📄 kaka.c
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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
*
* (c) Copyright 1992-1999, Jean J. Labrosse, Weston, FL
* All Rights Reserved
*
* MASTER INCLUDE FILE
*********************************************************************************************************
*/
#include <stdio.h>
#include <string.h>
#include <ctype.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>
#include <setjmp.h>
/*
*********************************************************************************************************
* DEFINES
*********************************************************************************************************
*/
typedef unsigned char BOOLEAN;
typedef unsigned char INT8U; /* Unsigned 8 bit quantity */
typedef signed char INT8S; /* Signed 8 bit quantity */
typedef unsigned int INT16U; /* Unsigned 16 bit quantity */
typedef signed int INT16S; /* Signed 16 bit quantity */
typedef unsigned long INT32U; /* Unsigned 32 bit quantity */
typedef signed long INT32S; /* Signed 32 bit quantity */
#define FALSE 0
#define TRUE 1
#define OS_ENTER_CRITICAL() asm PUSHF
asm CLI; /* Disable interrupts */
#define OS_EXIT_CRITICAL() asm POPF /* Enable interrupts */
#define uCOS 0x80 /* Interrupt vector # used for context switch */
#define OS_TASK_SW() asm INT uCOS
#define OS_PRIO_SELF 0xFF
#define OS_N_SYS_TASKS 1
#define OS_MAX_TASKS 11
#define OS_LOWEST_PRIO 12
#define OS_TASK_IDLE_STK_SIZE 512
#define OS_TICKS_PER_SEC 200
#define OS_IDLE_PRIO (OS_LOWEST_PRIO) /* IDLE task priority */
#define OS_EVENT_TBL_SIZE ((OS_LOWEST_PRIO) / 8 + 1) /* Size of event table */
#define OS_RDY_TBL_SIZE ((OS_LOWEST_PRIO) / 8 + 1) /* Size of ready table */
#define OS_TASK_IDLE_ID 65535 /* I.D. numbers for Idle and Stat tasks */
#define OS_STAT_RDY 0x00 /* Ready to run */
#define OS_STAT_SUSPEND 0x08 /* Task is suspended */
#define OS_NO_ERR 0
#define OS_PRIO_EXIST 40
#define OS_NO_MORE_TCB 70
/*
*********************************************************************************************************
* Structure
*********************************************************************************************************
*/
typedef struct os_tcb {
INT16U *OSTCBStkPtr; /* Pointer to current top of stack */
struct os_tcb *OSTCBNext; /* Pointer to next TCB in the TCB list */
struct os_tcb *OSTCBPrev; /* Pointer to previous TCB in the TCB list */
INT16U OSTCBDly; /* Nbr ticks to delay task or, timeout waiting for event */
INT8U OSTCBStat; /* Task status */
INT8U OSTCBPrio; /* Task priority (0 == highest, 63 == lowest) */
INT8U OSTCBX; /* Bit position in group corresponding to task priority (0..7) */
INT8U OSTCBY; /* Index into ready table corresponding to task priority */
INT8U OSTCBBitX; /* Bit mask to access bit position in ready table */
INT8U OSTCBBitY; /* Bit mask to access bit position in ready group */
} OS_TCB;
INT8U const OSMapTbl[] = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80};
INT8U const OSUnMapTbl[] = {
0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x00 to 0x0F */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x10 to 0x1F */
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x20 to 0x2F */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x30 to 0x3F */
6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x40 to 0x4F */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x50 to 0x5F */
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x60 to 0x6F */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x70 to 0x7F */
7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x80 to 0x8F */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0x90 to 0x9F */
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0xA0 to 0xAF */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0xB0 to 0xBF */
6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0xC0 to 0xCF */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0xD0 to 0xDF */
5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0, /* 0xE0 to 0xEF */
4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 /* 0xF0 to 0xFF */
};
/*
*********************************************************************************************************
* GLOBAL VARIABLES
*********************************************************************************************************
*/
INT8U OSTickDOSCtr; /* Counter used to invoke DOS's tick handler every 'n' ticks */
INT32U OSCtxSwCtr; /* Counter of number of context switches */
INT8U OSIntNesting; /* Interrupt nesting level */
INT8U OSIntExitY;
INT8U OSLockNesting; /* Multitasking lock nesting level */
INT8U OSPrioCur; /* Priority of current task */
INT8U OSPrioHighRdy; /* Priority of highest priority task */
INT8U OSRdyGrp; /* Ready list group */
INT8U OSRdyTbl[OS_RDY_TBL_SIZE]; /* Table of tasks which are ready to run */
BOOLEAN OSRunning; /* Flag indicating that kernel is running */
INT8U OSTaskCtr; /* Number of tasks created */
volatile INT32U OSIdleCtr; /* Idle counter */
