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Add Cooperative scheduler

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This commit is contained in:
Ridha Noomane 2024-12-26 10:47:08 +01:00
parent c657fe17e7
commit f7cd7387dc
5 changed files with 164 additions and 164 deletions
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12
RidhaOs/Inc/ridhaOs.h
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@ -6,21 +6,17 @@
/* This Struct used to restore next thread and save the running thread */ /* This Struct used to restore next thread and save the running thread */
typedef struct tControlBlock typedef struct tControlBlock
{ {
int32_t * stackPt; int32_t *stackPt;
struct tControlBlock * nextPt; struct tControlBlock *nextPt;
}tControlBlock_t; } tControlBlock_t;
/* Define typdef of static task to execute in the future */ /* Define typdef of static task to execute in the future */
#if (USE_STATIC_THREAD) #if (USE_STATIC_THREAD)
typedef void(*StaticTask)(void); typedef void (*StaticTask)(void);
#endif #endif
uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2); uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2);
void ridhaOsStart(void); void ridhaOsStart(void);
#endif /* __R_KERNEL_H__ */ #endif /* __R_KERNEL_H__ */

3
RidhaOs/Inc/ridhaOsScheduler.h
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@ -3,7 +3,6 @@
#include "ridhaOs.h" #include "ridhaOs.h"
#include "RIDHAOS_CONF.h" #include "RIDHAOS_CONF.h"
#include <stdint.h> #include <stdint.h>
@ -18,6 +17,6 @@ inline void ridhaOsSchedulerStart(void)
} }
void ridhaOsSchedulerLaunch(void); void ridhaOsSchedulerLaunch(void);
void ridhaOsSchedulerThreadYield(void);
#endif /* __R_SCHEDULER_H__ */ #endif /* __R_SCHEDULER_H__ */

8
RidhaOs/RIDHAOS_CONF.h
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@ -3,12 +3,10 @@
#warning Be Sure to configure this file, when you start your project. #warning Be Sure to configure this file, when you start your project.
/* Here Define your MCU REGISTER MAP FILE */ /* Here Define your MCU REGISTER MAP FILE */
#include "fsl_device_registers.h" #include "fsl_device_registers.h"
#define CPU_ARM_VERSION 33 #define CPU_ARM_VERSION 33
/* SysTick Configuration for TimeBase */ /* SysTick Configuration for TimeBase */
extern uint32_t SystemCoreClock; extern uint32_t SystemCoreClock;
@ -16,14 +14,12 @@ extern uint32_t SystemCoreClock;
#define MAX_DELAY 0xFFFFFFFFU // Max Wayt Delay #define MAX_DELAY 0xFFFFFFFFU // Max Wayt Delay
#define TICK_RATE_HZ 1000U // 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 MAX_DELAY 0xFFFFFFFFU // MAX DELAY
#define ROUND_ROBIN_QUANTA 10U // QUANTA For round robin schedular change tasks. #define ROUND_ROBIN_QUANTA 10U // QUANTA in MS For round robin schedular change tasks.
/* Thread Configuration Size and Number Max for TCB */ /* Thread Configuration Size and Number Max for TCB */
#define USE_STATIC_THREAD 1 #define USE_STATIC_THREAD 1
#define USE_DYNAMIC_THREAD 0 #define USE_DYNAMIC_THREAD 0
#define NUM_OF_THREADS 3 #define NUM_OF_THREADS 3
#define STACKSIZE 100 #define STACKSIZE 700 // As memory addressing orgonize by 4 so you need to mulitple by 4
#endif /* __R_CONFIGURATION_H__ */ #endif /* __R_CONFIGURATION_H__ */

