www.pudn.com > ucos.rar > os_core.c, change:2010-06-03,size:88338b


/* 
********************************************************************************************************* 
*                                                uC/OS-II 
*                                          The Real-Time Kernel 
*                                             CORE FUNCTIONS 
* 
*                              (c) Copyright 1992-2009, Micrium, Weston, FL 
*                                           All Rights Reserved 
* 
* File    : OS_CORE.C 
* By      : Jean J. Labrosse 
* Version : V2.91 
* 
* LICENSING TERMS: 
* --------------- 
*   uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research. 
* If you plan on using  uC/OS-II  in a commercial product you need to contact Micriµm to properly license 
* its use in your product. We provide ALL the source code for your convenience and to help you experience 
* uC/OS-II.   The fact that the  source is provided does  NOT  mean that you can use it without  paying a 
* licensing fee. 
********************************************************************************************************* 
*/ 
 
#ifndef  OS_MASTER_FILE 
#define  OS_GLOBALS 
#include <ucos_ii.h> 
#endif 
 
/* 
********************************************************************************************************* 
*                                       PRIORITY RESOLUTION TABLE 
* 
* Note: Index into table is bit pattern to resolve highest priority 
*       Indexed value corresponds to highest priority bit position (i.e. 0..7) 
********************************************************************************************************* 
*/ 
 
INT8U  const  OSUnMapTbl[256] = { 
    0u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x00 to 0x0F                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x10 to 0x1F                   */ 
    5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x20 to 0x2F                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x30 to 0x3F                   */ 
    6u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x40 to 0x4F                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x50 to 0x5F                   */ 
    5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x60 to 0x6F                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x70 to 0x7F                   */ 
    7u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x80 to 0x8F                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0x90 to 0x9F                   */ 
    5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xA0 to 0xAF                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xB0 to 0xBF                   */ 
    6u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xC0 to 0xCF                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xD0 to 0xDF                   */ 
    5u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, /* 0xE0 to 0xEF                   */ 
    4u, 0u, 1u, 0u, 2u, 0u, 1u, 0u, 3u, 0u, 1u, 0u, 2u, 0u, 1u, 0u  /* 0xF0 to 0xFF                   */ 
}; 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                       FUNCTION PROTOTYPES 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitEventList(void); 
 
static  void  OS_InitMisc(void); 
 
static  void  OS_InitRdyList(void); 
 
static  void  OS_InitTaskIdle(void); 
 
#if OS_TASK_STAT_EN > 0u 
static  void  OS_InitTaskStat(void); 
#endif 
 
static  void  OS_InitTCBList(void); 
 
static  void  OS_SchedNew(void); 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                         GET THE NAME OF A SEMAPHORE, MUTEX, MAILBOX or QUEUE 
* 
* Description: This function is used to obtain the name assigned to a semaphore, mutex, mailbox or queue. 
* 
* Arguments  : pevent    is a pointer to the event group.  'pevent' can point either to a semaphore, 
*                        a mutex, a mailbox or a queue.  Where this function is concerned, the actual 
*                        type is irrelevant. 
* 
*              pname     is a pointer to a pointer to an ASCII string that will receive the name of the semaphore, 
*                        mutex, mailbox or queue. 
* 
*              perr      is a pointer to an error code that can contain one of the following values: 
* 
*                        OS_ERR_NONE                if the name was copied to 'pname' 
*                        OS_ERR_EVENT_TYPE          if 'pevent' is not pointing to the proper event 
*                                                   control block type. 
*                        OS_ERR_PNAME_NULL          You passed a NULL pointer for 'pname' 
*                        OS_ERR_PEVENT_NULL         if you passed a NULL pointer for 'pevent' 
*                        OS_ERR_NAME_GET_ISR        if you are trying to call this function from an ISR 
* 
* Returns    : The length of the string or 0 if the 'pevent' is a NULL pointer. 
********************************************************************************************************* 
*/ 
 
#if (OS_EVENT_EN) && (OS_EVENT_NAME_EN > 0u) 
INT8U  OSEventNameGet (OS_EVENT   *pevent, 
                       INT8U     **pname, 
                       INT8U      *perr) 
{ 
    INT8U      len; 
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
#ifdef OS_SAFETY_CRITICAL 
    if (perr == (INT8U *)0) { 
        OS_SAFETY_CRITICAL_EXCEPTION(); 
    } 
#endif 
 
#if OS_ARG_CHK_EN > 0u 
    if (pevent == (OS_EVENT *)0) {               /* Is 'pevent' a NULL pointer?                        */ 
        *perr = OS_ERR_PEVENT_NULL; 
        return (0u); 
    } 
    if (pname == (INT8U **)0) {                   /* Is 'pname' a NULL pointer?                         */ 
        *perr = OS_ERR_PNAME_NULL; 
        return (0u); 
    } 
#endif 
    if (OSIntNesting > 0u) {                     /* See if trying to call from an ISR                  */ 
        *perr  = OS_ERR_NAME_GET_ISR; 
        return (0u); 
    } 
    switch (pevent->OSEventType) { 
        case OS_EVENT_TYPE_SEM: 
        case OS_EVENT_TYPE_MUTEX: 
        case OS_EVENT_TYPE_MBOX: 
        case OS_EVENT_TYPE_Q: 
             break; 
 
        default: 
             *perr = OS_ERR_EVENT_TYPE; 
             return (0u); 
    } 
    OS_ENTER_CRITICAL(); 
    *pname = pevent->OSEventName; 
    len    = OS_StrLen(*pname); 
    OS_EXIT_CRITICAL(); 
    *perr  = OS_ERR_NONE; 
    return (len); 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                         ASSIGN A NAME TO A SEMAPHORE, MUTEX, MAILBOX or QUEUE 
* 
* Description: This function assigns a name to a semaphore, mutex, mailbox or queue. 
* 
* Arguments  : pevent    is a pointer to the event group.  'pevent' can point either to a semaphore, 
*                        a mutex, a mailbox or a queue.  Where this function is concerned, it doesn't 
*                        matter the actual type. 
* 
*              pname     is a pointer to an ASCII string that will be used as the name of the semaphore, 
*                        mutex, mailbox or queue. 
* 
*              perr      is a pointer to an error code that can contain one of the following values: 
* 
*                        OS_ERR_NONE                if the requested task is resumed 
*                        OS_ERR_EVENT_TYPE          if 'pevent' is not pointing to the proper event 
*                                                   control block type. 
*                        OS_ERR_PNAME_NULL          You passed a NULL pointer for 'pname' 
*                        OS_ERR_PEVENT_NULL         if you passed a NULL pointer for 'pevent' 
*                        OS_ERR_NAME_SET_ISR        if you called this function from an ISR 
* 
* Returns    : None 
********************************************************************************************************* 
*/ 
 
#if (OS_EVENT_EN) && (OS_EVENT_NAME_EN > 0u) 
void  OSEventNameSet (OS_EVENT  *pevent, 
                      INT8U     *pname, 
                      INT8U     *perr) 
{ 
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
#ifdef OS_SAFETY_CRITICAL 
    if (perr == (INT8U *)0) { 
        OS_SAFETY_CRITICAL_EXCEPTION(); 
    } 
#endif 
 
#if OS_ARG_CHK_EN > 0u 
    if (pevent == (OS_EVENT *)0) {               /* Is 'pevent' a NULL pointer?                        */ 
        *perr = OS_ERR_PEVENT_NULL; 
        return; 
    } 
    if (pname == (INT8U *)0) {                   /* Is 'pname' a NULL pointer?                         */ 
        *perr = OS_ERR_PNAME_NULL; 
        return; 
    } 
#endif 
    if (OSIntNesting > 0u) {                     /* See if trying to call from an ISR                  */ 
        *perr = OS_ERR_NAME_SET_ISR; 
        return; 
    } 
    switch (pevent->OSEventType) { 
        case OS_EVENT_TYPE_SEM: 
        case OS_EVENT_TYPE_MUTEX: 
        case OS_EVENT_TYPE_MBOX: 
        case OS_EVENT_TYPE_Q: 
             break; 
 
