www.pudn.com > ucosforcodewarrior-hc12.rar > os_task.c, change:2003-04-01,size:45251b


/* 
********************************************************************************************************* 
*                                                uC/OS-II 
*                                          The Real-Time Kernel 
*                                            TASK MANAGEMENT 
* 
*                          (c) Copyright 1992-2003, Jean J. Labrosse, Weston, FL 
*                                           All Rights Reserved 
* 
* File : OS_TASK.C 
* By   : Jean J. Labrosse 
********************************************************************************************************* 
*/ 
 
#ifndef  OS_MASTER_FILE 
#include <ucos_ii.h> 
#endif 
 
/* 
********************************************************************************************************* 
*                                        CHANGE PRIORITY OF A TASK 
* 
* Description: This function allows you to change the priority of a task dynamically.  Note that the new 
*              priority MUST be available. 
* 
* Arguments  : oldp     is the old priority 
* 
*              newp     is the new priority 
* 
* Returns    : OS_NO_ERR        is the call was successful 
*              OS_PRIO_INVALID  if the priority you specify is higher that the maximum allowed 
*                               (i.e. >= OS_LOWEST_PRIO) 
*              OS_PRIO_EXIST    if the new priority already exist. 
*              OS_PRIO_ERR      there is no task with the specified OLD priority (i.e. the OLD task does 
*                               not exist. 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_CHANGE_PRIO_EN > 0 
INT8U  OSTaskChangePrio (INT8U oldprio, INT8U newprio) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR    cpu_sr; 
#endif 
 
