os_task.c

来自「UCOS-III」· C语言 代码 · 共 1,541 行 · 第 1/5 页

        CPU_CRITICAL_EXIT();
        *p_err = OS_ERR_PEND_WOULD_BLOCK;                   /* No                                                     */
        return ((OS_SEM_CTR)0);
    } else {                                                /* Yes                                                    */
        if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0) {    /* Can't pend when the scheduler is locked                */
            CPU_CRITICAL_EXIT();
            *p_err = OS_ERR_SCHED_LOCKED;
            return ((OS_SEM_CTR)0);
        }
    }

    OS_CRITICAL_ENTER_CPU_CRITICAL_EXIT();                  /* Lock the scheduler/re-enable interrupts                */
    OS_Pend((OS_PEND_DATA *)0,                              /* Block task pending on Signal                           */
            (OS_PEND_OBJ  *)0,
            (OS_STATE      )OS_TASK_PEND_ON_TASK_SEM,
            (OS_TICK       )timeout);
    OS_CRITICAL_EXIT_NO_SCHED();

    OSSched();                                              /* Find next highest priority task ready to run           */

    CPU_CRITICAL_ENTER();
    switch (OSTCBCurPtr->PendStatus) {                      /* See if we timed-out or aborted                         */
        case OS_STATUS_PEND_OK:
             if (p_ts != (CPU_TS *)0) {
                *p_ts                    =  OSTCBCurPtr->TS;
#if OS_CFG_TASK_PROFILE_EN > 0u
                OSTCBCurPtr->SemPendTime = OS_TS_GET() - OSTCBCurPtr->TS;
                if (OSTCBCurPtr->SemPendTime > OSTCBCurPtr->SemPendTimeMax) {
                    OSTCBCurPtr->SemPendTimeMax = OSTCBCurPtr->SemPendTime;
                }
#endif
             }
             *p_err = OS_ERR_NONE;
             break;

        case OS_STATUS_PEND_ABORT:
             if (p_ts != (CPU_TS *)0) {
                *p_ts  =  OSTCBCurPtr->TS;
             }
             *p_err = OS_ERR_PEND_ABORT;                    /* Indicate that we aborted                               */
             break;

        case OS_STATUS_PEND_TIMEOUT:
             if (p_ts != (CPU_TS *)0) {
                *p_ts  = (CPU_TS  )0;
             }
             *p_err = OS_ERR_TIMEOUT;                       /* Indicate that we didn't get event within TO            */
             break;

        default:
             *p_err = OS_ERR_STATUS_INVALID;
             break;
    }
    ctr = OSTCBCurPtr->SemCtr;
    CPU_CRITICAL_EXIT();
    return (ctr);
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                               ABORT WAITING FOR A SIGNAL
*
* Description: This function aborts & readies the task specified.  This function should be used to fault-abort the wait
*              for a signal, rather than to normally post the signal to the task via OSTaskSemPost().
*
* Arguments  : p_tcb     is a pointer to the task to pend abort
*
*              opt       provides options for this function:
*
*                            OS_OPT_POST_NONE         No option selected
*                            OS_OPT_POST_NO_SCHED     Indicates that the scheduler will not be called.
*
*              p_err     is a pointer to a variable that will contain an error code returned by this function.
*
*                            OS_ERR_NONE              If the task was readied and informed of the aborted wait
*                            OS_ERR_PEND_ABORT_ISR    If you tried calling this function from an ISR
*                            OS_ERR_PEND_ABORT_NONE   If the task was not waiting for a signal
*                            OS_ERR_PEND_ABORT_SELF   If you attempted to pend abort the calling task.  This is not
*                                                     possible since the calling task cannot be pending because it's
*                                                     running.
*
* Returns    : == DEF_FALSE   if task was not waiting for a message, or upon error.
*              == DEF_TRUE    if task was waiting for a message and was readied and informed.
************************************************************************************************************************
*/

#if OS_CFG_TASK_SEM_PEND_ABORT_EN > 0u
CPU_BOOLEAN  OSTaskSemPendAbort (OS_TCB  *p_tcb,
                                 OS_OPT   opt,
                                 OS_ERR  *p_err)
{
    CPU_TS         ts;
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return (DEF_FALSE);
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* See if called from ISR ...                             */
       *p_err = OS_ERR_PEND_ABORT_ISR;                      /* ... can't Pend Abort from an ISR                       */
        return (DEF_FALSE);
    }
#endif

    CPU_CRITICAL_ENTER();
    if ((p_tcb == (OS_TCB *)0) ||                           /* Pend abort self?                                       */
        (p_tcb == OSTCBCurPtr)) {
        CPU_CRITICAL_EXIT();                                /* ... doesn't make sense!                                */
        *p_err = OS_ERR_PEND_ABORT_SELF;
        return (DEF_FALSE);
    }

    if (p_tcb->PendOn != OS_TASK_PEND_ON_TASK_SEM) {        /* Is task waiting for a signal?                          */
        CPU_CRITICAL_EXIT();
        *p_err = OS_ERR_PEND_ABORT_NONE;
        return (DEF_FALSE);
    }
    CPU_CRITICAL_EXIT();

