改变Task优先级

#if OS_TASK_CHANGE_PRIO_EN > 0u
INT8U  OSTaskChangePrio (INT8U  oldprio,INT8U  newprio)
{
#if (OS_EVENT_EN)OS_EVENT  *pevent;
#if (OS_EVENT_MULTI_EN > 0u)OS_EVENT **pevents;
#endif
#endifOS_TCB    *ptcb;INT8U      y_new;INT8U      x_new;INT8U      y_old;OS_PRIO    bity_new;OS_PRIO    bitx_new;OS_PRIO    bity_old;OS_PRIO    bitx_old;
#if OS_CRITICAL_METHOD == 3uOS_CPU_SR  cpu_sr = 0u;                                 /* Storage for CPU status register         */
#endif/*$PAGE*/
#if OS_ARG_CHK_EN > 0uif (oldprio >= OS_LOWEST_PRIO){if (oldprio != OS_PRIO_SELF){return (OS_ERR_PRIO_INVALID);}}if (newprio >= OS_LOWEST_PRIO){return (OS_ERR_PRIO_INVALID);}#endifOS_ENTER_CRITICAL();if (OSTCBPrioTbl[newprio] != (OS_TCB *)0)               /* New priority must not already exist     */{OS_EXIT_CRITICAL();return (OS_ERR_PRIO_EXIST);}if (oldprio == OS_PRIO_SELF)                            /* See if changing self                    */{oldprio = OSTCBCur->OSTCBPrio;                      /* Yes, get priority                       */}ptcb = OSTCBPrioTbl[oldprio];if (ptcb == (OS_TCB *)0)                                /* Does task to change exist?              */{OS_EXIT_CRITICAL();                                 /* No, can't change its priority!          */return (OS_ERR_PRIO);}if (ptcb == OS_TCB_RESERVED)                            /* Is task assigned to Mutex               */{OS_EXIT_CRITICAL();                                 /* No, can't change its priority!          */return (OS_ERR_TASK_NOT_EXIST);}#if OS_LOWEST_PRIO <= 63uy_new                 = (INT8U) (newprio >> 3u);        /* Yes, compute new TCB fields             */x_new                 = (INT8U) (newprio & 0x07u);
#elsey_new                 = (INT8U) ((INT8U) (newprio >> 4u) & 0x0Fu);x_new                 = (INT8U) (newprio & 0x0Fu);
#endifbity_new              = (OS_PRIO) (1uL << y_new);bitx_new              = (OS_PRIO) (1uL << x_new);OSTCBPrioTbl[oldprio] = (OS_TCB *)0;                    /* Remove TCB from old priority            */OSTCBPrioTbl[newprio] =  ptcb;                          /* Place pointer to TCB @ new priority     */y_old                 =  ptcb->OSTCBY;bity_old              =  ptcb->OSTCBBitY;bitx_old              =  ptcb->OSTCBBitX;if ((OSRdyTbl[y_old] &   bitx_old) != 0u)               /* If task is ready make it not            */{OSRdyTbl[y_old] &= (OS_PRIO)~bitx_old;if (OSRdyTbl[y_old] == 0u){OSRdyGrp &= (OS_PRIO)~bity_old;}OSRdyGrp        |= bity_new;                       /* Make new priority ready to run          */OSRdyTbl[y_new] |= bitx_new;}#if (OS_EVENT_EN)pevent = ptcb->OSTCBEventPtr;if (pevent != (OS_EVENT *)0){pevent->OSEventTbl[y_old] &= (OS_PRIO)~bitx_old;    /* Remove old task prio from wait list     */if (pevent->OSEventTbl[y_old] == 0u){pevent->OSEventGrp    &= (OS_PRIO)~bity_old;}pevent->OSEventGrp        |= bity_new;              /* Add    new task prio to   wait list     */pevent->OSEventTbl[y_new] |= bitx_new;}#if (OS_EVENT_MULTI_EN > 0u)if (ptcb->OSTCBEventMultiPtr != (OS_EVENT **)0){pevents =  ptcb->OSTCBEventMultiPtr;pevent  = *pevents;while (pevent != (OS_EVENT *)0){pevent->OSEventTbl[y_old] &= (OS_PRIO)~bitx_old;   /* Remove old task prio from wait lists */if (pevent->OSEventTbl[y_old] == 0u){pevent->OSEventGrp    &= (OS_PRIO)~bity_old;}pevent->OSEventGrp        |= bity_new;          /* Add    new task prio to   wait lists    */pevent->OSEventTbl[y_new] |= bitx_new;pevents++;pevent                     = *pevents;}}#endif
#endifptcb->OSTCBPrio = newprio;                              /* Set new task priority                   */ptcb->OSTCBY    = y_new;ptcb->OSTCBX    = x_new;ptcb->OSTCBBitY = bity_new;ptcb->OSTCBBitX = bitx_new;OS_EXIT_CRITICAL();if (OSRunning == OS_TRUE){OS_Sched();                                         /* Find new highest priority task          */}return (OS_ERR_NONE);
}
#endif