        default: 
             *perr = OS_ERR_EVENT_TYPE; 
             return; 
    } 
    OS_ENTER_CRITICAL(); 
    pevent->OSEventName = pname; 
    OS_EXIT_CRITICAL(); 
    *perr = OS_ERR_NONE; 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                      PEND ON MULTIPLE EVENTS 
* 
* Description: This function waits for multiple events.  If multiple events are ready at the start of the 
*              pend call, then all available events are returned as ready.  If the task must pend on the 
*              multiple events, then only the first posted or aborted event is returned as ready. 
* 
* Arguments  : pevents_pend  is a pointer to a NULL-terminated array of event control blocks to wait for. 
* 
*              pevents_rdy   is a pointer to an array to return which event control blocks are available 
*                            or ready.  The size of the array MUST be greater than or equal to the size 
*                            of the 'pevents_pend' array, including terminating NULL. 
* 
*              pmsgs_rdy     is a pointer to an array to return messages from any available message-type 
*                            events.  The size of the array MUST be greater than or equal to the size of 
*                            the 'pevents_pend' array, excluding the terminating NULL.  Since NULL 
*                            messages are valid messages, this array cannot be NULL-terminated.  Instead, 
*                            every available message-type event returns its messages in the 'pmsgs_rdy' 
*                            array at the same index as the event is returned in the 'pevents_rdy' array. 
*                            All other 'pmsgs_rdy' array indices are filled with NULL messages. 
* 
*              timeout       is an optional timeout period (in clock ticks).  If non-zero, your task will 
*                            wait for the resources up to the amount of time specified by this argument. 
*                            If you specify 0, however, your task will wait forever for the specified 
*                            events or, until the resources becomes available (or the events occur). 
* 
*              perr          is a pointer to where an error message will be deposited.  Possible error 
*                            messages are: 
* 
*                            OS_ERR_NONE         The call was successful and your task owns the resources 
*                                                or, the events you are waiting for occurred; check the 
*                                                'pevents_rdy' array for which events are available. 
*                            OS_ERR_PEND_ABORT   The wait on the events was aborted; check the 
*                                                'pevents_rdy' array for which events were aborted. 
*                            OS_ERR_TIMEOUT      The events were not received within the specified 
*                                                'timeout'. 
*                            OS_ERR_PEVENT_NULL  If 'pevents_pend', 'pevents_rdy', or 'pmsgs_rdy' is a 
*                                                NULL pointer. 
*                            OS_ERR_EVENT_TYPE   If you didn't pass a pointer to an array of semaphores, 
*                                                mailboxes, and/or queues. 
*                            OS_ERR_PEND_ISR     If you called this function from an ISR and the result 
*                                                would lead to a suspension. 
*                            OS_ERR_PEND_LOCKED  If you called this function when the scheduler is locked. 
* 
* Returns    : >  0          the number of events returned as ready or aborted. 
*              == 0          if no events are returned as ready because of timeout or upon error. 
* 
* Notes      : 1) a. Validate 'pevents_pend' array as valid OS_EVENTs : 
* 
*                        semaphores, mailboxes, queues 
* 
*                 b. Return ALL available events and messages, if any 
* 
*                 c. Add    current task priority as pending to   each events's wait list 
*                      Performed in OS_EventTaskWaitMulti() 
* 
*                 d. Wait on any of multiple events 
* 
*                 e. Remove current task priority as pending from each events's wait list 
*                      Performed in OS_EventTaskRdy(), if events posted or aborted 
* 
*                 f. Return any event posted or aborted, if any 
*                      else 
*                    Return timeout 
* 
*              2) 'pevents_rdy' initialized to NULL PRIOR to all other validation or function handling in 
*                 case of any error(s). 
********************************************************************************************************* 
*/ 
/*$PAGE*/ 
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u)) 
INT16U  OSEventPendMulti (OS_EVENT  **pevents_pend, 
                          OS_EVENT  **pevents_rdy, 
                          void      **pmsgs_rdy, 
                          INT32U      timeout, 
                          INT8U      *perr) 
{ 
    OS_EVENT  **pevents; 
    OS_EVENT   *pevent; 
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)) 
    OS_Q       *pq; 
#endif 
    BOOLEAN     events_rdy; 
    INT16U      events_rdy_nbr; 
    INT8U       events_stat; 
#if (OS_CRITICAL_METHOD == 3u)                          /* Allocate storage for CPU status register    */ 
    OS_CPU_SR   cpu_sr = 0u; 
#endif 
 
 
 
#ifdef OS_SAFETY_CRITICAL 
    if (perr == (INT8U *)0) { 
        OS_SAFETY_CRITICAL_EXCEPTION(); 
    } 
#endif 
 
#if (OS_ARG_CHK_EN > 0u) 
    if (pevents_pend == (OS_EVENT **)0) {               /* Validate 'pevents_pend'                     */ 
       *perr =  OS_ERR_PEVENT_NULL; 
        return (0u); 
    } 
    if (*pevents_pend  == (OS_EVENT *)0) {              /* Validate 'pevents_pend'                     */ 
       *perr =  OS_ERR_PEVENT_NULL; 
        return (0u); 
    } 
    if (pevents_rdy  == (OS_EVENT **)0) {               /* Validate 'pevents_rdy'                      */ 
       *perr =  OS_ERR_PEVENT_NULL; 
        return (0u); 
    } 
    if (pmsgs_rdy == (void **)0) {                      /* Validate 'pmsgs_rdy'                        */ 
       *perr =  OS_ERR_PEVENT_NULL; 
        return (0u); 
    } 
#endif 
 
   *pevents_rdy = (OS_EVENT *)0;                        /* Init array to NULL in case of errors        */ 
 
    pevents     =  pevents_pend; 
    pevent      = *pevents; 
    while  (pevent != (OS_EVENT *)0) { 
        switch (pevent->OSEventType) {                  /* Validate event block types                  */ 
#if (OS_SEM_EN  > 0u) 
            case OS_EVENT_TYPE_SEM: 
                 break; 
#endif 
#if (OS_MBOX_EN > 0u) 
            case OS_EVENT_TYPE_MBOX: 
                 break; 
#endif 
#if ((OS_Q_EN   > 0u) && (OS_MAX_QS > 0u)) 
            case OS_EVENT_TYPE_Q: 
                 break; 
#endif 
 
            case OS_EVENT_TYPE_MUTEX: 
            case OS_EVENT_TYPE_FLAG: 
            default: 
                *perr = OS_ERR_EVENT_TYPE; 
                 return (0u); 
        } 
        pevents++; 
        pevent = *pevents; 
    } 
 
    if (OSIntNesting  > 0u) {                           /* See if called from ISR ...                  */ 
       *perr =  OS_ERR_PEND_ISR;                        /* ... can't PEND from an ISR                  */ 
        return (0u); 
    } 
    if (OSLockNesting > 0u) {                           /* See if called with scheduler locked ...     */ 
       *perr =  OS_ERR_PEND_LOCKED;                     /* ... can't PEND when locked                  */ 
        return (0u); 
    } 
 
/*$PAGE*/ 
    OS_ENTER_CRITICAL(); 
    events_rdy     =  OS_FALSE; 
    events_rdy_nbr =  0u; 
    events_stat    =  OS_STAT_RDY; 
    pevents        =  pevents_pend; 
    pevent         = *pevents; 
    while (pevent != (OS_EVENT *)0) {                   /* See if any events already available         */ 
        switch (pevent->OSEventType) { 
#if (OS_SEM_EN > 0u) 
            case OS_EVENT_TYPE_SEM: 
                 if (pevent->OSEventCnt > 0u) {         /* If semaphore count > 0, resource available; */ 
                     pevent->OSEventCnt--;              /* ... decrement semaphore,                ... */ 
                    *pevents_rdy++ =  pevent;           /* ... and return available semaphore event    */ 
                      events_rdy   =  OS_TRUE; 
                    *pmsgs_rdy++   = (void *)0;         /* NO message returned  for semaphores         */ 
                      events_rdy_nbr++; 
 
                 } else { 
                      events_stat |=  OS_STAT_SEM;      /* Configure multi-pend for semaphore events   */ 
                 } 
                 break; 
#endif 
 
#if (OS_MBOX_EN > 0u) 
            case OS_EVENT_TYPE_MBOX: 
                 if (pevent->OSEventPtr != (void *)0) { /* If mailbox NOT empty;                   ... */ 
                                                        /* ... return available message,           ... */ 
                    *pmsgs_rdy++         = (void *)pevent->OSEventPtr; 
                     pevent->OSEventPtr  = (void *)0; 
                    *pevents_rdy++       =  pevent;     /* ... and return available mailbox event      */ 
                      events_rdy         =  OS_TRUE; 
                      events_rdy_nbr++; 
 
                 } else { 
                      events_stat |= OS_STAT_MBOX;      /* Configure multi-pend for mailbox events     */ 
                 } 
                 break; 
#endif 
 
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)) 
            case OS_EVENT_TYPE_Q: 
                 pq = (OS_Q *)pevent->OSEventPtr; 
                 if (pq->OSQEntries > 0u) {             /* If queue NOT empty;                     ... */ 
                                                        /* ... return available message,           ... */ 
                    *pmsgs_rdy++ = (void *)*pq->OSQOut++; 
                     if (pq->OSQOut == pq->OSQEnd) {    /* If OUT ptr at queue end, ...                */ 
                         pq->OSQOut  = pq->OSQStart;    /* ... wrap   to queue start                   */ 
                     } 
                     pq->OSQEntries--;                  /* Update number of queue entries              */ 
                    *pevents_rdy++ = pevent;            /* ... and return available queue event        */ 
                      events_rdy   = OS_TRUE; 
                      events_rdy_nbr++; 
 
                 } else { 
                      events_stat |= OS_STAT_Q;         /* Configure multi-pend for queue events       */ 
                 } 
                 break; 
#endif 
 
            case OS_EVENT_TYPE_MUTEX: 
            case OS_EVENT_TYPE_FLAG: 
            default: 
                 OS_EXIT_CRITICAL(); 
                *pevents_rdy = (OS_EVENT *)0;           /* NULL terminate return event array           */ 
                *perr        =  OS_ERR_EVENT_TYPE; 
                 return (events_rdy_nbr); 
        } 
        pevents++; 
        pevent = *pevents; 
    } 
 
    if ( events_rdy == OS_TRUE) {                       /* Return any events already available         */ 
       *pevents_rdy = (OS_EVENT *)0;                    /* NULL terminate return event array           */ 
        OS_EXIT_CRITICAL(); 
       *perr        =  OS_ERR_NONE; 
        return (events_rdy_nbr); 
    } 
/*$PAGE*/ 
                                                        /* Otherwise, must wait until any event occurs */ 
    OSTCBCur->OSTCBStat     |= events_stat  |           /* Resource not available, ...                 */ 
                               OS_STAT_MULTI;           /* ... pend on multiple events                 */ 
    OSTCBCur->OSTCBStatPend  = OS_STAT_PEND_OK; 
    OSTCBCur->OSTCBDly       = timeout;                 /* Store pend timeout in TCB                   */ 
    OS_EventTaskWaitMulti(pevents_pend);                /* Suspend task until events or timeout occurs */ 
 
