/***********************************************************************************************************                                                uC/OS-II*                                          The Real-Time Kernel*                                             CORE FUNCTIONS**                        (c) Copyright 1992-1998, Jean J. Labrosse, Plantation, FL*                                           All Rights Reserved**                                                  V2.00** File : OS_CORE.C* By   : Jean J. Labrosse**********************************************************************************************************/#ifndef  OS_MASTER_FILE#define  OS_GLOBALS#include "includes.h"#endif/***********************************************************************************************************                                         LOCAL GLOBAL VARIABLES**********************************************************************************************************/                                       static  INT8U        OSIntExitY;               /* Variable used by 'OSIntExit' to prevent using locals */static  OS_STK       OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE];       /* Idle       task stack              */#if     OS_TASK_STAT_ENstatic  OS_STK       OSTaskStatStk[OS_TASK_STAT_STK_SIZE];      /* Statistics task stack               */#endifstatic  OS_TCB       OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS];   /* Table of TCBs                       *//*$PAGE*//***********************************************************************************************************                              MAPPING TABLE TO MAP BIT POSITION TO BIT MASK** Note: Index into table is desired bit position, 0..7*       Indexed value corresponds to bit mask**********************************************************************************************************/INT8U const OSMapTbl[]   = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80};/***********************************************************************************************************                                       PRIORITY RESOLUTION TABLE** Note: Index into table is bit pattern to resolve highest priority*       Indexed value corresponds to highest priority bit position (i.e. 0..7)**********************************************************************************************************/INT8U const OSUnMapTbl[] = {    0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0};/*$PAGE*//***********************************************************************************************************                             MAKE TASK READY TO RUN BASED ON EVENT OCCURING** Description: This function is called by other uC/OS-II services and is used to ready a task that was*              waiting for an event to occur.** Arguments  : pevent    is a pointer to the event control block corresponding to the event.**              msg       is a pointer to a message.  This pointer is used by message oriented services*                        such as MAILBOXEs and QUEUEs.  The pointer is not used when called by other*                        service functions.**              msk       is a mask that is used to clear the status byte of the TCB.  For example,*                        OSSemPost() will pass OS_STAT_SEM, OSMboxPost() will pass OS_STAT_MBOX etc.** Returns    : none** Note       : This function is INTERNAL to uC/OS-II and your application should not call it.**********************************************************************************************************/#if  (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_ENvoid  OSEventTaskRdy (OS_EVENT *pevent, void *msg, INT8U msk){    OS_TCB *ptcb;    INT8U   x;    INT8U   y;    INT8U   bitx;    INT8U   bity;    INT8U   prio;    y    = OSUnMapTbl[pevent->OSEventGrp];            /* Find highest prio. task waiting for message   */    bity = OSMapTbl[y];    x    = OSUnMapTbl[pevent->OSEventTbl[y]];    bitx = OSMapTbl[x];    prio = (INT8U)((y << 3) + x);                     /* Find priority of task getting the msg         */    if ((pevent->OSEventTbl[y] &= ~bitx) == 0) {      /* Remove this task from the waiting list        */        pevent->OSEventGrp &= ~bity;    }    ptcb                 =  OSTCBPrioTbl[prio];       /* Point to this task's OS_TCB                   */    ptcb->OSTCBDly       =  0;                        /* Prevent OSTimeTick() from readying task       */    ptcb->OSTCBEventPtr  = (OS_EVENT *)0;             /* Unlink ECB from this task                     */#if (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN    ptcb->OSTCBMsg       = msg;                       /* Send message directly to waiting task         */#else    msg                  = msg;                       /* Prevent compiler warning if not used          */    #endif        ptcb->OSTCBStat     &= ~msk;                      /* Clear bit associated with event type          */    if (ptcb->OSTCBStat == OS_STAT_RDY) {             /* See if task is ready (could be susp'd)        */        OSRdyGrp        |=  bity;                     /* Put task in the ready to run list             */        OSRdyTbl[y]     |=  bitx;    }}#endif/*$PAGE*//***********************************************************************************************************                                   MAKE TASK WAIT FOR EVENT TO OCCUR** Description: This function is called by other uC/OS-II services to suspend a task because an event has*              not occurred.** Arguments  : pevent   is a pointer to the event control block for which the task will be waiting for.** Returns    : none** Note       : This function is INTERNAL to uC/OS-II and your application should not call it.