www.pudn.com > UCOS---II252.rar > os_core.c, change:2003-12-20,size:68255b


/* 
********************************************************************************************************* 
*                                                uC/OS-II 
*                                          The Real-Time Kernel 
*                                             CORE FUNCTIONS 
* 
*                          (c) Copyright 1992-2003, Jean J. Labrosse, Weston, FL 
*                                           All Rights Reserved 
* 
* File    : OS_CORE.C 
* By      : Jean J. Labrosse 
* Version : V2.76 
********************************************************************************************************* 
*/ 
 
#ifndef  OS_MASTER_FILE 
#define  OS_GLOBALS 
#include <ucos_ii.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[8]   = {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[256] = { 
    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                             */ 
}; 
 
/*$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 > 0 
static  void  OS_InitTaskStat(void); 
#endif 
static  void  OS_InitTCBList(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 an ASCII string that will receive the name of the semaphore, 
*                        mutex, mailbox or queue.  The string must be able to hold at least  
*                        OS_EVENT_NAME_SIZE characters. 
* 
*              err       is a pointer to an error code that can contain one of the following values: 
* 
*                        OS_NO_ERR                  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' 
* 
* Returns    : The length of the string or 0 if the 'pevent' is a NULL pointer. 
********************************************************************************************************* 
*/ 
 
#if OS_EVENT_EN && (OS_EVENT_NAME_SIZE > 1) 
INT8U  OSEventNameGet (OS_EVENT *pevent, char *pname, INT8U *err) 
{ 
    INT8U      len; 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    OS_ENTER_CRITICAL(); 
#if OS_ARG_CHK_EN > 0 
    if (pevent == (OS_EVENT *)0) {               /* Is 'pevent' a NULL pointer?                        */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PEVENT_NULL; 
        return (0); 
    } 
    if (pname == (char *)0) {                    /* Is 'pname' a NULL pointer?                         */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PNAME_NULL; 
        return (0); 
    } 
#endif 
    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: 
             OS_EXIT_CRITICAL(); 
             *err = OS_ERR_EVENT_TYPE; 
             return (0); 
    } 
    len  = OS_StrCopy(pname, pevent->OSEventName);    /* Copy name from OS_EVENT                       */ 
    OS_EXIT_CRITICAL(); 
    *err = OS_NO_ERR; 
    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.  The string must be able to hold at least  
*                        OS_EVENT_NAME_SIZE characters. 
* 
*              err       is a pointer to an error code that can contain one of the following values: 
* 
*                        OS_NO_ERR                  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' 
* 
* Returns    : None 
********************************************************************************************************* 
*/ 
 
#if OS_EVENT_EN && (OS_EVENT_NAME_SIZE > 1) 
void  OSEventNameSet (OS_EVENT *pevent, char *pname, INT8U *err) 
{ 
    INT8U      len; 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    OS_ENTER_CRITICAL(); 
#if OS_ARG_CHK_EN > 0 
    if (pevent == (OS_EVENT *)0) {               /* Is 'pevent' a NULL pointer?                        */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PEVENT_NULL; 
        return; 
    } 
    if (pname == (char *)0) {                    /* Is 'pname' a NULL pointer?                         */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PNAME_NULL; 
        return; 
    } 
#endif 
    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: 
             OS_EXIT_CRITICAL(); 
             *err = OS_ERR_EVENT_TYPE; 
             return; 
    } 
    len = OS_StrLen(pname);                           /* Can we fit the string in the storage area?    */ 
    if (len > (OS_EVENT_NAME_SIZE - 1)) {             /* No                                            */ 
        OS_EXIT_CRITICAL(); 
        *err = OS_ERR_EVENT_NAME_TOO_LONG; 
        return; 
    }  
    (void)OS_StrCopy(pevent->OSEventName, pname);     /* Yes, copy name to the event control block     */ 
    OS_EXIT_CRITICAL(); 
    *err = OS_NO_ERR; 
} 
#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) 
{ 
#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 
 
#if OS_VERSION >= 270 && OS_DEBUG_EN > 0 
    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 == 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) 
{ 
    INT8U      y; 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
     
