/* $Id$ */ /* * Copyright (c) 2010 Dimitri Sokolyuk * * Permission to use, copy, modify, and distribute this software for any * purpose with or without fee is hereby granted, provided that the above * copyright notice and this permission notice appear in all copies. * * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */ /* * based on TinyRealTime by Dan Henriksson and Anton Cervin * http://www.control.lth.se/Publication/hen+04t.html */ #include #include #include #include #include #include #include #include #include "kernel.h" #include "stack.h" #include "queue.h" #define LO8(x) ((uint8_t)((uint16_t)(x))) #define HI8(x) ((uint8_t)((uint16_t)(x) >> 8)) #define NOW(hi, lo) (((uint32_t)(hi) << 0x10) | (lo)) #define DISTANCE(from, to) ((int32_t)((to) - (from))) #define SCHEDULE TIMER1_COMPA_vect #define QUANT UINT16_MAX #define MINQUANT (QUANT >> 12) struct task { uint32_t release; /* release time */ uint16_t sp; /* stack pointer */ uint8_t *stack; /* stack area */ uint8_t id; /* task id */ uint8_t prio; uint8_t defprio; struct queue *rq; TAILQ_ENTRY(task) r_link; TAILQ_ENTRY(task) t_link; TAILQ_ENTRY(task) w_link; }; TAILQ_HEAD(queue, task); struct kern { struct queue *rq; /* run queue */ struct queue *wq; /* wait queues */ struct queue tq; /* time queue */ struct task *idle; struct task *cur; /* current task */ uint16_t cycles; /* clock high byte */ uint8_t semaphore; /* bitmap */ uint8_t maxid; uint8_t reboot; } kern; ISR(TIMER1_OVF_vect) { if (!kern.reboot) wdt_reset(); ++kern.cycles; /* reschedule current task if it's still at head of runq */ if (kern.cur == TAILQ_FIRST(kern.cur->rq)) { TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link); if (kern.cur->prio > RT && kern.cur->prio < RR) kern.cur->prio++; kern.cur->rq = &kern.rq[kern.cur->prio]; TAILQ_INSERT_TAIL(kern.cur->rq, kern.cur, r_link); } } ISR(TIMER1_COMPA_vect, ISR_NAKED) { struct task *tp, *tmp; uint32_t now; uint16_t nexthit; int32_t dist; uint8_t i; pusha(); /* grab time as early as possible */ now = NOW(kern.cycles, TCNT1); nexthit = QUANT; /* release waiting tasks */ TAILQ_FOREACH_SAFE(tp, &kern.tq, t_link, tmp) { dist = DISTANCE(now, tp->release); if (dist <= MINQUANT) { TAILQ_REMOVE(&kern.tq, tp, t_link); tp->prio = tp->defprio; tp->rq = &kern.rq[tp->prio]; TAILQ_INSERT_TAIL(tp->rq, tp, r_link); } else if (dist < nexthit) nexthit = dist; } /* pick hightes rq */ for (i = 0; i < nPrio; i++) { if (!TAILQ_EMPTY(&kern.rq[i])) { /* switch context */ kern.cur->sp = SP; kern.cur = TAILQ_FIRST(&kern.rq[i]); SP = kern.cur->sp; break; } } /* set timer */ OCR1A = TCNT1 + nexthit; popa(); reti(); } void init(uint8_t sema, uint8_t stack) { uint8_t i; cli(); /* disable watchdog */ MCUSR = 0; wdt_disable(); /* set clock prescale to 1 in case CKDIV8 fuse is on */ clock_prescale_set(clock_div_1); /* Set up timer 1 */ TCNT1 = 0; /* reset timer */ TCCR1A = 0; /* normal operation */ TCCR1B = TIMER_FLAGS; /* prescale */ TIMSK1 = (_BV(OCIE1A) | _BV(TOIE1)); /* enable interrupts */ OCR1A = 0; /* default overflow */ /* init queues */ kern.rq = calloc(nPrio, sizeof(struct queue)); for (i = 0; i < nPrio; i++) TAILQ_INIT(&kern.rq[i]); kern.wq = calloc(sema, sizeof(struct queue)); for (i = 0; i < sema; i++) TAILQ_INIT(&kern.wq[i]); TAILQ_INIT(&kern.tq); /* init idle task */ kern.idle = calloc(1, sizeof(struct task)); kern.idle->prio = Idle; kern.idle->defprio = Idle; kern.idle->id = 0; kern.idle->release = 0; kern.idle->sp = SP; /* not really needed */ kern.idle->stack = (uint8_t *)(RAMEND - stack + 1); kern.idle->rq = &kern.rq[kern.idle->prio]; TAILQ_INSERT_TAIL(kern.idle->rq, kern.idle, r_link); kern.cur = TAILQ_FIRST(kern.idle->rq); kern.cycles = 0; kern.semaphore = 0; kern.maxid = 0; kern.reboot = 0; wdt_enable(WDTO_15MS); sei(); } void exec(void (*fun)(void *), void *args, uint8_t stack, uint8_t prio) { struct task *tp; uint8_t *sp; cli(); /* allocate task memory */ tp = calloc(1, sizeof(struct task)); tp->stack = calloc(stack, sizeof(uint8_t)); sp = &tp->stack[stack - 1]; /* initialize stack */ *sp-- = LO8(fun); /* PC(lo) */ *sp-- = HI8(fun); /* PC(hi) */ sp -= 25; memset(sp, 0, 25); /* r1, r0, SREG, r2-r23 */ *sp-- = LO8(args); /* r24 */ *sp-- = HI8(args); /* r25 */ sp -= 6; memset(sp, 0, 6); /* r26-r31 */ tp->prio = prio; tp->defprio = prio; tp->id = ++kern.maxid; tp->release = 0; tp->sp = (uint16_t)sp; /* SP */ tp->rq = &kern.rq[tp->prio]; TAILQ_INSERT_TAIL(tp->rq, tp, r_link); SCHEDULE(); } void wait(uint8_t chan) { cli(); if (kern.semaphore & _BV(chan)) { /* semaphore busy, go into wait queue */ TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link); TAILQ_INSERT_TAIL(&kern.wq[chan], kern.cur, w_link); SCHEDULE(); } else { /* occupy semaphore and continue */ kern.semaphore |= _BV(chan); sei(); } } void signal(uint8_t chan) { struct task *tp; cli(); if ((tp = TAILQ_FIRST(&kern.wq[chan]))) { /* release first waiting task from wait queue */ TAILQ_REMOVE(&kern.wq[chan], tp, w_link); TAILQ_INSERT_TAIL(kern.cur->rq, tp, r_link); SCHEDULE(); } else { /* clear semaphore and continue */ kern.semaphore &= ~_BV(chan); sei(); } } void sleep(uint32_t sec, uint32_t usec) { cli(); kern.cur->release += SEC(sec) + USEC(usec); TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link); TAILQ_INSERT_TAIL(&kern.tq, kern.cur, t_link); SCHEDULE(); } void yield(void) { cli(); SCHEDULE(); } void suspend(void) { cli(); /* TODO: free memory */ TAILQ_REMOVE(kern.cur->rq, kern.cur, r_link); SCHEDULE(); } uint32_t now(void) { return NOW(kern.cycles, TCNT1); } uint8_t running(void) { return kern.cur->id; } void reboot(void) { kern.reboot = 1; } void idle(void) { for (;;) sleep_mode(); }