diff --git a/.gitmodules b/.gitmodules index 4db194dfe..5774c7030 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,27 +1,27 @@ [submodule "Ubiquitous/RT-Thread_Fusion_XiUOS/rt-thread"] path = Ubiquitous/RT-Thread_Fusion_XiUOS/rt-thread - url = https://code.gitlink.org.cn/chunyexixiaoyu/rt-thread.git + url = https://www.gitlink.org.cn/chunyexixiaoyu/rt-thread.git [submodule "Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/k210/kendryte-sdk/kendryte-sdk-source"] path = Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/k210/kendryte-sdk/kendryte-sdk-source - url = https://code.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git + url = https://www.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git [submodule "Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/aiit-riscv64-board/kendryte-sdk/kendryte-sdk-source"] path = Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/aiit-riscv64-board/kendryte-sdk/kendryte-sdk-source - url = https://code.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git + url = https://www.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git [submodule "Ubiquitous/XiZi/fs/lwext4/lwext4_submodule"] path = Ubiquitous/XiZi/fs/lwext4/lwext4_submodule url = https://gitlink.org.cn/xuos/lwext4_filesystem_support_XiUOS.git [submodule "Ubiquitous/Nuttx_Fusion_XiUOS/nuttx"] path = Ubiquitous/Nuttx_Fusion_XiUOS/nuttx - url = https://code.gitlink.org.cn/wgzAIIT/incubator-nuttx.git + url = https://www.gitlink.org.cn/wgzAIIT/incubator-nuttx.git [submodule "Ubiquitous/Nuttx_Fusion_XiUOS/apps"] path = Ubiquitous/Nuttx_Fusion_XiUOS/apps - url = https://code.gitlink.org.cn/wgzAIIT/incubator-nuttx-apps.git + url = https://www.gitlink.org.cn/wgzAIIT/incubator-nuttx-apps.git [submodule "APP_Framework/Applications/webnet/WebNet_XiUOS"] path = APP_Framework/Applications/webnet/WebNet_XiUOS url = https://gitlink.org.cn/xuos/WebNet_XiUOS.git [submodule "Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/xidatong-riscv64/kendryte-sdk/kendryte-sdk-source"] path = Ubiquitous/RT-Thread_Fusion_XiUOS/aiit_board/xidatong-riscv64/kendryte-sdk/kendryte-sdk-source - url = https://code.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git + url = https://www.gitlink.org.cn/chunyexixiaoyu/kendryte-sdk-source.git [submodule "APP_Framework/lib/lorawan/lora_radio_driver"] path = APP_Framework/lib/lorawan/lora_radio_driver url = https://gitlink.org.cn/IACU/lora_radio_driver.git diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board.h b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board.h index 405566e68..3693cb79c 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board.h +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board.h @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/include/board.h - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file board.h + * @brief sabre-lite board.h file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ #ifndef __BOARDS_ARM_IMX6_SABRE_LITE_INCLUDE_BOARD_H #define __BOARDS_ARM_IMX6_SABRE_LITE_INCLUDE_BOARD_H diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board_memorymap.h b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board_memorymap.h index d49e77662..14fa834cf 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board_memorymap.h +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/include/board_memorymap.h @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/include/board_memorymap.h - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file board_memorymap.h + * @brief sabre-lite board memorymap + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ #ifndef __BOARDS_ARM_IMX6_SABRE_LITE_INCLUDE_BOARD_MEMORYMAP_H #define __BOARDS_ARM_IMX6_SABRE_LITE_INCLUDE_BOARD_MEMORYMAP_H diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_appinit.