mirror of
https://github.com/dimoniche/solarium.git
synced 2026-01-30 09:53:30 +03:00
1071 lines
49 KiB
Plaintext
1071 lines
49 KiB
Plaintext
/*
|
||
*********************************************************************************************************
|
||
* uC/OS-II
|
||
* The Real-Time Kernel
|
||
* TASK MANAGEMENT
|
||
*
|
||
* (c) Copyright 1992-2007, Jean J. Labrosse, Weston, FL
|
||
* All Rights Reserved
|
||
*
|
||
* File : OS_TASK.C
|
||
* By : Jean J. Labrosse
|
||
* Version : V2.85
|
||
*
|
||
* LICENSING TERMS:
|
||
* ---------------
|
||
* uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research.
|
||
* If you plan on using uC/OS-II in a commercial product you need to contact Micriµm to properly license
|
||
* its use in your product. We provide ALL the source code for your convenience and to help you experience
|
||
* uC/OS-II. The fact that the source is provided does NOT mean that you can use it without paying a
|
||
* licensing fee.
|
||
*********************************************************************************************************
|
||
*/
|
||
|
||
#ifndef OS_MASTER_FILE
|
||
#include <ucos_ii.h>
|
||
#endif
|
||
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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 : oldp is the old priority
|
||
*
|
||
* newp is the new priority
|
||
*
|
||
* Returns : OS_ERR_NONE is the call was successful
|
||
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
||
* (i.e. >= OS_LOWEST_PRIO)
|
||
* OS_ERR_PRIO_EXIST if the new priority already exist.
|
||
* OS_ERR_PRIO there is no task with the specified OLD priority (i.e. the OLD task does
|
||
* not exist.
|
||
* OS_ERR_TASK_NOT_EXIST if the task is assigned to a Mutex PIP.
|
||
*********************************************************************************************************
|
||
*/
|
||
|
||
#if OS_TASK_CHANGE_PRIO_EN > 0
|
||
INT8U OSTaskChangePrio (INT8U oldprio, INT8U newprio)
|
||
{
|
||
#if OS_EVENT_EN
|
||
OS_EVENT *pevent;
|
||
#endif
|
||
OS_TCB *ptcb;
|
||
INT8U x;
|
||
INT8U y;
|
||
#if OS_LOWEST_PRIO <= 63
|
||
INT8U bitx;
|
||
INT8U bity;
|
||
#else
|
||
INT16U bitx;
|
||
INT16U bity;
|
||
#endif
|
||
INT8U y_old;
|
||
#if OS_CRITICAL_METHOD == 3
|
||
OS_CPU_SR cpu_sr = 0; /* Storage for CPU status register */
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (oldprio >= OS_LOWEST_PRIO) {
|
||
if (oldprio != OS_PRIO_SELF) {
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
}
|
||
if (newprio >= OS_LOWEST_PRIO) {
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
#endif
|
||
OS_ENTER_CRITICAL();
|
||
if (OSTCBPrioTbl[newprio] != (OS_TCB *)0) { /* New priority must not already exist */
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_PRIO_EXIST);
|
||
}
|
||
if (oldprio == OS_PRIO_SELF) { /* See if changing self */
|
||
oldprio = OSTCBCur->OSTCBPrio; /* Yes, get priority */
|
||
}
|
||
ptcb = OSTCBPrioTbl[oldprio];
|
||
if (ptcb == (OS_TCB *)0) { /* Does task to change exist? */
|
||
OS_EXIT_CRITICAL(); /* No, can't change its priority! */
|
||
return (OS_ERR_PRIO);
|
||
}
|
||
if (ptcb == OS_TCB_RESERVED) { /* Is task assigned to Mutex */
|
||
OS_EXIT_CRITICAL(); /* No, can't change its priority! */
|
||
return (OS_ERR_TASK_NOT_EXIST);
|
||
}
|
||
#if OS_LOWEST_PRIO <= 63
|
||
y = (INT8U)(newprio >> 3); /* Yes, compute new TCB fields */
|
||
x = (INT8U)(newprio & 0x07);
|
||
bity = (INT8U)(1 << y);
|
||
bitx = (INT8U)(1 << x);
|
||
#else
|
||
y = (INT8U)((newprio >> 4) & 0x0F);
|
||
x = (INT8U)( newprio & 0x0F);
|
||
bity = (INT16U)(1 << y);
|
||
bitx = (INT16U)(1 << x);
|
||
#endif
|
||
|
||
OSTCBPrioTbl[oldprio] = (OS_TCB *)0; /* Remove TCB from old priority */
|
||
OSTCBPrioTbl[newprio] = ptcb; /* Place pointer to TCB @ new priority */
|
