标签：err TASK ERR UcOs 0u OS task 源码 tcb
//作用：包含任务管理的代码，使用OSTaskCreate()，OSTaskDel()，OSTaskChangePrio()等函数实现；
/*
*********************************************************************************************************
* uC/OS-III
* The Real-Time Kernel
*
* Copyright 2009-2022 Silicon Laboratories Inc. www.silabs.com
*
* SPDX-License-Identifier: APACHE-2.0
*
* This software is subject to an open source license and is distributed by
* Silicon Laboratories Inc. pursuant to the terms of the Apache License,
* Version 2.0 available at www.apache.org/licenses/LICENSE-2.0.
*
*********************************************************************************************************
*/
/*
*********************************************************************************************************
* TASK MANAGEMENT
*
* File : os_task.c
* Version : V3.08.02
*********************************************************************************************************
*/
#define MICRIUM_SOURCE
#include "os.h"
#ifdef VSC_INCLUDE_SOURCE_FILE_NAMES
const CPU_CHAR *os_task__c = "$Id: $";
#endif
/*
************************************************************************************************************************
* CHANGE PRIORITY OF A TASK
*
* Description: This function allows you to change the priority of a task dynamically. Note that the new
* priority MUST be available.
*
* Arguments : p_tcb is the TCB of the tack to change the priority for
*
* prio_new is the new priority
*
* p_err is a pointer to an error code returned by this function:
*
* OS_ERR_NONE Is the call was successful
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_PRIO_INVALID If the priority you specify is higher that the maximum allowed
* (i.e. >= (OS_CFG_PRIO_MAX-1)) or already in use by a kernel
* task
* OS_ERR_STATE_INVALID If the task is in an invalid state
* OS_ERR_TASK_CHANGE_PRIO_ISR If you tried to change the task's priority from an ISR
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_CHANGE_PRIO_EN > 0u)
// 修改任务的优先级
void OSTaskChangePrio(OS_TCB *p_tcb,
OS_PRIO prio_new,
OS_ERR *p_err)
{
#if (OS_CFG_MUTEX_EN > 0u)
OS_PRIO prio_high;
#endif
CPU_SR_ALLOC(); // 分配CPU状态寄存器
#ifdef OS_SAFETY_CRITICAL
// 在安全关键应用中，检查错误参数是否为空
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#if (OS_CFG_ARG_CHK_EN > 0u)
// 检查任务控制块指针是否有效，并且任务状态不是删除
if ((p_tcb != (OS_TCB *)0) && (p_tcb->TaskState == OS_TASK_STATE_DEL))
{
*p_err = OS_ERR_STATE_INVALID;
return;
}
#endif
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
// 检查是否在中断服务程序中调用，不允许在中断中改变任务优先级
if (OSIntNestingCtr > 0u)
{
*p_err = OS_ERR_TASK_CHANGE_PRIO_ISR;
return;
}
#endif
// 检查新优先级是否有效，不能设置为闲置任务的优先级
if (prio_new >= (OS_CFG_PRIO_MAX - 1u))
{
*p_err = OS_ERR_PRIO_INVALID;
return;
}
CPU_CRITICAL_ENTER(); // 进入临界区
// 如果任务控制块指针为空，表示要修改当前任务的优先级
if (p_tcb == (OS_TCB *)0)
{
if (OSRunning != OS_STATE_OS_RUNNING)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_OS_NOT_RUNNING;
return;
}
p_tcb = OSTCBCurPtr;
}
#if (OS_CFG_MUTEX_EN > 0u)
// 更新任务的基础优先级
p_tcb->BasePrio = prio_new;
// 如果任务持有互斥信号量，需要进行优先级继承的处理
if (p_tcb->MutexGrpHeadPtr != (OS_MUTEX *)0)
{
if (prio_new > p_tcb->Prio)
{
prio_high = OS_MutexGrpPrioFindHighest(p_tcb);
if (prio_new > prio_high)
{
prio_new = prio_high;
}
}
}
#endif
// 调用内核函数修改任务优先级
OS_TaskChangePrio(p_tcb, prio_new);
// 跟踪任务优先级改变
OS_TRACE_TASK_PRIO_CHANGE(p_tcb, prio_new);
CPU_CRITICAL_EXIT(); // 退出临界区
// 如果操作系统正在运行，进行任务调度
if (OSRunning == OS_STATE_OS_RUNNING)
{
OSSched();
}
*p_err = OS_ERR_NONE; // 设置无错误
}
#endif
/*
************************************************************************************************************************
* CREATE A TASK
*
* Description: This function is used to have uC/OS-III manage the execution of a task. Tasks can either be created
* prior to the start of multitasking or by a running task. A task cannot be created by an ISR.
*
* Arguments : p_tcb is a pointer to the task's TCB
*
* p_name is a pointer to an ASCII string to provide a name to the task.
*
* p_task is a pointer to the task's code
*
* p_arg is a pointer to an optional data area which can be used to pass parameters to
* the task when the task first executes. Where the task is concerned it thinks
* it was invoked and passed the argument 'p_arg' as follows:
*
* void Task (void *p_arg)
* {
* for (;;) {
* Task code;
* }
* }
*
* prio is the task's priority. A unique priority MUST be assigned to each task and the
* lower the number, the higher the priority.
*
* p_stk_base is a pointer to the base address of the stack (i.e. low address).
*
* stk_limit is the number of stack elements to set as 'watermark' limit for the stack. This value
* represents the number of CPU_STK entries left before the stack is full. For example,
* specifying 10% of the 'stk_size' value indicates that the stack limit will be reached
* when the stack reaches 90% full.
*
* stk_size is the size of the stack in number of elements. If CPU_STK is set to CPU_INT08U,
* 'stk_size' corresponds to the number of bytes available. If CPU_STK is set to
* CPU_INT16U, 'stk_size' contains the number of 16-bit entries available. Finally, if
* CPU_STK is set to CPU_INT32U, 'stk_size' contains the number of 32-bit entries
* available on the stack.
*
* q_size is the maximum number of messages that can be sent to the task
*
* time_quanta amount of time (in ticks) for time slice when round-robin between tasks. Specify 0 to use
* the default.
*
* p_ext is a pointer to a user supplied memory location which is used as a TCB extension.
* For example, this user memory can hold the contents of floating-point registers
* during a context switch, the time each task takes to execute, the number of times
* the task has been switched-in, etc.
*
* opt contains additional information (or options) about the behavior of the task.
* See OS_OPT_TASK_xxx in OS.H. Current choices are:
*
* OS_OPT_TASK_NONE No option selected
* OS_OPT_TASK_STK_CHK Stack checking to be allowed for the task
* OS_OPT_TASK_STK_CLR Clear the stack when the task is created
* OS_OPT_TASK_SAVE_FP If the CPU has floating-point registers, save them
* during a context switch.
* OS_OPT_TASK_NO_TLS If the caller doesn't want or need TLS (Thread Local
* Storage) support for the task. If you do not include this
* option, TLS will be supported by default.
*
* p_err is a pointer to an error code that will be set during this call. The value pointer
* to by 'p_err' can be:
*
* OS_ERR_NONE If the function was successful
* OS_ERR_ILLEGAL_CREATE_RUN_TIME If you are trying to create the task after you called
* OSSafetyCriticalStart()
* OS_ERR_PRIO_INVALID If the priority you specify is higher that the maximum
* allowed (i.e. >= OS_CFG_PRIO_MAX-1) or,
* OS_ERR_STK_OVF If the stack was overflowed during stack init
* OS_ERR_STK_INVALID If you specified a NULL pointer for 'p_stk_base'
* OS_ERR_STK_SIZE_INVALID If you specified zero for the 'stk_size'
* OS_ERR_STK_LIMIT_INVALID If you specified a 'stk_limit' greater than or equal
* to 'stk_size'
* OS_ERR_TASK_CREATE_ISR If you tried to create a task from an ISR
* OS_ERR_TASK_INVALID If you specified a NULL pointer for 'p_task'
* OS_ERR_TCB_INVALID If you specified a NULL pointer for 'p_tcb'
*
* Returns : none
*
* Note(s) : 1) OSTaskCreate() will return with the error OS_ERR_STK_OVF when a stack overflow is detected
* during stack initialization. In that specific case some memory may have been corrupted. It is
* therefore recommended to treat OS_ERR_STK_OVF as a fatal error.
************************************************************************************************************************
*/
/**
* 创建一个操作系统任务。
*
* @param p_tcb 指向任务控制块(TCB)的指针，用于存储任务的控制信息。
* @param p_name 指向任务名称的字符串指针，用于标识任务。
* @param p_task 指向任务入口函数的指针，即任务开始执行的地方。
* @param p_arg 指向任务参数的指针，这个参数将传递给任务入口函数。
* @param prio 任务的优先级，决定了任务的执行顺序和调度行为。
* @param p_stk_base 指向任务栈底的指针，用于分配任务的运行栈。
* @param stk_limit 任务栈的最小大小，用于栈溢出检测。
* @param stk_size 任务栈的总大小，用于分配给任务的栈空间。
* @param q_size 任务消息队列的大小，决定了任务可以接收的消息数量。
* @param time_quanta 任务的时间片大小，用于轮转调度算法。
* @param p_ext 指向任务扩展信息的指针，用于存储额外的任务特定信息。
* @param opt 任务创建选项，用于指定任务的特殊行为和属性。
* @param p_err 指向错误代码的指针，用于返回任务创建过程中的错误信息。
*
* 此函数用于在实时操作系统(RTOS)中创建一个新的任务。任务是操作系统调度的基本单位，
* 具有自己的执行环境和上下文。通过这个函数，用户可以定义任务的行为、所需的资源以及
* 如何与其他任务交互。任务一旦创建，将由操作系统根据调度策略进行管理和调度。
*/
void OSTaskCreate(OS_TCB *p_tcb,
CPU_CHAR *p_name,
OS_TASK_PTR p_task,
void *p_arg,
OS_PRIO prio,
CPU_STK *p_stk_base,
CPU_STK_SIZE stk_limit,
CPU_STK_SIZE stk_size,
OS_MSG_QTY q_size,
OS_TICK time_quanta,
void *p_ext,
OS_OPT opt,
OS_ERR *p_err)
{
CPU_STK_SIZE i;
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
OS_REG_ID reg_nbr;
#endif
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
OS_TLS_ID id;
#endif
CPU_STK *p_sp;
CPU_STK *p_stk_limit;
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == OS_TRUE)
{
*p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
return;
}
#endif
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* 不能从中断服务例程(ISR)中创建任务 */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_TASK_CREATE_ISR;
return;
}
#endif
#if (OS_CFG_ARG_CHK_EN > 0u) /* 验证参数 */
if (p_tcb == (OS_TCB *)0)
{ /* 用户必须提供有效的任务控制块(TCB) */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_TCB_INVALID;
return;
}
if (p_task == (OS_TASK_PTR)0u)
{ /* 用户必须提供有效的任务入口函数 */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_TASK_INVALID;
return;
}
if (p_stk_base == (CPU_STK *)0)
{ /* 用户必须提供有效的栈基地址 */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_STK_INVALID;
return;
}
if (stk_size < OSCfg_StkSizeMin)
{ /* 用户必须提供有效的最小栈大小 */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_STK_SIZE_INVALID;
return;
}
if (stk_limit >= stk_size)
{ /* 用户必须提供有效的栈限制 */
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_STK_LIMIT_INVALID;
return;
}
if ((prio > (OS_CFG_PRIO_MAX - 2u)) && /* 优先级必须在0和OS_CFG_PRIO_MAX-1之间 */
(prio != (OS_CFG_PRIO_MAX - 1u)))
{
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_PRIO_INVALID;
return;
}
#endif
if (prio == (OS_CFG_PRIO_MAX - 1u))
{
#if (OS_CFG_TASK_IDLE_EN > 0u)
if (p_tcb != &OSIdleTaskTCB)
{
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_PRIO_INVALID; /* 不允许使用与空闲任务相同的优先级 */
return;