#if OS_EVENT_EN > 0 
    OS_EVENT    *pevent; 
#endif 
 
    OS_TCB      *ptcb; 
    INT8U        x; 
    INT8U        y; 
    INT8U        bitx; 
    INT8U        bity; 
    INT8U        y_old; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (oldprio >= OS_LOWEST_PRIO) { 
	    if (oldprio != OS_PRIO_SELF) { 
            return (OS_PRIO_INVALID); 
		} 
	} 
    if (newprio >= OS_LOWEST_PRIO) { 
        return (OS_PRIO_INVALID); 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (OSTCBPrioTbl[newprio] != (OS_TCB *)0) {                 /* New priority must not already exist */ 
        OS_EXIT_CRITICAL(); 
        return (OS_PRIO_EXIST); 
    }  
    if (oldprio == OS_PRIO_SELF) {                              /* See if changing self                */ 
        oldprio = OSTCBCur->OSTCBPrio;                          /* Yes, get priority                   */ 
    } 
    ptcb = OSTCBPrioTbl[oldprio]; 
    if (ptcb == (OS_TCB *)0) {                                  /* Does task to change exist?          */ 
        OS_EXIT_CRITICAL();                                     /* No, can't change its priority!      */ 
        return (OS_PRIO_ERR); 
    }                                        
    y                     = newprio >> 3;                       /* Yes, compute new TCB fields         */ 
    bity                  = OSMapTbl[y]; 
    x                     = newprio & 0x07; 
    bitx                  = OSMapTbl[x]; 
    OSTCBPrioTbl[oldprio] = (OS_TCB *)0;                        /* Remove TCB from old priority        */ 
    OSTCBPrioTbl[newprio] = ptcb;                               /* Place pointer to TCB @ new priority */ 
    y_old                 = ptcb->OSTCBY; 
    if ((OSRdyTbl[y_old] & ptcb->OSTCBBitX) != 0x00) {          /* If task is ready make it not        */ 
        OSRdyTbl[y_old] &= ~ptcb->OSTCBBitX; 
        if (OSRdyTbl[y_old] == 0x00) { 
            OSRdyGrp &= ~ptcb->OSTCBBitY; 
        } 
        OSRdyGrp    |= bity;                                    /* Make new priority ready to run      */ 
        OSRdyTbl[y] |= bitx; 
#if OS_EVENT_EN > 0 
    } else {                                                    /* Task was not ready ...              */ 
        pevent = ptcb->OSTCBEventPtr; 
        if (pevent != (OS_EVENT *)0) {                          /* ... remove from event wait list     */ 
            pevent->OSEventTbl[y_old] &= ~ptcb->OSTCBBitX; 
            if (pevent->OSEventTbl[y_old] == 0) { 
                pevent->OSEventGrp &= ~ptcb->OSTCBBitY; 
            } 
            pevent->OSEventGrp    |= bity;                      /* Add new priority to wait list       */ 
            pevent->OSEventTbl[y] |= bitx; 
        } 
#endif 
    } 
    ptcb->OSTCBPrio = newprio;                                  /* Set new task priority               */ 
    ptcb->OSTCBY    = y; 
    ptcb->OSTCBX    = x; 
    ptcb->OSTCBBitY = bity; 
    ptcb->OSTCBBitX = bitx; 
    OS_EXIT_CRITICAL(); 
    OS_Sched();                                                 /* Run highest priority task ready     */ 
    return (OS_NO_ERR); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            CREATE A TASK 
* 
* Description: This function is used to have uC/OS-II manage the execution of a task.  Tasks can either 
*              be created prior to the start of multitasking or by a running task.  A task cannot be 
*              created by an ISR. 
* 
* Arguments  : task     is a pointer to the task's code 
* 
*              p_arg    is a pointer to an optional data area which can be used to pass parameters to 
*                       the task when the task first executes.  Where the task is concerned it thinks 
*                       it was invoked and passed the argument 'p_arg' as follows: 
* 
*                           void Task (void *p_arg) 
*                           { 
*                               for (;;) { 
*                                   Task code; 
*                               } 
*                           } 
* 
*              ptos     is a pointer to the task's top of stack.  If the configuration constant 
*                       OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high 
*                       memory to low memory).  'pstk' will thus point to the highest (valid) memory 
*                       location of the stack.  If OS_STK_GROWTH is set to 0, 'pstk' will point to the 
*                       lowest memory location of the stack and the stack will grow with increasing 
*                       memory locations. 
* 
*              prio     is the task's priority.  A unique priority MUST be assigned to each task and the 
*                       lower the number, the higher the priority. 
* 
* Returns    : OS_NO_ERR        if the function was successful. 
*              OS_PRIO_EXIT     if the task priority already exist 
*                               (each task MUST have a unique priority). 
*              OS_PRIO_INVALID  if the priority you specify is higher that the maximum allowed 
*                               (i.e. >= OS_LOWEST_PRIO) 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_CREATE_EN > 0 
INT8U  OSTaskCreate (void (*task)(void *pd), void *p_arg, OS_STK *ptos, INT8U prio) 
{ 
#if OS_CRITICAL_METHOD == 3                  /* Allocate storage for CPU status register               */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    OS_STK    *psp; 
    INT8U      err; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO) {             /* Make sure priority is within allowable range           */ 
        return (OS_PRIO_INVALID); 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority  */ 
        OSTCBPrioTbl[prio] = (OS_TCB *)1;    /* Reserve the priority to prevent others from doing ...  */ 
                                             /* ... the same thing until task is created.              */ 