||
y_old = ptcb->OSTCBY;
|
||
if ((OSRdyTbl[y_old] & ptcb->OSTCBBitX) != 0) { /* If task is ready make it not */
|
||
OSRdyTbl[y_old] &= ~ptcb->OSTCBBitX;
|
||
if (OSRdyTbl[y_old] == 0) {
|
||
OSRdyGrp &= ~ptcb->OSTCBBitY;
|
||
}
|
||
OSRdyGrp |= bity; /* Make new priority ready to run */
|
||
OSRdyTbl[y] |= bitx;
|
||
}
|
||
#if OS_EVENT_EN
|
||
pevent = ptcb->OSTCBEventPtr;
|
||
if (pevent != (OS_EVENT *)0) { /* ... remove from event wait list */
|
||
pevent->OSEventTbl[y_old] &= ~ptcb->OSTCBBitX;
|
||
if (pevent->OSEventTbl[y_old] == 0) {
|
||
pevent->OSEventGrp &= ~ptcb->OSTCBBitY;
|
||
}
|
||
pevent->OSEventGrp |= bity; /* Add new priority to wait list */
|
||
pevent->OSEventTbl[y] |= bitx;
|
||
}
|
||
#endif
|
||
ptcb->OSTCBPrio = newprio; /* Set new task priority */
|
||
ptcb->OSTCBY = y;
|
||
ptcb->OSTCBX = x;
|
||
ptcb->OSTCBBitY = bity;
|
||
ptcb->OSTCBBitX = bitx;
|
||
OS_EXIT_CRITICAL();
|
||
if (OSRunning == OS_TRUE) {
|
||
OS_Sched(); /* Find new highest priority task */
|
||
}
|
||
return (OS_ERR_NONE);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* CREATE A TASK
|
||
*
|
||
* Description: This function is used to have uC/OS-II 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 : 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;
|
||
* }
|
||
* }
|
||
*
|
||
* ptos is a pointer to the task's top 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). 'pstk' will thus point to the highest (valid) memory
|
||
* location of the stack. If OS_STK_GROWTH is set to 0, 'pstk' will point to the
|
||
* lowest memory location of the stack and the stack will grow with increasing
|
||
* memory locations.
|
||
*
|
||
* prio is the task's priority. A unique priority MUST be assigned to each task and the
|
||
* lower the number, the higher the priority.
|
||
*
|
||
* Returns : OS_ERR_NONE if the function was successful.
|
||
* OS_PRIO_EXIT if the task priority already exist
|
||
* (each task MUST have a unique priority).
|
||
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
||
* (i.e. >= OS_LOWEST_PRIO)
|
||
* OS_ERR_TASK_CREATE_ISR if you tried to create a task from an ISR.
|
||
*********************************************************************************************************
|
||
*/
|
||
|
||
#if OS_TASK_CREATE_EN > 0
|
||
INT8U OSTaskCreate (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT8U prio)
|
||
{
|
||
OS_STK *psp;
|
||
INT8U err;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
#endif
|
||
OS_ENTER_CRITICAL();
|
||
if (OSIntNesting > 0) { /* Make sure we don't create the task from within an ISR */
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_TASK_CREATE_ISR);
|
||
}
|
||
if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
|
||
OSTCBPrioTbl[prio] = OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... */
|
||
/* ... the same thing until task is created. */
|
||
OS_EXIT_CRITICAL();
|
||
psp = OSTaskStkInit(task, p_arg, ptos, 0); /* Initialize the task's stack */
|
||
err = OS_TCBInit(prio, psp, (OS_STK *)0, 0, 0, (void *)0, 0);
|
||
if (err == OS_ERR_NONE) {
|
||
if (OSRunning == OS_TRUE) { /* Find highest priority task if multitasking has started */
|
||
OS_Sched();
|
||
}
|
||
} else {
|
||
OS_ENTER_CRITICAL();
|
||
OSTCBPrioTbl[prio] = (OS_TCB *)0;/* Make this priority available to others */
|
||
OS_EXIT_CRITICAL();
|
||
}
|
||
return (err);
|
||
}
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_PRIO_EXIST);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* CREATE A TASK (Extended Version)
|
||
*
|
||
* Description: This function is used to have uC/OS-II 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. This function is similar to OSTaskCreate() except that it allows
|
||
* additional information about a task to be specified.
