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https://github.com/QuantumLeaps/qpc.git
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1387 lines
59 KiB
C
1387 lines
59 KiB
C
/*
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*********************************************************************************************************
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* uC/OS-II
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* The Real-Time Kernel
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*
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* Copyright 1992-2020 Silicon Laboratories Inc. www.silabs.com
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*
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* SPDX-License-Identifier: APACHE-2.0
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*
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* This software is subject to an open source license and is distributed by
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* Silicon Laboratories Inc. pursuant to the terms of the Apache License,
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* Version 2.0 available at www.apache.org/licenses/LICENSE-2.0.
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*
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*********************************************************************************************************
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*/
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/*
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*********************************************************************************************************
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*
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* TASK MANAGEMENT
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*
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* Filename : os_task.c
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* Version : V2.93.00
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*********************************************************************************************************
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*/
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#ifndef OS_TASK_C
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#define OS_TASK_C
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#define MICRIUM_SOURCE
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#ifndef OS_MASTER_FILE
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#include <ucos_ii.h>
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#endif
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/*
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*********************************************************************************************************
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* CHANGE PRIORITY OF A TASK
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*
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* Description: This function allows you to change the priority of a task dynamically. Note that the new
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* priority MUST be available.
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*
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* Arguments : oldp is the old priority
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*
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* newp is the new priority
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*
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* Returns : OS_ERR_NONE is the call was successful
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* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
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* (i.e. >= OS_LOWEST_PRIO)
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* OS_ERR_PRIO_EXIST if the new priority already exist.
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* OS_ERR_PRIO there is no task with the specified OLD priority (i.e. the OLD task does
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* not exist.
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* OS_ERR_TASK_NOT_EXIST if the task is assigned to a Mutex PIP.
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*********************************************************************************************************
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*/
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#if OS_TASK_CHANGE_PRIO_EN > 0u
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INT8U OSTaskChangePrio (INT8U oldprio,
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INT8U newprio)
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{
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#if (OS_EVENT_EN)
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OS_EVENT *pevent;
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#if (OS_EVENT_MULTI_EN > 0u)
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OS_EVENT **pevents;
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#endif
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#endif
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OS_TCB *ptcb;
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INT8U y_new;
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INT8U x_new;
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INT8U y_old;
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OS_PRIO bity_new;
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OS_PRIO bitx_new;
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OS_PRIO bity_old;
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OS_PRIO bitx_old;
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#if OS_CRITICAL_METHOD == 3u
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OS_CPU_SR cpu_sr = 0u; /* Storage for CPU status register */
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#endif
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#if OS_ARG_CHK_EN > 0u
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if (oldprio >= OS_LOWEST_PRIO) {
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if (oldprio != OS_PRIO_SELF) {
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return (OS_ERR_PRIO_INVALID);
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}
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}
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if (newprio >= OS_LOWEST_PRIO) {
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return (OS_ERR_PRIO_INVALID);
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}
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#endif
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OS_ENTER_CRITICAL();
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if (OSTCBPrioTbl[newprio] != (OS_TCB *)0) { /* New priority must not already exist */
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OS_EXIT_CRITICAL();
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return (OS_ERR_PRIO_EXIST);
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}
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if (oldprio == OS_PRIO_SELF) { /* See if changing self */
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oldprio = OSTCBCur->OSTCBPrio; /* Yes, get priority */
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}
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ptcb = OSTCBPrioTbl[oldprio];
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if (ptcb == (OS_TCB *)0) { /* Does task to change exist? */
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OS_EXIT_CRITICAL(); /* No, can't change its priority! */
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return (OS_ERR_PRIO);
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}
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if (ptcb == OS_TCB_RESERVED) { /* Is task assigned to Mutex */
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OS_EXIT_CRITICAL(); /* No, can't change its priority! */
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return (OS_ERR_TASK_NOT_EXIST);
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}
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#if OS_LOWEST_PRIO <= 63u
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y_new = (INT8U)(newprio >> 3u); /* Yes, compute new TCB fields */
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x_new = (INT8U)(newprio & 0x07u);
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#else
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y_new = (INT8U)((INT8U)(newprio >> 4u) & 0x0Fu);
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x_new = (INT8U)(newprio & 0x0Fu);
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#endif
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bity_new = (OS_PRIO)(1uL << y_new);
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bitx_new = (OS_PRIO)(1uL << x_new);
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OSTCBPrioTbl[oldprio] = (OS_TCB *)0; /* Remove TCB from old priority */
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OSTCBPrioTbl[newprio] = ptcb; /* Place pointer to TCB @ new priority */
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y_old = ptcb->OSTCBY;
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bity_old = ptcb->OSTCBBitY;
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bitx_old = ptcb->OSTCBBitX;
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if ((OSRdyTbl[y_old] & bitx_old) != 0u) { /* If task is ready make it not */
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OSRdyTbl[y_old] &= (OS_PRIO)~bitx_old;
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if (OSRdyTbl[y_old] == 0u) {
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OSRdyGrp &= (OS_PRIO)~bity_old;
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}
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OSRdyGrp |= bity_new; /* Make new priority ready to run */
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OSRdyTbl[y_new] |= bitx_new;
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OS_TRACE_TASK_READY(ptcb);
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}
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#if (OS_EVENT_EN)
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pevent = ptcb->OSTCBEventPtr;
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if (pevent != (OS_EVENT *)0) {
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pevent->OSEventTbl[y_old] &= (OS_PRIO)~bitx_old; /* Remove old task prio from wait list */
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if (pevent->OSEventTbl[y_old] == 0u) {
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pevent->OSEventGrp &= (OS_PRIO)~bity_old;
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}
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pevent->OSEventGrp |= bity_new; /* Add new task prio to wait list */
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pevent->OSEventTbl[y_new] |= bitx_new;
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}
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#if (OS_EVENT_MULTI_EN > 0u)
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if (ptcb->OSTCBEventMultiPtr != (OS_EVENT **)0) {
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pevents = ptcb->OSTCBEventMultiPtr;
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pevent = *pevents;
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while (pevent != (OS_EVENT *)0) {
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pevent->OSEventTbl[y_old] &= (OS_PRIO)~bitx_old; /* Remove old task prio from wait lists */
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if (pevent->OSEventTbl[y_old] == 0u) {
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pevent->OSEventGrp &= (OS_PRIO)~bity_old;
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}
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pevent->OSEventGrp |= bity_new; /* Add new task prio to wait lists */
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pevent->OSEventTbl[y_new] |= bitx_new;
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pevents++;
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pevent = *pevents;
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}
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}
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#endif
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#endif
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ptcb->OSTCBPrio = newprio; /* Set new task priority */
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ptcb->OSTCBY = y_new;
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ptcb->OSTCBX = x_new;
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ptcb->OSTCBBitY = bity_new;
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ptcb->OSTCBBitX = bitx_new;
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OS_EXIT_CRITICAL();
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if (OSRunning == OS_TRUE) {
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OS_Sched(); /* Find new highest priority task */
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}
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return (OS_ERR_NONE);
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}
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#endif
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/*
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*********************************************************************************************************
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* CREATE A TASK
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*
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* Description: This function is used to have uC/OS-II manage the execution of a task. Tasks can either
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* be created prior to the start of multitasking or by a running task. A task cannot be
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* created by an ISR.
