ucos实时系统--不支持时间片轮训版本 SysTick 配置分析

目的：看看ucos中SysTick的中断优先级配置情况。

关于 SysTick  定时器的 说明参见我的另一个文章。--STM32F10XXXX---SysTick滴答定时器

在系统启动多任务后的第一个任务TaskStart中（即调用过OSStart()函数后），

先初始化BSP(Board Support Package)板级支持包：

1. 设定RCC(复位和实时时钟控制)外设，对系统时钟源进行设置
2. 初始化系统驱动程序；

然后调用OS_CPU_SysTickInit()完成对系统Tick的设定。

先上程序：

os_cpu_c.c中的相关宏定义

/*
*********************************************************************************************************
*                                          SYS TICK DEFINES
*********************************************************************************************************
*/

#define  OS_CPU_CM3_NVIC_ST_CTRL    (*((volatile INT32U *)0xE000E010))   /* SysTick Ctrl & Status Reg. */
#define  OS_CPU_CM3_NVIC_ST_RELOAD  (*((volatile INT32U *)0xE000E014))   /* SysTick Reload  Value Reg. */
#define  OS_CPU_CM3_NVIC_ST_CURRENT (*((volatile INT32U *)0xE000E018))   /* SysTick Current Value Reg. */
#define  OS_CPU_CM3_NVIC_ST_CAL     (*((volatile INT32U *)0xE000E01C))   /* SysTick Cal     Value Reg. *///SysTick校准值寄存器

#define  OS_CPU_CM3_NVIC_ST_CTRL_COUNT                    0x00010000     /* Count flag.                */
#define  OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC                  0x00000004     /* Clock Source.              */
#define  OS_CPU_CM3_NVIC_ST_CTRL_INTEN                    0x00000002     /* Interrupt enable.          */
#define  OS_CPU_CM3_NVIC_ST_CTRL_ENABLE                   0x00000001     /* Counter mode.              */

SysTick设置：

/*
*********************************************************************************************************
*                                          OS_CPU_SysTickInit()
*
* Description: Initialize the SysTick.
*
* Arguments  : none.
*
* Note(s)    : 1) This function MUST be called after OSStart() & after processor initialization.
*********************************************************************************************************
*/

void  OS_CPU_SysTickInit (void)
{
    INT32U  cnts;

    //通过已经设置的RCC_ClocksTypeDef的HCLK_Frequency时钟频率 如：72M
    cnts = OS_CPU_SysTickClkFreq() / OS_TICKS_PER_SEC; //<span style="font-family: Arial, Helvetica, sans-serif;">OS_TICKS_PER_SEC设置为1000</span>


    OS_CPU_CM3_NVIC_ST_RELOAD = (cnts - 1); //得到的值写入 Systick 重装载数值寄存器
                                                 /* Enable timer.                                      */
    OS_CPU_CM3_NVIC_ST_CTRL  |= OS_CPU_CM3_NVIC_ST_CTRL_CLK_SRC | OS_CPU_CM3_NVIC_ST_CTRL_ENABLE;
                                                 /* Enable timer interrupt.                            */
    OS_CPU_CM3_NVIC_ST_CTRL  |= OS_CPU_CM3_NVIC_ST_CTRL_INTEN;
}

上边的SysTick外设的宏定义中的注释可能有错误：

OS_CPU_CM3_NVIC_ST_CTRL_INTEN  ：SysTick一定是向下计数的模式，该位决定----当事件到来时，是否发出异常请求。

OS_CPU_CM3_NVIC_ST_CTRL_ENABLE：定时器使能。

OS_CPU_SysTickInit实现功能：

• SysTick自动重装载值寄存器 填充；
• SysTick控制状态寄存器设置：选择内核时钟(FCLK)、定时器使能、事件到达触发异常

SysTick异常处理程序：

/*
*********************************************************************************************************
*                                         OS_CPU_SysTickHandler()
*
* Description: Handle the system tick (SysTick) interrupt, which is used to generate the uC/OS-II tick
*              interrupt.
*
* Arguments  : none.
*
* Note(s)    : 1) This function MUST be placed on entry 15 of the Cortex-M3 vector table.
*********************************************************************************************************
*/

void  OS_CPU_SysTickHandler (void)
{
    OS_CPU_SR  cpu_sr;


    OS_ENTER_CRITICAL();                         /* Tell uC/OS-II that we are starting an ISR          */
    OSIntNesting++;
    OS_EXIT_CRITICAL();

    OSTimeTick();                                /* Call uC/OS-II's OSTimeTick()                       */

    OSIntExit();                                 /* Tell uC/OS-II that we are leaving the ISR          */
}

先OSIntNesting++;Tell uC/OS-II我们正在开始一个ISR终端服务程序。

后OSTimeTick(); 目的是在时钟节拍到来时，检查每个任务的任务控制块中的.OSTCBDly-1后是否为0，如果是，那么表明这个任务刚才是挂起的状态，此时应改变为就绪态

最后是OSIntExit(); ---OS_SchedNew();调度发生

说说OSTimeTick(); 

任务状态图如下：

先弄几个宏定义

OS_EXT  BOOLEAN           OSRunning;                       /* Flag indicating that kernel is running   */

#if OS_TICK_STEP_EN > 0
OS_EXT  INT8U             OSTickStepState;          /* Indicates the state of the tick step feature    */
#endif

/*
*********************************************************************************************************
*                                   Values for OSTickStepState
*
* Note(s): This feature is used by uC/OS-View.
*********************************************************************************************************
*/

