Цитата(Сергей Борщ @ Oct 1 2007, 18:53)
Ну например прерывание передачи по UART забирает данные из OS:channel<uint8_t>. А данные там кончились... В этом случае pop() попытается передать управление другой задаче, и это приведет к краху. Поэтому прежде чем вызвать pop() надо проверить - а есть ли данные. Аналогично для push().
Для TEventFlag есть специальная функция SignalISR() - ее можно использовать в прерываниях без опаски. Она при необходимости может поставить какую-либо задачу в очередь готовых к выполнению, но саму перепланировку не выполняет - перепланировка будет выполнена после выхода из прерывания.
Понял.
Цитата(Сергей Борщ @ Oct 1 2007, 18:53)
В каком месте? Покажите, может там ошибка...
Откуда я залил уже не помню.
Файл OS_Target_asm.s79
Дата файла от 08.02.07
//******************************************************************************
//*
//* FULLNAME: Single-Chip Microcontroller Real-Time Operating System
//*
//* NICKNAME: scmRTOS
//*
//* PROCESSOR: ARM7
//*
//* TOOLKIT: EWARM (IAR Systems)
//*
//* PURPOSE: Target Dependent Low-Level Stuff
//*
//* Version: 3.00-beta
//*
//* $Revision: 31 $
//* $Date: 2007-02-08 18:51:14 +0600 (╨є╤й, 08 ╤д╨╡╨▓ 2007) $
//*
//* Copyright © 2003-2006, Harry E. Zhurov
//*
//* Permission is hereby granted, free of charge, to any person
//* obtaining a copy of this software and associated documentation
//* files (the "Software"), to deal in the Software without restriction,
//* including without limitation the rights to use, copy, modify, merge,
//* publish, distribute, sublicense, and/or sell copies of the Software,
//* and to permit persons to whom the Software is furnished to do so,
//* subject to the following conditions:
//*
//* The above copyright notice and this permission notice shall be included
//* in all copies or substantial portions of the Software.
//*
//* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
//* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
//* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
//* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
//* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
//* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH
//* THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//*
//* =================================================================
//* See
http://scmrtos.sourceforge.net for documentation, latest
//* information, license and contact details.
//* =================================================================
//*
//******************************************************************************
//* ARM port by Sergey A. Borshch, Copyright © 2006
#include "scmRTOS_CONFIG.h"
#include "scmRTOS_TARGET_CFG.h"
#include "OS_Target_core.h"
module scmRTOS_Asm
#define MODE_USER 0x10
#define MODE_FIQ 0x11
#define MODE_IRQ 0x12
#define MODE_SVC 0x13
#define MODE_ABORT 0x17
#define MODE_UND 0x1B
#define MODE_SYS 0x1F
#define NIRQ (1<<7)
#define NFIQ (1<<6)
#define THUMB (1<<5)
// Context structure:
// lo address
// CPSR
// R14 (LR)
// R0
// R1
// R2
// R3
// R4
// R5
// R6
// R7
// R8
// R9
// R10
// R11
// R12
// Process interrupt point (return address)
// hi address
CODE32
;-------------------------------------------------------------------------------
#if scmRTOS_CONTEXT_SWITCH_SCHEME == 0 COMMON INTVEC:CODE:ROOT
org 0x00000008
LDR PC, Context_Switcher_Adr ; Branch to swi_handler org 0x00000018
LDR PC, IRQ_Wrapper_Adr
org 0x00000020
org 0x00000028
Context_Switcher_Adr:
DC32 Context_Switcher org 0x00000038
IRQ_Wrapper_Adr:
DC32 IRQ_Wrapper
;-------------------------------------------------------------------------------
RSEG ICODE:CODE
IRQ_Wrapper:
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, because context has to be saved
; on top of user mode stack, enable FIQ
STMFD SP!, {R0-R12,LR} ; store R0_R12, dummy store LR to reserve space in context
STMFD SP!, {R1,LR} ; reserve space for CPSR, store LR_user on top of context
MOV R0, SP ; store context pointer in non-banked register
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switching back to IRQ mode
SUB LR, LR, #4 ; adjusting return address
STR LR, [R0, #4*15] ; store return address in reserved space (instead of saved LR_user)
MRS R1, SPSR ; move stored CPSR of process to non-banked register
STR R1, [R0] ; store SPSR in reserved space (instead of saved R1)
IRQ_SWITCH ; call IRQ handler
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, because context has to be restored
