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- #define MICRIUM_SOURCE
- #ifndef OS_MASTER_FILE
- #include <ucos_ii.h>
- #endif
- #if OS_MUTEX_EN > 0u
- #define OS_MUTEX_KEEP_LOWER_8 ((INT16U)0x00FFu)
- #define OS_MUTEX_KEEP_UPPER_8 ((INT16U)0xFF00u)
- #define OS_MUTEX_AVAILABLE ((INT16U)0x00FFu)
- static void OSMutex_RdyAtPrio(OS_TCB *ptcb, INT8U prio);
- #if OS_MUTEX_ACCEPT_EN > 0u
- BOOLEAN OSMutexAccept (OS_EVENT *pevent,
- INT8U *perr)
- {
- INT8U pcp;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- #ifdef OS_SAFETY_CRITICAL
- if (perr == (INT8U *)0) {
- OS_SAFETY_CRITICAL_EXCEPTION();
- return (OS_FALSE);
- }
- #endif
- #if OS_ARG_CHK_EN > 0u
- if (pevent == (OS_EVENT *)0) {
- *perr = OS_ERR_PEVENT_NULL;
- return (OS_FALSE);
- }
- #endif
- if (pevent->OSEventType != OS_EVENT_TYPE_MUTEX) {
- *perr = OS_ERR_EVENT_TYPE;
- return (OS_FALSE);
- }
- if (OSIntNesting > 0u) {
- *perr = OS_ERR_PEND_ISR;
- return (OS_FALSE);
- }
- OS_ENTER_CRITICAL();
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
- if ((pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8) == OS_MUTEX_AVAILABLE) {
- pevent->OSEventCnt &= OS_MUTEX_KEEP_UPPER_8;
- pevent->OSEventCnt |= OSTCBCur->OSTCBPrio;
- pevent->OSEventPtr = (void *)OSTCBCur;
- if ((pcp != OS_PRIO_MUTEX_CEIL_DIS) &&
- (OSTCBCur->OSTCBPrio <= pcp)) {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_PCP_LOWER;
- } else {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_NONE;
- }
- return (OS_TRUE);
- }
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_NONE;
- return (OS_FALSE);
- }
- #endif
- OS_EVENT *OSMutexCreate (INT8U prio,
- INT8U *perr)
- {
- OS_EVENT *pevent;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- #ifdef OS_SAFETY_CRITICAL
- if (perr == (INT8U *)0) {
- OS_SAFETY_CRITICAL_EXCEPTION();
- return ((OS_EVENT *)0);
- }
- #endif
- #ifdef OS_SAFETY_CRITICAL_IEC61508
- if (OSSafetyCriticalStartFlag == OS_TRUE) {
- OS_SAFETY_CRITICAL_EXCEPTION();
- return ((OS_EVENT *)0);
- }
- #endif
- #if OS_ARG_CHK_EN > 0u
- if (prio != OS_PRIO_MUTEX_CEIL_DIS) {
- if (prio >= OS_LOWEST_PRIO) {
- *perr = OS_ERR_PRIO_INVALID;
- return ((OS_EVENT *)0);
- }
- }
- #endif
- if (OSIntNesting > 0u) {
- *perr = OS_ERR_CREATE_ISR;
- return ((OS_EVENT *)0);
- }
- OS_ENTER_CRITICAL();
- if (prio != OS_PRIO_MUTEX_CEIL_DIS) {
- if (OSTCBPrioTbl[prio] != (OS_TCB *)0) {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_PRIO_EXIST;
- return ((OS_EVENT *)0);
- }
- OSTCBPrioTbl[prio] = OS_TCB_RESERVED;
- }
- pevent = OSEventFreeList;
- if (pevent == (OS_EVENT *)0) {
- if (prio != OS_PRIO_MUTEX_CEIL_DIS) {
- OSTCBPrioTbl[prio] = (OS_TCB *)0;
- }
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_PEVENT_NULL;
- return (pevent);
- }
- OSEventFreeList = (OS_EVENT *)OSEventFreeList->OSEventPtr;
- OS_EXIT_CRITICAL();
- pevent->OSEventType = OS_EVENT_TYPE_MUTEX;
- pevent->OSEventCnt = (INT16U)((INT16U)prio << 8u) | OS_MUTEX_AVAILABLE;
- pevent->OSEventPtr = (void *)0;
- #if OS_EVENT_NAME_EN > 0u
- pevent->OSEventName = (INT8U *)(void *)"?";
- #endif
- OS_EventWaitListInit(pevent);
