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CoOS/kernel/task.c@0:94897d537b31, 2011-09-10 (annotated)

Committer:: astroboy
Date:: Sat Sep 10 22:41:10 2011 +0000
Revision:: 0:94897d537b31

Who changed what in which revision?

User	Revision	Line number	New contents of line
astroboy	0:94897d537b31	1	/**
astroboy	0:94897d537b31	2	*******************************************************************************
astroboy	0:94897d537b31	3	* @file task.c
astroboy	0:94897d537b31	4	* @version V1.1.4
astroboy	0:94897d537b31	5	* @date 2011.04.20
astroboy	0:94897d537b31	6	* @brief task management implementation code of CooCox CoOS kernel.
astroboy	0:94897d537b31	7	*******************************************************************************
astroboy	0:94897d537b31	8	* @copy
astroboy	0:94897d537b31	9	*
astroboy	0:94897d537b31	10	* INTERNAL FILE,DON'T PUBLIC.
astroboy	0:94897d537b31	11	*
astroboy	0:94897d537b31	12	* <h2><center>© COPYRIGHT 2009 CooCox </center></h2>
astroboy	0:94897d537b31	13	*******************************************************************************
astroboy	0:94897d537b31	14	*/
astroboy	0:94897d537b31	15
astroboy	0:94897d537b31	16
astroboy	0:94897d537b31	17	/---------------------------- Include ---------------------------------------/
astroboy	0:94897d537b31	18	#include <coocox.h>
astroboy	0:94897d537b31	19
astroboy	0:94897d537b31	20	/---------------------------- Variable Define -------------------------------/
astroboy	0:94897d537b31	21
astroboy	0:94897d537b31	22	/!< Table use to save TCB pointer. /
astroboy	0:94897d537b31	23	OSTCB TCBTbl[CFG_MAX_USER_TASKS+SYS_TASK_NUM] = {{0}};
astroboy	0:94897d537b31	24
astroboy	0:94897d537b31	25	/!< The stack of IDLE task. /
astroboy	0:94897d537b31	26	OS_STK idle_stk[CFG_IDLE_STACK_SIZE] = {0};
astroboy	0:94897d537b31	27
astroboy	0:94897d537b31	28	P_OSTCB FreeTCB = 0; /!< pointer to free TCB /
astroboy	0:94897d537b31	29	P_OSTCB TCBRdy = 0; /!< Pointer to the READY list. /
astroboy	0:94897d537b31	30	P_OSTCB TCBNext = 0; /!< Poniter to task that next scheduled by OS /
astroboy	0:94897d537b31	31	P_OSTCB TCBRunning = 0; /!< Pointer to TCB that current running task. /
astroboy	0:94897d537b31	32	U64 OSCheckTime = 0; /!< The counter of system tick. /
astroboy	0:94897d537b31	33
astroboy	0:94897d537b31	34	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	35	OS_TID PriNum;
astroboy	0:94897d537b31	36	U8 ActivePri[CFG_MAX_USER_TASKS+SYS_TASK_NUM];
astroboy	0:94897d537b31	37	U8 TaskNumPerPri[CFG_MAX_USER_TASKS+SYS_TASK_NUM];
astroboy	0:94897d537b31	38	OS_TID RdyTaskPri[CFG_MAX_USER_TASKS+SYS_TASK_NUM] = {0};
astroboy	0:94897d537b31	39	U32 RdyTaskPriInfo[(CFG_MAX_USER_TASKS+SYS_TASK_NUM+31)/32];
astroboy	0:94897d537b31	40	#endif
astroboy	0:94897d537b31	41
astroboy	0:94897d537b31	42
astroboy	0:94897d537b31	43	/**
astroboy	0:94897d537b31	44	*******************************************************************************
astroboy	0:94897d537b31	45	* @brief Create a TCB list.
astroboy	0:94897d537b31	46	* @param[in] None
astroboy	0:94897d537b31	47	* @param[out] None
astroboy	0:94897d537b31	48	* @retval None
astroboy	0:94897d537b31	49	*
astroboy	0:94897d537b31	50	* @par Description
astroboy	0:94897d537b31	51	* @details This function is called by CoOSInit() to initial the empty list
astroboy	0:94897d537b31	52	* of OS_TCBS,supply a pointer to free TCB.
astroboy	0:94897d537b31	53	*******************************************************************************
astroboy	0:94897d537b31	54	*/
astroboy	0:94897d537b31	55	void CreateTCBList(void)
astroboy	0:94897d537b31	56	{
astroboy	0:94897d537b31	57	U8 i;
astroboy	0:94897d537b31	58	P_OSTCB ptcb1,ptcb2;
astroboy	0:94897d537b31	59
astroboy	0:94897d537b31	60	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	61	PriNum = 0;
astroboy	0:94897d537b31	62	#endif
astroboy	0:94897d537b31	63
astroboy	0:94897d537b31	64	ptcb1 = &TCBTbl[0]; /* Build the free TCB list */
astroboy	0:94897d537b31	65	ptcb2 = &TCBTbl[1];
astroboy	0:94897d537b31	66	for(i=0;i< (CFG_MAX_USER_TASKS+SYS_TASK_NUM-1);i++ )
astroboy	0:94897d537b31	67	{
astroboy	0:94897d537b31	68	ptcb1->taskID = i;
astroboy	0:94897d537b31	69	ptcb1->state = TASK_DORMANT;
astroboy	0:94897d537b31	70	ptcb1->TCBnext = ptcb2;
astroboy	0:94897d537b31	71	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	72	RdyTaskPri[i] = INVALID_ID;
astroboy	0:94897d537b31	73	ActivePri[i] = INVALID_ID;
astroboy	0:94897d537b31	74	#endif
astroboy	0:94897d537b31	75	ptcb1++;
astroboy	0:94897d537b31	76	ptcb2++;
astroboy	0:94897d537b31	77	}
astroboy	0:94897d537b31	78	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	79	ActivePri[i] = INVALID_ID;
astroboy	0:94897d537b31	80	#endif
astroboy	0:94897d537b31	81
astroboy	0:94897d537b31	82	ptcb1->taskID = i;
astroboy	0:94897d537b31	83	ptcb1->TCBnext = 0;
astroboy	0:94897d537b31	84	FreeTCB = &TCBTbl[0]; /* Initialize FreeTCB as head item of list */
astroboy	0:94897d537b31	85	}
astroboy	0:94897d537b31	86
astroboy	0:94897d537b31	87
astroboy	0:94897d537b31	88
astroboy	0:94897d537b31	89	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	90
astroboy	0:94897d537b31	91	/**
astroboy	0:94897d537b31	92	*******************************************************************************
astroboy	0:94897d537b31	93	* @brief Get sequence number for Assign priority
astroboy	0:94897d537b31	94	* @param[in] pri Assign priority
astroboy	0:94897d537b31	95	* @param[out] SequenceNum priority number
astroboy	0:94897d537b31	96	* @retval Co_TRUE Assign priority in priority queue.
astroboy	0:94897d537b31	97	* Co_FALSE Assign priority not in priority queue.
astroboy	0:94897d537b31	98	*
astroboy	0:94897d537b31	99	* @par Description
astroboy	0:94897d537b31	100	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	101	* to get sequence number for Assign priority.
astroboy	0:94897d537b31	102	*******************************************************************************
astroboy	0:94897d537b31	103	*/
astroboy	0:94897d537b31	104	static BOOL GetPriSeqNum(U8 pri,OS_TID* SequenceNum)
astroboy	0:94897d537b31	105	{
astroboy	0:94897d537b31	106	OS_TID seqNum;
astroboy	0:94897d537b31	107	OS_TID num,tmpNum;
astroboy	0:94897d537b31	108	num = 0;
astroboy	0:94897d537b31	109	seqNum = PriNum;
astroboy	0:94897d537b31	110	while(num != seqNum)
astroboy	0:94897d537b31	111	{
astroboy	0:94897d537b31	112	tmpNum = num;
astroboy	0:94897d537b31	113	num = (num+seqNum)/2;
astroboy	0:94897d537b31	114	if(pri == ActivePri[num])
astroboy	0:94897d537b31	115	{
astroboy	0:94897d537b31	116	*SequenceNum = num;
astroboy	0:94897d537b31	117	return Co_TRUE;
astroboy	0:94897d537b31	118	}
astroboy	0:94897d537b31	119	else if (pri < ActivePri[num])
astroboy	0:94897d537b31	120	{
astroboy	0:94897d537b31	121	seqNum = num;
astroboy	0:94897d537b31	122	num = tmpNum;
astroboy	0:94897d537b31	123	}
astroboy	0:94897d537b31	124	else
astroboy	0:94897d537b31	125	{
astroboy	0:94897d537b31	126	num++;
astroboy	0:94897d537b31	127	}
astroboy	0:94897d537b31	128	}
astroboy	0:94897d537b31	129	*SequenceNum = num;
astroboy	0:94897d537b31	130	return Co_FALSE;
astroboy	0:94897d537b31	131	}
astroboy	0:94897d537b31	132
astroboy	0:94897d537b31	133
astroboy	0:94897d537b31	134	/**
astroboy	0:94897d537b31	135	*******************************************************************************
astroboy	0:94897d537b31	136	* @brief Get the nearest ready priority sequence number for Assign number
astroboy	0:94897d537b31	137	* @param[in] seqNum Assign sequence number
astroboy	0:94897d537b31	138	* @param[out] None
astroboy	0:94897d537b31	139	* @retval INVALID_ID Cannot find higher ready priority.
astroboy	0:94897d537b31	140	* Others Nearest ready priority sequence number
astroboy	0:94897d537b31	141	*
astroboy	0:94897d537b31	142	* @par Description
astroboy	0:94897d537b31	143	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	144	* to get the nearest ready priority sequence number.
