void nrk_watchdog_disable()
{
nrk_int_disable();
nrk_watchdog_reset();
MCUSR &= ~(1<<WDRF);
WDTCR |= (1<<WDCE) | (1<<WDE);
WDTCR = 0;
nrk_int_enable();
}
void nrk_watchdog_enable()
{
// Enable watchdog with 1024K cycle timeout
// No Interrupt Trigger
nrk_int_disable();
MCUSR &= ~(1<<WDRF);
nrk_watchdog_reset();
WDTCR |= (1<<WDCE) | (1<<WDE);
WDTCR = (1<<WDE) | (1<<WDP2) | (1<<WDP1) | (1<<WDP0);
nrk_int_enable();
}
void inline _nrk_scheduler()
{
int8_t task_ID;
uint16_t next_wake;
//uint16_t start_time_stamp;
/* _nrk_precision_os_timer_reset(); */
/* nrk_int_disable(); */ // this should be removed... Not needed
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
_nrk_high_speed_timer_reset();
start_time_stamp=_nrk_high_speed_timer_get();
#endif
_nrk_set_next_wakeup(MAX_SCHED_WAKEUP_TIME);
// Set to huge number which will later get set to min
next_wake=60000;
// Safety zone starts here....
#ifdef NRK_WATCHDOG
nrk_watchdog_reset();
#endif
#ifdef NRK_SW_WDT
_nrk_sw_wdt_check();
#endif
#ifdef NRK_KERNEL_TEST
//nrk_kprintf( PSTR("*"));
//Check if OS tick was delayed...
// if(_nrk_cpu_state!=CPU_SLEEP && _nrk_os_timer_get()!=0) {
// nrk_kprintf( PSTR("X" ));
//printf( "%u ",_nrk_os_timer_get());
// }
//printf( "%u\r\n",_nrk_prev_timer_val);
if((_nrk_cpu_state!=CPU_ACTIVE) && (_nrk_os_timer_get()>nrk_max_sleep_wakeup_time))
nrk_max_sleep_wakeup_time=_nrk_os_timer_get();
#endif
//while(_nrk_time_trigger>0)
//{
nrk_system_time.nano_secs+=((uint32_t)_nrk_prev_timer_val*NANOS_PER_TICK);
nrk_system_time.nano_secs-=(nrk_system_time.nano_secs%(uint32_t)NANOS_PER_TICK);
#ifdef NRK_STATS_TRACKER
if(nrk_cur_task_TCB->task_ID==NRK_IDLE_TASK_ID)
{
if(_nrk_cpu_state==CPU_SLEEP) _nrk_stats_sleep(_nrk_prev_timer_val);
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
// Add 0 time since the preempted call before set the correct value
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, 0);
}
else
{
if(nrk_cur_task_TCB->suspend_flag==1)
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
else
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
}
#endif
while(nrk_system_time.nano_secs>=NANOS_PER_SEC)
{
nrk_system_time.nano_secs-=NANOS_PER_SEC;
nrk_system_time.secs++;
nrk_system_time.nano_secs-=(nrk_system_time.nano_secs%(uint32_t)NANOS_PER_TICK);
}
// _nrk_time_trigger--;
//}
if(nrk_cur_task_TCB->suspend_flag==1 && nrk_cur_task_TCB->task_state!=FINISHED)
{
// nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
if(nrk_cur_task_TCB->event_suspend==RSRC_EVENT_SUSPENDED)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if( nrk_cur_task_TCB->event_suspend>0 && nrk_cur_task_TCB->nw_flag==0)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if( nrk_cur_task_TCB->event_suspend>0 && nrk_cur_task_TCB->nw_flag==1)
nrk_cur_task_TCB->task_state = SUSPENDED;
else
{
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_cur_task_TCB->event_suspend=0;
nrk_cur_task_TCB->nw_flag=0;
}
nrk_rem_from_readyQ(nrk_cur_task_TCB->task_ID);
}
// nrk_print_readyQ();
// Update cpu used value for ended task
// If the task has used its reserve, suspend task
// Don't disable IdleTask which is 0
// Don't decrease cpu_remaining if reserve is 0 and hence disabled
if(nrk_cur_task_TCB->cpu_reserve!=0 && nrk_cur_task_TCB->task_ID!=NRK_IDLE_TASK_ID)
{
// Update CASH and cpu_remaining
// First use up any available CASH budget
uint8_t ticksToAccountFor = _nrk_prev_timer_val;
nrk_budget_t *budgetFromCASH = nrk_peek_budget();
while (ticksToAccountFor > 0 && budgetFromCASH) {
// We've found some cash budget
uint8_t availableCASH = budgetFromCASH->amount_left;
nrk_time_t system_time;
nrk_time_get(&system_time);
// We need to look at the deadline for the cash budget
// If it has passed, we can only use the portion that came before the deadline
if (nrk_time_compare(&system_time, &budgetFromCASH->expire_time) == 1) {
nrk_time_t difference;
nrk_time_sub(&difference, system_time, budgetFromCASH->expire_time);
uint8_t differenceInTicks = _nrk_time_to_ticks(&difference);
// Check if it expired before we got a chance to use it
if (differenceInTicks > ticksToAccountFor) {
availableCASH = 0;
} else {
uint8_t usableBudget = ticksToAccountFor - _nrk_time_to_ticks(&difference);
// Take the minimum of available vs usable
availableCASH = usableBudget < availableCASH ? usableBudget : availableCASH;
}
// pop it off the queue. Expired now.
