51单片机操作系统

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;
; sudochen@163.com
; This OS Just for Studing
; Please contact the author for commercial use
; All Right Reserved
; This program is distributed in the hope that it will be useful,
; but WITHOUT ANY WARRANTY

        NAME    ?C_STARTUP        
        
        EXTRN CODE (?C_START)
        EXTRN CODE (task_switch)
        EXTRN CODE (uart_irq)
        PUBLIC    ?C_STARTUP
        PUBLIC    TIMER_SYS
        
        ORG        0000H                ;absolute code at addr 0x00
?C_STARTUP:        
        LJMP    START    
        ORG        000BH                ;absolute code at addr 0x0B timer_0_irq
        SETB    F0
        LJMP    TIMER_SYS
        ORG        0023H
        LJMP    UART_SYS

START:
        MOV        R0,        #0FFH
CLB:    MOV        @R0,    #00H
        DJNZ    R0,        CLB
        MOV        SP,        #0D0H
        LJMP    ?C_START
        
UART_SYS:
        ; all we save 13 system registers
        CLR        EA
        PUSH     ACC
        PUSH    B
        PUSH    PSW
        PUSH    DPL
        PUSH    DPH
        USING    0
        PUSH    AR0
        PUSH    AR1
        PUSH    AR2
        PUSH    AR3
        PUSH    AR4
        PUSH    AR5
        PUSH    AR6
        PUSH    AR7
        CALL    uart_irq
        ; we restore 13 system    registers
        POP        AR7
        POP        AR6
        POP        AR5
        POP        AR4
        POP        AR3
        POP        AR2
        POP        AR1
        POP        AR0
        POP        DPH
        POP        DPL
        POP        PSW
        POP        B
        POP        ACC
        SETB    EA
        RETI


TIMER_SYS:
        ; all we save 13 system registers
        CLR        EA
        PUSH     ACC
        PUSH    B
        PUSH    PSW
        PUSH    DPL
        PUSH    DPH
        USING    0
        PUSH    AR0
        PUSH    AR1
        PUSH    AR2
        PUSH    AR3
        PUSH    AR4
        PUSH    AR5
        PUSH    AR6
        PUSH    AR7
        CALL    task_switch
        MOV        SP,    R7
        ; we restore 13 system    registers
        POP        AR7
        POP        AR6
        POP        AR5
        POP        AR4
        POP        AR3
        POP        AR2
        POP        AR1
        POP        AR0
        POP        DPH
        POP        DPL
        POP        PSW
        POP        B
        POP        ACC
        SETB    EA
        RETI
        
        
        END
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/*
 * sudochen@163.com
 * This OS Just for Studing
 * Please contact the author for commercial use
 * All Right Reserved
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY
 */

#include <reg51.h>
#include <string.h>
#include "STC8X_SYSDEF.H"

sbit Led1=P3^4;
sbit Led2=P3^5;
sbit Led3=P3^6;
sbit Led4=P3^7;

#define ON                0
#define OFF                1
#define CONFIG_TASK_MAX    3
#define FOSC                11059200UL
#define BRT                (256 - FOSC / 115200 / 32)

typedef void (*pfunc)(void);
extern void TIMER_SYS(void);

#define schedule() TIMER_SYS()

struct task_struct {
    pfunc func;
    unsigned int ticks;
    unsigned char ipc;
    unsigned char sp_top;
    unsigned char sp[20];
};

struct task_struct task_led1;
struct task_struct task_led2;
struct task_struct task_idle;
struct task_struct *task_list[CONFIG_TASK_MAX] = {0};
xdata unsigned char pid = 0;
xdata unsigned char pid_max = 0;
xdata struct task_struct *current = 0;

