void OS_Sched (void)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr;
#endif
INT8U y;
OS_ENTER_CRITICAL();
//为实现任务切换，OSTCBHighRdy必须指向优先级最高的那个任务控制块OS_TCB，这是通过将
if ((OSIntNesting == 0) && (OSLockNesting == 0)) { /* Sched. only if all ISRs done & not locked */
//如果函数不是在中断服务子程序中调用的，且调度允许的，则任务调度函数将找出进入就绪态的
//最高优先级任务，进入就绪态的任务在就绪表中OSRdyTbl[ ]中相应位置位.
y = OSUnMapTbl[OSRdyGrp]; /* Get pointer to HPT ready to run */
OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]);
//找到最高优先级任务后，函数检查这个优先级最高的任务是否是当前正在运行的任务，以避免不
//必要的任务调度，多花时间
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
//为实现任务切换，OSTCBHighRdy必须指向优先级最高的那个任务控制块OS_TCB，这是通过将
//以OSPrioHighRdy为下标的OSTCBPrioTbl[]数组中的那个元素赋给OSTCBHighRdy来实现的
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
OSCtxSwCtr++; //统计计数器OSCtxSwCtr加1，以跟踪任务切换次数
OS_TASK_SW(); //最后宏调用OS_TASK_SW()来完成实际上的任务切换
}
}
OS_EXIT_CRITICAL();
}
void OS_STOP()
{
OS_ENTER_CRITICAL();
++OSTerminateTickW32;
++OSTerminateCtxSwW32;
OS_TASK_SW();
OS_EXIT_CRITICAL();
Sleep(1000/OS_TICKS_PER_SEC);
}
/*$PAGE*/
void *OSMboxPend (INT8U pevent, INT16U timeout, INT8U *perr) // SW/HW RTOS
{
void *pmsg;
Xuint64 Reg64Value_o;
Xuint64 Reg64Value_i, Reg64Value_i5;
Reg64Value_o.Lower = 0;
Reg64Value_o.Upper = 0;
Reg64Value_i.Lower = 0;
Reg64Value_i.Upper = 0;
Reg64Value_i5.Lower = 0;
Reg64Value_i5.Upper = 0;
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0;
#endif
#if OS_ARG_CHK_EN > 0
if (perr == (INT8U *)0) { /* Validate 'perr' */
return ((void *)0);
}
if (pevent == 0) { /* Validate 'pevent' */
*perr = OS_ERR_PEVENT_NULL;
return ((void *)0);
}
#endif
if (OSIntNesting > 0) { /* See if called from ISR ... */
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return ((void *)0);
}
if (OSLockNesting > 0) { /* See if called with scheduler locked ... */
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return ((void *)0);
}
Reg64Value_o.Lower |= timeout;
Reg64Value_o.Lower = (Reg64Value_o.Lower << 8) | pevent;
Reg64Value_o.Lower = (Reg64Value_o.Lower << 8) | HWRTOS_MBOX_PEND;
OS_ENTER_CRITICAL();
HWRTOS_WriteSlaveReg0(hwrtos_addrp, &Reg64Value_o);
HWRTOS_ReadSlaveReg4(hwrtos_addrp, &Reg64Value_i);
//OS_EXIT_CRITICAL();
if ((Reg64Value_i.Lower & 0x00010000) == 0x00010000) {
//OS_ENTER_CRITICAL();
OSCurPrioStkPtr = &OSStkPtr[(Reg64Value_i.Lower & 0xFF000000) >> 24];
OSHiPrioStkPtr = &OSStkPtr[(Reg64Value_i.Upper & 0x000000FF)];
OS_TASK_SW();
OS_EXIT_CRITICAL(); //return from function will enable interrupt
}
////////////////////////////////////////////////////////////
// Function name: Schedule
// Description: Schedule a task queue to run
// Parameter: none
// Return value: Whether the operation succeeded
// Function calls: none
//
////////////////////////////////////////////////////////////
StatusType Schedule(void)
{
//static sint8_least tmpMaxTask = 1;
TCB_Type *tmpTCB;
#ifdef _OS1_DEBUG_
for(tmpIndex = 0; tmpIndex < OS_MAX_RESOURCE; tmpIndex++)
{
if(Os_Res_Owner[tmpIndex] == Os_TCBCurr->taskID)
{
//Resource not released
return E_OS_RESOURCE;
}
}
if(InterruptState == TRUE)
{
//Call in interrupt
return E_OS_CALLEVEL;
}
#endif
//没有合适的则运行优先级最低的任务
Os_TCBReady = &Os_TCB[0];
for(tmpTCB=&Os_TCB[OS_MAX_TASK]; tmpTCB->taskID>0; tmpTCB--)
{
if(tmpTCB->state == READY)
{
tmpTCB->state = RUNNING;
//Os_TCBCurr = &Os_TCB[tmpIndex];
Os_TCBReady = tmpTCB;
break;
}
}
//当前任务正在进行,触发软中断进行任务切换
if(Os_TCBCurr->state == RUNNING)
{
Os_TCBCurr->state = READY;
Os_TCBCurr=Os_TCBReady;
Os_TCBReady->state = RUNNING;
SuspendAllInterrupts();
OS_TASK_SW();
ResumeAllInterrupts();
}
return E_OK;
}
void OS_Sched (void)
{
OS_CPU_SR cpu_sr = 0u;
OS_ENTER_CRITICAL();
if (OSIntNesting == 0u) { /* Schedule only if all ISRs done and ... */
if (OSLockNesting == 0u) { /* ... scheduler is not locked */
OS_SchedNew();
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
OSCtxSwCtr++; /* Increment context switch counter */
OS_TASK_SW(); /* Perform a context switch */
}
}
}
OS_EXIT_CRITICAL();
}
void OS_Sched (void)
{
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr;
#endif
INT8U y;
OS_ENTER_CRITICAL();
if ((OSIntNesting == 0) && (OSLockNesting == 0)) { /* Sched. only if all ISRs done & not locked */
y = OSUnMapTbl[OSRdyGrp]; /* Get pointer to HPT ready to run */
OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]);
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
OSCtxSwCtr++; /* Increment context switch counter */
OS_TASK_SW(); /* Perform a context switch */
}
}
OS_EXIT_CRITICAL();
}