    OS_EXIT_CRITICAL(); 
    OS_Sched();                                         /* Find next highest priority task ready       */ 
    OS_ENTER_CRITICAL(); 
 
    switch (OSTCBCur->OSTCBStatPend) {                  /* Handle event posted, aborted, or timed-out  */ 
        case OS_STAT_PEND_OK: 
        case OS_STAT_PEND_ABORT: 
             pevent = OSTCBCur->OSTCBEventPtr; 
             if (pevent != (OS_EVENT *)0) {             /* If task event ptr != NULL, ...              */ 
                *pevents_rdy++ =  pevent;               /* ... return available event ...              */ 
                *pevents_rdy   = (OS_EVENT *)0;         /* ... & NULL terminate return event array     */ 
                  events_rdy_nbr++; 
 
             } else {                                   /* Else NO event available, handle as timeout  */ 
                 OSTCBCur->OSTCBStatPend = OS_STAT_PEND_TO; 
                 OS_EventTaskRemoveMulti(OSTCBCur, pevents_pend); 
             } 
			 break; 
 
        case OS_STAT_PEND_TO:                           /* If events timed out, ...                    */ 
        default:                                        /* ... remove task from events' wait lists     */ 
             OS_EventTaskRemoveMulti(OSTCBCur, pevents_pend); 
             break; 
    } 
 
    switch (OSTCBCur->OSTCBStatPend) { 
        case OS_STAT_PEND_OK: 
             switch (pevent->OSEventType) {             /* Return event's message                      */ 
#if (OS_SEM_EN > 0u) 
                 case OS_EVENT_TYPE_SEM: 
                     *pmsgs_rdy++ = (void *)0;          /* NO message returned for semaphores          */ 
                      break; 
#endif 
 
#if ((OS_MBOX_EN > 0u) ||                 \ 
    ((OS_Q_EN    > 0u) && (OS_MAX_QS > 0u))) 
                 case OS_EVENT_TYPE_MBOX: 
                 case OS_EVENT_TYPE_Q: 
                     *pmsgs_rdy++ = (void *)OSTCBCur->OSTCBMsg;     /* Return received message         */ 
                      break; 
#endif 
 
                 case OS_EVENT_TYPE_MUTEX: 
                 case OS_EVENT_TYPE_FLAG: 
                 default: 
                      OS_EXIT_CRITICAL(); 
                     *pevents_rdy = (OS_EVENT *)0;      /* NULL terminate return event array           */ 
                     *perr        =  OS_ERR_EVENT_TYPE; 
                      return (events_rdy_nbr); 
             } 
            *perr = OS_ERR_NONE; 
             break; 
 
        case OS_STAT_PEND_ABORT: 
            *pmsgs_rdy++ = (void *)0;                   /* NO message returned for abort               */ 
            *perr        =  OS_ERR_PEND_ABORT;          /* Indicate that event  aborted                */ 
             break; 
 
        case OS_STAT_PEND_TO: 
        default: 
            *pmsgs_rdy++ = (void *)0;                   /* NO message returned for timeout             */ 
            *perr        =  OS_ERR_TIMEOUT;             /* Indicate that events timed out              */ 
             break; 
    } 
 
    OSTCBCur->OSTCBStat          =  OS_STAT_RDY;        /* Set   task  status to ready                 */ 
    OSTCBCur->OSTCBStatPend      =  OS_STAT_PEND_OK;    /* Clear pend  status                          */ 
    OSTCBCur->OSTCBEventPtr      = (OS_EVENT  *)0;      /* Clear event pointers                        */ 
    OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)0; 
#if ((OS_MBOX_EN > 0u) ||                 \ 
    ((OS_Q_EN    > 0u) && (OS_MAX_QS > 0u))) 
    OSTCBCur->OSTCBMsg           = (void      *)0;      /* Clear task  message                         */ 
#endif 
    OS_EXIT_CRITICAL(); 
 
    return (events_rdy_nbr); 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
* 
* Description: This function is used to initialize the internals of uC/OS-II and MUST be called prior to 
*              creating any uC/OS-II object and, prior to calling OSStart(). 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
void  OSInit (void) 
{ 
    OSInitHookBegin();                                           /* Call port specific initialization code   */ 
 
    OS_InitMisc();                                               /* Initialize miscellaneous variables       */ 
 
    OS_InitRdyList();                                            /* Initialize the Ready List                */ 
 
    OS_InitTCBList();                                            /* Initialize the free list of OS_TCBs      */ 
 
    OS_InitEventList();                                          /* Initialize the free list of OS_EVENTs    */ 
 
#if (OS_FLAG_EN > 0u) && (OS_MAX_FLAGS > 0u) 
    OS_FlagInit();                                               /* Initialize the event flag structures     */ 
#endif 
 
#if (OS_MEM_EN > 0u) && (OS_MAX_MEM_PART > 0u) 
    OS_MemInit();                                                /* Initialize the memory manager            */ 
#endif 
 
#if (OS_Q_EN > 0u) && (OS_MAX_QS > 0u) 
    OS_QInit();                                                  /* Initialize the message queue structures  */ 
#endif 
 
    OS_InitTaskIdle();                                           /* Create the Idle Task                     */ 
#if OS_TASK_STAT_EN > 0u 
    OS_InitTaskStat();                                           /* Create the Statistic Task                */ 
#endif 
 
#if OS_TMR_EN > 0u 
    OSTmr_Init();                                                /* Initialize the Timer Manager             */ 
#endif 
 
    OSInitHookEnd();                                             /* Call port specific init. code            */ 
 
#if OS_DEBUG_EN > 0u 
    OSDebugInit(); 
#endif 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                              ENTER ISR 
* 
* Description: This function is used to notify uC/OS-II that you are about to service an interrupt 
*              service routine (ISR).  This allows uC/OS-II to keep track of interrupt nesting and thus 
*              only perform rescheduling at the last nested ISR. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) This function should be called ith interrupts already disabled 
*              2) Your ISR can directly increment OSIntNesting without calling this function because 
*                 OSIntNesting has been declared 'global'. 
*              3) You MUST still call OSIntExit() even though you increment OSIntNesting directly. 
*              4) You MUST invoke OSIntEnter() and OSIntExit() in pair.  In other words, for every call 
*                 to OSIntEnter() at the beginning of the ISR you MUST have a call to OSIntExit() at the 
*                 end of the ISR. 
*              5) You are allowed to nest interrupts up to 255 levels deep. 
*              6) I removed the OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL() around the increment because 
*                 OSIntEnter() is always called with interrupts disabled. 
********************************************************************************************************* 
*/ 
 
void  OSIntEnter (void) 
{ 
    if (OSRunning == OS_TRUE) { 
        if (OSIntNesting < 255u) { 
            OSIntNesting++;                      /* Increment ISR nesting level                        */ 
        } 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                               EXIT ISR 
* 
* Description: This function is used to notify uC/OS-II that you have completed serviving an ISR.  When 
*              the last nested ISR has completed, uC/OS-II will call the scheduler to determine whether 
*              a new, high-priority task, is ready to run. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) You MUST invoke OSIntEnter() and OSIntExit() in pair.  In other words, for every call 
*                 to OSIntEnter() at the beginning of the ISR you MUST have a call to OSIntExit() at the 
*                 end of the ISR. 
*              2) Rescheduling is prevented when the scheduler is locked (see OS_SchedLock()) 
********************************************************************************************************* 
*/ 
 
void  OSIntExit (void) 
{ 
#if OS_CRITICAL_METHOD == 3u                               /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
    if (OSRunning == OS_TRUE) { 
        OS_ENTER_CRITICAL(); 
        if (OSIntNesting > 0u) {                           /* Prevent OSIntNesting from wrapping       */ 
            OSIntNesting--; 
        } 
        if (OSIntNesting == 0u) {                          /* Reschedule only if all ISRs complete ... */ 
            if (OSLockNesting == 0u) {                     /* ... and not locked.                      */ 
                OS_SchedNew(); 
                OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; 
                if (OSPrioHighRdy != OSPrioCur) {          /* No Ctx Sw if current task is highest rdy */ 
#if OS_TASK_PROFILE_EN > 0u 
                    OSTCBHighRdy->OSTCBCtxSwCtr++;         /* Inc. # of context switches to this task  */ 
#endif 
                    OSCtxSwCtr++;                          /* Keep track of the number of ctx switches */ 
                    OSIntCtxSw();                          /* Perform interrupt level ctx switch       */ 
                } 
            } 
        } 
        OS_EXIT_CRITICAL(); 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                            INDICATE THAT IT'S NO LONGER SAFE TO CREATE OBJECTS 
* 
* Description: This function is called by the application code to indicate that all initialization has 
*              been completed and that kernel objects are no longer allowed to be created. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Note(s)    : 1) You should call this function when you no longer want to allow application code to 
*                 create kernel objects. 
*              2) You need to define the macro 'OS_SAFETY_CRITICAL_IEC61508' 
********************************************************************************************************* 
*/ 
 
