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cosyos/System/sv_task.h
零中断延迟的RTOS beda3ca2f4 update 内核文件. 
Signed-off-by: 零中断延迟的RTOS <cosyos@139.com>
2026-02-01 19:00:21 +00:00

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/**************************************************************************//**
* @item CosyOS-III Kernel
* @file sv_task.h
* @brief 任务服务
* @details 仅在任务中调用并执行。
* @author 迟凯峰
* @version V2.3.0
* @date 2026.02.01
******************************************************************************/
#ifndef __SV_TASK_H
#define __SV_TASK_H
#include "os_var.h"
#if (MCUCFG_ISA != __ARM__)
void su_schedule_locks (void);
void su_kernel_lock0 (void);
void su_kernel_unlock0 (void);
s_ecode_t su_kernel_unlocks_rec(s_ecode_t e);
void *su_kernel_unlocks_rvp(void *p);
#endif
#if (SYSCFG_KERNELLOCKNESTING == __DISABLED__)
#define su_kernel_locks su_kernel_lock0
#elif (MCUCFG_ISA != __ARM__)
void su_kernel_locks (void);
#endif
void su_schedule_unlocks (void);
void su_kernel_unlocks (void);
void su_kernel_unlock0_psv(void);
s_ecode_t su_startup_task_0 (s_taskhand_tsp hhand, s_u8_t status);
s_ecode_t su_startup_task_1 (s_taskhand_tsp hhand, s_u8_t status, s_voidvoid_tfp entry);
s_ecode_t su_resume_suspend (s_tasknode_tsp htask);
void su_yield_tasking (void);
void su_delay (s_delay_t tick);
bool su_take_mutex (s_mutex_tsp hmut, s_delay_t tick);
void su_back_mutex (s_mutex_tsp hmut);
bool su_wait_binary (s_binary_tsp hbin, s_delay_t tick);
bool su_take_binary (s_binary_tsp hbin, s_delay_t tick);
bool su_take_semaph (s_semaph_tsp hsem, s_delay_t tick);
m_fetion_t su_recv_fetion (s_tionbox_tsp htbox, s_delay_t tick);
void *su_recv_mail (s_mailbox_tsp hmbox, s_delay_t tick);
void *su_recv_msg (s_msgque_tsp hque, s_delay_t tick);
bool su_recv_taskmsg (volatile s_u8_t _STATIC_MEM_ *tmrf, s_delay_t tick);
bool su_wait_group_1 (volatile s_u8_t _STATIC_MEM_ *hgrp, s_delay_t tick);
bool su_wait_group_2 (volatile s_u16_t _STATIC_MEM_ *hgrp, s_delay_t tick);
bool su_wait_group_4 (volatile s_u32_t _STATIC_MEM_ *hgrp, s_delay_t tick);
bool su_query_group (volatile void _STATIC_MEM_ *hgrp, s_u8_t size);
bool su_init_mempool (s_thrmem_tsp hmem, size_t size);
void _MALLOC_MEM_ *su_talloc (s_thrmem_tsp hmem, size_t size);
void _MALLOC_MEM_ *su_xalloc (void _MALLOC_MEM_ *p);
/**
@addtogroup CosyOS_内核服务
@{
*//**
\defgroup 任务服务
\brief 仅在任务中调用并执行。
@{
*/
#if (MCUCFG_ISA == __ARM__)
/** 调度上锁（进入嵌套任务临界区）*/
__STATIC_FORCEINLINE void su_schedule_locks(void)
{
s_sign_schedule.every[0] = true;
s_schedulelock_counter++;
}
/** 内核上锁（进入非嵌套服务层临界区）*/
__STATIC_FORCEINLINE bool su_kernel_lock0(void)
{
mSysIRQ_Disable();
return true;
}
/** 内核解锁（退出非嵌套服务层临界区）*//*
__STATIC_FORCEINLINE bool su_kernel_unlock0(void)
{
mSysIRQ_Enable();
return true;
}*/
/** 内核上锁（进入嵌套服务层临界区）*/
#if (SYSCFG_KERNELLOCKNESTING == __ENABLED__)
__STATIC_FORCEINLINE bool su_kernel_locks(void)
{
mSysIRQ_Disable();
s_kernellock_counter++;
return true;
}
#endif
/** 内核解锁（退出嵌套服务层临界区）并返回(s_ecode_t) */
__STATIC_FORCEINLINE s_ecode_t su_kernel_unlocks_rec(s_ecode_t e)
{
su_kernel_unlocks();
return e;
}
/** 内核解锁（退出嵌套服务层临界区）并返回(void *) */
__STATIC_FORCEINLINE void *su_kernel_unlocks_rvp(void *p)
{
