mirror of
https://gitee.com/cosyos/cosyos.git
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零中断延迟的RTOS
Gitee
28
System/CosyOS.H
Normal file
28
System/CosyOS.H
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@@ -0,0 +1,28 @@
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/**************************************************************************//**
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* @item CosyOS-III Kernel
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* @file CosyOS.H
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* @brief 系统链接头文件
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* @details 用户的各个c文件中应包含此文件。
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* @author 迟凯峰
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* @version V2.3.1
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* @date 2026.03.01
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******************************************************************************/
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#ifndef __COSYOS_H
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#define __COSYOS_H
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#include "os_var.h"
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#include "os_api.h"
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#include "sv_com.h"
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#include "sv_create.h"
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#include "sv_int_fifo.h"
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#include "sv_int_loc.h"
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#include "sv_pend.h"
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#include "sv_task.h"
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#include "sv_tick.h"
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#include "ur_api.h"
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#include "ur_eapi.h"
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#endif
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313
System/os_api.h
Normal file
313
System/os_api.h
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@@ -0,0 +1,313 @@
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/**************************************************************************//**
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* @item CosyOS-III Kernel
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* @file os_api.h
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* @brief 系统内核专用API
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* @author 迟凯峰
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* @version V2.3.1
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* @date 2026.03.01
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******************************************************************************/
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#ifndef __OS_API_H
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#define __OS_API_H
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/*
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* 引用.标准库函数
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*/
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#define s_init_mempool init_mempool
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#define s_malloc malloc
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#define s_calloc calloc
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#define s_realloc realloc
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#define s_free free
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#define s_memcpy memcpy
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#define s_memcmp memcmp
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#define s_strcpy strcpy
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#define s_strcmp strcmp
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#define s_strlen strlen
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/*
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* 操作.定时中断/查询
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*/
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/** 启动定时中断任务 */
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#define sStartTask_TimInt(tmid) \