**********************************************************************************************************/#if  (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_ENvoid  OSEventTaskWait (OS_EVENT *pevent){    OSTCBCur->OSTCBEventPtr = pevent;            /* Store pointer to event control block in TCB        */    if ((OSRdyTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0) {      /* Task no longer ready      */        OSRdyGrp &= ~OSTCBCur->OSTCBBitY;    }    pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX;          /* Put task in waiting list  */    pevent->OSEventGrp                   |= OSTCBCur->OSTCBBitY;}#endif/*$PAGE*//***********************************************************************************************************                              MAKE TASK READY TO RUN BASED ON EVENT TIMEOUT** Description: This function is called by other uC/OS-II services to make a task ready to run because a*              timeout occurred.** Arguments  : pevent   is a pointer to the event control block which is readying a task.** Returns    : none** Note       : This function is INTERNAL to uC/OS-II and your application should not call it.**********************************************************************************************************/#if  (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_ENvoid  OSEventTO (OS_EVENT *pevent){    if ((pevent->OSEventTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0) {        pevent->OSEventGrp &= ~OSTCBCur->OSTCBBitY;    }    OSTCBCur->OSTCBStat     = OS_STAT_RDY;       /* Set status to ready                                */    OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0;     /* No longer waiting for event                        */}#endif/*$PAGE*//***********************************************************************************************************                                 INITIALIZE EVENT CONTROL BLOCK'S WAIT LIST** Description: This function is called by other uC/OS-II services to initialize the event wait list.** Arguments  : pevent    is a pointer to the event control block allocated to the event.** Returns    : none** Note       : This function is INTERNAL to uC/OS-II and your application should not call it.**********************************************************************************************************/#if  (OS_Q_EN && (OS_MAX_QS >= 2)) || OS_MBOX_EN || OS_SEM_ENvoid  OSEventWaitListInit (OS_EVENT *pevent){    INT8U i;            pevent->OSEventGrp = 0x00;                   /* No task waiting on event                           */    for (i = 0; i < OS_EVENT_TBL_SIZE; i++) {        pevent->OSEventTbl[i] = 0x00;    }}#endif/*$PAGE*//***********************************************************************************************************                                             INITIALIZATION** Description: This function is used to initialize the internals of uC/OS-II and MUST be called prior to*              creating any uC/OS-II object and, prior to calling OSStart().** Arguments  : none** Returns    : none**********************************************************************************************************/void OSInit (void){    INT16U i;    OSTime        = 0L;                                    /* Clear the 32-bit system clock            */    OSIntNesting  = 0;                                     /* Clear the interrupt nesting counter      */    OSLockNesting = 0;                                     /* Clear the scheduling lock counter        */#if OS_TASK_CREATE_EN  || OS_TASK_CREATE_EXT_EN || OS_TASK_DEL_EN    OSTaskCtr     = 0;                                     /* Clear the number of tasks                */#endif    OSRunning     = FALSE;                                 /* Indicate that multitasking not started   */    OSIdleCtr     = 0L;                                    /* Clear the 32-bit idle counter            */#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN    OSIdleCtrRun  = 0L;    OSIdleCtrMax  = 0L;    OSStatRdy     = FALSE;                                 /* Statistic task is not ready              */#endif    OSCtxSwCtr    = 0;                                     /* Clear the context switch counter         */    OSRdyGrp      = 0;                                     /* Clear the ready list                     */    for (i = 0; i < OS_RDY_TBL_SIZE; i++) {        OSRdyTbl[i] = 0;    }                    OSPrioCur     = 0;    OSPrioHighRdy = 0;                                               OSTCBHighRdy  = (OS_TCB *)0;                                 /* TCB Initialization                 */    OSTCBCur      = (OS_TCB *)0;    OSTCBList     = (OS_TCB *)0;    for (i = 0; i < (OS_LOWEST_PRIO + 1); i++) {                 /* Clear the priority table           */        OSTCBPrioTbl[i] = (OS_TCB *)0;    }    for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) {  /* Init. list of free TCBs            */        OSTCBTbl[i].OSTCBNext = &OSTCBTbl[i + 1];    }    OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS - 1].OSTCBNext = (OS_TCB *)0;    /* Last OS_TCB             */    OSTCBFreeList                                         = &OSTCBTbl[0];#if OS_MAX_EVENTS >= 2    for (i = 0; i < (OS_MAX_EVENTS - 1); i++) {            /* Init. list of free EVENT control blocks  */        OSEventTbl[i].OSEventPtr = (OS_EVENT *)&OSEventTbl[i + 1];    }    OSEventTbl[OS_MAX_EVENTS - 1].OSEventPtr = (OS_EVENT *)0;    OSEventFreeList                          = &OSEventTbl[0];    #endif#if OS_Q_EN && (OS_MAX_QS >= 2)    OSQInit();                                             /* Initialize the message queue structures  */#endif#if OS_MEM_EN && OS_MAX_MEM_PART >= 2