Add Os Scheduler

.gitignore

@@ -5,4 +5,5 @@
 **/Objects
 **/Listings
 **/DebugConfig
+**/.vscode/
 osProject.uvguix.nxf54496

LPC55S69_cm33_core0_flash.scf

@@ -31,13 +31,13 @@
 #if (defined(__stack_size__))
   #define Stack_Size                   __stack_size__
 #else
-  #define Stack_Size                   0x0400
+  #define Stack_Size                   0x1000
 #endif
 
 #if (defined(__heap_size__))
   #define Heap_Size                    __heap_size__
 #else
-  #define Heap_Size                    0x0400
+  #define Heap_Size                    0x1000
 #endif
 
 #define  m_interrupts_start            0x00000000

RidhaOs/Inc/ridhaOs.h

@@ -0,0 +1,26 @@
+#ifndef __R_KERNEL_H__
+#define __R_KERNEL_H__
+
+#include "RIDHAOS_CONF.h"
+#include "ridhaOsScheduler.h"
+/* This Struct used to restore next thread and save the running thread */
+typedef struct tControlBlock
+{
+	int32_t * stackPt;
+	struct tControlBlock * nextPt;
+}tControlBlock_t;
+	
+/* Define typdef of static task to execute in the future */
+#if (USE_STATIC_THREAD)
+typedef void(*StaticTask)(void);
+#endif
+
+
+
+uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2);
+
+void ridhaOsStart(void);
+
+
+
+#endif /* __R_KERNEL_H__ */

RidhaOs/Inc/ridhaOsKernel.h

@@ -1,15 +0,0 @@
-#ifndef __R_KERNEL_H__
-#define __R_KERNEL_H__
-
-#include "RIDHAOS_CONF.h"
-
-/* This Struct used to restore next thread and save the running thread */
-typedef struct tControlBlock
-{
-	int32_t * stackPt;
-	struct tControlBlock * nextPt;
-}tControlBlock_t;
-	
-
-
-#endif /* __R_THREAD_H__ */

RidhaOs/Inc/ridhaOsScheduler.h

@@ -0,0 +1,23 @@
+#ifndef __R_SCHEDULER_H__
+#define __R_SCHEDULER_H__
+
+#include "ridhaOs.h"
+
+
+#include "RIDHAOS_CONF.h"
+#include <stdint.h>
+
+uint32_t ridhaOsSchedulerGetTick(void);
+void ridhaOsSchedulerDelayS(uint32_t delay);
+void ridhaOsSchedulerDelayMS(uint32_t delay);
+void ridhaOsSchedulerInit(void);
+inline void ridhaOsSchedulerStart(void)
+{
+	/* Enable Systick */
+	SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
+}
+
+void ridhaOsSchedulerLaunch(void);
+
+
+#endif /* __R_SCHEDULER_H__ */

RidhaOs/Inc/timebase.h

@@ -1,14 +0,0 @@
-#ifndef __TIMEBASE_H__
-#define __TIMEBASE_H__
-
-#include "RIDHAOS_CONF.h"
-#include <stdint.h>
-
-
-uint32_t get_tick(void);
-void delay_s(uint32_t delay);
-void delay_ms(uint32_t delay);
-
-void timebase_init(void);
-
-#endif /* __TIMEBASE_H__ */

RidhaOs/RIDHAOS_CONF.h

@@ -1,9 +1,12 @@
 #ifndef __R_CONFIGURATION_H__
 #define __R_CONFIGURATION_H__
 
+#warning Be Sure to configure this file, when you start your project.
+
 
 /* Here Define your MCU REGISTER MAP FILE */
 #include "fsl_device_registers.h"
+#define CPU_ARM_VERSION				33
 
 
 /* SysTick Configuration for TimeBase */
@@ -11,10 +14,16 @@ extern uint32_t SystemCoreClock;
 
 #define CPU_CLOCK_HZ 		    SystemCoreClock // Use Default System Clock in Hz
 #define MAX_DELAY				0xFFFFFFFFU     // Max Wayt Delay
-#define TICK_RATE_HZ 		1000 // Getting SystemCoreClock divide by 1000 to get interrupt every 1ms
+#define TICK_RATE_HZ 		    1000U           // Getting SystemCoreClock divide by 1000 to get interrupt every 1ms
+#define MAX_DELAY				0xFFFFFFFFU     // MAX DELAY
+#define ROUND_ROBIN_QUANTA      10U              // QUANTA For round robin schedular change tasks.
 
