view src/cs/riviera/rvf/rvf_task.c @ 287:3dee79757ae4

UI fw: load handheld audio mode on boot We have now reached the point where use of audio mode config files should be considered mandatory. In ACI usage we can tell users that they need to perform an AT@AUL of some appropriate audio mode, but in UI-enabled fw we really need to have the firmware load audio modes on its own, so that correct audio config gets established when the handset or development board runs on its own, without a connected host computer. Once have FC Venus with both main and headset audio channels and headset plug insertion detection, our fw will need to automatically load the handheld mode or the headset mode depending on the plug insertion state. For now we load only the handheld mode, which has been tuned for FC-HDS4 on FC Luna.
author Mychaela Falconia <falcon@freecalypso.org>
date Sat, 13 Nov 2021 03:20:57 +0000
parents 4e78acac3d88
children
line wrap: on
line source

/****************************************************************************/
/*                                                                          */
/*  Name        rvf_task.c                                                  */
/*                                                                          */
/*  Function    this file contains \rvf task related functions               */
/*                                                                          */
/*  Version		0.1															*/
/*																			*/
/* 	Date       	Modification												*/
/*  ------------------------------------									*/
/*  3/12/99		Create														*/
/*	10/27/99	remove all non-nucleus sections (#ifdef)					*/
/*				change tasks priority and time_slicing						*/	
/*  11/17/1999	change RVF_create_task and RVF_get_taskid functions         */
/*	30/11/99	compliant to RV coding guidelines							*/
/*  28/08/2000	add mutex related functions.								*/
/*																			*/
/*	Author		David Lamy-Charrier (dlamy@tif.ti.com)						*/
/*																			*/
/* (C) Copyright 1999 by Texas Instruments Incorporated, All Rights Reserved*/
/****************************************************************************/

#ifndef _WINDOWS
	#include "config/rv.cfg"
#endif

#include "nucleus.h" 

#include "rv/rv_general.h"
#include "rvf/rvf_api.h"
#include "rvf/rvf_i.h"			
#include "rvm/rvm_i.h"	 /* ONLY for Task Codes */
#include "rvm/rvm_use_id_list.h"
#include <stdio.h>
#include <string.h>

/* include the rvtool_trace.h file only in the RivieraTool */
#ifdef	_WINDOWS
#ifndef	_CONSOLE
//		#include "rvtool_trace.h"
	#endif
	#include <windows.h>
#endif

#define RVF_STATIC_ALLOC_NB	1

/**********************************************************************
** Nucleus specific definitions
*/

typedef void (*NU_TASK_ENTRY)(UNSIGNED, VOID *);  //

/* array of tasks */
/**********************************************************************
* Note: if dynamic mem alloc of "pOSTCB" creates too much fragentation
* The origianl way me be utilised and pointed to by a addr_id table 
* structure, which is proposed for type 2 support.
***********************************************************************/

#define _RALLOC_TASK_CNTRL_BLK(tb)		rvf_get_buf(rvm_sys_mem_bank, sizeof(NU_TASK), tb)
#define	_RALLOC_TASK_EVT_GRP(tb)		rvf_get_buf(rvm_sys_mem_bank, sizeof(NU_EVENT_GROUP), tb)
#define _RALLOC_TASK_RT_ADDR_DATA(tb)	rvf_get_buf(rvm_sys_mem_bank, sizeof(T_RVF_RT_ADDR_ID_DATA), tb)
//#define _RALLOC_TASK_RT_TM(tb)			rvf_get_buf(rvm_sys_mem_bank, sizeof(T_RVF_TIMER_LIST_Q), tb)

/*static NU_TASK			bOSTCB[RVF_STATIC_ALLOC_NB];			 
static NU_EVENT_GROUP	bOSEvtGrp[RVF_STATIC_ALLOC_NB];			 
static UINT8			*bOSStack;
static UINT16			bOSStackSize;
static char				bOSTName[RVF_STATIC_ALLOC_NB][RVF_STATIC_ALLOC_NB];
*/

static UINT8	task_counter = 0;	
static INT16	OSDisableNesting = 0;
static BOOL		OSInterruptAlreadyMasked = FALSE;
static INT32    OSLastIntLevel;
static T_RVF_G_ADDR_ID _RDV=RVF_INVALID_ADDR_ID;

T_RVF_RET		_initSysRtData(void);


/*******************************************************************************
**
** Function         rvf_AllocTaskXyz()
**
** Description      
**                  
**
** Returns          T_RVF_MB_STATUS
**
*******************************************************************************/
T_RVF_RET _initSysRtData(void) {    /*A-M-E-N-D-E-D!*/
	int i=0;

	for (i=0; i < MAX_RVF_G_ADDR_ID; i++) pRtAddrIdTable[i]=NULL;

	//	pOSTCB[0]=&OSTCB[0];
	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_init
**
** Description      This function is called once at startup to initialize
**                  all the rvf (timer, buffer...).
**
** Returns          void
**
*******************************************************************************/
void rvf_init(void) {
	/* UINT8   i;	*/

    /* Initialize RVF variables */
    /*for (i = 0; i < MAX_RVF_TASKS; i++) {
        OSStack[i] = 0;
        OSStackSize[i] = 0;
        OSTName[i][0] = 0;
		memset( &OSTCB[i],		0, sizeof(NU_TASK) );
		memset( &OSEvtGrp[i],	0, sizeof(NU_EVENT_GROUP) );
    }
	//	for (i = 0; i < 1; i++) memset( &OSTCB[i], 0, sizeof(NU_TASK) );
	*/
	_initSysRtData();
	_rvf_buffer_init();
	_rvf_timers_init();
}