nrk_get_budget();
}
if (availableCASH > ticksToAccountFor) {
budgetFromCASH->amount_left -= ticksToAccountFor;
ticksToAccountFor = 0;
} else {
ticksToAccountFor -= availableCASH;
// Pop the now empty cash budget off the queue
nrk_get_budget();
}
budgetFromCASH = budgetFromCASH->Next;
}
// If we still have ticks to account for, take them off cpu_remaining
if (ticksToAccountFor > 0) {
nrk_cur_task_TCB->cpu_remaining -= ticksToAccountFor;
}
// For finished tasks that still have cpu remaining, give it to the CASH queue
if (nrk_cur_task_TCB->task_state==FINISHED && nrk_cur_task_TCB->cpu_remaining > 0) {
// Add to CASH queue
nrk_add_nrk_budget(nrk_cur_task_TCB->absolute_deadline, nrk_cur_task_TCB->cpu_remaining);
} else if (nrk_cur_task_TCB->cpu_remaining ==0 ) {
// Support for Constant Bandwith Servers
if(nrk_cur_task_TCB->task_type == CBS_TASK)
{
// Recharge budget
nrk_cur_task_TCB->cpu_remaining = nrk_cur_task_TCB->cpu_reserve;
// Increase the absolute deadline
nrk_time_t increase = _nrk_ticks_to_time(nrk_cur_task_TCB->period);
nrk_time_add(&nrk_cur_task_TCB->absolute_deadline, nrk_cur_task_TCB->absolute_deadline, increase);
// Remove/re-add from ready queue to re-sort based on new absolute deadline
nrk_rem_from_readyQ(nrk_cur_task_TCB->task_ID);
nrk_add_to_readyQ(nrk_cur_task_TCB->task_ID);
}
else
{
#ifdef NRK_STATS_TRACKER
_nrk_stats_add_violation(nrk_cur_task_TCB->task_ID);
#endif
nrk_kernel_error_add(NRK_RESERVE_VIOLATED,nrk_cur_task_TCB->task_ID);
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_rem_from_readyQ(nrk_cur_task_TCB->task_ID);
}
}
}
// Check I/O nrk_queues to add tasks with remaining cpu back...
// Add eligable tasks back to the ready Queue
// At the same time find the next earliest wakeup
for (task_ID=0; task_ID < NRK_MAX_TASKS; task_ID++)
{
if(nrk_task_TCB[task_ID].task_ID==-1) continue;
nrk_task_TCB[task_ID].suspend_flag=0;
if( nrk_task_TCB[task_ID].task_ID!=NRK_IDLE_TASK_ID && nrk_task_TCB[task_ID].task_state!=FINISHED )
{
if( nrk_task_TCB[task_ID].next_wakeup >= _nrk_prev_timer_val )
nrk_task_TCB[task_ID].next_wakeup-=_nrk_prev_timer_val;
else
{
nrk_task_TCB[task_ID].next_wakeup=0;
}
// Do next period book keeping.
// next_period needs to be set such that the period is kept consistent even if other
// wait until functions are called.
if( nrk_task_TCB[task_ID].next_period >= _nrk_prev_timer_val )
nrk_task_TCB[task_ID].next_period-=_nrk_prev_timer_val;
else
{
if(nrk_task_TCB[task_ID].period>_nrk_prev_timer_val)
nrk_task_TCB[task_ID].next_period= nrk_task_TCB[task_ID].period-_nrk_prev_timer_val;
else
nrk_task_TCB[task_ID].next_period= _nrk_prev_timer_val % nrk_task_TCB[task_ID].period;
}
if(nrk_task_TCB[task_ID].next_period==0) nrk_task_TCB[task_ID].next_period=nrk_task_TCB[task_ID].period;
}
// Look for Next Task that Might Wakeup to interrupt current task
if (nrk_task_TCB[task_ID].task_state == SUSPENDED )
{
// printf( "Task: %d nw: %d\n",task_ID,nrk_task_TCB[task_ID].next_wakeup);
// If a task needs to become READY, make it ready
if (nrk_task_TCB[task_ID].next_wakeup == 0)
{
// printf( "Adding back %d\n",task_ID );
if(nrk_task_TCB[task_ID].event_suspend>0 && nrk_task_TCB[task_ID].nw_flag==1) nrk_task_TCB[task_ID].active_signal_mask=SIG(nrk_wakeup_signal);
//if(nrk_task_TCB[task_ID].event_suspend==0) nrk_task_TCB[task_ID].active_signal_mask=0;
nrk_task_TCB[task_ID].event_suspend=0;
nrk_task_TCB[task_ID].nw_flag=0;
nrk_task_TCB[task_ID].suspend_flag=0;
if(nrk_task_TCB[task_ID].num_periods==1)
{
nrk_task_TCB[task_ID].cpu_remaining = nrk_task_TCB[task_ID].cpu_reserve;
nrk_task_TCB[task_ID].task_state = READY;
nrk_task_TCB[task_ID].next_wakeup = nrk_task_TCB[task_ID].next_period;
// If there is no period set, don't wakeup periodically
if(nrk_task_TCB[task_ID].period==0) nrk_task_TCB[task_ID].next_wakeup = MAX_SCHED_WAKEUP_TIME;
nrk_add_to_readyQ(task_ID);
}
else
{
nrk_task_TCB[task_ID].cpu_remaining = nrk_task_TCB[task_ID].cpu_reserve;
//nrk_task_TCB[task_ID].next_wakeup = nrk_task_TCB[task_ID].next_period;
//nrk_task_TCB[task_ID].num_periods--;
nrk_task_TCB[task_ID].next_wakeup = (nrk_task_TCB[task_ID].period*(nrk_task_TCB[task_ID].num_periods-1));
nrk_task_TCB[task_ID].next_period = (nrk_task_TCB[task_ID].period*(nrk_task_TCB[task_ID].num_periods-1));
if(nrk_task_TCB[task_ID].period==0) nrk_task_TCB[task_ID].next_wakeup = MAX_SCHED_WAKEUP_TIME;
nrk_task_TCB[task_ID].num_periods=1;
// printf( "np = %d\r\n",nrk_task_TCB[task_ID].next_wakeup);
// nrk_task_TCB[task_ID].num_periods=1;
}
}
if(nrk_task_TCB[task_ID].next_wakeup!=0 &&
nrk_task_TCB[task_ID].next_wakeup<next_wake )
{
// Find closest next_wake task
next_wake=nrk_task_TCB[task_ID].next_wakeup;
}
}
}
#ifdef NRK_STATS_TRACKER
_nrk_stats_task_start(nrk_cur_task_TCB->task_ID);
#endif
task_ID = nrk_get_high_ready_task_ID();
nrk_high_ready_prio = nrk_task_TCB[task_ID].task_prio;
nrk_high_ready_TCB = &nrk_task_TCB[task_ID];
// next_wake should hold next time when a suspended task might get run
// task_ID holds the highest priority READY task ID
// So nrk_task_TCB[task_ID].cpu_remaining holds the READY task's end time
// Now we pick the next wakeup (either the end of the current task, or the possible resume
// of a suspended task)
if(task_ID!=NRK_IDLE_TASK_ID)
{
// You are a non-Idle Task
if(nrk_task_TCB[task_ID].cpu_reserve!=0 && nrk_task_TCB[task_ID].cpu_remaining<MAX_SCHED_WAKEUP_TIME)
{
if(next_wake>nrk_task_TCB[task_ID].cpu_remaining)
next_wake=nrk_task_TCB[task_ID].cpu_remaining;
}
else
{
if(next_wake>MAX_SCHED_WAKEUP_TIME) next_wake=MAX_SCHED_WAKEUP_TIME;
}
}
else
{
// This is the idle task
// Make sure you wake up from the idle task a little earlier
// if you would go into deep sleep...
