*********************************************************************************************************
*                                          START MULTITASKING
*
* Description: This function is used to start the multitasking process which lets uC/OS-II manages the
*              task that you have created.  Before you can call OSStart(), you MUST have called OSInit()
*              and you MUST have created at least one task.
*
* Arguments  : none
*
* Returns    : none
*
* Note       : OSStartHighRdy() MUST:
*                 a) Call OSTaskSwHook() then,
*                 b) Set OSRunning to TRUE.
*                 c) Load the context of the task pointed to by OSTCBHighRdy.
*                 d_ Execute the task.
*********************************************************************************************************
*/

void  OSStart (void)
{
    INT8U y;
    INT8U x;


    if (OSRunning == FALSE) 
    {
        y             = OSUnMapTbl[OSRdyGrp];        /* Find highest priority's task priority number   */
        x             = OSUnMapTbl[OSRdyTbl[y]];
        OSPrioHighRdy = (INT8U)((y << 3) + x);
        OSPrioCur     = OSPrioHighRdy;
        OSTCBHighRdy  = OSTCBPrioTbl[OSPrioHighRdy]; /* Point to highest priority task ready to run    */
        OSTCBCur      = OSTCBHighRdy;
        OSStartHighRdy();                            /* Execute target specific code to start task     */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                        STATISTICS INITIALIZATION
*
* Description: This function is called by your application to establish CPU usage by first determining
*              how high a 32-bit counter would count to in 1 second if no other tasks were to execute
*              during that time.  CPU usage is then determined by a low priority task which keeps track
*              of this 32-bit counter every second but this time, with other tasks running.  CPU usage is
*              determined by:
*
*                                             OSIdleCtr
*                 CPU Usage (%) = 100 * (1 - ------------)
*                                            OSIdleCtrMax
*
* Arguments  : none
*
* Returns    : none
*********************************************************************************************************
*/

#if OS_TASK_STAT_EN > 0
void  OSStatInit (void)
{
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */
    OS_CPU_SR  cpu_sr;
#endif    
    
    
    OSTimeDly(2);                                /* Synchronize with clock tick                        */
    OS_ENTER_CRITICAL();
    OSIdleCtr    = 0L;                           /* Clear idle counter                                 */
    OS_EXIT_CRITICAL();
    OSTimeDly(OS_TICKS_PER_SEC);                 /* Determine MAX. idle counter value for 1 second     */
    OS_ENTER_CRITICAL();
    OSIdleCtrMax = OSIdleCtr;                    /* Store maximum idle counter count in 1 second       */
    OSStatRdy    = TRUE;
    OS_EXIT_CRITICAL();
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
*                                         PROCESS SYSTEM TICK
*
* Description: This function is used to signal to uC/OS-II the occurrence of a 'system tick' (also known
*              as a 'clock tick').  This function should be called by the ticker ISR but, can also be
*              called by a high priority task.
*
* Arguments  : none
*
* Returns    : none
*********************************************************************************************************
*/

void  OSTimeTick (void)
{
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */
    OS_CPU_SR  cpu_sr;
#endif    
    OS_TCB    *ptcb;


