1021 lines
20 KiB
C
1021 lines
20 KiB
C
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#include <stdio.h>
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#include <stdarg.h>
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#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
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#include "FreeRTOS.h"
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#include "message_buffer.h"
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#include "task.h"
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#include "rtos.h"
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#include "xm_base.h"
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#include "rtc.h"
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extern volatile uint32_t ulPortInterruptNesting;
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OS_GLOBAL OS_Global;
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void XM_lock (void)
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{
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OS_IncDI();
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}
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void XM_unlock (void)
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{
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OS_DecRI();
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}
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void OS_InitKern (void)
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{
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}
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void OS_INIT_SYS_LOCKS (void)
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{
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}
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void OS_CreateTaskEx ( OS_TASK * pTask,
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OS_CREATE_TASK_PARA_NAME
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OS_U8 Priority,
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void (*pRoutine)(void *),
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void OS_STACKPTR *pStack,
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OS_UINT StackSize
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OS_CREATE_TASK_PARA_TS,
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void * pContext
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)
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{
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int priority;
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TaskFunction_t pvTaskCode = (TaskFunction_t)pRoutine;
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TaskHandle_t handle;
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StackSize /= sizeof(StackType_t);
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priority = Priority;
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priority -= 224;
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if(priority < 0)
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priority = 0;
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else if(priority > configMAX_PRIORITIES )
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priority = configMAX_PRIORITIES - 1;
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vTaskSuspendAll ();
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//XM_printf ("sizeof(pTask->task) = %d\n", sizeof(pTask->task));
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handle = xTaskCreateStatic
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(pvTaskCode, // TaskFunction_t pvTaskCode,
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Name, // const char * const pcName,
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StackSize, // uint32_t ulStackDepth
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pContext, // void *pvParameters,
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priority, // UBaseType_t uxPriority,
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pStack, // StackType_t * const puxStackBuffer,
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&pTask->task // StaticTask_t * const pxTaskBuffer
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);
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if(handle)
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{
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pTask->id = RTOS_ID_TASK;
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pTask->handle = handle;
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vTaskSetApplicationTaskTag(handle, (TaskHookFunction_t)pTask);
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}
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xTaskResumeAll ();
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if(handle == NULL)
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{
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OS_Error (OS_ERR_STACK);
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}
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}
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void OS_CreateTask ( OS_TASK * pTask,
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OS_ROM_DATA const char* Name,
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OS_U8 Priority,
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void (*pRoutine)(void),
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void OS_STACKPTR *pStack,
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OS_UINT StackSize
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OS_CREATE_TASK_PARA_TS
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)
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{
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int priority;
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TaskFunction_t pvTaskCode = (TaskFunction_t)pRoutine;
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TaskHandle_t handle;
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StackSize /= sizeof(StackType_t);
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priority = Priority;
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priority -= 224;
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if(priority < 0)
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priority = 0;
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else if(priority > configMAX_PRIORITIES )
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priority = configMAX_PRIORITIES - 1;
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vTaskSuspendAll ();
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//XM_printf ("sizeof(pTask->task) = %d\n", sizeof(pTask->task));
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handle = xTaskCreateStatic
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(pvTaskCode, // TaskFunction_t pvTaskCode,
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Name, // const char * const pcName,
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StackSize, // uint32_t ulStackDepth
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NULL, // void *pvParameters,
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priority, // UBaseType_t uxPriority,
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pStack, // StackType_t * const puxStackBuffer,
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&pTask->task // StaticTask_t * const pxTaskBuffer
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);
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if(handle)
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{
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pTask->id = RTOS_ID_TASK;
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pTask->handle = handle;
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vTaskSetApplicationTaskTag(handle, (TaskHookFunction_t)pTask);
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}
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xTaskResumeAll ();
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if(handle == NULL)
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{
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OS_Error (OS_ERR_STACK);
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}
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}
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void OS_Terminate (OS_TASK* pTask)
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{
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TaskHandle_t handle;
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if(pTask == NULL)
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{
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pTask = OS_GetpCurrentTask();
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pTask->id = 0;
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pTask->handle = 0;
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vTaskDelete(NULL);
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}
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else
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{
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if(pTask->id != RTOS_ID_TASK)
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{
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OS_Error (OS_ERR_INV_TASK);
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return;
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}
