?? os_core.c
字號:
for (i = 0; i < OS_RDY_TBL_SIZE; i++) {
*prdytbl++ = 0;
}
OSPrioCur = 0;
OSPrioHighRdy = 0;
OSTCBHighRdy = (OS_TCB *)0;
OSTCBCur = (OS_TCB *)0;
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* CREATING THE IDLE TASK
*
* Description: This function creates the Idle Task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitTaskIdle (void)
{
#if OS_TASK_NAME_SIZE > 14
INT8U err;
#endif
#if OS_TASK_CREATE_EXT_EN > 0
#if OS_STK_GROWTH == 1
(void)OSTaskCreateExt(OS_TaskIdle,
(void *)0, /* No arguments passed to OS_TaskIdle() */
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Top-Of-Stack */
OS_IDLE_PRIO, /* Lowest priority level */
OS_TASK_IDLE_ID,
&OSTaskIdleStk[0], /* Set Bottom-Of-Stack */
OS_TASK_IDLE_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack */
#else
(void)OSTaskCreateExt(OS_TaskIdle,
(void *)0, /* No arguments passed to OS_TaskIdle() */
&OSTaskIdleStk[0], /* Set Top-Of-Stack */
OS_IDLE_PRIO, /* Lowest priority level */
OS_TASK_IDLE_ID,
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Bottom-Of-Stack */
OS_TASK_IDLE_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack */
#endif
#else
#if OS_STK_GROWTH == 1
(void)OSTaskCreate(OS_TaskIdle,
(void *)0,
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1],
OS_IDLE_PRIO);
#else
(void)OSTaskCreate(OS_TaskIdle,
(void *)0,
&OSTaskIdleStk[0],
OS_IDLE_PRIO);
#endif
#endif
#if OS_TASK_NAME_SIZE > 14
OSTaskNameSet(OS_IDLE_PRIO, (INT8U *)"uC/OS-II Idle", &err);
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* CREATING THE STATISTIC TASK
*
* Description: This function creates the Statistic Task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
#if OS_TASK_STAT_EN > 0
static void OS_InitTaskStat (void)
{
#if OS_TASK_NAME_SIZE > 14
INT8U err;
#endif
#if OS_TASK_CREATE_EXT_EN > 0
#if OS_STK_GROWTH == 1
(void)OSTaskCreateExt(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1], /* Set Top-Of-Stack */
OS_STAT_PRIO, /* One higher than the idle task */
OS_TASK_STAT_ID,
&OSTaskStatStk[0], /* Set Bottom-Of-Stack */
OS_TASK_STAT_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR); /* Enable stack checking + clear */
#else
(void)OSTaskCreateExt(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[0], /* Set Top-Of-Stack */
OS_STAT_PRIO, /* One higher than the idle task */
OS_TASK_STAT_ID,
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1], /* Set Bottom-Of-Stack */
OS_TASK_STAT_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR); /* Enable stack checking + clear */
#endif
#else
#if OS_STK_GROWTH == 1
(void)OSTaskCreate(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1], /* Set Top-Of-Stack */
OS_STAT_PRIO); /* One higher than the idle task */
#else
(void)OSTaskCreate(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[0], /* Set Top-Of-Stack */
OS_STAT_PRIO); /* One higher than the idle task */
#endif
#endif
#if OS_TASK_NAME_SIZE > 14
OSTaskNameSet(OS_STAT_PRIO, (INT8U *)"uC/OS-II Stat", &err);
#endif
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* INITIALIZE THE FREE LIST OF TASK CONTROL BLOCKS
*
* Description: This function is called by OSInit() to initialize the free list of OS_TCBs.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitTCBList (void)
{
INT8U i;
OS_TCB *ptcb1;
OS_TCB *ptcb2;
OS_MemClr((INT8U *)&OSTCBTbl[0], sizeof(OSTCBTbl)); /* Clear all the TCBs */
OS_MemClr((INT8U *)&OSTCBPrioTbl[0], sizeof(OSTCBPrioTbl)); /* Clear the priority table */
ptcb1 = &OSTCBTbl[0];
ptcb2 = &OSTCBTbl[1];
for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) { /* Init. list of free TCBs */
ptcb1->OSTCBNext = ptcb2;
#if OS_TASK_NAME_SIZE > 1
ptcb1->OSTCBTaskName[0] = '?'; /* Unknown name */
ptcb1->OSTCBTaskName[1] = OS_ASCII_NUL;
#endif
ptcb1++;
ptcb2++;
}
ptcb1->OSTCBNext = (OS_TCB *)0; /* Last OS_TCB */
#if OS_TASK_NAME_SIZE > 1
ptcb1->OSTCBTaskName[0] = '?'; /* Unknown name */
ptcb1->OSTCBTaskName[1] = OS_ASCII_NUL;
#endif
OSTCBList = (OS_TCB *)0; /* TCB lists initializations */
OSTCBFreeList = &OSTCBTbl[0];
}
/*$PAGE*/
/*
*********************************************************************************************************
* CLEAR A SECTION OF MEMORY
*
* Description: This function is called by other uC/OS-II services to clear a contiguous block of RAM.
