//浮点测试任务
void float_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
static float float_num = 0.01;
//uint32_t temp = &float_num;
while(1)
{
float_num+=0.01f;
OS_CRITICAL_ENTER(); //进入临界区
//printf("float_num的值为: %.4f\r\n",float_num);
OS_CRITICAL_EXIT(); //退出临界区
if(float_num > 0.901f && float_num < 0.919f)
{
OSTaskSuspend((OS_TCB*)&Led0TaskTCB,&err);
printf("挂起LED任务\n\r");
}
if(float_num > 1.991f && float_num < 2.001f)
{
OSTaskResume((OS_TCB*)&Led0TaskTCB,&err);
printf("恢复LED任务\n\r");
float_num = 0.0f;
}
OSTimeDlyHMSM(0,0,0,300,OS_OPT_TIME_HMSM_STRICT,&err); //延时300ms
}
}
//主函数
int main(void)
{
OS_ERR err;
CPU_SR_ALLOC();
delay_init(168); //时钟初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组配置
uart_init(115200); //串口初始化
LED_Init(); //LED初始化
LCD_Init(); //LCD初始化
KEY_Init(); //按键初始化
BEEP_Init(); //初始化蜂鸣器
FSMC_SRAM_Init(); //初始化SRAM
my_mem_init(SRAMIN);//初始化内部RAM
ucos_load_main_ui();//加载主UI
OSInit(&err); //初始化UCOSIII
OS_CRITICAL_ENTER(); //进入临界区
//创建开始任务
OSTaskCreate((OS_TCB * )&StartTaskTCB, //任务控制块
(CPU_CHAR * )"start task", //任务名字
(OS_TASK_PTR )start_task, //任务函数
(void * )0, //传递给任务函数的参数
(OS_PRIO )START_TASK_PRIO, //任务优先级
(CPU_STK * )&START_TASK_STK[0], //任务堆栈基地址
(CPU_STK_SIZE)START_STK_SIZE/10, //任务堆栈深度限位
(CPU_STK_SIZE)START_STK_SIZE, //任务堆栈大小
(OS_MSG_QTY )0, //任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
(OS_TICK )0, //当使能时间片轮转时的时间片长度，为0时为默认长度，
(void * )0, //用户补充的存储区
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
(OS_ERR * )&err); //存放该函数错误时的返回值
OS_CRITICAL_EXIT(); //退出临界区
OSStart(&err); //开启UCOSIII
}
/*********************************************************************
*
* PngGetData
*
* Function description
* This routine is called by GUI_PNG_DrawEx(). The routine is responsible
* for setting the data pointer to a valid data location with at least
* one valid byte.
*
* Parameters:
* p - Pointer to application defined data.
* NumBytesReq - Number of bytes requested.
* ppData - Pointer to data pointer. This pointer should be set to
* a valid location.
* StartOfFile - If this flag is 1, the data pointer should be set to the
* beginning of the data stream.
*
* Return value:
* Number of data bytes available.
