os_task.c

ucos2.52内核源码

#endif
/*$PAGE*/
/*
*********************************************************************************************************
*                                     CREATE A TASK (Extended Version)
*
* 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.  This function is similar to OSTaskCreate() except that it allows
*              additional information about a task to be specified.
*
* 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.  'pstk' MUST point to a valid 'free' data item.
*
*              prio     is the task's priority.  A unique priority MUST be assigned to each task and the
*                       lower the number, the higher the priority.
*
*              id       is the task's ID (0..65535)
*
*              pbos     is a pointer to the task's bottom 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).  'pbos' will thus point to the LOWEST (valid) memory
*                       location of the stack.  If OS_STK_GROWTH is set to 0, 'pbos' will point to the
*                       HIGHEST memory location of the stack and the stack will grow with increasing
*                       memory locations.  'pbos' MUST point to a valid 'free' data item.
*
*              stk_size is the size of the stack in number of elements.  If OS_STK is set to INT8U,
*                       'stk_size' corresponds to the number of bytes available.  If OS_STK is set to
*                       INT16U, 'stk_size' contains the number of 16-bit entries available.  Finally, if
*                       OS_STK is set to INT32U, 'stk_size' contains the number of 32-bit entries
*                       available on the stack.
*
*              pext     is a pointer to a user supplied memory location which is used as a TCB extension.
*                       For example, this user memory can hold the contents of floating-point registers
*                       during a context switch, the time each task takes to execute, the number of times
*                       the task has been switched-in, etc.
*
*              opt      contains additional information (or options) about the behavior of the task.  The
*                       LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application
*                       specific.  See OS_TASK_OPT_??? in uCOS-II.H.
*
* 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)
*********************************************************************************************************
*/
/*$PAGE*/
#if OS_TASK_CREATE_EXT_EN > 0
INT8U  OSTaskCreateExt (void   (*task)(void *pd),
                        void    *pdata,
                        OS_STK  *ptos,
                        INT8U    prio,
                        INT16U   id,
                        OS_STK  *pbos,
                        INT32U   stk_size,
                        void    *pext,
                        INT16U   opt)
{
#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();
    if (OSTCBPrioTbl[prio] == (OS_TCB *)0) 
    { /* Make sure task doesn't already exist at this priority  */
        OSTCBPrioTbl[prio] = (OS_TCB *)1;    /* Reserve the priority to prevent others from doing ...  */
                                             /* ... the same thing until task is created.              */
        OS_EXIT_CRITICAL();

        if (((opt & OS_TASK_OPT_STK_CHK) != 0x0000) ||   /* See if stack checking has been enabled     */
            ((opt & OS_TASK_OPT_STK_CLR) != 0x0000)) 
        {   /* See if stack needs to be cleared           */
            #if OS_STK_GROWTH == 1
            (void)memset(pbos, 0, stk_size * sizeof(OS_STK));
            #else
            (void)memset(ptos, 0, stk_size * sizeof(OS_STK));
            #endif
        }

        psp = (OS_STK *)OSTaskStkInit(task, pdata, ptos, opt); /* Initialize the task's stack          */
        err = OS_TCBInit(prio, psp, pbos, id, stk_size, pext, opt);
        if (err == OS_NO_ERR) 
        {
            OS_ENTER_CRITICAL();
            OSTaskCtr++;                                       /* Increment the #tasks counter         */
            OS_EXIT_CRITICAL();
            if (OSRunning == TRUE) 
            {                           /* Find HPT if multitasking has started */
                OS_Sched();
            }
        } 
        else 
        {
            OS_ENTER_CRITICAL();
            OSTCBPrioTbl[prio] = (OS_TCB *)0;                  /* Make this priority avail. to others  */
            OS_EXIT_CRITICAL();
        }
        return (err);
    }
    OS_EXIT_CRITICAL();
    return (OS_PRIO_EXIST);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
*                                            DELETE A TASK
*
* Description: This function allows you to delete a task.  The calling task can delete itself by
*              its own priority number.  The deleted task is returned to the dormant state and can be
*              re-activated by creating the deleted task again.
*
* Arguments  : prio    is the priority of the task to delete.  Note that you can explicitely delete
*                      the current task without knowing its priority level by setting 'prio' to
*                      OS_PRIO_SELF.
*
* Returns    : OS_NO_ERR           if the call is successful
*              OS_TASK_DEL_IDLE    if you attempted to delete uC/OS-II's idle task
*              OS_PRIO_INVALID     if the priority you specify is higher that the maximum allowed
*                                  (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
*              OS_TASK_DEL_ERR     if the task you want to delete does not exist
*              OS_TASK_DEL_ISR     if you tried to delete a task from an ISR
*
* Notes      : 1) To reduce interrupt latency, OSTaskDel() 'disables' the task:
*                    a) by making it not ready
*                    b) by removing it from any wait lists
*                    c) by preventing OSTimeTick() from making the task ready to run.
*                 The task can then be 'unlinked' from the miscellaneous structures in uC/OS-II.
*              2) The function OS_Dummy() is called after OS_EXIT_CRITICAL() because, on most processors,
*                 the next instruction following the enable interrupt instruction is ignored.  
*              3) An ISR cannot delete a task.
*              4) The lock nesting counter is incremented because, for a brief instant, if the current
*                 task is being deleted, the current task would not be able to be rescheduled because it
*                 is removed from the ready list.  Incrementing the nesting counter prevents another task
*                 from being schedule.  This means that an ISR would return to the current task which is
*                 being deleted.  The rest of the deletion would thus be able to be completed.
*********************************************************************************************************
*/
/*$PAGE*/
#if OS_TASK_DEL_EN > 0
INT8U  OSTaskDel (INT8U prio)
{
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */
    OS_CPU_SR     cpu_sr;
#endif

#if OS_EVENT_EN > 0
    OS_EVENT     *pevent;
#endif    
#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
    OS_FLAG_NODE *pnode;
#endif
    OS_TCB       *ptcb;
    //BOOLEAN       self;



    if (OSIntNesting > 0) 
    {                                     /* See if trying to delete from ISR    */
        return (OS_TASK_DEL_ISR);
    }
#if OS_ARG_CHK_EN > 0
    if (prio == OS_IDLE_PRIO) 
    {                                 /* Not allowed to delete idle task     */
        return (OS_TASK_DEL_IDLE);
    }
    if (prio >= OS_LOWEST_PRIO && prio != OS_PRIO_SELF) 
    {       /* Task priority valid ?               */
        return (OS_PRIO_INVALID);
    }
#endif
    OS_ENTER_CRITICAL();
    if (prio == OS_PRIO_SELF) 
    {                                 /* See if requesting to delete self    */
        prio = OSTCBCur->OSTCBPrio;                             /* Set priority to delete to current   */
    }
    ptcb = OSTCBPrioTbl[prio];
    if (ptcb != (OS_TCB *)0) 
    {                                       /* Task to delete must exist      */
        if ((OSRdyTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX) == 0x00) 
        {  /* Make task not ready            */
            OSRdyGrp &= ~ptcb->OSTCBBitY;
        }
#if OS_EVENT_EN > 0//从事件的等待任务列表中删除任务