*
* Arguments : pdest is the start of the RAM to clear (i.e. write 0x00 to)
*
* size is the number of bytes to clear.
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Note that we can only clear up to 64K bytes of RAM. This is not an issue because none
* of the uses of this function gets close to this limit.
* 3) The clear is done one byte at a time since this will work on any processor irrespective
* of the alignment of the destination.
*********************************************************************************************************
*/
void OS_MemClr (INT8U *pdest, INT16U size)
{
while (size > 0) {
*pdest++ = (INT8U)0;
size--;
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* COPY A BLOCK OF MEMORY
*
* Description: This function is called by other uC/OS-II services to copy a block of memory from one
* location to another.
*
* Arguments : pdest is a pointer to the 'destination' memory block
*
* psrc is a pointer to the 'source' memory block
*
* size is the number of bytes to copy.
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it. There is
* no provision to handle overlapping memory copy. However, that's not a problem since this
* is not a situation that will happen.
* 2) Note that we can only copy up to 64K bytes of RAM
* 3) The copy is done one byte at a time since this will work on any processor irrespective
* of the alignment of the source and destination.
*********************************************************************************************************
*/
void OS_MemCopy (INT8U *pdest, INT8U *psrc, INT16U size)
{
while (size > 0) {
*pdest++ = *psrc++;
size--;
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* SCHEDULER
*
* Description: This function is called by other uC/OS-II services to determine whether a new, high
* priority task has been made ready to run. This function is invoked by TASK level code
* and is not used to reschedule tasks from ISRs (see OSIntExit() for ISR rescheduling).
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Rescheduling is prevented when the scheduler is locked (see OS_SchedLock())
*********************************************************************************************************
*/
void OS_Sched (void)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0;
#endif
OS_ENTER_CRITICAL();
if (OSIntNesting == 0) { /* Schedule only if all ISRs done and ... */
if (OSLockNesting == 0) { /* ... scheduler is not locked */
OS_SchedNew();
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
#if OS_TASK_PROFILE_EN > 0
OSTCBHighRdy->OSTCBCtxSwCtr++; /* Inc. # of context switches to this task */
#endif
OSCtxSwCtr++; /* Increment context switch counter */
OS_TASK_SW(); /* Perform a context switch */
}
}
}
OS_EXIT_CRITICAL();
}
/*
*********************************************************************************************************
* FIND HIGHEST PRIORITY TASK READY TO RUN
*
* Description: This function is called by other uC/OS-II services to determine the highest priority task
* that is ready to run. The global variable 'OSPrioHighRdy' is changed accordingly.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Interrupts are assumed to be disabled when this function is called.
*********************************************************************************************************
*/
static void OS_SchedNew (void)
{
#if OS_LOWEST_PRIO <= 63 /* See if we support up to 64 tasks */
INT8U y;
y = OSUnMapTbl[OSRdyGrp];
OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]);
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