www.pudn.com > ARM_Ethernet.rar > OS_CORE.C, change:2002-01-25,size:49764b


/* 
********************************************************************************************************* 
*                                                uC/OS-II 
*                                          The Real-Time Kernel 
*                                             CORE FUNCTIONS 
* 
*                          (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL 
*                                           All Rights Reserved 
* 
* File : OS_CORE.C 
* By   : Jean J. Labrosse 
********************************************************************************************************* 
*/ 
 
#ifndef  OS_MASTER_FILE 
#define  OS_GLOBALS 
#include "includes.h" 
#endif 
 
/* 
********************************************************************************************************* 
*                              MAPPING TABLE TO MAP BIT POSITION TO BIT MASK 
* 
* Note: Index into table is desired bit position, 0..7 
*       Indexed value corresponds to bit mask 
********************************************************************************************************* 
*/ 
 
INT8U  const  OSMapTbl[]   = {0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80}; 
 
/* 
********************************************************************************************************* 
*                                       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[] = { 
    0, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x00 to 0x0F                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x10 to 0x1F                             */ 
    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x20 to 0x2F                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x30 to 0x3F                             */ 
    6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x40 to 0x4F                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x50 to 0x5F                             */ 
    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x60 to 0x6F                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x70 to 0x7F                             */ 
    7, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x80 to 0x8F                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0x90 to 0x9F                             */ 
    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0xA0 to 0xAF                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0xB0 to 0xBF                             */ 
    6, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0xC0 to 0xCF                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0xD0 to 0xDF                             */ 
    5, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0,       /* 0xE0 to 0xEF                             */ 
    4, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0        /* 0xF0 to 0xFF                             */ 
}; 
 
/* 
********************************************************************************************************* 
*                                       FUNCTION PROTOTYPES 
********************************************************************************************************* 
*/ 
static  void  OS_InitEventList(void); 
static  void  OS_InitMisc(void); 
static  void  OS_InitRdyList(void); 
static  void  OS_InitTaskIdle(void); 
static  void  OS_InitTaskStat(void); 
static  void  OS_InitTCBList(void); 
 
/*$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) 
{ 
#if OS_VERSION >= 204 
    OSInitHookBegin();                                           /* Call port specific initialization code   */ 
#endif 
 
    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_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0) 
    OS_FlagInit();                                               /* Initialize the event flag structures     */ 
#endif 
 
#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0) 
    OS_MemInit();                                                /* Initialize the memory manager            */ 
#endif 
 
#if (OS_Q_EN > 0) && (OS_MAX_QS > 0) 
    OS_QInit();                                                  /* Initialize the message queue structures  */ 
#endif 
 
    OS_InitTaskIdle();                                           /* Create the Idle Task                     */ 
#if OS_TASK_STAT_EN > 0 
    OS_InitTaskStat();                                           /* Create the Statistic Task                */ 
#endif 
 
#if OS_VERSION >= 204 
    OSInitHookEnd();                                             /* Call port specific init. code            */ 
#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 == TRUE) { 
        if (OSIntNesting < 255) { 
            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 == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
#endif 
     
     
    if (OSRunning == TRUE) { 
        OS_ENTER_CRITICAL(); 
        if (OSIntNesting > 0) {                            /* Prevent OSIntNesting from wrapping       */ 
            OSIntNesting--; 
        } 
        if ((OSIntNesting == 0) && (OSLockNesting == 0)) { /* Reschedule only if all ISRs complete ... */ 
            OSIntExitY    = OSUnMapTbl[OSRdyGrp];          /* ... and not locked.                      */ 
            OSPrioHighRdy = (INT8U)((OSIntExitY << 3) + OSUnMapTbl[OSRdyTbl[OSIntExitY]]); 
            if (OSPrioHighRdy != OSPrioCur) {              /* No Ctx Sw if current task is highest rdy */ 
                OSTCBHighRdy  = OSTCBPrioTbl[OSPrioHighRdy]; 
                OSCtxSwCtr++;                              /* Keep track of the number of ctx switches */ 
                OSIntCtxSw();                              /* Perform interrupt level ctx switch       */ 
            } 
        } 
        OS_EXIT_CRITICAL(); 
    } 
} 
/*$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 > 0 
void  OSSchedLock (void) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif     
     
     
    if (OSRunning == TRUE) {                     /* Make sure multitasking is running                  */ 
        OS_ENTER_CRITICAL(); 
        if (OSLockNesting < 255) {               /* 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 > 0 
void  OSSchedUnlock (void) 
{ 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
#endif     
     
