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qpc/3rd_party/uCOS-II/Source/os_core.c
Quantum Leaps 7fa7329a2f 5.4.1
2015-05-22 20:36:44 -04:00

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/*
*********************************************************************************************************
* uC/OS-II
* The Real-Time Kernel
* CORE FUNCTIONS
*
* (c) Copyright 1992-2013, Micrium, Weston, FL
* All Rights Reserved
*
* File : OS_CORE.C
* By : Jean J. Labrosse
* Version : V2.92.10
*
* LICENSING TERMS:
* ---------------
* uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research.
* If you plan on using uC/OS-II in a commercial product you need to contact Micrium to properly license
* its use in your product. We provide ALL the source code for your convenience and to help you experience
* uC/OS-II. The fact that the source is provided does NOT mean that you can use it without paying a
* licensing fee.
*********************************************************************************************************
*/
#define MICRIUM_SOURCE
#ifndef OS_MASTER_FILE
#define OS_GLOBALS
#include <ucos_ii.h>
#endif
/*
*********************************************************************************************************
* PRIORITY RESOLUTION TABLE
*
* Note: Index into table is bit pattern to resolve highest priority
* Indexed value corresponds to highest priority bit position (i.e. 0..7)
*********************************************************************************************************
*/
INT8U const OSUnMapTbl[256] = {
0u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x00 to 0x0F */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x10 to 0x1F */
5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x20 to 0x2F */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x30 to 0x3F */
6u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x40 to 0x4F */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x50 to 0x5F */
5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x60 to 0x6F */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x70 to 0x7F */
7u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x80 to 0x8F */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x90 to 0x9F */
5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xA0 to 0xAF */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xB0 to 0xBF */
6u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xC0 to 0xCF */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xD0 to 0xDF */
5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xE0 to 0xEF */
4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u /* 0xF0 to 0xFF */
};
/*$PAGE*/
/*
*********************************************************************************************************
* FUNCTION PROTOTYPES
*********************************************************************************************************
*/
static void OS_InitEventList(void);
static void OS_InitMisc(void);
static void OS_InitRdyList(void);
static void OS_InitTaskIdle(void);
#if OS_TASK_STAT_EN > 0u
static void OS_InitTaskStat(void);
#endif
static void OS_InitTCBList(void);
static void OS_SchedNew(void);
/*$PAGE*/
/*
*********************************************************************************************************
* GET THE NAME OF A SEMAPHORE, MUTEX, MAILBOX or QUEUE
*
* Description: This function is used to obtain the name assigned to a semaphore, mutex, mailbox or queue.
*
* Arguments : pevent is a pointer to the event group. 'pevent' can point either to a semaphore,
* a mutex, a mailbox or a queue. Where this function is concerned, the actual
* type is irrelevant.
*
* pname is a pointer to a pointer to an ASCII string that will receive the name of the semaphore,
* mutex, mailbox or queue.
*
* perr is a pointer to an error code that can contain one of the following values:
*
* OS_ERR_NONE if the name was copied to 'pname'
* OS_ERR_EVENT_TYPE if 'pevent' is not pointing to the proper event
* control block type.
* OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname'
* OS_ERR_PEVENT_NULL if you passed a NULL pointer for 'pevent'
* OS_ERR_NAME_GET_ISR if you are trying to call this function from an ISR
*
* Returns : The length of the string or 0 if the 'pevent' is a NULL pointer.
*********************************************************************************************************
*/
#if (OS_EVENT_EN) && (OS_EVENT_NAME_EN > 0u)
INT8U OSEventNameGet (OS_EVENT *pevent,
INT8U **pname,
INT8U *perr)
{
INT8U len;
#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 (0u);
}
#endif
#if OS_ARG_CHK_EN > 0u
if (pevent == (OS_EVENT *)0) { /* Is 'pevent' a NULL pointer? */
*perr = OS_ERR_PEVENT_NULL;
return (0u);
}
if (pname == (INT8U **)0) { /* Is 'pname' a NULL pointer? */
*perr = OS_ERR_PNAME_NULL;
return (0u);
}
#endif
if (OSIntNesting > 0u) { /* See if trying to call from an ISR */
*perr = OS_ERR_NAME_GET_ISR;
return (0u);
}
switch (pevent->OSEventType) {
case OS_EVENT_TYPE_SEM:
case OS_EVENT_TYPE_MUTEX:
case OS_EVENT_TYPE_MBOX:
case OS_EVENT_TYPE_Q:
break;
default:
*perr = OS_ERR_EVENT_TYPE;
return (0u);
}
OS_ENTER_CRITICAL();
*pname = pevent->OSEventName;
len = OS_StrLen(*pname);
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return (len);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* ASSIGN A NAME TO A SEMAPHORE, MUTEX, MAILBOX or QUEUE
*
* Description: This function assigns a name to a semaphore, mutex, mailbox or queue.
*
* Arguments : pevent is a pointer to the event group. 'pevent' can point either to a semaphore,
* a mutex, a mailbox or a queue. Where this function is concerned, it doesn't
* matter the actual type.
*
* pname is a pointer to an ASCII string that will be used as the name of the semaphore,
* mutex, mailbox or queue.
*
* perr is a pointer to an error code that can contain one of the following values:
*
* OS_ERR_NONE if the requested task is resumed
* OS_ERR_EVENT_TYPE if 'pevent' is not pointing to the proper event
* control block type.
* OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname'
* OS_ERR_PEVENT_NULL if you passed a NULL pointer for 'pevent'
* OS_ERR_NAME_SET_ISR if you called this function from an ISR
*
* Returns : None
*********************************************************************************************************
*/
#if (OS_EVENT_EN) && (OS_EVENT_NAME_EN > 0u)
void OSEventNameSet (OS_EVENT *pevent,
INT8U *pname,
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) { /* Is 'pevent' a NULL pointer? */
*perr = OS_ERR_PEVENT_NULL;
return;
}
if (pname == (INT8U *)0) { /* Is 'pname' a NULL pointer? */
*perr = OS_ERR_PNAME_NULL;
return;
}
#endif
if (OSIntNesting > 0u) { /* See if trying to call from an ISR */
*perr = OS_ERR_NAME_SET_ISR;
return;
}
switch (pevent->OSEventType) {
case OS_EVENT_TYPE_SEM:
case OS_EVENT_TYPE_MUTEX:
case OS_EVENT_TYPE_MBOX:
case OS_EVENT_TYPE_Q:
break;
default:
*perr = OS_ERR_EVENT_TYPE;
return;
}
OS_ENTER_CRITICAL();
pevent->OSEventName = pname;
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* PEND ON MULTIPLE EVENTS
*
* Description: This function waits for multiple events. If multiple events are ready at the start of the
* pend call, then all available events are returned as ready. If the task must pend on the
* multiple events, then only the first posted or aborted event is returned as ready.
*
* Arguments : pevents_pend is a pointer to a NULL-terminated array of event control blocks to wait for.
*
* pevents_rdy is a pointer to an array to return which event control blocks are available
* or ready. The size of the array MUST be greater than or equal to the size
* of the 'pevents_pend' array, including terminating NULL.
*
* pmsgs_rdy is a pointer to an array to return messages from any available message-type
* events. The size of the array MUST be greater than or equal to the size of
* the 'pevents_pend' array, excluding the terminating NULL. Since NULL
* messages are valid messages, this array cannot be NULL-terminated. Instead,
* every available message-type event returns its messages in the 'pmsgs_rdy'
* array at the same index as the event is returned in the 'pevents_rdy' array.
* All other 'pmsgs_rdy' array indices are filled with NULL messages.
*
* timeout is an optional timeout period (in clock ticks). If non-zero, your task will
* wait for the resources up to the amount of time specified by this argument.
* If you specify 0, however, your task will wait forever for the specified
* events or, until the resources becomes available (or the events occur).
*
* perr is a pointer to where an error message will be deposited. Possible error
* messages are:
*
* OS_ERR_NONE The call was successful and your task owns the resources
* or, the events you are waiting for occurred; check the
* 'pevents_rdy' array for which events are available.