    OS_CRITICAL_ENTER();
    ts = OS_TS_GET();
    OS_PendAbort((OS_PEND_OBJ *)0,
                 p_tcb,
                 ts);
    OS_CRITICAL_EXIT_NO_SCHED();
    if ((opt & OS_OPT_POST_NO_SCHED) == (OS_OPT)0) {
        OSSched();                                          /* Run the scheduler                                      */
    }
    *p_err = OS_ERR_NONE;
    return (DEF_TRUE);
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                                    SIGNAL A TASK
*
* Description: This function is called to signal a task waiting for a signal.
*
* Arguments  : p_tcb     is the pointer to the TCB of the task to signal.  A NULL pointer indicates that you are sending
*                        a signal to yourself.
*
*              opt       determines the type of POST performed:
*
*                             OS_OPT_POST_NONE         No option
*                             OS_OPT_POST_NO_SCHED     Do not call the scheduler
*
*              p_err     is a pointer to an error code returned by this function:
*
*                            OS_ERR_NONE              If the requested task is signaled
*                            OS_ERR_SEM_OVF           If the post would cause the semaphore count to overflow.
*
* Returns    : The current value of the task's signal counter or 0 if called from an ISR
************************************************************************************************************************
*/

OS_SEM_CTR  OSTaskSemPost (OS_TCB  *p_tcb,
                           OS_OPT   opt,
                           OS_ERR  *p_err)
{
    OS_SEM_CTR  ctr;
    CPU_TS      ts;



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ((OS_SEM_CTR)0);
    }
#endif

    ts = OS_TS_GET();                                       /* Get timestamp                                          */

#if OS_CFG_ISR_POST_DEFERRED_EN > 0u
    if (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* See if called from an ISR                              */
        OS_IntQPost((OS_OBJ_TYPE)OS_OBJ_TYPE_TASK_SIGNAL,   /* Post to ISR queue                                      */
                    (void      *)p_tcb,
                    (void      *)0,
                    (OS_MSG_SIZE)0,
                    (OS_FLAGS   )0,
                    (OS_OPT     )0,
                    (CPU_TS     )ts,
                    (OS_ERR    *)p_err);
        return ((OS_SEM_CTR)0);
    }
#endif

    ctr = OS_TaskSemPost(p_tcb,
                         opt,
                         ts,
                         p_err);

    return (ctr);
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                            SET THE SIGNAL COUNTER OF A TASK
*
* Description: This function is called to clear the signal counter
*
* Arguments  : p_tcb      is the pointer to the TCB of the task to clear the counter.  If you specify a NULL pointer
*                         then the signal counter of the current task will be cleared.
*
*              cnt        is the desired value of the semaphore counter
*
*              p_err      is a pointer to an error code returned by this function
*
*                             OS_ERR_NONE        if the signal counter of the requested task is cleared
*                             OS_ERR_SET_ISR     if the function was called from an ISR
*
* Returns    : none
************************************************************************************************************************
*/

OS_SEM_CTR  OSTaskSemSet (OS_TCB      *p_tcb,
                          OS_SEM_CTR   cnt,
                          OS_ERR      *p_err)
{
    OS_SEM_CTR  ctr;
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return ((OS_SEM_CTR)0);
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* Not allowed to call from an ISR                        */
       *p_err = OS_ERR_SET_ISR;
        return ((OS_SEM_CTR)0);
    }
#endif

    CPU_CRITICAL_ENTER();
    if (p_tcb == (OS_TCB *)0) {
        p_tcb = OSTCBCurPtr;
    }
    ctr           = p_tcb->SemCtr;
    p_tcb->SemCtr = (OS_SEM_CTR)cnt;
    CPU_CRITICAL_EXIT();
    *p_err        =  OS_ERR_NONE;
    return (ctr);
}

/*$PAGE*/
/*
************************************************************************************************************************
*                                                    STACK CHECKING
*
* Description: This function is called to calculate the amount of free memory left on the specified task's stack.
*
* Arguments  : p_tcb       is a pointer to the TCB of the task to check.  If you specify a NULL pointer then
*                          you are specifying that you want to check the stack of the current task.
*
*              p_free      is a pointer to a variable that will receive the number of free 'entries' on the task's stack.
*
*              p_used      is a pointer to a variable that will receive the number of used 'entries' on the task's stack.
*
*              p_err       is a pointer to a variable that will contain an error code.
*
*                              OS_ERR_NONE               upon success
*                              OS_ERR_PTR_INVALID        if either 'p_free' or 'p_used' are NULL pointers
*                              OS_ERR_TASK_NOT_EXIST     if the stack pointer of the task is a NULL pointer
*                              OS_ERR_TASK_OPT           if you did NOT specified OS_OPT_TASK_STK_CHK when the task
*                                                        was created
*                              OS_ERR_TASK_STK_CHK_ISR   you called this function from an ISR
************************************************************************************************************************
*/

#if OS_CFG_STAT_TASK_STK_CHK_EN > 0u
void  OSTaskStkChk (OS_TCB       *p_tcb,
                    CPU_STK_SIZE *p_free,
                    CPU_STK_SIZE *p_used,
                    OS_ERR       *p_err)
{
    CPU_STK_SIZE  free_stk;
    CPU_STK      *p_stk;
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if (OSIntNestingCtr