}
#else
OS_TRACE_TASK_CREATE_FAILED(p_tcb);
*p_err = OS_ERR_PRIO_INVALID; /* 不允许使用与空闲任务相同的优先级 */
return;
#endif
}
OS_TaskInitTCB(p_tcb); /* 初始化TCB为默认值 */
*p_err = OS_ERR_NONE;
/* 清除任务的栈 */
if (((opt & OS_OPT_TASK_STK_CHK) != 0u) || /* 检查是否启用了栈检查 */
((opt & OS_OPT_TASK_STK_CLR) != 0u))
{ /* 检查是否需要清除栈 */
if ((opt & OS_OPT_TASK_STK_CLR) != 0u)
{
p_sp = p_stk_base;
for (i = 0u; i < stk_size; i++)
{ /* 栈从高内存向低内存增长 */
*p_sp = 0u; /* 从栈底开始清零 */
p_sp++;
}
}
}
/* 初始化任务的栈帧 */
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
p_stk_limit = p_stk_base + stk_limit;
#else
p_stk_limit = p_stk_base + (stk_size - 1u) - stk_limit;
#endif
p_sp = OSTaskStkInit(p_task,
p_arg,
p_stk_base,
p_stk_limit,
stk_size,
opt);
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO) /* 检查初始化过程中是否栈溢出 */
if (p_sp < p_stk_base)
{
*p_err = OS_ERR_STK_OVF;
return;
}
#else
if (p_sp > (p_stk_base + stk_size))
{
*p_err = OS_ERR_STK_OVF;
return;
}
#endif
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u) /* 初始化带有红区的栈 */
OS_TaskStkRedzoneInit(p_stk_base, stk_size);
#endif
/* 初始化TCB字段 */
#if (OS_CFG_DBG_EN > 0u)
p_tcb->TaskEntryAddr = p_task; /* 保存任务入口地址 */
p_tcb->TaskEntryArg = p_arg; /* 保存任务入口参数 */
#endif
#if (OS_CFG_DBG_EN > 0u)
p_tcb->NamePtr = p_name; /* 保存任务名称 */
#else
(void)p_name;
#endif
p_tcb->Prio = prio; /* 保存任务的优先级 */
#if (OS_CFG_MUTEX_EN > 0u)
p_tcb->BasePrio = prio; /* 设置基础优先级 */
#endif
p_tcb->StkPtr = p_sp; /* 保存新的栈顶指针 */
p_tcb->StkLimitPtr = p_stk_limit; /* 保存栈限制指针 */
#if (OS_CFG_SCHED_ROUND_ROBIN_EN > 0u)
p_tcb->TimeQuanta = time_quanta; /* 保存时间片的滴答数（0表示不切片） */
if (time_quanta == 0u)
{
p_tcb->TimeQuantaCtr = OSSchedRoundRobinDfltTimeQuanta;
}
else
{
p_tcb->TimeQuantaCtr = time_quanta;
}
#else
(void)time_quanta;
#endif
p_tcb->ExtPtr = p_ext; /* 保存TCB扩展指针 */
#if ((OS_CFG_DBG_EN > 0u) || (OS_CFG_STAT_TASK_STK_CHK_EN > 0u) || (OS_CFG_TASK_STK_REDZONE_EN > 0u))
p_tcb->StkBasePtr = p_stk_base; /* 保存栈基地址指针 */
p_tcb->StkSize = stk_size; /* 保存栈大小（以CPU_STK元素为单位） */
#endif
p_tcb->Opt = opt; /* 保存任务选项 */
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
for (reg_nbr = 0u; reg_nbr < OS_CFG_TASK_REG_TBL_SIZE; reg_nbr++)
{
p_tcb->RegTbl[reg_nbr] = 0u;
}
#endif
#if (OS_CFG_TASK_Q_EN > 0u)
OS_MsgQInit(&p_tcb->MsgQ, /* 初始化任务的消息队列 */
q_size);
#else
(void)q_size;
#endif
OSTaskCreateHook(p_tcb); /* 调用用户定义的钩子 */
OS_TRACE_TASK_CREATE(p_tcb);
OS_TRACE_TASK_SEM_CREATE(p_tcb, p_name);
#if (OS_CFG_TASK_Q_EN > 0u)
OS_TRACE_TASK_MSG_Q_CREATE(&p_tcb->MsgQ, p_name);
#endif
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
for (id = 0u; id < OS_CFG_TLS_TBL_SIZE; id++)
{
p_tcb->TLS_Tbl[id] = 0u;
}
OS_TLS_TaskCreate(p_tcb); /* 调用TLS钩子 */
#endif
/* 将任务添加到就绪列表 */
CPU_CRITICAL_ENTER();
OS_PrioInsert(p_tcb->Prio);
OS_RdyListInsertTail(p_tcb);
#if (OS_CFG_DBG_EN > 0u)
OS_TaskDbgListAdd(p_tcb);
#endif
OSTaskQty++; /* 增加任务计数器 */
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* 如果多任务尚未启动则返回 */
CPU_CRITICAL_EXIT();
return;
}
CPU_CRITICAL_EXIT();
OSSched();
}
/*
************************************************************************************************************************
* DELETE A TASK
*
* Description: This function allows you to delete a task. The calling task can delete itself by specifying a NULL
* pointer for 'p_tcb'. The deleted task is returned to the dormant state and can be re-activated by
* creating the deleted task again.
*
* Arguments : p_tcb is the TCB of the tack to delete
*
* p_err is a pointer to an error code returned by this function:
*
* OS_ERR_NONE If the call is successful
* OS_ERR_ILLEGAL_DEL_RUN_TIME If you are trying to delete the task after you called
* OSStart()
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_STATE_INVALID If the state of the task is invalid
* OS_ERR_TASK_DEL_IDLE If you attempted to delete uC/OS-III's idle task
* OS_ERR_TASK_DEL_INVALID If you attempted to delete uC/OS-III's ISR handler task
* OS_ERR_TASK_DEL_ISR If you tried to delete a task from an ISR
*
* Returns : none
*
* Note(s) : 1) 'p_err' gets set to OS_ERR_NONE before OSSched() to allow the returned err or code to be monitored even
* for a task that is deleting itself. In this case, 'p_err' MUST point to a global variable that can be
* accessed by another task.
************************************************************************************************************************
*/
#if (OS_CFG_TASK_DEL_EN > 0u)
void OSTaskDel(OS_TCB *p_tcb,
OS_ERR *p_err)
{
#if (OS_CFG_MUTEX_EN > 0u)
OS_TCB *p_tcb_owner;
OS_PRIO prio_new;
#endif
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
#ifdef OS_SAFETY_CRITICAL_IEC61508
if (OSSafetyCriticalStartFlag == OS_TRUE)
{
*p_err = OS_ERR_ILLEGAL_DEL_RUN_TIME;
return;
}
#endif
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* See if trying to delete from ISR */
*p_err = OS_ERR_TASK_DEL_ISR;
return;
}
#endif
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
*p_err = OS_ERR_OS_NOT_RUNNING;
return;
}
#endif
#if (OS_CFG_TASK_IDLE_EN > 0u)
if (p_tcb == &OSIdleTaskTCB)
{ /* Not allowed to delete the idle task */
*p_err = OS_ERR_TASK_DEL_IDLE;
return;
}
#endif
if (p_tcb == (OS_TCB *)0)
{ /* 删除当前任务? */
CPU_CRITICAL_ENTER();
p_tcb = OSTCBCurPtr; /* 是，删除当前任务 */
CPU_CRITICAL_EXIT();
}
CPU_CRITICAL_ENTER();
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
OS_RdyListRemove(p_tcb); /* 从就绪列表中移除任务 */
break;
case OS_TASK_STATE_SUSPENDED:
break; /* 暂停状态无需操作 */
case OS_TASK_STATE_DLY: /* 任务仅被延迟，不在任何等待列表中 */
case OS_TASK_STATE_DLY_SUSPENDED:
#if (OS_CFG_TICK_EN > 0u)
OS_TickListRemove(p_tcb); /* 从时钟列表中移除任务 */
#endif
break;
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
switch (p_tcb->PendOn)
{ /* 检查任务挂起的原因 */
case OS_TASK_PEND_ON_NOTHING:
case OS_TASK_PEND_ON_TASK_Q: /* 这两种情况下没有等待列表 */
case OS_TASK_PEND_ON_TASK_SEM:
break;
case OS_TASK_PEND_ON_FLAG: /* 从挂起列表中移除任务 */
case OS_TASK_PEND_ON_Q:
case OS_TASK_PEND_ON_SEM:
OS_PendListRemove(p_tcb);
break;
#if (OS_CFG_MUTEX_EN > 0u)
case OS_TASK_PEND_ON_MUTEX:
p_tcb_owner = ((OS_MUTEX *)((void *)p_tcb->PendObjPtr))->OwnerTCBPtr;
prio_new = p_tcb_owner->Prio;
OS_PendListRemove(p_tcb);
if ((p_tcb_owner->Prio != p_tcb_owner->BasePrio) &&
(p_tcb_owner->Prio == p_tcb->Prio))
{ /* 检查是否继承了优先级 */
prio_new = OS_MutexGrpPrioFindHighest(p_tcb_owner);
prio_new = (prio_new > p_tcb_owner->BasePrio) ? p_tcb_owner->BasePrio : prio_new;
}
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING;
if (prio_new != p_tcb_owner->Prio)
{
OS_TaskChangePrio(p_tcb_owner, prio_new); /* 更改任务优先级 */
OS_TRACE_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, p_tcb_owner->Prio);
}
break;
#endif
default:
break; /* 默认情况 */
}
#if (OS_CFG_TICK_EN > 0u)
if ((p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT) ||
(p_tcb->TaskState == OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED))
{
OS_TickListRemove(p_tcb); /* 从时钟列表中移除任务 */
}
#endif
break;
default:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID; /* 无效的状态 */
return;
}
#if (OS_CFG_MUTEX_EN > 0u)
if (p_tcb->MutexGrpHeadPtr != (OS_MUTEX *)0)
{
OS_MutexGrpPostAll(p_tcb); /* 释放所有互斥量组 */
}
#endif
#if (OS_CFG_TASK_Q_EN > 0u)
(void)OS_MsgQFreeAll(&p_tcb->MsgQ); /* 释放任务的消息队列消息 */
#endif
OSTaskDelHook(p_tcb); /* 调用用户定义的钩子函数 */
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
OS_TLS_TaskDel(p_tcb); /* 调用TLS钩子 */
#endif
#if (OS_CFG_DBG_EN > 0u)
OS_TaskDbgListRemove(p_tcb); /* 从调试列表中移除任务 */
#endif
OSTaskQty--; /* 管理的任务数量减一 */
OS_TRACE_TASK_DEL(p_tcb); /* 记录任务删除事件 */
#if (OS_CFG_TASK_STK_REDZONE_EN == 0u) /* 在检查红区之前不清除TCB */
OS_TaskInitTCB(p_tcb); /* 初始化TCB为默认值 */
#endif
p_tcb->TaskState = (OS_STATE)OS_TASK_STATE_DEL; /* 标记任务已删除 */
*p_err = OS_ERR_NONE; /* 设置错误码为无错误 */
CPU_CRITICAL_EXIT();
OSSched(); /* 查找新的最高优先级任务 */
}
#endif
/*
************************************************************************************************************************
* FLUSH TASK's QUEUE
*
* Description: This function is used to flush the task's internal message queue.
*
* Arguments : p_tcb is a pointer to the task's OS_TCB. Specifying a NULL pointer indicates that you wish to
* flush the message queue of the calling task.
*
* p_err is a pointer to a variable that will contain an error code returned by this function.
*
* OS_ERR_NONE Upon success
* OS_ERR_FLUSH_ISR If you called this function from an ISR
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
*
* Returns : The number of entries freed from the queue
*
* Note(s) : 1) You should use this function with great care because, when to flush the queue, you LOOSE the
* references to what the queue entries are pointing to and thus, you could cause 'memory leaks'. In
* other words, the data you are pointing to that's being referenced by the queue entries should, most
* likely, need to be de-allocated (i.e. freed).
************************************************************************************************************************
*/
#if (OS_CFG_TASK_Q_EN > 0u)
// 函数OSTaskQFlush用于清空指定任务的消息队列
// 参数p_tcb: 指向任务控制块的指针，用于标识需要清空消息队列的任务
// 参数p_err: 指向错误代码的指针，用于返回函数执行过程中的错误信息
// 返回值: 返回被清空的消息队列中的消息数量
OS_MSG_QTY OSTaskQFlush(OS_TCB *p_tcb,
OS_ERR *p_err)
{
OS_MSG_QTY entries;
CPU_SR_ALLOC();
// 安全关键代码检查：确保p_err参数不为NULL
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
// 检查是否在中断服务程序中调用：不允许在中断中清空消息队列
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* Can't flush a message queue from an ISR */
*p_err = OS_ERR_FLUSH_ISR;
return (0u);
}
#endif
// 检查内核是否正在运行：确保在内核运行时调用该函数
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
*p_err = OS_ERR_OS_NOT_RUNNING;
return (0u);
}
#endif
// 检查p_tcb是否为NULL：如果为NULL，则清空当前任务的消息队列
if (p_tcb == (OS_TCB *)0)
{ /* Flush message queue of calling task? */
CPU_CRITICAL_ENTER();
p_tcb = OSTCBCurPtr;
CPU_CRITICAL_EXIT();
}
// 清空消息队列并将所有消息返回到消息池
CPU_CRITICAL_ENTER();
entries = OS_MsgQFreeAll(&p_tcb->MsgQ); /* Return all OS_MSGs to the OS_MSG pool */
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_NONE;
return (entries);
}
#endif
/*
************************************************************************************************************************
* WAIT FOR A MESSAGE
*
* Description: This function causes the current task to wait for a message to be posted to it.
