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/*--------------------------------------------------------------------
 * TITLE: Plasma Real Time Operating System
 * AUTHOR: Steve Rhoads (rhoadss@yahoo.com)
 * DATE CREATED: 12/17/05
 * FILENAME: rtos.c
 * PROJECT: Plasma CPU core
 * COPYRIGHT: Software placed into the public domain by the author.
 *    Software 'as is' without warranty.  Author liable for nothing.
 * DESCRIPTION:
 *    Plasma Real Time Operating System
 *    Fully pre-emptive RTOS with support for:
 *       Heaps, Threads, Semaphores, Mutexes, Message Queues, and Timers.
 *    This file tries to be hardware independent except for calls to:
 *       MemoryRead() and MemoryWrite() for interrupts.
 *    Partial support for multiple CPUs using symmetric multiprocessing.
 *--------------------------------------------------------------------*/
#include "plasma.h"
#include "rtos.h"
 
#define HEAP_MAGIC 0x1234abcd
#define THREAD_MAGIC 0x4321abcd
#define SEM_RESERVED_COUNT 2
#define INFO_COUNT 4
#define HEAP_COUNT 8
 
 
/*************** Structures ***************/
#ifdef WIN32
   #define setjmp _setjmp
   //x86 registers
   typedef struct jmp_buf2 {
      uint32 Ebp, Ebx, Edi, Esi, sp, pc, extra[10];
   } jmp_buf2;
#elif defined(ARM_CPU)
   //ARM registers
   typedef struct jmp_buf2 {
      uint32 r[13], sp, lr, pc, cpsr, extra[5];
   } jmp_buf2;
#else  
   //Plasma registers
   typedef struct jmp_buf2 {
      uint32 s[9], gp, sp, pc;
   } jmp_buf2;
#endif
 
typedef struct HeapNode_s {
   struct HeapNode_s *next;
   int size;
} HeapNode_t;
 
struct OS_Heap_s {
   uint32 magic;
   const char *name;
   OS_Semaphore_t *semaphore;
   HeapNode_t *available;
   HeapNode_t base;
   struct OS_Heap_s *alternate;
};
//typedef struct OS_Heap_s OS_Heap_t;
 
typedef enum {
   THREAD_PEND    = 0,       //Thread in semaphore's linked list
   THREAD_READY   = 1,       //Thread in ThreadHead linked list
   THREAD_RUNNING = 2        //Thread == ThreadCurrent[cpu]
} OS_ThreadState_e;
 
struct OS_Thread_s {
   const char *name;         //Name of thread
   OS_ThreadState_e state;   //Pending, ready, or running
   int cpuIndex;             //Which CPU is running the thread
   int cpuLock;              //Lock the thread to a specific CPU
   jmp_buf env;              //Registers saved during context swap
   OS_FuncPtr_t funcPtr;     //First function called
   void *arg;                //Argument to first function called
   uint32 priority;          //Priority of thread (0=low, 255=high)
   uint32 ticksTimeout;      //Tick value when semaphore pend times out
   void *info[INFO_COUNT];   //User storage
   OS_Semaphore_t *semaphorePending;  //Semaphore thread is blocked on
   int returnCode;           //Return value from semaphore pend
   uint32 processId;         //Process ID if using MMU
   OS_Heap_t *heap;          //Heap used if no heap specified
   struct OS_Thread_s *next; //Linked list of threads by priority
   struct OS_Thread_s *prev;
   struct OS_Thread_s *nextTimeout; //Linked list of threads by timeout
   struct OS_Thread_s *prevTimeout;
   uint32 magic[1];          //Bottom of stack to detect stack overflow
};
//typedef struct OS_Thread_s OS_Thread_t;
 
struct OS_Semaphore_s {
   const char *name;
   struct OS_Thread_s *threadHead; //threads pending on semaphore
   int count;
};
//typedef struct OS_Semaphore_s OS_Semaphore_t;
 
struct OS_Mutex_s {
   OS_Semaphore_t *semaphore;
   OS_Thread_t *thread;
   int count;
};
//typedef struct OS_Mutex_s OS_Mutex_t;
 
struct OS_MQueue_s {
   const char *name;
   OS_Semaphore_t *semaphore;
   int count, size, used, read, write;
};
//typedef struct OS_MQueue_s OS_MQueue_t;
 
struct OS_Timer_s {
   const char *name;
   struct OS_Timer_s *next, *prev;
   uint32 ticksTimeout;
   uint32 ticksRestart;
   int active;
   OS_TimerFuncPtr_t callback;
   OS_MQueue_t *mqueue;
   uint32 info;
};
//typedef struct OS_Timer_s OS_Timer_t;
 
 
/*************** Globals ******************/
static OS_Heap_t *HeapArray[HEAP_COUNT];
static int InterruptInside[OS_CPU_COUNT];
static int ThreadNeedReschedule[OS_CPU_COUNT];
static OS_Thread_t *ThreadCurrent[OS_CPU_COUNT];  //Currently running thread(s)
static OS_Thread_t *ThreadHead;   //Linked list of threads sorted by priority
static OS_Thread_t *TimeoutHead;  //Linked list of threads sorted by timeout
static int ThreadSwapEnabled;
static uint32 ThreadTime;         //Number of ~10ms ticks since reboot
static void *NeedToFree;          //Closed but not yet freed thread
static OS_Semaphore_t SemaphoreReserved[SEM_RESERVED_COUNT];
static OS_Semaphore_t *SemaphoreSleep;
static OS_Semaphore_t *SemaphoreRelease;
static OS_Semaphore_t *SemaphoreLock;
static OS_Semaphore_t *SemaphoreTimer;
static OS_Timer_t *TimerHead;     //Linked list of timers sorted by timeout
static OS_FuncPtr_t Isr[32];
 
 
/***************** Heap *******************/
/******************************************/
OS_Heap_t *OS_HeapCreate(const char *name, void *memory, uint32 size)
{
   OS_Heap_t *heap;
 
   assert(((uint32)memory & 3) == 0);
   heap = (OS_Heap_t*)memory;
   heap->magic = HEAP_MAGIC;
   heap->name = name;
   heap->semaphore = OS_SemaphoreCreate(name, 1);
   heap->available = (HeapNode_t*)(heap + 1);
   heap->available->next = &heap->base;
   heap->available->size = (size - sizeof(OS_Heap_t)) / sizeof(HeapNode_t);
   heap->base.next = heap->available;
   heap->base.size = 0;
   return heap;
}
 
 
/******************************************/
void OS_HeapDestroy(OS_Heap_t *heap)
{
   OS_SemaphoreDelete(heap->semaphore);
}
 
 
/******************************************/
//Modified from Kernighan & Ritchie "The C Programming Language"
void *OS_HeapMalloc(OS_Heap_t *heap, int bytes)
{
   HeapNode_t *node, *prevp;
   int nunits;
 
   if(heap == NULL && OS_ThreadSelf())
      heap = OS_ThreadSelf()->heap;
   if((uint32)heap < HEAP_COUNT)
      heap = HeapArray[(int)heap];
   nunits = (bytes + sizeof(HeapNode_t) - 1) / sizeof(HeapNode_t) + 1;
   OS_SemaphorePend(heap->semaphore, OS_WAIT_FOREVER);
   prevp = heap->available;
   for(node = prevp->next; ; prevp = node, node = node->next)
   {
      if(node->size >= nunits)       //Big enough?
      {
         if(node->size == nunits)    //Exactly
            prevp->next = node->next;
         else
         {                           //Allocate tail end
            node->size -= nunits;
            node += node->size;
            node->size = nunits;
         }
         heap->available = prevp;
         node->next = (HeapNode_t*)heap;
         OS_SemaphorePost(heap->semaphore);
         return (void*)(node + 1);
      }
      if(node == heap->available)   //Wrapped around free list
      {
         OS_SemaphorePost(heap->semaphore);
         if(heap->alternate)
            return OS_HeapMalloc(heap->alternate, bytes);
         return NULL;
      }
   }
}
 
 
/******************************************/
//Modified from K&R
void OS_HeapFree(void *block)
{
   OS_Heap_t *heap;
   HeapNode_t *bp, *node;
 
   assert(block);
   bp = (HeapNode_t*)block - 1;   //point to block header
   heap = (OS_Heap_t*)bp->next;
   assert(heap->magic == HEAP_MAGIC);
   if(heap->magic != HEAP_MAGIC)
      return;
   OS_SemaphorePend(heap->semaphore, OS_WAIT_FOREVER);
   for(node = heap->available; !(node < bp && bp < node->next); node = node->next)
   {
      if(node >= node->next && (bp > node || bp < node->next))
         break;               //freed block at start or end of area
   }
 
   if(bp + bp->size == node->next)   //join to upper
   {
      bp->size += node->next->size;
      bp->next = node->next->next;
   }
   else
   {
      bp->next = node->next;
   }
 
   if(node + node->size == bp)       //join to lower
   {
      node->size += bp->size;
      node->next = bp->next;
   }
   else
      node->next = bp;
   heap->available = node;
   OS_SemaphorePost(heap->semaphore);
}
 
