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RtoS_.c
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RtoS_.c
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/**
@file RtoS_.c
@author AVI-crak
@version V-50%
@date 6-мая-2020
@brief Аxis sRtoS, Cortex ARM GCC EmBitz
license
Million helicopters and one cent.
discussion forum
https://forum.ixbt.com/topic.cgi?id=48:11735
repository
https://github.com/AVI-crak/Rtos_cortex
*/
#include "RtoS_.h"
#include "sPrint.h"
#define __SYSHCLK 216000000 /// stm32f7
//#define __SYSHCLK 74000000 /// stm32f1
#define SERVISE_SIZE 500
#pragma GCC push_options
#pragma GCC optimize ("Os")
/// _estack - upper bound of memory
/// Add to startup_XXX.s
/// .equ _irqsize, 600 // Interrupt Stack Size
/// .equ _main_stask, ( _estack - ((_irqsize + 240) & 0xFFFFFFF8))
/// Replace below _estack on the _main_stask
struct _os_basic os_data;
const char main_txt[] = "Main";
const char service_txt[] = "Service";
__attribute__( ( always_inline ) ) static inline void delay( uint32_t volatile time_tmp){do {time_tmp--;} while ( time_tmp );};
void service (void);
void ser_new_task (void);
void ser_new_ram (void);
void ser_os_free(void);
void ser_os_free_all(uint8_t nomer);
uint32_t ser_del_task(uint32_t next);
void ser_val_txt (char* txt, uint32_t date);
uint32_t ser_status_log (uint32_t next_task );
static const char* task_status_txt[]={"activ","stack_error","delay","delay_error","hold",
"hold_error","serv","serv_error","new_task","new_task_error","delete_task","delete_task_error",
"new_ram","new_ram_error","delete_ram","delete_ram_error",};
char ser_buf_log[70];
/// Запрос ресурса, бесконечный цикл - пока не освободится
/// Resource request, endless loop while resource not released
uint32_t os_resource_ask (uint32_t *name_resource)
{
uint32_t tmp;
tmp = (uint32_t) os_data.activ;
if ( *name_resource != 0 ) return *name_resource;
os_data.activ->swap_data = (uint32_t) name_resource;
asm volatile ("push {r3} \n\t"
"mov r3, 0x0B \n\t" //#0B __os_res_ask
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
tmp = os_data.activ->swap_data;
return tmp;
};
uint32_t os_resource_free (uint32_t *name_resource)
{
uint32_t tmp;
tmp = (uint32_t) os_data.activ;
if ( *name_resource == tmp ) *name_resource = 0;
tmp = *name_resource;
return tmp;
};
int32_t os_alarm_ms(int32_t * timer_name, int32_t timer_ms)
{
int32_t systim = 0 - os_data.system_us;
int32_t tim = *timer_name - systim;
if (tim < 0)*timer_name = systim;
if (tim < timer_ms) tim = 0;
else *timer_name = systim;
return tim;
}
int32_t os_tim_ms(int32_t* timer_name, int32_t timer_ms)
{
int32_t systim = os_data.system_us;
int32_t tim = *timer_name + systim;
if (tim < 0) *timer_name = 0 - systim;
if (tim < timer_ms) tim = 0;
else if (tim < (timer_ms << 1)) *timer_name = tim - timer_ms - systim;
else *timer_name = tim % timer_ms - systim;
return tim;
};
/// Разбудить задачу
void os_wake(volatile uint8_t* global_task_nomer)
{
register volatile uint8_t *__global_nomer asm ("r0") = global_task_nomer;