* OS_ERR_PEND_ABORT The wait on the events was aborted; check the
* 'pevents_rdy' array for which events were aborted.
* OS_ERR_TIMEOUT The events were not received within the specified
* 'timeout'.
* OS_ERR_PEVENT_NULL If 'pevents_pend', 'pevents_rdy', or 'pmsgs_rdy' is a
* NULL pointer.
* OS_ERR_EVENT_TYPE If you didn't pass a pointer to an array of semaphores,
* mailboxes, and/or queues.
* OS_ERR_PEND_ISR If you called this function from an ISR and the result
* would lead to a suspension.
* OS_ERR_PEND_LOCKED If you called this function when the scheduler is locked.
*
* Returns : > 0 the number of events returned as ready or aborted.
* == 0 if no events are returned as ready because of timeout or upon error.
*
* Notes : 1) a. Validate 'pevents_pend' array as valid OS_EVENTs :
*
* semaphores, mailboxes, queues
*
* b. Return ALL available events and messages, if any
*
* c. Add current task priority as pending to each events's wait list
* Performed in OS_EventTaskWaitMulti()
*
* d. Wait on any of multiple events
*
* e. Remove current task priority as pending from each events's wait list
* Performed in OS_EventTaskRdy(), if events posted or aborted
*
* f. Return any event posted or aborted, if any
* else
* Return timeout
*
* 2) 'pevents_rdy' initialized to NULL PRIOR to all other validation or function handling in
* case of any error(s).
*********************************************************************************************************
*/
/*$PAGE*/
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u))
INT16U OSEventPendMulti (OS_EVENT **pevents_pend,
OS_EVENT **pevents_rdy,
void **pmsgs_rdy,
INT32U timeout,
INT8U *perr)
{
OS_EVENT **pevents;
OS_EVENT *pevent;
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u))
OS_Q *pq;
#endif
BOOLEAN events_rdy;
INT16U events_rdy_nbr;
INT8U events_stat;
#if (OS_CRITICAL_METHOD == 3u) /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#ifdef OS_SAFETY_CRITICAL
if (perr == (INT8U *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
#if (OS_ARG_CHK_EN > 0u)
if (pevents_pend == (OS_EVENT **)0) { /* Validate 'pevents_pend' */
*perr = OS_ERR_PEVENT_NULL;
return (0u);
}
if (*pevents_pend == (OS_EVENT *)0) { /* Validate 'pevents_pend' */
*perr = OS_ERR_PEVENT_NULL;
return (0u);
}
if (pevents_rdy == (OS_EVENT **)0) { /* Validate 'pevents_rdy' */
*perr = OS_ERR_PEVENT_NULL;
return (0u);
}
if (pmsgs_rdy == (void **)0) { /* Validate 'pmsgs_rdy' */
*perr = OS_ERR_PEVENT_NULL;
return (0u);
}
#endif
*pevents_rdy = (OS_EVENT *)0; /* Init array to NULL in case of errors */
pevents = pevents_pend;
pevent = *pevents;
while (pevent != (OS_EVENT *)0) {
switch (pevent->OSEventType) { /* Validate event block types */
#if (OS_SEM_EN > 0u)
case OS_EVENT_TYPE_SEM:
break;
#endif
#if (OS_MBOX_EN > 0u)
case OS_EVENT_TYPE_MBOX:
break;
#endif
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u))
case OS_EVENT_TYPE_Q:
break;
#endif
case OS_EVENT_TYPE_MUTEX:
case OS_EVENT_TYPE_FLAG:
default:
*perr = OS_ERR_EVENT_TYPE;
return (0u);
}
pevents++;
pevent = *pevents;
}
if (OSIntNesting > 0u) { /* See if called from ISR ... */
*perr = OS_ERR_PEND_ISR; /* ... can't PEND from an ISR */
return (0u);
}
if (OSLockNesting > 0u) { /* See if called with scheduler locked ... */
*perr = OS_ERR_PEND_LOCKED; /* ... can't PEND when locked */
return (0u);
}
/*$PAGE*/
events_rdy = OS_FALSE;
events_rdy_nbr = 0u;
events_stat = OS_STAT_RDY;
pevents = pevents_pend;
pevent = *pevents;
OS_ENTER_CRITICAL();
while (pevent != (OS_EVENT *)0) { /* See if any events already available */
switch (pevent->OSEventType) {
#if (OS_SEM_EN > 0u)
case OS_EVENT_TYPE_SEM:
if (pevent->OSEventCnt > 0u) { /* If semaphore count > 0, resource available; */
pevent->OSEventCnt--; /* ... decrement semaphore, ... */
*pevents_rdy++ = pevent; /* ... and return available semaphore event */
events_rdy = OS_TRUE;
*pmsgs_rdy++ = (void *)0; /* NO message returned for semaphores */
events_rdy_nbr++;
} else {
events_stat |= OS_STAT_SEM; /* Configure multi-pend for semaphore events */
}
break;
#endif
#if (OS_MBOX_EN > 0u)
case OS_EVENT_TYPE_MBOX:
if (pevent->OSEventPtr != (void *)0) { /* If mailbox NOT empty; ... */
/* ... return available message, ... */
*pmsgs_rdy++ = (void *)pevent->OSEventPtr;
pevent->OSEventPtr = (void *)0;
*pevents_rdy++ = pevent; /* ... and return available mailbox event */
events_rdy = OS_TRUE;
events_rdy_nbr++;
} else {
events_stat |= OS_STAT_MBOX; /* Configure multi-pend for mailbox events */
}
break;
#endif
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u))
case OS_EVENT_TYPE_Q:
pq = (OS_Q *)pevent->OSEventPtr;
if (pq->OSQEntries > 0u) { /* If queue NOT empty; ... */
/* ... return available message, ... */
*pmsgs_rdy++ = (void *)*pq->OSQOut++;
if (pq->OSQOut == pq->OSQEnd) { /* If OUT ptr at queue end, ... */
pq->OSQOut = pq->OSQStart; /* ... wrap to queue start */
}
pq->OSQEntries--; /* Update number of queue entries */
*pevents_rdy++ = pevent; /* ... and return available queue event */
events_rdy = OS_TRUE;
events_rdy_nbr++;
} else {
events_stat |= OS_STAT_Q; /* Configure multi-pend for queue events */
}
break;
#endif
case OS_EVENT_TYPE_MUTEX:
case OS_EVENT_TYPE_FLAG:
default:
OS_EXIT_CRITICAL();
*pevents_rdy = (OS_EVENT *)0; /* NULL terminate return event array */
*perr = OS_ERR_EVENT_TYPE;
return (events_rdy_nbr);
}
pevents++;
pevent = *pevents;
}
if ( events_rdy == OS_TRUE) { /* Return any events already available */
*pevents_rdy = (OS_EVENT *)0; /* NULL terminate return event array */
OS_EXIT_CRITICAL();
*perr = OS_ERR_NONE;
return (events_rdy_nbr);
}
/*$PAGE*/
/* Otherwise, must wait until any event occurs */
OSTCBCur->OSTCBStat |= events_stat | /* Resource not available, ... */
OS_STAT_MULTI; /* ... pend on multiple events */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_OK;
OSTCBCur->OSTCBDly = timeout; /* Store pend timeout in TCB */
OS_EventTaskWaitMulti(pevents_pend); /* Suspend task until events or timeout occurs */
OS_EXIT_CRITICAL();
OS_Sched(); /* Find next highest priority task ready */
OS_ENTER_CRITICAL();
switch (OSTCBCur->OSTCBStatPend) { /* Handle event posted, aborted, or timed-out */
case OS_STAT_PEND_OK:
case OS_STAT_PEND_ABORT:
pevent = OSTCBCur->OSTCBEventPtr;
if (pevent != (OS_EVENT *)0) { /* If task event ptr != NULL, ... */
*pevents_rdy++ = pevent; /* ... return available event ... */
*pevents_rdy = (OS_EVENT *)0; /* ... & NULL terminate return event array */
events_rdy_nbr = 1;
} else { /* Else NO event available, handle as timeout */
OSTCBCur->OSTCBStatPend = OS_STAT_PEND_TO;
OS_EventTaskRemoveMulti(OSTCBCur, pevents_pend);
}
break;
case OS_STAT_PEND_TO: /* If events timed out, ... */
default: /* ... remove task from events' wait lists */
OS_EventTaskRemoveMulti(OSTCBCur, pevents_pend);
break;
}
switch (OSTCBCur->OSTCBStatPend) {
case OS_STAT_PEND_OK:
switch (pevent->OSEventType) { /* Return event's message */
#if (OS_SEM_EN > 0u)
case OS_EVENT_TYPE_SEM:
*pmsgs_rdy++ = (void *)0; /* NO message returned for semaphores */
break;
#endif
#if ((OS_MBOX_EN > 0u) || \
((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)))
case OS_EVENT_TYPE_MBOX:
case OS_EVENT_TYPE_Q:
*pmsgs_rdy++ = (void *)OSTCBCur->OSTCBMsg; /* Return received message */
break;
#endif
case OS_EVENT_TYPE_MUTEX:
case OS_EVENT_TYPE_FLAG:
default:
OS_EXIT_CRITICAL();
*pevents_rdy = (OS_EVENT *)0; /* NULL terminate return event array */
*perr = OS_ERR_EVENT_TYPE;
return (events_rdy_nbr);
}
*perr = OS_ERR_NONE;
break;
case OS_STAT_PEND_ABORT:
*pmsgs_rdy++ = (void *)0; /* NO message returned for abort */
*perr = OS_ERR_PEND_ABORT; /* Indicate that event aborted */
break;
case OS_STAT_PEND_TO:
default:
*pmsgs_rdy++ = (void *)0; /* NO message returned for timeout */
*perr = OS_ERR_TIMEOUT; /* Indicate that events timed out */
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 */
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0;
#if ((OS_MBOX_EN > 0u) || \
((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)))
OSTCBCur->OSTCBMsg = (void *)0; /* Clear task message */
#endif
OS_EXIT_CRITICAL();
return (events_rdy_nbr);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
*
* Description: This function is used to initialize the internals of uC/OS-II and MUST be called prior to
* creating any uC/OS-II object and, prior to calling OSStart().