 
/******************************************/
void OS_HeapAlternate(OS_Heap_t *heap, OS_Heap_t *alternate)
{
   heap->alternate = alternate;
}
 
 
/******************************************/
void OS_HeapRegister(void *index, OS_Heap_t *heap)
{
   if((uint32)index < HEAP_COUNT)
      HeapArray[(int)index] = heap;
}
 
 
 
/***************** Thread *****************/
/******************************************/
//Linked list of threads sorted by priority
//The listed list is either ThreadHead (ready to run threads not including
//the currently running thread) or a list of threads waiting on a semaphore.
//Must be called with interrupts disabled
static void OS_ThreadPriorityInsert(OS_Thread_t **head, OS_Thread_t *thread)
{
   OS_Thread_t *node, *prev;
 
   prev = NULL;
   for(node = *head; node; node = node->next)
   {
      if(node->priority < thread->priority)
         break;
      prev = node;
   }
 
   if(prev == NULL)
   {
      thread->next = *head;
      thread->prev = NULL;
      if(*head)
         (*head)->prev = thread;
      *head = thread;
   }
   else
   {
      if(prev->next)
         prev->next->prev = thread;
      thread->next = prev->next;
      thread->prev = prev;
      prev->next = thread;
   }
   assert(ThreadHead);
   thread->state = THREAD_READY;
}
 
 
/******************************************/
//Must be called with interrupts disabled
static void OS_ThreadPriorityRemove(OS_Thread_t **head, OS_Thread_t *thread)
{
   assert(thread->magic[0] == THREAD_MAGIC);  //check stack overflow
   if(thread->prev == NULL)
      *head = thread->next;
   else
      thread->prev->next = thread->next;
   if(thread->next)
      thread->next->prev = thread->prev;
   thread->next = NULL;
   thread->prev = NULL;
}
 
 
/******************************************/
//Linked list of threads sorted by timeout value
//Must be called with interrupts disabled
static void OS_ThreadTimeoutInsert(OS_Thread_t *thread)
{
   OS_Thread_t *node, *prev;
   int diff;
 
   prev = NULL;
   for(node = TimeoutHead; node; node = node->nextTimeout)
   {
      diff = thread->ticksTimeout - node->ticksTimeout;
      if(diff <= 0)
         break;
      prev = node;
   }
 
   if(prev == NULL)
   {
      thread->nextTimeout = TimeoutHead;
      thread->prevTimeout = NULL;
      if(TimeoutHead)
         TimeoutHead->prevTimeout = thread;
      TimeoutHead = thread;
   }
   else
   {
      if(prev->nextTimeout)
         prev->nextTimeout->prevTimeout = thread;
      thread->nextTimeout = prev->nextTimeout;
      thread->prevTimeout = prev;
      prev->nextTimeout = thread;
   }
}
 
 
/******************************************/
//Must be called with interrupts disabled
static void OS_ThreadTimeoutRemove(OS_Thread_t *thread)
{
   if(thread->prevTimeout == NULL && TimeoutHead != thread)
      return;         //not in list
   if(thread->prevTimeout == NULL)
      TimeoutHead = thread->nextTimeout;
   else
      thread->prevTimeout->nextTimeout = thread->nextTimeout;
   if(thread->nextTimeout)
      thread->nextTimeout->prevTimeout = thread->prevTimeout;
   thread->nextTimeout = NULL;
   thread->prevTimeout = NULL;
}
 
 
/******************************************/
//Loads highest priority thread from the ThreadHead linked list
//The currently running thread isn't in the ThreadHead list
//Must be called with interrupts disabled
static void OS_ThreadReschedule(int roundRobin)
{
   OS_Thread_t *threadNext, *threadCurrent;
   int rc, cpuIndex = OS_CpuIndex();
 
   if(ThreadSwapEnabled == 0 || InterruptInside[cpuIndex])
   {
      ThreadNeedReschedule[cpuIndex] |= 2 + roundRobin;  //Reschedule later
      return;
   }
   ThreadNeedReschedule[cpuIndex] = 0;
 
   //Determine which thread should run
   threadNext = ThreadHead;
   while(threadNext && threadNext->cpuLock != -1 &&
         threadNext->cpuLock != cpuIndex)
      threadNext = threadNext->next;         //Skip CPU locked threads
   if(threadNext == NULL)
      return;
   threadCurrent = ThreadCurrent[cpuIndex];
 
   if(threadCurrent == NULL ||
      threadCurrent->state == THREAD_PEND ||
      threadCurrent->priority < threadNext->priority ||
      (roundRobin && threadCurrent->priority == threadNext->priority))
   {
      //Swap threads
      ThreadCurrent[cpuIndex] = threadNext;
      if(threadCurrent)
      {
         assert(threadCurrent->magic[0] == THREAD_MAGIC); //check stack overflow
         if(threadCurrent->state == THREAD_RUNNING)
            OS_ThreadPriorityInsert(&ThreadHead, threadCurrent);
         rc = setjmp(threadCurrent->env);  //ANSI C call to save registers
         if(rc)
            return;  //Returned from longjmp()
      }
 
      //Remove the new running thread from the ThreadHead linked list
      threadNext = ThreadCurrent[OS_CpuIndex()]; //removed warning
      assert(threadNext->state == THREAD_READY);
      OS_ThreadPriorityRemove(&ThreadHead, threadNext);
      threadNext->state = THREAD_RUNNING;
      threadNext->cpuIndex = OS_CpuIndex();
      longjmp(threadNext->env, 1);         //ANSI C call to restore registers
   }
}
 
 
/******************************************/
void OS_ThreadCpuLock(OS_Thread_t *thread, int cpuIndex)
{
   thread->cpuLock = cpuIndex;
   if(thread == OS_ThreadSelf() && cpuIndex != (int)OS_CpuIndex())
      OS_ThreadSleep(1);
}
 
 
/******************************************/
static void OS_ThreadInit(void *arg)
{
   uint32 cpuIndex = OS_CpuIndex();
   (void)arg;
 
   OS_CriticalEnd(1);
   ThreadCurrent[cpuIndex]->funcPtr(ThreadCurrent[cpuIndex]->arg);
   OS_ThreadExit();
}
 
 
/******************************************/
//Stops warning "argument X might be clobbered by `longjmp'"
static void OS_ThreadRegsInit(jmp_buf env)
{
   setjmp(env); //ANSI C call to save registers
}
 
 
/******************************************/
OS_Thread_t *OS_ThreadCreate(const char *name,
                             OS_FuncPtr_t funcPtr,
                             void *arg,
                             uint32 priority,
                             uint32 stackSize)
{
   OS_Thread_t *thread;
   uint8 *stack;
   jmp_buf2 *env;
   uint32 state;
 
   OS_SemaphorePend(SemaphoreRelease, OS_WAIT_FOREVER);
   if(NeedToFree)
      OS_HeapFree(NeedToFree);
   NeedToFree = NULL;
   OS_SemaphorePost(SemaphoreRelease);
 
   if(stackSize == 0)
      stackSize = STACK_SIZE_DEFAULT;
   if(stackSize < STACK_SIZE_MINIMUM)
      stackSize = STACK_SIZE_MINIMUM;
   thread = (OS_Thread_t*)OS_HeapMalloc(NULL, sizeof(OS_Thread_t) + stackSize);
   assert(thread);
   if(thread == NULL)
      return NULL;
   memset(thread, 0, sizeof(OS_Thread_t));
   stack = (uint8*)(thread + 1);
   memset(stack, 0xcd, stackSize);
 
   thread->name = name;
   thread->state = THREAD_READY;
   thread->cpuLock = -1;
   thread->funcPtr = funcPtr;
   thread->arg = arg;
   thread->priority = priority;
   thread->semaphorePending = NULL;
   thread->returnCode = 0;
   if(OS_ThreadSelf())
   {
      thread->processId = OS_ThreadSelf()->processId;
      thread->heap = OS_ThreadSelf()->heap;
   }
   else
   {
      thread->processId = 0;
      thread->heap = NULL;
   }
   thread->next = NULL;
   thread->prev = NULL;
   thread->nextTimeout = NULL;
   thread->prevTimeout = NULL;
   thread->magic[0] = THREAD_MAGIC;
 
