os_task.c

STM3240G-Eval_uCOS-III

*
*
*              p_err      is a pointer to a variable that will hold the error code associated
*                         with the outcome of this call.  Errors can be:
*
*                             OS_ERR_NONE            The call was successful and the message was sent
*                             OS_ERR_Q_MAX           If the queue is full
*                             OS_ERR_MSG_POOL_EMPTY  If there are no more OS_MSGs available from the pool
*
* Returns    : none
************************************************************************************************************************
*/

#if OS_CFG_TASK_Q_EN > 0u
void  OSTaskQPost (OS_TCB       *p_tcb,
                   void         *p_void,
                   OS_MSG_SIZE   msg_size,
                   OS_OPT        opt,
                   OS_ERR       *p_err)
{
    CPU_TS   ts;



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

#if OS_CFG_ARG_CHK_EN > 0u                                  /* ---------------- VALIDATE ARGUMENTS ------------------ */
    switch (opt) {                                          /* User must supply a valid option                        */
        case OS_OPT_POST_FIFO:
        case OS_OPT_POST_LIFO:
        case OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED:
        case OS_OPT_POST_LIFO | OS_OPT_POST_NO_SCHED:
             break;

        default:
            *p_err = OS_ERR_OPT_INVALID;
             return;
    }
#endif

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

#if OS_CFG_ISR_POST_DEFERRED_EN > 0u
    if (OSIntNestingCtr > (OS_NESTING_CTR)0) {
        OS_IntQPost((OS_OBJ_TYPE)OS_OBJ_TYPE_TASK_MSG,      /* Post to ISR queue                                      */
                    (void      *)p_tcb,
                    (void      *)p_void,
                    (OS_MSG_SIZE)msg_size,
                    (OS_FLAGS   )0,
                    (OS_OPT     )opt,
                    (CPU_TS     )ts,
                    (OS_ERR    *)p_err);
        return;
    }
#endif

    OS_TaskQPost(p_tcb,
                 p_void,
                 msg_size,
                 opt,
                 ts,
                 p_err);
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                       GET THE CURRENT VALUE OF A TASK REGISTER
*
* Description: This function is called to obtain the current value of a task register.  Task registers are application
*              specific and can be used to store task specific values such as 'error numbers' (i.e. errno), statistics,
*              etc.
*
* Arguments  : p_tcb     is a pointer to the OS_TCB of the task you want to read the register from.  If 'p_tcb' is a
*                        NULL pointer then you will get the register of the current task.
*
*              id        is the 'id' of the desired task variable.  Note that the 'id' must be less than
*                        OS_CFG_TASK_REG_TBL_SIZE
*
*              p_err     is a pointer to a variable that will hold an error code related to this call.
*
*                            OS_ERR_NONE            if the call was successful
*                            OS_ERR_REG_ID_INVALID  if the 'id' is not between 0 and OS_CFG_TASK_REG_TBL_SIZE-1
*
* Returns    : The current value of the task's register or 0 if an error is detected.
************************************************************************************************************************
*/

#if OS_CFG_TASK_REG_TBL_SIZE > 0u
OS_REG  OSTaskRegGet (OS_TCB     *p_tcb,
                      OS_REG_ID   id,
                      OS_ERR     *p_err)
{
    OS_REG     value;
    CPU_SR_ALLOC();



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

#if OS_CFG_ARG_CHK_EN > 0u
    if (id >= OS_CFG_TASK_REG_TBL_SIZE) {
       *p_err = OS_ERR_REG_ID_INVALID;
        return ((OS_REG)0);
    }
#endif

    CPU_CRITICAL_ENTER();
    if (p_tcb == (OS_TCB *)0) {
        p_tcb = OSTCBCurPtr;
    }
    value = p_tcb->RegTbl[id];
    CPU_CRITICAL_EXIT();
   *p_err = OS_ERR_NONE;
    return ((OS_REG)value);
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                    ALLOCATE THE NEXT AVAILABLE TASK REGISTER ID
*
* Description: This function is called to obtain a task register ID.  This function thus allows task registers IDs to be
*              allocated dynamically instead of statically.
*
* Arguments  : p_err       is a pointer to a variable that will hold an error code related to this call.
*
*                            OS_ERR_NONE               if the call was successful
*                            OS_ERR_NO_MORE_ID_AVAIL   if you are attempting to assign more task register IDs than you 
*                                                           have available through OS_CFG_TASK_REG_TBL_SIZE.
*
* Returns    : The next available task register 'id' or OS_CFG_TASK_REG_TBL_SIZE if an error is detected.
************************************************************************************************************************
*/