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sUSV_StartTask_0(s_timint_handle[tmid]->hookorhand.hand, OS_STATUS_SUSPENDED)
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/** 启动定时查询任务 */
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#define sStartTask_TimQry(tmid) \
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sUSV_StartTask_0(s_timqry_handle[tmid]->hookorhand.hand, OS_STATUS_SUSPENDED)
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/** 恢复定时中断任务 */
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#define sResumeTask_TimInt(tmid) \
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sTSV_ResumeTask(*(s_timint_handle[tmid]->hookorhand.hand)->dualhandle)
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/** 恢复定时查询任务 */
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#define sResumeTask_TimQry(tmid) \
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sTSV_ResumeTask(*(s_timqry_handle[tmid]->hookorhand.hand)->dualhandle)
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/** 调用定时中断钩子 */
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#define sCallHook_TimInt(tmid) \
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(*s_timint_handle[tmid]->hookorhand.hook)()
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/** 调用定时查询钩子 */
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#define sCallHook_TimQry(tmid) \
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(*s_timqry_handle[tmid]->hookorhand.hook)()
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/*
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* 事件标志组 - 写标志位
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*/
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#define stWriteFlagBits_1(g, v, b0) \
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g.b0 = v
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#define stWriteFlagBits_2(g, v, b0, b1) \
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g.b0 = g.b1 = v
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#define stWriteFlagBits_3(g, v, b0, b1, b2) \
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g.b0 = g.b1 = g.b2 = v
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#define stWriteFlagBits_4(g, v, b0, b1, b2, b3) \
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g.b0 = g.b1 = g.b2 = g.b3 = v
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#define stWriteFlagBits_5(g, v, b0, b1, b2, b3, b4) \
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g.b0 = g.b1 = g.b2 = g.b3 = g.b4 = v
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#define stWriteFlagBits_6(g, v, b0, b1, b2, b3, b4, b5) \
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g.b0 = g.b1 = g.b2 = g.b3 = g.b4 = g.b5 = v
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#define stWriteFlagBits_7(g, v, b0, b1, b2, b3, b4, b5, b6) \
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g.b0 = g.b1 = g.b2 = g.b3 = g.b4 = g.b5 = g.b6 = v
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#define stWriteFlagBits_8(g, v, b0, b1, b2, b3, b4, b5, b6, b7) \
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g.b0 = g.b1 = g.b2 = g.b3 = g.b4 = g.b5 = g.b6 = g.b7 = v
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#define suWriteFlagBits_1(g, v, b0) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_1(g, v, b0); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_2(g, v, b0, b1) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_2(g, v, b0, b1); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_3(g, v, b0, b1, b2) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_3(g, v, b0, b1, b2); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_4(g, v, b0, b1, b2, b3) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_4(g, v, b0, b1, b2, b3); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_5(g, v, b0, b1, b2, b3, b4) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_5(g, v, b0, b1, b2, b3, b4); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_6(g, v, b0, b1, b2, b3, b4, b5) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_6(g, v, b0, b1, b2, b3, b4, b5); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_7(g, v, b0, b1, b2, b3, b4, b5, b6) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_7(g, v, b0, b1, b2, b3, b4, b5, b6); \
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su_kernel_unlocks(); \
