📄 os_task.lis
字号:
.module OS_TASK.C
.area text(rom, con, rel)
0000 .dbfile E:\study\ucos_ii\ucos2_iccavr\iccavr\ucos2_without_cpu\OS_TASK.C
0000 .dbfunc e OSTaskCreate _OSTaskCreate fc
0000 ; psp -> R10,R11
0000 ; err -> R10
0000 ; prio -> R12
0000 ; ptos -> y+22
0000 ; pdata -> R14,R15
0000 ; task -> R10,R11
.even
0000 _OSTaskCreate::
0000 0E940000 xcall push_gset5
0004 7901 movw R14,R18
0006 5801 movw R10,R16
0008 2C97 sbiw R28,12
000A C88C ldd R12,y+24
000C .dbline -1
000C .dbline 159
000C ; /*
000C ; *********************************************************************************************************
000C ; * uC/OS-II
000C ; * The Real-Time Kernel
000C ; * TASK MANAGEMENT
000C ; *
000C ; * (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
000C ; * All Rights Reserved
000C ; *
000C ; * File : OS_TASK.C
000C ; * By : Jean J. Labrosse
000C ; *********************************************************************************************************
000C ; */
000C ;
000C ; #ifndef OS_MASTER_FILE
000C ; #include "..\ucos2_application\includes.h"
000C ; #endif
000C ;
000C ; /*
000C ; *********************************************************************************************************
000C ; * CHANGE PRIORITY OF A TASK
000C ; *
000C ; * Description: This function allows you to change the priority of a task dynamically. Note that the new
000C ; * priority MUST be available.
000C ; *
000C ; * Arguments : oldp is the old priority
000C ; *
000C ; * newp is the new priority
000C ; *
000C ; * Returns : OS_NO_ERR is the call was successful
000C ; * OS_PRIO_INVALID if the priority you specify is higher that the maximum allowed
000C ; * (i.e. >= OS_LOWEST_PRIO)
000C ; * OS_PRIO_EXIST if the new priority already exist.
000C ; * OS_PRIO_ERR there is no task with the specified OLD priority (i.e. the OLD task does
000C ; * not exist.
000C ; *********************************************************************************************************
000C ; */
000C ;
000C ; #if OS_TASK_CHANGE_PRIO_EN > 0
000C ; INT8U OSTaskChangePrio (INT8U oldprio, INT8U newprio)
000C ; {
000C ; #if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
000C ; OS_CPU_SR cpu_sr;
000C ; #endif
000C ;
000C ; #if OS_EVENT_EN > 0
000C ; OS_EVENT *pevent;
000C ; #endif
000C ;
000C ; OS_TCB *ptcb;
000C ; INT8U x;
000C ; INT8U y;
000C ; INT8U bitx;
000C ; INT8U bity;
000C ;
000C ;
000C ;
000C ; #if OS_ARG_CHK_EN > 0
000C ; if ((oldprio >= OS_LOWEST_PRIO && oldprio != OS_PRIO_SELF) ||
000C ; newprio >= OS_LOWEST_PRIO) {
000C ; return (OS_PRIO_INVALID);
000C ; }
000C ; #endif
000C ; OS_ENTER_CRITICAL();
000C ; if (OSTCBPrioTbl[newprio] != (OS_TCB *)0) { /* New priority must not already exist */
000C ; OS_EXIT_CRITICAL();
000C ; return (OS_PRIO_EXIST);
000C ; } else {
000C ; OSTCBPrioTbl[newprio] = (OS_TCB *)1; /* Reserve the entry to prevent others */
000C ; OS_EXIT_CRITICAL();
000C ; y = newprio >> 3; /* Precompute to reduce INT. latency */
000C ; bity = OSMapTbl[y];
000C ; x = newprio & 0x07;
000C ; bitx = OSMapTbl[x];
000C ; OS_ENTER_CRITICAL();
000C ; if (oldprio == OS_PRIO_SELF) { /* See if changing self */
000C ; oldprio = OSTCBCur->OSTCBPrio; /* Yes, get priority */
000C ; }
000C ; ptcb = OSTCBPrioTbl[oldprio];
000C ; if (ptcb != (OS_TCB *)0) { /* Task to change must exist */
000C ; OSTCBPrioTbl[oldprio] = (OS_TCB *)0; /* Remove TCB from old priority */
000C ; if ((OSRdyTbl[ptcb->OSTCBY] & ptcb->OSTCBBitX) != 0x00) { /* If task is ready make it not */
000C ; if ((OSRdyTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX) == 0x00) {
000C ; OSRdyGrp &= ~ptcb->OSTCBBitY;
000C ; }
000C ; OSRdyGrp |= bity; /* Make new priority ready to run */
000C ; OSRdyTbl[y] |= bitx;
000C ; #if OS_EVENT_EN > 0
000C ; } else {
000C ; pevent = ptcb->OSTCBEventPtr;
000C ; if (pevent != (OS_EVENT *)0) { /* Remove from event wait list */
000C ; if ((pevent->OSEventTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX) == 0) {
000C ; pevent->OSEventGrp &= ~ptcb->OSTCBBitY;
000C ; }
000C ; pevent->OSEventGrp |= bity; /* Add new priority to wait list */
000C ; pevent->OSEventTbl[y] |= bitx;
000C ; }
000C ; #endif
000C ; }
000C ; OSTCBPrioTbl[newprio] = ptcb; /* Place pointer to TCB @ new priority */
000C ; ptcb->OSTCBPrio = newprio; /* Set new task priority */
000C ; ptcb->OSTCBY = y;
000C ; ptcb->OSTCBX = x;
000C ; ptcb->OSTCBBitY = bity;
000C ; ptcb->OSTCBBitX = bitx;
000C ; OS_EXIT_CRITICAL();
000C ; OS_Sched(); /* Run highest priority task ready */
000C ; return (OS_NO_ERR);
000C ; } else {
000C ; OSTCBPrioTbl[newprio] = (OS_TCB *)0; /* Release the reserved prio. */
000C ; OS_EXIT_CRITICAL();
000C ; return (OS_PRIO_ERR); /* Task to change didn't exist */
000C ; }
000C ; }
000C ; }
000C ; #endif
000C ; /*$PAGE*/
000C ; /*
000C ; *********************************************************************************************************
000C ; * CREATE A TASK
000C ; *
000C ; * Description: This function is used to have uC/OS-II manage the execution of a task. Tasks can either
000C ; * be created prior to the start of multitasking or by a running task. A task cannot be
000C ; * created by an ISR.