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
void OSInit (void)
{
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
INT8U err;
#endif
#endif
OSInitHookBegin(); /* Call port specific initialization code */
OS_InitMisc(); /* Initialize miscellaneous variables */
OS_InitRdyList(); /* Initialize the Ready List */
OS_InitTCBList(); /* Initialize the free list of OS_TCBs */
OS_InitEventList(); /* Initialize the free list of OS_EVENTs */
#if (OS_FLAG_EN > 0u) && (OS_MAX_FLAGS > 0u)
OS_FlagInit(); /* Initialize the event flag structures */
#endif
#if (OS_MEM_EN > 0u) && (OS_MAX_MEM_PART > 0u)
OS_MemInit(); /* Initialize the memory manager */
#endif
#if (OS_Q_EN > 0u) && (OS_MAX_QS > 0u)
OS_QInit(); /* Initialize the message queue structures */
#endif
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
OS_TLS_Init(&err); /* Initialize TLS, before creating tasks */
if (err != OS_ERR_NONE) {
return;
}
#endif
#endif
OS_InitTaskIdle(); /* Create the Idle Task */
#if OS_TASK_STAT_EN > 0u
OS_InitTaskStat(); /* Create the Statistic Task */
#endif
#if OS_TMR_EN > 0u
OSTmr_Init(); /* Initialize the Timer Manager */
#endif
OSInitHookEnd(); /* Call port specific init. code */
#if OS_DEBUG_EN > 0u
OSDebugInit();
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* ENTER ISR
*
* Description: This function is used to notify uC/OS-II that you are about to service an interrupt
* service routine (ISR). This allows uC/OS-II to keep track of interrupt nesting and thus
* only perform rescheduling at the last nested ISR.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) This function should be called with interrupts already disabled
* 2) Your ISR can directly increment OSIntNesting without calling this function because
* OSIntNesting has been declared 'global'.
* 3) You MUST still call OSIntExit() even though you increment OSIntNesting directly.
* 4) You MUST invoke OSIntEnter() and OSIntExit() in pair. In other words, for every call
* to OSIntEnter() at the beginning of the ISR you MUST have a call to OSIntExit() at the
* end of the ISR.
* 5) You are allowed to nest interrupts up to 255 levels deep.
* 6) I removed the OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL() around the increment because
* OSIntEnter() is always called with interrupts disabled.
*********************************************************************************************************
*/
void OSIntEnter (void)
{
if (OSRunning == OS_TRUE) {
if (OSIntNesting < 255u) {
OSIntNesting++; /* Increment ISR nesting level */
}
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* EXIT ISR
*
* Description: This function is used to notify uC/OS-II that you have completed servicing an ISR. When
* the last nested ISR has completed, uC/OS-II will call the scheduler to determine whether
* a new, high-priority task, is ready to run.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) You MUST invoke OSIntEnter() and OSIntExit() in pair. In other words, for every call
* to OSIntEnter() at the beginning of the ISR you MUST have a call to OSIntExit() at the
* end of the ISR.
* 2) Rescheduling is prevented when the scheduler is locked (see OS_SchedLock())
*********************************************************************************************************
*/
void OSIntExit (void)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
if (OSRunning == OS_TRUE) {
OS_ENTER_CRITICAL();
if (OSIntNesting > 0u) { /* Prevent OSIntNesting from wrapping */
OSIntNesting--;
}
if (OSIntNesting == 0u) { /* Reschedule only if all ISRs complete ... */
if (OSLockNesting == 0u) { /* ... and not locked. */
OS_SchedNew();
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
if (OSPrioHighRdy != OSPrioCur) { /* No Ctx Sw if current task is highest rdy */
#if OS_TASK_PROFILE_EN > 0u
OSTCBHighRdy->OSTCBCtxSwCtr++; /* Inc. # of context switches to this task */
#endif
OSCtxSwCtr++; /* Keep track of the number of ctx switches */
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
OS_TLS_TaskSw();
#endif
#endif
OSIntCtxSw(); /* Perform interrupt level ctx switch */
}
}
}
OS_EXIT_CRITICAL();
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* INDICATE THAT IT'S NO LONGER SAFE TO CREATE OBJECTS
*
* Description: This function is called by the application code to indicate that all initialization has
* been completed and that kernel objects are no longer allowed to be created.
*
* Arguments : none
*
* Returns : none
*
* Note(s) : 1) You should call this function when you no longer want to allow application code to
* create kernel objects.
* 2) You need to define the macro 'OS_SAFETY_CRITICAL_IEC61508'
*********************************************************************************************************
*/
#ifdef OS_SAFETY_CRITICAL_IEC61508
void OSSafetyCriticalStart (void)
{
OSSafetyCriticalStartFlag = OS_TRUE;
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* PREVENT SCHEDULING
*
* Description: This function is used to prevent rescheduling to take place. This allows your application
* to prevent context switches until you are ready to permit context switching.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) You MUST invoke OSSchedLock() and OSSchedUnlock() in pair. In other words, for every
* call to OSSchedLock() you MUST have a call to OSSchedUnlock().
*********************************************************************************************************
*/
#if OS_SCHED_LOCK_EN > 0u
void OSSchedLock (void)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
if (OSRunning == OS_TRUE) { /* Make sure multitasking is running */
OS_ENTER_CRITICAL();
if (OSIntNesting == 0u) { /* Can't call from an ISR */
if (OSLockNesting < 255u) { /* Prevent OSLockNesting from wrapping back to 0 */
OSLockNesting++; /* Increment lock nesting level */
}
}
OS_EXIT_CRITICAL();
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* ENABLE SCHEDULING
*
* Description: This function is used to re-allow rescheduling.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) You MUST invoke OSSchedLock() and OSSchedUnlock() in pair. In other words, for every
* call to OSSchedLock() you MUST have a call to OSSchedUnlock().
