Simple RTOS for Microchip Baseline and Midrange MCUs
This is file "SimpleRTOS.h"//============================================================================== // SimpleRTOS - Very simple RTOS for Microchip(R) Baseline and Midrange uCs // v1.00 (2008-09-23) // isaacbavaresco@yahoo.com.br //============================================================================== /* Copyright (c) 2007-2008, Isaac Marino Bavaresco All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Neither the name of the author nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ''AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ //============================================================================== /* Notes: - Works with Hi-Tech PICC v9.60PL2; - Assembler optimizations must be OFF for every file that implements task functions (it is better to have the task functions in one or more files with no standard functions, to minimize the un-optimized code length). - Every task function must have a call to the macro "TASK_INIT( <task function name> );" as the first statement; - Every function called directly or indirectly by more than one task must have a call to the macro "FUNC_INIT( <function name> );" as the first statement, unless it doesn't have any parameters nor automatic variables, or all paths through the call-graphs that it belongs have at least one function that calls "FUNC_INIT" before the function is called. Unfortunately this impose certain restrictions when using library functions, unless each library function is called from just one task, or it is present only in call-graphs that at least one function calls "FUNC_INIT" before the library function is called, or you rebuild the library adding the call to "FUNC_INIT" to the library functions that need it. - SimpleRTOS functions and macros that may cause a context switch (Eg: Yield, Sleep, DeleteTask (when deleting itself) and MutexTake ) must be called only directly inside the task function, never indirectly by other functions. TO DO: - Find a way to reuse local variables of tasks that are never active at the same time. - Implement semaphores. - Implement priorities and slice length. */ //============================================================================== #if !defined __SimpleRTOS_H__ #define __SimpleRTOS_H__ //============================================================================== #include <pic.h> //============================================================================== #if !defined NULL #define NULL 0 #endif // !defined NULL //============================================================================== #define USE_BLOCKINGS //============================================================================== #define Yield() { \ SavePCLATH = PCLATH; \ asm("global _SavePCH " ); \ asm("global _SavePCL " ); \ asm("global _Scheduler " ); \ asm("movlw high ($+7) " ); \ asm("movwf _SavePCH " ); \ asm("movlw low ($+5) " ); \ asm("movwf _SavePCL " ); \ asm("movlw high _Scheduler " ); \ asm("movwf 10 " ); \ asm("goto _Scheduler " ); \ PCLATH = SavePCLATH; \ } //============================================================================== #define DeleteTask(t) { \ if( _DeleteTask((t)) ) \ { \ asm( "global _AbortTask " ); \ asm( "movlw high _AbortTask " ); \ asm( "movwf 10 " ); \ asm( "goto _AbortTask " ); \ } \ } //============================================================================== // Put the current task to sleep for 't' ticks. If 't' is greater than 127 then // the task is suspended (sleeping forever). #define Sleep(t) { \ _Sleep( t ); \ Yield(); \ } //============================================================================== #define TASK_INIT(f) asm( "FNROOT _" #f ) //============================================================================== #define FUNC_INIT(f) asm( "FNCALL intlevel1,_" #f ); \ #pragma interrupt_level 1 //============================================================================== #define StartRTOS() { \ asm( "global __StartRTOS " ); \ asm( "movlw high __StartRTOS" ); \ asm( "movwf 10 " ); \ asm( "goto __StartRTOS " ); \ } //============================================================================== #define MutexTake(m,t) { \ if( !_MutexTake( (m), (t) )) \ Yield(); \ } //============================================================================== #define OwnTheMutex(m) ((m)->Owner == CurrentTask) //============================================================================== typedef bank2 struct { /// Saves the high byte of the program counter unsigned char PCH; /// Saves the low byte of the program counter unsigned char PCL; unsigned char PCLATH; unsigned char FSR; unsigned char TDelay; #ifdef USE_BLOCKINGS void bank2 *PreviousDelayedTask; void bank2 *NextDelayedTask; void bank2 *DelayList; #else // USE_BLOCKINGS #define PreviousDelayedTask Previous #define NextDelayedTask Next #define DelayList List #endif // USE_BLOCKINGS #ifdef USE_SLICE_LENGTH unsigned char SliceLength; #endif // USE_SLICE_LENGTH #ifdef USE_PRIORITIES unsigned char Priority; #endif // USE_PRIORITIES void bank2 *Previous; void bank2 *Next; void bank2 *List; } TS_Context; //============================================================================== typedef bank2 struct { TS_Context *Owner; TS_Context *WaitingList; } TS_Mutex; //============================================================================== extern unsigned char Ticks; extern unsigned char SavePCH; extern unsigned char SavePCL; extern unsigned char SaveFSR; extern unsigned char SavePCLATH; extern TS_Context *CurrentTask; //============================================================================== void InitRTOS ( TS_Context *Contexts, unsigned char Number ); void _StartRTOS ( void ); void Scheduler ( void ); void _Sleep ( unsigned char t ); TS_Context *CreateTask ( void(*TaskFunc)(void) ); bit _DeleteTask ( TS_Context *Task ); bit ResumeTask ( TS_Context *Task ); bit _MutexTake ( TS_Mutex *Mutex, unsigned char t ); bit MutexGive ( TS_Mutex *Mutex ); //============================================================================== #endif // !defined __SimpleRTOS_H__ //==============================================================================
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