        OS_EXIT_CRITICAL(); 
        psp = (OS_STK *)OSTaskStkInit(task, p_arg, ptos, 0);    /* Initialize the task's stack         */ 
        err = OS_TCBInit(prio, psp, (OS_STK *)0, 0, 0, (void *)0, 0); 
        if (err == OS_NO_ERR) { 
            OS_ENTER_CRITICAL(); 
            OSTaskCtr++;                                        /* Increment the #tasks counter        */ 
            OS_EXIT_CRITICAL(); 
            if (OSRunning == TRUE) {         /* Find highest priority task if multitasking has started */ 
                OS_Sched(); 
            } 
        } else { 
            OS_ENTER_CRITICAL(); 
            OSTCBPrioTbl[prio] = (OS_TCB *)0;/* Make this priority available to others                 */ 
            OS_EXIT_CRITICAL(); 
        } 
        return (err); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_PRIO_EXIST); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                     CREATE A TASK (Extended Version) 
* 
* Description: This function is used to have uC/OS-II manage the execution of a task.  Tasks can either 
*              be created prior to the start of multitasking or by a running task.  A task cannot be 
*              created by an ISR.  This function is similar to OSTaskCreate() except that it allows 
*              additional information about a task to be specified. 
* 
* Arguments  : task     is a pointer to the task's code 
* 
*              p_arg    is a pointer to an optional data area which can be used to pass parameters to 
*                       the task when the task first executes.  Where the task is concerned it thinks 
*                       it was invoked and passed the argument 'p_arg' as follows: 
* 
*                           void Task (void *p_arg) 
*                           { 
*                               for (;;) { 
*                                   Task code; 
*                               } 
*                           } 
* 
*              ptos     is a pointer to the task's top of stack.  If the configuration constant 
*                       OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high 
*                       memory to low memory).  'ptos' will thus point to the highest (valid) memory 
*                       location of the stack.  If OS_STK_GROWTH is set to 0, 'ptos' will point to the 
*                       lowest memory location of the stack and the stack will grow with increasing 
*                       memory locations.  'ptos' MUST point to a valid 'free' data item. 
* 
*              prio     is the task's priority.  A unique priority MUST be assigned to each task and the 
*                       lower the number, the higher the priority. 
* 
*              id       is the task's ID (0..65535) 
* 
*              pbos     is a pointer to the task's bottom of stack.  If the configuration constant 
*                       OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high 
*                       memory to low memory).  'pbos' will thus point to the LOWEST (valid) memory 
*                       location of the stack.  If OS_STK_GROWTH is set to 0, 'pbos' will point to the 
*                       HIGHEST memory location of the stack and the stack will grow with increasing 
*                       memory locations.  'pbos' MUST point to a valid 'free' data item. 
* 
*              stk_size is the size of the stack in number of elements.  If OS_STK is set to INT8U, 
*                       'stk_size' corresponds to the number of bytes available.  If OS_STK is set to 
*                       INT16U, 'stk_size' contains the number of 16-bit entries available.  Finally, if 
*                       OS_STK is set to INT32U, 'stk_size' contains the number of 32-bit entries 
*                       available on the stack. 
* 
*              pext     is a pointer to a user supplied memory location which is used as a TCB extension. 
*                       For example, this user memory can hold the contents of floating-point registers 
*                       during a context switch, the time each task takes to execute, the number of times 
*                       the task has been switched-in, etc. 
* 
*              opt      contains additional information (or options) about the behavior of the task.  The 
*                       LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application 
*                       specific.  See OS_TASK_OPT_??? in uCOS-II.H. 
* 
* Returns    : OS_NO_ERR        if the function was successful. 
*              OS_PRIO_EXIT     if the task priority already exist 
*                               (each task MUST have a unique priority). 
*              OS_PRIO_INVALID  if the priority you specify is higher that the maximum allowed 
*                               (i.e. > OS_LOWEST_PRIO) 
********************************************************************************************************* 
*/ 
/*$PAGE*/ 
#if OS_TASK_CREATE_EXT_EN > 0 
INT8U  OSTaskCreateExt (void   (*task)(void *pd), 
                        void    *p_arg, 
                        OS_STK  *ptos, 
                        INT8U    prio, 
                        INT16U   id, 
                        OS_STK  *pbos, 
                        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_STK    *psp; 
    INT8U      err; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO) {             /* Make sure priority is within allowable range           */ 
        return (OS_PRIO_INVALID); 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority  */ 
        OSTCBPrioTbl[prio] = (OS_TCB *)1;    /* Reserve the priority to prevent others from doing ...  */ 
                                             /* ... the same thing until task is created.              */ 
        OS_EXIT_CRITICAL(); 
 