*********************************************************************************************************
*/
#if OS_SCHED_LOCK_EN > 0u
void OSSchedUnlock (void)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
if (OSRunning == OS_TRUE) { /* Make sure multitasking is running */
OS_ENTER_CRITICAL();
if (OSIntNesting == 0u) { /* Can't call from an ISR */
if (OSLockNesting > 0u) { /* Do not decrement if already 0 */
OSLockNesting--; /* Decrement lock nesting level */
if (OSLockNesting == 0u) { /* See if scheduler is enabled */
OS_EXIT_CRITICAL();
OS_Sched(); /* See if a HPT is ready */
} else {
OS_EXIT_CRITICAL();
}
} else {
OS_EXIT_CRITICAL();
}
} else {
OS_EXIT_CRITICAL();
}
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* START MULTITASKING
*
* Description: This function is used to start the multitasking process which lets uC/OS-II manages the
* task that you have created. Before you can call OSStart(), you MUST have called OSInit()
* and you MUST have created at least one task.
*
* Arguments : none
*
* Returns : none
*
* Note : OSStartHighRdy() MUST:
* a) Call OSTaskSwHook() then,
* b) Set OSRunning to OS_TRUE.
* c) Load the context of the task pointed to by OSTCBHighRdy.
* d_ Execute the task.
*********************************************************************************************************
*/
void OSStart (void)
{
if (OSRunning == OS_FALSE) {
OS_SchedNew(); /* Find highest priority's task priority number */
OSPrioCur = OSPrioHighRdy;
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; /* Point to highest priority task ready to run */
OSTCBCur = OSTCBHighRdy;
OSStartHighRdy(); /* Execute target specific code to start task */
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* STATISTICS INITIALIZATION
*
* Description: This function is called by your application to establish CPU usage by first determining
* how high a 32-bit counter would count to in 1 second if no other tasks were to execute
* during that time. CPU usage is then determined by a low priority task which keeps track
* of this 32-bit counter every second but this time, with other tasks running. CPU usage is
* determined by:
*
* OSIdleCtr
* CPU Usage (%) = 100 * (1 - ------------)
* OSIdleCtrMax
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
#if OS_TASK_STAT_EN > 0u
void OSStatInit (void)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
OSTimeDly(2u); /* Synchronize with clock tick */
OS_ENTER_CRITICAL();
OSIdleCtr = 0uL; /* Clear idle counter */
OS_EXIT_CRITICAL();
OSTimeDly(OS_TICKS_PER_SEC / 10u); /* Determine MAX. idle counter value for 1/10 second */
OS_ENTER_CRITICAL();
OSIdleCtrMax = OSIdleCtr; /* Store maximum idle counter count in 1/10 second */
OSStatRdy = OS_TRUE;
OS_EXIT_CRITICAL();
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* PROCESS SYSTEM TICK
*
* Description: This function is used to signal to uC/OS-II the occurrence of a 'system tick' (also known
* as a 'clock tick'). This function should be called by the ticker ISR but, can also be
* called by a high priority task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
void OSTimeTick (void)
{
OS_TCB *ptcb;
#if OS_TICK_STEP_EN > 0u
BOOLEAN step;
#endif
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#if OS_TIME_TICK_HOOK_EN > 0u
OSTimeTickHook(); /* Call user definable hook */
#endif
#if OS_TIME_GET_SET_EN > 0u
OS_ENTER_CRITICAL(); /* Update the 32-bit tick counter */
OSTime++;
OS_EXIT_CRITICAL();
#endif
if (OSRunning == OS_TRUE) {
#if OS_TICK_STEP_EN > 0u
switch (OSTickStepState) { /* Determine whether we need to process a tick */
case OS_TICK_STEP_DIS: /* Yes, stepping is disabled */
step = OS_TRUE;
break;
case OS_TICK_STEP_WAIT: /* No, waiting for uC/OS-View to set ... */
step = OS_FALSE; /* .. OSTickStepState to OS_TICK_STEP_ONCE */
break;
case OS_TICK_STEP_ONCE: /* Yes, process tick once and wait for next ... */
step = OS_TRUE; /* ... step command from uC/OS-View */
OSTickStepState = OS_TICK_STEP_WAIT;
break;
default: /* Invalid case, correct situation */
step = OS_TRUE;
OSTickStepState = OS_TICK_STEP_DIS;
break;
}
if (step == OS_FALSE) { /* Return if waiting for step command */
return;
}
#endif
ptcb = OSTCBList; /* Point at first TCB in TCB list */
while (ptcb->OSTCBPrio != OS_TASK_IDLE_PRIO) { /* Go through all TCBs in TCB list */
OS_ENTER_CRITICAL();
if (ptcb->OSTCBDly != 0u) { /* No, Delayed or waiting for event with TO */
ptcb->OSTCBDly--; /* Decrement nbr of ticks to end of delay */
if (ptcb->OSTCBDly == 0u) { /* Check for timeout */
if ((ptcb->OSTCBStat & OS_STAT_PEND_ANY) != OS_STAT_RDY) {
ptcb->OSTCBStat &= (INT8U)~(INT8U)OS_STAT_PEND_ANY; /* Yes, Clear status flag */
ptcb->OSTCBStatPend = OS_STAT_PEND_TO; /* Indicate PEND timeout */
} else {
ptcb->OSTCBStatPend = OS_STAT_PEND_OK;
}
if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) { /* Is task suspended? */
OSRdyGrp |= ptcb->OSTCBBitY; /* No, Make ready */
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
}
}
}
ptcb = ptcb->OSTCBNext; /* Point at next TCB in TCB list */
OS_EXIT_CRITICAL();
}
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* GET VERSION
*
* Description: This function is used to return the version number of uC/OS-II. The returned value
* corresponds to uC/OS-II's version number multiplied by 10000. In other words, version
* 2.01.00 would be returned as 20100.
*
* Arguments : none
*
* Returns : The version number of uC/OS-II multiplied by 10000.
*********************************************************************************************************
*/
INT16U OSVersion (void)
{
return (OS_VERSION);
}
/*$PAGE*/
/*
*********************************************************************************************************
* DUMMY FUNCTION
*
* Description: This function doesn't do anything. It is called by OSTaskDel().
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
#if OS_TASK_DEL_EN > 0u
void OS_Dummy (void)
{
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* MAKE TASK READY TO RUN BASED ON EVENT OCCURING
*
* Description: This function is called by other uC/OS-II services and is used to ready a task that was
* waiting for an event to occur.
*
* Arguments : pevent is a pointer to the event control block corresponding to the event.
*
* pmsg is a pointer to a message. This pointer is used by message oriented services
* such as MAILBOXEs and QUEUEs. The pointer is not used when called by other
* service functions.
*
* msk is a mask that is used to clear the status byte of the TCB. For example,
* OSSemPost() will pass OS_STAT_SEM, OSMboxPost() will pass OS_STAT_MBOX etc.
*
* pend_stat is used to indicate the readied task's pending status:
*
* OS_STAT_PEND_OK Task ready due to a post (or delete), not a timeout or
* an abort.
* OS_STAT_PEND_ABORT Task ready due to an abort.