/*******************************************************************************
**
** Function         _rvf_name_cpy
**
** Description      Internal function which copy a string in a buffer.
**                  The string may be null-terminated or length bytes long.
**
** Returns          void
**
*******************************************************************************/
void _rvf_name_cpy(char * dest, char * source, UINT8 length) {	
	UINT8 cpt;
	for( cpt = 0; cpt < length ; cpt++) {
		dest[cpt] = source[cpt];
		if (source[cpt] == 0) {	return;}
	}
}

T_RVF_G_ADDR_ID rvf_get_context() {
	T_RVF_G_ADDR_ID gid=rvf_get_taskid();
	if(pRtAddrIdTable[gid]->type_code==ET2_HOST_TASK) {
		return pRtAddrIdTable[gid]->virtualContext;
	} else {
		return pRtAddrIdTable[gid]->host_addr_id;
	}
}

void rvf_setRDV(T_RVF_G_ADDR_ID tid,T_RVF_G_ADDR_ID vid) { 	
	if(pRtAddrIdTable[tid])	pRtAddrIdTable[tid]->virtualContext=vid;
}


/**************************************************************
*	Function         _rvf_name_cpy
*
***************************************************************/
T_RVF_G_ADDR_ID rvf_allocate_task_id(UINT8 isRealTask) {
	T_RVF_G_ADDR_ID i=0;
	UINT8 isTask=1;

	/* Note: differentiation is made between REAL and VIRTUAL IDs
	 * to provide for backwards compatabible LEGACY timer implementations
	 * The Real task ids should be in sync with:
	 * "static rvf_Timer[MAX_RVF_TASKS][RVF_NUM_TASK_TIMERS]",
	 * defined in "rvf_time.c". In the future, one NU_Timer blk will
	 * be pointed to in the rt global addr table. Hence, eliminating 
	 * the large resource of "rvf_Timer[][]"
	 */
	if(!pRtAddrIdTable[i]) return RVF_INVALID_ADDR_ID;

	if(isRealTask) {
		/* REAL TASK									*/
		for(i=0; pRtAddrIdTable[i]!=NULL && i<MAX_RVF_TASKS; i++);

		if (i < MAX_RVF_TASKS)	{ /* alloc. and init. */ 
			if(_RALLOC_TASK_RT_ADDR_DATA((T_RVF_BUFFER**)&pRtAddrIdTable[i])) return RVF_INVALID_TASK;
			memset( pRtAddrIdTable[i], 0, sizeof(T_RVF_RT_ADDR_ID_DATA) );
			rvf_mbox_buffer_init(pRtAddrIdTable[i]);

		} else	return RVF_INVALID_ADDR_ID;
	} else {
		/* VIRTUAL TASK				*/
		for(i=MAX_RVF_TASKS; pRtAddrIdTable[i]!=NULL && i<MAX_RVF_G_ADDR_ID; i++);

		if (i < MAX_RVF_G_ADDR_ID)	{ /* alloc. and init. */ 
			if(_RALLOC_TASK_RT_ADDR_DATA((T_RVF_BUFFER**)&pRtAddrIdTable[i])) return RVF_INVALID_TASK;
			memset( pRtAddrIdTable[i], 0, sizeof(T_RVF_RT_ADDR_ID_DATA) );
			rvf_mbox_buffer_init(pRtAddrIdTable[i]);

		} else	return RVF_INVALID_ADDR_ID;
	}
	
	return  i;
}

/* MUST RESOLVE ERROR CODES '1' is just for P of C */
T_RVF_RET rvf_setRtAddrSweIndex(T_RVF_G_ADDR_ID id, UINT8 sweIndex) {
	if(id>=MAX_RVF_G_ADDR_ID) return 1;
	pRtAddrIdTable[id]->swe_db_index=sweIndex;
//	pRtAddrIdTable[id]->type_code=tcode; /* allows type to be set if not in swe */
	return RVF_OK;
}

T_RVF_RET rvf_setHostTaskStackPtr(T_RVF_G_ADDR_ID id, UINT8* pStack) { /* deprecated ! */
	if(id>=MAX_RVF_TASKS) return 1;
	pRtAddrIdTable[id]->p_os_stack=pStack;

	return RVF_OK;
}

T_RVF_RET rvf_isHostingTaskIdle(T_RVF_G_ADDR_ID id, UINT8* status) { /* deprecated ! */
	if(id>=MAX_RVF_TASKS)	return RVF_INVALID_PARAMETER;
	if(!pRtAddrIdTable[id])	return RVF_INVALID_PARAMETER;
	if(pRtAddrIdTable[id]->type_code!=ET2_HOST_TASK) return RVF_INVALID_PARAMETER;

	if(pRtAddrIdTable[id]->hosting_count==0) *status=1;
	return RVF_OK;
}

/* convenience/helper fnc. */
T_RVF_G_ADDR_ID resolveHostAddrId(T_RVF_G_ADDR_ID id) { 
	if(!pRtAddrIdTable[id]) return RVF_INVALID_ADDR_ID;
	return pRtAddrIdTable[id]->host_addr_id;
}

/* HostingCounter enables one to deduce if task can be terminated	*/
/* ERROR return val must be revised									*/
T_RVF_RET rvf_registerToHost(T_RVF_G_ADDR_ID host_id, T_RVF_G_ADDR_ID eid) {
	UINT8 i;

	if (host_id >= MAX_RVF_TASKS || eid >= MAX_RVF_G_ADDR_ID )  return RV_INVALID_PARAMETER;; 

	for(i=0;pRtAddrIdTable[host_id]->parasites[i]!=0 && i < MAX_PARASITES; i++);

		pRtAddrIdTable[host_id]->parasites[i]=eid;
		pRtAddrIdTable[host_id]->hosting_count++;

	return RVF_OK;
}

T_RVF_RET rvf_unregisterFromHost(T_RVF_G_ADDR_ID host_id, T_RVF_G_ADDR_ID pid) {
	UINT8 i=0;
	if (pRtAddrIdTable[host_id]->hosting_count !=0) {
		for(i=0; i<MAX_PARASITES || pRtAddrIdTable[host_id]->parasites[i]==pid; i++);
			pRtAddrIdTable[host_id]->parasites[i]=0;