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_appinit.c index a90b2913a..26c471a34 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_appinit.c +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_appinit.c @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/imx_appinit.c - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file imx_appinit.c + * @brief sabre-lite imx_appinit.c file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ /**************************************************************************** * Included Files diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_autoleds.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_autoleds.c index ab081c440..cfd34ca69 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_autoleds.c +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_autoleds.c @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/imx_autoleds.c - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file imx_autoleds.c + * @brief sabre-lite imx_autoleds.c file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ /* LEDs * diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_boardinit.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_boardinit.c index df29c3b07..3f49cef5c 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_boardinit.c +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_boardinit.c @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/imx_boardinit.c - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file imx_boardinit.c + * @brief sabre-lite imx_boardinit.c file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ /**************************************************************************** * Included Files diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_bringup.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_bringup.c index b26bf4582..71e55b8b2 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_bringup.c +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_bringup.c @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/imx_bringup.c - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file imx_bringup.c + * @brief sabre-lite imx_bringup.c file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ /**************************************************************************** * Included Files diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_userleds.c b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_userleds.c index f86268f1c..2261bf165 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_userleds.c +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/imx_userleds.c @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/imx_userleds.c - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file imx_userleds.c + * @brief sabre-lite imx_userleds.c file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ /**************************************************************************** * Included Files diff --git a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/sabre-lite.h b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/sabre-lite.h index 76568b434..f4b310767 100644 --- a/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/sabre-lite.h +++ b/Ubiquitous/Nuttx_Fusion_XiUOS/aiit_board/sabre-lite/src/sabre-lite.h @@ -1,22 +1,22 @@ -/**************************************************************************** - * boards/arm/imx6/sabre-lite/src/sabre-lite.h - * - * Licensed to the Apache Software Foundation (ASF) under one or more - * contributor license agreements. See the NOTICE file distributed with - * this work for additional information regarding copyright ownership. The - * ASF licenses this file to you under the Apache License, Version 2.0 (the - * "License"); you may not use this file except in compliance with the - * License. You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the - * License for the specific language governing permissions and limitations - * under the License. - * - ****************************************************************************/ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** + * @file sabre-lite.h + * @brief sabre-lite sabre-lite.h file + * @version 1.0 + * @author