Add Cooperative scheduler
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c657fe17e7
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@ -6,21 +6,17 @@
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/* This Struct used to restore next thread and save the running thread */
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typedef struct tControlBlock
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{
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int32_t * stackPt;
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struct tControlBlock * nextPt;
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}tControlBlock_t;
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int32_t *stackPt;
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struct tControlBlock *nextPt;
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} tControlBlock_t;
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/* Define typdef of static task to execute in the future */
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#if (USE_STATIC_THREAD)
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typedef void(*StaticTask)(void);
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typedef void (*StaticTask)(void);
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#endif
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uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2);
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void ridhaOsStart(void);
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#endif /* __R_KERNEL_H__ */
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@ -3,7 +3,6 @@
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#include "ridhaOs.h"
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#include "RIDHAOS_CONF.h"
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#include <stdint.h>
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@ -13,11 +12,11 @@ void ridhaOsSchedulerDelayMS(uint32_t delay);
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void ridhaOsSchedulerInit(void);
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inline void ridhaOsSchedulerStart(void)
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{
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/* Enable Systick */
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SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
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/* Enable Systick */
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SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
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}
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void ridhaOsSchedulerLaunch(void);
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void ridhaOsSchedulerThreadYield(void);
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#endif /* __R_SCHEDULER_H__ */
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@ -3,27 +3,23 @@
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#warning Be Sure to configure this file, when you start your project.
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/* Here Define your MCU REGISTER MAP FILE */
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#include "fsl_device_registers.h"
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#define CPU_ARM_VERSION 33
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#define CPU_ARM_VERSION 33
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/* SysTick Configuration for TimeBase */
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extern uint32_t SystemCoreClock;
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#define CPU_CLOCK_HZ SystemCoreClock // Use Default System Clock in Hz
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#define MAX_DELAY 0xFFFFFFFFU // Max Wayt Delay
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#define TICK_RATE_HZ 1000U // Getting SystemCoreClock divide by 1000 to get interrupt every 1ms
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#define MAX_DELAY 0xFFFFFFFFU // MAX DELAY
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#define ROUND_ROBIN_QUANTA 10U // QUANTA For round robin schedular change tasks.
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#define CPU_CLOCK_HZ SystemCoreClock // Use Default System Clock in Hz
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#define MAX_DELAY 0xFFFFFFFFU // Max Wayt Delay
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#define TICK_RATE_HZ 1000U // Getting SystemCoreClock divide by 1000 to get interrupt every 1ms
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#define MAX_DELAY 0xFFFFFFFFU // MAX DELAY
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#define ROUND_ROBIN_QUANTA 10U // QUANTA in MS For round robin schedular change tasks.
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/* Thread Configuration Size and Number Max for TCB */
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#define USE_STATIC_THREAD 1
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#define USE_DYNAMIC_THREAD 0
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#define NUM_OF_THREADS 3
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#define STACKSIZE 100
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#define USE_STATIC_THREAD 1
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#define USE_DYNAMIC_THREAD 0
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#define NUM_OF_THREADS 3
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#define STACKSIZE 700 // As memory addressing orgonize by 4 so you need to mulitple by 4
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#endif /* __R_CONFIGURATION_H__ */
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@ -4,7 +4,7 @@
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tControlBlock_t tcbs[NUM_OF_THREADS];
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/* Define current Pointer to point to first of the list of Stack*/
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tControlBlock_t * currentPt;
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tControlBlock_t *currentPt;
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/* Each Thread will have STACKSIZE * 4. */
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int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
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@ -12,74 +12,74 @@ int32_t TCB_STACK[NUM_OF_THREADS][STACKSIZE];
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void ridhaOsStackInit(int i)
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{
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tcbs[i].stackPt = &TCB_STACK[i][STACKSIZE - 16];
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/* Set bit24 Thumb state bit to one, operate in thumb mode */
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TCB_STACK[i][STACKSIZE-1] = (1U << 24); // PSR register
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TCB_STACK[i][STACKSIZE - 1] = (1U << 24); // PSR register
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#ifdef DEBUG
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/* @Note: Block below need to delete after for debug purpose */
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/* Dummy stack content */
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TCB_STACK[i][STACKSIZE-3] = 0xAAAAAAAA; // R14(LR)
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TCB_STACK[i][STACKSIZE-4] = 0xAAAAAAAA; // R12
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TCB_STACK[i][STACKSIZE-5] = 0xAAAAAAAA; // R3
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TCB_STACK[i][STACKSIZE-6] = 0xAAAAAAAA; // R2
