启动ucosii之一OSInit()

第一步: OSInit();//初始化uCOS_II.该函数位于OS_CORE.C,主要工作:
函数原型位于OS_CORE.C
OS_InitMisc();  /* 基础参数初始化 Initialize miscellaneous(混杂的,各种各样的) variables */
OS_InitRdyList(); /* 初始化任务就绪表 Initialize the Ready List */
OS_InitTCBList(); /* 初始化任务控制块 Initialize the free list of OS_TCBs */
OS_InitEventList(); /* 初始化事件控制块 Initialize the free list of OS_EVENTs */

函数原型位于OS_FLAG.C
#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
    OS_FlagInit(); /* 事件标志组初始化 Initialize the event flag structures */
#endif

函数原型位于OS_MEM.C
#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0)
    OS_MemInit(); /* 内存初始化 Initialize the memory manager */
#endif

函数原型位于OS_Q.C
#if (OS_Q_EN > 0) && (OS_MAX_QS > 0)
    OS_QInit(); /* 消息队列初始化 Initialize the message queue structures */
#endif

函数原型位于OS_CORE.C
    OS_InitTaskIdle(); /* 创建空闲任务(无条件)Create the Idle Task */
#if OS_TASK_STAT_EN > 0
    OS_InitTaskStat(); /* 创建统计任务Create the Statistic Task */
#endif

1:static  void  OS_InitMisc (void)
{
#if OS_TIME_GET_SET_EN > 0
    //0L→代表这个整型常量为long型的 
    OSTime        = 0L; /* 32位系统时钟变量,标示系统运行时间 Clear the 32-bit system clock*/
#endif

    OSIntNesting  = 0;  /* 中断嵌套次数 Clear the interrupt nesting counter */
    OSLockNesting = 0;  /* 调度器嵌套上锁次数 Clear the scheduling lock counter */

    OSTaskCtr     = 0;  /* 任务计时器,标示系统创建了多少个任务 Clear the number of tasks*/

    OSRunning     = FALSE; /* 标示内核是否运行 Indicate that multitasking not started*/
   
    OSCtxSwCtr    = 0; /* 系统任务切换次数 Clear the context switch counter */
    OSIdleCtr     = 0L; /* 空闲时间计数器 Clear the 32-bit idle counter */

#if (OS_TASK_STAT_EN > 0) && (OS_TASK_CREATE_EXT_EN > 0)
    OSIdleCtrRun  = 0L;//1秒前空闲任务计数器
    OSIdleCtrMax  = 0L;//1秒内空闲任务计数器可达最大值
    OSStatRdy     = FALSE; /* 统计任务标示,即是否执行统计任务 Statistic task is not ready */
#endif
}

2:static  void  OS_InitRdyList (void)
{
    INT16U   i;
    INT8U   *prdytbl;

    OSRdyGrp      = 0x00; /* Clear the ready list */
    prdytbl       = &OSRdyTbl[0];
    for (i = 0; i < OS_RDY_TBL_SIZE; i++) {
        *prdytbl++ = 0x00;
    }

    OSPrioCur     = 0;
    OSPrioHighRdy = 0;

    OSTCBHighRdy  = (OS_TCB *)0;                                
    OSTCBCur      = (OS_TCB *)0;
}

//空闲任务键表OSTCBFreeList建立
3:static  void  OS_InitTCBList (void)
{
    INT8U    i;
    OS_TCB  *ptcb1;
    OS_TCB  *ptcb2;

    OSTCBList     = (OS_TCB *)0;                                 /* TCB Initialization                       */
    for (i = 0; i < (OS_LOWEST_PRIO + 1); i++) {                 /* Clear the priority table                 */
        OSTCBPrioTbl[i] = (OS_TCB *)0;
    }

//建立空闲任务列表
    ptcb1 = &OSTCBTbl[0];
    ptcb2 = &OSTCBTbl[1];
    for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) {  /* Init. list of free TCBs                  */
        ptcb1->OSTCBNext = ptcb2;
        ptcb1++;
        ptcb2++;
    }
//列表最后一个任务的OSTCBNext设置为空
    ptcb1->OSTCBNext = (OS_TCB *)0;                              /* Last OS_TCB                              */