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*
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* Arguments : task is a pointer to the task's code
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*
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* p_arg is a pointer to an optional data area which can be used to pass parameters to
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* the task when the task first executes. Where the task is concerned it thinks
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* it was invoked and passed the argument 'p_arg' as follows:
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*
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* void Task (void *p_arg)
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* {
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* for (;;) {
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* Task code;
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* }
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* }
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*
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* ptos is a pointer to the task's top of stack. If the configuration constant
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* OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
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* memory to low memory). 'pstk' will thus point to the highest (valid) memory
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* location of the stack. If OS_STK_GROWTH is set to 0, 'pstk' will point to the
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* lowest memory location of the stack and the stack will grow with increasing
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* memory locations.
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*
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* prio is the task's priority. A unique priority MUST be assigned to each task and the
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* lower the number, the higher the priority.
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*
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* Returns : OS_ERR_NONE if the function was successful.
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* OS_ERR_PRIO_EXIST if the task priority already exist
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* (each task MUST have a unique priority).
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* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum
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* allowed (i.e. >= OS_LOWEST_PRIO)
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* OS_ERR_TASK_CREATE_ISR if you tried to create a task from an ISR.
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* OS_ERR_ILLEGAL_CREATE_RUN_TIME if you tried to create a task after safety critical
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* operation started.
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*********************************************************************************************************
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*/
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#if OS_TASK_CREATE_EN > 0u
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INT8U OSTaskCreate (void (*task)(void *p_arg),
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void *p_arg,
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OS_STK *ptos,
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INT8U prio)
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{
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OS_STK *psp;
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INT8U err;
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#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
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OS_CPU_SR cpu_sr = 0u;
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#endif
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#ifdef OS_SAFETY_CRITICAL_IEC61508
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if (OSSafetyCriticalStartFlag == OS_TRUE) {
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OS_SAFETY_CRITICAL_EXCEPTION();
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return (OS_ERR_ILLEGAL_CREATE_RUN_TIME);
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}
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#endif
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#if OS_ARG_CHK_EN > 0u
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if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
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return (OS_ERR_PRIO_INVALID);
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}
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#endif
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OS_ENTER_CRITICAL();
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if (OSIntNesting > 0u) { /* Make sure we don't create the task from within an ISR */
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OS_EXIT_CRITICAL();
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return (OS_ERR_TASK_CREATE_ISR);
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}
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if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
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OSTCBPrioTbl[prio] = OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... */
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/* ... the same thing until task is created. */
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OS_EXIT_CRITICAL();
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psp = OSTaskStkInit(task, p_arg, ptos, 0u); /* Initialize the task's stack */
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err = OS_TCBInit(prio, psp, (OS_STK *)0, 0u, 0u, (void *)0, 0u);
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if (err == OS_ERR_NONE) {
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OS_TRACE_TASK_CREATE(OSTCBPrioTbl[prio]);
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if (OSRunning == OS_TRUE) { /* Find highest priority task if multitasking has started */
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OS_Sched();
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}
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} else {
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OS_TRACE_TASK_CREATE_FAILED(OSTCBPrioTbl[prio]);
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OS_ENTER_CRITICAL();
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OSTCBPrioTbl[prio] = (OS_TCB *)0;/* Make this priority available to others */
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OS_EXIT_CRITICAL();
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}
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return (err);
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}
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OS_EXIT_CRITICAL();
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return (OS_ERR_PRIO_EXIST);
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}
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#endif
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/*
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*********************************************************************************************************
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* CREATE A TASK (Extended Version)
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*
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* Description: This function is used to have uC/OS-II manage the execution of a task. Tasks can either
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* be created prior to the start of multitasking or by a running task. A task cannot be
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* created by an ISR. This function is similar to OSTaskCreate() except that it allows
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* additional information about a task to be specified.
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*
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* Arguments : task is a pointer to the task's code
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*
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* p_arg is a pointer to an optional data area which can be used to pass parameters to
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* the task when the task first executes. Where the task is concerned it thinks
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* it was invoked and passed the argument 'p_arg' as follows:
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*
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* void Task (void *p_arg)
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* {
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* for (;;) {
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* Task code;
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* }
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* }
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*
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* ptos is a pointer to the task's top of stack. If the configuration constant
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* OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
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* memory to low memory). 'ptos' will thus point to the highest (valid) memory
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* location of the stack. If OS_STK_GROWTH is set to 0, 'ptos' will point to the
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* lowest memory location of the stack and the stack will grow with increasing
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* memory locations. 'ptos' MUST point to a valid 'free' data item.
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*
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* prio is the task's priority. A unique priority MUST be assigned to each task and the
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* lower the number, the higher the priority.
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*
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* id is the task's ID (0..65535)
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*
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* pbos is a pointer to the task's bottom of stack. If the configuration constant
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* OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
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* memory to low memory). 'pbos' will thus point to the LOWEST (valid) memory
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* location of the stack. If OS_STK_GROWTH is set to 0, 'pbos' will point to the
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* HIGHEST memory location of the stack and the stack will grow with increasing
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* memory locations. 'pbos' MUST point to a valid 'free' data item.
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*
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* stk_size is the size of the stack in number of elements. If OS_STK is set to INT8U,
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* 'stk_size' corresponds to the number of bytes available. If OS_STK is set to
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* INT16U, 'stk_size' contains the number of 16-bit entries available. Finally, if
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* OS_STK is set to INT32U, 'stk_size' contains the number of 32-bit entries
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* available on the stack.
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*
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* pext is a pointer to a user supplied memory location which is used as a TCB extension.
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* For example, this user memory can hold the contents of floating-point registers
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* during a context switch, the time each task takes to execute, the number of times
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* the task has been switched-in, etc.
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*
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* opt contains additional information (or options) about the behavior of the task. The
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* LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application
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* specific. See OS_TASK_OPT_??? in uCOS-II.H. Current choices are:
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*
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* OS_TASK_OPT_STK_CHK Stack checking to be allowed for the task
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* OS_TASK_OPT_STK_CLR Clear the stack when the task is created
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* OS_TASK_OPT_SAVE_FP If the CPU has floating-point registers, save them
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* during a context switch.
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*
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* Returns : OS_ERR_NONE if the function was successful.
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* OS_ERR_PRIO_EXIST if the task priority already exist
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* (each task MUST have a unique priority).
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* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum
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* allowed (i.e. > OS_LOWEST_PRIO)
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* OS_ERR_TASK_CREATE_ISR if you tried to create a task from an ISR.
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* OS_ERR_ILLEGAL_CREATE_RUN_TIME if you tried to create a task after safety critical
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* operation started.
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*********************************************************************************************************
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*/
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#if OS_TASK_CREATE_EXT_EN > 0u
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INT8U OSTaskCreateExt (void (*task)(void *p_arg),
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void *p_arg,
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OS_STK *ptos,
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INT8U prio,
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INT16U id,
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OS_STK *pbos,
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INT32U stk_size,
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void *pext,
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INT16U opt)
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{
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OS_STK *psp;
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INT8U err;
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#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
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OS_CPU_SR cpu_sr = 0u;
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#endif
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#ifdef OS_SAFETY_CRITICAL_IEC61508
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if (OSSafetyCriticalStartFlag == OS_TRUE) {
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OS_SAFETY_CRITICAL_EXCEPTION();
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return (OS_ERR_ILLEGAL_CREATE_RUN_TIME);
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}
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#endif
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#if OS_ARG_CHK_EN > 0u
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if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
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return (OS_ERR_PRIO_INVALID);
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}
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#endif
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OS_ENTER_CRITICAL();
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if (OSIntNesting > 0u) { /* Make sure we don't create the task from within an ISR */
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OS_EXIT_CRITICAL();
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return (OS_ERR_TASK_CREATE_ISR);
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}
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if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
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OSTCBPrioTbl[prio] = OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... */
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/* ... the same thing until task is created. */
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OS_EXIT_CRITICAL();
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#if (OS_TASK_STAT_STK_CHK_EN > 0u)
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OS_TaskStkClr(pbos, stk_size, opt); /* Clear the task stack (if needed) */
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#endif
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psp = OSTaskStkInit(task, p_arg, ptos, opt); /* Initialize the task's stack */
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err = OS_TCBInit(prio, psp, pbos, id, stk_size, pext, opt);
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if (err == OS_ERR_NONE) {
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OS_TRACE_TASK_CREATE(OSTCBPrioTbl[prio]);
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if (OSRunning == OS_TRUE) { /* Find HPT if multitasking has started */
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OS_Sched();
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}
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} else {
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OS_ENTER_CRITICAL();
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OSTCBPrioTbl[prio] = (OS_TCB *)0; /* Make this priority avail. to others */
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OS_EXIT_CRITICAL();
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}
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return (err);
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}
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OS_EXIT_CRITICAL();
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return (OS_ERR_PRIO_EXIST);
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}
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#endif
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/*
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*********************************************************************************************************
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* DELETE A TASK
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*
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* Description: This function allows you to delete a task. The calling task can delete itself by
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* its own priority number. The deleted task is returned to the dormant state and can be
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* re-activated by creating the deleted task again.
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*
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* Arguments : prio is the priority of the task to delete. Note that you can explicitly delete
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* the current task without knowing its priority level by setting 'prio' to
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* OS_PRIO_SELF.
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*
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* Returns : OS_ERR_NONE if the call is successful
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* OS_ERR_ILLEGAL_DEL_RUN_TIME if you tried to delete a task after safety critical operation
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* started.
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* OS_ERR_TASK_DEL_IDLE if you attempted to delete uC/OS-II's idle task
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* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
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* (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
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* OS_ERR_TASK_DEL if the task is assigned to a Mutex PIP.
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* OS_ERR_TASK_NOT_EXIST if the task you want to delete does not exist.
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* OS_ERR_TASK_DEL_ISR if you tried to delete a task from an ISR
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*
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* Notes : 1) To reduce interrupt latency, OSTaskDel() 'disables' the task:
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* a) by making it not ready
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* b) by removing it from any wait lists
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* c) by preventing OSTimeTick() from making the task ready to run.
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* The task can then be 'unlinked' from the miscellaneous structures in uC/OS-II.
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* 2) The function OS_Dummy() is called after OS_EXIT_CRITICAL() because, on most processors,
|
|
* the next instruction following the enable interrupt instruction is ignored.
|
|
* 3) An ISR cannot delete a task.
|
|
* 4) The lock nesting counter is incremented because, for a brief instant, if the current
|
|
* task is being deleted, the current task would not be able to be rescheduled because it
|
|
* is removed from the ready list. Incrementing the nesting counter prevents another task
|
|
* from being schedule. This means that an ISR would return to the current task which is
|
|
* being deleted. The rest of the deletion would thus be able to be completed.