|
||
*
|
||
* Arguments : 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;
|
||
* }
|
||
* }
|
||
*
|
||
* ptos is a pointer to the task's top 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). 'ptos' will thus point to the highest (valid) memory
|
||
* location of the stack. If OS_STK_GROWTH is set to 0, 'ptos' will point to the
|
||
* lowest memory location of the stack and the stack will grow with increasing
|
||
* memory locations. 'ptos' MUST point to a valid 'free' data item.
|
||
*
|
||
* prio is the task's priority. A unique priority MUST be assigned to each task and the
|
||
* lower the number, the higher the priority.
|
||
*
|
||
* id is the task's ID (0..65535)
|
||
*
|
||
* 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.
|
||
*
|
||
* stk_size is the size of the stack in number of elements. If OS_STK is set to INT8U,
|
||
* 'stk_size' corresponds to the number of bytes available. If OS_STK is set to
|
||
* INT16U, 'stk_size' contains the number of 16-bit entries available. Finally, if
|
||
* OS_STK is set to INT32U, 'stk_size' contains the number of 32-bit entries
|
||
* available on the stack.
|
||
*
|
||
* pext 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. 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. Current choices are:
|
||
*
|
||
* OS_TASK_OPT_STK_CHK Stack checking to be allowed for the task
|
||
* OS_TASK_OPT_STK_CLR Clear the stack when the task is created
|
||
* OS_TASK_OPT_SAVE_FP If the CPU has floating-point registers, save them
|
||
* during a context switch.
|
||
*
|
||
* Returns : OS_ERR_NONE if the function was successful.
|
||
* OS_PRIO_EXIT if the task priority already exist
|
||
* (each task MUST have a unique priority).
|
||
* OS_ERR_PRIO_INVALID if the priority you specify is higher that the maximum allowed
|
||
* (i.e. > OS_LOWEST_PRIO)
|
||
* OS_ERR_TASK_CREATE_ISR if you tried to create a task from an ISR.
|
||
*********************************************************************************************************
|
||
*/
|
||
/*$PAGE*/
|
||
#if OS_TASK_CREATE_EXT_EN > 0
|
||
INT8U OSTaskCreateExt (void (*task)(void *p_arg),
|
||
void *p_arg,
|
||
OS_STK *ptos,
|
||
INT8U prio,
|
||
INT16U id,
|
||
OS_STK *pbos,
|
||
INT32U stk_size,
|
||
void *pext,
|
||
INT16U opt)
|
||
{
|
||
OS_STK *psp;
|
||
INT8U err;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
#endif
|
||
OS_ENTER_CRITICAL();
|
||
if (OSIntNesting > 0) { /* Make sure we don't create the task from within an ISR */
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_TASK_CREATE_ISR);
|
||
}
|
||
if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */
|
||
OSTCBPrioTbl[prio] = OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... */
|
||
/* ... the same thing until task is created. */
|
||
OS_EXIT_CRITICAL();
|
||
|
||
#if OS_TASK_STAT_STK_CHK_EN > 0
|
||
OS_TaskStkClr(pbos, stk_size, opt); /* Clear the task stack (if needed) */
|
||
#endif
|
||
|
||
psp = OSTaskStkInit(task, p_arg, ptos, opt); /* Initialize the task's stack */
|
||
err = OS_TCBInit(prio, psp, pbos, id, stk_size, pext, opt);
|
||
if (err == OS_ERR_NONE) {
|
||
if (OSRunning == OS_TRUE) { /* Find HPT if multitasking has started */
|
||
OS_Sched();
|
||
}
|
||
} else {
|
||
OS_ENTER_CRITICAL();
|
||
OSTCBPrioTbl[prio] = (OS_TCB *)0; /* Make this priority avail. to others */
|
||
OS_EXIT_CRITICAL();
|
||
}
|
||
return (err);
|
||
}
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_PRIO_EXIST);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* DELETE A TASK
|
||
*
|
||
* Description: This function allows you to delete a task. The calling task can delete itself by
|
||
* its own priority number. The deleted task is returned to the dormant state and can be
|
||
* re-activated by creating the deleted task again.
|
||
*
|
||
* Arguments : prio is the priority of the task to delete. Note that you can explicitely delete
|
||
* the current task without knowing its priority level by setting 'prio' to
|
||
* OS_PRIO_SELF.
|
||
*
|
||
* Returns : OS_ERR_NONE if the call is successful
|
||
* OS_ERR_TASK_DEL_IDLE if you attempted 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 if the task is assigned to a Mutex PIP.
