OS_MSG_QTY OSQFlush (OS_Q *p_q,
OS_ERR *p_err)
{
OS_MSG_QTY entries;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return ((OS_MSG_QTY)0);
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Can't flush a message queue from an ISR */
*p_err = OS_ERR_FLUSH_ISR;
return ((OS_MSG_QTY)0);
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_q == (OS_Q *)0) { /* Validate arguments */
*p_err = OS_ERR_OBJ_PTR_NULL;
return ((OS_MSG_QTY)0);
}
#endif
#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
if (p_q->Type != OS_OBJ_TYPE_Q) { /* Make sure message queue was created */
*p_err = OS_ERR_OBJ_TYPE;
return ((OS_MSG_QTY)0);
}
#endif
OS_CRITICAL_ENTER();
entries = OS_MsgQFreeAll(&p_q->MsgQ); /* Return all OS_MSGs to the OS_MSG pool */
OS_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
return ((OS_MSG_QTY)entries);
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_MsgQDestroy
* Description : This function is used to destroy the message queue.
* Return kStatus_OSA_Success if the message queue is destroyed successfully,
* otherwise return kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_MsgQDestroy(msg_queue_handler_t handler)
{
OS_ERR err;
#if (CPU_CFG_CRITICAL_METHOD == CPU_CRITICAL_METHOD_STATUS_LOCAL)
CPU_SR cpu_sr = (CPU_SR)0;
#endif
OSQDel(&(handler->queue), OS_OPT_DEL_ALWAYS, &err);
if (OS_ERR_NONE == err)
{
OS_CRITICAL_ENTER();
OSMemQty--;
OS_CRITICAL_EXIT_NO_SCHED();
return kStatus_OSA_Success;
}
else
{
return kStatus_OSA_Error;
}
}
void OS_TickTask (void *p_arg)
{
OS_ERR err;
CPU_TS ts;
CPU_TS ts_delta;
CPU_TS ts_delta_dly;
CPU_TS ts_delta_timeout;
CPU_SR_ALLOC();
(void)&p_arg; /* Prevent compiler warning */
while (DEF_ON) {
(void)OSTaskSemPend((OS_TICK )0,
(OS_OPT )OS_OPT_PEND_BLOCKING,
(CPU_TS *)&ts,
(OS_ERR *)&err); /* Wait for signal from tick interrupt */
if (err == OS_ERR_NONE) {
if (OSRunning == OS_STATE_OS_RUNNING) {
OS_CRITICAL_ENTER();
OSTickCtr++; /* Keep track of the number of ticks */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_TICK_INCREMENT(OSTickCtr); /* Record the event. */
#endif
OS_CRITICAL_EXIT();
ts_delta_dly = OS_TickListUpdateDly();
ts_delta_timeout = OS_TickListUpdateTimeout();
ts_delta = ts_delta_dly + ts_delta_timeout; /* Compute total execution time of list updates */
if (OSTickTaskTimeMax < ts_delta) {
OSTickTaskTimeMax = ts_delta;
}
}
}
}
}
/*-------------------- S e r _ I S R ( ) -------------------------------------
Purpose: Call ServiceRx() to handle Rx interrupts and then call
ServiceTx() to handle Tx interrupts.
[Added the prologue and epilogue to make this ISR compatible
with uC/OS-III.]
*/
CPU_VOID Ser_ISR(CPU_VOID){
//OS_ERR osErr; /* O/S Error code */
/*---------------------- Prologue ----------------*/
/*Disable Interrupts*/
CPU_SR_ALLOC();
OS_CRITICAL_ENTER();
/*Tell the kernel we are in an ISR*/
OSIntEnter();
/* Enable Interrupts */
OS_CRITICAL_EXIT();
/*---------------------- ISR -------------------*/
ServiceRx();
ServiceTx();
/*---------------------- Epilogue ----------------*/
/*Give the O/S a chance to swap tasks. */
OSIntExit();
}
//开始任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
OSTaskCreate((OS_TCB * )&Led0TaskTCB,
(CPU_CHAR * )"led0 task",
(OS_TASK_PTR )led0_task,
(void * )0,
(OS_PRIO )LED0_TASK_PRIO,
(CPU_STK * )&LED0_TASK_STK[0],
(CPU_STK_SIZE)LED0_STK_SIZE/10,
(CPU_STK_SIZE)LED0_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_TaskSuspend((OS_TCB*)&StartTaskTCB,&err); //挂起开始任务
OS_CRITICAL_EXIT(); //进入临界区
}
static CPU_TS OS_TickListUpdateTimeout (void)
{
OS_TCB *p_tcb;
OS_TICK_LIST *p_list;
CPU_TS ts_start;
CPU_TS ts_delta_timeout;
#if OS_CFG_DBG_EN > 0u
OS_OBJ_QTY nbr_updated;
#endif
CPU_SR_ALLOC();
OS_CRITICAL_ENTER(); /* ======= UPDATE TASKS WAITING WITH TIMEOUT ======= */
ts_start = OS_TS_GET();
#if OS_CFG_DBG_EN > 0u
nbr_updated = (OS_OBJ_QTY)0u;
#endif