        OS_TaskStkClr(pbos, stk_size, opt);                    /* Clear the task stack (if needed)     */ 
 
        psp = (OS_STK *)OSTaskStkInit(task, p_arg, ptos, opt); /* Initialize the task's stack          */ 
        err = OS_TCBInit(prio, psp, pbos, id, stk_size, pext, opt); 
        if (err == OS_NO_ERR) { 
            OS_ENTER_CRITICAL(); 
            OSTaskCtr++;                                       /* Increment the #tasks counter         */ 
            OS_EXIT_CRITICAL(); 
            if (OSRunning == TRUE) {                           /* Find HPT if multitasking has started */ 
                OS_Sched(); 
            } 
        } else { 
            OS_ENTER_CRITICAL(); 
            OSTCBPrioTbl[prio] = (OS_TCB *)0;                  /* Make this priority avail. to others  */ 
            OS_EXIT_CRITICAL(); 
        } 
        return (err); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_PRIO_EXIST); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            DELETE A TASK 
* 
* Description: This function allows you to delete a task.  The calling task can delete itself by 
*              its own priority number.  The deleted task is returned to the dormant state and can be 
*              re-activated by creating the deleted task again. 
* 
* Arguments  : prio    is the priority of the task to delete.  Note that you can explicitely delete 
*                      the current task without knowing its priority level by setting 'prio' to 
*                      OS_PRIO_SELF. 
* 
* Returns    : OS_NO_ERR           if the call is successful 
*              OS_TASK_DEL_IDLE    if you attempted to delete uC/OS-II's idle task 
*              OS_PRIO_INVALID     if the priority you specify is higher that the maximum allowed 
*                                  (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF. 
*              OS_TASK_DEL_ERR     if the task you want to delete does not exist 
*              OS_TASK_DEL_ISR     if you tried to delete a task from an ISR 
* 
* Notes      : 1) To reduce interrupt latency, OSTaskDel() 'disables' the task: 
*                    a) by making it not ready 
*                    b) by removing it from any wait lists 
*                    c) by preventing OSTimeTick() from making the task ready to run. 
*                 The task can then be 'unlinked' from the miscellaneous structures in uC/OS-II. 
*              2) The function OS_Dummy() is called after OS_EXIT_CRITICAL() because, on most processors, 
*                 the next instruction following the enable interrupt instruction is ignored.   
*              3) An ISR cannot delete a task. 
*              4) The lock nesting counter is incremented because, for a brief instant, if the current 
*                 task is being deleted, the current task would not be able to be rescheduled because it 
*                 is removed from the ready list.  Incrementing the nesting counter prevents another task 
*                 from being schedule.  This means that an ISR would return to the current task which is 
*                 being deleted.  The rest of the deletion would thus be able to be completed. 
********************************************************************************************************* 
*/ 
/*$PAGE*/ 
#if OS_TASK_DEL_EN > 0 
INT8U  OSTaskDel (INT8U prio) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR     cpu_sr; 
#endif 
 
