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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__ */

7
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>
@ -13,11 +12,11 @@ void ridhaOsSchedulerDelayMS(uint32_t delay);
void ridhaOsSchedulerInit(void); void ridhaOsSchedulerInit(void);
inline void ridhaOsSchedulerStart(void) inline void ridhaOsSchedulerStart(void)
{ {
/* Enable Systick */ /* Enable Systick */
SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
} }
void ridhaOsSchedulerLaunch(void); void ridhaOsSchedulerLaunch(void);
void ridhaOsSchedulerThreadYield(void);
#endif /* __R_SCHEDULER_H__ */ #endif /* __R_SCHEDULER_H__ */

24
RidhaOs/RIDHAOS_CONF.h
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@ -3,27 +3,23 @@
#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;
#define CPU_CLOCK_HZ SystemCoreClock // Use Default System Clock in Hz #define CPU_CLOCK_HZ SystemCoreClock // Use Default System Clock in Hz
#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__ */

86
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];
@ -14,72 +14,72 @@ 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
} }
#if (USE_STATIC_THREAD) #if (USE_STATIC_THREAD)
uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2) uint8_t ridhaOsAddThreads(StaticTask fn0, StaticTask fn1, StaticTask fn2)
{ {
/* Disable Global interrupts */ /* Disable Global interrupts */
__disable_irq(); __disable_irq();
tcbs[0].nextPt = &tcbs[1]; tcbs[0].nextPt = &tcbs[1];
tcbs[1].nextPt = &tcbs[2]; tcbs[1].nextPt = &tcbs[2];
tcbs[2].nextPt = &tcbs[0]; tcbs[2].nextPt = &tcbs[0];
/* Init Stacks for first thread */ /* Init Stacks for first thread */
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];
/* Enable global IRQ */ /* Enable global IRQ */
__enable_irq(); __enable_irq();
return 1; return 1;
} }
#endif #endif
void ridhaOsStart(void) void ridhaOsStart(void)
{ {
/* Init the Time base */ /* Init the Time base */
ridhaOsSchedulerInit(); ridhaOsSchedulerInit();
/* Launch schedular */
ridhaOsSchedulerLaunch();
/* Launch schedular */
ridhaOsSchedulerLaunch();
} }

179
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;
@ -10,131 +10,140 @@ uint8_t tick_freq_div = 1;
static void tick_increment(void) static void tick_increment(void)
{ {
g_curr_tick += tick_freq; g_curr_tick += tick_freq;
} }
static inline void ridhaOsSchedulerReset(void) static inline void ridhaOsSchedulerReset(void)
{ {
/* Reset Systick configuration*/ /* Reset Systick configuration*/
SysTick->CTRL = 0x0000; SysTick->CTRL = 0x0000;
/* Clear Systick current Value */ /* Clear Systick current Value */
SysTick->VAL = 0; SysTick->VAL = 0;
} }
void ridhaOsSchedulerDelayS(uint32_t delay) void ridhaOsSchedulerDelayS(uint32_t delay)
{ {
ridhaOsSchedulerDelayMS(delay * 1000); ridhaOsSchedulerDelayMS(delay * 1000);
} }
void ridhaOsSchedulerDelayMS(uint32_t delay) 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)
{ {
__disable_irq(); __disable_irq();
g_curr_tick_p = g_curr_tick; g_curr_tick_p = g_curr_tick;
__enable_irq(); __enable_irq();
return g_curr_tick_p; return g_curr_tick_p;
} }
void ridhaOsSchedulerInit(void) void ridhaOsSchedulerInit(void)
{ {
/* Reset registers */ /* Reset registers */
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;
/* Select Internal Clock source */ /* Select Internal Clock source */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk; SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_ENABLE_Msk;
/* Set Systick to low priority */ /* Set Systick to low priority */
NVIC_SetPriority(SysTick_IRQn, 15); NVIC_SetPriority(SysTick_IRQn, 15);
/* Enable SysTick interrupt */
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
/* Enable SysTick interrupt */
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
} }
void ridhaOsSchedulerLaunch(void) void ridhaOsSchedulerLaunch(void)
{ {
/* Load Address of currentPt into R0 */ /* Load Address of currentPt into R0 */
__asm("LDR R0, =currentPt"); __asm("LDR R0, =currentPt");
/* Load R2 from address R0, i.e R2 =currentPt */ /* Load R2 from address R0, i.e R2 =currentPt */
__asm("LDR R2, [R0]"); __asm("LDR R2, [R0]");
/* Load Cortex M SP from address equals R2, i.e. SP = currentPt->stackPt */ /* Load Cortex M SP from address equals R2, i.e. SP = currentPt->stackPt */
__asm("LDR SP, [R2]"); __asm("LDR SP, [R2]");
/* Restore r4, r5, r6, r7, r8, r9, r10, r11 */ /* Restore r4, r5, r6, r7, r8, r9, r10, r11 */
__asm("POP {R4-R11}"); __asm("POP {R4-R11}");
/* Restore R12 */ /* Restore R12 */
__asm("POP {R12}"); __asm("POP {R12}");
/* Restore r0, r1, r2, r3 */ /* Restore r0, r1, r2, r3 */
__asm("POP {R0-R3}"); __asm("POP {R0-R3}");
/* Skip LR */ /* Skip LR */
__asm("ADD SP, SP, #4"); __asm("ADD SP, SP, #4");
/* Create a new start location by poping LR */ /* Create a new start location by poping LR */
__asm("POP {LR}"); __asm("POP {LR}");
/* Skip xPSR by adding 4 to SP */ /* Skip xPSR by adding 4 to SP */
__asm("ADD SP,SP, #4"); __asm("ADD SP,SP, #4");
/* Enable global interrupt */ /* Enable global interrupt */
__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");
}
__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");
}
void ridhaOsSchedulerThreadYield(void)
{
/* Clear Systick current value register */
SysTick->VAL = 0;
/* Trigger Systick */
SCB->ICSR |= SCB_ICSR_PENDSTSET_Msk;
} }
__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");
}