p_list = &OSTickListTimeout;
p_tcb = p_list->TCB_Ptr;
if (p_tcb != (OS_TCB *)0) {
p_tcb->TickRemain--;
while (p_tcb->TickRemain == 0u) {
#if OS_CFG_DBG_EN > 0u
nbr_updated++;
#endif
if (p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT) {
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = (OS_MSG_SIZE)0u;
#endif
p_tcb->TS = OS_TS_GET();
OS_PendListRemove(p_tcb); /* Remove from wait list */
OS_RdyListInsert(p_tcb); /* Insert the task in the ready list */
p_tcb->TaskState = OS_TASK_STATE_RDY;
p_tcb->PendStatus = OS_STATUS_PEND_TIMEOUT; /* Indicate pend timed out */
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING; /* Indicate no longer pending */
} else if (p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED) {
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = (OS_MSG_SIZE)0u;
#endif
p_tcb->TS = OS_TS_GET();
OS_PendListRemove(p_tcb); /* Remove from wait list */
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
p_tcb->PendStatus = OS_STATUS_PEND_TIMEOUT; /* Indicate pend timed out */
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING; /* Indicate no longer pending */
}
p_list->TCB_Ptr = p_tcb->TickNextPtr;
p_tcb = p_list->TCB_Ptr; /* Get 'p_tcb' again for loop */
if (p_tcb == (OS_TCB *)0) {
#if OS_CFG_DBG_EN > 0u
p_list->NbrEntries = (OS_OBJ_QTY)0u;
#endif
break;
} else {
#if OS_CFG_DBG_EN > 0u
p_list->NbrEntries--;
#endif
p_tcb->TickPrevPtr = (OS_TCB *)0;
}
}
}
#if OS_CFG_DBG_EN > 0u
p_list->NbrUpdated = nbr_updated;
#endif
ts_delta_timeout = OS_TS_GET() - ts_start; /* Measure execution time of the update */
OS_CRITICAL_EXIT(); /* ------------------------------------------------- */
return (ts_delta_timeout);
}
void OSTimeDlyHMSM (CPU_INT16U hours,
CPU_INT16U minutes,
CPU_INT16U seconds,
CPU_INT32U milli,
OS_OPT opt,
OS_ERR *p_err)
{
#if OS_CFG_ARG_CHK_EN > 0u
CPU_BOOLEAN opt_invalid;
CPU_BOOLEAN opt_non_strict;
#endif
OS_OPT opt_time;
OS_RATE_HZ tick_rate;
OS_TICK ticks;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0u) { /* Not allowed to call from an ISR */
*p_err = OS_ERR_TIME_DLY_ISR;
return;
}
#endif
if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0u) { /* Can't delay when the scheduler is locked */
*p_err = OS_ERR_SCHED_LOCKED;
return;
}
opt_time = opt & OS_OPT_TIME_MASK; /* Retrieve time options only. */
switch (opt_time) {
case OS_OPT_TIME_DLY:
case OS_OPT_TIME_TIMEOUT:
case OS_OPT_TIME_PERIODIC:
if (milli == (CPU_INT32U)0u) { /* Make sure we didn't specify a 0 delay */
if (seconds == (CPU_INT16U)0u) {
if (minutes == (CPU_INT16U)0u) {
if (hours == (CPU_INT16U)0u) {
*p_err = OS_ERR_TIME_ZERO_DLY;
return;
}
}
}
}
break;
case OS_OPT_TIME_MATCH:
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return;
}
#if OS_CFG_ARG_CHK_EN > 0u /* Validate arguments to be within range */
opt_invalid = DEF_BIT_IS_SET_ANY(opt, ~OS_OPT_TIME_OPTS_MASK);
if (opt_invalid == DEF_YES) {
*p_err = OS_ERR_OPT_INVALID;
return;
}
opt_non_strict = DEF_BIT_IS_SET(opt, OS_OPT_TIME_HMSM_NON_STRICT);
if (opt_non_strict != DEF_YES) {
if (milli > (CPU_INT32U)999u) {
*p_err = OS_ERR_TIME_INVALID_MILLISECONDS;
return;
}
if (seconds > (CPU_INT16U)59u) {
*p_err = OS_ERR_TIME_INVALID_SECONDS;
return;
}
if (minutes > (CPU_INT16U)59u) {
*p_err = OS_ERR_TIME_INVALID_MINUTES;
return;
}
if (hours > (CPU_INT16U)99u) {
*p_err = OS_ERR_TIME_INVALID_HOURS;
return;
}
} else {
if (minutes > (CPU_INT16U)9999u) {
*p_err = OS_ERR_TIME_INVALID_MINUTES;
return;
}
if (hours > (CPU_INT16U)999u) {
*p_err = OS_ERR_TIME_INVALID_HOURS;
return;
}
}
#endif
/* Compute the total number of clock ticks required.. */
/* .. (rounded to the nearest tick) */
tick_rate = OSCfg_TickRate_Hz;
ticks = ((OS_TICK)hours * (OS_TICK)3600u + (OS_TICK)minutes * (OS_TICK)60u + (OS_TICK)seconds) * tick_rate
+ (tick_rate * ((OS_TICK)milli + (OS_TICK)500u / tick_rate)) / (OS_TICK)1000u;