su_kernel_unlocks();
return p;
}
#endif
/*
* 操作任务
*/
/** 启动任务 */
#define sUSV_StartTask_0(hhand, status) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_startup_task_0((s_taskhand_tsp)hhand, status) : OS_ECODE_NOERROR \
)
/** 启动任务 */
#define sUSV_StartTask_1(hhand, status, entry) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_startup_task_1((s_taskhand_tsp)hhand, status, (s_voidvoid_tfp)entry) : OS_ECODE_NOERROR \
)
/** 恢复指定任务并挂起自身任务 */
#define sUSV_ResumeSuspend(htask) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(su_resume_suspend(htask)) : OS_ECODE_NOERROR \
)
/** 恢复任务 */
#define sUSV_ResumeTask(htask) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_resume_task(htask)) : OS_ECODE_NOERROR \
)
/** 挂起任务 */
#define sUSV_SuspendTask(htask) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_suspend_task(htask)) : OS_ECODE_NOERROR \
)
/** 删除任务 */
#define sUSV_DeleteTask(htask) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_delete_task(htask)) : OS_ECODE_NOERROR \
)
/** 清除阻塞（状态）*/
#define sUSV_ClearBlock(htask) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_clear_block(htask)) : OS_ECODE_NOERROR \
)
/** 设置阻塞（时间）*/
#define sUSV_SetBlock(htask, tick) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_set_block(htask, tick)) : OS_ECODE_NOERROR \
)
/** 设置任务优先级 */
#define sUSV_SetTaskPri(htask, npri) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_set_taskpri(htask, npri)) : OS_ECODE_NOERROR \
)
/** 自身任务延时 */
#define sUSV_Delay(tick) \
do{ \
mSysIRQ_Disable(); \
su_delay(tick); \
}while(false)
/*
* 互斥信号量
*/
/** 获取互斥信号量 */
#define sUSV_TakeMut(mut, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_take_mutex(&mut, tick) : false \
)
/** 归还互斥信号量 */
#define sUSV_BackMut(mut) \
do{ \
su_kernel_locks(); \
su_back_mutex(&mut); \
}while(false)
/*
* 二值信号量
*/
/** 等待二值信号量 */
#define sUSV_WaitBin(bin, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_wait_binary(&bin, tick) : false \
)
/** 获取二值信号量 */
#define sUSV_TakeBin(bin, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_take_binary(&bin, tick) : false \
)
/** 给予二值信号量 */
#define sUSV_GiveBin(bin) \
do{ \
su_kernel_locks(); \
sc_write_binary(&bin, true); \
su_kernel_unlocks(); \
}while(false)
/*
* 计数信号量
*/
/** 获取计数信号量 */
#define sUSV_TakeSem(sem, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_take_semaph(&sem, tick) : false \
)
/** 给予计数信号量 */
#define sUSV_GiveSem(sem) \
do{ \
su_kernel_locks(); \
sc_give_semaph(&sem); \
su_kernel_unlocks(); \
}while(false)
/*
* 私信
*/
/** 接收私信 */
#define sUSV_RecvTaskmsg(tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_recv_taskmsg(&u_tmrf, tick) : false \
)
/** 发送私信 */
#define sUSV_SendTaskmsg(task) \
su_kernel_locks(); \
s_taskmsg_sign = 2; \
sa_block_to_ready(task); \
u_task_##task
/*
* 飞信
*/
/** 接收飞信 */
#define sUSV_RecvFetion(tbox, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_recv_fetion(&tbox, tick) : false \
)
/** 发送飞信 */
#define sUSV_SendFetion(tbox, tion) \
do{ \
su_kernel_locks(); \
sc_send_fetion(&tbox, tion); \
su_kernel_unlocks(); \
}while(false)
/*
* 邮箱
*/
/** 接收邮件 */
#define sUSV_RecvMail(mbox, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_recv_mail(&mbox, tick) : OS_NULL \