- *perr = OS_ERR_NONE;
- return (pevent);
- }
- #if OS_MUTEX_DEL_EN > 0u
- OS_EVENT *OSMutexDel (OS_EVENT *pevent,
- INT8U opt,
- INT8U *perr)
- {
- BOOLEAN tasks_waiting;
- OS_EVENT *pevent_return;
- INT8U pcp;
- INT8U prio;
- OS_TCB *ptcb;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- #ifdef OS_SAFETY_CRITICAL
- if (perr == (INT8U *)0) {
- OS_SAFETY_CRITICAL_EXCEPTION();
- return ((OS_EVENT *)0);
- }
- #endif
- #if OS_ARG_CHK_EN > 0u
- if (pevent == (OS_EVENT *)0) {
- *perr = OS_ERR_PEVENT_NULL;
- return (pevent);
- }
- #endif
- if (pevent->OSEventType != OS_EVENT_TYPE_MUTEX) {
- *perr = OS_ERR_EVENT_TYPE;
- return (pevent);
- }
- if (OSIntNesting > 0u) {
- *perr = OS_ERR_DEL_ISR;
- return (pevent);
- }
- OS_ENTER_CRITICAL();
- if (pevent->OSEventGrp != 0u) {
- tasks_waiting = OS_TRUE;
- } else {
- tasks_waiting = OS_FALSE;
- }
- switch (opt) {
- case OS_DEL_NO_PEND:
- if (tasks_waiting == OS_FALSE) {
- #if OS_EVENT_NAME_EN > 0u
- pevent->OSEventName = (INT8U *)(void *)"?";
- #endif
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
- if (pcp != OS_PRIO_MUTEX_CEIL_DIS) {
- OSTCBPrioTbl[pcp] = (OS_TCB *)0;
- }
- pevent->OSEventType = OS_EVENT_TYPE_UNUSED;
- pevent->OSEventPtr = OSEventFreeList;
- pevent->OSEventCnt = 0u;
- OSEventFreeList = pevent;
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_NONE;
- pevent_return = (OS_EVENT *)0;
- } else {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_TASK_WAITING;
- pevent_return = pevent;
- }
- break;
- case OS_DEL_ALWAYS:
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
- if (pcp != OS_PRIO_MUTEX_CEIL_DIS) {
- prio = (INT8U)(pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8);
- ptcb = (OS_TCB *)pevent->OSEventPtr;
- if (ptcb != (OS_TCB *)0) {
- if (ptcb->OSTCBPrio == pcp) {
- OSMutex_RdyAtPrio(ptcb, prio);
- }
- }
- }
- while (pevent->OSEventGrp != 0u) {
- (void)OS_EventTaskRdy(pevent, (void *)0, OS_STAT_MUTEX, OS_STAT_PEND_ABORT);
- }
- #if OS_EVENT_NAME_EN > 0u
- pevent->OSEventName = (INT8U *)(void *)"?";
- #endif
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
- if (pcp != OS_PRIO_MUTEX_CEIL_DIS) {
- OSTCBPrioTbl[pcp] = (OS_TCB *)0;
- }
- pevent->OSEventType = OS_EVENT_TYPE_UNUSED;
- pevent->OSEventPtr = OSEventFreeList;
- pevent->OSEventCnt = 0u;
- OSEventFreeList = pevent;
- OS_EXIT_CRITICAL();
- if (tasks_waiting == OS_TRUE) {
- OS_Sched();
- }
- *perr = OS_ERR_NONE;
- pevent_return = (OS_EVENT *)0;
- break;
- default:
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_INVALID_OPT;
- pevent_return = pevent;
- break;
- }
- return (pevent_return);
- }
- #endif
- void OSMutexPend (OS_EVENT *pevent,
- INT32U timeout,
- INT8U *perr)
- {
- INT8U pcp;
- INT8U mprio;
- BOOLEAN rdy;
- OS_TCB *ptcb;
- OS_EVENT *pevent2;
- INT8U y;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- #ifdef OS_SAFETY_CRITICAL
- if (perr == (INT8U *)0) {
- OS_SAFETY_CRITICAL_EXCEPTION();
- return;
- }
- #endif
- #if OS_ARG_CHK_EN > 0u
- if (pevent == (OS_EVENT *)0) {
- *perr = OS_ERR_PEVENT_NULL;
- return;
- }
- #endif
- if (pevent->OSEventType != OS_EVENT_TYPE_MUTEX) {
