📄 os_task.s
字号:
.dbfield 2 OSTCBNext pS[os_tcb]
.dbfield 4 OSTCBPrev pS[os_tcb]
.dbfield 6 OSTCBFlagNode pS[.2]
.dbfield 8 OSTCBFlagsRdy c
.dbfield 9 OSTCBDly i
.dbfield 11 OSTCBStat c
.dbfield 12 OSTCBPrio c
.dbfield 13 OSTCBX c
.dbfield 14 OSTCBY c
.dbfield 15 OSTCBBitX c
.dbfield 16 OSTCBBitY c
.dbfield 17 OSTCBDelReq c
.dbend
; self -> <dead>
; pnode -> R10,R11
; ptcb -> R20,R21
; prio -> R22
.even
_OSTaskDel::
xcall push_gset3
mov R22,R16
.dbline -1
.dbline 358
; }
; #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)
; {
.dbline 374
; #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 */
clr R2
lds R3,_OSIntNesting
cp R2,R3
brsh L13
.dbline 374
.dbline 375
; return (OS_TASK_DEL_ISR);
ldi R16,63
xjmp L12
L13:
.dbline 378
; }
; #if OS_ARG_CHK_EN > 0
; if (prio == OS_IDLE_PRIO) { /* Not allowed to delete idle task */
cpi R22,20
brne L15
.dbline 378
.dbline 379
; return (OS_TASK_DEL_IDLE);
ldi R16,61
xjmp L12
L15:
.dbline 381
; }
; if (prio >= OS_LOWEST_PRIO && prio != OS_PRIO_SELF) { /* Task priority valid ? */
cpi R22,20
brlo L17
cpi R22,255
breq L17
.dbline 381
.dbline 382
; return (OS_PRIO_INVALID);
ldi R16,42
xjmp L12
L17:
.dbline 385
; }
; #endif
; OS_ENTER_CRITICAL();
st -y,r16
in r16,0x3F
cli
push r16
ld r16,y+
.dbline 385
.dbline 386
; if (prio == OS_PRIO_SELF) { /* See if requesting to delete self */
cpi R22,255
brne L19
.dbline 386
.dbline 387
; prio = OSTCBCur->OSTCBPrio; /* Set priority to delete to current */
lds R30,_OSTCBCur
lds R31,_OSTCBCur+1
ldd R22,z+12
.dbline 388
; }
L19:
.dbline 389
; ptcb = OSTCBPrioTbl[prio];
ldi R24,2
mul R24,R22
movw R30,R0
ldi R24,<_OSTCBPrioTbl
ldi R25,>_OSTCBPrioTbl
add R30,R24
adc R31,R25
ldd R20,z+0
ldd R21,z+1
.dbline 390
; if (ptcb != (OS_TCB *)0) { /* Task to delete must exist */
cpi R20,0
cpc R20,R21
brne X6
xjmp L21
X6:
X3:
.dbline 390
.dbline 391
; if ((OSRdyTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX) == 0x00) { /* Make task not ready */
ldi R24,<_OSRdyTbl
ldi R25,>_OSRdyTbl
movw R30,R20
ldd R2,z+14
clr R3
add R2,R24
adc R3,R25
movw R30,R20
ldd R4,z+15
com R4
movw R30,R2
ldd R5,z+0
and R5,R4
mov R4,R5
std z+0,R4
tst R5
brne L23
.dbline 391
.dbline 392
; OSRdyGrp &= ~ptcb->OSTCBBitY;
movw R30,R20
ldd R2,z+16
com R2
lds R3,_OSRdyGrp
and R3,R2
sts _OSRdyGrp,R3
.dbline 393
; }
L23:
.dbline 403
; #if OS_EVENT_EN > 0
; pevent = ptcb->OSTCBEventPtr;
; if (pevent != (OS_EVENT *)0) { /* If task is waiting on event */
; if ((pevent->OSEventTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX) == 0) { /* ... remove task from */
; pevent->OSEventGrp &= ~ptcb->OSTCBBitY; /* ... event ctrl block */
; }
; }
; #endif
; #if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
; pnode = ptcb->OSTCBFlagNode;
movw R30,R20
ldd R10,z+6
ldd R11,z+7
.dbline 404
; if (pnode != (OS_FLAG_NODE *)0) { /* If task is waiting on event flag */
tst R10
brne X4
tst R11
breq L25
X4:
.dbline 404
.dbline 405
; OS_FlagUnlink(pnode); /* Remove from wait list */
movw R16,R10
xcall _OS_FlagUnlink
.dbline 406
; }
L25:
.dbline 408
; #endif
; ptcb->OSTCBDly = 0; /* Prevent OSTimeTick() from updating */
clr R2
clr R3
movw R30,R20
std z+10,R3
std z+9,R2
.dbline 409
; ptcb->OSTCBStat = OS_STAT_RDY; /* Prevent task from being resumed */
movw R30,R20
std z+11,R2
.dbline 410
; if (OSLockNesting < 255) {
lds R24,_OSLockNesting
cpi R24,255
brsh L27
.dbline 410
.dbline 411
; OSLockNesting++;
subi R24,255 ; addi 1
sts _OSLockNesting,R24
.dbline 412
; }
L27:
.dbline 413
; OS_EXIT_CRITICAL(); /* Enabling INT. ignores next instruc. */
st -y,r16
pop r16
out 0x3F,r16
ld r16,y+
.dbline 413
.dbline 414
; OS_Dummy(); /* ... Dummy ensures that INTs will be */
xcall _OS_Dummy
.dbline 415
; OS_ENTER_CRITICAL(); /* ... disabled HERE! */
st -y,r16
in r16,0x3F
cli
push r16
ld r16,y+
.dbline 415
.dbline 416
; if (OSLockNesting > 0) {
clr R2
lds R3,_OSLockNesting
cp R2,R3
brsh L29
.dbline 416
.dbline 417
; OSLockNesting--;
mov R24,R3
subi R24,1
sts _OSLockNesting,R24
.dbline 418
; }
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -