/****************************************************************************** Copyright @2024 - 2044 Shenzhen dcenzix Technology Ltd. ****************************************************************************** @file cola_os.c @brief cola系统 @author xiexiongwu @version V1.0 @date 2024年5月25日 ******************************************************************************/ /*----------------------------------------------* * 包含头文件 * *----------------------------------------------*/ #include #include #include "cola_os.h" #include "s32_core_cm0.h" #if 0 //in keil arm gcc #define disable_irq() __disable_irq() #define enable_irq() __enable_irq() #define OS_CPU_SR uint32_t #define enter_critical() \ do { cpu_sr = __get_PRIMASK(); __disable_irq();} while (0) #define exit_critical() \ do { __set_PRIMASK(cpu_sr);} while (0) #else /* 替换后的中断控制宏 */ #define disable_irq() DISABLE_INTERRUPTS() #define enable_irq() ENABLE_INTERRUPTS() /* 定义临界区保护类型 */ #define OS_CPU_SR uint32_t /* 临界区保护宏（适配GCC） */ #define enter_critical() \ do \ { \ __asm volatile ("mrs %0, primask" : "=r" (cpu_sr)); \ disable_irq(); \ } while (0) #define exit_critical() \ do \ { \ __asm volatile ("msr primask, %0" : : "r" (cpu_sr)); \ } while (0) #endif /*----------------------------------------------* * 宏定义 * *----------------------------------------------*/ #define LIST_HEAD_INIT(name) { 0 } #define TASK_LIST_HEAD(name) \ struct task_s name = LIST_HEAD_INIT(name) #define list_for_each(pos, head) \ for (pos = (head)->next; pos != NULL; pos = pos->next) #define list_for_null(pos, head) \ for (pos = head; pos->next != NULL; pos = pos->next) #define list_for_each_safe(pos, n, head) \ for (pos = (head)->next; pos != NULL; \ n = pos->next,pos = n) #define list_for_each_del(pos, n, head) \ for (n = (head),pos = (head)->next; pos != NULL; \ n = pos,pos = pos->next) #define time_after_eq(a,b) (((int)((a) - (b)) >= 0)) /*----------------------------------------------* * 枚举定义 * *----------------------------------------------*/ /*----------------------------------------------* * 全局变量 * *----------------------------------------------*/ /** \var task_list * \brief 任务队列初始化 */ static TASK_LIST_HEAD(task_list); /** \var jiffies * \brief 计时器 */ volatile uint32_t jiffies = 0; /** \var jiffies * \brief 计时器 */ /*----------------------------------------------* * 函数原型说明 * *----------------------------------------------*/ /* 循环遍历任务链表 */ /** *@brief 循环遍历任务链表 * *@param [in]void *@return void * */ void cola_task_loop(void) { uint32_t events = 0; task_t *cur, *n = NULL ; OS_CPU_SR cpu_sr; list_for_each_safe(cur, n, &task_list) { //检查定时任务是否超时 if ((EN_COLA_TASK_TIMER == cur->taskType) && (cur->start) && (time_after_eq(jiffies, cur->timerTick))) { enter_critical(); cur->run = true; cur->timerTick = jiffies + cur->period; exit_critical(); } if (cur->run) { if ((EN_COLA_TIMER_ONE_SHOT == cur->timerType) && (EN_COLA_TASK_TIMER == cur->taskType)) { cur->start = false; } if (NULL != cur->func) { events = cur->event; if (events) { enter_critical(); cur->event = 0; exit_critical(); } cur->func(cur->usr, events); } if (EN_COLA_TASK_TIMER == cur->taskType) { enter_critical(); cur->run = false; exit_critical(); } } } } /** *@brief 查找任务是否存在 * *@param [in]task_t *task 任务 *@return bool true:任务存在;false:任务不存在 * */ static bool cola_task_is_exists(task_t *task) { task_t *cur ; list_for_each(cur, &task_list) { if (cur->taskNum == task->taskNum) { return true; } } return false; } /** *@brief 创建任务 * *@param [in]task_t *task 任务 *@param [in]cbFunc func 任务回调函数 *@param [in]void *arg 传入参数 *@return bool true:任务创建成功;false:任务创建失败 * */ bool cola_task_create(task_t *task, cbFunc func, void *arg) { task_t *cur ; OS_CPU_SR cpu_sr; enter_critical(); if ((NULL == task) || (cola_task_is_exists(task))) { exit_critical(); return false; } task->taskType = EN_COLA_TASK_TASK; task->start = true; task->run = true; task->func = func; task->event = 0; task->usr = arg; list_for_null(cur, &task_list) { } task->taskNum = cur->taskNum + 1; cur->next = task; task->next = NULL; exit_critical(); return true; } /** *@brief 删除指定任务 * *@param [in]task_t *task 任务 *@return bool true:任务创建成功;false:任务创建失败 * */ bool cola_task_delete(task_t *task) { task_t *cur, *n; OS_CPU_SR cpu_sr; enter_critical(); list_for_each_del(cur, n, &task_list) { if (cur->taskNum == task->taskNum) { n->next = cur->next; exit_critical(); return true; } } exit_critical(); return false; } /** *@brief 定时器任务创建 * *@param [in]task_t *task 任务 *@param [in]cbFunc func 任务回调函数 *@param [in]void *arg 传入参数 *@return bool true:任务创建成功;false:任务创建失败 * */ bool cola_timer_create(task_t *timer, cbFunc func, void *arg) { task_t *cur ; OS_CPU_SR cpu_sr; enter_critical(); if ((NULL == timer) || (cola_task_is_exists(timer))) { exit_critical(); return false; } timer->taskType = EN_COLA_TASK_TIMER; timer->run = false; timer->period = 0; timer->timerType = EN_COLA_TIMER_ONE_SHOT; timer->start = false; timer->timerTick = 0; timer->func = func; timer->event = 0; timer->usr = arg; list_for_null(cur, &task_list) { } timer->taskNum = cur->taskNum + 1; cur->next = timer; timer->next = NULL; exit_critical(); return true; } /** *@brief 定时器任务启动 * *@param [in]task_t *timer 任务 *@param [in]cbFunc func 任务回调函数 *@param [in]void *arg 传入参数 *@return bool true:任务创建成功;false:任务创建失败 * */ bool cola_timer_start(task_t *timer, EN_COLA_TIMER_TYPE time_type, uint32_t time_ms) { task_t *cur ; OS_CPU_SR cpu_sr; enter_critical(); list_for_each(cur, &task_list) { if (cur->taskNum == timer->taskNum) { timer->period = time_ms; timer->timerType = time_type; timer->start = true; timer->timerTick = jiffies + time_ms; timer->taskType = EN_COLA_TASK_TIMER; exit_critical(); return true; } } exit_critical(); return false; } /** *@brief 定时器停止 * *@param [in]task_t *timer 任务 *@return bool true:定时器停止成功;false:定时器停止失败 * */ bool cola_timer_stop(task_t *timer) { task_t *cur; OS_CPU_SR cpu_sr; enter_critical(); list_for_each(cur, &task_list) { if (cur->taskNum == timer->taskNum) { timer->start = false; exit_critical(); return true; } } exit_critical(); return false; } /** *@brief 删除指定定时器任务 * *@param [in]task_t *timer 任务 *@return bool true:定时器删除成功;false:定时器删除失败 * */ bool cola_timer_delete(task_t *timer) { return cola_task_delete(timer); } /** *@brief 定时计数器(uint ms) * *@param void *@return void * */ void cola_timer_ticker(void) { jiffies++; } /** *@brief 获取tick count(uint ms) * *@param void *@return tick count * */ unsigned int cola_get_ticker(void) { return jiffies; } /** *@brief 设置任务事件 * *@param [in]task_t *task 任务 *@param [in]EN_COLA_EVENT_TYPE event 事件 *@return bool true:设置任务成功;false:设置任务失败 * */ bool cola_set_event(task_t *task, uint32_t event) { task_t *cur; OS_CPU_SR cpu_sr; enter_critical(); list_for_each(cur, &task_list) { if (cur->taskNum == task->taskNum) { cur->event |= event; exit_critical(); return true; } } exit_critical(); return false; } /** *@brief 清除任务事件 * *@param [in]task_t *task 任务 *@param [in]EN_COLA_EVENT_TYPE event 事件 *@return bool true:清除任务成功;false:清除任务失败 * */ bool cola_clear_event(task_t *task, uint32_t event) { task_t *cur; OS_CPU_SR cpu_sr; enter_critical(); list_for_each(cur, &task_list) { if (cur->taskNum == task->taskNum) { cur->event &= ~(event); exit_critical(); return true; } } exit_critical(); return false; } /** *@brief 任务延时 * *@param [in]uint32_t ms 任务延时时间 *@return void * */ void cola_delay_ms(uint32_t ms) { unsigned int start = jiffies; while ((jiffies - start) <= ms); }