INT16U OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE]; /* Idle task stack */
OS_TCB *OSTCBCur; /* Pointer to currently running TCB */
OS_TCB *OSTCBFreeList; /* Pointer to list of free TCBs */
OS_TCB *OSTCBHighRdy; /* Pointer to highest priority TCB R-to-R */
OS_TCB *OSTCBList; /* Pointer to doubly linked list of TCBs */
OS_TCB *OSTCBPrioTbl[OS_LOWEST_PRIO + 1];/* Table of pointers to created TCBs */
OS_TCB OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS]; /* Table of TCBs */
/*
*********************************************************************************************************
* Function PROTOTYPE
*********************************************************************************************************
*/
void OSInit(void);
void OSStart(void);
void OS_Sched(void);
void OSTimeTick(void);
void OS_TaskIdle(void *data);
void OSTimeDly(INT16U ticks);
void OSIntEnter(void);
void OSIntExit(void);
INT8U OS_TCBInit(INT8U prio, INT16U *ptos, INT16U *pbos, INT16U id, INT32U stk_size, void *pext, INT16U opt);
INT8U OSTaskCreate (void (*task)(void *pd), void *pdata, INT16U *ptos, INT8U prio);
INT16U *OSTaskStkInit(void (*task)(void *pd), void *pdata, INT16U *ptos, INT16U opt);
void OSIntCtxSw(void);
void OSStartHighRdy(void);
void OSCtxSw(void);
void OSTickISR(void);
/*
*********************************************************************************************************
* Functions
*********************************************************************************************************
*/
void OSInit (void)
{
/*--------- ^^Initialize miscellaneous variables -----------------------------------------------------------*/
OSIntNesting = 0; /* Clear the interrupt nesting counter */
OSLockNesting = 0; /* Clear the scheduling lock counter */
OSTaskCtr = 0; /* Clear the number of tasks */
OSRunning = FALSE; /* Indicate that multitasking not started */
OSCtxSwCtr = 0; /* Clear the context switch counter */
OSIdleCtr = 0L; /* Clear the 32-bit idle counter */
/*----------------^^ Initialize the Ready List --------------------------------------------------*/
{
INT16U i;
INT8U *prdytbl;
OSRdyGrp = 0x00; /* Clear the ready list */
prdytbl = &OSRdyTbl[0];
for (i = 0; i < OS_RDY_TBL_SIZE; i++) {
*prdytbl++ = 0x00;
}
OSPrioCur = 0;
OSPrioHighRdy = 0;
OSTCBHighRdy = (OS_TCB *)0;
OSTCBCur = (OS_TCB *)0;
}
/*------^^ Initialize the free list of OS_TCBs ------------------------------------------------*/
{
INT8U i;
OS_TCB *ptcb1;
OS_TCB *ptcb2;
OSTCBList = (OS_TCB *)0; /* TCB Initialization */
for (i = 0; i < (OS_LOWEST_PRIO + 1); i++) { /* Clear the priority table */
OSTCBPrioTbl[i] = (OS_TCB *)0;
}
ptcb1 = &OSTCBTbl[0];
ptcb2 = &OSTCBTbl[1];
for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) { /* Init. list of free TCBs */
ptcb1->OSTCBNext = ptcb2;
ptcb1++;
ptcb2++;
}
ptcb1->OSTCBNext = (OS_TCB *)0; /* Last OS_TCB */
OSTCBFreeList = &OSTCBTbl[0];
}
/*------------------^^Create the Idle Task -----------------------------------------------------*/
(void)OSTaskCreate(OS_TaskIdle,
(void *)0,
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1],
OS_IDLE_PRIO);
}
void OSStart (void)
{
INT8U y;
INT8U x;
if (OSRunning == FALSE) {
y = OSUnMapTbl[OSRdyGrp]; /* Find highest priority's task priority number */
x = OSUnMapTbl[OSRdyTbl[y]];
OSPrioHighRdy = (INT8U)((y << 3) + x);
OSPrioCur = OSPrioHighRdy;
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; /* Point to highest priority task ready to run */
OSTCBCur = OSTCBHighRdy;
OSStartHighRdy(); /* Execute target specific code to start task */
}
}
void OS_Sched (void)
{
INT8U y;
OS_ENTER_CRITICAL();
if ((OSIntNesting == 0) && (OSLockNesting == 0)) { /* Sched. only if all ISRs done & not locked */
y = OSUnMapTbl[OSRdyGrp]; /* Get pointer to HPT ready to run */
OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]);
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
OSCtxSwCtr++; /* Increment context switch counter */
OS_TASK_SW(); /* ^^^Perform a context switch */
}
}
OS_EXIT_CRITICAL();
}
void OSTimeTick (void)
{
OS_TCB *ptcb;
if (OSRunning == TRUE) {
ptcb = OSTCBList; /* Point at first TCB in TCB list */
while (ptcb->OSTCBPrio != OS_IDLE_PRIO) { /* Go through all TCBs in TCB list */
OS_ENTER_CRITICAL();
if (ptcb->OSTCBDly != 0) { /* Delayed or waiting for event with TO */
if (--ptcb->OSTCBDly == 0) { /* Decrement nbr of ticks to end of delay */
if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) { /* Is task suspended? */
OSRdyGrp |= ptcb->OSTCBBitY; /* No, Make task R-to-R (timed out)*/
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
} else { /* Yes, Leave 1 tick to prevent ... */
ptcb->OSTCBDly = 1; /* ... loosing the task when the ... */
} /* ... suspension is removed. */
}
}
ptcb = ptcb->OSTCBNext; /* Point at next TCB in TCB list */
OS_EXIT_CRITICAL();
}
}
}
void OS_TaskIdle (void *pdata)
{
pdata = pdata; /* Prevent compiler warning for not using 'pdata' */
for (;;) {
OS_ENTER_CRITICAL();
OSIdleCtr++;
OS_EXIT_CRITICAL();
}
}
void OSTimeDly (INT16U ticks)
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