📄 os_task.lst
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198 /*
199 *********************************************************************************************************
200 * CREATE A TASK (Extended Version)
201 *
202 * Description: This function is used to have uC/OS-II manage the execution of a task. Tasks can either
203 * be created prior to the start of multitasking or by a running task. A task cannot be
204 * created by an ISR. This function is similar to OSTaskCreate() except that it allows
205 * additional information about a task to be specified.
206 *
207 * Arguments : task is a pointer to the task's code
208 *
209 * pdata is a pointer to an optional data area which can be used to pass parameters to
210 * the task when the task first executes. Where the task is concerned it thinks
211 * it was invoked and passed the argument 'pdata' as follows:
212 *
213 * void Task (void *pdata)
214 * {
215 * for (;;) {
216 * Task code;
217 * }
218 * }
219 *
220 * ptos is a pointer to the task's top of stack. If the configuration constant
221 * OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
222 * memory to low memory). 'pstk' will thus point to the highest (valid) memory
223 * location of the stack. If OS_STK_GROWTH is set to 0, 'pstk' will point to the
224 * lowest memory location of the stack and the stack will grow with increasing
225 * memory locations. 'pstk' MUST point to a valid 'free' data item.
226 *
227 * prio is the task's priority. A unique priority MUST be assigned to each task and the
228 * lower the number, the higher the priority.
229 *
230 * id is the task's ID (0..65535)
231 *
232 * pbos is a pointer to the task's bottom of stack. If the configuration constant
233 * OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
234 * memory to low memory). 'pbos' will thus point to the LOWEST (valid) memory
235 * location of the stack. If OS_STK_GROWTH is set to 0, 'pbos' will point to the
236 * HIGHEST memory location of the stack and the stack will grow with increasing
237 * memory locations. 'pbos' MUST point to a valid 'free' data item.
238 *
239 * stk_size is the size of the stack in number of elements. If OS_STK is set to INT8U,
240 * 'stk_size' corresponds to the number of bytes available. If OS_STK is set to
241 * INT16U, 'stk_size' contains the number of 16-bit entries available. Finally, if
242 * OS_STK is set to INT32U, 'stk_size' contains the number of 32-bit entries
243 * available on the stack.
244 *
245 * pext is a pointer to a user supplied memory location which is used as a TCB extension.
246 * For example, this user memory can hold the contents of floating-point registers
247 * during a context switch, the time each task takes to execute, the number of times
248 * the task has been switched-in, etc.
249 *
250 * opt contains additional information (or options) about the behavior of the task. The
251 * LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application
252 * specific. See OS_TASK_OPT_??? in uCOS-II.H.
253 *
254 * Returns : OS_NO_ERR if the function was successful.
255 * OS_PRIO_EXIT if the task priority already exist
256 * (each task MUST have a unique priority).
257 * OS_PRIO_INVALID if the priority you specify is higher that the maximum allowed
258 * (i.e. > OS_LOWEST_PRIO)
259 *********************************************************************************************************
260 */
261 /*$PAGE*/
262 #if OS_TASK_CREATE_EXT_EN > 0
263 INT8U OSTaskCreateExt (void (*task)(void *pd),
264 void *pdata,
265 OS_STK *ptos,
266 INT8U prio,
267 INT16U id,
268 OS_STK *pbos,
269 INT32U stk_size,
270 void *pext,
271 INT16U opt)
272 {
\ 01A6 0A12 PUSH R10
\ 01A8 0B12 PUSH R11
\ 01AA 0812 PUSH R8
\ 01AC 0912 PUSH R9
\ 01AE 0612 PUSH R6
\ 01B0 0712 PUSH R7
\ 01B2 0412 PUSH R4
\ 01B4 084C MOV R12,R8
\ 01B6 094E MOV R14,R9
\ 01B8 14411600 MOV 22(SP),R4
\ 01BC 1A411800 MOV 24(SP),R10
\ 01C0 1B411A00 MOV 26(SP),R11
