建立一个AVR的RTOS(5)—完善的协作式的内核
现在为上面的协作式内核添加一些OS中所必须的服务:
1、挂起和重新运行任务
2、信号量(在必要时候,可以扩展成邮箱和信息队列)
3、延时
#include avr/io.h>
#include
#include
unsigned char Stack[400];
register unsigned char OSRdyTbl asm("r2"); //任务运行就绪表
register unsigned char OSTaskRunningPrio asm("r3"); //正在运行的任务
#define OS_TASKS 3 //设定运行任务的数量
struct TaskCtrBlock
{
unsigned int OSTaskStackTop; //保存任务的堆栈顶
unsigned int OSWaitTick; //任务延时时钟
} TCB[OS_TASKS+1];
//防止被编译器占用
register unsigned char tempR4 asm("r4");
register unsigned char tempR5 asm("r5");
register unsigned char tempR6 asm("r6");
register unsigned char tempR7 asm("r7");
register unsigned char tempR8 asm("r8");
register unsigned char tempR9 asm("r9");
register unsigned char tempR10 asm("r10");
register unsigned char tempR11 asm("r11");
register unsigned char tempR12 asm("r12");
register unsigned char tempR13 asm("r13");
register unsigned char tempR14 asm("r14");
register unsigned char tempR15 asm("r15");
register unsigned char tempR16 asm("r16");
register unsigned char tempR16 asm("r17");
//建立任务
void OSTaskCreate(void (*Task)(void),unsigned char *Stack,unsigned char TaskID)
{
unsigned char i;
*Stack--=(unsigned int)Task>>8; //将任务的地址高位压入堆栈,
*Stack--=(unsigned int)Task; //将任务的地址低位压入堆栈,
*Stack--=0x00; //R1 __zero_reg__
*Stack--=0x00; //R0 __tmp_reg__
*Stack--=0x80;
//SREG在任务中,开启全局中断
for(i=0;i<14;i++) //在avr-libc中的FAQ中的What registers are used by the C compiler?
*Stack--=i; //描述了寄存器的作用
TCB[TaskID].OSTaskStackTop=(unsigned int)Stack; //将人工堆栈的栈顶,保存到堆栈的数组中
OSRdyTbl|=0x01 } //开始任务调度,从最低优先级的任务的开始 void OSStartTask() { OSTaskRunningPrio=OS_TASKS; SP=TCB[OS_TASKS].OSTaskStackTop+17; __asm__ __volatile__( "reti" "\n\t" ); } //进行任务调度 void OSSched(void) { //根据中断时保存寄存器的次序入栈,模拟一次中断后,入栈的情况 __asm__ __volatile__("PUSH __zero_reg__ \n\t"); //R1 __asm__ __volatile__("PUSH __tmp_reg__ \n\t"); //R0 __asm__ __volatile__("IN __tmp_reg__,__SREG__ \n\t"); //保存状态寄存器SREG __asm__ __volatile__("PUSH __tmp_reg__ \n\t"); __asm__ __volatile__("CLR __zero_reg__ \n\t"); //R0重新清零 __asm__ __volatile__("PUSH R18 \n\t"); __asm__ __volatile__("PUSH R19 \n\t"); __asm__ __volatile__("PUSH R20 \n\t"); __asm__ __volatile__("PUSH R21 \n\t"); __asm__ __volatile__("PUSH R22 \n\t"); __asm__ __volatile__("PUSH R23 \n\t"); __asm__ __volatile__("PUSH R24 \n\t"); __asm__ __volatile__("PUSH R25 \n\t"); __asm__ __volatile__("PUSH R26 \n\t"); __asm__ __volatile__("PUSH R27 \n\t"); __asm__ __volatile__("PUSH R30 \n\t"); __asm__ __volatile__("PUSH R31 \n\t"); __asm__ __volatile__("PUSH R28 \n\t"); //R28与R29用于建立在堆栈上的指针 __asm__ __volatile__("PUSH R29 \n\t"); //入栈完成 TCB[OSTaskRunningPrio].OSTaskStackTop=SP; //将正在运行的任务的堆栈底保存 unsigned char OSNextTaskID; //在现有堆栈上开设新的空间 for (OSNextTaskID = 0; //进行任务调度 OSNextTaskID < OS_TASKS && !(OSRdyTbl & (0x01 OSNextTaskID++); OSTaskRunningPrio = OSNextTaskID ; cli(); //保护堆栈转换 SP=TCB[OSTaskRunningPrio].OSTaskStackTop; sei(); //根据中断时的出栈次序 __asm__ __volatile__("POP R29 \n\t"); __asm__ __volatile__("POP R28 \n\t"); __asm__ __volatile__("POP R31 \n\t"); __asm__ __volatile__("POP R30 \n\t"); __asm__ __volatile__("POP R27 \n\t"); __asm__ __volatile__("POP R26 \n\t"); __asm__ __volatile__("POP R25 \n\t"); __asm__ __volatile__("POP R24 \n\t"); __asm__ __volatile__("POP R23 \n\t"); __asm__ __volatile__("POP R22 \n\t"); __asm__ __volatile__("POP R21 \n\t"); __asm__ __volatile__("POP R20 \n\t"); __asm__ __volatile__("POP R19 \n\t"); __asm__ __volatile__("POP R18 \n\t"); __asm__ __volatile__("POP __tmp_reg__ \n\t"); /
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