mirror of
https://gitee.com/cosyos/cosyos.git
synced 2026-02-06 03:41:41 +08:00
765 lines
18 KiB
C
765 lines
18 KiB
C
/**************************************************************************//**
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* @item CosyOS-III Kernel
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* @file sv_task.c
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* @brief 任务服务
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* @details 仅在任务中调用并执行。
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* @author 迟凯峰
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* @version V2.0.0
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* @date 2025.08.04
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******************************************************************************/
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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_task.h"
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/**
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@addtogroup 任务服务
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@{
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*/
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/** 调度解锁（退出嵌套任务临界区）*/
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void su_schedule_unlocks(void)
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{
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s_schedulelock_counter--;
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if(!s_schedulelock_counter){
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#if (SYSCFG_KERNELLOCKNESTING == __ENABLED__)
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if(!s_sign_schedule.every[1] && !s_kernellock_counter){
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#else
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if(!s_sign_schedule.every[1]){
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#endif
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s_sign_schedule.every[0] = false;
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mPendSV_Set();
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while(!s_sign_schedule.every[1]);
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}
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else{
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s_sign_schedule.every[0] = false;
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}
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}
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}
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/** 内核解锁（退出嵌套服务层临界区）*/
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void su_kernel_unlocks(void)
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{
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#if (SYSCFG_KERNELLOCKNESTING == __ENABLED__)
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s_kernellock_counter--;
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if(s_kernellock_counter) return;
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#endif
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if(!s_sign_schedule.total){
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mPendSV_Set();
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mSysIRQ_Enable();
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#if (MCUCFG_ISA == __ARM__)
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OS_NOP(1);
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#endif
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while(!s_sign_schedule.every[1]);
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}
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else{
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mSysIRQ_Enable();
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}
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}
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/** 内核解锁（退出非嵌套服务层临界区）并触发任务调度 */
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void su_kernel_unlock0_psv(void)
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{
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s_sign_schedule.every[1] = false;
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mPendSV_Set();
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mSysIRQ_Enable();
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#if (MCUCFG_ISA == __ARM__)
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OS_NOP(1);
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#endif
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while(!s_sign_schedule.every[1]);
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}
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#if (MCUCFG_ISA != __ARM__)
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/** 调度上锁（进入嵌套任务临界区）*/
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void su_schedule_locks(void)
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{
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s_sign_schedule.every[0] = true;
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s_schedulelock_counter++;
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}
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/** 内核上锁（进入非嵌套服务层临界区）*/
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void su_kernel_lock0(void)
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{
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mSysIRQ_Disable();
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}
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/** 内核上锁（进入嵌套服务层临界区）*/
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#if (SYSCFG_KERNELLOCKNESTING == __ENABLED__)
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void su_kernel_locks(void)
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{
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mSysIRQ_Disable();
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s_kernellock_counter++;
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}
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#endif
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/** 内核解锁（退出嵌套服务层临界区）并返回(s_ecode_t) */
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s_ecode_t su_kernel_unlocks_rec(s_ecode_t e)
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{
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su_kernel_unlocks();
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return e;
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}
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/** 内核解锁（退出嵌套服务层临界区）并返回(void *) */
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void *su_kernel_unlocks_rvp(void *p)
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{
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su_kernel_unlocks();
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return p;
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}
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#endif
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/*
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* 操作任务