//将一整块空闲列表交给指针OSTCBFreeList
    OSTCBFreeList    = &OSTCBTbl[0];
}

4:static  void  OS_InitEventList (void)//初始化ECB
{
#if (OS_EVENT_EN > 0) && (OS_MAX_EVENTS > 0)
#if (OS_MAX_EVENTS > 1)
    INT16U     i;
    OS_EVENT  *pevent1;
    OS_EVENT  *pevent2;

    pevent1 = &OSEventTbl[0];
    pevent2 = &OSEventTbl[1];
    for (i = 0; i < (OS_MAX_EVENTS - 1); i++) { /* Init. list of free EVENT control blocks  */
        pevent1->OSEventType = OS_EVENT_TYPE_UNUSED;
        pevent1->OSEventPtr  = pevent2;
        pevent1++;
        pevent2++;
    }
    pevent1->OSEventType = OS_EVENT_TYPE_UNUSED;
    pevent1->OSEventPtr  = (OS_EVENT *)0;
    OSEventFreeList      = &OSEventTbl[0];
#else
    OSEventFreeList              = &OSEventTbl[0]; /* Only have ONE event control block        */
    OSEventFreeList->OSEventType = OS_EVENT_TYPE_UNUSED;
    OSEventFreeList->OSEventPtr  = (OS_EVENT *)0;
#endif
#endif
}

5:void  OS_FlagInit (void)
{
#if OS_MAX_FLAGS == 1
    OSFlagFreeList                 = (OS_FLAG_GRP *)&OSFlagTbl[0];  /* Only ONE event flag group!      */
    OSFlagFreeList->OSFlagType     = OS_EVENT_TYPE_UNUSED;
    OSFlagFreeList->OSFlagWaitList = (void *)0;
#endif

#if OS_MAX_FLAGS >= 2
    INT8U        i;
    OS_FLAG_GRP *pgrp1;
    OS_FLAG_GRP *pgrp2;

    pgrp1 = &OSFlagTbl[0];
    pgrp2 = &OSFlagTbl[1];
    for (i = 0; i < (OS_MAX_FLAGS - 1); i++) {                      /* Init. list of free EVENT FLAGS  */
        pgrp1->OSFlagType     = OS_EVENT_TYPE_UNUSED;
        pgrp1->OSFlagWaitList = (void *)pgrp2;
        pgrp1++;
        pgrp2++;
    }
    pgrp1->OSFlagWaitList = (void *)0;
    OSFlagFreeList        = (OS_FLAG_GRP *)&OSFlagTbl[0];
#endif
}

6:void  OS_MemInit (void)
{
#if OS_MAX_MEM_PART == 1
    OSMemFreeList                = (OS_MEM *)&OSMemTbl[0]; /* Point to beginning of free list          */
    OSMemFreeList->OSMemFreeList = (void *)0;              /* Initialize last node                     */
    OSMemFreeList->OSMemAddr     = (void *)0;              /* Store start address of memory partition  */
    OSMemFreeList->OSMemNFree    = 0;                      /* No free blocks                           */
    OSMemFreeList->OSMemNBlks    = 0;                      /* No blocks                                */
    OSMemFreeList->OSMemBlkSize  = 0;                      /* Zero size                                */
#endif

#if OS_MAX_MEM_PART >= 2
    OS_MEM  *pmem;
    INT16U   i;

    pmem = (OS_MEM *)&OSMemTbl[0];                    /* Point to memory control block (MCB)           */
    for (i = 0; i < (OS_MAX_MEM_PART - 1); i++) {     /* Init. list of free memory partitions          */
        pmem->OSMemFreeList = (void *)&OSMemTbl[i+1]; /* Chain list of free partitions                 */
        pmem->OSMemAddr     = (void *)0;              /* Store start address of memory partition       */
        pmem->OSMemNFree    = 0;                      /* No free blocks                                */
        pmem->OSMemNBlks    = 0;                      /* No blocks                                     */
        pmem->OSMemBlkSize  = 0;                      /* Zero size                                     */
        pmem++;
    }
    pmem->OSMemFreeList = (void *)0;                  /* Initialize last node                          */
    pmem->OSMemAddr     = (void *)0;                  /* Store start address of memory partition       */
    pmem->OSMemNFree    = 0;                          /* No free blocks                                */
    pmem->OSMemNBlks    = 0;                          /* No blocks                                     */
    pmem->OSMemBlkSize  = 0;                          /* Zero size                                     */

    OSMemFreeList       = (OS_MEM *)&OSMemTbl[0];     /* Point to beginning of free list               */
#endif
}

7:void  OS_QInit (void)
{
#if OS_MAX_QS == 1
    OSQFreeList         = &OSQTbl[0];            /* Only ONE queue!                                    */
    OSQFreeList->OSQPtr = (OS_Q *)0;
#endif

