序言
今天我们一起来看看延迟Post的具体实现机制，我会按照我的学习过程来介绍。
打开OS_IntQPost
函数参数的理解，可以看源码注释，说得很清楚了，我这里主要介绍一些我的疑惑
void OS_IntQPost (OS_OBJ_TYPE type,
void *p_obj,
void *p_void,
OS_MSG_SIZE msg_size,
OS_FLAGS flags,
OS_OPT opt,
CPU_TS ts,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
CPU_CRITICAL_ENTER();
if (OSIntQNbrEntries < OSCfg_IntQSize) { /* Make sure we haven't already filled the ISR queue */
OSIntQNbrEntries++;
if (OSIntQNbrEntriesMax < OSIntQNbrEntries) {
OSIntQNbrEntriesMax = OSIntQNbrEntries;
}
OSIntQInPtr->Type = type; /* Save object type being posted */
OSIntQInPtr->ObjPtr = p_obj; /* Save pointer to object being posted */
OSIntQInPtr->MsgPtr = p_void; /* Save pointer to message if posting to a message queue */
OSIntQInPtr->MsgSize = msg_size; /* Save the message size if posting to a message queue */
OSIntQInPtr->Flags = flags; /* Save the flags if posting to an event flag group */
OSIntQInPtr->Opt = opt; /* Save post options */
OSIntQInPtr->TS = ts; /* Save time stamp */
OSIntQInPtr = OSIntQInPtr->NextPtr; /* Point to the next interrupt handler queue entry */
OSRdyList[0].NbrEntries = (OS_OBJ_QTY)1; /* Make the interrupt handler task ready to run */
OSRdyList[0].HeadPtr = &OSIntQTaskTCB;
OSRdyList[0].TailPtr = &OSIntQTaskTCB;
OS_PrioInsert(0u); /* Add task priority 0 in the priority table */
if (OSPrioCur != 0) { /* Chk if OSIntQTask is not running */
OSPrioSaved = OSPrioCur; /* Save current priority */
}
*p_err = OS_ERR_NONE;
} else {
OSIntQOvfCtr++; /* Count the number of ISR queue overflows */
*p_err = OS_ERR_INT_Q_FULL;
}
CPU_CRITICAL_EXIT();
}
我之前对延迟Post机制的理解是：通过将Post信号这件事情保存在一个队列中，然后由一个OSIntQTask任务来处理这个队列，将队列中的信息重新Post给对应的对象。事实的确如此，只不过我之前的理解过于概念化。下面我将会就代码进行介绍。
我们看上面的代码会发现由很多不懂的地方，比如OSIntQNbrEntries、OSCfg_IntQSize、OSIntQInPtr这三个是什么东西呢，我使用全局查找发现了这样一条代码
OSIntQInPtr = p_int_q_next;
这条代码是来自下面这个函数中
void OS_IntQTaskInit (OS_ERR *p_err)
{
OS_INT_Q *p_int_q;
OS_INT_Q *p_int_q_next;
OS_OBJ_QTY i;
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
OSIntQOvfCtr = (OS_QTY)0u; /* Clear the ISR queue overflow counter */
if (OSCfg_IntQBasePtr == (OS_INT_Q *)0) {
*p_err = OS_ERR_INT_Q;
return;
}
if (OSCfg_IntQSize < (OS_OBJ_QTY)2u) {
*p_err = OS_ERR_INT_Q_SIZE;
return;
}
OSIntQTaskTimeMax = (CPU_TS)0;
p_int_q = OSCfg_IntQBasePtr; /* Initialize the circular ISR queue */
p_int_q_next = p_int_q;
p_int_q_next++;
for (i = 0u; i < OSCfg_IntQSize; i++) {
p_int_q->Type = OS_OBJ_TYPE_NONE;
p_int_q->ObjPtr = (void *)0;