*
* Returns : none
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if (OS_EVENT_EN)
INT8U OS_EventTaskRdy (OS_EVENT *pevent,
void *pmsg,
INT8U msk,
INT8U pend_stat)
{
OS_TCB *ptcb;
INT8U y;
INT8U x;
INT8U prio;
#if OS_LOWEST_PRIO > 63u
OS_PRIO *ptbl;
#endif
#if OS_LOWEST_PRIO <= 63u
y = OSUnMapTbl[pevent->OSEventGrp]; /* Find HPT waiting for message */
x = OSUnMapTbl[pevent->OSEventTbl[y]];
prio = (INT8U)((y << 3u) + x); /* Find priority of task getting the msg */
#else
if ((pevent->OSEventGrp & 0xFFu) != 0u) { /* Find HPT waiting for message */
y = OSUnMapTbl[ pevent->OSEventGrp & 0xFFu];
} else {
y = OSUnMapTbl[(OS_PRIO)(pevent->OSEventGrp >> 8u) & 0xFFu] + 8u;
}
ptbl = &pevent->OSEventTbl[y];
if ((*ptbl & 0xFFu) != 0u) {
x = OSUnMapTbl[*ptbl & 0xFFu];
} else {
x = OSUnMapTbl[(OS_PRIO)(*ptbl >> 8u) & 0xFFu] + 8u;
}
prio = (INT8U)((y << 4u) + x); /* Find priority of task getting the msg */
#endif
ptcb = OSTCBPrioTbl[prio]; /* Point to this task's OS_TCB */
ptcb->OSTCBDly = 0u; /* Prevent OSTimeTick() from readying task */
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)) || (OS_MBOX_EN > 0u)
ptcb->OSTCBMsg = pmsg; /* Send message directly to waiting task */
#else
pmsg = pmsg; /* Prevent compiler warning if not used */
#endif
ptcb->OSTCBStat &= (INT8U)~msk; /* Clear bit associated with event type */
ptcb->OSTCBStatPend = pend_stat; /* Set pend status of post or abort */
/* See if task is ready (could be susp'd) */
if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) {
OSRdyGrp |= ptcb->OSTCBBitY; /* Put task in the ready to run list */
OSRdyTbl[y] |= ptcb->OSTCBBitX;
}
OS_EventTaskRemove(ptcb, pevent); /* Remove this task from event wait list */
#if (OS_EVENT_MULTI_EN > 0u)
if (ptcb->OSTCBEventMultiPtr != (OS_EVENT **)0) { /* Remove this task from events' wait lists */
OS_EventTaskRemoveMulti(ptcb, ptcb->OSTCBEventMultiPtr);
ptcb->OSTCBEventPtr = (OS_EVENT *)pevent;/* Return event as first multi-pend event ready*/
}
#endif
return (prio);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* MAKE TASK WAIT FOR EVENT TO OCCUR
*
* Description: This function is called by other uC/OS-II services to suspend a task because an event has
* not occurred.
*
* Arguments : pevent is a pointer to the event control block for which the task will be waiting for.
*
* Returns : none
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if (OS_EVENT_EN)
void OS_EventTaskWait (OS_EVENT *pevent)
{
INT8U y;
OSTCBCur->OSTCBEventPtr = pevent; /* Store ptr to ECB in TCB */
pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX; /* Put task in waiting list */
pevent->OSEventGrp |= OSTCBCur->OSTCBBitY;
y = OSTCBCur->OSTCBY; /* Task no longer ready */
OSRdyTbl[y] &= (OS_PRIO)~OSTCBCur->OSTCBBitX;
if (OSRdyTbl[y] == 0u) { /* Clear event grp bit if this was only task pending */
OSRdyGrp &= (OS_PRIO)~OSTCBCur->OSTCBBitY;
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* MAKE TASK WAIT FOR ANY OF MULTIPLE EVENTS TO OCCUR
*
* Description: This function is called by other uC/OS-II services to suspend a task because any one of
* multiple events has not occurred.
*
* Arguments : pevents_wait is a pointer to an array of event control blocks, NULL-terminated, for
* which the task will be waiting for.
*
* Returns : none.
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u))
void OS_EventTaskWaitMulti (OS_EVENT **pevents_wait)
{
OS_EVENT **pevents;
OS_EVENT *pevent;
INT8U y;
OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0;
OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)pevents_wait; /* Store ptr to ECBs in TCB */
pevents = pevents_wait;
pevent = *pevents;
while (pevent != (OS_EVENT *)0) { /* Put task in waiting lists */
pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX;
pevent->OSEventGrp |= OSTCBCur->OSTCBBitY;
pevents++;
pevent = *pevents;
}
y = OSTCBCur->OSTCBY; /* Task no longer ready */
OSRdyTbl[y] &= (OS_PRIO)~OSTCBCur->OSTCBBitX;
if (OSRdyTbl[y] == 0u) { /* Clear event grp bit if this was only task pending */
OSRdyGrp &= (OS_PRIO)~OSTCBCur->OSTCBBitY;
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* REMOVE TASK FROM EVENT WAIT LIST
*
* Description: Remove a task from an event's wait list.
*
* Arguments : ptcb is a pointer to the task to remove.
*
* pevent is a pointer to the event control block.
*
* Returns : none
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if (OS_EVENT_EN)
void OS_EventTaskRemove (OS_TCB *ptcb,
OS_EVENT *pevent)
{
INT8U y;
y = ptcb->OSTCBY;
pevent->OSEventTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX; /* Remove task from wait list */
if (pevent->OSEventTbl[y] == 0u) {
pevent->OSEventGrp &= (OS_PRIO)~ptcb->OSTCBBitY;
}
ptcb->OSTCBEventPtr = (OS_EVENT *)0; /* Unlink OS_EVENT from OS_TCB */
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* REMOVE TASK FROM MULTIPLE EVENTS WAIT LISTS
*
* Description: Remove a task from multiple events' wait lists.
*
* Arguments : ptcb is a pointer to the task to remove.
*
* pevents_multi is a pointer to the array of event control blocks, NULL-terminated.
*
* Returns : none
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u))
void OS_EventTaskRemoveMulti (OS_TCB *ptcb,
OS_EVENT **pevents_multi)
{
OS_EVENT **pevents;
OS_EVENT *pevent;
INT8U y;
OS_PRIO bity;
OS_PRIO bitx;
y = ptcb->OSTCBY;
bity = ptcb->OSTCBBitY;
bitx = ptcb->OSTCBBitX;
pevents = pevents_multi;
pevent = *pevents;
while (pevent != (OS_EVENT *)0) { /* Remove task from all events' wait lists */
pevent->OSEventTbl[y] &= (OS_PRIO)~bitx;
if (pevent->OSEventTbl[y] == 0u) {
pevent->OSEventGrp &= (OS_PRIO)~bity;
}
pevents++;
pevent = *pevents;
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZE EVENT CONTROL BLOCK'S WAIT LIST
*
* Description: This function is called by other uC/OS-II services to initialize the event wait list.
*
* Arguments : pevent is a pointer to the event control block allocated to the event.