if (ticks > (OS_TICK)0u) {
OS_CRITICAL_ENTER();
OSTCBCurPtr->TaskState = OS_TASK_STATE_DLY;
OS_TickListInsert(OSTCBCurPtr,
ticks,
opt_time,
p_err);
if (*p_err != OS_ERR_NONE) {
OS_CRITICAL_EXIT_NO_SCHED();
return;
}
OS_RdyListRemove(OSTCBCurPtr); /* Remove current task from ready list */
OS_CRITICAL_EXIT_NO_SCHED();
OSSched(); /* Find next task to run! */
*p_err = OS_ERR_NONE;
} else {
*p_err = OS_ERR_TIME_ZERO_DLY;
}
}
void OS_TickListUpdate (void)
{
CPU_BOOLEAN done;
OS_TICK_SPOKE *p_spoke;
OS_TCB *p_tcb;
OS_TCB *p_tcb_next;
OS_TICK_SPOKE_IX spoke;
CPU_TS ts_start;
CPU_TS ts_end;
CPU_SR_ALLOC();
OS_CRITICAL_ENTER();
ts_start = OS_TS_GET();
OSTickCtr++; /* Keep track of the number of ticks */
spoke = (OS_TICK_SPOKE_IX)(OSTickCtr % OSCfg_TickWheelSize);
p_spoke = &OSCfg_TickWheel[spoke];
p_tcb = p_spoke->FirstPtr;
done = DEF_FALSE;
while (done == DEF_FALSE) {
if (p_tcb != (OS_TCB *)0) {
p_tcb_next = p_tcb->TickNextPtr; /* Point to next TCB to update */
switch (p_tcb->TaskState) {
case OS_TASK_STATE_RDY:
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_PEND_SUSPENDED:
break;
case OS_TASK_STATE_DLY:
p_tcb->TickRemain = p_tcb->TickCtrMatch /* Compute time remaining of current TCB */
- OSTickCtr;
if (OSTickCtr == p_tcb->TickCtrMatch) { /* Process each TCB that expires */
p_tcb->TaskState = OS_TASK_STATE_RDY;
OS_TaskRdy(p_tcb); /* Make task ready to run */
} else {
done = DEF_TRUE; /* Don't find a match, we're done! */
}
break;
case OS_TASK_STATE_PEND_TIMEOUT:
p_tcb->TickRemain = p_tcb->TickCtrMatch /* Compute time remaining of current TCB */
- OSTickCtr;
if (OSTickCtr == p_tcb->TickCtrMatch) { /* Process each TCB that expires */
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = (OS_MSG_SIZE)0u;
#endif
p_tcb->TS = OS_TS_GET();
OS_PendListRemove(p_tcb); /* Remove from wait list */
OS_TaskRdy(p_tcb);
p_tcb->TaskState = OS_TASK_STATE_RDY;
p_tcb->PendStatus = OS_STATUS_PEND_TIMEOUT; /* Indicate pend timed out */
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING; /* Indicate no longer pending */
} else {
done = DEF_TRUE; /* Don't find a match, we're done! */
}
break;
case OS_TASK_STATE_DLY_SUSPENDED:
p_tcb->TickRemain = p_tcb->TickCtrMatch /* Compute time remaining of current TCB */
- OSTickCtr;
if (OSTickCtr == p_tcb->TickCtrMatch) { /* Process each TCB that expires */
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
OS_TickListRemove(p_tcb); /* Remove from current wheel spoke */
} else {
done = DEF_TRUE; /* Don't find a match, we're done! */
}
break;
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
p_tcb->TickRemain = p_tcb->TickCtrMatch /* Compute time remaining of current TCB */
- OSTickCtr;
if (OSTickCtr == p_tcb->TickCtrMatch) { /* Process each TCB that expires */
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = (OS_MSG_SIZE)0u;
#endif
p_tcb->TS = OS_TS_GET();
OS_PendListRemove(p_tcb); /* Remove from wait list */
OS_TickListRemove(p_tcb); /* Remove from current wheel spoke */
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
p_tcb->PendStatus = OS_STATUS_PEND_TIMEOUT; /* Indicate pend timed out */
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING; /* Indicate no longer pending */
} else {
done = DEF_TRUE; /* Don't find a match, we're done! */
}
break;
default:
break;
}
p_tcb = p_tcb_next;
} else {
done = DEF_TRUE;
}
}
ts_end = OS_TS_GET() - ts_start; /* Measure execution time of tick task */
if (ts_end > OSTickTaskTimeMax) {
OSTickTaskTimeMax = ts_end;
}
OS_CRITICAL_EXIT();
}
//开始任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
//创建定时器1
OSTmrCreate((OS_TMR *)&tmr1, //定时器1
(CPU_CHAR *)"tmr1", //定时器名字
(OS_TICK )0, //0ms
(OS_TICK )50, //50*10=500ms
(OS_OPT )OS_OPT_TMR_PERIODIC, //周期模式
(OS_TMR_CALLBACK_PTR)tmr1_callback,//定时器1回调函数
(void *)0, //参数为0
(OS_ERR *)&err); //返回的错误码
//创建主任务
OSTaskCreate((OS_TCB * )&Main_TaskTCB,