#ifdef OS_SAFETY_CRITICAL_IEC61508 
void  OSSafetyCriticalStart (void) 
{ 
    OSSafetyCriticalStartFlag = OS_TRUE; 
} 
 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                          PREVENT SCHEDULING 
* 
* Description: This function is used to prevent rescheduling to take place.  This allows your application 
*              to prevent context switches until you are ready to permit context switching. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) You MUST invoke OSSchedLock() and OSSchedUnlock() in pair.  In other words, for every 
*                 call to OSSchedLock() you MUST have a call to OSSchedUnlock(). 
********************************************************************************************************* 
*/ 
 
#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; 
#endif 
 
 
 
    if (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 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                          ENABLE SCHEDULING 
* 
* Description: This function is used to re-allow rescheduling. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) You MUST invoke OSSchedLock() and OSSchedUnlock() in pair.  In other words, for every 
*                 call to OSSchedLock() you MUST have a call to OSSchedUnlock(). 
********************************************************************************************************* 
*/ 
 
#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; 
#endif 
 
 
 
    if (OSRunning == OS_TRUE) {                            /* Make sure multitasking is running        */ 
        OS_ENTER_CRITICAL(); 
        if (OSLockNesting > 0u) {                          /* Do not decrement if already 0            */ 
            OSLockNesting--;                               /* Decrement lock nesting level             */ 
            if (OSLockNesting == 0u) {                     /* See if scheduler is enabled and ...      */ 
                if (OSIntNesting == 0u) {                  /* ... not in an ISR                        */ 
                    OS_EXIT_CRITICAL(); 
                    OS_Sched();                            /* See if a HPT is ready                    */ 
                } else { 
                    OS_EXIT_CRITICAL(); 
                } 
            } else { 
                OS_EXIT_CRITICAL(); 
            } 
        } else { 
            OS_EXIT_CRITICAL(); 
        } 
    } 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                          START MULTITASKING 
* 
* Description: This function is used to start the multitasking process which lets uC/OS-II manages the 
*              task that you have created.  Before you can call OSStart(), you MUST have called OSInit() 
*              and you MUST have created at least one task. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Note       : OSStartHighRdy() MUST: 
*                 a) Call OSTaskSwHook() then, 
*                 b) Set OSRunning to OS_TRUE. 
*                 c) Load the context of the task pointed to by OSTCBHighRdy. 
*                 d_ Execute the task. 
********************************************************************************************************* 
*/ 
 
void  OSStart (void) 
{ 
    if (OSRunning == OS_FALSE) { 
        OS_SchedNew();                               /* Find highest priority's task priority number   */ 
        OSPrioCur     = OSPrioHighRdy; 
        OSTCBHighRdy  = OSTCBPrioTbl[OSPrioHighRdy]; /* Point to highest priority task ready to run    */ 
        OSTCBCur      = OSTCBHighRdy; 
        OSStartHighRdy();                            /* Execute target specific code to start task     */ 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        STATISTICS INITIALIZATION 
* 
* Description: This function is called by your application to establish CPU usage by first determining 
*              how high a 32-bit counter would count to in 1 second if no other tasks were to execute 
*              during that time.  CPU usage is then determined by a low priority task which keeps track 
*              of this 32-bit counter every second but this time, with other tasks running.  CPU usage is 
*              determined by: 
* 
*                                             OSIdleCtr 
*                 CPU Usage (%) = 100 * (1 - ------------) 
*                                            OSIdleCtrMax 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_STAT_EN > 0u 
void  OSStatInit (void) 
{ 
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
    OSTimeDly(2u);                               /* Synchronize with clock tick                        */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtr    = 0uL;                          /* Clear idle counter                                 */ 
    OS_EXIT_CRITICAL(); 
    OSTimeDly(OS_TICKS_PER_SEC / 10u);           /* Determine MAX. idle counter value for 1/10 second  */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtrMax = OSIdleCtr;                    /* Store maximum idle counter count in 1/10 second    */ 
    OSStatRdy    = OS_TRUE; 
    OS_EXIT_CRITICAL(); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                         PROCESS SYSTEM TICK 
* 
* Description: This function is used to signal to uC/OS-II the occurrence of a 'system tick' (also known 
*              as a 'clock tick').  This function should be called by the ticker ISR but, can also be 
*              called by a high priority task. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
void  OSTimeTick (void) 
{ 
    OS_TCB    *ptcb; 
#if OS_TICK_STEP_EN > 0u 
    BOOLEAN    step; 
#endif 
#if OS_CRITICAL_METHOD == 3u                               /* Allocate storage for CPU status register     */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
#if OS_TIME_TICK_HOOK_EN > 0u 
    OSTimeTickHook();                                      /* Call user definable hook                     */ 
#endif 
#if OS_TIME_GET_SET_EN > 0u 
    OS_ENTER_CRITICAL();                                   /* Update the 32-bit tick counter               */ 
    OSTime++; 
    OS_EXIT_CRITICAL(); 
#endif 
    if (OSRunning == OS_TRUE) { 
#if OS_TICK_STEP_EN > 0u 
        switch (OSTickStepState) {                         /* Determine whether we need to process a tick  */ 
            case OS_TICK_STEP_DIS:                         /* Yes, stepping is disabled                    */ 
                 step = OS_TRUE; 
                 break; 
 
            case OS_TICK_STEP_WAIT:                        /* No,  waiting for uC/OS-View to set ...       */ 
                 step = OS_FALSE;                          /*      .. OSTickStepState to OS_TICK_STEP_ONCE */ 
                 break; 
 
            case OS_TICK_STEP_ONCE:                        /* Yes, process tick once and wait for next ... */ 
                 step            = OS_TRUE;                /*      ... step command from uC/OS-View        */ 
                 OSTickStepState = OS_TICK_STEP_WAIT; 
                 break; 
 
            default:                                       /* Invalid case, correct situation              */ 
                 step            = OS_TRUE; 
                 OSTickStepState = OS_TICK_STEP_DIS; 
                 break; 
        } 
        if (step == OS_FALSE) {                            /* Return if waiting for step command           */ 
            return; 
        } 
#endif 
        ptcb = OSTCBList;                                  /* Point at first TCB in TCB list               */ 
        while (ptcb->OSTCBPrio != OS_TASK_IDLE_PRIO) {     /* Go through all TCBs in TCB list              */ 
            OS_ENTER_CRITICAL(); 
            if (ptcb->OSTCBDly != 0u) {                    /* No, Delayed or waiting for event with TO     */ 
                ptcb->OSTCBDly--;                          /* Decrement nbr of ticks to end of delay       */ 
                if (ptcb->OSTCBDly == 0u) {                /* Check for timeout                            */ 
 
                    if ((ptcb->OSTCBStat & OS_STAT_PEND_ANY) != OS_STAT_RDY) { 
                        ptcb->OSTCBStat  &= (INT8U)~(INT8U)OS_STAT_PEND_ANY;          /* Yes, Clear status flag   */ 
                        ptcb->OSTCBStatPend = OS_STAT_PEND_TO;                 /* Indicate PEND timeout    */ 
                    } else { 
                        ptcb->OSTCBStatPend = OS_STAT_PEND_OK; 
                    } 
 
                    if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) {  /* Is task suspended?       */ 
                        OSRdyGrp               |= ptcb->OSTCBBitY;             /* No,  Make ready          */ 
                        OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX; 
                    } 
                } 
            } 
            ptcb = ptcb->OSTCBNext;                        /* Point at next TCB in TCB list                */ 
            OS_EXIT_CRITICAL(); 
        } 
    } 
} 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             GET VERSION 
* 
* Description: This function is used to return the version number of uC/OS-II.  The returned value 
*              corresponds to uC/OS-II's version number multiplied by 100.  In other words, version 2.00 
*              would be returned as 200. 
* 
* Arguments  : none 
* 
* Returns    : the version number of uC/OS-II multiplied by 100. 
********************************************************************************************************* 
*/ 
 
INT16U  OSVersion (void) 
{ 
    return (OS_VERSION); 
} 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            DUMMY FUNCTION 
* 
* Description: This function doesn't do anything.  It is called by OSTaskDel(). 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_DEL_EN > 0u 
void  OS_Dummy (void) 
{ 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                             MAKE TASK READY TO RUN BASED ON EVENT OCCURING 
* 
* Description: This function is called by other uC/OS-II services and is used to ready a task that was 
*              waiting for an event to occur. 
* 
* Arguments  : pevent      is a pointer to the event control block corresponding to the event. 
* 
*              pmsg        is a pointer to a message.  This pointer is used by message oriented services 
*                          such as MAILBOXEs and QUEUEs.  The pointer is not used when called by other 
*                          service functions. 
* 
*              msk         is a mask that is used to clear the status byte of the TCB.  For example, 
*                          OSSemPost() will pass OS_STAT_SEM, OSMboxPost() will pass OS_STAT_MBOX etc. 
* 
*              pend_stat   is used to indicate the readied task's pending status: 
* 
*                          OS_STAT_PEND_OK      Task ready due to a post (or delete), not a timeout or 
*                                               an abort. 
*                          OS_STAT_PEND_ABORT   Task ready due to an abort. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if (OS_EVENT_EN) 
INT8U  OS_EventTaskRdy (OS_EVENT  *pevent, 
                        void      *pmsg, 
                        INT8U      msk, 
                        INT8U      pend_stat) 
{ 
    OS_TCB   *ptcb; 
    INT8U     y; 
    INT8U     x; 
    INT8U     prio; 
#if OS_LOWEST_PRIO > 63u 
    OS_PRIO  *ptbl; 
#endif 
 