// After waking from deep sleep, the next context swap must be at least
// NRK_SLEEP_WAKEUP_TIME-1 away to make sure the CPU wakes up in time.
#ifndef NRK_NO_POWER_DOWN
if(next_wake>NRK_SLEEP_WAKEUP_TIME)
{
if(next_wake-NRK_SLEEP_WAKEUP_TIME<MAX_SCHED_WAKEUP_TIME)
{
if(next_wake-NRK_SLEEP_WAKEUP_TIME<NRK_SLEEP_WAKEUP_TIME)
{
next_wake=NRK_SLEEP_WAKEUP_TIME-1;
}
else
{
next_wake=next_wake-NRK_SLEEP_WAKEUP_TIME;
}
}
else if(next_wake>NRK_SLEEP_WAKEUP_TIME+MAX_SCHED_WAKEUP_TIME)
{
next_wake=MAX_SCHED_WAKEUP_TIME;
}
else
{
next_wake=MAX_SCHED_WAKEUP_TIME-NRK_SLEEP_WAKEUP_TIME;
}
}
#endif
}
/*
// Some code to catch the case when the scheduler wakes up
// from deep sleep and has to execute again before NRK_SLEEP_WAKEUP_TIME-1
if(_nrk_cpu_state==2 && next_wake<NRK_SLEEP_WAKEUP_TIME-1)
{
nrk_int_disable();
while(1)
{
nrk_spin_wait_us(60000);
nrk_led_toggle(RED_LED);
nrk_spin_wait_us(60000);
nrk_led_toggle(GREEN_LED);
printf( "crash: %d %d %d\r\n",task_ID,next_wake,_nrk_cpu_state);
}
}*/
// If we disable power down, we still need to wakeup before the overflow
#ifdef NRK_NO_POWER_DOWN
if(next_wake>MAX_SCHED_WAKEUP_TIME) next_wake=MAX_SCHED_WAKEUP_TIME;
#endif
//printf( "nw = %d %d %d\r\n",task_ID,_nrk_cpu_state,next_wake);
nrk_cur_task_prio = nrk_high_ready_prio;
nrk_cur_task_TCB = nrk_high_ready_TCB;
#ifdef NRK_KERNEL_TEST
if(nrk_high_ready_TCB==NULL)
{
nrk_kprintf( PSTR( "KERNEL TEST: BAD TCB!\r\n" ));
}
#endif
//printf( "n %u %u %u %u\r\n",task_ID, _nrk_prev_timer_val, next_wake,_nrk_os_timer_get());
_nrk_prev_timer_val=next_wake;
if((_nrk_os_timer_get()+1)>=next_wake) // just bigger then, or equal?
{
// FIXME: Terrible Terrible...
// Need to find out why this is happening...
#ifdef NRK_KERNEL_TEST
// Ignore if you are the idle task coming from deep sleep
if(!(task_ID==NRK_IDLE_TASK_ID && _nrk_cpu_state==CPU_SLEEP))
nrk_kernel_error_add(NRK_WAKEUP_MISSED,task_ID);
#endif
// This is bad news, but keeps things running
// +2 just in case we are on the edge of the last tick
next_wake=_nrk_os_timer_get()+2;
_nrk_prev_timer_val=next_wake;
}
if(task_ID!=NRK_IDLE_TASK_ID) _nrk_cpu_state=CPU_ACTIVE;
_nrk_set_next_wakeup(next_wake);
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
// Bound Context Swap to 100us
nrk_high_speed_timer_wait(start_time_stamp,CONTEXT_SWAP_TIME_BOUND);
#endif
nrk_stack_pointer_restore();
//nrk_int_enable();
nrk_start_high_ready_task();
}
void inline _nrk_scheduler()
{
int8_t task_ID;
uint16_t next_wake;
uint16_t start_time_stamp;
_nrk_precision_os_timer_reset();
nrk_int_disable(); // this should be removed... Not needed
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
_nrk_high_speed_timer_reset();
start_time_stamp=_nrk_high_speed_timer_get();
#endif
_nrk_set_next_wakeup(MAX_SCHED_WAKEUP_TIME);
// Set to huge number which will later get set to min
next_wake=60000;
// Safety zone starts here....