*/
static int PngGetData(void * p, const U8 ** ppData, unsigned NumBytesReq, U32 Off)
{
static int readaddress=0;
FIL * phFile;
U8 *pData;
UINT NumBytesRead;
#if SYSTEM_SUPPORT_OS
CPU_SR_ALLOC();
#endif
pData = (U8*)*ppData;
phFile = (FIL *)p;
//移动指针到应该读取的位置
if(Off == 1) readaddress = 0;
else readaddress=Off;
#if SYSTEM_SUPPORT_OS
OS_CRITICAL_ENTER(); //临界区
#endif
f_lseek(phFile,readaddress);
//读取数据到缓冲区中
f_read(phFile,pData,NumBytesReq,&NumBytesRead);
#if SYSTEM_SUPPORT_OS
OS_CRITICAL_EXIT();//退出临界区
#endif
return NumBytesRead;//返回读取到的字节数
}
void OS_TickTask (void *p_arg)
{
OS_ERR err;
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 *)0,
(OS_ERR *)&err); /* Wait for signal from tick interrupt */
if (err == OS_ERR_NONE) {
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;
}
}
}
}
//led0任务函数
void led0_task(void *p_arg)
{
OS_ERR err;
u8 test[20];
u8 times = 0;
CPU_SR_ALLOC();
u8 temp;
p_arg = p_arg;
while(1)
{
OS_CRITICAL_ENTER();
temp = FloatTaskTCB.MsgQ.NbrEntriesSize - FloatTaskTCB.MsgQ.NbrEntries;
printf("que remain %d.\r\n",temp);
OS_CRITICAL_EXIT();
sprintf((char *)test,"led_send_que %d",times++);
printf("led0 task send que.\r\n");
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )test,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
void OS_QPost (OS_Q *p_q,
void *p_void,
OS_MSG_SIZE msg_size,
OS_OPT opt,
CPU_TS ts,
OS_ERR *p_err)
{
OS_OBJ_QTY cnt;
OS_OPT post_type;
OS_PEND_LIST *p_pend_list;
OS_PEND_DATA *p_pend_data;
OS_PEND_DATA *p_pend_data_next;
OS_TCB *p_tcb;
CPU_SR_ALLOC();
OS_CRITICAL_ENTER();
p_pend_list = &p_q->PendList;
if (p_pend_list->NbrEntries == (OS_OBJ_QTY)0) { /* Any task waiting on message queue? */
if ((opt & OS_OPT_POST_LIFO) == (OS_OPT)0) { /* Determine whether we post FIFO or LIFO */
post_type = OS_OPT_POST_FIFO;
} else {
post_type = OS_OPT_POST_LIFO;
}
OS_MsgQPut(&p_q->MsgQ, /* Place message in the message queue */
p_void,
msg_size,
post_type,
ts,
p_err);
OS_CRITICAL_EXIT();
return;
}
if ((opt & OS_OPT_POST_ALL) != (OS_OPT)0) { /* Post message to all tasks waiting? */
cnt = p_pend_list->NbrEntries; /* Yes */
} else {
cnt = (OS_OBJ_QTY)1; /* No */
}
p_pend_data = p_pend_list->HeadPtr;
while (cnt > 0u) {
p_tcb = p_pend_data->TCBPtr;
p_pend_data_next = p_pend_data->NextPtr;
OS_Post((OS_PEND_OBJ *)((void *)p_q),
p_tcb,
p_void,
msg_size,
ts);
p_pend_data = p_pend_data_next;
cnt--;
}
OS_CRITICAL_EXIT_NO_SCHED();
if ((opt & OS_OPT_POST_NO_SCHED) == (OS_OPT)0) {
OSSched(); /* Run the scheduler */
}
*p_err = OS_ERR_NONE;
}
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();
p_q->Type = OS_OBJ_TYPE_Q; /* Mark the data structure as a message queue */
p_q->NamePtr = p_name;
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 */
OS_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
}
static CPU_TS OS_TickListUpdateDly (void)
{
OS_TCB *p_tcb;
OS_TICK_LIST *p_list;
CPU_TS ts_start;
CPU_TS ts_delta_dly;
#if OS_CFG_DBG_EN > 0u
OS_OBJ_QTY nbr_updated;
#endif
CPU_SR_ALLOC();
OS_CRITICAL_ENTER();
ts_start = OS_TS_GET();
#if OS_CFG_DBG_EN > 0u
nbr_updated = (OS_OBJ_QTY)0u;