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handle = pTask->handle;
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pTask->id = 0;
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pTask->handle = 0;
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vTaskDelete(handle);
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}
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}
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void OS_Delay (int ms)
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{
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vTaskDelay(ms/portTICK_RATE_MS);
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//while(ms--);
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}
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OS_TASK* OS_GetpCurrentTask (void)
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{
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OS_TASK *pTask = (OS_TASK *)xTaskGetApplicationTaskTag(NULL);
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if(pTask == NULL || pTask->id != RTOS_ID_TASK)
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{
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OS_Error (OS_ERR_INV_TASK);
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return NULL;
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}
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return pTask;
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}
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unsigned char OS_GetPriority (OS_TASK* pTask)
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{
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int priority;
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TaskHandle_t handle = 0;
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if(pTask && pTask->id != RTOS_ID_TASK)
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{
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OS_Error (OS_ERR_INV_TASK);
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return 0;
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}
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if(pTask)
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handle = pTask->handle;
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priority = (unsigned char)uxTaskPriorityGet (handle);
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priority += 224; // 0 ~ 32
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if(priority > 255)
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priority = 255;
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return (unsigned char)priority;
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}
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void OS_SetPriority (OS_TASK* pTask, unsigned char Priority)
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{
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int priority;
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TaskHandle_t handle = 0;
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if(pTask && pTask->id != RTOS_ID_TASK)
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{
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OS_Error (OS_ERR_INV_TASK);
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return;
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}
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priority = Priority;
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priority -= 224;
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if(priority < 0)
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priority = 0;
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else if(priority > configMAX_PRIORITIES )
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priority = configMAX_PRIORITIES - 1;
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if(pTask)
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handle = pTask->handle;
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vTaskPrioritySet(handle, priority);
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}
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#include <stdlib.h>
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void* OS_malloc(unsigned int n)
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{
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char *mem = (char *)pvPortMalloc(n);
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if(mem)
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{
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//memset (mem, 0, n);
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}
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return mem;
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}
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void OS_free (void* pMemBlock)
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{
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vPortFree (pMemBlock);
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}
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void* OS_realloc (void * pv, unsigned int n )
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{
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return pvPortRealloc (pv, n);
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}
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void OS_CREATERSEMA (OS_RSEMA* pRSema)
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{
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SemaphoreHandle_t handle;
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if(pRSema == NULL)
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return;
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}
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if(pRSema->id == RTOS_ID_RSEMA)
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{
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OS_Error (OS_ERR_2USE_RSEMA);
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return;
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}
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vTaskSuspendAll ();
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handle = xSemaphoreCreateRecursiveMutexStatic(&pRSema->sema);
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if(handle)
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{
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pRSema->handle = handle;
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pRSema->id = RTOS_ID_RSEMA;
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}
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xTaskResumeAll ();
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if(handle == NULL)
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return;
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}
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}
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void OS_DeleteRSema (OS_RSEMA* pRSema)
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{
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if(pRSema == NULL || pRSema->id != RTOS_ID_RSEMA || pRSema->handle == NULL)
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{
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OS_Error (OS_ERR_RSEMA_DELETE);
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return;
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}
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vTaskSuspendAll ();
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vSemaphoreDelete(pRSema->handle);
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pRSema->handle = NULL;
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pRSema->id = 0;
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xTaskResumeAll ();
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}
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int OS_Use (OS_RSEMA* pRSema)
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{
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if(pRSema == NULL || pRSema->id != RTOS_ID_RSEMA)
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return -1;
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}
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if(xSemaphoreTakeRecursive( pRSema->handle, portMAX_DELAY) == pdPASS)
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return 1;
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else
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return -1;
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}
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}
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void OS_Unuse (OS_RSEMA* pRSema)
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{
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if(pRSema == NULL || pRSema->id != RTOS_ID_RSEMA)
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return;
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}
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if(xSemaphoreGiveRecursive(pRSema->handle) != pdPASS)
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{
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OS_Error (OS_ERR_UNUSE_BEFORE_USE);
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}
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}
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// Requests a specified semaphore and blocks it for other tasks if it is available. Continues execution in any case.