\ 01C4 16411E00 MOV 30(SP),R6
\ 01C8 57411200 MOV.B 18(SP),R7
273 #if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
274 OS_CPU_SR cpu_sr;
275 #endif
276 OS_STK *psp;
277 INT8U err;
278
279
280 #if OS_ARG_CHK_EN > 0
281 if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
\ 01CC 77900D00 CMP.B #13,R7
\ 01D0 0328 JNC (?0097)
282 return (OS_PRIO_INVALID);
\ 01D2 7C402A00 MOV.B #42,R12
283 }
\ 01D6 433C JMP (?0109)
\ 01D8 ?0097:
284 #endif
285 OS_ENTER_CRITICAL();
\ 01D8 32C2 DINT
286 if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
\ 01DA 4C47 MOV.B R7,R12
\ 01DC 0C5C ADD R12,R12
\ 01DE 8C930000 CMP #0,OSTCBPrioTbl(R12)
\ 01E2 3A20 JNE (?0099)
287 OSTCBPrioTbl[prio] = (OS_TCB *)1; /* Reserve the priority to prevent others from doing ... */
\ 01E4 4C47 MOV.B R7,R12
\ 01E6 0C5C ADD R12,R12
\ 01E8 9C430000 MOV #1,OSTCBPrioTbl(R12)
288 /* ... the same thing until task is created. */
289 OS_EXIT_CRITICAL();
\ 01EC 32D2 EINT
290
291 if (((opt & OS_TASK_OPT_STK_CHK) != 0x0000) || /* See if stack checking has been enabled */
292 ((opt & OS_TASK_OPT_STK_CLR) != 0x0000)) { /* See if stack needs to be cleared */
\ 01EE 16B3 BIT #1,R6
\ 01F0 0220 JNE (?0102)
\ 01F2 26B3 BIT #2,R6
\ 01F4 0824 JEQ (?0101)
\ 01F6 ?0102:
293 #if OS_STK_GROWTH == 1
294 (void)memset(pbos, 0, stk_size * sizeof(OS_STK));
\ 01F6 0C4A MOV R10,R12
\ 01F8 0C5C ADD R12,R12
\ 01FA 0C12 PUSH R12
\ 01FC 0E43 MOV #0,R14
\ 01FE 0C44 MOV R4,R12
\ 0200 B0120000 CALL #memset
\ 0204 2153 ADD #2,SP
\ 0206 ?0101:
295 #else
296 (void)memset(ptos, 0, stk_size * sizeof(OS_STK));
297 #endif
298 }
299
300 psp = (OS_STK *)OSTaskStkInit(task, pdata, ptos, opt); /* Initialize the task's stack */
\ 0206 0612 PUSH R6
\ 0208 11121400 PUSH 20(SP)
\ 020C 0E49 MOV R9,R14
\ 020E 0C48 MOV R8,R12
\ 0210 B0120000 CALL #OSTaskStkInit
\ 0214 0E4C MOV R12,R14
\ 0216 2152 ADD #4,SP
301 err = OS_TCBInit(prio, psp, pbos, id, stk_size, pext, opt);
\ 0218 0612 PUSH R6
\ 021A 11122000 PUSH 32(SP)
\ 021E 0B12 PUSH R11
\ 0220 0A12 PUSH R10
\ 0222 11121E00 PUSH 30(SP)
\ 0226 0412 PUSH R4
\ 0228 4C47 MOV.B R7,R12
\ 022A B0120000 CALL #OS_TCBInit
\ 022E 31500C00 ADD #12,SP
\ 0232 4A4C MOV.B R12,R10
302 if (err == OS_NO_ERR) {
\ 0234 4A93 CMP.B #0,R10
\ 0236 32C2 DINT
\ 0238 0920 JNE (?0105)
303 OS_ENTER_CRITICAL();
304 OSTaskCtr++; /* Increment the #tasks counter */
\ 023A D2530000 ADD.B #1,&OSTaskCtr
305 OS_EXIT_CRITICAL();
\ 023E 32D2 EINT
306 if (OSRunning == TRUE) { /* Find HPT if multitasking has started */
\ 0240 D2930000 CMP.B #1,&OSRunning
\ 0244 0720 JNE (?0108)
307 OS_Sched();
\ 0246 B0120000 CALL #OS_Sched
308 }
309 } else {
\ 024A 043C JMP (?0108)
\ 024C ?0105:
310 OS_ENTER_CRITICAL();
311 OSTCBPrioTbl[prio] = (OS_TCB *)0; /* Make this priority avail. to others */
\ 024C 0757 ADD R7,R7
\ 024E 87430000 MOV #0,OSTCBPrioTbl(R7)
312 OS_EXIT_CRITICAL();
\ 0252 32D2 EINT
\ 0254 ?0108:
313 }
314 return (err);
\ 0254 4C4A MOV.B R10,R12
315 }
\ 0256 033C JMP (?0109)
\ 0258 ?0099:
316 OS_EXIT_CRITICAL();
\ 0258 32D2 EINT
317 return (OS_PRIO_EXIST);
\ 025A 7C402800 MOV.B #40,R12
318 }
\ 025E ?0109:
\ 025E 3441 POP R4
\ 0260 3741 POP R7
\ 0262 3641 POP R6
\ 0264 3941 POP R9
\ 0266 3841 POP R8
\ 0268 3B41 POP R11
\ 026A 3A41 POP R10
\ 026C 3041 RET
\ 026E OSTaskDel:
319 #endif
320 /*$PAGE*/
321 /*
322 *********************************************************************************************************
323 * DELETE A TASK
324 *
325 * Description: This function allows you to delete a task. The calling task can delete itself by
326 * its own priority number. The deleted task is returned to the dormant state and can be
327 * re-activated by creating the deleted task again.
328 *
329 * Arguments : prio is the priority of the task to delete. Note that you can explicitely delete
330 * the current task without knowing its priority level by setting 'prio' to
331 * OS_PRIO_SELF.
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