asm volatile ("push {r3} \n\t"
"ldrb r3, [r0] \n\t"
"cmp r3, #0 \n\t"
"itt ne \n\t"
"movne r3, #0x5 \n\t" //#5 __wake
"svcne 0x0 \n\t"
"pop {r3} \n\t"
:: "r" (__global_nomer):);
}
/// Остановить задачу в ожидание пинка
void os_freeze(volatile uint8_t* global_task_nomer)
{
os_data.activ->swap_data = (uint32_t) global_task_nomer;
os_data.activ->task_mode = task_hold;
*global_task_nomer = os_data.activ->task_nomer;
asm volatile ("push {r3} \n\t"
"mov r3, #0x6 \n\t" //#6 __freeze
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
}
/// Allocate memory (size)
void *os_malloc(int32_t d_size)
{
os_data.activ->task_mode = new_ram;
os_data.activ->swap_data = (d_size + 7) >> 2;
asm volatile ("push {r3} \n\t"
"mov r3, 0x04 \n\t" //#4 __to_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
void* out; out = (void*) os_data.activ->swap_data;
return out;
}
/// os_Delay_ms (ms)
void os_Delay_ms(uint32_t delay_mc)
{
os_data.activ->swap_data = delay_mc;
asm volatile ("push {r3} \n\t"
"mov r3, 0x02 \n\t" //#2 __delay_new
"svc 0x0 \n\t"
"pop {r3} \n\t"
::: "memory");
}
struct _os_wbasic
{
uint32_t* w_activ; ///#00- Список активных
uint32_t* w_delay; ///#04- Список спящих
uint32_t* w_hold; ///#08- Список замороженных
uint32_t* w_service; ///#12- Список обслуживания
uint32_t* w_task_switch; ///#16- Новый/старый таск
uint32_t* w_nvic_stack; ///#20- Адрес стека прерываний, Task maximum NVIC used stack
uint32_t w_nvic_size_use; ///#24- Размер стека прерываний,
uint32_t* w_main_stask; ///#28- Адрес стека main
uint32_t* w_use_task_stop; ///#32- Последний адрес стека, Stack last address
uint32_t w_tick_1ms; ///#36- Таймер активности задачи 100%, Task activity timer 100%
int32_t w_system_us; ///#40- Системное время, System time counter
uint32_t* w_malloc0_start; ///#44- Первый адрес malloc0, First malloc0 address
uint32_t* w_malloc0_stop; ///#48- Последний адрес malloc0, Last malloc0 address
uint32_t* w_malloc1_start; ///#52- Первый адрес malloc1, First malloc1 address
uint32_t* w_malloc1_stop; ///#56- Последний адрес malloc1, Last malloc1 address
};
/// Replica isr_vector
struct _my_isr_vector
{
uint32_t _main_stask;
void* Reset_Handler;
void* NMI_Handler;
void* HardFault_Handler;
void* MemManage_Handler;
void* BusFault_Handler;
void* UsageFault_Handler;
uint32_t* _irq_stack;
uint32_t _irqsize;
uint32_t* _free_ram;
uint32_t* _free_exram;
// uint32_t _nc;
// void* SVC_Handler;
};
//uintptr_t
struct task_argument
{
uint32_t* _func;
uint32_t _size;
uint32_t _time_rate;
char* _func_name;
};
/// Новая задача - после запуска ос
/// функция , размер стека , процент времени 1-100 , имя
uint32_t os_Task_new (void (*taskS_func),uint16_t task_size,uint8_t task_time_rate,char* const task_func_name)
{
volatile struct task_argument data;
data._func = taskS_func;
data._size = (task_size + 7) & 0xFFFFFFF8;
data._time_rate = (os_data.tick_1ms * task_time_rate ) / 100;
data._func_name = task_func_name;
os_data.activ->task_mode = new_task;
os_data.activ->swap_data = (uint32_t) &data;