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// 1: Resource was available, now in use by calling task
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// 0: Resource was not available.
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char OS_Request (OS_RSEMA* pRSema)
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{
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if(pRSema == NULL || pRSema->id != RTOS_ID_RSEMA)
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{
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OS_Error (OS_ERR_INV_RSEMA);
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return 0;
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}
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if(xSemaphoreTakeRecursive(pRSema->handle, 0) == pdPASS)
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return 1;
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else
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return 0;
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}
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void OS_CreateCSema (OS_CSEMA* pCSema, OS_UINT InitValue)
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{
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SemaphoreHandle_t handle;
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if(pCSema == NULL)
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{
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OS_Error (OS_ERR_INV_CSEMA);
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return;
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}
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memset (pCSema, 0, sizeof(OS_CSEMA));
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// <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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vTaskSuspendAll ();
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handle = xSemaphoreCreateCountingStatic( 0xFFFFFFFF, InitValue, &pCSema->sema);
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if(handle)
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{
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pCSema->handle = handle;
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pCSema->id = RTOS_ID_CSEMA;
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}
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// ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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xTaskResumeAll ();
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if(handle == NULL)
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{
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OS_Error (OS_ERR_INV_CSEMA);
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return;
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}
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}
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void OS_DeleteCSema (OS_CSEMA* pCSema)
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{
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SemaphoreHandle_t handle;
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if(pCSema == NULL)
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{
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OS_Error (OS_ERR_INV_CSEMA);
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return;
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}
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if(pCSema->id != RTOS_ID_CSEMA || pCSema->handle == NULL)
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{
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OS_Error (OS_ERR_INV_CSEMA);
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return;
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}
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// <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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vTaskSuspendAll ();
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handle = pCSema->handle;
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pCSema->id = 0;
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pCSema->handle = 0;
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vSemaphoreDelete (handle);
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// ʹ<><CAB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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xTaskResumeAll ();
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}
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void OS_WaitCSema (OS_CSEMA* pCSema)
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{
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if(pCSema == NULL || pCSema->id != RTOS_ID_CSEMA || pCSema->handle == NULL)
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{
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OS_Error (OS_ERR_INV_CSEMA);
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return;
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}
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|
|
if(xSemaphoreTake(pCSema->handle, portMAX_DELAY) == pdFAIL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_CSEMA);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int OS_WaitCSemaTimed (OS_CSEMA* pCSema, int TimeOut)
|
|||
|
|
{
|
|||
|
|
if(pCSema == NULL || pCSema->id != RTOS_ID_CSEMA || pCSema->handle == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_CSEMA);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
if(xSemaphoreTake(pCSema->handle, TimeOut) == pdFAIL)
|
|||
|
|
{
|
|||
|
|
//printf ("OS_WaitCSemaTimed failed\n");
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// printf ("OS_WaitCSemaTimed 0x%08x OK\n", pCSema);
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Increments the counter of a semaphore.
