内核：多任务（ucos_ii.h文件的函数）

Task创建

#if OS_TASK_CREATE_EN > 0u
INT8U    OSTaskCreate    (
								void           (*task) (void *p_arg),
								void            *p_arg,
								OS_STK          *ptos,
								INT8U            prio
							   );
#endif

Task创建（扩展）

#if OS_TASK_CREATE_EXT_EN > 0u
INT8U    OSTaskCreateExt  (
									   void           (*task) (void *p_arg),
									   void            *p_arg, 
									   OS_STK          *ptos, 
									   INT8U            prio, 
									   INT16U           id, 
									   OS_STK          *pbos, 
									   INT32U           stk_size, 
									   void            *pext,
									   INT16U           opt
						   );
#endif

Task删除/请求删除Task

#if OS_TASK_DEL_EN > 0u
INT8U         OSTaskDel               (INT8U            prio);
INT8U         OSTaskDelReq            (INT8U            prio);
#endif

改变Task优先级

#if OS_TASK_CHANGE_PRIO_EN > 0u
INT8U         OSTaskChangePrio        (INT8U     oldprio,	 INT8U      newprio);
#endif

Task挂起和恢复

#if OS_TASK_SUSPEND_EN > 0u
INT8U         OSTaskResume            (INT8U            prio);
INT8U         OSTaskSuspend           (INT8U            prio);
#endif

Task信息获取

#if OS_TASK_QUERY_EN > 0u
INT8U         OSTaskQuery             (
									INT8U            prio,
									 OS_TCB          *p_task_data);
#endif

Task调度器上锁和开锁

#if OS_SCHED_LOCK_EN > 0u
void          OSSchedLock             (void);
void          OSSchedUnlock           (void);
#endif

内核：调度（oc_core.c文件的函数）

OS_TCB（任务控制块）初始化

INT8U   OS_TCBInit    (
							INT8U            prio,
							OS_STK          *ptos,
							OS_STK          *pbos,
							INT16U           id,
							INT32U           stk_size,
							void            *pext,
							INT16U           opt
					  );

任务控制块列表(ucos_ii.h文件的函数)

OS_EXT  OS_TCB            OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS];

系统调用，主动让渡CPU

void  OS_Sched (void)
{
	#if OS_CRITICAL_METHOD == 3u                           /* Allocate storage for CPU status register     */
		OS_CPU_SR  cpu_sr = 0u;
	#endif
		OS_ENTER_CRITICAL();
		
		if (OSIntNesting == 0u)                            /* Schedule only if all ISRs done and ...       */
		{
			if (OSLockNesting == 0u)                       /* ... scheduler is not locked                  */
			{
				OS_SchedNew();
				OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
				
				if (OSPrioHighRdy != OSPrioCur)            /* No Ctx Sw if current task is highest rdy     */
				{
	#if OS_TASK_PROFILE_EN > 0u
					OSTCBHighRdy->OSTCBCtxSwCtr++;         /* Inc. # of context switches to this task      */
	#endif
					OSCtxSwCtr++;                          /* Increment context switch counter             */
					OS_TASK_SW();                          /* Perform a context switch                     */
				}
			}
		}
		
		OS_EXIT_CRITICAL();
}

发生中断，强制当前任务让渡CPU

void  OSIntExit (void)
{
	#if OS_CRITICAL_METHOD == 3u                               /* Allocate storage for CPU status register */
		OS_CPU_SR  cpu_sr = 0u;
	#endif
		
		if (OSRunning == OS_TRUE)
		{
			OS_ENTER_CRITICAL();
			
			if (OSIntNesting > 0u)                             /* Prevent OSIntNesting from wrapping       */
			{
				OSIntNesting--;
			}
			
			if (OSIntNesting == 0u)                            /* Reschedule only if all ISRs complete ... */
			{
				if (OSLockNesting == 0u)                       /* ... and not locked.                      */
				{
					OS_SchedNew();
					OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
					
					if (OSPrioHighRdy != OSPrioCur)            /* No Ctx Sw if current task is highest rdy */
					{
	#if OS_TASK_PROFILE_EN > 0u
						OSTCBHighRdy->OSTCBCtxSwCtr++;         /* Inc. # of context switches to this task  */
	#endif
						OSCtxSwCtr++;                          /* Keep track of the number of ctx switches */
						OSIntCtxSw();                          /* Perform interrupt level ctx switch       */
					}
				}
			}
			
			OS_EXIT_CRITICAL();
		}
}

就绪表(ucos_ii.h文件的函数)

OS_EXT  OS_PRIO           OSRdyTbl[OS_RDY_TBL_SIZE];       /* Table of tasks which are ready to run    */

设置任务进入就绪态

设置任务脱离就绪态

在就绪表中找到优先级最高(数最小)的任务