asm volatile ("push {r3} \n\t"
"mov r3, 0x04 \n\t" //#4 __to_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
uint32_t ret; ret = os_data.activ->swap_data;
return ret;
};
/// Старт ОS
/// частота ядра в гц, размер стека майна,
/// > размер стека прерываний, стартовое время задачи в микросекундах
void os_Run(const uint16_t main_size )
{
struct _os_wbasic* _os_wb;
_os_wb = (struct _os_wbasic*) &os_data;
uint32_t main_sizel;
main_sizel = (main_size + 7) & 0x0000FFF8;
uint32_t _irq_tmp;
struct _my_isr_vector* isr_v;
isr_v = (struct _my_isr_vector*)SCB->VTOR;
_irq_tmp = (isr_v->_main_stask - (main_sizel + sizeof(struct task))) & 0xFFFFFFF8;
_os_wb->w_activ = (uint32_t*) isr_v->_main_stask;
_os_wb->w_main_stask = (uint32_t*) isr_v->_main_stask;
_os_wb->w_use_task_stop = (uint32_t*) (_irq_tmp - ((SERVISE_SIZE + 7) & 0x0000FFF8) - 4);
_os_wb->w_nvic_stack = isr_v->_irq_stack;
_os_wb->w_nvic_size_use = isr_v->_irqsize;
_os_wb->w_malloc0_start = isr_v->_free_ram;
_os_wb->w_malloc0_stop = isr_v->_free_ram;
*_os_wb->w_malloc0_stop = 0;
_os_wb->w_malloc1_start = isr_v->_free_exram;
_os_wb->w_malloc1_stop = isr_v->_free_exram;
_os_wb->w_system_us = 0;
_os_wb->w_delay = 0;
_os_wb->w_hold = 0;
_os_wb->w_service = 0;
_os_wb->w_task_switch = 0;
_os_wb->w_tick_1ms = (__SYSHCLK / 1000) - 6;
uint32_t* rwserv;
rwserv = (uint32_t*) _irq_tmp - 16;
for (uint32_t i = 0; i < 26; i++) {*rwserv++ = 0;}; rwserv -=3;
uint32_t* rwmain;
rwmain = (uint32_t*) isr_v->_main_stask;
for (uint32_t i = 0; i < 10; i++) {*rwmain++ = 0;}; rwmain -=3;
*rwserv-- = ((__SYSHCLK / 1000) - 6) | (2 << 24);
*rwmain-- = ((__SYSHCLK / 1000) - 6) | (1 << 24);
*rwserv-- = (SERVISE_SIZE + 7) & 0x0000FFF8;
*rwmain-- = main_sizel;
*rwserv-- = (uint32_t) &service_txt[0];
*rwmain-- = (uint32_t) &main_txt[0];
*--rwserv = (uint32_t) _irq_tmp - 64;
rwmain -= 2; rwserv -= 2;
*rwmain-- = _irq_tmp;
*rwmain-- = _irq_tmp;
*rwmain = _irq_tmp;
*rwserv-- = (uint32_t) isr_v->_main_stask;
*rwserv-- = (uint32_t) isr_v->_main_stask;
*rwserv-- = 0x1000000;
*rwserv-- = (uint32_t)((void*)service);
*rwserv = 0x1000000;
#if ((defined (__ARM_ARCH)) && (__ARM_ARCH > 6 ))
CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
DWT->LAR = 0xC5ACCE55;
DWT->LAR = 0xC5ACCE55;
// DWT->CYCCNT = 0;
DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
#endif
#if defined(__STM32F4xx_H) || defined(__STM32F7xx_H )
SCB->CPACR = 0x0F << 20; /// FPU settings
#endif
SysTick->LOAD = (__SYSHCLK / 1000) - 6;
SysTick->VAL = (__SYSHCLK / 1000) - 6;
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk|
SysTick_CTRL_TICKINT_Msk|
SysTick_CTRL_ENABLE_Msk;
os_EnableIRQ(SysTick_IRQn, 15);
__ISB();
__set_PSP(__get_MSP());
__set_MSP((uint32_t)isr_v->_irq_stack );
__ISB();
__set_CONTROL(CONTROL_SPSEL_Msk| CONTROL_nPRIV_Msk);
__ISB();
/// таймер system_us
RCC->APB1ENR |= RCC_APB1ENR_TIM6EN;
TIM6->PSC = 1;
TIM6->CR1 |= TIM_CR1_ARPE;
TIM6->ARR = (__SYSHCLK / 4) / 1000; // APB1= /4
TIM6->DIER = TIM_DIER_UIE;
TIM6->CR1 |= TIM_CR1_CEN;
