694 lines
19 KiB
C
694 lines
19 KiB
C
/*
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* Copyright (c) 2013-2021 Arm Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* -----------------------------------------------------------------------------
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*
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* Project: CMSIS-RTOS RTX
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* Title: Kernel functions
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*
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* -----------------------------------------------------------------------------
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*/
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#include "rtx_lib.h"
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// OS Runtime Information
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osRtxInfo_t osRtxInfo __attribute__((section(".data.os"))) =
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//lint -e{785} "Initialize only OS ID, OS Version and Kernel State"
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{ .os_id = osRtxKernelId, .version = osRtxVersionKernel, .kernel.state = osRtxKernelInactive };
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// ==== Helper functions ====
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/// Block Kernel (disable: thread switching, time tick, post ISR processing).
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static void KernelBlock (void) {
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OS_Tick_Disable();
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osRtxInfo.kernel.blocked = 1U;
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__DSB();
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if (GetPendSV() != 0U) {
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ClrPendSV();
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osRtxInfo.kernel.pendSV = 1U;
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}
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}
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/// Unblock Kernel
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static void KernelUnblock (void) {
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osRtxInfo.kernel.blocked = 0U;
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__DSB();
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if (osRtxInfo.kernel.pendSV != 0U) {
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osRtxInfo.kernel.pendSV = 0U;
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SetPendSV();
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}
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OS_Tick_Enable();
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}
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// Get Kernel sleep time
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static uint32_t GetKernelSleepTime (void) {
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const os_thread_t *thread;
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const os_timer_t *timer;
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uint32_t delay;
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delay = osWaitForever;
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// Check Thread Delay list
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thread = osRtxInfo.thread.delay_list;
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if (thread != NULL) {
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delay = thread->delay;
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}
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// Check Active Timer list
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timer = osRtxInfo.timer.list;
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if (timer != NULL) {
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if (timer->tick < delay) {
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delay = timer->tick;
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}
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}
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return delay;
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}
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// ==== Service Calls ====
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/// Initialize the RTOS Kernel.
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/// \note API identical to osKernelInitialize
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static osStatus_t svcRtxKernelInitialize (void) {
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if (osRtxInfo.kernel.state == osRtxKernelReady) {
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EvrRtxKernelInitialized();
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osOK;
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}
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if (osRtxInfo.kernel.state != osRtxKernelInactive) {
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EvrRtxKernelError((int32_t)osError);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osError;
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}
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#if (DOMAIN_NS == 1)
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// Initialize Secure Process Stack
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if (TZ_InitContextSystem_S() == 0U) {
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EvrRtxKernelError(osRtxErrorTZ_InitContext_S);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osError;
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}
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#endif
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// Initialize osRtxInfo
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osRtxInfo.isr_queue.data = osRtxConfig.isr_queue.data;
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osRtxInfo.isr_queue.max = osRtxConfig.isr_queue.max;
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osRtxInfo.thread.robin.timeout = osRtxConfig.robin_timeout;
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// Initialize Memory Pools (Variable Block Size)
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if (osRtxMemoryInit(osRtxConfig.mem.common_addr, osRtxConfig.mem.common_size) != 0U) {
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osRtxInfo.mem.common = osRtxConfig.mem.common_addr;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.stack_addr, osRtxConfig.mem.stack_size) != 0U) {
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osRtxInfo.mem.stack = osRtxConfig.mem.stack_addr;
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} else {
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osRtxInfo.mem.stack = osRtxInfo.mem.common;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.mp_data_addr, osRtxConfig.mem.mp_data_size) != 0U) {
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osRtxInfo.mem.mp_data = osRtxConfig.mem.mp_data_addr;
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} else {
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osRtxInfo.mem.mp_data = osRtxInfo.mem.common;
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}
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if (osRtxMemoryInit(osRtxConfig.mem.mq_data_addr, osRtxConfig.mem.mq_data_size) != 0U) {
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osRtxInfo.mem.mq_data = osRtxConfig.mem.mq_data_addr;
