s3c44b0移植ucos的一个实例[最新]

s3c44b0移植ucos的一个实例[最新] 工程有三个文件夹,sample,startup,ucos Startup为板子的公版函数,44blib.c,44BINIT.S,TARGET.C ucos为UCOS的公版函数 Sample里面只有一个文件,main.c: MAIN.C:声明堆栈,声明任务函数,声明事件和MAIN() #define STACKSIZE 512 OS_STK StartTaskStk[STACKSIZE]; OS_STK Led1TaskStk[STACKSIZE]; OS_STK Led2TaskStk[STACKSIZE]; OS_STK Led3TaskStk[STACKSIZE]; char *s1="\n led1 on !"; char *s2="\n led2 on !"; char *s3="\n led3 on !"; INT8U err; OS_FLAG_GRP *Sem_F; void StartTask(void *data); void Led1Task(void *data); void Led2Task(void *data); void Led3Task(void *data); 一.初始化过程: int Main(int argc, char **argv) { ARMTargetInit(); //运行环境初始化 OSInit(); //OS初始化 Sem_F=OSFlagCreate(0,&err); //创建信号量集 OSTaskCreate(StartTask,(void *)0,&StartTaskStk[STACKSIZE-1],0);//创建起始任务 OSStart(); return 0; } void StartTask(void *pdata) { pdata=pdata; ARMTargetStart(); //中断和TICK的设置 OSTaskCreate(Led1Task,(void *)s1,&Led1TaskStk[STACKSIZE-1],3); OSTaskCreate(Led2Task,(void *)s2,&Led2TaskStk[STACKSIZE-1],4); OSTaskCreate(Led3Task,(void *)s3,&Led3TaskStk[STACKSIZE-1],5); do{ OSTaskDel(0); }while(1); } 1(ARMTargetInit(),MAIN()刚开始的运行环境初始化 void ARMTargetInit(void) { Port_Init(); Uart_Init(0,115200); Uart_Select(0); Uart_Printf("\r\nHello!uCOS-II Systerm !\r\n"); InitInterrupts(); //非向量中断,IRQ,禁止所有中断 InitTimers(); //设TICK为20ms } void InitInterrupts(void) { unsigned int cc; for(cc=_RAM_STARTADDRESS;cc<(_RAM_STARTADDRESS+0x20);cc+=4) { *((volatile unsigned *)cc)=0xEA000000+((unsigned int)Image$$RO$$Base-0x0c000000-8)/4; } rINTCON=0x5; rINTMOD=0x0; rINTMSK=0X7FFFFFF; } 2(ARMTargetStart(),开始任务中的tick设置,以及 OSTimeTick() void ARMTargetStart(void) { RequestSystemTimer(); InstallSystemTimer(); //就是开了全局和T0中断 } void RequestSystemTimer(void) { pISR_TIMER0= (unsigned)Timer0_Exception; } void Timer0_Exception(void) { rI_ISPC=BIT_TIMER0; OSTimeTick(); } 就是把OSTimeTick()放进了T0的ISR里,每20ms执行一次. void OSTimeTick (void) { if (OSRunning == TRUE) { ptcb = OSTCBList; while (ptcb->OSTCBPrio != OS_IDLE_PRIO) //依次检索所有的TCB,直到空闲任务 { OS_ENTER_CRITICAL(); if (ptcb->OSTCBDly != 0) {//若这个TCB的dly值不为0则: if (--ptcb->OSTCBDly == 0) {//dly自减,若为1则检索下个TCB,若为0则: if ((ptcb->OSTCBStat & OS_STAT_SUSPEND) == OS_STAT_RDY) { //若TCB的等待状态为:就绪则: OSRdyGrp|= ptcb->OSTCBBitY; //rdy组里增加这个TCB OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;//rdy表里增加.. } else { ptcb->OSTCBDly = 1; //若状态为未就绪,则在DLY值里写1 } } } ptcb = ptcb->OSTCBNext; OS_EXIT_CRITICAL(); } } } 中断的过程 在中断发生时,并不是像以前那样直接运行ISRIRQ,在启动代码里改了: ldr r0,=HandleIRQ ldr r1,=OSIRQISR str r1,[r0] OSIRQISR函数会在一系列的stack周转后,比较intnesting的值,若非1，我看不懂下面的汇编代码……若1，跳入ISRIRQ,然后跳入OSIntExit(退出系统中断函数,内容为:OSINTNESTING减1.