#ifdef NRK_WATCHDOG
nrk_watchdog_reset();
#endif
#ifdef NRK_SW_WDT
_nrk_sw_wdt_check();
#endif
//printf( "last run: %d\n",nrk_cur_task_TCB->task_ID );
//for (task_ID=0; task_ID < NRK_MAX_TASKS; task_ID++)
//{
//printf( "%d nw:%lu\n",task_ID,nrk_task_TCB[task_ID].next_wakeup );
//}
#ifdef NRK_KERNEL_TEST
//nrk_kprintf( PSTR("*"));
//Check if OS tick was delayed...
// if(_nrk_cpu_state!=CPU_SLEEP && _nrk_os_timer_get()!=0) {
// nrk_kprintf( PSTR("X" ));
//printf( "%u ",_nrk_os_timer_get());
// }
//printf( "%u\r\n",_nrk_prev_timer_val);
if((_nrk_cpu_state!=CPU_ACTIVE) && (_nrk_os_timer_get()>nrk_max_sleep_wakeup_time))
nrk_max_sleep_wakeup_time=_nrk_os_timer_get();
#endif
//while(_nrk_time_trigger>0)
//{
nrk_system_time.nano_secs+=((uint32_t)_nrk_prev_timer_val*NANOS_PER_TICK);
nrk_system_time.nano_secs-=(nrk_system_time.nano_secs%(uint32_t)NANOS_PER_TICK);
#ifdef NRK_STATS_TRACKER
if(nrk_cur_task_TCB->task_ID==NRK_IDLE_TASK_ID)
{
if(_nrk_cpu_state==CPU_SLEEP) _nrk_stats_sleep(_nrk_prev_timer_val);
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
// Add 0 time since the preempted call before set the correct value
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, 0);
}
else
{
if(nrk_cur_task_TCB->suspend_flag==1)
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
else
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
}
#endif
while(nrk_system_time.nano_secs>=NANOS_PER_SEC)
{
nrk_system_time.nano_secs-=NANOS_PER_SEC;
nrk_system_time.secs++;
nrk_system_time.nano_secs-=(nrk_system_time.nano_secs%(uint32_t)NANOS_PER_TICK);
}
// _nrk_time_trigger--;
//}
if(nrk_cur_task_TCB->suspend_flag==1 && nrk_cur_task_TCB->task_state!=FINISHED)
{
// nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
if(nrk_cur_task_TCB->event_suspend==RSRC_EVENT_SUSPENDED)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if( nrk_cur_task_TCB->event_suspend>0 && nrk_cur_task_TCB->nw_flag==0)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if( nrk_cur_task_TCB->event_suspend>0 && nrk_cur_task_TCB->nw_flag==1)
nrk_cur_task_TCB->task_state = SUSPENDED;
else
{
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_cur_task_TCB->event_suspend=0;
nrk_cur_task_TCB->nw_flag=0;
// agr added to fix initial startup scheduling problem
if(nrk_cur_task_TCB->next_wakeup==0) {
nrk_cur_task_TCB->next_wakeup=nrk_cur_task_TCB->next_period;
}
}
nrk_rem_from_readyQ(nrk_cur_task_TCB->task_ID);
}
// nrk_print_readyQ();
// Update cpu used value for ended task
// If the task has used its reserve, suspend task
// Don't disable IdleTask which is 0
// Don't decrease cpu_remaining if reserve is 0 and hence disabled
if(nrk_cur_task_TCB->cpu_reserve!=0 && nrk_cur_task_TCB->task_ID!=NRK_IDLE_TASK_ID && nrk_cur_task_TCB->task_state!=FINISHED )
{
if(nrk_cur_task_TCB->cpu_remaining<_nrk_prev_timer_val)
{
#ifdef NRK_STATS_TRACKER
_nrk_stats_add_violation(nrk_cur_task_TCB->task_ID);
#endif
nrk_kernel_error_add(NRK_RESERVE_ERROR,nrk_cur_task_TCB->task_ID);
nrk_cur_task_TCB->cpu_remaining=0;
}
else
nrk_cur_task_TCB->cpu_remaining-=_nrk_prev_timer_val;
task_ID= nrk_cur_task_TCB->task_ID;
if (nrk_cur_task_TCB->cpu_remaining ==0 )
{
#ifdef NRK_STATS_TRACKER
_nrk_stats_add_violation(nrk_cur_task_TCB->task_ID);
#endif
nrk_kernel_error_add(NRK_RESERVE_VIOLATED,task_ID);
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_rem_from_readyQ(task_ID);
}
}
// Check I/O nrk_queues to add tasks with remaining cpu back...
// Add eligable tasks back to the ready Queue
// At the same time find the next earliest wakeup
for (task_ID=0; task_ID < NRK_MAX_TASKS; task_ID++)
{
if(nrk_task_TCB[task_ID].task_ID==-1) continue;
nrk_task_TCB[task_ID].suspend_flag=0;
if( nrk_task_TCB[task_ID].task_ID!=NRK_IDLE_TASK_ID && nrk_task_TCB[task_ID].task_state!=FINISHED )
{
if( nrk_task_TCB[task_ID].next_wakeup >= _nrk_prev_timer_val )
nrk_task_TCB[task_ID].next_wakeup-=_nrk_prev_timer_val;
else
{
nrk_task_TCB[task_ID].next_wakeup=0;
}
// Do next period book keeping.