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} else {
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osRtxInfo.mem.mq_data = osRtxInfo.mem.common;
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}
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// Initialize Memory Pools (Fixed Block Size)
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if (osRtxConfig.mpi.stack != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.stack,
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osRtxConfig.mpi.stack->max_blocks,
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osRtxConfig.mpi.stack->block_size,
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osRtxConfig.mpi.stack->block_base);
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osRtxInfo.mpi.stack = osRtxConfig.mpi.stack;
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}
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if (osRtxConfig.mpi.thread != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.thread,
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osRtxConfig.mpi.thread->max_blocks,
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osRtxConfig.mpi.thread->block_size,
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osRtxConfig.mpi.thread->block_base);
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osRtxInfo.mpi.thread = osRtxConfig.mpi.thread;
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}
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if (osRtxConfig.mpi.timer != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.timer,
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osRtxConfig.mpi.timer->max_blocks,
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osRtxConfig.mpi.timer->block_size,
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osRtxConfig.mpi.timer->block_base);
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osRtxInfo.mpi.timer = osRtxConfig.mpi.timer;
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}
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if (osRtxConfig.mpi.event_flags != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.event_flags,
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osRtxConfig.mpi.event_flags->max_blocks,
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osRtxConfig.mpi.event_flags->block_size,
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osRtxConfig.mpi.event_flags->block_base);
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osRtxInfo.mpi.event_flags = osRtxConfig.mpi.event_flags;
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}
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if (osRtxConfig.mpi.mutex != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.mutex,
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osRtxConfig.mpi.mutex->max_blocks,
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osRtxConfig.mpi.mutex->block_size,
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osRtxConfig.mpi.mutex->block_base);
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osRtxInfo.mpi.mutex = osRtxConfig.mpi.mutex;
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}
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if (osRtxConfig.mpi.semaphore != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.semaphore,
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osRtxConfig.mpi.semaphore->max_blocks,
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osRtxConfig.mpi.semaphore->block_size,
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osRtxConfig.mpi.semaphore->block_base);
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osRtxInfo.mpi.semaphore = osRtxConfig.mpi.semaphore;
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}
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if (osRtxConfig.mpi.memory_pool != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.memory_pool,
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osRtxConfig.mpi.memory_pool->max_blocks,
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osRtxConfig.mpi.memory_pool->block_size,
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osRtxConfig.mpi.memory_pool->block_base);
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osRtxInfo.mpi.memory_pool = osRtxConfig.mpi.memory_pool;
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}
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if (osRtxConfig.mpi.message_queue != NULL) {
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(void)osRtxMemoryPoolInit(osRtxConfig.mpi.message_queue,
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osRtxConfig.mpi.message_queue->max_blocks,
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osRtxConfig.mpi.message_queue->block_size,
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osRtxConfig.mpi.message_queue->block_base);
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osRtxInfo.mpi.message_queue = osRtxConfig.mpi.message_queue;
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}
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osRtxInfo.kernel.state = osRtxKernelReady;
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EvrRtxKernelInitialized();
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return osOK;
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}
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/// Get RTOS Kernel Information.
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/// \note API identical to osKernelGetInfo
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static osStatus_t svcRtxKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
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uint32_t size;
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if (version != NULL) {
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version->api = osRtxVersionAPI;
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version->kernel = osRtxVersionKernel;
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}
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if ((id_buf != NULL) && (id_size != 0U)) {
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if (id_size > sizeof(osRtxKernelId)) {
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size = sizeof(osRtxKernelId);
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} else {
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size = id_size;
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}
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(void)memcpy(id_buf, osRtxKernelId, size);
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}
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EvrRtxKernelInfoRetrieved(version, id_buf, id_size);
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return osOK;
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}
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/// Get the current RTOS Kernel state.
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/// \note API identical to osKernelGetState
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static osKernelState_t svcRtxKernelGetState (void) {
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osKernelState_t state = osRtxKernelState();
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EvrRtxKernelGetState(state);
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return state;
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}
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/// Start the RTOS Kernel scheduler.