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*/
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/**
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\brief 启动任务
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\param[in] hhand 任务HAND句柄
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\param[in] status 任务初始状态
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\return 错误码
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*/
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s_ecode_t su_startup_task(s_taskhand_tsp hhand, s_u8_t status)
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{
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s_task_status0 = status;
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s_task_starter = hhand;
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su_kernel_unlock0_psv();
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return s_startup_ecode;
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}
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/**
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\brief 恢复指定任务并挂起自身任务
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\param[in] htask 任务句柄
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\return 错误码
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*/
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s_ecode_t su_resume_suspend(s_tasknode_tsp htask)
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{
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s_ecode_t _ecode = sc_resume_task(htask);
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if(_ecode == OS_ECODE_NOERROR || htask->status == OS_STATUS_READY){
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sa_suspend_task(s_task_current);
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return OS_ECODE_NOERROR;
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}
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else{
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return _ecode;
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}
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}
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#if (SYSCFG_SAMEPRISCHEDULE == __TIMESHARING__)
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/**
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\brief 禅让任务
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\param 无
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\return 无
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*/
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void su_yield_tasking(void)
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{
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su_kernel_locks();
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s_task_current->tc_counter = ~0;
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s_sign_schedule.every[1] = false;
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su_kernel_unlocks();
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}
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#endif
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/**
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\brief 自身任务延时
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\param[in] tick 滴答周期（延时时间）<br>
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+0：非法<br>
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~0：无限延时
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\return 无
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*/
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void su_delay(s_delay_t tick)
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{
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s_task_current->timer = tick;
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if(!s_sign_schedule.every[0]){ /* 阻塞延时 */
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if(~tick) sa_insert_timerlist();
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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su_kernel_unlock0_psv();
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}
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else{ /* 就绪延时 */
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s_sign_delay = true;
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mSysIRQ_Enable();
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while(s_sign_delay);
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}
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}
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/*
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* 互斥信号量
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*/
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#if (SYSCFG_MUTEX == __ENABLED__)
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/**
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\brief 获取互斥信号量
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\param[in] hmut 互斥信号量句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 结果
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\retval false 失败
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\retval true 成功
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*/
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bool su_take_mutex(s_mutex_tsp hmut, s_delay_t tick)
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{
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if(!hmut->mutex) goto __RET_TRUE1;
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if(s_task_current == hmut->otask) goto __RET_TRUE2;
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if(!tick) goto __RET_FALSE;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&hmut->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_MUTEX;
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if(s_task_current->pri > hmut->otask->pri){
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#if (SYSCFG_SAMEPRISCHEDULE)
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s_tasknode_tsp link = hmut->otask;
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s_task_current->link = link;
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do{
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sa_set_taskpri(link, s_task_current->pri);
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link = link->link;
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}while(link != OS_NULL);
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#else
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sa_set_taskpri(hmut->otask, s_taskpri_ceiling++);
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#endif
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}
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s_task_current->timer = tick;
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s_task_current->handle = hmut;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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hmut = (s_mutex_tsp)s_task_current->handle;
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#endif
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if(!hmut->mutex) goto __RET_TRUE1;