(CPU_CHAR * )"Main task",
(OS_TASK_PTR )main_task,
(void * )0,
(OS_PRIO )MAIN_TASK_PRIO,
(CPU_STK * )&MAIN_TASK_STK[0],
(CPU_STK_SIZE)MAIN_STK_SIZE/10,
(CPU_STK_SIZE)MAIN_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建MSGDIS任务
OSTaskCreate((OS_TCB * )&Msgdis_TaskTCB,
(CPU_CHAR * )"Msgdis task",
(OS_TASK_PTR )msgdis_task,
(void * )0,
(OS_PRIO )MSGDIS_TASK_PRIO,
(CPU_STK * )&MSGDIS_TASK_STK[0],
(CPU_STK_SIZE)MSGDIS_STK_SIZE/10,
(CPU_STK_SIZE)MSGDIS_STK_SIZE,
(OS_MSG_QTY )TASK_Q_NUM, //任务Msgdis_task需要使用内建消息队列，消息队列长度为4
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //退出临界区
OSTaskDel((OS_TCB*)0,&err); //删除start_task任务自身
}
void OSMutexCreate (OS_MUTEX *p_mutex,
CPU_CHAR *p_name,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == DEF_TRUE) {
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to be called from an ISR */
*p_err = OS_ERR_CREATE_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_mutex == (OS_MUTEX *)0) { /* Validate 'p_mutex' */
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
#endif
OS_CRITICAL_ENTER();
#if OS_OBJ_TYPE_REQ > 0u
p_mutex->Type = OS_OBJ_TYPE_MUTEX; /* Mark the data structure as a mutex */
#endif
#if OS_CFG_DBG_EN > 0u
p_mutex->NamePtr = p_name;
#else
(void)&p_name;
#endif
p_mutex->OwnerTCBPtr = (OS_TCB *)0;
p_mutex->OwnerNestingCtr = (OS_NESTING_CTR)0; /* Mutex is available */
p_mutex->TS = (CPU_TS )0;
p_mutex->OwnerOriginalPrio = OS_CFG_PRIO_MAX;
OS_PendListInit(&p_mutex->PendList); /* Initialize the waiting list */
#if OS_CFG_DBG_EN > 0u
OS_MutexDbgListAdd(p_mutex);
#endif
OSMutexQty++;
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_CREATE(p_mutex, p_name); /* Record the event. */
#endif
OS_CRITICAL_EXIT_NO_SCHED();
*p_err = OS_ERR_NONE;
}
void OSSemCreate (OS_SEM *p_sem,
CPU_CHAR *p_name,
OS_SEM_CTR cnt,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == DEF_TRUE) {
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to be called from an ISR */
*p_err = OS_ERR_CREATE_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_sem == (OS_SEM *)0) { /* Validate 'p_sem' */
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
#endif
OS_CRITICAL_ENTER();
#if OS_OBJ_TYPE_REQ > 0u
p_sem->Type = OS_OBJ_TYPE_SEM; /* Mark the data structure as a semaphore */
#endif
p_sem->Ctr = cnt; /* Set semaphore value */
p_sem->TS = (CPU_TS)0;
#if OS_CFG_DBG_EN > 0u
p_sem->NamePtr = p_name; /* Save the name of the semaphore */
#else
(void)&p_name;
#endif
OS_PendListInit(&p_sem->PendList); /* Initialize the waiting list */
#if OS_CFG_DBG_EN > 0u
OS_SemDbgListAdd(p_sem);
#endif
OSSemQty++;
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_SEM_CREATE(p_sem, p_name); /* Record the event. */
#endif
OS_CRITICAL_EXIT_NO_SCHED();
*p_err = OS_ERR_NONE;
}
void OS_StatTask (void *p_arg)
{
#if OS_CFG_DBG_EN > 0u
#if OS_CFG_TASK_PROFILE_EN > 0u
OS_CPU_USAGE usage;
OS_CYCLES cycles_total;
#endif
OS_TCB *p_tcb;
#endif
OS_ERR err;
OS_TICK dly;
CPU_TS ts_start;
CPU_TS ts_end;
CPU_SR_ALLOC();
p_arg = p_arg; /* Prevent compiler warning for not using 'p_arg' */
while (OSStatTaskRdy != DEF_TRUE) {
OSTimeDly(2u * OSCfg_StatTaskRate_Hz, /* Wait until statistic task is ready */
OS_OPT_TIME_DLY,
&err);
}
OSStatReset(&err); /* Reset statistics */
dly = (OS_TICK)0; /* Compute statistic task sleep delay */
if (OSCfg_TickRate_Hz > OSCfg_StatTaskRate_Hz) {
dly = (OS_TICK)(OSCfg_TickRate_Hz / OSCfg_StatTaskRate_Hz);
}
if (dly == (OS_TICK)0) {
dly = (OS_TICK)(OSCfg_TickRate_Hz / (OS_RATE_HZ)10);
}
while (DEF_ON) {
ts_start = OS_TS_GET();
#ifdef CPU_CFG_INT_DIS_MEAS_EN
OSIntDisTimeMax = CPU_IntDisMeasMaxGet();
#endif
CPU_CRITICAL_ENTER(); /* ----------------- OVERALL CPU USAGE ------------------ */
OSStatTaskCtrRun = OSStatTaskCtr; /* Obtain the of the stat counter for the past .1 second */
OSStatTaskCtr = (OS_TICK)0; /* Reset the stat counter for the next .1 second */