#endif
p_list = &OSTickListDly;
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++; /* Keep track of the number of TCBs updated */
#endif
if (p_tcb->TaskState == OS_TASK_STATE_DLY) {
p_tcb->TaskState = OS_TASK_STATE_RDY;
OS_RdyListInsert(p_tcb); /* Insert the task in the ready list */
} else if (p_tcb->TaskState == OS_TASK_STATE_DLY_SUSPENDED) {
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
}
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_dly = OS_TS_GET() - ts_start; /* Measure execution time of the update */
OS_CRITICAL_EXIT();
return (ts_delta_dly);
}
void bus_send_string(char *buf)
{
u16 i;
CPU_SR_ALLOC();
OS_CRITICAL_ENTER_CPU_CRITICAL_EXIT();
for (i = 0; buf[i] != '\0'; i++)
bus_send(&buf[i], 1);
OS_CRITICAL_EXIT();
}
//查询DATA_Msg消息队列中的总队列数量和剩余队列数量
void check_msg_queue(u8 *p)
{
CPU_SR_ALLOC();
u8 msgq_remain_size; //消息队列剩余大小
OS_CRITICAL_ENTER(); //进入临界段
msgq_remain_size =Msgdis_TaskTCB.MsgQ.NbrEntriesSize-Msgdis_TaskTCB.MsgQ.NbrEntries;
p = mymalloc(SRAMIN,20); //申请内存
sprintf((char*)p,"Total Size:%d",Msgdis_TaskTCB.MsgQ.NbrEntriesSize); //显示DATA_Msg消息队列总的大小
LCD_ShowString(40,190,100,16,16,p);
sprintf((char*)p,"Remain Size:%d",msgq_remain_size); //显示DATA_Msg剩余大小
LCD_ShowString(40,230,100,16,16,p);
myfree(SRAMIN,p); //释放内存
OS_CRITICAL_EXIT(); //退出临界段
}
/*-------------------- B f r A d d B y t e ( ) -------------------------------------
Purpose: Add a byte to a buffer at position “in” and increment “in” by 1.
Parameters: buffer address, byte to be added
Return Value: Success - Byte that has been added, unless buffer is full
Failure - Buffer is full, return -1
*/
CPU_INT16S BfrAddByte(CircBfr *bfr, CPU_INT16S theByte){
CPU_SR_ALLOC(); //CPU_INT32U sr = 0; Necessary to disable/enable interrupts in uC/OSIII
if (BfrFull(bfr))
return -1;
*(bfr->bfr+bfr->in) = theByte;
bfr->in = (bfr->in + 1) % bfr->size;
//Disable interrupts to avoid data hazards
OS_CRITICAL_ENTER();
bfr->numBytes++;
OS_CRITICAL_EXIT();
return theByte;
}
FS_PRIVATE void fs_inode_WaitOn(FS_INODE_EXT* pstInode_in)
{
CPU_SR_ALLOC();
if (0 == pstInode_in) {
CPUExt_CorePanic("[fs_inode_WaitOn][invalid parameter]");
}
OS_CRITICAL_ENTER();
while (pstInode_in->i_lock) {
drv_lock_SleepOn(&(pstInode_in->i_wait));
}
OS_CRITICAL_EXIT();
}
/*-------------------- B f r R e m B y t e ( ) -------------------------------------
Purpose: Return the byte from position “out” and increment “out” by 1
Parameters: buffer address
Return Value: Success - Returns the byte from position 'out' unless empty
Failure - If empty return -1
*/
CPU_INT16S BfrRemByte(CircBfr *bfr){
CPU_SR_ALLOC(); //CPU_INT32U sr = 0; Necessary to disable/enable interrupts in uC/OSIII
if (BfrEmpty(bfr))
return -1;
CPU_INT16S tempByte = *(bfr->bfr+(bfr->out));
bfr->out = (bfr->out + 1) % bfr->size;
//Disable interrupts to avoid data hazards
OS_CRITICAL_ENTER();
bfr->numBytes--;
OS_CRITICAL_EXIT();
return tempByte;
}
//led0任务函数
void led0_task(void *p_arg)
{
OS_ERR err;
u8 test[20];
u8 test1[20] = "abcde";
u8 test2[20] = "12345";
u8 test3[20] = "45678";