   OS_ThreadRegsInit(thread->env);
   env = (jmp_buf2*)thread->env;
   env->sp = (uint32)stack + stackSize - 24; //minimum stack frame size
   env->pc = (uint32)OS_ThreadInit;
 
   //Add thread to linked list of ready to run threads
   state = OS_CriticalBegin();
   OS_ThreadPriorityInsert(&ThreadHead, thread);
   OS_ThreadReschedule(0);                   //run highest priority thread
   OS_CriticalEnd(state);
   return thread;
}
 
 
/******************************************/
void OS_ThreadExit(void)
{
   uint32 state, cpuIndex = OS_CpuIndex();
 
   for(;;)
   {
      //Free the memory for closed but not yet freed threads
      OS_SemaphorePend(SemaphoreRelease, OS_WAIT_FOREVER);
      if(NeedToFree)
         OS_HeapFree(NeedToFree);
      NeedToFree = NULL;
      OS_SemaphorePost(SemaphoreRelease);
 
      state = OS_CriticalBegin();
      if(NeedToFree)
      {
         OS_CriticalEnd(state);
         continue;
      }
      ThreadCurrent[cpuIndex]->state = THREAD_PEND;
      NeedToFree = ThreadCurrent[cpuIndex];
      OS_ThreadReschedule(0);
      OS_CriticalEnd(state);
   }
}
 
 
/******************************************/
//Return currently running thread
OS_Thread_t *OS_ThreadSelf(void)
{
   return ThreadCurrent[OS_CpuIndex()];
}
 
 
/******************************************/
//Sleep for ~10 msecs ticks
void OS_ThreadSleep(int ticks)
{
   OS_SemaphorePend(SemaphoreSleep, ticks);
}
 
 
/******************************************/
//Return the number of ~10 msecs ticks since reboot
uint32 OS_ThreadTime(void)
{
   return ThreadTime;
}
 
 
/******************************************/
//Save thread unique values
void OS_ThreadInfoSet(OS_Thread_t *thread, uint32 index, void *Info)
{
   if(index < INFO_COUNT)
      thread->info[index] = Info;
}
 
 
/******************************************/
void *OS_ThreadInfoGet(OS_Thread_t *thread, uint32 index)
{
   if(index < INFO_COUNT)
      return thread->info[index];
   return NULL;
}
 
 
/******************************************/
uint32 OS_ThreadPriorityGet(OS_Thread_t *thread)
{
   return thread->priority;
}
 
 
/******************************************/
void OS_ThreadPrioritySet(OS_Thread_t *thread, uint32 priority)
{
   uint32 state;
   state = OS_CriticalBegin();
   thread->priority = priority;
   if(thread->state == THREAD_READY)
   {
      OS_ThreadPriorityRemove(&ThreadHead, thread);
      OS_ThreadPriorityInsert(&ThreadHead, thread);
      OS_ThreadReschedule(0);
   }
   OS_CriticalEnd(state);
}
 
 
/******************************************/
void OS_ThreadProcessId(OS_Thread_t *thread, uint32 processId, OS_Heap_t *heap)
{
   thread->processId = processId;
   thread->heap = heap;
}
 
 
/******************************************/
//Must be called with interrupts disabled every ~10 msecs
//Will wake up threads that have timed out waiting on a semaphore
void OS_ThreadTick(void *Arg)
{
   OS_Thread_t *thread;
   OS_Semaphore_t *semaphore;
   int diff;
   (void)Arg;
 
   ++ThreadTime;         //Number of ~10 msec ticks since reboot
   while(TimeoutHead)
   {
      thread = TimeoutHead;
      diff = ThreadTime - thread->ticksTimeout;
      if(diff < 0)
         break;
 
      //The thread has timed out waiting for a semaphore
      OS_ThreadTimeoutRemove(thread);
      semaphore = thread->semaphorePending;
      ++semaphore->count;
      thread->semaphorePending = NULL;
      thread->returnCode = -1;
      OS_ThreadPriorityRemove(&semaphore->threadHead, thread);
      OS_ThreadPriorityInsert(&ThreadHead, thread);
   }
   OS_ThreadReschedule(1);    //Run highest priority thread
}
 
 
 
/***************** Semaphore **************/
/******************************************/
//Create a counting semaphore
OS_Semaphore_t *OS_SemaphoreCreate(const char *name, uint32 count)
{
   OS_Semaphore_t *semaphore;
   static int semCount = 0;
 
   if(semCount < SEM_RESERVED_COUNT)
      semaphore = &SemaphoreReserved[semCount++];  //Heap not ready yet
   else
      semaphore = (OS_Semaphore_t*)OS_HeapMalloc(HEAP_SYSTEM, sizeof(OS_Semaphore_t));
   assert(semaphore);
   if(semaphore == NULL)
      return NULL;
 
   semaphore->name = name;
   semaphore->threadHead = NULL;
   semaphore->count = count;
   return semaphore;
}
 
 
/******************************************/
void OS_SemaphoreDelete(OS_Semaphore_t *semaphore)
{
   while(semaphore->threadHead)
      OS_SemaphorePost(semaphore);
   OS_HeapFree(semaphore);
}
 
 
/******************************************/
//Sleep the number of ticks (~10ms) until the semaphore is acquired
int OS_SemaphorePend(OS_Semaphore_t *semaphore, int ticks)
{
   uint32 state, cpuIndex;
   OS_Thread_t *thread;
   int returnCode=0;
 
   assert(semaphore);
   assert(InterruptInside[OS_CpuIndex()] == 0);
   state = OS_CriticalBegin();    //Disable interrupts
   if(--semaphore->count < 0)
   {
      //Semaphore not available
      if(ticks == 0)
      {
         ++semaphore->count;
         OS_CriticalEnd(state);
         return -1;
      }
 
      //Need to sleep until the semaphore is available
      cpuIndex = OS_CpuIndex();
      thread = ThreadCurrent[cpuIndex];
      assert(thread);
      thread->semaphorePending = semaphore;
      thread->ticksTimeout = ticks + OS_ThreadTime();
 
      //FYI: The current thread isn't in the ThreadHead linked list
      //Place the thread into a sorted linked list of pending threads
      OS_ThreadPriorityInsert(&semaphore->threadHead, thread);
      thread->state = THREAD_PEND;
      if(ticks != OS_WAIT_FOREVER)
         OS_ThreadTimeoutInsert(thread); //Check every ~10ms for timeouts
      assert(ThreadHead);
      OS_ThreadReschedule(0);           //Run highest priority thread
      returnCode = thread->returnCode;  //Will be -1 if timed out
   }
   OS_CriticalEnd(state);               //Re-enable interrupts
   return returnCode;
}
 
 
/******************************************/
//Release a semaphore and possibly wake up a blocked thread
void OS_SemaphorePost(OS_Semaphore_t *semaphore)
{
   uint32 state;
   OS_Thread_t *thread;
 
   assert(semaphore);
   state = OS_CriticalBegin();
   if(++semaphore->count <= 0)
   {
      //Wake up a thread that was waiting for this semaphore
      thread = semaphore->threadHead;
      OS_ThreadTimeoutRemove(thread);
      OS_ThreadPriorityRemove(&semaphore->threadHead, thread);
      OS_ThreadPriorityInsert(&ThreadHead, thread);
      thread->semaphorePending = NULL;
      thread->returnCode = 0;
      OS_ThreadReschedule(0);
   }
   OS_CriticalEnd(state);
}
 
 
 
/***************** Mutex ******************/
/******************************************/
//Create a mutex (a thread aware semaphore)
OS_Mutex_t *OS_MutexCreate(const char *name)
{
   OS_Mutex_t *mutex;
 
   mutex = (OS_Mutex_t*)OS_HeapMalloc(HEAP_SYSTEM, sizeof(OS_Mutex_t));
   if(mutex == NULL)
      return NULL;
   mutex->semaphore = OS_SemaphoreCreate(name, 1);
   if(mutex->semaphore == NULL)
      return NULL;
   mutex->thread = NULL;
   mutex->count = 0;
   return mutex;
}
 
 
/******************************************/
void OS_MutexDelete(OS_Mutex_t *mutex)
{
   OS_SemaphoreDelete(mutex->semaphore);
   OS_HeapFree(mutex);
}
 
 
/******************************************/
void OS_MutexPend(OS_Mutex_t *mutex)
{
   OS_Thread_t *thread;
 
   assert(mutex);
   thread = OS_ThreadSelf();
   if(thread == mutex->thread)
   {
      ++mutex->count;
      return;
   }
   OS_SemaphorePend(mutex->semaphore, OS_WAIT_FOREVER);
   mutex->thread = thread;
   mutex->count = 1;
}
 
