example2.c

各种硬件平台上的us OS移植实例(arm6)

/*> example2.c <*/
/*---------------------------------------------------------------------------*/
/* This is a modified version of example1 from the uC/OS book.
 *
 * $Revision: 0.1 $
 *   $Author: jsmith $
 *     $Date: 941103 $
 *
 * Copyright (c) 1994, VLSI Technology Inc. All Rights Reserved.
 */
/*---------------------------------------------------------------------------*/

#include	"ucos.h" 	/* uC/OS interface */
#include	"osdefs.h"	/* uC/OS ARM interface */

#define		NUM_TASKS	3	/* must be number in range 1 to 62 */
#define		ESC			27
/*
 * P r o t o t y p e s
 */
void	Task(void *id);
void	IdleTask( void *id);
void	Timer_IRQ( void );
void	Panic_IRQ( void );

/* allocate memory for tasks' stacks */

#define	TASK_STK_SIZE	300
/*
 * G l o b a l   V a r i a b l e s
 */
OS_EVENT	*DispSem;
uint		 TaskStk[NUM_TASKS+1][TASK_STK_SIZE];
IRQHandlerFn prev_hand;	/* function pointer to previous handler */
void		*pZERO = 0;		/* need a pointer to value of 0 */

char		BLACK[]	  = {ESC,'[','3','0','m',0};
char		RED[]     = {ESC,'[','3','1','m',0};
char		GREEN[]	  = {ESC,'[','3','2','m',0};
char		BROWN[]	  = {ESC,'[','3','3','m',0};
char		BLUE[]    = {ESC,'[','3','4','m',0};
char		MAGENTA[] = {ESC,'[','3','5','m',0};
char		CYAN[]    = {ESC,'[','3','6','m',0};
char		WHITE[]   = {ESC,'[','3','7','m',0};

/*
 * T a s k
 *
 * This is being used by NUM_TASKS tasks.
 */
void	Task(void *id)
{
 uint	err;
 int	j;

	while(FOREVER)
		{
		OSTimeDly(((*(int *)id&0x1F)<<2));		/* Delay a while */
		for(j=0; j<20; j++)
			{
			OSSemPend(DispSem, 0, &err);
			switch(*(int *)id)
				{
				case '1' :
					SWI_Write0(RED);
					SWI_WriteC(*(int *)id);			/* print task's id */
					break;
				case '2' :
					SWI_Write0(BLUE);
					SWI_WriteC(*(int *)id);			/* print task's id */
					break;
				case '3' :
					SWI_Write0(GREEN);
					SWI_WriteC(*(int *)id);			/* print task's id */
					break;
				default:
					SWI_Write0(WHITE);
					SWI_WriteC(*(int *)id);			/* print task's id */
				}
			OSSemPost(DispSem);
			}
		}
}
/*
 * I d l e T a s k
 *
 * idle task
 */
void	IdleTask(void *id)
{
 uint	err;

	while(FOREVER)
		{
		OSSemPend(DispSem, 0, &err);
		SWI_Write0(WHITE);
		SWI_WriteC('.');
		OSSemPost(DispSem);
		OSSched();
		}
}
/*
 * m a i n
 */
int	main( void )
{
 int			id[NUM_TASKS];
 int			j;

 union gp	{
			unsigned char	*b;
			unsigned int	*w;
			} p;
 
	p.b = (unsigned char *) IOBase;
	


	SWI_Write0("\nExample 2 using uC/OS for PID600\n\n\0");

	SWI_Write0(CYAN);
	SWI_Write0("\nThere are four tasks. Tasks 1, 2, and 3 display as numbers\0");
	SWI_Write0("\nand the last (idle) displays as a '.' (dot). This routine\0");
	SWI_Write0("\ngraphically displays how the highest ready to run task can\0");
	SWI_Write0("\npreempt a lower running task.\n\0");
	SWI_Write0("\nP.S. Press the PANIC button to induce an async. interrupt.\n\n\0");
	SWI_Write0(WHITE);
	