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}while(false)
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#define suWriteFlagBits_8(g, v, b0, b1, b2, b3, b4, b5, b6, b7) \
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do{ \
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su_kernel_locks(); \
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stWriteFlagBits_8(g, v, b0, b1, b2, b3, b4, b5, b6, b7); \
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su_kernel_unlocks(); \
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}while(false)
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#define siWriteFlagBits_1(b0) \
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stWriteFlagBits_1(u_grp, true, b0); \
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siWriteFlagBits()
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#define siWriteFlagBits_2(b0, b1) \
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stWriteFlagBits_2(u_grp, true, b0, b1); \
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siWriteFlagBits()
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#define siWriteFlagBits_3(b0, b1, b2) \
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stWriteFlagBits_3(u_grp, true, b0, b1, b2); \
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siWriteFlagBits()
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#define siWriteFlagBits_4(b0, b1, b2, b3) \
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stWriteFlagBits_4(u_grp, true, b0, b1, b2, b3); \
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siWriteFlagBits()
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#define siWriteFlagBits_5(b0, b1, b2, b3, b4) \
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stWriteFlagBits_5(u_grp, true, b0, b1, b2, b3, b4); \
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siWriteFlagBits()
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#define siWriteFlagBits_6(b0, b1, b2, b3, b4, b5) \
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stWriteFlagBits_6(u_grp, true, b0, b1, b2, b3, b4, b5); \
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siWriteFlagBits()
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#define siWriteFlagBits_7(b0, b1, b2, b3, b4, b5, b6) \
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stWriteFlagBits_7(u_grp, true, b0, b1, b2, b3, b4, b5, b6); \
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siWriteFlagBits()
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#define siWriteFlagBits_8(b0, b1, b2, b3, b4, b5, b6, b7) \
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stWriteFlagBits_8(u_grp, true, b0, b1, b2, b3, b4, b5, b6, b7); \
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siWriteFlagBits()
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#define siWriteFlagBits() \
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u_psv.value = ( \
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sizeof(u_grp) == 1 ? *(s_u8_t *)&u_grp \
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: sizeof(u_grp) == 2 ? *(s_u16_t *)&u_grp \
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: sizeof(u_grp) == 4 ? *(s_u32_t *)&u_grp \
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: 0 \
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); \
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} \
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mPendSV_FIFOLoad(); \
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}while(false)
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/*
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* 私信 - 创建信箱
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*/
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#define sTaskMsg_Init_1(g) \
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tm1##g = tm1_##g
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#define sTaskMsg_Init_2(g) \
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sTaskMsg_Init_1(g); \
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tm2##g = tm2_##g
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#define sTaskMsg_Init_3(g) \
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sTaskMsg_Init_2(g); \
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tm3##g = tm3_##g
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#define sTaskMsg_Init_4(g) \
