借傻孩子老师的地盘发个小小调度器 (amobbs.com 阿莫电子技术论坛) -

worldsing 发表于 2015-5-13 10:33:24

借傻孩子老师的地盘发个小小调度器

/*!
*************************************************************************************
*\file switch.h
*\brief 简易的调度器
*       1、轮番调度
*       2、可以主动释放CPU
*       3、用户的栈大小可自定义
*       4、任务数可自定义
*
*\authorworldsing
*\version V0.01
*\date 2015/04/24
*
*\b    1、去除C文件, 实现单个头文件代码结构
*       2、目前仅在ST系列的Cortex-M3平台测试过
*\li    2015/04/24
*       SWITCH_EN 宏须在创建任务的文件里定义
*************************************************************************************
*/
#ifndef __SWITCH_H__
#define __SWITCH_H__

//------------------------------------------------------------------------------------
//                                  Include File
//------------------------------------------------------------------------------------

#include <stm32f10x.h>
#include <core_cm3.h>
#include <stdint.h>
#include <stdbool.h>

//------------------------------------------------------------------------------------
//                                  Function declare
//------------------------------------------------------------------------------------

void switchDelayMs(uint16_t nTick);

//------------------------------------------------------------------------------------
//                                  Switch code
//------------------------------------------------------------------------------------
#ifdefSWITCH_EN

__asm void setPSP(uint32_t topOfProcStack)
{
msr psp, r0
bx lr
}

__asm void taskSwitch(void)
{
LDR R0, =0xE000ED22
LDR R1, =0xFF
STRB R1,
LDR R0, =0xE000ED04
LDR R1, =0x10000000
STR R1,
BX    LR
ALIGN
}
__asm void PendSV_Handler(void)
{
IMPORTtaskRuning
IMPORTtaskNew
CPSID I
MRS R0, PSP
CBZ R0, NoSave
SUBS R0, R0, #0x20
STM R0, {R4-R11}
LDR R1, =taskRuning
LDR R1,
STR R0,

NoSave
LDR R0, =taskRuning
LDR R1, =taskNew
LDR R2,
STR R2,
LDR R0,
LDM R0, {R4-R11}
ADDS R0, R0, #0x20
MSR PSP, R0
ORR LR, LR, #0x04
CPSIE I
BX    LR
ALIGN
}

#define SWITCH_CONFIG(MAX_TASK, N_TICK_IN_SECOND, SYSTEM_CLK_NMHZ, \
                  SYS_TICK_HOOK, IDLE_HOOK);                   \
                                                                  \
typedef struct {                                                    \
uint32_t *pTaskStack;                                           \
uint16_t delay;                                                 \
}TCB;                                                             \
                                                                  \
TCB taskTCB = {0};                                  \
                                                                  \
TCB *taskNew, *taskRuning;                                        \
                                                                  \
uint8_ttaskCnt = 0;                                              \
uint8_tnTask;                                                    \
                                                                  \
void taskIdle(void) {                                              \
while(1){                                                       \
IDLE_HOOK();                                                    \
__nop();                                                       \
}                                                                \
}                                                                   \
voidSysTick_Handler (void) {                                     \
uint8_t i;                                                    \
bool bOneSwitch;                                              \
SYS_TICK_HOOK();                                              \
bOneSwitch = false;                                           \
for(i = 0; i < nTask; i++){                                     \
   if(taskTCB.delay != 0){                                  \
   taskTCB.delay--;                                        \
   }                                                             \
   if(bOneSwitch == false){                                     \
   taskCnt %= nTask;                                           \
   if(0 == taskTCB.delay){                            \
      bOneSwitch = true;                                        \
      taskNew = &taskTCB;                            \
      }                                                       \
   taskCnt++;                                                 \
   }                                                          \
}                                                             \
if(bOneSwitch == false)                                        \
   taskNew = &taskTCB;                                  \
taskSwitch();                                                 \
}                                                                   \
                                                                  \
                                                                  \
void switchDelayMs(uint16_t nTick) {                               \
uint8_t i;                                                    \
if(0 == nTick)                                                 \
   return;                                                       \
                                                                  \
taskRuning->delay = nTick;                                     \
for(i = 0; i < nTask; i++){                                     \

   if(0 == taskTCB.delay){                            \
      taskNew = &taskTCB;                            \
      break;                                                    \
   }else taskCnt++;                                              \
}                                                             \
if(taskRuning == taskNew)                                     \
   taskNew = &taskTCB;                                  \
taskSwitch();                                                 \
}                                                                   \
                                                                  \
                                                                  \
void switchTaskInt(void (*task)(void), uint32_t *ptos) {          \
if(MAX_TASK + 1 <= taskCnt){                                  \
   taskCnt = 0;                                                 \
   return;                                                       \
}                                                             \
*(ptos) = (uint32_t)0x01000000L;                            \
*(--ptos)= (uint32_t)task;                                  \
taskTCB. pTaskStack =ptos -14;                   \
}                                                                   \
                                                                  \
                                                                  \
void switchStart(void){                                           \
switchTaskCreate(taskIdle, 256);                                  \
if(taskCnt < (MAX_TASK + 1))                                     \
nTask = taskCnt;                                              \
else                                                             \
nTask = MAX_TASK;                                              \
setPSP(0);                                                       \
SysTick_Config((SYSTEM_CLK_NMHZ / N_TICK_IN_SECOND) - 1);       \
while(1);                                                       \
}

