void OSSemPend (OS_EVENT *pevent,
INT32U timeout,
INT8U *perr)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */
*perr = OS_ERR_PEVENT_NULL;
return;
}
#endif
if (pevent->OSEventType != OS_EVENT_TYPE_SEM) { /* Validate event block type */
*perr = OS_ERR_EVENT_TYPE;
return;
}
if (OSIntNesting > 0u) { /* See if called from ISR ... */
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return;
}
if (OSLockNesting > 0u) { /* See if called with scheduler locked ... */
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return;
}
OS_ENTER_CRITICAL();
if (pevent->OSEventCnt > 0u) { /* If sem. is positive, resource available ... */
pevent->OSEventCnt--; /* ... decrement semaphore only if positive. */
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return;
}
/* Otherwise, must wait until event occurs */
OSTCBCur->OSTCBStat |= OS_STAT_SEM; /* Resource not available, pend on semaphore */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
OSTCBCur->OSTCBDly = timeout; /* Store pend timeout in TCB */
OS_EventTaskWait(pevent); /* Suspend task until event or timeout occurs */
OS_EXIT_CRITICAL();
OS_Sched(); /* Find next highest priority task ready */
OS_ENTER_CRITICAL();
switch (OSTCBCur->OSTCBStatPend) { /* See if we timed-out or aborted */
case OS_STAT_PEND_OK:
*perr = OS_ERR_NONE;
break;
case OS_STAT_PEND_ABORT:
*perr = OS_ERR_PEND_ABORT; /* Indicate that we aborted */
break;
case OS_STAT_PEND_TO:
default:
OS_EventTaskRemove(OSTCBCur, pevent);
*perr = OS_ERR_TIMEOUT; /* Indicate that we didn't get event within TO */
break;
}
OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set task status to ready */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* Clear event pointers */
#if (OS_EVENT_MULTI_EN > 0u)
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
#endif
OS_EXIT_CRITICAL();
}
void *OSQPend (OS_EVENT *pevent,
INT32U timeout,
INT8U *perr)
{
void *pmsg;
OS_Q *pq;
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return ((void *)0);
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pevent == (OS_EVENT *)0) /* Validate 'pevent' */
{
*perr = OS_ERR_PEVENT_NULL;
return ((void *)0);
}
#endif
if (pevent->OSEventType != OS_EVENT_TYPE_Q) /* Validate event block type */
{
*perr = OS_ERR_EVENT_TYPE;
return ((void *)0);
}
if (OSIntNesting > 0u) /* See if called from ISR ... */
{
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return ((void *)0);
}
if (OSLockNesting > 0u) /* See if called with scheduler locked ... */
{
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return ((void *)0);
}
OS_ENTER_CRITICAL();
pq = (OS_Q *)pevent->OSEventPtr; /* Point at queue control block */
if (pq->OSQEntries > 0u) /* See if any messages in the queue */
{
pmsg = *pq->OSQOut++; /* Yes, extract oldest message from the queue */
pq->OSQEntries--; /* Update the number of entries in the queue */
if (pq->OSQOut == pq->OSQEnd) /* Wrap OUT pointer if we are at the end of the queue */
{
pq->OSQOut = pq->OSQStart;
}
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return (pmsg); /* Return message received */
}
OSTCBCur->OSTCBStat |= OS_STAT_Q; /* Task will have to pend for a message to be posted */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
OSTCBCur->OSTCBDly = timeout; /* Load timeout into TCB */
OS_EventTaskWait(pevent); /* Suspend task until event or timeout occurs */
OS_EXIT_CRITICAL();
OS_Sched(); /* Find next highest priority task ready to run */
OS_ENTER_CRITICAL();
switch (OSTCBCur->OSTCBStatPend) /* See if we timed-out or aborted */
{
case OS_STAT_PEND_OK: /* Extract message from TCB (Put there by QPost) */
pmsg = OSTCBCur->OSTCBMsg;
*perr = OS_ERR_NONE;
break;
case OS_STAT_PEND_ABORT:
pmsg = (void *)0;
*perr = OS_ERR_PEND_ABORT; /* Indicate that we aborted */
break;
case OS_STAT_PEND_TO:
default:
OS_EventTaskRemove(OSTCBCur, pevent);
pmsg = (void *)0;