		pRtAddrIdTable[host_id]->hosting_count--;
	} else return RV_INVALID_PARAMETER;

	return RVF_OK;
}

T_RVF_RET rvf_associateGrpToHost(T_RVF_G_ADDR_ID host_id, T_RVF_GD_ID gd_id) {

	if (host_id >= MAX_RVF_TASKS )  return RV_INVALID_PARAMETER; 

	pRtAddrIdTable[host_id]->gdHost=gd_id;
		
	return RVF_OK;
}

/*T_RVF_RET rvf_unregisterGrpFromHost(T_RVF_G_ADDR_ID host_id, T_RVF_G_ADDR_ID pid) {
	if (pRtAddrIdTable[host_id]->hosting_count !=0) {
		pRtAddrIdTable[host_id]->parasites[pid]=0;
		pRtAddrIdTable[host_id]->hosting_count--;
	} else return RV_INVALID_PARAMETER;

	return RVF_OK;
}*/

T_RVF_G_ADDR_ID rvf_resolveHostingAddrId(T_RVM_GROUP_DIRECTIVE gd) {
	int i=0;

	for(i=1; i<MAX_RVF_TASKS; i++) {		// i=1 by-pass RVM task 
		if(pRtAddrIdTable[i]!=NULL) {
			if( pRtAddrIdTable[i]->type_code==ET2_HOST_TASK &&
//				pRtAddrIdTable[i]->priority==priority &&	// to do ...
//				pRtAddrIdTable[i]->os_stack_size>=stack_size
				pRtAddrIdTable[i]->gdHost==gd.group_directive &&
				pRtAddrIdTable[i]->hosting_count<MAX_PARASITES ) return i; // def. 10 A+ .
		}
	}

	return RVF_INVALID_ADDR_ID; /* nothing found ret. param must be invalid*/
}

/*********************************************************************
 * start() and stop() should be added to params, due to defered calling 
 * Allow for parasites to be added at RT and their start to be called.
 *********************************************************************/
T_RVF_RET rvf_create_virtual_task (T_RV_RET (* handle_message)(T_RV_HDR * msg),
								   T_RV_RET (* handle_timer)(T_RV_HDR * msg),
								   T_RVF_G_ADDR_ID task_id, T_RVF_G_ADDR_ID host_task_id, char *taskname,
								   UINT8 priority, UINT8 tcode) {

	if(!pRtAddrIdTable[task_id]) {  /* allow for static init. or previous dyn init, eg. idle*/	
		if(_RALLOC_TASK_RT_ADDR_DATA((T_RVF_BUFFER**)&pRtAddrIdTable[task_id])) return RVF_INTERNAL_ERR;
		memset( pRtAddrIdTable[task_id], 0, sizeof(T_RVF_RT_ADDR_ID_DATA) );

		rvf_mbox_buffer_init(pRtAddrIdTable[task_id]);
	} /*else printf("RVF: task rt addr %d already alloc'ed\n", task_id); */

	pRtAddrIdTable[task_id]->host_addr_id=host_task_id;
	pRtAddrIdTable[task_id]->symbolic_name=taskname;
	pRtAddrIdTable[task_id]->handle_message=handle_message;
	pRtAddrIdTable[task_id]->handle_timer=handle_timer;
	pRtAddrIdTable[task_id]->type_code=tcode;

	pRtAddrIdTable[task_id]->pOSTCB=NULL;		/* init to NULL for res.'free' */ 
	pRtAddrIdTable[task_id]->pOSEvtGrp=NULL;
	pRtAddrIdTable[task_id]->p_os_stack=NULL;
//	pRtAddrIdTable[task_id]->p_tm_q=NULL;

//	rvf_registerToHost(host_task_id, task_id);
	
	return RVF_OK;
}

T_RVF_RET rvf_register_t3_handlers (T_RVF_G_ADDR_ID task_id,
								   T_RV_RET (* handle_message)(T_RV_HDR * msg),
								   T_RV_RET (* handle_timer)(T_RV_HDR * msg) ) {

	pRtAddrIdTable[task_id]->handle_message=handle_message;
	pRtAddrIdTable[task_id]->handle_timer=handle_timer;

	return RVF_OK;
}

/* RVM must create a stack with its MB and pass as params to task create */
/*T_RVF_RET rvf_create_host_task (T_RV_RET (* proxy)(void), T_RVF_G_ADDR_ID task_id,
								   char *taskname, UINT8 *stack, UINT16 stacksize, 
								   UINT8 priority, UINT8 tcode, UINT8 time_slicing, T_RVF_TASK_STATE suspend) {

	return rvf_create_task(	(TASKPTR)proxy, task_id, taskname, stack, stacksize,\
							priority, tcode, time_slicing,	suspend ) ;
									
}*/

/*******************************************************************************
**
** Function         rvf_create_task
**
** Description      This function is called to create a new rvf task.
**                  time_slice represents the number of Nucleus ticks before a task is interrupted.
**					0 for no time-slicing.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET rvf_create_legacy_task (TASKPTR task_entry, UINT8 task_id, char *taskname, UINT8 *stack, UINT16 stacksize, UINT8 priority, UINT8 time_slicing, T_RVF_TASK_STATE is_suspend) {

	return rvf_create_task(task_entry,task_id,taskname,stack,stacksize,priority,ET4_TASK,time_slicing,is_suspend);
}

T_RVF_RET rvf_create_task (TASKPTR task_entry, T_RVF_G_ADDR_ID task_id, char *taskname, UINT8 *stack, UINT16 stacksize,
						   UINT8 priority, UINT8 tcode, UINT8 time_slicing, T_RVF_TASK_STATE suspend) {