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sTaskMsg_Init_3(g); \
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tm4##g = tm4_##g
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#define sTaskMsg_Init_5(g) \
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sTaskMsg_Init_4(g); \
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tm5##g = tm5_##g
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#define sTaskMsg_Init_6(g) \
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sTaskMsg_Init_5(g); \
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tm6##g = tm6_##g
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#define sTaskMsg_Init_7(g) \
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sTaskMsg_Init_6(g); \
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tm7##g = tm7_##g
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#define sTaskMsg_Init_8(g) \
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sTaskMsg_Init_7(g); \
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tm8##g = tm8_##g
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#define sTaskMsg_Init(n) \
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static volatile s_u8_t u_tmrf = 0; \
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if(s_taskmsg_sign){ \
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u_tmrf = 1; \
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sTaskMsg_Init_##n(_); \
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if(--s_taskmsg_sign){ \
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s_taskmsg_sign = 0; \
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su_kernel_unlocks(); \
|
||||
} \
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return; \
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} \
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||||
if(u_tmrf == 2){ \
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u_tmrf = 0; \
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sTaskMsg_Init_##n( ); \
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return; \
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}
|
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#define sCreateTaskMsg_0_1(m1) \
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(m1##__) \
|
||||
{ \
|
||||
static m1##_; \
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||||
static m1 ; \
|
||||
sTaskMsg_Init(1); \
|
||||
do
|
||||
|
||||
#define sCreateTaskMsg_0_2(m1, m2) \
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(m1##__, m2##__) \
|
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{ \
|
||||
static m1##_; static m2##_; \
|
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static m1 ; static m2 ; \
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sTaskMsg_Init(2); \
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do
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|
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#define sCreateTaskMsg_0_3(m1, m2, m3) \
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(m1##__, m2##__, m3##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; \
|
||||
static m1 ; static m2 ; static m3 ; \
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sTaskMsg_Init(3); \
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do
|
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|
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#define sCreateTaskMsg_0_4(m1, m2, m3, m4) \
|
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(m1##__, m2##__, m3##__, m4##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; static m4##_; \
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||||
static m1 ; static m2 ; static m3 ; static m4 ; \
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sTaskMsg_Init(4); \
|
||||
do
|
||||
|
||||
#define sCreateTaskMsg_0_5(m1, m2, m3, m4, m5) \
|
||||
(m1##__, m2##__, m3##__, m4##__, m5##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; static m4##_; static m5##_; \
|
||||
static m1 ; static m2 ; static m3 ; static m4 ; static m5 ; \
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||||
sTaskMsg_Init(5); \
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||||
do
|
||||
|
||||
#define sCreateTaskMsg_0_6(m1, m2, m3, m4, m5, m6) \
|
||||
(m1##__, m2##__, m3##__, m4##__, m5##__, m6##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; static m4##_; static m5##_; static m6##_; \
