/**
* 功能: 队列注册的定时器的回调函数,给到期的任务返回EASYRTOS_TIMEOUT的标志.
* 将到期的任务移除队列悬挂列表,并加入Ready列表.
*
* 参数:
* 输入: 输出:
* POINTER cb_data 回调函数数据包含需要唤醒的TCB等信息 POINTER cb_data 回调函数数据包含需要唤醒的TCB等信息
*
* 返回:void
*
* 调用的函数:
* (void)tcb_dequeue_entry (timer_data_ptr->suspQ, timer_data_ptr->tcb_ptr);
* (void)tcbEnqueuePriority (&tcb_readyQ, timer_data_ptr->tcb_ptr);
*/
static void eQueueTimerCallback (POINTER cb_data)
{
QUEUE_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* 获取队列定时器回调指针 */
timer_data_ptr = (QUEUE_TIMER *)cb_data;
/* 检测参数是否为空 */
if (timer_data_ptr)
{
/* 进入临界区 */
CRITICAL_ENTER ();
/* 给任务设置标志位，标识任务是因为定时器回调唤醒的 */
timer_data_ptr->tcb_ptr->pendedWakeStatus = EASYRTOS_TIMEOUT;
/* 取消定时器注册 */
timer_data_ptr->tcb_ptr->pended_timo_cb = NULL;
/* 将任务移除悬挂列表，将任务移出receive或者send列表 */
(void)tcb_dequeue_entry (timer_data_ptr->suspQ, timer_data_ptr->tcb_ptr);
/* 将任务加入Ready队列 */
if (tcbEnqueuePriority (&tcb_readyQ, timer_data_ptr->tcb_ptr) == EASYRTOS_OK)
{
timer_data_ptr->tcb_ptr->state= TASK_READY;
}
/* 退出临界区 */
CRITICAL_EXIT ();
}
}
/**
* \b atomSemTimerCallback
*
* This is an internal function not for use by application code.
*
* Timeouts on suspended threads are notified by the timer system through
* this generic callback. The timer system calls us back with a pointer to
* the relevant \c SEM_TIMER object which is used to retrieve the
* semaphore details.
*
* @param[in] cb_data Pointer to a SEM_TIMER object
*/
static void atomSemTimerCallback (POINTER cb_data)
{
SEM_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* Get the SEM_TIMER structure pointer */
timer_data_ptr = (SEM_TIMER *)cb_data;
/* Check parameter is valid */
if (timer_data_ptr)
{
/* Enter critical region */
CRITICAL_START ();
/* Set status to indicate to the waiting thread that it timed out */
timer_data_ptr->tcb_ptr->suspend_wake_status = ATOM_TIMEOUT;
/* Flag as no timeout registered */
timer_data_ptr->tcb_ptr->suspend_timo_cb = NULL;
/* Remove this thread from the semaphore's suspend list */
(void)tcbDequeueEntry (&timer_data_ptr->sem_ptr->suspQ, timer_data_ptr->tcb_ptr);
/* Put the thread on the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, timer_data_ptr->tcb_ptr);
/* Exit critical region */
CRITICAL_END ();
/**
* Note that we don't call the scheduler now as it will be called
* when we exit the ISR by atomIntExit().
*/
}
}
/**
* \b atomTimerDelayCallback
*
* This is an internal function not for use by application code.
*
* Callback for atomTimerDelay() calls. Wakes up the sleeping threads.
*
* @param[in] cb_data Callback parameter (DELAY_TIMER ptr for sleeping thread)
*
* @return None
*/
static void atomTimerDelayCallback (POINTER cb_data)
{
DELAY_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* Get the DELAY_TIMER structure pointer */
timer_data_ptr = (DELAY_TIMER *)cb_data;
/* Check parameter is valid */
if (timer_data_ptr)
{
/* Enter critical region */
CRITICAL_START ();
/* Put the thread on the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, timer_data_ptr->tcb_ptr);
/* Exit critical region */
CRITICAL_END ();
/**
* Don't call the scheduler yet. The ISR exit routine will do this
* in case there are other callbacks to be made, which may also make
* threads ready.
*/
}
}
/**
* 功能: 信号量注册的定时器的回调函数,给到期的任务返回EASYRTOS_TIMEOUT的标志.
* 将到期的任务移除队列悬挂列表,并加入Ready列表.
*
* 参数:
* 输入: 输出:
* POINTER cb_data 回调函数数据包含需要唤醒的TCB等信息 POINTER cb_data 回调函数数据包含需要唤醒的TCB等信息
*
* 返回:void
*
* 调用的函数:
* (void)tcb_dequeue_entry (timer_data_ptr->suspQ, timer_data_ptr->tcb_ptr);
* (void)tcbEnqueuePriority (&tcb_readyQ, timer_data_ptr->tcb_ptr);
*/
static void eSemTimerCallback (POINTER cb_data)
{
SEM_TIMER *timer_data_ptr;
CRITICAL_STORE;
/* 获取SEM_TIMER结构指针 */
timer_data_ptr = (SEM_TIMER *)cb_data;
/* 检查参数是否为空 */
if (timer_data_ptr)
{
/* 进入临界区 */
CRITICAL_ENTER ();
/* 设置标志，表明任务是由于timeout到期而唤醒的 */
timer_data_ptr->tcb_ptr->pendedWakeStatus = EASYRTOS_TIMEOUT ;
/* 解除timeout定时器注册 */
timer_data_ptr->tcb_ptr->pended_timo_cb = NULL;
/* 将任务移除信号量悬挂队列 */
(void)tcb_dequeue_entry (&timer_data_ptr->sem_ptr->suspQ, timer_data_ptr->tcb_ptr);
/* 将任务加入Ready队列 */
if (tcbEnqueuePriority (&tcb_readyQ, timer_data_ptr->tcb_ptr) == EASYRTOS_OK)
{
timer_data_ptr->tcb_ptr->state = TASK_READY;
}
/* 退出临界区 */
CRITICAL_EXIT ();
/* 这里没有启动调度器，因为之后在退出timer ISR的时候会通过atomIntExit()启动 */
}
}
/**
* 功能: 设置计数信号量的Count
*
* 参数:
* 输入: 输出:
* EASYRTOS_SEM *sem 信号量指针 EASYRTOS_SEM *sem 信号量指针
* uint8_t count设置的Count数
*
* 返回:
* 返回 EASYRTOS_OK 成功
* 返回 EASYRTOS_ERR_PARAM 错误的参数
*
* 调用的函数:
* 无
*/
ERESULT eSemResetCount (EASYRTOS_SEM *sem, uint8_t count)
{
ERESULT status;
CRITICAL_STORE;
EASYRTOS_TCB *tcb_ptr;
/* 参数检查 */
if (sem == NULL || sem->type != SEM_COUNTY)
{
status = EASYRTOS_ERR_PARAM;
}
else
{
