os_core.c

UCOS-III

/*
************************************************************************************************************************
*                                                      uC/OS-III
*                                                 The Real-Time Kernel
*
*                                  (c) Copyright 2009-2011; Micrium, Inc.; Weston, FL
*                           All rights reserved.  Protected by international copyright laws.
*
*                                                    CORE FUNCTIONS
*
* File    : OS_CORE.C
* By      : JJL
* Version : V3.02.00
*
* LICENSING TERMS:
* ---------------
*           uC/OS-III is provided in source form for FREE short-term evaluation, for educational use or 
*           for peaceful research.  If you plan or intend to use uC/OS-III in a commercial application/
*           product then, you need to contact Micrium to properly license uC/OS-III for its use in your 
*           application/product.   We provide ALL the source code for your convenience and to help you 
*           experience uC/OS-III.  The fact that the source is provided does NOT mean that you can use 
*           it commercially without paying a licensing fee.
*
*           Knowledge of the source code may NOT be used to develop a similar product.
*
*           Please help us continue to provide the embedded community with the finest software available.
*           Your honesty is greatly appreciated.
*
*           You can contact us at www.micrium.com, or by phone at [phone].
************************************************************************************************************************
*/

#include  <os.h>

#ifdef VSC_INCLUDE_SOURCE_FILE_NAMES
const  CPU_CHAR  *os_core__c = "$Id: $";
#endif

/*
************************************************************************************************************************
*                                                    INITIALIZATION
*
* Description: This function is used to initialize the internals of uC/OS-III and MUST be called prior to
*              creating any uC/OS-III object and, prior to calling OS_Start().
*
* Arguments  : p_err         is a pointer to a variable that will contain an error code returned by this function.
*
*                                OS_ERR_NONE    Initialization was successful
*                                Other          Other OS_ERR_xxx depending on the sub-functions called by OSInit().
* Returns    : none
************************************************************************************************************************
*/

void  OSInit (OS_ERR  *p_err)
{
    CPU_STK      *p_stk;
    CPU_STK_SIZE  size;



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

    OSInitHook();                                           /* Call port specific initialization code                 */

    OSIntNestingCtr                 = (OS_NESTING_CTR)0;    /* Clear the interrupt nesting counter                    */

    OSRunning                       =  OS_STATE_OS_STOPPED; /* Indicate that multitasking not started                 */

    OSSchedLockNestingCtr           = (OS_NESTING_CTR)0;    /* Clear the scheduling lock counter                      */

#if OS_CFG_SCHED_LOCK_TIME_MEAS_EN > 0u
    OSSchedLockTimeBegin            = (CPU_TS)0;
    OSSchedLockTimeMax              = (CPU_TS)0;
    OSSchedLockTimeMaxCur           = (CPU_TS)0;
#endif

#ifdef OS_SAFETY_CRITICAL_IEC61508
    OSSafetyCriticalStartFlag       =  DEF_FALSE;
#endif

#if OS_CFG_SCHED_ROUND_ROBIN_EN > 0u
    OSSchedRoundRobinEn             = DEF_FALSE;
    OSSchedRoundRobinDfltTimeQuanta = OSCfg_TickRate_Hz / 10u;
#endif

    if (OSCfg_ISRStkSize > (CPU_STK_SIZE)0) {
        p_stk = OSCfg_ISRStkBasePtr;                        /* Clear exception stack for stack checking.              */
        if (p_stk != (CPU_STK *)0) {
            size  = OSCfg_ISRStkSize;
            while (size > (CPU_STK_SIZE)0) {
                size--;
                *p_stk = (CPU_STK)0;
                p_stk++;
            }
        }
    }

#if OS_CFG_APP_HOOKS_EN > 0u
    OS_AppTaskCreateHookPtr = (OS_APP_HOOK_TCB )0;          /* Clear application hook pointers                        */
    OS_AppTaskDelHookPtr    = (OS_APP_HOOK_TCB )0;
    OS_AppTaskReturnHookPtr = (OS_APP_HOOK_TCB )0;

    OS_AppIdleTaskHookPtr   = (OS_APP_HOOK_VOID)0;
    OS_AppStatTaskHookPtr   = (OS_APP_HOOK_VOID)0;
    OS_AppTaskSwHookPtr     = (OS_APP_HOOK_VOID)0;
    OS_AppTimeTickHookPtr   = (OS_APP_HOOK_VOID)0;
#endif