// next_period needs to be set such that the period is kept consistent even if other
// wait until functions are called.
if( nrk_task_TCB[task_ID].next_period >= _nrk_prev_timer_val )
nrk_task_TCB[task_ID].next_period-=_nrk_prev_timer_val;
else
{
if(nrk_task_TCB[task_ID].period>_nrk_prev_timer_val)
nrk_task_TCB[task_ID].next_period= nrk_task_TCB[task_ID].period-_nrk_prev_timer_val;
else
nrk_task_TCB[task_ID].next_period= _nrk_prev_timer_val % nrk_task_TCB[task_ID].period;
}
if(nrk_task_TCB[task_ID].next_period==0) nrk_task_TCB[task_ID].next_period=nrk_task_TCB[task_ID].period;
}
// Look for Next Task that Might Wakeup to interrupt current task
if (nrk_task_TCB[task_ID].task_state == SUSPENDED )
{
//printf( "Task: %d nw: %d\n",task_ID,nrk_task_TCB[task_ID].next_wakeup);
// If a task needs to become READY, make it ready
if (nrk_task_TCB[task_ID].next_wakeup == 0)
{
// printf( "Adding back %d\n",task_ID );
if(nrk_task_TCB[task_ID].event_suspend>0 && nrk_task_TCB[task_ID].nw_flag==1) nrk_task_TCB[task_ID].active_signal_mask=SIG(nrk_wakeup_signal);
//if(nrk_task_TCB[task_ID].event_suspend==0) nrk_task_TCB[task_ID].active_signal_mask=0;
nrk_task_TCB[task_ID].event_suspend=0;
nrk_task_TCB[task_ID].nw_flag=0;
nrk_task_TCB[task_ID].suspend_flag=0;
if(nrk_task_TCB[task_ID].num_periods==1)
{
nrk_task_TCB[task_ID].cpu_remaining = nrk_task_TCB[task_ID].cpu_reserve;
nrk_task_TCB[task_ID].task_state = READY;
nrk_task_TCB[task_ID].next_wakeup = nrk_task_TCB[task_ID].next_period;
// If there is no period set, don't wakeup periodically
if(nrk_task_TCB[task_ID].period==0) nrk_task_TCB[task_ID].next_wakeup = MAX_SCHED_WAKEUP_TIME;
nrk_add_to_readyQ(task_ID);
}
else
{
nrk_task_TCB[task_ID].cpu_remaining = nrk_task_TCB[task_ID].cpu_reserve;
//nrk_task_TCB[task_ID].next_wakeup = nrk_task_TCB[task_ID].next_period;
//nrk_task_TCB[task_ID].num_periods--;
nrk_task_TCB[task_ID].next_wakeup = (nrk_task_TCB[task_ID].period*(nrk_task_TCB[task_ID].num_periods-1));
nrk_task_TCB[task_ID].next_period = (nrk_task_TCB[task_ID].period*(nrk_task_TCB[task_ID].num_periods-1));
if(nrk_task_TCB[task_ID].period==0) nrk_task_TCB[task_ID].next_wakeup = MAX_SCHED_WAKEUP_TIME;
nrk_task_TCB[task_ID].num_periods=1;
// printf( "np = %d\r\n",nrk_task_TCB[task_ID].next_wakeup);
// nrk_task_TCB[task_ID].num_periods=1;
}
}
if(nrk_task_TCB[task_ID].next_wakeup!=0 &&
nrk_task_TCB[task_ID].next_wakeup<next_wake )
{
// Find closest next_wake task
next_wake=nrk_task_TCB[task_ID].next_wakeup;
}
}
}
#ifdef NRK_STATS_TRACKER
_nrk_stats_task_start(nrk_cur_task_TCB->task_ID);
#endif
task_ID = nrk_get_high_ready_task_ID();
nrk_high_ready_prio = nrk_task_TCB[task_ID].task_prio;
nrk_high_ready_TCB = &nrk_task_TCB[task_ID];
// next_wake should hold next time when a suspended task might get run
// task_ID holds the highest priority READY task ID
// So nrk_task_TCB[task_ID].cpu_remaining holds the READY task's end time
// Now we pick the next wakeup (either the end of the current task, or the possible resume
// of a suspended task)
if(task_ID!=NRK_IDLE_TASK_ID)
{
// You are a non-Idle Task
if(nrk_task_TCB[task_ID].cpu_reserve!=0 && nrk_task_TCB[task_ID].cpu_remaining<MAX_SCHED_WAKEUP_TIME)
{
if(next_wake>nrk_task_TCB[task_ID].cpu_remaining)
next_wake=nrk_task_TCB[task_ID].cpu_remaining;
}
else
{
if(next_wake>MAX_SCHED_WAKEUP_TIME) next_wake=MAX_SCHED_WAKEUP_TIME;
}
}
else
{
// This is the idle task
// Make sure you wake up from the idle task a little earlier
// if you would go into deep sleep...
// After waking from deep sleep, the next context swap must be at least
// NRK_SLEEP_WAKEUP_TIME-1 away to make sure the CPU wakes up in time.