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TCB_STACK[i][STACKSIZE-7] = 0xAAAAAAAA; // R1
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TCB_STACK[i][STACKSIZE-8] = 0xAAAAAAAA; // R0
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TCB_STACK[i][STACKSIZE-9] = 0xAAAAAAAA; // R11
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TCB_STACK[i][STACKSIZE-10] = 0xAAAAAAAA; // R10
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TCB_STACK[i][STACKSIZE-11] = 0xAAAAAAAA; // R9
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TCB_STACK[i][STACKSIZE-12] = 0xAAAAAAAA; // R8
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TCB_STACK[i][STACKSIZE-13] = 0xAAAAAAAA; // R6
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TCB_STACK[i][STACKSIZE-14] = 0xAAAAAAAA; // R7
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TCB_STACK[i][STACKSIZE-15] = 0xAAAAAAAA; // R5
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TCB_STACK[i][STACKSIZE-16] = 0xAAAAAAAA; // R4
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TCB_STACK[i][STACKSIZE - 3] = 0xAAAAAAAA; // R14(LR)
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TCB_STACK[i][STACKSIZE - 4] = 0xAAAAAAAA; // R12
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TCB_STACK[i][STACKSIZE - 5] = 0xAAAAAAAA; // R3
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TCB_STACK[i][STACKSIZE - 6] = 0xAAAAAAAA; // R2
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TCB_STACK[i][STACKSIZE - 7] = 0xAAAAAAAA; // R1
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TCB_STACK[i][STACKSIZE - 8] = 0xAAAAAAAA; // R0
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TCB_STACK[i][STACKSIZE - 9] = 0xAAAAAAAA; // R11
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TCB_STACK[i][STACKSIZE - 10] = 0xAAAAAAAA; // R10
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TCB_STACK[i][STACKSIZE - 11] = 0xAAAAAAAA; // R9
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TCB_STACK[i][STACKSIZE - 12] = 0xAAAAAAAA; // R8
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TCB_STACK[i][STACKSIZE - 13] = 0xAAAAAAAA; // R6
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TCB_STACK[i][STACKSIZE - 14] = 0xAAAAAAAA; // R7
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TCB_STACK[i][STACKSIZE - 15] = 0xAAAAAAAA; // R5
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TCB_STACK[i][STACKSIZE - 16] = 0xAAAAAAAA; // R4
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#endif
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}
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#if (USE_STATIC_THREAD)
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uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2)
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{
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/* Disable Global interrupts */
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__disable_irq();
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tcbs[0].nextPt = &tcbs[1];
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tcbs[1].nextPt = &tcbs[2];
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tcbs[2].nextPt = &tcbs[0];
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/* Disable Global interrupts */
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__disable_irq();
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tcbs[0].nextPt = &tcbs[1];
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tcbs[1].nextPt = &tcbs[2];
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tcbs[2].nextPt = &tcbs[0];
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/* Init Stacks for first thread */
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ridhaOsStackInit(0);
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/* Init Stacks for first thread */
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ridhaOsStackInit(0);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[0][STACKSIZE-2] = (int32_t)(fn0);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[0][STACKSIZE - 2] = (int32_t)(fn0);
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/* Init Stacks for first thread */
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ridhaOsStackInit(1);
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/* Init Stacks for first thread */
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ridhaOsStackInit(1);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[1][STACKSIZE-2] = (int32_t)(fn1);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[1][STACKSIZE - 2] = (int32_t)(fn1);
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/* Init Stacks for first thread */
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ridhaOsStackInit(2);
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/* Init Stacks for first thread */
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ridhaOsStackInit(2);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[2][STACKSIZE-2] = (int32_t)(fn2);
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/* Init Program counter (PC) to task functions */
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TCB_STACK[2][STACKSIZE - 2] = (int32_t)(fn2);
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/* Start from thread 0 */
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currentPt = &tcbs[0];
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/* Start from thread 0 */
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currentPt = &tcbs[0];
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/* Enable global IRQ */
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__enable_irq();
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/* Enable global IRQ */
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__enable_irq();
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return 1;
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return 1;
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}
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#endif
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void ridhaOsStart(void)
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{
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/* Init the Time base */
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ridhaOsSchedulerInit();
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/* Launch schedular */
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ridhaOsSchedulerLaunch();
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{
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/* Init the Time base */
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ridhaOsSchedulerInit();
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/* Launch schedular */
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ridhaOsSchedulerLaunch();
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}
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@ -1,7 +1,7 @@
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#include "ridhaOsScheduler.h"
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/* Define current Pointer to point to first of the list of Stack*/
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extern tControlBlock_t * currentPt;
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extern tControlBlock_t *currentPt;
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volatile uint32_t g_curr_tick;
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volatile uint32_t g_curr_tick_p;
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volatile uint32_t tick_freq = 1;
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@ -10,131 +10,140 @@ uint8_t tick_freq_div = 1;
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static void tick_increment(void)