    OS_PrioInit();                                          /* Initialize the priority bitmap table                   */

    OS_RdyListInit();                                       /* Initialize the Ready List                              */

    OS_TaskInit(p_err);                                     /* Initialize the task manager                            */
    if (*p_err != OS_ERR_NONE) {
        return;
    }

#if OS_CFG_ISR_POST_DEFERRED_EN > 0u
    OS_IntQTaskInit(p_err);                                 /* Initialize the Interrupt Queue Handler Task            */
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif

    OS_IdleTaskInit(p_err);                                 /* Initialize the Idle Task                               */
    if (*p_err != OS_ERR_NONE) {
        return;
    }

    OS_TickTaskInit(p_err);                                 /* Initialize the Tick Task                               */
    if (*p_err != OS_ERR_NONE) {
        return;
    }


#if OS_CFG_STAT_TASK_EN > 0u                                /* Initialize the Statistic Task                          */
    OS_StatTaskInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_FLAG_EN > 0u                                     /* Initialize the Event Flag module                       */
    OS_FlagInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_MEM_EN > 0u                                      /* Initialize the Memory Manager module                   */
    OS_MemInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if (OS_MSG_EN) > 0u                                        /* Initialize the free list of OS_MSGs                    */
    OS_MsgPoolInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_MUTEX_EN > 0u                                    /* Initialize the Mutex Manager module                    */
    OS_MutexInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_Q_EN > 0u
    OS_QInit(p_err);                                        /* Initialize the Message Queue Manager module            */
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_SEM_EN > 0u                                      /* Initialize the Semaphore Manager module                */
    OS_SemInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_TMR_EN > 0u                                      /* Initialize the Timer Manager module                    */
    OS_TmrInit(p_err);
    if (*p_err != OS_ERR_NONE) {
        return;
    }
#endif


#if OS_CFG_DBG_EN > 0u
    OS_Dbg_Init();
#endif

    OSCfg_Init();
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                      ENTER ISR
*
* Description: This function is used to notify uC/OS-III that you are about to service an interrupt service routine
*              (ISR).  This allows uC/OS-III to keep track of interrupt nesting and thus only perform rescheduling at
*              the last nested ISR.
*
* Arguments  : none
*
* Returns    : none
*
* Note(s)    : 1) This function MUST be called with interrupts already disabled
*
*              2) Your ISR can directly increment 'OSIntNestingCtr' without calling this function because OSIntNestingCtr has
*                 been declared 'global', the port is actually considered part of the OS and thus is allowed to access
*                 uC/OS-III variables.
*
*              3) You MUST still call OSIntExit() even though you increment 'OSIntNestingCtr' directly.
*
*              4) You MUST invoke OSIntEnter() and OSIntExit() in pair.  In other words, for every call to OSIntEnter()
*                 (or direct increment to OSIntNestingCtr) at the beginning of the ISR you MUST have a call to OSIntExit()
*                 at the end of the ISR.
*
*              5) You are allowed to nest interrupts up to 250 levels deep.
************************************************************************************************************************
*/

void  OSIntEnter (void)
{
    if (OSRunning != OS_STATE_OS_RUNNING) {                 /* Is OS running?                                         */
        return;                                             /* No                                                     */
    }

    if (OSIntNestingCtr >= (OS_NESTING_CTR)250u) {          /* Have we nested past 250 levels?                        */
        return;                                             /* Yes                                                    */
    }

    OSIntNestingCtr++;                                      /* Increment ISR nesting level                            */
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                       EXIT ISR
*
* Description: This function is used to notify uC/OS-III that you have completed servicing an ISR.  When the last nested
*              ISR has completed, uC/OS-III will call the scheduler to determine whether a new, high-priority task, is
*              ready to run.
*
* Arguments  : none
*
* Returns    : none
*
* Note(s)    : 1) You MUST invoke OSIntEnter() and OSIntExit() in pair.  In other words, for every call to OSIntEnter()
*                 (or direct increment to OSIntNestingCtr) at the beginning of the ISR you MUST have a call to OSIntExit()
*                 at the end of the ISR.
*
*              2) Rescheduling is prevented when the scheduler is locked (see OSSchedLock())
************************************************************************************************************************
*/

void  OSIntExit (void)
{
    CPU_SR_ALLOC();