#if OS_EVENT_EN > 0 
    OS_EVENT     *pevent; 
#endif     
#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0) 
    OS_FLAG_NODE *pnode; 
#endif 
    OS_TCB       *ptcb; 
	INT8U         y; 
 
 
 
    if (OSIntNesting > 0) {                                     /* See if trying to delete from ISR    */ 
        return (OS_TASK_DEL_ISR); 
    } 
#if OS_ARG_CHK_EN > 0 
    if (prio == OS_IDLE_PRIO) {                                 /* Not allowed to delete idle task     */ 
        return (OS_TASK_DEL_IDLE); 
    } 
    if (prio >= OS_LOWEST_PRIO && prio != OS_PRIO_SELF) {       /* Task priority valid ?               */ 
        return (OS_PRIO_INVALID); 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (prio == OS_PRIO_SELF) {                                 /* See if requesting to delete self    */ 
        prio = OSTCBCur->OSTCBPrio;                             /* Set priority to delete to current   */ 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb != (OS_TCB *)0) {                                  /* Task to delete must exist           */ 
	    y            =  ptcb->OSTCBY; 
		OSRdyTbl[y] &= ~ptcb->OSTCBBitX; 
        if (OSRdyTbl[y] == 0x00) {                              /* Make task not ready                 */ 
            OSRdyGrp &= ~ptcb->OSTCBBitY; 
        } 
#if OS_EVENT_EN > 0 
        pevent = ptcb->OSTCBEventPtr; 
        if (pevent != (OS_EVENT *)0) {                          /* If task is waiting on event         */ 
		    pevent->OSEventTbl[y] &= ~ptcb->OSTCBBitX; 
            if (pevent->OSEventTbl[y] == 0) {                   /* ... remove task from ...            */ 
                pevent->OSEventGrp &= ~ptcb->OSTCBBitY;         /* ... event ctrl block                */ 
            } 
        } 
#endif 
#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0) 
        pnode = ptcb->OSTCBFlagNode; 
        if (pnode != (OS_FLAG_NODE *)0) {                       /* If task is waiting on event flag    */ 
            OS_FlagUnlink(pnode);                               /* Remove from wait list               */ 
        } 
#endif 
        ptcb->OSTCBDly  = 0;                                    /* Prevent OSTimeTick() from updating  */ 
        ptcb->OSTCBStat = OS_STAT_RDY;                          /* Prevent task from being resumed     */ 
		if (OSLockNesting < 255u) { 
            OSLockNesting++; 
		} 
        OS_EXIT_CRITICAL();                                     /* Enabling INT. ignores next instruc. */ 
        OS_Dummy();                                             /* ... Dummy ensures that INTs will be */ 
        OS_ENTER_CRITICAL();                                    /* ... disabled HERE!                  */ 
		if (OSLockNesting > 0) { 
            OSLockNesting--; 
		} 
        OSTaskDelHook(ptcb);                                    /* Call user defined hook              */ 
        OSTaskCtr--;                                            /* One less task being managed         */ 
        OSTCBPrioTbl[prio] = (OS_TCB *)0;                       /* Clear old priority entry            */ 
        if (ptcb->OSTCBPrev == (OS_TCB *)0) {                   /* Remove from TCB chain               */ 
            ptcb->OSTCBNext->OSTCBPrev = (OS_TCB *)0; 
            OSTCBList                  = ptcb->OSTCBNext; 
        } else { 
            ptcb->OSTCBPrev->OSTCBNext = ptcb->OSTCBNext; 
            ptcb->OSTCBNext->OSTCBPrev = ptcb->OSTCBPrev; 
        } 
        ptcb->OSTCBNext   = OSTCBFreeList;                      /* Return TCB to free TCB list         */ 
        OSTCBFreeList     = ptcb; 
#if OS_TASK_NAME_SIZE > 1 
        ptcb->OSTCBTaskName[0] = '?';                           /* Unknown name                        */ 
        ptcb->OSTCBTaskName[1] = OS_ASCII_NUL; 
#endif 
        OS_EXIT_CRITICAL(); 
        OS_Sched();                                             /* Find new highest priority task      */ 
        return (OS_NO_ERR); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_TASK_DEL_ERR); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                    REQUEST THAT A TASK DELETE ITSELF 
* 
* Description: This function is used to: 
*                   a) notify a task to delete itself. 
*                   b) to see if a task requested that the current task delete itself. 
*              This function is a little tricky to understand.  Basically, you have a task that needs 
*              to be deleted however, this task has resources that it has allocated (memory buffers, 
*              semaphores, mailboxes, queues etc.).  The task cannot be deleted otherwise these 
*              resources would not be freed.  The requesting task calls OSTaskDelReq() to indicate that 
*              the task needs to be deleted.  Deleting of the task is however, deferred to the task to 
*              be deleted.  For example, suppose that task #10 needs to be deleted.  The requesting task 
*              example, task #5, would call OSTaskDelReq(10).  When task #10 gets to execute, it calls 
*              this function by specifying OS_PRIO_SELF and monitors the returned value.  If the return 
*              value is OS_TASK_DEL_REQ, another task requested a task delete.  Task #10 would look like 
*              this: 
* 
*                   void Task(void *p_arg) 
*                   { 
*                       . 
*                       . 
*                       while (1) { 
*                           OSTimeDly(1); 
*                           if (OSTaskDelReq(OS_PRIO_SELF) == OS_TASK_DEL_REQ) { 
*                               Release any owned resources; 
*                               De-allocate any dynamic memory; 
*                               OSTaskDel(OS_PRIO_SELF); 
*                           } 
*                       } 
*                   } 
* 
* Arguments  : prio    is the priority of the task to request the delete from 
* 
* Returns    : OS_NO_ERR          if the task exist and the request has been registered 
*              OS_TASK_NOT_EXIST  if the task has been deleted.  This allows the caller to know whether 
*                                 the request has been executed. 
*              OS_TASK_DEL_IDLE   if you requested to delete uC/OS-II's idle task 
*              OS_PRIO_INVALID    if the priority you specify is higher that the maximum allowed 
*                                 (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF. 
*              OS_TASK_DEL_REQ    if a task (possibly another task) requested that the running task be 
*                                 deleted. 
********************************************************************************************************* 
*/ 
/*$PAGE*/ 
#if OS_TASK_DEL_EN > 0 
INT8U  OSTaskDelReq (INT8U prio) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    BOOLEAN    stat; 
    INT8U      err; 
    OS_TCB    *ptcb; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio == OS_IDLE_PRIO) {                                 /* Not allowed to delete idle task     */ 
        return (OS_TASK_DEL_IDLE); 
    } 
    if (prio >= OS_LOWEST_PRIO) {						        /* Task priority valid ?               */ 
        if (prio != OS_PRIO_SELF) {                        
            return (OS_PRIO_INVALID); 
		} 
    } 
#endif 
    if (prio == OS_PRIO_SELF) {                                 /* See if a task is requesting to ...  */ 
        OS_ENTER_CRITICAL();                                    /* ... this task to delete itself      */ 
        stat = OSTCBCur->OSTCBDelReq;                           /* Return request status to caller     */ 
        OS_EXIT_CRITICAL(); 
        return (stat); 
    } 
    OS_ENTER_CRITICAL(); 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb != (OS_TCB *)0) {                                  /* Task to delete must exist           */ 
        ptcb->OSTCBDelReq = OS_TASK_DEL_REQ;                    /* Set flag indicating task to be DEL. */ 
        err               = OS_NO_ERR; 
    } else { 
        err               = OS_TASK_NOT_EXIST;                  /* Task must be deleted                */ 
    } 
    OS_EXIT_CRITICAL(); 
    return (err); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        GET THE NAME OF A TASK 
* 
* Description: This function is called to obtain the name of a task. 
* 
* Arguments  : prio      is the priority of the task that you want to obtain the name from. 
* 
*              pname     is a pointer to an ASCII string that will receive the name of the task.  The  
*                        string must be able to hold at least OS_TASK_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_TASK_NOT_EXIST          if the task has not been created 
*                        OS_PRIO_INVALID            if you specified an invalid priority: 
*                                                   A higher value than the idle task or not OS_PRIO_SELF. 
*                        OS_ERR_PNAME_NULL          You passed a NULL pointer for 'pname' 
* 
* Returns    : The length of the string or 0 if the task does not exist. 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_NAME_SIZE > 1 
INT8U  OSTaskNameGet (INT8U prio, char *pname, INT8U *err) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    OS_TCB    *ptcb; 
    INT8U      len; 
 
