/*
* �|�X�g�^�X�N�t�b�N�̌Ăяo��
*/
void
call_posttaskhook(void)
{
callevel = TCL_PREPOST;
set_ipl(ipl_maxisr2);
unlock_cpu();
PostTaskHook();
lock_cpu();
set_ipl(IPL_ENA_ALL);
callevel = TCL_TASK;
}
//dispatch entry, entered by "swi" instruction
//do preempt the current running task <knl_ctxtsk>,
//and then do dispatch the high ready task <knl_schedtsk>
interrupt 4 void knl_dispatch_entry(void)
{
#if(cfgOS_POST_TASK_HOOK == STD_ON)
PostTaskHook();
#endif
knl_dispatch_disabled=1; /* Dispatch disable */
//asm ldd knl_taskmode
//asm pshd; /* save knl_taskmode */
asm ldaa tk_ppage
asm psha /* save ppage */
asm ldx knl_ctxtsk;
asm sts SP_OFFSET,x; /* save 'ssp' to TCB */
knl_ctxtsk->tskctxb.dispatcher = knl_dispatch_r;
knl_ctxtsk=(void*)0;
asm jmp l_dispatch0;
}
/**********************************************************************
* Force a scheduler action
*
* @return Status E_OK
* In fact the function never return
**********************************************************************/
StatusType Schedule(void)
{
SuspendOSInterrupts();
kernelState |= SERVICES;
if (kernelState & ISR) // Service called from ISR
return (E_OK);
kernelState &= ~SERVICES;
/* Never return... */
if (kernelState & USER)
{
#ifdef PRETASKHOOK
PostTaskHook();
#endif
SCHEDULE();
}
return (E_OK);
}
/* |------------------+--------------------------------------------------------------| */
StatusType TerminateTask ( void )
{
StatusType ercd = E_NOT_OK;
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
#if(cfgOS_POST_TASK_HOOK == STD_ON)
PostTaskHook();
#endif
knl_ctxtsk->state = TS_DORMANT;
//release internal resource or for non-preemtable task
ReleaseInternalResource();
knl_ctxtsk->priority = knl_ctxtsk->itskpri;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_OFF)
knl_make_active(knl_ctxtsk);
#else
knl_make_ready(knl_ctxtsk);
#endif
}
#endif
knl_force_dispatch();
/* No return */
Error_Exit:
#if(cfgOS_ERROR_HOOK == STD_ON)
if(E_OK != ercd)
{
BEGIN_CRITICAL_SECTION;
_errorhook_svcid = OSServiceId_TerminateTask;
CallErrorHook(ercd);
END_CRITICAL_SECTION;
}
#endif /* cfgOS_ERROR_HOOK */
return ercd;
}
extern StatusType Schedule
(
void
)
#endif
{
/* \req OSEK_SYS_3.4 The system service StatusType Schedule ( void ) shall
** be defined */
/* \req OSEK_SYS_3.4.4 Possible return values in Standard mode is E_OK */
StatusType ret = E_OK;
TaskType nextTask;
TaskType actualTask;
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
ContextType actualContext;
#endif
IntSecure_Start();
/* get actual running task */
actualTask = GetRunningTask();
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode are E_OS
** CALLEVEL, E_OS_RESOURCE */
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
/* get actual context */
actualContext = GetCallingContext();
/* if called from scheduler no checks shall be performed */
if (FALSE == PerformChecks)
{
/* no checks shall be performed */
}
else if ( ( CONTEXT_TASK != actualContext ) &&
( CONTEXT_SYS != actualContext ) )
{
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode
** are E_OS_CALLEVEL, E_OS_RESOURCE */
ret = E_OS_CALLEVEL;
}
else if ( ( INVALID_TASK != actualTask ) &&
( CONTEXT_TASK == actualContext ) )
{
if ( TasksVar[actualTask].Resources != 0 )
{
/* \req OSEK_SYS_3.3.5 Extra possible return values in Extended mode
** are E_OS_CALLEVEL, E_OS_RESOURCE */
ret = E_OS_RESOURCE;
}
}
else
{
/* nothing to check Runngin Task is invalid */
}
if (ret == E_OK)
#endif
{
/* get next task */
nextTask = GetNextTask();
/* while until one or boths are not more invalid tasks */
while ( ( actualTask == INVALID_TASK ) &&
( nextTask == INVALID_TASK) )
{
IntSecure_End();
/* macro used to indicate the processor that we are in idle time */
osekpause();
IntSecure_Start();
/* get next task */
nextTask = GetNextTask();
};
/* if the actual task is invalid */
if ( actualTask == INVALID_TASK )
{
/* set task state to running */