*
* Returns : none
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
#if (OS_EVENT_EN)
void OS_EventWaitListInit (OS_EVENT *pevent)
{
INT8U i;
pevent->OSEventGrp = 0u; /* No task waiting on event */
for (i = 0u; i < OS_EVENT_TBL_SIZE; i++) {
pevent->OSEventTbl[i] = 0u;
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* INITIALIZE THE FREE LIST OF EVENT CONTROL BLOCKS
*
* Description: This function is called by OSInit() to initialize the free list of event control blocks.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitEventList (void)
{
#if (OS_EVENT_EN) && (OS_MAX_EVENTS > 0u)
#if (OS_MAX_EVENTS > 1u)
INT16U ix;
INT16U ix_next;
OS_EVENT *pevent1;
OS_EVENT *pevent2;
OS_MemClr((INT8U *)&OSEventTbl[0], sizeof(OSEventTbl)); /* Clear the event table */
for (ix = 0u; ix < (OS_MAX_EVENTS - 1u); ix++) { /* Init. list of free EVENT control blocks */
ix_next = ix + 1u;
pevent1 = &OSEventTbl[ix];
pevent2 = &OSEventTbl[ix_next];
pevent1->OSEventType = OS_EVENT_TYPE_UNUSED;
pevent1->OSEventPtr = pevent2;
#if OS_EVENT_NAME_EN > 0u
pevent1->OSEventName = (INT8U *)(void *)"?"; /* Unknown name */
#endif
}
pevent1 = &OSEventTbl[ix];
pevent1->OSEventType = OS_EVENT_TYPE_UNUSED;
pevent1->OSEventPtr = (OS_EVENT *)0;
#if OS_EVENT_NAME_EN > 0u
pevent1->OSEventName = (INT8U *)(void *)"?"; /* Unknown name */
#endif
OSEventFreeList = &OSEventTbl[0];
#else
OSEventFreeList = &OSEventTbl[0]; /* Only have ONE event control block */
OSEventFreeList->OSEventType = OS_EVENT_TYPE_UNUSED;
OSEventFreeList->OSEventPtr = (OS_EVENT *)0;
#if OS_EVENT_NAME_EN > 0u
OSEventFreeList->OSEventName = (INT8U *)"?"; /* Unknown name */
#endif
#endif
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* INITIALIZE MISCELLANEOUS VARIABLES
*
* Description: This function is called by OSInit() to initialize miscellaneous variables.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitMisc (void)
{
#if OS_TIME_GET_SET_EN > 0u
OSTime = 0uL; /* Clear the 32-bit system clock */
#endif
OSIntNesting = 0u; /* Clear the interrupt nesting counter */
OSLockNesting = 0u; /* Clear the scheduling lock counter */
OSTaskCtr = 0u; /* Clear the number of tasks */
OSRunning = OS_FALSE; /* Indicate that multitasking not started */
OSCtxSwCtr = 0u; /* Clear the context switch counter */
OSIdleCtr = 0uL; /* Clear the 32-bit idle counter */
#if OS_TASK_STAT_EN > 0u
OSIdleCtrRun = 0uL;
OSIdleCtrMax = 0uL;
OSStatRdy = OS_FALSE; /* Statistic task is not ready */
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
OSSafetyCriticalStartFlag = OS_FALSE; /* Still allow creation of objects */
#endif
#if OS_TASK_REG_TBL_SIZE > 0u
OSTaskRegNextAvailID = 0u; /* Initialize the task register ID */
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* INITIALIZE THE READY LIST
*
* Description: This function is called by OSInit() to initialize the Ready List.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitRdyList (void)
{
INT8U i;
OSRdyGrp = 0u; /* Clear the ready list */
for (i = 0u; i < OS_RDY_TBL_SIZE; i++) {
OSRdyTbl[i] = 0u;
}
OSPrioCur = 0u;
OSPrioHighRdy = 0u;
OSTCBHighRdy = (OS_TCB *)0;
OSTCBCur = (OS_TCB *)0;
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* CREATING THE IDLE TASK
*
* Description: This function creates the Idle Task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitTaskIdle (void)
{
#if OS_TASK_NAME_EN > 0u
INT8U err;
#endif
#if OS_TASK_CREATE_EXT_EN > 0u
#if OS_STK_GROWTH == 1u
(void)OSTaskCreateExt(OS_TaskIdle,
(void *)0, /* No arguments passed to OS_TaskIdle() */
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u],/* Set Top-Of-Stack */
OS_TASK_IDLE_PRIO, /* Lowest priority level */
OS_TASK_IDLE_ID,
&OSTaskIdleStk[0], /* Set Bottom-Of-Stack */
OS_TASK_IDLE_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack */
#else
(void)OSTaskCreateExt(OS_TaskIdle,
(void *)0, /* No arguments passed to OS_TaskIdle() */
&OSTaskIdleStk[0], /* Set Top-Of-Stack */
OS_TASK_IDLE_PRIO, /* Lowest priority level */
OS_TASK_IDLE_ID,
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u],/* Set Bottom-Of-Stack */
OS_TASK_IDLE_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack */
#endif
#else
#if OS_STK_GROWTH == 1u
(void)OSTaskCreate(OS_TaskIdle,
(void *)0,
&OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u],
OS_TASK_IDLE_PRIO);
#else
(void)OSTaskCreate(OS_TaskIdle,
(void *)0,
&OSTaskIdleStk[0],
OS_TASK_IDLE_PRIO);
#endif
#endif
#if OS_TASK_NAME_EN > 0u
OSTaskNameSet(OS_TASK_IDLE_PRIO, (INT8U *)(void *)"uC/OS-II Idle", &err);
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* CREATING THE STATISTIC TASK
*
* Description: This function creates the Statistic Task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
#if OS_TASK_STAT_EN > 0u
static void OS_InitTaskStat (void)
{
#if OS_TASK_NAME_EN > 0u
INT8U err;
#endif
#if OS_TASK_CREATE_EXT_EN > 0u
#if OS_STK_GROWTH == 1u
(void)OSTaskCreateExt(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u], /* Set Top-Of-Stack */
OS_TASK_STAT_PRIO, /* One higher than the idle task */
OS_TASK_STAT_ID,
&OSTaskStatStk[0], /* Set Bottom-Of-Stack */
OS_TASK_STAT_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR); /* Enable stack checking + clear */
#else
(void)OSTaskCreateExt(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[0], /* Set Top-Of-Stack */
OS_TASK_STAT_PRIO, /* One higher than the idle task */
OS_TASK_STAT_ID,
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u], /* Set Bottom-Of-Stack */
OS_TASK_STAT_STK_SIZE,
(void *)0, /* No TCB extension */
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR); /* Enable stack checking + clear */
#endif
#else
#if OS_STK_GROWTH == 1u
(void)OSTaskCreate(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u], /* Set Top-Of-Stack */
OS_TASK_STAT_PRIO); /* One higher than the idle task */
#else
(void)OSTaskCreate(OS_TaskStat,
(void *)0, /* No args passed to OS_TaskStat()*/
&OSTaskStatStk[0], /* Set Top-Of-Stack */
OS_TASK_STAT_PRIO); /* One higher than the idle task */
#endif
#endif
#if OS_TASK_NAME_EN > 0u
OSTaskNameSet(OS_TASK_STAT_PRIO, (INT8U *)(void *)"uC/OS-II Stat", &err);
#endif
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZATION
* INITIALIZE THE FREE LIST OF TASK CONTROL BLOCKS
*
* Description: This function is called by OSInit() to initialize the free list of OS_TCBs.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
static void OS_InitTCBList (void)
{
INT8U ix;
INT8U ix_next;
OS_TCB *ptcb1;
OS_TCB *ptcb2;
OS_MemClr((INT8U *)&OSTCBTbl[0], sizeof(OSTCBTbl)); /* Clear all the TCBs */
OS_MemClr((INT8U *)&OSTCBPrioTbl[0], sizeof(OSTCBPrioTbl)); /* Clear the priority table */
for (ix = 0u; ix < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1u); ix++) { /* Init. list of free TCBs */
ix_next = ix + 1u;
ptcb1 = &OSTCBTbl[ix];
ptcb2 = &OSTCBTbl[ix_next];
ptcb1->OSTCBNext = ptcb2;
#if OS_TASK_NAME_EN > 0u
ptcb1->OSTCBTaskName = (INT8U *)(void *)"?"; /* Unknown name */
#endif
}
ptcb1 = &OSTCBTbl[ix];
ptcb1->OSTCBNext = (OS_TCB *)0; /* Last OS_TCB */
#if OS_TASK_NAME_EN > 0u
ptcb1->OSTCBTaskName = (INT8U *)(void *)"?"; /* Unknown name */
#endif
OSTCBList = (OS_TCB *)0; /* TCB lists initializations */
OSTCBFreeList = &OSTCBTbl[0];
}
/*$PAGE*/
/*
*********************************************************************************************************
* CLEAR A SECTION OF MEMORY
*
* Description: This function is called by other uC/OS-II services to clear a contiguous block of RAM.
*
* Arguments : pdest is the start of the RAM to clear (i.e. write 0x00 to)
*
* size is the number of bytes to clear.
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Note that we can only clear up to 64K bytes of RAM. This is not an issue because none
* of the uses of this function gets close to this limit.
* 3) The clear is done one byte at a time since this will work on any processor irrespective
* of the alignment of the destination.
*********************************************************************************************************
*/
void OS_MemClr (INT8U *pdest,
INT16U size)
{
while (size > 0u) {
*pdest++ = (INT8U)0;
size--;
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* COPY A BLOCK OF MEMORY
*
* Description: This function is called by other uC/OS-II services to copy a block of memory from one
* location to another.