 
#if OS_LOWEST_PRIO <= 63u 
    y    = OSUnMapTbl[pevent->OSEventGrp];              /* Find HPT waiting for message                */ 
    x    = OSUnMapTbl[pevent->OSEventTbl[y]]; 
    prio = (INT8U)((y << 3u) + x);                      /* Find priority of task getting the msg       */ 
#else 
    if ((pevent->OSEventGrp & 0xFFu) != 0u) {           /* Find HPT waiting for message                */ 
        y = OSUnMapTbl[ pevent->OSEventGrp & 0xFFu]; 
    } else { 
        y = OSUnMapTbl[(OS_PRIO)(pevent->OSEventGrp >> 8u) & 0xFFu] + 8u; 
    } 
    ptbl = &pevent->OSEventTbl[y]; 
    if ((*ptbl & 0xFFu) != 0u) { 
        x = OSUnMapTbl[*ptbl & 0xFFu]; 
    } else { 
        x = OSUnMapTbl[(OS_PRIO)(*ptbl >> 8u) & 0xFFu] + 8u; 
    } 
    prio = (INT8U)((y << 4u) + x);                      /* Find priority of task getting the msg       */ 
#endif 
 
    ptcb                  =  OSTCBPrioTbl[prio];        /* Point to this task's OS_TCB                 */ 
    ptcb->OSTCBDly        =  0u;                        /* Prevent OSTimeTick() from readying task     */ 
#if ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)) || (OS_MBOX_EN > 0u) 
    ptcb->OSTCBMsg        =  pmsg;                      /* Send message directly to waiting task       */ 
#else 
    pmsg                  =  pmsg;                      /* Prevent compiler warning if not used        */ 
#endif 
    ptcb->OSTCBStat      &= (INT8U)~msk;                /* Clear bit associated with event type        */ 
    ptcb->OSTCBStatPend   =  pend_stat;                 /* Set pend status of post or abort            */ 
                                                        /* See if task is ready (could be susp'd)      */ 
    if ((ptcb->OSTCBStat &   OS_STAT_SUSPEND) == OS_STAT_RDY) { 
        OSRdyGrp         |=  ptcb->OSTCBBitY;           /* Put task in the ready to run list           */ 
        OSRdyTbl[y]      |=  ptcb->OSTCBBitX; 
    } 
 
    OS_EventTaskRemove(ptcb, pevent);                   /* Remove this task from event   wait list     */ 
#if (OS_EVENT_MULTI_EN > 0u) 
    if (ptcb->OSTCBEventMultiPtr != (OS_EVENT **)0) {   /* Remove this task from events' wait lists    */ 
        OS_EventTaskRemoveMulti(ptcb, ptcb->OSTCBEventMultiPtr); 
        ptcb->OSTCBEventPtr       = (OS_EVENT  *)pevent;/* Return event as first multi-pend event ready*/ 
    } 
#endif 
 
    return (prio); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                   MAKE TASK WAIT FOR EVENT TO OCCUR 
* 
* Description: This function is called by other uC/OS-II services to suspend a task because an event has 
*              not occurred. 
* 
* Arguments  : pevent   is a pointer to the event control block for which the task will be waiting for. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if (OS_EVENT_EN) 
void  OS_EventTaskWait (OS_EVENT *pevent) 
{ 
    INT8U  y; 
 
 
    OSTCBCur->OSTCBEventPtr               = pevent;                 /* Store ptr to ECB in TCB         */ 
 
    pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX;    /* Put task in waiting list        */ 
    pevent->OSEventGrp                   |= OSTCBCur->OSTCBBitY; 
 
    y             =  OSTCBCur->OSTCBY;            /* Task no longer ready                              */ 
    OSRdyTbl[y]  &= (OS_PRIO)~OSTCBCur->OSTCBBitX; 
    if (OSRdyTbl[y] == 0u) {                      /* Clear event grp bit if this was only task pending */ 
        OSRdyGrp &= (OS_PRIO)~OSTCBCur->OSTCBBitY; 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                          MAKE TASK WAIT FOR ANY OF MULTIPLE EVENTS TO OCCUR 
* 
* Description: This function is called by other uC/OS-II services to suspend a task because any one of 
*              multiple events has not occurred. 
* 
* Arguments  : pevents_wait     is a pointer to an array of event control blocks, NULL-terminated, for 
*                               which the task will be waiting for. 
* 
* Returns    : none. 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u)) 
void  OS_EventTaskWaitMulti (OS_EVENT **pevents_wait) 
{ 
    OS_EVENT **pevents; 
    OS_EVENT  *pevent; 
    INT8U      y; 
 
 
    OSTCBCur->OSTCBEventPtr      = (OS_EVENT  *)0; 
    OSTCBCur->OSTCBEventMultiPtr = (OS_EVENT **)pevents_wait;       /* Store ptr to ECBs in TCB        */ 
 
    pevents =  pevents_wait; 
    pevent  = *pevents; 
    while (pevent != (OS_EVENT *)0) {                               /* Put task in waiting lists       */ 
        pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX; 
        pevent->OSEventGrp                   |= OSTCBCur->OSTCBBitY; 
        pevents++; 
        pevent = *pevents; 
    } 
 
    y             =  OSTCBCur->OSTCBY;            /* Task no longer ready                              */ 
    OSRdyTbl[y]  &= (OS_PRIO)~OSTCBCur->OSTCBBitX; 
    if (OSRdyTbl[y] == 0u) {                      /* Clear event grp bit if this was only task pending */ 
        OSRdyGrp &= (OS_PRIO)~OSTCBCur->OSTCBBitY; 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                   REMOVE TASK FROM EVENT WAIT LIST 
* 
* Description: Remove a task from an event's wait list. 
* 
* Arguments  : ptcb     is a pointer to the task to remove. 
* 
*              pevent   is a pointer to the event control block. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if (OS_EVENT_EN) 
void  OS_EventTaskRemove (OS_TCB   *ptcb, 
                          OS_EVENT *pevent) 
{ 
    INT8U  y; 
 
 
    y                       =  ptcb->OSTCBY; 
    pevent->OSEventTbl[y]  &= (OS_PRIO)~ptcb->OSTCBBitX;    /* Remove task from wait list              */ 
    if (pevent->OSEventTbl[y] == 0u) { 
        pevent->OSEventGrp &= (OS_PRIO)~ptcb->OSTCBBitY; 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                             REMOVE TASK FROM MULTIPLE EVENTS WAIT LISTS 
* 
* Description: Remove a task from multiple events' wait lists. 
* 
* Arguments  : ptcb             is a pointer to the task to remove. 
* 
*              pevents_multi    is a pointer to the array of event control blocks, NULL-terminated. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if ((OS_EVENT_EN) && (OS_EVENT_MULTI_EN > 0u)) 
void  OS_EventTaskRemoveMulti (OS_TCB    *ptcb, 
                               OS_EVENT **pevents_multi) 
{ 
    OS_EVENT **pevents; 
    OS_EVENT  *pevent; 
    INT8U      y; 
    OS_PRIO    bity; 
    OS_PRIO    bitx; 
 
 
    y       =  ptcb->OSTCBY; 
    bity    =  ptcb->OSTCBBitY; 
    bitx    =  ptcb->OSTCBBitX; 
    pevents =  pevents_multi; 
    pevent  = *pevents; 
    while (pevent != (OS_EVENT *)0) {                   /* Remove task from all events' wait lists     */ 
        pevent->OSEventTbl[y]  &= (OS_PRIO)~bitx; 
        if (pevent->OSEventTbl[y] == 0u) { 
            pevent->OSEventGrp &= (OS_PRIO)~bity; 
        } 
        pevents++; 
        pevent = *pevents; 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                 INITIALIZE EVENT CONTROL BLOCK'S WAIT LIST 
* 
* Description: This function is called by other uC/OS-II services to initialize the event wait list. 
* 
* Arguments  : pevent    is a pointer to the event control block allocated to the event. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if (OS_EVENT_EN) 
void  OS_EventWaitListInit (OS_EVENT *pevent) 
{ 
    INT8U  i; 
 
 
    pevent->OSEventGrp = 0u;                     /* No task waiting on event                           */ 
    for (i = 0u; i < OS_EVENT_TBL_SIZE; i++) { 
        pevent->OSEventTbl[i] = 0u; 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                           INITIALIZE THE FREE LIST OF EVENT CONTROL BLOCKS 
* 
* Description: This function is called by OSInit() to initialize the free list of event control blocks. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitEventList (void) 
{ 
#if (OS_EVENT_EN) && (OS_MAX_EVENTS > 0u) 
#if (OS_MAX_EVENTS > 1u) 
    INT16U     ix; 
    INT16U     ix_next; 
    OS_EVENT  *pevent1; 
    OS_EVENT  *pevent2; 
 