 
    OS_ENTER_CRITICAL(); 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO && prio != OS_PRIO_SELF) {        /* Task priority valid ?               */ 
        *err = OS_PRIO_INVALID;                                 /* No                                  */ 
        return (0); 
    } 
    if (pname == (char *)0) {                    /* Is 'pname' a NULL pointer?                         */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PNAME_NULL; 
        return (0); 
    } 
#endif 
    if (prio == OS_PRIO_SELF) {                  /* See if caller desires it's own name                */ 
        prio = OSTCBCur->OSTCBPrio; 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                        /* Does task exist?                              */ 
        OS_EXIT_CRITICAL();                           /* No                                            */ 
        *err = OS_TASK_NOT_EXIST; 
        return (0); 
    } 
    len  = OS_StrCopy(pname, ptcb->OSTCBTaskName);    /* Yes, copy name from TCB                       */ 
    OS_EXIT_CRITICAL(); 
    *err = OS_NO_ERR; 
    return (len); 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        ASSIGN A NAME TO A TASK 
* 
* Description: This function is used to set the name of a task. 
* 
* Arguments  : prio      is the priority of the task that you want the assign a name to. 
* 
*              pname     is a pointer to an ASCII string that contains the name of the task.  The ASCII 
*                        string must be NUL terminated. 
* 
*              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_TASK_NOT_EXIST          if the task has not been created 
*                        OS_ERR_TASK_NAME_TOO_LONG  if the name you are giving to the task exceeds the  
*                                                   storage capacity of a task name as specified by  
*                                                   OS_TASK_NAME_SIZE. 
*                        OS_ERR_PNAME_NULL          You passed a NULL pointer for 'pname' 
*                        OS_PRIO_INVALID            if you specified an invalid priority: 
*                                                   A higher value than the idle task or not OS_PRIO_SELF. 
* 
* Returns    : None 
********************************************************************************************************* 
*/ 
#if OS_TASK_NAME_SIZE > 1 
void  OSTaskNameSet (INT8U prio, char *pname, INT8U *err) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    INT8U      len; 
    OS_TCB    *ptcb; 
 