     
    if (OSRunning == TRUE) {                                   /* Make sure multitasking is running    */ 
        OS_ENTER_CRITICAL(); 
        if (OSLockNesting > 0) {                               /* Do not decrement if already 0        */ 
            OSLockNesting--;                                   /* Decrement lock nesting level         */ 
            if ((OSLockNesting == 0) && (OSIntNesting == 0)) { /* See if sched. enabled and not an ISR */ 
                OS_EXIT_CRITICAL(); 
                OS_Sched();                                    /* See if a HPT is ready                */ 
            } 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 TRUE. 
*                 c) Load the context of the task pointed to by OSTCBHighRdy. 
*                 d_ Execute the task. 
********************************************************************************************************* 
*/ 
 
void  OSStart (void) 
{ 
    INT8U y; 
    INT8U x; 
 
 
    if (OSRunning == FALSE) { 
        y             = OSUnMapTbl[OSRdyGrp];        /* Find highest priority's task priority number   */ 
        x             = OSUnMapTbl[OSRdyTbl[y]]; 
        OSPrioHighRdy = (INT8U)((y << 3) + x); 
        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 > 0 
void  OSStatInit (void) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif     
     
     
    OSTimeDly(2);                                /* Synchronize with clock tick                        */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtr    = 0L;                           /* Clear idle counter                                 */ 
    OS_EXIT_CRITICAL(); 
    OSTimeDly(OS_TICKS_PER_SEC);                 /* Determine MAX. idle counter value for 1 second     */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtrMax = OSIdleCtr;                    /* Store maximum idle counter count in 1 second       */ 
    OSStatRdy    = 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) 
{ 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
#endif     
    OS_TCB    *ptcb; 
 
 
    OSTimeTickHook();                                      /* Call user definable hook                 */ 
#if OS_TIME_GET_SET_EN > 0    
    OS_ENTER_CRITICAL();                                   /* Update the 32-bit tick counter           */ 
    OSTime++; 
    OS_EXIT_CRITICAL(); 
#endif 
    if (OSRunning == TRUE) {     
        ptcb = OSTCBList;                                  /* Point at first TCB in TCB list           */ 
        while (ptcb->OSTCBPrio != OS_IDLE_PRIO) {          /* Go through all TCBs in TCB list          */ 
            OS_ENTER_CRITICAL(); 
            if (ptcb->OSTCBDly != 0) {                     /* Delayed or waiting for event with TO     */ 
                if (--ptcb->OSTCBDly == 0) {               /* Decrement nbr of ticks to end of delay   */ 
                    if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) { /* Is task suspended?    */ 
                        OSRdyGrp               |= ptcb->OSTCBBitY; /* No,  Make task R-to-R (timed out)*/ 
                        OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX; 
                    } else {                               /* Yes, Leave 1 tick to prevent ...         */ 
                        ptcb->OSTCBDly = 1;                /* ... loosing the task when the ...        */ 
                    }                                      /* ... suspension is removed.               */ 
                } 
            } 
            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 > 0 
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. 
* 
*              msg       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. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if OS_EVENT_EN > 0 
INT8U  OS_EventTaskRdy (OS_EVENT *pevent, void *msg, INT8U msk) 
{ 
    OS_TCB *ptcb; 
    INT8U   x; 
    INT8U   y; 
    INT8U   bitx; 
    INT8U   bity; 
    INT8U   prio; 
 