/* timer mode 1    and timeout is 10ms
 *
 */
void enable_timer0(void)
{
#if 1
     AUXR &= 0x7F;        //¶¨Ê±Æ÷ʱÖÓ12Tģʽ
    TMOD &= 0xF0;        //ÉèÖö¨Ê±Æ÷ģʽ
    TL0 = 0x00;            //ÉèÖö¨Ê±³õʼֵ
    TH0 = 0xb8;            //20ms
    ET0 = 0;            //½ûÓö¨Ê±Æ÷
    TF0 = 0;            //Çå³ýTF0±êÖ¾
    TR0 = 0;            //¶¨Ê±Æ÷0¿ªÊ¼¼Æʱ
#else
    TMOD = 0x01;        // work mode
    TH0  = 0xf0;        // high value
    TL0     = 0xd8;        // low value
    ET0  = 1;            // enable timer_interrupt
    TR0  = 0;            // disable timer0
#endif
}

#define BUFFER_LEN 16
bit busy;
xdata char wptr;
xdata char buffer[BUFFER_LEN];
xdata char console[BUFFER_LEN];
xdata char console_len;

void serial_init(void)        //115200bps@11.0592MHz
{
    SCON = 0x50;        //8???,?????
    AUXR &= 0xBF;        //?????12T??
    AUXR &= 0xFE;        //??1?????1???????
    TMOD &= 0x0F;        //???????
    TL1 = 0xFE;        //???????
    TH1 = 0xFF;        //???????
    ET1 = 0;        //?????%d??
    TR1 = 1;        //???1????
    ES = 1;
    wptr = 0;
    console_len = 0;
}

void uart_irq()
{
    if (TI) {
        TI = 0;
        busy = 0;
    }
    
    if (RI) {
        RI = 0;
        buffer[wptr] = SBUF;
        if (0x0a == buffer[wptr] || 0x0d == buffer[wptr]) {
            buffer[wptr] = 0;
            console_len = wptr + 1;
            wptr = 0;
            memcpy(console, buffer, console_len);
            return;
        }
        wptr ++;
        wptr &= 0x0f;
    }
}

void serial_putc(char dat)
{
    while (busy);
    busy = 1;
    SBUF = dat; 
}

void serial_printf(char *p)
{
    while (*p)
    {
        serial_putc(*p++);
    }
}

void task_init(struct task_struct *task, pfunc func)
{
    task->func = func;
    task->ticks = 0;
    task->ipc = 0;
    task->sp[1] = ((int)func) >> 8;        // hign
    task->sp[0] = ((int)func) ;            // low
    task->sp_top = (unsigned char)(task->sp) + 14;
    task_list[pid_max++] = task;
}

char task_switch(void)
{
    // NOW SP is address of "task switch function"
    // SP - 2 is the current task runtime address
    current->sp_top = (unsigned char)(SP - 2);
    
    if (F0) {
        for (pid = 0; pid < pid_max; pid++) {
            if (task_list[pid]) {
                if (task_list[pid]->ticks) {
                    task_list[pid]->ticks--;
                }
            }
        }
        F0 = 0;
    }

    for (pid = 0; pid < pid_max; pid++) {
        if (task_list[pid]) {
            if (!task_list[pid]->ticks) {
                if (current != task_list[pid]) {
                    current = task_list[pid];
                    break;
                }
            }
        }
    }

    return current->sp_top;
}

void task_start(void)
{
    // when task_init we set task sp_top is sp+14
    // SP = sp+1, the address of the function of task[0] start address
    SP = (unsigned char )((task_list[0]->sp_top) - 13);
    current = task_list[0];
    TF0 = 0;
    TR0 = 1;
    ET0 = 1;
}

void delay_500ms(void)        //@11.0592MHz
{
    unsigned char i, j, k;
    i = 8;
    j = 3;
    k = 67;
    do {
        do {
            while (--k);
        } while (--j);
    } while (--i);
}

void sleep(int ticks)
{
    EA = 0;
    current->ticks = ticks;
    EA = 1;
    schedule();
}

void func_led1(void)
{
    xdata unsigned char c = 0;
    xdata struct task_struct *task_led2 = task_list[1];
    while(1) {
        Led1=ON;
        sleep(25);
        Led1=OFF;
        sleep(25);
        if (++c > 10) {
            c = 0;
            EA = 0;
            task_led2->ipc = 1;
            EA = 1;
            serial_printf("PID: 0 Led2 Turn over\n\r");
            
