📄 os_core.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
* CORE FUNCTIONS
*
* (c) Copyright 1992-1998, Jean J. Labrosse, Plantation, FL
* All Rights Reserved
*
* V2.00
*
* File : OS_CORE.C
* By : Jean J. Labrosse
*********************************************************************************************************
*/
#ifndef OS_MASTER_FILE
#define OS_GLOBALS
#include "includes.h"
#endif
//--------------------------------------------------------------------------------------------
// 局部变量
//--------------------------------------------------------------------------------------------
static INT8U OSIntExitY; /* Variable used by 'OSIntExit' to prevent using locals */
static OS_STK OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE]; /* Idle task stack */
#if OS_TASK_STAT_EN
static OS_STK OSTaskStatStk[OS_TASK_STAT_STK_SIZE]; /* Statistics task stack */
#endif
static OS_TCB OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS]; /* Table of TCBs */
/*
*********************************************************************************************************
* MAPPING TABLE TO MAP BIT POSITION TO BIT MASK
*
* Note: Index into table is desired bit position, 0..7
* Indexed value corresponds to bit mask
*********************************************************************************************************
*/
INT8U const OSMapTbl[] = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80};
//--------------------------------------------------------------------------------------------
// 优先级解决方案表
//
// 注意： Index into table is bit pattern to resolve highest priority
// Indexed value corresponds to highest priority bit position (i.e. 0..7)
//--------------------------------------------------------------------------------------------
INT8U const OSUnMapTbl[] = {
0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0
};
//--------------------------------------------------------------------------------------------
// MAKE TASK READY TO RUN BASED ON EVENT OCCURING
//
// Description: This function is called by other uC/OS-II services and is used to ready a task that was
// waiting for an event to occur.
//
// Arguments : pevent is a pointer to the event control block corresponding to the event.
//
// msg is a pointer to a message. This pointer is used by message oriented services
// such as MAILBOXEs and QUEUEs. The pointer is not used when called by other
// service functions.
//
// msk is a mask that is used to clear the status byte of the TCB. For example,
// OSSemPost() will pass OS_STAT_SEM, OSMboxPost() will pass OS_STAT_MBOX etc.
//
// Returns : none
//
// Note : This function is INTERNAL to uC/OS-II and your application should not call it.
//--------------------------------------------------------------------------------------------
#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_EN
void OSEventTaskRdy (OS_EVENT *pevent, void *msg, INT8U msk)
{
OS_TCB *ptcb;
INT8U x;
INT8U y;
INT8U bitx;
INT8U bity;
INT8U prio;
y = OSUnMapTbl[pevent->OSEventGrp]; /* Find highest prio. task waiting for message */
bity = OSMapTbl[y];
x = OSUnMapTbl[pevent->OSEventTbl[y]];
bitx = OSMapTbl[x];
prio = (INT8U)((y << 3) + x); /* Find priority of task getting the msg */
if ((pevent->OSEventTbl[y] &= ~bitx) == 0) { /* Remove this task from the waiting list */
pevent->OSEventGrp &= ~bity;
}
ptcb = OSTCBPrioTbl[prio]; /* Point to this task's OS_TCB */
ptcb->OSTCBDly = 0; /* Prevent OSTimeTick() from readying task */
ptcb->OSTCBEventPtr = (OS_EVENT *)0; /* Unlink ECB from this task */
#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN
ptcb->OSTCBMsg = msg; /* Send message directly to waiting task */
#else
msg = msg; /* Prevent compiler warning if not used */
#endif
ptcb->OSTCBStat &= ~msk; /* Clear bit associated with event type */
if (ptcb->OSTCBStat == OS_STAT_RDY) { /* See if task is ready (could be susp'd) */
OSRdyGrp |= bity; /* Put task in the ready to run list */
OSRdyTbl[y] |= bitx;
}
}
#endif
//--------------------------------------------------------------------------------------------
// MAKE TASK WAIT FOR EVENT TO OCCUR
//
// Description: This function is called by other uC/OS-II services to suspend a task because an event has
// not occurred.
//
// Arguments : pevent is a pointer to the event control block for which the task will be waiting for.
//
// Returns : none
//
// Note : This function is INTERNAL to uC/OS-II and your application should not call it.