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_DEL_EN > 0u
|
|
INT8U OSTaskDel (INT8U prio)
|
|
{
|
|
#if (OS_FLAG_EN > 0u) && (OS_MAX_FLAGS > 0u)
|
|
OS_FLAG_NODE *pnode;
|
|
#endif
|
|
OS_TCB *ptcb;
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef OS_SAFETY_CRITICAL_IEC61508
|
|
if (OSSafetyCriticalStartFlag == OS_TRUE) {
|
|
OS_SAFETY_CRITICAL_EXCEPTION();
|
|
return (OS_ERR_ILLEGAL_DEL_RUN_TIME);
|
|
}
|
|
#endif
|
|
|
|
if (OSIntNesting > 0u) { /* 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 > 0u
|
|
if (prio >= OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
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] &= (OS_PRIO)~ptcb->OSTCBBitX;
|
|
OS_TRACE_TASK_SUSPENDED(ptcb);
|
|
if (OSRdyTbl[ptcb->OSTCBY] == 0u) { /* Make task not ready */
|
|
OSRdyGrp &= (OS_PRIO)~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 > 0u)
|
|
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 > 0u) && (OS_MAX_FLAGS > 0u)
|
|
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 = 0u; /* 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 > 0u) { /* Remove context switch lock */
|
|
OSLockNesting--;
|
|
}
|
|
OSTaskDelHook(ptcb); /* Call user defined hook */
|
|
|
|
#if OS_TASK_CREATE_EXT_EN > 0u
|
|
#if defined(OS_TLS_TBL_SIZE) && (OS_TLS_TBL_SIZE > 0u)
|
|
OS_TLS_TaskDel(ptcb); /* Call TLS hook */
|
|
#endif
|
|
#endif
|
|
|
|
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_EN > 0u
|
|
ptcb->OSTCBTaskName = (INT8U *)(void *)"?";
|
|
#endif
|
|
OS_EXIT_CRITICAL();
|
|
if (OSRunning == OS_TRUE) {
|
|
OS_Sched(); /* Find new highest priority task */
|
|
}
|
|
return (OS_ERR_NONE);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* REQUEST THAT A TASK DELETE ITSELF
|
|
*
|
|
* Description: This function is used to:
|
|
* a) notify a task to delete itself.
|
|
* b) to see if a task requested that the current task delete itself.
|
|
* This function is a little tricky to understand. Basically, you have a task that needs
|
|
* to be deleted however, this task has resources that it has allocated (memory buffers,
|
|
* semaphores, mailboxes, queues etc.). The task cannot be deleted otherwise these
|
|
* resources would not be freed. The requesting task calls OSTaskDelReq() to indicate that
|
|
* the task needs to be deleted. Deleting of the task is however, deferred to the task to
|
|
* be deleted. For example, suppose that task #10 needs to be deleted. The requesting task
|
|
* example, task #5, would call OSTaskDelReq(10). When task #10 gets to execute, it calls
|
|
* this function by specifying OS_PRIO_SELF and monitors the returned value. If the return
|
|
* value is OS_ERR_TASK_DEL_REQ, another task requested a task delete. Task #10 would look like
|
|
* this:
|
|
*
|
|
* void Task(void *p_arg)
|
|
* {
|
|
* .
|
|
* .
|
|
* while (1) {
|
|
* OSTimeDly(1);
|
|
* if (OSTaskDelReq(OS_PRIO_SELF) == OS_ERR_TASK_DEL_REQ) {
|
|
* Release any owned resources;
|
|
* De-allocate any dynamic memory;
|
|
* OSTaskDel(OS_PRIO_SELF);
|
|
* }
|
|
* }
|
|
* }
|
|
*
|
|
* Arguments : prio is the priority of the task to request the delete from
|
|
*
|
|
* Returns : OS_ERR_NONE if the task exist and the request has been registered
|
|
* OS_ERR_ILLEGAL_DEL_RUN_TIME if you tried to delete a task after safety critical operation
|
|
* started.
|
|
* OS_ERR_TASK_NOT_EXIST if the task has been deleted. This allows the caller to know
|
|
* whether the request has been executed.
|
|
* OS_ERR_TASK_DEL if the task is assigned to a Mutex.
|
|
* OS_ERR_TASK_DEL_IDLE if you requested to delete uC/OS-II's idle task
|
|
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
|
* (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
|
|
* OS_ERR_TASK_DEL_REQ if a task (possibly another task) requested that the running
|
|
* task be deleted.
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_DEL_EN > 0u
|
|
INT8U OSTaskDelReq (INT8U prio)
|
|
{
|
|
INT8U stat;
|
|
OS_TCB *ptcb;
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#ifdef OS_SAFETY_CRITICAL_IEC61508
|
|
if (OSSafetyCriticalStartFlag == OS_TRUE) {
|
|
OS_SAFETY_CRITICAL_EXCEPTION();
|
|
return (OS_ERR_ILLEGAL_DEL_RUN_TIME);
|
|
}
|
|
#endif
|
|
|
|
if (prio == OS_TASK_IDLE_PRIO) { /* Not allowed to delete idle task */
|
|
return (OS_ERR_TASK_DEL_IDLE);
|
|
}
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio >= OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
}
|
|
#endif
|
|
if (prio == OS_PRIO_SELF) { /* See if a task is requesting to ... */
|
|
OS_ENTER_CRITICAL(); /* ... this task to delete itself */
|
|
stat = OSTCBCur->OSTCBDelReq; /* Return request status to caller */
|
|
OS_EXIT_CRITICAL();
|
|
return (stat);
|
|
}
|
|
OS_ENTER_CRITICAL();
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Task to delete must exist */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST); /* Task must already be deleted */
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* Must NOT be assigned to a Mutex */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_DEL);
|
|
}
|
|
ptcb->OSTCBDelReq = OS_ERR_TASK_DEL_REQ; /* Set flag indicating task to be DEL. */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_NONE);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* GET THE NAME OF A TASK
|
|
*
|
|
* Description: This function is called to obtain the name of a task.
|
|
*
|
|
* Arguments : prio is the priority of the task that you want to obtain the name from.
|
|
*
|
|
* pname is a pointer to a pointer to an ASCII string that will receive the name of the task.
|
|
*
|
|
* 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_TASK_NOT_EXIST if the task has not been created or is assigned to a Mutex
|
|
* OS_ERR_PRIO_INVALID if you specified an invalid priority:
|
|
* A higher value than the idle task or not OS_PRIO_SELF.
|
|
* OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname'
|
|
* OS_ERR_NAME_GET_ISR You called this function from an ISR
|
|
*
|
|
*
|
|
* Returns : The length of the string or 0 if the task does not exist.