 /* Thread Configuration Size and Number Max for TCB */
+#define USE_STATIC_THREAD       1
+#define USE_DYNAMIC_THREAD      0
 #define NUM_OF_THREADS	        3
 #define STACKSIZE				100
 
+
+
 #endif /* __R_CONFIGURATION_H__ */

RidhaOs/Src/ridhaOs.c

@@ -0,0 +1,85 @@
+#include "ridhaOs.h"
+
+/* Define a fixed linked list of Stack */
+tControlBlock_t tcbs[NUM_OF_THREADS];
+
+/* Define current Pointer to point to first of the list of Stack*/
+tControlBlock_t * currentPt;
+
+/* Each Thread will have STACKSIZE * 4. */
+int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
+
+void ridhaOsStackInit(int i)
+{
+	tcbs[i].stackPt = &TCB_STACK[i][STACKSIZE - 16];
+	
+	/* Set bit24 Thumb state bit to one, operate in thumb mode */
+	TCB_STACK[i][STACKSIZE-1] = (1U << 24); // PSR register
+
+#ifdef DEBUG
+	/* @Note: Block below need to delete after for debug purpose */
+	/* Dummy stack content */
+	TCB_STACK[i][STACKSIZE-3] = 0xAAAAAAAA;		// R14(LR)
+	TCB_STACK[i][STACKSIZE-4] = 0xAAAAAAAA; 	// R12
+	TCB_STACK[i][STACKSIZE-5] = 0xAAAAAAAA; 	// R3
+	TCB_STACK[i][STACKSIZE-6] = 0xAAAAAAAA; 	// R2
+	TCB_STACK[i][STACKSIZE-7] = 0xAAAAAAAA; 	// R1
+	TCB_STACK[i][STACKSIZE-8] = 0xAAAAAAAA; 	// R0
+	
+	TCB_STACK[i][STACKSIZE-9] = 0xAAAAAAAA; 	// R11
+	TCB_STACK[i][STACKSIZE-10] = 0xAAAAAAAA; 	// R10
+	TCB_STACK[i][STACKSIZE-11] = 0xAAAAAAAA; 	// R9
+	TCB_STACK[i][STACKSIZE-12] = 0xAAAAAAAA; 	// R8
+	TCB_STACK[i][STACKSIZE-13] = 0xAAAAAAAA; 	// R6
+	TCB_STACK[i][STACKSIZE-14] = 0xAAAAAAAA; 	// R7
+	TCB_STACK[i][STACKSIZE-15] = 0xAAAAAAAA; 	// R5
+	TCB_STACK[i][STACKSIZE-16] = 0xAAAAAAAA; 	// R4
+#endif
+}
+
+#if (USE_STATIC_THREAD)
+uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2)
+{
+    /* Disable Global interrupts */
+    __disable_irq();
+    tcbs[0].nextPt = &tcbs[1];
+    tcbs[1].nextPt = &tcbs[2];
+    tcbs[2].nextPt = &tcbs[0];
+
+    /* Init Stacks for first thread */
+    ridhaOsStackInit(0);
+
+    /* Init Program counter (PC) to task functions */
+    TCB_STACK[0][STACKSIZE-2] = (int32_t)(fn0);
+
+    /* Init Stacks for first thread */
+    ridhaOsStackInit(1);
+
+    /* Init Program counter (PC) to task functions */
+    TCB_STACK[1][STACKSIZE-2] = (int32_t)(fn1);
+
+    /* Init Stacks for first thread */
+    ridhaOsStackInit(2);
+
+    /* Init Program counter (PC) to task functions */
+    TCB_STACK[2][STACKSIZE-2] = (int32_t)(fn2);
+
+    /* Start from thread 0 */
+    currentPt = &tcbs[0];
+
+    /* Enable global IRQ */
+    __enable_irq();
+
+    return 1;
+}
+#endif
+
+void ridhaOsStart(void)
+{		
+		/* Init the Time base */
+		ridhaOsSchedulerInit();
+	
+		/* Launch schedular */
+		ridhaOsSchedulerLaunch();
+    
+}

RidhaOs/Src/ridhaOsKernel.c

@@ -1,16 +0,0 @@
-#include "ridhaOsKernel.h"
-
-/* Define a fixed linked list of Stack */
-tControlBlock_t tcbs[NUM_OF_THREADS];
-
-/* Define current Pointer to point to first of the list of Stack*/
-tControlBlock_t * currentPt;
-
-/* Each Thread will have STACKSIZE * 4. */
-int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
-
-void ridhaOsKernalStackInit(int i)
-{
-	/* Set bit24 Thumb state bit to one, operate in thumb mode */
-	TCB_STACK[i][STACKSIZE-1] = (1U << 24); // PSR register
-}