#ifndef NRK_NO_POWER_DOWN
if(next_wake>NRK_SLEEP_WAKEUP_TIME)
{
if(next_wake-NRK_SLEEP_WAKEUP_TIME<MAX_SCHED_WAKEUP_TIME)
{
if(next_wake-NRK_SLEEP_WAKEUP_TIME<NRK_SLEEP_WAKEUP_TIME)
{
next_wake=NRK_SLEEP_WAKEUP_TIME-1;
}
else
{
next_wake=next_wake-NRK_SLEEP_WAKEUP_TIME;
}
}
else if(next_wake>NRK_SLEEP_WAKEUP_TIME+MAX_SCHED_WAKEUP_TIME)
{
next_wake=MAX_SCHED_WAKEUP_TIME;
}
else
{
next_wake=MAX_SCHED_WAKEUP_TIME-NRK_SLEEP_WAKEUP_TIME;
}
}
#endif
}
/*
// Some code to catch the case when the scheduler wakes up
// from deep sleep and has to execute again before NRK_SLEEP_WAKEUP_TIME-1
if(_nrk_cpu_state==2 && next_wake<NRK_SLEEP_WAKEUP_TIME-1)
{
nrk_int_disable();
while(1)
{
nrk_spin_wait_us(60000);
nrk_led_toggle(RED_LED);
nrk_spin_wait_us(60000);
nrk_led_toggle(GREEN_LED);
printf( "crash: %d %d %d\r\n",task_ID,next_wake,_nrk_cpu_state);
}
}*/
// If we disable power down, we still need to wakeup before the overflow
#ifdef NRK_NO_POWER_DOWN
if(next_wake>MAX_SCHED_WAKEUP_TIME) next_wake=MAX_SCHED_WAKEUP_TIME;
#endif
//printf( "nw = %d %d %d\r\n",task_ID,_nrk_cpu_state,next_wake);
nrk_cur_task_prio = nrk_high_ready_prio;
nrk_cur_task_TCB = nrk_high_ready_TCB;
#ifdef NRK_KERNEL_TEST
if(nrk_high_ready_TCB==NULL)
{
nrk_kprintf( PSTR( "KERNEL TEST: BAD TCB!\r\n" ));
}
#endif
//printf( "n %u %u %u %u\r\n",task_ID, _nrk_prev_timer_val, next_wake,_nrk_os_timer_get());
_nrk_prev_timer_val=next_wake;
// Maybe the signals are triggering this problem?
if((_nrk_os_timer_get()+1)>=next_wake) // just bigger then, or equal?
{
// FIXME: Terrible Terrible...
// Need to find out why this is happening...
#ifdef NRK_KERNEL_TEST
// Ignore if you are the idle task coming from deep sleep
if(!(task_ID==NRK_IDLE_TASK_ID && _nrk_cpu_state==CPU_SLEEP))
nrk_kernel_error_add(NRK_WAKEUP_MISSED,task_ID);
#endif
// This is bad news, but keeps things running
// +2 just in case we are on the edge of the last tick
next_wake=_nrk_os_timer_get()+2;
_nrk_prev_timer_val=next_wake;
}
if(task_ID!=NRK_IDLE_TASK_ID) _nrk_cpu_state=CPU_ACTIVE;
_nrk_set_next_wakeup(next_wake);
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
// Bound Context Swap to 100us
nrk_high_speed_timer_wait(start_time_stamp,CONTEXT_SWAP_TIME_BOUND);
#endif
nrk_stack_pointer_restore();
//nrk_int_enable();
nrk_start_high_ready_task();
}
void inline _nrk_scheduler() {
int8_t task_ID;
uint16_t next_wake;
uint16_t start_time_stamp;
nrk_int_disable(); // this should be removed... Not needed
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
_nrk_high_speed_timer_reset();
start_time_stamp = _nrk_high_speed_timer_get();
#endif
_nrk_set_next_wakeup(MAX_SCHED_WAKEUP_TIME);
// Set to huge number which will later get set to min
next_wake = 60000;
// Safety zone starts here....
#ifdef NRK_WATCHDOG
nrk_watchdog_reset();
#endif
#ifdef NRK_KERNEL_TEST
if(_nrk_cpu_state && _nrk_os_timer_get()>nrk_max_sleep_wakeup_time)
nrk_max_sleep_wakeup_time=_nrk_os_timer_get();
#endif
//while(_nrk_time_trigger>0)
//{
nrk_system_time.nano_secs += ((uint32_t) _nrk_prev_timer_val
* NANOS_PER_TICK);
nrk_system_time.nano_secs -= (nrk_system_time.nano_secs
% (uint32_t) NANOS_PER_TICK);
#ifdef NRK_STATS_TRACKER
if(nrk_cur_task_TCB->task_ID==NRK_IDLE_TASK_ID)
{
if(_nrk_cpu_state==2) _nrk_stats_sleep(_nrk_prev_timer_val);
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
// Add 0 time since the preempted call before set the correct value
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, 0);
}
else
{
if(nrk_cur_task_TCB->suspend_flag==1)
_nrk_stats_task_suspend(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
else
_nrk_stats_task_preempted(nrk_cur_task_TCB->task_ID, _nrk_prev_timer_val);
}
#endif
printf("==============================\r\n");
printf("ENTERING SCHEDULER @ %u \r\n",
nrk_system_time.nano_secs);
printf("!! Interrupted TID %u after %u.\r\n ", nrk_cur_task_TCB->task_ID,
_nrk_prev_timer_val);
while (nrk_system_time.nano_secs >= NANOS_PER_SEC) {
nrk_system_time.nano_secs -= NANOS_PER_SEC;
nrk_system_time.secs++;
nrk_system_time.nano_secs -= (nrk_system_time.nano_secs
% (uint32_t) NANOS_PER_TICK);
}
// _nrk_time_trigger--;
//}
if (nrk_cur_task_TCB->suspend_flag == 1 && nrk_cur_task_TCB->task_state
!= FINISHED) {
// nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
if (nrk_cur_task_TCB->event_suspend == RSRC_EVENT_SUSPENDED)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if (nrk_cur_task_TCB->event_suspend > 0
&& nrk_cur_task_TCB->nw_flag == 0)
nrk_cur_task_TCB->task_state = EVENT_SUSPENDED;
else if (nrk_cur_task_TCB->event_suspend > 0
&& nrk_cur_task_TCB->nw_flag == 1)
nrk_cur_task_TCB->task_state = SUSPENDED;
else {
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_cur_task_TCB->event_suspend = 0;
nrk_cur_task_TCB->nw_flag = 0;
}
nrk_rem_from_readyQ(nrk_cur_task_TCB->task_ID);
}
// nrk_print_readyQ();
// Update cpu used value for ended task
// If the task has used its reserve, suspend task
// Don't disable IdleTask which is 0
// Don't decrease cpu_remaining if reserve is 0 and hence disabled
if (nrk_cur_task_TCB->cpu_reserve != 0 && nrk_cur_task_TCB->task_ID
!= NRK_IDLE_TASK_ID && nrk_cur_task_TCB->task_state != FINISHED) {
if (nrk_cur_task_TCB->cpu_remaining < _nrk_prev_timer_val) {
#ifdef NRK_STATS_TRACKER
_nrk_stats_add_violation(nrk_cur_task_TCB->task_ID);
#endif
printf("< MISS > Deadline Missed for Task %u\r\n",task_ID);
nrk_kernel_error_add(NRK_RESERVE_ERROR, nrk_cur_task_TCB->task_ID);
nrk_cur_task_TCB->cpu_remaining = 0;
} else
nrk_cur_task_TCB->cpu_remaining -= _nrk_prev_timer_val;
task_ID = nrk_cur_task_TCB->task_ID;
if (nrk_cur_task_TCB->cpu_remaining == 0) {
#ifdef NRK_STATS_TRACKER
_nrk_stats_add_violation(nrk_cur_task_TCB->task_ID);
#endif
printf("xxxxxx >> Deadline Violated for Task %u\r\n",task_ID);
nrk_kernel_error_add(NRK_RESERVE_VIOLATED, task_ID);
nrk_cur_task_TCB->task_state = SUSPENDED;
nrk_rem_from_readyQ(task_ID);
}
}
// Check I/O nrk_queues to add tasks with remaining cpu back...
