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<h1 class="mume-header" id="%CE%BCcos-ii-for-visual-studio-2017">μC/OS-II for Visual Studio 2017</h1>
<p>修改自Micrium官网适配给VS2017源码，加入卢有亮的《嵌入式实时操作系统μC/OS原理与实践》移植代码中的实验例子。</p>
<h2 class="mume-header" id="%E5%8C%85%E5%90%AB%E7%9A%84-micrium-%E4%BA%A7%E5%93%81%E7%89%88%E6%9C%AC">包含的 MICRIUM 产品版本</h2>
<ul>
<li>uC/OS-II v2.92.13</li>
<li>uC/OS-III v3.06.02</li>
<li>uC/CPU v1.31.01</li>
<li>uC/LIB v1.38.02</li>
</ul>
<h2 class="mume-header" id="ide-%E7%8E%AF%E5%A2%83%E8%A6%81%E6%B1%82">IDE 环境要求</h2>
<ul>
<li>Visual Studio v2017</li>
</ul>
<h2 class="mume-header" id="vs%E8%A7%A3%E5%86%B3%E6%96%B9%E6%A1%88%E6%96%87%E4%BB%B6%E8%B7%AF%E5%BE%84">VS解决方案文件路径</h2>
<ul>
<li>Microsoft/Windows/Kernel/OS2/VS/OS2.sln</li>
<li>Microsoft/Windows/Kernel/OS3/VS/OS3.sln</li>
</ul>
<h2 class="mume-header" id="%E4%BD%BF%E7%94%A8%E8%AF%B4%E6%98%8E">使用说明</h2>
<ol>
<li>在 Visual Studio 打开上面路径的文件</li>
<li>在项目上点右键，清理已编译的文件</li>
<li>修改<code>Windows SDK Version</code>为可用的版本，比如<code>10.0.17134.0</code></li>
<li>编译并运行</li>
</ol>
<p><img src="./media/vs2017_sdk.png" alt="vs2017 sdk"></p>
<h2 class="mume-header" id="%E5%8E%9F%E5%A7%8B%E9%93%BE%E6%8E%A5">原始链接</h2>
<p><a href="https://www.micrium.com/download/micrium_win32_kernel/">https://www.micrium.com/download/micrium_win32_kernel/</a></p>
<h2 class="mume-header" id="%E7%A7%BB%E6%A4%8D%E5%AE%9E%E7%8E%B0%E6%A6%82%E8%BF%B0">移植实现概述</h2>
<blockquote>
<p>注意以下代码做了大量删改，仅保留主线部分</p>
</blockquote>
<h3 class="mume-header" id="%E6%97%B6%E9%97%B4%E7%89%87">时间片</h3>
<p>时间片依赖于定时器对响应代码的定期唤醒。<br>
传统硬件平台的定时器来源是硬件定时器，软件模拟定时器来源是Windows Multimedia API提供的服务中的<code>timeSetEvent</code>。<br>
Windows Multimedia API的入口在<code>winmm.dll</code>，因此工程环境应该引入这个动态库的依赖。</p>
<p>位于<code>os_cpu_c.c</code>中的<code>OSInitHookBegin()</code></p>
<pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">void</span> <span class="token function">OSInitHookBegin</span> <span class="token punctuation">(</span><span class="token keyword">void</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token punctuation">.</span><span class="token punctuation">.</span><span class="token punctuation">.</span>
<span class="token comment">// 将OSTickW32绑定到一个线程上，并把线程ID写到OSTick_ThreadId</span>
OSTick_Thread <span class="token operator">=</span> <span class="token function">CreateThread</span><span class="token punctuation">(</span><span class="token constant">NULL</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> OSTickW32<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> CREATE_SUSPENDED<span class="token punctuation">,</span> <span class="token operator">&</span>OSTick_ThreadId<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">//在整个进程里这个线程能被最优先运行，时间片服务能够被及时运行</span>
<span class="token function">SetThreadPriority</span><span class="token punctuation">(</span>OSTick_Thread<span class="token punctuation">,</span> THREAD_PRIORITY_HIGHEST<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">//设定的OSTick_TimerCap应该大于等于winmm提供的最大时间精度（最小时间间隔）</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>OSTick_TimerCap<span class="token punctuation">.</span>wPeriodMin <span class="token operator"><</span> WIN_MM_MIN_RES<span class="token punctuation">)</span> <span class="token punctuation">{</span>
OSTick_TimerCap<span class="token punctuation">.</span>wPeriodMin <span class="token operator">=</span> WIN_MM_MIN_RES<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// 设置这个精度</span>
<span class="token function">timeBeginPeriod</span><span class="token punctuation">(</span>OSTick_TimerCap<span class="token punctuation">.</span>wPeriodMin<span class="token punctuation">)</span>；
<span class="token comment">// 创建事件，可以理解为通知，通过setEvent给等待这个事件/通知的线程设置为可运行</span>
OSTick_SignalPtr <span class="token operator">=</span> <span class="token function">CreateEvent</span><span class="token punctuation">(</span><span class="token constant">NULL</span><span class="token punctuation">,</span> TRUE<span class="token punctuation">,</span> FALSE<span class="token punctuation">,</span> <span class="token constant">NULL</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 设置循环定时触发的周期，精度，触发时操作OSTick_SignalPtr</span>
OSTick_TimerId <span class="token operator">=</span> <span class="token function">timeSetEvent</span><span class="token punctuation">(</span><span class="token punctuation">(</span>UINT <span class="token punctuation">)</span><span class="token punctuation">(</span><span class="token number">1000u</span> <span class="token operator">/</span> OS_TICKS_PER_SEC<span class="token punctuation">)</span><span class="token punctuation">,</span>
<span class="token punctuation">(</span>UINT <span class="token punctuation">)</span> OSTick_TimerCap<span class="token punctuation">.</span>wPeriodMin<span class="token punctuation">,</span>
