?? rtx430.c
字號(hào):
/*************************************************************************************/
/** **/
/** 千萬注意： **/
/** 在中斷程序開始處一定要調(diào)用 " RTX_TS|=RTX_TS_DELAY; " 這一語句 **/
/** **/
/*************************************************************************************/
#include <msp430x14x.h>
#define TIMESHARING 5 /* 每個(gè)任務(wù)的最大運(yùn)行時(shí)間 */
#define RTX_STACKFREE 40 /* 當(dāng)前任務(wù)的最小堆棧空間 */
#define RTX_MAXTASKN 10 /* 最大任務(wù)數(shù) */
#define INT_CLOCK 10000 /* 每個(gè)定時(shí)中斷的時(shí)鐘數(shù) */
#define RAMBOTTOM 0x300 /* 最大 RAM 數(shù) */
#define RAMTOP 0x9FF /* 最大 RAM 數(shù) */
#define RTX_TIMESHARING (0 - TIMESHARING)
#define RTX_CLOCK INT_CLOCK
#define RTX_RAMBOTTOM RAMBOTTOM/2*2
#define RTX_RAMTOP RAMTOP/2*2
#define K_SIG 1
#define K_TMO 2
#define SIG_EVENT 4
#define TMO_EVENT 8
#define K_READY 16
#define K_ACTIVE 32
#define K_ROBIN 64
#define K_IVL 128
#define B_WAITSIG 0
#define B_WAITTIM 1
#define B_SIGNAL 2
#define B_TIMEOUT 3
#define B_READY 4
#define B_ACTIVE 5
#define B_ROBIN 6
#define B_INTERVAL 7
#define RTX_TS_REQ 1
#define RTX_TS_DELAY 2 /* 進(jìn)入中斷處理程序后，要將 RTX_TS 中的該位置為 1 */
unsigned int STKP[RTX_MAXTASKN]; /* 指向前一任務(wù)堆棧的尾地址 */
unsigned char RTX_RobinTime; /* 每個(gè)任務(wù)最長的運(yùn)行周期 */
unsigned char TASK_Current; /* 當(dāng)前運(yùn)行的任務(wù)號(hào) */
unsigned char RTX_TS;
unsigned int RTX_SP;
unsigned int SAVE_SR;
unsigned int SAVE_PC;
struct
{
char time;
char st;
}
STATE[RTX_MAXTASKN];
void timer0_comm(void);
void clear_watchdog(void);
void os_system_init(void);
unsigned char task_switch(void);
unsigned char os_system_start(void);
unsigned char os_delete_task(unsigned char task_no);
unsigned char os_send_signal(unsigned char task_no);
unsigned char isr_send_signal(unsigned char task_no);
unsigned char os_clear_signal(unsigned char task_no);
unsigned char os_wait(unsigned type, unsigned timeout);
unsigned char os_create_task(unsigned int proc_name, unsigned char task_no);
extern int getsp(void); // Get Stack Pointer
extern void putsp(int sp_value); // Get Stack Pointer
extern void save_pop(void);
extern void save_push(void);
extern void restore_sr(void);
/*******************************************************************/
interrupt [TIMERA0_VECTOR] void WD( void )
{
unsigned int *i,*j;
clear_watchdog();
i=(unsigned int *)getsp();
j=i-1;
putsp((unsigned int)j);
*j=*i;
j++;
i++;
*j=*i;
j++;
i++;
*j=*i;
j++;
i++;
*j=*i;
j++;
i++;
*j=*i;
j++;
i++;
*j=*i;
j++;
i++;
SAVE_SR=*i;
*j=*i;
*i=(unsigned int)timer0_comm;
}
void timer0_comm(void)
{
unsigned char i;
unsigned char stack_free;
//Clear_watchdog:
clear_watchdog();
//Update_Timer0:
CCR0+=RTX_CLOCK;
//Chcec_Stack: /* 堆棧檢查，如果剩余堆棧 < RTX_STACKFREE 轉(zhuǎn)去錯(cuò)誤處理程序 */
stack_free=TASK_Current==RTX_MAXTASKN ? RTX_RAMBOTTOM : STKP[TASK_Current+1];
stack_free=getsp()-stack_free;
if(stack_free<RTX_STACKFREE)
{
_DINT();
while(1)
{
/* ************此處加入堆棧溢出處理程序*************** */
};
}
//Update_Check_Task_Timers:
for(i=0;i<RTX_MAXTASKN;i++)
