test.c.bak

利用RTOS機制實現機械系統中的質量

/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                           (c) Copyright 1992-1999, Jean J. Labrosse, Weston, FL
*                                           All Rights Reserved
*
*                                                 V2.00
*
*                                               EXAMPLE #2
*********************************************************************************************************
*/

#include "includes.h"
#include <math.h>
#include <time.h>
#include <stdio.h>
#include <stdlib.h>
/*
*********************************************************************************************************
*                                              CONSTANTS
*********************************************************************************************************
*/

#define          TASK_STK_SIZE     512                /* Size of each task's stacks (# of WORDs)       */

#define          TASK_START_ID       0                /* Application tasks IDs                         */
#define          TASK_CLK_ID         1
#define          TASK_1_ID           2
#define          TASK_2_ID           3

#define          TASK_START_PRIO    10                /* Application tasks priorities                  */
#define          TASK_CLK_PRIO      11
#define          TASK_1_PRIO        12
#define          TASK_2_PRIO        13

/*
*********************************************************************************************************
*                                              VARIABLES
*********************************************************************************************************
*/

OS_STK           TaskStartStk[TASK_STK_SIZE];         /* Startup    task stack                         */
OS_STK           TaskClkStk[TASK_STK_SIZE];           /* Clock      task stack                         */
OS_STK           Task1Stk[TASK_STK_SIZE];             /* Task #1    task stack                         */
OS_STK           Task2Stk[TASK_STK_SIZE];             /* Task #2    task stack                         */
OS_EVENT        *AckMbox;                             /* Message mailboxes for Tasks #4 and #5         */
OS_EVENT        *TxMbox;
OS_FLAG_GRP     *StatusFlag;

INT16U           TaskFPUFlag;


INT16S     	 key;
    
int		 flag = 0,	  /* ISR flag */
		 inpFlag = 0,     /* Input Flag */         	
          	 inpM = 0,        /* Input M Value */
          	 inpC = 0,        /* Input C Value */
          	 inpK = 0;        /* Input K Value */
    
float 		 PI = 3.14159;    /* Radius */   
               
float  		 M = 1,           /* Damper Coefficient */
           	 C = 1,           /* Mass Of Object */
           	 K = 100,         /* Spring Coefficient */
           	 T = 0.005,       /* Sampling Time */
           	 Ts = 0.0;        /* Total Time */   
    
float 		 x1_k = 0.0,	 /* x1(k) */
          	 x1_k1 = 0.0,	 /* x1(k+1) */
    	  	 x2_k = 0.0,	 /* x2(k) */
          	 x2_k1 = 0.0,	 /* x2(k+1) */
          	 f_k = 0.0;       /* f(t) */

int 		 counter = 0;
/*
*********************************************************************************************************
*                                         FUNCTION PROTOTYPES
*********************************************************************************************************
*/

        void     TaskStart(void *data);               /* Function prototypes of tasks                  */
static  void     TaskStartCreateTasks(void);
static  void  	 TaskStartDispInit(void);
static  void     TaskStartDisp(void);
static  void     TestInitModules(void);        
        
        void     TaskClk(void *data);
        void     Task1(void *data);
        void     Task2(void *data);


/*$PAGE*/
/*
*********************************************************************************************************
*                                                  MAIN
*********************************************************************************************************
*/

void main (void)
{
    OS_STK *ptos;
    OS_STK *pbos;
    INT32U  size;
    INT8U   err;

    PC_DispClrScr(DISP_FGND_WHITE);                        /* Clear the screen                         */

    OSInit();                                              /* Initialize uC/OS-II                      */

    PC_DOSSaveReturn();                                    /* Save environment to return to DOS        */

    PC_VectSet(uCOS, OSCtxSw);                             /* Install uC/OS-II's context switch vector */