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__RET_FALSE:
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mSysIRQ_Enable();
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return false;
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__RET_TRUE1:
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if(hmut->htask != OS_NULL){
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sa_float_to_block(hmut->htask);
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}
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hmut->otask = s_task_current;
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hmut->opri = s_task_current->pri;
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__RET_TRUE2:
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hmut->mutex++;
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mSysIRQ_Enable();
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return true;
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}
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/**
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\brief 归还互斥信号量
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\param[in] hmut 互斥信号量句柄
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\return 无
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*/
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void su_back_mutex(s_mutex_tsp hmut)
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{
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if(!hmut->mutex);
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else if(s_task_current == hmut->otask){
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hmut->mutex--;
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if(!hmut->mutex){
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if(s_task_current->pri > hmut->opri){
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sa_set_taskpri(s_task_current, hmut->opri);
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#if (!SYSCFG_SAMEPRISCHEDULE)
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s_taskpri_ceiling--;
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#endif
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}
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if(hmut->htask != OS_NULL){
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sa_block_to_float(hmut->htask);
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}
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}
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}
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su_kernel_unlocks();
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}
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#endif
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/*
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* 二值信号量
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*/
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#if (SYSCFG_BINARY == __ENABLED__)
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/**
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\brief 等待二值信号量
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\param[in] hbin 二值信号量句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 结果
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\retval false 失败
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\retval true 成功
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*/
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bool su_wait_binary(s_binary_tsp hbin, s_delay_t tick)
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{
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if(hbin->binary) goto __RET_TRUE;
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if(!tick) goto __RET_FALSE;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&hbin->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_BINARY;
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s_task_current->timer = tick;
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s_task_current->handle = hbin;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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hbin = (s_binary_tsp)s_task_current->handle;
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#endif
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if(hbin->binary) goto __RET_TRUE;
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__RET_FALSE:
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mSysIRQ_Enable();
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return false;
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__RET_TRUE:
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mSysIRQ_Enable();
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return true;
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}
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/**
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\brief 获取二值信号量
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\param[in] hbin 二值信号量句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 结果
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\retval false 失败
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\retval true 成功
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*/
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bool su_take_binary(s_binary_tsp hbin, s_delay_t tick)
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{
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if(hbin->binary) goto __RET_TRUE;
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if(!tick) goto __RET_FALSE;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&hbin->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_BINARY;
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s_task_current->timer = tick;
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s_task_current->handle = hbin;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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hbin = (s_binary_tsp)s_task_current->handle;
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#endif
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if(hbin->binary) goto __RET_TRUE;
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__RET_FALSE:
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mSysIRQ_Enable();
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return false;
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__RET_TRUE:
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if(hbin->htask != OS_NULL){
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sa_float_to_block(hbin->htask);
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}
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hbin->binary = false;
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mSysIRQ_Enable();
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return true;
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}
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#endif
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/*
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* 计数信号量
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*/
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#if (SYSCFG_SEMAPHORE == __ENABLED__)