 
    OS_MemClr((INT8U *)&OSEventTbl[0], sizeof(OSEventTbl)); /* Clear the event table                   */ 
    for (ix = 0u; ix < (OS_MAX_EVENTS - 1u); ix++) {        /* Init. list of free EVENT control blocks */ 
        ix_next = ix + 1u; 
        pevent1 = &OSEventTbl[ix]; 
        pevent2 = &OSEventTbl[ix_next]; 
        pevent1->OSEventType    = OS_EVENT_TYPE_UNUSED; 
        pevent1->OSEventPtr     = pevent2; 
#if OS_EVENT_NAME_EN > 0u 
        pevent1->OSEventName    = (INT8U *)(void *)"?";     /* Unknown name                            */ 
#endif 
    } 
    pevent1                         = &OSEventTbl[ix]; 
    pevent1->OSEventType            = OS_EVENT_TYPE_UNUSED; 
    pevent1->OSEventPtr             = (OS_EVENT *)0; 
#if OS_EVENT_NAME_EN > 0u 
    pevent1->OSEventName            = (INT8U *)(void *)"?"; /* Unknown name                            */ 
#endif 
    OSEventFreeList                 = &OSEventTbl[0]; 
#else 
    OSEventFreeList                 = &OSEventTbl[0];       /* Only have ONE event control block       */ 
    OSEventFreeList->OSEventType    = OS_EVENT_TYPE_UNUSED; 
    OSEventFreeList->OSEventPtr     = (OS_EVENT *)0; 
#if OS_EVENT_NAME_EN > 0u 
    OSEventFreeList->OSEventName    = (INT8U *)"?";         /* Unknown name                            */ 
#endif 
#endif 
#endif 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                                    INITIALIZE MISCELLANEOUS VARIABLES 
* 
* Description: This function is called by OSInit() to initialize miscellaneous variables. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitMisc (void) 
{ 
#if OS_TIME_GET_SET_EN > 0u 
    OSTime                    = 0uL;                       /* Clear the 32-bit system clock            */ 
#endif 
 
    OSIntNesting              = 0u;                        /* Clear the interrupt nesting counter      */ 
    OSLockNesting             = 0u;                        /* Clear the scheduling lock counter        */ 
 
    OSTaskCtr                 = 0u;                        /* Clear the number of tasks                */ 
 
    OSRunning                 = OS_FALSE;                  /* Indicate that multitasking not started   */ 
 
    OSCtxSwCtr                = 0u;                        /* Clear the context switch counter         */ 
    OSIdleCtr                 = 0uL;                       /* Clear the 32-bit idle counter            */ 
 
#if OS_TASK_STAT_EN > 0u 
    OSIdleCtrRun              = 0uL; 
    OSIdleCtrMax              = 0uL; 
    OSStatRdy                 = OS_FALSE;                  /* Statistic task is not ready              */ 
#endif 
 
#ifdef OS_SAFETY_CRITICAL_IEC61508 
    OSSafetyCriticalStartFlag = OS_FALSE;                  /* Still allow creation of objects          */ 
#endif 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                                       INITIALIZE THE READY LIST 
* 
* Description: This function is called by OSInit() to initialize the Ready List. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitRdyList (void) 
{ 
    INT8U  i; 
 
 
    OSRdyGrp      = 0u;                                    /* Clear the ready list                     */ 
    for (i = 0u; i < OS_RDY_TBL_SIZE; i++) { 
        OSRdyTbl[i] = 0u; 
    } 
 
    OSPrioCur     = 0u; 
    OSPrioHighRdy = 0u; 
 
    OSTCBHighRdy  = (OS_TCB *)0; 
    OSTCBCur      = (OS_TCB *)0; 
} 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                                         CREATING THE IDLE TASK 
* 
* Description: This function creates the Idle Task. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitTaskIdle (void) 
{ 
#if OS_TASK_NAME_EN > 0u 
    INT8U  err; 
#endif 
 
 
#if OS_TASK_CREATE_EXT_EN > 0u 
    #if OS_STK_GROWTH == 1u 
    (void)OSTaskCreateExt(OS_TaskIdle, 
                          (void *)0,                                 /* No arguments passed to OS_TaskIdle() */ 
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u],/* Set Top-Of-Stack                     */ 
                          OS_TASK_IDLE_PRIO,                         /* Lowest priority level                */ 
                          OS_TASK_IDLE_ID, 
                          &OSTaskIdleStk[0],                         /* Set Bottom-Of-Stack                  */ 
                          OS_TASK_IDLE_STK_SIZE, 
                          (void *)0,                                 /* No TCB extension                     */ 
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack  */ 
    #else 
    (void)OSTaskCreateExt(OS_TaskIdle, 
                          (void *)0,                                 /* No arguments passed to OS_TaskIdle() */ 
                          &OSTaskIdleStk[0],                         /* Set Top-Of-Stack                     */ 
                          OS_TASK_IDLE_PRIO,                         /* Lowest priority level                */ 
                          OS_TASK_IDLE_ID, 
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u],/* Set Bottom-Of-Stack                  */ 
                          OS_TASK_IDLE_STK_SIZE, 
                          (void *)0,                                 /* No TCB extension                     */ 
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack  */ 
    #endif 
#else 
    #if OS_STK_GROWTH == 1u 
    (void)OSTaskCreate(OS_TaskIdle, 
                       (void *)0, 
                       &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1u], 
                       OS_TASK_IDLE_PRIO); 
    #else 
    (void)OSTaskCreate(OS_TaskIdle, 
                       (void *)0, 
                       &OSTaskIdleStk[0], 
                       OS_TASK_IDLE_PRIO); 
    #endif 
#endif 
 
#if OS_TASK_NAME_EN > 0u 
    OSTaskNameSet(OS_TASK_IDLE_PRIO, (INT8U *)(void *)"uC/OS-II Idle", &err); 
#endif 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                                      CREATING THE STATISTIC TASK 
* 
* Description: This function creates the Statistic Task. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_STAT_EN > 0u 
static  void  OS_InitTaskStat (void) 
{ 
#if OS_TASK_NAME_EN > 0u 
    INT8U  err; 
#endif 
 
 
#if OS_TASK_CREATE_EXT_EN > 0u 
    #if OS_STK_GROWTH == 1u 
    (void)OSTaskCreateExt(OS_TaskStat, 
                          (void *)0,                                   /* No args passed to OS_TaskStat()*/ 
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u],  /* Set Top-Of-Stack               */ 
                          OS_TASK_STAT_PRIO,                           /* One higher than the idle task  */ 
                          OS_TASK_STAT_ID, 
                          &OSTaskStatStk[0],                           /* Set Bottom-Of-Stack            */ 
                          OS_TASK_STAT_STK_SIZE, 
                          (void *)0,                                   /* No TCB extension               */ 
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);  /* Enable stack checking + clear  */ 
    #else 
    (void)OSTaskCreateExt(OS_TaskStat, 
                          (void *)0,                                   /* No args passed to OS_TaskStat()*/ 
                          &OSTaskStatStk[0],                           /* Set Top-Of-Stack               */ 
                          OS_TASK_STAT_PRIO,                           /* One higher than the idle task  */ 
                          OS_TASK_STAT_ID, 
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u],  /* Set Bottom-Of-Stack            */ 
                          OS_TASK_STAT_STK_SIZE, 
                          (void *)0,                                   /* No TCB extension               */ 
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);  /* Enable stack checking + clear  */ 
    #endif 
#else 
    #if OS_STK_GROWTH == 1u 
    (void)OSTaskCreate(OS_TaskStat, 
                       (void *)0,                                      /* No args passed to OS_TaskStat()*/ 
                       &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1u],     /* Set Top-Of-Stack               */ 
                       OS_TASK_STAT_PRIO);                             /* One higher than the idle task  */ 
    #else 
    (void)OSTaskCreate(OS_TaskStat, 
                       (void *)0,                                      /* No args passed to OS_TaskStat()*/ 
                       &OSTaskStatStk[0],                              /* Set Top-Of-Stack               */ 
                       OS_TASK_STAT_PRIO);                             /* One higher than the idle task  */ 
    #endif 
#endif 
 
#if OS_TASK_NAME_EN > 0u 
    OSTaskNameSet(OS_TASK_STAT_PRIO, (INT8U *)(void *)"uC/OS-II Stat", &err); 
#endif 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                            INITIALIZE THE FREE LIST OF TASK CONTROL BLOCKS 
* 
* Description: This function is called by OSInit() to initialize the free list of OS_TCBs. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
static  void  OS_InitTCBList (void) 
{ 
    INT8U    ix; 
    INT8U    ix_next; 
    OS_TCB  *ptcb1; 
    OS_TCB  *ptcb2; 
 