000C ; *
000C ; * Arguments : task is a pointer to the task's code
000C ; *
000C ; * pdata is a pointer to an optional data area which can be used to pass parameters to
000C ; * the task when the task first executes. Where the task is concerned it thinks
000C ; * it was invoked and passed the argument 'pdata' as follows:
000C ; *
000C ; * void Task (void *pdata)
000C ; * {
000C ; * for (;;) {
000C ; * Task code;
000C ; * }
000C ; * }
000C ; *
000C ; * ptos is a pointer to the task's top of stack. If the configuration constant
000C ; * OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
000C ; * memory to low memory). 'pstk' will thus point to the highest (valid) memory
000C ; * location of the stack. If OS_STK_GROWTH is set to 0, 'pstk' will point to the
000C ; * lowest memory location of the stack and the stack will grow with increasing
000C ; * memory locations.
000C ; *
000C ; * prio is the task's priority. A unique priority MUST be assigned to each task and the
000C ; * lower the number, the higher the priority.
000C ; *
000C ; * Returns : OS_NO_ERR if the function was successful.
000C ; * OS_PRIO_EXIT if the task priority already exist
000C ; * (each task MUST have a unique priority).
000C ; * OS_PRIO_INVALID if the priority you specify is higher that the maximum allowed
000C ; * (i.e. >= OS_LOWEST_PRIO)
000C ; *********************************************************************************************************
000C ; */
000C ;
000C ; #if OS_TASK_CREATE_EN > 0
000C ; INT8U OSTaskCreate (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT8U prio)
000C ; {
000C .dbline 168
000C ; #if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
000C ; OS_CPU_SR cpu_sr;
000C ; #endif
000C ; OS_STK *psp;
000C ; INT8U err;
000C ;
000C ;
000C ; #if OS_ARG_CHK_EN > 0
000C ; if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
000C 84E1 ldi R24,20
000E 8C15 cp R24,R12
0010 10F4 brsh L4
0012 .dbline 168
0012 .dbline 169
0012 ; return (OS_PRIO_INVALID);
0012 0AE2 ldi R16,42
0014 79C0 xjmp L3
0016 L4:
0016 .dbline 172
0016 ; }
0016 ; #endif
0016 ; OS_ENTER_CRITICAL();
0016 0A93 st -y,r16
0018 0FB7 in r16,0x3F
001A F894 cli
001C 0F93 push r16
001E 0991 ld r16,y+
0020 .dbline 172
0020 .dbline 173
0020 ; if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
0020 82E0 ldi R24,2
0022 8C9D mul R24,R12
0024 F001 movw R30,R0
0026 80E0 ldi R24,<_OSTCBPrioTbl
0028 90E0 ldi R25,>_OSTCBPrioTbl
002A E80F add R30,R24
002C F91F adc R31,R25
002E 2080 ldd R2,z+0
0030 3180 ldd R3,z+1
0032 2220 tst R2
0034 09F0 breq X1
0036 63C0 xjmp L6
0038 X1:
0038 3320 tst R3
003A 09F0 breq X2
003C 60C0 xjmp L6
003E X2:
003E X0:
003E .dbline 173
003E .dbline 174
003E ; OSTCBPrioTbl[prio] = (OS_TCB *)1; /* Reserve the priority to prevent others from doing ... */
003E 82E0 ldi R24,2
0040 8C9D mul R24,R12
0042 F001 movw R30,R0
0044 80E0 ldi R24,<_OSTCBPrioTbl
0046 90E0 ldi R25,>_OSTCBPrioTbl
0048 E80F add R30,R24
004A F91F adc R31,R25
004C 81E0 ldi R24,1
004E 90E0 ldi R25,0
0050 9183 std z+1,R25
0052 8083 std z+0,R24
0054 .dbline 176
0054 ; /* ... the same thing until task is created. */
0054 ; OS_EXIT_CRITICAL();
0054 0A93 st -y,r16
0056 0F91 pop r16
0058 0FBF out 0x3F,r16
005A 0991 ld r16,y+
005C .dbline 176
005C .dbline 177
005C ; psp = (OS_STK *)OSTaskStkInit(task, pdata, ptos, 0); /* Initialize the task's stack */
005C 2224 clr R2
005E 3324 clr R3
0060 3B82 std y+3,R3
0062 2A82 std y+2,R2
0064 0E88 ldd R0,y+22
0066 1F88 ldd R1,y+23
0068 1982 std y+1,R1
006A 0882 std y+0,R0
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