    OSTimeTickHook();                                      /* Call user definable hook                 */
#if OS_TIME_GET_SET_EN > 0   
    OS_ENTER_CRITICAL();                                   /* Update the 32-bit tick counter           */
    OSTime++;
    OS_EXIT_CRITICAL();
#endif
    if (OSRunning == TRUE) //調(diào)用OSStart()后，該值始終為TRUE.
    {    
        ptcb = OSTCBList;     /* Point at first TCB in TCB list ，已找到使用的OS_TCB鏈頭          */
        while (ptcb->OSTCBPrio != OS_IDLE_PRIO) //最低優(yōu)先級任務(wù)--空閑任務(wù)
        {   /* Go through all TCBs in TCB list          */
            OS_ENTER_CRITICAL();//關(guān)中斷
            if (ptcb->OSTCBDly != 0)//任務(wù)在等待時間事件
            {   /* Delayed or waiting for event with TO     */
                if (--ptcb->OSTCBDly == 0) //減少等待的時間值，為0則任務(wù)進(jìn)入就緒態(tài)
                {               /* Decrement nbr of ticks to end of delay   */
                    if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) 
                    { /* Is task suspended?    */
                        OSRdyGrp               |= ptcb->OSTCBBitY; /* No,  Make task R-to-R (timed out)*/
                        OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
                    } 
			        else 
                    {                               /* Yes, Leave 1 tick to prevent ...         */
                        ptcb->OSTCBDly = 1;                /* ... loosing the task when the ...        */
                    }                                      /* ... suspension is removed.               */
                }
            }
            ptcb = ptcb->OSTCBNext;  /* Point at next TCB in TCB list ，處理下一個任務(wù)           */
            OS_EXIT_CRITICAL();
        }
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                             GET VERSION
*
* Description: This function is used to return the version number of uC/OS-II.  The returned value
*              corresponds to uC/OS-II's version number multiplied by 100.  In other words, version 2.00
*              would be returned as 200.
*
* Arguments  : none
*
* Returns    : the version number of uC/OS-II multiplied by 100.
*********************************************************************************************************
*/

INT16U  OSVersion (void)
{
    return (OS_VERSION);
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                            DUMMY FUNCTION
*
* Description: This function doesn't do anything.  It is called by OSTaskDel().
*
* Arguments  : none
*
* Returns    : none
*********************************************************************************************************
*/

#if OS_TASK_DEL_EN > 0
void  OS_Dummy (void)
{
}
#endif

/*$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.
* 08.11.13 吳斌添加：獲得任務(wù)優(yōu)先級后，就可以獲得指向該任務(wù)的事件控制塊的指針，，任務(wù)不需要再等待，直接清0
*********************************************************************************************************
*/
#if OS_EVENT_EN > 0
INT8U  OS_EventTaskRdy (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) == 0x00) 
    {   /* Remove this task from the waiting list        */
        pevent->OSEventGrp &= ~bity;                  /* Clr group bit if this was only task pending   */
    }
    ptcb                 =  OSTCBPrioTbl[prio];       /* Point to this task's OS_TCB                   */
    ptcb->OSTCBDly       =  0;      /* Prevent OSTimeTick() from readying task，直接清0，無需等待超時  */
    ptcb->OSTCBEventPtr  = (OS_EVENT *)0;             /* Unlink ECB from this task                     */
#if ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0)
    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任務(wù)不再等待事件          */
    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，加入就緒列表 */
        OSRdyTbl[y]     |=  bitx;
    }
    return (prio);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
*                                   MAKE TASK WAIT FOR EVENT TO OCCUR
*
* Description: This function is called by other uC/OS-II services to suspend a task because an event has
*              not occurred.
*
* Arguments  : pevent   is a pointer to the event control block for which the task will be waiting for.
*
* Returns    : none
*
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if OS_EVENT_EN > 0
void  OS_EventTaskWait (OS_EVENT *pevent)
{
    OSTCBCur->OSTCBEventPtr = pevent;            /* Store pointer to event control block in TCB        */
    if ((OSRdyTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0x00) 
    {   /* Task no longer ready      */
        OSRdyGrp &= ~OSTCBCur->OSTCBBitY;        /* Clear event grp bit if this was only task pending  */
    }
    pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX;          /* Put task in waiting list  */
    pevent->OSEventGrp                   |= OSTCBCur->OSTCBBitY;
}
#endif
/*$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_EVENT_EN > 0
void  OS_EventTO (OS_EVENT *pevent)
{
    if ((pevent->OSEventTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0x00) 
    {
        pevent->OSEventGrp &= ~OSTCBCur->OSTCBBitY;
    }
    OSTCBCur->OSTCBStat     = OS_STAT_RDY;       /* Set status to ready，任務(wù)設(shè)置為就緒態(tài) */
    OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0;     /* No longer waiting for event，不再等待任何事件 */
}
#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.
*