多任务 51单片机纯C语言内核V1.03

#include

#define uchar unsigned char

#define uint unsigned int

#define ulong unsigned long

/*

Task_creat(1),Task_creat(2),Task_creat(3)

[task1][task2][task3][idel]...

...

Task_destroy(2)

[task1][idel][task3][idel]...

...

Task_destroy(1)

[idel][idel][task3][idel]...

...

Task_creat(4)

[task4][idel][task3][idel]...

//----------------------------------------------

TaskOrder[i]<->TaskCounter[i]<->TaskCountValue[i]

*/

#define TASKNUM 10 //任务空间

#define TASKREALNUM 9

#define STACKLENGTH 10

//---------------------------------------

uchar TaskCharge = TASKNUM;

uchar TaskNowRuning = 0;

//函数调用原型

uchar TaskOrder [TASKNUM] = {0};  //任务表

uchar TaskCounter [TASKNUM] = {0};

uchar TaskCountValue [TASKNUM] = {0};

uchar TaskPriority [TASKNUM] = {0};

uchar TaskStack [STACKLENGTH] = {0}; //任务栈

uchar TaskStackHead;

uchar TaskStackEnd;

struct flag

{

 uchar TaskFinish :1;

};

struct flag SysBit;

//-----------------调试用---------------------

uint Timerlengh;

uint Timerlenghhigh;

uint Timerlenghlow;

/*

ulong SysCounter;

ulong SysCountShow;

uint SysOnems;

*/

//---------------------------------------    

void Core_ini (void);

void Idel (void);

void Task_creat (uchar task_id,uchar task_count,uchar task_pri);

void Task_destory (uchar task_id);

//---------------------------------------

void Idle (void)

{}

void Core_ini (void)

{

 TaskLib[0] = &Idle;

 TaskLib[1] = &f1;

 TaskLib[2] = &f2;

 TaskLib[3] = &f3;

 TaskLib[4] = &f4;

 TaskLib[5] = &f5;

 TaskLib[6] = &f6;

 TaskLib[7] = &f7;

 TaskLib[8] = &f8;

 TaskLib[9] = &f9;

 TaskOrder [0] = 0;    //生成系统任务task0

 TaskStackHead = 0;

 TaskStackEnd = 0;

 SysBit.TaskFinish = 0;

//-----------------------------------------------

 Timerlengh = 0;

 Timerlenghhigh = 0;

 Timerlenghlow = 0xffff;

/*

 SysCounter = 0;

 SysCountShow = 0;

 SysOnems = 0;

*/ 

}

//-------------------------------------------------

void Task_creat (uchar task_id,uchar task_count,uchar task_pri)

{

 uchar i;

 uchar taskseat;

 i = 1;

 taskseat = 0;

 while (taskseat == 0)

 {  

  if (TaskOrder[i] == 0)

  {

   TaskOrder[i] = task_id;   //任务生成

   TaskPriority [i] = task_pri;

   TaskCounter[i] = 0;

   TaskCountValue[i] += task_count;

   taskseat = 1;

  }

  else

  {

   if (i < TASKREALNUM)

   {

    i++;

   }

   else

   {

    taskseat = 1;  //无空位

   }

  }

 }

}

void Task_destory (uchar task_id)

{

 uchar i;

 uchar taskaway;

 i = 1;

 taskaway = 0;

 while (taskaway == 0)

 {  

  if (TaskOrder[i] == task_id)

  {

   TaskOrder[i] = 0;   //任务删除

   TaskPriority [i] = 0;

   TaskCounter[i] = 0;

   TaskCountValue[i] = 0;

   taskaway = 1;

  }

  else

  {

   if (i < TASKREALNUM)

   {

    i++;

   }

   else

   {

    taskaway = 1;  //无空位

   }

  }

 } 

}

void WatchDog (void)

{}

#define timeH 0xfc

#define timeL 0x17 //1ms减去入栈误差

void timer0_ini (void)

{

 TMOD = 0x01;

   TH0 = timeH;

   TL0 = timeL;

   TR0 = 1;

   ET0 = 1;

   EA = 1;

}

void timer0 (void) interrupt 1

{

 uchar i;

 TR0 = 0;

 TL0 = timeL;

 TH0 = timeH;

 TR0 = 1;

//---------------------watchdog更新--------------------

//---------------------计数维护---------------------------  

....

//-------------------优先级排序(倒排序)----------------- 

....

//------------------------任务出栈------------------------   

....

//-------------------------调试用--------------------------

 Timerlengh = (TH0 * 256 + TL0) - 0xfc17;

 if (Timerlenghhigh < Timerlengh)

 {

  Timerlenghhigh = Timerlengh;

 }

 if (Timerlenghlow > Timerlengh)

 {

  Timerlenghlow = Timerlengh;

 }

}

void main (void)

{ 

 SP = 0x70;

 Core_ini ();

//----------------------------

 Task_creat (1,10,1);

 Task_creat (2,10,2);

 Task_creat (3,10,3);

 Task_creat (4,10,4);

 Task_creat (5,10,5);

 Task_creat (6,10,6);

 Task_creat (7,10,7);

 Task_creat (8,10,8);

 Task_creat (9,10,9);

// Task_destory (4);

 timer0_ini ();

 WatchDog ();

//------------------------------------

 for ( ; ; )

 {

//函数调用原型

  SysBit.TaskFinish = 1;

  while (SysBit.TaskFinish)

  {

//   SysCounter++;

  }

//------------------------------------ 

 }

}

特点：

1.时间片轮转调度

2.多任务

3.优先级并发控制

4.内核消耗小

5.任务任意载入删除

6.实时性强