AIIT XUOS Lab + * @date 2023.05.15 + */ #ifndef __BOARDS_ARM_IMX6_SABRE_LITE_SRC_SABRE_LITE_H #define __BOARDS_ARM_IMX6_SABRE_LITE_SRC_SABRE_LITE_H diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/Makefile b/Ubiquitous/XiZi_AIoT/softkernel/task/Makefile index 4ca20e597..93ec6f896 100644 --- a/Ubiquitous/XiZi_AIoT/softkernel/task/Makefile +++ b/Ubiquitous/XiZi_AIoT/softkernel/task/Makefile @@ -1,3 +1,3 @@ -SRC_FILES := task.c schedule.c ipc.c +SRC_FILES := schedule.c ipc.c include $(KERNEL_ROOT)/compiler.mk diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/ipc.c b/Ubiquitous/XiZi_AIoT/softkernel/task/ipc.c deleted file mode 100644 index e69de29bb..000000000 diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c b/Ubiquitous/XiZi_AIoT/softkernel/task/schedule.c deleted file mode 100644 index e69de29bb..000000000 diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c index e69de29bb..808804462 100644 --- a/Ubiquitous/XiZi_AIoT/softkernel/task/task.c +++ b/Ubiquitous/XiZi_AIoT/softkernel/task/task.c @@ -0,0 +1,537 @@ + +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiUOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** +* @file: task.c +* @brief: file task.c +* @version: 1.0 +* @author: AIIT XUOS Lab +* @date: 2023/05/18 +* +*/ + +#include + + +// 全局运行队列和本地运行队列 +tcb_t *global_run_queue_head = NULL; +tcb_t *global_run_queue_tail = NULL; +tcb_t *local_run_queue_head[8] = {NULL}; +tcb_t *local_run_queue_tail[8] = {NULL}; + +// 当前任务的指针 +volatile tcb_t *current_task = NULL; + + +/******************************************************************************* +* 函 数 名: tcb_init +* 功能描述: 初始化任务控制块 +* 形 参: tcb:任务控制块指针,priority:任务优先级,stack_size:栈大小 +* 返 回 值: 无 +*******************************************************************************/ +void tcb_init(tcb_t *tcb, int priority, int stack_size) { + tcb->priority = priority; + tcb->state = TASK_CREATED; + tcb->message_queue = NULL; + tcb->stack = (uint8_t*)malloc(stack_size); + tcb->stack_size = stack_size; + tcb->stack_ptr = tcb->stack + stack_size - sizeof(context_t); + // 将任务的上下文保存在栈中 + context_t *context = (context_t*)tcb->stack_ptr; + context_init(context, (void*)task_entry, tcb->stack_ptr); +} + +/******************************************************************************* +* 函 数 名: tcb_destroy +* 功能描述: 销毁任务控制块 +* 形 参: tcb:任务控制块指针 +* 返 回 值: 无 +*******************************************************************************/ +void tcb_destroy(tcb_t *tcb) { + free(tcb->stack_bottom); + tcb->stack_ptr = NULL; + tcb->stack_bottom = NULL; + tcb->stack_size = 0; + tcb->state = TASK_BLOCKED; + tcb->priority = 0; + tcb->next = NULL; + if (tcb->message_queue != NULL) { + message_queue_destroy(tcb->message_queue); + tcb->message_queue = NULL; + } +} + +/******************************************************************************* +* 函 数 名: get_current_task +* 功能描述: 获取当前任务的指针 +* 形 参: 无 +* 返 回 值: 任务控制块指针 +*******************************************************************************/ +tcb_t *get_current_task() { + return (tcb_t*)current_task; +} + + +/******************************************************************************* +* 函 数 名: get_local_run_queue_head +* 功能描述: 获取本地运行队列的头指针 +* 形 参: cpu_id:当前cpu的id +* 返 回 值: 任务控制块指针 +*******************************************************************************/ +tcb_t *get_local_run_queue_head(int cpu_id) { + return local_run_queue_head[cpu_id]; +} + + +/******************************************************************************* +* 函 数 名: add_to_global_run_queue +* 功能描述: 将任务添加到全局运行队列中 +* 形 参: tcb:任务控制块指针 +* 返 回 值: 无 +*******************************************************************************/ +void add_to_global_run_queue(tcb_t *tcb) { + // 将任务添加到全局运行队列的尾部 + if (global_run_queue_head == NULL) { + global_run_queue_head = tcb; + global_run_queue_tail = tcb; + } else { + global_run_queue_tail->next = tcb; + global_run_queue_tail = tcb; + } +} + + +/******************************************************************************* +* 