#if OS_MAX_QS >= 2
    INT16U  i;
    OS_Q   *pq1;
    OS_Q   *pq2;

    pq1 = &OSQTbl[0];
    pq2 = &OSQTbl[1];
    for (i = 0; i < (OS_MAX_QS - 1); i++) {      /* Init. list of free QUEUE control blocks            */
        pq1->OSQPtr = pq2;
        pq1++;
        pq2++;
    }
    pq1->OSQPtr = (OS_Q *)0;
    OSQFreeList = &OSQTbl[0];
#endif
}

/* 创建空闲任务(无条件)Create the Idle Task */
//变量在OS_CFG.H、uCOS_II.H中定义
8:static  void  OS_InitTaskIdle (void)
{
#if OS_TASK_CREATE_EXT_EN > 0
    #if OS_STK_GROWTH == 1
    (void)OSTaskCreateExt(OS_TaskIdle,
                          (void *)0,                                 /* No arguments passed to OS_TaskIdle() */
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Top-Of-Stack                     */
                          OS_IDLE_PRIO,                              /* Lowest priority level                */
                          OS_TASK_IDLE_ID,
                          &OSTaskIdleStk[0],                         /* Set Bottom-Of-Stack                  */
                          OS_TASK_IDLE_STK_SIZE,
                          (void *)0,                                 /* No TCB extension                     */
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack  */
    #else
    (void)OSTaskCreateExt(OS_TaskIdle,
                          (void *)0,                                 /* No arguments passed to OS_TaskIdle() */
                          &OSTaskIdleStk[0],                         /* Set Top-Of-Stack                     */
                          OS_IDLE_PRIO,                              /* Lowest priority level                */
                          OS_TASK_IDLE_ID,
                          &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1], /* Set Bottom-Of-Stack                  */
                          OS_TASK_IDLE_STK_SIZE,
                          (void *)0,                                 /* No TCB extension                     */
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);/* Enable stack checking + clear stack  */
    #endif
#else
    #if OS_STK_GROWTH == 1
    (void)OSTaskCreate(OS_TaskIdle,
                       (void *)0,
                       &OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE - 1],
                       OS_IDLE_PRIO);
    #else
    (void)OSTaskCreate(OS_TaskIdle,
                       (void *)0,
                       &OSTaskIdleStk[0],
                       OS_IDLE_PRIO);
    #endif
#endif
}

/* 创建统计任务Create the Statistic Task */
9:static  void  OS_InitTaskStat (void)
{
#if OS_TASK_CREATE_EXT_EN > 0
    #if OS_STK_GROWTH == 1
    (void)OSTaskCreateExt(OS_TaskStat,
                          (void *)0,                                   /* No args passed to OS_TaskStat()*/
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],   /* Set Top-Of-Stack               */
                          OS_STAT_PRIO,                                /* One higher than the idle task  */
                          OS_TASK_STAT_ID,
                          &OSTaskStatStk[0],                           /* Set Bottom-Of-Stack            */
                          OS_TASK_STAT_STK_SIZE,
                          (void *)0,                                   /* No TCB extension               */
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);  /* Enable stack checking + clear  */
    #else
    (void)OSTaskCreateExt(OS_TaskStat,
                          (void *)0,                                   /* No args passed to OS_TaskStat()*/
                          &OSTaskStatStk[0],                           /* Set Top-Of-Stack               */
                          OS_STAT_PRIO,                                /* One higher than the idle task  */
                          OS_TASK_STAT_ID,
                          &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],   /* Set Bottom-Of-Stack            */
                          OS_TASK_STAT_STK_SIZE,
                          (void *)0,                                   /* No TCB extension               */
                          OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);  /* Enable stack checking + clear  */
    #endif
#else
    #if OS_STK_GROWTH == 1
    (void)OSTaskCreate(OS_TaskStat,
                       (void *)0,                                      /* No args passed to OS_TaskStat()*/
                       &OSTaskStatStk[OS_TASK_STAT_STK_SIZE - 1],      /* Set Top-Of-Stack               */
                       OS_STAT_PRIO);                                  /* One higher than the idle task  */
    #else
    (void)OSTaskCreate(OS_TaskStat,
                       (void *)0,                                      /* No args passed to OS_TaskStat()*/
                       &OSTaskStatStk[0],                              /* Set Top-Of-Stack               */
                       OS_STAT_PRIO);                                  /* One higher than the idle task  */
    #endif
#endif
}