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/**
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\brief 获取计数信号量
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\param[in] hsem 计数信号量句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 结果
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\retval false 失败
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\retval true 成功
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*/
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bool su_take_semaph(s_semaph_tsp hsem, s_delay_t tick)
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{
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s_semsize_t counter;
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counter = hsem->counter;
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if(counter) goto __RET_TRUE;
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if(!tick) goto __RET_FALSE;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&hsem->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_SEMAPHORE;
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s_task_current->timer = tick;
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s_task_current->handle = hsem;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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hsem = (s_semaph_tsp)s_task_current->handle;
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#endif
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counter = hsem->counter;
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if(counter) goto __RET_TRUE;
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__RET_FALSE:
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mSysIRQ_Enable();
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return false;
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__RET_TRUE:
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counter--;
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if(!counter && hsem->htask != OS_NULL){
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sa_float_to_block(hsem->htask);
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}
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hsem->counter = counter;
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mSysIRQ_Enable();
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return true;
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}
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#endif
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/*
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* 飞信
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*/
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#if (SYSCFG_FETION == __ENABLED__)
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/**
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\brief 退出非嵌套服务层临界区并返回飞信
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\param[in] htbox 信箱句柄
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\return 飞信
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*/
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__STATIC_FORCEINLINE m_fetion_t _unlock0_rfet_(s_tionbox_tsp htbox)
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{
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m_fetion_t tion = htbox->tion;
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htbox->tion = false;
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mSysIRQ_Enable();
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return tion;
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}
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/**
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\brief 接收飞信
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\param[in] htbox 信箱句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 飞信
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\retval false 失败
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*/
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m_fetion_t su_recv_fetion(s_tionbox_tsp htbox, s_delay_t tick)
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{
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if(htbox->tion) goto __RET_TION;
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if(!tick) goto __RET_FALSE;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&htbox->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_FETION;
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s_task_current->timer = tick;
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s_task_current->handle = htbox;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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htbox = (s_tionbox_tsp)s_task_current->handle;
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#endif
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__RET_TION:
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return _unlock0_rfet_(htbox);
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__RET_FALSE:
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mSysIRQ_Enable();
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return false;
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}
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#endif
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/** 退出非嵌套服务层临界区并返回(void *) */
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#if (SYSCFG_MAILBOX == __ENABLED__ || SYSCFG_MSGQUEUE == __ENABLED__)
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__STATIC_FORCEINLINE void *_unlock0_rvp_(void *p)
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{
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mSysIRQ_Enable();
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return p;
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}
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#endif
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/*
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* 邮箱
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*/
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#if (SYSCFG_MAILBOX == __ENABLED__)
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/**
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\brief 接收邮件
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\param[in] hmbox 邮箱句柄
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\param[in] tick 滴答周期（超时时间）<br>
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+0：立即返回<br>
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~0：无限等待
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\return 邮件指针
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\retval NULL 失败
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*/
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void *su_recv_mail(s_mailbox_tsp hmbox, s_delay_t tick)
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{
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if(hmbox->flag) goto __RET_MAIL;
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if(!tick) goto __RET_NULL;
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if(~tick) sa_insert_timerlist();
