From ed83f2b771866d151c39795d6381894f9b1a4402 Mon Sep 17 00:00:00 2001 From: "zhibiao.xu" Date: Sun, 30 Mar 2025 17:28:55 +0800 Subject: [PATCH] Add linked list operation --- Core/Src/main.c | 54 ++++++++++++++++++-------------------- thead/src/context_switch.s | 1 - thead/src/thread.c | 45 +++++++++++-------------------- 3 files changed, 42 insertions(+), 58 deletions(-) diff --git a/Core/Src/main.c b/Core/Src/main.c index 8627c0f..7808fb4 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -47,6 +47,7 @@ void SystemClock_Config(void) void Error_Handler(void) { __disable_irq(); + printf("Error_Handler\r\n"); while(1) { } @@ -54,25 +55,25 @@ void Error_Handler(void) void prosee1(void *data) { - tcb_t *self = (tcb_t *)data; + tcb_t *self = (tcb_t *)data; while(1) - { - __disable_irq(); - printf("prosee_id:%d, stack_ptr:%#x\r\n", self->task_id, self->stack_ptr); - __enable_irq(); - HAL_Delay(1000); + { + __disable_irq(); + printf("prosee_id:%d, stack_ptr:%#x\r\n", self->task_id, self->stack_ptr); + __enable_irq(); + HAL_Delay(1000); } } void prosee2(void *data) { - tcb_t *self = (tcb_t *)data; + tcb_t *self = (tcb_t *)data; while(1) - { - __disable_irq(); - printf("prosee_id:%d, stack_ptr:%#x\r\n", self->task_id, self->stack_ptr); - __enable_irq(); - HAL_Delay(1000); + { + __disable_irq(); + printf("prosee_id:%d, stack_ptr:%#x\r\n", self->task_id, self->stack_ptr); + __enable_irq(); + HAL_Delay(1000); } } @@ -83,20 +84,17 @@ uint8_t statck2[STACK_SIZE]; int main(void) { - __disable_irq(); - HAL_Init(); - SystemClock_Config(); - MX_USART1_UART_Init(); - printf("Init tasks\r\n"); - init_task(&tcb1, prosee1, statck, (void *)&tcb1); - init_task(&tcb2, prosee2, statck2, (void *)&tcb2); - - /* run the first task */ - start_first_task(); - __enable_irq(); - while(1) - { - printf("idle\r\n"); - }; -} + __disable_irq(); + HAL_Init(); + SystemClock_Config(); + MX_USART1_UART_Init(); + printf("Init tasks\r\n"); + init_task(&tcb1, prosee1, statck, (void *)&tcb1); + init_task(&tcb2, prosee2, statck2, (void *)&tcb2); + __enable_irq(); + while(1) + { + printf("idle\r\n"); + }; +} diff --git a/thead/src/context_switch.s b/thead/src/context_switch.s index e9dd513..d02107f 100644 --- a/thead/src/context_switch.s +++ b/thead/src/context_switch.s @@ -5,7 +5,6 @@ AREA |.text|, CODE, READONLY ; 定义代码段 EXPORT PendSV_Handler ; 导出 PendSV_Handler 符号 IMPORT current_task ; 从 C 代码导入 current_task 指针 - IMPORT next_task ; 从 C 代码导入 next_task 指针 IMPORT switch_to_next_task ; 从 C 代码导入 switch_to_next_task 函数 PendSV_Handler PROC diff --git a/thead/src/thread.c b/thead/src/thread.c index 030309e..c72d018 100644 --- a/thead/src/thread.c +++ b/thead/src/thread.c @@ -5,29 +5,17 @@ #include "thread.h" /*** -上下文切换的指针，如果触发了上下文切换，则next_task为下一个执行目标。 + 上下文切换的指针，如果触发了上下文切换，则next_task为下一个执行目标。 ***/ tcb_t *current_task; -tcb_t *next_task; +tcb_t *task_list = { 0 }; /*** 切换任务的函数，进行上下文切换的时候，会获取一下最新的任务指针。 ***/ void switch_to_next_task(void) { - tcb_t *temp = current_task; - current_task = next_task; - next_task = temp; -} - -/*** - 启动切换，芯片上电默认执行的是main函数，需要切换到第一个任务上。 -***/ -void start_first_task(void) -{ - SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; - __DSB(); - __ISB(); + current_task = (current_task ? current_task : task_list)->next; } /*** @@ -36,14 +24,8 @@ void start_first_task(void) 2.采用时间片调度。 3.采用信号量调度。 ***/ -tcb_t *task[2]; -uint8_t tcb_cunt = 0; -static uint8_t max_tcb = 0; void tcb_scheduler(void) { - tcb_cunt = tcb_cunt % 2; - next_task = task[tcb_cunt]; - tcb_cunt++; SCB->ICSR |= SCB_ICSR_PENDSVSET_Msk; __DSB(); __ISB(); @@ -54,11 +36,9 @@ void tcb_scheduler(void) ***/ void init_task(tcb_t *tcb, void (*task_entry)(void *), uint8_t *start_stack, void *arg) { + static tcb_t *task_first_list; // 栈顶对齐到 8 字节（硬件要求） - static uint8_t tcb_id = 0; - task[tcb_id] = tcb; - tcb_id++; - tcb->task_id = tcb_id; + tcb->task_id = task_list ? task_list->task_id + 1 : 1; tcb->stack_ptr = (uint32_t *)start_stack; uint32_t *stack_top = (uint32_t *)((uint8_t *)tcb->stack_ptr + STACK_SIZE); stack_top = (uint32_t *)((uint32_t)stack_top & ~0x07); @@ -78,10 +58,17 @@ void init_task(tcb_t *tcb, void (*task_entry)(void *), uint8_t *start_stack, voi } tcb->stack_ptr = stack_top; - printf("init_tch:%d\r\n", tcb_id); - if(tcb_id == 1) + printf("init_tch:%d\r\n", tcb->task_id); + if(tcb->task_id == 1) + { + printf("start_tch:%d\r\n", tcb->task_id); + task_first_list = tcb; + task_list = tcb; + } + else { - printf("start_tch:%d\r\n", tcb_id); - next_task = tcb; + task_list->next = tcb; + tcb->next = task_first_list; + task_list = tcb; } }