if (sem->suspQ && sem->count == 0)
{
/* 进入临界区 */
CRITICAL_ENTER ();
tcb_ptr = tcb_dequeue_head (&sem->suspQ);
if (tcbEnqueuePriority (&tcb_readyQ, tcb_ptr) != EASYRTOS_OK)
{
/* 若加入Ready列表失败，退出临界区 */
CRITICAL_EXIT ();
status = EASYRTOS_ERR_QUEUE;
}
else
CRITICAL_EXIT ();
}
/* 设置count值 */
sem->count = count;
/* 成功 */
status = EASYRTOS_OK;
}
return (status);
}
/**
* 功能: 放置信号量,根据信号量类型不同会有以下不同反应：
* 1、二值信号量
* 当计数为0的时候计数加1，计数已经为1则会返回溢出错误。
* 2、计数信号量
* 计数加1，当计数大于127时，则会返回溢出错误。
* 3、互斥锁
* 当互斥锁拥有者调用的时候，若计数<=0，则计数加1，当计数达到1时，清除拥有任务。
* 当非拥有者调用的时候返回EASYRTOS_ERR_OWNERSHIP
* 当有任务被悬挂的时候,将会调用调度器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_SEM * sem 信号量指针 EASYRTOS_SEM * sem 信号量指针
*
* 返回:
* EASYRTOS_OK 成功
* EASYRTOS_ERR_OVF 计数信号量count>32767(>32767)
* EASYRTOS_ERR_PARAM 错误的参数
* EASYRTOS_ERR_QUEUE 将任务加入运行队列失败
* EASYRTOS_ERR_TIMER 注册定时器未成功
* EASYRTOS_ERR_BIN_OVF 二值信号量count已经为1
* EASYRTOS_SEM_UINIT 信号量没有被初始化
* EASYRTOS_ERR_OWNERSHIP 尝试解锁Mutex的任务不是Mutex拥有者
*
* 调用的函数:
* eCurrentContext();
* tcb_dequeue_head (&sem->suspQ);
* tcbEnqueuePriority (&tcb_readyQ, tcb_ptr);
* eTimerCancel (tcb_ptr->pended_timo_cb);
* easyRTOSSched (FALSE);
*/
ERESULT eSemGive (EASYRTOS_SEM * sem)
{
ERESULT status;
CRITICAL_STORE;
EASYRTOS_TCB *tcb_ptr;
EASYRTOS_TCB *curr_tcb_ptr;
/* 参数检查 */
if (sem == NULL)
{
status = EASYRTOS_ERR_PARAM;
}
else if (sem->type == NULL)
{
status = EASYRTOS_SEM_UINIT;
}
else
{
/* 获取正在运行的任务的TCB */
curr_tcb_ptr = eCurrentContext();
/* 进入临界区 */
CRITICAL_ENTER ();
if (sem->type == SEM_MUTEX && sem->owner != curr_tcb_ptr)
{
/* 退出临界区 */
CRITICAL_EXIT ();
status = EASYRTOS_ERR_OWNERSHIP;
}
/* 将被信号量悬挂的任务置入Ready任务列表 */
else
{
if (sem->suspQ && sem->count == 0)
{
sem->owner = NULL;
//if ( sem->type == SEM_MUTEX )sem->count++;
tcb_ptr = tcb_dequeue_head (&sem->suspQ);
if (tcbEnqueuePriority (&tcb_readyQ, tcb_ptr) != EASYRTOS_OK)
{
/* 若加入Ready列表失败，退出临界区 */
CRITICAL_EXIT ();
status = EASYRTOS_ERR_QUEUE;
}
else
{
/* 给等待的任务返回EASYRTOS_OK */
tcb_ptr->pendedWakeStatus = EASYRTOS_OK;
tcb_ptr->state = TASK_READY;
/* 设置任务为新的互斥锁ower */
sem->owner = tcb_ptr;
/* 解除该信号量timeout注册的定时器 */
if ((tcb_ptr->pended_timo_cb != NULL)
&& (eTimerCancel (tcb_ptr->pended_timo_cb) != EASYRTOS_OK))
{
/* 解除定时器失败 */
status = EASYRTOS_ERR_TIMER;
}
else
{
/* 没有timeout定时器注册 */
tcb_ptr->pended_timo_cb = NULL;
/* 成功 */
status = EASYRTOS_OK;
}
/* 退出临界区 */
CRITICAL_EXIT ();
if (eCurrentContext())
easyRTOSSched (FALSE);
}
}
/* 若没有任务被该信号量悬挂，则增加count，然后返回 */
else
{
switch (sem->type)
{
case SEM_COUNTY:
/* 检查是否溢出 */
if (sem->count == 32767)
{
/* 返回错误标识 */
status = EASYRTOS_ERR_OVF;
}
else
{
/* 增加count并返回 */
sem->count++;
status = EASYRTOS_OK;
}
break;
case SEM_BINARY:
/* 检查是否已经为1 */
if (sem->count == 1)
{
/* 返回错误标识 */
status = EASYRTOS_ERR_OVF;
}
else
{
/* 增加count并返回 */
sem->count = 1;
status = EASYRTOS_OK;
}
break;
case SEM_MUTEX:
if (sem->count>1)
{
/* 返回错误标识 */
status = EASYRTOS_ERR_OVF;
}
else
{
sem->count++;
//测试 若sem->count==1 清除掉拥有者
if (sem->count>=1)sem->owner=NULL;
status = EASYRTOS_OK;
}
break;
}
}
/* 退出临界区 */
CRITICAL_EXIT ();
}
}
return (status);
}
/**
* 功能: 获取信号量,若信号量数量为0,根据timeout的不同值和信号量的不同类型有不同的处理方式.
*
* 一、二值信号量和计数信号量
* 1.timeout>0 悬挂调用的任务,当timeout到期的时候唤醒任务并返回timeout标志
* 2.timeout=0 永久悬挂调用的任务,直到获取到信号量.
* 3.timeout=-1 不悬挂任务,若信号量计数为0会返回信号量为0的标志.
*
* 二、互斥锁
* 若调用者为拥有者，则进入递归调用模式，计数变为负值，并不会悬挂任务。
* 若调用者不是拥有者，则根据timeout的不同值有以下的处理方式。
* 1.timeout>0 悬挂调用的任务,当timeout到期的时候唤醒任务并返回timeout标志
* 2.timeout=0 永久悬挂调用的任务,直到获取到信号量.
* 3.timeout=-1 不悬挂任务,若信号量计数为0会返回信号量为0的标志.
*
* 当有任务被悬挂的时候,将会调用调度器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_SEM *sem 信号量指针 EASYRTOS_SEM *sem 信号量指针
* int32_t timeout timeout时间,依赖于心跳时间
*
* 返回:
* EASYRTOS_OK 成功
* EASYRTOS_TIMEOUT 信号量timeout到期
* EASYRTOS_WOULDBLOCK 技术为0的时候，timeout=-1
* EASYRTOS_ERR_DELETED 信号量在悬挂任务时被删除
* EASYRTOS_ERR_CONTEXT 错误的上下文调用
* EASYRTOS_ERR_PARAM 错误的参数
* EASYRTOS_ERR_QUEUE 将任务加入运行队列失败
* EASYRTOS_ERR_TIMER 注册没有成功
* EASYRTOS_SEM_UINIT 信号量没有被初始化
*
* 调用的函数:
* eCurrentContext();
* tcbEnqueuePriority (&sem->suspQ, curr_tcb_ptr);
* eTimerRegister (&timerCb);
* (void)tcb_dequeue_entry (&sem->suspQ, curr_tcb_ptr);
* easyRTOSSched (FALSE);
*/
ERESULT eSemTake (EASYRTOS_SEM *sem, int32_t timeout)
{
CRITICAL_STORE;
ERESULT status;
SEM_TIMER timerData;
EASYRTOS_TIMER timerCb;
EASYRTOS_TCB *curr_tcb_ptr;
/* 参数检查 */
if (sem == NULL)
{
status = EASYRTOS_ERR_PARAM;
}
else if (sem->type == NULL)
{
status = EASYRTOS_SEM_UINIT;
}
else
{
/* 进入临界区 防止在此时信号量发生变化 */
CRITICAL_ENTER ();
/* 获取正在运行任务的TCB */
curr_tcb_ptr = eCurrentContext();
/**
* 检测是否在任务上下文(而不是中断),因为MUTEX需要一个拥有者,所以不能
* 被ISR调用
*/
if (curr_tcb_ptr == NULL)
{
/* 退出临界区 */
CRITICAL_EXIT ();
/* 不在任务上下文中,无法悬挂任务 */
status = EASYRTOS_ERR_CONTEXT;
}
/**
* 当为二值信号或者计数信号量的时候,则判断count是否为0.
