = (INT16U)timeout;
}
// Put task into delay list
IncludeTaskIntoDelayList();
} else
{
Task->TimeToWait = NO_TIMEOUT;
}
// Change Context - Returns on time overflow or mailbox post
ChangeContext();
// Exit Critical Section
OSExitCritical();
// Enter Critical Section
OSEnterCritical();
if (time_wait)
{
// Verify if the reason of task wake up was queue timeout
if(Task->TimeToWait == EXIT_BY_TIMEOUT)
{
// Test if both timeout and post have occured before arrive here
if ((pont_event->OSEventWaitList & PriorityMask[iPriority]))
{
// Remove the task from the queue wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the queue wait list counter
pont_event->OSEventWait--;
// Return NULL message
*Mail = (void *)NULL;
// Exit Critical Section
OSExitCritical();
// Indicates queue timeout
return TIMEOUT;
}
}
else
{
// Remove the time to wait condition
Task->TimeToWait = NO_TIMEOUT;
// Remove from delay list
RemoveFromDelayList();
}
}
// Copy message pointer
*Mail = pont_event->OSEventPointer;
// Free message slot
pont_event->OSEventState = NO_MESSAGE;
// Exit Critical Section
OSExitCritical();
return OK;
}
}
INT8U OSMutexAcquire(BRTOS_Mutex *pont_event, INT16U time_wait)
{
OS_SR_SAVE_VAR
INT8U iPriority = 0;
INT32U timeout;
ContextType *Task;
#if (ERROR_CHECK == 1)
/// Can not use mutex acquire 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(OS_TRACE_BY_TASK == 1)
Update_OSTrace(currentTask, MUTEXPEND);
#else
Update_OSTrace(ContextTask[currentTask].Priority, MUTEXPEND);
#endif
#endif
// Verifies if the task is trying to acquire the mutex again
if (currentTask == pont_event->OSEventOwner)
{
// It is already the mutex owner
OSExitCritical();
return OK;
}
Task = (ContextType*)&ContextTask[currentTask];
// Verify if the shared resource is available
if (pont_event->OSEventState == AVAILABLE_RESOURCE)
{
// Set shared resource busy
pont_event->OSEventState = BUSY_RESOURCE;
// Current task becomes the temporary owner of the mutex
pont_event->OSEventOwner = currentTask;
///////////////////////////////////////////////////////////////////////////////
// Performs the temporary exchange of mutex owner priority, if needed //
///////////////////////////////////////////////////////////////////////////////
// Backup the original task priority
pont_event->OSOriginalPriority = ContextTask[currentTask].Priority;
if (pont_event->OSMaxPriority > ContextTask[currentTask].Priority)
{
// Receives the priority ceiling temporarily
Task->Priority = pont_event->OSMaxPriority;
// Priority vector change
PriorityVector[pont_event->OSMaxPriority] = currentTask;
// Remove "original priority current task" from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[pont_event->OSOriginalPriority]);
// Put the "max priority current task" into Ready List
OSReadyList = OSReadyList | (PriorityMask[pont_event->OSMaxPriority]);
}
OSExitCritical();
return OK;
}
else
{
// If no timeout is used and the mutex is not available, exit the mutex with an error
if (time_wait == NO_TIMEOUT) {
// Exit Critical Section
OSExitCritical();
return EXIT_BY_NO_RESOURCE_AVAILABLE;
}
// Copy task priority to local scope
iPriority = Task->Priority;
// Increases the mutex wait list counter
pont_event->OSEventWait++;
// Allocates the current task on the mutex wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList | (PriorityMask[iPriority]);
// Task entered suspended state, waiting for mutex release
#if (VERBOSE == 1)
ContextTask[currentTask].State = SUSPENDED;
ContextTask[currentTask].SuspendedType = MUTEX;