*
* Arguments : pdest is a pointer to the 'destination' memory block
*
* psrc is a pointer to the 'source' memory block
*
* size is the number of bytes to copy.
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it. There is
* no provision to handle overlapping memory copy. However, that's not a problem since this
* is not a situation that will happen.
* 2) Note that we can only copy up to 64K bytes of RAM
* 3) The copy is done one byte at a time since this will work on any processor irrespective
* of the alignment of the source and destination.
*********************************************************************************************************
*/
void OS_MemCopy (INT8U *pdest,
INT8U *psrc,
INT16U size)
{
while (size > 0u) {
*pdest++ = *psrc++;
size--;
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* SCHEDULER
*
* Description: This function is called by other uC/OS-II services to determine whether a new, high
* priority task has been made ready to run. This function is invoked by TASK level code
* and is not used to reschedule tasks from ISRs (see OSIntExit() for ISR rescheduling).
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Rescheduling is prevented when the scheduler is locked (see OS_SchedLock())
*********************************************************************************************************
*/
void OS_Sched (void)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
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 */
#if OS_TASK_PROFILE_EN > 0u
OSTCBHighRdy->OSTCBCtxSwCtr++; /* Inc. # of context switches to this task */
#endif
OSCtxSwCtr++; /* Increment context switch counter */
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
OS_TLS_TaskSw();
#endif
#endif
OS_TASK_SW(); /* Perform a context switch */
}
}
}
OS_EXIT_CRITICAL();
}
/*
*********************************************************************************************************
* FIND HIGHEST PRIORITY TASK READY TO RUN
*
* Description: This function is called by other uC/OS-II services to determine the highest priority task
* that is ready to run. The global variable 'OSPrioHighRdy' is changed accordingly.
*
* Arguments : none
*
* Returns : none
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) Interrupts are assumed to be disabled when this function is called.
*********************************************************************************************************
*/
static void OS_SchedNew (void)
{
#if OS_LOWEST_PRIO <= 63u /* See if we support up to 64 tasks */
INT8U y;
y = OSUnMapTbl[OSRdyGrp];
OSPrioHighRdy = (INT8U)((y << 3u) + OSUnMapTbl[OSRdyTbl[y]]);
#else /* We support up to 256 tasks */
INT8U y;
OS_PRIO *ptbl;
if ((OSRdyGrp & 0xFFu) != 0u) {
y = OSUnMapTbl[OSRdyGrp & 0xFFu];
} else {
y = OSUnMapTbl[(OS_PRIO)(OSRdyGrp >> 8u) & 0xFFu] + 8u;
}
ptbl = &OSRdyTbl[y];
if ((*ptbl & 0xFFu) != 0u) {
OSPrioHighRdy = (INT8U)((y << 4u) + OSUnMapTbl[(*ptbl & 0xFFu)]);
} else {
OSPrioHighRdy = (INT8U)((y << 4u) + OSUnMapTbl[(OS_PRIO)(*ptbl >> 8u) & 0xFFu] + 8u);
}
#endif
}
/*$PAGE*/
/*
*********************************************************************************************************
* DETERMINE THE LENGTH OF AN ASCII STRING
*
* Description: This function is called by other uC/OS-II services to determine the size of an ASCII string
* (excluding the NUL character).
*
* Arguments : psrc is a pointer to the string for which we need to know the size.
*
* Returns : The size of the string (excluding the NUL terminating character)
*
* Notes : 1) This function is INTERNAL to uC/OS-II and your application should not call it.
* 2) The string to check must be less than 255 characters long.
*********************************************************************************************************
*/
#if (OS_EVENT_NAME_EN > 0u) || (OS_FLAG_NAME_EN > 0u) || (OS_MEM_NAME_EN > 0u) || (OS_TASK_NAME_EN > 0u) || (OS_TMR_CFG_NAME_EN > 0u)
INT8U OS_StrLen (INT8U *psrc)
{
INT8U len;
#if OS_ARG_CHK_EN > 0u
if (psrc == (INT8U *)0) {
return (0u);
}
#endif
len = 0u;
while (*psrc != OS_ASCII_NUL) {
psrc++;
len++;
}
return (len);
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* IDLE TASK
*
* Description: This task is internal to uC/OS-II and executes whenever no other higher priority tasks
* executes because they are ALL waiting for event(s) to occur.
*
* Arguments : none
*
* Returns : none
*
* Note(s) : 1) OSTaskIdleHook() is called after the critical section to ensure that interrupts will be
* enabled for at least a few instructions. On some processors (ex. Philips XA), enabling
* and then disabling interrupts didn't allow the processor enough time to have interrupts
* enabled before they were disabled again. uC/OS-II would thus never recognize
* interrupts.
* 2) This hook has been added to allow you to do such things as STOP the CPU to conserve
* power.
*********************************************************************************************************
*/
void OS_TaskIdle (void *p_arg)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
p_arg = p_arg; /* Prevent compiler warning for not using 'p_arg' */
for (;;) {
OS_ENTER_CRITICAL();
OSIdleCtr++;
OS_EXIT_CRITICAL();
OSTaskIdleHook(); /* Call user definable HOOK */
}
}
/*$PAGE*/
/*
*********************************************************************************************************
* STATISTICS TASK
*
* Description: This task is internal to uC/OS-II and is used to compute some statistics about the
* multitasking environment. Specifically, OS_TaskStat() computes the CPU usage.
* CPU usage is determined by:
*
* OSIdleCtr
* OSCPUUsage = 100 * (1 - ------------) (units are in %)
* OSIdleCtrMax
*
* Arguments : parg this pointer is not used at this time.
*
* Returns : none
*
* Notes : 1) This task runs at a priority level higher than the idle task. In fact, it runs at the
* next higher priority, OS_TASK_IDLE_PRIO-1.
* 2) You can disable this task by setting the configuration #define OS_TASK_STAT_EN to 0.
* 3) You MUST have at least a delay of 2/10 seconds to allow for the system to establish the
* maximum value for the idle counter.
*********************************************************************************************************
*/
#if OS_TASK_STAT_EN > 0u
void OS_TaskStat (void *p_arg)
{
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
p_arg = p_arg; /* Prevent compiler warning for not using 'p_arg' */
while (OSStatRdy == OS_FALSE) {
OSTimeDly(2u * OS_TICKS_PER_SEC / 10u); /* Wait until statistic task is ready */
}
OSIdleCtrMax /= 100uL;
if (OSIdleCtrMax == 0uL) {
OSCPUUsage = 0u;
#if OS_TASK_SUSPEND_EN > 0u
(void)OSTaskSuspend(OS_PRIO_SELF);
#else
for (;;) {
OSTimeDly(OS_TICKS_PER_SEC);
}
#endif
}
OS_ENTER_CRITICAL();
OSIdleCtr = OSIdleCtrMax * 100uL; /* Set initial CPU usage as 0% */
OS_EXIT_CRITICAL();
for (;;) {
OS_ENTER_CRITICAL();
OSIdleCtrRun = OSIdleCtr; /* Obtain the of the idle counter for the past second */
OSIdleCtr = 0uL; /* Reset the idle counter for the next second */
OS_EXIT_CRITICAL();
OSCPUUsage = (INT8U)(100uL - OSIdleCtrRun / OSIdleCtrMax);
OSTaskStatHook(); /* Invoke user definable hook */
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u)
OS_TaskStatStkChk(); /* Check the stacks for each task */
#endif
OSTimeDly(OS_TICKS_PER_SEC / 10u); /* Accumulate OSIdleCtr for the next 1/10 second */
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* CHECK ALL TASK STACKS
*
* Description: This function is called by OS_TaskStat() to check the stacks of each active task.