CPU_CRITICAL_EXIT();
if (OSStatTaskCtrMax > OSStatTaskCtrRun) {
if (OSStatTaskCtrMax > (OS_TICK)0) {
OSStatTaskCPUUsage = (OS_CPU_USAGE)((OS_TICK)100u - 100u * OSStatTaskCtrRun / OSStatTaskCtrMax);
} else {
OSStatTaskCPUUsage = (OS_CPU_USAGE)100;
}
} else {
OSStatTaskCPUUsage = (OS_CPU_USAGE)100;
}
OSStatTaskHook(); /* Invoke user definable hook */
#if OS_CFG_DBG_EN > 0u
#if OS_CFG_TASK_PROFILE_EN > 0u
cycles_total = (OS_CYCLES)0;
p_tcb = OSTaskDbgListPtr;
while (p_tcb != (OS_TCB *)0) { /* ----------------- TOTAL CYCLES COUNT ----------------- */
OS_CRITICAL_ENTER();
p_tcb->CyclesTotalPrev = p_tcb->CyclesTotal; /* Save accumulated # cycles into a temp variable */
p_tcb->CyclesTotal = (OS_CYCLES)0; /* Reset total cycles for task for next run */
OS_CRITICAL_EXIT();
cycles_total += p_tcb->CyclesTotalPrev;/* Perform sum of all task # cycles */
p_tcb = p_tcb->DbgNextPtr;
}
#endif
#if OS_CFG_TASK_PROFILE_EN > 0u
cycles_total /= 100; /* ------------- INDIVIDUAL TASK CPU USAGE -------------- */
#endif
p_tcb = OSTaskDbgListPtr;
while (p_tcb != (OS_TCB *)0) {
#if OS_CFG_TASK_PROFILE_EN > 0u /* Compute execution time of each task */
if (cycles_total > (OS_CYCLES)0) {
usage = (OS_CPU_USAGE)(p_tcb->CyclesTotalPrev / cycles_total);
if (usage > 100u) {
usage = 100u;
}
} else {
usage = 0u;
}
p_tcb->CPUUsage = usage;
#endif
#if OS_CFG_STAT_TASK_STK_CHK_EN > 0u
OSTaskStkChk( p_tcb, /* Compute stack usage of active tasks only */
&p_tcb->StkFree,
&p_tcb->StkUsed,
&err);
#endif
p_tcb = p_tcb->DbgNextPtr;
}
#endif
if (OSStatResetFlag == DEF_TRUE) { /* Check if need to reset statistics */
OSStatResetFlag = DEF_FALSE;
OSStatReset(&err);
}
ts_end = OS_TS_GET() - ts_start; /* Measure execution time of statistic task */
if (ts_end > OSStatTaskTimeMax) {
OSStatTaskTimeMax = ts_end;
}
OSTimeDly(dly,
OS_OPT_TIME_DLY,
&err);
}
}
void OSTimeDly (OS_TICK dly,
OS_OPT opt,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0u) { /* Not allowed to call from an ISR */
*p_err = OS_ERR_TIME_DLY_ISR;
return;
}
#endif
if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0u) { /* Can't delay when the scheduler is locked */
*p_err = OS_ERR_SCHED_LOCKED;
return;
}
switch (opt) {
case OS_OPT_TIME_DLY:
case OS_OPT_TIME_TIMEOUT:
case OS_OPT_TIME_PERIODIC:
if (dly == (OS_TICK)0u) { /* 0 means no delay! */
*p_err = OS_ERR_TIME_ZERO_DLY;
return;
}
break;
case OS_OPT_TIME_MATCH:
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return;
}
OS_CRITICAL_ENTER();
OS_TickListInsertDly(OSTCBCurPtr,
dly,
opt,
p_err);
if (*p_err != OS_ERR_NONE) {
OS_CRITICAL_EXIT_NO_SCHED();
return;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_TASK_DLY(dly); /* Record the event. */
#endif
OS_RdyListRemove(OSTCBCurPtr); /* Remove current task from ready list */
OS_CRITICAL_EXIT_NO_SCHED();
OSSched(); /* Find next task to run! */
*p_err = OS_ERR_NONE;
}
//开始任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
//创建信号量Test_Sem1
OSSemCreate ((OS_SEM* )&Test_Sem1,
(CPU_CHAR* )"Test_Sem1",
(OS_SEM_CTR)0,
(OS_ERR* )&err);
//创建信号量Test_Sem2
OSSemCreate ((OS_SEM* )&Test_Sem2,
(CPU_CHAR* )"Test_Sem2",
(OS_SEM_CTR)0,
(OS_ERR* )&err);
//创建消息队列
OSQCreate ((OS_Q* )&Test_Q, //消息队列
(CPU_CHAR* )"KEY Msg", //消息队列名称
(OS_MSG_QTY )QUEUE_NUM, //消息队列长度
(OS_ERR* )&err); //错误码
//创建TASK1任务
OSTaskCreate((OS_TCB * )&Task1_TaskTCB,
(CPU_CHAR * )"Task1 task",
(OS_TASK_PTR )task1_task,
(void * )0,
(OS_PRIO )TASK1_TASK_PRIO,
(CPU_STK * )&TASK1_TASK_STK[0],
(CPU_STK_SIZE)TASK1_STK_SIZE/10,
(CPU_STK_SIZE)TASK1_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建MULTI测试任务
OSTaskCreate((OS_TCB * )&Multi_TaskTCB,
(CPU_CHAR * )"Multi task",
(OS_TASK_PTR )multi_task,
(void * )0,
(OS_PRIO )MULTI_TASK_PRIO,
(CPU_STK * )&MULTI_TASK_STK[0],
(CPU_STK_SIZE)MULTI_STK_SIZE/10,
(CPU_STK_SIZE)MULTI_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //退出临界区
