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274 lines
10 KiB
C++
274 lines
10 KiB
C++
/// @file
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/// @brief QF/C++ port to embOS (v4.00) kernel, all supported compilers
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/// @cond
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////**************************************************************************
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/// Last updated for version 5.6.2
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/// Last updated on 2016-03-09
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///
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/// Q u a n t u m L e a P s
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/// ---------------------------
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/// innovating embedded systems
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///
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/// Copyright (C) Quantum Leaps, LLC. All rights reserved.
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///
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/// This program is open source software: you can redistribute it and/or
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/// modify it under the terms of the GNU General Public License as published
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/// by the Free Software Foundation, either version 3 of the License, or
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/// (at your option) any later version.
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///
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/// Alternatively, this program may be distributed and modified under the
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/// terms of Quantum Leaps commercial licenses, which expressly supersede
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/// the GNU General Public License and are specifically designed for
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/// licensees interested in retaining the proprietary status of their code.
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///
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/// This program is distributed in the hope that it will be useful,
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/// but WITHOUT ANY WARRANTY; without even the implied warranty of
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/// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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/// GNU General Public License for more details.
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///
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/// You should have received a copy of the GNU General Public License
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/// along with this program. If not, see <http://www.gnu.org/licenses/>.
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///
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/// Contact information:
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/// http://www.state-machine.com
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/// mailto:info@state-machine.com
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////**************************************************************************
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/// @endcond
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#define QP_IMPL // this is QP implementation
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#include "qf_port.h" // QF port
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#include "qf_pkg.h"
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#include "qassert.h"
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#ifdef Q_SPY // QS software tracing enabled?
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#include "qs_port.h" // include QS port
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#else
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#include "qs_dummy.h" // disable the QS software tracing
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#endif // Q_SPY
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// namespace QP ==============================================================
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namespace QP {
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Q_DEFINE_THIS_MODULE("qf_port")
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//............................................................................
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// define __TARGET_FPU_VFP symbol depending on the compiler...
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#if defined (__CC_ARM) // ARM Compiler
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// in ARM Compiler __TARGET_FPU_VFP is a pre-defined symbol
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#elif defined (__ICCARM__) // IAR Compiler
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#if defined __ARMVFP__
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#define __TARGET_FPU_VFP 1
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#endif
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#elif defined (__GNUC__) // GNU Compiler
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#if defined (__VFP_FP__) && !defined(__SOFTFP__)
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#define __TARGET_FPU_VFP 1
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#endif
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#endif
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//............................................................................
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void QF::init(void) {
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OS_InitKern(); // initialize embOS
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OS_InitHW(); // initialize the hardware used by embOS
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}
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//............................................................................
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int_t QF::run(void) {
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onStartup(); // QF callback to configure and start interrupts
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OS_Start(); // start embOS multitasking
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Q_ERROR_ID(100); // OS_Start() should never return
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return static_cast<int_t>(0); // dummy return to make the compiler happy
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}
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//............................................................................
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void QF::stop(void) {
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onCleanup(); // cleanup callback
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}
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//............................................................................
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void QF_setEmbOsTaskAttr(QMActive *act, uint32_t attr) {
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act->getOsObject() = attr;
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}
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// thread for active objects -------------------------------------------------
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void QF::thread_(QMActive *act) {
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// enable thread-loop, see NOTE2
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act->m_osObject = static_cast<uint32_t>(1); // set event-loop control
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do {
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QEvt const *e = act->get_(); // wait for event
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act->dispatch(e); // dispatch to the active object's state machine
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gc(e); // check if the event is garbage, and collect it if so
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} while (act->m_osObject != static_cast<uint32_t>(0));
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act->unsubscribeAll();
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OS_DeleteMB(&act->m_eQueue);
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}
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//............................................................................
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static void thread_function(void *pVoid) { // embOS signature
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QMActive *act = reinterpret_cast<QMActive *>(pVoid);
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#ifdef __TARGET_FPU_VFP
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// does the task use the FPU? see NOTE1
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if ((act->getOsObject() & QF_TASK_USES_FPU) != static_cast<uint32_t>(0)) {
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OS_ExtendTaskContext_VFP();
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}
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#endif // __TARGET_FPU_VFP
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QF::thread_(act);
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QF::remove_(act); // remove this object from QF
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OS_TerminateTask(&act->getThread());
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}
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//............................................................................
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void QMActive::start(uint_fast8_t prio,
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QEvt const *qSto[], uint_fast16_t qLen,
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void *stkSto, uint_fast16_t stkSize,
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QEvt const *ie)
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{
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// create the embOS message box for the AO
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OS_CreateMB(&m_eQueue,
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static_cast<OS_U16>(sizeof(QEvt *)),
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static_cast<OS_UINT>(qLen),
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static_cast<void *>(&qSto[0]));
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m_prio = prio; // save the QF priority
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QF::add_(this); // make QF aware of this active object
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init(ie); // thake the top-most initial tran.