|
|||
|
|
void OS_SignalCSema (OS_CSEMA * pCSema)
|
|||
|
|
{
|
|||
|
|
BaseType_t ret = pdFAIL;
|
|||
|
|
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
// <20><><EFBFBD>жϳ<D0B6><CFB3><EFBFBD><EFBFBD>е<EFBFBD><D0B5><EFBFBD>
|
|||
|
|
if(pCSema && pCSema->id == RTOS_ID_CSEMA)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
ret = xSemaphoreGiveFromISR(pCSema->handle, &xHigherPriorityTaskWoken);
|
|||
|
|
if(ret == pdTRUE)
|
|||
|
|
{
|
|||
|
|
//XM_printf ("OS_SignalCSema 0x%08x\n", pCSema);
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
//XM_printf ("OS_SignalCSema failed\n");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
//XM_printf ("OS_SignalCSema error\n");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
vTaskSuspendAll ();
|
|||
|
|
if(pCSema && pCSema->id == RTOS_ID_CSEMA)
|
|||
|
|
{
|
|||
|
|
ret = xSemaphoreGive(pCSema->handle);
|
|||
|
|
}
|
|||
|
|
xTaskResumeAll ();
|
|||
|
|
}
|
|||
|
|
if(ret == pdFAIL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int OS_GetCSemaValue (OS_CSEMA* pCSema)
|
|||
|
|
{
|
|||
|
|
if(pCSema == NULL || pCSema->id != RTOS_ID_CSEMA || pCSema->handle == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_CSEMA);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
return uxSemaphoreGetCount (pCSema->handle);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 0: If the value could be set.
|
|||
|
|
// != 0: In case of error.
|
|||
|
|
int OS_SetCSemaValue (OS_CSEMA* pCSema, OS_UINT Value)
|
|||
|
|
{
|
|||
|
|
while(Value)
|
|||
|
|
{
|
|||
|
|
OS_SignalCSema (pCSema);
|
|||
|
|
Value --;
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
// Waits for one of the events specified in the bitmask and clears the event memory after an event occurs.
|
|||
|
|
char OS_WaitEvent (char EventMask)
|
|||
|
|
{
|
|||
|
|
uint32_t pulNotificationValue;
|
|||
|
|
while(1)
|
|||
|
|
{
|
|||
|
|
if(xTaskNotifyWait(0, (unsigned char)0xffffffff, &pulNotificationValue, portMAX_DELAY) == pdTRUE)
|
|||
|
|
{
|
|||
|
|
// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
if(pulNotificationValue & EventMask)
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// <20>쳣
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
return (char)(pulNotificationValue & EventMask);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Waits for one of the events specified by the bitmask and clears only that event after it occurs.
|
|||
|
|
char OS_WaitSingleEvent (char EventMask)
|
|||
|
|
{
|
|||
|
|
unsigned int mask;
|
|||
|
|
int i;
|
|||
|
|
uint32_t events = 0;
|
|||
|
|
uint32_t pulNotificationValue = 0;
|
|||
|
|
uint32_t event_to_write_back = 0; // <20><>д<EFBFBD>¼<EFBFBD>
|
|||
|
|
uint32_t event_to_write_back_mask = (uint8_t)(~EventMask);
|
|||
|
|
while(1)
|
|||
|
|
{
|
|||
|
|
if(xTaskNotifyWait(0, (unsigned char)0xffffffff, &pulNotificationValue, portMAX_DELAY) == pdTRUE)
|
|||
|
|
{
|
|||
|
|
pulNotificationValue |= pulNotificationValue & event_to_write_back_mask;
|
|||
|
|
// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD><C2BC>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
events = pulNotificationValue & EventMask;
|
|||
|
|
if(events)
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// <20>쳣
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// <20><>bit0<74><30>ʼɨ<CABC><C9A8>, bit0~bit7
|
|||
|
|
mask = 0x01;
|
|||
|
|
for (i = 0; i < 8; i ++)
|
|||
|
|
{
|
|||
|
|
if(events & mask)