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{
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g_curr_tick += tick_freq;
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g_curr_tick += tick_freq;
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}
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static inline void ridhaOsSchedulerReset(void)
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{
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/* Reset Systick configuration*/
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SysTick->CTRL = 0x0000;
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/* Reset Systick configuration*/
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SysTick->CTRL = 0x0000;
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/* Clear Systick current Value */
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SysTick->VAL = 0;
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/* Clear Systick current Value */
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SysTick->VAL = 0;
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}
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void ridhaOsSchedulerDelayS(uint32_t delay)
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{
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ridhaOsSchedulerDelayMS(delay * 1000);
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ridhaOsSchedulerDelayMS(delay * 1000);
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}
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void ridhaOsSchedulerDelayMS(uint32_t delay)
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{
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uint32_t tickstart = ridhaOsSchedulerGetTick();
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uint32_t wait = delay;
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if(wait < MAX_DELAY)
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{
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wait += (uint32_t)(tick_freq);
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}
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while((ridhaOsSchedulerGetTick() - tickstart) < wait){}
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uint32_t tickstart = ridhaOsSchedulerGetTick();
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uint32_t wait = delay;
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if (wait < MAX_DELAY)
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{
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wait += (uint32_t)(tick_freq);
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}
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while ((ridhaOsSchedulerGetTick() - tickstart) < wait)
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{
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}
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}
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uint32_t ridhaOsSchedulerGetTick(void)
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{
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__disable_irq();
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g_curr_tick_p = g_curr_tick;
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__enable_irq();
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return g_curr_tick_p;
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__disable_irq();
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g_curr_tick_p = g_curr_tick;
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__enable_irq();
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return g_curr_tick_p;
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}
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void ridhaOsSchedulerInit(void)
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{
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/* Reset registers */
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ridhaOsSchedulerReset();
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/* Reset registers */
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ridhaOsSchedulerReset();
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/* Reload the timer with number of MS */
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SysTick->LOAD = ((SystemCoreClock / TICK_RATE_HZ)
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* ROUND_ROBIN_QUANTA) - 1;
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/* Clear Systick current value register */
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SysTick->VAL = 0x00;
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/* Select Internal Clock source */
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SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk;
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/* Set Systick to low priority */
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NVIC_SetPriority(SysTick_IRQn, 15);
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/* Enable SysTick interrupt */
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SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
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/* Reload the timer with number of MS */
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SysTick->LOAD = ((SystemCoreClock / TICK_RATE_HZ) * ROUND_ROBIN_QUANTA) - 1;
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/* Clear Systick current value register */
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SysTick->VAL = 0x00;
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/* Select Internal Clock source */
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SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk;
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/* Set Systick to low priority */
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NVIC_SetPriority(SysTick_IRQn, 15);
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/* Enable SysTick interrupt */
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SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
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}
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void ridhaOsSchedulerLaunch(void)
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{
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/* Load Address of currentPt into R0 */
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__asm("LDR R0, =currentPt");
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/* Load Address of currentPt into R0 */
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__asm("LDR R0, =currentPt");
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/* Load R2 from address R0, i.e R2 =currentPt */
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__asm("LDR R2, [R0]");
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/* Load R2 from address R0, i.e R2 =currentPt */
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__asm("LDR R2, [R0]");
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/* Load Cortex M SP from address equals R2, i.e. SP = currentPt->stackPt */
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__asm("LDR SP, [R2]");
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/* Load Cortex M SP from address equals R2, i.e. SP = currentPt->stackPt */
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__asm("LDR SP, [R2]");
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/* Restore r4, r5, r6, r7, r8, r9, r10, r11 */
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__asm("POP {R4-R11}");
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/* Restore R12 */