{
STATE[i].time--;
_DINT();
if((STATE[i].st&K_TMO)&&(STATE[i].time==0))STATE[i].st|=K_READY+TMO_EVENT;
_EINT();
}
//Check_Round_Robin_TimeOut:
if(RTX_TIMESHARING==0) /* 沒有任務(wù)切換 */
{
restore_sr();
return;
}
if(STATE[TASK_Current].time!=RTX_RobinTime) /* 沒有任務(wù)切換 */
{
restore_sr();
return;
}
if(RTX_TS&RTX_TS_DELAY)
{
RTX_TS|=RTX_TS_REQ;
restore_sr();
return;
}
save_push();
_DINT();
STATE[TASK_Current].st|=K_ROBIN;
_EINT();
task_switch();
}
unsigned char task_switch(void)
{
unsigned char i;
unsigned int *j,*p1,*p2;
clear_watchdog();
RTX_SP=getsp();
p1=(unsigned int *)(RTX_SP+8);
p2=p1-1;
for(i=0;i<4;i++)
{
*p1=*p2;
p1--;
p2--;
}
RTX_SP+=2;
putsp(RTX_SP);
j=(unsigned int *)RTX_SP;
RTX_TS|=RTX_TS_DELAY;
i=TASK_Current;
while(1)
{
if ((++i)==(RTX_MAXTASKN))i=0;
if (STATE[i].st&K_READY)break;
}
while(TASK_Current<i)
{
TASK_Current++;
p1=(unsigned int *)STKP[TASK_Current];
p2=(unsigned int *)(TASK_Current==RTX_MAXTASKN ? RTX_RAMBOTTOM : STKP[TASK_Current+1]);
STKP[TASK_Current]=RTX_SP;
while(p1!=p2)
{
RTX_SP-=2;
putsp(RTX_SP);
j--;
p1--;
*j=*p1;
}
}
while(TASK_Current>i)
{
p1=(unsigned int *)(TASK_Current==RTX_MAXTASKN ? RTX_SP : STKP[TASK_Current+1]);
p2=(unsigned int *)STKP[TASK_Current];
while(j!=p2)
{
*p1=*j;
p1++;
j++;
RTX_SP+=2;
putsp(RTX_SP);
}
STKP[TASK_Current] = (unsigned int)p1;
TASK_Current--;
}
RTX_RobinTime = STATE[TASK_Current].time + RTX_TIMESHARING;
_DINT();
if(STATE[TASK_Current].st & K_ROBIN)
{
_EINT();
RTX_TS&=~RTX_TS_DELAY;
RTX_TS&=~RTX_TS_REQ;
save_pop();
return(0x00);
}
if((STATE[TASK_Current].st & K_SIG) && (STATE[TASK_Current].st & SIG_EVENT))
{
STATE[TASK_Current].st&=0xf0;
_EINT();
RTX_TS&=~RTX_TS_DELAY;
RTX_TS&=~RTX_TS_REQ;
return(SIG_EVENT);
}
if((STATE[TASK_Current].st & K_TMO) && (STATE[TASK_Current].st & TMO_EVENT))
{
STATE[TASK_Current].st&=0xf4;
_EINT();
RTX_TS&=~RTX_TS_DELAY;
RTX_TS&=~RTX_TS_REQ;
return(TMO_EVENT);
}
_EINT();
RTX_TS&=~RTX_TS_DELAY;
RTX_TS&=~RTX_TS_REQ;
return(0x00);
}
unsigned char os_wait(unsigned type, unsigned timeout)
{
unsigned char st = 0;
clear_watchdog();
if(type==0)
{
_DINT();
STATE[TASK_Current].st &= ~ (st | K_SIG | K_TMO);
_EINT();
return (st);
}
TACTL&=~MC1;
if(type&K_IVL)
{
STATE[TASK_Current].time+=timeout;
if(!C)
{
st = TMO_EVENT;
_DINT();
STATE[TASK_Current].st &= ~ (st | K_SIG | K_TMO);
_EINT();
TACTL|=MC1;
return (st);
}
_DINT();
STATE[TASK_Current].st |= K_TMO;
_EINT();
}
if(type&K_TMO)
{
if(timeout==0)
{
st = TMO_EVENT;
_DINT();
STATE[TASK_Current].st &= ~ (st | K_SIG | K_TMO);
_EINT();
TACTL|=MC1;
return (st);
}
STATE[TASK_Current].time = timeout;
_DINT();
STATE[TASK_Current].st |= K_TMO;
_EINT();
}
if(type&K_SIG)
{
if(STATE[TASK_Current].st&SIG_EVENT)
{
st=SIG_EVENT;
_DINT();
STATE[TASK_Current].st &= ~ (st | K_SIG | K_TMO);
_EINT();
TACTL|=MC1;
return (st);
}
_DINT();
STATE[TASK_Current].st |= K_SIG;
_EINT();
}
_DINT();
STATE[TASK_Current].st &= ~K_READY;
_EINT();
TACTL|=MC1;
task_switch();
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