	SWI_Write0("\nGenerating ID's...\0");
	
	for(j=0; j<NUM_TASKS; j++)	/* generate the ID's */
		{
		id[j] = (int)'1' + j;	/* create an id we can see */
		}

	SWI_Write0("\nDoing an OSInit()...\0");
	
	OSInit();					/* needed by uC/OS */

	DispSem = OSSemCreate( 1 );	/* Display semaphore */

	SWI_Write0("\nCreating the tasks...\0");
	
	for(j=0; j<NUM_TASKS; j++)	/* generate the tasks */
		{
		OSTaskCreate(Task, (void *)&id[j], (void *)&TaskStk[j][TASK_STK_SIZE], j+1);
		}

	OSTaskCreate(IdleTask,(void *)&pZERO,(void *)&TaskStk[j][TASK_STK_SIZE], j+1);

	SWI_Write0("\nHooking into the C-DEMON's PANIC button...\0");
	
	/*
	 * Now HOOK the DEMON's PANIC button to uC/OS
	 */

	/*
	 * PANIC is bit position 7 in IRQ (vecnum = IRQbitvector+bit1 = 0x20 + 7)
	 */
    if (ARMInstallIRQHandler(7,Panic_IRQ) == NULL)
     {
      SWI_Write0("\nError: Unable to install PANIC handler.\n") ;
     }
	
	SWI_Write0("\nHooking into the C-DEMON's TIMER...\0");
	
	/*
	 * Now HOOK the DEMON's TIMER to uC/OS
	 */

	*(p.b + IRQM) = 0;		/* stop the TIMER interrupt */

	/*
	 * TIMER is bit position 1 in IRQ (vecnum = IRQbitvector+bit1 = 0x20 + 1)
	 */

    if ((prev_hand = ARMInstallIRQHandler(1,Timer_IRQ)) == NULL)
     {
      SWI_Write0("\nError: Unable to install timer handler.\n") ;
     }

	*(p.b + IRQM) = TimerIT;		/* restart the TIMER interrupt */

	SWI_Write0("\nDoing an OSStart()\n\n\0");

	OSStart();					/* start the game */

	/*----------------- never reached -----------------------------------------
	 *
	 * Following code is here to show how to restore the original timer vector
	 */
	 
	*(p.b + IRQM) = 0;		/* remove the TIMER interrupt */

	/*
	 * TIMER is bit position 1 in IRQ (vecnum = IRQbitvector+bit1 = 0x20 + 1)
	 */

    if (ARMInstallIRQHandler(1,prev_hand) == NULL)
     {
      SWI_Write0("\nError: Unable to reinstall handler.\n") ;
     }
	
	*(p.b + IRQM) = TimerIT;	/* restart the TIMER interrupt */
}
/******************************************************************************
 *
 * P a n i c _ I R Q
 *
 * ENTER:	void
 * EXIT:	void
 *
 * When the PANIC button is pushed, issue a message
 */
void	Panic_IRQ( void )
{
 union gp	{
			unsigned char	*b;
			unsigned int	*w;
			} p;
 
	p.b = (unsigned char *) IOBase;

	*(p.b + IRQRST) = Panic;		/* reset any PANIC interrupt */

	SWI_Write0(CYAN);
	SWI_Write0("***OUCH***\0");
}
/******************************************************************************
 *
 * T i m e r _ I R Q
 *
 * ENTER:	void
 * EXIT:	void
 *
 * Timer interrupt routine
 */
void	Timer_IRQ( void )
{
 union gp	{
			unsigned char	*b;
			unsigned int	*w;
			} p;
 
	p.b = (unsigned char *) IOBase;

	*(p.b + IRQRST) = TimerIT;		/* reset Timer interrupt */

	OSTimeTick();		/* do uC/OS tick routine */
}

/*---------------------------------------------------------------------------*/
/*> EOF example2.c <*/