     
 
    cpu_sr = 0;                                            /* Prevent compiler warning                 */ 
#endif     
    if (OSRunning == TRUE) { 
        OS_ENTER_CRITICAL(); 
        if (OSIntNesting > 0) {                            /* Prevent OSIntNesting from wrapping       */ 
            OSIntNesting--; 
        } 
        if (OSIntNesting == 0) {                           /* Reschedule only if all ISRs complete ... */ 
            if (OSLockNesting == 0) {                      /* ... and not locked.                      */ 
                y             = OSUnMapTbl[OSRdyGrp];           
                OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]); 
                if (OSPrioHighRdy != OSPrioCur) {          /* No Ctx Sw if current task is highest rdy */ 
                    OSTCBHighRdy  = OSTCBPrioTbl[OSPrioHighRdy]; 
#if OS_TASK_PROFILE_EN > 0 
                    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*/ 
/* 
********************************************************************************************************* 
*                                          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; 
     
     
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    if (OSRunning == TRUE) {                     /* Make sure multitasking is running                  */ 
        OS_ENTER_CRITICAL(); 
        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 > 0 
void  OSSchedUnlock (void) 
{ 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
     
     
 
    cpu_sr = 0;                                            /* Prevent compiler warning                 */ 
#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) {                      /* See if scheduler is enabled and ...      */ 
                if (OSIntNesting == 0) {                   /* ... 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 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; 
     
     
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    OSTimeDly(2);                                /* Synchronize with clock tick                        */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtr    = 0L;                           /* Clear idle counter                                 */ 
    OS_EXIT_CRITICAL(); 
    OSTimeDly(OS_TICKS_PER_SEC / 10);            /* Determine MAX. idle counter value for 1/10 second  */ 
    OS_ENTER_CRITICAL(); 
    OSIdleCtrMax = OSIdleCtr;                    /* Store maximum idle counter count in 1/10 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) 
{ 
    OS_TCB    *ptcb; 
#if OS_TICK_STEP_EN > 0 
    BOOLEAN    step; 
#endif 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register     */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                            /* Prevent compiler warning                     */ 
#endif 
#if OS_TIME_TICK_HOOK_EN > 0 
    OSTimeTickHook();                                      /* Call user definable hook                     */ 
#endif 
#if OS_TIME_GET_SET_EN > 0 
    OS_ENTER_CRITICAL();                                   /* Update the 32-bit tick counter               */ 
    OSTime++; 
    OS_EXIT_CRITICAL(); 
#endif 
    if (OSRunning == TRUE) { 
#if OS_TICK_STEP_EN > 0 
        switch (OSTickStepState) {                         /* Determine whether we need to process a tick  */ 
            case OS_TICK_STEP_DIS:                         /* Yes, stepping is disabled                    */ 
                 step = TRUE; 
                 break; 
 
            case OS_TICK_STEP_WAIT:                        /* No,  waiting for uC/OS-View to set ...       */ 
                 step = FALSE;                             /*      .. OSTickStepState to OS_TICK_STEP_ONCE */ 
                 break; 
 
            case OS_TICK_STEP_ONCE:                        /* Yes, process tick once and wait for next ... */ 
                 step            = TRUE;                   /*      ... step command from uC/OS-View        */ 
                 OSTickStepState = OS_TICK_STEP_WAIT; 
                 break; 
 
            default:                                       /* Invalid case, correct situation              */ 
                 step            = TRUE; 
                 OSTickStepState = OS_TICK_STEP_DIS; 
                 break; 
        } 
        if (step == FALSE) {                               /* Return if waiting for step command           */ 
            return; 
        } 
#endif 
        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) {                     /* No, Delayed or waiting for event with TO     */ 
                if (--ptcb->OSTCBDly == 0) {               /* Decrement nbr of ticks to end of delay       */ 
                                                           /* Check for timeout                            */ 
                    if ((ptcb->OSTCBStat & OS_STAT_PEND_ANY) != OS_STAT_RDY) { 
                        ptcb->OSTCBStat   &= ~OS_STAT_PEND_ANY;                /* Yes, Clear status flag   */ 
                        ptcb->OSTCBPendTO  = TRUE;                             /* Indicate PEND timeout    */ 
                    } else { 
                        ptcb->OSTCBPendTO  = FALSE; 
                    } 
 
                    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 > 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 
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 HPT 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       */ 
    pevent->OSEventTbl[y] &= ~bitx;                     /* Remove this task from the waiting list      */ 
    if (pevent->OSEventTbl[y] == 0x00) {                 
        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->OSTCBPendTO    = FALSE;                       /* Cancel 'any' timeout because of post        */ 
    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 
void  OS_EventTaskWait (OS_EVENT *pevent) 
{ 
    INT8U  y; 
 