// Add eligable tasks back to the ready Queue
// At the same time find the next earliest wakeup
for (task_ID = 0; task_ID < NRK_MAX_TASKS; task_ID++) {
if (nrk_task_TCB[task_ID].task_ID == -1)
continue;
nrk_task_TCB[task_ID].suspend_flag = 0;
if (nrk_task_TCB[task_ID].task_ID != NRK_IDLE_TASK_ID
&& nrk_task_TCB[task_ID].task_state != FINISHED) {
if (nrk_task_TCB[task_ID].next_wakeup >= _nrk_prev_timer_val)
nrk_task_TCB[task_ID].next_wakeup -= _nrk_prev_timer_val;
else
nrk_task_TCB[task_ID].next_wakeup = 0;
// Do next period book keeping.
// next_period needs to be set such that the period is kept consistent even if other
// wait until functions are called.
if (nrk_task_TCB[task_ID].next_period >= _nrk_prev_timer_val)
nrk_task_TCB[task_ID].next_period -= _nrk_prev_timer_val;
else {
if (nrk_task_TCB[task_ID].period > _nrk_prev_timer_val)
nrk_task_TCB[task_ID].next_period
= nrk_task_TCB[task_ID].period
- _nrk_prev_timer_val;
else
nrk_task_TCB[task_ID].next_period = _nrk_prev_timer_val
% nrk_task_TCB[task_ID].period;
}
if (nrk_task_TCB[task_ID].next_period == 0)
nrk_task_TCB[task_ID].next_period
= nrk_task_TCB[task_ID].period;
}
// Look for Next Task that Might Wakeup to interrupt current task
if (nrk_task_TCB[task_ID].task_state == SUSPENDED) {
// printf( "Task: %d nw: %d\n",task_ID,nrk_task_TCB[task_ID].next_wakeup);
// If a task needs to become READY, make it ready
if (nrk_task_TCB[task_ID].next_wakeup == 0) {
// printf( "Adding back %d\n",task_ID );
if (nrk_task_TCB[task_ID].event_suspend > 0
&& nrk_task_TCB[task_ID].nw_flag == 1)
nrk_task_TCB[task_ID].active_signal_mask
=SIG(nrk_wakeup_signal);
//if(nrk_task_TCB[task_ID].event_suspend==0) nrk_task_TCB[task_ID].active_signal_mask=0;
nrk_task_TCB[task_ID].event_suspend = 0;
nrk_task_TCB[task_ID].nw_flag = 0;
nrk_task_TCB[task_ID].suspend_flag = 0;
if (nrk_task_TCB[task_ID].num_periods == 1) {
nrk_task_TCB[task_ID].cpu_remaining
= nrk_task_TCB[task_ID].cpu_reserve;
nrk_task_TCB[task_ID].task_state = READY;
nrk_task_TCB[task_ID].next_wakeup
= nrk_task_TCB[task_ID].next_period;
nrk_task_TCB[task_ID].abs_deadline
+= nrk_task_TCB[task_ID].period;
nrk_add_to_readyQ(task_ID);
} else {
nrk_task_TCB[task_ID].cpu_remaining
= nrk_task_TCB[task_ID].cpu_reserve;
nrk_task_TCB[task_ID].next_wakeup
= (nrk_task_TCB[task_ID].period
* (nrk_task_TCB[task_ID].num_periods - 1));
nrk_task_TCB[task_ID].next_period
= (nrk_task_TCB[task_ID].period
* (nrk_task_TCB[task_ID].num_periods - 1));
nrk_task_TCB[task_ID].num_periods = 1;
}
}
if (nrk_task_TCB[task_ID].next_wakeup != 0
&& nrk_task_TCB[task_ID].next_wakeup < next_wake) {
// Find closest next_wake task
next_wake = nrk_task_TCB[task_ID].next_wakeup;
}
printf("SQueue Contents :\r\n");
printf(
"%u. TID %u, CPU Rem %u, CPU Res %u, Period %u, State %u, NW %u, NP %u, AD %u \r\n",
task_ID, nrk_task_TCB[task_ID].task_ID,
nrk_task_TCB[task_ID].cpu_remaining,
nrk_task_TCB[task_ID].cpu_reserve,
nrk_task_TCB[task_ID].period,
nrk_task_TCB[task_ID].task_state,
nrk_task_TCB[task_ID].next_wakeup,
nrk_task_TCB[task_ID].next_period,
nrk_task_TCB[task_ID].abs_deadline);
}
}
printf(">>> next_wake is @ %u after loop .\r\n", next_wake);
#ifdef NRK_STATS_TRACKER
_nrk_stats_task_start(nrk_cur_task_TCB->task_ID);
#endif
task_ID = nrk_get_high_ready_task_ID();
nrk_high_ready_prio = nrk_task_TCB[task_ID].task_prio;
nrk_high_ready_TCB = &nrk_task_TCB[task_ID];
// next_wake should hold next time when a suspended task might get run
// task_ID holds the highest priority READY task ID
// So nrk_task_TCB[task_ID].cpu_remaining holds the READY task's end time
// Now we pick the next wakeup (either the end of the current task, or the possible resume
// of a suspended task)
if (task_ID != NRK_IDLE_TASK_ID) {
// You are a non-Idle Task
if (nrk_task_TCB[task_ID].cpu_reserve != 0
&& nrk_task_TCB[task_ID].cpu_remaining < MAX_SCHED_WAKEUP_TIME) {
if (next_wake > nrk_task_TCB[task_ID].cpu_remaining)
next_wake = nrk_task_TCB[task_ID].cpu_remaining;
} else {
if (next_wake > MAX_SCHED_WAKEUP_TIME)
next_wake = MAX_SCHED_WAKEUP_TIME;
}
} else {
// This is the idle task
// Make sure you wake up from the idle task a little earlier
// if you would go into deep sleep...