astroboy	0:94897d537b31	145	*******************************************************************************
astroboy	0:94897d537b31	146	*/
astroboy	0:94897d537b31	147	static U8 GetRdyPriSeqNum(U8 seqNum)
astroboy	0:94897d537b31	148	{
astroboy	0:94897d537b31	149	U32 tmp;
astroboy	0:94897d537b31	150	U8 i,j,num;
astroboy	0:94897d537b31	151	S8 cnt;
astroboy	0:94897d537b31	152	i = seqNum/32;
astroboy	0:94897d537b31	153	j = seqNum%32;
astroboy	0:94897d537b31	154
astroboy	0:94897d537b31	155	do
astroboy	0:94897d537b31	156	{
astroboy	0:94897d537b31	157	tmp = RdyTaskPriInfo[i];
astroboy	0:94897d537b31	158	if(tmp != 0)
astroboy	0:94897d537b31	159	{
astroboy	0:94897d537b31	160	num = j/8;
astroboy	0:94897d537b31	161	do
astroboy	0:94897d537b31	162	{
astroboy	0:94897d537b31	163	if((tmp&(0xff<<(num*8))) !=0 )
astroboy	0:94897d537b31	164	{
astroboy	0:94897d537b31	165	if((tmp&(0xf0<<(num*8))) !=0)
astroboy	0:94897d537b31	166	{
astroboy	0:94897d537b31	167	for(cnt=j; cnt >=(num*8+4); cnt--)
astroboy	0:94897d537b31	168	{
astroboy	0:94897d537b31	169	if( (tmp&(1<<cnt)) !=0)
astroboy	0:94897d537b31	170	{
astroboy	0:94897d537b31	171	return (32*i+cnt);
astroboy	0:94897d537b31	172	}
astroboy	0:94897d537b31	173	}
astroboy	0:94897d537b31	174	}
astroboy	0:94897d537b31	175
astroboy	0:94897d537b31	176	if((j&0x4)==4)
astroboy	0:94897d537b31	177	j = (j\|0x3) -4;
astroboy	0:94897d537b31	178
astroboy	0:94897d537b31	179	for(cnt=j; cnt >=num*8; cnt--)
astroboy	0:94897d537b31	180	{
astroboy	0:94897d537b31	181	if( (tmp&(1<<cnt)) !=0)
astroboy	0:94897d537b31	182	{
astroboy	0:94897d537b31	183	return (32*i+cnt);
astroboy	0:94897d537b31	184	}
astroboy	0:94897d537b31	185	}
astroboy	0:94897d537b31	186	}
astroboy	0:94897d537b31	187	j = num*8 -1;
astroboy	0:94897d537b31	188	}while((num--)!=0);
astroboy	0:94897d537b31	189	}
astroboy	0:94897d537b31	190	j=31;
astroboy	0:94897d537b31	191	}while((i--)!=0);
astroboy	0:94897d537b31	192	return INVALID_ID;
astroboy	0:94897d537b31	193	}
astroboy	0:94897d537b31	194
astroboy	0:94897d537b31	195
astroboy	0:94897d537b31	196	/**
astroboy	0:94897d537b31	197	*******************************************************************************
astroboy	0:94897d537b31	198	* @brief Remap the ready status of priority queue from Assign sequence number
astroboy	0:94897d537b31	199	* @param[in] seqNum Assign sequence number
astroboy	0:94897d537b31	200	* @param[out] None
astroboy	0:94897d537b31	201	* @retval None
astroboy	0:94897d537b31	202	*
astroboy	0:94897d537b31	203	* @par Description
astroboy	0:94897d537b31	204	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	205	* to Remap the ready status for priority queue.
astroboy	0:94897d537b31	206	*******************************************************************************
astroboy	0:94897d537b31	207	*/
astroboy	0:94897d537b31	208	static void PrioRemap(OS_TID seqNum)
astroboy	0:94897d537b31	209	{
astroboy	0:94897d537b31	210	U8 i,j;
astroboy	0:94897d537b31	211	U32 tmp;
astroboy	0:94897d537b31	212	tmp = j = 0;
astroboy	0:94897d537b31	213	j = seqNum/32;
astroboy	0:94897d537b31	214	for(i=0;i<seqNum%32;i++)
astroboy	0:94897d537b31	215	{
astroboy	0:94897d537b31	216	tmp \|= 1<<i;
astroboy	0:94897d537b31	217	}
astroboy	0:94897d537b31	218	tmp &= RdyTaskPriInfo[j];
astroboy	0:94897d537b31	219
astroboy	0:94897d537b31	220	for(i=seqNum; i<PriNum; i++)
astroboy	0:94897d537b31	221	{
astroboy	0:94897d537b31	222	if((i%32==0)&&(i!=seqNum))
astroboy	0:94897d537b31	223	{
astroboy	0:94897d537b31	224	RdyTaskPriInfo[j++] = tmp;
astroboy	0:94897d537b31	225	tmp = 0;
astroboy	0:94897d537b31	226	}
astroboy	0:94897d537b31	227	if(RdyTaskPri[i] != INVALID_ID)
astroboy	0:94897d537b31	228	{
astroboy	0:94897d537b31	229	tmp = tmp \| (1<<(i%32));
astroboy	0:94897d537b31	230	}
astroboy	0:94897d537b31	231	}
astroboy	0:94897d537b31	232	RdyTaskPriInfo[j++] = tmp;
astroboy	0:94897d537b31	233	}
astroboy	0:94897d537b31	234
astroboy	0:94897d537b31	235
astroboy	0:94897d537b31	236	/**
astroboy	0:94897d537b31	237	*******************************************************************************
astroboy	0:94897d537b31	238	* @brief Get the ready status for assign sequence number
astroboy	0:94897d537b31	239	* @param[in] seqNum Assign sequence number
astroboy	0:94897d537b31	240	* @param[out] None
astroboy	0:94897d537b31	241	* @retval Co_TRUE This priority has ready task
astroboy	0:94897d537b31	242	* Co_FALSE This priority doesn't have ready task
astroboy	0:94897d537b31	243	*
astroboy	0:94897d537b31	244	* @par Description
astroboy	0:94897d537b31	245	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	246	* to get the ready status for assign sequence number.
astroboy	0:94897d537b31	247	*******************************************************************************
astroboy	0:94897d537b31	248	*/
astroboy	0:94897d537b31	249	static BOOL GetPrioSeqNumStatus(U8 seqNum)
astroboy	0:94897d537b31	250	{
astroboy	0:94897d537b31	251	if( (RdyTaskPriInfo[seqNum/32] & (1<<(seqNum%32))) == 0)
astroboy	0:94897d537b31	252	{
astroboy	0:94897d537b31	253	return Co_FALSE;
astroboy	0:94897d537b31	254	}
astroboy	0:94897d537b31	255	return Co_TRUE;
astroboy	0:94897d537b31	256	}
astroboy	0:94897d537b31	257
astroboy	0:94897d537b31	258
astroboy	0:94897d537b31	259	/**
astroboy	0:94897d537b31	260	*******************************************************************************
astroboy	0:94897d537b31	261	* @brief Set the ready status for assign sequence number
astroboy	0:94897d537b31	262	* @param[in] seqNum Assign sequence number
astroboy	0:94897d537b31	263	* @param[in] isRdy Ready statues for assign sequence number
astroboy	0:94897d537b31	264	* @param[out] None
astroboy	0:94897d537b31	265	* @retval None
astroboy	0:94897d537b31	266	*
astroboy	0:94897d537b31	267	* @par Description
astroboy	0:94897d537b31	268	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	269	* to set the ready status for assign sequence number.
astroboy	0:94897d537b31	270	*******************************************************************************
astroboy	0:94897d537b31	271	*/
astroboy	0:94897d537b31	272	static void SetPrioSeqNumStatus(U8 seqNum, BOOL isRdy)
astroboy	0:94897d537b31	273	{
astroboy	0:94897d537b31	274	U32 tmp;
astroboy	0:94897d537b31	275	tmp = RdyTaskPriInfo[seqNum/32];
astroboy	0:94897d537b31	276	tmp &= ~(1<<(seqNum%32));
astroboy	0:94897d537b31	277	tmp \|= isRdy<<(seqNum%32);
astroboy	0:94897d537b31	278	RdyTaskPriInfo[seqNum/32] = tmp;
astroboy	0:94897d537b31	279	}
astroboy	0:94897d537b31	280
astroboy	0:94897d537b31	281
astroboy	0:94897d537b31	282	/**
astroboy	0:94897d537b31	283	*******************************************************************************
astroboy	0:94897d537b31	284	* @brief Active priority in queue
astroboy	0:94897d537b31	285	* @param[in] pri Task priority
astroboy	0:94897d537b31	286	* @param[in] None
astroboy	0:94897d537b31	287	* @param[out] None
astroboy	0:94897d537b31	288	* @retval None
astroboy	0:94897d537b31	289	*
astroboy	0:94897d537b31	290	* @par Description
astroboy	0:94897d537b31	291	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	292	* to active priority in queue, if this priority had been in activation,
astroboy	0:94897d537b31	293	* increate the task num for this priority.
astroboy	0:94897d537b31	294	*******************************************************************************
astroboy	0:94897d537b31	295	*/
astroboy	0:94897d537b31	296	void ActiveTaskPri(U8 pri)
astroboy	0:94897d537b31	297	{
astroboy	0:94897d537b31	298	OS_TID seqNum,num;
astroboy	0:94897d537b31	299	if(GetPriSeqNum(pri,&seqNum) == Co_FALSE)
astroboy	0:94897d537b31	300	{
astroboy	0:94897d537b31	301	for(num=PriNum;num>seqNum;num--)
astroboy	0:94897d537b31	302	{
astroboy	0:94897d537b31	303	ActivePri[num] = ActivePri[num-1];
astroboy	0:94897d537b31	304	TaskNumPerPri[num] = TaskNumPerPri[num-1];
astroboy	0:94897d537b31	305	RdyTaskPri[num] = RdyTaskPri[num-1];
astroboy	0:94897d537b31	306	}
astroboy	0:94897d537b31	307	ActivePri[seqNum] = pri;
astroboy	0:94897d537b31	308	TaskNumPerPri[seqNum] = 1;
astroboy	0:94897d537b31	309	RdyTaskPri[seqNum] = INVALID_ID;
astroboy	0:94897d537b31	310	PriNum++;
astroboy	0:94897d537b31	311	PrioRemap(seqNum);
astroboy	0:94897d537b31	312	}
astroboy	0:94897d537b31	313	else
astroboy	0:94897d537b31	314	{
astroboy	0:94897d537b31	315	TaskNumPerPri[seqNum]++;
astroboy	0:94897d537b31	316	}
astroboy	0:94897d537b31	317	}
astroboy	0:94897d537b31	318
astroboy	0:94897d537b31	319
astroboy	0:94897d537b31	320
astroboy	0:94897d537b31	321	/**
astroboy	0:94897d537b31	322	*******************************************************************************
astroboy	0:94897d537b31	323	* @brief Delete priority in queue
astroboy	0:94897d537b31	324	* @param[in] pri Task priority
astroboy	0:94897d537b31	325	* @param[in] None
astroboy	0:94897d537b31	326	* @param[out] None
astroboy	0:94897d537b31	327	* @retval None
astroboy	0:94897d537b31	328	*
astroboy	0:94897d537b31	329	* @par Description
astroboy	0:94897d537b31	330	* @details This function is called in Binary-Scheduling Algorithm
astroboy	0:94897d537b31	331	* to decrease the task num for this priority, if the num goto 0,
astroboy	0:94897d537b31	332	* remove the priority for queue.