u8 times = 0;
CPU_SR_ALLOC();
u8 temp;
p_arg = p_arg;
while(1)
{
OS_CRITICAL_ENTER();
temp = FloatTaskTCB.MsgQ.NbrEntriesSize - FloatTaskTCB.MsgQ.NbrEntries;
printf("que remain %d.\r\n",temp);
OS_CRITICAL_EXIT();
sprintf((char *)test,"led_send_que %d",times++);
printf("led0 task send que.\r\n");
//消息队列传送的是地址 且不会进行数据拷贝
//同一地址传输速度比处理任务快 会导致数据被覆盖 造成数据丢失
//消息队列传送的是需要读取某个地址的次数
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )test,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test1,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test2,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTaskQPost((OS_TCB* )&FloatTaskTCB, //向任务Msgdis发送消息
(void* )&test3,
(OS_MSG_SIZE)20,
(OS_OPT )OS_OPT_POST_FIFO,
(OS_ERR* )&err);
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
}
}
//主函数
int main(void)
{
OS_ERR err;
CPU_SR_ALLOC();
delay_init(168); //时钟初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组配置
uart_init(115200); //串口初始化
LED_Init(); //LED初始化
LCD_Init(); //LCD初始化
KEY_Init(); //按键初始化
FSMC_SRAM_Init(); //初始化SRAM
my_mem_init(SRAMIN);//初始化内部RAM
POINT_COLOR = RED;
LCD_ShowString(30,10,200,16,16,"Explorer STM32F4");
LCD_ShowString(30,30,200,16,16,"UCOSIII Examp 13-1");
LCD_ShowString(30,50,200,16,16,"Pend Multi");
LCD_ShowString(30,70,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(30,90,200,16,16,"2015/5/20");
POINT_COLOR = BLACK;
LCD_DrawRectangle(5,110,234,314);
LCD_DrawLine(5,130,234,130);
POINT_COLOR = RED;
LCD_ShowString(50,111,200,16,16,"ObjRdy_NUM: 0");
POINT_COLOR = BLUE;
OSInit(&err); //初始化UCOSIII
OS_CRITICAL_ENTER(); //进入临界区
//创建开始任务
OSTaskCreate((OS_TCB * )&StartTaskTCB, //任务控制块
(CPU_CHAR * )"start task", //任务名字
(OS_TASK_PTR )start_task, //任务函数
(void * )0, //传递给任务函数的参数
(OS_PRIO )START_TASK_PRIO, //任务优先级
(CPU_STK * )&START_TASK_STK[0], //任务堆栈基地址
(CPU_STK_SIZE)START_STK_SIZE/10, //任务堆栈深度限位
(CPU_STK_SIZE)START_STK_SIZE, //任务堆栈大小
(OS_MSG_QTY )0, //任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
(OS_TICK )0, //当使能时间片轮转时的时间片长度，为0时为默认长度，
(void * )0, //用户补充的存储区
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
(OS_ERR * )&err); //存放该函数错误时的返回值
OS_CRITICAL_EXIT(); //退出临界区
OSStart(&err); //开启UCOSIII
}
//在指定位置显示加载到RAM中的PNG图片(PNG图片不能缩放！)
//PNGFileName:图片在SD卡或者其他存储设备中的路径(需文件系统支持！)
//mode:显示模式
// 0 在指定位置显示，有参数x,y确定显示位置
// 1 在LCD中间显示图片，当选择此模式的时候参数x,y无效。
//x:图片左上角在LCD中的x轴位置(当参数mode为1时，此参数无效)
//y:图片左上角在LCD中的y轴位置(当参数mode为1时，此参数无效)
//返回值:0 显示正常,其他 失败
int displaypng(char *PNGFileName,U8 mode,U32 x,U32 y)
{
U16 bread;
char *pngbuffer;
char result;
int XSize,YSize;
#if SYSTEM_SUPPORT_OS
CPU_SR_ALLOC();
#endif
result = f_open(&PNGFile,(const TCHAR*)PNGFileName,FA_READ); //打开文件
//文件打开错误或者文件大于JPEGMEMORYSIZE
if((result != FR_OK) || (PNGFile.fsize>PNGMEMORYSIZE)) return 1;
pngbuffer=mymalloc(SRAMEX,PNGFile.fsize);
if(pngbuffer == NULL) return 2;
#if SYSTEM_SUPPORT_OS
OS_CRITICAL_ENTER(); //临界区
#endif
result = f_read(&PNGFile,pngbuffer,PNGFile.fsize,(UINT *)&bread); //读取数据
f_close(&PNGFile); //关闭PNGFile文件
if(result != FR_OK) return 3;
#if SYSTEM_SUPPORT_OS
OS_CRITICAL_EXIT(); //退出临界区