	/*if (task_id >= MAX_RVF_TASKS) { return 1; } */
	if (task_counter >= MAX_RVF_TASKS) { return 1; }

	/* fill the task stack with a 0xFE pattern to allow use with stack monitoring tool */
	memset( stack, 0xFE, stacksize );

	/* allow for immediate task creation, eg. no alloc taskId(), but #defined task No. Dangerous!*/	
	if(!pRtAddrIdTable[task_id]) {  
		if(_RALLOC_TASK_RT_ADDR_DATA((T_RVF_BUFFER**)&pRtAddrIdTable[task_id])) return RVF_INTERNAL_ERR;
		memset( pRtAddrIdTable[task_id], 0, sizeof(T_RVF_RT_ADDR_ID_DATA) );

		rvf_mbox_buffer_init(pRtAddrIdTable[task_id]);
	} /*else printf("RVF: task rt addr %d already alloc'ed\n", task_id); */

	/*if(_RALLOC_TASK_RT_TM((T_RVF_BUFFER**)&pRtAddrIdTable[task_id]->p_tm_q)) {
		rvf_free_buf(pRtAddrIdTable[task_id]);
		pRtAddrIdTable[task_id]=NULL;
		return RVF_INTERNAL_ERR;
	} else pRtAddrIdTable[task_id]->p_tm_q->timerCnt=0;*/
	
	pRtAddrIdTable[task_id]->hosting_count=0;
	pRtAddrIdTable[task_id]->host_addr_id=task_id;
	pRtAddrIdTable[task_id]->symbolic_name=taskname;
	pRtAddrIdTable[task_id]->priority=priority;
	pRtAddrIdTable[task_id]->type_code=tcode;

	memset(&pRtAddrIdTable[task_id]->parasites, 0, (sizeof(T_RVF_G_ADDR_ID)*MAX_PARASITES));

	if (stack) {
	    pRtAddrIdTable[task_id]->p_os_stack     = (UINT8 *)stack;// - stacksize;
	    pRtAddrIdTable[task_id]->os_stack_size	= stacksize;
    } else {
//		rvf_free_buf(pRtAddrIdTable[task_id]->p_tm_q);
		rvf_free_buf(pRtAddrIdTable[task_id]);
		pRtAddrIdTable[task_id]=NULL;
		return RVF_INTERNAL_ERR;
	}

	if(_RALLOC_TASK_CNTRL_BLK((T_RVF_BUFFER**)&pRtAddrIdTable[task_id]->pOSTCB)) {
		rvf_free_buf(stack);
//		rvf_free_buf(pRtAddrIdTable[task_id]->p_tm_q);
		rvf_free_buf(pRtAddrIdTable[task_id]);
		pRtAddrIdTable[task_id]=NULL;
		return RVF_INTERNAL_ERR;
	}
	memset( pRtAddrIdTable[task_id]->pOSTCB, 0, sizeof(NU_TASK) );

	if(_RALLOC_TASK_EVT_GRP((T_RVF_BUFFER**)&pRtAddrIdTable[task_id]->pOSEvtGrp)) {
		rvf_free_buf(pRtAddrIdTable[task_id]->pOSTCB);
		rvf_free_buf(stack);
//		rvf_free_buf(pRtAddrIdTable[task_id]->p_tm_q);
		rvf_free_buf(pRtAddrIdTable[task_id]);
		pRtAddrIdTable[task_id]=NULL;
		return RVF_INTERNAL_ERR;
	}
	memset( pRtAddrIdTable[task_id]->pOSEvtGrp, 0, sizeof(NU_EVENT_GROUP) );

	/* Create one Event Group for this task */
	if( NU_SUCCESS != \
		NU_Create_Event_Group (pRtAddrIdTable[task_id]->pOSEvtGrp,\
		taskname) ) {
		return RVF_INTERNAL_ERR;
	}

	//}
    /* Create Task */
	if ( NU_SUCCESS != 
	NU_Create_Task (pRtAddrIdTable[task_id]->pOSTCB,            /* Task Control Block */
		            taskname,     /*taskname,*/					/* Task Name */
		            (NU_TASK_ENTRY )task_entry,					/* Task Entry Function */
		            0,            /* why prev. task_id ???  */	/* ARGC  A-M-E-N-D-E-D! */
		            NULL,										/* ARGV */
		            pRtAddrIdTable[task_id]->p_os_stack,        /* Begining of Stack */
		            pRtAddrIdTable[task_id]->os_stack_size,		/* Stack size */
		            priority,									/* Priority */
		            time_slicing,								/* Time Slicing Period*/
		            NU_PREEMPT,									/* Preemption allowed */
					(OPTION)(suspend == RUNNING ? NU_START : NU_NO_START) )/* Start the task or suspend it */
		)	{	
		return RVF_INTERNAL_ERR;
	}
	task_counter++;   /* MUST 'DEC' ON TASK TERMINATION	*/
	
	return RVF_OK;
}

/* to be called from func. 'create_tasks()' of module "create_RVtasks.c" 
 * utilises static alloated system variables								*/
/*T_RVF_RET rvf_create_boot_task (TASKPTR task_entry, UINT8 task_id, char *taskname, UINT8 *stack, UINT16 stacksize, UINT8 priority, UINT8 time_slicing, T_RVF_TASK_STATE suspend) {
	if (task_id >= MAX_RVF_TASKS)	{		return 1;}

    if (stack)    {
	    bOSStack     = (UINT8 *)stack;// - stacksize;
	    bOSStackSize = stacksize;
    }
	// copy the task name into an internal buffer 
	_rvf_name_cpy( &(bOSTName[0][0]), taskname, RVF_MAX_TASK_LEN);

	// fill the task stack with a 0xFE pattern to allow use with stack monitoring tool 
	memset( stack, 0xFE, stacksize );