*
* Arguments : timeout is an optional timeout period (in clock ticks). If non-zero, your task will wait for a
* message to arrive up to the amount of time specified by this argument.
* If you specify 0, however, your task will wait forever or, until a message arrives.
*
* opt determines whether the user wants to block if the task's queue is empty or not:
*
* OS_OPT_PEND_BLOCKING
* OS_OPT_PEND_NON_BLOCKING
*
* p_msg_size is a pointer to a variable that will receive the size of the message
*
* p_ts is a pointer to a variable that will receive the timestamp of when the message was
* received. If you pass a NULL pointer (i.e. (CPU_TS *)0) then you will not get the
* timestamp. In other words, passing a NULL pointer is valid and indicates that you don't
* need the timestamp.
*
* p_err 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 received a message.
* OS_ERR_OPT_INVALID If you specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_PEND_ABORT If the pend was aborted
* OS_ERR_PEND_ISR If you called this function from an ISR and the result
* OS_ERR_PEND_WOULD_BLOCK If you specified non-blocking but the queue was not empty
* OS_ERR_PTR_INVALID If 'p_msg_size' is NULL
* OS_ERR_SCHED_LOCKED If the scheduler is locked
* OS_ERR_TIMEOUT A message was not received within the specified timeout
* would lead to a suspension
* OS_ERR_TICK_DISABLED If kernel ticks are disabled and a timeout is specified
*
* Returns : A pointer to the message received or a NULL pointer upon error.
*
* Note(s) : 1) It is possible to receive NULL pointers when there are no errors.
*
* : 2) This API 'MUST NOT' be called from a timer callback function.
************************************************************************************************************************
*/
#if (OS_CFG_TASK_Q_EN > 0u)
/**
* @brief 挂起任务以等待消息队列中的消息
*
* 本函数用于挂起当前任务，以等待其消息队列中的消息。如果消息队列中有可用消息，则接收并返回该消息；
* 否则，根据指定的选项挂起任务，直到消息可用或达到指定的超时时间。
*
* @param timeout 超时时间，如果为0，则无限期等待
* @param opt 指定操作选项，可以是阻塞或非阻塞操作
* @param p_msg_size 指向接收消息大小的指针
* @param p_ts 指向接收时间戳的指针
* @param p_err 指向错误代码的指针
* @return void* 返回接收到的消息，如果没有消息则返回NULL
*/
void *OSTaskQPend(OS_TICK timeout,
OS_OPT opt,
OS_MSG_SIZE *p_msg_size,
CPU_TS *p_ts,
OS_ERR *p_err)
{
OS_MSG_Q *p_msg_q;
void *p_void;
CPU_SR_ALLOC();
// 安全关键代码检查：确保错误指针非空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return ((void *)0);
}
#endif
// 跟踪任务消息队列挂起进入
OS_TRACE_TASK_MSG_Q_PEND_ENTER(&OSTCBCurPtr->MsgQ, timeout, opt, p_msg_size, p_ts);
// 如果定时器禁用且指定了非零超时，则返回错误
#if (OS_CFG_TICK_EN == 0u)
if (timeout != 0u)
{
*p_err = OS_ERR_TICK_DISABLED;
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_TICK_DISABLED);
return ((void *)0);
}
#endif
// 检查是否从ISR调用：ISR中不能挂起任务
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* Can't Pend from an ISR */
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_PEND_ISR);
*p_err = OS_ERR_PEND_ISR;
return ((void *)0);
}
#endif
// 检查内核是否正在运行
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_OS_NOT_RUNNING);
*p_err = OS_ERR_OS_NOT_RUNNING;
return ((void *)0);
}
#endif
// 参数有效性检查：确保消息大小指针非空，并验证选项参数
#if (OS_CFG_ARG_CHK_EN > 0u) /* ---------------- VALIDATE ARGUMENTS ---------------- */
if (p_msg_size == (OS_MSG_SIZE *)0)
{ /* User must supply a valid destination for msg size */
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_PTR_INVALID);
*p_err = OS_ERR_PTR_INVALID;
return ((void *)0);
}
switch (opt)
{ /* User must supply a valid option */
case OS_OPT_PEND_BLOCKING:
case OS_OPT_PEND_NON_BLOCKING:
break;
default:
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_OPT_INVALID);
*p_err = OS_ERR_OPT_INVALID;
return ((void *)0);
}
#endif
// 初始化返回的时间戳
if (p_ts != (CPU_TS *)0)
{
*p_ts = 0u; /* Initialize the returned timestamp */
}
// 进入临界区，检查消息队列中是否有消息
CPU_CRITICAL_ENTER();
p_msg_q = &OSTCBCurPtr->MsgQ; /* Any message waiting in the message queue? */
p_void = OS_MsgQGet(p_msg_q,
p_msg_size,
p_ts,
p_err);
if (*p_err == OS_ERR_NONE)
{
// 如果配置了任务分析和时间戳，则计算消息队列等待时间
#if (OS_CFG_TASK_PROFILE_EN > 0u)
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
OSTCBCurPtr->MsgQPendTime = OS_TS_GET() - *p_ts;
if (OSTCBCurPtr->MsgQPendTimeMax < OSTCBCurPtr->MsgQPendTime)
{
OSTCBCurPtr->MsgQPendTimeMax = OSTCBCurPtr->MsgQPendTime;
}
}
#endif
#endif
// 跟踪任务消息队列挂起成功
OS_TRACE_TASK_MSG_Q_PEND(p_msg_q);
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_NONE);
return (p_void); /* Yes, Return oldest message received */
}
// 如果是非阻塞调用且没有可用消息，则返回错误
if ((opt & OS_OPT_PEND_NON_BLOCKING) != 0u)
{ /* Caller wants to block if not available? */
*p_err = OS_ERR_PEND_WOULD_BLOCK; /* No */
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_MSG_Q_PEND_FAILED(p_msg_q);
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_PEND_WOULD_BLOCK);
return ((void *)0);
}
else
{ /* Yes */
// 如果调度程序被锁定，则不能挂起任务
if (OSSchedLockNestingCtr > 0u)
{ /* Can't block when the scheduler is locked */
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_MSG_Q_PEND_FAILED(p_msg_q);
OS_TRACE_TASK_MSG_Q_PEND_EXIT(OS_ERR_SCHED_LOCKED);
*p_err = OS_ERR_SCHED_LOCKED;
return ((void *)0);
}
}
// 将任务挂起到消息队列上，并调用调度程序寻找下一个就绪任务
OS_Pend((OS_PEND_OBJ *)0, /* Block task pending on Message */
OSTCBCurPtr,
OS_TASK_PEND_ON_TASK_Q,
timeout);
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_MSG_Q_PEND_BLOCK(p_msg_q);
OSSched(); /* Find the next highest priority task ready to run */
// 根据任务挂起状态处理相应逻辑
CPU_CRITICAL_ENTER();
switch (OSTCBCurPtr->PendStatus)
{
case OS_STATUS_PEND_OK: /* Extract message from TCB (Put there by Post) */
p_void = OSTCBCurPtr->MsgPtr;
*p_msg_size = OSTCBCurPtr->MsgSize;
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = OSTCBCurPtr->TS;
#if (OS_CFG_TASK_PROFILE_EN > 0u)
OSTCBCurPtr->MsgQPendTime = OS_TS_GET() - OSTCBCurPtr->TS;
if (OSTCBCurPtr->MsgQPendTimeMax < OSTCBCurPtr->MsgQPendTime)
{
OSTCBCurPtr->MsgQPendTimeMax = OSTCBCurPtr->MsgQPendTime;
}
#endif
}
#endif
OS_TRACE_TASK_MSG_Q_PEND(p_msg_q);
*p_err = OS_ERR_NONE;
break;
case OS_STATUS_PEND_ABORT: /* Indicate that we aborted */
p_void = (void *)0;
*p_msg_size = 0u;
if (p_ts != (CPU_TS *)0)
{
*p_ts = 0u;
}
OS_TRACE_TASK_MSG_Q_PEND_FAILED(p_msg_q);
*p_err = OS_ERR_PEND_ABORT;
break;
case OS_STATUS_PEND_TIMEOUT: /* Indicate that we didn't get event within TO */
default:
p_void = (void *)0;
*p_msg_size = 0u;
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = OSTCBCurPtr->TS;
}
#endif
OS_TRACE_TASK_MSG_Q_PEND_FAILED(p_msg_q);
*p_err = OS_ERR_TIMEOUT;
break;
}
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_MSG_Q_PEND_EXIT(*p_err);
return (p_void); /* Return received message */
}
#endif
/*
************************************************************************************************************************
* ABORT WAITING FOR A MESSAGE
*
* Description: This function aborts & readies the task specified. This function should be used to fault-abort the wait
* for a message, rather than to normally post the message to the task via OSTaskQPost().
*
* Arguments : p_tcb is a pointer to the task to pend abort
*
* opt provides options for this function:
*
* OS_OPT_POST_NONE No option specified
* OS_OPT_POST_NO_SCHED Indicates that the scheduler will not be called.
*
* p_err is a pointer to a variable that will contain an error code returned by this function.
*
* OS_ERR_NONE If the task was readied and informed of the aborted wait
* OS_ERR_OPT_INVALID If you specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_PEND_ABORT_ISR If you called this function from an ISR
* OS_ERR_PEND_ABORT_NONE If task was not pending on a message and thus there is nothing to
* abort
* OS_ERR_PEND_ABORT_SELF If you passed a NULL pointer for 'p_tcb'
*
* Returns : == OS_FALSE if task was not waiting for a message, or upon error.
* == OS_TRUE if task was waiting for a message and was readied and informed.
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_Q_EN > 0u) && (OS_CFG_TASK_Q_PEND_ABORT_EN > 0u)
/**
* @brief 中止一个任务的队列等待操作
*
* 本函数用于中止指定任务在队列上的等待操作。如果任务当前正在等待队列中的消息，
* 则中止其等待，并可选择是否重新调度。
*
* @param p_tcb 指向任务控制块的指针，标识需要中止等待的任务
* @param opt 控制选项，决定是否在中止后重新调度
* @param p_err 指向错误代码的指针，用于返回错误信息
* @return CPU_BOOLEAN 返回一个布尔值，指示操作是否成功
*/
CPU_BOOLEAN OSTaskQPendAbort(OS_TCB *p_tcb,
OS_OPT opt,
OS_ERR *p_err)
{
CPU_TS ts;
CPU_SR_ALLOC();
// 安全性检查：确保p_err参数不为空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (OS_FALSE);
}
#endif
// 检查是否从ISR中调用：不允许从ISR中调用本函数
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* See if called from ISR ... */
*p_err = OS_ERR_PEND_ABORT_ISR; /* ... can't Pend Abort from an ISR */
return (OS_FALSE);
}
#endif
// 检查内核是否正在运行：确保内核处于运行状态
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
*p_err = OS_ERR_OS_NOT_RUNNING;
return (OS_FALSE);
}
#endif
// 参数验证：确保opt参数为有效选项
#if (OS_CFG_ARG_CHK_EN > 0u) /* ---------------- VALIDATE ARGUMENTS ---------------- */
switch (opt)
{ /* User must supply a valid option */
case OS_OPT_POST_NONE:
case OS_OPT_POST_NO_SCHED:
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return (OS_FALSE);
}
#endif
CPU_CRITICAL_ENTER();
#if (OS_CFG_ARG_CHK_EN > 0u)
if ((p_tcb == (OS_TCB *)0) || /* Pend abort self? */
(p_tcb == OSTCBCurPtr))
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_PEND_ABORT_SELF; /* ... doesn't make sense */
return (OS_FALSE);
}
#endif
// 检查任务是否正在等待队列消息
if (p_tcb->PendOn != OS_TASK_PEND_ON_TASK_Q)
{ /* Is task waiting for a message? */
CPU_CRITICAL_EXIT(); /* No */
*p_err = OS_ERR_PEND_ABORT_NONE;
return (OS_FALSE);
}
// 获取当前时间戳（如果配置了时间戳功能）
#if (OS_CFG_TS_EN > 0u)
ts = OS_TS_GET(); /* Get timestamp of when the abort occurred */
#else
ts = 0u;
#endif
// 中止任务的等待操作
OS_PendAbort(p_tcb, /* Abort the pend */
ts,
OS_STATUS_PEND_ABORT);
CPU_CRITICAL_EXIT();
// 根据选项决定是否重新调度
if ((opt & OS_OPT_POST_NO_SCHED) == 0u)
{
OSSched(); /* Run the scheduler */
}
// 返回成功错误码
*p_err = OS_ERR_NONE;
return (OS_TRUE);
}
#endif
/*
************************************************************************************************************************
* POST MESSAGE TO A TASK
*
* Description: This function sends a message to a task.
