os_task.s

把UCOSII移植到AVR MEGA8上的程序 应用程序为驱动1602显示器,虽说有些简单,但可测试UCOS的运行

	adiw R24,1
	movw R30,R24
	ldd R4,z+0
	or R4,R14
	std z+0,R4
	.dbline 96
;                     pevent->OSEventTbl[y] |= bitx;
	movw R24,R20
	adiw R24,6
	ldd R2,y+1
	clr R3
	add R2,R24
	adc R3,R25
	movw R30,R2
	ldd R4,z+0
	or R4,R10
	std z+0,R4
	.dbline 97
;                 }
L14:
	.dbline 99
; #endif
;             }
L11:
	.dbline 100
;             OSTCBPrioTbl[newprio] = ptcb;                       /* Place pointer to TCB @ new priority */
	ldi R24,2
	ldd R0,y+12
	mul R24,R0
	movw R30,R0
	ldi R24,<_OSTCBPrioTbl
	ldi R25,>_OSTCBPrioTbl
	add R30,R24
	adc R31,R25
	std z+1,R13
	std z+0,R12
	.dbline 101
;             ptcb->OSTCBPrio       = newprio;                    /* Set new task priority               */
	movw R30,R12
	ldd R0,y+12
	std z+11,R0
	.dbline 102
;             ptcb->OSTCBY          = y;
	movw R30,R12
	ldd R0,y+1
	std z+13,R0
	.dbline 103
;             ptcb->OSTCBX          = x;
	movw R30,R12
	std z+12,R22
	.dbline 104
;             ptcb->OSTCBBitY       = bity;
	movw R30,R12
	std z+15,R14
	.dbline 105
;             ptcb->OSTCBBitX       = bitx;
	movw R30,R12
	std z+14,R10
	.dbline 106
;             OS_EXIT_CRITICAL();
	ldd R16,y+0
	rcall _OS_CPU_SR_Restore
	.dbline 107
;             OS_Sched();                                         /* Run highest priority task ready     */
	rcall _OS_Sched
	.dbline 108
;             return (OS_NO_ERR);
	clr R16
	rjmp L3
L8:
	.dbline 109
;         } else {
	.dbline 110
;             OSTCBPrioTbl[newprio] = (OS_TCB *)0;                /* Release the reserved prio.          */
	ldi R24,2
	ldd R0,y+12
	mul R24,R0
	movw R30,R0
	ldi R24,<_OSTCBPrioTbl
	ldi R25,>_OSTCBPrioTbl
	add R30,R24
	adc R31,R25
	clr R2
	clr R3
	std z+1,R3
	std z+0,R2
	.dbline 111
;             OS_EXIT_CRITICAL();
	ldd R16,y+0
	rcall _OS_CPU_SR_Restore
	.dbline 112
;             return (OS_PRIO_ERR);                               /* Task to change didn't exist         */
	ldi R16,41
	.dbline -2
L3:
	adiw R28,2
	rcall pop_gset5
	adiw R28,2
	.dbline 0 ; func end
	ret
	.dbsym r pevent 20 pS[.1]
	.dbsym r bity 14 c
	.dbsym r bitx 10 c
	.dbsym r x 22 c
	.dbsym l y 1 c
	.dbsym l cpu_sr 0 c
	.dbsym r ptcb 12 pS[os_tcb]
	.dbsym l newprio 12 c
	.dbsym r oldprio 20 c
	.dbend
	.dbfunc e OSTaskCreate _OSTaskCreate fc
;            psp -> R12,R13
;            err -> R12
;         cpu_sr -> R10
;           prio -> R14
;           ptos -> y+24
;          pdata -> y+22
;           task -> R12,R13
	.even
_OSTaskCreate::
	st -y,r19
	st -y,r18
	rcall push_gset5
	movw R12,R16
	sbiw R28,12
	ldd R14,y+26
	.dbline -1
	.dbline 159
;         }
;     }
; }
; #endif
; /*$PAGE*/
; /*
; *********************************************************************************************************
; *                                            CREATE A TASK
; *
; * Description: This function is used to have uC/OS-II manage the execution of a task.  Tasks can either
; *              be created prior to the start of multitasking or by a running task.  A task cannot be
; *              created by an ISR.
; *
; * Arguments  : task     is a pointer to the task's code
; *
; *              pdata    is a pointer to an optional data area which can be used to pass parameters to
; *                       the task when the task first executes.  Where the task is concerned it thinks
; *                       it was invoked and passed the argument 'pdata' as follows:
; *
; *                           void Task (void *pdata)
; *                           {
; *                               for (;;) {
; *                                   Task code;
; *                               }
; *                           }
; *
; *              ptos     is a pointer to the task's top of stack.  If the configuration constant
; *                       OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
; *                       memory to low memory).  'pstk' will thus point to the highest (valid) memory
; *                       location of the stack.  If OS_STK_GROWTH is set to 0, 'pstk' will point to the
; *                       lowest memory location of the stack and the stack will grow with increasing
; *                       memory locations.
; *
; *              prio     is the task's priority.  A unique priority MUST be assigned to each task and the
; *                       lower the number, the higher the priority.
; *
; * Returns    : OS_NO_ERR        if the function was successful.
; *              OS_PRIO_EXIT     if the task priority already exist
; *                               (each task MUST have a unique priority).