OSTaskDel((OS_TCB*)0,&err); //删除start_task任务自身
}
//开始任务函数
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
CPU_Init();
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //统计任务
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
//使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //进入临界区
OSFlagCreate((OS_FLAG_GRP *)&event_flag,
(CPU_CHAR *)"event flag",
(OS_FLAGS)0x00,
(OS_ERR *)&err
);
OSTaskCreate((OS_TCB * )&Led0TaskTCB,
(CPU_CHAR * )"led0 task",
(OS_TASK_PTR )led0_task,
(void * )0,
(OS_PRIO )LED0_TASK_PRIO,
(CPU_STK * )&LED0_TASK_STK[0],
(CPU_STK_SIZE)LED0_STK_SIZE/10,
(CPU_STK_SIZE)LED0_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建浮点测试任务
OSTaskCreate((OS_TCB * )&FloatTaskTCB,
(CPU_CHAR * )"float test task",
(OS_TASK_PTR )float_task,
(void * )0,
(OS_PRIO )FLOAT_TASK_PRIO,
(CPU_STK * )&FLOAT_TASK_STK[0],
(CPU_STK_SIZE)FLOAT_STK_SIZE/10,
(CPU_STK_SIZE)FLOAT_STK_SIZE,
(OS_MSG_QTY )5,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
//创建协议处理任务
OSTaskCreate((OS_TCB * )&ProtocolTaskTCB,
(CPU_CHAR * )"protocol task",
(OS_TASK_PTR )protocol_task,
(void * )0,
(OS_PRIO )Protocol_TASK_PRIO,
(CPU_STK * )&Protocol_TASK_STK[0],
(CPU_STK_SIZE)Protocol_STK_SIZE/10,
(CPU_STK_SIZE)Protocol_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void * )0,
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
(OS_ERR * )&err);
OS_CRITICAL_EXIT(); //进入临界区
OSTaskDel(NULL,&err);
}
void OSMemCreate (OS_MEM *p_mem,
CPU_CHAR *p_name,
void *p_addr,
OS_MEM_QTY n_blks,
OS_MEM_SIZE blk_size,
OS_ERR *p_err)
{
#if OS_CFG_ARG_CHK_EN > 0u
CPU_DATA align_msk;
#endif
OS_MEM_QTY i;
OS_MEM_QTY loops;
CPU_INT08U *p_blk;
void **p_link;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == DEF_TRUE) {
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to call from an ISR */
*p_err = OS_ERR_MEM_CREATE_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_addr == (void *)0) { /* Must pass a valid address for the memory part. */
*p_err = OS_ERR_MEM_INVALID_P_ADDR;
return;
}
if (n_blks < (OS_MEM_QTY)2) { /* Must have at least 2 blocks per partition */
*p_err = OS_ERR_MEM_INVALID_BLKS;
return;
}
if (blk_size < sizeof(void *)) { /* Must contain space for at least a pointer */
*p_err = OS_ERR_MEM_INVALID_SIZE;
return;
}
align_msk = sizeof(void *) - 1u;
if (align_msk > 0u) {
if (((CPU_ADDR)p_addr & align_msk) != 0u){ /* Must be pointer size aligned */
*p_err = OS_ERR_MEM_INVALID_P_ADDR;
return;
}
if ((blk_size & align_msk) != 0u) { /* Block size must be a multiple address size */
*p_err = OS_ERR_MEM_INVALID_SIZE;
return;
}
}
#endif
p_link = (void **)p_addr; /* Create linked list of free memory blocks */
p_blk = (CPU_INT08U *)p_addr;
loops = n_blks - 1u;
for (i = 0u; i < loops; i++) {
p_blk += blk_size;
*p_link = (void *)p_blk; /* Save pointer to NEXT block in CURRENT block */
p_link = (void **)(void *)p_blk; /* Position to NEXT block */
}
*p_link = (void *)0; /* Last memory block points to NULL */
OS_CRITICAL_ENTER();
#if OS_OBJ_TYPE_REQ > 0u
p_mem->Type = OS_OBJ_TYPE_MEM; /* Set the type of object */
#endif
#if OS_CFG_DBG_EN > 0u
p_mem->NamePtr = p_name; /* Save name of memory partition */
#else
(void)&p_name;
#endif
p_mem->AddrPtr = p_addr; /* Store start address of memory partition */
p_mem->FreeListPtr = p_addr; /* Initialize pointer to pool of free blocks */
p_mem->NbrFree = n_blks; /* Store number of free blocks in MCB */
p_mem->NbrMax = n_blks;
p_mem->BlkSize = blk_size; /* Store block size of each memory blocks */
#if OS_CFG_DBG_EN > 0u
OS_MemDbgListAdd(p_mem);
#endif
OSMemQty++;
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MEM_CREATE(p_mem, p_name); /* Record the event. */
#endif
OS_CRITICAL_EXIT_NO_SCHED();
*p_err = OS_ERR_NONE;
}
void OSTmrCreate (OS_TMR *p_tmr,
CPU_CHAR *p_name,
OS_TICK dly,
OS_TICK period,
OS_OPT opt,
