时间管理相关函数，其实深入根本的理解就是一些对时间任务相关变量，数据结果进行修改的函数这样方便对应任务查找延时等时间相关的任务有没有到期。前面的时间相关的函数是这些操作的基

1.延时函数 OsTImeDly
函数是一个按时钟节拍定时的延时函数 ，默认是将当前执行的任务延时一定时钟节拍。
OS_OPT_TIME_DLY 此选项为相对延时 比如5S后
OS_OPT_TIME_TIMEOUT 同上
OS_OPT_TIME_MATCH 绝对延时 比如延时到系统开始运行后的一个时钟节拍点
OS_OPT_TIME_PERIODIC 周期延时 与相对延时差不多但是相对长时间周期性延时时更准确一些

void  OSTimeDly (OS_TICK   dly,OS_OPT    opt,OS_ERR   *p_err)
{CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return;}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0u) {             /* Not allowed to call from an ISR                        */*p_err = OS_ERR_TIME_DLY_ISR;return;}
#endifif (OSSchedLockNestingCtr > (OS_NESTING_CTR)0u) {       /* Can't delay when the scheduler is locked               */*p_err = OS_ERR_SCHED_LOCKED;return;}switch (opt) {case OS_OPT_TIME_DLY:case OS_OPT_TIME_TIMEOUT:case OS_OPT_TIME_PERIODIC:if (dly == (OS_TICK)0u) {                      /* 0 means no delay!                                      */*p_err = OS_ERR_TIME_ZERO_DLY;return;}break;case OS_OPT_TIME_MATCH:break;default:*p_err = OS_ERR_OPT_INVALID;return;}OS_CRITICAL_ENTER();OSTCBCurPtr->TaskState = OS_TASK_STATE_DLY;OS_TickListInsert(OSTCBCurPtr,dly,opt,p_err);if (*p_err != OS_ERR_NONE) {OS_CRITICAL_EXIT_NO_SCHED();return;}OS_RdyListRemove(OSTCBCurPtr);                          /* Remove current task from ready list                    */OS_CRITICAL_EXIT_NO_SCHED();OSSched();                                              /* Find next task to run!                                 */*p_err = OS_ERR_NONE;
}