	// Create one Event Group for this task 
	if( NU_SUCCESS != NU_Create_Event_Group (&bOSEvtGrp[0], taskname) ){
		return RVF_INTERNAL_ERR;
	}

    // Create Task 
	if ( NU_SUCCESS != 
	NU_Create_Task (&bOSTCB[0],                 // (reserved)Task Control Block 
		            taskname,	                // Task Name 
		            (NU_TASK_ENTRY )task_entry,	// Task Entry Function 
		            task_id,		            // ARGC 
		            NULL,		                // ARGV 
		            bOSStack,					// Begining of Stack 
		            stacksize,	                // Stack size 
		            priority,					// Priority 
		            time_slicing,			    // Time Slicing Period
		            NU_PREEMPT,                 // Preemption allowed 
					(OPTION)(suspend == RUNNING ? NU_START : NU_NO_START) )// Start the task or suspend it 
		)
	{	return RVF_INTERNAL_ERR;
	}
	task_counter++;
	return RVF_OK;
}*/

/* Later timer blk must be added, once made dynamic   */ 
T_RVF_RET rvf_free_sys_resources(T_RVF_G_ADDR_ID gid, UINT8 rm) {

	if(!pRtAddrIdTable[gid]) return RVF_INTERNAL_ERR;

	if(rm==1 || rm==2) {
		if(pRtAddrIdTable[gid]->pOSTCB)rvf_free_buf(pRtAddrIdTable[gid]->pOSTCB);
		if(pRtAddrIdTable[gid]->pOSEvtGrp)rvf_free_buf(pRtAddrIdTable[gid]->pOSEvtGrp);
		if(pRtAddrIdTable[gid]->p_os_stack)rvf_free_buf(pRtAddrIdTable[gid]->p_os_stack);

		task_counter--;
	}
	if(rm==0 || rm==2) {
		if(pRtAddrIdTable[gid])rvf_free_buf(pRtAddrIdTable[gid]);
		pRtAddrIdTable[gid]=NULL;
	}

	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_exit_task
**
** Description      This function is called to stop a rvf task.
**					A task can kill another task or itself.
**
** Returns          void
**
*******************************************************************************/
void rvf_exit_task (T_RVF_G_ADDR_ID task_id)
{
	if(!pRtAddrIdTable[task_id]) return;
	/*
	** Empty task's mail box
	*/
	_rvf_empty_mailboxes(task_id);

	/*
	** Terminate task
	*/
	NU_Terminate_Task(pRtAddrIdTable[task_id]->pOSTCB); /*&OSTCB[task_id]);*/
	NU_Delete_Task(pRtAddrIdTable[task_id]->pOSTCB);

	/*
	** Delete related event group
	*/
	NU_Delete_Event_Group (pRtAddrIdTable[task_id]->pOSEvtGrp);

	pRtAddrIdTable[task_id]->p_os_stack=0;
    //OSStack[task_id]     = 0;
}


/*******************************************************************************
**
** Function         rvf_suspend_task
**
** Description      This function is called to suspend a rvf task.
**					A task can suspend another task or itself.
**
** Returns          void
**
*******************************************************************************/
T_RVF_RET rvf_suspend_task (T_RVF_G_ADDR_ID task_id)
{
	if(!pRtAddrIdTable[task_id]) return RVF_INVALID_PARAMETER;
	NU_Suspend_Task(pRtAddrIdTable[task_id]->pOSTCB); // A-M-E-N-D-E-D! 

	return RVF_OK;
}


/*******************************************************************************
**
** Function         rvf_wait
**
** Description      This function is called by tasks to wait for a specific
**                  event or set of events. The task may specify the duration
**                  that it wants to wait for, or 0 if infinite.
**
** Returns          the event mask of received events or zero if timeout
**
*******************************************************************************/
UINT16 rvf_wait (UINT16 flag, UINT32 timeout) {
	T_RVF_G_ADDR_ID     rtask = rvf_get_taskid();

	if (!timeout) timeout = 0xFFFFFFFFL;
	
	return rvf_evt_wait(rtask, flag, timeout);
}

UINT16 rvf_evt_wait(T_RVF_G_ADDR_ID rtask, UINT16 flag, UINT32 timeout) {

#define RVF_RET_TIME_OUT	0

	UINT16		mbxEvt = 0;
	UNSIGNED    evt   = 0;
	UNSIGNED	clear = 0;
	STATUS		status_ret; 

    /* Check if anything in any of the mailboxes. Possible race condition. */
   
	if (rtask>=MAX_RVF_TASKS || !pRtAddrIdTable[rtask]) {
		RVM_TRACE_WARNING_PARAM("RVF: Illegal MBOX or MBOX not ready!", rtask);
		return (UINT16) RVF_RET_TIME_OUT; 
	}

	if (pRtAddrIdTable[rtask] && pRtAddrIdTable[rtask]->OSTaskQFirst[0])
        mbxEvt |= RVF_TASK_MBOX_0_EVT_MASK;
    if (pRtAddrIdTable[rtask] && pRtAddrIdTable[rtask]->OSTaskQFirst[1])
        mbxEvt |= RVF_TASK_MBOX_1_EVT_MASK;
    if (pRtAddrIdTable[rtask] && pRtAddrIdTable[rtask]->OSTaskQFirst[2])
        mbxEvt |= RVF_TASK_MBOX_2_EVT_MASK;
    if (pRtAddrIdTable[rtask] && pRtAddrIdTable[rtask]->OSTaskQFirst[3])
        mbxEvt |= RVF_TASK_MBOX_3_EVT_MASK;

    /* If any valid event if pending, return immediately */
    if (mbxEvt & flag)
    {
       /* Return only those bits which user wants... */
       evt = (UINT16) (mbxEvt & flag);