 
/******************************************/
void OS_MutexPost(OS_Mutex_t *mutex)
{
   assert(mutex);
   assert(mutex->thread == OS_ThreadSelf());
   assert(mutex->count > 0);
   if(--mutex->count <= 0)
   {
      mutex->thread = NULL;
      OS_SemaphorePost(mutex->semaphore);
   }
}
 
 
 
/***************** MQueue *****************/
/******************************************/
//Create a message queue
OS_MQueue_t *OS_MQueueCreate(const char *name,
                             int messageCount,
                             int messageBytes)
{
   OS_MQueue_t *queue;
   int size;
 
   assert((messageBytes & 3) == 0);
   size = messageBytes / sizeof(uint32);
   queue = (OS_MQueue_t*)OS_HeapMalloc(HEAP_SYSTEM, sizeof(OS_MQueue_t) +
      messageCount * size * 4);
   if(queue == NULL)
      return queue;
   queue->name = name;
   queue->semaphore = OS_SemaphoreCreate(name, 0);
   if(queue->semaphore == NULL)
      return NULL;
   queue->count = messageCount;
   queue->size = size;
   queue->used = 0;
   queue->read = 0;
   queue->write = 0;
   return queue;
}
 
 
/******************************************/
void OS_MQueueDelete(OS_MQueue_t *mQueue)
{
   OS_SemaphoreDelete(mQueue->semaphore);
   OS_HeapFree(mQueue);
}
 
 
/******************************************/
//Send a message that is messageBytes long (defined during create)
int OS_MQueueSend(OS_MQueue_t *mQueue, void *message)
{
   uint32 state, *dst, *src;
   int i;
 
   assert(mQueue);
   src = (uint32*)message;
   state = OS_CriticalBegin();           //Disable interrupts
   if(++mQueue->used > mQueue->count)
   {
      //The message queue is full so discard the message
      --mQueue->used;
      OS_CriticalEnd(state);
      return -1;
   }
   dst = (uint32*)(mQueue + 1) + mQueue->write * mQueue->size;
   for(i = 0; i < mQueue->size; ++i)     //Copy the message into the queue
      dst[i] = src[i];
   if(++mQueue->write >= mQueue->count)
      mQueue->write = 0;
   OS_CriticalEnd(state);                //Re-enable interrupts
   OS_SemaphorePost(mQueue->semaphore);  //Wakeup the receiving thread
   return 0;
}
 
 
/******************************************/
//Receive a message that is messageBytes long (defined during create)
//Wait at most ~10 msec ticks
int OS_MQueueGet(OS_MQueue_t *mQueue, void *message, int ticks)
{
   uint32 state, *dst, *src;
   int i, rc;
 
   assert(mQueue);
   rc = OS_SemaphorePend(mQueue->semaphore, ticks); //Wait for message
   if(rc)
      return rc;                         //Request timed out so rc = -1
   state = OS_CriticalBegin();           //Disable interrupts
   --mQueue->used;
   dst = (uint32*)message;
   src = (uint32*)(mQueue + 1) + mQueue->read * mQueue->size;
   for(i = 0; i < mQueue->size; ++i)     //Copy message from the queue
      dst[i] = src[i];
   if(++mQueue->read >= mQueue->count)
      mQueue->read = 0;
   OS_CriticalEnd(state);                //Re-enable interrupts
   return 0;
}
 
 
 
/***************** Jobs *******************/
/******************************************/
typedef void (*JobFunc_t)();
static OS_MQueue_t *jobQueue;
static OS_Thread_t *jobThread;
 
//This thread waits for jobs that request a function to be called
static void JobThread(void *arg)
{
   uint32 message[4];
   JobFunc_t funcPtr;
   (void)arg;
   for(;;)
   {
      OS_MQueueGet(jobQueue, message, OS_WAIT_FOREVER);
      funcPtr = (JobFunc_t)message[0];
      funcPtr(message[1], message[2], message[3]);
   }
}
 
 
/******************************************/
//Call a function using the job thread so the caller won't be blocked
void OS_Job(void (*funcPtr)(), void *arg0, void *arg1, void *arg2)
{
   uint32 message[4];
   int rc;
 
   OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
   if(jobThread == NULL)
   {
      jobQueue = OS_MQueueCreate("job", 100, 16);
      jobThread = OS_ThreadCreate("job", JobThread, NULL, 150, 4000);
   }
   OS_SemaphorePost(SemaphoreLock);
 
   message[0] = (uint32)funcPtr;
   message[1] = (uint32)arg0;
   message[2] = (uint32)arg1;
   message[3] = (uint32)arg2;
   rc = OS_MQueueSend(jobQueue, message);
}
 
 
/***************** Timer ******************/
/******************************************/
//This thread polls the list of timers to see if any have timed out
static void OS_TimerThread(void *arg)
{
   uint32 timeNow;
   int diff, ticks;
   uint32 message[8];
   OS_Timer_t *timer;
   (void)arg;
 
   timeNow = OS_ThreadTime();  //Number of ~10 msec ticks since reboot
   for(;;)
   {
      //Determine how long to sleep
      OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
      if(TimerHead)
         ticks = TimerHead->ticksTimeout - timeNow;
      else
         ticks = OS_WAIT_FOREVER;
      OS_SemaphorePost(SemaphoreLock);
      OS_SemaphorePend(SemaphoreTimer, ticks);
 
      //Send messages for all timed out timers
      timeNow = OS_ThreadTime();
      for(;;)
      {
         timer = NULL;
         OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
         if(TimerHead)
         {
            diff = timeNow - TimerHead->ticksTimeout;
            if(diff >= 0)
               timer = TimerHead;
         }
         OS_SemaphorePost(SemaphoreLock);
         if(timer == NULL)
            break;
         if(timer->ticksRestart)
            OS_TimerStart(timer, timer->ticksRestart, timer->ticksRestart);
         else
            OS_TimerStop(timer);
 
         if(timer->callback)
            timer->callback(timer, timer->info);
         else
         {
            //Send message
            message[0] = MESSAGE_TYPE_TIMER;
            message[1] = (uint32)timer;
            message[2] = timer->info;
            OS_MQueueSend(timer->mqueue, message);
         }
      }
   }
}
 
 
/******************************************/
//Create a timer that will send a message upon timeout
OS_Timer_t *OS_TimerCreate(const char *name, OS_MQueue_t *mQueue, uint32 info)
{
   OS_Timer_t *timer;
 
   OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
   if(SemaphoreTimer == NULL)
   {
      SemaphoreTimer = OS_SemaphoreCreate("Timer", 0);
      OS_ThreadCreate("Timer", OS_TimerThread, NULL, 250, 2000);
   }
   OS_SemaphorePost(SemaphoreLock);
 
   timer = (OS_Timer_t*)OS_HeapMalloc(HEAP_SYSTEM, sizeof(OS_Timer_t));
   if(timer == NULL)
      return NULL;
   timer->name = name;
   timer->callback = NULL;
   timer->mqueue = mQueue;
   timer->next = NULL;
   timer->prev = NULL;
   timer->info = info;
   timer->active = 0;
   return timer;
}
 
 
/******************************************/
void OS_TimerDelete(OS_Timer_t *timer)
{
   OS_TimerStop(timer);
   OS_HeapFree(timer);
}
 
 
/******************************************/
void OS_TimerCallback(OS_Timer_t *timer, OS_TimerFuncPtr_t callback)
{
   timer->callback = callback;
}
 
 
/******************************************/
//Must not be called from an ISR
//In ~10 msec ticks send a message (or callback)
void OS_TimerStart(OS_Timer_t *timer, uint32 ticks, uint32 ticksRestart)
{
   OS_Timer_t *node, *prev;
   int diff, check=0;
 
   assert(timer);
   assert(InterruptInside[OS_CpuIndex()] == 0);
   ticks += OS_ThreadTime();
   if(timer->active)
      OS_TimerStop(timer);
   OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
   if(timer->active)
   {
      //Prevent race condition
      OS_SemaphorePost(SemaphoreLock);
      return;
   }
   timer->ticksTimeout = ticks;
   timer->ticksRestart = ticksRestart;
   timer->active = 1;
   prev = NULL;
   for(node = TimerHead; node; node = node->next)
   {
      diff = ticks - node->ticksTimeout;
      if(diff <= 0)
         break;
      prev = node;
   }
   timer->next = node;
   timer->prev = prev;
   if(node)
      node->prev = timer;
   if(prev == NULL)
   {
      TimerHead = timer;
      check = 1;
   }
   else
      prev->next = timer;
   OS_SemaphorePost(SemaphoreLock);
   if(check)
      OS_SemaphorePost(SemaphoreTimer);  //Wakeup OS_TimerThread
}
 