<span class="token punctuation">(</span>LPTIMECALLBACK<span class="token punctuation">)</span> OSTick_SignalPtr<span class="token punctuation">,</span>
<span class="token punctuation">(</span>DWORD_PTR <span class="token punctuation">)</span> <span class="token constant">NULL</span><span class="token punctuation">,</span>
<span class="token punctuation">(</span>UINT <span class="token punctuation">)</span><span class="token punctuation">(</span>TIME_PERIODIC <span class="token operator">|</span> TIME_CALLBACK_EVENT_SET<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">.</span><span class="token punctuation">.</span><span class="token punctuation">.</span>
<span class="token punctuation">}</span>
</pre><p>在上面的代码里，创建了<code>OSTick_Thread</code>，设置好了winmm提供的循环定时触发，定时触发的时间片服务函数等待的事件。<br>
为了让<code>OSTick_Thread</code>能定时唤醒，<code>OSTickW32()</code>内应该有死循环以及等待<code>OSTick_SignalPtr</code>事件。</p>
<pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">static</span> DWORD WINAPI <span class="token function">OSTickW32</span> <span class="token punctuation">(</span>LPVOID p_arg<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
CPU_BOOLEAN terminate<span class="token punctuation">;</span>
CPU_BOOLEAN suspended<span class="token punctuation">;</span>
HANDLE wait_signal<span class="token punctuation">[</span><span class="token number">2</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
<span class="token function">CPU_SR_ALLOC</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 等待OSTick_SignalPtr事件，以及等待系统终止的事件</span>
wait_signal<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span> <span class="token operator">=</span> OSTerminate_SignalPtr<span class="token punctuation">;</span>
wait_signal<span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span> <span class="token operator">=</span> OSTick_SignalPtr<span class="token punctuation">;</span>
terminate <span class="token operator">=</span> DEF_FALSE<span class="token punctuation">;</span>
<span class="token keyword">while</span> <span class="token punctuation">(</span><span class="token operator">!</span>terminate<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">switch</span> <span class="token punctuation">(</span><span class="token function">WaitForMultipleObjects</span><span class="token punctuation">(</span><span class="token number">2</span><span class="token punctuation">,</span> wait_signal<span class="token punctuation">,</span> FALSE<span class="token punctuation">,</span> INFINITE<span class="token punctuation">)</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token comment">// OSTick_SignalPtr 触发了</span>
<span class="token keyword">case</span> WAIT_OBJECT_0 <span class="token operator">+</span> <span class="token number">1u</span><span class="token punctuation">:</span>
<span class="token comment">// 重置一下这个事件，为下次触发准备</span>
<span class="token function">ResetEvent</span><span class="token punctuation">(</span>OSTick_SignalPtr<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 更改进程状态，关中断</span>
<span class="token function">CPU_CRITICAL_ENTER</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
suspended <span class="token operator">=</span> <span class="token function">OSIntCurTaskSuspend</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 完成时间片更新的一些事</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>suspended <span class="token operator">==</span> DEF_TRUE<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token function">OSIntEnter</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token function">OSTimeTick</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token function">OSIntExit</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token function">OSIntCurTaskResume</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token function">CPU_CRITICAL_EXIT</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
</pre><h3 class="mume-header" id="%E8%BF%9B%E7%A8%8B%E7%AE%A1%E7%90%86">进程管理</h3>
<p>进程管理依赖于底层的上下文切换。<br>
传统硬件平台的上下文切换基本是寄存器入栈备份现场，任务堆栈出栈还原现场。<br>
这里的上下文切换，依赖于操作系统提供的进程内线程切换，线程切换自带了上下文切换。<br>
为了把μC/OS内的进程给操作系统作为线程管理，需要包装一下。</p>
<pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">typedef</span> <span class="token keyword">struct</span> os_task_stk <span class="token punctuation">{</span>
<span class="token keyword">void</span> <span class="token operator">*</span>TaskArgPtr<span class="token punctuation">;</span> <span class="token comment">/* Task 参数数组指针 */</span>
INT16U TaskOpt<span class="token punctuation">;</span> <span class="token comment">/* Task 选项 */</span>
<span class="token keyword">void</span> <span class="token punctuation">(</span><span class="token operator">*</span>Task<span class="token punctuation">)</span><span class="token punctuation">(</span><span class="token keyword">void</span><span class="token operator">*</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token comment">/* Task 函数入口 */</span>