*
* Arguments : p_tcb is a pointer to the TCB of the task receiving a message. If you specify a NULL pointer then
* the message will be posted to the task's queue of the calling task. In other words, you'd be
* posting a message to yourself.
*
* p_void is a pointer to the message to send.
*
* msg_size is the size of the message sent (in bytes)
*
* opt specifies whether the post will be FIFO or LIFO:
*
* OS_OPT_POST_FIFO Post at the end of the queue
* OS_OPT_POST_LIFO Post at the front of the queue
*
* OS_OPT_POST_NO_SCHED Do not run the scheduler after the post
*
* Note(s): 1) OS_OPT_POST_NO_SCHED can be added with one of the other options.
*
*
* p_err is a pointer to a variable that will hold the error code associated
* with the outcome of this call. Errors can be:
*
* OS_ERR_NONE The call was successful and the message was sent
* OS_ERR_MSG_POOL_EMPTY If there are no more OS_MSGs available from the pool
* OS_ERR_OPT_INVALID If you specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_Q_MAX If the queue is full
* OS_ERR_STATE_INVALID If the task is in an invalid state. This should never happen
* and if it does, would be considered a system failure
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_Q_EN > 0u)
/**
* @brief 向任务的消息队列发送消息
*
* 该函数用于将消息发送到指定任务的消息队列中。根据任务的状态和提供的选项，
* 消息可能会直接传递给任务或者排队在消息队列中。此函数是操作系统的一部分，
* 提供了任务间通信的能力。
*
* @param p_tcb 指向任务控制块的指针，标识消息接收的任务
* @param p_void 指向要发送的消息的指针
* @param msg_size 消息的大小，以字节为单位
* @param opt 发送消息的选项，控制消息的发送方式（如FIFO或LIFO）和是否重新调度
* @param p_err 指向错误代码的指针，用于返回函数执行的结果
*/
void OSTaskQPost(OS_TCB *p_tcb,
void *p_void,
OS_MSG_SIZE msg_size,
OS_OPT opt,
OS_ERR *p_err)
{
CPU_TS ts;
CPU_SR_ALLOC();
// 安全关键代码检查：确保错误指针非空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 跟踪：记录任务消息队列发送开始
OS_TRACE_TASK_MSG_Q_POST_ENTER(&p_tcb->MsgQ, p_void, msg_size, opt);
// 检查内核是否正在运行
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
OS_TRACE_TASK_MSG_Q_POST_EXIT(OS_ERR_OS_NOT_RUNNING);
*p_err = OS_ERR_OS_NOT_RUNNING;
return;
}
#endif
// 参数有效性检查
#if (OS_CFG_ARG_CHK_EN > 0u) /* ---------------- VALIDATE ARGUMENTS ---------------- */
switch (opt)
{ /* User must supply a valid option */
case OS_OPT_POST_FIFO:
case OS_OPT_POST_LIFO:
case OS_OPT_POST_FIFO | OS_OPT_POST_NO_SCHED:
case OS_OPT_POST_LIFO | OS_OPT_POST_NO_SCHED:
break;
default:
OS_TRACE_TASK_MSG_Q_POST_FAILED(&p_tcb->MsgQ);
OS_TRACE_TASK_MSG_Q_POST_EXIT(OS_ERR_OPT_INVALID);
*p_err = OS_ERR_OPT_INVALID;
return;
}
#endif
// 获取时间戳（如果配置了时间戳功能）
#if (OS_CFG_TS_EN > 0u)
ts = OS_TS_GET(); /* Get timestamp */
#else
ts = 0u;
#endif
// 跟踪：记录任务消息队列发送过程
OS_TRACE_TASK_MSG_Q_POST(&p_tcb->MsgQ);
// 默认假设没有错误
*p_err = OS_ERR_NONE; /* Assume we won't have any errors */
CPU_CRITICAL_ENTER();
// 如果任务控制块指针为0，则将其指向当前任务
if (p_tcb == (OS_TCB *)0)
{ /* Post msg to 'self'? */
p_tcb = OSTCBCurPtr;
}
// 根据任务的状态处理消息发送
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
case OS_TASK_STATE_DLY:
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_DLY_SUSPENDED:
// 将消息放入任务的消息队列中
OS_MsgQPut(&p_tcb->MsgQ, /* Deposit the message in the queue */
p_void,
msg_size,
opt,
ts,
p_err);
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
// 检查任务是否正在等待消息队列的消息
if (p_tcb->PendOn == OS_TASK_PEND_ON_TASK_Q)
{ /* Is task waiting for a message to be sent to it? */
OS_Post((OS_PEND_OBJ *)0,
p_tcb,
p_void,
msg_size,
ts);
CPU_CRITICAL_EXIT();
// 如果没有设置禁止调度选项，则运行调度器
if ((opt & OS_OPT_POST_NO_SCHED) == 0u)
{
OSSched(); /* Run the scheduler */
}
}
else
{
// 如果任务在等待其他资源，将消息放入任务的消息队列中
OS_MsgQPut(&p_tcb->MsgQ, /* No, Task is pending on something else ... */
p_void, /* ... Deposit the message in the task's queue */
msg_size,
opt,
ts,
p_err);
CPU_CRITICAL_EXIT();
}
break;
default:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
break;
}
// 跟踪：记录任务消息队列发送结束
OS_TRACE_TASK_MSG_Q_POST_EXIT(*p_err);
}
#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.
*
* Arguments : p_tcb is a pointer to the OS_TCB of the task you want to read the register from. If 'p_tcb' is a
* NULL pointer then you will get the register of the current task.
*
* id is the 'id' of the desired task variable. Note that the 'id' must be less than
* OS_CFG_TASK_REG_TBL_SIZE
*
* 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_REG_ID_INVALID If the 'id' is not between 0 and OS_CFG_TASK_REG_TBL_SIZE-1
*
* Returns : The current value of the task's register or 0 if an error is detected.
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
/**
* @brief 获取任务的寄存器值
*
* 该函数用于获取指定任务的某个寄存器值。它通过任务控制块(p_tcb)、寄存器ID(id)来定位寄存器，
* 并将寄存器的值返回。函数还通过p_err参数返回错误代码。
*
* @param p_tcb 指向任务控制块的指针，用于标识任务。如果为NULL，将使用当前任务的TCB。
* @param id 寄存器ID，用于指定需要获取的寄存器。
* @param p_err 指向错误代码的指针，用于返回错误代码。
* @return 返回指定寄存器的值。
*/
OS_REG OSTaskRegGet(OS_TCB *p_tcb,
OS_REG_ID id,
OS_ERR *p_err)
{
OS_REG value;
CPU_SR_ALLOC();
// 安全关键代码检查：确保错误代码指针不为NULL
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
// 参数有效性检查：确保寄存器ID在有效范围内
#if (OS_CFG_ARG_CHK_EN > 0u)
if (id >= OS_CFG_TASK_REG_TBL_SIZE)
{
*p_err = OS_ERR_REG_ID_INVALID;
return (0u);
}
#endif
// 进入临界区，保护任务控制块和寄存器表的访问
CPU_CRITICAL_ENTER();
if (p_tcb == (OS_TCB *)0)
{
p_tcb = OSTCBCurPtr;
}
value = p_tcb->RegTbl[id];
CPU_CRITICAL_EXIT();
*p_err = 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_CFG_TASK_REG_TBL_SIZE
*
* Returns : The next available task register 'id' or OS_CFG_TASK_REG_TBL_SIZE if an error is detected.
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
// 获取下一个可用的任务寄存器ID
OS_REG_ID OSTaskRegGetID(OS_ERR *p_err)
{
OS_REG_ID id;
CPU_SR_ALLOC();
// 在安全关键模式下，检查错误参数是否为空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return ((OS_REG_ID)OS_CFG_TASK_REG_TBL_SIZE);
}
#endif
CPU_CRITICAL_ENTER();
// 检查是否超过了可用ID的数量
if (OSTaskRegNextAvailID >= OS_CFG_TASK_REG_TBL_SIZE)
{
*p_err = OS_ERR_NO_MORE_ID_AVAIL; // 如果是，设置错误代码并返回
CPU_CRITICAL_EXIT();
return (OS_CFG_TASK_REG_TBL_SIZE);
}
id = OSTaskRegNextAvailID; // 分配下一个可用的ID
OSTaskRegNextAvailID++; // 为下一次请求增加可用ID
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_NONE; // 设置无错误代码
return (id);
}
#endif
/*
************************************************************************************************************************
* SET THE CURRENT VALUE OF A TASK REGISTER
*
* 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.
*
* Arguments : p_tcb is a pointer to the OS_TCB of the task you want to set the register for. If 'p_tcb' is a NULL
* pointer then you will change the register of the current task.
*
* id is the 'id' of the desired task register. Note that the 'id' must be less than
* OS_CFG_TASK_REG_TBL_SIZE
*
* value is the desired value for the task register.
*
* 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_REG_ID_INVALID If the 'id' is not between 0 and OS_CFG_TASK_REG_TBL_SIZE-1
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
/**
* @brief 设置任务的注册表项值
*
* 本函数用于在任务控制块(TCB)中设置指定注册表项的值。这在需要记录或更改任务特定信息时非常有用。
*
* @param p_tcb 指向任务控制块(OS_TCB)的指针。如果为NULL，将使用当前任务的TCB。
* @param id 注册表项的ID，标识特定的注册表项。
* @param value 要设置的注册表项的值。
* @param p_err 指向错误代码的指针，用于返回函数执行结果的错误信息。
*/
void OSTaskRegSet(OS_TCB *p_tcb,
OS_REG_ID id,
OS_REG value,
OS_ERR *p_err)
{
// 分配CPU状态寄存器
CPU_SR_ALLOC();
// 在安全关键模式下，检查错误参数是否为空，如果为空则触发安全关键异常并返回
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 在配置了参数检查的情况下，检查注册表项ID是否有效，如果无效则设置错误代码并返回
#if (OS_CFG_ARG_CHK_EN > 0u)
if (id >= OS_CFG_TASK_REG_TBL_SIZE)
{
*p_err = OS_ERR_REG_ID_INVALID;
return;
}
#endif
// 进入临界区，以防止在设置注册表项值时被中断
CPU_CRITICAL_ENTER();
// 如果传入的TCB指针为空，则使用当前任务的TCB
if (p_tcb == (OS_TCB *)0)
{
p_tcb = OSTCBCurPtr;
}
// 设置指定注册表项的值
p_tcb->RegTbl[id] = value;
// 退出临界区
CPU_CRITICAL_EXIT();
// 设置错误代码为无错误
*p_err = 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 : p_tcb Is a pointer to the task's OS_TCB to resume
*
* p_err Is a pointer to a variable that will contain an error code returned by this function
*
* OS_ERR_NONE If the requested task is resumed
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_STATE_INVALID If the task is in an invalid state
* OS_ERR_TASK_NOT_SUSPENDED If the task to resume has not been suspended
* OS_ERR_TASK_RESUME_ISR If you called this function from an ISR
* OS_ERR_TASK_RESUME_SELF You cannot resume 'self'
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_SUSPEND_EN > 0u)
/**
* @brief 恢复一个被挂起的任务
*
* 此函数用于恢复之前被挂起的任务。它会检查当前任务的状态，并根据状态决定是否将任务重新插入到就绪列表中。
*
* @param p_tcb 指向任务控制块的指针，标识要恢复的任务
* @param p_err 指向错误代码的指针，用于返回函数执行的结果
*/
void OSTaskResume(OS_TCB *p_tcb,
OS_ERR *p_err)
{
CPU_SR_ALLOC(); // 定义CPU状态寄存器变量
OS_TRACE_TASK_RESUME_ENTER(p_tcb); // 跟踪任务恢复入口
// 安全关键应用检查
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 检查是否在中断中调用
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* Not allowed to call from an ISR */
*p_err = OS_ERR_TASK_RESUME_ISR;
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_TASK_RESUME_ISR);
return;
}
#endif
// 检查操作系统是否正在运行
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
*p_err = OS_ERR_OS_NOT_RUNNING;
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_OS_NOT_RUNNING);
return;
}
#endif
// 参数检查
#if (OS_CFG_ARG_CHK_EN > 0u)
CPU_CRITICAL_ENTER();
if ((p_tcb == (OS_TCB *)0) || /* We cannot resume 'self' */
(p_tcb == OSTCBCurPtr))
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_TASK_RESUME_SELF;
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_TASK_RESUME_SELF);
return;
}
CPU_CRITICAL_EXIT();
#endif
CPU_CRITICAL_ENTER();
*p_err = OS_ERR_NONE;
// 根据任务状态进行相应操作
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
case OS_TASK_STATE_DLY:
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_TIMEOUT:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_TASK_NOT_SUSPENDED;
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_TASK_NOT_SUSPENDED);
break;
case OS_TASK_STATE_SUSPENDED:
p_tcb->SuspendCtr--;
if (p_tcb->SuspendCtr == 0u)
{
p_tcb->TaskState = OS_TASK_STATE_RDY;
OS_RdyListInsert(p_tcb); /* Insert the task in the ready list */
OS_TRACE_TASK_RESUME(p_tcb);
}
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_DLY_SUSPENDED:
p_tcb->SuspendCtr--;
if (p_tcb->SuspendCtr == 0u)
{
p_tcb->TaskState = OS_TASK_STATE_DLY;
}
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND_SUSPENDED:
p_tcb->SuspendCtr--;
if (p_tcb->SuspendCtr == 0u)
{
p_tcb->TaskState = OS_TASK_STATE_PEND;
}
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
p_tcb->SuspendCtr--;
if (p_tcb->SuspendCtr == 0u)
{
p_tcb->TaskState = OS_TASK_STATE_PEND_TIMEOUT;
}
CPU_CRITICAL_EXIT();
break;
default:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_STATE_INVALID);
break;
}
// 如果任务不在挂起状态，则不进行调度
if (*p_err != OS_ERR_NONE)
{
return;
}
OSSched(); // 调度任务
OS_TRACE_TASK_RESUME_EXIT(OS_ERR_NONE); // 跟踪任务恢复出口
}
#endif
/*
************************************************************************************************************************
* WAIT FOR A TASK SEMAPHORE
*
* Description: This function is called to block the current task until a signal is sent by another task or ISR.