#define switchTaskCreate(task, stackSize) {__align(8) static uint32_t task##Stack; \
                                       switchTaskInt(task, &task##Stack[(stackSize/4)-1]); \
                                       }

#endif

//------------------------------------------------------------------------------------
//                                  Demo code
//------------------------------------------------------------------------------------
#if(0)

#define SWITCH_EN
#include"switch.h"

void tickHook(void)
{
//不得放入阻塞\复杂\死循环代码
}

void idleHook(void)
{

}

//配置参数：最大任务数1秒Tick数系统时钟时钟钩子空闲钩子
SWITCH_CONFIG(2, 100, 72000000, tickHook, idleHook);

void task0(void){                      //任务0
for(;;){
//这放入您的代码
switchDelayMs(200);                //可用delay()释放CPU
}
}

void task1(void){                      //任务1
for(;;){
//这放入您的代码
switchDelayMs(1);                   //可用delay()释放CPU
}
}

int main(void){
switchTaskCreate(task0, 60);          //在调度前建立任务
switchTaskCreate(task1, 30);          //在调度前建立任务
switchStart();                      //开始调度
}
#endif

#endif

//------------------------------------------------------------------------------------
//                                  End of file
//------------------------------------------------------------------------------------

worldsing 发表于 2015-5-13 20:31:29

本帖最后由 worldsing 于 2015-5-13 20:33 编辑

/*!
*************************************************************************************
*\file switch.h
*\brief 简易的调度器
*       1、轮番调度
*       2、可以主动释放CPU
*       3、用户的栈大小可自定义
*       4、任务数可自定义
*
*\authorworldsing
*\version V0.01
*\date 2015/04/24
*
*\b    1、去除C文件, 实现单个头文件代码结构
*       2、目前仅在ST系列的Cortex-M3平台测试过
*\li    2015/04/24
*       SWITCH_EN 宏须在创建任务的文件里定义
*************************************************************************************
*/
#ifndef __SWITCH_H__
#define __SWITCH_H__

//------------------------------------------------------------------------------------
//                                  Include File
//------------------------------------------------------------------------------------

#include <stm32f10x.h>
#include <core_cm3.h>
#include <stdint.h>
#include <stdbool.h>

//------------------------------------------------------------------------------------
//                                  Function declare
//------------------------------------------------------------------------------------

void switchDelayMs(uint16_t nTick);

//------------------------------------------------------------------------------------
//                                  Switch code
//------------------------------------------------------------------------------------
#ifdefSWITCH_EN

__asm void setPSP(uint32_t topOfProcStack)
{
msr psp, r0
bx lr
}

__asm void taskSwitch(void)
{
LDR R0, =0xE000ED22
LDR R1, =0xFF
STRB R1,
LDR R0, =0xE000ED04
LDR R1, =0x10000000
STR R1,
BX    LR
ALIGN
}
__asm void PendSV_Handler(void)
{
IMPORTtaskRuning
IMPORTtaskNew
CPSID I
MRS R0, PSP
CBZ R0, NoSave
SUBS R0, R0, #0x20
STM R0, {R4-R11}
LDR R1, =taskRuning
LDR R1,
STR R0,

NoSave
LDR R0, =taskRuning
LDR R1, =taskNew
LDR R2,
STR R2,
LDR R0,
LDM R0, {R4-R11}
ADDS R0, R0, #0x20
MSR PSP, R0
ORR LR, LR, #0x04
CPSIE I
BX    LR
ALIGN
}