        }
    }
}


void func_led2(void)
{
    xdata unsigned char ipc = 0;
    xdata unsigned char recv = 0;
    xdata char buff[16];
    xdata unsigned char i = 0;
    while(1) {
        EA = 0;
        ipc = current->ipc;
        if (ipc) {
            current->ipc = 0;
        }
        EA = 1;
        if (ipc) {
            serial_printf("PID: 1 Recive [counter] Message\n\r");
            Led2=!Led2;
            if (!Led2) {
                serial_printf("PID: 1 Led2 Turn On\n\r");
            } else {
                serial_printf("PID: 1 Led2 Turn Off\n\r");
            }
        }
        EA = 0;
        recv = console_len;
        memcpy(buff, console, console_len);
        console_len = 0;
        EA = 1;
        
        if (recv) {
            serial_printf(buff);
            if (!strcmp(buff, "LED3ON")) {
                Led3 = ON;
                serial_printf(buff);
            }
            if (!strcmp(buff, "LED3OFF")) {
                Led3 = OFF;
                serial_printf(buff);
            }
        }
        schedule();
    }
}

void func_idle(void)
{
    while(1) {
        Led4 = !Led4;
    }
}

void enable_interrupt()
{
    EA = 1;
}

void main()
{
    xdata int i = 0;
    P0M0 = 0x00;
    P0M1 = 0x00;
    P1M0 = 0x00;
    P1M1 = 0x00;
    P2M0 = 0x00;
    P2M1 = 0x00;
    P3M1 = 0x00;
    P3M0 = 0x00;       //ÉèÖÃΪ׼˫Ïò¿Ú
    P4M0 = 0x00;
    P4M1 = 0x00;
    P5M0 = 0x00;
    P5M1 = 0x00;
    
    enable_timer0();
    serial_init();
    
    for (i = 0; i < 10; i++) {
        Led1=!Led1;
        Led2=!Led2;
        Led3=!Led3;
        Led4=!Led4;
        delay_500ms();
    }
    for (i = 0; i < 10; i++) {
        delay_500ms();
    }
    Led1 = OFF;
    Led2 = OFF;
    Led3 = OFF;
    Led4 = OFF;

    task_init(&task_led1, func_led1);
    task_init(&task_led2, func_led2);
    task_init(&task_idle, func_idle);

    task_start();
    enable_interrupt();

    while(1);
}
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 上面的函数在某些编译条件下会出错，需要调节C51的优化项，同时由于函数指针的存在会导致函数调用树的问题，具体可搜索C51 调用树 关键字进行检索，修改如下：

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/*
 * sudochen@163.com
 * This OS Just for Studing
 * Please contact the author for commercial use
 * All Right Reserved
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY
 */

#include <reg51.h>
#include <string.h>
#include <intrins.h>
#include "STC8X_SYSDEF.H"

sbit Led1=P3^4;
sbit Led2=P3^5;
sbit Led3=P3^6;
sbit Led4=P3^7;

#define ON                0
#define OFF                1
#define CONFIG_TASK_MAX    3
#define FOSC                11059200UL
#define BRT                (256 - FOSC / 115200 / 32)

typedef void (*pfunc)(void);
extern void TIMER_SYS(void);

#define schedule() TIMER_SYS()

struct task_struct {
    pfunc func;
    unsigned int ticks;
    unsigned char ipc;
    unsigned char sp_top;
    unsigned char sp[20];
};
#define PREFIX xdata
#define TO_TASKSTRUCT(p) ((struct task_struct *)(p))

struct task_struct task_led1;
struct task_struct task_led2;
struct task_struct task_idle;
PREFIX unsigned char pid = 0;
PREFIX unsigned char pid_max = 0;
PREFIX unsigned int task_list[CONFIG_TASK_MAX] = {0};
PREFIX unsigned int current = 0;
//PREFIX struct task_struct *current = 0;