 
/******************************************/
//Must not be called from an ISR
void OS_TimerStop(OS_Timer_t *timer)
{
   assert(timer);
   assert(InterruptInside[OS_CpuIndex()] == 0);
   OS_SemaphorePend(SemaphoreLock, OS_WAIT_FOREVER);
   if(timer->active)
   {
      timer->active = 0;
      if(timer->prev == NULL)
         TimerHead = timer->next;
      else
         timer->prev->next = timer->next;
      if(timer->next)
         timer->next->prev = timer->prev;
   }
   OS_SemaphorePost(SemaphoreLock);
}
 
 
/***************** ISR ********************/
/******************************************/
void OS_InterruptServiceRoutine(uint32 status, uint32 *stack)
{
   int i;
   uint32 state, cpuIndex = OS_CpuIndex();
 
   if(status == 0 && Isr[31])
      Isr[31](stack);                   //SYSCALL or BREAK
 
   InterruptInside[cpuIndex] = 1;
   i = 0;
   do
   {
      if(status & 1)
      {
         if(Isr[i])
            Isr[i](stack);
         else
            OS_InterruptMaskClear(1 << i);
      }
      status >>= 1;
      ++i;
   } while(status);
   InterruptInside[cpuIndex] = 0;
 
   state = OS_SpinLock();
   if(ThreadNeedReschedule[cpuIndex])
      OS_ThreadReschedule(ThreadNeedReschedule[cpuIndex] & 1);
   OS_SpinUnlock(state);
}
 
 
/******************************************/
void OS_InterruptRegister(uint32 mask, OS_FuncPtr_t funcPtr)
{
   int i;
 
   for(i = 0; i < 32; ++i)
   {
      if(mask & (1 << i))
         Isr[i] = funcPtr;
   }
}
 
 
/******************************************/
//Plasma hardware dependent
uint32 OS_InterruptStatus(void)
{
   return MemoryRead(IRQ_STATUS);
}
 
 
/******************************************/
//Plasma hardware dependent
uint32 OS_InterruptMaskSet(uint32 mask)
{
   uint32 state;
   state = OS_CriticalBegin();
   mask |= MemoryRead(IRQ_MASK);
   MemoryWrite(IRQ_MASK, mask);
   OS_CriticalEnd(state);
   return mask;
}
 
 
/******************************************/
//Plasma hardware dependent
uint32 OS_InterruptMaskClear(uint32 mask)
{
   uint32 state;
   state = OS_CriticalBegin();
   mask = MemoryRead(IRQ_MASK) & ~mask;
   MemoryWrite(IRQ_MASK, mask);
   OS_CriticalEnd(state);
   return mask;
}
 
 
/**************** Init ********************/
/******************************************/
//If there aren't any other ready to run threads then spin here
static volatile uint32 IdleCount;
static void OS_IdleThread(void *arg)
{
   (void)arg;
 
   //Don't block in the idle thread!
   for(;;)
   {
      ++IdleCount;
   }
}
 
 
/******************************************/
#ifndef DISABLE_IRQ_SIM
//Simulate the hardware interrupts
static void OS_IdleSimulateIsr(void *arg)
{
   uint32 count=0, value;
   (void)arg;
 
   for(;;)
   {
      MemoryRead(IRQ_MASK + 4);       //calls Sleep(10)
#if WIN32
      while(OS_InterruptMaskSet(0) & IRQ_UART_WRITE_AVAILABLE)
         OS_InterruptServiceRoutine(IRQ_UART_WRITE_AVAILABLE, 0);
#endif
      value = OS_InterruptMaskSet(0) & 0xf;
      if(value)
         OS_InterruptServiceRoutine(value, 0);
      ++count;
   }
}
#endif //DISABLE_IRQ_SIM
 
 
/******************************************/
//Plasma hardware dependent
//ISR called every ~10 msecs when bit 18 of the counter register toggles
static void OS_ThreadTickToggle(void *arg)
{
   uint32 status, mask, state;
 
   //Toggle looking for IRQ_COUNTER18 or IRQ_COUNTER18_NOT
   state = OS_SpinLock();
   status = MemoryRead(IRQ_STATUS) & (IRQ_COUNTER18 | IRQ_COUNTER18_NOT);
   mask = MemoryRead(IRQ_MASK) | IRQ_COUNTER18 | IRQ_COUNTER18_NOT;
   mask &= ~status;
   MemoryWrite(IRQ_MASK, mask);
   OS_ThreadTick(arg);
   OS_SpinUnlock(state);
}
 
 
/******************************************/
//Initialize the OS by setting up the system heap and the tick interrupt
void OS_Init(uint32 *heapStorage, uint32 bytes)
{
   int i;
   if((int)OS_Init > 0x10000000)        //Running from DDR?
      OS_AsmInterruptInit();            //Patch interrupt vector
   OS_InterruptMaskClear(0xffffffff);   //Disable interrupts
   HeapArray[0] = OS_HeapCreate("Default", heapStorage, bytes);
   HeapArray[1] = HeapArray[0];
   SemaphoreSleep = OS_SemaphoreCreate("Sleep", 0);
   SemaphoreRelease = OS_SemaphoreCreate("Release", 1);
   SemaphoreLock = OS_SemaphoreCreate("Lock", 1);
   for(i = 0; i < OS_CPU_COUNT; ++i)
      OS_ThreadCreate("Idle", OS_IdleThread, NULL, 0, 256);
#ifndef DISABLE_IRQ_SIM
   if((OS_InterruptStatus() & (IRQ_COUNTER18 | IRQ_COUNTER18_NOT)) == 0)
   {
      //Detected that running in simulator so create SimIsr thread
      UartPrintfCritical("SimIsr\n");
      OS_ThreadCreate("SimIsr", OS_IdleSimulateIsr, NULL, 1, 0);
   }
#endif //DISABLE_IRQ_SIM
   //Plasma hardware dependent (register for OS tick interrupt every ~10 msecs)
   OS_InterruptRegister(IRQ_COUNTER18 | IRQ_COUNTER18_NOT, OS_ThreadTickToggle);
   OS_InterruptMaskSet(IRQ_COUNTER18 | IRQ_COUNTER18_NOT);
}
 
 
/******************************************/
//Start thread swapping
void OS_Start(void)
{
   ThreadSwapEnabled = 1;
   (void)OS_SpinLock();
   OS_ThreadReschedule(1);
}
 
 
/******************************************/
//Place breakpoint here
void OS_Assert(void)
{
}
 
 
#if OS_CPU_COUNT > 1
static uint8 SpinLockArray[OS_CPU_COUNT];
/******************************************/
uint32 OS_CpuIndex(void)
{
   return 0; //0 to OS_CPU_COUNT-1
}
 
 
/******************************************/
//Symmetric Multiprocessing Spin Lock Mutex
uint32 OS_SpinLock(void)
{
   uint32 state, cpuIndex, i, j, ok, delay;
 
   cpuIndex = OS_CpuIndex();
   delay = cpuIndex + 8;
   state = OS_AsmInterruptEnable(0);
   //Spin until only this CPU has the spin lock
   do
   {
      ok = 1;
      if(++SpinLockArray[cpuIndex] == 1)
      {
         for(i = 0; i < OS_CPU_COUNT; ++i)
         {
            if(i != cpuIndex && SpinLockArray[i])
               ok = 0;   //Another CPU has the spin lock
         }
         if(ok == 0)
         {
            SpinLockArray[cpuIndex] = 0;
            for(j = 0; j < delay; ++j)  //wait a bit
               ++i;
            if(delay < 128)
               delay <<= 1;
         }
      }
   } while(ok == 0);
   return state;
}
 
 
/******************************************/
void OS_SpinUnlock(uint32 state)
{
   uint32 cpuIndex;
   cpuIndex = OS_CpuIndex();
   if(--SpinLockArray[cpuIndex] == 0)
      OS_AsmInterruptEnable(state);
 
   assert(SpinLockArray[cpuIndex] < 10);
}
#endif  //OS_CPU_COUNT > 1
 
 
/************** WIN32/Linux Support *************/
#ifdef WIN32
#ifdef LINUX
#define putch putchar
#undef _LIBC
#undef kbhit
#undef getch
#define UartPrintf UartPrintf2
#define UartScanf UartScanf2
#include <stdio.h>
#include <stdlib.h>
#include <termios.h>
#include <unistd.h>
//Support RTOS inside Linux
void Sleep(unsigned int value)
{
   usleep(value * 1000);
}
 
int kbhit(void)
{
   struct termios oldt, newt;
   struct timeval tv;
   fd_set read_fd;
 
   tcgetattr(STDIN_FILENO, &oldt);
   newt = oldt;
   newt.c_lflag &= ~(ICANON | ECHO);
   tcsetattr(STDIN_FILENO, TCSANOW, &newt);
   tv.tv_sec=0;
   tv.tv_usec=0;
   FD_ZERO(&read_fd);
   FD_SET(0,&read_fd);
   if(select(1, &read_fd, NULL, NULL, &tv) == -1)
      return 0;
   if(FD_ISSET(0,&read_fd))
      return 1;
   return 0;
}
 
int getch(void)
{
   struct termios oldt, newt;
   int ch;
 
   tcgetattr(STDIN_FILENO, &oldt);
   newt = oldt;
   newt.c_lflag &= ~(ICANON | ECHO);
   tcsetattr(STDIN_FILENO, TCSANOW, &newt);
   ch = getchar();
   return ch;
}
#else
//Support RTOS inside Windows
#undef kbhit
#undef getch
#undef putch
extern int kbhit();
extern int getch(void);
extern int putch(int);
extern void __stdcall Sleep(unsigned long value);
#endif
 
static uint32 Memory[8];
 