 
    OS_ENTER_CRITICAL(); 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO) {                 /* Task priority valid ?                              */ 
        if (prio != OS_PRIO_SELF) {               
            *err = OS_PRIO_INVALID;              /* No                                                 */ 
            return; 
        } 
    } 
    if (pname == (char *)0) {                    /* Is 'pname' a NULL pointer?                         */ 
        OS_EXIT_CRITICAL();                      /* Yes                                                */ 
        *err = OS_ERR_PNAME_NULL; 
        return; 
    } 
#endif 
    if (prio == OS_PRIO_SELF) {                  /* See if caller desires to set it's own name         */ 
        prio = OSTCBCur->OSTCBPrio; 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                   /* Does task exist?                                   */ 
        OS_EXIT_CRITICAL();                      /* No                                                 */ 
        *err = OS_TASK_NOT_EXIST; 
        return; 
    } 
    len = OS_StrLen(pname);                          /* Yes, Can we fit the string in the TCB?         */ 
    if (len > (OS_TASK_NAME_SIZE - 1)) {             /*      No                                        */ 
        OS_EXIT_CRITICAL(); 
        *err = OS_ERR_TASK_NAME_TOO_LONG; 
        return; 
    }  
    (void)OS_StrCopy(ptcb->OSTCBTaskName, pname);    /*      Yes, copy to TCB                          */ 
    OS_EXIT_CRITICAL(); 
    *err = OS_NO_ERR; 
} 
#endif 
 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        RESUME A SUSPENDED TASK 
* 
* Description: This function is called to resume a previously suspended task.  This is the only call that 
*              will remove an explicit task suspension. 
* 
* Arguments  : prio     is the priority of the task to resume. 
* 
* Returns    : OS_NO_ERR                if the requested task is resumed 
*              OS_PRIO_INVALID          if the priority you specify is higher that the maximum allowed 
*                                       (i.e. >= OS_LOWEST_PRIO) 
*              OS_TASK_RESUME_PRIO      if the task to resume does not exist 
*              OS_TASK_NOT_SUSPENDED    if the task to resume has not been suspended 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_SUSPEND_EN > 0 
INT8U  OSTaskResume (INT8U prio) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    OS_TCB    *ptcb; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio >= OS_LOWEST_PRIO) {                               /* Make sure task priority is valid    */ 
        return (OS_PRIO_INVALID); 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                                  /* Task to suspend must exist          */ 
        OS_EXIT_CRITICAL(); 
        return (OS_TASK_RESUME_PRIO); 
    } 
    if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) != OS_STAT_RDY) {   /* Task must be suspended              */ 
        ptcb->OSTCBStat &= ~OS_STAT_SUSPEND;					/* Remove suspension                   */ 
        if (ptcb->OSTCBStat == OS_STAT_RDY) {                       
            if (ptcb->OSTCBDly  == 0) {                         /* Must not be delayed                 */ 
                OSRdyGrp               |= ptcb->OSTCBBitY;      /* Make task ready to run              */ 
                OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX; 
                OS_EXIT_CRITICAL(); 
                OS_Sched(); 
			} else { 
			    OS_EXIT_CRITICAL(); 
			} 
        } else { 
            OS_EXIT_CRITICAL(); 
        } 
        return (OS_NO_ERR); 
    } 
    OS_EXIT_CRITICAL(); 
    return (OS_TASK_NOT_SUSPENDED); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                             STACK CHECKING 
* 
* Description: This function is called to check the amount of free memory left on the specified task's 
*              stack. 
* 
* Arguments  : prio          is the task priority 
* 
*              p_stk_data    is a pointer to a data structure of type OS_STK_DATA. 
* 
* Returns    : OS_NO_ERR           upon success 
*              OS_PRIO_INVALID     if the priority you specify is higher that the maximum allowed 
*                                  (i.e. > OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF. 
*              OS_TASK_NOT_EXIST   if the desired task has not been created 
*              OS_TASK_OPT_ERR     if you did NOT specified OS_TASK_OPT_STK_CHK when the task was created 
********************************************************************************************************* 
*/ 
#if OS_TASK_CREATE_EXT_EN > 0 
INT8U  OSTaskStkChk (INT8U prio, OS_STK_DATA *p_stk_data) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    OS_TCB    *ptcb; 
    OS_STK    *pchk; 
    INT32U     free; 
    INT32U     size; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO) {					   /* Make sure task priority is valid             */ 
        if (prio != OS_PRIO_SELF) {         
            return (OS_PRIO_INVALID); 
        } 
    } 
#endif 
    p_stk_data->OSFree = 0;                            /* Assume failure, set to 0 size                */ 
    p_stk_data->OSUsed = 0; 
    OS_ENTER_CRITICAL(); 
    if (prio == OS_PRIO_SELF) {                        /* See if check for SELF                        */ 
        prio = OSTCBCur->OSTCBPrio; 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                         /* Make sure task exist                         */ 
        OS_EXIT_CRITICAL(); 
        return (OS_TASK_NOT_EXIST); 
    } 
    if (ptcb == (OS_TCB *)1) { 
        OS_EXIT_CRITICAL(); 
        return (OS_TASK_NOT_EXIST); 
    }   
    if ((ptcb->OSTCBOpt & OS_TASK_OPT_STK_CHK) == 0) { /* Make sure stack checking option is set       */ 
        OS_EXIT_CRITICAL(); 
        return (OS_TASK_OPT_ERR); 
    } 
    free = 0; 
    size = ptcb->OSTCBStkSize; 
    pchk = ptcb->OSTCBStkBottom; 
    OS_EXIT_CRITICAL(); 
#if OS_STK_GROWTH == 1 
    while (*pchk++ == (OS_STK)0) {                    /* Compute the number of zero entries on the stk */ 
        free++; 
    } 
#else 
    while (*pchk-- == (OS_STK)0) { 
        free++; 
    } 
#endif 
    p_stk_data->OSFree = free * sizeof(OS_STK);           /* Compute number of free bytes on the stack */ 
    p_stk_data->OSUsed = (size - free) * sizeof(OS_STK);  /* Compute number of bytes used on the stack */ 
    return (OS_NO_ERR); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            SUSPEND A TASK 
* 
* Description: This function is called to suspend a task.  The task can be the calling task if the 
*              priority passed to OSTaskSuspend() is the priority of the calling task or OS_PRIO_SELF. 
* 
* Arguments  : prio     is the priority of the task to suspend.  If you specify OS_PRIO_SELF, the 
*                       calling task will suspend itself and rescheduling will occur. 
* 
* Returns    : OS_NO_ERR                if the requested task is suspended 
*              OS_TASK_SUSPEND_IDLE     if you attempted to suspend the idle task which is not allowed. 
*              OS_PRIO_INVALID          if the priority you specify is higher that the maximum allowed 
*                                       (i.e. >= OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF. 
*              OS_TASK_SUSPEND_PRIO     if the task to suspend does not exist 
* 
* Note       : You should use this function with great care.  If you suspend a task that is waiting for 
*              an event (i.e. a message, a semaphore, a queue ...) you will prevent this task from 
*              running when the event arrives. 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_SUSPEND_EN > 0 
INT8U  OSTaskSuspend (INT8U prio) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    BOOLEAN    self; 
    OS_TCB    *ptcb; 
	INT8U      y; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio == OS_IDLE_PRIO) {                                 /* Not allowed to suspend idle task    */ 
        return (OS_TASK_SUSPEND_IDLE); 
    } 
    if (prio >= OS_LOWEST_PRIO) {								/* Task priority valid ?               */ 
        if (prio != OS_PRIO_SELF) { 
            return (OS_PRIO_INVALID); 
        } 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (prio == OS_PRIO_SELF) {                                 /* See if suspend SELF                 */ 
        prio = OSTCBCur->OSTCBPrio; 
        self = TRUE; 
    } else if (prio == OSTCBCur->OSTCBPrio) {                   /* See if suspending self              */ 
        self = TRUE; 
    } else { 
        self = FALSE;                                           /* No suspending another task          */ 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                                  /* Task to suspend must exist          */ 
        OS_EXIT_CRITICAL(); 
        return (OS_TASK_SUSPEND_PRIO); 
    } 
	y            = ptcb->OSTCBY; 
	OSRdyTbl[y] &= ~ptcb->OSTCBBitX;							/* Make task not ready                 */ 
    if (OSRdyTbl[y] == 0x00) {  
        OSRdyGrp &= ~ptcb->OSTCBBitY; 
    } 
    ptcb->OSTCBStat |= OS_STAT_SUSPEND;                         /* Status of task is 'SUSPENDED'       */ 
    OS_EXIT_CRITICAL(); 
    if (self == TRUE) {                                         /* Context switch only if SELF         */ 
        OS_Sched(); 
    } 
    return (OS_NO_ERR); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                            QUERY A TASK 
* 
* Description: This function is called to obtain a copy of the desired task's TCB. 
* 
* Arguments  : prio         is the priority of the task to obtain information from. 
* 
*              p_task_data  is a pointer to where the desired task's OS_TCB will be stored. 
* 
* Returns    : OS_NO_ERR       if the requested task is suspended 
*              OS_PRIO_INVALID if the priority you specify is higher that the maximum allowed 
*                              (i.e. > OS_LOWEST_PRIO) or, you have not specified OS_PRIO_SELF. 
*              OS_PRIO_ERR     if the desired task has not been created 
********************************************************************************************************* 
*/ 
 