OSTimeDly

2.OSTimeDlyHMSM
函数是一个按时间定时的延时函数 ，默认是将当前执行的任务延时一段时间。

void  OSTimeDlyHMSM (CPU_INT16U   hours,CPU_INT16U   minutes,CPU_INT16U   seconds,CPU_INT32U   milli,OS_OPT       opt,OS_ERR      *p_err)
{
#if OS_CFG_ARG_CHK_EN > 0uCPU_BOOLEAN  opt_invalid;CPU_BOOLEAN  opt_non_strict;
#endifOS_OPT       opt_time;OS_RATE_HZ   tick_rate;OS_TICK      ticks;CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return;}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0u) {             /* Not allowed to call from an ISR                        */*p_err = OS_ERR_TIME_DLY_ISR;return;}
#endifif (OSSchedLockNestingCtr > (OS_NESTING_CTR)0u) {       /* Can't delay when the scheduler is locked               */*p_err = OS_ERR_SCHED_LOCKED;return;}opt_time = opt & OS_OPT_TIME_MASK;                      /* Retrieve time options only.                            */switch (opt_time) {case OS_OPT_TIME_DLY:case OS_OPT_TIME_TIMEOUT:case OS_OPT_TIME_PERIODIC:if (milli == (CPU_INT32U)0u) {                 /* Make sure we didn't specify a 0 delay                  */if (seconds == (CPU_INT16U)0u) {if (minutes == (CPU_INT16U)0u) {if (hours == (CPU_INT16U)0u) {*p_err = OS_ERR_TIME_ZERO_DLY;return;}}}}break;case OS_OPT_TIME_MATCH:break;default:*p_err = OS_ERR_OPT_INVALID;return;}#if OS_CFG_ARG_CHK_EN > 0u                                  /* Validate arguments to be within range                  */opt_invalid = DEF_BIT_IS_SET_ANY(opt, ~OS_OPT_TIME_OPTS_MASK);if (opt_invalid == DEF_YES) {*p_err = OS_ERR_OPT_INVALID;return;}opt_non_strict = DEF_BIT_IS_SET(opt, OS_OPT_TIME_HMSM_NON_STRICT);if (opt_non_strict != DEF_YES) {if (milli   > (CPU_INT32U)999u) {*p_err = OS_ERR_TIME_INVALID_MILLISECONDS;return;}if (seconds > (CPU_INT16U)59u) {*p_err = OS_ERR_TIME_INVALID_SECONDS;return;}if (minutes > (CPU_INT16U)59u) {*p_err = OS_ERR_TIME_INVALID_MINUTES;return;}if (hours   > (CPU_INT16U)99u) {*p_err = OS_ERR_TIME_INVALID_HOURS;return;}} else {if (minutes > (CPU_INT16U)9999u) {*p_err = OS_ERR_TIME_INVALID_MINUTES;return;}if (hours   > (CPU_INT16U)999u) {*p_err = OS_ERR_TIME_INVALID_HOURS;return;}}
#endif/* Compute the total number of clock ticks required..     *//* .. (rounded to the nearest tick)                       */tick_rate = OSCfg_TickRate_Hz;ticks     = ((OS_TICK)hours * (OS_TICK)3600u + (OS_TICK)minutes * (OS_TICK)60u + (OS_TICK)seconds) * tick_rate+ (tick_rate * ((OS_TICK)milli + (OS_TICK)500u / tick_rate)) / (OS_TICK)1000u;if (ticks > (OS_TICK)0u) {OS_CRITICAL_ENTER();OSTCBCurPtr->TaskState = OS_TASK_STATE_DLY;OS_TickListInsert(OSTCBCurPtr,ticks,opt_time,p_err);if (*p_err != OS_ERR_NONE) {OS_CRITICAL_EXIT_NO_SCHED();return;}OS_RdyListRemove(OSTCBCurPtr);                      /* Remove current task from ready list                    */OS_CRITICAL_EXIT_NO_SCHED();OSSched();                                          /* Find next task to run!                                 */*p_err = OS_ERR_NONE;} else {*p_err = OS_ERR_TIME_ZERO_DLY;}
}