*perr = OS_ERR_TIMEOUT; /* Indicate that we didn't get event within TO */
break;
}
OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set task status to ready */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* Clear event pointers */
#if (OS_EVENT_MULTI_EN > 0u)
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
#endif
OSTCBCur->OSTCBMsg = (void *)0; /* Clear received message */
OS_EXIT_CRITICAL();
return (pmsg); /* Return received message */
}
/*$PAGE*/
void *OSMboxPend (OS_EVENT *pevent,
INT32U timeout,
INT8U *perr)
{
void *pmsg;
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pevent == (OS_EVENT *)0) { /*事件控制块指针是否有效 */
*perr = OS_ERR_PEVENT_NULL;
return ((void *)0);
}
#endif
if (pevent->OSEventType != OS_EVENT_TYPE_MBOX) { /* 事件控制块类型是否有效 */
*perr = OS_ERR_EVENT_TYPE;
return ((void *)0);
}
if (OSIntNesting > 0u) { /* 查看是否在中断服务程序ISR中调用本函数 */
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return ((void *)0);
}
if (OSLockNesting > 0u) { /* See if called with scheduler locked ... */
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return ((void *)0);
}
OS_ENTER_CRITICAL();
pmsg = pevent->OSEventPtr;
if (pmsg != (void *)0) { /* See if there is already a message */
pevent->OSEventPtr = (void *)0; /* 清邮箱 */
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return (pmsg); /* 返回获得的消息（或空指针） */
}
OSTCBCur->OSTCBStat |= OS_STAT_MBOX; /* Message not available, task will pend */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
OSTCBCur->OSTCBDly = timeout; /* Load timeout in TCB */
OS_EventTaskWait(pevent); /* Suspend task until event or timeout occurs */
OS_EXIT_CRITICAL();
OS_Sched(); /* Find next highest priority task ready to run */
OS_ENTER_CRITICAL();
switch (OSTCBCur->OSTCBStatPend) { /* See if we timed-out or aborted */
case OS_STAT_PEND_OK:
pmsg = OSTCBCur->OSTCBMsg;
*perr = OS_ERR_NONE;
break;
case OS_STAT_PEND_ABORT:
pmsg = (void *)0;
*perr = OS_ERR_PEND_ABORT; /* Indicate that we aborted */
break;
case OS_STAT_PEND_TO:
default:
OS_EventTaskRemove(OSTCBCur, pevent);
pmsg = (void *)0;
*perr = OS_ERR_TIMEOUT; /* Indicate that we didn't get event within TO */
break;
}
OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set task status to ready */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* Clear event pointers */
#if (OS_EVENT_MULTI_EN > 0u)
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
#endif
OSTCBCur->OSTCBMsg = (void *)0; /* 清除获得的消息 */
OS_EXIT_CRITICAL();
return (pmsg); /* 返回获得的消息 */
}
// CODE_SECTION(OSTaskDel,".UserProgramCode")
INT8U OSTaskDel( INT8U prio )
{
#if (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
OS_FLAG_NODE *pnode;
#endif
OS_TCB *ptcb;
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0;
#endif
if ( OSIntNesting > 0 ) /* See if trying to delete from ISR */
{
return ( OS_ERR_TASK_DEL_ISR );
}
if ( prio == OS_TASK_IDLE_PRIO ) /* Not allowed to delete idle task */
{
return ( OS_ERR_TASK_DEL_IDLE );
}
#if OS_ARG_CHK_EN > 0
if ( prio >= OS_LOWEST_PRIO ) /* Task priority valid ? */
{
if ( prio != OS_PRIO_SELF )
{
return ( OS_ERR_PRIO_INVALID );
}
}
#endif
/*$PAGE*/
OS_ENTER_CRITICAL();
if ( prio == OS_PRIO_SELF ) /* See if requesting to delete self */
{
prio = OSTCBCur->OSTCBPrio; /* Set priority to delete to current */
}
ptcb = OSTCBPrioTbl[prio];
if ( ptcb == ( OS_TCB * )0 ) /* Task to delete must exist */
{
OS_EXIT_CRITICAL();
return ( OS_ERR_TASK_NOT_EXIST );
}
if ( ptcb == OS_TCB_RESERVED ) /* Must not be assigned to Mutex */
{
OS_EXIT_CRITICAL();
return ( OS_ERR_TASK_DEL );
}
OSRdyTbl[ptcb->OSTCBY] &= ~ptcb->OSTCBBitX;
if ( OSRdyTbl[ptcb->OSTCBY] == 0 ) /* Make task not ready */
{
OSRdyGrp &= ~ptcb->OSTCBBitY;
}
#if (OS_EVENT_EN)
if ( ptcb->OSTCBEventPtr != ( OS_EVENT * )0 )
{
OS_EventTaskRemove( ptcb, ptcb->OSTCBEventPtr ); /* Remove this task from any event wait list */
}
#if (OS_EVENT_MULTI_EN > 0)