 
    y    = OSUnMapTbl[pevent->OSEventGrp];            /* Find highest prio. task waiting for message   */ 
    bity = OSMapTbl[y]; 
    x    = OSUnMapTbl[pevent->OSEventTbl[y]]; 
    bitx = OSMapTbl[x]; 
    prio = (INT8U)((y << 3) + x);                     /* Find priority of task getting the msg         */ 
    if ((pevent->OSEventTbl[y] &= ~bitx) == 0x00) {   /* Remove this task from the waiting list        */ 
        pevent->OSEventGrp &= ~bity;                  /* Clr group bit if this was only task pending   */ 
    } 
    ptcb                 =  OSTCBPrioTbl[prio];       /* Point to this task's OS_TCB                   */ 
    ptcb->OSTCBDly       =  0;                        /* Prevent OSTimeTick() from readying task       */ 
    ptcb->OSTCBEventPtr  = (OS_EVENT *)0;             /* Unlink ECB from this task                     */ 
#if ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0) 
    ptcb->OSTCBMsg       = msg;                       /* Send message directly to waiting task         */ 
#else 
    msg                  = msg;                       /* Prevent compiler warning if not used          */ 
#endif 
    ptcb->OSTCBStat     &= ~msk;                      /* Clear bit associated with event type          */ 
    if (ptcb->OSTCBStat == OS_STAT_RDY) {             /* See if task is ready (could be susp'd)        */ 
        OSRdyGrp        |=  bity;                     /* Put task in the ready to run list             */ 
        OSRdyTbl[y]     |=  bitx; 
    } 
    return (prio); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                   MAKE TASK WAIT FOR EVENT TO OCCUR 
* 
* Description: This function is called by other uC/OS-II services to suspend a task because an event has 
*              not occurred. 
* 
* Arguments  : pevent   is a pointer to the event control block for which the task will be waiting for. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if OS_EVENT_EN > 0 
void  OS_EventTaskWait (OS_EVENT *pevent) 
{ 
    OSTCBCur->OSTCBEventPtr = pevent;            /* Store pointer to event control block in TCB        */ 
    if ((OSRdyTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0x00) {   /* Task no longer ready      */ 
        OSRdyGrp &= ~OSTCBCur->OSTCBBitY;        /* Clear event grp bit if this was only task pending  */ 
    } 
    pevent->OSEventTbl[OSTCBCur->OSTCBY] |= OSTCBCur->OSTCBBitX;          /* Put task in waiting list  */ 
    pevent->OSEventGrp                   |= OSTCBCur->OSTCBBitY; 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                              MAKE TASK READY TO RUN BASED ON EVENT TIMEOUT 
* 
* Description: This function is called by other uC/OS-II services to make a task ready to run because a 
*              timeout occurred. 
* 
* Arguments  : pevent   is a pointer to the event control block which is readying a task. 
* 
* Returns    : none 
* 
* Note       : This function is INTERNAL to uC/OS-II and your application should not call it. 
********************************************************************************************************* 
*/ 
#if OS_EVENT_EN > 0 
void  OS_EventTO (OS_EVENT *pevent) 
{ 
    if ((pevent->OSEventTbl[OSTCBCur->OSTCBY] &= ~OSTCBCur->OSTCBBitX) == 0x00) { 
        pevent->OSEventGrp &= ~OSTCBCur->OSTCBBitY; 
    } 
    OSTCBCur->OSTCBStat     = OS_STAT_RDY;       /* Set status to ready                                */ 
    OSTCBCur->OSTCBEventPtr = (OS_EVENT *)0;     /* No longer waiting for event                        */ 
} 
#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_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0) || (OS_SEM_EN > 0) || (OS_MUTEX_EN > 0) 
void  OS_EventWaitListInit (OS_EVENT *pevent) 
{ 
    INT8U  *ptbl; 
 
 
    pevent->OSEventGrp = 0x00;                   /* No task waiting on event                           */ 
    ptbl               = &pevent->OSEventTbl[0]; 
 
#if OS_EVENT_TBL_SIZE > 0 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 1 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 2 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 3 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 4 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 5 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 6 
    *ptbl++            = 0x00; 
#endif 
 
#if OS_EVENT_TBL_SIZE > 7 
    *ptbl              = 0x00; 
#endif 
} 
#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 > 0) && (OS_MAX_EVENTS > 0) 
#if (OS_MAX_EVENTS > 1) 
    INT16U     i; 
    OS_EVENT  *pevent1; 
    OS_EVENT  *pevent2; 
 
 
    pevent1 = &OSEventTbl[0]; 
    pevent2 = &OSEventTbl[1]; 
    for (i = 0; i < (OS_MAX_EVENTS - 1); i++) {                  /* Init. list of free EVENT control blocks  */ 
        pevent1->OSEventType = OS_EVENT_TYPE_UNUSED; 
        pevent1->OSEventPtr  = pevent2; 
        pevent1++; 
        pevent2++; 
    } 
    pevent1->OSEventType = OS_EVENT_TYPE_UNUSED; 
    pevent1->OSEventPtr  = (OS_EVENT *)0; 
    OSEventFreeList      = &OSEventTbl[0]; 
#else 
    OSEventFreeList              = &OSEventTbl[0];               /* Only have ONE event control block        */ 
    OSEventFreeList->OSEventType = OS_EVENT_TYPE_UNUSED; 
    OSEventFreeList->OSEventPtr  = (OS_EVENT *)0; 
#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 > 0    
    OSTime        = 0L;                                          /* Clear the 32-bit system clock            */ 
#endif 
 