- *perr = OS_ERR_EVENT_TYPE;
- return;
- }
- if (OSIntNesting > 0u) {
- *perr = OS_ERR_PEND_ISR;
- return;
- }
- if (OSLockNesting > 0u) {
- *perr = OS_ERR_PEND_LOCKED;
- return;
- }
- OS_ENTER_CRITICAL();
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
-
- if ((INT8U)(pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8) == OS_MUTEX_AVAILABLE) {
- pevent->OSEventCnt &= OS_MUTEX_KEEP_UPPER_8;
- pevent->OSEventCnt |= OSTCBCur->OSTCBPrio;
- pevent->OSEventPtr = (void *)OSTCBCur;
- if ((pcp != OS_PRIO_MUTEX_CEIL_DIS) &&
- (OSTCBCur->OSTCBPrio <= pcp)) {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_PCP_LOWER;
- } else {
- OS_EXIT_CRITICAL();
- *perr = OS_ERR_NONE;
- }
- return;
- }
- if (pcp != OS_PRIO_MUTEX_CEIL_DIS) {
- mprio = (INT8U)(pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8);
- ptcb = (OS_TCB *)(pevent->OSEventPtr);
- if (ptcb->OSTCBPrio > pcp) {
- if (mprio > OSTCBCur->OSTCBPrio) {
- y = ptcb->OSTCBY;
- if ((OSRdyTbl[y] & ptcb->OSTCBBitX) != 0u) {
- OSRdyTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX;
- if (OSRdyTbl[y] == 0u) {
- OSRdyGrp &= (OS_PRIO)~ptcb->OSTCBBitY;
- }
- rdy = OS_TRUE;
- } else {
- pevent2 = ptcb->OSTCBEventPtr;
- if (pevent2 != (OS_EVENT *)0) {
- y = ptcb->OSTCBY;
- pevent2->OSEventTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX;
- if (pevent2->OSEventTbl[y] == 0u) {
- pevent2->OSEventGrp &= (OS_PRIO)~ptcb->OSTCBBitY;
- }
- }
- rdy = OS_FALSE;
- }
- ptcb->OSTCBPrio = pcp;
- #if OS_LOWEST_PRIO <= 63u
- ptcb->OSTCBY = (INT8U)( ptcb->OSTCBPrio >> 3u);
- ptcb->OSTCBX = (INT8U)( ptcb->OSTCBPrio & 0x07u);
- #else
- ptcb->OSTCBY = (INT8U)((INT8U)(ptcb->OSTCBPrio >> 4u) & 0xFFu);
- ptcb->OSTCBX = (INT8U)( ptcb->OSTCBPrio & 0x0Fu);
- #endif
- ptcb->OSTCBBitY = (OS_PRIO)(1uL << ptcb->OSTCBY);
- ptcb->OSTCBBitX = (OS_PRIO)(1uL << ptcb->OSTCBX);
- if (rdy == OS_TRUE) {
- OSRdyGrp |= ptcb->OSTCBBitY;
- OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
- } else {
- pevent2 = ptcb->OSTCBEventPtr;
- if (pevent2 != (OS_EVENT *)0) {
- pevent2->OSEventGrp |= ptcb->OSTCBBitY;
- pevent2->OSEventTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
- }
- }
- OSTCBPrioTbl[pcp] = ptcb;
- }
- }
- }
- OSTCBCur->OSTCBStat |= OS_STAT_MUTEX;
- OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
- OSTCBCur->OSTCBDly = timeout;
- OS_EventTaskWait(pevent);
- OS_EXIT_CRITICAL();
- OS_Sched();
- OS_ENTER_CRITICAL();
- switch (OSTCBCur->OSTCBStatPend) {
- case OS_STAT_PEND_OK:
- *perr = OS_ERR_NONE;
- break;
- case OS_STAT_PEND_ABORT:
- *perr = OS_ERR_PEND_ABORT;
- break;
- case OS_STAT_PEND_TO:
- default:
- OS_EventTaskRemove(OSTCBCur, pevent);
- *perr = OS_ERR_TIMEOUT;
- break;
- }
- OSTCBCur->OSTCBStat = OS_STAT_RDY;
- OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
- OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0;
- #if (OS_EVENT_MULTI_EN > 0u)
- OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
- #endif
- OS_EXIT_CRITICAL();
- }
- INT8U OSMutexPost (OS_EVENT *pevent)
- {
- INT8U pcp;
- INT8U prio;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- if (OSIntNesting > 0u) {