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_NAME_EN > 0u
|
|
INT8U OSTaskNameGet (INT8U prio,
|
|
INT8U **pname,
|
|
INT8U *perr)
|
|
{
|
|
OS_TCB *ptcb;
|
|
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 (prio > OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
*perr = OS_ERR_PRIO_INVALID; /* No */
|
|
return (0u);
|
|
}
|
|
}
|
|
if (pname == (INT8U **)0) { /* Is 'pname' a NULL pointer? */
|
|
*perr = OS_ERR_PNAME_NULL; /* Yes */
|
|
return (0u);
|
|
}
|
|
#endif
|
|
if (OSIntNesting > 0u) { /* See if trying to call from an ISR */
|
|
*perr = OS_ERR_NAME_GET_ISR;
|
|
return (0u);
|
|
}
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if caller desires it's own name */
|
|
prio = OSTCBCur->OSTCBPrio;
|
|
}
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Does task exist? */
|
|
OS_EXIT_CRITICAL(); /* No */
|
|
*perr = OS_ERR_TASK_NOT_EXIST;
|
|
return (0u);
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* Task assigned to a Mutex? */
|
|
OS_EXIT_CRITICAL(); /* Yes */
|
|
*perr = OS_ERR_TASK_NOT_EXIST;
|
|
return (0u);
|
|
}
|
|
*pname = ptcb->OSTCBTaskName;
|
|
len = OS_StrLen(*pname);
|
|
OS_EXIT_CRITICAL();
|
|
*perr = OS_ERR_NONE;
|
|
return (len);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* ASSIGN A NAME TO A TASK
|
|
*
|
|
* Description: This function is used to set the name of a task.
|
|
*
|
|
* Arguments : prio is the priority of the task that you want the assign a name to.
|
|
*
|
|
* pname is a pointer to an ASCII string that contains the name of the task.
|
|
*
|
|
* 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_TASK_NOT_EXIST if the task has not been created or is assigned to a Mutex
|
|
* OS_ERR_PNAME_NULL You passed a NULL pointer for 'pname'
|
|
* OS_ERR_PRIO_INVALID if you specified an invalid priority:
|
|
* A higher value than the idle task or not OS_PRIO_SELF.
|
|
* OS_ERR_NAME_SET_ISR if you called this function from an ISR
|
|
*
|
|
* Returns : None
|
|
*********************************************************************************************************
|
|
*/
|
|
#if OS_TASK_NAME_EN > 0u
|
|
void OSTaskNameSet (INT8U prio,
|
|
INT8U *pname,
|
|
INT8U *perr)
|
|
{
|
|
OS_TCB *ptcb;
|
|
#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 (prio > OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
*perr = OS_ERR_PRIO_INVALID; /* No */
|
|
return;
|
|
}
|
|
}
|
|
if (pname == (INT8U *)0) { /* Is 'pname' a NULL pointer? */
|
|
*perr = OS_ERR_PNAME_NULL; /* Yes */
|
|
return;
|
|
}
|
|
#endif
|
|
if (OSIntNesting > 0u) { /* See if trying to call from an ISR */
|
|
*perr = OS_ERR_NAME_SET_ISR;
|
|
return;
|
|
}
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if caller desires to set it's own name */
|
|
prio = OSTCBCur->OSTCBPrio;
|
|
}
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Does task exist? */
|
|
OS_EXIT_CRITICAL(); /* No */
|
|
*perr = OS_ERR_TASK_NOT_EXIST;
|
|
return;
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* Task assigned to a Mutex? */
|
|
OS_EXIT_CRITICAL(); /* Yes */
|
|
*perr = OS_ERR_TASK_NOT_EXIST;
|
|
return;
|
|
}
|
|
ptcb->OSTCBTaskName = pname;
|
|
OS_TRACE_TASK_NAME_SET(ptcb);
|
|
OS_EXIT_CRITICAL();
|
|
*perr = OS_ERR_NONE;
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* RESUME A SUSPENDED TASK
|
|
*
|
|
* Description: This function is called to resume a previously suspended task. This is the only call that
|
|
* will remove an explicit task suspension.
|
|
*
|
|
* Arguments : prio is the priority of the task to resume.
|
|
*
|
|
* Returns : OS_ERR_NONE if the requested task is resumed
|
|
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
|
* (i.e. >= OS_LOWEST_PRIO)
|
|
* OS_ERR_TASK_RESUME_PRIO if the task to resume does not exist
|
|
* OS_ERR_TASK_NOT_EXIST if the task is assigned to a Mutex PIP
|
|
* OS_ERR_TASK_NOT_SUSPENDED if the task to resume has not been suspended
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_SUSPEND_EN > 0u
|
|
INT8U OSTaskResume (INT8U prio)
|
|
{
|
|
OS_TCB *ptcb;
|
|
#if OS_CRITICAL_METHOD == 3u /* Storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio >= OS_LOWEST_PRIO) { /* Make sure task priority is valid */
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
#endif
|
|
OS_ENTER_CRITICAL();
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Task to suspend must exist */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_RESUME_PRIO);
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* See if assigned to Mutex */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST);
|
|
}
|
|
if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) != OS_STAT_RDY) { /* Task must be suspended */
|
|
ptcb->OSTCBStat &= (INT8U)~(INT8U)OS_STAT_SUSPEND; /* Remove suspension */
|
|
if ((ptcb->OSTCBStat & OS_STAT_PEND_ANY) == OS_STAT_RDY) { /* See if task is now ready */
|
|
if (ptcb->OSTCBDly == 0u) {
|
|
OSRdyGrp |= ptcb->OSTCBBitY; /* Yes, Make task ready to run */
|
|
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
|
|
OS_TRACE_TASK_READY(ptcb);
|
|
OS_EXIT_CRITICAL();
|
|
if (OSRunning == OS_TRUE) {
|
|
OS_TRACE_TASK_RESUME(ptcb);
|
|
OS_Sched(); /* Find new highest priority task */
|
|
}
|
|
} else {
|
|
OS_EXIT_CRITICAL();
|
|
}
|
|
} else { /* Must be pending on event */
|
|
OS_EXIT_CRITICAL();
|
|
}
|
|
return (OS_ERR_NONE);
|
|
}
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_SUSPENDED);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* STACK CHECKING
|
|
*
|
|
* Description: This function is called to check the amount of free memory left on the specified task's
|
|
* stack.