#endif
XSize = GUI_PNG_GetXSize(pngbuffer,PNGFile.fsize); //获取PNG图片的X轴大小
YSize = GUI_PNG_GetYSize(pngbuffer,PNGFile.fsize); //获取PNG图片的Y轴大小
switch(mode)
{
case 0: //在指定位置显示图片
GUI_PNG_Draw(pngbuffer,PNGFile.fsize,x,y);//显示PNG图片
break;
case 1: //在LCD中间显示图片
GUI_PNG_Draw(pngbuffer,PNGFile.fsize,(LCD_GetXSize()-XSize)/2-1,(LCD_GetYSize()-YSize)/2-1);
break;
}
myfree(SRAMEX,pngbuffer);
return 0;
}
//浮点测试任务
void float_task(void *p_arg)
{
OS_ERR err;
uint32_t temp = 0;
uint8_t i = 0;
CPU_SR_ALLOC();
while(1)
{
OS_CRITICAL_ENTER(); //进入临界区
printf("float run %d times\r\n",temp++);
OS_CRITICAL_EXIT(); //进入临界区
for( i = 0;i < 5; i++ )
printf("float : 67890 \r\n");
OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err);
}
}
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);
}
/*-------------------- 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
}
void OSMutexPost (OS_MUTEX *p_mutex,
OS_OPT opt,
OS_ERR *p_err)
{
OS_PEND_LIST *p_pend_list;
OS_TCB *p_tcb;
CPU_TS ts;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to call from an ISR */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_POST_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_mutex == (OS_MUTEX *)0) { /* Validate 'p_mutex' */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
switch (opt) { /* Validate 'opt' */
case OS_OPT_POST_NONE:
case OS_OPT_POST_NO_SCHED:
break;
default:
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OPT_INVALID;
return;
}
#endif
#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
if (p_mutex->Type != OS_OBJ_TYPE_MUTEX) { /* Make sure mutex was created */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OBJ_TYPE;
return;
}
#endif
CPU_CRITICAL_ENTER();
if (OSTCBCurPtr != p_mutex->OwnerTCBPtr) { /* Make sure the mutex owner is releasing the mutex */
CPU_CRITICAL_EXIT();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_MUTEX_NOT_OWNER;
return;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_POST(p_mutex); /* Record the event. */
#endif
OS_CRITICAL_ENTER_CPU_EXIT();
ts = OS_TS_GET(); /* Get timestamp */
p_mutex->TS = ts;
p_mutex->OwnerNestingCtr--; /* Decrement owner's nesting counter */
if (p_mutex->OwnerNestingCtr > (OS_NESTING_CTR)0) { /* Are we done with all nestings? */
OS_CRITICAL_EXIT(); /* No */
*p_err = OS_ERR_MUTEX_NESTING;
return;
}
p_pend_list = &p_mutex->PendList;
if (p_pend_list->NbrEntries == (OS_OBJ_QTY)0) { /* Any task waiting on mutex? */
p_mutex->OwnerTCBPtr = (OS_TCB *)0; /* No */
p_mutex->OwnerNestingCtr = (OS_NESTING_CTR)0;
OS_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
return;
}
/* Yes */
if (OSTCBCurPtr->Prio != p_mutex->OwnerOriginalPrio) {
OS_RdyListRemove(OSTCBCurPtr);
OSTCBCurPtr->Prio = p_mutex->OwnerOriginalPrio; /* Lower owner's priority back to its original one */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_DISINHERIT(OSTCBCurPtr, OSTCBCurPtr->Prio);
#endif
OS_PrioInsert(OSTCBCurPtr->Prio);
OS_RdyListInsertTail(OSTCBCurPtr); /* Insert owner in ready list at new priority */
OSPrioCur = OSTCBCurPtr->Prio;
}
/* Get TCB from head of pend list */