* 若为互斥锁信号量,则判断是否上下文与拥有任务不相同.
* 满足其一,则悬挂该任务.
*/
else if (((sem->type != SEM_MUTEX) && (sem->count == 0)) || \\
((sem->type == SEM_MUTEX) && (sem->owner != curr_tcb_ptr) && (sem->owner != NULL)))
{
/* 若timeout >= 0 则悬挂任务 */
if (timeout >= 0)
{
/* Count为0, 悬挂任务 */
/* 若是在任务上下文中 */
if (curr_tcb_ptr)
{
/* 将该任务加入该信号量的悬挂列表 */
if (tcbEnqueuePriority (&sem->suspQ, curr_tcb_ptr) != EASYRTOS_OK)
{
/* 若失败，退出临界区 */
CRITICAL_EXIT ();
/* 返回错误 */
status = EASYRTOS_ERR_QUEUE;
}
else
{
/* 将任务状态设置为悬挂 */
curr_tcb_ptr->state = TASK_PENDED;
status = EASYRTOS_OK;
/* 根据timeout的值，决定是否需要注册定时器回调 */
if (timeout)
{
/* 保存回调需要的数据 */
timerData.tcb_ptr = curr_tcb_ptr;
timerData.sem_ptr = sem;
/* 定时器回调需要的数据 */
timerCb.cb_func = eSemTimerCallback;
timerCb.cb_data = (POINTER)&timerData;
timerCb.cb_ticks = timeout;
/**
* 保存定时器回调在TCB中，当信号量GIVE的时候，方便取消
* timeout注册的定时器
*/
curr_tcb_ptr->pended_timo_cb = &timerCb;
/* 注册timeout的定时器 */
if (eTimerRegister (&timerCb) != EASYRTOS_OK)
{
/* 若注册失败，返回错误 */
status = EASYRTOS_ERR_TIMER;
/* 清除队列 */
(void)tcb_dequeue_entry (&sem->suspQ, curr_tcb_ptr);
curr_tcb_ptr->state = TASK_READY;
curr_tcb_ptr->pended_timo_cb = NULL;
}
}
/* 没有timeout请求 */
else
{
curr_tcb_ptr->pended_timo_cb = NULL;
}
/* 退出临界区 */
CRITICAL_EXIT ();
/* 检查是否有错误发生 */
if (status == EASYRTOS_OK)
{
/* 任务被悬挂，调用调度器启动一个新的任务 */
easyRTOSSched (FALSE);
/**
* 通过eSemGive()唤醒会返回EASYRTOS_OK，当timeout时间到返回
* EASYRTOS_TIMEOUT，当信号量被删除时，返回EASYRTOS_ERR_DELETED
*/
status = curr_tcb_ptr->pendedWakeStatus;
/**
* 若线程在EASYRTOS_OK的情况下被唤醒时，其他任务增加了信号量
* 计数并把控制权交给该任务。理论上，之前的任务增加信号量计数，
* 然后这个任务减少信号量计数，但是为了能够让其他优先级更高的
* 任务抢占，我们把减少计数的地方放在了eSemGive()中
*/
}
}
}
else
{
/* 退出临界区 */
CRITICAL_EXIT ();
/* 不在任务上下文，不能悬挂 */
status = EASYRTOS_ERR_CONTEXT;
}
}
else
{
/* timeout == -1, 不需要悬挂 */
CRITICAL_EXIT();
status = EASYRTOS_WOULDBLOCK;
}
}
else
{
switch (sem->type)
{
case SEM_BINARY:
case SEM_COUNTY:
sem->count--;
status = EASYRTOS_OK;
break;
case SEM_MUTEX:
/* Count不是0，减少Count的值，并返回 */
if (sem->owner == NULL)
{
sem->owner = curr_tcb_ptr;
}
/* Count不是0，减少Count的值，并返回 */
if (sem->count>-32768)
{
sem->count--;
/* 成功 */
status = EASYRTOS_OK;
}
else {
status = EASYRTOS_ERR_OVF;
}
break;
default:
status = EASYRTOS_SEM_UINIT;
}
/* 退出临界区 */
CRITICAL_EXIT ();
}
}
return (status);
}
/**
* 功能: 删除信号量,并唤醒所有被该信号量悬挂的任务加入Ready列表中.同时取消该任务
* 注册的定时器.若有任务被唤醒,则会启动调度器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_SEM *sem 信号量指针 EASYRTOS_SEM *sem 信号量指针
*
* 返回:
* 返回 EASYRTOS_OK 成功
* 返回 EASYRTOS_ERR_QUEUE 将任务放置到Ready队列中失败
* 返回 EASYRTOS_ERR_TIMER 取消定时器失败
* 返回 EASYRTOS_ERR_PARAM 输入参数错误
* 返回 EASYRTOS_ERR_DELETED 信号量在悬挂任务时被删除
*
* 调用的函数:
* tcb_dequeue_head (&sem->suspQ);
* tcbEnqueuePriority (&tcb_readyQ, tcb_ptr);
* eTimerCancel (tcb_ptr->pended_timo_cb);
*/
ERESULT eSemDelete (EASYRTOS_SEM *sem)
{
ERESULT status;
CRITICAL_STORE;
EASYRTOS_TCB *tcb_ptr;
uint8_t woken_threads = FALSE;
/* 参数检查 */
if (sem == NULL)
{
status = EASYRTOS_ERR_PARAM;
}
else
{
status = EASYRTOS_OK;
/* 唤醒所有被悬挂的任务 */
while (1)
{
/* 进入临界区 */
CRITICAL_ENTER ();
/* 检查是否有任务被悬挂 可能有很多任务被该信号量悬挂 &sem->suspQ为悬挂链表 */
tcb_ptr = tcb_dequeue_head (&sem->suspQ);
/* 若有任务被信号量悬挂 */
if (tcb_ptr)
{
/* 对被悬挂的任务返回错误标志 */
tcb_ptr->pendedWakeStatus = EASYRTOS_ERR_DELETED;
/* 将任务TCB加入Ready的链表 */
if (tcbEnqueuePriority (&tcb_readyQ, tcb_ptr) != EASYRTOS_OK)
{
/* 若加入失败，退出临界区 */
CRITICAL_EXIT ();
/* 退出循环，返回加入Ready链表失败 */
status = EASYRTOS_ERR_QUEUE;
break;
}
/* 成功则把任务设置为READY状态 */
else tcb_ptr->state = TASK_READY;
/* 若悬挂有timeout，取消对应的定时器 */
if (tcb_ptr->pended_timo_cb)
{
if (eTimerCancel (tcb_ptr->pended_timo_cb) != EASYRTOS_OK)
{
/* 取消定时器失败，退出临界区 */
CRITICAL_EXIT ();
/* 退出循环，返回错误标识 */
status = EASYRTOS_ERR_TIMER;
break;
}
/* 标志没有timeout定时器注册 */
tcb_ptr->pended_timo_cb = NULL;
}
/* 退出临界区 */
CRITICAL_EXIT ();
/* 请求调度器 */
woken_threads = TRUE;
}
/* 没有被悬挂的任务了 */
else
{
/* 退出临界区并结束循环 */
CRITICAL_EXIT ();
break;
}
}
/* 有任务被唤醒则调用调度器 */
if (woken_threads == TRUE)
{
/**
* 只有在任务中才运行调度器，在中断中时会在退出中断
* 时eIntExit()调用
*/
if (eCurrentContext())
easyRTOSSched (FALSE);
}
}
return (status);
}
/**
* \b atomSemPut
*
* Perform a put operation on a semaphore.