if ( ptcb->OSTCBEventMultiPtr != ( OS_EVENT ** )0 ) /* Remove this task from any events' wait lists*/
{
OS_EventTaskRemoveMulti( ptcb, ptcb->OSTCBEventMultiPtr );
}
#endif
#endif
#if (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
pnode = ptcb->OSTCBFlagNode;
if ( pnode != ( OS_FLAG_NODE * )0 ) /* If task is waiting on event flag */
{
OS_FlagUnlink( pnode ); /* Remove from wait list */
}
#endif
ptcb->OSTCBDly = 0; /* Prevent OSTimeTick() from updating */
ptcb->OSTCBStat = OS_STAT_RDY; /* Prevent task from being resumed */
ptcb->OSTCBStatPend = OS_STAT_PEND_OK;
if ( OSLockNesting < 255u ) /* Make sure we don't context switch */
{
OSLockNesting++;
}
OS_EXIT_CRITICAL(); /* Enabling INT. ignores next instruc. */
OS_Dummy(); /* ... Dummy ensures that INTs will be */
OS_ENTER_CRITICAL(); /* ... disabled HERE! */
if ( OSLockNesting > 0 ) /* Remove context switch lock */
{
OSLockNesting--;
}
OSTaskDelHook( ptcb ); /* Call user defined hook */
OSTaskCtr--; /* One less task being managed */
OSTCBPrioTbl[prio] = ( OS_TCB * )0; /* Clear old priority entry */
if ( ptcb->OSTCBPrev == ( OS_TCB * )0 ) /* Remove from TCB chain */
{
ptcb->OSTCBNext->OSTCBPrev = ( OS_TCB * )0;
OSTCBList = ptcb->OSTCBNext;
}
else
{
ptcb->OSTCBPrev->OSTCBNext = ptcb->OSTCBNext;
ptcb->OSTCBNext->OSTCBPrev = ptcb->OSTCBPrev;
}
ptcb->OSTCBNext = OSTCBFreeList; /* Return TCB to free TCB list */
OSTCBFreeList = ptcb;
#if OS_TASK_NAME_SIZE > 1
ptcb->OSTCBTaskName[0] = '?'; /* Unknown name */
ptcb->OSTCBTaskName[1] = OS_ASCII_NUL;
#endif
OS_EXIT_CRITICAL();
if ( OSRunning == OS_TRUE )
{
OS_Sched(); /* Find new highest priority task */
}
return ( OS_ERR_NONE );
}
/*$PAGE*/
void OSSemPend (OS_EVENT *pevent,
INT32U timeout,
INT8U *perr)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pevent == (OS_EVENT *)0) { /* Validate 'pevent' */
*perr = OS_ERR_PEVENT_NULL;
return;
}
#endif
if (pevent->OSEventType != OS_EVENT_TYPE_SEM) { /* Validate event block type */
*perr = OS_ERR_EVENT_TYPE;
return;
}
if (OSIntNesting > 0u) { /* See if called from ISR ... */
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return;
}
if (OSLockNesting > 0u) { /* See if called with scheduler locked ... */
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return;
}
OS_ENTER_CRITICAL();
/* 信号量大于0，则信号量减1，返回 */
if (pevent->OSEventCnt > 0u) { /* If sem. is positive, resource available ... */
pevent->OSEventCnt--; /* ... decrement semaphore only if positive. */
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return;
}
/* 信号量为0，则把TCB中的状态设置为等待信号量，并设置请求状态为请求OK */
/* Otherwise, must wait until event occurs */
OSTCBCur->OSTCBStat |= OS_STAT_SEM; /* Resource not available, pend on semaphore */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
/* 把等待时限写入TCB */
OSTCBCur->OSTCBDly = timeout; /* Store pend timeout in TCB */
/* 设置TCB中等待的事件
* 设置事件控制块中等待任务列表
* 取消当前任务的就绪状态
*/
OS_EventTaskWait(pevent); /* Suspend task until event or timeout occurs */
OS_EXIT_CRITICAL();
/* 查找最高优先级的就绪任务，并调度运行 */
OS_Sched(); /* Find next highest priority task ready */
/* 执行OS_Sched()后，已经切换到其他任务。执行这里时，已经是信号量有效或者是等待超时了 */
OS_ENTER_CRITICAL();
/* 根据状态设置函数返回值 */
switch (OSTCBCur->OSTCBStatPend) { /* See if we timed-out or aborted */
case OS_STAT_PEND_OK:
*perr = OS_ERR_NONE;
break;
case OS_STAT_PEND_ABORT:
*perr = OS_ERR_PEND_ABORT; /* Indicate that we aborted */
break;
case OS_STAT_PEND_TO:
default:
/* 清除事件等待列表中的当前任务
* 因为OSSemPost()而退出等待状态的任务，会在OSSemPost()中清除事件等待列表中的该任务对应位
* 因为超时而退出等待状态的任务，对应的事件控制块的事件等待列表中该任务不会被清除，需要在这里清除
*/
OS_EventTaskRemove(OSTCBCur, pevent);
*perr = OS_ERR_TIMEOUT; /* Indicate that we didn't get event within TO */
break;
}
/* 设置当前任务控制块状态 */
OSTCBCur->OSTCBStat = OS_STAT_RDY; /* Set task status to ready */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0; /* Clear event pointers */
#if (OS_EVENT_MULTI_EN > 0u)
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
#endif
OS_EXIT_CRITICAL();
}