RidhaOs/Src/ridhaOsScheduler.c

@@ -0,0 +1,140 @@
+#include "ridhaOsScheduler.h"
+
+/* Define current Pointer to point to first of the list of Stack*/
+extern tControlBlock_t * currentPt;
+volatile uint32_t g_curr_tick;
+volatile uint32_t g_curr_tick_p;
+volatile uint32_t tick_freq = 1;
+
+uint8_t tick_freq_div = 1;
+
+static void tick_increment(void)
+{
+	g_curr_tick += tick_freq;
+}
+
+static inline void ridhaOsSchedulerReset(void)
+{
+    /* Reset Systick configuration*/
+    SysTick->CTRL = 0x0000;
+
+    /* Clear Systick current Value */
+    SysTick->VAL = 0;
+}
+
+void ridhaOsSchedulerDelayS(uint32_t delay)
+{
+	ridhaOsSchedulerDelayMS(delay * 1000);
+}
+
+void ridhaOsSchedulerDelayMS(uint32_t delay)
+{
+	uint32_t tickstart = ridhaOsSchedulerGetTick();
+	uint32_t wait = delay;
+	if(wait < MAX_DELAY)
+	{
+		wait += (uint32_t)(tick_freq);
+	}
+	
+	while((ridhaOsSchedulerGetTick() - tickstart) < wait){}
+	
+}
+
+uint32_t ridhaOsSchedulerGetTick(void)
+{
+	__disable_irq();
+	g_curr_tick_p = g_curr_tick;
+	__enable_irq();
+	return g_curr_tick_p;
+}
+
+void ridhaOsSchedulerInit(void)
+{
+	/* Reset registers */
+	ridhaOsSchedulerReset();
+
+	/* Reload the timer with number of MS */
+	SysTick->LOAD = ((SystemCoreClock / TICK_RATE_HZ) 
+				  * ROUND_ROBIN_QUANTA) - 1;
+	
+	/* Clear Systick current value register */
+	SysTick->VAL = 0x00;
+	
+	/* Select Internal Clock source */
+	SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk; 
+	
+	/* Set Systick to low priority */
+	NVIC_SetPriority(SysTick_IRQn, 15);
+	
+	/* Enable SysTick interrupt */
+	SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
+
+}
+
+
+void ridhaOsSchedulerLaunch(void)
+{
+    /* Load Address of currentPt into R0 */
+    __asm("LDR  R0, =currentPt");
+
+    /* Load R2 from address R0, i.e R2 =currentPt */
+    __asm("LDR  R2, [R0]");
+
+    /* Load Cortex M SP from address equals R2, i.e. SP = currentPt->stackPt */
+    __asm("LDR  SP, [R2]");
+
+    /* Restore r4, r5, r6, r7, r8, r9, r10, r11 */
+    __asm("POP  {R4-R11}");
+	
+		/* Restore R12 */
+	  __asm("POP  {R12}");
+
+    /* Restore r0, r1, r2, r3 */
+    __asm("POP {R0-R3}");
+
+    /* Skip LR */
+    __asm("ADD SP, SP, #4");
+
+    /* Create a new start location by poping LR */
+    __asm("POP {LR}");
+
+    /* Skip xPSR by adding 4 to SP */
+    __asm("ADD SP,SP, #4");
+
+    /* Enable global interrupt */
+	__asm("CPSIE	    I");
+	
+    /* Return from exception and restore r0 to r3, lr, pc, psr */
+	__asm("BX			LR");
+			
+}
+
+__attribute__((naked)) void SysTick_Handler(void){
+
+   /* SUSPEND CURRENT THREAD */
+    /* DISABLE GLOBAL INTERRUPTS */
+		__asm("CPSID		I");
+    /* Save Other Register not pushed by interrupt (R4->R11) */
+		__asm("PUSH			{R4-R11}");
+    /* Load Address of currentPT int R0 */
+		__asm("LDR R0, =currentPt");
+		/* Load r1 from address equals r0, i.e r1 =currentPt */
+		__asm("LDR R1, [R0]");
+		/* Store Cortex-M SP at address equales to R1, i.e save SP into tcb */
+		__asm("STR SP, [R1]");
+	
+   /* CHOOSE NEXT THREAD */
+		/* Load r1 from a location 4 bytes above address r1, i.e next r1 =currentPt->next*/
+		__asm("LDR R1, [R1,#4]");
+		/* Store r1 @Address equals r0, i.e currentPt = r1 */
+		__asm("STR R1, [R0]");
+		/* Load Cortext M SP from @ equals r1, i.e SP = current->stackPt */
+	  __asm("LDR SP, [R1]");
+		/* Restore R4-R11 registers */
+		__asm("POP {R4-R11}");
+		/* Enable global interrupt */
+		__asm("CPSIE			I");
+		/* Return from exception and restore r0 to r3, lr, pc, psr */
+		__asm("BX			LR");
+			
+}