|
|
*
|
|
* Arguments : prio is the task priority
|
|
*
|
|
* p_stk_data is a pointer to a data structure of type OS_STK_DATA.
|
|
*
|
|
* Returns : OS_ERR_NONE upon success
|
|
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
|
* (i.e. > OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
|
|
* OS_ERR_TASK_NOT_EXIST if the desired task has not been created or is assigned to a Mutex PIP
|
|
* OS_ERR_TASK_OPT if you did NOT specified OS_TASK_OPT_STK_CHK when the task was created
|
|
* OS_ERR_PDATA_NULL if 'p_stk_data' is a NULL pointer
|
|
*********************************************************************************************************
|
|
*/
|
|
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u)
|
|
INT8U OSTaskStkChk (INT8U prio,
|
|
OS_STK_DATA *p_stk_data)
|
|
{
|
|
OS_TCB *ptcb;
|
|
OS_STK *pchk;
|
|
INT32U nfree;
|
|
INT32U size;
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio > OS_LOWEST_PRIO) { /* Make sure task priority is valid */
|
|
if (prio != OS_PRIO_SELF) {
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
}
|
|
if (p_stk_data == (OS_STK_DATA *)0) { /* Validate 'p_stk_data' */
|
|
return (OS_ERR_PDATA_NULL);
|
|
}
|
|
#endif
|
|
p_stk_data->OSFree = 0u; /* Assume failure, set to 0 size */
|
|
p_stk_data->OSUsed = 0u;
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if check for SELF */
|
|
prio = OSTCBCur->OSTCBPrio;
|
|
}
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Make sure task exist */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST);
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) {
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST);
|
|
}
|
|
if ((ptcb->OSTCBOpt & OS_TASK_OPT_STK_CHK) == 0u) { /* Make sure stack checking option is set */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_OPT);
|
|
}
|
|
nfree = 0u;
|
|
size = ptcb->OSTCBStkSize;
|
|
pchk = ptcb->OSTCBStkBottom;
|
|
OS_EXIT_CRITICAL();
|
|
#if OS_STK_GROWTH == 1u
|
|
while (*pchk++ == (OS_STK)0) { /* Compute the number of zero entries on the stk */
|
|
nfree++;
|
|
}
|
|
#else
|
|
while (*pchk-- == (OS_STK)0) {
|
|
nfree++;
|
|
}
|
|
#endif
|
|
p_stk_data->OSFree = nfree; /* Store number of free entries on the stk */
|
|
p_stk_data->OSUsed = size - nfree; /* Compute number of entries used on the stk */
|
|
return (OS_ERR_NONE);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* SUSPEND A TASK
|
|
*
|
|
* Description: This function is called to suspend a task. The task can be the calling task if the
|
|
* priority passed to OSTaskSuspend() is the priority of the calling task or OS_PRIO_SELF.
|
|
*
|
|
* Arguments : prio is the priority of the task to suspend. If you specify OS_PRIO_SELF, the
|
|
* calling task will suspend itself and rescheduling will occur.
|
|
*
|
|
* Returns : OS_ERR_NONE if the requested task is suspended
|
|
* OS_ERR_TASK_SUSPEND_IDLE if you attempted to suspend the idle task which is not allowed.
|
|
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
|
* (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
|
|
* OS_ERR_TASK_SUSPEND_PRIO if the task to suspend does not exist
|
|
* OS_ERR_TASK_NOT_EXIST if the task is assigned to a Mutex PIP
|
|
*
|
|
* Note : You should use this function with great care. If you suspend a task that is waiting for
|
|
* an event (i.e. a message, a semaphore, a queue ...) you will prevent this task from
|
|
* running when the event arrives.
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_SUSPEND_EN > 0u
|
|
INT8U OSTaskSuspend (INT8U prio)
|
|
{
|
|
BOOLEAN self;
|
|
OS_TCB *ptcb;
|
|
INT8U y;
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio == OS_TASK_IDLE_PRIO) { /* Not allowed to suspend idle task */
|
|
return (OS_ERR_TASK_SUSPEND_IDLE);
|
|
}
|
|
if (prio >= OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
}
|
|
#endif
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if suspend SELF */
|
|
prio = OSTCBCur->OSTCBPrio;
|
|
self = OS_TRUE;
|
|
} else if (prio == OSTCBCur->OSTCBPrio) { /* See if suspending self */
|
|
self = OS_TRUE;
|
|
} else {
|
|
self = OS_FALSE; /* No suspending another task */
|
|
}
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Task to suspend must exist */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_SUSPEND_PRIO);
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* See if assigned to Mutex */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST);
|
|
}
|
|
y = ptcb->OSTCBY;
|
|
OSRdyTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX; /* Make task not ready */
|
|
if (OSRdyTbl[y] == 0u) {
|
|
OSRdyGrp &= (OS_PRIO)~ptcb->OSTCBBitY;
|
|
}
|
|
ptcb->OSTCBStat |= OS_STAT_SUSPEND; /* Status of task is 'SUSPENDED' */
|
|
OS_EXIT_CRITICAL();
|
|
OS_TRACE_TASK_SUSPEND(ptcb);
|
|
OS_TRACE_TASK_SUSPENDED(ptcb);
|
|
if (self == OS_TRUE) { /* Context switch only if SELF */
|
|
OS_Sched(); /* Find new highest priority task */
|
|
}
|
|
return (OS_ERR_NONE);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* QUERY A TASK
|
|
*
|
|
* Description: This function is called to obtain a copy of the desired task's TCB.