/* timer mode 1    and timeout is 10ms
 *
 */
void enable_timer0(void)
{
#if 1
     AUXR &= 0x7F;        //¶¨Ê±Æ÷ʱÖÓ12Tģʽ
    TMOD &= 0xF0;        //ÉèÖö¨Ê±Æ÷ģʽ
    TL0 = 0x00;            //ÉèÖö¨Ê±³õʼֵ
    TH0 = 0xb8;            //20ms
    ET0 = 0;            //½ûÓö¨Ê±Æ÷
    TF0 = 0;            //Çå³ýTF0±êÖ¾
    TR0 = 0;            //¶¨Ê±Æ÷0¿ªÊ¼¼Æʱ
#else
    TMOD = 0x01;        // work mode
    TH0  = 0xf0;        // high value
    TL0     = 0xd8;        // low value
    ET0  = 1;            // enable timer_interrupt
    TR0  = 0;            // disable timer0
#endif
}

#define BUFFER_LEN 16
bit busy;
PREFIX char wptr;
PREFIX char buffer[BUFFER_LEN];
PREFIX char console[BUFFER_LEN];
PREFIX char console_len;

void serial_init(void)        //115200bps@11.0592MHz
{
    SCON = 0x50;        //8???,?????
    AUXR &= 0xBF;        //?????12T??
    AUXR &= 0xFE;        //??1?????1???????
    TMOD &= 0x0F;        //???????
    TL1 = 0xFE;        //???????
    TH1 = 0xFF;        //???????
    ET1 = 0;        //?????%d??
    TR1 = 1;        //???1????
    ES = 1;
    wptr = 0;
    console_len = 0;
}

void uart_irq()
{
    if (TI) {
        TI = 0;
        busy = 0;
    }
    
    if (RI) {
        RI = 0;
        buffer[wptr] = SBUF;
        if (0x0a == buffer[wptr] || 0x0d == buffer[wptr]) {
            buffer[wptr] = 0;
            console_len = wptr + 1;
            wptr = 0;
            memcpy(console, buffer, console_len);
            return;
        }
        wptr ++;
        wptr &= 0x0f;
    }
}

void serial_putc(char dat)
{
    while (busy);
    busy = 1;
    SBUF = dat; 
}

void serial_printf(char *p)
{
    while (*p)
    {
        serial_putc(*p++);
    }
}

void task_init(struct task_struct *task, pfunc func)
{
    task->func = func;
    task->ticks = 0;
    task->ipc = 0;
    task->sp[1] = ((int)func) >> 8;        // hign
    task->sp[0] = ((int)func) ;            // low
    task->sp_top = (unsigned char)(task->sp) + 14;
    task_list[pid_max++] = (unsigned int)task;
}

char task_switch(void)
{
    // NOW SP is address of "task switch function"
    // SP - 2 is the current task runtime address
    TO_TASKSTRUCT(current)->sp_top = (unsigned char)(SP - 2);
    
    if (F0) {
        for (pid = 0; pid < pid_max; pid++) {
            if (task_list[pid]) {
                if (TO_TASKSTRUCT(task_list[pid])->ticks) {
                    TO_TASKSTRUCT(task_list[pid])->ticks--;
                }
            }
        }
        F0 = 0;
    }

    for (pid = 0; pid < pid_max; pid++) {
        if (task_list[pid]) {
            if (!TO_TASKSTRUCT(task_list[pid])->ticks) {
                if (current != task_list[pid]) {
                    current = task_list[pid];
                    break;
                }
            }
        }
    }

    return TO_TASKSTRUCT(current)->sp_top;
}

void task_start(void)
{
    // when task_init we set task sp_top is sp+14
    // SP = sp+1, the address of the function of task[0] start address
    SP = (unsigned char )((TO_TASKSTRUCT(task_list[0])->sp_top) - 13);
    current = (unsigned int)task_list[0];
    TF0 = 0;
    TR0 = 1;
    ET0 = 1;
}


