OS_OBJ_QTY  OSPendMulti (OS_PEND_DATA  *p_pend_data_tbl,OS_OBJ_QTY     tbl_size,OS_TICK        timeout,OS_OPT         opt,OS_ERR        *p_err)
{CPU_BOOLEAN   valid;OS_OBJ_QTY    nbr_obj_rdy;CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return ((OS_OBJ_QTY)0);}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* Can't pend from an ISR                                 */*p_err = OS_ERR_PEND_ISR;return ((OS_OBJ_QTY)0);}
#endif#if OS_CFG_ARG_CHK_EN > 0uif (p_pend_data_tbl == (OS_PEND_DATA *)0) {             /* Validate 'p_pend_data_tbl'                             */*p_err = OS_ERR_PTR_INVALID;return ((OS_OBJ_QTY)0);}if (tbl_size == (OS_OBJ_QTY)0) {                        /* Array size must be > 0                                 */*p_err = OS_ERR_PTR_INVALID;return ((OS_OBJ_QTY)0);}//请求不到时阻塞？ switch (opt) {case OS_OPT_PEND_BLOCKING:case OS_OPT_PEND_NON_BLOCKING:break;default:*p_err = OS_ERR_OPT_INVALID;return ((OS_OBJ_QTY)0);}
#endif//多个内核对象检查，只能是信号量或者是消息 valid = OS_PendMultiValidate(p_pend_data_tbl,           /* -------- Validate objects to be OS_SEM or OS_Q ------- */tbl_size);if (valid == DEF_FALSE) {*p_err = OS_ERR_OBJ_TYPE;                            /* Invalid, not OS_SEM or OS_Q                            */return ((OS_OBJ_QTY)0);}/*$PAGE*/CPU_CRITICAL_ENTER();//检查是否有内核对象已经提交 nbr_obj_rdy = OS_PendMultiGetRdy(p_pend_data_tbl,       /* --------- SEE IF OBJECT(s) HAVE BEEN POSTED ---------- */tbl_size);//有对象就绪，返回 if (nbr_obj_rdy > (OS_OBJ_QTY)0) {CPU_CRITICAL_EXIT();*p_err = OS_ERR_NONE;return ((OS_OBJ_QTY)nbr_obj_rdy);}if ((opt & OS_OPT_PEND_NON_BLOCKING) != (OS_OPT)0) {    /* Caller wants to block if not available?                */CPU_CRITICAL_EXIT();*p_err = OS_ERR_PEND_WOULD_BLOCK;                    /* No                                                     */return ((OS_OBJ_QTY)0);} else {if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0) {    /* Can't pend when the scheduler is locked                */CPU_CRITICAL_EXIT();*p_err = OS_ERR_SCHED_LOCKED;return ((OS_OBJ_QTY)0);}}/* Lock the scheduler/re-enable interrupts                */OS_CRITICAL_ENTER_CPU_EXIT();/* ------ NO OBJECT READY, PEND ON MULTIPLE OBJECTS ----- *///插入等待队列，和单独一个内核对象相似 OS_PendMultiWait(p_pend_data_tbl,                       /* Suspend task until object posted or timeout occurs     */tbl_size,timeout);OS_CRITICAL_EXIT_NO_SCHED();//挂起当前任务，之后任务能恢复就在于信号发布或消息队列的发布是将任务加入就绪列表 OSSched();                                              /* Find next highest priority task ready                  */CPU_CRITICAL_ENTER();switch (OSTCBCurPtr->PendStatus) {case OS_STATUS_PEND_OK:                             /* We got one of the objects posted to                    */*p_err = OS_ERR_NONE;break;case OS_STATUS_PEND_ABORT:                          /* Indicate that the multi-pend was aborted               */*p_err = OS_ERR_PEND_ABORT;break;case OS_STATUS_PEND_TIMEOUT:                        /* Indicate that we didn't get semaphore within timeout   */*p_err = OS_ERR_TIMEOUT;break;case OS_STATUS_PEND_DEL:                            /* Indicate that an object pended on has been deleted     */*p_err = OS_ERR_OBJ_DEL;break;default:*p_err = OS_ERR_STATUS_INVALID;break;}OSTCBCurPtr->PendStatus = OS_STATUS_PEND_OK;CPU_CRITICAL_EXIT();return ((OS_OBJ_QTY)1);
}

************************************************************************************************************************
*                                                    SIGNAL A TASK
*
* Description: This function is called to signal a task waiting for a signal.
*
* Arguments  : p_tcb     is the pointer to the TCB of the task to signal.  A NULL pointer indicates that you are sending
*                        a signal to yourself.
*
*              opt       determines the type of POST performed:
*
*                             OS_OPT_POST_NONE         No option
*                             OS_OPT_POST_NO_SCHED     Do not call the scheduler
*
*              p_err     is a pointer to an error code returned by this function:
*
*                            OS_ERR_NONE              If the requested task is signaled
*                            OS_ERR_SEM_OVF           If the post would cause the semaphore count to overflow.