// After waking from deep sleep, the next context swap must be at least
// NRK_SLEEP_WAKEUP_TIME-1 away to make sure the CPU wakes up in time.
if (next_wake > NRK_SLEEP_WAKEUP_TIME) {
if (next_wake - NRK_SLEEP_WAKEUP_TIME < MAX_SCHED_WAKEUP_TIME) {
if (next_wake - NRK_SLEEP_WAKEUP_TIME < NRK_SLEEP_WAKEUP_TIME) {
next_wake = NRK_SLEEP_WAKEUP_TIME - 1;
} else {
next_wake = next_wake - NRK_SLEEP_WAKEUP_TIME;
}
} else if (next_wake > NRK_SLEEP_WAKEUP_TIME
+ MAX_SCHED_WAKEUP_TIME) {
next_wake = MAX_SCHED_WAKEUP_TIME;
} else {
next_wake = MAX_SCHED_WAKEUP_TIME - NRK_SLEEP_WAKEUP_TIME;
}
}
}
printf(">>> next_wake CHANGED TO REM_TIME,i.e. %u .\r\n", next_wake);
/*
// Some code to catch the case when the scheduler wakes up
// from deep sleep and has to execute again before NRK_SLEEP_WAKEUP_TIME-1
if(_nrk_cpu_state==2 && next_wake<NRK_SLEEP_WAKEUP_TIME-1)
{
nrk_int_disable();
while(1)
{
nrk_spin_wait_us(60000);
nrk_led_toggle(RED_LED);
nrk_spin_wait_us(60000);
nrk_led_toggle(GREEN_LED);
printf( "crash: %d %d %d\r\n",task_ID,next_wake,_nrk_cpu_state);
}
}*/
//printf( "nw = %d %d %d\r\n",task_ID,_nrk_cpu_state,next_wake);
nrk_cur_task_prio = nrk_high_ready_prio;
nrk_cur_task_TCB = nrk_high_ready_TCB;
#ifdef NRK_KERNEL_TEST
if(nrk_high_ready_TCB==NULL)
{
nrk_kprintf( PSTR( "KERNEL TEST: BAD TCB!\r\n" ));
}
#endif
_nrk_prev_timer_val = next_wake;
if (_nrk_os_timer_get() >= next_wake) // just bigger then, or equal?
{
// FIXME: Terrible Terrible...
// Need to find out why this is happening...
#ifdef NRK_KERNEL_TEST
// Ignore if you are the idle task coming from deep sleep
if(!(task_ID==NRK_IDLE_TASK_ID && _nrk_cpu_state==2))
nrk_kernel_error_add(NRK_WAKEUP_MISSED,task_ID);
#endif
// This is bad news, but keeps things running
// +2 just in case we are on the edge of the last tick
next_wake = _nrk_os_timer_get() + 2;
_nrk_prev_timer_val = next_wake;
}
if (task_ID != NRK_IDLE_TASK_ID)
_nrk_cpu_state = 0;
nrk_queue * printer = _head_node;
int j = 0;
printf("RQueue Contents :\r\n");
while (printer) {
printf(
"%u. TID %u, CPU Rem %u, CPU Res %u, Period %u, State %u, NW %u, NP %u, AD %u . \r\n",
j, printer->task_ID,
nrk_task_TCB[printer->task_ID].cpu_remaining,
nrk_task_TCB[printer->task_ID].cpu_reserve,
nrk_task_TCB[printer->task_ID].period,
nrk_task_TCB[printer->task_ID].task_state,
nrk_task_TCB[printer->task_ID].next_wakeup,
nrk_task_TCB[printer->task_ID].next_period,
nrk_task_TCB[printer->task_ID].abs_deadline);
printer = printer->Next;
j++;
}
_nrk_set_next_wakeup(next_wake);
printf("Setting TACCR0 to (nw-1) -> %u \r\n", (next_wake - 1));
printf("Starting TID %u \r\n", task_ID);
printf("EXITING SCHEDULER\r\n");
printf("==============================\r\n");
_nrk_set_next_wakeup(next_wake);
#ifndef NRK_NO_BOUNDED_CONTEXT_SWAP
// Bound Context Swap to 100us
nrk_high_speed_timer_wait(start_time_stamp, CONTEXT_SWAP_TIME_BOUND);
#endif
nrk_stack_pointer_restore();
//nrk_int_enable();
nrk_start_high_ready_task();
}