//Simulates device register memory reads
uint32 MemoryRead(uint32 address)
{
   Memory[2] |= IRQ_UART_WRITE_AVAILABLE;    //IRQ_STATUS
   switch(address)
   {
   case UART_READ:
      if(kbhit())
         Memory[0] = getch();                //UART_READ
      Memory[2] &= ~IRQ_UART_READ_AVAILABLE; //clear bit
      return Memory[0];
   case IRQ_MASK:
      return Memory[1];                      //IRQ_MASK
   case IRQ_MASK + 4:
      Sleep(10);
      return 0;
   case IRQ_STATUS:
      if(kbhit())
         Memory[2] |= IRQ_UART_READ_AVAILABLE;
      return Memory[2];
   }
   return 0;
}
 
//Simulates device register memory writes
void MemoryWrite(uint32 address, uint32 value)
{
   switch(address)
   {
   case UART_WRITE:
      putch(value);
      break;
   case IRQ_MASK:
      Memory[1] = value;
      break;
   case IRQ_STATUS:
      Memory[2] = value;
      break;
   }
}
 
uint32 OS_AsmInterruptEnable(uint32 enableInterrupt)
{
   return enableInterrupt;
}
 
void OS_AsmInterruptInit(void)
{
}
#endif  //WIN32
 
 
/**************** Example *****************/
#ifndef NO_MAIN
#ifdef WIN32
static uint8 HeapSpace[1024*512];  //For simulation on a PC
#endif
 
int main(int programEnd, char *argv[])
{
   (void)programEnd;  //Pointer to end of used memory
   (void)argv;
 
   UartPrintfCritical("Starting RTOS\n");
#ifdef WIN32
   OS_Init((uint32*)HeapSpace, sizeof(HeapSpace));  //For PC simulation
#else
   //Create heap in remaining space after program in 1MB external RAM
   OS_Init((uint32*)programEnd,
           RAM_EXTERNAL_BASE + RAM_EXTERNAL_SIZE - programEnd);
#endif
   UartInit();
   OS_ThreadCreate("Main", MainThread, NULL, 100, 4000);
   OS_Start();
   return 0;
}
#endif  //NO_MAIN
 