|
||
* OS_ERR_TASK_NOT_EXIST if the task you want to delete does not exist.
|
||
* OS_ERR_TASK_DEL_ISR if you tried to delete a task from an ISR
|
||
*
|
||
* Notes : 1) To reduce interrupt latency, OSTaskDel() 'disables' the task:
|
||
* a) by making it not ready
|
||
* b) by removing it from any wait lists
|
||
* c) by preventing OSTimeTick() from making the task ready to run.
|
||
* The task can then be 'unlinked' from the miscellaneous structures in uC/OS-II.
|
||
* 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.
|
||
*********************************************************************************************************
|
||
*/
|
||
/*$PAGE*/
|
||
#if OS_TASK_DEL_EN > 0
|
||
INT8U OSTaskDel (INT8U prio)
|
||
{
|
||
#if OS_EVENT_EN
|
||
OS_EVENT *pevent;
|
||
#endif
|
||
#if (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
|
||
OS_FLAG_NODE *pnode;
|
||
#endif
|
||
OS_TCB *ptcb;
|
||
INT8U y;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
if (OSIntNesting > 0) { /* See if trying to delete from ISR */
|
||
return (OS_ERR_TASK_DEL_ISR);
|
||
}
|
||
if (prio == OS_TASK_IDLE_PRIO) { /* Not allowed to delete idle task */
|
||
return (OS_ERR_TASK_DEL_IDLE);
|
||
}
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (prio >= OS_LOWEST_PRIO) { /* Task priority valid ? */
|
||
if (prio != OS_PRIO_SELF) {
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
}
|
||
#endif
|
||
|
||
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);
|
||
}
|
||
y = ptcb->OSTCBY;
|
||
OSRdyTbl[y] &= ~ptcb->OSTCBBitX;
|
||
if (OSRdyTbl[y] == 0) { /* Make task not ready */
|
||
OSRdyGrp &= ~ptcb->OSTCBBitY;
|
||
}
|
||
|
||
#if OS_EVENT_EN
|
||
pevent = ptcb->OSTCBEventPtr;
|
||
if (pevent != (OS_EVENT *)0) { /* If task is waiting on event */
|
||
pevent->OSEventTbl[y] &= ~ptcb->OSTCBBitX;
|
||
if (pevent->OSEventTbl[y] == 0) { /* ... remove task from ... */
|
||
pevent->OSEventGrp &= ~ptcb->OSTCBBitY; /* ... event ctrl block */
|
||
}
|
||
}
|
||
#endif
|
||
|
||
#if (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
|
||
pnode = ptcb->OSTCBFlagNode;
|
||
if (pnode != (OS_FLAG_NODE *)0) { /* If task is waiting on event flag */
|
||
OS_FlagUnlink(pnode); /* Remove from wait list */
|
||
}
|
||
#endif
|
||
|
||
ptcb->OSTCBDly = 0; /* Prevent OSTimeTick() from updating */
|
||
ptcb->OSTCBStat = OS_STAT_RDY; /* Prevent task from being resumed */
|
||
ptcb->OSTCBStatPend = OS_STAT_PEND_OK;
|
||
if (OSLockNesting < 255u) { /* Make sure we don't context switch */
|
||
OSLockNesting++;
|
||
}
|
||
OS_EXIT_CRITICAL(); /* Enabling INT. ignores next instruc. */
|
||
OS_Dummy(); /* ... Dummy ensures that INTs will be */
|
||
OS_ENTER_CRITICAL(); /* ... disabled HERE! */
|
||
if (OSLockNesting > 0) { /* Remove context switch lock */
|
||
OSLockNesting--;
|
||
}
|
||
OSTaskDelHook(ptcb); /* Call user defined hook */
|
||
OSTaskCtr--; /* One less task being managed */
|
||
OSTCBPrioTbl[prio] = (OS_TCB *)0; /* Clear old priority entry */
|
||
if (ptcb->OSTCBPrev == (OS_TCB *)0) { /* Remove from TCB chain */
|
||
ptcb->OSTCBNext->OSTCBPrev = (OS_TCB *)0;
|
||
OSTCBList = ptcb->OSTCBNext;
|
||
} else {
|
||
ptcb->OSTCBPrev->OSTCBNext = ptcb->OSTCBNext;
|
||
ptcb->OSTCBNext->OSTCBPrev = ptcb->OSTCBPrev;
|
||
}
|
||
ptcb->OSTCBNext = OSTCBFreeList; /* Return TCB to free TCB list */
|
||
OSTCBFreeList = ptcb;
|
||
#if OS_TASK_NAME_SIZE > 1
|
||
ptcb->OSTCBTaskName[0] = '?'; /* Unknown name */
|
||
ptcb->OSTCBTaskName[1] = OS_ASCII_NUL;
|
||
#endif
|
||
OS_EXIT_CRITICAL();
|
||
if (OSRunning == OS_TRUE) {
|
||
OS_Sched(); /* Find new highest priority task */
|
||
}
|
||
return (OS_ERR_NONE);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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_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.