 
    OS_MemClr((INT8U *)&OSTCBTbl[0],     sizeof(OSTCBTbl));      /* Clear all the TCBs                 */ 
    OS_MemClr((INT8U *)&OSTCBPrioTbl[0], sizeof(OSTCBPrioTbl));  /* Clear the priority table           */ 
    for (ix = 0u; ix < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1u); ix++) {    /* Init. list of free TCBs     */ 
        ix_next =  ix + 1u; 
        ptcb1   = &OSTCBTbl[ix]; 
        ptcb2   = &OSTCBTbl[ix_next]; 
        ptcb1->OSTCBNext = ptcb2; 
#if OS_TASK_NAME_EN > 0u 
        ptcb1->OSTCBTaskName = (INT8U *)(void *)"?";             /* Unknown name                       */ 
#endif 
    } 
    ptcb1                   = &OSTCBTbl[ix]; 
    ptcb1->OSTCBNext        = (OS_TCB *)0;                       /* Last OS_TCB                        */ 
#if OS_TASK_NAME_EN > 0u 
    ptcb1->OSTCBTaskName    = (INT8U *)(void *)"?";              /* Unknown name                       */ 
#endif 
    OSTCBList               = (OS_TCB *)0;                       /* TCB lists initializations          */ 
    OSTCBFreeList           = &OSTCBTbl[0]; 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        CLEAR A SECTION OF MEMORY 
* 
* Description: This function is called by other uC/OS-II services to clear a contiguous block of RAM. 
* 
* Arguments  : pdest    is the start of the RAM to clear (i.e. write 0x00 to) 
* 
*              size     is the number of bytes to clear. 
* 
* Returns    : none 
* 
* Notes      : 1) This function is INTERNAL to uC/OS-II and your application should not call it. 
*              2) Note that we can only clear up to 64K bytes of RAM.  This is not an issue because none 
*                 of the uses of this function gets close to this limit. 
*              3) The clear is done one byte at a time since this will work on any processor irrespective 
*                 of the alignment of the destination. 
********************************************************************************************************* 
*/ 
 
void  OS_MemClr (INT8U  *pdest, 
                 INT16U  size) 
{ 
    while (size > 0u) { 
        *pdest++ = (INT8U)0; 
        size--; 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        COPY A BLOCK OF MEMORY 
* 
* Description: This function is called by other uC/OS-II services to copy a block of memory from one 
*              location to another. 
* 
* Arguments  : pdest    is a pointer to the 'destination' memory block 
* 
*              psrc     is a pointer to the 'source'      memory block 
* 
*              size     is the number of bytes to copy. 
* 
* Returns    : none 
* 
* Notes      : 1) This function is INTERNAL to uC/OS-II and your application should not call it.  There is 
*                 no provision to handle overlapping memory copy.  However, that's not a problem since this 
*                 is not a situation that will happen. 
*              2) Note that we can only copy up to 64K bytes of RAM 
*              3) The copy is done one byte at a time since this will work on any processor irrespective 
*                 of the alignment of the source and destination. 
********************************************************************************************************* 
*/ 
 
void  OS_MemCopy (INT8U  *pdest, 
                  INT8U  *psrc, 
                  INT16U  size) 
{ 
    while (size > 0u) { 
        *pdest++ = *psrc++; 
        size--; 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                              SCHEDULER 
* 
* Description: This function is called by other uC/OS-II services to determine whether a new, high 
*              priority task has been made ready to run.  This function is invoked by TASK level code 
*              and is not used to reschedule tasks from ISRs (see OSIntExit() for ISR rescheduling). 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) This function is INTERNAL to uC/OS-II and your application should not call it. 
*              2) Rescheduling is prevented when the scheduler is locked (see OS_SchedLock()) 
********************************************************************************************************* 
*/ 
 
void  OS_Sched (void) 
{ 
#if OS_CRITICAL_METHOD == 3u                           /* Allocate storage for CPU status register     */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
    OS_ENTER_CRITICAL(); 
    if (OSIntNesting == 0u) {                          /* Schedule only if all ISRs done and ...       */ 
        if (OSLockNesting == 0u) {                     /* ... scheduler is not locked                  */ 
            OS_SchedNew(); 
            OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; 
            if (OSPrioHighRdy != OSPrioCur) {          /* No Ctx Sw if current task is highest rdy     */ 
#if OS_TASK_PROFILE_EN > 0u 
                OSTCBHighRdy->OSTCBCtxSwCtr++;         /* Inc. # of context switches to this task      */ 
#endif 
                OSCtxSwCtr++;                          /* Increment context switch counter             */ 
                OS_TASK_SW();                          /* Perform a context switch                     */ 
            } 
        } 
    } 
    OS_EXIT_CRITICAL(); 
} 
 
 
/* 
********************************************************************************************************* 
*                              FIND HIGHEST PRIORITY TASK READY TO RUN 
* 
* Description: This function is called by other uC/OS-II services to determine the highest priority task 
*              that is ready to run.  The global variable 'OSPrioHighRdy' is changed accordingly. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Notes      : 1) This function is INTERNAL to uC/OS-II and your application should not call it. 
*              2) Interrupts are assumed to be disabled when this function is called. 
********************************************************************************************************* 
*/ 
 
static  void  OS_SchedNew (void) 
{ 
#if OS_LOWEST_PRIO <= 63u                        /* See if we support up to 64 tasks                   */ 
    INT8U   y; 
 
 
    y             = OSUnMapTbl[OSRdyGrp]; 
    OSPrioHighRdy = (INT8U)((y << 3u) + OSUnMapTbl[OSRdyTbl[y]]); 
#else                                            /* We support up to 256 tasks                         */ 
    INT8U     y; 
    OS_PRIO  *ptbl; 
 
 
    if ((OSRdyGrp & 0xFFu) != 0u) { 
        y = OSUnMapTbl[OSRdyGrp & 0xFFu]; 
    } else { 
        y = OSUnMapTbl[(OS_PRIO)(OSRdyGrp >> 8u) & 0xFFu] + 8u; 
    } 
    ptbl = &OSRdyTbl[y]; 
    if ((*ptbl & 0xFFu) != 0u) { 
        OSPrioHighRdy = (INT8U)((y << 4u) + OSUnMapTbl[(*ptbl & 0xFFu)]); 
    } else { 
        OSPrioHighRdy = (INT8U)((y << 4u) + OSUnMapTbl[(OS_PRIO)(*ptbl >> 8u) & 0xFFu] + 8u); 
    } 
#endif 
} 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                DETERMINE THE LENGTH OF AN ASCII STRING 
* 
* Description: This function is called by other uC/OS-II services to determine the size of an ASCII string 
*              (excluding the NUL character). 
* 
* Arguments  : psrc     is a pointer to the string for which we need to know the size. 
* 
* Returns    : The size of the string (excluding the NUL terminating character) 
* 
* Notes      : 1) This function is INTERNAL to uC/OS-II and your application should not call it. 
*              2) The string to check must be less than 255 characters long. 
********************************************************************************************************* 
*/ 
 
#if (OS_EVENT_NAME_EN > 0u) || (OS_FLAG_NAME_EN > 0u) || (OS_MEM_NAME_EN > 0u) || (OS_TASK_NAME_EN > 0u) || (OS_TMR_CFG_NAME_EN > 0u) 
INT8U  OS_StrLen (INT8U *psrc) 
{ 
    INT8U  len; 
 
 
    len = 0u; 
    while (*psrc != OS_ASCII_NUL) { 
        psrc++; 
        len++; 
    } 
    return (len); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                              IDLE TASK 
* 
* Description: This task is internal to uC/OS-II and executes whenever no other higher priority tasks 
*              executes because they are ALL waiting for event(s) to occur. 
* 
* Arguments  : none 
* 
* Returns    : none 
* 
* Note(s)    : 1) OSTaskIdleHook() is called after the critical section to ensure that interrupts will be 
*                 enabled for at least a few instructions.  On some processors (ex. Philips XA), enabling 
*                 and then disabling interrupts didn't allow the processor enough time to have interrupts 
*                 enabled before they were disabled again.  uC/OS-II would thus never recognize 
*                 interrupts. 
*              2) This hook has been added to allow you to do such things as STOP the CPU to conserve 
*                 power. 
********************************************************************************************************* 
*/ 
 
void  OS_TaskIdle (void *p_arg) 
{ 
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
    p_arg = p_arg;                               /* Prevent compiler warning for not using 'p_arg'     */ 
    for (;;) { 
        OS_ENTER_CRITICAL(); 
        OSIdleCtr++; 
        OS_EXIT_CRITICAL(); 
        OSTaskIdleHook();                        /* Call user definable HOOK                           */ 
    } 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            STATISTICS TASK 
* 
* Description: This task is internal to uC/OS-II and is used to compute some statistics about the 
*              multitasking environment.  Specifically, OS_TaskStat() computes the CPU usage. 
*              CPU usage is determined by: 
* 
*                                          OSIdleCtr 
*                 OSCPUUsage = 100 * (1 - ------------)     (units are in %) 
*                                         OSIdleCtrMax 
* 
* Arguments  : parg     this pointer is not used at this time. 
* 
* Returns    : none 
* 
* Notes      : 1) This task runs at a priority level higher than the idle task.  In fact, it runs at the 
*                 next higher priority, OS_TASK_IDLE_PRIO-1. 
*              2) You can disable this task by setting the configuration #define OS_TASK_STAT_EN to 0. 
*              3) You MUST have at least a delay of 2/10 seconds to allow for the system to establish the 
*                 maximum value for the idle counter. 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_STAT_EN > 0u 
void  OS_TaskStat (void *p_arg) 
{ 
#if OS_CRITICAL_METHOD == 3u                     /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
 