    PC_ElapsedInit();                                      /* Initialized elapsed time measurement     */


    ptos        = &TaskStartStk[TASK_STK_SIZE - 1];
    pbos        = &TaskStartStk[0];
    size        = TASK_STK_SIZE;
    OSTaskStkInit_FPE_x86(&ptos, &pbos, &size);            /* TaskStart() will use Floating-Point      */
    
    StatusFlag=OSFlagCreate(0x00,&err);
    
    OSTaskCreateExt(TaskStart,
                   (void *)0,
                   ptos,
                   TASK_START_PRIO,
                   TASK_START_ID,
                   pbos,
                   size,
                   (void *)0,
                   OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

    OSStart();                                             /* Start multitasking                       */
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                               STARTUP TASK
*********************************************************************************************************
*/

void  TaskStart (void *pdata)
{
#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */
    OS_CPU_SR  cpu_sr;
#endif
    char       s[100];

    pdata = pdata;                                         /* Prevent compiler warning                 */

    TaskStartDispInit();                                   /* Initialize the display                   */

    OS_ENTER_CRITICAL();
    PC_VectSet(0x08, OSTickISR);                           /* Install uC/OS-II's clock tick ISR        */
    PC_SetTickRate(OS_TICKS_PER_SEC);                      /* Reprogram tick rate                      */
    OS_EXIT_CRITICAL();

    OSStatInit();                                          /* Initialize uC/OS-II's statistics         */

    TaskStartCreateTasks();                                /* Create all the application tasks         */

    for (;;) 
       {
	   TaskStartDisp();                                /* Update the display                       */


	   if (PC_GetKey(&key) == TRUE) 
	      {                     			  /* See if key has been pressed              */
	         if (key == 0x1B) 
	            {                             	  /* Yes, see if it's the ESCAPE key          */
		    	PC_DOSReturn();                   /* Return to DOS                            */
	            }
	            
	         if (key == 'm'||key == 'M')
	            {      
	                printf("Mass(M):");	                       /* See if key 'M' has been pressed           */
	                scanf("%d",&inpM);
                       	M = inpM;
                       	inpFlag = 1;
	            }	
	         if (key == 'c'||key == 'C')
	            {  
	               	printf("Damper Constant(C):");                           /* See if key 'c' has been pressed           */
	               	scanf("%d",&inpC);
                       	C = inpC; 	
                       	inpFlag = 1;
	            }	   
	                   	 
	         if (key == 'k'||key == 'K')
	            {   
	               	printf("Spring Constant(K):");                          /* See if key 'k' has been pressed                */
	               	scanf("%d",&inpK);
                       	K = inpK; 
                       	inpFlag = 1;		
	            }	    	  	    
	     }
           
           OSCtxSwCtr = 0;                                    /* Clear context switch counter             */
           OSTimeDlyHMSM(0, 0, 1, 0);                         /* Wait one second                          */
      }
}

/*$PAGE*/
/*
*********************************************************************************************************
*                                        INITIALIZE THE DISPLAY
*********************************************************************************************************
*/

static  void  TaskStartDispInit (void)
{
/*                                          1111111111222222222233333333334444444444555555555566666666667777777777 */
/*                      01234567890123456789012345678901234567890123456789012345678901234567890123456789 */
    PC_DispStr( 0,  0, "                          uC/OS-II-The Real-Time Kernel                         ", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
    PC_DispStr( 0,  1, "                        93618011   Xu Bang Lei's HomeWork2                      ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  2, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  3, "                     You can input M,C,K to modify it's value!!                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  4, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  5, "                               Now F(t) is Sinwave!!                            ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  6, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  7, "                                                                                ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  8, "                                  |-> F(t)                                      ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0,  9, "                               ___|           |-> X                             ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 10, "                                | |       M___|                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 11, "                               |-||       |   |                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 12, "                                | | C _   |   |                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 13, "                               |-||--|_|--|   |                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);
    PC_DispStr( 0, 14, "                                | | K     |   |                                 ", DISP_FGND_BLACK + DISP_BGND_LIGHT_GRAY);