astroboy	0:94897d537b31	333	*******************************************************************************
astroboy	0:94897d537b31	334	*/
astroboy	0:94897d537b31	335	void DeleteTaskPri(U8 pri)
astroboy	0:94897d537b31	336	{
astroboy	0:94897d537b31	337	OS_TID seqNum,num;
astroboy	0:94897d537b31	338
astroboy	0:94897d537b31	339	GetPriSeqNum(pri,&seqNum);
astroboy	0:94897d537b31	340	TaskNumPerPri[seqNum]--;
astroboy	0:94897d537b31	341	if(TaskNumPerPri[seqNum]==0)
astroboy	0:94897d537b31	342	{
astroboy	0:94897d537b31	343	for(num=seqNum; num<(PriNum-1); num++)
astroboy	0:94897d537b31	344	{
astroboy	0:94897d537b31	345	ActivePri[num] = ActivePri[num+1];
astroboy	0:94897d537b31	346	TaskNumPerPri[num] = TaskNumPerPri[num+1];
astroboy	0:94897d537b31	347	RdyTaskPri[num] = RdyTaskPri[num+1];
astroboy	0:94897d537b31	348	}
astroboy	0:94897d537b31	349	PriNum--;
astroboy	0:94897d537b31	350	PrioRemap(seqNum);
astroboy	0:94897d537b31	351	}
astroboy	0:94897d537b31	352	}
astroboy	0:94897d537b31	353
astroboy	0:94897d537b31	354	#endif
astroboy	0:94897d537b31	355
astroboy	0:94897d537b31	356
astroboy	0:94897d537b31	357	/**
astroboy	0:94897d537b31	358	*******************************************************************************
astroboy	0:94897d537b31	359	* @brief Insert a task to the ready list
astroboy	0:94897d537b31	360	* @param[in] tcbInsert A pointer to task will be inserted.
astroboy	0:94897d537b31	361	* @param[out] None
astroboy	0:94897d537b31	362	* @retval None
astroboy	0:94897d537b31	363	*
astroboy	0:94897d537b31	364	* @par Description
astroboy	0:94897d537b31	365	* @details This function is called to insert a task to the READY list.
astroboy	0:94897d537b31	366	*******************************************************************************
astroboy	0:94897d537b31	367	*/
astroboy	0:94897d537b31	368	void InsertToTCBRdyList(P_OSTCB tcbInsert)
astroboy	0:94897d537b31	369	{
astroboy	0:94897d537b31	370	P_OSTCB ptcbNext,ptcb;
astroboy	0:94897d537b31	371	U8 prio;
astroboy	0:94897d537b31	372	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	373	U8 seqNum;
astroboy	0:94897d537b31	374	U8 RdyTaskSeqNum;
astroboy	0:94897d537b31	375	#endif
astroboy	0:94897d537b31	376
astroboy	0:94897d537b31	377	prio = tcbInsert->prio; /* Get PRI of inserted task */
astroboy	0:94897d537b31	378	tcbInsert->state = TASK_READY; /* Set task as TASK_READY */
astroboy	0:94897d537b31	379
astroboy	0:94897d537b31	380	#if CFG_ROBIN_EN >0
astroboy	0:94897d537b31	381	ptcb = TCBRunning;
astroboy	0:94897d537b31	382	/* Set schedule time for the same PRI task as TCBRunning. */
astroboy	0:94897d537b31	383	if(prio == ptcb->prio) /* Is PRI of inserted task equal to running task? */
astroboy	0:94897d537b31	384	{
astroboy	0:94897d537b31	385	if(ptcb != tcbInsert) /* Yes,is inserted task equal to running task? */
astroboy	0:94897d537b31	386	{
astroboy	0:94897d537b31	387	if(ptcb != Co_NULL) /* No,TCBRunning == Co_NULL? */
astroboy	0:94897d537b31	388	{ /* N0,OSCheckTime < OSTickCnt? */
astroboy	0:94897d537b31	389	if(OSCheckTime < OSTickCnt)
astroboy	0:94897d537b31	390	{ /* Yes,set OSCheckTime for task robin */
astroboy	0:94897d537b31	391	OSCheckTime = OSTickCnt + ptcb->timeSlice;
astroboy	0:94897d537b31	392	}
astroboy	0:94897d537b31	393	}
astroboy	0:94897d537b31	394	}
astroboy	0:94897d537b31	395	}
astroboy	0:94897d537b31	396	#endif
astroboy	0:94897d537b31	397
astroboy	0:94897d537b31	398
astroboy	0:94897d537b31	399	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	400	GetPriSeqNum(prio,&seqNum);
astroboy	0:94897d537b31	401	if(GetPrioSeqNumStatus(seqNum) == Co_TRUE)
astroboy	0:94897d537b31	402	{
astroboy	0:94897d537b31	403	ptcb = &TCBTbl[RdyTaskPri[seqNum]];
astroboy	0:94897d537b31	404	RdyTaskPri[seqNum] = tcbInsert->taskID;
astroboy	0:94897d537b31	405	}
astroboy	0:94897d537b31	406	else
astroboy	0:94897d537b31	407	{
astroboy	0:94897d537b31	408	RdyTaskPri[seqNum] = tcbInsert->taskID;
astroboy	0:94897d537b31	409	RdyTaskSeqNum = GetRdyPriSeqNum(seqNum);
astroboy	0:94897d537b31	410	SetPrioSeqNumStatus(seqNum, 1);
astroboy	0:94897d537b31	411	if(RdyTaskSeqNum == INVALID_ID)
astroboy	0:94897d537b31	412	{
astroboy	0:94897d537b31	413	ptcb = TCBRdy;
astroboy	0:94897d537b31	414	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	415	if(ptcb == Co_NULL)
astroboy	0:94897d537b31	416	{
astroboy	0:94897d537b31	417	TCBRdy = tcbInsert;
astroboy	0:94897d537b31	418	}
astroboy	0:94897d537b31	419	else
astroboy	0:94897d537b31	420	{
astroboy	0:94897d537b31	421	tcbInsert->TCBnext = ptcb; /* Yes,set tcbInsert as head item of list */
astroboy	0:94897d537b31	422	ptcb->TCBprev = tcbInsert;
astroboy	0:94897d537b31	423	TCBRdy = tcbInsert;
astroboy	0:94897d537b31	424	}
astroboy	0:94897d537b31	425	return;
astroboy	0:94897d537b31	426	}
astroboy	0:94897d537b31	427	else
astroboy	0:94897d537b31	428	{
astroboy	0:94897d537b31	429	ptcb = &TCBTbl[RdyTaskPri[RdyTaskSeqNum]];
astroboy	0:94897d537b31	430	}
astroboy	0:94897d537b31	431	}
astroboy	0:94897d537b31	432
astroboy	0:94897d537b31	433	ptcbNext = ptcb->TCBnext;
astroboy	0:94897d537b31	434	tcbInsert->TCBnext = ptcbNext; /* Set link for list */
astroboy	0:94897d537b31	435	ptcb->TCBnext = tcbInsert;
astroboy	0:94897d537b31	436	tcbInsert->TCBprev = ptcb;
astroboy	0:94897d537b31	437	if(ptcbNext != Co_NULL)
astroboy	0:94897d537b31	438	{
astroboy	0:94897d537b31	439	ptcbNext->TCBprev = tcbInsert;
astroboy	0:94897d537b31	440	}
astroboy	0:94897d537b31	441
astroboy	0:94897d537b31	442
astroboy	0:94897d537b31	443	#else
astroboy	0:94897d537b31	444	ptcb = TCBRdy;
astroboy	0:94897d537b31	445	if (ptcb == Co_NULL) /* Is ready list Co_NULL? */
astroboy	0:94897d537b31	446	{
astroboy	0:94897d537b31	447	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	448	TCBRdy = tcbInsert; /* Yse,set tcbInsert as head item of list */
astroboy	0:94897d537b31	449	}
astroboy	0:94897d537b31	450	else if (prio < ptcb->prio)/* Is PRI of inserted task higher than TCBRdy? */
astroboy	0:94897d537b31	451	{
astroboy	0:94897d537b31	452	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	453	tcbInsert->TCBnext = ptcb; /* Yes,set tcbInsert as head item of list */
astroboy	0:94897d537b31	454	ptcb->TCBprev = tcbInsert;
astroboy	0:94897d537b31	455	TCBRdy = tcbInsert;
astroboy	0:94897d537b31	456	}
astroboy	0:94897d537b31	457	else /* No,find correct place */
astroboy	0:94897d537b31	458	{
astroboy	0:94897d537b31	459	ptcbNext = ptcb->TCBnext; /* Get next item */
astroboy	0:94897d537b31	460	while(ptcbNext != Co_NULL) /* Is last item in ready list? */
astroboy	0:94897d537b31	461	{ /* No,find correct place */
astroboy	0:94897d537b31	462	if(prio < ptcbNext->prio) /* Is correct place? */
astroboy	0:94897d537b31	463	break; /* Yes,break circulation */
astroboy	0:94897d537b31	464	ptcb = ptcbNext; /* Save current item */
astroboy	0:94897d537b31	465	ptcbNext = ptcbNext->TCBnext; /* Get next item */
astroboy	0:94897d537b31	466	}
astroboy	0:94897d537b31	467	tcbInsert->TCBnext = ptcbNext; /* Set link for list */
astroboy	0:94897d537b31	468	ptcb->TCBnext = tcbInsert;
astroboy	0:94897d537b31	469	tcbInsert->TCBprev = ptcb;
astroboy	0:94897d537b31	470	if(ptcbNext != Co_NULL)
astroboy	0:94897d537b31	471	{
astroboy	0:94897d537b31	472	ptcbNext->TCBprev = tcbInsert;
astroboy	0:94897d537b31	473	}
astroboy	0:94897d537b31	474	}
astroboy	0:94897d537b31	475	#endif
astroboy	0:94897d537b31	476	}
astroboy	0:94897d537b31	477
astroboy	0:94897d537b31	478
astroboy	0:94897d537b31	479
astroboy	0:94897d537b31	480	/**
astroboy	0:94897d537b31	481	*******************************************************************************
astroboy	0:94897d537b31	482	* @brief Remove a task from the READY list
astroboy	0:94897d537b31	483	* @param[in] ptcb A pointer to task which be removed.