#if OS_TASK_QUERY_EN > 0 
INT8U  OSTaskQuery (INT8U prio, OS_TCB *p_task_data) 
{ 
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */ 
    OS_CPU_SR  cpu_sr; 
#endif 
    OS_TCB    *ptcb; 
 
 
#if OS_ARG_CHK_EN > 0 
    if (prio > OS_LOWEST_PRIO) {				 /* Task priority valid ?    	                       */ 
        if (prio != OS_PRIO_SELF) {    
            return (OS_PRIO_INVALID); 
        } 
    } 
#endif 
    OS_ENTER_CRITICAL(); 
    if (prio == OS_PRIO_SELF) {                  /* See if suspend SELF                                */ 
        prio = OSTCBCur->OSTCBPrio; 
    } 
    ptcb = OSTCBPrioTbl[prio]; 
    if (ptcb == (OS_TCB *)0) {                   /* Task to query must exist                           */ 
        OS_EXIT_CRITICAL(); 
        return (OS_PRIO_ERR); 
    } 
                                                 /* Copy TCB into user storage area                    */ 
    OS_MemCopy((INT8U *)p_task_data, (INT8U *)ptcb, sizeof(OS_TCB));   
    OS_EXIT_CRITICAL(); 
    return (OS_NO_ERR); 
} 
#endif 
/*$PAGE*/ 
/* 
********************************************************************************************************* 
*                                        CLEAR TASK STACK 
* 
* Description: This function is used to clear the stack of a task (i.e. write all zeros) 
* 
* Arguments  : pbos     is a pointer to the task's bottom of stack.  If the configuration constant 
*                       OS_STK_GROWTH is set to 1, the stack is assumed to grow downward (i.e. from high 
*                       memory to low memory).  'pbos' will thus point to the lowest (valid) memory 
*                       location of the stack.  If OS_STK_GROWTH is set to 0, 'pbos' will point to the 
*                       highest memory location of the stack and the stack will grow with increasing 
*                       memory locations.  'pbos' MUST point to a valid 'free' data item. 
* 
*              size     is the number of 'stack elements' to clear. 
* 
*              opt      contains additional information (or options) about the behavior of the task.  The 
*                       LOWER 8-bits are reserved by uC/OS-II while the upper 8 bits can be application 
*                       specific.  See OS_TASK_OPT_??? in uCOS-II.H. 
* 
* Returns    : none 
********************************************************************************************************* 
*/ 
#if OS_TASK_CREATE_EXT_EN > 0 
void  OS_TaskStkClr (OS_STK *pbos, INT32U size, INT16U opt) 
{ 
    if ((opt & OS_TASK_OPT_STK_CHK) != 0x0000) {       /* See if stack checking has been enabled       */ 
        if ((opt & OS_TASK_OPT_STK_CLR) != 0x0000) {   /* See if stack needs to be cleared             */ 
#if OS_STK_GROWTH == 1                      
            while (size > 0) {                         /* Stack grows from HIGH to LOW memory          */ 
                size--; 
                *pbos++ = (OS_STK)0;                   /* Clear from bottom of stack and up!           */ 
            } 
#else 
            while (size > 0) {                         /* Stack grows from LOW to HIGH memory          */ 
                size--; 
                *pbos-- = (OS_STK)0;                   /* Clear from bottom of stack and down          */ 
            } 
#endif 
        } 
    } 
} 
 
#endif