
//linkboyר
//Ƕʽϵͳ - votex

//˵һЭʽϵͳ,Ϊں˺,ں˲и,
//ʱ,ִƵΪ1000Hz(ÿ1msɨ)
//㲿ַɨȫ,ÿжջռ,ͨ"schedule"ýл.

//...ע
// * ޸ SP ĵطҪϹжϱ

//...汾¼
//2012 ʼ汾
//2013.2.18 ںӾ̬Ϊ̬ע뷽ʽ
//2013.2.28 ¼˳ɳ,ͼνвҪ

//2013.6.16 ʱж ע͵ //MCU TIFR = 0b0000_0010, ҪϵͳǷȶ

//2013.10.31
//ѵĳʺͼλ̵ķʽ,ÿ¼˳󲻻Զִ,
//Զ̬¼.

//2014.1.14
//˿л, ע100usں; ǰİ汾СмΪ1000us
//ҪΪֵ֧, LEDƹȿƵȸ

//2014118 ҹ 11:58
//һ, ֻҪ̳رƾͻᴥ, TCBҪݷŵ,ǰ

//20141012 9:52
//Աť, תϵͳס, һʼΪжϸ, Ϊת¼
//ʱָ, 񴴽쵼̳߳,  CreateTask ж, 
//̳߳Ļ͵һ, ֱͷŵеĳ߳.

//201532 9:31
//¼Դ, ʶһ¼Ƿִ, ֹ¼뵼´ǰͻ; ͼν
//ÿ¼Զһ, һʱͻᱻеļָס, ֱ˳Ϊֹ.
//ťͨ, Чǳ.

//2015326 
//׼ѲϵͳֲMEGA644, ҼMEGA32
// * //MCU.SFIOR.2(bit) = 1; ﲻ, Ϊ1ǽֹ

unit OS
{
	//---------------------------------------------------
	public void OS_init()
	{
		#asm "CLI"
		
		//˿ڳʼ
		//ע!! MEGA32, MEGA324һ.
		//һ˼·: Ĵǰ߼,  M32_SFIOR, M32_MCUCR, M324_MCUCR, ...
		
		//ʼ˿
		//ﲻ԰??? ӦΪ0Ч(2015.3.26)
		//MCU.SFIOR.2(bit) = 1;
		
		//ԲҪʼ, ΪλʱӲʼ
		//MCU.DDRA = 0x00;
		//MCU.PORTA = 0x00;
		//MCU.DDRB = 0x00;
		//MCU.PORTB = 0x00;
		//MCU.DDRC = 0x00;
		//MCU.PORTC = 0x00;
		//MCU.DDRD = 0x00;
		//MCU.PORTD = 0x00;
		
		//ʱʼ(޹)
		TimerInit();
		
		//ںʱʼ
		DriverInit();
		
		tick = 0;
	}
	//=================================================================================
	[uint8*RUN_NUMBER] TickList;
	[uint8*RUN_NUMBER] MaxTickList;
	[uint16*RUN_NUMBER] DriverHandleList;
	
	//..........................
	//ע DriverNumber ɲϵͳʹ,ڵȱ߽,
	// RUN_NUMBER ڶ㹻Ĵ洢,߼
	
	//ں
	uint8 DriverNumber;
	//С洢߽
	public const uint8 RUN_NUMBER = 0;
	//..........................
	
	[uint16*RUN100us_NUMBER] Driver100usHandleList;
	
	//..........................
	//ע Driver100usNumber ɲϵͳʹ,ڵȱ߽,
	// RUN100us_NUMBER ڶ㹻Ĵ洢,߼
	
	//ں
	uint8 Driver100usNumber;
	//С洢߽
	public const uint8 RUN100us_NUMBER = 0;
	//..........................
	
	uint8 tick;
	
	
	//=================================================================================
	//ṩ¶
	//	* CloseWatchdog()
	//	* TimerInit()
	//궨	* ʱж
	//궨	* رնʱжӦ
	//궨	* ж϶ʱӦ
	#include "$chip$.txt"
	
	//ʱʼ, ͨ궨滻ĺ, ӳ䵽ӦĵƬʱ
	//void TimerInit()
	//=================================================================================
	
	//---------------------------------------------------
	//жϷ,עտʼж,ж(ڵ)
	//ʱһtickѾٴӶ½,ɸ.
	//ǧû! һжʱжϱ־
	//MCU TIFR | 0b0000_0010; ERROR!
	MACRO_TIMER_TICK
	void OS_run()
	{
		MACRO_TIMER_OFF();
		
		//עʱжϱ־,ϵͳǷȶ
		//MCU TIFR = 0b0000_0010;
		#asm "SEI"
		
		//б,
		RunDriverList();
		
		#asm "CLI"
		
		MACRO_TIMER_ON();
	}
	//---------------------------------------------------
	//ʼںʱ
	void DriverInit()
	{
		DriverNumber = 0;
		for( uint8 i = 0; i < RUN_NUMBER; i + 1 ) {
			TickList[i] = 0;
			MaxTickList[i] = 0;
			DriverHandleList[i] = 0;
		}
		Driver100usNumber = 0;
	}
	//---------------------------------------------------
	//עں˽
	public void CreateDriver( uint16 Handle, uint8 MaxTick )
	{
		DriverHandleList[DriverNumber] = Handle;
		MaxTickList[DriverNumber] = MaxTick;
		DriverNumber + 1;
	}
	//---------------------------------------------------
	//б,
	void RunDriverList()
	{
		for( uint8 i = 0; i < DriverNumber; i + 1 ) {
			TickList[i] + 1;
			if( TickList[i] == MaxTickList[i] ) {
				TickList[i] = 0;
				D_CALL( DriverHandleList[i] );
			}
		}
	}
	//---------------------------------------------------
	//̬÷װ,ַʽͨ
	void D_CALL( uint16 Handle )
	{
		#asm "ldd r30,y+0"
		#asm "ldd r31,y+1"
		
		//һַʽ: ͨרָICALLӵ R30 R31 ָĵַ
		#asm "ICALL"
		
		//ڶַʽ: ͨ ret Ͷջ R30 R31 ָĵַ
//		#asm "push r30"
//		#asm "push r31"
//		#asm "ret"
	}
	//---------------------------------------------------
	//ʼ
	public void Start()
	{
		#asm "SEI"
	}
}