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/// \note API identical to osKernelStart
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static osStatus_t svcRtxKernelStart (void) {
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os_thread_t *thread;
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if (osRtxInfo.kernel.state != osRtxKernelReady) {
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EvrRtxKernelError(osRtxErrorKernelNotReady);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osError;
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}
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// Thread startup (Idle and Timer Thread)
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if (!osRtxThreadStartup()) {
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EvrRtxKernelError((int32_t)osError);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osError;
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}
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// Setup SVC and PendSV System Service Calls
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SVC_Setup();
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// Setup RTOS Tick
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if (OS_Tick_Setup(osRtxConfig.tick_freq, OS_TICK_HANDLER) != 0) {
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EvrRtxKernelError((int32_t)osError);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return osError;
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}
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osRtxInfo.tick_irqn = OS_Tick_GetIRQn();
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// Enable RTOS Tick
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OS_Tick_Enable();
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// Switch to Ready Thread with highest Priority
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thread = osRtxThreadListGet(&osRtxInfo.thread.ready);
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osRtxThreadSwitch(thread);
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if ((osRtxConfig.flags & osRtxConfigPrivilegedMode) != 0U) {
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// Privileged Thread mode & PSP
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__set_CONTROL(0x02U);
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} else {
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// Unprivileged Thread mode & PSP
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__set_CONTROL(0x03U);
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}
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelStarted();
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return osOK;
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}
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/// Lock the RTOS Kernel scheduler.
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/// \note API identical to osKernelLock
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static int32_t svcRtxKernelLock (void) {
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int32_t lock;
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switch (osRtxInfo.kernel.state) {
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case osRtxKernelRunning:
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osRtxInfo.kernel.state = osRtxKernelLocked;
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EvrRtxKernelLocked(0);
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lock = 0;
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break;
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case osRtxKernelLocked:
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EvrRtxKernelLocked(1);
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lock = 1;
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break;
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default:
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EvrRtxKernelError((int32_t)osError);
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lock = (int32_t)osError;
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break;
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}
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return lock;
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}
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/// Unlock the RTOS Kernel scheduler.
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/// \note API identical to osKernelUnlock
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static int32_t svcRtxKernelUnlock (void) {
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int32_t lock;
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switch (osRtxInfo.kernel.state) {
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case osRtxKernelRunning:
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EvrRtxKernelUnlocked(0);
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lock = 0;
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break;
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case osRtxKernelLocked:
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelUnlocked(1);
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lock = 1;
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break;
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default:
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EvrRtxKernelError((int32_t)osError);
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lock = (int32_t)osError;
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break;
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}
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return lock;
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}
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/// Restore the RTOS Kernel scheduler lock state.
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/// \note API identical to osKernelRestoreLock
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static int32_t svcRtxKernelRestoreLock (int32_t lock) {
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int32_t lock_new;
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switch (osRtxInfo.kernel.state) {
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case osRtxKernelRunning:
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case osRtxKernelLocked:
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switch (lock) {
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case 0:
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osRtxInfo.kernel.state = osRtxKernelRunning;
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EvrRtxKernelLockRestored(0);
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lock_new = 0;
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break;
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case 1:
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osRtxInfo.kernel.state = osRtxKernelLocked;
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EvrRtxKernelLockRestored(1);
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lock_new = 1;
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break;
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default:
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EvrRtxKernelError((int32_t)osError);
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lock_new = (int32_t)osError;
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break;
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}
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break;
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default:
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EvrRtxKernelError((int32_t)osError);
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lock_new = (int32_t)osError;
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break;
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}
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return lock_new;
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}
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/// Suspend the RTOS Kernel scheduler.
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/// \note API identical to osKernelSuspend
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static uint32_t svcRtxKernelSuspend (void) {
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uint32_t delay;
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if (osRtxInfo.kernel.state != osRtxKernelRunning) {
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EvrRtxKernelError(osRtxErrorKernelNotRunning);
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return 0U;
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}
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KernelBlock();
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osRtxInfo.kernel.state = osRtxKernelSuspended;
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delay = GetKernelSleepTime();
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EvrRtxKernelSuspended(delay);
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return delay;
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}
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/// Resume the RTOS Kernel scheduler.
