modern-embedded-programming-course/lesson-25/tm4c123-keil/miros.c

/****************************************************************************
* MInimal Real-time Operating System (MIROS)
* version 0.25 (matching lesson 25)
*
* This software is a teaching aid to illustrate the concepts underlying
* a Real-Time Operating System (RTOS). The main goal of the software is
* simplicity and clear presentation of the concepts, but without dealing
* with various corner cases, portability, or error handling. For these
* reasons, the software is generally NOT intended or recommended for use
* in commercial applications.
*
* Copyright (C) 2018 Miro Samek. All Rights Reserved.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
* Contact Information:
* https://www.state-machine.com
****************************************************************************/
#include <stdint.h>
#include "miros.h"
#include "qassert.h"

Q_DEFINE_THIS_FILE

OSThread * volatile OS_curr; /* pointer to the current thread */
OSThread * volatile OS_next; /* pointer to the next thread to run */

OSThread *OS_thread[32 + 1]; /* array of threads started so far */
uint8_t OS_threadNum; /* number of threads started so far */
uint8_t OS_currIdx; /* current thread index for round robin scheduling */
uint32_t OS_readySet; /* bitmask of threads that are ready to run */

OSThread idleThread;
void main_idleThread() {
    while (1) {
        OS_onIdle();
    }
}

void OS_init(void *stkSto, uint32_t stkSize) {
    /* set the PendSV interrupt priority to the lowest level 0xFF */
    *(uint32_t volatile *)0xE000ED20 |= (0xFFU << 16);

    /* start idleThread thread */
    OSThread_start(&idleThread,
                   &main_idleThread,
                   stkSto, stkSize);
}

void OS_sched(void) {
    /* OS_next = ... */
    if (OS_readySet == 0U) { /* idle condition? */
        OS_currIdx = 0U; /* index of the idle thread */
    }
    else {
        do {
            ++OS_currIdx;
            if (OS_currIdx == OS_threadNum) {
                OS_currIdx = 1U;
            }
        } while ((OS_readySet & (1U << (OS_currIdx - 1U))) == 0U);
    }
    /* temporarty for the next thread */
    OSThread * const next = OS_thread[OS_currIdx];

    /* trigger PendSV, if needed */
    if (next != OS_curr) {
        OS_next = next;
        *(uint32_t volatile *)0xE000ED04 = (1U << 28);
    }
}

void OS_run(void) {
    /* callback to configure and start interrupts */
    OS_onStartup();

    __asm volatile ("cpsid i");
    OS_sched();
    __asm volatile ("cpsie i");

    /* the following code should never execute */
    Q_ERROR();
}

void OS_tick(void) {
    uint8_t n;
    for (n = 1U; n < OS_threadNum; ++n) {
        if (OS_thread[n]->timeout != 0U) {
            --OS_thread[n]->timeout;
            if (OS_thread[n]->timeout == 0U) {
                OS_readySet |= (1U << (n - 1U));
            }
        }
    }
}

void OS_delay(uint32_t ticks) {
    __asm volatile ("cpsid i");

    /* never call OS_delay from the idleThread */
    Q_REQUIRE(OS_curr != OS_thread[0]);

    OS_curr->timeout = ticks;
    OS_readySet &= ~(1U << (OS_currIdx - 1U));
    OS_sched();
    __asm volatile ("cpsie i");
}

void OSThread_start(
    OSThread *me,
    OSThreadHandler threadHandler,
    void *stkSto, uint32_t stkSize)
{
    /* round down the stack top to the 8-byte boundary
    * NOTE: ARM Cortex-M stack grows down from hi -> low memory
    */
    uint32_t *sp = (uint32_t *)((((uint32_t)stkSto + stkSize) / 8) * 8);
    uint32_t *stk_limit;

    *(--sp) = (1U << 24);  /* xPSR */
    *(--sp) = (uint32_t)threadHandler; /* PC */
    *(--sp) = 0x0000000EU; /* LR  */
    *(--sp) = 0x0000000CU; /* R12 */
    *(--sp) = 0x00000003U; /* R3  */
    *(--sp) = 0x00000002U; /* R2  */
    *(--sp) = 0x00000001U; /* R1  */
    *(--sp) = 0x00000000U; /* R0  */
    /* additionally, fake registers R4-R11 */
    *(--sp) = 0x0000000BU; /* R11 */
    *(--sp) = 0x0000000AU; /* R10 */
    *(--sp) = 0x00000009U; /* R9 */
    *(--sp) = 0x00000008U; /* R8 */
    *(--sp) = 0x00000007U; /* R7 */
    *(--sp) = 0x00000006U; /* R6 */
    *(--sp) = 0x00000005U; /* R5 */
    *(--sp) = 0x00000004U; /* R4 */

    /* save the top of the stack in the thread's attibute */
    me->sp = sp;

    /* round up the bottom of the stack to the 8-byte boundary */
    stk_limit = (uint32_t *)(((((uint32_t)stkSto - 1U) / 8) + 1U) * 8);

    /* pre-fill the unused part of the stack with 0xDEADBEEF */
    for (sp = sp - 1U; sp >= stk_limit; --sp) {
        *sp = 0xDEADBEEFU;
    }

    Q_ASSERT(OS_threadNum < Q_DIM(OS_thread));

    /* register the thread with the OS */
    OS_thread[OS_threadNum] = me;
    /* make the thread ready to run */
    if (OS_threadNum > 0U) {
        OS_readySet |= (1U << (OS_threadNum - 1U));
    }
    ++OS_threadNum;
}

__attribute__ ((naked))
void PendSV_Handler(void) {
__asm volatile (
    /* __disable_irq(); */
    "  CPSID         I                 \n"

    /* if (OS_curr != (OSThread *)0) { */
    "  LDR           r1,=OS_curr       \n"
    "  LDR           r1,[r1,#0x00]     \n"
    "  CBZ           r1,PendSV_restore \n"

    /*     push registers r4-r11 on the stack */
    "  PUSH          {r4-r11}          \n"

    /*     OS_curr->sp = sp; */
    "  LDR           r1,=OS_curr       \n"
    "  LDR           r1,[r1,#0x00]     \n"
    "  STR           sp,[r1,#0x00]     \n"
    /* } */

    "PendSV_restore:                   \n"
    /* sp = OS_next->sp; */
    "  LDR           r1,=OS_next       \n"
    "  LDR           r1,[r1,#0x00]     \n"
    "  LDR           sp,[r1,#0x00]     \n"

    /* OS_curr = OS_next; */
    "  LDR           r1,=OS_next       \n"
    "  LDR           r1,[r1,#0x00]     \n"
    "  LDR           r2,=OS_curr       \n"
    "  STR           r1,[r2,#0x00]     \n"

    /* pop registers r4-r11 */
    "  POP           {r4-r11}          \n"

    /* __enable_irq(); */
    "  CPSIE         I                 \n"

    /* return to the next thread */
    "  BX            lr                \n"
    );
}