 
    OSTCBCur->OSTCBEventPtr = pevent;             /* Store pointer to event control block in TCB       */ 
    y                       = OSTCBCur->OSTCBY;   /* Task no longer ready                              */ 
    OSRdyTbl[y]            &= ~OSTCBCur->OSTCBBitX; 
    if (OSRdyTbl[y] == 0x00) {                    
        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 
void  OS_EventTO (OS_EVENT *pevent) 
{ 
    INT8U  y; 
 
 
    y                      = OSTCBCur->OSTCBY; 
    pevent->OSEventTbl[y] &= ~OSTCBCur->OSTCBBitX;     /* Remove task from wait list                   */ 
    if (pevent->OSEventTbl[y] == 0x00) { 
        pevent->OSEventGrp &= ~OSTCBCur->OSTCBBitY; 
    } 
    OSTCBCur->OSTCBPendTO   = FALSE;                   /* Clear the Pend Timeout flag                  */ 
    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_EVENT_EN 
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 && (OS_MAX_EVENTS > 0) 
#if (OS_MAX_EVENTS > 1) 
    INT16U     i; 
    OS_EVENT  *pevent1; 
    OS_EVENT  *pevent2; 
 
 
    OS_MemClr((INT8U *)&OSEventTbl[0], sizeof(OSEventTbl)); /* Clear the event table                   */ 
    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; 
#if OS_EVENT_NAME_SIZE > 1 
        pevent1->OSEventName[0] = '?';                      /* Unknown name                            */ 
        pevent1->OSEventName[1] = OS_ASCII_NUL; 
#endif 
        pevent1++; 
        pevent2++; 
    } 
    pevent1->OSEventType            = OS_EVENT_TYPE_UNUSED; 
    pevent1->OSEventPtr             = (OS_EVENT *)0; 
#if OS_EVENT_NAME_SIZE > 1 
    pevent1->OSEventName[0]         = '?';                   
    pevent1->OSEventName[1]         = OS_ASCII_NUL; 
#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_SIZE > 1 
    OSEventFreeList->OSEventName[0] = '?';                  /* Unknown name                            */ 
    OSEventFreeList->OSEventName[1] = OS_ASCII_NUL; 
#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 > 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 
    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) 
{ 
    INT8U    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; 
 
 
    OS_MemClr((INT8U *)&OSTCBTbl[0],     sizeof(OSTCBTbl));      /* Clear all the TCBs                 */ 
    OS_MemClr((INT8U *)&OSTCBPrioTbl[0], sizeof(OSTCBPrioTbl));  /* Clear the priority table           */ 
    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; 
#if OS_TASK_NAME_SIZE > 1 
        ptcb1->OSTCBTaskName[0] = '?';                           /* Unknown name                       */ 
        ptcb1->OSTCBTaskName[1] = OS_ASCII_NUL; 
#endif 
        ptcb1++; 
        ptcb2++; 
    } 
    ptcb1->OSTCBNext = (OS_TCB *)0;                              /* Last OS_TCB                        */ 
#if OS_TASK_NAME_SIZE > 1 
    ptcb1->OSTCBTaskName[0] = '?';                               /* Unknown name                       */ 
    ptcb1->OSTCBTaskName[1] = OS_ASCII_NUL; 
#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 > 0) { 
        *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 > 0) { 
        *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) 
{ 
    INT8U      y; 
#if OS_CRITICAL_METHOD == 3                            /* Allocate storage for CPU status register     */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                        /* Prevent compiler warning                     */ 
#endif     
    OS_ENTER_CRITICAL(); 
    if (OSIntNesting == 0) {                           /* Schedule only if all ISRs done and ...       */ 
        if (OSLockNesting == 0) {                      /* ... scheduler is 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]; 
#if OS_TASK_PROFILE_EN > 0 
                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(); 
} 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        COPY AN ASCII STRING 
* 
* Description: This function is called by other uC/OS-II services to copy an ASCII string from a 'source' 
*              string to a 'destination' string. 
* 
* Arguments  : pdest    is a pointer to the string that will be receiving the copy.  Note that there MUST 
*                       be sufficient space in the destination storage area to receive this string. 
* 
*              psrc     is a pointer to the source string.  The source string MUST NOT be greater than  
*                       254 characters. 
* 
* 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. 
********************************************************************************************************* 
*/ 
 