*
* Arguments : none
*
* Returns : none
*********************************************************************************************************
*/
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u)
void OS_TaskStatStkChk (void)
{
OS_TCB *ptcb;
OS_STK_DATA stk_data;
INT8U err;
INT8U prio;
for (prio = 0u; prio <= OS_TASK_IDLE_PRIO; prio++) {
err = OSTaskStkChk(prio, &stk_data);
if (err == OS_ERR_NONE) {
ptcb = OSTCBPrioTbl[prio];
if (ptcb != (OS_TCB *)0) { /* Make sure task 'ptcb' is ... */
if (ptcb != OS_TCB_RESERVED) { /* ... still valid. */
#if OS_TASK_PROFILE_EN > 0u
#if OS_STK_GROWTH == 1u
ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom + ptcb->OSTCBStkSize;
#else
ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom - ptcb->OSTCBStkSize;
#endif
ptcb->OSTCBStkUsed = stk_data.OSUsed; /* Store number of entries used */
#endif
}
}
}
}
}
#endif
/*$PAGE*/
/*
*********************************************************************************************************
* INITIALIZE TCB
*
* Description: This function is internal to uC/OS-II and is used to initialize a Task Control Block when
* a task is created (see OSTaskCreate() and OSTaskCreateExt()).
*
* Arguments : prio is the priority of the task being created
*
* ptos is a pointer to the task's top-of-stack assuming that the CPU registers
* have been placed on the stack. Note that the top-of-stack corresponds to a
* 'high' memory location is OS_STK_GROWTH is set to 1 and a 'low' memory
* location if OS_STK_GROWTH is set to 0. Note that stack growth is CPU
* specific.
*
* pbos is a pointer to the bottom of stack. A NULL pointer is passed if called by
* 'OSTaskCreate()'.
*
* id is the task's ID (0..65535)
*
* stk_size is the size of the stack (in 'stack units'). If the stack units are INT8Us
* then, 'stk_size' contains the number of bytes for the stack. If the stack
* units are INT32Us then, the stack contains '4 * stk_size' bytes. The stack
* units are established by the #define constant OS_STK which is CPU
* specific. 'stk_size' is 0 if called by 'OSTaskCreate()'.
*
* pext is a pointer to a user supplied memory area that is used to extend the task
* control block. This allows you to store the contents of floating-point
* registers, MMU registers or anything else you could find useful during a
* context switch. You can even assign a name to each task and store this name
* in this TCB extension. A NULL pointer is passed if called by OSTaskCreate().
*
* opt options as passed to 'OSTaskCreateExt()' or,
* 0 if called from 'OSTaskCreate()'.
*
* Returns : OS_ERR_NONE if the call was successful
* OS_ERR_TASK_NO_MORE_TCB if there are no more free TCBs to be allocated and thus, the task
* cannot be created.
*
* Note : This function is INTERNAL to uC/OS-II and your application should not call it.
*********************************************************************************************************
*/
INT8U OS_TCBInit (INT8U prio,
OS_STK *ptos,
OS_STK *pbos,
INT16U id,
INT32U stk_size,
void *pext,
INT16U opt)
{
OS_TCB *ptcb;
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
OS_CPU_SR cpu_sr = 0u;
#endif
#if OS_TASK_REG_TBL_SIZE > 0u
INT8U i;
#endif
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
INT8U j;
#endif
#endif
OS_ENTER_CRITICAL();
ptcb = OSTCBFreeList; /* Get a free TCB from the free TCB list */
if (ptcb != (OS_TCB *)0) {
OSTCBFreeList = ptcb->OSTCBNext; /* Update pointer to free TCB list */
OS_EXIT_CRITICAL();
ptcb->OSTCBStkPtr = ptos; /* Load Stack pointer in TCB */
ptcb->OSTCBPrio = prio; /* Load task priority into TCB */
ptcb->OSTCBStat = OS_STAT_RDY; /* Task is ready to run */
ptcb->OSTCBStatPend = OS_STAT_PEND_OK; /* Clear pend status */
ptcb->OSTCBDly = 0u; /* Task is not delayed */
#if OS_TASK_CREATE_EXT_EN > 0u
ptcb->OSTCBExtPtr = pext; /* Store pointer to TCB extension */
ptcb->OSTCBStkSize = stk_size; /* Store stack size */
ptcb->OSTCBStkBottom = pbos; /* Store pointer to bottom of stack */
ptcb->OSTCBOpt = opt; /* Store task options */
ptcb->OSTCBId = id; /* Store task ID */
#else
pext = pext; /* Prevent compiler warning if not used */
stk_size = stk_size;
pbos = pbos;
opt = opt;
id = id;
#endif
#if OS_TASK_DEL_EN > 0u
ptcb->OSTCBDelReq = OS_ERR_NONE;
#endif
#if OS_LOWEST_PRIO <= 63u /* Pre-compute X, Y */
ptcb->OSTCBY = (INT8U)(prio >> 3u);
ptcb->OSTCBX = (INT8U)(prio & 0x07u);
#else /* Pre-compute X, Y */
ptcb->OSTCBY = (INT8U)((INT8U)(prio >> 4u) & 0xFFu);
ptcb->OSTCBX = (INT8U) (prio & 0x0Fu);
#endif
/* Pre-compute BitX and BitY */
ptcb->OSTCBBitY = (OS_PRIO)(1uL << ptcb->OSTCBY);
ptcb->OSTCBBitX = (OS_PRIO)(1uL << ptcb->OSTCBX);
#if (OS_EVENT_EN)
ptcb->OSTCBEventPtr = (OS_EVENT *)0; /* Task is not pending on an event */
#if (OS_EVENT_MULTI_EN > 0u)
ptcb->OSTCBEventMultiPtr = (OS_EVENT **)0; /* Task is not pending on any events */
#endif
#endif
#if (OS_FLAG_EN > 0u) && (OS_MAX_FLAGS > 0u) && (OS_TASK_DEL_EN > 0u)
ptcb->OSTCBFlagNode = (OS_FLAG_NODE *)0; /* Task is not pending on an event flag */
#endif
#if (OS_MBOX_EN > 0u) || ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u))
ptcb->OSTCBMsg = (void *)0; /* No message received */
#endif
#if OS_TASK_PROFILE_EN > 0u
ptcb->OSTCBCtxSwCtr = 0uL; /* Initialize profiling variables */
ptcb->OSTCBCyclesStart = 0uL;
ptcb->OSTCBCyclesTot = 0uL;
ptcb->OSTCBStkBase = (OS_STK *)0;
ptcb->OSTCBStkUsed = 0uL;
#endif
#if OS_TASK_NAME_EN > 0u
ptcb->OSTCBTaskName = (INT8U *)(void *)"?";
#endif
#if OS_TASK_REG_TBL_SIZE > 0u /* Initialize the task variables */
for (i = 0u; i < OS_TASK_REG_TBL_SIZE; i++) {
ptcb->OSTCBRegTbl[i] = 0u;
}
#endif
OSTCBInitHook(ptcb);
OS_ENTER_CRITICAL();
OSTCBPrioTbl[prio] = ptcb;
OS_EXIT_CRITICAL();
OSTaskCreateHook(ptcb); /* Call user defined hook */
#if OS_TASK_CREATE_EXT_EN > 0u
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
for (j = 0u; j < OS_TLS_TBL_SIZE; j++) {
ptcb->OSTCBTLSTbl[j] = (OS_TLS)0;
}
OS_TLS_TaskCreate(ptcb); /* Call TLS hook */
#endif
#endif
OS_ENTER_CRITICAL();
ptcb->OSTCBNext = OSTCBList; /* Link into TCB chain */
ptcb->OSTCBPrev = (OS_TCB *)0;
if (OSTCBList != (OS_TCB *)0) {
OSTCBList->OSTCBPrev = ptcb;
}
OSTCBList = ptcb;
OSRdyGrp |= ptcb->OSTCBBitY; /* Make task ready to run */
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
OSTaskCtr++; /* Increment the #tasks counter */
OS_EXIT_CRITICAL();
return (OS_ERR_NONE);
}
OS_EXIT_CRITICAL();
return (OS_ERR_TASK_NO_MORE_TCB);
}
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