|
|
*
|
|
* Arguments : prio is the priority of the task to obtain information from.
|
|
*
|
|
* p_task_data is a pointer to where the desired task's OS_TCB will be stored.
|
|
*
|
|
* Returns : OS_ERR_NONE if the requested task is suspended
|
|
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
|
* (i.e. > OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF.
|
|
* OS_ERR_PRIO if the desired task has not been created
|
|
* OS_ERR_TASK_NOT_EXIST if the task is assigned to a Mutex PIP
|
|
* OS_ERR_PDATA_NULL if 'p_task_data' is a NULL pointer
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_QUERY_EN > 0u
|
|
INT8U OSTaskQuery (INT8U prio,
|
|
OS_TCB *p_task_data)
|
|
{
|
|
OS_TCB *ptcb;
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
|
|
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio > OS_LOWEST_PRIO) { /* Task priority valid ? */
|
|
if (prio != OS_PRIO_SELF) {
|
|
return (OS_ERR_PRIO_INVALID);
|
|
}
|
|
}
|
|
if (p_task_data == (OS_TCB *)0) { /* Validate 'p_task_data' */
|
|
return (OS_ERR_PDATA_NULL);
|
|
}
|
|
#endif
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if suspend SELF */
|
|
prio = OSTCBCur->OSTCBPrio;
|
|
}
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
if (ptcb == (OS_TCB *)0) { /* Task to query must exist */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_PRIO);
|
|
}
|
|
if (ptcb == OS_TCB_RESERVED) { /* Task to query must not be assigned to a Mutex */
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_TASK_NOT_EXIST);
|
|
}
|
|
/* Copy TCB into user storage area */
|
|
OS_MemCopy((INT8U *)p_task_data, (INT8U *)ptcb, sizeof(OS_TCB));
|
|
OS_EXIT_CRITICAL();
|
|
return (OS_ERR_NONE);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* GET THE CURRENT VALUE OF A TASK REGISTER
|
|
*
|
|
* Description: This function is called to obtain the current value of a task register. Task registers
|
|
* are application specific and can be used to store task specific values such as 'error
|
|
* numbers' (i.e. errno), statistics, etc. Each task register can hold a 32-bit value.
|
|
*
|
|
* Arguments : prio is the priority of the task you want to get the task register from. If you
|
|
* specify OS_PRIO_SELF then the task register of the current task will be obtained.
|
|
*
|
|
* id is the 'id' of the desired task register. Note that the 'id' must be less
|
|
* than OS_TASK_REG_TBL_SIZE
|
|
*
|
|
* perr is a pointer to a variable that will hold an error code related to this call.
|
|
*
|
|
* OS_ERR_NONE if the call was successful
|
|
* OS_ERR_PRIO_INVALID if you specified an invalid priority
|
|
* OS_ERR_ID_INVALID if the 'id' is not between 0 and OS_TASK_REG_TBL_SIZE-1
|
|
*
|
|
* Returns : The current value of the task's register or 0 if an error is detected.
|
|
*
|
|
* Note(s) : The maximum number of task variables is 254
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_REG_TBL_SIZE > 0u
|
|
INT32U OSTaskRegGet (INT8U prio,
|
|
INT8U id,
|
|
INT8U *perr)
|
|
{
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
INT32U value;
|
|
OS_TCB *ptcb;
|
|
|
|
|
|
|
|
#ifdef OS_SAFETY_CRITICAL
|
|
if (perr == (INT8U *)0) {
|
|
OS_SAFETY_CRITICAL_EXCEPTION();
|
|
return (0u);
|
|
}
|
|
#endif
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio >= OS_LOWEST_PRIO) {
|
|
if (prio != OS_PRIO_SELF) {
|
|
*perr = OS_ERR_PRIO_INVALID;
|
|
return (0u);
|
|
}
|
|
}
|
|
if (id >= OS_TASK_REG_TBL_SIZE) {
|
|
*perr = OS_ERR_ID_INVALID;
|
|
return (0u);
|
|
}
|
|
#endif
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if need to get register from current task */
|
|
ptcb = OSTCBCur;
|
|
} else {
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
}
|
|
value = ptcb->OSTCBRegTbl[id];
|
|
OS_EXIT_CRITICAL();
|
|
*perr = OS_ERR_NONE;
|
|
return (value);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
************************************************************************************************************************
|
|
* ALLOCATE THE NEXT AVAILABLE TASK REGISTER ID
|
|
*
|
|
* Description: This function is called to obtain a task register ID. This function thus allows task registers IDs to be
|
|
* allocated dynamically instead of statically.
|
|
*
|
|
* Arguments : p_err is a pointer to a variable that will hold an error code related to this call.
|
|
*
|
|
* OS_ERR_NONE if the call was successful
|
|
* OS_ERR_NO_MORE_ID_AVAIL if you are attempting to assign more task register IDs than you
|
|
* have available through OS_TASK_REG_TBL_SIZE.
|
|
*
|
|
* Returns : The next available task register 'id' or OS_TASK_REG_TBL_SIZE if an error is detected.
|
|
************************************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_REG_TBL_SIZE > 0u
|
|
INT8U OSTaskRegGetID (INT8U *perr)
|
|
{
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
INT8U id;
|
|
|
|
|
|
#ifdef OS_SAFETY_CRITICAL
|
|
if (perr == (INT8U *)0) {
|
|
OS_SAFETY_CRITICAL_EXCEPTION();
|
|
return ((INT8U)OS_TASK_REG_TBL_SIZE);
|
|
}
|
|
#endif
|
|
|
|
OS_ENTER_CRITICAL();
|
|
if (OSTaskRegNextAvailID >= OS_TASK_REG_TBL_SIZE) { /* See if we exceeded the number of IDs available */
|
|
*perr = OS_ERR_NO_MORE_ID_AVAIL; /* Yes, cannot allocate more task register IDs */
|
|
OS_EXIT_CRITICAL();
|
|
return ((INT8U)OS_TASK_REG_TBL_SIZE);
|
|
}
|
|
|
|
id = OSTaskRegNextAvailID; /* Assign the next available ID */
|
|
OSTaskRegNextAvailID++; /* Increment available ID for next request */
|
|
OS_EXIT_CRITICAL();
|
|
*perr = OS_ERR_NONE;
|
|
return (id);
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* SET THE CURRENT VALUE OF A TASK VARIABLE
|
|
*
|
|
* Description: This function is called to change the current value of a task register. Task registers
|
|
* are application specific and can be used to store task specific values such as 'error
|
|
* numbers' (i.e. errno), statistics, etc. Each task register can hold a 32-bit value.