astroboy	0:94897d537b31	484	* @param[out] None
astroboy	0:94897d537b31	485	* @retval None
astroboy	0:94897d537b31	486	*
astroboy	0:94897d537b31	487	* @par Description
astroboy	0:94897d537b31	488	* @details This function is called to remove a task from the READY list.
astroboy	0:94897d537b31	489	*******************************************************************************
astroboy	0:94897d537b31	490	*/
astroboy	0:94897d537b31	491	void RemoveFromTCBRdyList(P_OSTCB ptcb)
astroboy	0:94897d537b31	492	{
astroboy	0:94897d537b31	493
astroboy	0:94897d537b31	494	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	495	U8 prio;
astroboy	0:94897d537b31	496	U8 seqNum;
astroboy	0:94897d537b31	497	BOOL isChange;
astroboy	0:94897d537b31	498	isChange = Co_FALSE;
astroboy	0:94897d537b31	499	prio = ptcb->prio;
astroboy	0:94897d537b31	500	GetPriSeqNum(prio,&seqNum);
astroboy	0:94897d537b31	501	#endif
astroboy	0:94897d537b31	502
astroboy	0:94897d537b31	503	/* Is there only one item in READY list? */
astroboy	0:94897d537b31	504	if((ptcb->TCBnext == Co_NULL) && (ptcb->TCBprev == Co_NULL) )
astroboy	0:94897d537b31	505	{
astroboy	0:94897d537b31	506	TCBRdy = 0; /* Yes,set READY list as Co_NULL */
astroboy	0:94897d537b31	507	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	508	isChange = Co_TRUE;
astroboy	0:94897d537b31	509	#endif
astroboy	0:94897d537b31	510	}
astroboy	0:94897d537b31	511	else if(ptcb->TCBprev == 0) /* Is the first item in READY list? */
astroboy	0:94897d537b31	512	{
astroboy	0:94897d537b31	513	/* Yes,remove task from the list,and reset the head of READY list */
astroboy	0:94897d537b31	514	TCBRdy = ptcb->TCBnext;
astroboy	0:94897d537b31	515	ptcb->TCBnext = 0;
astroboy	0:94897d537b31	516	TCBRdy->TCBprev = 0;
astroboy	0:94897d537b31	517	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	518	if(TCBRdy->prio != prio)
astroboy	0:94897d537b31	519	isChange = Co_TRUE;
astroboy	0:94897d537b31	520
astroboy	0:94897d537b31	521	#endif
astroboy	0:94897d537b31	522	}
astroboy	0:94897d537b31	523	else if( ptcb->TCBnext == 0) /* Is the last item in READY list? */
astroboy	0:94897d537b31	524	{ /* Yes,remove task from list */
astroboy	0:94897d537b31	525	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	526	if(ptcb->TCBprev->prio != prio)
astroboy	0:94897d537b31	527	isChange = Co_TRUE;
astroboy	0:94897d537b31	528	else
astroboy	0:94897d537b31	529	RdyTaskPri[seqNum] = ptcb->TCBprev->taskID;
astroboy	0:94897d537b31	530	#endif
astroboy	0:94897d537b31	531	ptcb->TCBprev->TCBnext = 0;
astroboy	0:94897d537b31	532	ptcb->TCBprev = 0;
astroboy	0:94897d537b31	533	}
astroboy	0:94897d537b31	534	else /* No, remove task from list */
astroboy	0:94897d537b31	535	{
astroboy	0:94897d537b31	536	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	537	if((ptcb->TCBprev->prio != prio) && (ptcb->TCBnext->prio != prio))
astroboy	0:94897d537b31	538	isChange = Co_TRUE;
astroboy	0:94897d537b31	539	else if((ptcb->TCBprev->prio == prio) && (ptcb->TCBnext->prio != prio))
astroboy	0:94897d537b31	540	RdyTaskPri[seqNum] = ptcb->TCBprev->taskID;
astroboy	0:94897d537b31	541	#endif
astroboy	0:94897d537b31	542	ptcb->TCBprev->TCBnext = ptcb->TCBnext;
astroboy	0:94897d537b31	543	ptcb->TCBnext->TCBprev = ptcb->TCBprev;
astroboy	0:94897d537b31	544	ptcb->TCBnext = 0;
astroboy	0:94897d537b31	545	ptcb->TCBprev = 0;
astroboy	0:94897d537b31	546	}
astroboy	0:94897d537b31	547	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	548	if(isChange == Co_TRUE)
astroboy	0:94897d537b31	549	{
astroboy	0:94897d537b31	550	RdyTaskPri[seqNum] = INVALID_ID;
astroboy	0:94897d537b31	551	SetPrioSeqNumStatus(seqNum, 0);
astroboy	0:94897d537b31	552	}
astroboy	0:94897d537b31	553	#endif
astroboy	0:94897d537b31	554	}
astroboy	0:94897d537b31	555
astroboy	0:94897d537b31	556
astroboy	0:94897d537b31	557	#if CFG_MUTEX_EN > 0
astroboy	0:94897d537b31	558	#define CFG_PRIORITY_SET_EN (1)
astroboy	0:94897d537b31	559	#endif
astroboy	0:94897d537b31	560	#if CFG_PRIORITY_SET_EN >0
astroboy	0:94897d537b31	561	/**
astroboy	0:94897d537b31	562	*******************************************************************************
astroboy	0:94897d537b31	563	* @brief Change task priority
astroboy	0:94897d537b31	564	* @param[in] taskID Specify task id.
astroboy	0:94897d537b31	565	* @param[in] priority New priority.
astroboy	0:94897d537b31	566	* @param[out] None
astroboy	0:94897d537b31	567	* @retval E_OK Change priority successful.
astroboy	0:94897d537b31	568	* @retval E_INVALID_ID Invalid id,change priority fail.
astroboy	0:94897d537b31	569	* @retval E_PROTECTED_TASK Can't change idle task priority.
astroboy	0:94897d537b31	570	*
astroboy	0:94897d537b31	571	* @par Description
astroboy	0:94897d537b31	572	* @details This function is called to change priority for a specify task.
astroboy	0:94897d537b31	573	*******************************************************************************
astroboy	0:94897d537b31	574	*/
astroboy	0:94897d537b31	575	StatusType CoSetPriority(OS_TID taskID,U8 priority)
astroboy	0:94897d537b31	576	{
astroboy	0:94897d537b31	577	P_OSTCB ptcb;
astroboy	0:94897d537b31	578	#if CFG_MUTEX_EN >0
astroboy	0:94897d537b31	579	U8 prio;
astroboy	0:94897d537b31	580	P_MUTEX pMutex;
astroboy	0:94897d537b31	581	#endif
astroboy	0:94897d537b31	582	#if CFG_EVENT_EN >0
astroboy	0:94897d537b31	583	P_ECB pecb;
astroboy	0:94897d537b31	584	#endif
astroboy	0:94897d537b31	585
astroboy	0:94897d537b31	586	if(taskID == 0) /* Is idle task? */
astroboy	0:94897d537b31	587	{
astroboy	0:94897d537b31	588	return E_PROTECTED_TASK; /* Yes,error return */
astroboy	0:94897d537b31	589	}
astroboy	0:94897d537b31	590
astroboy	0:94897d537b31	591	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	592	if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
astroboy	0:94897d537b31	593	{
astroboy	0:94897d537b31	594	return E_INVALID_ID;
astroboy	0:94897d537b31	595	}
astroboy	0:94897d537b31	596	#endif
astroboy	0:94897d537b31	597	ptcb = &TCBTbl[taskID]; /* Get TCB of task ID */
astroboy	0:94897d537b31	598	#if CFG_PAR_CHECKOUT_EN >0
astroboy	0:94897d537b31	599	if(ptcb->state == TASK_DORMANT)
astroboy	0:94897d537b31	600	{
astroboy	0:94897d537b31	601	return E_INVALID_ID;
astroboy	0:94897d537b31	602	}
astroboy	0:94897d537b31	603	if(priority > CFG_LOWEST_PRIO)
astroboy	0:94897d537b31	604	{
astroboy	0:94897d537b31	605	return E_INVALID_ID;
astroboy	0:94897d537b31	606	}
astroboy	0:94897d537b31	607	#endif
astroboy	0:94897d537b31	608
astroboy	0:94897d537b31	609	if(ptcb->prio != priority) /* Is PRI equal to original PRI? */
astroboy	0:94897d537b31	610	{ /* No */
astroboy	0:94897d537b31	611	#if CFG_MUTEX_EN >0
astroboy	0:94897d537b31	612	if(ptcb->mutexID != INVALID_ID)
astroboy	0:94897d537b31	613	{
astroboy	0:94897d537b31	614	pMutex = &MutexTbl[ptcb->mutexID];
astroboy	0:94897d537b31	615	if(pMutex->taskID == ptcb->taskID) /* Task hold mutex? */
astroboy	0:94897d537b31	616	{
astroboy	0:94897d537b31	617	pMutex->originalPrio= priority;/* Yes,change original PRI in mutex*/
astroboy	0:94897d537b31	618	if(ptcb->prio < priority) /* Is task priority higher than set?*/
astroboy	0:94897d537b31	619	{
astroboy	0:94897d537b31	620	return E_OK; /* Yes,do nothing,return OK */
astroboy	0:94897d537b31	621	}
astroboy	0:94897d537b31	622	}
astroboy	0:94897d537b31	623	}
astroboy	0:94897d537b31	624
astroboy	0:94897d537b31	625	#endif
astroboy	0:94897d537b31	626
astroboy	0:94897d537b31	627	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	628	DeleteTaskPri(ptcb->prio);
astroboy	0:94897d537b31	629	ActiveTaskPri(priority);
astroboy	0:94897d537b31	630	#endif
astroboy	0:94897d537b31	631
astroboy	0:94897d537b31	632	ptcb->prio = priority; /* Change task PRI */
astroboy	0:94897d537b31	633	if(ptcb->state == TASK_READY) /* Is task in READY list? */
astroboy	0:94897d537b31	634	{
astroboy	0:94897d537b31	635	OsSchedLock(); /* Yes,reorder task in READY list */
astroboy	0:94897d537b31	636	RemoveFromTCBRdyList(ptcb);
astroboy	0:94897d537b31	637	InsertToTCBRdyList(ptcb);
astroboy	0:94897d537b31	638	OsSchedUnlock();
astroboy	0:94897d537b31	639	}
astroboy	0:94897d537b31	640	else if(ptcb->state == TASK_RUNNING)/* Is task running? */
astroboy	0:94897d537b31	641	{
astroboy	0:94897d537b31	642	if(ptcb->prio > TCBRdy->prio) /* Yes,Is PRI higher than TCBRdy? */
astroboy	0:94897d537b31	643	{
astroboy	0:94897d537b31	644	OsSchedLock(); /* Yes,reorder task in READY list */