#if OS_TICK_STEP_EN > 0
#define  OS_TICK_STEP_DIS             0u    /* Stepping is disabled, tick runs as mormal               */
#define  OS_TICK_STEP_WAIT            1u    /* Waiting for uC/OS-View to set OSTickStepState to _ONCE  */
#define  OS_TICK_STEP_ONCE            2u    /* Process tick once and wait for next cmd from uC/OS-View */
#endif

#define  OS_TASK_IDLE_PRIO  (OS_LOWEST_PRIO)            /* IDLE      task priority

/*
*********************************************************************************************************
*                              TASK STATUS (Bit definition for OSTCBStat)
*********************************************************************************************************
*/
#define  OS_STAT_RDY               0x00u    /* Ready to run                                            */
#define  OS_STAT_SEM               0x01u    /* Pending on semaphore                                    */
#define  OS_STAT_MBOX              0x02u    /* Pending on mailbox                                      */
#define  OS_STAT_Q                 0x04u    /* Pending on queue                                        */
#define  OS_STAT_SUSPEND           0x08u    /* Task is suspended                                       */
#define  OS_STAT_MUTEX             0x10u    /* Pending on mutual exclusion semaphore                   */
#define  OS_STAT_FLAG              0x20u    /* Pending on event flag group                             */
#define  OS_STAT_MULTI             0x80u    /* Pending on multiple events                              */

#define  OS_STAT_PEND_ANY         (OS_STAT_SEM | OS_STAT_MBOX | OS_STAT_Q | OS_STAT_MUTEX | OS_STAT_FLAG)

/*
*********************************************************************************************************
*                           TASK PEND STATUS (Status codes for OSTCBStatPend)
*********************************************************************************************************
*/
#define  OS_STAT_PEND_OK              0u    /* Pending status OK, not pending, or pending complete     */
#define  OS_STAT_PEND_TO              1u    /* Pending timed out                                       */
#define  OS_STAT_PEND_ABORT           2u    /* Pending aborted                                         */

OSTimeTick(); 

/*
*********************************************************************************************************
*                                         PROCESS SYSTEM TICK
*
* Description: This function is used to signal to uC/OS-II the occurrence of a 'system tick' (also known
*              as a 'clock tick').  This function should be called by the ticker ISR but, can also be
*              called by a high priority task.
*
* Arguments  : none
*
* Returns    : none
*********************************************************************************************************
*/

void  OSTimeTick (void)
{
    OS_TCB    *ptcb;
#if OS_TICK_STEP_EN > 0
    BOOLEAN    step;
#endif
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register     */
    OS_CPU_SR  cpu_sr = 0;
#endif



#if OS_TIME_TICK_HOOK_EN > 0
    OSTimeTickHook();                                      /* Call user definable hook                     */
#endif
#if OS_TIME_GET_SET_EN > 0
    OS_ENTER_CRITICAL();                                   /* Update the 32-bit tick counter               */
    OSTime++;
    OS_EXIT_CRITICAL();
#endif
    if (OSRunning == OS_TRUE) {
#if OS_TICK_STEP_EN > 0
        switch (OSTickStepState) {                         /* Determine whether we need to process a tick  */
            case OS_TICK_STEP_DIS:                         /* Yes, stepping is disabled                    */
                 step = OS_TRUE;
                 break;

            case OS_TICK_STEP_WAIT:                        /* No,  waiting for uC/OS-View to set ...       */
                 step = OS_FALSE;                          /*      .. OSTickStepState to OS_TICK_STEP_ONCE */
                 break;

            case OS_TICK_STEP_ONCE:                        /* Yes, process tick once and wait for next ... */
                 step            = OS_TRUE;                /*      ... step command from uC/OS-View        */
                 OSTickStepState = OS_TICK_STEP_WAIT;
                 break;

            default:                                       /* Invalid case, correct situation              */
                 step            = OS_TRUE;
                 OSTickStepState = OS_TICK_STEP_DIS;
                 break;
        }
        if (step == OS_FALSE) {                            /* Return if waiting for step command           */
            return;
        }
#endif
        ptcb = OSTCBList;                                  /* Point at first TCB in TCB list               */
        while (ptcb->OSTCBPrio != OS_TASK_IDLE_PRIO) {     /* Go through all TCBs in TCB list//遍历              */
            OS_ENTER_CRITICAL();
            if (ptcb->OSTCBDly != 0) {                     /* No, Delayed or waiting for event with TO     */
                if (--ptcb->OSTCBDly == 0) {               /* Decrement nbr of ticks to end of delay       */
                                                           /* Check for timeout                            */
                    if ((ptcb->OSTCBStat & OS_STAT_PEND_ANY) != OS_STAT_RDY) {//不为就绪态，置成就绪态
                        ptcb->OSTCBStat  &= ~(INT8U)OS_STAT_PEND_ANY;          /* Yes, Clear status flag  就绪态OS_STAT_RDY */
                        ptcb->OSTCBStatPend = OS_STAT_PEND_TO;                 /* Indicate PEND timeout 挂起状态设置为挂起超时<span style="font-family: Arial, Helvetica, sans-serif;">OS_STAT_PEND_TO</span>   */
                    } else {
                        ptcb->OSTCBStatPend = OS_STAT_PEND_OK;//否则挂起状态OK
                    }

                    if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) {  /* Is task suspended?   任务暂停？    */
                        OSRdyGrp               |= ptcb->OSTCBBitY;             /* No,  Make ready  不是暂停，将它就绪        */
                        OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
                    }
                }
            }
            ptcb = ptcb->OSTCBNext;                        /* Point at next TCB in TCB list                */
            OS_EXIT_CRITICAL();
        }
    }
}

OSIntExit();

---待续，,,,