	   /* clear the nucleus event(s) for mailboxes */
	   if ( mbxEvt & 0x000F ) /* a mailbox event is signaled*/
	   {   NU_Retrieve_Events (pRtAddrIdTable[rtask]->pOSEvtGrp, (UNSIGNED) mbxEvt & 0x000F, NU_AND_CONSUME,
                        (UNSIGNED *)&clear, NU_NO_SUSPEND);
	   }

       	   
        return ((UINT16) evt);
    }


    if(pRtAddrIdTable[rtask]) {
		status_ret = NU_Retrieve_Events (pRtAddrIdTable[rtask]->pOSEvtGrp,
										 (UNSIGNED) flag, NU_OR_CONSUME,
										 (UNSIGNED *)&evt, timeout );
		if ( status_ret == NU_SUCCESS) {
			return (UINT16) evt;
		} else { /* timeout or error case */
			return (UINT16) RVF_RET_TIME_OUT;
		}
	} return (UINT16) RVF_RET_TIME_OUT;
}

/*******************************************************************************
**
** Function         rvf_wait_for_specific_msg
**
** Description      This function is called by tasks to wait for a specific
**                  message in the specified mailbox. The task may specify the duration
**                  that it wants to wait for, or 0 if infinite.
**
** Returns          A pointer to the message, NULL in case of time-out.
**
*******************************************************************************/
T_RVF_BUFFER * rvf_wait_for_specific_msg(UINT16 msg_code, UINT8 mbox, UINT32 timeout)
{
	T_RVF_G_ADDR_ID task_id = rvf_get_taskid();
	T_RVF_BUFFER * p_buf = NULL;
	T_RVF_INTERNAL_BUF * p_hdr;
	UNSIGNED clear = 0;
	STATUS status_ret;
	UINT32 wait_time;
	UINT32 init_time = rvf_get_tick_count();

	
	/* check input parameter */
	if ( mbox >= RVF_NUM_TASK_MBOX)  /* NOTE: must be def to 2 max */
	{	rvf_send_trace( "RVF: rvf_wait_for_specific_msg(): invalid mailbox id", 52, NULL_PARAM, RV_TRACE_LEVEL_ERROR, RVM_USE_ID);
		return p_buf;
	}

	if(!timeout)
		timeout = 0xFFFFFFFFL;
	wait_time = timeout;

	while( (rvf_get_tick_count() - init_time) < timeout  )
	{
		/* test all messages in the mailbox */
		if( pRtAddrIdTable[task_id]->OSTaskQFirst[mbox] )
		{
			rvf_disable(9);
			p_hdr = pRtAddrIdTable[task_id]->OSTaskQFirst[mbox];
			p_buf = MEM2USER(p_hdr);
			/* test the first one */
			if ( ((T_RV_HDR *)p_buf)->msg_id == msg_code )
			{	/* message found, return it */
				pRtAddrIdTable[task_id]->OSTaskQFirst[mbox] = p_hdr->p_next;
				p_hdr->p_next				= NULL;

#if RVF_ENABLE_BUF_LINKAGE_CHECK
				RVF_SET_BUF_UNLINKED(p_hdr);
#endif
				/* clear the Nucleus Event for this mailbox */
				NU_Retrieve_Events( pRtAddrIdTable[task_id]->pOSEvtGrp, EVENT_MASK(mbox), NU_AND_CONSUME, 
								(UNSIGNED *)&clear, NU_NO_SUSPEND);
				rvf_enable();
				return p_buf;
			}

			while(p_hdr->p_next != NULL)
			{
				p_buf = MEM2USER(p_hdr->p_next);
				if ( ((T_RV_HDR *)p_buf)->msg_id == msg_code )
				{	/* remove it from the list */
					p_hdr->p_next = ( (T_RVF_INTERNAL_BUF *) USER2MEM(p_buf))->p_next;
					/* check if it the last one */
					if ( pRtAddrIdTable[task_id]->OSTaskQLast[mbox]  == USER2MEM(p_buf) )
					{	pRtAddrIdTable[task_id]->OSTaskQLast[mbox]  = p_hdr;
					}
					((T_RVF_INTERNAL_BUF *) USER2MEM(p_buf))->p_next = NULL;

	#if RVF_ENABLE_BUF_LINKAGE_CHECK
					RVF_SET_BUF_UNLINKED(USER2MEM(p_buf));
	#endif
					rvf_enable();
					return p_buf;
				}
				p_hdr = p_hdr->p_next;
			}

			rvf_enable();
		}
		
		/* here, the message has not been found, so wait for a new message */
		
		if ((wait_time != 0xFFFFFFFFL) &&
			(timeout > rvf_get_tick_count() - init_time))
		{
			/* NU_Retrieve_Events bug: cannot call function with a parameter with F in MSB */
			wait_time = (timeout - (rvf_get_tick_count() - init_time)) & 0x0FFFFFFFL;
		}

		status_ret = NU_Retrieve_Events( pRtAddrIdTable[task_id]->pOSEvtGrp, EVENT_MASK(mbox), NU_OR_CONSUME,
										(UNSIGNED *)&clear, wait_time);

		if( status_ret != NU_SUCCESS) /* time out */
		{	return NULL;
		}
		
	}
	return NULL;
}


/*******************************************************************************
**
** Function         rvf_delay
**
** Description      This function is called by tasks to sleep unconditionally
**                  for a specified amount of time.
**
** Returns          void
**
*******************************************************************************/
void rvf_delay (UINT32 timeout)
{
	if (timeout == 0)
	{	timeout = 1;
	}

	NU_Sleep(timeout);

}


/*******************************************************************************
**
** Function         rvf_send_event
**
** Description      This function is called by tasks to send events to other
**                  tasks. Tasks can also send events to themselves.
**
** Returns          0 if all OK, else 1
**
*******************************************************************************/
UINT8 rvf_send_event (T_RVF_G_ADDR_ID task_id, UINT16 event) {	

	if (task_id >= MAX_RVF_TASKS || !pRtAddrIdTable[task_id] ) return 1;