- return (OS_ERR_POST_ISR);
- }
- #if OS_ARG_CHK_EN > 0u
- if (pevent == (OS_EVENT *)0) {
- return (OS_ERR_PEVENT_NULL);
- }
- #endif
- if (pevent->OSEventType != OS_EVENT_TYPE_MUTEX) {
- return (OS_ERR_EVENT_TYPE);
- }
- OS_ENTER_CRITICAL();
- pcp = (INT8U)(pevent->OSEventCnt >> 8u);
- prio = (INT8U)(pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8);
- if (OSTCBCur != (OS_TCB *)pevent->OSEventPtr) {
- OS_EXIT_CRITICAL();
- return (OS_ERR_NOT_MUTEX_OWNER);
- }
- if (pcp != OS_PRIO_MUTEX_CEIL_DIS) {
- if (OSTCBCur->OSTCBPrio == pcp) {
- OSMutex_RdyAtPrio(OSTCBCur, prio);
- }
- OSTCBPrioTbl[pcp] = OS_TCB_RESERVED;
- }
- if (pevent->OSEventGrp != 0u) {
-
- prio = OS_EventTaskRdy(pevent, (void *)0, OS_STAT_MUTEX, OS_STAT_PEND_OK);
- pevent->OSEventCnt &= OS_MUTEX_KEEP_UPPER_8;
- pevent->OSEventCnt |= prio;
- pevent->OSEventPtr = OSTCBPrioTbl[prio];
- if ((pcp != OS_PRIO_MUTEX_CEIL_DIS) &&
- (prio <= pcp)) {
- OS_EXIT_CRITICAL();
- OS_Sched();
- return (OS_ERR_PCP_LOWER);
- } else {
- OS_EXIT_CRITICAL();
- OS_Sched();
- return (OS_ERR_NONE);
- }
- }
- pevent->OSEventCnt |= OS_MUTEX_AVAILABLE;
- pevent->OSEventPtr = (void *)0;
- OS_EXIT_CRITICAL();
- return (OS_ERR_NONE);
- }
- #if OS_MUTEX_QUERY_EN > 0u
- INT8U OSMutexQuery (OS_EVENT *pevent,
- OS_MUTEX_DATA *p_mutex_data)
- {
- INT8U i;
- OS_PRIO *psrc;
- OS_PRIO *pdest;
- #if OS_CRITICAL_METHOD == 3u
- OS_CPU_SR cpu_sr = 0u;
- #endif
- if (OSIntNesting > 0u) {
- return (OS_ERR_QUERY_ISR);
- }
- #if OS_ARG_CHK_EN > 0u
- if (pevent == (OS_EVENT *)0) {
- return (OS_ERR_PEVENT_NULL);
- }
- if (p_mutex_data == (OS_MUTEX_DATA *)0) {
- return (OS_ERR_PDATA_NULL);
- }
- #endif
- if (pevent->OSEventType != OS_EVENT_TYPE_MUTEX) {
- return (OS_ERR_EVENT_TYPE);
- }
- OS_ENTER_CRITICAL();
- p_mutex_data->OSMutexPCP = (INT8U)(pevent->OSEventCnt >> 8u);
- p_mutex_data->OSOwnerPrio = (INT8U)(pevent->OSEventCnt & OS_MUTEX_KEEP_LOWER_8);
- if (p_mutex_data->OSOwnerPrio == 0xFFu) {
- p_mutex_data->OSValue = OS_TRUE;
- } else {
- p_mutex_data->OSValue = OS_FALSE;
- }
- p_mutex_data->OSEventGrp = pevent->OSEventGrp;
- psrc = &pevent->OSEventTbl[0];
- pdest = &p_mutex_data->OSEventTbl[0];
- for (i = 0u; i < OS_EVENT_TBL_SIZE; i++) {
- *pdest++ = *psrc++;
- }
- OS_EXIT_CRITICAL();
- return (OS_ERR_NONE);
- }
- #endif
- static void OSMutex_RdyAtPrio (OS_TCB *ptcb,
- INT8U prio)
- {
- INT8U y;
- y = ptcb->OSTCBY;
- OSRdyTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX;
- if (OSRdyTbl[y] == 0u) {
- OSRdyGrp &= (OS_PRIO)~ptcb->OSTCBBitY;
- }
- ptcb->OSTCBPrio = prio;
- OSPrioCur = prio;
- #if OS_LOWEST_PRIO <= 63u
- ptcb->OSTCBY = (INT8U)((INT8U)(prio >> 3u) & 0x07u);
- ptcb->OSTCBX = (INT8U)(prio & 0x07u);
- #else
- ptcb->OSTCBY = (INT8U)((INT8U)(prio >> 4u) & 0x0Fu);
- ptcb->OSTCBX = (INT8U) (prio & 0x0Fu);
- #endif
- ptcb->OSTCBBitY = (OS_PRIO)(1uL << ptcb->OSTCBY);
- ptcb->OSTCBBitX = (OS_PRIO)(1uL << ptcb->OSTCBX);
- OSRdyGrp |= ptcb->OSTCBBitY;
- OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
- OSTCBPrioTbl[prio] = ptcb;
- }
- #endif
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