//--------------------------------------------------------------------------------------------
#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_EN
void OSEventTaskWait (OS_EVENT *pevent)
{
OSTCBCur->OSTCBEventPtr = pevent; /* Store pointer to event control block in TCB */
if ((OSRdyTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0) { /* Task no longer ready */
OSRdyGrp &= ~OSTCBCur->OSTCBBitY;
}
pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX; /* Put task in waiting list */
pevent->OSEventGrp |= OSTCBCur->OSTCBBitY;
}
#endif
//--------------------------------------------------------------------------------------------
// MAKE TASK READY TO RUN BASED ON EVENT TIMEOUT
//
// Description: This function is called by other uC/OS-II services to make a task ready to run because a
// timeout occurred.
//
// Arguments : pevent is a pointer to the event control block which is readying a task.
//
// Returns : none
//
// Note : This function is INTERNAL to uC/OS-II and your application should not call it.
//--------------------------------------------------------------------------------------------
#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_EN
void OSEventTO (OS_EVENT *pevent)
{
if ((pevent->OSEventTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0) {
pevent->OSEventGrp &= ~OSTCBCur->OSTCBBitY;
}
OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set status to ready */
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* No longer waiting for event */
}
#endif
//--------------------------------------------------------------------------------------------
// INITIALIZE EVENT CONTROL BLOCK'S WAIT LIST
//
// Description: This function is called by other uC/OS-II services to initialize the event wait list.
//
// Arguments : pevent is a pointer to the event control block allocated to the event.
//
// Returns : none
//
// Note : This function is INTERNAL to uC/OS-II and your application should not call it.
//--------------------------------------------------------------------------------------------
#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_EN
void OSEventWaitListInit (OS_EVENT *pevent)
{
INT8U i;
pevent->OSEventGrp = 0x00; /* No task waiting on event */
for (i = 0; i < OS_EVENT_TBL_SIZE; i++) {
pevent->OSEventTbl[i] = 0x00;
}
}
#endif
//--------------------------------------------------------------------------------------------
// 初始化 uC/OS-II 操作系统内部变量，必须在创建任何 uC/OS-II 对象及调用 OSStart 函数之前被调用
//--------------------------------------------------------------------------------------------
void OSInit (void)
{
INT16U i;
OSTime = 0L; // 清除 32 位系统时钟
OSIntNesting = 0; // 清除中断 nesting counter
OSLockNesting = 0; // 清除调试锁计数器
#if OS_TASK_CREATE_EN || OS_TASK_CREATE_EXT_EN || OS_TASK_DEL_EN
OSTaskCtr = 0; // 清除任务数
#endif
OSRunning = FALSE; // 指示多任务未开始
OSIdleCtr = 0L; // 清除 32 位空闲计数器
#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN
OSIdleCtrRun = 0L;
OSIdleCtrMax = 0L;
OSStatRdy = FALSE; // 统计任务未就绪
#endif
OSCtxSwCtr = 0; // 清除上下文切换计数器
// 清除就绪列表
OSRdyGrp = 0;
for (i = 0; i < OS_RDY_TBL_SIZE; i++)
OSRdyTbl[i] = 0;
OSPrioCur = 0;
OSPrioHighRdy = 0;
OSTCBHighRdy = (OS_TCB *)0; // 初始化 TCB
OSTCBCur = (OS_TCB *)0;
OSTCBList = (OS_TCB *)0;
for (i = 0; i < (OS_LOWEST_PRIO + 1); i++) { // 清除优先级表
OSTCBPrioTbl[i] = (OS_TCB *)0;
}
for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) { // 初始化空闲 TCB 列表
OSTCBTbl[i].OSTCBNext = &OSTCBTbl[i + 1];
}
OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS - 1].OSTCBNext = (OS_TCB *)0; /* Last OS_TCB */
OSTCBFreeList = &OSTCBTbl[0];
#if OS_MAX_EVENTS >= 2
for (i = 0; i < (OS_MAX_EVENTS - 1); i++) { /* Init. list of free EVENT control blocks */
OSEventTbl[i].OSEventPtr = (OS_EVENT *)&OSEventTbl[i + 1];
}
OSEventTbl[OS_MAX_EVENTS - 1].OSEventPtr = (OS_EVENT *)0;
OSEventFreeList = &OSEventTbl[0];
#endif
#if OS_Q_EN && (OS_MAX_QS >= 2)
OSQInit(); /* Initialize the message queue structures */
#endif
#if OS_MEM_EN && OS_MAX_MEM_PART >= 2
OSMemInit(); /* Initialize the memory manager */
#endif
#if OS_STK_GROWTH == 1
#if OS_TASK_CREATE_EXT_EN
OSTaskCreateExt(OSTaskIdle,
(void *)0, /* No arguments passed to OSTaskIdle() */
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Top-Of-Stack */
OS_IDLE_PRIO, /* Lowest priority level */
OS_TASK_IDLE_ID,
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