89 lines
2.5 KiB
C
89 lines
2.5 KiB
C
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#include <os_sched.h>
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#include "os_port.h"
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#include "os_critical.h"
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#include "os_rdy_list.h"
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#include "os_yield_list.h"
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#include "os_idle.h"
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#include "os_isr.h"
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volatile os_task_t* g_os_sched_current_task_p;
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volatile os_size_t g_os_sched_pending_cnt;
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static volatile os_task_t* p_curr_task;
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static volatile os_task_t* p_next_task;
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static os_bool_t s_os_sched_wip_flag;
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/* ------------------------------------------------------------------------------------------------------------------ */
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/* */
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void os_sched_init(void){
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g_os_sched_current_task_p = 0;
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g_os_sched_pending_cnt = 0;
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s_os_sched_wip_flag = OS_FALSE;
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}
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void os_sched_in_isr(void){
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os_critical_enter_in_isr();
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if(s_os_sched_wip_flag == OS_TRUE){
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// 调度正在进行中，返回
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os_critical_leave_in_isr();
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return;
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}
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s_os_sched_wip_flag = OS_TRUE;
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if(g_os_isr_nesting_cnt>0){
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// 中断嵌套
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g_os_sched_pending_cnt++;
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s_os_sched_wip_flag = OS_FALSE;
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os_critical_leave_in_isr();
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return;
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}
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if(g_os_sched_current_task_p && g_os_sched_current_task_p->state == kOsTaskState_Running){
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// 当前任务还在运行，返回
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s_os_sched_wip_flag = OS_FALSE;
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os_critical_leave_in_isr();
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return;
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}
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p_curr_task = g_os_sched_current_task_p;
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// 获取下一个任务
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os_priority_t priority = os_priority_get_highest();
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os_rdy_list_t* p_rdy_list = os_rdy_list_get(priority);
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os_list_node_t* p_node = p_rdy_list->head.next;
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p_next_task = os_list_member_of(p_node, os_task_t, node);
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if(!os_idle_is_idle_task((os_task_t*)p_next_task)){
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os_rdy_list_remove((os_task_t*)p_next_task);
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}
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// yield 的任务加入就绪表
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for(p_node = g_os_yield_list.next; p_node!=&g_os_yield_list; ){
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os_task_t* p_task = os_list_member_of(p_node, os_task_t, node);
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p_node = p_node->next;
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os_yield_list_remove(p_task);
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if(!os_idle_is_idle_task(p_task)) {
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os_rdy_list_insert(p_task);
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}
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}
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// 下个任务就是当前任务, 获得一次运行的机会
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if(p_next_task==p_curr_task){
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p_next_task->state = kOsTaskState_Running;
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p_next_task->remain_ticks = p_next_task->init_ticks;
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s_os_sched_wip_flag = OS_FALSE;
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os_critical_leave_in_isr();
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return;
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}
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s_os_sched_wip_flag = OS_FALSE;
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os_critical_leave_in_isr();
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// 执行上下文切换
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os_port_context_switch((void*)(p_curr_task?&p_curr_task->stack.sp:0), (void*)&p_next_task->stack.sp);
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}
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