Line No.	Rev	Author	Line
1	138	rhoads	`/*--------------------------------------------------------------------`
2			`* TITLE: Plasma Real Time Operating System`
3			`* AUTHOR: Steve Rhoads (rhoadss@yahoo.com)`
4			`* DATE CREATED: 12/17/05`
5			`* FILENAME: rtos.c`
6			`* PROJECT: Plasma CPU core`
7			`* COPYRIGHT: Software placed into the public domain by the author.`
8			`* Software 'as is' without warranty. Author liable for nothing.`
9			`* DESCRIPTION:`
10			`* Plasma Real Time Operating System`
11			`* Fully pre-emptive RTOS with support for:`
12			`* Heaps, Threads, Semaphores, Mutexes, Message Queues, and Timers.`
13			`* This file tries to be hardware independent except for calls to:`
14			`* MemoryRead() and MemoryWrite() for interrupts.`
15	167	rhoads	`* Partial support for multiple CPUs using symmetric multiprocessing.`
16	138	rhoads	`--------------------------------------------------------------------/`
17			`#include "plasma.h"`
18			`#include "rtos.h"`
19
20			`#define HEAP_MAGIC 0x1234abcd`
21			`#define THREAD_MAGIC 0x4321abcd`
22			`#define SEM_RESERVED_COUNT 2`
23	256	rhoads	`#define INFO_COUNT 4`
24	138	rhoads	`#define HEAP_COUNT 8`
25
26	167	rhoads
27	138	rhoads	`/************* Structures *************/`
28			`#ifdef WIN32`
29	189	rhoads	`#define setjmp _setjmp`
30	138	rhoads	`//x86 registers`
31			`typedef struct jmp_buf2 {`
32			`uint32 Ebp, Ebx, Edi, Esi, sp, pc, extra[10];`
33			`} jmp_buf2;`
34	189	rhoads	`#elif defined(ARM_CPU)`
35			`//ARM registers`
36			`typedef struct jmp_buf2 {`
37			`uint32 r[13], sp, lr, pc, cpsr, extra[5];`
38	256	rhoads	`} jmp_buf2;`
39	138	rhoads	`#else`
40			`//Plasma registers`
41			`typedef struct jmp_buf2 {`
42			`uint32 s[9], gp, sp, pc;`
43			`} jmp_buf2;`
44			`#endif`
45
46			`typedef struct HeapNode_s {`
47			`struct HeapNode_s *next;`
48			`int size;`
49			`} HeapNode_t;`
50
51			`struct OS_Heap_s {`
52			`uint32 magic;`
53			`const char *name;`
54			`OS_Semaphore_t *semaphore;`
55			`HeapNode_t *available;`
56			`HeapNode_t base;`
57			`struct OS_Heap_s *alternate;`
58			`};`
59			`//typedef struct OS_Heap_s OS_Heap_t;`
60
61	168	rhoads	`typedef enum {`
62	256	rhoads	`THREAD_PEND = 0, //Thread in semaphore's linked list`
63			`THREAD_READY = 1, //Thread in ThreadHead linked list`
64			`THREAD_RUNNING = 2 //Thread == ThreadCurrent[cpu]`
65	168	rhoads	`} OS_ThreadState_e;`
66
67	138	rhoads	`struct OS_Thread_s {`
68	233	rhoads	`const char *name; //Name of thread`
69			`OS_ThreadState_e state; //Pending, ready, or running`
70			`int cpuIndex; //Which CPU is running the thread`
71			`int cpuLock; //Lock the thread to a specific CPU`
72			`jmp_buf env; //Registers saved during context swap`
73			`OS_FuncPtr_t funcPtr; //First function called`
74			`void *arg; //Argument to first function called`
75			`uint32 priority; //Priority of thread (0=low, 255=high)`
76			`uint32 ticksTimeout; //Tick value when semaphore pend times out`
77	256	rhoads	`void *info[INFO_COUNT]; //User storage`
78	233	rhoads	`OS_Semaphore_t *semaphorePending; //Semaphore thread is blocked on`
79			`int returnCode; //Return value from semaphore pend`
80			`uint32 processId; //Process ID if using MMU`
81			`OS_Heap_t *heap; //Heap used if no heap specified`
82			`struct OS_Thread_s *next; //Linked list of threads by priority`
83			`struct OS_Thread_s *prev;`
84			`struct OS_Thread_s *nextTimeout; //Linked list of threads by timeout`
85			`struct OS_Thread_s *prevTimeout;`
86			`uint32 magic[1]; //Bottom of stack to detect stack overflow`
87	138	rhoads	`};`
88			`//typedef struct OS_Thread_s OS_Thread_t;`
89
90			`struct OS_Semaphore_s {`
91			`const char *name;`
92	256	rhoads	`struct OS_Thread_s *threadHead; //threads pending on semaphore`
93	138	rhoads	`int count;`
94			`};`
95			`//typedef struct OS_Semaphore_s OS_Semaphore_t;`
96
97			`struct OS_Mutex_s {`
98			`OS_Semaphore_t *semaphore;`
99			`OS_Thread_t *thread;`
100			`int count;`
101			`};`
102			`//typedef struct OS_Mutex_s OS_Mutex_t;`
103
104			`struct OS_MQueue_s {`
105			`const char *name;`
106			`OS_Semaphore_t *semaphore;`
107			`int count, size, used, read, write;`
108			`};`
109			`//typedef struct OS_MQueue_s OS_MQueue_t;`
110
111			`struct OS_Timer_s {`
112			`const char *name;`
113			`struct OS_Timer_s next, prev;`
114			`uint32 ticksTimeout;`
115			`uint32 ticksRestart;`
116			`int active;`
117	218	rhoads	`OS_TimerFuncPtr_t callback;`
118	138	rhoads	`OS_MQueue_t *mqueue;`
119			`uint32 info;`
120			`};`
121			`//typedef struct OS_Timer_s OS_Timer_t;`
122
123
124			`/************* Globals ****************/`
125			`static OS_Heap_t *HeapArray[HEAP_COUNT];`
126	256	rhoads	`static int InterruptInside[OS_CPU_COUNT];`
127			`static int ThreadNeedReschedule[OS_CPU_COUNT];`
128			`static OS_Thread_t *ThreadCurrent[OS_CPU_COUNT]; //Currently running thread(s)`
129	189	rhoads	`static OS_Thread_t *ThreadHead; //Linked list of threads sorted by priority`
130			`static OS_Thread_t *TimeoutHead; //Linked list of threads sorted by timeout`
131	138	rhoads	`static int ThreadSwapEnabled;`
132	396	rhoads	`static uint32 ThreadTime; //Number of ~10ms ticks since reboot`
133			`static void *NeedToFree; //Closed but not yet freed thread`
134	138	rhoads	`static OS_Semaphore_t SemaphoreReserved[SEM_RESERVED_COUNT];`
135	189	rhoads	`static OS_Semaphore_t *SemaphoreSleep;`
136	256	rhoads	`static OS_Semaphore_t *SemaphoreRelease;`
137	189	rhoads	`static OS_Semaphore_t *SemaphoreLock;`
138			`static OS_Semaphore_t *SemaphoreTimer;`
139	138	rhoads	`static OS_Timer_t *TimerHead; //Linked list of timers sorted by timeout`
140			`static OS_FuncPtr_t Isr[32];`
141
142
143			`/*************** Heap *****************/`
144			`/******************************************/`
145	189	rhoads	`OS_Heap_t OS_HeapCreate(const char name, void *memory, uint32 size)`
146	138	rhoads	`{`
147			`OS_Heap_t *heap;`
148
149	189	rhoads	`assert(((uint32)memory & 3) == 0);`
150			`heap = (OS_Heap_t*)memory;`
151	138	rhoads	`heap->magic = HEAP_MAGIC;`
152	189	rhoads	`heap->name = name;`
153			`heap->semaphore = OS_SemaphoreCreate(name, 1);`
154	138	rhoads	`heap->available = (HeapNode_t*)(heap + 1);`
155			`heap->available->next = &heap->base;`
156	189	rhoads	`heap->available->size = (size - sizeof(OS_Heap_t)) / sizeof(HeapNode_t);`
157	138	rhoads	`heap->base.next = heap->available;`
158			`heap->base.size = 0;`
159			`return heap;`
160			`}`
161
162
163			`/******************************************/`
164	189	rhoads	`void OS_HeapDestroy(OS_Heap_t *heap)`
165	138	rhoads	`{`
166	189	rhoads	`OS_SemaphoreDelete(heap->semaphore);`
167	138	rhoads	`}`
168
169
170			`/******************************************/`
171	396	rhoads	`//Modified from Kernighan & Ritchie "The C Programming Language"`
172	189	rhoads	`void OS_HeapMalloc(OS_Heap_t heap, int bytes)`
173	138	rhoads	`{`
174			`HeapNode_t node, prevp;`
175			`int nunits;`
176
177	189	rhoads	`if(heap == NULL && OS_ThreadSelf())`
178			`heap = OS_ThreadSelf()->heap;`
179			`if((uint32)heap < HEAP_COUNT)`
180			`heap = HeapArray[(int)heap];`
181			`nunits = (bytes + sizeof(HeapNode_t) - 1) / sizeof(HeapNode_t) + 1;`
182			`OS_SemaphorePend(heap->semaphore, OS_WAIT_FOREVER);`
183			`prevp = heap->available;`
184	138	rhoads	`for(node = prevp->next; ; prevp = node, node = node->next)`
185			`{`
186			`if(node->size >= nunits) //Big enough?`
187			`{`
188			`if(node->size == nunits) //Exactly`
189			`prevp->next = node->next;`
190			`else`
191			`{ //Allocate tail end`
192			`node->size -= nunits;`
193			`node += node->size;`
194			`node->size = nunits;`
195			`}`
196	189	rhoads	`heap->available = prevp;`
197			`node->next = (HeapNode_t*)heap;`
198			`OS_SemaphorePost(heap->semaphore);`
199	138	rhoads	`return (void*)(node + 1);`
200			`}`
201	189	rhoads	`if(node == heap->available) //Wrapped around free list`
202	138	rhoads	`{`
203	189	rhoads	`OS_SemaphorePost(heap->semaphore);`
204			`if(heap->alternate)`
205			`return OS_HeapMalloc(heap->alternate, bytes);`
206	138	rhoads	`return NULL;`
207			`}`
208			`}`
209			`}`
210
211
212			`/******************************************/`
213			`//Modified from K&R`
214	189	rhoads	`void OS_HeapFree(void *block)`
215	138	rhoads	`{`
216			`OS_Heap_t *heap;`
217			`HeapNode_t bp, node;`
218
219	189	rhoads	`assert(block);`
220			`bp = (HeapNode_t*)block - 1; //point to block header`
221	138	rhoads	`heap = (OS_Heap_t*)bp->next;`
222			`assert(heap->magic == HEAP_MAGIC);`
223			`if(heap->magic != HEAP_MAGIC)`
224			`return;`
225			`OS_SemaphorePend(heap->semaphore, OS_WAIT_FOREVER);`
226			`for(node = heap->available; !(node < bp && bp < node->next); node = node->next)`
227			`{`
228			`if(node >= node->next && (bp > node \|\| bp < node->next))`
229			`break; //freed block at start or end of area`
230			`}`
231
232			`if(bp + bp->size == node->next) //join to upper`
233			`{`
234			`bp->size += node->next->size;`
235			`bp->next = node->next->next;`
236			`}`
237			`else`
238			`{`
239			`bp->next = node->next;`