Task挂起

#if OS_TASK_SUSPEND_EN > 0u
INT8U  OSTaskSuspend (INT8U prio)
{BOOLEAN    self;OS_TCB    *ptcb;INT8U      y;#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */OS_CPU_SR  cpu_sr = 0u;#endif#if OS_ARG_CHK_EN > 0uif (prio == OS_TASK_IDLE_PRIO)                              /* Not allowed to suspend idle task    */{return (OS_ERR_TASK_SUSPEND_IDLE);}if (prio >= OS_LOWEST_PRIO)                                 /* Task priority valid ?               */{if (prio != OS_PRIO_SELF){return (OS_ERR_PRIO_INVALID);}}#endifOS_ENTER_CRITICAL();if (prio == OS_PRIO_SELF)                                   /* See if suspend SELF                 */{prio = OSTCBCur->OSTCBPrio;self = OS_TRUE;}else if (prio == OSTCBCur->OSTCBPrio)                       /* See if suspending self              */{self = OS_TRUE;}else{self = OS_FALSE;                                        /* No suspending another task          */}ptcb = OSTCBPrioTbl[prio];if (ptcb == (OS_TCB *)0)                                    /* Task to suspend must exist          */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_SUSPEND_PRIO);}if (ptcb == OS_TCB_RESERVED)                                /* See if assigned to Mutex            */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_NOT_EXIST);}y            = ptcb->OSTCBY;OSRdyTbl[y] &= (OS_PRIO)~ptcb->OSTCBBitX;                   /* Make task not ready                 */if (OSRdyTbl[y] == 0u){OSRdyGrp &= (OS_PRIO)~ptcb->OSTCBBitY;}ptcb->OSTCBStat |= OS_STAT_SUSPEND;                         /* Status of task is 'SUSPENDED'       */OS_EXIT_CRITICAL();if (self == OS_TRUE)                                        /* Context switch only if SELF         */{OS_Sched();                                             /* Find new highest priority task      */}return (OS_ERR_NONE);
}
#endif