#if defined(__STM32F7xx_H )
os_EnableIRQ(TIM6_DAC_IRQn, 15); // stm32f7
#elif defined(__STM32F1XX_H)
os_EnableIRQ(TIM6_IRQn, 15); // stm32f1
#endif
__memory();
#if defined(__STM32F4xx_H) || defined(__STM32F7xx_H )
RCC->AHB2ENR |= RCC_AHB2ENR_RNGEN;
RNG->CR = RNG_CR_RNGEN; // stm32f7
#endif
#if defined(__STM32F1XX_H)
os_data.ranlom[0] = *(os_data.malloc0_start + 4);
os_data.ranlom[1] = *(os_data.malloc0_start + 8);
os_data.ranlom[2] = *(os_data.malloc0_start + 12);
if ((os_data.ranlom[0]==0)|(os_data.ranlom[1]==0)|(os_data.ranlom[2]==0)){
os_data.ranlom[0] = 5468651;
os_data.ranlom[0] = 7454164;
os_data.ranlom[0] = 1587975;};
#endif
};
#if defined(__STM32F7xx_H )
void __attribute__ ((weak)) TIM6_DAC_IRQHandler(void) // stm32f7
#elif defined(__STM32F1XX_H)
void __attribute__ ((weak)) TIM6_IRQHandler(void) // stm32f1
#endif
{
TIM6->SR = 0;
asm volatile ("mov r3, #1 \n\t" //#1 __sleep_tasks
"svc 0x0 \n\t"
::: "r3", "memory");
};
void service (void)
{
task_status_TypeDef state;
uint32_t next_t;
next_t = 0;
int32_t time_log;
time_log = -200;
time_log -= os_data.system_us;
while (1)
{
if ((uint32_t)os_data.service != 0)
{
state = os_data.service->task_mode;
switch (state)
{
case new_ram : ser_new_ram(); break;
case delete_ram : ser_os_free(); break;
case new_task : ser_new_task(); break;
case delete_task: next_t = ser_del_task(next_t); break;
default: break;
};
}
#if (__Test_psp == 1)
else
{
if (M_balance() > 70)
{
if (next_t != 0 )
{
next_t = ser_status_log(next_t);
time_log = -2000;
time_log -= os_data.system_us;
}else if ((os_data.system_us + time_log) > 1)
{
printo("\fTask_name ;M ID; stack; use; %; mode\n");
next_t = ( uint32_t)os_data.main_task;
};
};
}
#endif
;
os_pass();
};
};
void ser_val_txt (char* txt, uint32_t date)
{
uint32_t tmp; tmp = date;
char* t; t = txt;
do { *t-- = tmp %10 + '0'; tmp /= 10; } while (tmp != 0);
};
uint32_t ser_status_log (uint32_t next_task )
{
uint32_t temp, tmp;
struct task* r_task;
r_task = ( struct task*)next_task;
tmp = 0; do {ser_buf_log[tmp++] = ' ';} while (tmp < 70); tmp = 0; __ISB();
while (( tmp < 15) && ( r_task->task_names[tmp] != 0)) { ser_buf_log[tmp] = r_task->task_names[tmp]; tmp++; };
ser_buf_log[16] = ';';
if ( (uint32_t)r_task->top_stack & 1 ) ser_buf_log[17] = 'M'; else ser_buf_log[17] = 'n';
ser_val_txt(&ser_buf_log[21], r_task->task_nomer);
ser_buf_log[22] = ';';
ser_val_txt(&ser_buf_log[28], r_task->stack_area_size);
ser_buf_log[29] = ';'; ser_buf_log[36] = ';';
ser_val_txt(&ser_buf_log[35], r_task->stack_area_used);
temp = r_task->activ_time * 100; temp /= os_data.tick_1ms;
ser_buf_log[41] = '%'; ser_buf_log[42] = ';';
ser_val_txt(&ser_buf_log[40], temp);
tmp = 44; temp = r_task->task_mode; uint32_t temp2 = 0;
while ( task_status_txt[temp][temp2] != 0 ) { ser_buf_log[tmp++] = task_status_txt[temp][temp2++];};
ser_buf_log[tmp++] = '\n'; ser_buf_log[tmp] = 0;
__DSB();
printo (ser_buf_log); //monitor_print ("/n");
__DSB();__ISB();
next_task = (uint32_t) r_task->task_form_head;