*
* This increments the current count value for the semaphore and returns.
*
* If the count value was previously zero and there are threads blocking on the
* semaphore, the call will wake up the highest priority thread suspended. Only
* one thread is woken per call to atomSemPut(). If multiple threads of the
* same priority are suspended, they are woken in order of suspension (FIFO).
*
* This function can be called from interrupt context.
*
* @param[in] sem Pointer to semaphore object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_OVF The semaphore count would have overflowed (>255)
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout for a woken thread
*/
uint8_t atomSemPut (ATOM_SEM * sem)
{
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr;
/* Check parameters */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect access to the semaphore object and OS queues */
CRITICAL_START ();
/* If any threads are blocking on the semaphore, wake up one */
if (sem->suspQ)
{
/**
* Threads are woken up in priority order, with a FIFO system
* used on same priority threads. We always take the head,
* ordering is taken care of by an ordered list enqueue.
*/
tcb_ptr = tcbDequeueHead (&sem->suspQ);
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was a problem putting the thread on the ready queue */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set OK status to be returned to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_OK;
/* If there's a timeout on this suspension, cancel it */
if ((tcb_ptr->suspend_timo_cb != NULL)
&& (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK))
{
/* There was a problem cancelling a timeout on this semaphore */
status = ATOM_ERR_TIMER;
}
else
{
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
/**
* The scheduler may now make a policy decision to thread
* switch if we are currently in thread context. If we are
* in interrupt context it will be handled by atomIntExit().
*/
if (atomCurrentContext())
atomSched (FALSE);
}
}
/* If no threads waiting, just increment the count and return */
else
{
/* Check for count overflow */
if (sem->count == 255)
{
/* Don't increment, just return error status */
status = ATOM_ERR_OVF;
}
else
{
/* Increment the count and return success */
sem->count++;
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
}
}
return (status);
}
/**
* \b atomSemGet
*
* Perform a get operation on a semaphore.
*
* This decrements the current count value for the semaphore and returns.
* If the count value is already zero then the call will block until the
* count is incremented by another thread, or until the specified \c timeout
* is reached. Blocking threads will also be woken if the semaphore is
* deleted by another thread while blocking.
*
* Depending on the \c timeout value specified the call will do one of
* the following if the count value is zero:
*
* \c timeout == 0 : Call will block until the count is non-zero \n
* \c timeout > 0 : Call will block until non-zero up to the specified timeout \n
* \c timeout == -1 : Return immediately if the count is zero \n
*
* If the call needs to block and \c timeout is zero, it will block
* indefinitely until atomSemPut() or atomSemDelete() is called on the
* semaphore.
*
* If the call needs to block and \c timeout is non-zero, the call will only
* block for the specified number of system ticks after which time, if the
* thread was not already woken, the call will return with \c ATOM_TIMEOUT.
*
* If the call would normally block and \c timeout is -1, the call will
* return immediately with \c ATOM_WOULDBLOCK.
*
* This function can only be called from interrupt context if the \c timeout
* parameter is -1 (in which case it does not block).
*
* @param[in] sem Pointer to semaphore object
* @param[in] timeout Max system ticks to block (0 = forever)
*
* @retval ATOM_OK Success
* @retval ATOM_TIMEOUT Semaphore timed out before being woken
* @retval ATOM_WOULDBLOCK Called with timeout == -1 but count is zero
* @retval ATOM_ERR_DELETED Semaphore was deleted while suspended
* @retval ATOM_ERR_CONTEXT Not called in thread context and attempted to block
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting the thread on the suspend queue
* @retval ATOM_ERR_TIMER Problem registering the timeout
*/
uint8_t atomSemGet (ATOM_SEM *sem, int32_t timeout)
{
CRITICAL_STORE;
uint8_t status;
SEM_TIMER timer_data;
ATOM_TIMER timer_cb;
ATOM_TCB *curr_tcb_ptr;
/* Check parameters */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Protect access to the semaphore object and OS queues */
CRITICAL_START ();
/* If count is zero, block the calling thread */
if (sem->count == 0)
{
/* If called with timeout >= 0, we should block */
if (timeout >= 0)
{
/* Count is zero, block the calling thread */
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Check we are actually in thread context */
if (curr_tcb_ptr)
{
/* Add current thread to the suspend list on this semaphore */
if (tcbEnqueuePriority (&sem->suspQ, curr_tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was an error putting this thread on the suspend list */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set suspended status for the current thread */
curr_tcb_ptr->suspended = TRUE;
/* Track errors */
status = ATOM_OK;
/* Register a timer callback if requested */
if (timeout)
{
/* Fill out the data needed by the callback to wake us up */
timer_data.tcb_ptr = curr_tcb_ptr;
timer_data.sem_ptr = sem;
/* Fill out the timer callback request structure */
timer_cb.cb_func = atomSemTimerCallback;
timer_cb.cb_data = (POINTER)&timer_data;
timer_cb.cb_ticks = timeout;
/**
* Store the timer details in the TCB so that we can
* cancel the timer callback if the semaphore is put
* before the timeout occurs.
*/
curr_tcb_ptr->suspend_timo_cb = &timer_cb;
/* Register a callback on timeout */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
/* Timer registration failed */
status = ATOM_ERR_TIMER;
/* Clean up and return to the caller */
(void)tcbDequeueEntry (&sem->suspQ, curr_tcb_ptr);
curr_tcb_ptr->suspended = FALSE;
curr_tcb_ptr->suspend_timo_cb = NULL;
}
}
/* Set no timeout requested */
else
{
/* No need to cancel timeouts on this one */
curr_tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Check no errors have occurred */
if (status == ATOM_OK)
{
/**
* Current thread now blocking, schedule in a new
* one. We already know we are in thread context
* so can call the scheduler from here.
*/
atomSched (FALSE);
/**
* Normal atomSemPut() wakeups will set ATOM_OK status,
* while timeouts will set ATOM_TIMEOUT and semaphore
* deletions will set ATOM_ERR_DELETED.
*/
status = curr_tcb_ptr->suspend_wake_status;
/**
* If we have been woken up with ATOM_OK then
* another thread incremented the semaphore and
* handed control to this thread. In theory the
* the posting thread increments the counter and
* as soon as this thread wakes up we decrement
* the counter here, but to prevent another
* thread preempting this thread and decrementing
* the semaphore before this section was
* scheduled back in, we emulate the increment
* and decrement by not incrementing in the
* atomSemPut() and not decrementing here. The
* count remains zero throughout preventing other
* threads preempting before we decrement the
* count again.
*/
}
}
}
else
{
/* Exit critical region */
CRITICAL_END ();
/* Not currently in thread context, can't suspend */
status = ATOM_ERR_CONTEXT;
}
}
else
{
/* timeout == -1, requested not to block and count is zero */
CRITICAL_END();
status = ATOM_WOULDBLOCK;
}
}
else
{
/* Count is non-zero, just decrement it and return to calling thread */
sem->count--;
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
return (status);
}
/**
* \b atomMutexPut
*
* Give back the lock on a mutex.
*
* This checks that the mutex is owned by the calling thread, and decrements
* the recursive lock count. Once the lock count reaches zero, the lock is
* considered relinquished and no longer owned by this thread.
*
* If the lock is relinquished and there are threads blocking on the mutex, the
* call will wake up the highest priority thread suspended. Only one thread is
* woken per call to atomMutexPut(). If multiple threads of the same priority
* are suspended, they are woken in order of suspension (FIFO).
