test.c

第3章－μCOS-II基础实验 3.2－GPIO实验 3.3－时器实验 3.4－PWM实验 3.5－RTC实验 3.6－信号量使用

/*
*********************************************************************************************************
*                                                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"

/*
*********************************************************************************************************
*                                              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_3_ID           4
#define          TASK_4_ID           5
#define          TASK_5_ID           6

#define          TASK_START_PRIO    10                /* Application tasks priorities                  */
#define          TASK_CLK_PRIO      11
#define          TASK_1_PRIO        12
#define          TASK_2_PRIO        13
#define          TASK_3_PRIO        14
#define          TASK_4_PRIO        15
#define          TASK_5_PRIO        16

/*
*********************************************************************************************************
*                                              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_STK           Task3Stk[TASK_STK_SIZE];             /* Task #3    task stack                         */
OS_STK           Task4Stk[TASK_STK_SIZE];             /* Task #4    task stack                         */
OS_STK           Task5Stk[TASK_STK_SIZE];             /* Task #5    task stack                         */

OS_EVENT        *AckMbox;                             /* Message mailboxes for Tasks #4 and #5         */
OS_EVENT        *TxMbox;

INT16U           TaskFPUFlag;

/*
*********************************************************************************************************
*                                         FUNCTION PROTOTYPES
*********************************************************************************************************
*/

        void     TaskStart(void *data);               /* Function prototypes of tasks                  */
static  void     TaskStartCreateTasks(void);
        void     TaskClk(void *data);
        void     Task1(void *data);
        void     Task2(void *data);
        void     Task3(void *data);
        void     Task4(void *data);
        void     Task5(void *data);

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

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


    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     */

    TaskFPUFlag = _8087;

    ptos        = &TaskStartStk[TASK_STK_SIZE - 1];
    pbos        = &TaskStartStk[0];
    size        = TASK_STK_SIZE;
    OSTaskStkInit_FPE_x86(&ptos, &pbos, &size);            /* TaskStart() will use Floating-Point      */
    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 *data)
{
#if OS_CRITICAL_METHOD == 3                      /* Allocate storage for CPU status register           */
    OS_CPU_SR  cpu_sr;
#endif
    char       s[80];
    INT16S     key;


    data = data;                                           /* Prevent compiler warning                 */

    PC_DispStr(26,  0, "uC/OS-II, The Real-Time Kernel", DISP_FGND_WHITE + DISP_BGND_RED + DISP_BLINK);
    PC_DispStr(33,  1, "Jean J. Labrosse", DISP_FGND_WHITE);
    PC_DispStr(36,  3, "EXAMPLE #2", DISP_FGND_WHITE);
    PC_DispStr( 0,  9, "Task           Total Stack  Free Stack  Used Stack  ExecTime (uS)", DISP_FGND_WHITE);
    PC_DispStr( 0, 10, "-------------  -----------  ----------  ----------  -------------", DISP_FGND_WHITE);
    PC_DispStr( 0, 12, "TaskStart():", DISP_FGND_WHITE);
    PC_DispStr( 0, 13, "TaskClk()  :", DISP_FGND_WHITE);
    PC_DispStr( 0, 14, "Task1()    :", DISP_FGND_WHITE);
    PC_DispStr( 0, 15, "Task2()    :", DISP_FGND_WHITE);
    PC_DispStr( 0, 16, "Task3()    :", DISP_FGND_WHITE);
    PC_DispStr( 0, 17, "Task4()    :", DISP_FGND_WHITE);
    PC_DispStr( 0, 18, "Task5()    :", DISP_FGND_WHITE);
    PC_DispStr(28, 24, "<-PRESS 'ESC' TO QUIT->", DISP_FGND_WHITE + DISP_BLINK);

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

    PC_DispStr(0, 22, "Determining  CPU's capacity ...", DISP_FGND_WHITE);
    OSStatInit();                                          /* Initialize uC/OS-II's statistics         */
    PC_DispClrRow(22, DISP_FGND_WHITE + DISP_BGND_BLACK);

    AckMbox = OSMboxCreate((void *)0);                     /* Create 2 message mailboxes               */
    TxMbox  = OSMboxCreate((void *)0);

    TaskStartCreateTasks();                                /* Create all other tasks                   */

    PC_DispStr( 0, 22, "#Tasks          : xxxxx  CPU Usage: xxx %", DISP_FGND_WHITE);
    PC_DispStr( 0, 23, "#Task switch/sec: xxxxx", DISP_FGND_WHITE);

    for (;;) {
        sprintf(s, "%5d", OSTaskCtr);                     /* Display #tasks running                    */
        PC_DispStr(18, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
        sprintf(s, "%3d", OSCPUUsage);                    /* Display CPU usage in %                    */
        PC_DispStr(36, 22, s, DISP_FGND_BLUE + DISP_BGND_CYAN);
        sprintf(s, "%5d", OSCtxSwCtr);                    /* Display #context switches per second      */
        PC_DispStr(18, 23, s, DISP_FGND_BLUE + DISP_BGND_CYAN);

        OSCtxSwCtr = 0;                                    /* Clear context switch counter             */

        sprintf(s, "V%3.2f", OSVersion() * 0.01);
        PC_DispStr(75, 24, s, DISP_FGND_YELLOW + DISP_BGND_BLUE);

        switch (TaskFPUFlag) {
            case 0:
                 PC_DispStr(71, 22, " NO  FPU ", DISP_FGND_BLUE + DISP_BGND_CYAN);
                 break;

            case 1:
                 PC_DispStr(71, 22, " 8087 FPU", DISP_FGND_BLUE + DISP_BGND_CYAN);
                 break;

            case 2:
                 PC_DispStr(71, 22, "80287 FPU", DISP_FGND_BLUE + DISP_BGND_CYAN);
                 break;

            case 3:
                 PC_DispStr(71, 22, "80387 FPU", DISP_FGND_BLUE + DISP_BGND_CYAN);
                 break;
        }

        if (PC_GetKey(&key)) {                             /* See if key has been pressed              */
            if (key == 0x1B) {                             /* Yes, see if it's the ESCAPE key          */
                PC_DOSReturn();                            /* Yes, return to DOS                       */
            }
        }

        OSTimeDly(OS_TICKS_PER_SEC);                       /* Wait one second                          */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                             CREATE TASKS
*********************************************************************************************************
*/

static  void  TaskStartCreateTasks (void)
{
    OSTaskCreateExt(TaskClk,
                   (void *)0,
                   &TaskClkStk[TASK_STK_SIZE - 1],
                   TASK_CLK_PRIO,
                   TASK_CLK_ID,
                   &TaskClkStk[0],
                   TASK_STK_SIZE,