    OSIntNesting  = 0;                                           /* Clear the interrupt nesting counter      */ 
    OSLockNesting = 0;                                           /* Clear the scheduling lock counter        */ 
 
    OSTaskCtr     = 0;                                           /* Clear the number of tasks                */ 
 
    OSRunning     = FALSE;                                       /* Indicate that multitasking not started   */ 
     
    OSCtxSwCtr    = 0;                                           /* Clear the context switch counter         */ 
    OSIdleCtr     = 0L;                                          /* Clear the 32-bit idle counter            */ 
 
#if (OS_TASK_STAT_EN > 0) && (OS_TASK_CREATE_EXT_EN > 0) 
    OSIdleCtrRun  = 0L; 
    OSIdleCtrMax  = 0L; 
    OSStatRdy     = FALSE;                                       /* Statistic task is not ready              */ 
#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) 
{ 
    INT16U   i; 
    INT8U   *prdytbl; 
 
 
    OSRdyGrp      = 0x00;                                        /* Clear the ready list                     */ 
    prdytbl       = &OSRdyTbl[0]; 
    for (i = 0; i < OS_RDY_TBL_SIZE; i++) { 
        *prdytbl++ = 0x00; 
    } 
 
    OSPrioCur     = 0; 
    OSPrioHighRdy = 0; 
 
    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_CREATE_EXT_EN > 0 
    #if OS_STK_GROWTH == 1 
    (void)OSTaskCreateExt(OS_TaskIdle, 
                          (void *)0,                                 /* No arguments passed to OS_TaskIdle() */ 
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Top-Of-Stack                     */ 
                          OS_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_IDLE_PRIO,                              /* Lowest priority level                */ 
                          OS_TASK_IDLE_ID, 
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* 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 == 1 
    (void)OSTaskCreate(OS_TaskIdle, 
                       (void *)0, 
                       &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], 
                       OS_IDLE_PRIO); 
    #else 
    (void)OSTaskCreate(OS_TaskIdle, 
                       (void *)0, 
                       &OSTaskIdleStk[0], 
                       OS_IDLE_PRIO); 
    #endif 
#endif 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             INITIALIZATION 
*                                      CREATING THE STATISTIC TASK 
* 
* Description: This function creates the Statistic Task. 
* 
* Arguments  : none 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_STAT_EN > 0 
static  void  OS_InitTaskStat (void) 
{ 
#if OS_TASK_CREATE_EXT_EN > 0 
    #if OS_STK_GROWTH == 1 
    (void)OSTaskCreateExt(OS_TaskStat, 
                          (void *)0,                                   /* No args passed to OS_TaskStat()*/ 
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],   /* Set Top-Of-Stack               */ 
                          OS_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_STAT_PRIO,                                /* One higher than the idle task  */ 
                          OS_TASK_STAT_ID, 
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],   /* 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 == 1 
    (void)OSTaskCreate(OS_TaskStat, 
                       (void *)0,                                      /* No args passed to OS_TaskStat()*/ 
                       &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],      /* Set Top-Of-Stack               */ 
                       OS_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_STAT_PRIO);                                  /* One higher than the idle task  */ 
    #endif 
#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    i; 
    OS_TCB  *ptcb1; 
    OS_TCB  *ptcb2; 
 
 
    OSTCBList     = (OS_TCB *)0;                                 /* TCB Initialization                       */ 
    for (i = 0; i < (OS_LOWEST_PRIO + 1); i++) {                 /* Clear the priority table                 */ 
        OSTCBPrioTbl[i] = (OS_TCB *)0; 
    } 
    ptcb1 = &OSTCBTbl[0]; 
    ptcb2 = &OSTCBTbl[1]; 
    for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) {  /* Init. list of free TCBs                  */ 
        ptcb1->OSTCBNext = ptcb2; 
        ptcb1++; 
        ptcb2++; 
    } 
    ptcb1->OSTCBNext = (OS_TCB *)0;                              /* Last OS_TCB                              */ 
    OSTCBFreeList    = &OSTCBTbl[0]; 
} 
/*$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 == 3                            /* Allocate storage for CPU status register     */ 
    OS_CPU_SR  cpu_sr; 
#endif     
    INT8U      y; 
 