|
|||
|
|
{
|
|||
|
|
events &= ~mask;
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
mask = mask << 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
event_to_write_back |= events;
|
|||
|
|
|
|||
|
|
// <20><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ڻ<EFBFBD>д<EFBFBD><D0B4><EFBFBD>¼<EFBFBD>
|
|||
|
|
if(event_to_write_back)
|
|||
|
|
{
|
|||
|
|
xTaskNotify(xTaskGetCurrentTaskHandle(), event_to_write_back, eSetBits);
|
|||
|
|
}
|
|||
|
|
return (char)(pulNotificationValue & mask);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_SignalEvent (char Event, OS_TASK* pTask)
|
|||
|
|
{
|
|||
|
|
BaseType_t ret = pdFAIL;
|
|||
|
|
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
if(pTask && pTask->id == RTOS_ID_TASK)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
ret = xTaskNotifyFromISR(pTask->handle, (unsigned char)Event, eSetBits, &xHigherPriorityTaskWoken);
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
vTaskSuspendAll ();
|
|||
|
|
if(pTask && pTask->id == RTOS_ID_TASK)
|
|||
|
|
{
|
|||
|
|
ret = xTaskNotify(pTask->handle, (unsigned char)Event, eSetBits);
|
|||
|
|
}
|
|||
|
|
xTaskResumeAll ();
|
|||
|
|
}
|
|||
|
|
if(ret == pdFAIL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// <20><><EFBFBD>º<EFBFBD><C2BA><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD>Ӱ<EFBFBD>쵱ǰ<ECB5B1><C7B0>Ŀ<EFBFBD><C4BF>ʹ<EFBFBD><CAB9>.
|
|||
|
|
// <20>ٶ<EFBFBD>pTaskΪ<6B><CEAA>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>
|
|||
|
|
char OS_GetEventsOccurred (OS_TASK* pTask)
|
|||
|
|
{
|
|||
|
|
uint32_t ulNotifiedValue = 0;
|
|||
|
|
if(pTask)
|
|||
|
|
{
|
|||
|
|
if(pTask->id != RTOS_ID_TASK)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
// <20>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>
|
|||
|
|
if(pTask->handle != xTaskGetCurrentTaskHandle())
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
xTaskNotifyWait(0, 0, &ulNotifiedValue, 0);
|
|||
|
|
return (char)ulNotifiedValue;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// <20><><EFBFBD>º<EFBFBD><C2BA><EFBFBD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD>Ӱ<EFBFBD>쵱ǰ<ECB5B1><C7B0>Ŀ<EFBFBD><C4BF>ʹ<EFBFBD><CAB9>.
|
|||
|
|
// Returns the actual state of events and then clears the events of a specified task.
|
|||
|
|
char OS_ClearEvents (OS_TASK* pTask)
|
|||
|
|
{
|
|||
|
|
if(pTask == NULL || pTask->id != RTOS_ID_TASK)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TASK);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
xTaskNotifyStateClear(pTask->handle);
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_Start (void)
|
|||
|
|
{
|
|||
|
|
configASSERT(OS_DICnt == 1);
|
|||
|
|
OS_DICnt = 0;
|
|||
|
|
vTaskStartScheduler ();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EnterRegion (void)
|
|||
|
|
{
|
|||
|
|
XM_lock ();
|
|||
|
|
//configASSERT(ulPortInterruptNesting == 0);
|
|||
|
|
//taskENTER_CRITICAL ();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_LeaveRegion (void)
|
|||
|
|
{
|
|||
|
|
//configASSERT(ulPortInterruptNesting == 0);
|
|||
|
|
//taskEXIT_CRITICAL ();
|
|||
|
|
XM_unlock ();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int OS_GetTime (void)
|
|||
|
|
{
|
|||
|
|
return xTaskGetTickCount ();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
unsigned int OS_GetTime32 (void)
|
|||
|
|
{
|
|||
|
|