OS_TMR_CALLBACK_PTR p_callback,
void *p_callback_arg,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == DEF_TRUE) {
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* See if trying to call from an ISR */
*p_err = OS_ERR_TMR_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_tmr == (OS_TMR *)0) { /* Validate 'p_tmr' */
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
switch (opt) {
case OS_OPT_TMR_PERIODIC:
if (period == (OS_TICK)0) {
*p_err = OS_ERR_TMR_INVALID_PERIOD;
return;
}
break;
case OS_OPT_TMR_ONE_SHOT:
if (dly == (OS_TICK)0) {
*p_err = OS_ERR_TMR_INVALID_DLY;
return;
}
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return;
}
#endif
OS_CRITICAL_ENTER();
p_tmr->State = (OS_STATE )OS_TMR_STATE_STOPPED; /* Initialize the timer fields */
p_tmr->Type = (OS_OBJ_TYPE )OS_OBJ_TYPE_TMR;
p_tmr->NamePtr = (CPU_CHAR *)p_name;
p_tmr->Dly = (OS_TICK )dly;
p_tmr->Match = (OS_TICK )0;
p_tmr->Remain = (OS_TICK )0;
p_tmr->Period = (OS_TICK )period;
p_tmr->Opt = (OS_OPT )opt;
p_tmr->CallbackPtr = (OS_TMR_CALLBACK_PTR)p_callback;
p_tmr->CallbackPtrArg = (void *)p_callback_arg;
p_tmr->NextPtr = (OS_TMR *)0;
p_tmr->PrevPtr = (OS_TMR *)0;
#if OS_CFG_DBG_EN > 0u
OS_TmrDbgListAdd(p_tmr);
#endif
OSTmrQty++; /* Keep track of the number of timers created */
OS_CRITICAL_EXIT_NO_SCHED();
*p_err = OS_ERR_NONE;
}
static CPU_TS OS_TickListUpdateTimeout (void)
{
OS_TCB *p_tcb;
OS_TICK_LIST *p_list;
CPU_TS ts_start;
CPU_TS ts_delta_timeout;
#if OS_CFG_DBG_EN > 0u
OS_OBJ_QTY nbr_updated;
#endif
#if OS_CFG_MUTEX_EN > 0u
OS_TCB *p_tcb_owner;
OS_PRIO prio_new;
#endif
CPU_SR_ALLOC();
OS_CRITICAL_ENTER(); /* ======= UPDATE TASKS WAITING WITH TIMEOUT ======= */
ts_start = OS_TS_GET();
#if OS_CFG_DBG_EN > 0u
nbr_updated = (OS_OBJ_QTY)0u;
#endif
p_list = &OSTickListTimeout;
p_tcb = p_list->TCB_Ptr;
if (p_tcb != (OS_TCB *)0) {
p_tcb->TickRemain--;
while (p_tcb->TickRemain == 0u) {
#if OS_CFG_DBG_EN > 0u
nbr_updated++;
#endif
#if OS_CFG_MUTEX_EN > 0u
p_tcb_owner = (OS_TCB *)0;
if (p_tcb->PendOn == OS_TASK_PEND_ON_MUTEX) {
p_tcb_owner = ((OS_MUTEX *)p_tcb->PendDataTblPtr->PendObjPtr)->OwnerTCBPtr;
}
#endif
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = (OS_MSG_SIZE)0u;
#endif
p_tcb->TS = OS_TS_GET();
OS_PendListRemove(p_tcb); /* Remove from wait list */
if (p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT) {
OS_RdyListInsert(p_tcb); /* Insert the task in the ready list */
p_tcb->TaskState = OS_TASK_STATE_RDY;
} else if (p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED) {
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
}
p_tcb->PendStatus = OS_STATUS_PEND_TIMEOUT; /* Indicate pend timed out */
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING; /* Indicate no longer pending */
#if OS_CFG_MUTEX_EN > 0u
if(p_tcb_owner != (OS_TCB *)0) {
if ((p_tcb_owner->Prio != p_tcb_owner->BasePrio) &&
(p_tcb_owner->Prio == p_tcb->Prio)) { /* Has the owner inherited a priority? */
prio_new = OS_MutexGrpPrioFindHighest(p_tcb_owner);
prio_new = prio_new > p_tcb_owner->BasePrio ? p_tcb_owner->BasePrio : prio_new;
if(prio_new != p_tcb_owner->Prio) {
OS_TaskChangePrio(p_tcb_owner, prio_new);
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, p_tcb_owner->Prio)
#endif
}
}
}
void OSQCreate (OS_Q *p_q,
CPU_CHAR *p_name,
OS_MSG_QTY max_qty,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == DEF_TRUE) {
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to be called from an ISR */
*p_err = OS_ERR_CREATE_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_q == (OS_Q *)0) { /* Validate arguments */
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
if (max_qty == (OS_MSG_QTY)0) { /* Cannot specify a zero size queue */
*p_err = OS_ERR_Q_SIZE;
return;
}
#endif
OS_CRITICAL_ENTER();
#if OS_OBJ_TYPE_REQ > 0u
p_q->Type = OS_OBJ_TYPE_Q; /* Mark the data structure as a message queue */