若为0且当前任务不是最高优先级,则调用中断级调度OSIntCtxSw(), 将PC弹栈离开ISR)。若没有在上述过程离开ISR(即没有调度),则再计算intnesting,若0，则再一系列的STACK周转后把PC弹栈.若1，下面的汇编代码我仍看不懂.. 3(OSInit(),MAIN()中的OS初始化,包括全局变量们,rdy 表,TCB表,EVENT表,以及建立IDLE和STAT任务 void OSInit (void) { OS_InitMisc(); OS_InitRdyList(); OS_InitTCBList(); OS_InitEventList(); OS_FlagInit(); OS_MemInit(); OS_QInit(); OS_InitTaskIdle(); OS_InitTaskStat(); } 大体过程和初始化的全局变量如下: OSIntNesting = 0; OSLockNesting = 0; OSTaskCtr = 0; OSRunning = FALSE; OSCtxSwCtr = 0; OSIdleCtr = 0L; OSIdleCtrRun = 0L; OSIdleCtrMax = 0L; OSStatRdy = FALSE; OSRdyGrp = 0x00; prdytbl = &OSRdyTbl[0]; for (i = 0; i < OS_RDY_TBL_SIZE; i++) { *prdytbl++ = 0x00; } OSPrioCur = 0; OSPrioHighRdy = 0; OSTCBHighRdy = (OS_TCB *)0; OSTCBCur = (OS_TCB *)0; OS_InitTCBList() (void)memset(&OSTCBTbl[0], 0, sizeof(OSTCBTbl)); //OSTCBTBL为OSTCB类型数组 OS_TCB OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS]. (void)memset(&OSTCBPrioTbl[0], 0, sizeof(OSTCBPrioTbl)); //OSTCBPRIOTBL为指针数组 OS_TCB *OSTCBPrioTbl[OS_LOWEST_PRIO + 1] ptcb1 = &OSTCBTbl[0]; ptcb2 = &OSTCBTbl[1]; for (i = 0; i < (OS_MAX_TASKS + OS_N_SYS_TASKS - 1); i++) { ptcb1->OSTCBNext = ptcb2; ptcb1++; ptcb2++; }//OSTCBTBL元素穿成单向链表 ptcb1->OSTCBNext = (OS_TCB *)0; OSTCBList = (OS_TCB *)0; OSTCBFreeList = &OSTCBTbl[0]; OS_InitEventList() (void)memset(&OSEventTbl[0], 0, sizeof(OSEventTbl)); pevent1 = &OSEventTbl[0]; pevent2 = &OSEventTbl[1]; for (i = 0; i < (OS_MAX_EVENTS - 1); i++) { pevent1->OSEventType = OS_EVENT_TYPE_UNUSED; pevent1->OSEventPtr = pevent2; pevent1++; pevent2++; } pevent1->OSEventType = OS_EVENT_TYPE_UNUSED; pevent1->OSEventPtr = (OS_EVENT *)0; OSEventFreeList = &OSEventTbl[0]; OSEventFreeList->OSEventType = OS_EVENT_TYPE_UNUSED; OSEventFreeList->OSEventPtr = (OS_EVENT *)0; 4(OSStart(),MAIN()中建立第一个任务后,开始操作系统 void OSStart (void) { INT8U y; INT8U x; if (OSRunning == FALSE) { y = OSUnMapTbl[OSRdyGrp]; x = OSUnMapTbl[OSRdyTbl[y]]; OSPrioHighRdy = (INT8U)((y << 3) + x); OSPrioCur = OSPrioHighRdy; OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy]; OSTCBCur = OSTCBHighRdy; OSStartHighRdy(); } } 给四个指示当前和最高的PRIO和TCB的全局变量赋值,并运行OSStartHighRdy()函数 (大体内容为将OSRunning置一并调度) 二.