p_tcb = p_pend_list->HeadPtr->TCBPtr;
p_mutex->OwnerTCBPtr = p_tcb; /* Give mutex to new owner */
p_mutex->OwnerOriginalPrio = p_tcb->Prio;
p_mutex->OwnerNestingCtr = (OS_NESTING_CTR)1;
/* Post to mutex */
OS_Post((OS_PEND_OBJ *)((void *)p_mutex),
(OS_TCB *)p_tcb,
(void *)0,
(OS_MSG_SIZE )0,
(CPU_TS )ts);
OS_CRITICAL_EXIT_NO_SCHED();
if ((opt & OS_OPT_POST_NO_SCHED) == (OS_OPT)0) {
OSSched(); /* Run the scheduler */
}
*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
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);
}
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);
}
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();
}
void OSMutexPend (OS_MUTEX *p_mutex,
OS_TICK timeout,
OS_OPT opt,
CPU_TS *p_ts,
OS_ERR *p_err)
{
OS_PEND_DATA pend_data;
OS_TCB *p_tcb;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
if (OSIntNestingCtr > (OS_NESTING_CTR)0) { /* Not allowed to call from an ISR */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_PEND_ISR;
return;
}
#endif
#if OS_CFG_ARG_CHK_EN > 0u
if (p_mutex == (OS_MUTEX *)0) { /* Validate arguments */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OBJ_PTR_NULL;
return;
}
switch (opt) { /* Validate 'opt' */
case OS_OPT_PEND_BLOCKING:
case OS_OPT_PEND_NON_BLOCKING:
break;
default:
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OPT_INVALID;
return;
}
#endif
#if OS_CFG_OBJ_TYPE_CHK_EN > 0u
if (p_mutex->Type != OS_OBJ_TYPE_MUTEX) { /* Make sure mutex was created */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OBJ_TYPE;
return;
}
#endif
if (p_ts != (CPU_TS *)0) {
*p_ts = (CPU_TS )0; /* Initialize the returned timestamp */
}
CPU_CRITICAL_ENTER();
if (p_mutex->OwnerNestingCtr == (OS_NESTING_CTR)0) { /* Resource available? */
p_mutex->OwnerTCBPtr = OSTCBCurPtr; /* Yes, caller may proceed */
p_mutex->OwnerOriginalPrio = OSTCBCurPtr->Prio;
p_mutex->OwnerNestingCtr = (OS_NESTING_CTR)1;
if (p_ts != (CPU_TS *)0) {
*p_ts = p_mutex->TS;
}
CPU_CRITICAL_EXIT();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_NONE;
return;
}
if (OSTCBCurPtr == p_mutex->OwnerTCBPtr) { /* See if current task is already the owner of the mutex */
p_mutex->OwnerNestingCtr++;
if (p_ts != (CPU_TS *)0) {
*p_ts = p_mutex->TS;
}
CPU_CRITICAL_EXIT();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_MUTEX_OWNER; /* Indicate that current task already owns the mutex */
return;
}
if ((opt & OS_OPT_PEND_NON_BLOCKING) != (OS_OPT)0) { /* Caller wants to block if not available? */
CPU_CRITICAL_EXIT();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_PEND_WOULD_BLOCK; /* No */
return;
} else {
if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0) { /* Can't pend when the scheduler is locked */
CPU_CRITICAL_EXIT();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_SCHED_LOCKED;
return;
}
}
/* Lock the scheduler/re-enable interrupts */
OS_CRITICAL_ENTER_CPU_EXIT();
p_tcb = p_mutex->OwnerTCBPtr; /* Point to the TCB of the Mutex owner */
if (p_tcb->Prio > OSTCBCurPtr->Prio) { /* See if mutex owner has a lower priority than current */