	NU_Set_Events (pRtAddrIdTable[task_id]->pOSEvtGrp, (UNSIGNED)event, NU_OR);

	return 0;
}

/*******************************************************************************
**
** Function         rvf_get_taskid
**
** Description      This function gets the currently running task ID.
**
** Returns          task ID
**
*******************************************************************************/
T_RVF_G_ADDR_ID rvf_get_taskid(void) {	/* Retrieve the taskid using index of the task pointer in the OSTCB array */
	NU_TASK * currTask=0;
	T_RVF_G_ADDR_ID taskId=RVF_INVALID_ADDR_ID;

	currTask = NU_Current_Task_Pointer();

	if( currTask != NU_NULL) {
		/* find the task pointer in the OSTCB array */
		for ( taskId = 0; taskId < MAX_RVF_TASKS; taskId++) {
			if( (pRtAddrIdTable[taskId]!= NULL) && 
				((pRtAddrIdTable[taskId]->pOSTCB)) == currTask) return taskId;
		}
		return RVF_INVALID_ADDR_ID;
	} else {
		return RVF_INVALID_ADDR_ID; /* error case, must return an error code */
	}
}


/*******************************************************************************
**
** Function         rvf_get_taskname
**
** Description      This function gets the currently running task name.
**
** Returns          pointer to task name or NULL if error
**
*******************************************************************************/
char* rvf_get_taskname(void)
{	T_RVF_G_ADDR_ID id = rvf_get_taskid();
	
	if (id == 0xFF) return NULL; /* return NULL if rvf_get_taskid returns 0xFF */

    return pRtAddrIdTable[id]->symbolic_name; /*(OSTName[ id ]);*/
}

/*******************************************************************************
**
** Function         rvf_enable
**
** Description      This function enables interrupts.
**
** Returns          void
**
*******************************************************************************/
void rvf_enable(void)
{

	if( --OSDisableNesting == 0)	/* Control nesting interrupt */
	{	
		if( OSInterruptAlreadyMasked == TRUE) /*	check if interrupts have been disabled outside RVF, 
													in that case, do not enable interrupts */
		{	OSInterruptAlreadyMasked = FALSE;
		}
		else
		{	NU_Control_Interrupts(OSLastIntLevel);
		}
	}

}

#ifdef _WINDOWS

/*******************************************************************************
**
** Function         INT_Check_IRQ_Mask()
**
** Description      This function checks if the IRQ are disabled (outside RVF).
**
** Returns          IRQ mask
**
*******************************************************************************/
UINT32 INT_Check_IRQ_Mask(void)
{
	return 0;
}
#else

/*-------------------------------------------------------*/ 
/* INT_Check_IRQ_Mask()                                  */
/*-------------------------------------------------------*/
/*                                                       */
/* Description: check in the CPSR register if the IRQ	 */
/*              are masked out or not.                   */
/* ------------                                          */
/*												         */
/*-------------------------------------------------------*/
/* Declaration of ASM INT_Check_IRQ_Mask function */
UINT32 INT_Check_IRQ_Mask(void);

#ifndef __GNUC__

asm("           .def	$INT_Check_IRQ_Mask");
asm("$INT_Check_IRQ_Mask  ");			    
asm("           .ref _INT_32_Check_IRQ_Mask");
asm(".state16");
asm("	ADR	r0,_INT_32_Check_IRQ_Mask  ");
asm("	BX r0  ");

asm("	.align");
asm("	.state32");
asm("           .def _INT_32_Check_IRQ_Mask");
asm("_INT_32_Check_IRQ_Mask  ");

asm("	MRS	r0,CPSR  ");   // pick up CPSR 
asm("	BX	lr  ");        // return to caller

#endif
#endif


/*******************************************************************************
**
** Function         rvf_disable
**
** Description      This function disables interrupts.
**
** Returns          void
**
*******************************************************************************/

#define RVF_IRQ_DISABLED_MASK 0x00000080

void rvf_disable(UINT8 who)
{

	/* Control interrupt nesting ourselves */
	if (OSDisableNesting == 0)
	{
		if ( INT_Check_IRQ_Mask() & RVF_IRQ_DISABLED_MASK)	/* if IRQ are disabled (outside RVF) */
		{	OSInterruptAlreadyMasked = TRUE;
		}
		else
		{	OSLastIntLevel = NU_Control_Interrupts(NU_DISABLE_INTERRUPTS);
		}
	}
	OSDisableNesting++;

}


/*******************************************************************************
**
** Function         rvf_used_stack
**
** Description      This function tries to calculate the amount of
**                  stack used by looking for a zero.
**
** Returns          the number of non-zero bytes on the stack
**
*******************************************************************************/
UINT16 rvf_used_stack(T_RVF_G_ADDR_ID task)
{
	UINT16 j, stacksize;
	UINT8 *p;

	if(!pRtAddrIdTable[task]) return 0;

	stacksize = pRtAddrIdTable[task]->os_stack_size; /*OSStackSize[task];*/
	p = pRtAddrIdTable[task]->p_os_stack; /*OSStack[task];*/
	for(j = 0; (j < stacksize) && (*p++ == 0xFE); j++);

	return ((UINT16)(stacksize - j));
}


/*******************************************************************************
**
** Function         rvf_dump_tasks
**
** Description      This function dump all the rvf tasks.
**
** Returns          void
**
*******************************************************************************/
void rvf_dump_tasks()
{	UINT8 num_task;
	char task_info[100];

	rvf_send_trace("*** START DUMPING TASKS ***", 27, NULL_PARAM, RV_TRACE_LEVEL_DEBUG_HIGH, RVM_USE_ID);
	