任务的建立 OSTaskCreate(StartTask,(void *)0,&StartTaskStk[STACKSIZE-1],0);这是开始任务 1(OSTaskCreate()以及其中的STK和TCB初始化函数 OSTaskCreate():在TCBPRIO表中占位,初始化堆栈和TCB,若OS已运行则调度. INT8U OSTaskCreate (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT8U prio) { OS_STK *psp; INT8U err; OS_ENTER_CRITICAL(); if (OSTCBPrioTbl[prio] == (OS_TCB *)0) { OSTCBPrioTbl[prio] = (OS_TCB *)1; OS_EXIT_CRITICAL(); psp = (OS_STK *)OSTaskStkInit(task, pdata, ptos, 0); //初始化堆栈,获得堆栈指针 err = OS_TCBInit(prio, psp, (OS_STK *)0, 0, 0, (void *)0, 0);//初始化TCB 这两个函数将传递的参数计入STACK和TCB,并初始化之. if (err == OS_NO_ERR) { OS_ENTER_CRITICAL(); OSTaskCtr++; OS_EXIT_CRITICAL(); if (OSRunning == TRUE) { OS_Sched(); } } else { OS_ENTER_CRITICAL(); OSTCBPrioTbl[prio] = (OS_TCB *)0; OS_EXIT_CRITICAL(); } return (err); } OS_EXIT_CRITICAL(); return (OS_PRIO_EXIST); } OSTaskStkInit(),在MAIN文件一开始,就声明了所有任务的STK(512B).这里传递的是这个任务的STK的最高字节,即满递减堆栈的栈底.堆栈在初始化时,存入所有REG和CPSR OS_STK *OSTaskStkInit (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT16U opt) { OS_STK *stk; opt = opt; stk = ptos; *--stk = (OS_STK) task; /* pc */ *--stk = (OS_STK) task; /* lr */ --stk = 0; /* r12 */ * *--stk = 0; /* r11 */ *--stk = 0; /* r10 */ *--stk = 0; /* r9 */ *--stk = 0; /* r8 */ *--stk = 0; /* r7 */ *--stk = 0; /* r6 */ *--stk = 0; /* r5 */ *--stk = 0; /* r4 */ *--stk = 0; /* r3 */ *--stk = 0; /* r2 */ *--stk = 0; /* r1 */ *--stk = (unsigned int) pdata; /* r0，用以传递第一个参数 */ *--stk = (USER_USING_MODE|0x00); /* cpsr */ return (stk); } OS_TCBInit(),从OSTCBFreeList单向链表中申请TCB并写入SP,PRIO,STAT,DLY和TCB索引值XY,加入OSTCBList双向链表首.并在全局变量PRIO表和RDY表中写入此TCB INT8U OS_TCBInit (INT8U prio, OS_STK *ptos, OS_STK *pbos, INT16U id, INT32U stk_size, void *pext, INT16U opt) { OS_ENTER_CRITICAL(); ptcb = OSTCBFreeList; if (ptcb != (OS_TCB *)0) { OSTCBFreeList = ptcb->OSTCBNext; OS_EXIT_CRITICAL(); ptcb->OSTCBStkPtr = ptos; ptcb->OSTCBPrio = (INT8U)prio; ptcb->OSTCBStat = OS_STAT_RDY; ptcb->OSTCBDly = 0; ptcb->OSTCBY = prio >> 3; ptcb->OSTCBBitY = OSMapTbl[ptcb->OSTCBY]; ptcb->OSTCBX = prio & 0x07; ptcb->OSTCBBitX = OSMapTbl[ptcb->OSTCBX]; #if OS_EVENT_EN > 0 ptcb->OSTCBEventPtr = (OS_EVENT *)0; /* Task is not pending on an event */ #endif #if (OS_MBOX_EN > 0) || ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) ptcb->OSTCBMsg = (void *)0; /* No message received */ #endif OS_EXIT_CRITICAL(); OSTCBPrioTbl[prio] = ptcb; ptcb->OSTCBNext = OSTCBList; ptcb->OSTCBPrev = (OS_TCB *)0; if (OSTCBList != (OS_TCB *)0) { OSTCBList->OSTCBPrev = ptcb; } OSTCBList = ptcb; OSRdyGrp |= ptcb->OSTCBBitY; OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX; OS_EXIT_CRITICAL(); return (OS_NO_ERR); } OS_EXIT_CRITICAL(); return (OS_NO_MORE_TCB); } 2(开始任务StartTask() 开始任务的建立在OSINIT()后,在OSSTART()之前,此时OSRunning并未置一,所以其不占据TCBPRIO表的位置. int Main(int argc, char **argv) { ARMTargetInit(); OSInit(); Sem_F=OSFlagCreate(0,&err); OSTaskCreate(StartTask,(void *)0,&StartTaskStk[STACKSIZE-1],0); OSStart(); return 0; } 开始任务中,打开中断,使能TICK,建立其他的任务,并将自己删除.