OSTimeDlyHMSM

3.任务插入节拍列表操作

void  OS_TickListInsert (OS_TCB   *p_tcb,OS_TICK   time,OS_OPT    opt,OS_ERR   *p_err)
{OS_TICK            tick_delta;OS_TICK            tick_next;OS_TICK_SPOKE     *p_spoke;OS_TCB            *p_tcb0;OS_TCB            *p_tcb1;OS_TICK_SPOKE_IX   spoke;if (opt == OS_OPT_TIME_MATCH) {                              /* Task time is absolute.                            */tick_delta = time - OSTickCtr - 1u;if (tick_delta > OS_TICK_TH_RDY) {                       /* If delay already occurred, ...                    */p_tcb->TickCtrMatch = (OS_TICK        )0u;p_tcb->TickRemain   = (OS_TICK        )0u;p_tcb->TickSpokePtr = (OS_TICK_SPOKE *)0;*p_err               =  OS_ERR_TIME_ZERO_DLY;         /* ... do NOT delay.                                 */return;}p_tcb->TickCtrMatch = time;p_tcb->TickRemain   = tick_delta + 1u;} else if (time > (OS_TICK)0u) {if (opt == OS_OPT_TIME_PERIODIC) {                       /* Task time is periodic.                            */tick_next  = p_tcb->TickCtrPrev + time;tick_delta = tick_next - OSTickCtr - 1u;if (tick_delta < time) {                             /* If next periodic delay did NOT already occur, ... */p_tcb->TickCtrMatch = tick_next;                 /* ... set  next  periodic delay;                ... */} else {p_tcb->TickCtrMatch = OSTickCtr + time;          /* ... else reset periodic delay.                    */}p_tcb->TickRemain   = p_tcb->TickCtrMatch - OSTickCtr;p_tcb->TickCtrPrev  = p_tcb->TickCtrMatch;} else {                                                 /* Task time is relative to current.                 */p_tcb->TickCtrMatch = OSTickCtr + time;p_tcb->TickRemain   = time;}} else {                                                     /* Zero time delay; ...                              */p_tcb->TickCtrMatch = (OS_TICK        )0u;p_tcb->TickRemain   = (OS_TICK        )0u;p_tcb->TickSpokePtr = (OS_TICK_SPOKE *)0;*p_err               =  OS_ERR_TIME_ZERO_DLY;             /* ... do NOT delay.                                 */return;}spoke   = (OS_TICK_SPOKE_IX)(p_tcb->TickCtrMatch % OSCfg_TickWheelSize);p_spoke = &OSCfg_TickWheel[spoke];if (p_spoke->NbrEntries == (OS_OBJ_QTY)0u) {                 /* First entry in the spoke                          */p_tcb->TickNextPtr   = (OS_TCB   *)0;p_tcb->TickPrevPtr   = (OS_TCB   *)0;p_spoke->FirstPtr    =  p_tcb;p_spoke->NbrEntries  = (OS_OBJ_QTY)1u;} else {p_tcb1     = p_spoke->FirstPtr;                          /* Point to current first TCB in the list            */while (p_tcb1 != (OS_TCB *)0) {p_tcb1->TickRemain = p_tcb1->TickCtrMatch            /* Compute time remaining of current TCB in list     */- OSTickCtr;if (p_tcb->TickRemain > p_tcb1->TickRemain) {        /* Do we need to insert AFTER current TCB in list?   */if (p_tcb1->TickNextPtr != (OS_TCB *)0) {        /* Yes, are we pointing at the last TCB in the list? */p_tcb1               =  p_tcb1->TickNextPtr; /* No,  Point to next TCB in the list                */} else {p_tcb->TickNextPtr   = (OS_TCB *)0;p_tcb->TickPrevPtr   =  p_tcb1;p_tcb1->TickNextPtr  =  p_tcb;               /* Yes, TCB to add is now new last entry in the list */p_tcb1               = (OS_TCB *)0;          /* Break loop                                        */}} else {                                             /* Insert before the current TCB                     */if (p_tcb1->TickPrevPtr == (OS_TCB *)0) {        /* Are we inserting before the first TCB?            */p_tcb->TickPrevPtr   = (OS_TCB *)0;p_tcb->TickNextPtr   =  p_tcb1;p_tcb1->TickPrevPtr  =  p_tcb;p_spoke->FirstPtr    =  p_tcb;} else {                                         /* Insert in between 2 TCBs already in the list      */p_tcb0               =  p_tcb1->TickPrevPtr;p_tcb->TickPrevPtr   =  p_tcb0;p_tcb->TickNextPtr   =  p_tcb1;p_tcb0->TickNextPtr  =  p_tcb;p_tcb1->TickPrevPtr  =  p_tcb;}p_tcb1 = (OS_TCB *)0;                            /* Break loop                                        */}}p_spoke->NbrEntries++;}if (p_spoke->NbrEntriesMax < p_spoke->NbrEntries) {          /* Keep track of maximum # of entries in each spoke  */p_spoke->NbrEntriesMax = p_spoke->NbrEntries;}p_tcb->TickSpokePtr = p_spoke;                               /* Link back to tick spoke                           */*p_err               = OS_ERR_NONE;
}

