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qpc/ports/ucos-ii/qf_port.c
QL 0f0450f490 6.9.1
2020-10-01 12:48:48 -04:00

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/**
* @file
* @brief QF/C generic port to uC/OS-II
* @ingroup ports
* @cond
******************************************************************************
* Last updated for version 6.9.1
* Last updated on 2020-09-03
*
* Q u a n t u m L e a P s
* ------------------------
* Modern Embedded Software
*
* Copyright (C) 2005-2020 Quantum Leaps, LLC. All rights reserved.
*
* This program is open source software: you can redistribute it and/or
* modify it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Alternatively, this program may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly supersede
* the GNU General Public License and are specifically designed for
* licensees interested in retaining the proprietary status of their code.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <www.gnu.org/licenses/>.
*
* Contact information:
* <www.state-machine.com/licensing>
* <info@state-machine.com>
******************************************************************************
* @endcond
*/
#define QP_IMPL /* this is QP implementation */
#include "qf_port.h" /* QF port */
#include "qf_pkg.h"
#include "qassert.h"
#ifdef Q_SPY /* QS software tracing enabled? */
#include "qs_port.h" /* QS port */
#include "qs_pkg.h" /* QS package-scope internal interface */
#else
#include "qs_dummy.h" /* disable the QS software tracing */
#endif /* Q_SPY */
Q_DEFINE_THIS_MODULE("qf_port")
/* Local objects -----------------------------------------------------------*/
static void task_function(void *pdata); /* uC/OS-II task signature */
/*..........................................................................*/
void QF_init(void) {
OSInit(); /* initialize uC/OS-II */
}
/*..........................................................................*/
int_t QF_run(void) {
QS_CRIT_STAT_
QF_onStartup(); /* QF callback to configure and start interrupts */
/* produce the QS_QF_RUN trace record */
QS_BEGIN_PRE_(QS_QF_RUN, 0U)
QS_END_PRE_()
OSStart(); /* start uC/OS-II multitasking */
Q_ERROR_ID(100); /* OSStart() should never return */
return 0; /* this unreachable return keeps the compiler happy */
}
/*..........................................................................*/
void QF_stop(void) {
QF_onCleanup(); /* cleanup callback */
}
/*..........................................................................*/
void QActive_setAttr(QActive *const me, uint32_t attr1, void const *attr2) {
(void)attr2; /* unused parameter */
me->thread = attr1;
}
/*..........................................................................*/
void QActive_start_(QActive * const me, uint_fast8_t prio,
QEvt const * * const qSto, uint_fast16_t const qLen,
void * const stkSto, uint_fast16_t const stkSize,
void const * const par)
{
INT8U p_ucos;
INT8U err;
me->eQueue = OSQCreate((void **)qSto, qLen); /* create uC/OS-II queue */
/* the uC/OS-II queue must be created correctly */
Q_ASSERT_ID(210, me->eQueue != (OS_EVENT *)0);
me->prio = prio; /* save the QF priority */
QF_add_(me); /* make QF aware of this active object */
QHSM_INIT(&me->super, par, me->prio); /* initial tran. (virtual) */
QS_FLUSH(); /* flush the trace buffer to the host */
/* map from QP to uC/OS priority */
p_ucos = (INT8U)(QF_MAX_ACTIVE - me->prio);
/* create AO's task... */
/*
* NOTE: The call to uC/OS-II API OSTaskCreateExt() assumes that the
* pointer to the top-of-stack (ptos) is at the end of the provided
* stack memory. This is correct only for CPUs with downward-growing
* stack, but must be changed for CPUs with upward-growing stack
*/
err = OSTaskCreateExt(&task_function, /* the task function */
(void *)me, /* the 'pdata' parameter */
#if OS_STK_GROWTH
&((OS_STK *)stkSto)[(stkSize/sizeof(OS_STK)) - 1], /* ptos */
#else
(OS_STK *)stkSto, /* ptos */
#endif
p_ucos, /* uC/OS-II task priority */
(INT16U)me->prio, /* the unique AO priority as task ID */
(OS_STK *)stkSto, /* pbos */
(INT32U)(stkSize/sizeof(OS_STK)),/* stack size in OS_STK units */
(void *)0, /* pext */
(INT16U)me->thread); /* task options, see NOTE1 */
/* uC/OS-II task must be created correctly */
Q_ENSURE_ID(220, err == OS_ERR_NONE);
}
/*..........................................................................*/