#endif
// Remove current task from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[iPriority]);
// Set timeout overflow
if (time_wait)
{
timeout = (INT32U)((INT32U)OSGetCount() + (INT32U)time_wait);
if (timeout >= TICK_COUNT_OVERFLOW)
{
Task->TimeToWait = (INT16U)(timeout - TICK_COUNT_OVERFLOW);
}
else
{
Task->TimeToWait = (INT16U)timeout;
}
// Put task into delay list
IncludeTaskIntoDelayList();
} else
{
Task->TimeToWait = NO_TIMEOUT;
}
// Change Context - Returns on mutex release
ChangeContext();
// Exit Critical Section
OSExitCritical();
// Enter Critical Section
OSEnterCritical();
if (time_wait) {
// Verify if the reason of task wake up was queue timeout
if(Task->TimeToWait == EXIT_BY_TIMEOUT)
{
// Test if both timeout and post have occured before arrive here
if ((pont_event->OSEventWaitList & PriorityMask[iPriority]))
{
// Remove the task from the queue wait list
pont_event->OSEventWaitList = pont_event->OSEventWaitList & ~(PriorityMask[iPriority]);
// Decreases the queue wait list counter
pont_event->OSEventWait--;
// Exit Critical Section
OSExitCritical();
// Indicates resource not available
return EXIT_BY_NO_RESOURCE_AVAILABLE;
}
}
else
{
// Remove the time to wait condition
Task->TimeToWait = NO_TIMEOUT;
// Remove from delay list
RemoveFromDelayList();
}
}
// Backup the original task priority
pont_event->OSOriginalPriority = iPriority;
if (pont_event->OSMaxPriority > iPriority)
{
// Receives the priority ceiling temporarily
Task->Priority = pont_event->OSMaxPriority;
// Priority vector change
PriorityVector[pont_event->OSMaxPriority] = currentTask;
// Remove "original priority current task" from the Ready List
OSReadyList = OSReadyList & ~(PriorityMask[iPriority]);
// Put the "max priority current task" into Ready List
OSReadyList = OSReadyList | (PriorityMask[pont_event->OSMaxPriority]);
}
OSExitCritical();
return OK;
}
}
INT8U OSTimerSet (BRTOS_TIMER *cbp, FCN_CALLBACK cb, TIMER_CNT time_wait)
{
OS_SR_SAVE_VAR
INT8U i;
BRTOS_TIMER p;
INT32U timeout;
BRTOS_TMR_T* list;
if((cb == NULL) || (cbp == NULL)) return NULL_EVENT_POINTER; /* return error code */
if (currentTask)
OSEnterCritical();
// Search available timer control block
for(i=0;i<=BRTOS_MAX_TIMER;i++)
{
if(i >= BRTOS_MAX_TIMER)
{
// Exit critical Section
if (currentTask)
OSExitCritical();
// Return error code
return(NO_AVAILABLE_EVENT);
}
if(BRTOS_TIMER_VECTOR.mem[i].state == TIMER_NOT_ALLOCATED){
// Exit critical Section
if (currentTask)
OSExitCritical();
// Return error code
return(ERR_EVENT_NO_CREATED);
}
if(BRTOS_TIMER_VECTOR.mem[i].state == TIMER_NOT_USED)
{
p = &BRTOS_TIMER_VECTOR.mem[i];
break;
}
}
p->state = TIMER_STOPPED;
p->func_cb = cb; // store callback function
if(time_wait > 0)
{
timeout = (INT32U)((INT32U)OSGetCount() + (INT32U)time_wait);
if (timeout >= TICK_COUNT_OVERFLOW)
{
p->timeout = (INT16U)(timeout - TICK_COUNT_OVERFLOW);
list = BRTOS_TIMER_VECTOR.future; // add into future list
list->timers[++list->count] = p; // insert in the end
Subir (list->timers, list->count); // order it
}
else
{
p->timeout = (INT16U)timeout;
list = BRTOS_TIMER_VECTOR.current; // add into current list
list->timers[++list->count] = p; // insert in the end
Subir (list->timers, list->count); // order it
// may need to change wake time of timer task
if(currentTask)
{
if(p->timeout == (list->timers[1])->timeout)
{
ContextTask[BRTOS_TIMER_VECTOR.handling_task].TimeToWait = p->timeout;
}
}
}
p->state = TIMER_RUNNING;
}
*cbp = p;
if (currentTask)
OSExitCritical();
return OK;
}