#if OS_TASK_CREATE_EN > 0u INT8U OSTaskCreate (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT8U prio) { OS_STK *psp; INT8U err; #if OS_CRITICAL_METHOD == 3u /* Allocate storage for CPU status register */ OS_CPU_SR cpu_sr = 0u; #endif #ifdef OS_SAFETY_CRITICAL_IEC61508 if (OSSafetyCriticalStartFlag == OS_TRUE) { OS_SAFETY_CRITICAL_EXCEPTION(); } #endif #if OS_ARG_CHK_EN > 0u if (prio > OS_LOWEST_PRIO) { /* Make sure priority is within allowable range */ return (OS_ERR_PRIO_INVALID); } #endif OS_ENTER_CRITICAL(); if (OSIntNesting > 0u) { /* Make sure we don't create the task from within an ISR */ OS_EXIT_CRITICAL(); return (OS_ERR_TASK_CREATE_ISR); } if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { /* Make sure task doesn't already exist at this priority */ OSTCBPrioTbl[prio] = OS_TCB_RESERVED;/* Reserve the priority to prevent others from doing ... */ /* ... the same thing until task is created. */ OS_EXIT_CRITICAL(); psp = OSTaskStkInit(task, p_arg, ptos, 0u); /* Initialize the task's stack */ err = OS_TCBInit(prio, psp, (OS_STK *)0, 0u, 0u, (void *)0, 0u); if (err == OS_ERR_NONE) { if (OSRunning == OS_TRUE) { /* Find highest priority task if multitasking has started */ OS_Sched(); } } else { OS_ENTER_CRITICAL(); OSTCBPrioTbl[prio] = (OS_TCB *)0;/* Make this priority available to others */ OS_EXIT_CRITICAL(); } return (err); } OS_EXIT_CRITICAL(); return (OS_ERR_PRIO_EXIST); } #endif

1个月前