*
* Returns    : The current value of the task's signal counter or 0 if called from an ISR
************************************************************************************************************************
*/OS_SEM_CTR  OSTaskSemPost (OS_TCB  *p_tcb,OS_OPT   opt,OS_ERR  *p_err)
{OS_SEM_CTR  ctr;CPU_TS      ts;#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return ((OS_SEM_CTR)0);}
#endif#if OS_CFG_ARG_CHK_EN > 0uswitch (opt) {                                          /* Validate 'opt'                                         */case OS_OPT_POST_NONE:case OS_OPT_POST_NO_SCHED:break;default:*p_err =  OS_ERR_OPT_INVALID;return ((OS_SEM_CTR)0u);}
#endifts = OS_TS_GET();                                       /* Get timestamp                                          */#if OS_CFG_ISR_POST_DEFERRED_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* See if called from an ISR                              */OS_IntQPost((OS_OBJ_TYPE)OS_OBJ_TYPE_TASK_SIGNAL,   /* Post to ISR queue                                      */(void      *)p_tcb,(void      *)0,(OS_MSG_SIZE)0,(OS_FLAGS   )0,(OS_OPT     )0,(CPU_TS     )ts,(OS_ERR    *)p_err);return ((OS_SEM_CTR)0);}
#endifctr = OS_TaskSemPost(p_tcb,opt,ts,p_err);return (ctr);
}

************************************************************************************************************************
*                                              WAIT FOR A TASK SEMAPHORE
*
* Description: This function is called to block the current task until a signal is sent by another task or ISR.
*
* Arguments  : timeout       is the amount of time you are will to wait for the signal
*
*              opt           determines whether the user wants to block if a semaphore post was not received:
*
*                                OS_OPT_PEND_BLOCKING
*                                OS_OPT_PEND_NON_BLOCKING
*
*              p_ts          is a pointer to a variable that will receive the timestamp of when the semaphore was posted
*                            or pend aborted.  If you pass a NULL pointer (i.e. (CPU_TS *)0) then you will not get the
*                            timestamp.  In other words, passing a NULL pointer is valid and indicates that you don't
*                            need the timestamp.
*
*              p_err         is a pointer to an error code that will be set by this function
*
*                                OS_ERR_NONE               The call was successful and your task received a message.
*                                OS_ERR_PEND_ABORT
*                                OS_ERR_PEND_ISR           If you called this function from an ISR and the result
*                                OS_ERR_PEND_WOULD_BLOCK   If you specified non-blocking but no signal was received
*                                OS_ERR_SCHED_LOCKED       If the scheduler is locked
*                                OS_ERR_STATUS_INVALID     If the pend status is invalid
*                                OS_ERR_TIMEOUT            A message was not received within the specified timeout
*                                                          would lead to a suspension.
*
* Returns    : The current count of signals the task received, 0 if none.
************************************************************************************************************************
*/OS_SEM_CTR  OSTaskSemPend (OS_TICK   timeout,OS_OPT    opt,CPU_TS   *p_ts,OS_ERR   *p_err)
{OS_SEM_CTR    ctr;CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return ((OS_SEM_CTR)0);}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* Not allowed to call from an ISR                        */*p_err = OS_ERR_PEND_ISR;return ((OS_SEM_CTR)0);}
#endif#if OS_CFG_ARG_CHK_EN > 0uswitch (opt) {                                          /* Validate 'opt'                                         */case OS_OPT_PEND_BLOCKING:case OS_OPT_PEND_NON_BLOCKING:break;default:*p_err = OS_ERR_OPT_INVALID;return ((OS_SEM_CTR)0);}