*
* This function can only be called from thread context. A mutex has the
* concept of an owner thread, so it is never valid to make a mutex call
* from interrupt context when there is no thread to associate with.
*
* @param[in] mutex Pointer to mutex object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout for a woken thread
* @retval ATOM_ERR_OWNERSHIP Attempt to unlock mutex not owned by this thread
*/
uint8_t atomMutexPut (ATOM_MUTEX * mutex){
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr, *curr_tcb_ptr;
/* Check parameters */
if (mutex == NULL)
{
/* Bad mutex pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Protect access to the mutex object and OS queues */
CRITICAL_START ();
/* Check if the calling thread owns this mutex */
if (mutex->owner != curr_tcb_ptr)
{
/* Exit critical region */
CRITICAL_END ();
/* Attempt to unlock by non-owning thread */
status = ATOM_ERR_OWNERSHIP;
}
else
{
/* Lock is owned by this thread, decrement the recursive lock count */
mutex->count--;
/* Once recursive lock count reaches zero, we relinquish ownership */
if (mutex->count == 0)
{
/* Relinquish ownership */
mutex->owner = NULL;
/* If any threads are blocking on this mutex, wake them now */
if (mutex->suspQ)
{
/**
* Threads are woken up in priority order, with a FIFO system
* used on same priority threads. We always take the head,
* ordering is taken care of by an ordered list enqueue.
*/
tcb_ptr = tcbDequeueHead (&mutex->suspQ);
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was a problem putting the thread on the ready queue */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set OK status to be returned to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_OK;
/* Set this thread as the new owner of the mutex */
mutex->owner = tcb_ptr;
/* If there's a timeout on this suspension, cancel it */
if ((tcb_ptr->suspend_timo_cb != NULL)
&& (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK))
{
/* There was a problem cancelling a timeout on this mutex */
status = ATOM_ERR_TIMER;
}
else
{
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
/**
* The scheduler may now make a policy decision to
* thread switch. We already know we are in thread
* context so can call the scheduler from here.
*/
atomSched (FALSE);
}
}
else
{
/**
* Relinquished ownership and no threads waiting.
* Nothing to do.
*/
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
else
{
/**
* Decremented lock but still retain ownership due to
* recursion. Nothing to do.
*/
/* Exit critical region */
CRITICAL_END ();
/* Successful */
status = ATOM_OK;
}
}
}
return (status);
}
/**
* \b atomThreadCreate
*
* Creates and starts a new thread.
*
* Callers provide the ATOM_TCB structure storage, these are not obtained
* from an internal TCB free list.
*
* The function puts the new thread on the ready queue and calls the
* scheduler. If the priority is higher than the current priority, then the
* new thread may be scheduled in before the function returns.
*
* Optionally prefills the thread stack with a known value to enable stack
* usage checking (if the ATOM_STACK_CHECKING macro is defined).
*
* @param[in] tcb_ptr Pointer to the thread's TCB storage
* @param[in] priority Priority of the thread (0 to 255)
* @param[in] entry_point Thread entry point
* @param[in] entry_param Parameter passed to thread entry point
* @param[in] stack_top Top of the stack area
* @param[in] stack_size Size of the stack area in bytes
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_PARAM Bad parameters
* @retval ATOM_ERR_QUEUE Error putting the thread on the ready queue
*/
uint8_t atomThreadCreate (ATOM_TCB *tcb_ptr, uint8_t priority, void (*entry_point)(uint32_t), uint32_t entry_param, void *stack_top, uint32_t stack_size)
{
CRITICAL_STORE;
uint8_t status;
if ((tcb_ptr == NULL) || (entry_point == NULL) || (stack_top == NULL)
|| (stack_size == 0))
{
/* Bad parameters */
status = ATOM_ERR_PARAM;
}
else
{
/* Set up the TCB initial values */
tcb_ptr->suspended = FALSE;
tcb_ptr->priority = priority;
tcb_ptr->prev_tcb = NULL;
tcb_ptr->next_tcb = NULL;
tcb_ptr->suspend_timo_cb = NULL;
/**
* Store the thread entry point and parameter in the TCB. This may
* not be necessary for all architecture ports if they put all of
* this information in the initial thread stack.
*/
tcb_ptr->entry_point = entry_point;
tcb_ptr->entry_param = entry_param;
/**
* Additional processing only required if stack-checking is
* enabled. Incurs a slight overhead on each thread creation
* and uses some additional storage in the TCB, but can be
* compiled out if not desired.
*/
#ifdef ATOM_STACK_CHECKING
/* Store the stack details for use by the stack-check function */
tcb_ptr->stack_top = stack_top;
tcb_ptr->stack_size = stack_size;
/**
* Prefill the stack with a known value. This is used later in
* calls to atomThreadStackCheck() to get an indication of how
* much stack has been used during runtime.
*/
while (stack_size > 0)
{
/* Initialise all stack bytes from bottom up to 0x5A */
*((uint8_t *)stack_top - (stack_size - 1)) = STACK_CHECK_BYTE;
stack_size--;
}
#else
/* Avoid compiler warnings due to unused stack_size variable */
stack_size = stack_size;
#endif
/**
* Call the arch-specific routine to set up the stack. This routine
* is responsible for creating the context save area necessary for
* allowing atomThreadSwitch() to schedule it in. The initial
* archContextSwitch() call when this thread gets scheduled in the
* first time will then restore the program counter to the thread
* entry point, and any other necessary register values ready for
* it to start running.
*/
archThreadContextInit (tcb_ptr, stack_top, entry_point, entry_param);
/* Protect access to the OS queue */
CRITICAL_START ();
/* Put this thread on the ready queue */
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Queue-related error */
status = ATOM_ERR_QUEUE;
}
else
{
/* Exit critical region */
CRITICAL_END ();
/**
* If the OS is started and we're in thread context, check if we
* should be scheduled in now.
*/
if ((atomOSStarted == TRUE) && atomCurrentContext())
atomSched (FALSE);
/* Success */
status = ATOM_OK;
}
}
return (status);
}
/**
* \b atomSched
*
* This is an internal function not for use by application code.
*
* This is the main scheduler routine. It is called by the various OS
* library routines to check if any threads should be scheduled in now.
* If so, the context will be switched from the current thread to the
* new one.
*
* The scheduler is priority-based with round-robin performed on threads
* with the same priority. Round-robin is only performed on timer ticks
* however. During reschedules caused by an OS operation (e.g. after
* giving or taking a semaphore) we only allow the scheduling in of
* threads with higher priority than current priority. On timer ticks we
* also allow the scheduling of same-priority threads - in that case we
* schedule in the head of the ready list for that priority and put the
* current thread at the tail.
*
* @param[in] timer_tick Should be TRUE when called from the system tick
*
* @return None
*/
void atomSched (uint8_t timer_tick)
{
CRITICAL_STORE;
ATOM_TCB *new_tcb = NULL;
int16_t lowest_pri;
/**
* Check the OS has actually started. As long as the proper initialisation
* sequence is followed there should be no calls here until the OS is
* started, but we check to handle badly-behaved ports.
*/
if (atomOSStarted == FALSE)
{
/* Don't schedule anything in until the OS is started */
return;
}
/* Enter critical section */
CRITICAL_START ();
/**
* If the current thread is going into suspension, then
* unconditionally dequeue the next thread for execution.
*/
if (curr_tcb->suspended == TRUE)
{
/**
* Dequeue the next ready to run thread. There will always be
* at least the idle thread waiting. Note that this could
* actually be the suspending thread if it was unsuspended
* before the scheduler was called.
