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Renamed rt module to rtimer

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This commit is contained in:
adamdunkels 2007-03-25 17:10:30 +00:00
parent 2114e7f847
commit 503b76266b
2 changed files with 70 additions and 86 deletions
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94
core/sys/rt.c → core/sys/rtimer.c
View File

@ -28,15 +28,15 @@
* *
* This file is part of the Contiki operating system. * This file is part of the Contiki operating system.
* *
* @(#)$Id: rt.c,v 1.1 2007/03/19 00:16:13 adamdunkels Exp $ * @(#)$Id: rtimer.c,v 1.1 2007/03/25 17:10:30 adamdunkels Exp $
*/ */
#include "sys/rt.h" #include "sys/rtimer.h"
#include "contiki.h" #include "contiki.h"
#define LIST_SIZE 16 #define LIST_SIZE 16
static struct rt_task *tasks[LIST_SIZE]; static struct rtimer *rtimers[LIST_SIZE];
static u8_t next, firstempty; static u8_t next, firstempty;
#define DEBUG 0 #define DEBUG 0
@ -49,105 +49,105 @@ static u8_t next, firstempty;
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
void void
rt_init(void) rtimer_init(void)
{ {
next = 0; next = 0;
firstempty = 0; firstempty = 0;
rt_arch_init(); rtimer_arch_init();
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
int int
rt_post(struct rt_task *task, rt_clock_t time, rt_clock_t duration) rtimer_set(struct rtimer *rtimer, rt_clock_t time, rt_clock_t duration,
void (* func)(struct rtimer *t, void *ptr), void *ptr)
{ {
int i; int i;
PRINTF("rt_post time %d\n", time); PRINTF("rtimer_set time %d\n", time);
/* Check if task queue is full. */ /* Check if rtimer queue is full. */
if(firstempty == (next - 1) % LIST_SIZE) { if(firstempty == (next - 1) % LIST_SIZE) {
PRINTF("rt_post: next %d firstempty %d full\n", next, firstempty); PRINTF("rtimer_set: next %d firstempty %d full\n", next, firstempty);
return RT_ERR_FULL; return RTIMER_ERR_FULL;
} }
/* Check if it is possible to run this task at the requested /* Check if it is possible to run this rtimer at the requested
time. */ time. */
for(i = next; i != firstempty; for(i = next; i != firstempty;
i = (i + 1) % LIST_SIZE) { i = (i + 1) % LIST_SIZE) {
/* XXX: should check a range of time not just the same precise /* XXX: should check a range of time not just the same precise
moment. */ moment. */
if(tasks[i]->time == time) { if(rtimers[i]->time == time) {
PRINTF("rt_post: next %d firstempty %d time %d == %d\n", PRINTF("rtimer_set: next %d firstempty %d time %d == %d\n",
next, firstempty, tasks[i]->time, time); next, firstempty, rtimers[i]->time, time);
return RT_ERR_TIME; return RTIMER_ERR_TIME;
} }
} }
/* Put the task at the end of the task list. */ /* Put the rtimer at the end of the rtimer list. */
task->time = time; rtimer->time = time;
tasks[firstempty] = task; rtimers[firstempty] = rtimer;
PRINTF("rt_post: putting task %s as %d\n", task->name, firstempty); PRINTF("rt_post: putting rtimer %s as %d\n", rtimer->name, firstempty);
firstempty = (firstempty + 1) % LIST_SIZE; firstempty = (firstempty + 1) % LIST_SIZE;
/* PRINTF("rt_post: next %d firstempty %d scheduling soon\n", /* PRINTF("rt_post: next %d firstempty %d scheduling soon\n",
next, firstempty);*/ next, firstempty);*/
/* Check if this is the first task on the list. If so, we need to /* Check if this is the first rtimer on the list. If so, we need to