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/// \note API identical to osKernelResume
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static void svcRtxKernelResume (uint32_t sleep_ticks) {
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os_thread_t *thread;
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os_timer_t *timer;
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uint32_t delay;
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uint32_t ticks, kernel_tick;
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if (osRtxInfo.kernel.state != osRtxKernelSuspended) {
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EvrRtxKernelResumed();
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//lint -e{904} "Return statement before end of function" [MISRA Note 1]
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return;
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}
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delay = GetKernelSleepTime();
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if (sleep_ticks >= delay) {
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ticks = delay - 1U;
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} else {
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ticks = sleep_ticks;
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}
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// Update Thread Delay sleep ticks
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thread = osRtxInfo.thread.delay_list;
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if (thread != NULL) {
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thread->delay -= ticks;
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}
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// Update Timer sleep ticks
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timer = osRtxInfo.timer.list;
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if (timer != NULL) {
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timer->tick -= ticks;
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}
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kernel_tick = osRtxInfo.kernel.tick + sleep_ticks;
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osRtxInfo.kernel.tick += ticks;
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while (osRtxInfo.kernel.tick != kernel_tick) {
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osRtxInfo.kernel.tick++;
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// Process Thread Delays
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osRtxThreadDelayTick();
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// Process Timers
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if (osRtxInfo.timer.tick != NULL) {
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osRtxInfo.timer.tick();
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}
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}
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osRtxInfo.kernel.state = osRtxKernelRunning;
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osRtxThreadDispatch(NULL);
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KernelUnblock();
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EvrRtxKernelResumed();
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}
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/// Get the RTOS kernel tick count.
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/// \note API identical to osKernelGetTickCount
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static uint32_t svcRtxKernelGetTickCount (void) {
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EvrRtxKernelGetTickCount(osRtxInfo.kernel.tick);
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return osRtxInfo.kernel.tick;
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}
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/// Get the RTOS kernel tick frequency.
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/// \note API identical to osKernelGetTickFreq
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static uint32_t svcRtxKernelGetTickFreq (void) {
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EvrRtxKernelGetTickFreq(osRtxConfig.tick_freq);
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return osRtxConfig.tick_freq;
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}
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/// Get the RTOS kernel system timer count.
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/// \note API identical to osKernelGetSysTimerCount
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static uint32_t svcRtxKernelGetSysTimerCount (void) {
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uint32_t tick;
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uint32_t count;
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tick = (uint32_t)osRtxInfo.kernel.tick;
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count = OS_Tick_GetCount();
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if (OS_Tick_GetOverflow() != 0U) {
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count = OS_Tick_GetCount();
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tick++;
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}
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count += tick * OS_Tick_GetInterval();
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EvrRtxKernelGetSysTimerCount(count);
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return count;
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}
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/// Get the RTOS kernel system timer frequency.
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/// \note API identical to osKernelGetSysTimerFreq
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static uint32_t svcRtxKernelGetSysTimerFreq (void) {
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uint32_t freq = OS_Tick_GetClock();
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EvrRtxKernelGetSysTimerFreq(freq);
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return freq;
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}
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// Service Calls definitions
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//lint ++flb "Library Begin" [MISRA Note 11]
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SVC0_0 (KernelInitialize, osStatus_t)
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SVC0_3 (KernelGetInfo, osStatus_t, osVersion_t *, char *, uint32_t)
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SVC0_0 (KernelStart, osStatus_t)
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SVC0_0 (KernelLock, int32_t)
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SVC0_0 (KernelUnlock, int32_t)
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SVC0_1 (KernelRestoreLock, int32_t, int32_t)
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SVC0_0 (KernelSuspend, uint32_t)
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SVC0_1N(KernelResume, void, uint32_t)
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SVC0_0 (KernelGetState, osKernelState_t)
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SVC0_0 (KernelGetTickCount, uint32_t)
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SVC0_0 (KernelGetTickFreq, uint32_t)
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SVC0_0 (KernelGetSysTimerCount, uint32_t)
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SVC0_0 (KernelGetSysTimerFreq, uint32_t)
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//lint --flb "Library End"
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// ==== Library functions ====
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/// RTOS Kernel Pre-Initialization Hook
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//lint -esym(759,osRtxKernelPreInit) "Prototype in header"
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//lint -esym(765,osRtxKernelPreInit) "Global scope (can be overridden)"
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//lint -esym(522,osRtxKernelPreInit) "Can be overridden (do not lack side-effects)"
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__WEAK void osRtxKernelPreInit (void) {
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}
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/// RTOS Kernel Error Notification Handler
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/// \note API identical to osRtxErrorNotify
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uint32_t osRtxKernelErrorNotify (uint32_t code, void *object_id) {
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EvrRtxKernelErrorNotify(code, object_id);
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return osRtxErrorNotify(code, object_id);
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}
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// ==== Public API ====
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/// Initialize the RTOS Kernel.