*/
new_tcb = tcbDequeueHead (&tcbReadyQ);
/**
* Don't need to add the current thread to any queue because
* it was suspended by another OS mechanism and will be
* sitting on a suspend queue or similar within one of the OS
* primitive libraries (e.g. semaphore).
*/
/* Switch to the new thread */
atomThreadSwitch (curr_tcb, new_tcb);
}
/**
* Otherwise the current thread is still ready, but check
* if any other threads are ready.
*/
else
{
/* Calculate which priority is allowed to be scheduled in */
if (timer_tick == TRUE)
{
/* Same priority or higher threads can preempt */
lowest_pri = (int16_t)curr_tcb->priority;
}
else if (curr_tcb->priority > 0)
{
/* Only higher priority threads can preempt, invalid for 0 (highest) */
lowest_pri = (int16_t)(curr_tcb->priority - 1);
}
else
{
/**
* Current priority is already highest (0), don't allow preempt by
* threads of any priority because this is not a time-slice.
*/
lowest_pri = -1;
}
/* Check if a reschedule is allowed */
if (lowest_pri >= 0)
{
/* Check for a thread at the given minimum priority level or higher */
new_tcb = tcbDequeuePriority (&tcbReadyQ, (uint8_t)lowest_pri);
/* If a thread was found, schedule it in */
if (new_tcb)
{
/* Add the current thread to the ready queue */
(void)tcbEnqueuePriority (&tcbReadyQ, curr_tcb);
/* Switch to the new thread */
atomThreadSwitch (curr_tcb, new_tcb);
}
}
}
/* Exit critical section */
CRITICAL_END ();
}
/**
* 功能: 删除队列,并唤醒所有被该队列悬挂的任务加入Ready列表中.同时取消该任务
* 注册的定时器.若有任务被唤醒,则会启动调度器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_QUEUE *qptr 队列指针 EASYRTOS_QUEUE *qptr 队列指针
*
* 返回:
* EASYRTOS_OK 成功
* EASYRTOS_ERR_QUEUE 将任务放置到Ready队列中失败
* EASYRTOS_ERR_TIMER 取消定时器失败
*
* 调用的函数:
* tcb_dequeue_head (&qptr->getSuspQ);
* tcb_dequeue_head (&qptr->putSuspQ);
* tcbEnqueuePriority (&tcb_readyQ, tcb_ptr);
* eTimerCancel (tcb_ptr->pended_timo_cb);
* eCurrentContext();
* easyRTOSSched (FALSE);
*/
ERESULT eQueueDelete (EASYRTOS_QUEUE *qptr)
{
ERESULT status;
CRITICAL_STORE;
EASYRTOS_TCB *tcb_ptr;
uint8_t wokenTasks = FALSE;
/* 参数检查 */
if (qptr == NULL)
{
status = EASYRTOS_ERR_PARAM;
}
else
{
/* 默认返回 */
status = EASYRTOS_OK;
/* 唤醒所有被悬挂的任务（将其加入Ready队列） */
while (1)
{
/* 进入临界区 */
CRITICAL_ENTER ();
/* 检查是否有线程被悬挂 （等待发送或等待接收） */
if (((tcb_ptr = tcb_dequeue_head (&qptr->getSuspQ)) != NULL)
|| ((tcb_ptr = tcb_dequeue_head (&qptr->putSuspQ)) != NULL))
{
/* 返回错误状态 */
tcb_ptr->pendedWakeStatus = EASYRTOS_ERR_DELETED;
/* 将任务加入Ready队列 */
if (tcbEnqueuePriority (&tcb_readyQ, tcb_ptr) != EASYRTOS_OK)
{
/* 退出临界区 */
CRITICAL_EXIT ();
/* 退出循环，返回错误 */
status = EASYRTOS_ERR_QUEUE;
break;
}
else tcb_ptr->state = TASK_READY;
/* 取消阻塞任务注册的定时器 */
if (tcb_ptr->pended_timo_cb)
{
/* 取消回调函数 */
if (eTimerCancel (tcb_ptr->pended_timo_cb) != EASYRTOS_OK)
{
/* 退出临界区 */
CRITICAL_EXIT ();
/* 退出循环，返回错误 */
status = EASYRTOS_ERR_TIMER;
break;
}
/* 标记任务没有定时器回调 */
tcb_ptr->pended_timo_cb = NULL;
}
/* 退出临界区 */
CRITICAL_EXIT ();
/* 是否调用调度器 */
wokenTasks= TRUE;
}
/* 没有被悬挂的任务 */
else
{
/* 退出临界区 */
CRITICAL_EXIT ();
break;
}
}
/* 若有任务被唤醒，调用调度器 */
if (wokenTasks == TRUE)
{
/**
* 只在任务上下文环境调用调度器。
* 中断环境会有eIntExit()调用调度器。
*/
if (eCurrentContext())
easyRTOSSched (FALSE);
}
}
return (status);
}
/**
* 功能: 向队列中加入消息,若有任务等待接收消息(加入消息后则可获取消息),则唤醒任
* 务并取消其注册的定时器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_QUEUE *qptr 队列指针 EASYRTOS_QUEUE *qptr 队列指针
* void* msgptr 插入的消息 void* msgptr 插入的消息
*
* 返回:
* EASYRTOS_OK 成功
* EASYRTOS_ERR_PARAM 参数错误
* EASYRTOS_ERR_QUEUE 将任务加入运行队列失败
* EASYRTOS_ERR_TIMER 取消定时器失败
*
* 调用的函数:
* memcpy (((uint8_t*)qptr->buff_ptr + qptr->insert_index), (uint8_t*)msgptr, qptr->unit_size);
* tcb_dequeue_head (&qptr->getSuspQ)
* tcbEnqueuePriority (&tcb_readyQ, tcb_ptr);
* eTimerCancel (tcb_ptr->pended_timo_cb);
*/
static ERESULT queue_insert (EASYRTOS_QUEUE *qptr, void *msgptr)
{
ERESULT status;
EASYRTOS_TCB *tcb_ptr;
/* 参数检查 */
if ((qptr == NULL)|| (msgptr == NULL))
{
status = EASYRTOS_ERR_PARAM;
}
else
{
/* 队列中有空闲位置，将数据复制进去 */
memcpy (((uint8_t*)qptr->buff_ptr + qptr->insert_index), (uint8_t*)msgptr, qptr->unit_size);
qptr->insert_index += qptr->unit_size;
qptr->num_msgs_stored++;
/* 队列为循环存储数据，目的是为了加快查找速度 */
/* 检查是否重置remove_index */
if (qptr->insert_index >= (qptr->unit_size * qptr->max_num_msgs))
qptr->insert_index = 0;
/* 若有任务正在等待接收，则将其唤醒 */
tcb_ptr = tcb_dequeue_head (&qptr->getSuspQ);
if (tcb_ptr)
{
/* 将悬挂的任务加入Ready列表 */
if (tcbEnqueuePriority (&tcb_readyQ, tcb_ptr) == EASYRTOS_OK)
{
tcb_ptr->pendedWakeStatus = EASYRTOS_OK;
tcb_ptr->state = TASK_READY;
/* 若注册了定时器回调，则先取消 */
if ((tcb_ptr->pended_timo_cb != NULL)
&& (eTimerCancel (tcb_ptr->pended_timo_cb) != EASYRTOS_OK))
{
status = EASYRTOS_ERR_TIMER;
}
else
{
tcb_ptr->pended_timo_cb = NULL;
/* 成功 */
status = EASYRTOS_OK;
}
}
else
{
/* 将任务加入Ready列表失败 */
status = EASYRTOS_ERR_QUEUE;
}
}
else
{
/* 没有任务等待接收 */
status = EASYRTOS_OK;
}
}
return (status);
}
/**
* 功能: 取出队列中的数据,若对队列为空,根据timeout的不同值有不同的处理方式.