*
* Arguments : timeout is the amount of time you are will to wait for the signal
*
* opt determines whether the user wants to block if a semaphore post was not received:
*
* OS_OPT_PEND_BLOCKING
* OS_OPT_PEND_NON_BLOCKING
*
* p_ts is a pointer to a variable that will receive the timestamp of when the semaphore was posted
* or pend aborted. If you pass a NULL pointer (i.e. (CPU_TS *)0) then you will not get the
* timestamp. In other words, passing a NULL pointer is valid and indicates that you don't
* need the timestamp.
*
* p_err is a pointer to an error code that will be set by this function
*
* OS_ERR_NONE The call was successful and your task received a message
* OS_ERR_OPT_INVALID You specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_PEND_ABORT If the pend was aborted
* OS_ERR_PEND_ISR If you called this function from an ISR
* OS_ERR_PEND_WOULD_BLOCK If you specified non-blocking but no signal was received
* OS_ERR_SCHED_LOCKED If the scheduler is locked
* OS_ERR_STATUS_INVALID If the pend status is invalid
* OS_ERR_TIMEOUT A message was not received within the specified timeout
*
* Returns : The current count of signals the task received, 0 if none.
*
* Note(s) : This API 'MUST NOT' be called from a timer callback function.
************************************************************************************************************************
*/
// 函数OSTaskSemPend用于当前任务等待信号量。
// 参数timeout指定等待的超时时间，opt指定等待选项，p_ts用于接收时间戳，p_err用于接收错误代码。
// 返回值为当前信号量计数器的值。
OS_SEM_CTR OSTaskSemPend(OS_TICK timeout,
OS_OPT opt,
CPU_TS *p_ts,
OS_ERR *p_err)
{
OS_SEM_CTR ctr;
CPU_SR_ALLOC();
// 当时间戳功能禁用时，防止编译器对未使用的p_ts参数发出警告。
#if (OS_CFG_TS_EN == 0u)
(void)p_ts;
#endif
// 在安全关键系统中，如果p_err参数为空，则调用安全关键异常处理函数并返回0。
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
// 进入任务信号量等待的跟踪。
OS_TRACE_TASK_SEM_PEND_ENTER(OSTCBCurPtr, timeout, opt, p_ts);
// 当滴答功能禁用时，如果timeout不为0，则返回滴答禁用错误。
#if (OS_CFG_TICK_EN == 0u)
if (timeout != 0u)
{
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_TICK_DISABLED);
*p_err = OS_ERR_TICK_DISABLED;
return (0u);
}
#endif
// 检查是否从ISR中调用，如果在中断中调用则返回错误。
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_PEND_ISR);
*p_err = OS_ERR_PEND_ISR;
return (0u);
}
#endif
// 检查内核是否正在运行，如果没有运行则返回错误。
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_OS_NOT_RUNNING);
*p_err = OS_ERR_OS_NOT_RUNNING;
return (0u);
}
#endif
// 检查opt参数的有效性，如果无效则返回错误。
#if (OS_CFG_ARG_CHK_EN > 0u)
switch (opt)
{
case OS_OPT_PEND_BLOCKING:
case OS_OPT_PEND_NON_BLOCKING:
break;
default:
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_OPT_INVALID);
*p_err = OS_ERR_OPT_INVALID;
return (0u);
}
#endif
// 进入临界区，检查当前任务的信号量计数器。
CPU_CRITICAL_ENTER();
if (OSTCBCurPtr->SemCtr > 0u)
{
OSTCBCurPtr->SemCtr--;
ctr = OSTCBCurPtr->SemCtr;
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = OSTCBCurPtr->TS;
}
#if (OS_CFG_TASK_PROFILE_EN > 0u)
#if (OS_CFG_TS_EN > 0u)
OSTCBCurPtr->SemPendTime = OS_TS_GET() - OSTCBCurPtr->TS;
if (OSTCBCurPtr->SemPendTimeMax < OSTCBCurPtr->SemPendTime)
{
OSTCBCurPtr->SemPendTimeMax = OSTCBCurPtr->SemPendTime;
}
#endif
#endif
#endif
OS_TRACE_TASK_SEM_PEND(OSTCBCurPtr);
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_NONE);
*p_err = OS_ERR_NONE;
return (ctr);
}
// 如果设置了非阻塞选项但信号量计数器为0，则返回错误。
if ((opt & OS_OPT_PEND_NON_BLOCKING) != 0u)
{
CPU_CRITICAL_EXIT();
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = 0u;
}
#endif
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_PEND_WOULD_BLOCK);
*p_err = OS_ERR_PEND_WOULD_BLOCK;
return (0u);
}
else
{
if (OSSchedLockNestingCtr > 0u)
{
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = 0u;
}
#endif
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
OS_TRACE_TASK_SEM_PEND_EXIT(OS_ERR_SCHED_LOCKED);
*p_err = OS_ERR_SCHED_LOCKED;
return (0u);
}
}
// 将当前任务挂起并调度其他任务。
OS_Pend((OS_PEND_OBJ *)0, /* Block task pending on Signal */
OSTCBCurPtr,
OS_TASK_PEND_ON_TASK_SEM,
timeout);
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_SEM_PEND_BLOCK(OSTCBCurPtr);
OSSched(); /* Find next highest priority task ready to run */
// 检查挂起结果并更新错误代码和时间戳。
CPU_CRITICAL_ENTER();
switch (OSTCBCurPtr->PendStatus)
{
case OS_STATUS_PEND_OK:
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = OSTCBCurPtr->TS;
#if (OS_CFG_TASK_PROFILE_EN > 0u)
#if (OS_CFG_TS_EN > 0u)
OSTCBCurPtr->SemPendTime = OS_TS_GET() - OSTCBCurPtr->TS;
if (OSTCBCurPtr->SemPendTimeMax < OSTCBCurPtr->SemPendTime)
{
OSTCBCurPtr->SemPendTimeMax = OSTCBCurPtr->SemPendTime;
}
#endif
#endif
}
#endif
OS_TRACE_TASK_SEM_PEND(OSTCBCurPtr);
*p_err = OS_ERR_NONE;
break;
case OS_STATUS_PEND_ABORT:
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = OSTCBCurPtr->TS;
}
#endif
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
*p_err = OS_ERR_PEND_ABORT;
break;
case OS_STATUS_PEND_TIMEOUT:
#if (OS_CFG_TS_EN > 0u)
if (p_ts != (CPU_TS *)0)
{
*p_ts = 0u;
}
#endif
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
*p_err = OS_ERR_TIMEOUT;
break;
default:
OS_TRACE_TASK_SEM_PEND_FAILED(OSTCBCurPtr);
*p_err = OS_ERR_STATUS_INVALID;
break;
}
ctr = OSTCBCurPtr->SemCtr;
CPU_CRITICAL_EXIT();
OS_TRACE_TASK_SEM_PEND_EXIT(*p_err);
return (ctr);
}
/*
************************************************************************************************************************
* ABORT WAITING FOR A SIGNAL
*
* Description: This function aborts & readies the task specified. This function should be used to fault-abort the wait
* for a signal, rather than to normally post the signal to the task via OSTaskSemPost().
*
* Arguments : p_tcb is a pointer to the task to pend abort
*
* opt provides options for this function:
*
* OS_OPT_POST_NONE No option selected
* OS_OPT_POST_NO_SCHED Indicates that the scheduler will not be called.
*
* p_err is a pointer to a variable that will contain an error code returned by this function.
*
* OS_ERR_NONE If the task was readied and informed of the aborted wait
* OS_ERR_OPT_INVALID You specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_PEND_ABORT_ISR If you tried calling this function from an ISR
* OS_ERR_PEND_ABORT_NONE If the task was not waiting for a signal
* OS_ERR_PEND_ABORT_SELF If you attempted to pend abort the calling task. This is not
* possible since the calling task cannot be pending because it's
* running
*
* Returns : == OS_FALSE if task was not waiting for a message, or upon error.
* == OS_TRUE if task was waiting for a message and was readied and informed.
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_TASK_SEM_PEND_ABORT_EN > 0u)
/**
* @brief 中止一个任务的信号量等待操作
*
* 本函数用于中止指定任务在信号量上的等待操作。如果目标任务当前正在等待信号量，
* 则将其从等待状态中解脱出来。该函数还会进行一系列的错误检查，以确保函数调用的合法性。
*
* @param p_tcb 指向任务控制块的指针，标识需要中止等待操作的任务
* @param opt 控制选项，决定是否在中止等待后重新调度
* @param p_err 指向错误代码的指针，用于返回函数执行的错误状态
* @return CPU_BOOLEAN 返回一个布尔值，指示函数是否成功执行
*/
CPU_BOOLEAN OSTaskSemPendAbort(OS_TCB *p_tcb,
OS_OPT opt,
OS_ERR *p_err)
{
CPU_TS ts;
CPU_SR_ALLOC();
// 安全性检查：确保p_err参数不为空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (OS_FALSE);
}
#endif
// 检查是否从ISR中调用：不允许在中断服务例程中执行等待中止操作
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* See if called from ISR ... */
*p_err = OS_ERR_PEND_ABORT_ISR; /* ... can't Pend Abort from an ISR */
return (OS_FALSE);
}
#endif
// 检查内核是否正在运行：确保在内核运行状态下执行函数
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
*p_err = OS_ERR_OS_NOT_RUNNING;
return (OS_FALSE);
}
#endif
// 参数有效性检查：确保opt参数为合法值
#if (OS_CFG_ARG_CHK_EN > 0u)
switch (opt)
{ /* Validate 'opt' */
case OS_OPT_POST_NONE:
case OS_OPT_POST_NO_SCHED:
break;
default:
*p_err = OS_ERR_OPT_INVALID;
return (OS_FALSE);
}
#endif
CPU_CRITICAL_ENTER();
// 自我检查以避免无效操作：不允许任务中止自己的信号量等待
if ((p_tcb == (OS_TCB *)0) || /* Pend abort self? */
(p_tcb == OSTCBCurPtr))
{
CPU_CRITICAL_EXIT(); /* ... doesn't make sense! */
*p_err = OS_ERR_PEND_ABORT_SELF;
return (OS_FALSE);
}
// 检查任务是否正在等待信号量
if (p_tcb->PendOn != OS_TASK_PEND_ON_TASK_SEM)
{ /* Is task waiting for a signal? */
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_PEND_ABORT_NONE;
return (OS_FALSE);
}
CPU_CRITICAL_EXIT();
CPU_CRITICAL_ENTER();
// 获取当前时间戳（如果配置支持）
#if (OS_CFG_TS_EN > 0u)
ts = OS_TS_GET();
#else
ts = 0u;
#endif
// 执行等待中止操作
OS_PendAbort(p_tcb, /* Abort the pend */
ts,
OS_STATUS_PEND_ABORT);
CPU_CRITICAL_EXIT();
// 根据opt参数决定是否重新调度
if ((opt & OS_OPT_POST_NO_SCHED) == 0u)
{
OSSched(); /* Run the scheduler */
}
// 设置错误代码为无错误并返回成功
*p_err = OS_ERR_NONE;
return (OS_TRUE);
}
#endif
/*
************************************************************************************************************************
* SIGNAL A TASK
*
* Description: This function is called to signal a task waiting for a signal.