; *              OS_PRIO_INVALID  if the priority you specify is higher that the maximum allowed
; *                               (i.e. >= OS_LOWEST_PRIO)
; *********************************************************************************************************
; */
; 
; #if OS_TASK_CREATE_EN > 0
; INT8U  OSTaskCreate (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT8U prio)
; {
	.dbline 172
; #if OS_CRITICAL_METHOD == 3                  /* Allocate storage for CPU status register               */
;     OS_CPU_SR  cpu_sr;
; #endif
;     OS_STK    *psp;
;     INT8U      err;
; 
; 
; #if OS_ARG_CHK_EN > 0
;     if (prio > OS_LOWEST_PRIO) {             /* Make sure priority is within allowable range           */
;         return (OS_PRIO_INVALID);
;     }
; #endif
;     OS_ENTER_CRITICAL();
	rcall _OS_CPU_SR_Save
	mov R10,R16
	.dbline 173
;     if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority  */
	ldi R24,2
	mul R24,R14
	movw R30,R0
	ldi R24,<_OSTCBPrioTbl
	ldi R25,>_OSTCBPrioTbl
	add R30,R24
	adc R31,R25
	ldd R2,z+0
	ldd R3,z+1
	tst R2
	breq X7
	rjmp L19
X7:
	tst R3
	breq X8
	rjmp L19
X8:
X6:
	.dbline 173
	.dbline 174
;         OSTCBPrioTbl[prio] = (OS_TCB *)1;    /* Reserve the priority to prevent others from doing ...  */
	ldi R24,2
	mul R24,R14
	movw R30,R0
	ldi R24,<_OSTCBPrioTbl
	ldi R25,>_OSTCBPrioTbl
	add R30,R24
	adc R31,R25
	ldi R24,1
	ldi R25,0
	std z+1,R25
	std z+0,R24
	.dbline 176
;                                              /* ... the same thing until task is created.              */
;         OS_EXIT_CRITICAL();
	mov R16,R10
	rcall _OS_CPU_SR_Restore
	.dbline 177
;         psp = (OS_STK *)OSTaskStkInit(task, pdata, ptos, 0);    /* Initialize the task's stack         */
	clr R2
	clr R3
	std y+3,R3
	std y+2,R2
	ldd R0,y+24
	ldd R1,y+25
	std y+1,R1
	std y+0,R0
	ldd R18,y+22
	ldd R19,y+23
	movw R16,R12
	rcall _OSTaskStkInit
	movw R12,R16
	.dbline 178
;         err = OS_TCBInit(prio, psp, (OS_STK *)0, 0, 0, (void *)0, 0);
	clr R2
	clr R3
	std y+11,R3
	std y+10,R2
	std y+9,R3
	std y+8,R2
	ldi R20,0
	ldi R21,0
	ldi R22,0
	ldi R23,0
	std y+4,R20
	std y+5,R21
	std y+6,R22
	std y+7,R23
	std y+3,R3
	std y+2,R2
	std y+1,R3
	std y+0,R2
	movw R18,R12
	mov R16,R14
	rcall _OS_TCBInit
	mov R12,R16
	.dbline 179
;         if (err == OS_NO_ERR) {
	tst R16
	brne L21
	.dbline 179
	.dbline 180
;             OS_ENTER_CRITICAL();
	rcall _OS_CPU_SR_Save
	mov R10,R16
	.dbline 181
;             OSTaskCtr++;                                        /* Increment the #tasks counter        */
	lds R24,_OSTaskCtr
	subi R24,255    ; addi 1
	sts _OSTaskCtr,R24
	.dbline 182
;             OS_EXIT_CRITICAL();
	rcall _OS_CPU_SR_Restore
	.dbline 183
;             if (OSRunning == TRUE) {         /* Find highest priority task if multitasking has started */
	lds R24,_OSRunning
	cpi R24,1
	brne L22
	.dbline 183
	.dbline 184
;                 OS_Sched();
	rcall _OS_Sched
	.dbline 185
;             }
	.dbline 186
	rjmp L22
L21:
	.dbline 186
;         } else {
	.dbline 187
;             OS_ENTER_CRITICAL();
	rcall _OS_CPU_SR_Save
	mov R10,R16
	.dbline 188
;             OSTCBPrioTbl[prio] = (OS_TCB *)0;/* Make this priority available to others                 */
	ldi R24,2
	mul R24,R14
	movw R30,R0
	ldi R24,<_OSTCBPrioTbl
	ldi R25,>_OSTCBPrioTbl
	add R30,R24
	adc R31,R25
	clr R2
	clr R3
	std z+1,R3
	std z+0,R2
	.dbline 189
;             OS_EXIT_CRITICAL();
	rcall _OS_CPU_SR_Restore
	.dbline 190
;         }
L22:
	.dbline 191
;         return (err);
	mov R16,R12
	rjmp L18
L19:
	.dbline 193
;     }
;     OS_EXIT_CRITICAL();
	mov R16,R10
	rcall _OS_CPU_SR_Restore
	.dbline 194
;     return (OS_PRIO_EXIST);
	ldi R16,40
	.dbline -2
L18:
	adiw R28,12
	rcall pop_gset5
	adiw R28,2
	.dbline 0 ; func end
	ret
	.dbsym r psp 12 pc
	.dbsym r err 12 c
	.dbsym r cpu_sr 10 c
	.dbsym r prio 14 c
	.dbsym l ptos 24 pc
	.dbsym l pdata 22 pV
	.dbsym r task 12 pfV
	.dbend