函 数 名: take_from_global_run_queue +* 功能描述: 从全局运行队列中取出一个任务 +* 形 参: 无 +* 返 回 值: tcb:任务控制块指针 +*******************************************************************************/ +tcb_t *take_from_global_run_queue() { + // 从全局运行队列的头部取出一个任务 + if (global_run_queue_head == NULL) { + return NULL; + } else { + tcb_t *tcb = global_run_queue_head; + global_run_queue_head = tcb->next; + if (global_run_queue_head == NULL) { + global_run_queue_tail = NULL; + } + return tcb; + } +} + + +/******************************************************************************* +* 函 数 名: add_to_local_run_queue +* 功能描述: 将任务添加到本地运行队列中 +* 形 参: tcb:任务控制块指针,cpu_id:任务绑定的CPU id +* 返 回 值: 无 +*******************************************************************************/ +void add_to_local_run_queue(tcb_t *tcb, int cpu_id) { + // 将任务添加到本地运行队列的尾部 + if (local_run_queue_head[cpu_id] == NULL) { + local_run_queue_head[cpu_id] = tcb; + local_run_queue_tail[cpu_id] = tcb; + } else { + local_run_queue_tail[cpu_id]->next = tcb; + local_run_queue_tail[cpu_id] = tcb; + } +} + + +/******************************************************************************* +* 函 数 名: take_from_local_run_queue +* 功能描述: 从本地运行队列中取出一个任务 +* 形 参: cpu_id:CPU id +* 返 回 值: 无 +*******************************************************************************/ +tcb_t *take_from_local_run_queue(int cpu_id) { + // 从本地运行队列的头部取出一个任务 + if (local_run_queue_head[cpu_id] == NULL) { + return NULL; + } else { + tcb_t *tcb = local_run_queue_head[cpu_id]; + local_run_queue_head[cpu_id] = tcb->next; + if (local_run_queue_head[cpu_id] == NULL) { + local_run_queue_tail[cpu_id] = NULL; + } + return tcb; + } +} + + +/******************************************************************************* +* 函 数 名: move_current_task_to_global_run_queue +* 功能描述: 将当前任务从本地运行队列中取出,并添加到全局运行队列中 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void move_current_task_to_global_run_queue() { + int cpu_id = get_cpu_id(); + tcb_t *tcb = (tcb_t*)current_task; + tcb->state = TASK_READY; + add_to_global_run_queue(tcb); + local_run_queue_head[cpu_id] = NULL; + local_run_queue_tail[cpu_id] = NULL; + current_task = NULL; +} + + +/******************************************************************************* +* 函 数 名: switch_to_next_task +* 功能描述: 切换到下一个任务 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void switch_to_next_task() { + int cpu_id = get_cpu_id(); + tcb_t *current_tcb = (tcb_t*)current_task; + tcb_t *next_tcb = take_from_local_run_queue(cpu_id); + if (next_tcb == NULL) { + next_tcb = take_from_global_run_queue(); + } + if (next_tcb == NULL) { + // 如果没有可运行的任务，则将当前任务继续运行 + return; + } + // 保存当前任务的上下文 + if (current_tcb != NULL) { + current_tcb->stack_ptr = get_stack_pointer(); + } + // 切换到下一个任务的上下文 + current_task = next_tcb; + set_stack_pointer(next_tcb->stack_ptr); + // 如果切换到的任务是新的任务，需要执行任务初始化函数 + if (current_tcb != next_tcb) { + next_tcb->state = TASK_RUNNING; + task_init(next_tcb); + } +} + + +/******************************************************************************* +* 函 数 名: task_init +* 功能描述: 任务初始化函数 +* 形 参: tcb:任务控制块指针 +* 返 回 值: 无 +*******************************************************************************/ +void task_init(tcb_t *tcb) { + // 创建消息队列 + message_queue_t mq = (message_queue_t)malloc(sizeof(message_queue_t)); + mq->buffer = (message_t)malloc(sizeof(message_t) * 16); + mq->capacity = 16; + mq->head = 0; + mq->tail = 0; + mq->count = 0; + tcb->message_queue = mq; +} + + +/******************************************************************************* +* 函 数 名: create_task +* 功能描述: 创建任务 +* 形 参: priority:任务优先级,stack_size:栈大小 +* 返 回 值: 无 +*******************************************************************************/ +tcb_t *create_task(int priority, int stack_size) { + tcb_t *tcb = (tcb_t*)malloc(sizeof(tcb_t)); + tcb_init(tcb, priority, stack_size); + add_to_global_run_queue(tcb); + return tcb; +} + + +/******************************************************************************* +* 函 数 名: destroy_task +* 功能描述: 