return xTaskGetTickCount ();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_CreateTimer (OS_TIMER* pTimer, OS_TIMERROUTINE* Callback, OS_TIME Timeout)
|
|||
|
|
{
|
|||
|
|
TimerHandle_t handle;
|
|||
|
|
if(pTimer == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(pTimer->id == RTOS_ID_TIMER)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_2USE_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
handle = xTimerCreateStatic (NULL, Timeout, 0, 0, (TimerCallbackFunction_t)Callback, &pTimer->timer);
|
|||
|
|
if(handle)
|
|||
|
|
{
|
|||
|
|
pTimer->id = RTOS_ID_TIMER;
|
|||
|
|
pTimer->handle = handle;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_DeleteTimer (OS_TIMER* pTimer)
|
|||
|
|
{
|
|||
|
|
TimerHandle_t handle;
|
|||
|
|
if(pTimer == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(pTimer->id != RTOS_ID_TIMER)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
handle = pTimer->handle;
|
|||
|
|
pTimer->id = 0;
|
|||
|
|
pTimer->handle = 0;
|
|||
|
|
xTimerDelete (handle, portMAX_DELAY);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_StartTimer (OS_TIMER* pTimer)
|
|||
|
|
{
|
|||
|
|
if(pTimer == NULL || pTimer->id != RTOS_ID_TIMER)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
if( xTimerStartFromISR( pTimer->handle, &xHigherPriorityTaskWoken ) == pdPASS )
|
|||
|
|
{
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
xTimerStart (pTimer->handle, portMAX_DELAY);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_StopTimer (OS_TIMER* pTimer)
|
|||
|
|
{
|
|||
|
|
if(pTimer == NULL || pTimer->id != RTOS_ID_TIMER)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
if(xTimerStopFromISR( pTimer->handle, &xHigherPriorityTaskWoken) == pdPASS)
|
|||
|
|
{
|
|||
|
|
if(xHigherPriorityTaskWoken != pdFALSE)
|
|||
|
|
{
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
xTimerStop (pTimer->handle, portMAX_DELAY);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_RetriggerTimer (OS_TIMER* pTimer)
|
|||
|
|
{
|
|||
|
|
if(pTimer == NULL || pTimer->id != RTOS_ID_TIMER)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_TIMER);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
if( xTimerStartFromISR( pTimer->handle, &xHigherPriorityTaskWoken ) == pdPASS )
|
|||
|
|
{
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
xTimerStart (pTimer->handle, portMAX_DELAY);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EVENT_Create (OS_EVENT* pEvent)
|
|||
|
|
{
|
|||
|
|
EventGroupHandle_t handle;
|
|||
|
|
if(pEvent == NULL || pEvent->id == RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
handle = xEventGroupCreateStatic(&pEvent->event);
|
|||
|
|
pEvent->handle = handle;
|
|||
|
|
pEvent->id = RTOS_ID_EVENT;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EVENT_Delete (OS_EVENT* pEvent)
|
|||
|
|
{
|
|||
|
|
if(pEvent == NULL || pEvent->id != RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
pEvent->id = 0;
|
|||
|
|
vEventGroupDelete (pEvent->handle);
|
|||
|
|
pEvent->handle = 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EVENT_Wait (OS_EVENT* pEvent)
|
|||
|
|
{
|
|||
|
|
if(pEvent == NULL || pEvent->id != RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
// ʹ<><CAB9>bit0ģ<30><C4A3>OS_EVENT
|
|||
|
|
xEventGroupWaitBits( pEvent->handle, 0x01, pdTRUE, pdFALSE, portMAX_DELAY);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 0: Success, the event was signaled within the specified time.
|
|||
|
|
// 1: The event was not signaled and a timeout occurred.