run the rt_arch_schedule() function to get the ball rolling. */ run the rt_arch_schedule() function to get the ball rolling. */
if(firstempty == (next + 1) % LIST_SIZE) { if(firstempty == (next + 1) % LIST_SIZE) {
PRINTF("rt_post scheduling %d %s (%d)\n", PRINTF("rtimer_set scheduling %d %s (%d)\n",
next, tasks[next]->name, tasks[next]->time); next, rtimers[next]->name, rtimers[next]->time);
rt_arch_schedule(time); rtimer
} }
return RT_OK; return RTIMER_OK;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
void void
rt_task_run(void) rtimer_run_next(void)
{ {
int i, n; int i, n;
struct rt_task *t; struct rtimer *t;
t = tasks[next]; t = rtimers[next];
/* Increase the pointer to the next task. */ /* Increase the pointer to the next rtimer. */
next = (next + 1) % LIST_SIZE; next = (next + 1) % LIST_SIZE;
/* Run the task. */ /* Run the rtimer. */
PRINTF("rt_task_run running %s\n", t->name); PRINTF("rtimer_run_next running %s\n", t->name);
t->func(t, t->ptr); t->func(t, t->ptr);
if(next == firstempty) { if(next == firstempty) {
PRINTF("rt_task_run: empty task list\n"); PRINTF("rtimer_run_next: empty rtimer list\n");
/* The list is empty, no more tasks to schedule. */ /* The list is empty, no more rtimers to schedule. */
return; return;
} }
/* Find the next task to run. */ /* Find the next rtimer to run. */
n = next; n = next;
for(i = next; i != firstempty; i = (i + 1) % LIST_SIZE) { for(i = next; i != firstempty; i = (i + 1) % LIST_SIZE) {
PRINTF("rt_task_run checking %s (%d) against %s (%d)\n", PRINTF("rtimer_run_next checking %s (%d) against %s (%d)\n",
tasks[i]->name, tasks[i]->time, rtimers[i]->name, rtimers[i]->time,
tasks[n]->name, tasks[n]->time); rtimers[n]->name, rtimers[n]->time);
if(tasks[i]->prio >= tasks[n]->prio && if(RT_CLOCK_LT(rtimers[i]->time, rtimers[n]->time)) {
RT_CLOCK_LT(tasks[i]->time, tasks[n]->time)) {
n = i; n = i;
} }
} }
PRINTF("rt_task_run next task is %d %s (%d)\n", PRINTF("rtimer_run_next next rtimer is %d %s (%d)\n",
n, tasks[n]->name, tasks[n]->time); n, rtimers[n]->name, rtimers[n]->time);
/* Put the next task first in the task list. */ /* Put the next rtimer first in the rtimer list. */
t = tasks[next]; t = rtimers[next];
tasks[next] = tasks[n]; rtimers[next] = rtimers[n];
tasks[n] = t; rtimers[n] = t;
PRINTF("rt_task_run scheduling %d %s (%d)\n", PRINTF("rtimer_run_next scheduling %d %s (%d)\n",
next, tasks[next]->name, tasks[next]->time); next, rtimers[next]->name, rtimers[next]->time);
rt_arch_schedule(tasks[next]->time); rtimer_arch_schedule(rtimers[next]->time);
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/

62
core/sys/rt.h → core/sys/rtimer.h
View File

@ -45,13 +45,13 @@
* *
* This file is part of the Contiki operating system. * This file is part of the Contiki operating system.
* *
* @(#)$Id: rt.h,v 1.1 2007/03/19 00:16:13 adamdunkels Exp $ * @(#)$Id: rtimer.h,v 1.1 2007/03/25 17:11:02 adamdunkels Exp $
*/ */
#ifndef __RT_H__ #ifndef __RTIMER_H__
#define __RT_H__ #define __RTIMER_H__
typedef unsigned short rt_clock_t; typedef unsigned short rtimer_clock_t;
#define RT_CLOCK_LT(a,b) ((signed short)((a)-(b)) < 0) #define RTIMER_CLOCK_LT(a,b) ((signed short)((a)-(b)) < 0)
/** /**
* \brief Initialize the real-time scheduler. * \brief Initialize the real-time scheduler.
