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Add Os Scheduler

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This commit is contained in:
Ridha Noomane 2024-12-05 15:25:54 +01:00
parent e857fc9dee
commit c657fe17e7
12 changed files with 339 additions and 133 deletions
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1
.gitignore vendored
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@ -5,4 +5,5 @@
**/Objects
**/Listings
**/DebugConfig
**/.vscode/
osProject.uvguix.nxf54496

4
LPC55S69_cm33_core0_flash.scf
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@ -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

26
RidhaOs/Inc/ridhaOs.h Normal file
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@ -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__ */

15
RidhaOs/Inc/ridhaOsKernel.h
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@ -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__ */

23
RidhaOs/Inc/ridhaOsScheduler.h Normal file
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@ -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__ */

14
RidhaOs/Inc/timebase.h
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@ -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__ */

11
RidhaOs/RIDHAOS_CONF.h
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@ -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__ */

85
RidhaOs/Src/ridhaOs.c Normal file
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@ -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();
}

16
RidhaOs/Src/ridhaOsKernel.c
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@ -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
}

140
RidhaOs/Src/ridhaOsScheduler.c Normal file
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@ -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");
}

71
RidhaOs/Src/timebase.c
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@ -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();
}

58
main.c
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@ -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();
led_init();
timebase_init();
__set_MSPLIM(0x20000000);
PRINTF("LPC55S69 ..............\n\r");
}
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("A second just occured!!\n\r");
//PRINTF("Task 0");
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++;
}
}