|
||
*********************************************************************************************************
|
||
*/
|
||
/*$PAGE*/
|
||
#if OS_TASK_DEL_EN > 0
|
||
INT8U OSTaskDelReq (INT8U prio)
|
||
{
|
||
INT8U stat;
|
||
OS_TCB *ptcb;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
if (prio == OS_TASK_IDLE_PRIO) { /* Not allowed to delete idle task */
|
||
return (OS_ERR_TASK_DEL_IDLE);
|
||
}
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (prio >= OS_LOWEST_PRIO) { /* Task priority valid ? */
|
||
if (prio != OS_PRIO_SELF) {
|
||
return (OS_ERR_PRIO_INVALID);
|
||
}
|
||
}
|
||
#endif
|
||
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
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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 an ASCII string that will receive the name of the task. The
|
||
* string must be able to hold at least OS_TASK_NAME_SIZE characters.
|
||
*
|
||
* 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_SIZE > 1
|
||
INT8U OSTaskNameGet (INT8U prio, INT8U *pname, INT8U *perr)
|
||
{
|
||
OS_TCB *ptcb;
|
||
INT8U len;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (perr == (INT8U *)0) { /* Validate 'perr' */
|
||
return (0);
|
||
}
|
||
if (prio > OS_LOWEST_PRIO) { /* Task priority valid ? */
|
||
if (prio != OS_PRIO_SELF) {
|
||
*perr = OS_ERR_PRIO_INVALID; /* No */
|
||
return (0);
|
||
}
|
||
}
|
||
if (pname == (INT8U *)0) { /* Is 'pname' a NULL pointer? */
|
||
*perr = OS_ERR_PNAME_NULL; /* Yes */
|
||
return (0);
|
||
}
|
||
#endif
|
||
if (OSIntNesting > 0) { /* See if trying to call from an ISR */
|
||
*perr = OS_ERR_NAME_GET_ISR;
|
||
return (0);
|
||
}
|
||
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 (0);
|
||
}
|
||
if (ptcb == OS_TCB_RESERVED) { /* Task assigned to a Mutex? */
|
||
OS_EXIT_CRITICAL(); /* Yes */
|
||
*perr = OS_ERR_TASK_NOT_EXIST;
|
||
return (0);
|
||
}
|
||
len = OS_StrCopy(pname, ptcb->OSTCBTaskName); /* Yes, copy name from TCB */
|
||
OS_EXIT_CRITICAL();
|
||
*perr = OS_ERR_NONE;
|
||
return (len);
|
||
}
|
||
#endif
|
||
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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. The ASCII
|
||
* string must be NUL terminated.
|
||
*
|
||
* 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_TASK_NAME_TOO_LONG if the name you are giving to the task exceeds the
|
||
* storage capacity of a task name as specified by
|
||
* OS_TASK_NAME_SIZE.