这个任务在OS运行时是不允许进入的,因为其不占据TCBPRIO表的位置. void StartTask(void *pdata) { pdata=pdata; ARMTargetStart(); OSTaskCreate(Led1Task,(void *)s1,&Led1TaskStk[STACKSIZE-1],3); OSTaskCreate(Led2Task,(void *)s2,&Led2TaskStk[STACKSIZE-1],4); OSTaskCreate(Led3Task,(void *)s3,&Led3TaskStk[STACKSIZE-1],5); do{ OSTaskDel(0); }while(1); } 3(其他任务 可见正常任务与开始任务不同的是,这是个死循环,并且每个循环中总会将自己dly一段时间 void Led1Task(void *pdata) { for(;;) { OSFlagPend(Sem_F,(OS_FLAGS)3,OS_FLAG_WAIT_SET_ALL,0,&err); rPDATC=0x02; Uart_Printf(pdata); OSTimeDlyHMSM(0,0,1,0); } } 三.标志组 1(早在MAIN文件声明变量时,就声明了这个标志组: OS_FLAG_GRP *Sem_F; typedef struct { INT8U OSFlagType; void *OSFlagWaitList; //指向等待表首,这个双向链表穿起了和这个FLAG相关的所有NODE OS_FLAGS OSFlagFlags; } OS_FLAG_GRP; . 2。在MAIN()中,使Sem_F=OSFlagCreate(0,&err); OS_FLAG_GRP *OSFlagCreate (OS_FLAGS flags, INT8U *err) { OS_FLAG_GRP *pgrp; if (OSIntNesting > 0) { *err = OS_ERR_CREATE_ISR; return ((OS_FLAG_GRP *)0); } //是不能在ISR中建立标志组的 OS_ENTER_CRITICAL(); pgrp = OSFlagFreeList; //从FREELIST里申请一个FLAG if (pgrp != (OS_FLAG_GRP *)0) { OSFlagFreeList = (OS_FLAG_GRP *)OSFlagFreeList->OSFlagWaitList; pgrp->OSFlagType = OS_EVENT_TYPE_FLAG; //初始化PGRP->TYPE pgrp->OSFlagFlags = flags; //初始化PGRP->FLAG pgrp->OSFlagWaitList = (void *)0; //初始化PGRP->等代表为(void*)0 OS_EXIT_CRITICAL(); *err = OS_NO_ERR; } else { OS_EXIT_CRITICAL(); *err = OS_FLAG_GRP_DEPLETED; } return (pgrp); } 3(调用OSFlagPend(Sem_F,(OS_FLAGS)0x11,OS_FLAG_WAIT_SET_ALL,0,&err);来等待标志….在每次调用FLAGPEND时,若因未满足标志要求而陷入等待态,都会在当前任务堆栈里建立一个OS_FLAG_NODE结构,来保存TCB和等待的标志的信息..这个结构会加入pgrp->OSFlagWaitList双向链表首….在超时返回或满足返回后,会删除这个结构.因为结构是在任务堆栈中分配空间,因此会自动消失,空间会返回给堆栈,所以对于任务来说,他根本不知道这个OS_FLAG_NODE结构的存在. PEND类型可为SETALL,SETANY,CLRALL,CLRANY typedef struct { void *OSFlagNodeNext; //等待表中下一个节点 void *OSFlagNodePrev; //等待表中上一个节点 void *OSFlagNodeTCB; //指向等待任务的TCB void *OSFlagNodeFlagGrp; //指向事件标志组 OS_FLAGS OSFlagNodeFlags; //指向要等待的标志 INT8U OSFlagNodeWaitType; //等待种类:SETALL,SETANY,CLRALL,CLRANY } OS_FLAG_NODE; OS_FLAGS OSFlagPend (OS_FLAG_GRP *pgrp, OS_FLAGS flags, INT8U wait_type, INT16U timeout, INT8U *err) { OS_FLAG_NODE node; OS_FLAGS flags_cur; OS_FLAGS