	/* for each task, display its name, its id, its stack size*/
	rvf_send_trace("*TASK_NAME Id Stack_size Used_stack", 35, NULL_PARAM, RV_TRACE_LEVEL_DEBUG_HIGH, RVM_USE_ID);
		
	for ( num_task = 0; num_task < MAX_RVF_G_ADDR_ID; num_task++ )
	{	
		/* trace the task if it has been created*/
		if (pRtAddrIdTable[num_task] != 0 ) {	
			sprintf( task_info, "%10.10s %2d      %5d      %5d",
				pRtAddrIdTable[num_task]->symbolic_name /*OSTName[num_task]*/, 
				num_task, 
				pRtAddrIdTable[num_task]->os_stack_size, 
				rvf_used_stack( num_task) );
			rvf_send_trace( task_info, 35, NULL_PARAM, RV_TRACE_LEVEL_DEBUG_HIGH, RVM_USE_ID);		
		}
	}
	/* find a way to track task stack usage and display it */
	/* using NU_Check_Stack, NU_Task_Information or finding the first non-zero value in the stack */
}


/****************************************************************************/
/* For Big Endian Processors swap the bytes                                 */
#if defined(__BIG_ENDIAN)
UINT16 ntohs(UINT16 n)
{
	register UINT8  tmp;
	register UINT8  *p=(UINT8 *)&n;

	tmp  = p[0];
	p[0] = p[1];
	p[1] = tmp;

	return n;
}

UINT32 ntohl(UINT32 n)
{
	register UINT8 tmp;
	register UINT8 *p=(UINT8 *)&n;

	tmp  = p[0];
	p[0] = p[3];
	p[3] = tmp;

	tmp  = p[1];
	p[1] = p[2];
	p[2] = tmp;

	return n;
}

#endif /* __BIG_ENDIAN*/




/******************************************************************************
**
** Function			rvf_send_trace
**
** Description		This function displays a message essentially for debug purposes.
**					It displays the msg_length characters of the string pointed by msg
**					and the value of val.		
**
** Returns			void
**
******************************************************************************/
#ifdef  _WINDOWS 
#ifndef _CONSOLE
void rvf_send_trace1( INT8 * msg, UINT8 msg_length, UINT32 val, UINT8 TRACE_LEVEL, UINT32 swe_use_id)
{
/* Function to display trace message for Tool */

	UINT32 trace_type = swe_use_id;
	
	Trace( msg, msg_length, val, TRACE_LEVEL, trace_type);
}
#endif	
#endif	

#ifdef _CONSOLE  /* CONSOLE */
void rvf_send_trace1( INT8 * msg, UINT8 msg_length, UINT32 val, UINT8 TRACE_LEVEL, UINT32 swe_use_id) {
	const	int MAX		= 1000; 
	static	int l		= 0;
	char	buf[100];
	HANDLE	out			= 0;
    int nb;

	if(!out)out=GetStdHandle(STD_OUTPUT_HANDLE); 

	rvf_disable(25);
	
	sprintf(buf,"%s %d\n", msg, val);
	WriteConsole(out, buf, strlen(buf), &nb, NULL);
	
	if(l>=MAX) {
		system("cls");
		l=0;
	} else l++;

	rvf_enable();
}
#endif			/* CONSOLE */

/*******************************************************************************
**
** Function         rvf_resume_task
**
** Description      This function is called to resume a rvf task which is in a suspend state.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET rvf_resume_task( T_RVF_G_ADDR_ID taskid)
{
	if(!pRtAddrIdTable[taskid]) return RVF_INVALID_PARAMETER;
	if(!pRtAddrIdTable[taskid]->pOSTCB) return RVF_INVALID_PARAMETER;
	/* resume the task */
	if ( NU_INVALID_TASK == NU_Resume_Task( pRtAddrIdTable[taskid]->pOSTCB) ) {// A-M-E-N-D-E-D!
		return RVF_INTERNAL_ERR; //RVF_INVALID_PARAMETER;
	}
	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_initialize_mutex
**
** Description      This function initialize a mutex structure, which will be used 
**					to protect shared variables against simultaneous access.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET		rvf_initialize_mutex( T_RVF_MUTEX * mutex)
{

	/* initializes the mutex structure */
	
	if( NU_Create_Semaphore( (NU_SEMAPHORE *)mutex, "RVF", 1, NU_PRIORITY ) != NU_SUCCESS)
	{	return RVF_INTERNAL_ERR;
	}
	
	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_lock_mutex
**
** Description      This function locks a mutex to avoid simultaneous access.
**					If the mutex is already locked, the task is suspended 
**					until the mutex is unlocked.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET		rvf_lock_mutex( T_RVF_MUTEX * mutex)
{
	if( NU_Obtain_Semaphore( (NU_SEMAPHORE *)mutex, NU_SUSPEND ) != NU_SUCCESS)
	{	return RVF_INTERNAL_ERR;
	}

	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_unlock_mutex
**
** Description      This function unlocks a mutex to avoid simultaneous access.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET		rvf_unlock_mutex( T_RVF_MUTEX * mutex)
{
	if( NU_Release_Semaphore( (NU_SEMAPHORE *)mutex ) != NU_SUCCESS)
	{	return RVF_INTERNAL_ERR;
	}

	return RVF_OK;
}

/*******************************************************************************
**
** Function         rvf_delete_mutex
**
** Description      This function deletes a previously created mutex.
**
** Returns          RVF_OK if successful, else an error code
**
*******************************************************************************/
T_RVF_RET		rvf_delete_mutex( T_RVF_MUTEX * mutex)
{
	if( NU_Delete_Semaphore( (NU_SEMAPHORE *)mutex ) != NU_SUCCESS)
	{	return RVF_INTERNAL_ERR;
	}

	return RVF_OK;
}

void rvf_yield() { NU_Relinquish(); }

/* convenience function    */ 
UINT8 rvf_isType2() {
	if(pRtAddrIdTable[rvf_get_taskid()]->type_code==ET2_HOST_TASK) return 1;
	else return 0;
}