From bde8eb9fa3dd3f2e1f0fdf1c27a5cf43496367b3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E9=9B=B6=E4=B8=AD=E6=96=AD=E5=BB=B6=E8=BF=9F=E7=9A=84RTOS?= Date: Wed, 17 Apr 2024 13:47:52 +0000 Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=96=87=E4=BB=B6=20System/o?= =?UTF-8?q?s=5Fhandler.c?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- System/os_handler.c | 758 -------------------------------------------- 1 file changed, 758 deletions(-) delete mode 100644 System/os_handler.c diff --git a/System/os_handler.c b/System/os_handler.c deleted file mode 100644 index 7594af6..0000000 --- a/System/os_handler.c +++ /dev/null @@ -1,758 +0,0 @@ -/**************************************************************************//** - * @item CosyOS-II Kernel - * @file os_handler.c - * @brief SysTick2_Handler and PendSV2_Handler - * @author 迟凯峰 - * @version V2.1.1 - * @date 2024.04.13 - ******************************************************************************/ - -#include "os_link.h" - -#if SYSCFG_DEBUGGING == __ENABLED__ -static s_u32_t usedtime[2]; -#endif -static s_u8_t _SYS_MEM_ task_queue_len = 0; -static s_tasknode_tsp _SYS_MEM_ task_node[3] = {OS_NULL, OS_NULL, OS_NULL}; -#define node_head task_node[0] /*!< 头节点 */ -#define node_midd task_node[1] /*!< 中间节点 */ -#define node_tail task_node[2] /*!< 尾节点 */ -#define node_last node_curr->last /*!< 上一节点 */ -#define node_next node_curr->next /*!< 下一节点 */ -#define move_forward node_curr = node_last /*!< 节点前移 */ -#define move_backward node_curr = node_next /*!< 节点后移 */ - -void SysTick2_Handler(void) MCUCFG_SYSTICK_ATTRIBUTE -{ - s_u8_t _SYS_REG_ i; - s_tasknode_tsp _SYS_REG_ node_curr; - #if SYSCFG_SYSTICKTIME_COUNT == __ENABLED__ - static m_tick_t tick_temp; - #endif - - /* 清除中断标志位 */ - mSysTick_Clear; - - /* main()中完成启动系统任务之前，系统滴答不处理 */ - if(s_sign_return) return; - - /* 系统滴答时间统计开始 */ - #if SYSCFG_SYSTICKTIME_COUNT == __ENABLED__ - if(s_sign_taskmgr){ - tick_temp = mSysTick_Counter; - } - #endif - - /* 软件RTC */ - #if SYSCFG_SOFTRTC == __ENABLED__ - if(true){ - static - #if SYSCFG_SYSTICKCYCLE > 1000000UL / 65536 - s_u16_t - #else - s_u32_t - #endif - _SYS_MEM_ counter = 0; - if(counter < 1000000UL / SYSCFG_SYSTICKCYCLE - 1) counter++; - else{ - counter = 0; - s_sign_every.second = true; - if(s_rtc[0][5] < 59) s_rtc[0][5]++; - else{ - s_rtc[0][5] = 0; - s_sign_every.minute = true; - if(s_rtc[0][4] < 59) s_rtc[0][4]++; - else{ - s_rtc[0][4] = 0; - s_sign_every.hour = true; - if(s_rtc[0][3] < 23) s_rtc[0][3]++; - else{ - s_rtc[0][3] = 0; - s_sign_every.day = true; - if(s_rtc[0][6] < 7) s_rtc[0][6]++; - else s_rtc[0][6] = 1; - if(s_rtc[0][2] < (s_rtc[0][1] == 2 ? s_month2day : s_month0day[s_rtc[0][1]])) s_rtc[0][2]++; - else{ - s_rtc[0][2] = 1; - s_sign_every.month = true; - if(s_rtc[0][1] < 12) s_rtc[0][1]++; - else{ - s_rtc[0][1] = 1; - s_sign_every.year = true; - if(s_rtc[0][0] < 99) s_rtc[0][0]++; - else s_rtc[0][0] = 0; - } - } - } - } - } - } - tUpdateCopy(s_memcpy(s_rtc[1], s_rtc[0], sizeof(s_rtc[0]))); - } - #endif - - /* 滴答钩子 */ - #if SYSCFG_TICKHOOK == __ENABLED__ - tick_hook(); - #endif - - /* 定时中断 */ - #if OS_TIMINTTOTAL - i = OS_TIMINTTOTAL; - while(i--){ - if(s_timint_loader[i]){ - s_timint_loader[i]--; - if(!s_timint_loader[i]){ - if(s_timint_autoreload[i]){ - s_timint_loader[i] = s_timint_reload[i]; - } - if(s_timint_hookortask[i]){ - sResumeTask_TimInt(i); - } - else{ - (*(s_voidvoid_tfp)s_timint_handle[i]->hookorhand)(); - } - } - } - } - #endif - - /* 定时查询 */ - #if OS_TIMQRYTOTAL - i = OS_TIMQRYTOTAL; - while(i--){ - if(s_timqry_loader[i] && s_timqry_loader[i] < ~0){ - s_timqry_loader[i]--; - } - if(!s_timqry_loader[i]){ - if((*s_timqry_handle[i]->event)()){ - if(s_timqry_autoreload[i]){ - s_timqry_loader[i] = s_timqry_reload[i]; - } - else{ - s_timqry_loader[i] = ~0; - } - if(s_timqry_hookortask[i]){ - sResumeTask_TimQry(i); - } - else{ - (*(s_voidvoid_tfp)s_timqry_handle[i]->hookorhand)(); - } - } - } - } - #endif - - /* 延时定时器 */ - i = task_queue_len - 1; - node_curr = node_head; - while(true){ - if(node_curr->status <= OS_STATUS_BLOCKED){ - if(node_curr->timer && node_curr->timer < ~0){ - node_curr->timer--; - } - } - if(!--i) break; - move_backward; - } - - /* 时间片滴答计数 */ - s_tick_counter++; - - /* 安全运行时 */ - #if SYSCFG_SAFERUNTIME == __ENABLED__ - node_curr = s_task_current; - if(node_curr != OS_NULL && node_curr->pri && node_curr->saferuntime){ - node_curr->counter++; - if(node_curr->counter > 1UL * node_curr->saferuntime * OS_TIMESHARING){ - node_curr->status = OS_STATUS_OVERTIME; - s_sign_timeout[node_curr->tid] = true; - #if SYSCFG_DEBUGGING == __ENABLED__ - s_alarm.timedout_saferuntime = true; - #endif - } - } - #endif - - /* 任务管理器相关 */ - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_sign_taskmgr){ - usedtime[0]++; /*!< CPU使用时间计数 */ - #if SYSCFG_SYSTICKTIME_COUNT == __ENABLED__ - mSysTick_Counting; /*!< 系统滴答时间统计 */ - #endif - } - #endif - - /* 触发定时调度 */ - if(true){ - s_sign_schedule = true; - s_sign_schedule_all = true; - mPendSV_Set; - } -} - -/* 移除节点（从任务队列中移除当前节点）*/ -#define node_remove \ -do{ \ - node_last->next = node_next; \ - node_next->last = node_last; \ - if(node_curr == node_head){ \ - node_head = node_next; \ - } \ - task_queue_len--; \ -}while(false) - -/* 插入方向 */ -#define forward 0x01 /*!< 向前 */ -#define voidward 0x00 /*!< 空向 */ -#define backward 0xFF /*!< 向后 */ - -/* 前插（新节点插入当前节点之前）*/ -#define insert_forward \ -do{ \ - node_news->next = node_curr; \ - node_news->last = node_last; \ - node_last->next = node_news; \ - node_last = node_news; \ - if(node_curr == node_head){ \ - node_head = node_news; \ - } \ - switch(insert_direction){ \ - case forward: \ - insert_direction = voidward; \ - node_midd = node_midd->last; \ - break; \ - case voidward: \ - insert_direction = forward; \ - break; \ - case backward: \ - insert_direction = voidward; \ - break; \ - } \ -}while(false) - -/* 后插（新节点插入当前节点之后）*/ -#define insert_backward \ -do{ \ - node_news->last = node_curr; \ - node_news->next = node_next; \ - node_next->last = node_news; \ - node_next = node_news; \ - if(node_curr == node_tail){ \ - node_tail = node_news; \ - } \ - switch(insert_direction){ \ - case forward: \ - insert_direction = voidward; \ - break; \ - case voidward: \ - insert_direction = backward; \ - break; \ - case backward: \ - insert_direction = voidward; \ - node_midd = node_midd->next; \ - break; \ - } \ -}while(false) - -/* 抢占式调度 or 时间片轮转调度 */ -#define preemptive_or_rotate \ -do{ \ - if(!sign_rotate){ \ - node_news = node_curr; \ - if(node_news->pri != s_task_current->pri){ \ - goto __TASKING_PREPROCESS; \ - } \ - sign_rotate = true; \ - } \ -}while(false) - -#if SYSCFG_MCUCORE == 80251 -#pragma functions(static) -#endif -void PendSV2_Handler(void) MCUCFG_PENDSV_ATTRIBUTE -{ - /* 清除中断标志位 */ - mPendSV_Clear; - - /* 中断挂起服务 */ - mPendSV_Entry; - - /* 挂起服务钩子 */ - #if SYSCFG_PENDSVHOOK == __ENABLED__ - pendsv_hook(); - #endif - - /* 更新全局变量副本 */ - #if SYSCFG_SOFTRTC == __ENABLED__ || SYSCFG_GVARHOOK == __ENABLED__ - s_sign_updatecopy = true; - #if SYSCFG_SOFTRTC == __ENABLED__ - if(s_sign_rtc){ - s_sign_rtc = false; - s_memcpy(s_rtc[1], s_rtc[0], sizeof(s_rtc[0])); - } - #endif - #if SYSCFG_GVARHOOK == __ENABLED__ - gvar_hook(); - #endif - s_sign_updatecopy = false; - #endif - - /* 任务调度 */ - if(s_sign_schedule){ - static s_u8_t _SYS_MEM_ insert_direction = 0; - s_tasknode_tsp _SYS_REG_ node_buff[3]; - #define node_curr node_buff[0] /*!< 当前节点 */ - #define node_news node_buff[1] /*!< 新加节点 */ - #define node_temp node_buff[2] /*!< 缓存节点 */ - m_bit_t sign_x = false; - #define sign_rotate sign_x /*!< 轮转信号 */ - #define sign_switch sign_x /*!< 切换信号 */ - #define sign_push sign_x /*!< 入栈信号 */ - #if SYSCFG_DEBUGGING == __ENABLED__ - m_tick_t _SYS_REG_ counter; - #endif - - /* 调度初始化 */ - mScheduler_INIT; - - /* 启动任务 */ - if(s_task_starter != OS_NULL){ - if(task_queue_len < OS_TASKQUEUELEN_MAX){ - /* 静态创建 */ - if(*s_task_starter->handle != OS_NULL){ - node_news = (s_tasknode_tsp)s_task_starter; - if(node_news->stacksize < MCUCFG_BASICSTACKSIZE){ - #if SYSCFG_DEBUGGING == __ENABLED__ - s_fault.failed_startuptask = true; - s_fault.overflow_taskstack = true; - #endif - s_startup_code = OS_ECODE_OVERFLOW_TASKSTACK; - goto __STARTUP_END; - } - else{ - mTaskStack_INIT; - } - } - /* 动态创建 */ - else{ - node_news = OS_NULL; - node_news = (s_tasknode_tsp)s_malloc(sizeof(s_tasknode_ts)); - if(node_news != OS_NULL){ - node_news->stacksize = s_task_starter->stacksize; - if(node_news->stacksize < MCUCFG_BASICSTACKSIZE){ - node_news->stacksize = MCUCFG_BASICSTACKSIZE; - node_news->create = 2; - } - else{ - node_news->create = 1; - } - node_news->bsp = OS_NULL; - node_news->bsp = (s_u8_t _MALLOC_MEM_ *)s_malloc(node_news->stacksize); - if(node_news->bsp != OS_NULL){ - mTaskStack_INIT; - node_news->tid = s_task_starter->tid; - node_news->oldpri = s_task_starter->oldpri; - node_news->handle = s_task_starter->handle; - *node_news->handle = node_news; - #if SYSCFG_DEBUGGING == __ENABLED__ - node_news->name = s_task_starter->name; - #endif - #if SYSCFG_SAFERUNTIME == __ENABLED__ - node_news->saferuntime = s_task_starter->saferuntime; - #endif - node_news->status = s_task_status0; - } - else{ - s_free(node_news); - #if SYSCFG_DEBUGGING == __ENABLED__ - s_fault.failed_startuptask = true; - s_fault.mallocfailed_taskstack = true; - #endif - s_startup_code = OS_ECODE_MALLOCFAIL_TASKSTACK; - goto __STARTUP_END; - } - } - else{ - #if SYSCFG_DEBUGGING == __ENABLED__ - s_fault.failed_startuptask = true; - s_fault.mallocfailed_tasknode = true; - #endif - s_startup_code = OS_ECODE_MALLOCFAIL_TASKNODE; - goto __STARTUP_END; - } - } - /* 公共部分 */ - if(node_news->oldpri <= (s_u8_t)(SYSCFG_TASKPRIORITY - 1)){ - node_news->pri = node_news->oldpri; - } - else{ - node_news->pri = SYSCFG_TASKPRIORITY - 2; - #if SYSCFG_DEBUGGING == __ENABLED__ - s_alarm.outrange_taskpriority = true; - #endif - } - node_news->blocktype = 0; - node_news->timer = 0; - node_news->ptr = OS_NULL; - #if SYSCFG_DEBUGGING == __ENABLED__ - node_news->usedtime[0] = 0; - node_news->usedtime[1] = 0; - node_news->stacklen_max = MCUCFG_BASICSTACKSIZE; - #endif - #if SYSCFG_SAFERUNTIME == __ENABLED__ - node_news->counter = 0; - #endif - /* 新任务加入任务队列 */ - if(!task_queue_len){ - node_head = node_midd = node_tail = node_news->last = node_news->next = node_news; - } - else{ - node_curr = node_midd; - if(node_curr != node_tail && node_news->pri <= node_curr->pri){ - do{ - move_backward; - }while(node_curr != node_tail && node_news->pri <= node_curr->pri); - } - else if(node_curr != node_head && node_news->pri > node_curr->pri){ - do{ - move_forward; - }while(node_curr != node_head && node_news->pri > node_curr->pri); - } - if(node_news->pri > node_curr->pri){ - insert_forward; - } - else if(node_curr == node_tail && node_curr->pri == 0){ - insert_forward; - } - else{ - insert_backward; - } - } - task_queue_len++; - s_startup_code = OS_ECODE_NOERROR; - } - else{ - #if SYSCFG_DEBUGGING == __ENABLED__ - s_fault.failed_startuptask = true; - s_alarm.overflow_taskqueue = true; - #endif - s_startup_code = OS_ECODE_OVERFLOW_TASKQUEUE; - } - __STARTUP_END: - s_task_starter = OS_NULL; - if(s_sign_return){ - if(node_news == u_taskhandle_Sysidle){ - s_sign_return = false; - node_news = u_taskhandle_Starter; - goto __NEWTASK_PREPROCESS; /*!< 首次任务调度 -> 新任务预处理 */ - } - else{ - return; - } - } - } - - /* - * 任务优先级调整 - * 如果任务优先级发生改变，执行服务时已从任务队列中移除并加入到临时链表。 - * 在此，从临时链表中依次取出各任务，并根据任务优先级重新加入到任务队列。 - */ - if(s_taskpri_tail != OS_NULL){ - node_temp = s_taskpri_tail; - do{ - node_news = node_temp; - node_temp = node_temp->last; - node_curr = node_midd; - if(node_curr != node_tail && node_news->pri <= node_curr->pri){ - do{ - move_backward; - }while(node_curr != node_tail && node_news->pri <= node_curr->pri); - } - else if(node_curr != node_head && node_news->pri > node_curr->pri){ - do{ - move_forward; - }while(node_curr != node_head && node_news->pri > node_curr->pri); - } - if(node_news->pri > node_curr->pri){ - insert_forward; - } - else if(node_curr == node_tail && node_curr->pri == 0){ - insert_forward; - } - else{ - insert_backward; - } - }while(node_temp != OS_NULL); - s_taskpri_tail = OS_NULL; - } - - /* 调度类型：*/ - /* 1、立即切换 */ - if(!s_sign_schedule_all && s_task_switch != OS_NULL){ - sign_switch = true; - node_news = s_task_switch; - s_task_switch = OS_NULL; - goto __TASKING_PREPROCESS; - } - /* 2、当前调度：从当前任务优先级组首节点开始查找就绪 */ - if(!s_sign_schedule_all){ - node_curr = s_task_current; - while(node_last->pri == node_curr->pri){ - move_forward; - } - } - /* 3、完整调度：从任务队列头节点开始查找就绪 */ - else{ - s_sign_schedule_all = false; - s_task_switch = OS_NULL; - node_curr = node_head; - } - - /* 开始调度：更新任务状态并同步查找最高优先级的就绪任务 */ - while(true){ - switch(node_curr->status){ - case OS_STATUS_FLOATING: - if(!node_curr->timer){ - node_curr->status = OS_STATUS_READY; - preemptive_or_rotate; - } - else{ - switch(node_curr->blocktype & 0x0F){ - case 1: - if(*(s_u8_t *)node_curr->ptr){ - preemptive_or_rotate; - } - else{ - node_curr->status = OS_STATUS_BLOCKED; - } - break; - case 2: - if(*(s_u16_t *)node_curr->ptr){ - preemptive_or_rotate; - } - else{ - node_curr->status = OS_STATUS_BLOCKED; - } - break; - case 4: - if(*(s_u32_t *)node_curr->ptr){ - preemptive_or_rotate; - } - else{ - node_curr->status = OS_STATUS_BLOCKED; - } - break; - case 0x0F: - if(!*(s_u8_t *)node_curr->ptr){ - preemptive_or_rotate; - } - else{ - node_curr->status = OS_STATUS_BLOCKED; - } - break; - } - } - break; - case OS_STATUS_BLOCKED: - if(!node_curr->timer){ - node_curr->status = OS_STATUS_READY; - preemptive_or_rotate; - } - else if(node_curr->blocktype != OS_BLOCKED_DELAY){ - switch(node_curr->blocktype & 0x0F){ - case 1: - if(*(s_u8_t *)node_curr->ptr){ - node_curr->status = OS_STATUS_FLOATING; - preemptive_or_rotate; - } - break; - case 2: - if(*(s_u16_t *)node_curr->ptr){ - node_curr->status = OS_STATUS_FLOATING; - preemptive_or_rotate; - } - break; - case 4: - if(*(s_u32_t *)node_curr->ptr){ - node_curr->status = OS_STATUS_FLOATING; - preemptive_or_rotate; - } - break; - case 0x0F: - if(!*(s_u8_t *)node_curr->ptr){ - node_curr->status = OS_STATUS_FLOATING; - preemptive_or_rotate; - } - break; - } - } - break; - case OS_STATUS_READY: - preemptive_or_rotate; - break; - case OS_STATUS_DELETED: - if(node_curr != s_task_current){ - node_remove; - if(node_curr->create){ - s_free(node_curr->bsp); - *node_curr->handle = OS_NULL; - s_free(node_curr); - } - } - break; - #if SYSCFG_SAFERUNTIME == __ENABLED__ - case OS_STATUS_OVERTIME: - if(!s_sign_timeout[node_curr->tid]) { - node_curr->status = OS_STATUS_READY; - preemptive_or_rotate; - } - break; - #endif - } - move_backward; - /* 当前任务优先级组查询完毕 */ - if(sign_rotate && node_curr->pri != s_task_current->pri){ - sign_rotate = false; - break; - } - } - - /* 当前任务预处理 */ - __TASKING_PREPROCESS:{ - mTaskStack_LEN; - /* 每调度监控（假定入栈）*/ - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_task_current->stacklen_max < stacklen){ - s_task_current->stacklen_max = stacklen; - if(s_task_current->stacksize < stacklen){ - s_alarm.overflow_taskstack_future = true; - } - } - #endif - } - - /* 最终调度 */ - if(!sign_switch){ - /* 新任务与当前任务优先级不同 -> 切换至新任务 */ - if(node_news->pri != s_task_current->pri){ - goto __TASKING_POSTPROCESS; - } - /* 时间片轮转调度：*/ - /* 1、当前任务为就绪 && 时间片未到期 -> 返回 */ - if(s_tick_counter < OS_TIMESHARING && s_task_current->status <= OS_STATUS_FLOATING){ - s_task_current->status = OS_STATUS_READY; - if(s_task_current->blocktype != OS_BLOCKED_DELAY){ - mSysIRQ_Disable; - } - return; - } - /* 2、当前任务未就绪 || 时间片已到期 -> 向后轮询查找就绪 */ - node_curr = s_task_current; - move_backward; - while(node_last != node_tail && node_last->pri == node_curr->pri){ - if(node_curr->status > OS_STATUS_FLOATING){ - move_backward; - } - else{ - node_news = node_curr; - goto __TASKING_POSTPROCESS; - } - } - /* 3、新任务仍为当前任务，说明时间片已到期 -> 返回 */ - if(node_news == s_task_current){ - s_tick_counter = 0; - s_task_current->status = OS_STATUS_READY; - if(s_task_current->blocktype != OS_BLOCKED_DELAY){ - mSysIRQ_Disable; - } - return; - } - /* 4、新任务不是当前任务，必位于当前任务之前 -> 切换至新任务 */ - } - sign_switch = false; - - /* 当前任务后处理 */ - __TASKING_POSTPROCESS:{ - if(s_task_current->status < OS_STATUS_STOPPED){ - /* 入栈监控 */ - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_task_current->stacksize < stacklen){ - #if MCUCFG_TASKSTACK_REALLOC == __ENABLED__ - if(s_task_current->create){ - s_task_current->stacksize = stacklen + MCUCFG_TASKSTACKREALLOC_INC; - s_free(s_task_current->bsp); - s_task_current->bsp = OS_NULL; - s_task_current->bsp = (s_u8_t _MALLOC_MEM_ *)s_malloc(s_task_current->stacksize); - if(s_task_current->bsp != OS_NULL){ - sign_push = true; - s_task_current->create = 2; - s_alarm.realloc_taskstack = true; - } - else{ - s_task_current->status = OS_STATUS_STOPPED_TSRF; - s_fault.reallocfailed_taskstack = true; - } - } - else{ - s_task_current->status = OS_STATUS_STOPPED_TSOF; - s_fault.overflow_taskstack = true; - } - #else - s_task_current->status = OS_STATUS_STOPPED_TSOF; - s_fault.overflow_taskstack = true; - #endif - } - else{ - sign_push = true; - } - #else - sign_push = true; - #endif - } - else if(s_task_current->status == OS_STATUS_DELETED){ - node_curr = s_task_current; - node_remove; - if(node_curr->create){ - s_free(node_curr->bsp); - *node_curr->handle = OS_NULL; - s_free(node_curr); - } - } - } - - /* 新任务预处理 */ - __NEWTASK_PREPROCESS:{ - s_tick_counter = 0; - node_news->status = OS_STATUS_READY; - if(node_news->blocktype != OS_BLOCKED_DELAY){ - mSysIRQ_Disable; - } - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_sign_taskmgr) counter = mSysTick_Counter; - #endif - } - - /* 当前任务入栈 */ - if(sign_push){ - #if SYSCFG_SAFERUNTIME == __ENABLED__ - if(s_task_current->pri > node_news->pri){ - s_task_current->counter = 0; - } - #endif - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_sign_taskmgr) mUsedTime_END; - #endif - mTaskStack_PUSH; - } - - /* 新任务出栈 */ - if(true){ - #if SYSCFG_DEBUGGING == __ENABLED__ - if(s_sign_taskmgr) mUsedTime_INIT; - #endif - mTaskStack_POP; - } - } -}