; from user mode stack, enable FIQ
MOV R0, SP
B ContextRestore ; restore saved IRQ context
RSEG ICODE:CODE
PUBLIC SaveSP
PUBLIC Set_New_SP
SaveSP:
// __arm void SaveSP(TStackItem** Curr_SP)
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, to get access to sp_user
STR SP, [R0]
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switching back to IRQ mode
BX LR
Set_New_SP:
// __arm void SetNewSP(TStackItem* New_SP)
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, to get access to sp_user
MOV SP, R0
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switching back to IRQ mode
BX LR
;-------------------------------------------------------------------------------
// __swi __arm void OS_ContextSwitcher(TStackItem** Curr_SP, TStackItem* Next_SP);
Context_Switcher:
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, because context has to be saved
; on top of user mode stack, enable FIQ
STMFD SP!, {R0-R12,LR} ; store R0_R12, dummy store LR to reserve space in context
SUB R2, SP, #4*2 ; store context pointer in non-banked register (reserve space for CPSR, LR)
MSR CPSR_c, #(NIRQ | MODE_SVC) ; switching back to supervisor mode
STR LR, [R2, #4*15] ; store return address in reserved space (instead of saved LR_user)
MRS R3, SPSR ; move stored CPSR of process to non-banked register
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching back to System mode
STMFD SP!, {R3,LR} ; store CPSR, LR_user on top of context and adjust SP_user
STR SP,[R0]
MOV R0, R1
ContextRestore
LDMFD R0!, {R1, LR} ; restoring LR_user, saved CPSR_user
ADD SP, R0, #4*14 ; set process SP
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switch to IRQ mode to get access to SPSR_irq
MSR SPSR_cxsf, R1 ; store process CPSR to SPSR_irq to restore at return from irq
LDMFD R0, {R0-R12,PC}^ ; restoring remaining context, CPSR and reti
#else //if scmRTOS_CONTEXT_SWITCH_SCHEME == 1;
-------------------------------------------------------------------------------
COMMON INTVEC:CODE:ROOT
org 0x00000018
IRQ_SWITCH ; ∩σ≡σ⌡εΣ ∩ε αΣ≡σ±≤ Φτ ΓσΩ≥ε≡φεπε Ωεφ≥≡εδδσ≡α
;-------------------------------------------------------------------------------
RSEG ICODE:CODE
// TStackItem* OS_ContextSwitchHook(TStackItem* sp);
EXTERN OS_ContextSwitchHook
PUBLIC ContextSwitcher_ISR
ContextSwitcher_ISR:
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching to System mode, because context has to be saved
; on top of user mode stack, enable FIQ
STMFD SP!, {R0-R12,LR} ; store R0_R12, dummy store LR to reserve space in context
SUB R0, SP, #4*2 ; store context pointer in non-banked register (reserve space for CPSR, LR)
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switching back to IRQ mode
SUB LR, LR, #4 ; adjusting return address
STR LR, [R0, #4*15] ; store return address in reserved space (instead of saved LR_user)
MRS R1, SPSR ; move stored CPSR of process to non-banked register
MSR CPSR_c, #(NIRQ | MODE_SYS) ; switching back to System mode
STMFD SP!, {R1,LR} ; store CPSR, LR_user on top of context and adjust SP_user
; to use process stack in OS_ContextSwitchHook
_BLF OS_ContextSwitchHook, Hook_Relay ; store context pointer(R0), get new context pointer(R0)
IRQ_DONE ; reset interrupt controller
ContextRestore
LDMFD R0!, {R1, LR} ; restoring LR_user, saved CPSR_user
ADD SP, R0, #4*14 ; set process SP
MSR CPSR_c, #(NIRQ | MODE_IRQ) ; switch to IRQ mode to get access to SPSR_irq
MSR SPSR_cxsf, R1 ; store process CPSR to SPSR_irq to restore at return from irq
LDMFD R0, {R0-R12,PC}^ ; restoring remining context, CPSR and reti
RSEG ICODE:CODE
Hook_Relay:
LDR R1, =OS_ContextSwitchHook ; call Thumb mode routine
BX R1
#endif
;-------------------------------------------------------------------------------
RSEG CSTACK:DATA
RSEG ICODE:CODE
// Set SP_irq to main() stack, restore context referenced by R0
// void OS_Start(TStackItem* sp);
PUBLIC OS_Start
OS_Start:
MSR CPSR_c, #(NIRQ | NFIQ | MODE_IRQ) ; switching to IRQ mode, disable FIQ & IRQ
LDR SP, =SFE(CSTACK) & 0xFFFFFFF8 ; End of CSTACK
MSR CPSR_c, #(NIRQ | NFIQ | MODE_SYS) ; switching back to System mode, disable FIQ & IRQ
; ContextRestore typically called from System mode
B ContextRestore ; Restore context = run process
;-------------------------------------------------------------------------------
ENDMOD
END
PS. Я в тесте выделил красным и зеленым цветом места.
Я текст исходный.
Сообщение отредактировал alexander55 - Oct 2 2007, 04:48
scmRTOS. Вопросы и ответы.
Oct 1 2007, 09:35