p_int_q->MsgPtr = (void *)0;
p_int_q->MsgSize = (OS_MSG_SIZE)0u;
p_int_q->Flags = (OS_FLAGS )0u;
p_int_q->Opt = (OS_OPT )0u;
p_int_q->NextPtr = p_int_q_next;
p_int_q++;
p_int_q_next++;
}
p_int_q--;
p_int_q_next = OSCfg_IntQBasePtr;
p_int_q->NextPtr = p_int_q_next;
OSIntQInPtr = p_int_q_next;
OSIntQOutPtr = p_int_q_next;
OSIntQNbrEntries = (OS_OBJ_QTY)0u;
OSIntQNbrEntriesMax = (OS_OBJ_QTY)0u;
/* -------------- CREATE THE ISR QUEUE TASK ------------- */
if (OSCfg_IntQTaskStkBasePtr == (CPU_STK *)0) {
*p_err = OS_ERR_INT_Q_STK_INVALID;
return;
}
if (OSCfg_IntQTaskStkSize < OSCfg_StkSizeMin) {
*p_err = OS_ERR_INT_Q_STK_SIZE_INVALID;
return;
}
OSTaskCreate((OS_TCB *)&OSIntQTaskTCB,
(CPU_CHAR *)((void *)"uC/OS-III ISR Queue Task"),
(OS_TASK_PTR )OS_IntQTask,
(void *)0,
(OS_PRIO )0u, /* This task is ALWAYS at priority '0' (i.e. highest) */
(CPU_STK *)OSCfg_IntQTaskStkBasePtr,
(CPU_STK_SIZE)OSCfg_IntQTaskStkLimit,
(CPU_STK_SIZE)OSCfg_IntQTaskStkSize,
(OS_MSG_QTY )0u,
(OS_TICK )0u,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)p_err);
}
我们我们继续阅读这个函数，不久就又会发现不认识的东西OSCfg_IntQBasePtr，我们继续去看看它的定义
OS_INT_Q * const OSCfg_IntQBasePtr = (OS_INT_Q *)&OSCfg_IntQ[0];
到这里，我们发现了一个数组OSCfg_IntQ，这个数组长什么样呢，我们继续往下看
OS_INT_Q OSCfg_IntQ [OS_CFG_INT_Q_SIZE];
这是一个包含OS_CFG_INT_Q_SIZE个OS_INT_Q的数组，那么OS_INT_Q长什么样呢，我们来看看
struct os_int_q {
OS_OBJ_TYPE Type; /* Type of object placed in the circular list */
OS_INT_Q *NextPtr; /* Pointer to next OS_INT_Q in circular list */
void *ObjPtr; /* Pointer to object placed in the queue */
void *MsgPtr; /* Pointer to message if posting to a message queue */
OS_MSG_SIZE MsgSize; /* Message Size if posting to a message queue */
OS_FLAGS Flags; /* Value of flags if posting to an event flag group */
OS_OPT Opt; /* Post Options */
CPU_TS TS; /* Timestamp */
};
就长这个样子，它是用来保存一个Post过程的（向谁Post，Post什么，Post多少，等等）。我们分析到这里就是得到了一个数组，我们调用OS_IntQTaskInit对这个数组进行初始化，并初始化OSIntQXXX这些参数，让它们与这个数组联系起来，之后我们就可以使用OSIntQXXX这些参数了，现在回到OS_IntQPost
void OS_IntQPost (OS_OBJ_TYPE type,
void *p_obj,
void *p_void,
OS_MSG_SIZE msg_size,
OS_FLAGS flags,
OS_OPT opt,
CPU_TS ts,
OS_ERR *p_err)
{
CPU_SR_ALLOC();
#ifdef OS_SAFETY_CRITICAL
if (p_err == (OS_ERR *)0) {
OS_SAFETY_CRITICAL_EXCEPTION();
return;
}
#endif
CPU_CRITICAL_ENTER();
if (OSIntQNbrEntries < OSCfg_IntQSize) { /* Make sure we haven't already filled the ISR queue */
OSIntQNbrEntries++;
if (OSIntQNbrEntriesMax < OSIntQNbrEntries) {
OSIntQNbrEntriesMax = OSIntQNbrEntries;