flags_rdy; BOOLEAN consume; if (OSIntNesting > 0) { *err = OS_ERR_PEND_ISR; return ((OS_FLAGS)0); } if (wait_type & OS_FLAG_CONSUME) { wait_type &= ~OS_FLAG_CONSUME; consume = TRUE; } else consume = FALSE;//是否要求恢复标志,若是,则将consume置一 OS_ENTER_CRITICAL(); switch (wait_type) { case OS_FLAG_WAIT_SET_ALL: flags_rdy = pgrp->OSFlagFlags & flags;//分离出需要的位 if (flags_rdy == flags) { //若满足SETALL if (consume == TRUE) { pgrp->OSFlagFlags &= ~flags_rdy;//若要求恢复,就清除那几个位 } flags_cur = pgrp->OSFlagFlags;//返回当前的FLAG位 OS_EXIT_CRITICAL(); *err = OS_NO_ERR; return (flags_cur); } else { //若不满足SETALL,将TCB加入等待链表 OS_FlagBlock(pgrp, &node, flags, wait_type, timeout);// OS_EXIT_CRITICAL(); } break; case OS_FLAG_WAIT_SET_ANY: flags_rdy = pgrp->OSFlagFlags & flags; if (flags_rdy != (OS_FLAGS)0) { //满足SETANY if (consume == TRUE) { pgrp->OSFlagFlags &= ~flags_rdy; //若要求恢复,就清除那几个位 } flags_cur = pgrp->OSFlagFlags; OS_EXIT_CRITICAL(); *err = OS_NO_ERR; return (flags_cur); } else { OS_FlagBlock(pgrp, &node, flags, wait_type, timeout); OS_EXIT_CRITICAL(); } break; case OS_FLAG_WAIT_CLR_ALL: flags_rdy = ~pgrp->OSFlagFlags & flags;//分离出需要的位,将这些位取反 if (flags_rdy == flags) { if (consume == TRUE) { pgrp->OSFlagFlags |= flags_rdy; //若要求恢复,就置位那几个位 } flags_cur = pgrp->OSFlagFlags; OS_EXIT_CRITICAL(); *err = OS_NO_ERR; return (flags_cur); } else { OS_FlagBlock(pgrp, &node, flags, wait_type, timeout); OS_EXIT_CRITICAL(); } break; case OS_FLAG_WAIT_CLR_ANY: flags_rdy = ~pgrp->OSFlagFlags & flags; if (flags_rdy != (OS_FLAGS)0) { if (consume == TRUE) { pgrp->OSFlagFlags |= flags_rdy; } flags_cur = pgrp->OSFlagFlags; OS_EXIT_CRITICAL(); *err = OS_NO_ERR; return (flags_cur); } else { OS_FlagBlock(pgrp, &node, flags, wait_type, timeout); OS_EXIT_CRITICAL(); } break; default: //其他情况返回错误信息:错误的类型 OS_EXIT_CRITICAL(); flags_cur = (OS_FLAGS)0; *err = OS_FLAG_ERR_WAIT_TYPE; return (flags_cur); } OS_Sched(); //调度!!下面的情况是超时返回或满足条件返回 OS_ENTER_CRITICAL(); if (OSTCBCur->OSTCBStat & OS_STAT_FLAG) {//若等待标志还置位着(即超时返回) OS_FlagUnlink(&node); //则从等待链表去除 OSTCBCur->OSTCBStat = OS_STAT_RDY; OS_EXIT_CRITICAL(); flags_cur = (OS_FLAGS)0; *err = OS_TIMEOUT; //返回超时信息 } else { if (consume == TRUE) { switch (wait_type) { case OS_FLAG_WAIT_SET_ALL: case OS_FLAG_WAIT_SET_ANY: pgrp->OSFlagFlags &= ~OSTCBCur->OSTCBFlagsRdy; break; case OS_FLAG_WAIT_CLR_ALL: case OS_FLAG_WAIT_CLR_ANY: pgrp->OSFlagFlags |= OSTCBCur->OSTCBFlagsRdy; break; default: OS_EXIT_CRITICAL(); *err = OS_FLAG_ERR_WAIT_TYPE; return ((OS_FLAGS)0); } } flags_cur = pgrp->OSFlagFlags; //返回值为当前FLAG OS_EXIT_CRITICAL(); *err = OS_NO_ERR; } return (flags_cur); } static void OS_FlagBlock (OS_FLAG_GRP *pgrp, OS_FLAG_NODE *pnode, OS_FLAGS flags, INT8U wait_type, INT16U timeout) 这个函数,将参数的node加入pgrp->OSFlagWaitList双向链表首,在OSTCBCur->OSTCBFlagNode中写入NODE的指针, 并从rdy表去除当前TCB OS_FlagUnlink (OS_FLAG_NODE *pnode) 这个函数,将参数的node从pgrp->OSFlagWaitList双向链表去除,并由NODE的*OSFlagNodeTCB成员找到这个TCB,从ptcb->OSTCBFlagNode中去除这个NODE .4. 调用OSFlagPost(Sem_F,(OS_FLAGS)2,OS_FLAG_SET,&err) POST类型可为SET和CLR OS_FLAGS OSFlagPost (OS_FLAG_GRP *pgrp, OS_FLAGS flags, INT8U opt, INT8U *err) { OS_FLAG_NODE *pnode; BOOLEAN sched; OS_FLAGS flags_cur; OS_FLAGS flags_rdy; BOOLEAN rdy; OS_ENTER_CRITICAL(); switch (opt) { //先根据POST类型修改FLAG case OS_FLAG_CLR: pgrp->OSFlagFlags &= ~flags; break; case OS_FLAG_SET: pgrp->OSFlagFlags |= flags; break; default: OS_EXIT_CRITICAL(); *err = OS_FLAG_INVALID_OPT; return ((OS_FLAGS)0); } sched = FALSE; pnode = (OS_FLAG_NODE *)pgrp->OSFlagWaitList;//找到等待表 while (pnode != (OS_FLAG_NODE *)0) { //遍历等待表以查看是否已满足 switch (pnode->OSFlagNodeWaitType) { case OS_FLAG_WAIT_SET_ALL: flags_rdy = pgrp->OSFlagFlags & pnode->OSFlagNodeFlags;//分离 if (flags_rdy == pnode->OSFlagNodeFlags) { //全置位 rdy = OS_FlagTaskRdy(pnode, flags_rdy); if (rdy == TRUE) { //若rdy表发生过改变,则将sched置一 sched = TRUE; } } break; case OS_FLAG_WAIT_SET_ANY: flags_rdy = pgrp->OSFlagFlags & pnode->OSFlagNodeFlags; if (flags_rdy != (OS_FLAGS)0) { rdy = OS_FlagTaskRdy(pnode, flags_rdy); if (rdy == TRUE) { sched = TRUE; } } break; case OS_FLAG_WAIT_CLR_ALL: flags_rdy = ~pgrp->OSFlagFlags & pnode->OSFlagNodeFlags; if (flags_rdy == pnode->OSFlagNodeFlags) { rdy = OS_FlagTaskRdy(pnode, flags_rdy); if (rdy == TRUE) { sched = TRUE; } } break; case OS_FLAG_WAIT_CLR_ANY: flags_rdy = ~pgrp->OSFlagFlags & pnode->OSFlagNodeFlags; if (flags_rdy != (OS_FLAGS)0) { rdy = OS_FlagTaskRdy(pnode, flags_rdy); if (rdy == TRUE) { sched = TRUE; } } break; default: OS_EXIT_CRITICAL(); *err = OS_FLAG_ERR_WAIT_TYPE; return ((OS_FLAGS)0); } pnode = (OS_FLAG_NODE *)pnode->OSFlagNodeNext; } OS_EXIT_CRITICAL(); if (sched == TRUE) { OS_Sched(); //若sched置一,则调度 } OS_ENTER_CRITICAL(); flags_cur = pgrp->OSFlagFlags; OS_EXIT_CRITICAL(); *err = OS_NO_ERR; return (flags_cur); } bolean OS_FlagTaskRdy (OS_FLAG_NODE *pnode, OS_FLAGS flags_rdy) 这个函数, 由NODE的*OSFlagNodeTCB成员找到这个TCB,将其加入rdy表,并调用 OS_FlagUnlink (OS_FLAG_NODE *pnode)