HANDLE ThreadHandle<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的句柄 */</span>
DWORD ThreadID<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的线程ID */</span>
<span class="token keyword">volatile</span> OS_TASK_STATE TaskState<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的状态 */</span>
HANDLE SignalPtr<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的同步 信号 */</span>
HANDLE InitSignalPtr<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的创建 信号 */</span>
CPU_BOOLEAN Terminate<span class="token punctuation">;</span> <span class="token comment">/* Task 线程的结束 标志 */</span>
OS_TCB <span class="token operator">*</span>OSTCBPtr<span class="token punctuation">;</span> <span class="token comment">/* Task TCB指针 */</span>
<span class="token punctuation">}</span> OS_TASK_STK<span class="token punctuation">;</span>
</pre><p>在这个数据结构里，存储TCB外包装的线程各种信息，由于这些信息存储在它的任务堆栈里，它的赋初值在TCB初始化的任务堆栈初始化里完成。</p>
<pre data-role="codeBlock" data-info="c" class="language-c">OS_STK <span class="token operator">*</span><span class="token function">OSTaskStkInit</span> <span class="token punctuation">(</span><span class="token keyword">void</span> <span class="token punctuation">(</span><span class="token operator">*</span>task<span class="token punctuation">)</span><span class="token punctuation">(</span><span class="token keyword">void</span> <span class="token operator">*</span>pd<span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token keyword">void</span> <span class="token operator">*</span>p_arg<span class="token punctuation">,</span> OS_STK <span class="token operator">*</span>ptos<span class="token punctuation">,</span> INT16U opt<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
OS_TASK_STK <span class="token operator">*</span>p_stk<span class="token punctuation">;</span>
<span class="token comment">/* Load stack pointer */</span>
p_stk <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TASK_STK <span class="token operator">*</span><span class="token punctuation">)</span><span class="token punctuation">(</span><span class="token punctuation">(</span><span class="token keyword">char</span> <span class="token operator">*</span><span class="token punctuation">)</span>ptos <span class="token operator">-</span> <span class="token keyword">sizeof</span><span class="token punctuation">(</span>OS_TASK_STK<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>TaskArgPtr <span class="token operator">=</span> p_arg<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>TaskOpt <span class="token operator">=</span> opt<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>Task <span class="token operator">=</span> task<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>ThreadHandle <span class="token operator">=</span> <span class="token constant">NULL</span><span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>ThreadID <span class="token operator">=</span> <span class="token number">0u</span><span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_NONE<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>SignalPtr <span class="token operator">=</span> <span class="token constant">NULL</span><span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>InitSignalPtr <span class="token operator">=</span> <span class="token constant">NULL</span><span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>Terminate <span class="token operator">=</span> DEF_FALSE<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>OSTCBPtr <span class="token operator">=</span> <span class="token constant">NULL</span><span class="token punctuation">;</span>
<span class="token keyword">return</span> <span class="token punctuation">(</span><span class="token punctuation">(</span>OS_STK <span class="token operator">*</span><span class="token punctuation">)</span>p_stk<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</pre><p>在<code>OSTaskStkInit()</code>随后执行的<code>OS_TCBInit()</code>里，借助<code>OSTCBInitHook(ptcb);</code>里完成对该task的外包装进一步初始化。</p>
<pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">void</span> <span class="token function">OSTCBInitHook</span> <span class="token punctuation">(</span>OS_TCB <span class="token operator">*</span>p_tcb<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
OS_TASK_STK <span class="token operator">*</span>p_stk<span class="token punctuation">;</span>
p_stk <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TASK_STK <span class="token operator">*</span><span class="token punctuation">)</span>p_tcb<span class="token operator">-></span>OSTCBStkPtr<span class="token punctuation">;</span>
<span class="token comment">// Task 线程的同步信号，实际上切换到这个任务的线程就是靠这个事件通知的</span>