}
OSIntQInPtr->Type = type; /* Save object type being posted */
OSIntQInPtr->ObjPtr = p_obj; /* Save pointer to object being posted */
OSIntQInPtr->MsgPtr = p_void; /* Save pointer to message if posting to a message queue */
OSIntQInPtr->MsgSize = msg_size; /* Save the message size if posting to a message queue */
OSIntQInPtr->Flags = flags; /* Save the flags if posting to an event flag group */
OSIntQInPtr->Opt = opt; /* Save post options */
OSIntQInPtr->TS = ts; /* Save time stamp */
OSIntQInPtr = OSIntQInPtr->NextPtr; /* Point to the next interrupt handler queue entry */
OSRdyList[0].NbrEntries = (OS_OBJ_QTY)1; /* Make the interrupt handler task ready to run */
OSRdyList[0].HeadPtr = &OSIntQTaskTCB;
OSRdyList[0].TailPtr = &OSIntQTaskTCB;
OS_PrioInsert(0u); /* Add task priority 0 in the priority table */
if (OSPrioCur != 0) { /* Chk if OSIntQTask is not running */
OSPrioSaved = OSPrioCur; /* Save current priority */
}
*p_err = OS_ERR_NONE;
} else {
OSIntQOvfCtr++; /* Count the number of ISR queue overflows */
*p_err = OS_ERR_INT_Q_FULL;
}
CPU_CRITICAL_EXIT();
}
现在再看应该没什么问题了，我们把一个Post过程以一个数组元素内容的形式填充某个数组元素，然后让OS_IntQTask就绪，准备处理OSIntQ，接下来我们要探究一下这个处理任务，看看它是如何处理这个队列的
OS_IntQTask
这是一个系统任务，是五个系统任务中第一个被初始化的，
void OS_IntQTask (void *p_arg)
{
CPU_BOOLEAN done;
CPU_TS ts_start;
CPU_TS ts_end;
CPU_SR_ALLOC();
p_arg = p_arg; /* Not using 'p_arg', prevent compiler warning */
while (DEF_ON) {
done = DEF_FALSE;
while (done == DEF_FALSE) {
CPU_CRITICAL_ENTER();
if (OSIntQNbrEntries == (OS_OBJ_QTY)0u) {
OSRdyList[0].NbrEntries = (OS_OBJ_QTY)0u; /* Remove from ready list */
OSRdyList[0].HeadPtr = (OS_TCB *)0;
OSRdyList[0].TailPtr = (OS_TCB *)0;
OS_PrioRemove(0u); /* Remove from the priority table */
CPU_CRITICAL_EXIT();
OSSched();
done = DEF_TRUE; /* No more entries in the queue, we are done */
} else {
CPU_CRITICAL_EXIT();
ts_start = OS_TS_GET();
OS_IntQRePost();
ts_end = OS_TS_GET() - ts_start; /* Measure execution time of tick task */
if (OSIntQTaskTimeMax < ts_end) {
OSIntQTaskTimeMax = ts_end;
}
CPU_CRITICAL_ENTER();
OSIntQOutPtr = OSIntQOutPtr->NextPtr; /* Point to next item in the ISR queue */
OSIntQNbrEntries--;
CPU_CRITICAL_EXIT();
}
}
}
}
具体过程自己看一下吧，这里用到了一个OS_IntQRePost()，里面的内容就是调用普通的Post，剩下的一些细节，自己看看吧，我不看了，反正一看就懂，懂了也记不住，哈哈哈哈。
总结
OS_IntQPost将Post过程信息保存在数组OSCfg_IntQ，然后使OS_IntQTask就绪，去处理这个数组（也就是重新Post里面的内容）。
Stay studying
See you next time
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