Task恢复

#if OS_TASK_SUSPEND_EN > 0u
INT8U  OSTaskResume (INT8U prio)
{OS_TCB    *ptcb;
#if OS_CRITICAL_METHOD == 3u                                  /* Storage for CPU status register       */OS_CPU_SR  cpu_sr = 0u;
#endif
#if OS_ARG_CHK_EN > 0uif (prio >= OS_LOWEST_PRIO)                               /* Make sure task priority is valid      */{return (OS_ERR_PRIO_INVALID);}#endifOS_ENTER_CRITICAL();ptcb = OSTCBPrioTbl[prio];if (ptcb == (OS_TCB *)0)                                  /* Task to suspend must exist            */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_RESUME_PRIO);}if (ptcb == OS_TCB_RESERVED)                              /* See if assigned to Mutex              */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_NOT_EXIST);}if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) != OS_STAT_RDY)   /* Task must be suspended                */{ptcb->OSTCBStat &= (INT8U)~ (INT8U)OS_STAT_SUSPEND;   /* Remove suspension                     */if (ptcb->OSTCBStat == OS_STAT_RDY)                   /* See if task is now ready              */{if (ptcb->OSTCBDly == 0u){OSRdyGrp               |= ptcb->OSTCBBitY;    /* Yes, Make task ready to run           */OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;OS_EXIT_CRITICAL();if (OSRunning == OS_TRUE){OS_Sched();                               /* Find new highest priority task        */}}else{OS_EXIT_CRITICAL();}}else                                                  /* Must be pending on event              */{OS_EXIT_CRITICAL();}return (OS_ERR_NONE);}OS_EXIT_CRITICAL();return (OS_ERR_TASK_NOT_SUSPENDED);
}
#endif

Task信息获取

#if OS_TASK_QUERY_EN > 0u
INT8U  OSTaskQuery (INT8U    prio,OS_TCB  *p_task_data)
{OS_TCB    *ptcb;
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */OS_CPU_SR  cpu_sr = 0u;
#endif
#if OS_ARG_CHK_EN > 0uif (prio > OS_LOWEST_PRIO)                   /* Task priority valid ?                              */{if (prio != OS_PRIO_SELF){return (OS_ERR_PRIO_INVALID);}}if (p_task_data == (OS_TCB *)0)              /* Validate 'p_task_data'                             */{return (OS_ERR_PDATA_NULL);}#endifOS_ENTER_CRITICAL();if (prio == OS_PRIO_SELF)                    /* See if suspend SELF                                */{prio = OSTCBCur->OSTCBPrio;}ptcb = OSTCBPrioTbl[prio];if (ptcb == (OS_TCB *)0)                     /* Task to query must exist                           */{OS_EXIT_CRITICAL();return (OS_ERR_PRIO);}if (ptcb == OS_TCB_RESERVED)                 /* Task to query must not be assigned to a Mutex      */{OS_EXIT_CRITICAL();return (OS_ERR_TASK_NOT_EXIST);}/* Copy TCB into user storage area                    */OS_MemCopy ((INT8U *)p_task_data, (INT8U *)ptcb, sizeof (OS_TCB));OS_EXIT_CRITICAL();return (OS_ERR_NONE);
}
#endif

Task调度器上锁（os_core.c）

#if OS_SCHED_LOCK_EN > 0u
void  OSSchedLock (void)
{
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */OS_CPU_SR  cpu_sr = 0u;
#endifif (OSRunning == OS_TRUE)                    /* Make sure multitasking is running                  */{OS_ENTER_CRITICAL();if (OSIntNesting == 0u)                  /* Can't call from an ISR                             */{if (OSLockNesting < 255u)            /* Prevent OSLockNesting from wrapping back to 0      */{OSLockNesting++;                 /* Increment lock nesting level                       */}}OS_EXIT_CRITICAL();}
}
#endif

Task调度器开锁（os_core.c）

#if OS_SCHED_LOCK_EN > 0u
void  OSSchedUnlock (void)
{
#if OS_CRITICAL_METHOD == 3u                               /* Allocate storage for CPU status register */OS_CPU_SR  cpu_sr = 0u;
#endifif (OSRunning == OS_TRUE)                              /* Make sure multitasking is running        */{OS_ENTER_CRITICAL();if (OSIntNesting == 0u)                            /* Can't call from an ISR                   */{if (OSLockNesting > 0u)                        /* Do not decrement if already 0            */{OSLockNesting--;                           /* Decrement lock nesting level             */if (OSLockNesting == 0u)                   /* See if scheduler is enabled              */{OS_EXIT_CRITICAL();OS_Sched();                            /* See if a HPT is ready                    */}else{OS_EXIT_CRITICAL();}}else{OS_EXIT_CRITICAL();}}else{OS_EXIT_CRITICAL();}}
}
#endif