|
|
*
|
|
* Arguments : prio is the priority of the task you want to set the task register for. If you
|
|
* specify OS_PRIO_SELF then the task register of the current task will be obtained.
|
|
*
|
|
* id is the 'id' of the desired task register. Note that the 'id' must be less
|
|
* than OS_TASK_REG_TBL_SIZE
|
|
*
|
|
* value is the desired value for the task register.
|
|
*
|
|
* perr is a pointer to a variable that will hold an error code related to this call.
|
|
*
|
|
* OS_ERR_NONE if the call was successful
|
|
* OS_ERR_PRIO_INVALID if you specified an invalid priority
|
|
* OS_ERR_ID_INVALID if the 'id' is not between 0 and OS_TASK_REG_TBL_SIZE-1
|
|
*
|
|
* Returns : The current value of the task's variable or 0 if an error is detected.
|
|
*
|
|
* Note(s) : The maximum number of task variables is 254
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
#if OS_TASK_REG_TBL_SIZE > 0u
|
|
void OSTaskRegSet (INT8U prio,
|
|
INT8U id,
|
|
INT32U value,
|
|
INT8U *perr)
|
|
{
|
|
#if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */
|
|
OS_CPU_SR cpu_sr = 0u;
|
|
#endif
|
|
OS_TCB *ptcb;
|
|
|
|
|
|
#ifdef OS_SAFETY_CRITICAL
|
|
if (perr == (INT8U *)0) {
|
|
OS_SAFETY_CRITICAL_EXCEPTION();
|
|
return;
|
|
}
|
|
#endif
|
|
|
|
#if OS_ARG_CHK_EN > 0u
|
|
if (prio >= OS_LOWEST_PRIO) {
|
|
if (prio != OS_PRIO_SELF) {
|
|
*perr = OS_ERR_PRIO_INVALID;
|
|
return;
|
|
}
|
|
}
|
|
if (id >= OS_TASK_REG_TBL_SIZE) {
|
|
*perr = OS_ERR_ID_INVALID;
|
|
return;
|
|
}
|
|
#endif
|
|
OS_ENTER_CRITICAL();
|
|
if (prio == OS_PRIO_SELF) { /* See if need to get register from current task */
|
|
ptcb = OSTCBCur;
|
|
} else {
|
|
ptcb = OSTCBPrioTbl[prio];
|
|
}
|
|
ptcb->OSTCBRegTbl[id] = value;
|
|
OS_EXIT_CRITICAL();
|
|
*perr = OS_ERR_NONE;
|
|
}
|
|
#endif
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* CATCH ACCIDENTAL TASK RETURN
|
|
*
|
|
* Description: This function is called if a task accidentally returns without deleting itself. In other
|
|
* words, a task should either be an infinite loop or delete itself if it's done.
|
|
*
|
|
* Arguments : none
|
|
*
|
|
* Returns : none
|
|
*
|
|
* Note(s) : This function is INTERNAL to uC/OS-II and your application should not call it.
|
|
*********************************************************************************************************
|
|
*/
|
|
|
|
void OS_TaskReturn (void)
|
|
{
|
|
OSTaskReturnHook(OSTCBCur); /* Call hook to let user decide on what to do */
|
|
|
|
#if OS_TASK_DEL_EN > 0u
|
|
(void)OSTaskDel(OS_PRIO_SELF); /* Delete task if it accidentally returns! */
|
|
#else
|
|
for (;;) {
|
|
OSTimeDly(OS_TICKS_PER_SEC);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
|
|
/*
|
|
*********************************************************************************************************
|
|
* CLEAR TASK STACK
|
|
*
|
|
* Description: This function is used to clear the stack of a task (i.e. write all zeros)
|
|
*
|
|
* Arguments : pbos is a pointer to the task's bottom of stack. If the configuration constant
|
|
* OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high
|
|
* memory to low memory). 'pbos' will thus point to the lowest (valid) memory
|
|
* location of the stack. If OS_STK_GROWTH is set to 0, 'pbos' will point to the
|
|
* highest memory location of the stack and the stack will grow with increasing
|
|
* memory locations. 'pbos' MUST point to a valid 'free' data item.
|
|
*
|
|
* size is the number of 'stack elements' to clear.
|
|
*
|
|
* opt contains additional information (or options) about the behavior of the task. The
|
|
* LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application
|
|
* specific. See OS_TASK_OPT_??? in uCOS-II.H.
|
|
*
|
|
* Returns : none
|
|
*********************************************************************************************************
|
|
*/
|
|
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u)
|
|
void OS_TaskStkClr (OS_STK *pbos,
|
|
INT32U size,
|
|
INT16U opt)
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{
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if ((opt & OS_TASK_OPT_STK_CHK) != 0x0000u) { /* See if stack checking has been enabled */
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if ((opt & OS_TASK_OPT_STK_CLR) != 0x0000u) { /* See if stack needs to be cleared */
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#if OS_STK_GROWTH == 1u
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|
while (size > 0u) { /* Stack grows from HIGH to LOW memory */
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|
size--;
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|
*pbos++ = (OS_STK)0; /* Clear from bottom of stack and up! */
|
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}
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|
#else
|
|
while (size > 0u) { /* Stack grows from LOW to HIGH memory */
|
|
size--;
|
|
*pbos-- = (OS_STK)0; /* Clear from bottom of stack and down */
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif
|
|
#endif /* OS_TASK_C */
|