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(); }