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osStatus_t osKernelInitialize (void) {
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osStatus_t status;
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osRtxKernelPreInit();
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EvrRtxKernelInitialize();
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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status = osErrorISR;
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} else {
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status = __svcKernelInitialize();
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}
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return status;
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}
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/// Get RTOS Kernel Information.
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osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) {
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osStatus_t status;
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EvrRtxKernelGetInfo(version, id_buf, id_size);
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if (IsException() || IsIrqMasked() || IsPrivileged()) {
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status = svcRtxKernelGetInfo(version, id_buf, id_size);
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} else {
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status = __svcKernelGetInfo(version, id_buf, id_size);
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}
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return status;
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}
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/// Get the current RTOS Kernel state.
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osKernelState_t osKernelGetState (void) {
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osKernelState_t state;
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if (IsException() || IsIrqMasked() || IsPrivileged()) {
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state = svcRtxKernelGetState();
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} else {
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state = __svcKernelGetState();
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}
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return state;
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}
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/// Start the RTOS Kernel scheduler.
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osStatus_t osKernelStart (void) {
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osStatus_t status;
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EvrRtxKernelStart();
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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status = osErrorISR;
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} else {
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status = __svcKernelStart();
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}
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return status;
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}
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/// Lock the RTOS Kernel scheduler.
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int32_t osKernelLock (void) {
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int32_t lock;
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EvrRtxKernelLock();
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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lock = (int32_t)osErrorISR;
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} else {
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lock = __svcKernelLock();
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}
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return lock;
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}
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/// Unlock the RTOS Kernel scheduler.
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int32_t osKernelUnlock (void) {
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int32_t lock;
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EvrRtxKernelUnlock();
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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lock = (int32_t)osErrorISR;
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} else {
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lock = __svcKernelUnlock();
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}
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return lock;
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}
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/// Restore the RTOS Kernel scheduler lock state.
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int32_t osKernelRestoreLock (int32_t lock) {
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int32_t lock_new;
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EvrRtxKernelRestoreLock(lock);
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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lock_new = (int32_t)osErrorISR;
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} else {
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lock_new = __svcKernelRestoreLock(lock);
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}
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return lock_new;
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}
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/// Suspend the RTOS Kernel scheduler.
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uint32_t osKernelSuspend (void) {
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uint32_t ticks;
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EvrRtxKernelSuspend();
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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ticks = 0U;
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} else {
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ticks = __svcKernelSuspend();
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}
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return ticks;
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}
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/// Resume the RTOS Kernel scheduler.
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void osKernelResume (uint32_t sleep_ticks) {
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EvrRtxKernelResume(sleep_ticks);
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if (IsException() || IsIrqMasked()) {
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EvrRtxKernelError((int32_t)osErrorISR);
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} else {
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__svcKernelResume(sleep_ticks);
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}
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}
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/// Get the RTOS kernel tick count.
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uint32_t osKernelGetTickCount (void) {
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uint32_t count;
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if (IsException() || IsIrqMasked()) {
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count = svcRtxKernelGetTickCount();
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} else {
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count = __svcKernelGetTickCount();
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}
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return count;
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}
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/// Get the RTOS kernel tick frequency.
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uint32_t osKernelGetTickFreq (void) {
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uint32_t freq;
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if (IsException() || IsIrqMasked()) {
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freq = svcRtxKernelGetTickFreq();
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} else {
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freq = __svcKernelGetTickFreq();
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}
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return freq;
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}
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/// Get the RTOS kernel system timer count.
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uint32_t osKernelGetSysTimerCount (void) {
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uint32_t count;
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if (IsException() || IsIrqMasked()) {
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count = svcRtxKernelGetSysTimerCount();
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} else {
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count = __svcKernelGetSysTimerCount();
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}
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return count;
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}
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/// Get the RTOS kernel system timer frequency.
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uint32_t osKernelGetSysTimerFreq (void) {
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uint32_t freq;
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if (IsException() || IsIrqMasked()) {
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freq = svcRtxKernelGetSysTimerFreq();
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} else {
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freq = __svcKernelGetSysTimerFreq();
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}
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return freq;
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}
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