astroboy	0:94897d537b31	645	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	646	OsSchedUnlock();
astroboy	0:94897d537b31	647	}
astroboy	0:94897d537b31	648	}
astroboy	0:94897d537b31	649	else
astroboy	0:94897d537b31	650	{ /* No,task in WAITING list */
astroboy	0:94897d537b31	651	#if CFG_MUTEX_EN >0
astroboy	0:94897d537b31	652	if(ptcb->mutexID != INVALID_ID) /* Is task in mutex WAITING list? */
astroboy	0:94897d537b31	653	{
astroboy	0:94897d537b31	654	/* Yes,reset the highest PRI in the list */
astroboy	0:94897d537b31	655	OsSchedLock();
astroboy	0:94897d537b31	656	pMutex = &MutexTbl[ptcb->mutexID];
astroboy	0:94897d537b31	657	ptcb = pMutex->waittingList;
astroboy	0:94897d537b31	658	prio = pMutex->originalPrio;
astroboy	0:94897d537b31	659	pMutex->hipriTaskID = pMutex->taskID;
astroboy	0:94897d537b31	660	while(ptcb != Co_NULL)
astroboy	0:94897d537b31	661	{
astroboy	0:94897d537b31	662	if(ptcb->prio < prio)
astroboy	0:94897d537b31	663	{
astroboy	0:94897d537b31	664	prio = ptcb->prio;
astroboy	0:94897d537b31	665	pMutex->hipriTaskID = ptcb->taskID;
astroboy	0:94897d537b31	666	}
astroboy	0:94897d537b31	667	ptcb = ptcb->TCBnext;
astroboy	0:94897d537b31	668	}
astroboy	0:94897d537b31	669	OsSchedUnlock();
astroboy	0:94897d537b31	670	if(pMutex->originalPrio != prio)
astroboy	0:94897d537b31	671	{
astroboy	0:94897d537b31	672	CoSetPriority(pMutex->taskID,prio);
astroboy	0:94897d537b31	673	}
astroboy	0:94897d537b31	674	}
astroboy	0:94897d537b31	675	#endif
astroboy	0:94897d537b31	676
astroboy	0:94897d537b31	677	#if CFG_EVENT_EN >0
astroboy	0:94897d537b31	678	ptcb = &TCBTbl[taskID];
astroboy	0:94897d537b31	679	if(ptcb->eventID != INVALID_ID) /* Is task in event WAITING list? */
astroboy	0:94897d537b31	680	{
astroboy	0:94897d537b31	681	pecb = &EventTbl[ptcb->eventID];
astroboy	0:94897d537b31	682
astroboy	0:94897d537b31	683	/* Yes,is event sort type as preemptive PRI? */
astroboy	0:94897d537b31	684	if(pecb->eventSortType == EVENT_SORT_TYPE_PRIO)
astroboy	0:94897d537b31	685	{
astroboy	0:94897d537b31	686	/* Yes,reorder task in the list */
astroboy	0:94897d537b31	687	RemoveEventWaittingList(ptcb);
astroboy	0:94897d537b31	688	EventTaskToWait(pecb,ptcb);
astroboy	0:94897d537b31	689	}
astroboy	0:94897d537b31	690	}
astroboy	0:94897d537b31	691	#endif
astroboy	0:94897d537b31	692	}
astroboy	0:94897d537b31	693	}
astroboy	0:94897d537b31	694	return E_OK;
astroboy	0:94897d537b31	695	}
astroboy	0:94897d537b31	696	#endif
astroboy	0:94897d537b31	697
astroboy	0:94897d537b31	698	/**
astroboy	0:94897d537b31	699	*******************************************************************************
astroboy	0:94897d537b31	700	* @brief Schedule function
astroboy	0:94897d537b31	701	* @param[in] None
astroboy	0:94897d537b31	702	* @param[out] None
astroboy	0:94897d537b31	703	* @retval None
astroboy	0:94897d537b31	704	*
astroboy	0:94897d537b31	705	* @par Description
astroboy	0:94897d537b31	706	* @details This function is called by every where need to switch context,
astroboy	0:94897d537b31	707	* It is schedule function of OS kernel.
astroboy	0:94897d537b31	708	*******************************************************************************
astroboy	0:94897d537b31	709	*/
astroboy	0:94897d537b31	710	void Schedule(void)
astroboy	0:94897d537b31	711	{
astroboy	0:94897d537b31	712	U8 RunPrio,RdyPrio;
astroboy	0:94897d537b31	713	P_OSTCB pRdyTcb,pCurTcb;
astroboy	0:94897d537b31	714
astroboy	0:94897d537b31	715
astroboy	0:94897d537b31	716	pCurTcb = TCBRunning;
astroboy	0:94897d537b31	717	pRdyTcb = TCBRdy;
astroboy	0:94897d537b31	718
astroboy	0:94897d537b31	719	if((pRdyTcb==Co_NULL) \|\| (pCurTcb != TCBNext) \|\| (OSSchedLock >1) \|\| (OSIntNesting >0))
astroboy	0:94897d537b31	720	{
astroboy	0:94897d537b31	721	return;
astroboy	0:94897d537b31	722	}
astroboy	0:94897d537b31	723
astroboy	0:94897d537b31	724	TaskSchedReq = Co_FALSE;
astroboy	0:94897d537b31	725	RunPrio = pCurTcb->prio;
astroboy	0:94897d537b31	726	RdyPrio = pRdyTcb->prio;
astroboy	0:94897d537b31	727
astroboy	0:94897d537b31	728	/* Is Running task status was changed? */
astroboy	0:94897d537b31	729	if(pCurTcb->state != TASK_RUNNING)
astroboy	0:94897d537b31	730	{
astroboy	0:94897d537b31	731	TCBNext = pRdyTcb; /* Yes,set TCBNext and reorder READY list */
astroboy	0:94897d537b31	732	pRdyTcb->state = TASK_RUNNING;
astroboy	0:94897d537b31	733	RemoveFromTCBRdyList(pRdyTcb);
astroboy	0:94897d537b31	734	}
astroboy	0:94897d537b31	735
astroboy	0:94897d537b31	736	else if(RdyPrio < RunPrio ) /* Is higher PRI task coming in? */
astroboy	0:94897d537b31	737	{
astroboy	0:94897d537b31	738	TCBNext = pRdyTcb; /* Yes,set TCBNext and reorder READY list */
astroboy	0:94897d537b31	739	InsertToTCBRdyList(pCurTcb);
astroboy	0:94897d537b31	740	RemoveFromTCBRdyList(pRdyTcb);
astroboy	0:94897d537b31	741	pRdyTcb->state = TASK_RUNNING;
astroboy	0:94897d537b31	742	}
astroboy	0:94897d537b31	743
astroboy	0:94897d537b31	744	#if CFG_ROBIN_EN >0 /* Is time for robinning */
astroboy	0:94897d537b31	745	else if((RunPrio == RdyPrio) && (OSCheckTime == OSTickCnt))
astroboy	0:94897d537b31	746	{
astroboy	0:94897d537b31	747	TCBNext = pRdyTcb; /* Yes,set TCBNext and reorder READY list */
astroboy	0:94897d537b31	748	InsertToTCBRdyList(pCurTcb);
astroboy	0:94897d537b31	749	RemoveFromTCBRdyList(pRdyTcb);
astroboy	0:94897d537b31	750	pRdyTcb->state = TASK_RUNNING;
astroboy	0:94897d537b31	751	}
astroboy	0:94897d537b31	752	#endif
astroboy	0:94897d537b31	753	else
astroboy	0:94897d537b31	754	{
astroboy	0:94897d537b31	755	return;
astroboy	0:94897d537b31	756	}
astroboy	0:94897d537b31	757
astroboy	0:94897d537b31	758	#if CFG_ROBIN_EN >0
astroboy	0:94897d537b31	759	if(TCBNext->prio == TCBRdy->prio) /* Reset OSCheckTime for task robinnig */
astroboy	0:94897d537b31	760	OSCheckTime = OSTickCnt + TCBNext->timeSlice;
astroboy	0:94897d537b31	761	#endif
astroboy	0:94897d537b31	762
astroboy	0:94897d537b31	763
astroboy	0:94897d537b31	764	#if CFG_STK_CHECKOUT_EN > 0 /* Is stack overflow? */
astroboy	0:94897d537b31	765	if((pCurTcb->stkPtr < pCurTcb->stack)\|\|((U32)(pCurTcb->stack) != MAGIC_WORD))
astroboy	0:94897d537b31	766	{
astroboy	0:94897d537b31	767	CoStkOverflowHook(pCurTcb->taskID); /* Yes,call handler */
astroboy	0:94897d537b31	768	}
astroboy	0:94897d537b31	769	#endif
astroboy	0:94897d537b31	770
astroboy	0:94897d537b31	771	SwitchContext(); /* Call task context switch */
astroboy	0:94897d537b31	772	}
astroboy	0:94897d537b31	773
astroboy	0:94897d537b31	774
astroboy	0:94897d537b31	775	/**
astroboy	0:94897d537b31	776	*******************************************************************************
astroboy	0:94897d537b31	777	* @brief Assign a TCB to task being created
astroboy	0:94897d537b31	778	* @param[in] None
astroboy	0:94897d537b31	779	* @param[out] None
astroboy	0:94897d537b31	780	*
astroboy	0:94897d537b31	781	* @retval XXXX
astroboy	0:94897d537b31	782	*
astroboy	0:94897d537b31	783	* @par Description
astroboy	0:94897d537b31	784	* @details This function is called to assign a task control block for task
astroboy	0:94897d537b31	785	* being created.
astroboy	0:94897d537b31	786	*******************************************************************************
astroboy	0:94897d537b31	787	*/
astroboy	0:94897d537b31	788	static P_OSTCB AssignTCB(void)
astroboy	0:94897d537b31	789	{
astroboy	0:94897d537b31	790	P_OSTCB ptcb;
astroboy	0:94897d537b31	791
astroboy	0:94897d537b31	792	OsSchedLock(); /* Lock schedule */
astroboy	0:94897d537b31	793	if(FreeTCB == 0) /* Is there no free TCB */
astroboy	0:94897d537b31	794	{
astroboy	0:94897d537b31	795	OsSchedUnlock(); /* Yes,unlock schedule */
astroboy	0:94897d537b31	796	return 0; /* Error return */
astroboy	0:94897d537b31	797	}
astroboy	0:94897d537b31	798	ptcb = FreeTCB; /* Yes,assgin free TCB for this task */
astroboy	0:94897d537b31	799	/* Set next item as the head of free TCB list */
astroboy	0:94897d537b31	800	FreeTCB = FreeTCB->TCBnext;
astroboy	0:94897d537b31	801	OsSchedUnlock();
astroboy	0:94897d537b31	802	return ptcb;
astroboy	0:94897d537b31	803	}
astroboy	0:94897d537b31	804
astroboy	0:94897d537b31	805
astroboy	0:94897d537b31	806	/**
astroboy	0:94897d537b31	807	*******************************************************************************
astroboy	0:94897d537b31	808	* @brief Create a task
astroboy	0:94897d537b31	809	* @param[in] task Task code entry.