|
|||
|
|
char OS_EVENT_WaitTimed (OS_EVENT* pEvent, OS_TIME Timeout)
|
|||
|
|
{
|
|||
|
|
if(pEvent == NULL || pEvent->id != RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
// ʹ<><CAB9>bit0ģ<30><C4A3>OS_EVENT
|
|||
|
|
if(xEventGroupWaitBits( pEvent->handle, 0x01, pdTRUE, pdFALSE, Timeout) & 0x01)
|
|||
|
|
return 0;
|
|||
|
|
else
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EVENT_Reset (OS_EVENT* pEvent)
|
|||
|
|
{
|
|||
|
|
if(pEvent == NULL || pEvent->id != RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
xEventGroupClearBits (pEvent->handle, 0x01);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_EVENT_Set (OS_EVENT* pEvent)
|
|||
|
|
{
|
|||
|
|
if(pEvent == NULL || pEvent->id != RTOS_ID_EVENT)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_EVENTOBJ_INV);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(ulPortInterruptNesting)
|
|||
|
|
{
|
|||
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|||
|
|
if(xEventGroupSetBitsFromISR( pEvent->handle, 0x01, &xHigherPriorityTaskWoken) == pdPASS)
|
|||
|
|
{
|
|||
|
|
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
//XM_printf ("OS_EVENT_Set failed\n");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
xEventGroupSetBits (pEvent->handle, 0x01);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
void OS_CREATEMB (OS_MAILBOX* pMB, unsigned char sizeofMsg, unsigned int maxnofMsg, void* pMsg)
|
|||
|
|
{
|
|||
|
|
MessageBufferHandle_t handle;
|
|||
|
|
unsigned int size;
|
|||
|
|
if(pMB == NULL || pMsg == NULL || sizeofMsg*maxnofMsg == 0)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(pMB->id == RTOS_ID_MAILBOX)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_2USE_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
size = sizeofMsg * maxnofMsg;
|
|||
|
|
if(size < 4)
|
|||
|
|
{
|
|||
|
|
// special one MB
|
|||
|
|
handle = xMessageBufferCreateStatic(sizeof(pMB->min_msg), (uint8_t *)pMB->min_msg, &pMB->message);
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
// <20><><EFBFBD><EFBFBD>Ϊ4<CEAA>ֽڵı<DAB5><C4B1><EFBFBD>
|
|||
|
|
if(size & 3)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
handle = xMessageBufferCreateStatic(sizeofMsg * maxnofMsg, pMsg, &pMB->message);
|
|||
|
|
}
|
|||
|
|
pMB->handle = handle;
|
|||
|
|
pMB->id = RTOS_ID_MAILBOX;
|
|||
|
|
pMB->size = sizeofMsg;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Clears all messages in a specified mailbox
|
|||
|
|
void OS_ClearMB (OS_MAILBOX* pMB)
|
|||
|
|
{
|
|||
|
|
if(pMB == NULL || pMB->id != RTOS_ID_MAILBOX || pMB->handle == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(xMessageBufferReset(pMB->handle) == pdFAIL)
|
|||
|
|
{
|
|||
|
|
//OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
char OS_GetMailTimed (OS_MAILBOX* pMB, void* pDest, OS_TIME Timeout)
|
|||
|
|
{
|
|||
|
|
size_t length;
|
|||
|
|
if(pMB == NULL || pMB->id != RTOS_ID_MAILBOX || pMB->handle == NULL || pDest == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
length = xMessageBufferReceive(pMB->handle, pDest, pMB->size, Timeout);
|
|||
|
|
if(length == pMB->size)
|
|||
|
|
return 0;
|
|||
|
|
else
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_PutMail (OS_MAILBOX* pMB, void* pMail)
|
|||
|
|
{
|
|||
|
|
if(pMB == NULL || pMB->id != RTOS_ID_MAILBOX || pMB->handle == NULL || pMail == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
configASSERT (ulPortInterruptNesting == 0);
|
|||
|
|
if(xMessageBufferSend(pMB->handle, pMail, pMB->size, portMAX_DELAY) == 0)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_PutMail1 (OS_MAILBOX* pMB, const char* pMail)
|
|||
|
|
{
|
|||
|
|
if(pMB == NULL || pMB->id != RTOS_ID_MAILBOX || pMB->handle == NULL || pMail == NULL)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(pMB->size != 1)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
if(xMessageBufferSend(pMB->handle, pMail, pMB->size, portMAX_DELAY) == 0)
|
|||
|
|
{
|
|||
|
|
OS_Error (OS_ERR_INV_MAILBOX);
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void OS_TICK_Config ( unsigned FractPerInt, unsigned FractPerTick )
|
|||
|
|
{
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
void OS_Error(int ErrCode)
|
|||
|
|
{
|
|||
|
|
#if (DEBUG == 1)
|
|||
|
|
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
printf ("OS_Error CODE: 0x%02x\r\n", ErrCode);
|
|||
|
|
#endif
|
|||
|
|
OS_DICnt = 0; /* Allow interrupts so we can communicate */
|
|||
|
|
OS_EI();
|
|||
|
|
while (1);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void trace_error (char *fmt, ...)