@ -60,7 +60,7 @@ typedef unsigned short rt_clock_t;
* must be called at boot-up, before any other functions * must be called at boot-up, before any other functions
* from the real-time scheduler is called. * from the real-time scheduler is called.
*/ */
void rt_init(void); void rtimer_init(void);
/** /**
* \brief Repressentation of a real-time task * \brief Repressentation of a real-time task
@ -69,37 +69,21 @@ void rt_init(void);
* by the real-time module and the architecture specific * by the real-time module and the architecture specific
* support module for the real-time module. * support module for the real-time module.
*/ */
struct rt_task { struct rtimer {
char *name; rtimer_clock_t time;
rt_clock_t time; void (* func)(struct rtimer *t, void *ptr);
void (* func)(struct rt_task *t, void *ptr);
unsigned char prio;
void *ptr; void *ptr;
}; };
/**
* \brief Declare a real-time task.
* \param name The name of the task state variable.
* \param func The function implementing the real-time task.
* \param prio The priority of the task.
* \param ptr An opaque pointer that is passed to the real-time task
* when it is executed.
*
* This macro declares a real-time task.
*
* \hideinitializer
*/
#define RT_TASK(name, func, prio, ptr) { name, 0, func, prio, ptr }
enum { enum {
RT_OK, RTIMER_OK,
RT_ERR_FULL, RTIMER_ERR_FULL,
RT_ERR_TIME, RTIMER_ERR_TIME,
}; };
/** /**
* \brief Post a real-time task. * \brief Post a real-time task.
* \param task A pointer to the task variable previously declared with RT_TASK(). * \param task A pointer to the task variable previously declared with RTIMER_TASK().
* \param time The time when the task is to be executed. * \param time The time when the task is to be executed.
* \return Non-zero (true) if the task could be scheduled, zero * \return Non-zero (true) if the task could be scheduled, zero
* (false) if the task could not be scheduled. * (false) if the task could not be scheduled.
@ -108,7 +92,8 @@ enum {
* time in the future. * time in the future.
* *
*/ */
int rt_post(struct rt_task *task, rt_clock_t time, rt_clock_t duration); int rtimer_set(struct rtimer *t, rtimer_clock_t time, rtimer_clock_t duration,
void (* func)(struct rtimer *t, void *ptr), void *ptr);
/** /**
* \brief Execute the next real-time task and schedule the next task, if any * \brief Execute the next real-time task and schedule the next task, if any
@ -117,7 +102,7 @@ int rt_post(struct rt_task *task, rt_clock_t time, rt_clock_t duration);
* code to execute and schedule the next real-time task. * code to execute and schedule the next real-time task.
* *
*/ */
void rt_task_run(void); void rtimer_next(void);
/** /**
* \brief Get the current clock time * \brief Get the current clock time
@ -129,7 +114,7 @@ void rt_task_run(void);
* *
* \hideinitializer * \hideinitializer
*/ */
#define RT_NOW() rt_arch_now() #define RTIMER_NOW() rtimer_arch_now()
/** /**
* \brief Get the time that a task last was executed * \brief Get the time that a task last was executed
@ -142,15 +127,14 @@ void rt_task_run(void);
* *
* \hideinitializer * \hideinitializer
*/ */
#define RT_TASK_TIME(task) ((task)->time) #define RTIMER_TIME(task) ((task)->time)
void rt_arch_init(void); void rtimer_arch_init(void);
void rt_arch_schedule(rt_clock_t t); void rtimer_arch_schedule(rtimer_clock_t t);
rt_clock_t rt_arch_now(void); rtimer_clock_t rtimer_arch_now(void);
#include "rtimer-arch.h"
#include "rt-arch.h" #endif /* __RTIMER_H__ */
#endif /* __RT_H__ */
/** @} */ /** @} */