astroboy	0:94897d537b31	810	* @param[in] argv The parameter passed to task.
astroboy	0:94897d537b31	811	* @param[in] parameter Task priority + stack size + time slice + isWaitting.
astroboy	0:94897d537b31	812	* @param[in] stk Pointer to stack top of task.
astroboy	0:94897d537b31	813	* @param[out] None
astroboy	0:94897d537b31	814	* @retval E_CREATE_FAIL Fail to create a task .
astroboy	0:94897d537b31	815	* @retval others Valid task id.
astroboy	0:94897d537b31	816	*
astroboy	0:94897d537b31	817	* @par Description
astroboy	0:94897d537b31	818	* @details This function is called by application to create a task,return a id
astroboy	0:94897d537b31	819	* to mark this task.
astroboy	0:94897d537b31	820	*******************************************************************************
astroboy	0:94897d537b31	821	*/
astroboy	0:94897d537b31	822	OS_TID CreateTask(FUNCPtr task,void argv,U32 parameter,OS_STK stk)
astroboy	0:94897d537b31	823	{
astroboy	0:94897d537b31	824	OS_STK* stkTopPtr;
astroboy	0:94897d537b31	825	P_OSTCB ptcb;
astroboy	0:94897d537b31	826	U8 prio;
astroboy	0:94897d537b31	827	#if CFG_ROBIN_EN >0
astroboy	0:94897d537b31	828	U16 timeSlice;
astroboy	0:94897d537b31	829	#endif
astroboy	0:94897d537b31	830
astroboy	0:94897d537b31	831	#if CFG_STK_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	832	U16 sktSz;
astroboy	0:94897d537b31	833	sktSz = (parameter&0xfff00)>>8;
astroboy	0:94897d537b31	834	#endif
astroboy	0:94897d537b31	835	prio = parameter&0xff;
astroboy	0:94897d537b31	836
astroboy	0:94897d537b31	837	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	838	if(task == 0)
astroboy	0:94897d537b31	839	{
astroboy	0:94897d537b31	840	return E_CREATE_FAIL;
astroboy	0:94897d537b31	841	}
astroboy	0:94897d537b31	842	if(stk == 0)
astroboy	0:94897d537b31	843	{
astroboy	0:94897d537b31	844	return E_CREATE_FAIL;
astroboy	0:94897d537b31	845	}
astroboy	0:94897d537b31	846	if(prio > CFG_LOWEST_PRIO)
astroboy	0:94897d537b31	847	{
astroboy	0:94897d537b31	848	return E_CREATE_FAIL;
astroboy	0:94897d537b31	849	}
astroboy	0:94897d537b31	850	#if CFG_STK_CHECKOUT_EN >0
astroboy	0:94897d537b31	851	if(sktSz < 20)
astroboy	0:94897d537b31	852	{
astroboy	0:94897d537b31	853	return E_CREATE_FAIL;
astroboy	0:94897d537b31	854	}
astroboy	0:94897d537b31	855	#endif // CFG_STK_CHECKOUT_EN
astroboy	0:94897d537b31	856	#endif // CFG_PAR_CHECKOUT_EN
astroboy	0:94897d537b31	857
astroboy	0:94897d537b31	858	#if CFG_TASK_SCHEDULE_EN == 0
astroboy	0:94897d537b31	859	if(TCBRunning != 0)
astroboy	0:94897d537b31	860	return E_CREATE_FAIL;
astroboy	0:94897d537b31	861	#endif
astroboy	0:94897d537b31	862
astroboy	0:94897d537b31	863	stkTopPtr = InitTaskContext(task,argv,stk); /* Initialize task context. */
astroboy	0:94897d537b31	864
astroboy	0:94897d537b31	865	ptcb = AssignTCB(); /* Get free TCB to use */
astroboy	0:94897d537b31	866
astroboy	0:94897d537b31	867	if(ptcb == 0) /* Is free TCB equal to Co_NULL? */
astroboy	0:94897d537b31	868	{
astroboy	0:94897d537b31	869	return E_CREATE_FAIL; /* Yes,error return */
astroboy	0:94897d537b31	870	}
astroboy	0:94897d537b31	871
astroboy	0:94897d537b31	872	ptcb->stkPtr = stkTopPtr; /* Initialize TCB as user set */
astroboy	0:94897d537b31	873	ptcb->prio = prio;
astroboy	0:94897d537b31	874	#if CFG_STK_CHECKOUT_EN >0
astroboy	0:94897d537b31	875	ptcb->stack = stk+1 - sktSz; /* Set bottom stack for stack overflow check */
astroboy	0:94897d537b31	876	(U32)(ptcb->stack) = MAGIC_WORD;
astroboy	0:94897d537b31	877	#endif
astroboy	0:94897d537b31	878
astroboy	0:94897d537b31	879	#if CFG_TASK_WAITTING_EN >0
astroboy	0:94897d537b31	880	ptcb->delayTick = INVALID_VALUE;
astroboy	0:94897d537b31	881	#endif
astroboy	0:94897d537b31	882
astroboy	0:94897d537b31	883	#if CFG_TASK_SCHEDULE_EN == 0
astroboy	0:94897d537b31	884	ptcb->taskFuc = task;
astroboy	0:94897d537b31	885	ptcb->taskStk = stk;
astroboy	0:94897d537b31	886	#endif
astroboy	0:94897d537b31	887	ptcb->TCBnext = 0; /* Initialize TCB link in READY list */
astroboy	0:94897d537b31	888	ptcb->TCBprev = 0;
astroboy	0:94897d537b31	889
astroboy	0:94897d537b31	890	#if CFG_ROBIN_EN >0 /* Set task time slice for task robin */
astroboy	0:94897d537b31	891	timeSlice = (parameter&0x7fff0000)>>20;
astroboy	0:94897d537b31	892	if(timeSlice == 0)
astroboy	0:94897d537b31	893	{
astroboy	0:94897d537b31	894	timeSlice = CFG_TIME_SLICE;
astroboy	0:94897d537b31	895	}
astroboy	0:94897d537b31	896	ptcb->timeSlice = timeSlice;
astroboy	0:94897d537b31	897	#endif
astroboy	0:94897d537b31	898
astroboy	0:94897d537b31	899	#if CFG_FLAG_EN > 0
astroboy	0:94897d537b31	900	ptcb->pnode = 0; /* Initialize task as no flag waiting */
astroboy	0:94897d537b31	901	#endif
astroboy	0:94897d537b31	902
astroboy	0:94897d537b31	903	#if CFG_EVENT_EN > 0
astroboy	0:94897d537b31	904	ptcb->eventID = INVALID_ID; /* Initialize task as no event waiting*/
astroboy	0:94897d537b31	905	ptcb->pmail = 0;
astroboy	0:94897d537b31	906	ptcb->waitNext = 0;
astroboy	0:94897d537b31	907	ptcb->waitPrev = 0;
astroboy	0:94897d537b31	908	#endif
astroboy	0:94897d537b31	909
astroboy	0:94897d537b31	910	#if CFG_MUTEX_EN > 0
astroboy	0:94897d537b31	911	/* Initialize task as no mutex holding or waiting */
astroboy	0:94897d537b31	912	ptcb->mutexID = INVALID_ID;
astroboy	0:94897d537b31	913	#endif
astroboy	0:94897d537b31	914
astroboy	0:94897d537b31	915	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	916	ActiveTaskPri(prio);
astroboy	0:94897d537b31	917	#endif
astroboy	0:94897d537b31	918
astroboy	0:94897d537b31	919	if((parameter>>31) == 0) /* Is task in waitting state? */
astroboy	0:94897d537b31	920	{ /* No,set it into ready list */
astroboy	0:94897d537b31	921	OsSchedLock(); /* Lock schedule */
astroboy	0:94897d537b31	922	InsertToTCBRdyList(ptcb); /* Insert into the READY list */
astroboy	0:94897d537b31	923	OsSchedUnlock(); /* Unlock schedule */
astroboy	0:94897d537b31	924	}
astroboy	0:94897d537b31	925	else
astroboy	0:94897d537b31	926	{ /* Yes,Set task status as TASK_WAITING*/
astroboy	0:94897d537b31	927	ptcb->state = TASK_WAITING;
astroboy	0:94897d537b31	928	}
astroboy	0:94897d537b31	929	return ptcb->taskID; /* Return task ID */
astroboy	0:94897d537b31	930	}
astroboy	0:94897d537b31	931
astroboy	0:94897d537b31	932
astroboy	0:94897d537b31	933	/**
astroboy	0:94897d537b31	934	*******************************************************************************
astroboy	0:94897d537b31	935	* @brief Delete Task
astroboy	0:94897d537b31	936	* @param[in] taskID Task ID
astroboy	0:94897d537b31	937	* @param[out] None
astroboy	0:94897d537b31	938	* @retval E_INVALID_ID Invalid task ID.
astroboy	0:94897d537b31	939	* @retval E_PROTECTED_TASK Protected task in OS.
astroboy	0:94897d537b31	940	* @retval E_OK Delete successful.
astroboy	0:94897d537b31	941	*
astroboy	0:94897d537b31	942	* @par Description
astroboy	0:94897d537b31	943	* @details This function is called to delete assign task.