 
 
    p_arg = p_arg;                               /* Prevent compiler warning for not using 'p_arg'     */ 
    while (OSStatRdy == OS_FALSE) { 
        OSTimeDly(2u * OS_TICKS_PER_SEC / 10u);  /* Wait until statistic task is ready                 */ 
    } 
    OSIdleCtrMax /= 100uL; 
    if (OSIdleCtrMax == 0uL) { 
        OSCPUUsage = 0u; 
#if OS_TASK_SUSPEND_EN > 0u 
        (void)OSTaskSuspend(OS_PRIO_SELF); 
#else 
        for (;;) { 
            OSTimeDly(OS_TICKS_PER_SEC); 
        } 
#endif 
    } 
    for (;;) { 
        OS_ENTER_CRITICAL(); 
        OSIdleCtrRun = OSIdleCtr;                /* Obtain the of the idle counter for the past second */ 
        OSIdleCtr    = 0uL;                      /* Reset the idle counter for the next second         */ 
        OS_EXIT_CRITICAL(); 
        OSCPUUsage   = (INT8U)(100uL - OSIdleCtrRun / OSIdleCtrMax); 
        OSTaskStatHook();                        /* Invoke user definable hook                         */ 
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u) 
        OS_TaskStatStkChk();                     /* Check the stacks for each task                     */ 
#endif 
        OSTimeDly(OS_TICKS_PER_SEC / 10u);       /* Accumulate OSIdleCtr for the next 1/10 second      */ 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                      CHECK ALL TASK STACKS 
* 
* Description: This function is called by OS_TaskStat() to check the stacks of each active task. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
#if (OS_TASK_STAT_STK_CHK_EN > 0u) && (OS_TASK_CREATE_EXT_EN > 0u) 
void  OS_TaskStatStkChk (void) 
{ 
    OS_TCB      *ptcb; 
    OS_STK_DATA  stk_data; 
    INT8U        err; 
    INT8U        prio; 
 
 
    for (prio = 0u; prio <= OS_TASK_IDLE_PRIO; prio++) { 
        err = OSTaskStkChk(prio, &stk_data); 
        if (err == OS_ERR_NONE) { 
            ptcb = OSTCBPrioTbl[prio]; 
            if (ptcb != (OS_TCB *)0) {                               /* Make sure task 'ptcb' is ...   */ 
                if (ptcb != OS_TCB_RESERVED) {                       /* ... still valid.               */ 
#if OS_TASK_PROFILE_EN > 0u 
                    #if OS_STK_GROWTH == 1u 
                    ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom + ptcb->OSTCBStkSize; 
                    #else 
                    ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom - ptcb->OSTCBStkSize; 
                    #endif 
                    ptcb->OSTCBStkUsed = stk_data.OSUsed;            /* Store the number of bytes used */ 
#endif 
                } 
            } 
        } 
    } 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            INITIALIZE TCB 
* 
* Description: This function is internal to uC/OS-II and is used to initialize a Task Control Block when 
*              a task is created (see OSTaskCreate() and OSTaskCreateExt()). 
* 
* Arguments  : prio          is the priority of the task being created 
* 
*              ptos          is a pointer to the task's top-of-stack assuming that the CPU registers 
*                            have been placed on the stack.  Note that the top-of-stack corresponds to a 
*                            'high' memory location is OS_STK_GROWTH is set to 1 and a 'low' memory 
*                            location if OS_STK_GROWTH is set to 0.  Note that stack growth is CPU 
*                            specific. 
* 
*              pbos          is a pointer to the bottom of stack.  A NULL pointer is passed if called by 
*                            'OSTaskCreate()'. 
* 
*              id            is the task's ID (0..65535) 
* 
*              stk_size      is the size of the stack (in 'stack units').  If the stack units are INT8Us 
*                            then, 'stk_size' contains the number of bytes for the stack.  If the stack 
*                            units are INT32Us then, the stack contains '4 * stk_size' bytes.  The stack 
*                            units are established by the #define constant OS_STK which is CPU 
*                            specific.  'stk_size' is 0 if called by 'OSTaskCreate()'. 
* 
*              pext          is a pointer to a user supplied memory area that is used to extend the task 
*                            control block.  This allows you to store the contents of floating-point 
*                            registers, MMU registers or anything else you could find useful during a 
*                            context switch.  You can even assign a name to each task and store this name 
*                            in this TCB extension.  A NULL pointer is passed if called by OSTaskCreate(). 
* 
*              opt           options as passed to 'OSTaskCreateExt()' or, 
*                            0 if called from 'OSTaskCreate()'. 
* 
* Returns    : OS_ERR_NONE         if the call was successful 
*              OS_ERR_TASK_NO_MORE_TCB  if there are no more free TCBs to be allocated and thus, the task cannot 
*                                  be created. 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
 
INT8U  OS_TCBInit (INT8U    prio, 
                   OS_STK  *ptos, 
                   OS_STK  *pbos, 
                   INT16U   id, 
                   INT32U   stk_size, 
                   void    *pext, 
                   INT16U   opt) 
{ 
    OS_TCB    *ptcb; 
#if OS_CRITICAL_METHOD == 3u                               /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr = 0u; 
#endif 
#if OS_TASK_REG_TBL_SIZE > 0u 
    INT8U      i; 
#endif 
 
 
    OS_ENTER_CRITICAL(); 
    ptcb = OSTCBFreeList;                                  /* Get a free TCB from the free TCB list    */ 
    if (ptcb != (OS_TCB *)0) { 
        OSTCBFreeList            = ptcb->OSTCBNext;        /* Update pointer to free TCB list          */ 
        OS_EXIT_CRITICAL(); 
        ptcb->OSTCBStkPtr        = ptos;                   /* Load Stack pointer in TCB                */ 
        ptcb->OSTCBPrio          = prio;                   /* Load task priority into TCB              */ 
        ptcb->OSTCBStat          = OS_STAT_RDY;            /* Task is ready to run                     */ 
        ptcb->OSTCBStatPend      = OS_STAT_PEND_OK;        /* Clear pend status                        */ 
        ptcb->OSTCBDly           = 0u;                     /* Task is not delayed                      */ 
 
#if OS_TASK_CREATE_EXT_EN > 0u 
        ptcb->OSTCBExtPtr        = pext;                   /* Store pointer to TCB extension           */ 
        ptcb->OSTCBStkSize       = stk_size;               /* Store stack size                         */ 
        ptcb->OSTCBStkBottom     = pbos;                   /* Store pointer to bottom of stack         */ 
        ptcb->OSTCBOpt           = opt;                    /* Store task options                       */ 
        ptcb->OSTCBId            = id;                     /* Store task ID                            */ 
#else 
        pext                     = pext;                   /* Prevent compiler warning if not used     */ 
        stk_size                 = stk_size; 
        pbos                     = pbos; 
        opt                      = opt; 
        id                       = id; 
#endif 
 
#if OS_TASK_DEL_EN > 0u 
        ptcb->OSTCBDelReq        = OS_ERR_NONE; 
#endif 
 
#if OS_LOWEST_PRIO <= 63u                                         /* Pre-compute X, Y                  */ 
        ptcb->OSTCBY             = (INT8U)(prio >> 3u); 
        ptcb->OSTCBX             = (INT8U)(prio & 0x07u); 
#else                                                             /* Pre-compute X, Y                  */ 
        ptcb->OSTCBY             = (INT8U)((INT8U)(prio >> 4u) & 0xFFu); 
        ptcb->OSTCBX             = (INT8U) (prio & 0x0Fu); 
#endif 
                                                                  /* Pre-compute BitX and BitY         */ 
        ptcb->OSTCBBitY          = (OS_PRIO)(1uL << ptcb->OSTCBY); 
        ptcb->OSTCBBitX          = (OS_PRIO)(1uL << ptcb->OSTCBX); 
 
#if (OS_EVENT_EN) 
        ptcb->OSTCBEventPtr      = (OS_EVENT  *)0;         /* Task is not pending on an  event         */ 
#if (OS_EVENT_MULTI_EN > 0u) 
        ptcb->OSTCBEventMultiPtr = (OS_EVENT **)0;         /* Task is not pending on any events        */ 
#endif 
#endif 
 
#if (OS_FLAG_EN > 0u) && (OS_MAX_FLAGS > 0u) && (OS_TASK_DEL_EN > 0u) 
        ptcb->OSTCBFlagNode  = (OS_FLAG_NODE *)0;          /* Task is not pending on an event flag     */ 
#endif 
 
#if (OS_MBOX_EN > 0u) || ((OS_Q_EN > 0u) && (OS_MAX_QS > 0u)) 
        ptcb->OSTCBMsg       = (void *)0;                  /* No message received                      */ 
#endif 
 
#if OS_TASK_PROFILE_EN > 0u 
        ptcb->OSTCBCtxSwCtr    = 0uL;                      /* Initialize profiling variables           */ 
        ptcb->OSTCBCyclesStart = 0uL; 
        ptcb->OSTCBCyclesTot   = 0uL; 
        ptcb->OSTCBStkBase     = (OS_STK *)0; 
        ptcb->OSTCBStkUsed     = 0uL; 
#endif 
 
#if OS_TASK_NAME_EN > 0u 
        ptcb->OSTCBTaskName    = (INT8U *)(void *)"?"; 
#endif 
 
#if OS_TASK_REG_TBL_SIZE > 0u                              /* Initialize the task variables            */ 
        for (i = 0u; i < OS_TASK_REG_TBL_SIZE; i++) { 
            ptcb->OSTCBRegTbl[i] = 0u; 
        } 
#endif 
 
        OSTCBInitHook(ptcb); 
 
        OSTaskCreateHook(ptcb);                            /* Call user defined hook                   */ 
 
        OS_ENTER_CRITICAL(); 
        OSTCBPrioTbl[prio] = ptcb; 
        ptcb->OSTCBNext    = OSTCBList;                    /* Link into TCB chain                      */ 
        ptcb->OSTCBPrev    = (OS_TCB *)0; 
        if (OSTCBList != (OS_TCB *)0) { 
            OSTCBList->OSTCBPrev = ptcb; 
        } 
        OSTCBList               = ptcb; 
        OSRdyGrp               |= ptcb->OSTCBBitY;         /* Make task ready to run                   */ 
        OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX; 
        OSTaskCtr++;                                       /* Increment the #tasks counter             */ 
        OS_EXIT_CRITICAL(); 
        return (OS_ERR_NONE); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_ERR_TASK_NO_MORE_TCB); 
}