|
||
* 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_SIZE > 1
|
||
void OSTaskNameSet (INT8U prio, INT8U *pname, INT8U *perr)
|
||
{
|
||
INT8U len;
|
||
OS_TCB *ptcb;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (perr == (INT8U *)0) { /* Validate 'perr' */
|
||
return;
|
||
}
|
||
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 > 0) { /* 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;
|
||
}
|
||
len = OS_StrLen(pname); /* Yes, Can we fit the string in the TCB? */
|
||
if (len > (OS_TASK_NAME_SIZE - 1)) { /* No */
|
||
OS_EXIT_CRITICAL();
|
||
*perr = OS_ERR_TASK_NAME_TOO_LONG;
|
||
return;
|
||
}
|
||
(void)OS_StrCopy(ptcb->OSTCBTaskName, pname); /* Yes, copy to TCB */
|
||
OS_EXIT_CRITICAL();
|
||
*perr = OS_ERR_NONE;
|
||
}
|
||
#endif
|
||
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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 > 0
|
||
INT8U OSTaskResume (INT8U prio)
|
||
{
|
||
OS_TCB *ptcb;
|
||
#if OS_CRITICAL_METHOD == 3 /* Storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
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)OS_STAT_SUSPEND; /* Remove suspension */
|
||
if (ptcb->OSTCBStat == OS_STAT_RDY) { /* See if task is now ready */
|
||
if (ptcb->OSTCBDly == 0) {
|
||
OSRdyGrp |= ptcb->OSTCBBitY; /* Yes, Make task ready to run */
|
||
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
|
||
OS_EXIT_CRITICAL();
|
||
if (OSRunning == OS_TRUE) {
|
||
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
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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_CREATE_EXT_EN > 0
|
||
INT8U OSTaskStkChk (INT8U prio, OS_STK_DATA *p_stk_data)
|
||
{
|
||
OS_TCB *ptcb;
|
||
OS_STK *pchk;
|
||
INT32U free;
|
||
INT32U size;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (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 = 0; /* Assume failure, set to 0 size */
|
||
p_stk_data->OSUsed = 0;
|
||
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) == 0) { /* Make sure stack checking option is set */
|
||
OS_EXIT_CRITICAL();
|
||
return (OS_ERR_TASK_OPT);
|
||
}
|
||
free = 0;
|
||
size = ptcb->OSTCBStkSize;
|
||
pchk = ptcb->OSTCBStkBottom;
|
||
OS_EXIT_CRITICAL();
|
||
#if OS_STK_GROWTH == 1
|
||
while (*pchk++ == (OS_STK)0) { /* Compute the number of zero entries on the stk */
|
||
free++;
|
||
}
|
||
#else
|
||
while (*pchk-- == (OS_STK)0) {
|
||
free++;
|
||
}
|
||
#endif
|
||
p_stk_data->OSFree = free * sizeof(OS_STK); /* Compute number of free bytes on the stack */
|
||
p_stk_data->OSUsed = (size - free) * sizeof(OS_STK); /* Compute number of bytes used on the stack */
|
||
return (OS_ERR_NONE);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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_EXITS 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 > 0
|
||
INT8U OSTaskSuspend (INT8U prio)
|
||
{
|
||
BOOLEAN self;
|
||
OS_TCB *ptcb;
|
||
INT8U y;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (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] &= ~ptcb->OSTCBBitX; /* Make task not ready */
|
||
if (OSRdyTbl[y] == 0) {
|
||
OSRdyGrp &= ~ptcb->OSTCBBitY;
|
||
}
|
||
ptcb->OSTCBStat |= OS_STAT_SUSPEND; /* Status of task is 'SUSPENDED' */
|
||
OS_EXIT_CRITICAL();
|
||
if (self == OS_TRUE) { /* Context switch only if SELF */
|
||
OS_Sched(); /* Find new highest priority task */
|
||
}
|
||
return (OS_ERR_NONE);
|
||
}
|
||
#endif
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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 > 0
|
||
INT8U OSTaskQuery (INT8U prio, OS_TCB *p_task_data)
|
||
{
|
||
OS_TCB *ptcb;
|
||
#if OS_CRITICAL_METHOD == 3 /* Allocate storage for CPU status register */
|
||
OS_CPU_SR cpu_sr = 0;
|
||
#endif
|
||
|
||
|
||
|
||
#if OS_ARG_CHK_EN > 0
|
||
if (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
|
||
/*$PAGE*/
|
||
/*
|
||
*********************************************************************************************************
|
||
* 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_CREATE_EXT_EN > 0
|
||
void OS_TaskStkClr (OS_STK *pbos, INT32U size, INT16U opt)
|
||
{
|
||
if ((opt & OS_TASK_OPT_STK_CHK) != 0x0000) { /* See if stack checking has been enabled */
|
||
if ((opt & OS_TASK_OPT_STK_CLR) != 0x0000) { /* See if stack needs to be cleared */
|
||
#if OS_STK_GROWTH == 1
|
||
while (size > 0) { /* Stack grows from HIGH to LOW memory */
|
||
size--;
|
||
*pbos++ = (OS_STK)0; /* Clear from bottom of stack and up! */
|
||
}
|
||
#else
|
||
while (size > 0) { /* Stack grows from LOW to HIGH memory */
|
||
size--;
|
||
*pbos-- = (OS_STK)0; /* Clear from bottom of stack and down */
|
||
}
|
||
#endif
|
||
}
|
||
}
|
||
}
|
||
|
||
#endif
|