return next_task;
};
void os_Task_del(void)
{
os_data.activ->task_mode = delete_task;
asm volatile ("push {r3} \n\t"
"mov r3, 0x04 \n\t" //#4 __to_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
};
uint32_t ser_del_task(uint32_t next)
{
struct task* task_l;
struct task* task_d;
task_l = os_data.main_task;
task_d = os_data.service;
ser_os_free_all(os_data.service->task_nomer);
while (task_l->task_form_head != task_d) task_l = task_l->task_form_head;
if (next == (uint32_t)task_d) next = (uint32_t)task_d->task_form_head;
task_l->task_form_head = task_d->task_form_head;
asm volatile ("push {r3} \n\t"
"mov r3, 0x08 \n\t" //#8 __delete_task
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
return next;
};
void ser_new_task (void)
{
struct task_argument* tmp_arg;
tmp_arg = (struct task_argument*)os_data.service->swap_data;
struct task* task_r;
uint32_t task_new, step, n_l, n_h;
task_r = (struct task*)os_data.main_task;
uint32_t b_nomer[8]; b_nomer[0] = (uint32_t) 0-2;
for (uint32_t i = 1; i < 8; i++) {b_nomer[i] = (uint32_t) 0-1;};
task_r = (struct task*)os_data.main_task;
struct task* task_wt; task_new = 0;
step = sizeof(struct task)*2 + tmp_arg->_size;
do{
if (task_new == 0)
{
if (((((uint32_t)task_r->task_form_head + step + task_r->stack_area_size ) <= (uint32_t)task_r)))
{
task_new = (uint32_t)task_r - (task_r->stack_area_size + sizeof(struct task));
task_wt = task_r;
};
};
n_h = task_r->task_nomer >> 5; n_l = task_r->task_nomer & 31;
b_nomer[n_h] = __BIC(b_nomer[n_h], (uint32_t) 1 << n_l);
task_r = task_r->task_form_head;
}while ((uint32_t)task_r != 0);
if ((uint32_t) task_wt->task_form_head == 0) os_data.use_task_stop = (uint32_t*) ( task_new - tmp_arg->_size - 4);
uint8_t nomer_new; step = (uint32_t) 0-1;
do{ nomer_new = __CLZ(__RBIT(b_nomer[++step]));} while( nomer_new == 32);
nomer_new += (step << 5);
uint32_t* rwnew;
uint32_t* rw0;
rwnew = (uint32_t*) task_new - 17; rw0 = rwnew + 28;
do{*++rwnew = 0;} while (rwnew < rw0); rwnew -= 15;
*++rwnew = (uint32_t) os_Task_del; // lr
*++rwnew = (uint32_t) tmp_arg->_func; // pc
*++rwnew = 0x1000000; // psr
*++rwnew = task_new; // task_head
*++rwnew = task_new; //task_tail
*++rwnew = (uint32_t) task_wt->task_form_head; //task_form_head
task_wt->task_form_head = (struct task*) task_new;
os_data.task_switch = (struct task*) task_new;
*++rwnew = task_new - 64; rwnew += 1; // top_stack
*++rwnew = (uint32_t) tmp_arg->_func_name; //task_names
*++rwnew = tmp_arg->_size; // stack_area_size
*++rwnew = tmp_arg->_time_rate | (nomer_new << 24); //activ_time
asm volatile ("push {r3} \n\t"
"mov r3, 0x07 \n\t" //#7 __task_new
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
};
//uintptr_t
struct ram_malloc
{
uint32_t offset:24;
uint32_t name:8;
};
/// Удалить память (адрес)
void os_free (void* d_adres)
{
uint8_t* adres; adres = (uint8_t*) d_adres - 1;
if (os_data.activ->task_nomer != *adres ) return;
os_data.activ->task_mode = delete_ram;
os_data.activ->swap_data = (uint32_t) adres;
asm volatile ("push {r3} \n\t"