* 1.timeout>0 悬挂调用的任务,当timeout到期的时候唤醒任务并返回timeout标志
* 2.timeout=0 永久悬挂调用的任务,直到从队列中等到数据.
* 3.timeout=-1 不悬挂任务,若队列为空会返回队列为空标志.
* 当有任务被悬挂的时候,将会调用调度器.
*
* 参数:
* 输入: 输出:
* EASYRTOS_QUEUE *qptr 队列指针 EASYRTOS_QUEUE *qptr 队列指针
* int32_t timeout timeout时间,依赖于心跳时间 void *msgptr 放入队列的消息
* void *msgptr 放入队列的消息
*
* 返回:
* EASYRTOS_OK 成功
* EASYRTOS_WOULDBLOCK 本来会被悬挂但由于timeout为-1所以返回了
* EASYRTOS_TIMEOUT 信号量timeout到期
* EASYRTOS_ERR_DELETED 队列在悬挂任务时被删除
* EASYRTOS_ERR_CONTEXT 错误的上下文调用
* EASYRTOS_ERR_PARAM 参数错误
* EASYRTOS_ERR_QUEUE 将任务加入运行队列失败
* EASYRTOS_ERR_TIMER 注册定时器未成功
*
* 调用的函数:
* eCurrentContext();
* tcbEnqueuePriority (&qptr->getSuspQ, curr_tcb_ptr);
* eTimerRegister (&timerCb);
* tcb_dequeue_entry (&qptr->getSuspQ, curr_tcb_ptr);
* easyRTOSSched (FALSE);
* queue_remove (qptr, msgptr);
*/
ERESULT eQueueGive (EASYRTOS_QUEUE *qptr, int32_t timeout, void *msgptr)
{
CRITICAL_STORE;
ERESULT status;
QUEUE_TIMER timerData;
EASYRTOS_TIMER timerCb;
EASYRTOS_TCB *curr_tcb_ptr;
/* 参数检查 */
if ((qptr == NULL) || (msgptr == NULL))
{
status = EASYRTOS_ERR_PARAM;
}
else
{
/* 进入临界区 */
CRITICAL_ENTER ();
/* 若队列已满，悬挂调用此函数的任务 */
if (qptr->num_msgs_stored == qptr->max_num_msgs)
{
/* timeout >= 0, 任务将被悬挂 */
if (timeout >= 0)
{
/* 获取当前任务TCB */
curr_tcb_ptr = eCurrentContext();
/* 检查是否在任务上下文 */
if (curr_tcb_ptr)
{
/* 将当前任务添加到send悬挂列表中 */
if (tcbEnqueuePriority (&qptr->putSuspQ, curr_tcb_ptr) == EASYRTOS_OK)
{
/* 设置任务状态标志位为悬挂 */
curr_tcb_ptr->state = TASK_PENDED;
status = EASYRTOS_OK;
/* timeout>0 注册定时器回调 */
if (timeout)
{
/* 填充定时器需要的数据 */
timerData.tcb_ptr = curr_tcb_ptr;
timerData.queue_ptr = qptr;
timerData.suspQ = &qptr->putSuspQ;
/* 填充回调需要的数据 */
timerCb.cb_func = eQueueTimerCallback;
timerCb.cb_data = (POINTER)&timerData;
timerCb.cb_ticks = timeout;
/* 在任务TCB中存储定时器回调，方便对其进行取消操作 */
curr_tcb_ptr->pended_timo_cb = &timerCb;
/* 注册定时器 */
if (eTimerRegister (&timerCb) != EASYRTOS_OK)
{
/* 注册失败 */
status = EASYRTOS_ERR_TIMER;
(void)tcb_dequeue_entry (&qptr->putSuspQ, curr_tcb_ptr);
curr_tcb_ptr->state = TASK_RUN;
curr_tcb_ptr->pended_timo_cb = NULL;
}
}
/* 不需要注册定时器 */
else
{
curr_tcb_ptr->pended_timo_cb = NULL;
}
/* 退出临界区 */
CRITICAL_EXIT ();
/* 检测是否注册成功 */
if (status == EASYRTOS_OK)
{
/* 当前任务被悬挂，我们将调用调度器 */
easyRTOSSched (FALSE);
/* 下次任务将从此处开始运行，此时队列被删除 或者timeout到期 或者调用了eQueueGive */
status = curr_tcb_ptr->pendedWakeStatus;
/**
* 检测pendedWakeStatus，若其值为EASYRTOS_OK，则说明
* 读取是成功的，若为其他的值，则说明有可能队列被删除
* 或者timeout到期，此时我们只需要退出就好了
*/
if (status == EASYRTOS_OK)
{
/* 进入临界区 */
CRITICAL_ENTER();
/* 将消息加入队列 */
status = queue_insert (qptr, msgptr);
/* 退出临界区 */
CRITICAL_EXIT();
}
}
}
else
{
/* 将任务加入悬挂队列失败 */
CRITICAL_EXIT();
status = EASYRTOS_ERR_QUEUE;
}
}
else
{
/* 不再任务上下文，不能悬挂任务 */
CRITICAL_EXIT ();
status = EASYRTOS_ERR_CONTEXT;
}
}
else
{
/* timeout == -1, 不需要悬挂任务，且队列此时数据量为0 */
CRITICAL_EXIT();
status = EASYRTOS_WOULDBLOCK;
}
}
else
{
/* 不用悬挂任务，直接将数据复制进队列 */
status = queue_insert (qptr, msgptr);
/* 退出临界区 */
CRITICAL_EXIT ();
/**
* 只在任务上下文环境调用调度器。
* 中断环境会有eIntExit()调用调度器。.
*/
if (eCurrentContext())
easyRTOSSched (FALSE);
}
}
return (status);
}
/**
* \b atomSemDelete
*
* Deletes a semaphore object.
*
* Any threads currently suspended on the semaphore will be woken up with
* return status ATOM_ERR_DELETED. If called at thread context then the
* scheduler will be called during this function which may schedule in one
* of the woken threads depending on relative priorities.
*
* This function can be called from interrupt context, but loops internally
* waking up all threads blocking on the semaphore, so the potential
* execution cycles cannot be determined in advance.
*
* @param[in] sem Pointer to semaphore object
*
* @retval ATOM_OK Success
* @retval ATOM_ERR_QUEUE Problem putting a woken thread on the ready queue
* @retval ATOM_ERR_TIMER Problem cancelling a timeout on a woken thread
*/
uint8_t atomSemDelete (ATOM_SEM *sem)
{
uint8_t status;
CRITICAL_STORE;
ATOM_TCB *tcb_ptr;
uint8_t woken_threads = FALSE;
/* Parameter check */
if (sem == NULL)
{
/* Bad semaphore pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Default to success status unless errors occur during wakeup */
status = ATOM_OK;
/* Wake up all suspended tasks */
while (1)
{
/* Enter critical region */
CRITICAL_START ();
/* Check if any threads are suspended */
tcb_ptr = tcbDequeueHead (&sem->suspQ);
/* A thread is suspended on the semaphore */
if (tcb_ptr)
{
/* Return error status to the waiting thread */
tcb_ptr->suspend_wake_status = ATOM_ERR_DELETED;
/* Put the thread on the ready queue */
if (tcbEnqueuePriority (&tcbReadyQ, tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Quit the loop, returning error */
status = ATOM_ERR_QUEUE;
break;
}
/* If there's a timeout on this suspension, cancel it */
if (tcb_ptr->suspend_timo_cb)
{
/* Cancel the callback */
if (atomTimerCancel (tcb_ptr->suspend_timo_cb) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* Quit the loop, returning error */
status = ATOM_ERR_TIMER;
break;
}
/* Flag as no timeout registered */
tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Request a reschedule */
woken_threads = TRUE;
}
/* No more suspended threads */
else
{
/* Exit critical region and quit the loop */
CRITICAL_END ();
break;
}
}
/* Call scheduler if any threads were woken up */
if (woken_threads == TRUE)
{
/**
* Only call the scheduler if we are in thread context, otherwise
* it will be called on exiting the ISR by atomIntExit().