40
RidhaOs/Src/ridhaOs.c
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@ -4,7 +4,7 @@
tControlBlock_t tcbs[NUM_OF_THREADS]; tControlBlock_t tcbs[NUM_OF_THREADS];
/* Define current Pointer to point to first of the list of Stack*/ /* Define current Pointer to point to first of the list of Stack*/
tControlBlock_t * currentPt; tControlBlock_t *currentPt;
/* Each Thread will have STACKSIZE * 4. */ /* Each Thread will have STACKSIZE * 4. */
int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE]; int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
@ -14,26 +14,26 @@ void ridhaOsStackInit(int i)
tcbs[i].stackPt = &TCB_STACK[i][STACKSIZE - 16]; tcbs[i].stackPt = &TCB_STACK[i][STACKSIZE - 16];
/* Set bit24 Thumb state bit to one, operate in thumb mode */ /* Set bit24 Thumb state bit to one, operate in thumb mode */
TCB_STACK[i][STACKSIZE-1] = (1U << 24); // PSR register TCB_STACK[i][STACKSIZE - 1] = (1U << 24); // PSR register
#ifdef DEBUG #ifdef DEBUG
/* @Note: Block below need to delete after for debug purpose */ /* @Note: Block below need to delete after for debug purpose */
/* Dummy stack content */ /* Dummy stack content */
TCB_STACK[i][STACKSIZE-3] = 0xAAAAAAAA; // R14(LR) TCB_STACK[i][STACKSIZE - 3] = 0xAAAAAAAA; // R14(LR)
TCB_STACK[i][STACKSIZE-4] = 0xAAAAAAAA; // R12 TCB_STACK[i][STACKSIZE - 4] = 0xAAAAAAAA; // R12
TCB_STACK[i][STACKSIZE-5] = 0xAAAAAAAA; // R3 TCB_STACK[i][STACKSIZE - 5] = 0xAAAAAAAA; // R3
TCB_STACK[i][STACKSIZE-6] = 0xAAAAAAAA; // R2 TCB_STACK[i][STACKSIZE - 6] = 0xAAAAAAAA; // R2
TCB_STACK[i][STACKSIZE-7] = 0xAAAAAAAA; // R1 TCB_STACK[i][STACKSIZE - 7] = 0xAAAAAAAA; // R1
TCB_STACK[i][STACKSIZE-8] = 0xAAAAAAAA; // R0 TCB_STACK[i][STACKSIZE - 8] = 0xAAAAAAAA; // R0
TCB_STACK[i][STACKSIZE-9] = 0xAAAAAAAA; // R11 TCB_STACK[i][STACKSIZE - 9] = 0xAAAAAAAA; // R11
TCB_STACK[i][STACKSIZE-10] = 0xAAAAAAAA; // R10 TCB_STACK[i][STACKSIZE - 10] = 0xAAAAAAAA; // R10
TCB_STACK[i][STACKSIZE-11] = 0xAAAAAAAA; // R9 TCB_STACK[i][STACKSIZE - 11] = 0xAAAAAAAA; // R9
TCB_STACK[i][STACKSIZE-12] = 0xAAAAAAAA; // R8 TCB_STACK[i][STACKSIZE - 12] = 0xAAAAAAAA; // R8
TCB_STACK[i][STACKSIZE-13] = 0xAAAAAAAA; // R6 TCB_STACK[i][STACKSIZE - 13] = 0xAAAAAAAA; // R6
TCB_STACK[i][STACKSIZE-14] = 0xAAAAAAAA; // R7 TCB_STACK[i][STACKSIZE - 14] = 0xAAAAAAAA; // R7
TCB_STACK[i][STACKSIZE-15] = 0xAAAAAAAA; // R5 TCB_STACK[i][STACKSIZE - 15] = 0xAAAAAAAA; // R5
TCB_STACK[i][STACKSIZE-16] = 0xAAAAAAAA; // R4 TCB_STACK[i][STACKSIZE - 16] = 0xAAAAAAAA; // R4
#endif #endif
} }
@ -50,19 +50,19 @@ uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2)
ridhaOsStackInit(0); ridhaOsStackInit(0);
/* Init Program counter (PC) to task functions */ /* Init Program counter (PC) to task functions */
TCB_STACK[0][STACKSIZE-2] = (int32_t)(fn0); TCB_STACK[0][STACKSIZE - 2] = (int32_t)(fn0);
/* Init Stacks for first thread */ /* Init Stacks for first thread */
ridhaOsStackInit(1); ridhaOsStackInit(1);
/* Init Program counter (PC) to task functions */ /* Init Program counter (PC) to task functions */
TCB_STACK[1][STACKSIZE-2] = (int32_t)(fn1); TCB_STACK[1][STACKSIZE - 2] = (int32_t)(fn1);
/* Init Stacks for first thread */ /* Init Stacks for first thread */
ridhaOsStackInit(2); ridhaOsStackInit(2);
/* Init Program counter (PC) to task functions */ /* Init Program counter (PC) to task functions */
TCB_STACK[2][STACKSIZE-2] = (int32_t)(fn2); TCB_STACK[2][STACKSIZE - 2] = (int32_t)(fn2);
/* Start from thread 0 */ /* Start from thread 0 */
currentPt = &tcbs[0]; currentPt = &tcbs[0];
@ -81,5 +81,5 @@ void ridhaOsStart(void)
/* Launch schedular */ /* Launch schedular */
ridhaOsSchedulerLaunch(); ridhaOsSchedulerLaunch();
} }