|
||||
static m1 ; static m2 ; static m3 ; static m4 ; static m5 ; static m6 ; \
|
||||
sTaskMsg_Init(6); \
|
||||
do
|
||||
|
||||
#define sCreateTaskMsg_0_7(m1, m2, m3, m4, m5, m6, m7) \
|
||||
(m1##__, m2##__, m3##__, m4##__, m5##__, m6##__, m7##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; static m4##_; static m5##_; static m6##_; static m7##_; \
|
||||
static m1 ; static m2 ; static m3 ; static m4 ; static m5 ; static m6 ; static m7 ; \
|
||||
sTaskMsg_Init(7); \
|
||||
do
|
||||
|
||||
#define sCreateTaskMsg_0_8(m1, m2, m3, m4, m5, m6, m7, m8) \
|
||||
(m1##__, m2##__, m3##__, m4##__, m5##__, m6##__, m7##__, m8##__) \
|
||||
{ \
|
||||
static m1##_; static m2##_; static m3##_; static m4##_; static m5##_; static m6##_; static m7##_; static m8##_; \
|
||||
static m1 ; static m2 ; static m3 ; static m4 ; static m5 ; static m6 ; static m7 ; static m8 ; \
|
||||
sTaskMsg_Init(8); \
|
||||
do
|
||||
|
||||
#define sCreateTaskMsg_1(m1) sCreateTaskMsg_0_1(m1)
|
||||
#define sCreateTaskMsg_2(m1, m2) sCreateTaskMsg_0_2(m1, m2)
|
||||
#define sCreateTaskMsg_3(m1, m2, m3) sCreateTaskMsg_0_3(m1, m2, m3)
|
||||
#define sCreateTaskMsg_4(m1, m2, m3, m4) sCreateTaskMsg_0_4(m1, m2, m3, m4)
|
||||
#define sCreateTaskMsg_5(m1, m2, m3, m4, m5) sCreateTaskMsg_0_5(m1, m2, m3, m4, m5)
|
||||
#define sCreateTaskMsg_6(m1, m2, m3, m4, m5, m6) sCreateTaskMsg_0_6(m1, m2, m3, m4, m5, m6)
|
||||
#define sCreateTaskMsg_7(m1, m2, m3, m4, m5, m6, m7) sCreateTaskMsg_0_7(m1, m2, m3, m4, m5, m6, m7)
|
||||
#define sCreateTaskMsg_8(m1, m2, m3, m4, m5, m6, m7, m8) sCreateTaskMsg_0_8(m1, m2, m3, m4, m5, m6, m7, m8)
|
||||
|
||||
|
||||
#endif
|
||||
688
System/os_handler.c
Normal file
688
System/os_handler.c
Normal file
File diff suppressed because it is too large
Load Diff
635
System/os_taskmgr.c
Normal file
635
System/os_taskmgr.c
Normal file
File diff suppressed because it is too large
Load Diff
579
System/sv_int_fifo.c
Normal file
579
System/sv_int_fifo.c
Normal file
File diff suppressed because it is too large
Load Diff
181
System/sv_int_fifo.h
Normal file
181
System/sv_int_fifo.h
Normal file
@@ -0,0 +1,181 @@
|
||||
/**************************************************************************//**
|
||||
* @item CosyOS-III Kernel
|
||||
* @file sv_int_fifo.h
|
||||
* @brief 中断FIFO服务-调用宏
|
||||
* @details 仅在用户中断中调用，而后挂起到 PendSV中断 中执行。
|
||||
* @author 迟凯峰
|
||||
* @version V2.3.1
|
||||
* @date 2026.03.01
|
||||
******************************************************************************/
|
||||
|
||||
#ifndef __SV_INT_FIFO_H
|
||||
#define __SV_INT_FIFO_H
|
||||
|
||||
/**
|
||||
@addtogroup CosyOS_内核服务
|
||||
@{
|
||||
*//**
|
||||
\defgroup 中断FIFO服务
|
||||
\brief 在用户中断中调用但不在本地执行，而是把服务的相关内容写入到局部的结构体中，
|
||||
再把结构体指针入 PendSV_FIFO，再触发 PendSV，而后在 PendSV中断 中执行服务。
|
||||
@{
|
||||
*//**
|
||||
\ingroup 中断FIFO服务
|
||||
\defgroup 中断FIFO服务-调用宏
|
||||
@{
|
||||
*/
|
||||
|
||||
/** 清除就绪延时 */
|
||||
#define sIPS_ClearDelay() \
|
||||
do{ \
|
||||
static sp_svid_ts u_psv = {OS_SVID_CLEARDELAY}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 恢复任务 */
|
||||
#define sIPS_ResumeTask(_htask) \
|
||||
do{ \
|
||||
static sp_task_ts u_psv = {OS_SVID_RESUMETASK, OS_NULL}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 挂起任务 */
|
||||
#define sIPS_SuspendTask(_htask) \
|
||||
do{ \
|
||||
static sp_task_ts u_psv = {OS_SVID_SUSPENDTASK, OS_NULL}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 删除任务 */
|
||||
#define sIPS_DeleteTask(_htask) \
|
||||
do{ \
|
||||
static sp_task_ts u_psv = {OS_SVID_DELETETASK, OS_NULL}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 清除阻塞（状态）*/
|
||||
#define sIPS_ClearBlock(_htask) \
|
||||
do{ \
|
||||
static sp_task_ts u_psv = {OS_SVID_CLEARBLOCK, OS_NULL}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 设置阻塞（时间）*/
|
||||
#define sIPS_SetBlock(_htask, _tick) \
|
||||
do{ \
|
||||
static sp_blocktime_ts u_psv = {OS_SVID_SETBLOCK, OS_NULL, _tick}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 设置任务优先级 */
|
||||
#define sIPS_SetTaskPri(_htask, _npri) \
|
||||
do{ \
|
||||
static sp_taskpri_ts u_psv = {OS_SVID_SETTASKPRI, OS_NULL, _npri}; \
|
||||
u_psv.htask = _htask; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 写二值信号量 */
|
||||
#define sIPS_WriteBin(_bin, _value) \
|
||||
do{ \
|
||||