astroboy	0:94897d537b31	944	*******************************************************************************
astroboy	0:94897d537b31	945	*/
astroboy	0:94897d537b31	946	StatusType CoDelTask(OS_TID taskID)
astroboy	0:94897d537b31	947	{
astroboy	0:94897d537b31	948	P_OSTCB ptcb;
astroboy	0:94897d537b31	949
astroboy	0:94897d537b31	950	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	951	if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
astroboy	0:94897d537b31	952	{
astroboy	0:94897d537b31	953	return E_INVALID_ID;
astroboy	0:94897d537b31	954	}
astroboy	0:94897d537b31	955	#endif
astroboy	0:94897d537b31	956	ptcb = &TCBTbl[taskID];
astroboy	0:94897d537b31	957	#if CFG_PAR_CHECKOUT_EN >0
astroboy	0:94897d537b31	958	if(ptcb->state == TASK_DORMANT)
astroboy	0:94897d537b31	959	{
astroboy	0:94897d537b31	960	return E_INVALID_ID;
astroboy	0:94897d537b31	961	}
astroboy	0:94897d537b31	962	#endif
astroboy	0:94897d537b31	963	if(taskID == 0) /* Is idle task? */
astroboy	0:94897d537b31	964	{
astroboy	0:94897d537b31	965	return E_PROTECTED_TASK; /* Yes,error return */
astroboy	0:94897d537b31	966	}
astroboy	0:94897d537b31	967
astroboy	0:94897d537b31	968	if(ptcb->state == TASK_RUNNING) /* Is task running? */
astroboy	0:94897d537b31	969	{
astroboy	0:94897d537b31	970	if(OSSchedLock != 0) /* Yes,is OS lock? */
astroboy	0:94897d537b31	971	{
astroboy	0:94897d537b31	972	return E_OS_IN_LOCK; /* Yes,error return */
astroboy	0:94897d537b31	973	}
astroboy	0:94897d537b31	974	}
astroboy	0:94897d537b31	975
astroboy	0:94897d537b31	976	#if CFG_MUTEX_EN >0 /* Do task hold mutex? */
astroboy	0:94897d537b31	977	if(ptcb->mutexID != INVALID_ID)
astroboy	0:94897d537b31	978	{
astroboy	0:94897d537b31	979	if(MutexTbl[ptcb->mutexID].taskID == ptcb->taskID)
astroboy	0:94897d537b31	980	{ /* Yes,leave the mutex */
astroboy	0:94897d537b31	981	CoLeaveMutexSection(ptcb->mutexID);
astroboy	0:94897d537b31	982	}
astroboy	0:94897d537b31	983	}
astroboy	0:94897d537b31	984
astroboy	0:94897d537b31	985	#endif
astroboy	0:94897d537b31	986
astroboy	0:94897d537b31	987	OsSchedLock(); /* Lock schedule */
astroboy	0:94897d537b31	988
astroboy	0:94897d537b31	989	if(ptcb->state == TASK_READY) /* Is task in READY list? */
astroboy	0:94897d537b31	990	{
astroboy	0:94897d537b31	991	RemoveFromTCBRdyList(ptcb); /* Yes,remove task from the READY list*/
astroboy	0:94897d537b31	992	}
astroboy	0:94897d537b31	993
astroboy	0:94897d537b31	994	#if CFG_TASK_WAITTING_EN > 0
astroboy	0:94897d537b31	995	else if(ptcb->state == TASK_WAITING)/* Is task in the WAITING list? */
astroboy	0:94897d537b31	996	{
astroboy	0:94897d537b31	997	/* Yes,Is task in delay list? */
astroboy	0:94897d537b31	998	if(ptcb->delayTick != INVALID_VALUE)
astroboy	0:94897d537b31	999	{
astroboy	0:94897d537b31	1000	RemoveDelayList(ptcb); /* Yes,remove task from READY list */
astroboy	0:94897d537b31	1001	}
astroboy	0:94897d537b31	1002
astroboy	0:94897d537b31	1003	#if CFG_EVENT_EN > 0
astroboy	0:94897d537b31	1004	if(ptcb->eventID != INVALID_ID) /* Is task in event waiting list? */
astroboy	0:94897d537b31	1005	{
astroboy	0:94897d537b31	1006	/* Yes,remove task from event waiting list */
astroboy	0:94897d537b31	1007	RemoveEventWaittingList(ptcb);
astroboy	0:94897d537b31	1008	}
astroboy	0:94897d537b31	1009	#endif
astroboy	0:94897d537b31	1010
astroboy	0:94897d537b31	1011	#if CFG_FLAG_EN > 0
astroboy	0:94897d537b31	1012	if(ptcb->pnode != 0) /* Is task in flag waiting list? */
astroboy	0:94897d537b31	1013	{
astroboy	0:94897d537b31	1014	/* Yes,remove task from flag waiting list */
astroboy	0:94897d537b31	1015	RemoveLinkNode((P_FLAG_NODE)ptcb->pnode);
astroboy	0:94897d537b31	1016	}
astroboy	0:94897d537b31	1017	#endif
astroboy	0:94897d537b31	1018
astroboy	0:94897d537b31	1019	#if CFG_MUTEX_EN >0
astroboy	0:94897d537b31	1020	if(ptcb->mutexID != INVALID_ID) /* Is task in mutex waiting list? */
astroboy	0:94897d537b31	1021	{
astroboy	0:94897d537b31	1022	RemoveMutexList(ptcb); /* Yes,remove task from mutex waiting list*/
astroboy	0:94897d537b31	1023	}
astroboy	0:94897d537b31	1024	#endif
astroboy	0:94897d537b31	1025	}
astroboy	0:94897d537b31	1026	#endif
astroboy	0:94897d537b31	1027	ptcb->state = TASK_DORMANT; /* Release TCB */
astroboy	0:94897d537b31	1028	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	1029
astroboy	0:94897d537b31	1030	#if CFG_ORDER_LIST_SCHEDULE_EN ==0
astroboy	0:94897d537b31	1031	DeleteTaskPri(ptcb->prio);
astroboy	0:94897d537b31	1032	#endif
astroboy	0:94897d537b31	1033
astroboy	0:94897d537b31	1034	#if CFG_TASK_SCHEDULE_EN >0
astroboy	0:94897d537b31	1035	ptcb->TCBnext = FreeTCB;
astroboy	0:94897d537b31	1036	FreeTCB = ptcb;
astroboy	0:94897d537b31	1037	#endif
astroboy	0:94897d537b31	1038	OsSchedUnlock(); /* Unlock schedule */
astroboy	0:94897d537b31	1039	return E_OK; /* return OK */
astroboy	0:94897d537b31	1040	}
astroboy	0:94897d537b31	1041
astroboy	0:94897d537b31	1042
astroboy	0:94897d537b31	1043	/**
astroboy	0:94897d537b31	1044	*******************************************************************************
astroboy	0:94897d537b31	1045	* @brief Exit Task
astroboy	0:94897d537b31	1046	* @param[in] None
astroboy	0:94897d537b31	1047	* @param[out] None
astroboy	0:94897d537b31	1048	* @retval None
astroboy	0:94897d537b31	1049	*
astroboy	0:94897d537b31	1050	* @par Description
astroboy	0:94897d537b31	1051	* @details This function is called to exit current task.
astroboy	0:94897d537b31	1052	*******************************************************************************
astroboy	0:94897d537b31	1053	*/
astroboy	0:94897d537b31	1054	void CoExitTask(void)
astroboy	0:94897d537b31	1055	{
astroboy	0:94897d537b31	1056	CoDelTask(TCBRunning->taskID); /* Call task delete function */
astroboy	0:94897d537b31	1057	}
astroboy	0:94897d537b31	1058
astroboy	0:94897d537b31	1059
astroboy	0:94897d537b31	1060	#if CFG_TASK_SCHEDULE_EN ==0
astroboy	0:94897d537b31	1061	/**
astroboy	0:94897d537b31	1062	*******************************************************************************
astroboy	0:94897d537b31	1063	* @brief Activate Task
astroboy	0:94897d537b31	1064	* @param[in] taskID Task ID
astroboy	0:94897d537b31	1065	* @param[in] argv Task argv
astroboy	0:94897d537b31	1066	* @param[out] None
astroboy	0:94897d537b31	1067	* @retval E_INVALID_ID Invalid task ID.
astroboy	0:94897d537b31	1068	* @retval E_OK Activate task successful.
astroboy	0:94897d537b31	1069	*
astroboy	0:94897d537b31	1070	* @par Description
astroboy	0:94897d537b31	1071	* @details This function is called to activate current task.
astroboy	0:94897d537b31	1072	*******************************************************************************
astroboy	0:94897d537b31	1073	*/
astroboy	0:94897d537b31	1074	StatusType CoActivateTask(OS_TID taskID,void *argv)
astroboy	0:94897d537b31	1075	{
astroboy	0:94897d537b31	1076	P_OSTCB ptcb;
astroboy	0:94897d537b31	1077	OS_STK* stkTopPtr;
astroboy	0:94897d537b31	1078	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	1079	if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
astroboy	0:94897d537b31	1080	{
astroboy	0:94897d537b31	1081	return E_INVALID_ID;
astroboy	0:94897d537b31	1082	}
astroboy	0:94897d537b31	1083	#endif
astroboy	0:94897d537b31	1084	ptcb = &TCBTbl[taskID];
astroboy	0:94897d537b31	1085	#if CFG_PAR_CHECKOUT_EN >0
astroboy	0:94897d537b31	1086	if(ptcb->stkPtr == Co_NULL)
astroboy	0:94897d537b31	1087	return E_INVALID_ID;
astroboy	0:94897d537b31	1088	#endif
astroboy	0:94897d537b31	1089	if(ptcb->state != TASK_DORMANT)
astroboy	0:94897d537b31	1090	return E_OK;
astroboy	0:94897d537b31	1091
astroboy	0:94897d537b31	1092
astroboy	0:94897d537b31	1093	/* Initialize task context. */
astroboy	0:94897d537b31	1094	stkTopPtr = InitTaskContext(ptcb->taskFuc,argv,ptcb->taskStk);
astroboy	0:94897d537b31	1095
astroboy	0:94897d537b31	1096	ptcb->stkPtr = stkTopPtr; /* Initialize TCB as user set */
astroboy	0:94897d537b31	1097	OsSchedLock(); /* Lock schedule */
astroboy	0:94897d537b31	1098	InsertToTCBRdyList(ptcb); /* Insert into the READY list */
astroboy	0:94897d537b31	1099	OsSchedUnlock(); /* Unlock schedule */
astroboy	0:94897d537b31	1100	return E_OK;
astroboy	0:94897d537b31	1101	}
astroboy	0:94897d537b31	1102	#endif
astroboy	0:94897d537b31	1103
astroboy	0:94897d537b31	1104
astroboy	0:94897d537b31	1105	/**
astroboy	0:94897d537b31	1106	*******************************************************************************
astroboy	0:94897d537b31	1107	* @brief Get current task id
astroboy	0:94897d537b31	1108	* @param[in] None
astroboy	0:94897d537b31	1109	* @param[out] None
astroboy	0:94897d537b31	1110	* @retval ID of the current task.
astroboy	0:94897d537b31	1111	*
astroboy	0:94897d537b31	1112	* @par Description
astroboy	0:94897d537b31	1113	* @details This function is called to get current task id.
