初识ucos

初识ucos

ucos是什么

款源代码开放的，抢占式多任务实时操作系统。

ucos怎么用

1. osinit（） /* 初始化"uC/OS-III"内核 */
2. CreateTask
3. OSStart(&err); /* 启动多任务系统，控制权交给uC/OS-III */

osinit（）

• 有两个任务是一定会被创建的：OS_IdleTaskInit（），OS_TickTaskInit（）。
• 三个任务是可选的：OS_TmrTask（定时）,OS_IntQTask（中断）,OS_StaTask（统计信息） 备注：通过宏来设置其是否可选。

任务状态及转换

任务状态	描述
休眠态	声明了任务，但任务尚未被OSTASKCreate（）函数创建，该任务不受系统uc/os管理。
就绪态	任务被正式创建，并且以及插入就绪列表，一旦获取CPU使用权，就可以运行。
运行态	任务占有CPU，正在运行。
等待态	任务被延时执行，需要等待某个事件（内核对象），或者被强制挂起时，就会进入等待态。
中断服务态	正在运行的任务突然被中断打断，CPU被中断服务程序占有，该任务就进入了中断服务态。

/*
************************************************************************************************************************
*                                                    INITIALIZATION
*
* Description: This function is used to initialize the internals of uC/OS-III and MUST be called prior to
*              creating any uC/OS-III object and, prior to calling OS_Start().
*
* Arguments  : p_err         is a pointer to a variable that will contain an error code returned by this function.
*
*                                OS_ERR_NONE    Initialization was successful
*                                Other          Other OS_ERR_xxx depending on the sub-functions called by OSInit().
* Returns    : none
************************************************************************************************************************
*/

	
	// 空闲任务
    OS_IdleTaskInit(p_err);                                 /* Initialize the Idle Task                               */
    if (*p_err != OS_ERR_NONE) {
        return;
    }
	


/*$PAGE*/
/*
************************************************************************************************************************
*                                               INITIALIZE THE IDLE TASK
*
* Description: This function initializes the idle task
*
* Arguments  : p_err    is a pointer to a variable that will contain an error code returned by this function.
*
* Returns    : none
*
* Note(s)    : 1) This function is INTERNAL to uC/OS-III and your application MUST NOT call it.
************************************************************************************************************************
*/

void  OS_IdleTaskInit (OS_ERR  *p_err)
{
#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

    OSIdleTaskCtr = (OS_IDLE_CTR)0;
                                                            /* ---------------- CREATE THE IDLE TASK ---------------- */
    OSTaskCreate((OS_TCB     *)&OSIdleTaskTCB,
                 (CPU_CHAR   *)((void *)"uC/OS-III Idle Task"),
                 (OS_TASK_PTR)OS_IdleTask,
                 (void       *)0,
                 (OS_PRIO     )(OS_CFG_PRIO_MAX - 1u),
                 (CPU_STK    *)OSCfg_IdleTaskStkBasePtr,
                 (CPU_STK_SIZE)OSCfg_IdleTaskStkLimit,
                 (CPU_STK_SIZE)OSCfg_IdleTaskStkSize,
                 (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);
}

// 时间基准
    OS_TickTaskInit(p_err);                                 /* Initialize the Tick Task                               */
    if (*p_err != OS_ERR_NONE) {
        return;
    }

/*
************************************************************************************************************************
*                                                 INITIALIZE TICK TASK
*
* Description: This function is called by OSInit() to create the tick task.
*
* Arguments  : p_err   is a pointer to a variable that will hold the value of an error code:
*
*                          OS_ERR_TICK_STK_INVALID   if the pointer to the tick task stack is a NULL pointer
*                          OS_ERR_TICK_STK_SIZE      indicates that the specified stack size
*                          OS_ERR_PRIO_INVALID       if the priority you specified in the configuration is invalid
*                                                      (There could be only one task at the Idle Task priority)
*                                                      (Maybe the priority you specified is higher than OS_CFG_PRIO_MAX-1
*                          OS_ERR_??                 other error code returned by OSTaskCreate()
*
* Returns    : none
*
* Note(s)    : This function is INTERNAL to uC/OS-III and your application should not call it.
************************************************************************************************************************
*/

void  OS_TickTaskInit (OS_ERR  *p_err)
{
#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

    OSTickCtr         = (OS_TICK)0u;                        /* Clear the tick counter                                 */

    OSTickTaskTimeMax = (CPU_TS)0u;


    OS_TickListInit();                                      /* Initialize the tick list data structures               */

                                                            /* ---------------- CREATE THE TICK TASK ---------------- */
    if (OSCfg_TickTaskPrio >= (OS_CFG_PRIO_MAX - 1u)) {     /* Only one task at the 'Idle Task' priority              */
        *p_err = OS_ERR_PRIO_INVALID;
        return;
    }

    OSTaskCreate((OS_TCB     *)&OSTickTaskTCB,
                 (CPU_CHAR   *)((void *)"uC/OS-III Tick Task"),
                 (OS_TASK_PTR )OS_TickTask,
                 (void       *)0,
                 (OS_PRIO     )OSCfg_TickTaskPrio,
                 (CPU_STK    *)OSCfg_TickTaskStkBasePtr,
                 (CPU_STK_SIZE)OSCfg_TickTaskStkLimit,
                 (CPU_STK_SIZE)OSCfg_TickTaskStkSize,
                 (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);
}