static void task_function(void *pdata) { /* uC/OS-II task signature */
/* event-loop */
for (;;) { /* for-ever */
QEvt const *e = QActive_get_((QActive *)pdata);
/* dispatch to the AO's SM */
QHSM_DISPATCH((QHsm *)pdata, e, ((QActive *)pdata)->prio);
QF_gc(e); /* check if the event is garbage, and collect it if so */
}
}
/*..........................................................................*/
#ifndef Q_SPY
bool QActive_post_(QActive * const me, QEvt const * const e,
uint_fast16_t const margin)
#else
bool QActive_post_(QActive * const me, QEvt const * const e,
uint_fast16_t const margin, void const * const sender)
#endif
{
bool status;
uint_fast16_t nFree;
QF_CRIT_STAT_
QF_CRIT_E_();
nFree = (uint_fast16_t)(((OS_Q_DATA *)me->eQueue)->OSQSize
- ((OS_Q_DATA *)me->eQueue)->OSNMsgs);
if (margin == QF_NO_MARGIN) {
if (nFree > (QEQueueCtr)0) {
status = true; /* can post */
}
else {
status = false; /* cannot post */
Q_ERROR_ID(710); /* must be able to post the event */
}
}
else if (nFree > (QEQueueCtr)margin) {
status = true; /* can post */
}
else {
status = false; /* cannot post */
}
if (status) { /* can post the event? */
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_OBJ_PRE_(sender); /* the sender object */
QS_SIG_PRE_(e->sig); /* the signal of the event */
QS_OBJ_PRE_(me); /* this active object (recipient) */
QS_U8_PRE_(e->poolId_); /* the pool Id of the event */
QS_U8_PRE_(e->refCtr_); /* the ref count of the event */
QS_EQC_PRE_(nFree); /* # free entries */
QS_EQC_PRE_(0U); /* min # free entries (unknown) */
QS_END_NOCRIT_PRE_()
if (e->poolId_ != 0U) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
QF_CRIT_X_();
/* posting the event to uC/OS-II message queue must succeed */
Q_ALLEGE_ID(720,
OSQPost((OS_EVENT *)me->eQueue, (void *)e) == OS_ERR_NONE);
}
else {
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST_ATTEMPT, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_OBJ_PRE_(sender); /* the sender object */
QS_SIG_PRE_(e->sig); /* the signal of the event */
QS_OBJ_PRE_(me); /* this active object (recipient) */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(nFree); /* # free entries available */
QS_EQC_PRE_(margin); /* margin requested */
QS_END_NOCRIT_PRE_()
QF_CRIT_X_();
}
return status;
}
/*..........................................................................*/
void QActive_postLIFO_(QActive * const me, QEvt const * const e) {
QF_CRIT_STAT_
QF_CRIT_E_();
QS_BEGIN_NOCRIT_PRE_(QS_QF_ACTIVE_POST_LIFO, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_SIG_PRE_(e->sig); /* the signal of this event */
QS_OBJ_PRE_(me); /* this active object */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(((OS_Q *)me->eQueue)->OSQSize
- ((OS_Q *)me->eQueue)->OSQEntries); /* # free entries */
QS_EQC_PRE_(0U); /* min # free entries (unknown) */
QS_END_NOCRIT_PRE_()
if (e->poolId_ != 0U) { /* is it a pool event? */
QF_EVT_REF_CTR_INC_(e); /* increment the reference counter */
}
QF_CRIT_X_();
/* posting the event to uC/OS message queue must succeed */
Q_ALLEGE_ID(810,
OSQPostFront((OS_EVENT *)me->eQueue, (void *)e) == OS_ERR_NONE);
}
/*..........................................................................*/
QEvt const *QActive_get_(QActive * const me) {
INT8U err;
QS_CRIT_STAT_
QEvt const *e = (QEvt *)OSQPend((OS_EVENT *)me->eQueue, 0U, &err);
Q_ASSERT_ID(910, err == OS_ERR_NONE);
QS_BEGIN_PRE_(QS_QF_ACTIVE_GET, me->prio)
QS_TIME_PRE_(); /* timestamp */
QS_SIG_PRE_(e->sig); /* the signal of this event */
QS_OBJ_PRE_(me); /* this active object */
QS_2U8_PRE_(e->poolId_, e->refCtr_); /* pool Id & ref Count */
QS_EQC_PRE_(((OS_Q *)me->eQueue)->OSQSize
- ((OS_Q *)me->eQueue)->OSQEntries); /* # free entries */
QS_END_PRE_()
return e;
}
/*****************************************************************************
* NOTE0:
* The QF_onStartup() should enter the critical section before configuring
* and starting interrupts and it should NOT exit the critical section.
* Thus the interrupts cannot fire until uC/OS-II starts multitasking
* in OSStart(). This is to prevent a (narrow) time window in which interrupts
* could make some tasks ready to run, but the OS would not be ready yet
* to perform context switch.
*
* NOTE1:
* The member QActive.thread is set to the uC/OS-II task options in the
* function QF_setUCosTaskAttr(), which must be called **before**
* QACTIVE_START().
*/
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