*
* Arguments : p_tcb is the pointer to the TCB of the task to signal. A NULL pointer indicates that you are sending
* a signal to yourself.
*
* opt determines the type of POST performed:
*
* OS_OPT_POST_NONE No option
* OS_OPT_POST_NO_SCHED Do not call the scheduler
*
* p_err is a pointer to an error code returned by this function:
*
* OS_ERR_NONE If the requested task is signaled
* OS_ERR_OPT_INVALID If you specified an invalid option
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_SEM_OVF If the post would cause the semaphore count to overflow
* OS_ERR_STATE_INVALID If the task is in an invalid state. This should never happen
* and if it does, would be considered a system failure
*
* Returns : The current value of the task's signal counter or 0 if called from an ISR
*
* Note(s) : none
************************************************************************************************************************
*/
// 函数OSTaskSemPost用于向一个任务发送信号，增加任务的信号计数器
// 如果任务正在等待信号，则将其就绪
// 参数p_tcb指向任务的控制块
// 参数opt控制是否在发送信号后进行调度
// 参数p_err返回错误代码
// 返回值是任务的信号计数器值
OS_SEM_CTR OSTaskSemPost(OS_TCB *p_tcb,
OS_OPT opt,
OS_ERR *p_err)
{
OS_SEM_CTR ctr;
CPU_TS ts;
CPU_SR_ALLOC();
// 安全关键代码检查，确保p_err不为空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
// 追踪任务信号发送开始
OS_TRACE_TASK_SEM_POST_ENTER(p_tcb, opt);
// 检查内核是否正在运行
#if (OS_CFG_INVALID_OS_CALLS_CHK_EN > 0u)
if (OSRunning != OS_STATE_OS_RUNNING)
{ /* Is the kernel running? */
OS_TRACE_TASK_SEM_POST_EXIT(OS_ERR_OS_NOT_RUNNING);
*p_err = OS_ERR_OS_NOT_RUNNING;
return (0u);
}
#endif
// 参数检查，确保opt值有效
#if (OS_CFG_ARG_CHK_EN > 0u)
switch (opt)
{ /* Validate 'opt' */
case OS_OPT_POST_NONE:
case OS_OPT_POST_NO_SCHED:
break;
default:
OS_TRACE_TASK_SEM_POST_FAILED(p_tcb);
OS_TRACE_TASK_SEM_POST_EXIT(OS_ERR_OPT_INVALID);
*p_err = OS_ERR_OPT_INVALID;
return (0u);
}
#endif
// 获取时间戳
#if (OS_CFG_TS_EN > 0u)
ts = OS_TS_GET(); /* Get timestamp */
#else
ts = 0u;
#endif
// 追踪任务信号发送
OS_TRACE_TASK_SEM_POST(p_tcb);
// 进入临界区
CPU_CRITICAL_ENTER();
if (p_tcb == (OS_TCB *)0)
{ /* Post signal to 'self'? */
p_tcb = OSTCBCurPtr;
}
#if (OS_CFG_TS_EN > 0u)
p_tcb->TS = ts;
#endif
*p_err = OS_ERR_NONE; /* Assume we won't have any errors */
// 根据任务状态进行相应操作
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
case OS_TASK_STATE_DLY:
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_DLY_SUSPENDED:
// 如果任务的信号计数器溢出，则返回错误
if (p_tcb->SemCtr == (OS_SEM_CTR)-1)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_SEM_OVF;
OS_TRACE_SEM_POST_EXIT(*p_err);
return (0u);
}
p_tcb->SemCtr++; /* Task signaled is not pending on anything */
ctr = p_tcb->SemCtr;
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
// 如果任务正在等待信号，则将其就绪
if (p_tcb->PendOn == OS_TASK_PEND_ON_TASK_SEM)
{ /* Is task signaled waiting for a signal? */
OS_Post((OS_PEND_OBJ *)0, /* Task is pending on signal */
p_tcb,
(void *)0,
0u,
ts);
ctr = p_tcb->SemCtr;
CPU_CRITICAL_EXIT();
if ((opt & OS_OPT_POST_NO_SCHED) == 0u)
{
OSSched(); /* Run the scheduler */
}
}
else
{
// 如果任务的信号计数器溢出，则返回错误
if (p_tcb->SemCtr == (OS_SEM_CTR)-1)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_SEM_OVF;
OS_TRACE_SEM_POST_EXIT(*p_err);
return (0u);
}
p_tcb->SemCtr++; /* No, Task signaled is NOT pending on semaphore ... */
ctr = p_tcb->SemCtr; /* ... it must be waiting on something else */
CPU_CRITICAL_EXIT();
}
break;
default:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
ctr = 0u;
break;
}
// 追踪任务信号发送结束
OS_TRACE_TASK_SEM_POST_EXIT(*p_err);
return (ctr);
}
/*
************************************************************************************************************************
* SET THE SIGNAL COUNTER OF A TASK
*
* Description: This function is called to clear the signal counter
*
* Arguments : p_tcb is the pointer to the TCB of the task to clear the counter. If you specify a NULL pointer
* then the signal counter of the current task will be cleared.
*
* cnt is the desired value of the semaphore counter
*
* p_err is a pointer to an error code returned by this function
*
* OS_ERR_NONE If the signal counter of the requested task is set
* OS_ERR_SET_ISR If the function was called from an ISR
* OS_ERR_TASK_WAITING One or more tasks were waiting on the semaphore
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
// 设置任务信号量的函数
OS_SEM_CTR OSTaskSemSet(OS_TCB *p_tcb,
OS_SEM_CTR cnt,
OS_ERR *p_err)
{
OS_SEM_CTR ctr;
CPU_SR_ALLOC();
// 安全关键代码检查：确保错误参数非空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return (0u);
}
#endif
// 检查是否在中断中调用：不允许在中断中调用该函数
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* Not allowed to call from an ISR */
*p_err = OS_ERR_SET_ISR;
return (0u);
}
#endif
// 进入临界区：保护任务控制块访问的原子性
CPU_CRITICAL_ENTER();
// 如果传入的任务控制块指针为空，则使用当前任务的控制块
if (p_tcb == (OS_TCB *)0)
{
p_tcb = OSTCBCurPtr;
}
// 检查任务状态：不允许在任务等待时设置信号量
if (((p_tcb->TaskState & OS_TASK_STATE_PEND) != 0u) && /* Not allowed when a task is waiting. */
(p_tcb->PendOn == OS_TASK_PEND_ON_TASK_SEM))
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_TASK_WAITING;
return (0u);
}
// 读取并保存当前信号量计数
ctr = p_tcb->SemCtr;
// 设置新的信号量计数
p_tcb->SemCtr = (OS_SEM_CTR)cnt;
// 退出临界区
CPU_CRITICAL_EXIT();
// 设置错误码为无错误并返回旧的信号量计数
*p_err = OS_ERR_NONE;
return (ctr);
}
/*
************************************************************************************************************************
* STACK CHECKING
*
* Description: This function is called to calculate the amount of free memory left on the specified task's stack.
*
* Arguments : p_tcb is a pointer to the TCB of the task to check. If you specify a NULL pointer then
* you are specifying that you want to check the stack of the current task.
*
* p_free is a pointer to a variable that will receive the number of free 'entries' on the task's stack.
*
* p_used is a pointer to a variable that will receive the number of used 'entries' on the task's stack.
*
* p_err is a pointer to a variable that will contain an error code.
*
* OS_ERR_NONE Upon success
* OS_ERR_PTR_INVALID If either 'p_free' or 'p_used' are NULL pointers
* OS_ERR_TASK_NOT_EXIST If the stack pointer of the task is a NULL pointer
* OS_ERR_TASK_OPT If you did NOT specified OS_OPT_TASK_STK_CHK when the task
* was created
* OS_ERR_TASK_STK_CHK_ISR You called this function from an ISR
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_STAT_TASK_STK_CHK_EN > 0u)
/**
* @brief 检查任务栈的使用情况
*
* 该函数用于检查指定任务的栈使用情况，计算栈中未使用的空间和已使用的空间大小
*
* @param p_tcb 指向任务控制块的指针，用于标识要检查的任务
* @param p_free 指向用于存储未使用栈空间大小的变量的指针
* @param p_used 指向用于存储已使用栈空间大小的变量的指针
* @param p_err 指向用于存储错误代码的变量的指针
*/
void OSTaskStkChk(OS_TCB *p_tcb,
CPU_STK_SIZE *p_free,
CPU_STK_SIZE *p_used,
OS_ERR *p_err)
{
CPU_STK_SIZE free_stk;
CPU_STK_SIZE stk_size;
CPU_STK *p_stk;
CPU_SR_ALLOC();
// 安全性检查：确保错误指针有效
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 检查是否在中断服务程序中调用
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* See if trying to check stack from ISR */
*p_err = OS_ERR_TASK_STK_CHK_ISR;
return;
}
#endif
// 参数有效性检查
#if (OS_CFG_ARG_CHK_EN > 0u)
if (p_free == (CPU_STK_SIZE *)0)
{ /* User must specify valid destinations for the sizes */
*p_err = OS_ERR_PTR_INVALID;
return;
}
if (p_used == (CPU_STK_SIZE *)0)
{
*p_err = OS_ERR_PTR_INVALID;
return;
}
#endif
// 进入临界区，保护任务控制块
CPU_CRITICAL_ENTER();
if (p_tcb == (OS_TCB *)0)
{ /* Check the stack of the current task? */
p_tcb = OSTCBCurPtr; /* Yes */
}
// 检查任务是否存在
if (p_tcb->StkPtr == (CPU_STK *)0)
{ /* Make sure task exist */
CPU_CRITICAL_EXIT();
*p_free = 0u;
*p_used = 0u;
*p_err = OS_ERR_TASK_NOT_EXIST;
return;
}
// 检查是否启用了栈检查选项
if ((p_tcb->Opt & OS_OPT_TASK_STK_CHK) == 0u)
{ /* Make sure stack checking option is set */
CPU_CRITICAL_EXIT();
*p_free = 0u;
*p_used = 0u;
*p_err = OS_ERR_TASK_OPT;
return;
}
// 根据栈增长方向设置栈指针起始位置
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
p_stk = p_tcb->StkBasePtr; /* Start at the lowest memory and go up */
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u)
p_stk += OS_CFG_TASK_STK_REDZONE_DEPTH;
#endif
#else
p_stk = p_tcb->StkBasePtr + p_tcb->StkSize - 1u; /* Start at the highest memory and go down */
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u)
p_stk -= OS_CFG_TASK_STK_REDZONE_DEPTH;
#endif
#endif
stk_size = p_tcb->StkSize;
CPU_CRITICAL_EXIT();
free_stk = 0u;
// 计算栈中未使用的空间大小
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
while ((free_stk < stk_size) &&
(*p_stk == 0u))
{
p_stk++;
free_stk++;
}
#else
while ((free_stk < stk_size) &&
(*p_stk == 0u))
{
free_stk++;
p_stk--;
}
#endif
// 更新用户传入的指针所指向的值
*p_free = free_stk;
*p_used = (stk_size - free_stk); /* Compute number of entries used on the stack */
*p_err = OS_ERR_NONE;
}
#endif
/*
************************************************************************************************************************
* CHECK THE STACK REDZONE OF A TASK
*
* Description: Verify a task's stack redzone.
*
* Arguments : p_tcb is a pointer to the TCB of the task to check or null for the current task.
*
* Returns : If the stack is corrupted (OS_FALSE) or not (OS_TRUE).
*
* Note(s) : These functions are INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u)
CPU_BOOLEAN OSTaskStkRedzoneChk(OS_TCB *p_tcb)
{
CPU_BOOLEAN stk_status;
if (p_tcb == (OS_TCB *)0)
{
p_tcb = OSTCBCurPtr;
}
/* Check if SP is valid: */
/* StkBase <= SP < (StkBase + StkSize) */
if ((p_tcb->StkPtr < p_tcb->StkBasePtr) ||
(p_tcb->StkPtr >= (p_tcb->StkBasePtr + p_tcb->StkSize)))
{
return (OS_FALSE);
}
stk_status = OS_TaskStkRedzoneChk(p_tcb->StkBasePtr, p_tcb->StkSize);
return (stk_status);
}
#endif
/*
************************************************************************************************************************
* SUSPEND A TASK
*
* Description: This function is called to suspend a task. The task can be the calling task if 'p_tcb' is a NULL pointer
* or the pointer to the TCB of the calling task.