#endifif (p_ts != (CPU_TS *)0) {*p_ts  = (CPU_TS  )0;                                /* Initialize the returned timestamp                      */}CPU_CRITICAL_ENTER();if (OSTCBCurPtr->SemCtr > (OS_SEM_CTR)0) {              /* See if task already been signaled                      */OSTCBCurPtr->SemCtr--;ctr    = OSTCBCurPtr->SemCtr;if (p_ts != (CPU_TS *)0) {*p_ts  = OSTCBCurPtr->TS;}
#if OS_CFG_TASK_PROFILE_EN > 0uOSTCBCurPtr->SemPendTime = OS_TS_GET() - OSTCBCurPtr->TS;if (OSTCBCurPtr->SemPendTimeMax < OSTCBCurPtr->SemPendTime) {OSTCBCurPtr->SemPendTimeMax = OSTCBCurPtr->SemPendTime;}
#endifCPU_CRITICAL_EXIT();*p_err = OS_ERR_NONE;return (ctr);}if ((opt & OS_OPT_PEND_NON_BLOCKING) != (OS_OPT)0) {    /* Caller wants to block if not available?                */CPU_CRITICAL_EXIT();*p_err = OS_ERR_PEND_WOULD_BLOCK;                    /* No                                                     */return ((OS_SEM_CTR)0);} else {                                                /* Yes                                                    */if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0) {    /* Can't pend when the scheduler is locked                */CPU_CRITICAL_EXIT();*p_err = OS_ERR_SCHED_LOCKED;return ((OS_SEM_CTR)0);}}/* Lock the scheduler/re-enable interrupts                */OS_CRITICAL_ENTER_CPU_EXIT();                           OS_Pend((OS_PEND_DATA *)0,                              /* Block task pending on Signal                           */(OS_PEND_OBJ  *)0,(OS_STATE      )OS_TASK_PEND_ON_TASK_SEM,(OS_TICK       )timeout);OS_CRITICAL_EXIT_NO_SCHED();OSSched();                                              /* Find next highest priority task ready to run           */CPU_CRITICAL_ENTER();switch (OSTCBCurPtr->PendStatus) {                      /* See if we timed-out or aborted                         */case OS_STATUS_PEND_OK:if (p_ts != (CPU_TS *)0) {*p_ts                    =  OSTCBCurPtr->TS;
#if OS_CFG_TASK_PROFILE_EN > 0uOSTCBCurPtr->SemPendTime = OS_TS_GET() - OSTCBCurPtr->TS;if (OSTCBCurPtr->SemPendTimeMax < OSTCBCurPtr->SemPendTime) {OSTCBCurPtr->SemPendTimeMax = OSTCBCurPtr->SemPendTime;}
#endif}*p_err = OS_ERR_NONE;break;case OS_STATUS_PEND_ABORT:if (p_ts != (CPU_TS *)0) {*p_ts  =  OSTCBCurPtr->TS;}*p_err = OS_ERR_PEND_ABORT;                     /* Indicate that we aborted                               */break;case OS_STATUS_PEND_TIMEOUT:if (p_ts != (CPU_TS *)0) {*p_ts  = (CPU_TS  )0;}*p_err = OS_ERR_TIMEOUT;                        /* Indicate that we didn't get event within TO            */break;default:*p_err = OS_ERR_STATUS_INVALID;break;}ctr = OSTCBCurPtr->SemCtr;CPU_CRITICAL_EXIT();return (ctr);
}

#if OS_CFG_TASK_Q_EN > 0u
void  OS_TaskQPost (OS_TCB       *p_tcb,void         *p_void,OS_MSG_SIZE   msg_size,OS_OPT        opt,CPU_TS        ts,OS_ERR       *p_err)
{CPU_SR_ALLOC();OS_CRITICAL_ENTER();if (p_tcb == (OS_TCB *)0) {                             /* Post msg to 'self'?                                    */p_tcb = OSTCBCurPtr;}*p_err  = OS_ERR_NONE;                                   /* Assume we won't have any errors                        */switch (p_tcb->TaskState) {case OS_TASK_STATE_RDY:case OS_TASK_STATE_DLY:case OS_TASK_STATE_SUSPENDED:case OS_TASK_STATE_DLY_SUSPENDED:OS_MsgQPut(&p_tcb->MsgQ,                       /* Deposit the message in the queue                       */p_void,msg_size,opt,ts,p_err);OS_CRITICAL_EXIT();break;case OS_TASK_STATE_PEND:case OS_TASK_STATE_PEND_TIMEOUT:case OS_TASK_STATE_PEND_SUSPENDED:case OS_TASK_STATE_PEND_TIMEOUT_SUSPENDED:if (p_tcb->PendOn == OS_TASK_PEND_ON_TASK_Q) { /* Is task waiting for a message to be sent to it?        */OS_Post((OS_PEND_OBJ *)0,p_tcb,p_void,msg_size,ts);OS_CRITICAL_EXIT_NO_SCHED();if ((opt & OS_OPT_POST_NO_SCHED) == (OS_OPT)0u) {OSSched();                             /* Run the scheduler                                      */}} else {OS_MsgQPut(&p_tcb->MsgQ,                   /* No,  Task is pending on something else ...             */p_void,                         /*      ... Deposit the message in the task's queue       */msg_size,opt,ts,p_err);OS_CRITICAL_EXIT();}break;default:OS_CRITICAL_EXIT();*p_err = OS_ERR_STATE_INVALID;break;}
}
#endif