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__asm("POP {R12}");
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/* Restore r4, r5, r6, r7, r8, r9, r10, r11 */
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__asm("POP {R4-R11}");
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/* Restore r0, r1, r2, r3 */
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__asm("POP {R0-R3}");
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/* Restore R12 */
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__asm("POP {R12}");
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/* Skip LR */
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__asm("ADD SP, SP, #4");
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/* Restore r0, r1, r2, r3 */
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__asm("POP {R0-R3}");
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/* Create a new start location by poping LR */
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__asm("POP {LR}");
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/* Skip LR */
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__asm("ADD SP, SP, #4");
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/* Skip xPSR by adding 4 to SP */
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__asm("ADD SP,SP, #4");
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/* Create a new start location by poping LR */
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__asm("POP {LR}");
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/* Enable global interrupt */
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__asm("CPSIE I");
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/* Return from exception and restore r0 to r3, lr, pc, psr */
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__asm("BX LR");
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/* Skip xPSR by adding 4 to SP */
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__asm("ADD SP,SP, #4");
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/* Enable global interrupt */
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__asm("CPSIE I");
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/* Return from exception and restore r0 to r3, lr, pc, psr */
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__asm("BX LR");
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}
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__attribute__((naked)) void SysTick_Handler(void){
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__attribute__((naked)) void SysTick_Handler(void)
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{
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/* SUSPEND CURRENT THREAD */
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/* DISABLE GLOBAL INTERRUPTS */
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__asm("CPSID I");
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/* Save Other Register not pushed by interrupt (R4->R11) */
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__asm("PUSH {R4-R11}");
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/* Load Address of currentPT int R0 */
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__asm("LDR R0, =currentPt");
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/* Load r1 from address equals r0, i.e r1 =currentPt */
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__asm("LDR R1, [R0]");
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/* Store Cortex-M SP at address equales to R1, i.e save SP into tcb */
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__asm("STR SP, [R1]");
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/* SUSPEND CURRENT THREAD */
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/* DISABLE GLOBAL INTERRUPTS */
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__asm("CPSID I");
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/* Save Other Register not pushed by interrupt (R4->R11) */
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__asm("PUSH {R4-R11}");
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/* Load Address of currentPT int R0 */
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__asm("LDR R0, =currentPt");
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/* Load r1 from address equals r0, i.e r1 =currentPt */
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__asm("LDR R1, [R0]");
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/* Store Cortex-M SP at address equales to R1, i.e save SP into tcb */
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__asm("STR SP, [R1]");
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/* CHOOSE NEXT THREAD */
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/* Load r1 from a location 4 bytes above address r1, i.e next r1 =currentPt->next*/
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__asm("LDR R1, [R1,#4]");
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/* Store r1 @Address equals r0, i.e currentPt = r1 */
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__asm("STR R1, [R0]");
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/* Load Cortext M SP from @ equals r1, i.e SP = current->stackPt */
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__asm("LDR SP, [R1]");
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/* Restore R4-R11 registers */
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__asm("POP {R4-R11}");
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/* Enable global interrupt */
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__asm("CPSIE I");
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/* Return from exception and restore r0 to r3, lr, pc, psr */
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__asm("BX LR");
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}
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void ridhaOsSchedulerThreadYield(void)
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{
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/* Clear Systick current value register */
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SysTick->VAL = 0;
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/* CHOOSE NEXT THREAD */
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/* Load r1 from a location 4 bytes above address r1, i.e next r1 =currentPt->next*/
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__asm("LDR R1, [R1,#4]");
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/* Store r1 @Address equals r0, i.e currentPt = r1 */
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__asm("STR R1, [R0]");
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/* Load Cortext M SP from @ equals r1, i.e SP = current->stackPt */
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__asm("LDR SP, [R1]");
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/* Restore R4-R11 registers */
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__asm("POP {R4-R11}");
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/* Enable global interrupt */
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__asm("CPSIE I");
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/* Return from exception and restore r0 to r3, lr, pc, psr */
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__asm("BX LR");
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}
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/* Trigger Systick */
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SCB->ICSR |= SCB_ICSR_PENDSTSET_Msk;
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||||
}
|
||||
|
||||
|
||||
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Reference in New Issue
Block a user