*
* Arguments : p_tcb is a pointer to the TCB to suspend.
* If p_tcb is a NULL pointer then, suspend the current task.
*
* p_err is a pointer to a variable that will receive an error code from this function.
*
* OS_ERR_NONE If the requested task is suspended
* OS_ERR_OS_NOT_RUNNING If uC/OS-III is not running yet
* OS_ERR_SCHED_LOCKED You can't suspend the current task is the scheduler is
* locked
* OS_ERR_STATE_INVALID If the task is in an invalid state
* OS_ERR_TASK_SUSPEND_CTR_OVF If the nesting counter overflowed.
* OS_ERR_TASK_SUSPEND_ISR If you called this function from an ISR
* OS_ERR_TASK_SUSPEND_IDLE If you attempted to suspend the idle task which is not
* allowed
* OS_ERR_TASK_SUSPEND_INT_HANDLER If you attempted to suspend the idle task which is not
* allowed
*
* Returns : none
*
* Note(s) : 1) 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_CFG_TASK_SUSPEND_EN > 0u)
/**
* 暂停一个任务的执行
*
* @param p_tcb 指向任务控制块的指针，标识要暂停的任务
* @param p_err 指向错误代码的指针，用于返回函数执行结果
*/
void OSTaskSuspend(OS_TCB *p_tcb,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
// 进入任务暂停跟踪
OS_TRACE_TASK_SUSPEND_ENTER(p_tcb);
// 在安全关键应用中，检查错误参数是否为空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 检查是否在中断服务程序中调用，不允许在ISR中调用此函数
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{
*p_err = OS_ERR_TASK_SUSPEND_ISR;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_TASK_SUSPEND_ISR);
return;
}
#endif
// 检查是否尝试暂停空闲任务，不允许暂停空闲任务
#if (OS_CFG_TASK_IDLE_EN > 0u)
if (p_tcb == &OSIdleTaskTCB)
{
*p_err = OS_ERR_TASK_SUSPEND_IDLE;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_TASK_SUSPEND_IDLE);
return;
}
#endif
CPU_CRITICAL_ENTER();
// 检查任务控制块是否为空，如果为空则尝试暂停当前任务
if (p_tcb == (OS_TCB *)0)
{
if (OSRunning != OS_STATE_OS_RUNNING)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_OS_NOT_RUNNING;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_OS_NOT_RUNNING);
return;
}
p_tcb = OSTCBCurPtr;
}
// 如果尝试暂停当前任务，检查调度程序是否锁定
if (p_tcb == OSTCBCurPtr)
{
if (OSSchedLockNestingCtr > 0u)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_SCHED_LOCKED;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_SCHED_LOCKED);
return;
}
}
*p_err = OS_ERR_NONE;
// 根据任务状态更新任务状态和暂停计数器
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;
p_tcb->SuspendCtr = 1u;
OS_RdyListRemove(p_tcb);
OS_TRACE_TASK_SUSPEND(p_tcb);
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_DLY:
p_tcb->TaskState = OS_TASK_STATE_DLY_SUSPENDED;
p_tcb->SuspendCtr = 1u;
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND:
p_tcb->TaskState = OS_TASK_STATE_PEND_SUSPENDED;
p_tcb->SuspendCtr = 1u;
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_PEND_TIMEOUT:
p_tcb->TaskState = OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED;
p_tcb->SuspendCtr = 1u;
CPU_CRITICAL_EXIT();
break;
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_DLY_SUSPENDED:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
if (p_tcb->SuspendCtr == (OS_NESTING_CTR)-1)
{
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_TASK_SUSPEND_CTR_OVF;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_TASK_SUSPEND_CTR_OVF);
return;
}
p_tcb->SuspendCtr++;
CPU_CRITICAL_EXIT();
break;
default:
CPU_CRITICAL_EXIT();
*p_err = OS_ERR_STATE_INVALID;
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_STATE_INVALID);
return;
}
// 如果内核正在运行，则进行任务调度
if (OSRunning == OS_STATE_OS_RUNNING)
{
OSSched();
OS_TRACE_TASK_SUSPEND_EXIT(OS_ERR_NONE);
}
}
#endif
/*
************************************************************************************************************************
* CHANGE A TASK'S TIME SLICE
*
* Description: This function is called to change the value of the task's specific time slice.
*
* Arguments : p_tcb is the pointer to the TCB of the task to change. If you specify an NULL pointer, the current
* task is assumed.
*
* time_quanta is the number of ticks before the CPU is taken away when round-robin scheduling is enabled.
*
* p_err is a pointer to an error code returned by this function:
*
* OS_ERR_NONE Upon success
* OS_ERR_SET_ISR If you called this function from an ISR
*
* Returns : none
*
* Note(s) : none
************************************************************************************************************************
*/
#if (OS_CFG_SCHED_ROUND_ROBIN_EN > 0u)
/**
* @brief 设置任务的时间片
*
* 该函数用于设置任务的执行时间片。如果时间片设置为0，则使用默认的时间片。
* 在中断上下文中调用该函数会导致错误。
*
* @param p_tcb 指向任务控制块的指针
* @param time_quanta 时间片的长度，单位为滴答
* @param p_err 指向错误代码的指针
*/
void OSTaskTimeQuantaSet(OS_TCB *p_tcb,
OS_TICK time_quanta,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
// 安全关键代码检查：确保错误参数指针非空
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0)
{
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
// 检查是否在中断上下文中调用：不允许在中断中调用该函数
#if (OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u)
if (OSIntNestingCtr > 0u)
{ /* Can't call this function from an ISR */
*p_err = OS_ERR_SET_ISR;
return;
}
#endif
// 进入临界区：保护任务控制块和时间片变量
CPU_CRITICAL_ENTER();
// 如果传入的任务控制块指针为空，则使用当前任务的控制块
if (p_tcb == (OS_TCB *)0)
{
p_tcb = OSTCBCurPtr;
}
// 如果时间片为0，则使用默认时间片，否则使用传入的时间片
if (time_quanta == 0u)
{
p_tcb->TimeQuanta = OSSchedRoundRobinDfltTimeQuanta;
}
else
{
p_tcb->TimeQuanta = time_quanta;
}
// 如果新设置的时间片大于当前时间片计数器，则更新时间片计数器
if (p_tcb->TimeQuanta > p_tcb->TimeQuantaCtr)
{
p_tcb->TimeQuantaCtr = p_tcb->TimeQuanta;
}
// 退出临界区
CPU_CRITICAL_EXIT();
// 设置错误代码为无错误
*p_err = OS_ERR_NONE;
}
#endif
/*
************************************************************************************************************************
* ADD/REMOVE TASK TO/FROM DEBUG LIST
*
* Description: These functions are called by uC/OS-III to add or remove an OS_TCB from the debug list.
*
* Arguments : p_tcb is a pointer to the OS_TCB to add/remove
*
* Returns : none
*
* Note(s) : These functions are INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
#if (OS_CFG_DBG_EN > 0u)
void OS_TaskDbgListAdd(OS_TCB *p_tcb)
{
p_tcb->DbgPrevPtr = (OS_TCB *)0;
if (OSTaskDbgListPtr == (OS_TCB *)0)
{
p_tcb->DbgNextPtr = (OS_TCB *)0;
}
else
{
p_tcb->DbgNextPtr = OSTaskDbgListPtr;
OSTaskDbgListPtr->DbgPrevPtr = p_tcb;
}
OSTaskDbgListPtr = p_tcb;
}
void OS_TaskDbgListRemove(OS_TCB *p_tcb)
{
OS_TCB *p_tcb_next;
OS_TCB *p_tcb_prev;
p_tcb_prev = p_tcb->DbgPrevPtr;
p_tcb_next = p_tcb->DbgNextPtr;
if (p_tcb_prev == (OS_TCB *)0)
{
OSTaskDbgListPtr = p_tcb_next;
if (p_tcb_next != (OS_TCB *)0)
{
p_tcb_next->DbgPrevPtr = (OS_TCB *)0;
}
p_tcb->DbgNextPtr = (OS_TCB *)0;
}
else if (p_tcb_next == (OS_TCB *)0)
{
p_tcb_prev->DbgNextPtr = (OS_TCB *)0;
p_tcb->DbgPrevPtr = (OS_TCB *)0;
}
else
{
p_tcb_prev->DbgNextPtr = p_tcb_next;
p_tcb_next->DbgPrevPtr = p_tcb_prev;
p_tcb->DbgNextPtr = (OS_TCB *)0;
p_tcb->DbgPrevPtr = (OS_TCB *)0;
}
}
#endif
/*
************************************************************************************************************************
* TASK MANAGER INITIALIZATION
*
* Description: This function is called by OSInit() to initialize the task management.
*
* Argument(s): p_err is a pointer to a variable that will contain an error code returned by this function.
*
* OS_ERR_NONE the call was successful
*
* Returns : none
*
* Note(s) : This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
/**
* 初始化任务模块
*
* 该函数在系统初始化阶段对任务相关的全局变量进行设置
* 主要包括任务调试链表指针、任务数量和任务上下文切换计数器的初始化
*
* @param p_err 指向错误代码的指针，用于返回函数执行结果
*/
void OS_TaskInit(OS_ERR *p_err)
{
// 在调试配置下，初始化任务调试链表指针为NULL
#if (OS_CFG_DBG_EN > 0u)
OSTaskDbgListPtr = (OS_TCB *)0;
#endif
// 清除任务数量，表示系统当前没有创建任何任务
OSTaskQty = 0u; /* Clear the number of tasks */
// 在任务配置或调试配置下，清除上下文切换计数器
#if ((OS_CFG_TASK_PROFILE_EN > 0u) || (OS_CFG_DBG_EN > 0u))
OSTaskCtxSwCtr = 0u; /* Clear the context switch counter */
#endif
// 设置错误代码为无错误，表示函数执行成功
*p_err = OS_ERR_NONE;
}
/*
************************************************************************************************************************
* INITIALIZE TCB FIELDS
*
* Description: This function is called to initialize a TCB to default values
*
* Arguments : p_tcb is a pointer to the TCB to initialize
*
* Returns : none
*
* Note(s) : This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
// 初始化任务控制块(TCB)
void OS_TaskInitTCB(OS_TCB *p_tcb)
{
// 如果任务寄存器表大小大于0，则初始化相关寄存器
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
OS_REG_ID reg_id;
#endif
// 如果定义了线程局部存储表大小且大于0，则初始化相关TLS
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
OS_TLS_ID id;
#endif
// 初始化栈指针和栈限制指针为NULL
p_tcb->StkPtr = (CPU_STK *)0;
p_tcb->StkLimitPtr = (CPU_STK *)0;
// 初始化扩展指针为NULL
p_tcb->ExtPtr = (void *)0;
// 初始化双向链表的前后指针为NULL
p_tcb->NextPtr = (OS_TCB *)0;
p_tcb->PrevPtr = (OS_TCB *)0;
// 如果启用了滴答定时器功能，则初始化滴答相关指针为NULL
#if (OS_CFG_TICK_EN > 0u)
p_tcb->TickNextPtr = (OS_TCB *)0;
p_tcb->TickPrevPtr = (OS_TCB *)0;