销毁任务 +* 形 参: tcb:任务控制块指针 +* 返 回 值: 无 +*******************************************************************************/ +void destroy_task(tcb_t *tcb) { + tcb_destroy(tcb); + free(tcb); +} + + +/******************************************************************************* +* 函 数 名: send_message +* 功能描述: 发送消息 +* 形 参: dest_tcb:目标任务的控制块指针,type:消息类型,data:消息的具体内容 +* 返 回 值: 无 +*******************************************************************************/ +void send_message(tcb_t *dest_tcb, int type, void *data) { + message_t message; + message.type = type; + message.data = data; + if (dest_tcb->message_queue == NULL) { + // 如果目标任务没有消息队列，则创建一个消息队列 + dest_tcb->message_queue = message_queue_create(16); + } + // 将消息添加到目标任务的消息队列中 + message_queue_push(dest_tcb->message_queue, &message); +} + + +/******************************************************************************* +* 函 数 名: receive_message +* 功能描述: 接收消息 +* 形 参: type:接收的消息类型,data:存储接收到的消息 +* 返 回 值: 无 +*******************************************************************************/ +void receive_message(int type, void *data) { + tcb_t *current_tcb = (tcb_t*)current_task; + message_t message; + // 从当前任务的消息队列中取出消息 + while (message_queue_pop(current_tcb->message_queue, &message) != 0) { + if (message.type == type) { + // 如果消息的类型匹配，则返回消息数据 + memcpy(data, message.data, sizeof(void*)); + return; + } + } + // 如果没有匹配的消息，则当前任务被阻塞，直到有匹配的消息为止 + current_tcb->state = TASK_BLOCKED; + while (message_queue_pop(current_tcb->message_queue, &message) != 0) { + if (message.type == type) { + // 如果有匹配的消息，则返回消息数据，并将当前任务状态设置为就绪 + memcpy(data, message.data, sizeof(void*)); + current_tcb->state = TASK_READY; + return; + } + } + // 如果还是没有匹配的消息，则当前任务一直被阻塞 + while (1) { + wait_for_interrupt(); + } +} + + +/******************************************************************************* +* 函 数 名: message_queue_create +* 功能描述: 创建消息队列 +* 形 参: capacity:消息队列的容量 +* 返 回 值: 生成的消息队列的指针 +*******************************************************************************/ +message_queue_t *message_queue_create(int capacity) { + message_queue_t *mq = (message_queue_t*)malloc(sizeof(message_queue_t)); + mq->buffer = (message_t*)malloc(sizeof(message_t) * capacity); + mq->capacity = capacity; + mq->head = 0; + mq->tail = 0; + mq->count = 0; + return mq; +} + + +/******************************************************************************* +* 函 数 名: message_queue_destroy +* 功能描述: 销毁消息队列 +* 形 参: mq:消息队列的指针 +* 返 回 值: 无 +*******************************************************************************/ +void message_queue_destroy(message_queue_t *mq) { + free(mq->buffer); + free(mq); +} + + +/******************************************************************************* +* 函 数 名: message_queue_push +* 功能描述: 将消息添加到消息队列中 +* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息 +* 返 回 值: 0:成功,-1:失败 +*******************************************************************************/ +int message_queue_push(message_queue_t *mq, message_t *message) { + if (mq->count >= mq->capacity) { + return -1; // 队列已满 + } + mq->buffer[mq->tail] = *message; + mq->tail = (mq->tail + 1) % mq->capacity; + mq->count++; + return 0; +} + + +/******************************************************************************* +* 函 数 名: message_queue_pop +* 功能描述: 从消息队列中取出消息 +* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息 +* 返 回 值: 0:成功,-1:失败 +*******************************************************************************/ +int message_queue_pop(message_queue_t *mq, message_t *message) { + if (mq->count <= 0) { + return -1; // 队列已空 + } + *message = mq->buffer[mq->head]; + mq->head = (mq->head + 1) % mq->capacity; + mq->count--; + return 0; +} + + +/******************************************************************************* +* 函 数 名: context_init +* 功能描述: 初始化上下文 +* 形 参: message_queue_t:消息队列的指针,message_t:存储的消息 +* 返 回 值: 0:成功,-1:失败 +*******************************************************************************/ +void context_init(context_t *context, void (*entry)(void), void *stack_ptr) { + context->cpsr = 0x10; // 设置 CPSR 的初始值 + context->pc = (uint32_t)entry; // 设置 PC 的初始值为任务入口地址 + context->r0 = (uint32_t)stack_ptr; // 设置 R0 的初始值为栈指针 + context->r1 = 0; // 设置 R1 的初始值为 0 + context->r2 = 0; // 设置 R2 的初始值为 0 + context->r3 = 0; // 设置 R3 的初始值为 0 + context->r4 = 0; // 设置 R4 的初始值为 0 + context->r5 = 0; // 设置 R5 的初始值为 0 + context->r6 = 0; // 设置 R6 的初始值为 0 + context->r7 = 0; // 设置 R7 的初始值为 0 + context->r8 = 0; // 设置 R8 的初始值为 0 + context->r9 = 0; // 设置 R9 的初始值为 0 + context->r10 = 0; // 设置 R10 的初始值为 0 + context->r11 = 0; // 设置 R11 的初始值为 0 + context->r12 = 0; // 设置 R12 的初始值为 0 + context->sp = (uint32_t)stack_ptr; // 设置 SP 的初始值为栈指针 + context->lr = (uint32_t)task_exit; // 设置 LR 的初始值为线程退出函数的地址 +} + +/******************************************************************************* +* 函 数 名: wait_for_interrupt +* 功能描述: 等待中断 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void wait_for_interrupt() { + // 在实现中，可以使用 WFI 指令等待中断 + __asm__ volatile("wfi"); +} + +/******************************************************************************* +* 函 数 名: get_cpu_id +* 功能描述: 获取CPU id +* 形 参: 无 +* 返 回 值: 获取的cpu id +*******************************************************************************/ +int get_cpu_id() { + uint32_t mpidr; + __asm__ volatile("mrc p15, 0, %0, c0, c0, 5" : "=r"(mpidr)); + return mpidr & 0xff; +} + + +/******************************************************************************* +* 函 数 名: get_stack_pointer +* 功能描述: 获取栈指针 +* 形 参: 无 +* 返 回 值: 获取到的栈指针 +*******************************************************************************/ +void *get_stack_pointer() { + // 在实现中，可以使用 ARM 的 SP 寄存器获取栈指针 + void *sp; + __asm__ volatile("mov %0, sp" : "=r"(sp)); + return sp; +} + + +/******************************************************************************* +* 函 数 名: set_stack_pointer +* 功能描述: 设置栈指针 +* 形 参: 设置的栈指针 +* 返 回 值: 无 +*******************************************************************************/ +void set_stack_pointer(void *sp) { + // 在实现中，可以使用 ARM 的 SP 寄存器设置栈指针 + __asm__ volatile("mov sp, %0" : : "r"(sp)); +} + +/******************************************************************************* +* 函 数 名: add_interrupt_handler +* 功能描述: 添加中断处理函数 +* 形 参: irq:中断号,handler:中断句柄,priority:中断优先级 +* 返 回 值: 无 +*******************************************************************************/ +void add_interrupt_handler(int irq, void (*handler)(void), int priority) { + uint32_t *vector_table = (uint32_t*)0x0; + + // 将中断处理函数写入中断向量表中 + vector_table[irq + 16] = (uint32_t)handler; + + // 设置中断优先级 + uint8_t priority_shift = 8 - __NVIC_PRIO_BITS; + uint32_t priority_mask = 0xff << priority_shift; + uint32_t priority_value = (priority << priority_shift) & priority_mask; + uint32_t *priority_reg = (uint32_t*)0xE000E400; + int index = irq / 4; + int offset = irq % 4; + priority_reg[index] &= ~(0xff << (offset * 8)); + priority_reg[index] |= (priority_value << (offset * 8)); + + // 使能中断 + uint32_t *enable_reg = (uint32_t*)0xE000E100; + enable_reg[irq / 32] |= 1 << (irq % 32); +} + + +/******************************************************************************* +* 函 数 名: enter_critical +* 功能描述: 进入临界区 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void enter_critical() { + // 在实现中，可以使用 ARM 的 CPSR 寄存器进入临界区 + __asm__ volatile("cpsid i"); +} + +/******************************************************************************* +* 函 数 名: leave_critical +* 功能描述: 离开临界区 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void leave_critical() { + // 在实现中，可以使用 ARM 的 CPSR 寄存器离开临界区 + __asm__ volatile("cpsie i"); +} + + + +/******************************************************************************* +* 函 数 名: task_exit +* 功能描述: 任务退出函数 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void task_exit() { + // 切换到下一个任务 + switch_to_next_task(); + // 在实现中，可以使用 ARM 的 WFE 指令等待下一个中断 + __asm__ volatile("wfe"); +} + + +/******************************************************************************* +* 函 数 名: task_entry +* 功能描述: 任务入口函数 +* 形 参: 无 +* 返 回 值: 无 +*******************************************************************************/ +void task_entry() { + tcb_t *current_tcb = (tcb_t*)current_task; + current_tcb->state = TASK_RUNNING; + task_init(current_tcb); + while (1) { + switch_to_next_task(); + } +} diff --git a/Ubiquitous/XiZi_AIoT/softkernel/task/task.h b/Ubiquitous/XiZi_AIoT/softkernel/task/task.h new file mode 100644 index 000000000..fdcc38fa0 --- /dev/null +++ b/Ubiquitous/XiZi_AIoT/softkernel/task/task.h @@ -0,0 +1,135 @@ +/* +* Copyright (c) 2020 AIIT XUOS Lab +* XiUOS is licensed under Mulan PSL v2. +* You can use this software according to the terms and conditions of the Mulan PSL v2. +* You may obtain a copy of Mulan PSL v2 at: +* http://license.coscl.org.cn/MulanPSL2 +* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, +* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, +* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +* See the Mulan PSL v2 for more details. +*/ + +/** +* @file: task.h +* @brief: file task.h +* @version: 1.0 +* @author: AIIT XUOS Lab +* @date: 2023/05/18 +* +*/ + +#ifndef __TASK_H__ +#define __TASK_H__ + +#include +#include +#include +#include +#include + +// 任务状态枚举类型 +typedef enum { + TASK_CREATED, // 初始状态 + TASK_READY, // 就绪状态 + TASK_RUNNING, // 运行状态 + TASK_BLOCKED, // 阻塞状态 +} task_state_t; + + +// 任务控制块结构体 +typedef struct tcb { + uint32_t *stack_ptr; // 任务堆栈指针 + uint32_t *stack_bottom; // 任务堆栈底部指针 + uint32_t stack_size; // 任务堆栈大小 + task_state_t state; // 任务状态 + int priority; // 任务优先级 + struct tcb *next; // 指向下一个任务控制块的指针 + struct message_queue *message_queue; // 消息队列 +} tcb_t; + + +// 消息结构体 +typedef struct message { + int type; // 消息类型 + void *data; // 消息数据指针 +} message_t; + + +// 消息队列结构体 +typedef struct message_queue { + message_t *buffer; // 消息缓冲区 + int capacity; // 缓冲区容量 + int count; // 当前缓冲区中的消息数量 + int head; // 队头指针 + int tail; // 队尾指针 + semaphore_t *semaphore; // 信号量，用于实现消息队列的同步机制 +} message_queue_t; + + +// 信号量结构体 +typedef struct semaphore { + int count; // 计数器 + tcb_t *wait_list_head; // 指向等待信号量的任务控制块的指针 + mutex_t mutex; // 互斥锁，用于保护信号量和等待队列的访问 +} semaphore_t; + + +// 互斥锁结构体 +typedef struct mutex { + int lock; // 锁标志 +} mutex_t; + + +// 上下文结构体 +typedef struct { + uint32_t cpsr; // 控制寄存器 + uint32_t pc; // 程序计数器 + uint32_t r0; // 寄存器 R0 + uint32_t r1; // 寄存器 R1 + uint32_t r2; // 寄存器 R2 + uint32_t r3; // 寄存器 R3 + uint32_t r4; // 寄存器 R4 + uint32_t r5; // 寄存器 R5 + uint32_t r6; // 寄存器 R6 + uint32_t r7; // 寄存器 R7 + uint32_t r8; // 寄存器 R8 + uint32_t r9; // 寄存器 R9 + uint32_t r10; // 寄存器 R10 + uint32_t r11; // 寄存器 R11 + uint32_t r12; // 寄存器 R12 + uint32_t sp; // 栈指针 + uint32_t lr; // 链接寄存器 +} context_t; + +void tcb_init(tcb_t *tcb, int priority, int stack_size); +void tcb_destroy(tcb_t *tcb); +tcb_t *get_current_task(void); +tcb_t *get_local_run_queue_head(int cpu_id); +void add_to_global_run_queue(tcb_t *tcb); +tcb_t *take_from_global_run_queue(void); +void add_to_local_run_queue(tcb_t *tcb, int cpu_id); +tcb_t *take_from_local_run_queue(int cpu_id); +void move_current_task_to_global_run_queue(void); +void switch_to_next_task(void); +void task_init(tcb_t *tcb); +tcb_t *create_task(int priority, int stack_size); +void destroy_task(tcb_t *tcb); +void send_message(tcb_t *dest_tcb, int type, void *data); +void receive_message(int type, void *data); +message_queue_t *message_queue_create(int capacity); +void message_queue_destroy(message_queue_t *mq); +int message_queue_push(message_queue_t *mq, message_t *message); +int message_queue_pop(message_queue_t *mq, message_t *message); +int message_queue_push(message_queue_t *mq, message_t *message); +void context_init(context_t *context, void (*entry)(void), void *stack_ptr); +void wait_for_interrupt(void); +int get_cpu_id(void); +void *get_stack_pointer(void); +void set_stack_pointer(void *sp); +void add_interrupt_handler(int irq, void (*handler)(void), int priority); +void enter_critical(void); +void leave_critical(void); +void task_exit(void); +void task_entry(void); +#endif