p_stk<span class="token operator">-></span>SignalPtr <span class="token operator">=</span> <span class="token function">CreateEvent</span><span class="token punctuation">(</span><span class="token constant">NULL</span><span class="token punctuation">,</span> FALSE<span class="token punctuation">,</span> FALSE<span class="token punctuation">,</span> <span class="token constant">NULL</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// Task 线程的创建完成信号，</span>
p_stk<span class="token operator">-></span>InitSignalPtr <span class="token operator">=</span> <span class="token function">CreateEvent</span><span class="token punctuation">(</span><span class="token constant">NULL</span><span class="token punctuation">,</span> TRUE<span class="token punctuation">,</span> FALSE<span class="token punctuation">,</span> <span class="token constant">NULL</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// Task 线程的句柄，把OSTaskW32这个任务包装函数绑定到线程</span>
p_stk<span class="token operator">-></span>ThreadHandle <span class="token operator">=</span> <span class="token function">CreateThread</span><span class="token punctuation">(</span><span class="token constant">NULL</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> OSTaskW32<span class="token punctuation">,</span> p_tcb<span class="token punctuation">,</span> CREATE_SUSPENDED<span class="token punctuation">,</span> <span class="token operator">&</span>p_stk<span class="token operator">-></span>ThreadID<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 设置以下当前状态，创建完毕但还没运行过</span>
p_stk<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_CREATED<span class="token punctuation">;</span>
p_stk<span class="token operator">-></span>OSTCBPtr <span class="token operator">=</span> p_tcb<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</pre><p>还差一点，task的内部函数就可以开始运行了。在任务调度开始之后，完成下面的这一点工作。<br>
顺序为：<code>OSTCBInitHook()</code>-><code>OSCtxSw()</code>-><code>OSTaskW32()</code>-><code>OSCtxSw()</code>-><code>OSTaskW32()</code>->END</p>
<pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">static</span> DWORD WINAPI <span class="token function">OSTaskW32</span> <span class="token punctuation">(</span>LPVOID p_arg<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
OS_TASK_STK <span class="token operator">*</span>p_stk<span class="token punctuation">;</span>
OS_TCB <span class="token operator">*</span>p_tcb<span class="token punctuation">;</span>
p_tcb <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TCB <span class="token operator">*</span><span class="token punctuation">)</span>p_arg<span class="token punctuation">;</span>
p_stk <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TASK_STK <span class="token operator">*</span><span class="token punctuation">)</span>p_tcb<span class="token operator">-></span>OSTCBStkPtr<span class="token punctuation">;</span>
<span class="token comment">// 等待task被首次被调度到，等到了再往后执行</span>
<span class="token comment">// 这个等待，使得回到前面执行OSCtxSw的线程上</span>
p_stk<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_SUSPENDED<span class="token punctuation">;</span>
<span class="token function">WaitForSingleObject</span><span class="token punctuation">(</span>p_stk<span class="token operator">-></span>SignalPtr<span class="token punctuation">,</span> INFINITE<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 给线程设置个名字，便于IDE调试</span>
<span class="token function">OSSetThreadName</span><span class="token punctuation">(</span>p_stk<span class="token operator">-></span>ThreadID<span class="token punctuation">,</span> p_tcb<span class="token operator">-></span>OSTCBTaskName<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 等待到了，标记任务已经初始化完毕，准备好被正式调度了</span>
p_stk<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_RUNNING<span class="token punctuation">;</span>
<span class="token function">SetEvent</span><span class="token punctuation">(</span>p_stk<span class="token operator">-></span>InitSignalPtr<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 执行task的函数</span>
p_stk<span class="token operator">-></span><span class="token function">Task</span><span class="token punctuation">(</span>p_stk<span class="token operator">-></span>TaskArgPtr<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 如果上面的函数执行完毕返回了，就要删除自己</span>
<span class="token function">OSTaskDel</span><span class="token punctuation">(</span>p_tcb<span class="token operator">-></span>OSTCBPrio<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">return</span> <span class="token punctuation">(</span><span class="token number">0u</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</pre><pre data-role="codeBlock" data-info="c" class="language-c"><span class="token keyword">void</span> <span class="token function">OSCtxSw</span> <span class="token punctuation">(</span><span class="token keyword">void</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
OS_TASK_STK <span class="token operator">*</span>p_stk<span class="token punctuation">;</span>