#define SWITCH_CONFIG(MAX_TASK, N_TICK_IN_SECOND, SYSTEM_CLK_NMHZ, \
                  SYS_TICK_HOOK, IDLE_HOOK);                   \
                                                                  \
typedef struct {                                                    \
uint32_t *pTaskStack;                                           \
uint16_t delay;                                                 \
}TCB;                                                             \
                                                                  \
TCB taskTCB = {0};                                  \
                                                                  \
TCB *taskNew, *taskRuning;                                        \
                                                                  \
uint8_ttaskCnt = 0;                                              \
uint8_tnTask;                                                    \
                                                                  \
void taskIdle(void) {                                              \
while(1){                                                       \
IDLE_HOOK();                                                    \
__nop();                                                       \
}                                                                \
}                                                                   \
voidSysTick_Handler (void) {                                     \
uint8_t i;                                                    \
bool bOneSwitch;                                              \
SYS_TICK_HOOK();                                              \
bOneSwitch = false;                                           \
for(i = 0; i < nTask; i++){                                     \
   if(taskTCB.delay != 0){                                  \
   taskTCB.delay--;                                        \
   }                                                             \
   if(bOneSwitch == false){                                     \
   taskCnt %= nTask;                                           \
   if(0 == taskTCB.delay){                            \
      bOneSwitch = true;                                        \
      taskNew = &taskTCB;                            \
      }                                                       \
   taskCnt++;                                                 \
   }                                                          \
}                                                             \
if(bOneSwitch == false)                                        \
   taskNew = &taskTCB;                                  \
taskSwitch();                                                 \
}                                                                   \
                                                                  \
                                                                  \
void switchDelayMs(uint16_t nTick) {                               \
uint8_t i;                                                    \
if(0 == nTick)                                                 \
   return;                                                       \
                                                                  \
taskRuning->delay = nTick;                                     \
for(i = 0; i < nTask; i++){                                     \
                                                                           \
   if(0 == taskTCB.delay){                            \
      taskNew = &taskTCB;                            \
      break;                                                    \
   }else taskCnt++;                                              \
}                                                             \
if(taskRuning == taskNew)                                     \
   taskNew = &taskTCB;                                  \
taskSwitch();                                                 \
}                                                                   \
                                                                  \
                                                                  \
void switchTaskInt(void (*task)(void), uint32_t *ptos) {          \
if(MAX_TASK + 1 <= taskCnt){                                  \
   taskCnt = 0;                                                 \
   return;                                                       \
}                                                             \
*(ptos) = (uint32_t)0x01000000L;                            \
*(--ptos)= (uint32_t)task;                                  \
taskTCB. pTaskStack =ptos -14;                   \
}                                                                   \
                                                                  \
                                                                  \
void switchStart(void){                                           \
switchTaskCreate(taskIdle, 256);                                  \
if(taskCnt < (MAX_TASK + 1))                                     \
nTask = taskCnt;                                              \
else                                                             \
nTask = MAX_TASK;                                              \
setPSP(0);                                                       \
SysTick_Config((SYSTEM_CLK_NMHZ / N_TICK_IN_SECOND) - 1);       \
while(1);                                                       \
}

#define switchTaskCreate(task, stackSize) {__align(8) static uint32_t task##Stack; \
                                       switchTaskInt(task, &task##Stack[(stackSize/4)-1]); \
                                       }

#endif

//------------------------------------------------------------------------------------
//                                  Demo code
//------------------------------------------------------------------------------------
#if(0)

#define SWITCH_EN
#include"switch.h"

void tickHook(void)
{
//不得放入阻塞\复杂\死循环代码
}

void idleHook(void)
{

}

//配置参数：最大任务数1秒Tick数系统时钟时钟钩子空闲钩子
SWITCH_CONFIG(2, 100, 72000000, tickHook, idleHook);

void task0(void){                      //任务0
for(;;){
//这放入您的代码
switchDelayMs(200);                //可用delay()释放CPU
}
}

void task1(void){                      //任务1
for(;;){
//这放入您的代码
switchDelayMs(1);                   //可用delay()释放CPU
}
}

int main(void){
switchTaskCreate(task0, 60);          //在调度前建立任务
switchTaskCreate(task1, 30);          //在调度前建立任务
switchStart();                      //开始调度
}
#endif

#endif

//------------------------------------------------------------------------------------
//                                  End of file
//------------------------------------------------------------------------------------

沉默胜过白金 发表于 2015-5-13 10:48:11

STM32可用？

motodefy 发表于 2015-5-13 10:51:16

码一个，改天试试

creep 发表于 2015-5-13 11:22:41

来个压缩文件分享一下，谢谢！

Excellence 发表于 2015-5-13 13:14:36

MARK.看看。。。。

embeddev_1 发表于 2015-5-13 14:09:36

楼主把汇编部分讲解下吧，汇编看起来太累！{:biggrin:}

Robin_King 发表于 2015-5-13 14:27:32

MARK之。。。坐等傻孩子点评！！！

蓝蓝的恋 发表于 2015-5-13 14:37:52

果断小白鼠一下，帮顶~

yongxiangu 发表于 2015-5-13 17:11:24

有空仔细研究一下

wader 发表于 2015-5-13 17:14:19

mark试试看

byrin219 发表于 2015-5-13 17:25:08

有时间试试，貌似不错。

机器人天空 发表于 2015-5-13 19:12:29

楼主汇编看不懂啊，{:sweat:}

worldsing 发表于 2015-5-13 20:34:42

沉默胜过白金发表于 2015-5-13 10:48
STM32可用？

可用{:smile:}

xad74 发表于 2015-5-13 20:34:53

LZ是转过来的吗{:lol:}

worldsing 发表于 2015-5-13 20:36:09

xad74 发表于 2015-5-13 20:34
LZ是转过来的吗

欢迎找原文，找到有奖励。哈哈

worldsing 发表于 2015-5-13 20:37:54

embeddev_1 发表于 2015-5-13 14:09
楼主把汇编部分讲解下吧，汇编看起来太累！

大概的意思就是产生个软件异常中断，再切换任务栈。

worldsing 发表于 2015-5-13 20:42:08

creep 发表于 2015-5-13 11:22
来个压缩文件分享一下，谢谢！

没有细看帖子啊，整个调度器就一个头文件，还带demo还有什么好说的？

flyfox8 发表于 2015-5-15 14:29:44

LZ高人！虽然不懂汇编，还是要拿来玩一下。

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借傻孩子老师的地盘发个小小调度器