TasksVar[nextTask].Flags.State = TASK_ST_RUNNING;
/* set as running task */
SetRunningTask(nextTask);
/* set actual context task */
SetActualContext(CONTEXT_TASK);
IntSecure_End();
#if (HOOK_PRETASKHOOK == OSEK_ENABLE)
PreTaskHook();
#endif /* #if (HOOK_PRETASKHOOK == OSEK_ENABLE) */
/* jmp tp the next task */
JmpTask(nextTask);
}
else
{
/* check priorities */
/* \req OSEK_SYS_3.4.1 If a task with a lower or equal priority than the
** ceiling priority of the internal resource and higher priority than
** the priority of the calling task is ready */
if ( TasksConst[nextTask].StaticPriority > TasksVar[actualTask].ActualPriority )
{
#if (HOOK_POSTTASKHOOK == OSEK_ENABLE)
PostTaskHook();
#endif /* #if (HOOK_POSTTASKHOOK == OSEK_ENABLE) */
/* \req OSEK_SYS_3.4.1.1 the internal resource of the task shall be
** released */
ReleaseInternalResources();
/* \req OSEK_SYS_3.4.1.2 the current task is put into the ready state */
TasksVar[actualTask].Flags.State = TASK_ST_READY;
/* set the new task to running */
TasksVar[nextTask].Flags.State = TASK_ST_RUNNING;
/* set as running task */
SetRunningTask(nextTask);
/* set actual context task */
SetActualContext(CONTEXT_TASK);
IntSecure_End();
#if (HOOK_PRETASKHOOK == OSEK_ENABLE)
PreTaskHook();
#endif /* #if (HOOK_PRETASKHOOK == OSEK_ENABLE) */
/* \req OSEK_SYS_3.4.1.3 its context is saved */
/* \req OSEK_SYS_3.4.1.4 and the higher-priority task is executed */
CallTask(actualTask, nextTask);
}
else
{
IntSecure_End();
/* \req OSEK_SYS_3.4.2 Otherwise the calling task is continued */
}
}
}
#if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED)
else
{
IntSecure_End();
}
#endif /* #if (ERROR_CHECKING_TYPE == ERROR_CHECKING_EXTENDED) */
#if (HOOK_ERRORHOOK == OSEK_ENABLE)
/* \req OSEK_ERR_1.3-4/xx The ErrorHook hook routine shall be called if a
** system service returns a StatusType value not equal to E_OK.*/
/* \req OSEK_ERR_1.3.1-4/xx The hook routine ErrorHook is not called if a
** system service is called from the ErrorHook itself. */
if ( ( ret != E_OK ) && (ErrorHookRunning != 1))
{
SetError_Api(OSServiceId_Schedule);
SetError_Ret(ret);
SetError_Msg("Schedule Task returns != than E_OK");
SetError_ErrorHook();
}
#endif
return ret;
}
/* |------------------+-------------------------------------------------------------| */
StatusType ChainTask ( TaskType TaskID )
{
StatusType ercd = E_NOT_OK;
TCB * tcb;
TSTAT state;
OS_CHECK((TaskID<cfgOSEK_TASK_NUM),E_OS_ID);
OS_CHECK_EXT(!in_indp(),E_OS_CALLEVEL);
OS_CHECK_EXT(isQueEmpty(&knl_ctxtsk->resque),E_OS_RESOURCE);
DISABLE_INTERRUPT;
if(TaskID == knl_ctxtsk->tskid){
/* chain to itself */
knl_search_schedtsk();
knl_make_active(knl_ctxtsk);
}
else{
/* firstly terminate current running task knl_ctxtsk,
* and then activate TaskID */
tcb = &knl_tcb_table[TaskID];
state = (TSTAT)tcb->state;
if (TS_DORMANT != state) {
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(tcb->actcnt < knl_gtsk_table[TaskID].maxact)
{
tcb->actcnt += 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_ON)
knl_ready_queue_insert(&knl_ready_queue, tcb);
#endif
}
else
#endif
{
ercd = E_OS_LIMIT;
goto Error_Exit;
}
}
#if(cfgOS_POST_TASK_HOOK == STD_ON)
PostTaskHook();
#endif
knl_ctxtsk->state = TS_DORMANT;
knl_search_schedtsk();
#if((cfgOS_CONFORMANCE_CLASS == ECC2) || (cfgOS_CONFORMANCE_CLASS == BCC2))
if(knl_ctxtsk->actcnt > 0)
{
knl_ctxtsk->actcnt -= 1;
#if(cfgOSEK_FIFO_QUEUE_PER_PRIORITY == STD_OFF)
knl_make_active(knl_ctxtsk);
#else
knl_make_ready(knl_ctxtsk);
#endif
}
#endif
if (TS_DORMANT == state) {
knl_make_active(tcb);
}
}
knl_force_dispatch();
/* No return */
Error_Exit:
ENABLE_INTERRUPT;
#if(cfgOS_ERROR_HOOK == STD_ON)
if(E_OK != ercd)
{
BEGIN_CRITICAL_SECTION;
_errorhook_svcid = OSServiceId_ChainTask;
_errorhook_par1.tskid = TaskID;
CallErrorHook(ercd);
END_CRITICAL_SECTION;
}
#endif /* cfgOS_ERROR_HOOK */
return ercd;
}