OS_TASK_STK <span class="token operator">*</span>p_stk_new<span class="token punctuation">;</span>
<span class="token function">CPU_SR_ALLOC</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
p_stk <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TASK_STK <span class="token operator">*</span><span class="token punctuation">)</span>OSTCBCur<span class="token operator">-></span>OSTCBStkPtr<span class="token punctuation">;</span>
<span class="token function">OSTaskSwHook</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
OSTCBCur <span class="token operator">=</span> OSTCBHighRdy<span class="token punctuation">;</span>
OSPrioCur <span class="token operator">=</span> OSPrioHighRdy<span class="token punctuation">;</span>
<span class="token comment">// 当前的老任务状态位改为挂起，但是没有入栈这个操作，因为保存上下文由做线程切换的操作系统完成</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>p_stk<span class="token operator">-></span>TaskState <span class="token operator">==</span> STATE_RUNNING<span class="token punctuation">)</span> <span class="token punctuation">{</span>
p_stk<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_SUSPENDED<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
p_stk_new <span class="token operator">=</span> <span class="token punctuation">(</span>OS_TASK_STK <span class="token operator">*</span><span class="token punctuation">)</span>OSTCBHighRdy<span class="token operator">-></span>OSTCBStkPtr<span class="token punctuation">;</span>
<span class="token keyword">switch</span> <span class="token punctuation">(</span>p_stk_new<span class="token operator">-></span>TaskState<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">case</span> STATE_CREATED<span class="token punctuation">:</span>
<span class="token comment">// 刚创建好，需要OSTaskW32()来进一步初始化</span>
<span class="token function">ResumeThread</span><span class="token punctuation">(</span>p_stk_new<span class="token operator">-></span>ThreadHandle<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 等待这个任务的初始化完毕的事件，然后设置SignalPtr这个事件使得这个task的线程处于就绪</span>
<span class="token comment">// 原型：SignalObjectAndWait(hObjectToSignal, hObjectToWaitOn, dwMilliseconds, bAlertable);</span>
<span class="token function">SignalObjectAndWait</span><span class="token punctuation">(</span>p_stk_new<span class="token operator">-></span>SignalPtr<span class="token punctuation">,</span> p_stk_new<span class="token operator">-></span>InitSignalPtr<span class="token punctuation">,</span> INFINITE<span class="token punctuation">,</span> FALSE<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token keyword">case</span> STATE_SUSPENDED<span class="token punctuation">:</span>
<span class="token comment">// 设置SignalPtr这个事件，这个task的线程处于就绪</span>
p_stk_new<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_RUNNING<span class="token punctuation">;</span>
<span class="token function">SetEvent</span><span class="token punctuation">(</span>p_stk_new<span class="token operator">-></span>SignalPtr<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token keyword">case</span> STATE_INTERRUPTED<span class="token punctuation">:</span>
p_stk_new<span class="token operator">-></span>TaskState <span class="token operator">=</span> STATE_RUNNING<span class="token punctuation">;</span>
<span class="token function">ResumeThread</span><span class="token punctuation">(</span>p_stk_new<span class="token operator">-></span>ThreadHandle<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token keyword">default</span><span class="token punctuation">:</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>p_stk<span class="token operator">-></span>Terminate <span class="token operator">==</span> DEF_TRUE<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token function">OSTaskTerminate</span><span class="token punctuation">(</span>p_stk<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token function">CPU_CRITICAL_EXIT</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">/* ExitThread() never returns. */</span>
<span class="token function">ExitThread</span><span class="token punctuation">(</span><span class="token number">0u</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token function">CPU_CRITICAL_EXIT</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// 究竟是谁在等待SignalPtr这个事件，难道不是做一些切换的事情吗</span>
<span class="token function">WaitForSingleObject</span><span class="token punctuation">(</span>p_stk<span class="token operator">-></span>SignalPtr<span class="token punctuation">,</span> INFINITE<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token function">CPU_CRITICAL_ENTER</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</pre><p>线程切换肯定是把控制权给等待这个型号的线程，自己等自己是为什么呢？<br>
于是看了下线程的函数调用堆栈：</p>
<p><img src="./media/tcb-thread-stack.png" alt="thread-stack"></p>
<p>这是在等其他线程，设置自己线程的<code>SignalPtr</code>，让自己线程继续运行。</p>
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