)
/** 发送邮件 */
#define sUSV_SendMail(mbox, mail) \
do{ \
su_kernel_locks(); \
sc_send_mail(&mbox, mail); \
su_kernel_unlocks(); \
}while(false)
/*
* 消息队列
*/
/** 接收消息 */
#define sUSV_RecvMsg(que, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? su_recv_msg((s_msgque_tsp)&que, tick) : OS_NULL \
)
/** 发送消息 */
#define sUSV_SendMsg(que, msg) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rec(sc_send_msg((s_msgque_tsp)&que, msg)) : OS_ECODE_NOERROR \
)
/*
* 事件标志组
*/
/** 查询标志组 */
#define sUSV_QueryFlagGroup(group) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_query_group((void *)&group, sizeof(group)) : false \
)
/** 等待标志组 */
#define sUSV_WaitFlagGroup(group, tick) \
( \
(m_boolvoid_tf(su_kernel_lock0))() || true ? ( \
sizeof(group) == 1 ? su_wait_group_1((s_u8_t *)&group, tick) \
: sizeof(group) == 2 ? su_wait_group_2((s_u16_t *)&group, tick) \
: sizeof(group) == 4 ? su_wait_group_4((s_u32_t *)&group, tick) \
: false \
) : false \
)
/** 清除标志组 */
#define sUSV_ClearFlagGroup(group) \
do{ \
su_kernel_locks(); \
sizeof(group) == 1 ? *(s_u8_t *)&group = false : MCUCFG_TERNARYMASK \
sizeof(group) == 2 ? *(s_u16_t *)&group = false : MCUCFG_TERNARYMASK \
sizeof(group) == 4 ? *(s_u32_t *)&group = false : false; \
su_kernel_unlocks(); \
}while(false)
/** 写多标志位 */
#define sUSV_WriteFlagBits(group, value, nbit) \
suWriteFlagBits_##nbit(group, value,
/*
* 定时
*/
/** 定时中断 */
#define sUSV_TimInt(tmid, tick) \
do{ \
su_kernel_locks(); \
sc_timint(tmid, tick); \
su_kernel_unlocks(); \
}while(false)
/** 定时查询 */
#define sUSV_TimQry(tmid, tick) \
do{ \
su_kernel_locks(); \
sc_timqry(tmid, tick); \
su_kernel_unlocks(); \
}while(false)
/*
* 软件RTC
*/
/** 获取时间 */
#define sUSV_GetTime(t) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_kernel_unlocks_rvp(s_memcpy(t, &s_rtc, sizeof(s_rtc))) : OS_NULL \
)
/** 设置时间 */
#define sUSV_SetTime(t) \
do{ \
su_kernel_locks(); \
s_memcpy(&s_rtc, t, sizeof(s_rtc)); \
s_rtc_counter = 1000000UL / SYSCFG_SYSTICK_CYCLE / 2 + 1; \
su_kernel_unlocks(); \
}while(false)
/*
* 进程内存
*/
/** malloc */
#define sUSV_Malloc(size) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_xalloc((void _MALLOC_MEM_ *)s_malloc(size)) : OS_NULL \
)
/** calloc */
#define sUSV_Calloc(nmemb, size) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_xalloc((void _MALLOC_MEM_ *)s_calloc(nmemb, size)) : OS_NULL \
)
/** realloc */
#define sUSV_Realloc(p, size) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_xalloc((void _MALLOC_MEM_ *)s_realloc(p, size)) : OS_NULL \
)
/** free */
#define sUSV_Free(p) \
do{ \
su_kernel_locks(); \
s_free(p); \
su_kernel_unlocks(); \
}while(false)
/*
* 线程内存
*/
/** 初始化线程内存池 */
#define sUSV_InitMempool(size) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_init_mempool(&u_thrmem, size) : false \
)
/** 线程内存分配 */
#define sUSV_Talloc(size) \
( \
(m_boolvoid_tf(su_kernel_locks))() || true ? su_xalloc(su_talloc(&u_thrmem, size)) : OS_NULL \
)
/** 释放线程内存池 */
#define sUSV_FreeMempool() \
do{ \
sUSV_Free(u_thrmem.head); \
u_thrmem.head = u_thrmem.move = OS_NULL; \
}while(false)
/** @} */
/** @} */
#endif
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