"mov r3, 0x04 \n\t" //#4 __to_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
};
void ser_os_free(void)
{
uint8_t* del_ram;
del_ram = (uint8_t*)os_data.service->swap_data;
*del_ram = 0;
asm volatile ("push {r3} \n\t"
"mov r3, 0x03 \n\t" //#3 __ret_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
};
void ser_os_free_all(uint8_t nomer)
{
uint32_t names;
uint32_t* ram_have;
ram_have = (uint32_t*) os_data.malloc0_start;
uint32_t name = 0XFF;
int32_t offset = 0;
do
{
if (!((name == nomer) | (name == 0)))
{
ram_have += offset;
names = *ram_have;
offset = names & 0x00FFFFFF;
name = names >> 24;
}else
{
*ram_have = offset;
names = *(ram_have + offset);
offset += names & 0x00FFFFFF;
name = names >> 24;
};
}while(names != 0);
*ram_have = 0;
os_data.malloc0_stop = ram_have;
};
void ser_new_ram (void)
{
int32_t new_ram_size;
new_ram_size = os_data.service->swap_data;
int32_t offset = 0;
uint32_t* ram_have;
ram_have = (uint32_t*) os_data.malloc0_start;
uint32_t name = 0XFF;
uint32_t names;
do
{
if (name != 0)
{
ram_have += offset;
names = *ram_have;
offset = names & 0x00FFFFFF;
name = names >> 24;
if (names == 0) break;
}else
{
names = *(ram_have + offset);
offset += names & 0x00FFFFFF;
name = names >> 24;
if (names == 0) break;
};
}while((name != 0)|(offset < new_ram_size));
if (os_data.use_task_stop < (ram_have + new_ram_size) )
{
os_data.service->task_mode--;
return;
};
if (os_data.malloc0_stop < (ram_have + new_ram_size) )
{
os_data.malloc0_stop = ram_have + new_ram_size;
};
*ram_have = new_ram_size + (os_data.service->task_nomer << 24);
if (names == 0) { *(ram_have + new_ram_size) = 0;}
else if (offset > new_ram_size) { *(ram_have + new_ram_size) = offset - new_ram_size;};
os_data.service->swap_data = (uint32_t) ram_have + 4;
asm volatile ("push {r3} \n\t"
"mov r3, 0x03 \n\t" //#3 __ret_service
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
return;
};
/// Включить прерывание, преоритет (от 14 до 0)
void os_EnableIRQ(IRQn_Type IRQn, uint8_t priority)
{
register uint8_t __IRQn asm ("r0") = IRQn;
register uint8_t __priority asm ("r1") = priority;
asm volatile ("push {r3} \n\t"
"mov r3, 0x09 \n\t" //#9 __EnableIRQ
"svc 0x0 \n\t"
"pop {r3} \n\t"
:: "r" (__IRQn), "r" (__priority):"memory");
};
/// Отключить прерывание - после запуска ос
void os_DisableIRQ(IRQn_Type IRQn)
{
register uint8_t __IRQn asm ("r0") = IRQn;
asm volatile ("push {r3} \n\t"
"mov r3, 0x0A \n\t" //#10 __DisableIRQ;
"svc 0x0 \n\t"
"pop {r3} \n\t"
:: "r" (__IRQn):"memory");
};
uint32_t soft_ranndom (void)
{
asm volatile ("push {r3} \n\t"
"mov r3, 0x0C \n\t" //#C __ranndom
"svc 0x0 \n\t"
"pop {r3} \n\t"
:::"memory");
volatile uint32_t out = os_data.activ->swap_data;
return out;
};
uint32_t os_Random( uint32_t range)
{
uint32_t tmp_x;
#if defined(__STM32F4xx_H) || defined(__STM32F7xx_H )
while(!RNG->SR) delay(10); // stm32f4-stm32f7
tmp_x = RNG->DR; // stm32f4-stm32f7
#else
tmp_x = soft_ranndom();
#endif
tmp_x = tmp_x % range;
return tmp_x;
};
#pragma GCC pop_options