449 lines
9.7 KiB
C
449 lines
9.7 KiB
C
/******************************************************************************
|
||
|
||
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 <stdio.h>
|
||
#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 unsigned int 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);
|
||
}
|
||
|
||
|