29
RidhaOs/Src/ridhaOsScheduler.c
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@ -1,7 +1,7 @@
#include "ridhaOsScheduler.h" #include "ridhaOsScheduler.h"
/* Define current Pointer to point to first of the list of Stack*/ /* Define current Pointer to point to first of the list of Stack*/
extern tControlBlock_t * currentPt; extern tControlBlock_t *currentPt;
volatile uint32_t g_curr_tick; volatile uint32_t g_curr_tick;
volatile uint32_t g_curr_tick_p; volatile uint32_t g_curr_tick_p;
volatile uint32_t tick_freq = 1; volatile uint32_t tick_freq = 1;
@ -31,13 +31,14 @@ void ridhaOsSchedulerDelayMS(uint32_t delay)
{ {
uint32_t tickstart = ridhaOsSchedulerGetTick(); uint32_t tickstart = ridhaOsSchedulerGetTick();
uint32_t wait = delay; uint32_t wait = delay;
if(wait < MAX_DELAY) if (wait < MAX_DELAY)
{ {
wait += (uint32_t)(tick_freq); wait += (uint32_t)(tick_freq);
} }
while((ridhaOsSchedulerGetTick() - tickstart) < wait){} while ((ridhaOsSchedulerGetTick() - tickstart) < wait)
{
}
} }
uint32_t ridhaOsSchedulerGetTick(void) uint32_t ridhaOsSchedulerGetTick(void)
@ -54,8 +55,7 @@ void ridhaOsSchedulerInit(void)
ridhaOsSchedulerReset(); ridhaOsSchedulerReset();
/* Reload the timer with number of MS */ /* Reload the timer with number of MS */
SysTick->LOAD = ((SystemCoreClock / TICK_RATE_HZ) SysTick->LOAD = ((SystemCoreClock / TICK_RATE_HZ) * ROUND_ROBIN_QUANTA) - 1;
* ROUND_ROBIN_QUANTA) - 1;
/* Clear Systick current value register */ /* Clear Systick current value register */
SysTick->VAL = 0x00; SysTick->VAL = 0x00;
@ -68,10 +68,8 @@ void ridhaOsSchedulerInit(void)
/* Enable SysTick interrupt */ /* Enable SysTick interrupt */
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk; SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
} }
void ridhaOsSchedulerLaunch(void) void ridhaOsSchedulerLaunch(void)
{ {
/* Load Address of currentPt into R0 */ /* Load Address of currentPt into R0 */
@ -106,10 +104,10 @@ void ridhaOsSchedulerLaunch(void)
/* Return from exception and restore r0 to r3, lr, pc, psr */ /* Return from exception and restore r0 to r3, lr, pc, psr */
__asm("BX LR"); __asm("BX LR");
} }
__attribute__((naked)) void SysTick_Handler(void){ __attribute__((naked)) void SysTick_Handler(void)
{
/* SUSPEND CURRENT THREAD */ /* SUSPEND CURRENT THREAD */
/* DISABLE GLOBAL INTERRUPTS */ /* DISABLE GLOBAL INTERRUPTS */
@ -136,5 +134,16 @@ __attribute__((naked)) void SysTick_Handler(void){
__asm("CPSIE I"); __asm("CPSIE I");
/* Return from exception and restore r0 to r3, lr, pc, psr */ /* Return from exception and restore r0 to r3, lr, pc, psr */
__asm("BX LR"); __asm("BX LR");
}
void ridhaOsSchedulerThreadYield(void)
{
/* Clear Systick current value register */
SysTick->VAL = 0;
/* Trigger Systick */
SCB->ICSR |= SCB_ICSR_PENDSTSET_Msk;
} }