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QS_FLUSH(); // flush the trace buffer to the host
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// create an embOS task for the AO
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OS_CreateTaskEx(&m_thread,
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"AO",
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static_cast<OS_PRIO>(prio), // embOS uses same numbering as QP
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&thread_function,
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static_cast<void OS_STACKPTR *>(stkSto),
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static_cast<OS_UINT>(stkSize),
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static_cast<OS_UINT>(0), // no AOs at the same prio
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this);
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}
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//............................................................................
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void QMActive::stop() {
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m_osObject = static_cast<uint32_t>(0); // stop the thread loop, see NOTE2
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}
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//............................................................................
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#ifndef Q_SPY
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bool QMActive::post_(QEvt const * const e, uint_fast16_t const margin)
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#else
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bool QMActive::post_(QEvt const * const e, uint_fast16_t const margin,
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void const * const sender)
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#endif
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{
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uint_fast16_t nFree;
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bool status;
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QF_CRIT_STAT_
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QF_CRIT_ENTRY_();
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nFree = static_cast<uint_fast16_t>(m_eQueue.maxMsg - m_eQueue.nofMsg);
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if (nFree > margin) {
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_FIFO, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_OBJ_(sender); // the sender object
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QS_SIG_(e->sig); // the signal of the event
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QS_OBJ_(this); // this active object (recipient)
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
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QS_EQC_(static_cast<QEQueueCtr>(nFree)); // # free entries
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
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QS_END_NOCRIT_()
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if (e->poolId_ != static_cast<uint8_t>(0)) { // is it a pool event?
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QF_EVT_REF_CTR_INC_(e); // increment the reference counter
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}
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QF_CRIT_EXIT_();
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// posting to the embOS mailbox must succeed, see NOTE3
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Q_ALLEGE_ID(710,
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OS_PutMailCond(&m_eQueue, static_cast<OS_CONST_PTR void *>(&e))
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== static_cast<char>(0));
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status = true; // report success
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}
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else {
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// can tolerate dropping evts?
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Q_ASSERT_ID(720, margin != static_cast<uint_fast16_t>(0));
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_ATTEMPT,
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QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_OBJ_(sender); // the sender object
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QS_SIG_(e->sig); // the signal of the event
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QS_OBJ_(this); // this active object (recipient)
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
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QS_EQC_(static_cast<QEQueueCtr>(nFree)); // # free entries
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free (unknown)
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QS_END_NOCRIT_()
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QF_CRIT_EXIT_();
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status = false; // report failure
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}
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return status;
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}
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//............................................................................
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void QMActive::postLIFO(QEvt const * const e) {
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QF_CRIT_STAT_
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QF_CRIT_ENTRY_();
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QS_BEGIN_NOCRIT_(QS_QF_ACTIVE_POST_LIFO, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_SIG_(e->sig); // the signal of this event
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QS_OBJ_(this); // this active object
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
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QS_EQC_(static_cast<QEQueueCtr>(0)); // min # free entries (unknown)
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QS_END_NOCRIT_()
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if (e->poolId_ != static_cast<uint8_t>(0)) { // is it a pool event?
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QF_EVT_REF_CTR_INC_(e); // increment the reference counter
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}
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QF_CRIT_EXIT_();
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// posting to the embOS mailbox must succeed, see NOTE3
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Q_ALLEGE_ID(810,
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OS_PutMailFrontCond(&m_eQueue, static_cast<OS_CONST_PTR void *>(&e))
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== static_cast<char>(0));
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}
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//............................................................................
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QEvt const *QMActive::get_(void) {
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QEvt const *e;
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QS_CRIT_STAT_
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OS_GetMail(&m_eQueue, &e);
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QS_BEGIN_(QS_QF_ACTIVE_GET, QS::priv_.aoObjFilter, this)
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QS_TIME_(); // timestamp
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QS_SIG_(e->sig); // the signal of this event
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QS_OBJ_(this); // this active object
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QS_2U8_(e->poolId_, e->refCtr_); // pool Id & ref Count
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// # free entries
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QS_EQC_(static_cast<QEQueueCtr>(m_eQueue.maxMsg - m_eQueue.nofMsg));
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QS_END_()
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return e;
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}
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} // namespace QP
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//****************************************************************************
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// NOTE1:
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// In case of hardware-supported floating point unit (FPU), a task must
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// preserve the FPU registers accross the context switch. However, this
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// additional overhead is necessary only for tasks that actually use the
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// FPU. In this QP-embOS port, an active object task that uses the FPU is
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// designated by the QF_TASK_USES_FPU attribute, which can be set wiht the
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// QF_setEmbOsTaskAttr() function. The task attributes must be set *before*
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// calling QACTIVE_START(). The task attributes are saved in
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// QMActive.m_osObject member.
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//
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// NOTE2:
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// The member QActive.osObject is reused as the loop control variable,
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// because the task attributes are alredy applied.
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//
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// NOTE3:
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// The event posting to embOS mailbox occurs inside a critical section,
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// but this is OK, because the QF/embOS critical sections are designed
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// to nest.
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//
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