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sa_insert_blocklist(&hmbox->htask);
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sa_remove_ready(s_task_current);
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s_task_current->status = OS_STATUS_BLOCKED;
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s_task_current->blocktype = OS_BLOCKED_MAIL;
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s_task_current->timer = tick;
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s_task_current->handle = hmbox;
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su_kernel_unlock0_psv();
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#if (SYSCFG_MCUCORE == 8051)
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hmbox = (s_mailbox_tsp)s_task_current->handle;
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#endif
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if(hmbox->flag) goto __RET_MAIL;
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__RET_NULL:
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mSysIRQ_Enable();
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return OS_NULL;
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|
||
__RET_MAIL:
|
||
hmbox->flag = false;
|
||
return _unlock0_rvp_(hmbox->mail);
|
||
}
|
||
#endif
|
||
|
||
|
||
/*
|
||
* 消息队列
|
||
*/
|
||
#if (SYSCFG_MSGQUEUE == __ENABLED__)
|
||
/**
|
||
\brief 接收消息
|
||
\param[in] hque 队列句柄
|
||
\param[in] tick 滴答周期（超时时间）<br>
|
||
+0：立即返回<br>
|
||
~0：无限等待
|
||
\return 消息指针
|
||
\retval NULL 失败
|
||
*/
|
||
void *su_recv_msg(s_msgque_tsp hque, s_delay_t tick)
|
||
{
|
||
void *msg;
|
||
hque->mutex = false;
|
||
|
||
if(hque->counter) goto __RECV_MSG;
|
||
if(!tick) goto __RET_NULL;
|
||
|
||
hque->mutex = true;
|
||
if(~tick) sa_insert_timerlist();
|
||
sa_insert_blocklist(&hque->htask);
|
||
sa_remove_ready(s_task_current);
|
||
s_task_current->status = OS_STATUS_BLOCKED;
|
||
s_task_current->blocktype = OS_BLOCKED_MSG;
|
||
s_task_current->timer = tick;
|
||
s_task_current->handle = hque;
|
||
su_kernel_unlock0_psv();
|
||
#if (SYSCFG_MCUCORE == 8051)
|
||
hque = (s_msgque_tsp)s_task_current->handle;
|
||
#endif
|
||
hque->mutex = false;
|
||
if(!hque->counter) goto __RET_NULL;
|
||
|
||
__RECV_MSG:
|
||
if(hque->type == __DYNAMIC__){
|
||
msg = sc_recv_msg_dynque((s_dynque_tsp)hque);
|
||
}
|
||
else{
|
||
msg = sc_recv_msg_staque((s_staque_tsp)hque);
|
||
}
|
||
hque->mutex = true;
|
||
return _unlock0_rvp_(msg);
|
||
|
||
__RET_NULL:
|
||
hque->mutex = true;
|
||
mSysIRQ_Enable();
|
||
return OS_NULL;
|
||
}
|
||
#endif
|
||
|
||
|
||
/*
|
||
* 事件标志组
|
||
*/
|
||
#if (SYSCFG_FLAGGROUP == __ENABLED__)
|
||
/**
|
||
\brief 查询标志组
|
||
\param[in] hgrp 标志组句柄
|
||
\param[in] size sizeof(group)
|
||
\return 结果
|
||
\retval false 失败
|
||
\retval true 成功
|
||
*/
|
||
bool su_query_group(volatile void _STATIC_MEM_ *hgrp, s_u8_t size)
|
||
{
|
||
switch(size){
|
||
case 1: if(*(s_u8_t *)hgrp) goto __RET_TRUE; break;
|
||
case 2: if(*(s_u16_t *)hgrp) goto __RET_TRUE; break;
|
||
case 4: if(*(s_u32_t *)hgrp) goto __RET_TRUE; break;
|
||
}
|
||
su_kernel_unlocks();
|
||
return false;
|
||
|
||
__RET_TRUE:
|
||
su_kernel_unlocks();
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
\brief 等待标志组_1
|
||
\param[in] hgrp 标志组句柄
|
||
\param[in] tick 滴答周期（超时时间）<br>
|
||
+0：立即返回<br>
|
||
~0：无限等待
|
||
\return 结果
|
||
\retval false 失败
|
||
\retval true 成功
|
||
*/
|
||
bool su_wait_group_1(volatile s_u8_t _STATIC_MEM_ *hgrp, s_delay_t tick)
|
||
{
|
||
if(*hgrp) goto __RET_TRUE;
|
||
if(!tick) goto __RET_FALSE;
|
||
|
||
if(~tick) sa_insert_timerlist();
|
||
sa_remove_ready(s_task_current);
|
||
s_task_current->status = OS_STATUS_BLOCKED;
|
||
s_task_current->blocktype = 1;
|
||
s_task_current->timer = tick;
|
||
s_task_current->handle = (void *)hgrp;
|
||
su_kernel_unlock0_psv();
|
||
#if (SYSCFG_MCUCORE == 8051)
|
||
hgrp = (volatile s_u8_t _STATIC_MEM_ *)s_task_current->handle;
|
||
#endif
|
||
if(*hgrp) goto __RET_TRUE;
|
||
|
||
__RET_FALSE:
|
||
mSysIRQ_Enable();
|
||
return false;
|
||
|
||
__RET_TRUE:
|
||
mSysIRQ_Enable();
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
\brief 等待标志组_2
|
||
\param[in] hgrp 标志组句柄
|
||
\param[in] tick 滴答周期（超时时间）<br>
|
||
+0：立即返回<br>
|
||
~0：无限等待
|
||
\return 结果
|
||
\retval false 失败
|
||
\retval true 成功
|
||
*/
|
||
bool su_wait_group_2(volatile s_u16_t _STATIC_MEM_ *hgrp, s_delay_t tick)
|
||
{
|
||
if(*hgrp) goto __RET_TRUE;
|
||
if(!tick) goto __RET_FALSE;
|
||
|
||
if(~tick) sa_insert_timerlist();
|
||
sa_remove_ready(s_task_current);
|
||
s_task_current->status = OS_STATUS_BLOCKED;
|
||
s_task_current->blocktype = 2;
|
||
s_task_current->timer = tick;
|
||
s_task_current->handle = (void *)hgrp;
|
||
su_kernel_unlock0_psv();
|
||
#if (SYSCFG_MCUCORE == 8051)
|
||
hgrp = (volatile s_u16_t _STATIC_MEM_ *)s_task_current->handle;
|
||
#endif
|
||
if(*hgrp) goto __RET_TRUE;
|
||
|
||
__RET_FALSE:
|
||
mSysIRQ_Enable();
|
||
return false;
|
||
|
||
__RET_TRUE:
|
||
mSysIRQ_Enable();
|
||
return true;
|
||
}
|
||
|
||
/**
|
||
\brief 等待标志组_4
|
||
\param[in] hgrp 标志组句柄
|
||
\param[in] tick 滴答周期（超时时间）<br>
|
||
+0：立即返回<br>
|
||
~0：无限等待
|
||
\return 结果
|
||
\retval false 失败
|
||
\retval true 成功
|
||
*/
|
||
bool su_wait_group_4(volatile s_u32_t _STATIC_MEM_ *hgrp, s_delay_t tick)
|
||
{
|
||
if(*hgrp) goto __RET_TRUE;
|
||
if(!tick) goto __RET_FALSE;
|
||
|
||
if(~tick) sa_insert_timerlist();
|
||
sa_remove_ready(s_task_current);
|
||
s_task_current->status = OS_STATUS_BLOCKED;
|
||
s_task_current->blocktype = 4;
|
||
s_task_current->timer = tick;
|
||
s_task_current->handle = (void *)hgrp;
|
||
su_kernel_unlock0_psv();
|
||
#if (SYSCFG_MCUCORE == 8051)
|
||
hgrp = (volatile s_u32_t _STATIC_MEM_ *)s_task_current->handle;
|
||
#endif
|
||
if(*hgrp) goto __RET_TRUE;
|
||
|
||
__RET_FALSE:
|
||
mSysIRQ_Enable();
|
||
return false;
|
||
|
||
__RET_TRUE:
|
||
mSysIRQ_Enable();
|
||
return true;
|
||
}
|
||
#endif
|
||
|
||
|
||
/*
|
||
* 动态内存
|
||
*/
|
||
#if (SYSCFG_DYNMEMMGE == __ENABLED__)
|
||
/**
|
||
\brief uxalloc
|
||
\param[in] p
|
||
\return 指针
|
||
\retval NULL 失败
|
||
*/
|
||
void _MALLOC_MEM_ *su_xalloc(void _MALLOC_MEM_ *p)
|
||
{
|
||
su_kernel_unlocks();
|
||
return p;
|
||
}
|
||
|
||
/**
|
||
\brief 初始化线程内存池
|
||
\param[in] hmem 线程内存句柄
|
||
\param[in] size 内存池大小
|
||
\return 结果
|
||
\retval false 失败
|
||
\retval true 成功
|
||
*/
|
||
bool su_init_mempool(s_thrmem_tsp hmem, size_t size)
|
||
{
|
||
hmem->head = hmem->move = (void _MALLOC_MEM_ *)s_malloc(size);
|
||
if(hmem->head == OS_NULL){
|
||
su_kernel_unlocks();
|
||
return false;
|
||
}
|
||
else{
|
||
hmem->size = size;
|
||
su_kernel_unlocks();
|
||
return true;
|
||
}
|
||
}
|
||
|
||
/**
|
||
\brief 线程内存分配
|
||
\param[in] hmem 线程内存句柄
|
||
\param[in] size 内存块大小
|
||
\return 指针
|
||
\retval NULL 失败
|
||
*/
|
||
void _MALLOC_MEM_ *su_talloc(s_thrmem_tsp hmem, size_t size)
|
||
{
|
||
if(hmem->head == OS_NULL || (size_t)hmem->move - (size_t)hmem->head + size > hmem->size){
|
||
return OS_NULL;
|
||
}
|
||
else{
|
||
void _MALLOC_MEM_ *r = hmem->move;
|
||
hmem->move = (s_u8_t _MALLOC_MEM_ *)hmem->move + size;
|
||
return r;
|
||
}
|
||
}
|
||
#endif
|
||
|
||
/** @} */
|