*/
if (atomCurrentContext())
atomSched (FALSE);
}
}
return (status);
}
/**
* \b atomMutexGet
*
* Take the lock on a mutex.
*
* This takes ownership of a mutex if it is not currently owned. Ownership
* is held by this thread until a corresponding call to atomMutexPut() by
* the same thread.
*
* Can be called recursively by the original locking thread (owner).
* Recursive calls are counted, and ownership is not relinquished until
* the number of unlock (atomMutexPut()) calls by the owner matches the
* number of lock (atomMutexGet()) calls.
*
* No thread other than the owner can lock or unlock the mutex while it is
* locked by another thread.
*
* Depending on the \c timeout value specified the call will do one of
* the following if the mutex is already locked by another thread:
*
* \c timeout == 0 : Call will block until the mutex is available \n
* \c timeout > 0 : Call will block until available up to the specified timeout \n
* \c timeout == -1 : Return immediately if mutex is locked by another thread \n
*
* If the call needs to block and \c timeout is zero, it will block
* indefinitely until the owning thread calls atomMutexPut() or
* atomMutexDelete() is called on the mutex.
*
* If the call needs to block and \c timeout is non-zero, the call will only
* block for the specified number of system ticks after which time, if the
* thread was not already woken, the call will return with \c ATOM_TIMEOUT.
*
* If the call would normally block and \c timeout is -1, the call will
* return immediately with \c ATOM_WOULDBLOCK.
*
* This function can only be called from thread context. A mutex has the
* concept of an owner thread, so it is never valid to make a mutex call
* from interrupt context when there is no thread to associate with.
*
* @param[in] mutex Pointer to mutex object
* @param[in] timeout Max system ticks to block (0 = forever)
*
* @retval ATOM_OK Success
* @retval ATOM_TIMEOUT Mutex timed out before being woken
* @retval ATOM_WOULDBLOCK Called with timeout == -1 but count is zero
* @retval ATOM_ERR_DELETED Mutex was deleted while suspended
* @retval ATOM_ERR_CONTEXT Not called in thread context and attempted to block
* @retval ATOM_ERR_PARAM Bad parameter
* @retval ATOM_ERR_QUEUE Problem putting the thread on the suspend queue
* @retval ATOM_ERR_TIMER Problem registering the timeout
* @retval ATOM_ERR_OVF The recursive lock count would have overflowed (>255)
*/
uint8_t atomMutexGet (ATOM_MUTEX *mutex, int32_t timeout){
CRITICAL_STORE;
uint8_t status;
MUTEX_TIMER timer_data;
ATOM_TIMER timer_cb;
ATOM_TCB *curr_tcb_ptr;
/* Check parameters */
if (mutex == NULL)
{
/* Bad mutex pointer */
status = ATOM_ERR_PARAM;
}
else
{
/* Get the current TCB */
curr_tcb_ptr = atomCurrentContext();
/* Protect access to the mutex object and OS queues */
CRITICAL_START ();
/**
* Check we are at thread context. Because mutexes have the concept of
* owner threads, it is never valid to call here from an ISR,
* regardless of whether we will block.
*/
if (curr_tcb_ptr == NULL)
{
/* Exit critical region */
CRITICAL_END ();
/* Not currently in thread context, can't suspend */
status = ATOM_ERR_CONTEXT;
}
/* Otherwise if mutex is owned by another thread, block the calling thread */
else if ((mutex->owner != NULL) && (mutex->owner != curr_tcb_ptr))
{
/* If called with timeout >= 0, we should block */
if (timeout >= 0)
{
/* Add current thread to the suspend list on this mutex */
if (tcbEnqueuePriority (&mutex->suspQ, curr_tcb_ptr) != ATOM_OK)
{
/* Exit critical region */
CRITICAL_END ();
/* There was an error putting this thread on the suspend list */
status = ATOM_ERR_QUEUE;
}
else
{
/* Set suspended status for the current thread */
curr_tcb_ptr->suspended = TRUE;
/* Track errors */
status = ATOM_OK;
/* Register a timer callback if requested */
if (timeout)
{
/* Fill out the data needed by the callback to wake us up */
timer_data.tcb_ptr = curr_tcb_ptr;
timer_data.mutex_ptr = mutex;
/* Fill out the timer callback request structure */
timer_cb.cb_func = atomMutexTimerCallback;
timer_cb.cb_data = (POINTER)&timer_data;
timer_cb.cb_ticks = timeout;
/**
* Store the timer details in the TCB so that we can
* cancel the timer callback if the mutex is put
* before the timeout occurs.
*/
curr_tcb_ptr->suspend_timo_cb = &timer_cb;
/* Register a callback on timeout */
if (atomTimerRegister (&timer_cb) != ATOM_OK)
{
/* Timer registration failed */
status = ATOM_ERR_TIMER;
/* Clean up and return to the caller */
(void)tcbDequeueEntry (&mutex->suspQ, curr_tcb_ptr);
curr_tcb_ptr->suspended = FALSE;
curr_tcb_ptr->suspend_timo_cb = NULL;
}
}
/* Set no timeout requested */
else
{
/* No need to cancel timeouts on this one */
curr_tcb_ptr->suspend_timo_cb = NULL;
}
/* Exit critical region */
CRITICAL_END ();
/* Check no errors have occurred */
if (status == ATOM_OK)
{
/**
* Current thread now blocking, schedule in a new
* one. We already know we are in thread context
* so can call the scheduler from here.
*/
atomSched (FALSE);
/**
* Normal atomMutexPut() wakeups will set ATOM_OK status,
* while timeouts will set ATOM_TIMEOUT and mutex
* deletions will set ATOM_ERR_DELETED. */
status = curr_tcb_ptr->suspend_wake_status;
/**
* If we were woken up by another thread relinquishing
* the mutex and handing this thread ownership, then
* the relinquishing thread will set status to ATOM_OK
* and will make this thread the owner. Setting the
* owner before waking the thread ensures that no other
* thread can preempt and take ownership of the mutex
* between this thread being made ready to run, and
* actually being scheduled back in here.
*/
if (status == ATOM_OK)
{
/**
* Since this thread has just gained ownership, the
* lock count is zero and should be incremented
* once for this call.
*/
mutex->count++;
}
}
}
}
else
{
/* timeout == -1, requested not to block and mutex is owned by another thread */
CRITICAL_END();
status = ATOM_WOULDBLOCK;
}
}
else
{
/* Thread is not owned or is owned by us, we can claim ownership */
/* Increment the lock count, checking for count overflow */
if (mutex->count == 255)
{
/* Don't increment, just return error status */
status = ATOM_ERR_OVF;
}
else
{
/* Increment the count and return to the calling thread */
mutex->count++;
/* If the mutex is not locked, mark the calling thread as the new owner */
if (mutex->owner == NULL)
{
mutex->owner = curr_tcb_ptr;
}
/* Successful */
status = ATOM_OK;
}
/* Exit critical region */
CRITICAL_END ();
}
}
return (status);
}