#endif
#if OS_CFG_DBG_EN > 0u
p_q->NamePtr = p_name;
#else
(void)&p_name;
#endif
OS_MsgQInit(&p_q->MsgQ, /* Initialize the queue */
max_qty);
OS_PendListInit(&p_q->PendList); /* Initialize the waiting list */
#if OS_CFG_DBG_EN > 0u
OS_QDbgListAdd(p_q);
#endif
OSQQty++; /* One more queue created */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_Q_CREATE(p_q, p_name); /* Record the event. */
#endif
OS_CRITICAL_EXIT_NO_SCHED();
*p_err = OS_ERR_NONE;
}
OS_OBJ_QTY OSMutexDel (OS_MUTEX *p_mutex,
OS_OPT opt,
OS_ERR *p_err)
{
OS_OBJ_QTY cnt;
OS_OBJ_QTY nbr_tasks;
OS_PEND_DATA *p_pend_data;
OS_PEND_LIST *p_pend_list;
OS_TCB *p_tcb;
OS_TCB *p_tcb_owner;
CPU_TS ts;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return ((OS_OBJ_QTY)0);
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to delete a mutex from an ISR */
*p_err = OS_ERR_DEL_ISR;
return ((OS_OBJ_QTY)0);
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_mutex == (OS_MUTEX *)0) { /* Validate 'p_mutex' */
*p_err = OS_ERR_OBJ_PTR_NULL;
return ((OS_OBJ_QTY)0);
}
switch (opt) { /* Validate 'opt' */
case OS_OPT_DEL_NO_PEND:
case OS_OPT_DEL_ALWAYS:
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return ((OS_OBJ_QTY)0);
}
#endif
#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
if (p_mutex->Type != OS_OBJ_TYPE_MUTEX) { /* Make sure mutex was created */
*p_err = OS_ERR_OBJ_TYPE;
return ((OS_OBJ_QTY)0);
}
#endif
OS_CRITICAL_ENTER();
p_pend_list = &p_mutex->PendList;
cnt = p_pend_list->NbrEntries;
nbr_tasks = cnt;
switch (opt) {
case OS_OPT_DEL_NO_PEND: /* Delete mutex only if no task waiting */
if (nbr_tasks == (OS_OBJ_QTY)0) {
#if OS_CFG_DBG_EN > 0u
OS_MutexDbgListRemove(p_mutex);
#endif
OSMutexQty--;
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_DEL(p_mutex); /* Record the event. */
#endif
OS_MutexClr(p_mutex);
OS_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
} else {
OS_CRITICAL_EXIT();
*p_err = OS_ERR_TASK_WAITING;
}
break;
case OS_OPT_DEL_ALWAYS: /* Always delete the mutex */
p_tcb_owner = p_mutex->OwnerTCBPtr; /* Did we had to change the prio of owner? */
if ((p_tcb_owner != (OS_TCB *)0) &&
(p_tcb_owner->Prio != p_mutex->OwnerOriginalPrio)) {
switch (p_tcb_owner->TaskState) { /* yes */
case OS_TASK_STATE_RDY:
OS_RdyListRemove(p_tcb_owner);
p_tcb_owner->Prio = p_mutex->OwnerOriginalPrio; /* Lower owner's prio back */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, p_tcb_owner->Prio)
#endif
OS_PrioInsert(p_tcb_owner->Prio);
OS_RdyListInsertTail(p_tcb_owner); /* Insert owner in ready list at new prio */
break;
case OS_TASK_STATE_DLY:
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_DLY_SUSPENDED:
p_tcb_owner->Prio = p_mutex->OwnerOriginalPrio; /* Not in any pend list, change the prio */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, p_tcb_owner->Prio)
#endif
break;
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
OS_PendListChangePrio(p_tcb_owner, /* Owner is pending on another object */
p_mutex->OwnerOriginalPrio);
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, p_tcb_owner->Prio)
#endif
break;
default:
OS_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
return ((OS_OBJ_QTY)0);
}
}
ts = OS_TS_GET(); /* Get timestamp */
while (cnt > 0u) { /* Remove all tasks from the pend list */
p_pend_data = p_pend_list->HeadPtr;
p_tcb = p_pend_data->TCBPtr;
OS_PendObjDel((OS_PEND_OBJ *)((void *)p_mutex),
p_tcb,
ts);
cnt--;
}
#if OS_CFG_DBG_EN > 0u
OS_MutexDbgListRemove(p_mutex);
#endif
OSMutexQty--;
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_DEL(p_mutex); /* Record the event. */
#endif
OS_MutexClr(p_mutex);
OS_CRITICAL_EXIT_NO_SCHED();
OSSched(); /* Find highest priority task ready to run */
*p_err = OS_ERR_NONE;
break;
default:
OS_CRITICAL_EXIT();
*p_err = OS_ERR_OPT_INVALID;
break;
}
return (nbr_tasks);
}