240			`}`
241
242			`if(node + node->size == bp) //join to lower`
243			`{`
244			`node->size += bp->size;`
245			`node->next = bp->next;`
246			`}`
247			`else`
248			`node->next = bp;`
249			`heap->available = node;`
250			`OS_SemaphorePost(heap->semaphore);`
251			`}`
252
253
254			`/******************************************/`
255	189	rhoads	`void OS_HeapAlternate(OS_Heap_t heap, OS_Heap_t alternate)`
256	138	rhoads	`{`
257	189	rhoads	`heap->alternate = alternate;`
258	138	rhoads	`}`
259
260
261			`/******************************************/`
262	189	rhoads	`void OS_HeapRegister(void index, OS_Heap_t heap)`
263	138	rhoads	`{`
264	189	rhoads	`if((uint32)index < HEAP_COUNT)`
265			`HeapArray[(int)index] = heap;`
266	138	rhoads	`}`
267
268
269
270			`/*************** Thread ***************/`
271			`/******************************************/`
272			`//Linked list of threads sorted by priority`
273	256	rhoads	`//The listed list is either ThreadHead (ready to run threads not including`
274			`//the currently running thread) or a list of threads waiting on a semaphore.`
275	138	rhoads	`//Must be called with interrupts disabled`
276			`static void OS_ThreadPriorityInsert(OS_Thread_t *head, OS_Thread_t thread)`
277			`{`
278			`OS_Thread_t node, prev;`
279
280			`prev = NULL;`
281			`for(node = *head; node; node = node->next)`
282			`{`
283	256	rhoads	`if(node->priority < thread->priority)`
284	138	rhoads	`break;`
285			`prev = node;`
286			`}`
287
288			`if(prev == NULL)`
289			`{`
290			`thread->next = *head;`
291			`thread->prev = NULL;`
292	256	rhoads	`if(*head)`
293			`(*head)->prev = thread;`
294	138	rhoads	`*head = thread;`
295			`}`
296			`else`
297			`{`
298			`if(prev->next)`
299			`prev->next->prev = thread;`
300			`thread->next = prev->next;`
301			`thread->prev = prev;`
302			`prev->next = thread;`
303			`}`
304			`assert(ThreadHead);`
305	256	rhoads	`thread->state = THREAD_READY;`
306	138	rhoads	`}`
307
308
309			`/******************************************/`
310			`//Must be called with interrupts disabled`
311			`static void OS_ThreadPriorityRemove(OS_Thread_t *head, OS_Thread_t thread)`
312			`{`
313			`assert(thread->magic[0] == THREAD_MAGIC); //check stack overflow`
314			`if(thread->prev == NULL)`
315			`*head = thread->next;`
316			`else`
317			`thread->prev->next = thread->next;`
318			`if(thread->next)`
319			`thread->next->prev = thread->prev;`
320			`thread->next = NULL;`
321			`thread->prev = NULL;`
322			`}`
323
324
325			`/******************************************/`
326			`//Linked list of threads sorted by timeout value`
327			`//Must be called with interrupts disabled`
328			`static void OS_ThreadTimeoutInsert(OS_Thread_t *thread)`
329			`{`
330			`OS_Thread_t node, prev;`
331			`int diff;`
332
333			`prev = NULL;`
334			`for(node = TimeoutHead; node; node = node->nextTimeout)`
335			`{`
336			`diff = thread->ticksTimeout - node->ticksTimeout;`
337			`if(diff <= 0)`
338			`break;`
339			`prev = node;`
340			`}`
341
342			`if(prev == NULL)`
343			`{`
344			`thread->nextTimeout = TimeoutHead;`
345			`thread->prevTimeout = NULL;`
346	151	rhoads	`if(TimeoutHead)`
347			`TimeoutHead->prevTimeout = thread;`
348	138	rhoads	`TimeoutHead = thread;`
349			`}`
350			`else`
351			`{`
352			`if(prev->nextTimeout)`
353			`prev->nextTimeout->prevTimeout = thread;`
354			`thread->nextTimeout = prev->nextTimeout;`
355			`thread->prevTimeout = prev;`
356			`prev->nextTimeout = thread;`
357			`}`
358			`}`
359
360
361			`/******************************************/`
362			`//Must be called with interrupts disabled`
363			`static void OS_ThreadTimeoutRemove(OS_Thread_t *thread)`
364			`{`
365			`if(thread->prevTimeout == NULL && TimeoutHead != thread)`
366			`return; //not in list`
367			`if(thread->prevTimeout == NULL)`
368			`TimeoutHead = thread->nextTimeout;`
369			`else`
370			`thread->prevTimeout->nextTimeout = thread->nextTimeout;`
371			`if(thread->nextTimeout)`
372			`thread->nextTimeout->prevTimeout = thread->prevTimeout;`
373			`thread->nextTimeout = NULL;`
374			`thread->prevTimeout = NULL;`
375			`}`
376
377
378			`/******************************************/`
379	256	rhoads	`//Loads highest priority thread from the ThreadHead linked list`
380			`//The currently running thread isn't in the ThreadHead list`
381	138	rhoads	`//Must be called with interrupts disabled`
382	189	rhoads	`static void OS_ThreadReschedule(int roundRobin)`
383	138	rhoads	`{`
384	256	rhoads	`OS_Thread_t threadNext, threadCurrent;`
385			`int rc, cpuIndex = OS_CpuIndex();`
386	138	rhoads
387	256	rhoads	`if(ThreadSwapEnabled == 0 \|\| InterruptInside[cpuIndex])`
388	138	rhoads	`{`
389	256	rhoads	`ThreadNeedReschedule[cpuIndex] \|= 2 + roundRobin; //Reschedule later`
390	138	rhoads	`return;`
391	395	rhoads	`}`
392			`ThreadNeedReschedule[cpuIndex] = 0;`
393	138	rhoads
394			`//Determine which thread should run`
395	256	rhoads	`threadNext = ThreadHead;`
396			`while(threadNext && threadNext->cpuLock != -1 &&`
397			`threadNext->cpuLock != cpuIndex)`
398	396	rhoads	`threadNext = threadNext->next; //Skip CPU locked threads`
399	256	rhoads	`if(threadNext == NULL)`
400	189	rhoads	`return;`
401	176	rhoads	`threadCurrent = ThreadCurrent[cpuIndex];`
402	138	rhoads
403	256	rhoads	`if(threadCurrent == NULL \|\|`
404			`threadCurrent->state == THREAD_PEND \|\|`
405			`threadCurrent->priority < threadNext->priority \|\|`
406			`(roundRobin && threadCurrent->priority == threadNext->priority))`
407	138	rhoads	`{`
408			`//Swap threads`
409	167	rhoads	`ThreadCurrent[cpuIndex] = threadNext;`
410	168	rhoads	`if(threadCurrent)`
411	138	rhoads	`{`
412	168	rhoads	`assert(threadCurrent->magic[0] == THREAD_MAGIC); //check stack overflow`
413	256	rhoads	`if(threadCurrent->state == THREAD_RUNNING)`
414			`OS_ThreadPriorityInsert(&ThreadHead, threadCurrent);`
415			`rc = setjmp(threadCurrent->env); //ANSI C call to save registers`
416	138	rhoads	`if(rc)`
417	256	rhoads	`return; //Returned from longjmp()`
418	138	rhoads	`}`
419	168	rhoads
420	256	rhoads	`//Remove the new running thread from the ThreadHead linked list`
421			`threadNext = ThreadCurrent[OS_CpuIndex()]; //removed warning`
422			`assert(threadNext->state == THREAD_READY);`
423			`OS_ThreadPriorityRemove(&ThreadHead, threadNext);`
424			`threadNext->state = THREAD_RUNNING;`
425			`threadNext->cpuIndex = OS_CpuIndex();`
426			`longjmp(threadNext->env, 1); //ANSI C call to restore registers`
427	138	rhoads	`}`
428			`}`
429
430
431	189	rhoads	`/******************************************/`
432	256	rhoads	`void OS_ThreadCpuLock(OS_Thread_t *thread, int cpuIndex)`
433	176	rhoads	`{`
434	256	rhoads	`thread->cpuLock = cpuIndex;`
435			`if(thread == OS_ThreadSelf() && cpuIndex != (int)OS_CpuIndex())`
436	176	rhoads	`OS_ThreadSleep(1);`
437			`}`
438
439
440	138	rhoads	`/******************************************/`
441	189	rhoads	`static void OS_ThreadInit(void *arg)`
442	138	rhoads	`{`
443	167	rhoads	`uint32 cpuIndex = OS_CpuIndex();`
444	189	rhoads	`(void)arg;`
445	138	rhoads
446	168	rhoads	`OS_CriticalEnd(1);`
447	167	rhoads	`ThreadCurrent[cpuIndex]->funcPtr(ThreadCurrent[cpuIndex]->arg);`
448	138	rhoads	`OS_ThreadExit();`
449			`}`
450
451
452			`/******************************************/`
453			//Stops warning "argument X might be clobbered by `longjmp'"
454			`static void OS_ThreadRegsInit(jmp_buf env)`
455			`{`
456			`setjmp(env); //ANSI C call to save registers`
457			`}`
458
459
460			`/******************************************/`
461	189	rhoads	`OS_Thread_t OS_ThreadCreate(const char name,`
462			`OS_FuncPtr_t funcPtr,`
463			`void *arg,`
464			`uint32 priority,`
465			`uint32 stackSize)`
466	138	rhoads	`{`
467			`OS_Thread_t *thread;`
468			`uint8 *stack;`
469			`jmp_buf2 *env;`
470			`uint32 state;`
471
472	256	rhoads	`OS_SemaphorePend(SemaphoreRelease, OS_WAIT_FOREVER);`
473	138	rhoads	`if(NeedToFree)`
474			`OS_HeapFree(NeedToFree);`
475			`NeedToFree = NULL;`
476	256	rhoads	`OS_SemaphorePost(SemaphoreRelease);`
477	138	rhoads
478	189	rhoads	`if(stackSize == 0)`
479			`stackSize = STACK_SIZE_DEFAULT;`
480			`if(stackSize < STACK_SIZE_MINIMUM)`
481			`stackSize = STACK_SIZE_MINIMUM;`
482			`thread = (OS_Thread_t*)OS_HeapMalloc(NULL, sizeof(OS_Thread_t) + stackSize);`
483	138	rhoads	`assert(thread);`
484			`if(thread == NULL)`
485			`return NULL;`
486	189	rhoads	`memset(thread, 0, sizeof(OS_Thread_t));`
487	138	rhoads	`stack = (uint8*)(thread + 1);`
488	189	rhoads	`memset(stack, 0xcd, stackSize);`
489	138	rhoads
490	189	rhoads	`thread->name = name;`
491	168	rhoads	`thread->state = THREAD_READY;`
492	176	rhoads	`thread->cpuLock = -1;`
493	189	rhoads	`thread->funcPtr = funcPtr;`
494			`thread->arg = arg;`
495			`thread->priority = priority;`
496	138	rhoads	`thread->semaphorePending = NULL;`
497			`thread->returnCode = 0;`
498	189	rhoads	`if(OS_ThreadSelf())`
499			`{`
500			`thread->processId = OS_ThreadSelf()->processId;`

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