switch (p_tcb->TaskState) {
case OS_TASK_STATE_RDY:
OS_RdyListRemove(p_tcb); /* Remove from ready list at current priority */
p_tcb->Prio = OSTCBCurPtr->Prio; /* Raise owner's priority */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_INHERIT(p_tcb, p_tcb->Prio);
#endif
OS_PrioInsert(p_tcb->Prio);
OS_RdyListInsertHead(p_tcb); /* Insert in ready list at new priority */
break;
case OS_TASK_STATE_DLY:
case OS_TASK_STATE_DLY_SUSPENDED:
case OS_TASK_STATE_SUSPENDED:
p_tcb->Prio = OSTCBCurPtr->Prio; /* Only need to raise the owner's priority */
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_INHERIT(p_tcb, p_tcb->Prio);
#endif
break;
case OS_TASK_STATE_PEND: /* Change the position of the task in the wait list */
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
OS_PendListChangePrio(p_tcb,
OSTCBCurPtr->Prio);
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_TASK_PRIO_INHERIT(p_tcb, p_tcb->Prio);
#endif
break;
default:
OS_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
return;
}
}
OS_Pend(&pend_data, /* Block task pending on Mutex */
(OS_PEND_OBJ *)((void *)p_mutex),
OS_TASK_PEND_ON_MUTEX,
timeout);
OS_CRITICAL_EXIT_NO_SCHED();
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_BLOCK(p_mutex); /* Record the event. */
#endif
OSSched(); /* Find the next highest priority task ready to run */
CPU_CRITICAL_ENTER();
switch (OSTCBCurPtr->PendStatus) {
case OS_STATUS_PEND_OK: /* We got the mutex */
if (p_ts != (CPU_TS *)0) {
*p_ts = OSTCBCurPtr->TS;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_NONE;
break;
case OS_STATUS_PEND_ABORT: /* Indicate that we aborted */
if (p_ts != (CPU_TS *)0) {
*p_ts = OSTCBCurPtr->TS;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_PEND_ABORT;
break;
case OS_STATUS_PEND_TIMEOUT: /* Indicate that we didn't get mutex within timeout */
if (p_ts != (CPU_TS *)0) {
*p_ts = (CPU_TS )0;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_TIMEOUT;
break;
case OS_STATUS_PEND_DEL: /* Indicate that object pended on has been deleted */
if (p_ts != (CPU_TS *)0) {
*p_ts = OSTCBCurPtr->TS;
}
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_OBJ_DEL;
break;
default:
#if (defined(TRACE_CFG_EN) && (TRACE_CFG_EN > 0u))
TRACE_OS_MUTEX_PEND_FAILED(p_mutex); /* Record the event. */
#endif
*p_err = OS_ERR_STATUS_INVALID;
break;
}
CPU_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
}
//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
}
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 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 > 0) {
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;
}
}
#endif
p_link = (void **)p_addr; /* Create linked list of free memory blocks */
p_blk = 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();
p_mem->Type = OS_OBJ_TYPE_MEM; /* Set the type of object */
p_mem->NamePtr = p_name; /* Save name of memory partition */
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++;
OS_CRITICAL_EXIT();
*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
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);
}