#if OS_CFG_TASK_Q_EN > 0u
void  *OSTaskQPend (OS_TICK       timeout,OS_OPT        opt,OS_MSG_SIZE  *p_msg_size,CPU_TS       *p_ts,OS_ERR       *p_err)
{OS_MSG_Q     *p_msg_q;void         *p_void;CPU_SR_ALLOC();#ifdef OS_SAFETY_CRITICALif (p_err == (OS_ERR *)0) {OS_SAFETY_CRITICAL_EXCEPTION();return ((void *)0);}
#endif#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0uif (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* Can't Pend from an ISR                                 */*p_err = OS_ERR_PEND_ISR;return ((void *)0);}
#endif#if OS_CFG_ARG_CHK_EN > 0u                                  /* ---------------- VALIDATE ARGUMENTS ------------------ */if (p_msg_size == (OS_MSG_SIZE *)0) {                   /* User must supply a valid destination for msg size      */*p_err = OS_ERR_PTR_INVALID;return ((void *)0);}switch (opt) {                                          /* User must supply a valid option                        */case OS_OPT_PEND_BLOCKING:case OS_OPT_PEND_NON_BLOCKING:break;default:*p_err = OS_ERR_OPT_INVALID;return ((void *)0);}
#endifif (p_ts != (CPU_TS *)0) {*p_ts  = (CPU_TS  )0;                                /* Initialize the returned timestamp                      */}CPU_CRITICAL_ENTER();//取出任务内建消息队列 p_msg_q = &OSTCBCurPtr->MsgQ;                           /* Any message waiting in the message queue?              *///获取消息的地址 p_void  = OS_MsgQGet(p_msg_q,p_msg_size,p_ts,p_err);//如果获取到了消息 if (*p_err == OS_ERR_NONE) {
#if OS_CFG_TASK_PROFILE_EN > 0uif (p_ts != (CPU_TS *)0) {OSTCBCurPtr->MsgQPendTime = OS_TS_GET() - *p_ts;if (OSTCBCurPtr->MsgQPendTimeMax < OSTCBCurPtr->MsgQPendTime) {OSTCBCurPtr->MsgQPendTimeMax = OSTCBCurPtr->MsgQPendTime;}}
#endifCPU_CRITICAL_EXIT();//返回消息地址，同时指针形式的传入p_msg_size将消息长度传回 return (p_void);                                    /* Yes, Return oldest message received                    */}if ((opt & OS_OPT_PEND_NON_BLOCKING) != (OS_OPT)0) {    /* Caller wants to block if not available?                */*p_err = OS_ERR_PEND_WOULD_BLOCK;                    /* No                                                     */CPU_CRITICAL_EXIT();return ((void *)0);} else {                                                /* Yes                                                    */if (OSSchedLockNestingCtr > (OS_NESTING_CTR)0) {    /*     Can't block when the scheduler is locked           */CPU_CRITICAL_EXIT();*p_err = OS_ERR_SCHED_LOCKED;return ((void *)0);}}/* Lock the scheduler/re-enable interrupts                */OS_CRITICAL_ENTER_CPU_EXIT();//没有请求到消息阻塞任务 OS_Pend((OS_PEND_DATA *)0,                              /* Block task pending on Message                          */(OS_PEND_OBJ  *)0,(OS_STATE      )OS_TASK_PEND_ON_TASK_Q,(OS_TICK       )timeout);OS_CRITICAL_EXIT_NO_SCHED();OSSched();                                              /* Find the next highest priority task ready to run       */CPU_CRITICAL_ENTER();switch (OSTCBCurPtr->PendStatus) {case OS_STATUS_PEND_OK:                             /* Extract message from TCB (Put there by Post)           */p_void      = OSTCBCurPtr->MsgPtr;*p_msg_size  = OSTCBCurPtr->MsgSize;if (p_ts != (CPU_TS *)0) {*p_ts  = OSTCBCurPtr->TS;
#if OS_CFG_TASK_PROFILE_EN > 0uOSTCBCurPtr->MsgQPendTime = OS_TS_GET() - OSTCBCurPtr->TS;if (OSTCBCurPtr->MsgQPendTimeMax < OSTCBCurPtr->MsgQPendTime) {OSTCBCurPtr->MsgQPendTimeMax = OSTCBCurPtr->MsgQPendTime;}
#endif}*p_err = OS_ERR_NONE;break;case OS_STATUS_PEND_ABORT:                          /* Indicate that we aborted                               */p_void     = (void      *)0;*p_msg_size = (OS_MSG_SIZE)0;if (p_ts  != (CPU_TS *)0) {*p_ts   = (CPU_TS  )0;}*p_err      =  OS_ERR_PEND_ABORT;break;case OS_STATUS_PEND_TIMEOUT:                        /* Indicate that we didn't get event within TO            */default:p_void     = (void      *)0;*p_msg_size = (OS_MSG_SIZE)0;if (p_ts  != (CPU_TS *)0) {*p_ts   =  OSTCBCurPtr->TS;}*p_err      =  OS_ERR_TIMEOUT;break;}CPU_CRITICAL_EXIT();return (p_void);                                        /* Return received message                                */
}
#endif