OS_TickListInsert

4.取消任务延时

#if OS_CFG_TIME_DLY_RESUME_EN > 0u
void  OSTimeDlyResume (OS_TCB  *p_tcb,OS_ERR  *p_err)
{CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return;}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0u) {             /* Not allowed to call from an ISR                        */*p_err = OS_ERR_TIME_DLY_RESUME_ISR;return;}
#endif#if OS_CFG_ARG_CHK_EN > 0uif (p_tcb == (OS_TCB *)0) {                             /* Not possible for the running task to be delayed!       */*p_err = OS_ERR_TASK_NOT_DLY;return;}
#endifCPU_CRITICAL_ENTER();if (p_tcb == OSTCBCurPtr) {                             /* Not possible for the running task to be delayed!       */*p_err = OS_ERR_TASK_NOT_DLY;CPU_CRITICAL_EXIT();return;}switch (p_tcb->TaskState) {case OS_TASK_STATE_RDY:                             /* Cannot Abort delay if task is ready                    */CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;case OS_TASK_STATE_DLY:OS_CRITICAL_ENTER_CPU_EXIT();p_tcb->TaskState = OS_TASK_STATE_RDY;OS_TickListRemove(p_tcb);                      /* Remove task from tick list                             */OS_RdyListInsert(p_tcb);                       /* Add to ready list                                      */OS_CRITICAL_EXIT_NO_SCHED();*p_err = OS_ERR_NONE;break;case OS_TASK_STATE_PEND:CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;case OS_TASK_STATE_PEND_TIMEOUT:CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;case OS_TASK_STATE_SUSPENDED:CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;case OS_TASK_STATE_DLY_SUSPENDED:OS_CRITICAL_ENTER_CPU_EXIT();p_tcb->TaskState = OS_TASK_STATE_SUSPENDED;OS_TickListRemove(p_tcb);                      /* Remove task from tick list                             */OS_CRITICAL_EXIT_NO_SCHED();*p_err            = OS_ERR_TASK_SUSPENDED;break;case OS_TASK_STATE_PEND_SUSPENDED:CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:CPU_CRITICAL_EXIT();*p_err = OS_ERR_TASK_NOT_DLY;break;default:CPU_CRITICAL_EXIT();*p_err = OS_ERR_STATE_INVALID;break;}OSSched();
}
#endif

OSTimeDlyResume

TickList数据结构：

μC/OS在一些变量 的处理上用到了一个技巧：

#ifdef   OS_GLOBALS
#define  OS_EXT
#else
#define  OS_EXT  extern
#endif

#if OS_CFG_APP_HOOKS_EN > 0u
OS_EXT           OS_APP_HOOK_TCB            OS_AppTaskCreateHookPtr;    /* Application hooks                          */
OS_EXT           OS_APP_HOOK_TCB            OS_AppTaskDelHookPtr;
OS_EXT           OS_APP_HOOK_TCB            OS_AppTaskReturnHookPtr;OS_EXT           OS_APP_HOOK_VOID           OS_AppIdleTaskHookPtr;
OS_EXT           OS_APP_HOOK_VOID           OS_AppStatTaskHookPtr;
OS_EXT           OS_APP_HOOK_VOID           OS_AppTaskSwHookPtr;
OS_EXT           OS_APP_HOOK_VOID           OS_AppTimeTickHookPtr;
#endif/* IDLE TASK -------------------------------- */
OS_EXT            OS_IDLE_CTR               OSIdleTaskCtr;
OS_EXT            OS_TCB                    OSIdleTaskTCB;/* MISCELLANEOUS ---------------------------- */
OS_EXT            OS_NESTING_CTR            OSIntNestingCtr;            /* Interrupt nesting level                    */
#ifdef CPU_CFG_INT_DIS_MEAS_EN
OS_EXT            CPU_TS                    OSIntDisTimeMax;            /* Overall interrupt disable time             */
#endifOS_EXT            OS_STATE                  OSRunning;                  /* Flag indicating that kernel is running     *//* ISR HANDLER TASK ------------------------- */
#if OS_CFG_ISR_POST_DEFERRED_EN > 0u
OS_EXT            OS_INT_Q                 *OSIntQInPtr;
OS_EXT            OS_INT_Q                 *OSIntQOutPtr;
OS_EXT            OS_OBJ_QTY                OSIntQNbrEntries;
OS_EXT            OS_OBJ_QTY                OSIntQNbrEntriesMax;
OS_EXT            OS_OBJ_QTY                OSIntQOvfCtr;
OS_EXT            OS_TCB                    OSIntQTaskTCB;
OS_EXT            CPU_TS                    OSIntQTaskTimeMax;
#endif

示例代码

对于声明了OS_GLOBALS的文件内后面的变量就是定义，否则就是声明；

转载于:https://www.cnblogs.com/w-smile/p/7857754.html

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