#if (OS_EVENT_NAME_SIZE > 1) || (OS_FLAG_NAME_SIZE > 1) || (OS_MEM_NAME_SIZE > 1) || (OS_TASK_NAME_SIZE > 1) 
INT8U  OS_StrCopy (char *pdest, char *psrc) 
{ 
    INT8U  len; 
 
 
    len = 0; 
    while (*psrc != OS_ASCII_NUL) { 
        *pdest++ = *psrc++; 
        len++; 
    } 
    *pdest = OS_ASCII_NUL; 
    return (len); 
} 
#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_SIZE > 1) || (OS_FLAG_NAME_SIZE > 1) || (OS_MEM_NAME_SIZE > 1) || (OS_TASK_NAME_SIZE > 1) 
INT8U  OS_StrLen (char *psrc) 
{ 
    INT8U  len; 
 
 
    len = 0; 
    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 *parg) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
     
     
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    parg   = parg;                               /* Prevent compiler warning for not using 'parg'      */ 
    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_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 > 0 
void  OS_TaskStat (void *parg) 
{ 
    INT32U     run; 
    INT32U     max; 
    INT8S      usage; 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                  /* Prevent compiler warning                           */ 
#endif     
    parg   = parg;                               /* Prevent compiler warning for not using 'parg'      */ 
    while (OSStatRdy == FALSE) { 
        OSTimeDly(2 * OS_TICKS_PER_SEC / 10);    /* 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                         */ 
#if (OS_TASK_STAT_STK_CHK_EN > 0) && (OS_TASK_CREATE_EXT_EN > 0) 
        OS_TaskStatStkChk();                     /* Check the stacks for each task                     */ 
#endif 
        OSTimeDly(OS_TICKS_PER_SEC / 10);        /* 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 > 0) && (OS_TASK_CREATE_EXT_EN > 0) 
void  OS_TaskStatStkChk (void) 
{ 
    OS_TCB      *ptcb; 
    OS_STK_DATA  stk_data; 
    INT8U        err; 
    INT8U        prio; 
 
 
    for (prio = 0; prio <= OS_IDLE_PRIO; prio++) { 
        err = OSTaskStkChk(prio, &stk_data); 
        if (err == OS_NO_ERR) { 
            ptcb = OSTCBPrioTbl[prio]; 
            if (ptcb != (OS_TCB *)0) {                               /* Make sure task 'ptcb' is ...   */ 
                if (ptcb != (OS_TCB *)1) {                           /* ... still valid.               */ 
#if OS_TASK_PROFILE_EN > 0 
                    #if OS_STK_GROWTH == 1 
                    ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom + ptcb->OSTCBStkSize; 
                    #else 
                    ptcb->OSTCBStkBase = ptcb->OSTCBStkBottom - ptcb->OSTCBStkSize; 
                    #endif 
                    ptcb->OSTCBStkUsed = (INT32U)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_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) 
{ 
    OS_TCB    *ptcb; 
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */ 
    OS_CPU_SR  cpu_sr; 
 
 
 
    cpu_sr = 0;                                            /* Prevent compiler warning                 */ 
#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->OSTCBPendTO    = FALSE;                      /* Clear the Pend timeout flag              */ 
        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         = (INT8U)(prio >> 3);         /* Pre-compute X, Y, BitX and BitY          */ 
        ptcb->OSTCBBitY      = OSMapTbl[ptcb->OSTCBY]; 
        ptcb->OSTCBX         = (INT8U)(prio & 0x07); 
        ptcb->OSTCBBitX      = OSMapTbl[ptcb->OSTCBX]; 
 
#if OS_EVENT_EN 
        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_TASK_PROFILE_EN > 0 
        ptcb->OSTCBCtxSwCtr    = 0L;                       /* Initialize profiling variables           */ 
        ptcb->OSTCBCyclesStart = 0L; 
        ptcb->OSTCBCyclesTot   = 0L; 
        ptcb->OSTCBStkBase     = (OS_STK *)0; 
        ptcb->OSTCBStkUsed     = 0L; 
#endif 
 
#if OS_TASK_NAME_SIZE > 1 
        ptcb->OSTCBTaskName[0] = '?';                      /* Unknown name at task creation            */ 
        ptcb->OSTCBTaskName[1] = OS_ASCII_NUL; 
#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; 
        OSTaskCtr++;                                       /* Increment the #tasks counter             */ 
        OS_EXIT_CRITICAL(); 
        return (OS_NO_ERR); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_NO_MORE_TCB); 
}