RidhaOs/Src/timebase.c

@@ -1,71 +0,0 @@
-#include "timebase.h"
-
-
-#define CTRL_ENABLE			(1U<<0)
-#define CTRL_TICKINT		(1U<<1)
-#define CTRL_CLKSRC			(1U<<2)
-#define CTRL_COUNTFLAG	(1U<<16)
-#define MAX_DELAY				0xFFFFFFFFU
-
-volatile uint32_t g_curr_tick;
-volatile uint32_t g_curr_tick_p;
-volatile uint32_t tick_freq = 1;
-
-uint8_t tick_freq_div = 1;
-
-void tick_increment(void)
-{
-	g_curr_tick += tick_freq;
-}
-
-void delay_s(uint32_t delay)
-{
-	delay_ms(delay * 1000);
-}
-
-void delay_ms(uint32_t delay)
-{
-	uint32_t tickstart = get_tick();
-	uint32_t wait = delay;
-	if(wait < MAX_DELAY)
-	{
-		wait += (uint32_t)(tick_freq);
-	}
-	
-	while((get_tick() - tickstart) < wait){}
-	
-}
-
-uint32_t get_tick(void)
-{
-	__disable_irq();
-	g_curr_tick_p = g_curr_tick;
-	__enable_irq();
-	return g_curr_tick_p;
-}
-
-void timebase_init(void)
-{
-	/* Reload the timer with number of cycles per second */
-	SysTick->LOAD = (SystemCoreClock / 1000) - 1;
-	
-	/* Clear Systick current value register */
-	SysTick->VAL = 0x00;
-	
-	/* Select Internal Clock source */
-	SysTick->CTRL = CTRL_CLKSRC;
-	
-	/* Enable interrupt */
-	SysTick->CTRL |= CTRL_TICKINT;
-
-	/* Enable Systick */
-	SysTick->CTRL |= CTRL_ENABLE;
-
-	/* Enable Global Interrupt */
-	__enable_irq();
-
-}
-
-void SysTick_Handler(void){
-	tick_increment();
-}

main.c

@@ -1,24 +1,62 @@
 #include "led.h"
 #include "uart.h"
 #include "fsl_debug_console.h"
-#include "timebase.h"
 #include "fsl_power.h"
+#include "fsl_common.h"
+#include "ridhaOs.h"
 
 
-int main(){
+typedef uint32_t TaskProfiler;
+TaskProfiler Task0_Profiler, Task1_Profiler, Task2_Profiler;
+
+void task0(void);
+void task1(void);
+void task2(void);
+void SystemInitHook()
+{
 	SystemCoreClockUpdate();
-	uart_init();
+	__set_MSPLIM(0x20000000);
-	led_init();
-	timebase_init();
 	
-	PRINTF("LPC55S69 ..............\n\r");
+}
 
-	while (1)
+int main(void){
+
+	SystemInitHook();
+	/*Add threads */
+	ridhaOsAddThreads(&task0, &task1, &task2);
+	ridhaOsStart();
+
+	/* We can't reach this point of program */
+	
+}
+
+
+void task0(void)
+{
+	Task0_Profiler = 0;
+	while(1)
 	{
-		delay_s(1);
+		//PRINTF("Task 0");
-		PRINTF("A second just occured!!\n\r");  
+		Task0_Profiler++;
-		
-
 	}
 }
 
+void task1(void)
+{
+	Task1_Profiler = 0;
+	while(1)
+	{
+		//PRINTF("Task 1");
+		Task1_Profiler++;
+	}
+}
+
+void task2(void)
+{
+	Task2_Profiler = 0;
+	while(1)
+	{
+		//PRINTF("Task 2");
+		Task2_Profiler++;
+	}
+}