#if OS_CFG_TASK_REG_TBL_SIZE > 0u
OS_REG_ID  OSTaskRegGetID (OS_ERR  *p_err)
{
    OS_REG_ID  id;
    CPU_SR_ALLOC();



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

    CPU_CRITICAL_ENTER();
    if (OSTaskRegNextAvailID >= OS_CFG_TASK_REG_TBL_SIZE) {       /* See if we exceeded the number of IDs available   */
       *p_err = OS_ERR_NO_MORE_ID_AVAIL;                          /* Yes, cannot allocate more task register IDs      */
        CPU_CRITICAL_EXIT();
        return ((OS_REG_ID)OS_CFG_TASK_REG_TBL_SIZE);
    }
     
    id    = OSTaskRegNextAvailID;								  /* Assign the next available ID                     */
    OSTaskRegNextAvailID++;										  /* Increment available ID for next request          */
    CPU_CRITICAL_EXIT();
   *p_err = OS_ERR_NONE;
    return (id);
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                       SET THE CURRENT VALUE OF A TASK REGISTER
*
* Description: This function is called to change the current value of a task register.  Task registers are application
*              specific and can be used to store task specific values such as 'error numbers' (i.e. errno), statistics,
*              etc.
*
* Arguments  : p_tcb     is a pointer to the OS_TCB of the task you want to set the register for.  If 'p_tcb' is a NULL
*                        pointer then you will change the register of the current task.
*
*              id        is the 'id' of the desired task register.  Note that the 'id' must be less than
*                        OS_CFG_TASK_REG_TBL_SIZE
*
*              value     is the desired value for the task register.
*
*              p_err     is a pointer to a variable that will hold an error code related to this call.
*
*                            OS_ERR_NONE            if the call was successful
*                            OS_ERR_REG_ID_INVALID  if the 'id' is not between 0 and OS_CFG_TASK_REG_TBL_SIZE-1
*
* Returns    : none
************************************************************************************************************************
*/

#if OS_CFG_TASK_REG_TBL_SIZE > 0u
void  OSTaskRegSet (OS_TCB     *p_tcb,
                    OS_REG_ID   id,
                    OS_REG      value,
                    OS_ERR     *p_err)
{
    CPU_SR_ALLOC();



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

#if OS_CFG_ARG_CHK_EN > 0u
    if (id >= OS_CFG_TASK_REG_TBL_SIZE) {
       *p_err = OS_ERR_REG_ID_INVALID;
        return;
    }
#endif

    CPU_CRITICAL_ENTER();
    if (p_tcb == (OS_TCB *)0) {
        p_tcb = OSTCBCurPtr;
    }
    p_tcb->RegTbl[id] = value;
    CPU_CRITICAL_EXIT();
   *p_err             = OS_ERR_NONE;
}
#endif

/*$PAGE*/
/*
************************************************************************************************************************
*                                               RESUME A SUSPENDED TASK
*
* Description: This function is called to resume a previously suspended task.  This is the only call that will remove an
*              explicit task suspension.
*
* Arguments  : p_tcb      Is a pointer to the task's OS_TCB to resume
*
*              p_err      Is a pointer to a variable that will contain an error code returned by this function
*
*                             OS_ERR_NONE                  if the requested task is resumed
*                             OS_ERR_STATE_INVALID         if the task is in an invalid state
*                             OS_ERR_TASK_RESUME_ISR       if you called this function from an ISR
*                             OS_ERR_TASK_RESUME_SELF      You cannot resume 'self'
*                             OS_ERR_TASK_NOT_SUSPENDED    if the task to resume has not been suspended
*
* Returns    : none
************************************************************************************************************************
*/

#if OS_CFG_TASK_SUSPEND_EN > 0u
void  OSTaskResume (OS_TCB  *p_tcb,
                    OS_ERR  *p_err)
{
    CPU_SR_ALLOC();



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

#if (OS_CFG_ISR_POST_DEFERRED_EN   == 0u) && \
    (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_TASK_RESUME_ISR;
        return;
    }
#endif


    CPU_CRITICAL_ENTER();
#if OS_CFG_ARG_CHK_EN > 0u
    if ((p_tcb == (OS_TCB *)0) ||                           /* We cannot resume 'self'                                */
        (p_tcb == OSTCBCurPtr)) {
        CPU_CRITICAL_EXIT();
       *p_err  = OS_ERR_TASK_RESUME_SELF;
        return;
    }
#endif
    CPU_CRITICAL_EXIT();

#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_RESUME,   /* Post to ISR queue                                      */
                    (void      *)p_tcb,
                    (void      *)0,
                    (OS_MSG_SIZE)0,
                    (OS_FLAGS   )0,
                    (OS_OPT     )0,
                    (CPU_TS     )0,
                    (OS_ERR    *)p_err);
        return;