 
    OS_ENTER_CRITICAL(); 
    if ((OSIntNesting == 0) && (OSLockNesting == 0)) { /* Sched. only if all ISRs done & not locked    */ 
        y             = OSUnMapTbl[OSRdyGrp];          /* Get pointer to HPT ready to run              */ 
        OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]); 
        if (OSPrioHighRdy != OSPrioCur) {              /* No Ctx Sw if current task is highest rdy     */ 
            OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; 
            OSCtxSwCtr++;                              /* Increment context switch counter             */ 
            OS_TASK_SW();                              /* Perform a context switch                     */ 
        } 
    } 
    OS_EXIT_CRITICAL(); 
} 
/*$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 *pdata) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif     
     
     
    pdata = pdata;                               /* Prevent compiler warning for not using 'pdata'     */ 
    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  : pdata     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_IDLE_PRIO-1. 
*              2) You can disable this task by setting the configuration #define OS_TASK_STAT_EN to 0. 
*              3) We delay for 5 seconds in the beginning to allow the system to reach steady state and 
*                 have all other tasks created before we do statistics.  You MUST have at least a delay 
*                 of 2 seconds to allow for the system to establish the maximum value for the idle 
*                 counter. 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_STAT_EN > 0 
void  OS_TaskStat (void *pdata) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif     
    INT32U     run; 
    INT32U     max; 
    INT8S      usage; 
 
 
    pdata = pdata;                               /* Prevent compiler warning for not using 'pdata'     */ 
    while (OSStatRdy == FALSE) { 
        OSTimeDly(2 * OS_TICKS_PER_SEC);         /* Wait until statistic task is ready                 */ 
    } 
    max = OSIdleCtrMax / 100L; 
    for (;;) { 
        OS_ENTER_CRITICAL(); 
        OSIdleCtrRun = OSIdleCtr;                /* Obtain the of the idle counter for the past second */ 
        run          = OSIdleCtr; 
        OSIdleCtr    = 0L;                       /* Reset the idle counter for the next second         */ 
        OS_EXIT_CRITICAL(); 
        if (max > 0L) { 
            usage = (INT8S)(100L - run / max); 
            if (usage >= 0) {                    /* Make sure we don't have a negative percentage      */ 
                OSCPUUsage = usage; 
            } else { 
                OSCPUUsage = 0; 
            } 
        } else { 
            OSCPUUsage = 0; 
            max        = OSIdleCtrMax / 100L; 
        } 
        OSTaskStatHook();                        /* Invoke user definable hook                         */ 
        OSTimeDly(OS_TICKS_PER_SEC);             /* Accumulate OSIdleCtr for the next second           */ 
    } 
} 
#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_NO_ERR         if the call was successful 
*              OS_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) 
{ 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
#endif     
    OS_TCB    *ptcb; 
 
 
    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      = (INT8U)prio;                /* Load task priority into TCB              */ 
        ptcb->OSTCBStat      = OS_STAT_RDY;                /* Task is ready to run                     */ 
        ptcb->OSTCBDly       = 0;                          /* Task is not delayed                      */ 
 
#if OS_TASK_CREATE_EXT_EN > 0 
        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 > 0 
        ptcb->OSTCBDelReq    = OS_NO_ERR; 
#endif 
 
        ptcb->OSTCBY         = prio >> 3;                  /* Pre-compute X, Y, BitX and BitY          */ 
        ptcb->OSTCBBitY      = OSMapTbl[ptcb->OSTCBY]; 
        ptcb->OSTCBX         = prio & 0x07; 
        ptcb->OSTCBBitX      = OSMapTbl[ptcb->OSTCBX]; 
 
#if OS_EVENT_EN > 0 
        ptcb->OSTCBEventPtr  = (OS_EVENT *)0;              /* Task is not pending on an event          */ 
#endif 
 
#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0) && (OS_TASK_DEL_EN > 0) 
        ptcb->OSTCBFlagNode  = (OS_FLAG_NODE *)0;          /* Task is not pending on an event flag     */ 
#endif 
 
#if (OS_MBOX_EN > 0) || ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) 
        ptcb->OSTCBMsg       = (void *)0;                  /* No message received                      */ 
#endif 
 
#if OS_VERSION >= 204 
        OSTCBInitHook(ptcb); 
#endif 
 
        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; 
        OS_EXIT_CRITICAL(); 
        return (OS_NO_ERR); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_NO_MORE_TCB); 
}