void Delay10ms()        //@11.0592MHz
{
    unsigned char i, j;

    i = 108;
    j = 145;
    do
    {
        while (--j);
    } while (--i);
}


void delay_500ms(void)    //@11.0592MHz
{
    PREFIX unsigned char i, j, k;
    i = 8;
    j = 3;
    k = 67;
    do {
        do {
            while (--k);
        } while (--j);
    } while (--i);
}

void sleep(int ticks)
{
    EA = 0;
    TO_TASKSTRUCT(current)->ticks = ticks;
    EA = 1;
    schedule();
}

void func_led1(void)
{
    PREFIX unsigned char c = 0;
    PREFIX unsigned int task_led2 = (unsigned int)task_list[1];
    //PREFIX struct task_struct *task_led2 = task_list[1];

    while(1) {
        Led1=ON;
        sleep(25);
        Led1=OFF;
        sleep(25);        
        if (++c > 10) {
            c = 0;
            EA = 0;
            TO_TASKSTRUCT(task_led2)->ipc = 1;
            EA = 1;
            serial_printf("PID: 0 Led2 Turn over\n\r");
            
        }
    }
}

void func_led2(void)
{
    PREFIX unsigned char ipc = 0;
    PREFIX unsigned char recv = 0;
    PREFIX char buff[16];
    PREFIX unsigned char i = 0;
    while(1) {
        EA = 0;
        ipc = TO_TASKSTRUCT(current)->ipc;
        if (ipc) {
            TO_TASKSTRUCT(current)->ipc = 0;
        }
        EA = 1;
        if (ipc) {
            serial_printf("PID: 1 Recive [counter] Message\n\r");
            Led2=!Led2;
            if (!Led2) {
                serial_printf("PID: 1 Led2 Turn On\n\r");
            } else {
                serial_printf("PID: 1 Led2 Turn Off\n\r");
            }
        }
        EA = 0;
        recv = console_len;
        memcpy(buff, console, console_len);
        console_len = 0;
        EA = 1;
        
        if (recv) {
            serial_printf(buff);
            if (!strcmp(buff, "LED3ON")) {
                Led3 = ON;
                serial_printf(buff);
            }
            if (!strcmp(buff, "LED3OFF")) {
                Led3 = OFF;
                serial_printf(buff);
            }
        }
        schedule();
    }
}

void func_idle(void)
{
    while(1) {
        Led4 = !Led4;
        Delay10ms();
    }
}

void enable_interrupt()
{
    EA = 1;
}

void main()
{
    PREFIX int i = 0;
    
    P0M0 = 0x00;
    P0M1 = 0x00;
    P1M0 = 0x00;
    P1M1 = 0x00;
    P2M0 = 0x00;
    P2M1 = 0x00;
    P3M1 = 0x00;
    P3M0 = 0x00;       //ÉèÖÃΪ׼˫Ïò¿Ú
    P4M0 = 0x00;
    P4M1 = 0x00;
    P5M0 = 0x00;
    P5M1 = 0x00;
    
    enable_timer0();
    serial_init();
    
    for (i = 0; i < CONFIG_TASK_MAX; i++) {
        task_list[i] = 0;
    }
    
    for (i = 0; i < 10; i++) {
        Led1=!Led1;
        Led2=!Led2;
        Led3=!Led3;
        Led4=!Led4;
        delay_500ms();
    }
    for (i = 0; i < 10; i++) {
        delay_500ms();
    }

    Led1 = OFF;
    Led2 = OFF;
    Led3 = OFF;
    Led4 = OFF;

    task_init(&task_led1, func_led1);
    task_init(&task_led2, func_led2);
    task_init(&task_idle, func_idle);

    task_start();
    enable_interrupt();

    while(1);
}
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