astroboy	0:94897d537b31	1114	*******************************************************************************
astroboy	0:94897d537b31	1115	*/
astroboy	0:94897d537b31	1116	OS_TID CoGetCurTaskID(void)
astroboy	0:94897d537b31	1117	{
astroboy	0:94897d537b31	1118	return (TCBRunning->taskID); /* Return running task ID */
astroboy	0:94897d537b31	1119	}
astroboy	0:94897d537b31	1120
astroboy	0:94897d537b31	1121	#if CFG_TASK_SUSPEND_EN >0
astroboy	0:94897d537b31	1122	/**
astroboy	0:94897d537b31	1123	*******************************************************************************
astroboy	0:94897d537b31	1124	* @brief Suspend Task
astroboy	0:94897d537b31	1125	* @param[in] taskID ID of task that want to suspend.
astroboy	0:94897d537b31	1126	* @param[out] None
astroboy	0:94897d537b31	1127	* @retval E_OK Task suspend successful.
astroboy	0:94897d537b31	1128	* @retval E_INVALID_ID Invalid event ID.
astroboy	0:94897d537b31	1129	* @retval E_PROTECTED_TASK Can't suspend idle task.
astroboy	0:94897d537b31	1130	* @retval E_ALREADY_IN_WAITING Task now in waiting state.
astroboy	0:94897d537b31	1131
astroboy	0:94897d537b31	1132	*
astroboy	0:94897d537b31	1133	* @par Description
astroboy	0:94897d537b31	1134	* @details This function is called to exit current task.
astroboy	0:94897d537b31	1135	*******************************************************************************
astroboy	0:94897d537b31	1136	*/
astroboy	0:94897d537b31	1137	StatusType CoSuspendTask(OS_TID taskID)
astroboy	0:94897d537b31	1138	{
astroboy	0:94897d537b31	1139	P_OSTCB ptcb;
astroboy	0:94897d537b31	1140
astroboy	0:94897d537b31	1141	if(taskID == 0) /* Is idle task? */
astroboy	0:94897d537b31	1142	{
astroboy	0:94897d537b31	1143	return E_PROTECTED_TASK; /* Yes,error return */
astroboy	0:94897d537b31	1144	}
astroboy	0:94897d537b31	1145	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	1146	if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
astroboy	0:94897d537b31	1147	{
astroboy	0:94897d537b31	1148	return E_INVALID_ID;
astroboy	0:94897d537b31	1149	}
astroboy	0:94897d537b31	1150	#endif
astroboy	0:94897d537b31	1151	ptcb = &TCBTbl[taskID];
astroboy	0:94897d537b31	1152	#if CFG_PAR_CHECKOUT_EN >0
astroboy	0:94897d537b31	1153	if(ptcb->state == TASK_DORMANT)
astroboy	0:94897d537b31	1154	{
astroboy	0:94897d537b31	1155	return E_INVALID_ID;
astroboy	0:94897d537b31	1156	}
astroboy	0:94897d537b31	1157	#endif
astroboy	0:94897d537b31	1158	if(OSSchedLock != 0)
astroboy	0:94897d537b31	1159	{
astroboy	0:94897d537b31	1160	return E_OS_IN_LOCK;
astroboy	0:94897d537b31	1161	}
astroboy	0:94897d537b31	1162	if(ptcb->state == TASK_WAITING) /* Is task in WAITING list? */
astroboy	0:94897d537b31	1163	{
astroboy	0:94897d537b31	1164	return E_ALREADY_IN_WAITING; /* Yes,error return */
astroboy	0:94897d537b31	1165	}
astroboy	0:94897d537b31	1166
astroboy	0:94897d537b31	1167	OsSchedLock();
astroboy	0:94897d537b31	1168	if(ptcb != TCBRunning) /* Is runing task? */
astroboy	0:94897d537b31	1169	{
astroboy	0:94897d537b31	1170	RemoveFromTCBRdyList(ptcb); /* No,Remove task from READY list */
astroboy	0:94897d537b31	1171	}
astroboy	0:94897d537b31	1172	else
astroboy	0:94897d537b31	1173	{
astroboy	0:94897d537b31	1174	TaskSchedReq = Co_TRUE;
astroboy	0:94897d537b31	1175	}
astroboy	0:94897d537b31	1176
astroboy	0:94897d537b31	1177	ptcb->state = TASK_WAITING; /* Set task status as TASK_WAITING */
astroboy	0:94897d537b31	1178	OsSchedUnlock(); /* Call task schedule */
astroboy	0:94897d537b31	1179	return E_OK; /* Return OK */
astroboy	0:94897d537b31	1180	}
astroboy	0:94897d537b31	1181
astroboy	0:94897d537b31	1182
astroboy	0:94897d537b31	1183	/**
astroboy	0:94897d537b31	1184	*******************************************************************************
astroboy	0:94897d537b31	1185	* @brief Awake Task
astroboy	0:94897d537b31	1186	* @param[in] taskID ID of task that will been awaked.
astroboy	0:94897d537b31	1187	* @param[out] None
astroboy	0:94897d537b31	1188	* @retval E_OK Task awake successful.
astroboy	0:94897d537b31	1189	* @retval E_INVALID_ID Invalid task ID.
astroboy	0:94897d537b31	1190	* @retval E_TASK_NOT_WAITING Task now not in waiting state.
astroboy	0:94897d537b31	1191	* @retval E_TASK_WAIT_OTHER Task now waiting other awake event.
astroboy	0:94897d537b31	1192	* @retval E_PROTECTED_TASK Idle task mustn't be awaked.
astroboy	0:94897d537b31	1193	*
astroboy	0:94897d537b31	1194	* @par Description
astroboy	0:94897d537b31	1195	* @details This function is called to awake current task.
astroboy	0:94897d537b31	1196	*******************************************************************************
astroboy	0:94897d537b31	1197	*/
astroboy	0:94897d537b31	1198	StatusType CoAwakeTask(OS_TID taskID)
astroboy	0:94897d537b31	1199	{
astroboy	0:94897d537b31	1200	P_OSTCB ptcb;
astroboy	0:94897d537b31	1201
astroboy	0:94897d537b31	1202	if(taskID == 0) /* Is idle task? */
astroboy	0:94897d537b31	1203	{
astroboy	0:94897d537b31	1204	return E_PROTECTED_TASK; /* Yes,error return */
astroboy	0:94897d537b31	1205	}
astroboy	0:94897d537b31	1206	#if CFG_PAR_CHECKOUT_EN >0 /* Check validity of parameter */
astroboy	0:94897d537b31	1207	if(taskID >= CFG_MAX_USER_TASKS + SYS_TASK_NUM)
astroboy	0:94897d537b31	1208	{
astroboy	0:94897d537b31	1209	return E_INVALID_ID;
astroboy	0:94897d537b31	1210	}
astroboy	0:94897d537b31	1211	#endif
astroboy	0:94897d537b31	1212	ptcb = &TCBTbl[taskID];
astroboy	0:94897d537b31	1213	#if CFG_PAR_CHECKOUT_EN >0
astroboy	0:94897d537b31	1214	if(ptcb->state == TASK_DORMANT)
astroboy	0:94897d537b31	1215	{
astroboy	0:94897d537b31	1216	return E_INVALID_ID;
astroboy	0:94897d537b31	1217	}
astroboy	0:94897d537b31	1218	#endif
astroboy	0:94897d537b31	1219
astroboy	0:94897d537b31	1220	if(ptcb->state != TASK_WAITING) /* Is task in WAITING list */
astroboy	0:94897d537b31	1221	{
astroboy	0:94897d537b31	1222	return E_TASK_NOT_WAITING; /* No,error return */
astroboy	0:94897d537b31	1223	}
astroboy	0:94897d537b31	1224
astroboy	0:94897d537b31	1225	#if CFG_TASK_WAITTING_EN > 0
astroboy	0:94897d537b31	1226	if(ptcb->delayTick != INVALID_VALUE)/* Is task in READY list */
astroboy	0:94897d537b31	1227	{
astroboy	0:94897d537b31	1228	return E_TASK_WAIT_OTHER; /* Yes,error return */
astroboy	0:94897d537b31	1229	}
astroboy	0:94897d537b31	1230
astroboy	0:94897d537b31	1231	#if CFG_FLAG_EN > 0
astroboy	0:94897d537b31	1232	if(ptcb->pnode != Co_NULL) /* Is task in flag waiting list */
astroboy	0:94897d537b31	1233	{
astroboy	0:94897d537b31	1234	return E_TASK_WAIT_OTHER; /* Yes,error return */
astroboy	0:94897d537b31	1235	}
astroboy	0:94897d537b31	1236	#endif
astroboy	0:94897d537b31	1237
astroboy	0:94897d537b31	1238	#if CFG_EVENT_EN>0
astroboy	0:94897d537b31	1239	if(ptcb->eventID != INVALID_ID) /* Is task in event waiting list */
astroboy	0:94897d537b31	1240	{
astroboy	0:94897d537b31	1241	return E_TASK_WAIT_OTHER; /* Yes,error return */
astroboy	0:94897d537b31	1242	}
astroboy	0:94897d537b31	1243	#endif
astroboy	0:94897d537b31	1244
astroboy	0:94897d537b31	1245	#if CFG_MUTEX_EN > 0
astroboy	0:94897d537b31	1246	if(ptcb->mutexID != INVALID_ID) /* Is task in mutex waiting list */
astroboy	0:94897d537b31	1247	{
astroboy	0:94897d537b31	1248	return E_TASK_WAIT_OTHER; /* Yes,error return */
astroboy	0:94897d537b31	1249	}
astroboy	0:94897d537b31	1250	#endif
astroboy	0:94897d537b31	1251
astroboy	0:94897d537b31	1252	#endif //CFG_TASK_WAITTING_EN
astroboy	0:94897d537b31	1253
astroboy	0:94897d537b31	1254	/* All no,so WAITING state was set by CoSuspendTask() */
astroboy	0:94897d537b31	1255	OsSchedLock(); /* Lock schedule */
astroboy	0:94897d537b31	1256	InsertToTCBRdyList(ptcb); /* Insert the task into the READY list*/
astroboy	0:94897d537b31	1257	OsSchedUnlock(); /* Unlock schedule */
astroboy	0:94897d537b31	1258	return E_OK; /* return OK */
astroboy	0:94897d537b31	1259	}
astroboy	0:94897d537b31	1260	#endif

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	10 Sep 2011
Imports:	49
Forks:	0
Commits:	1
Dependents:	0
Dependencies:	2
Followers:	2

CoOS/kernel/task.c@0:94897d537b31, 2011-09-10 (annotated)

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