static sp_binary_ts u_psv = {OS_SVID_WRITEBINARY, &_bin, _value}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 给予计数信号量 */
|
||||
#define sIPS_GiveSem(_sem) \
|
||||
do{ \
|
||||
static sp_semaph_ts u_psv = {OS_SVID_GIVESEMAPH, &_sem}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 发送飞信 */
|
||||
#define sIPS_SendFetion(_tbox, _tion) \
|
||||
do{ \
|
||||
static sp_tionbox_ts u_psv = {OS_SVID_SENDFETION, &_tbox, 0}; \
|
||||
u_psv.tion = _tion; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 发送邮件 */
|
||||
#define sIPS_SendMail(_mbox, _mail) \
|
||||
do{ \
|
||||
static sp_mailbox_ts u_psv = {OS_SVID_SENDMAIL, &_mbox, OS_NULL}; \
|
||||
u_psv.mail = _mail; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 发送消息 */
|
||||
#define sIPS_SendMsg(_que, _msg) \
|
||||
do{ \
|
||||
static sp_msgque_ts u_psv = {OS_SVID_SENDMSG, (s_msgque_tsp)&_que, OS_NULL}; \
|
||||
u_psv.msg = _msg; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 定时中断 */
|
||||
#define sIPS_TimInt(_tmid, _tick) \
|
||||
do{ \
|
||||
static sp_timint_ts u_psv = {OS_SVID_TIMINT, _tmid, 0}; \
|
||||
u_psv.tick = _tick; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 定时查询 */
|
||||
#define sIPS_TimQry(_tmid, _tick) \
|
||||
do{ \
|
||||
static sp_timqry_ts u_psv = {OS_SVID_TIMQRY, _tmid, 0}; \
|
||||
u_psv.tick = _tick; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 清除标志组 */
|
||||
#define sIPS_ClearFlagGroup(_group) \
|
||||
do{ \
|
||||
static sp_group_ts u_psv = {OS_SVID_WRITEGROUP, (void *)&_group, -sizeof(_group), ~0}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 写多标志位 */
|
||||
#define sIPS_WriteFlagBits(_group, _sign, _nbit) \
|
||||
do{ \
|
||||
static sp_group_ts u_psv = {OS_SVID_WRITEGROUP, (void *)&_group, _sign##sizeof(_group), 0}; \
|
||||
u_##_group##_ts u_grp; \
|
||||
miWriteFlagBits(); \
|
||||
sizeof(u_grp) == 1 ? *(s_u8_t *)&u_grp = false : MCUCFG_TERNARYMASK \
|
||||
sizeof(u_grp) == 2 ? *(s_u16_t *)&u_grp = false : MCUCFG_TERNARYMASK \
|
||||
sizeof(u_grp) == 4 ? *(s_u32_t *)&u_grp = false : false; \
|
||||
siWriteFlagBits_##_nbit(
|
||||
|
||||
/** 全局变量写访问 */
|
||||
#define sIPS_WriteGVar(_gp, _lp, _size) \
|
||||
do{ \
|
||||
static sp_gvar_ts u_psv = {OS_SVID_WRITEGVAR, _gp, _lp, _size}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 挂起服务调用 */
|
||||
#define sIPS_PendSVC(_fp) \
|
||||
do{ \
|
||||
static sp_pendsvc_ts u_psv = {OS_SVID_PENDSVC, _fp}; \
|
||||
mPendSV_FIFOLoad(); \
|
||||
}while(false)
|
||||
|
||||
/** 设置时间 */
|
||||
#define sIPS_SetTime(_t) \
|
||||
do{ \
|
||||
static const m_rtccount_t _c = 1000000UL / SYSCFG_SYSTICK_CYCLE / 2 + 1; \
|
||||
iWriteGAry(&s_rtc, _t, sizeof(s_rtc)); \
|
||||
iWriteGVar(s_rtc_counter, _c); \
|
||||
}while(false)
|
||||
|
||||
/** @} */
|
||||
/** @} */
|
||||
/** @} */
|
||||
|
||||
#endif
|
||||
38
System/sv_pend.h
Normal file
38
System/sv_pend.h
Normal file
@@ -0,0 +1,38 @@
|
||||
/**************************************************************************//**
|
||||
* @item CosyOS-III Kernel
|
||||
* @file sv_pend.h
|
||||
* @brief PSV服务
|
||||
* @details 仅在 PendSV中断 中调用并执行。
|
||||
* @author 迟凯峰
|
||||
* @version V2.3.1
|
||||
* @date 2026.03.01
|
||||
******************************************************************************/
|
||||
|
||||
#ifndef __SV_PEND_H
|
||||
#define __SV_PEND_H
|
||||
|
||||
/**
|
||||
@addtogroup CosyOS_内核服务
|
||||
@{
|
||||
*//**
|
||||
\defgroup PSV服务
|
||||
\brief 仅在 PendSV中断 中调用并执行的服务。
|
||||
包括通过挂起服务调用（iPendSVC）间接调用，在挂起服务钩子（pendsv_hook）中调用。
|
||||
如果通过挂起服务调用（iPendSVC）间接调用，就是 FIFO服务；
|
||||
如果通过挂起服务钩子（pendsv_hook） 调用，就是 FIAG服务。
|
||||
@{
|
||||
*/
|
||||
|
||||
#define sPSV_ClearDelay() sc_clear_delay() /*!< 清除就绪延时 */
|
||||
#define sPSV_ResumeTask(htask) sc_resume_task(htask) /*!< 恢复任务 */
|
||||
#define sPSV_SuspendTask(htask) sc_suspend_task(htask) /*!< 挂起任务 */
|
||||
#define sPSV_DeleteTask(htask) sc_delete_task(htask) /*!< 删除任务 */
|
||||
#define sPSV_ClearBlock(htask) sc_clear_block(htask) /*!< 清除阻塞（状态）*/
|
||||
#define sPSV_SetBlock(htask, tick) sc_set_block(htask, tick) /*!< 设置阻塞（时间）*/
|
||||
#define sPSV_SetTaskPri(htask, npri) sc_set_taskpri(htask, npri) /*!< 设置任务优先级 */
|
||||
#define sPSV_GiveBin(bin) sc_write_binary(&bin, true) /*!< 给予二值信号量 */
|
||||
|
||||
/** @} */
|
||||
/** @} */
|
||||
|
||||
#endif
|
||||
1973
System/ur_api.h
Normal file
1973
System/ur_api.h
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user