#endif
// 如果启用了调试功能，则初始化任务名称指针为默认值
#if (OS_CFG_DBG_EN > 0u)
p_tcb->NamePtr = (CPU_CHAR *)((void *)"?Task");
#endif
// 如果启用了调试功能或栈检查功能，则初始化栈基址指针为NULL
#if ((OS_CFG_DBG_EN > 0u) || (OS_CFG_STAT_TASK_STK_CHK_EN > 0u))
p_tcb->StkBasePtr = (CPU_STK *)0;
#endif
// 如果启用了调试功能，则初始化任务入口地址和参数为0
#if (OS_CFG_DBG_EN > 0u)
p_tcb->TaskEntryAddr = (OS_TASK_PTR)0;
p_tcb->TaskEntryArg = (void *)0;
#endif
// 如果启用了时间戳功能，则初始化时间戳为0
#if (OS_CFG_TS_EN > 0u)
p_tcb->TS = 0u;
#endif
// 如果启用了消息功能，则初始化消息指针和大小为0
#if (OS_MSG_EN > 0u)
p_tcb->MsgPtr = (void *)0;
p_tcb->MsgSize = 0u;
#endif
// 如果启用了任务队列功能，则初始化消息队列
#if (OS_CFG_TASK_Q_EN > 0u)
OS_MsgQInit(&p_tcb->MsgQ,
0u);
// 如果启用了任务分析功能，则初始化消息队列相关时间统计为0
#if (OS_CFG_TASK_PROFILE_EN > 0u)
p_tcb->MsgQPendTime = 0u;
p_tcb->MsgQPendTimeMax = 0u;
#endif
#endif
// 如果启用了标志功能，则初始化标志相关变量为0
#if (OS_CFG_FLAG_EN > 0u)
p_tcb->FlagsPend = 0u;
p_tcb->FlagsOpt = 0u;
p_tcb->FlagsRdy = 0u;
#endif
// 如果启用了任务寄存器表功能，则初始化寄存器表为0
#if (OS_CFG_TASK_REG_TBL_SIZE > 0u)
for (reg_id = 0u; reg_id < OS_CFG_TASK_REG_TBL_SIZE; reg_id++)
{
p_tcb->RegTbl[reg_id] = 0u;
}
#endif
// 如果定义了线程局部存储表大小且大于0，则初始化TLS表为0
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
for (id = 0u; id < OS_CFG_TLS_TBL_SIZE; id++)
{
p_tcb->TLS_Tbl[id] = 0u;
}
#endif
// 初始化信号量计数器为0
p_tcb->SemCtr = 0u;
// 如果启用了任务分析功能，则初始化信号量相关时间统计为0
#if (OS_CFG_TASK_PROFILE_EN > 0u)
p_tcb->SemPendTime = 0u;
p_tcb->SemPendTimeMax = 0u;
#endif
// 如果启用了调试功能或栈检查功能，则初始化栈大小为0
#if ((OS_CFG_DBG_EN > 0u) || (OS_CFG_STAT_TASK_STK_CHK_EN > 0u))
p_tcb->StkSize = 0u;
#endif
// 如果启用了任务挂起功能，则初始化挂起计数器为0
#if (OS_CFG_TASK_SUSPEND_EN > 0u)
p_tcb->SuspendCtr = 0u;
#endif
// 如果启用了栈使用情况统计功能，则初始化相关统计变量为0
#if (OS_CFG_STAT_TASK_STK_CHK_EN > 0u)
p_tcb->StkFree = 0u;
p_tcb->StkUsed = 0u;
#endif
// 初始化选项变量为0
p_tcb->Opt = 0u;
// 如果启用了滴答定时器功能，则初始化滴答相关变量为0
#if (OS_CFG_TICK_EN > 0u)
p_tcb->TickRemain = 0u;
p_tcb->TickCtrPrev = 0u;
#endif
// 如果启用了轮转调度功能，则初始化时间片和时间片计数器为0
#if (OS_CFG_SCHED_ROUND_ROBIN_EN > 0u)
p_tcb->TimeQuanta = 0u;
p_tcb->TimeQuantaCtr = 0u;
#endif
// 如果启用了任务分析功能，则初始化CPU使用率和最大使用率及相关计数器为0
#if (OS_CFG_TASK_PROFILE_EN > 0u)
p_tcb->CPUUsage = 0u;
p_tcb->CPUUsageMax = 0u;
p_tcb->CtxSwCtr = 0u;
p_tcb->CyclesDelta = 0u;
// 如果启用了时间戳功能，则读取当前时间戳并保存
#if (OS_CFG_TS_EN > 0u)
p_tcb->CyclesStart = OS_TS_GET(); /* Read the current timestamp and save */
#else
p_tcb->CyclesStart = 0u;
#endif
p_tcb->CyclesTotal = 0u;
#endif
// 如果定义了中断禁用测量功能，则初始化最大中断禁用时间为0
#ifdef CPU_CFG_INT_DIS_MEAS_EN
p_tcb->IntDisTimeMax = 0u;
#endif
// 如果启用了调度锁时间测量功能，则初始化最大调度锁时间为0
#if (OS_CFG_SCHED_LOCK_TIME_MEAS_EN > 0u)
p_tcb->SchedLockTimeMax = 0u;
#endif
// 初始化挂起链表的前后指针和挂起对象指针及挂起状态为初始值
p_tcb->PendNextPtr = (OS_TCB *)0;
p_tcb->PendPrevPtr = (OS_TCB *)0;
p_tcb->PendObjPtr = (OS_PEND_OBJ *)0;
p_tcb->PendOn = OS_TASK_PEND_ON_NOTHING;
p_tcb->PendStatus = OS_STATUS_PEND_OK;
// 初始化任务状态为就绪
p_tcb->TaskState = OS_TASK_STATE_RDY;
// 初始化任务优先级为初始值
p_tcb->Prio = OS_PRIO_INIT;
// 如果启用了互斥锁功能，则初始化基优先级和互斥锁组头指针为初始值
#if (OS_CFG_MUTEX_EN > 0u)
p_tcb->BasePrio = OS_PRIO_INIT;
p_tcb->MutexGrpHeadPtr = (OS_MUTEX *)0;
#endif
// 如果启用了调试功能，则初始化调试链表的前后指针和调试名称指针为初始值
#if (OS_CFG_DBG_EN > 0u)
p_tcb->DbgPrevPtr = (OS_TCB *)0;
p_tcb->DbgNextPtr = (OS_TCB *)0;
p_tcb->DbgNamePtr = (CPU_CHAR *)((void *)" ");
#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-III and your application should not call it.
************************************************************************************************************************
*/
/**
* @brief 任务返回函数
*
* 当一个任务需要返回时调用此函数。其主要目的是处理不应该正常返回的任务。
* 首先调用一个钩子函数，允许用户决定如何处理。如果启用了任务删除功能，它会尝试删除任务。
* 如果未启用任务删除功能，它将进入一个带有延迟的无限循环，以防止任务消耗CPU资源。
*/
void OS_TaskReturn(void)
{
OS_ERR err;
OSTaskReturnHook(OSTCBCurPtr); /* 调用钩子函数，让用户决定如何处理 */
#if (OS_CFG_TASK_DEL_EN > 0u)
/* 如果启用了任务删除功能，删除当前任务 */
OSTaskDel((OS_TCB *)0,
&err);
#else
/* 如果未启用任务删除功能，进入一个带有延迟的无限循环 */
for (;;)
{
OSTimeDly(OSCfg_TickRate_Hz,
OS_OPT_TIME_DLY,
&err);
}
#endif
}
/*
************************************************************************************************************************
* CHECK THE STACK REDZONE OF A TASK
*
* Description: Verify a task's stack redzone.
*
* Arguments : p_tcb is a pointer to the base of the stack.
*
* stk_size is the size of the stack.
*
* Returns : If the stack is corrupted (OS_FALSE) or not (OS_TRUE).
*
* Note(s) : 1) This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u)
CPU_BOOLEAN OS_TaskStkRedzoneChk(CPU_STK *p_base,
CPU_STK_SIZE stk_size)
{
CPU_INT32U i;
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
(void)stk_size; /* Prevent compiler warning for not using 'stk_size' */
for (i = 0u; i < OS_CFG_TASK_STK_REDZONE_DEPTH; i++)
{
if (*p_base != (CPU_DATA)OS_STACK_CHECK_VAL)
{
return (OS_FALSE);
}
p_base++;
}
#else
p_base = p_base + stk_size - 1u;
for (i = 0u; i < OS_CFG_TASK_STK_REDZONE_DEPTH; i++)
{
if (*p_base != (CPU_DATA)OS_STACK_CHECK_VAL)
{
return (OS_FALSE);
}
p_base--;
}
#endif
return (OS_TRUE);
}
#endif
/*
************************************************************************************************************************
* INITIALIZE A REDZONE ENABLED STACK
*
* Description: This functions is used to initialize a stack with Redzone checking.
*
* Arguments : p_tcb is a pointer to the base of the stack.
*
* stk_size is the size of the stack.
*
* Returns : none.
*
* Note(s) : 1) This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/
#if (OS_CFG_TASK_STK_REDZONE_EN > 0u)
void OS_TaskStkRedzoneInit(CPU_STK *p_base,
CPU_STK_SIZE stk_size)
{
CPU_STK_SIZE i;
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
(void)stk_size; /* Prevent compiler warning for not using 'stk_size' */
for (i = 0u; i < OS_CFG_TASK_STK_REDZONE_DEPTH; i++)
{
*(p_base + i) = (CPU_DATA)OS_STACK_CHECK_VAL;
}
#else
for (i = 0u; i < OS_CFG_TASK_STK_REDZONE_DEPTH; i++)
{
*(p_base + stk_size - 1u - i) = (CPU_DATA)OS_STACK_CHECK_VAL;
}
#endif
}
#endif
/*
************************************************************************************************************************
* CHANGE PRIORITY OF A TASK
*
* Description: This function is called by the kernel to perform the actual operation of changing a task's priority.
* Priority inheritance is updated if necessary.
*
*
*
* Argument(s): p_tcb is a pointer to the tcb of the task to change the priority.
*
* prio_new is the new priority to give to the task.
*
*
* Returns : none.
*
* Note(s) : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/
/**
* @brief 更改任务的优先级。
*
* 此函数修改指定任务的优先级，并根据任务的当前状态更新相关列表和结构。
* 如果任务处于就绪状态，它会调整就绪列表。如果任务正在等待，它会更新等待列表。
*
* @param p_tcb 指向任务控制块 (TCB) 的指针。
* @param prio_new 新的任务优先级。
*/
void OS_TaskChangePrio(OS_TCB *p_tcb, OS_PRIO prio_new)
{
OS_TCB *p_tcb_owner;
#if (OS_CFG_MUTEX_EN > 0u)
OS_PRIO prio_cur;
#endif
do
{
p_tcb_owner = (OS_TCB *)0;
#if (OS_CFG_MUTEX_EN > 0u)
prio_cur = p_tcb->Prio;
#endif
// 根据任务状态进行不同的处理
switch (p_tcb->TaskState)
{
case OS_TASK_STATE_RDY:
// 从当前优先级列表中移除任务
OS_RdyListRemove(p_tcb);
// 设置新的任务优先级
p_tcb->Prio = prio_new;
// 插入新的优先级
OS_PrioInsert(p_tcb->Prio);
if (p_tcb == OSTCBCurPtr)
{
// 当前任务在就绪列表头部插入
OS_RdyListInsertHead(p_tcb);
}
else
{
// 其他任务在就绪列表尾部插入
OS_RdyListInsertTail(p_tcb);
}
break;
case OS_TASK_STATE_DLY: // 延迟状态，只需更改优先级
case OS_TASK_STATE_SUSPENDED:
case OS_TASK_STATE_DLY_SUSPENDED:
// 设置新的任务优先级
p_tcb->Prio = prio_new;
break;
case OS_TASK_STATE_PEND:
case OS_TASK_STATE_PEND_TIMEOUT:
case OS_TASK_STATE_PEND_SUSPENDED:
case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:
// 设置新的任务优先级
p_tcb->Prio = prio_new;
// 根据任务等待的对象进行不同的处理
switch (p_tcb->PendOn)
{
case OS_TASK_PEND_ON_FLAG:
case OS_TASK_PEND_ON_Q:
case OS_TASK_PEND_ON_SEM:
// 更新等待列表中的优先级
OS_PendListChangePrio(p_tcb);
break;
case OS_TASK_PEND_ON_MUTEX:
#if (OS_CFG_MUTEX_EN > 0u)
// 更新等待列表中的优先级
OS_PendListChangePrio(p_tcb);
// 获取互斥锁的所有者任务
p_tcb_owner = ((OS_MUTEX *)((void *)p_tcb->PendObjPtr))->OwnerTCBPtr;
if (prio_cur > prio_new)
{ // 是否提高优先级
if (p_tcb_owner->Prio <= prio_new)
{ // 是否需要将此优先级分配给所有者
p_tcb_owner = (OS_TCB *)0;
}
else
{
// 跟踪互斥锁任务优先级继承
OS_TRACE_MUTEX_TASK_PRIO_INHERIT(p_tcb_owner, prio_new);
}
}
else
{
if (p_tcb_owner->Prio == prio_cur)
{ // 是否需要检查更低的优先级
prio_new = OS_MutexGrpPrioFindHighest(p_tcb_owner);
prio_new = (prio_new > p_tcb_owner->BasePrio) ? p_tcb_owner->BasePrio : prio_new;
if (prio_new == p_tcb_owner->Prio)
{
p_tcb_owner = (OS_TCB *)0;
}
else
{
// 跟踪互斥锁任务优先级取消继承
OS_TRACE_MUTEX_TASK_PRIO_DISINHERIT(p_tcb_owner, prio_new);
}
}
else
{
p_tcb_owner = (OS_TCB *)0;
}
}
#endif
break;
case OS_TASK_PEND_ON_TASK_Q:
case OS_TASK_PEND_ON_TASK_SEM:
default:
// 默认情况
break;
}
break;
default:
return;
}
p_tcb = p_tcb_owner;
} while (p_tcb != (OS_TCB *)0);
}
标签：err,
TASK,
ERR,
UcOs,
0u,
OS,
task,
源码,
tcb
From： https://www.cnblogs.com/lanlincmos/p/18517451