|
|||
|
|
{
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void xm_do_change_task (void)
|
|||
|
|
{
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
#define XM_PRINTF_SIZE 128
|
|||
|
|
void XM_printf (char *fmt, ...)
|
|||
|
|
{
|
|||
|
|
static char xm_info[XM_PRINTF_SIZE + 4];
|
|||
|
|
|
|||
|
|
va_list ap;
|
|||
|
|
xm_info[XM_PRINTF_SIZE] = 0;
|
|||
|
|
va_start(ap, fmt);
|
|||
|
|
//vsprintf (xm_info, fmt, ap);
|
|||
|
|
vsnprintf (xm_info, XM_PRINTF_SIZE, fmt, ap);
|
|||
|
|
va_end(ap);
|
|||
|
|
|
|||
|
|
printf ("%s", xm_info);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void XM_printf_ (char *fmt, ...)
|
|||
|
|
{
|
|||
|
|
va_list ap;
|
|||
|
|
va_start(ap, fmt);
|
|||
|
|
printf(fmt, ap);
|
|||
|
|
va_end(ap);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 时间设置/读取函数
|
|||
|
|
// 返回1表示系统时间已设置
|
|||
|
|
// 返回0表示系统时间未设置，系统返回缺省定义时间
|
|||
|
|
int XM_GetLocalTime (XMSYSTEMTIME* pSystemTime)
|
|||
|
|
{
|
|||
|
|
SystemTime_t t;
|
|||
|
|
iGetLocalTime (&t);
|
|||
|
|
pSystemTime->wDay = t.tm_mday;
|
|||
|
|
pSystemTime->wDayOfWeek = t.tm_wday;
|
|||
|
|
pSystemTime->wHour = t.tm_hour;
|
|||
|
|
pSystemTime->wMilliseconds = 0;
|
|||
|
|
pSystemTime->wMinute = t.tm_min;
|
|||
|
|
pSystemTime->wMonth = t.tm_mon;
|
|||
|
|
pSystemTime->wSecond = t.tm_sec;
|
|||
|
|
pSystemTime->wYear = t.tm_year;
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
// 返回1设置系统时间成功
|
|||
|
|
// 返回0设置系统时间失败
|
|||
|
|
int XM_SetLocalTime (const XMSYSTEMTIME *pSystemTime)
|
|||
|
|
{
|
|||
|
|
SystemTime_t t;
|
|||
|
|
t.tm_mday = pSystemTime->wDay;
|
|||
|
|
t.tm_wday = pSystemTime->wDayOfWeek ;
|
|||
|
|
t.tm_hour = pSystemTime->wHour;
|
|||
|
|
t.tm_min = pSystemTime->wMinute;
|
|||
|
|
t.tm_mon = pSystemTime->wMonth;
|
|||
|
|
t.tm_sec = pSystemTime->wSecond;
|
|||
|
|
t.tm_year = pSystemTime->wYear;
|
|||
|
|
vSetLocalTime (&t);
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
DWORD XM_GetTickCount (void)
|
|||
|
|
{
|
|||
|
|
return OS_GetTime();
|
|||
|
|
}
|